Tektronix M5000 User manual

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Software

Model 5000

Software Developer’ s Guide V1.1

81840 Rev. B / 6-98

WARRANTY

Hardware

Keithley Instruments, Inc. warrants that, for a period of one (1) year from the date of shipment (3 years for Models 2000, 2001, 2002, and 2010), the Keithley Hardware product will be free from defects in materials or workmanship. This warranty will be honored provided the defect has not been caused by use of the Keithley Hardware not in accordance with the instructions for the product. This warranty shall be null and void upon: (1) any modiﬁcation of Keithley Hardware that is made by other than Keithley and not approved in writing by Keithley or (2) operation of the Keithley Hardware outside of the environmental speciﬁcations therefore.

Upon receiving notiﬁcation of a defect in the Keithley Hardware during the warranty period, Keithley will, at its option, either repair or replace such Keithley Hardware. During the ﬁrst ninety days of the warranty period, Keithley will, at its option, supply the necessary on site labor to return the product to the condition prior to the notiﬁcation of a defect. Failure to notify Keithley of a defect during the warranty shall relieve Keithley of its obligations and liabilities under this warranty.

Other Hardware

The portion of the product that is not manufactured by Keithley (Other Hardware) shall not be covered by this w arranty, and Keithley shall have no duty of obligation to enforce any manufacturers' warranties on behalf of the customer. On those other manufacturers’ products that Keithley purchases for resale, Keithley shall have no duty of obligation to enforce any manufacturers’ warranties on behalf of the customer.

Software

Keithley warrants that for a period of one (1) year from date of shipment, the Keithle y produced portion of the software or ﬁrmw are (Keithley Software) will conform in all material respects with the published speciﬁcations provided such Keithley Software is used on the product for which it is intended and otherwise in accordance with the instructions therefore. Keithley does not warrant that operation of the Keithley Softw are will be uninterrupted or error-free and/or that the Keithley Software will be adequate for the customer's intended application and/or use. This warranty shall be null and v oid upon an y modiﬁcation of the K eithle y Software that is made by other than Keithley and not approved in writing by Keithley.

If Keithley receiv es notiﬁcation of a K eithle y Software nonconformity that is co v ered by this warranty during the w arranty period, K eithle y will review the conditions described in such notice. Such notice must state the published speciﬁcation(s) to which the Keithley Software fails to conform and the manner in which the Keithley Software fails to conform to such published speciﬁcation(s) with sufﬁcient speciﬁcity to permit K eithle y to correct such nonconformity. If Keithley determines that the Keithley Software does not conform with the published speciﬁcations, Keithley will, at its option, provide either the programming services necessary to correct such nonconformity or develop a program change to bypass such nonconformity in the Keithley Software. Failure to notify Keithley of a nonconformity during the warranty shall relieve Keithley of its obligations and liabilities under this warranty.

Other Software

OEM software that is not produced by Keithley (Other Software) shall not be covered by this w arranty, and Keithley shall have no duty or obligation to enforce any OEM's warranties on behalf of the customer.

Other Items

Keithley warrants the following items for 90 days from the date of shipment: probes, cables, rechar geable batteries, diskettes, and documentation.

Items not Covered under Warranty

This warranty does not apply to fuses, non-rechargeable batteries, damage from battery leakage, or problems arising from normal wear or failure to follow instructions.

Limitation of Warranty

This warranty does not apply to defects resulting from product modiﬁcation made by Purchaser without Keithley's express written consent, or by misuse of any product or part.

Disclaimer of Warranties

EXCEPT FOR THE EXPRESS WARRANTIES ABOVE KEITHLEY DISCLAIMS ALL OTHER WARRANTIES, EXPRESS OR IMPLIED, INCLUDING WITHOUT LIMIT ATION, ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. KEITHLEY DISCLAIMS ALL WARRANTIES WITH RESPECT TO THE OTHER HARDWARE AND OTHER SOFTWARE.

Limitation of Liability

KEITHLEY INSTRUMENTS SHALL IN NO EVENT, REGARDLESS OF CAUSE, ASSUME RESPONSIBILITY FOR OR BE LIABLE FOR: (1) ECONOMICAL, INCIDENTAL, CONSEQUENTIAL, INDIRECT, SPECIAL, PUNITIVE OR EXEMPLARY DAMAGES, WHETHER CLAIMED UNDER CONTRACT, TORT OR ANY OTHER LEGAL THEORY, (2) LOSS OF OR DAMAGE TO THE CUSTOMER'S DATA OR PROGRAMMING, OR (3) PENAL TIES OR PENALTY CLAUSES OF ANY DESCRIPTION OR INDEMNIFICA TION OF THE CUST OMER OR OTHERS FOR COSTS, DAMAGES, OR EXPENSES RELATED TO THE GOODS OR SERVICES PROVIDED UNDER THIS WARRANTY.

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Model 5000

Software Developer’s Guide

Document Number: 81840 Rev. B

Manual Print History

The print history shown below lists the printing dates of all Revisions and Addenda created for this manual. The Revision Level letter increases alphabetically as the manual undergoes subsequent updates. Addenda, which are released between Revisions, contain important change information that the user should incorporate immediately into the manual. Addenda are numbered sequentially. When a new Revision is created, all Addenda associated with the previous Revision of the manual are incorporated into the new Revision of the manual. Each new Revision includes a revised copy of this print history page.

Revision A (Document Number 81840)...............................................................................................August 1996

Revision B (Document Number 81840)................................................................................................... June 1998

All Keithley product names are trademarks or registered trademarks of Keithley Instruments, Inc. Other brand and product names are trademarks or registered trademarks of their respective holders.

About this manual

Quality control

Keithley Instruments manufactures quality and versatile products, and we want our documentation to reﬂect that same quality. We take great pains to publish manuals that are informative and well organized. We also strive to make our documentation easy to understand for the novice as well as the expert.

If you have comments or suggestions about how to mak e this (or other) manuals easier to understand, or if you ﬁnd an error or an omission, please ﬁll out and mail the reader response card at the end of this manual (postage is prepaid).

Conventions

Procedural

Keithley Instruments uses various conventions throughout this manual. You should become familiar with these conventions as they are used to draw attention to items of importance and items that will generally assist you in understanding a particular area.

WARNING

CAUTION

NOTE

When referring to pin numbering, pin 1 is always associated with a square solder pad on the actual component footprint.

A warning is used to indicate that an action must be done with great care. Otherwise, personal injury may result.

A caution is used to indicate that an action may cause minor equipment damage or the loss of data if not performed carefully.

A note is used to indicate important information needed to perform an action or information that is nice-to-know.

Notational

A forward slash (/) preceding a signal name denotes an active LOW signal. This is a standard Intel convention.

Caret brackets (<>) denote keystrokes. For instance <Enter> represents carriage-return-withline-feed keystroke, and <Esc> represents an escape keystroke.

Driver routine declarations are shown for C and BASIC (where applicable). Hungarian notation is used for software parameters. In other words, the parameter type is

denoted by a one or two letter lower case preﬁx:

c character, signed or unsigned s short integer, signed

w short integer, unsigned

l long integer, signed

dw long integer, unsigned

For example, wBoardAddr would be an unsigned short integer parameter.

An additional p preﬁx before the type preﬁx indicates that the parameter is being passed by reference instead of by value. (A pointer to the variable is being passed instead of the variable itself).

For example, pwErr would be an unsigned short integer parameter passed by reference. This notation is also used in BASIC although no distinction between signed and unsigned vari-

ables exists. In BASIC, all parameters also have a type sufﬁx:

$ character, signed or unsigned

% integer, signed or unsigned & long integer, signed or unsigned

Routine names are printed in bold font when they appear outside of function declarations, e.g., ReadStatus.

Parameter names are printed in italics when they appear outside of function declarations, e.g. sControls.

Constants are deﬁned with all caps, e.g., ALL_AXES. Underscores {_} must be replaced by periods {.} for use with BASIC.

Combinational logic and hexadecimal notation is in C convention in many cases. For example, the hexadecimal number 7Ch is shown as 0x7C.

C relational operators for OR and AND functions — “| |” and “&&” — are used to minimize the confusion associated with grammar.

Table of Contents

1 Programming Overview

Installing the 5000 software ............................................................................................................................... 1-2

Compiling and linking ....................................................................................................................................... 1-2

Microsoft C or Microsoft QuickC .............................................................................................................. 1-2

Borland or Turbo C/C++ ............................................................................................................................ 1-3

Microsoft QuickBASIC ............................................................................................................................. 1-3

Borland Turbo Pascal ................................................................................................................................. 1-4

Programming fundamentals ............................................................................................................................... 1-4

2 Example Programs

Introduction ........................................................................................................................................................ 2-2

Trapezoidal point-to-point move ........................................................................................................................ 2-2

Move program in C .................................................................................................................................... 2-2

Move program in BASIC ........................................................................................................................... 2-3

Move program in Pascal ............................................................................................................................ 2-4

Velocity mode .................................................................................................................................................... 2-5

Homing ............................................................................................................................................................... 2-6

Reading position ................................................................................................................................................ 2-8

3 Move Parameters

Ranges ................................................................................................................................................................ 3-2

Velocity units ..................................................................................................................................................... 3-2

Acceleration/deceleration units .......................................................................................................................... 3-3

Distance units ..................................................................................................................................................... 3-3

4 Interrupt Handling

Introduction ........................................................................................................................................................ 4-2

Enabling interrupts ..................................................................................................................................... 4-2

Interrupts in C or Pascal ..................................................................................................................................... 4-2

Interrupts in BASIC ........................................................................................................................................... 4-2

General notes on using interrupts ....................................................................................................................... 4-3

5 Routine Summary

Introduction ........................................................................................................................................................ 5-2

Initialization and hardware control routines ....................................................................................................... 5-2

Axis command routines ...................................................................................................................................... 5-2

Axis data reporting routines ............................................................................................................................... 5-3

A Driver Routine Descriptions

Notational conventions ...................................................................................................................................... A-3

Acceleration ....................................................................................................................................................... A-3

Load acceleration register .......................................................................................................................... A-3

Clockoff ............................................................................................................................................................. A-4

Disable motor output ................................................................................................................................. A-4

Deceleration ....................................................................................................................................................... A-5

Load deceleration register ......................................................................................................................... A-5

DisableIRQ ........................................................................................................................................................ A-6

Disable IRQ lines ...................................................................................................................................... A-6

Distance ............................................................................................................................................................. A-6

Load distance register ................................................................................................................................ A-6

DownPoint ......................................................................................................................................................... A-7

Load downpoint register ............................................................................................................................ A-7

EnableIRQ ......................................................................................................................................................... A-7

Enable IRQ line ......................................................................................................................................... A-7

InitBoard ............................................................................................................................................................ A-8

Initialize board ........................................................................................................................................... A-8

InitSw ................................................................................................................................................................ A-9

Initialize software ...................................................................................................................................... A-9

InputAlertOff ..................................................................................................................................................... A-9

Disable input interrupt ............................................................................................................................... A-9

InputAlertOn .................................................................................................................................................... A-10

Enable input interrupt .............................................................................................................................. A-10

InterruptHooks ................................................................................................................................................. A-10

Install interrupt hooks .............................................................................................................................. A-10

IOControl ......................................................................................................................................................... A-11

