ICP DAS USA I-8092F User manual

ICPDAS I-8092F Software User Manual1
2-axis Motion Control Module
User Manual
(I-8092F)
(Version 2.3)
Macro Function Library in C++ for
WinCon and I-8000 series PAC controllers

ICPDAS I-8092F Software User Manual2
Warranty
All products manufactured by ICPDAS Inc. are warranted against defective
materials for a period of one year from the date of delivery to the original
purchaser.
Warning
ICPDAS Inc. assumes no liability for damages consequent to the use of this
product. ICPDAS Inc. reserves the right to change this manual at any time without
notice. The information furnished by ICPDAS Inc. is believed to be accurate and
reliable. However, no responsibility is assumed by ICPDAS Inc. for its use, or for
any infringements of patents or other rights of third parties resulting from its use.
Copyright
Copyright 1997-2005 by ICPDAS Inc., LTD. All rights reserved worldwide.
Trademark
The names used for identification only maybe registered trademarks of their
respective companies.
License
The user can use, modify and backup this software on a single machine. The
user may not reproduce, transfer or distribute this software, or any copy, in whole
or in part.

ICPDAS I-8092F Software User Manual3
INDEX
1 PREFACE............................................................................7
1.1 Introduction................................................................................................7
1.2 Basic and Macro functions........................................................................7
1.3 Funciton description..................................................................................8
2 BASIC SETTINGS..............................................................9
2.1 Code numbers for axes..............................................................................9
2.2 Registration of Modules and getting the LIB version............................9
2.3 Resetting Module .....................................................................................12
2.4 Pulse Output Mode Setting.....................................................................12
2.5 Setting the Maximum Speed...................................................................13
2.6 Setting the Active Level of the Hardware Limit Switches...................14
2.7 Setting the Motion Stop Method When Limit Switch Is Sensed.........15
2.8 Setting the Trigger Level of the NHOME Sensor.................................15
2.9 Setting Trigger Level of the Home sensor .............................................16
2.10 Setting and Clearing the Software Limits...........................................16
2.11 Setting the Encoder Related Parameters.............................................17
2.12 Setting the Servo Driver (ON/OFF).....................................................18
2.13 Setting the SERVO ALARM Function................................................19
2.14 Setting the Active Level of the In-Position Signals.............................20
2.15 Setting the Time Constant of the Digital Filter...................................20
2.16 Position Counter Variable Ring............................................................22
2.17 Triangle prevention of fixed pulse driving ..........................................23
2.18 External Pulse Input..............................................................................24
2.18.1 Handwheel (Manual Pulsar) Driving ..............................................................24
2.18.2 Fixed Pulse Driving Mode ..............................................................................25
2.18.3 Continuous Pulse Driving Mode....................................................................26
2.18.4 Disabling the External Signal Input Functions.............................................27
2.19 Configure hardware with pre-defined configuration file...................28
3 READINGAND SETTING THE REGISTERS.............29
3.1 Setting and Reading the Command Position (LP)................................29
3.2 Setting and Reading the Encoder Counter............................................30
3.3 Reading the Current Velocity .................................................................31
3.4 Reading the Current Acceleration..........................................................31
3.5 Reading the DI Status..............................................................................32
3.6 Reading and Clearing the ERROR Status ............................................34
3.7 Setting the general Dinigtal output........................................................35

