Basic Setting Functions
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Function
Name |
Statement |
IT |
MP |
ISR |
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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. |
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i8094H_SET_MAX_V |
This function sets the maximum rate for the
output pulses (speed). A larger value will cause a rougher resolution. |
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i8094H_SET_HLMT |
This function sets the
active logic level of the hardware limit switch inputs. |
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i8094H_LIMITSTOP_MODE |
This function sets the
motion stop mode of the axes when the corresponding limit switches are
detected. |
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i8094H_SET_NHOME |
This function sets the
trigger level of the near home sensor (NHOME). |
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i8094H_SET_HOME_EDGE |
This function sets the
trigger level of the home sensor (HOME). |
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i8094H_SET_SLMT |
This function sets the
software limits. |
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i8094H_CLEAR_SLMT |
This function clears
the software limits. |
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i8094H_SET_ENCODER |
This function sets the
encoder input related parameters. |
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i8094H_SERVO_ON |
This function outputs
a DO signal (ENABLE) to enable the motor driver. |
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i8094H_SERVO_OFF |
This function outputs
a DO signal (ENABLE) to disable the motor driver. |
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i8094H_SET_ALARM |
This function sets the ALARM input signal related parameters. |
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i8094H_SET_INPOS |
This function sets the INPOS input signal related parameters. |
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i8094H_SET_FILTER |
This function selects the axes and sets the time
constant for digital filters of the input signals. |
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i8094H_VRING_ENABLE |
This function enables the linear counter of the
assigned axes as variable ring counters. |
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i8094H_VRING_DISABLE |
This function disables the variable ring counter
function. |
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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. |
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i8094H_AVTRI_DISABLE |
This function disables the function that
prevents a triangle form in linear acceleration fixed pulse driving. |
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Status Functions
Icon |
Function
Name |
Statement |
IT |
MP |
ISR |
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i8094H_SET_LP |
This function sets the command position counter
value (logical position counter, LP). |
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i8094H_GET_LP |
This function reads the command position counter
value (logical position counter, LP). |
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i8094H_SET_EP |
This function sets the encoder position counter
value (real position counter, or EP). |
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i8094H_GET_EP |
This function reads the encoder position counter
value (EP). |
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i8094H_GET_DI |
This function reads the digital input (DI)
status. |
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i8094H_GET_ERROR |
This function checks whether an error occurs or
not. |
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i8094H_GET_ERROR_CODE |
This function reads the ERROR status. |
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FRnet DIO Functions
Icon |
Function
Name |
Statement |
IT |
MP |
ISR |
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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. |
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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. |
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Auto Home Functions
Icon |
Function
Name |
Statement |
IT |
MP |
ISR |
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i8094MF_SET_HV |
This function sets the homing speed. |
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i8094MF_HOME
_LIMIT |
This function sets the Limit Switch to be used
as the HOME sensor. |
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i8094MF_SET_HOME_MODE |
This function sets the homing method and other
related parameters. |
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i8094MF_HOME
_START |
This function starts the home search of assigned
axes. |
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Axis Move Functions
Icon |
Function
Name |
Statement |
IT |
MP |
ISR |
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i8094H_NORMAL_SPEED |
The function sets the speed mode. |
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i8094H_SET_SV |
This function sets the start speed for the
assigned axes. |
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i8094H_SET_V |
This function sets the desired speed for the
assigned axes. |
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i8094H_SET_A |
This function sets the acceleration value for the
assigned axes. |
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i8094H_SET_D |
This function sets the deceleration value for
the assigned axes. |
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i8094H_SET_K |
The function sets the acceleration rate (i.e.,
Jerk) value for the assigned axes. |
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i8094H_SET_L |
This function sets the deceleration rate (i.e.,
Jerk) value for the assigned axes. |
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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. |
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i8094H_FIXED_MOVE |
Command a point-to-point motion for several
independent axes. |
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i8094H_SET_PULSE |
This function sets the pulse number for fixed
pulse driving. |
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i8094H_CONTINUE_MOVE |
This function issues a continuous motion command
for several independent axes. |
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Interpolation Functions
Icon |
Function
Name |
Statement |
IT |
MP |
ISR |
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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. |
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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. |
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i8094H_SET_VSV |
This function sets the starting speed of the principle axis (axis 1) for the
interpolation motion. |
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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. |
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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. |
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i8094H_SET_VD |
This function sets the deceleration value for the interpolation motion. |
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i8094H_SET_VK |
Set the acceleration
rate (jerk) value for interpolation motion. |
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i8094H_SET_VL |
This function sets the deceleration rate of the interpolation motion. |
