Owner's manual

iv Table of Contents
6 Function Library.............................................................. 121
6.1 List of Functions............................................................... 122
6.2 C/C++ Programming Library............................................ 131
6.3 System and Initialization .................................................. 132
6.4 Pulse Input/Output Configuration..................................... 136
6.5 Velocity mode motion....................................................... 139
6.6 Single Axis Position Mode ............................................... 142
6.7 Linear Interpolated Motion ............................................... 146
6.8 Circular Interpolation Motion............................................ 155
6.9 Helical Interpolation Motion.............................................. 162
6.10 Home Return Mode.......................................................... 166
6.11 Manual Pulser Motion ...................................................... 169
6.12 Motion Status................................................................... 172
6.13 Motion Interface I/O ......................................................... 174
6.14 Interrupt Control............................................................... 182
6.15 Position Control and Counters......................................... 186
6.16 Position Compare and Latch............................................ 191
6.17 Continuous motion........................................................... 196
6.18 Multiple Axes Simultaneous Operation............................ 198
6.19 General-Purpose DIO ...................................................... 201
6.20 Soft Limit.......................................................................... 203
6.21 Backlash Compensation / Vibration Suppression............ 205
6.22 Speed Profile Calculation................................................. 207
6.23 Return Code..................................................................... 211
7 Connection Example ...................................................... 213
7.1 General Description of Wiring.......................................... 213
7.2 Terminal Board User Guide ............................................. 213
Warranty Policy ................................................................... 215