Basic Setting Functions

Icon	Function Name	Statement	IT	MP	ISR
	i8094H_SET_PULSE_MODE	This function sets the pulse output mode as either CW/CCW or PULSE/DIR for the assigned axes and their direction definition.	¡·	¡·
	i8094H_SET_MAX_V	This function sets the maximum rate for the output pulses (speed). A larger value will cause a rougher resolution.	¡·	¡·
	i8094H_SET_HLMT	This function sets the active logic level of the hardware limit switch inputs.	¡·	¡·
	i8094H_LIMITSTOP_MODE	This function sets the motion stop mode of the axes when the corresponding limit switches are detected.	¡·	¡·
	i8094H_SET_NHOME	This function sets the trigger level of the near home sensor (NHOME).	¡·	¡·
	i8094H_SET_HOME_EDGE	This function sets the trigger level of the home sensor (HOME).	¡·	¡·
	i8094H_SET_SLMT	This function sets the software limits.	¡·	¡·
	i8094H_CLEAR_SLMT	This function clears the software limits.	¡·	¡·
	i8094H_SET_ENCODER	This function sets the encoder input related parameters.	¡·	¡·
	i8094H_SERVO_ON	This function outputs a DO signal (ENABLE) to enable the motor driver.	¡·	¡·
	i8094H_SERVO_OFF	This function outputs a DO signal (ENABLE) to disable the motor driver.	¡·	¡·
	i8094H_SET_ALARM	This function sets the ALARM input signal related parameters.	¡·	¡·
	i8094H_SET_INPOS	This function sets the INPOS input signal related parameters.	¡·	¡·
	i8094H_SET_FILTER	This function selects the axes and sets the time constant for digital filters of the input signals.	¡·	¡·
	i8094H_VRING_ENABLE	This function enables the linear counter of the assigned axes as variable ring counters.	¡·	¡·
	i8094H_VRING_DISABLE	This function disables the variable ring counter function.	¡·	¡·
	i8094H_AVTRI_ENABLE	This function prevents a triangle form in linear acceleration (T-curve) fixed pulse driving even if the number of output pulses is low.	¡·	¡·
	i8094H_AVTRI_DISABLE	This function disables the function that prevents a triangle form in linear acceleration fixed pulse driving.	¡·	¡·

Status Functions

Icon	Function Name	Statement	IT	MP	ISR
	i8094H_SET_LP	This function sets the command position counter value (logical position counter, LP).		¡·	¡·
	i8094H_GET_LP	This function reads the command position counter value (logical position counter, LP).		¡·	¡·
	i8094H_SET_EP	This function sets the encoder position counter value (real position counter, or EP).		¡·	¡·
	i8094H_GET_EP	This function reads the encoder position counter value (EP).		¡·	¡·
	i8094H_GET_DI	This function reads the digital input (DI) status.		¡·	¡·
	i8094H_GET_ERROR	This function checks whether an error occurs or not.		¡·	¡·
	i8094H_GET_ERROR_CODE	This function reads the ERROR status.		¡·	¡·

FRnet DIO Functions

Icon	Function Name	Statement	IT	MP	ISR
	i8094H_FRNET_IN	This function reads the FRnet digital input signals. One group comprises 16 bits data. Therefore, total 128 DI can be defined for one FRnet interface.		¡·	¡·
	i8094H_FRNET_OUT	This function writes data to the FRnet digital output. One group comprises 16 bits data. Therefore, total 128 DO can be defined for one FRnet interface.		¡·	¡·

Auto Home Functions

Icon	Function Name	Statement	IT	MP	ISR
	i8094MF_SET_HV	This function sets the homing speed.		¡·
	i8094MF_HOME _LIMIT	This function sets the Limit Switch to be used as the HOME sensor.		¡·
	i8094MF_SET_HOME_MODE	This function sets the homing method and other related parameters.		¡·
	i8094MF_HOME _START	This function starts the home search of assigned axes.		¡·

