CMO Programmer’s

Guide

16-01041
Revision 03
November 2018

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CMO Programmer’s Guide

TABLE OF CONTENTS
1. About This Manual ............................................................................................... 6
2. Fundamental Concepts and Procedures ............................................................... 9
2.1 Introduction ................................................................................................... 9
2.2 System Requirements ...................................................................................... 9
2.3 .NET Framework Compatibility ......................................................................... 10
2.4 32-bit vs. 64-bit Compatibility ......................................................................... 10
2.5 CANopen Network .......................................................................................... 11
2.6 Communication Errors .................................................................................... 11
2.7 Node Guarding............................................................................................... 11
2.8 Exception Handling ......................................................................................... 12
2.9 Units ............................................................................................................ 12
2.10 Stepnet Amplifiers ....................................................................................... 12
3. Using CMO in an application .............................................................................. 14
3.1 Building an Application.................................................................................... 14
3.2 Before Running a CMO Program ....................................................................... 14
3.3 Download and Install CMO .............................................................................. 14
3.4 Adding a Reference to CMO in Visual Studio ...................................................... 15
3.5 Object Initialization Sequence .......................................................................... 16
4. Network Objects ................................................................................................ 17
5. Amplifier and Related Objects ........................................................................... 18
5.1 ampSettingsObj ............................................................................................. 18
5.2 Amplifier Initialization ..................................................................................... 20
5.3 Amplifier Enable/Disable ................................................................................. 21
5.4 Objects Contained by AmpObj ......................................................................... 22
5.5 AmpInfoObj ................................................................................................... 22
5.6 Motor/Feedback Information............................................................................ 26
5.7 Current Loop ................................................................................................. 33
5.8 Velocity Loop ................................................................................................. 35
5.9 Position Loop ................................................................................................. 37
5.10 Tracking Windows ....................................................................................... 39
5.11 Homing ...................................................................................................... 40
5.12 Quick Stop ................................................................................................. 44
5.13 Halt ........................................................................................................... 45
5.14 Point-to-Point Moves .................................................................................... 45
5.15 Save/Restore Amplifier Data ......................................................................... 47
5.16 Node Guarding ............................................................................................ 48
5.17 Status, Events, and Faults ............................................................................ 48
5.18 Digital Inputs/Outputs ................................................................................. 51
5.19 Amplifier Events .......................................................................................... 60
5.20 Amplifier Trace............................................................................................ 61
5.21 Other Methods and Properties ....................................................................... 68
6. Linkage .............................................................................................................. 72
6.1 LinkageSettingsObj ........................................................................................ 72
6.2 LinkageObj .................................................................................................... 73
7. The Event Object ............................................................................................... 77
8. The I/O Object .................................................................................................. 79
8.1 Analog Inputs ................................................................................................ 82
8.2 Analog Outputs .............................................................................................. 83
8.3 Digital Inputs................................................................................................. 84
8.4 Digital Outputs .............................................................................................. 85
9. CopleyMotionLibrary Object ............................................................................... 86
10. Layer Setting Service Object .............................................................................. 87

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11. PDO Related Objects .......................................................................................... 89

11.1 PDO mapping objects ................................................................................... 89
11.2 RPDOObj .................................................................................................... 89
11.3 TPDOObj .................................................................................................... 90

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CMO Programmer’s Guide About This Manual

1. About This Manual

Related Documentation
• CANopen Programmer’s Manual
• CAN Bus Cabling Guide
• CME User Guide
Information about CANopen can be found on the CAN in Automation website at:
http://www.can-cia.de/index.php?id=canopen
Copley Controls software and related information can be found at:
http://www.copleycontrols.com
For more information on Microsoft® .NET please refer to:
http://www.microsoft.com.

Copyrights
No part of this document may be reproduced in any form or by any means, electronic or
mechanical, including photocopying, without express written permission of Copley Controls.
CME and CMO are registered trademarks of Copley Controls. Windows 10/8/7, Visual Basic, and
.NET are trademarks or registered trademarks of the Microsoft Corporation.

Document Validity
We reserve the right to modify our products. The information in this document is subject to
change without notice and does not represent a commitment by Copley Controls. Copley Controls
assumes no responsibility for any errors that may appear in this document.

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CMO Programmer’s Guide About This Manual

Product Warnings
Observe all relevant state, regional and local safety regulations when installing and using Copley
Controls amplifiers. For safety and to assure compliance with documented system data, only
Copley Controls should perform repairs to amplifiers.

!
Use caution in designing and programming machines that affect the
safety of operators.

The examples in this book are for demonstration purposes only, providing
guidelines for programming. The programmer is responsible for creating
WARNING program code that operates safely for the amplifiers and motors in any given
machine.
Failure to adhere to this warning can cause equipment damage,
injury, or death.

!
Do not use Copley Motion Objects to implement an Emergency Stop

An Emergency Stop must be hardwired directly to the amplifier. Do not

depend on the Copley Motion Objects software to provide for a timely
emergency stop. Due to the non-deterministic nature of Microsoft Windows,
WARNING the software cannot guarantee a timely emergency stop operation.
Failure to adhere to this warning can cause equipment damage,
injury, or death.

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Revision History
Revision Date Applies to Comments
00 August 2014 CMO Version 4.0 Re-formatted text, added descriptions for
and 5.0 new methods and properties.
01 June 2015 CMO V5.1 Release Added info for multi-axis CAN drives. Added
table to the debug levels. Added description
of new Linkage settings object.
02 July 2018 CMO V5.2 Release Added info for LSSObj.
Added info for PDO mapping objects.
Added drive configuration file methods.
03 November 2018 CMO V6.0 Edited for CMO V6.0

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CMO Programmer’s Guide Fundamental Concepts and Procedures

2. Fundamental Concepts and Procedures

2.1 Introduction
The Copley Motion Objects (CMO) simplifies the creation of Windows-based software for the
control of Copley Controls amplifiers over CANopen network. CMO is an API that gives
programmers access to an amplifier’s CANopen functions without having to learn the
complexities of the underlying network protocol. CMO is a managed .NET assembly which means
that it can be used with client code that supports .NET assemblies. For control of Copley Controls
amplifiers over EtherCAT network, use CMO V5.x.

2.2 System Requirements

Operating System and Hardware
• Operating Systems Supported: Windows 10, 8, and 7.
• CMO supports all the Copley CAN Interface cards

Latest version of firmware is recommended and can be downloaded from Copley’s website:
www.copleycontrols.com.

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2.3 .NET Framework Compatibility

CMO is designed as a .NET Assembly, which means that it can be used in applications that are
designed to run under the Microsoft .NET Framework. This includes applications built with Visual
Studio. Occasionally, new versions of the .NET Framework released that are not backward
compatible with earlier versions. When this occurs, Copley must branch CMO and maintain
multiple versions. This recently occurred when V4.0 of the .NET Framework was released. This
version is not backward-compatible with any application that targeted version 2.0 through 3.5,
and the result was to branch CMO to V4.x and V5.x.

CMO V4.x
The V4.x branch of CMO is compatible with .NET versions 2.0 through 3.5. The examples
installed with V4.x were made with Visual Studio 2008 and target the .NET Framework 3.5. This
CMO branch is not compatible with applications that target the .NET Framework 4.0 and 4.5.
Note: CMO V4.x is a legacy software.

CMO V5.x / V6.x

The V5.x / V6.x branches of CMO are compatible with .NET versions 4.0 through 4.5. The
examples installed with V5.x / V6.x were made with Visual Studio 2010 and Visual Studio 2017
and target the .NET Framework 4.0. These CMO branches are not compatible with applications
that target the .NET framework 2.0 through 3.5.
Note: CMO V5.x is a legacy software.

To determine which versions of the .NET Framework are installed on your PC, go to the Control
Panel and select Programs and Features (on Win XP, choose Add or Remove Programs).
Scroll through the list of installed programs to the entries for Microsoft .NET Framework as
shown below:

2.4 32-bit vs. 64-bit Compatibility

Starting with V5.0, the installer allows the user to choose either the 32-bit or 64-bit version of
CMO to be installed. This is done so that the user can target a different architecture when
compiling their application with CMO. For instance, an application can be set up to target a 32-
bit architecture, even though it is being compiled on a 64-bit machine. In this case, the user
must install the 32-bit version of CMO so that it will work with their application on the 32-bit
architecture. Please consult the owner’s manual for your compiler for information on settings
the target architecture.

Important Note
The application that uses CMO must target the same architecture as the version of CMO that is
installed. The “any CPU” setting in Microsoft Visual Studio should never be used with CMO.

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Using this setting with either the 32-bit or 64-bit version of CMO will cause unpredictable
behavior in the application (e.g. exceptions and breakpoints may not work).

2.5 CANopen Network

Addressing and Bit Rate
Use CME software to set up the amplifier’s CAN node id and bit rate. CMO supports the following
bit rates: 1Mb/s, 800kb/s, 500kb/s, 250kb/s, 125kb/s, 50kb/s, and 20kb/s.
CAN addresses (node id’s) have a range of 1 to 127. Setting the node id to 0 disables the CAN
operation for that amplifier.

Multi-axis
For multi-axis amplifiers, each axis is treated as a separate node on the CAN network and
requires its own AmpObj. Only one node id is configured for a multi-axis drive. That node id is
assigned to axis A. The amplifier automatically configures the subsequent axes by increments
of one. Therefore, if the amplifier was configured with a node id of 1 on a four-axis drive, then
the node ids for that amplifier will be:
Axis A: 1
Axis B: 2
Axis C: 3
Axis D: 4

2.6 Communication Errors

Access Denied
This error indicates that CMO could not find the network hardware (CAN card, or device drivers).

SDO Timeout:
This error indicates that an SDO was sent, but no response was received. Possible causes are:
• The address is incorrect
• The bit rate is incorrect
• The wrong CAN channel is connected on a multiple-channel CAN card
• The CAN bus is improperly terminated
• CAN bus is wired improperly or disconnected
• Firewall is enabled

2.7 Node Guarding

Overview
Node guarding is a CANopen device-monitoring feature. The network manager configures the
amplifier to expect node-guarding messages at some interval. The network manager then sends
a message to the amplifier at that frequency, and the amplifier responds with a node-guarding
message. This allows both the network manager and the amplifier to identify a network failure
if the guarding messages stop. CMO can turn node guarding on or off and change the interval.
If the amplifier detects that the guarding messages stop, it will abort a move in progress and
set the AMPEVENT_NODEGUARD bit active in the AmpEvent status register. If node guarding is
turned on, we recommend monitoring amplifier events for the node guard event. This can be
done through the EventObj or through a timer, which periodically reads the event mask.

Possibility of False Node Guarding Conditions

In a Windows environment, various factors can delay node-guarding messages, resulting in
“false” node guarding conditions. These factors include the non-deterministic nature of Windows
operating systems and the performance effects of other processes running on the PC. Thus, by

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default, node guarding is disabled in CMO. If node guarding is required, do not enable node
guarding without first testing the performance characteristics and usage load of the PC being
used, and adjusting the node guarding parameters accordingly using the ampSettingObj
properties.

2.8 Exception Handling

If an error occurs, CMO reports the error by throwing an exception. Try/catch blocks should
encapsulate all calls to CMO. For better error handling, each program should include error-
handling procedures to prevent unexpected motion from occurring.

2.9 Units
Default Amplifier Units
• Position or Distance: encoder counts
• Velocity: 0.1 encoder counts per second
• Acceleration: 10 encoder counts per second2
• Deceleration: 10 encoder counts per second2
• Jerk: 100 encoder counts per second3

User-Defined Units
The AmpObj property CountsPerUnit is a scaling factor for converting between a drive’s default
units and user-defined units.
Example
To set user units to millimeters with a 5-micron encoder on a linear motor:
Set CountsPerUnit = 200, since there are 200 encoder counts in one millimeter.

2.10 Stepnet Amplifiers

Stepper and Servo Modes
On power up /reset, Stepnet amplifiers start in stepper mode. If it is necessary to switch from
stepper mode to servo mode, change the AmpModeWrite property of the AmpObj to one of the
servo modes listed in CML_AMP_MODE. This should be done immediately after amplifier
initialization.
In the following example, the amplifier is initialized and then the amplifier’s mode of operation
is switched to the servo Can profile mode:
ampObj.Initialize(canOpen, 1)

ampObj.AmpModeWrite = CML_AMP_MODE.AMPMODE_SERVO_CAN_PROFILE

Open Loop Stepper Mode Actual Position and Velocity

When running open loop stepper mode, actual position and actual velocity readings remain at
zero. The motor’s commanded position can be monitored with AmpObj.PositionCommand (Units:
microsteps).
The motor’s commanded velocity can be monitored with AmpObj.TrajectoryVel (Units
microsteps/second).
When the amplifier is disabled, PositionCommand goes to zero because the amplifier cannot tell
if the motor moves while disabled. If the amplifier is enabled, relative and absolute moves can
be made based on PositionCommand.

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Stepper Mode with Encoder Actual Position and Velocity

When running in stepper mode with an encoder, actual position can be monitored with
AmpObj.PositionActual (Units: microsteps). Actual velocity can be monitored with
AmpObj.VelocityLoad (Units microsteps/second).
NOTE: Actual velocity can also be monitored with AmpObj.VelocityActual, but the units will be
in encoder counts/second. This is not recommended, because user units will also be applied to
this value.

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CMO Programmer’s Guide Using CMO in an application

3. Using CMO in an application

3.1 Building an Application
Regardless of the programming language or development environment, there are common steps
to follow when building an application that uses CMO.
1 Determine the target CPU for the application to run on. This must be either x86 (32-bit)
or x64 (64-bit). “Any CPU” cannot be chosen with CMO. See 32-bit vs. 64-bit
Compatibility.
2 Determine the target .NET Framework for the application to run on. See .NET Framework
Compatibility.
3 Install the version of CMO to match the target CPU in step 1. See Download and Install
CMO.
4 Create the project for the application and set the target CPU and .NET Framework.
5 Add a reference to CMO in the project. See
6 Adding a Reference to CMO in Visual Studio.
7 Declare a variable for the network object.
8 Declare one or more variables for the node objects (AmpObj or IOObj) and create
instances of those variables.
9 Declare and instantiate settings objects for each node object declared in step 7
(AmpSettingsObj or ioSettingsObj).
10 Set the enableOnInit property of each settings object to False.
11 In the method or procedure that is called when the application, initialize the network and
node objects. See Object Initialization Sequence.
12 Enclose all code that accesses CMO methods or properties with exception handling code.

3.2 Before Running a CMO Program

The following general steps must be completed before running any CMO program, including
the demonstration programs described in this manual:
1 Review Product Warnings at the beginning of this manual.
2 Set up and tune the motor and amplifier using Copley Controls CME software. Set the
CAN node ID and bit rate.
3 Install CMO.
4 Install the CAN interface card and drivers.
5 Connect the amplifier, motor, and network.
6 Read through the steps in
7 Building an Application to make sure that the application is set up properly.

3.3 Download and Install CMO

1 Go to www.copleycontrols.com.
2 Navigate to Software and select CMO.
3 Navigate to the folder where CMO was downloaded to and extract the contents of
CMO.zip.
4 Run Setup.exe and follow the instructions on the installer screens. When prompted,
choose the version of CMO that your application is targeting (32-bit or 64-bit). It is
recommended to install CMO in the default location.

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3.4 Adding a Reference to CMO in Visual Studio

From the Project menu, choose the Add Reference menu item, then select the Browse tab.

Browse to the folder where the CMO folder is installed.

Select CMO.dll and click ok.

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3.5 Object Initialization Sequence

Every CMO application requires the creation and initialization of a network object, and node
objects for each node on the network. These objects should always be initialized in the following
order:
1 Network objects (CANOpenObj).
2 Node objects (AmpObj or IOObj).
Initializing the network establishes a connection to the network hardware (but not out on the
network). If the call to the network object’s initialize () method is successful, then CMO was
able to find the network drivers and hardware. Before initializing, the network properties should
be set if they are different than the defaults. See the properties of for details. Initializing the
nodes establishes communication to that node on the network. If the call to the node’s initialize
method is successful, then CMO was able to communicate with the node.