Write I/O control register ........................................................................................................................ A-11

ISBusy ............................................................................................................................................................. A-11

Read busy bit ........................................................................................................................................... A-11

LowVelocity .................................................................................................................................................... A-12

Load start velocity register ...................................................................................................................... A-12

ModeSelect ...................................................................................................................................................... A-12

Load mode select register ........................................................................................................................ A-12

Multiplier ......................................................................................................................................................... A-13

Load multiplier register ........................................................................................................................... A-13

OutputHigh ...................................................................................................................................................... A-14

Set GP output HIGH ................................................................................................................................ A-14

OutputLow ....................................................................................................................................................... A-14

Set GP output LOW ................................................................................................................................. A-14

PulsesLeft ........................................................................................................................................................ A-15

Return distance left .................................................................................................................................. A-15

ReadState ......................................................................................................................................................... A-15

Read state buffer ...................................................................................................................................... A-15

ReadStatus ....................................................................................................................................................... A-16

Read status register .................................................................................................................................. A-16

StartStop .......................................................................................................................................................... A-17

Load start-stop register ............................................................................................................................ A-17

Velocity1 ......................................................................................................................................................... A-18

Load FH1 register ................................................................................................................................... A-18

Velocity2 ......................................................................................................................................................... A-19

Load FH2 register ................................................................................................................................... A-19

WriteReg ......................................................................................................................................................... A-19

Write register ........................................................................................................................................... A-19

Proﬁle Utility

Executing the program ...................................................................................................................................... B-2

Base address .............................................................................................................................................. B-2

Color number ............................................................................................................................................ B-2

Main menu ................................................................................................................................................ B-3

Navigating inside the program .................................................................................................................. B-3

Monitoring axis configuration .................................................................................................................. B-3

Single axis menu ....................................................................................................................................... B-4

Global menu .............................................................................................................................................. B-8

Save file/load file ...................................................................................................................................... B-9

Clock ......................................................................................................................................................... B-9

Register display ....................................................................................................................................... B-10

Exit program ........................................................................................................................................... B-10

C Visual C++ Demonstration Program

Product overview .............................................................................................................................................. C-2

System requirements ......................................................................................................................................... C-2

Installation ......................................................................................................................................................... C-2

Operation ........................................................................................................................................................... C-2

Program architecture ......................................................................................................................................... C-3

D Visual BASIC Demonstration Program

User’s guide ...................................................................................................................................................... D-2

Product overview ...................................................................................................................................... D-2

Installation ................................................................................................................................................. D-2

Operation ................................................................................................................................................... D-3

Menu items ................................................................................................................................................ D-5

Developer’s guide ............................................................................................................................................. D-6

Program architecture ................................................................................................................................. D-6

Program organization ................................................................................................................................ D-7

iii

List of Illustrations

A Driver Routine Descriptions

Figure A-1 State buffer .............................................................................................................................................. A-15

Figure A-2 Status buffer ............................................................................................................................................ A-16

Figure A-3 Command buffer ..................................................................................................................................... A-17

B Proﬁle Utility

Figure B-1 Single axis menu screen ............................................................................................................................ B-3

Figure B-2 Active axis: a menu screen ........................................................................................................................ B-4

Figure B-3 Trapezoidal parameters ............................................................................................................................. B-5

Figure B-4 Status buffer .............................................................................................................................................. B-7

Figure B-5 State buffer ................................................................................................................................................ B-7

Figure B-6 Execute global move menu screen ............................................................................................................ B-8

Figure B-7 Save file/load file ...................................................................................................................................... B-9

C Visual C++ Demonstration Program

Figure C-1 5000 C++ demonstration program main user window .............................................................................. C-3

D Visual BASIC Demonstration Program

Figure D-1 5000 Profiler main user window ............................................................................................................... D-3

Figure D-2 Flow diagram for 5000 Visual BASIC Profiler ........................................................................................ D-6

Figure D-3 Text box value assignments for 5000 Profiler main user window ............................................................ D-7

List of Tables

3 Move Parameters

Table 3-1 Permissible velocity and acceleration ranges ............................................................................................. 3-2

5 Routine Summary

Table 5-1 Notational conventions .............................................................................................................................. 5-2

B Proﬁle Utility

Table B-1 PRO5000 color selections ......................................................................................................................... B-2

Table B-2 Selecting a clock speed ............................................................................................................................. B-9

D Visual BASIC Demonstration Program

Table D-1 Physical data fields .................................................................................................................................... D-4

Table D-2 Velocity data fields ................................................................................................................................... D-5

Table D-3 Accel and decel data fields ........................................................................................................................ D-5

Table D-4 Miscellaneous data fields .......................................................................................................................... D-5

Table D-5 Code module descriptions ......................................................................................................................... D-8

Table D-6 Form module descriptions ......................................................................................................................... D-8

vii

Programming Overview

1-2 Programming Overview Model 5000 Software Developer’s Guide

Installing the 5000 software

The 5000 driver includes the batch ﬁle, INSTALL.BAT, to install the software. The batch ﬁle takes one argument, which is the path where you will install the software. For e xample, to install the software on the C drive into a subdirectory called 5000, enter on the command line:

install c:000

Use the same path for the installation of all drivers. This puts all include ﬁles, examples, etc., together. This is especially important when using QuickB ASIC, where you will ha ve to combine many libraries into a quick library.

A BASIC subdirectory, a C subdirectory, and a Pascal subdirectory will be created off the directory you specify, and you may delete any unneeded subdirectories to save disk space.

Compiling and linking

The following paragraphs describe how to compile a program using the 5000 dri v er with the v ar ious supported compilers. It is assumed that the source ﬁle is named DEMO.C for C, DEMO.BAS for BASIC, and DEMO.PAS for Pascal.

Microsoft C or Microsoft QuickC

To compile and link on the command line, enter the following:

cl /Ax /Gs demo.c te5000x.lib qcl /Ax /Gs demo.c te5000x.lib

where x is:

s small model m medium model c compact model l large model

Turn stack-checking off with the /Gs switch (option) if you use interrupts. For CodeView compatibility, include the /Zi switch.

To use the 5000 driver in the QuickC environment, perform the following steps:

1. In the Make menu, select the Set Program List option.

2. After naming the Make ﬁle, select Edit Program List, and enter the names of the source ﬁle (DEMO.C) and the appropriate library (e.g., te5000s.lib for small model).

3. In the Options/Make menu, select the Compiler Flags option and set the appropriate memory model (this model must match the library in the make list). If you use interrupts, turn stackchecking off.

Model 5000 Software Developer’s Guide Programming Overview 1-3

Borland or T urbo C/C++

To compile and link on the command line, enter the following:

tcc -m bcc -m

where x is:

s small model m medium model c compact model

l large model For Turbo Debugger compatibility, include the -v option. To use the 5000 driver in the Borland environment, perform the following steps:

1. In the Project/Open Project menu, enter in the name of the project ﬁle you want to create.

2. In the Project/Add Item menu, enter the names of the source ﬁle (DEMO.C) and the appro-

priate library (e.g., te5000s.lib for small model).

3. In the Options/Compiler/Code Generation menu, set the appropriate memory model (this

model must match the library in the Make list). If you use interrupts, turn stack-checking off.

demo.c te5000

Microsoft QuickBASIC

If you use compiled BASIC exclusively and never program in the QuickBASIC environment, you can link the library te5000b.lib into your application.

.lib

.lib (Borland C)

(Turbo C)

bc demo.bas;

link demo.obj,,,te5000b.lib

To compile and link for CodeView compatibility, enter the following:

bc /Zi demo.bas;

link /CO demo.obj,,,te5000b.lib

If you use the QuickBASIC environment, you must ﬁrst run the batch ﬁle, QLB5000.BAT. This batch ﬁle will need modiﬁcation, depending on which QuickBASIC version you use. The necessary modiﬁcations are explained by the remarks in the batch ﬁle itself.

The batch ﬁle creates two ﬁles: te5000qb.qlb and te5000qb.lib. Library te5000qb.qlb is a quick library for use in the QuickBASIC environment, and te5000qb.lib is the command line equivalent. Therefore, you will develop your program with te5000qb.qlb and then in the ﬁnal compilation, link with te5000qb.lib.

To use the 5000 driver in the QuickBASIC environment, enter the following:

qb demo.bas /lte5000qb.qlb

To compile on the command line:

bc demo.bas;

link demo.obj,,,te5000qb.lib

To compile and link for CodeView compatibility:

bc /Zi demo.bas;

link /CO demo.obj,,,te5000qb.lib

1-4 Programming Overview Model 5000 Software Developer’s Guide

The libraries te5000b.lib and te5000qb.lib are similar but not identical. Library te5000b.lib calls two routines not contained in the library itself: MoveDone and InputAlert. These two routines must be be included in your source code if you need to link te5000b.lib into the application program. The ﬁle, INTR5000.BAS, contains stub versions of these routines that you can use as a guide, or you can compile and link the ﬁle itself into the application. Since te5000b.lib has unresolved references, it cannot be converted into a quick library.

The library te5000qb.lib is created by the batch ﬁle by compiling INTR5000.BAS and linking the resulting object ﬁle with te5000b.lib. It has no unresolved references and can be converted into the quick library te5000qb.qlb. A program developed in the QuickBASIC environment using te5000qb.qlb can be compiled on the command line and linked with te5000qb.lib without modifying the source code. See the information on using interrupts with BASIC.

Borland T urbo Pascal

To compile and link on the command line, enter the following:

tpc /$S- demo

If you use interrupts, be sure to turn stack-checking off. Turn off stack-checking by including /$S on the command line as shown or by including the line {$S-} in the program source code.

To compile for Turbo Debugger compatibility, include the /v option. To use the 5000 driver in the Turbo Pascal environment, enter the following:

turbo demo

The source ﬁle must include the line: uses te5000p ;. If you use interrupts, be sure to turn stackchecking off. Turn off stack-checking through the Options/Compiler menu or by including the line {$S-} in the program.

Programming fundamentals

To quickly write simple applications for the 5000, follow the structure of the example programs provided in Section 2. For C, include the te5000.h ﬁle. For BASIC, include the TE5000.BAS ﬁle. For Pascal, always specify the te5000p unit.

Call InitSw ﬁrst to initialize the software. Then call InitBoard once for every 5000 board in the system. To use the other driver routines, you must be familiar with the concept of board and axis numbers.

Each board in the system will be sequentially assigned a number from 0 to 5, called the board number, used to identify the board in calls to other routines. Each time InitBoard is called, another board number is assigned. If only one board is installed in the system, calling InitBoard once assigns a board number of zero.

Likewise, each axis in the system will be sequentially assigned an axis number from 0 to 17, used to identify a particular axis in calls to other routines. Each time InitBoard is called, three more axis numbers are assigned.

Example Programs

2-2 Example Programs Model 5000 Software Developer’s Guide

Introduction

The following code segments show the steps needed to use the 5000 softw are. Examples of common applications are shown. The ﬁrst example is shown in C, BASIC, and Pascal. The other examples are shown only in C, but the ideas extend to BASIC and Pascal. The values used in these examples for position, velocity, acceleration, etc., are arbitrary. The actual values depend upon your system requirements.

T rapezoidal point-to-point move

The following code illustrates the simplest of examples. Values for distance, velocity, and acceleration are speciﬁed, and a trapezoidal move is started. Interrupts are set up for demonstration only and serve no useful purpose in these examples.

