PCX-M114 Programming Manual...TPM CXP -M114 Programming Manual PCX-M114 Series PCE/PCI-M114 PCE/PCI-M114GH/GM/GL PCE-M118GL Programming Manual Version: V1.3 2015N15 To properly use

TPM PCX-M114 Programming Manual

PCX-M114 Series

PCE/PCI-M114 PCE/PCI-M114GH/GM/GL

PCE-M118GL

Programming Manual Version: V1.3 2015N15

To properly use the product, read this manual thoroughly is necessary.

Part No.: 81-05114XX10-010

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Revision History Date Revision Description

2014/4/23 1.0 Document Creation 2015/07/21 1.1 Add PCX-M114GM/GL description 2015/09/21 1.2 Add Compare Trigger description 2015/11/15 1.3 Add PCE-M118GL description

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TPM PCX-M114 Programming Manual © Copyright 2014 TPM The product, including the product itself, the accessories, the software, the manual and the software description in it, without the permission of TPM Inc. (“TPM”), is not allowed to be reproduced, transmitted, transcribed, stored in a retrieval system, or translated into any language in any form or by any means, except the documentation kept by the purchaser for backup purposes. The names of products and corporations appearing in this manual may or may not be registered trademarks, and may or may not have copyrights of their respective companies. These names should be used only for identification or explanation, and to the owners’ benefit, should not be infringed without any intention. The product’s name and version number are both printed on the product itself. Released manual visions for each product design are represented by the digit before and after the period of the manual vision number. Manual updates are represented by the third digit in the manual vision number. Trademark MS-DOS and Windows 95/98/NT/2000/XP/CE, Visual Studio, Visual C++, Visual BASIC are

registered trademarks of Microsoft. BCB (Borland C++ Builder) is registered trademark of Borland. MULTIPROG is registered trademark of KW software. Other product names mentioned herein are used for identification purposes only and may be trademarks

and/or registered trademarks of their respective companies.

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TPM PCX-M114 Programming Manual Electrical safely To prevent electrical shock hazard, disconnect the power cable from the electrical outlet before

relocating the system. When adding or removing devices to or from the system, ensure that the power cables for the devices

are unplugged before the signal cables are connected. Disconnect all power cables from the existing system before you add a device.

Before connecting or removing signal cables from motherboard, ensure that all power cables are unplugged.

Seek professional assistance before using an adapter or extension card. These devices could interrupt the grounding circuit.

Make sure that your power supply is set to the voltage available in your area. If the power supply is broken, contact a qualified service technician or your retailer. Operational safely Please carefully read all the manuals that came with the package, before installing the new device. Before use ensure all cables are correctly connected and the power cables are not damaged. If you detect

and damage, contact the dealer immediately. To avoid short circuits, keep paper clips, screws, and staples away from connectors, slots, sockets and

circuitry. Avoid dust, humidity, and temperature extremes. Do not place the product in any area where it may

become wet. If you encounter technical problems with the product, contact a qualified service technician or the dealer.

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Contents CONTENTS .................................................................................................................................................................................. 6

1. OPERATIONAL PRINCIPLE ...................................................................................................................................................... 12

1.1. SYSTEM INITIALIZATION ............................................................................................................................................................... 12 1.2. AUTOMATIC MOTION CONTROL .................................................................................................................................................... 13

1.2.1. Velocity Mode Motion ......................................................................................................................................... 13 1.2.2. Point-to-Point (PTP) Mode Motion ..................................................................................................................... 14 1.2.3. Linear Interpolation Mode Motion ...................................................................................................................... 15 1.2.4. Circular Interpolation Mode Motion .................................................................................................................... 16 1.2.5. Continuous Interpolation Mode Motion ............................................................................................................... 17 1.2.6. Command Change On-The-Fly ............................................................................................................................ 18

1.3. MISCELLANEOUS FUNCTIONS ................................................................................................................................................ 20 1.3.1. Machine I/O ......................................................................................................................................................... 20 1.3.2. Driver I/O Signals ................................................................................................................................................ 22 1.3.3. Counters ............................................................................................................................................................... 24

1.4. ADVANCED FUNCTIONS ............................................................................................................................................................... 26 1.4.1. Auto-Compared Trigger Output Operation .......................................................................................................... 26 1.4.2. Project Encryption ............................................................................................................................................... 27

2. SOFTWARE PROCEDURE ....................................................................................................................................................... 28

2.1. MOTION SYSTEM INITIATION ........................................................................................................................................................ 28 2.1.1. Hardware Dependent Setting ............................................................................................................................... 29 2.1.2. Input Pulse Setting ............................................................................................................................................... 30 2.1.3. Position Mode Motion ......................................................................................................................................... 31 2.1.4. Single Axis Operation .......................................................................................................................................... 32 2.1.5. Linear Interpolation Operation ............................................................................................................................. 33 2.1.6. Circular Interpolation Operation .......................................................................................................................... 34 2.1.7. Helical Interpolation Operation ........................................................................................................................... 35

3. HARDWARE INITIALIZATION.................................................................................................................................................. 36

3.1. _M114_OPEN ........................................................................................................................................................................... 37 3.2. _M114_CLOSE .......................................................................................................................................................................... 38 3.3. _M114_GET_SWITCH_CARD_NUM ............................................................................................................................................... 39 3.4. _M114_CHECK_SWITCH_CARD_NUM ........................................................................................................................................... 40 3.5. _M114_INITIAL ......................................................................................................................................................................... 41 3.6. _M114_GET_CPLD_VERSION ....................................................................................................................................................... 42 3.7. _M114_GET_CARD_TYPE ........................................................................................................................................................... 43 3.8. _M114_CONFIG_FROM_FILE ....................................................................................................................................................... 44

4. MOTIONNET MASTER CONFIGURATION ............................................................................................................................... 45

4.1. _M114_SET_RING_CONFIG ......................................................................................................................................................... 46

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4.2. _M114_OPEN_MNET ................................................................................................................................................................. 47 4.3. _M114_GET_START_RING_NUM .................................................................................................................................................. 48

5. GPIO ACCESS ......................................................................................................................................................................... 49

5.1. _M114_GET_AXIS_INPUT ........................................................................................................................................................... 50 5.2. _M114_GET_AXIS_OUTPUT ........................................................................................................................................................ 51 5.3. _M114_SET_AXIS_OUTPUT ......................................................................................................................................................... 52 5.4. _M114_TOGGLE_AXIS_OUTPUT ................................................................................................................................................... 53 5.5. _M114_START_AXIS_OUTPUT ...................................................................................................................................................... 54 5.6. _M114_STOP_AXIS_OUTPUT ....................................................................................................................................................... 55 5.7. _M114_GET_AXIS_OUTPUT_COUNT ............................................................................................................................................. 56

6. SOFTWARE ENCRYPTION FUNCTIONS ................................................................................................................................... 57

