User manual

PCI-1241/1242 User Manual 60
CheckHWStock Yes Yes Yes Yes For stable control perfor-
mance, the amount of hard-
ware pulse stocks must
exceed 60 in motion period.
This example demonstrates
how to get the HW stock
information with library.
CheckOT Yes Yes Yes Yes Demonstrates how to enable/
disable the over-traveling
protection. And check
whether software over-travel-
ing protection occurs.
CtrlMotion Yes Yes Yes Yes Demonstrates utilizing hold/
continue/abort functions for
motion controls.
CycleInterrupt Yes Yes Yes Yes Demonstrates how to use a
cyclic interrupt facility, includ-
ing designing a cycle inter-
rupt service routine (ISR)
DACOutput Yes - Yes - Demonstrates how to use D/
A converter.
DelayMotion Yes Yes Yes Yes Demonstrates how to use the
delay function which can
delay executing the next
motion command for a spe-
cific time.
ENCCompare Yes Yes Yes Yes Demonstrates how to set a
comparison value for an
encoder and design an
encoder ISR, and this ISR will
be triggered when the
encoder's counter is equal to
the preset value.
ErrorStatus Yes Yes Yes Yes Verifying the parameters
passing into the library.
GeneralMotion Yes Yes Yes Yes Demonstrates executing a
general motion command
(i.e. line, arc, and circle
motions)
Table 5.1: Sample Program Usage