Move program in C

This routine shows how to move the motor to a speciﬁed point.

#include <te5000.h>

static void MoveDone(unsigned short *pwAxis); static void InputAlert(unsigned short *pwAxis);

main() {

unsigned short wBoardAddr = 0x300; unsigned short wAxisNum = 0, wBoardNum = 0, wIRQNum = 3;

/* initialize the software */ InitSw();

/* initialize the board */ InitBoard(wBoardAddr); InterruptHooks(MoveDone, InputAlert);

/* enable interrupts */ EnableIRQ(wBoardNum, wIRQNum); InputAlertOn(wAxisNum); /* load the parameters */ Distance(wAxisNum, 10000); Multiplier(wAxisNum, 100); LowVelocity(wAxisNum, 1); Velocity1(wAxisNum, 1000); Acceleration(wAxisNum, 1000); Deceleration(wAxisNum, 1000); DownPoint(wAxisNum, 610);

/* select preset mode and the move direction of "down" */ ModeSelect(wAxisNum, POSMODE_DOWN);

/* always reset move before starting up */ StartStop(wAxisNum, RESET_MOVE */

Model 5000 Software Developer’s Guide Example Programs 2-3

/* start move */

StartStop(wAxisNum, START1_MOVE);

/* wait for move to be complete */

while(IsBusy(wAxisNum));

/* disable interrupts before exiting the program */

DisableIRQ(); }

void MoveDone(unsigned short *pwAxis) {

/* end-of-move interrupt handling goes here */ }

void InputAlert(unsigned short *pwAxis) {

/* input interrupt handling goes here */ }

Move program in BASIC

'$INCLUDE: 'TE5000.BAS'

CONST BOARD.ADDR = &H300 CONST IRQ.NUM = 3

AxisNum% = 0 BoardNum% = 0

'initialize the software X% = InitSw

'initialize the board X% = InitBoard(BOARD.ADDR)

'enable interrupts X% = EnableIRQ(BoardNum%, IRQ.NUM) X% = InputAlertOn(AxisNum%)

'load the parameters X% = Distance(AxisNum%, 10000) X% = Multiplier(AxisNum%, 100) X% = LowVelocity(AxisNum%, 1) X% = Velocity1(AxisNum%, 1000) X% = Acceleration(AxisNum%, 1000) X% = Deceleration(AxisNum%, 1000) X% = DownPoint(AxisNum%, 610)

'select preset mode and the move direction of "down" X% = ModeSelect(AxisNum%, POSMODE.DOWN)

'always reset move before starting up X% = StartStop(AxisNum%, RESET.MOVE)

2-4 Example Programs Model 5000 Software Developer’s Guide

'start the move X% = StartStop(AxisNum%, START1.MOVE)

' wait for move to be complete do loop while IsBusy(AxisNum%)

'disable interrupts before exiting the program X% = DisableIRQ

'Interrupt Stub routines are supplied to satisfy the linker SUB MoveDone (AxisNum%)

' end-of-move interrupt handling goes here

END SUB

SUB InputAlert (AxisNum%)

' input interrupt handling goes here

END SUB

Move program in Pascal

program example;

uses te5000p;

const

BOARD_ADDR = $300; IRQ_NUM = 3;

var

wAxisNum : word; wBoardNum : word; wVersion : word; sRetCode : integer;

procedure MoveDone (var pwAxis : word); far; begin end;

procedure InputAlert (var pwBoard : word); far; begin end;

begin

wAxisNum := 0; wBoardNum := 0;

{ initialize the software } wVersion := InitSw;

{ initialize the board }

Model 5000 Software Developer’s Guide Example Programs 2-5

sRetCode := InitBoard(BOARD_ADDR);

{ enable interrupts } InterruptHooks(MoveDone, InputAlert); sRetCode := InputAlertOn(wBoardNum); sRetCode := EnableIRQ(wBoardNum, IRQ_NUM);

{ load the parameters } sRetCode := Distance(wAxisNum, 10000); sRetCode := Multiplier(wAxisNum, 100); sRetCode := LowVelocity(wAxisNum, 1); sRetCode := Velocity1(wAxisNum, 1000); sRetCode := Acceleration(wAxisNum, 1000); sRetCode := Deceleration(wAxisNum, 1000); sRetCode := DownPoint(wAxisNum, 610);

{ select preset mode and the move direction of "down" } sRetCode := ModeSelect(wAxisNum, POSMODE_DOWN);

V elocity mode

{ always reset move before starting up } sRetCode := StartStop(wAxisNum, RESET_MOVE);

{ start the move } sRetCode := StartStop(wAxisNum, START1_MOVE_INT);

{ wait for move to be complete } while (IsBusy(wAxisNum) <> 0) do; sRetCode := DisableIRQ;

end.

This code segment shows how to run the motor in velocity mode.

unsigned short wAxisNum = 0;

/* initialize the software */ InitSw();

/* initialize the board */ InitBoard(0x300);

/* load the parameters */ Multiplier(wAxisNum, 100); LowVelocity(wAxisNum, 1); Velocity1(wAxisNum, 1000); Acceleration(wAxisNum, 1000); Deceleration(wAxisNum, 1000); DownPoint(wAxisNum, 610);

/* select velocity mode, move direction of "down" */ ModeSelect(wAxisNum, VELMODE_DOWN);

2-6 Example Programs Model 5000 Software Developer’s Guide

/* always reset move before starting up */ StartStop(wAxisNum, RESET_MOVE */

/* start move */ StartStop(wAxisNum, START1_MOVE);

/* to change velocity, use "other" slew velocity register */ Velocity2(wAxisNum, 1500); StartStop(wAxisNum, START2_MOVE);

Homing

This routine homes the motor by running it until it hits a limit, reverses the direction, and then looks for the home input.

unsigned short wAxisNum = 0;

/* enter parameters */ Multiplier(wAxisNum, 1000); DownPoint(wAxisNum, ); LowVelocity(wAxisNum, 1); Velocity1(wAxisNum, 10); Acceleration(wAxisNum, 0x3FFF); Deceleration(wAxisNum, 0x3FFF);

/* select down direction and velocity mode */ ModeSelect(wAxisNum, VELMODE_DOWN);

/* always reset move before starting up */ StartStop(wAxisNum, RESET_MOVE */

/* start move */ StartStop(wAxisNum, START1_MOVE);

/* wait for limit to stop move */ while (IsBusy(wAxisNum));

/* select origin return mode */ ModeSelect(wAxisNum, HOMEMODE_UP);

/* always reset move before starting up */ StartStop(wAxisNum, RESET_MOVE */

/* start move */ StartStop(wAxisNum, START1_MOVE);

/* wait for axis to home */ while (IsBusy(wAxisNum));

/* for future moves, put in position mode*/ ModeSelect(wAxisNum, POSMODE_UP);

Model 5000 Software Developer’s Guide Example Programs 2-7

Another method for homing the motor is to run it in one direction until it hits a mechanical stop, and then run it in the other direction until encountering the Home input. This method can be used when limit switches are not used and the motor can SAFELY run against a mechanical stop.

unsigned short wAxisNum = 0;

/* enter parameters */ /* choose a large enough value for the move distance */ /* such that the motor is sure to hit the mechanical stop */ Distance(wAxisNum, 0x0FFFFFF); Multiplier(wAxisNum, 1000); LowVelocity(wAxisNum, 1); Velocity1(wAxisNum, 10); Acceleration(wAxisNum, 0x3FFF); Deceleration(wAxisNum, 0x3FFF);

/* select down direction and position mode */ ModeSelect(wAxisNum, POSMODE_DOWN);

/* always reset move before starting up */ StartStop(wAxisNum, RESET_MOVE);

/* start move */ StartStop(wAxisNum, START1_MOVE); /* wait for move to complete */ while (IsBusy(wAxisNum));

/* select origin return mode */ ModeSelect(wAxisNum, HOMEMODE_UP);

/* always reset move before starting up */ StartStop(wAxisNum, RESET_MOVE);

/* start move */ StartStop(wAxisNum, START1_MOVE);

/* wait for axis to home */ while (IsBusy(wAxisNum));

/* for future moves, put in position mode */ ModeSelect(wAxisNum, POSMODE_UP);

These are fairly common methods of homing the motor, and they offer better repeatability than simply running to a limit switch or a mechanical stop.

2-8 Example Programs Model 5000 Software Developer’s Guide

Reading position

This routine moves the motor and displays the value of the down-counter. The down-counter value represents the distance in pulses left to move.

unsigned short wAxisNum = 0;

/* enter parameters */ Distance(wAxisNum, 100000); Multiplier(wAxisNum, 100); LowVelocity(wAxisNum, 1); Velocity1(wAxisNum, 1000); Acceleration(wAxisNum, 1000); Deceleration(wAxisNum, 1000); DownPoint(wAxisNum, 610);

/* select down direction and position preset mode */ ModeSelect(wAxisNum, POSMODE_DOWN);

/* always reset move before starting up */ StartStop(wAxisNum, RESET_MOVE);

/* start move */ StartStop(wAxisNum, START1_MOVE);

/* report position until move is complete */ do{ /* read and display the down-counter */ printf("Down Counter = %ld", PulsesLeft(wAxisNum)); } while (IsBusy(wAxisNum));

Move Parameters

3-2 Move Parameters Model 5000 Software Developer’s Guide

Ranges

The permissible range of values for each parameter are as follows:

distance: 0 to FFFFFFh (0 to 16,777,215)

multiplier register (R7): 2h to 03FFh (2 to 1,023)

Permissible ranges for velocity and acceleration are a function of the multiplier register. Assuming a clock rate of 5 MHz, the ranges are shown in table 3-1.

Table 3-1

Permissible velocity and acceleration ranges

R7 Full scale velocity (pps) Max acceleration (pps2)

5 10 20 50

100 200 500

1000

2,500,000 1,000,000

500,000 250,000 100,000

50,000 25,000 10,000

5,000

762,939,453 305,175,781 152,587,891

76,293,945 30,517,578 15,258,789

7,629,375 3,051,758 1,525,879

V elocity units

The value given for multiplier register, R7, sets the full scale velocity as follows:

clock

Full Scale Velocity

where: f

The slew (high-speed) velocity is then set as follows:

Since R2 can be a maximum of 8191, the maximum velocity that can be speciﬁed is slightly less than the full scale velocity.

The start (low speed) velocity is set in a similar fashion:

is the clock frequency (5 MHz as shipped).

clock

Slew Velocity = Full Scale Velocity

8192()Slew Velocity()

------------------------------------------------------- -

R2 =

Start Velocity = Full Scale Velocity

Full Scale Velocity

8192()Start Velocity()

-------------------------------------------------------

R1 =

Full Scale Velocity

------------- -= R7



----------- -



8192



----------- -



8192

Model 5000 Software Developer’s Guide Move Parameters 3-3

Acceleration/deceleration units

The value for acceleration in pulses per second2 is a function of both the acceleration register, R4, and the multiplier register, R7:

()

clock

Acceleration =

-------------------------------------------------------------------- -=

8192()Acceleration()R7()

If precise acceleration is not important, remember that the greater the value of R4, the smaller the acceleration.