6.1. _M114_GET_SECURE_ID ............................................................................................................................................................ 58 6.2. _M114_GEN_AES_KEY ............................................................................................................................................................... 59 6.3. _M114_CHECK_AES_KEY ............................................................................................................................................................ 60

7. INTERFACE I/O CONFIGURATION .......................................................................................................................................... 62

7.1. _M114_SET_ALM ...................................................................................................................................................................... 63 7.2. _M114_SET_INP ....................................................................................................................................................................... 64 7.3. _M114_SET_ERC ....................................................................................................................................................................... 65 7.4. _M114_SET_AUTO_ERC ............................................................................................................................................................. 66 7.5. _M114_SET_ERC_ON ................................................................................................................................................................ 67 7.6. _M114_SET_SERVO ................................................................................................................................................................... 68 7.7. _M114_SET_RALM .................................................................................................................................................................... 69 7.8. _M114_SET_ELL ....................................................................................................................................................................... 70 7.9. _M114_SET_SD ........................................................................................................................................................................ 71 7.10. _M114_SET_MECHANICAL_INPUT_FILTER .................................................................................................................................... 72

8. PULSE I/O CONFIGURATION .................................................................................................................................................. 73

8.1. _M114_SET_PLS_OUTMODE ....................................................................................................................................................... 74 8.2. _M114_SET_PLS_IPTMODE ......................................................................................................................................................... 75 8.3. _M114_SET_FEEDBACK_SRC ....................................................................................................................................................... 76 8.4. _M114_SET_ABS_REFERENCE ...................................................................................................................................................... 77

9. AXIS STATUS FUNCTIONS ...................................................................................................................................................... 78

9.1. _M114_MOTION_DONE ............................................................................................................................................................. 79 9.2. _M114_GET_IO_STATUS ............................................................................................................................................................. 80 9.3. _M114_CHECK_ERROR ............................................................................................................................................................... 81

10. STOP MOTION FUNCTIONS ................................................................................................................................................. 82

10.1. _M114_SD_STOP .................................................................................................................................................................... 83 10.2. _M114_IMD_STOP .................................................................................................................................................................. 84 10.3. _M114_EMG_STOP ................................................................................................................................................................. 85

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TPM PCX-M114 Programming Manual 11. HOMING ............................................................................................................................................................................. 86

11.1. _M114_SET_HOME_CONFIG ..................................................................................................................................................... 87 11.2. _M114_HOME_MOVE .............................................................................................................................................................. 94 11.3. _M114_HOME_SEARCH............................................................................................................................................................ 95 11.4. _M114_ESCAPE_HOME ............................................................................................................................................................ 96 11.5. _M114_SEARCH_EZ ................................................................................................................................................................. 97

12. JOG FUNCTIONS .................................................................................................................................................................. 98

12.1. _M114_JOG_SWITCH_CONTINUE ............................................................................................................................................... 99 12.2. _M114_JOG_SWITCH_STEP ..................................................................................................................................................... 100 12.3. _M114_JOG_PULSER_STEP ..................................................................................................................................................... 101 12.4. _M114_JOG_STOP ................................................................................................................................................................ 102 12.5. _M114_GET_JOGIO_STATUS .................................................................................................................................................... 103

13. VELOCITY MODE MOTION ................................................................................................................................................. 104

13.1. _M114_TV_MOVE ................................................................................................................................................................. 105 13.2. _M114_SV_MOVE ................................................................................................................................................................. 106 13.3. _M114_V_CHANGE ............................................................................................................................................................... 107 13.4. _M114_FIX_SPEED_RANGE ..................................................................................................................................................... 108 13.5. _M114_UNFIX_SPEED_RANGE ................................................................................................................................................. 109 13.6. _M114_GET_CURRENT_SPEED ................................................................................................................................................ 110

14. SINGLE AXIS MOTION ....................................................................................................................................................... 111

14.1. _M114_START_TR_MOVE ....................................................................................................................................................... 112 14.2. _M114_START_TA_MOVE ....................................................................................................................................................... 113 14.3. _M114_START_SR_MOVE ....................................................................................................................................................... 114 14.4. _M114_START_SA_MOVE ....................................................................................................................................................... 115 14.5. _M114_TR_MOVE_AFTER_AXIS ............................................................................................................................................... 116 14.6. _M114_TA_MOVE_AFTER_AXIS ............................................................................................................................................... 117 14.7. _M114_SR_MOVE_AFTER_AXIS ............................................................................................................................................... 118 14.8. _M114_SA_MOVE_AFTER_AXIS ............................................................................................................................................... 119 14.9. _M114_P_CHANGE ............................................................................................................................................................... 121

15. 2-AXIS LINEAR MOTION .................................................................................................................................................... 122

15.1. _M114_START_TR_LINE2 ....................................................................................................................................................... 124 15.2. _M114_START_TA_LINE2 ....................................................................................................................................................... 125 15.3. _M114_START_SR_LINE2 ....................................................................................................................................................... 126 15.4. _M114_START_SA_LINE2 ....................................................................................................................................................... 127 15.5. _M114_START_TR_MOVE_XY .................................................................................................................................................. 128 15.6. _M114_START_TA_MOVE_XY .................................................................................................................................................. 129 15.7. _M114_START_SR_MOVE_XY .................................................................................................................................................. 130 15.8. _M114_START_SA_MOVE_XY .................................................................................................................................................. 131 15.9. _M114_START_TR_MOVE_ZU ................................................................................................................................................. 132

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15.10. _M114_START_TA_MOVE_ZU ............................................................................................................................................... 133 15.11. _M114_START_SR_MOVE_ZU ............................................................................................................................................... 134 15.12. _M114_START_SA_MOVE_ZU ............................................................................................................................................... 135 15.13. _M114_START_TR_MOVE_AB ............................................................................................................................................... 136 15.14. _M114_START_TA_MOVE_AB ............................................................................................................................................... 137 15.15. _M114_START_SR_MOVE_AB ............................................................................................................................................... 138 15.16. _M114_START_SA_MOVE_AB ............................................................................................................................................... 139 15.17. _M114_START_TR_MOVE_CD ............................................................................................................................................... 140 15.18. _M114_START_TA_MOVE_CD ............................................................................................................................................... 141 15.19. _M114_START_SR_MOVE_CD ............................................................................................................................................... 142 15.20. _M114_START_SA_MOVE_CD ............................................................................................................................................... 143


16.1. _M114_START_TR_LINE3 ....................................................................................................................................................... 145 16.2. _M114_START_TA_LINE3 ....................................................................................................................................................... 146 16.3. _M114_START_SR_LINE3 ....................................................................................................................................................... 147 16.4. _M114_START_SA_LINE3 ....................................................................................................................................................... 148


