Deditec RO-INTERFACE-ETH Hardware Description Download Page 299 | Manualshive

Page: 299 / 442

background image

DELIB API reference |

Seite 138

4.7.1.4. DAPI_STEPPER_CMD_SET_FREQUENCY

Description

This command is used to set the motor reference frequency. The motor
frequency regulation takes on the compliance of the acceleration and
deceleration slope. Step losses do not occur. The motor reference frequency is
related to the full-step-mode.

The direction will be defined by the prefix. If the motor reference frequency is
higher than the maximum frequency, the command is ignored.

With closed Endswitch1 the motor can only drive in positive direction, with
closed Endswitch2 the motor can only drive in negative direction, otherwise the
command is ignored.

Definition

DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_SET_FREQUENCY,
par1, 0, 0, 0);

Parameters

par1=Motor reference frequency [Hz]

«
...
297
298
299
300
301
...
»

Summary of Contents for RO-INTERFACE-ETH

Page 1: ...Hardware Description Oktober RO INTERFACE ETH 2010 ...

Page 2: ... module 9 9 2 3 1 Power supply 9 2 3 2 Ethernet interface 2 4 Buttons of the module 10 2 5 Controll LEDs 11 11 2 5 1 Definition of LEDs 3 Configuring the module 13 3 1 Configuration via DELIB Configuration utility 13 3 2 Configuration via internal web server 17 3 3 Factory settings 18 4 Firmware Update 20 4 1 DEDITEC Flasher 20 4 2 Web interface 21 5 Restore basic configuration 24 5 1 Restore IP a...

Page 3: ...ccess via provided test programs 6 2 DELIB driver library 28 28 6 2 1 Overview 30 6 2 2 Supported operating systems 30 6 2 3 Supported programming languages 31 6 2 4 Installation DELIB driver library 33 6 2 5 DELIB Configuration Utility 6 3 Test programs 34 34 6 3 1 Digital Input Output Demo 35 6 3 2 Analog Input Output Demo 36 6 3 3 Stepper Demo 7 Appendix 38 7 1 Revisions 38 7 2 Copyrights and t...

Page 4: ...I Introduction Seite 4 Introduction ...

Page 5: ...evelopment Therefor we can offer you high quality products at a competitive price Availability Because of the modular design of our products we have to redesign only a module instead of the whole product in case a specific component is no longer available 1 2 Customer satisfaction Our philosophy a content customer will come again Therefor customer satisfaction is in first place for us If by any ch...

Page 6: ...II Hardware description Seite 6 Hardware description ...

Page 7: ...ew screen The figure shows the control module with ethernet interface left side combined with an input output module right side The figure shows the control module with ethernet interface left side combined with a flexible connector input output module right side ...

Page 8: ...ace Input output access over TCP IP WEB interface Configuration over web interface 9 Control LEDs RJ45 Socket Timeout feature providing ability to disconnect outputs for safety reasons Expandable in 16 gradations Can be combined without any problem to other modules of the RO series Windows driver library DELIB ...

Page 9: ...t power supply range lies between 7V and 24V DC The power supply can be realized with a standard AC DC adaptor with 1A output current A suitable plug in connector is delivered 2 3 2 Ethernet interface The network connection is provided by a RJ45 socket LED Description 1 Activity 2 10 100 Mbit ...

Page 10: ...Hardware description Seite 10 2 4 Buttons of the module Left Button Reset IP address to default see chapter 5 1 Right Button Reset firmware to factory settings see chapter 5 2 ...

Page 11: ... permanently and LED 1 is flashing Module is ready 2 5 1 Definition of LEDs LED Label Description above 3 3V Internal 3 3V power supply above 5V Internal 5V power supply 1 CPU Activity 2x flashing long break Operating system reports Status OK 2 Interface Activity Active communication over Ethernet 3 Status LED is on Module is ready 4 ERROR Error during ethernet transfer for details see document Se...

Page 12: ...III Configuring the module Seite 12 Configuring the module ...

Page 13: ...ion utility This method allows a simple configuration of the product Following basic values can be changed Module name IP address Net mask Default gateway DNS server Additionally with this tool all DEDITEC ethernet devices in the LAN network are displayed The following pages describe how it works ...

Page 14: ...Configuring the module Seite 14 Start DELIB Configuration utility as follows Start Programs DEDITEC DELIB DELIB Configuration Utility 1 Module Selection select RO ETH 2 Find and configure RO ETH Module ...

Page 15: ...ream Therefore we use an ethernet protocol which will not be routed Because of that you can configure only modules which are connected to the bus The advantage of this method is that you can find modules which are not in the same sub net of which you are configuring 2 Click on the module which you want to configure ...

Page 16: ...P address If the standard IP address of the module is not from the address range of the network the module will not be reachable by TCP IP at the moment Problems of accessibility will also occur if the IP address is already used However the IP address and the net mask of the ethernet module are configurable by this utility Alternatively you can connect the module to the PC and set the IP address a...

Page 17: ...Configuring the module Seite 17 3 2 Configuration via internal web server The RO ETH module has an own web server by which it can be configured too ...

Page 18: ... The factory settings of the ethernet module include following settings IP address 192 168 1 1 The factory settings can be restored by pushing the left button see chapter 5 2 IP address 192 168 1 1 Subnet mask 255 255 255 0 Standard gateway 192 168 1 254 ...

Page 19: ...IV Firmware Update Seite 19 Firmware Update ...

Page 20: ...te http www deditec de en module software delib download html Extract all data to one folder Start the application deditec flasher exe 1 Select the interface For ethernet press the key E 2 Select the module which you want to update Press the key M for CPU interface 3 After successfully flashing in the prompt appears Flash OK ...

Page 21: ...Firmware Update Seite 21 4 2 Web interface Approach 1 Type the IP address of your module in the browser ...

Page 22: ...Firmware Update Seite 22 1 Click on FW Update 2 Select the file ro_cpu_eth_fw dfw 3 Click on Firmware update ...

Page 23: ...V Restore basic configuration Seite 23 Restore basic configuration ...

Page 24: ...ipt After this the module has following settings IP address 192 168 1 1 Subnet mask 255 255 255 0 Standard gateway 192 168 1 254 5 2 Restore firmware To restore the firmware to default value proceed as follow Right Button Restore firmware to factory settings To restore the firmware to factory settings proceed as follow Press the button at least 10sec After this the three LED s CPU Activity Interfa...

Page 25: ...VI Software Seite 25 Software ...

Page 26: ...river connection with examples 6 1 2 Access via the DELIB driver library In the appendix you can find the complete function reference for the integration of our API functions in your software In addition we provide examples for the following programming languages C C C Delphi VisualBasic VB NET MS Office 6 1 3 Access via protocol The protocol for the activation of our products is open source So yo...

Page 27: ...We provide simple handling test programs for the most important functions of our products These will be installed automatically by the installation of the DELIB driver library So you can test directly e g relays or you can check the voltage of an A D converter ...

Page 28: ...r consideration of the following viewpoints Independent of operating system Independent of programming language Independent of the product Program under diverse operating systems The DELIB driver library allows an uniform response of our products on diverse operating systems We has made sure that all of our products can be responded by a few commands Whatever which operating system you use Therefo...

Page 29: ...cations under C C Visual Basic Delphi or LabVIEW Program independent of the interface Write your application independent of the interface Program an apllication for an USB product of us Also it will work with an ethernet or RS 232 product of us SDK Kit for Programmer Integrate the DELIB in your application On demand you receive an installation script for free which allows you to integrate the DELI...

Page 30: ...Our products support the following operating systems Windows 2000 Windows XP Windows Vista Windows 7 Linux 6 2 3 Supported programming languages Our products are responsive via the following programming languages C C C Delphi VisualBasic VB NET MS Office ...

Page 31: ...TEC Library and contains the necessary libraries for the modules in the programming languages C Delphi and Visual Basic Insert the DEDITEC driver CD into the drive and start delib_install exe The DELIB driver library is also available on http www deditec en delib Click on Install ...

Page 32: ... be installed The DELIB driver library is now installed Press Close to finish the installation You can configure your module with the DELIB Configuration Utility see next chapter This is only necessary if more than one module is present ...

Page 33: ... DELIB Configuration Utility as follows Start Programs DEDITEC DELIB DELIB Configuration Utility The DELIB Configuration Utility is a program to configure and subdivide identical USB modules in the system This is only necessary if more than one module is present ...

Page 34: ...put Output Demo Start Digital Input Output Demo as follows Start Programme DEDITEC DELIB Digital Input Output Demo The screenshot shows a test of the RO USB O64 R64 The configuration of the module 64 inputs and 64 outputs is shown on the upper left side ...

Page 35: ...o Start Analog Input Output Demo as follows Start Programme DEDITEC DELIB Analog Input Output Demo The screenshot shows a test of the RO USB AD16 DA2_ISO The configuration of the module 16 A D inputs and 2 D A outputs is shown on the upper left side ...

Page 36: ...6 6 3 3 Stepper Demo Start Stepper Demo as follows Start Programme DEDITEC DELIB Stepper Demo The screenshot shows a test of the RO USB STEPPER2 The configuration of the module 2 Stepper is shown on the upper left side ...

Page 37: ...VII Appendix Seite 37 Appendix ...

Page 38: ...Appendix Seite 38 7 Appendix 7 1 Revisions Rev 1 00 First issue Rev 2 00 Design change ...

Page 39: ...valds Windows CE is registered trade mark of Microsoft Corporation USB is registered trade mark of USB Implementers Forum Inc LabVIEW is registered trade mark of National Instruments Intel is registered trade mark of Intel Corporation AMD is registered trade mark of Advanced Micro Devices Inc ...

Page 40: ...Hardware Description Oktober RO DIGITAL IN OUT 2010 ...

Page 41: ...6 1 Connection wiring 13 2 1 6 2 Visual control of the inputs 13 2 1 6 3 Pinout 13 2 1 7 Variable input voltage range 14 2 1 7 1 Changing the input voltage 2 2 Relay outputs 15 15 2 2 1 Overview screen 16 2 2 2 Technical data 17 2 2 3 Timeout protection 17 2 2 4 Plug in connector on the module 17 2 2 4 1 Relay outputs galvanically decoupled max 1A 18 2 2 4 2 Connection wiring 18 2 2 4 3 Visual con...

Page 42: ... 28 3 2 2 Supported operating systems 28 3 2 3 Supported programming languages 29 3 2 4 Installation DELIB driver library 31 3 2 5 DELIB Configuration Utility 3 3 Test programs 32 32 3 3 1 Digital Input Output Demo 4 DELIB API reference 34 4 1 Management functions 34 34 4 1 1 DapiOpenModule 35 4 1 2 DapiCloseModule 4 2 Error handling 36 36 4 2 1 DapiGetLastError 37 4 2 2 DapiGetLastErrorText 4 3 R...

Page 43: ...4 4 DapiDOSet32 49 4 4 5 DapiDOSet64 50 4 4 6 DapiDOReadback32 51 4 4 7 DapiDOReadback64 4 5 Output timeout management 52 52 4 5 1 DapiSpecialCMDTimeout 53 4 5 2 DapiSpecialCMDTimeoutGetStatus 4 6 Test functions 54 54 4 6 1 DapiPing 4 7 Example program 55 5 Appendix 58 5 1 Revisions 58 5 2 Copyrights and trademarks 59 ...

Page 44: ...I Introduction Seite 5 Introduction ...

Page 45: ...evelopment Therefor we can offer you high quality products at a competitive price Availability Because of the modular design of our products we have to redesign only a module instead of the whole product in case a specific component is no longer available 1 2 Customer satisfaction Our philosophy a content customer will come again Therefor customer satisfaction is in first place for us If by any ch...

Page 46: ...II Hardware description Seite 7 Hardware description ...

Page 47: ...scription Using the in output modules is based on two 16 pol connectors with each 8 different current circuits Each state of these total 16 current circuits is signalized by a LED The modules are numbered from left to right see overview screen ...

Page 48: ...ach other with corresponding numbering of the terminal blocks The lower figure shows a flexible conntector module with 32 outputs and corresponding numbered ports Each outer end of the module has a 26 pol wire trap connector Thus multiple modules can be connected in series using a ribbon cable for each connection ...

Page 49: ...he first 16 input channels Pulse detection between 2 read out cycles indicated by LED LED status indication of the inputs Galvanically isolated using optocouplers Comfortable connector system with ejection mechanism Expandable in 16 gradations Can be combined without any problem to other modules of the RO series ...

Page 50: ...t input pulses Short input pulses between to read out cycles are registered through an additional logic and can be separately read out A registered pulse on one or more inputs is signalized by the LED Inputs Change on the control module The LED is extinguishing if the software register of the input state change is read out by the user For more indformation see Register assignment 2 1 5 Galvanicall...

Page 51: ...ugging The wire connection itself is realised with a screwless connector system A tool is included with each module 2 1 6 1 Connection wiring Connecting the wires is to be effected at the ports with the same numbering for example 1a 1b 2a 2b The optocoupler inputs are suitable for AC voltage Therefore it is not necessary to take care of the connection polarity The figure shows two terminal blocks ...

Page 52: ...rectly observable 2 1 6 3 Pinout Port Pin Port Pin 1 1a 1b 9 9a 9b 2 2a 2b 10 10a 10b 3 3a 3b 11 11a 11b 4 4a 4b 12 12a 12b 5 5a 5b 13 13a 13b 6 6a 6b 14 14a 14b 7 7a 7b 15 15a 15b 8 8a 8b 16 16a 16b 2 1 7 Variable input voltage range The factory default of the inputs is set to a voltage range of 15V to 30V This may be changed to a range of 5V to 15V even afterward Input voltage range 5V 15V 15V 3...

Page 53: ...following Disconnect the power supply unplug AC DC adaptor Do not touch electronic components They could be destroyed by electrostatic discharge If necessary touch grounded metal casings or radiators Remove a module s side element Unscrew the three Phillips screws Pull the circuit board together with the front panel sideways out Lift the front panel from the module Every input module has two singl...

Page 54: ...h other with corresponding numbering of the terminal blocks The lower figure shows a flexible conntector module with 32 outputs and corresponding numbered ports Each outer end of the module has a 26 pol wire trap connector Thus multiple modules can be connected in series using a ribbon cable for each connection ...

Page 55: ...ically isolated using optocouplers Comfortable connector system with ejection mechanism Expandable in 16 gradations Can be combined without any problem to other modules of the RO series Max switching voltage 36V Max switching current 1A Max switching power 20W Switching cycles according to the manufacturer 10 Mio ...

Page 56: ... Switching off the outputs is indicated by a LED 2 2 4 Plug in connector on the module As terminal block user friendly terminal strips with locking protection and ejection mechanism are used They are reverse polarity protected and allow quick replugging The wire connection itself is realised with a screwless connector system A tool is included with each module 2 2 4 1 Relay outputs galvanically de...

Page 57: ... polarity 2 2 4 3 Visual control of the outputs The state of each output is directly signalized by a separate LED This simplifies to detect and rectify wiring errors because the signals on the cables are directly observable 2 2 4 4 Pinout Port Pin Port Pin 1 1a 1b 9 9a 9b 2 2a 2b 10 10a 10b 3 3a 3b 11 11a 11b 4 4a 4b 12 12a 12b 5 5a 5b 13 13a 13b 6 6a 6b 14 14a 14b 7 7a 7b 15 15a 15b 8 8a 8b 16 16...

Page 58: ...h other with corresponding numbering of the terminal blocks The lower figure shows a flexible conntector module with 32 outputs and corresponding numbered ports Each outer end of the module has a 26 pol wire trap connector Thus multiple modules can be connected in series using a ribbon cable for each connection ...

Page 59: ...on of the outputs Galvanically isolated using optocouplers Comfortable connector system with ejection mechanism Expandable in 16 gradations Can be combined without any problem to other modules of the RO series Max switching voltage 30V DC Max switching current 2A DC Max switching power 40W ...

Page 60: ...ndicated by a LED 2 3 4 Plug in connector on the module As terminal block user friendly terminal strips with locking protection and ejection mechanism are used They are reverse polarity protected and allow quick replugging The wire connection itself is realised with a screwless connector system A tool is included with each module 2 3 4 1 Optocoupler outputs galvanically isolated max 2A DC Every ou...

Page 61: ...y attention to the optocoupler s output polarity while wiring else the outputs will get damaged Connect the positive voltage to port a and the switched positive voltage to port b 2 3 4 3 Pinout Port Pin Port Pin 1 1a 1b 9 9a 9b 2 2a 2b 10 10a 10b 3 3a 3b 11 11a 11b 4 4a 4b 12 12a 12b 5 5a 5b 13 13a 13b 6 6a 6b 14 14a 14b 7 7a 7b 15 15a 15b 8 8a 8b 16 16a 16b ...

Page 62: ...III Software Seite 23 Software ...

Page 63: ...river connection with examples 3 1 2 Access via the DELIB driver library In the appendix you can find the complete function reference for the integration of our API functions in your software In addition we provide examples for the following programming languages C C C Delphi VisualBasic VB NET MS Office 3 1 3 Access via protocol The protocol for the activation of our products is open source So yo...

Page 64: ...We provide simple handling test programs for the most important functions of our products These will be installed automatically by the installation of the DELIB driver library So you can test directly e g relays or you can check the voltage of an A D converter ...

Page 65: ...r consideration of the following viewpoints Independent of operating system Independent of programming language Independent of the product Program under diverse operating systems The DELIB driver library allows an uniform response of our products on diverse operating systems We has made sure that all of our products can be responded by a few commands Whatever which operating system you use Therefo...

Page 66: ...cations under C C Visual Basic Delphi or LabVIEW Program independent of the interface Write your application independent of the interface Program an apllication for an USB product of us Also it will work with an ethernet or RS 232 product of us SDK Kit for Programmer Integrate the DELIB in your application On demand you receive an installation script for free which allows you to integrate the DELI...

Page 67: ...Our products support the following operating systems Windows 2000 Windows XP Windows Vista Windows 7 Linux 3 2 3 Supported programming languages Our products are responsive via the following programming languages C C C Delphi VisualBasic VB NET MS Office ...

Page 68: ...TEC Library and contains the necessary libraries for the modules in the programming languages C Delphi and Visual Basic Insert the DEDITEC driver CD into the drive and start delib_install exe The DELIB driver library is also available on http www deditec en delib Click on Install ...

Page 69: ... be installed The DELIB driver library is now installed Press Close to finish the installation You can configure your module with the DELIB Configuration Utility see next chapter This is only necessary if more than one module is present ...

Page 70: ... DELIB Configuration Utility as follows Start Programs DEDITEC DELIB DELIB Configuration Utility The DELIB Configuration Utility is a program to configure and subdivide identical USB modules in the system This is only necessary if more than one module is present ...