CANopen Initialization
'Set the bit rate to 1 Mbit per second
canOpen.BitRate = CML_BIT_RATES.BITRATE_1_Mbit_per_sec
'Indicate that channel 0 of a Copley CAN card should be used
canOpen.PortName = "copley0"
canOpen.Initialize()
ampSettings.enableOnInit = False
'Initialize the AmpObj with the settings object
ampObj.InitializeExt(canOpen, 1, ampSettings)

Initialization Errors
If the call to the network’s initialize method fails, then CMO cannot find and initialize the
hardware. This is typically caused by one of the following:
• Network hardware not present
• CAN card drivers not installed
• Incorrect portName specified
• Incorrect channel specified
If the call to the node’s initialize method fails, then CMO cannot communicate with the node.
Typical causes are:
• Incorrect bit rate
• No termination on the bus
• Network settings of the program do not match the node (bit rate, node id, etc.).
• Node is not connected to the network
• Node is not powered up
• Node has a fault or is not enabled and the ampSettingObj was not used to turn off
enableOnInit

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CMO Programmer’s Guide Network Objects

4. Network Objects
CANopenObj
Methods
Initialize ()
Description: Initializes the CANopen network.
Parameters: None

ClearErorFrameCounter ()
Description: Clears the CAN error frame counter.
Parameters: None

Properties
ErrorFrameCounter
Type: Integer
Description: Read-only. The number of error frames received over then CAN network since
the last time the counter was cleared
Units: None
Default: None

BitRate
Type: CML_BIT_RATES
Description: CANopen Bit Rate.
Units: None
Default: 1 Mb/s

CML_BIT_RATES
BITRATE_1_Mbit_per_sec = 1000000
BITRATE_800_Kbit_per_sec = 800000
BITRATE_500_Kbit_per_sec = 500000
BITRATE_250_Kbit_per_sec = 250000
BITRATE_125_Kbit_per_sec = 125000
BITRATE_50_Kbit_per_sec = 50000
BITRATE_20_Kbit_per_sec = 20000

PortName
Type: String
Description: Port name for the network hardware. The port name is a combination of the CAN
card name and the channel number.
• CAN Card: Copley
• Port Name: copley0, copley1
Units: None
Default: The port name defaults to channel 0 of the first supported CAN card found.
CMO will search for the CAN cards in numerical order.

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5. Amplifier and Related Objects

5.1 ampSettingsObj
Overview
The Amp Settings Object contains information about the amplifier’s network settings. All the
properties have both read and write access. This object is passed in as a parameter in the
InitializeExt method of the Amplifier Object to customize the network settings.

Example:
1 Declare and create an instance of ampSettingsObj.
Dim ampSettings As ampSettingsObj
ampSettings = New ampSettingsObj()
2 Change one or more properties of the ampSettingsObj.
ampSettings.enableOnInit = False
3 Call one of the Extended Initialization methods of the ampObj.
ampObj.InitializeExt(canOpen, CAN_ADDRESS, ampSettings)

Properties
guardTime
Type: Short
Description: Node guarding guard time. This property gives the node-guarding period
for use with this node. This is the period between node guarding request
messages sent by the master controller.
Units: mS
Default: 200

heartbeatPeriod
Type: Short
Description: Configures the heartbeat period used by this amplifier to transmit its
heartbeat message. If this property is set to zero, then the heartbeat
protocol is disabled on this node.
Units: mS
Default: 0

heartbeatTimeout
Type: Short
Description: Additional time to wait before generating a heartbeat error.
Units: mS
Default: 0

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lifeFactor
Type: Short
Description: Node guarding lifetime factor. The lifetime factor is treated as a multiple
of the guard time. If this property and the node guard time are both non-
zero, and the heartbeatTimeout is zero, then node guarding will be setup
for the amplifier.
Units: mS
Default: 3

resetOnInit
Type: Boolean
Description: If True, the amplifier will be reset when it is initialized. This has the
advantage of clearing out any fault conditions and putting the amplifier in
a known state.
Units: None
Default: False

enableOnInit
Type: Boolean
Description: Enable amplifier at initialization. If true, then the amplifier will be enabled
at the end of a successful initialization. If false, the amplifier will be
disabled at the end of a successful initialization
Units: None
Default: True

synchID
Type: Integer
Description: Synch object CAN message ID. This is the message ID used for the synch
message.
Units: None
Default: 128 (0x00000080)

synchPeriod
Type: Integer
Description: Synch object period. The synch object is a message that is transmitted
by one node on a CANopen network at a fixed interval. This message is
used to synchronize the devices on the network.
Units: microseconds
Default: 10000

synchProducer
Type: Boolean

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Description: If true, this node will produce synch messages. If 'synchUseFirstAmp'

property is set to true, this property will not be used and will be
overwritten during initialization.
Units: None
Default: False

synchUseFirstAmp
Type: Boolean
Description: Use first initialized amplifier as synch producer. If this setting is true
(default), then the first amplifier to be initialized will be set as the synch
producer, and all other amplifiers will be setup as synch consumers.
Units: None
Default: True

timeStampID
Type: Integer
Description: High-resolution time stamp CAN ID. The time stamp is a PDO that is
generated by the synch producer. It is used to synchronize the clocks of
the amplifiers. Setting this to zero will disable the time stamp message.
Units: None
Default: 384 (0x00000180)

5.2 Amplifier Initialization

Methods
Initialize (canOpenObj As CANopenObj, nodeId As Short)
Description: Initializes the amplifier with the CANopen network using default Amplifier
Settings.
Parameters:
canOpenObj An instance of a CanOpenObj that has already been Units: None
initialized
nodeId The CAN node ID of the amplifier Units: None

InitializeExt (canOpenObj As CANopenObj, nodeId As Short, ampSettings As

AmpSettingsObj)
Description: Initializes amplifier with the CANOpenObj, the specified node ID, and the
AmpSettingsObj.
Parameters:
canOpenObj An instance of a CanOpenObj that has already been Units: None
initialized
nodeId The node ID of the amplifier Units: None
ampSettingsObj An instance of an AmpSettingsObj with customized Units: None
settings

ReInit ()
Description: Re-initializes an amplifier using the same properties that were previously used.
Parameters: None

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5.3 Amplifier Enable/Disable

Methods
Enable ()
Description: Software enables the amplifier.
Parameters: None

Disable ()
Description: Software disables the amplifier.
Parameters: None

Properties

IsHardwareEnabled
Type: Boolean
Description: Read-only. Returns True if amplifier’s Enable input is currently active.
Amplifier outputs may still be disabled due to error condition.
Units: None
Default: None

IsSoftwareEnabled
Type: Boolean
Description: Read-only. Returns True if amplifier is software enabled. Amplifier
outputs may still be disabled due to error condition.
Units: None
Default: None

IsPWMEnabled
Type: Boolean
Description: Read-only. Returns true if the amplifier's PWM outputs are currently
enabled.
Units: None
Default: None

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5.4 Objects Contained by AmpObj

Overview
To reduce the number of methods and properties of the AmpObj, several objects were created
and added to the AmpObj as a property. Each sub object contains a set of related method and
properties.
Object Description
AmpInfo Read-only amplifier characteristics.
MotorInfo Motor and feedback parameters.
CurrentLoopSettings Parameters used for tuning the current loop.
VelocityLoopSettings Parameters used to tune the velocity loop.
PositionLoopSettings Parameters used to tune the position loop.
HomeSettings Used to configure homing.
ProfileSettings Used to configure a point-to-point move.
TrackingWindows Used to configure the position and velocity error windows.

Example
The following example demonstrates the use of the objects contained by the AmpObj. Please
note that the AmpObj must be initialized prior to accessing the sub-objects.
1 Create an instance. There are two ways to do this:

Obtain the instance from the AmpObj. This is the preferred method, because it sets
all of the properties of the ProfileSettings object equal to the values set in the AmpObj.
Dim profileSettings As ProfileSettingsObj
profileSettings = ampObj.ProfileSettings
OR

Create a new instance. This sets default values for all of the properties.
Dim profileSettings As ProfileSettingsObj
profileSettings = New ProfileSettingsObj

2 Modify one or more properties.

profileSettings.ProfileType = CML_PROFILE_TYPE.PROFILE_SCURVE
3 Write the new settings to the AmpObj
ampObj.ProfileSettings = profileSettings

5.5 AmpInfoObj
The properties of the AmpInfoObj provide information about the amplifier. All the properties
are Read-Only.

Properties
crntCont
Type: Double
Description: Amplifier continuous current rating.
Units: 0.01 A

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crntPeak
Type: Double
Description: Amplifier peak current rating
Units: 0.01 A

crntScale
Type: Short
Description: Current scaling factor
Units: None

crntTime
Type: Double
Description: The maximum time for which the amplifier is rated to output peak current
Units: mS

mfgInfo
Type: String
Description: Amplifier's manufacturing information string
Units: None

mfgName
Type: String
Description: Name of the amplifier manufacturer
Units: None

mfgWeb
Type: String
Description: Web address of the manufacturer
Units: None

model
Type: String
Description: Model number string
Units: None

modes
Type: Integer
Description: Supported modes of operation as described in CANopen Profile for Drives and
Motion Control (DSP 402).
Bit Mode Description
0 Position profile mode (pp).
2 Profile velocity mode (pv).
3 Profile torque mode (tq).
5 Homing mode (hm).
6 Interpolated position mode (ip).
7 Cyclic sync position mode (csp).
8 Cyclic sync velocity mode (csv).
9 Cyclic sync torque mode(cst).
Units: None

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pwm_dbcont
Type: Short
Description: PWM dead time used at or above the continuous current limit
Units: servo cycles

pwm_dbzero
Type: Short
Description: PWM deadband at zero current
Units: servo cycles

pwm_off
Type: Short
Description: PWM off time
Units: tens of nanoseconds

pwmPeriod
Type: Double
Description: PWM period
Units: tens of nanoseconds

refScale
Type: Short
Description: Reference scaling factor
Units: None

serial
Type: Integer
Description: Serial number of the amplifier’s printed circuit board
Units: None

servoPeriod
Type: Double
Description: Servo loop update period as a multiple of the pwm period
Units: None

swVer
Type: String
Description: The firmware version number
Units: None

tempHyst
Type: Double
Description: Temperature hysteresis for over temperature fault
Units: degrees C

tempMax
Type: Double
Description: Set point for over temperature fault
Units: degrees C

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type
Type: Short
Description: Amplifier type
Units: None

voltMax
Type: Double
Description: Set point for an over voltage fault
Units: 0.1V

voltMin
Type: Double
Description: Set point for under voltage fault
Units: 0.1 V

voltScale
Type: Short
Description: Voltage scaling factor
Units: 0.1 V

aencScale
Type: Short
Description: The analog encoder-scaling factor.
Units: None

regenPeak
Type: Short
Description: The internal regen circuit peak current limit
Units: 0.01 A

regenCont
Type: Short
Description: The internal regen circuit continuous current limit
Units: 0.01 A

regenTime
Type: Short
Description: The internal regen circuit time at peak current
Units: mS

voltHyst
Type: Double
Description: Bus voltage hysteresis for over voltage shutdown
Units: 0.1 Volts

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5.6 Motor/Feedback Information

Methods
ReadAnalogFeedback (Sin As Short, Cos As Short)
Description: Reads the raw voltage on the two analog feedback inputs.
Parameters:
Sin This parameter will contain the value read on the Units: 0.1 mV
analog feedback Sin input upon function return
Cos This parameter will contain the value read on the Units: 0.1 mV
analog feedback Sin input upon function return

Properties
HallState
Type: Short
Description: Read-only. Contains the current digital hall sensor state. The Hall state is
the value of the Hall lines AFTER the ordering and inversions specified in
the Hall wiring configuration have been applied.
Units: None
Default: None

PhaseAngle
Type: Short
Description: Read-only. Contains the motor phase angle. The phase angle describes
the motor's electrical position with respect to its windings
Units: degrees
Default: None

MotorInfoObj
Type: MotorInfoObj
Description: This property contains the MotorInfoObj.
Units: None
Default: None

MotorInfoObj
Properties
backEMF
Type: Double
Description: Back EMF constant
Units: Rotary: V/KRPM, Linear: V/m/S
Default: 0.01
brakeDelay
Type: Short
Description: Delay between applying brake & disabling PWM.

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Units: mS
Default: 0
brakeVel
Type: Double
Description: Velocity below which the brake will be applied.
Units: User-defined units/second.
Default: 0.0
ctsPerRev
Type: Integer
Description: Encoder counts/revolution. Rotary motors only
Units:
Default: 4000
eleDist
Type: Integer
Description: Motor electrical distance. Linear motors only.
Units: encoder units/electrical phase
Default: 100000
encRes
Type: Short
Description: Encoder resolution. Linear motors only
Units: encoder units/count
Default: 100
encReverse
Type: Boolean
Description: Reverse encoder direction if True.
Units:
Default: False
encType
Type: Short
Description: Motor Encoder type
Value Description
0 Incremental quadrature encoder.
1 No encoder.
2 Analog encoder.
3 Secondary quad encoder from input lines.
4 Low frequency analog encoder.
5 Resolver.
6 Use digital hall signals for position & velocity estimates.
7 Analog encoder updated at current loop rate.
8 Reserved for custom encoder.
9 Panasonic
10 SPI command (reserved for custom firmware use).

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11 EnDat
12 SSI
13 BiSS
14 Serial encoders from Sanyo Denki, Tamagawa, Panasonic and HD
systems.
15 Custom encoders from HD systems.
16 Simple analog potentiometer feedback.
17- Reserved for custom encoder.
19

Units:
Default: 0
encUnits
Type: Short
Description: Encoder units. Linear motor only
Units:
Default: 0
hallOffset
Type: Short
Description: Hall offset
Units: degrees
Default: 0

hallType
Type: Short
Description: Type of hall sensors on the motor.
Value Description
0 No hall sensors available.
1 Digital hall sensors.
2 Analog hall sensors.
Units: None
Default: 1
hallWiring
Type: Short
Description: Hall wiring code. This bit-mapped value defines the wiring of the hall sensors.
Bit Description
0-2 The hall wiring code which defines the order of the hall connections
Hall Wiring Code Description
0 UVW
1 UWV
2 VUW
3 VWU
4 WVU
5 WUV
6,7 Reserved
3 Reserved.
4 Invert W hall input if set.

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5 Invert V hall input if set.

6 Invert U hall input if set.
7 Reserved.
8 Swap analog halls if set.
9-15 Reserved.

Units: None
Default: 0
hallVelocityShift
Type: Short
Description: This value is used to scale up the calculated velocity in Hall velocity mode (Halls
used for feedback in velocity mode). It specifies a left shift value for the position
and velocity information calculated in that mode
Units: None
Default: 1
hasBrake
Type: Boolean
Description: Motor has a brake if True
Units:
Default: False
inductance
Type: Double
Description: Motor inductance
Units: Henrys
Default: 0.001
inertia
Type: Double
Description: Inertia
Units: Kg-cm2
Default: 0.00001
mfgName
Type: String
Description: Name of the motor manufacturer
Units: None
Default: None
model
Type: String
Description: Motor model number
Units: None
Default: None
mtrReverse
Type: Boolean
Description: Reverse motor wiring if true
Units: None
Default: False
poles
Type: Short
Description: Number of pole pairs (number of electrical phases) per rotation. Rotary motors
only

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Units:
Default: 2
resistance
Type: Double
Description: Motor resistance
Units: Ω
Default: 1.0
stopTime
Type: Short
Description: Delay between disabling amplifier and applying brake. During this time,
amplifier attempts to stop motor
Units: mS
Default: 0
tempSensor
Type: Boolean
Description: Motor has a temperature sensor
Units: None
Default: False
trqConst
Type: Double
Description: Torque constant (rotary), Force constant (linear). For stepper motors, the value
returned is Rated Torque/Rated Current
Units: Rotary: Newton Meters/A; Linear: Newtons/A
Default: 0.001
trqCont
Type: Double
Description: Continuous torque (rotary), Continuous force (linear). This parameter is not
used for stepper motors
Units: Rotary: Newton Meters; Linear: Newtons
Default: 0.0001
trqPeak
Type: Double
Description: Peak torque (rotary), Peak force (linear), Rated Torque (stepper motors)
Units: Rotary, Stepper: Newton Meters; Linear: Newtons
Default: 0.0001
type
Type: Short
Description: Bit-mapped value that contains the motor type and family.
Bits Description
0-1 Motor Type: 0 = Rotary, 1 = Linear
5-6 Motor Family: 1 = Brush, 2 = Stepper, 3 =
Brushless
Units: None
Default: 0
velMax
Type: Double
Description: Maximum motor velocity
Units: User-defined units/second.
Default: 1.0

