6P Close.vi

This VI closes the I/O interface with the instrument.

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6P Close.vi


Controls and Indicators

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

ccclst

VISA Sesssion

icclst

error out

error out is a cluster that describes the error status after this VI executes. If an error occurred before this VI was called, error out is the same as error in. Otherwise, error out shows the error, if any, that occurred in this VI. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

icclst

DUP VISA Sesssion

6P VISA Cluster.ctl

VISA Cluster Type Definition for Sixpack Stepper Control Unit Driver VIs


Connector Pane

6P VISA Cluster.ctl


Controls and Indicators

ccclst

VISA Sesssion

6P Utility Reset.vi

This VI resets the instrument, and then sends a set of default setup commands to the instrument. If a Reset command is not supported, it will return a warning.

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6P Utility Reset.vi


Controls and Indicators

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

ccclst

VISA Sesssion

cu8

Sixpack ID

Sixpack Valid Address :0 to 255

icclst

error out

error out is a cluster that describes the error status after this VI executes. If an error occurred before this VI was called, error out is the same as error in. Otherwise, error out shows the error, if any, that occurred in this VI. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

icclst

DUP VISA Sesssion

6PReset.vi

All configured parameters will be replaced by default parameters and

ramp position of all motors for selected sixpack will be set to zero

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6PReset.vi


Controls and Indicators

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

ccclst

VISA Sesssion

cu8

Sixpack ID

Address of Sixpack-Unit

Valid Address:0 to 255

icclst

error out

The error cluster contains error or warning information.

The pop-up option Explain Error (or Explain Warning) gives more information about the error displayed.

ibool

Valid Command

True indicates 9 bytes send to serial write

icclst

DUP VISA Sesssion

6PRead Write Serial Transaction.vi

The Serial Communication VI performs bidirectional communication with a port. It writes a string to the port, which writes to sixpact control unit.

sixpack generates response and send to serial port which is read by serial Read with timeout VI.

A time delay of 600 ms ( selectable ) has been added between write and read operation so as to make sure that no data is lost.

During continous operation that is continous read and write no time delay or low time delay leads to serial read error.

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6PRead Write Serial Transaction.vi


Controls and Indicators

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

cstr

Write String ("")

In all 9 Bytes to be written to Sixpack

where 1st Byte is Address of the Unit- 0 to 255.

2 Byte --- Command

Rest 7 Bytes- other parameters from P0 to P6,

where P0 in most cases is the motor number.

cu8

Byte to read (9)

Byte 1 = Sixpack address

Byte 2 = Command

Byte 3 to 9 = P0 to P7

ccclst

VISA Sesssion

cbool

Read (false)

Enables the read Operation

Other wise VI will perform only write operation

cu32

milliseconds to wait (500)

milliseconds to wait

icclst

error out

The error cluster contains error or warning information.

The pop-up option Explain Error (or Explain Warning) gives more information about the error displayed.

istr

Read String

String Read from Serial Port. Note in

the Windows and Sun version the serial

port is reset each time the VI is run, voiding

preexisting data. The Macintosh version

saves previously buffered data.

iu8

Byte Wrote

No of Bytes send to sixpack

In al 9 Bytes have to be send to Sixpack

iu8

Return Count from read string

No of Bytes Read from serial port.

(Response Bytes from SIXPACK)

icclst

DUP VISA Sesssion

6P Timeout.vi

This VI wait for the specified time.

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6P Timeout.vi


Controls and Indicators

cu32

milliseconds to wait (3000)

milliseconds to wait

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

ccclst

VISA Sesssion

icclst

error out

error out is a cluster that describes the error status after this VI executes. If an error occurred before this VI was called, error out is the same as error in. Otherwise, error out shows the error, if any, that occurred in this VI. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

icclst

DUP VISA Sesssion

6PConfigure Serial Port.vi

Initializes the specified serial port to the specified settings.

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6PConfigure Serial Port.vi


Controls and Indicators

cu32

timeout (10sec)

timeout sets the timeout value for the write and read operations.

cu16

data bits (8)

data bits is the number of bits in the incoming data.

cenum

parity (0:none)

parity is 0 for no parity, 1 for odd parity, 2 for even parity, 3 for mark parity, or 4 for space parity.

cu8

termination char (0xA = '\n' = LF)

The read operation will terminate when the termination character is read from the serial device. The default setting is a line feed character.

0xA is the hex equivalent of a line feed character (\n).

For message strings which terminate with a carraige return (\r), change the termination character to a "0xD".

Note: To disable this termination character feature, set the boolean constant for the termination character enable attribute to false.

Note: This termination character is only for read operations. If the serial device expects to receive a termination character during write operations, it should be included in the write buffer.

ccclst

error in (no error)

The error in cluster can accept error information wired from VIs previously called. Use this information to decide if any functionality should be bypassed in the event of errors from other VIs.

The pop-up option Explain Error (or Explain Warning) gives more information about the error displayed.

cu16

stop bits (1.0: 1 bit)

stop bits specifies the number of stop bits used to indicate the end of a frame.

cenum

flow control (0:None)

flow control sets the type of control used by the transfer mechanism.

ccclst

VISA Sesssion

icclst

error out

The error out cluster passes error or warning information out of a VI to be used by other VIs.

The pop-up option Explain Error (or Explain Warning) gives more information about the error displayed.

icclst

DUP VISA Sesssion

6P Conversion 32.vi

Usefull conversion VI for converting 32-Bit Values in the SixPack-Commands:

$15, $18, $20, $23, $24, $26, $27 a.o.

Attention: All 9 Bytes must be sent to the interface, otherwise the PACK does not recognize the command and waits for the missing bytes.

$ indicates that the value is in hexadecimal notation!

Example: Setting motor parameters

CMD $15 contains information about the motor and settings for the reference drive.

For more details see Hints for Programming and CMD $15 in the Instruction set!

Pseudocode:

SendToPack(address); // Address of the Pack(Six- or Quadpack)

SendToPack($15); // Command in hexadecimal notation

SendToPack(P0); // Motor number (0...5)

SendToPack(P1); // poslimit LSB

SendToPack(P2);

SendToPack(P3);

SendToPack(P4); // poslimit MSB

SendToPack(P5); //further settings, for more information read the instruction set

SendToPack(P6);

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6P Conversion 32.vi


Controls and Indicators

cu8

Sixpack ID (0)

Adress of Sixpack

Valid Arguments: 0 - 255

cenum

Motor ID (0)

Motor-Nummber

Valid Numbers: 0-5

ci32

Value (0)

32-Bit Value in Position P1,P2,P3,P4

32-Bit Value converted into string and and concatenated with other strings to send 9 bytes to Serial Write.

cstr

Command (24)

Command in Hex-format

cstr

Aux string ("00")

further settings

please read the instruction set

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

istr

Pseudocode

9 Bytes Pseudocode to be sent to the interface

icclst

error out

error out is a cluster that describes the error status after this VI executes. If an error occurred before this VI was called, error out is the same as error in. Otherwise, error out shows the error, if any, that occurred in this VI. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string


6P Conversion Signed16.vi

Usefull conversion VI for converting signed 16-Bit Values in the SixPack-Command

$25 Rotation Velocity (-511 .. 511)

Attention: All 9 Bytes must be sent to the interface, otherwise the PACK does not recognize the command and waits for the missing bytes.

$ indicates that the value is in hexadecimal notation!

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6P Conversion Signed16.vi


Controls and Indicators

cu8

Sixpack ID (0)

Adress of Sixpack

Valid Arguments: 0 - 255

cenum

Motor Nr. (0)

Motor-Nummber

Valid Numbers: 0-5

ci16

Value (0)

16-Bit Value (signed) in Position P1,P2

Valid Arguments: -511 .. 511

cstr

Command (0)

Command in Hex-format

cstr

Aux ("00")

Further settings

please read the instruction set.

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

istr

Pseudocode

9 Bytes Pseudocode to be sent to the interface

icclst

error out

The error cluster contains error or warning information.

The pop-up option Explain Error (or Explain Warning) gives more information about the error displayed.


6PCurrent Control.vi

Current control command $ 11

Parameters

power down current, current when motor stands still, current for constant velocity, current for aceleration.

Note for energy saving : power consumption can be reduced drastically when power -down current ( I0) is set to 0 %

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6PCurrent Control.vi


Controls and Indicators

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

cenum

I0=Power Down Current (100%)

power down current P1

0 indicates 100%

Power consumption can be reduced drastically when power-down current I0 is set to 0 % i.e P1 = 8

cenum

Current When Motor Stand Stills (100%)

PARAMETER P2

0 = 100 %

cenum

Current for Constant Velocity (100%)

parameter P3

I2

VALUE SENT TO SIXPACK 0 =100 % CURRENT

cenum

Current for acceleration (100%)

I3 Parameter P4 Command $ 11

VALUE SENT TO SIXPACK 0 =100 % acceleration

cu32

T0=Power down delay time(ms) (2)

Power down delay time in ms 16 Bit Parameter P5,P6

( Firmware Before V 1.40 Required even values)

In case odd value is entered ,it will be rounded to next even value

The string obtained from converting T0 from decimal value to hex

is reversed so that LSB is send to SIXPACK First

ccclst

VISA Sesssion

cu8

Sixpack ID

Address of Sixpack-Unit

Valid Address:0 to 255

cenum

Motor Nr. (0)

Motor Nr ( 0 -- 5) parameter P0 8 bit unsigned

icclst

error out

error out is a cluster that describes the error status after this VI executes. If an error occurred before this VI was called, error out is the same as error in. Otherwise, error out shows the error, if any, that occurred in this VI. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

icclst

DUP VISA Sesssion

ibool

Valid Command

6PNull Point offset and Range.vi

Null point offset and range command $ 18

The null point allows to compensate for the tolerance of the reference switch of linear drives. when used , the reference search will drive further into the null point and the null point is set there. This especially is important , when the zero point check is enabled . If at the same time testing for premature interupt of reference switch is enabled a small area around the zero point can be expected from the test via the parameter test null range. Outside this area the reference switch triggers an emergency stop and refernce search, when the motor is driving into the direction of reference point. The offset can be used to shift the null-point farther to the middle of a linear axis.