The equation for deceleration is similar, with R5 substituted for R4:

Acceleration =

-------------------------------------------------------------------- -=

8192()Acceleration()R7()

----------------------------------------- -

8192()R4()R7()

()

clock

()

clock

----------------------------------------- -

8192()R5()R7()

()

clock

Distance units

The values for the distance register , R0, and the rampdo wn point register , R6, are both in units of output pulses.

Given values for four of the other registers, and assuming the move stops after ramping down, use the following formula to calculate R6:

R2 R1 1–+()R2 R1–()R5()

-------------------------------------------------------------------------=

16384 R7()

This expression simpliﬁes to approximately:

2R12

–()R5

--------------------------------------=

16384 R7()

If you want the move to continue at the start speed for x pulses after ramping down, add x to the result of the above equation.

Interrupt Handling

4-2 Interrupt Handling Model 5000 Software Developer’s Guide

Introduction

The 5000 driver simpliﬁes the use of interrupts. When an interrupt occurs, the driver handles all interrupt overhead and then calls your routines to act on the interrupts.

Enabling interrupts

The ﬁrst routine you need to call is EnableIRQ before interrupts can be used. At the end of the program, call DisableIRQ to restore the interrupt vectors and interrupt masks to their original state. You need to supply two routines to handle the two interrupt sources: the axis controllers and the user inputs. Both are described below.

For BASIC, the names given below are ﬁxed. The linker will expect to ﬁnd two routines with these names. For C or Pascal, the routines can be named anything because the address rather than the name of each routine is passed to the InterruptHooks routine.

MoveDone — This routine will be called when the axis controller causes an interrupt. A single

argument is passed by reference, the axis number causing the interrupt.

InputAlert — This routine will be called when an external interrupt from the user input causes

an interrupt. A single argument is passed by reference, the axis number corresponding to the input causing the interrupt.

Interrupts in C or Pascal

The example programs in Section 2 show how interrupts are set up. Interrupt hook routines are installed by calling InterruptHooks. A warning will be generated if you attempt to install improper routines (routines that do not accept the proper number and type of arguments). Turn off stack-checking for the interrupt hook functions and any routines they call.

Interrupts in BASIC

The example program given in Section 2 shows how interrupts are used. You must provide two routines: MoveDone and InputAlert.

You can use interrupts in the QuickBASIC environment, but the interrupt handling routines must be in the QuickLibrary te5000qb.qlb. To do this, use the INTR5000.BAS ﬁle to write your interrupt hook routines. Run the batch ﬁle QLB5000.BAT to compile INTR5000.BAS and add it to the libraries, te5000qb.qlb and te5000qb .lib . The library te5000qb .lib is an alternati v e to using te5000b.lib and is supplied to provide a command line equivalent library to the QuickLibrary. You can develop a program in the environment with the QuickLibrary and then compile and link on the command line without modiﬁcation. If you use te5000b.lib, you will have to add your interrupt hook routines to the source ﬁle before compiling.

Model 5000 Software Developer’s Guide Interrupt Handling 4-3

General notes on using interrupts

There are some important points to be aware of when using interrupts:

1. DOS is not re-entrant. If an interrupt is generated while in a DOS call, the interrupt routine can not call another DOS function. W ith Basic, C, and Pascal, DOS is usually used for screen output, keyboard input, and disk and ﬁle I/O. Do not use DOS in your interrupt routines. One method for avoiding this is to set a global ﬂag in your interrupt routine, and then have the main routine check this ﬂag and call DOS when the ﬂag is set. For example, if you want to print a message when an interrupt occurred, the interrupt routine sets a ﬂag. When the main program sees the ﬂag set, it will print the message.

2. Turn off stack checking when using interrupts with C. If you encounter a stack overﬂow, stack-checking is not turned off. Check the compiler manual for instructions on how to do this.

Routine Summary

5-2 Routine Summary Model 5000 Software Developer’s Guide

Introduction

The 5000 driver software consists of the following routines. A more complete description of each is given in Appendix A.

Table 5-1

Notational conventions

Preﬁx Variable type

c s

character, signed or unsigned short integer, signed short integer, unsigned long integer, signed long integer, unsigned pointer

Initialization and hardware control routines

DisableIRQ() Restores old interrupt vectors and disables IRQ lines. EnableIRQ(wBoardNum, sIRQLevel) Sets up interrupt vector and enables IRQ line on the bus. InitBoard(wBoardAddr) Initializes 5000 board. InitSw() Initializes 5000 software. InputAlertOff(wAxisNum) Disables input interrupts. InputAlertOn(wAxisNum) Enables input interrupts. InterruptHooks(*MoveDoneHook, Deﬁnes which user functions are to be called upon inter-

Axis command routines

Acceleration(wAxisNum, wAcc) Writes to acceleration register, R4. ClockOff(wBoardNum, sClocks) Disables axis output pulses. Deceleration(wAxisNum, wDec) Writes to deceleration register, R5. Distance(wAxisNum, dwPulses) Writes to the down-counter (distance) register, R0. DownPoint(wAxisNum, dwPulses) Writes to the rampdown point register, R6. IOControl(wAxisNum, sControls) Sends I/O control command.

*InputAlertHook) rupt (not usable in BASIC).

LowVelocity(wAxisNum, wVel) Writes to start-stop (low) velocity register, R1. ModeSelect(wAxisNum, sMode) Sends mode select command. Multiplier(wAxisNum, wMultReg) Writes to multiplier register, R7. OutputHigh(wAxisNum) Sets user output HIGH.

Model 5000 Software Developer’s Guide Routine Summary 5-3

OutputLow(wAxisNum) Sets user output LOW. StartStop(wAxisNum, sCmd) Sends a start-stop command. Velocity1(wAxisNum, wVel) Writes to slew velocity register, R2. Velocity2(wAxisNum, wVel) Writes to slew velocity register, R3. WriteReg(wAxisNum, wRegister, Writes to register.

lValue)

Axis data reporting routines

IsBusy(wAxisNum) Returns axis busy status. PulsesLeft(wAxisNum) Returns current down-counter (register R0) value. ReadState(wAxisNum) Returns axis controller state buffer. ReadStatus(wAxisNum) Returns axis controller status.

Driver Routine Descriptions

A-2 Driver Routine Descriptions Model 5000 Software Developer’s Guide

Appendix A

Driver Routine Descriptions

Notational conventions ........................................................... A-3

Acceleration ............................................................................ A-3

Clockoff .................................................................................. A-4

Deceleration ............................................................................ A-5

DisableIRQ ............................................................................. A-6

Distance .................................................................................. A-6

DownPoint .............................................................................. A-7

EnableIRQ .............................................................................. A-7

InitBoard ................................................................................. A-8

InitSw ..................................................................................... A-9

InputAlertOff .......................................................................... A-9

InputAlertOn ......................................................................... A-10

InterruptHooks ...................................................................... A-10

IOControl .............................................................................. A-11

IsBusy ................................................................................... A-11

LowVelocity .......................................................................... A-12

ModeSelect ........................................................................... A-12

Multiplier .............................................................................. A-13

OutputHigh ........................................................................... A-14

OutputLow ............................................................................ A-14

PulsesLeft ............................................................................. A-15

ReadState .............................................................................. A-15

ReadStatus ............................................................................ A-16

StartStop ............................................................................... A-17

Velocity1 ............................................................................... A-18

Velocity2 ............................................................................... A-19

WriteReg ............................................................................... A-19

Model 5000 Software Developer’s Guide Driver Routine Descriptions A-3

Notational conventions

The declarations for each routine is shown for C, BASIC, and Pascal. In C or Pascal, the type of a parameter is denoted by its one letter lower-case preﬁx:

Preﬁx Variable type

c s

For instance, wAxis indicates that this variable is an unsigned short integer. In BASIC, the type of a parameter is always explicitly indicated by a type sufﬁx:

character, signed or unsigned short integer, signed short integer, unsigned long integer, signed long integer, unsigned pointer

Acceleration

Load acceleration register

Preﬁx Variable type

% &

For instance, Axis% indicates that this variable is a short integer. Routine names are printed in bold sans serif font, InitSw. Parameter names are printed in italics, wAxisNum. Constants are deﬁned with all caps, ALL_AXES. Underscores must be replaced by periods for

use with BASIC.

Declarations:

short integer, signed or unsigned long integer, signed or unsigned character, signed or unsigned

short Acceleration(unsigned short wAxisNum, unsigned short wAcc);

BASIC:

Pascal:

DECLARE FUNCTION Acceleration%(BYVAL AxisNum%, BYVAL Acc%) function Acceleration(wAxisNum, wAcc : word) : integer;

Description:

Acceleration loads the speciﬁed value into acceleration register, R4. To convert an acceleration given in pulses per second per second into register R4 units, use the following equation:

()

-------------------------------------------------------------------- -=

8192()Acceleration()R7()

where: R7 is the multiplier register value speciﬁed in the Multi-

plier routine. f

is the system clock.

clock

The system clock is jumpered to 5 MHz when shipped.

clock

R2 R1–

--------------------=

A-4 Driver Routine Descriptions Model 5000 Software Developer’s Guide

Given a ramp time between the low-speed and high-speed velocities, calculate R4 using the following equation:

where: R2 is the value speciﬁed for the Velocity1 routine.

R1 is the value speciﬁed for the LowVelocity routine. T is the ramp time in seconds.

If precise acceleration is not important, simply note that as R4 increases, ramp time increases and acceleration decreases.

Clockoff

Parameters:

Return Code:

See Also:

Disable motor output

Declarations:

Description:

AxisNum Axis number (0 to 17). Acc Acceleration in R4 units ranging from 2h to 3FFFh (2 to

16,383).

(0) No error. (-1) Invalid axis number or acceleration register value.

Deceleration, Multiplier

short ClockOff(unsigned short wBoardNum, short sClocks);

BASIC:

Pascal:

This routine disables the motor output from the speciﬁed axes. This is useful in synchronizing axes. For instance, you can disable the axes, issue a start command to each axis, and then enable the axes.

DECLARE FUNCTION ClockOff%(BYVAL boardNum%, BYVAL Clocks%) function ClockOff(wBoardNum:word; sClocks:integer): integer;

Parameters:

Return Code:

BoardNum Board number (0 to 5). Clocks Clocks to disable.

Clocks can be the OR of any of the following:

• CLK_A The ﬁrst axis on the board is disabled.

• CLK_B The second axis on the board is disabled.

• CLK_C The third axis on the board is disabled.

• CLK_ALL All three axes on the board are disabled. If a constant is not included, the corresponding axis is enabled.

(0) No error. (-1) Invalid board number.

Model 5000 Software Developer’s Guide Driver Routine Descriptions A-5

Deceleration

Load deceleration register

Declarations:

Description:

short Deceleration(unsigned short wAxisNum, unsigned short wDec);

BASIC:

Pascal:

Deceleration loads the speciﬁed value into deceleration register, R5. To convert a deceleration given in pulses per second per second into register R5 units, use the following equation:

where: R7 is the multiplier register value speciﬁed in the Multi-

Given a ramp time between the low-speed and high-speed velocities, calculate R5 using the following equation:

where: R2 is the value speciﬁed for the Velocity1 routine.

