Page 1 MR-MC200/MR-MC300 Series Position Board User's Manual (API Library) -MR-MC210 -MR-MC211 -MR-MC220U3 -MR-MC220U6 -MR-MC240 -MR-MC241 -MR-MC341...
Page 3 SAFETY PRECAUTIONS (Read these precautions before using this product.) Before using this product, please read this manual and the relevant manuals carefully and pay full attention to safety to handle the product correctly. The precautions given in this manual are concerned with this product only. In this manual, the safety precautions are classified into two levels: "...
Page 4 [Design Precautions] WARNING ● If a communication cable is disconnected, the network may be unstable, resulting in a communication failure of multiple stations. Configure an interlock circuit in the program to ensure that the entire system will always operate safely even if communications fail. Incorrect output or malfunction due to a communication failure may result in an accident.
Page 5 [Security Precautions] WARNING ● To maintain the security (confidentiality, integrity, and availability) of the position board and the system against unauthorized access, denial-of-service (DoS) attacks, computer viruses, and other cyberattacks from external devices via the network, take appropriate measures such as firewalls, virtual private networks (VPNs), and antivirus solutions.
Page 6 [Installation Precautions] CAUTION ● Use the position board in an environment that meets the general specifications in the MR-MC200/MR- MC300 Series Position Board User's Manual (Details). Failure to do so may result in electric shock, fire, malfunction, or damage to or deterioration of the product. ●...
Page 7 [Wiring Precautions] CAUTION ● Individually ground the FG terminals, the controllers, servo amplifiers and servo motors embedded with a position board with a ground resistance of 100 ohms or less. Failure to do so may result in electric shock or malfunction. Do not use a common grounding with other equipment. ●...
Page 8 [Startup and Maintenance Precautions] WARNING ● Do not touch any terminal while power is on. Doing so will cause electric shock or malfunction. ● Correctly connect the battery connector. Do not charge, disassemble, heat, short-circuit, solder, or throw the battery into the fire. Also, do not expose it to liquid or strong shock. Doing so will cause the battery to produce heat, explode, ignite, or leak, resulting in injury and fire.
Page 9 [Startup and Maintenance Precautions] CAUTION ● When using the absolute position system function, on starting up, and when the position board or absolute position motor has been replaced, always perform a home position return. ● Before starting the operation, confirm the brake function. ●...
Page 10 [Computer Connection Precautions] CAUTION ● For Ethernet cables to be used in the system, select the ones that meet the specifications in the MR- MC200/MR-MC300 Series Position Board User's Manual (Details). If not, normal data transmission is not guaranteed. ● When connecting a personal computer to a module having a USB interface, observe the following precautions as well as the instructions described in the manual for the personal computer used.
Page 11 INTRODUCTION Thank you for purchasing the Mitsubishi Electric position board. This manual describes the API functions and the structures necessary for programming. Before using this product, please read this manual and the relevant manuals carefully and develop familiarity with the functions and performance of the position board to handle the product correctly.
Page 12 CONTENTS SAFETY PRECAUTIONS ..............1 INTRODUCTION .
Page 13 Command/Status Functions............. . . 69 sscSetCommandBitSignalEx.
Page 14 sscGetCurrentFbPositionFast ............. . 124 sscGetIoStatusFast .
Page 15 sscIfmGetReadErrorCount ..............168 sscIfmSetHomePosition .
Page 16 PNT_DATA_EX structure [MC300] ............220 OAS_DATA Structure .
Page 17 [IB-0300223ENG] positioning control of the position board, programming, dual port memory and others. e-Manual refers to the Mitsubishi Electric FA electronic book manuals that can be browsed using a dedicated tool. e-Manual has the following features: • Required information can be cross-searched in multiple manuals.
Page 18 TERMS Unless otherwise specified, this manual uses the following terms. Term Description API version Software version of the API library for position board. Buffer memory Memory in a position board and an intelligent function module to store data such as setting values and monitor values.
Page 19 SUMMARY This API library is a collection of API functions for creating applications on the host personal computer which control our position boards shown below. • PCI bus compatible position board (MR-MC210/MR-MC211) • CompactPCI bus compatible position board (MR-MC220U3/MR-MC220U6) • PCI Express bus compatible position board (MR-MC240/MR-MC241/MR-MC341) By using the API functions, it is possible to open and close communication with the position board, initialize communication with the servo amplifier, change parameters, start operations in each operating mode and monitor.
Page 20 • The API version can be checked by the file version in the property dialog of the files below. MR-MC2_ _: mc2xxstd.dll or mc2xxstd_x64.dll MR-MC3_ _: mc3xxstd.dll or mc3xxstd_x64.dll (Example) For version 1.00, the file version is shown as "1.0.0.0". •...
Page 21 CONDITIONS FOR USE The following conditions when using the API functions apply. • The API functions are assumed to be used with a compiler that runs on the following operating systems. Position board Operating system Compiler    MR-MC2_ _ •...
Page 22 Visual C# project The SscApi class of the mc2xxstd [MC200]/mc3xxstd [MC300] namespace defines this API. When using the API library with a Visual C# project, perform the following. • Read the argument type and the structure member type of each API as in the following table. C++ argument type of API C# argument type of API unsigned char...
Page 23 • When the argument of each API is structure pointer/structure array, read the argument type as in the following table. C++ argument type of API C# argument type of API Structure pointer ref PNT_DATA_EX Example: PNT_DATA_EX* Example: PNT_DATA_EX pnt_data_ex = new PNT_DATA_EX(); pnt_data_ex.Initialize();...
Page 24 LIST OF API FUNCTIONS The list of the API functions is shown below. : Usable, : Replacements recommend function, : Unusable Function Function name Function content Usable/unusable Reference section type MC2_ _ MC3_ _ Support sscGetLastError Gets the detailed error codes. Page 28 sscGetLastError ...
Page 25 Function Function name Function content Usable/unusable Reference section type MC2_ _ MC3_ _ Parameter sscChange2ParameterEx Writes the parameters (for 2 parameters). Page 54 sscChange2ParameterEx   functions (Support for writing system parameter, servo [MC300] parameter (MR-J5(W_)-_B/MR-J4(W_)-_B, sensing module), control parameter, RIO module parameter, RIO control parameter) sscCheckParameterEx Reads the parameter set value.
Page 26 Function Function name Function content Usable/unusable Reference section type MC2_ _ MC3_ _ Operating sscJogStart Starts JOG operation.   Page 82 sscJogStart functions sscJogStop Stops JOG operation. Page 84 sscJogStop   sscJogStopNoWait Stops JOG operation. (No wait function) Page 85 sscJogStopNoWait ...
Page 27 Function Function name Function content Usable/unusable Reference section type MC2_ _ MC3_ _ High speed sscGetCurrentCmdPositionFast Gets the current command position.(High Page 123   monitor speed monitor function) sscGetCurrentCmdPositionFast functions sscGetCurrentFbPositionFast Gets the current feedback position.(High Page 124  ...
Page 28 Function Function name Function content Usable/unusable Reference section type MC2_ _ MC3_ _ Digital input/ sscGetDigitalInputDataBit Gets the DI data of the designated digital   Page 158 sscGetDigitalInputDataBit output input on a 1-point basis. functions sscGetDigitalInputDataWord Gets the DI data of the designated digital Page 159 ...
Page 29 Function Function name Function content Usable/unusable Reference section type MC2_ _ MC3_ _ Interrupt sscIntStart Starts up the interrupt driver. Page 185 sscIntStart   functions sscIntEnd Closes the interrupt driver. Page 186 sscIntEnd   sscIntEnable Enables interrupt output. Page 187 sscIntEnable ...
Page 30 API FUNCTION DETAILS Support Functions sscGetLastError For each API function, if an error occurs (return value is "SSC_NG"), the detailed error codes are got by calling that API function. int sscGetLastError ( void Detailed description ■Argument None. ■Return value Latest error code ■Detailed error code None.
Page 31 sscGetMountChannel The mount channel information is got. int sscGetMountChannel ( int board_id, short *mountch Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) mountch [out] Pointer to 2-byte variable (2 bytes  1) which stores the mount channel information ■Return value Value Description...
Page 32 Device Functions Processing procedure The device processing procedure for the memory access is shown below. ■An example of device processing procedure for memory access when 2 position boards (Board ID: 0 and Board ID: 1) are connected to the host personal computer is below. Host personal computer Position Board (Board ID: 0) Position Board (Board ID: 1)
Page 33: 00020000H Ssc_Func_Err_Reopen
sscOpen The memory access port is opened. int sscOpen ( int board_id Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) ■Return value Value Description SSC_OK Function succeeded. SSC_NG Function failed. (To confirm the detailed error code, use the sscGetLastError function.) ■Detailed error code Constant definition Cause/countermeasure...
Page 34: Ssc_Func_Err_Delete_Semaphore
sscClose The memory access port is closed. int sscClose ( int board_id Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) ■Return value Value Description SSC_OK Function succeeded. SSC_NG Function failed. (To confirm the detailed error code, use the sscGetLastError function.) ■Detailed error code Constant definition Cause/countermeasure...
Page 35 Information Functions sscGetControlCycle The control cycle status is got. int sscGetControlCycle ( int board_id, int channel, short *ctrl_cycle Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) ctrl_cycle [out] Pointer to 2-byte variable (2 bytes  1) which stores the control cycle status ■Value •...
Page 36 sscGetBoardVersion The system version information of the position board is got. int sscGetBoardVersion ( int board_id, int channel, char *version Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) version [out] Pointer to 16-byte array (1 byte ...
Page 37 sscGetDriverVersion The driver version information is got. int sscGetDriverVersion ( int board_id, int channel, int axnum, char *version Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) axnum [in] Axis No. (1 to 32 [MC200]/1 to 64 [MC300]) version [out] Pointer to 16-byte array (1 byte ...
Page 38 sscGetOperationCycleMonitor The operation cycle monitor data is got. int sscGetOperationCycleMonitor ( int board_id, int channel, short *now, short *max, short *over, char *status Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) now [out] Pointer to 2-byte variable which stores the operation cycle current time [μs] max [out]...
Page 39 sscClearOperationCycleMonitor The operation cycle monitor data is cleared (initialized). int sscClearOperationCycleMonitor ( int board_id, int channel Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) ■Return value Value Description SSC_OK Function succeeded. SSC_NG Function failed.
Page 40 sscGetBoardSerialNumber [MC300] Gets the position board serial No. int sscGetBoardSerialNumber ( int board_id, char *serialnum Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) serialnum [out] Pointer to 16-byte array (1 byte  16) which stores the serial No. ■Return value Value Description...
Page 41 Parameter Functions Processing procedure An example of parameter processing procedure is shown below. Parameters different from initial values should be changed after all initializing with sscResetAllParameter function. ■When setting the system parameters Position board Host personal computer Processes the parameters Sets the parameters Completes the (Example)
Page 42 sscResetAllParameter All parameters are set to the initial values before system startup (system preparation completion). int sscResetAllParameter ( int board_id, int channel, int timeout Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) timeout [in] Timeout time [ms] (0 to 65535) ■Return value...
Page 43 sscChangeParameter Each of the parameters is written. This API function supports the writing of the system parameters, servo parameters (MR-J4(W_)-_B/MR-J3(W)-_B), sensing module, control parameters, RIO module parameters, and RIO control parameters. Due to unsupport of the servo parameters of MR-J5(W_)-_B, when writing the servo parameters of MR-J5(W_)-_B, use the sscChangeParameterEx function. [MC300] int sscChangeParameter ( int board_id, int channel,...
Page 44 ■Supported version Position board API version Board version Header file MR-MC2_ _ 1.80 mc2xxstd.h MR-MC3_ _ 1.30 mc3xxstd.h ■Reference • sscChange2Parameter (Page 43 sscChange2Parameter) • sscCheckParameter (Page 45 sscCheckParameter) • sscCheck2Parameter (Page 47 sscCheck2Parameter) • sscChangeParameterEx [MC300] (Page 52 sscChangeParameterEx [MC300]) •...
Page 45 sscChange2Parameter Two of the parameters are written. This API function supports the writing of the system parameters, servo parameters (MR-J4(W_)-_B/MR-J3(W)-_B), sensing module, control parameters, RIO module parameters, and RIO control parameters. Due to unsupport of the servo parameters of MR-J5(W_)-_B, when writing the servo parameters of MR-J5(W_)-_B, use the sscChange2ParameterEx function.
Page 46 ■Detailed error code Constant definition Cause/countermeasure SSC_FUNC_ERR_ARGUMENT_0 The argument is outside the set range.  = 1 to 9: Argument location SSC_FUNC_ERR_NOW_ALARM_SYSTEM A system error (EH) occurred. Get the system status code with the sscGetSystemStatusCode function and remove the cause. SSC_FUNC_ERR_TIMEOUT_0...
Page 47 sscCheckParameter The set value of the designated parameter is read. This API function supports the reading of the system parameters, servo parameters (MR-J4(W_)-_B/MR-J3(W)-_B), sensing module, control parameters, RIO module parameters, and RIO control parameters. Due to unsupport of the servo parameters of MR-J5(W_)-_B, when reading the servo parameters of MR-J5(W_)-_B, use the sscCheckParameterEx function.
Page 48 ■Supported version Position board API version Board version Header file MR-MC2_ _ 1.80 mc2xxstd.h MR-MC3_ _ 1.30 mc3xxstd.h ■Reference • sscChangeParameter (Page 41 sscChangeParameter) • sscChange2Parameter (Page 43 sscChange2Parameter) • sscCheck2Parameter (Page 47 sscCheck2Parameter) • sscChangeParameterEx [MC300] (Page 52 sscChangeParameterEx [MC300]) •...
Page 49 sscCheck2Parameter Two set values of the designated parameters are read. This API function supports the reading of the system parameters, servo parameters (MR-J4(W_)-_B/MR-J3(W)-_B), sensing module, control parameters, RIO module parameters, and RIO control parameters. Due to unsupport of the servo parameters of MR-J5(W_)-_B, when reading the servo parameters of MR-J5(W_)-_B, use the sscCheck2ParameterEx function.
Page 50 ■Point • This API function can read the parameters either before or while the system is running. • To read only 1 parameter, set "0" in the other parameters. • It takes about 2 to 10 control cycles to confirm the response of the position board. •...
Page 51 sscLoadAllParameterFromFlashROM All parameters before the system startup (system preparation completion) are read from the flash ROM. int sscLoadAllParameterFromFlashROM ( int board_id, int channel, int timeout Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No.