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6PNull Point offset and Range.vi


Controls and Indicators

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

ci32

Distance betwen 0 point and reference switch (128)

32 Bis =P1 to P4 ( signed long)

cu16

Test Null Range (1)

16 bit P5,P6

(0 to 65535)

ccclst

VISA Sesssion

cu8

Sixpack ID

Address of Sixpack-Unit

Valid Address:0 to 255

cenum

Motor Nr. (0)

Motor Nr ( 0 -- 5) parameter P0 8 bit unsigned

icclst

error out

error out is a cluster that describes the error status after this VI executes. If an error occurred before this VI was called, error out is the same as error in. Otherwise, error out shows the error, if any, that occurred in this VI. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

istr

Pseudocode

9 bytes send to sixpack

ibool

Valid Command

9 bytes send to sixpack

icclst

DUP VISA Sesssion

6P Parse Response Read Motor Input.vi

VI used to convert bytes received from SIXPACK into integer values in COMMAND $ 30

all the response bytes are used for information.

P0 gives the channel number.

P1, P2 are joined to give analog value of channel.

P3 is either 1 or 0 and give reference input.

P4 is kept as a hex string to be utilised for converting into bit pattern.

P5 is 0 or 1 and give logic state at TTLIO1

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6P Parse Response Read Motor Input.vi


Controls and Indicators

cstr

Input String Read ("")

Response string received from SIXPACK

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

icclst

error out

The error cluster contains error or warning information.

The pop-up option Explain Error (or Explain Warning) gives more information about the error displayed.

ii16

P1,P2 analog value

analog value ( unsigned 0 to 1023)

iu8

Reference input Bit 0, P3

P3 ( Bit 0)

iu8

Channel Number

P0 =channel Number should give values 0 to 7 with command $ 30

iu8

P4 ,Decimal all reference inputs

All reference inputs / jumpers

The Byte is split into individual Bits

iu8

P5 Bit 0 logic state

P5

istr

P4 String

All refernce inputs / jumpers P4 in command $ 30

To be passed on as a string in VI read motor input channel and to

be converted into bit array ,So as to represent the 8 individual bits of this Byte


6P Parse Query all Motor Act.vi

VI to convert response string read from SIXPACK into separate Bytes in integer form used in Command $ 28 where bytes P0 to P5 contain motor action values.

Motor activities correspond to these values

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6P Parse Query all Motor Act.vi


Controls and Indicators

cstr

Input String ("")

9 Bytes received from Sixpack

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

icclst

error out

The error cluster contains error or warning information.

The pop-up option Explain Error (or Explain Warning) gives more information about the error displayed.

iu8

Motor 1

P0 parameter motor 0

iu8

Motor 3

ii8

Motor 2

iu8

Motor 4

iu8

Motor 5

iu8

Motor 6

istr

Current Action M0

istr

Current Action M1

istr

Current Action M2

istr

Current Action M3

istr

Current Action M4

istr

Current Action M5

ibool

Unit Active

6P Parse Query Pos.vi

Used in command query position where all the respone bytes contain information

Position which is a 32 bit parameter is obtained by using the function Join number in succession .

First the parameters P1,P2 & P3, P4 are joined separately.

the result obtained from joining the P1, P2 and P3,P4 is again joined to obtained 32 Bit signed value of position.

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6P Parse Query Pos.vi


Controls and Indicators

cstr

Input String ("")

Response Bytes

9 bytes read from SIXPACK

ccclst

error in (no error)

The error in cluster can accept error information wired from VIs previously called. Use this information to decide if any functionality should be bypassed in the event of errors from other VIs.

The pop-up option Explain Error (or Explain Warning) gives more information about the error displayed.

ii32

Actual current Position

Obtained by joining P1,2,3,4 from Sixpack Read

iu8

Current Action

response byte P3

iu8

Stop Status

stop status

iu8

P0= Motor Number

Response byte P0

icclst

error out

The error out cluster passes error or warning information out of a VI to be used by other VIs.

The pop-up option Explain Error (or Explain Warning) gives more information about the error displayed.


6P Parse Query Vel.vi

VI to convert Response string read from SIXPACK into decimal integer values.

Command query velocity,Response string P0 gives motorNr ( 8bit parameter)

P3 is Motor action( 8 bit parameter). P1,P2 V act which is 16 bit parameter is obtained by using the function Join Numbers

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6P Parse Query Vel.vi


Controls and Indicators

cstr

Input String ("")

response string read from SIXPACK

ccclst

error in (no error)

The error in cluster can accept error information wired from VIs previously called. Use this information to decide if any functionality should be bypassed in the event of errors from other VIs.

The pop-up option Explain Error (or Explain Warning) gives more information about the error displayed.

ii16

Actual Velocity

obtained by joining

P1;P2

iu8

Current Action

response Byte P3

iu8

P0= Motor Number

response byte P0

Motor Nr ( 0 -- 5) parameter P0 8 bit unsigned

icclst

error out

The error out cluster passes error or warning information out of a VI to be used by other VIs.

The pop-up option Explain Error (or Explain Warning) gives more information about the error displayed.


6P Parse Read Info.vi

VI to convert response Bytes P0, P2 and ( P3-P4) received from sixpack into integer values P3,P4 are combined to form one number where P3 is LSB and P4 is MSB

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6P Parse Read Info.vi


Controls and Indicators

cstr

Input String ("")

Response string read from SIXPACK

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

icclst

error out

The error cluster contains error or warning information.

The pop-up option Explain Error (or Explain Warning) gives more information about the error displayed.

iu8

P0

Response Byte P0

Firmware- Revision eg 148 = 1.4.8

iu16

P 3,4

value obtained by combining response Bytes P3,P4

When used in read info about unit this parameter gives serial number of Unit

ii8

P2

command $ 43

Response Byte P2 gives temperature of the unit in degree centigrades 8 Bit signed

iu8

P1

Reset Flag During First Read out 1 , afterwards 0


6PPi Parameter.vi

The PI conroller allows to generate a velocity profile by continously giving target position via the host computer.

The factors for the integral and proportional part determine the feedback control char.

The controller works at 500 Mhz. The proporational part is 64* position difference/propdiv.

The integral part integrates the part of the position difference clipped to a maximum limit by intinclip.

The influence of the integral part is determined by the divisor intdiv.

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6PPi Parameter.vi


Controls and Indicators

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

cu8

Prop Div (128)

P1 = 8 Bit Parameter

cu16

Int div (0)

P2,P3 16 Bit Parameter

cu16

Int clip (128)

P4,P5 16 Bit

cu8

Intinpclip (0)

P6 8 Bit parameter

ccclst

VISA Sesssion

cu8

Sixpack ID

Address of Sixpack-Unit

Valid Address:0 to 255

cenum

Motor Nr. (0)

Motor Nr ( 0 -- 5) parameter P0 8 bit unsigned

icclst

error out

error out is a cluster that describes the error status after this VI executes. If an error occurred before this VI was called, error out is the same as error in. Otherwise, error out shows the error, if any, that occurred in this VI. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

istr

Pseudocode

9 bytes send to sixpack

ibool

Valid Command

9 bytes send to sixpack

icclst

DUP VISA Sesssion

6PSetPeakCurrent.vi

Peak current

(settings are done for pairs of motors, i.e. each two motors 0 + 1, 2 + 3 respectively 4 + 5 have thesame peak current. Only the values set for motor-numbers 0,2 and 4 are valid.)

CMD $10 P0 motnr (0...5)

P1 value (0..255):Sixpack: Imax=0,8A * value/256

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6PSetPeakCurrent.vi


Controls and Indicators

cu16

Current in mA (200)

current value valid for 0 to 800 mA

If value entered is more than 800 mA Error is Generated.

0 mA = 0

800 mA = 255

OVIS - Motor DIGI-MIC should have 150mA - 200mA

OVIS - Motor SM440 up to 0.8 A

cenum

Motor Set Number (0)

Settings are done for pairs of motors, i.e. each two motors 0 + 1, 2 + 3 respectively 4 + 5 have the same peak current.

