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PCF-M3




Keithley Instruments, Inc.
Data Acquisition Division
User Guide

for the


Keithley MetraByte

PCF-M3
PASCAL, C, & FORTRAN

Callable Drivers

For The
MSTEP-3




Re&Jdon A - February 1992
Copyright Keithley Instruments, Inc. 1992
Part Number: 24429




Keithley Instruments, Inc. Data Acquisition Division
440 MYLES STANDISH BLVD., Taunton, MA 02780
TEL. 508/880-3000, FAX 508t880-0179



...
- 111 -
Warranty Information

All products manufactured by Keithley Instruments, Inc. Data Acquisition Division
are warranted against defective materials and worksmanship for a period of one
year from the date of delivery to the original purchaser. Any product that is found
to be defective within the warranty period will, at the option of the manufacturer,
be repaired or replaced. This warranty does not apply to products damaged by
improper use.




Warnlng

Keithley Instruments, Inc. Data Acquisition Division assumes no liability
for damages consequent to the use of this product. This product is not
designed with components of a level of reliability auitable for use in life
support or critical applications.




Dlsclalmer

Information furnished by Keithley Instruments, Inc. Data Acquisition Division is
believed to be accurate and reliable. However, the Keithley Instruments, Inc. Data
Acquisition Division assumes no responsibility for the use of such information nor
for any infringements of patents or other rights of third parttes that may result
from its use. No license is granted by implication or otherwise under any patent
rights of the Keithley Instruments, Inc. Data Acquisition Division.




Copyright

All rights reserved. No part of this publication may be reproduced, stored in a
retrieval system, or transmitted in any form by any means, electronic, mechantcal,
photomproductive. recording, or otherwise without the express prior written
permission of the Keithley Intsruments, Inc. Data Acquisition Division.




Note:

Keithley MetraByteN is a trademark of Keithley Instruments, Inc. Data
Acquisition Division.


Basic" is a trademark of Dartmouth College.


[email protected] is a registered trademark of International Business Machines Corporation.

PC, XT, AT, PS/2, and Micro Channel ArchitectureQ are trademarks of Intema-
tional Business Machines Corporation.


[email protected] is a registered trademark of Microsoft Corporation.

Turbo [email protected] a registered trademark of Borland International.
is




- iv -
Contents


CHAPTER 1 INTRODUCTION

1.1 Overview ........................................ l-1
1.2 Supported Languages ................................. l-1
1.3 Copying The Distribution Software ........................... l-1
1.4 Generating Your Application Program ......................... l-2
1.5 This Manual. ..................................... .l-3


CHAPTER 2: DRIVER INFORMATION

2.1 Overview ....................................... .2-l
2.2 Driver Source Modules ................................ .2-l
2.3 Drivers. ........................................ .2-l
2.4 Mode Calls ...................................... .2-2
2.5 Calling The Driver. .................................. .2-3
2.6 Creating New Drivers ................................. .2-4


CHAPTER 3: DRIVER USAGE

3.1 Overview ....................................... .3-l
3.2 Microsoft C/Turbo C ................................. .3-l
3.3 Microsoft PASCAL .................................. .3-3
3.4 Borland Turbo PASCAL ............................... .3-4
3.5 Microsoft FORTRAN ................................. .3-5
3.6 Microsoft QuickBASIC ................................ .3-6


CHAPTER 4 SUMMARY OF ERROR CODES




n mm




-V-
CHAPTER 1

INTRODUCTION



1.I OVERVIEW
The PCF-MS is a software package for programmers using Pascal, Turbo PASCAL, C, FORTRAN, and
QuickBASIC to write motion control routines (referred to herein as Application Code 1 for the MSTEP-
3. The Distribution Software for this package is normally supplied on 5.25" low-density diskettes but
is also available (upon request) on 3.5" diskette(s). Contents of the package include the following:

l MSTEP-3 Drivers for each of the supported languages
l Driver Source Modules for creating new Drivers
l Miscellaneous documentation (DOC) files
. Example program files in all supported languages




1.2 SUPPORTED LANGUAGES
The MSTEP-3 supports all memory modules of the following languages:

. Microsoft C (V4.0 - 6.0)
l Microsoft Quick C cVl.0 - 2.0)
l Microsoft Pascal 073.0 - 4.0)
. Microsoft FORTRAN (V4.0,4.1)
l Microsoft QuickBASIC (V4.0 and higher)
l Borland Turbo Pascal (V3.0 - 5.0)
l Borland Turbo C (V1.0 - 2.0)
l GW, COMPAQ and IBM BASIC (V2.0 and higher)




1.3 COPYING DISTRIBUTION SOFTWARE
As soon as possible, make a working copy of your Distribution Software. You may put the working
copy on diskettes or on the PC Hard Drive. In either case, making a working copy allows you to store
your original software in a safe place as a backup.

