8SMC4 USB Programming Manual Eng

8SMC4-USB_Programming_manual_Eng

User Manual:

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Introduction
- About
- System requirements
  - For rebuilding library
  - For using library
How to rebuild library
How to use with...
Data Structure Documentation
File Documentation
- ximc.h File Reference

libximc

2.2.2

Generated by Doxygen 1.8.1.2

Fri Nov 29 2013 01:25:06

Contents

1 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

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

3 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

4 Data Structure Documentation 7

4.1 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 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

4.2 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

4.3 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

4.4 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

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CONTENTS iii

4.4.2.19 L5 ADC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 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

4.5 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

4.6 calibration t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

4.6.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

4.7 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

4.8 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

4.9 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

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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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

4.17.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

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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

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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

4.24.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 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

4.25 get position calb t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

4.25.1 Field Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

4.25.1.1 EncPosition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

4.25.1.2 Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

4.26 get position t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

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

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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

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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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

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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

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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

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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 ................................. 61

5 File Documentation 62

5.1 ximc.h File Reference ......................................... 62

5.1.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

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CONTENTS xii

5.1.2 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

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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

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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

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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

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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

5.1.3 Typedef Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

5.1.3.1 logging callback t . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

5.1.4 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

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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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

5.1.4.53 get position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 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

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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

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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 2

• 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

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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, auto-

conf, 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, doxy-

gen, 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/ma-

cosx, 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.

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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 - ’exam-

ples/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

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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 8

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.

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4.2 add sync in action calb t Struct Reference 9

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.

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4.4 analog data t Struct Reference 10

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

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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

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.

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4.4 analog data t Struct Reference 12

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.

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4.5 brake settings t Struct Reference 13

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.

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4.6 calibration t Struct Reference 14

• 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.

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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

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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.

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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

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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

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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

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4.12 debug read t Struct Reference 20

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.

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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.

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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.

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4.16 encoder information t Struct Reference 23

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).

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4.18 engine settings calb t Struct Reference 24

• 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

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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

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4.19 engine settings t Struct Reference 26

4.18.1.7 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 lim-

itations 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

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4.20 entype settings t Struct Reference 27

4.19.2.2 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.

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4.21 extio settings t Struct Reference 28

4.20.1 Detailed Description

Engine type and driver type settings.

Parameters

id an identiﬁer of device

EngineType engine type

DriverType 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.

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4.22 feedback settings t Struct Reference 29

4.21.2.2 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.

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4.23 gear information t Struct Reference 30

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).

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4.24 gear settings t Struct Reference 31

• 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.

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4.25 get position calb t Struct Reference 32

4.24.2.7 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

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4.27 hallsensor information t Struct Reference 33

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).

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4.29 home settings calb t Struct Reference 34

• 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.

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4.30 home settings t Struct Reference 35

• 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.

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4.31 joystick settings t Struct Reference 36

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.

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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.

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4.32 motor information t Struct Reference 38

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.

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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).

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4.33 motor settings t Struct Reference 40

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.

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4.33 motor settings t Struct Reference 41

4.33.2.9 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.

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4.34 move settings calb t Struct Reference 42

4.33.2.19 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).

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4.35 move settings t Struct Reference 43

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.

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4.36 pid settings t Struct Reference 44

4.35.2.4 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.

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4.37 power settings t Struct Reference 45

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.

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4.38 secure settings t Struct Reference 46

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.

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4.39 serial number t Struct Reference 47

4.38.2.4 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

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4.40 set position calb t Struct Reference 48

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.

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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.

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4.43 stage name t Struct Reference 50

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).

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4.44 stage settings t Struct Reference 51

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.

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4.45 status calb t Struct Reference 52

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.

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4.45 status calb t Struct Reference 53

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.

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4.46 status t Struct Reference 54

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

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4.46 status t Struct Reference 55

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.

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4.46 status t Struct Reference 56

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.

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4.47 sync in settings calb t Struct Reference 57

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.