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encShift
Type: Short
Description: Analog feedback interpolation value (used only with Analog feedback)
Units: None
Default: 0
ndxDist
Type: Integer
Description: Index mark distance (reserved for future use)
Units: None
Default: 0
stepsPerRev
Type: Integer
Description: Microsteps/revolution (used for Stepnet amplifiers)
Units: None
Default: 4000
loadEncType
Type: Short
Description: Load Encoder Type. There are two different encodings of this property. The
model/firmware version determines which encoding should be used.
For Feature Set E (all versions) and V2.10 or greater for Feature Set C and D,
the encoding is as follows:
Bit Description
0-11 Encoder type
Value Description
0 No load encoder present.
1 Primary (differential) quadrature encoder.
2 Analog encoder.
3 Secondary quadrature encoder from input lines.
4 Low-frequency analog encoder.
5 Resolver.
6 Use digital hall signals for position & velocity estimates.
7 Analog encoder updated at current loop rate.
8 Reserved for custom encoder.
9 Panasonic
10 SPI command (reserved for custom firmware use).
11 EnDat
12 SSI
13 BiSS
14 Serial encoders from Sanyo Denki, Tamagawa, Panasonic
and HD systems.
15 Custom encoders from HD systems.
12 Always set to use this new encoding.
13 Linear if set, rotary if clear.
14 If set, do not use this encoder for position feedback (passive mode).
15 Reserved and must be set to zero.
For Feature Set A and B, the encoding is as follows:

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Bit Description
0-3 Encoder type
Value Description
0 No load encoder present.
1 Primary (differential) quadrature encoder.
2 Analog encoder.
3 Secondary quadrature encoder from input lines.
4 Low-frequency analog encoder.
5 Resolver.
6 Use digital hall signals for position & velocity estimates.
7 Analog encoder updated at current loop rate.
8 Reserved for custom encoder.
9 Panasonic
10 SPI command (reserved for custom firmware use).
11 EnDat
12 SSI
13 BiSS
14 Serial encoders from Sanyo Denki, Tamagawa, Panasonic
and HD systems.
15 Custom encoders from HD systems.
4 Linear if set, rotary if clear.
5 If set don’t use this encoder for position feedback (passive mode).
6-15 Reserved and must be set to zero.
Units: None
Default: 0
loadEncRes
Type: Integer
Description: Load Encoder Resolution: This is encoder counts/rev for rotary encoders and
nanometers/count for linear encoders
Units:
Default: 0
loadEncReverse
Type: Boolean
Description: Load Encoder Reverse: Reverse load encoder direction if true
Units:
Default: False
resolverCycles
Type: Short
Description: Number of resolver cycles per motor revolution.
Units:
Default: 1

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5.7 Current Loop

Methods
ReadMotorCurrent (Ucurrent As Short, Vcurrent As Short)
Description: The actual current values read directly from the amplifier's current sensors. Note
that if the motor wiring is being swapped in software, the U and V reading will be
swapped.
Parameters:
Ucurrent This parameter will contain the value read on the U Units: 0.01 A
winding upon function return
Vcurrent This parameter will contain the value read on the V Units: 0.01 A
winding upon function return

Properties
CurrentLimited
Type: Short
Description: Read-only. The limited motor current. The commanded current is passed to the
current limiter. The output of the current limiter is the limited current, which is
passed as an input to the current loop

Units: 0.01 A
Default: None

CurrentCommand
Type: Short
Description: Read-only. This current is the input to the current limiter.
Units: 0.01 A
Default: None

CurrentActual
Type: Short
Description: Read-only. Gets the actual motor current. This current is based on the
amplifier’s current sensors and indicates the portion of current that is being used
to generate torque in the motor.
Units: 0.01 A
Default: None

TorqueTarget
Type: Short
Description: In profile torque mode, this property is an input to the amplifier’s internal
trajectory generator. Any change to the target torque triggers an immediate
update to the trajectory generator
Units: Thousandths of the rated motor torque
Default: 0

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TorqueDemand
Type: Short
Description: Read-only. In Profile Torque mode, this is the output value of the torque limiting
function
Units: Thousandths of the rated motor torque
Default: None

TorqueActual
Type: Short
Description: Read-only. Instantaneous torque in the motor
Units: Thousandths of the rated motor torque
Default: None

TorqueSlope
Type: Integer
Description: Torque acceleration or deceleration
Units: Thousandths of the rated motor torque per second
Default: 0

CurrentLoopSettings
Type: CurrentLoopSettingsObj
Description: An instance of the CurrentLoopSettingsObj which contains the values set in the
amplifier.
Units: None
Default: None

CurrentLoopSettingsObj
Properties

CrntLoopKp
Type: Short
Description: Current loop proportional gain value
Units: None
Default: 0
CrntLoopKi
Type: Short
Description: Current loop integral gain value
Units: None
Default: 0
CrntLoopCrntOffset
Type: Short
Description: Current loop offset value
Units: 0.01 A
Default: 0
CrntLoopPeakCrntLim
Type: Short
Description: Peak current limit. The maximum current that can be applied to the load at any
time. In stepper mode, this is the boost current
Units: 0.01 A
Default: 0

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CrntLoopContCrntLim
Type: Short
Description: Continuous current limit. Max current that can continuously be applied to load.
In stepper mode, this is the run current
Units: 0.01 A
Default: 0
CrntLoopPeakCrntTime
Type: Short
Description: Time at peak current limit. In stepper mode, this is time at boost current
Units: mS
Default: 0
CrntLoopStepHoldCrnt
Type: Short
Description: The Stepper Hold Current. Current used to hold the motor at rest
Units: 0.01A
Default: 0
CrntLoopStepRunToHoldTime
Type: Short
Description: The Stepper Run To Hold Time. The period beginning when a move is complete,
to when the output current is switched to the hold current
Units: mS
Default: 0
CrntLoopVolControlDelayTime
Type: Short
Description: The Voltage Control Delay Time. If set to zero, feature is disabled.
Units: mS
Default: 0

5.8 Velocity Loop

Properties
VelocityLimited
Type: Double
Description: Read-only. Gets the limited velocity, which is the result of applying the velocity
limiter to the commanded velocity.
Units: User-defined units/second
Default: None

VelocityCommand
Type: Double
Description: Read-only. The commanded velocity is the velocity value passed to the velocity
limiter, and, from there, to the velocity control loop
Units: User-defined units/second
Default: None

VelocityActual
Type: Double

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Description: Read-only. The motor velocity is calculated by the amplifier based on the change
in position. For dual encoder systems, the load velocity can be queried by
reading the VelocityLoad property
Units: User-defined units/second
Default: None

VelocityLoad
Type: Double
Description: Read-only. The load velocity is estimated by the amplifier based on the change
in position seen at the load encoder. For dual encoder systems, the motor
velocity can be queried reading the VelocityActual property
Units: User-defined units/second
Default: None

VelocityLoopSettings
Type: VelocityLoopSettingsObj
Description: This property contains the VelocityLoopSettings
Units: None
Default: None

VelocityLoopSettingsObj
Properties
VelLoopKp
Type: Short
Description: Velocity loop proportional gain value.
Units: None
Default: 0
VelLoopKi
Type: Short
Description: Velocity loop integral gain value.
Units: None
Default: 0
VelLoopKaff
Type: Short
Description: Velocity loop acceleration feed forward value.
Units: None
Default: 0
VelLoopShift
Type: Short
Description: Velocity shift value. After velocity loop is calculated, the result is right-shifted
this many times to arrive at the commanded current value. This allows the
velocity loop gains to have reasonable values for high-resolution encoders.
Units: None
Default: 0
VelLoopMaxVel
Type: Double
Description: Velocity loop maximum allowed velocity. Limits the velocity command before the
velocity loop uses it to calculate output current.
Units: User-defined units/second
Default: 0.0

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VelLoopMaxAcc
Type: Double
Description: Velocity loop maximum acceleration limit. Limits the rate of change of the
velocity command input to the velocity loop. It is used when the magnitude of
the command is increasing.
Units: User-defined units/second2
Default: 0.0
VelLoopMaxDec
Type: Double
Description: Velocity loop maximum deceleration limit. Limits the rate of change of the
velocity command input to the velocity loop. It is used when the magnitude of
the command is decreasing.
Units: User-defined units/second2
Default: 0.0
VelLoopEstopDec
Type: Double
Description: Deceleration used for emergency stop. Setting this value to zero indicates that
the deceleration is unlimited.
Units: User-defined units/second2
Default: 0.0

5.9 Position Loop

Properties
PositionError
Type: Double
Description: The position error (difference between position command and actual position).
Units: User-defined units
Default: None

PositionCommand
Type: Double
Description: The instantaneous position command. This position is the command input to the
servo loop. The position command is calculated by the trajectory generator and
updated every servo cycle.
Units: User-defined units
Default: None

PositionActual
Type: Double
Description: The actual position used by the servo loop. For dual encoder systems, this
property contains the load encoder position and the PositionMotor property
should be used to read the motor encoder position.
Units: User-defined units
Default: None

PositionMotor
Type: Double
Description: The actual motor position. For single encoder systems, this value is identical to
the PositionActual property. For dual encoder systems, this property contains

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the actual motor position and the PositionActual property may be used to get
the load encoder position.
Units: User-defined units
Default: None

PositionLoadEncoder
Type: Double
Description: Dual encoder systems only. This value is the load encoder position and is the
identical to the PositionActual property. When the load encoder is configured for
passive mode, this value is the passive load encoder value. This property is not
used in single encoder systems.
Units: User-defined units
Default: None

PositionLoopSettings
Type: PositionLoopSettingsObj
Description: This property contains the PositionLoopSettings.
Units: None
Default: None

PositionLoopSettingsObj
Properties
PosLoopKp
Type: Short
Description: Position loop proportional gain value.
Units: None
Default: 0

PosLoopKvff
Type: Short
Description: Position loop velocity feed forward value.
Units: None
Default: 0

PosLoopKaff
Type: Short
Description: Position loop acceleration feed forward value.
Units: None
Default: 0

PosLoopScale
Type: Short
Description: The output of the position loop is multiplied by this value before being passed to
the velocity loop. This scaling factor is calculated such that a value of 100 is a
1.0 scaling factor. This parameter is most useful in dual loop systems.
Units: None
Default: 100

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5.10 Tracking Windows

Properties
TrackingWindows
Type: TrackingWindowsObj
Description: This property contains the TrackingWindows object.
Units: None
Default: None

TrackingWindowsObj
Properties
PositionWarnWindow
Type: Double
Description: Position warning window. If the absolute value of the position error exceeds this
value, then a tracking warning will result. A tracking warning causes a bit in the
amplifier’s status to be set.
Units: User-defined units
Default: 0.0
SettlingWindow
Type: Double
Description: Position settling window. An amplifier is settled in position after a move when its
absolute position error value has been within the settling window for a time
greater than the settling time.
Units: User-defined units
Default: 0.0
SettlingTime
Type: Short
Description: Position settling time value. An amplifier is settled in position after a move when
its absolute position error value has been within the settling window for a time
greater than the settling time value.
Units: mS
Default: 0
VelocityWarnWindow
Type: Double
Description: Velocity warning window. If the absolute value of the velocity error exceeds this
value, then a velocity warning results. A velocity warning causes a bit in the
amplifier’s status to be set.
Units: User-defined units
Default: 0.0
VelocityWarnTime
Type: Short
Description: Velocity warning window time value. If velocity error exceeds velocity warning
window, a bit is set in the amplifier status word. Bit is not cleared until velocity
error stays within warning window for at least this long.
Units: mS
Default: 0

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5.11 Homing
Methods
GoHome ()
Description: Executes a homing move using the values set in the HomeSettings object.
Parameters: None

Properties
IsReferenced
Type: Boolean
Description: Read-only. Returns True if successfully referenced (homed).
Units: None
Default: False

SoftPositionPosLimit
Type: Double
Description: Positive limit position. Any time the motors actual position is greater than this
value, a positive software limit condition will be in effect on the amplifier.
Software limits are enabled after the amplifier is referenced and disabled by
setting the positive limit equal to the negative limit.
Units: None
Default: 0

SoftPositionNegLimit
Type: Double
Description: Negative limit position. Any time the motors actual position is less then this
value, a negative software limit condition will be in effect on the amplifier.
Software limits are enabled after the amplifier is referenced and disabled by
setting the positive limit equal to the negative limit.
Units: None
Default: 0

HomeSettingsObj
Type: HomeSettingsObj
Description: Contains the HomeSettingsObj.
Units: None
Default: None

HomeSettingsObj
Properties
HomeOffset
Type: Double
Description: The home offset value. After the home position is found as defined by the home
method, this offset will be added to it and the resulting position will be
considered the zero position.
Units: User-defined units
Default: 0.0

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HomeVelFast
Type: Double
Description: Velocity to use for fast moves during the home procedure.
Units: User-defined units/second
Default: 0.0
HomeVelSlow
Type: Double
Description: Velocity to use when seeking a sensor edge.
Units: User-defined units/second
Default: 0.0
HomeAccel
Type: Double
Description: Acceleration/deceleration value used for all homing procedure moves.
Units: User-defined units/second2
Default: 0.0
HomeCurrentLimit
Type: Short
Description: Home current limit in hard stop mode, in which the amplifier drives the motor to
the mechanical end of travel (hard stop). End of travel is recognized when the
amplifier outputs the HomeCurrent for the HomeDelay time.
Units: 0.01A
Default: 0
HomeDelay
Type: Short
Description: Delay used for homing to a hard stop in hard stop mode.
Units: mS
Default: 0
HomeMethod
Type: CML_HOME_METHOD
Description: The method used for homing the amplifier.
Units: None
Default: CHOME _NONE
CML_HOME_METHOD
CHOME_NEGATIVE_LIMIT_OUTTO_INDEX = 1
Move into the negative limit switch, then back to the first encoder index pulse beyond
it. Index position is home.

CHOME_POSITIVE_LIMIT_OUTTO_INDEX = 2
Move into the positive limit switch, then back to the first encoder index pulse beyond it.
Index position is home.

CHOME_POSITIVE_HOME_OUTTO_INDEX = 3
Move to a positive home switch, then back to the first encoder index outside the home
region. Index position is home.

CHOME_POSITIVE_HOME_INTO_INDEX = 4
Move to a positive home switch and continue to the first encoder index inside the home
region. Index position is home.

CHOME_NEGATIVE _HOME_OUTTO_INDEX = 5
Move to a negative home switch, then back to the first encoder index outside the home
region. Index position is home.

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CHOME_NEGATIVE _HOME_INTO_INDEX = 6
Move to a negative home switch and continue to the first encoder index inside the
home region. Index position is home.

CHOME_LOWER_HOME_OUTSIDE_INDEX_POSITIVE = 7
Move to the lower side of a momentary home switch. Then find the first encoder index
pulse outside the home region. If the home switch is not active when the home
sequence starts, then the initial move will be positive.

CHOME_LOWER_HOME_INSIDE_INDEX_POSITIVE = 8
Move to the lower side of a momentary home switch. Then find the first encoder index
pulse inside the home region. If the home switch is not active when the home sequence
starts, then the initial move will be positive.

CHOME_UPPER_HOME_INSIDE_INDEX_POSITIVE = 9
Move to the upper side of a momentary home switch. Then find the first encoder index
pulse inside the home region. If the home switch is not active when the home sequence
starts, then the initial move will be positive.

CHOME_UPPER_HOME_OUTSIDE_INDEX_POSITIVE = 10
Move to the upper side of a momentary home switch. Then find the first encoder index
pulse outside the home region. If the home switch is not active when the home
sequence starts, then the initial move will be positive.

CHOME_UPPER_HOME_OUTSIDE_INDEX_NEGATIVE = 11
Move to the upper side of a momentary home switch. Then find the first encoder index
pulse outside the home region. If the home switch is not active when the home
sequence starts, then the initial move will be negative.

CHOME_UPPER_HOME_INSIDE_INDEX_NEGATIVE = 12
Move to the upper side of a momentary home switch. Then find the first encoder index
pulse inside the home region. If the home switch is not active when the home sequence
starts, then the initial move will be negative.

CHOME_LOWER_HOME_INSIDE_INDEX_NEGATIVE = 13
Move to the lower side of a momentary home switch. Then find the first encoder index
pulse inside the home region. If the home switch is not active when the home sequence
starts, then the initial move will be negative.

CHOME_LOWER_HOME_OUTSIDE_INDEX_NEGATIVE = 14
Move to the lower side of a momentary home switch. Then find the first encoder index
pulse outside the home region. If the home switch is not active when the home
sequence starts, then the initial move will be negative.

CHOME_POSITIVE_LIMIT = 18
Move into the positive limit switch. The edge of the limit is home.

CHOME _ POSITIVE_HOME = 19
Move to a positive home switch. The edge of the home region is home.

CHOME_ NEGATIVE_HOME = 21
Move to a negative home switch. The edge of the home region is home.

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CHOME _LOWER_HOME_POSITIVE = 23
Move to the lower side of a momentary home switch. The edge of the home region is
home. If the home switch is not active when the home sequence starts, then the initial
move will be positive.

