PC104 데이터 시트보기 (PDF) - PMD

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PC104

Navigator®-PC/104 User’s Guide

PMD 

5

Navigator-PC/104 Electrical Reference

5.5 Command Summary -

Card-Specific Functions

The following tables provide convenient summaries for card-specific C-Motion commands. The much

larger list of Navigator motion processor commands is detailed in Navigator Motion Processor

Programmer’s Command Reference.

C-Motion

command

PMDMBWriteDigitalOutput

PMDMBReadDigitalInput

PMDMBReadDigitalOutput

PMDMBSetAmplifierEnable

Arguments

axis handle,

write_value

axis_handle,

read_value

axis_handle,

read_value

axis handle,

mask,

write_value

PMDMBGetAmplifierEnable

PMDMBSetDACOutputEnable

PMDMBGetDACOutputEnable

PMDMBSetWatchDog

axis_handle,

read_value

axis handle,

write_value

axis_handle,

read_value

axis handle

PMDHardReset

axis_handle

PMDMBGetResetCause

PMDMBReadCardID

axis handle,

reset_cause

axis handle,

card_ID

Function description

This function writes to the 8 general-purpose digital I/O signals

(digitalOut0-7). Write_value holds the 8 signals in its low

order 8 bits.

This function reads the value of the signals DigitalIn0-7 and

returns them in the low order 8 bits of read_value

This function reads the value of the signals DigitalOut0-7 and

returns them in the low order 8 bits of read_value

This function writes to the 4 amplifier enable signals

(AmpEnable1-4) using mask and write_value. When a 1

appears in mask, the corresponding bit position in write_value

is written to the corresponding signal. The values for mask and

write_value are all 0-shifted, that is they are stored in the

lowest order 4 bits.

This function reads the value of the AmpEnable1-4 and returns

them in the low order 4 bits of read_value

This function sets the DACOutputEnable status. A 1 value

written enables DAC output, while a 0 disables it.

This function reads the value of the DACOutputEnable

function. A 1indicates enabled, a 0 indicates not enabled.

This function writes to the correct value to the watchdog

register, so that for the next 104 milliseconds the card will not

be reset by the watchdog circuitry.

This function causes a ‘hard’ reset of the motion processor.

Unlike all other card-specific commands, this command is

processed directly through the PC/104 card interface

This function returns the reset cause in the variable

reset_cause, and also clears the reset condition.

This function returns the card ID, encoded as defined in the

table above.

68

Navigator-PC/104 User’s Guide

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