DECLARE FUNCTION Deceleration%(BYVAL AxisNum%, BYVAL Dec%) function Deceleration(wAxisNum, wDec : word) : integer;

()

-------------------------------------------------------------------- -=

8192()Acceleration()R7()

plier routine. f

is the system clock. The system clock is jumpered

clock

to 5 MHz when shipped.

R1 is the value speciﬁed for the LowVelocity routine. T is the ramp time in seconds.

clock

--------------------= R2 R1–

clock

Parameters:

Return Code:

If precise acceleration is not important, simply note that as R4 increases, ramp time increases and deceleration decreases.

AxisNum Axis number (0 to 17) or the constant ALL_AXES. Dec Deceleration in R5 units ranging from 2h to 3FFFh (2 to

16,383).

(0) No error. (-1) Invalid axis number or deceleration register value.

A-6 Driver Routine Descriptions Model 5000 Software Developer’s Guide

DisableIRQ

Disable IRQ lines

Distance

Declarations:

Description:

Parameters: Return Code: See Also:

Load distance register

Declarations:

short DisableIRQ(void);

BASIC: Pascal:

This routine masks the IRQ lines selected with EnableIRQ and restores the corresponding interrupt vectors to their original values. If EnableIRQ has been called at least once, call DisableIRQ before exiting from the program.

None.

(0) No error.

EnableIRQ

BASIC:

Pascal:

DECLARE FUNCTION DisableIRQ%() function DisableIRQ : integer;

short Distance(unsigned short wAxisNum, unsigned long dwPulses); DECLARE FUNCTION Distance%(BYVAL AxisNum%, BYVAL Pulses%) function Distance(wAxisNum : word; dwPulses : longint) : integer;

Description: Parameters:

Return Code:

See Also:

This routine loads the speciﬁed distance in pulses into register R0.

AxisNum Axis number (0 to 17) or the constant ALL_AXES Pulses Distance in R0 units ranging from 0 to FFFFFFh (0 to

16,777,215).

(0) No error. (–1) Invalid axis number or distance register value.

Acceleration, Deceleration, DownPoint, LowVelocity, Multiplier, V elocity1, Velocity2

Model 5000 Software Developer’s Guide Driver Routine Descriptions A-7

DownPoint

Load downpoint register

Declarations:

Description:

Parameters:

Return Code:

short DownPoint(unsigned short wAxisNum, unsigned long dwPulses);

BASIC:

Pascal:

This routine loads a value into the downpoint register R6. Gi v en v alues for four of the other registers, and assuming the move stops after ramping down, use the following formula to calculate R6:

This expression simpliﬁes to approximately:

If you want the move to continue at the start speed for x pulses after ramping down, add x to the result of the above equation.

AxisNum Axis number (0 to 17) or the constant ALL_AXES. Pulses Rampdown distance in R6 units ranging from 0 to

(0) No error. (–1) Invalid axis or downpoint register value.

DECLARE FUNCTION DownPoint%(BYVAL AxisNum%, BYVAL Pulses&); function DownPoint(wAxisNum : word; dwPulses : longint): integer;

R2 R1 1–+()R2 R1–()R5()

-------------------------------------------------------------------------=

FFFFFFh (0 to 1,048,575).

16384 R7()

R12–()R5

--------------------------------------=

16384 R7()

EnableIRQ

Enable IRQ line

See Also:

Declarations:

Description:

Deceleration, LowVelocity, Multiplier, Velocity1, Velocity2

short EnableIRQ(unsigned short wBoardNum, short sIRQLevel);

BASIC:

Pascal:

This routine reassigns the selected interrupt vector to point to the driver interrupt handler for the speciﬁed board. It also saves the old vector and unmasks the interrupt on the PC.

Each board must use a unique interrupt request. Restore the original vectors by calling DisableIRQ before exiting from the

program.

DECLARE FUNCTION EnableIRQ%(BYVAL BoardNum%, BYVAL IRQLevel%) function DisableIRQ(wBoardNum : word; sIRQLevel : integer) : integer;

A-8 Driver Routine Descriptions Model 5000 Software Developer’s Guide

InitBoard

Parameters:

Return Code:

See Also:

Initialize board

Declarations:

Description: This routine initializes a 5000 board jumpered to the address speciﬁed in

BoardNum Board number (0 to 5). IRQLevel IRQ number (2 to 7).

(0) No error. (–1) Invalid board number or IRQ number, or the IRQ number

has previously been assigned to another board.

DisableIRQ

C: short InitBoard(unsigned short

wBoardAddr);

BASIC: DECLARE FUNCTION InitBoard%(BYVAL

BoardAddr%)

Pascal: function teIntrNum(wBoardAddr : word) :

integer;

wBoardAddr. Call InitSw ﬁrst to initialize the software, then call InitBoard once for every 5000 board in the system.

Each board in the system will be sequentially assigned a number from 0 to 5, called the board number, which will be used to identify the board in calls to other routines.

Likewise, each axis in the system will be sequentially assigned an axis number from 0 to 17. Each board will be assigned three axis numbers regardless of the actual number of axes on the board. Therefore, there will be three times as many axis numbers as board numbers.

InitBoard ﬁrst does a hardware reset of the board by toggling the appropriate bits in the reset latch. The following additional initialization is done for each axis:

1. The start-stop velocity register, R1, is loaded with the minimum value of 1.

2. The axis is put in preset (position) mode.

3. The general purpose user output is set HIGH.

Parameters: BoardAddr Board base address set by jumpers. Return Code: (0) No error.

(–1) Too may boards initialized.

See Also: OutputHigh

Model 5000 Software Developer’s Guide Driver Routine Descriptions A-15

PulsesLeft

Return distance left

Declarations: C: short PulsesLeft(unsigned short

wAxisNum);

BASIC: DECLARE FUNCTION PulsesLeft%(BYVAL

AxisNum%)

Pascal: function PulsesLeft(wAxisNum : word) :

integer;

Description: This routine reads and returns the down counter register, R0. This will be

number of pulses remaining in the move.

Parameters: AxisNum Axis number (0 to 17). Return Code: Number of pulses remaining in the move.

(-1) Invalid board number.

ReadState

Read state buffer

Declarations: C: short ReadState(unsigned short

wAxisNum);

BASIC: DECLARE FUNCTION ReadState%(BYVAL

AxisNum%)

Pascal: function ReadState(wAxisNum : word) :

integer;

Description: This routine reads and returns the contents of the state buffer.

The format of the state buffer is as follows:

Figure A-1

State buffer

State Buffer

D6 D2D4 D0D7 D3D5 D1

1: R0 (COUNTER)=0 1: DECELERATING 1: SLEW OR CONSTANT PULSE RATE 1: ACCELERATING NOT USED

You can mask out bits using the following constants or logical combinations of the following constants:

STATE_ZERO Down counter equals Zero. STATE_DOWN Output pulses decelerating. STATE_UP Output pulses accelerating. STATE_KEEP Output pulses not ramping.

A-16 Driver Routine Descriptions Model 5000 Software Developer’s Guide

Parameters: AxisNum Axis number (0 to 17). Return Code: State value.

(-1) Invalid axis number.

ReadStatus

Read status register

Declarations: C: short ReadStatus(unsigned short

wAxisNum);

BASIC: DECLARE FUNCTION ReadStatus%(BYVAL

AxisNum%)

Pascal: function ReadStatus(wAxisNum : word) :

word;

Description: This routine reads and returns the contents of the status register according

to the following format:

Figure A-2

Status buffer

Status Port

D6 D2D4 D0D7 D3D5 D1

1: -LIMIT ACTIVE 1: +LIMIT ACTIVE 1: HOME ACTIVE 1: R0 (COUNTER)=0 0: INS SIGNAL=HIGH

1: INS SIGNAL=LOW 1: CONSTANT PULSE RATE

1: DURING PULSE OUTPUT 1: DURING INT SIGNAL ACTIVE

(END OF MOTION)

The bits of the status can be masked out using the following constants or logical combinations of the following constants:

STS_NLIMIT -Limit input. STS_PLIMIT +Limit input. STS_ORIGIN Home input. STS_ZERO Down counter equals zero. STS_INPUT General purpose input. STS_KEEP Output pulses not ramping. STS_BUSY Operation in progress. STS_NOT_INT INT not active.

Parameters: AxisNum Axis number (0 to 17). Return Code: Status word.

(-1) Invalid axis number.

Model 5000 Software Developer’s Guide Driver Routine Descriptions A-17

StartStop

Load start-stop register

Declarations: C: short StartStop(unsigned short

wAxisNum, short sCmd);

BASIC: DECLARE FUNCTION StartStop(BYVAL

AxisNum%, BYVAL Cmd)

Pascal: function StartStop(wAxisNum : word;

sCmd : integer) : integer;

Description: This routine writes the speciﬁed value to the start-stop command register.

Depending on the sCmd argument, this routine can start an axis, stop an axis, or reset an axis interrupt. The format of the command register is as follows:

Figure A-3

Command buffer

Command Buffer

D6 D2D4 D0D7 D3D5 D1

1: Axis A Not Used

Command mode selection

D7 D6

00 01 10 11

Command modes are selected from the command buffer.

Command mode Operating mode Control mode Data register Output pulse mode

Parameters: AxisNum Axis number (0 to 17) or the constant ALL_AXES.

Cmd Start-stop command.

Cmd can be the OR of any of the following: S_HIGH1 The target pulse rate is set by R2.

S_HIGH2 The target pulse rate is set by R3. S_RAMPING Ramping is enabled. S_STOP Pulse output is stopped. S_START Pulse output is started. S_INT Interrupt is enabled.

Alternatively, Cmd can be one of the following: RESET_MOVE (S_STOP)

START1_MOVE (S_START || S_HIGH1 || S_RAMPING) START2_MOVE (S_START || S_HIGH2 || S_RAMPING) STOP_MOVE (S_START || S_STOP || S_RAMPING)

A-18 Driver Routine Descriptions Model 5000 Software Developer’s Guide

ABORT_MOVE (S_STOP) START1_MOVE_INT (START1_MOVE || S_INT) START2_MOVE_INT (START2_MOVE || S_INT) STOP_MOVE_INT (STOP_MOVE || S_INT) ABORT_MOVE_INT (ABORT_MOVE || S_INT)

Return Code: (0) No error.

(–1) Invalid axis number.

V elocity1

Load FH1 register

Declarations: C: short Velocity1(unsigned short

wAxisNum, unsigned short wVel);

BASIC: DECLARE FUNCTION Velocity1%(BYVAL

AxisNum%, BYVAL Vel%)

Pascal: function Velocity1(wAxisNum, wVel :

word) : word;

Description: This routine loads the speciﬁed slew (high-speed) velocity into register

R2. To convert a v elocity given in pulses per second into register R2 units, use the following equation:

Slew Velocity()8192()R7()

--------------------------------------------------------------------=

where: R7 is the value speciﬁed for the Multiplier routine.

is the system clock.

clock

The system clock is jumpered to 5 MHz when shipped.

Alternatively, R2 can be thought of as a scaled velocity from 1 to 8191. The actual velocity in pulses per second is equal to the scaled velocity, divided by 8192, times the full-scale velocity.

lew Velocity Full Scale Velocity

clock



----------- -



8192

Parameters: AxisNum Axis number (0 to 17) or the constant ALL_AXES.

Vel Slew velocity in R2 units ranging from 1 to 1FFFh (1 to

8191).

Return Code: (0) No error.

