S Pii Plus+C+Library+Programmer+Guide

S Pi i P L US
C Library Reference

Programmer’s Guide
Version 6.50

V e r s i o n 6 . 5 0 , 31 January 2009
COPYRIGHT
Copyright ® 1999 - 2009 ACS Motion Control Ltd.
Changes are periodically made to the information in this document. Changes are published as release
notes and are be incorporated into future revisions of this document.
No part of this document may be reproduced in any form without prior written permission from ACS
Motion Control.
TRADEMARKS
ACS Motion Control, PEG and SPii are trademarks of ACS Motion Control Ltd.
Visual Basic and Windows are trademarks of Microsoft Corporation.
Any other companies and product names mentioned herein may be the trademarks of their respective
owners.

Web Site: www.AcsMotionControl.com
Information: info@AcsMotionControl.com
Tech Support: support@AcsMotionControl.com

ACS Motion Control, Ltd.
Ramat Gabriel Industrial Park
POB 5668
Migdal HaEmek, 10500
ISRAEL
Tel: (972) (4) 6546440
Fax: (972) (4) 6546443

ACS Motion Control, Inc.
6575 City West Parkway
Eden Prairie, MN 55344
Tel: 800-545-2980
Tel. 763-559-7669
Fax. 763-559-0110

ACS Motion Control (Korea)
Digital Empire Building D-191
980-3, Youngtong-dong, Youngtong-gu,
Suwon,
Geonggi-do, 443-813, Korea
Tel: +82-31-202-3541
Fax: +82-31-202-3542

NOTICE
The information in this document is deemed to be correct at the time of publishing. ACS Motion Control
reserves the right to change specifications without notice. ACS Motion Control is not responsible for
incidental, consequential, or special damages of any kind in connection with using this document.

31 January 2009 ii Programmer’s Guide

Programmer’s Guide

Changes in Version 6.50

Page Change
- The following C functions were added:
acsc_OpenCommEthernetTCP
acsc_OpenCommEthernetUDP
acsc_GetConnectionsList
acsc_TerminateConnection
acsc_DataCollection
acsc_LoadDataToController
acsc_UploadDataFromController
acsc_RegisterEmergencyStop
acsc_UnregisterEmergencyStop
acsc_AnalyzeApplication
acsc_SaveApplication
acsc_FreeApplication
acsc_LoadApplication
acsc_ControllerReboot
acsc_ControllerFactoryDefault
- The following C functions are obsolete:
acsc_Collect
acsc_CollectB
acsc_LoadFileToIntegerVariable
acsc_LoadFileToRealVariable
acsc_OpenCommEthernet

Version 6.50, 31 January 2009 iii Programmer’s Guide

C Library Reference Version 6.50 Programmer’s Guide

Table of Contents
1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1 Organization of this Guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Related SPiiPlus Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.3 SPiiPlus Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.4 Conventions Used in this Guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.5 Statement Text and Icons Used in this Guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2 SPiiPlus C Library Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.1 Operation Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.2 Communication Log . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.2.1 Run-Time Logging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.2.2 Log Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.3 C Library Concept . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.4 Communication Channels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.5 Controller Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.6 Programming Languages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.7 Supplied Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.8 Highlights . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.9 Use of Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.10 Callbacks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.11 Timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.12 Hardware Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.13 Dual-Port RAM (DPRAM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.14 Non-Waiting Calls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3 Using the SPiiPlus C Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.1 Library Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.2 Building C/C++ Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.3 Redistribution of User Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.3.1 Redistributed Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.3.2 File Destinations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
3.3.3 Kernel Mode Driver Registration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
4 C Library Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
4.1 Communication Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
4.1.1 acsc_OpenCommSerial . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
4.1.2 acsc_OpenCommEthernetTCP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
4.1.3 acsc_OpenCommEthernetUDP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
4.1.4 acsc_OpenCommDirect . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
4.1.5 acsc_OpenCommPCI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
4.1.6 acsc_GetPCICards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
4.1.7 acsc_SetServer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4.1.8 acsc_SetServerExt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
4.1.9 acsc_SetServerExtLogin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
4.1.10 acsc_CloseComm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
4.1.11 acsc_Send . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
4.1.12 acsc_Receive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

31 January 2009 iv Table of Contents


4.1.13 acsc_Transaction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
4.1.14 acsc_Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
4.1.15 acsc_WaitForAsyncCall . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
4.1.16 acsc_CancelOperation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
4.1.17 acsc_GetEthernetCards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
4.1.18 acsc_GetConnectionsList . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
4.1.19 acsc_TerminateConnection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
4.2 Service Communication Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
4.2.1 acsc_GetCommOptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
4.2.2 acsc_GetDefaultTimeout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
4.2.3 acsc_GetErrorString . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
4.2.4 acsc_GetLastError . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
4.2.5 acsc_GetLibraryVersion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
4.2.6 acsc_GetTimeout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
4.2.7 acsc_SetIterations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
4.2.8 acsc_SetCommOptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
4.2.9 acsc_SetTimeout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
4.2.10 acsc_SetQueueOverflowTimeout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
4.2.11 acsc_GetQueueOverflowTimeout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
4.3 ACSPL+ Program Management Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
4.3.1 acsc_AppendBuffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
4.3.2 acsc_ClearBuffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
4.3.3 acsc_CompileBuffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
4.3.4 acsc_DownloadBuffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
4.3.5 acsc_LoadBuffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
4.3.6 acsc_LoadBufferIgnoreServiceLines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
4.3.7 acsc_LoadBuffersFromFile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
4.3.8 acsc_RunBuffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
4.3.9 acsc_StopBuffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
4.3.10 acsc_SuspendBuffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
4.3.11 acsc_UploadBuffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
4.4 Read and Write Variables Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
4.4.1 acsc_ReadInteger . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
4.4.2 acsc_WriteInteger . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
4.4.3 acsc_ReadReal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
4.4.4 acsc_WriteReal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
4.5 Load/Upload Data To/From Controller Functions . . . . . . . . . . . . . . . . . . . . . . . . 84
4.5.1 acsc_LoadDataToController . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
4.5.2 acsc_UploadDataFromController . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
4.6 Multiple Thread Synchronization Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
4.6.1 acsc_CaptureComm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
4.6.2 acsc_ReleaseComm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
4.7 History Buffer Management Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
4.7.1 acsc_OpenHistoryBuffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
4.7.2 acsc_CloseHistoryBuffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
4.7.3 acsc_GetHistory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
4.8 Unsolicited Messages Buffer Management Functions . . . . . . . . . . . . . . . . . . . . . 95
4.8.1 acsc_OpenMessageBuffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