Page 71: ...put Output Demo Start Digital Input Output Demo as follows Start Programme DEDITEC DELIB Digital Input Output Demo The screenshot shows a test of the RO USB O64 R64 The configuration of the module 64 inputs and 64 outputs is shown on the upper left side ...

Page 72: ...IV DELIB API reference Seite 33 DELIB API reference ...

Page 73: ...pened see delib h nr Indicates No of module which is to be opened nr 0 1 module nr 1 2 module Return value handle handle to the corresponding module handle 0 Module was not found Remarks The handle returned by this function is needed to identify the module for all other functions Example program USB Modul öffnen handle DapiOpenModule RO_USB1 0 printf handle x n handle if handle 0 USB Modul wurde n...

Page 74: ...piCloseModule Description This command closes an opened module Definition ULONG DapiCloseModule ULONG handle Parameters handle This is the handle of an opened module Return value none Example program Close the module DapiCloseModule handle ...

Page 75: ...LastError Description This function returns the last registered error Definition ULONG DapiGetLastError Parameters None Return value Error code 0 no error see delib h Example program ULONG error error DapiGetLastError if error 0 return FALSE printf ERROR d error ...

Page 76: ...tern ULONG __stdcall DapiGetLastErrorText unsigned char msg unsigned long msg_length Parameters msg text buffer msg_length length of the buffer Example program BOOL IsError if DapiGetLastError DAPI_ERR_NONE unsigned char msg 500 DapiGetLastErrorText unsigned char msg sizeof msg printf Error Code x Message s n 0 msg return TRUE return FALSE ...

Page 77: ...1 DapiDIGet1 Description This command reads a single digit input Definition ULONG DapiDIGet1 ULONG handle ULONG ch Parameters handle This is the handle of an opened module ch Specifies the number of input that is to be read 0 Return value State of the input 0 1 ...

Page 78: ...nd reads 8 digital inputs simultaneously Definition ULONG DapiDIGet8 ULONG handle ULONG ch Parameters handle This is the handle of an opened module ch Specifies the number of the input from which it begins to read from 0 8 16 24 32 Return value State of the read inputs ...

Page 79: ...mand reads 16 digital inputs simultaneously Definition ULONG DapiDIGet16 ULONG handle ULONG ch Parameters handle This is the handle of an opened module ch Specifies the number of the input from which it begins to read from 0 16 32 Return value State of the read inputs ...

Page 80: ...nput from which it begins to read from 0 32 64 Return value State of the read inputs Example program unsigned long data Einen Wert von den Eingängen lesen Eingang 1 31 data unsigned long DapiDIGet32 handle 0 Chan Start 0 printf Eingang 0 31 0x x n data printf Taste für weiter n getch Einen Wert von den Eingängen lesen Eingang 32 64 data unsigned long DapiDIGet32 handle 32 Chan Start 32 printf Eing...

Page 81: ...mand reads 64 digital inputs simultaneously Definition ULONGLONG DapiDIGet64 ULONG handle ULONG ch Parameters handle This is the handle of an opened module ch Specifies the number of the input from which it begins to read from 0 64 Return value State of the read inputs ...

Page 82: ... flops from the inputs and resets them Input state change Definition ULONGLONG DapiDIGet64 ULONG handle ULONG ch Parameters handle This is the handle of an opened module ch Specifies the number of the input from which it begins to read from 0 32 Return value State of 32 input change states ...

Page 83: ...e counter will be read par1 0 Normal counter function par1 DAPI_CNT_MODE_READ_WITH_RESET Reading and resetting the counter Return value Value of the counter Example program value DapiDIGetCounter handle 0 0 Reading counter of DI Chan 0 value DapiDIGetCounter handle 1 0 Reading counter of DI Chan 1 value DapiDIGetCounter handle 8 0 Reading counter of DI Chan 8 value DapiDIGetCounter handle 0 DAPI_C...

Page 84: ... This is the command to set a single output Definition void DapiDOSet1 ULONG handle ULONG ch ULONG data Parameters handle This is the handle of an opened module ch Specifies the number of the output to be set to 0 data Specifies the data value that is to be written 0 1 Return value None ...

Page 85: ...uts simultaneously Definition void DapiDOSet8 ULONG handle ULONG ch ULONG data Parameters handle This is the handle of an opened module ch Specifies the number of the output from which it begins to write to 0 8 16 24 32 data Specifies the data values to write to the outputs Return value None ...

Page 86: ...utputs simultaneously Definition void DapiDOSet16 ULONG handle ULONG ch ULONG data Parameters handle This is the handle of an opened module ch Specifies the number of the output from which it begins to write to 0 16 32 data Specifies the data values to write to the outputs Return value None ...

Page 87: ...ert auf die Ausgänge schreiben data 0x0000ff00 Ausgänge 9 16 werden auf 1 gesetzt DapiDOSet32 handle 0 data Chan Start 0 printf Schreibe auf Ausgänge Daten 0x x n data printf Taste für weiter n getch Einen Wert auf die Ausgänge schreiben data 0x80000000 Ausgang 32 wird auf 1 gesetzt DapiDOSet32 handle 0 data Chan Start 0 printf Schreibe auf Ausgänge Daten 0x x n data printf Taste für weiter n getc...

Page 88: ...4 digital outputs Definition void DapiDOSet64 ULONG handle ULONG ch ULONG data Parameters handle This is the handle of an opened module ch Specifies the number of the output from which it begins to write to 0 64 data Specifies the data values to write to the outputs Return value None ...

Page 89: ...is command reads back the 32 digital outputs Definition ULONG DapiDOReadback32 ULONG handle ULONG ch Parameters handle This is the handle of an opened module ch Specifies the number of the input from which it begins to read from 0 32 Return value Status of 32 outputs ...

Page 90: ... command reads back the 64 digital outputs Definition ULONGLONG DapiDOReadback64 ULONG handle ULONG ch Parameters handle This is the handle of an opened module ch Specifies the number of the input from which it begins to read from 0 64 Return value Status of 64 outputs ...

Page 91: ... Milliseconds 100ms value 6 stands for 600ms Activate timeout cmd DAPI_SPECIAL_CMD_TIMEOUT_ACTIVATE Deactivate timeout cmd DAPI_SPECIAL_CMD_TIMEOUT_DEACTIVATE Return value None Example program DapiSpecialCommand handle DAPI_SPECIAL_CMD_TIMEOUT DAPI_SPECIAL_TIMEOUT_SET_VALUE_SEC 3 7 Die Zeit des Timeouts wird auf 3 7sek gesetzt DapiSpecialCommand handle DAPI_SPECIAL_CMD_TIMEOUT DAPI_SPECIAL_TIMEOUT...

Page 92: ... DAPI_SPECIAL_CMD_TIMEOUT DAPI_SPECIAL_TIMEOUT_GET_STATUS 0 0 Parameters handle This is the handle of an opened module Return value Return 0 timeout is deactivated Return 1 timeout is activated Return 2 timeout has occurred Example program status DapiSpecialCommand handle DAPI_SPECIAL_CMD_TIMEOUT DAPI_SPECIAL_TIMEOUT_GET_STATUS 0 0 Abfrage des Timeout Status ...

Page 93: ...ption This command checks the connection of an opened module Definition ULONG DapiPing ULONG handle ULONG value Parameters handle This is the handle of an opened module value Given test value to the module Return value The given test value value is also the return value ...

Page 94: ...instellungen Linker Objekt Bibliothek Module letzter Eintrag konfigurieren include windows h include stdio h include conio h include delib h void main void unsigned long handle unsigned long data unsigned long anz unsigned long i unsigned long chan USB Modul öffnen handle DapiOpenModule USB_Interface8 0 printf USB_Interface8 handle x n handle if handle 0 USB Modul wurde nicht gefunden printf Modul...

Page 95: ...iWriteByte handle 1 data printf Schreibe auf Adresse 0 daten 0x x n data Einen Wert auf die Ausgänge schreiben data 255 DapiWriteByte handle 2 data printf Schreibe auf Adresse 2 daten 0x x n data Einen Wert von den Eingängen lesen data unsigned long DapiReadByte handle 0 printf Gelesene Daten 0x x n data Einen A D Wert lesen chan 11 read chan 11 data DapiReadWord handle 0xff010000 chan 2 printf Ad...

Page 96: ...V Appendix Seite 57 Appendix ...

Page 97: ...Appendix Seite 58 5 Appendix 5 1 Revisions Rev 1 00 First issue Rev 2 00 Design change ...

Page 98: ...valds Windows CE is registered trade mark of Microsoft Corporation USB is registered trade mark of USB Implementers Forum Inc LabVIEW is registered trade mark of National Instruments Intel is registered trade mark of Intel Corporation AMD is registered trade mark of Advanced Micro Devices Inc ...

Page 99: ...Hardware Description November RO STEPPER2 2010 ...

Page 100: ... 1 Access via graphical applications 12 3 1 2 Access via the DELIB driver library 12 3 1 3 Access via protocol 13 3 1 4 Access via provided test programs 3 2 DELIB driver library 14 14 3 2 1 Overview 16 3 2 2 Supported operating systems 16 3 2 3 Supported programming languages 17 3 2 4 Installation DELIB driver library 19 3 2 5 DELIB Configuration Utility 3 3 Test programs 20 20 3 3 1 Stepper Demo...

Page 101: ...EPPER_CMD_FULLSTOP 35 4 3 1 9 DAPI_STEPPER_CMD_DISABLE 36 4 3 1 10 DAPI_STEPPER_CMD_SET_MOTORCHARACTERISTIC 41 4 3 1 11 DAPI_STEPPER_CMD_GET_MOTORCHARACTERISTIC 49 4 3 1 12 DAPI_STEPPER_CMD_MOTORCHARACTERISTIC_EEP ROM_SAVE 50 4 3 1 13 DAPI_STEPPER_CMD_MOTORCHARACTERISTIC_EEP ROM_LOAD 51 4 3 1 14 DAPI_STEPPER_CMD_MOTORCHARACTERISTIC_LOA D_DEFAULT 52 4 3 1 15 DAPI_STEPPER_CMD_GO_REFSWITCH 53 4 3 1 1...

Page 102: ...INDEX Index 4 Seite 4 4 Example program 59 5 Appendix 62 5 1 Revisions 62 5 2 Copyrights and trademarks 63 ...

Page 103: ...I Introduction Seite 5 Introduction ...

Page 104: ...evelopment Therefor we can offer you high quality products at a competitive price Availability Because of the modular design of our products we have to redesign only a module instead of the whole product in case a specific component is no longer available 1 2 Customer satisfaction Our philosophy a content customer will come again Therefor customer satisfaction is in first place for us If by any ch...

Page 105: ...II Hardware description Seite 7 Hardware description ...

Page 106: ...cription 2 1 Overview screen The lower figure shows a module with a terminal block and corresponding numbered connection ports The following figure shows a flexible stepper module with a terminal block and corresponding numbered connection ports ...

Page 107: ...rameters Start stop frequency Maximum stepping frequency Acceleration slope Deceleration slope Phase current Hold current Hold time 2 3 Stepping motor control Every parameter can be conveniently set using the DELIB library Two reference switches are used to reach a reference position Two additional end switches provide a save stopping If they are operated the motors may exclusively be driven back ...

Page 108: ... Pinout of a socket connector and also of a stepper motor Pin Pin 1 24 V motor power supply 2 0 V motor power supply 3 Phase 1 4 Reference switch 2 5 Phase 1 6 Reference switch 1 7 Phase 2 8 End switch 2 9 Phase 2 10 End switch 1 The switches must be connected towards 24 V ...

Page 109: ...III Software Seite 11 Software ...

Page 110: ...river connection with examples 3 1 2 Access via the DELIB driver library In the appendix you can find the complete function reference for the integration of our API functions in your software In addition we provide examples for the following programming languages C C C Delphi VisualBasic VB NET MS Office 3 1 3 Access via protocol The protocol for the activation of our products is open source So yo...

Page 111: ...We provide simple handling test programs for the most important functions of our products These will be installed automatically by the installation of the DELIB driver library So you can test directly e g relays or you can check the voltage of an A D converter ...

Page 112: ...r consideration of the following viewpoints Independent of operating system Independent of programming language Independent of the product Program under diverse operating systems The DELIB driver library allows an uniform response of our products on diverse operating systems We has made sure that all of our products can be responded by a few commands Whatever which operating system you use Therefo...

Page 113: ...cations under C C Visual Basic Delphi or LabVIEW Program independent of the interface Write your application independent of the interface Program an apllication for an USB product of us Also it will work with an ethernet or RS 232 product of us SDK Kit for Programmer Integrate the DELIB in your application On demand you receive an installation script for free which allows you to integrate the DELI...

Page 114: ...Our products support the following operating systems Windows 2000 Windows XP Windows Vista Windows 7 Linux 3 2 3 Supported programming languages Our products are responsive via the following programming languages C C C Delphi VisualBasic VB NET MS Office ...

Page 115: ...TEC Library and contains the necessary libraries for the modules in the programming languages C Delphi and Visual Basic Insert the DEDITEC driver CD into the drive and start delib_install exe The DELIB driver library is also available on http www deditec en delib Click on Install ...

Page 116: ... be installed The DELIB driver library is now installed Press Close to finish the installation You can configure your module with the DELIB Configuration Utility see next chapter This is only necessary if more than one module is present ...

Page 117: ... DELIB Configuration Utility as follows Start Programs DEDITEC DELIB DELIB Configuration Utility The DELIB Configuration Utility is a program to configure and subdivide identical USB modules in the system This is only necessary if more than one module is present ...

Page 118: ...Software Seite 20 3 3 Test programs 3 3 1 Stepper Demo Start Stepper Demo as follows Start Programme DEDITEC DELIB Stepper Demo ...

Page 119: ...Software Seite 21 The screenshot shows a test of the RO USB STEPPER2 The configuration of the module 2 Stepper is shown on the upper left side ...

Page 120: ...IV DELIB API reference Seite 22 DELIB API reference ...

Page 121: ...pened see delib h nr Indicates No of module which is to be opened nr 0 1 module nr 1 2 module Return value handle handle to the corresponding module handle 0 Module was not found Remarks The handle returned by this function is needed to identify the module for all other functions Example program USB Modul öffnen handle DapiOpenModule RO_USB1 0 printf handle x n handle if handle 0 USB Modul wurde n...

Page 122: ...piCloseModule Description This command closes an opened module Definition ULONG DapiCloseModule ULONG handle Parameters handle This is the handle of an opened module Return value none Example program Close the module DapiCloseModule handle ...

Page 123: ...LastError Description This function returns the last registered error Definition ULONG DapiGetLastError Parameters None Return value Error code 0 no error see delib h Example program ULONG error error DapiGetLastError if error 0 return FALSE printf ERROR d error ...

Page 124: ...tern ULONG __stdcall DapiGetLastErrorText unsigned char msg unsigned long msg_length Parameters msg text buffer msg_length length of the buffer Example program BOOL IsError if DapiGetLastError DAPI_ERR_NONE unsigned char msg 500 DapiGetLastErrorText unsigned char msg sizeof msg printf Error Code x Message s n 0 msg return TRUE return FALSE ...

Page 125: ...this command the motor will drive to a position This command can only be used when the motor is not disabled and Go_Position or Go_Reference are not executed Definition DapiStepperCommand handle motor DAPI_STEPPER_CMD_GO_POSITION position 0 0 0 Example program DapiStepperCommand handle motor DAPI_STEPPER_CMD_GO_POSITION go_pos_par 0 0 0 ...

Page 126: ...ion This command can only be used when the motor is not disabled and Go_Position or Go_Reference are not executed Definition void DapiStepperCommand handle motor DAPI_STEPPER_CMD_GO_POSITION_RELATIVE go_pos_rel_par 0 0 0 Parameters go_pos_rel_par the relative position to which will be gone Example program DapiStepperCommand handle motor DAPI_STEPPER_CMD_GO_POSITION_RELATIVE 100 0 0 0 Motor fährt v...

Page 127: ..._SET_POSITION Description This command ist used to set the motor position The resolution ist 1 16 Full step This command may be used anytime Definition DapiStepperCommand handle motor DAPI_STEPPER_CMD_SET_POSITION par1 0 0 0 Parameters par1 Motor position ...

Page 128: ...frequency is related to the full step mode The direction will be defined by the prefix If the motor reference frequency is higher than the maximum frequency the command is ignored With closed Endswitch1 the motor can only drive in positive direction with closed Endswitch2 the motor can only drive in negative direction otherwise the command is ignored Definition DapiStepperCommand handle motor DAPI...

Page 129: ...PI_STEPPER_CMD_GET_FREQUENCY Description This command is used to read the motor frequency This command can be used everytime Definition DapiStepperCommand handle motor DAPI_STEPPER_CMD_GET_FREQUENCY par1 0 0 0 Return value Motor frequency Hz ...

Page 130: ... the compliance of the acceleration and deceleration slope The user is responsible Step losses can occur The motor reference frequency is related to the full step The direction can be defined by the prefix The motor frequency can t exceed the maximum frequency Definition DapiStepperCommand handle motor DAPI_STEPPER_CMD_SET_FREQUENCY_DIRECTLY par1 0 0 0 Parameters par1 Motor frequency Hz ...

Page 131: ...I reference Seite 33 4 3 1 7 DAPI_STEPPER_CMD_STOP Description This command is used to stop the motor the deceleration slope will be used Definition DapiStepperCommand handle motor DAPI_STEPPER_CMD_STOP 0 0 0 0 ...

Page 132: ... immediately without using the the deceleration slope After this command the motor position might be ignorred because the motor has been stopped uncontrolled Definition DapiStepperCommand handle motor DAPI_STEPPER_CMD_FULLSTOP 0 0 0 0 Example program DapiStepperCommand handle motor DAPI_STEPPER_CMD_FULLSTOP 0 0 0 0 ...

Page 133: ...on This command is used to disable enable the motor The motor stops or starts driving This command can be only used when the motor stopped Definition DapiStepperCommand handle motor DAPI_STEPPER_CMD_DISABLE par1 0 0 0 Parameters par1 Disablemode 0 Normal function 1 Disable ...

Page 134: ...meter GO Frequency par1 DAPI_STEPPER_MOTORCHAR_PAR_GOFREQUENCY par2 Speed Full step s related to full step frequency maximum value 5000 Set Parameter Start Frequency par1 DAPI_STEPPER_MOTORCHAR_PAR_STARTFREQUENCY par2 Startfrequency Full step s related to full step frequency maximum value 5000 Set Parameter Stop Frequency par1 DAPI_STEPPER_MOTORCHAR_PAR_STOPFREQUENCY par2 Stopfrequency Full step s...

