ACS系列（1）C Library Functions 总览-摩杜云开发者社区

communication functions

Function	Description
acsc_OpenCommSerial	Opens communication via serial port.
acsc_OpenCommEthernetTCP	Opens communication with the controller via Ethernet using TCP protocol.
acsc_OpenCommEthernetUDP	Opens communication with the controller via Ethernet using the UDP protocol.
acsc_OpenCommSimulator	Starts up the Simulator and opens communication with it.
acsc_CloseSimulator	Closes the simulator.
acsc_OpenCommPCI	Opens communication with the SPiiPlus PCI via PCI Bus.
acsc_GetPCICards	Retrieves information about the installed SPiiPlus PCI card’s.
acsc_CloseComm	Closes communication (for all kinds of communication).
acsc_Transaction	Executes one transaction with the controller, i.e., sends the request and receives the controller response.
acsc_Command	Sends a command to the controller and analyzes the controller response.
acsc_WaitForAsyncCall	Waits for completion of asynchronous call and retrieves a data.
acsc_CancelOperation	Cancels any asynchronous (non-waiting) call or all operations with the specified communication handle.
acsc_GetEthernetCardsExt	Detects available controllers through a standard Ethernet connection.
acsc_SetServerExtLogin	Defines remote communication server and provides login data.
acsc_GetConnectionsList	Retrieves all currently opened connections on the active server and their details.
acsc_GetConnectionInfo	Retrieve the details of opened communication channel.
acsc_TerminateConnection	Terminates a given communication channel (connection) of the active server.

service communication functions

Function	Description
acsc_GetCommOptions	Retrieves the communication options.
acsc_GetDefaultTimeout	Retrieves default communication time-out.
acsc_GetErrorString	Retrieves the explanation of an error code.
acsc_GetLastError	Retrieves the last error code.
acsc_GetLibraryVersion	Retrieves the SPiiPlus C Library version number.
acsc_GetTimeout	Retrieves communication time-out.
acsc_SetIterations	Sets the number of iterations of one transaction.
acsc_SetCommOptions	Sets the communication options.
acsc_SetTimeout	Sets communication time-out.
acsc_SetQueueOverflowTimeout	Sets the Queue Overflow Time-out.
acsc_GetQueueOverflowTimeout	Retrieves the Queue Overflow Time-out.

ACSPL+ program Managerment functions

Function	Description
acsc_AppendBuffer	Appends one or more ACSPL+ lines to the program in the specified program buffer.
acsc_ClearBuffer	Deletes the specified ACSPL+ program lines in the specified program buffer.
acsc_CompileBuffer	Compiles ACSPL+ program in the specified program buffer(s).
acsc_LoadBuffer	Clears the specified program buffer and then loads ACSPL+ program to this buffer.
acsc_LoadBufferIgnoreServiceLines	Clears the specified program buffer and then loads ACSPL+ program to this buffer.
acsc_LoadBuffersFromFile	Opens a file that contains one or more ACSPL+ programs allocated to several buffers and download the programs to the corresponding buffers.
acsc_RunBuffer	Starts up ACSPL+ program in the specified program buffer.
acsc_StopBuffer	Stops ACSPL+ program in the specified program buffer(s).
acsc_SuspendBuffer	Suspends ACSPL+ program in the specified program buffer(s).
acsc_UploadBuffer	Uploads ACSPL+ program from the specified program buffer.

Read and write variable functions

Function	Description
acsc_ReadInteger	Reads value from integer variable.
acsc_WriteInteger	Writes value to integer variable.
acsc_ReadReal	Reads value from real variable.
acsc_WriteReal	Writes value to real variable.

load/unload data to/from controller functions

Function	Description
acsc_LoadDataToController	Writes value(s) from text file to SPiiPlus controller (variable or file).
acsc_UploadDataFromController	Writes value(s) from the SPiiPlus controller (variable or file) to a text file.

multiple thread synchronizaiton functions

Function	Description
acsc_CaptureComm	Captures a communication channel.
acsc_ReleaseComm	Releases a communication channel.