To make a working copy of your Distribution Software, you will use the DOS COPY or DISKCOPY
function according to one of the instructions in the following two subsections.




l-l
PCF-M3 USER GUIDE



To Copy Distribution Software To Another Diskette
Note that the source diskette is the diskette containing your Distribution Software; the target diskette
is the diskette you copy to. Before you start, be sure to have one (or more,as needed) formatted
diskettes on hand to serve as target diskettes.

First, place your Distribution Software diskette in your PC's A Drive and log to that drive by typing
A:. Then, use one of the following instructions to copy the diskette files.

l If your PC has just one diskette drive (Drive A), type COPY * . * B : (in a single-drive PC,
Drive A also serves as Drive B) and follow the instructions on the screen.

If you prefer to use the DOS DISKCOPY function, instead of COPY, you will typeDISKCOPY
A: A: and follow instructions on the screen. This alternative is faster, but requires access to
DISKCOPY .COM, in your DOS files.
l If your PC has two diskette drives (Drive A and Drive B), type COPY * . * B : (the same as
above) and follow the instructions on the screen.

If you prefer to use the DOS DISKCOPY function, instead of COPY, you will typeDISKCOPY
A: B : and follow instructions on the screen. This alternative is faster, but requires access to
DISKCOPY .COM, in your DOS files.



To Copy Distribution Software To The PC Hard Drive
Before copying Distribution Software to a hard drive, make a directory on the hard drive to contain
the files. While the directory name is your choice, the following instructions use PCFM3 .

1. After making a directory named PCFM3 , place your Distribution Software diskette in your PC's
A Drive and log to that drive by typing A: .
2. Then, type COPY * . * pafh\PCFMS , where path is the drive designation and DOS path (if
needed) to the PCFMS directory.


When you finish copying your Distribution Software, store it in a safe place (away from heat,
humidty, and dust) for possible future use as a backup.




1.4 GENERATING AN APPLICATION PROGRAM
In the Distribution Software, the example program for the language you are using provides most of
the information you need to start your own MSTEP-3-based Application Program. The overall
procedure for a typical executable program, however, is as follows:

1. Write your Application Code using a text editor or the language environment.
2. Compile your program.
3. Link the compiled program to a Driver (from the Distribution Software) suited to the language of
your Application Code.


This procedure gives you an executable Application Program, ready to test. Repeat all three steps as
you modify/fix this program.

1-2
CHAPTER 1: INTRODUCTION



1.5 THIS MANUAL
Chapter 1 of this manual is introductory material.

Chapter 2 presents information on the MSTEP-3 Drivers required for the supported languages. Since
the Drivers support the full series of MSTEP-3 Mode Calls, Chapter 2 also lists and briefly describes
the Mode Calls. And since the Drivers may not be perfectly suited to your particular applications,
Chapter 2 discusses the Driver Source Modules, which are the source-code files you may use for
creating new Drivers. Finally, the chapter includes instructions for creating new Drivers.

Chapter 3 presents brief instructions and examples for using the Drivers with your Application
Programs.




1-3
PCF-M3 USER GUIDE




l-4
CHAPTER 2

DRIVER INFORMATION



2.1 OVERVIEW
When you write a program for your own MSTEP-3 application, your program is referred to herein as
the Application Code. You have a choice of writing this Code in BASIC, QuickBASIC, PASCAL, Turbo
PASCAL, C, or FORTRAN. You then compile your Application Code and link the resulting program
with a Driver . The linking process develops the Application Program, which is the program giving
you software control of your hardware.

The Driver you link with your Application Code must be suited to the language used for the Code.
For example, if you write your Application Code in C, your must link it with a Driver suited to C.

The Distribution Software contains Drivers for BASIC, QuickBASIC, PASCAL, Turbo PASCAL, C, and
FORTRAN. The Distribution Software also contains the Driver Source Moduks , which are the
Assembly Language source files provided for the purpose of allowing you to create new Drivers
customized to your particular needs.

Section 2.2 of this chapter lists and describes the Driver Source Modules, with which you may create
new Drivers. Section 2.3 lists and describes the Drivers available in the Distribution Software. Section
2.4 lists the Mode Calls supported by the Drivers. Section 2.5 instructs you on how to make calls from
your Application Code. The final section (Section 2.6) instructs you on how to use the Driver Source
Modules to create new Drivers.




