Omron C200HW-MC402-E Owner Manual

W903-E2-02
C200HW-MC402-E
Motion Control Unit
Operation Manual
C200HW-MC402-E
Motion Control Unit
Operation Manual
Produced June 2001
Notice:
OMRON products are manufactured for use according to proper procedures by a qualified operator
and only for the purposes described in this manual.
The following conventions are used to indicate and classify precautions in this manual. Always heed
the information provided with them. Failure to heed precautions can result in injury to people or damage to property.
!DANGER
!WARNING
!Caution
Indicates an imminently hazardous situation which, if not avoided, will result in death or
serious injury.
Indicates a potentially hazardous situation which, if not avoided, could result in death or
serious injury.
Indicates a potentially hazardous situation which, if not avoided, may result in minor or
moderate injury, or property damage.
OMRON Product References
All OMRON products are capitalized in this manual. The word “Unit” is also capitalized when it refers to
an OMRON product, regardless of whether or not it appears in the proper name of the product.
The abbreviation “Ch”, which appears in some displays and on some OMRON products, often means
“word” and is abbreviated “Wd” in documentation in this sense.
The abbreviation “PC” means Programmable Controller and is not used as an abbreviation for anything else.
Visual Aids
The following headings appear in the left column of the manual to help you locate different types of
information.
Note Indicates information of particular interest for efficient and convenient operation of the product.
1,2,3...
Indicates lists of one sort or another, such as procedures, checklists, etc.
 OMRON, 2001
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in
any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior
written permission of OMRON.
No patent liability is assumed with respect to the use of the information contained herein. Moreover, because
OMRON is constantly striving to improve its high-quality products, the information contained in this manual is
subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsibility for errors or omissions. Neither is any liability assumed for damages
resulting from the use of the information contained in this publication.
v
TABLE OF CONTENTS
PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
xi
1
Intended Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
xii
2
General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
xii
3
Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
xii
4
Operating Environment Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
xiii
5
Application Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
xiii
6
Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
xv
SECTION 1
Features and System Configuration . . . . . . . . . . . . . . . .
1
1-1
Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2
1-2
System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4
1-3
Motion Control Concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5
1-4
Control System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14
1-5
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18
1-6
Comparison with C200HW-MC402-UK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20
SECTION 2
Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
23
2-1
Components and Unit Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
24
2-2
Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
25
2-3
Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
26
2-4
Servo System Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
36
2-5
Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
38
SECTION 3
PC Data Exchange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
41
3-1
IR/CIO Area Allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
42
3-2
Overview of Data Exchanges . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
46
3-3
Details of the Data Exchange Methods. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
48
SECTION 4
Multitasking BASIC Programming . . . . . . . . . . . . . . . .
57
4-1
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
58
4-2
BASIC Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
58
4-3
Motion Control Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
61
4-4
Command Line Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
65
4-5
BASIC Programs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
65
4-6
Error Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
68
vii
TABLE OF CONTENTS
SECTION 5
BASIC Motion Control Programming Language . . . . .
71
5-1
Notation Used in this Section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
75
5-2
Classifications and Outlines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
75
5-3
Command, function and parameter description. . . . . . . . . . . . . . . . . . . . . . . . . . .
84
SECTION 6
Programming Environment . . . . . . . . . . . . . . . . . . . . . . .
157
6-1
Motion Perfect Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
158
6-2
Motion Perfect Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
158
6-3
Going Online with the MC Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
158
6-4
Motion Perfect Projects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
159
6-5
Motion Perfect Desktop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
161
6-6
Motion Perfect Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
164
6-7
Suggestions and Precautions in Using Motion Perfect . . . . . . . . . . . . . . . . . . . . .
177
SECTION 7
Troubleshooting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
179
7-1
Problems and Countermeasures. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
180
7-2
Error Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
184
7-3
Error Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
184
7-4
CPU Unit Error Flags and Control Bits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
187
SECTION 8
Maintenance and Inspection. . . . . . . . . . . . . . . . . . . . . . .
189
8-1
Routine Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
190
8-2
Handling Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
191
Appendix
Appendix A
Upgrading from C200HW-MC402-UK. . . . . . . . . . . . . . . . . . . . . . . . .
193
Appendix B
PC Interface Area Lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
195
Appendix C
Programming Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
197
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
205
Revision History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
211
viii
About this Manual:
This manual describes the installation and operation of the C200HW-MC402-E Motion Control Unit
(MC Unit) and includes the sections described below.
Please read this manual carefully and be sure you understand the information provided before
attempting to install or operate the MC Unit. Be sure to read the precautions provided in the following
section.
Precautions provides general precautions for using the MC Unit, Programmable Controller (PC), and
related devices.
Section 1 describes the function of the C200HW-MC402-E Motion Control Unit and concepts related
to its operation. Also the specifications and the comparison with previous C200HW-MC402-UK is
shown.
Section 2 describes information required for hardware setup and installation.
Section 3 describes the IR/CIO area allocation and presents the different methods of data exchange
between the MC Unit and the CPU Unit.
Section 4 gives an overview of the fundamentals of multitasking BASIC programs and the methods by
which programs are managed for the MC Unit.
Section 5 describes the commands and parameters required for programing the motion control application using the MC Unit. All BASIC system, task and axis statements that determine the various
aspects of program execution and MC Unit operation are presented.
Section 6 provides an overview of software package Motion Perfect, which is used to program, monitor and debug motion based applications for the MC Unit.
Section 7 provides procedures on troubleshooting problems that may arise with the MC Unit.
Section 8 explains the maintenance and inspection procedures that must be followed to keep the MC
Unit operating in optimum condition. It also includes proper procedures when replacing an MC Unit or
battery.
The Appendices provide a guide for upgrading from the C200HW-MC402-UK Unit and the PC Interface Lists. Furthermore, some convenient programming examples are given for the user.
!WARNING
Failure to read and understand the information provided in this manual may result in personal injury or death, damage to the product, or product failure. Please read each section
in its entirety and be sure you understand the information provided in the section and
related sections before attempting any of the procedures or operations given.
ix
PRECAUTIONS
This section provides general precautions for using the Motion Control Unit and related devices.
The information contained in this section is important for the safe and reliable application of the Motion Control
Unit. You must read this section and understand the information contained before attempting to set up or operate
a Motion Control Unit and PC system.
1
2
3
4
5
6
Intended Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Operating Environment Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Application Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-1-1 Concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-1-2 Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
xii
xii
xii
xiii
xiii
xv
xv
xvi
xi
1
Intended Audience
1
Intended Audience
This manual is intended for the following personnel, who must also have
knowledge of electrical systems (an electrical engineer or the equivalent).
• Personnel in charge of installing FA systems.
• Personnel in charge of designing FA systems.
• Personnel in charge of managing FA systems and facilities.
2
General Precautions
The user must operate the product according to the performance specifications described in the operation manuals.
Before using the product under conditions which are not described in the
manual or applying the product to nuclear control systems, railroad systems,
aviation systems, vehicles, combustion systems, medical equipment, amusement machines, safety equipment, and other systems, machines, and equipment that may have a serious influence on lives and property if used
improperly, consult your OMRON representative.
Make sure that the ratings and performance characteristics of the product are
sufficient for the systems, machines, and equipment, and be sure to provide
the systems, machines, and equipment with double safety mechanisms.
This manual provides information for installing and operating OMRON Motion
Control Units. Be sure to read this manual before operation and keep this
manual close at hand for reference during operation.
!WARNING
3
It is extremely important that Motion Control Units and related devices be
used for the specified purpose and under the specified conditions, especially
in applications that can directly or indirectly affect human life. You must consult with your OMRON representative before applying Motion Control Units
and related devices to the above mentioned applications.
Safety Precautions
!WARNING
!WARNING
!WARNING
Never attempt to disassemble any Units while power is being supplied. Doing
so may result in serious electrical shock or electrocution.
Never touch any of the terminals while power is being supplied. Doing so may
result in serious electrical shock or electrocution.
Provide safety measures in external circuits (i.e., not in the Programmable
Controller or MC Unit) to ensure safety in the system if an abnormality occurs
due to malfunction of the PC, malfunction of the MC Unit, or external factors
affecting the operation of the PC or MC Unit. Not providing sufficient safety
measures may result in serious accidents.
• Emergency stop circuits, interlock circuits, limit circuits, and similar safety
measures must be provided in external control circuits.
• The PC or MC Unit outputs may remain ON or OFF due to deposits on or
burning of the output relays, or destruction of the output transistors. As a
counter-measure for such problems, external safety measures must be
provided to ensure safety in the system.
• When the 24-VDC output (service power supply to the PC) is overloaded
or short-circuited, the voltage may drop and result in the outputs being
turned OFF. As a countermeasure for such problems, external safety
measures must be provided to ensure safety in the system.
xii
4
Operating Environment Precautions
• It is the nature of high speed motion control and motion control language
programming and multi-tasking systems, that it is not always possible for
the system to validate the inputs to the functions. It is the responsibility of
the programmer to ensure that various BASIC statements are called correctly with the correct number of inputs and that the values are correctly
validated prior to the actual calling of the various functions.
!Caution
!Caution
!Caution
4
Connect the ENABLE output (drivers enable signal) to the Servo Drivers. Otherwise, the motor may run when the power is turned ON or OFF or when an
error occurs in the Unit.
Do not save data into the flash memory during memory operation or while the
motor is running. Otherwise, unexpected operation may be caused.
Do not reverse the polarity of the 24-V power supply. The polarity must be
correct. Otherwise, the motor may start running unexpectedly and may not
stop.
Operating Environment Precautions
!Caution
Do not operate the control system in the following locations:
• Locations subject to direct sunlight.
• Locations subject to temperatures or humidity outside the range specified
in the specifications.
• Locations subject to condensation due to radical temperature changes.
• Locations subject to corrosive or inflammable gases.
• Locations subject to dust (especially iron dust) or salts.
• Locations subject to vibration or shock.
• Locations subject to exposure to water, oil or chemicals.
!Caution
Take appropriate and sufficient countermeasures when installing systems in
the following locations:
•
•
•
•
!Caution
5
Locations
Locations
Locations
Locations
subject to static electricity or other sources of noise.
subject to strong electromagnetic fields.
subject to possible exposure to radiation.
near power supply lines.
The operating environment of the PC System can have a large effect on the
longevity and reliability of the system. Improper operating environments can
lead to malfunction, failure, and other unforeseeable problems with the PC
System. Be sure that the operating environment is within the specified conditions at installation and remains within the specified conditions during the life
of the system.
Application Precautions
Observe the following precautions when using the Motion Control Unit or the
PC System.
!WARNING
Failure to abide by the following precautions could lead to serious or possibly
fatal injury. Always heed these precautions.