history buffer management functions

Function	Description
acsc_OpenHistoryBuffer	Opens a history buffer.
acsc_CloseHistoryBuffer	Closes a history buffer.
acsc_GetHistory	Retrieves the contents of the history buffer.

unsolicited messages Buffer management functions

Function	Description
acsc_OpenMessageBuffer	Opens an unsolicited messages buffer.
acsc_CloseMessageBuffer	Closes an unsolicited messages buffer.
acsc_GetSingleMessage	Retrieves single message or exits by time-out
acsc_GetMessage	Retrieves unsolicited messages from the buffer.

log file management functions

Function	Description
acsc_SetLogFileOptions	Sets log file options.
acsc_OpenLogFile	Opens a log file.
acsc_CloseLogFile	Closes a log file.
acsc_WriteLogFile	Writes to a log file.
acsc_FlushLogFile	Flushes the SPiiPlus UMD (User Mode Driver) internal binary buffer to a specified text file from the C Library application.
acsc_GetLogData	Retrieves the data of firmware log.

SPiiPlusSC log File management functions

Function	Description
acsc_OpenSCLogFile	Opens the SPiiPlusSC log file.
acsc_CloseSCLogFile	Closes the SPiiPlusSC log file.
acsc_WriteSCLogFile	Writes data to the SPiiPlusSC log file.
acsc_FlushSCLogFile	Flushes contents of the SPiiPlusSC log file to a specified text file

System configuration functions

Function	Description
acsc_SetConf	The function writes system configuration data.
acsc_GetConf	The function reads system configuration data.
acsc_GetVolatileMemoryUsage	The function retrieves the percentage of the volatile memory load.
acsc_GetVolatileMemoryTotal	The function retrieves the amount of total volatile memory in bytes.
acsc_GetVolatileMemoryFree	The function retrieves the amount of free volatile memory in bytes.
acsc_GetNonVolatileMemoryUsage	The function retrieves the percentage of the non-volatile memory load.
acsc_GetNonVolatileMemoryTotal	The function retrieves the amount of total non-volatile memory in bytes.
acsc_GetNonVolatileMemoryFree	The function retrieves the amount of free non-volatile memory in bytes.
acsc_SysInfo	The function returns certain system information based on the argument that is specified.

Setting and Reading Motion parameters functions

Function	Description
acsc_SetVelocity	Defines a value of motion velocity.
acsc_GetVelocity	Retrieves a value of motion velocity.
acsc_SetAcceleration	Defines a value of motion acceleration.
acsc_GetAcceleration	Retrieves a value of motion acceleration.
acsc_SetDeceleration	Defines a value of motion deceleration.
acsc_GetDeceleration	Retrieves a value of motion deceleration.
acsc_SetJerk	Defines a value of motion jerk.
acsc_GetJerk	Retrieves a value of motion jerk.
acsc_SetKillDeceleration	Defines a value of kill deceleration.
acsc_GetKillDeceleration	Retrieves a value of kill deceleration.
acsc_SetVelocityImm	Defines a value of motion velocity. Unlike acsc_SetVelocity, the function has immediate effect on any executed and planned motion.
acsc_SetAccelerationImm	Defines a value of motion acceleration. Unlike acsc_SetAcceleration, the function has immediate effect on any executed and planned motion.
acsc_SetDecelerationImm	Defines a value of motion deceleration. Unlike acsc_SetDeceleration, the function has immediate effect on any executed and planned motion.
acsc_SetJerkImm	Defines a value of motion jerk. Unlike acsc_SetJerk, the function has an immediate effect on any executed and planned motion.
acsc_SetKillDecelerationImm	Defines a value of kill deceleration. Unlike acsc_SetKillDeceleration, the function has immediate effect on any executed and planned motion.
acsc_SetFPosition	Assigns a current value of feedback position.
acsc_GetFPosition	Retrieves a current value of motor feedback position.
acsc_SetRPosition	Assigns a current value of reference position.
acsc_GetRPosition	Retrieves a current value of reference position.
acsc_GetFVelocity	Retrieves a current value of motor feedback velocity.
acsc_GetRVelocity	Retrieves a current value of reference velocity.