2.2 DRIVER SOURCE MODULES
The following two Driver Source Modules are the essential building blocks for creating a MSTEP-3
Driver in any language:

MSTEP.ASM Core of the driver.
MSTEPPCF.ASM Driver interface module for PASCAL, C, FORTRAN, and QuickBASIC.


As mentioned earlier, these two modules are available in your Distribution Software. Also available
in the Distribution Software is TURBOPAS.ASM , which is a Driver Source Module available strictly
for Turbo PASCAL. TURBOPAS.ASM actually has a source equivalent to all the above two modules.

For instructions on using these modules to create Drivers, refer to Section 2.6.




2.3 DRIVERS
As a convenience, your Distribution Software contains Drivers for PASCAL, Turbo PASCAL, C,
FORTRAN, BASIC, and QuickBASIC. You must link the appropriate Driver with your Application
Code; choose the Driver that matches the language used for your Application Code. Available

2-1
PCF-M3 USER GUIDE

Drivers are as follows:

MSTEl'.LIB: Driver for Pascal, C, FORTRAN, and stand-alone QuickBASIC programs.

MSTEP.BlN: Driver for BASIC(A).

MSTEP.QLB: Driver for the QuickBASIC Integrated Development Environment (Ver.
4.0-4.5).
MSTEPX.QLB: Driver for the QuickBASIC Extended Environment (Ver. 7.0).

TURBOPAS.OBJ: Driver for TURBO Pascal.




2.4 MODE CALLS
This list briefly describes the Mode Calls supported by the MSTEP-3 driver software. More detailed
explanations of each Mode are available in the main text of the MSTEP-3 User Guide.


MODE 0: Emergency stop.

MODE 1: Decelerating stop..

MODE 2: Single step or "log."

MODE 3: Step with acceleration/deceleration.

MODE 4: Step at constant speed.

MODE 5: Move to an outer limit at constant speed.

MODE 6: Move to limit at high speed.

MODE 7: Move to base point at constant speed.

MODE 8: Read motor status.

MODE 9: Load external clock divider.

MODE 10: Read data from all ports.

MODE 11: Write data to all ports.

MODE 12: Write data to one port.

MODE 13: Toggle auxiliary bit.

MODE 14: Enable/disable an interrupt.

MODE 15: Initialization.


Refer to the MSTEP-3 User Guide for details of each Mode. It is essential that you perform a channel
initialization (MODE 15) on each channel separately before selecting any other Mode (O-14).




2-2
CHAPTER 2: DRIVER INFORMATION



2.5 CALLING THE DRIVER
In your Application Code, you write a call the MSTEP-3 driver through a single label that corresponds
to the language used for your Code and to the memory model used for compiling. These labels are
the Cull Labels . MSTEP-3 Call Labels and their corresponding Drivers are as follows:




MSTEP.LIB:
mscs-mstep For Calls from Microsoft C, Small Model
mscm-mstep For Calls from Microsoft C, Medium Model
mscl-mstep For Calls from Microsoft C, Large Model
tcs-mstep For Calls from TURBO C, Small Model
tcm-mstep For Calls from TURBO C, Medium Model
tcl-mstep For Calls from TURBO C, Large Model


msp-ms tep For Calls from Microsoft Pascal
fmstep For Calls from Microsoft FORTRAN
qbmstep For Calls from Microsoft QuickBASIC




TURBOPAS.OBJ:
tp-mstep For Calls from TURBO Pascal



MSTEP.BIN:
mstep For Calls from BASIC(A)


Regardless of the language/model you are using, with each call to a label you must specify three
input parameters, as follows:

MODE A l&bit integer containing the number of the mode to be executed by
the MSTEP-3 driver.

PARAM An array of 16-bit integers containing a variable number of mode-
dependent arguments required for the successful execution of the
mode.

STPNUM Step Number, which is a long integer that specifies the direction and
number of steps to travel. The sign indicates direction (+ =
clockwise, - = counter-clockwise). Not all modes use StpNum data,
but this parameter must be included in a Call.

FLAG A %-bit integer quantity that contains a number representing any
error code reported by the MSTEP-3 driver. (See Chapter 4 for
error-code definitions.)




2-3
PCF-M3 USER GUIDE


The following is code fragment (in Cl on how to declare and use the call parameters.


int Mode=l5, Flag;
unsigned Paramtl51;
long StpNum=O;


Param /* Select Axis A */
Param /* Start-up rate, 49 pps */
Param /* High-speed run rate */
Param /* Acceleration/deceleration pulse count */
Param /* 4 phase */
Param /* Full step */
Param /* Inverted Sl-5 outputs */
Param /* Internal clock */
Param :8] = 1; /* Switching off at standstill */
Param /* "On Time" of duty cycle */
Param /* "Off Time" of duty cycle */
Parm /* Port A Direction; 0 = input, 1 = output */
Param /* Port B Direction; 0 = input, 1 = output */
Param /* Auxiliary bit logic; 0 = low, 1 = high */
Param /* Base Address */

if (Flag != 0)
printf (I'****Error %d detected in Mode 15", Flag);



Refer to Chapter 3 for additional details on how to declare and use these variables in other languages.




