Epos Windows 32-Bit DLL

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maxon motor control EPOS Positioning Controller

Windows 32-Bit DLL October 2010 Edition

 
Positioning Controller
Documentation
Windows 32-Bit DLL
maxon document number: rel1763

maxon motor
EPOS Positioning Controller Windows 32-Bit DLL
TABLE OF CONTENTS
1 Introduction ..............................................................................................................................................5
2 Third Party Products ...............................................................................................................................6
2.1 IXXAT ......................................................................................................................................................6
2.2 Vector ......................................................................................................................................................6
2.3 National Instruments................................................................................................................................6
3 How to use this Guide .............................................................................................................................7
3.1 General Information .................................................................................................................................7
3.2 Communication Structure ........................................................................................................................8
3.3 Data Type Definitions ..............................................................................................................................8
4 Initialization Functions ............................................................................................................................9
4.1 Communication........................................................................................................................................9
4.1.1 Open Device ............................................................................................................................................... 9
4.1.2 Open Device Dialog .................................................................................................................................... 9
4.1.3 Get Protocol Stack Settings ...................................................................................................................... 10
4.1.4 Set Protocol Stack Settings....................................................................................................................... 10
4.1.5 Find Device Communication Settings ....................................................................................................... 10
4.1.6 Close All Devices ...................................................................................................................................... 11
4.1.7 Close Device............................................................................................................................................. 11
4.2 Info.........................................................................................................................................................11
4.2.1 Get Error Info ............................................................................................................................................ 11
4.2.2 Get Driver Info........................................................................................................................................... 12
4.2.3 Get Version............................................................................................................................................... 12
4.3 Advanced Functions ..............................................................................................................................12
4.3.1 Get Device Name Selection ...................................................................................................................... 12
4.3.2 Get Protocol Stack Name Selection .......................................................................................................... 13
4.3.3 Get Interface Name Selection ................................................................................................................... 13
4.3.4 Get Port Name Selection .......................................................................................................................... 14
4.3.5 Get Baud Rate Selection........................................................................................................................... 14
4.3.6 Programming Example.............................................................................................................................. 15
4.3.7 Get Key Handle......................................................................................................................................... 15
4.3.8 Get Device Name...................................................................................................................................... 15
4.3.9 Get Protocol Stack Name.......................................................................................................................... 16
4.3.10 Get Interface Name................................................................................................................................... 16
4.3.11 Get Port Name .......................................................................................................................................... 16
5 Configuration Functions .......................................................................................................................17
5.1 General..................................................................................................................................................17
5.1.1 Import Parameter ...................................................................................................................................... 17
5.1.2 Export Parameter...................................................................................................................................... 17
5.1.3 Set Object ................................................................................................................................................. 18
5.1.4 Get Object................................................................................................................................................. 18
5.1.5 Restore ..................................................................................................................................................... 19
5.1.6 Store ......................................................................................................................................................... 19
5.2.1 Motor......................................................................................................................................................... 19
5.2.2 Sensor ...................................................................................................................................................... 22
5.2.3 Safety........................................................................................................................................................ 25
5.2.4 Position Regulator..................................................................................................................................... 27
5.2.5 Velocity Regulator ..................................................................................................................................... 29
5.2.6 Current Regulator ..................................................................................................................................... 29
5.2.7 Inputs/Outputs........................................................................................................................................... 30
5.2.8 Units.......................................................................................................................................................... 32
5.2.9 Compatibility Functions (do not use) ......................................................................................................... 33
6 Operation Functions..............................................................................................................................35
6.1 Operation Mode .....................................................................................................................................35
6.1.1 Set Operation Mode .................................................................................................................................. 35
6.1.2 Get Operation Mode ................................................................................................................................. 35
6.2 State Machine........................................................................................................................................36
6.2.1 Reset Device............................................................................................................................................. 36
6.2.2 Set State ................................................................................................................................................... 36
6.2.3 Set Enable State ....................................................................................................................................... 36
6.2.4 Set Disable State ...................................................................................................................................... 37
6.2.5 Set Quick Stop State................................................................................................................................. 37
6.2.6 Clear Fault ................................................................................................................................................ 37
6.2.7 Get State................................................................................................................................................... 38
6.2.8 Get Enable State....................................................................................................................................... 38
6.2.9 Get Disable State...................................................................................................................................... 38
6.2.10 Get Quick Stop State ................................................................................................................................ 39
6.2.11 Get Fault State.......................................................................................................................................... 39
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Windows 32-Bit DLL EPOS Positioning Controller
6.3 Error Handling........................................................................................................................................39

6.3.1 Get Number of Device Error...................................................................................................................... 39
6.3.2 Get Device Error Code.............................................................................................................................. 40
6.3.3 Programming Example.............................................................................................................................. 40
6.4 Motion Info.............................................................................................................................................41
6.4.1 Get Movement State ................................................................................................................................. 41
6.4.2 Get Position Is........................................................................................................................................... 41
6.4.3 Get Velocity Is........................................................................................................................................... 41
6.4.4 Get Current Is ........................................................................................................................................... 42
6.4.5 Wait For Target Reached.......................................................................................................................... 42
6.5 Profile Position Mode.............................................................................................................................42
6.5.1 Activate Profile Position Mode................................................................................................................... 42
6.5.2 Set Position Profile.................................................................................................................................... 43
6.5.3 Get Position Profile ................................................................................................................................... 43
6.5.4 Move To Position ...................................................................................................................................... 44
6.5.5 Get Target Position ................................................................................................................................... 44
6.5.6 Halt Position Movement ............................................................................................................................ 44
6.5.7 Advanced Functions ................................................................................................................................. 45
6.6 Profile Velocity Mode .............................................................................................................................45
6.6.1 Activate Profile Velocity Mode................................................................................................................... 45
6.6.2 Set Velocity Profile.................................................................................................................................... 46
6.6.3 Get Velocity Profile ................................................................................................................................... 46
6.6.4 Move With Velocity ................................................................................................................................... 46
6.6.5 Get Target Velocity ................................................................................................................................... 47
6.6.6 Halt Velocity Movement ............................................................................................................................ 47
6.7 Homing Mode ........................................................................................................................................48
6.7.1 Activate Homing Mode .............................................................................................................................. 48
6.7.2 Set Homing Parameter.............................................................................................................................. 48
6.7.3 Get Homing Parameter ............................................................................................................................. 49
6.7.4 Find Home ................................................................................................................................................ 49
6.7.5 Stop Homing ............................................................................................................................................. 50
6.7.6 Define Position.......................................................................................................................................... 51
6.8 Interpolated Position Mode (IPM) ..........................................................................................................51
6.8.1 Activate Interpolated Position Mode .......................................................................................................... 51
6.8.2 Set IPM Buffer Parameter ......................................................................................................................... 51
6.8.3 Get IPM Buffer Parameter......................................................................................................................... 52
6.8.4 Clear IPM Buffer ....................................................................................................................................... 52
6.8.5 Get Free IPM Buffer Size .......................................................................................................................... 52
6.8.6 Add PVT Value To IPM Buffer................................................................................................................... 53
6.8.7 Start IPM Trajectory .................................................................................................................................. 53
6.8.8 Stop IPM Trajectory .................................................................................................................................. 53
6.8.9 Get IPM Status.......................................................................................................................................... 54
6.9 Position Mode ........................................................................................................................................54
6.9.1 Activate Position Mode.............................................................................................................................. 54
6.9.2 Set Position Must ...................................................................................................................................... 55
6.9.3 Get Position Must...................................................................................................................................... 55
6.10 Velocity Mode ........................................................................................................................................57
6.10.1 Activate Velocity Mode.............................................................................................................................. 57
6.10.2 Set Velocity Must ...................................................................................................................................... 57
6.10.3 Get Velocity Must...................................................................................................................................... 57
6.11 Current Mode.........................................................................................................................................59
6.11.1 Activate Current Mode .............................................................................................................................. 59
6.11.2 Get Current Must ...................................................................................................................................... 59
6.11.3 Set Current Must....................................................................................................................................... 60
6.12 Master Encoder Mode ...........................................................................................................................61
6.12.1 Activate Master Encoder Mode ................................................................................................................. 61
6.12.2 Set Master Encoder Parameter................................................................................................................. 62
6.12.3 Get Master Encoder Parameter ................................................................................................................ 62
6.13 Step Direction Mode ..............................................................................................................................63
6.13.1 Activate Step Direction Mode .................................................................................................................... 63
6.13.2 Set Step Direction Parameter.................................................................................................................... 63
6.13.3 Get Step Direction Parameter ................................................................................................................... 64
6.14 Inputs Outputs .......................................................................................................................................64
6.14.1 Get All Digital Inputs ................................................................................................................................. 64
6.14.2 Get All Digital Outputs............................................................................................................................... 65
6.14.3 Set All Digital Outputs ............................................................................................................................... 65
6.14.4 Get Analog Input ....................................................................................................................................... 65
6.14.5 Set Analog Output..................................................................................................................................... 66
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6.14.6 Position Compare ..................................................................................................................................... 66

6.14.7 Position Marker ......................................................................................................................................... 69
7 Data Recording Functions ....................................................................................................................73
7.1 Data Recorder Setup .............................................................................................................................73
7.1.1 Set Recorder Parameter ........................................................................................................................... 73
7.1.2 Get Recorder Parameter........................................................................................................................... 73
7.1.3 Enable Trigger .......................................................................................................................................... 74
7.1.4 Disable all Triggers ................................................................................................................................... 74
7.1.5 Activate Channel....................................................................................................................................... 74
7.1.6 Deactivate all Channels ............................................................................................................................ 75
7.2 Data Recorder Status ............................................................................................................................75
7.2.1 Start Recorder........................................................................................................................................... 75
7.2.2 Stop Recorder........................................................................................................................................... 75
7.2.3 Force Trigger ............................................................................................................................................ 76
7.2.4 Is Recorder Running ................................................................................................................................. 76
7.2.5 Is Recorder Triggered ............................................................................................................................... 76
7.3 Data Recorder Data...............................................................................................................................77
7.3.1 Read Channel Vector Size........................................................................................................................ 77
7.3.2 Read Channel Data Vector ....................................................................................................................... 77
7.3.3 Show Channel Data Dialog ....................................................................................................................... 77
7.3.4 Export Channel Data to File ...................................................................................................................... 78
7.4.1 Read Data Buffer ...................................................................................................................................... 78
7.4.2 Extract Channel Data Vector..................................................................................................................... 79
8 Low Layer Functions .............................................................................................................................80
8.1 Send CAN Frame ..................................................................................................................................80
8.2 Read CAN Frame ..................................................................................................................................80
8.3 Request CAN Frame .............................................................................................................................80
8.4 Send NMT Service.................................................................................................................................81
9 Error Overview .......................................................................................................................................82
9.1 Overview Communication Errors ...........................................................................................................82
9.2 Overview „Windows 32-Bit DLL„ specified Errors ..................................................................................83
9.2.1 General Errors .......................................................................................................................................... 83
9.2.2 Interface Layer Errors ............................................................................................................................... 83
9.2.3 Interface Layer 'RS232' Errors .................................................................................................................. 83
9.2.4 Interface Layer 'CAN' Errors...................................................................................................................... 83
9.2.5 Interface Layer 'USB' Errors...................................................................................................................... 83
9.2.6 Protocol Layer 'MaxonRS232' Errors ........................................................................................................ 84
9.2.7 Protocol Layer 'CANopen' Errors .............................................................................................................. 84
9.2.8 Protocol Layer 'USB' Errors ...................................................................................................................... 84
10 Version History ......................................................................................................................................85

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1 Introduction
The present documentation “Windows 32-Bit DLL” provides instructions on the implemented functions of the
Windows DLL “EposCmd.dll”, which can be used for devices  and .
The library is arranged in groups of functions and is intended to assist in programming of the control software
based on Microsoft Windows©.
This document describes the interface between a program and the Windows DLL (Dynamic Link Library). This DLL
supports devices of the EPOS family, which are attached to a serial interface RS232, USB or to a CAN board by
IXXAT, Vector or National Instruments. All other CANopen products of other manufacturers can also be used;
however no motion control library is available.
The Windows DLL supports the SDO protocol by CANopen but the Windows DLL is not suitable for real-time
communication.
Additional information is available in the following documents:

• “EposCmd.Net.chm”
The document “EposCmd.Net.chm” describes the implementation for .NET applications. Examples for
VB.Net and C# are available.
• „DLL Integration into MS VC++”
The document „DLL Integration into MS VC++” describes implementation and structure for Microsoft
Visual C++ in detail.
• „DLL Integration into MS Visual Basic”
The document „DLL Integration into MS Visual Basic” describes implementation and structure for
Microsoft Visual Basic in detail.
• „DLL Integration into Borland C++”
The document „DLL Integration into Borland C++” describes implementation and structure for Borland
C++ Builder in detail.
• „DLL Integration into Borland Delphi”
The document „DLL Integration into Borland Delphi” describes implementation and structure for Borland
Delphi in detail.
• „DLL Integration into LabVIEW”
The document „DLL Integration into LabVIEW” describes implementation and structure for National
Instruments LabVIEW in detail.
• „DLL Integration into National Instruments LabWindows/CVI”
The document „DLL Integration into National Instruments LabWindows/CVI” describes implementation
and structure for National Instruments LabWindows/CVI in detail.
For a number of high-level languages an applicable example, including respective documentation, is available.
This library is intended to cover most applications used in automation.

It is based on the experience of maxon motor control. maxon motor control certifies that the content of this library is
correct according to the best of their knowledge.
BECAUSE THIS LIBRARY IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTY FOR THIS LIBRARY,
TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE
COPYRIGHT HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM „AS IS” WITHOUT WARRANTY
OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS
TO THE QUALITY AND PERFORMANCE OF THIS LIBRARY IS WITH YOU. SHOULD THIS LIBRARY PROVE
DEFECTIVE OR INSUFFICIENT, YOU ASSUME THE COST OF ALL NECESSARY SERVICING, REPAIR OR
CORRECTION
The latest edition of these „Windows 32-Bit DLL”, additional documentation and software to the EPOS positioning
controller may also be found in the internet under www.maxonmotor.com category <Service & Downloads> or in
the maxon motor e-shop http://shop.maxonmotor.com.

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2 Third Party Products

Use one of the listed PC CANopen interface cards. For all of these manufacturers motion control libraries (example
and documentation) are available.
All other CANopen products of other manufacturers can also be used; however no motion control library is
available.
2.1 IXXAT
All IXXAT CANopen interfaces can be operated with the hardware-independent VCI driver V3 (Virtual CAN
Interface). The older version VCI driver V2 (2.16 and higher) is still supported but should not be used because of
lower performance.
See addresses below for ordering CANopen boards and further details of the driver.
Distributors
• www.ixxat.de subdirectory <contact>
2.2 Vector
For use of Vector CANopen cards, the ‘XL Driver Library’ is needed. Its latest edition may be found in the internet
under http://www.vector-informatik.de/english/ category <Hardware Products> subdirectory <Interfaces>. The
library must be installed manually in the appropriate working or system directory. With this library, it is possible to
write own CANopen applications based on Vector’s XL hardware.
See address below for ordering CANopen boards and further details of the driver.
Distributors
• General distributors
2.3 National Instruments

CAN Interfaces of National Instruments are supported. The NI-CAN Software and Hardware must be installed.
See address below for ordering CANopen boards.
Contact
• www.ni.com/can

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3 How to use this Guide

Setup
Getting Started
Installation Configuration Programming Application
Cable Starting Set EPOS Studio Windows DLL Application Notes

Application Samples
Hardware Reference IEC1131 Libraries
Firmware Specification
Communication Guide
Figure 1: EPOS documentation hierarchy
3.1 General Information
• For detailed descriptions on used objects (Index-SubIndex), please refer to separate document Firmware
Specification.
• The units of measurement for the parameters are not being mentioned. They depend on the notation index
(position, velocity and acceleration). For details please refer to separate document Firmware Specification.

