1	OVERVIEW	8
1.1	Tasks of DoPE	9
1.2	Initializing	9
1.3	Supported programming languages	10
2	COMMUNICATION PRINCIPLES	11
2.1	Open a connection	11
2.2	Using Eventhandler	11
2.3	Transaction Number (TAN)	12
3	ESTABLISH COMMUNICATION TO EDC	13
3.1	DoPEOpenDeviceID / DoPEOpenFunctionID	13
3.2	DoPEwOpenAll	14
3.3	DoPEwCloseAll	14
3.4	DoPEwPortInfo / DoPEwCurrentPortInfo	15
3.5	DoPECloseLink	15
4	MESSAGE AND DATA HANDLING	16
4.1	DoPECurrentData	16
4.2	DoPEClearReceiver	16
4.3	DoPEClearTransmitter	16
4.4	DoPEGetErrors	17
4.5	DoPEClearErrors	17
4.6	DoPEGetState	17
5	MOVEMENT COMMANDS	18
5.1	Simple movement commands	18
5.1.1	DoPEFMove, DoPEFMove_A	18
5.1.2	DoPEPos, DoPEPos_A	19
5.1.3	DoPEPosExt, DoPEPosExt_A	20
5.2	Halt commands	23
5.2.1	DoPEHalt, DoPEHalt_A	23
5.2.2	DoPESHalt	24
5.2.3	DoPEHaltW, DoPEHaltW_A	25
5.2.4	DoPEXpCont	26
5.2.5	DoPETrig, DoPETrig_A	27
5.3	Combined movement commands	28
5.3.1	DoPEBlockHeader, DoPEBlockExecute	28
5.4	Complex moving commands	29
5.4.1	DoPECycle	29
5.4.2	DoPEExt2Ctrl	30
5.4.3	DoPEFDPoti	31
5.4.4	DoPEOffsC	32
5.5	PC Command	33
5.5.1	DoPEPcCmd	33
5.5.2	DoPEPcCmdFromFile	35
5.5.3	DoPERdPcCmdInfo	43
5.5.4	DoPECalculatePcCmd	43
5.5.5	DoPECalculatePcCmdFromFile	44
5.6	DoPEDynCycles	45
5.6.1	Basic Waveforms	45
5.6.2	Modify Parameter of an active test	48
5.6.3	Relative Destinations	48
5.6.4	Peak and Valley control	49
5.6.5	Sweeps	51
5.6.6	Bimodal commands	54
5.6.7	Restrictions:	57
5.6.8	DoPEDynCycle function declaration:	57
5.6.9	DoPESetPeakCtrl	58
6	SYNCHRONIZED DATA AND MOVEMENT	59
6.1	DoPESynchronizeSystemMode	60
6.2	DoPESynchronizeSystemStart	60
6.3	DoPESynchronizeData	63
6.4	DoPESetOnSynchronizeDataHdlr	63
6.5	DoPESetOnSynchronizeDataOverflowHdlr	63
7	MISCELLANEOUS CONTROL COMMANDS	64
7.1	DoPEOn	64
7.2	DoPEOff	64
7.3	DoPEDefaultAcc	64
7.4	DoPESpeedLimit	65
7.5	DoPESetCtrl	65
7.6	DoPEEmergencyMove	66
7.7	DoPEEmergencyOff	66
7.8	DoPESetOpenLoopCommand	67
8	EVENT HANDLER	68
8.1	Using DoPE Event handler	68
8.2	Overview of Events:	68
8.3	DoPESetOnLineHdlr	69
8.4	DoPESetOnDataBlockHdlr	69
8.5	DoPESetOnDataBlockSize	70
8.6	DoPEGetOnDataBlockSize	70
8.7	DoPESetOnCommandErrorHdlr	70
8.8	DoPESetOnPosMsgHdlr	71
8.9	DoPESetOnTPosMsgHdlr	72
8.10	DoPESetOnLPosMsgHdlr	73
8.11	DoPESetOnSftMsgHdlr	73
8.12	DoPESetOnOffsCMsgHdlr	74
8.13	DoPESetOnCheckMsgHdlr	74
8.14	DoPESetOnRefSignalMsgHdlr	75
8.15	DoPESetOnSensorMsgHdlr	75