31 January 2009 v Table of Contents


4.8.2 acsc_CloseMessageBuffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
4.8.3 acsc_GetSingleMessage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
4.8.4 acsc_GetMessage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
4.9 Log File Management Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
4.9.1 acsc_SetLogFileOptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
4.9.2 acsc_OpenLogFile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
4.9.3 acsc_CloseLogFile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
4.9.4 acsc_WriteLogFile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
4.9.5 acsc_FlushLogFile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
4.10 System Configuration Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
4.10.1 acsc_SetConf . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
4.10.2 acsc_GetConf . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
4.11 Setting and Reading Motion Parameters Functions . . . . . . . . . . . . . . . . . . . . . . 108
4.11.1 acsc_SetVelocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
4.11.2 acsc_GetVelocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
4.11.3 acsc_SetAcceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
4.11.4 acsc_GetAcceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
4.11.5 acsc_SetDeceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
4.11.6 acsc_GetDeceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
4.11.7 acsc_SetJerk . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
4.11.8 acsc_GetJerk . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
4.11.9 acsc_SetKillDeceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
4.11.10 acsc_GetKillDeceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
4.11.11 acsc_SetVelocityImm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
4.11.12 acsc_SetAccelerationImm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
4.11.13 acsc_SetDecelerationImm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
4.11.14 acsc_SetJerkImm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
4.11.15 acsc_SetKillDecelerationImm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
4.11.16 acsc_SetFPosition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
4.11.17 acsc_GetFPosition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
4.11.18 acsc_SetRPosition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
4.11.19 acsc_GetRPosition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
4.11.20 acsc_GetFVelocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
4.11.21 acsc_GetRVelocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
4.12 Axis/Motor Management Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
4.12.1 acsc_Commut . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
4.12.2 acsc_Enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
4.12.3 acsc_EnableM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
4.12.4 acsc_Disable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
4.12.5 acsc_DisableAll . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
4.12.6 acsc_DisableExt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
4.12.7 acsc_DisableM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
4.12.8 acsc_Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
4.12.9 acsc_Split . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
4.12.10 acsc_SplitAll . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
4.13 Motion Management Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
4.13.1 acsc_Go . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
4.13.2 acsc_GoM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154

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4.13.3 acsc_Halt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
4.13.4 acsc_HaltM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
4.13.5 acsc_Kill . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
4.13.6 acsc_KillAll . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
4.13.7 acsc_KillM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
4.13.8 acsc_KillExt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
4.13.9 acsc_Break . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
4.13.10 acsc_BreakM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
4.14 Point-to-Point Motion Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
4.14.1 acsc_ToPoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
4.14.2 acsc_ToPointM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
4.14.3 acsc_ExtToPoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
4.14.4 acsc_ExtToPointM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
4.15 Track Motion Control Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
4.15.1 acsc_Track . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
4.15.2 acsc_SetTargetPosition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
4.15.3 acsc_GetTargetPosition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
4.16 Jog Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
4.16.1 acsc_Jog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
4.16.2 acsc_JogM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
4.17 Slaved Motion Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
4.17.1 acsc_SetMaster . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
4.17.2 acsc_Slave . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
4.17.3 acsc_SlaveStalled . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
4.18 Multi-Point Motion Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
4.18.1 acsc_MultiPoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
4.18.2 acsc_MultiPointM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196
4.19 Arbitrary Path Motion Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
4.19.1 acsc_Spline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
4.19.2 acsc_SplineM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
4.20 PVT Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
4.20.1 acsc_AddPVPoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
4.20.2 acsc_AddPVPointM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
4.20.3 acsc_AddPVTPoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
4.20.4 acsc_AddPVTPointM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
4.21 Segmented Motion Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
4.21.1 acsc_Segment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
4.21.2 acsc_Line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
4.21.3 acsc_ExtLine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
4.21.4 acsc_Arc1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
4.21.5 acsc_ExtArc1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
4.21.6 acsc_Arc2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
4.21.7 acsc_ExtArc2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
4.21.8 acsc_Stopper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
4.21.9 acsc_Projection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
4.22 Points and Segments Manipulation Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
4.22.1 acsc_AddPoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
4.22.2 acsc_AddPointM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236

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4.22.3 acsc_ExtAddPoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238
4.22.4 acsc_ExtAddPointM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240
4.22.5 acsc_EndSequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242
4.22.6 acsc_EndSequenceM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 244
4.23 Data Collection Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246
4.23.1 acsc_DataCollection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246
4.23.2 acsc_StopCollect . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249
4.23.3 acsc_WaitCollectEnd . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250
4.24 Status Report Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
4.24.1 acsc_GetMotorState . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252
4.24.2 acsc_GetAxisState . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253
4.24.3 acsc_GetIndexState . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255
4.24.4 acsc_ResetIndexState . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
4.24.5 acsc_GetProgramState . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258
4.25 Input/Output Access Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260
4.25.1 acsc_GetInput . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261
4.25.2 acsc_GetInputPort . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262
4.25.3 acsc_GetOutput . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264
4.25.4 acsc_GetOutputPort . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265
4.25.5 acsc_SetOutput . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 266
4.25.6 acsc_SetOutputPort . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268
4.25.7 acsc_GetAnalogInput . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269
4.25.8 acsc_GetAnalogOutput . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271
4.25.9 acsc_SetAnalogOutput . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272
4.25.10 acsc_GetExtInput . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 273
4.25.11 acsc_GetExtInputPort . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275
4.25.12 acsc_GetExtOutput . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276
4.25.13 acsc_GetExtOutputPort . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277
4.25.14 acsc_SetExtOutput . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279
4.25.15 acsc_SetExtOutputPort . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280
4.26 Safety Control Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282
4.26.1 acsc_GetFault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283
4.26.2 acsc_SetFaultMask . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284
4.26.3 acsc_GetFaultMask . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286
4.26.4 acsc_EnableFault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288
4.26.5 acsc_DisableFault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290
4.26.6 acsc_SetResponseMask . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292
4.26.7 acsc_GetResponseMask . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294
4.26.8 acsc_EnableResponse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295
4.26.9 acsc_DisableResponse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297
4.26.10 acsc_GetSafetyInput . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299
4.26.11 acsc_GetSafetyInputPort . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301
4.26.12 acsc_GetSafetyInputPortInv . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303
4.26.13 acsc_SetSafetyInputPortInv . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
4.26.14 acsc_FaultClear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308
4.26.15 acsc_FaultClearM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309
4.27 Wait-for-Condition Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
4.27.1 acsc_WaitMotionEnd . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311