String Write is either 0,2 or 4 ( Decimal)

Attention:

The Value send to sixpack for pair

0 & 1 is 0

2 & 3 is 2

4 & 5 is 4

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

ccclst

VISA Sesssion

cu8

Sixpack ID

Address of Sixpack-Unit

Valid Address:0 to 255

istr

Pseudocode

icclst

error out

error out is a cluster that describes the error status after this VI executes. If an error occurred before this VI was called, error out is the same as error in. Otherwise, error out shows the error, if any, that occurred in this VI. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

icclst

DUP VISA Sesssion

ibool

Valid Command

6PStep Ramping.vi

VI which adds the selected Step value i.e 82000 or 41000(signed) to present position value and sets that value as new ramp value.The new Ramp Value is always greater than zero.

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6PStep Ramping.vi


Controls and Indicators

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

cbool

+41000

sets target position by 41000 with respect to current position

cbool

-41000

sets target position by -41000 with respect to current position

cbool

+82000

sets target position by 82000 with respect to current position

cbool

-82000

sets target position by -82000 with respect to current position

ccclst

VISA Sesssion

cu8

Sixpack ID

Sixpack Valid Address :0 to 255

cenum

Motor Nr. (0)

Motor Nr ( 0 -- 5) parameter P0 8 bit unsigned

icclst

error out

The error cluster contains error or warning information.

The pop-up option Explain Error (or Explain Warning) gives more information about the error displayed.

ii32

step value

New Ramp value which will be achieved by selected Motor when VI is executed

ibool

select step mode

select step mode

icclst

DUP VISA Sesssion

6PQuery Position.vi

Query postion and Activity

response bytes P1,2,3,4 : current position

response byte P5 current action

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6PQuery Position.vi


Controls and Indicators

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

ccclst

VISA Sesssion

cu8

Sixpack ID

Address of Sixpack-Unit

Valid Address:0 to 255

cenum

Motor Nr. (0)

Motor Nr ( 0 -- 5) parameter P0 8 bit unsigned

icclst

error out

The error cluster contains error or warning information.

The pop-up option Explain Error (or Explain Warning) gives more information about the error displayed.

ibool

Motor stopped

True indicates Motion

otherwise stationary

iu8

Motor Number

Motor Number received from SIXPACK

motor for which position is read

istr

Current Action

if not inactive--

motor status is active for all other modes /ramp /Pi Controller/ Rotation/Reference switch search/Mechanical reference

ii32

Current Position

Pos act ( signed long)

Response Bytes P1 to P4 32 Bit signed

ibool

Valid write Command

icclst

DUP VISA Sesssion

6PRamp.vi

The motor drives from its current position to the target position.

The command does not influence the motor if it is stilla ctive.

For circular motors the position can be both positive and negative

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6PRamp.vi


Controls and Indicators

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

ci32

Ramp Value (0)

P1,2,3,4---- 32 bit signed value

sets the Target value of motor to Ramp value and moves the motor to this position when vi is RUN

cstr

Instructions

This control is used to modify the basic Initialize VI for use with any GPIB instrument. The control should be deleted after all of the modifications have been made.

ccclst

VISA Sesssion

cu8

Sixpack ID

Address of Sixpack-Unit

Valid Address:0 to 255

cenum

Motor Nr. (0)

Motor Nr ( 0 -- 5) parameter P0 8 bit unsigned

icclst

error out

The error cluster contains error or warning information.

The pop-up option Explain Error (or Explain Warning) gives more information about the error displayed.

ibool

Valid Command

Indicates 9 bytes send to SIXPACK

icclst

DUP VISA Sesssion

6PQueryVelocityactivity.vi

Query Velocity and Activity

Reads Velocity & Motor Activity for a selected Motor

Gives V max( set by command $ 14) which is 16 bit parameter in response bit P1,P2

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6PQueryVelocityactivity.vi


Controls and Indicators

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

ccclst

VISA Sesssion

cu8

Sixpack ID

Address of Sixpack-Unit

Valid Address:0 to 255

cenum

Motor Nr. (0)

Motor Nr ( 0 -- 5) parameter P0 8 bit unsigned

icclst

error out

The error cluster contains error or warning information.

The pop-up option Explain Error (or Explain Warning) gives more information about the error displayed.

ibool

Motor Active

Indicates whether Motor is active ( Ramping,Reference,Rotation,PI) or is stationary.

True indicates motor is active

iu8

Motor Number

Respone byte from Sixpack

showing Motor number on which operation is being performed

istr

Current Action

inactive : 0 ( Response bit P3 8 bit parameter)

Ramp :5

10 : PI controller

15 : Rotation

20 -29 : Reference switch search

30 :Mechanical Reference

ii16

Current Velocity

$ 21

Response

16 bit P1,P2

gives the response velocity V max set by command $14

ibool

Valid Command

Indicator to check whether 9 bytes is being read from sixpack or not

icclst

DUP VISA Sesssion

6PSet_ActualPosition.vi

Forces the internal position to any position can lead to unintended reference searches at detection of zero switches

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6PSet_ActualPosition.vi


Controls and Indicators

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

ci32

Posact:New actual Position (0)

New motor position = value entered

P1,2,3,4 =32 bit parameter

new actual position

cstr

Instructions

This control is used to modify the basic Initialize VI for use with any GPIB instrument. The control should be deleted after all of the modifications have been made.

ccclst

VISA Sesssion

cu8

Sixpack ID

Address of Sixpack-Unit

Valid Address:0 to 255

cenum

Motor Nr. (0)

Motor Nr ( 0 -- 5) parameter P0 8 bit unsigned

icclst

error out

The error cluster contains error or warning information.

The pop-up option Explain Error (or Explain Warning) gives more information about the error displayed.

ibool

Valid Command

9 bytes send to sixpack

icclst

DUP VISA Sesssion

6PApp Multi_Ramp&Query.vi

Multi Ramp & Query

The VI allow to start Multiple Motors with Variable Ramp Values .

Also checks whether the Motor is stationary or is Ramping ,Rotation , Reference ( Active)

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6PApp Multi_Ramp&Query.vi


Controls and Indicators

cu8

Sixpack ID

Sixpack Valid Address :0 to 255

ci32

Ramp Value M2

P1,2,3,4---- 32 bit signed value

sets the Target value of motor to Ramp value and moves the motor to this position when vi is RUN

ci32

Ramp Value M5

P1,2,3,4---- 32 bit signed value

sets the Target value of motor to Ramp value and moves the motor to this position when vi is RUN

ci32

Ramp Value M0

P1,2,3,4---- 32 bit signed value

sets the Target value of motor to Ramp value and moves the motor to this position when vi is RUN

ci32

Ramp Value M1

P1,2,3,4---- 32 bit signed value

sets the Target value of motor to Ramp value and moves the motor to this position when vi is RUN

ci32

Ramp Value M3

P1,2,3,4---- 32 bit signed value

sets the Target value of motor to Ramp value and moves the motor to this position when vi is RUN

ci32

Ramp Value M4

P1,2,3,4---- 32 bit signed value

sets the Target value of motor to Ramp value and moves the motor to this position when vi is RUN

ccclst

Check to ramp

Individual bits of parameter P0

frrom Bit 0 to bit 5

0 = unchecked = motor masked

1 = checked = start motor

ccclst

VISA Sesssion

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

ccclst

Uncheck to know the Status

The check Box should remain Disabled to know the status of Motor.

cbool

Stop Query Status

The Stop Query Status Option ends the operation Query Status of All the Motors of selelcted Unit prematurely

The VI will stop even if the Motor on which Operation is performed is Active.

icclst

error out

The error cluster contains error or warning information.

The pop-up option Explain Error (or Explain Warning) gives more information about the error displayed.

icclst

DUP VISA Sesssion

istr

Current Action M0

Response / motor activity

P0 = motor 0

istr

Current Action M 2

Response byte P2

istr

Current Action M3

Response byte P3 from SIXPACK

istr

Current Action M4

Response Byte P4 from SIXPACK

istr

Current Action M5

Response P5 = motor 5 Activity

istr

Current Action M 1

Response byte P1


6PSet Target Position onthe Fly.vi

Command $ 26

Set Target Position ( on the Fly target postion change)

Modifies the target position without influencing the operation mode.

Can be used to shorten or lengthen a Ramp.

If a ramp has to be overshoot due to late changing its target postion the peak will de-celerate with amax instantly and continue driving a reverse ramp on its own.

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6PSet Target Position onthe Fly.vi


Controls and Indicators

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

ci32

Target Value (0)

P1,2,3,4

32 bit signed long.

( New Ramp Value when Motor is in operation)

cstr

Instructions

This control is used to modify the basic Initialize VI for use with any GPIB instrument. The control should be deleted after all of the modifications have been made.

ccclst

VISA Sesssion

cu8

Sixpack ID

Address of Sixpack-Unit

Valid Address:0 to 255

cenum

Motor Nr. (0)

Motor Nr ( 0 -- 5) parameter P0 8 bit unsigned

icclst

error out

The error cluster contains error or warning information.