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3.2 Communication Structure
Figure 2: Communication structure example
3.3 Data Type Definitions

The „Windows 32-Bit DLL” is implemented with Microsoft Visual C++. Below is a table of all used data types.
Name Data type Size bits Size bytes Range

char, __int8 signed integer 8 1 – 128 ... 127
BYTE unsigned integer 8 1 0 ... 256
short signed integer 16 2 – 32'768 ... 32'767
WORD unsigned integer 16 2 0 ... 65'535
long signed integer 32 4 – 2'147'483'648 ... 2'147'483'647
DWORD unsigned integer 32 4 0 ... 4'294'967'295
BOOL signed integer 32 4 TRUE = 1
FALSE = 0
HANDLE pointer to an object 32 4 0 ... 4'294'967'295
Table 1: Data type definitions

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4 Initialization Functions
4.1 Communication
4.1.1 Open Device

Function
HANDLE VCS_OpenDevice (char *DeviceName, char *ProtocolStackName,
char *InterfaceName, char *PortName, DWORD *pErrorCode)
Description
Function „VCS_OpenDevice” opens the port for sending and receiving commands. This function
opens interfaces with the RS232, the USB and with CANopen boards.
For correct designations on DeviceName, ProtocolStackName, InterfaceName and PortName
use the functions Get Device Name Selection, Get Protocol Stack Name Selection,
Get Interface Name Selection and Get Port Name Selection.
Parameters
DeviceName char* Name of connected device:
EPOS, EPOS2
ProtocolStackName char* Name of used bus system:
MAXON_RS232, MAXON SERIAL V2, CANopen
InterfaceName char* Name of used interface:
MAXON_RS232: RS232
MAXON SERIAL V2: USB
CANopen: Is composed of:
Manufacturer_BoardName
DeviceNumber
Examples:
IXXAT_USB-to-CAN compact 0, …
Vector_CANcaseXL Channel 1, …
NI_PCI-CAN 0, …
PortName char* Name of port:
RS232: COM1, COM2, …
CANopen: CAN0, CAN1, …
USB: USB0, USB1, …
Return Parameters
pErrorCode DWORD* Error information about the executed function
Return Value HANDLE Handle for port access.

Nonzero if successful; otherwise 0
4.1.2 Open Device Dialog

Function
HANDLE VCS_OpenDeviceDlg (DWORD *pErrorCode)
Description
The function „VCS_OpenDeviceDlg” registers available interfaces with which the EPOS can be
operated and opens the selected interface for communication.
Return Parameters
Return Value HANDLE Handle for port access.

Nonzero if successful; otherwise 0

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4.1.3 Get Protocol Stack Settings

Function
BOOL VCS_GetProtocolStackSettings (HANDLE KeyHandle, DWORD *pBaudrate,
DWORD *pTimeout, DWORD *pErrorCode)
Description
Function „VCS_GetProtocolStackSettings” returns the communication parameters baud rate
and timeout.
Parameter
KeyHandle HANDLE Handle for port access
Return Parameters
pBaudrate DWORD* Actual baud rate from opened port [Bit/s]
pTimeout DWORD* Actual timeout from opened port [ms]
Return Value BOOL Nonzero if successful; otherwise 0
4.1.4 Set Protocol Stack Settings

Function
BOOL VCS_SetProtocolStackSettings (HANDLE KeyHandle, DWORD Baudrate,
DWORD Timeout, DWORD *pErrorCode)
Description
With function „VCS_SetProtocolStackSettings” it is possible to write the communication
parameters. For exact values of available baud rates use the function Get Baudrate Selection.
Parameters
Baudrate DWORD Actual baud rate from opened port [Bit/s]
Timeout DWORD Actual timeout from opened port [ms]
Return Parameters
Remark
For correct communication use the same baud rate as on the connected device.
4.1.5 Find Device Communication Settings

Function
BOOL VCS_FindDeviceCommunicationSettings (HANDLE KeyHandle, char *pDeviceName,
char *pProtocolStackName, char *pInterfaceName, char *pPortName, WORD SizeName,
DWORD *pBaudrate, DWORD *pTimeout, WORD *pNodeId, int DialogMode,
DWORD *pErrorCode)
Description
With function „VCS_FindDeviceCommunicationSettings” it is possible to search the
communication setting parameters.
Remark
To accelerate the process some parameters can be defined.
Parameters
pDeviceName char* Device name
pProtocolStackName char* Protocol stack name
pInterfaceName char* Interface name
pPortName char* Port name
SizeName WORD Reserved memory size for return parameters
DialogMode int 0: Show Progress Dialog
1: Show Progress and Confirmation Dialog
2: Show Confirmation Dialog

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3: Don’t show any Dialog

Timeout DWORD Actual timeout from opened port [ms]
Return Parameters
pProtocolStackName char* Protocol stack name
pInterfaceName char* Interface name
pBaudrate DWORD Baud rate
pTimeout DWORD Timeout
pNodeId WORD Node ID
4.1.6 Close All Devices

Function
BOOL VCS_CloseAllDevices (DWORD *pErrorCode)
Description
Function „VCS_CloseAllDevices” closes all opened ports and releases it for other applications.
Return Parameter
4.1.7 Close Device

Function
BOOL VCS_CloseDevice (HANDLE KeyHandle, DWORD *pErrorCode)
Description
Function „VCS_CloseDevice” closes the port and releases it for other applications.
Parameters
Return Parameters
4.2 Info
4.2.1 Get Error Info

Function
BOOL VCS_GetErrorInfo (DWORD ErrorCodeValue, char *pErrorInfo, WORD MaxStrSize)
Description
Function „VCS_GetErrorInfo” returns the error information about the executed function from a
received error code. The function returns communication and library errors but no device errors
descriptions.
Parameters
ErrorCodeValue DWORD Received error code
MaxStrSize WORD Max. length of error string
Return Parameters
pErrorInfo char* Error string
Return Value BOOL Nonzero if error information found

0 if no error information string available

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4.2.2 Get Driver Info

Function
BOOL VCS_GetDriverInfo (char *pLibraryName, WORD MaxStrNameSize,
char *pLibraryVersion, WORD MaxStrVersionSize, DWORD *pErrorCode)
Description
Function „VCS_GetDriverInfo” returns the name and version from the Windows DLL.
Parameters
MaxStrNameSize WORD Reserved memory size for the name
MaxStrVersionSize WORD Reserved memory size for the version
Return Parameters
pLibraryName char* Name from DLL
pLibraryVersion char* Version from DLL
4.2.3 Get Version

Function
BOOL VCS_GetVersion (HANDLE KeyHandle, WORD NodeId, WORD *pHardwareVersion,
WORD *pSoftwareVersion, WORD *pApplicationNumber, WORD *pApplicationVersion,
DWORD *pErrorCode)
Description
„VCS_GetVersion” returns the firmware version.
Parameters
NodeId WORD Node ID of the addressed device. ID is given from
hardware switches or the layer setting services
(LSS).
Return Parameters
pHardwareVersion WORD* Hardware version Object: 0x2003-01
pSoftwareVersion WORD* Software version Object: 0x2003-02
pApplicationNumber WORD* Application number Object: 0x2003-03
pApplicationVersion WORD* Application version Object: 0x2003-04
4.3 Advanced Functions

This group defines all required functions to get additional information:
4.3.1 Get Device Name Selection

Function
BOOL VCS_GetDeviceNameSelection (BOOL StartOfSelection, char *pDeviceNameSel,
WORD MaxStrSize, BOOL *pEndOfSelection, DWORD *pErrorCode)
Description
Function „VCS_GetDeviceNameSelection” returns all available device names.
Parameters
StartOfSelection BOOL True: Get first selection string
False: Get next selection string
MaxStrSize WORD Reserved memory size for the device name

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Return Parameters
pDeviceNameSel char* Device name
pEndOfSelection BOOL* 1: No more selection string available
0: More string available
Go to Programming Example
4.3.2 Get Protocol Stack Name Selection

Function
BOOL VCS_GetProtocolStackNameSelection (char *DeviceName, BOOL StartOfSelection,
char *pProtocolStackNameSel, WORD MaxStrSize, BOOL *pEndOfSelection,
DWORD *pErrorCode)
Description
Function „VCS_GetProtocolStackNameSelection” returns all available protocol stack names.
Parameters
DeviceName char* Device name
StartOfSelection BOOL 1: Get first selection string
0: Get next selection string
MaxStrSize WORD Reserved memory size for the name
Return Parameters
pProtocolStackNameSel char* Pointer to available protocol stack name
pEndOfSelection BOOL* 1: No more string available
4.3.3 Get Interface Name Selection

Function
BOOL VCS_GetInterfaceNameSelection (char *DeviceName, char *ProtocolStackName,
BOOL StartOfSelection, char *pInterfaceNameSel, WORD MaxStrSize,
BOOL *pEndOfSelection, DWORD *pErrorCode)
Description
Function „VCS_GetInterfaceNameSelection” returns all available interface names.
Parameters
ProtocolStackName char* Protocol stack name
MaxStrSize WORD Reserved memory size for the interface name
Return Parameters
pInterfaceNameSel char* Name from interface

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4.3.4 Get Port Name Selection

Function
BOOL VCS_GetPortNameSelection (char *DeviceName, char *ProtocolStackName,
char *InterfaceName, BOOL StartOfSelection, char *pPortSel, WORD MaxStrSize,
Description
Function „VCS_GetPortNameSelection” returns all available port names.
Parameters
InterfaceName char* Interface name
MaxStrSize WORD Reserved memory size for the port name
Return Parameters
pPortSel char* Pointer to port name
4.3.5 Get Baud Rate Selection

Function
BOOL VCS_GetBaudrateSelection (char *DeviceName, char *ProtocolStackName,
char *InterfaceName, char *PortName, BOOL StartOfSelection, DWORD *pBaudrateSel,
Description
Function „VCS_GetBaudrateSelection” returns all available baud rates for the connected port.
Parameters
DeviceName char* Name of device
ProtocolStackName char* Name of protocol stack
PortName char* Port name
StartOfSelection BOOL 1: Get first selection value
0: Get next selection value
Return Parameters
pBaudrateSel DWORD* Pointer to baud rate [Bit/s]
pEndOfSelection BOOL* 1: No more value available
0: More value available

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4.3.6 Programming Example

The example shows how to read all protocol stack names of the available interfaces.
Programming language: C++
const WORD maxStrSize = 100;
char *strDeviceName = “EPOS”;

char *strProtocolStackName[maxStrSize];
BOOL endOfSel;
DWORD errorCode;
//get first protocol stack name

if(VCS_GetProtocolStackNameSelection(strDeviceName, TRUE,
strProtocolStackName, maxStrSize, &endOfSel, &errorCode))
{
//get next protocol stack name (as long as endOfSel == FALSE)
while(!endOfSel)
{
VCS_GetProtocolStackNameSelection (strDeviceName, FALSE,
strProtocolStackName, maxStrSize, &endOfSel, &errorCode);
}
}
4.3.7 Get Key Handle

Function
BOOL VCS_GetKeyHandle (char *DeviceName, char *ProtocolStackName,
char *InterfaceName, char *PortName, HANDLE *pKeyHandle, DWORD *pErrorCode)
Description
Function „VCS_GetKeyHandle” returns the key handle from the opened interface.
Parameters
PortName char* Port name
Return Parameters
pKeyHandle HANDLE* Handle for port access, if parameters are correct;
otherwise 0
4.3.8 Get Device Name

Function
BOOL VCS_GetDeviceName (HANDLE KeyHandle, char *pDeviceName, WORD MaxStrSize,
DWORD *pErrorCode)
Description
Function „VCS_GetDeviceName” returns the device name to corresponding handle.
Parameters
MaxStrSize WORD Reserved memory size for the device name
Return Parameters

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4.3.9 Get Protocol Stack Name

Function
BOOL VCS_GetProtocolStackName (HANDLE KeyHandle, char *pProtocolStackName,
WORD MaxStrSize, DWORD *pErrorCode)
Description
Function „VCS_GetProtocolStackName” returns the protocol stack name to corresponding
handle.
Parameters
MaxStrSize WORD Reserved memory size for the name
Return Parameters
pProtocolStackName char* Pointer to protocol stack name
4.3.10 Get Interface Name

Function
BOOL VCS_GetInterfaceName (HANDLE KeyHandle, char *pInterfaceName,
WORD MaxStrSize, DWORD *pErrorCode)
Description
Function „VCS_GetInterfaceName” returns the interface name to corresponding handle.
Parameters
MaxStrSize WORD Reserved memory size for the interface name
Return Parameters
pInterfaceName char* Name from interface
4.3.11 Get Port Name

Function
BOOL VCS_GetPortName (HANDLE KeyHandle, char *pPortName, WORD MaxStrSize,
DWORD *pErrorCode)
Description
Function „VCS_GetPortName” returns the port name to corresponding handle.
Parameters
MaxStrSize WORD Reserved memory size for the port name
Return Parameters

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5 Configuration Functions
For detailed information about the objects refer to associated document Firmware Specification.
5.1 General
5.1.1 Import Parameter

Function
BOOL VCS_ImportParameter (HANDLE KeyHandle, WORD NodeId, char
*pParameterFileName, BOOL ShowDlg, BOOL ShowMsg, DWORD *pErrorCode)
Description
„VCS_ImportParameter” writes parameters from a file to the device.
Parameters
(LSS).
pParameterFileName char* Path of the needed file
ShowDlg BOOL Dialog is shown
ShowMsg BOOL Message box are activated
Return Parameters
5.1.2 Export Parameter

Function
BOOL VCS_ExportParameter (HANDLE KeyHandle, WORD NodeId, char
*pParameterFileName, char *pBinaryFile, char *pUserID, char *pComment, BOOL ShowDlg,
BOOL ShowMsg, DWORD *pErrorCode)
Description
„VCS_ExportParameter” reads all parameters of the device and writes this into the file.
Parameters
(LSS).
pParameterFileName char* Path of the needed file
pBinaryFile char* Firmware file of the connected device
pUserID char* User name
pComment char* Comment
ShowDlg BOOL Dialog is shown
ShowMsg BOOL Message box are activated
Return Parameters

maxon motor
5.1.3 Set Object

Function
BOOL VCS_SetObject (HANDLE KeyHandle, WORD NodeId, WORD ObjectIndex, BYTE
ObjectSubIndex, void *pData, DWORD NbOfBytesToWrite, DWORD *pNbOfBytesWritten,
DWORD *pErrorCode)
Description
The function „VCS_SetObject” writes an object value at the given index and sub-index from
object dictionary.
Parameters
(LSS).
ObjectIndex WORD Object index
ObjectSubIndex BYTE Object sub-index
pData void* Object data
NbOfBytesToWrite DWORD Object length to write (number of bytes)
Return Parameters
pNbOfBytesWritten DWORD* Object length written (number of bytes)
Remarks
All information about object index, object sub-index and object length can be checked in the
associated document Firmware Specification.
5.1.4 Get Object

Function
BOOL VCS_GetObject (HANDLE KeyHandle, WORD NodeId, WORD ObjectIndex,
BYTE ObjectSubIndex, void *pData, DWORD NbOfBytesToRead, DWORD *pNbOfBytesRead,
DWORD *pErrorCode)
Description
The function „VCS_GetObject” reads an object value at the given index and sub-index from
object dictionary.
Parameters
(LSS).
ObjectIndex WORD Object index
ObjectSubIndex BYTE Object sub-index
NbOfBytesToRead DWORD Object length to read (number of bytes)
Return Parameters
pData void* Object data
pNbOfBytesRead DWORD* Object length read (number of bytes)
Remarks
All information about object index, object sub-index and object length can be checked in the
associated document Firmware Specification.

maxon motor
5.1.5 Restore
Function
BOOL VCS_Restore (HANDLE KeyHandle, WORD NodeId, DWORD *pErrorCode)
Description
The function „VCS_Restore” restores all default parameters.
Parameters
(LSS).
Return Parameters
5.1.6 Store
Function
BOOL VCS_Store (HANDLE KeyHandle, WORD NodeId, DWORD *pErrorCode)
Description
The function „VCS_Store” stores all parameters.
Parameters
(LSS).
Return Parameters
5.2.1 Motor
5.2.1.1 Set Motor Type

Function
BOOL VCS_SetMotorType(HANDLE KeyHandle, WORD NodeId, WORD MotorType,
DWORD *pErrorCode)
Description
With function „VCS_SetMotorType” the motor type is written.
Parameters
(LSS).
MotorType WORD Kind of motor (see Table 2) Object: 0x6402-00
Return Parameters

maxon motor
Kind of motor
Description Constant name Value
brushed DC motor MT_DC_MOTOR 1
EC motor sinus commutated MT_EC_SINUS_COMMUTATED_MOTOR 10
EC motor block commutated MT_EC_BLOCK_COMMUTATED_MOTOR 11
Table 2: Kind of motor
5.2.1.2 Set DC-Motor Parameter

Function
BOOL VCS_SetDcMotorParameter (HANDLE KeyHandle, WORD NodeId,
WORD NominalCurrent, WORD MaxOutputCurrent, WORD ThermalTimeConstant,
DWORD *pErrorCode)
Description
With function „VCS_SetDcMotorParameter” it is possible to write all DC motor parameters.
Parameters
(LSS).
NominalCurrent WORD Maximal continuous current Object: 0x6410-01
MaxOutputCurrent WORD Maximal peak current Object: 0x6410-02
ThermalTimeConstant WORD Thermal time constant Object: 0x6410-05
winding
Return Parameters
5.2.1.3 Set EC-Motor Parameter