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4.27.2 acsc_WaitLogicalMotionEnd . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
4.27.3 acsc_WaitForAsyncCall . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313
4.27.4 acsc_WaitProgramEnd . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315
4.27.5 acsc_WaitMotorEnabled . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316
4.27.6 acsc_WaitInput . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317
4.27.7 acsc_WaitUserCondition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 318
4.27.8 acsc_WaitMotorCommutated . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321
4.28 Callback Registration Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322
4.28.1 acsc_SetCallback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322
4.28.2 acsc_SetCallbackExt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325
4.28.3 acsc_SetInterruptMask . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 327
4.28.4 acsc_GetInterruptMask . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 329
4.28.5 acsc_SetCallbackPriority . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 330
4.29 Variables Management Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332
4.29.1 acsc_DeclareVariable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332
4.29.2 acsc_ClearVariables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334
4.30 Service Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335
4.30.1 acsc_GetFirmwareVersion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335
4.30.2 acsc_GetSerialNumber . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337
4.31 Error Diagnosis Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339
4.31.1 acsc_GetMotorError . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339
4.31.2 acsc_GetMotionError . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341
4.31.3 acsc_GetProgramError . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343
4.32 Dual Port RAM (DPRAM) Access Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . 345
4.32.1 acsc_ReadDPRAMInteger . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 345
4.32.2 acsc_WriteDPRAMInteger . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347
4.32.3 acsc_ReadDPRAMReal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348
4.32.4 acsc_WriteDPRAMReal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349
4.33 Position Event Generation (PEG) Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350
4.33.1 acsc_PegInc . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350
4.33.2 acsc_PegRandom . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 352
4.33.3 acsc_AssignPins . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354
4.33.4 acsc_StopPeg . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356
4.34 Emergency Stop Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357
4.34.1 acsc_RegisterEmergencyStop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357
4.34.2 acsc_UnregisterEmergencyStop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359
4.35 Application Save/Load Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 360
4.35.1 acsc_AnalyzeApplication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 360
4.35.2 acsc_LoadApplication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 361
4.35.3 acsc_SaveApplication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 362
4.35.4 acsc_FreeApplication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 363
4.36 Reboot Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 364
4.36.1 acsc_ControllerReboot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 364
4.36.2 acsc_ControllerFactoryDefault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 366
5 Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 368
6 Constants . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375
6.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375

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6.1.1 ACSC_SYNCHRONOUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375
6.1.2 ACSC_INVALID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375
6.1.3 ACSC_NONE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375
6.1.4 ACSC_IGNORE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375
6.1.5 ACSC_INT_TYPE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375
6.1.6 ACSC_REAL_TYPE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376
6.1.7 ACSC_MAX_LINE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376
6.1.8 ACSC_COUNTERCLOCKWISE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376
6.1.9 ACSC_CLOCKWISE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376
6.1.10 ACSC_POSITIVE_DIRECTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376
6.1.11 ACSC_NEGATIVE_DIRECTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 377
6.2 General Communication Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 377
6.2.1 ACSC_COMM_USECHECKSUM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 377
6.2.2 ASCS_COMM_AUTORECOVER_HW_ERROR . . . . . . . . . . . . . . . . . . . . . 377
6.3 Ethernet Communication Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 377
6.3.1 ACSC_SOCKET_DGRAM_PORT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 377
6.3.2 ACSC_SOCKET_STREAM_PORT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 378
6.4 Axis Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 378
6.4.1 ACSC_AXIS_X . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 378
6.4.2 ACSC_AXIS_Y . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 378
6.4.3 ACSC_AXIS_Z . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 378
6.4.4 ACSC_AXIS_T . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 378
6.4.5 ACSC_AXIS_A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379
6.4.6 ACSC_AXIS_B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379
6.4.7 ACSC_AXIS_C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379
6.4.8 ACSC_AXIS_D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379
6.5 Motion Flags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379
6.5.1 ACSC_AMF_WAIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379
6.5.2 ACSC_AMF_RELATIVE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380
6.5.3 ACSC_AMF_VELOCITY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380
6.5.4 ACSC_AMF_ENDVELOCITY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380
6.5.5 ACSC_AMF_POSITIONLOCK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380
6.5.6 ACSC_AMF_VELOCITYLOCK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380
6.5.7 ACSC_AMF_CYCLIC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380
6.5.8 ACSC_AMF_VARTIME . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 381
6.5.9 ACSC_AMF_CUBIC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 381
6.5.10 ACSC_AMF_EXTRAPOLATED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 381
6.5.11 ACSC_AMF_STALLED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 381
6.5.12 ACSC_AMF_MAXIMUM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382
6.5.13 ACSC_AMF_SYNCHRONOUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382
6.6 Data Collection Flags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382
6.6.1 ACSC_DCF_TEMPORAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382
6.6.2 ACSC_DCF_CYCLIC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382
6.6.3 ACSC_DCF_SYNC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383
6.6.4 ACSC_DCF_WAIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383
6.7 Motor State Flags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383
6.7.1 ACSC_MST_ENABLE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383
6.7.2 ACSC_MST_INPOS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383