Axis Move Functions

Icon	Function Name	Statement	IT	MP	ISR
	i8094H_NORMAL_SPEED	The function sets the speed mode.		¡·	¡·
	i8094H_SET_SV	This function sets the start speed for the assigned axes.		¡·	¡·
	i8094H_SET_V	This function sets the desired speed for the assigned axes.		¡·	¡·
	i8094H_SET_A	This function sets the acceleration value for the assigned axes.		¡·	¡·
	i8094H_SET_D	This function sets the deceleration value for the assigned axes.		¡·	¡·
	i8094H_SET_K	The function sets the acceleration rate (i.e., Jerk) value for the assigned axes.		¡·	¡·
	i8094H_SET_L	This function sets the deceleration rate (i.e., Jerk) value for the assigned axes.		¡·	¡·
	i8094H_SET_AO	This function sets the number of remaining offset pulses for the assigned axes. Please refer to the figure below for a definition of the remaining offset pulse value.		¡·	¡·
	i8094H_FIXED_MOVE	Command a point-to-point motion for several independent axes.		¡·	¡·
	i8094H_SET_PULSE	This function sets the pulse number for fixed pulse driving.		¡·	¡·
	i8094H_CONTINUE_MOVE	This function issues a continuous motion command for several independent axes.		¡·	¡·

Interpolation Functions

Icon	Function Name	Statement	IT	MP	ISR
	i8094H_AXIS_ASSIGN	This function assigns the axes to be used for interpolation. Either two or three axes can be assigned using this function. Interpolation commands will refer to the assigned axes to construct a working coordinate system. The X axis does not necessarily have to be the first axis. However, it is easier to use the X axis as the first axis, the Y axis as the second axis, and the Z axis as the third axis.		¡·	¡·
	i8094H_VECTOR_SPEED	This function assigns the mode of interpolation. Either two or three axes will join this interpolation. Each interpolation mode will refer to some assigned axes that construct a working coordinate system. The assigned axes are defined by i8094H_AXIS_ASSIGN() function. The X axis does not necessarily have to be the first axis. However, it is easier to let the X axis as the first axis, the Y axis as the second axis, and the Z axis as the third axis in applications. Different modes need different settings. Please refer to the mode definitions.		¡·	¡·
	i8094H_SET_VSV	This function sets the starting speed of the principle axis (axis 1) for the interpolation motion.		¡·	¡·
	i8094H_SET_VV	This function sets the vector speed of the interpolation motion. Users do not need to assign any axes on this function. The speed setting will take effect on the current working coordinate system which is defined by the i8094H_AXIS_ASSIGN() function.		¡·	¡·
	i8094H_SET_VA	This function sets the vector acceleration for interpolation motion. Users do not have to assign any axes on this function. This speed setting will take effect on the current working coordinate system which is defined by the i8094H_AXIS_ASSIGN() function.		¡·	¡·
	i8094H_SET_VD	This function sets the deceleration value for the interpolation motion.		¡·	¡·
	i8094H_SET_VK	Set the acceleration rate (jerk) value for interpolation motion.		¡·	¡·
	i8094H_SET_VL	This function sets the deceleration rate of the interpolation motion.		¡·	¡·
	i8094H_SET_VAO	Set this value will cause the motion control chip to start deceleration earlier. The remaining offset pulses will be completed at low speed to allow the controller to stop immediately when the offset pulse value has been reached. Please refer to the figure below for more information.		¡·	¡·
	i8094H_LINE_2D	This function executes a 2-axis linear interpolation motion.		¡·	¡·
	i8094H_LINE_3D	This function executes a 3-axis linear interpolation motion.		¡·	¡·
	i8094H_ARC_CW	This function executes a 2-axis circular interpolation motion in a clockwise (CW) direction.		¡·	¡·
	i8094H_ARC_CCW	This function executes a 2-axis circular interpolation motion in a counter-clockwise (CCW) direction.		¡·	¡·
	i8094H_CIRCLE_CW	This function executes a 2-axis circular interpolation motion in a clockwise (CW) direction.		¡·	¡·
	i8094H_CIRCLE_CCW	This function executes a 2-axis circular interpolation motion in a counter-clockwise (CCW) direction.		¡·	¡·

Synchronous Action Functions

Icon	Function Name	Statement	IT	MP	ISR
	i8094H_SYNC_ACTION	This function sets the activation factors (provocative) and the specified action when a specified activation factor occurs.		¡·	¡·
	i8094H_SET_COMPARE	This function sets the values of COMPARE registers. However, it will disable the functions of software limits.		¡·	¡·
	i8094H_GET_LATCH	This function gets the values from the LATCH register.		¡·	¡·
	i8094H_SET_PRESET	This function sets the PRESET value for synchronous action.		¡·	¡·
	i8094H_SET_OUT	This function sets the pulse by collocated the i8094H_SYNC_ACTION function.		¡·	¡·

