实例介绍
【实例简介】G-MAS Administrative and Motion API V1.6.0.3
【实例截图】
【核心代码】
Table of Contents
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Table of Contents
Chapter 1: Introduction..............................................................................................18
1.1.
G-MAS over (Go) Standard.......................................................................................18
1.2.
What the API Does ...................................................................................................19
1.3. Terminology..............................................................................................................20
1.4.
How to Use this Document ......................................................................................24
Chapter 2: G-MAS Overview.......................................................................................28
2.1.
For EAS......................................................................................................................32
2.2.
G-MAS Operation Modes.........................................................................................33
2.2.1.
NC Motions................................................................................................33
2.2.2.
Distributed / Standard DS-402 (stand-alone) Drive ..................................33
2.2.3.
G-MAS Axes and Node Definitions............................................................34
2.2.4.
G-MAS to Servo Drive Interfaces...............................................................36
Chapter 3: G-MAS Initial Connection...........................................................................37
3.1.
G-MAS USB Connection............................................................................................37
3.1.1.
Connection Procedure...............................................................................38
3.1.2.
ipaddr – GMAS IP Address.........................................................................39
3.1.3.
ipmask – GMAS IP Subnet Mask................................................................39
3.1.4.
defgateway – GMAS Default Gateway ......................................................40
3.2.
G-MAS PC configuration...........................................................................................41
3.2.1. XP Windows Setup.....................................................................................42
3.2.2. Windows 7 Seup........................................................................................47
Chapter 4: Motion and Administrative Function Blocks...............................................53
4.1.
Compliance and Portability ......................................................................................53
4.2.
Function Block States...............................................................................................54
4.2.1. Single Axis..................................................................................................54
4.2.2.
Group of Axes............................................................................................56
4.2.3.
Function Block Status Bit Masks................................................................58
4.3. Axis, Group, Global, Parameters..............................................................................59
4.3.1.
Legend .......................................................................................................60
4.3.2.
Parameters Tables.....................................................................................61
4.4. Axis Status ................................................................................................................67
4.4.1.
Blended Behaviour Mechanism.................................................................70
4.4.2. Special function block insertion mechanism.............................................71
4.5. Administrative Function Block Handling ..................................................................72
4.5.1.
Classification..............................................................................................73
4.5.2.
Flags...........................................................................................................73
4.5.3.
Examples....................................................................................................73
4.6. Administrative Function Block Handling (for both Single and Multiple Axis) ..........75
4.6.1. Source Value..............................................................................................75
4.6.2.
Reference Value ........................................................................................75
4.6.3.
Logic Operation .........................................................................................75Table of Contents
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4.6.4.
Function Useage Situations.......................................................................76
4.6.5.
Download Firmware and Errors ................................................................78
4.7.
Single Axis Motion Control.......................................................................................79
4.7.1.
MMC_Halt .................................................................................................80
4.7.2.
MMC_Home ..............................................................................................84
4.7.3.
MMC_HomeDS402..................................................................................100
4.7.4.
MMC_MoveAbsolute ..............................................................................105
4.7.5.
MMC_MoveAdditive ...............................................................................111
4.7.6.
MMC_MoveRelative................................................................................117
4.7.7.
MMC_MoveVelocity................................................................................123
4.7.8.
MMC_MoveAbsoluteRepetitive..............................................................129
4.7.9.
MMC_MoveRelativeRepetitive ...............................................................134
4.7.10. MMC_MoveAdditiveRepetitive...............................................................139
4.7.11. MMC_Stop...............................................................................................144
4.8.
Single Axis Administrative Control .........................................................................149
4.8.1.
Elmo SuperImposed Motion....................................................................150
4.8.2. Special Function.......................................................................................151
4.8.3.
MMC_AxisLink .........................................................................................152
4.8.4.
MMC_AxisUnLink ....................................................................................155
4.8.5.
MMC_Dwell.............................................................................................157
4.8.6.
MMC_GetFBDepth ..................................................................................160
4.8.7.
MMC_GetTotalFbDepth ..........................................................................163
4.8.8.
MMC_Power............................................................................................166
4.8.9.
MMC_PositionProfile ..............................................................................170
4.8.10. MMC_ReadActualPosition.......................................................................173
4.8.11. MMC_ReadActualTorque ........................................................................176
4.8.12. MMC_ReadActualVelocity.......................................................................179
4.8.13. MMC_ReadAxisError...............................................................................182
4.8.14. MMC_ReadBoolParameter .....................................................................185
4.8.15. MMC_GlobalReadBoolParameter...........................................................188
4.8.16. MMC_ReadDigitalInput(s).......................................................................191
4.8.17. MMC_ReadDigitalOutputs ......................................................................196
4.8.18. MMC_ReadDigitalOutputs32Bit..............................................................199
4.8.19. MMC_ReadParameter.............................................................................202
4.8.20. MMC_GlobalReadParameter ..................................................................205
4.8.21. MMC_ReadStatus....................................................................................208
4.8.22. MMC_Reset.............................................................................................212
4.8.23. MMC_ResetAsync....................................................................................215
4.8.24. MMC_SetOverride...................................................................................217
4.8.25. MMC_SetPosition....................................................................................221
4.8.26. MMC_TouchProbeEnable........................................................................224
4.8.27. MMC_TouchProbeDisable.......................................................................227
4.8.28. MMC_WriteBoolParameter ....................................................................229
4.8.29. MMC_GlobalWriteBoolParameter..........................................................232Table of Contents
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4.8.30. MMC_WriteDigitalOutputs .....................................................................235
4.8.31. MMC_WriteDigitalOutputs32Bit.............................................................238
4.8.32. MMC_WriteParameter............................................................................241
4.8.33. MMC_GlobalWriteParameter .................................................................244
4.9.