• Always ground the system to 100 Ω or less when installing the system to
protect against electrical shock.
xiii
Application Precautions
5
• Always turn OFF the power supply to the PC before attempting any of the
following. Not turning OFF the power supply may result in malfunction or
electric shock.
• Mounting or dismounting the MC Unit or any other Units.
• Assembling the Units.
• Setting rotary switches.
• Connecting cables or wiring the system.
• Connecting or disconnecting the connectors.
!Caution
Failure to abide by the following precautions could lead to faulty operation of
the PC, the MC Unit or the system, or could damage the PC or MC Unit.
Always heed these precautions.
• Maximum 12 of the digital inputs (I0 to I15) should be switched on at any
one time to ensure that the Unit remains within internal temperature specifications. Failure to meet this condition may lead to degradation of performance or damage of components.
• After development of the application programs, be sure to save the program data in flash memory within the MC Unit (using the EPROM command in BASIC). The program data will remain in the S-RAM during
operation and power down, but considering possible battery failure it is
advised to store the data in flash memory.
• It is strongly recommended to store dynamic application data, which can
not be initiated in program, in the PC Unit’s memory considering possible
battery failure.
• Do not turn OFF the power supply to the Unit while data is being written to
flash memory. Doing so may cause problems with the flash memory.
• Confirm that no adverse effect will occur in the system before attempting
any of the following. Not doing so may result in unexpected operation.
• Changing the operating mode of the PC.
• Changing the present value of any word or any set value in memory.
• Force-setting/force-resetting any bit in memory
• Install external breakers and take other safety measures against short-circuiting in external wiring. Insufficient safety measures against short-circuiting may result in burning.
• Be sure that all mounting screws, terminal screws, and cable connector
screws are tightened securely. Incorrect tightening may result in malfunction.
• Before touching the Unit, be sure to first touch a grounded metallic object
in order to discharge any static built-up. Not doing so may result in malfunction or damage.
• Check the pin numbers before wiring the connectors.
• Be sure that the connectors, terminal blocks, I/O cables, cables between
drivers, and other items with locking devices are properly locked into
place. Improper locking may result in malfunction.
• Always use the power supply voltages specified in this manual. An incorrect voltage may result in malfunction or burning.
• Take appropriate measures to ensure that the specified power with the
rated voltage and frequency is supplied. Be particularly careful in places
where the power supply is unstable. An incorrect power supply may result
in malfunction.
• Use crimp terminals for wiring. Do not connect bare stranded wires
directly to terminals. Connection of bare stranded wires may result in
burning.
xiv
6
Conformance to EC Directives
• Leave the label attached to the Unit when wiring. Removing the label may
result in malfunction if foreign matter enters the Unit.
• Remove the label after the completion of wiring to ensure proper heat dissipation. Leaving the label attached may result in malfunction.
• Do not apply voltages to the Input Units in excess of the rated input voltage. Excess voltages may result in burning.
• Do not apply voltages or connect loads to the Output Units in excess of
the maximum switching capacity. Excess voltage or loads may result in
burning.
• Disconnect the functional ground terminal when performing withstand
voltage tests. Not disconnecting the functional ground terminal may result
in burning.
• Double-check all wiring and switch settings before turning ON the power
supply. Incorrect wiring may result in burning.
• Do not pull on the cables or bend the cables beyond their natural limit.
Doing either of these may break the cables.
• Do not place objects on top of the cables or other wiring lines. Doing so
may break the cables.
• Resume operation only after transferring to the new MC Unit the contents
of the parameters, position data, and other data required for resuming
operation. Not doing so may result in an unexpected operation.
• Resume operation only after transferring to the new CPU Unit the contents of the DM Area, HR Area, and other data required for resuming
operation. Not doing so may result in an unexpected operation.
• Confirm that set parameters and data operate properly.
• Carefully check the user program before actually running it on the Unit.
Not checking the program may result in an unexpected operation.
• Do not attempt to take any Units apart, to repair any Units, or to modify
any Units in any way.
• Perform wiring according to specified procedures.
6
Conformance to EC Directives
6-1
Applicable Directives
• EMC Directives
• Low Voltage Directive
6-1-1
Concepts
EMC Directives
OMRON devices that comply with EC Directives also conform to the related
EMC standards so that they can be more easily built into other devices or machines. The actual products have been checked for conformity to EMC standards (see the following note). Whether the products conform to the standards in the system used by the customer, however, must be checked by the
customer. EMC-related performance of the OMRON devices that comply with
EC Directives will vary depending on the configuration, wiring, and other conditions of the equipment or control panel in which the OMRON devices are
installed. The customer must, therefore, perform final checks to confirm that
devices and the over-all machine conform to EMC standards.
Note Applicable EMC (Electromagnetic Compatibility) standards are as follows:
EMS (Electromagnetic Susceptibility): EN61131-2
EMI (Electromagnetic Interference):
EN50081-2
(Radiated emission: 10-m regulations)
xv
Conformance to EC Directives
6
Low Voltage Directive
Always ensure that devices operating at voltages of 50 to 1,000 VAC or 75 to
1,500 VDC meet the required safety standards for the PC (EN61131-2).
6-1-2
Conformance to EC Directives
The C200HX/HG/HE series and CS1 series PCs comply with EC Directives.
To ensure that the machine or device in which a PC is used complies with EC
directives, the PC must be installed as follows:
1,2,3...
xvi
1. The PC must be installed within a control panel.
2. Reinforced insulation or double insulation must be used for the DC power
supplies used for the communications and I/O power supplies.
3. PCs complying with EC Directives also conform to the Common Emission
Standard (EN50081-2). When a PC is built into a machine, however, noise
can be generated by switching devices using relay outputs and cause the
overall machine to fail to meet the Standards. If this occurs, surge killers
must be connected or other measures taken external to the PC.
The following methods represent typical methods for reducing noise, and
may not be sufficient in all cases. Required countermeasures will vary depending on the devices connected to the control panel, wiring, the configuration of the system, and other conditions.
SECTION 1
Features and System Configuration
This section describes the features and system configuration of the C200HW-MC402-E Motion Control Unit and concepts
related to its operation. It also indicates the difference with the previous C200HW-MC402-UK Unit.
1-1
1-2
1-3
1-4
1-5
1-6
Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-1-1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-1-2 Description of Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Motion Control Concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-3-1 PTP-control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-3-2 CP-control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-3-3 EG-Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-3-4 Other Operations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Control System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-4-1 Feedback Pulses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-4-2 Servo System Principles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Comparison with C200HW-MC402-UK . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2
2
3
4
5
7
9
11
13
14
14
16
18
20
1
Section 1-1
Features
1-1
1-1-1
Features
Overview
The C200HW-MC402-E Motion Control (MC) Unit is a Special I/O Unit that
can perform advanced MC operations on up to four axes simultaneously. The
Unit’s multi-tasking BASIC motion control language provides an easy to use
tool for programming advanced motion control applications.
Three types of motion control are possible: point-to-point, continuous path
and electronic gearing.
Point-to-point Control
Point-to-point (PTP) control enables positioning independently for each axis.
Axis specific parameters and commands are used to determine the paths for
the axes.
Continuous Path Control
Continuous path (CP) control enables the user not only to control the start and
end positions, but also the path between those points. Possible multi-axis
paths are linear interpolation, circular interpolation, helical interpolation. Also
user defined paths can be realized with the CAM control.
Electronic Gearing
Electronic gearing (EG) enables controlling an axis as a direct link to another
axis. The MC Units supports electronic gear boxing, linked moves and CAM
movements and adding all movements of one axis to another.
The MC Unit can be used in many applications. The following areas have
been identified as applicable areas for the MC Unit.
• Packaging
• Automotive welding
• Coil winding
• Web control
• Cut to length
• Drilling
• Electronic component assembly
• Glue laying
• Flying shears
• Laser guidance
• Milling
• Palletisation
• Tension control
There are many other types of machines that can be controlled by the MC
Unit.
2
Section 1-1
Features
1-1-2
Description of Features
The MC Unit provides the following features.
Easy Programming with
BASIC Motion Control
Language
A multi-task BASIC motion control language is used to program the MC Unit.
A total of 14 programs can be held in the Unit and up to 5 tasks can be run
simultaneously. Programs can read and write to the PC memory areas using
simple commands from BASIC or the IORD/IOWR instructions from the PC’s
ladder program.
Windows-based
Programming Software
The MC Unit is programmed using a Windows-based application called
1Motion Perfect. Motion Perfect allows extremely flexible programming and
debugging.
Virtual Axes
The MC Unit contains a total of 8 axes, which consists of 4 servo axes and 4
virtual axes. The virtual axes acts as a perfect servo axes and are used for
computational purposes for creating profiles. They can be linked directly to
the servo axes.
PC Data Exchange
The coordination of the MC Unit with the CPU Unit is largely improved by
modifying the PC Data Exchange interface. The PC Data Exchange interface
now even more allows a centralized control from the PC. The MC Unit uses
the full functionality of the C200HX/HG/HE or CS1 PC. It is now capable of
both exchanging fast control bits via the IR/CIO area as exchanging large
position profile data directly to the MC Unit’s Table array.
Hardware-based
Registration Inputs
There is a high-speed registration input for each axis. On the rising or falling
edge of a registration input, the MC Unit will store the current position in a register. The registered position can then be used by the BASIC program as
required. The registered positions are captured in hardware.
General-purpose Input
and Output Signals
Starting, stopping, limit switching, origin searches and many other functions
can be controlled without the use of PC I/O. The time required to switch an
output or read an input is thus not dependant on the cycle time. The general
I/O are freely allocable to the different functions.
Reduced Machine Wear
The traditional trapezoidal speed profile is provided to generate smooth starting and stopping. The trapezoidal corners can be rounded off to S-curves.
Trapezoidal Speed Profile
with Square Corners
Trapezoidal Speed Profile
with S-curve Corners
Speed
Speed
Time
Time
1.Motion Perfect is a product of Trio Motion Technology Limited.
3
Section 1-2
System Configuration
1-2
System Configuration
Basic System
Configuration
The basic system configuration of the MC Unit is shown below. The diagram
shows the basic physical components of a coordinated motion control application.
MC Unit
CPU Unit
Power Supply Unit
Computer running
• Motion Perfect
• CX-Programmer
or Syswin
I/O Cable
Axis Cable
Power supply (24-V) for I/O
Power supply (5/24-V) for Axes
Terminal
Block
Servo Drivers
General
Purpose
I/O
The equipment and models which can be used in the system configuration
are shown in the following table.
