About us   Products   Support   Applications   News   Partnership   Reps(USA)   Home  
 
Hardware
 
  •  
    		•  Operator Terminals
     
  •  
    		•  Motion Controllers
     
  •  
    		•  Smart Servo Drives
     
  •  
    		•  AC Servo Drives
     
  •  
    		•  Servo Motors
     
  •  
    		•  DD Motors & Drives
     
  •  
    		•  I/O Modules
     
  •  
    		•  Accessories
     
  •  
    		•  Linear Actuators
     
  •  
    		•  Gearboxes
     
  •  
    		•  Marking Equipment
    Software
     
  •  
    		•  Languages
     
  •  
    		•  Programming Tools
     
  •  
    		•  Communication
     
  •  
    		•  PC-based Control
        Direct Interface
        Host Interface
     
  •  
    		•  Graphic Interface
    Integrated Systems
     
  •  
    		•  Stepper System
     
  •  
    		•  Servo System
     
  •  
    		•  Vision System
    Custom Engineering
     
  •  
    		•  Products
    Robotic Systems
     
  •  
    		•  Products
    		 
     Direct Interface
     
  •  
    		•  1. Introduction
     
  •  
    		•  2. API Index
     
  •  
    		•  3. API Description
  •  
    		•  4. API Calling Procedure from VB
  •  
    		•  5. API Calling Procedure from VC++
         
     
  •  
    		• 1. Introduction
        DYNAX intelligent servo drive Atom-SRA series offers great flexibility to allow easy interface with either digital switches, PLC, handheld terminal (Fics-RT1), Fics-series controllers, or PC serial RS232C port for advanced motion control. The following API are provided for the control of Atom-SRA from PC RS232C port using Visual Basic or Visual C/C++. With these API, it is easy to perform PTP control, index 256 points of pre-set relative positions and 8 points of absolute positions, read/set drive status and I/O info, set speed and control parameters of Atom-SRA etc.

    Since RS-232C is basically one-to-one communication, multi RS-232C ports are necessary for communication with multi servo drives.
       
         
     
  •  
    		•  2. API Index
       
    API name Descriptions
    AtomInit Hand shake to begin RS232C communication
    OpenCom Open RS232C communication port
    CloseCom Close RS232C communication port
    SetWriteTimeout Set time out for writing data to RS232C
    SetReadTimeout Set time out for reading data from RS232C
    ST Read drive status (Alarm, Servo Ready, Ready, PTP stop, etc)
    SV Turn servo ON/OFF
    XY Read the current axis position
    GP Specify relative/absolute indexing point group
    PD Set point number a specified coordinate data
    PI Set the current axis position to a specified point number
    P1 Select speeds for JOG, PTP, homing, and acceleration/deceleration time
    P2 Set control parameters such as need homing or not, speed profile, auto servo ON, emergency stop mode etc.
    PS Set speed parameters
    PR Read speed parameters
    SS Set PTP speed to "Fast" or "low"
    VS Set value of lead of screw
    VR Read values of encoder pulse and lead of screw
    SW Read the status of sensor and switches
    JG JOG operation
    OGR Homing
    MR PTP control in relative coordinates
    MA PTP control in absolute coordinates
    PT PTP by specifying point number
    SP PTP stop
    EM Emergency stop
    ER Error reset
    DI Read DI
    DOUT Write to DO
    MB PTP control in absolute coordinates with DI stop function
    MS PTP control in relative coordinates with DI stop function

    Important Notices:
    • To develop application programs using Visual Basic, it is necessary to import the standard module "include.bas" into your VB project.
    • "Dim Command As String" and "Dim CurrentValue As String * 256" should be declared in your applications. For details, refer to the sample program in the VBsample directory.
         
     
  •  
    		•  3. API Description
        BOOL _stdcall AtomInit(int iCom);
      Inputs iCom: RS-232C Com port number (1,2, ...)
      Outputs None
      Descriptions Hand-shake for RS232C communication. On success, return "True". Otherwise, return "False".
    BOOL _stdcall OpenCom(int nPort);
      Inputs nPort: RS232C Com port number (Ex. 1 for Com1)
      Outputs None
      Descriptions Open  RS232C communication port. On success, return "True". Otherwise, return "False".
    void _stdcall CloseCom(int iCom);
      Inputs iCom: RS-232C Com port number (1,2, ...)
      Outputs None
      Descriptions Close RS232C communication port. On success, return "True". Otherwise, return "False".
    void _stdcall SetWriteTimeout(int iCom, int TimeOut);
      Inputs iCom: RS-232C Com port number (1,2, ...)