Multiple Axes Motion Control................................................................................247
4.9.1.
Coordinate System and kinematic transformation .................................248
4.9.2. Special Robot Transformations ...............................................................264
4.9.3. Transition and Buffer Modes...................................................................273
4.9.4.
Circular Modes.........................................................................................289
4.9.5.
Move Polynomial Function Block ............................................................292
4.9.6. Splines......................................................................................................294
4.9.7.
NC_MCS_Info_Struct...............................................................................300
4.9.8.
NC_MCS_Kin_Ref_Struct.........................................................................302
4.9.9.
MMC_GroupStop.....................................................................................303
4.9.10. MMC_GroupHalt .....................................................................................307
4.9.11. MMC_MoveCircularAbsolute..................................................................311
4.9.12. MMC_MoveCircularAbsoluteCenter.......................................................319
4.9.13. MMC_MoveCircularAbsoluteBorder.......................................................326
4.9.14. MMC_MoveCircularAbsoluteRadius.......................................................332
4.9.15. MMC_MoveCircularAbsoluteAngle.........................................................339
4.9.16. MMC_MoveLinearAbsolute ....................................................................345
4.9.17. MMC_MoveLinearRelative......................................................................352
4.9.18. MMC_MoveLinearAdditive .....................................................................360
4.9.19. MMC_MoveLinearAdditiveEx..................................................................365
4.9.20. MMC_MoveLinearAbsoluteRepetitive....................................................370
4.9.21. MMC_MoveLinearRelativeRepetitive .....................................................375
4.9.22. MMC_MovePolynomAbsolute ................................................................380
4.9.23. MMC_PathSelect.....................................................................................384
4.9.24. MMC_MovePath .....................................................................................388
4.9.25. MMC_PathUnselect.................................................................................393
4.10. Multiple Axes Administrative Control ....................................................................396
4.10.1. MMC_AddAxisToGroup...........................................................................397
4.10.2. MMC_GroupDisable................................................................................400
4.10.3. MMC_GroupEnable.................................................................................403
4.10.4. MMC_GroupReadActualPosition ............................................................406
4.10.5. MMC_GroupReadActualVelocity.............................................................409
4.10.6. MMC_GroupReadError............................................................................412
4.10.7. MMC_GroupReadStatus..........................................................................415
4.10.8. MMC_GroupReset...................................................................................418
4.10.9. MMC_GroupSetOverride.........................................................................421
4.10.10. MMC_GroupSetPosition..........................................................................426
4.10.11. MMC_RemoveAxisFromGroup................................................................430
4.10.12. MMC_SetKinTransform...........................................................................433
4.10.13. MMC_SetKinTransformEx .......................................................................438Table of Contents
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4.10.14. MMC_GroupReadParameter...................................................................446
4.10.15. MMC_GroupReadBoolParameter ...........................................................449
4.10.16. MMC_GroupWriteParameter..................................................................452
4.10.17. MMC_GroupWriteBoolParameter ..........................................................455
4.10.18. MMC_GetGroupMembersInfo................................................................458
Chapter 5: Position, Velocity, Time (PVT) Motion......................................................463
5.1.
Overview.................................................................................................................463
5.2.
PV, PVT Profiler.......................................................................................................463
5.3.
Data loading ...........................................................................................................463
5.4.
PVT motion.............................................................................................................464
5.5.
On-The-Fly Mode....................................................................................................464
5.5.1.
Initializing Table.......................................................................................464
5.5.2.
Loading Data............................................................................................465
5.5.3.
Cyclic Mode .............................................................................................466
5.6.
File example............................................................................................................466
5.7.
PVT Functions.........................................................................................................466
5.7.1.
MMC_InitTable........................................................................................467
5.7.2.
MMC_LoadTableFromFile .......................................................................472
5.7.3.
MMC_UnloadTable..................................................................................477
5.7.4.
MMC_MoveTable....................................................................................480
5.7.5.
MMC_AppendPointsToTable ..................................................................485
5.7.6.
MMC_GetTableIndex ..............................................................................489
Chapter 6: API Services and Operations....................................................................494
6.1.
Main Configuration Function Blocks......................................................................496
6.1.1.
MMC_ChangeToPreOPMode ..................................................................497
6.1.2.
MMC_ChangeToOperationMode............................................................500
6.1.3.
MMC_ClearNodeFbList............................................................................503
6.1.4.
MMC_CmdStatus.....................................................................................505
6.1.5.
MMC_CloseConnection...........................................................................508
6.1.6.
MMC_Config............................................................................................510
6.1.7.
MMC_CreateSYNCTimer .........................................................................513
6.1.8.
MMC_DestroySYNCTimer........................................................................514
6.1.9.