17.1. _M114_START_TR_LINE4 ....................................................................................................................................................... 150 17.2. _M114_START_TA_LINE4 ....................................................................................................................................................... 151 17.3. _M114_START_SR_LINE4 ....................................................................................................................................................... 152 17.4. _M114_START_SA_LINE4 ....................................................................................................................................................... 153 17.5. _M114_START_TR_LINE4_ABCD .............................................................................................................................................. 154 17.6. _M114_START_TA_LINE4_ABCD .............................................................................................................................................. 155 17.7. _M114_START_SR_LINE4_ABCD .............................................................................................................................................. 156 17.8. _M114_START_SA_LINE4_ABCD .............................................................................................................................................. 157

18. CIRCULATION MOTION ..................................................................................................................................................... 158

18.1. _M114_GET_CENTER ............................................................................................................................................................. 159 18.2. _M114_START_TR_ARC2 ........................................................................................................................................................ 160 18.3. _M114_START_TA_ARC2 ........................................................................................................................................................ 161 18.4. _M114_START_SR_ARC2 ........................................................................................................................................................ 162 18.5. _M114_START_SA_ARC2 ........................................................................................................................................................ 163 18.6. _M114_START_TR_ARC_XY ..................................................................................................................................................... 164 18.7. _M114_START_TA_ARC_XY ..................................................................................................................................................... 165 18.8. _M114_START_SR_ARC_XY ..................................................................................................................................................... 166 18.9. _M114_START_SA_ARC_XY ..................................................................................................................................................... 167 18.10. _M114_START_TR_ARC_ZU .................................................................................................................................................. 168 18.11. _M114_START_TA_ARC_ZU .................................................................................................................................................. 169 18.12. _M114_START_SR_ARC_ZU .................................................................................................................................................. 170 18.13. _M114_START_SA_ARC_ZU .................................................................................................................................................. 171 18.14. _M114_START_TR_ARC_AB .................................................................................................................................................. 172

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18.15. _M114_START_TA_ARC_AB .................................................................................................................................................. 173 18.16. _M114_START_SR_ARC_AB .................................................................................................................................................. 174 18.17. _M114_START_SA_ARC_AB .................................................................................................................................................. 175 18.18. _M114_START_TR_ARC_CD .................................................................................................................................................. 176 18.19. _M114_START_TA_ARC_CD .................................................................................................................................................. 177 18.20. _M114_START_SR_ARC_CD .................................................................................................................................................. 178 18.21. _M114_START_SA_ARC_CD .................................................................................................................................................. 179

19. CYLINDER SURFACE MOVE ................................................................................................................................................ 180

19.1. _M114_START_TR_ARC_XYZ ................................................................................................................................................... 181 19.2. _M114_START_TA_ARC_XYZ ................................................................................................................................................... 182 19.3. _M114_START_TR_ARC_ABC................................................................................................................................................... 183 19.4. _M114_START_TA_ARC_ABC ................................................................................................................................................... 184

20. COUNTER CONTROL FUNCTIONS ...................................................................................................................................... 185

20.1. _M114_GET_POSITION .......................................................................................................................................................... 186 20.2. _M114_SET_POSITION ........................................................................................................................................................... 187 20.3. _M114_GET_COMMAND ........................................................................................................................................................ 188 20.4. _M114_SET_COMMAND ........................................................................................................................................................ 189 20.5. _M114_GET_ERROR_COUNTER ............................................................................................................................................... 190 20.6. _M114_RESET_ERROR_COUNTER ............................................................................................................................................. 191 20.7. _M114_GET_GENERAL_COUNTER ............................................................................................................................................ 192 20.8. _M114_SET_GENERAL_COUNTER ............................................................................................................................................. 193 20.9. _M114_GET_TARGET_POS ...................................................................................................................................................... 194 20.10. _M114_SET_TARGET_POS .................................................................................................................................................... 195

21. RING COUNTER CONTROL FUNCTIONS .............................................................................................................................. 196

21.1. _M114_ENABLE_COMMAND_RING_COUNTER ............................................................................................................................ 197 21.2. _M114_DISABLE_COMMAND_RING_COUNTER ........................................................................................................................... 198 21.3. _M114_ENABLE_POSITION_RING_COUNTER .............................................................................................................................. 199 21.4. _M114_DISABLE_POSITION_RING_COUNTER .............................................................................................................................. 200

22. SOFT LIMIT CONFIGURATION ............................................................................................................................................ 201

22.1. _M114_SET_SOFT_LIMIT ........................................................................................................................................................ 202 22.2. _M114_ENABLE_SOFT_LIMIT .................................................................................................................................................. 203 22.3. _M114_DISABLE_SOFT_LIMIT .................................................................................................................................................. 204

23. COUNTER LATCH FUNCTIONS ............................................................................................................................................ 205

23.1. _M114_SET_LTC_LOGIC ......................................................................................................................................................... 206 23.2. _M114_GET_LATCH_DATA ...................................................................................................................................................... 207

24. COUNTER COMPARATOR FUNCTIONS ............................................................................................................................... 208

24.1. _M114_SET_GENERAL_COMPARATOR ....................................................................................................................................... 209 24.2. _M114_CHECK_COMPARE_DATA .............................................................................................................................................. 210

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24.3. _M114_CHECK_COMPARE_STATUS ........................................................................................................................................... 211

25. COUNTER COMPARATOR TRIGGER FUNCTIONS ................................................................................................................ 212

25.1. _M114_SET_TRIGGER_TYPE .................................................................................................................................................... 213 25.2. _M114_ENABLE_TRIGGER_COMPARATOR .................................................................................................................................. 214 25.3. _M114_DISABLE_TRIGGER_COMPARATOR .................................................................................................................................. 215 25.4. _M114_GET_TRIGGER_AVAILABLE_BUFFER ................................................................................................................................ 216 25.5. _M114_ADD_TRIGGER_COMPARATOR ....................................................................................................................................... 217 25.6. _M114_CANCEL_TRIGGER_BUFFER ........................................................................................................................................... 218

26. AUTO COMPARE PROGRAMMING .................................................................................................................................... 219

26.1. _M114_GET_AUTO_COMPARE_ENCODER .................................................................................................................................. 220 26.2. _M114_SET_AUTO_COMPARE_ENCODER................................................................................................................................... 221 26.3. _M114_SET_AUTO_COMPARE_SOURCE ..................................................................................................................................... 222 26.4. _M114_GET_AUTO_COMPARE_COUNT ..................................................................................................................................... 223 26.5. _M114_GET_AUTO_COMPARE_STATUS ..................................................................................................................................... 224 26.6. _M114_SET_AUTO_COMPARE_TRIGGER .................................................................................................................................... 225 26.7. _M114_SET_AUTO_COMPARE_FUNCTION ................................................................................................................................. 226 26.8. _M114_SET_AUTO_COMPARE_TABLE ....................................................................................................................................... 227 26.9. _M114_GET_AUTO_COMPARE_TABLE_CAPACITY......................................................................................................................... 229 26.10. _M114_START_AUTO_COMPARE ............................................................................................................................................ 230 26.11. _M114_FORCE_TRIGGER_OUTPUT ......................................................................................................................................... 231

27. CONTINUOUS MOTION CONTROL ..................................................................................................................................... 233