CHOME _UPPER_HOME_POSITIVE = 25
Move to the upper side of a momentary home switch. The edge of the home region is
home. If the home switch is not active when the home sequence starts, then the initial
move will be positive.

CHOME _UPPER_HOME_ NEGATIVE = 27

Move to the upper side of a momentary home switch. The edge of the home region is
home. If the home switch is not active when the home sequence starts, then the initial
move will be negative.

CHOME _LOWER_HOME_ NEGATIVE = 29

Move to the lower side of a momentary home switch. The edge of the home region is
home. If the home switch is not active when the home sequence starts, then the initial
move will be negative.

CHOME _INDEX_ NEGATIVE = 33

Move in the negative direction until the first encoder index pulse is found. The index
position is home.

CHOME _INDEX_POSITIVE = 34
Move in the positive direction until the first encoder index pulse is found. The index
position is home.

CHOME _NONE = 35
Set the current position to home.

CHOME_HARDSTOP_OUTSIDE_INDEX_NEG = 252
Home to a hard stop. Move in the negative direction until the homing current has been
reached. This current will be held until the homing delay has expired. Then move away
from the hard stop until an index mark is located. The index position is home.

CHOME_HARDSTOP_OUTSIDE_INDEX_POS = 253
Home to a hard stop. Move in the positive direction until the homing current has been
reached. This current will be held until the homing delay has expired. Then move away
from the hard stop until an index mark is located. The index position is home.

CHOME_HARDSTOP_NEG = 254
Home to a hard stop. The motor will start running in the negative direction until the
homing current has been reached. It will hold this current until the homing delay has
expired. The actual position after that delay is home.

CHOME_HARDSTOP_POS = 255
Home to a hard stop. The motor will start running in the positive direction until the
homing current has been reached. It will hold this current until the homing delay has
expired. The actual position after that delay is home.

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5.12 Quick Stop

Methods
QuickStop ()
Description: Performs a quick stop on axis using the programmed Quick Stop Mode.
Parameters: None

Properties
QuickStopMode
Type: CML_QUICK_STOP_MODE
Description: Defines how the motor motion is stopped when the QuickStop() command is
issued.
Units: None
Default: None

CML_QUICK_STOP_MODE

QSTOP_DISABLE = 0
Disable the amplifier immediately
QSTOP_DECEL = 1
Slow down using the ProfileDecel property of the ProfileSettingsObj, then disable.
QSTOP_QUICKSTOP = 2
Slow down using the QuickStopDec property then disable.
QSTOP_ABRUPT = 3
Slow down with unlimited deceleration then disable
QSTOP_DECEL_HOLD = 5
Slow down using the ProfileDecel property of the ProfileSettingsObj, and then hold. Amplifier
must be disabled and re-enabled before motion is allowed again.
QSTOP_QUICKSTOP_HOLD = 6
Slow down using the QuickStopDec property then hold. Amplifier must be disabled and re-
enabled before motion is allowed.
QSTOP_ABRUPT_HOLD = 7
Slow down with unlimited deceleration then hold. Amplifier must be disabled and re-enabled
before motion is allowed.

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5.13 Halt
Methods
HaltMove ()
Description: Halts current move using the halt mode programmed in the amplifier.
Parameters: None

Properties
HaltMode
Type: CML_HALT_MODE
Description: Defines how the motor motion is stopped when the HaltMove() command is
issued.
Units: None
Default: None

CML_HALT_MODE
HALT_DISABLE = 0
Disable the amplifier immediately
HALT_DECEL = 1
Slow down using the ProfileDecel property (see ProfileSettingsObj).
HALT_QUICKSTOP = 2
Slow down using the QuickStopDec property.
HALT_ABRUPT = 3
Slow down with unlimited deceleration

5.14 Point-to-Point Moves

Methods
MoveRel (distance As Double)
Description: Performs a relative point-to-point move of the specified distance.
Parameters:
distance Trajectory distance Units: User-defined
units

MoveAbs (position As Double)

Description: Performs an absolute point-to-point move to the specified position.
Parameters:
position Trajectory target position Units: User-defined
units

WaitMoveDone (timeout As Long)

Description: Waits for current move to finish. This method is blocking. When called, it will not
return until either the event occurs, the timeout expires, a fault occurs, or a
move is aborted. If a timeout occurs, CMO will report the timeout by throwing an
exception.

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Parameters:
timeout The timeout for the wait. If < 0, then wait Units: mS
indefinitely

Properties
TargetPos
Type: Double
Description: Read-only. Reads the profile target position.
Units: User-defined units
Default:

TrajectoryAcc
Type: Double
Description: Read-only. Gets the instantaneous commanded acceleration passed out of the
trajectory generator. This acceleration is used by the position loop to calculate
its acceleration feed forward term.
Units: User-defined units/second2
Default:

TrajectoryVel
Type: Double
Description: Read-only. Gets the instantaneous commanded velocity passed out of the
trajectory generator. This velocity is used by the position loop to calculate its
velocity feed forward term.
Units: User-defined units/second
Default:

ProfileSettingsObj
Type: ProfileSettingsObj
Description: Contains the ProfileSettings object.
Units: None
Default: None

ProfileSettingsObj
Properties

ProfileType
Type: CML_PROFILE_TYPE
Description: Motion profile type.
Units: None
Default: PROFILE_TRAP
CML_PROFILE_TYPE
PROFILE_VELOCITY = -1
Velocity profile mode. In this profile mode the velocity, acceleration and
deceleration values are used. The position value is also used, but it only defines
the direction of motion (positive if position is >= 0, negative if position is < 0).
PROFILE_TRAP = 0
Trapezoidal profile mode.

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PROFILE_SCURVE = 3
S-curve profile mode (Jerk limited).
ProfileAcc
Type: Double
Description: The profile acceleration value that the motor uses when starting the move.
Units: User-defined units/second2
Default: 0
ProfileDecel
Type: Double
Description: The profile deceleration value that the motor uses when ending the move. This
property is not used for S-curve profiles.
Units: User-defined units/second2
Default: 0
ProfileJerk
Type: Double
Description: The jerk limit used with S-curve profiles. Jerk is rate of change of acceleration.
Only used with S-curve profiles.
Units: User-defined units/second3
Default: 0
ProfileVel
Type: Double
Description: The profile velocity value that the motor attempts to reach during the move.
Units: User-defined units/second
Default: 0
Profile Abort
Type: Double
Description: Deceleration value to use when aborting a running trajectory.
Units: User-defined units/second2
Default: 0

5.15 Save/Restore Amplifier Data

Methods
SaveRamToFlash ()
Description: Saves parameters stored in the amplifiers volatile RAM memory to non-volatile
flash memory.
Parameters:
None

LoadDriveConfig (name As String, canObj As CANopenObj)

Description: Loads specified drive configuration file. Presently supports loading *.ccd files
created by CME V7.1 and later.
NOTE: This method loads the file into the amplifier’s Flash. To move the data to
the amplifier’s RAM, reset the drive.
Parameters:
name Name (and optionally path) of the file to load Units: None
line An instance of a CANopenObj that has already been Units: None
initialized

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5.16 Node Guarding

Methods
StartGuarding (guardTime As Short, lifeFactor As Short)
Description: Starts node guarding with the specified guard time and life factor.
Parameters:
guardTime Node guarding time Units: mS
lifeFactor Life Factor Units: None

StopGuarding ()
Description: Disables node guarding & heartbeat monitoring.
Parameters: None

ClearNodeGuardEvent ()
Description: Attempts to clear a node guarding event condition.
Parameters: None

5.17 Status, Events, and Faults

Methods
ReadEventStatus (eventStatus As CML_EVENT_STATUS)
Description: Read amplifier's event status register. This is the main internal register, used to
describe the amplifier’s current state.
Parameters:
eventStatus The value of the event status is returned here Units: None

ReadEventSticky (eventSticky As CML_EVENT_STATUS)

Description:Reads the amplifier's 'sticky' event status register, which is a copy of the
amplifier’s event status register. The bits of this register are set normally, but only
cleared when the register is read (i.e., the bits are 'sticky').
Parameters:
eventSticky The value of the event status is returned here Units: None

ReadEventLatch (eventLatch As CML_EVENT_STATUS)

Description: Reads the latched version of the amplifier’s event status register, which is a copy
of the amplifier’s event status register. The bits of this register are set normally,
but only cleared in response to an amplifier reset or power cycle or by calling
ClearFaults (i.e., the bits are latched).
Parameters:
eventLatch The value of the event status is returned here Units: None

CML_EVENT_STATUS
Value Bit Description
EVENT_STATUS_SHORT_CIRCUIT 0 Amplifier short circuit.
EVENT_STATUS_AMPLIFIER_TEMPERATURE 1 Amplifier over temperature.
EVENT_STATUS_OVER_VOLTAGE 2 Amplifier over voltage.
EVENT_STATUS_UNDER_VOLTAGE 3 Amplifier under voltage.

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EVENT_STATUS_MOTOR_TEMPERATURE 4 Motor over temperature.

EVENT_STATUS_ENCODER_ERROR 5 Encoder error.
EVENT_STATUS_PHASE_ERROR 6 Phasing error.
EVENT_STATUS_CURRENT_LIMIT 7 Current limited.
EVENT_STATUS_VOLTAGE_LIMIT 8 Voltage limited.
EVENT_STATUS_POSITIVE_LIMIT 9 Positive limit is active.
EVENT_STATUS_NEGATIVE_LIMIT 10 Negative limit is active.
EVENT_STATUS_DISABLE_INPUT 11 Hardware disabled (enable pin not set).
EVENT_STATUS_SOFTWARE_DISABLE 12 Disabled due to software request.
EVENT_STATUS_STOP 13 Try to stop motor (after disable, before
brake).
EVENT_STATUS_BRAKE 14 Brake actuated.
EVENT_STATUS_PWM_DISABLE 15 PWM outputs disabled.
EVENT_STATUS_SOFTWARE_LIMIT_POSITIVE 16 Positive software limit reached.
EVENT_STATUS_SOFTWARE_LIMIT_NEGATIVE 17 Negative software limit reached.
EVENT_STATUS_TRACKING_ERROR 18 Tracking error.
EVENT_STATUS_TRACKING_WARNING 19 Tracking warning.
EVENT_STATUS_RESET 20 Amplifier has been reset.
EVENT_STATUS_POSITON_WRAP 21 Encoder position wrapped (rotary) or hit
limit (linear).
EVENT_STATUS_FAULT 22 Latching fault in effect.
EVENT_STATUS_VELOCITY_LIMIT 23 Velocity is at limit.
EVENT_STATUS_ACCELERATION_LIMIT 24 Acceleration is at limit.
EVENT_STATUS_TRACKING_WINDOW 25 Not in tracking window if set.
EVENT_STATUS_HOME 26 Home switch is active.
EVENT_STATUS_MOVING 27 Trajectory generator active OR not yet
settled.
EVENT_STATUS_VELOCITY_WIN 28 Velocity error outside of velocity window
when set.
EVENT_STATUS_PHASE_INIT 29 Set when using algorithmic phase
initialize mode and the phase is not
initialized.
EVENT_STATUS_CMD_INPUT_LOST 30 Command input lost
31 Undefined

ReadEventMask (eventMask As CML_AMP_EVENT)

Description: Reads the current state of the amplifier’s event register. The event mask is a bit-
mapped variable that describes the state of the amplifier. The contents of this
variable are built up from several different amplifier status words.
Parameters:
eventMask The value of the amp event mask is returned here Units: None

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CML_AMP_EVENT
Value Bit Description
AMPEVENT_MOVE_DONE 0 Set when a move is finished and the amplifier has
settled in to position at the end of the move. Cleared
when a new move is started.
AMPEVENT_TRAJECTORY_DONE 1 Set when the trajectory generator finishes a move.
The motor may not have settled into position at this
point. Cleared when a new move is started.
AMPEVENT_NODEGUARD 2 A node guarding (or heartbeat) error has occurred.
AMPEVENT_START_ACKNOWLEDGE 3 The Amplifier Object uses this event bit internally. It
is set when the amplifier acknowledges a new move
start.
AMPEVENT_FAULT 4 A latching amplifier fault has occurred. The specifics
of what caused the fault can be obtained by calling
ReadFaults and the fault conditions cleared by
calling ClearFaults
AMPEVENT_ERROR 5 A non-latching amplifier error has occurred.
AMPEVENT_POSITION_WARNING 6 The amplifier's absolute position error is greater
than the window set with PositionWarnWindow.
AMPEVENT_POSITION_WINDOW 7 The amplifier's absolute position error is greater
than the window set with SettlingWindow
AMPEVENT_VELOCITY_WINDOW 8 The amplifier's absolute velocity error is greater than
the window set with VelocityWarnWindow
AMPEVENT_DISABLED 9 The amplifier's outputs are disabled. The reason for
the disable can be determined by calling
ReadEventStatus,
AMPEVENT_POSITIVE_LIMIT 10 The positive limit switch is active.
AMPEVENT_NEGATIVE_LIMIT 11 The negative limit switch is active.
AMPEVENT_SOFTWARE_LIMIT_POSITI 12 The positive software limit is active.
VE
AMPEVENT_SOFTWARE_LIMIT_NEGA 13 The negative software limit is active.
TIVE
AMPEVENT_QUICKSTOP 14 The amplifier is presently performing a quick stop
sequence.
AMPEVENT_ABORT 15 The last profile was aborted without finishing
AMPEVENT_SOFTDISABLE 16 The amplifier is software disabled.
AMPEVENT_HOME_CAPTURE 17 A new home position has been captured.
AMPEVENT_PVT_EMPTY 18 The PVT buffer is empty.
AMPEVENT_PHASE_INIT 19 Amplifier is currently performing a phase
initialization.
20- Undefined
30
AMPEVENT_NOT_INITIALIZED 31 This amplifier's event mask has not yet been
initialized (internal use only).

ReadFaults (faults As CML_AMP_FAULT)

Description: Reads the current state of the amplifier fault latch register.
Parameters:

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faults The value of the amp fault latch is returned here Units: None

ClearFaults ()
Description: Clears amplifier faults. This function can be used to clear any latching faults on
the amplifier
Parameters: None

Properties
FaultMask
Type: CML_AMP_FAULT
Description: Amplifier’s fault mask. Fault mask identifies which conditions will be treated as
latching faults by the amplifier
Units: None
Default: None

CML_AMP_FAULT
Value Bit Description
FAULT_DATAFLASH = 1 0 Fatal hardware error: the flash data is corrupt.
FAULT_ADCOFFSET = 2 1 Fatal hardware error: an A/D offset error has
occurred.
FAULT_SHORT_CIRCUIT = 4 2 The amplifier detected a short circuit condition.
FAULT_AMP_TEMPERATURE = 8 3 The amplifier is over temperature.
FAULT_MOTOR_TEMPERATURE = 16 4 A motor temperature error was detected.
FAULT_OVER_VOLTAGE = 32 5 The amplifier bus voltage is over the acceptable
limit.
FAULT_UNDER_VOLTAGE = 64 6 The amplifier bus voltage is below the
acceptable limit.
FAULT_ENCODER_ERROR = 128 7 Encoder error.
FAULT_PHASE_ERROR = 256 8 Amplifier phasing error.
FAULT_TRACKING_ERROR = 512 9 Tracking error, the position error is too large.
FAULT_I2T_LIMIT_ERROR = 1024 10 Current is limited by the I2T algorithm.