MMC_DownloadFoE................................................................................515
6.1.10. MMC_Exit................................................................................................521
6.1.11. MMC_FreeFbStat.....................................................................................524
6.1.12. MMC_GetActiveVectorsNum..................................................................527
6.1.13. MMC_GetErrorCodeDescriptionByID......................................................530
6.1.14. MMC_GetFoEStatus................................................................................533
6.1.15. MMC_GetEnquireFbStatus......................................................................539
6.1.16. MMC_GetAxisByName ............................................................................542
6.1.17. MMC_GetGroupByName ........................................................................545
6.1.18. MMC_GetGMASOperationMode ............................................................548Table of Contents
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6.1.19. MMC_GetStatusRegister.........................................................................551
6.1.20. MMC_GetResList.....................................................................................554
6.1.21. MMC_GetResSnapshot............................................................................557
6.1.22. MMC_GetVersion....................................................................................560
6.1.23. MMC_GetVersionEx ................................................................................563
6.1.24. MMC_GetLastError..................................................................................566
6.1.25. MMC_InitConnection ..............................................................................567
6.1.26. MMC_IPCInitConnection.........................................................................569
6.1.27. MMC_LoadParam....................................................................................571
6.1.28. MMC_RpcInitConnection ........................................................................573
6.1.29. MMC_RpcInitConnectionEx.....................................................................575
6.1.30. MMC_ResetMultiAxisControl..................................................................577
6.1.31. MMC_ResExportFile ................................................................................580
6.1.32. MMC_ResImportFile................................................................................584
6.1.33. MMC_SaveParam....................................................................................588
6.1.34. MMC_SetEnquireFbStatus ......................................................................591
6.1.35. MMC_SetDefaultParameters ..................................................................593
6.1.36. MMC_SetDefaultParametersGlobal........................................................595
6.1.37. MMC_SetIsToLoadGlobalParams............................................................597
6.1.38. MMC_ShowNodeStat..............................................................................599
6.1.39. MMC_GetActiveAxesNum.......................................................................602
6.1.40. MMC_ToggleConsoleOutput...................................................................605
6.1.41. MMC_GetCyclesCounter.........................................................................607
6.1.42. MMC_WriteGroupOfParameters............................................................609
6.1.43. MMC_ReadGroupOfParameters.............................................................613
6.1.44. MMC_WaitUntilConditionFB...................................................................616
6.1.45. MMC_GetVerPath ...................................................................................620
6.1.46. MMC_DownloadVersion .........................................................................620
6.1.47. MMC_ReadDownloadVersionStatus.......................................................620
6.1.48. MMC_SetVerPath....................................................................................620
Chapter 7: Data Recording........................................................................................621
7.1. Triggering a Recording............................................................................................621
7.2. Active Range Support.............................................................................................622
7.3.
Using Data Recording in the G-MAS.......................................................................622
7.3.1.
Excluding Triggers....................................................................................623
7.3.2.
Including Triggers ....................................................................................623
7.4.
Recording Definitions and Parameters ..................................................................624
7.4.1.
Recording Data Signals Bitmask Definitions............................................624
7.4.2.
Recording Signal Parameters...................................................................624
7.4.3. Trigger Modes..........................................................................................632
7.5.
Data Recording Functions ......................................................................................634
7.5.1.
MMC_BeginRecording.............................................................................634
7.5.2.
MMC_StopRecording ..............................................................................638Table of Contents
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7.5.3.
MMC_UploadData...................................................................................641
7.5.4.
MMC_RecStatus......................................................................................644
7.5.5.
MMC_UploadDataHeader.......................................................................647
Chapter 8: Bulk Parameters Reading.........................................................................651
8.1.
Bulk Reading Functions ..........................................................................................651
8.1.1.
MMC_ConfigBulkRead.............................................................................652
8.1.2.
MMC_PerformBulkRead..........................................................................659
Chapter 9: API Events...............................................................................................665
9.1.
Communication Byte Order....................................................................................666
9.2.
Communication ASYNC Replies (Events) From Drives ...........................................666
9.3.
Download Firmware Notifications .........................................................................667
9.4.
Emergency Event....................................................................................................668
9.5.
Motion Ended Event...............................................................................................668
9.6.
Heart Beat Event ....................................................................................................669
9.7.
PDO Receive Event .................................................................................................669
9.7.1.
Event Group equals to 5 or 6...................................................................670
9.7.2.
Event Group equals to 11........................................................................670
9.7.3.
Event Group Equals to 16 or 17...............................................................671
9.7.4.
Event Group equals to 1 – 15 besides 5, 6, 11, 16 and 17 ......................671
9.8.
Home Ended Event.................................................................................................672
9.9.