Axis/Motor management functions

Function	Description
acsc_CommutExt	Initiates a motor commutation.
acsc_Enable	Activates a motor.
acsc_EnableM	Activates several motors.
acsc_Disable	Shuts off a motor.
acsc_DisableAll	Shuts off all motors.
acsc_DisableExt	Shuts off a motor and defines the disable reason.
acsc_DisableM	Shuts off several motors.
acsc_Group	Creates a coordinate system for a multi-axis motion.
acsc_Split	Breaks down an axis group created before.
acsc_SplitAll	Breaks down all axis groups created before.

motion management functions

Function	Description
acsc_Go	Starts up a motion that is waiting in the specified motion queue.
acsc_GoM	Synchronously starts up several motions that are waiting in the specified motion queues.
acsc_Halt	Terminates a motion using the full deceleration profile.
acsc_HaltM	Terminates several motions using the full deceleration profile.
acsc_Kill	Terminates a motion using the reduced deceleration profile.
acsc_KillAll	Terminates all currently executed motions.
acsc_KillM	Terminates several motions using the reduced deceleration profile.
acsc_KillExt	Terminates a motion using reduced deceleration profile and defines the kill reason.
acsc_Break	Terminates a motion immediately and provides a smooth transition to the next motion.
acsc_BreakM	Terminates several motions immediately and provides a smooth transition to the next motions.

point to point motion functions

Function	Description
acsc_ToPoint	Initiates a single-axis motion to the specified point.
acsc_ToPointM	Initiates a multi-axis motion to the specified point.
acsc_ExtToPoint	Initiates a single-axis motion to the specified point using the specified velocity or end velocity.
acsc_ExtToPointM	Initiates a multi-axis motion to the specified point using the specified velocity or end velocity.

augmented point to point motion

Function	Description
acsc_BoostedPointToPointMotion	This function defines a motion profile using the MotionBoost Feature
acsc_SmoothPointToPointMotion	Defines a multi-axes Point-to-Point motion and provides the positioning to specific target and looks like acsc_ToPointM command. Unlike acsc_ToPointM, acsc_SmoothPointToPointMotion uses a 4th order motion profile.

track motion control functions

Function	Description
acsc_Track	The function initiates a single-axis track motion.
acsc_SetTargetPosition	The function assigns a current value of target position.
acsc_GetTargetPosition	The function receives the current value of target position.

jog functions

Function	Description
acsc_Jog	Initiates a single-axis jog motion.
acsc_JogM	Initiates a multi-axis jog motion.

slaved motion functions

Function	Description
acsc_SetMaster	Initiates calculation of a master value for an axis.
acsc_Slave	Initiates a master-slave motion.
acsc_SlaveStalled	Initiates master-slave motion with limited follow-on area.

multi point motion functions

Function	Description
acsc_MultiPoint	Initiates a single-axis multi-point motion.
acsc_MultiPointM	Initiates a multi-axis multi-point motion.

pvt funtions

Function	Description
acsc_AddPVPoint	Adds a point to a single-axis multi-point or spline motion.
acsc_AddPVPointM	Adds a point to a multi-axis multi-point or spline motion.
acsc_AddPVTPoint	Adds a point to a single-axis multi-point or spline motion.
acsc_AddPVTPointM	Adds a point to a multi-axis multi-point or spline motion.

Arbitrary path motion functions

Function	Description
acsc_Spline	Initiates a single-axis spline motion. The motion follows an arbitrary path defined by a set of points.
acsc_SplineM	Initiates a multi-axis spline motion. The motion follows an arbitrary path defined by a set of points.

segemented motion functions

Function	Description
acsc_ExtendedSegmentedMotionV2	Initiates a multi-axis extended segmented motion.
acsc_SegmentLineV2	Adds a linear segment to a segmented motion.
acsc_ExtendedSegmentArc1V2	Adds an arc segment to a segmented motion and specifies the coordinates of center point, coordinates of the final point, and the direction of rotation.
acsc_SegmentArc2V2	Adds an arc segment to a segmented motion and specifies the coordinates of center point and rotation angle.
acsc_Stopper	Provides a smooth transition between two segments of segmented motion.
acsc_Projection	Sets a projection matrix for a segmented motion.