2.6 CREATING NEW DRIVERS

General
While the Drivers available to you in the Distribution Software (see Section 2.3) support all the Call
Modes described in Section 2.4, they may not suit your particular application. You may remedy this
problem by creating a new version of the desired Driver. This section provides the information
necessary to create a new Driver for BASIC, QuickBASIC, PASCAL, Turbo PASCAL, C, and
FORTRAN.

Note that to create a new version of a Driver, your working directory (generally, the directory
containing the Distribution Software) must contain the Driver Source Modules (Section 2.2) and the
following development tools:

MASM.EXE Microsoft Assembler

LINK.EXE Microsoft Linker

LIB.EXE Microsoft Librarian


Other utilities will be specified as needed in the instructions of the subsections that follow.




2-4
CHAPTER 2: DRIVER INFORMATION



Also, note that in the MASM compile commands you use to create a new Driver, you must define the
two symbols BIN and MSTEP . These definitions use the /D option for BASIC, QuickBASIC,
PASCAL, C, and FORTRAN; for Turbo PASCAL, no symbol definition is required. These symbol
definitions are as follows:

BIN=l: Compile for BASIC(A) Driver. Usage example: /DBIN=l .

BlN=O: Compile for non-BASIC(A) Driver (PASCAL, C, FORTRAN, and
QuickBASIC). Usage example: /DBIN=O .

WARNING
The manufacturer does not provide technical support for user
medications of the driver source code.



The MSTEP.BIN Driver For BASIC(A)
To create a MSTEP.BIN Driver, you must have access to the following utilities:

EXE2BIN.EXE A Microsoft .EXE-to-.COM file conversion utility (generally available in
DOS files).
MAKEBIN.EXE A .COM-to-.BIN file-conversion utility (supplied in the MSTEP-3
Distribution Software).


Then, use the following commands:

MAIM /DBIN=~ wTEP.AsM;
MASM /DBIN=l MSTEPPCF.ASM
LINK MSTEPPCF + MSTEP, MSTEP,,;
EXEPBIN MSTEP.FXE MSTEP.COM
MAKEBIN MSTEP.COM

All five steps must be successful. Note that the linking operation generates the warning:

LINK : Warnlng L4021 : no stack segment

Disregard this warning; it is irrelevent.




The TURBOPAS.OBJ Driver For Turbo PASCAL
To create a TURBOPASOBJ Driver, you must have access to the following utility:

TASM.EXE TURBO Assembler

Then, use the command TASM TURBOPAS . ASM .



The MSTEP.QLB Driver For The QuickBASIC Integrated Environment (V4.5)
To create the MSTEP.QLB Driver, you must have access to the utility BQLB45LIB, which is the
QuickBASIC Integrated Environment Library. Then use the following commands:



2-5
PCF-M3 USER GUIDE


MASM /DBIN=O MSTEP.ASM;
MASM /DBIN=O MSTEPPCF.ASM;
LINK /q MSTEP+MSTEPPCF, MSTEP,,BQLB45;




The MSTEP.LIB Driver For A Stand-alone QuickBASIC (V4.5) Program
To create the MSTEP.LIB file, you must have access to MASM (the Microsoft Assembler) and
IJB.EXE (the Microsft Library Manager). Then, use the following commands:

MASM /DBIN=O MSTEP.ASM;
MASM /DBIN=O MSTEPPCF.ASM;
LIB MSTEP-+MSTEP;
LIB MSTEP-+MSTEPPCF;




The MSTEPX.QLB Driver For The QuickBASIC Extended Environment (V7.0)
To create a QLB library compatible with QuickBASIC Version 7.0, follow the procedure described for
QuickBASIC Version 4.5. However, link with QBXQLBLIB , instead of BQLB45LIB, as follows:

LINK /q MSTEP+MSTEPPCF, MSTEPX,,QBXQLB;

Note that the output file (from the linker) is renamed MSTEPX.QLB to avoid incompatibilities
with QuickBASIC 4.5.




The MSTEP.LIB Driver For PASCAL, C, & FORTRAN
When your Application Code is in PASCAL, C, or FORTRAN, use the MSTEP.LIB Driver to compile
your Application Program.

