Output

---

UBYTE cOutputPackParam (DATA32 Val, DATA8 *pStr)

• Helper function to pack parameters - always to const parameters -
• This is to pack parameters back into a string ready for Daisy

• chain transmission

  Parameters

  (DATA8)	Val - 32 bit value you would like to pack
  (DATA8*)	pStr - String pointer where to pack the 32 bit Val

  ---

  opOUTPUT_PRG_STOP (LAYER, NO, TYPE)

• Program stop
  

• Dispatch status unchanged

  ---

  opOUTPUT_SET_TYPE (LAYER, NO, TYPE)

• Set output type
  

• Dispatch status unchanged

  Parameters

  (DATA8)	LAYER - Chain layer number [0..3]
  (DATA8)	NO - Output no [0..3]
  (DATA8)	TYPE - Output device type

  ---

  opOUTPUT_RESET (LAYER, NOS)

• Resets the Tacho counts
  

• Dispatch status unchanged

  Parameters

  (DATA8)	LAYER - Chain layer number [0..3]
  (DATA8)	NOS - Output bit field [0x00..0x0F]

  ---

  opOUTPUT_STOP (LAYER, NOS)

• Stops the outputs
  

• Dispatch status unchanged

  Parameters

  (DATA8)	LAYER - Chain layer number [0..3]
  (DATA8)	NOS - Output bit field [0x00..0x0F]
  (DATA8)	BRAKE - Brake [0,1]

  ---

  opOUTPUT_SPEED (LAYER, NOS, SPEED)

• Set speed of the outputs
  

• Dispatch status unchanged

  Parameters

  (DATA8)	LAYER - Chain layer number [0..3]
  (DATA8)	NOS - Output bit field [0x00..0x0F]
  (DATA8)	SPEED - Speed [-100..100%]

  ---

  opOUTPUT_POWER (LAYER, NOS, SPEED)

• Set power of the outputs
  

• Dispatch status unchanged

  Parameters

  (DATA8)	LAYER - Chain layer number [0..3]
  (DATA8)	NOS - Output bit field [0x00..0x0F]
  (DATA8)	POWER - Power [-100..100%]

  ---

  opOUTPUT_START (LAYER, NOS)

• Starts the outputs
  

• Dispatch status unchanged

  Parameters

  (DATA8)	LAYER - Chain layer number [0..3]
  (DATA8)	NOS - Output bit field [0x00..0x0F]

  ---

  opOUTPUT_POLARITY (LAYER, NOS, POL)

• Set polarity of the outputs
  

• Dispatch status unchanged

  Parameters

  (DATA8)	LAYER - Chain layer number [0..3]
  (DATA8)	NOS - Output bit field [0x00..0x0F]
  (DATA8)	POL - Polarity [-1,0,1]

• Polarity:

  • -1 makes the motor run backward
  • 1 makes the motor run forward
  • 0 makes the motor run the opposite direction

  ---

  opOUTPUT_STEP_POWER (LAYER, NOS, POWER, STEP1, STEP2, STEP3, BRAKE)

• Set Ramp up, constant and rampdown steps and power of the outputs
  

• Dispatch status unchanged

  Parameters

  (DATA8)	LAYER - Chain layer number [0..3]
  (DATA8)	NOS - Output bit field [0x00..0x0F]
  (DATA8)	POWER - Power [-100..100]
  (DATA32)	STEP1 - Tacho pulses [0..MAX]
  (DATA32)	STEP2 - Tacho pulses [0..MAX]
  (DATA32)	STEP3 - Tacho pulses [0..MAX]
  (DATA8)	BRAKE - 0 = Coast, 1 = BRAKE

  ---

  opOUTPUT_TIME_POWER (LAYER, NOS, POWER, TIME1, TIME2, TIME3, BRAKE)

• Set Ramp up, constant and rampdown steps and power of the outputs
  

• Dispatch status unchanged

  Parameters

  (DATA8)	LAYER - Chain layer number [0..3]
  (DATA8)	NOS - Output bit field [0x00..0x0F]
  (DATA8)	POWER - Power [-100..100]
  (DATA32)	TIME1 - Time in Ms [0..MAX]
  (DATA32)	TIME2 - Time in Ms [0..MAX]
  (DATA32)	TIME3 - Time in Ms [0..MAX]
  (DATA8)	BRAKE - 0 = Coast, 1 = BRAKE