5.18 Digital Inputs/Outputs

Input Methods
ReadInputDebouce (input As Integer, time As Long)
Description: Reads the debounce time for the specified input. This time specifies how long an
input must remain stable at a new state before the amplifier recognizes the state.
Parameters:
input The input to configure. Inputs are numbered starting Units: None
from 0. Check amplifier data sheet for the number of
inputs available
time The debounce time assigned to this input Units: mS

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WriteInputDebounce (input As Integer, time As Long)

Description: Writes the debounce time for the specified input. This time specifies how long an
input must remain stable at a new state before the amplifier recognizes the state.
Parameters:
input The input to configure. Inputs are numbered starting Units: None
from 0. Check amplifier datasheet for the number of
inputs available
time The debounce time assigned to this input. Units: mS

ReadInputConfig (input As Integer, config As CML_INPUT_PIN_CONFIG)

Description: Gets the input configuration for the specified input. Each of the amplifier’s inputs
can be configured to perform some function.
Parameters:
input Input to read. Inputs are numbered starting from 0. Units:
Check amplifier datasheet for number of inputs None
available
config Function assigned to the input Units:
None

ReadInputConfigMultiAxis (input As Integer, config As CML_INPUT_PIN_CONFIG,

axis as Short)
Description: Gets the configuration and associated axis number for the specified input.
Parameters:
input Input to read. Inputs are numbered starting from 0. Units:
Check amplifier datasheet for number of inputs None
available
config Function assigned to the input Units:
None
axis The axis number this input is associated with (A=0, Units:
B=1, etc.) None

WriteInputConfig (input As Integer, config As CML_INPUT_PIN_CONFIG)

Description: Sets the input configuration for the specified input. Each of the amplifier’s inputs
can be configured to perform some function. WriteInputConfig configures the
specified input to perform the specified function.
Parameters:
input Input to read. Inputs are numbered starting from 0. Units:
Check amplifier datasheet for number of inputs None
available
config Function assigned to the input Units:
None

WriteInputConfigMultiAxis (input As Integer, config As CML_INPUT_PIN_CONFIG,

axis as Short)
Description:
Sets the input configuration for the specified input.
Parameters:
input Input to read. Inputs are numbered starting from 0. Units:
Check amplifier datasheet for number of inputs None
available

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config Function assigned to the input Units:

None
axis The axis number this input is associated with (A=0, Units:
B=1, etc.) None

CML_INPUT_PIN_CONFIG
INPUT_CONFIGURATION_NONE = 0
No function assigned to the input.

INPUT_CONFIGURATION_RESET_RISING = 2
Reset the amplifier on the rising edge of the input.

INPUT_CONFIGURATION_RESET_FALLING = 3
Reset the amplifier on the falling edge of the input.

INPUT_CONFIGURATION_POSITIVE_LIMIT_HIGH = 4
Positive limit switch; active high

INPUT_CONFIGURATION_POSITIVE_LIMIT_LOW = 5
Positive limit switch; active low

INPUT_CONFIGURATION_NEGATIVE_LIMIT_HIGH = 6
Negative limit switch, active high

INPUT_CONFIGURATION_NEGATIVE_LIMIT_LOW = 7
Negative limit switch, active low.

INPUT_CONFIGURATION_MOTOR_TEMPERATURE_HIGH = 8
Motor temperature sensor; active high

INPUT_CONFIGURATION_MOTOR_TEMPERATURE_LOW = 9
Motor temperature sensor, active low

INPUT_CONFIGURATION_CLEAR_FAULTS_HIGH = 10
Clear faults on the rising edge; disable while high

INPUT_CONFIGURATION_CLEAR_FAULTS_LOW = 11
Clear faults on the falling edge, disable while low

INPUT_CONFIGURATION_RESET_DISABLE_RISING = 12
Reset on rising edge; disable while high.

INPUT_CONFIGURATION_RESET_DISABLE_FALLING = 13
Reset on falling edge; disable while low.

INPUT_CONFIGURATION_HOME_HIGH = 14
Home switch; active high.

INPUT_CONFIGURATION_HOME_LOW = 15
Home switch; active low

INPUT_CONFIGURATION_DISABLE_HIGH = 16
Amplifier disable; active high

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INPUT_CONFIGURATION_DISABLE_LOW = 17
Amplifier disable; active low.

INPUT_CONFIGURATION_PWM_SYNCH = 19
PWM synchronization. Only for high speed inputs (see data sheet).

INPUT_CONFIGURATION_MOTION_ABORT_HIGH = 20
Abort move in progress; keep the amplifier enabled and servoing; active high

INPUT_CONFIGURATION_MOTION_ABORT_LOW = 21
Abort move in progress; keep the amplifier enabled and servoing; active low

INPUT_CONFIGURATION_HIGH_RES_ANALOG_DIVIDE_HIGH = 22
A high input causes the firmware to divide the level of the analog input signal by 8

INPUT_CONFIGURATION_HIGH_RES_ANALOG_DIVIDE_LOW = 23
A low input causes the firmware to divide the level of the analog input signal by 8

INPUT_CONFIGURATION_HIGHSPEED_CAPTURE_RISING = 24
High speed position capture on rising edge

INPUT_CONFIGURATION_HIGHSPEED_CAPTURE_FALLING = 25
High speed position capture on falling edge

INPUT_CONFIGURATION_COUNT_EDGES_RISING = 26
Count rising edges of input, store the results to an indexer register

INPUT_CONFIGURATION_COUNT_EDGES_FALLING = 27
Count falling edges of input, store the results to an indexer register

INPUT_CONFIGURATION_ABORT_WINDOW_RISING = 36
Abort move on rising edge if not within N counts of destination position

INPUT_CONFIGURATION_ABORT_WINDOW_FALLING = 37
Abort move on falling edge if not within N counts of destination position

INPUT_CONFIGURATION_HV_LOSS_DISABLE_HIGH = 38
Mark HV loss on rising edge, disable while high.

INPUT_CONFIGURATION_HV_LOSS_DISABLE_LOW = 39
Mark HV loss on falling edge, disable while low.

INPUT_CONFIGURATION_TRJ_UPDATE_RISING = 40
Trajectory update on rising edge.

INPUT_CONFIGURATION_TRJ_UPDATE_FALLING = 41
Trajectory update on falling edge.

INPUT_CONFIGURATION_CLR_FAULTS_EVENTS_RISING = 42
Clear faults and event latch on rising edge.

INPUT_CONFIGURATION_CLR_FAULTS_EVENTS_FALLING = 43
Clear faults and event latch on falling edge.

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INPUT_CONFIGURATION_DIS_SIM_ENC_L_BURST_RISING = 44
Disable simulated encoder output when low. Burst current position on encoder output
on rising edge.

INPUT_CONFIGURATION_DIS_SIM_ENC_H_BURST_FALLING = 45
Disable simulated encoder output when high. Burst current position on encoder output
on falling edge.

Input Properties
Inputs
Type: Integer
Description: Read-only. Gets the present hi/low states of the programmable inputs after
debounce. The inputs are returned one per bit. The value of IN1 is returned in
bit 0 (1 if high, 0 if low), IN2 in bit 1, etc.
Units: None
Default: None

Inputs32
Type: Integer
Description: Read-only. This is the 32-bit version of the Inputs property above.
Units: None
Default: None

IoPullup
Type: Integer
Description: State of the pull up/down resistors. Some Copley Controls amplifiers (see
amplifier data sheet) have pull up/down resistors connected to a group of
inputs. Each bit in the IoPullup property represents one pull up/down resistor;
pull up/down resistor 1 is returned in bit 0, pull up/down resistor 2 is return in
bit 2, etc. When the bit is set, the inputs connected to the resistor are pulled up
to the high state when they are not connected. When the bit is cleared, the
inputs are pulled down to a low state when they are not connected
Units: None
Default: None

IoPullup32
Type: Integer
Description: This is the 32-bit version of the IoPullup property above.
Units: None
Default: None

Output Methods
ReadOutputConfig (output As Short, config As CML_OUTPUT_PIN_CONFIG, mask
As Integer)
Description: Reads the configuration for the specified output.
Parameters:
output Input to read. Inputs are numbered starting from 0. Units:
Check amplifier datasheet for number of inputs None
available

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config Function assigned to the input Units:

None
mask A 32-bit mask used to select which status bits the Units:
output should track. If the output is configured for None
manual mode, then the mask is not used.

ReadOutputConfigMultiAxis (output As Short, config As

CML_OUTPUT_PIN_CONFIG, mask As Integer, axis As short)
Description: Reads the configuration for the specified output.
Parameters:
output Input to read. Inputs are numbered starting from 0. Units: None
Check amplifier datasheet for number of inputs
available
config Function assigned to the input Units: None
mask A 32-bit mask used to select which status bits the Units: None
output should track. If the output is configured for
manual mode, then the mask is not used.
axis The axis number this output is associated with (A=0, Units: None
B=1, etc.)

ReadOutputConfigExt (output As Short, config As CML_OUTPUT_PIN_CONFIG,

param1 As Integer, param2 As Integer)
Description: Reads the configuration for the specified output.
Parameters:
output Input to read. Inputs are numbered starting from 0. Units: None
Check amplifier datasheet for number of inputs
available
config Function assigned to the input Units: None
param1 The first 32-bit parameter that defines an output Units: None
function (used for functions requiring 5 words of data).
param2 The second 32-bit parameter that defines an output Units: None
function (used for functions requiring 5 words of data).

ReadOutputConfigExtMultiAxis (output As Short, config As

CML_OUTPUT_PIN_CONFIG, param1 As Integer, param2 As Integer, axis As
Short)
Description: Reads the configuration for the specified output.
Parameters:
output Input to read. Inputs are numbered starting from 0. Units: None
Check amplifier datasheet for number of inputs
available
config Function assigned to the input Units: None
param1 The first 32-bit parameter that defines an output Units: None
function (used for functions requiring 5 words of data).
param2 The second 32-bit parameter that defines an output Units: None
function (used for functions requiring 5 words of data).
axis The axis number this output is associated with (A=0, Units: None
B=1, etc.)

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WriteOutputConfig (output As Short, config As CML_OUTPUT_PIN_CONFIG, mask

As Integer)
Description: Sets the configuration for the specified output. Each of the amplifier’s outputs can
be configured to event status tracking mode or manual mode, as specified by the
config parameter.

Parameters:
output The output to configure. Outputs are numbered starting Units: None
from 0. Check amplifier datasheet for the number of
outputs available
config The function to be assigned to this output. Units: None
mask A 32-bit mask used to select which status bits the outpu Units: None
should track. If the output is configured for manual mod
then the mask is not used.

WriteOutputConfigMultiAxis (output As Short, config As CML_OUTPUT_PIN_CONFIG,

mask As Integer, axis As Short)
Description: Sets the configuration for the specified output. Each of the amplifier’s outputs can
be configured to event status tracking mode or manual mode, as specified by the
config parameter.
Parameters:
output The output to configure. Outputs are numbered Units: None
starting from 0. Check amplifier datasheet for the
number of outputs available
config The function to be assigned to this output. Units: None
mask A 32-bit mask used to select which status bits the Units: None
output should track. If the output is configured for
manual mode, then the mask is not used.
axis The axis number this output is associated with (A=0, Units: None
B=1, etc.)

WriteOutputConfigExtMultiAxis (output As Short, config As

CML_OUTPUT_PIN_CONFIG, param1 As Integer, param2 As Integer, axis As
Short)
Description: Sets the configuration for the specified output. Each of the amplifier’s outputs can
be configured to event status tracking mode, position triggered mode, or manual
mode, as specified by the config parameter
Parameters:
output The output to configure. Outputs are numbered Units: None
starting from 0. Check amplifier datasheet for the
number of outputs available
config The function to be assigned to this output Units: None
param1 The first 32-bit parameter that defines an output Units: None
function (used for functions requiring 5 words of
data).
param2 The second 32-bit parameter that defines an output Units: None
function (used for functions requiring 5 words of
data).
axis The axis number this output is associated with (A=0, Units: None
B=1, etc.)

CML_OUTPUT_PIN_CONFIG
OUTPUT_CONFIGURATION_EVENT_STATUS_LOW = 0

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The output follows the amplifier's event status register and is active low.
param1 A 32-bit mask used to select which status bits the output should track.
param2 Has no meaning. Set to zero.

OUTPUT_CONFIGURATION_ EVENT_STATUS_HIGH = 256

The output follows the amplifier's event status register and is active high
param1 A 32-bit mask used to select which status bits the output should track.
param2 Has no meaning. Set to zero.

OUTPUT_CONFIGURATION_EVENT_LATCH_LOW = 1
The output follows the latched version of the amplifier's event status register
and is active low
param1 A 32-bit mask used to select which status bits the output should track.
param2 Has no meaning. Set to zero.

OUTPUT_CONFIGURATION_EVENT_LATCH_HIGH = 257
The output follows the latched version of the amplifier's event status register
and is active high
param1 A 32-bit mask used to select which status bits the output should track.
param2 Has no meaning. Set to zero.

OUTPUT_CONFIGURATION_MANUAL_LOW = 2
The output is manually controlled using Outputs property and is active low. This
method does not use parameters; set all parameters to zero.

OUTPUT_CONFIGURATION_MANUAL_HIGH = 258
The output is manually controlled using Outputs property and is active high. This
method does not use parameters; set all parameters to zero.

OUTPUT_CONFIGURATION_TRAJECTORY_STATUS_LOW = 3
The output pin follows bits in the amplifier’s trajectory status register and is
active low.

OUTPUT_CONFIGURATION_ TRAJECTORY_STATUS_HIGH = 259

The output pin follows bits in the amplifier’s trajectory status register and is
active high.
param1 A 32-bit mask used to select which status bits the output should track.
param2 Has no meaning. Set to zero.

OUTPUT_CONFIGURATION_POSITION_WINDOW_LOW = 4
The output goes active low if the actual motor position is greater than param1
and less than param2
param1 Low edge of position trigger window. Units: Counts.
param2 High edge of position trigger window. Units: Counts.

OUTPUT_CONFIGURATION_POSITION_WINDOW_HIGH = 260
The output goes active high if the actual motor position is greater than param1
and less than param2
param1 Low edge of position trigger window. Units: Counts.

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param2 High edge of position trigger window. Units: Counts.

OUTPUT_CONFIGURATION_MOTION_POSITIVE_LOW = 5
The output goes active low when the motor actual position crosses in the low-to-
high direction through the point specified in param1. The pin stays active for
amount of time specified in param2
param1 Trigger position. Units: Counts.
param2 Output active time. Units: milliseconds.

OUTPUT_CONFIGURATION_MOTION_POSITIVE_HIGH = 261
The output goes active high when the motor actual position crosses in the low-
to-high direction through the point specified in param1. The pin stays active for
amount of time specified in param2.
param1 Trigger position. Units: Counts.
param2 Output active time. Units: milliseconds.

OUTPUT_CONFIGURATION_MOTION_NEGATIVE_LOW = 6
The output goes active low when the motor actual position crosses in the high-
to-low direction through the point specified in param1. The pin stays active for
amount of time specified in param2.
param1 Trigger position. Units: Counts.
param2 Output active time. Units: milliseconds.

OUTPUT_CONFIGURATION_MOTION_NEGATIVE_HIGH = 262
The output goes active high when the motor actual position crosses in the high-
to-low direction through the point specified in param1. The pin stays active for
amount of time specified in param2
param1 Trigger position. Units: Counts.
param2 Output active time. Units: milliseconds.

OUTPUT_CONFIGURATION_TRIG_AT_POSITION_LOW = 7
The output goes active low when the motor actual position crosses in any
direction through the point specified in param1. The pin stays active for amount
of time specified in param2
param1 Trigger position. Units: Counts.
param2 Output active time. Units: milliseconds.

OUTPUT_CONFIGURATION_TRIG_AT_POSITION_HIGH = 263
The output goes active high when the motor actual position crosses in any
direction through the point specified in param1. The pin stays active for amount
of time specified in param2
param1 Trigger position. Units: Counts.
param2 Output active time. Units: milliseconds.

OUTPUT_CONFIGURATION_PWM_SYNCH = 512
PWM Synchronization. Note: Valid only on Output 0. This method does not use
parameters; set all parameters to zero

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Output Properties
Outputs
Type: Integer
Description: Reads or writes the present states (active/inactive) of the programmable
outputs. When this property is read, the current active/inactive state of all
outputs is returned. Each output is represented by one bit in the returned value;
bit 0 for output 1, bit 1 for output 2, etc. When this property is written, it is
used to control the active/inactive state of any outputs that are configured to
operate in manual mode. Writing a 1 to a bit causes the corresponding output to
become active; writing a 0 causes the output to become inactive. Bits
corresponding to outputs that are not configured in manual mode are ignored
Units: None
Default: None

5.19 Amplifier Events

Methods
CreateEvent (mask As CML_AMP_EVENT, condition As CML_EVENT_CONDITION)
As EventObj
Description: Creates an instance of EventObj, using specified parameters to monitor amplifier
events.
Parameters:
mask The bit-mapped value that indicates which events are Units: None
to be monitored
condition The trigger condition for the events that will result in Units: None
the event callback method being called (e.g. all events
in the mask)

CreateInputEvent (mask As Integer, condition As CML_EVENT_CONDITION) As

EventObj
Description: Reads the configuration for the specified output.
Parameters:
mask A bit-mapped value that indicates which digital input Units: None
pin is to be monitored. Each corresponds to one input
pin; bit 0 for input 0, bit 1 for input 1, etc
condition The trigger condition for the events that will result in Units: None
the event callback method being called (e.g. all events
in the mask)

CML_EVENT_CONDITION
CML_EVENT_ANY = 1
Any event occurring
CML_EVENT_ALL = 2
All the events are required
CML_EVENT_NONE = 3
None of the events

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5.20 Amplifier Trace

The trace system allows internal amplifier parameters to be sampled and stored at a specified
interval. The stored data may later be downloaded for analysis. The typical sequence of steps
involved to run the trace is as follows:
1 Set up the trace channels, sample period and trigger.
2 Start the trace.
3 Monitor the status until the trace has triggered and no longer running.
4 Read in the trace data.
The example, EX7_Trace, is provided with the installation of CMO. This example demonstrates
the steps necessary to run the trace and save the trace data to a file.