To create the MSTEP.LIB file, you must have access to MASM (the Microsoft Assembler) and
LIB.EXE (the Microsft Library Manager). Use the following commands:

MASM /DBIN=~ MSTEP;
MASM /DBIN=O MSTEPPCF;
LIB MSTEP-+MSTEP;
LIB MSTEP-+MSTEPPCF;




2-6
CHAPTER 3

DRIVER USAGE



3.1 OVERVIEW
This chapter presents example of Driver usage in each of the supported languages. Refer to the
appropriate section below for details on performing the Mode Calls from the language you are using.
The language sections contain brief code fragments for illustration. More information is also available
in the example programs (Distribution Software).




3.2 MICROSOFT C/TURBO C
The C Language, with its large run-time libraries and full pointer-manipulation support, provides the
most flexible environment for writing Application Code that fully utilizes your MSTEP-3 product.




Function Prototypes
In your Application Code, declare one of the following function prototypes, depending on the
Memory Model you will use:

mscs-xnstep (int *, unsigned *, long *, int *) ; /* MS C Small Model */
mscm-.tep (int *, unsigned *, long *, int *) ; /* MS C Medium Model */
mscl-mstep(int *, unsigned *, long *, int *); /* MS C Large Model */
tcs-znstep(int *, unsigned *, long *, int *); /* Turbo C Small Model */
tcm-nstep(int *, unsigned *, long *, int *); /* Turbo C Medium Model*/
tcl-mstep(int *, unsigned *, long *, int *); /* Turbo C Large Model */


You have the option of preceding these function prototypes with the C keyword extern . Note that
each prototype contains a Call Label that corresponds to the Memory Model to be used during
compilation.



The Call Parameters
Declare Mode Call parameters as follows:
the

int Mode;
unsigned Param[15];
int Flag;
long stpnuzn;


The Param[] array index values are 0 thru 14, inclusive.




3-l
PCF-16G USER GUIDE


An Example
To call MODE 15 of the MSTEP3 Driver from an MS C Medium Model program, your commands
would be


int Mode=l5; /* Initialize MSTEP-3 */
int Flag=O;
unsigned Param[lti];
long StpNum=O;


Param[O] = 0 /* Select Axis A */
Param[l] = 125; /* Start-up rate, 49 pps */
Param[2] = 20; /* High-speed run rate */
Param[3] = 200; /* Acceleration/deceleration pulse count */
Param[4] = 2; /* 4 phase */
Param[S] = 0; /* Full step */
Param[6] = 1; /* Inverted Sl-5 outputs */
Param[7] = 0; /* Internal clock */
Param[8] = 1; /* Switching off at standstill */
Param[9] = 16; /* "On Time" of duty cycle */
Param[lO] = 32; /* "Off Time1v of duty cycle */
Param[ll] = 1; /* Port A Direction; 0 = input, 1 = output */
Param[ 121 /* Port B Direction; 0 = input, 1 = output */
Paraxn[l31 /* Auxiliary bit logic; 0 = low, 1 = high */
Param[lrl] /* Base Address */

mscxn_mstep(&Mode, Param, &StpNum, &Flag);
if (Flag !=O)
printf ('I****Error %d detected in Mode 15", Flag);




Note that specifying Param in the Call statment is the same as &Purum~Ol
.



Linking To The Driver
After compiling your C Application Code, link it to the MSTEP.LIB Driver (for Call Label
mscm-msfep ) as follows:

LINK your-program,,,MSTBP.LIB;


If no error reports occur, you will obtain your Application Program your-program.EXE , ready to test.
If the Linker reports errors such as Unresolved External(s), determine whether you linked to
MSTEP.LIB correctly.

NOTE: Be sure to use the correct Call Label for the Memory Model you are using.




3-2
CHAPTER 3: DRIVER USAGE



3.3 MICROSOFT PASCAL

Function Prototypes
In your Application Code, declare the following function prototype:

MSP-MSTEP(VAR Mode:lnteger;VAR Param:PArray;VAR StpNum:integerrl;VAR Flag:integer): external;




The Call Parameters
Declare the Mode Call parameters as follows:

TYPE
PArray = array [0..14] of word ;

VAR
Paraxn : PArray; (* MODE PABAM ARRAY *)
Mode, Flag : integer; (* MODE GALL VARIABLES *)
StpNum : integer; (* STEP NUMBER *)


The Param[l array index values are 0 thru 14, inclusive. The index value starts at 0.