Function
BOOL VCS_SetEcMotorParameter (HANDLE KeyHandle, WORD NodeId,
WORD NominalCurrent, WORD MaxOutputCurrent, WORD ThermalTimeConstant, BYTE
NbOfPolePairs, DWORD *pErrorCode)
Description
With function „VCS_SetEcMotorParameter” it is possible to write all EC motor parameters.
Parameters
(LSS).
NominalCurrent WORD Maximal continuous current Object: 0x6410-01
MaxOutputCurrent WORD Maximal peak current Object: 0x6410-02
winding
NbOfPolePairs BYTE Number of pole pairs Object: 0x6410-03
Return Parameters
5.2.1.4 Get Motor Type

Function
BOOL VCS_GetMotorType (HANDLE KeyHandle, WORD NodeId, WORD *pMotorType,
DWORD *pErrorCode)
Description
With function „VCS_GetMotorType” it is possible to read the motor type.

maxon motor
Parameters
(LSS).
Return Parameters
MotorType WORD Kind of motor (see Table 2) Object: 0x6402-00
5.2.1.5 Get DC-Motor Parameter

Function
BOOL VCS_GetDcMotorParameter (HANDLE KeyHandle, WORD NodeId, WORD*
pNominalCurrent, WORD* pMaxOutputCurrent, WORD *pThermalTimeConstant,
DWORD *pErrorCode)
Description
With function „VCS_GetDcMotorParameter” it is possible to read all DC motor parameters.
Parameters
(LSS).
Return Parameters
pNominalCurrent WORD* Maximal continuous current Object: 0x6410-01
pMaxOutputCurrent WORD* Maximal peak current Object: 0x6410-02
pThermalTimeConstant WORD* Thermal time constant Object: 0x6410-05
winding
5.2.1.6 Get EC-Motor Parameter

Function
BOOL VCS_GetEcMotorParameter (HANDLE KeyHandle, WORD NodeId, WORD*
pNominalCurrent, WORD* pMaxOutputCurrent, WORD* pThermalTimeConstant, BYTE*
pNbOfPolePairs, DWORD *pErrorCode)
Description
With function „VCS_GetEcMotorParameter” it is possible to read all EC motor parameters.
Parameters
(LSS).
Return Parameters
pNominalCurrent WORD* Maximal continuous current Object: 0x6410-01
pMaxOutputCurrent WORD* Maximal peak current Object: 0x6410-02
pThermalTimeConstant WORD* Thermal time constant Object: 0x6410-05
winding
pNbOfPolePairs BYTE* Number of pole pairs Object: 0x6410-03

maxon motor
5.2.2 Sensor
5.2.2.1 Set Sensor Type

Function
BOOL VCS_SetSensorType (HANDLE KeyHandle, WORD NodeId, WORD Counts,
WORD SensorType, DWORD *pErrorCode)
Description
With function „VCS_SetSensorType” it is possible to write the sensor type.
Parameters
NodeId WORD Node ID of the addressed device. ID is given from hardware
switches or the layer setting services (LSS).
SensorType WORD Position Sensor Type (see Table 3) Object: 0x2210-02
Return Parameters
Position Sensor Type

Description Constant name value
Unknown sensor (undefined) ST_UNKNOWN 0
Incremental Encoder 1 with index ST_INC_ENCODER_3CHANNEL 1
(3-channel)
Incremental Encoder 1 without index ST_INC_ENCODER_2CHANNEL 2
(2-channel)
Hall Sensors ST_HALL_SENSORS 3
SSI Encoder binary coded ST_SSI_ABS_ENCODER_BINARY 4
SSI Encoder Grey coded ST_SSI_ABS_ENCODER_GREY 5
Table 3: Position Sensor Type
5.2.2.2 Set Incremental Encoder Parameter

Function
BOOL VCS_SetIncEncoderParameter (HANDLE KeyHandle, WORD NodeId, DWORD
EncoderResolution, BOOL InvertedPolarity, DWORD *pErrorCode)
Description
With function „VCS_SetIncEncoderParameter” it is possible to write the incremental encoder
parameters.
Parameters
(LSS).
EncoderResolution DWORD Encoder pulse number [pulse Object: 0x2210-01
per turn]
InvertedPolarity BOOL Position sensor polarity Object: 0x2210-04
Return Parameters

maxon motor
5.2.2.3 Set Hall Sensor Parameter

Function
BOOL VCS_SetHallSensorParameter (HANDLE KeyHandle, WORD NodeId, BOOL
InvertedPolarity, DWORD *pErrorCode)
Description
With function „VCS_SetHallSensorParameter” it is possible to write the Hall sensor parameter.
Parameters
(LSS).
Return Parameters
5.2.2.4 Set SSI Absolute Encoder Parameter

Function
BOOL VCS_SetSsiAbsEncoderParameter (HANDLE KeyHandle, WORD NodeId, WORD
DataRate, WORD NbOfMultiTurnDataBits, WORD NbOfSingleTurnDataBits, BOOL
InvertedPolarity, DWORD *pErrorCode)
Description
With function „VCS_SetSsiAbsEncoderParameter” it is possible to write all parameters for SSI
absolute encoder.
Parameters
(LSS).
DataRate WORD SSI encoder data rate Object: 0x2211-01
NbOfMultiTurnDataBits WORD number of bits multi turn Object: 0x2211-02
NbOfSingleTurnDataBits WORD number of bits single turn
Return Parameters
5.2.2.5 Get Sensor Type

Function
BOOL VCS_GetSensorType (HANDLE KeyHandle, WORD NodeId, WORD *pSensorType,
DWORD *pErrorCode)
Description
With function „VCS_GetSensorType” it is possible to read the sensor type.
Parameters
(LSS).
Return Parameters
pSensorType WORD* Position sensor type (see Object: 0x2210-02
Table 3)

maxon motor
5.2.2.6 Get Incremental Encoder Parameter

Function
BOOL VCS_GetIncEncoderParameter (HANDLE KeyHandle, WORD NodeId, DWORD*
pEncoderResolution, BOOL* pInvertedPolarity, DWORD *pErrorCode)
Description
With function „VCS_GetIncEncoderParameter” it is possible to read the incremental encoder
parameters.
Parameters
(LSS).
Return Parameters
pEncoderResolution DWORD Encoder pulse number [pulse Object: 0x2210-01
per turn]
pInvertedPolarity BOOL Position sensor polarity Object: 0x2210-04
5.2.2.7 Get Hall Sensor Parameter

Function
BOOL VCS_GetHallSensorParameter (HANDLE KeyHandle, WORD NodeId, BOOL*
pInvertedPolarity, DWORD *pErrorCode)
Description
With function „VCS_GetHallSensorParameter” it is possible to read the Hall sensor parameters.
Parameters
(LSS).
Return Parameters
pInvertedPolarity BOOL Position sensor polarity Object: 0x2210-04
5.2.2.8 Get SSI Absolute Encoder Parameter

Function
BOOL VCS_GetSsiAbsEncoderParameter (HANDLE KeyHandle, WORD NodeId, WORD*
pDataRate, WORD* pNbOfMultiTurnDataBits, WORD* pNbOfSingleTurnDataBits, BOOL*
pInvertedPolarity, DWORD* pErrorCode)
Description
With function „VCS_GetSsiAbsEncoderParameter” it is possible to read all parameters from SSI
absolute encoder.
Parameters
(LSS).

maxon motor
Return Parameters
pDataRate WORD* SSI encoder data rate Object: 0x2211-01
pNbOfMultiTurnDataBits WORD* number of bits multi turn Object: 0x2211-02
pNbOfSingleTurnDataBits WORD* number of bits single turn
pInvertedPolarity BOOL* Position sensor polarity Object: 0x2210-04
5.2.3 Safety
5.2.3.1 Set Maximal Following Error

Function
BOOL VCS_SetMaxFollowingError (HANDLE KeyHandle, WORD NodeId, DWORD
MaxFollowingError, DWORD *pErrorCode)
Description
„VCS_SetMaxFollowingError” writes the maximal allowed following error parameter.
Parameters
(LSS).
MaxFollowingError DWORD Maximal allowed difference of Object: 0x6065-00
position actual value to
position demand value.
Return Parameters
5.2.3.2 Get Maximal Following Error

Function
BOOL VCS_GetMaxFollowingError (HANDLE KeyHandle, WORD NodeId, DWORD*
pMaxFollowingError, DWORD *pErrorCode)
Description
„VCS_GetMaxFollowingError” reads the maximal allowed following error parameter.
Parameters
(LSS).
Return Parameters
pMaxFollowingError DWORD* Maximal allowed difference of Object: 0x6065-00
position actual value to
position demand value.

maxon motor
5.2.3.3 Set Maximal Profile Velocity

Function
BOOL VCS_SetMaxProfileVelocity (HANDLE KeyHandle, WORD NodeId, DWORD
MaxProfileVelocity, DWORD *pErrorCode)
Description
„VCS_SetMaxProfileVelocity” writes the maximal allowed velocity.
Parameters
(LSS).
MaxProfileVelocity DWORD This value is used as velocity Object: 0x607F-00
limit in a position (or velocity)
move.
Return Parameters
5.2.3.4 Get Maximal Profile Velocity

Function
BOOL VCS_GetMaxProfileVelocity (HANDLE KeyHandle, WORD NodeId, DWORD*
pMaxProfileVelocity, DWORD *pErrorCode)
Description
„VCS_GetMaxProfileVelocity” reads the maximal allowed velocity.
Parameters
(LSS).
Return Parameters
pMaxProfileVelocity DWORD* This value is used as velocity Object: 0x607F-00
limit in a position (or velocity)
move.
5.2.3.5 Set Maximal Acceleration

Function
BOOL VCS_SetMaxAcceleration (HANDLE KeyHandle, WORD NodeId, DWORD
MaxAcceleration, DWORD *pErrorCode)
Description
„VCS_SetMaxAcceleration” writes the maximal allowed acceleration/deceleration.
Parameters
(LSS).
MaxAcceleration DWORD This value is the limit of the Object: 0x60C5-00
other
acceleration/deceleration
objects.

maxon motor
Return Parameters
5.2.3.6 Get Maximal Acceleration

Function
BOOL VCS_GetMaxAcceleration (HANDLE KeyHandle, WORD NodeId, DWORD*
pMaxAcceleration, DWORD *pErrorCode)
Description
„VCS_GetMaxAcceleration” reads the maximal allowed acceleration/deceleration.
Parameters
(LSS).
Return Parameters
pMaxAcceleration DWORD* This value is the limit of the Object: 0x60C5-00
other
acceleration/deceleration
objects.
5.2.4 Position Regulator
5.2.4.1 Set Position Regulator Gain

Function
BOOL VCS_SetPositionRegulatorGain (HANDLE KeyHandle, WORD NodeId, WORD P,
WORD I, WORD D, DWORD *pErrorCode)
Description
With function „VCS_SetPositionRegulatorGain” it is possible to write all position regulator gains.
Determine the optimal parameters by using the 'Regulation Tuning' of EPOS Studio.
Parameters
(LSS).
P WORD Position regulator P-Gain Object: 0x60FB-01
I WORD Position regulator I-Gain Object: 0x60FB-02
D WORD Position regulator D-Gain Object: 0x60FB-03
Return Parameters
5.2.4.2 Set Position Regulator Feed Forward

Function
BOOL VCS_SetPositionRegulatorFeedForward (HANDLE KeyHandle, WORD NodeId,
WORD VelocityFeedForward, WORD AccelerationFeedForward, DWORD *pErrorCode)
Description
„ VCS_SetPositionRegulatorFeedForward” writes parameters for position regulation with feed
forward.

maxon motor
Parameters
NodeId WORD Node ID of the addressed device. ID is given
from hardware switches or the layer setting
services (LSS).
VelocityFeedForward WORD Velocity feed forward Object: 0x60FB-04
factor
AccelerationFeedForward WORD Acceleration feed Object: 0x60FB-05
forward factor
Return Parameters
5.2.4.3 Get Position Regulator Gain

Function
BOOL VCS_GetPositionRegulatorGain (HANDLE KeyHandle, WORD NodeId, WORD *pP,
WORD *pI, WORD *pD, DWORD *pErrorCode)
Description
With function „VCS_GetPositionRegulatorGain” it is possible to read all position regulator gains.
Parameters
(LSS).
Return Parameters
pP WORD* Position regulator P-Gain Object: 0x60FB-01
pI WORD* Position regulator I-Gain Object: 0x60FB-02
pD WORD* Position regulator D-Gain Object: 0x60FB-03
5.2.4.4 Get Position Regulator Feed Forward

Function
BOOL VCS_GetPositionRegulatorFeedForward (HANDLE KeyHandle, WORD NodeId,
WORD* pVelocityFeedForward, WORD* pAccelerationFeedForward, DWORD *pErrorCode)
Description
„ VCS_GetPositionRegulatorFeedForward” sets parameter for position regulation feed forward.
Parameters
(LSS).
Return Parameters
pVelocityFeedForward WORD* Velocity feed forward factor Object: 0x60FB-04
pAccelerationFeedForward WORD* Acceleration feed forward Object: 0x60FB-05
factor

maxon motor
5.2.5 Velocity Regulator
5.2.5.1 Set Velocity Regulator Gain

Function
BOOL VCS_SetVelocityRegulatorGain (HANDLE KeyHandle, WORD NodeId, WORD P,
WORD I, DWORD *pErrorCode)
Description
With function „VCS_SetVelocityRegulatorGain” it is possible to write all velocity regulator gains.
Parameters
(LSS).
P WORD Velocity regulator P-Gain Object: 0x60F9-01
I WORD Velocity regulator I-Gain Object: 0x60F9-02
Return Parameters
5.2.5.2 Get Velocity Regulator Gain

Function
BOOL VCS_GetVelocityRegulatorGain (HANDLE KeyHandle, WORD NodeId, WORD *pP,
WORD *pI, DWORD *pErrorCode)
Description
With function „VCS_GetVelocityRegulatorGain” it is possible to read all velocity regulator gains.
Parameters
(LSS).
Return Parameters
pP WORD* Velocity regulator P-Gain Object: 0x60F9-01
pI WORD* Velocity regulator I-Gain Object: 0x60F9-02
5.2.6 Current Regulator
5.2.6.1 Set Current Regulator Gain

Function
BOOL VCS_SetCurrentRegulatorGain (HANDLE KeyHandle, WORD NodeId, WORD P,
WORD I, DWORD *pErrorCode)
Description
With function „VCS_SetCurrentRegulatorGain” it is possible to write all current regulator gains.
Parameters
(LSS).
P WORD Current regulator P-Gain Object: 0x60F6-01
I WORD Current regulator I-Gain Object: 0x60F6-02

maxon motor
Return Parameters
5.2.6.2 Get Current Regulator Gain

Function
BOOL VCS_GetCurrentRegulatorGain (HANDLE KeyHandle, WORD NodeId, WORD *pP,
WORD *pI, DWORD *pErrorCode)
Description
With function „VCS_GetCurrentRegulatorGain” it is possible to read all current regulator gains.
Parameters
(LSS).
Return Parameters
pP WORD* Current regulator P-Gain Object: 0x60F6-01
pI WORD* Current regulator I-Gain Object: 0x60F6-02
5.2.7 Inputs/Outputs
5.2.7.1 Digital Input Configuration

Function
BOOL VCS_DigitalInputConfiguration (HANDLE KeyHandle, WORD NodeId,
WORD DigitalInputNb, WORD Configuration, BOOL Mask, BOOL Polarity,
BOOL ExecutionMask, DWORD *pErrorCode)
Description
„VCS_DigitalInputConfiguration” sets the parameter for one digital input.
Parameters
(LSS).
DigitalInputNb WORD Number of digital input (Sub- Object: 0x2070-0x
index of object)
Configuration WORD Configures which functionality will be assigned to
digital input (bit number)
For values see Table 4.
Mask BOOL 1: Functionality state will be Object: 0x2071-02
displayed
0: not displayed
Polarity BOOL 1: Low active Object: 0x2071-03
0: High active
ExecutionMask BOOL 1: Set the error routine. Object: 0x2071-04
Only for positive and negative
switch.
Return Parameters

maxon motor
Digital Input Configuration

General purpose A DIC_GENERAL_PURPOSE_A 15
General purpose B DIC_GENERAL_PURPOSE_B 14
General purpose C DIC_GENERAL_PURPOSE_C 13
General purpose D DIC_GENERAL_PURPOSE_D 12
General purpose E DIC_GENERAL_PURPOSE_E 11
General purpose F DIC_GENERAL_PURPOSE_F 10
General purpose G DIC_GENERAL_PURPOSE_G 9
General purpose H DIC_GENERAL_PURPOSE_H 8
General purpose I DIC_GENERAL_PURPOSE_I 7
General purpose J DIC_GENERAL_PURPOSE_J 6
Quick stop DIC_QUICK_STOP 5
Device enable DIC_DRIVE_ENABLE 4
Position marker DIC_POSITION_MARKER 3
Home switch DIC_HOME_SWITCH 2
Positive limit switch DIC_POSITIVE_LIMIT_SWITCH 1
Negative limit switch DIC_NEGATIVE_LIMIT_SWITCH 0
Table 4: Digital Input Configuration
5.2.7.2 Digital Output Configuration