Device
4
Model
Motion Control Unit
C200HW-MC402-E
CPU Unit
Possible models:
C200HX/HG/HE
C200HS
CS1H/CS1G
Power Supply Unit
Possible models:
C200HW-PA204
C200HW-PA204S
CPU Backplane
Possible models:
C200HW-BC031/BC051/BC81/BC101
CS1W-BC023/BC033/BC053/BC083/BC103
Terminal Block
R88A-TC04-E
Section 1-3
Motion Control Concepts
Device
Personal Computer (for
Motion Perfect)
Note
Cables to be supplied by
the user
Motion Perfect
Version 2.0 or later
Servo Driver
R88D-UA, -UT, -W series
Servomotor
R88M-UA, -UT, -W series
Inverter
3G3FV in Flux Vector Control
1. The MC Unit cannot be mounted to a C200H PC.
2. The C200HS CPU Units do not support the IORD/IOWR instructions. The
MC Unit can only communicate with a C200HS CPU Unit using the
PLC_READ and PLC_WRITE commands.
3. The MC Unit cannot be mounted to a SYSMAC BUS Slave Rack.
4. The MC Unit can be mounted next to the CPU Unit on the CPU Rack, but
care must be taken to first determine the mounting locations of certain
Communications Unit and other Units that require bus connections to the
CPU Unit.
The following standard cables are available. A cable can also be prepared by
the user.
Item
1-3
Model
IBM Personal Computer or 100% compatible
Model
R88A-CMX001S-E
I/O Connection Cable from MC Unit to Terminal Block (1m)
R88A-CMX001J1-E
Axis Connection Cable from MC Unit to Terminal Block
(1m)
R88A-CMU001J2-E
Connection from Terminal Block to UA Servo Driver (1m)
R88A-CMUK001J3-E
Connection from Terminal Block to UT Servo Driver (1m)
R88A-CMUK001J3-E2
Connection from Terminal Block to UT/W Servo Driver (1m)
R88A-CCM002P4-E
Connection Cable RS-232C from MC Unit to computer (2m)
Motion Control Concepts
The MC Unit offers the following types positioning control operations.
1. Point-to-point control
2. Continuous Path control
3. Electronic Gearing
This section will introduce some of the commands and parameters as used in
the BASIC programming of the motion control application. Refer to
SECTION 5 BASIC Motion Control Programming Language for details.
Coordinate System
Positioning operations performed by the MC Unit are based on an axis coordinate system. The MC Unit converts the encoder edges and pulses from the
encoder into an internal absolute coordinate system.
The engineering unit which specifies the distances of travelling can be freely
defined for each axis separately. The conversion is performed through the
use of the unit conversion factor, which is defined by the UNITS axis parameter. The origin point of the coordinate system can be determined using the
DEFPOS command. This command re-defines the current position to zero or
any other value.
A move is defined in either absolute or relative terms. An absolute move takes
the axis to a specific predefined position with respect to the origin point. A relative move takes the axis from the current position to a position that is defined
relative to this current position. The following diagram shows gives an exam-
5
Section 1-3
Motion Control Concepts
ple of relative (command MOVE) and absolute (command MOVEABS) linear
moves.
MOVEABS(30)
MOVE(60)
MOVEABS(50)
MOVE(50)
MOVE(30)
0
Axis Types
50
100
Axis position
The MC Unit has 8 axes in total, which can be used for different motion control purposes depending on the application. The type of each axis is determined by the ATYPE axis parameter. The following table lists the different
available axis types.
Axis
type
ATYPE
value
Virtual
0
Servo
2
Encoder 3
Description
A virtual axis is used for computational purposes to create a move profile without physical movement on any
actual Servo Driver. All move commands and axis
parameters available for the servo axis are also available for the virtual axis and the virtual axis behaves like
a perfect servo axis (demanded position is equal to the
actual position).
Possible application for the virtual axis is having a virtual move profile added to a servo axis or to test a
developed application before controlling the actual
motors.
Axis range: [0, 7]
The servo axis controls the connected Servo Driver.
Based on the calculated movement profile and the
measured position feedback of the Servomotor the
proper speed reference is outputted to the Servo Driver.
Axis range: [0, 3]
The encoder axis defines an axis which provides an
encoder input without the servo control speed reference
output to the system. An encoder can be connected for
measurement, registration and/or synchronization functions.
Axis range: [0, 3]
Refer to 1-4 Control System for details on the servo system and encoder
feedback signals. Axes 0 to 3 are servo axes by default and axes 4 to 7 are
fixed as virtual axes.
6
Section 1-3
Motion Control Concepts
1-3-1
PTP-control
In point-to-point positioning, each axis is moved independently of the other
axis. The MC Unit supports the following operations.
• Relative move
• Absolute move
• Continuous move forward
• Continuous move reverse
Relative and Absolute Moves
To move a single axis either the command MOVE for a relative move or the
command MOVEABS for an absolute move is used. Each axis has its own
move characteristics, which are defined by the axis parameters.
Suppose a control program is executed to move from the origin to an axis
no. 0 coordinate of 100 and axis no. 1 coordinate of 50. If the speed parameter is set to be the same for both axes and the acceleration and deceleration
rate are set sufficiently high, the movements for axis 0 and axis 1 will be as
illustrated below.
MOVEABS(100) AXIS(0)
MOVEABS(50) AXIS(1)
Axis 1
50
0
50
100
Axis 0
At start, both the axis 0 and axis 1 will move to a coordinate of 50 over the
same duration of time. At this point, axis 1 will stop and the axis 0 will continue to move to a coordinate of 100.
Relevant Axis Parameters
As mentioned before the move of a certain axis is determined by the axis
parameters. Some relevant parameters are given in the next table.
Parameter
Defining moves
Description
UNITS
Unit conversion factor
ACCEL
Acceleration rate of an axis in units/s2.
DECEL
Deceleration rate of an axis in units/s2.
SPEED
Demand speed of an axis in units/s.
The speed profile below shows a simple MOVE operation. The UNITS parameter for this axis has been defined for example as meters. The required maximum speed has been set to 10 m/s. In order to reach this speed in one
second and also to decelerate to zero speed again in one second, both the
acceleration as the deceleration rate have been set to 10 m/s 2. The total distance travelled is the sum of distances travelled during the acceleration, constant speed and deceleration segments. Suppose the distance moved by the
7
Section 1-3
Motion Control Concepts
MOVE command is 40 m, the speed profile will be given by the following
graph.
Speed
ACCEL=10
DECEL=10
SPEED=10
MOVE(40)
10
0
1
2
3
4
5
6
Time
The following two speed profiles show the same movement with an acceleration time respectively a deceleration time of 2 seconds.
Speed
ACCEL=5
DECEL=10
SPEED=10
MOVE(40)
10
0
1
2
3
4
5
6
Time
Speed
ACCEL=10
DECEL=5
SPEED=10
MOVE(40)
10
0
8
1
2
3
4
5
6
Time
Section 1-3
Motion Control Concepts
Move Calculations
The following equations are used to calculate the total time for the motion of
the axes. Consider the moved distance for the MOVE command as D , the
demand speed as V , the acceleration rate a and deceleration rate d .
Acceleration time
Acceleration distance
Deceleration time
Deceleration distance
V
= --a
2
V
= -----2a
= V
--d
2
V= ----2d
2
Constant speed distance
Total time
( a + d )= D–V
---------------------2ad
( a + d -)
= D
---- + V
-------------------V
2ad
Continuous Moves
The FORWARD and REVERSE commands can be used to start a continuous
movement with constant speed on a certain axis. The FORWARD command
will move the axis in positive direction and the REVERSE command in negative direction. For these commands also the axis parameters ACCEL and
SPEED apply to specify the acceleration rate and demand speed.
Both movements can be canceled by using either the CANCEL or RAPIDSTOP command. The CANCEL command will cancel the move for one axis
and RAPIDSTOP will cancel moves on all axes.
1-3-2
CP-control
Continuous Path control enables to control a specified path between the start
and end position of a movement for one or multiple axes. The MC Unit supports the following operations.
• Linear interpolation
• Circular interpolation
• Helical interpolation
• CAM control
Linear Interpolation
In applications it can be required for a set of motors to perform a move operation from one position to another in a straight line. Linearly interpolated moves
can take place among several axes. The commands MOVE and MOVEABS
are also used for the linear interpolation. In this case the commands will have
9
Section 1-3
Motion Control Concepts
multiple arguments to specify the relative or absolute move for each axis.
Consider the following three axis move in a 3-dimensional plane.
MOVE(50,50,50)
Axis 2
Speed
Axis 1
Time
Axis 0
The speed profile of the motion along the path is given in the diagram. The
three parameters SPEED, ACCEL and DECEL which determine the multi axis
movement are taken from the corresponding parameters of the base axis.
The MOVE command computes the various components of speed demand
per axis.
Circular Interpolation
It may be required that a tool travels from the starting point to the end point in
an arc of a circle. In this instance the motion of two axes is related via a circular interpolated move using the MOVECIRC command. Consider the following
diagram.
MOVECIRC(-100,0,-50,0,0)
Axis 1
50
-50
0
50
Axis 0
The centre point and desired end point of the trajectory relative to the start
point and the direction of movement are specified. The MOVECIRC command
computes the radius and the angle of rotation. Like the linearly interpolated
MOVE command, the ACCEL, DECEL and SPEED variables associated with
the base axis determine the speed profile along the circular move.
Helical Interpolation
Helical interpolation performs a helical movement on three axes. The motion
control command MHELICAL will perform a circular interpolation to two axis
and will add a linear move to the third axis. Positioning is performed by again
specifying the centre point, end point and direction for the circular distance
10
Section 1-3
Motion Control Concepts
and the distance for the third axis. The diagram shows helical interpolation in
a three dimensional plane for axes 0 to 2.
Axis 2
MHELICAL(0,0,0,50,0,150)
Axis 1
Axis 0
CAM Control
Additional to the standard move profiles the MC Unit also provides a way to
define a position profile for the axis to move. The CAM command will move an
axis according to position values stored in the MC Unit Table array. The
speed of travelling through the profile is determined by the axis parameters of
the axis.
CAM(0,99,100,20)
Position
Time
1-3-3
EG-Control
Electronic Gearing control allows you to create a direct gearbox link or a
linked move between two axes. The MC Unit supports the following operations.
1. Electronic gearbox
2. Linked CAM
3. Linked move
4. Adding axes
11
Section 1-3
Motion Control Concepts
Electronic Gearbox
The MC Unit is able to have a gearbox link from one axis to another as if there
is a physical gearbox connecting them. This can be done using the CONNECT command in the program. In the command the ratio and the axis to link
to are specified.