27.1. _M114_CHECK_CONTINUOUS_BUFFER ...................................................................................................................................... 234 27.2. _M114_GET_CONTINUOUS_BUFFER_STATUS .............................................................................................................................. 235 27.3. _M114_CANCEL_CONTINUOUS_BUFFER .................................................................................................................................... 236

28. INTERRUPT CONTROL FUNCTIONS .................................................................................................................................... 237

28.1. _M114_INT_CONTROL ........................................................................................................................................................... 238 28.2. _M114_INT_WAIT ................................................................................................................................................................. 239 28.3. _M114_INT_CHECK ............................................................................................................................................................... 240 28.4. _M114_SET_INT_FACTOR ....................................................................................................................................................... 241 28.5. _M114_GET_INT_STATUS ....................................................................................................................................................... 242

29. APPENDIX A – ERROR CODES ............................................................................................................................................ 246

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1. Operational Principle PCE/PCI-M114 series and PCE/PCI-M118 are motion control cards equipped with a 4-axis and 8-Axis motion ASIC respectively as well as Motionnet master ASIC. Most real-time tasks are completed by the ASIC hardware together with user-friendly software under Windows operating system. This chapter describes the operational principle of the PCE/PCX-M114. (hereinafter referred to as PCX-M114.)

1.1. System Initialization

M114 series is Plug-and-Play card. The hardware must be installed under Windows operating system first. After successful hardware initialization, Windows will allocate appropriate system resources for it, for example, IRQ and base memory address. Each individual card must be initialized respectively before its operation. The following message in Windows registry indicates that this hardware initialization is completed successfully.

Figure 1-1: S-curve velocity mode motion

The PCX-M114 would be fully functioned after the hardware initialization call, _m114_open().

Card Index = 0 SwitchCardNo = 2



_m114_openExistCard = 3


Relative functions: _m114_open, _m114_close

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1.2. Automatic Motion Control

6 main types of automatic motion control are supported as listed in the following. a. Velocity mode motion: 1 ~ 8 axes. b. Point-to-Point movement: 1 axis above, non-synchronized. c. Linear interpolation: 2~ 4 axes, synchronized. d. Circular interpolation: 2 axes, synchronized. e. Continuous interpolation: 2 axes, synchronized. f. Command change on-the-fly, non-synchronized.

They are described in the following sections respectively

1.2.1. Velocity Mode Motion

For velocity motion, after assigning the desired axis, start velocity, max velocity and acceleration time. The pulse command will be generated accordingly as shown in the following figure. User has to issue a stop command, “decelerate to stop” or “stop immediately” to stop the motion of this axis. S-curve velocity is displayed in the following figure.


Relative functions: _m114_tv_move, _m114_sv_move, _m114_v_change, _m114_sd_stop, _m114_emg_stop, _m114_fix_speed_range, _m114_unfix_speed_range, _m114_get_current_speed

Tacc(sec) Tdec(sec)

StrVel

MaxVel

Time

Velocity (pps)

Svac

Svac Svde

Svde

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1.2.2. Point-to-Point (PTP) Mode Motion

The PTP motion could be either single axis or multiple axes. For single axis PTP motion, PCX-M114 supports either T-curve or S-curve velocity profile under relative or absolute coordinates. For multiple axes PTP motion, PCX-M114 supports axes not only on the PCX-M114 itself but also for axes between multiple PCX-M114 cards. PCX-M114 supports this technique by STA/STP hardware pins on board. The wiring of STA/STP is necessary to multiple axes at different cards.

Figure 1-4: Point-to-Point mode motion

To move from P0 to P1 by single axis Point-to-Point movement, please select T-curve or S-curve under Relative or Absolute coordinate. The following arguments must be specified. Distance, Start Velocity, Max Velocity, Acc. Time Relative functions: _m114_start_tr_move, _m114_start_ta_move, _m114_start_sr_move, _m114_start_sa_move

P0 P1

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1.2.3. Linear Interpolation Mode Motion

PCX-M114 supports 2 ~ 4 axes linear interpolation with T-curve or S-curve velocity profile under relative or absolute coordinates. 2-axis linear interpolation is explained in the following figure. This is a line in the 2-D coordinate. Motion starts from P0 and ends at P1. The speed ratio along X axis and Y axis is (dX:dY) respectively and the vector speed is as follows.

Figure 1-5: the speed ratio and the vector speed

When calling this 2-axis linear interpolation movement, the application interface arguments – start speed (StrVel) and maximum speed (MaxVel) actually defines the start and maximum vector speed respectively. Relative functions: _m114_start_tr_line2, _m114_start_ta_line2 _m114_start_sr_line2, _m114_start_sa_line2 3-D Interpolation _m114_start_tr_line3, _m114_start_ta_line3 _m114_start_sr_line3, _m114_start_sa_line3 4-axis Interpolation _m114_start_tr_line4, _m114_start_ta_line4 _m114_start_sr_line4, _m114_start_sa_line4

X

P0(X0,Y0)

P1(X1,Y1)

dX

dY

Y

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1.2.4. Circular Interpolation Mode Motion

PCX-M114 supports any 2 axes circular interpolation with T-curve or S-curve velocity profile under relative or absolute coordinates. Please refer to the following figure. The start point P0 is at (X0, Y0) and the end point P1 is at (X1, Y1). The path connecting P0 and P1 is an arc, and the MaxVel is the tangent speed. To initiate a circular interpolation movement, the following parameters must be defined, center point, end point and the direction.

Figure 1-6: circular interpolation mode motion

The acceleration / deceleration time is adjustable with the following API’s. Relative functions: Circular interpolation with acceleration / deceleration _m114_start_tr_arc2, _m114_start_ta_arc2 _m114_start_sr_arc2, _m114_start_sa_arc2 Circular interpolation with another linear moving _m114_start_tr_arc_xyz, _m114_start_ta_arc_xyz

P1

P0

Cent

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1.2.5. Continuous Interpolation Mode Motion

PCX-M114 supports continuous interpolation with 2 hardware pre-registers inside the motion ASIC. Please refer to the following diagram.

Figure 1-7: continuous interpolation inside the motion ASIC

User can complete the continuous path as shown in the figure by following steps.