blended segmented motion functions

Function	Description
acsc_BlendedSegmentMotion	The function initiates a multi-axis blended segmented motion.
acsc_BlendedLine	The function adds a linear segment that starts at the current point and ends at the destination point of segmented motion.
acsc_BlendedArc1	The function adds to the motion path an arc segment that starts at the current point and ends at the destination point with the specified center point.
acsc_BlendedArc2	The function adds an arc segment to a segmented motion and specifies the coordinates of the center point and the rotation angle.

nurbs and smooth path functions

Function	Description
acsc_NurbsMotion	Creates NURBS motion
acsc_NurbsPoint	Adds a new control point to the NURBS motion generator.
acsc_SmoothPathMotion	Smooth path is a motion type that accepts line segments and generates a spline motion between the specified points.
acsc_SmoothPathSegment	Adds a new segment to the Smooth Path Motion generator.

points and segments manipulation functions

Function	Description
acsc_AddPoint	Adds a point to a single-axis multi-point or spline motion.
acsc_AddPointM	Adds a point to a multi-axis multi-point or spline motion.
acsc_ExtAddPoint	Adds a point to a single-axis multi-point or spline motion and specifies a specific velocity or motion time.
acsc_ExtAddPointM	Adds a point to a multi-axis multi-point or spline motion and specifies a specific velocity or motion time.
acsc_EndSequence	Informs the controller that no more points will be specified for the current single-axis motion.
acsc_EndSequenceM	Informs the controller that no more points or segments will be specified for the current multi-axis motion.

data collection functions

Function	Description
acsc_DataCollectionExt	Initiates data collection.
acsc_StopCollect	Terminates data collection.
acsc_WaitCollectEndExt	Wait for the end of data collection.

status report functions

Function	Description
acsc_GetMotorState	Retrieves the current motor state.
acsc_GetAxisState	Retrieves the current axis state.
acsc_GetIndexState	Retrieves the current state of the index and mark variables.
acsc_ResetIndexState	Resets the specified bit of the index/mark state.
acsc_GetProgramState	Retrieves the current state of the program buffer.

input/output access functions

Function	Description
acsc_GetInput	Retrieves the current state of the specified digital input.
acsc_GetInputPort	Retrieves the current state of the specified digital input port.
acsc_GetInputPort	Retrieves the current state of the specified digital input port.
acsc_GetOutput	Retrieves the current state of the specified digital output.
acsc_GetOutputPort	Retrieves the current state of the specified digital output port.
acsc_SetOutput	Sets the specified digital output to the specified value.
acsc_SetOutputPort	Sets the specified digital output port to the specified value.
acsc_GetAnalogInputNT	Retrieves the current value of the specified analog input signal from an external source such as a sensor or a potentiometer.
acsc_GetAnalogOutputNT	Retrieves the current value of the specified analog output signal that is sent to an external device such as a sensor or a potentiometer.
acsc_SetAnalogOutputNT	Writes the specified value to the specified analog output signal that is sent to an external device such as a sensor or a potentiometer.
acsc_GetExtInput	Retrieves the current state of the specified extended input.
acsc_GetExtInputPort	Retrieves the current state of the specified extended input port.
acsc_GetExtOutput	Retrieves the current state of the specified extended output.
acsc_GetExtOutputPort	Retrieves the current state of the specified extended output port.
acsc_SetExtOutput	Sets the specified extended output to the specified value.
acsc_SetExtOutputPort	Sets the specified extended output port to the specified value.