(–1) Invalid axis number or FH1 velocity register value.

Model 5000 Software Developer’s Guide Driver Routine Descriptions A-19

V elocity2

Load FH2 register

Declarations: C: short Velocity2(unsigned short

wAxisNum, unsigned short wVel);

BASIC: DECLARE FUNCTION Velocity2%(BYVAL

AxisNum%, BYVAL Vel%)

Pascal: function Velocity2(wAxisNum, wVel :

word) : word;

Description: This routine loads the speciﬁed slew (high-speed) velocity into register

R3. To convert a v elocity giv en in pulses per second into register R3 units, use the following equation:

Slew Velocity()8192()R7()

--------------------------------------------------------------------=

where: R7 is the value speciﬁed for the Multiplier routine.

is the system clock.

clock

The system clock is jumpered to 5 MHz when shipped.

Alternatively, R3 can be thought of as a scaled velocity from 1 to 8191. The actual velocity in pulses per second is equal to the scaled velocity, divided by 8192, times the full-scale velocity.

lew Velocity Full Scale Velocity

clock



----------- -



8192

WriteReg

Parameters: AxisNum Axis number (0 to 17) or the constant ALL_AXES.

Vel Slew velocity in R3 units ranging from 1 to 1FFFh (1 to

8191).

Return Code: (0) No error.

(–1) Invalid axis number or FH2 velocity register value.

Write register

Declarations: C: short WriteReg(unsigned short wAxisNum

unsigned short wRegister, long lValue);

BASIC: DECLARE FUNCTION WriteReg%(BYVAL

AxisNum%, BYVAL Register%, BYVAL Value&)

Pascal: function WriteReg(wAxisNum, wRegister :

word; lValue : longint) : integer;

Description: This routine writes the speciﬁed value to the speciﬁed register. Parameters: AxisNum Axis number (0 to 17) or the constant ALL_AXES.

respectively.

Value Value to write.

Return Code: (0) No error.

(–1) Invalid axis number.

Proﬁle Utility

B-2 Profile Utility Model 5000 Software Developer’s Guide

If you have installed the 5000 software on your disk, the proﬁle utility program, PRO5000.EXE is located in the subdirectory in which the software resides.

The Proﬁle program lets you enter physical parameters for a trapezoidal move on any of three axes. The internal register v alues corresponding to these parameters are calculated and displayed on the screen. A move can then be triggered either on a single axis, or globally on all the axes that are enabled. During the move, the number of pulses left to move, the status re gister, and the state register are displayed for each axis.

This program is useful for optimizing the multiplier n to obtain the greatest velocity resolution possible. For a complete discussion on optimizing n, see Appendix E of the Model 5000 Technical Reference.

Executing the program

To load the program, type:

pro5000 <base address> <color number>

The program will not load without the necessary arguments. For example, for a 5000 strapped to a base address of 300h and using color scheme 3, type:

Base address

The base address is the address to which you strapped the 5000 board jumpers — W7, SW1, and SW2. Appendix C of the Model 5000 Technical Reference contains a map of the entire PC I/O space. The board is shipped strapped to a base address of 300h.

Color number

A number from 0 to 9 conﬁgures the screen colors according to table B-1.

Table B-1

PRO5000 color selections

Note: The ﬁrst color listed is the foreground, and the second is the background.

pro5000 300 3

Color number Text Highlight Border

0 1 2 3 4 5 6 7 8 9

Yellow/Black Yellow/Blue Cyan/Blue Black/Gray Blue/Cyan White/Red Yellow/Brown Black/Green White/Magenta Gray/Blue

Red/Black Black/Gray Black/Gray White/Black White/Black Yellow/Black Green/Black Yellow/Black Yellow/Black Gray/Black

Brown/Black Black/Gray Cyan/Blue White/Red Black/Cyan Lt. Red/Red Red/Brown Yellow/Brown Yellow/Gray White/Cyan

Model 5000 Software Developer’s Guide Profile Utility B-3

Main menu

After pressing any key to continue, the following screen appears:

Figure B-1

Single axis menu screen

CLOCK SPEED 5 MHz

MOVE

DIRECTION

A UP B UP C UP

GLOBAL

CONTROL A ENABLED B ENABLED C ENABLED

RAMPDOWN

INPUTS A DISABLED B DISABLED C DISABLED

,PROFILE ENTRY Number of Steps t_total t_up t_down Start Rate Multiplier CALCULATED VALUES Slew Rate Acceleration Deceleration Multiplier R0 (Pulse Count) R1 (Low Speed) R2 (High Speed) R4 (Acceleration) R5 (Deceleration) R6 (Down Point) R7 (Multiplier) MOVE MONITORS Pulses Left Status / State

Navigating inside the program

To move between choices, press <Up> or <Down>. Pressing <Enter> is equivalent to pressing <Down>, except pressing <Enter> after the last ﬁeld

returns the program to the current menu level. Pressing <Ctrl><End> also returns the program to the current menu level.

AXIS A 10000

MAIN MENU

Single Axis Menu

Global Menu

Save File

Load File

1.0

Clock: 5 Mhz Register Display: DEC

1009.581519

Exit Program

10045.94710

1.000576332 10000

1009

498 498

610

AXIS B 10000 10 .1 .1 5

1.0

1009.581519

10045.94710

1.000576332 10000

1009

498 498

610

AXIS C 10000 10 .1 .1 5

1.0

1009.581519

10045.94710

1.000576332 10000

1009

498 498

610

Pressing <Esc> will abort and exit to the previous level menu, restoring all the previous values. <Delete> and <Backspace> allow you to edit ﬁeld contents in the usual manner. Pressing <Insert> toggles the insertion mode. While insertion is active, the cursor appears as a

block.

Monitoring axis conﬁguration

The conﬁguration information window is located on the left-hand side of the screen and displays clock speed, move direction, global control enables, and rampdown input enables.

Information in this window is deﬁned through menu selections deﬁned in the following paragraphs.

B-4 Profile Utility Model 5000 Software Developer’s Guide

Single axis menu

To move up or down in the menu, use the <Up> and <Down> arrows. Exit to Main Menu by pressing <Esc> at any time.

Figure B-2

Active axis: a menu screen

CLOCK SPEED 5 MHz

MOVE

DIRECTION

A UP B UP C UP

GLOBAL

CONTROL A ENABLED B ENABLED C ENABLED

RAMPDOWN

INPUTS A DISABLED B DISABLED C DISABLED

Press Enter to toggle

AXIS A 10000 10 .1 .1 5

1.0

1009.581

10045.94

1.000576 10000

1009

498 498

610

AXIS B 10000 10

MAIN MENU

Active Axis: A

.1 5

Enter parameters

1.0

Execute single axis move Revise Parameter

1009.581

Move Direction: UP

10045.94

RampDown Inputs: DISABLED

10045.94

Main Menu (Esc)

1.000576 10000

1009

498 498

610

AXIS C 10000 10 .1 .1 5

1.0

1009.581

10045.94

1.000576 10000

1009

498 498

610

Active Axis

With Active Axis highlighted, make an axis current by pressing <Enter>. Each axis in turn will advance to the PROFILE ENTRY window where you can set up a proﬁle as discussed below. The current axis displays in the menu window.

Enter parameters

When highlighted, press <Enter> to enter parameters on the current axis. (The ﬁgure above shows axis A as current.) Each time you enter a value and press <Enter> or press <Enter> to accept the displayed value, the cursor advances to the next v alue. You can also use the <Up> and <Down> arrows to selectively enter values. Exit to the Single Axis Menu by pressing <Esc> at any time, or, after entering the Multiplier value, you will exit to the menu automatically.

Generating a proﬁle

Generating a proﬁle consists of entering a set of typically speciﬁed parameters. These parameters calculate the remaining variables and register values necessary to create a move. You can generate the same proﬁle on all axes, or you can proﬁle all three axes differently and independently. Move status is displayed in the Move Monitor and axis state and conﬁguration are displayed on the left-hand side of the screen.

t_total tupt

slewtdown

++=

Model 5000 Software Developer’s Guide Profile Utility B-5

Setting the parameters

Figure B-3

Trapezoidal parameters

Slew Rate

Start Rate

Number of Steps

t_total

Number of Steps

SLEW

TOTAL

DOWN

This is the total number of pulses during the move.

Number of Steps PupP

++=

slewPsd

This is the total time required for the move.

t_up

t_down

Start Rate

Multiplier

At the start of the move, this is the time required to ramp up from the start velocity (start rate) to the maximum velocity (slew rate). For the 5000, t_up and t_down can be set independently.

At the end of the move, this is the time required to ramp down from the maximum velocity to the start velocity.

This is the velocity in pulses per second from which the stepper motor must start. Stepper motors can not begin a move at zero velocity lik e serv o motors. The start rate is normally speciﬁed on the motor and typically ranges from 50 to 500 pulses per second.

This is the value of the multiplier constant. The multiplier sets the velocity resolution of the controller. For a complete discussion on optimizing the multiplier, see Appendix E.

B-6 Profile Utility Model 5000 Software Developer’s Guide

Calculating the values

Slew Rate

Acceleration

Deceleration

Multiplier

R0 (Pulse Count) R1 (Low Speed)

R2 (High Speed)

This is the maximum rate in pulses per second during the move. Depending on the acceleration and deceleration, the slew rate may not be attained. In that case, the velocity cusp will be something less than the slew rate, and the proﬁle will take on the characteristic of a triangle.

This is the ramp-up acceleration in pulses per second dependent on ramp-up time or distance and the difference between the start rate and the slew rate.

This is the ramp-down deceleration in pulses per second are similar to that of acceleration.

This is the rate multiplier constant. This multiplier is a scaler to maximize the resolution of the controller registers to the maximum velocity of your system.

This is the distance value register in units of pulses.

This is the starting velocity value register that sets the v elocity at which the proﬁle will accelerate to the slew velocity.

This is one of two slew velocity registers (FH1). The second re gister is R3 (FH2). However, PRO5000 uses only R2. Register R3 is designed to allow you to contour complex proﬁles by preloading a second or the next in series of slew velocities for use on the ﬂy.

. Acceleration is

. Dependencies

R4 (Acceleration) R5 (Deceleration) R6 (Down Point)

R7 (Multiplier)

Values that are calculated out of range will generate an error in the CALCULATED VALUES area, and executing a move is prevented.

This is the acceleration rate register.

This is the deceleration rate register.

This is the rampdown point register. The rampdown point determines when the proﬁle will begin decelerating to the start velocity.

This is the multiplier register. For a frequency of 5 MHz, a multiplier value of 610 represents a multiplier of unity.

Execute single axis move

When highlighted, press <Enter> to start a move according to the set parameters on the current axis. During the move, monitor status and state in the lower region of the PROFILE ENTRY window.

Pulses Left Status/State

This is the number of pulses left to move.

This monitors the move status and state in hexadecimal notation.