Modbus Write Event ..............................................................................................672
9.10. Touch Probe Ended Event ......................................................................................672
9.11. Node Connected Event...........................................................................................673
9.12. Node Initialization Completed................................................................................673
9.13. Node Error Event....................................................................................................674
9.14. Stop ON Limit Event ...............................................................................................674
9.15. Table Underflow Event...........................................................................................674
9.16. Global Async Reply Event.......................................................................................675
9.17. Ethernet-IP Event ...................................................................................................675
9.18. Communication Event Mechanism ........................................................................676
9.19. Events Mask and Enumeration...............................................................................677
9.20. Asynchronous Events Callback ...............................................................................677
9.20.1. Callback Prototype...................................................................................678
9.20.2. Data Structure .........................................................................................678
9.20.3. Event Extraction Example........................................................................678
9.20.4. Net To local Conversion...........................................................................683
9.21. Events Function Blocks...........................................................................................684
9.21.1. MMC_ClearEventsMask ..........................................................................685
9.21.2. MMC_DisableMotionEndedEvent...........................................................688
9.21.3. MMC_EnableMotionEndedEvent............................................................691
9.21.4. MMC_GetEventsMask.............................................................................694
9.21.5. MMC_SetEventsMask..............................................................................697Table of Contents
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Chapter 10: Error Correction Mechanism....................................................................700
10.1. 2-D Error Correction...............................................................................................700
10.2. 3-D Error Correction...............................................................................................702
10.3. Data Representation ..............................................................................................703
10.3.1. 1-D Representation .................................................................................703
10.3.2. 2-D Representation .................................................................................704
10.3.3. 3-D Representation .................................................................................705
10.4. Error Correction Functions.....................................................................................706
10.4.1. MMC_LoadErrorCorrTable ......................................................................707
10.4.2. MMC_EnableErrorCorrTable ...................................................................710
10.4.3. MMC_GetErrorTableStatus.....................................................................713
10.4.4. MMC_DisableErrorCorrTable ..................................................................717
10.4.5. MMC_UnloadErrorCorrTable ..................................................................720
Chapter 11: G-MAS Hardware and Software Limits Handling.......................................723
11.1. Introduction............................................................................................................723
11.2. Interfaces................................................................................................................723
11.2.1. Software Position Limits..........................................................................724
11.2.2. Status Register.........................................................................................725
11.2.3. ACS\SingleAxis.........................................................................................726
11.2.4. MCS..........................................................................................................726
11.2.5. MCS Limit Register (32 bits) ....................................................................726
11.2.6. Stop Parameters......................................................................................727
11.2.7. Stop-on-Limit Event.................................................................................727
11.3. Function Block Pre-Insertion Behavior...................................................................728
11.3.1. Single Axis................................................................................................728
11.3.2. Multi Axes Group.....................................................................................729
11.4. Real Time Behavior.................................................................................................730
11.5. System Constraints And Limitations.......................................................................731
Chapter 12: Saving G-MAS User Program Parameters .................................................733
12.1. Introduction............................................................................................................733
12.2. The MMCUserParams C Class.............................................................................734
12.2.1. Open ........................................................................................................736
12.2.2. Close ........................................................................................................737
12.2.3. Read.........................................................................................................738
12.2.4. GetXmlFileRoot........................................................................................741
12.2.5. GetXmlFileDescrp ....................................................................................742
12.2.6. SetSpeakDbgLvl .......................................................................................743
12.2.7. UPXML Functions Code Examples...........................................................744
12.2.8. UpxmlEg.xml - Input File Example...........................................................746
12.2.9. Program output example ........................................................................747
Chapter 13: Connectivity and Configuration................................................................748Table of Contents
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13.1. Network Function Blocks........................................................................................748
13.1.1. MMC_CloseUdpChannel .........................................................................749
13.1.2. MMC_GetDefGateway ............................................................................752
13.1.3. MMC_GetDhcp........................................................................................755
13.1.4. MMC_GetIpMask ....................................................................................761
13.1.5. MMC_GetServerIp...................................................................................764
13.1.6. MMC_NetworkInfo..................................................................................767
13.1.7. MMC_NetworkScan.................................................................................773
13.1.8. MMC_OpenUdpChannel .........................................................................776
13.1.9. MMC_SetDefGateway.............................................................................779
13.1.10. MMC_SetDhcp.........................................................................................782
13.1.11. MMC_SetIpAddr......................................................................................785
13.1.12. MMC_SetIpMask .....................................................................................788
13.1.13. MMC_SetServerIp ...................................................................................791
13.2. Host Communication..............................................................................................794
13.3. Modbus Communication Function Blocks..............................................................794
13.3.1. MMC_MbusIsRunning.............................................................................795
13.3.2. MMC_MbusReadCoilsTable ....................................................................798
13.3.3. MMC_MbusReadHoldingRegisterTable ..................................................801
13.3.4. MMC_MbusReadInputsTable..................................................................804
13.3.5. MMC_MbusStartServer...........................................................................807
13.3.6. MMC_MbusStopServer...........................................................................810
13.3.7. MMC_MbusWriteCoilsTable ...................................................................813
13.3.8. MMC_MbusWriteHoldingRegisterTable .................................................816
13.4. CANbus Drive Communication...............................................................................819
13.4.1. Master – Slave Relations.........................................................................820
13.4.2. CANopen DS-402 Modes of Operation....................................................820
13.4.3. PDO Mapping...........................................................................................821