Page 135: ...hold mA maximum value 1500 Set Parameter Hold Time par1 DAPI_STEPPER_MOTORCHAR_PAR_HOLDTIME par2 Time in that the hold goes to motorstop ms par2 1 FFFF hex 65535 dez endless time Set Parameter Status LED Mode par1 DAPI_STEPPER_MOTORCHAR_PAR_STATUSLEDMODE par2 Mode of the Status LED par2 0 MOVE LED is on if the stepper moves par2 1 HALT LED is on if the stepper stands still par2 2 ENDSW1 LED is on ...

Page 136: ...nvert all direction details 0 normal 1 inverted Set Parameter Endswitch Stopmode par1 DAPI_STEPPER_MOTORCHAR_PAR_ENDSWITCH_STOPMODE par2 setting of the stop behaviour 0 Fullstop 1 Stop Set Parameter GoReferenceFrequency WARNING This parameter will not be supported anymore par1 DAPI_STEPPER_MOTORCHAR_PAR_GOREFERENCEFREQUENCY Remark This parameter is replaced completely by the following three parame...

Page 137: ...R_PAR_MAXFREQUENCY 3500 0 0 maximale Frequenz Vollschritt s DapiStepperCommand handle motor DAPI_STEPPER_CMD_SET_MOTORCHARACTERISTIC DAPI_STEPPER_MOTORCHAR_PAR_ACCELERATIONSLOPE 20 0 0 Beschleunigun in Vollschritten ms DapiStepperCommand handle motor DAPI_STEPPER_CMD_SET_MOTORCHARACTERISTIC DAPI_STEPPER_MOTORCHAR_PAR_DECELERATIONSLOPE 20 0 0 Bremsung in Vollschritten ms DapiStepperCommand handle m...

Page 138: ...ON 0 0 0 invertiere alle Richtungsangaben DapiStepperCommand handle motor DAPI_STEPPER_CMD_SET_MOTORCHARACTERISTIC DAPI_STEPPER_MOTORCHAR_PAR_ENDSWITCH_STOPMODE 0 0 0 einstellen des Stopverhaltens DapiStepperCommand handle motor DAPI_STEPPER_CMD_SET_MOTORCHARACTERISTIC DAPI_STEPPER_MOTORCHAR_PAR_GOREFERENCEFREQUENCY_TOENDSWITCH 100 0 0 Einstellung der Geschwindigkeit mit der zum Endschalter angefa...

Page 139: ...rs Get Parameter Stepmode par1 DAPI_STEPPER_MOTORCHAR_PAR_STEPMODE Get Parameter GO Frequency par1 DAPI_STEPPER_MOTORCHAR_PAR_GOFREQUENCY Get Parameter Start Frequency par1 DAPI_STEPPER_MOTORCHAR_PAR_STARTFREQUENCY Get Parameter Stop Frequency par1 DAPI_STEPPER_MOTORCHAR_PAR_STOPFREQUENCY Get Parameter Max Frequency par1 DAPI_STEPPER_MOTORCHAR_PAR_MAXFREQUENCY Get Parameter Accelerationslope par1 ...

Page 140: ...1 par1 DAPI_STEPPER_MOTORCHAR_PAR_INVERT_REFSW1 Get Parameter Invert Ref Switch2 par1 DAPI_STEPPER_MOTORCHAR_PAR_INVERT_REFSW2 Get Parameter Invert direction par1 DAPI_STEPPER_MOTORCHAR_PAR_INVERT_DIRECTION Get Parameter Endswitch Stopmode par1 DAPI_STEPPER_MOTORCHAR_PAR_ENDSWITCH_STOPMODE Get Parameter GoReferenceFrequency WARNING This parameter will not be supported anymore par1 DAPI_STEPPER_MOT...

Page 141: ... 43 Get Parameter GoReferenceFrequencyAfterEndSwitch par1 DAPI_STEPPER_MOTORCHAR_PAR_GOREFERENCEFREQUENCY_AFT ERENDSWITCH Get Parameter GoReferenceFrequencyToOffSet par1 DAPI_STEPPER_MOTORCHAR_PAR_GOREFERENCEFREQUENCY_TO OFFSET ...

Page 142: ...cy par1 DAPI_STEPPER_MOTORCHAR_PAR_STARTFREQUENCY return Startfrequency Full step s Parameter Stop Frequency par1 DAPI_STEPPER_MOTORCHAR_PAR_STOPFREQUENCY return Stopfrequency Full step s Parameter Max Frequency par1 DAPI_STEPPER_MOTORCHAR_PAR_MAXFREQUENCY return maximum frequency Full step s Parameter Accelerationslope par1 DAPI_STEPPER_MOTORCHAR_PAR_ACCELERATIONSLOPE return Acceleration slope Fu...

Page 143: ...eturn 0 MOVE LED is on if the stepper moves return 1 HALT LED is on if the stepper stands still return 2 ENDSW1 LED is on if the end switch1 is closed return 3 ENDSW2 LED is on if the end switch2 is closed return 4 REFSW1 LED is on if the Reference switch1 is closed return 5 REFSW2 LED is on if the Reference switch2 is closed Parameter Invert END Switch1 par1 DAPI_STEPPER_MOTORCHAR_PAR_INVERT_ENDS...

Page 144: ...ll step s Parameter GoReferenceFrequencyAfterEndSwitch par1 DAPI_STEPPER_MOTORCHAR_PAR_GOREFERENCEFREQUENCY_AFT ERENDSWITCH return frequency Full step s Parameter GoReferenceFrequencyToOffSet par1 DAPI_STEPPER_MOTORCHAR_PAR_GOREFERENCEFREQUENCY_TO OFFSET return frequency Full step s Example program value DapiStepperCommand handle motor DAPI_STEPPER_CMD_GET_MOTORCHARACTERISTIC DAPI_STEPPER_MOTORCHA...

Page 145: ...ERISTIC DAPI_STEPPER_MOTORCHAR_PAR_PHASECURRENT 0 0 0 Phasenstrom mA value DapiStepperCommand handle motor DAPI_STEPPER_CMD_GET_MOTORCHARACTERISTIC DAPI_STEPPER_MOTORCHAR_PAR_HOLDPHASECURRENT 0 0 0 Phasenstrom bei Motorstillstand mA value DapiStepperCommand handle motor DAPI_STEPPER_CMD_GET_MOTORCHARACTERISTIC DAPI_STEPPER_MOTORCHAR_PAR_HOLDTIME 0 0 0 Zeit in der der Haltestrom fließt nach Motorst...

Page 146: ...OTORCHAR_PAR_ENDSWITCH_STOPMODE 0 0 0 einstellen des Stopverhaltens value DapiStepperCommand handle motor DAPI_STEPPER_CMD_GET_MOTORCHARACTERISTIC DAPI_STEPPER_MOTORCHAR_PAR_GOREFERENCEFREQUENCY_TOENDSWITCH 0 0 0 Abfrage der Geschwindigkeit mit der der Endschalter angefahren wird value DapiStepperCommand handle motor DAPI_STEPPER_CMD_GET_MOTORCHARACTERISTIC DAPI_STEPPER_MOTORCHAR_PAR_GOREFERENCEFR...

Page 147: ...4 3 1 12 DAPI_STEPPER_CMD_MOTORCHARACTERISTIC_EEPROM_SAVE Description The current motor characteristic will be stored in the EEPROM Definition DapiStepperCommand handle motor DAPI_STEPPER_CMD_MOTORCHARACTERISTIC_EEPROM_SAVE 0 0 0 0 ...

Page 148: ...50 4 3 1 13 DAPI_STEPPER_CMD_MOTORCHARACTERISTIC_EEPROM_LOAD Description The motor characteristic can be loaded from the EEPROM Definition DapiStepperCommand handle motor DAPI_STEPPER_CMD_MOTORCHARACTERISTIC_EEPROM_LOAD 0 0 0 0 ...

Page 149: ...ll step s 200Hz Stop frequency Full step s 200Hz Maximal step frequency Full step s 3000Hz Acceleration slope Hz 10ms 10Hz 10ms Deceleration slope Hz 10ms 10Hz 10ms Phase current 0 1 5A 1mA 750mA Hold current 0 1 5A 1mA 500mA Hold time 0 infinite ms 15000ms Status_LED function Move Function of the Endswitch1 not inverted Function of the Endswitch2 not inverted Function of the Referenceswitch1 not ...

Page 150: ..._REFSWITCH_PAR_SET_POS_0 par2 Motorpositionsoffset 1 16 Full step par3 Timeout ms Remarks At first the motor goes to referenceposition 1 or 2 see par1 Therefor the speed GOREFERENCEFREQUENCY_TOENDSWITCH is used for see DapiStepperCommand_SetMotorcharacteristic After this the motor goes with the speed GOREFERENCEFREQUENCY_AFTERENDSWITCH out of the Referenceposition If there is declaration of an off...

Page 151: ... 16 DAPI_STEPPER_CMD_GET_CPU_TEMP Description The temperature of the CPU can be read Definition ULONG DapiStepperCommand handle motor DAPI_STEPPER_CMD_GET_CPU_TEMP Parameters cmd DAPI_STEPPER_CMD_GET_CPU_TEMP Return value temperature C ...

Page 152: ...MOTOR_SUPPLY_VOLTAGE Description The voltage supply of the CPU can be read Definition DapiStepperCommand handle motor DAPI_STEPPER_GET_MOTOR_SUPPLY_VOLTAGE 0 0 0 0 Parameters cmd DAPI_STEPPER_CMD_GET_MOTOR_SUPPLY_VOLTAGE Return value Motor voltage supply in mV ...

Page 153: ...ACTIVITY Parameters handle This is the handle of an opened module motor Number of addressed motor 1 2 Return value Bit Command Description 0 DISABLE Motor is disabled 1 MOTORSTROMACTIV Motor phase current is active 2 HALTESTROMACTIV Hold phase current is active 3 GOPOSITIONACTIV GoPosition is active 4 GOPOSITIONBREMSEN GoPosition deceleration is active 5 GOREFERENZACTIV GoReference is active Examp...

Page 154: ...d the motor position can be read Definition ULONG DapiStepperGetStatus handle motor cmd Parameters cmd DAPI_STEPPER_STATUS_GET_POSITION Return value The current motor position in 1 16 step units can be read back Example program value DapiStepperGetStatus handle motor DAPI_STEPPER_STATUS_GET_POSITION ...

Page 155: ... handle motor cmd Parameters cmd DAPI_STEPPER_STATUS_GET_SWITCH Return value Status of the switches will be delivered back Bit0 ENDSWITCH1 1 Endswitch1 is closed Bit1 ENDSWITCH2 1 Endswitch2 is closed Bit2 REFSWITCH1 1 Referenceswitch1 is closed Bit3 REFSWITCH2 1 Referenceswitch2 is closed Example program pos DapiStepperGetStatus handle motor DAPI_STEPPER_STATUS_GET_SWITCH ...

Page 156: ...andEx ULONG handle ULONG motor ULONG cmd ULONG par1 ULONG par2 ULONG par3 ULONG par4 ULONG par5 ULONG par6 ULONG par7 Parameters handle This is the handle of an opened module motor Number of addressed motor 1 2 cmd Extended command par1 7 Extended command depedent parameter see remarks Remarks See delib h for the extended commands and parameters ...

Page 157: ...instellungen Linker Objekt Bibliothek Module letzter Eintrag konfigurieren include windows h include stdio h include conio h include delib h void main void unsigned long handle unsigned long data unsigned long anz unsigned long i unsigned long chan USB Modul öffnen handle DapiOpenModule USB_Interface8 0 printf USB_Interface8 handle x n handle if handle 0 USB Modul wurde nicht gefunden printf Modul...

Page 158: ...iWriteByte handle 1 data printf Schreibe auf Adresse 0 daten 0x x n data Einen Wert auf die Ausgänge schreiben data 255 DapiWriteByte handle 2 data printf Schreibe auf Adresse 2 daten 0x x n data Einen Wert von den Eingängen lesen data unsigned long DapiReadByte handle 0 printf Gelesene Daten 0x x n data Einen A D Wert lesen chan 11 read chan 11 data DapiReadWord handle 0xff010000 chan 2 printf Ad...

Page 159: ...V Appendix Seite 61 Appendix ...

Page 160: ...ctions Rev 2 02 Supplement of DELIB functions DAPI_STEPPER_CMD_SET_MOTORCHARACTERISTIC DAPI_STEPPER_CMD_GET_MOTORCHARACTERISTIC and DAPI_STEPPER_CMD_GO_REFSWITCH Rev 2 03 Supplement of return value for command DAPI_STEPPER_STATUS_GET_ACTIVITY Supplement of parameter hold time endless time at command DAPI_STEPPER_CMD_SET_MOTORCHARACTERISTIC ...

Page 161: ...valds Windows CE is registered trade mark of Microsoft Corporation USB is registered trade mark of USB Implementers Forum Inc LabVIEW is registered trade mark of National Instruments Intel is registered trade mark of Intel Corporation AMD is registered trade mark of Advanced Micro Devices Inc ...

Page 162: ...Hardware Description November RO Series 2010 ...

Page 163: ...1 5 1 Definition of LEDs 18 2 1 2 Restore basic configuration 18 2 1 2 1 Restore IP address 18 2 1 2 2 Restore firmware 19 2 1 3 Firmware Update 19 2 1 3 1 DEDITEC Flasher 20 2 1 3 2 Web interface 22 2 1 4 Configuring the module 22 2 1 4 1 Configuration via DELIB Configuration utility 26 2 1 4 2 Configuration via internal web server 27 2 1 4 3 Factory settings 2 2 CAN Interface 28 28 2 2 1 Hardwar...

Page 164: ... 3 1 4 2 RS 232 RS 485 Interface 44 2 3 1 4 2 1RS 232 Pinout 44 2 3 1 4 2 2RS 485 Pinout 45 2 3 1 5 Control LEDs 45 2 3 1 5 1 Definition of LEDs 46 2 3 2 Configuring the module 46 2 3 2 1 DIP switches 47 2 3 2 2 The special mode 47 2 3 2 3 Activating echo 48 2 3 2 4 Setting up Baud rate 49 2 3 2 5 Setting up module address RS 485 only 2 4 USB Interface 50 50 2 4 1 Hardware description 50 2 4 1 1 O...

Page 165: ...ctor on the module 63 2 5 1 2 4 1Relay outputs galvanically decoupled max 1A 64 2 5 1 2 4 2Connection wiring 64 2 5 1 2 4 3Visual control of the outputs 64 2 5 1 2 4 4Pinout 65 2 5 1 3 MOSFET outputs 65 2 5 1 3 1 Overview screen 66 2 5 1 3 2 Technical data 67 2 5 1 3 3 Timeout protection 67 2 5 1 3 4 Plug in connector on the module 67 2 5 1 3 4 1Optocoupler outputs galvanically isolated max 68 2 5...

Page 166: ...5 1 Overview screen 84 2 6 1 5 2 Technical data 85 2 6 1 5 3 Timeout protection 86 2 6 1 5 4 Pinout 86 2 6 1 5 4 1D A connection wiring 10pol 2 7 Stepper module 87 87 2 7 1 Hardware description 87 2 7 1 1 Overview screen 88 2 7 1 2 Technical data 88 2 7 1 3 Stepping motor control 89 2 7 1 4 Stepper connection wiring 10pol pinout 3 Software 91 3 1 Using our products 91 91 3 1 1 Access via graphical...

Page 167: ...5 105 4 2 1 DapiGetLastError 106 4 2 2 DapiGetLastErrorText 4 3 Reading Digital inputs 107 107 4 3 1 DapiDIGet1 108 4 3 2 DapiDIGet8 109 4 3 3 DapiDIGet16 110 4 3 4 DapiDIGet32 111 4 3 5 DapiDIGet64 112 4 3 6 DapiDIGetFF32 113 4 3 7 DapiDIGetCounter 4 4 Setting Digital outputs 114 114 4 4 1 DapiDOSet1 115 4 4 2 DapiDOSet8 116 4 4 3 DapiDOSet16 117 4 4 4 DapiDOSet32 118 4 4 5 DapiDOSet64 119 4 4 6 ...

Page 168: ...CMD_SET_FREQUENCY 139 4 7 1 5 DAPI_STEPPER_CMD_GET_FREQUENCY 140 4 7 1 6 DAPI_STEPPER_CMD_SET_FREQUENCY_DIRECTLY 141 4 7 1 7 DAPI_STEPPER_CMD_STOP 142 4 7 1 8 DAPI_STEPPER_CMD_FULLSTOP 143 4 7 1 9 DAPI_STEPPER_CMD_DISABLE 144 4 7 1 10 DAPI_STEPPER_CMD_SET_MOTORCHARACTERISTIC 149 4 7 1 11 DAPI_STEPPER_CMD_GET_MOTORCHARACTERISTIC 157 4 7 1 12 DAPI_STEPPER_CMD_MOTORCHARACTERISTIC_EEP ROM_SAVE 158 4 7...

Page 169: ..._GET_POSITION 165 4 7 2 3 DAPI_STEPPER_STATUS_GET_SWITCH 166 4 7 3 DapiStepperCommandEx 4 8 Output timeout management 167 167 4 8 1 DapiSpecialCMDTimeout 168 4 8 2 DapiSpecialCMDTimeoutGetStatus 4 9 Test functions 169 169 4 9 1 DapiPing 4 10 Example program 170 5 Appendix 173 5 1 Revisions 173 5 2 Copyrights and trademarks 174 ...

Page 170: ...I Introduction Seite 9 Introduction ...

Page 171: ...evelopment Therefor we can offer you high quality products at a competitive price Availability Because of the modular design of our products we have to redesign only a module instead of the whole product in case a specific component is no longer available 1 2 Customer satisfaction Our philosophy a content customer will come again Therefor customer satisfaction is in first place for us If by any ch...

Page 172: ...II Hardware description Seite 11 Hardware description ...

Page 173: ...Seite 12 2 Hardware description 2 1 Ethernet Interface 2 1 1 Hardware description 2 1 1 1 Overview screen The figure shows the control module with ethernet interface left side combined with an input output module right side ...

Page 174: ...Hardware description Seite 13 The figure shows the control module with ethernet interface left side combined with a flexible connector input output module right side ...

Page 175: ...rface Input output access over TCP IP WEB interface Configuration over web interface 9 Control LEDs RJ45 Socket Timeout feature providing ability to disconnect outputs for safety reasons Expandable in 16 gradations Can be combined without any problem to other modules of the RO series Windows driver library DELIB ...

Page 176: ...nput power supply range lies between 7V and 24V DC The power supply can be realized with a standard AC DC adaptor with 1A output current A suitable plug in connector is delivered 2 1 1 3 2 Ethernet interface The network connection is provided by a RJ45 socket LED Description 1 Activity 2 10 100 Mbit ...

Page 177: ...Hardware description Seite 16 2 1 1 4 Buttons of the module Left Button Reset IP address to default see chapter 5 1 Right Button Reset firmware to factory settings see chapter 5 2 ...