Methods
ReadTraceStatus (status As CML_AMP_TRACE_STATUS, samplesCollected As
Short, maxSamples As Short)
Description: Read the status of the amplifier's trace system as a bit mapped value. For most
tracing applications, only the first two bits are observed.
Bit Definition
0 Trace is running
1 Trace has triggered
2 Sampled mode
3 Trace will ignore initial delays
A typical sequence is as follows:
1 The trace is started; bit 0 will be set to indicate that the trace is running.
2 When the trigger condition is met, bit 1 will be set.
3 Once the trigger occurs, the trace will start collecting data.
4 The trace is done collecting data; bit 0 will be cleared and the trace data can
be read.
Parameters:
status Information on whether the trace is currently Units:
running is returned in this parameter None
samplesCollected The total number of trace samples collected is
returned here
maxSamples The maximum number of trace samples that will fit
in the internal buffer is returned here. This value
will change depending on how many trace channels
are active and which variables are selected.

CML_AMP_TRACE_STATUS
TRACE_STATUS_RUNNING = 1
Trace is currently collecting data.

TRACE_STATUS_TRIGGERED = 2
Trace has been triggered

TRACE_STATUS_SAMPLED = 4
Trace is currently in sampled mode

TRACE_STATUS_NODELAY = 8
Trace is configured to ignore initial delays

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ReadTraceRefPeriod (ref Period As Integer)

Description: Read-only. Read the fundamental period used with the amplifier’s trace. The
amplifier internally samples its trace channels at multiples of this time. For
example, if the amplifier's reference period is 62500 nanoseconds, then setting
the trace period to 10 would indicate that the amplifier should sample its internal
variables every 625 µS.

Parameters:
refPeriod The reference period is returned here. Units: nS

WriteTracePeriod (tracePeriod As Short)

Description: Set the trace period. The rate at which samples are read by the trace is the
product of this value and the TraceRefPeriod.
Parameters:
tracePeriod The trace period to be set Units: multiple of
TraceRefPeriod

ReadTracePeriod (tracePeriod As Short)

Description: Set the trace period. The rate at which samples are read by the trace is the
product of this value and the TraceRefPeriod.
Parameters:
tracePeriod The trace period is returned here Units: multiple of TraceRefPeriod

WriteTraceTrigger (type As CML_AMP_TRACE_TRIGGER, channel As Short, level As

Integer, delay As Short)
Description: Configure the trace trigger. The trigger resembles the trigger on an oscilloscope.
It allows an event to be specified which will cause the trace to start collecting
data. Most trigger types watch one of the trace channels and constantly compare
its value to a level. The type of comparison made will depend on the type of
trigger. For example, the trace can be triggered on the rising edge of a signal, on
the falling edge, etc. The trigger also allows a delay value to be specified. The
delay specifies the number trace periods to wait after the trigger occurs to start
collecting samples. The delay can also be negative, in which case the delay
specifies the number of trace periods to collect data before the trigger occurs.
Parameters:
type The trigger type Units: None
channel The trace channel to watch. This Units: None
parameter defaults to 0 if not specified
level The trigger level. This parameter defaults Units: Varies with
to 0 if not specified trigger type and the
trace channel variable
delay The delay between the occurrence of the Units: trace periods
trigger and the start of data collection.

ReadTraceTrigger (type As CML_AMP_TRACE_TRIGGER, channel As Short, level As

Integer, delay As Short)
Description: Get the current configuration of the trace trigger.
Parameters:
type The type of trigger to be used Units: None
channel Which channel to trigger on Units: None
level The trigger level Units: Varies with trigger type and
the trace channel variable

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delay The delay between the Units: trace periods

occurrence of the trigger and
the start of data collection.
Defaults to 0 if not specified

CML_AMP_TRACE_TRIGGER
TRACETRIG_NONE = 0
Trace trigger type none. The trace is triggered immediately on start

TRACETRIG_ABOVE = 256
Trigger as soon as the value on the selected variable is above the trigger level

TRACETRIG_BELOW = 512
Trigger as soon as the value on the selected variable is below the trigger level.

TRACETRIG_RISE = 768
Trigger when the value on the selected variable changes from below the trigger level to
above it.

TRACETRIG_FALL = 1024
Trigger when the value on the selected variable changes from above the trigger level to
below it

TRACETRIG_BITSET = 1280
Treat the trigger level as a bit mask which selects one or more bits on the selected
trace variable. The trigger occurs as soon as any of the selected bits are set.

TRACETRIG_BITCLR = 1536
Treat the trigger level as a bit mask which selects one or more bits on the selected
trace variable. The trigger occurs as soon as any of the selected bits are clear.

TRACETRIG_CHANGE = 1792
Trigger any time the selected trace variable value changes

TRACETRIG_EVENTSET = 2048
Treat the trigger level as a bit mask which selects one or more bits on the amplifier's
event status register. The trigger occurs as any of the selected bits are set

TRACETRIG_EVENTCLR = 2304
Treat the trigger level as a bit mask which selects one or more bits on the amplifier's
event status register. The trigger occurs as any of the selected bits are clear

TRACETRIG_FGEN_CYCLE = 2560
Trigger at the start of the next function generator cycle. This trigger type is only useful
when running in function generator mode

TRACETRIG_NODELAY = 16384
If this bit is set, then the trigger can occur even if the trace setup delay has not yet
occurred

TRACETRIG_SAMPLE = 32768
Only take a single sample for each trigger. Normally, the occurrence of the trigger
causes the trace to begin sampling data and stop when the trace buffer is full.

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ReadTraceMaxChannel (maxChannels As Short)

Description: Return the maximum number of trace channels supported by the amplifier.
Parameters:
maxChannels The number of channels is returned here Units: None

TraceStart ()
Description: Start collecting trace data on the amplifier. The trace will automatically stop once
the amplifier's internal trace buffer fills up.
Parameters: None

TraceStop ()
Description: Stop collecting trace data on the amplifier.
Parameters:
None

ReadTraceData (traceDataArray As Integer, dataCount As Integer)

Description: Upload any trace data captured in the amplifier. Trace data should only be
uploaded when the trace has both triggered and stopped. Uploading data during
data collection can cause corrupt data to be uploaded. The trace data is returned
as an array of 32-bit integer values. The data for all active channels is contained
within the trace data array. For example, if there are three active channels, then
the trace data array will be formatted as shown below:

Index 0 Index 1 Index 2 Index 3 Index 4 Index 5 Index 6 Index7 Index 8

Chan 1 Chan 2 Chan 3 Chan 1 Chan 2 Chan 3 Chan 1 Chan 2 Chan 3

Parameters:
traceDataArray An array where the trace data will be returned Units: None
dataCount On entry to this call, this parameter must hold the Units: None
maximum number of samples to upload. Upon
successful return, this parameter will contain the
total number samples returned.

WriteTraceChannel (channel As Short, traceVar CML_AMP_TRACE_VAR)

Description: Set the trace variable associated with the specified channel.
Parameters:
channel The trace channel that the variable will be assigned to Units: None
(zero based).
traceVar The trace variable to sample Units: None

WriteTraceChannel (channel As Short, traceVar CML_AMP_TRACE_VAR, axis As

Integer)
Description: Set the trace variable associated with the specified channel.
Parameters:
channel The trace channel that the variable will be assigned to Units: None
(zero based).
traceVar The trace variable to sample Units: None
axis The axis number this channel is associated with (A=0, Units: None
B=1, etc.)

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ReadTraceChannel (channel As Short, traceVar CML_AMP_TRACE_VAR)

Description: Read the trace variable associated with the specified channel.
Parameters:
channel The trace channel to get (zero based) Units: None
traceVar The trace variable assigned to this channel will be Units: None
returned here

ReadTraceChannel (channel As Short, traceVar CML_AMP_TRACE_VAR, axis As

Integer)
Description: Read the trace variable associated with the specified channel.
Parameters:
channel The trace channel to get (zero based) Units: None
traceVar The trace variable assigned to this channel will be Units: None
returned here
axis The axis number this channel is associated with (A=0, Units: None
B=1, etc.)

CML_AMP_TRACE_VAR
TRACEVAR_CRNT_U = 3
Actual current, U winding. Units: 0.01 A.

TRACEVAR_CRNT_V = 4
Actual current, V winding. Units: 0.01 A

TRACEVAR_ANALOG_REF = 5
Analog reference input. Units: mV

TRACEVAR_HIGH_VOLT = 6
High voltage bus. Units: 0.1 V

TRACEVAR_CRNT_CMD = 7
Commanded current (before limiting). Units: 0.01 A

TRACEVAR_CRNT_LIM = 8
Commanded current (after limiting). Units: 0.01 A

TRACEVAR_CRNT_CMD_D = 9
Commanded current, D axis. Units: 0.01 A

TRACEVAR_CRNT_CMD_Q = 10
Commanded current, Q axis. Units: 0.01 A

TRACEVAR_CRNT_ACT_D = 13
Actual current, calculated for D axis. Units: 0.01 A

TRACEVAR_CRNT_ACT_Q = 14
Actual current, calculated for Q axis. Units: 0.01 A.

TRACEVAR_CRNT_ERR_D = 15
Current loop error, D axis. Units: 0.01 A

TRACEVAR_CRNT_ERR_Q = 16
Current loop error, Q axis. Units: 0.01 A

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TRACEVAR_VOLT_D = 19
Current loop output voltage, D axis. Units: 0.1 V

TRACEVAR_VOLT_Q = 20
Current loop output voltage, Q axis. Units: 0.1 V

TRACEVAR_VEL_MTR = 23
Motor velocity filtered. Units: 0.1 encoder counts / second

TRACEVAR_VLOOP_CMD = 24
Velocity loop commanded velocity (before limiting). Units: 0.1 encoder counts / second.

TRACEVAR_VLOOP_LIM = 25
Velocity loop commanded velocity (after limiting). Units: 0.1 encoder counts / second

TRACEVAR_VLOOP_ERR = 26
Velocity loop error. Units: 0.1 encoder counts / second

TRACEVAR_LOAD_POS = 28
Load encoder position. Units: encoder counts.

TRACEVAR_CMD_POS = 29
Commanded position from trajectory generator. Units: encoder counts

TRACEVAR_POS_ERR = 30
Position error. Units: encoder counts

TRACEVAR_MTR_POS = 31
Motor encoder position. Units: encoder counts

TRACEVAR_RAW_INPUTS = 33
Digital input pins (before debounce).

TRACEVAR_PHASE = 36
Motor phase angle. Units: 0.1 degree

TRACEVAR_TEMP = 37
Amplifier temperature. Units: degrees C

TRACEVAR_EVENTS = 38
Event status register.

TRACEVAR_EVENTLATCH = 39
Latched version of event status register

TRACEVAR_HALLS = 40
Hall sensor state

TRACEVAR_VEL_LOAD = 43
Load encoder velocity. Units: 0.1 encoder counts / second

TRACEVAR_CMD_VEL = 44

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Commanded velocity from trajectory generator.

Units: 0.1 encoder counts / second
TRACEVAR_CMD_ACC = 45
Commanded acceleration from trajectory generator. Units: 10 encoder counts / second
/ second
TRACEVAR_ENC_SIN = 46
Analog encoder sine. Units: 0.1 mV.

TRACEVAR_ENC_COS = 47
Analog encoder cosine. Units: 0.1 mV

TRACEVAR_INPUTS = 48
Digital input pins (after debounce)

TRACEVAR_DEST_POS = 49
Destination position. Units: encoder counts

TRACEVAR_VEL_RAW = 50
Motor velocity, unfiltered. Units: 0.1 encoder counts / second

TRACEVAR_PASSIVE_ENC_POS = 51,
Passive encoder position

TRACEVAR_GAIN_SCHED_KEY = 52,
Gain scheduling key

TRACEVAR_POS_P_GAIN = 53,
Position loop proportional gain

TRACEVAR_VEL_P_GAIN = 54,
Velocity loop proportional gain

TRACEVAR_VEL_I_GAIN = 55,
Velocity loop integral gain

TRACEVAR_AMP_I2T_SUM = 56,
Amplifier's I2T sum

TRACEVAR_USER_I2T_SUM = 57,
User's I2T sum

TRACEVAR_ANALOG_ENC_INDEX = 59,
Analog encoder index pulse

TRACEVAR_COMMANDED_U = 60,
Commanded current U

TRACEVAR_COMMANDED_V = 61,
Commanded current V

TRACEVAR_CUR_OFFSET_CSP = 62,
Current offset, CSP mode

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TRACEVAR_VEL_OFFSET_CSP = 63,
Velocity offset, CSP mode

TRACEVAR_RAW_ENCODER = 66
Raw encoder values

5.21 Other Methods and Properties

Methods
Reset ()
Description: Resets the Amplifier and re-initializes the Amplifier Object.
Parameters: None

SDO_Dnld (index As Short, sub As Short, data As Object)

Description: Downloads data to the amplifier via a CAN SDO transfer.
Parameters:
index Index of a CANopen dictionary object Units: None
sub Sub-index of a CANopen dictionary object Units: None
data The data that is to be transferred. This data can be Units: None
one of four types: 8-bit, 16-bit, 32-bit, or String

SDO_Upld (index As Short, sub As Short, data As Object)

Description: Uploads data from the amplifier via a CAN SDO transfer.
Parameters:
index Index of a CANopen dictionary object Units: None
sub Sub-index of a CANopen dictionary object Units: None
data The data that is to be transferred. This data can be Units: None
one of four types: 8-bit, 16-bit, 32-bit, or String

SDO_DnldExt (index As Short, sub As Short, data As Byte, size As Integer)

Description: Downloads data to the amplifier via a CAN SDO transfer.
Parameters:
index The input to configure. Inputs are numbered starting Units: None
from 0. Check amplifier data sheet for the number of
inputs available
time The debounce time assigned to this input Units: None
data The data that is to be transferred Units: None
size The number of bytes of data to be downloaded Units: None

SDO_UpldExt (index As Short, sub As Short, data As Byte, size As Integer)

Description: Uploads data from the amplifier via a CAN SDO transfer.
Parameters:
index The input to configure. Inputs are numbered starting Units: None
from 0. Check amplifier data sheet for the number of
inputs available
time The debounce time assigned to this input Units: None
data The data that is to be transferred Units: None
size On entry this gives the max number of bytes of data Units: None
to be uploaded. On successful return this gives the
actual number of bytes received

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SetRPDO (slot As UShort, rpdo As RPDOObj)

SetTPDO (slot as UShort, tpdo As TPDOObj)
Description: Associates the passed RPDO/TPDO with the node.
Parameters:
slot The PDO slot to assign the PDO to Units: None
rpdo/tpdo The rpdo/tpdo object Units: None

EnableRPDO (slot As UShort, rpdo As RPDOObj)

EnableTPDO (slot As UShort, tpdo As TPDOObj)
Description: Enables the passed RPDO/TPDO in the corresponding slot.
Parameters:
slot The PDO slot to assign the PDO to Units: None
rpdo/tpdo The rpdo/tpdo object Units: None

DisableRPDO (slot As UShort)

DisableTPDO (slot As UShort)
Description: Disables the RPDO/TPDO in the corresponding slot.
Parameters:
slot The PDO slot number Units: None

SavePDOmappingToFlash (saveProfile As Boolean)

Description: Save the current PDO mapping to flash.
Parameters:
saveProfile If true, the device profile parameters will be saved Units: None

Properties
CountsPerUnit
Type: Double
Description: Adjustable number of encoder counts/user distance unit. The default value is 1.0
(user distance units are in encoder counts). Also controls velocity, acceleration,
and jerk units. These units are always based on a time interval of seconds.
Units: None
Default: None

AmpTemp
Type: Short
Description: Read-only. Get the current amplifier temperature
Units: degrees C
Default: None

HighVoltage
Type: Short
Description: Read-only. Gets the high voltage bus voltage
Units: 0.1 V
Default: None

RefVoltage
Type: Short
Description: Read-only. Gets the analog reference input voltage
Units: mV

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Default: None

AmpMode
Type: CML_AMP_MODE
Description: Read-only. The currently active amplifier mode of operation
Units: None
Default: None