13.4.4. Using Event Groups 16 and 17 ................................................................823
13.4.5. Servo Drive Sub-Index .............................................................................824
13.4.6. SYNC and Time Stamp .............................................................................825
13.4.7. CAN Bulk Upload......................................................................................825
13.4.8. CAN – PDO, SDO Configurator.................................................................826
13.5. CANbus Function Blocks.........................................................................................826
13.5.1. MMC_CancelVirtualEncoder ...................................................................827
13.5.2. MMC_CancelParamEvPDO3....................................................................829
13.5.3. MMC_CancelParamEvPDO4....................................................................832
13.5.4. MMC_CfgRegParamEvPDO3 ...................................................................835
13.5.5. MMC_CfgRegParamEvPDO4 ...................................................................839
13.5.6. MMC_CfgUserParamEvPDO3..................................................................843
13.5.7. MMC_CfgUserParamEvPDO4..................................................................847
13.5.8. MMC_ChangeDefaultPDOConfiguration.................................................851
13.5.9. MMC_ChngOpMode................................................................................854
13.5.10. MMC_ConfigEventModePDO3................................................................857Table of Contents
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13.5.11. MMC_ConfigEventModePDO4................................................................860
13.5.12. MMC_ConfigVirtualEncoder....................................................................863
13.5.13. MMC_GetAxisByCanId.............................................................................866
13.5.14. MMC_GetPDOInfo...................................................................................869
13.5.15. MMC_GetSyncTime.................................................................................873
13.5.16. MMC_PDOGeneralRead..........................................................................876
13.5.17. MMC_PDOGeneralWrite.........................................................................879
13.5.18. MMC_ReceiveCANRawData ....................................................................882
13.5.19. MMC_SendCANRawData.........................................................................885
13.5.20. MMC_SendandReceiveCANRawData......................................................888
13.5.21. MMC_SendCmd.......................................................................................891
13.5.22. MMC_SetHeartBeatConsumer................................................................894
13.5.23. MMC_SetSyncTime .................................................................................897
13.5.24. MMC_StartBulkUpload............................................................................900
13.5.25. MMC_GetBulkUploadStatus....................................................................903
13.5.26. MMC_GetBulkUploadData......................................................................906
13.6. EtherCAT Drive Communication.............................................................................909
13.6.1. Elmo EtherCAT.........................................................................................910
13.6.2. Elmo Slave Drives.....................................................................................911
13.6.3. EtherCAT with G-MAS..............................................................................912
13.6.4. EtherCAT Gateway...................................................................................913
13.7. EtherCAT and CANbus Function Blocks..................................................................913
13.7.1. MMC_DisableEthercatConfigMode.........................................................914
13.7.2. MMC_EnableEthercatConfigMode..........................................................917
13.7.3. MMC_ECATIODisableDIChangedEvent ...................................................919
13.7.4. MMC_ECATIOEnableDIChangedEvent ....................................................922
13.7.5. MMC_ECATIOReadDigitalInput...............................................................925
13.7.6. MMC_ECATIOReadAnalogInput..............................................................928
13.7.7. MMC_ECATIOWriteAnalogOutput..........................................................931
13.7.8. MMC_ECATIOWriteDigitalOutput...........................................................934
13.7.9. MMC_GetCommStatistics.......................................................................937
13.7.10. MMC_GetEthercatCommStatistics..........................................................941
13.7.11. MMC_GetCommDiagnostics...................................................................950
13.7.12. MMC_GetReactorStatistics.....................................................................954
13.7.13. MMC_IsEthercatConfigMode..................................................................957
13.7.14. MMC_ResetCommDiagnostics................................................................960
13.7.15. MMC_ResetCommStatistics....................................................................963
13.7.16. MMC_SendSDO.......................................................................................966
13.7.17. MMC_SendSdoAsync...............................................................................970
13.8. Interpreter Command Functions............................................................................973
13.8.1. Get Function – Asynchronous Mode.......................................................973
13.8.2. MMC_ElmoExecuteLabel.........................................................................975
13.8.3. MMC_ElmoSetParameter........................................................................978
13.8.4. MMC_ElmoGetParameter.......................................................................980Table of Contents
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13.8.5. MMC_ElmoGetArray ...............................................................................982
13.8.6. MMC_ElmoGetArrayAndRetrieveData....................................................984
13.8.7. MMC_ElmoGetParameterAndRetrieveData ...........................................986
13.8.8. MMC_ElmoSetArray................................................................................988
13.8.9. MMC_ElmoQueryOperationFIFOIndex ...................................................990
13.8.10. MMC_ElmoQueryOperationFIFORetrieveData.......................................991
13.8.11. MMC_ElmoQueryOperationFIFOIndexReset ..........................................993
13.8.12. MMC_ElmoCall ........................................................................................994
13.9. EtherNetIP Communication....................................................................................996
13.9.1. Terminology.............................................................................................996
13.9.2. Configuring the Ethernet IP Device as Adapter.......................................998
13.9.3. Ethernet/IP Setup..................................................................................1003
13.10. EtherNetIP Functions............................................................................................1006
13.10.1. EipGetAdpTagRefByName.....................................................................1007
13.10.2. EipWriteAdpTag.....................................................................................1009
13.10.3. EipReadAdpTag......................................................................................1012
13.10.4. EipGetAssemblyRefByInstance..............................................................1015
13.10.5. EipGetAssemblyRefByName..................................................................1017
13.10.6. EipSetAssembly .....................................................................................1019
13.10.7. EipGetAssembly.....................................................................................1021
13.10.8. EipGetDevTagRefByName .....................................................................1023
13.10.9. EipSetDevTag.........................................................................................1025
13.10.10. EipGetDevTag....................................................................................1028
13.10.11. EipReadDevTagData ..........................................................................1030
13.10.12. EipSyncGetDevTag.............................................................................1032
13.10.13. EipCheckDevTagReply .......................................................................1034
13.10.14. EipOpenSession.................................................................................1036
13.10.15. EIPCloseSession.................................................................................1038
13.10.16. EipCreate ...........................................................................................1040
13.10.17. EipDestroy .........................................................................................1042
13.10.18. Functions and Implementation Example ..........................................1044
13.11. DS-401 CANbus I/O Communications ..................................................................1049
13.12. DS-401 Function Blocks........................................................................................1049
13.12.1. MMC_CancelGeneralRPDO3 .................................................................1050
13.12.2. MMC_CancelGeneralRPDO4 .................................................................1053
13.12.3. MMC_CancelGeneralTPDO3 .................................................................1056