      TimeOut: time out value in seconds.
      Outputs None
      Descriptions Set the time out value. If PC does not get any reply from Fics-III by the time set here, terminate the current application.
    void _stdcall SetReadTimeout(int iCom, int TimeOut);
      Inputs iCom: RS-232C Com port number (1,2, ...)

      TimeOut: time our value in seconds
      Outputs None
      Descriptions Set the time-out value for reading information from Fics-III. If there is not any reply from Fics-III by the time set here stop the execution of the current program.
    BOOL _stdcall ST(int iCom, char *CurrentValue);
      Inputs iCom: RS-232C Com port number (1,2, ...)
      Outputs A string containing 2-byte Atom-SRA status data (for the meaning of each bit, see the following table)
      Descriptions Read the status of Atom-SRA drive
      Atom-SRA Status:
      First Byte 7 6 5 4 3 2 1 0
        1(fixed)   Alarm   Servo Ready Ready PTP Stop in Stop
      Second Byte 7 6 5 4 3 2 1 0
        1(fixed) Error Code
      Status Name 1 0
      Alarm Alarm is ON Alarm is OFF
      Servo Ready Servo is ready Servo is not ready
      Ready Ready to start movement (homing is completed) Not ready to start movement
      PTP Stop PTP is stopped by DI input during MB and MS commands, or emergency stop The previous PTP is completed successfully
      in Stop Motor is not moving Motor is moving
      Error Code:
      Error Code (hex) Descriptions
      08 Something is wrong with encoder
      10 Servo OFF
      11 Emergency stop
      12 Over-run
      13 PTP time-out
      14 Homing is not completed
      18 Error occurred during homing
      20 Output is abnormal
      22 Over-load is detected
      24 Over-voltage is detected
      28 Over-current is detected
      30 Parameter checksum error
      32 Point data checksum error
    BOOL _stdcall SV(int iCom, char *n, char *CurrentValue);
      Inputs iCom: RS-232C Com port number (1,2, ...). 

      n: "0" = OFF, "1" = ON
      Outputs CurrentValue: Error message, A2 = success,
      Descriptions Turn servo ON/OFF. If command is successful, return "True". Otherwise, return "False".
    BOOL _stdcall XY(int iCom, char * CurrentValue);
      Inputs iCom: RS-232C Com port number (1,2, ...).
      Outputs CurrentValue: Current position expressed by pulse number Ex.) "5000" means the current position is at a half turn if one rotation corresponds to 10000 pulses
      Descriptions Read the current position of the motor. If command is successful, return "True". Otherwise, return "False".
    BOOL _stdcall GP(int iCom, char* n, char * CurrentValue);
      Inputs iCom: RS-232C Com port number (1,2, ...).

      n: "0" = selecting relative point group, "1" = selecting absolute point group
      Outputs CurrentValue: Error message, "A2" = Command success
      Descriptions Select relative/absolute points of group for indexing. There are 256 points of relative position and 8 points of absolute position on default. If command is successful, return "True". Otherwise, return "False".
    BOOL _stdcall PD(int iCom, char* PointData, char * CurrentValue);
      Inputs iCom: RS-232C Com port number (1,2, ...).

      PointData: "nnn = xxxxxxx" where "nnn" represents point number (1-256) "xxxxxxxx" represents the point data to be set (in pulse unit) Ex.) "4=10000" sets point no.4 to 10000 pulses
      Outputs CurrentValue: Error message, "A2" = Command success
      Descriptions Set points data to a specified point number. If command is successful, return "True". Otherwise, return "False".
    BOOL _stdcall PI(int iCom, char *PointNum, char * CurrentValue);
      Inputs iCom: RS-232C Com port number (1,2, ...).

      PointNum: "nnn" where "nnn" represents point number (1-256).
      Outputs CurrentValue: Error message, "A2" = Command success
      Descriptions Set the current position to point "nnn". If command is successful, return "True". Otherwise, return "False".
    BOOL _stdcall P1(int iCom, char *Num, char * CurrentValue);
      Inputs iCom: RS-232C Com port number (1,2, ...).

