8SMC4 USB Programming Manual Eng
8SMC4-USB_Programming_manual_Eng
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libximc 2.2.2 Generated by Doxygen 1.8.1.2 Fri Nov 29 2013 01:25:06 Contents 1 2 3 4 Introduction 1 1.1 About . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.2 System requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.2.1 For rebuilding library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.2.2 For using library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 How to rebuild library 3 2.1 Building on generic UNIX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 2.2 Building on debian-based linux systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 2.3 Building on redhat-based linux systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 2.4 Building on FreeBSD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 2.5 Buliding on Mac OS X . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 2.6 Buliding on Windows . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 2.7 Source code access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 How to use with... 5 3.1 Usage with C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 3.1.1 Visual C++ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 3.1.2 MinGW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 3.1.3 C++ Builder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 3.1.4 XCode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 3.1.5 GCC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 3.2 .NET . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 3.3 Delphi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 3.4 MATLAB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 Data Structure Documentation 4.1 7 accessories settings t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 4.1.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 4.1.2 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 4.1.2.1 LimitSwitchesSettings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 4.1.2.2 MagneticBrakeInfo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 CONTENTS 4.2 4.3 4.4 ii 4.1.2.3 MBRatedCurrent . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 4.1.2.4 MBRatedVoltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 4.1.2.5 MBSettings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 4.1.2.6 MBTorque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 4.1.2.7 TemperatureSensorInfo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 4.1.2.8 TSGrad . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 4.1.2.9 TSMax . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 4.1.2.10 TSMin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 4.1.2.11 TSSettings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 add sync in action calb t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 4.2.1 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 4.2.1.1 Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 4.2.1.2 Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 add sync in action t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 4.3.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 4.3.2 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 4.3.2.1 Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 4.3.2.2 uPosition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 4.3.2.3 uSpeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 analog data t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 4.4.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 4.4.2 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 4.4.2.1 A1Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 4.4.2.2 A1Voltage ADC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 4.4.2.3 A2Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 4.4.2.4 A2Voltage ADC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 4.4.2.5 ACurrent . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 4.4.2.6 ACurrent ADC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 4.4.2.7 B1Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 4.4.2.8 B1Voltage ADC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 4.4.2.9 B2Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 4.4.2.10 B2Voltage ADC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 4.4.2.11 BCurrent . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 4.4.2.12 BCurrent ADC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 4.4.2.13 FullCurrent . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 4.4.2.14 FullCurrent ADC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 4.4.2.15 Joy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 4.4.2.16 Joy ADC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 4.4.2.17 L . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 4.4.2.18 L5 13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen CONTENTS iii 4.4.2.19 L5 ADC 4.5 4.6 4.7 4.8 4.9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 4.4.2.20 Pot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 4.4.2.21 R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 4.4.2.22 SupVoltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 4.4.2.23 SupVoltage ADC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 4.4.2.24 Temp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 4.4.2.25 Temp ADC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 brake settings t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 4.5.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 4.5.2 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 4.5.2.1 BrakeFlags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 4.5.2.2 t1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 4.5.2.3 t2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 4.5.2.4 t3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 4.5.2.5 t4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 calibration t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 4.6.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 chart data t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 4.7.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 4.7.2 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 4.7.2.1 DutyCycle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 4.7.2.2 WindingCurrentA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 4.7.2.3 WindingCurrentB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 4.7.2.4 WindingCurrentC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 4.7.2.5 WindingVoltageA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 4.7.2.6 WindingVoltageB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 4.7.2.7 WindingVoltageC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 control settings calb t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 4.8.1 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 4.8.1.1 Flags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 4.8.1.2 MaxClickTime . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 4.8.1.3 MaxSpeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 4.8.1.4 Timeout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 control settings t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 4.9.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 4.9.2 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 4.9.2.1 Flags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 4.9.2.2 MaxClickTime . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 4.9.2.3 MaxSpeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 4.9.2.4 Timeout 18 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen CONTENTS iv 4.9.2.5 uDeltaPosition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 4.9.2.6 uMaxSpeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 4.10 controller name t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 4.10.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 4.10.2 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 4.10.2.1 ControllerName . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 4.10.2.2 CtrlFlags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 4.11 ctp settings t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 4.11.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 4.11.2 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 4.11.2.1 CTPFlags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 4.11.2.2 CTPMinError . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 4.12 debug read t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 4.12.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 4.12.2 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 4.12.2.1 DebugData . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 4.13 device information t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 4.13.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 4.14 edges settings calb t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 4.14.1 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 4.14.1.1 BorderFlags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 4.14.1.2 EnderFlags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 4.14.1.3 LeftBorder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 4.14.1.4 RightBorder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 4.15 edges settings t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 4.15.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 4.15.2 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 4.15.2.1 BorderFlags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 4.15.2.2 EnderFlags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 4.15.2.3 LeftBorder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 4.15.2.4 RightBorder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 4.15.2.5 uLeftBorder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 4.15.2.6 uRightBorder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 4.16 encoder information t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 4.16.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 4.16.2 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 4.16.2.1 Manufacturer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 4.16.2.2 PartNumber . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 4.17 encoder settings t Struct Reference 4.17.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen CONTENTS v 4.17.2 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 4.17.2.1 EncoderSettings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 4.17.2.2 MaxCurrentConsumption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 4.17.2.3 MaxOperatingFrequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 4.17.2.4 SupplyVoltageMax . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 4.17.2.5 SupplyVoltageMin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 4.18 engine settings calb t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 4.18.1 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 4.18.1.1 Antiplay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 4.18.1.2 EngineFlags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 4.18.1.3 MicrostepMode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 4.18.1.4 NomCurrent . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 4.18.1.5 NomSpeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 4.18.1.6 NomVoltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 4.18.1.7 StepsPerRev . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 4.19 engine settings t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 4.19.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 4.19.2 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 4.19.2.1 Antiplay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 4.19.2.2 EngineFlags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 4.19.2.3 MicrostepMode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 4.19.2.4 NomCurrent . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 4.19.2.5 NomSpeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 4.19.2.6 NomVoltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 4.19.2.7 StepsPerRev . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 4.19.2.8 uNomSpeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 4.20 entype settings t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 4.20.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 4.20.2 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 4.20.2.1 DriverType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 4.20.2.2 EngineType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 4.21 extio settings t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 4.21.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 4.21.2 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 4.21.2.1 EXTIOModeFlags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 4.21.2.2 EXTIOSetupFlags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 4.22 feedback settings t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 4.22.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 4.22.2 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 4.22.2.1 FeedbackFlags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen CONTENTS vi 4.22.2.2 FeedbackType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 4.22.2.3 HallShift . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 4.22.2.4 HallSPR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 4.23 gear information t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 4.23.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 4.23.2 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 4.23.2.1 Manufacturer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 4.23.2.2 PartNumber . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 4.24 gear settings t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 4.24.2 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 4.24.2.1 Efficiency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 4.24.2.2 InputInertia . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 4.24.2.3 MaxOutputBacklash . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 4.24.2.4 RatedInputSpeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 4.24.2.5 RatedInputTorque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 4.24.2.6 ReductionIn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 4.24.2.7 ReductionOut 32 4.24.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.25 get position calb t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 4.25.1 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 4.25.1.1 EncPosition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 4.26 get position t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 4.25.1.2 Position 4.26.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 4.26.2 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 4.26.2.1 EncPosition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 4.27 hallsensor information t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 4.27.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 4.27.2 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 4.27.2.1 Manufacturer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 4.27.2.2 PartNumber . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 4.28 hallsensor settings t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 4.28.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 4.28.2 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 4.28.2.1 MaxCurrentConsumption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 4.28.2.2 MaxOperatingFrequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 4.28.2.3 SupplyVoltageMax . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 4.28.2.4 SupplyVoltageMin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 4.29 home settings calb t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 4.29.1 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen CONTENTS vii 4.29.1.1 FastHome . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 4.29.1.2 HomeDelta . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 4.29.1.3 HomeFlags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 4.29.1.4 SlowHome . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 4.30 home settings t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 4.30.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 4.30.2 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 4.30.2.1 FastHome . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 4.30.2.2 HomeDelta . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 4.30.2.3 HomeFlags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 4.30.2.4 SlowHome . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 4.30.2.5 uFastHome . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 4.30.2.6 uHomeDelta . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 4.30.2.7 uSlowHome . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 4.31 joystick settings t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 4.31.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 4.31.2 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 4.31.2.1 DeadZone . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 4.31.2.2 ExpFactor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 4.31.2.3 JoyCenter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 4.31.2.4 JoyFlags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 4.31.2.5 JoyHighEnd . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 4.31.2.6 JoyLowEnd . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 4.32 motor information t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 4.32.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 4.32.2 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 4.32.2.1 Manufacturer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 4.32.2.2 PartNumber . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 4.33 motor settings t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 4.33.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 4.33.2 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 4.33.2.1 DetentTorque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 4.33.2.2 MaxCurrent . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 4.33.2.3 MaxCurrentTime . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 4.33.2.4 MaxSpeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 4.33.2.5 MechanicalTimeConstant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 4.33.2.6 MotorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 4.33.2.7 NoLoadCurrent . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 4.33.2.8 NoLoadSpeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 4.33.2.9 NominalCurrent . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen CONTENTS viii 4.33.2.10 NominalPower . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 4.33.2.11 NominalSpeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 4.33.2.12 NominalTorque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 4.33.2.13 NominalVoltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 4.33.2.14 Phases . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 4.33.2.15 Poles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 4.33.2.16 RotorInertia 41 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.33.2.17 SpeedConstant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 4.33.2.18 SpeedTorqueGradient . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 4.33.2.19 StallTorque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 4.33.2.20 TorqueConstant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 4.33.2.21 WindingInductance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 4.33.2.22 WindingResistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 4.34 move settings calb t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 4.34.1 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 4.34.1.1 Accel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 4.34.1.2 AntiplaySpeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 4.34.1.3 Decel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 4.34.1.4 Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 4.35 move settings t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 4.35.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 4.35.2 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 4.35.2.1 Accel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 4.35.2.2 AntiplaySpeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 4.35.2.3 Decel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 4.35.2.4 Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 4.35.2.5 uAntiplaySpeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 4.35.2.6 uSpeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 4.36 pid settings t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 4.36.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 4.37 power settings t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 4.37.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 4.37.2 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 4.37.2.1 CurrentSetTime . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 4.37.2.2 CurrReductDelay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 4.37.2.3 HoldCurrent . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 4.37.2.4 PowerFlags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 4.37.2.5 PowerOffDelay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 4.38 secure settings t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 4.38.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 46 CONTENTS ix 4.38.2 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 4.38.2.1 CriticalIpwr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 4.38.2.2 CriticalIusb . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 4.38.2.3 CriticalT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 4.38.2.4 CriticalUpwr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 4.38.2.5 CriticalUusb . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 4.38.2.6 Flags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 4.38.2.7 LowUpwrOff . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 4.38.2.8 MinimumUusb . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 4.39 serial number t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 4.39.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 4.39.2 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 4.39.2.1 Key . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 4.39.2.2 SN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 4.40 set position calb t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 4.40.1 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 4.40.1.1 EncPosition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 4.40.1.2 PosFlags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 4.40.1.3 Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 4.41 set position t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 4.41.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 4.41.2 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 4.41.2.1 EncPosition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 4.41.2.2 PosFlags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 4.42 stage information t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 4.42.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 4.42.2 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 4.42.2.1 Manufacturer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 4.42.2.2 PartNumber . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 4.43 stage name t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 4.43.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 4.43.2 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 4.43.2.1 PositionerName . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 4.44 stage settings t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 4.44.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 4.44.2 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 4.44.2.1 HorizontalLoadCapacity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 4.44.2.2 LeadScrewPitch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 4.44.2.3 MaxCurrentConsumption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 4.44.2.4 MaxSpeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen CONTENTS x 4.44.2.5 SupplyVoltageMax . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 4.44.2.6 SupplyVoltageMin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 4.44.2.7 TravelRange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 4.44.2.8 Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 4.44.2.9 VerticalLoadCapacity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 4.45 status calb t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 4.45.1 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 4.45.1.1 CmdBufFreeSpace . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 4.45.1.2 CurPosition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 4.45.1.3 CurSpeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 4.45.1.4 CurT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 4.45.1.5 EncPosition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 4.45.1.6 EncSts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 4.45.1.7 Flags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 4.45.1.8 GPIOFlags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 4.45.1.9 Ipwr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 4.45.1.10 Iusb . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 4.45.1.11 MoveSts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 4.45.1.12 MvCmdSts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 4.45.1.13 PWRSts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 4.45.1.14 Upwr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 4.45.1.15 Uusb . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 4.45.1.16 WindSts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 4.46 status t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 4.46.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 4.46.2 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 4.46.2.1 CmdBufFreeSpace . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 4.46.2.2 CurPosition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 4.46.2.3 CurSpeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 4.46.2.4 CurT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 4.46.2.5 EncPosition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 4.46.2.6 EncSts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 4.46.2.7 Flags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 4.46.2.8 GPIOFlags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 4.46.2.9 Ipwr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 4.46.2.10 Iusb . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 4.46.2.11 MoveSts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 4.46.2.12 MvCmdSts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 4.46.2.13 PWRSts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 4.46.2.14 uCurPosition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen CONTENTS xi 4.46.2.15 uCurSpeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 4.46.2.16 Upwr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 4.46.2.17 Uusb . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 4.46.2.18 WindSts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 4.47 sync in settings calb t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 4.47.1 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 4.47.1.1 ClutterTime . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 4.47.1.2 Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 4.47.1.3 Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 4.47.1.4 SyncInFlags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 4.48 sync in settings t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 4.48.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 4.48.2 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 4.48.2.1 ClutterTime . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 4.48.2.2 Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 4.48.2.3 SyncInFlags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 4.48.2.4 uPosition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 4.48.2.5 uSpeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 4.49 sync out settings calb t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 4.49.1 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 4.49.1.1 Accuracy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 4.49.1.2 SyncOutFlags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 4.49.1.3 SyncOutPeriod . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 4.49.1.4 SyncOutPulseSteps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 4.50 sync out settings t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 4.50.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 4.50.2 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 4.50.2.1 Accuracy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 4.50.2.2 SyncOutFlags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 4.50.2.3 SyncOutPeriod . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 4.50.2.4 SyncOutPulseSteps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 4.50.2.5 uAccuracy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 4.51 uart settings t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 4.51.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 4.51.2 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 4.51.2.1 UARTSetupFlags 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 File Documentation 62 5.1 ximc.h File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 5.1.1 81 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . 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Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen CONTENTS 5.1.2 xii Macro Definition Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 5.1.2.1 ALARM ON DRIVER OVERHEATING . . . . . . . . . . . . . . . . . . . . . . 82 5.1.2.2 BORDER IS ENCODER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 5.1.2.3 BORDER STOP LEFT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 5.1.2.4 BORDER STOP RIGHT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 5.1.2.5 BORDERS SWAP MISSET DETECTION . . . . . . . . . . . . . . . . . . . . . 