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6.7.3 ACSC_MST_MOVE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383
6.7.4 ACSC_MST_ACC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 384
6.8 Axis State Flags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 384
6.8.1 ACSC_AST_LEAD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 384
6.8.2 ACSC_AST_DC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 384
6.8.3 ACSC_AST_PEG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 384
6.8.4 ACSC_AST_MOVE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 384
6.8.5 ACSC_AST_ACC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 385
6.8.6 ACSC_AST_SEGMENT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 385
6.8.7 ACSC_AST_VELLOCK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 385
6.8.8 ACSC_AST_POSLOCK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 385
6.9 Index and Mark State Flags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 385
6.9.1 ACSC_IST_IND . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 385
6.9.2 ACSC_IST_IND2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 386
6.9.3 ACSC_IST_MARK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 386
6.9.4 ACSC_IST_MARK2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 386
6.10 Program State Flags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 386
6.10.1 ACSC_PST_COMPILED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 386
6.10.2 ACSC_PST_RUN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 386
6.10.3 ACSC_PST_SUSPEND . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 387
6.10.4 ACSC_PST_DEBUG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 387
6.10.5 ACSC_PST_AUTO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 387
6.11 Safety Control Masks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 387
6.11.1 ACSC_SAFETY_RL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 387
6.11.2 ACSC_SAFETY_LL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 387
6.11.3 ACSC_SAFETY_RL2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 388
6.11.4 ACSC_SAFETY_LL2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 388
6.11.5 ACSC_SAFETY_HOT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 388
6.11.6 ACSC_SAFETY_SRL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 388
6.11.7 ACSC_SAFETY_SLL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 388
6.11.8 ACSC_SAFETY_ENCNC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 388
6.11.9 ACSC_SAFETY_ENC2NC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389
6.11.10 ACSC_SAFETY_DRIVE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389
6.11.11 ACSC_SAFETY_ENC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389
6.11.12 ACSC_SAFETY_ENC2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389
6.11.13 ACSC_SAFETY_PE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389
6.11.14 ACSC_SAFETY_CPE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 390
6.11.15 ACSC_SAFETY_VL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 390
6.11.16 ACSC_SAFETY_AL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 390
6.11.17 ACSC_SAFETY_CL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 390
6.11.18 ACSC_SAFETY_SP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 390
6.11.19 ACSC_SAFETY_PROG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 390
6.11.20 ACSC_SAFETY_MEM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391
6.11.21 ACSC_SAFETY_TIME . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391
6.11.22 ACSC_SAFETY_ES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391
6.11.23 ACSC_SAFETY_INT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391
6.11.24 ACSC_SAFETY_INTGR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391
6.12 Callback Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 392

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6.12.1 Hardware Callback Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 392
6.12.1.1 ACSC_INTR_PEG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 392
6.12.1.2 ACSC_INTR_MARK1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 392
6.12.1.3 ACSC_INTR_MARK2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 392
6.12.1.4 ACSC_INTR_EMERGENCY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 392
6.12.2 Software Callback Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 393
6.12.2.1 ACSC_INTR_PHYSICAL_MOTION_END . . . . . . . . . . . . . . . . . . . . . . . 393
6.12.2.2 ACSC_INTR_LOGICAL_MOTION_END . . . . . . . . . . . . . . . . . . . . . . . . 393
6.12.2.3 ACSC_INTR_MOTION_FAILURE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 393
6.12.2.4 ACSC_INTR_MOTOR_FAILURE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 393
6.12.2.5 ACSC_INTR_PROGRAM_END . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 393
6.12.2.6 ACSC_INTR_COMMAND . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 394
6.12.2.7 ACSC_INTR_ACSPL_PROGRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 394
6.12.2.8 ACSC_INTR_INPUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 394
6.12.2.9 ACSC_INTR_MOTION_START . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 394
6.12.2.10 ACSC_INTR_MOTION_PHASE_CHANGE . . . . . . . . . . . . . . . . . . . . . . . 394
6.12.2.11 ACSC_INTR_TRIGGER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 394
6.12.2.12 ACSC_INTR_MESSAGE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395
6.13 Callback Interrupt Masks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395
6.14 Configuration Keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 396
7 Structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 398
7.1 ACSC_WAITBLOCK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 398
7.2 ACSC_PCI_SLOT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 398
7.3 ACSC_HISTORYBUFFER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399
7.4 ACSC_CONNECTION_DESC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 400
7.5 Application Save/Load Structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 400
7.5.1 ACSC_APPSL_STRING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 400
7.5.2 ACSC_APPSL_SECTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 401
7.5.3 ACSC_APPSL_ATTRIBUTE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 401
7.5.4 ACSC_APPSL_INFO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 402
8 Enums . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 403
8.1 ACSC_LOG_DETALIZATION_LEVEL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 403
8.2 ACSC_LOG_DATA_PRESENTATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 403
8.3 ACSC_APPSL_FILETYPE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 404
9 Sample Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 405
9.1 Reciprocated Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 405
9.1.1 ACSPL+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 405
9.1.2 Immediate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 409
9.2 Communication Terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 413

31 January 2009 xii Table of Contents


List of Figures
Figure 1 C Library Concept . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Figure 2 Emergency Stop Button. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357