An Example
To call MODE 0 of the MSTEP Driver from MS Pascal
Application
Code,


Mode :=15; /* Initialize MSTEP-3 */
Flag :=o*
StpNurn :=360;


Param[O] := 0 /* Select Axis A */
Param[l] := 125; /* Start-up rate, 49 pps */
Pararn[P] := 20; /* High-speed run rate */
Paraxn[3] := 200; /* Acceleration/deceleration pulse count */
Param[rll := 2; /* 4 phase */
Param[5] := 0; /* Full step */
Param[Gl := 1; /* Inverted Sl-5 outputs */
Param[71 := 0; /* Internal clock */
Param[8] := 1; /* Switching off at standstill */
Param[9] := 16; /* "On Time'v of duty cycle */
Param[lO] := 32; /* "Off Time" of duty cycle */
Parazn[lll := 1; /* Port A Direction; 0 = input, 1 = output */
Parazn[lP] := 1; /* Port B Direction; 0 = input, 1 = output */
Par-[131 := 0; /* Auxiliary bit logic: 0 = low, 1 = high */
Param[l41 := 768; /* Base Address */

MSP-MSTEP (Mode,Param,StpNum,Flag);
IF (Flag > 0) THEN
BEGIN
NRITELN('INITIALIZATION ERROR ! ');
RETURN;
END;




3-3
PCF-16G USER GUIDE


Linking To The Driver
After compiling your MS PASCAL Application Code, link it to the MSTEP.LIB Driver (for Call Label
MSPMSTEP ), as follows:

LINK your-program, , , MsTElP . LIB;


If no error reports occur, you will obtain your Application Program your-progrum.EXE , ready to test.
If the Linker reports errors such as Unresolved External(s), determine whether you linked to
MSTEP.LIB correctly.




3.4 BORLAND TURBO PASCAL

The Call Label
The Call Label TP-MSTEP is usable from any Turbo Pascal program; declare this label in your
Application Code as follows:

TP-MSTEP(VAR Mode:integer;VAR Param:PArray;VAR StpNum:longint;VAR Flag:integer):external;




The Call Parameters
Declare the Mode Call parameters as follows:

TYPE
PArray = array [O. .14] of word;
VAR
Param : PArray; (* MODE PARAM ARRAY *)
Mode,Flag : integer; (* MODE CALL VARIABLES *)
StpNum : longint; (* STEP NUMBER *)


The Param array index values are 0 thru 14, inclusive. The index values start at 0.



An Example:
To call Mode 15 of the MSTEP Driver from Turbo Pascal Application Code:


Mode :=15; /* Initialize MSTEP-3 */
Flag :=o*
StpNum :=360;


Param[O] := 0 /* Select Axis A */
Param[l] := 125; /* Start-up rate, 49 pps */
Param[P] := 20; /* High-speed run rate */
Param[3] := 200; /* Acceleration/deceleration pulse count */
Param[4] := 2; /* 4 phase */
Param[5] := 0. I /* Full step */
Param[6] := 1. /* Inverted Sl-5 outputs */
Param[7] := 0; /* Internal clock */


3-4
CHAPTER 3: DRIVER USAGE

Param[8] := 1; /* Switching off at standstill */
Param[ 91 := 16; /* "On Time" of duty cycle */
Pararn[lO] := 32; "Off Time" of duty cycle */
Paramtll] := 1; ;; Port A Direction; 0 = input, 1 = output */
Param[lP] := 1; Port B Direction; 0 = input, 1 = output */
Param[l3] := 0; /* Auxiliary bit logic; 0 = low, 1 = high */
Param[lQ] := 768; /* Base Address */

TP-MSTEP (Mode, Param, StpNum, Flag) ;
IF (Flag > 0) THEN
BEGIN
WRITELN('INITIAIJZATION ERROR ! ');
RETURN;
END;




Linking To The Driver
The Turbo Pascal Driver is TURBODAS.OBJ . This file is linked into your program using the $L
Compiler Directive. Include this command at the beginning of your progam as follows:

{$L TURBOPAS)


Once included, you are ready to compile your program with the command

TPC your-program




3.5 MICROSOFT FORTRAN

The Software Driver Call Label
The call label fmsfep is usable from any MS FORTRAN Application Code; no prototype declaration of
the label is required.




The Mode Call Parameters
Declare the Mode Call parameters as follows:

integer*2 Param(l5) !Parameter Array
integer*2 mode !Mode number
integer*2 flag !Return error flag
integer*4 stpnum !Step Number


Note that by default, FORTRAN array index values begin at 1. The latest versions of FORTRAN,
however, allow you override this default to start at Index Value 0. Refer to your FORTRAN Manuals
for more detail.