82 5.1.2.6 BRAKE ENABLED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 5.1.2.7 BRAKE ENG PWROFF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 5.1.2.8 CONTROL BTN LEFT PUSHED OPEN . . . . . . . . . . . . . . . . . . . . . 82 5.1.2.9 CONTROL BTN RIGHT PUSHED OPEN . . . . . . . . . . . . . . . . . . . . . 82 5.1.2.10 CONTROL MODE BITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 5.1.2.11 CONTROL MODE JOY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 5.1.2.12 CONTROL MODE LR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 5.1.2.13 CONTROL MODE OFF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 5.1.2.14 CTP ALARM ON ERROR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 5.1.2.15 CTP BASE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 5.1.2.16 CTP ENABLED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 5.1.2.17 DRIVER TYPE DISCRETE FET . . . . . . . . . . . . . . . . . . . . . . . . . 83 5.1.2.18 DRIVER TYPE EXTERNAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 5.1.2.19 DRIVER TYPE INTEGRATE . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 5.1.2.20 EEPROM PRECEDENCE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 5.1.2.21 ENC STATE ABSENT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 5.1.2.22 ENC STATE MALFUNC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 5.1.2.23 ENC STATE OK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 5.1.2.24 ENC STATE REVERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 5.1.2.25 ENC STATE UNKNOWN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 5.1.2.26 ENDER SW1 ACTIVE LOW . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 5.1.2.27 ENDER SW2 ACTIVE LOW . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 5.1.2.28 ENDER SWAP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 5.1.2.29 ENGINE ACCEL ON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 5.1.2.30 ENGINE ANTIPLAY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 5.1.2.31 ENGINE LIMIT CURR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 5.1.2.32 ENGINE LIMIT RPM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 5.1.2.33 ENGINE LIMIT VOLT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 5.1.2.34 ENGINE MAX SPEED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 5.1.2.35 ENGINE REVERSE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 5.1.2.36 ENGINE TYPE 2DC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 5.1.2.37 ENGINE TYPE BRUSHLESS . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 5.1.2.38 ENGINE TYPE DC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 5.1.2.39 ENGINE TYPE NONE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen CONTENTS xiii 5.1.2.40 ENGINE TYPE STEP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 5.1.2.41 ENGINE TYPE TEST . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 5.1.2.42 ENUMERATE PROBE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 5.1.2.43 EXTIO SETUP INVERT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 5.1.2.44 EXTIO SETUP MODE IN HOME . . . . . . . . . . . . . . . . . . . . . . . . . 85 5.1.2.45 EXTIO SETUP MODE IN MOVR . . . . . . . . . . . . . . . . . . . . . . . . . 85 5.1.2.46 EXTIO SETUP MODE IN NOP . . . . . . . . . . . . . . . . . . . . . . . . . . 86 5.1.2.47 EXTIO SETUP MODE IN PWOF . . . . . . . . . . . . . . . . . . . . . . . . . 86 5.1.2.48 EXTIO SETUP MODE IN STOP . . . . . . . . . . . . . . . . . . . . . . . . . 86 5.1.2.49 EXTIO SETUP MODE OUT ALARM . . . . . . . . . . . . . . . . . . . . . . . 86 5.1.2.50 EXTIO SETUP MODE OUT MOTOR FOUND . . . . . . . . . . . . . . . . . . 86 5.1.2.51 EXTIO SETUP MODE OUT MOTOR ON . . . . . . . . . . . . . . . . . . . . . 86 5.1.2.52 EXTIO SETUP MODE OUT MOVING . . . . . . . . . . . . . . . . . . . . . . 86 5.1.2.53 EXTIO SETUP MODE OUT OFF . . . . . . . . . . . . . . . . . . . . . . . . . 86 5.1.2.54 EXTIO SETUP MODE OUT ON . . . . . . . . . . . . . . . . . . . . . . . . . 86 5.1.2.55 EXTIO SETUP OUTPUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 5.1.2.56 FEEDBACK EMF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 5.1.2.57 FEEDBACK ENC REVERSE . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 5.1.2.58 FEEDBACK ENCODER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 5.1.2.59 FEEDBACK ENCODERHALL . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 5.1.2.60 FEEDBACK HALL REVERSE . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 5.1.2.61 FEEDBACK NONE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 5.1.2.62 H BRIDGE ALERT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 5.1.2.63 HOME DIR FIRST . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 5.1.2.64 HOME DIR SECOND . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 5.1.2.65 HOME HALF MV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 5.1.2.66 HOME MV SEC EN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 5.1.2.67 HOME STOP FIRST BITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 5.1.2.68 HOME STOP FIRST LIM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 5.1.2.69 HOME STOP FIRST REV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 5.1.2.70 HOME STOP FIRST SYN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 5.1.2.71 HOME STOP SECOND BITS . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 5.1.2.72 HOME STOP SECOND LIM . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 5.1.2.73 HOME STOP SECOND REV . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 5.1.2.74 HOME STOP SECOND SYN . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 5.1.2.75 JOY REVERSE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 5.1.2.76 LOW UPWR PROTECTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 5.1.2.77 MICROSTEP MODE FRAC 128 . . . . . . . . . . . . . . . . . . . . . . . . . 88 5.1.2.78 MICROSTEP MODE FRAC 16 . . . . . . . . . . . . . . . . . . . . . . . . . . 88 5.1.2.79 MICROSTEP MODE FRAC 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen CONTENTS xiv 5.1.2.80 MICROSTEP MODE FRAC 256 . . . . . . . . . . . . . . . . . . . . . . . . . 88 5.1.2.81 MICROSTEP MODE FRAC 32 . . . . . . . . . . . . . . . . . . . . . . . . . . 88 5.1.2.82 MICROSTEP MODE FRAC 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 5.1.2.83 MICROSTEP MODE FRAC 64 . . . . . . . . . . . . . . . . . . . . . . . . . . 89 5.1.2.84 MICROSTEP MODE FRAC 8 . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 5.1.2.85 MICROSTEP MODE FULL . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 5.1.2.86 MOVE STATE ANTIPLAY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 5.1.2.87 MOVE STATE MOVING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 5.1.2.88 MOVE STATE TARGET SPEED . . . . . . . . . . . . . . . . . . . . . . . . . 89 5.1.2.89 MVCMD ERROR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 5.1.2.90 MVCMD HOME . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 5.1.2.91 MVCMD LEFT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 5.1.2.92 MVCMD LOFT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 5.1.2.93 MVCMD MOVE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 5.1.2.94 MVCMD MOVR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 5.1.2.95 MVCMD NAME BITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 5.1.2.96 MVCMD RIGHT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 5.1.2.97 MVCMD RUNNING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 5.1.2.98 MVCMD SSTP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 5.1.2.99 MVCMD STOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 5.1.2.100 MVCMD UKNWN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 5.1.2.101 POWER OFF ENABLED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 5.1.2.102 POWER REDUCT ENABLED . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 5.1.2.103 POWER SMOOTH CURRENT . . . . . . . . . . . . . . . . . . . . . . . . . . 90 5.1.2.104 PWR STATE MAX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 5.1.2.105 PWR STATE NORM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 5.1.2.106 PWR STATE OFF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 5.1.2.107 PWR STATE REDUCT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 5.1.2.108 PWR STATE UNKNOWN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 5.1.2.109 REV SENS INV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 5.1.2.110 SETPOS IGNORE ENCODER . . . . . . . . . . . . . . . . . . . . . . . . . . 91 5.1.2.111 SETPOS IGNORE POSITION . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 5.1.2.112 STATE ALARM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 5.1.2.113 STATE BORDERS SWAP MISSET . . . . . . . . . . . . . . . . . . . . . . . . 91 5.1.2.114 STATE BRAKE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 5.1.2.115 STATE BUTTON LEFT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 5.1.2.116 STATE BUTTON RIGHT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 5.1.2.117 STATE CONTR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 5.1.2.118 STATE CONTROLLER OVERHEAT . . . . . . . . . . . . . . . . . . . . . . . 92 5.1.2.119 STATE CTP ERROR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen CONTENTS xv 5.1.2.120 STATE DIG SIGNAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 5.1.2.121 STATE EEPROM CONNECTED . . . . . . . . . . . . . . . . . . . . . . . . . 92 5.1.2.122 STATE ENC A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 5.1.2.123 STATE ENC B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 5.1.2.124 STATE ERRC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 5.1.2.125 STATE ERRD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 5.1.2.126 STATE ERRV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 5.1.2.127 STATE GPIO LEVEL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 5.1.2.128 STATE GPIO PINOUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 5.1.2.129 STATE HALL A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 5.1.2.130 STATE HALL B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 5.1.2.131 STATE HALL C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 5.1.2.132 STATE LEFT EDGE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 5.1.2.133 STATE LOW USB VOLTAGE . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 5.1.2.134 STATE OVERLOAD POWER CURRENT . . . . . . . . . . . . . . . . . . . . 93 5.1.2.135 STATE OVERLOAD POWER VOLTAGE . . . . . . . . . . . . . . . . . . . . . 93 5.1.2.136 STATE OVERLOAD USB CURRENT . . . . . . . . . . . . . . . . . . . . . . . 93 5.1.2.137 STATE OVERLOAD USB VOLTAGE . . . . . . . . . . . . . . . . . . . . . . . 93 5.1.2.138 STATE POWER OVERHEAT . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 5.1.2.139 STATE REV SENSOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 5.1.2.140 STATE RIGHT EDGE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 5.1.2.141 STATE SECUR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 5.1.2.142 STATE SYNC INPUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 5.1.2.143 STATE SYNC OUTPUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 5.1.2.144 SYNCIN ENABLED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 5.1.2.145 SYNCIN GOTOPOSITION . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 5.1.2.146 SYNCIN INVERT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 5.1.2.147 SYNCOUT ENABLED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 5.1.2.148 SYNCOUT IN STEPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 5.1.2.149 SYNCOUT INVERT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 5.1.2.150 SYNCOUT ONPERIOD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 5.1.2.151 SYNCOUT ONSTART . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 5.1.2.152 SYNCOUT ONSTOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 5.1.2.153 SYNCOUT STATE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 5.1.2.154 UART PARITY BITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 5.1.2.155 WIND A STATE ABSENT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 5.1.2.156 WIND A STATE MALFUNC . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 5.1.2.157 WIND A STATE OK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 5.1.2.158 WIND A STATE UNKNOWN . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 5.1.2.159 WIND B STATE ABSENT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen CONTENTS 5.1.3 5.1.4 xvi 5.1.2.160 WIND B STATE MALFUNC . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 5.1.2.161 WIND B STATE OK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 5.1.2.162 WIND B STATE UNKNOWN . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 5.1.2.163 XIMC API . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 Typedef Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 5.1.3.1 logging callback t . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96 5.1.4.1 close device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96 5.1.4.2 command clear fram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96 5.1.4.3 command eeread settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96 5.1.4.4 command eesave settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96 5.1.4.5 command home . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96 5.1.4.6 command left . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97 5.1.4.7 command loft . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97 5.1.4.8 command move . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97 5.1.4.9 command movr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97 5.1.4.10 command power off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98 5.1.4.11 command read settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98 5.1.4.12 command reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98 5.1.4.13 command right . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98 5.1.4.14 command save settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98 5.1.4.15 command sstp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 5.1.4.16 command stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 5.1.4.17 command update firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 5.1.4.18 command zero . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 5.1.4.19 enumerate devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 5.1.4.20 free enumerate devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100 5.1.4.21 get accessories settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100 5.1.4.22 get analog data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100 5.1.4.23 get bootloader version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100 5.1.4.24 get brake settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100 5.1.4.25 get chart data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 5.1.4.26 get control settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 5.1.4.27 get controller name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 5.1.4.28 get ctp settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 5.1.4.29 get debug read . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102 5.1.4.30 get device count . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102 5.1.4.31 get device information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102 5.1.4.32 get device name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102 5.1.4.33 get edges settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102 Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen CONTENTS xvii 5.1.4.34 get encoder information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 5.1.4.35 get encoder settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 5.1.4.36 get engine settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 5.1.4.37 get entype settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 5.1.4.38 get enumerate device information . . . . . . . . . . . . . . . . . . . . . . . . . 104 5.1.4.39 get enumerate device serial . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 5.1.4.40 get extio settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 5.1.4.41 get feedback settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 5.1.4.42 get firmware version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 5.1.4.43 get gear information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 5.1.4.44 get gear settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 5.1.4.45 get hallsensor information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 5.1.4.46 get hallsensor settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 5.1.4.47 get home settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 5.1.4.48 get joystick settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 5.1.4.49 get motor information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 5.1.4.50 get motor settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 5.1.4.51 get move settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 5.1.4.52 get pid settings 5.1.4.53 get position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 5.1.4.54 get power settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 5.1.4.55 get secure settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 5.1.4.56 get serial number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108 5.1.4.57 get stage information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108 5.1.4.58 get stage name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108 5.1.4.59 get stage settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108 5.1.4.60 get status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108 5.1.4.61 get status calb . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 5.1.4.62 get sync in settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 5.1.4.63 get sync out settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 5.1.4.64 get uart settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 5.1.4.65 goto firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110 5.1.4.66 has firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110 5.1.4.67 logging callback stderr narrow . . . . . . . . . . . . . . . . . . . . . . . . . . . 110 5.1.4.68 logging callback stderr wide . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110 5.1.4.69 msec sleep . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110 5.1.4.70 open device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 5.1.4.71 probe device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 5.1.4.72 service command updf . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 5.1.4.73 set accessories settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen CONTENTS xviii 5.1.4.74 set add sync in action . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 5.1.4.75 set brake settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 5.1.4.76 set control settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 5.1.4.77 set controller name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 5.1.4.78 set ctp settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 5.1.4.79 set edges settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 5.1.4.80 set encoder information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 5.1.4.81 set encoder settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 5.1.4.82 set engine settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 5.1.4.83 set entype settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 5.1.4.84 set extio settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114 5.1.4.85 set feedback settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114 5.1.4.86 set gear information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114 5.1.4.87 set gear settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114 5.1.4.88 set hallsensor information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 5.1.4.89 set hallsensor settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 5.1.4.90 set home settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 5.1.4.91 set joystick settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 5.1.4.92 set logging callback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 5.1.4.93 set motor information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 5.1.4.94 set motor settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 5.1.4.95 set move settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 5.1.4.96 set pid settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 5.1.4.97 set position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 5.1.4.98 set power settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 5.1.4.99 set secure settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 5.1.4.100 set serial number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 5.1.4.101 set stage information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 5.1.4.102 set stage name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 5.1.4.103 set stage settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 5.1.4.104 set sync in settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 5.1.4.105 set sync out settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119 5.1.4.106 set uart settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119 5.1.4.107 write key . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119 5.1.4.108 ximc fix usbser sys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120 5.1.4.109 ximc version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120 Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen Chapter 1 Introduction 1.1 About Congratulations on choosing XIMC multi-platform programming library! This document contains all information about XIMC library. It utilizes well known virtual COM-port interface, so you can use it on Windows 7, Windows Vista, Windows XP, Windows Server 2003, Windows 2000, Linux, Mac OS X. XIMC multi-platform programing library supports plug/unplug on the fly. One program can control one device. Multiple processes (programs) that control one device simultaneously are not allowed. 1.2 System requirements 1.2.1 For rebuilding library On Windows: • Windows 2000 or later, 64-bit system (if compiling both arhitectures) or 32-bit system. • Microsoft Visual C++ 2008 or later • cygwin with tar, bison, flex installed On Linux or FreeBSD: • 64-bit or/and 32-bit system system • gcc 4 or later • common autotools: autoconf, autoheader, aclocal, automake, autoreconf, libtool • gmake • doxygen - for building docs • LaTeX distribution (teTeX or texlive) - for building docs • flex 2.5.30+ • bison • mercurial (for building developer version from hg) On Mac OS X: • XCode 4 1.2 System requirements • doxygen • mactex • autotools • mercurial (for building developer version from hg) If mercurial is used, please enable ’purge’ extension by adding to ∼/.hgrc following lines: [extensions] hgext.purge= 1.2.2 For using library Supported operating systems (32 or 64 bit): • Mac OS X 10.6 • Windows 2000 or later • Autotools-compatible unix. Package is installed from sources. • Linux debian-based. DEB package is built against Debian Squeeze 6 • Linux rpm-based. RPM is built against OpenSUSE 10 • FreeBSD 9. Package is provided. Build requirements: • Windows: Microsoft Visual C++ 2008 or mingw (currently not supported) • UNIX: gcc 4, gmake • Mac OS X: XCode 4 Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 2 Chapter 2 How to rebuild library 2.1 Building on generic UNIX Generic version could be built with standard autotools. ./build.sh lib Built files (library, headers, documentation) are installed to ./dist/local directory. It is a generic developer build. Sometimes you need to specify additional parameters to command line for your machine. Please look to following OS sections. 2.2 Building on debian-based linux systems Requirement: 64-bit and 32-bit debian system, ubuntu Typical set of packages: gcc, autotools, autoconf, libtool, dpkg-dev, flex, bison, doxygen, texlive, mercurial It’s required to match library and host architecture: 64-bit library can be built only at 64-bit host, 32-bit library - only at 32-bit host. To build library and package Invoke a script: $ ./build.sh libdeb Grab packages from ./dist/latest/deb and locally installed binaries from ./dist/local. 2.3 Building on redhat-based linux systems Requirement: 64-bit redhat-based system (Fedora, Red Hat, SUSE) Typical set of packages: gcc, autotools, autoconf, libtool, flex, bison, doxygen, texlive, mercurial It’s possible to build both 32- and 64-bit libraries on 64-bit host system. 64-bit library can’t be built on 32-bit system. To build library and package invoke a script: $ ./build.sh librpm Grab packages from ./dist/latest/rpm and locally installed binaries from ./dist/local. 2.4 Building on FreeBSD 4 2.4 Building on FreeBSD Requirement: 64-bit or 32-bit FreeBSD Typical set of packages: gcc, autotools, autoconf, libtool, flex, bison, doxygen, teTeX, mercurial It’s required to match library and host architecture. Also you need to fix a configure.ac to exclude SOVER from the package name (freebsd does not use linux conventions on library versioning). Attention! It’s needed to specify additional parameters for a simple build. $ ./build.sh lib LEX=/usr/local/bin/flex CXXFLAGS=-I/usr/local/include/flex To build a library and package invoke following command. It requires sudo privileges for port installing and specially crafted /usr/ports/local tree. Consult a script for details. $ ./build.sh libfreebsd Grab packages from ./dist/latest/freebsd. 2.5 Buliding on Mac OS X To build and package a script invoke a script: $ ./build.sh libosx Built library (classical and framework), examples (classical and .app), documentation are located at ./dist/latest/macosx, locally installed binaries from ./dist/local. 2.6 Buliding on Windows Requirements: 64-bit windows (build script builds both architectures), cygwin (must be installed to a default path), mercurial. Invoke a script: $ ./build.bat Grab packages from ./dist/latest/win32 and ./dist/latest/win64 2.7 Source code access XIMC source codes are given under special request. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen Chapter 3 How to use with... Library usage can be examinated from test application testapp. Non-C languages are supported because library supports stdcall calling convention and so can be used with a variety of languages. C test project is located at ’examples/testapp’ directory, C# test project - at ’examples/testcs’, VB.NET - ’examples/testvbnet’, Delphi 6 - ’examples/testdelphi’, sample bindings for MATLAB - ’examples/testmatlab’ 3.1 Usage with C 3.1.1 Visual C++ Testapp can be built using testapp.sln. Library must be compiled with MS Visual C++ too, mingw-library isn’t supported. Make sure that Microsoft Visual C++ Redistributable Package is installed. NOTE: Example compiled with(MS Visual C++ 2008 SP1 and needs package 9.0.307291 (provided with SDK vcredist x86 or vcredist x64) Open solution examples/testapp/testapp.sln, build and run from the IDE. 3.1.2 MinGW MinGW is a port of GCC to win32 platform. It’s required to install MinGW package. Currently not supported MinGW-compiled testapp can be built with MS Visual C++ or mingw library. $ mingw32-make -f Makefile.mingw all Then copy library libximc.dll to current directory and launch testapp.exe. 3.1.3 C++ Builder First of all you should create C++ Builder-style import library. Visual C++ library is not compatible with BCB. Invoke: $ implib libximc.lib libximc.def Then compile test application: $ bcc32 -I..\..\ximc\win32 -L..\..\ximc\win32 -DWIN32 -DNDEBUG -D WINDOWS testapp.c libximc.lib 3.2 .NET 6 3.1.4 XCode Test app should be built with XCode project testapp.xcodeproj. Library is a Mac OS X framework, and at example application it’s bundled inside testapp.app Then launch application testapp.app and check activity output in Console.app. 3.1.5 GCC Make sure that libximc (rpm, deb, freebsd package or tarball) is installed at your system. Installation of package should be performed with a package manager of operating system. On OS X plain dylib library and a framework is provided. Note that user should belong to system group which allows access to a serial port (dip or serial, for example). Test application can be built with the installed library with the following script: $ make In case of cross-compilation (target architecture differs from the current system architecture) feed -m64 or -m32 flag to compiler. On OS X it’s needed to use -arch flag instead to build an universal binary. Please consult a compiler documentation. Then launch the application as: $ make run Note: make run on OS X copies a library to the current directory. If you want to use library from the custom directory please be sure to specify LD LIBRARY PATH or DYLD LIBRARY PATH to the directory with the library. 3.2 .NET Wrapper assembly for libximc.dll is wrappers/csharp/ximcnet.dll. It is provided with two different architectures and depends on .NET 2.0. Test .NET applications for Visual Studio 2008 is located at testcs (for C#) and testvbnet (for VB.NET) respectively. Open solutions, build and run. 3.3 Delphi Wrapper for libximc.dll is a unit wrappers/delphi/ximc.pas Console test application for is located at testdelphi. Tested with Delphi 6 and only 32-bit version. Just compile, place DLL near the executable and run program. 3.4 MATLAB Sample MATLAB program testximc.m is provided at the directory examples/testmatlab. Fix first lines with the actual location of the XIMC library and launch M-file as: $ testximc Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen Chapter 4 Data Structure Documentation 4.1 accessories settings t Struct Reference Additional accessories information. Data Fields • char MagneticBrakeInfo [25] The manufacturer and the part number of magnetic brake, the maximum string length is 24 characters. • float MBRatedVoltage Rated voltage for controlling the magnetic brake (B). • float MBRatedCurrent Rated current for controlling the magnetic brake (A). • float MBTorque Retention moment (mN m). • unsigned int MBSettings Magnetic brake settings flags. • char TemperatureSensorInfo [25] The manufacturer and the part number of the temperature sensor, the maximum string length: 24 characters. • float TSMin The minimum measured temperature (degrees Celsius) Data type: float. • float TSMax The maximum measured temperature (degrees Celsius) Data type: float. • float TSGrad The temperature gradient (V/degrees Celsius). • unsigned int TSSettings Temperature sensor settings flags. • unsigned int LimitSwitchesSettings Temperature sensor settings flags. 