31 January 2009 xiii List of Figures


List of Tables
Table 1 Related SPiiPlus Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Table 2 Collateral Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Table 3 Text Conventions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Table 4 Hardware Interrupt Generation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Table 5 Communication Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Table 6 Service Communication Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Table 7 ASSPL+ Program Management Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Table 8 Read and Write Variables Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Table 9 Load File to ACSPL+ Variables Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Table 10 Multiple Thread Synchronization Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Table 11 History Buffer Management Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Table 12 Unsolicited Messages Buffer Management Functions. . . . . . . . . . . . . . . . . . . . . . . . . . 95
Table 13 Log File Management Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Table 14 System Configuration Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Table 15 Setting and Reading Motion Parameters Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Table 16 Axis/Motor Management Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
Table 17 Motion Management Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
Table 18 Point-to-Point Motion Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
Table 19 Track Motion Control Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
Table 20 Jog Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
Table 21 Slaved Motion Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
Table 22 Multi-point Motion Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
Table 23 Arbitrary Path Motion Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
Table 24 PVT Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
Table 25 Segmented Motion Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
Table 26 Points and Segments Manipulation Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
Table 27 Data Collection Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246
Table 28 Status Report Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
Table 29 Input/Output Access Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260
Table 30 Safety Control Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282
Table 31 Wait-for-Condition Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
Table 32 Callback Registration Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322
Table 33 Variables Management Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332
Table 34 Service Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335
Table 35 Error Diagnosis Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339
Table 36 Dual Port RAM (DPRAM) Access Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 345
Table 37 Position Event Generation (PEG) Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350
Table 38 Emergency Stop Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357
Table 39 Application Save/Load Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 360
Table 40 Reboot Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 364
Table 41 Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 368
Table 42 Callback Interrupt Masks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395
Table 43 Configuration Keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 396

31 January 2009 xiv List of Tables


1 Introduction
The SPiiPlus C Library supports the creation of a user application that operates on a PC host
computer and communicates with SPiiPlus motion controllers. The SPiiPlus C Library
implements a rich set of controller operations and conceals from the application the complexity
of low-level communication and synchronization with the controller.

1.1 Organization of this Guide
This guide is organized as follows:
• Chapter 2 "SPiiPlus C Library Overview"
• Chapter 3 "Using the SPiiPlus C Library"
• Chapter 4 "C Library Functions"
• Chapter 5 "Error Codes"
• Chapter 6 "Constants"
• Chapter 7 "Structures"
• Chapter 8 "Enums"
• Chapter 9 "Sample Programs"

1.2 Related SPiiPlus Tools

Table 1 Related SPiiPlus Tools
Tool Description
SPiiPlus MMI A multipurpose user interface with the controller
including: Program management, Motion management,
Communication terminal, Four channel digital
oscilloscope, Safety and I/O signals monitor, Signal tuning
and adjustment, and a fully interactive simulator. Program
and SPii debugging tools and FRF are also included.
SPiiPlus Utilities The SPiiPlus Upgrader allows upgrading or downgrading
of the controller firmware.
The SPiiPlus Emergency Wizard allows firmware
recovery in case of damage or loss of communication to
the controller.

Version 6.50, 31 January 2009 1 Introduction


Table 1 Related SPiiPlus Tools
Tool Description
SPiiPlus C Library A DLL (Dynamic Link Library) that supports host
application programming in a variety of languages
including C/C++. The library introduces a new level of
application support with a built-in controller simulator and
it also provides outstanding debugging capabilities. All
tools are provided with a full simulator of the controller.
SPiiPlus COM Library A DLL (Dynamic Link Library) that supports host
application programming in a variety of languages
including C#, Visual Basic, LabView, and more. The
library introduces a new level of application support with
a built-in controller simulator and it also provides
outstanding debugging capabilities. All tools are provided
with a full simulator of the controller.

1.3 SPiiPlus Documentation

Table 2 Collateral Documentation (page 1 of 2)
Document Description
SPiiPlus PCI Series Hardware Installation and hardware connection with the SPiiPlus PCI 4
Guide or 8 axes
SPiiPlus CM Hardware Guide Installation and hardware connection with the SPiiPlus
Control Module
HSSI Expansion Modules High-Speed Synchronous Serial Interface (HSSI) for
Guide expanded I/O, distributed axes, and nonstandard devices.
SPiiPlus Setup Guide Communication, configuration and adjustment procedures
for SPiiPlus motion control products.
SPiiPlus ACSPL+ Command set and high level language for programming
Programmer's Guide SPiiPlus controllers.
SPiiPlus Utilities User’s Guide Firmware upgrade and recovery procedures.
SPiiPlus Command & Variable Complete description of all variables and commands in the
Reference Guide ACSPL+ programming language.
SPiiPlus C Library Reference C++ and Visual Basic® libraries for host PC applications.
This guide is applicable for all the SPiiPlus motion control
products
SPiiPlus COM Library COM Methods, Properties, and Events for Communication
Reference Guide with the Controller
SPiiPlus FRF Analyzer User’s The SPiiPlus FRF (Frequency Response Function) Analyzer?
Guide is a powerful servo analysis GUI for ACS Motion Control
SPiiPlus motion controllers.



Table 2 Collateral Documentation (page 2 of 2)
Document Description
SPiiPlus Modbus User’s Guide Describes Modbus setup and register address.
SPiiPlus SA, SA-LT and SAR- Installation and hardware connection with the SPiiPlus SA
LT Hardware Guide SPiiPlus SA-LT, and SAR-LT Controllers
SPiiPlus 3U-LT & SPiiPlus 3U- Installation and hardware connection with the SPiiPlus 3U
HP Hardware Guide Controller.

1.4 Conventions Used in this Guide
Several text formats and fonts, illustrated in Table 3, are used in the text to convey information
about the text.

Table 3 Text Conventions
Text Description
BOLD CAPS ACSPL+ elements (commands, functions, operators,
standard variables, etc.) when mentioned in the text.
Software tool menus, menu items, dialog box names and
dialog box elements.
bold Emphasis or an introduction to a key concept.
Monospace Code examples.
Italic monospace Information in code examples that the user provides.
ALL CAPS (Keyboard) key names [example: SHIFT key].
Bold Blue Text Links within this document, to web pages, and to e-mail
addresses.
Italic Blue Text Indicates name of referenced document.
| Used in command syntax to indicate input of one
alternative or another.
Used in GUI descriptions to indicate nested menu items
and dialog box options leading to a final action. For
example, the sequence:
Debug New Watch Real-time
directs the user to open the Debug menu, choose the New
Watch command, and select the Real-time option.



1.5 Statement Text and Icons Used in this
Guide

Note
Notes include helpful information or tips.

Caution
A Caution describes a condition that may result in damage to equipment.