Page 52 sscSaveAllParameterToFlashROM All parameters are saved to the flash ROM. int sscSaveAllParameterToFlashROM ( int board_id, int channel, int timeout Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) timeout [in] Timeout time [ms] (0 to 65535 [MC200]/0 to 600000 [MC300]) ■Return value Value Description...
Page 53 sscCheckSvPrmChangeNumEx The servo parameter change No. is got. int sscCheckSvPrmChangeNumEx ( int board_id, int channel, int axnum, short *prmnum Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) axnum [in] Axis No. (1 to 32 [MC200]/1 to 64 [MC300]) prmnum [out] Pointer to 8-byte array (2 bytes ...
Page 54 sscChangeParameterEx [MC300] Each of the parameters is written. This API function supports the writing of the system parameters, servo parameters (MR-J5(W_)-_B/MR-J4(W_)-_B), sensing module, control parameters, RIO module parameters, and RIO control parameters. int sscChangeParameterEx ( int board_id, int channel, int axnum, unsigned short prmnum, unsigned short prmdata Detailed description...
Page 55 ■Point • This API function can write the parameters either before or while the system is running. • It takes about 2 to 120 control cycles to confirm the response of the position board. • When a number of parameters are written to multiple axes sequentially, the write time can be shortened by calling this API function in each thread of "system"...
Page 56 sscChange2ParameterEx [MC300] Two of the parameters are written. This API function supports the writing of the system parameters, servo parameters (MR-J5(W_)-_B/MR-J4(W_)-_B), sensing module, control parameters, RIO module parameters, and RIO control parameters. int sscChange2ParameterEx ( int board_id, int channel, int axnum, unsigned short *prmnum, unsigned short *prmdata, unsigned char *status...
Page 57 ■Point • This API function can write the parameters either before or while the system is running. • To change only 1 parameter, set "0" in the other parameters. • It takes about 2 to 120 control cycles to confirm the response of the position board. •...
Page 58 sscCheckParameterEx [MC300] The set value of the designated parameter is read. This API function supports the reading of the system parameters, servo parameters (MR-J5(W_)-_B/MR-J4(W_)-_B), sensing module, control parameters, RIO module parameters, and RIO control parameters. int sscCheckParameterEx ( int board_id, int channel, int axnum, unsigned short prmnum,...
Page 59 ■Point • This API function can read the parameters either before or while the system is running. • It takes about 2 to 120 control cycles to confirm the response of the position board. • When a number of multiple parameters are read from multiple axes sequentially, the reading time can be shortened by calling this API function in each thread of "system"...
Page 60 sscCheck2ParameterEx [MC300] Two set values of the designated parameters are read. This API function supports the reading of the system parameters, servo parameters (MR-J5(W_)-_B/MR-J4(W_)-_B), sensing module, control parameters, RIO module parameters, and RIO control parameters. int sscCheck2ParameterEx ( int board_id, int channel, int axnum, unsigned short *prmnum,...
Page 61 ■Point • This API function can read the parameters either before or while the system is running. • To read only 1 parameter, set "0" in the other parameters. • It takes about 2 to 120 control cycles to confirm the response of the position board. •...
Page 62 System Functions Processing procedure An example of system processing procedure until starting up/shutting down the system is shown below. Host personal computer Position board Enables the memory access Opens the memory access port (Example) sts = sscOpen( bid ); if( sts != SSC_OK ) { /* error process */ } Reboots as necessary after confirming the system status Processes the reboot...
Page 63 sscReboot The system is rebooted (system running  system preparation completion). The function waits internally until the system preparation completion. int sscReboot ( int board_id, int channel, int timeout Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No.
Page 64 sscSystemStart The system is started after initializing the servo amplifier communication (system preparation completion  system running). int sscSystemStart ( int board_id, int channel, int timeout Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No.
Page 65 sscGetSystemStatusCode The system status code is got. int sscGetSystemStatusCode ( int board_id, int channel, short *statuscode Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) statuscode [out] Pointer to 2-byte variable (2 bytes  1) which stores the system status code ■Value •...
Page 66 sscReconnectSSCNET SSCNET communication with the non-communicating axes designated as control axes is started. int sscReconnectSSCNET ( int board_id, int channel, unsigned long long *ctrl_axbit, unsigned short *err_code Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No.
Page 67 sscReconnectSSCNETEx [MC300] SSCNET communication with the non-communicating axes designated as control axes is started. int sscReconnectSSCNETEx ( int board_id, int channel, SLAVE_INFO *pSlaveInfo, unsigned short *err_code Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No.
Page 68 sscDisconnectSSCNET SSCNET communication which is connected to the devices in SSCNET communication (such as servo amplifiers) set by the disconnection axis No. or later is disconnected. int sscDisconnectSSCNET ( int board_id, int channel, int com_num, unsigned long long *ctrl_axbit, unsigned short *err_code Detailed description ■Argument Argument...
Page 69 sscDisconnectSSCNETEx [MC300] SSCNET communication which is connected to the devices in SSCNET communication (such as servo amplifiers) set by the disconnection axis No. or later is disconnected. int sscDisconnectSSCNETEx ( int board_id, int channel, int com_num, SLAVE_INFO *pSlaveInfo, unsigned short *err_code Detailed description ■Argument Argument...
Page 70 sscGetControllingAxis [MC300] The controlling axis information and the controlling station information are got. int sscGetControllingAxis ( int board_id, int channel, SLAVE_INFO *pSlaveInfo Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) pSlaveInfo [out] Pointer to 80-byte structure (80 bytes ...
Page 71 Command/Status Functions Processing procedure An example of command/status processing procedure is shown below. ■When turning ON the servo with wait function Host personal computer Position board Issues the servo ON command Processes the servo ON (Example) sts = sscSetCommandBitSignalEx ( bid, ch, ax, SSC_CMDBIT_AX_SON, SSC_BIT_ON ); if( sts != SSC_OK ) Executing an arbitrary process { /* error process */ }...
Page 72 sscSetCommandBitSignalEx The designated command bit is turned ON or OFF. int sscSetCommandBitSignalEx ( int board_id, int channel, int axnum, int bitnum, int bitdata Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) axnum [in] Axis No.
Page 73 sscGetStatusBitSignalEx The designated status bit is got. int sscGetStatusBitSignalEx ( int board_id, int channel, int axnum, int bitnum, int *bitstatus Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) axnum [in] Axis No.
Page 74 sscWaitStatusBitSignalEx This function waits until the designated status bit becomes the designated state. int sscWaitStatusBitSignalEx ( int board_id, int channel, int axnum, int bitnum, int waitstatus, int timeout Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No.
Page 75 ■Reference • sscSetCommandBitSignalEx (Page 70 sscSetCommandBitSignalEx) • sscGetStatusBitSignalEx (Page 71 sscGetStatusBitSignalEx) 4 API FUNCTION DETAILS 4.6 Command/Status Functions...
Page 76 Point Table Functions sscSetPointDataEx The point data is set. int sscSetPointDataEx ( int board_id, int channel, int axnum, int pntnum, PNT_DATA_EX *pPntDataEx Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) axnum [in] Axis No.
Page 77 sscCheckPointDataEx The point data is got. int sscCheckPointDataEx ( int board_id, int channel, int axnum, int pntnum, PNT_DATA_EX *pPntDataEx Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) axnum [in] Axis No. (1 to 32 [MC200]/1 to 64 [MC300]) pntnum [in] Point No.
Page 78 sscSetPointOffset The point No. offset is set. int sscSetPointOffset ( int board_id, int channel, int axnum, short offset Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) axnum [in] Axis No. (1 to 32 [MC200]/1 to 64 [MC300]) offset [in] Point No.
Page 79 sscCheckPointOffset The point No. offset is got. int sscCheckPointOffset ( int board_id, int channel, int axnum, short *offset Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) axnum [in] Axis No. (1 to 32 [MC200]/1 to 64 [MC300]) offset [out] Pointer to 2-byte variable (2 bytes ...
Page 80 sscGetDrivingPointNumber The operation point No. is got. int sscGetDrivingPointNumber ( int board_id, int channel, int axnum, short *driving_pnt Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) axnum [in] Axis No. (1 to 32 [MC200]/1 to 64 [MC300]) driving_pnt [out] Pointer to 2-byte variable (2 bytes ...
Page 81 sscSetLatestPointNumber The latest command point No. is set. Use this function when the point table loop method is used. int sscSetLatestPointNumber ( int board_id, int channel, int axnum, short latest_point Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No.
Page 82 Continuous Operation to Torque Control Data Functions sscSetPressData The continuous operation to torque control data is set. int sscSetPressData ( int board_id, int channel, int axnum, PRESS_DATA *pPressData Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No.
Page 83 sscGetPressData The continuous operation to torque control data is got. int sscGetPressData ( int board_id, int channel, int axnum, PRESS_DATA *pPressData Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) axnum [in] Axis No.
Page 84 Operating Functions sscJogStart The JOG operation is started. After performing the necessary settings for the operation and changing to the JOG operation mode, the start operation signal (ST) is turned ON. int sscJogStart ( int board_id, int channel, int axnum, long speed, short actime, short dctime,...
Page 85 ■Supported version Position board API version Board version Header file MR-MC2_ _ 1.00 mc2xxstd.h MR-MC3_ _ 1.00 mc3xxstd.h ■Reference • sscJogStop (Page 84 sscJogStop) • sscJogStopNoWait (Page 85 sscJogStopNoWait) • sscDriveStop (Page 95 sscDriveStop) • sscDriveStopNoWait (Page 96 sscDriveStopNoWait) • sscDriveRapidStop (Page 97 sscDriveRapidStop) •...
Page 86 sscJogStop The JOG operation is stopped. The function waits internally from when the start operation signal (ST) is turned OFF until the operation processing signal (OP) is OFF (maximum 20 seconds). If the operation processing signal (OP) is already OFF, the function is immediately terminated. int sscJogStop ( int board_id, int channel,...
Page 87 sscJogStopNoWait The JOG operation is stopped. The start operation signal (ST) is turned OFF and the operation processing signal (OP) is returned. int sscJogStopNoWait ( int board_id, int channel, int axnum, short *stpsts Detailed description ■Argument Argument Description board_id [in] Board ID No.
Page 88 sscIncStart The incremental feed is started. After performing the necessary settings for the operation and changing to the incremental feed mode, the fast start operation signal (FST) is turned ON. int sscIncStart ( int board_id, int channel, int axnum, long distance, long speed, short actime, short dctime...
Page 89 ■Reference • sscDriveStop (Page 95 sscDriveStop) • sscDriveStopNoWait (Page 96 sscDriveStopNoWait) • sscDriveRapidStop (Page 97 sscDriveRapidStop) • sscDriveRapidStopNoWait (Page 98 sscDriveRapidStopNoWait) 4 API FUNCTION DETAILS 4.9 Operating Functions...
Page 90 sscAutoStart The automatic operation is started. After performing the necessary settings for the operation and changing to the automatic operation mode, the fast start operation signal (FST) is turned ON. int sscAutoStart ( int board_id, int channel, int axnum, int point_s, int point_e Detailed description ■Argument...
Page 91 sscHomeReturnStart The home position return is started. After performing the necessary settings for the operation and changing to the home position return mode, the fast start operation signal (FST) is turned ON. int sscHomeReturnStart ( int board_id, int channel, int axnum Detailed description ■Argument Argument...
Page 92 sscLinearStart The linear interpolation is started. After performing the necessary settings for the operation and changing to the linear interpolation mode, the fast start operation signal (FST) is turned ON. int sscLinearStart ( int board_id, int channel, int axnum, int grpnum, int point_s, int point_e Detailed description...
Page 93 ■Point The response is not confirmed after the fast start operation signal (FST) is turned ON. ■Supported version Position board API version Board version Header file MR-MC2_ _ 1.90 mc2xxstd.h MR-MC3_ _ 1.00 mc3xxstd.h ■Reference • sscDriveStop (Page 95 sscDriveStop) •...
Page 94 sscInterpolationStart [MC300] The interpolation operation is started. After performing the necessary settings for the operation and changing to the interpolation operation mode, the fast start operation signal (FST) is turned ON. int sscInterpolationStart ( int board_id, int channel, int axnum, int grpnum, int point_s, int point_e...
Page 95 ■Point The response is not confirmed after the fast start operation signal (FST) is turned ON. ■Supported version Position board API version Board version Header file MR-MC3_ _ 1.00 mc3xxstd.h ■Reference • sscDriveStop (Page 95 sscDriveStop) • sscDriveStopNoWait (Page 96 sscDriveStopNoWait) •...
Page 96 sscDataSetStart The home position reset (data set) is started. After performing the necessary settings for the operation and changing to the home position reset (data set) mode, the fast start operation signal (FST) is turned ON. int sscDataSetStart ( int board_id, int channel, int axnum Detailed description...
Page 97 sscDriveStop The operations are stopped. After the start operation signal (ST) is turned OFF and the stop operation signal (STP) is turned ON, the function waits internally until the operation processing signal (OP) is OFF. After the operation processing signal (OP) is confirmed to be OFF, the stop operation signal (STP) is turned OFF. int sscDriveStop ( int board_id, int channel,...
Page 98 sscDriveStopNoWait The operations are stopped. After the start operation signal (ST) is turned OFF and the stop operation signal (STP) is turned ON, the stop complete status is returned. int sscDriveStopNoWait ( int board_id, int channel, int axnum, short *stpsts Detailed description ■Argument Argument...
Page 99 sscDriveRapidStop The operations are stopped rapidly. After the start operation signal (ST) is turned OFF and the rapid stop signal (RSTP) is turned ON, the function waits internally until the operation processing signal (OP) is turned OFF. After the operation processing signal (OP) is confirmed to be OFF, the rapid stop signal (RSTP) is turned OFF. int sscDriveRapidStop ( int board_id, int channel,...
Page 100 sscDriveRapidStopNoWait The operations are stopped rapidly. After the start operation signal (ST) is turned OFF and the rapid stop signal (RSTP) is turned ON, the stop complete status is returned. int sscDriveRapidStopNoWait ( int board_id, int channel, int axnum, short *stpsts Detailed description ■Argument Argument...
Page 101 sscSetDriveMode The operation mode is switched. This function is used for setting the operation mode of the axis for which the other axes start is performed by the other axes start function. int sscSetDriveMode ( int board_id, int channel, int axnum, int drv_mode Detailed description ■Argument...