Page 178: ... permanently and LED 1 is flashing Module is ready 2 1 1 5 1 Definition of LEDs LED Label Description above 3 3V Internal 3 3V power supply above 5V Internal 5V power supply 1 CPU Activity 2x flashing long break Operating system reports Status OK 2 Interface Activity Active communication over Ethernet 3 Status LED is on Module is ready 4 ERROR Error during ethernet transfer for details see documen...

Page 179: ...t After this the module has following settings IP address 192 168 1 1 Subnet mask 255 255 255 0 Standard gateway 192 168 1 254 2 1 2 2 Restore firmware To restore the firmware to default value proceed as follow Right Button Restore firmware to factory settings To restore the firmware to factory settings proceed as follow Press the button at least 10sec After this the three LED s CPU Activity Inter...

Page 180: ...e update http www deditec de en module software delib download html Extract all data to one folder Start the application deditec flasher exe 1 Select the interface For ethernet press the key E 2 Select the module which you want to update Press the key M for CPU interface 3 After successfully flashing in the prompt appears Flash OK ...

Page 181: ...Hardware description Seite 20 2 1 3 2 Web interface Approach 1 Type the IP address of your module in the browser ...

Page 182: ...Hardware description Seite 21 1 Click on FW Update 2 Select the file ro_cpu_eth_fw dfw 3 Click on Firmware update ...

Page 183: ...ration utility This method allows a simple configuration of the product Following basic values can be changed Module name IP address Net mask Default gateway DNS server Additionally with this tool all DEDITEC ethernet devices in the LAN network are displayed The following pages describe how it works ...

Page 184: ...Hardware description Seite 23 Start DELIB Configuration utility as follows Start Programs DEDITEC DELIB DELIB Configuration Utility 1 Module Selection select RO ETH 2 Find and configure RO ETH Module ...

Page 185: ...eam Therefore we use an ethernet protocol which will not be routed Because of that you can configure only modules which are connected to the bus The advantage of this method is that you can find modules which are not in the same sub net of which you are configuring 2 Click on the module which you want to configure ...

Page 186: ... address If the standard IP address of the module is not from the address range of the network the module will not be reachable by TCP IP at the moment Problems of accessibility will also occur if the IP address is already used However the IP address and the net mask of the ethernet module are configurable by this utility Alternatively you can connect the module to the PC and set the IP address an...

Page 187: ...Hardware description Seite 26 2 1 4 2 Configuration via internal web server The RO ETH module has an own web server by which it can be configured too ...

Page 188: ...s The factory settings of the ethernet module include following settings IP address 192 168 1 1 The factory settings can be restored by pushing the left button see chapter 5 2 IP address 192 168 1 1 Subnet mask 255 255 255 0 Standard gateway 192 168 1 254 ...

Page 189: ...tion 2 2 1 1 Overview screen The figure shows the control module with CAN interface left side combined with an input output module right side The figure shows the control module with CAN interface left side combined with a flexible connector input output module right side ...

Page 190: ...on range up to 10km at 10Kbit s Easy to configure over DIP switches Galvanically isolated interface using optocouplers 9 pol D SUB socket Timeout feature providing ability to disconnect outputs for safety reasons Comfortable connector system with ejection mechanism Expandable in 16 gradations Can be combined without any problem to other modules of the RO series ...

Page 191: ...ndard AC DC adaptor with 1A output current A suitable plug in connector is included 2 2 1 3 2 CAN interface The connection to the CAN bus is realized through a 9 pol D SUB connector It is galvanically isolated through optocouplers The CAN module is configured over the PC s RS 232 interface using the the included adaptor plug Pin 1 RS 232 config 3 RS 232 config 2 CAN low 7 CAN high 5 GND ...

Page 192: ...ng signal sequence should be seen all five LEDs flashing briefly right LED I O access flashing briefly all five LEDs flashing briefly 2 2 1 4 1 Definition of LEDs LED Description 3 3V Internal 3 3V power supply 5V Internal 5V power supply Interface Activity Active communication over the CAN bus ERROR Error during CAN transfer for details see document CAN protocol Inputs Change State change between...

Page 193: ...tion of the extended IDs the data transfer range or the module s address DIP switch A8 DIP switch A7 Description ON ON special mode Blinking squency during start up 5 LEDs 1 right LED 5 LEDs 100KHz CAN ID 0x100 Response Module Addr 1 keine 29 Bit Adressen ON OFF Only for SERVICE purpose application won t start Forced into bootloader OFF ON Software mode configuration by software OFF OFF DIP switch...

Page 194: ... for a quick and easy setup and facilitates an error analysis or an initial operation This mode is active if switching the DIP switches A7 and A8 to ON The remaining DIP switches are disabled The module will work with the following settings 11 bit addressing 100 kbit s bitrate CAN address 0x100 Response Modul Addr 1 responses are sent to this address ...

Page 195: ...nterface of your pc For using the software mode the dip switches A7 and A8 must be set on Dip switch changes will be taken over only by restart of the module Connect the module with a DSUB 9 cable to the RS 232 interface of your pc with the CAN SER adapter and connect it with the CAN module After installing the DELIB driver library you can find under Start Programs DEDITEC DELIB the DELIB Configur...

Page 196: ...the RO CAN module 2 Choose COM port that is connected to the module 3 Test commuikation with RO CAN module 4 This button shows the config of the module 5 Here you can save your configuration to the module 6 This button loads the config of the module ...

Page 197: ...es DIP A3 A1 und B8 B1 The Response Modul Addr 1 responses are sent to this address 2 2 2 4 1 Setting up the transfer rate The bit rate is dependent on the CAN bus data transfer range 3 DIP switches are used to set the bit rate Other bit rates can be implemented on customer request Bitrate 1Mbit 500K 250K 125K 100K 50K 20K 10K DIP switch A6 On On On On Off Off Off Off DIP switch A5 On On Off Off O...

Page 198: ...lectable Further 18 addressing bits may be supplemented by software To unlock this option DIP switch 7A must be set to ON Baud rate Bit Value ON Value OFF DIP switch A3 Bit 10 1024 0 DIP switch A2 Bit 9 512 0 DIP switch A1 Bit 8 256 0 DIP switch B8 Bit 7 128 0 DIP switch B7 Bit 6 64 0 DIP switch B6 Bit 5 32 0 DIP switch B5 Bit 4 16 0 DIP switch B4 Bit 3 8 0 DIP switch B3 Bit 2 4 0 DIP switch B2 Bi...

Page 199: ...588 DIP switch A3 Off Off Off DIP switch A2 Off Off On DIP switch A1 Off Off Off DIP switch B8 Off Off Off DIP switch B7 Off On On DIP switch B6 Off On Off DIP switch B5 Off On Off DIP switch B4 Off Off On DIP switch B3 Off On On DIP switch B2 Off Off Off DIP switch B1 Off On Off ...

Page 200: ...3 1 1 Overview screen The figure shows the control module with RS 232 RS 485 interface left side combined with an input output module right side The figure shows the control module with a RS 232 RS 485 interface left side combined with a flexible conntector input output module right side ...

Page 201: ...re over DIP switches Galvanically isolated interface using optocouplers Connection through 9 pol D SUB connector Timeout feature providing ability to disconnect outputs for safety reasons Comfortable connector system with ejection mechanism Expandable in 16 gradations Can be combined without any problem to other modules of the RO series ...

Page 202: ...nplug AC DC adaptor Do not touch electronic components They could be destroyed by electrostatic discharge If necessary touch grounded metal casings or radiators Remove a module s side element Unscrew the three Phillips screws Pull the circuit board together with the front panel sideways out Lift the front panel from the module Next to the left side of the serial interface D SUB 9 pol connector is ...

Page 203: ...ardware description Seite 42 Header Interface Set jumper RS 232 Pin1 Pin3 Pin2 Pin4 RS 485 Resistance terminator Pin3 Pin5 Pin4 Pin6 Pin7 Pin8 Pin9 Pin10 Assembling the elements in done the reverse order ...

Page 204: ...y range lies between 7V and 24V DC Power supply can be realized with a standard AC DC adaptor with 1A output current A suitable plug in connector is included 2 3 1 4 2 RS 232 RS 485 Interface The connection to the serial bus is realized through a 9 pol D SUB conector It is galvanically isolated through optocouplers ...

Page 205: ...Hardware description Seite 44 2 3 1 4 2 1 RS 232 Pinout Pin 2 TX 3 RX 5 GND 2 3 1 4 2 2 RS 485 Pinout Pin 2 RS 485 B 7 RS 485 A 5 GND ...

Page 206: ...sequence should be seen all five LEDs flashing briefly right LED I O access flashing briefly all five LEDs flashing briefly 2 3 1 5 1 Definition of LEDs LED Description 3 3V Internal 3 3V power supply 5V Internal 5V power supply Interface Activity Active communication over the RS 232 RS 485 bus ERROR Error during serial transfer for details see document Serial protocol Inputs Change State change b...

Page 207: ...cial mode the Baud rate the module s address or interface specific settings DIP switch A8 DIP switch A7 Description ON ON Special mode 115K baud rate module address 0 Echo OFF ON OFF Only for SERVICE purpose application won t start Forced into bootloader OFF ON Use setup of DIP switch A4 A1and B8 B1 OFF OFF Use setup of DIP switch A4 A1and B8 B1 DIP switch A6 Description ON Echo ON serial received...

Page 208: ...setup and facilitates an error analysis or an initial operation This mode is active if switching the DIP switches A7 and A8 to ON The remaining DIP switches are disabled The module is now set to a baud rate of 115Kbauds the module number and echo are inactive 2 3 2 3 Activating echo Received serial characters are returned back to display them on the monitor ON yes OFF no ...

Page 209: ... switch A3 DIP switch A2 DIP switch A1 1 25 Mbit On On On On 625 Kbit On On On Off 250 Kbit On On Off On 125 Kbit On On Off Off 115200 Bit On Off On On 57600 Bit On Off On Off 50000 Bit On Off Off On 38400 Bit On Off Off Off 19200 Bit Off On On On 9600 Bit Off On On Off 4800 Bit Off On Off On 2400 Bit Off On Off Off 1200 Bit Off Off On On 600 Bit Off Off On Off 300 Bit Off Off Off On ...

Page 210: ...s ignored i e any no will address the module Baud rate BIt Value ON Value OFF DIP switch B8 Bit 7 128 0 DIP switch B7 Bit 6 64 0 DIP switch B6 Bit 5 32 0 DIP switch B5 Bit 4 16 0 DIP switch B4 Bit 3 8 0 DIP switch B3 Bit 2 4 0 DIP switch B2 Bit 1 2 0 DIP switch B1 Bit 0 1 0 Examples Baud rate Address 0 Address 25 Address 237 DIP switch B8 Off Off On DIP switch B7 Off Off On DIP switch B6 Off Off O...

Page 211: ...bined with an input output module right side For a connection to the USB bus an adequate adapter module in form of a USB stick is included The figure below shows the control module with USB interface left side combined with a flexible conntector input output module right side For a connection to the USB bus an adequate adapter module in form of a USB stick is included with ...

Page 212: ...nd USB 1 1 Data transfer speed 12 MBit s or 1 5 MBit s Galvanically isolated interface using optocouplers 9 pol D SUB connector Timeout feature providing ability to disconnect outputs for safety reasons Comfortable connector system with ejection mechanism Expandable in 16 gradations Can be combined without any problem to other modules of the RO series ...

Page 213: ...pply can be realized with a standard AC DC adaptor with 1A output current A suitable plug in connector is included 2 4 1 3 2 USB interface module in form of a USB stick with a connection cable The stick has two optocouplers ensuring a galvanical isolation to the PC The other end of the adapater is a 9 pol D SUB connector which is connected to the RO module ...

Page 214: ...hing briefly all five LEDs flashing briefly 2 4 1 4 1 Definition of the LEDs LED Description 3 3V Internal 3 3V power supply 5V Internal 5V power supply Interface Activity Active communication over the USB bus ERROR Error during USB transfer for details see document USB protocol Inputs Change State change between 2 read out cylces detected Outputs Auto Off Due to timeout all outputs are switched o...

Page 215: ... 2 5 1 Hardware description Using the in output modules is based on two 16 pol connectors with each 8 different current circuits Each state of these total 16 current circuits is signalized by a LED The modules are numbered from left to right see overview screen ...

Page 216: ... to each other with corresponding numbering of the terminal blocks The lower figure shows a flexible conntector module with 32 outputs and corresponding numbered ports Each outer end of the module has a 26 pol wire trap connector Thus multiple modules can be connected in series using a ribbon cable for each connection ...

Page 217: ... the first 16 input channels Pulse detection between 2 read out cycles indicated by LED LED status indication of the inputs Galvanically isolated using optocouplers Comfortable connector system with ejection mechanism Expandable in 16 gradations Can be combined without any problem to other modules of the RO series ...

Page 218: ...ort input pulses Short input pulses between to read out cycles are registered through an additional logic and can be separately read out A registered pulse on one or more inputs is signalized by the LED Inputs Change on the control module The LED is extinguishing if the software register of the input state change is read out by the user For more indformation see Register assignment 2 5 1 1 5 Galva...

Page 219: ...ugging The wire connection itself is realised with a screwless connector system A tool is included with each module 2 5 1 1 6 1 Connection wiring Connecting the wires is to be effected at the ports with the same numbering for example 1a 1b 2a 2b The optocoupler inputs are suitable for AC voltage Therefore it is not necessary to take care of the connection polarity The figure shows two terminal blo...

Page 220: ...ctly observable 2 5 1 1 6 3 Pinout Port Pin Port Pin 1 1a 1b 9 9a 9b 2 2a 2b 10 10a 10b 3 3a 3b 11 11a 11b 4 4a 4b 12 12a 12b 5 5a 5b 13 13a 13b 6 6a 6b 14 14a 14b 7 7a 7b 15 15a 15b 8 8a 8b 16 16a 16b 2 5 1 1 7 Variable input voltage range The factory default of the inputs is set to a voltage range of 15V to 30V This may be changed to a range of 5V to 15V even afterward Input voltage range 5V 15V...

Page 221: ...e following Disconnect the power supply unplug AC DC adaptor Do not touch electronic components They could be destroyed by electrostatic discharge If necessary touch grounded metal casings or radiators Remove a module s side element Unscrew the three Phillips screws Pull the circuit board together with the front panel sideways out Lift the front panel from the module Every input module has two sin...

Page 222: ... each other with corresponding numbering of the terminal blocks The lower figure shows a flexible conntector module with 32 outputs and corresponding numbered ports Each outer end of the module has a 26 pol wire trap connector Thus multiple modules can be connected in series using a ribbon cable for each connection ...

Page 223: ...anically isolated using optocouplers Comfortable connector system with ejection mechanism Expandable in 16 gradations Can be combined without any problem to other modules of the RO series Max switching voltage 36V Max switching current 1A Max switching power 20W Switching cycles according to the manufacturer 10 Mio ...

Page 224: ...witching off the outputs is indicated by a LED 2 5 1 2 4 Plug in connector on the module As terminal block user friendly terminal strips with locking protection and ejection mechanism are used They are reverse polarity protected and allow quick replugging The wire connection itself is realised with a screwless connector system A tool is included with each module 2 5 1 2 4 1 Relay outputs galvanica...

Page 225: ...olarity 2 5 1 2 4 3 Visual control of the outputs The state of each output is directly signalized by a separate LED This simplifies to detect and rectify wiring errors because the signals on the cables are directly observable 2 5 1 2 4 4 Pinout Port Pin Port Pin 1 1a 1b 9 9a 9b 2 2a 2b 10 10a 10b 3 3a 3b 11 11a 11b 4 4a 4b 12 12a 12b 5 5a 5b 13 13a 13b 6 6a 6b 14 14a 14b 7 7a 7b 15 15a 15b 8 8a 8b...

Page 226: ... each other with corresponding numbering of the terminal blocks The lower figure shows a flexible conntector module with 32 outputs and corresponding numbered ports Each outer end of the module has a 26 pol wire trap connector Thus multiple modules can be connected in series using a ribbon cable for each connection ...

Page 227: ...tion of the outputs Galvanically isolated using optocouplers Comfortable connector system with ejection mechanism Expandable in 16 gradations Can be combined without any problem to other modules of the RO series Max switching voltage 30V DC Max switching current 2A DC Max switching power 40W ...

Page 228: ...icated by a LED 2 5 1 3 4 Plug in connector on the module As terminal block user friendly terminal strips with locking protection and ejection mechanism are used They are reverse polarity protected and allow quick replugging The wire connection itself is realised with a screwless connector system A tool is included with each module 2 5 1 3 4 1 Optocoupler outputs galvanically isolated max 2A DC Ev...

Page 229: ...y attention to the optocoupler s output polarity while wiring else the outputs will get damaged Connect the positive voltage to port a and the switched positive voltage to port b 2 5 1 3 4 3 Pinout Port Pin Port Pin 1 1a 1b 9 9a 9b 2 2a 2b 10 10a 10b 3 3a 3b 11 11a 11b 4 4a 4b 12 12a 12b 5 5a 5b 13 13a 13b 6 6a 6b 14 14a 14b 7 7a 7b 15 15a 15b 8 8a 8b 16 16a 16b ...

Page 230: ...output modules 2 6 1 Hardware description 2 6 1 1 RO AD16 DA4 This module has 16 A D channels and provides a good basis to convert voltages to digital values It has furthermore 4 D A outputs allowing to convert digital values to an analog voltage ...

Page 231: ...Overview screen The lower figure shows a module with two terminal blocks and corresponding numbered connection ports The following figure shows a flexible conntector module with two terminal blocks and corresponding numbered connection ports ...

Page 232: ...nnector system with ejection mechanism Can be combined without any problem to other modules of the RO series A D outputs Mode U voltage Unipolar 0 5V 0 10V Bipolar 5V 10V Mode I current Range 0 20mA optional D A outputs Timeout protection Mode U voltage Unipolar 0V 5V 0V 10V Bipolar 5V 10V ...

Page 233: ...ff the outputs on its own to prevent damage This takes place if in a predefined time frame no communication with the module was possible Reasons could be cable disruption PC crash and more This way damage control surcharge of connected equipment and risk of accidents can be avoided Switching off the outputs is indicated by a LED ...

Page 234: ...nection wiring 18pol Pin Pin 1 AGND 2 AGND 3 AD1 4 AD0 5 AD3 6 AD2 7 AD5 8 AD4 9 AD7 10 AD6 11 AD9 12 AD8 13 AD11 14 AD10 15 AD13 16 AD12 17 AD15 18 AD14 2 6 1 1 4 2 D A connection wiring 10pol Pin Pin 1 AGND 2 DA0 3 AGND 4 DA1 5 AGND 6 DA2 7 AGND 8 DA3 9 AGND 10 AGND ...