AmpModeWrite
Type: CML_AMP_MODE
Description: Change the amplifiers mode of operation
Units: None
Default: None

CML_AMP_MODE
AMPMODE_SERVO_CAN_PROFILE = 7681
A true CANopen position mode. The CANopen network sends move commands to the
amplifier, and the amplifier uses its internal trajectory generator to perform the moves.
Conforms to the CANopen Device Profile for Motion Control (DSP-402) profile position
mode

AMPMODE_SERVO_CAN_VELOCITY = 7683
In this mode the CANopen network commands target velocity values to the amplifier.
The amplifier uses its programmed acceleration and deceleration values to ramp the
velocity up/down to the target. Note that support for profile velocity mode was added in
amplifier firmware version 3.06

AMPMODE_SERVO_CAN_TORQUE = 7684
In this mode, the network controller sends target torque values to the drive. When the
drive is enabled, or the torque command is changed, the motor torque ramps to the
new value at the rate programmed in the property Torque Slope. When the drive is
halted, the torque ramps down at the same rate.
When using Profile Torque mode, the property HaltMode can be set to any mode except
HALT_DISABLE, because HALT_DISABLE will disable the amplifier with no torque ramp.
If the torque target value is changed while the amplifier is enabled, the torque will
ramp to the new target.
The units for torque target, demand, and actual are per thousand of the motor's rated
torque. The units for torque slope are per thousand of the motor's rated torque per
second.
The profile torque mode cannot be used with a stepper motor

AMPMODE_SERVO_CAN_HOMING = 7686
A true CANopen position mode. Used to home the motor (find the motor zero position)
under CANopen control. Conforms to DSP-402 homing mode

AMPMODE_SERVO_CAN_PVT = 7687
A true CANopen position mode. In this mode the CANopen master calculates the motor
trajectory and streams it over the CANopen network as a set of points that the
amplifier interpolates between. This mode conforms to the CANopen device profile for
motion control (DSP-402) interpolated position mode

AMPMODE_STEPPER_CAN_PROFILE = 10241
Same as AMPMODE_SERVO_CAN_PROFILE, but used with stepper capable amplifiers

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AMPMODE_STEPPER_CAN_VELOCITY = 10243
Same as AMPMODE_SERVO_CAN_ VELOCITY, but used with stepper capable amplifiers

AMPMODE_STEPPER_CAN_HOMING = 10246
Same as AMPMODE_SERVO_CAN_ HOMING, but used with stepper capable amplifiers

AMPMODE_STEPPER_CAN_PVT = 10247
Same as AMPMODE_SERVO_CAN_PVT, but used with stepper capable amplifiers

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6. Linkage

6.1 LinkageSettingsObj
Overview
The Linkage Settings Object contains the settings for the LinkageObj. All the properties have
both read and write access. This object is passed in as a parameter in the InitializeExt method
of the LinkageObj to customize the settings.

Example:
1 Declare and create an instance of LinkageSettingsObj.
Dim LinkageSettings As LinkageSettingsObj
LinkageSettings = New LinkageSettingsObj()
2 Change one or more properties of the LinkageSettingsObj.
LinkageSettings.moveAckTimeout = 400
3 Call one of the Extended Initialization methods of the ampObj.
Linkage.InitializeExt(ampArray, LinkageSettings)

Properties
moveAckTimeout
Type: Short
Description: Node guarding guard time. This property gives the node-guarding period for use
with this node. This is the period between node guarding request messages sent
by the master controller.
Units: mS
Default: 200

haltOnPosWarn
Type: Boolean
Description: When set to true, the linkage move will be halted when a position warning
occurs.
Units: none
Default: false

haltOnVelWin
Type: Boolean
Description: When set to true, the linkage move will be halted when the velocity is outside
the velocity window.
Units: none
Default: false

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6.2 LinkageObj
Overview
The Linkage Object allows the programmer to “link” a group of amplifiers to perform
coordinated motion. A move using the Linkage Object will start moving all the linked amplifiers
at the same time and end the move at the same time.

Methods
Initialize (ampArray As AmpObj)
Description: Initializes the Linkage object with the array of amp objects passed in as a
parameter. These amp objects will be linked together upon successful
initialization.
Parameters:
ampArray Array of one or more AmpObj (which have already Units: None
been initialized)

InitializeExt (ampArray As AmpObj, linakeSettings as LinkageSettingsObj)

Description: Initializes the Linkage object with the array of amp objects and the linkage
settings passed in as parameters. The amp objects in the ampArray will be
linked together upon successful initialization.
Parameters:
ampArray Array of one or more AmpObj (which have already Units: None
been initialized)
LinkageSettings Array of one or more AmpObj (which have already Units: None
been initialized)

MoveTo (positionArray As Double)

Description: Performs a multi-axis move to the positions specified by an array containing one
position per axis.
Parameters:
positionArray Contains the target positions for each axis Units: Double

ReadMoveLimits (vel As Double, acc As Double, dec As Double, jrk As Double)

Description: Reads the limits for a move.
Parameters:
vel Velocity limit Units: User defined
units/second
acc Acceleration limit Units: User-defined
units/second2
dec Deceleration limit Units: User-defined
units/second2
jrk Jerk limit (maximum rate of change of Units: User-defined
acceleration) units/second3

SetMoveLimits (vel As Double, acc As Double, dec As Double, jrk As Double)

Description: Sets the limits for the move.

Parameters:
vel Velocity limit Units: User defined
units/second

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acc Acceleration limit Units: User-defined

units/second2
dec Deceleration limit Units: User-defined
units/second2
jrk Jerk limit (maximum rate of change of Units: User-defined
acceleration) units/second3
ampArray Array of one or more AmpObj (which have already Units:
been initialized) None

TrajectoryInitialize (positions As Double, velocities As Double, times As Integer,

lowWater As Integer)
Description: Initializes and starts a PVT (Position-Velocity-Time) trajectory move on a Linkage
Object. The linked amplifiers will queue up the PVT segments and find the best-fit
curve for each set of three PVT segments.
Parameters:
Positions A two dimensional array of positions declared as Units: Counts
numOfSegments, numOfAxis
Velocities A two dimensional array of velocities declared as Units: User
numOfSegments, numOfAxis defined
units/second
Times A single dimensional array of delta time values Units: mS
representing times from 1 to 255 milliseconds. A time
value of zero indicates to the amplifier that the
trajectory is complete. The length of this array, as of
the position and velocity arrays, must be equal to the
number of segments
lowWater This is the level of PVT segments left in the Copley Units: None
Motion Object buffer on the PC at which CMO
generates an event requesting more PVT segments.
This number must be less than the number of
segments

TrajectoryAdd (positions As Double, velocities As Double, times As Integer,

lowWater As Integer)
Description: This method adds PVT segments to the CMO PVT buffer waiting to be sent to the
amplifier. (Note: this buffer is used in addition to the 32-deep PVT buffer on the
amplifier.) This method is typically used within the handler for the
TrajectoryEventNotify event handler such that new PVT segments can be sent to
the amplifier when the CMO PVT trajectory generator reaches the lowWater level.
Parameters:
Positions A two dimensional array of positions declared as Units:
numOfSegments, numOfAxis Counts
Velocities A two dimensional array of velocities declared as Units: User
numOfSegments, numOfAxis defined
units/second
Times A single dimensional array of delta time values Units: mS
representing times from 1 to 255 milliseconds. A time
value of zero indicates to the amplifier that the
trajectory is complete. The length of this array, as of
the position and velocity arrays, must be equal to the
number of segments
lowWater This is the level of PVT segments left in the Copley Units: None
Motion Object buffer on the PC at which CMO
generates an event requesting more PVT segments.

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This number must be less than the number of

segments

WaitMoveDone (timeout As Long)

Description: Wait until the multi axis move is complete. This method is blocking. When called,
it will not return until either the event occurs, the timeout expires, a fault occurs,
or a move is aborted. If a timeout occurs, CMO will report the timeout by
throwing an exception.

Parameters:
timeout The timeout for the wait. If < 0, then wait indefinitely Units: mS

HaltMove ()
Description: Halt the current move. The exact type of halt can be programmed individually for
each axis using the AmpObj property HaltMode.
Parameters:
None

CreateEvent (mask As CML_LINK_EVENT, condition As CML_EVENT_CONDITION)

As EventObj
Description: Creates an instance of the EventObj that monitors amplifier events and sets them
up using the specified parameters.
Parameters:
mask A bit-mapped value that indicates which events are to Units:
be monitored None
condition The trigger condition for the events that will result in
the event callback method being called (e.g. all events
in the mask). See
eventObject The EventObj instance created by this method

CML_LINK_EVENT
Value Bit Description
LINKEVENT_MOVEDONE 0 Set when all amplifiers attached to this linkage have
finished their moves and have settled in to position at
the end of the move. Cleared when a new move is
started on any amplifier.
LINKEVENT_TRJDONE 1 Set when all amplifiers attached to the linkage have
finished their moves, but have not yet settled into
position at the end of the move. Cleared when a new
move is started on any amplifier.
LINKEVENT_NODEGUARD 2 A node guarding (or heartbeat) error has occurred. This
indicates that one of the amplifiers failed to respond
within the expected amount of time for either a
heartbeat or node-guarding message.
LINKEVENT_FAULT 4 A latching fault has occurred on one of the amplifiers
attached to this linkage.
LINKEVENT_ERROR 5 A non-latching error has occurred on one of the
amplifiers.
LINKEVENT_POSWARN 6 One of the amplifiers is reporting a position-warning
event.

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LINKEVENT_POSWIN 7 One of the amplifiers is reporting a position window

event.
LINKEVENT_VELWIN 8 One of the amplifiers is reporting a velocity window
event.
LINKEVENT_DISABLED 9 One of the amplifiers is currently disabled.
LINKEVENT_POSLIM 10 The positive limit switch of one or more amplifier is
currently active.
LINKEVENT_NEGLIM 11 The negative limit switch of one or more amplifier is
currently active.
LINKEVENT_SOFTLIM_POS 12 The positive software limit of one or more amplifier is
currently active.
LINKEVENT_SOFTLIM_NEG 13 The negative software limit of one or more amplifier is
currently active.
LINKEVENT_QUICKSTOP 14 One of the linkage amplifiers is presently performing a
quick stop sequence or is holding in quick stop mode.
The amplifier must be disabled to clear this.
LINKEVENT_ABORT 15 One or more amplifier aborted the last profile without
finishing.
LINKEVENT_LOWWATER 31 The active PVT profile is at or below the low water mark
and needs more data points.

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7. The Event Object

Overview
The eventObj allows an application program to be event-driven by having a function called when
an event occurs in the amplifier. This eliminates the need for polling for the event. The eventObj
is created by calling the CreateEvent method for: AmpObj, LinkageObj, and IOObj. The
recommended steps for using the EventObj are as follows:
1 Declare an EventObj variable:
// C#
eventObj xAxisEventObj;

'VB
Friend WithEvents YAxisEventObj As eventObj
2 Create the event:
// C#
xAxisEventObj = AmpX.CreateEvent(CML_AMP_EVENT.AMPEVENT_MOVE_DONE,
CML_EVENT_CONDITION.CML_EVENT_ANY);

'VB
xAxisEventObj = AmpX.CreateEvent(CML_AMP_EVENT.AMPEVENT_MOVE_DONE,
CML_EVENT_CONDITION.CML_EVENT_ANY)
3 Register the callback method with the eventObj.
// C#
xAxisEventObj.EventNotify += new eventObj.EventHandler(xAxisEventObj_EventNotify);

' VB
' In order to associate the callback method with the eventObj, select the eventObj
' variable from the variable list in Visual Studio as shown below. Then, select
' EventNotify from the list on the right. This will create the callback method.

4 Start the eventObj:

' C# and VB
xAxisEventObj.Start(False, 50000)
5 Implement the callback method to handle the event in a manner appropriate with the
application.

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Methods
Start (repeats As Boolean, timeout As Long)
Description: Starts the event monitor.
Parameters:
repeats Set to true to set up the event monitor to perform a Units: None
callback each time the event occurs until the event
monitor is stopped. Set to false to set up the event
monitor to perform a callback on a one-time basis.
When set up for repeating events, the event condition
must go away, then come back for the event callback
to occur again
timeout The timeout for the wait. If < 0, then wait indefinitely.
Units: milliseconds. If the timeout expires before the
event occurs, then the callback routine will be called
with its second parameter (hasError) set to true

Stop ()
Description: Stops the event monitor.
Parameters: None

Wait (timeout As Long)

Description: Wait on the event. This method is blocking. When called, it will not return until
either the event occurs, or the timeout expires. If a timeout occurs, CMO will
report the timeout in the form of a COM compatible error object.
Parameters:
timeout The timeout for the wait. If < 0, then wait indefinitely Units: mS

Callback
EventNotify (match As CML_AMP_EVENT, timeout As Boolean)
Description: Returns the contents of the register that was set up to trigger the event. The
timeout variable will be true if the timeout period expired.
Parameters:
match The contents of the register that was set up to trigger Units: None
the event
timeout True if a timeout or error occurred, False otherwise.
Should be checked for an error condition before
processing the event handling code

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CMO Programmer’s Guide The I/O Object

8. The I/O Object

Overview
The functions described here support I/O devices that comply to the CiA profile DS-401:
CANopen Device Profile for Generic I/O Modules.

Methods
Initialize (canOpenObj As CANopenObj, nodeId As Integer)
Description: Initializes the I/O device with the CANOpenObj and the specified node ID.
Parameters:
canOpenObj An instance of a CanOpenObj that has already been Units: None
initialized
nodeid The node ID of the I/O module Units: None

InitializeExt (canOpenObj As CANopenObj, nodeId As Integer, IOSettingsObj As

IOSettings)
Description: Initializes the I/O device with the CANOpenObj and the specified node ID. Also, through
the IOsettingsObj parameter, allows the CAN network settings for an I/O module to be set
at initialization time. This is necessary if PDO mapping is to be turned off for a particular
I/O module.
Parameters:
canOpenObj An instance of a CanOpenObj that has already been Units: None
initialized
nodeid The node ID of the I/O module Units: None
IOsettingsObj Allows the CAN network settings for an I/O module to Units: None
be set at initialization time

CreateEvent (mask As CML_IOMODULE_EVENTS, condition As

CML_EVENT_CONDITION) As EventObj
Description: Creates an instance of the EventObj that monitors I/0 events and sets them up
using the specified parameters.
Parameters:
mask A bit-mapped value that indicates which events are to Units: None
be monitored
condition Trigger condition for the events that will result in the Units: None
callback method being called (e.g. all events in the
mask)

CML_IOMODULE_EVENTS
IOEVENT_AIN_PDO0 = 0x10000
Trigger when any of the first 4 analog inputs generates an event.

IOEVENT_AIN_PDO1 = 0x20000
Trigger when any of the second 4 analog inputs generates an event

IOEVENT_AIN_PDO2 = 0x40000
Trigger when any of the third 4 analog inputs generates an event

IOEVENT_DIN_PDO0 = 0x0001
Trigger when first 64 digital inputs change state.