  ---

  opOUTPUT_STEP_SPEED (LAYER, NOS, SPEED, STEP1, STEP2, STEP3, BRAKE)

• Set Ramp up, constant and rampdown steps and power of the outputs
  

• Dispatch status unchanged

  Parameters

  (DATA8)	LAYER - Chain layer number [0..3]
  (DATA8)	NOS - Output bit field [0x00..0x0F]
  (DATA8)	SPEED - Power [-100..100]
  (DATA32)	STEP1 - Tacho pulses [0..MAX]
  (DATA32)	STEP2 - Tacho pulses [0..MAX]
  (DATA32)	STEP3 - Tacho pulses [0..MAX]
  (DATA8)	BRAKE - 0 = Coast, 1 = BRAKE

  ---

  opOUTPUT_TIME_SPEED (LAYER, NOS, SPEED, STEP1, STEP2, STEP3, BRAKE)

• Set Ramp up, constant and rampdown steps and power of the outputs
  

• Dispatch status unchanged

  Parameters

  (DATA8)	LAYER - Chain layer number [0..3]
  (DATA8)	NOS - Output bit field [0x00..0x0F]
  (DATA8)	SPEED - Power [-100..100]
  (DATA32)	STEP1 - Time in mS [0..MAX]
  (DATA32)	STEP2 - Time in mS [0..MAX]
  (DATA32)	STEP3 - Time in mS [0..MAX]
  (DATA8)	BRAKE - 0 = Coast, 1 = BRAKE

  ---

  opOUTPUT_STEP_SYNC (LAYER, NOS, SPEED, TURN, STEP, BRAKE)

• 
  

• Dispatch status unchanged

  Parameters

  (DATA8)	LAYER - Chain layer number [0..3]
  (DATA8)	NOS - Output bit field [0x00..0x0F]
  (DATA8)	SPEED - Power [-100..100]
  (DATA16)	TURN - Turn Ratio [-200..200]
  (DATA32)	STEP - Tacho Pulses [0..MAX]
  (DATA8)	BRAKE - 0 = Coast, 1 = BRAKE

  ---

  opOUTPUT_TIME_SYNC (LAYER, NOS, SPEED, TURN, STEP, BRAKE)

• 
  

• Dispatch status unchanged

  Parameters

  (DATA8)	LAYER - Chain layer number [0..3]
  (DATA8)	NOS - Output bit field [0x00..0x0F]
  (DATA8)	SPEED - Power [-100..100]
  (DATA16)	TURN - Turn Ratio [-200..200]
  (DATA32)	TIME - Time in ms [0..MAX]
  (DATA8)	BRAKE - 0 = Coast, 1 = BRAKE

  ---

  opOUTPUT_READ (LAYER, NO, *SPEED, *TACHO)

Parameters

(DATA8)	LAYER - Chain layer number [0..3]
(DATA8)	NO - Output no [0..3]
(DATA8)	*SPEED - Speed [-100..100]
(DATA32)	*TACHO - Tacho pulses [-MAX .. +MAX]

---

opOUTPUT_READY (LAYER, NOS)

• Wait for output ready (wait for completion)
  
• Dispatch status can change to BUSYBREAK

• cOUTPUT_START command has no effect on this command

  Parameters

  (DATA8)	LAYER - Chain layer number [0..3]
  (DATA8)	NOS - Output bit field [0x00..0x0F]

  
  

  ---

  opOUTPUT_TEST (LAYER, NOS, BUSY)

• Testing if output is not used
  

  Parameters

  (DATA8)	LAYER - Chain layer number [0..3]
  (DATA8)	NOS - Output bit field [0x00..0x0F]

  Returns

  (DATA8) BUSY - Output busy flag (0 = ready, 1 = Busy)

  
  

  ---

  opOUTPUT_CLR_COUNT (LAYER, NOS)

• Clearing tacho count when used as sensor
  

  Parameters

  (DATA8)	LAYER - Chain layer number [0..3]
  (DATA8)	NOS - Output bit field [0x00..0x0F]

  
  

  ---

  opOUTPUT_GET_COUNT (LAYER, NOS, *TACHO)

• Getting tacho count when used as sensor - values are in shared memory
  

  Parameters

  (DATA8)	LAYER - Chain layer number [0..3]
  (DATA8)	NOS - Output number [0x00..0x0F]
  (DATA32)	*TACHO - Tacho pulses [-MAX .. +MAX]