CONNECT Axis
2:1
1:1
1:2
Master Axis
Axes
0
Ratio
CONNECT command
1
1:1
CONNECT(1,0) AXIS(1)
2:1
CONNECT(2,0) AXIS(1)
1:2
CONNECT(0.5,0) AXIS(1)
Linked CAM control
Next to the standard CAM profiling tool the MC Unit also provides a tool to link
the CAM profile to another axis. The command to create the link is called
CAMBOX. The travelling speed through the profile is not determined by the
axis parameters of the axis but by the position of the linked axis. This is like
connecting two axes through a cam.
CAMBOX(0,99,100,20,0) AXIS(1)
CAMBOX Axis (1) Position
Master Axis (0) Position
12
Section 1-3
Motion Control Concepts
Linked Move
The MOVELINK command provides a way to link a specified move to a master axis. The move is divided into an acceleration, deceleration and constant
speed part and they are specified in master link distances. This can be particularly useful for synchronizing two axes for a fixed period.
MOVELINK(50,60,10,10,0) AXIS(1)
Speed
Master Axis (0)
Synchronized
MOVELINK Axis (1)
Time
Adding Axes
It is very useful to be able to add all movements of one axis to another. One
possible application is for instance changing the offset between two axes
linked by an electronic gearbox. The MC Unit provides this possibility by using
the ADDAX command. The movements of the linked axis will consists of all
movements of the actual axis plus the additional movements of the master
axis.
BASE(0)
ADDAX(2)
FORWARD
MOVE(100) AXIS(2)
MOVE(-60) AXIS(2)
Speed axis 0*
Speed axis 2
+
Time
Speed axis 0
=
Time
Time
1-3-4
Other Operations
Canceling Moves
In normal operation or in case of emergency it can be necessary to cancel the
current movement from the buffers. When the CANCEL or RAPIDSTOP commands are given, the selected axis respectively all axes will cancel their current move.
Origin Search
The encoder feedback for controlling the position of the motor is incremental.
This means that all movement must be defined with respect to an origin point.
The DATUM command is used to set up a procedure whereby the MC Unit
13
Section 1-4
Control System
goes through a sequence and searches for the origin based on digital inputs
and/or Z-marker from the encoder signal.
Print Registration
The MC Unit can capture the position of an axis in a register when an event
occurs. The event is referred to as the print registration input. On the rising or
falling edge of an input signal, which is either the Z-marker or an input, the MC
Unit captures the position of an axis in hardware. This position can then be
used to correct possible error between the actual position and the desired
position. The print registration is set up by using the REGIST command.
The position is captured in hardware, and therefore there is no software overhead and no interrupt service routines, eliminating the need to deal with the
associated timing issues. Each servo axis has one registration input.
Merging Moves
If the MERGE axis parameter is set to 1, a movement will always be followed
by a subsequent movement without stopping. The following illustrations will
show the transitions of two moves with MERGE value 0 and value 1.
Speed
MERGE=0
Time
Speed
MERGE=1
Time
Jogging
1-4
1-4-1
Jogging moves the axes at a constant speed forward or reverse by manual
operation of the digital inputs. Different speeds are also selectable by input.
Refer to the FWD_JOG, REV_JOG and FAST_JOG axis parameters.
Control System
Feedback Pulses
The MC Unit is designed to comply with the standard OMRON Servomotors
which have an incremental encoder output. In this section, the signals produced by an incremental optical quadrature encoder are discussed. Incremental encoders are available in linear as well as the more common rotary
types.
Incremental Encoders
The incremental encoder are encoders for which the output position information is relative to a starting position and only the distance moved is measured.
The main components of the rotary incremental encoder are an encoder disk,
light source and photodetectors, plus an amplification circuitry to “square-up”
the photodetector output. The encoder disk is imprinted with marks or slots
evenly spaced around its perimeter. As the disk rotates, light strikes the photodetector at the passing of each slot or mark. Amplifiers then convert the
photodetector output to square wave form.
Quadrature signals are produced by using two photodetectors, one positioned
precisely one half a slot, or marker width, from the other. So quadrature refers
to two periodic functions separated by a quarter cycle or 90 ° .
With this arrangement, the direction of rotation can be easily detected by
monitoring the relative phase of both signals. For example, if channel A leads
channel B, then counterclockwise (CCW) movement could be indicated. Con-
14
Section 1-4
Control System
versely, if channel B leads channel A, then clockwise (CW) movement would
be indicated.
Typically, rotary encoders also provide an additional Z-marker or slot on the
disk used to produce a reference pulse. By properly decoding and counting
these signals, the direction of motion, speed, and relative position of the
encoder can be determined.
The number of output pulses produced per revolution per channel is equivalent to the number of marks around the disk. This position information is
decoded in encoder edges, which is actually the number of pulses multiplied
by four. The resolution is multiplied because the circuit generates a pulse at
any rising or falling edge of either of the two phase signals.
Decoding
Understanding how the signals generated by a quadrature encoder are
decoded will help considerably when applying the quadrature decoder feature
in an actual situation.
The basic task of the decoder is to provide two counter input lines: one that
produces clock pulses when CCW motion is detected and another that produces clock pulses when CW motion is detected. These clock pulses are supplied to counters in the MC Unit, one for CW counts and one for CCW counts.
The contents of the counters can be compared with each other by software,
and the relative position of the rotary device can be determined from the difference.
One advantage of this approach is that the actual counting is done by hardware devices, freeing the MC Unit for other operations. The MC Unit has only
to periodically read the counter values and to make a quick subtraction.
Decoder Theory of
Operation
A closer look at the quadrature signals will be helpful. In this example, the
direction of rotation is CCW if phase A leads phase B, and CW if phase A
leads phase B.
The decoder circuit detects a transition and generates a pulse on the appropriate counter input channel depending on whether the transition is in the CW
or CCW direction. Although time is plotted on the horizontal axis, it is not necessarily linear. The mechanical device may be changing speed as well as
direction.
Forward Rotation
Phase A
Phase B
Reverse Rotation
Phase A
Phase B
Standard OMRON Servomotors are designed for an advanced A-phase for
forward rotation and an advanced B-phase for reverse rotation. The MC Unit
is designed to comply with this phase advancement, allowing OMRON Servo
Driver Connecting Cables to be used without modification.
15
Section 1-4
Control System
For typical OMRON Servo Drivers, there are 1,000 pulses per revolution. This
implies that there are 4,000 edges per revolution. So there will be a Z pulse
every 4,000 edges.
The signals A, B and Z appear physically as A and /A, B and /B and Z and /Z.
These appear as differential signals on twisted-pair wire inputs, ensuring that
common modes are rejected and that the noise level is kept to a minimum.
When using Servomotors by other makers, check carefully the encoder specification for phase advancement. If the definition differs from the ones given
above, reverse the B-phase wiring between the MC Unit and the Servo Driver.
In most case, this should resolve the problem.
1-4-2
Servo System Principles
The servo system used by and the internal operation of the MC Unit are
briefly described below. Refer to 2-4 Servo System Precautions for precautions related to servo system operation.
Inferred Closed Loop
System or Semi-closed
Loop System
The servo system of the MC Unit uses an inferred closed loop system. This
system detects actual machine movements by the rotation of the motor in
relation to a target value. It calculates the error between the target value and
actual movement, and reduces the error through feedback.
Internal Operation of the
MC Unit
Inferred closed loop systems occupy the mainstream in modern servo systems applied to positioning devices for industrial applications. Commands to
the MC Unit, speed control voltages to the Servo Drivers, and feedback signals from the encoder are described in the next few pages.
MC Unit
1
Desired
position
Error
counter
Servo System
2
D/A
Converter
3
Speed
reference
voltage
Speed
Control
Motor
4
Speed
feedback
Encoder
Position
feedback
1,2,3...
Motion Control Algorithm
16
1. The MC Unit performs actual position control. It receives encoder pulses
and calculates the required speed reference from the difference between
the actual position and the desired position.
2. The calculated desired speed is directly converted by the D/A converter
into an analogue speed reference voltage, which is provided to the Servo
Driver.
3. The Servo Driver controls the rotational speed of the Servomotor corresponding to the speed reference input.
4. The rotary encoder will generate the feedback pulses for both the speed
feedback within the Servo Driver speed loop and the position feedback
within the MC Unit position loop.
The servo system controls the motor by continuously adjusting the voltage
output that serves as a speed reference to the Servo Driver. The speed reference is calculated by comparing the measured position of the axis from the
encoder with the demand position generated by the MC Unit.
Section 1-4
Control System
The axis parameters MPOS, DPOS and FE contain the value of respectively
the measured position, demand position and the following error. The following
error is the difference between the demanded and measured position. MC
Unit uses five gain values to control how the servo function generates the voltage output from the following error.
The control algorithm for the motion control system of the MC Unit is shown in
the diagram below. The five gains are described below.
Kvff∆
Kp
Demand
position
+
Following
error
-
Output
KiΣ
Kd ∆
+
+ signal
Kov∆
Measured
position
Proportional Gain
The proportional gain
following error E .
K p creates an output O p that is proportional to the
Op = K p ⋅ E
All practical systems use proportional gain. For many just using this gain
parameter alone is sufficient. The proportional gain axis parameter is called
P_GAIN.
Integral Gain
The integral gain K i creates an output O i that is proportional to the sum of
the following errors E that have occurred during the system operation.
Oi = Ki ⋅
åE
Integral gain can cause overshoot and so is usually used only on systems
working at constant speed or with slow accelerations. The integral gain axis
parameter is called I_GAIN.
Derivative Gain
The derivative gain K d produces an output O d that is proportional to the
change in the following error E and speeds up the response to changes in
error while maintaining the same relative stability.
O d = K d ⋅ ∆E
Derivative gain may create a smoother response. High values may lead to
oscillation. The derivative gain axis parameter is called D_GAIN.
Output Speed Gain
The output speed gain K ov produces an output O ov that is proportional to
the change in the measured position P m and increases system damping.
O ov = K ov ⋅ ∆P m
The output speed gain can be useful for smoothing motions but will generate
high following errors. The output speed gain axis parameter is called
OV_GAIN.
17
Section 1-5
Specifications
Speed Feedforward Gain
The speed feedforward gain K vff produces an output O vff that is proportional to the change in demand position P d and minimizes the following error
at high speed.
O vff = K vff ⋅ ∆Pd
The parameter can be set to minimise the following error at a constant
machine speed after other gains have been set. The speed feed forward gain
axis parameter is called VFF_GAIN.
Default Values
The default settings are given below along with the resulting profiles. Fractional values are allowed for gain settings.
Gain
1-5
Default
Proportional Gain
1.0
Integral Gain
0.0
Derivative Gain
0.0
Output Speed Gain
0.0
Speed Feedforward Gain
0.0
Specifications
General Specifications
General specifications other than those shown below conform to those for the
SYSMAC C200HS/C200HX/C200HG/C200HE PCs.
