ICP DAS USA ET-M8194H Instruction manual

ET-M8194H
Motion Control Module
Quick Start Manual
(Version 2.0)

ICP DAS ET-M8194H 快速入門指南
Version 2.0, 2012/10/12
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Contents
1. ET-M8194H Features ............................................................2
2. Hardware Wiring...................................................................3
3. Install ET_M8194H Toolkit ...................................................4
4. Network Settings..................................................................5
5. ET-M8194H LED Description .............................................11
6. Using the EzMove to write macro programs ...................12
6.1 How to write macro programs.................................................14
6.2 Establish a connection with the ET-M8194H .........................17
6.3 Download and run the macro program..................................18
6.4 MODBUS message window.....................................................21
6.5 Initialization table.....................................................................22
6.6 FRnet DI table...........................................................................23
6.7 IO Status table ..........................................................................25
6.8 MACRO State table...................................................................26
7. Use VB to write macro programs......................................27

1. ET-M8194H Features
ET-M8194H is a product of ICP DAS to implement the Ethernet remote
motion controller for the remote motion solution. It includes an i-8094H module
(a 4-axis stepping/pulse-type servo motor control module). By using the
intelligent function of ET-M8194H, we can do the remote motion control for
various motion applications via MODBUS/TCP.
Also, ET-M8194H can be applied in many platforms with MODBUS/TCP
protocol (for example: PC, PAC, PLC, HMI). Additionally, it is easy and simple to
use many ET-M8194Hs at the same time to implement the multi-axis motion
control by the serial connection of ET-M8194H. ICP DAS also provides EzMove
Utility and API Library for users to quickly configure ET-M8194H and develop
their own control applications easily.
ICP DAS ET-M8194H 快速入門指南
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2. Hardware Wiring
Power Connection
Connect power supply +Vs (24 VDC) and GND pin to the ET-M8194H +Vs
and IGND pin.
Methods of connecting PC to ET-M8194H
There are two ways to establish a connection between PC and ET-M8194H:
a. LAN:
Connect the ET-M8194H and PC through local area network (LAN) by
Hub/Switch. Install EzMove on the PC and use this utility to test the connection.
b. Direct link:
Connect the PC directly to ET-M8194H. The Ethernet cable does not have to
be a cross-over cable; the controller can detect the connection and do the
suitable configuration automatically.
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3. Install ET_M8194H Toolkit
Please execute ET_M8194H_V2_0.exe in the shipping disc. Follow the
prompts to complete the installation process. The default installation path is
C:\ICPDAS\ET_M8194H\.
Installation folder \ICPDAS\ET-M8194H\ description
\API_Lib_Demo \Demo VC6、VB6 and BCB example
\Lib VC、VB and BCB lib
\Include VC and BCB header file
\EzMove_Utility \Demo MP example
EzMove_Utility_V2.0.exe EzMove Utility
EM94H_XY.EXE ET-M8194H firmware；XYrepresent
Ver. X.Y
autoexec.bat ET-M8194H autoexec.bat
ET_M8194H_API.dll DLL
\Manual ET-M8194H_Manual_v2.0.pdf ET-M8194H instruction manual
ET-M8194H_QuickStart_v2.0.pdf ET-M8194H quick start
EzMove Utility_v1.0.pdf EzMove instruction manual
\Other \OCX ET-M8194H OCX
FAQ FAQ
Readme.txt Readme
WhatsNew.txt New version information
After the installation you can find the following items in the [Start]–>
[Programs] –> [ET-M8194H] –> [Sources] folder.
[Start]– [Programs]– [ET-M8194H] –[Sources] description
\API_Lib_Demo \Demo VC6、VB6 and BCB example
\Lib VC、VB and BCB lib
\Include VC and BCB header file
\EzMove_Utility \Demo MP example
EzMove_Utility_V2.0.exe EzMove Utility
EM94H_XY.EXE ET-M8194H firmware；XYrepresent
Ver. X.Y
autoexec.bat ET-M8194H autoexec.bat
ET_M8194H_API.dll DLL
\Manual ET-M8194H_Manual_v2.0.pdf ET-M8194H instruction manual
ET-M8194H_QuickStart_v2.0.pdf ET-M8194H quick start
EzMove Utility_v1.0.pdf EzMove instruction manual
\Other \OCX ET-M8194H OCX
FAQ FAQ
Readme.txt Readme
WhatsNew.txt New version information