The pop-up option Explain Error (or Explain Warning) gives more information about the error displayed.

ibool

Valid Command

True indicates 9 bytes send to selected Resource

icclst

DUP VISA Sesssion

istr

Pseudocode

9 Bytes Pseudocode to be sent to the interface


6PStart Ramp in Parallel.vi

Start Trapezoidal ramp in parallel. Command $ 29

This ramp allows coordinated movement by starting multiple motors at the same time.The target position has to be programmed previously( CMD $ 26)

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6PStart Ramp in Parallel.vi


Controls and Indicators

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

cstr

Instructions

This control is used to modify the basic Initialize VI for use with any GPIB instrument. The control should be deleted after all of the modifications have been made.

ccclst

P0: Bits 0 to 5 ( Mask / Ramp)

Individual bits of parameter Po

frrom Bit 0 to bit 5

0 = unchecked = motor masked

1 = checked = start motor

ccclst

VISA Sesssion

cu8

Sixpack ID

Address of Sixpack-Unit

Valid Address:0 to 255

icclst

error out

The error cluster contains error or warning information.

The pop-up option Explain Error (or Explain Warning) gives more information about the error displayed.

ibool

Valid Command

9 bytes send to sixpack

icclst

DUP VISA Sesssion

6PQuery All Motors Activities.vi

Query all motor activities , request Delayed Response

Each axis can queried for activity with this command.

When delayed response is requested , the pack will send the response as soon as all concerned motors are inactive.

the response contains the actual motion of all motors

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6PQuery All Motors Activities.vi


Controls and Indicators

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

cstr

Instruction

Not used for Code

only a description

ccclst

P1: mask for delayed Response (f,f,f,f,f,f)

Check Box should be Disabled to Query the Motor

ccclst

VISA Sesssion

cu8

Sixpack ID

Address of Sixpack-Unit

Valid Address:0 to 255

cenum

Response Add P0 (0)

P0 is response address in Command $ 28.

Since detail on this parameter is not available it has been set to zero

icclst

error out

The error cluster contains error or warning information.

The pop-up option Explain Error (or Explain Warning) gives more information about the error displayed.

istr

Current Action M0

Response / motor activity

P0 = motor 0

ibool

Valid Command

9 bytes send to sixpack

istr

Current Action M1

Response byte P1

istr

Current Action M2

Response byte P2

istr

Current Action M3

Response byte P3 from SIXPACK

istr

Current Action M4

Response Byte P4 from SIXPACK

istr

Current Action M5

Response P5 = motor 5 Activity

icclst

DUP VISA Sesssion

ibool

Unit Active

True indicates that atleast one of the Motors of the selected unit is in motion

motion includes Ramp, Reference search , Rotation

i1dstr

Current Actions

6PApp Vel Pos.vi

The VI stops the selected Motors first . Set the selected( Forced ) position as current position of the Motor Rotates( Veloctiy Rotation ) for selected Time and Reads position and velocity during that time.

The Motor is stopped by setting the Velocity Value = 0 at end of query position and query velocity while loop

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6PApp Vel Pos.vi


Controls and Indicators

ccclst

VISA Sesssion

cu8

Sixpack ID

Sixpack Valid Address :0 to 255

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

cu8

New Address of Unit

New address will be implemented as soon as VI has been run

Thereafter all parameters will run with new address.

new Rs 232/ Rs 485 address 0 to 255

cenum

Motor Nr.

Motor Nr ( 0 -- 5) parameter P0 8 bit unsigned

ci32

New Position

New motor position = value entered

P1,2,3,4 =32 bit parameter

new actual position

ci16

Rotation velocity Value

Value will range from -511 to 511

cu16

Time limit in sec for running the motor and quering velocity

The Timeout limit will read the Motor Position and current velcity for a stipulated period of Time after the stipulated time is over the Motor velocity will be set to Zero

cbool

Stop QueryVelocity

The Stop Query Velocity Option ends the operation Query Velocity ofll the Selected Motor of selelcted Unit prematurely before the Selected Time has Elapsed.

At the end of While Loop the Motor Velocity is set to zero

ccclst

Check to Stop

Check to Stop the Motor

Sest Target Position To Actual Position

icclst

DUP VISA Sesssion

icclst

error out

The error cluster contains error or warning information.

The pop-up option Explain Error (or Explain Warning) gives more information about the error displayed.

ii32

Current Position

Pos act ( signed long)

Response Bytes P1 to P4 32 Bit signed

ii16

Current Velocity

$ 21

Response

16 bit P1,P2

gives the response velocity V max set by command $14


6PStopMotorSelectively or Synchr.vi

Multiple motors can be stopped at the same time via this command

It sets the target position of each motor concerned to its actual position.

However motors driving beyond Vstart will overshoot and return driving another ramp back to the point you set as their new target using this command

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6PStopMotorSelectively or Synchr.vi


Controls and Indicators

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

ccclst

P0 = Mask for deceleration

Check to Stop the Motor

Sets Target Position To Actual Position

ccclst

VISA Sesssion

cu8

Sixpack ID

Address of Sixpack-Unit

Valid Address:0 to 255

icclst

error out

The error cluster contains error or warning information.

The pop-up option Explain Error (or Explain Warning) gives more information about the error displayed.

ibool

Valid Command

True indicates 9 bytes written to serial write

icclst

DUP VISA Sesssion

6PStart Rotation Velocity.vi

start Rotation / start rotation Velocity

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6PStart Rotation Velocity.vi


Controls and Indicators

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

ci16

Rotation velocity Value (0)

Value will range from -511 to 511

cstr

Instructions

This control is used to modify the basic Initialize VI for use with any GPIB instrument. The control should be deleted after all of the modifications have been made.

ccclst

VISA Sesssion

cu8

Sixpack ID

Address of Sixpack-Unit

Valid Address:0 to 255

cenum

Motor Nr. (0)

Motor Nr ( 0 -- 5) parameter P0 8 bit unsigned

icclst

error out

The error cluster contains error or warning information.

The pop-up option Explain Error (or Explain Warning) gives more information about the error displayed.

ibool

Valid Command

9 bytes send to sixpack

icclst

DUP VISA Sesssion

6PResponse Address of Unit.vi

Change address of UNIT

( RS 232/ RS 485)

Command $ 42

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6PResponse Address of Unit.vi


Controls and Indicators

cu8

New Address of Unit (6)

New address will be implemented as soon as VI has been run

Thereafter all parameters will run with new address.

new Rs 232/ Rs 485 address 0 to 255

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

ccclst

VISA Sesssion

cu8

Sixpack ID

Address of Sixpack-Unit

Valid Address:0 to 255

istr

Pseudo code

9 bytes send to sixpack

icclst

error out

error out is a cluster that describes the error status after this VI executes. If an error occurred before this VI was called, error out is the same as error in. Otherwise, error out shows the error, if any, that occurred in this VI. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

ibool

Valid Command

9 bytes sent to sixpack

icclst

DUP VISA Sesssion

6PStarting Velocity Setting.vi

starting Velocitycommand $ 13

parameters V min. V start , div i ( change only with stopped Motors)

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6PStarting Velocity Setting.vi


Controls and Indicators

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

cu16

V start (250)

P3,P4 16 bit Parameter

Starting and ending Velocity for Acceleration Ramp:

limited by Firmware to

0 < vstart< ( 512 shr(3- div[i])) -1

cu16

V min (200)

P1,P2 16 bit =V min

values 0 to 511

Velocity used in combination with divi =3 for searching of the reference switch.The fastest possible Vmin will be calculated automatically when Vmin = 0 is set.

Vmin <= 25 Hz / fmin steps

Vmin<=Vstart

The string send sixpack after converting Vmin into hex format

is reversed so that P1 is send to sixpacK first

otherwise P2 will be sent to sixpack prior to P1

cenum

Div i (2)

P5 $13

Calculation of step Frequency

ccclst

VISA Sesssion

cu8

Sixpack ID

Address of Sixpack-Unit

Valid Address:0 to 255

cenum

Motor Nr. (0)

Motor Nr ( 0 -- 5) parameter P0 8 bit unsigned

icclst

error out

error out is a cluster that describes the error status after this VI executes. If an error occurred before this VI was called, error out is the same as error in. Otherwise, error out shows the error, if any, that occurred in this VI. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

istr

Pseudocode

9 bytes in hex format send to serial write

ibool

Valid Command

True indicates 9 bytes send to serial write

icclst

DUP VISA Sesssion

6PApp Selftest.vi

Application which configures the serial port

reset the sixpack if enabled and read information about sixpack board

Its Ramps the Motor for fixed value of 83000 and Query the position at the same time.

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6PApp Selftest.vi


Controls and Indicators

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

ccclst

VISA Sesssion

cu8

Sixpack ID

Address of Sixpack-Unit

Valid Address:0 to 255

cenum

Motor Nr.

Motor Nr ( 0 -- 5) parameter P0 8 bit unsigned

cbool

Stop Query Position

The Stop Query Option ends the operation Query Position Prematurely.

The VI will stop even if the Motor on which Operation is performed is Active.

iu8

Temperature in degrees

Temperature in Degree centigrades of sixpack

ii32

Current Positions

present position of Motor

ibool

Motor status

whether motor is active or not

istr

Current Action

Reads whether Motor is active or not

iu16

Version Number

Firmware Revision Number from Command $ 43

Response byte P0 8 bit parameter

Firmware -revision

iu16

Serial Number

Sixpack Serial number

idbl

Power Supply Voltage

Supply voltage to sixpack Unit in Volts

Obtained by executing command $ 30 for channel 7

icclst

DUP VISA Sesssion

icclst

error out

error out is a cluster that describes the error status after this VI executes. If an error occurred before this VI was called, error out is the same as error in. Otherwise, error out shows the error, if any, that occurred in this VI. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

ii16

Intial Ramp Velocity

$ 21

Response

16 bit P1,P2

gives the response velocity V max set by command $14

In App self test Velocity is queried only initiallly during start Ramp


6P Initialize.vi

This VI passes the addressing information in the instrument decriptor to the Instr Open VI and returns the instrument ID. You can optionally reset the instrument by setting the front panel reset control. You must run this VI before using any of the instrument driver VIs for this instrument.