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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 syn-

chronization. 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 SYNCOU-

T ONPERIOD is set.

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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 SYNCO-

UT 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 SYNCOU-

TONPERIOD 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).

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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 SYNCO-

UT 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.

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4.51 uart settings t Struct Reference 61

• 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.

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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 63

• 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.

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5.1 ximc.h File Reference 64

• 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.

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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

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5.1 ximc.h File Reference 66

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.

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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).

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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

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5.1 ximc.h File Reference 69

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

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5.1 ximc.h File Reference 70

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.

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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.

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• #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.

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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

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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.

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• #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

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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.

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•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 settings-

calb, 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)

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•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 manage-

ment 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.

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•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.

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•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, const encoder information t ∗encoder -

information)

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 get hallsensor information (device t id, hallsensor information t ∗hallsensor -

information)

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.

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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.

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5.1 ximc.h File Reference 82

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.

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5.1 ximc.h File Reference 83

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.

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5.1 ximc.h File Reference 84

5.1.2.24 #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.

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5.1 ximc.h File Reference 85

5.1.2.35 #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.

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5.1 ximc.h File Reference 86

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.

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5.1 ximc.h File Reference 87

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.

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5.1 ximc.h File Reference 88

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.

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5.1 ximc.h File Reference 89

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.

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5.1 ximc.h File Reference 90

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.

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5.1 ximc.h File Reference 91

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.

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5.1 ximc.h File Reference 92

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.

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5.1 ximc.h File Reference 93

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.

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5.1 ximc.h File Reference 94

5.1.2.142 #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.

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5.1 ximc.h File Reference 95

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 a loglevel

message a message

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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 HOM-

E 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

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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, re-

tention), 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 position to move. Range: -2147483647..2147483647.

uPosition part of the position to move, microsteps. Range: -255..255.

id 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 shift from initial position. Range: -2147483647..2147483647.

uDeltaPosition part of the offset shift, microsteps. Range: -255..255.

id an identiﬁer of device

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5.1.4.10 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 an identiﬁer of device

5.1.4.12 result t XIMC API command reset ( device t id )

Reset controller.

Can be used by manufacturer only

Parameters

id an identiﬁer of device

5.1.4.13 result t XIMC API command right ( device t id )

Start continous moving to the right.

Parameters

id an identiﬁer of device

5.1.4.14 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

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5.1.4.15 result t XIMC API command sstp ( device t id )

soft stop engine.

The motor stops with deceleration speed.

Parameters

id an identiﬁer of device

5.1.4.16 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 an identiﬁer of device

5.1.4.17 result t XIMC API command update ﬁrmware ( const char ∗name, const uint8 t ∗data,

uint32 t data size )

Update ﬁrmware.

Service command

Parameters

name a name of device

data ﬁrmware byte stream

data size size of byte stream

5.1.4.18 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 an identiﬁer of device

5.1.4.19 device enumeration t XIMC API enumerate devices ( int probe ﬂags )

Enumerate all devices that looks like valid.

Parameters

in probe ﬂags enumerate devices ﬂags

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5.1.4.20 result t XIMC API free enumerate devices ( device enumeration t device enumeration )

Free memory returned by enumerate devices.

Parameters

in device -

enumeration

opaque pointer to an enumeration device data

5.1.4.21 result t XIMC API get accessories settings ( device t id, accessories settings t ∗

accessories settings )

Read additional accessories information from EEPROM.

Parameters

id an identiﬁer of device

out accessories -

settings

structure contains information about additional accessories

5.1.4.22 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 an identiﬁer of device

out analog data analog data coefﬁcients

5.1.4.23 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 an identiﬁer of device

out Major major version

out Minor minor version

out Release release version

5.1.4.24 result t XIMC API get brake settings ( device t id, brake settings t ∗brake settings )

Read settings of brake control.