Page 102 ■Reference • sscGetDriveMode (Page 101 sscGetDriveMode) • sscSetOtherAxisStartData (Page 133 sscSetOtherAxisStartData) 4 API FUNCTION DETAILS 4.9 Operating Functions...
Page 103 sscGetDriveMode The operation mode is got. int sscGetDriveMode ( int board_id, int channel, int axnum, int *drv_mode Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) axnum [in] Axis No. (1 to 32 [MC200]/1 to 64 [MC300]) drv_mode [out] Pointer to 4-byte variable (4 bytes ...
Page 104 sscGetDriveFinStatus The completion of operation status is confirmed. int sscGetDriveFinStatus ( int board_id, int channel, int axnum, int fin_type, int *fin_status Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) axnum [in] Axis No.
Page 105 ■Supported version Position board API version Board version Header file MR-MC2_ _ 1.00 mc2xxstd.h MR-MC3_ _ 1.00 mc3xxstd.h ■Reference None. 4 API FUNCTION DETAILS 4.9 Operating Functions...
Page 106 sscChangeControlMode The control mode of the servo amplifier is switched. int sscChangeControlMode ( int board_id, int channel, int axnum, unsigned short ctrl_mode Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) axnum [in] Axis No.
Page 107 4.10 Change Functions sscChangeManualPosition The position is changed in the incremental feed. The change position signal (PCHG) is turned ON, and the preparation for changing position completed signal (PCF) or the position change error signal (PCE) is confirmed to be ON. int sscChangeManualPosition ( int board_id, int channel,...
Page 108 sscChangeAutoPosition The position is changed in the automatic operation. The change position signal (PCHG) is turned ON, and the preparation for changing position completed signal (PCF) or the position change error signal (PCE) is confirmed to be ON. int sscChangeAutoPosition ( int board_id, int channel, int axnum,...
Page 109 sscChangeLinearPosition The position is changed in the linear interpolation. int sscChangeLinearPosition ( int board_id, int channel, int axnum, int grpnum, int pntnum, long *pPosition Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) axnum [in] Axis No.
Page 110 ■Reference • sscGetDrivingPointNumber (Page 78 sscGetDrivingPointNumber) • sscChangeAutoSpeed (Page 110 sscChangeAutoSpeed) • sscChangeAutoAccTime (Page 112 sscChangeAutoAccTime) • sscChangeAutoDecTime (Page 114 sscChangeAutoDecTime) 4 API FUNCTION DETAILS 4.10 Change Functions...
Page 111 sscChangeManualSpeed The speed is changed in the JOG operation or the incremental feed. The change speed signal (SCHG) is turned ON, and the preparation for changing speed completed signal (SCF) or the speed change error signal (SCE) is confirmed to be ON. int sscChangeManualSpeed ( int board_id, int channel,...
Page 112 sscChangeAutoSpeed The speed is changed in the automatic operation or the linear interpolation [MC200]/interpolation operation [MC300]. The change speed signal (SCHG) is turned ON, and the preparation for changing speed completed signal (SCF) or the speed change error signal (SCE) is confirmed to be ON. int sscChangeAutoSpeed ( int board_id, int channel,...
Page 113 sscChangeManualAccTime The acceleration time constant is changed in the JOG operation or the incremental feed. The change acceleration time constant signal (TACHG) is turned ON, and the preparation for changing acceleration time constant completed signal (TACF) or the acceleration time constant change error signal (TACE) is confirmed to be ON. int sscChangeManualAccTime ( int board_id, int channel,...
Page 114 sscChangeAutoAccTime The acceleration time constant is changed in the automatic operation or the linear interpolation [MC200]/interpolation operation [MC300]. The change acceleration time constant signal (TACHG) is turned ON, and the preparation for changing acceleration time constant completed signal (TACF) or the acceleration time constant change error signal (TACE) is confirmed to be ON. int sscChangeAutoAccTime ( int board_id, int channel,...
Page 115 sscChangeManualDecTime The deceleration time constant is changed in the JOG operation or the incremental feed. The change deceleration time constant signal (TDCHG) is turned ON, and the preparation for changing deceleration time constant completed signal (TDCF) or the deceleration time constant change error signal (TDCE) is confirmed to be ON. int sscChangeManualDecTime ( int board_id, int channel,...
Page 116 sscChangeAutoDecTime The deceleration time constant is changed in the automatic operation or the linear interpolation [MC200]/interpolation operation [MC300]. The change deceleration time constant signal (TDCHG) is turned ON, and the preparation for changing deceleration time constant completed signal (TDCF) or the deceleration time constant change error signal (TDCE) is confirmed to be ON. int sscChangeAutoDecTime ( int board_id, int channel,...
Page 117 4.11 Alarm Functions sscGetAlarm The alarm No. and the specific alarm No. are got. int sscGetAlarm ( int board_id, int channel, int axnum, int alarm_type, unsigned short *code, unsigned short *detail_code Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No.
Page 118 sscResetAlarm The alarm is reset. After the alarm reset signal is turned ON and the alarm signal is confirmed to be OFF, the alarm reset signal is turned OFF. int sscResetAlarm ( int board_id, int channel, int axnum, int alarm_type Detailed description ■Argument Argument...
Page 119 4.12 General Monitor Functions Processing procedure An example of general monitor processing procedure is shown below. ■When getting system information Host personal computer Position board Starts the monitoring Processes the monitoring (Example) Starts the monitoring short monnum_set[2] = { 0x0401, 0x0402}; sts = sscSetMonitor( bid, ch, 0, &monnum_set[0] );...
Page 120 ■When getting operation information (2-word) Host personal computer Position board Processes the monitoring Starts the monitoring (Example) Starts the monitoring short monnum_set[4] = { 0x1300, 0x0000, 0x1302, 0x0000 }; sts = sscSetMonitor( bid, ch, ax, &monnum_set[0] ); if( sts != SSC_OK ) { /* error process */ } Gets the monitoring data Processes the monitoring...
Page 121 sscSetMonitor The monitoring is started. After setting 2 monitor Nos. during the system monitoring and 4 monitor Nos. during the axis monitoring, the monitor command signal (MON) is turned ON, and the monitor output signal (MOUT) is confirmed to be ON. If the monitor output signal (MOUT) is already ON, the monitoring restarts after the monitor command signal (MON) is turned OFF.
Page 122 ■Reference • sscStopMonitor (Page 119 sscSetMonitor) • sscGetMonitor (Page 122 sscGetMonitor) 4 API FUNCTION DETAILS 4.12 General Monitor Functions...
Page 123 sscStopMonitor The monitoring is stopped. The monitor command signal (MON) is turned OFF, and the monitor output signal (MOUT) is confirmed to be OFF. int sscStopMonitor ( int board_id, int channel, int axnum Detailed description ■Argument Argument Description board_id [in] Board ID No.
Page 124 sscGetMonitor The monitoring data is got. int sscGetMonitor ( int board_id, int channel, int axnum, short *monnum, short *mondata Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) axnum [in] Axis No. (-4 to 32 [MC200]/-16 to 64 [MC300]) •...
Page 125 4.13 High Speed Monitor Functions sscGetCurrentCmdPositionFast The current command position is got. int sscGetCurrentCmdPositionFast ( int board_id, int channel, int axnum, long *position Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) axnum [in] Axis No.
Page 126 sscGetCurrentFbPositionFast The current feedback position is got. int sscGetCurrentFbPositionFast ( int board_id, int channel, int axnum, long *position Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) axnum [in] Axis No. (1 to 32 [MC200]/1 to 64 [MC300]) position [out] Pointer to 4-byte variable (4 bytes ...
Page 127 sscGetIoStatusFast The external signal (LSP, LSN, DOG signal) status is got. int sscGetIoStatusFast ( int board_id, int channel, int axnum, short *din Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) axnum [in] Axis No.
Page 128 sscGetCmdSpeedFast The moving speed is got. int sscGetCmdSpeedFast ( int board_id, int channel, int axnum, long *speed Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) axnum [in] Axis No. (1 to 32 [MC200]/1 to 64 [MC300]) speed [out] Pointer to 4-byte variable (4 bytes ...
Page 129 sscGetFbSpeedFast The feedback moving speed is got. int sscGetFbSpeedFast ( int board_id, int channel, int axnum, long *speed Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) axnum [in] Axis No. (1 to 32 [MC200]/1 to 64 [MC300]) speed [out] Pointer to 4-byte variable (4 bytes ...
Page 130 sscGetCurrentFbFast The electrical current feedback is got. int sscGetCurrentFbFast ( int board_id, int channel, int axnum, short *currentFb Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) axnum [in] Axis No. (1 to 32 [MC200]/1 to 64 [MC300]) currentFb [out] Pointer to 2-byte variable (2 bytes ...
Page 131 sscGetPositionDroopFast The position droop is got. int sscGetPositionDroopFast ( int board_id, int channel, int axnum, long *position_dp Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) axnum [in] Axis No. (1 to 32 [MC200]/1 to 64 [MC300]) position_dp [out] Pointer to 4-byte variable (4 bytes ...
Page 132 4.14 User Watchdog Functions sscWdEnable The user watchdog function is enabled. int sscWdEnable ( int board_id, int channel, unsigned short wdcnt Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) wdcnt [in] Watchdog timer start counter ■Return value Value...
Page 133 sscWdDisable The user watchdog function is disabled. int sscWdDisable ( int board_id, int channel Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) ■Return value Value Description SSC_OK Function succeeded. SSC_NG Function failed.
Page 134 sscChangeWdCounter The watchdog check counter is updated (+1). int sscChangeWdCounter ( int board_id, int channel Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) ■Return value Value Description SSC_OK Function succeeded. SSC_NG Function failed.
Page 135 4.15 Other Axes Start Functions sscSetOtherAxisStartData The other axes start data is set. int sscSetOtherAxisStartData ( int board_id, int channel, int oas_num, OAS_DATA *pOasData Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) oas_num [in] Other axes start table No.
Page 136 sscGetOtherAxisStartData The other axes start table data is got. int sscGetOtherAxisStartData ( int board_id, int channel, int oas_num, OAS_DATA *pOasData Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) oas_num [in] Other axes start table No.
Page 137 sscOtherAxisStartAbortOn The other axes start cancel signal (OSSTP) is turned ON and the other axes start is canceled. int sscOtherAxisStartAbortOn ( int board_id, int channel, int oas_num Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No.
Page 138 sscOtherAxisStartAbortOff The other axes start cancel signal (OSSTP) is turned OFF to cancel the abortion of the other axes start. int sscOtherAxisStartAbortOff ( int board_id, int channel, int oas_num Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No.
Page 139 sscGetOtherAxisStartStatus The other axes start status (other axes start status bit) is got. int sscGetOtherAxisStartStatus ( int board_id, int channel, int oas_num, short *status Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) oas_num [in] Other axes start table No.
Page 140 4.16 Pass Position Interrupt Functions sscSetIntPassPositionData The pass position interrupt condition data is set. int sscSetIntPassPositionData ( int board_id, int channel, int pass_num, unsigned long pass_option, long pass_data Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No.
Page 141 sscCheckIntPassPositionData The pass position interrupt condition data is got. int sscCheckIntPassPositionData ( int board_id, int channel, int pass_num, unsigned long *pass_option, long *pass_position Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) pass_num [in] Pass position condition No.
Page 142 sscSetStartingPassNumber The pass position condition start and end Nos. are set. int sscSetStartingPassNumber ( int board_id, int channel, int axnum, int pass_start, int pass_end Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) axnum [in] Axis No.
Page 143 sscGetExecutingPassNumber The running pass position condition No. is got. int sscGetExecutingPassNumber ( int board_id, int channel, int axnum, short *executing_pass Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) axnum [in] Axis No.
Page 144: 00061010H Ssc_Func_Err_Already_Start_Sampling
4.17 Sampling Functions sscStartSampling The sampling is started. The sampling start signal (SMPS) is turned ON. int sscStartSampling ( int board_id, int channel Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) ■Return value Value Description...
Page 145: Ssc_Func_Err_Already_Stop_Sampling
sscStopSampling The sampling is stopped. The sampling start signal (SMPS) is turned OFF, and the function waits until all sampling status signals (waiting for sampling trigger (SMPW), sampling is being performed (SMPO), sampling completed (SMPF), and sampling error (SMPE)) are turned OFF.
Page 146: Ssc_Func_Err_Mismatch_Smp_Param_Write_Nu
sscSetSamplingParameter The sampling parameters are written. int sscSetSamplingParameter ( int board_id, int channel, short prm_num, long prm_data Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) prm_num [in] Sampling setting write No. prm_data [in] Sampling setting write data ■Return value...
Page 147 sscGetSamplingParameter The sampling parameters are read. int sscGetSamplingParameter ( int board_id, int channel, short prm_num, long *prm_data Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) prm_num [in] Sampling setting read No. prm_data [out] Pointer to 4-byte variable (4 bytes ...
Page 148 sscGetSamplingError The sampling error information is got. int sscGetSamplingError ( int board_id, int channel, SMP_ERR *pSmpErr Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) pSmpErr [out] Pointer to 32-byte structure (32 bytes  1) [MC200]/48-byte structure (48 bytes  1) [MC300] which stores the sampling error information For the sampling error information structure, refer to the following.
Page 149 sscGetSamplingStatus The sampling execution status (sampling status bit and sampling complete page No.) is got. int sscGetSamplingStatus ( int board_id, int channel, char *status, short *fin_page Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No.
Page 150 sscGetSamplingData The sampling read enabled points and the sampling data (for 32 points [MC200]/128 points [MC300]) are got. The sampling read enabled points are not confirmed. int sscGetSamplingData ( int board_id, int channel, int page_num, short *valid_num, SMP_DATA *pSmpData Detailed description ■Argument Argument Description...
Page 151: Log Functions Error
4.18 Log Functions sscStartLog The logging is started. The logging is started by turning the log command signal (LOGC) ON, and the log operation being performed signal (LOGO) is confirmed to be ON. int sscStartLog ( int board_id, int channel Detailed description ■Argument Argument...
Page 152 sscStopLog The logging is stopped. The logging is stopped using the log command signal (LOGC) OFF, and the log operation being performed signal (LOGO) is confirmed to be OFF. int sscStopLog ( int board_id, int channel Detailed description ■Argument Argument Description board_id [in] Board ID No.
Page 153 sscCheckLogStatus The log operation status is got. int sscCheckLogStatus ( int board_id, int channel, int *status Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) status [out] Pointer to 4-byte variable (4 bytes  1) which stores the log operation status ■Value •...