4.1.1 Detailed Description Additional accessories information. See Also set accessories settings get accessories settings get accessories settings, set accessories settings 4.1 accessories settings t Struct Reference 4.1.2 Field Documentation 4.1.2.1 unsigned int LimitSwitchesSettings Temperature sensor settings flags. 4.1.2.2 char MagneticBrakeInfo[25] The manufacturer and the part number of magnetic brake, the maximum string length is 24 characters. 4.1.2.3 float MBRatedCurrent Rated current for controlling the magnetic brake (A). Data type: float. 4.1.2.4 float MBRatedVoltage Rated voltage for controlling the magnetic brake (B). Data type: float. 4.1.2.5 unsigned int MBSettings Magnetic brake settings flags. 4.1.2.6 float MBTorque Retention moment (mN m). Data type: float. 4.1.2.7 char TemperatureSensorInfo[25] The manufacturer and the part number of the temperature sensor, the maximum string length: 24 characters. 4.1.2.8 float TSGrad The temperature gradient (V/degrees Celsius). Data type: float. 4.1.2.9 float TSMax The maximum measured temperature (degrees Celsius) Data type: float. 4.1.2.10 float TSMin The minimum measured temperature (degrees Celsius) Data type: float. 4.1.2.11 unsigned int TSSettings Temperature sensor settings flags. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 8 4.2 add sync in action calb t Struct Reference 4.2 add sync in action calb t Struct Reference Data Fields • float Position Desired position or shift. • float Speed Target speed. 4.2.1 Field Documentation 4.2.1.1 float Position Desired position or shift. 4.2.1.2 float Speed Target speed. 4.3 add sync in action t Struct Reference This command adds one element of the FIFO commands. Data Fields • int Position Desired position or shift (whole steps) • int uPosition The fractional part of a position or shift in microsteps (-255 . • unsigned int Speed Target speed(for stepper motor: steps / c, for DC: rpm). • unsigned int uSpeed Target speed in microsteps/s. 4.3.1 Detailed Description This command adds one element of the FIFO commands. See Also set add sync in action 4.3.2 Field Documentation 4.3.2.1 unsigned int Speed Target speed(for stepper motor: steps / c, for DC: rpm). Range: 0..1000000. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 9 4.4 analog data t Struct Reference 4.3.2.2 int uPosition The fractional part of a position or shift in microsteps (-255 . . 255)(is only used with stepper motor) 4.3.2.3 unsigned int uSpeed Target speed in microsteps/s. Using with stepper motor only. Range: 0..255. 4.4 analog data t Struct Reference Analog data. Data Fields • unsigned int A1Voltage ADC ”Voltage on pin 1 winding A” raw data from ADC. • unsigned int A2Voltage ADC ”Voltage on pin 2 winding A” raw data from ADC. • unsigned int B1Voltage ADC ”Voltage on pin 1 winding B” raw data from ADC. • unsigned int B2Voltage ADC ”Voltage on pin 2 winding B” raw data from ADC. • unsigned int SupVoltage ADC ”Voltage on the top of MOSFET full bridge” raw data from ADC. • unsigned int ACurrent ADC ”Winding A current” raw data from ADC. • unsigned int BCurrent ADC ”Winding B current” raw data from ADC. • unsigned int FullCurrent ADC ”Full current” raw data from ADC. • unsigned int Temp ADC Voltage from temperature sensor, raw data from ADC. • unsigned int Joy ADC Joystick raw data from ADC. • unsigned int Pot ADC Voltage on ”Potentiometer”, raw data from ADC. • unsigned int L5 ADC USB supply voltage after the current sense resistor, from ADC. • unsigned int H5 ADC Power supply USB from ADC. • int A1Voltage ”Voltage on pin 1 winding A” calibrated data. • int A2Voltage ”Voltage on pin 2 winding A” calibrated data. • int B1Voltage ”Voltage on pin 1 winding B” calibrated data. • int B2Voltage Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 10 4.4 analog data t Struct Reference 11 ”Voltage on pin 2 winding B” calibrated data. • int SupVoltage ”Voltage on the top of MOSFET full bridge” calibrated data. • int ACurrent ”Winding A current” calibrated data. • int BCurrent ”Winding B current” calibrated data. • int FullCurrent ”Full current” calibrated data. • int Temp Temperature, calibrated data. • int Joy Joystick, calibrated data. • int Pot Potentiometer, calibrated data. • int L5 USB supply voltage after the current sense resistor. • int H5 Power supply USB. • unsigned int deprecated • int R Motor winding resistance in mOhms(is only used with stepper motor). • int L Motor winding pseudo inductance in uHn(is only used with stepper motor). 4.4.1 Detailed Description Analog data. This structure contains raw analog data from ADC embedded on board. These data used for device testing and deep recalibraton by manufacturer only. See Also get analog data get analog data 4.4.2 Field Documentation 4.4.2.1 int A1Voltage ”Voltage on pin 1 winding A” calibrated data. 4.4.2.2 unsigned int A1Voltage ADC ”Voltage on pin 1 winding A” raw data from ADC. 4.4.2.3 int A2Voltage ”Voltage on pin 2 winding A” calibrated data. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 4.4 analog data t Struct Reference 4.4.2.4 unsigned int A2Voltage ADC ”Voltage on pin 2 winding A” raw data from ADC. 4.4.2.5 int ACurrent ”Winding A current” calibrated data. 4.4.2.6 unsigned int ACurrent ADC ”Winding A current” raw data from ADC. 4.4.2.7 int B1Voltage ”Voltage on pin 1 winding B” calibrated data. 4.4.2.8 unsigned int B1Voltage ADC ”Voltage on pin 1 winding B” raw data from ADC. 4.4.2.9 int B2Voltage ”Voltage on pin 2 winding B” calibrated data. 4.4.2.10 unsigned int B2Voltage ADC ”Voltage on pin 2 winding B” raw data from ADC. 4.4.2.11 int BCurrent ”Winding B current” calibrated data. 4.4.2.12 unsigned int BCurrent ADC ”Winding B current” raw data from ADC. 4.4.2.13 int FullCurrent ”Full current” calibrated data. 4.4.2.14 unsigned int FullCurrent ADC ”Full current” raw data from ADC. 4.4.2.15 int Joy Joystick, calibrated data. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 12 4.5 brake settings t Struct Reference 4.4.2.16 unsigned int Joy ADC Joystick raw data from ADC. 4.4.2.17 int L Motor winding pseudo inductance in uHn(is only used with stepper motor). 4.4.2.18 int L5 USB supply voltage after the current sense resistor. 4.4.2.19 unsigned int L5 ADC USB supply voltage after the current sense resistor, from ADC. 4.4.2.20 int Pot Potentiometer, calibrated data. 4.4.2.21 int R Motor winding resistance in mOhms(is only used with stepper motor). 4.4.2.22 int SupVoltage ”Voltage on the top of MOSFET full bridge” calibrated data. 4.4.2.23 unsigned int SupVoltage ADC ”Voltage on the top of MOSFET full bridge” raw data from ADC. 4.4.2.24 int Temp Temperature, calibrated data. 4.4.2.25 unsigned int Temp ADC Voltage from temperature sensor, raw data from ADC. 4.5 brake settings t Struct Reference Brake settings. Data Fields • unsigned int t1 Time in ms between turn on motor power and turn off brake. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 13 4.6 calibration t Struct Reference • unsigned int t2 Time in ms between turn off brake and moving readiness. • unsigned int t3 Time in ms between motor stop and turn on brake. • unsigned int t4 Time in ms between turn on brake and turn off motor power. • unsigned int BrakeFlags Brake settings flags. 4.5.1 Detailed Description Brake settings. This structure contains parameters of brake control. See Also set brake settings get brake settings get brake settings, set brake settings 4.5.2 Field Documentation 4.5.2.1 unsigned int BrakeFlags Brake settings flags. 4.5.2.2 unsigned int t1 Time in ms between turn on motor power and turn off brake. Range: 0..65535. 4.5.2.3 unsigned int t2 Time in ms between turn off brake and moving readiness. All moving commands will execute after this interval. Range: 0..65535. 4.5.2.4 unsigned int t3 Time in ms between motor stop and turn on brake. Range: 0..65535. 4.5.2.5 unsigned int t4 Time in ms between turn on brake and turn off motor power. Range: 0..65535. 4.6 calibration t Struct Reference Calibration companion structure. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 14 4.7 chart data t Struct Reference 15 Data Fields • double A Mulitiplier. • unsigned int MicrostepMode Microstep mode. 4.6.1 Detailed Description Calibration companion structure. 4.7 chart data t Struct Reference Additional device state. Data Fields • int WindingVoltageA In the case step motor, the voltage across the winding A; in the case of a brushless, the voltage on the first coil, in the case of the only DC. • int WindingVoltageB In the case step motor, the voltage across the winding B; in case of a brushless, the voltage on the second winding, and in the case of DC is not used. • int WindingVoltageC In the case of a brushless, the voltage on the third winding, in the case step motor and DC is not used. • int WindingCurrentA In the case step motor, the current in the coil A; brushless if the current in the first coil, and in the case of a single DC. • int WindingCurrentB In the case step motor, the current in the coil B; brushless if the current in the second coil, and in the case of DC is not used. • int WindingCurrentC In the case of a brushless, the current in the third winding, in the case step motor and DC is not used. • unsigned int Pot Potentiometer in ten-thousandths of [0, 10000]. • unsigned int Joy The joystick to the ten-thousandths [0, 10000]. • int DutyCycle Duty cycle of PWM. 4.7.1 Detailed Description Additional device state. This structure contains additional values such as winding’s voltages, currents and temperature. See Also get chart data get chart data Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 4.8 control settings calb t Struct Reference 16 4.7.2 Field Documentation 4.7.2.1 int DutyCycle Duty cycle of PWM. 4.7.2.2 int WindingCurrentA In the case step motor, the current in the coil A; brushless if the current in the first coil, and in the case of a single DC. 4.7.2.3 int WindingCurrentB In the case step motor, the current in the coil B; brushless if the current in the second coil, and in the case of DC is not used. 4.7.2.4 int WindingCurrentC In the case of a brushless, the current in the third winding, in the case step motor and DC is not used. 4.7.2.5 int WindingVoltageA In the case step motor, the voltage across the winding A; in the case of a brushless, the voltage on the first coil, in the case of the only DC. 4.7.2.6 int WindingVoltageB In the case step motor, the voltage across the winding B; in case of a brushless, the voltage on the second winding, and in the case of DC is not used. 4.7.2.7 int WindingVoltageC In the case of a brushless, the voltage on the third winding, in the case step motor and DC is not used. 4.8 control settings calb t Struct Reference Data Fields • float MaxSpeed [10] Array of speeds using with joystick and button control. • unsigned int Timeout [9] timeout[i] is time in ms, after that max speed[i+1] is applying. • unsigned int MaxClickTime Maximum click time. • unsigned int Flags Control flags. • float DeltaPosition Shift (delta) of position. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 4.9 control settings t Struct Reference 17 4.8.1 Field Documentation 4.8.1.1 unsigned int Flags Control flags. 4.8.1.2 unsigned int MaxClickTime Maximum click time. Prior to the expiration of this time the first speed isn’t enabled. 4.8.1.3 float MaxSpeed[10] Array of speeds using with joystick and button control. 4.8.1.4 unsigned int Timeout[9] timeout[i] is time in ms, after that max speed[i+1] is applying. It is using with buttons control only. Range: 0..65535. 4.9 control settings t Struct Reference Control settings. Data Fields • unsigned int MaxSpeed [10] Array of speeds (full step) using with joystick and button control. • unsigned int uMaxSpeed [10] Array of speeds (1/256 microstep) using with joystick and button control. • unsigned int Timeout [9] timeout[i] is time in ms, after that max speed[i+1] is applying. • unsigned int MaxClickTime Maximum click time. • unsigned int Flags Control flags. • int DeltaPosition Shift (delta) of position. • int uDeltaPosition Fractional part of the shift in micro steps (-255 . 4.9.1 Detailed Description Control settings. This structure contains control parameters. When choosing CTL MODE=1 switches motor control with the joystick. In this mode, the joystick to the maximum engine tends Move at MaxSpeed [i], where i=0 if the previous use This mode is not selected another i. Buttons switch the room rate i. When CTL MODE=2 is switched on motor control using the Left / right. When you click on the button motor starts to move in the appropriate direction at a speed MaxSpeed [0], at the end of time Timeout[i] motor move at a speed MaxSpeed [i+1]. at Transition from MaxSpeed Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 4.10 controller name t Struct Reference 18 [i] on MaxSpeed [i+1] to acceleration, as usual. The figure above shows the sensitivity of the joystick feature on its position. See Also set control settings get control settings get control settings, set control settings 4.9.2 Field Documentation 4.9.2.1 unsigned int Flags Control flags. 4.9.2.2 unsigned int MaxClickTime Maximum click time. Prior to the expiration of this time the first speed isn’t enabled. 4.9.2.3 unsigned int MaxSpeed[10] Array of speeds (full step) using with joystick and button control. Range: 0..1000000. 4.9.2.4 unsigned int Timeout[9] timeout[i] is time in ms, after that max speed[i+1] is applying. It is using with buttons control only. Range: 0..65535. 4.9.2.5 int uDeltaPosition Fractional part of the shift in micro steps (-255 . . 255) is only used with stepper motor 4.9.2.6 unsigned int uMaxSpeed[10] Array of speeds (1/256 microstep) using with joystick and button control. Range: 0..255. 4.10 controller name t Struct Reference Controller user name and flags of setting. Data Fields • char ControllerName [17] User conroller name. • unsigned int CtrlFlags Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 4.11 ctp settings t Struct Reference 19 Flags of internal controller settings. 4.10.1 Detailed Description Controller user name and flags of setting. See Also get controller name, set controller name 4.10.2 Field Documentation 4.10.2.1 char ControllerName[17] User conroller name. Can be set by user for his/her convinience. Max string length: 16 chars. 4.10.2.2 unsigned int CtrlFlags Flags of internal controller settings. 4.11 ctp settings t Struct Reference Control position settings(is only used with stepper motor). Data Fields • unsigned int CTPMinError Minimum contrast steps from step motor encoder position, wich set STATE CTP ERROR flag. • unsigned int CTPFlags Position control flags. 4.11.1 Detailed Description Control position settings(is only used with stepper motor). When controlling the step motor with encoder (CTP BASE 0) it is possible to detect the loss of steps. The controller knows the number of steps per revolution (GENG :: StepsPerRev) and the encoder resolution (GFBS :: IPT). When the control (flag CTP ENABLED), the controller stores the current position in the footsteps of SM and the current position of the encoder. Further, at each step of the position encoder is converted into steps and if the difference is greater CTPMinError, a flag STATE CTP ERROR and set ALARM state. When controlling the step motor with speed sensor (CTP BASE 1), the position is controlled by him. The active edge of input clock controller stores the current value of steps. Further, at each turn checks how many steps shifted. When a mismatch CTPMinError a flag STATE CTP ERROR and set ALARM state. See Also set ctp settings get ctp settings get ctp settings, set ctp settings Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 4.12 debug read t Struct Reference 4.11.2 Field Documentation 4.11.2.1 unsigned int CTPFlags Position control flags. 4.11.2.2 unsigned int CTPMinError Minimum contrast steps from step motor encoder position, wich set STATE CTP ERROR flag. Measured in steps step motor. Range: 0..255. 4.12 debug read t Struct Reference Debug data. Data Fields • unsigned int DebugData [128] Arbitrary debug data. 4.12.1 Detailed Description Debug data. These data are used for device debugging by manufacturer only. See Also get debug read 4.12.2 Field Documentation 4.12.2.1 unsigned int DebugData[128] Arbitrary debug data. 4.13 device information t Struct Reference Read command controller information. Data Fields • char Manufacturer [5] Manufacturer. • char ManufacturerId [3] Manufacturer id. • char ProductDescription [9] Product description. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 20 4.14 edges settings calb t Struct Reference 21 4.13.1 Detailed Description Read command controller information. The controller responds to this command in any state. Manufacturer field for all XI ∗∗ devices should contain the string ”XIMC” (validation is performed on it) The remaining fields contain information about the device. See Also get device information get device information impl 4.14 edges settings calb t Struct Reference Data Fields • unsigned int BorderFlags Border flags. • unsigned int EnderFlags Limit switches flags. • float LeftBorder Left border position, used if BORDER IS ENCODER flag is set. • float RightBorder Right border position, used if BORDER IS ENCODER flag is set. 4.14.1 Field Documentation 4.14.1.1 unsigned int BorderFlags Border flags. 4.14.1.2 unsigned int EnderFlags Limit switches flags. 4.14.1.3 float LeftBorder Left border position, used if BORDER IS ENCODER flag is set. 4.14.1.4 float RightBorder Right border position, used if BORDER IS ENCODER flag is set. 4.15 edges settings t Struct Reference Edges settings. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 4.15 edges settings t Struct Reference 22 Data Fields • unsigned int BorderFlags Border flags. • unsigned int EnderFlags Limit switches flags. • int LeftBorder Left border position, used if BORDER IS ENCODER flag is set. • int uLeftBorder Left border position in 1/256 microsteps(used with stepper motor only). • int RightBorder Right border position, used if BORDER IS ENCODER flag is set. • int uRightBorder Right border position in 1/256 microsteps. 4.15.1 Detailed Description Edges settings. This structure contains border and limit switches settings. Please load new engine settings when you change positioner etc. Please note that wrong engine settings lead to device malfunction, can lead to irreversible damage of board. See Also set edges settings get edges settings get edges settings, set edges settings 4.15.2 Field Documentation 4.15.2.1 unsigned int BorderFlags Border flags. 4.15.2.2 unsigned int EnderFlags Limit switches flags. 4.15.2.3 int LeftBorder Left border position, used if BORDER IS ENCODER flag is set. Range: -2147483647..2147483647. 4.15.2.4 int RightBorder Right border position, used if BORDER IS ENCODER flag is set. Range: -2147483647..2147483647. 4.15.2.5 int uLeftBorder Left border position in 1/256 microsteps(used with stepper motor only). Range: -255..255. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 4.16 encoder information t Struct Reference 4.15.2.6 int uRightBorder Right border position in 1/256 microsteps. Range: -255..255(used with stepper motor only). 4.16 encoder information t Struct Reference Encoder information. Data Fields • char Manufacturer [17] Manufacturer. • char PartNumber [25] Series and PartNumber. 4.16.1 Detailed Description Encoder information. See Also set encoder information get encoder information get encoder information, set encoder information 4.16.2 Field Documentation 4.16.2.1 char Manufacturer[17] Manufacturer. Max string length: 16 chars. 4.16.2.2 char PartNumber[25] Series and PartNumber. Max string length: 24 chars. 4.17 encoder settings t Struct Reference Encoder settings. Data Fields • float MaxOperatingFrequency Max operation frequency (kHz). • float SupplyVoltageMin Minimum supply voltage (V). Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 23 4.18 engine settings calb t Struct Reference • float SupplyVoltageMax Maximum supply voltage (V). • float MaxCurrentConsumption Max current consumption (mA). • unsigned int PPR The number of counts per revolution. • unsigned int EncoderSettings Encoder settings flags. 4.17.1 Detailed Description Encoder settings. See Also set encoder settings get encoder settings get encoder settings, set encoder settings 4.17.2 Field Documentation 4.17.2.1 unsigned int EncoderSettings Encoder settings flags. 4.17.2.2 float MaxCurrentConsumption Max current consumption (mA). Data type: float. 4.17.2.3 float MaxOperatingFrequency Max operation frequency (kHz). Data type: float. 4.17.2.4 float SupplyVoltageMax Maximum supply voltage (V). Data type: float. 4.17.2.5 float SupplyVoltageMin Minimum supply voltage (V). Data type: float. 4.18 engine settings calb t Struct Reference Data Fields • unsigned int NomVoltage Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 24 4.18 engine settings calb t Struct Reference 25 Rated voltage. • unsigned int NomCurrent Rated current. • float NomSpeed Nominal speed. • unsigned int EngineFlags Flags of engine settings. • float Antiplay Number of pulses or steps for backlash (play) compensation procedure. • unsigned int MicrostepMode Flags of microstep mode. • unsigned int StepsPerRev Number of full steps per revolution(Used with steper motor only). 4.18.1 Field Documentation 4.18.1.1 float Antiplay Number of pulses or steps for backlash (play) compensation procedure. Used if ENGINE ANTIPLAY flag is set. 4.18.1.2 unsigned int EngineFlags Flags of engine settings. 4.18.1.3 unsigned int MicrostepMode Flags of microstep mode. 4.18.1.4 unsigned int NomCurrent Rated current. Controller will keep current consumed by motor below this value if ENGINE LIMIT CURR flag is set. Range: 1..65535 4.18.1.5 float NomSpeed Nominal speed. Controller will keep motor speed below this value if ENGINE LIMIT RPM flag is set. 4.18.1.6 unsigned int NomVoltage Rated voltage. Controller will keep the voltage drop on motor below this value if ENGINE LIMIT VOLT flag is set(Used with DC only). Range: 1..65535 Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 4.19 engine settings t Struct Reference 4.18.1.7 26 unsigned int StepsPerRev Number of full steps per revolution(Used with steper motor only). Range: 1..65535. 4.19 engine settings t Struct Reference Engine settings. Data Fields • unsigned int NomVoltage Rated voltage. • unsigned int NomCurrent Rated current. • unsigned int NomSpeed Nominal speed (in whole steps / s or rpm for DC and stepper motor as a master encoder). • unsigned int uNomSpeed The fractional part of a nominal speed in microsteps (is only used with stepper motor). • unsigned int EngineFlags Flags of engine settings. • int Antiplay Number of pulses or steps for backlash (play) compensation procedure. • unsigned int MicrostepMode Flags of microstep mode. • unsigned int StepsPerRev Number of full steps per revolution(Used with steper motor only). 4.19.1 Detailed Description Engine settings. This structure contains useful motor settings. These settings specify motor shaft movement algorithm, list of limitations and rated characteristics. All boards are supplied with standart set of engine setting on controller’s flash memory. Please load new engine settings when you change motor, encoder, positioner etc. Please note that wrong engine settings lead to device malfunction, can lead to irreversible damage of board. See Also set engine settings get engine settings get engine settings, set engine settings 4.19.2 Field Documentation 4.19.2.1 int Antiplay Number of pulses or steps for backlash (play) compensation procedure. Used if ENGINE ANTIPLAY flag is set. Range: -32768..32767 Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 4.20 entype settings t Struct Reference 4.19.2.2 27 unsigned int EngineFlags Flags of engine settings. 4.19.2.3 unsigned int MicrostepMode Flags of microstep mode. 4.19.2.4 unsigned int NomCurrent Rated current. Controller will keep current consumed by motor below this value if ENGINE LIMIT CURR flag is set. Range: 1..65535 4.19.2.5 unsigned int NomSpeed Nominal speed (in whole steps / s or rpm for DC and stepper motor as a master encoder). Controller will keep motor shaft RPM below this value if ENGINE LIMIT RPM flag is set. Range: 1..1000000. 4.19.2.6 unsigned int NomVoltage Rated voltage. Controller will keep the voltage drop on motor below this value if ENGINE LIMIT VOLT flag is set(Used with DC only). Range: 1..65535 4.19.2.7 unsigned int StepsPerRev Number of full steps per revolution(Used with steper motor only). Range: 1..65535. 4.19.2.8 unsigned int uNomSpeed The fractional part of a nominal speed in microsteps (is only used with stepper motor). Range: 0..255 4.20 entype settings t Struct Reference Engine type and driver type settings. Data Fields • unsigned int EngineType Flags of engine type. • unsigned int DriverType Flags of driver type. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 4.21 extio settings t Struct Reference 28 4.20.1 Detailed Description Engine type and driver type settings. Parameters id EngineType DriverType an identifier of device engine type driver type See Also get entype settings, set entype settings 4.20.2 Field Documentation 4.20.2.1 unsigned int DriverType Flags of driver type. 4.20.2.2 unsigned int EngineType Flags of engine type. 4.21 extio settings t Struct Reference EXTIO settings. Data Fields • unsigned int EXTIOSetupFlags External IO setup flags. • unsigned int EXTIOModeFlags External IO mode flags. 4.21.1 Detailed Description EXTIO settings. This structure contains all EXTIO settings. By default input event are signalled through rising front and output states are signalled by high logic state. See Also get extio settings set extio settings get extio settings, set extio settings 4.21.2 Field Documentation 4.21.2.1 unsigned int EXTIOModeFlags External IO mode flags. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 4.22 feedback settings t Struct Reference 4.21.2.2 29 unsigned int EXTIOSetupFlags External IO setup flags. 4.22 feedback settings t Struct Reference Feedback settings. Data Fields • unsigned int IPS The number of measured counts per revolution encoder. • unsigned int FeedbackType Feedback type. • unsigned int FeedbackFlags Describes feedback flags. • unsigned int HallSPR The number of hall steps per revolution. • int HallShift Phase shift between output signal on BLDC engine and hall sensor input(0 - when only active the Hall sensor, the output state is a positive voltage on the winding A and a negative voltage on the winding B). 4.22.1 Detailed Description Feedback settings. This structure contains feedback settings. See Also get feedback settings, set feedback settings 4.22.2 Field Documentation 4.22.2.1 unsigned int FeedbackFlags Describes feedback flags. 4.22.2.2 unsigned int FeedbackType Feedback type. 4.22.2.3 int HallShift Phase shift between output signal on BLDC engine and hall sensor input(0 - when only active the Hall sensor, the output state is a positive voltage on the winding A and a negative voltage on the winding B). 4.22.2.4 unsigned int HallSPR The number of hall steps per revolution. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 4.23 gear information t Struct Reference 4.23 gear information t Struct Reference Gear information. Data Fields • char Manufacturer [17] Manufacturer. • char PartNumber [25] Series and PartNumber. 4.23.1 Detailed Description Gear information. See Also set gear information get gear information get gear information, set gear information 4.23.2 Field Documentation 4.23.2.1 char Manufacturer[17] Manufacturer. Max string length: 16 chars. 4.23.2.2 char PartNumber[25] Series and PartNumber. Max string length: 24 chars. 4.24 gear settings t Struct Reference Gear setings. Data Fields • float ReductionIn Input reduction coefficient. • float ReductionOut Output reduction coefficient. • float RatedInputTorque Max continuous torque (N m). • float RatedInputSpeed Max speed on the input shaft (rpm). • float MaxOutputBacklash Output backlash of the reduction gear(degree). Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 30 4.24 gear settings t Struct Reference • float InputInertia Equivalent input gear inertia (g cm2). • float Efficiency Reduction gear efficiency (%). 4.24.1 Detailed Description Gear setings. See Also set gear settings get gear settings get gear settings, set gear settings 4.24.2 Field Documentation 4.24.2.1 float Efficiency Reduction gear efficiency (%). Data type: float. 4.24.2.2 float InputInertia Equivalent input gear inertia (g cm2). Data type: float. 4.24.2.3 float MaxOutputBacklash Output backlash of the reduction gear(degree). Data type: float. 4.24.2.4 float RatedInputSpeed Max speed on the input shaft (rpm). Data type: float. 4.24.2.5 float RatedInputTorque Max continuous torque (N m). Data type: float. 4.24.2.6 float ReductionIn Input reduction coefficient. (Output = (ReductionOut / ReductionIn) ∗ Input) Data type: float. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 31 4.25 get position calb t Struct Reference 4.24.2.7 32 float ReductionOut Output reduction coefficient. (Output = (ReductionOut / ReductionIn) ∗ Input) Data type: float. 4.25 get position calb t Struct Reference Data Fields • float Position The position in the engine. • long t EncPosition Encoder position. 4.25.1 Field Documentation 4.25.1.1 long t EncPosition Encoder position. 4.25.1.2 float Position The position in the engine. 4.26 get position t Struct Reference Position information. Data Fields • int Position The position of the whole steps in the engine. • int uPosition Microstep position is only used with stepper motors. • long t EncPosition Encoder position. 4.26.1 Detailed Description Position information. Useful structure that contains position value in steps and micro for stepper motor and encoder steps of all engines. See Also get position Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 4.27 hallsensor information t Struct Reference 4.26.2 Field Documentation 4.26.2.1 long t EncPosition Encoder position. 4.27 hallsensor information t Struct Reference Hall sensor information. Data Fields • char Manufacturer [17] Manufacturer. • char PartNumber [25] Series and PartNumber. 4.27.1 Detailed Description Hall sensor information. See Also set hallsensor information get hallsensor information get hallsensor information, set hallsensor information 4.27.2 Field Documentation 4.27.2.1 char Manufacturer[17] Manufacturer. Max string length: 16 chars. 4.27.2.2 char PartNumber[25] Series and PartNumber. Max string length: 24 chars. 4.28 hallsensor settings t Struct Reference Hall sensor settings. Data Fields • float MaxOperatingFrequency Max operation frequency (kHz). • float SupplyVoltageMin Minimum supply voltage (V). Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 33 4.29 home settings calb t Struct Reference • float SupplyVoltageMax Maximum supply voltage (V). • float MaxCurrentConsumption Max current consumption (mA). • unsigned int PPR The number of counts per revolution. 