13.12.4. MMC_CancelGeneralTPDO4 .................................................................1058
13.12.5. MMC_ConfigGeneralRPDO3..................................................................1061
13.12.6. MMC_ConfigGeneralRPDO4..................................................................1064
13.12.7. MMC_ConfigGeneralTPDO3..................................................................1067
13.12.8. MMC_ConfigGeneralTPDO4..................................................................1070
13.12.9. MMC_DisableDS401DIChangedEvent...................................................1073
13.12.10. MMC_EnableDS401DIChangedEvent................................................1076
13.12.11. MMC_ReadDS401DIGroup................................................................1079Table of Contents
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13.12.12. MMC_ReadDS401DInput ..................................................................1082
13.12.13. MMC_WriteDS401DOGroup .............................................................1085
13.12.14. MMC_WriteDS401DOutput ..............................................................1088
Chapter 14: Error Handling....................................................................................... 1091
14.1. Buffered Errors.....................................................................................................1092
14.2. G-MAS Error IDs....................................................................................................1093
14.2.1. Error correction error IDs......................................................................1109
14.3. Continued G-MAS Error IDs..................................................................................1110
14.4. G-MAS PVT Motion Error IDs................................................................................1119
14.5. Continued G-MAS Error IDs..................................................................................1120
14.6. NC Driver Warning IDs..........................................................................................1130
14.7. NC Profiler Error IDs.............................................................................................1131
14.8. NC Profiler Caution IDs.........................................................................................1138
14.9. Internal Library Error IDs......................................................................................1140
14.10. Internal Library Warning IDs ................................................................................1143
14.11. EtherNetIP Communication Error IDs ..................................................................1144
Chapter 15: Programming in C .............................................................................. 1146
15.1. Introduction..........................................................................................................1146
15.1.1. CMMCException....................................................................................1147
15.2. The CMMCAxis class.............................................................................................1148
15.2.1. CMMCDS406..........................................................................................1149
15.2.2. CMMCAxis Class Functions Code Examples ..........................................1150
15.2.3. DisableMotionEndedEvent....................................................................1151
15.2.4. EnableMotionEndedEvent.....................................................................1151
15.2.5. SetDefaultManufacturerParameters.....................................................1153
15.2.6. GetFbDepth ...........................................................................................1154
15.2.7. GetAxisByName.....................................................................................1155
15.2.8. GetGroupAxisByName...........................................................................1155
15.2.9. SetBoolParameter .................................................................................1157
15.2.10. SetParameter.........................................................................................1158
15.2.11. GetBoolParameter.................................................................................1159
15.2.12. GetParameter........................................................................................1160
15.3. The CMMCSingleAxis class...................................................................................1161
15.3.1. CMMCSingleAxis Class Functions Code Example 1 ...............................1163
15.3.2. CMMCSingleAxis Class Functions Code Example 2 ...............................1167
15.3.3. CMMCSingleAxis Class Functions Code Example 3 ...............................1179
15.3.4. SetDefaultParams..................................................................................1191
15.3.5. SetDefaultHomeDS402Params..............................................................1196
15.3.6. SetDefaultHomeParams........................................................................1197
15.3.7. Home .....................................................................................................1198
15.3.8. HomeDS402...........................................................................................1199
15.3.9. MoveAbsolute .......................................................................................1201Table of Contents
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15.3.10. MoveAdditive ........................................................................................1205
15.3.11. MoveRelative.........................................................................................1207
15.3.12. MoveVelocity.........................................................................................1209
15.3.13. MoveAbsoluteRepetitive.......................................................................1210
15.3.14. MoveRelativeRepetitive ........................................................................1213
15.3.15. MoveAdditiveRepetitive........................................................................1216
15.3.16. PositionProfile .......................................................................................1219
15.3.17. TouchProbeDisable................................................................................1220
15.3.18. TouchProbeEnable.................................................................................1220
15.3.19. SetOpMode............................................................................................1221
15.3.20. GetOpMode...........................................................................................1221
15.3.21. PowerOn................................................................................................1224
15.3.22. PowerOff................................................................................................1224
15.3.23. GetActualPosition..................................................................................1225
15.3.24. GetActualVelocity..................................................................................1225
15.3.25. GetActualTorque ...................................................................................1226
15.3.26. Halt ........................................................................................................1226
15.3.27. Stop........................................................................................................1227
15.3.28. GetAxisError ..........................................................................................1228
15.3.29. GetDigInput[s] .......................................................................................1228
15.3.30. GetDigOutputs32Bit ..............................................................................1229
15.3.31. GetDigOutputs.......................................................................................1229
15.3.32. SetDigOutputs32Bit...............................................................................1230
15.3.33. SetDigOutputs .......................................................................................1231
15.3.34. SetOverride............................................................................................1232
15.3.35. ConfigPDO..............................................................................................1233
15.3.36. CancelPDO.............................................................................................1235
15.3.37. ConfigPDOEventMode...........................................................................1235
15.3.38. ChangeDefaultPDOConfig......................................................................1236
15.3.39. ElmoSetAsyncParam..............................................................................1237
15.3.40. ElmoGetAsyncIntParam.........................................................................1239
15.3.41. ElmoGetAsyncFloatParam.....................................................................1241
15.3.42. ElmoGetAsyncIntArray ..........................................................................1242
15.3.43. ElmoGetAsyncFloatArray.......................................................................1243
15.3.44. ElmoSetAsyncArray ...............................................................................1244
15.3.45. ElmoGetSyncParam...............................................................................1245
15.3.46. ElmoGetSyncArray.................................................................................1246
15.3.47. ElmoCallAsync........................................................................................1247
15.3.48. ElmoExecute ..........................................................................................1248
15.3.49. ElmoIsReplyAwaiting .............................................................................1249
15.3.50. ElmoGetReply ........................................................................................1249
15.3.51. ConfigVirtualEncoder.............................................................................1250