Page 154 sscCheckLogEventNum The number of valid log data events recorded in the log data is got. int sscCheckLogEventNum ( int board_id, int channel, int *eventnum Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) eventnum [out] Pointer to 4-byte variable (4 bytes ...
Page 155: 00062000H Ssc_Func_Err_Now_Logging
sscReadLogData The 16 events of log data are read. int sscReadLogData ( int board_id, int channel, int page_num, LOG_DATA *pLogData Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) page_num [in] Log data read page No.
Page 156: Ssc_Func_Err_Sts_Bit_Logie
sscClearLogData The log data is cleared (initialized). int sscClearLogData ( int board_id, int channel Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) ■Return value Value Description SSC_OK Function succeeded. SSC_NG Function failed.
Page 157: Ssc_Func_Err_Unsupport_Alh
sscGetAlarmHistoryData The 4 events of alarm history data are read. int sscGetAlarmHistoryData ( int board_id, int channel, int page_num, ALH_DATA *pAlhData Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) page_num [in] Alarm history data read page No.
Page 158 sscCheckAlarmHistoryEventNum The number of valid alarm history data events recorded in the alarm history data is got. int sscCheckAlarmHistoryEventNum ( int board_id, int channel, int *eventnum Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No.
Page 159: Ssc_Func_Err_Sts_Bit_Alhie
sscClearAlarmHistoryData Clears (initializes) alarm history data. int sscClearAlarmHistoryData ( int board_id, int channel Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) ■Return value Value Description SSC_OK Function succeeded. SSC_NG Function failed. (To confirm the detailed error code, use the sscGetLastError function.) SSC_UNOPEN Before calling the sscOpen function.
Page 160 4.19 Digital Input/Output Functions sscGetDigitalInputDataBit The DI data of the designated digital input is got on a 1-point basis. int sscGetDigitalInputDataBit ( int board_id, int channel, int din_num, int *din Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No.
Page 161 sscGetDigitalInputDataWord The DI data of the designated digital input is got on a 16-point basis. int sscGetDigitalInputDataWord ( int board_id, int channel, int din_word_num, unsigned short *din Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No.
Page 162 sscSetDigitalOutputDataBit The DO data of the designated digital output is set on a 1-point basis. int sscSetDigitalOutputDataBit ( int board_id, int channel, int dout_num, int dout Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No.
Page 163 sscSetDigitalOutputDataWord The DO data of the designated digital output is got on a 16-point basis. int sscSetDigitalOutputDataWord ( int board_id, int channel, int dout_word_num, unsigned short dout Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No.
Page 164 sscGetDigitalOutputDataBit The DO data of the designated digital output is got on a 1-point basis. int sscGetDigitalOutputDataBit ( int board_id, int channel, int dout_num, int *dout Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No.
Page 165 sscGetDigitalOutputDataWord The DO data of the designated digital output is got on a 16-point basis. int sscGetDigitalOutputDataWord ( int board_id, int channel, int dout_word_num, unsigned short *dout Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No.
Page 166 4.20 Mark Detection Functions sscGetMarkDetectionData The mark detection data is got. int sscGetMarkDetectionData ( int board_id, int channel, int axnum, int mark_num, int *read_fin_num, int *edge, int *position Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No.
Page 167 ■Supported version Position board API version Board version Header file MR-MC2_ _ 1.60 mc2xxstd.h MR-MC3_ _ 1.00 mc3xxstd.h ■Reference sscGetMarkDetectionCounter (Page 166 sscGetMarkDetectionCounter) 4 API FUNCTION DETAILS 4.20 Mark Detection Functions...
Page 168 sscGetMarkDetectionCounter The mark detection counter is got. int sscGetMarkDetectionCounter ( int board_id, int channel, int axnum, int mark_num, int *detected_counter Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) axnum [in] Axis No.
Page 169 sscClearMarkDetectionData The mark detection data is cleared (initialized). int sscClearMarkDetectionData ( int board_id, int channel, int axnum, int mark_num Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) axnum [in] Axis No. (1 to 32 [MC200]/1 to 64 [MC300]) mark_num [in] Mark detection setting No.
Page 170 4.21 Interface Mode Functions sscIfmGetReadErrorCount The read error counter is got. int sscIfmGetReadErrorCount ( int board_id, int channel, short *err_cnt Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) err_cnt [out] Pointer to 2-byte variable (2 bytes ...
Page 171 sscIfmSetHomePosition Home position is set, and after completion, the home position data ("home position multiple revolution data (parameter No.024D)" and "home position within 1 revolution position (parameter No.024E, parameter No.024F)") is got. int sscIfmSetHomePosition ( int board_id, int channel, int axnum, int mode, short *param Detailed description...
Page 172 sscIfmGetMaximumBufferNumber The maximum buffer No. for position control mode is got. int sscIfmGetMaximumBufferNumber ( int board_id, int channel, int axnum, short *bufnum Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) axnum [in] Axis No.
Page 173 sscIfmGetMaximumBufferNumberEx The maximum buffer No. for the designated control mode is got. int sscIfmGetMaximumBufferNumberEx ( int board_id, int channel, int axnum, unsigned short ctrl_mode, short *bufnum Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No.
Page 174 sscIfmRenewLatestBuffer The latest command buffer No. and data for position control mode is renewed, and the renewed latest command buffer No. is got. int sscIfmRenewLatestBuffer ( int board_id, int channel, int axnum, long bufdata, short *bufnum Detailed description ■Argument Argument Description board_id [in] Board ID No.
Page 175 sscIfmRenewLatestBufferEx The latest command buffer No. and data for the designated control mode is renewed, and the renewed latest command buffer No. is got. int sscIfmRenewLatestBufferEx ( int board_id, int channel, int axnum, unsigned short ctrl_mode, long bufdata, short *bufnum Detailed description ■Argument Argument...
Page 176 sscIfmCheckLatestBuffer The latest command buffer No. and latest command buffer data for the position control mode is got. int sscIfmCheckLatestBuffer ( int board_id, int channel, int axnum, short *bufnum, long *bufdata Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No.
Page 177 sscIfmCheckLatestBufferEx The latest command buffer No. and latest command buffer data for the designated control mode is got. int sscIfmCheckLatestBufferEx ( int board_id, int channel, int axnum, unsigned short ctrl_mode, short *bufnum, long *bufdata Detailed description ■Argument Argument Description board_id [in] Board ID No.
Page 178 sscIfmGetTransmitBuffer The transmit buffer No. and transmit buffer data for position control mode is got. int sscIfmGetTransmitBuffer ( int board_id, int channel, int axnum, short *bufnum, long *bufdata Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No.
Page 179 sscIfmGetTransmitBufferEx The transmit buffer No. and transmit buffer data for the designated control mode is got. int sscIfmGetTransmitBufferEx ( int board_id, int channel, int axnum, unsigned short ctrl_mode, short *bufnum, long *bufdata Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No.
Page 180 sscIfmTrqSetSpeedLimit The speed limit value for torque control is set. int sscIfmTrqSetSpeedLimit ( int board_id, int channel, int axnum, long speed Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) axnum [in] Axis No.
Page 181 sscIfmSetControlMode The control mode is set. int sscIfmSetControlMode ( int board_id, int channel, int axnum, unsigned short ctrl_mode Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) axnum [in] Axis No. (1 to 32 [MC200]/1 to 64 [MC300]) ctrl_mode [in] Control mode ■Operation mode...
Page 182 sscIfmGetControlMode The control mode is got. int sscIfmGetControlMode ( int board_id, int channel, int axnum, unsigned short *ctrl_mode, char *status Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) axnum [in] Axis No.
Page 183 sscIfmGetEventStatusBits The status bit information of all axes for the designated status signal using the event detect function is got. int sscIfmGetEventStatusBits ( int board_id, int channel, int bitnum, unsigned long *status_bits Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No.
Page 184 sscIfmGetEventStatusBitsEx [MC300] The status bit information of all axes for the designated status signal using the event detect function is got. int sscIfmGetEventStatusBitsEx ( int board_id, int channel, int bitnum, SLAVE_INFO *pSlaveInfo Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No.
Page 185: Interrupt Functions Error
4.22 Interrupt Functions Processing procedure An example of using interrupt functions processing procedure is shown below. Host personal computer Position board Processes the Sets interrupt conditions parameters (Example) Completes the setting short int_fact[2] = { 0x****, 0x**** }; sts = sscChange2Parameter( bid, ch, ax, &int_fact[0] ); if( sts != SSC_OK ) { /* error process */ } Interrupt driver...
Page 186 *1 Only when changing the current set interrupt condition parameters ("interrupt condition 1 (parameter No.0204)", "interrupt condition 2 (parameter No.0205)"), call the function. *2 Always enable the interrupt output after starting up the interrupt driver. (When the hardware interrupt is outputted while the interrupt driver is not operating properly, the host personal computer may hang-up because the hardware interrupt cannot be canceled.) *3 After starting the interrupt, an interrupt event wait can be executed with the interrupt event wait functions.
Page 187: Ssc_Func_Err_Create_Event
sscIntStart The interrupt driver is started up. This function is used when performing the interrupt monitoring by using the functions related to the interrupt event wait. int sscIntStart ( int board_id, int priority Detailed description ■Argument Argument Description board_id [in] Board ID No.
Page 188: Ssc_Func_Err_Delete_Event
sscIntEnd The interrupt driver is closed. int sscIntEnd ( int board_id Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) ■Return value Value Description SSC_OK Function succeeded. SSC_NG Function failed. (To confirm the detailed error code, use the sscGetLastError function.) SSC_UNOPEN Before calling the sscOpen function.
Page 189 sscIntEnable The interrupt output start signal (ITS) is turned ON and the interrupt output is enabled. int sscIntEnable ( int board_id, int channel Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) ■Return value Value Description...
Page 190 sscIntDisable The interrupt output start signal (ITS) is turned OFF and the interrupt output is disabled. int sscIntDisable ( int board_id, int channel Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) ■Return value Value Description...
Page 191: Ssc_Func_Err_Already_Reregister_Callback
sscRegisterIntCallback The interrupt callback function is registered. The registered function is called back from the interrupt driver started by the sscIntStart function when an interrupt occurs. int sscRegisterIntCallback ( int board_id, int channel, void *cbfunc Detailed description ■Argument Argument Description board_id [in] Board ID No.
Page 192: Ssc_Func_Err_Already_Unreregister_Callba
sscUnregisterIntCallback The interrupt call back function is unregistered. int sscUnregisterIntCallback ( int board_id, int channel Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) ■Return value Value Description SSC_OK Function succeeded. SSC_NG Function failed.
Page 193: Ssc_Func_Err_Reset_Event
sscResetIntEvent The interrupt event signal status is nonsignaled. This function is used if interrupt events occurring prior to calling the sscWaitIntEvent function are to be disabled. int sscResetIntEvent ( int board_id, int channel, int axnum, int eventnum, int eventfactor Detailed description ■Argument Argument Description...
Page 194: Ssc_Func_Err_Set_Event
sscSetIntEvent The interrupt event signal status is signaled. This function is used to release the standby status with the sscWaitIntEvent function at the timing of the user program, not the interrupt event of the position board. int sscSetIntEvent ( int board_id, int channel, int axnum, int eventnum,...
Page 195: Ssc_Func_Err_Wait_Event
sscWaitIntEvent This function waits until the interrupt event status becomes signaled. This function is used to wait for the interrupt from the position board for the designated event factor. It is possible to wait for up to 2 interrupt events to occur from the same factor by changing the event wait No. int sscWaitIntEvent ( int board_id, int channel,...
Page 196 ■Supported version Position board API version Board version Header file MR-MC2_ _ 1.80 mc2xxstd.h MR-MC3_ _ 1.00 mc3xxstd.h ■Reference • sscResetIntEvent (Page 191 sscResetIntEvent) • sscSetIntEvent (Page 192 sscSetIntEvent) • sscWaitIntEventMulti (Page 197 sscWaitIntEventMulti) 4 API FUNCTION DETAILS 4.22 Interrupt Functions...
Page 197 sscResetIntEventMulti The multiple interrupt event signal status is nonsignaled. This function is used if multiple interrupt events occurring prior to calling up the sscWaitIntEventMulti function are to be disabled. int sscResetIntEventMulti ( int board_id, int channel, int axnum Detailed description ■Argument Argument Description...
Page 198 sscSetIntEventMulti The multiple interrupt event signal status is signaled. This function is used to release the standby status with the sscWaitIntEventMulti function at the timing of the user program, not the interrupt event of the position board. int sscSetIntEventMulti ( int board_id, int channel, int axnum...
Page 199 sscWaitIntEventMulti This function waits until the multiple interrupt event status is signaled. This function is used to wait for the interrupt from the position board for any multiple event factors. int sscWaitIntEventMulti ( int board_id, int channel, int axnum, int timeout, unsigned long *eventcode Detailed description ■Argument...
Page 200 ■Supported version Position board API version Board version Header file MR-MC2_ _ 1.80 mc2xxstd.h MR-MC3_ _ 1.00 mc3xxstd.h ■Reference • sscWaitIntEvent (Page 193 sscWaitIntEvent) • sscResetIntEventMulti (Page 195 sscResetIntEventMulti) • sscSetIntEventMulti (Page 196 sscSetIntEventMulti) 4 API FUNCTION DETAILS 4.22 Interrupt Functions...
Page 201 sscResetIntOasEvent The other axes start interrupt event signal status is nonsignaled. This function is used if the other axes start interrupt event occurring prior to calling the sscWaitIntOasEvent function is to be disabled. int sscResetIntOasEvent ( int board_id, int channel, int axnum, int oas_num Detailed description...
Page 202 sscSetIntOasEvent The other axes start interrupt event signal status is signaled. This function is used to release the standby status with the sscWaitIntOasEvent function at the timing of the user program, not the interrupt event of the position board. int sscSetIntOasEvent ( int board_id, int channel, int axnum,...
Page 203 sscWaitIntOasEvent This function waits until the other axes start interrupt event status is signaled. This function is used to wait for the interrupt from the position board for the designated other axes start wait type. The confirmed status is stored in the variable which is designated by the pointer. int sscWaitIntOasEvent ( int board_id, int channel,...
Page 204 ■Point • When "SSC_OAS_STS_FIN" or "SSC_OAS_STS_ERR" during other axes start notice wait, this function returns from the standby status. • When an alarm occurs in the axis of the other axes start before the other axes start notice, "SSC_OAS_STS_OP_ERR" occurs. •...