Model 5000 Software Developer’s Guide Profile Utility B-7

Figure B-4

Status buffer

Status Port

D6 D2D4 D0D7 D3D5 D1

1: -LIMIT ACTIVE 1: +LIMIT ACTIVE 1: HOME ACTIVE 1: R0 (COUNTER)-0 0: INS SIGNAL-HIGH

1: INS SIGNAL-LOW 1: CONSTANT PULSE RATE

1: DURING PULSE OUTPUT 1: DURING INT SIGNAL ACTIVE

(END OF MOTION)

Figure B-5

State buffer

State Buffer

D6 D2D4 D0D7 D3D5 D1

1: R0 (COUNTER)=0 1: DECELERATING 1: SLEW OR CONSTANT PULSE RATE 1: ACCELERATING NOT USED

Revise parameters

When highlighted, this option allows you to back-calculate the physical parameters from the register values. Since the physical parameters are calculated in ﬂoating point arithmetic and the register values are calculated in integer arithmetic, the register values represent only an approximation based on the resolution set by the multiplier value.

Each time you press <Enter>, the screen will toggle between entered values and back-calculated values.

This feature is useful when optimizing n or when analyzing whether a move is possible with the current set of parameters.

Move direction

When highlighted, this option determines which direction to move. Each time you press <Enter>, the direction will toggle between UP and DOWN.

RampDown inputs

When highlighted, this option determines whether rampdown inputs are enabled or disabled. Each time you press <Enter>, the enable will toggle between ENABLED and DISABLED.

When enabled, the rampdown point is determined by external switches mounted on the axis traverse as well as the value loaded into the rampdown register.

Main menu (esc)

When highlighted, this option returns the program to Main Menu. Alternatively, you can press <Esc> at any time to return.

B-8 Profile Utility Model 5000 Software Developer’s Guide

Global menu

To move up or down in the menu, use the <Up> and <Down> arrows. Exit to Main Menu by pressing <Esc> at any time.

Figure B-6

Execute global move menu screen

CLOCK SPEED 5 MHz

MOVE

DIRECTION

A UP B UP C UP

GLOBAL

CONTROL A ENABLED B ENABLED C ENABLED

RAMPDOWN

INPUTS A DISABLED B DISABLED C DISABLED

AXIS A 10000 10 .1 .1 5

1.0

1009.581519

10045.94710

1.000576332 10000

1009

498 498

610

AXIS B 10000 10 .1

GLOBAL MENU

Execute Global Move

1.0

Axis A ENABLED Axis B ENABLED

1009.581519

Axis C ENABLED

10045.94710

Main Menu (Esc)

1.000576332

10000

1009

498 498

610

AXIS C 10000 10 .1 .1 5

1.0

1009.581519

10045.94710

1.000576332 10000

1009

498 498

610

Execute global move

This option allows you to enable any combination of axes A, B, and C, and execute a synchronized move. When highlighted, press <Enter> to start a move.

Axis A (B or C)

When highlighted, this option enables or disables an axis for a global move. Each time you press <Enter>, the enable will toggle between ENABLED and DISABLED for the respective axis.

Main menu (esc)

When highlighted, this option returns the program to Main Menu. Alternatively, you can press <Esc> at any time to return.

Model 5000 Software Developer’s Guide Profile Utility B-9

Save ﬁle/load ﬁle

Exit without saving/loading by pressing <Esc> at any time.

Figure B-7

Save ﬁle/load ﬁle

CLOCK SPEED 5 MHz

MOVE

DIRECTION

A UP B UP C UP

GLOBAL

CONTROL A ENABLED B ENABLED C ENABLED

RAMPDOWN

INPUTS A DISABLED B DISABLED C DISABLED

The Save File option allows you to save parameter settings for later use, and the Load File option allows you to retrieve parameter settings previously saved.

By default, ﬁles are saved or loaded with the extension [.STP], but you can save or load by specifying the entire ﬁle name with extension.

AXIS A 10000

MAIN MENU

Single Axis Menu

Global Menu

Save File

FILE NAME [.STP] :

Load File

1.0

Clock: 5 Mhz Register Display: DEC

1009.581519

Exit Program

10045.94710

1.000576332 10000

1009

498 498

610

AXIS B 10000 10 .1 .1 5

1.0

1009.581519

10045.94710

1.000576332 10000

1009

498 498

610

AXIS C 10000 10 .1 .1 5

1.0

1009.581519

10045.94710

1.000576332 10000

1009

498 498

610

Clock

When highlighted, this option allows you to select a desired clock frequency. Each time you press <Enter>, the clock frequency will change according to the following table.

Table B-2

Selecting a clock speed

Frequency (MHz)

0.625

1.25

2.50

5.00*

* Default setting. Select the base clock rate used by axes A to C. Note: To obtain the maximum rate of 240,000 pulses per second, use the default clock setting.

B-10 Profile Utility Model 5000 Software Developer’s Guide

When highlighted, this option allows you to change the displayed values from hexadecimal to decimal by pressing <Enter>. Each time you press <Enter>, the displayed valued will toggle between HEX and DEC.

Exit program

When highlighted, press <Enter> to exit to a DOS prompt, or press <Esc> at any time. Exiting without ﬁrst saving will cause you to lose all current parameter settings.

V isual C++ Demonstration

Program

•

C-2 Visual C++ Demonstration Program Model 5000 Software Developer’s Guide

Product overview

This software product is a 16-bit W indo ws program written in Visual C++. It is intended to sho w Visual C++ programming techniques using the Model 5000 driver functions. See the Model 5000 Visual BASIC Proﬁler for a more comprehensive demonstration of the Model 5000 capabilities.

System requirements

The system requirements are an IBM-compatible PC with either W indo ws 95 or Windows 3.1, a mouse, and a properly installed, addressed and jumpered 5000 in the backplane. Please review the Model 5000 Technical Reference for board installation issues. Minimum host hardware requirements include two megabytes of RAM and three megabytes of available hard disk space. Of course, these values are well below the minimum for Windows systems anyway.

Installation

Operation

This program does not require any formal installation. It can be run from either the diskette or the hard drive. However, we recommend that you install it onto your hard drive simply by copying all ﬁles on the diskette onto a discrete hard drive directory. All the ﬁles you need to run the program, including the source, make, library and dynamic linking library (DLL) ﬁles are included on the diskette.

Launch the demo5kcp.exe program in one of the following ways.

From Program Manager in Windows 3.1, double click on the icon or pull down File and choose Run, then enter demo5kcp.exe in the data ﬁeld.

From Windows Explorer in Windows 95, double click on the icon or click on Start, choose Run and enter demo5kcp.exe in the data ﬁeld.

Once you 1aunch the program, the main user window shown in Figure C-1 will appear.

Model 5000 Software Developer’s Guide Visual C++ Demonstration Program C-3

Figure C-1

5000 C++ demonstration program main user window

The demo will default at values that will run most stepper motors. There may be some aspects of your system that could complicate operation. The following can help you with many common conﬁguration problems.

NOTE

The demo is set to use conservative values that will run most stepper motors. To change a register value, highlight its data ﬁeld and enter the desired value in place of the previous value. Then either click in another data ﬁeld or the Start command and the value will be accepted. Pressing

Stop will abruptly halt the move.

Program architecture

The intent of this program is to show the use of the 5000 driver functions and to keep the code simple. Thus, many desirable features were left out for simplicity sake. The result is a barebones demo. For a more complete demo, please see the 5000 Visual BASIC Proﬁler.

The board and program are set up for operation at address 300h which is available on most PC conﬁgurations. If another board occupies that address space in your backplane and you don't want to change its address, you will need to alter both the board's hardware and software. Please see Model 5000 Technical Reference for instructions on how to change the address jumpers (SW1 and SW2). To change the board address for the program, you will need to go into the BOARD_ADDRESS macro (in the source code) and set the address to a value that does not conﬂict with any other board in your backplane and agrees with your jumper settings. Then rebuild the project under your Visual C++ development environment.

For simplicity sake, the source ﬁle is partitioned into two sections, Section1 and Section2. Section1 derives the application and window classes. To simplify matters, it will not be discussed. Section2 delineates the classes containing the driver functions and will be discussed in detail below.

C-4 Visual C++ Demonstration Program Model 5000 Software Developer’s Guide

Class Stepper1 is the base class for the 5000 board application object. (See Source code below.) The only operative function is the constructor. Other data and function members may be added as desired.

In the Stepper1 class constructor, functions InitSw and InitBoard are called upon program startup. These functions can only be called once per program instance so the constructors are the logical place to put them. Functions InitSw, InitBoard and other 5000 routines do return values. Although the return values are not used in this example for simplicity, we recommend that you use them in your application in order to ensure that the functions complete successfully.

In the PushedStart function, driver routines that load the registers are called. Though the sequence in which the functions are called is typical, it is not critical, provided that StartStop is the last function called. Note that the Distance and PointDown functions pass [LONG] values. The PushedStop calls the StartStop function while in the stop mode. Additionally, in the timer function, the pulse count is sampled every 10 ms.

// Section 2

//- A base class for the 5000

class Stepper1 {

public:

Stepper1(); //-The constructor

};

//- An instance of the Stepper class.

Stepper1 Stepper1Inst;

{

(void) InitSw(); //-These functions are called (void)

InitBoard(BOARD_ADDRESS); //-upon startup

}

void UserWindow: :PushedStop() {

(void) StartStop (AXIS, S_STOP); //-Stop the move

}

void UserWindow: :PushedStart() { char temp [30]; char *stop;

//- Get data from edit boxes

GetDlgItemText(hR0, temp, 30); //- Note conversion

_Pulses = strtol(temp, &stop, 10); //- from text to long

StartVel = GetDlgItemInt(hR1); Vel1 = GetDlgItemInt (hR2); Accel = GetDlgItemInt(hR3); Decel = GetDlgItemInt(hR4);

GetDlgItemText(hR5, temp, 30); //-Note conversion Dp =

strol(temp, &stop, 10); //-from text to long

Multi = GetDlgItemInt(hR6);

//-Load registers (void) Distance(AXIS, Pulses);

Model 5000 Software Developer’s Guide Visual C++ Demonstration Program C-5

(void) Multiplier(AXIS, Mult); (void) LowVelocity (AXIS, StartVel); (void) Velocity1 (AXIS, vel1); (void) Acceleration(AXIS, Accel); (void) Deceleration (AXIS, Decel); (void) DownPoint (AXIS, Dp); (void) ModeSelect(AXIS, POSMODE_DOWN); (void) StartStop (AXIS, RESET_MOVE); (void) StartStop(AXIS, START1_MOVE); //- Start the move

}

//- The timer function void UserWindow::OnTimer(UNIT id) { for(i=0; i<100; i++) s[i] = '\0'; //-Initialize the array ostream ostr(s, 100); //-Instantentuate ostr ostr << PulseLeft (AXIS) ; //-Redirect pulses out to ostr SetDlgItemText(hPulses, s); //-Display the pulses }

V isual BASIC

Demonstration Program

D-2 Visual BASIC Demonstration Program Model 5000 Software Developer’s Guide

User's guide

Product overview

The 5000 Visual BASIC Proﬁler Utility demonstrates Model 5000's capabilities. The program was developed in Visual BASIC for l6-bit and compatible Windows environments. It runs on a IBM compatible PC equipped with W indows 3.1 or W indo ws 95 with a Model 5000 stepper card in the backplane. The program enables users to enter values into a plethora of data ﬁelds in a convenient graphical user interface (GUI).

Installation

Installation is fairly simple. We assume that you have a properly installed, conﬁgured and jumpered 5000 board in your backplane. If you have any doubts about this, please re vie w the Model 5000 Technical Reference for all hardware installation issues. To install the software, follow the common procedure of inserting the disk1 setup diskette into your 3 setup.exe. How you do this will depend on whether you work in the Windows 3.1 or Windows 95 environments.