Parameters

id an identiﬁer of device

out brake settings structure contains settings of brake control

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5.1.4.25 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 an identiﬁer of device

out chart data structure with snapshot of controller parameters.

5.1.4.26 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 an identiﬁer of device

out control settings structure contains settings motor control by joystick or buttons left/right.

5.1.4.27 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 an identiﬁer of device

out controller name structure contains previously set user controller name

5.1.4.28 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

id an identiﬁer of device

out ctp settings structure contains settings of control position

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5.1.4.29 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 an identiﬁer of device

out DebugData[128] Debug data.

5.1.4.30 int XIMC API get device count ( device enumeration t device enumeration )

Get device count.

Parameters

in device -

enumeration

opaque pointer to an enumeration device data

5.1.4.31 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 an identiﬁer of device

out device -

information

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 device -

enumeration

opaque pointer to an enumeration device data

in device index device index

5.1.4.33 result t XIMC API get edges settings ( device t id, edges settings t ∗edges settings )

Read border and limit switches settings.

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See Also

set edges settings

Parameters

id an identiﬁer of device

out edges settings edges settings, specify types of borders, motor behaviour and electrical be-

haviour of limit switches

5.1.4.34 result t XIMC API get encoder information ( device t id, encoder information t ∗

encoder information )

Read encoder information from EEPROM.

Parameters

id an identiﬁer of device

out encoder -

information

structure contains information about encoder

5.1.4.35 result t XIMC API get encoder settings ( device t id, encoder settings t ∗encoder settings )

Read encoder settings from EEPROM.

Parameters

id an identiﬁer of device

out encoder settings structure contains encoder settings

5.1.4.36 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 an identiﬁer of device

out engine settings engine settings

5.1.4.37 result t XIMC API get entype settings ( device t id, entype settings t ∗entype settings )

Return engine type and driver type.

Parameters

id an identiﬁer of device

out EngineType engine type

out DriverType driver type

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5.1.4.38 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 device -

enumeration

opaque pointer to an enumeration device data

in device index device index

out device -

information

device information data

5.1.4.39 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 device -

enumeration

opaque pointer to an enumeration device data

in device index device index

out serial device serial number

5.1.4.40 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 an identiﬁer of device

out extio settings EXTIO settings

5.1.4.41 result t XIMC API get feedback settings ( device t id, feedback settings t ∗feedback settings )

Read feedback settings.

Parameters

id an identiﬁer of device

out IPS number of encoder pulses per shaft revolution. Range: 1..65535

out FeedbackType type of feedback

out FeedbackFlags ﬂags of feedback

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5.1.4.42 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 an identiﬁer of device

out Major major version

out Minor minor version

out Release release version

5.1.4.43 result t XIMC API get gear information ( device t id, gear information t ∗gear information )

Read gear information from EEPROM.

Parameters

id an identiﬁer of device

out gear information structure contains information about step gearhead

5.1.4.44 result t XIMC API get gear settings ( device t id, gear settings t ∗gear settings )

Read gear settings from EEPROM.

Parameters

id an identiﬁer of device

out gear settings structure contains step gearhead settings

5.1.4.45 result t XIMC API get hallsensor information ( device t id, hallsensor information t ∗

hallsensor information )

Read hall sensor information from EEPROM.

Parameters

id an identiﬁer of device

out hallsensor -

information

structure contains information about hall sensor

5.1.4.46 result t XIMC API get hallsensor settings ( device t id, hallsensor settings t ∗hallsensor settings

)

Read hall sensor settings from EEPROM.

Parameters

id an identiﬁer of device

out hallsensor -

settings

structure contains hall sensor settings

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5.1.4.47 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 an identiﬁer of device

out home settings calibrating position settings

5.1.4.48 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 an identiﬁer of device

out joystick settings structure contains joystick settings

5.1.4.49 result t XIMC API get motor information ( device t id, motor information t ∗motor information

)

Read motor information from EEPROM.