Figure 1-8: continuous interpolation path

Please follow steps to do continuous interpolation movement: 1. Set bit 2 of INT factor to TRUE. 2. Set the Conti_logic to 1. 3. Call the first three motion segments. 4. Wait for pre-register_2 empty event. 5. Call the 4th motion segment. 6. Repeat steps 4 to 5. 7. Call the last motion segment and wait for motion complete. Relative functions: _m114_set_abs_reference, _m114_check_continuous_buffer, _m114_get_continuous_buffer_status, _m114_cancel_continuous_buffer

RunningRegister

Pre-register2

Host PCProgram

Empty Interrupt

Command ReloadMotionASIC

Pre-register1

Contiuous Interpolation

X Axis

Y Axis

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1.2.6. Command Change On-The-Fly

Velocity change on-the-fly

Figure 1-9: velocity change on-the-fly

Position change on-the-fly

Figure 1-10: new position > P-Change Point position

Figure 1-11: new position > P-Change Point position

Velocity (pps)

StrVel

Tacc

MaxVel

Time (second)Time

NewVel

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Figure 1-12: new position < P-Change Point position

Relative functions: _m114_v_change, _m114_fix_speed_range, _m114_unfix_speed_range, _m114_get_current_speed, _m114_verify_speed, _m114_p_change

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1.3. Miscellaneous Functions

1.3.1. Machine I/O

As shown in the following figure, controller is in the gray part and the driver is in the blue part, the direction of arrow with different color represents In and Out respectively. You can find the signals that connecting with its source and destination according to the remarks. CMP,LTC and SLD signals are in the gray part with dotted line . PEL,MEL and ORG are input signals that will be connected to sensors and the encoder feedback signal is coming from the encoder on the rear end of the motor. You can find detailed descriptions in the following chapters.

Figure 1-13: machine I/O

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TPM PCX-M114 Programming Manual EL (End Limit) – PEL / MEL The EL signal is an input signal connected usually as normal-close type to limit switch on the mechanism. The command pulse output will be stopped when the EL signal is active. There are 2 types of stop modes, one is immediate stop and the other is decelerating to stop. It is to stop the command pulse output by hardware. PEL signal indicates the EL in the “Plus” direction of motion. MEL signal indicates the EL in the “Minus” direction of motion. While the output command pulse is toward plus direction, the pulse output will be stopped when PEL is active. But the pulse command toward minus direction is still active. IRQ can be generated when the EL signal is active according the interrupt setting in the beginning. SD (Slow Down) The SD signal is an input signal. The output command pulse will be changed when the SD signal is active. While the SD signal is active the velocity will be decelerated automatically to the start velocity, i.e. StrVel setting in the motion command. The StrVel value is usually less than the maximum velocity, i.e. MaxVel. Usually the SD signal is designed to protect over-speed motion when incorrect command is issued. CMP CPM is usually used to compare the target position with feedback position. Please refer to the following figure for its application.

Figure 1-14: CMP application

LTC The LTC is an input signal. When the LTC is active the counter value can be latched in the same time instantly by hardware. One of the LTC applications is shown in the following figure. It is used to measure the tool length. The probe signal is connected to the LTC. When the LTC is active the counter value of the specified encoder feedback will be latched. The _m114_get_latch_data is used to read the counter value.

Comparator

Trigger Circuit

P2 P1 Data Interrupt to Host PC

T2 T1

Encoder Feedback

Encoder Motor

Object

21


Figure 1-15: LTC applications

STA / STP (External start / stop, simultaneous start / stop) The STA signal is an external input signal. Axis will start when this signal is triggered. When users want to control multiple axes using more than one card to start at the same time, it needs to connect the STA terminal on each card and run synchronous motion API functions. After that, users can trigger all axes to start at the same time by the STA terminal signal. The STP signal is an external input signal. Axis will stop when this signal is triggered. When users want to control multiple axes using more than one card to stop at the same time, it needs to connect the STP terminal on each card and run synchronous motion API functions. After that, users can trigger all axes to stop at the same time by the STP terminal signal.

1.3.2. Driver I/O Signals

ALM The ALM signal is an input signal. Its signal source is from the output of the servo driver. The processing of the ALM signal is a hardware built-in function. When the ALM signal is active, the command output pulse will be stopped immediately. The interrupt will be generated if the INT setting set in the beginning. The _m114_set_alm function is used to set the ALM mode and logic. INP INP signal is to be used together with position mode servo driver. It is an input signal from servo driver to PCX-M114.

The occurrence of INP at servo driver There is an output signal in position mode servo driver. This signal will be output by hardware when the value of following error counter is equal or smaller than the pre-set INP range parameter inside the servo driver motor.

The processing of INP at PCX-M114 The processing of INP at PCX-M114 is a hardware built-in function. When the INP function is enabled at PCX-M114, the motion completion will be delayed not just after the pulse command has been executed but until the INP signal is on. In other words, motion is completed until the servo driver/motor has reached the desired target position.

WORK

Measurement

Command

Feedback

22

TPM PCX-M114 Programming Manual ERC ERC signal is to be used together with position mode servo driver / motor. It is an output signal from PCX-M114 to servo driver / motor. The occurrence of ERC will happen under the following conditions 1. Home return is completed. 2. The EL is active. 3. ALM happens. 4. EMG is issued by software. The processing of ERC inside servo driver is also hardware built-in. The servo driver will clear the following error counter immediately when the ERC is active. It means that the motor will be stopped and hold at the position when the ERC signal is on.

Figure 1-16: INP / ERC signal

Xp

B.C

Xp Err Kp M

PG

Velocity CurrentRatio

Encoder

A

B

Z

INP Settling Time

Following ErrorIn-Position Range

ON

OFF

ERC

23


1.3.3. Counters

PCX-M114 provides 4 type counters for each axis.There are command position counter, feedback position counter, position error counter and general purpose counter. Axis encoder counter is only supported by Axis #0, Axis #1and Axis #2. Command Position Counter The command position counter is a 28-bit up/down counter. Its input source is from the command output pulse. The command position counter value will increase or decrease according the pulse output. The command position counter will be cleared to “0” when automatic homing operation is completed. The command position counter can be set by _m114_set_command and read by _m114_get_command function. Feedback Position Counter The feedback position counter is a 28-bit up/down counter. Its input source is from the external encoder

24

TPM PCX-M114 Programming Manual feedback from EA + and EB+ pins. 2 Types of encoder feedback signal is supported. One is CW/CCW the other is A/B Phase. For A/B Phase mode signal the multiplier factor x1/x2/x4 can be selected.

Figure 1-17: feedback position counter

Position Error Counter The position error counter is a 16-bit counter. The difference between command position and feedback position is recorded here. This is useful to the step-loss detection in the application of step motor and external encoder. The counter value can be read or clear by the _m114_get_error_counter and _m114_reset_error_counter respectively. General Purpose Counter The general purpose counter is a 28-bit up/down counter. The input source can be Command output pulse / encoder feedback pulse / Manual pulse generator / Clock. Axis Encoder Counter The axis encoder counter is a 28-bit up/down counter. It is used as the source counter of auto-compared trigger output function and FIFO latch function. Relative functions: _m114_get_position, _m114_set_position, _m114_get_command, _m114_set_command, _m114_get_error_counter, _m114_reset_error_counter, _m114_get_general_counter, _m114_set_general_counter, _m114_get_target_pos, _m114_set_target_pos, _m114_get_rest_command, _m114_set_axis_counter, _m114_get_axis_counter

MUX

FB Counter

Command

FeedBack

25


1.4. Advanced Functions

Advanced functions are listed below. Auto-compared trigger output operation Security operation These newly added functions are introduced in the following subsections.