Item
Specifications
Power supply voltage
5 VDC (from Backplane)
24 VDC (from external power supply)
Voltage fluctuation tolerance
4.75 - 5.25 VDC (from Backplane)
Internal current consumption
600 mA or less for 5 VDC
Weight (Connectors excluded)
500 g max.
External Dimensions
130.0 x 35 x 100.5 mm (H x W x D)
21.6 - 26.4 VDC (from external power supply)
50 mA or less for 24 VDC
Functional Specifications
Item
Contents
Type of Unit
C200H Special I/O Unit
Applicable PC
C200HX/HG/HE and CS1
Backplanes on which MC Unit can be
mounted
CPU Backplane
Method for data
transfer to CPU
Unit
Words allocated in
IR/CIO area
10 words per unit (See note 1.)
PC and MC Unit
instructions
Any number of words modified by ladder program or
BASIC program instruction
External connected devices
Personal computer with Motion Perfect Programming
Software
Controlled Servo Drivers
Analogue (speed) input Servo Drivers
Control
Inferred closed loop with incremental encoder and with
PID, output speed and speed feed forward gains
Control method
Maximum No. of axes 8
18
Maximum No. of
interpolated axes
8
Maximum No. of
servo axes
4
Maximum No. of virtual axes
8
Section 1-5
Specifications
Item
Contents
Speed control
Speed control of up to 4 axes
Measurement Units
User definable
Positioning operations
Linear interpolation
Linear interpolation for any number of axes
Circular interpolation
Circular interpolation for any two axes
Helical interpolation
Helical interpolation for any three axes
CAM profile
CAM profile movement for any axis
Electronic gearbox
Electronic gearbox link between any two axes
Linked CAM
Linked CAM profile movement for any two axes
Linked move
Linked move for any two axes
Adding axes
Adding any two axes
Encoder interface
Line receiver input; maximum response frequency:
250 kp/s (before multiplication)
1 M counts/s (after multiplication)
Acceleration/deceleration curves
Trapezoidal or S-curve
External
I/O
Serial Communication ports
One RS-232C port for connection to computer with the
Motion Perfect software.
One RS-232C port for general purpose.
Encoder
Line receive inputs:
For four axes (250 kp/s, before multiplication)
Servo Driver relation- The following signals are provided.
ship
Inputs:
Driver Alarm Signal (each axis)
Outputs:
Driver Enable (all axes)
Speed Reference Voltage (each axis)
Driver Alarm Reset (all axes)
General Purpose I/O
Up to 16 digital inputs and 8 outputs can be wired to
control MC Unit functions. These can include limit
switches, emergency stop switches and proximity
inputs.
Registration inputs
Each servo axis has a registration input which capture
the position in hardware. Timing specification (see
note 2):
Digital Input (rising edge):
10 µ s (max.)
Digital Input (falling edge):
200 µ s (max.)
Z-marker (rising edge):
2 µ s (max.)
Z-marker (falling edge):
2 µ s (max.)
Power supply for general and axis I/O
Provided externally
Task program man- Programming lanagement
guage
BASIC
Number of tasks
Up to 5 tasks running simultaneously plus the Command Line Interface task
Max. number of programs
14
Data storage capacity 251 (VR) + 16000 (Table) max.
Data transfer to PC
Unit
PLC_READ and PLC_WRITE command in BASIC program, IORD and IOWR instructions in ladder program
in C200HX/HG/HE PCs
19
Section 1-6
Comparison with C200HW-MC402-UK
Item
Saving program
data
Contents
MC Unit
Battery-backed RAM with flash memory backup.
(See note 3.)
External devices
Motion Perfect software manages a backup on the
hard disk of the personal computer.
Self diagnostic functions
Note
1-6
Detection of memory corruption via checksum
Detection of error counter overrun
1. The number of MC Units that can be mounted under one CPU Unit must
be determined based on the maximum number of Special I/O Units that
can be allocated words in the CPU Units, the power supply capacity on the
CPU or Expansion Rack, and the current consumption of the Units mounted to the Rack. Refer to the CPU Unit’s operation manual for details on calculation methods.
2. This specification is the time between the edge in the input signal and the
capture of the position data.
3. The service life for the flash memory is 100,000 writing operations.
Comparison with C200HW-MC402-UK
The following table shows a comparison between the C200HW-MC402-E Unit
and the previously released C200HW-MC402-UK Unit.
!Caution
The C200HW-MC402-E is not fully backward compatible with the C200HWMC402-UK. Please check Appendix A Upgrading from C200HW-MC402-UK
carefully before upgrading to the C200HW-MC402-E.
Item
Applicable PCs
C200HW-MC402-E
C200HS,C200HX/HG/HE
and CS1
Supported axes
4 (4 servo)
8 (4 servo and 4 virtual)
Allocated IR/CIO area words
6 words (6 input)
10 words (8 input,
2 output).
- Transfer input and output
words
- General status bits shifted
- Modified origin search bits
- Added PC Transfer Error bit
See notes 1 and 2.
Compatible software
Motion Perfect 1.24 and 2.0
Motion Perfect 2.0
Serial Port A
Used for Motion Perfect con- Dedicated to Motion Perfect
connection
nection and user-defined
communication.
Cyclic Servo Period
Set by SERVO_PERIOD
parameter (default 1 ms)
Fixed to 1 ms
PLC_READ/
PLC_WRITE
Yes
Yes
Also reads/writes allocated
IR/CIO area words
IORD/ IOWR
Yes
Read/write to MC Unit’s VR
array in one-word format
Yes
Read/write to MC Unit’s VR
and Table array and oneword and three-word format
supported
CLEAR_BIT/
SET_BIT/
READ_BIT
No
Yes
Enables bit operation for VR
variables
Commands and
instructions
20
C200HW-MC402-UK
C200HS,C200HX/HG/HE
(HX up to CPU64)
Section 1-6
Comparison with C200HW-MC402-UK
Item
Commands and
instructions
Note
C200HW-MC402-UK
C200HW-MC402-E
INPUT/ KEY/
LINPUT
No
Yes
Added functionality for serial
communications
PROC
No
Yes.
Allows a process parameter
of a particular task to be
read/written
INDEVICE/
OUTDEVICE
Yes
No
Port 0 is default port for serial
communication
CLEAR/ RESET
No
Yes
Commands to clear memory
APPENDPROG/
AXISVALUES/
EX/
INPUTS0/
INPUTS1/
LOADSYSTEM/
MPE/
STORE
Yes
Commands reserved for
Motion Perfect: descriptions
have been removed from
manual
WAIT LOADED/
LIST
No
Yes
Added functionality
1. The allocation of the IR/CIO area bits has been modified in comparison
with the C200HW-MC402-UK. Please refer to 3-1 IR/CIO Area Allocation
and Appendix A Upgrading from C200HW-MC402-UK for more information.
2. The names of some IR/CIO area bits have been modified. Unless otherwise indicated, the functionality has not changed. The names of the connection pins have been modified without any change in function.
21
SECTION 2
Installation
This section describes the MC Unit components and provides the information required for installing the MC Unit.
2-1
2-2
2-3
2-4
2-5
Components and Unit Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-2-1 Installation Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-2-2 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-3-1 Connector Pin Assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-3-2 I/O Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-3-3 Serial Port Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-3-4 Terminal Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-3-5 Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Servo System Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
24
25
26
25
26
29
31
32
34
26
36
38
23
Section 2-1
Components and Unit Settings
2-1
Components and Unit Settings
The following diagram shows the main components of the MC Unit.
MC402-E
RUN
0
1
2
3
Indicators
DISABLE
4
5
6
7
Communication
Ports: RS-232C
TOOL
MACHINE No.
Unit No. switch
Axis Connector
DRV 0,1,2,3
I/O Connector
I/O
Indicators
The following table describes the indicators on the front of the MC Unit.
Indicator
RUN
Color
Green
Status
Meaning
ON
The MC Unit is operating normally.
OFF
The MC Unit is not recognized by the PC at initialization or is malfunctioning.
Flashing alone The battery voltage is low.
DISABLE Red
Flashing with
DISABLE
An error occurred in the communication
between MC Unit and CPU Unit.
ON
The axes have been disabled. The Servo
Enable Output is not ON.
OFF
The axes are enabled.
Flashing alone The following error has exceeded the limit. The
Servo Drives have been disabled.
Flashing with
RUN
0 to 7
Orange ON
OFF
An error occurred in the communication
between MC Unit and CPU Unit.
These indicators can be controlled from the programs. Refer to 5-3-53 DISPLAY for details.
Unit No. Switch
Set the number the unit number between 0 and F.
CPU Unit
!Caution
24
Unit No. setting range
C200HS-CPU01-E/21-E/31-E/03-E/23-E/33-E
C200HE-CPU11-E/32-E/42-E/11-ZE/32-ZE/42-ZE,
C200HG-CPU33-E/43-E/33-ZE/43-ZE,
C200HX-CPU34-E/44-E/34-ZE/44-ZE
0 to 9
C200HG-CPU53-E/63-E/53-ZE/63-ZE,
C200HX-CPU54-E/64-E/54-ZE/64-ZE/85-ZE
CS1H-CPU66-E/65-E/64-E/63-E
CS1G-CPU45-E/44-E/43-E/42-E
0 to F
Do not change the unit number while power is being supplied to the Unit.
Section 2-2
Installation
2-2
2-2-1
Installation
Installation Method
1,2,3...
!Caution
1. Attach the hooks on the upper section of the MC Unit onto the Backplane.
2. Insert the MC Unit connector into the Backplane connector.
Do not mount the MC Unit while the power is turned ON to the Rack.
When removing the MC Unit, lift it out while pressing down on the lock lever
with a screwdriver, as shown in the following illustration.
25
Section 2-3
Wiring
2-2-2
Dimensions
The basic dimensions of the MC Unit are shown below.
2-3
2-3-1
Wiring
Connector Pin Assignments
I/O Connector
The I/O Connector is used for wiring to external I/O. All I/O are general purpose and functions like limit inputs and origin proximity inputs can be allocated. Inputs I0 / R0 to I3 / R3 can also be used as the Registration Inputs for
axis 0 to 3. Refer to 2-3-2 I/O Specifications for electrical specifications.
Recommended Connector
and Cable
The 3M model numbers are listed below.
Connector
26-pin MDR
IDC plug connectors with
metal backshells
10126-6000EC or
10126-6000EL
10326-A200-00
Soldered connector with
plastic shells
10126-3000VE or
10126-3000VC
10326-52F0-0086
The IDC or soldered connectors can be used with various types of cables.
The following 3M cable is recommended for the MC Unit.
• Round-Jacketed, Shielded, Discrete Wire Cable 3444C-series, 28 AWG
Stranded, Twisted-pair, PVC/PVC.