15.3.52. CancelVirtualEncoder............................................................................1251
15.3.53. SetPosition.............................................................................................1251Table of Contents
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15.3.54. SetParameter.........................................................................................1252
15.3.55. SetBoolParameter .................................................................................1253
15.3.56. AxisLink..................................................................................................1254
15.3.57. AxisUnLink .............................................................................................1255
15.3.58. GetBoolParameter.................................................................................1255
15.3.59. GetParameter........................................................................................1256
15.4. The CMMCGroupAxis class...................................................................................1257
15.4.1. CMMCGroupAxis Class Functions Code Example 1...............................1259
15.4.2. CMMCGroupAxis Class Functions Code Example 2...............................1269
15.4.3. CMMCGroupAxis Class Functions Code Example 3...............................1281
15.4.4. CMMCGroupAxis Class Functions Code Example 4...............................1293
15.4.5. SetDefaultParams..................................................................................1301
15.4.6. SetKinTransform....................................................................................1303
15.4.7. RemoveAxisFromGroup.........................................................................1304
15.4.8. MoveCircularAbsolute...........................................................................1305
15.4.9. MoveCircularAbsoluteCenter................................................................1307
15.4.10. MoveCircularAbsoluteBorder................................................................1308
15.4.11. MoveCircularAbsoluteRadius................................................................1309
15.4.12. MoveCircularAbsoluteAngle..................................................................1310
15.4.13. MoveLinearAbsolute .............................................................................1311
15.4.14. MoveLinearRelative...............................................................................1312
15.4.15. GroupSetOverride .................................................................................1313
15.4.16. GroupSetPosition...................................................................................1314
15.4.17. GroupReadStatus...................................................................................1315
15.4.18. GroupEnable..........................................................................................1316
15.4.19. GroupDisable.........................................................................................1316
15.4.20. GroupReset............................................................................................1317
15.4.21. GroupReadActualVelocity .....................................................................1318
15.4.22. GroupReadError ....................................................................................1319
15.4.23. AddAxisToGroup....................................................................................1320
15.4.24. GroupReadActualPosition .....................................................................1321
15.4.25. GroupStop .............................................................................................1322
15.4.26. GroupHalt..............................................................................................1323
15.4.27. MoveLinearAbsoluteRepetitive.............................................................1324
15.4.28. MoveLinearRelativeRepetitive ..............................................................1325
15.4.29. MoveLinearAdditive ..............................................................................1326
15.4.30. MovePath ..............................................................................................1327
15.4.31. PathDeselect..........................................................................................1328
15.4.32. PathSelect..............................................................................................1328
15.4.33. SetCartesianKinematic...........................................................................1329
15.4.34. SetDeltaRobotKinematic .......................................................................1329
15.5. The CMMCPPGlobal class.....................................................................................1330
15.5.1. CMMCPPGlobal Class Functions Code Example....................................1332
15.5.2. RegisterRTE............................................................................................1342Table of Contents
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15.5.3. RegisterWarningClbk .............................................................................1342
15.5.4. SetThrowFlag.........................................................................................1343
15.5.5. SetThrowWarningFlag ...........................................................................1343
15.5.6. SetPrintErrorFlag ...................................................................................1344
15.5.7. SetPrintWarningFlag..............................................................................1344
15.5.8. ThrowMessage ......................................................................................1345
15.5.9. SetConnectionType ...............................................................................1345
15.5.10. SetMessageFileName ............................................................................1346
15.5.11. GetSyncTime..........................................................................................1347
15.5.12. SetSyncTime ..........................................................................................1348
15.5.13. CreateSYNCTimer ..................................................................................1349
15.5.14. DestroySYNCTimer ................................................................................1350
15.5.15. GetConnectionReg.................................................................................1350
15.5.16. ConfigBulkRead......................................................................................1351
15.5.17. PerformBulkRead...................................................................................1353
15.5.18. RegisterConnection ...............................................................................1354
15.5.19. GetConnectionReg ClearConnectionReg..............................................1354
15.6. The CMMCConnection class.................................................................................1355
15.6.1. CMMCConnection Class Functions Code Example 1.............................1358
15.6.2. CMMCConnection Class Functions Code Example 2.............................1368
15.6.3. Event Type Definitions...........................................................................1380
15.6.4. ConnectIPC ............................................................................................1382
15.6.5. ConnectIPCEx.........................................................................................1382
15.6.6. ConnectRPC ...........................................................................................1383
15.6.7. ConnectRPCEx........................................................................................1384
15.6.8. SetGlobalBoolParameter.......................................................................1385
15.6.9. GetGlobalBoolParameter ......................................................................1386
15.6.10. GetGlobalParameter..............................................................................1390
15.6.11. SetIsToLoadGlobalParams.....................................................................1391
15.6.12. SetHeartBeatConsumer.........................................................................1392
15.6.13. CallbackFunc..........................................................................................1392
15.6.14. RegisterEventCallback ...........................................................................1393
15.6.15. RegisterSyncTimerFunction...................................................................1394
15.7. The CMMCNetwork class.....................................................................................1395
15.7.1. CMMCNetwork Class Functions Code Example ....................................1396
15.7.2. GetCommDiagnostics ResetCommDiagnostics.....................................1406
15.7.3. ResetCommStatistics.............................................................................1406
15.7.4. GetNetworkInfo.....................................................................................1407
15.8. The CMMCHostComm class.................................................................................1408
15.8.1. CMMCHostComm Class Functions Code Example 1 .............................1409
15.8.2. MbusStartServer....................................................................................1421
15.8.3. MbusStopServer....................................................................................1422
15.8.4. MbusReadHoldingRegisterTable ...........................................................1423
15.8.5. MbusWriteHoldingRegisterTable ..........................................................1424Table of Contents
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15.8.6. MbusIsRunning......................................................................................1424
15.8.7. MbusReadCoilsTable .............................................................................1425
15.8.8. MbusWriteCoilsTable ............................................................................1426