Page 205 sscResetIntPassPosition The pass position interrupt event status is nonsignaled. This function is used to disable the pass position interrupt event occurring prior to calling the sscWaitIntPassPosition function. int sscResetIntPassPosition ( int board_id, int channel, int pass_start, int pass_end Detailed description ■Argument Argument Description...
Page 206 sscSetIntPassPosition The pass position interrupt event status is signaled. This function is used to release the standby status with the sscWaitIntPassPosition function at the timing of the user program, not the interrupt event of the position board. int sscSetIntPassPosition ( int board_id, int channel, int pass_start,...
Page 207 sscWaitIntPassPosition This function waits until the pass position interrupt event status is signaled. This function is used to wait for the interrupt from the position board for the designated pass position condition No. The confirmed status is stored in the variable which is designated by the pointer. int sscWaitIntPassPosition ( int board_id, int channel,...
Page 208 ■Reference • sscResetIntPassPosition (Page 203 sscResetIntPassPosition) • sscSetIntPassPosition (Page 204 sscSetIntPassPosition) 4 API FUNCTION DETAILS 4.22 Interrupt Functions...
Page 209 sscResetIntDriveFin The operation completion interrupt event status is nonsignaled. This function is used to disable the operation completion interrupt event occurring prior to calling the sscWaitIntDriveFin function. int sscResetIntDriveFin ( int board_id, int channel, int axnum Detailed description ■Argument Argument Description board_id [in] Board ID No.
Page 210 sscSetIntDriveFin The operation completion interrupt event status is signaled. This function is used to release the standby status with the sscWaitIntDriveFin function at the timing of the user program, not the interrupt event of the position board. int sscSetIntDriveFin ( int board_id, int channel, int axnum...
Page 211 sscWaitIntDriveFin This function waits until the operation completion interrupt event status is signaled. This function is used to wait for the interrupt from the position board for the designated operation completion type. The confirmed status is stored in the variable which is designated by the pointer. int sscWaitIntDriveFin ( int board_id, int channel,...
Page 212 ■Point • The completion of operation check condition depends on the operation completion type designated by the argument. Operation completion type Completion of operation check condition In case of "SSC_FIN_TYPE_SMZ", The shutdown occurs after waiting for the designated conditions to be met. "SSC_FIN_TYPE_CPO", or "SSC_FIN_TYPE_INP"...
Page 213 4.23 I/O Device Functions sscGetInputDeviceBit The designated input bit device is got on a 1-point basis. int sscGetInputDeviceBit ( int board_id, int channel, int bit_num, int *dev_in Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No.
Page 214 sscGetInputDeviceWord The designated input word device is got on a 1-word basis. int sscGetInputDeviceWord ( int board_id, int channel, int word_num, int word_cnt, unsigned short *dev_in Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No.
Page 215 sscSetOutputDeviceBit The designated output bit device is set on a 1-point basis with the dual port memory exclusive control function of the position board. int sscSetOutputDeviceBit ( int board_id, int channel, int bit_num, int dev_out Detailed description ■Argument Argument Description board_id [in] Board ID No.
Page 216 sscSetOutputDeviceWord The designated output word device is set on a 1-word basis without using the dual port memory exclusive control function of the position board. int sscSetOutputDeviceWord ( int board_id, int channel, int word_num, int word_cnt, unsigned short *dev_out Detailed description ■Argument Argument Description...
Page 217 sscGetOutputDeviceBit The designated output bit device is got on a 1-point basis. int sscGetOutputDeviceBit ( int board_id, int channel, int bit_num, int *dev_out Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No. (1) bit_num [in] Output bit device No.
Page 218 sscGetOutputDeviceWord The designated output word device is got on a 1-word basis. int sscGetOutputDeviceWord ( int board_id, int channel, int word_num, int word_cnt, unsigned short *dev_out Detailed description ■Argument Argument Description board_id [in] Board ID No. (0 to 3) channel [in] Channel No.
Page 219 4.24 Transient Transmit Functions sscSendReceiveTransientData Sends and receives the specified transient transmit data for axes or stations connected to SSCNET. int sscSendReceiveTransientData ( int board_id, int channel, int axnum, TRANSIENT_CMD *pTransientCmd, TRANSIENT_STS *pTransientSts, int timeout Detailed description ■Argument Argument Description board_id [in] Board ID No.
Page 220 STRUCTURE LIST PNT_DATA_EX Structure This point data structure is used for the automatic operation and the linear interpolation [MC200]/interpolation operation [MC300]. PNT_DATA_EX structure [MC200] typedef struct { /* 0000h */ long position; unsigned long speed; unsigned short actime; unsigned short dctime; unsigned short dwell;...
Page 221 Member Description s_curve S-curve ratio [%] (0 to 100) sub_axnum[3] Interpolation axis No. (0 to 32) Set the axis No. of the auxiliary axes to be in the same interpolation group. When not using auxiliary axes, set "0". ■Point None. ■Supported version Position board API version...
Page 222 PNT_DATA_EX structure [MC300] typedef struct { /* 0000h */ long position; unsigned long speed; unsigned short actime; unsigned short dctime; unsigned short dwell; unsigned short subcmd; /* 0010h */ unsigned char oas_num[4]; unsigned char s_curve; char reserve1[3]; unsigned char sub_axnum[4]; long arc_coord;...
Page 223 Member Description s_curve S-curve ratio [%] (0 to 100) sub_axnum[4] Interpolation axis No. (0 to 64) Set the axis No. of the auxiliary axes to be in the same interpolation group. When not using auxiliary axes, set "0". arc_coord Arc coordinates [command unit] Set the auxiliary point of the arc or the coordinates of the central point.
Page 224 OAS_DATA Structure This other axis start data structure is used for the other axes start. OAS_DATA structure [MC200] typedef struct { /* 0000h */ unsigned long opt_own; unsigned long opt_observ; long data_own; long data_observ; /* 0010h */ char reserve1[8]; unsigned long long st_axbit; /* 0020h */ unsigned short st_pnt_s;...
Page 225 Member Description dout_ctrl Digital output signal control/Output device signal control ■Value [Digital output signal control] • SSC_OAS_DO_DISABLE: Disabled • SSC_OAS_DO_ENABLE: Enabled dout_num Digital output signal No./Output device signal No. (00h to 3Fh) dout_ctrlbit Digital output signal enable selection/Output device signal enable selection dout_data Digital output signal command/Output device signal command ■Point...
Page 226 OAS_DATA structure [MC300] typedef struct { /* 0000h */ unsigned long opt_own; unsigned long opt_observ; long data_own; long data_observ; /* 0010h */ unsigned char reserve1[24]; unsigned long long st_axbit; /* 0030h */ unsigned short st_pnt_s; unsigned short st_pnt_e; char reserve2[12]; /* 0040h */ unsigned char reserve3[40];...
Page 227 Member Description dout_ctrlbit Digital output signal enable selection/Output device signal enable selection dout_data Digital output signal command/Output device signal command ■Point Always set "observed axis specified position pass specification (SSC_OAS_OBSERV_POSITION_PASS)" when observed axis specification is "Enabled (SSC_OAS_OBSERV_ENABLE)". ■Supported version Position board API version Board version Header file...
Page 228 PRESS_DATA Structure This continuous operation to torque control data structure is used for automatic operation (continuous operation to torque control). typedef struct { /* 0000h */ long switch_position; long position_limit; long speed_limit; unsigned short target_torque; unsigned short continue_time; /* 0010h */ unsigned short torque_settle_width;...
Page 229 SMP_ERR Structure This sampling error structure is used for the sampling. SMP_ERR structure [MC200] typedef struct { /* 0000h */ unsigned long long err_ax; unsigned short err_ut; char reserve1[6]; unsigned long err_dat; char reserve2[4]; unsigned long err_bit; char reserve3[4]; /* 0020h */ } SMP_ERR;...
Page 230 SMP_ERR structure [MC300] typedef struct { /* 0000h */ unsigned long long err_ax; char reserve1[8]; /* 0010h */ unsigned short err_ut; char reserve2[6]; unsigned long err_dat; char reserve3[4]; /* 0020h */ unsigned long err_bit; char reserve4[4]; char reserve5[8]; /* 0030h */ } SMP_ERR;...
Page 231 SMP_DATA Structure This sampling data structure is used for the sampling. SMP_DATA structure [MC200] typedef struct { /* 0000h */ long smpdata[32]; /* 0080h */ unsigned short smpbit[1]; unsigned char reserve1[2]; /* 0084h */ } SMP_DATA; Detailed description ■Member Member Description smpdata[32] Data 1 to 32...
Page 232 SMP_DATA structure [MC300] typedef struct { /* 0000h */ long smpdata[32]; /* 0080h */ unsigned long smpbit[1]; /* 0084h */ } SMP_DATA; Detailed description ■Member Member Description smpdata[32] Data 1 to 32 smpbit[1] Bit information ■Point None. ■Supported version Position board API version Board version Header file...
Page 233 LOG_DATA Structure This log data structure is used for the log function. typedef struct { /* 0000h */ short axnum; short eventcode; long eventtime; short eventdata[4]; /* 0010h */ } LOG_DATA; Detailed description ■Member Member Description axnum Axis No. eventcode Event code eventtime Time stamp...
Page 234 ALH_DATA Structure This alarm history data structure is used for the alarm history function. ALH_DATA structure [MC200] typedef struct { /* 0000h */ long long system_time; unsigned long free_run_cnt; unsigned char ctrl_cycle; unsigned char event_code; char reserve1[2]; /* 0010h */ unsigned char sscnet_type;...
Page 235 ALH_DATA structure [MC300] typedef struct { /* 0000h */ long long system_time; unsigned long free_run_cnt; unsigned char ctrl_cycle; unsigned char event_code; unsigned char ctrl_cycle_low_speed; char reserve1; /* 0010h */ char reserve2[4]; unsigned short axnum; unsigned short alarm_code; unsigned char drive_mode; char reserve3[3];...
Page 236 TRANSIENT_CMD Structure This transient transmit command data structure is used for sending and receiving transient transmit data. typedef struct { /* 0000h */ unsigned short cmd_req; unsigned short command; unsigned short req_data[4]; unsigned short reserve[2]; /* 0010h */ } TRANSIENT_CMD; Detailed description ■Member Member...
Page 237 TRANSIENT_STS Structure This transient transmit status data structure is used for sending and receiving transient transmit data. typedef struct { /* 0000h */ unsigned short status; unsigned short reserve1; unsigned short ans_data[4]; unsigned short reserve2[2]; /* 0010h */ } TRANSIENT_STS; Detailed description ■Member Member...
Page 238 5.10 INT_CB_DATA Structure This interrupt data structure is used for the interrupt callback function. INT_CB_DATA structure [MC200] typedef struct { /* 0000h */ int board_id; int channel; unsigned long free_run_cnt; unsigned char sys_factor_bit; char reserve1; unsigned short sys_factor; /* 0010H */ unsigned long long axis_factor_bit;...
Page 239 ■Supported version Position board API version Board version Header file MR-MC2_ _ 1.80 mc2xxstd.h ■Reference sscRegisterIntCallback (Page 189 sscRegisterIntCallback) 5 STRUCTURE LIST 5.10 INT_CB_DATA Structure...
Page 240 INT_CB_DATA structure [MC300] typedef struct { /* 0000h */ int board_id; int channel; unsigned long free_run_cnt; unsigned char sys_factor_bit; char reserve1; unsigned short sys_factor; /* 0010H */ unsigned long long axis_factor_bit; char reserve2[8]; unsigned long axis_factor[128]; /* 0220H */ unsigned short unit_factor_bit; char reserve3[14];...
Page 241 ■Point If interface mode event detect is enabled and system is started, the following information is stored in bit for factor of axes interrupt being sent and factor of axes interrupt. These values are updated every time an event occurs. •...
Page 242 5.11 SLAVE_INFO Structure [MC300] This device information structure is used for SSCNET communication disconnect/reconnect functions and functions to get controlling axis information. typedef struct { /* 0000h */ unsigned char axis[64]; /* 0040h */ unsigned char unit[16]; /* 0050h */ } SLAVE_INFO;...
Page 243 BIT DEFINITION LIST The following tables list the bit definitions to be specified in the sscSetCommandBitSignalEx function, the sscGetStatusBitSignalEx function, and the sscWaitStatusBitSignalEx function. System Command Bit Bit No. (constant) Signal name SSC_CMDBIT_SYS_ITE Interrupt processing stop SSC_CMDBIT_SYS_ITS Interrupt output start SSC_CMDBIT_SYS_03 For manufacturer setting SSC_CMDBIT_SYS_04...
Page 244 Bit No. (constant) Signal name SSC_CMDBIT_SYS_ITFE Interrupt processing fast stop SSC_CMDBIT_SYS_34 For manufacturer setting SSC_CMDBIT_SYS_35 SSC_CMDBIT_SYS_36 SSC_CMDBIT_SYS_37 SSC_CMDBIT_SYS_38 SSC_CMDBIT_SYS_39 SSC_CMDBIT_SYS_40 Bit No. (constant) Signal name SSC_CMDBIT_SYS_41 For manufacturer setting SSC_CMDBIT_SYS_42 SSC_CMDBIT_SYS_43 SSC_CMDBIT_SYS_44 SSC_CMDBIT_SYS_45 SSC_CMDBIT_SYS_46 SSC_CMDBIT_SYS_47 SSC_CMDBIT_SYS_48 Bit No. (constant) Signal name SSC_CMDBIT_SYS_ASYN1 Non-synchronous command (group 1) SSC_CMDBIT_SYS_ASYN2...
Page 245 Bit No. (constant) Signal name SSC_CMDBIT_SYS_73 For manufacturer setting SSC_CMDBIT_SYS_74 SSC_CMDBIT_SYS_75 SSC_CMDBIT_SYS_76 SSC_CMDBIT_SYS_77 SSC_CMDBIT_SYS_78 SSC_CMDBIT_SYS_79 SSC_CMDBIT_SYS_80 Bit No. (constant) Signal name SSC_CMDBIT_SYS_LOGC Log command SSC_CMDBIT_SYS_LOGR Reading of log data command SSC_CMDBIT_SYS_83 For manufacturer setting SSC_CMDBIT_SYS_LOGI Log data initialization command SSC_CMDBIT_SYS_85 For manufacturer setting SSC_CMDBIT_SYS_OCMC Operation cycle monitor clear...