12
13
25
26
Connector pin
arrangement
2
1
15
14
26
Section 2-3
Wiring
I/O Connector Pin
Functions
Pin
Signal
Name
Function
1
24V_IO
24V supply for I/O circuits
2
O0
Output 0
3
O1
Output 1
4
O2
Output 2
5
O3
Output 3
6
O4
Output 4
7
O5
Output 5
8
O6
Output 6
9
O7
Output 7
10
I0 / R0
Input 0 or Registration input for axis 0
11
I1 / R1
Input 1 or Registration input for axis 1
12
I2 / R2
Input 2 or Registration input for axis 2
13
0V_IO
0V common for I/O circuits
14
I3 / R3
Input 3 or Registration input for axis 3
15
I4
Input 4
16
I5
Input 5
17
I6
Input 6
18
I7
Input 7
19
I8
Input 8
20
I9
Input 9
21
I10
Input 10
22
I11
Input 11
23
I12
Input 12
24
I13
Input 13
25
I14
Input 14
26
I15
Input 15
Axis Connector
The Axis Connector is used to connect the Servo Drivers for axes 0 to 3.
Refer to 2-3-2 I/O Specifications for electrical specifications.
Recommended Connector
and Cable
The 3M model numbers are listed below .
Connector
40-pin MDR
IDC plug connectors with
metal backshells
10140-6000EC or
10140-6000EL
10340-A200-00
Soldered connector with
plastic shells
10140-3000VE or
10140-3000VC
10340-5500-008
The IDC or soldered connectors can be used with various types of cables.
The following 3M cable is recommended for the MC Unit.
• Round-Jacketed, Shielded, Discrete Wire Cable 3444C-series, 28 AWG
Stranded, Twisted-pair, PVC/PVC.
27
Section 2-3
Wiring
20
40
Connector pin
arrangement
19
39
2
1
22
21
Axis Connector Pin
Functions
Pin
Signal
Name
28
Function
1
0V_DRV
0V common for control signals
2
/ALARM_0
Alarm input for axis 0
3
/ALARM_1
Alarm input for axis 1
4
/ALARM_2
Alarm input for axis 2
5
A_0
Encoder phase A axis 0
6
/A_0
Encoder phase /A axis 0
7
B_0
Encoder phase B axis 0
8
/B_0
Encoder phase /B axis 0
9
Z_0
Encoder phase Z axis 0
10
/Z_0
Encoder phase /Z axis 0
11
VREF_0
Speed reference signal axis 0
12
0V_ENC
0V common for encoder signals
13
A_1
Encoder phase A axis 1
14
/A_1
Encoder phase /A axis 1
15
B_1
Encoder phase B axis 1
16
/B_1
Encoder phase /B axis 1
17
Z_1
Encoder phase Z axis 1
18
/Z_1
Encoder phase /Z axis 1
19
VREF_1
Speed reference signal axis 1
20
0V_REF
0V common for reference signals
21
/ALARM_3
Alarm input for axis 3
22
ALARMRST
Drivers alarm reset signal
23
ENABLE
Drivers enable signal
24
24V_DRV
24V supply for driver control signals
25
A_2
Encoder phase A axis 2
26
/A_2
Encoder phase /A axis 2
27
B_2
Encoder phase B axis 2
28
/B_2
Encoder phase /B axis 2
29
Z_2
Encoder phase Z axis 2
30
/Z_2
Encoder phase /Z axis 2
31
VREF_2
Speed reference signal axis 2
32
0V_ENC
Ground encoder signals
33
A_3
Encoder phase A axis 3
34
/A_3
Encoder phase /A axis 3
35
B_3
Encoder phase B axis 3
36
/B_3
Encoder phase /B axis 3
Section 2-3
Wiring
Pin
Signal
Name
37
Function
Z_3
Encoder phase Z axis 3
38
/Z_3
Encoder phase /Z axis 3
39
VREF_3
Speed reference signal axis 3
40
0V_REF
0V common for speed reference signals
Note The 0V_REF and 0V_ENC pins are connected inside the MC Unit.
2-3-2
I/O Specifications
The following tables provide specifications and circuits for the Axis and I/O
connections.
Digital Inputs
I/O inputs: I0 to I15
Item
Specification
Type
PNP
Maximum voltage
24 VDC + 10%
Input current
3.2 mA at 24 VDC
ON voltage
12 V min.
OFF voltage
5 V max.
ON response time
(see note)
1.8 ms (max.)
OFF response time
(see note)
2.1 ms (max.)
Circuit Configuration
Motion Control Unit
6.8k Ω
I0/R0
10
External power
supply 24V
910 Ω
0V_IO
13
0V common for I/O circuits
Note The given response time is the time between the change in the input voltage
and the corresponding change in the IN variable. This time includes the physical delays in the input circuit.
!Caution
Maximum 12 of the digital inputs (I0 to I15) should be switched on at any one
time to ensure that the Unit remains within internal temperature specifications.
Failure to meet this condition may lead to degradation of performance or damage of components.
Please refer to 1-5 Specifications for timing specification on print registration
using inputs I0/R0 to I3/R3.
29
Section 2-3
Wiring
Axis inputs: ALARM (axis 0 to 3)
Item
Specification
Type
NPN
Maximum voltage
24 VDC + 10%
Input current
3.2 mA at 24 VDC
ON voltage
12 V min.
OFF voltage
5 V max.
ON response time
(see note)
1.8 ms (max.)
OFF response time
(see note)
2.1 ms (max.)
Circuit Configuration
Motion Control Unit
24V_DRV
24
External power
supply 24V
910 Ω
/ALARM_0
6.8k Ω
2
24V for Drive control signals
Note The given response time is the time between the change in the input voltage
and the corresponding change in the IN variable. This time includes the physical delays in the input circuit.
Digital Outputs.
I/O outputs: O0 to O7
Item
Specification
Type
PNP
Current capacity
100 mA each output
(800 mA total for
group of 8)
Circuit Configuration
Motion Control Unit
24 V + 10%
ON response time
(see note)
1.3 ms (max.)
OFF response time
(see note)
1.4 ms (max.)
Protection
Over current, over
temperature and 2 A
fuse on common
1
24V_IO
2
O0
13
0V_IO
External power
supply 24V
Equivalent
circuit
LOAD
Internal Circuitry (glavanically
isolated from system)
Maximum voltage
2A Fuse
To other output circuits
Axis outputs: ENABLE, ALARMRST
Item
Type
Specification
Circuit Configuration
NPN
80 mA each output
Maximum voltage
24 V + 10%
ON response time
(see note)
1.3 ms (max.)
OFF response time
(see note)
1.4 ms (max.)
24
24V_DRV
22
23
ALARMRST
ENABLE
1
0V_DRV
LOAD
Current capacity
Internal Circuitry (glavanically isolated
from system)
Motion Control Unit
Equivalent
circuit
External power
supply 24V
To other Drive
control circuits
Note The given response time is the time between a change in the OP or WDOG
variable and the corresponding change in the digital output signal. This time
includes the physical delays in the output circuit.
30
Section 2-3
Wiring
Encoder Input
Item
Signal level
Specification
Circuit Configuration
EIA RS-422-A Standards
A_0
Input impedance
48 k Ω min.
/A_0
B_0
/B_0
Response frequency
250 kp/s
C_0
/C_0
Termination
None
(see note)
0V_ENC
5
+5V
Phase A axis 0
6
0V
7
+5V
Phase B axis 0
8
0V
9
+5V
Phase Z axis 0
10
0V
Line receiver
12
System 0V
Note Termination resistors can be mounted on the Terminal Block if required (see
section 2-5 Wiring Precautions).
Analogue Output
Item
Output Voltage
Specification
Circuit Configuration
0 to ±10 V
Motion Control Unit
Resolution
12-bit
+12V
Output impedance
100 Ω
Load impedance
10 kΩ min.
2-3-3
11
VREF_0
20
0V_REF
-12V
System 0V
Serial Port Connections
The MC Unit has two serial RS-232C ports for communication with external
devices. Port A is the programming port of the unit, connect this port to the
computer to configure the Unit using the Motion Perfect software package.
Port B can be used for connection to other external devices.
The table below shows the connector on the MC Unit (8-pin mini-DIN) and the
pin allocation for both RS-232C ports.
Pin Layout
6 3
1
7 4
2
8 5
Pin
Symbol
Name
Port
1
-
Not used
2
-
Not used
-
3
SD-A
Send data
A
4
SG-A
Signal ground
A
5
RD-A
Receive data
A
B
6
SD-B
Send data
7
SG-B
Signal ground
B
8
RD-B
Receive data
B
31
Section 2-3
Wiring
You can use the following connection cable for connection to the computer.
Product
Description
R88A-CCM002P4-E
Connection cable RS-232C (2m)
The connections to the computer are shown below.
Personal Computer
2
MC Unit
RD
3
SD-A
3
SD
5
RD-A
5
GND
4
SG-A
7
RTS
8
CTS
Shell
FG
mini-DIN 8-pin
D-sub 9-pin
2-3-4
Terminal Block
The Terminal Block (Quick Connect Kit) can be used to facilitate the connections to the Servo Drivers and other devices. The Terminal Block can be
mounted on a DIN rail.
10
9
8
7
80 mm
6
5
4
3
2
1
205 mm
The table below shows the various items on the unit.
Item
32
Description
Connection Type
1
Axis 0 encoder output
9-pin D-sub (female)
2
Axis 0 Servo Driver connection
15-pin D-sub (female)
3
Axis 1 Servo Driver connection
15-pin D-sub (female)
4
Axis 2 Servo Driver connection
15-pin D-sub (female)
5
Axis 3 Servo Driver connection
15-pin D-sub (female)
6
I/O connections
Screw terminals
7
24V and 5V supply for Axis connections
Screw terminals
8
Axis connection to MC Unit
40-pin MDR socket (female)
9
24V supply for I/O connections
Screw terminals
10
I/O connection to MC Unit
26-pin MDR socket (female)
Section 2-3
Wiring
Dimensions
The unit’s dimensions are 205mm x 80mm x 57 mm (L x H x D) without the
cables connected.
Cable and Connector
Parts
The available ready-made cables together with the Terminal Block are shown
in the next table.
Product
Description
R88A-TC04-E
Terminal Block
R88A-CMX001S-E
I/O connection cable from MC Unit to Terminal Block (1m)
R88A-CMX001J1-E
Axis connection cable from MC Unit to Terminal Block (1m)
R88A-CMU001J2-E
Connection from Terminal Block to UA Servo Driver (1m)
R88A-CMUK001J3-E
Connection from Terminal Block to UT Servo Driver (1m)
R88A-CMUK001J3-E2 Connection from Terminal Block to UT/W Servo Driver (1m)
Pin Allocations
Axis D-sub 15-Pin
The pin layout of the15-pin D-sub connectors, which are used for item 2 to 5,
is shown in the next table.