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6P  Initialize.vi


Controls and Indicators

cbool

Reset:

selecting Reset will do the Hardware Reset for the selected sixpack unit

cbool

Info Query

Reads the information from sixpack if check is enbled

command $43 is executed

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

ccclst

VISA Sesssion

cu8

Sixpack ID

Sixpack Board ID

Sixpack Valid Address :0 to 255

cu32

milliseconds to wait after reset (3000)

milliseconds to wait after reset

icclst

error out

error out is a cluster that describes the error status after this VI executes. If an error occurred before this VI was called, error out is the same as error in. Otherwise, error out shows the error, if any, that occurred in this VI. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

iu8

Version

P0 $43 Firmware Revision

iu16

Serial Number

Sixpack Serial Number

iu8

Temperatures

Sixpack Temperatures

icclst

DUP VISA Sesssion

6PRead Info.vi

Read information about Unit

Allows to read out firmware revision, reset-flag, temperature and serial number of Sixpack Stepper Control Unit.

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6PRead Info.vi


Controls and Indicators

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

ccclst

VISA Sesssion

cenum

Response Address (0)

Response Address Parmaeter P0 Command $ 43

Since no information is available the parameter has given value of zero.

No motor number is required for this Command

cu8

Sixpack ID

Address of Sixpack-Unit

Valid Address:0 to 255

icclst

error out

The error cluster contains error or warning information.

The pop-up option Explain Error (or Explain Warning) gives more information about the error displayed.

ibool

Valid Command

9 bytes send to sixpack

iu8

Version

Response byte P0 8 bit parameter

Firmware -revision

iu16

Serial Number

Response byte

P3,P4 16 bit parameter

ii8

Temperature / °C

Temperature of Unit

P2 = 8 bit signed value

icclst

DUP VISA Sesssion

6P Utility Clean Up Initialize.vi

This Utility VI closes any open VISA sessions in the event that there is an error during an initialization. It is called only from the 6P Initialize VI, and is not meant to be altered. Changing this VI can cause the 6P Initialize VI to operate improperly.

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6P Utility Clean Up Initialize.vi


Controls and Indicators

ccclst

error in (no error)

error out is a cluster that describes the error status after this VI executes. If an error occurred before this VI was called, error out is the same as error in. Otherwise, error out shows the error, if any, that occurred in this VI. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

ccclst

VISA Sesssion

icclst

error out

error out is a cluster that describes the error status after this VI executes. If an error occurred before this VI was called, error out is the same as error in. Otherwise, error out shows the error, if any, that occurred in this VI. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

icclst

DUP VISA Sesssion

6P Utility Default Instrument Setup.vi

This Utility VI sends a default command string to the instrument whenever a new VISA session is opened, or the instrument is reset. This VI is intended to be used as a subVI for the PREFIX Initialize and PREFIX Reset VI's. Altering this VI could cause these two VI's to operate incorrectly.

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6P Utility Default Instrument Setup.vi


Controls and Indicators

ccclst

error in (no error)

error out is a cluster that describes the error status after this VI executes. If an error occurred before this VI was called, error out is the same as error in. Otherwise, error out shows the error, if any, that occurred in this VI. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

ccclst

VISA Sesssion

cu8

Sixpack ID

sixpack Address :0 to 255

cenum

Motor Nr. (0)

Motor Nr ( 0 -- 5) parameter P0 8 bit unsigned

icclst

error out

error out is a cluster that describes the error status after this VI executes. If an error occurred before this VI was called, error out is the same as error in. Otherwise, error out shows the error, if any, that occurred in this VI. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

icclst

DUP VISA Sesssion

6PRead Motor Input Channel.vi

Read Motor input channels and additional inputs

Channel 7 measures the voltage supply of the PACK ( 1 V eqauals value 22)

Note Sixpack actually reads the value according to which 1V equals value 19(analog value)

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6PRead Motor Input Channel.vi


Controls and Indicators

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

ccclst

VISA Sesssion

cenum

Channel No P0

The analog channels are prepared for ratiometric measurements of resistive dividers. Channel 6 is the external input ,Channel 7 measures the voltage supply of pack.

1 V equals 22

The reference inpts are inverted

cu8

Sixpack ID

Address of Sixpack-Unit

Valid Address:0 to 255

icclst

error out

The error cluster contains error or warning information.

The pop-up option Explain Error (or Explain Warning) gives more information about the error displayed.

ibool

Valid Command

9 bytes send to sixpack

iu16

P1,P2 analog value

analog value ( unsigned 0 to 1023)

iu8

P0=channel Number

Response Byte P0

Channel No

ibool

Reference input Bit 0, P3

Response byte P3 ( Bit 0)

ibool

P5 bit 0 logic state

Response Byte : P5 Bit 0

icclst

DUP VISA Sesssion

icclst

Response byte P4 Reference inputs/ jumpers

6P Utility Error Message.vi

This VI contains all the intrument specific error codes and descriptions. Use this VI after executing several instrument driver VIs to recognize and display any errors that may have occurred.

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6P Utility  Error Message.vi


Controls and Indicators

c1di32

User-Defined Codes

User-defined error codes. Each code correspondes to an error message stored at the same index in user-defined descriptions.

Valid Range:

User Defined

Default:

empty array

c1dstr

User-Defined Descriptions

User-defined error descriptions. Each description correspondes to an error number stored at the same index in user-defined codes.

Default:

empty array

ci32

Type of Dialog (1: OK Msg)

This selects the style of dialog box to display when an error occurs.

Valid Range:

0: No Dialog (Default)

1: A Dialog With an OK Button

2: A Dialog With a Continue and Stop Button.

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

ccclst

VISA Sesssion

istr

Error Message (empty)

Description of any error that occurred

Default:

empty

ibool

Status

Indicates the occurence of an error.

Valid Range:

False: No error (default)

True: An error has occurred.

ii32

Error Code (0)

Displays the error code associated with an error.

Valid Range:

Dependent on instrument

Default:0

icclst

error out

error out is a cluster that describes the error status after this VI executes. If an error occurred before this VI was called, error out is the same as error in. Otherwise, error out shows the error, if any, that occurred in this VI. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

icclst

DUP VISA Sesssion

6PApp GettingStarted.vi

Application which configures the serial port

reset the sixpack if enabled and read information about sixpack board

Ramp value and current can be controlled using this VI

and postion of various motors can be checked

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6PApp GettingStarted.vi


Controls and Indicators

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

ci32

Ramp Value

Target value which will be achieved by selected Motor on Ramping

cu16

Select Current

Peak current

Select current value from

0 to 800 mA 800 mA is the max value that can be passed to the motor

Current selection should be correct for proper functioning of Sixpack Motors (depends on type of Motor)

cenum

Motor Set Number for Current

Settings are done for pairs of motors, i.e. each two motors 0 + 1, 2 + 3 respectively 4 + 5 have the same peak current String Write is either 0,2 or 4 ( Decimal)

cbool

Reset:

Does complete unit reset for the address selected

cbool

Info Query

Reads the information from sixpack if check is enbled

command $43 is executed

ccclst

VISA Sesssion

cu8

Sixpack ID

Address of Sixpack-Unit

Valid Address:0 to 255

cenum

Motor Nr.

Motor Nr ( 0 -- 5) parameter P0 8 bit unsigned

cbool

Stop Query Position

The Stop Query Option ends the operation Query Position Prematurely.

The VI will stop even if the Motor on which Operation is performed is Active.

icclst

error out

The error cluster contains error or warning information.

The pop-up option Explain Error (or Explain Warning) gives more information about the error displayed.

iu8

Temperature in degrees

Temperature in Degree centigrades of sixpack

ii32

Current Positions

present position of Motor

ibool

Motor status

whether motor is active or not

istr

Current Action

Reads whether Motor is active or not

iu16

Version Number

Firmware Revision Number from Command $ 43

Response byte P0 8 bit parameter

Firmware -revision

iu16

Serial Number

Sixpack Serial number

idbl

Power Supply Voltage

Supply voltage to sixpack Unit in Volts

Obtained by executing command $ 30 for channel 7

icclst

DUP VISA Sesssion

6PApp Ramp.vi

Ramp application

First intializes the COM port for selected baud rate

Reset the sixpack if enabled

and then ramps the desired motor for selected value or chosen step

also read position and activity status periodically

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6PApp Ramp.vi


Controls and Indicators

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

ci32

Ramp Value

cbool

Ramp

Press to start ramp

cbool

+41000

sets target position by 41000 with respect to current position

cbool

-41000

sets target position by -41000 with respect to current position

cbool

+82000

sets target position by 82000 with respect to current position

cbool

-82000

sets target position by - 82000 with respect to current position

cbool

Initialize

selecting this will configure the COM port

for the selected Baud rate and will initialize the Sixpack (Reset will happen if enabled)

cbool

Reset: T Reset

Does complete unit reset for the adress selected.