1.4.1. Auto-Compared Trigger Output Operation

Auto-Compared trigger output is usually used to compare fixed interval position with feedback position. This function can be used to trigger the high speed linescan camera. The maximum triggering frequency is 100KHz. This function is designed by the hardware circuit so it will not waste the CPU time when high speed trigger pulses are outputted.

Figure 1-18: auto-compare trigger output application

Relative functions: _m114_set_auto_compare_trigger, _m114_start_auto_compare, _m114_set_auto_compare_table, _m114_set_auto_compare_function, _m114_force_trigger_output

26


1.4.2. Project Encryption

PCX-M114 series equipped an identification chip with unique serial number. The unique serial number plays the role as the content for AES algorithm. We call the unique serial number the hardware id from now on. Another key held by the system integrator is called the SI key, used for encryption/decryption for the AES algorithm to make the registration key. The illustration of the making of the registration is as the following figure.

Figure 1-19: generation of the registration key

Relative functions: _m114_get_secure_id, _m114_gen_aes_key, _m114_check_aes_key

27


2. Software Procedure

2.1. Motion System Initiation

Application Start

Hardware Dependent Setting

Output Pulse Setting

_m114_set_pls_outmode(SwitchCardNo, AxisNo, pls_outmode)

Input Pulse Setting

Clear Driver Deviation Counter

_m114_set_erc(SwitchCardNo, AxisNo, erc_logic, erc_on_time)

NOTE: ERC should output before Servo ON

Driver Servo On

_m114_set_servo(SwitchCardNo, AxisNo, on_off)

Start Motion Control

Figure 2-1: Hardware Dependent Setting

28


2.1.1. Hardware Dependent Setting

Start Hardware Dependent Setting

End Hardware Dependent Setting

Use Inp Fun .?

Set INP Active Logic

_m114_set_inp(SwitchCardNo, AxisNo, 1, inp_logic)

Set INP Active Logic

_m114_set_inp(SwitchCardNo, AxisNo, 0, inp_logic)

Initialize Card

_m114_open(existcards)_m114_initial(SwitchCardNo)

Set Correct EL Logic & Mode

_m114_set_ell(SwitchCardNo, AxisNo, ell_logic, ell_mode)

Set Correct Alarm Input Logic

_m114_set_alm(SwitchCardNo, AxisNo, alm_logic, alm_mode)

Set Correct Alarm Input Logic

_m114_set_alm(SwitchCardNo, AxisNo, alm_logic, alm_mode)

Set SD Active Logic

_m114_set_sd(SwitchCardNo, AxisNo, enable, sd_logic, sd_latch, sd_mode)

NOYES

Use Inp Fun .?

Set Latch Logic

_m114_set_ltc_logic(SwitchCardNo, AxisNo, ltc_logic)

Correct Alarm Logic &Correct EL Logic &

Correct SD Logic

YES

YES

NO

NO

HardwareDependent

Figure 2-2: Hardware Dependent Setting

29


2.1.2. Input Pulse Setting

Start Input Pulse Setting

Cotinuous Mode Motion Setting

Set Pulse Input Mode

_m114_set_pls_iptmode(SwitchCardNo, AxisNo, pls_iptmode, pls_logic)

Set Command As Feedback Source

Absolute Moving Functions follow Command counter_m114_set_feedback_src(SwitchCardNo, AxisNo, 1)_m114_set_abs_reference(SwitchCardNo, AxisNo, 1)

Start Motion Control

Encoder Feedback?

Absolute Moving Functions

Type ?

Cotinuous Mode Motion?

Set Encoder As Feedback Source

Absolute Moving Functions follow command counter_m114_set_feedback_src(SwitchCardNo, AxisNo, 0)_m114_set_abs_reference(SwitchCardNo, AxisNo, 1)

Set Encoder As Feedback Source

Absolute Moving Functions follow position counter_m114_set_feedback_src(SwitchCardNo, AxisNo, 0)_m114_set_abs_reference(SwitchCardNo, AxisNo, 0)

Follow Position CounterFollow Command Counter

NO

YES

NO

YES

Figure 2-3: Input Pulse Setting

30


2.1.3. Position Mode Motion

Position Mode Motion

Interpolation?

Linear Interpolation Circle InterpolationHelical Interpolation

Position Mode Motion

YES

NO

Figure 2-4: Position Mode Motion

31


2.1.4. Single Axis Operation

Start Position Mode Motion

VelocityProfile choice

Absolute or Relative Moving ?

Absolute Moving

_m114_start_ta_move(SwitchCardNo, AxisNo, Pos, StrVel, MaxVel, Tacc, Tdec)

Relative Moving

_m114_start_tr_move(SwitchCardNo, AxisNo, Dist, StrVel, MaxVel, Tacc, Tdec)


Absolute Moving

_m114_start_sa_move(SwitchCardNo, AxisNo, Pos, StrVel, MaxVel, Tacc, Tdec)

Relative Moving

_m114_start_sr_move(SwitchCardNo, AxisNo, Dist, StrVel, MaxVel, Tacc, Tdec)

S-Curve

Absolute Relative

RelativeAbsolute

T-Curve

STOP ?

Check Motion Status

_m114_motion_done(SwitchCardNo, AxisNo)

MoSt == 0 ?

Stop Command

_m114_sd_stop(SwitchCardNo, AxisNo, Tdec)_m114_emg_stop(SwitchCardNo, AxisNo)

End Position Mode Motion

NO

YES

YES

NO

Figure 2-5: Single Axis Operation

32


2.1.5. Linear Interpolation Operation

Start linear Interpolation Motion



Absolute Moving_m114_start_ta_line2(…)_m114_start_ta_line3(…)_m114_start_ta_line4(…)

Relative Moving_m114_start_tr_line2(…)_m114_start_tr_line3(…)_m114_start_tr_line4(…)


Absolute Moving_m114_start_sa_line2(…)_m114_start_sa_line3(…)_m114_start_sa_line4(…)

Relative Moving_m114_start_sr_line2(…)_m114_start_sr_line3(…)_m114_start_sr_line4(…)

S-Curve

Absolute Relative

RelativeAbsolute

T-Curve

STOP ?

Check Motion Status


MoSt == 0 ?

Stop Command


End linear Interpolation Motion

NO

YES

YES

NO

Figure 2-6: Linear Interpolation Operation

33


2.1.6. Circular Interpolation Operation

Start Circle Interpolation Motion



Absolute Moving

_m114_start_ta_arc2(…)

Relative Moving

_m114_start_tr_arc2(…)


Absolute Moving

_m114_start_sa_arc2(…)

Relative Moving

_m114_start_sr_arc2(…)

S-Curve

Absolute Relative

RelativeAbsolute

T-Curve

STOP ?

Check Motion Status


MoSt == 0 ?