4.28.1 Detailed Description Hall sensor settings. See Also set hallsensor settings get hallsensor settings get hallsensor settings, set hallsensor settings 4.28.2 Field Documentation 4.28.2.1 float MaxCurrentConsumption Max current consumption (mA). Data type: float. 4.28.2.2 float MaxOperatingFrequency Max operation frequency (kHz). Data type: float. 4.28.2.3 float SupplyVoltageMax Maximum supply voltage (V). Data type: float. 4.28.2.4 float SupplyVoltageMin Minimum supply voltage (V). Data type: float. 4.29 home settings calb t Struct Reference Data Fields • float FastHome Speed used for first motion. • float SlowHome Speed used for second motion. • float HomeDelta Distance from break point. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 34 4.30 home settings t Struct Reference • unsigned int HomeFlags Home settings flags. 4.29.1 Field Documentation 4.29.1.1 float FastHome Speed used for first motion. 4.29.1.2 float HomeDelta Distance from break point. 4.29.1.3 unsigned int HomeFlags Home settings flags. 4.29.1.4 float SlowHome Speed used for second motion. 4.30 home settings t Struct Reference Position calibration settings. Data Fields • unsigned int FastHome Speed used for first motion. • unsigned int uFastHome Part of the speed for first motion, microsteps. • unsigned int SlowHome Speed used for second motion. • unsigned int uSlowHome Part of the speed for second motion, microsteps. • int HomeDelta Distance from break point. • int uHomeDelta Part of the delta distance, microsteps. • unsigned int HomeFlags Home settings flags. 4.30.1 Detailed Description Position calibration settings. This structure contains settings used in position calibrating. It specify behaviour of calibrating position. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 35 4.31 joystick settings t Struct Reference See Also get home settings set home settings command home get home settings, set home settings 4.30.2 Field Documentation 4.30.2.1 unsigned int FastHome Speed used for first motion. Range: 0..1000000. 4.30.2.2 int HomeDelta Distance from break point. Range: -2147483647..2147483647. 4.30.2.3 unsigned int HomeFlags Home settings flags. 4.30.2.4 unsigned int SlowHome Speed used for second motion. Range: 0..1000000. 4.30.2.5 unsigned int uFastHome Part of the speed for first motion, microsteps. Range: 0..255. 4.30.2.6 int uHomeDelta Part of the delta distance, microsteps. Range: -255..255. 4.30.2.7 unsigned int uSlowHome Part of the speed for second motion, microsteps. Range: 0..255. 4.31 joystick settings t Struct Reference Joystick settings. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 36 4.31 joystick settings t Struct Reference 37 Data Fields • unsigned int JoyLowEnd Joystick lower end position. • unsigned int JoyCenter Joystick center position. • unsigned int JoyHighEnd Joystick higher end position. • unsigned int ExpFactor Exponential nonlinearity factor. • unsigned int DeadZone Joystick dead zone. • unsigned int JoyFlags Joystick flags. 4.31.1 Detailed Description Joystick settings. This structure contains joystick parameters. If joystick position is outside DeadZone limits from the central position a movement with speed, defined by the joystick DeadZone edge to 100% deviation, begins. Joystick positions inside DeadZone limits correspond to zero speed (soft stop of motion) and positions beyond Low and High limits correspond MaxSpeed [i] or -MaxSpeed [i] (see command SCTL), where i = 0 by default and can be changed with left/right buttons (see command SCTL). If next speed in list is zero (both integer and microstep parts), the button press is ignored. First speed in list shouldn’t be zero. The relationship between the deviation and the rate is exponential, allowing no switching speed combine high mobility and accuracy. See Also set joystick settings get joystick settings get joystick settings, set joystick settings 4.31.2 Field Documentation 4.31.2.1 unsigned int DeadZone Joystick dead zone. 4.31.2.2 unsigned int ExpFactor Exponential nonlinearity factor. 4.31.2.3 unsigned int JoyCenter Joystick center position. 4.31.2.4 unsigned int JoyFlags Joystick flags. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 4.32 motor information t Struct Reference 4.31.2.5 unsigned int JoyHighEnd Joystick higher end position. 4.31.2.6 unsigned int JoyLowEnd Joystick lower end position. 4.32 motor information t Struct Reference motor information. Data Fields • char Manufacturer [17] Manufacturer. • char PartNumber [25] Series and PartNumber. 4.32.1 Detailed Description motor information. See Also set motor information get motor information get motor information, set motor information 4.32.2 Field Documentation 4.32.2.1 char Manufacturer[17] Manufacturer. Max string length: 16 chars. 4.32.2.2 char PartNumber[25] Series and PartNumber. Max string length: 24 chars. 4.33 motor settings t Struct Reference motor settings. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 38 4.33 motor settings t Struct Reference 39 Data Fields • unsigned int MotorType Motor Type flags. • unsigned int ReservedField Reserved. • unsigned int Poles Number of pole pairs for DC or BLDC motors or number of steps per rotation for stepper motor. • unsigned int Phases Number of phases for BLDC motors. • float NominalVoltage Nominal voltage on winding (B). • float NominalCurrent Maximum direct current in winding for DC and BLDC engines, nominal current in windings for stepper motor (A). • float NominalSpeed Nominal speed(rpm). • float NominalTorque Nominal torque(mN m). • float NominalPower Nominal power(W). • float WindingResistance Resistance of windings for DC engine, each of two windings for stepper motor or each of there windings for BLDC engine(Ohm). • float WindingInductance Inductance of windings for DC engine, each of two windings for stepper motor or each of there windings for BLDC engine(mH). • float RotorInertia Rotor inertia(g cm2). • float StallTorque Torque hold position for a stepper motor or torque at a motionless rotor for other types of engines (mN m). • float DetentTorque Holding torque position with un-powered coils (mN m). • float TorqueConstant Torque constant, which determines the aspect ratio of maximum moment of force from the rotor current flowing in the coil (mN m / A). • float SpeedConstant Velocity constant, which determines the value or amplitude of the induced voltage on the motion of DC or BLDC motor (rpm / V) or stepper motor (steps/s / V). • float SpeedTorqueGradient Speed torque gradient (rpm / mN m). • float MechanicalTimeConstant Mechanical time constant (ms). • float MaxSpeed The maximum speed for stepper motors (steps/s) or DC and BLDC motors (rmp). • float MaxCurrent The maximum current in the winding (A). • float MaxCurrentTime Safe duration of overcurrent in the winding (ms). • float NoLoadCurrent The current consumption in idle mode (A). • float NoLoadSpeed Idle speed (rpm). Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 4.33 motor settings t Struct Reference 4.33.1 Detailed Description motor settings. See Also set motor settings get motor settings get motor settings, set motor settings 4.33.2 Field Documentation 4.33.2.1 float DetentTorque Holding torque position with un-powered coils (mN m). Data type: float. 4.33.2.2 float MaxCurrent The maximum current in the winding (A). Data type: float. 4.33.2.3 float MaxCurrentTime Safe duration of overcurrent in the winding (ms). Data type: float. 4.33.2.4 float MaxSpeed The maximum speed for stepper motors (steps/s) or DC and BLDC motors (rmp). Data type: float. 4.33.2.5 float MechanicalTimeConstant Mechanical time constant (ms). Data type: float. 4.33.2.6 unsigned int MotorType Motor Type flags. 4.33.2.7 float NoLoadCurrent The current consumption in idle mode (A). Used for DC and BLDC motors. Data type: float. 4.33.2.8 float NoLoadSpeed Idle speed (rpm). Used for DC and BLDC motors. Data type: float. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 40 4.33 motor settings t Struct Reference 4.33.2.9 41 float NominalCurrent Maximum direct current in winding for DC and BLDC engines, nominal current in windings for stepper motor (A). Data type: float. 4.33.2.10 float NominalPower Nominal power(W). Used for DC and BLDC engine. Data type: float. 4.33.2.11 float NominalSpeed Nominal speed(rpm). Used for DC and BLDC engine. Data type: float. 4.33.2.12 float NominalTorque Nominal torque(mN m). Used for DC and BLDC engine. Data type: float. 4.33.2.13 float NominalVoltage Nominal voltage on winding (B). Data type: float 4.33.2.14 unsigned int Phases Number of phases for BLDC motors. 4.33.2.15 unsigned int Poles Number of pole pairs for DC or BLDC motors or number of steps per rotation for stepper motor. 4.33.2.16 float RotorInertia Rotor inertia(g cm2). Data type: float. 4.33.2.17 float SpeedConstant Velocity constant, which determines the value or amplitude of the induced voltage on the motion of DC or BLDC motor (rpm / V) or stepper motor (steps/s / V). Data type: float. 4.33.2.18 float SpeedTorqueGradient Speed torque gradient (rpm / mN m). Data type: float. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 4.34 move settings calb t Struct Reference 4.33.2.19 42 float StallTorque Torque hold position for a stepper motor or torque at a motionless rotor for other types of engines (mN m). Data type: float. 4.33.2.20 float TorqueConstant Torque constant, which determines the aspect ratio of maximum moment of force from the rotor current flowing in the coil (mN m / A). Used mainly for DC motors. Data type: float. 4.33.2.21 float WindingInductance Inductance of windings for DC engine, each of two windings for stepper motor or each of there windings for BLDC engine(mH). Data type: float. 4.33.2.22 float WindingResistance Resistance of windings for DC engine, each of two windings for stepper motor or each of there windings for BLDC engine(Ohm). Data type: float. 4.34 move settings calb t Struct Reference Data Fields • float Speed Target speed. • float Accel Motor shaft acceleration, steps/s∧ 2(stepper motor) or RPM/s(DC). • float Decel Motor shaft deceleration, steps/s∧ 2(stepper motor) or RPM/s(DC). • float AntiplaySpeed Speed in antiplay mode. 4.34.1 Field Documentation 4.34.1.1 float Accel Motor shaft acceleration, steps/s∧ 2(stepper motor) or RPM/s(DC). 4.34.1.2 float AntiplaySpeed Speed in antiplay mode. 4.34.1.3 float Decel Motor shaft deceleration, steps/s∧ 2(stepper motor) or RPM/s(DC). Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 4.35 move settings t Struct Reference 4.34.1.4 float Speed Target speed. 4.35 move settings t Struct Reference Move settings. Data Fields • unsigned int Speed Target speed(for stepper motor: steps / c, for DC: rpm). • unsigned int uSpeed Target speed in 1/256 microsteps/s. • unsigned int Accel Motor shaft acceleration, steps/s∧ 2(stepper motor) or RPM/s(DC). • unsigned int Decel Motor shaft deceleration, steps/s∧ 2(stepper motor) or RPM/s(DC). • unsigned int AntiplaySpeed Speed in antiplay mode, full steps/s(stepper motor) or RPM(DC). • unsigned int uAntiplaySpeed Speed in antiplay mode, 1/256 microsteps/s. 4.35.1 Detailed Description Move settings. See Also set move settings get move settings get move settings, set move settings 4.35.2 Field Documentation 4.35.2.1 unsigned int Accel Motor shaft acceleration, steps/s∧ 2(stepper motor) or RPM/s(DC). Range: 0..65535. 4.35.2.2 unsigned int AntiplaySpeed Speed in antiplay mode, full steps/s(stepper motor) or RPM(DC). Range: 0..1000000. 4.35.2.3 unsigned int Decel Motor shaft deceleration, steps/s∧ 2(stepper motor) or RPM/s(DC). Range: 0..65535. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 43 4.36 pid settings t Struct Reference 4.35.2.4 44 unsigned int Speed Target speed(for stepper motor: steps / c, for DC: rpm). Range: 0..1000000. 4.35.2.5 unsigned int uAntiplaySpeed Speed in antiplay mode, 1/256 microsteps/s. Used with stepper motor only. Range: 0..255. 4.35.2.6 unsigned int uSpeed Target speed in 1/256 microsteps/s. Using with stepper motor only. Range: 0..255. 4.36 pid settings t Struct Reference PID settings. Data Fields • unsigned int KpU Proportional gain for voltage PID routine. • unsigned int KiU Integral gain for voltage PID routine. • unsigned int KdU Differential gain for voltage PID routine. 4.36.1 Detailed Description PID settings. This structure contains factors for PID routine. Range: 0..65535. It specify behaviour of PID routine for voltage. These factors are slightly different for different positioners. All boards are supplied with standart set of PID setting on controller’s flash memory. Please load new PID settings when you change positioner. Please note that wrong PID settings lead to device malfunction. See Also set pid settings get pid settings get pid settings, set pid settings 4.37 power settings t Struct Reference Step motor power settings. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 4.37 power settings t Struct Reference Data Fields • unsigned int HoldCurrent Current in holding regime, percent of nominal. • unsigned int CurrReductDelay Time in ms from going to STOP state to reducting current. • unsigned int PowerOffDelay Time in s from going to STOP state to turning power off. • unsigned int CurrentSetTime Time in ms to reach nominal current. • unsigned int PowerFlags Flags of power settings of stepper motor. 4.37.1 Detailed Description Step motor power settings. See Also set move settings get move settings get power settings, set power settings 4.37.2 Field Documentation 4.37.2.1 unsigned int CurrentSetTime Time in ms to reach nominal current. Range: 0..65535. 4.37.2.2 unsigned int CurrReductDelay Time in ms from going to STOP state to reducting current. Range: 0..65535. 4.37.2.3 unsigned int HoldCurrent Current in holding regime, percent of nominal. Range: 0..100. 4.37.2.4 unsigned int PowerFlags Flags of power settings of stepper motor. 4.37.2.5 unsigned int PowerOffDelay Time in s from going to STOP state to turning power off. Range: 0..65535. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 45 4.38 secure settings t Struct Reference 4.38 secure settings t Struct Reference This structure contains raw analog data from ADC embedded on board. Data Fields • unsigned int LowUpwrOff Lower voltage limit to turn off the motor, in mV. • unsigned int CriticalIpwr Maximum motor current which triggers ALARM state, in mA. • unsigned int CriticalUpwr Maximum motor voltage which triggers ALARM state, in mV. • unsigned int CriticalT Maximum temperature, which triggers ALARM state, in tenths of degrees Celcius. • unsigned int CriticalIusb Maximum USB current which triggers ALARM state, in mA. • unsigned int CriticalUusb Maximum USB voltage which triggers ALARM state, in mV. • unsigned int MinimumUusb Minimum USB voltage which triggers ALARM state, in mV. • unsigned int Flags Flags of secure settings. 4.38.1 Detailed Description This structure contains raw analog data from ADC embedded on board. These data used for device testing and deep recalibraton by manufacturer only. See Also get secure settings set secure settings get secure settings, set secure settings 4.38.2 Field Documentation 4.38.2.1 unsigned int CriticalIpwr Maximum motor current which triggers ALARM state, in mA. Range: 0..65535. 4.38.2.2 unsigned int CriticalIusb Maximum USB current which triggers ALARM state, in mA. Range: 0..65535. 4.38.2.3 unsigned int CriticalT Maximum temperature, which triggers ALARM state, in tenths of degrees Celcius. Range: 0..65535. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 46 4.39 serial number t Struct Reference 4.38.2.4 47 unsigned int CriticalUpwr Maximum motor voltage which triggers ALARM state, in mV. Range: 0..65535. 4.38.2.5 unsigned int CriticalUusb Maximum USB voltage which triggers ALARM state, in mV. Range: 0..65535. 4.38.2.6 unsigned int Flags Flags of secure settings. 4.38.2.7 unsigned int LowUpwrOff Lower voltage limit to turn off the motor, in mV. Range: 0..65535. 4.38.2.8 unsigned int MinimumUusb Minimum USB voltage which triggers ALARM state, in mV. Range: 0..65535. 4.39 serial number t Struct Reference Serial number structure. Data Fields • unsigned int SN New board serial number. • unsigned int Key [32] Protection key (256 bit). 4.39.1 Detailed Description Serial number structure. The structure keep new serial number and valid key. The SN is changed and saved when transmitted key matches stored key. Can be used by manufacturer only. See Also set serial number Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 4.40 set position calb t Struct Reference 4.39.2 Field Documentation 4.39.2.1 unsigned int Key[32] Protection key (256 bit). 4.39.2.2 unsigned int SN New board serial number. 4.40 set position calb t Struct Reference Data Fields • float Position The position in the engine. • long t EncPosition Encoder position. • unsigned int PosFlags Position setting flags. 4.40.1 Field Documentation 4.40.1.1 long t EncPosition Encoder position. 4.40.1.2 unsigned int PosFlags Position setting flags. 4.40.1.3 float Position The position in the engine. 4.41 set position t Struct Reference Position information. Data Fields • int Position The position of the whole steps in the engine. • int uPosition Microstep position is only used with stepper motors. • long t EncPosition Encoder position. • unsigned int PosFlags Position setting flags. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 48 4.42 stage information t Struct Reference 49 4.41.1 Detailed Description Position information. Useful structure that contains position value in steps and micro for stepper motor and encoder steps of all engines. See Also set position 4.41.2 Field Documentation 4.41.2.1 long t EncPosition Encoder position. 4.41.2.2 unsigned int PosFlags Position setting flags. 4.42 stage information t Struct Reference Stage information. Data Fields • char Manufacturer [17] Manufacturer. • char PartNumber [25] Series and PartNumber. 4.42.1 Detailed Description Stage information. See Also set stage information get stage information get stage information, set stage information 4.42.2 Field Documentation 4.42.2.1 char Manufacturer[17] Manufacturer. Max string length: 16 chars. 4.42.2.2 char PartNumber[25] Series and PartNumber. Max string length: 24 chars. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 4.43 stage name t Struct Reference 4.43 stage name t Struct Reference Stage user name. Data Fields • char PositionerName [17] User positioner name. 4.43.1 Detailed Description Stage user name. See Also get stage name, set stage name 4.43.2 Field Documentation 4.43.2.1 char PositionerName[17] User positioner name. Can be set by user for his/her convinience. Max string length: 16 chars. 4.44 stage settings t Struct Reference Stage settings. Data Fields • float LeadScrewPitch Lead screw pitch (mm). • char Units [9] Units for MaxSpeed and TravelRange fields of the structure (steps, degrees, mm, ...). • float MaxSpeed Max speed (Units/c). • float TravelRange Travel range (Units). • float SupplyVoltageMin Supply voltage minimum (V). • float SupplyVoltageMax Supply voltage maximum (V). • float MaxCurrentConsumption Max current consumption (A). • float HorizontalLoadCapacity Horizontal load capacity (kg). • float VerticalLoadCapacity Vertical load capacity (kg). Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 50 4.44 stage settings t Struct Reference 4.44.1 Detailed Description Stage settings. See Also set stage settings get stage settings get stage settings, set stage settings 4.44.2 Field Documentation 4.44.2.1 float HorizontalLoadCapacity Horizontal load capacity (kg). Data type: float. 4.44.2.2 float LeadScrewPitch Lead screw pitch (mm). Data type: float. 4.44.2.3 float MaxCurrentConsumption Max current consumption (A). Data type: float. 4.44.2.4 float MaxSpeed Max speed (Units/c). Data type: float. 4.44.2.5 float SupplyVoltageMax Supply voltage maximum (V). Data type: float. 4.44.2.6 float SupplyVoltageMin Supply voltage minimum (V). Data type: float. 4.44.2.7 float TravelRange Travel range (Units). Data type: float. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 51 4.45 status calb t Struct Reference 4.44.2.8 char Units[9] Units for MaxSpeed and TravelRange fields of the structure (steps, degrees, mm, ...). Max string length: 8 chars. 4.44.2.9 float VerticalLoadCapacity Vertical load capacity (kg). Data type: float. 4.45 status calb t Struct Reference Data Fields • unsigned int MoveSts Flags of move state. • unsigned int MvCmdSts Move command state. • unsigned int PWRSts Flags of power state of stepper motor. • unsigned int EncSts Encoder state. • unsigned int WindSts Winding state. • float CurPosition Current position. • long t EncPosition Current encoder position. • float CurSpeed Motor shaft speed. • int Ipwr Engine current. • int Upwr Power supply voltage. • int Iusb USB current consumption. • int Uusb USB voltage. • int CurT Temperature in tenths of degrees C. • unsigned int Flags Status flags. • unsigned int GPIOFlags Status flags. • unsigned int CmdBufFreeSpace This field shows the amount of free cells buffer synchronization chain. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 52 4.45 status calb t Struct Reference 4.45.1 Field Documentation 4.45.1.1 unsigned int CmdBufFreeSpace This field shows the amount of free cells buffer synchronization chain. 4.45.1.2 float CurPosition Current position. 4.45.1.3 float CurSpeed Motor shaft speed. 4.45.1.4 int CurT Temperature in tenths of degrees C. 4.45.1.5 long t EncPosition Current encoder position. 4.45.1.6 unsigned int EncSts Encoder state. 4.45.1.7 unsigned int Flags Status flags. 4.45.1.8 unsigned int GPIOFlags Status flags. 4.45.1.9 int Ipwr Engine current. 4.45.1.10 int Iusb USB current consumption. 4.45.1.11 unsigned int MoveSts Flags of move state. 4.45.1.12 unsigned int MvCmdSts Move command state. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 53 4.46 status t Struct Reference 4.45.1.13 unsigned int PWRSts Flags of power state of stepper motor. 4.45.1.14 int Upwr Power supply voltage. 4.45.1.15 int Uusb USB voltage. 4.45.1.16 unsigned int WindSts Winding state. 4.46 status t Struct Reference Device state. Data Fields • unsigned int MoveSts Flags of move state. • unsigned int MvCmdSts Move command state. • unsigned int PWRSts Flags of power state of stepper motor. • unsigned int EncSts Encoder state. • unsigned int WindSts Winding state. • int CurPosition Current position. • int uCurPosition Step motor shaft position in 1/256 microsteps. • long t EncPosition Current encoder position. • int CurSpeed Motor shaft speed. • int uCurSpeed Part of motor shaft speed in 1/256 microsteps. • int Ipwr Engine current. • int Upwr Power supply voltage. • int Iusb USB current consumption. • int Uusb Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 54 4.46 status t Struct Reference USB voltage. • int CurT Temperature in tenths of degrees C. • unsigned int Flags Status flags. • unsigned int GPIOFlags Status flags. • unsigned int CmdBufFreeSpace This field shows the amount of free cells buffer synchronization chain. 4.46.1 Detailed Description Device state. Useful structure that contains current controller state, including speed, position and boolean flags. See Also get status impl 4.46.2 Field Documentation 4.46.2.1 unsigned int CmdBufFreeSpace This field shows the amount of free cells buffer synchronization chain. 4.46.2.2 int CurPosition Current position. 4.46.2.3 int CurSpeed Motor shaft speed. 4.46.2.4 int CurT Temperature in tenths of degrees C. 4.46.2.5 long t EncPosition Current encoder position. 4.46.2.6 unsigned int EncSts Encoder state. 4.46.2.7 unsigned int Flags Status flags. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 55 4.46 status t Struct Reference 4.46.2.8 unsigned int GPIOFlags Status flags. 4.46.2.9 int Ipwr Engine current. 4.46.2.10 int Iusb USB current consumption. 4.46.2.11 unsigned int MoveSts Flags of move state. 4.46.2.12 unsigned int MvCmdSts Move command state. 4.46.2.13 unsigned int PWRSts Flags of power state of stepper motor. 4.46.2.14 int uCurPosition Step motor shaft position in 1/256 microsteps. Used only with stepper motor. 4.46.2.15 int uCurSpeed Part of motor shaft speed in 1/256 microsteps. Used only with stepper motor. 4.46.2.16 int Upwr Power supply voltage. 4.46.2.17 int Uusb USB voltage. 4.46.2.18 unsigned int WindSts Winding state. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 56 4.47 sync in settings calb t Struct Reference 4.47 sync in settings calb t Struct Reference Data Fields • unsigned int SyncInFlags Flags for synchronization input setup. • unsigned int ClutterTime Input synchronization pulse dead time (mks). • float Position Desired position or shift. • float Speed Target speed. 4.47.1 Field Documentation 4.47.1.1 unsigned int ClutterTime Input synchronization pulse dead time (mks). Range: 0..65535 4.47.1.2 float Position Desired position or shift. 4.47.1.3 float Speed Target speed. 4.47.1.4 unsigned int SyncInFlags Flags for synchronization input setup. 4.48 sync in settings t Struct Reference Synchronization settings. Data Fields • unsigned int SyncInFlags Flags for synchronization input setup. • unsigned int ClutterTime Input synchronization pulse dead time (mks). • int Position Desired position or shift (whole steps) • int uPosition The fractional part of a position or shift in microsteps (-255 . • unsigned int Speed Target speed(for stepper motor: steps / c, for DC: rpm). • unsigned int uSpeed Target speed in microsteps/s. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 57 4.49 sync out settings calb t Struct Reference 58 4.48.1 Detailed Description Synchronization settings. This structure contains all synchronization settings, modes, periods and flags. It specifes behaviour of input synchronization. All boards are supplied with standart set of these settings. See Also get sync in settings set sync in settings get sync in settings, set sync in settings 4.48.2 Field Documentation 4.48.2.1 unsigned int ClutterTime Input synchronization pulse dead time (mks). Range: 0..65535 4.48.2.2 unsigned int Speed Target speed(for stepper motor: steps / c, for DC: rpm). Range: 0..1000000. 4.48.2.3 unsigned int SyncInFlags Flags for synchronization input setup. 4.48.2.4 int uPosition The fractional part of a position or shift in microsteps (-255 . . 255)(is only used with stepper motor) 4.48.2.5 unsigned int uSpeed Target speed in microsteps/s. Using with stepper motor only. Range: 0..255. 4.49 sync out settings calb t Struct Reference Data Fields • unsigned int SyncOutFlags Flags of synchronization output. • unsigned int SyncOutPulseSteps This value specifies duration of output pulse. • unsigned int SyncOutPeriod This value specifies number of encoder pulses or steps between two output synchronization pulses when SYNCOUT ONPERIOD is set. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 4.50 sync out settings t Struct Reference 59 • float Accuracy This is the neighborhood around the target coordinates, which is getting hit in the target position and the momentum generated by the stop. 4.49.1 Field Documentation 4.49.1.1 float Accuracy This is the neighborhood around the target coordinates, which is getting hit in the target position and the momentum generated by the stop. 4.49.1.2 unsigned int SyncOutFlags Flags of synchronization output. 4.49.1.3 unsigned int SyncOutPeriod This value specifies number of encoder pulses or steps between two output synchronization pulses when SYNCOUT ONPERIOD is set. Range: 0..65535 4.49.1.4 unsigned int SyncOutPulseSteps This value specifies duration of output pulse. It is measured microseconds when SYNCOUT IN STEPS flag is cleared or in encoder pulses or motor steps when SYNCOUT IN STEPS is set. Range: 0..65535 4.50 sync out settings t Struct Reference Synchronization settings. Data Fields • unsigned int SyncOutFlags Flags of synchronization output. • unsigned int SyncOutPulseSteps This value specifies duration of output pulse. • unsigned int SyncOutPeriod This value specifies number of encoder pulses or steps between two output synchronization pulses when SYNCOUT ONPERIOD is set. • unsigned int Accuracy This is the neighborhood around the target coordinates, which is getting hit in the target position and the momentum generated by the stop. • unsigned int uAccuracy This is the neighborhood around the target coordinates in micro steps (only used with stepper motor). Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 4.51 uart settings t Struct Reference 60 4.50.1 Detailed Description Synchronization settings. This structure contains all synchronization settings, modes, periods and flags. It specifes behaviour of output synchronization. All boards are supplied with standart set of these settings. See Also get sync out settings set sync out settings get sync out settings, set sync out settings 4.50.2 Field Documentation 4.50.2.1 unsigned int Accuracy This is the neighborhood around the target coordinates, which is getting hit in the target position and the momentum generated by the stop. Range: 0..4294967295. 4.50.2.2 unsigned int SyncOutFlags Flags of synchronization output. 4.50.2.3 unsigned int SyncOutPeriod This value specifies number of encoder pulses or steps between two output synchronization pulses when SYNCOUT ONPERIOD is set. Range: 0..65535 4.50.2.4 unsigned int SyncOutPulseSteps This value specifies duration of output pulse. It is measured microseconds when SYNCOUT IN STEPS flag is cleared or in encoder pulses or motor steps when SYNCOUT IN STEPS is set. Range: 0..65535 4.50.2.5 unsigned int uAccuracy This is the neighborhood around the target coordinates in micro steps (only used with stepper motor). Range: 0 .. 255. 4.51 uart settings t Struct Reference UART settings. Data Fields • unsigned int Speed UART speed. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 4.51 uart settings t Struct Reference • unsigned int UARTSetupFlags UART parity flags. 4.51.1 Detailed Description UART settings. This structure contains UART settings. See Also get uart settings set uart settings get uart settings, set uart settings 4.51.2 Field Documentation 4.51.2.1 unsigned int UARTSetupFlags UART parity flags. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 61 Chapter 5 File Documentation 5.1 ximc.h File Reference Header file for libximc library. Data Structures • struct calibration t Calibration companion structure. • struct feedback settings t Feedback settings. • struct home settings t Position calibration settings. • struct home settings calb t • struct move settings t Move settings. • struct move settings calb t • struct engine settings t Engine settings. • struct engine settings calb t • struct entype settings t Engine type and driver type settings. • struct power settings t Step motor power settings. • struct secure settings t This structure contains raw analog data from ADC embedded on board. • struct edges settings t Edges settings. • struct edges settings calb t • struct pid settings t PID settings. • struct sync in settings t Synchronization settings. • struct sync in settings calb t • struct sync out settings t Synchronization settings. • struct sync out settings calb t 5.1 ximc.h File Reference • struct extio settings t EXTIO settings. • struct brake settings t Brake settings. • struct control settings t Control settings. • struct control settings calb t • struct joystick settings t Joystick settings. • struct ctp settings t Control position settings(is only used with stepper motor). • struct uart settings t UART settings. • struct controller name t Controller user name and flags of setting. • struct add sync in action t This command adds one element of the FIFO commands. • struct add sync in action calb t • struct get position t Position information. • struct get position calb t • struct set position t Position information. • struct set position calb t • struct status t Device state. • struct status calb t • struct chart data t Additional device state. • struct device information t Read command controller information. • struct serial number t Serial number structure. • struct analog data t Analog data. • struct debug read t Debug data. • struct stage name t Stage user name. • struct stage information t Stage information. • struct stage settings t Stage settings. • struct motor information t motor information. • struct motor settings t motor settings. • struct encoder information t Encoder information. • struct encoder settings t Encoder settings. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 63 5.1 ximc.h File Reference • struct hallsensor information t Hall sensor information. • struct hallsensor settings t Hall sensor settings. • struct gear information t Gear information. • struct gear settings t Gear setings. • struct accessories settings t Additional accessories information. Macros • #define XIMC API Library import macro Macros allows to automatically import function from shared library. • #define XIMC CALLCONV Library calling convention macros. • #define device undefined -1 Handle specified undefined device. Result statuses • #define result ok 0 success • #define result error -1 generic error • #define result not implemented -2 function is not implemented • #define result value error -3 value error • #define result nodevice -4 device is lost Logging level • #define LOGLEVEL ERROR 0x01 Logging level - error. • #define LOGLEVEL WARNING 0x02 Logging level - warning. • #define LOGLEVEL INFO 0x03 Logging level - info. • #define LOGLEVEL DEBUG 0x04 Logging level - debug. Enumerate devices flags • #define ENUMERATE PROBE 0x01 Check if a device with OS name name is XIMC device. • #define ENUMERATE ALL COM 0x02 Check all COM devices. Flags of move state Specify move states. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 64 5.1 ximc.h File Reference 65 See Also get status status t::move state status t::MoveSts, get status impl • #define MOVE STATE MOVING 0x01 This flag indicates that controller is trying to move the motor. • #define MOVE STATE TARGET SPEED 0x02 Target speed is reached, if flag set. • #define MOVE STATE ANTIPLAY 0x04 Motor is playing compensation, if flag set. Flags of internal controller settings See Also set controller name get controller name controller name t::CtrlFlags, get controller name, set controller name • #define EEPROM PRECEDENCE 0x01 If the flag is set settings from external EEPROM override controller settings. Flags of power state of stepper motor Specify power states. See Also status t::power state get status status t::PWRSts, get status impl • #define PWR STATE UNKNOWN 0x00 Unknown state, should never happen. • #define PWR STATE OFF 0x01 Motor windings are disconnected from the driver. • #define PWR STATE NORM 0x03 Motor windings are powered by nominal current. • #define PWR STATE REDUCT 0x04 Motor windings are powered by reduced current to lower power consumption. • #define PWR STATE MAX 0x05 Motor windings are powered by maximum current driver can provide at this voltage. Status flags GPIO state flags returned by device query. Contains boolean part of controller state. May be combined with bitwise OR. See Also status t::flags get status status t::GPIOFlags, get status impl • #define STATE CONTR 0x0003F Flags of controller states. • #define STATE ERRC 0x00001 Command error encountered. • #define STATE ERRD 0x00002 Data integrity error encountered. • #define STATE ERRV 0x00004 Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 5.1 ximc.h File Reference Value error encountered. • #define STATE EEPROM CONNECTED 0x00010 EEPROM with settings is connected. • #define STATE SECUR 0x3FFC0 Flags of security. • #define STATE ALARM 0x00040 Controller is in alarm state indicating that something dangerous had happened. • #define STATE CTP ERROR 0x00080 Control position error(is only used with stepper motor). • #define STATE POWER OVERHEAT 0x00100 Power driver overheat. • #define STATE CONTROLLER OVERHEAT 0x00200 Controller overheat. • #define STATE OVERLOAD POWER VOLTAGE 0x00400 Power voltage exceeds safe limit. • #define STATE OVERLOAD POWER CURRENT 0x00800 Power current exceeds safe limit. • #define STATE OVERLOAD USB VOLTAGE 0x01000 USB voltage exceeds safe limit. • #define STATE LOW USB VOLTAGE 0x02000 USB voltage is insufficient for normal operation. • #define STATE OVERLOAD USB CURRENT 0x04000 USB current exceeds safe limit. • #define STATE BORDERS SWAP MISSET 0x08000 Engine stuck at the wrong edge. • #define STATE LOW POWER VOLTAGE 0x10000 Power voltage is lower than Low Voltage Protection limit. • #define STATE H BRIDGE FAULT 0x20000 Signal from the driver that fault happened. • #define STATE DIG SIGNAL 0xFFFF Flags of digital signals. • #define STATE RIGHT EDGE 0x0001 Engine stuck at the right edge. • #define STATE LEFT EDGE 0x0002 Engine stuck at the left edge. • #define STATE BUTTON RIGHT 0x0004 Button ”right” state (1 if pressed). • #define STATE BUTTON LEFT 0x0008 Button ”left” state (1 if pressed). • #define STATE GPIO PINOUT 0x0010 External GPIO works as Out, if flag set; otherwise works as In. • #define STATE GPIO LEVEL 0x0020 State of external GPIO pin. • #define STATE HALL A 0x0040 State of Hall a pin. • #define STATE HALL B 0x0080 State of Hall b pin. • #define STATE HALL C 0x0100 State of Hall c pin. • #define STATE BRAKE 0x0200 State of Brake pin. • #define STATE REV SENSOR 0x0400 State of Revolution sensor pin. • #define STATE SYNC INPUT 0x0800 State of Sync input pin. • #define STATE SYNC OUTPUT 0x1000 State of Sync output pin. • #define STATE ENC A 0x2000 State of encoder A pin. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 66 5.1 ximc.h File Reference 67 • #define STATE ENC B 0x4000 State of encoder B pin. Encoder state Encoder state returned by device query. See Also status t::encsts get status status t::EncSts, get status impl • #define ENC STATE ABSENT 0x00 Encoder is absent. • #define ENC STATE UNKNOWN 0x01 Encoder state is unknown. • #define ENC STATE MALFUNC 0x02 Encoder is connected and malfunctioning. • #define ENC STATE REVERS 0x03 Encoder is connected and operational but counts in otyher direction. • #define ENC STATE OK 0x04 Encoder is connected and working properly. Winding state Motor winding state returned by device query. See Also status t::windsts get status status t::WindSts, get status impl • #define WIND A STATE ABSENT 0x00 Winding A is disconnected. • #define WIND A STATE UNKNOWN 0x01 Winding A state is unknown. • #define WIND A STATE MALFUNC 0x02 Winding A is short-circuited. • #define WIND A STATE OK 0x03 Winding A is connected and working properly. • #define WIND B STATE ABSENT 0x00 Winding B is disconnected. • #define WIND B STATE UNKNOWN 0x10 Winding B state is unknown. • #define WIND B STATE MALFUNC 0x20 Winding B is short-circuited. • #define WIND B STATE OK 0x30 Winding B is connected and working properly. Move command state Move command (command move, command movr, command left, command right, command stop, command home, command loft, command sstp) and its state (run, finished, error). Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 5.1 ximc.h File Reference 68 See Also status t::mvcmdsts get status status t::MvCmdSts, get status impl • #define MVCMD NAME BITS 0x3F Move command bit mask. • #define MVCMD UKNWN 0x00 Unknown command. • #define MVCMD MOVE 0x01 Command move. • #define MVCMD MOVR 0x02 Command movr. • #define MVCMD LEFT 0x03 Command left. • #define MVCMD RIGHT 0x04 Command rigt. • #define MVCMD STOP 0x05 Command stop. • #define MVCMD HOME 0x06 Command home. • #define MVCMD LOFT 0x07 Command loft. • #define MVCMD SSTP 0x08 Command soft stop. • #define MVCMD ERROR 0x40 Finish state (1 - move command have finished with an error, 0 - move command have finished correctly). • #define MVCMD RUNNING 0x80 Move command state (0 - move command have finished, 1 - move command is being executed). Flags of engine settings Specify motor shaft movement algorithm and list of limitations. Flags returned by query of engine settings. May be combined with bitwise OR. See Also engine settings t::flags set engine settings get engine settings engine settings t::EngineFlags, get engine settings, set engine settings • #define ENGINE REVERSE 0x01 Reverse flag. • #define ENGINE MAX SPEED 0x04 Max speed flag. • #define ENGINE ANTIPLAY 0x08 Play compensation flag. • #define ENGINE ACCEL ON 0x10 Acceleration enable flag. • #define ENGINE LIMIT VOLT 0x20 Maxumum motor voltage limit enable flag(is only used with DC motor). • #define ENGINE LIMIT CURR 0x40 Maxumum motor current limit enable flag(is only used with DC motor). • #define ENGINE LIMIT RPM 0x80 Maxumum motor speed limit enable flag. Flags of microstep mode Specify settings of microstep mode. Using with step motors. Flags returned by query of engine settings. May be combined with bitwise OR Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 5.1 ximc.h File Reference See Also engine settings t::flags set engine settings get engine settings engine settings t::MicrostepMode, get engine settings, set engine settings • #define MICROSTEP MODE FULL 0x01 Full step mode. • #define MICROSTEP MODE FRAC 2 0x02 1/2 step mode. • #define MICROSTEP MODE FRAC 4 0x03 1/4 step mode. • #define MICROSTEP MODE FRAC 8 0x04 1/8 step mode. • #define MICROSTEP MODE FRAC 16 0x05 1/16 step mode. • #define MICROSTEP MODE FRAC 32 0x06 1/32 step mode. • #define MICROSTEP MODE FRAC 64 0x07 1/64 step mode. • #define MICROSTEP MODE FRAC 128 0x08 1/128 step mode. • #define MICROSTEP MODE FRAC 256 0x09 1/256 step mode. Flags of engine type Specify motor type. Flags returned by query of engine settings. See Also engine settings t::flags set entype settings get entype settings entype settings t::EngineType, get entype settings, set entype settings • #define ENGINE TYPE NONE 0x00 A value that shouldn’t be used. • #define ENGINE TYPE DC 0x01 DC motor. • #define ENGINE TYPE 2DC 0x02 2 DC motors. • #define ENGINE TYPE STEP 0x03 Step motor. • #define ENGINE TYPE TEST 0x04 Duty cycle are fixed. • #define ENGINE TYPE BRUSHLESS 0x05 Brushless motor. Flags of driver type Specify driver type. Flags returned by query of engine settings. See Also engine settings t::flags set entype settings get entype settings entype settings t::DriverType, get entype settings, set entype settings • #define DRIVER TYPE DISCRETE FET 0x01 Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 69 5.1 ximc.h File Reference Driver with discrete FET keys. • #define DRIVER TYPE INTEGRATE 0x02 Driver with integrated IC. • #define DRIVER TYPE EXTERNAL 0x03 External driver. Flags of power settings of stepper motor Specify power settings. Flags returned by query of power settings. See Also power settings t::flags get power settings set power settings power settings t::PowerFlags, get power settings, set power settings • #define POWER REDUCT ENABLED 0x01 Current reduction enabled after CurrReductDelay, if this flag is set. • #define POWER OFF ENABLED 0x02 Power off enabled after PowerOffDelay, if this flag is set. • #define POWER SMOOTH CURRENT 0x04 Current ramp-up/down is performed smoothly during current set time, if this flag is set. Flags of secure settings Specify secure settings. Flags returned by query of secure settings. See Also secure settings t::flags get secure settings set secure settings secure settings t::Flags, get secure settings, set secure settings • #define ALARM ON DRIVER OVERHEATING 0x01 If this flag is set enter Alarm state on driver overheat signal. • #define LOW UPWR PROTECTION 0x02 If this flag is set turn off motor when voltage is lower than LowUpwrOff. • #define H BRIDGE ALERT 0x04 If this flag is set then turn off the power unit with a signal problem in one of the transistor bridge. • #define ALARM ON BORDERS SWAP MISSET 0x08 If this flag is set enter Alarm state on borders swap misset. • #define ALARM FLAGS STICKING 0x10 If this flag is set only a STOP command can turn all alarms to 0. • #define USB BREAK RECONNECT 0x20 If this flag is set USB brake reconnect module will be enable. Position setting flags Flags used in setting of position. See Also get position set position set position t::PosFlags, set position • #define SETPOS IGNORE POSITION 0x01 Will not reload position in steps/microsteps if this flag is set. • #define SETPOS IGNORE ENCODER 0x02 Will not reload encoder state if this flag is set. Feedback type. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 70 5.1 ximc.h File Reference 71 See Also set feedback settings get feedback settings feedback settings t::FeedbackType, get feedback settings, set feedback settings • #define FEEDBACK ENCODER 0x01 Feedback by encoder. • #define FEEDBACK ENCODERHALL 0x03 Feedback by Hall detector. • #define FEEDBACK EMF 0x04 Feedback by EMF. • #define FEEDBACK NONE 0x05 Feedback is absent. Describes feedback flags. See Also set feedback settings get feedback settings feedback settings t::FeedbackFlags, get feedback settings, set feedback settings • #define FEEDBACK ENC REVERSE 0x01 Reverse count of encoder. • #define FEEDBACK HALL REVERSE 0x02 Reverce count position on the Hall sensor. Flags for synchronization input setup See Also sync settings t::syncin flags get sync settings set sync settings sync in settings t::SyncInFlags, get sync in settings, set sync in settings • #define SYNCIN ENABLED 0x01 Synchronization in mode is enabled, if this flag is set. • #define SYNCIN INVERT 0x02 Trigger on falling edge if flag is set, on rising edge otherwise. • #define SYNCIN GOTOPOSITION 0x04 The engine is go to position specified in Position and uPosition, if this flag is set. Flags of synchronization output See Also sync settings t::syncout flags get sync settings set sync settings sync out settings t::SyncOutFlags, get sync out settings, set sync out settings • #define SYNCOUT ENABLED 0x01 Synchronization out pin follows the synchronization logic, if set. • #define SYNCOUT STATE 0x02 When output state is fixed by negative SYNCOUT ENABLED flag, the pin state is in accordance with this flag state. • #define SYNCOUT INVERT 0x04 Low level is active, if set, and high level is active otherwise. • #define SYNCOUT IN STEPS 0x08 Use motor steps/encoder pulses instead of milliseconds for output pulse generation if the flag is set. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 5.1 ximc.h File Reference • #define SYNCOUT ONSTART 0x10 Generate synchronization pulse when movement starts. • #define SYNCOUT ONSTOP 0x20 Generate synchronization pulse when movement stops. • #define SYNCOUT ONPERIOD 0x40 Generate synchronization pulse every SyncOutPeriod encoder pulses. External IO setup flags See Also extio settings t::setup flags get extio settings set extio settings extio settings t::EXTIOSetupFlags, get extio settings, set extio settings • #define EXTIO SETUP OUTPUT 0x01 EXTIO works as output if flag is set, works as input otherwise. • #define EXTIO SETUP INVERT 0x02 Interpret EXTIO states and fronts inverted if flag is set. External IO mode flags See Also extio settings t::extio mode flags get extio settings set extio settings extio settings t::EXTIOModeFlags, get extio settings, set extio settings • #define EXTIO SETUP MODE IN NOP 0x00 Do nothing. • #define EXTIO SETUP MODE IN STOP 0x01 Issue STOP command, ceasing the engine movement. • #define EXTIO SETUP MODE IN PWOF 0x02 Issue PWOF command, powering off all engine windings. • #define EXTIO SETUP MODE IN MOVR 0x03 Issue MOVR command with last used settings. • #define EXTIO SETUP MODE IN HOME 0x04 Issue HOME command. • #define EXTIO SETUP MODE OUT OFF 0x00 EXTIO pin always set in inactive state. • #define EXTIO SETUP MODE OUT ON 0x10 EXTIO pin always set in active state. • #define EXTIO SETUP MODE OUT MOVING 0x20 EXTIO pin stays active during moving state. • #define EXTIO SETUP MODE OUT ALARM 0x30 EXTIO pin stays active during Alarm state. • #define EXTIO SETUP MODE OUT MOTOR ON 0x40 EXTIO pin stays active when windings are powered. • #define EXTIO SETUP MODE OUT MOTOR FOUND 0x50 EXTIO pin stays active when motor is connected (first winding). Border flags Specify types of borders and motor behaviour on borders. May be combined with bitwise OR. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 72 5.1 ximc.h File Reference 73 See Also get edges settings set edges settings edges settings t::BorderFlags, get edges settings, set edges settings • #define BORDER IS ENCODER 0x01 Borders are fixed by predetermined encoder values, if set; borders position on limit switches, if not set. • #define BORDER STOP LEFT 0x02 Motor should stop on left border. • #define BORDER STOP RIGHT 0x04 Motor should stop on right border. • #define BORDERS SWAP MISSET DETECTION 0x08 Motor should stop on both borders. Limit switches flags Specify electrical behaviour of limit switches like order and pulled positions. May be combined with bitwise OR. See Also get edges settings set edges settings edges settings t::EnderFlags, get edges settings, set edges settings • #define ENDER SWAP 0x01 First limit switch on the right side, if set; otherwise on the left side. • #define ENDER SW1 ACTIVE LOW 0x02 1 - Limit switch connnected to pin SW1 is triggered by a low level on pin. • #define ENDER SW2 ACTIVE LOW 0x04 1 - Limit switch connnected to pin SW2 is triggered by a low level on pin. Brake settings flags Specify behaviour of brake. May be combined with bitwise OR. See Also get brake settings set brake settings brake settings t::BrakeFlags, get brake settings, set brake settings • #define BRAKE ENABLED 0x01 Brake control is enabled, if this flag is set. • #define BRAKE ENG PWROFF 0x02 Brake turns off power of step motor, if this flag is set. Control flags Specify motor control settings by joystick or buttons. May be combined with bitwise OR. See Also get control settings set control settings control settings t::Flags, get control settings, set control settings • #define CONTROL MODE BITS 0x03 Bits to control engine by joystick or buttons. • #define CONTROL MODE OFF 0x00 Control is disabled. • #define CONTROL MODE JOY 0x01 Control by joystick. • #define CONTROL MODE LR 0x02 Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 5.1 ximc.h File Reference Control by left/right buttons. • #define CONTROL BTN LEFT PUSHED OPEN 0x04 Pushed left button corresponds to open contact, if this flag is set. • #define CONTROL BTN RIGHT PUSHED OPEN 0x08 Pushed right button corresponds to open contact, if this flag is set. Joystick flags Control joystick states. See Also set joystick settings get joystick settings joystick settings t::JoyFlags, get joystick settings, set joystick settings • #define JOY REVERSE 0x01 Joystick action is reversed. Position control flags Specify settings of position control. May be combined with bitwise OR. See Also get ctp settings set ctp settings ctp settings t::CTPFlags, get ctp settings, set ctp settings • #define CTP ENABLED 0x01 Position control is enabled, if flag set. • #define CTP BASE 0x02 Position control is based on revolution sensor, if this flag is set; otherwise it is based on encoder. • #define CTP ALARM ON ERROR 0x04 Set ALARM on mismatch, if flag set. • #define REV SENS INV 0x08 Sensor is active when it 0 and invert makes active level 1. Home settings flags Specify behaviour for home command. May be combined with bitwise OR. See Also get home setting s set home settings command home home settings t::HomeFlags, get home settings, set home settings • #define HOME DIR FIRST 0x01 Flag defines direction of 1st motion after execution of home command. • #define HOME DIR SECOND 0x02 Flag defines direction of 2nd motion. • #define HOME MV SEC EN 0x04 Use the second phase of calibration to the home position, if set; otherwise the second phase is skipped. • #define HOME HALF MV 0x08 If the flag is set, the stop signals are ignored in start of second movement the first half-turn. • #define HOME STOP FIRST BITS 0x30 Bits of the first stop selector. • #define HOME STOP FIRST REV 0x10 First motion stops by revolution sensor. • #define HOME STOP FIRST SYN 0x20 First motion stops by synchronization input. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 74 5.1 ximc.h File Reference • #define HOME STOP FIRST LIM 0x30 First motion stops by limit switch. • #define HOME STOP SECOND BITS 0xC0 Bits of the second stop selector. • #define HOME STOP SECOND REV 0x40 Second motion stops by revolution sensor. • #define HOME STOP SECOND SYN 0x80 Second motion stops by synchronization input. • #define HOME STOP SECOND LIM 0xC0 Second motion stops by limit switch. UART parity flags See Also uart settings t::UARTSetupFlags, get uart settings, set uart settings • #define UART PARITY BITS 0x03 Bits of the parity. • #define UART PARITY BIT EVEN 0x00 Parity bit 1, if even. • #define UART PARITY BIT ODD 0x01 Parity bit 1, if odd. • #define UART PARITY BIT SPACE 0x02 Parity bit always 0. • #define UART PARITY BIT MARK 0x03 Parity bit always 1. • #define UART PARITY BIT USE 0x04 None parity. • #define UART STOP BIT 0x08 If set - one stop bit, else two stop bit. Motor Type flags See Also motor settings t::MotorType, get motor settings, set motor settings • #define MOTOR TYPE STEP 0x01 Step engine. • #define MOTOR TYPE DC 0x02 DC engine. • #define MOTOR TYPE BLDC 0x03 BLDC engine. Encoder settings flags See Also encoder settings t::EncoderSettings, get encoder settings, set encoder settings • #define ENCSET DIFFERENTIAL OUTPUT 0x001 If flag is set the encoder has differential output, else single ended output. • #define ENCSET PUSHPULL OUTPUT 0x004 If flag is set the encoder has push-pull output, else open drain output. • #define ENCSET INDEXCHANNEL PRESENT 0x010 If flag is set the encoder has index channel, else encoder hasn‘t it. • #define ENCSET REVOLUTIONSENSOR PRESENT 0x040 If flag is set the encoder has revolution sensor, else encoder hasn‘t it. • #define ENCSET REVOLUTIONSENSOR ACTIVE HIGH 0x100 If flag is set the revolution sensor active state is high logic state, else active state is low logic state. Magnetic brake settings flags Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 75 5.1 ximc.h File Reference See Also accessories settings t::MBSettings, get accessories settings, set accessories settings • #define MB AVAILABLE 0x01 If flag is set the magnetic brake is available. • #define MB POWERED HOLD 0x02 If this flag is set the magnetic brake is on when powered. Temperature sensor settings flags See Also accessories settings t::LimitSwitchesSettings, get accessories settings, set accessories settings • #define TS TYPE BITS 0x07 Bits of the temperature sensor type. • #define TS TYPE THERMOCOUPLE 0x01 Thermocouple. • #define TS TYPE SEMICONDUCTOR 0x02 The semiconductor temperature sensor. • #define TS AVAILABLE 0x08 If flag is set the temperature sensor is available. • #define LS ON SW1 AVAILABLE 0x01 If flag is set the limit switch connnected to pin SW1 is available. • #define LS ON SW2 AVAILABLE 0x02 If flag is set the limit switch connnected to pin SW2 is available. • #define LS SW1 ACTIVE LOW 0x04 If flag is set the limit switch connnected to pin SW1 is triggered by a low level on pin. • #define LS SW2 ACTIVE LOW 0x08 If flag is set the limit switch connnected to pin SW2 is triggered by a low level on pin. • #define LS SHORTED 0x10 If flag is set the Limit switches is shorted. Typedefs • typedef unsigned long long ulong t • typedef long long long t • typedef int device t Type describes device identifier. • typedef int result t Type specifies result of any operation. • typedef uint32 t device enumeration t Type describes device enumeration structure. • typedef struct calibration t calibration t Calibration companion structure. Functions Controller settings setup Functions for adjusting engine read/write almost all controller settings. • result t XIMC API set feedback settings (device t id, const feedback settings t ∗feedback settings) Set feedback settings. • result t XIMC API get feedback settings (device t id, feedback settings t ∗feedback settings) Read feedback settings. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 76 5.1 ximc.h File Reference 77 • result t XIMC API set home settings (device t id, const home settings t ∗home settings) Set home settings. • result t XIMC API set home settings calb (device t id, const home settings calb t ∗home settings calb, const calibration t ∗calibration) • result t XIMC API get home settings (device t id, home settings t ∗home settings) Read home settings. • result t XIMC API get home settings calb (device t id, home settings calb t ∗home settings calb, const calibration t ∗calibration) • result t XIMC API set move settings (device t id, const move settings t ∗move settings) Set command setup movement (speed, acceleration, threshold and etc). • result t XIMC API set move settings calb (device t id, const move settings calb t ∗move settings calb, const calibration t ∗calibration) • result t XIMC API get move settings (device t id, move settings t ∗move settings) Read command setup movement (speed, acceleration, threshold and etc). • result t XIMC API get move settings calb (device t id, move settings calb t ∗move settings calb, const calibration t ∗calibration) • result t XIMC API set engine settings (device t id, const engine settings t ∗engine settings) Set engine settings. • result t XIMC API set engine settings calb (device t id, const engine settings calb t ∗engine settings calb, const calibration t ∗calibration) • result t XIMC API get engine settings (device t id, engine settings t ∗engine settings) Read engine settings. • result t XIMC API get engine settings calb (device t id, engine settings calb t ∗engine settings calb, const calibration t ∗calibration) • result t XIMC API set entype settings (device t id, const entype settings t ∗entype settings) Set engine type and driver type. • result t XIMC API get entype settings (device t id, entype settings t ∗entype settings) Return engine type and driver type. • result t XIMC API set power settings (device t id, const power settings t ∗power settings) Set settings of step motor power control. • result t XIMC API get power settings (device t id, power settings t ∗power settings) Read settings of step motor power control. • result t XIMC API set secure settings (device t id, const secure settings t ∗secure settings) Set protection settings. • result t XIMC API get secure settings (device t id, secure settings t ∗secure settings) Read protection settings. • result t XIMC API set edges settings (device t id, const edges settings t ∗edges settings) Set border and limit switches settings. • result t XIMC API set edges settings calb (device t id, const edges settings calb t ∗edges settings calb, const calibration t ∗calibration) • result t XIMC API get edges settings (device t id, edges settings t ∗edges settings) Read border and limit switches settings. • result t XIMC API get edges settings calb (device t id, edges settings calb t ∗edges settings calb, const calibration t ∗calibration) • result t XIMC API set pid settings (device t id, const pid settings t ∗pid settings) Set PID settings. • result t XIMC API get pid settings (device t id, pid settings t ∗pid settings) Read PID settings. • result t XIMC API set sync in settings (device t id, const sync in settings t ∗sync in settings) Set input synchronization settings. • result t XIMC API set sync in settings calb (device t id, const sync in settings calb t ∗sync in settingscalb, const calibration t ∗calibration) • result t XIMC API get sync in settings (device t id, sync in settings t ∗sync in settings) Read input synchronization settings. • result t XIMC API get sync in settings calb (device t id, sync in settings calb t ∗sync in settings calb, const calibration t ∗calibration) • result t XIMC API set sync out settings (device t id, const sync out settings t ∗sync out settings) Set output synchronization settings. • result t XIMC API set sync out settings calb (device t id, const sync out settings calb t ∗sync out settings calb, const calibration t ∗calibration) Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 5.1 ximc.h File Reference 78 • result t XIMC API get sync out settings (device t id, sync out settings t ∗sync out settings) Read output synchronization settings. • result t XIMC API get sync out settings calb (device t id, sync out settings calb t ∗sync out settings calb, const calibration t ∗calibration) • result t XIMC API set extio settings (device t id, const extio settings t ∗extio settings) Set EXTIO settings. • result t XIMC API get extio settings (device t id, extio settings t ∗extio settings) Read EXTIO settings. • result t XIMC API set brake settings (device t id, const brake settings t ∗brake settings) Set settings of brake control. • result t XIMC API get brake settings (device t id, brake settings t ∗brake settings) Read settings of brake control. • result t XIMC API set control settings (device t id, const control settings t ∗control settings) Set settings of motor control. • result t XIMC API set control settings calb (device t id, const control settings calb t ∗control settings calb, const calibration t ∗calibration) • result t XIMC API get control settings (device t id, control settings t ∗control settings) Read settings of motor control. • result t XIMC API get control settings calb (device t id, control settings calb t ∗control settings calb, const calibration t ∗calibration) • result t XIMC API set joystick settings (device t id, const joystick settings t ∗joystick settings) Set settings of joystick. • result t XIMC API get joystick settings (device t id, joystick settings t ∗joystick settings) Read settings of joystick. • result t XIMC API set ctp settings (device t id, const ctp settings t ∗ctp settings) Set settings of control position(is only used with stepper motor). • result t XIMC API get ctp settings (device t id, ctp settings t ∗ctp settings) Read settings of control position(is only used with stepper motor). • result t XIMC API set uart settings (device t id, const uart settings t ∗uart settings) Set UART settings. • result t XIMC API get uart settings (device t id, uart settings t ∗uart settings) Read UART settings. • result t XIMC API set controller name (device t id, const controller name t ∗controller name) Write user controller name and flags of setting from FRAM. • result t XIMC API get controller name (device t id, controller name t ∗controller name) Read user controller name and flags of setting from FRAM. Group of commands movement control • result t XIMC API command stop (device t id) Immediately stop the engine, the transition to the STOP, mode key BREAK (winding short-circuited), the regime ”retention” is deactivated for DC motors, keeping current in the windings for stepper motors (with Power management settings). • result t XIMC API set add sync in action (device t id, const add sync in action t ∗add sync in action) This command adds one element of the FIFO commands that are executed when input clock pulse. • result t XIMC API set add sync in action calb (device t id, const add sync in action calb t ∗add sync in action calb, const calibration t ∗calibration) • result t XIMC API command power off (device t id) Immediately power off motor regardless its state. • result t XIMC API command move (device t id, int Position, int uPosition) Upon receiving the command ”move” the engine starts to move with pre-set parameters (speed, acceleration, retention), to the point specified to the Position, uPosition. • result t XIMC API command move calb (device t id, float Position, const calibration t ∗calibration) • result t XIMC API command movr (device t id, int DeltaPosition, int uDeltaPosition) Upon receiving the command ”movr” engine starts to move with pre-set parameters (speed, acceleration, hold), left or right (depending on the sign of DeltaPosition) by the number of pulses specified in the fields DeltaPosition, uDeltaPosition. • result t XIMC API command movr calb (device t id, float DeltaPosition, const calibration t ∗calibration) • result t XIMC API command home (device t id) The positive direction is to the right. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 5.1 ximc.h File Reference 79 • result t XIMC API command left (device t id) Start continous moving to the left. • result t XIMC API command right (device t id) Start continous moving to the right. • result t XIMC API command loft (device t id) Upon receiving the command ”loft” the engine is shifted from the current point to a distance GENG :: Antiplay, then move to the same point. • result t XIMC API command sstp (device t id) soft stop engine. • result t XIMC API get position (device t id, get position t ∗the get position) Reads the value position in steps and micro for stepper motor and encoder steps all engines. • result t XIMC API get position calb (device t id, get position calb t ∗the get position calb, const calibration t ∗calibration) • result t XIMC API set position (device t id, const set position t ∗the set position) Sets any position value in steps and micro for stepper motor and encoder steps of all engines. • result t XIMC API set position calb (device t id, const set position calb t ∗the set position calb, const calibration t ∗calibration) • result t XIMC API command zero (device t id) Sets the current position and the position in which the traffic moves by the move command and movr zero for all cases, except for movement to the target position. Group of commands to save and load settings • result t XIMC API command save settings (device t id) Save all settings from controller’s RAM to controller’s flash memory, replacing previous data in controller’s flash memory. • result t XIMC API command read settings (device t id) Read all settings from controller’s flash memory to controller’s RAM, replacing previous data in controller’s RAM. • result t XIMC API command eesave settings (device t id) Save settings from controller’s RAM to stage’s EEPROM memory, whitch spontaneity connected to stage and it isn‘t change without it mechanical reconstruction. • result t XIMC API command eeread settings (device t id) Read settings from controller’s RAM to stage’s EEPROM memory, whitch spontaneity connected to stage and it isn‘t change without it mechanical reconstruction. • result t XIMC API get chart data (device t id, chart data t ∗chart data) Return device electrical parameters, useful for charts. • result t XIMC API get serial number (device t id, unsigned int ∗SerialNumber) Read device serial number. • result t XIMC API get firmware version (device t id, unsigned int ∗Major, unsigned int ∗Minor, unsigned int ∗Release) Read controller’s firmware version. • result t XIMC API service command updf (device t id) Command puts the controller to update the firmware. Service commands • result t XIMC API set serial number (device t id, const serial number t ∗serial number) Write device serial number to controller’s flash memory. • result t XIMC API get analog data (device t id, analog data t ∗analog data) Read analog data structure that contains raw analog data from ADC embedded on board. • result t XIMC API get debug read (device t id, debug read t ∗debug read) Read data from firmware for debug purpose. Group of commands to work with EEPROM • result t XIMC API set stage name (device t id, const stage name t ∗stage name) Write user stage name from EEPROM. • result t XIMC API get stage name (device t id, stage name t ∗stage name) Read user stage name from EEPROM. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 5.1 ximc.h File Reference 80 • result t XIMC API set stage information (device t id, const stage information t ∗stage information) Set stage information to EEPROM. • result t XIMC API get stage information (device t id, stage information t ∗stage information) Read stage information from EEPROM. • result t XIMC API set stage settings (device t id, const stage settings t ∗stage settings) Set stage settings to EEPROM. • result t XIMC API get stage settings (device t id, stage settings t ∗stage settings) Read stage settings from EEPROM. • result t XIMC API set motor information (device t id, const motor information t ∗motor information) Set motor information to EEPROM. • result t XIMC API get motor information (device t id, motor information t ∗motor information) Read motor information from EEPROM. • result t XIMC API set motor settings (device t id, const motor settings t ∗motor settings) Set motor settings to EEPROM. • result t XIMC API get motor settings (device t id, motor settings t ∗motor settings) Read motor settings from EEPROM. • result t XIMC API set encoder information (device t id, information) const encoder information t ∗encoder - Set encoder information to EEPROM. • result t XIMC API get encoder information (device t id, encoder information t ∗encoder information) Read encoder information from EEPROM. • result t XIMC API set encoder settings (device t id, const encoder settings t ∗encoder settings) Set encoder settings to EEPROM. • result t XIMC API get encoder settings (device t id, encoder settings t ∗encoder settings) Read encoder settings from EEPROM. • result t XIMC API set hallsensor information (device t id, const hallsensor information t ∗hallsensor information) Set hall sensor information to EEPROM. • result t XIMC API information) get hallsensor information (device t id, hallsensor information t ∗hallsensor - Read hall sensor information from EEPROM. • result t XIMC API set hallsensor settings (device t id, const hallsensor settings t ∗hallsensor settings) Set hall sensor settings to EEPROM. • result t XIMC API get hallsensor settings (device t id, hallsensor settings t ∗hallsensor settings) Read hall sensor settings from EEPROM. • result t XIMC API set gear information (device t id, const gear information t ∗gear information) Set gear information to EEPROM. • result t XIMC API get gear information (device t id, gear information t ∗gear information) Read gear information from EEPROM. • result t XIMC API set gear settings (device t id, const gear settings t ∗gear settings) Set gear settings to EEPROM. • result t XIMC API get gear settings (device t id, gear settings t ∗gear settings) Read gear settings from EEPROM. • result t XIMC API set accessories settings (device t id, const accessories settings t ∗accessories settings) Set additional accessories information to EEPROM. • result t XIMC API get accessories settings (device t id, accessories settings t ∗accessories settings) Read additional accessories information from EEPROM. • result t XIMC API get bootloader version (device t id, unsigned int ∗Major, unsigned int ∗Minor, unsigned int ∗Release) Read controller’s firmware version. • result t XIMC API goto firmware (device t id, uint8 t ∗ret) Reboot to firmware. • result t XIMC API has firmware (const char ∗name, uint8 t ∗ret) Check for firmware on device. • result t XIMC API command update firmware (const char ∗name, const uint8 t ∗data, uint32 t data size) Update firmware. • result t XIMC API write key (const char ∗name, uint8 t ∗key) Write controller key. • result t XIMC API command reset (device t id) Reset controller. • result t XIMC API command clear fram (device t id) Clear controller FRAM. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 5.1 ximc.h File Reference 81 Boards and drivers control Functions for searching and opening/closing devices • typedef char ∗ pchar Nevermind. • typedef void(XIMC CALLCONV ∗ logging callback t )(int loglevel, const wchar t ∗message) Logging callback prototype. • device t XIMC API open device (const char ∗name) Open a device with OS name name and return identifier of the device which can be used in calls. • result t XIMC API close device (device t ∗id) Close specified device. • result t XIMC API probe device (const char ∗name) Check if a device with OS name name is XIMC device. • device enumeration t XIMC API enumerate devices (int probe flags) Enumerate all devices that looks like valid. • result t XIMC API free enumerate devices (device enumeration t device enumeration) Free memory returned by enumerate devices. • int XIMC API get device count (device enumeration t device enumeration) Get device count. • pchar XIMC API get device name (device enumeration t device enumeration, int device index) Get device name from the device enumeration. • result t XIMC API get enumerate device serial (device enumeration t device enumeration, int device index, uint32 t ∗serial) Get device serial number from the device enumeration. • result t XIMC API get enumerate device information (device enumeration t device enumeration, int device index, device information t ∗device information) Get device information from the device enumeration. • result t XIMC API reset locks () Reset library locks in a case of deadlock. • result t XIMC API ximc fix usbser sys (const char ∗device name) Fix for errors in Windows USB driver stack. • void XIMC API msec sleep (unsigned int msec) Sleeps for a specified amount of time. • void XIMC API ximc version (char ∗version) Returns a library version. • void XIMC API logging callback stderr wide (int loglevel, const wchar t ∗message) Simple callback for logging to stderr in wide chars. • void XIMC API logging callback stderr narrow (int loglevel, const wchar t ∗message) Simple callback for logging to stderr in narrow (single byte) chars. • void XIMC API set logging callback (logging callback t logging callback) Sets a logging callback. • result t XIMC API get status (device t id, status t ∗status) Return device state. • result t XIMC API get status calb (device t id, status calb t ∗status, const calibration t ∗calibration) Calibrated device state. • result t XIMC API get device information (device t id, device information t ∗device information) Return device information. 5.1.1 Detailed Description Header file for libximc library. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 5.1 ximc.h File Reference 5.1.2 Macro Definition Documentation 5.1.2.1 #define ALARM ON DRIVER OVERHEATING 0x01 If this flag is set enter Alarm state on driver overheat signal. 5.1.2.2 #define BORDER IS ENCODER 0x01 Borders are fixed by predetermined encoder values, if set; borders position on limit switches, if not set. 5.1.2.3 #define BORDER STOP LEFT 0x02 Motor should stop on left border. 5.1.2.4 #define BORDER STOP RIGHT 0x04 Motor should stop on right border. 5.1.2.5 #define BORDERS SWAP MISSET DETECTION 0x08 Motor should stop on both borders. Need to save motor then wrong border settings is set 5.1.2.6 #define BRAKE ENABLED 0x01 Brake control is enabled, if this flag is set. 5.1.2.7 #define BRAKE ENG PWROFF 0x02 Brake turns off power of step motor, if this flag is set. 5.1.2.8 #define CONTROL BTN LEFT PUSHED OPEN 0x04 Pushed left button corresponds to open contact, if this flag is set. 5.1.2.9 #define CONTROL BTN RIGHT PUSHED OPEN 0x08 Pushed right button corresponds to open contact, if this flag is set. 5.1.2.10 #define CONTROL MODE BITS 0x03 Bits to control engine by joystick or buttons. 5.1.2.11 #define CONTROL MODE JOY 0x01 Control by joystick. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 82 5.1 ximc.h File Reference 5.1.2.12 #define CONTROL MODE LR 0x02 Control by left/right buttons. 5.1.2.13 #define CONTROL MODE OFF 0x00 Control is disabled. 5.1.2.14 #define CTP ALARM ON ERROR 0x04 Set ALARM on mismatch, if flag set. 5.1.2.15 #define CTP BASE 0x02 Position control is based on revolution sensor, if this flag is set; otherwise it is based on encoder. 5.1.2.16 #define CTP ENABLED 0x01 Position control is enabled, if flag set. 5.1.2.17 #define DRIVER TYPE DISCRETE FET 0x01 Driver with discrete FET keys. Default option. 5.1.2.18 #define DRIVER TYPE EXTERNAL 0x03 External driver. 5.1.2.19 #define DRIVER TYPE INTEGRATE 0x02 Driver with integrated IC. 5.1.2.20 #define EEPROM PRECEDENCE 0x01 If the flag is set settings from external EEPROM override controller settings. 5.1.2.21 #define ENC STATE ABSENT 0x00 Encoder is absent. 5.1.2.22 #define ENC STATE MALFUNC 0x02 Encoder is connected and malfunctioning. 5.1.2.23 #define ENC STATE OK 0x04 Encoder is connected and working properly. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 83 5.1 ximc.h File Reference 5.1.2.24 84 #define ENC STATE REVERS 0x03 Encoder is connected and operational but counts in otyher direction. 5.1.2.25 #define ENC STATE UNKNOWN 0x01 Encoder state is unknown. 5.1.2.26 #define ENDER SW1 ACTIVE LOW 0x02 1 - Limit switch connnected to pin SW1 is triggered by a low level on pin. 5.1.2.27 #define ENDER SW2 ACTIVE LOW 0x04 1 - Limit switch connnected to pin SW2 is triggered by a low level on pin. 5.1.2.28 #define ENDER SWAP 0x01 First limit switch on the right side, if set; otherwise on the left side. 5.1.2.29 #define ENGINE ACCEL ON 0x10 Acceleration enable flag. If it set, motion begins with acceleration and ends with deceleration. 5.1.2.30 #define ENGINE ANTIPLAY 0x08 Play compensation flag. If it set, engine makes backlash (play) compensation procedure and reach the predetermined position accurately on low speed. 5.1.2.31 #define ENGINE LIMIT CURR 0x40 Maxumum motor current limit enable flag(is only used with DC motor). 5.1.2.32 #define ENGINE LIMIT RPM 0x80 Maxumum motor speed limit enable flag. 5.1.2.33 #define ENGINE LIMIT VOLT 0x20 Maxumum motor voltage limit enable flag(is only used with DC motor). 5.1.2.34 #define ENGINE MAX SPEED 0x04 Max speed flag. If it is set, engine uses maxumum speed achievable with the present engine settings as nominal speed. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 5.1 ximc.h File Reference 5.1.2.35 85 #define ENGINE REVERSE 0x01 Reverse flag. It determines motor shaft rotation direction that corresponds to feedback counts increasing. If not set (default), motor shaft rotation direction under positive voltage corresponds to feedback counts increasing and vice versa. Change it if you see that positive directions on motor and feedback are opposite. 5.1.2.36 #define ENGINE TYPE 2DC 0x02 2 DC motors. 5.1.2.37 #define ENGINE TYPE BRUSHLESS 0x05 Brushless motor. 5.1.2.38 #define ENGINE TYPE DC 0x01 DC motor. 5.1.2.39 #define ENGINE TYPE NONE 0x00 A value that shouldn’t be used. 5.1.2.40 #define ENGINE TYPE STEP 0x03 Step motor. 5.1.2.41 #define ENGINE TYPE TEST 0x04 Duty cycle are fixed. Used only manufacturer. 5.1.2.42 #define ENUMERATE PROBE 0x01 Check if a device with OS name name is XIMC device. Be carefuly with this flag because it sends some data to the device. 5.1.2.43 #define EXTIO SETUP INVERT 0x02 Interpret EXTIO states and fronts inverted if flag is set. Falling front as input event and low logic level as active state. 5.1.2.44 #define EXTIO SETUP MODE IN HOME 0x04 Issue HOME command. 5.1.2.45 #define EXTIO SETUP MODE IN MOVR 0x03 Issue MOVR command with last used settings. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 5.1 ximc.h File Reference 5.1.2.46 #define EXTIO SETUP MODE IN NOP 0x00 Do nothing. 5.1.2.47 #define EXTIO SETUP MODE IN PWOF 0x02 Issue PWOF command, powering off all engine windings. 5.1.2.48 #define EXTIO SETUP MODE IN STOP 0x01 Issue STOP command, ceasing the engine movement. 5.1.2.49 #define EXTIO SETUP MODE OUT ALARM 0x30 EXTIO pin stays active during Alarm state. 5.1.2.50 #define EXTIO SETUP MODE OUT MOTOR FOUND 0x50 EXTIO pin stays active when motor is connected (first winding). 5.1.2.51 #define EXTIO SETUP MODE OUT MOTOR ON 0x40 EXTIO pin stays active when windings are powered. 5.1.2.52 #define EXTIO SETUP MODE OUT MOVING 0x20 EXTIO pin stays active during moving state. 5.1.2.53 #define EXTIO SETUP MODE OUT OFF 0x00 EXTIO pin always set in inactive state. 5.1.2.54 #define EXTIO SETUP MODE OUT ON 0x10 EXTIO pin always set in active state. 5.1.2.55 #define EXTIO SETUP OUTPUT 0x01 EXTIO works as output if flag is set, works as input otherwise. 5.1.2.56 #define FEEDBACK EMF 0x04 Feedback by EMF. 5.1.2.57 #define FEEDBACK ENC REVERSE 0x01 Reverse count of encoder. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 86 5.1 ximc.h File Reference 5.1.2.58 #define FEEDBACK ENCODER 0x01 Feedback by encoder. 5.1.2.59 #define FEEDBACK ENCODERHALL 0x03 Feedback by Hall detector. 5.1.2.60 #define FEEDBACK HALL REVERSE 0x02 Reverce count position on the Hall sensor. 5.1.2.61 #define FEEDBACK NONE 0x05 Feedback is absent. 5.1.2.62 #define H BRIDGE ALERT 0x04 If this flag is set then turn off the power unit with a signal problem in one of the transistor bridge. 5.1.2.63 #define HOME DIR FIRST 0x01 Flag defines direction of 1st motion after execution of home command. Direction is right, if set; otherwise left. 5.1.2.64 #define HOME DIR SECOND 0x02 Flag defines direction of 2nd motion. Direction is right, if set; otherwise left. 5.1.2.65 #define HOME HALF MV 0x08 If the flag is set, the stop signals are ignored in start of second movement the first half-turn. 5.1.2.66 #define HOME MV SEC EN 0x04 Use the second phase of calibration to the home position, if set; otherwise the second phase is skipped. 5.1.2.67 #define HOME STOP FIRST BITS 0x30 Bits of the first stop selector. 5.1.2.68 #define HOME STOP FIRST LIM 0x30 First motion stops by limit switch. 5.1.2.69 #define HOME STOP FIRST REV 0x10 First motion stops by revolution sensor. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 87 5.1 ximc.h File Reference 5.1.2.70 #define HOME STOP FIRST SYN 0x20 First motion stops by synchronization input. 5.1.2.71 #define HOME STOP SECOND BITS 0xC0 Bits of the second stop selector. 5.1.2.72 #define HOME STOP SECOND LIM 0xC0 Second motion stops by limit switch. 5.1.2.73 #define HOME STOP SECOND REV 0x40 Second motion stops by revolution sensor. 5.1.2.74 #define HOME STOP SECOND SYN 0x80 Second motion stops by synchronization input. 5.1.2.75 #define JOY REVERSE 0x01 Joystick action is reversed. Joystick deviation to the upper values correspond to negative speeds and vice versa. 5.1.2.76 #define LOW UPWR PROTECTION 0x02 If this flag is set turn off motor when voltage is lower than LowUpwrOff. 5.1.2.77 #define MICROSTEP MODE FRAC 128 0x08 1/128 step mode. 5.1.2.78 #define MICROSTEP MODE FRAC 16 0x05 1/16 step mode. 5.1.2.79 #define MICROSTEP MODE FRAC 2 0x02 1/2 step mode. 5.1.2.80 #define MICROSTEP MODE FRAC 256 0x09 1/256 step mode. 5.1.2.81 #define MICROSTEP MODE FRAC 32 0x06 1/32 step mode. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 88 5.1 ximc.h File Reference 5.1.2.82 #define MICROSTEP MODE FRAC 4 0x03 1/4 step mode. 5.1.2.83 #define MICROSTEP MODE FRAC 64 0x07 1/64 step mode. 5.1.2.84 #define MICROSTEP MODE FRAC 8 0x04 1/8 step mode. 5.1.2.85 #define MICROSTEP MODE FULL 0x01 Full step mode. 5.1.2.86 #define MOVE STATE ANTIPLAY 0x04 Motor is playing compensation, if flag set. 5.1.2.87 #define MOVE STATE MOVING 0x01 This flag indicates that controller is trying to move the motor. 5.1.2.88 #define MOVE STATE TARGET SPEED 0x02 Target speed is reached, if flag set. 5.1.2.89 #define MVCMD ERROR 0x40 Finish state (1 - move command have finished with an error, 0 - move command have finished correctly). This flags is actual when MVCMD RUNNING signals movement finish. 5.1.2.90 #define MVCMD HOME 0x06 Command home. 5.1.2.91 #define MVCMD LEFT 0x03 Command left. 5.1.2.92 #define MVCMD LOFT 0x07 Command loft. 5.1.2.93 #define MVCMD MOVE 0x01 Command move. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 89 5.1 ximc.h File Reference 5.1.2.94 #define MVCMD MOVR 0x02 Command movr. 5.1.2.95 #define MVCMD NAME BITS 0x3F Move command bit mask. 5.1.2.96 #define MVCMD RIGHT 0x04 Command rigt. 5.1.2.97 #define MVCMD RUNNING 0x80 Move command state (0 - move command have finished, 1 - move command is being executed). 5.1.2.98 #define MVCMD SSTP 0x08 Command soft stop. 5.1.2.99 #define MVCMD STOP 0x05 Command stop. 5.1.2.100 #define MVCMD UKNWN 0x00 Unknown command. 5.1.2.101 #define POWER OFF ENABLED 0x02 Power off enabled after PowerOffDelay, if this flag is set. 5.1.2.102 #define POWER REDUCT ENABLED 0x01 Current reduction enabled after CurrReductDelay, if this flag is set. 5.1.2.103 #define POWER SMOOTH CURRENT 0x04 Current ramp-up/down is performed smoothly during current set time, if this flag is set. 5.1.2.104 #define PWR STATE MAX 0x05 Motor windings are powered by maximum current driver can provide at this voltage. 5.1.2.105 #define PWR STATE NORM 0x03 Motor windings are powered by nominal current. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 90 5.1 ximc.h File Reference 5.1.2.106 #define PWR STATE OFF 0x01 Motor windings are disconnected from the driver. 5.1.2.107 #define PWR STATE REDUCT 0x04 Motor windings are powered by reduced current to lower power consumption. 5.1.2.108 #define PWR STATE UNKNOWN 0x00 Unknown state, should never happen. 5.1.2.109 #define REV SENS INV 0x08 Sensor is active when it 0 and invert makes active level 1. That is, if you do not invert, it is normal logic - 0 is the activation. 5.1.2.110 #define SETPOS IGNORE ENCODER 0x02 Will not reload encoder state if this flag is set. 5.1.2.111 #define SETPOS IGNORE POSITION 0x01 Will not reload position in steps/microsteps if this flag is set. 5.1.2.112 #define STATE ALARM 0x00040 Controller is in alarm state indicating that something dangerous had happened. Most commands are ignored in this state. To reset the flag a STOP command must be issued. 5.1.2.113 #define STATE BORDERS SWAP MISSET 0x08000 Engine stuck at the wrong edge. 5.1.2.114 #define STATE BRAKE 0x0200 State of Brake pin. 5.1.2.115 #define STATE BUTTON LEFT 0x0008 Button ”left” state (1 if pressed). 5.1.2.116 #define STATE BUTTON RIGHT 0x0004 Button ”right” state (1 if pressed). 5.1.2.117 #define STATE CONTR 0x0003F Flags of controller states. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 91 5.1 ximc.h File Reference 5.1.2.118 #define STATE CONTROLLER OVERHEAT 0x00200 Controller overheat. 5.1.2.119 #define STATE CTP ERROR 0x00080 Control position error(is only used with stepper motor). 5.1.2.120 #define STATE DIG SIGNAL 0xFFFF Flags of digital signals. 5.1.2.121 #define STATE EEPROM CONNECTED 0x00010 EEPROM with settings is connected. 5.1.2.122 #define STATE ENC A 0x2000 State of encoder A pin. 5.1.2.123 #define STATE ENC B 0x4000 State of encoder B pin. 5.1.2.124 #define STATE ERRC 0x00001 Command error encountered. 5.1.2.125 #define STATE ERRD 0x00002 Data integrity error encountered. 5.1.2.126 #define STATE ERRV 0x00004 Value error encountered. 5.1.2.127 #define STATE GPIO LEVEL 0x0020 State of external GPIO pin. 5.1.2.128 #define STATE GPIO PINOUT 0x0010 External GPIO works as Out, if flag set; otherwise works as In. 5.1.2.129 #define STATE HALL A 0x0040 State of Hall a pin. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 92 5.1 ximc.h File Reference 5.1.2.130 #define STATE HALL B 0x0080 State of Hall b pin. 5.1.2.131 #define STATE HALL C 0x0100 State of Hall c pin. 5.1.2.132 #define STATE LEFT EDGE 0x0002 Engine stuck at the left edge. 5.1.2.133 #define STATE LOW USB VOLTAGE 0x02000 USB voltage is insufficient for normal operation. 5.1.2.134 #define STATE OVERLOAD POWER CURRENT 0x00800 Power current exceeds safe limit. 5.1.2.135 #define STATE OVERLOAD POWER VOLTAGE 0x00400 Power voltage exceeds safe limit. 5.1.2.136 #define STATE OVERLOAD USB CURRENT 0x04000 USB current exceeds safe limit. 5.1.2.137 #define STATE OVERLOAD USB VOLTAGE 0x01000 USB voltage exceeds safe limit. 5.1.2.138 #define STATE POWER OVERHEAT 0x00100 Power driver overheat. 5.1.2.139 #define STATE REV SENSOR 0x0400 State of Revolution sensor pin. 5.1.2.140 #define STATE RIGHT EDGE 0x0001 Engine stuck at the right edge. 5.1.2.141 #define STATE SECUR 0x3FFC0 Flags of security. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 93 5.1 ximc.h File Reference 5.1.2.142 94 #define STATE SYNC INPUT 0x0800 State of Sync input pin. 5.1.2.143 #define STATE SYNC OUTPUT 0x1000 State of Sync output pin. 5.1.2.144 #define SYNCIN ENABLED 0x01 Synchronization in mode is enabled, if this flag is set. 5.1.2.145 #define SYNCIN GOTOPOSITION 0x04 The engine is go to position specified in Position and uPosition, if this flag is set. And it is shift on the Position and uPosition, if this flag is unset 5.1.2.146 #define SYNCIN INVERT 0x02 Trigger on falling edge if flag is set, on rising edge otherwise. 5.1.2.147 #define SYNCOUT ENABLED 0x01 Synchronization out pin follows the synchronization logic, if set. It governed by SYNCOUT STATE flag otherwise. 5.1.2.148 #define SYNCOUT IN STEPS 0x08 Use motor steps/encoder pulses instead of milliseconds for output pulse generation if the flag is set. 5.1.2.149 #define SYNCOUT INVERT 0x04 Low level is active, if set, and high level is active otherwise. 5.1.2.150 #define SYNCOUT ONPERIOD 0x40 Generate synchronization pulse every SyncOutPeriod encoder pulses. 5.1.2.151 #define SYNCOUT ONSTART 0x10 Generate synchronization pulse when movement starts. 5.1.2.152 #define SYNCOUT ONSTOP 0x20 Generate synchronization pulse when movement stops. 5.1.2.153 #define SYNCOUT STATE 0x02 When output state is fixed by negative SYNCOUT ENABLED flag, the pin state is in accordance with this flag state. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 5.1 ximc.h File Reference 5.1.2.154 #define UART PARITY BITS 0x03 Bits of the parity. 5.1.2.155 #define WIND A STATE ABSENT 0x00 Winding A is disconnected. 5.1.2.156 #define WIND A STATE MALFUNC 0x02 Winding A is short-circuited. 5.1.2.157 #define WIND A STATE OK 0x03 Winding A is connected and working properly. 5.1.2.158 #define WIND A STATE UNKNOWN 0x01 Winding A state is unknown. 5.1.2.159 #define WIND B STATE ABSENT 0x00 Winding B is disconnected. 5.1.2.160 #define WIND B STATE MALFUNC 0x20 Winding B is short-circuited. 5.1.2.161 #define WIND B STATE OK 0x30 Winding B is connected and working properly. 5.1.2.162 #define WIND B STATE UNKNOWN 0x10 Winding B state is unknown. 5.1.2.163 #define XIMC API Library import macro Macros allows to automatically import function from shared library. It automatically expands to dllimport on msvc when including header file 5.1.3 Typedef Documentation 5.1.3.1 typedef void(XIMC CALLCONV ∗ logging callback t)(int loglevel, const wchar t ∗message) Logging callback prototype. Parameters loglevel message a loglevel a message Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 95 5.1 ximc.h File Reference 96 5.1.4 Function Documentation 5.1.4.1 result t XIMC API close device ( device t ∗ id ) Close specified device. Parameters id an identifier of device 5.1.4.2 result t XIMC API command clear fram ( device t id ) Clear controller FRAM. Can be used by manufacturer only Parameters id an identifier of device 5.1.4.3 result t XIMC API command eeread settings ( device t id ) Read settings from controller’s RAM to stage’s EEPROM memory, whitch spontaneity connected to stage and it isn‘t change without it mechanical reconstruction. Parameters id an identifier of device 5.1.4.4 result t XIMC API command eesave settings ( device t id ) Save settings from controller’s RAM to stage’s EEPROM memory, whitch spontaneity connected to stage and it isn‘t change without it mechanical reconstruction. Can be used by manufacturer only. Parameters id an identifier of device 5.1.4.5 result t XIMC API command home ( device t id ) The positive direction is to the right. A value of zero reverses the direction of the direction of the flag, the set speed. Restriction imposed by the trailer, act the same, except that the limit switch contact does not stop. Limit the maximum speed, acceleration and deceleration function. 1) moves the motor according to the speed FastHome, uFastHome and flag HOME DIR FAST until limit switch, if the flag is set HOME STOP ENDS, until the signal from the input synchronization if the flag HOME STOP SYNC (as accurately as possible is important to catch the moment of operation limit switch) or until the signal is received from the speed sensor, if the flag HOME STOP REV SN 2) then moves according to the speed SlowHome, uSlowHome and flag HOME DIR SLOW until signal from the clock input, if the flag HOME MV SEC. If the flag HOME MV SEC reset skip this paragraph. 