      Num: "mn" where "mn" represents parameter number given in the following table. Ex.) To set homing speed as 120(rpm), "mn" should be chosen as "50" because JOG speed is located on row 5 and 120(rpm) is located on column 0 in the parameter table.
      Outputs CurrentValue: Error message, "A2" = Command success
      Descriptions Select speed parameters. On success, return "True". Otherwise, return "False".
      Parameter Table:
      m n (the default values are marked with color)
      0 1 2 3 4 5
      1 500 1000 2000 3000 4000 5000
      2 500 1000 2000 3000 250 100
      3 240 360 480      
      4 120 180 240      
      5 120 180 240      
      6 50 100 200 300 400 250
      7 50 100 200 300 400 250
    BOOL _stdcall P2(int iCom, char *mn, char * CurrentValue);
      Inputs iCom: RS-232C Com port number (1,2, ...).

      Num: "mn" where "mn" represents the control parameter number given in the following table. Ex.) To set Automatic Servo ON, "mn" should be chosen as "81" because this parameter is located on row 8 and column 1 in the following control parameter table.
      Outputs CurrentValue: Error message, "A2" = Command success
      Descriptions Select control parameters. On success, return "True". Otherwise, return "False".
      Control Parameter Table
      m n (the default values are marked with color)
        0 1
      1 Invertion of the logic state of digital inputs Pattern 1 Pattern 2
      2 Speed Profile S-Curve Trapezoidal
      3 Homing Direction - +
      4 Moving Direction + -
      5 NEED/NEEDLESS of Homing NEED NEEDLESS
      6 JOG Pitch 1 10
      7 Communication Speed 9600 4800
      8 Automatic Servo ON OFF ON
      9 Emergency Stop Mode Motor Free Decelerating to stop
      A Use Z-phase of Encoder for Homing No Yes
    BOOL _stdcall PS(int iCom, char* Data, char * CurrentValue);
      Inputs iCom: RS-232C Com port number (1,2, ...).

      Data: "nn=mmmm" where "nn" represents the speed parameter number given in the speed parameter table. "mmmm" can be any speed value which over-writes the speed value in the speed parameter table. Ex.) To set Homing speed as 190 (rpm), "nn" should be chosen as "51=190"
      Outputs CurrentValue: Error message, "A2" = Command success
      Descriptions Change speed values. If command is successful, return "True". Otherwise, return "False".
    BOOL _stdcall PR(int iCom, char* nn, char * CurrentValue);
      Inputs iCom: RS-232C Com port number (1,2, ...).

      nn:  "nn" represents the speed parameter number given in the speed parameter table.
      Outputs CurrentValue: On success, return the speed parameter value set in the speed parameter table. On failure, return error message.
      Descriptions Read speed values. If command is successful, return "True". Otherwise, return "False".
    BOOL _stdcall SS(int iCom, char *s, char * CurrentValue);
      Inputs iCom: RS-232C Com port number (1,2, ...).

      s:  "F" or "S" .  
      Outputs CurrentValue: return "A2" on success. Return error message on failure.
      Descriptions Select to use high speed ("F") or low speed ("S") in the subsequent PTP commands. If command is successful, return "True". Otherwise, return "False".
    BOOL _stdcall VS(int iCom, char *Data, char *CurrentValue);
      Inputs iCom: RS-232C Com port number (1,2, ...).

      Data:  "L=xxxxxxx" .   Ex.) If the lead of screw is 5mm, data should be set as "L=5000". If the lead of screw is 20mm, set data as "L=20000".
      Outputs CurrentValue: return "A2" on success. Return error message on failure.
      Descriptions Set the lead of screw. If command is successful, return "True". Otherwise, return "False".
    BOOL _stdcall VR(int iCom, char* n, char * CurrentValue);
      Inputs iCom: RS-232C Com port number (1,2, ...).