15.8.9. MbusReadInputsTable...........................................................................1427
15.8.10. SetModbus[LongSwapped][Short] ........................................................1428
15.9. The CMMCModbusBuffer class............................................................................1429
15.10. The CMMCModbusSwapBuffer class...................................................................1430
15.11. The CMMCNode class...........................................................................................1431
15.11.1. CMMCNode Class Functions Code Example 1.......................................1432
15.11.2. Reset......................................................................................................1444
15.11.3. ReadStatus.............................................................................................1445
15.11.4. SendSDO................................................................................................1446
15.11.5. SendSDODownload................................................................................1447
15.11.6. SendSDOUpload ....................................................................................1448
15.11.7. SendSDOUploadAsync...........................................................................1449
15.11.8. RetreiveSDOUploadAsync .....................................................................1450
15.11.9. PDOGeneralRead...................................................................................1450
15.11.10. PDOGeneralWrite..............................................................................1451
15.11.11. GetPDOInfo .......................................................................................1452
15.12. The CMMCBulkRead class....................................................................................1453
15.12.1. CMMCBulkRead Source Code Examples ...............................................1454
15.12.2. CMMCBulkRead.....................................................................................1455
15.12.3. Config.....................................................................................................1456
15.12.4. BulkRead................................................................................................1456
15.13. The CMMCMotionAxis class.................................................................................1457
15.14. The CMMCPVT class.............................................................................................1458
15.14.1. CMMCPVT Source Code Examples........................................................1459
15.14.2. InitPVTTable...........................................................................................1460
15.14.3. LoadPVTTable ........................................................................................1461
15.14.4. AppendPointsToPVTTable .....................................................................1462
15.14.5. MovePVT ...............................................................................................1463
15.14.6. UnloadPVTTable ....................................................................................1463
15.15. The MMCEIPSession class ....................................................................................1464
15.15.1. EIPCloseSession .....................................................................................1465
15.15.2. EipCreate ...............................................................................................1465
15.15.3. EipDestroy .............................................................................................1466
15.15.4. EipOpenSession .....................................................................................1466
15.16. The CMMCEIPDataType class...............................................................................1467
15.16.1. EthernetIP Source Code Examples ........................................................1468
15.16.2. EipTagInit...............................................................................................1474
15.16.3. EipSetTag ...............................................................................................1474
15.16.4. EipGetTag ..............................................................................................1475
15.16.5. EipCheckReply .......................................................................................1476
15.16.6. EipGetData.............................................................................................1476Table of Contents
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15.17. TCP/IP and UDP/IP C User Libraries .................................................................1477
15.18. The CMMCUDP class............................................................................................1478
15.18.1. Synchronous and Asynchronous Behaviour..........................................1478
15.18.2. Mode Of Operation ...............................................................................1478
15.18.3. UDP Code Examples...............................................................................1479
15.18.4. CMMCUDP Class Functions Code Example ...........................................1481
15.18.5. Create ....................................................................................................1491
15.18.6. SendTo...................................................................................................1491
15.18.7. ReceiveFrom..........................................................................................1492
15.18.8. IsWriteable ............................................................................................1492
15.18.9. IsReady ..................................................................................................1493
15.18.10. Connect .............................................................................................1493
15.18.11. Send...................................................................................................1494
15.18.12. Receive ..............................................................................................1495
15.18.13. Create (overloaded) ..........................................................................1496
15.18.14. GetIP..................................................................................................1496
15.18.15. SetMaxSize ........................................................................................1497
15.18.16. SetTimeout........................................................................................1497
15.19. The CMMCTCP class.............................................................................................1498
15.19.1. Synchronous and Asynchronous Behaviour..........................................1498
15.19.2. Mode of Operation................................................................................1498
15.19.3. Accept....................................................................................................1499
15.19.4. IsReadable .............................................................................................1499
15.19.5. IsWritable ..............................................................................................1500
15.19.6. Connect..................................................................................................1501
15.19.7. Send.......................................................................................................1502
15.19.8. Receive ..................................................................................................1503
15.19.9. Create ....................................................................................................1504
15.19.10. TCP Code Examples...........................................................................1505
15.20. The CMMCEoE Class.............................................................................................1507
15.20.1. CMMCEoE Class Functions Code Example.............................................1508
15.20.2. ElmoSetAsyncArray ...............................................................................1518
15.20.3. ElmoSetAsyncParameter.......................................................................1519
15.20.4. ElmoSetArray.........................................................................................1520
15.20.5. ElmoSetParameter.................................................................................1521
15.20.6. ElmoGetAsyncArray...............................................................................1522
15.20.7. ElmoGetAsyncParameter ......................................................................1522
15.20.8. ElmoGetArray ........................................................................................1523
15.20.9. ElmoGetParameter................................................................................1524
15.20.10. ElmoReadData...................................................................................1525
15.20.11. EoE Code Examples ...........................................................................1526
Chapter 16: IEC 61131-3 Special Functions................................................................ 1528
16.1.1. ElmoIECLibVers......................................................................................1528Table of Contents
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16.1.2. ElmoIECRTVers ......................................................................................1528
16.1.3. Elmo_RetainLoad...................................................................................1529
16.1.4. Elmo_RetainSave...................................................................................1530
16.1.5. MMC_SetImmediateExec ......................................................................1531
Chapter 17: Appendix .............................................................................................. 1532
17.1. Axis Parameters (Explanations)............................................................................1532
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