ICPDAS I-8092F Software User Manual4
4 FRNET FUNCTIONS (FOR I8092F ONLY)..................36
4.1 Read FRnet DI Signals............................................................................36
4.2 Write data to FRnet DO..........................................................................37
5 AUTO HOMING...............................................................38
5.1 Setting the Homing Speed.......................................................................38
5.2 Using an Limit Switch as the HOME sensor.........................................39
5.3 Setting the Homing Mode........................................................................39
5.4 Starting the Homing Sequence ...............................................................41
5.5 Waiting for the Homing sequence to be Completed.............................41
6 GENERAL MOTION CONTROL..................................42
6.1 Independent Axis Motion Control..........................................................42
6.1.1 Setting the Acceleration/Deceleration Mode ..................................................42
6.1.2 Setting the Start Speed.....................................................................................44
6.1.3 Setting the Desired Speed................................................................................44
6.1.4 Setting the Acceleration ...................................................................................45
6.1.5 Setting the Deceleration ...................................................................................45
6.1.6 Setting the Acceleration Rate ..........................................................................47
6.1.7 Setting the Value of the Remaining Offset Pulses .........................................48
6.1.8 Fixed Pulse Output ...........................................................................................49
6.1.9 Continuous Pulse Output.................................................................................50
6.2 Interpolation Commands........................................................................51
6.2.1 Setting the Speed and Acc/Dec Mode for Interpolation ................................51
6.2.2 Setting the Vector Starting Speed ...................................................................55
6.2.3 Setting the Vector Speed..................................................................................55
6.2.4 Setting the Vector Acceleration .......................................................................56
6.2.5 Setting the Vector Deceleration Value.............................................................57
6.2.6 Setting the Vector Acceleration Rate ..............................................................58
6.2.7 Setting the Number of the Remaining Offset Pulses.....................................59
6.2.8 2-Axis Linear Interpolation Motion ..................................................................60
6.2.9 2-Axis Circular Interpolation Motion (an Arc).................................................61
6.2.10 2-Axis Circular Interpolation Motion .............................................................63
6.3 Continuous Interpolation........................................................................65
6.3.1 2-Axis Rectangular Motion...............................................................................65
6.3.2 2-Axis Continuous Linear Interpolation..........................................................66
6.3.3 Multi-Segment Continuous Interpolation (Using Array) ................................68
6.3.4 2-Axis Ratio Motion...........................................................................................69
6.3.5 Mixed Linear and Circular 2-axis motions in Continuous Interpolation ......71
6.4 Set the Interrupt Factors.........................................................................74
6.4.1 Set the Interrupt Factors ..................................................................................74
6.4.2 Interrupt Disabled .............................................................................................76
6.4.3 Read the Interrupt Occurrence ........................................................................77
6.5 Other functions.........................................................................................78

ICPDAS I-8092F Software User Manual5
6.5.1 Holding the Driving Command ........................................................................78
6.5.2 Release the Holding Status, and Start the Driving.........................................78
6.5.3 Waiting until the Motion Is Completed............................................................79
6.5.4 Stopping the Axes.............................................................................................81
6.5.5 Clear the Stop Status ........................................................................................85
6.5.6 End of Interpolation ..........................................................................................85
6.5.7 Setting the COMPARE value ............................................................................86
APPENDIX A (I-8092F BASIC FUNCTIONS).................87
A.1 i8092F Command Set..............................................................................87
A.2 Pulse Output Command.........................................................................88
A.2.1 Signal Types......................................................................................................88
A.2.2 Fixed Pulse Driving ..........................................................................................90
A.2.3 Changing Output Pulse Numbers in Driving .................................................90
A.2.4 Offset Setting for Acceleration/Deceleration Driving....................................90
A.2.5 Continuous Drive Pulse Output ......................................................................92
A.2.6 Constant Speed Driving...................................................................................93
A.3 Profile Acceleration/Deceleration Planning..........................................94
A.3.1 Trapezoidal Driving [Symmetric].....................................................................94
A.3.2 Trapezoidal Driving [Asymmetric] ..................................................................96
A.3.3 Triangle Prevention ..........................................................................................98
A.3.4 S-curve Acceleration / Deceleration [Symmetry]...........................................99
A.4 Pulse Output Commands .....................................................................103
A.4.1 2-Axes Interpolation .......................................................................................103
A.4.2 Circular Interpolation .....................................................................................104
A.4.3 Bit Pattern Interpolation.................................................................................107
A.4.4 Continuous Interpolation...............................................................................109
A.5 Automatic Home Search....................................................................... 111
A.6 Interrupt Control..................................................................................112
A.6.1 Interrupt for Independent axis.......................................................................112
A.6.2 Interrupt for Interpolation ..............................................................................112
A.7 I-8092F Function Library ....................................................................113
A.7.1 Register management functions...................................................................114
A.7.2 Functions for Initial Setting ...........................................................................121
A.7.3 Motion Status Management Functions.........................................................127
A.7.4 Basic Motion Command Functions ..............................................................134
A.7.5 Interpolation Functions..................................................................................145
A.7.6 Automatic Home Search ................................................................................158
A.7.7 Interrupt Function...........................................................................................170
A.7.8 FRnet Related Functions ...............................................................................177
A.8 i8092 Command Lists...........................................................................179
A.8.1 Data Setting Commands ................................................................................179
A.8.2 Data Reading Commands ..............................................................................179
A.8.3 Driving Commands.........................................................................................180
A.8.4 Interpolation Commands ...............................................................................180
A.8.5 Other commands ............................................................................................180