      n:  "L" or "E".   n="L" reads the lead of screw; n="E" reads the encoder pulse per rotation.
      Outputs CurrentValue: contains the read data on success, or error message on failure.
      Descriptions Read the lead of screw. If command is successful, the function returns "True". Otherwise, return "False".
    BOOL _stdcall SW(int iCom, char * CurrentValue);
      Inputs iCom: RS-232C Com port number (1,2, ...)
      Outputs CurrentValue: return the read data on success; return error message on failure. Ex.) CurrentValue = "000100000100" means Servo ON and +Over-run ON.
      Descriptions Read the status of over-run, homing, emergency stop sensors, and I/O switches. Sensor/Switch ON is represented by "1", and OFF by "0". The meaning of each bit is listed below. On success, return "True". Otherwise, return "False".
      The meaning of each input bit:
      0 Emergency Stop
      1 Start
      2 Servo ON
      3 Reset
      4 Set Speed
      5 Point Input
      6 + Moving Direction
      7 - Moving Direction
      8 + Over-run
      9 - Over-run
      10 ORG (homing sensor)
      11  
    BOOL _stdcall JG(int iCom, char *n, char * CurrentValue);
      Inputs iCom: RS-232C Com port number (1,2, ...).

      n:
       "+" = start JOG in the plus direction;
      "-" = start JOG in the minus direction;
      "0" = stop JOG.  
      Outputs CurrentValue: "A2" on success; error message on failure.
      Descriptions Start/Stop JOG move in +/- direction. If Atom-SRA does not receive this signal for more 0.5 seconds, JOG stops. If command is successful, return "True". Otherwise return "False".
    BOOL _stdcall OGR(int iCom, char * CurrentValue);
      Inputs iCom: RS-232C Com port number (1,2, ...).
      Outputs CurrentValue: "A2" on success; error message on failure.
      Descriptions Perform homing. To check whether homing has been completed successfully, execute ST command. If both "in stop" and "ready" bits are ON, homing was successful. 
    BOOL _stdcall MR(int iCom, char *Data, char * CurrentValue);
      Inputs iCom: RS-232C Com port number (1,2, ...).

      Data: "xxxxxxx"
      target position expressed in pulse unit.
      Ex.) Data = "5000" specifies the target position for PTP as 5000 pulses
      Outputs CurrentValue: "A2" on success; error message on failure.
      Descriptions Perform PTP move in relative coordinates. The PTP speed is specified by the speed parameter in P1 command. The completion of PTP can be checked by reading the status (ST command).
    BOOL _stdcall MA(int iCom, char *Data, char * CurrentValue);
      Inputs iCom: RS-232C Com port number (1,2, ...)

      Data: "xxxxxxx"
      target position  in pulse unit.
      Ex.) Data = "5000" specifies the target position for PTP as 5000 pulses
      Outputs CurrentValue: "A2" on success; error message on failure.
      Descriptions Perform PTP in absolute coordinates. The PTP speed is specified by the speed parameter in P1 command. The completion of PTP can be checked by reading the status (ST command).
    BOOL _stdcall PT(int iCom, char* nnn, char * CurrentValue);
      Inputs iCom: RS-232C Com port number (1,2, ...).

      nnn: Point number (1-256)
      Ex.) nnn = "4" moves to the position specified by the point No.4.
      Outputs CurrentValue: "A2" on success; error message on failure.
      Descriptions Perform PTP specified by point number. If command is successful, return "True". Otherwise, return "False".
    BOOL _stdcall SP(int iCom, char * CurrentValue);
      Inputs iCom: RS-232C Com port number (1,2, ...)
      Outputs CurrentValue: "A2" on success; error message on failure.
      Descriptions Decelerate and stop PTP movement. If command is successful, return "True". Otherwise, return "False".
    BOOL _stdcall EM(int iCom, char * CurrentValue);
      Inputs iCom: RS-232C Com port number (1,2, ...)
      Outputs CurrentValue: "A2" on success; error message on failure.
      Descriptions If the "Emergency Stop Mode" is selected as "Motor Free" in the control parameter table, the excution of this command makes motor free immediately and sets "Alarm" as ON. Otherwise, decelerates to stop.
    BOOL _stdcall ER(int iCom, char * CurrentValue);
      Inputs iCom: RS-232C Com port number (1,2, ...).
      Outputs CurrentValue: "A2" on success; error message on failure.
      Descriptions Reset errors. On success, return "True". Otherwise, return "False".
    BOOL _stdcall DI(int iCom, char * CurrentValue);
      Inputs iCom: RS-232C Com port number (1,2, ...).
      Outputs CurrentValue: 8 bits DI status expressed in a string with "0" or "1".
      "1" means ON, "0" means OFF.
      The MSB corresponds to DI08 and LSB corresponds to DI01.
      Ex.) CurrentValue = "00000101" means DI01 and DI03 are ON; others are OFF.
      Descriptions The 8 bits DI (DI01-08) can be used as general sensor inputs. Use this command to read the status of these DI.
    BOOL _stdcall DOUT(int iCom, char* nn, char* CurrentValue);
      Inputs iCom: RS-232C Com port number (1,2, ...).