Stop Command


End Circle Interpolation Motion

NO

YES

YES

NO

Figure 2-7: Circular Interpolation Operation

34


2.1.7. Helical Interpolation Operation

Start Helical Interpolation Motion



Absolute Moving

_m114_start_ta_arc_xyz(…)

Relative Moving

_m114_start_tr_arc_xyz(…)


Absolute Moving

_m114_start_sa_arc_xyz(…)

Relative Moving

_m114_start_sr_arc_xyz(…)

S-Curve

Absolute Relative

RelativeAbsolute

T-Curve

STOP ?

Check Motion Status


MoSt == 0 ?

Stop Command


End Helical Interpolation Motion

NO

YES

YES

NO

Figure 2-8: Circular Interpolation Operation

35


3. Hardware Initialization Function name Description

_m114_open Allocate hardware resources and get the amount of the master card. _m114_close Release hardware resources _m114_get_switch_card_num Get the card number from the card index _m114_check_switch_card_num Check the existence of the PCX-M114 with a card number. _m114_initial Initialize the resource of PCX-M114 _m114_get_cpld_version Get the software version of the CPLD. _m114_get_card_type Get the PCX-M114 card type. _m114_config_from_file Initialize the resource of PCX-M114

Card Type Motionnet Ring Number of Axes PCI-M114 0 4 PCI-M114GH 2 4 PCI-M114GM 2 4 PCI-M114GL 1 4 PCE-M114 0 4 PCE-M114GH 2 4 PCE-M114GM 2 4 PCE-M114GL 1 4 PCI-M118GL 1 8 PCE-M118GL 1 8

36


3.1. _m114_open

Description Allocate hardware resources and get the amount of the master card. Syntax I16 _m114_open (U16 *existcards) Argument Name Type Description existcards U16 * Get master card count in your PC Status Return

Function Name Description ERR_NoError The function finished execution successfully. Other Please reference to the Appendix error table.

37


3.2. _m114_close

Description Release hardware resources Syntax: I16 _m114_close () Argument N/A Status Return


38


3.3. _m114_get_switch_card_num

Description Get the card number from the card index. Syntax I16 _m114_get_switch_card_num(U16 CardIndex, U16 *SwitchCardNo) Argument Name Type Description CardIndex U16 The number of the card index. SwitchCardNo U16 * The number of the card to be checked with the rotary switch setting. Status Return

Function Name Description ERR_NoError The function finished execution successfully. Other Please reference to the Appendix error table. Note. CardIndex is auto-incrementing from 0 , and the SwitchCardNo is decision by rotary switch on master card. For example, there are 3 PCX-M114 master cards installed in PC, we can get the SwitchCardNo by API.




39


3.4. _m114_check_switch_card_num

Description Check the existence of the PCX-M114 with a card number. Syntax I16 _m114_check_switch_card_num (U16 SwitchCardNo, U8 *IsExist) Argument Name Type Description SwitchCardNo U16 The number of the card to be checked with the rotary switch setting. IsExist U8 * Equal to 1 if the card exists, 0 if the card does not exist. Status Return


40


3.5. _m114_initial

Description Check the existence of the PCX-M114 with a card number. Syntax I16 _m114_initial(U16 SwitchCardNo) Argument Name Type Description SwitchCardNo U16 The rotary switch set number of the master card. Status Return


41


3.6. _m114_get_cpld_version

Description Get the software version of the CPLD. Syntax I16 _m114_get_cpld_version (U16 SwitchCardNo, U16 *CpldVer) Argument Name Type Description SwitchCardNo U16 The rotary switch set number of the master card. CpldVer U16 * Returns the current CPLD version. Status Return


42


3.7. _m114_get_card_type

Description Get the PCX-M114 card type. Syntax I16 _m114_get_card_type(U16 SwitchCardNo, U8 *CardType) Argument Name Type Description SwitchCardNo U16 The rotary switch set number of the master card.

CardType U8 *

Card Type Value Meaning

0 CARD_UNKNOWN 1 CARD_PCI_M114 2 CARD_PCI_M114GH 3 CARD_PCI_M114GM 4 CARD_PCI_M114GL 5 CARD_PCE_M114 6 CARD_PCE_M114GH 7 CARD_PCE_M114GM 8 CARD_PCE_M114GL 10 CARD_PCI_M118GL 12 CARD_PCE_M118GL

Status Return


43


3.8. _m114_config_from_file

Description Load the parameters of axis configuration from the ini file which is generated by the MyLink utility Syntax I16 _m114_config_from_file(U16 SwitchCardNo, char *FilePath) Argument Name Type Description SwitchCardNo U16 The rotary switch set number of the master card. FilePath Char * File Name And Path For Parameters Of Axis Configuration Status Return

Function Name Description ERR_NoError The function finished execution successfully. Other Please reference to the Appendix error table. Note. The configuration file is saved as *.ini format by MyLink.

44


4. Motionnet Master Configuration Function name Description

_m114_set_ring_config Set the baud rate of Motionnet Rings in the specified card. _m114_open_mnet Link and enable Motionnet functionalities. _m114_get_start_ring_num Get the amount of the Motionnet Rings of the specified card.

45


4.1. _m114_set_ring_config

Description Set the baud rate of Motionnet Rings in the specified card. Syntax I16 _m114_set_ring_config (U16 SwitchCardNo, U16 RingOfCard, U8 BaudRate) Argument

Name Type Description SwitchCardNo U16 The rotary switch set number of the PCX-M114. RingOfCard U16 Ring Number 0 ~1 BaudRate U8 Baud rate settings.

Argument Baud rate 0 2.5Mbps 1 5Mbps 2 10Mbps 3 20Mbps

Status Return


46


4.2. _m114_open_mnet

Description Link and enable Motionnet functionalities. Syntax I16 _m114_open_mnet (U16 SwitchCardNo) Argument

Name Type Description SwitchCardNo U16 The rotary switch set number of the PCX-M114.

Status Return


47


4.3. _m114_get_start_ring_num

Description Get the amount of the Motionnet Rings of the specified card. Syntax I16 _m114_get_start_ring_num (U16 SwitchCardNo, U16 *RingNo) Argument

Name Type Description SwitchCardNo U16 The rotary switch set number of the PCX-M114.

Status Return


48


5. GPIO Access Function name Description

_m114_get_axis_input Get the input signal status of the specified axis. _m114_get_axis_output Get the output signal status of the specified axis. _m114_set_axis_output Set the output signal of the specified axis. _m114_toggle_axis_output Toggle the output signal of the specified axis. _m114_start_axis_output Make the axis general purposed output signal toggle for a specified

on time, off time intervals and amount of the signal switching times. _m114_stop_axis_output Stop the axis output signal triggered by calling

_m114_start_axis_output. _m114_get_axis_output_count Get the cycle count of the axis output signal.

Each axis has two GPIO signals for each axis (1 input and 1 output) except the first axis. The input signal of the first axis is reserved for the EMG signal.