3-5
PCF-16G USER GUIDE



An Example
To call MODE 0 of the Driver from Microsoft FORTRAN Application Code,

C Mode=lS: Initialize MSTEP-3

Mode=15
Flag=0
StpNum=300

Param(1) = 0
Paraxn(2) = 125
Pararn(3) = 20
Param(4) = 200
Paraxn(5) = 2
Param(6) = 0
Param(7) = 1
Param(8) = 0
Paraxn(9) = 1
Param = 16
Param(l1) = 32
Param(l2) = 1
Param(l3) = 1
Param(l4) = 0
Param(l5) = 768

call fmstep (Mode, Paraxn(
l),StpNum, Flag)
if (Flag .GT. 0) then
WRITE (*,50) Flag
50 fomat(lx, 'INITIALIZATION ERROR : ',i.P)
stop
endif



Linking To The Driver
After compiling your FORTRAN Application Code, link it to the MSTEP.LIB Driver (for the Call Label
ftnstep ) as follows:

LINK your-progrm,,,MSTEP.LIB;


If no error reports occur, you will obtain your Application Program your-p~ogrum.EXE , ready to test.
If the Linker reports errors such as Unresolved External(s), determine whether you linked to
MSTEl?.LIB correctly.




3.6 MICROSOFT QUICKBASIC

The Call Label
You must declare the Call Label in your Application Code. Make this declaration by inserting the
following command at the beginning of your Code:

DECLARE SUB QBMSTEP (MD%, BYVAL PARAMS%, STPC, FLAG%)




3.6
CHAPTER 3: DRIVER USAGE



The Call Parameters
Declare the Mode Call parameter array D%(14) as follows:

DIM D% (14)
COMMON SHARED D%()


The term COMMON SHARED allows the useother modules and subroutines in this array.



An Example
To initialize your MSTEP-3 board, use MODE 0 as follows:

:
MD% =15 'Initialize MSTEP-3
STPC = 300
FLAG% = 0

D%(O) = 0 'Select Axis A
D% (1) = 125; 'Start-up rate, 49 pps
D%(2) = 20; 'High-speed run rate
D% (3) = 200; 'Acceleration/deceleration pulse count
D%(4) = 2; '4 phase
D%(5) = 8; 'Full step
D%(6) = 1; *Inverted Sl-5 outputs
D%(7) = 8; 'Internal clock
D%(8) = 1; 'Switching off at standstill
D%(9) = 16; "'On Time" of duty cycle
D%(lO) = 32; "'Off Time" of duty cycle
D%(ll) = 1; 'Port A Direction; 0 = input, 1 = output
D%(12) = 1; 'Port B Direction; 0 = input, 1 = output
DB(13) = 0; 'Auxiliary bit logic; 0 = low, 1 = high
D%(14) = 768; 'Base Address

PRINT "Current Acceleration/Deceleration step rate = "; D%(3)
CALL QBMSTEP (MD%, VARPTR(D%(O)), STP&, FLAG%)
IF FLAG% <> 8 THEN PRINT "INITIALIZATION ERROR ! 11
.




Linking To The Driver
The QuickBASIC interface consists three separate Drivers:

MSTEP.QLB Use when you load the QuickBASIC Enviroment Version 4.5 and you
plan to run your program from within the Environment (no EXE
envolved here). Use the /L switch to load this Quick Library into
QuickBASIC:

QB /L MSTEP your-program
MSTEPX.QLB This is identical to MSTEP.QLB except that it is designed for
QuickBASIC Extended Environment Version 7.0 (QBX). Use the /L
switch to load this Quick Library into QuickBASIC:

QBX /L MSTEPX your-program
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PCF-16G USER GUIDE




3-8
CHAPTER 4

SUMMARY OF ERROR CODES



In general, the Error Flag is the parameter that returns any reports of error conditions. This flag is an
integer type (16 bits) and contains the Error Code number.


The following list contains Error Code definitions and suggested actions.


Error 1: Motor busy.
Meaning: This error is generated by MODES 2,3,4,5,6,7, and 8; it indicates that
the motor is under operation.

Action: Call MODE 0 to stop the motor and try again.



Error 2: Driver not initialized on Channel A.
Meaning: Any mode can return this error; it indicates that the driver must be
initialized for Channel A prior to this MODE.
Action: Call MODE 15 to initialize Channel A before the MODE in which this
error occurred.



Error 3: Driver not lnitlalized on Channel B.
Meaning: Any mode can return this error; it indicates that the driver must be
initialized for Channel B prior to this MODE.
Action: Call MODE 15 to initialize Channel B before the MODE in which this
error occurred.