      nn:
      "11" sets DO01 to 1
      "10" sets DO01 to 0
      "21" sets DO02 to 1
      "20" sets DO02 to 0
      Outputs CurrentValue: 8 bits DI status expressed in a string with "0" or "1".
      "1" means ON, "0" means OFF.
      The MSB corresponds to DI08 and LSB corresponds to DI01.
      Ex.) CurrentValue = "00000101" means DI01 and DI03 are ON; others are OFF.
      Descriptions The "ready (DO01)" and "in Stop (DO02)" of Atom-SRA can be used as general digital outputs. Use this command to set the status of these outputs.
    BOOL _stdcall MB(int iCom, char* Data, char *Bit, char *CurrentValue);
      Inputs iCom: RS-232C Com port number (1,2, ...).

      Data: "xxxxxxx"
      xxxxxxx: target position in pulse unit.
      Bit: Bit number ("1"-"8")
      Ex.) Data = "5000", Bit="2" specify the target position for PTP as 5000 pulses and DI bit as 2.
      Outputs CurrentValue: "A2" on success; error message on failure.
      Descriptions Perform PTP move in absolute coordinates; the movement can be stopped by the specified DI bit "i".
    BOOL _stdcall MS(int iCom, char* Data, char *Bit, char *CurrentValue);
      Inputs iCom: RS-232C Com port number (1,2, ...)

      Data: "xxxxxxx"
      xxxxxxx: target position in pulse unit.
      Bit: Bit number ("1"-"8")
      Ex.) Data = "5000", Bit="2" specify the target position for PTP as 5000 pulses and DI bit as 2.
      Outputs CurrentValue: "A2" on success; error message on failure.
      Descriptions Perform PTP in relative coordinates; the movement can be stopped by the specified DI bit "i".
     
  •  
    		• 4. API Calling Procedure from VB
            To develop application programs using Visual Basic, it is necessary to import the standard module "include.bas" into your VB project.

        "Dim Command As String" and "Dim CurrentValue As String * 256" should be declared in your applications. For details, refer to the sample program in the VBsample directory.

        The "atom232_m.dll" file must be placed  in the same directory as your application executable file in order to run your application programs.

        In your application programs, the API functions should be called in the following procedure:

    Step1. Call "OpenCom" to open a RS-232C port for communication. Check whether the command is successfully executed.

    Step 2. Call "AtomInit" to  initialize servo drive in order to start communication. This function call is only needed one time after communication  port is opened. If an error occurs, the drive may not be ready (for instance, power is not ON, or servo is not ready).

    Step 3. Call "XY", "MA", and other functions to perform required motion. Notice that the distance to move should be represented in terms of number of pulses. For instance, if the encoder on motor generates 10000 pulses per revolution, then 10000 pulses should be specified in order to generate one rotation of motor.

    Step 4. Call "CloseCom" before exit.

     
     
  •  
    		• 5. API Calling Procedure from VC++
       To develop application programs using Visual C++, it is necessary to include "atom232_m.lib" and "atom232_m.h" in your application project.

        The "atom232_m.dll" file must be placed  in the same directory as your application executable file in order to run your application programs.

        In your application programs, the API functions should be called in the following procedure:

    Step1. Call "OpenCom" to open a RS-232C port for communication. Check whether the command is successfully executed.

    Step 2. Call "AtomInit" to  initialize servo drive in order to start communication. This function call is only needed one time after communication  port is opened. If an error occurs, the drive may not be ready (for instance, power is not ON, or servo is not ready).

    Step 3. Call "XY", "MA", and other functions to perform required motion. Notice that the distance to move should be represented in terms of number of pulses. For instance, if the encoder on motor generates 10000 pulses per revolution, then 10000 pulses should be specified in order to generate one rotation of motor.

    Step 4. Call "CloseCom" before exit.