3) then move the motor according to the speed FastHome, uFastHome and flag HOME DIR SLOW a distance HomeDelta, uHomeDelta. description of flags and variable see in description for commands GHOM/SHOM Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 5.1 ximc.h File Reference 97 Parameters id an identifier of device See Also home settings t get home settings set home settings 5.1.4.6 result t XIMC API command left ( device t id ) Start continous moving to the left. Parameters id an identifier of device 5.1.4.7 result t XIMC API command loft ( device t id ) Upon receiving the command ”loft” the engine is shifted from the current point to a distance GENG :: Antiplay, then move to the same point. Parameters id an identifier of device 5.1.4.8 result t XIMC API command move ( device t id, int Position, int uPosition ) Upon receiving the command ”move” the engine starts to move with pre-set parameters (speed, acceleration, retention), to the point specified to the Position, uPosition. For stepper motor uPosition sets the microstep for DC motor, this field is not used. Parameters Position uPosition id position to move. Range: -2147483647..2147483647. part of the position to move, microsteps. Range: -255..255. an identifier of device 5.1.4.9 result t XIMC API command movr ( device t id, int DeltaPosition, int uDeltaPosition ) Upon receiving the command ”movr” engine starts to move with pre-set parameters (speed, acceleration, hold), left or right (depending on the sign of DeltaPosition) by the number of pulses specified in the fields DeltaPosition, uDeltaPosition. For stepper motor uDeltaPosition sets the microstep for DC motor, this field is not used. Parameters DeltaPosition uDeltaPosition id shift from initial position. Range: -2147483647..2147483647. part of the offset shift, microsteps. Range: -255..255. an identifier of device Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 5.1 ximc.h File Reference 5.1.4.10 98 result t XIMC API command power off ( device t id ) Immediately power off motor regardless its state. Shouldn’t be used during motion as the motor could be power on again automatically to continue movement. The command is designed for manual motor power off. When automatic power off after stop is required, use power management system. Parameters id an identifier of device See Also get power settings set power settings 5.1.4.11 result t XIMC API command read settings ( device t id ) Read all settings from controller’s flash memory to controller’s RAM, replacing previous data in controller’s RAM. Parameters id 5.1.4.12 an identifier of device result t XIMC API command reset ( device t id ) Reset controller. Can be used by manufacturer only Parameters id 5.1.4.13 an identifier of device result t XIMC API command right ( device t id ) Start continous moving to the right. Parameters id 5.1.4.14 an identifier of device result t XIMC API command save settings ( device t id ) Save all settings from controller’s RAM to controller’s flash memory, replacing previous data in controller’s flash memory. Parameters id an identifier of device Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 5.1 ximc.h File Reference 5.1.4.15 99 result t XIMC API command sstp ( device t id ) soft stop engine. The motor stops with deceleration speed. Parameters id 5.1.4.16 an identifier of device result t XIMC API command stop ( device t id ) Immediately stop the engine, the transition to the STOP, mode key BREAK (winding short-circuited), the regime ”retention” is deactivated for DC motors, keeping current in the windings for stepper motors (with Power management settings). Parameters id 5.1.4.17 an identifier of device result t XIMC API command update firmware ( const char ∗ name, const uint8 t ∗ data, uint32 t data size ) Update firmware. Service command Parameters name data data size 5.1.4.18 a name of device firmware byte stream size of byte stream result t XIMC API command zero ( device t id ) Sets the current position and the position in which the traffic moves by the move command and movr zero for all cases, except for movement to the target position. In the latter case, set the zero current position and the target position counted so that the absolute position of the destination is the same. That is, if we were at 400 and moved to 500, then the command Zero makes the current position of 0, and the position of the destination - 100. Does not change the mode of movement that is if the motion is carried, it continues, and if the engine is in the ”hold”, the type of retention remains. Parameters id 5.1.4.19 an identifier of device device enumeration t XIMC API enumerate devices ( int probe flags ) Enumerate all devices that looks like valid. Parameters in probe flags enumerate devices flags Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 5.1 ximc.h File Reference 5.1.4.20 100 result t XIMC API free enumerate devices ( device enumeration t device enumeration ) Free memory returned by enumerate devices. Parameters in 5.1.4.21 device enumeration opaque pointer to an enumeration device data result t XIMC API get accessories settings ( device t id, accessories settings t ∗ accessories settings ) Read additional accessories information from EEPROM. Parameters id accessories settings out 5.1.4.22 an identifier of device structure contains information about additional accessories result t XIMC API get analog data ( device t id, analog data t ∗ analog data ) Read analog data structure that contains raw analog data from ADC embedded on board. This function used for device testing and deep recalibraton by manufacturer only. Parameters id analog data out 5.1.4.23 an identifier of device analog data coefficients result t XIMC API get bootloader version ( device t id, unsigned int ∗ Major, unsigned int ∗ Minor, unsigned int ∗ Release ) Read controller’s firmware version. Parameters id Major Minor Release out out out 5.1.4.24 an identifier of device major version minor version release version result t XIMC API get brake settings ( device t id, brake settings t ∗ brake settings ) Read settings of brake control. Parameters out id brake settings an identifier of device structure contains settings of brake control Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 5.1 ximc.h File Reference 5.1.4.25 101 result t XIMC API get chart data ( device t id, chart data t ∗ chart data ) Return device electrical parameters, useful for charts. Useful function that fill structure with snapshot of controller voltages and currents. See Also chart data t Parameters id chart data out 5.1.4.26 an identifier of device structure with snapshot of controller parameters. result t XIMC API get control settings ( device t id, control settings t ∗ control settings ) Read settings of motor control. When choosing CTL MODE = 1 switches motor control with the joystick. In this mode, the joystick to the maximum engine tends Move at MaxSpeed [i], where i = 0 if the previous use This mode is not selected another i. Buttons switch the room rate i. When CTL MODE = 2 is switched on motor control using the Left / right. When you click on the button motor starts to move in the appropriate direction at a speed MaxSpeed [0], at the end of time Timeout [i] motor move at a speed MaxSpeed [i+1]. at Transition from MaxSpeed [i] on MaxSpeed [i +1] to acceleration, as usual. Parameters id control settings out 5.1.4.27 an identifier of device structure contains settings motor control by joystick or buttons left/right. result t XIMC API get controller name ( device t id, controller name t ∗ controller name ) Read user controller name and flags of setting from FRAM. Parameters id controller name out 5.1.4.28 an identifier of device structure contains previously set user controller name result t XIMC API get ctp settings ( device t id, ctp settings t ∗ ctp settings ) Read settings of control position(is only used with stepper motor). When controlling the step motor with encoder (CTP BASE 0) it is possible to detect the loss of steps. The controller knows the number of steps per revolution (GENG :: StepsPerRev) and the encoder resolution (GFBS :: IPT). When the control (flag CTP ENABLED), the controller stores the current position in the footsteps of SM and the current position of the encoder. Further, at each step of the position encoder is converted into steps and if the difference is greater CTPMinError, a flag STATE CTP ERROR. When controlling the step motor with speed sensor (CTP BASE 1), the position is controlled by him. The active edge of input clock controller stores the current value of steps. Further, at each turn checks how many steps shifted. When a mismatch CTPMinError a flag STATE CTP ERROR. Parameters out id ctp settings an identifier of device structure contains settings of control position Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 5.1 ximc.h File Reference 5.1.4.29 102 result t XIMC API get debug read ( device t id, debug read t ∗ debug read ) Read data from firmware for debug purpose. Its use depends on context, firmware version and previous history. Parameters id DebugData[128] out 5.1.4.30 an identifier of device Debug data. int XIMC API get device count ( device enumeration t device enumeration ) Get device count. Parameters in 5.1.4.31 device enumeration opaque pointer to an enumeration device data result t XIMC API get device information ( device t id, device information t ∗ device information ) Return device information. All fields must point to allocated string buffers with at least 10 bytes. Works with both raw or initialized device. Parameters id device information out an identifier of device device information Device information. See Also get device information 5.1.4.32 pchar XIMC API get device name ( device enumeration t device enumeration, int device index ) Get device name from the device enumeration. Returns device index device name. Parameters in in 5.1.4.33 device enumeration device index opaque pointer to an enumeration device data device index result t XIMC API get edges settings ( device t id, edges settings t ∗ edges settings ) Read border and limit switches settings. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 5.1 ximc.h File Reference 103 See Also set edges settings Parameters id edges settings out 5.1.4.34 an identifier of device edges settings, specify types of borders, motor behaviour and electrical behaviour of limit switches result t XIMC API get encoder information ( device t id, encoder information t ∗ encoder information ) Read encoder information from EEPROM. Parameters id encoder information out 5.1.4.35 an identifier of device structure contains information about encoder result t XIMC API get encoder settings ( device t id, encoder settings t ∗ encoder settings ) Read encoder settings from EEPROM. Parameters id encoder settings out 5.1.4.36 an identifier of device structure contains encoder settings result t XIMC API get engine settings ( device t id, engine settings t ∗ engine settings ) Read engine settings. This function fill structure with set of useful motor settings stored in controller’s memory. These settings specify motor shaft movement algorithm, list of limitations and rated characteristics. See Also set engine settings Parameters id engine settings out 5.1.4.37 an identifier of device engine settings result t XIMC API get entype settings ( device t id, entype settings t ∗ entype settings ) Return engine type and driver type. Parameters out out id EngineType DriverType an identifier of device engine type driver type Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 5.1 ximc.h File Reference 5.1.4.38 104 result t XIMC API get enumerate device information ( device enumeration t device enumeration, int device index, device information t ∗ device information ) Get device information from the device enumeration. Returns device index device serial number. Parameters in in out 5.1.4.39 device enumeration device index device information opaque pointer to an enumeration device data device index device information data result t XIMC API get enumerate device serial ( device enumeration t device enumeration, int device index, uint32 t ∗ serial ) Get device serial number from the device enumeration. Returns device index device serial number. Parameters in in out 5.1.4.40 device enumeration device index serial opaque pointer to an enumeration device data device index device serial number result t XIMC API get extio settings ( device t id, extio settings t ∗ extio settings ) Read EXTIO settings. This function reads a structure with a set of EXTIO settings from controller’s memory. See Also set extio settings Parameters id extio settings out 5.1.4.41 an identifier of device EXTIO settings result t XIMC API get feedback settings ( device t id, feedback settings t ∗ feedback settings ) Read feedback settings. Parameters out out out id IPS FeedbackType FeedbackFlags an identifier of device number of encoder pulses per shaft revolution. Range: 1..65535 type of feedback flags of feedback Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 5.1 ximc.h File Reference 5.1.4.42 105 result t XIMC API get firmware version ( device t id, unsigned int ∗ Major, unsigned int ∗ Minor, unsigned int ∗ Release ) Read controller’s firmware version. Parameters id Major Minor Release out out out 5.1.4.43 an identifier of device major version minor version release version result t XIMC API get gear information ( device t id, gear information t ∗ gear information ) Read gear information from EEPROM. Parameters id gear information out 5.1.4.44 an identifier of device structure contains information about step gearhead result t XIMC API get gear settings ( device t id, gear settings t ∗ gear settings ) Read gear settings from EEPROM. Parameters id gear settings out 5.1.4.45 an identifier of device structure contains step gearhead settings result t XIMC API get hallsensor information ( device t id, hallsensor information t ∗ hallsensor information ) Read hall sensor information from EEPROM. Parameters id hallsensor information out 5.1.4.46 an identifier of device structure contains information about hall sensor result t XIMC API get hallsensor settings ( device t id, hallsensor settings t ∗ hallsensor settings ) Read hall sensor settings from EEPROM. Parameters out id hallsensor settings an identifier of device structure contains hall sensor settings Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 5.1 ximc.h File Reference 5.1.4.47 106 result t XIMC API get home settings ( device t id, home settings t ∗ home settings ) Read home settings. This function fill structure with settings of calibrating position. See Also home settings t Parameters id home settings out 5.1.4.48 an identifier of device calibrating position settings result t XIMC API get joystick settings ( device t id, joystick settings t ∗ joystick settings ) Read settings of joystick. If joystick position is outside DeadZone limits from the central position a movement with speed, defined by the joystick DeadZone edge to 100% deviation, begins. Joystick positions inside DeadZone limits correspond to zero speed (soft stop of motion) and positions beyond Low and High limits correspond MaxSpeed [i] or -MaxSpeed [i] (see command SCTL), where i = 0 by default and can be changed with left/right buttons (see command SCTL). If next speed in list is zero (both integer and microstep parts), the button press is ignored. First speed in list shouldn’t be zero. The DeadZone ranges are illustrated on the following picture. !/attachments/download/5563/range25p.png! The relationship between the deviation and the rate is exponential, allowing no switching speed combine high mobility and accuracy. The following picture illustrates this: !/attachments/download/3092/ExpJoystick.png! The nonlinearity parameter is adjustable. Setting it to zero makes deviation/speed relation linear. Parameters id joystick settings out 5.1.4.49 an identifier of device structure contains joystick settings result t XIMC API get motor information ( device t id, motor information t ∗ motor information ) Read motor information from EEPROM. Parameters id motor information out 5.1.4.50 an identifier of device structure contains motor information result t XIMC API get motor settings ( device t id, motor settings t ∗ motor settings ) Read motor settings from EEPROM. Parameters out id motor settings an identifier of device structure contains motor settings Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 5.1 ximc.h File Reference 5.1.4.51 107 result t XIMC API get move settings ( device t id, move settings t ∗ move settings ) Read command setup movement (speed, acceleration, threshold and etc). Parameters id move settings out 5.1.4.52 an identifier of device structure contains move settings: speed, acceleration, deceleration etc. result t XIMC API get pid settings ( device t id, pid settings t ∗ pid settings ) Read PID settings. This function fill structure with set of motor PID settings stored in controller’s memory. These settings specify behaviour of PID routine for voltage. These factors are slightly different for different positioners. All boards are supplied with standart set of PID setting on controller’s flash memory. See Also set pid settings Parameters id pid settings out 5.1.4.53 an identifier of device pid settings result t XIMC API get position ( device t id, get position t ∗ the get position ) Reads the value position in steps and micro for stepper motor and encoder steps all engines. Parameters id position out 5.1.4.54 an identifier of device structure contains move settings: speed, acceleration, deceleration etc. result t XIMC API get power settings ( device t id, power settings t ∗ power settings ) Read settings of step motor power control. Used with stepper motor only. Parameters id power settings out 5.1.4.55 an identifier of device structure contains settings of step motor power control result t XIMC API get secure settings ( device t id, secure settings t ∗ secure settings ) Read protection settings. Parameters out id secure settings an identifier of device critical parameter settings to protect the hardware Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 5.1 ximc.h File Reference 108 See Also status t::flags 5.1.4.56 result t XIMC API get serial number ( device t id, unsigned int ∗ SerialNumber ) Read device serial number. Parameters id serial out 5.1.4.57 an identifier of device serial number result t XIMC API get stage information ( device t id, stage information t ∗ stage information ) Read stage information from EEPROM. Parameters id stage information out 5.1.4.58 an identifier of device structure contains stage information result t XIMC API get stage name ( device t id, stage name t ∗ stage name ) Read user stage name from EEPROM. Parameters id stage name out 5.1.4.59 an identifier of device structure contains previously set user stage name result t XIMC API get stage settings ( device t id, stage settings t ∗ stage settings ) Read stage settings from EEPROM. Parameters id stage settings out 5.1.4.60 an identifier of device structure contains stage settings result t XIMC API get status ( device t id, status t ∗ status ) Return device state. Parameters out id status an identifier of device structure with snapshot of controller status Device state. Useful structure that contains current controller status, including speed, position and boolean flags. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 5.1 ximc.h File Reference 109 See Also get status 5.1.4.61 result t XIMC API get status calb ( device t id, status calb t ∗ status, const calibration t ∗ calibration ) Calibrated device state. Useful structure that contains current controller status, including speed, position and boolean flags. See Also get status 5.1.4.62 result t XIMC API get sync in settings ( device t id, sync in settings t ∗ sync in settings ) Read input synchronization settings. This function fill structure with set of input synchronization settings, modes, periods and flags, that specify behaviour of input synchronization. All boards are supplied with standart set of these settings. See Also set sync in settings Parameters id sync in settings out 5.1.4.63 an identifier of device synchronization settings result t XIMC API get sync out settings ( device t id, sync out settings t ∗ sync out settings ) Read output synchronization settings. This function fill structure with set of output synchronization settings, modes, periods and flags, that specify behaviour of output synchronization. All boards are supplied with standart set of these settings. See Also set sync out settings Parameters id sync out settings out 5.1.4.64 an identifier of device synchronization settings result t XIMC API get uart settings ( device t id, uart settings t ∗ uart settings ) Read UART settings. This function fill structure with UART settings. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 5.1 ximc.h File Reference 110 See Also uart settings t Parameters Speed uart settings out 5.1.4.65 UART speed UART settings result t XIMC API goto firmware ( device t id, uint8 t ∗ ret ) Reboot to firmware. Parameters id ret out 5.1.4.66 an identifier of device RESULT OK, if reboot to firmware is possible. Reboot is done after reply to this command. RESULT NO FIRMWARE, if firmware is not found. RESULT ALREADY IN FIRMWARE, if this command was sent when controller is already in firmware. result t XIMC API has firmware ( const char ∗ name, uint8 t ∗ ret ) Check for firmware on device. Parameters name ret out 5.1.4.67 a name of device non-zero if firmware existed void XIMC API logging callback stderr narrow ( int loglevel, const wchar t ∗ message ) Simple callback for logging to stderr in narrow (single byte) chars. Parameters loglevel message 5.1.4.68 a loglevel a message void XIMC API logging callback stderr wide ( int loglevel, const wchar t ∗ message ) Simple callback for logging to stderr in wide chars. Parameters loglevel message 5.1.4.69 a loglevel a message void XIMC API msec sleep ( unsigned int msec ) Sleeps for a specified amount of time. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 5.1 ximc.h File Reference 111 Parameters msec 5.1.4.70 time in milliseconds device t XIMC API open device ( const char ∗ name ) Open a device with OS name name and return identifier of the device which can be used in calls. Parameters in 5.1.4.71 name - a device name - e.g. COM3 or /dev/tty.s123 result t XIMC API probe device ( const char ∗ name ) Check if a device with OS name name is XIMC device. Be carefuly with this call because it sends some data to the device. Parameters in 5.1.4.72 name - a device name result t XIMC API service command updf ( device t id ) Command puts the controller to update the firmware. After receiving this command, the firmware board sets a flag (for loader), sends echo reply and restarts the controller. 5.1.4.73 result t XIMC API set accessories settings ( device t id, const accessories settings t ∗ accessories settings ) Set additional accessories information to EEPROM. Can be used by manufacturer only. Parameters id accessories settings in 5.1.4.74 an identifier of device structure contains information about additional accessories result t XIMC API set add sync in action ( device t id, const add sync in action t ∗ add sync in action ) This command adds one element of the FIFO commands that are executed when input clock pulse. Each pulse synchronization or perform that action, which is described in SSNI, if the buffer is empty, or the oldest loaded into the buffer action to temporarily replace the speed and coordinate in SSNI. In the latter case this action is erased from the buffer. The number of remaining empty buffer elements can be found in the structure of GETS. Parameters id an identifier of device Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 5.1 ximc.h File Reference 5.1.4.75 112 result t XIMC API set brake settings ( device t id, const brake settings t ∗ brake settings ) Set settings of brake control. Parameters id brake settings in 5.1.4.76 an identifier of device structure contains settings of brake control result t XIMC API set control settings ( device t id, const control settings t ∗ control settings ) Set settings of motor control. When choosing CTL MODE = 1 switches motor control with the joystick. In this mode, the joystick to the maximum engine tends Move at MaxSpeed [i], where i = 0 if the previous use This mode is not selected another i. Buttons switch the room rate i. When CTL MODE = 2 is switched on motor control using the Left / right. When you click on the button motor starts to move in the appropriate direction at a speed MaxSpeed [0], at the end of time Timeout [i] motor move at a speed MaxSpeed [i+1]. at Transition from MaxSpeed [i] on MaxSpeed [i +1] to acceleration, as usual. Parameters id control settings in 5.1.4.77 an identifier of device structure contains settings motor control by joystick or buttons left/right. result t XIMC API set controller name ( device t id, const controller name t ∗ controller name ) Write user controller name and flags of setting from FRAM. Parameters id controller name in 5.1.4.78 an identifier of device structure contains previously set user controller name result t XIMC API set ctp settings ( device t id, const ctp settings t ∗ ctp settings ) Set settings of control position(is only used with stepper motor). When controlling the step motor with encoder (CTP BASE 0) it is possible to detect the loss of steps. The controller knows the number of steps per revolution (GENG :: StepsPerRev) and the encoder resolution (GFBS :: IPT). When the control (flag CTP ENABLED), the controller stores the current position in the footsteps of SM and the current position of the encoder. Further, at each step of the position encoder is converted into steps and if the difference is greater CTPMinError, a flag STATE CTP ERROR. When controlling the step motor with speed sensor (CTP BASE 1), the position is controlled by him. The active edge of input clock controller stores the current value of steps. Further, at each turn checks how many steps shifted. When a mismatch CTPMinError a flag STATE CTP ERROR. Parameters in 5.1.4.79 id ctp settings an identifier of device structure contains settings of control position result t XIMC API set edges settings ( device t id, const edges settings t ∗ edges settings ) Set border and limit switches settings. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 5.1 ximc.h File Reference 113 See Also set edges settings Parameters id edges settings in 5.1.4.80 an identifier of device edges settings, specify types of borders, motor behaviour and electrical behaviour of limit switches result t XIMC API set encoder information ( device t id, const encoder information t ∗ encoder information ) Set encoder information to EEPROM. Can be used by manufacturer only. Parameters id encoder information in 5.1.4.81 an identifier of device structure contains information about encoder result t XIMC API set encoder settings ( device t id, const encoder settings t ∗ encoder settings ) Set encoder settings to EEPROM. Can be used by manufacturer only. Parameters id encoder settings in 5.1.4.82 an identifier of device structure contains encoder settings result t XIMC API set engine settings ( device t id, const engine settings t ∗ engine settings ) Set engine settings. This function send structure with set of engine settings to controller’s memory. These settings specify motor shaft movement algorithm, list of limitations and rated characteristics. Use it when you change motor, encoder, positioner etc. Please note that wrong engine settings lead to device malfunction, can lead to irreversible damage of board. See Also get engine settings Parameters in 5.1.4.83 id engine settings an identifier of device engine settings result t XIMC API set entype settings ( device t id, const entype settings t ∗ entype settings ) Set engine type and driver type. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 5.1 ximc.h File Reference 114 Parameters id EngineType DriverType in in 5.1.4.84 an identifier of device engine type driver type result t XIMC API set extio settings ( device t id, const extio settings t ∗ extio settings ) Set EXTIO settings. This function writes a structure with a set of EXTIO settings to controller’s memory. By default input event are signalled through rising front and output states are signalled by high logic state. See Also get extio settings Parameters id extio settings in 5.1.4.85 an identifier of device EXTIO settings result t XIMC API set feedback settings ( device t id, const feedback settings t ∗ feedback settings ) Set feedback settings. Parameters id IPS FeedbackType FeedbackFlags in in in 5.1.4.86 an identifier of device number of encoder pulses per shaft revolution. Range: 1..65535 type of feedback flags of feedback result t XIMC API set gear information ( device t id, const gear information t ∗ gear information ) Set gear information to EEPROM. Can be used by manufacturer only. Parameters in 5.1.4.87 id gear information an identifier of device structure contains information about step gearhead result t XIMC API set gear settings ( device t id, const gear settings t ∗ gear settings ) Set gear settings to EEPROM. Can be used by manufacturer only. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 5.1 ximc.h File Reference 115 Parameters id gear settings in 5.1.4.88 an identifier of device structure contains step gearhead settings result t XIMC API set hallsensor information ( device t id, const hallsensor information t ∗ hallsensor information ) Set hall sensor information to EEPROM. Can be used by manufacturer only. Parameters id hallsensor information in 5.1.4.89 an identifier of device structure contains information about hall sensor result t XIMC API set hallsensor settings ( device t id, const hallsensor settings t ∗ hallsensor settings ) Set hall sensor settings to EEPROM. Can be used by manufacturer only. Parameters id hallsensor settings in 5.1.4.90 an identifier of device structure contains hall sensor settings result t XIMC API set home settings ( device t id, const home settings t ∗ home settings ) Set home settings. This function send structure with calibrating position settings to controller’s memory. See Also home settings t Parameters id home settings in 5.1.4.91 an identifier of device calibrating position settings result t XIMC API set joystick settings ( device t id, const joystick settings t ∗ joystick settings ) Set settings of joystick. If joystick position is outside DeadZone limits from the central position a movement with speed, defined by the joystick DeadZone edge to 100% deviation, begins. Joystick positions inside DeadZone limits correspond to zero speed (soft stop of motion) and positions beyond Low and High limits correspond MaxSpeed [i] or -MaxSpeed [i] (see command SCTL), where i = 0 by default and can be changed with left/right buttons (see command SCTL). If next Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 5.1 ximc.h File Reference 116 speed in list is zero (both integer and microstep parts), the button press is ignored. First speed in list shouldn’t be zero. The DeadZone ranges are illustrated on the following picture. !/attachments/download/5563/range25p.png! The relationship between the deviation and the rate is exponential, allowing no switching speed combine high mobility and accuracy. The following picture illustrates this: !