4. Network Settings
Method 1 – Setting via RS-232
Execute the EzMove Utility and start the “Network Settings by COM Port”
dialog. ([Setting] –> [ET-M8194H Setting] –> [By COM Port] –> [Network])
Click Default to show the default IP configuration of ET-M8194H:
IP: 192.168.0.16
Mask: 255.255.255.0
Gateway: 192.168.0.254
The procedures to read/modify the IP configuration are:
1. Shut down the ET-M8194H.
2. Connect to ET-M8194H with the associated RS-232 cable (CA-0910). The
Tx, Rx and GND pins of CA-0910 are connected to the Rx, Tx and GND
ports of ET-M8194H. Please connect the other end (9-pin, D-sub
connector) to the normal COM port of desktop/laptop.
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3. Set the DIP-switch to “Init”, then power up the ET-M8194H.
4. Choose the COM Port, and then click the Get button to read back the IP
configuration.
5. Fill the settings in IP, Mask and Gateway fields, and then click the Set
button to change the IP configuration.
6. Click the Default button and then click the Set button to restore the
default IP configuration.
7. Shut down the ET-M8194H, and set the DIP-switch to “Run”.
8. Power up the ET-M8194H.
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Method 2 – Setting via Ethernet
Execute the EzMove Utility and connect to ET-M8194H with Ethernet. Start
the “ET-M8194H Setting by Ethernet” dialog. ([Setting] –> [ET-M8194H
Setting] –> [By Ethernet] –> [Network Tab])
Get Setting : Read the current IP configuration from ET-M8194H.
Set : Fill the new settings in IP, Mask and Gateway fields. Click this button to
start IP configuration. The configuration will be completed in 10 seconds,
and the EzMove Utility will re-connect to ET-M814H with updated IP
address.
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Method 3 – Setting via MiniOS7 Utility
The steps for using MiniOS7 Utility to setting up a network:
1. Shut down the ET-M8194H.
2. Set the DIP-switch to “Init”, then power up the ET-M8194H.
3. Click the triangle arrow symbol beside "Connection" and then press "Search"
as shown below.
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4. Click the Search button to read the current IP address as shown below.
5. Click IP setting button and then enter IP and other settings. Press Set
button to complete the change IP.
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6. Shut down the ET-M8194H, and set the DIP-switch to “Run”.
7. Power up the ET-M8194H.
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5. ET-M8194H LED Description
LED description:
LED Status Description
On Device is switched on and firmware is running.
Flashing Device is switched on and firmware is not running.
Sys Off Device is switched off.
Flashing Data is transmitted by the ET-M8194H via RS-232.
Tx Off No data is sent by the ET-M8194H via RS-232.
Flashing The device is receiving data via RS-232.
Rx Off No data is being received.
On Device is connected to Ethernet.
Flashing Data is being transmitted via Ethernet.
NET Off Device is not connected to the Ethernet.
On Module i-8094H is plugged into ET-M8194H device.
Flashing A module different than i-8094H is plugged into ET-M8194H
device.
MOD
Off No module is plugged into the ET-M8194H device.
About the LED description on the i-8094H module: P is power indicator, A is
FRnet indicator, and D is pulse output indicator.
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6. Using the EzMove to write macro programs
EzMove is a simple-to-use utility for developing macro programs for
ET-M8194H. This utility allows new users to test and write programs for
ET-M8194H without using any compiler. EzMove uses the MODBUS_TCP Client
communication function to control the ET-M8194H. Users can write macro
programs in the PC side and download them to ET-M8194H to do motion
control.
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The main window of EzMove contains ten parts: “Menu”, “Toolbar”,
“Command Prompt Menu”, “Command Parameter Setting”, “Program Planning
Area”, “Axis Status Display Area”, “MODBUS Message Window”, “Emergency
Stop Button”, “Title Bar” and “Status Bar”, its location marked as shown below.
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6.1 How to write macro programs
In the following, a rectangular trajectory in the X-Y plane is used as an
example to demonstrate how to use the EzMove to download and run macro
program. This example does not require the ET-M8194H module to connect
motor drives. After setting up the connection between PC and ET-M8194H, Click
“Program Planning Area” (Batch / Macro) tab on the right-hand side. Now there
are ways to create the programs. Please to the following descriptions. Both
methods (a) and (b) can mixed together to generate a complete program.
a. Use the "Command Prompt Menu" and "Command Parameter Setting":
Please use mouse to click the first four steps below (numbers from 1 to 4).
You are now creating a macro function MP93. The result shows on the
right-hand side in the following figure.
1
23
4
5
b. Use the drop-down menu in the “Program Planning Area”.
After the MP_CREATE function, click on the next row in the “Function
Name” field. Enter SET_MAX_V or choose the name from the drop-down menu
to complete the function name part; then move cursor to Var1 field and select
XYZU; move to Var2 field and enter 8000. The second statement is now
complete.
123
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Follow the similar steps described above to complete macro program definition
in the following table:
Function Name Card No Var1 Var2
1 MP_CREATE 1 MP93
2 SET_MAX_V 1 XYZU 8000
3 NORMAL_SPEED 1 XYZU 0
4 SET_V 1 XYZ 200
5 SET_A 1 XYZ 1000
6 SET_SV 1 XYZ 20
7 SET_AO 1 XYZ 0
8 SET_LP 1 XYZU 0
9 FIXED_MOVE 1 Z 100
10 MP_STOP_WAIT 1 Z
11 MP_TIMER 1 2000
12 FIXED_MOVE 1 XY 100
13 MP_STOP_WAIT 1 XY
14 FIXED_MOVE 1 Z -100
15 MP_STOP_WAIT 1 Z
16 FIXED_MOVE 1 Y 800
17 MP_STOP_WAIT 1 Y
18 FIXED_MOVE 1 X 800
19 MP_STOP_WAIT 1 X
20 FIXED_MOVE 1 Y -800
21 MP_STOP_WAIT 1 Y
22 FIXED_MOVE 1 X -800
23 MP_STOP_WAIT 1 X
24 MP_CLOSE 1
The macro program will take 23 lines where MP_CREATE statement defines
the starting address and does not take memory space. According to the
internal configuration of ET-M8194H, each MP has its own size limitation. The
size limit of all MP programs can be displayed in the menu [Help] -> [FLine
Table]. MP93 is capable of accommodating 32 function lines and is chosen for
the example.