Page 246 Bit No. (constant) Signal name SSC_CMDBIT_SYS_113 For manufacturer setting SSC_CMDBIT_SYS_114 SSC_CMDBIT_SYS_115 SSC_CMDBIT_SYS_116 SSC_CMDBIT_SYS_117 SSC_CMDBIT_SYS_118 SSC_CMDBIT_SYS_119 SSC_CMDBIT_SYS_120 Bit No. (constant) Signal name SSC_CMDBIT_SYS_121 For manufacturer setting SSC_CMDBIT_SYS_122 SSC_CMDBIT_SYS_123 SSC_CMDBIT_SYS_124 SSC_CMDBIT_SYS_125 SSC_CMDBIT_SYS_126 SSC_CMDBIT_SYS_127 SSC_CMDBIT_SYS_128 Bit No. (constant) Signal name SSC_CMDBIT_SYS_SPWRT Parameter write command SSC_CMDBIT_SYS_130 For manufacturer setting SSC_CMDBIT_SYS_131...
Page 247 Bit No. (constant) Signal name SSC_CMDBIT_SYS_153 For manufacturer setting SSC_CMDBIT_SYS_154 SSC_CMDBIT_SYS_155 SSC_CMDBIT_SYS_156 SSC_CMDBIT_SYS_157 SSC_CMDBIT_SYS_158 SSC_CMDBIT_SYS_159 SSC_CMDBIT_SYS_160 Bit No. (constant) Signal name SSC_CMDBIT_SYS_161 For manufacturer setting SSC_CMDBIT_SYS_162 SSC_CMDBIT_SYS_163 SSC_CMDBIT_SYS_164 SSC_CMDBIT_SYS_165 SSC_CMDBIT_SYS_166 SSC_CMDBIT_SYS_167 SSC_CMDBIT_SYS_168 Bit No. (constant) Signal name SSC_CMDBIT_SYS_169 For manufacturer setting SSC_CMDBIT_SYS_170 SSC_CMDBIT_SYS_171 SSC_CMDBIT_SYS_172...
Page 248 Bit No. (constant) Signal name SSC_CMDBIT_SYS_193 For manufacturer setting SSC_CMDBIT_SYS_194 SSC_CMDBIT_SYS_195 SSC_CMDBIT_SYS_196 SSC_CMDBIT_SYS_197 SSC_CMDBIT_SYS_198 SSC_CMDBIT_SYS_199 SSC_CMDBIT_SYS_200 Bit No. (constant) Signal name SSC_CMDBIT_SYS_201 For manufacturer setting SSC_CMDBIT_SYS_202 SSC_CMDBIT_SYS_203 SSC_CMDBIT_SYS_204 SSC_CMDBIT_SYS_205 SSC_CMDBIT_SYS_206 SSC_CMDBIT_SYS_207 SSC_CMDBIT_SYS_208 Bit No. (constant) Signal name SSC_CMDBIT_SYS_209 For manufacturer setting SSC_CMDBIT_SYS_210 SSC_CMDBIT_SYS_211 SSC_CMDBIT_SYS_212...
Page 249 Bit No. (constant) Signal name SSC_CMDBIT_SYS_233 For manufacturer setting SSC_CMDBIT_SYS_234 SSC_CMDBIT_SYS_235 SSC_CMDBIT_SYS_236 SSC_CMDBIT_SYS_237 SSC_CMDBIT_SYS_238 SSC_CMDBIT_SYS_239 SSC_CMDBIT_SYS_240 Bit No. (constant) Signal name SSC_CMDBIT_SYS_241 For manufacturer setting SSC_CMDBIT_SYS_242 SSC_CMDBIT_SYS_243 SSC_CMDBIT_SYS_244 SSC_CMDBIT_SYS_245 SSC_CMDBIT_SYS_246 SSC_CMDBIT_SYS_247 SSC_CMDBIT_SYS_248 Bit No. (constant) Signal name SSC_CMDBIT_SYS_249 For manufacturer setting SSC_CMDBIT_SYS_250 SSC_CMDBIT_SYS_251 SSC_CMDBIT_SYS_252...
Page 250 Bit No. (constant) Signal name SSC_CMDBIT_SYS_273 For manufacturer setting SSC_CMDBIT_SYS_274 SSC_CMDBIT_SYS_275 SSC_CMDBIT_SYS_276 SSC_CMDBIT_SYS_277 SSC_CMDBIT_SYS_278 SSC_CMDBIT_SYS_279 SSC_CMDBIT_SYS_280 Bit No. (constant) Signal name SSC_CMDBIT_SYS_281 For manufacturer setting SSC_CMDBIT_SYS_282 SSC_CMDBIT_SYS_283 SSC_CMDBIT_SYS_284 SSC_CMDBIT_SYS_285 SSC_CMDBIT_SYS_286 SSC_CMDBIT_SYS_287 SSC_CMDBIT_SYS_288 Bit No. (constant) Signal name SSC_CMDBIT_SYS_289 For manufacturer setting SSC_CMDBIT_SYS_290 SSC_CMDBIT_SYS_291 SSC_CMDBIT_SYS_292...
Page 251 Bit No. (constant) Signal name SSC_CMDBIT_SYS_313 For manufacturer setting SSC_CMDBIT_SYS_314 SSC_CMDBIT_SYS_315 SSC_CMDBIT_SYS_316 SSC_CMDBIT_SYS_317 SSC_CMDBIT_SYS_318 SSC_CMDBIT_SYS_319 SSC_CMDBIT_SYS_320 Bit No. (constant) Signal name SSC_CMDBIT_SYS_321 For manufacturer setting SSC_CMDBIT_SYS_322 SSC_CMDBIT_SYS_323 SSC_CMDBIT_SYS_324 SSC_CMDBIT_SYS_325 SSC_CMDBIT_SYS_326 SSC_CMDBIT_SYS_327 SSC_CMDBIT_SYS_328 Bit No. (constant) Signal name SSC_CMDBIT_SYS_329 For manufacturer setting SSC_CMDBIT_SYS_330 SSC_CMDBIT_SYS_331 SSC_CMDBIT_SYS_332...
Page 252 Bit No. (constant) Signal name SSC_CMDBIT_SYS_353 For manufacturer setting SSC_CMDBIT_SYS_354 SSC_CMDBIT_SYS_355 SSC_CMDBIT_SYS_356 SSC_CMDBIT_SYS_357 SSC_CMDBIT_SYS_358 SSC_CMDBIT_SYS_359 SSC_CMDBIT_SYS_360 Bit No. (constant) Signal name SSC_CMDBIT_SYS_361 For manufacturer setting SSC_CMDBIT_SYS_362 SSC_CMDBIT_SYS_363 SSC_CMDBIT_SYS_364 SSC_CMDBIT_SYS_365 SSC_CMDBIT_SYS_366 SSC_CMDBIT_SYS_367 SSC_CMDBIT_SYS_368 Bit No. (constant) Signal name SSC_CMDBIT_SYS_369 For manufacturer setting SSC_CMDBIT_SYS_370 SSC_CMDBIT_SYS_371 SSC_CMDBIT_SYS_372...
Page 253 System Status Bit Bit No. (constant) Signal name SSC_STSBIT_SYS_ITO Outputting factor of interrupt SSC_STSBIT_SYS_IITO During interface mode interrupt valid SSC_STSBIT_SYS_EVDO Event detect enabled SSC_STSBIT_SYS_HRIF Highly response I/F enabled SSC_STSBIT_SYS_BMA During system program memory access SSC_STSBIT_SYS_PRINF Continuous operation to torque control compatible information SSC_STSBIT_SYS_07 For manufacturer setting SSC_STSBIT_SYS_IFMO...
Page 254 Bit No. (constant) Signal name SSC_STSBIT_SYS_41 For manufacturer setting SSC_STSBIT_SYS_42 SSC_STSBIT_SYS_43 SSC_STSBIT_SYS_44 SSC_STSBIT_SYS_45 SSC_STSBIT_SYS_46 SSC_STSBIT_SYS_47 SSC_STSBIT_SYS_48 Bit No. (constant) Signal name SSC_STSBIT_SYS_ASYO1 In non-synchronous mode (group 1) SSC_STSBIT_SYS_ASYO2 In non-synchronous mode (group 2) SSC_STSBIT_SYS_ASYO3 In non-synchronous mode (group 3) SSC_STSBIT_SYS_ASYO4 In non-synchronous mode (group 4) SSC_STSBIT_SYS_ASYO5 In non-synchronous mode (group 5)
Page 255 Bit No. (constant) Signal name SSC_STSBIT_SYS_LOGO Log operation being performed SSC_STSBIT_SYS_LOGRF Reading of log data complete SSC_STSBIT_SYS_LOGRE Reading of log data error SSC_STSBIT_SYS_LOGIF Log data initialization is complete SSC_STSBIT_SYS_LOGIE Log data initialization error SSC_STSBIT_SYS_OCMCO During operation cycle monitor clear SSC_STSBIT_SYS_OCME Operation cycle alarm SSC_STSBIT_SYS_OCMW Operation cycle warning...
Page 256 Bit No. (constant) Signal name SSC_STSBIT_SYS_121 For manufacturer setting SSC_STSBIT_SYS_122 SSC_STSBIT_SYS_123 SSC_STSBIT_SYS_124 SSC_STSBIT_SYS_125 SSC_STSBIT_SYS_126 SSC_STSBIT_SYS_127 SSC_STSBIT_SYS_128 Bit No. (constant) Signal name SSC_STSBIT_SYS_SPWFIN1 Parameter write completed 1 SSC_STSBIT_SYS_SPWEN1 Parameter No. error 1 SSC_STSBIT_SYS_SPWED1 Parameter data out of bounds 1 SSC_STSBIT_SYS_132 For manufacturer setting SSC_STSBIT_SYS_SPWFIN2 Parameter write completed 2 SSC_STSBIT_SYS_SPWEN2...
Page 257 Bit No. (constant) Signal name SSC_STSBIT_SYS_161 For manufacturer setting SSC_STSBIT_SYS_162 SSC_STSBIT_SYS_163 SSC_STSBIT_SYS_164 SSC_STSBIT_SYS_165 SSC_STSBIT_SYS_166 SSC_STSBIT_SYS_167 SSC_STSBIT_SYS_168 Bit No. (constant) Signal name SSC_STSBIT_SYS_169 For manufacturer setting SSC_STSBIT_SYS_170 SSC_STSBIT_SYS_171 SSC_STSBIT_SYS_172 SSC_STSBIT_SYS_173 SSC_STSBIT_SYS_174 SSC_STSBIT_SYS_175 SSC_STSBIT_SYS_176 Bit No. (constant) Signal name SSC_STSBIT_SYS_FROK Flash ROM transfer preparation complete SSC_STSBIT_SYS_FRNG Flash ROM transfer preparation error SSC_STSBIT_SYS_FSOK...
Page 258 Bit No. (constant) Signal name SSC_STSBIT_SYS_201 For manufacturer setting SSC_STSBIT_SYS_202 SSC_STSBIT_SYS_203 SSC_STSBIT_SYS_204 SSC_STSBIT_SYS_205 SSC_STSBIT_SYS_206 SSC_STSBIT_SYS_207 SSC_STSBIT_SYS_208 Bit No. (constant) Signal name SSC_STSBIT_SYS_209 For manufacturer setting SSC_STSBIT_SYS_210 SSC_STSBIT_SYS_211 SSC_STSBIT_SYS_212 SSC_STSBIT_SYS_213 SSC_STSBIT_SYS_214 SSC_STSBIT_SYS_215 SSC_STSBIT_SYS_216 Bit No. (constant) Signal name SSC_STSBIT_SYS_217 For manufacturer setting SSC_STSBIT_SYS_218 SSC_STSBIT_SYS_219 SSC_STSBIT_SYS_220...
Page 259 Bit No. (constant) Signal name SSC_STSBIT_SYS_241 For manufacturer setting SSC_STSBIT_SYS_242 SSC_STSBIT_SYS_243 SSC_STSBIT_SYS_244 SSC_STSBIT_SYS_245 SSC_STSBIT_SYS_246 SSC_STSBIT_SYS_247 SSC_STSBIT_SYS_248 Bit No. (constant) Signal name SSC_STSBIT_SYS_249 For manufacturer setting SSC_STSBIT_SYS_250 SSC_STSBIT_SYS_251 SSC_STSBIT_SYS_252 SSC_STSBIT_SYS_253 SSC_STSBIT_SYS_254 SSC_STSBIT_SYS_255 SSC_STSBIT_SYS_256 System status bit [MC300] Bit No. (constant) Signal name SSC_STSBIT_SYS_257 For manufacturer setting SSC_STSBIT_SYS_258...
Page 260 Bit No. (constant) Signal name SSC_STSBIT_SYS_281 For manufacturer setting SSC_STSBIT_SYS_282 SSC_STSBIT_SYS_283 SSC_STSBIT_SYS_284 SSC_STSBIT_SYS_285 SSC_STSBIT_SYS_286 SSC_STSBIT_SYS_287 SSC_STSBIT_SYS_288 Bit No. (constant) Signal name SSC_STSBIT_SYS_289 For manufacturer setting SSC_STSBIT_SYS_290 SSC_STSBIT_SYS_291 SSC_STSBIT_SYS_292 SSC_STSBIT_SYS_293 SSC_STSBIT_SYS_294 SSC_STSBIT_SYS_295 SSC_STSBIT_SYS_296 Bit No. (constant) Signal name SSC_STSBIT_SYS_297 For manufacturer setting SSC_STSBIT_SYS_298 SSC_STSBIT_SYS_299 SSC_STSBIT_SYS_300...
Page 261 Bit No. (constant) Signal name SSC_STSBIT_SYS_321 For manufacturer setting SSC_STSBIT_SYS_322 SSC_STSBIT_SYS_323 SSC_STSBIT_SYS_324 SSC_STSBIT_SYS_325 SSC_STSBIT_SYS_326 SSC_STSBIT_SYS_327 SSC_STSBIT_SYS_328 Bit No. (constant) Signal name SSC_STSBIT_SYS_329 For manufacturer setting SSC_STSBIT_SYS_330 SSC_STSBIT_SYS_331 SSC_STSBIT_SYS_332 SSC_STSBIT_SYS_333 SSC_STSBIT_SYS_334 SSC_STSBIT_SYS_335 SSC_STSBIT_SYS_336 Bit No. (constant) Signal name SSC_STSBIT_SYS_337 For manufacturer setting SSC_STSBIT_SYS_338 SSC_STSBIT_SYS_339 SSC_STSBIT_SYS_340...