Warning
A Warning describes a condition that may result in serious bodily
injury or death.

Advanced
Indicates a topic for advanced users.

Model
Highlights a specification, procedure, condition, or statement that depends
on the product model.



2 SPiiPlus C Library Overview

2.1 Operation Environment
The SPiiPlus C Library supports Microsoft® Windows® 2000, XP (32-bit and 64-bit), and Vista
(32-bit and 64-bit).
The previous version (v.4.50) of the C Library does not support remote access under Windows
XP with Service Pack 2. The reason is that Service Pack 2 prevents unauthorized remote access.
To provide authorized remote access in all supported versions of Windows, C Library v.5.0 and
above supports the NTLM authentication protocol that performs security handshaking between
the server and client.
The protocol determines if the client have appropriate access rights to the machine that runs the
C Library User-Mode Driver (UMD).
Authorized remote access is supported in Windows 2000, Windows XP (Service Pack 1,
Service Pack 2 and Service Pack 3), and Vista.

2.2 Communication Log

2.2.1 Run-Time Logging
The UMD logs constantly at run-time. The data is stored in binary format in an internal cyclic
buffer and is translated to text just before it is written to file.

2.2.2 Log Types
The user may choose one of two mutually exclusive log types:
• Dump on Request – all the binary data that is stored in the internal binary buffer and is
flushed by explicit request to the file, see acsc_FlushLogFile.
• Continuous – there is a background thread that takes care of periodic file update. It reads
the binary buffer and performs text formatting to the file.

2.3 C Library Concept
The C Library is a software package that allows Host-based applications to communicate with
the SPiiPlus controller in order to program, send commands, and query controller status.
The C Library includes user-mode and kernel-mode drivers that perform various
communication tasks.

31 January 2009 5 SPiiPlus C Library Overview


The host application is provided with a robust C Function API to make calls the C Library
which in turn communicates with the SPiiPlus Controller through the controller drivers. The
controller then returns the reply to the to the caller application.
The host application may contact C Library from remote location by setting its IP address or
the machine name. Set the IP address with the acsc_SetServer function.
Up to four host applications may communicate with the controller simultaneously via a single
physical connection.

Host Computer Remote Computer
Host
Application 1

Host
Application 2

Remote
C Library Application

SPiiPlus SPiiPlus SPiiPlus SPiiPlus

Figure 1 C Library Concept

2.4 Communication Channels
The SPiiPlus C Library supports all communication channels provided by SPiiPlus motion
controllers:
• Serial (RS-232)
• Ethernet (point-to-point and Network)
• PCI Bus

2.5 Controller Simulation
The SPiiPlus C Library includes the controller simulator operating on the same PC as the user
application. The simulator provides execution of the user application without the physical
controller for debugging and demonstration purposes.



2.6 Programming Languages
The library directly supports development of C/C++ applications. Visual Basic®, C# or other
languages can also be used with a little additional effort. For languages other than C/C++, the
SPiiPlus COM library is recommended.

2.7 Supplied Components
The library includes a DLL, a device driver, an import library, and a header file for C/C++
compilers.

2.8 Highlights
• Unified support of all communication channels (Serial, Ethernet, PCI Bus)
All functions except acsc_OpenComm*** functions are identical for all communication
channels. The user application remains substantially the same and works through any of the
available communication channels.
• Controller simulator as an additional communication channels
All library functions can work with the Simulator exactly as with the actual controller. The
user application activates the simulator by opening a special communication channel. The
user is not required to change his application in order to communicate with the Simulator.
• Support of multi-threaded user application
The user application can consist of several threads. Each thread can call SPiiPlus C Library
functions simultaneously. The library also provides special functions for the
synchronization SPiiPlus C functions called from concurrent threads.
• Automatic synchronization and mutual exclusion of concurrent threads
Both waiting and non-waiting calls of SPiiPlus C functions can be used from different
threads without any blocking or affect one to another. The library provides automatic
synchronization and mutual exclusion of concurrent threads so the threads are not delayed
one by another. Each thread operates with its maximum available rate.
• Concurrent support of up to 10 communication channels in one application
One application can open up to 10 communication channels simultaneously. Different
communication channels are usually connected to different controllers. However, two or
more communication channels can be connected to one controller. For example, one
application can communicate with one controller through both Ethernet and serial links.
• Acknowledgement for each controller command
The library automatically checks the status of each command sent by the user application to
the controller. The user application can check the status to confirm that the command was
received successfully. This applies for both waiting and non-waiting calls.



• Communication history
The library supports the storage of all messages sent to and received from the controller in
a memory buffer. The application can retrieve the full or partial contents of the buffer and
can clear the history buffer.
• Separate processing of unsolicited messages
Most messages sent from the controller to the host are responses to the host commands.
However, the controller can send unsolicited messages, for example, because of executing
the disp command. The library separates the unsolicited messages from the overall message
flow and provides special function for handling unsolicited messages.
• Rich set of functions for setting and reading parameters, motion, program
management, I/O ports, safety controls, and other.
• Two calling modes
Most library functions can be called in either waiting or non-waiting mode. In waiting
mode, the calling thread does not continue until the controller acknowledges the command
execution. In non-waiting mode, a function returns immediately and the actual work of
sending the command and receiving acknowledgement is performed by the internal thread
of the library.
• Debug Tools
The library provides different tools that facilitate debugging of the user application. The
simulator and the communication history mentioned above are the primary debugging
tools. The user can also open a log file that stores all communications between the
application and the controller.
• Setting user callback functions for predefined events
The possibility exists to set a callback function that will be called when a specified event
occurs in the controller. This lets you define a constant reaction by the user host application
to events inside the controller without polling the controller status (see Section 2.10
Callbacks).
• Wait-for-Condition Functions
To facilitate user programming, the library includes functions that delay the calling thread
until a specific condition is satisfied. Some of the functions periodically pole the relevant
controller status until the condition is true, or the time out expired. Some of these functions
are based on the callback mechanism, see Section 2.10 Callbacks. The functions with this
option are:
• acsc_WaitMotionEnd
• acsc_WaitLogicalMotionEnd
• acsc_WaitProgramEnd
• acsc_WaitInput
These functions will use the callback mechanism if the callback to the relevant event is set,
otherwise polling is used.