Function
BOOL VCS_DigitalOutputConfiguration (HANDLE KeyHandle, WORD NodeId,
WORD DigitalOutputNb, WORD Configuration, BOOL State, BOOL Mask, BOOL Polarity,
DWORD *pErrorCode)
Description
„VCS_DigitalOutputConfiguration” sets parameter for one digital output.
Parameters
(LSS).
DigitalOutputNb WORD Number of digital output Object: 0x2079-0x
(Sub-index of object)
digital output (bit number).
State BOOL State of digital output Object: 0x2078-01
Mask BOOL 1: Register will be modified Object: 0x2078-02
Polarity BOOL 1: Output will be inverted Object: 0x2078-03
Return Parameters
Digital Output Configuration

General purpose A DOC_GENERAL_PURPOSE_A 15
General purpose B DOC_GENERAL_PURPOSE_B 14
General purpose C DOC_GENERAL_PURPOSE_C 13
General purpose D DOC_GENERAL_PURPOSE_D 12
General purpose E DOC_GENERAL_PURPOSE_E 11
Position compare DOC_POSITION_COMPARE 1
Ready / Fault DOC_READY_FAULT 0
Table 5: Digital Output Configuration

maxon motor
5.2.7.3 Analog Input Configuration

Function
BOOL VCS_AnalogInputConfiguration (HANDLE KeyHandle, WORD NodeId,
WORD AnalogInputNb, WORD Configuration, BOOL ExecutionMask, DWORD *pErrorCode)
Description
„VCS_AnalogInputConfiguration” sets parameter for an analog input.
Parameters
(LSS).
AnalogInputNb WORD Number of analog input (Sub- Object: 0x2079
index of object)
analog input (bit number)
ExecutionMask BOOL 1: Register will be modified Object: 0x2078-02
Return Parameters
Analog Input Configuration

Analog position setpoint AIC_ANALOG_POSITION_SETPOINT 2
Analog velocity setpoint AIC_ANALOG_VELOCITY_SETPOINT 1
Analog current setpoint AIC_ANALOG_CURRENT_SETPOINT 0
Table 6: Analog Input Configuration
5.2.8 Units
5.2.8.1 Set Velocity Units

Function
BOOL VCS_SetVelocityUnits (HANDLE KeyHandle, WORD NodeId, BYTE VelDimension,
char VelNotation, DWORD *pErrorCode)
Description
„VCS_SetVelocityUnits” writes velocity unit parameters.
Parameters
(LSS).
VelDimension BYTE Velocity dimension index Object: 0x608C-00
VD_RPM = 0xA4
VelNotation char Velocity notation index Object: 0x608B-00
VN_STANDARD =0
VN_DECI = -1
VN_CENTI = -2
VN_MILLI = -3
Return Parameters

maxon motor
5.2.8.2 Get Velocity Units

Function
BOOL VCS_GetVelocityUnits (HANDLE KeyHandle, WORD NodeId, BYTE* pVelDimension,
char* pVelNotation, DWORD *pErrorCode)
Description
„VCS_GetVelocityUnits” reads velocity unit parameters.
Parameters
(LSS).
Return Parameters
pVelDimension BYTE* Velocity dimension index Object: 0x608C-00
VD_RPM = 0xA4
pVelNotation char* Velocity notation index Object: 0x608B-00
VN_STANDARD = 0;
VN_DECI = -1;
VN_CENTI = -2;
VN_MILLI = -3
5.2.9 Compatibility Functions (do not use)
5.2.9.1 Set Motor Parameter

Function
BOOL VCS_SetMotorParameter (HANDLE KeyHandle, WORD NodeId, WORD MotorType,
WORD ContinuousCurrent, WORD PeakCurrent, BYTE PolePair,
WORD ThermalTimeConstant, DWORD *pErrorCode)
Description
With function „VCS_SetMotorParameter” it is possible to write all motor parameters.
Parameters
(LSS).
MotorType WORD Kind of motor Object: 0x6402-00
See Table 2 on page 20.
ContinuousCurrent WORD Maximal continuous current Object: 0x6410-01
PeakCurrent WORD Maximal peak current Object: 0x6410-02
PolePair BYTE Number of pole pairs Object: 0x6410-03
winding
Return Parameters
5.2.9.2 Set Encoder Parameter

Function
BOOL VCS_SetEncoderParameter (HANDLE KeyHandle, WORD NodeId, WORD Counts,
WORD PositionSensorType, DWORD *pErrorCode)
Description
With function „VCS_SetEncoderParameter” it is possible to write all encoder parameters.
Parameters

maxon motor

(LSS).
Counts WORD Incremental Encoder counts Object: 0x2210-01
[pulse per turn]
PositionSensorType WORD Position Sensor Type Object: 0x2210-02
Return Parameters
5.2.9.3 Get Motor Parameter

Function
BOOL VCS_GetMotorParameter (HANDLE KeyHandle, WORD NodeId, WORD *pMotorType,
WORD *pContinuousCurrent, WORD *pPeakCurrent, BYTE *pPolePair,
WORD *pThermalTimeConstant, DWORD *pErrorCode)
Description
With function „VCS_GetMotorParameter” it is possible to read all motor parameters.
Parameters
(LSS).
Return Parameters
pMotorType WORD* Kind of motor Object: 0x6402-00
pContinuousCurrent WORD* Maximal continuous current Object: 0x6410-01
pPeakCurrent WORD* Maximal peak current Object: 0x6410-02
pPolePair BYTE* Number of pole pairs Object: 0x6410-03
pThermalTime- WORD* Thermal time constant Object: 0x6410-05
Constant winding
5.2.9.4 Get Encoder Parameter

Function
BOOL VCS_GetEncoderParameter (HANDLE KeyHandle, WORD NodeId, WORD *pCounts,
WORD *pPositionSensorType, DWORD *pErrorCode)
Description
With function „VCS_GetEncoderParameter” it is possible to read all encoder parameters.
Parameters
(LSS).
Return Parameters
pCounts WORD* Incremental encoder counts Object: 0x2210-01
[pulse per turn]
pPositionSensorType WORD* Position sensor type Object: 0x2210-02

maxon motor
6 Operation Functions
6.1 Operation Mode
6.1.1 Set Operation Mode

Function
BOOL VCS_SetOperationMode (HANDLE KeyHandle, WORD NodeId, __int8 Mode,
DWORD *pErrorCode)
Description
„VCS_SetOperationMode” sets the operation mode.
Parameters
(LSS).
Mode __int8 Operation mode (see Table 7) Object: 0x6060-00
Return Parameters
6.1.2 Get Operation Mode

Function
BOOL VCS_GetOperationMode (HANDLE KeyHandle, WORD NodeId, __int8 *pMode,
DWORD *pErrorCode)
Description
Function „VCS_GetOperationMode” returns the activated operation mode.
Parameters
(LSS).
Return Parameters
pMode __int8* Operation mode (see Table 7 Object: 0x6061-00
Operational Modes
Description Value Constant name
Position Profile Mode 1 OMD_PROFILE_POSITION_MODE
Position Velocity Mode 3 OMD_PROFILE_VELOCITY_MODE
Homing Mode 6 OMD_HOMING_MODE
Interpolated Position Mode 7 OMD_INTERPOLATED_POSITION_MODE
Position Mode -1 OMD_POSITION_MODE
Velocity Mode -2 OMD_VELOCITY_MODE
Current Mode -3 OMD_CURRENT_MODE
Master Encoder Mode -5 OMD_MASTER_ENCODER_MODE
Step Direction Mode -6 OMD_STEP_DIRECTION_MODE
Table 7: Operational modes

maxon motor
6.2 State Machine

For detailed information about the state machine refer to associated document Firmware
Specification.
6.2.1 Reset Device

Function
BOOL VCS_ResetDevice (HANDLE KeyHandle, WORD NodeId, DWORD *pErrorCode)
Description
The function „VCS_ResetDevice” is used to send the NMT service ‘Reset Node’. It is a
command without acknowledge.
Parameters
(LSS).
Return Parameters
6.2.2 Set State

Function
BOOL VCS_SetState (HANDLE KeyHandle, WORD NodeId, WORD State,
DWORD *pErrorCode)
Description
„VCS_SetState” reads the actual state machine state.
Parameters
(LSS).
State WORD Value of state machine (see Object: 0x6040-00
Table 8)
Return Parameters
States
Get/Set Disable State 0x0000 ST_DISABLED
Get/Set Enable State 0x0001 ST_ENABLED
Get/Set Quickstop State 0x0002 ST_QUICKSTOP
Get Fault State 0x0003 ST_FAULT
Table 8: State modes
6.2.3 Set Enable State

Function
BOOL VCS_SetEnableState (HANDLE KeyHandle, WORD NodeId, DWORD *pErrorCode)
Description
With the function „VCS_SetEnableState” the device changes to enable state.
Parameters

maxon motor
(LSS).
Return Parameters
6.2.4 Set Disable State

Function
BOOL VCS_SetDisableState (HANDLE KeyHandle, WORD NodeId, DWORD *pErrorCode)
Description
With function „VCS_SetDisableState” changes the device to disable state.
Parameters
(LSS).
Return Parameters
6.2.5 Set Quick Stop State

Function
BOOL VCS_SetQuickStopState (HANDLE KeyHandle, WORD NodeId, DWORD *pErrorCode)
Description
With function „VCS_SetQuickStopState” the device changes to quick stop state.
Parameters
(LSS).
Return Parameters
6.2.6 Clear Fault

Function
BOOL VCS_ClearFault (HANDLE KeyHandle, WORD NodeId, DWORD *pErrorCode)
Description
With function „VCS_ClearFault” the device changes from fault state to disable state.
Parameters
(LSS).
Return Parameters

maxon motor
6.2.7 Get State

Function
BOOL VCS_GetState(HANDLE KeyHandle, WORD NodeId, WORD* pState,
DWORD *pErrorCode)
Description
„VCS_GetState” reads the new state for the state machine.
Parameters
(LSS).
Return Parameters
pState WORD* Control word value (see Object: 0x6040-00
Table 8)
6.2.8 Get Enable State

Function
BOOL VCS_GetEnableState(HANDLE KeyHandle, WORD NodeId, BOOL *pIsEnabled,
DWORD *pErrorCode)
Description
„VCS_GetEnableState” checks if the device is enabled.
Parameters
(LSS).
Return Parameters
pIsEnabled BOOL* 1: Device enabled
0: Device not enabled
6.2.9 Get Disable State

Function
BOOL VCS_GetDisableState(HANDLE KeyHandle, WORD NodeId, BOOL *pIsDisabled,
DWORD *pErrorCode)
Description
„VCS_GetDisableState” checks if the device is disabled.
Parameters
(LSS).
Return Parameters
pIsDisabled BOOL* 1: Device disabled
0: Device not disabled

maxon motor
6.2.10 Get Quick Stop State

Function
BOOL VCS_GetQuickStopState (HANDLE KeyHandle, WORD NodeId,
BOOL *pIsQuickStopped, DWORD *pErrorCode)
Description
The function „VCS_GetQuickStopState” returns the device state quick stop.
Parameters
(LSS).
Return Parameters
pIsQuickStopped BOOL* 1: Device is in quick stop state
0: Device is not in quick stop state
6.2.11 Get Fault State

Function
BOOL VCS_GetFaultState (HANDLE KeyHandle, WORD NodeId, BOOL *pIsInFault,
DWORD *pErrorCode)
Description
The function „VCS_GetFaultState” returns the device state fault (pIsInFault = TRUE).
Parameters
(LSS).
Return Parameters
pIsInFault BOOL* 1: Device is in fault state
0: Device is not in fault state
Remarks
Get error information if the device is in fault state see chapter Error Handling.
6.3 Error Handling
6.3.1 Get Number of Device Error

Function
BOOL VCS_GetNbOfDeviceError (HANDLE KeyHandle, WORD NodeId,
BYTE *pNbDeviceError, DWORD *pErrorCode)
Description
„VCS_GetNbOfDeviceError” returns the number of actual errors that are recorded.
Parameters
(LSS).

maxon motor
Return Parameters
pNbDeviceError BYTE* Number of occurred device Object: 0x1003-00
errors
Programming Example
6.3.2 Get Device Error Code

Function
BOOL VCS_GetDeviceErrorCode (HANDLE KeyHandle, WORD NodeId, BYTE ErrorNumber,
DWORD *pDeviceErrorCode, DWORD *pErrorCode)
Description
„VCS_GetDeviceErrorCode” returns the error code of selected error number .
Parameters
(LSS).
ErrorNumber BYTE Number (Object sub index) Object: 0x1003-0x
of device error (>= 1)
Return Parameters
pDeviceErrorCode BYTE* Actual error code from error Object: 0x1003-0x
history
6.3.3 Programming Example

Description
The example shows how to read the error history from a device. It is written in programming
language C++.
//Global parameters
HANDLE KeyHandle = 1; //handle from opened interface
WORD NodeId = 1; //node ID from connected device
//Functional parameters
BYTE nbOfDeviceError = 0; //number of actual errors
DWORD functionErrorCode = 0; //error code from function
DWORD deviceErrorCode = 0; //error code from device
//get number of device errors

if(VCS_GetNbOfDeviceError (KeyHandle, NodeId, &nbOfDeviceError,
&functionErrorCode))
{
//read device error code
for(BYTE errorNumber = 1; subIndex <= nbOfDeviceError; errorNumber++)
{
if(!VCS_GetDeviceErrorCode(KeyHandle, NodeId, errorNumber,
&deviceErrorCode, &functionErrorCode))
{
break;
}
}

maxon motor
6.4 Motion Info

This group defines all required functions for motion information:
6.4.1 Get Movement State

Function
BOOL VCS_GetMovementState (HANDLE KeyHandle, WORD NodeId,
BOOL *pTargetReached, DWORD *pErrorCode)
Description
With „VCS_GetMovementState” it is possible to check, if drive has reached the target.
Parameters
(LSS).
Return Parameters
pTargetReached BOOL* The drive has reached the Object: 0x6041-00
target. Bit 10
The function reads actual
state of bit 10 from the status
word.
6.4.2 Get Position Is

Function
BOOL VCS_GetPositionIs (HANDLE KeyHandle, WORD NodeId, long *pPositionIs,
DWORD *pErrorCode)
Description
„VCS_GetPositionIs” returns the position actual value.
Parameters
(LSS).
Return Parameters
pPositionIs long* Position actual value Object: 0x6064-00
6.4.3 Get Velocity Is

Function
BOOL VCS_GetVelocityIs (HANDLE KeyHandle, WORD NodeId, long *pVelocityIs,
DWORD *pErrorCode)
Description
„VCS_GetVelocityIs” reads the velocity actual value.
Parameters
(LSS).

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Return Parameters
pVelocityIs long* Velocity actual value Object: 0x606C-00
6.4.4 Get Current Is

Function
BOOL VCS_GetCurrentIs (HANDLE KeyHandle, WORD NodeId, short *pCurrentIs,
DWORD *pErrorCode)
Description
„VCS_GetCurrentIs” returns the current actual value.
Parameters
(LSS).
Return Parameters
pCurrentIs short* Current actual value Object: 0x6078-00
6.4.5 Wait For Target Reached

Function
BOOL VCS_WaitForTargetReached (HANDLE KeyHandle, WORD NodeId, DWORD Timeout,
DWORD *pErrorCode)
Description
„VCS_WaitForTargetReached” is waiting until the state is changed to target reached or the time
is up.
Parameters
(LSS).
Timeout WORD Max. wait time until target reached
Return Parameters
6.5 Profile Position Mode

This group defines all required functions for profile position mode:
6.5.1 Activate Profile Position Mode

Function
BOOL VCS_ActivateProfilePositionMode (HANDLE KeyHandle, WORD NodeId,
DWORD *pErrorCode)
Description
With the function „VCS_ActivateProfilePositionMode” the device changes to profile position
mode (PPM).
Parameters
(LSS).