safety control functions

Function	Description
acsc_GetFault	Retrieves the set of bits that indicate the motor or system faults.
acsc_SetFaultMask	Sets the mask, that enables/disables the examination and processing of the controller faults.
acsc_GetFaultMask	Retrieves the mask that defines which controller faults are examined and processed.
acsc_EnableFault	Enables the specified motor or system fault.
acsc_DisableFault	Disables the specified motor or system fault.
acsc_SetResponseMask	Sets the mask that defines for which motor or system faults the controller provides default response.
acsc_GetResponseMask	Retrieves the mask that defines for which motor or system faults the controller provides default response.
acsc_EnableResponse	Enables the default response to the specified motor or system fault.
acsc_DisableResponse	Disables the default response to the specified motor or system fault.
acsc_GetSafetyInput	Retrieves the current state of the specified safety input.
acsc_GetSafetyInputPort	Retrieves the current state of the specified safety input port.
acsc_GetSafetyInputPortInv	Retrieves the set of bits that define inversion for the specified safety input port.
acsc_SetSafetyInputPortInv	Sets the set of bits that define inversion for the specified safety input port.
acsc_FaultClear	The function clears the current faults and results of previous faults stored in the MERR variable.
acsc_FaultClearM	The function clears the current faults and results of previous faults stored in the MERR variable for multiple axis

wait-for conditions funtions

Function	Description
acsc_WaitMotionEnd	Waits for the end of a motion.
acsc_WaitLogicalMotionEnd	Waits for the logical end of a motion.
acsc_WaitForAsyncCall	Waits for the end of data collection.
acsc_WaitProgramEnd	Waits for the program termination in the specified buffer.
acsc_WaitMotorEnabled	Waits for the specified state of the specified motor.
acsc_WaitInput	Waits for the specified state of the specified digital input.
acsc_WaitUserCondition	Waits for user-defined condition.
acsc_WaitMotorCommutated	Waits for the specified motor to be commutated.

callback registration functions

Function	Description
acsc_InstallCallback	Installs a user-defined callback function for the specified interrupt condition with user-defined parameter.
acsc_InstallCallbackExt	Installs a user-defined callback function for the specified interrupt condition with user-defined parameter, extending the range of axes up to 128.
acsc_SetCallbackMask	Sets the mask for the specified interrupt.
acsc_SetCallbackMaskExt	Sets the mask for the specified interrupt, extended to 128 axes.
acsc_GetCallbackMask	Retrieves the mask for the specified interrupt.
acsc_GetCallbackMask	Retrieves the mask for the specified interrupt, extended to 128 axes.
acsc_SetCallbackPriority	Sets the priority for all callback threads.

variables management functions

Function	Description
acsc_DeclareVariable	Creates the persistent global variable.
acsc_ClearVariables	Deletes all persistent global variables.

service functions

Function	Description
acsc_GetFirmwareVersion	Retrieves the firmware version of the controller.
acsc_GetSerialNumber	Retrieves the controller serial number.
acsc_GetBuffersCount	The function returns the number of available ACSPL+ programming buffers.
acsc_GetAxesCount	The function returns the number of axes defined in the system.
acsc_GetDBufferIndex	The function returns the index of the D-Buffer.
acsc_GetUMDVersion	The function returns the version of the UMD

error diagnostic functions

Function	Description
acsc_GetMotorError	Retrieves the reason why the motor was disabled.
acsc_GetProgramError	Retrieves the error code of the last program error encountered in the specified buffer.
acsc_GetEtherCATError	Used to retrieve the last EtherCAT error.

dual port ram DPRAM access functions

Function	Description
acsc_ReadDPRAMInteger	Reads 32-bit integer from DPRAM
acsc_WriteDPRAMInteger	Writes 32-bit integer to DPRAM
acsc_ReadDPRAMReal	Reads 64 real from DPRAM
acsc_WriteDPRAMReal	Writes 64-bit real to DPRAM

shared memory functions

Function	Description
acsc_GetSharedMemoryAddress	Reads the address of shared memory variable.
acsc_ReadSharedMemoryInteger	Reads value(s) from an integer shared memory variable.
acsc_WriteSharedMemoryInteger	Writes value(s) to the integer shared memory variable.
acsc_ReadSharedMemoryReal	Reads value(s) from a real shared memory variable.
acsc_WriteSharedMemoryReal	Writes value(s) to the real shared memory variable.