Continuous Interpolation Functions

Icon	Function Name	Statement	IT	MP	ISR
	i8094H_RECTANGLE	Continuous interpolation will be performed to create a rectangular motion, which is formed by 4 lines and 4 arcs. The length of each side can be changed. The radius of each arc is the same and it can also be changed. The deceleration point will be calculated automatically. This is a command macro command that appears in various motion applications.		¡·
	i8094H_LINE_2D_INITIAL	This function sets the necessary parameters for a 2-axis continuous linear interpolation using symmetric T-curve speed profile.		¡·
	i8094H_LINE_2D_CONTINUE	This function executes a 2-axis continuous linear interpolation.		¡·
	i8094H_LINE_3D_INITIAL	This function sets the necessary parameters for a 3-axis continuous linear interpolation using symmetric T-curve speed profile.		¡·
	i8094H_LINE_3D_CONTINUE	This function executes a 3-axis continuous linear interpolation.		¡·
	i8094H_MIX_2D_INITIAL	This function does the initial settings for mixed linear and circular 2-axis motions in continuous interpolation.		¡·
	i8094H_MIX_2D_CONTINUE	This function executes mixed linear and circular 2-axis motion in continuous interpolation.		¡·
	i8094H_HELIX_3D	This function performs a 3-axis helical motion.		¡·
	i8094H_RATIO_INITIAL	This function sets the Initial values for ratio motion (motion in ratio) using a symmetric T-curve speed profile.		¡·
	i8094H_RATIO_2D	This function executes a two-axis ratio motion.		¡·

Interrupt Control Functions

Icon	Function Name	Statement	IT	MP	ISR
	i8094H_ENABLE_INT	This function enables the interrupt.		¡·
	i8094H_DISABLE_INT	This function disables the interrupt.		¡·
	i8094H_INTFACTOR_ENABLE	This function sets the interrupt factors.		¡·
	i8094H_INTFACTOR_DISABLE	This function disables the interrupt factors.		¡·

Other Functions

Icon	Function Name	Statement	IT	MP	ISR
	i8094H_DRV_START	This command is usually used when users desire to start multi-axis driving simultaneously. When this command is issued, users may write other driving commands to the control card. All the driving commands will be held after i8094H_DRV_HOLD() is issued, and these commands will be started once the i8094H_DRV_START() is issued. However, if in driving, this command will not cause the driving to be stopped. But the next command will be held.		¡·	¡·
	i8094H_DRV_HOLD	This command releases the holding status, and start the driving of the assigned axes immediately.		¡·	¡·
	i8094H_STOP_SUDDENLY	This function immediately stops the assigned axes.		¡·
	i8094H_STOP_SLOWLY	This function decelerates and finally stops the assigned axes slowly.		¡·
	i8094H_VSTOP_SUDDENLY	This function stops interpolation motion of the assigned module immediately.		¡·
	i8094H_VSTOP_SLOWLY	This function stops interpolation motion of the assigned module in a decelerating way.		¡·
	i8094H_CLEAR_STOP	After using anyone of the stop functions, please solve the malfunction, and then issue this function to clear the stop status.		¡·
	i8094H_INTP_END	1. If the current motion status is running a interpolation motion and you would like to issue a single axis motion or change the coordinate definition, you should call this function before the new command is issued. 2.You can redefine the MAX V for each axis. In this way, you do not have to execute i8094H_INTP_END() function.		¡·

Macro Program Functions

Icon	Function Name	Statement	IT	MP	ISR
	i8094H_MP_CALL	This function sets the number of the macro program for jump executing in the next procedure layer.		¡·
	i8094H_MP_SET_VAR	This function sets VARn to be the global value.		¡·
	i8094H_MP_SET_RVAR	This function sets VARn to be the global return value.		¡·
	i8094H_MP_VAR_CALCULATE	This function issues the ¡§addition¡¨, ¡§subtraction¡¨ ¡§multiplication¡¨, and the ¡§division¡¨ for supporting the variable arithmetic operation. For example: varNo (+-*/) varNo1 = varNo2.		¡·
	i8094H_MP_FOR	This function issues the ¡§for loop¡¨ condition statement.		¡·
	i8094H_MP_NEXT	This function issues the ¡§end of for loop¡¨ condition statement.		¡·
	i8094H_MP_IF	This function issues the ¡§If¡¨ condition statement.		¡·
	i8094H_MP_ELSE	This function issues the ¡§else¡¨ condition statement.		¡·
	i8094H_MP_IF_END	This function issues the ¡§end of If¡¨ condition statement.		¡·
	i8094H_MP_TIMER	This function issues a procedure delay.		¡·
	i8094H_MP_STOP_WAIT	This function can be used to assign commands to be performed while waiting for all motion to be completed (stopped).		¡·
	i8094H_MP_SET_RINT	This function issues the i-8094H module to produce an interrupt signal with the 0x04 code to the WinCon controller.		¡·