" ﬂoppy drive and running

Windows 3.1

In the Program Manager, pull down the File menu and select Run. You will get a dialogue box with one data ﬁeld. Type a:\setup, or b:\setup and press <enter> or click OK. Windows 3.1 will run the installation procedure. Follow the steps as prompted by this procedure.

Windows 95

Click on the Start button at the lower left-hand part of your screen. Click on Run. Choose Browse and select Drive A: (or B: where appropriate). Click OK or press <enter> and Windows will run the installation procedure. Follow the steps as prompted by this procedure.

Model 5000 Software Developer’s Guide Visual BASIC Demonstration Program D-3

Operation

Double click the Prof1 icon. The main user window shown in Figure D-1 will appear.

Figure D-1

5000 Proﬁler main user window

See Table D-2.

See Table D-1. See Table D-3.

D-4 Visual BASIC Demonstration Program Model 5000 Software Developer’s Guide

On program startup, the demo displays conservative default values that will run almost any stepper motor. The default number of axes is 1. If you have a board with two or three axes, click on the number of axes and change to two or three. To start motion, click START1, START2, START3, or START ALL. The pulses left will be shown on the bottom right of the user window.

NOTE

The demo user window is comprised of two sections. On the left side of the window, registers R0 through R7 are displayed. The user can change the register values by clicking on the desired value. The register limits are displayed on the bottom left of the window in ﬁelds LOW and HIGH. It is the user's responsibility to enter values that will produce the desired motion. It is possible to choose values that will not produce motion.

On the right side of the screen, physical parameters may be entered, the limits are displayed on the right side of the screen in the LOW and HIGH data ﬁelds. As with the registers, it is possible to choose physical values that will not produce motion. Descriptions of the physical data ﬁelds in the main user window follow.

The user window contains data ﬁelds, command buttons and menu items. Most of the window's items consist of input or display ﬁelds. There are nine command buttons and two menu items. The following is a description of the user window items.

If you choose a number of axes that is greater than your board allows, you will get an overﬂow error when you try to start the unsupported axis.

Table D-1

Physical data ﬁelds

Data ﬁeld Description

R1 R2

R6 R7

This input/display ﬁeld contains distance information. The value is in pulses. This input/display ﬁeld contains a register value that sets the start value. This is the input/display ﬁeld that contains a register value that sets the ﬁnal velocity . This display ﬁeld shows the register value and sets the second ﬁnal v elocity. In this version, R3 is set to R2’s value as only one ﬁnal velocity is supported. This input/display ﬁeld contains a register value that sets the acceleration rate. This input/display ﬁeld contains a register value that sets the deceleration rate. This input/display ﬁeld sets the start of the ramp-down point. This input/display ﬁeld sets the multiplier register.

Model 5000 Software Developer’s Guide Visual BASIC Demonstration Program D-5

Table D-2

Velocity data ﬁelds

Data ﬁeld Description

LOW and High

Start V elocity

V elocity1 V elocity2

Table D-3

Accel and decel data ﬁelds

Data ﬁeld Description

VALUE LOW and HIGH Accel Rate Accel Time Decel Rate Decel Time

This input/display ﬁeld shows the maximum and minimum start velocities based on register R1 limits. This input/display ﬁeld sets the start velocity. The value displayed is in pulses per second. This input/display ﬁeld sets the ﬁnal velocity of the motor. This input/display ﬁeld shows the ﬁnal velocity of the motor . In this v ersion, Velocity2 is always set to Velocity1.

Actual user inputted value. These ﬁelds show the upper and lower limits for each parameter. This input/display ﬁeld sets the acceleration rate of the motor. This display ﬁeld shows the acceleration time of the motor. This input/display ﬁeld sets the deceleration rate of the motor. This display ﬁeld shows the deceleration time of the motor.

Menu items

Table D-4

Miscellaneous data ﬁelds

Data ﬁeld Description

LOW and HIGH

Low

High

Axis Board Frequency Extra Pulses at

End

Pulses Left

In addition to the various input and display ﬁelds shown in Figure D-1, there are two menu items from which to select at the top of the window. They are described below.

File Options

These display ﬁelds show the acceleration and deceleration time low and high limits. This display ﬁeld shows the minimum value of the register ﬁeld selected for input. This display ﬁeld shows the maximum value of the register ﬁeld selected for input. This display ﬁeld shows the current active axis. This display ﬁeld shows the board frequency selected. This display ﬁeld shows the extra pulses at the end of a move.

This display ﬁeld shows the pulses left during a move.

Pull this menu down to exit.

Pull this menu down to change the active axis and to change the board frequency used in calculations.

D-6 Visual BASIC Demonstration Program Model 5000 Software Developer’s Guide

Developer's guide

This section describes the development process for this product. Since none of the source code is available, this section is for your information only.

Program architecture

The 5000 Proﬁler Utility is event-driven from either user input or hardware response. The ﬂow diagram in Figure D-2 shows how the central e vent is an input or command from the user. Figure D-3 shows the text-box value assignments.

Figure D-2

Flow diagram for 5000 Visual BASIC Proﬁler

Model 5000 Software Developer’s Guide Visual BASIC Demonstration Program D-7

Figure D-3

Text box value assignments for 5000 Proﬁler main user window

Program organization

The program consists of ﬁve code modules and four main form modules. For those unfamiliar with Visual BASIC, code modules are the guts of the program. They instruct the computer and board to perform various functions. Form modules enable users to talk to the code modules in a user-friendly way. They ensure that telling the program to execute certain functions is merely a matter of clicking on command buttons and entering data in ﬁelds.

Form module descriptions

PROFSK.FRM is the program's main form module. It contains the three general objects and 72 procedure objects described below. The other three form modules — ADDR.FRM, AXISFR.FRM, and FREQ.FRM — are also described.

D-8 Visual BASIC Demonstration Program Model 5000 Software Developer’s Guide

Table D-5

Code module descriptions

Library Module type Action

5000H.BAS

DECLARE.BAS

STARTUP.BAS

INIT.BAS

CALCDATA.BAS

GENERAL OBJECT, DECLARATION

GENERAL OBJECT, MAIN PROCEDURE

GENERAL OBJECT, DECLARATION GENERAL OBJECT, CALCULATE DATA PROCEDURE

This code module contains 5000 board register constants, DLL function declarations, and all DLL prototypes. This code module contains program constants, user deﬁned types, array variables, and ﬂag variable deﬁnitions. This code module is called on program startup, it calls the INIT subroutine to initialize the array. This code module initializes the array.

This code module performs necessary calculations as a result of user input. It is called by the CALC form object (see form module descriptions).

Table D-6

Form module descriptions

Module Object Description

PROFSK.FRM

ADDR.FRM

AXISFR.FRM

FREQ.FRM

Declarations

CalculateData

TextClear

Calc

StartCmd

StopCmd

TextXVal

LabelX

MenuX

GENERAL OBJECT: This procedure declares Window API functions for use in the program. GENERAL OBJECT: This procedure calculates resultant values from a data ﬁeld input change. It also displays calculated data. GENERAL OBJECT: This procedure clears data ﬁelds prior to new data being displayed. FORM OBJECT: This procedure evaluates which calculations need to be performed according to the priority of active input ﬂags. FORM OBJECT: This procedure calls the 5000 board functions and starts motion. FORM OBJECT: This procedure calls the 5000 board function and stops motion. FORM OBJECTS: These procedures display input and output data on the user window data ﬁelds (X is a variable). There are three main procedure types users can follow in these ﬁelds. First, KeyPress procedures assign the text box v alues to its corresponding variable upon an <enter> keystroke. Second, MouseDown clears the text box. Third, LostFocus assigns the text box value to the variable in the event that the user does not press <enter> after selecting a text box. FORM OBJECTS: These procedures only display labels on the user window. FORM OBJECTS: These procedures display the menu items on the user window. This form module contains address selection command buttons which select the desired frequency. This form module contains axis selection command buttons which select the active axis. This form module contains frequency selection command buttons which select the desired frequency.

Index

Acceleration A-3 Acceleration/deceleration units 3-3 Axis command routines 5-2 Axis data reporting routines 5-3

Base address B-2 Borland or Turbo C/C++ 1-3 Borland Turbo Pascal 1-4

Clock B-9 Clockoff A-4 Color number B-2 Compiling and linking 1-2

Deceleration A-5 Developer’s guide D-6 Disable input interrupt A-9 Disable IRQ lines A-6 Disable motor output A-4 DisableIRQ A-6 Distance A-6 Distance units 3-3 DownPoint A-7 Driver routine descriptions A-1

Enable input interrupt A-10 Enable IRQ line A-7 EnableIRQ A-7 Enabling interrupts 4-2 Example programs 2-1 Executing the program B-2 Exit program B-10

General notes on using interrupts 4-3 Global menu B-8

Homing 2-6

InitBoard A-8 Initialize board A-8 Initialize software A-9 Initialization and hardware control routines 5-2 InitSw A-9 InputAlertOff A-9 InputAlertOn A-10 Install interrupt hooks A-10 Installation C-2, D-2 Installing the 5000 software 1-2 Interrupt handling 4-1 InterruptHooks A-10 Interrupts in BASIC 4-2 Interrupts in C or Pascal 4-2 Introduction 2-2, 4-2, 5-2 IOControl A-11 ISBusy A-11

i-1

Load acceleration register A-3 Load deceleration register A-5 Load distance register A-6 Load downpoint register A-7 Load FH1 register A-18 Load FH2 register A-19 Load mode select register A-12 Load multiplier register A-13 Load start-stop register A-17 Load start velocity register A-12 LowVelocity A-12

Main menu B-3 Menu items D-5 Microsoft C or Microsoft QuickC 1-2 Microsoft QuickBASIC 1-3 ModeSelect A-12 Monitoring axis configuration B-3 Move parameters 3-1 Move program in BASIC 2-3 Move program in C 2-2 Move program in Pascal 2-4 Multiplier A-13

Ranges 3-2 Read busy bit A-11 Read state buffer A-15 Read status register A-16 Reading position 2-8 ReadState A-15 ReadStatus A-16 Register display B-10 Return distance left A-15 Routine summary 5-1

Save file/load file B-9 Set GP output HIGH A-14 Set GP output LOW A-14 Single axis menu B-4 StartStop A-17 System requirements C-2

Trapezoidal point-to-point move 2-2

Navigating inside the program B-3 Notational conventions A-3

Operation C-2, D-3 OutputHigh A-14 OutputLow A-14

Product overview C-2, D-2 Profile utility B-1 Program architecture C-3, D-6 Program organization D-7 Programming fundamentals 1-4 Programming overview 1-1 PulsesLeft A-15

User’s guide D-2

Velocity mode 2-5 Velocity units 3-2 Velocity1 A-18 Velocity2 A-19 Visual BASIC demonstration program D-1 Visual C++ demonstration program C-1

Write I/O control register A-11 Write register A-19 WriteReg A-19

i-2

Keithley Instruments, Inc.

28775 Aurora Road Cleveland, Ohio 44139

Printed in the U.S.A.

Tektronix M5000 User manual

Specifications and Main Features

Frequently Asked Questions

User Manual