Page 235: ... a good basis to convert voltages to digital values 2 6 1 2 1 Overview screen The lower figure shows a module with a terminal block and corresponding numbered connection ports The following figure shows a flexible conntector module with a terminal block and corresponding numbered connection ports ...

Page 236: ...cal data Timeout protection Comfortable connector system with ejection mechanism Can be combined without any problem to other modules of the RO series A D inputs Mode U voltage Unipolar 0 5V 0 10V Bipolar 5V 10V Mode I current Range 0 20mA optional ...

Page 237: ...description Seite 76 2 6 1 2 3 Pinout 2 6 1 2 3 1 A D connection wiring 18pol Pin Pin 1 AGND 2 AGND 3 AD1 4 AD0 5 AD3 6 AD2 7 AD5 8 AD4 9 AD7 10 AD6 11 AD9 12 AD8 13 AD11 14 AD10 15 AD13 16 AD12 17 AD15 18 AD14 ...

Page 238: ... and provides a good basis to convert voltages to digital values 2 6 1 3 1 Overview screen The lower figure shows a module with a terminal block and corresponding numbered connection ports The following figure shows a flexible conntector module with a terminal block and corresponding numbered connection ports ...

Page 239: ...meout protection Comfortable connector system with ejection mechanism Can be combined without any problem to other modules of the RO series A D inputs Galvanically isolated Mode U voltage Unipolar 0 5V 0 10V Bipolar 5V 10V Mode I current Range 0 20mA optional ...

Page 240: ...description Seite 79 2 6 1 3 3 Pinout 2 6 1 3 3 1 A D connection wiring 18pol Pin Pin 1 AGND 2 AGND 3 AD1 4 AD0 5 AD3 6 AD2 7 AD5 8 AD4 9 AD7 10 AD6 11 AD9 12 AD8 13 AD11 14 AD10 15 AD13 16 AD12 17 AD15 18 AD14 ...

Page 241: ...od basis to convert digital values to a voltage 2 6 1 4 1 Overview screen The lower figure shows a module with a terminal block and corresponding numbered connection ports The following figure shows a flexible conntector module with a terminal block and corresponding numbered connection ports ...

Page 242: ...eite 81 2 6 1 4 2 Technical data Timeout protection Comfortable connector system with ejection mechanism Can be combined without any problem to other modules of the RO series D A outputs Unipolar 0V 5V 0V 10V Bipolar 5V 10V ...

Page 243: ... a predefined time frame no communication with the module was possible Reasons could be cable disruption PC crash and more This way damage control surcharge of connected equipment and risk of accidents can be avoided Switching off the outputs is indicated by a LED 2 6 1 4 4 Pinout 2 6 1 4 4 1 D A connection wiring 10pol Pin Pin 1 AGND 2 DA0 3 AGND 4 DA1 5 AGND 6 DA2 7 AGND 8 DA3 9 AGND 10 AGND ...

Page 244: ... provides a good basis to convert digital values to a voltage 2 6 1 5 1 Overview screen The lower figure shows a module with a terminal block and corresponding numbered connection ports The following figure shows a flexible conntector module with a terminal block and corresponding numbered connection ports ...

Page 245: ...Timeout protection Comfortable connector system with ejection mechanism Can be combined without any problem to other modules of the RO series D A outputs Modus U Spannung Unipolar 0V 5V 0V 10V Bipolar 5V 10V Mode I current Modus I Strom 0 20mA 4 20mA 0 24mA ...

Page 246: ...ff the outputs on its own to prevent damage This takes place if in a predefined time frame no communication with the module was possible Reasons could be cable disruption PC crash and more This way damage control surcharge of connected equipment and risk of accidents can be avoided Switching off the outputs is indicated by a LED ...

Page 247: ...ection wiring 10pol Connection wiring top Pin Pin 1 VOUT_A 2 Vsense_A 3 VOUT_A 4 Vsense_A 5 AGND 6 Vsense_A 7 AGND 8 Vsense_A 9 AGND 10 IOUT_A Connection wiring bottom Pin Pin 1 VOUT_B 2 Vsense_B 3 VOUT_B 4 Vsense_B 5 AGND 6 Vsense_B 7 AGND 8 Vsense_B 9 AGND 10 IOUT_B ...

Page 248: ...rdware description 2 7 1 1 Overview screen The lower figure shows a module with a terminal block and corresponding numbered connection ports The following figure shows a flexible stepper module with a terminal block and corresponding numbered connection ports ...

Page 249: ...rameters Start stop frequency Maximum stepping frequency Acceleration slope Deceleration slope Phase current Hold current Hold time 2 7 1 3 Stepping motor control Every parameter can be conveniently set using the DELIB library Two reference switches are used to reach a reference position Two additional end switches provide a save stopping If they are operated the motors may exclusively be driven b...

Page 250: ...ut Pinout of a socket connector and also of a stepper motor Pin Pin 1 24 V motor power supply 2 0 V motor power supply 3 Phase 1 4 Reference switch 2 5 Phase 1 6 Reference switch 1 7 Phase 2 8 End switch 2 9 Phase 2 10 End switch 1 The switches must be connected towards 24 V ...

Page 251: ...III Software Seite 90 Software ...

Page 252: ...river connection with examples 3 1 2 Access via the DELIB driver library In the appendix you can find the complete function reference for the integration of our API functions in your software In addition we provide examples for the following programming languages C C C Delphi VisualBasic VB NET MS Office 3 1 3 Access via protocol The protocol for the activation of our products is open source So yo...

Page 253: ...We provide simple handling test programs for the most important functions of our products These will be installed automatically by the installation of the DELIB driver library So you can test directly e g relays or you can check the voltage of an A D converter ...

Page 254: ...r consideration of the following viewpoints Independent of operating system Independent of programming language Independent of the product Program under diverse operating systems The DELIB driver library allows an uniform response of our products on diverse operating systems We has made sure that all of our products can be responded by a few commands Whatever which operating system you use Therefo...

Page 255: ...cations under C C Visual Basic Delphi or LabVIEW Program independent of the interface Write your application independent of the interface Program an apllication for an USB product of us Also it will work with an ethernet or RS 232 product of us SDK Kit for Programmer Integrate the DELIB in your application On demand you receive an installation script for free which allows you to integrate the DELI...

Page 256: ...Our products support the following operating systems Windows 2000 Windows XP Windows Vista Windows 7 Linux 3 2 3 Supported programming languages Our products are responsive via the following programming languages C C C Delphi VisualBasic VB NET MS Office ...

Page 257: ...TEC Library and contains the necessary libraries for the modules in the programming languages C Delphi and Visual Basic Insert the DEDITEC driver CD into the drive and start delib_install exe The DELIB driver library is also available on http www deditec en delib Click on Install ...

Page 258: ... be installed The DELIB driver library is now installed Press Close to finish the installation You can configure your module with the DELIB Configuration Utility see next chapter This is only necessary if more than one module is present ...

Page 259: ... DELIB Configuration Utility as follows Start Programs DEDITEC DELIB DELIB Configuration Utility The DELIB Configuration Utility is a program to configure and subdivide identical USB modules in the system This is only necessary if more than one module is present ...

Page 260: ...put Output Demo Start Digital Input Output Demo as follows Start Programme DEDITEC DELIB Digital Input Output Demo The screenshot shows a test of the RO USB O64 R64 The configuration of the module 64 inputs and 64 outputs is shown on the upper left side ...

Page 261: ...o Start Analog Input Output Demo as follows Start Programme DEDITEC DELIB Analog Input Output Demo The screenshot shows a test of the RO USB AD16 DA2_ISO The configuration of the module 16 A D inputs and 2 D A outputs is shown on the upper left side ...

Page 262: ...1 3 3 3 Stepper Demo Start Stepper Demo as follows Start Programme DEDITEC DELIB Stepper Demo The screenshot shows a test of the RO USB STEPPER2 The configuration of the module 2 Stepper is shown on the upper left side ...

Page 263: ...IV DELIB API reference Seite 102 DELIB API reference ...

Page 264: ...pened see delib h nr Indicates No of module which is to be opened nr 0 1 module nr 1 2 module Return value handle handle to the corresponding module handle 0 Module was not found Remarks The handle returned by this function is needed to identify the module for all other functions Example program USB Modul öffnen handle DapiOpenModule RO_USB1 0 printf handle x n handle if handle 0 USB Modul wurde n...

Page 265: ...piCloseModule Description This command closes an opened module Definition ULONG DapiCloseModule ULONG handle Parameters handle This is the handle of an opened module Return value none Example program Close the module DapiCloseModule handle ...

Page 266: ...tLastError Description This function returns the last registered error Definition ULONG DapiGetLastError Parameters None Return value Error code 0 no error see delib h Example program ULONG error error DapiGetLastError if error 0 return FALSE printf ERROR d error ...

Page 267: ...tern ULONG __stdcall DapiGetLastErrorText unsigned char msg unsigned long msg_length Parameters msg text buffer msg_length length of the buffer Example program BOOL IsError if DapiGetLastError DAPI_ERR_NONE unsigned char msg 500 DapiGetLastErrorText unsigned char msg sizeof msg printf Error Code x Message s n 0 msg return TRUE return FALSE ...

Page 268: ... 1 DapiDIGet1 Description This command reads a single digit input Definition ULONG DapiDIGet1 ULONG handle ULONG ch Parameters handle This is the handle of an opened module ch Specifies the number of input that is to be read 0 Return value State of the input 0 1 ...

Page 269: ...and reads 8 digital inputs simultaneously Definition ULONG DapiDIGet8 ULONG handle ULONG ch Parameters handle This is the handle of an opened module ch Specifies the number of the input from which it begins to read from 0 8 16 24 32 Return value State of the read inputs ...

Page 270: ...mmand reads 16 digital inputs simultaneously Definition ULONG DapiDIGet16 ULONG handle ULONG ch Parameters handle This is the handle of an opened module ch Specifies the number of the input from which it begins to read from 0 16 32 Return value State of the read inputs ...

Page 271: ...nput from which it begins to read from 0 32 64 Return value State of the read inputs Example program unsigned long data Einen Wert von den Eingängen lesen Eingang 1 31 data unsigned long DapiDIGet32 handle 0 Chan Start 0 printf Eingang 0 31 0x x n data printf Taste für weiter n getch Einen Wert von den Eingängen lesen Eingang 32 64 data unsigned long DapiDIGet32 handle 32 Chan Start 32 printf Eing...

Page 272: ...mand reads 64 digital inputs simultaneously Definition ULONGLONG DapiDIGet64 ULONG handle ULONG ch Parameters handle This is the handle of an opened module ch Specifies the number of the input from which it begins to read from 0 64 Return value State of the read inputs ...

Page 273: ...p flops from the inputs and resets them Input state change Definition ULONG DapiDIGetFF32 ULONG handle ULONG ch Parameters handle This is the handle of an opened module ch Specifies the number of the input from which it begins to read from 0 32 Return value State of 32 input change states ...

Page 274: ...e counter will be read par1 0 Normal counter function par1 DAPI_CNT_MODE_READ_WITH_RESET Reading and resetting the counter Return value Value of the counter Example program value DapiDIGetCounter handle 0 0 Reading counter of DI Chan 0 value DapiDIGetCounter handle 1 0 Reading counter of DI Chan 1 value DapiDIGetCounter handle 8 0 Reading counter of DI Chan 8 value DapiDIGetCounter handle 0 DAPI_C...

Page 275: ... This is the command to set a single output Definition void DapiDOSet1 ULONG handle ULONG ch ULONG data Parameters handle This is the handle of an opened module ch Specifies the number of the output to be set to 0 data Specifies the data value that is to be written 0 1 Return value None ...

Page 276: ...uts simultaneously Definition void DapiDOSet8 ULONG handle ULONG ch ULONG data Parameters handle This is the handle of an opened module ch Specifies the number of the output from which it begins to write to 0 8 16 24 32 data Specifies the data values to write to the outputs Return value None ...

Page 277: ...utputs simultaneously Definition void DapiDOSet16 ULONG handle ULONG ch ULONG data Parameters handle This is the handle of an opened module ch Specifies the number of the output from which it begins to write to 0 16 32 data Specifies the data values to write to the outputs Return value None ...

Page 278: ...Wert auf die Ausgänge schreiben data 0x0000ff00 Ausgänge 9 16 werden auf 1 gesetzt DapiDOSet32 handle 0 data Chan Start 0 printf Schreibe auf Ausgänge Daten 0x x n data printf Taste für weiter n getch Einen Wert auf die Ausgänge schreiben data 0x80000000 Ausgang 32 wird auf 1 gesetzt DapiDOSet32 handle 0 data Chan Start 0 printf Schreibe auf Ausgänge Daten 0x x n data printf Taste für weiter n get...

Page 279: ...64 digital outputs Definition void DapiDOSet64 ULONG handle ULONG ch ULONG data Parameters handle This is the handle of an opened module ch Specifies the number of the output from which it begins to write to 0 64 data Specifies the data values to write to the outputs Return value None ...

Page 280: ...his command reads back the 32 digital outputs Definition ULONG DapiDOReadback32 ULONG handle ULONG ch Parameters handle This is the handle of an opened module ch Specifies the number of the input from which it begins to read from 0 32 Return value Status of 32 outputs ...

Page 281: ...s command reads back the 64 digital outputs Definition ULONGLONG DapiDOReadback64 ULONG handle ULONG ch Parameters handle This is the handle of an opened module ch Specifies the number of the input from which it begins to read from 0 64 Return value Status of 64 outputs ...

Page 282: ...h ULONG mode Parameters handle This is the handle of an opened module ch Specifies the channel of the A D converter 0 mode Specifies the mode for the channel Return value None Remarks The following modes are supported these are dependent on the A D module Unipolar voltages ADDA_MODE_UNIPOL_10V ADDA_MODE_UNIPOL_5V ADDA_MODE_UNIPOL_2V5 Bipolar voltages ADDA_MODE_BIPOL_10V ADDA_MODE_BIPOL_5V ADDA_MOD...

Page 283: ...DELIB API reference Seite 122 Currents ADDA_MODE_0_20mA ADDA_MODE_4_20mA ADDA_MODE_0_24mA ADDA_MODE_0_25mA ADDA_MODE_0_50mA ...

Page 284: ... reads the set mode of an A D converter For mode description see DapiADSetMode Definition ULONG DapiADGetMode ULONG handle ULONG ch Parameters handle This is the handle of an opened module ch Specifies the channel of the A D converter 0 Return value Mode of the A D converter ...

Page 285: ...ommand reads a data value of one channel of an A D converter Definition ULONG DapiADGet ULONG handle ULONG ch Parameters handle This is the handle of an opened module ch Specifies the channel of the A D converter 0 Return value Value from the A D converter in Digits ...

Page 286: ...nd reads a data value of one channel of an A D converter in volts Definition float DapiADGetVolt ULONG handle ULONG ch Parameters handle This is the handle of an opened module ch Specifies the channel of the A D converter 0 Return value Value from the A D converter in volts ...

Page 287: ...converter in mA Definition float DapiADGetmA ULONG handle ULONG ch Parameters handle This is the handle of an opened module ch Specifies the channel of the A D converter 0 Return value Value from the A D converter in mA Remarks This command is module dependent It only works if the module also supports the current mode ...

Page 288: ...meters handle This is the handle of an opened module ch Specifies the channel of the D A converter 0 mode Specifies the mode of the D A converter Return value None Remarks The following modes are supported these are dependent on the used D A module Unipolar voltages ADDA_MODE_UNIPOL_10V ADDA_MODE_UNIPOL_5V ADDA_MODE_UNIPOL_2V5 Bipolar voltages ADDA_MODE_BIPOL_10V ADDA_MODE_BIPOL_5V ADDA_MODE_BIPOL...

Page 289: ...DELIB API reference Seite 128 Currents ADDA_MODE_0_20mA ADDA_MODE_4_20mA ADDA_MODE_0_24mA ADDA_MODE_0_25mA ADDA_MODE_0_50mA ...

Page 290: ...ion This command reads back the chosen mode of a D A converter Definition ULONG DapiDAGetMode ULONG handle ULONG ch Parameters handle This is the handle of an opened module ch Specifies the channel of the D A converter 0 Return value Mode of the D A converter ...

Page 291: ...fers a data value to a channel of a D A converter Definition void DapiDASet ULONG handle ULONG ch ULONG data Parameters handle This is the handle of an opened module ch Specifies the channel of the D A converter 0 data Specifies the data value which is written Return value None ...

Page 292: ...nd sets a voltage to a channel of a D A converter Definition void DapiDASetVolt ULONG handle ULONG ch float data Parameters handle This is the handle of an opened module ch Specifies the channel of the D A converter 0 data the voltage which is to be set V Return value None ...

Page 293: ...tion void DapiDASetmA ULONG handle ULONG ch float data Parameters handle This is the handle of an opened module ch Specifies the channel of the D A converter 0 data Specifies the current which is to be set mA Return value None Remarks This command depends on the module It only works if the module also supports the current mode ...

Page 294: ...AR_DA_LOAD_DEFAULT Save configuration to EEPROM cmd DAPI_SPECIAL_DA_PAR_DA_SAVE_EEPROM_CONFIG Load configuration out of EEPROM cmd DAPI_SPECIAL_DA_PAR_DA_LOAD_EEPROM_CONFIG Return value None Remarks DAPI_SPECIAL_CMD_DA_PAR_DA_LOAD_DEFAULT This command loads the default configuration of a D A converter The D A output has the voltage 0V now DAPI_SPECIAL_DA_PAR_DA_SAVE_EEPROM_CONFIG This command save...

Page 295: ... auf Default Konfiguration bei Kanal 1 DapiSpecialCommand handle DAPI_SPECIAL_CMD_DA DAPI_SPECIAL_DA_PAR_DA_SAVE_EEPROM_CONFIG 3 0 Speichern der D A Wandler Einstellungen in das EEPROM bei Kanal 3 DapiSpecialCommand handle DAPI_SPECIAL_CMD_DA DAPI_SPECIAL_DA_PAR_DA_LOAD_EEPROM_CONFIG 2 0 Setzen des D A Wandlers mit der im EEPROM gespeicherten Konfiguration bei Kanal 2 ...

Page 296: ... this command the motor will drive to a position This command can only be used when the motor is not disabled and Go_Position or Go_Reference are not executed Definition DapiStepperCommand handle motor DAPI_STEPPER_CMD_GO_POSITION position 0 0 0 Example program DapiStepperCommand handle motor DAPI_STEPPER_CMD_GO_POSITION go_pos_par 0 0 0 ...

Page 297: ...ion This command can only be used when the motor is not disabled and Go_Position or Go_Reference are not executed Definition void DapiStepperCommand handle motor DAPI_STEPPER_CMD_GO_POSITION_RELATIVE go_pos_rel_par 0 0 0 Parameters go_pos_rel_par the relative position to which will be gone Example program DapiStepperCommand handle motor DAPI_STEPPER_CMD_GO_POSITION_RELATIVE 100 0 0 0 Motor fährt v...