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※Note:
After you turned on the ET-M8194H power, it can initialize the i-8094H. If
the initial settings can provide correct settings for later usage, macro
programs do not need to do them again. Therefore, the aforementioned macro
program example can omit many setting statements. Users can define their
desired initial settings via [Setting] -> [Initial Table].

6.2 Establish a connection with the ET-M8194H
Click EzMove [menu] -> [Connect] -> [Connect To ET-M8194H]. A “Connect”
dialog box shows as in following figure. Enter the IP address for ET-M8194H
and press Connect to connect to the ET-M8194H. For disconnection, you can
press Disconnect in the “Connect” dialog box, or press the
Connect/Disconnect Button.
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6.3 Download and run the macro program
1) Download macro program into the ET-M8194H
After connection, users can press the toolbar Download button to
download a macro program. The functions between MP_CREATE and
MP_CLOSE will be stored in the ET-M8194H, but not immediately be executed.
2) Open Graph function
Click on the [menu] -> [Tools] -> [Graph] to open the Graph window. On the
“Axis Status Display Area”, users can set time interval to be 100 ms. After
pressing Enable button the timer setting will take effect.
3) Run the macro program
After pressing the toolbar Call MP Button and setting MP Variable to be
MP93, users can press Send button to run MP93. In the following figure,
"MP_FL x 1" in the upper right corner indicates the current function will need a
function line space to store. Each MP's maximum size for function lines can be
displayed by pressing the FLine Table button.
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Users can add an MP_CALL MP93 statement after MP_CLOSE as shown in
the following figure. After pressing the Download button, the macro program
defined between MP_CREATE and MP_CLOSE will be stored as MP93, and this
MP93 will be executed immediately since the MP_CALL MP93 is encountered.
Switch back to the Graph window, users can see the motion trajectory
produced by the program. The above example is a square on the XY plane.
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