Card Type DO Ch. DI Ch. PCI-M114 ╳ ╳ PCI-M114GH 4 3 PCI-M114GM 4 3 PCI-M114GL 4 3 PCE-M114 ╳ ╳ PCE-M114GH 4 3 PCE-M114GM 4 3 PCE-M114GL 4 3 PCI-M118GL ╳ ╳ PCE-M118GL ╳ ╳

The GPIO signals are open collector as shown below.

49


5.1. _m114_get_axis_input

Description Get the input signal status of the specified axis. Syntax I16 _m114_get_axis_input (U16 SwitchCardNo, U16 AxisNo, U16 *OnOff) Argument

Name Type Description SwitchCardNo U16 The rotary switch set number of the master card. AxisNo U16 The axis number. Axis 0 to axis 3 can be applied. OnOff U16 * Return value representing the I/O status.

Status Return


50


5.2. _m114_get_axis_output

Description Get the output signal status of the specified axis. Syntax I16 _m114_get_axis_output (U16 SwitchCardNo, U16 AxisNo, U16 *OnOff) Argument

Name Type Description SwitchCardNo U16 The rotary switch set number of the master card. AxisNo U16 The axis number. Axis 0 to axis 3 can be applied. OnOff U16 * Return value representing the I/O status.

Status Return


51


5.3. _m114_set_axis_output

Description Set the output signal of the specified axis. Syntax I16 _m114_set_axis_output (U16 SwitchCardNo, U16 AxisNo, U16 OnOff) Argument

Name Type Description SwitchCardNo U16 The rotary switch set number of the master card. AxisNo U16 The axis number. Axis 0 to axis 3 can be applied. OnOff U16 Status to be set to the I/O status.

Status Return


52


5.4. _m114_toggle_axis_output

Description Toggle the output signal of the specified axis. Syntax I16 _m114_toggle_axis_output (U16 SwitchCardNo, U16 AxisNo) Argument

Name Type Description SwitchCardNo U16 The rotary switch set number of the master card. AxisNo U16 The axis number. Axis 0 to axis 3 can be applied.

Status Return


53


5.5. _m114_start_axis_output

Description Make the axis general purposed output signal toggle for a specified on time, off time intervals and amount of the signal switching times. Syntax I16 _m114_start_axis_output (U16 SwitchCardNo, U16 AxisNo, U16 OnTime, U16 OffTime, U16 Count) Argument

Name Type Description SwitchCardNo U16 The rotary switch set number of the master card. AxisNo U16 The axis number. Only axis 0 or 1 can be applied.

OnTime U16 The time interval of the output signal to be on. OnTime: 100 ~ 65535 (the timer base is 1us). 100 means 100us interval.

OffTime U16 The time interval of the output signal to be off. OffTime: 100 ~ 65535 (the timer base is 1us). 100 means 100us interval.

Count U16 The amount of the switch times. 0 for infinite counting. Status Return

Function Name Description ERR_NoError The function finished execution successfully. Other Please reference to the Appendix error table. Note the count of the signal switch times is as the figure below .

ON

OFF OFF OFF OFF

ON ON ON

Count = 4

0V

+Vdd

54


5.6. _m114_stop_axis_output

Description Stop the axis output signal triggered by calling _m114_start_axis_output. Syntax I16 _m114_stop_axis_output (U16 SwitchCardNo, U16 AxisNo) Argument


Status Return


55


5.7. _m114_get_axis_output_count

Description Get the cycle count of the axis output signal. Syntax I16 _m114_get_axis_output_count (U16 SwitchCardNo, U16 AxisNo, U16 *Count) Argument


Count U16 * The amount of the switch times as the return value. It will always get 0 if the axis output is in infinite counting mode.

Status Return


56


6. Software Encryption Functions Function name Description

_m114_get_secure_id Get the secure id from the security ASIC on PCX-M114 card. _m114_gen_aes_key Generate AES key by inputting SI key using Rijndael algorithm. _m114_check_aes_key Check the validity of the calculated AES key.

57


6.1. _m114_get_secure_id

Description Get the secure id from the security ASIC on PCX-M114 card. Syntax I16 _m114_get_secure_id (U16 SwitchCardNo, U8 SecureID[8]) Argument

Name Type Description SwitchCardNo U16 The rotary switch set number of the master card. AxisNo U16 The axis number. Axis 0 to axis 3 can be applied.

Status Return


58


6.2. _m114_gen_aes_key

Description Generate AES key by inputting SI key using Rijndael algorithm. Syntax I16 _m114_gen_aes_key (U16 SwitchCardNo, U8 SI_Key[16], U8 SecureID[8], U8 AES_Key[16]) Argument

Name Type Description SwitchCardNo U16 The rotary switch set number of the master card.

SI_Key [8] U8 Pointer to a 16-element byte-array indicating SI key, every element is an integer ranged from 0 to 9.

SecureID[8] U8 Pointer to a 8-element byte-array indicating Secure ID, if SecureID is NULL, the data read from Security ASIC will be used to generate AES_Key.

AES_Key[16] U8 Pointer to a 16-element byte-array indicating AES key. Status Return


59


6.3. _m114_check_aes_key

Description Check the validity of the calculated AES key. Syntax I16 _m114_check_aes_key (U16 SwitchCardNo, U8 SI_Key[16], U8 AES_Key[16], U8* Validity) Argument

Name Type Description SwitchCardNo U16 The rotary switch set number of the master card.

SI_Key [8] U8 Pointer to a 16-element byte-array indicating SI key, every element is an integer ranged from 0 to 9.

AES_Key[16] U8 Pointer to a 16-element byte-array indicating AES key.

Validity U8 * Pointer to a variable that receives the validity of the AES_Key. 1: valid, 0: invalid.

Status Return


60

TPM PCX-M114 Programming Manual Sample Code: U8 SID[8]; U8 SIK[16] = {1,1,2,2,3,3,4,4,5,5,6,6,7,7,8,8}; // every element is an integer ranged from 0 to 9 U8 AesKey[16]; U8 Validity; // Generate AES Key _m114_get_secure_id(SID); _ m114_gen_aes_key(SIK, SID, AesKey); // Check AES Key _ m114_check_aes_key(SIK, AesKey, &Validity);

Secure ID Array

6d 00 00 06 c7 d2 8b 09

[7] [6] [5] [4] [3] [2] [1] [0]

SI Key Array

8 8 7 7 6 6 5 5 4 4 3 3 2 2 1 1

[15] [14] [13] [12] [11] [10] [9] [8] [7] [6] [5] [4] [3] [2] [1] [0]

AES Key Array

84 b7 2b 44 03 8e d0 e6 82 ef 17 54 24 0a f2 96

[15] [14] [13] [12] [11] [10] [9] [8] [7] [6] [5] [4] [3] [2] [1] [0]

61


7. Interface

Documents

PCX-M114 Programming Manual...TPM CXP -M114 Programming Manual PCX-M114 Series PCE/PCI-M114 PCE/PCI-M114GH/GM/GL PCE-M118GL Programming Manual Version: V1.3 2015N15 To properly use