Page 298: ..._SET_POSITION Description This command ist used to set the motor position The resolution ist 1 16 Full step This command may be used anytime Definition DapiStepperCommand handle motor DAPI_STEPPER_CMD_SET_POSITION par1 0 0 0 Parameters par1 Motor position ...

Page 299: ... frequency is related to the full step mode The direction will be defined by the prefix If the motor reference frequency is higher than the maximum frequency the command is ignored With closed Endswitch1 the motor can only drive in positive direction with closed Endswitch2 the motor can only drive in negative direction otherwise the command is ignored Definition DapiStepperCommand handle motor DAP...

Page 300: ...PI_STEPPER_CMD_GET_FREQUENCY Description This command is used to read the motor frequency This command can be used everytime Definition DapiStepperCommand handle motor DAPI_STEPPER_CMD_GET_FREQUENCY par1 0 0 0 Return value Motor frequency Hz ...

Page 301: ...n the compliance of the acceleration and deceleration slope The user is responsible Step losses can occur The motor reference frequency is related to the full step The direction can be defined by the prefix The motor frequency can t exceed the maximum frequency Definition DapiStepperCommand handle motor DAPI_STEPPER_CMD_SET_FREQUENCY_DIRECTLY par1 0 0 0 Parameters par1 Motor frequency Hz ...

Page 302: ... reference Seite 141 4 7 1 7 DAPI_STEPPER_CMD_STOP Description This command is used to stop the motor the deceleration slope will be used Definition DapiStepperCommand handle motor DAPI_STEPPER_CMD_STOP 0 0 0 0 ...

Page 303: ... immediately without using the the deceleration slope After this command the motor position might be ignorred because the motor has been stopped uncontrolled Definition DapiStepperCommand handle motor DAPI_STEPPER_CMD_FULLSTOP 0 0 0 0 Example program DapiStepperCommand handle motor DAPI_STEPPER_CMD_FULLSTOP 0 0 0 0 ...

Page 304: ...on This command is used to disable enable the motor The motor stops or starts driving This command can be only used when the motor stopped Definition DapiStepperCommand handle motor DAPI_STEPPER_CMD_DISABLE par1 0 0 0 Parameters par1 Disablemode 0 Normal function 1 Disable ...

Page 305: ...meter GO Frequency par1 DAPI_STEPPER_MOTORCHAR_PAR_GOFREQUENCY par2 Speed Full step s related to full step frequency maximum value 5000 Set Parameter Start Frequency par1 DAPI_STEPPER_MOTORCHAR_PAR_STARTFREQUENCY par2 Startfrequency Full step s related to full step frequency maximum value 5000 Set Parameter Stop Frequency par1 DAPI_STEPPER_MOTORCHAR_PAR_STOPFREQUENCY par2 Stopfrequency Full step s...

Page 306: ... hold mA maximum value 1500 Set Parameter Hold Time par1 DAPI_STEPPER_MOTORCHAR_PAR_HOLDTIME par2 Time in that the hold goes to motorstop ms par2 1 FFFF hex 65535 dez endless time Set Parameter Status LED Mode par1 DAPI_STEPPER_MOTORCHAR_PAR_STATUSLEDMODE par2 Mode of the Status LED par2 0 MOVE LED is on if the stepper moves par2 1 HALT LED is on if the stepper stands still par2 2 ENDSW1 LED is on...

Page 307: ...nvert all direction details 0 normal 1 inverted Set Parameter Endswitch Stopmode par1 DAPI_STEPPER_MOTORCHAR_PAR_ENDSWITCH_STOPMODE par2 setting of the stop behaviour 0 Fullstop 1 Stop Set Parameter GoReferenceFrequency WARNING This parameter will not be supported anymore par1 DAPI_STEPPER_MOTORCHAR_PAR_GOREFERENCEFREQUENCY Remark This parameter is replaced completely by the following three parame...

Page 308: ...AR_PAR_MAXFREQUENCY 3500 0 0 maximale Frequenz Vollschritt s DapiStepperCommand handle motor DAPI_STEPPER_CMD_SET_MOTORCHARACTERISTIC DAPI_STEPPER_MOTORCHAR_PAR_ACCELERATIONSLOPE 20 0 0 Beschleunigun in Vollschritten ms DapiStepperCommand handle motor DAPI_STEPPER_CMD_SET_MOTORCHARACTERISTIC DAPI_STEPPER_MOTORCHAR_PAR_DECELERATIONSLOPE 20 0 0 Bremsung in Vollschritten ms DapiStepperCommand handle ...

Page 309: ...ION 0 0 0 invertiere alle Richtungsangaben DapiStepperCommand handle motor DAPI_STEPPER_CMD_SET_MOTORCHARACTERISTIC DAPI_STEPPER_MOTORCHAR_PAR_ENDSWITCH_STOPMODE 0 0 0 einstellen des Stopverhaltens DapiStepperCommand handle motor DAPI_STEPPER_CMD_SET_MOTORCHARACTERISTIC DAPI_STEPPER_MOTORCHAR_PAR_GOREFERENCEFREQUENCY_TOENDSWITCH 100 0 0 Einstellung der Geschwindigkeit mit der zum Endschalter angef...

Page 310: ...rs Get Parameter Stepmode par1 DAPI_STEPPER_MOTORCHAR_PAR_STEPMODE Get Parameter GO Frequency par1 DAPI_STEPPER_MOTORCHAR_PAR_GOFREQUENCY Get Parameter Start Frequency par1 DAPI_STEPPER_MOTORCHAR_PAR_STARTFREQUENCY Get Parameter Stop Frequency par1 DAPI_STEPPER_MOTORCHAR_PAR_STOPFREQUENCY Get Parameter Max Frequency par1 DAPI_STEPPER_MOTORCHAR_PAR_MAXFREQUENCY Get Parameter Accelerationslope par1 ...

Page 311: ...h1 par1 DAPI_STEPPER_MOTORCHAR_PAR_INVERT_REFSW1 Get Parameter Invert Ref Switch2 par1 DAPI_STEPPER_MOTORCHAR_PAR_INVERT_REFSW2 Get Parameter Invert direction par1 DAPI_STEPPER_MOTORCHAR_PAR_INVERT_DIRECTION Get Parameter Endswitch Stopmode par1 DAPI_STEPPER_MOTORCHAR_PAR_ENDSWITCH_STOPMODE Get Parameter GoReferenceFrequency WARNING This parameter will not be supported anymore par1 DAPI_STEPPER_MO...

Page 312: ...151 Get Parameter GoReferenceFrequencyAfterEndSwitch par1 DAPI_STEPPER_MOTORCHAR_PAR_GOREFERENCEFREQUENCY_AFT ERENDSWITCH Get Parameter GoReferenceFrequencyToOffSet par1 DAPI_STEPPER_MOTORCHAR_PAR_GOREFERENCEFREQUENCY_TO OFFSET ...

Page 313: ...ncy par1 DAPI_STEPPER_MOTORCHAR_PAR_STARTFREQUENCY return Startfrequency Full step s Parameter Stop Frequency par1 DAPI_STEPPER_MOTORCHAR_PAR_STOPFREQUENCY return Stopfrequency Full step s Parameter Max Frequency par1 DAPI_STEPPER_MOTORCHAR_PAR_MAXFREQUENCY return maximum frequency Full step s Parameter Accelerationslope par1 DAPI_STEPPER_MOTORCHAR_PAR_ACCELERATIONSLOPE return Acceleration slope F...

Page 314: ...return 0 MOVE LED is on if the stepper moves return 1 HALT LED is on if the stepper stands still return 2 ENDSW1 LED is on if the end switch1 is closed return 3 ENDSW2 LED is on if the end switch2 is closed return 4 REFSW1 LED is on if the Reference switch1 is closed return 5 REFSW2 LED is on if the Reference switch2 is closed Parameter Invert END Switch1 par1 DAPI_STEPPER_MOTORCHAR_PAR_INVERT_END...

Page 315: ...ll step s Parameter GoReferenceFrequencyAfterEndSwitch par1 DAPI_STEPPER_MOTORCHAR_PAR_GOREFERENCEFREQUENCY_AFT ERENDSWITCH return frequency Full step s Parameter GoReferenceFrequencyToOffSet par1 DAPI_STEPPER_MOTORCHAR_PAR_GOREFERENCEFREQUENCY_TO OFFSET return frequency Full step s Example program value DapiStepperCommand handle motor DAPI_STEPPER_CMD_GET_MOTORCHARACTERISTIC DAPI_STEPPER_MOTORCHA...

Page 316: ...TERISTIC DAPI_STEPPER_MOTORCHAR_PAR_PHASECURRENT 0 0 0 Phasenstrom mA value DapiStepperCommand handle motor DAPI_STEPPER_CMD_GET_MOTORCHARACTERISTIC DAPI_STEPPER_MOTORCHAR_PAR_HOLDPHASECURRENT 0 0 0 Phasenstrom bei Motorstillstand mA value DapiStepperCommand handle motor DAPI_STEPPER_CMD_GET_MOTORCHARACTERISTIC DAPI_STEPPER_MOTORCHAR_PAR_HOLDTIME 0 0 0 Zeit in der der Haltestrom fließt nach Motors...

Page 317: ...MOTORCHAR_PAR_ENDSWITCH_STOPMODE 0 0 0 einstellen des Stopverhaltens value DapiStepperCommand handle motor DAPI_STEPPER_CMD_GET_MOTORCHARACTERISTIC DAPI_STEPPER_MOTORCHAR_PAR_GOREFERENCEFREQUENCY_TOENDSWITCH 0 0 0 Abfrage der Geschwindigkeit mit der der Endschalter angefahren wird value DapiStepperCommand handle motor DAPI_STEPPER_CMD_GET_MOTORCHARACTERISTIC DAPI_STEPPER_MOTORCHAR_PAR_GOREFERENCEF...

Page 318: ...4 7 1 12 DAPI_STEPPER_CMD_MOTORCHARACTERISTIC_EEPROM_SAVE Description The current motor characteristic will be stored in the EEPROM Definition DapiStepperCommand handle motor DAPI_STEPPER_CMD_MOTORCHARACTERISTIC_EEPROM_SAVE 0 0 0 0 ...

Page 319: ...158 4 7 1 13 DAPI_STEPPER_CMD_MOTORCHARACTERISTIC_EEPROM_LOAD Description The motor characteristic can be loaded from the EEPROM Definition DapiStepperCommand handle motor DAPI_STEPPER_CMD_MOTORCHARACTERISTIC_EEPROM_LOAD 0 0 0 0 ...

Page 320: ...ull step s 200Hz Stop frequency Full step s 200Hz Maximal step frequency Full step s 3000Hz Acceleration slope Hz 10ms 10Hz 10ms Deceleration slope Hz 10ms 10Hz 10ms Phase current 0 1 5A 1mA 750mA Hold current 0 1 5A 1mA 500mA Hold time 0 infinite ms 15000ms Status_LED function Move Function of the Endswitch1 not inverted Function of the Endswitch2 not inverted Function of the Referenceswitch1 not...

Page 321: ..._REFSWITCH_PAR_SET_POS_0 par2 Motorpositionsoffset 1 16 Full step par3 Timeout ms Remarks At first the motor goes to referenceposition 1 or 2 see par1 Therefor the speed GOREFERENCEFREQUENCY_TOENDSWITCH is used for see DapiStepperCommand_SetMotorcharacteristic After this the motor goes with the speed GOREFERENCEFREQUENCY_AFTERENDSWITCH out of the Referenceposition If there is declaration of an off...

Page 322: ...1 16 DAPI_STEPPER_CMD_GET_CPU_TEMP Description The temperature of the CPU can be read Definition ULONG DapiStepperCommand handle motor DAPI_STEPPER_CMD_GET_CPU_TEMP Parameters cmd DAPI_STEPPER_CMD_GET_CPU_TEMP Return value temperature C ...

Page 323: ..._MOTOR_SUPPLY_VOLTAGE Description The voltage supply of the CPU can be read Definition DapiStepperCommand handle motor DAPI_STEPPER_GET_MOTOR_SUPPLY_VOLTAGE 0 0 0 0 Parameters cmd DAPI_STEPPER_CMD_GET_MOTOR_SUPPLY_VOLTAGE Return value Motor voltage supply in mV ...

Page 324: ...ACTIVITY Parameters handle This is the handle of an opened module motor Number of addressed motor 1 2 Return value Bit Command Description 0 DISABLE Motor is disabled 1 MOTORSTROMACTIV Motor phase current is active 2 HALTESTROMACTIV Hold phase current is active 3 GOPOSITIONACTIV GoPosition is active 4 GOPOSITIONBREMSEN GoPosition deceleration is active 5 GOREFERENZACTIV GoReference is active Examp...

Page 325: ...d the motor position can be read Definition ULONG DapiStepperGetStatus handle motor cmd Parameters cmd DAPI_STEPPER_STATUS_GET_POSITION Return value The current motor position in 1 16 step units can be read back Example program value DapiStepperGetStatus handle motor DAPI_STEPPER_STATUS_GET_POSITION ...

Page 326: ...s handle motor cmd Parameters cmd DAPI_STEPPER_STATUS_GET_SWITCH Return value Status of the switches will be delivered back Bit0 ENDSWITCH1 1 Endswitch1 is closed Bit1 ENDSWITCH2 1 Endswitch2 is closed Bit2 REFSWITCH1 1 Referenceswitch1 is closed Bit3 REFSWITCH2 1 Referenceswitch2 is closed Example program pos DapiStepperGetStatus handle motor DAPI_STEPPER_STATUS_GET_SWITCH ...

Page 327: ...mandEx ULONG handle ULONG motor ULONG cmd ULONG par1 ULONG par2 ULONG par3 ULONG par4 ULONG par5 ULONG par6 ULONG par7 Parameters handle This is the handle of an opened module motor Number of addressed motor 1 2 cmd Extended command par1 7 Extended command depedent parameter see remarks Remarks See delib h for the extended commands and parameters ...

Page 328: ...2 Milliseconds 100ms value 6 stands for 600ms Activate timeout cmd DAPI_SPECIAL_CMD_TIMEOUT_ACTIVATE Deactivate timeout cmd DAPI_SPECIAL_CMD_TIMEOUT_DEACTIVATE Return value None Example program DapiSpecialCommand handle DAPI_SPECIAL_CMD_TIMEOUT DAPI_SPECIAL_TIMEOUT_SET_VALUE_SEC 3 7 Die Zeit des Timeouts wird auf 3 7sek gesetzt DapiSpecialCommand handle DAPI_SPECIAL_CMD_TIMEOUT DAPI_SPECIAL_TIMEOU...

Page 329: ... DAPI_SPECIAL_CMD_TIMEOUT DAPI_SPECIAL_TIMEOUT_GET_STATUS 0 0 Parameters handle This is the handle of an opened module Return value Return 0 timeout is deactivated Return 1 timeout is activated Return 2 timeout has occurred Example program status DapiSpecialCommand handle DAPI_SPECIAL_CMD_TIMEOUT DAPI_SPECIAL_TIMEOUT_GET_STATUS 0 0 Abfrage des Timeout Status ...

Page 330: ...iption This command checks the connection of an opened module Definition ULONG DapiPing ULONG handle ULONG value Parameters handle This is the handle of an opened module value Given test value to the module Return value The given test value value is also the return value ...

Page 331: ...Einstellungen Linker Objekt Bibliothek Module letzter Eintrag konfigurieren include windows h include stdio h include conio h include delib h void main void unsigned long handle unsigned long data unsigned long anz unsigned long i unsigned long chan USB Modul öffnen handle DapiOpenModule USB_Interface8 0 printf USB_Interface8 handle x n handle if handle 0 USB Modul wurde nicht gefunden printf Modu...

Page 332: ...piWriteByte handle 1 data printf Schreibe auf Adresse 0 daten 0x x n data Einen Wert auf die Ausgänge schreiben data 255 DapiWriteByte handle 2 data printf Schreibe auf Adresse 2 daten 0x x n data Einen Wert von den Eingängen lesen data unsigned long DapiReadByte handle 0 printf Gelesene Daten 0x x n data Einen A D Wert lesen chan 11 read chan 11 data DapiReadWord handle 0xff010000 chan 2 printf A...

Page 333: ...V Appendix Seite 172 Appendix ...

Page 334: ... serial CAN Rev 1 4 Added Chapter stepper Rev 1 5 Modification of section CAN interface settings Rev 1 6 Modification of chapter 2 2 2 3 Rev 1 7 Added Ethernet Interface Rev 2 00 Design change Rev 2 01 New stepper command DAPI_STEPPER_CMD_GO_POSITION_RELATIVE Supplement of return value for command DAPI_STEPPER_STATUS_GET_ACTIVITY Supplement of parameter hold time endless time for command DAPI_STEP...

Page 335: ...valds Windows CE is registered trade mark of Microsoft Corporation USB is registered trade mark of USB Implementers Forum Inc LabVIEW is registered trade mark of National Instruments Intel is registered trade mark of Intel Corporation AMD is registered trade mark of Advanced Micro Devices Inc ...

Page 336: ...DEDITEC Driver Library Dezember DELIB 2010 ...

Page 337: ... test programs 3 2 DELIB driver library 13 13 3 2 1 Overview 15 3 2 2 Supported operating systems 15 3 2 3 Supported programming languages 16 3 2 4 Installation DELIB driver library 18 3 2 5 DELIB Configuration Utility 3 3 Test programs 19 19 3 3 1 Digital Input Output Demo 20 3 3 2 Analog Input Output Demo 21 3 3 3 Stepper Demo 4 Directory structure of the DELIB 23 4 1 Include directory 23 4 2 Li...

Page 338: ... 5 3 6 DapiDIGetFF32 36 5 3 7 DapiDIGetCounter 5 4 Setting Digital outputs 37 37 5 4 1 DapiDOSet1 38 5 4 2 DapiDOSet8 39 5 4 3 DapiDOSet16 40 5 4 4 DapiDOSet32 41 5 4 5 DapiDOSet64 42 5 4 6 DapiDOReadback32 43 5 4 7 DapiDOReadback64 5 5 A D converter functions 44 44 5 5 1 DapiADSetMode 46 5 5 2 DapiADGetMode 47 5 5 3 DapiADGet 48 5 5 4 DapiADGetVolt 49 5 5 5 DapiADGetmA 5 6 D A outputs management ...