/attachments/download/3092/ExpJoystick.png! The nonlinearity parameter is adjustable. Setting it to zero makes deviation/speed relation linear. Parameters id joystick settings in 5.1.4.92 an identifier of device structure contains joystick settings void XIMC API set logging callback ( logging callback t logging callback ) Sets a logging callback. Call resets a callback to default (stderr, syslog) if NULL passed. Parameters logging callback 5.1.4.93 a callback for log messages result t XIMC API set motor information ( device t id, const motor information t ∗ motor information ) Set motor information to EEPROM. Can be used by manufacturer only. Parameters id motor information in 5.1.4.94 an identifier of device structure contains motor information result t XIMC API set motor settings ( device t id, const motor settings t ∗ motor settings ) Set motor settings to EEPROM. Can be used by manufacturer only. Parameters id motor settings in 5.1.4.95 an identifier of device structure contains motor information result t XIMC API set move settings ( device t id, const move settings t ∗ move settings ) Set command setup movement (speed, acceleration, threshold and etc). Parameters in id move settings an identifier of device structure contains move settings: speed, acceleration, deceleration etc. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 5.1 ximc.h File Reference 5.1.4.96 117 result t XIMC API set pid settings ( device t id, const pid settings t ∗ pid settings ) Set PID settings. This function send structure with set of PID factors to controller’s memory. These settings specify behaviour of PID routine for voltage. These factors are slightly different for different positioners. All boards are supplied with standart set of PID setting on controller’s flash memory. Please use it for loading new PID settings when you change positioner. Please note that wrong PID settings lead to device malfunction. See Also get pid settings Parameters id pid settings in 5.1.4.97 an identifier of device pid settings result t XIMC API set position ( device t id, const set position t ∗ the set position ) Sets any position value in steps and micro for stepper motor and encoder steps of all engines. It means, that changing main indicator of position. Parameters id position out 5.1.4.98 an identifier of device structure contains move settings: speed, acceleration, deceleration etc. result t XIMC API set power settings ( device t id, const power settings t ∗ power settings ) Set settings of step motor power control. Used with stepper motor only. Parameters id power settings in 5.1.4.99 an identifier of device structure contains settings of step motor power control result t XIMC API set secure settings ( device t id, const secure settings t ∗ secure settings ) Set protection settings. Parameters id secure settings an identifier of device structure with secure data See Also status t::flags Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 5.1 ximc.h File Reference 118 5.1.4.100 result t XIMC API set serial number ( device t id, const serial number t ∗ serial number ) Write device serial number to controller’s flash memory. Along with the new serial number a ”Key” is transmitted. The SN is changed and saved when keys match. Can be used by manufacturer only. Parameters in id serial an identifier of device number structure contains new serial number and secret key. 5.1.4.101 result t XIMC API set stage information ( device t id, const stage information t ∗ stage information ) Set stage information to EEPROM. Can be used by manufacturer only. Parameters in id stage information an identifier of device structure contains stage information 5.1.4.102 result t XIMC API set stage name ( device t id, const stage name t ∗ stage name ) Write user stage name from EEPROM. Parameters in id stage name an identifier of device structure contains previously set user stage name 5.1.4.103 result t XIMC API set stage settings ( device t id, const stage settings t ∗ stage settings ) Set stage settings to EEPROM. Can be used by manufacturer only Parameters in id stage settings an identifier of device structure contains stage settings 5.1.4.104 result t XIMC API set sync in settings ( device t id, const sync in settings t ∗ sync in settings ) Set input synchronization settings. This function send structure with set of input synchronization settings, that specify behaviour of input synchronization, to controller’s memory. All boards are supplied with standart set of these settings. Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 5.1 ximc.h File Reference 119 See Also get sync in settings Parameters in id sync in settings an identifier of device synchronization settings 5.1.4.105 result t XIMC API set sync out settings ( device t id, const sync out settings t ∗ sync out settings ) Set output synchronization settings. This function send structure with set of output synchronization settings, that specify behaviour of output synchronization, to controller’s memory. All boards are supplied with standart set of these settings. See Also get sync out settings Parameters id sync out settings in an identifier of device synchronization settings 5.1.4.106 result t XIMC API set uart settings ( device t id, const uart settings t ∗ uart settings ) Set UART settings. This function send structure with UART settings to controller’s memory. See Also uart settings t Parameters in Speed uart settings UART speed UART settings 5.1.4.107 result t XIMC API write key ( const char ∗ name, uint8 t ∗ key ) Write controller key. Can be used by manufacturer only Parameters in name key a name of device protection key. Range: 0..4294967295 Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 5.1 ximc.h File Reference 5.1.4.108 result t XIMC API ximc fix usbser sys ( const char ∗ device name ) Fix for errors in Windows USB driver stack. Resets a driver if a device exists and in a hanged state. void XIMC API ximc version ( char ∗ version ) 5.1.4.109 Returns a library version. Parameters version a buffer to hold a version string, 32 bytes is enough Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 120 Index A1Voltage analog data t, 11 A1Voltage ADC analog data t, 11 A2Voltage analog data t, 11 A2Voltage ADC analog data t, 11 ACurrent analog data t, 12 ACurrent ADC analog data t, 12 Accel move settings calb t, 42 move settings t, 43 accessories settings t, 7 LimitSwitchesSettings, 8 MBRatedCurrent, 8 MBRatedVoltage, 8 MBSettings, 8 MBTorque, 8 MagneticBrakeInfo, 8 TSGrad, 8 TSMax, 8 TSMin, 8 TSSettings, 8 TemperatureSensorInfo, 8 Accuracy sync out settings calb t, 59 sync out settings t, 60 add sync in action calb t, 9 Position, 9 Speed, 9 add sync in action t, 9 Speed, 9 uPosition, 9 uSpeed, 10 analog data t, 10 A1Voltage, 11 A1Voltage ADC, 11 A2Voltage, 11 A2Voltage ADC, 11 ACurrent, 12 ACurrent ADC, 12 B1Voltage, 12 B1Voltage ADC, 12 B2Voltage, 12 B2Voltage ADC, 12 BCurrent, 12 BCurrent ADC, 12 FullCurrent, 12 FullCurrent ADC, 12 Joy, 12 Joy ADC, 12 L, 13 L5, 13 L5 ADC, 13 Pot, 13 R, 13 SupVoltage, 13 SupVoltage ADC, 13 Temp, 13 Temp ADC, 13 Antiplay engine settings calb t, 25 engine settings t, 26 AntiplaySpeed move settings calb t, 42 move settings t, 43 B1Voltage analog data t, 12 B1Voltage ADC analog data t, 12 B2Voltage analog data t, 12 B2Voltage ADC analog data t, 12 BCurrent analog data t, 12 BCurrent ADC analog data t, 12 BORDER IS ENCODER ximc.h, 82 BORDER STOP LEFT ximc.h, 82 BORDER STOP RIGHT ximc.h, 82 BRAKE ENABLED ximc.h, 82 BRAKE ENG PWROFF ximc.h, 82 BorderFlags edges settings calb t, 21 edges settings t, 22 brake settings t, 13 BrakeFlags, 14 t1, 14 t2, 14 INDEX t3, 14 t4, 14 BrakeFlags brake settings t, 14 CONTROL MODE BITS ximc.h, 82 CONTROL MODE JOY ximc.h, 82 CONTROL MODE LR ximc.h, 82 CONTROL MODE OFF ximc.h, 83 CTP ALARM ON ERROR ximc.h, 83 CTP BASE ximc.h, 83 CTP ENABLED ximc.h, 83 CTPFlags ctp settings t, 20 CTPMinError ctp settings t, 20 calibration t, 14 chart data t, 15 DutyCycle, 16 WindingCurrentA, 16 WindingCurrentB, 16 WindingCurrentC, 16 WindingVoltageA, 16 WindingVoltageB, 16 WindingVoltageC, 16 close device ximc.h, 96 ClutterTime sync in settings calb t, 57 sync in settings t, 58 CmdBufFreeSpace status calb t, 53 status t, 55 command clear fram ximc.h, 96 command eeread settings ximc.h, 96 command eesave settings ximc.h, 96 command home ximc.h, 96 command left ximc.h, 97 command loft ximc.h, 97 command move ximc.h, 97 command movr ximc.h, 97 command power off ximc.h, 97 command read settings Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 122 ximc.h, 98 command reset ximc.h, 98 command right ximc.h, 98 command save settings ximc.h, 98 command sstp ximc.h, 98 command stop ximc.h, 99 command update firmware ximc.h, 99 command zero ximc.h, 99 control settings calb t, 16 Flags, 17 MaxClickTime, 17 MaxSpeed, 17 Timeout, 17 control settings t, 17 Flags, 18 MaxClickTime, 18 MaxSpeed, 18 Timeout, 18 uDeltaPosition, 18 uMaxSpeed, 18 controller name t, 18 ControllerName, 19 CtrlFlags, 19 ControllerName controller name t, 19 CriticalIpwr secure settings t, 46 CriticalIusb secure settings t, 46 CriticalT secure settings t, 46 CriticalUpwr secure settings t, 46 CriticalUusb secure settings t, 47 ctp settings t, 19 CTPFlags, 20 CTPMinError, 20 CtrlFlags controller name t, 19 CurPosition status calb t, 53 status t, 55 CurSpeed status calb t, 53 status t, 55 CurT status calb t, 53 status t, 55 CurrReductDelay power settings t, 45 INDEX CurrentSetTime power settings t, 45 DRIVER TYPE EXTERNAL ximc.h, 83 DeadZone joystick settings t, 37 debug read t, 20 DebugData, 20 DebugData debug read t, 20 Decel move settings calb t, 42 move settings t, 43 DetentTorque motor settings t, 40 device information t, 20 DriverType entype settings t, 28 DutyCycle chart data t, 16 EEPROM PRECEDENCE ximc.h, 83 ENC STATE ABSENT ximc.h, 83 ENC STATE MALFUNC ximc.h, 83 ENC STATE OK ximc.h, 83 ENC STATE REVERS ximc.h, 83 ENC STATE UNKNOWN ximc.h, 84 ENDER SW1 ACTIVE LOW ximc.h, 84 ENDER SW2 ACTIVE LOW ximc.h, 84 ENDER SWAP ximc.h, 84 ENGINE ACCEL ON ximc.h, 84 ENGINE ANTIPLAY ximc.h, 84 ENGINE LIMIT CURR ximc.h, 84 ENGINE LIMIT RPM ximc.h, 84 ENGINE LIMIT VOLT ximc.h, 84 ENGINE MAX SPEED ximc.h, 84 ENGINE REVERSE ximc.h, 84 ENGINE TYPE 2DC ximc.h, 85 ENGINE TYPE DC ximc.h, 85 ENGINE TYPE NONE Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 123 ximc.h, 85 ENGINE TYPE STEP ximc.h, 85 ENGINE TYPE TEST ximc.h, 85 ENUMERATE PROBE ximc.h, 85 EXTIO SETUP INVERT ximc.h, 85 EXTIO SETUP OUTPUT ximc.h, 86 EXTIOModeFlags extio settings t, 28 EXTIOSetupFlags extio settings t, 28 edges settings calb t, 21 BorderFlags, 21 EnderFlags, 21 LeftBorder, 21 RightBorder, 21 edges settings t, 21 BorderFlags, 22 EnderFlags, 22 LeftBorder, 22 RightBorder, 22 uLeftBorder, 22 uRightBorder, 22 Efficiency gear settings t, 31 EncPosition get position calb t, 32 get position t, 33 set position calb t, 48 set position t, 49 status calb t, 53 status t, 55 EncSts status calb t, 53 status t, 55 encoder information t, 23 Manufacturer, 23 PartNumber, 23 encoder settings t, 23 EncoderSettings, 24 MaxCurrentConsumption, 24 MaxOperatingFrequency, 24 SupplyVoltageMax, 24 SupplyVoltageMin, 24 EncoderSettings encoder settings t, 24 EnderFlags edges settings calb t, 21 edges settings t, 22 engine settings calb t, 24 Antiplay, 25 EngineFlags, 25 MicrostepMode, 25 NomCurrent, 25 INDEX NomSpeed, 25 NomVoltage, 25 StepsPerRev, 25 engine settings t, 26 Antiplay, 26 EngineFlags, 26 MicrostepMode, 27 NomCurrent, 27 NomSpeed, 27 NomVoltage, 27 StepsPerRev, 27 uNomSpeed, 27 EngineFlags engine settings calb t, 25 engine settings t, 26 EngineType entype settings t, 28 entype settings t, 27 DriverType, 28 EngineType, 28 enumerate devices ximc.h, 99 ExpFactor joystick settings t, 37 extio settings t, 28 EXTIOModeFlags, 28 EXTIOSetupFlags, 28 FEEDBACK EMF ximc.h, 86 FEEDBACK ENC REVERSE ximc.h, 86 FEEDBACK ENCODER ximc.h, 86 FEEDBACK ENCODERHALL ximc.h, 87 FEEDBACK NONE ximc.h, 87 FastHome home settings calb t, 35 home settings t, 36 feedback settings t, 29 FeedbackFlags, 29 FeedbackType, 29 HallSPR, 29 HallShift, 29 FeedbackFlags feedback settings t, 29 FeedbackType feedback settings t, 29 Flags control settings calb t, 17 control settings t, 18 secure settings t, 47 status calb t, 53 status t, 55 free enumerate devices ximc.h, 99 FullCurrent Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 124 analog data t, 12 FullCurrent ADC analog data t, 12 GPIOFlags status calb t, 53 status t, 55 gear information t, 30 Manufacturer, 30 PartNumber, 30 gear settings t, 30 Efficiency, 31 InputInertia, 31 MaxOutputBacklash, 31 RatedInputSpeed, 31 RatedInputTorque, 31 ReductionIn, 31 ReductionOut, 31 get accessories settings ximc.h, 100 get analog data ximc.h, 100 get bootloader version ximc.h, 100 get brake settings ximc.h, 100 get chart data ximc.h, 100 get control settings ximc.h, 101 get controller name ximc.h, 101 get ctp settings ximc.h, 101 get debug read ximc.h, 101 get device count ximc.h, 102 get device information ximc.h, 102 get device name ximc.h, 102 get edges settings ximc.h, 102 get encoder information ximc.h, 103 get encoder settings ximc.h, 103 get engine settings ximc.h, 103 get entype settings ximc.h, 103 get enumerate device information ximc.h, 104 get enumerate device serial ximc.h, 104 get extio settings ximc.h, 104 get feedback settings INDEX ximc.h, 104 get firmware version ximc.h, 104 get gear information ximc.h, 105 get gear settings ximc.h, 105 get hallsensor information ximc.h, 105 get hallsensor settings ximc.h, 105 get home settings ximc.h, 105 get joystick settings ximc.h, 106 get motor information ximc.h, 106 get motor settings ximc.h, 106 get move settings ximc.h, 106 get pid settings ximc.h, 107 get position ximc.h, 107 get position calb t, 32 EncPosition, 32 Position, 32 get position t, 32 EncPosition, 33 get power settings ximc.h, 107 get secure settings ximc.h, 107 get serial number ximc.h, 108 get stage information ximc.h, 108 get stage name ximc.h, 108 get stage settings ximc.h, 108 get status ximc.h, 108 get status calb ximc.h, 109 get sync in settings ximc.h, 109 get sync out settings ximc.h, 109 get uart settings ximc.h, 109 goto firmware ximc.h, 110 H BRIDGE ALERT ximc.h, 87 HOME DIR FIRST ximc.h, 87 Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 125 HOME DIR SECOND ximc.h, 87 HOME HALF MV ximc.h, 87 HOME MV SEC EN ximc.h, 87 HOME STOP FIRST LIM ximc.h, 87 HOME STOP FIRST REV ximc.h, 87 HOME STOP FIRST SYN ximc.h, 87 HallSPR feedback settings t, 29 HallShift feedback settings t, 29 hallsensor information t, 33 Manufacturer, 33 PartNumber, 33 hallsensor settings t, 33 MaxCurrentConsumption, 34 MaxOperatingFrequency, 34 SupplyVoltageMax, 34 SupplyVoltageMin, 34 has firmware ximc.h, 110 HoldCurrent power settings t, 45 home settings calb t, 34 FastHome, 35 HomeDelta, 35 HomeFlags, 35 SlowHome, 35 home settings t, 35 FastHome, 36 HomeDelta, 36 HomeFlags, 36 SlowHome, 36 uFastHome, 36 uHomeDelta, 36 uSlowHome, 36 HomeDelta home settings calb t, 35 home settings t, 36 HomeFlags home settings calb t, 35 home settings t, 36 HorizontalLoadCapacity stage settings t, 51 InputInertia gear settings t, 31 Ipwr status calb t, 53 status t, 56 Iusb status calb t, 53 status t, 56 INDEX JOY REVERSE ximc.h, 88 Joy analog data t, 12 Joy ADC analog data t, 12 JoyCenter joystick settings t, 37 JoyFlags joystick settings t, 37 JoyHighEnd joystick settings t, 37 JoyLowEnd joystick settings t, 38 joystick settings t, 36 DeadZone, 37 ExpFactor, 37 JoyCenter, 37 JoyFlags, 37 JoyHighEnd, 37 JoyLowEnd, 38 Key serial number t, 48 L analog data t, 13 L5 analog data t, 13 L5 ADC analog data t, 13 LOW UPWR PROTECTION ximc.h, 88 LeadScrewPitch stage settings t, 51 LeftBorder edges settings calb t, 21 edges settings t, 22 LimitSwitchesSettings accessories settings t, 8 logging callback stderr narrow ximc.h, 110 logging callback stderr wide ximc.h, 110 logging callback t ximc.h, 95 LowUpwrOff secure settings t, 47 MBRatedCurrent accessories settings t, 8 MBRatedVoltage accessories settings t, 8 MBSettings accessories settings t, 8 MBTorque accessories settings t, 8 MICROSTEP MODE FULL ximc.h, 89 Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 126 MOVE STATE ANTIPLAY ximc.h, 89 MOVE STATE MOVING ximc.h, 89 MVCMD ERROR ximc.h, 89 MVCMD HOME ximc.h, 89 MVCMD LEFT ximc.h, 89 MVCMD LOFT ximc.h, 89 MVCMD MOVE ximc.h, 89 MVCMD MOVR ximc.h, 89 MVCMD NAME BITS ximc.h, 90 MVCMD RIGHT ximc.h, 90 MVCMD RUNNING ximc.h, 90 MVCMD SSTP ximc.h, 90 MVCMD STOP ximc.h, 90 MVCMD UKNWN ximc.h, 90 MagneticBrakeInfo accessories settings t, 8 Manufacturer encoder information t, 23 gear information t, 30 hallsensor information t, 33 motor information t, 38 stage information t, 49 MaxClickTime control settings calb t, 17 control settings t, 18 MaxCurrent motor settings t, 40 MaxCurrentConsumption encoder settings t, 24 hallsensor settings t, 34 stage settings t, 51 MaxCurrentTime motor settings t, 40 MaxOperatingFrequency encoder settings t, 24 hallsensor settings t, 34 MaxOutputBacklash gear settings t, 31 MaxSpeed control settings calb t, 17 control settings t, 18 motor settings t, 40 stage settings t, 51 MechanicalTimeConstant INDEX motor settings t, 40 MicrostepMode engine settings calb t, 25 engine settings t, 27 MinimumUusb secure settings t, 47 motor information t, 38 Manufacturer, 38 PartNumber, 38 motor settings t, 38 DetentTorque, 40 MaxCurrent, 40 MaxCurrentTime, 40 MaxSpeed, 40 MechanicalTimeConstant, 40 MotorType, 40 NoLoadCurrent, 40 NoLoadSpeed, 40 NominalCurrent, 40 NominalPower, 41 NominalSpeed, 41 NominalTorque, 41 NominalVoltage, 41 Phases, 41 Poles, 41 RotorInertia, 41 SpeedConstant, 41 SpeedTorqueGradient, 41 StallTorque, 41 TorqueConstant, 42 WindingInductance, 42 WindingResistance, 42 MotorType motor settings t, 40 move settings calb t, 42 Accel, 42 AntiplaySpeed, 42 Decel, 42 Speed, 42 move settings t, 43 Accel, 43 AntiplaySpeed, 43 Decel, 43 Speed, 43 uAntiplaySpeed, 44 uSpeed, 44 MoveSts status calb t, 53 status t, 56 msec sleep ximc.h, 110 MvCmdSts status calb t, 53 status t, 56 NoLoadCurrent motor settings t, 40 NoLoadSpeed motor settings t, 40 Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 127 NomCurrent engine settings calb t, 25 engine settings t, 27 NomSpeed engine settings calb t, 25 engine settings t, 27 NomVoltage engine settings calb t, 25 engine settings t, 27 NominalCurrent motor settings t, 40 NominalPower motor settings t, 41 NominalSpeed motor settings t, 41 NominalTorque motor settings t, 41 NominalVoltage motor settings t, 41 open device ximc.h, 111 POWER OFF ENABLED ximc.h, 90 POWER REDUCT ENABLED ximc.h, 90 POWER SMOOTH CURRENT ximc.h, 90 PWR STATE MAX ximc.h, 90 PWR STATE NORM ximc.h, 90 PWR STATE OFF ximc.h, 90 PWR STATE REDUCT ximc.h, 91 PWR STATE UNKNOWN ximc.h, 91 PWRSts status calb t, 53 status t, 56 PartNumber encoder information t, 23 gear information t, 30 hallsensor information t, 33 motor information t, 38 stage information t, 49 Phases motor settings t, 41 pid settings t, 44 Poles motor settings t, 41 PosFlags set position calb t, 48 set position t, 49 Position add sync in action calb t, 9 get position calb t, 32 INDEX set position calb t, 48 sync in settings calb t, 57 PositionerName stage name t, 50 Pot analog data t, 13 power settings t, 44 CurrReductDelay, 45 CurrentSetTime, 45 HoldCurrent, 45 PowerFlags, 45 PowerOffDelay, 45 PowerFlags power settings t, 45 PowerOffDelay power settings t, 45 probe device ximc.h, 111 R analog data t, 13 REV SENS INV ximc.h, 91 RatedInputSpeed gear settings t, 31 RatedInputTorque gear settings t, 31 ReductionIn gear settings t, 31 ReductionOut gear settings t, 31 RightBorder edges settings calb t, 21 edges settings t, 22 RotorInertia motor settings t, 41 SN serial number t, 48 STATE ALARM ximc.h, 91 STATE BRAKE ximc.h, 91 STATE BUTTON LEFT ximc.h, 91 STATE BUTTON RIGHT ximc.h, 91 STATE CONTR ximc.h, 91 STATE CTP ERROR ximc.h, 92 STATE DIG SIGNAL ximc.h, 92 STATE ENC A ximc.h, 92 STATE ENC B ximc.h, 92 STATE ERRC ximc.h, 92 Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 128 STATE ERRD ximc.h, 92 STATE ERRV ximc.h, 92 STATE GPIO LEVEL ximc.h, 92 STATE GPIO PINOUT ximc.h, 92 STATE HALL A ximc.h, 92 STATE HALL B ximc.h, 92 STATE HALL C ximc.h, 93 STATE LEFT EDGE ximc.h, 93 STATE POWER OVERHEAT ximc.h, 93 STATE REV SENSOR ximc.h, 93 STATE RIGHT EDGE ximc.h, 93 STATE SECUR ximc.h, 93 STATE SYNC INPUT ximc.h, 93 STATE SYNC OUTPUT ximc.h, 94 SYNCIN ENABLED ximc.h, 94 SYNCIN GOTOPOSITION ximc.h, 94 SYNCIN INVERT ximc.h, 94 SYNCOUT ENABLED ximc.h, 94 SYNCOUT IN STEPS ximc.h, 94 SYNCOUT INVERT ximc.h, 94 SYNCOUT ONPERIOD ximc.h, 94 SYNCOUT ONSTART ximc.h, 94 SYNCOUT ONSTOP ximc.h, 94 SYNCOUT STATE ximc.h, 94 secure settings t, 46 CriticalIpwr, 46 CriticalIusb, 46 CriticalT, 46 CriticalUpwr, 46 CriticalUusb, 47 Flags, 47 LowUpwrOff, 47 MinimumUusb, 47 serial number t, 47 INDEX Key, 48 SN, 48 service command updf ximc.h, 111 set accessories settings ximc.h, 111 set add sync in action ximc.h, 111 set brake settings ximc.h, 111 set control settings ximc.h, 112 set controller name ximc.h, 112 set ctp settings ximc.h, 112 set edges settings ximc.h, 112 set encoder information ximc.h, 113 set encoder settings ximc.h, 113 set engine settings ximc.h, 113 set entype settings ximc.h, 113 set extio settings ximc.h, 114 set feedback settings ximc.h, 114 set gear information ximc.h, 114 set gear settings ximc.h, 114 set hallsensor information ximc.h, 115 set hallsensor settings ximc.h, 115 set home settings ximc.h, 115 set joystick settings ximc.h, 115 set logging callback ximc.h, 116 set motor information ximc.h, 116 set motor settings ximc.h, 116 set move settings ximc.h, 116 set pid settings ximc.h, 116 set position ximc.h, 117 set position calb t, 48 EncPosition, 48 PosFlags, 48 Position, 48 Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 129 set position t, 48 EncPosition, 49 PosFlags, 49 set power settings ximc.h, 117 set secure settings ximc.h, 117 set serial number ximc.h, 117 set stage information ximc.h, 118 set stage name ximc.h, 118 set stage settings ximc.h, 118 set sync in settings ximc.h, 118 set sync out settings ximc.h, 119 set uart settings ximc.h, 119 SlowHome home settings calb t, 35 home settings t, 36 Speed add sync in action calb t, 9 add sync in action t, 9 move settings calb t, 42 move settings t, 43 sync in settings calb t, 57 sync in settings t, 58 SpeedConstant motor settings t, 41 SpeedTorqueGradient motor settings t, 41 stage information t, 49 Manufacturer, 49 PartNumber, 49 stage name t, 50 PositionerName, 50 stage settings t, 50 HorizontalLoadCapacity, 51 LeadScrewPitch, 51 MaxCurrentConsumption, 51 MaxSpeed, 51 SupplyVoltageMax, 51 SupplyVoltageMin, 51 TravelRange, 51 Units, 51 VerticalLoadCapacity, 52 StallTorque motor settings t, 41 status calb t, 52 CmdBufFreeSpace, 53 CurPosition, 53 CurSpeed, 53 CurT, 53 EncPosition, 53 INDEX EncSts, 53 Flags, 53 GPIOFlags, 53 Ipwr, 53 Iusb, 53 MoveSts, 53 MvCmdSts, 53 PWRSts, 53 Upwr, 54 Uusb, 54 WindSts, 54 status t, 54 CmdBufFreeSpace, 55 CurPosition, 55 CurSpeed, 55 CurT, 55 EncPosition, 55 EncSts, 55 Flags, 55 GPIOFlags, 55 Ipwr, 56 Iusb, 56 MoveSts, 56 MvCmdSts, 56 PWRSts, 56 uCurPosition, 56 uCurSpeed, 56 Upwr, 56 Uusb, 56 WindSts, 56 StepsPerRev engine settings calb t, 25 engine settings t, 27 SupVoltage analog data t, 13 SupVoltage ADC analog data t, 13 SupplyVoltageMax encoder settings t, 24 hallsensor settings t, 34 stage settings t, 51 SupplyVoltageMin encoder settings t, 24 hallsensor settings t, 34 stage settings t, 51 sync in settings calb t, 57 ClutterTime, 57 Position, 57 Speed, 57 SyncInFlags, 57 sync in settings t, 57 ClutterTime, 58 Speed, 58 SyncInFlags, 58 uPosition, 58 uSpeed, 58 sync out settings calb t, 58 Accuracy, 59 Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 130 SyncOutFlags, 59 SyncOutPeriod, 59 SyncOutPulseSteps, 59 sync out settings t, 59 Accuracy, 60 SyncOutFlags, 60 SyncOutPeriod, 60 SyncOutPulseSteps, 60 uAccuracy, 60 SyncInFlags sync in settings calb t, 57 sync in settings t, 58 SyncOutFlags sync out settings calb t, 59 sync out settings t, 60 SyncOutPeriod sync out settings calb t, 59 sync out settings t, 60 SyncOutPulseSteps sync out settings calb t, 59 sync out settings t, 60 t1 brake settings t, 14 t2 brake settings t, 14 t3 brake settings t, 14 t4 brake settings t, 14 TSGrad accessories settings t, 8 TSMax accessories settings t, 8 TSMin accessories settings t, 8 TSSettings accessories settings t, 8 Temp analog data t, 13 Temp ADC analog data t, 13 TemperatureSensorInfo accessories settings t, 8 Timeout control settings calb t, 17 control settings t, 18 TorqueConstant motor settings t, 42 TravelRange stage settings t, 51 UART PARITY BITS ximc.h, 94 UARTSetupFlags uart settings t, 61 uAccuracy sync out settings t, 60 uAntiplaySpeed INDEX move settings t, 44 uCurPosition status t, 56 uCurSpeed status t, 56 uDeltaPosition control settings t, 18 uFastHome home settings t, 36 uHomeDelta home settings t, 36 uLeftBorder edges settings t, 22 uMaxSpeed control settings t, 18 uNomSpeed engine settings t, 27 uPosition add sync in action t, 9 sync in settings t, 58 uRightBorder edges settings t, 22 uSlowHome home settings t, 36 uSpeed add sync in action t, 10 move settings t, 44 sync in settings t, 58 uart settings t, 60 UARTSetupFlags, 61 Units stage settings t, 51 Upwr status calb t, 54 status t, 56 Uusb status calb t, 54 status t, 56 VerticalLoadCapacity stage settings t, 52 WIND A STATE ABSENT ximc.h, 95 WIND A STATE OK ximc.h, 95 WIND B STATE ABSENT ximc.h, 95 WIND B STATE OK ximc.h, 95 WindSts status calb t, 54 status t, 56 WindingCurrentA chart data t, 16 WindingCurrentB chart data t, 16 WindingCurrentC chart data t, 16 Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 131 WindingInductance motor settings t, 42 WindingResistance motor settings t, 42 WindingVoltageA chart data t, 16 WindingVoltageB chart data t, 16 WindingVoltageC chart data t, 16 write key ximc.h, 119 XIMC API ximc.h, 95 ximc.h, 62 BORDER IS ENCODER, 82 BORDER STOP LEFT, 82 BORDER STOP RIGHT, 82 BRAKE ENABLED, 82 BRAKE ENG PWROFF, 82 CONTROL MODE BITS, 82 CONTROL MODE JOY, 82 CONTROL MODE LR, 82 CONTROL MODE OFF, 83 CTP ALARM ON ERROR, 83 CTP BASE, 83 CTP ENABLED, 83 close device, 96 command clear fram, 96 command eeread settings, 96 command eesave settings, 96 command home, 96 command left, 97 command loft, 97 command move, 97 command movr, 97 command power off, 97 command read settings, 98 command reset, 98 command right, 98 command save settings, 98 command sstp, 98 command stop, 99 command update firmware, 99 command zero, 99 EEPROM PRECEDENCE, 83 ENC STATE ABSENT, 83 ENC STATE MALFUNC, 83 ENC STATE OK, 83 ENC STATE REVERS, 83 ENC STATE UNKNOWN, 84 ENDER SWAP, 84 ENGINE ACCEL ON, 84 ENGINE ANTIPLAY, 84 ENGINE LIMIT CURR, 84 ENGINE LIMIT RPM, 84 ENGINE LIMIT VOLT, 84 ENGINE MAX SPEED, 84 INDEX ENGINE REVERSE, 84 ENGINE TYPE 2DC, 85 ENGINE TYPE DC, 85 ENGINE TYPE NONE, 85 ENGINE TYPE STEP, 85 ENGINE TYPE TEST, 85 ENUMERATE PROBE, 85 EXTIO SETUP INVERT, 85 EXTIO SETUP OUTPUT, 86 enumerate devices, 99 FEEDBACK EMF, 86 FEEDBACK ENCODER, 86 FEEDBACK ENCODERHALL, 87 FEEDBACK NONE, 87 free enumerate devices, 99 get accessories settings, 100 get analog data, 100 get bootloader version, 100 get brake settings, 100 get chart data, 100 get control settings, 101 get controller name, 101 get ctp settings, 101 get debug read, 101 get device count, 102 get device information, 102 get device name, 102 get edges settings, 102 get encoder information, 103 get encoder settings, 103 get engine settings, 103 get entype settings, 103 get enumerate device information, 104 get enumerate device serial, 104 get extio settings, 104 get feedback settings, 104 get firmware version, 104 get gear information, 105 get gear settings, 105 get hallsensor information, 105 get hallsensor settings, 105 get home settings, 105 get joystick settings, 106 get motor information, 106 get motor settings, 106 get move settings, 106 get pid settings, 107 get position, 107 get power settings, 107 get secure settings, 107 get serial number, 108 get stage information, 108 get stage name, 108 get stage settings, 108 get status, 108 get status calb, 109 get sync in settings, 109 get sync out settings, 109 Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 132 get uart settings, 109 goto firmware, 110 H BRIDGE ALERT, 87 HOME DIR FIRST, 87 HOME DIR SECOND, 87 HOME HALF MV, 87 HOME MV SEC EN, 87 has firmware, 110 JOY REVERSE, 88 LOW UPWR PROTECTION, 88 logging callback stderr narrow, 110 logging callback stderr wide, 110 logging callback t, 95 MICROSTEP MODE FULL, 89 MOVE STATE ANTIPLAY, 89 MOVE STATE MOVING, 89 MVCMD ERROR, 89 MVCMD HOME, 89 MVCMD LEFT, 89 MVCMD LOFT, 89 MVCMD MOVE, 89 MVCMD MOVR, 89 MVCMD NAME BITS, 90 MVCMD RIGHT, 90 MVCMD RUNNING, 90 MVCMD SSTP, 90 MVCMD STOP, 90 MVCMD UKNWN, 90 msec sleep, 110 open device, 111 POWER OFF ENABLED, 90 PWR STATE MAX, 90 PWR STATE NORM, 90 PWR STATE OFF, 90 PWR STATE REDUCT, 91 PWR STATE UNKNOWN, 91 probe device, 111 REV SENS INV, 91 STATE ALARM, 91 STATE BRAKE, 91 STATE BUTTON LEFT, 91 STATE BUTTON RIGHT, 91 STATE CONTR, 91 STATE CTP ERROR, 92 STATE DIG SIGNAL, 92 STATE ENC A, 92 STATE ENC B, 92 STATE ERRC, 92 STATE ERRD, 92 STATE ERRV, 92 STATE GPIO LEVEL, 92 STATE GPIO PINOUT, 92 STATE HALL A, 92 STATE HALL B, 92 STATE HALL C, 93 STATE LEFT EDGE, 93 STATE REV SENSOR, 93 STATE RIGHT EDGE, 93 INDEX STATE SECUR, 93 STATE SYNC INPUT, 93 STATE SYNC OUTPUT, 94 SYNCIN ENABLED, 94 SYNCIN GOTOPOSITION, 94 SYNCIN INVERT, 94 SYNCOUT ENABLED, 94 SYNCOUT IN STEPS, 94 SYNCOUT INVERT, 94 SYNCOUT ONPERIOD, 94 SYNCOUT ONSTART, 94 SYNCOUT ONSTOP, 94 SYNCOUT STATE, 94 service command updf, 111 set accessories settings, 111 set add sync in action, 111 set brake settings, 111 set control settings, 112 set controller name, 112 set ctp settings, 112 set edges settings, 112 set encoder information, 113 set encoder settings, 113 set engine settings, 113 set entype settings, 113 set extio settings, 114 set feedback settings, 114 set gear information, 114 set gear settings, 114 set hallsensor information, 115 set hallsensor settings, 115 set home settings, 115 set joystick settings, 115 set logging callback, 116 set motor information, 116 set motor settings, 116 set move settings, 116 set pid settings, 116 set position, 117 set power settings, 117 set secure settings, 117 set serial number, 117 set stage information, 118 set stage name, 118 set stage settings, 118 set sync in settings, 118 set sync out settings, 119 set uart settings, 119 UART PARITY BITS, 94 WIND A STATE OK, 95 WIND B STATE OK, 95 write key, 119 XIMC API, 95 ximc fix usbser sys, 119 ximc version, 120 ximc fix usbser sys ximc.h, 119 ximc version Generated on Fri Nov 29 2013 01:25:06 for libximc by Doxygen 133 ximc.h, 120
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