Sets All values to Default Values.

Reset has to be Activated with Intialize Enabled

ccclst

VISA Sesssion

cenum

Motor Nr.

Motor Nr ( 0 -- 5) parameter P0 8 bit unsigned

cu8

Sixpack ID

Address of Sixpack-Unit

Valid Address:0 to 255

cbool

Stop Query Position

The Stop Query Option ends the operation Query Position Prematurely.

The VI will stop even if the Motor on which Operation is performed is Active.

icclst

error out

The error cluster contains error or warning information.

The pop-up option Explain Error (or Explain Warning) gives more information about the error displayed.

ii32

Actual Position

ibool

Motor Active

Indicates whether Motor is Moving ( Ramp ;Rotation , Reference )

or Stationary

istr

Current Action

whether motor is at

Ramp

Rotation

Refrence

inactive

icclst

DUP VISA Sesssion

6PApp Search Reference.vi

VI that will Intialize the serial port

Reset the SIXPACK if selected

Sets the parameter using Command $ 16 Reference search parameters and

$ 31 setting the limits for the stop Function Left / right

thereafter runs the command $ 22 Start search of Reference.

ATTENTION

Please make sure that parameters in $ 31 are selected correctly other wise start search of reference will not function as desired

Recommended value : Analog Min value =150

Analog Max value : 900

The VI has been tested O.K using these values

Motor action and postion is also incorporated in this VI

The Sixpack Unit is Reset after the stop button to Function to stop the Motor

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6PApp Search Reference.vi


Controls and Indicators

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

cbool

Reset: T Reset

Selecting Reset will do the Hardware Reset for the selected sixpack unit. After the VI is executed the switch will automatically comes to default value which is donot Reset

cu16

analog max Val

Analog value maximum

P3,P4 16 Bit value

Command $ 22 start search of Refrence worked perfectly

when max value was set to 900

The channel Number for which analog value is set , is same as Motor number

cu16

V refmax Fast Reference Search Velocity

Change only with motors standing still

From command $ 16 relevant for fast reference search

cu16

Mask for reference switch de-bouncing

Details for conversion required

0001(hex) =0ms

0003 =2 ms

FFFF = 30 ms

cu16

analog min Value

Analog value minimum for stop Left

0 = no function

For running Command $ 22 start search of Reference these parameters have to be set correctly

The command $ 22 worked correctly when

Analog min value was set to 150

The Channel Number for analog parameter is set is same as Motor Number

ccclst

VISA Sesssion

cu8

Sixpack ID

Sixpack Valid Address :0 to 255

cenum

Motor Nr.

Motor Nr ( 0 -- 5) parameter P0 8 bit unsigned

cbool

Stop Query Position

The Stop Query Option ends the operation Query Position Prematurely.

The VI will stop even if the Motor on which Operation is performed is Active.

In case of Start Search Reference only possible solution to stop the Motor is to Reset the Unit.

Hence if Stop is enabled the Unit is Reset and Motor will stop.

cbool

Bit 0 PI Mode (FALSE)

Check to enable

Least significant Bit ( LSB) for P5

PI Mode 0 = Trapezoidal Ramp, 1 = Controller

icclst

error out

The error cluster contains error or warning information.

The pop-up option Explain Error (or Explain Warning) gives more information about the error displayed.

ibool

Status

Shows whether motor is stationary or in Motion

True indicates Motor is in Motion

istr

Current Action

whether Motor is at

Reference or Stationary

ii32

Motor Actual Position

Actual Position of Motor

shows in real time

icclst

DUP VISA Sesssion

6PSetting the Limits for Stopfunction.vi

Command $ 31 Setting the Limits for stop function left/right.

A potentiometer or a resistor network connected to two stop switches at the analog input of each motor can trigger a hard or soft stop.

The voltage of the analog input should increase in right direction.(cw). The measured value is checked dependent on the motor direction.When a stop condition occures the motor is stopped immediately.If Stop Soft -Flag is set, the motor is in decelerated with the pre-set acceleration.If the Stop soft Flag is not set the motor will be stopped abruptly, so that the precise motor position may be lost. Therfore a reference search will be started additionally if the Stop no Ref-Flag is not set. When the Stop Null- Flag is set, the zero switch also functions as limit switch. If the reference switch is defined on the right side, the motor can only drive in the area of negative co-ordinates (position <=0)

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6PSetting the Limits for Stopfunction.vi


Controls and Indicators

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

cu16

analog min value (150)

Analog value minimum for stop Left.

0 = no function

For running Command $ 22 start search of Reference these parameters have to be set correctly.

The command $ 22 worked correctly when

Analog min value was set to 150

cstr

Instructions

This control is used to modify the basic Initialize VI for use with any GPIB instrument. The control should be deleted after all of the modifications have been made.

cu16

analog max val (900)

analog value maximum

P3,P4 16 bit value

Command $ 22 start search of Reference worked perfectly

when max value was set to

900

ccclst

VISA Sesssion

cu8

Sixpack ID

Address of Sixpack-Unit

Valid Address:0 to 255

cenum

Channel No. P0 (0)

The analog channels are prepared for ratiometric measurements of resistive dividers.

channel 6 is the external input.

channel 7 measures the voltage supply of Sixpack.

1 V equals approx 20 (analog parameters)

icclst

error out

The error cluster contains error or warning information.

The pop-up option Explain Error (or Explain Warning) gives more information about the error displayed.

ibool

Valid Command

True indicates 9 bytes send to sixpack

istr

Pseudocode

9 Bytes Pseudocode to be sent to the interface

icclst

DUP VISA Sesssion

6P 2Conversion16.vi

Usefull conversion VI for converting 16-Bit Values in the SixPack-Commands:

used in command $ 31 setting the limit for stop function

Attention: All 9 Bytes must be sent to the interface, otherwise the PACK does not recognize the command and waits for the missing bytes.

$ indicates that the value is in hexadecimal notation!

Example: Setting motor parameters

CMD $15 contains information about the motor and settings for the reference drive.

For more details see Hints for Programming and CMD $15 in the Instruction set!

Pseudocode:

SendToPack(address); // Address of the Pack(Six- or Quadpack)

SendToPack($15); // Command in hexadecimal notation

SendToPack(P0); // Motor number (0...5)

SendToPack(P1); // poslimit LSB

SendToPack(P2);

SendToPack(P3);

SendToPack(P4); // poslimit MSB

SendToPack(P5); //further settings, for more information read the instruction set

SendToPack(P6);

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6P 2Conversion16.vi


Controls and Indicators

cu8

Sixpack ID (0)

Adress of Sixpack

Valid Arguments: 0 - 255

cu8

Motor Nr./ Channel No. (0)

Motor Nr ( 0 -- 5) parameter P0 8 bit unsigned

cu16

P1,P2 (0)

16-Bit Value in Position P1,P2

The Bytes are reversed when sending to sixpack so that sixpack so that P1 is send to sixpack first

cu16

P3,P4 Value (0)

16-Bit Value in Position,P3,P4

The bytes are reversed while sending to sixpack

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

cstr

Command (31)

istr

Pseudocode

9 Bytes Pseudocode to be sent to the interface

icclst

error out

error out is a cluster that describes the error status after this VI executes. If an error occurred before this VI was called, error out is the same as error in. Otherwise, error out shows the error, if any, that occurred in this VI. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string


6PReference Search Paramters.vi

Reference search parameters

change only with motors standing still

only relevant for fast reference search

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6PReference Search Paramters.vi


Controls and Indicators

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

cu16

V ref Max (0)

P1,2

V refmax( 1-- 511)

Fast Reference search Velocity

511>= vmax>=vrefmax>= vstart

cu16

Mask for reference switch de-bouncing (0)

Details for conversion required

0001(hex) =0ms

0003 =2 ms

FFFF = 30 ms

cbool

Bit 0 PI Mode (FALSE)

Check to enable

Least significant Bit ( LSB) for P5

PI Mode 0 = Trapezoidal Ramp, 1 = Controller

ccclst

VISA Sesssion

cu8

Sixpack ID

Address of Sixpack-Unit

Valid Address:0 to 255

cenum

Motor Nr. (0)

parameter

PO = 32 bit signed

icclst

error out

error out is a cluster that describes the error status after this VI executes. If an error occurred before this VI was called, error out is the same as error in. Otherwise, error out shows the error, if any, that occurred in this VI. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

istr

Pseudocode

9 Bytes send to serial write

ibool

Valid Write Command

9 bytes send to sixpack

icclst

DUP VISA Sesssion

6PStart Search Ref.vi

Start search of Reference Command $ 22

First the motor is stopped. The motor optionally drives fast ( Vrefmax), searching for the position of the switch.

When the switch is found , the motor is driven back to the point, where the switch becomes inactive.

Then it is slowly driven with Vmin towards the switch to find the exact position. If the switch cannot be found again at slow speed where it had been found before, or if no switch is seen during 125 % of the drive limit range, the whole procedure repeats by first stopping again, which may give another chance to hold grip for an axis out of control.