8.16	DoPESetOnIoSHaltMsgHdlr	76
8.17	DoPESetOnKeyMsgHdlr	76
8.18	DoPESetOnRuntimeErrorHdlr	77
8.18.1	List of Runtime errors	77
8.19	DoPESetOnOverflowHdlr	78
8.20	DoPESetOnSystemMsgHdlr	78
8.21	DoPESetOnDebugMsgHdlr	79
8.22	DoPEThreadPollHdlr	80
9	CONFIGURATION	81
9.1	DoPEwRdVersion	81
9.2	DoPEwRdLanguageInfo	81
9.3	Data Acquisition commands	82
9.3.1	DoPESetDataTransmissionRate	82
9.3.2	DoPESetTime	82
9.3.3	DoPETransmitData	82
9.3.4	DoPEFilterTime	83
9.4	Channel supervision	84
9.4.1	DoPESetCheck	84
9.4.2	DoPEClrCheck	85
9.4.3	DoPESetCheckLimit	85
9.4.4	DoPEClrCheckLimit	85
9.4.5	DoPESetCheckLimitIO	85
9.5	Controller Parameter	86
9.5.1	DoPEPosPID	86
9.5.2	DoPERdPosPID	86
9.5.3	DoPEWrPosPID	86
9.5.4	DoPESpeedPID	87
9.5.5	DoPERdSpeedPID	87
9.5.6	DoPEWrSpeedPID	87
9.5.7	DoPEFeedForward	88
9.5.8	DoPERdFeedForward	88
9.5.9	DoPEWrFeedForward	88
9.5.10	DoPEOptimizeFeedForward	89
9.5.11	DoPECurrentPID	89
9.5.12	DoPEDestWnd	90
9.5.13	DoPESft	91
9.5.14	DoPECtrlSpeedTimeBase	91
9.5.15	DoPEDeadbandCtrl	92
9.5.16	DoPERdCtrlParameter	93
9.5.17	DoPESetNominalAccSpeed	94
9.6	Tare functions	95
9.6.1	DoPE(Basic)TareSetValue	95
9.6.2	DoPE(Basic)TareSetDisplay	96
9.6.3	DoPE(Basic)Tare	96
9.6.4	DoPE(Basic)TareGetValue	96
9.7	Reference signal handling of incremental sensors	97
9.7.1	DoPESetRefSignalMode	97
9.7.2	DoPESetRefSignalTare	97
9.8	Calculated measuring channels	98
9.8.1	DoPEConfPeakValue	98
9.8.2	DoPEMc2Output	99
9.9	Sensor Correction	100
9.9.1	DoPESetSensorCorrection	100
9.9.2	DoPESetStiffnessCorrection	100
9.10	Serial Sensors	100
9.10.1	DoPEWrSensorMsg	100
9.10.2	DoPESerialSensorDef	101
9.10.3	DoPESetSerialSensor	101
9.10.4	DoPESetSerialSensorTransparent	101
9.11	Debug Messages	102
9.11.1	DoPEDebugMsgEnable	102
9.11.2	DoPESendDebugCommand	102
10	INPUT / OUTPUT-COMMANDS	103
10.1	Analogue output	103
10.1.1	DoPESetOutput	103
10.1.2	DoPESetOutChannelOffset	103
10.1.3	DoPESetDither	103
10.1.4	DoPEOfflineActionOutput	104
10.2	Bit I/O-Commands	104
10.2.1	DoPESetBit	104
10.2.2	DoPECalOut	105
10.2.3	DoPEBeep	105
10.2.4	DoPEBypass	105
10.2.5	DoPERdBitInput	106
10.2.6	DoPEWrBitOutput	106
10.2.7	DoPEOfflineActionBitOutput	106
10.3	IOSignals	107
10.3.1	DoPEIOGripEnable	107
10.3.2	DoPEIOGripSet	107
10.3.3	DoPEIOExtEnable	108
10.3.4	DoPEIOExtSet	108
10.3.5	DoPEIOFixedXHeadEnable	108
10.3.6	DoPEIOFixedXHeadSet	108
10.3.7	DoPEIOHighPressureEnable	109
10.3.8	DoPEIOHighPressureSet	109