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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. |
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i8094H_LINE_2D |
This function executes a 2-axis linear
interpolation motion. |
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i8094H_LINE_3D |
This function executes a 3-axis linear
interpolation motion. |
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i8094H_ARC_CW |
This function executes a 2-axis circular
interpolation motion in a clockwise (CW) direction. |
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i8094H_ARC_CCW |
This function executes a 2-axis circular
interpolation motion in a counter-clockwise (CCW) direction. |
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i8094H_CIRCLE_CW |
This function executes a 2-axis circular
interpolation motion in a clockwise (CW) direction. |
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i8094H_CIRCLE_CCW
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This function executes a 2-axis circular
interpolation motion in a counter-clockwise (CCW) direction. |
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Synchronous Action Functions
Icon |
Function
Name |
Statement |
IT |
MP |
ISR |
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i8094H_SYNC_ACTION |
This function sets the activation factors
(provocative) and the specified action when a specified activation factor
occurs. |
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i8094H_SET_COMPARE |
This function sets the values of COMPARE
registers. However, it will disable the functions of software limits. |
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i8094H_GET_LATCH |
This function gets the values from the LATCH
register. |
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i8094H_SET_PRESET |
This function sets the PRESET value for synchronous action. |
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i8094H_SET_OUT |
This
function sets the pulse by collocated the i8094H_SYNC_ACTION function. |
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Continuous Interpolation
Functions
Icon |
Function
Name |
Statement |
IT |
MP |
ISR |
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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. |
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i8094H_LINE_2D_INITIAL |
This function sets the necessary parameters for
a 2-axis continuous linear interpolation using symmetric T-curve speed
profile. |
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i8094H_LINE_2D_CONTINUE |
This function executes a 2-axis continuous
linear interpolation. |
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i8094H_LINE_3D_INITIAL |
This function sets the necessary parameters for
a 3-axis continuous linear interpolation using symmetric T-curve speed
profile. |
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i8094H_LINE_3D_CONTINUE |
This function executes a 3-axis continuous
linear interpolation. |
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i8094H_MIX_2D_INITIAL |
This function does the initial settings for
mixed linear and circular 2-axis motions in continuous interpolation. |
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i8094H_MIX_2D_CONTINUE |
This function executes mixed linear and circular
2-axis motion in continuous interpolation. |
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i8094H_HELIX_3D
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This function performs a 3-axis helical motion. |
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i8094H_RATIO_INITIAL
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This function sets the Initial values for ratio
motion (motion in ratio) using a symmetric T-curve speed profile. |
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i8094H_RATIO_2D |
This function executes a two-axis ratio motion. |
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Interrupt Control Functions
Icon |
Function
Name |
Statement |
IT |
MP |
ISR |
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i8094H_ENABLE_INT |
This function enables the interrupt. |
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i8094H_DISABLE_INT |
This function disables the interrupt. |
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i8094H_INTFACTOR_ENABLE |
This function sets the
interrupt factors. |
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i8094H_INTFACTOR_DISABLE |
This function disables
the interrupt factors. |
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Other Functions
Icon |
Function
Name |
Statement |
IT |
MP |
ISR |
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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. |
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i8094H_DRV_HOLD |
This command releases
the holding status, and start the driving of the assigned axes immediately. |
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i8094H_STOP_SUDDENLY |
This function immediately stops the assigned
axes. |
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i8094H_STOP_SLOWLY |
This function decelerates and finally stops the
assigned axes slowly. |
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i8094H_VSTOP_SUDDENLY |
This function stops interpolation motion of the
assigned module immediately. |
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i8094H_VSTOP_SLOWLY |
This function stops interpolation motion of the
assigned module in a decelerating way. |
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i8094H_CLEAR_STOP |
After using anyone of
the stop functions, please solve the malfunction, and then issue this
function to clear the stop status. |
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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. |
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Macro Program Functions
Icon |
Function
Name |
Statement |
IT |
MP |
ISR |
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i8094H_MP_CALL |
This
function sets the number of the macro program for jump executing in the next
procedure layer. |
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i8094H_MP_SET_VAR |
This function sets VARn
to be the global value. |
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i8094H_MP_SET_RVAR |
This function sets VARn
to be the global return value. |
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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. |
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i8094H_MP_FOR |
This function issues the ¡§for loop¡¨ condition
statement. |
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i8094H_MP_NEXT |
This function issues the ¡§end of for loop¡¨
condition statement. |
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i8094H_MP_IF |
This function issues the ¡§If¡¨ condition statement. |
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i8094H_MP_ELSE |
This function issues the ¡§else¡¨ condition
statement. |
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i8094H_MP_IF_END |
This function issues the ¡§end of If¡¨ condition
statement. |
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i8094H_MP_TIMER |
This function issues a procedure delay. |
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i8094H_MP_STOP_WAIT |
This function can be used to assign commands to
be performed while waiting for all motion to be completed (stopped). |
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i8094H_MP_SET_RINT |
This function issues the
i-8094H module to produce an interrupt signal with the 0x04 code to the WinCon controller. |
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