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SDO_Dnld (index As Integer, sub As Integer, data As Object)

Description: Downloads data to the IO module via a CAN SDO transfer.
Parameters:
index Index of a CANopen dictionary object Units: None
sub Sub-index of a CANopen dictionary object Units: None
data The data that is to be transferred. This data can be Units: None
one of four types: 8-bit, 16-bit, 32-bit, or String

SDO_Upld (index As Integer, sub As Integer, data As Object)

Description: Uploads data from the IO module via a CAN SDO transfer.
Parameters:
index Index of a CANopen dictionary object Units: None
sub Sub-index of a CANopen dictionary object Units: None
data The data that is to be transferred. This data can be Units: None
one of four types: 8-bit, 16-bit, 32-bit, or String

SDO_DnldExt (index As Integer, sub As Integer, data As Byte, size As Integer)

Description: Downloads data to the amplifier via a CAN SDO transfer.
Parameters:
index Index of a CANopen dictionary object. Units: None
sub Sub-index of a CANopen dictionary object Units: None
data The data that is to be transferred. This data is an Units: None
array of bytes
size The number of bytes of data to be downloaded Units: None

SDO_UpldExt (index As Integer, sub As Integer, data As Byte, size As Integer)

Description: Uploads data from the amplifier via a CAN SDO transfer.
Parameters:
index Index of a CANopen dictionary object Units: None
sub Sub-index of a CANopen dictionary object Units: None
data The data that is to be transferred. This data is an Units: None
array of bytes
size On entry this gives the max number of bytes of data Units: None
to be uploaded. On successful return this gives the
actual number of bytes received

ioSettingsObj
Properties

useStandardDinPDO
Type: Boolean
Description: Use the standard digital input PDO object
Units: None
Default: true

UseStandardDoutPDO
Type: Boolean
Description: Use the standard digital output PDO object
Units: None
Default: true

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UseStandardAinPDO
Type: Boolean
Description: Use the standard analog input PDO object
Units: None
Default: true

UseStandardAoutPDO
Type: Boolean
Description: Use the standard analog output PDO object
Units: None
Default: true

heartBeatPeriod
Type: Short
Description: Configures the heartbeat period used by this IO module to transmit its heartbeat
message. If this property is set to zero, then the heartbeat protocol is disabled
on this module
Units: mS
Default: 0

heartbeatTimeout
Type: Short
Description: Additional time to wait before generating a heartbeat error
Units: mS
Default: 0

guardTime
Type: Short
Description: This object gives the time between node-guarding requests that are sent from
the network master to this IO module. The IO module will respond to each
request with a node-guarding message indicating the internal state of the IO
module. If the IO module has not received a node-guarding request within the
time period defined by the product of the guard time and the lifeFactor, the IO
module will treat this lack of communication as a fault condition
Units: mS
Default: 0

lifeFactor
Type: Short
Description: This property gives a multiple of the guardTime parameter. The IO module
expects to receive a node-guarding request within the time period defined by
the product of the guard time and the lifetime factor. If the IO module has not
received a node-guarding request within this time period, it treats this condition
as a fault
Units: None
Default: 3

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8.1 Analog Inputs

Methods
Ain16Read (channel As Integer, value As Integer, viaSDO As Boolean)
Description: Reads a 16-bit analog input.
Parameters:
channel The analog input channel ID Units: None
value The analog input value read Units: None
viaSDO If True, read inputs using SDO transfer. If False Units: None
(default), use most recently received PDO data, if this
input is mapped to a transmit PDO and the PDO is
active

AinTrigTypeRead (channel As Integer, trigger As CML_IO_AIN_TRIG_TYPE)

AinTrigTypeWrite (channel As Integer, trigger As CML_IO_AIN_TRIG_TYPE)
Description: Reads/writes the analog input trigger type associated with input channel. Use this
command to set/get the type of event associated with an analog input.
Parameters:
channel The analog input channel ID Units: None
trigger The analog input trigger type associated with input Units: None
channel

CML_IO_AIN_TRIG_TYPE

IOAINTRIG_UPPER_LIM = 1
Input above upper limit
IOAINTRIG_LOWER_LIM = 2
Input below lower limit
IOAINTRIG_UDELTA = 4
Input changed by more than the unsigned delta amount
IOAINTRIG_NDELTA = 8
Input reduced by more than the negative delta amount
IOAINTRIG_PDELTA = 16
Input increased by more than the positive delta

Ain16LowerLimitRead (channel As Integer, limit As Integer)

Ain16LowerLimitWrite (channel As Integer, limit As Integer)
Description: Reads/writes the analog input lower limit value as a 16-bit integer. The lower limit
defines the value at which an interrupt will be generated if it is enabled.
Parameters:
channel The analog input channel ID Units: None
limit The analog input lower limit value Units: None

Ain16NegativeDeltaRead (channel As Integer, delta As Integer)

Ain16NegativeDeltaWrite (channel As Integer, delta As Integer)
Description: Reads/writes the analog input negative delta value as a 16-bit integer. The
negative delta defines the amount of change at which an interrupt will be
generated if it is enabled.

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Parameters:
channel The analog input channel ID Units: None
delta The analog input negative delta value Units: None

Ain16PositiveDeltaRead (channel As Integer, delta As Integer)

Ain16PositiveDeltaWrite (channel As Integer, delta As Integer)
Description: Reads/writes the analog input positive delta value as a 16-bit integer. The
positive delta defines the amount of change at which an interrupt will be
generated if it is enabled.
Parameters:
channel The analog input channel ID Units: None
delta The analog input positive delta value Units: None

Ain16UnsignedDeltaRead (channel As Integer, delta As Integer)

Ain16UnsignedDeltaWrite (channel As Integer, delta As Integer)
Description: Reads/writes the analog input unsigned delta value as a 16-bit integer. The
unsigned delta defines the amount of change at which an interrupt will be
generated if it is enabled.
Parameters:
channel The analog input channel ID Units: None
Delta The analog input unsigned delta value Units: None

Ain16UpperLimitRead (channel As Integer, limit As Integer)

Ain16UpperLimitWrite (channel As Integer, limit As Integer)
Description: Reads/writes the analog input upper limit value as a 16-bit integer. The upper
limit defines the value at which an interrupt will be generated if it is enabled.
Parameters:
channel The analog input channel ID Units: None
Limit The analog input upper limit value Units: None

Properties
AinIntEnable
Type: Boolean
Description: Current setting of the global interrupt enable for analog inputs
Units: None
Default: False

8.2 Analog Outputs

Methods
Aout16Write (channel As Integer, value As Integer, viaSDO As Boolean)
Description: Writes to a 16-bit analog output.
Parameters:
channel The analog input channel ID Units: None
value The value to write Units: None
viaSDO If true, the outputs will be written using SDO Units: None
messages. If false (default), then a PDO will be used if
possible

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AoutErrModeRead (channel As Integer, mode As Boolean)

AoutErrModeWrite (channel As Integer, mode As Boolean)
Description: Reads/writes the analog output error mode. If the error mode is True, then the
analog output will change its value to the programmed error value in the case of a
device failure. If False, a device failure will not cause a change in the analog
output value.
Parameters:
channel The analog output channel ID Units: None
mode The analog output error mode Units: None

Aout16ErrorValueRead (channel As Integer, error As Integer)

Aout16ErrorValueWrite (channel As Integer, error As Integer)
Description: Reads/writes the analog out error value.
Parameters:
channel The analog input channel ID Units: None
error The analog output error value Units: None

8.3 Digital Inputs

Methods
Din8Read (group As Integer, value As Integer, viaSDO As Boolean)
Description: Reads a group of 8 digital inputs.
Parameters:
group Identifies which group of 8 to read Units: None
value The value of the input Units: None
viaSDO If true, read inputs using the SDO transfer. If false Units: None
(default) use the most recently received PDO data if
this input group is mapped to a transmit PDO and the
PDO is active

Din8MaskAnyRead (group As Integer, mask As Integer)

Din8MaskAnyWrite (group As Integer, mask As Integer)
Description: Reads/writes the ‘any transition’ interrupt mask setting for a group of 8 digital
inputs. For each input in the group, a value of 1 enables interrupts on any change,
and a value of 0 disables the interrupt.
Parameters:
group Identifies which group of 8 inputs to read/write Units: None
mask The ‘any transition’ interrupt mask Units: None

Din8MaskHigh2LowRead (group As Integer, mask As Integer)

Din8MaskHigh2LowWrite (group As Integer, mask As Integer)
Description: Reads/writes the ‘high to low’ interrupt mask setting for a group of 8 digital
inputs. For each input in the group, a value of 1 enables interrupts on a high to
low transition, and a value of 0 disables the interrupt.
Parameters:
group Identifies which group of 8 inputs to read/write Units: None
mask The ‘high to low’ interrupt mask Units: None

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Din8MaskLow2HighRead (group As Integer, mask As Integer)

Din8MaskLow2HighWrite (group As Integer, mask As Integer)
Description: Reads/writes the ‘low to high’ interrupt mask setting for a group of 8 digital
inputs. For each input in the group, a value of 1 enables interrupts on a low to
high transition, and a value of 0 disables the interrupt.
Parameters:
group Identifies which group of 8 inputs to read/write Units: None
mask The ‘low to high’ interrupt mask Units: None

Properties

DinIntEnable
Type: Boolean
Description: Current setting of the global interrupt enable of digital inputs
Units: None
Default: False

8.4 Digital Outputs

Methods
Dout8Write (group As Integer, value As Integer, viaSDO As Boolean)
Description: Writes a group of 8 digital outputs.
Parameters:
group Identifies which group of outputs to write Units: None
value Value to write to group Units: None
viaSDO If true, outputs are written using SDO message. If Units: None
false (default), a PDO is used if possible

Dout8ErrModeRead (group As Integer, mode As Integer)

Dout8ErrModeWrite (group As Integer, mode As Integer)
Description: Reads/writes the current error mode setting of a group of 8 digital outputs. For
each output in the group, a value of 1 will cause the output to take its
programmed error value on a device failure. Setting the mode to 0 will cause the
output to hold its programmed value on failure.
Parameters:
group Identifies the group of outputs to read/write Units: None
mode The current error mode setting of a group of 8 digital Units: None
outputs

Dout8ErrValueRead (group As Integer, error As Integer)

Dout8ErrValueWrite (group As Integer, error As Integer)
Description: Reads/writes the current error value setting for a group of 8 digital outputs. Error
values define the state of the output if a device failure occurs. The error value will
only be set for those output pins that have an error mode set to 1. Those with
error mode set to zero will not be changed by a device failure.
Parameters:
group Identifies the group of outputs to read/write Units: None
mode The current error value setting for a group of 8 digital Units: None
outputs

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CMO Programmer’s Guide CopleyMotionLibrary Object

9. CopleyMotionLibrary Object
Properties
VersionString
Type: String
Description: The version number of Copley Motion Libraries (CML) used by CMO.
Units: None
Default: None

DebugLevel
Type: Integer
Description: Debug message level. Setting this property greater than zero results in debug
messages being written to a log file (see table below). The value set for
DebugLevel will result in that level, plus all lower levels being logged.
Therefore, if DebugLevel is set to 3, then levels 3, 2, and 1 are logged.
Setting this property to zero will result in the log file being closed.

Debug Level Description

0 Debug logging is disabled
1 Log serious errors only
2 Log warning messages and errors
3 Log debugging info
4 Not defined
5 Log most CAN messages (some common messages are
filtered out
6 Log all CAN messages
99 Log everything

Units: None
Default: 0 (no messages)

MaxLogSize
Type: Integer
Description: Maximum log file size. Once the log file exceeds MaxLogSize, it is renamed
logfilename.bak, and a new log file is started. Old backup log files are
overwritten.
Units: None
Default: 1,000,000 bytes

LogFileName
Type: String
Description: Name of the debug message log file. This file is used to log debug messages.
The file will be created (or truncated if it already exists) when the first message
is written to the file. Note that the debug level must be set > 0 for any
messages to be written.
Units: None
Default: "cml.log"

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10. Layer Setting Service Object

Overview
The LSSObj allows the programmer to access CANopen devices on the network without the
node ID. The programmer can use this access to program the CANopen devices with specific
node IDs.

Methods
FindAndDisableAmps (serialArray As UInteger)
Description: Searches the CANopen network amplifiers and turns off the CAN LEDs. Returns
the number of amplifiers found.
Parameters:
serialArray An array where the amplifier serial numbers will be Units: None
returned

EnableAmplifier (serial As Uinteger)

DisableAmplifier (serial As UInteger)
Description: Enables/Disables the node causing the CAN LEDS to blink.
Parameters:
serial The serial number of the amplifier Units: None

SetAllAmplifierNodeIDs (serialArray As UInteger, idArray as Byte)

Description: Searches the CANopen network amplifiers and turns off the CAN LEDs. Returns
the number of amplifiers found.
Parameters:
serialArray An array where the amplifier serial numbers will be Units: None
returned
idArray An array of the desired node IDs Units: None

SetTimeout (timeout As Single)

Description: Sets the timeout value used by the LSS protocol.
Parameters:
timeout The new timeout Units: mS

SwitchModeGlobal (config As Boolean)

Description: Set all devices on the network into either LSS configurational mode or operational
mode.
Parameters:
timeout If false, put all devices into operational mode Units: None

FindAmps (max As Integer, serialArray As UInteger)

Description: Search the CANopen network for Copley amplifiers. Returns the number of
amplifiers found.
Parameters:
max The maximum number of amplifier serial numbers to Units: None
be returned
serialArray An array where the amplifier serial numbers will be Units: None
returned

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StoreConfig (max As Integer, serialArray As UInteger)

Description: Save the current node ID and bit rate information in non-volatile (FLASH)
memory on the selected amplifier. When this is called, exactly one drive should be
in LSS configuration mode.

SetAmplifierNodeID (serial As UInteger, nodeID As Byte)

Description: Sets the CANopen node ID of the specified amplifier.
Parameters:
serial The serial number of the amplifier to update Units: None
nodeID The CANopen node ID to assign Units: None

SetNodeID (nodeID As Byte)

Description: Sets the CANopen node ID of the currently selected amplifier.
Parameters:
nodeID The CANopen node ID to assign Units: None

SelectAmp (serial As UInteger)

Description: Put the specified amplifier into LSS configure mode. All other amplifiers on the
network are switched into LSS operational mode.
Parameters:
serial The serial number of the amplifier to configure Units: None

SetBitRate (rate As UInteger)

Description: Send an LSS command to program the selected amplifier’s CAN bit rate. Valid bit
rates are listed under CML_BIT_RATES.
NOTE: This bit rate will not take effect until the bit rate is activated.
Parameters:
rate CANopen bit rate Units: b/s

ActivateBitRate (delay As UInteger)

Description: Activate the new bit rate previously set on all devices.
NOTE: This function does not change the bit rate of the local CAN port, it simply
returns after requesting the new rate on the LSS slave devices.
Parameters:
delay The delay which the LSS devices will use to ensure Units: mS
that they all switch their bit rates at a time when no
device is transmitting.

Properties
userBitRate
Type: Integer
Description: The new bit rate value.
Units: bits/sec
Default: 1000000

ampCount
Type: Integer
Description: The number of amplifiers on the network.
Units: None
Default: 0

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CMO Programmer’s Guide PDO Related Objects

11. PDO Related Objects

11.1 PDO mapping objects
Overview
The PDO mapping objects contain the data being mapped to the transmit or receive PDO. PDOs
can hold up to eight bytes of data and a maximum of four objects. The five types of Pmap objects
are Pmap32Obj, Pmap24Obj, Pmap16Obj, Pmap8Obj, and PmapObj. The PmapObj is used as an
array to hold the other PDO mapping objects.

Example:
1 Declare an instance of PmapObj as an array.
Dim pmapObj(0) As PmapObj
2 Create an instance of corresponding size for the object being mapped.
pmapObj(0) = New Pmap32Obj()

11.2 RPDOObj
Overview
The RPDO Object contains information about the amplifier’s receive process data objects
(received by the node). This object allows for mapping custom receive PDOs.

Example:
1 Declare and create an instance of RPDOObj.
Dim rpdoObj As RPDOObj
rpdoObj = New RPDOObj()
2 Initialize the receive PDO.
rpdoObj.Init(canID, varArray, objIDArray, type)

Methods
Init (canID As Integer, varArray As PmapObj, objIDArray As Integer, type As
Integer)
Description: Initializes the RPDO object with the PDO mapping variables and corresponding
object IDs and sets the PDO transmission type.
Parameters:
canID The CAN message ID associated with this RPDO. This Units: None
value should be unique
varArray Pmap variables to be mapped Units: None
objIDArray Pmap variables’ object IDs Units: None
type PDO transmission type code Units: None

SendData (dataArray As Integer, index As Integer)

Description: Send the PDO with the new data.
Parameters:
dataArray An array holding the data to send to the amplifier Units: None
index This value represents the indexes of the PDO objects Units: None
to send. Ex. 1 sends index 0, 2 sends index 1, 3 sends
indexes 1 and 2, etc.

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11.3 TPDOObj
Overview
The TPDO Object contains information about the amplifier’s transmit process data objects
(transmitted by the node). This object allows for mapping custom transmit PDOs.

Example:
1 Declare and create an instance of TPDOObj.
Dim tpdoObj As TPDOObj
tpdoObj = New TPDOObj()
2 Initialize the transmit PDO.
tpdoObj.Init(canID, varArray, objIDArray, type)

Methods
Init (canID As Integer, varArray As PmapObj, objIDArray As Integer, type As
Integer)
Description: Initializes the RPDO object with the PDO mapping variables and corresponding
object IDs and sets the PDO transmission type.
Parameters:
canID An array where the amplifier serial numbers will be Units: None
returned
varArray Pmap variables to be mapped Units: None
objIDArray Pmap variables’ object IDs Units: None
type PDO transmission type code Units: None

SetRtrOk (ok As Integer)

Description: Enable or disable remote transmission requests (RTR) for this PDO.
Parameters:
ok Zero for no RTR, non-zero for RTR allowed Units: None

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CMO Programmer’s Guide

16-01041
Revision 03
November 2018

 2018
Copley Controls
20 Dan Road
Canton, MA 02021 USA
All rights reserved

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