ethercat functions

Function	Description
acsc_GetEtherCATState	Used to retrieve the EtherCAT state.
acsc_MapEtherCATInput	Used for raw mapping of network input variables.
acsc_MapEtherCATOutput	Used for raw mapping of network output variables.
acsc_UnmapEtherCATInputsOutputs	Used for unmapping previously mapped inputs or outputs.
acsc_GetEtherCATSlaveIndex	Used for obtaining the index of an EtherCAT slave.
acsc_GetEtherCATSlaveOffsetV2	Used for obtaining the offset of an EtherCAT slave.
acsc_GetEtherCATSlaveVendorIDV2	Used for obtaining the Vendor ID of an EtherCAT slave.
acsc_GetEtherCATSlaveProductIDV2	Used for obtaining the Product ID of an EtherCAT slave.
acsc_GetEtherCATSlaveRevisionV2	Used for obtaining the Revision number of an EtherCAT slave.
acsc_GetEtherCATSlaveType	Used for obtaining the type of an EtherCAT slave.
acsc_GetEtherCATSlaveStateV2	Used for obtaining the machine state of an EtherCAT slave.
acsc_GetEtherCATSlavesCount	Obtain number of slave drives

position event generation PEG functions

Function	Description
acsc_AssignPegNTV2	Used for engine-to-encoder assignment as well as for the additional digital outputs assignment for use as PEG state and PEG pulse outputs - for SPiiPlusNT and SPiiPlusSC controllers only.
acsc_AssignPegOutputsNT	Used for setting output pins assignment and mapping between FGP_OUT signals to the bits of the ACSPL+ OUT(x) variable - for SPiiPlusNT and SPiiPlusSC controllers only.
acsc_AssignFastInputsNT	Used to switch MARK_1 physical inputs to ACSPL+ variables as fast general purpose inputs - for SPiiPlusNT and SPiiPlusSC controllers only.
acsc_PegIncNTV2	Sets the parameters for the Incremental PEG mode - for SPiiPlusNT and SPiiPlusSC controllers only.
acscPegRandomNTV2	Sets the parameters for the Random PEG mode - for SPiiPlusNT and SPiiPlusSC controllers only.
acsc_WaitPegReady	Waits for the all values to be loaded and the PEG engine to be ready to respond to movement on the specified axis - for SPiiPlusNT and SPiiPlusSC controllers only.
acsc_StartPegNT	Used to initiate the PEG process - for SPiiPlusNT and SPiiPlusSC controllers only.
acsc_StopPegNT	Used to terminate the PEG process immediately on the specified axis - for SPiiPlusNT and SPiiPlusSC controllers only.

emergency stop functions

Function	Description
acsc_RegisterEmergencyStop	Initiates Emergency Stop functionality.
acsc_UnregisterEmergencyStop	Deactivates Emergency Stop functionality.

application save/load functions

Function	Description
acsc_AnalyzeApplication	Analyzes application file and returns information about the file components.
acsc_LoadApplication	Loads selected components of user application from a file on the host PC and saves it in the controller’s flash memory.
acsc_SaveApplication	Saves selected components of user application from the controller’s flash memory to a file on the host PC.
acsc_FreeApplication	Frees memory previously allocated by the acsc_AnalyzeApplication function.

reboot functions

Function	Description
acsc_ControllerReboot	Reboots controller and waits for process completion.
acsc_ControllerFactoryDefault	Reboots controller, restores factory default settings and waits for process completion.

host-controller file operations

Function	Description
acsc_CopyFileToController	The function copies files from the host PC to the controller's non-volatile memory.
acsc_DeleteFileFromController	The function deletes user files from the controller's non-volatile memory.

save to flash

Function	Description
acsc_ControllerSaveToFlash	The function saves user application to the controller's non-volatile memory

spiiplussc management

Function	Description
acsc_StartSPiiPlusSC	The function starts the SPiiPlusSC controller.
acsc_StopSPiiPlusSC	The function stops the SPiiPlusSC controller.