Page 339: ... 7 DAPI_STEPPER_CMD_STOP 67 5 8 1 8 DAPI_STEPPER_CMD_FULLSTOP 68 5 8 1 9 DAPI_STEPPER_CMD_DISABLE 69 5 8 1 10 DAPI_STEPPER_CMD_SET_MOTORCHARACTERISTIC 74 5 8 1 11 DAPI_STEPPER_CMD_GET_MOTORCHARACTERISTIC 82 5 8 1 12 DAPI_STEPPER_CMD_MOTORCHARACTERISTIC_EEP ROM_SAVE 83 5 8 1 13 DAPI_STEPPER_CMD_MOTORCHARACTERISTIC_EEP ROM_LOAD 84 5 8 1 14 DAPI_STEPPER_CMD_MOTORCHARACTERISTIC_LOA D_DEFAULT 85 5 8 1 ...

Page 340: ...piPing 5 11 Register write commands 95 95 5 11 1 DapiWriteByte 96 5 11 2 DapiWriteWord 97 5 11 3 DapiWriteLong 98 5 11 4 DapiWriteLongLong 5 12 Register read commands 99 99 5 12 1 DapiReadByte 100 5 12 2 DapiReadWord 101 5 12 3 DapiReadLong 102 5 12 4 DapiReadLongLong 5 13 Example program 103 6 Appendix 106 6 1 Revisions 106 6 2 Copyrights and trademarks 107 ...

Page 341: ...I Welcome Seite 6 Welcome ...

Page 342: ...Welcome Seite 7 1 Welcome Manual DELIB ...

Page 343: ...II Introduction Seite 8 Introduction ...

Page 344: ...evelopment Therefor we can offer you high quality products at a competitive price Availability Because of the modular design of our products we have to redesign only a module instead of the whole product in case a specific component is no longer available 2 2 Customer satisfaction Our philosophy a content customer will come again Therefor customer satisfaction is in first place for us If by any ch...

Page 345: ...III Software Seite 10 Software ...

Page 346: ...river connection with examples 3 1 2 Access via the DELIB driver library In the appendix you can find the complete function reference for the integration of our API functions in your software In addition we provide examples for the following programming languages C C C Delphi VisualBasic VB NET MS Office 3 1 3 Access via protocol The protocol for the activation of our products is open source So yo...

Page 347: ...We provide simple handling test programs for the most important functions of our products These will be installed automatically by the installation of the DELIB driver library So you can test directly e g relays or you can check the voltage of an A D converter ...

Page 348: ...r consideration of the following viewpoints Independent of operating system Independent of programming language Independent of the product Program under diverse operating systems The DELIB driver library allows an uniform response of our products on diverse operating systems We has made sure that all of our products can be responded by a few commands Whatever which operating system you use Therefo...

Page 349: ...cations under C C Visual Basic Delphi or LabVIEW Program independent of the interface Write your application independent of the interface Program an apllication for an USB product of us Also it will work with an ethernet or RS 232 product of us SDK Kit for Programmer Integrate the DELIB in your application On demand you receive an installation script for free which allows you to integrate the DELI...

Page 350: ...Our products support the following operating systems Windows 2000 Windows XP Windows Vista Windows 7 Linux 3 2 3 Supported programming languages Our products are responsive via the following programming languages C C C Delphi VisualBasic VB NET MS Office ...

Page 351: ...TEC Library and contains the necessary libraries for the modules in the programming languages C Delphi and Visual Basic Insert the DEDITEC driver CD into the drive and start delib_install exe The DELIB driver library is also available on http www deditec en delib Click on Install ...

Page 352: ... be installed The DELIB driver library is now installed Press Close to finish the installation You can configure your module with the DELIB Configuration Utility see next chapter This is only necessary if more than one module is present ...

Page 353: ... DELIB Configuration Utility as follows Start Programs DEDITEC DELIB DELIB Configuration Utility The DELIB Configuration Utility is a program to configure and subdivide identical USB modules in the system This is only necessary if more than one module is present ...

Page 354: ...put Output Demo Start Digital Input Output Demo as follows Start Programme DEDITEC DELIB Digital Input Output Demo The screenshot shows a test of the RO USB O64 R64 The configuration of the module 64 inputs and 64 outputs is shown on the upper left side ...

Page 355: ...o Start Analog Input Output Demo as follows Start Programme DEDITEC DELIB Analog Input Output Demo The screenshot shows a test of the RO USB AD16 DA2_ISO The configuration of the module 16 A D inputs and 2 D A outputs is shown on the upper left side ...

Page 356: ...1 3 3 3 Stepper Demo Start Stepper Demo as follows Start Programme DEDITEC DELIB Stepper Demo The screenshot shows a test of the RO USB STEPPER2 The configuration of the module 2 Stepper is shown on the upper left side ...

Page 357: ...IV Directory structure of the DELIB Seite 22 Directory structure of the DELIB ...

Page 358: ...dll and miscellaneous USB system driver have been installed to C WINNT system32 4 1 Include directory The include directory of the DELIB contains the files which are used for the library functions They are given for the programming language C h Delphi pas and Visual Basic bas 4 2 Library directory Here you can find the file DELIB lib It is used as link for compiling of own programs that use the DE...

Page 359: ...iables point to important directories that contain the files for the programming language C Delphi and Visual Basic DELIB_INCLUDE points to the include directory DELIB_INCLUDE c Programs DEDITEC DELIB include DELIB_LIB points to the library directory DELIB_LIB c Programs DEDITEC DELIB lib ...

Page 360: ...V DELIB API reference Seite 25 DELIB API reference ...

Page 361: ...pened see delib h nr Indicates No of module which is to be opened nr 0 1 module nr 1 2 module Return value handle handle to the corresponding module handle 0 Module was not found Remarks The handle returned by this function is needed to identify the module for all other functions Example program USB Modul öffnen handle DapiOpenModule RO_USB1 0 printf handle x n handle if handle 0 USB Modul wurde n...

Page 362: ...piCloseModule Description This command closes an opened module Definition ULONG DapiCloseModule ULONG handle Parameters handle This is the handle of an opened module Return value none Example program Close the module DapiCloseModule handle ...

Page 363: ...LastError Description This function returns the last registered error Definition ULONG DapiGetLastError Parameters None Return value Error code 0 no error see delib h Example program ULONG error error DapiGetLastError if error 0 return FALSE printf ERROR d error ...

Page 364: ...tern ULONG __stdcall DapiGetLastErrorText unsigned char msg unsigned long msg_length Parameters msg text buffer msg_length length of the buffer Example program BOOL IsError if DapiGetLastError DAPI_ERR_NONE unsigned char msg 500 DapiGetLastErrorText unsigned char msg sizeof msg printf Error Code x Message s n 0 msg return TRUE return FALSE ...

Page 365: ...1 DapiDIGet1 Description This command reads a single digit input Definition ULONG DapiDIGet1 ULONG handle ULONG ch Parameters handle This is the handle of an opened module ch Specifies the number of input that is to be read 0 Return value State of the input 0 1 ...

Page 366: ...nd reads 8 digital inputs simultaneously Definition ULONG DapiDIGet8 ULONG handle ULONG ch Parameters handle This is the handle of an opened module ch Specifies the number of the input from which it begins to read from 0 8 16 24 32 Return value State of the read inputs ...

Page 367: ...mand reads 16 digital inputs simultaneously Definition ULONG DapiDIGet16 ULONG handle ULONG ch Parameters handle This is the handle of an opened module ch Specifies the number of the input from which it begins to read from 0 16 32 Return value State of the read inputs ...

Page 368: ...nput from which it begins to read from 0 32 64 Return value State of the read inputs Example program unsigned long data Einen Wert von den Eingängen lesen Eingang 1 31 data unsigned long DapiDIGet32 handle 0 Chan Start 0 printf Eingang 0 31 0x x n data printf Taste für weiter n getch Einen Wert von den Eingängen lesen Eingang 32 64 data unsigned long DapiDIGet32 handle 32 Chan Start 32 printf Eing...

Page 369: ...mand reads 64 digital inputs simultaneously Definition ULONGLONG DapiDIGet64 ULONG handle ULONG ch Parameters handle This is the handle of an opened module ch Specifies the number of the input from which it begins to read from 0 64 Return value State of the read inputs ...

Page 370: ...p flops from the inputs and resets them Input state change Definition ULONG DapiDIGetFF32 ULONG handle ULONG ch Parameters handle This is the handle of an opened module ch Specifies the number of the input from which it begins to read from 0 32 Return value State of 32 input change states ...

Page 371: ...e counter will be read par1 0 Normal counter function par1 DAPI_CNT_MODE_READ_WITH_RESET Reading and resetting the counter Return value Value of the counter Example program value DapiDIGetCounter handle 0 0 Reading counter of DI Chan 0 value DapiDIGetCounter handle 1 0 Reading counter of DI Chan 1 value DapiDIGetCounter handle 8 0 Reading counter of DI Chan 8 value DapiDIGetCounter handle 0 DAPI_C...

Page 372: ... This is the command to set a single output Definition void DapiDOSet1 ULONG handle ULONG ch ULONG data Parameters handle This is the handle of an opened module ch Specifies the number of the output to be set to 0 data Specifies the data value that is to be written 0 1 Return value None ...

Page 373: ...uts simultaneously Definition void DapiDOSet8 ULONG handle ULONG ch ULONG data Parameters handle This is the handle of an opened module ch Specifies the number of the output from which it begins to write to 0 8 16 24 32 data Specifies the data values to write to the outputs Return value None ...

Page 374: ...utputs simultaneously Definition void DapiDOSet16 ULONG handle ULONG ch ULONG data Parameters handle This is the handle of an opened module ch Specifies the number of the output from which it begins to write to 0 16 32 data Specifies the data values to write to the outputs Return value None ...

Page 375: ...ert auf die Ausgänge schreiben data 0x0000ff00 Ausgänge 9 16 werden auf 1 gesetzt DapiDOSet32 handle 0 data Chan Start 0 printf Schreibe auf Ausgänge Daten 0x x n data printf Taste für weiter n getch Einen Wert auf die Ausgänge schreiben data 0x80000000 Ausgang 32 wird auf 1 gesetzt DapiDOSet32 handle 0 data Chan Start 0 printf Schreibe auf Ausgänge Daten 0x x n data printf Taste für weiter n getc...

Page 376: ...4 digital outputs Definition void DapiDOSet64 ULONG handle ULONG ch ULONG data Parameters handle This is the handle of an opened module ch Specifies the number of the output from which it begins to write to 0 64 data Specifies the data values to write to the outputs Return value None ...

Page 377: ...is command reads back the 32 digital outputs Definition ULONG DapiDOReadback32 ULONG handle ULONG ch Parameters handle This is the handle of an opened module ch Specifies the number of the input from which it begins to read from 0 32 Return value Status of 32 outputs ...

Page 378: ... command reads back the 64 digital outputs Definition ULONGLONG DapiDOReadback64 ULONG handle ULONG ch Parameters handle This is the handle of an opened module ch Specifies the number of the input from which it begins to read from 0 64 Return value Status of 64 outputs ...

Page 379: ... ULONG mode Parameters handle This is the handle of an opened module ch Specifies the channel of the A D converter 0 mode Specifies the mode for the channel Return value None Remarks The following modes are supported these are dependent on the A D module Unipolar voltages ADDA_MODE_UNIPOL_10V ADDA_MODE_UNIPOL_5V ADDA_MODE_UNIPOL_2V5 Bipolar voltages ADDA_MODE_BIPOL_10V ADDA_MODE_BIPOL_5V ADDA_MODE...

Page 380: ...DELIB API reference Seite 45 Currents ADDA_MODE_0_20mA ADDA_MODE_4_20mA ADDA_MODE_0_24mA ADDA_MODE_0_25mA ADDA_MODE_0_50mA ...

Page 381: ... reads the set mode of an A D converter For mode description see DapiADSetMode Definition ULONG DapiADGetMode ULONG handle ULONG ch Parameters handle This is the handle of an opened module ch Specifies the channel of the A D converter 0 Return value Mode of the A D converter ...

Page 382: ...mmand reads a data value of one channel of an A D converter Definition ULONG DapiADGet ULONG handle ULONG ch Parameters handle This is the handle of an opened module ch Specifies the channel of the A D converter 0 Return value Value from the A D converter in Digits ...

Page 383: ...d reads a data value of one channel of an A D converter in volts Definition float DapiADGetVolt ULONG handle ULONG ch Parameters handle This is the handle of an opened module ch Specifies the channel of the A D converter 0 Return value Value from the A D converter in volts ...

Page 384: ...onverter in mA Definition float DapiADGetmA ULONG handle ULONG ch Parameters handle This is the handle of an opened module ch Specifies the channel of the A D converter 0 Return value Value from the A D converter in mA Remarks This command is module dependent It only works if the module also supports the current mode ...

Page 385: ...meters handle This is the handle of an opened module ch Specifies the channel of the D A converter 0 mode Specifies the mode of the D A converter Return value None Remarks The following modes are supported these are dependent on the used D A module Unipolar voltages ADDA_MODE_UNIPOL_10V ADDA_MODE_UNIPOL_5V ADDA_MODE_UNIPOL_2V5 Bipolar voltages ADDA_MODE_BIPOL_10V ADDA_MODE_BIPOL_5V ADDA_MODE_BIPOL...

Page 386: ...DELIB API reference Seite 51 Currents ADDA_MODE_0_20mA ADDA_MODE_4_20mA ADDA_MODE_0_24mA ADDA_MODE_0_25mA ADDA_MODE_0_50mA ...

Page 387: ...ion This command reads back the chosen mode of a D A converter Definition ULONG DapiDAGetMode ULONG handle ULONG ch Parameters handle This is the handle of an opened module ch Specifies the channel of the D A converter 0 Return value Mode of the D A converter ...

Page 388: ...ers a data value to a channel of a D A converter Definition void DapiDASet ULONG handle ULONG ch ULONG data Parameters handle This is the handle of an opened module ch Specifies the channel of the D A converter 0 data Specifies the data value which is written Return value None ...

Page 389: ...nd sets a voltage to a channel of a D A converter Definition void DapiDASetVolt ULONG handle ULONG ch float data Parameters handle This is the handle of an opened module ch Specifies the channel of the D A converter 0 data the voltage which is to be set V Return value None ...

Page 390: ...ion void DapiDASetmA ULONG handle ULONG ch float data Parameters handle This is the handle of an opened module ch Specifies the channel of the D A converter 0 data Specifies the current which is to be set mA Return value None Remarks This command depends on the module It only works if the module also supports the current mode ...

Page 391: ...R_DA_LOAD_DEFAULT Save configuration to EEPROM cmd DAPI_SPECIAL_DA_PAR_DA_SAVE_EEPROM_CONFIG Load configuration out of EEPROM cmd DAPI_SPECIAL_DA_PAR_DA_LOAD_EEPROM_CONFIG Return value None Remarks DAPI_SPECIAL_CMD_DA_PAR_DA_LOAD_DEFAULT This command loads the default configuration of a D A converter The D A output has the voltage 0V now DAPI_SPECIAL_DA_PAR_DA_SAVE_EEPROM_CONFIG This command saves...

Page 392: ... auf Default Konfiguration bei Kanal 1 DapiSpecialCommand handle DAPI_SPECIAL_CMD_DA DAPI_SPECIAL_DA_PAR_DA_SAVE_EEPROM_CONFIG 3 0 Speichern der D A Wandler Einstellungen in das EEPROM bei Kanal 3 DapiSpecialCommand handle DAPI_SPECIAL_CMD_DA DAPI_SPECIAL_DA_PAR_DA_LOAD_EEPROM_CONFIG 2 0 Setzen des D A Wandlers mit der im EEPROM gespeicherten Konfiguration bei Kanal 2 ...

Page 393: ... I O CH1 to output others to input DapiSpecialCommand handle DAPI_SPECIAL_CMD_SET_DIR_DX_1 0 0x04 0 Set Dir of TTL I O CH2 to output others to input DapiSpecialCommand handle DAPI_SPECIAL_CMD_SET_DIR_DX_1 0 0x08 0 Set Dir of TTL I O CH3 to output others to input DapiSpecialCommand handle DAPI_SPECIAL_CMD_SET_DIR_DX_1 0 0x10 0 Set Dir of TTL I O CH4 to output others to input DapiSpecialCommand hand...

Page 394: ...DAPI_SPECIAL_CMD_SET_DIR_DX_8 ULONG ch ULONG dir 0 Parameters handle This is the handle of an opened module ch Specifies the number of the output from which the direction will be set 0 8 16 24 Values between are invalid dir 8 Bit gives the direction for 8 In Outputs 1 output 0 input Example program DapiSpecialCommand handle DAPI_SPECIAL_CMD_SET_DIR_DX_8 0 1 0 Set Dir of TTL I O CH0 to out ...

Page 395: ...this command the motor will drive to a position This command can only be used when the motor is not disabled and Go_Position or Go_Reference are not executed Definition DapiStepperCommand handle motor DAPI_STEPPER_CMD_GO_POSITION position 0 0 0 Example program DapiStepperCommand handle motor DAPI_STEPPER_CMD_GO_POSITION go_pos_par 0 0 0 ...

Page 396: ...ion This command can only be used when the motor is not disabled and Go_Position or Go_Reference are not executed Definition void DapiStepperCommand handle motor DAPI_STEPPER_CMD_GO_POSITION_RELATIVE go_pos_rel_par 0 0 0 Parameters go_pos_rel_par the relative position to which will be gone Example program DapiStepperCommand handle motor DAPI_STEPPER_CMD_GO_POSITION_RELATIVE 100 0 0 0 Motor fährt v...

Page 397: ..._SET_POSITION Description This command ist used to set the motor position The resolution ist 1 16 Full step This command may be used anytime Definition DapiStepperCommand handle motor DAPI_STEPPER_CMD_SET_POSITION par1 0 0 0 Parameters par1 Motor position ...

Page 398: ...frequency is related to the full step mode The direction will be defined by the prefix If the motor reference frequency is higher than the maximum frequency the command is ignored With closed Endswitch1 the motor can only drive in positive direction with closed Endswitch2 the motor can only drive in negative direction otherwise the command is ignored Definition DapiStepperCommand handle motor DAPI...

Page 399: ...PI_STEPPER_CMD_GET_FREQUENCY Description This command is used to read the motor frequency This command can be used everytime Definition DapiStepperCommand handle motor DAPI_STEPPER_CMD_GET_FREQUENCY par1 0 0 0 Return value Motor frequency Hz ...

Page 400: ... the compliance of the acceleration and deceleration slope The user is responsible Step losses can occur The motor reference frequency is related to the full step The direction can be defined by the prefix The motor frequency can t exceed the maximum frequency Definition DapiStepperCommand handle motor DAPI_STEPPER_CMD_SET_FREQUENCY_DIRECTLY par1 0 0 0 Parameters par1 Motor frequency Hz ...

Page 401: ...I reference Seite 66 5 8 1 7 DAPI_STEPPER_CMD_STOP Description This command is used to stop the motor the deceleration slope will be used Definition DapiStepperCommand handle motor DAPI_STEPPER_CMD_STOP 0 0 0 0 ...