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Return Parameters
6.5.2 Set Position Profile

Function
BOOL VCS_SetPositionProfile (HANDLE KeyHandle, WORD NodeId,
DWORD ProfileVelocity, DWORD ProfileAcceleration, DWORD ProfileDeceleration,
DWORD *pErrorCode)
Description
„VCS_SetPositionProfile” sets the position profile parameters.
Parameters
(LSS).
ProfileVelocity DWORD Position profile velocity Object: 0x6081-00
ProfileAcceleration DWORD Position profile acceleration Object: 0x6083-00
ProfileDeceleration DWORD Position profile deceleration Object: 0x6084-00
Return Parameters
6.5.3 Get Position Profile

Function
BOOL VCS_GetPositionProfile (HANDLE KeyHandle, WORD NodeId,
DWORD *pProfileVelocity, DWORD *pProfileAcceleration, DWORD *pProfileDeceleration,
DWORD *pErrorCode)
Description
„VCS_GetPositionProfile” returns the position profile parameters.
Parameters
(LSS).
Return Parameters
pProfileVelocity DWORD* Position profile velocity Object: 0x6081-00
pProfileAcceleration DWORD* Position profile acceleration Object: 0x6083-00
pProfileDeceleration DWORD* Position profile deceleration Object: 0x6084-00

maxon motor
6.5.4 Move To Position

Function
BOOL VCS_MoveToPosition (HANDLE KeyHandle, WORD NodeId, long TargetPosition,
BOOL Absolute, BOOL Immediately, DWORD *pErrorCode)
Description
With function „VCS_MoveToPosition” device movement starts with position profile to target
position.
Parameters
(LSS).
TargetPosition long Target position Object: 0x607A-00
Absolute BOOL TRUE starts an absolute, Object: 0x6040-00
FALSE a relative Bit 6
movement
Immediately BOOL TRUE starts immediately, Object: 0x6040-00
FALSE waits to end of last Bit 5
positioning
Return Parameters
6.5.5 Get Target Position

Function
BOOL VCS_GetTargetPosition (HANDLE KeyHandle, WORD NodeId, long *pTargetPosition,
DWORD *pErrorCode)
Description
The function „VCS_GetTargetPosition” returns the profile position mode target value.
Parameters
(LSS).
Return Parameters
pTargetPosition long* Target position Object: 0x607A-00
6.5.6 Halt Position Movement

Function
BOOL VCS_HaltPositionMovement (HANDLE KeyHandle, WORD NodeId,
DWORD *pErrorCode)
Description
With function „VCS_HaltPositionMovement” movement stops with profile deceleration.
Parameters
(LSS).
Return Parameters

maxon motor
6.5.7 Advanced Functions
6.5.7.1 Enable Position Window

Function
BOOL VCS_EnablePositionWindow (HANDLE KeyHandle, WORD NodeId,
DWORD PositionWindow, WORD PositionWindowTime, DWORD *pErrorCode)
Description
With function „VCS_EnablePositionWindow” the position window is activated.
Parameters
(LSS).
PositionWindow DWORD Position window value Object: 0x6067-00
PositionWindowTime WORD Position window time value Object: 0x6068-00
Return Parameters
6.5.7.2 Disable Position Window

Function
BOOL VCS_DisablePositionWindow (HANDLE KeyHandle, WORD NodeId,
DWORD *pErrorCode)
Description
With function „VCS_DisablePositionWindow” the position window is deactivated.
Parameters
(LSS).
Return Parameters
6.6 Profile Velocity Mode

This group defines all required functions for profile velocity mode:
6.6.1 Activate Profile Velocity Mode

Function
BOOL VCS_ActivateProfileVelocityMode (HANDLE KeyHandle, WORD NodeId,
DWORD *pErrorCode)
Description
With the function „VCS_ActivateProfileVelocityMode” the device changes to profile velocity
mode (PVM).
Parameters
(LSS).

maxon motor
Return Parameters
6.6.2 Set Velocity Profile

Function
BOOL VCS_SetVelocityProfile (HANDLE KeyHandle, WORD NodeId,
DWORD ProfileAcceleration, DWORD ProfileDeceleration, DWORD *pErrorCode)
Description
„VCS_SetVelocityProfile” sets the velocity profile parameters.
Parameters
(LSS).
ProfileAcceleration DWORD Velocity profile acceleration Object: 0x6083-00
ProfileDeceleration DWORD Velocity profile deceleration Object: 0x6084-00
Return Parameters
6.6.3 Get Velocity Profile

Function
BOOL VCS_GetVelocityProfile (HANDLE KeyHandle, WORD NodeId,
DWORD *pProfileAcceleration, DWORD *pProfileDeceleration, DWORD *pErrorCode)
Description
„VCS_GetVelocityProfile” returns the velocity profile parameters.
Parameters
(LSS).
Return Parameters
pProfileAcceleration DWORD* Velocity profile acceleration Object: 0x6083-00
pProfileDeceleration DWORD* Velocity profile deceleration Object: 0x6084-00
6.6.4 Move With Velocity

Function
BOOL VCS_MoveWithVelocity (HANDLE KeyHandle, WORD NodeId, long TargetVelocity,
DWORD *pErrorCode)
Description
With function „VCS_MoveWithVelocity” device movement starts with velocity profile to target
velocity.
Parameters
(LSS).
TargetVelocity long Target velocity Object: 0x60FF-00

maxon motor
Return Parameters
6.6.5 Get Target Velocity

Function
BOOL VCS_GetTargetVelocity (HANDLE KeyHandle, WORD NodeId, long *pTargetVelocity,
DWORD *pErrorCode)
Description
The function „VCS_GetTargetVelocity” returns the profile velocity mode target value.
Parameters
(LSS).
Return Parameters
pTargetVelocity long* Target velocity Object: 0x60FF-00
6.6.6 Halt Velocity Movement

Function
BOOL VCS_HaltVelocityMovement (HANDLE KeyHandle, WORD NodeId,
DWORD *pErrorCode)
Description
With function „VCS_HaltVelocityMovement” movement stops with profile deceleration.
Parameters
(LSS).
Return Parameters
6.6.7.1 Enable Velocity Window

Function
BOOL VCS_Enable Velocity Window (HANDLE KeyHandle, WORD NodeId,
DWORD VelocityWindow, WORD VelocityWindowTime, DWORD *pErrorCode)
Description
With function „VCS_EnableVelocityWindow” the velocity window is activated.
Parameters
(LSS).
VelocityWindow DWORD Velocity window value Object: 0x606D-00
VelocityWindowTime WORD Velocity window time value Object: 0x606E-00

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Return Parameters
6.6.7.2 Disable Velocity Window

Function
BOOL VCS_DisableVelocityWindow (HANDLE KeyHandle, WORD NodeId,
DWORD *pErrorCode)
Description
With function „VCS_DisableVelocityWindow” the velocity window is deactivated.
Parameters
(LSS).
Return Parameters
6.7 Homing Mode

This group defines all required functions for homing mode:
6.7.1 Activate Homing Mode

Function
BOOL VCS_ActivateHomingMode (HANDLE KeyHandle, WORD NodeId,
DWORD *pErrorCode)
Description
With the function „VCS_ActivateHomingMode” the device changes to homing mode (HM).
Parameters
(LSS).
Return Parameters
6.7.2 Set Homing Parameter

Function
BOOL VCS_SetHomingParameter (HANDLE KeyHandle, WORD NodeId,
DWORD HomingAcceleration, DWORD SpeedSwitch, DWORD SpeedIndex, long HomeOffset,
WORD CurrentThreshold, long HomePosition, DWORD *pErrorCode)
Description
With function „VCS_SetHomingParameter” it is possible to write all homing parameters.
Parameters
(LSS).
HomingAcceleration DWORD Acceleration for homing Object: 0x609A-00
profile
SpeedSwitch DWORD Speed during search for Object: 0x6099-01
switch

maxon motor
SpeedIndex DWORD Speed during search for Object: 0x6099-02

index signal
HomeOffset long Home offset after homing Object: 0x607C-00
CurrentThreshold WORD Current threshold for Object: 0x2080-00
homing method -1, -2, -3
and -4
HomePosition long Assign the current Homing Object: 0x2081-00
position with this value
Return Parameters
Remarks
Parameter units depend on (position, velocity, acceleration) notation index.
6.7.3 Get Homing Parameter

Function
BOOL VCS_GetHomingParameter (HANDLE KeyHandle, WORD NodeId,
DWORD *pHomingAcceleration, DWORD *pSpeedSwitch, DWORD *pSpeedIndex,
long *pHomeOffset, WORD *pCurrentThreshold, long *pHomePosition, DWORD *pErrorCode)
Description
With function „VCS_GetHomingParameter” it is possible to read all homing parameters.
Parameters
(LSS).
Return Parameters
pHomingAcceleration DWORD* Acceleration for homing Object: 0x609A-00
profile
pSpeedSwitch DWORD* Speed during search for Object: 0x6099-01
switch
pSpeedIndex DWORD* Speed during search for Object: 0x6099-02
index signal
pHomeOffset long* Home offset after homing Object: 0x607C-00
pCurrentThreshold WORD* Current threshold for Object: 0x2080-00
homing method -1, -2, -3
and -4
pHomePosition long* Home position value Object: 0x2081-00
Remarks
Parameter units depend on (position, velocity, acceleration) notation index.
6.7.4 Find Home

Function
BOOL VCS_FindHome (HANDLE KeyHandle, WORD NodeId, __int8 HomingMethod,
DWORD *pErrorCode)
Description
With function „VCS_FindHome” and the parameter „HomingMethod” it is possible to find the
system home. For example a home switch.

maxon motor
Parameters
(LSS).
HomingMethod __int8 Homing method Object: 0x6098-00
Return Parameters
Homing method
Method Constant value Description
Number
35 HM_ACTUAL_POSITION Actual Position
34 HM_INDEX_POSITIVE_SPEED Index Positive Speed
33 HM_INDEX_NEGATIVE_SPEED Index Negative Speed
27 HM_HOME_SWITCH_NEGATIVE_SPEED Home Switch Negative
Speed
23 HM_HOME_SWITCH_POSITIVE_SPEED Home Switch Positive
Speed
18 HM_POSITIVE_LIMIT_SWITCH Positive Limit Switch
17 HM_NEGATIVE_LIMIT_SWITCH Negative Limit Switch
11 HM_HOME_SWITCH_NEGATIVE_SPEED_ Home Switch Negative
AND_INDEX Speed & Index
7 HM_HOME_SWITCH_POSITIVE_SPEED_ Home Switch Positive
AND_INDEX Speed & Index
2 HM_POSITIVE_LIMIT_SWITCH_AND_INDEX Positive Limit Switch &
Index
1 HM_NEGATIVE_LIMIT_SWITCH_AND_INDEX Negative Limit Switch &
Index
0 No homing operation
required
-1 HM_CURRENT_THRESHOLD_POSITIVE_ Current Threshold
SPEED_AND_INDEX Positive Speed & Index
-2 HM_CURRENT_THRESHOLD_NEGATIVE_ Current Threshold
SPEED_AND_INDEX Negative Speed & Index
-3 HM_CURRENT_THRESHOLD_POSITIVE_SPEED Current Threshold
Positive Speed
-4 HM_CURRENT_THRESHOLD_NEGATIVE_SPEED Current Threshold
Negative Speed
Table 9: Homing methods
6.7.5 Stop Homing

Function
BOOL VCS_StopHoming (HANDLE KeyHandle, WORD NodeId, DWORD *pErrorCode)
Description
The function „VCS_StopHoming” interrupts homing.
Parameters
(LSS).
Return Parameters

maxon motor
6.7.6 Define Position

Function
BOOL VCS_DefinePosition (HANDLE KeyHandle, WORD NodeId, long HomePosition,
DWORD *pErrorCode)
Description
The function „VCS_DefinePosition” is using homing method 35 (Actual Position) to set a new
home position.
Parameters
(LSS).
HomePosition long Assign the homing position Object: 0x2081-00
with this value
Return Parameters
6.8 Interpolated Position Mode (IPM)
6.8.1 Activate Interpolated Position Mode

Function
BOOL VCS_ActivateInterpolatedPositionMode (HANDLE KeyHandle, WORD NodeId,
DWORD *pErrorCode)
Description
With the function „VCS_ActivateInterpolatedPositionMode” the device changes to interpolated
position mode (IPM).
Parameters
(LSS).
Return Parameters
6.8.2 Set IPM Buffer Parameter

Function
BOOL VCS_SetIpmBufferParameter (HANDLE KeyHandle, WORD NodeId, WORD
UnderflowWarningLimit, WORD OverflowWarningLimit, DWORD *pErrorCode)
Description
The function „VCS_SetIpmBufferParameter” set warning borders of the data input.
Parameters
(LSS).
UnderflowWarningLimit WORD This object gives lower Object: 0x20C4-02
signalization level of the
data input FIFO.
OverflowWarningLimit WORD This object gives the higher Object: 0x20C4-03
data input FIFO.

maxon motor
Return Parameters
6.8.3 Get IPM Buffer Parameter

Function
BOOL VCS_GetIpmBufferParameter (HANDLE KeyHandle, WORD NodeId, WORD*
pUnderflowWarningLimit, WORD* pOverflowWarningLimit, DWORD* pMaxBufferSize,
DWORD *pErrorCode)
Description
The function „VCS_GetIpmBufferParameter” read warning borders and the max. buffer size of
the data input.
Parameters
(LSS).
Return Parameters
pUnderflowWarningLimit WORD* This object gives lower Object: 0x20C4-02
data input FIFO.
pOverflowWarningLimit WORD* This object gives the Object: 0x20C4-03
higher signalization level
of the data input FIFO.
pMaxBufferSize DWORD* This object provides the Object: 0x60C4-01
maximal buffer size
6.8.4 Clear IPM Buffer

Function
BOOL VCS_ClearIpmBuffer (HANDLE KeyHandle, WORD NodeId, DWORD *pErrorCode)
Description
The function „VCS_ClearIpmBuffer” clears input buffer and enables the access to the input
buffer for the drive functions.
Parameters
(LSS).
Return Parameters
6.8.5 Get Free IPM Buffer Size

Function
BOOL VCS_GetFreeIpmBufferSize (HANDLE KeyHandle, WORD NodeId, DWORD
*pBufferSize, DWORD *pErrorCode)
Description
The function „VCS_GetFreeIpmBufferSize” read the actual free buffer size.

maxon motor
Parameters
(LSS).
Return Parameters
pBufferSize DWORD Actual free buffer size Object: 0x60C4-02
6.8.6 Add PVT Value To IPM Buffer

Function
BOOL VCS_AddPvtValueToIpmBuffer (HANDLE KeyHandle, WORD NodeId, long Position,
long Velocity, BYTE Time, DWORD *pErrorCode)
Description
The function „VCS_AddPvtValueToIpmBuffer” adds a new PVT reference point to the device.
Parameters
(LSS).
Position long Position of the reference point
Object:
Velocity long Velocity of the reference point
0x20C1-00
Time BYTE Time of the reference point
Return Parameters
6.8.7 Start IPM Trajectory

Function
BOOL VCS_StartIpmTrajectory (HANDLE KeyHandle, WORD NodeId, DWORD *pErrorCode)
Description
The function „VCS_StartIpmTrajectory” starts the IPM trajectory.
Parameters
(LSS).
Return Parameters
6.8.8 Stop IPM Trajectory

Function
BOOL VCS_StopIpmTrajectory (HANDLE KeyHandle, WORD NodeId, DWORD *pErrorCode)
Description
The function „VCS_StopIpmTrajectory” stops the IPM trajectory.
Parameters
(LSS).

maxon motor
Return Parameters
6.8.9 Get IPM Status

Function
BOOL VCS_GetIpmStatus (HANDLE KeyHandle, WORD NodeId, BOOL* pTrajectoryRunning,
BOOL* pIsUnderflowWarning, BOOL* pIsOverflowWarning, BOOL* pIsVelocityWarning, BOOL*
pIsAccelerationWarning, BOOL* pIsUnderflowError, BOOL* pIsOverflowError, BOOL*
pIsVelocityError, BOOL* pIsAccelerationError, DWORD *pErrorCode)
Description
The function „VCS_GetIpmStatus” returns different warning and error states.
Parameters
(LSS).
Return Parameters
pTrajectoryRunning BOOL* State if IPM active
pIsUnderflowWarning BOOL* State if buffer underflow level is
reached
pIsOverflowWarning BOOL* State if buffer overflow level is
reached
pIsVelocityWarning BOOL* State if IPM velocity greater than
profile velocity
Object:
pIsAccelerationWarning BOOL* State if IPM acceleration greater
0x20C4-01
than profile acceleration
pIsUnderflowError BOOL* State of underflow error
pIsOverflowError BOOL* State of overflow error
pIsVelocityError BOOL* State if IPM velocity greater than
max. profile velocity
pIsAccelerationError BOOL* State if IPM acceleration greater
than max. profile acceleration
6.9 Position Mode

