Python 13. Extended Axis

Prototype

AuxServoSetParam(servoId,servoCompany,servoModel,servoSoftVersion, servoResolution,axisMechTransRatio)

Description

Setting the 485 extended axis parameters

Mandatory parameters

• servoId: servo drive ID, range [1-15], corresponds to slave ID;

• servoCompany: servo drive manufacturer, 1 - Dynatec;

• servoModel: Servo drive model, 1-FD100-750C;

• servoSoftVersion: servo drive software version, 1-V1.0;

• servoResolution: encoder resolution;

• axisMechTransRatio: mechanical transmission ratio;

Default parameters

NULL

Return Value

Error Code Success-0 Failure- errcode

Prototype

AuxServoGetParam(servoId)

Description

Get 485 extended axis configuration parameters

Mandatory parameters

• servoId: servo drive ID, range [1-15], corresponding to slave ID;

Default parameters

NULL

Return Value

• errorcode Success-0 Failure- errcode.

• servoCompany: servo drive manufacturer, 1 - Dynatec;

• servoModel: servo drive model, 1-FD100-750C;

• servoSoftVersion: servo drive software version, 1-V1.0;

• servoResolution: encoder resolution;

• axisMechTransRatio: mechanical transmission ratio;

Prototype

AuxServoEnable(servoId,status)

Description

Setting the 485 extension axis to enable/de-enable

Mandatory parameters

• servoId: servo drive ID, range [1-15], corresponds to slave ID;

• status: enabling status, 0-de-enabling, 1-enabling;

Default parameters

NULL

Return Value

Error Code Success-0 Failure- errcode

Prototype

AuxServoSetControlMode(servoId,mode)

Description

Setting the 485 Extended Axis Control Mode

Mandatory parameters

• servoId: servo drive ID, range [1-15], corresponds to slave ID;

• mode: control mode, 0-position mode, 1-velocity mode;

Default parameters

NULL

Return Value

Error Code Success-0 Failure- errcode

Prototype

AuxServoSetTargetPos(servoId,pos,speed)

Description

Setting the 485 extended axis target position (position mode)

Mandatory parameters

• servoId: servo drive ID, range [1-15], corresponds to slave ID;

• pos: target position, mm or °;

• speed: target speed, mm/s or °/s;

Default parameters

NULL

Return Value

Error Code Success-0 Failure- errcode

prototype

AuxServoSetTargetTorque(servoId,torque)

Description

Setting the 485 extended axis target torque (torque mode)

Mandatory parameters

• servoId: servo drive ID, range [1-15], corresponds to slave ID;

• torque: target moment, Nm;

Default parameters

NULL

Return Value

Error Code Success-0 Failure- errcode

Prototype

AuxServoHoming(servoId,mode,searchVel,latchVel)

Description

Setting the 485 extension axis back to zero

Mandatory parameters

• servoId: servo drive ID, range [1-15], corresponds to slave ID;

• mode: return to zero mode, 1 - return to zero at current position; 2 - return to zero at negative limit; 3 - return to zero at positive limit.

• searchVel: return-to-zero velocity, mm/s or °/s.

• latchVel: hoop speed, mm/s or °/s;

Default parameters

NULL

Return Value

Error Code Success-0 Failure- errcode

Prototype

AuxServoClearError(servoId)

Description

Clearing 485 Extended Axis Error Message

Mandatory parameters

• servoId: servo drive ID, range [1-15], corresponding to slave ID;

Default parameters

NULL

Return Value

Error Code Success-0 Failure- errcode

prototype

AuxServoGetStatus(servoId)

Description

Get 485 extended axis servo status

Mandatory parameters

• servoId: servo drive ID, range [1-15], corresponding to slave ID;

Default parameters

NULL

Return Value

• errorcode Success-0 Failure- errcode.

• servoErrCode: servo drive error code

• servoState: servo drive state bit0:0-not enabled; 1-enabled; bit1:0-not in motion; 1-being in motion; bit2 0-positive limit not triggered; 1-positive limit triggered; bit3 0-negative limit not triggered; 1-negative limit triggered; bit4 0-positioning not completed; 1-positioning complete; bit5: 0-not zero return; 1 -zero return complete;

• servoPos: servo current position mm or °;

• servoSpeed: servo current speed mm/s or °/s;

• servoTorque: servo current torque Nm;

Prototype

AuxServoSetTargetSpeed(servoId,speed)

Description

Setting the 485 extended axis target speed (velocity mode)

Mandatory parameters

• servoId: servo drive ID, range [1-15], corresponds to slave ID;

• speed: target speed, mm/s or °/s;

Default parameters

NULL

Return Value

Error Code Success-0 Failure- errcode

Prototype

AuxServosetStatusID(servoId)

Description

Sets the 485 extended axis data axis number in status feedback

Mandatory parameters

• servoId: servo drive ID, range [1-15], corresponding to slave ID;

Default parameters

NULL

Return Value

Error Code Success-0 Failure- errcode

Prototype

AuxServoSetAcc(acc, dec)

Description

Sets the 485 extended axis motion acceleration and deceleration speeds.

Mandatory parameters

• acc: 485 extended axis motion acceleration

• dec: 485 extended axis motion deceleration

Default parameters

NULL

Return Value

Error Code Success-0 Failure- errcode

Prototype

AuxServoSetEmergencyStopAcc(acc, dec)

Description

Setting the 485 extended axis emergency stop acceleration and deceleration speed

Mandatory parameters

• acc: 485 extended axis emergency stop acceleration

• dec: 485 extended axis emergency stop deceleration

Default parameters

NULL

Return Value

Error Code Success-0 Failure- errcode

Prototype

AuxServoGetAcc()

Description

Get 485 extended axis motion plus or minus velocity

Mandatory parameters

NULL

Default parameters

NULL

Return Value

• errorcode Success-0 Failure- errcode

• acc: 485 extended axis motion acceleration

• dec: 485 extended axis motion deceleration

Prototype

AuxServoGetEmergencyStopAcc()

Description

Get 485 extended axis emergency stop acceleration and deceleration speed

Mandatory parameters

NULL

Default parameters

NULL

Return Value

• errorcode Success-0 Failure- errcode

• acc: 485 extended axis emergency stop acceleration

• dec: 485 extended axis emergency stop deceleration