Newport ESP6000 User Manual page 71

Function
Motion-Related (Cont.)
Servo
Data Acquisition
Digital I/O
Section 5 - Programming
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Command
esp_get_motor_current(long axis, float *current) ....................... 5-72
esp_set_tach_constant(long axis, float tach) ............................... 5-73
esp_get_tach_constant(long axis, float *tach) ............................. 5-73
esp_set_gear_constant(long axis, float gear) ............................... 5-74
esp_get_gear_constant(long axis, float *gear) ............................. 5-74
esp_set_kp(long axis, float kp) ........................................................ 5-78
esp_get_kp(long axis, float *kp) ..................................................... 5-78
esp_set_kd(long axis, float kd) ........................................................ 5-79
esp_get_kd(long axis, float *kd) ..................................................... 5-79
esp_set_ki(long axis, float ki) .......................................................... 5-80
esp_get_ki(long axis, float *ki) ........................................................ 5-80
esp_set_il(long axis, float il) ............................................................ 5-81
esp_get_il(long axis, float *il) .......................................................... 5-81
esp_set_vel_feedforward(long axis, float vff) ............................... 5-82
esp_get_vel_feedforward(long axis, float *vff) ............................. 5-82
esp_set_acc_feedforward(long axis, float aff) .............................. 5-83
esp_get_acc_feedforward(long axis, float *aff) ............................ 5-83
esp_update_filter(void) .................................................................... 5-84
esp_set_adc_gain(long gain) ........................................................... 5-86
esp_get_adc_gain(long *gain) ......................................................... 5-86
esp_set_adc_range(long range) ...................................................... 5-87
esp_get_adc_range(long *range) .................................................... 5-87
esp_get_adc(long channel, float *conversion, long *TickCnt) ... 5-88
esp_get_all_adc(float *channel, long *TickCnt) ........................... 5-89
esp_set_daq_mode(long mode, long axis, long Adcs,
long feedback, long rate, long Num) ............................................... 5-90
esp_enable_daq(void) ...................................................................... 5-92
esp_get_daq_status(long *count)................................................... 5-93
esp_daq_done() ................................................................................. 5-94
esp_get_daq_data(long *DataArray, long
*Num, long *DaqStat) ....................................................................... 5-95
esp_disable_daq ................................................................................ 5-97
esp_set_portabc_dir
(long PortA, long PortB, long PortC) ........................................... 5-100
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