• Support for Windows 2000/XP (32-bit and 64-bit)/Vista (32-bit and 64-bit)
The user application that communicates through the library takes no notice of the
operational environment. The library itself chooses the proper device driver and conceals
all differences between the operating systems from the user application.

2.9 Use of Functions
Each library function performs a specific controller operation. To perform its task, the function
sends one or more commands to the controller and validates the controller responses.
Because the SPiiPlus C functions follow the C syntax and have self-explaining names, the
application developer is not required to be an expert in ACSPL+ language. However, the most
time-critical part of an application often needs to be executed in the controller and not in the
host. This part still requires ACSPL+ programming.
To use the SPiiPlus C Library functions from C/C++ environment, it is necessary to include the
header file ACSC.h and the import library file ACSC_x86.lib or ACSC_x64.lib, whichever is
appropriate, to the project.
An example of a function is the following that implements a motion to the specified point:

int acsc_ToPoint(HANDLE Handle, int Flags, int Axis,
double Point, ACSC_WAITBLOCK* Wait)
Where:
• Handle is a communication handle returned by one of the acsc_OpenComm*** functions.
• Flags are a bit-mapped parameter that can include one or more motion flags.
For example:
ACSC_AMF_WAIT Plan the motion, but don’t start until the acsc_Go function is
called
ACSC_AMF_RELATIVE The Point value is relative to the end-point of the previous
motion. If the flag is not specified, the Point specifies an
absolute coordinate.

• Axis is an axis of the motion where ACSC_AXIS_X corresponds to X, ACSC_AXIS_Y –
to Y, and so on.
• Point is a coordinate of the target point.
• Wait is used for non-waiting calls. Non-waiting calls are discussed in the next section.



2.10 Callbacks
There is an option to define an automatic response in the user application to several events
inside the controller. The user specifies a function that will be called when certain event occurs.
This approach helps user application to avoid polling of the controller status and only to execute
the defined reaction when it is needed.
The library may set several callbacks in the same time. Every one of them runs in its own thread
and doesn’t delay the others.
Callbacks are supported in all communication channels. The library hides the difference from
the application, so that the application handles the callbacks in all channels in the same way.
The events that may have a callback functions are:
• Hardware detected events
• PEG
• MARK1 and MARK2
• Emergency Stop
• Software detected events
• Physical motion end
• Logical motion end
• Motion failure
• Motor failure
• ACSPL+ program end
• ACSPL+ line execution
• ACSPL + “interrupt” command execution
• Digital input goes high
• Motion start
• Motion profile phase change
• Trigger function detects true trigger condition
• Controller sent complete message on a communication channel

2.11 Timing
When working with PCI bus, the callbacks are initiated through physical interrupts generated
by the controller. In the Simulator, the interrupt mechanism is emulated with OS mechanisms.
In all other kinds of communication, the controller sends an alert message over the
communication channel in order to inform the host about the event.
Although the implementation is transparent, the timing is different varies for each
communication channel as follows:
• In PCI communication, the callbacks are based upon PCI interrupts and response is very fast
(sub-millisecond level).



• In all other channels, callback operation includes sending/receiving a message that requires
much more time. Specific figures depend on the communication channel rate.
From the viewpoint of the Callback Mechanism, all communication channels are functionally
equivalent, but differ in timing.

2.12 Hardware Interrupts
Hardware events (Emergency Stop, PEG and MARK) are detected by the controllers HW and
an interrupt on PCI bus is generated automatically, while on other communication channels
those events are recognized by the Firmware and only then an alert message may be sent. That
is why there is a difference in the definition of the Event condition for different communication
channels.

Table 4 Hardware Interrupt Generation
Callback Condition of PCI Condition of Alert Message (all
Interrupt channels except PCI)
Emergency stop The interrupt is The message is sent when the S_FAULT.#ES
generated on positive or bit changes from zero to one.
negative edge of the
The message is disabled if S_FMASK.#ES is
input ES signal.The edge
zero.
is selected by
S_SAFINI.#ES bit.
Mark 1 and Mark The interrupt is The message is sent when the corresponding
2 generated on positive IST.#MARK or IST.#MARK2 bit changes
edge of the from zero to one.
corresponding Mark
signal.
PEG The interrupt is The message is sent when corresponding
generated on negative AST.#PEG bit changes from one to zero.
edge of PEG pulse.

2.13 Dual-Port RAM (DPRAM)
The DPRAM is a memory block that is accessible from the host and from the controller. This
feature provides fast data exchange between the host and the controller.
The SPiiPlus controller provides 1024 bytes of dual-port ram memory (DPRAM). Relative
address range of DPRAM is from byte 0 to byte 0x3FF.
The first 128 bytes (relative addresses from 0 to 0x080) are reserved for system use. The rest of
the memory is free for the user needs.
The DPRAM functions are available with any communication channel, however it is important
to remember that only PCI bus communication provide real physical access to controllers
DPRAM and works very fast (sub-millisecond level).



In all other channels, the DPRAM operation is simulated. Each operation includes
communication with the controller. Specific figures depend on the communication channel rate.
Using DPRAM communication in a non-PCI communication channel is recommended if an
application is primarily intended for PCI channel, but requires full compatibility with other
communication channels.

2.14 Non-Waiting Calls
There are three possible approaches regarding when a library function returns control to the
calling thread:
• Waiting call
The function waits for the controller response and then returns. For many commands, the
controller response does not signal the completion of the operation. The controller response
only acknowledges that the controller accepted the command and started the process of its
execution. For example, the controller responds to a motion command when it has planned
the motion, but has not executed yet.
• Non-waiting call
The library function initiates transmission of the command to the controller and returns
immediately without waiting for the controller response. An internal library thread sends the
command to the controller and retrieves the result. To get the result of operation the
application calls the acsc_WaitForAsyncCall function.
• Non-waiting call with neglect of operation results
The same as the previous call, only the library does not retrieve the controller response. This
mode can be useful when the application ignores the controller responses.
Most library functions can be called in either waiting or non-waiting mode. The pointer Wait
to the ACSC_WAITBLOCK structure provides the selection between waiting and non-
waiting modes as follows:
• Zero Wait (NULL character) defines a waiting call. The function does not return until the
controller response is received.