Pin
Signal
Name
Axis D-sub 9-Pin
Function
1
0V_DRV
0V common for control signals
2
/ALARM
Alarm input for axis
3
ALARMRST
Drive alarm reset signal
4
0V_ENC
0V common for encoder signals
5
A
Encoder phase A
6
B
Encoder phase B
7
Z
Encoder phase Z
8
VREF
Speed reference signal
9
24V_DRV
24V power supply for control signals
10
ENABLE
Driver enable signal
11
5V_ENC
5V power supply for encoder
12
/A
Encoder phase /A
13
/B
Encoder phase /B
14
/Z
Encoder phase /Z
15
0V_REF
0V common for reference signal
The Terminal Block has a second 9-pin D-sub connection for Axis 0 (item 1)
to enable the encoder signals of this axis to be outputted. This can be used to
cascade the signals through to another MC Unit with Terminal Block.
Pin
Signal
Name
Function
1
0V_DRV
0V common for control signals
2
A
Encoder phase A
3
B
Encoder phase B
4
Z
Encoder phase Z
5
-
-
6
/A
Encoder phase /A
7
/B
Encoder phase /B
8
/Z
Encoder phase /Z
9
-
-
33
Section 2-3
Wiring
I/O Connections
The order of the pins for the I/O connections (item 6) is as follows. Refer to
2-3-1 Connector Pin Assignments for the pin descriptions.
I15
I13
I14
I11
I12
I10
I9
I7
I8
I5
I6
R3
I4
R1
R2
O7
R0
O5
O6
O3
O4
O1
O2
O0
Power Supplies
There are 2 sets of terminals for supplying power to the interface unit
1. The 24V and optional 5V supply for the Axes part (item 7).
2. The 24V supply for the I/O connections to the unit (item 9).
The 24V power supply to the Axis connection and the I/O connection should
in principle be separate. This will ensure 500V RMS galvanic isolation
between the two circuits.
The 5V power supply is used to supply power an Omron FV Driver or a standalone line driver encoder feedback is used.
Terminating resistors
Immediately next to each item 1-5 there is a 6 pin through-hole connection
that allows placement of terminating resistors on the encoder A, B and Z signals. These resistors will have to be soldered onto the sites by competent personnel. The resistor pack recommended for this operation is the 220 Ω / 0.2
W resistors e.g. Bourns 4306R-102-221, which contains 6 isolated resistors in
one package.
2-3-5
Connection Examples
W Driver
Terminal Block
R88A-WT❏
0V_DRV
1
32
ALMCOM
/ALARM
2
31
ALM
ALARMRST
3
44
RESET
0V_ENC
4
1
GND
A
5
33
+A
/A
12
34
-A
B
6
36
+B
/B
13
35
-B
Z
7
19
+Z
/Z
14
20
-Z
VREF
8
5
REF
0V_REF
15
6
AGND
24V_DRV
9
47
+24VIN
ENABLE
10
40
RUN
5V_ENC
11
Shell
34
Section 2-3
Wiring
3G3FV Inverter
Terminal Block
3G3FV
0V_DRV
1
/ALARM
2
4
Alarm reset
ALARMRST
3
11
Seq. input common
0V_ENC
4
19
Fault output (NC)
24V_DRV
9
20
Fault output common
ENABLE
10
13
Freq. ref. input
5V_ENC
11
17
Freq. ref. common
1
Forward / stop
VREF
8
0V_REF
15
A
5
1
A-phase +
/A
12
2
A-phase -
B
6
3
B-phase +
/B
13
4
B-phase -
Z
7
5
Z-phase +
/Z
14
6
Z-phase -
3G3FV-PPGX2 (TA2 Terminal)
MY4-24VDC (Reset Relay)
9/10/11/12 2A/2B/2C/2D
5/6/7/8
1A/1B/1C/1D
13
Coil -
14
Coil +
MY4-24VDC (Enable Relay)
9/10/11/12 2A/2B/2C/2D
5/6/7/8
1A/1B/1C/1D
13
Coil -
14
Coil +
35
Section 2-4
Servo System Precautions
2-4
Servo System Precautions
The following precautions are directly related to the operation of the servo
system. Refer to 1-4-2 Servo System Principles for a description of servo system operation.
Motor Runaway
In a servo system employing a Servomotor, faulty or disconnected wiring may
cause the Servomotor to run out of control. Therefore, careful attention must
be paid to preventing faulty or disconnected wiring.
When the wiring is correct, the Servomotor will maintain the stopped position
through corrective operations as long as a position loop is formed and servolock is in effect.
If the motor rotates in the CW direction due to a factor such as temperature
drift, it is detected by the encoder and the internal error counter of the MC Unit
is notified of the direction and amount of rotation by means of feedback signals output by the encoder.
The count of the error counter is ordinarily zero unless otherwise designated.
When the motor moves in the CW direction, the feedback signal transfers the
direction and amount of movement as a count to the error counter. In
response, the MC Unit outputs a control voltage to rotate the motor in the
CCW direction to zero the error count.
The control voltage is output to the Servo Driver, and the Servomotor rotates
in the CCW direction. If the motor rotates in this CCW direction, the encoder
detects the direction and amount of movement and notifies the error counter
in the MC Unit with feedback signals to subtract and zero the count again.
The position loop subtracts the count in the error counter to zero it.
The analogue ground is common among all axes, preventing the reversal of
axes by swapping the wires. The reversal can easily be achieved in software
inside the Servo Driver using the PP_STEP command.
MC Unit
Servomotor
Control voltage
Servo
Control
(2)
Servo
driver
0V
AG
Phase A
(1)
Phase B
Runaway Caused by
Faulty Wiring
1,2,3...
36
Encoder
If the phase-A and phase-B feedback input lines are wired in reverse (crossed
dotted lines at 1 in the figure), the servolock will not be effective and the motor
will run out of control.
1. If the phase-A and phase-B feedback input lines are wired in reverse, the
error counter will receive the information as a rotation in the CCW direction.
2. If the motor rotates in the CW direction due to drift or some other cause,
the encoder will detect the direction and amount of movement and transmit
feedback signals to the error counter in the MC Unit.
Section 2-4
Servo System Precautions
3. As a result, the error counter having a count in the CCW direction will attempt to zero the count by outputting a control voltage to the Servo Driver
in the CW direction.
4. The Servomotor will rotate in the CW direction, repeating the above steps
1 to 3, causing the motor to run out of control.
Runaway can occur not only from reversed wiring of phases A and B of the
feedback inputs, but also from reversed wiring of the speed control voltage
and the ground lines (crossed dotted lines at 2 in the figure above).
Runaway Caused by
Disconnected Wiring
The Servomotor will run out of control not only when the position loop is not
correctly formed, but also when the position loop is interrupted due to disconnected wiring.
MC Unit
Servomotor
Control voltage
Servo
Control
Servo
driver
0V
AG
Phase A
Phase B
1,2,3...
Following Error Limit
Setting
Encoder
1. Wire Breakage with Servomotor Rotating:
While the Servomotor is rotating, the speed control voltage is not 0 V because of the signal from the error counter. If the feedback line is broken,
no feedback signals will be given to the error counter and the speed control
voltage remains unchanged from the value that existed before the line
breakage, causing motor runaway.
2. Wire Breakage with Servomotor Stopped:
If the feedback line is broken while the Servomotor is stopped and correct
feedback signals cannot be returned, the speed control voltage will remain
at zero without changing. Therefore, the Servomotor will also remain
stopped. In fact, however, the motor may move in one direction without
stopping.
This is caused by a discrepancy between the 0 V of the MC Unit’s control voltage and the 0 V of the Servo Driver’s voltage input. When the two 0 voltages
do not match, an electric potential difference is generated, resulting in a false
control voltage. This in turn causes the Servomotor to move in one direction
without stopping.
To prevent this, repair the wiring or adjust the 0 V of either the MC Unit or the
Servo Driver so that the 0 V levels match.
While following a motion profile, the servo system will generally follow the set
profile but not exactly. There will be a following error. The following error limit
can be set according to operating conditions using the axis parameter
FE_LIMIT. If for any reason the following error exceeds this limit, the servo
enable output will reset and the Servo Driver will be disabled, causing the
motor to come to a sudden halt. The user must make sure that this does not
have an adverse effect on the machine. See 5-3-66 FE_LIMIT for details.
37
Section 2-5
Wiring Precautions
External Limit Switches
2-5
Another fail-safe condition must normally be set up using monitoring sensors
installed at the edges of the workpiece’s range of movement to detect abnormal workpiece movement and stop operation if a runaway occurs. This can be
done by mapping the address of FWD_IN and REV_IN to the relevant digital
inputs. See 5-3-75 FWD_IN and 5-3-143 REV_IN for details.
Monitoring sensors are installed outside of the limit inputs. If the workpiece
reaches one of the sensors, the appropriate bit in the axis status will be turned
ON. The enable signal to the Servo Driver will be turned OFF and then the
dynamic brake will be applied to stop the motor.
Wiring Precautions
Electronically controlled equipment may malfunction because of noise generated by power supply lines or external loads. Such malfunctions are difficult to
reproduce, and determining the cause often requires a great deal of time. The
following precautions will aid in avoiding noise malfunctions and improving
system reliability.
• Use electrical wires and cables of the designated sizes as specified in the
operation manual for the Servo Driver. Use larger size cables for FG lines
of the PC or the Servo Driver and ground them over the shortest possible
distances.
• Separate power cables (AC power supply lines and motor power supply
lines) from control cables (pulse output lines and external input signal
lines). Do not group power cables and control cables together or place
them in the same conduit.
• Use shielded cables for control lines.
• Use the Terminal Block and the ready-made cables designed for MC Unit
to reduce connectivity problems.
• Connect a surge absorbing diode or surge absorber close to relays. Use a
surge-absorbing diode with a voltage tolerance of at least five times
greater than the circuit voltage.
AC relay
DC relay
+
DC
RY
Surge
absorbing
diode
AC
RY
Surge
absorber
-
Solenoid
SOL
Surge
absorber
• Noise may be generated on the power supply line if the same power supply line is used for an electric welder or electrical discharge unit. Connect
38
Section 2-5
Wiring Precautions
•
•
•
•
•
an insulating transformer and a line filter in the power supply section to
remove such noise.
Use twisted-pair cables for power supply lines. Use adequate grounds
(i.e., to 100 Ω or less) with wire cross sections of 1.25 mm2 or greater.
Use twisted-pair shielded cables for control voltage output signals, input
signals and feedback signals.