10.3.9	DoPEIOGuardSetLimitedMode	109
10.3.10	DoPEIOGuardSetUnlockRequest	109
10.3.11	DoPEIOGuardSetRangeLimit	110
10.3.12	DoPEIOGuardGetRangeLimit	110
10.3.13	DoPEIOGuardSetMuteGuard	110
10.3.14	DoPEIOGuardGetMuteGuard	110
10.3.15	DoPEIOGuardSetMuteSpeedLimit	111
10.3.16	DoPEIOGuardGetMuteSpeedLimit	111
10.3.17	DoPEIOGuardSetMuteRangeLimit	111
10.3.18	DoPEIOGuardGetMuteRangeLimit	111
10.4	Display Commands	112
10.4.1	DoPEDspClear	112
10.4.2	DoPEwDspHeadLine	112
10.4.3	DoPEwDspFKeys	113
10.4.4	DoPEwDspMValue	113
11	EDC KEYBOARD INTERFACE	114
11.1	DoPERdNumberOfKeyboards	114
11.2	DoPESetKeyShiftState	114
11.3	DoPERdKeyShiftState	114
11.4	DoPESetLed	114
11.5	DoPELedMask	115
11.6	DoPECurrentKeys	115
11.7	DoPEKeyPressed	115
11.8	DoPEKeyGet	115
11.9	Definition of keys	116
11.10	Keyboard Lock Commands	117
11.10.1	DoPESetKeyboardLockState	117
11.10.2	DoPEGetKeyboardLockState	118
11.11	Definition of LED’s	119
12	SETUPCOMMANDS	121
12.1	DoPERdGeneralData	121
12.2	DoPEWrGeneralData	121
12.3	DoPERdMachine	121
12.4	DoPEWrMachine	122
12.5	DoPEMachineScale	122
12.6	DoPERdMachineNumber	122
12.7	DoPESelMachine	123
12.8	DoPEInitialize	123
12.9	DoPEInitializeResetXHead	123
12.10	DoPERdSensorInfo	124
12.11	DoPERdSensorUserData	125
12.12	DoPEWrSensorUserData	125
12.13	DoPEwRdModuleInfo	125
12.14	DoPEwRdDriveInfo	126
13	SENSOR EEPROM HANDLING	127
13.1	DoPERdSensorConKey	127
13.2	DoPERdSensorHeaderData	128
13.3	DoPEWrSensorHeaderData	128
13.4	DoPERdSensorAnalogueData	129
13.5	DoPEWrSensorAnalogueData	129
13.6	DoPERdSensorIncData	130
13.7	DoPEWrSensorIncData	130
13.8	DoPERdSensorAbsData	131
13.9	DoPEWrSensorAbsData	131
13.10	DoPESetSsiGenericSignalType	132
13.11	DoPESsiGenericSignalTypeInfo	132
14	REESTABLISHING A CONNECTION	133
14.1	DoPEReInitializeEnable	133
14.2	DoPEReInitialize	133
15	DEFAULT MEASURING DATA RECORD	135
15.1	Logical input signals	136
15.2	Logical output signals	137
15.3	Controller Status WORD 1	138
15.4	Controller Status WORD 2	138
15.5	Drive Interface input signals 1	139
15.6	Drive Interface input signals 2	139
15.7	Drive Interface output signals	140
15.8	Detecting cycles	141
16	DOPE SYSTEM MESSAGE	142
17	DOPE ERROR CONSTANTS	145
18	FOR EXPERTS	146
18.1	Realtime version of DoPE Event Handler	146
19	.NET WRAPPER	147
19.1	Establish Communication	147
19.2	Event Handler	147
19.3	How to use this documentation	148
19.4	IntelliSense	149