Page 262 Bit No. (constant) Signal name SSC_STSBIT_SYS_361 For manufacturer setting SSC_STSBIT_SYS_362 SSC_STSBIT_SYS_363 SSC_STSBIT_SYS_364 SSC_STSBIT_SYS_365 SSC_STSBIT_SYS_366 SSC_STSBIT_SYS_367 SSC_STSBIT_SYS_368 Bit No. (constant) Signal name SSC_STSBIT_SYS_369 For manufacturer setting SSC_STSBIT_SYS_370 SSC_STSBIT_SYS_371 SSC_STSBIT_SYS_372 SSC_STSBIT_SYS_373 SSC_STSBIT_SYS_374 SSC_STSBIT_SYS_375 SSC_STSBIT_SYS_376 Bit No. (constant) Signal name SSC_STSBIT_SYS_377 For manufacturer setting SSC_STSBIT_SYS_378 SSC_STSBIT_SYS_379 SSC_STSBIT_SYS_380...
Page 263 Axis Command Bit Bit No. (constant) Signal name SSC_CMDBIT_AX_SON Servo on SSC_CMDBIT_AX_2 For manufacturer setting SSC_CMDBIT_AX_3 SSC_CMDBIT_AX_4 SSC_CMDBIT_AX_TL Torque limit SSC_CMDBIT_AX_SRST Servo alarm reset SSC_CMDBIT_AX_7 For manufacturer setting SSC_CMDBIT_AX_8 Bit No. (constant) Signal name SSC_CMDBIT_AX_ST Start operation SSC_CMDBIT_AX_DIR Movement direction SSC_CMDBIT_AX_STP Stop operation SSC_CMDBIT_AX_RSTP...
Page 264 Bit No. (constant) Signal name SSC_CMDBIT_AX_SCHG Change speed SSC_CMDBIT_AX_TACHG Change acceleration time constant SSC_CMDBIT_AX_TDCHG Change deceleration time constant SSC_CMDBIT_AX_PCHG Change position SSC_CMDBIT_AX_45 For manufacturer setting SSC_CMDBIT_AX_46 SSC_CMDBIT_AX_47 SSC_CMDBIT_AX_48 Bit No. (constant) Signal name SSC_CMDBIT_AX_FST Fast start operation SSC_CMDBIT_AX_50 For manufacturer setting SSC_CMDBIT_AX_51 SSC_CMDBIT_AX_52 SSC_CMDBIT_AX_53...
Page 265 Bit No. (constant) Signal name SSC_CMDBIT_AX_81 For manufacturer setting SSC_CMDBIT_AX_82 SSC_CMDBIT_AX_83 SSC_CMDBIT_AX_84 SSC_CMDBIT_AX_ZSC Home position set command SSC_CMDBIT_AX_86 For manufacturer setting SSC_CMDBIT_AX_87 SSC_CMDBIT_AX_88 Bit No. (constant) Signal name SSC_CMDBIT_AX_89 For manufacturer setting SSC_CMDBIT_AX_MKC1 Mark detection clear command 1 SSC_CMDBIT_AX_MKD1 Mark detection disable command 1 SSC_CMDBIT_AX_MKSEN1 Mark detection setting enable command 1 SSC_CMDBIT_AX_93...
Page 266 Bit No. (constant) Signal name SSC_CMDBIT_AX_GAIN2 Gain switching command 2 [MC300] SSC_CMDBIT_AX_122 For manufacturer setting SSC_CMDBIT_AX_123 SSC_CMDBIT_AX_124 SSC_CMDBIT_AX_125 SSC_CMDBIT_AX_126 SSC_CMDBIT_AX_127 SSC_CMDBIT_AX_128 Bit No. (constant) Signal name SSC_CMDBIT_AX_MON Monitor command SSC_CMDBIT_AX_MONR Monitor latch command SSC_CMDBIT_AX_131 For manufacturer setting SSC_CMDBIT_AX_132 SSC_CMDBIT_AX_133 SSC_CMDBIT_AX_134 SSC_CMDBIT_AX_135 SSC_CMDBIT_AX_136 Bit No.
Page 267 Bit No. (constant) Signal name SSC_CMDBIT_AX_PWRT Parameter write command SSC_CMDBIT_AX_162 For manufacturer setting SSC_CMDBIT_AX_163 SSC_CMDBIT_AX_164 SSC_CMDBIT_AX_165 SSC_CMDBIT_AX_166 SSC_CMDBIT_AX_167 SSC_CMDBIT_AX_PSF Servo parameter read complete Bit No. (constant) Signal name SSC_CMDBIT_AX_PRD Parameter read command SSC_CMDBIT_AX_170 For manufacturer setting SSC_CMDBIT_AX_171 SSC_CMDBIT_AX_172 SSC_CMDBIT_AX_173 SSC_CMDBIT_AX_174 SSC_CMDBIT_AX_175 SSC_CMDBIT_AX_176 Bit No.
Page 268 Bit No. (constant) Signal name SSC_CMDBIT_AX_201 For manufacturer setting SSC_CMDBIT_AX_202 SSC_CMDBIT_AX_203 SSC_CMDBIT_AX_204 SSC_CMDBIT_AX_205 SSC_CMDBIT_AX_206 SSC_CMDBIT_AX_207 SSC_CMDBIT_AX_208 Bit No. (constant) Signal name SSC_CMDBIT_AX_209 For manufacturer setting SSC_CMDBIT_AX_210 SSC_CMDBIT_AX_211 SSC_CMDBIT_AX_212 SSC_CMDBIT_AX_213 SSC_CMDBIT_AX_214 SSC_CMDBIT_AX_215 SSC_CMDBIT_AX_216 Bit No. (constant) Signal name SSC_CMDBIT_AX_217 For manufacturer setting SSC_CMDBIT_AX_218 SSC_CMDBIT_AX_219 SSC_CMDBIT_AX_220...
Page 269 Bit No. (constant) Signal name SSC_CMDBIT_AX_241 For manufacturer setting SSC_CMDBIT_AX_242 SSC_CMDBIT_AX_243 SSC_CMDBIT_AX_244 SSC_CMDBIT_AX_245 SSC_CMDBIT_AX_246 SSC_CMDBIT_AX_247 SSC_CMDBIT_AX_248 Bit No. (constant) Signal name SSC_CMDBIT_AX_249 For manufacturer setting SSC_CMDBIT_AX_250 SSC_CMDBIT_AX_251 SSC_CMDBIT_AX_252 SSC_CMDBIT_AX_253 SSC_CMDBIT_AX_254 SSC_CMDBIT_AX_255 SSC_CMDBIT_AX_256 Axis command bit [MC300] Bit No. (constant) Signal name SSC_CMDBIT_AX_257 For manufacturer setting SSC_CMDBIT_AX_258...
Page 270 Bit No. (constant) Signal name SSC_CMDBIT_AX_281 For manufacturer setting SSC_CMDBIT_AX_282 SSC_CMDBIT_AX_283 SSC_CMDBIT_AX_284 SSC_CMDBIT_AX_285 SSC_CMDBIT_AX_286 SSC_CMDBIT_AX_287 SSC_CMDBIT_AX_288 Bit No. (constant) Signal name SSC_CMDBIT_AX_289 For manufacturer setting SSC_CMDBIT_AX_290 SSC_CMDBIT_AX_291 SSC_CMDBIT_AX_292 SSC_CMDBIT_AX_293 SSC_CMDBIT_AX_294 SSC_CMDBIT_AX_295 SSC_CMDBIT_AX_296 Bit No. (constant) Signal name SSC_CMDBIT_AX_297 For manufacturer setting SSC_CMDBIT_AX_298 SSC_CMDBIT_AX_299 SSC_CMDBIT_AX_300...
Page 271 Bit No. (constant) Signal name SSC_CMDBIT_AX_321 For manufacturer setting SSC_CMDBIT_AX_322 SSC_CMDBIT_AX_323 SSC_CMDBIT_AX_324 SSC_CMDBIT_AX_325 SSC_CMDBIT_AX_326 SSC_CMDBIT_AX_327 SSC_CMDBIT_AX_328 Bit No. (constant) Signal name SSC_CMDBIT_AX_329 For manufacturer setting SSC_CMDBIT_AX_330 SSC_CMDBIT_AX_331 SSC_CMDBIT_AX_332 SSC_CMDBIT_AX_333 SSC_CMDBIT_AX_334 SSC_CMDBIT_AX_335 SSC_CMDBIT_AX_336 Bit No. (constant) Signal name SSC_CMDBIT_AX_337 For manufacturer setting SSC_CMDBIT_AX_338 SSC_CMDBIT_AX_339 SSC_CMDBIT_AX_340...
Page 272 Bit No. (constant) Signal name SSC_CMDBIT_AX_361 For manufacturer setting SSC_CMDBIT_AX_362 SSC_CMDBIT_AX_363 SSC_CMDBIT_AX_364 SSC_CMDBIT_AX_365 SSC_CMDBIT_AX_366 SSC_CMDBIT_AX_367 SSC_CMDBIT_AX_368 Bit No. (constant) Signal name SSC_CMDBIT_AX_369 For manufacturer setting SSC_CMDBIT_AX_370 SSC_CMDBIT_AX_371 SSC_CMDBIT_AX_372 SSC_CMDBIT_AX_373 SSC_CMDBIT_AX_374 SSC_CMDBIT_AX_375 SSC_CMDBIT_AX_376 Bit No. (constant) Signal name SSC_CMDBIT_AX_377 For manufacturer setting SSC_CMDBIT_AX_378 SSC_CMDBIT_AX_379 SSC_CMDBIT_AX_380...
Page 273 Axis Status Bit Bit No. (constant) Signal name SSC_STSBIT_AX_RDY Servo ready SSC_STSBIT_AX_INP In-position SSC_STSBIT_AX_ZSP Zero speed SSC_STSBIT_AX_ZPAS Passed Z-phase SSC_STSBIT_AX_TLC Torque limit effective SSC_STSBIT_AX_SALM Servo alarm SSC_STSBIT_AX_SWRN Servo warning SSC_STSBIT_AX_ABSE Absolute position erased Bit No. (constant) Signal name SSC_STSBIT_AX_OP Operation processing SSC_STSBIT_AX_CPO Rough match SSC_STSBIT_AX_PF...
Page 274 Bit No. (constant) Signal name SSC_STSBIT_AX_SCF Preparation for changing speed completed SSC_STSBIT_AX_TACF Preparation for changing acceleration time constant completed SSC_STSBIT_AX_TDCF Preparation for changing deceleration time constant completed SSC_STSBIT_AX_PCF Preparation for changing position completed SSC_STSBIT_AX_SCE Speed change error SSC_STSBIT_AX_TACE Acceleration time constant change error SSC_STSBIT_AX_TDCE Deceleration time constant change error SSC_STSBIT_AX_PCE...
Page 275 Bit No. (constant) Signal name SSC_STSBIT_AX_81 For manufacturer setting SSC_STSBIT_AX_82 SSC_STSBIT_AX_83 SSC_STSBIT_AX_ZSF Home position set complete SSC_STSBIT_AX_ZSE Home position set error SSC_STSBIT_AX_86 For manufacturer setting SSC_STSBIT_AX_87 SSC_STSBIT_AX_88 Bit No. (constant) Signal name SSC_STSBIT_AX_MKIF1 Mark detection compatible information 1 SSC_STSBIT_AX_MKCF1 Mark detection clear complete 1 SSC_STSBIT_AX_MKDO1 Mark detection disabled 1 SSC_STSBIT_AX_MKSEF1...
Page 276 Bit No. (constant) Signal name SSC_STSBIT_AX_GAIN2O Selecting gain switching 2 [MC300] SSC_STSBIT_AX_122 For manufacturer setting SSC_STSBIT_AX_123 SSC_STSBIT_AX_124 SSC_STSBIT_AX_125 SSC_STSBIT_AX_126 SSC_STSBIT_AX_127 SSC_STSBIT_AX_128 Bit No. (constant) Signal name SSC_STSBIT_AX_MOUT Monitor output SSC_STSBIT_AX_MRCH Monitor latch SSC_STSBIT_AX_MER1 Monitor No. error 1 SSC_STSBIT_AX_MER2 Monitor No. error 2 SSC_STSBIT_AX_MER3 Monitor No.
Page 277 Bit No. (constant) Signal name SSC_STSBIT_AX_PWFIN1 Parameter write completed 1 SSC_STSBIT_AX_PWEN1 Parameter No. error 1 SSC_STSBIT_AX_PWED1 Parameter data out of bounds 1 SSC_STSBIT_AX_164 For manufacturer setting SSC_STSBIT_AX_PWFIN2 Parameter write completed 2 SSC_STSBIT_AX_PWEN2 Parameter No. error 2 SSC_STSBIT_AX_PWED2 Parameter data out of bounds 2 SSC_STSBIT_AX_PSCHG Changes to servo parameters exist Bit No.
Page 278 Bit No. (constant) Signal name SSC_STSBIT_AX_201 For manufacturer setting SSC_STSBIT_AX_202 SSC_STSBIT_AX_203 SSC_STSBIT_AX_204 SSC_STSBIT_AX_205 SSC_STSBIT_AX_206 SSC_STSBIT_AX_207 SSC_STSBIT_AX_208 Bit No. (constant) Signal name SSC_STSBIT_AX_209 For manufacturer setting SSC_STSBIT_AX_210 SSC_STSBIT_AX_211 SSC_STSBIT_AX_212 SSC_STSBIT_AX_213 SSC_STSBIT_AX_214 SSC_STSBIT_AX_215 SSC_STSBIT_AX_216 Bit No. (constant) Signal name SSC_STSBIT_AX_217 For manufacturer setting SSC_STSBIT_AX_218 SSC_STSBIT_AX_219 SSC_STSBIT_AX_220...
Page 279 Bit No. (constant) Signal name SSC_STSBIT_AX_241 For manufacturer setting SSC_STSBIT_AX_242 SSC_STSBIT_AX_243 SSC_STSBIT_AX_244 SSC_STSBIT_AX_245 SSC_STSBIT_AX_246 SSC_STSBIT_AX_247 SSC_STSBIT_AX_248 Bit No. (constant) Signal name SSC_STSBIT_AX_249 For manufacturer setting SSC_STSBIT_AX_250 SSC_STSBIT_AX_251 SSC_STSBIT_AX_252 SSC_STSBIT_AX_253 SSC_STSBIT_AX_254 SSC_STSBIT_AX_255 SSC_STSBIT_AX_256 Axis status bit [MC300] Bit No. (constant) Signal name SSC_STSBIT_AX_257 For manufacturer setting SSC_STSBIT_AX_258...