Note
Do not use ‘0’ as the Null character.

• If Wait is a valid pointer, the call is non-waiting and the function returns immediately.
• If Wait is ACSC_IGNORE, the call is non-waiting and will neglect of the operation result.
ACSC_WAITBLOCK is defined as follows:
Structure: ACSC_WAITBLOCK { HANDLE Event; int Ret; };



When a thread activates a non-waiting call, the library passes the request to an internal thread
that sends the command to the controller and then monitors the controller responses. When the
controller responds to the command, the internal thread stores the response in the internal
buffers. The calling thread can retrieve the controller response with help of the
acsc_WaitForAsyncCall function and validate the completion result in the Ret member of the
structure.
Up to 256 non-waiting calls can be activated before any acsc_WaitForAsyncCall is called. It
is important to understand that acsc_WaitForAsyncCall must be called for every non-waiting
call. Otherwise, the response will be stored forever in the library’s internal buffers. A call,
which is called when more then 256 calls are already activated is delayed for a certain time and
waits until acsc_WaitForAsyncCall is called by one of the previous calls. If the time expires,
an ACSC_COMMANDSQUEUEFULL error is returned.
By default, this time-out is zero. This means that the call number 257 immediately returns with
the ACSC_COMMANDSQUEUEFULL error
.

Note
If you work with multiple non-waiting calls and the
ACSC_COMMANDSQUEUEFULL error pops up all the time, the
structure of your application is too demanding. This means that you are
trying to activate more than 256 calls without retrieving the results.
If the error message pops up occasionally, try increasing the timeout.

Time-out is controlled by acsc_GetQueueOverflowTimeout and
acsc_SetQueueOverflowTimeout functions.
The following example shows how to perform waiting and non-waiting calls. In this example
the acsc_WaitForAsyncCall function was used. Any function that has Wait as a parameter can
be used to perform waiting and non-waiting calls.

#include “ACSC.h”

Char* cmd = “?$r”; // get motors state
char buf[101];
int Received;
ACSC_WAITBLOCK wait;
// example of the waiting call of acsc_Transaction
if (!acsc_Transaction( Handle, // communication handle
cmd, // pointer to the buffer that
// contains command to be executed
strlen(cmd), // size of this buffer



buf, // input buffer that receives
// controller response
100, // size of this buffer
&Received, // number of characters that were
//actually received
NULL // waiting call
{
printf(“transaction error: %dn”, acsc_GetLastError());
}
// example of non-wainig call of acsc_Transaction if
(acsc_Transaction(Handle,cmd,strlen(cmd),buf,100,&Received,&wait))

{
// something doing here
….
// retrieve controller response
if (acsc_WaitForAsyncCall(Handle, buf, &Received, &wait, 5000))
{
buf[Received] = ‘0’;
printf(“Motors state: %sn”, buf);
}
else
{
acsc_GetErrorString(Handle, wait.Ret, buf, 100, &Received);
buf[Received] = ‘0’;
printf(“error: %sn”, buf);
}
}



else
{
}

// Example of non-waiting call of acsc_Transaction with neglect of the
// operation result. Function does not wait for the controller response.
// The call of acsc_WaitForAsyncCall has no sense because it does not
// return the controller response for this calling mode.

If (acsc_Transaction( Handle,cmd,strlen(cmd),buf,
100, &Received, ACSC_IGNORE))
{
}



3 Using the SPiiPlus C Library

3.1 Library Structure
The C Library is built from several levels, from Kernel-mode drivers on one end, to high level
C function APIs on the other, and include:
• ACSPCI32.SYS (for 32-bit), ACSPCI64.SYS (for 64-bit), WINDRVR6.SYS – Kernel-
mode drivers for low-level communication support. These drivers are automatically
installed and registered when the user installs the SPiiPlus software package. These drivers
are required for communication with the controller through the PCI bus.
• ACSCSRV.EXE – User-mode driver for high-level communication support. When this
driver is active, there is an icon in the notification area at the bottom-right corner of the
screen. This driver is necessary for all communication channels. The driver is automatically
installed and registered when the user installs the SPiiPlus software package.
• ACSCL_X86.DLL – Dynamic Link Library that contains the API functions. The DLL is
installed in the SYSTEM32 directory, so it is accessible to all host applications. It is
designed to operate in a 32-bit environment.
• ACSCL_X64.DLL – Dynamic Link Library that contains the API functions. The DLL is
installed in the SYSTEM32 directory, so it is accessible to all host applications. It is
designed to operate in a 64-bit environment.
• ACSCL_X86.LIB – Static LIB file required for a C/C++ project to access the DLL
functions. It is designed to operate in a 32-bit environment.
• ACSCL_X64.LIB – Static LIB file required for a C/C++ project to access the DLL
functions. It is designed to operate in a 64-bit environment.

Note
A 32-bit software development should link against ACSCL_X86.LIB.
A 64-bit software development should link against ACSCL_X64.LIB.

• ACSC.H – C header file with API functions and Constant declarations.

3.2 Building C/C++ Applications
To facilitate using the C Library in user applications, the installation includes the ACSC.H, and
ACSC_x86.LIB or ACSC_x64.LIB files. The files are not required for running the C Library,
and are only used for building user applications.
In order to use the C Library functions in your application, proceed as follows:
1. Copy files from Program FilesACS Motion ControlSPiiPlus …ACSC to the project
directory. Include file ACSCL_X86.LIB, or ACSCL_X86.LIB (as appropriate), in your
C/C++ project.

31 January 2009 16 Using the SPiiPlus C Library

S Pii Plus+C+Library+Programmer+Guide

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