ICPDAS I-8092F Software User Manual6
APPENDIX B: MCX312 REGISTERS............................181
B.1 Command Register: WR0 ....................................................................181
B.2 Mode Register1: WR1...........................................................................182
B.3 Mode Register2: WR2...........................................................................184
B.4 Mode Register3: WR3...........................................................................186
B.5 Output Register: WR4..........................................................................189
B.7 Data Register: WR6/WR7....................................................................190
B.8 Main Status Register: RR0...................................................................190
B.9 Status Register 1: RR1..........................................................................191
B.10 Status Register 2: RR2........................................................................193
B.11 Status Register 3: RR3........................................................................194
B.12 Input Register: RR4 / RR5.................................................................195
B.13 Data-Read Register: RR6 / RR7........................................................195

ICPDAS I-8092F Software User Manual7
1 Preface
1.1 Introduction
This manual provides complete and detailed description of i8092F functions
for users to develop programs for their control of automatic equipments.
Many examples are included in this manual for reference to write efficient
application programs.
This manual includes six chapters and two appendices. This chapter gives a
brief description of this manual. Chapter 2 to 6 is the explanations of macro
functions (MF). Appendices A and B are the descriptions of basic functions
(BF) and the registers of MCX312, respectively.
The functions defined in DLL file are explained here. This DLL can be used on
different developing software platforms, such as eVC++, VB.net, and C#.net,
and different OS systems ( MiniOS7 / WinCE).
1.2 Basic and Macro functions
Basic functions are suitable for those who are familiar with the MCX312
motion chip. These functions can directly read/write the registers of motion
chip. However, users need to know more details about this motion chip.
Macro functions provide a set of much easy-to-use functions that simplify the
programming for users. Some necessary settings, such as speed range and
deceleration point, are calculated inside those functions to ease the loading of
users on having to understand the motion chip. Some useful costumed
functions are provided for users to develop applications efficiently.
If possible, do not mix these two groups of functions together. Some internal
parameters may be changed beyond users＇consideration.

ICPDAS I-8092F Software User Manual8
1.3 Funciton description
All functions are listed in following form:
Function_name (parameter1, parameter2, …)
Description: Explanation of this function.
Parameters: Definitions of the parameters and how to use them.
Return: The return value of this function.
Example: Simple example program in C++.
Remark: Comments.

ICPDAS I-8092F Software User Manual9
2 Basic Settings
2.1 Code numbers for axes
The axis assignments follow the definitions listed below: X=1, Y=2. If X and Y
axes are assigned simultaneously, then the code number is 3. An assignment for
either single axis or multiple axes at the same time is possible. Available axis
code numbers are listed below. The type of the axis argument used in the
functions is defined as WORD.
Table 2-1 Axis assignments and their corresponding codes
Axis X Y XY
Code 0x1 0x2 0x3
Name AXIS_X AXIS_Y AXIS_XY
2.2 Registration of Modules and getting the LIB version
BYTE i8092MF_REGISTRATION(BYTE cardNo, BYTE slot)
Description:
This function registers a module that is installed in slot number, slot,by
assigning a card number. Registration must be performed for each I-8092F
motion control module before other functions are called. After registration,
each module can be identified by its corresponding module number.
Parameters:
cardNo: Module number
slot: Slot number
for I-8000: 0~7
for WinCon-8000: 1~7
Return:
YES Normal
NO Abnormal
Example:
//================= for WinCon-8000 ==================

ICPDAS I-8092F Software User Manual10
//set each module number the same as the slot number, respectively.
//(slot1 ~ slot7)
BYTE cardNo;
BYTE slot;
int Found = 0;
for (slot = 1; slot < 8; slot++)
{
cardNo = slot;
if (i8092MF_REGISTRATION(cardNo, slot) == YES)
{ //slot number begins from 1.
//if a module is found, then it is registered as its slot number.
i8092MF_RESET_CARD(cardNo);
Found++;
}
}
if (Found == 0)
{
//if Wincon cannot find any I-8092F module,
//please add codes to handle the exception here.
return;
}
//=================== for I-8000 ===================
//set the module number the same as the slot number, respectively.
//(slot1 ~ slot7)
BYTE cardNo;
BYTE slot;
int Found = 0;
for (slot = 0; slot < 8; slot++)
{
cardNo = slot + 1;
//slot number begins from 0, but module number begin from 1.
if (i8092MF_REGISTRATION(cardNo, slot) == YES)
{
//if a module is found, then it is registered by giving a number.
i8092MF_RESET_CARD(cardNo);
Found++;
}
}
if (Found == 0)
{
//if Wincon cannot find any I-8092F module,
//please add codes to handle the exception here.
return;
}