Page 280 Bit No. (constant) Signal name SSC_STSBIT_AX_281 For manufacturer setting SSC_STSBIT_AX_282 SSC_STSBIT_AX_283 SSC_STSBIT_AX_284 SSC_STSBIT_AX_285 SSC_STSBIT_AX_286 SSC_STSBIT_AX_287 SSC_STSBIT_AX_288 Bit No. (constant) Signal name SSC_STSBIT_AX_289 For manufacturer setting SSC_STSBIT_AX_290 SSC_STSBIT_AX_291 SSC_STSBIT_AX_292 SSC_STSBIT_AX_293 SSC_STSBIT_AX_294 SSC_STSBIT_AX_295 SSC_STSBIT_AX_296 Bit No. (constant) Signal name SSC_STSBIT_AX_297 For manufacturer setting SSC_STSBIT_AX_298 SSC_STSBIT_AX_299 SSC_STSBIT_AX_300...
Page 281 Bit No. (constant) Signal name SSC_STSBIT_AX_321 For manufacturer setting SSC_STSBIT_AX_322 SSC_STSBIT_AX_323 SSC_STSBIT_AX_324 SSC_STSBIT_AX_325 SSC_STSBIT_AX_326 SSC_STSBIT_AX_327 SSC_STSBIT_AX_328 Bit No. (constant) Signal name SSC_STSBIT_AX_329 For manufacturer setting SSC_STSBIT_AX_330 SSC_STSBIT_AX_331 SSC_STSBIT_AX_332 SSC_STSBIT_AX_333 SSC_STSBIT_AX_334 SSC_STSBIT_AX_335 SSC_STSBIT_AX_336 Bit No. (constant) Signal name SSC_STSBIT_AX_337 For manufacturer setting SSC_STSBIT_AX_338 SSC_STSBIT_AX_339 SSC_STSBIT_AX_340...
Page 282 Bit No. (constant) Signal name SSC_STSBIT_AX_361 For manufacturer setting SSC_STSBIT_AX_362 SSC_STSBIT_AX_363 SSC_STSBIT_AX_364 SSC_STSBIT_AX_365 SSC_STSBIT_AX_366 SSC_STSBIT_AX_367 SSC_STSBIT_AX_368 Bit No. (constant) Signal name SSC_STSBIT_AX_369 For manufacturer setting SSC_STSBIT_AX_370 SSC_STSBIT_AX_371 SSC_STSBIT_AX_372 SSC_STSBIT_AX_373 SSC_STSBIT_AX_374 SSC_STSBIT_AX_375 SSC_STSBIT_AX_376 Bit No. (constant) Signal name SSC_STSBIT_AX_377 For manufacturer setting SSC_STSBIT_AX_378 SSC_STSBIT_AX_379 SSC_STSBIT_AX_380...
Page 283 Station Command Bit Bit No. (constant) Signal name SSC_CMDBIT_UT_1 For manufacturer setting SSC_CMDBIT_UT_2 SSC_CMDBIT_UT_3 SSC_CMDBIT_UT_4 SSC_CMDBIT_UT_5 SSC_CMDBIT_UT_RURST RIO module alarm reset SSC_CMDBIT_UT_7 For manufacturer setting SSC_CMDBIT_UT_8 Bit No. (constant) Signal name SSC_CMDBIT_UT_9 For manufacturer setting SSC_CMDBIT_UT_10 SSC_CMDBIT_UT_11 SSC_CMDBIT_UT_12 SSC_CMDBIT_UT_13 SSC_CMDBIT_UT_RCRST RIO control alarm reset SSC_CMDBIT_UT_15 For manufacturer setting...
Page 284 Bit No. (constant) Signal name SSC_CMDBIT_UT_41 For manufacturer setting SSC_CMDBIT_UT_42 SSC_CMDBIT_UT_43 SSC_CMDBIT_UT_44 SSC_CMDBIT_UT_45 SSC_CMDBIT_UT_46 SSC_CMDBIT_UT_47 SSC_CMDBIT_UT_48 Bit No. (constant) Signal name SSC_CMDBIT_UT_PWRT Parameter write command SSC_CMDBIT_UT_50 For manufacturer setting SSC_CMDBIT_UT_51 SSC_CMDBIT_UT_52 SSC_CMDBIT_UT_53 SSC_CMDBIT_UT_54 SSC_CMDBIT_UT_55 SSC_CMDBIT_UT_56 Bit No. (constant) Signal name SSC_CMDBIT_UT_PRD Parameter read command SSC_CMDBIT_UT_58...
Page 285 Bit No. (constant) Signal name SSC_CMDBIT_UT_81 For manufacturer setting SSC_CMDBIT_UT_82 SSC_CMDBIT_UT_83 SSC_CMDBIT_UT_84 SSC_CMDBIT_UT_85 SSC_CMDBIT_UT_86 SSC_CMDBIT_UT_87 SSC_CMDBIT_UT_88 Bit No. (constant) Signal name SSC_CMDBIT_UT_89 For manufacturer setting SSC_CMDBIT_UT_90 SSC_CMDBIT_UT_91 SSC_CMDBIT_UT_92 SSC_CMDBIT_UT_93 SSC_CMDBIT_UT_94 SSC_CMDBIT_UT_95 SSC_CMDBIT_UT_96 Bit No. (constant) Signal name SSC_CMDBIT_UT_97 For manufacturer setting SSC_CMDBIT_UT_98 SSC_CMDBIT_UT_99 SSC_CMDBIT_UT_100...
Page 286 Bit No. (constant) Signal name SSC_CMDBIT_UT_121 For manufacturer setting SSC_CMDBIT_UT_122 SSC_CMDBIT_UT_123 SSC_CMDBIT_UT_124 SSC_CMDBIT_UT_125 SSC_CMDBIT_UT_126 SSC_CMDBIT_UT_127 SSC_CMDBIT_UT_128 6 BIT DEFINITION LIST 6.5 Station Command Bit...
Page 287 Station Status Bit Bit No. (constant) Signal name SSC_STSBIT_UT_RURDY Receiving controller ready on SSC_STSBIT_UT_RUA Outputting DO SSC_STSBIT_UT_3 For manufacturer setting SSC_STSBIT_UT_4 SSC_STSBIT_UT_5 SSC_STSBIT_UT_RUALM RIO module alarm SSC_STSBIT_UT_RUWRN RIO module warning SSC_STSBIT_UT_8 For manufacturer setting Bit No. (constant) Signal name SSC_STSBIT_UT_9 For manufacturer setting SSC_STSBIT_UT_10 SSC_STSBIT_UT_11...
Page 288 Bit No. (constant) Signal name SSC_STSBIT_UT_41 For manufacturer setting SSC_STSBIT_UT_42 SSC_STSBIT_UT_43 SSC_STSBIT_UT_44 SSC_STSBIT_UT_45 SSC_STSBIT_UT_46 SSC_STSBIT_UT_47 SSC_STSBIT_UT_48 Bit No. (constant) Signal name SSC_STSBIT_UT_PWFIN1 Parameter write completed 1 SSC_STSBIT_UT_PWEN1 Parameter No. error 1 SSC_STSBIT_UT_PWED1 Parameter data out of bounds 1 SSC_STSBIT_UT_52 For manufacturer setting SSC_STSBIT_UT_PWFIN2 Parameter write completed 2 SSC_STSBIT_UT_PWEN2...
Page 289 Bit No. (constant) Signal name SSC_STSBIT_UT_81 For manufacturer setting SSC_STSBIT_UT_82 SSC_STSBIT_UT_83 SSC_STSBIT_UT_84 SSC_STSBIT_UT_85 SSC_STSBIT_UT_86 SSC_STSBIT_UT_87 SSC_STSBIT_UT_88 Bit No. (constant) Signal name SSC_STSBIT_UT_89 For manufacturer setting SSC_STSBIT_UT_90 SSC_STSBIT_UT_91 SSC_STSBIT_UT_92 SSC_STSBIT_UT_93 SSC_STSBIT_UT_94 SSC_STSBIT_UT_95 SSC_STSBIT_UT_96 Bit No. (constant) Signal name SSC_STSBIT_UT_97 For manufacturer setting SSC_STSBIT_UT_98 SSC_STSBIT_UT_99 SSC_STSBIT_UT_100...
Page 290 Bit No. (constant) Signal name SSC_STSBIT_UT_121 For manufacturer setting SSC_STSBIT_UT_122 SSC_STSBIT_UT_123 SSC_STSBIT_UT_124 SSC_STSBIT_UT_125 SSC_STSBIT_UT_126 SSC_STSBIT_UT_127 SSC_STSBIT_UT_128 6 BIT DEFINITION LIST 6.6 Station Status Bit...
Page 291 INTERRUPT EVENT FACTOR LIST The following lists the interrupt event factors. System interrupt Event factor Content SSC_INT_SYS_SYSE During system error SSC_INT_SYS_CALM During system alarm SSC_INT_SYS_EMIO During forced stop SSC_INT_SYS_03 For manufacturer setting SSC_INT_SYS_04 SSC_INT_SYS_05 SSC_INT_SYS_06 SSC_INT_SYS_OCME Operation cycle alarm SSC_INT_SYS_OASF Factor of other axes start interrupt is being sent SSC_INT_SYS_PPI Factor of pass position interrupt is being sent...
Page 292 Event factor Content SSC_INT_AX_26 For manufacturer setting SSC_INT_AX_27 SSC_INT_AX_28 SSC_INT_AX_29 SSC_INT_AX_30 SSC_INT_AX_31 Station interrupt Event factor Content SSC_INT_UT_00 For manufacturer setting SSC_INT_UT_01 SSC_INT_UT_02 SSC_INT_UT_03 SSC_INT_UT_04 SSC_INT_UT_RUALM RIO module alarm SSC_INT_UT_RUWRN RIO module warning SSC_INT_UT_07 For manufacturer setting SSC_INT_UT_08 SSC_INT_UT_09 SSC_INT_UT_10 SSC_INT_UT_11 SSC_INT_UT_12 SSC_INT_UT_RCALM...
Page 293 LIST OF DETAILED ERROR CODES The following shows the detailed error codes. Common error Value Constant definition Cause/countermeasure FFFFFFFFH SSC_FUNC_ERR_UNKNOWN No errors (-1) have occurred after using the API functions. FFFFFFFCH SSC_FUNC_ERR_UNSUPPORT_BOARD_VERSION The position board does not support this function. 00000001H SSC_FUNC_ERR_ARGUMENT_0...
Page 294: Table Of Contents
Device functions error Value Constant definition Cause/countermeasure 00020000H SSC_FUNC_ERR_REOPEN The sscOpen function is already called. 00020010H SSC_FUNC_ERR_UNOPEN The sscOpen function has not been called. 00021010H SSC_FUNC_ERR_NOT_FOUND_BOARD • The position board which has the designated board ID could not be found. Confirm the board ID selection (dip switch) of the position board.
Page 295 System functions error Value Constant definition Cause/countermeasure 00030000H SSC_FUNC_ERR_UNREADY_CHANNEL The system is in the status other than the system preparation completion. Reboot the system with the sscReboot function. 00030020H SSC_FUNC_ERR_RUNNING_CHANNEL The system is in the status of before system startup. Start the system with the sscSystemStart function.
Page 296 Monitor functions error Value Constant definition Cause/countermeasure 00050000H SSC_FUNC_ERR_STS_BIT_MER A monitor No. error occurred.  = 1 to 4: Array No. of the monitor Nos. (for 4 Nos.) • A value outside the range is set in the monitor No. 00050001H •...
Page 297 Sampling functions error Value Constant definition Cause/countermeasure 00061010H SSC_FUNC_ERR_ALREADY_START_SAMPLING The sampling start signal (SMPS) is ON. Stop the sampling with the sscStopSampling function. 00061011H SSC_FUNC_ERR_ALREADY_STOP_SAMPLING The sampling has already stopped. 00061020H SSC_FUNC_ERR_STS_BIT_SREN A value outside the range is set in the sampling setting read No. 00061021H SSC_FUNC_ERR_MISMATCH_SMP_PARAM_READ_NU The command and the status of the sampling setting read No.
Page 298 Mark detection functions error Value Constant definition Cause/countermeasure 00067000H SSC_FUNC_ERR_MARK_DETECT_UNUSABLE Mark detection function is disabled. • Mark detection function is not supported. • Mark detection function has been disabled by the settings. 00067001H SSC_FUNC_ERR_MARK_DETECT_UNDETECTED There is no mark detection data that can be got. After checking that the mark detection count of the position board has been renewed, call the sscGetMarkDetectionData function.
Page 299 APPENDIX Appendix 1 Differences between MR-MC2_ _ and MR- MC3_ _ Differences between API libraries Differences between the MR-MC2_ _ and MR-MC3_ _ API libraries are shown below. Item MR-MC2_ _ MR-MC3_ _ Maximum No. of channels Maximum axis No. Maximum station No.
Page 300 MR-MC3_ _ replacements for MR-MC2_ _ API functions • While it is possible to use MR-MC2_ _ API functions shown in the table below with MR-MC3_ _ models, we recommend using MR-MC3_ _ API functions with these models. Function type Function name MR-MC2_ _ API functions MR-MC3_ _ API functions...
Page 301 MEMO APPX Appendix 1 Differences between MR-MC2_ _ and MR-MC3_ _...
Page 302 INDEX .....227 SMP_ERR structure ......88 sscAutoStart .
Page 303 ..... 125 ......192 sscGetIoStatusFast sscSetIntEvent .
Page 304 Japanese manual number: IB-0300224-K This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
Page 305 WARRANTY Warranty 1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider.
Page 306 INFORMATION AND SERVICES For further information and services, please contact your local Mitsubishi Electric sales office or representative. Visit our website to find our locations worldwide. MITSUBISHI ELECTRIC Factory Automation Global Website Locations Worldwide www.MitsubishiElectric.com/fa/about-us/overseas/ TRADEMARKS Microsoft, Visual Basic, Visual C++, Visual C#, and Windows are trademarks of the Microsoft group of companies.
Page 308 IB(NA)-0300225ENG-J(2406)MEE MODEL: MRMC2-U-API-E MODEL CODE: 1XB970 HEAD OFFICE: TOKYO BLDG., 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS: 1-14, YADA-MINAMI 5-CHOME, HIGASHI-KU, NAGOYA 461-8670, JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications subject to change without notice.

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