This group defines all required functions for position mode:
6.9.1 Activate Position Mode

Function
BOOL VCS_ActivatePositionMode (HANDLE KeyHandle, WORD NodeId,
DWORD *pErrorCode)
Description
With the function „VCS_ActivatePositionMode” the device changes to position mode (PM).
Parameters
(LSS).
Return Parameters

maxon motor
6.9.2 Set Position Must

Function
BOOL VCS_SetPositionMust (HANDLE KeyHandle, WORD NodeId, long PositionMust,
DWORD *pErrorCode)
Description
„VCS_SetPositionMust” sets the position demand value.
Parameters
(LSS).
PositionMust long Position demand value Object: 0x2062-00
Return Parameters
6.9.3 Get Position Must

Function
BOOL VCS_GetPositionMust (HANDLE KeyHandle, WORD NodeId, long *pPositionMust,
DWORD *pErrorCode)
Description
„VCS_GetPositionMust” returns the position demand value.
Parameters
(LSS).
Return Parameters
pPositionMust long* Position demand value Object: 0x2062-00
6.9.4.1 Activate Analog Position Setpoint

Function
BOOL VCS_ActivateAnalogPositionSetpoint (HANDLE KeyHandle, WORD NodeId, WORD
AnalogInputNumber, float Scaling, long Offset, DWORD *pErrorCode)
Description
„VCS_ActivateAnalogPositionSetpoint” configures the selected analog input for analog position
setpoint.
Parameters
(LSS).
AnalogInputNumber WORD Number of the used analog Object: 0x207B-01 or
input 0x207B-02
Scaling float The scaling factor for Object: 0x2303-01
analog position setpoint
functionality
Offset long Offset for analog position Object: 0x2303-02
setpoint functionality

maxon motor
Return Parameters
6.9.4.2 Deactivate Analog Position Setpoint

Function
BOOL VCS_DeactivateAnalogPositionSetpoint (HANDLE KeyHandle, WORD NodeId,
WORD AnalogInputNumber, DWORD *pErrorCode)
Description
„VCS_DeactivateAnalogPositionSetpoint” disable the selected analog input for analog position
setpoint.
Parameters
(LSS).
input 0x207B-02
Return Parameters
6.9.4.3 Enable Analog Position Setpoint

Function
BOOL VCS_EnableAnalogPositionSetpoint (HANDLE KeyHandle, WORD NodeId,
DWORD *pErrorCode)
Description
„VCS_EnableAnalogPositionSetpoint” enable the execution mask for analog position setpoint.
Parameters
(LSS).
Return Parameters
6.9.4.4 Disable Analog Position Setpoint

Function
BOOL VCS_DisableAnalogPositionSetpoint (HANDLE KeyHandle, WORD NodeId,
DWORD *pErrorCode)
Description
„VCS_DisableAnalogPositionSetpoint” disable the execution mask for analog position setpoint.
Parameters
(LSS).
Return Parameters

maxon motor
6.10 Velocity Mode

This group defines all required functions for velocity mode:
6.10.1 Activate Velocity Mode

Function
BOOL VCS_ActivateVelocityMode (HANDLE KeyHandle, WORD NodeId,
DWORD *pErrorCode)
Description
With the function „VCS_ActivateVelocityMode” the device changes to velocity mode (VM).
Parameters
(LSS).
Return Parameters
6.10.2 Set Velocity Must

Function
BOOL VCS_SetVelocityMust (HANDLE KeyHandle, WORD NodeId, long VelocityMust,
DWORD *pErrorCode)
Description
The function „VCS_SetVelocityMust” sets the velocity demand value.
Parameters
(LSS).
VelocityMust long Velocity demand value Object: 0x206B-00
Return Parameters
6.10.3 Get Velocity Must

Function
BOOL VCS_GetVelocityMust(HANDLE KeyHandle, WORD NodeId, long *pVelocityMust,
DWORD *pErrorCode)
Description
The function „VCS_GetVelocityMust” returns the velocity demand value.
Parameters
(LSS).
Return Parameters
pVelocityMust long* Velocity demand value Object: 0x206B-00

maxon motor
6.10.4.1 Activate Analog Velocity Setpoint

Function
BOOL VCS_ActivateAnalogVelocitySetpoint(HANDLE KeyHandle, WORD NodeId, WORD
AnalogInputNumber, float Scaling, long Offset, DWORD *pErrorCode)
Description
„VCS_ActivateAnalogVelocitySetpoint” configures the selected analog input for analog velocity
setpoint.
Parameters
(LSS).
input 0x207B-02
analog velocity setpoint
functionality
Offset long Offset for analog velocity Object: 0x2302-02
Return Parameters
6.10.4.2 Deactivate Analog Velocity Setpoint

Function
BOOL VCS_DeactivateAnalogVelocitySetpoint (HANDLE KeyHandle, WORD NodeId,
WORD AnalogInputNumber, DWORD *pErrorCode)
Description
„VCS_DeactivateAnalogVelocitySetpoint” disable the selected analog input for analog velocity
setpoint.
Parameters
(LSS).
input 0x207B-02
Return Parameters
6.10.4.3 Enable Analog Velocity Setpoint

Function
BOOL VCS_EnableAnalogVelocitySetpoint (HANDLE KeyHandle, WORD NodeId,
DWORD *pErrorCode)
Description
„VCS_EnableAnalogVelocitySetpoint” enable the execution mask for analog velocity setpoint.
Parameters
(LSS).

maxon motor
Return Parameters
6.10.4.4 Disable Analog Velocity Setpoint

Function
BOOL VCS_DisableAnalogVelocitySetpoint (HANDLE KeyHandle, WORD NodeId,
DWORD *pErrorCode)
Description
„VCS_DisableAnalogVelocitySetpoint” disable the execution mask for analog velocity setpoint.
Parameters
(LSS).
Return Parameters
6.11 Current Mode

This group defines all required functions for current mode:
6.11.1 Activate Current Mode

Function
BOOL VCS_ActivateCurrentMode (HANDLE KeyHandle, WORD NodeId,
DWORD *pErrorCode)
Description
Function „VCS_ActivateCurrentMode” changes operational mode to current mode.
Parameters
(LSS).
Return Parameters
6.11.2 Get Current Must

Function
BOOL VCS_GetCurrentMust (HANDLE KeyHandle, WORD NodeId, short *pCurrentMust,
DWORD *pErrorCode)
Description
With function „VCS_GetCurrentMust” it is possible to read the current mode demand value.
Parameters
(LSS).

maxon motor
Return Parameters
pCurrentMust short* Current mode demand value Object: 0x2030-00
6.11.3 Set Current Must

Function
BOOL VCS_SetCurrentMust (HANDLE KeyHandle, WORD NodeId, short CurrentMust,
DWORD *pErrorCode)
Description
With function „VCS_SetCurrentMust” it is possible to write current mode demand value.
Parameters
(LSS).
CurrentMust short Current mode demand value Object: 0x2030-00
Return Parameters
6.11.4.1 Activate Analog Current Setpoint

Function
BOOL VCS_ActivateAnalogCurrentSetpoint (HANDLE KeyHandle, WORD NodeId, WORD
AnalogInputNumber, float Scaling, short Offset, DWORD *pErrorCode)
Description
„VCS_ActivateAnalogCurrentSetpoint” configures the selected analog input for analog current
setpoint.
Parameters
(LSS).
input 0x207B-02
analog current setpoint
functionality
Offset short Offset for analog current Object: 0x2301-02
Return Parameters
6.11.4.2 Deactivate Analog Current Setpoint

Function
BOOL VCS_DeactivateAnalogCurrentSetpoint (HANDLE KeyHandle, WORD NodeId, WORD
AnalogInputNumber, DWORD *pErrorCode)
Description
„VCS_DeactivateAnalogCurrentSetpoint” disable the selected analog input for analog current
setpoint.

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Parameters
(LSS).
input 0x207B-02
Return Parameters
6.11.4.3 Enable Analog Current Setpoint

Function
BOOL VCS_EnableAnalogCurrentSetpoint (HANDLE KeyHandle, WORD NodeId,
DWORD *pErrorCode)
Description
„VCS_EnableAnalogCurrentSetpoint” enable the execution mask for analog current setpoint.
Parameters
(LSS).
Return Parameters
6.11.4.4 Disable Analog Current Setpoint

Function
BOOL VCS_DisableAnalogCurrentSetpoint (HANDLE KeyHandle, WORD NodeId,
DWORD *pErrorCode)
Description
„VCS_DisableAnalogCurrentSetpoint” disable the execution mask for analog current setpoint.
Parameters
(LSS).
Return Parameters
6.12 Master Encoder Mode
6.12.1 Activate Master Encoder Mode

Function
BOOL VCS_ActivateMasterEncoderMode (HANDLE KeyHandle, WORD NodeId,
DWORD *pErrorCode)
Description
With the function „VCS_ActivateMasterEncoderMode” the device changes to master encoder
mode (MEM).

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Parameters
(LSS).
Return Parameters
6.12.2 Set Master Encoder Parameter

Function
BOOL VCS_SetMasterEncoderParameter (HANDLE KeyHandle, WORD NodeId, WORD
ScalingNumerator, WORD ScalingDenominator, BYTE Polarity, DWORD MaxVelocity, DWORD
Description
With function „VCS_SetMasterEncoderParameter” it is possible to write all parameters for
master encoder mode.
Parameters
(LSS).
ScalingNumerator WORD Scaling numerator for Object: 0x2300-02
position calculation
ScalingDenominator WORD Scaling denominator for Object: 0x2300-03
Polarity BYTE Polarity of the direction Object: 0x2300-04
input.
0: Positive
1: Negative
MaxVelocity DWORD This parameter is the Object: 0x607F-01
maximal allowed speed
during a profiled move.
MaxAcceleration DWORD Defines the maximal Object: 0x60C5-01
allowed acceleration.
6.12.3 Get Master Encoder Parameter

Function
BOOL VCS_GetMasterEncoderParameter (HANDLE KeyHandle, WORD NodeId, WORD*
pScalingNumerator, WORD* pScalingDenominator, BYTE* pPolarity, DWORD* pMaxVelocity,
DWORD* pMaxAcceleration, DWORD *pErrorCode)
Description
With function „VCS_GetMasterEncoderParameter” it is possible to read all parameters for
master encoder mode.
Parameters
(LSS).
Return Parameters
pScalingNumerator WORD* Scaling numerator for Object: 0x2300-02
pScalingDenominator WORD* Scaling denominator for Object: 0x2300-03
pPolarity BYTE* Polarity of the direction Object: 0x2300-04
input.
0: Positive
1: Negative

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pMaxVelocity DWORD* This parameter is the Object: 0x607F-01

pMaxAcceleration DWORD* Defines the maximal Object: 0x60C5-01
6.13 Step Direction Mode
6.13.1 Activate Step Direction Mode

Function
BOOL VCS_ActivateStepDirectionMode (HANDLE KeyHandle, WORD NodeId,
DWORD *pErrorCode)
Description
With the function „VCS_ActivateStepDirectionMode” the device changes to step direction mode
(SDM).
Parameters
(LSS).
Return Parameters
6.13.2 Set Step Direction Parameter

Function
BOOL VCS_SetStepDirectionParameter (HANDLE KeyHandle, WORD NodeId, WORD
ScalingNumerator, WORD ScalingDenominator, BYTE Polarity, DWORD MaxVelocity, DWORD
Description
With function „VCS_SetStepDirectionParameter” it is possible to write all parameters for step
direction mode.
Parameters
(LSS).
ScalingNumerator WORD Scaling numerator for Object: 0x2300-02
ScalingDenominator WORD Scaling denominator for Object: 0x2300-03
Polarity BYTE Polarity of the direction Object: 0x2300-04
input.
0: Positive
1: Negative
MaxVelocity DWORD This parameter is the Object: 0x607F-01
MaxAcceleration DWORD Defines the maximal Object: 0x60C5-01

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6.13.3 Get Step Direction Parameter

Function
BOOL VCS_GetStepDirectionParameter (HANDLE KeyHandle, WORD NodeId, WORD*
pScalingNumerator, WORD* pScalingDenominator, BYTE* pPolarity, DWORD* pMaxVelocity,
DWORD* pMaxAcceleration, DWORD *pErrorCode)
Description
With function „VCS_GetStepDirectionParameter” it is possible to read all parameters for step
direction mode.
Parameters
(LSS).
Return Parameters
pScalingNumerator WORD* Scaling numerator for Object: 0x2300-02
pScalingDenominator WORD* Scaling denominator for Object: 0x2300-03
pPolarity BYTE* Polarity of the direction Object: 0x2300-04
input.
0: Positive
1: Negative
pMaxVelocity DWORD* This parameter is the Object: 0x607F-01
pMaxAcceleration DWORD* Defines the maximal Object: 0x60C5-01
6.14 Inputs Outputs

This group defines all required functions for inputs and outputs information:
Remark
More information about the inputs from the other devices are available in the “Firmware
Specification” documents!
6.14.1 Get All Digital Inputs

Function
BOOL VCS_GetAllDigitalInputs (HANDLE KeyHandle, WORD NodeId, WORD *pInputs,
DWORD *pErrorCode)
Description
„VCS_GetAllDigitalInputs” returns state of all digital inputs.
Parameters
(LSS).
Return Parameters
pInputs WORD* Display the state of the digital Object: 0x2071-01
input functionalities. If a bit is
read as “1”, the functionality
is
activated.

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6.14.2 Get All Digital Outputs

Function
BOOL VCS_GetAllDigitalOutputs (HANDLE KeyHandle, WORD NodeId, WORD *pOutputs,
DWORD *pErrorCode)
Description
„VCS_GetAllDigitalOutputs” returns state of all digital outputs.
Parameters
(LSS).
Return Parameters
pOutputs WORD* State of all digital outputs. If a Object: 0x2078-01
bit is read as “1”, the state
activated.
6.14.3 Set All Digital Outputs

Function
BOOL VCS_SetAllDigitalOutputs (HANDLE KeyHandle, WORD NodeId, WORD Outputs,
DWORD *pErrorCode)
Description
„VCS_SetAllDigitalOutputs” set state of all digital outputs.
Parameters
(LSS).
Outputs WORD State of all digital outputs. If Object: 0x2078-01
a bit is written as “1”, the
state is activated.
Return Parameters
6.14.4 Get Analog Input

Function
BOOL VCS_GetAnalogInput (HANDLE KeyHandle, WORD NodeId, WORD InputNumber,
WORD *pAnalogValue, DWORD *pErrorCode)
Description
„VCS_GetAnalogInput” returns the value from an analog input.
Parameters
(LSS).
InputNumber WORD Analog input number
Return Parameters
pAnalogValue WORD* Analog value from input Object: 0x207C-0?