Parameters

id an identiﬁer of device

out motor -

information

structure contains motor information

5.1.4.50 result t XIMC API get motor settings ( device t id, motor settings t ∗motor settings )

Read motor settings from EEPROM.

Parameters

id an identiﬁer of device

out motor settings structure contains motor settings

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5.1.4.51 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 an identiﬁer of device

out move settings structure contains move settings: speed, acceleration, deceleration etc.

5.1.4.52 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 an identiﬁer of device

out pid settings pid settings

5.1.4.53 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 an identiﬁer of device

out position structure contains move settings: speed, acceleration, deceleration etc.

5.1.4.54 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 an identiﬁer of device

out power settings structure contains settings of step motor power control

5.1.4.55 result t XIMC API get secure settings ( device t id, secure settings t ∗secure settings )

Read protection settings.

Parameters

id an identiﬁer of device

out secure settings critical parameter settings to protect the hardware

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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 an identiﬁer of device

out serial serial number

5.1.4.57 result t XIMC API get stage information ( device t id, stage information t ∗stage information )

Read stage information from EEPROM.

Parameters

id an identiﬁer of device

out stage -

information

structure contains stage information

5.1.4.58 result t XIMC API get stage name ( device t id, stage name t ∗stage name )

Read user stage name from EEPROM.

Parameters

id an identiﬁer of device

out stage name structure contains previously set user stage name

5.1.4.59 result t XIMC API get stage settings ( device t id, stage settings t ∗stage settings )

Read stage settings from EEPROM.

Parameters

id an identiﬁer of device

out stage settings structure contains stage settings

5.1.4.60 result t XIMC API get status ( device t id, status t ∗status )

Return device state.

Parameters

id an identiﬁer of device

out status structure with snapshot of controller status Device state. Useful structure that

contains current controller status, including speed, position and boolean ﬂags.

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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 an identiﬁer of device

out sync in settings synchronization settings

5.1.4.63 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 be-

haviour of output synchronization. All boards are supplied with standart set of these settings.

See Also

set sync out settings

Parameters

id an identiﬁer of device

out sync out -

settings

synchronization settings

5.1.4.64 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.

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See Also

uart settings t

Parameters

Speed UART speed

out uart settings UART settings

5.1.4.65 result t XIMC API goto ﬁrmware ( device t id, uint8 t ∗ret )

Reboot to ﬁrmware.

Parameters

id an identiﬁer of device

out ret 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 ALR-

EADY IN FIRMWARE, if this command was sent when controller is already in

ﬁrmware.

5.1.4.66 result t XIMC API has ﬁrmware ( const char ∗name, uint8 t ∗ret )

Check for ﬁrmware on device.

Parameters

name a name of device

out ret non-zero if ﬁrmware existed

5.1.4.67 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 a loglevel

message a message

5.1.4.68 void XIMC API logging callback stderr wide ( int loglevel, const wchar t ∗message )

Simple callback for logging to stderr in wide chars.

Parameters

loglevel a loglevel

message a message

5.1.4.69 void XIMC API msec sleep ( unsigned int msec )

Sleeps for a speciﬁed amount of time.

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Parameters

msec time in milliseconds

5.1.4.70 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 name - a device name - e.g. COM3 or /dev/tty.s123

5.1.4.71 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 name - a device name

5.1.4.72 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 con-

troller.

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 an identiﬁer of device

in accessories -

settings

structure contains information about additional accessories

5.1.4.74 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

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5.1.4.75 result t XIMC API set brake settings ( device t id, const brake settings t ∗brake settings )

Set settings of brake control.

Parameters

id an identiﬁer of device

in brake settings structure contains settings of brake control

5.1.4.76 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 an identiﬁer of device

in control settings structure contains settings motor control by joystick or buttons left/right.

5.1.4.77 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 an identiﬁer of device

in controller name structure contains previously set user controller name

5.1.4.78 result t XIMC API set ctp settings ( device t id, const ctp settings t ∗ctp settings )