Page 402: ... immediately without using the the deceleration slope After this command the motor position might be ignorred because the motor has been stopped uncontrolled Definition DapiStepperCommand handle motor DAPI_STEPPER_CMD_FULLSTOP 0 0 0 0 Example program DapiStepperCommand handle motor DAPI_STEPPER_CMD_FULLSTOP 0 0 0 0 ...

Page 403: ...on This command is used to disable enable the motor The motor stops or starts driving This command can be only used when the motor stopped Definition DapiStepperCommand handle motor DAPI_STEPPER_CMD_DISABLE par1 0 0 0 Parameters par1 Disablemode 0 Normal function 1 Disable ...

Page 404: ...meter GO Frequency par1 DAPI_STEPPER_MOTORCHAR_PAR_GOFREQUENCY par2 Speed Full step s related to full step frequency maximum value 5000 Set Parameter Start Frequency par1 DAPI_STEPPER_MOTORCHAR_PAR_STARTFREQUENCY par2 Startfrequency Full step s related to full step frequency maximum value 5000 Set Parameter Stop Frequency par1 DAPI_STEPPER_MOTORCHAR_PAR_STOPFREQUENCY par2 Stopfrequency Full step s...

Page 405: ...hold mA maximum value 1500 Set Parameter Hold Time par1 DAPI_STEPPER_MOTORCHAR_PAR_HOLDTIME par2 Time in that the hold goes to motorstop ms par2 1 FFFF hex 65535 dez endless time Set Parameter Status LED Mode par1 DAPI_STEPPER_MOTORCHAR_PAR_STATUSLEDMODE par2 Mode of the Status LED par2 0 MOVE LED is on if the stepper moves par2 1 HALT LED is on if the stepper stands still par2 2 ENDSW1 LED is on ...

Page 406: ...nvert all direction details 0 normal 1 inverted Set Parameter Endswitch Stopmode par1 DAPI_STEPPER_MOTORCHAR_PAR_ENDSWITCH_STOPMODE par2 setting of the stop behaviour 0 Fullstop 1 Stop Set Parameter GoReferenceFrequency WARNING This parameter will not be supported anymore par1 DAPI_STEPPER_MOTORCHAR_PAR_GOREFERENCEFREQUENCY Remark This parameter is replaced completely by the following three parame...

Page 407: ...R_PAR_MAXFREQUENCY 3500 0 0 maximale Frequenz Vollschritt s DapiStepperCommand handle motor DAPI_STEPPER_CMD_SET_MOTORCHARACTERISTIC DAPI_STEPPER_MOTORCHAR_PAR_ACCELERATIONSLOPE 20 0 0 Beschleunigun in Vollschritten ms DapiStepperCommand handle motor DAPI_STEPPER_CMD_SET_MOTORCHARACTERISTIC DAPI_STEPPER_MOTORCHAR_PAR_DECELERATIONSLOPE 20 0 0 Bremsung in Vollschritten ms DapiStepperCommand handle m...

Page 408: ...ON 0 0 0 invertiere alle Richtungsangaben DapiStepperCommand handle motor DAPI_STEPPER_CMD_SET_MOTORCHARACTERISTIC DAPI_STEPPER_MOTORCHAR_PAR_ENDSWITCH_STOPMODE 0 0 0 einstellen des Stopverhaltens DapiStepperCommand handle motor DAPI_STEPPER_CMD_SET_MOTORCHARACTERISTIC DAPI_STEPPER_MOTORCHAR_PAR_GOREFERENCEFREQUENCY_TOENDSWITCH 100 0 0 Einstellung der Geschwindigkeit mit der zum Endschalter angefa...

Page 409: ...rs Get Parameter Stepmode par1 DAPI_STEPPER_MOTORCHAR_PAR_STEPMODE Get Parameter GO Frequency par1 DAPI_STEPPER_MOTORCHAR_PAR_GOFREQUENCY Get Parameter Start Frequency par1 DAPI_STEPPER_MOTORCHAR_PAR_STARTFREQUENCY Get Parameter Stop Frequency par1 DAPI_STEPPER_MOTORCHAR_PAR_STOPFREQUENCY Get Parameter Max Frequency par1 DAPI_STEPPER_MOTORCHAR_PAR_MAXFREQUENCY Get Parameter Accelerationslope par1 ...

Page 410: ...1 par1 DAPI_STEPPER_MOTORCHAR_PAR_INVERT_REFSW1 Get Parameter Invert Ref Switch2 par1 DAPI_STEPPER_MOTORCHAR_PAR_INVERT_REFSW2 Get Parameter Invert direction par1 DAPI_STEPPER_MOTORCHAR_PAR_INVERT_DIRECTION Get Parameter Endswitch Stopmode par1 DAPI_STEPPER_MOTORCHAR_PAR_ENDSWITCH_STOPMODE Get Parameter GoReferenceFrequency WARNING This parameter will not be supported anymore par1 DAPI_STEPPER_MOT...

Page 411: ... 76 Get Parameter GoReferenceFrequencyAfterEndSwitch par1 DAPI_STEPPER_MOTORCHAR_PAR_GOREFERENCEFREQUENCY_AFT ERENDSWITCH Get Parameter GoReferenceFrequencyToOffSet par1 DAPI_STEPPER_MOTORCHAR_PAR_GOREFERENCEFREQUENCY_TO OFFSET ...

Page 412: ...cy par1 DAPI_STEPPER_MOTORCHAR_PAR_STARTFREQUENCY return Startfrequency Full step s Parameter Stop Frequency par1 DAPI_STEPPER_MOTORCHAR_PAR_STOPFREQUENCY return Stopfrequency Full step s Parameter Max Frequency par1 DAPI_STEPPER_MOTORCHAR_PAR_MAXFREQUENCY return maximum frequency Full step s Parameter Accelerationslope par1 DAPI_STEPPER_MOTORCHAR_PAR_ACCELERATIONSLOPE return Acceleration slope Fu...

Page 413: ...eturn 0 MOVE LED is on if the stepper moves return 1 HALT LED is on if the stepper stands still return 2 ENDSW1 LED is on if the end switch1 is closed return 3 ENDSW2 LED is on if the end switch2 is closed return 4 REFSW1 LED is on if the Reference switch1 is closed return 5 REFSW2 LED is on if the Reference switch2 is closed Parameter Invert END Switch1 par1 DAPI_STEPPER_MOTORCHAR_PAR_INVERT_ENDS...

Page 414: ...ll step s Parameter GoReferenceFrequencyAfterEndSwitch par1 DAPI_STEPPER_MOTORCHAR_PAR_GOREFERENCEFREQUENCY_AFT ERENDSWITCH return frequency Full step s Parameter GoReferenceFrequencyToOffSet par1 DAPI_STEPPER_MOTORCHAR_PAR_GOREFERENCEFREQUENCY_TO OFFSET return frequency Full step s Example program value DapiStepperCommand handle motor DAPI_STEPPER_CMD_GET_MOTORCHARACTERISTIC DAPI_STEPPER_MOTORCHA...

Page 415: ...ERISTIC DAPI_STEPPER_MOTORCHAR_PAR_PHASECURRENT 0 0 0 Phasenstrom mA value DapiStepperCommand handle motor DAPI_STEPPER_CMD_GET_MOTORCHARACTERISTIC DAPI_STEPPER_MOTORCHAR_PAR_HOLDPHASECURRENT 0 0 0 Phasenstrom bei Motorstillstand mA value DapiStepperCommand handle motor DAPI_STEPPER_CMD_GET_MOTORCHARACTERISTIC DAPI_STEPPER_MOTORCHAR_PAR_HOLDTIME 0 0 0 Zeit in der der Haltestrom fließt nach Motorst...

Page 416: ...OTORCHAR_PAR_ENDSWITCH_STOPMODE 0 0 0 einstellen des Stopverhaltens value DapiStepperCommand handle motor DAPI_STEPPER_CMD_GET_MOTORCHARACTERISTIC DAPI_STEPPER_MOTORCHAR_PAR_GOREFERENCEFREQUENCY_TOENDSWITCH 0 0 0 Abfrage der Geschwindigkeit mit der der Endschalter angefahren wird value DapiStepperCommand handle motor DAPI_STEPPER_CMD_GET_MOTORCHARACTERISTIC DAPI_STEPPER_MOTORCHAR_PAR_GOREFERENCEFR...

Page 417: ...5 8 1 12 DAPI_STEPPER_CMD_MOTORCHARACTERISTIC_EEPROM_SAVE Description The current motor characteristic will be stored in the EEPROM Definition DapiStepperCommand handle motor DAPI_STEPPER_CMD_MOTORCHARACTERISTIC_EEPROM_SAVE 0 0 0 0 ...

Page 418: ...83 5 8 1 13 DAPI_STEPPER_CMD_MOTORCHARACTERISTIC_EEPROM_LOAD Description The motor characteristic can be loaded from the EEPROM Definition DapiStepperCommand handle motor DAPI_STEPPER_CMD_MOTORCHARACTERISTIC_EEPROM_LOAD 0 0 0 0 ...

Page 419: ...ll step s 200Hz Stop frequency Full step s 200Hz Maximal step frequency Full step s 3000Hz Acceleration slope Hz 10ms 10Hz 10ms Deceleration slope Hz 10ms 10Hz 10ms Phase current 0 1 5A 1mA 750mA Hold current 0 1 5A 1mA 500mA Hold time 0 infinite ms 15000ms Status_LED function Move Function of the Endswitch1 not inverted Function of the Endswitch2 not inverted Function of the Referenceswitch1 not ...

Page 420: ..._REFSWITCH_PAR_SET_POS_0 par2 Motorpositionsoffset 1 16 Full step par3 Timeout ms Remarks At first the motor goes to referenceposition 1 or 2 see par1 Therefor the speed GOREFERENCEFREQUENCY_TOENDSWITCH is used for see DapiStepperCommand_SetMotorcharacteristic After this the motor goes with the speed GOREFERENCEFREQUENCY_AFTERENDSWITCH out of the Referenceposition If there is declaration of an off...

Page 421: ... 16 DAPI_STEPPER_CMD_GET_CPU_TEMP Description The temperature of the CPU can be read Definition ULONG DapiStepperCommand handle motor DAPI_STEPPER_CMD_GET_CPU_TEMP Parameters cmd DAPI_STEPPER_CMD_GET_CPU_TEMP Return value temperature C ...

Page 422: ...OTOR_SUPPLY_VOLTAGE Description The voltage supply of the motor can be read Definition DapiStepperCommand handle motor DAPI_STEPPER_GET_MOTOR_SUPPLY_VOLTAGE 0 0 0 0 Parameters cmd DAPI_STEPPER_CMD_GET_MOTOR_SUPPLY_VOLTAGE Return value Motor voltage supply in mV ...

Page 423: ...ACTIVITY Parameters handle This is the handle of an opened module motor Number of addressed motor 1 2 Return value Bit Command Description 0 DISABLE Motor is disabled 1 MOTORSTROMACTIV Motor phase current is active 2 HALTESTROMACTIV Hold phase current is active 3 GOPOSITIONACTIV GoPosition is active 4 GOPOSITIONBREMSEN GoPosition deceleration is active 5 GOREFERENZACTIV GoReference is active Examp...

Page 424: ...d the motor position can be read Definition ULONG DapiStepperGetStatus handle motor cmd Parameters cmd DAPI_STEPPER_STATUS_GET_POSITION Return value The current motor position in 1 16 step units can be read back Example program value DapiStepperGetStatus handle motor DAPI_STEPPER_STATUS_GET_POSITION ...

Page 425: ... handle motor cmd Parameters cmd DAPI_STEPPER_STATUS_GET_SWITCH Return value Status of the switches will be delivered back Bit0 ENDSWITCH1 1 Endswitch1 is closed Bit1 ENDSWITCH2 1 Endswitch2 is closed Bit2 REFSWITCH1 1 Referenceswitch1 is closed Bit3 REFSWITCH2 1 Referenceswitch2 is closed Example program pos DapiStepperGetStatus handle motor DAPI_STEPPER_STATUS_GET_SWITCH ...

Page 426: ...andEx ULONG handle ULONG motor ULONG cmd ULONG par1 ULONG par2 ULONG par3 ULONG par4 ULONG par5 ULONG par6 ULONG par7 Parameters handle This is the handle of an opened module motor Number of addressed motor 1 2 cmd Extended command par1 7 Extended command depedent parameter see remarks Remarks See delib h for the extended commands and parameters ...

Page 427: ... Milliseconds 100ms value 6 stands for 600ms Activate timeout cmd DAPI_SPECIAL_CMD_TIMEOUT_ACTIVATE Deactivate timeout cmd DAPI_SPECIAL_CMD_TIMEOUT_DEACTIVATE Return value None Example program DapiSpecialCommand handle DAPI_SPECIAL_CMD_TIMEOUT DAPI_SPECIAL_TIMEOUT_SET_VALUE_SEC 3 7 Die Zeit des Timeouts wird auf 3 7sek gesetzt DapiSpecialCommand handle DAPI_SPECIAL_CMD_TIMEOUT DAPI_SPECIAL_TIMEOUT...

Page 428: ... DAPI_SPECIAL_CMD_TIMEOUT DAPI_SPECIAL_TIMEOUT_GET_STATUS 0 0 Parameters handle This is the handle of an opened module Return value Return 0 timeout is deactivated Return 1 timeout is activated Return 2 timeout has occurred Example program status DapiSpecialCommand handle DAPI_SPECIAL_CMD_TIMEOUT DAPI_SPECIAL_TIMEOUT_GET_STATUS 0 0 Abfrage des Timeout Status ...

Page 429: ...iption This command checks the connection of an opened module Definition ULONG DapiPing ULONG handle ULONG value Parameters handle This is the handle of an opened module value Given test value to the module Return value The given test value value is also the return value ...

Page 430: ...dule Definition void DapiWriteByte ULONG handle ULONG adress ULONG value Parameters handle This is the handle of an opened module adress Address to be accessed value Specifies the data value that is to be written 8 bits Return value None Remarks This should only be used by experienced programmers A directly access to every available register is possible ...

Page 431: ...tion void DapiWriteWord ULONG handle ULONG adress ULONG value Parameters handle This is the handle of an opened module adress Address to be accessed value Specifies the data value to be written 16 bits Return value None Remarks This should only be used by experienced programmers A directly access to every available register is possible ...

Page 432: ...tion void DapiWriteLong ULONG handle ULONG adress ULONG value Parameters handle This is the handle of an opened module adress Address to be accessed value Specifies the data value to be written 32 bits Return value None Remarks This should only be used by experienced programmers A directly access to every available register is possible ...

Page 433: ...oid DapiWriteLongLong ULONG handle ULONG adress ULONGLONG value Parameters handle This is the handle of an opened module adress Address to be accessed value Specifies the data value that is to be written 64 bits Return value None Remarks This should only be used by experienced programmers A directly access to every available register is possible ...

Page 434: ...d command to the module Definition ULONG DapiReadByte ULONG handle ULONG adress Parameters handle This is the handle of an opened module adress Address to be accessed Return value Contents of register to read 8 bits Remarks This should only be used by experienced programmers A directly access to every available register is possible ...

Page 435: ...the module Definition ULONG DapiReadWord ULONG handle ULONG adress Parameters handle This is the handle of an opened module adress Address to be accessed Return value Contents of register to read 16 bit Remarks This should only be used by experienced programmers A directly access to every available register is possible ...

Page 436: ...the module Definition ULONG DapiReadLong ULONG handle ULONG adress Parameters handle This is the handle of an opened module adress Address to be accessed Return value Contents of register to read 32 bit Remarks This should only be used by experienced programmers A directly access to every available register is possible ...

Page 437: ...e module Definition ULONGLONG DapiReadLongLong ULONG handle ULONG adress Parameters handle This is the handle of an opened module adress Address to be accessed Return value Contents of register to read 64 bit Remarks This should only be used by experienced programmers A directly access to every available register is possible ...

Page 438: ...Einstellungen Linker Objekt Bibliothek Module letzter Eintrag konfigurieren include windows h include stdio h include conio h include delib h void main void unsigned long handle unsigned long data unsigned long anz unsigned long i unsigned long chan USB Modul öffnen handle DapiOpenModule USB_Interface8 0 printf USB_Interface8 handle x n handle if handle 0 USB Modul wurde nicht gefunden printf Modu...

Page 439: ...piWriteByte handle 1 data printf Schreibe auf Adresse 0 daten 0x x n data Einen Wert auf die Ausgänge schreiben data 255 DapiWriteByte handle 2 data printf Schreibe auf Adresse 2 daten 0x x n data Einen Wert von den Eingängen lesen data unsigned long DapiReadByte handle 0 printf Gelesene Daten 0x x n data Einen A D Wert lesen chan 11 read chan 11 data DapiReadWord handle 0xff010000 chan 2 printf A...

Page 440: ...VI Appendix Seite 105 Appendix ...

Page 441: ...OTORCHARACTERISTIC DAPI_STEPPER_CMD_GET_MOTORCHARACTERISTIC and DAPI_STEPPER_CMD_GO_REFSWITCH Rev 2 02 New D A command DAPI_SPECIAL_CMD_DA and DO command DAPI_SPECIAL_CMD_TIMEOUT_GET_STATUS Rev 2 03 New stepper command DAPI_STEPPER_CMD_GO_POSITION_RELATIVE Rev 2 04 New example program for command DAPI_SPECIAL_CMD_SET_DIR_DX_1 Supplement of return value for command DAPI_STEPPER_STATUS_GET_ACTIVITY ...

Page 442: ...valds Windows CE is registered trade mark of Microsoft Corporation USB is registered trade mark of USB Implementers Forum Inc LabVIEW is registered trade mark of National Instruments Intel is registered trade mark of Intel Corporation AMD is registered trade mark of Advanced Micro Devices Inc ...

Reviews:

No comments

Related manuals for RO-INTERFACE-ETH

Brand: Balboa Pages: 12

Brand: Paoli Pages: 16

Minas A4 Series

Brand: Panasonic Pages: 5

Brand: Magnescale Pages: 132

7000-2 - Escalade RAID Controller

Brand: 3Ware Pages: 2

Brand: 3M Pages: 34

Brand: Banner Pages: 15

Brand: bar Pages: 2

Brand: Yudian Pages: 26

Brand: Zeagle Pages: 37

Brand: Lattice Semiconductor Pages: 2

Brand: Lathem Pages: 4

Brand: tams elektronik Pages: 36

Brand: Omegalink Pages: 2

Brand: Vanderbilt Pages: 2

Brand: Xilinx Pages: 2

FSDrive-MV1000 Series

Brand: YASKAWA Pages: 260

Brand: YASKAWA Pages: 114

Brands by name

0 1 2 3 4 5 6 7 8 9 A B C D E F G H I J K L M N O P Q R S T U V W X Y Z

Popular brands

Load more brands