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6.14.5 Set Analog Output

Function
BOOL VCS_SetAnalogOutput (HANDLE KeyHandle, WORD NodeId, WORD OutputNumber,
WORD AnalogValue, DWORD *pErrorCode)
Description
„VCS_SetAnalogOutput” set the voltage level of an analog output.
Parameters
(LSS).
OutputNumber WORD Analog output number
pAnalogValue WORD* Analog value for output Object: 0x207E-00
Return Parameters
6.14.6 Position Compare
6.14.6.1 Set Position Compare Parameter

Function
BOOL VCS_SetPositionCompareParameter (HANDLE KeyHandle, WORD NodeId, BYTE
OperationalMode, BYTE IntervalMode, BYTE DirectionDependency, WORD IntervalWidth,
WORD IntervalRepetitions, WORD PulseWidth, DWORD* pErrorCode)
Description
„VCS_SetPositionCompareParameter” write all parameters for position compare.
Parameters
(LSS).
OperationalMode BYTE Used operational mode in
position sequence mode:
(see Table 10)
IntervalMode BYTE Used interval mode in position
Object:
sequence mode:
0x207A-01
(see Table 11)
DirectionDependency BYTE Used direction dependency in
(see Table 12)
IntervalWidth WORD This object holds the width of the Object:
position intervals 0x207A-03
IntervalRepetitions WORD This object allows to configure Object:
the number of position intervals 0x207A-04
to be considered by position
compare
PulseWidth WORD This object configures the pulse Object:
width of the trigger output 0x207A-05
Return Parameters

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OperationalMode
Single position mode 0 PCO_SINGLE_POSITION_MODE
Position sequence mode 1 PCO_POSITION_SEQUENCE_MODE
Table 10: Position Compare - Operational mode
IntervalMode
Interval positions are set in negative 0 PCI_NEGATIVE_DIR_TO_REFPOS
direction relative to the position compare
reference position
Interval positions are set in positive 1 PCI_POSITIVE_DIR_TO_REFPOS
direction relative to the position compare
reference position
Interval positions are set in positive and 2 PCI_BOTH_DIR_TO_REFPOS
negative direction relative to the position
compare reference position
Table 11: Position Compare - Interval mode
DirectionDependency
Positions are compared only if actual 0 PCD_MOTOR_DIRECTION_NEGATIVE
motor direction is negative
Positions are compared only if actual 1 PCD_MOTOR_DIRECTION_POSITIVE
motor direction is positive
Positions are compared regardless of the 2 PCD_MOTOR_DIRECTION_BOTH
actual motor direction
Table 12: Position Compare - Direction Dependency
6.14.6.2 Get Position Compare Parameter

Function
BOOL VCS_GetPositionCompareParameter (HANDLE KeyHandle, WORD NodeId, BYTE*
pOperationalMode, BYTE* pIntervalMode, BYTE* pDirectionDependency, WORD*
pIntervalWidth, WORD* pIntervalRepetitions, WORD* pPulseWidth, DWORD* pErrorCode)
Description
„VCS_GetPositionCompareParameter” read all parameters for position compare.
Parameters
(LSS).
Return Parameters
pOperationalMode BYTE* Used operational mode in position
sequence mode:
(see Table 10)
pIntervalMode BYTE* Used interval mode in position
Object:
sequence mode:
0x207A-01
(see Table 11)
pDirectionDependency BYTE* Used direction dependency in
(see Table 12)
pIntervalWidth WORD* This object holds the width of the Object:
position intervals 0x207A-03
pIntervalRepetitions WORD* This object allows to configure the Object:
number of position intervals to be 0x207A-04
considered by position compare
pPulseWidth WORD* This object configures the pulse Object:
width of the trigger output 0x207A-05

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6.14.6.3 Activate Position Compare

Function
BOOL VCS_ActivatePositionCompare (HANDLE KeyHandle, WORD NodeId, WORD
DigitalOutputNumber, BOOL Polarity, DWORD* pErrorCode)
Description
Function „VCS_ActivatePositionCompare” enables the output to position compare method.
Parameters
(LSS).
DigitalOutputNumber WORD Selected digital output Object: 0x2079
for position compare
Polarity BOOL Polarity of the selected Object: 0x2078-03
output
Return Parameters
6.14.6.4 Deactivate Position Compare

Function
BOOL VCS_DeactivatePositionCompare (HANDLE KeyHandle, WORD NodeId, WORD
DigitalOutputNumber, DWORD* pErrorCode)
Description
Function „VCS_DeactivatePositionCompare” disables the output to position compare method.
Parameters
(LSS).
DigitalOutputNumber WORD Selected digital output Object: 0x2079
for position compare
Return Parameters
6.14.6.5 Enable Position Compare

Function
BOOL VCS_EnablePositionCompare (HANDLE KeyHandle, WORD NodeId, DWORD*
pErrorCode)
Description
Function „VCS_EnablePositionCompare” enables the output mask for position compare
method.
Parameters
(LSS).
Return Parameters

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6.14.6.6 Disable Position Compare

Function
BOOL VCS_DisablePositionCompare (HANDLE KeyHandle, WORD NodeId, DWORD*
pErrorCode)
Description
Function „VCS_DisablePositionCompare” disables the output mask from position compare
method.
Parameters
(LSS).
Return Parameters
6.14.6.7 Set Position Compare Reference Position

Function
BOOL VCS_SetPositionCompareReferencePosition (HANDLE KeyHandle, WORD NodeId,
long ReferencePosition, DWORD* pErrorCode)
Description
„VCS_SetPositionCompareReferencePosition” writes the reference position for position
compare method.
Parameters
(LSS).
ReferencePosition long This object holds the Object: 0x207A-02
position that is
compared with the
position actual value
Return Parameters
6.14.7 Position Marker
6.14.7.1 Set Position Marker Parameter

Function
BOOL VCS_SetPositionMarkerParameter (HANDLE KeyHandle, WORD NodeId, BYTE
PositionMarkerEdgeType, BYTE PositionMarkerMode, DWORD* pErrorCode)
Description
„VCS_SetPositionMarkerParameter” write all parameters for position marker method.
Parameters
services (LSS).
PositionMarkerEdgeType BYTE The value of this object defines on Object:
what kind of edge the position 0x2074-02
should be captured: (see Table 13)
PositionMarkerMode BYTE This object defines the position Object:
marker-capturing mode: 0x2074-03
(see Table 14)

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Return Parameters
PositionMarkerEdgeType
Both edges 0 PET_BOTH_EDGES
Rising edge 1 PET_RISING_EDGE
Falling edge 2 PET_FALLING_EDGE
Table 13: Position marker edge types
PositionMarkerMode
Continuous 0 PM_CONTINUOUS
Single 1 PM_SINGLE
Multiple 2 PM_MULTIPLE
Table 14: Position marker modes
6.14.7.2 Get Position Marker Parameter

Function
BOOL VCS_GetPositionMarkerParameter (HANDLE KeyHandle, WORD NodeId, BYTE*
pPositionMarkerEdgeType, BYTE* pPositionMarkerMode, DWORD* pErrorCode)
Description
„VCS_GetPositionMarkerParameter” read all parameters for position marker method.
Parameters
services (LSS).
Return Parameters
pPositionMarkerEdgeType BYTE* The value of this object Object:
defines on what kind of edge 0x2074-02
the position should be
captured:
(see Table 13)
pPositionMarkerMode BYTE* This object defines the Object:
position marker capturing 0x2074-03
mode:
(see Table 14)
6.14.7.3 Activate Position Marker

Function
BOOL VCS_ActivatePositionMarker (HANDLE KeyHandle, WORD NodeId, WORD
DigitalInputNumber, BOOL Polarity, DWORD* pErrorCode)
Description
Function „VCS_ActivatePositionMarker” enables the digital input to position marker method.

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Parameters
(LSS).
DigitalInputNumber WORD Selected digital input for Object: 0x2070
position marker
Polarity BOOL Polarity of the selected Object: 0x2071-03
input
Return Parameters
6.14.7.4 Deactivate Position Marker

Function
BOOL VCS_DeactivatePositionMarker (HANDLE KeyHandle, WORD NodeId, WORD
DigitalInputNumber, DWORD* pErrorCode)
Description
Function „VCS_DeactivatePositionMarker” disables the digital input to position marker method.
Parameters
(LSS).
DigitalInputNumber WORD Selected digital input for Object: 0x2070
position marker
Return Parameters
6.14.7.5 Read Position Marker Counter

Function
BOOL VCS_ReadPositionMarkerCounter (HANDLE KeyHandle, WORD NodeId,
WORD *pCount, DWORD *pErrorCode)
Description
„VCS_ReadPositionMarkerCounter” returns the number of the detected edges.
Parameters
(LSS).
Return Parameters
pCount WORD* This object counts the Object: 0x2074-04
number of the detected
edges.

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6.14.7.6 Read Position Marker Captured Position

Function
BOOL VCS_ReadPositionMarkerCapturedPosition (HANDLE KeyHandle, WORD NodeId,
WORD CounterIndex, long* pCapturedPosition, DWORD *pErrorCode)
Description
„VCS_ReadPositionMarkerCapturedPosition” returns the last captured position or the position
from the position marker history.
Parameters
(LSS).
CounterIndex WORD 0: Read position marker Object: 0x2074-01
captured position
1 or 2: Read position Object:
marker history 0x2074-05 or 06
Return Parameters
pCapturedPosition long* This object contains the Object: 0x2074-01 or
captured position or the 0x2074-05/06
position marker history
6.14.7.7 Reset Position Marker Counter

Function
BOOL VCS_ResetPositionMarkerCounter (HANDLE KeyHandle, WORD NodeId,
DWORD *pErrorCode)
Description
„VCS_ResetPositionMarkerCounter” clears the counter and the captured positions by writing
zero to object position marker counter (0x2074-04).
Parameters
(LSS).
Return Parameters

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7 Data Recording Functions
7.1 Data Recorder Setup
7.1.1 Set Recorder Parameter

Function
BOOL VCS_SetRecorderParameter (HANDLE KeyHandle, WORD NodeId, WORD
SamplingPeriod, WORD NbOfPrecedingSamples, WORD PulseWidth, DWORD* pErrorCode)
Description
„VCS_SetRecorderParameter” writes parameters for data recorder .
Parameters
(LSS).
SamplingPeriod WORD Sampling Period as a Object: 0x2012-00
multiple of the current
regulator cycle
(n-times 0.1ms)
NbOfPrecedingSamples WORD Number of preceding Object: 0x2013-00
samples (data history).
Return Parameters
7.1.2 Get Recorder Parameter

Function
BOOL VCS_GetRecorderParameter (HANDLE KeyHandle, WORD NodeId, WORD*
pSamplingPeriod, WORD* pNbOfPrecedingSamples, WORD PulseWidth, DWORD*
pErrorCode)
Description
„VCS_GetRecorderParameter” reads parameters for data recorder .
Parameters
(LSS).
Return Parameters
pSamplingPeriod WORD* Sampling Period as a Object: 0x2012-00
multiple of the current
regulator cycle
(n-times 0.1ms)
pNbOfPrecedingSamples WORD* Number of preceding Object: 0x2013-00
samples (data history).

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7.1.3 Enable Trigger

Function
BOOL VCS_EnableTrigger (HANDLE KeyHandle, WORD NodeId, BYTE TriggerType,
DWORD* pErrorCode)
Description
„VCS_EnableTrigger” connects trigger(-s) for data recording.
Parameters
TriggerType BYTE Configuration of Auto Trigger functions. If a Object: 0x2011-00
bit is write as one the trigger is activated:
(see Table 15)
It is possible to activate more than one

trigger at the same time.
Return Parameters
Trigger Types
Trigger movement start 1 DR_MOVEMENT_START_TRIGGER
Error trigger 2 DR_ERROR_TRIGGER
Digital input trigger 4 DR_DIGITAL_INPUT_TRIGGER
Trigger movement end 8 DR_MOVEMENT_END_TRIGGER
Table 15: Data recorder trigger types
7.1.4 Disable all Triggers

Function
BOOL VCS_DisableAllTrigger (HANDLE KeyHandle, WORD NodeId, DWORD* pErrorCode)
Description
„VCS_DisableAllTrigger” sets data recorder configuration (0x2011-00) for triggers to zero.
Parameters
Return Parameters
7.1.5 Activate Channel

Function
BOOL VCS_ActivateChannel (HANDLE KeyHandle, WORD NodeId, BYTE ChannelNumber,
WORD ObjectIndex, BYTE ObjectSubIndex, BYTE ObjectSize, DWORD* pErrorCode)
Description
„VCS_ActivateChannel” connects object for data recording.
Start with channel number one! For every activated channel the number of sampling variables
(Object 0x2014-00) will be incremented

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Parameters
hardware switches or the layer setting services (LSS).
ChannelNumber BYTE Channel number [1 … 4]
ObjectIndex WORD Object index for data recording Object: 0x2015-
ChannelNumber
ObjectSubIndex BYTE Object sub index for data recording Object: 0x2016-
ChannelNumber
ObjectSize BYTE Object size in bytes for data recording
Return Parameters
7.1.6 Deactivate all Channels

Function
BOOL VCS_DeactivateAllChannel (HANDLE KeyHandle, WORD NodeId, DWORD*
pErrorCode)
Description
„VCS_DeactivateAllChannel” sets all data recording objects to zero (0x2014, 0x2015 and
0x2016).
Parameters
Return Parameters
7.2 Data Recorder Status
7.2.1 Start Recorder

Function
BOOL VCS_StartRecorder (HANDLE KeyHandle, WORD NodeId, DWORD* pErrorCode)
Description
„VCS_StartRecorder” starts the data recording.
Parameters
Return Parameters
7.2.2 Stop Recorder

Function
BOOL VCS_StopRecorder (HANDLE KeyHandle, WORD NodeId, DWORD* pErrorCode)
Description
„VCS_StopRecorder” stops the data recording.

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Parameters
Return Parameters
7.2.3 Force Trigger

Function
BOOL VCS_ForceTrigger (HANDLE KeyHandle, WORD NodeId, DWORD* pErrorCode)
Description
„VCS_ForceTrigger” forces the data recording triggers.
Parameters
Return Parameters
7.2.4 Is Recorder Running

Function
BOOL VCS_IsRecorderRunning (HANDLE KeyHandle, WORD NodeId, BOOL* pRunning,
DWORD* pErrorCode)
Description
„VCS_IsRecorderRunning” returns data recorder status running.
Parameters
Return Parameters
pRunning BOOL 1: Data recorder running Object: 0x2017-00,
0: Data recorder stopped (bit 0)
7.2.5 Is Recorder Triggered

Function
BOOL VCS_IsRecorderTriggered (HANDLE KeyHandle, WORD NodeId, BOOL* pTriggered,
DWORD* pErrorCode)
Description
„VCS_IsRecorderTriggered” returns data recorder status triggered.
Parameters

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Return Parameters
pTriggered BOOL 1: Data recorder triggered Object: 0x2017-00
0: Data recorder not triggered (bit 1)
7.3 Data Recorder Data
7.3.1 Read Channel Vector Size

Function
BOOL VCS_ReadChannelVectorSize(HANDLE KeyHandle, WORD NodeId, DWORD*
pVectorSize, DWORD* pErrorCode)
Description
„VCS_ReadChannelVectorSize” returns the maximal number of samples per variable. This
parameter is dynamically calculated by the data recorder.
Parameters
Return Parameters
pVectorSize DWORD Maximal number of Object: 0x2018-00
samples per variable.
7.3.2 Read Channel Data Vector

Function
BOOL VCS_ReadChannelDataVector (HANDLE KeyHandle, WORD NodeId, BYTE
ChannelNumber, BYTE* pDataVector, DWORD VectorSize, DWORD* pErrorCode)
Description
„VCS_ReadChannelDataVector” returns the data points of a selected channel.
Parameters
ChannelNumber BYTE Selected channel
VectorSize DWORD Size of data points Object: 0x2018-00
Return Parameters
pDataVector BYTE Data points of selected Object: 0x201B-00
channel
7.3.3 Show Channel Data Dialog

Function
BOOL VCS_ShowChannelDataDlg(HANDLE KeyHandle, WORD NodeId, DWORD*
pErrorCode)
Description
„VCS_ShowChannelDataDlg” opens the dialog to show the data channel(-s).
Parameters

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Return Parameters
7.3.4 Export Channel Data to File

Function
BOOL VCS_ExportChannelDataToFile (HANDLE KeyHandle, WORD NodeId, char*
FileName, DWORD* pErrorCode)
Description
„VCS_ExportChannelDataToFile” saves data point in a file.
Parameters
FileName char* Path and file name for save data points.
File endings: *.csv, *.txt or *.rda.
Return Parameters
7.4.1 Read Data Buffer

Function
BOOL VCS_ReadDataBuffer(HANDLE KeyHandle, WORD NodeId, BYTE* pDataBuffer,
DWORD BufferSizeToRead, DWORD* pBufferSizeRead, WORD* pVectorStartOffset, WORD*
pMaxNbOfSamples, WORD* pNbOfRecordedSamples, DWORD* pErrorCode)
Description
„VCS_ReadDataBuffer” returns the buffer data points.
Parameters
BufferSizeToRead DWORD Buffer size
Return Parameters
pDataBuffer BYTE* Data points Object: 0x201B-00
pBufferSizeRead DWORD* Size of read data buffer
pVectorStartOffset WORD* Offset to the start of the Object: 0x201A-00
recorded data vector
within the ring buffer.
pMaxNbOfSamples WORD* Maximal number of Object: 0x2018-00
pNbOfRecordedSamples WORD* Number of recorded Object: 0x2019-00
samples.