After the reference point has been identified via the reference point switch the position is set to null respectively to NULL -offset and the motor resumes its previous operation.

eg. by driving to the actual position posact , where the reference search started

( $22 and CMD $ 15 P5, Bit 2 start the same action!)

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6PStart Search Ref.vi


Controls and Indicators

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

cstr

Instructions

This control is used to modify the basic Initialize VI for use with any GPIB instrument. The control should be deleted after all of the modifications have been made.

ccclst

VISA Sesssion

cu8

Sixpack ID

Address of Sixpack-Unit

Valid Address:0 to 255

cenum

Motor Nr. (0)

Motor Nr ( 0 -- 5) parameter P0 8 bit unsigned

icclst

error out

The error cluster contains error or warning information.

The pop-up option Explain Error (or Explain Warning) gives more information about the error displayed.

ibool

Valid Command

9 bytes send to sixpack

icclst

DUP VISA Sesssion

6PApp SetMultipleMotors.vi

The VI allows to set multiple parameters for all 6 Motors of a SIXPACK. The parameters set are same for all the motors

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6PApp SetMultipleMotors.vi


Controls and Indicators

cu8

Sixpack ID

Sixpack Valid Address :0 to 255

ci32

Ramp Value

P1,2,3,4---- 32 bit signed value

sets the Target value of motor to Ramp value and moves the motor to this position when vi is RUN

ccclst

Check to ramp

Individual bits of parameter Po

frrom Bit 0 to bit 5

0 = unchecked = motor masked

1 = checked = start motor

ccclst

VISA Sesssion

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

cu16

V start

P3,P4 16 bit Parameter

Starting and ending Velocity for Acceleration Ramp:

limited by Firmware to

0 < vstart< ( 512 shr(3- div[i])) -1

cu16

V min

P1,P2 16 bit =V min

values 0 to 511

Velocity used in combination with divi =3 for searching of the reference switch.The fastest possible Vmin will be calculated automatically when Vmin = 0 is set.

Vmin <= 25 Hz / fmin steps

Vmin<=Vstart

The string send sixpack after converting Vmin into hex format

is reversed so that P1 is send to sixpacK first

otherwise P2 will be sent to sixpack prior to P1

cenum

Div i

P5 $13

Calculation of step Frequency

cu16

Vmax

Parameter P3,4 16 Bit

This Velocity can be find by query velocity command using command $ 21

Vmax <= 511

cu16

amax

P1,2 16 bit parameter

Max. Motor acceleration

1 / 64 is accumulated with 500 Hz during acceleration to vact: beginning with vstart the motor is accelerated untill Vmax has been reached:

0< amax<= vstart*64 ( default : amax = 128)

cenum

Current for acceleration

I3 Parameter P4 Command $ 11

VALUE SENT TO SIXPACK 0 =100 % acceleration

cu16

T0: Delay time in ms

Power down delay time in ms 16 Bit Parameter P5,P6

( Firmware Before V 1.40 Required even values)

In case odd value is entered ,it will be rounded to next even value

The string obtained from converting T0 from decimal value to hex

is reversed so that LSB is send to SIXPACK First

cenum

I0=Power Down Current

power down current P1

0 indicates 100%

Power consumption can be reduced drastically when power-down current I0 is set to 0 % i.e P1 = 8

icclst

error out

The error cluster contains error or warning information.

The pop-up option Explain Error (or Explain Warning) gives more information about the error displayed.

icclst

DUP VISA Sesssion

6PVelocity Acceleration.vi

Velocity, Accerlation command $ 14

a max and V max are checked permanently, the pack prompt reacts to changes

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6PVelocity Acceleration.vi


Controls and Indicators

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

cu16

V max (300)

Parameter P3,4 16 Bit

This Velocity can be find by query velocity command using command $ 21

Vmax <= 511

cu16

a max (128)

P1,2 16 bit parameter

Max. Motor acceleration

1 / 64 is accumulated with 500 Hz during acceleration to vact: beginning with vstart the motor is accelerated untill Vmax has been reached:

0< amax<= vstart*64 ( default : amax = 128)

ccclst

VISA Sesssion

cu8

Sixpack ID

Address of Sixpack-Unit

Valid Address:0 to 255

cenum

Motor Nr. (0)

Motor Nr ( 0 -- 5) parameter P0 8 bit unsigned

icclst

error out

error out is a cluster that describes the error status after this VI executes. If an error occurred before this VI was called, error out is the same as error in. Otherwise, error out shows the error, if any, that occurred in this VI. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

istr

Pseudocode

Bytes send to Sixpack in Hex Format

ibool

Valid Command

True indicates 9 bytes send to serial port

icclst

DUP VISA Sesssion

6PVelocity Setting.vi

Command $ 12

Only parameter P0 clkdiv ( 0 ---31 )

(Global setting for all motors, change only with stopped motors!)

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6PVelocity Setting.vi


Controls and Indicators

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

ccclst

VISA Sesssion

cu8

Sixpack ID

Address of Sixpack-Unit

Valid Address:0 to 255

cu8

Clk Division (5)

P0 $12

Calculation of step Frequency

0 to 31

No Motor Number defined in this VI

icclst

error out

error out is a cluster that describes the error status after this VI executes. If an error occurred before this VI was called, error out is the same as error in. Otherwise, error out shows the error, if any, that occurred in this VI. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

istr

Pseudocode

Bytes in Hex format send to Sixpack

ibool

Valid Command

True indicates 9 bytes send to serial write

icclst

DUP VISA Sesssion

6PMotorpar Poslimit.vi

Motor parameters Command $15

Note on Reference search algorithim:

usually the reference switch is logically left;i.e. search orientation is in the direction of descending co-ordinates.

However if it is defined as logically right (NULL not set) then the driving range is in area of negative numbers because zero is the largest number on the position scale.

Note: To exchange left and right physically ,only one phase of the motor has to be polarized reversely.

The setting Null Centre is extremly useful for rotary axes:

Here the centre of the zero switch is located,i.e. the centre between the left and right start of the switch operating point.

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6PMotorpar Poslimit.vi


Controls and Indicators

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

ci32

Poslimit (0)

P1,2,3,4

Poslimit 32 bit parameter

Number of microsteps per revolution for rotary axes

( is used with rotation or way optimization and reference search only);

Resp total way for linear axis ( with reference search and mechanical referene, then 5/4 of the distance will be driven in the direction of the mechanical stop).

ccclst

P5 Bits

P5

Individual bits to be set

The 8 bits represented by boolean are combined to form a cluster and

converted into bit array which forms a single byte

the byte Value is send as P5 byte of Command $ 15 to SIXPACK

ccclst

P6 Bits

Command $ 15 Byte P6

Individual bits to be set

The 8 bits represented by boolean are combined to form a cluster and

converted into bit array which forms a single byte

the byte Value is send as P5 byte of Command $ 15 to SIXPACK

ccclst

VISA Sesssion

cu8

Sixpack ID

Address of Sixpack-Unit

Valid Address:0 to 255

cenum

Motor Nr. (0)

Motor Nr ( 0 -- 5) parameter P0 8 bit unsigned

icclst

error out

error out is a cluster that describes the error status after this VI executes. If an error occurred before this VI was called, error out is the same as error in. Otherwise, error out shows the error, if any, that occurred in this VI. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

istr

Pseudocode

9 bytes to be written to SIXPACK

ibool

Valid Command

9 bytes send to sixpack

icclst

DUP VISA Sesssion

6PMotor Char Table.vi

Write Motor Characterstics Table Command $ 17

Depending on the position the motors are controlled with discrete analog current values.

The lower 5 Bits of the position counter of each motor are used as a pointer into the symmetrical characterstics table and determine the current for coil A of the Motor.

The current for coil B is determined from the same table by a pointer shifted by 16 steps. For customizing the table can be modified for all motors in common.

Therefore only the lower half( 16 entries) has to be programmed.

P1 to P4 are made fourdistinct 8 bit parameters as values specified in manual is 0 to 255

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6PMotor Char Table.vi


Controls and Indicators

cenum

Pointer to Table (0)

P0 = Pointer to table

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

cu8

4 Table Entries P1 (1)

P1 4 table entries ( 0 to 255)

starting from the given position

( eg table = 255,255,255,255 -> full steps)

cu8

4 Table Entries P2 (1)

P2 4 table entries ( 0 to 255)

starting from the given position

( eg table = 255,255,255,255 -> full steps)

cu8

4 Table Entries P3 (1)

P3 4 table entries ( 0 to 255)

starting from the given position

( eg table = 255,255,255,255 -> full steps)

cu8

4 Table Entries P4 (1)

P4 4 table entries ( 0 to 255)

starting from the given position

( eg table = 255,255,255,255 -> full steps)

ccclst

VISA Sesssion

cu8

Sixpack ID

Address of Sixpack-Unit

Valid Address:0 to 255

icclst

error out

error out is a cluster that describes the error status after this VI executes. If an error occurred before this VI was called, error out is the same as error in. Otherwise, error out shows the error, if any, that occurred in this VI. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

istr

Pseudo Code

9 bytes send to sixpack

ibool

Valid command

9 bytes send to sixpack

icclst

DUP VISA Sesssion

6PActivate PI Controlleron Target.vi

Activate PI Controller on the Target Position(on the -fly target position change)

The Motor position will be controlled by the PI -controller so that the target position is reached.