Error 4: Driver not initialized on Channel C.
Meaning: Any mode can return this error; it indicates that the driver must be
initialized for Channel C prior to this MODE.
Action: Call MODE 15 to initialize Channel C before the MODE in which this
error occurred.



Error 5: Mode number < 0 or > 15.
Meaning: Any mode can return this error; it indicates that the mode number is not
allowed.
Action: Check that the mode number is within 0 thru 15, inclusive.




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PCF-M3 USER GUIDE



Error 6: Hardware error.
Meaning: MODES 0, 1,2,3,5,6,7,8, and 15 return this error; it indicates that the
PPMC motor controller is not taking commands from the MODE in
which this error occurred.
Action: Call MODE 15 to re-initialize.



Error 7: Step count out of range +16,777,215.
Meaning: MODE 3, and 4 whenever thespecified Step Count is out of range.
Action: Check the mode number to be within the range - 16,777,215 thru +
16,777,215 inclusive.



Error 8: Motor already standstill.
Meaning: MODES 0 and 1 return this error whenever the motor is already
standstill.
Action: No action is needed.



Error 9: Motor switching t/me at standstlll; does not set.
Meaning: MODE 15 returns this error; it indicates that MODE 15 fails to set up the
"EXCITATION SIGNAL SWITCHING" timing.
Action: Check the "ON" ( Param [91 1 and "OFF' ( Param [lo] 1 time for switching
frequency in MODE 15 initialization parameters.



Error 10: Error In range of Param[O].
Meaning: This error may be returned by any MODE; it indicates that the first
parameter ( Param [Ol ) passed to the driver is out of range.
Action: Check the range of the parameter.



Error 17: Error In range of Param[l].
Meaning: This error may be returned by MODES 4,5,7,9,11,12, and 15; it
indicates that the second parameter ( Param [l] ) passed to the driver is
out of range.
Action: Check the range of the parameter.



Error 12: Error in range of Param[2].
Meaning: This error may be returned by MODE 12,14, and 15; it indicates that the
third parameter ( Param 121) passed to the driver is out of range.
Action: Check the range of the parameter.



4-2
CHAPTER 4 SUMMARY OF ERROR CODES


Error 73: Error in range of Param[3].
Meaning: This error may be returned by MODE 14 and 15; it indicates that the
fourth parameter ( Param [3] ) passed to the driver is out of range.

Action: Check the range of the parameter.



Error 14: Error In range of Param[rl].
Meaning: This error may be returned by MODE 15; it indicates the fifth parameter (
Param [4] ) passed to the driver is out of range.

Action: Check the range of the parameter.



Error 15: Error in range of Param[S].
Meaning: This error may be returned by MODE 15; it indicates that the sixth
parameter ( Param [5] ) passed to the driver is out of range.
Action: Check the range of the parameter.



Error 16: Error in range of Param[G].
Meaning: This error may be returned by MODE 15; it indicates that the seventh
parameter ( Param 161) passed to the driver is out of range.
Action: Check the range of the parameter.



Error 17: Error in range of Paramp].
Meaning: This error may be returned by MODE 15; it indicates that the eighth
parameter ( Param [71) passed to the driver is out of range.
Action: Check the range of the parameter.



Error 18: Error In range of Param[B].
Meaning: This error may be returned by MODE 15; it indicates that the ninth
parameter ( Param 181) passed to the driver is out of range.
Action: Check the range of the parameter.



Error 19: Error in range of Param[S].
Meaning: This error may be returned by MODE 15; it indicates the tenth parameter
( Param 191) passed to the driver is out of range.
Action: Check the range of the parameter.




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PCF-M3 USER GUIDE


Error 20: Error in range of Param[lO].
Meaning: This error may be returned by MODE 15; it indicates that the eleventh
parameter ( Param [lo] ) passed to the driver is out of range.

Action: Check the range of the parameter.



Error 21: Error in range of Paramp I].
Meaning: This error may be returned by MODE 15; it indicates that the twelveth
parameter ( Param [ll] ) passed to the driver is out of range.

Action: Check the range of the parameter.



Error 22: Error in range of Param[l2].
Meaning: This error may be returned by MODE 15; it indicates that the thirteenth
parameter ( Param [121) passed to the driver is out of range.
Action: Check the range of the parameter.



Error 23: Error in range of Param[l3].
Meaning: This error may be returned by MODE 15; it indicates that the fourteenth
parameter ( Param 1131) passed to the driver is out of range.
Action: Check the range of the parameter.



Error 24: Error in range of Param[l4].
Meaning: This error may be returned by MODE 15; it indicates that the fifteenth
parameter ( Param [14] ) passed to the driver is out of range.

Action: Check the range of the parameter.




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4-4