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7.4.2 Extract Channel Data Vector

Function
BOOL VCS_ExtractChannelDataVector(HANDLE KeyHandle, WORD NodeId, BYTE
ChannelNumber, BYTE* pDataBuffer, DWORD BufferSize, BYTE* pDataVector, DWORD
VectorSize, WORD VectorStartOffset, WORD MaxNbOfSamples, WORD
NbOfRecordedSamples, DWORD* pErrorCode)
Description
„VCS_ExtractChannelDataVector” returns the vector of one data channel.
Parameters
(LSS).
ChannelNumber BYTE Selected channel
pDataBuffer BYTE Data points Object: 0x201B-00
BufferSize DWORD Buffer size
VectorSize DWORD Vector size
VectorStartOffset WORD Offset to the start of the Object: 0x201A-00
recorded data vector
within the ring buffer.
MaxNbOfSamples WORD Maximal number of Object: 0x2018-00
NbOfRecordedSamples WORD Number of recorded Object: 0x2019-00
samples.
Return Parameters
pDataVector BYTE* Data points of the channel

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8 Low Layer Functions
8.1 Send CAN Frame

Function
BOOL VCS_SendCANFrame (HANDLE KeyHandle, WORD CobID, WORD Length,
void *pData, DWORD *pErrorCode)
Description
„VCS_SendCANFrame” sends a general CAN frame to the CAN bus.
Parameters
CobID WORD CAN frame 11-bit identifier
Length WORD CAN frame data length
pData void* CAN frame data
Return Parameters
8.2 Read CAN Frame

Function
BOOL VCS_ReadCANFrame (HANDLE KeyHandle, WORD CobID, WORD Length,
void *pData, DWORD Timeout , DWORD *p ErrorCode)
Description
„VCS_ReadCANFrame” reads a general CAN frame from the CAN bus.
Parameters
Timeout WORD Maximum waiting period
Return Parameters
8.3 Request CAN Frame

Function
BOOL VCS_RequestCANFrame (HANDLE KeyHandle, WORD CobID, WORD Length,
void *pData, DWORD *pErrorCode)
Description
„VCS_RequestCANFrame” requests a general CAN frame from the CAN bus using Remote
Transmit Request (RTR).
Parameters
Return Parameters

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8.4 Send NMT Service

Function
BOOL VCS_SendNMTService (HANDLE KeyHandle, WORD NodeId,
WORD CommandSpecifier, DWORD *pErrorCode)
Description
The function „VCS_SendNMTService” is used to send a NMT protocol from a master to a slave.
It is a command without acknowledge.
Parameters
(LSS).
CommandSpecifier WORD NMT service
(see Table 16)
Return Parameters
Command Specifier
Start remote node 1 NCS_START_REMOTE_NODE
Stop remote node 2 NCS_STOP_REMOTE_NODE
Enter pre-operational 128 NCS_ENTER_PRE_OPERATIONAL
Reset node 129 NCS_RESET_NODE
Reset communication 130 NCS_RESET_COMMUNICATION
Table 16: Command specifier

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9 Error Overview
9.1 Overview Communication Errors

Abort Code Name Error cause
0x0000 0000 No Communication Error The communication was successful
0x0503 0000 Toggle Error Toggle bit not alternated
0x0504 0000 SDO Time Out SDO protocol timed out
0x0504 0001 Client/server specifier Error Client/server command specifier not valid or unknown
0x0504 0002 Invalid block size Invalid block size (block mode only)
0x0504 0003 Invalid sequence Invalid sequence number (block mode only)
0x0504 0004 CrcError CRC error (block mode only)
0x0504 0005 Out of Memory Error Out of Memory
0x0601 0000 Access Error Unsupported access to an object (e.g. write command
to a read-only object)
0x0601 0001 Write Only Read command to a write only object
0x0601 0002 Read Only Write command to a read only object
0x0602 0000 Object does not exist Error The last read or write command had a wrong object
index or sub-index
0x0604 0041 PDO mapping Error The object cannot be mapped to the PDO
0x0604 0042 PDO length Error The number and length of the objects to be mapped
would exceed PDO length
0x0604 0043 General parameter Error General parameter incompatibility
0x0604 0047 General Intern Incompatibility Error General internal incompatibility in device
0x0606 0000 Hardware Error Access failed due to an hardware error
0x0607 0010 Service Parameter Error Data type does not match, length or service
parameter does not match
0x0607 0012 Service Parameter Error too High Error Data type does not match, length or service
parameter too high
0x0607 0013 Service Parameter Error too Low Error Data type does not match, length or service
parameter too low
0x0609 0011 Object Sub-index Error The last read or write command had a wrong Object
sub-index
0x0609 0030 Value Range Error Value range of parameter exceeded
0x0609 0031 Value too High Error Value of parameter written too high
0x0609 0032 Value too Low Error Value of parameter written too low
0x0609 0036 Maximum less Minimum Error Maximum value is less than minimum value
0x0800 0000 General Error General error
0x0800 0020 Transfer or store Error Data cannot be transferred or stored
0x0800 0021 Local control Error Data cannot be transferred or stored to application
because of local control
0x0800 0022 Wrong Device State Data cannot be transferred or stored to application
because of the present device state
0x0F00 FFB9 Error CAN id Wrong CAN id
0x0F00 FFBC Error Service Mode The device is not in service mode
0x0F00 FFBE Password Error The password is wrong
0x0F00 FFBF Illegal Command Error The RS232 command is illegal (does not exist)
0x0F00 FFC0 Wrong NMT State Error The device is in wrong NMT state
Table 17: Communication errors

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9.2 Overview „Windows 32-Bit DLL„ specified Errors
9.2.1 General Errors

Code Name Error cause
0x0000 0000 No Error The function was successful
0x1000 0001 Internal Error Internal Error
0x1000 0002 Null Pointer Null Pointer passed to function
0x1000 0003 Handle not Valid Handle passed to function is not valid
0x1000 0004 Bad Virtual Device Name Virtual Device name is not valid
0x1000 0005 Bad Device Name Device name is not valid
0x1000 0006 Bad ProtocolStack Name ProtocolStack name is not valid
0x1000 0007 Bad Interface Name Interface name is not valid
0x1000 0008 Bad Port Name Port is not valid
0x1000 0009 Library not Loaded Could not load external library
0x1000 000A Executing Command Command failed
0x1000 000B Timeout Timeout occurred during execution
0x1000 000C Bad Parameter Bad Parameter passed to function
0x1000 000D Command Aborted By User Command aborted by user
Table 18: „Windows 32-Bit DLL” specified general errors
9.2.2 Interface Layer Errors

0x2000 0001 Opening Interface Error opening interface
0x2000 0002 Closing Interface Error closing interface
0x2000 0003 Interface not Open Interface is not open
0x2000 0004 Opening Port Error opening port
0x2000 0005 Closing Port Error closing port
0x2000 0006 Port not Open Port is not open
0x2000 0007 Reset Port Error resetting port
0x2000 0008 Set Port Settings Error configuring port settings
0x2000 0009 Set Port Mode Error configuring port mode
Table 19: „Windows 32-Bit DLL” specified interface layer errors
9.2.3 Interface Layer 'RS232' Errors

0x2100 0001 Write Data Error writing data
0x2100 0002 Read Data Error reading data
Table 20: „Windows 32-Bit DLL” specified interface layer ‘RS232’ errors
9.2.4 Interface Layer 'CAN' Errors

0x2200 0001 Receive CAN Frame Error receiving CAN frame
0x2200 0002 Transmit CAN Frame Error transmitting CAN frame
Table 21: „Windows 32-Bit DLL” specified interface layer ‘CAN’ errors
9.2.5 Interface Layer 'USB' Errors

0x2300 0001 Write Data Error writing data
0x2300 0002 Read Data Error reading data
Table 22: „Windows 32-Bit DLL” specified interface layer ‘USB’ errors

maxon motor
9.2.6 Protocol Layer 'MaxonRS232' Errors

0x3100 0001 NegAckReceived Negative acknowledge received
0x3100 0002 BadCrcReceived Bad checksum received
0x3100 0003 BadDataSizeReceived Bad data size received
Table 23: „Windows 32-Bit DLL” specified protocol ‘MaxonRS232’ errors
9.2.7 Protocol Layer 'CANopen' Errors

0x3200 0001 SdoReceiveFrameNotReceived CAN frame of SDO protocol not received
0x3200 0002 RequestedCanFrameNotReceived Requested CAN frame not received
0x3200 0003 CanFrameNotReceived Can frame not received
Table 24: „Windows 32-Bit DLL” specified protocol ‘CANopen’ errors
9.2.8 Protocol Layer 'USB' Errors

0x3300 0001 Stuffing Failed Stuffing Data
0x3300 0002 Destuffing Failed Destuffing Data
0x3300 0003 BadCrcReceived Bad CRC received
0x3300 0004 BadDataSizeReceived Bad Data received
Table 25: „Windows 32-Bit DLL” specified protocol ‘USB’ errors

maxon motor
10 Version History
Date DLL Documentation Description
Version
11.11.2003 1.00 Edition November • First library version
2003
01.12.2003 1.01 Edition December • All selection functions have been changed:
2003 VCS_GetBaudrateSelection(..), VCS_GetDeviceName(..),
VCS_GetDeviceNameSelection(..), VCS_GetDriverInfo(..),
VCS_GetInterfaceName(..), VCS_GetInterfaceNameSelection(..),
VCS_GetPortName(..), VCS_GetPortNameSelection(..),
VCS_GetProtocolStackModeSelection(..),
VCS_GetProtocolStackName(..),
VCS_GetProtocolStackNameSelection(..)
05.01.2004 1.02 Edition • Insert IXXAT details
January 2004
06.04.2004 2.0.0.0 Edition • New functions documented:
April 2004 VCS_CloseAllDevices(..), VCS_DigitalInputConfiguration(..),
VCS_DigitalOutputConfiguration(..), VCS_GetAllDigitalInputs(..),
VCS_GetAllDigitalOutputs(..), VCS_GetAnalogInput(..),
VCS_SetAllDigitalOutputs(..), VCS_SendNMTService(..),
VCS_OpenDeviceDlg(..)
• All this functions have been changed:
VCS_GetBaudrateSelection(..), VCS_FindHome(..),
VCS_GetHomingParameter(..), VCS_SetHomingParameter(..),
VCS_MoveToPosition(..), VCS_GetOperationMode(..),
VCS_SetOperationMode(..), VCS_GetObject(..),
VCS_SetObject(..)
• All this functions have been deleted:
VCS_GetProtocolStackMode(..),
VCS_GetProtocolStackModeSelection(..)
16.07.2004 2.0.3.0 Edition • Error correction documentation
July 2004 • Additional information about error codes
01.03.2005 3.0.0.0 Edition • Insert from Vector CAN cards details
March 2005
01.10.2005 4.0.0.0 Edition • Error correction documentation
October 2005
03.02.2006 4.0.0.0 Edition • Additional information about error codes
February 2006
12.04.2006 4.1.0.0 Edition • New error codes
April 2006
12.04.2006 4.1.1.0 Edition • VCS_SendCANFrame bug fixed
April 2006
11.10.2006 4.2.0.0 Edition • New function: VCS_GetErrorInfo(..)
October 2006
16.10.2006 4.2.1.0 Edition • VCS_GetDriverInfo, VCS_SetHomingParameter bug fixed
October 2006
01.02.2007 4.3.0.0 Edition • Support for National Instruments Interfaces
January 2007
10.08.2007 4.4.0.0 Edition • Support for IXXAT VCI V3
August 2007
01.05.2008 4.5.0.0 Edition • New functions for read device errors (Get Device Error)
April 2008 • Adaption for EPOS2
04.09.2009 4.6.0.0 Edition • Support for EPOS2 functionality
September 2009 • Support for data recorder
• Support for parameter export and import
• VCS_ReadCANFrame
22.10.2009 4.6.1.3 Edition • Multithreading bug fixed
October 2009
30.08.2009 4.7.1.0 Edition • New Parameter “DialogMode” for Findxxx Functions
August 2010 • New ProtocolStack Name “MAXON SERIAL V2”
(Library is still compatible with old name “EPOS2_USB”)
• VCS_WaitForTargetReached returns false, if timeout elapses
11.10.2010 4.7.2.0 Edition • Deadlock when closing Application fixed

October 2010 • Communication for IXXAT VCI V3.3 fixed

maxon motor
LIST OF FIGURES
Figure 1: EPOS documentation hierarchy ......................................................................................................7
Figure 2: Communication structure example..................................................................................................8
LIST OF TABLES
Table 1: Data type definitions........................................................................................................................8
Table 2: Kind of motor.................................................................................................................................20
Table 3: Position Sensor Type ....................................................................................................................22
Table 4: Digital Input Configuration .............................................................................................................31
Table 5: Digital Output Configuration ..........................................................................................................31
Table 6: Analog Input Configuration............................................................................................................32
Table 7: Operational modes ........................................................................................................................35
Table 8: State modes ..................................................................................................................................36
Table 9: Homing methods ...........................................................................................................................50
Table 10: Position Compare - Operational mode ..........................................................................................67
Table 11: Position Compare - Interval mode.................................................................................................67
Table 12: Position Compare - Direction Dependency ...................................................................................67
Table 13: Position marker edge types...........................................................................................................70
Table 14: Position marker modes..................................................................................................................70
Table 15: Data recorder trigger types............................................................................................................74
Table 16: Command specifier .......................................................................................................................81
Table 17: Communication errors ...................................................................................................................82
Table 18: „Windows 32-Bit DLL” specified general errors .............................................................................83
Table 19: „Windows 32-Bit DLL” specified interface layer errors...................................................................83
Table 20: „Windows 32-Bit DLL” specified interface layer ‘RS232’ errors .....................................................83
Table 21: „Windows 32-Bit DLL” specified interface layer ‘CAN’ errors ........................................................83
Table 22: „Windows 32-Bit DLL” specified interface layer ‘USB’ errors.........................................................83
Table 23: „Windows 32-Bit DLL” specified protocol ‘MaxonRS232’ errors ....................................................84
Table 24: „Windows 32-Bit DLL” specified protocol ‘CANopen’ errors ..........................................................84
Table 25: „Windows 32-Bit DLL” specified protocol ‘USB’ errors ..................................................................84

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maxon motor

maxon motor control EPOS Positioning Controller

maxon document number: rel1763

2 maxon motor control October 2010 Edition / Subject to change

6.3 Error Handling........................................................................................................................................39

October 2010 Edition / Subject to change maxon motor control 3

6.14.6 Position Compare ..................................................................................................................................... 66

4 maxon motor control October 2010 Edition / Subject to change

Additional information is available in the following documents:

This library is intended to cover most applications used in automation.

October 2010 Edition / Subject to change maxon motor control 5

2 Third Party Products

2.3 National Instruments

See address below for ordering CANopen boards.

6 maxon motor control October 2010 Edition / Subject to change

3 How to use this Guide

Installation Configuration Programming Application

Cable Starting Set EPOS Studio Windows DLL Application Notes

Hardware Reference IEC1131 Libraries

Figure 1: EPOS documentation hierarchy

3.1 General Information

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3.2 Communication Structure

Figure 2: Communication structure example

3.3 Data Type Definitions

Name Data type Size bits Size bytes Range

8 maxon motor control October 2010 Edition / Subject to change

4.1.1 Open Device

Return Value HANDLE Handle for port access.

4.1.2 Open Device Dialog

Return Value HANDLE Handle for port access.

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4.1.3 Get Protocol Stack Settings

Return Value BOOL Nonzero if successful; otherwise 0

4.1.4 Set Protocol Stack Settings

Return Value BOOL Nonzero if successful; otherwise 0

4.1.5 Find Device Communication Settings

10 maxon motor control October 2010 Edition / Subject to change

3: Don’t show any Dialog

Return Value BOOL Nonzero if successful; otherwise 0

4.1.6 Close All Devices

Return Value BOOL Nonzero if successful; otherwise 0

4.1.7 Close Device

Return Value BOOL Nonzero if successful; otherwise 0

4.2.1 Get Error Info

Return Value BOOL Nonzero if error information found

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4.2.2 Get Driver Info

Return Value BOOL Nonzero if successful; otherwise 0

4.2.3 Get Version

Return Value BOOL Nonzero if successful; otherwise 0

4.3 Advanced Functions

4.3.1 Get Device Name Selection

12 maxon motor control October 2010 Edition / Subject to change

Return Value BOOL Nonzero if successful; otherwise 0

4.3.2 Get Protocol Stack Name Selection

Return Value BOOL Nonzero if successful; otherwise 0

4.3.3 Get Interface Name Selection

Return Value BOOL Nonzero if successful; otherwise 0

October 2010 Edition / Subject to change maxon motor control 13

4.3.4 Get Port Name Selection

Return Value BOOL Nonzero if successful; otherwise 0

4.3.5 Get Baud Rate Selection