Switching to PI-Controller happens immediately , even if the Motor is inactive. When the PI Controller was already active the Target position will be reprogrammed immediately . The maximum distance must e less the 32 bit signed range too - which is no restriction as long as you consider 0 as one limit of your driving range ( which however is not mandatory)

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6PActivate PI Controlleron Target.vi


Controls and Indicators

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

ci32

Target Value (0)

P1,2,3,4= 32 Bit signed long

cstr

Instructions

This control is used to modify the basic Initialize VI for use with any GPIB instrument. The control should be deleted after all of the modifications have been made.

ccclst

VISA Sesssion

cu8

Sixpack ID

Address of Sixpack-Unit

Valid Address:0 to 255

cenum

Motor Nr. (0)

Motor Nr ( 0 -- 5) parameter P0 8 bit unsigned

icclst

error out

The error cluster contains error or warning information.

The pop-up option Explain Error (or Explain Warning) gives more information about the error displayed.

ibool

Valid Command

9 bytes send to sixpack

icclst

DUP VISA Sesssion

6PSetting of Add Outputs.vi

Command $ 32

Setting of additional Ouputs

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6PSetting of Add Outputs.vi


Controls and Indicators

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

ccclst

VISA Sesssion

cu8

Sixpack ID

Address of Sixpack-Unit

Valid Address:0 to 255

cbool

P2: Bit 0 (TRUE)

P2 BIT 0 Set logic level at TTLIO1

cbool

P1: Bit 0 (TRUE)

P1 Bit 0 Output Enable for TTL IO 1 ( 1=input,0 = Output)

cbool

P0: Bit0 (TRUE)

P0 Bit 0 Set Logic level at TTLOUT1( 1= Ready, 0 = Active)

cbool

P3:Bit 0 (TRUE)

P3 Bit 0 TTLOUT1 works as ready output( 1 =Ready,0 =Active)

icclst

error out

The error cluster contains error or warning information.

The pop-up option Explain Error (or Explain Warning) gives more information about the error displayed.

ibool

Valid Command

9 bytes send to sixpack

icclst

DUP VISA Sesssion

6PFunction of Ready Output.vi

Function of Read output

The ready output can be activated ( low, open collector ) , whenever a motor is active ( velocity greater than 0) or search of Reference. The ready output will be switched withing 2ms after start/ end motor movement: The repeatability ( jitter) equals approx the microstep rate during start respectively stop.

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6PFunction of Ready Output.vi


Controls and Indicators

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

ccclst

P0=Mask for Active Motors (All TRUE)

ccclst

P1=Mask for Reference search of a Motor (All TRUE)

ccclst

VISA Sesssion

cu8

Sixpack ID

Address of Sixpack-Unit

Valid Address:0 to 255

icclst

error out

The error cluster contains error or warning information.

The pop-up option Explain Error (or Explain Warning) gives more information about the error displayed.

ibool

Valid Command

True indicates 9 bytes send to sixpack

istr

Pseudocode

9 bytes in Hex format send to SIXPACK

icclst

DUP VISA Sesssion

6PAdjust Baudrate.vi

Adjust RS 232/ Rs 485 Baud rate

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6PAdjust Baudrate.vi


Controls and Indicators

cu16

Transmitter switch On / Off Delay time in ms (6)

P2,P3 Transmitter switch on/off delay time in increments of 2 ms

( 1---1000) , Default 6 ms,

Writing even values in range of 1--- 1000 to serial interface

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

ccclst

VISA Sesssion

cu8

Sixpack ID

Address of Sixpack-Unit

Valid Address:0 to 255

icclst

error out

error out is a cluster that describes the error status after this VI executes. If an error occurred before this VI was called, error out is the same as error in. Otherwise, error out shows the error, if any, that occurred in this VI. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

ibool

Valid Command

True indicates 9 bytes written to serial port

icclst

DUP VISA Sesssion

6Power-Down Modus.vi

Power down Modus

These versions store the actual positions as soon as the power supply goes below 13V,if enabled.The motors are stopped, as soon as undervoltage is detected.

Thus the devices should not be operated below 15 V under normal conditions.

The power down state is independent of bit 2 as well observed as set back with bit 3.

The power down state which is read also is independent of the stop & save-activation set via bit2.

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6Power-Down Modus.vi


Controls and Indicators

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

ccclst

P1: Bit 0 to 3 (f,f,f,f)

ccclst

VISA Sesssion

cenum

Response Address (0)

Response Address Parmaeter P0 Command $ 43

Since no information is available the parameter has been given value zero

cu8

Sixpack ID

Address of Sixpack-Unit

Valid Address:0 to 255

icclst

error out

error out is a cluster that describes the error status after this VI executes. If an error occurred before this VI was called, error out is the same as error in. Otherwise, error out shows the error, if any, that occurred in this VI. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

istr

Pseducode

String Read from Serial Port. Note in

the Windows and Sun version the serial

port is reset each time the VI is run, voiding

preexisting data. The Macintosh version

saves previously buffered data.

istr

substring P0

Response byte P0 is broken into first 4 bits and indicated as booleans

1 or 0

ibool

Valid Command

Indicator for Valid Command

True Position Indicates 9 Bytes are written and read from sixpack

icclst

DUP VISA Sesssion

icclst

Response Byte P0

6PSet Timeout.vi

Setting of Time out for abort of Packet

RS 232/ 485

Timeout in increments of 2 ms ( P0,P1)

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6PSet Timeout.vi


Controls and Indicators

cu16

Time out in increments of 2 ms (6)

2ms = logic 2

4ms = logic3

6 ms = logic 4

8ms = logic 5

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

ccclst

VISA Sesssion

cu8

Sixpack ID

Address of Sixpack-Unit

Valid Address:0 to 255

istr

Pseudocode

9 bytes send to sixpack

icclst

error out

error out is a cluster that describes the error status after this VI executes. If an error occurred before this VI was called, error out is the same as error in. Otherwise, error out shows the error, if any, that occurred in this VI. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

ibool

Valid Command

True indicates 9 bytes send to serial port

icclst

DUP VISA Sesssion

6PStart Multi Dimension Interpolation.vi

Start multi- dimensional linear Interpolation

Command $ 50

Co-ordinated movement with multiple Motors to a Target position.

The motors have to standstill before execution. All motors reach the target position at same time.The target postion has to be set for each motor ( with command $ 26 ) before.The axis which,regarding its postion distance, is the fastest, will automatically used as a master.In regard of its distance this axis will be driven with the lowest acceleration.To determine if the target postion has been reached , all involved motors have to be queried.

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6PStart Multi Dimension Interpolation.vi


Controls and Indicators

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

ccclst

P 0: MasK for motors (All FALSE)

ccclst

VISA Sesssion

cu8

Sixpack ID

Address of Sixpack-Unit

Valid Address:0 to 255

icclst

error out

The error cluster contains error or warning information.

The pop-up option Explain Error (or Explain Warning) gives more information about the error displayed.

ibool

Valid Command

True indicates 9 bytes send to serial write

icclst

DUP VISA Sesssion

6P Utility Revision Query.vi

This VI queries the current instrument firmware revision and instrument driver revision.

This Instrument Driver's Revision number is 1.0 and is compatible with Instrument Firmware Revision 1.6.2

SIXPACK

Created By: Jupitec GmbH

Release Date:Feb 2002

Originally Developed in LabVIEW Version: 6.0

Modification History:

Apr 2002 H.Brand@gsi.de Problem of oroginal release solved and checked.

Okt 2002 H.Brand@gsi.de Ported to LabVIEW 6.1, Release 1.0.

Copyright (C)

Gesellschaft f. Schwerionenforschung, GSI

Planckstr. 1

64291 Darmstadt

Germany

Contact: http://www-wnt.gsi.de/labview

H.Brand@gsi.de

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

as published by the Free Software Foundation; either version 2

of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details (http://www.gnu.org).


Connector Pane

6P Utility Revision Query.vi


Controls and Indicators

ccclst

error in (no error)

error in is a cluster that describes the error status before this VI executes. If error in indicates that an error occurred before this VI was called, this VI may choose not to execute its function, but just pass the error through to its error out cluster. If no error has occurred, then this VI executes normally and sets its own error status in error out. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

ccclst

VISA Sesssion

cu8

Sixpack ID

Sixpack Valid Address :0 to 255

cenum

Motor Nr. (0)

Motor Nr ( 0 -- 5) parameter P0 8 bit unsigned

istr

Instr Driver Revision

This indicates the revision of this instrument driver's software.

icclst

error out

error out is a cluster that describes the error status after this VI executes. If an error occurred before this VI was called, error out is the same as error in. Otherwise, error out shows the error, if any, that occurred in this VI. Use the error handler VIs to look up the error code and to display the corresponding error message. Using error in and error out clusters is a convenient way to check errors and to specify execution order by wiring the error output from one subVI to the error input of the next.

Valid Range:

Not Applicable

Default:

status= False (no error)

code = 0

source = empty string

iu8

Version

Version

read 162 as 1.6.2

iu16

Serial Number

serial Number

icclst

DUP VISA Sesssion