Use wires of maximum 2 m between the MC Unit and the Servo Driver for
control voltage output signals.
If the distance of the encoder from the MC Unit is more than 10 m, terminating resistors should be placed on the Terminal Block. The maximum
distance for the encoder position signal from the encoder to the MC Unit
must not exceed 20 m.
The input terminals that operate the 24 V system are isolated with optical
couplers to reduce external noise effects on the control system. Do not
connect the analogue voltage ground and the 24 V system ground.
39
SECTION 3
PC Data Exchange
This section describes the IR/CIO area allocation and presents the different methods of data exchange between the MC Unit
and the CPU Unit.
3-1
3-2
3-3
IR/CIO Area Allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-1-1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-1-2 Overview of IR/CIO Area Allocations . . . . . . . . . . . . . . . . . . . . . . .
Overview of Data Exchanges . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-2-1 Data Exchange Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-2-2 Data formats . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Details of the Data Exchange Methods. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-3-1 Data Words in IR/CIO Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-3-2 Data Transfer by CPU Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-3-3 Data Transfer by MC Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
42
42
43
46
46
47
48
48
49
55
41
Section 3-1
IR/CIO Area Allocation
3-1
3-1-1
IR/CIO Area Allocation
Overview
Each MC Unit is allocated 10 words in the Special I/O Unit Areas of the CPU
Unit’s IR or CIO area. The words that are allocated depend on the Unit No. set
on the rotary switch on the front panel of the MC Unit. The contents of the
allocated 10 words is exchanged automatically between the CPU Unit and the
MC Unit every time the CPU Unit refreshes I/O.
Input and Output Words
The words allocated to the MC Unit are classified as input and output words.
The input and output directions are defined from the CPU Unit’s perspective.
Data Exchange for the C200HX/HG/HE, C200HS
CPU Unit
MC Unit
IR Area
IR 100
IR 101
IR 102
Unit 0
}
}
}2 words
}
Unit 0
IR 109
IR 110
Unit 1
IR 119
8 words
Automatic data
exchange during
I/O Refresh
Special I/O Area Allocation for C200HX/HG/HE, C200HS
Unit no. Allocated words Unit no. Allocated words Unit no. Allocated words Unit no. Allocated words
0
IR 100 to IR 109
4
IR 140 to IR 149
8
IR 180 to IR 189
C
IR 420 to IR 429
(See note.)
1
IR 110 to IR 119
5
IR 150 to IR 159
9
IR 190 to IR 199
D
IR 430 to IR 439
(See note.)
2
IR 120 to IR 129
6
IR 160 to IR 169
A
IR 400 to IR 409
(See note.)
E
IR 440 to IR 449
(See note.)
3
IR 130 to IR 139
7
IR 170 to IR 179
B
IR 410 to IR 419
(See note.)
F
IR 450 to IR 459
(See note.)
Note For C200HG-CPU53-E/63-E/53-ZE/63-ZE and C200HXCPU54-E/64-E/54-ZE/64-ZE/65-ZE/85-ZE CPU Units only.
42
Section 3-1
IR/CIO Area Allocation
Data Exchange for the CS1 Series
CPU Unit
MC Unit
CIO Area
CIO 2000
CIO 2001
CIO 2002
Unit 0
}2 words
}
}
}
Unit 0
CIO 2009
CIO 2010
Unit 1
CIO 2019
8 words
Automatic data
exchange during
I/O Refresh
Special I/O Area Allocation for CS1 Series
Unit no. Allocated words Unit no. Allocated words Unit no. Allocated words Unit no. Allocated words
0
CIO 2000 to
CIO 2009
4
CIO 2040 to
CIO 2049
8
CIO 2080 to
CIO 2089
C
CIO 2120 to
CIO 2129
1
CIO 2010 to
CIO 2019
5
CIO 2050 to
CIO 2059
9
CIO 2090 to
CIO 2099
D
CIO 2130 to
CIO 2139
2
CIO 2020 to
CIO 2029
6
CIO 2060 to
CIO 2069
A
CIO 2100 to
CIO 2109
E
CIO 2140 to
CIO 2149
3
CIO 2030 to
CIO 2039
7
CIO 2070 to
CIO 2079
B
CIO 2110 to
CIO 2119
F
CIO 2150 to
CIO 2159
3-1-2
Overview of IR/CIO Area Allocations
The following tables show the data which is automatically exchanged during
the I/O refresh period. The first word allocated to the MC Unit in the IR/CIO
area is specified as “n” (refer to the previous section). The value of “n” can be
calculated from the unit number using the following equation.
• C200HX/HG/HE, C200HS
Unit numbers 0 to 9:
n = 100 + 10 x Unit number
Unit numbers A to F: n = 400 + 10 x (Unit number - 10)
• CS1 Series
Unit numbers 0 to F: n = 2000 + 10 x Unit number
Outputs
Output
word
The outputs consists of two transfer output words, which are used for data
exchange from the CPU Unit to the MC Unit. More details can be found in the
next section.
Bit
Name
Function
n
00 to 15
Output Word 1
First transfer output word.
n+1
00 to 15
Output Word 2
Second transfer output word.
Inputs
The inputs consists of the status flags of the MC Unit and transfer input
words. The transfer input data are two words, which are used for data
exchange from the MC Unit to the CPU Unit. More details can be found in the
next section.
43
Section 3-1
IR/CIO Area Allocation
Input word
n+2
Bit
Name
Function
00
Unit Operating Flag
OFF: MC Unit is not operating.
ON: MC Unit is operating.
01
Motion Error Flag
OFF: No error.
ON: A motion error has occurred.
02
Task 1 Flag
OFF: Task1 is inactive.
ON: Task 1 is active.
03
Task 2 Flag
OFF: Task 2 is inactive.
ON: Task 2 is active.
04
Task 3 Flag
OFF: Task 3 is inactive.
ON: Task 3 is active.
05
Task 4 Flag
OFF: Task 4 is inactive.
ON: Task 4 is active.
06
Task 5 Flag
OFF: Task 5 is inactive.
ON: Task 5 is active.
07
PC Transfer Busy Flag
ON: The MC Unit is exchanging data with the PC Unit.
08 to 15
Digital Input Status Flags Indicate the status of digital inputs 0 to 7.
n+3
00 to 15
Digital Input Status Flags Indicate the status of the digital inputs 8 to 23.
n+4
00 to 15
Digital Output Status
Flags
Indicate the status of digital outputs 8 to 23.
n+5
00
Axis 0 Following Error
Warning Limit Flag
ON: The warning limit was exceeded for the following error for axis 0.
44
01
Axis 0 Forward Limit Flag ON: A forward limit is set for axis 0.
02
Axis 0 Reverse Limit Flag ON: A reverse limit is set for axis 0.
03
Axis 0 Origin Search Flag ON: An origin search is in progress for axis 0.
04
Axis 0 Feedhold Flag
ON: A feedhold is set for axis 0.
05
Axis 0 Following Error
Limit Flag
ON: The limit was exceeded for the following error for axis 0.
06
Axis 0 Software Forward
Limit Flag
ON: The software forward limit was exceeded for axis 0.
07
Axis 0 Software Reverse
Limit Flag
ON: The software reverse limit was exceeded for axis 0.
08
Axis 1 Following Error
Warning Limit Flag
ON: The warning limit was exceeded for the following error for axis 1.
09
Axis 1 Forward Limit Flag ON: A forward limit is set for axis 1.
10
Axis 1 Reverse Limit Flag ON: A reverse limit is set for axis 1.
11
Axis 1 Origin Search Flag ON: An origin search is in progress for axis 1.
12
Axis 1 Feedhold Flag
ON: A feedhold is set for axis 1.
13
Axis 1 Following Error
Limit Flag
ON: The limit was exceeded for the following error for axis 1.
14
Axis 1 Software Forward
Limit Flag
ON: The software forward limit was exceeded for axis 1.
15
Axis 1 Software Reverse
Limit Flag
ON: The software reverse limit was exceeded for axis 1.
Section 3-1
IR/CIO Area Allocation
Input word
n+6
n+7
Bit
00
Name
Axis 2 Following Error
Warning Limit Flag
Function
ON: The warning limit was exceeded for the following error for axis 2.
01
Axis 2 Forward Limit Flag ON: A forward limit is set for axis 2.
02
Axis 2 Reverse Limit Flag ON: A reverse limit is set for axis 2.
03
Axis 2 Origin Search Flag ON: An origin search is in progress for axis 2.
04
Axis 2 Feedhold Flag
ON: A feedhold is set for axis 2.
05
Axis 2 Following Error
Limit Flag
ON: The limit was exceeded for the following error for axis 2.
06
Axis 2 Software Forward
Limit Flag
ON: The software forward limit was exceeded for axis 2.
07
Axis 2 Software Reverse
Limit Flag
ON: The software reverse limit was exceeded for axis 2.
08
Axis 3 Following Error
Warning Limit Flag
ON: The warning limit was exceeded for the following error for axis 3.
09
Axis 3 Forward Limit Flag ON: A forward limit is set for axis 3.
10
Axis 3 Reverse Limit Flag ON: A reverse limit is set for axis 3.
11
Axis 3 Origin Search Flag ON: An origin search is in progress for axis 3.
12
Axis 3 Feedhold Flag
ON: A feedhold is set for axis 3.
13
Axis 3 Following Error
Limit Flag
ON: The limit was exceeded for the following error for axis 3.
14
Axis 3 Software Forward
Limit Flag
ON: The software forward limit was exceeded for axis 3.
15
Axis 3 Software Reverse
Limit Flag
ON: The software reverse limit was exceeded for axis 3.
00
Task 1 BASIC Error Flag
ON: An error occurred in the BASIC program in task 1.
01
Task 2 BASIC Error Flag
ON: An error occurred in the BASIC program in task 2.
02
Task 3 BASIC Error Flag
ON: An error occurred in the BASIC program in task 3.
03
Task 4 BASIC Error Flag
ON: An error occurred in the BASIC program in task 4.
04
Task 5 BASIC Error Flag
ON: An error occurred in the BASIC program in task 5.
05
Low Battery Flag
ON: The voltage of the backup battery is low.
06
Not used
---
07
PC Transfer Error Flag
ON: An error has occurred during data transfer between MC Unit and
PC Unit.
08 to 15
Indicator Mode
Contains the value of the DISPLAY system parameter, which determines the display mode of the bank of the 8 LED indicators on the
front panel. Refer to 5-3-53 DISPLAY for details.
n+8
00 to 15
Input Word 1
First transfer input word.
n+9
00 to 15
Input Word 2
Second transfer input word.
45
Section 3-2
Overview of Data Exchanges
3-2
3-2-1
Overview of Data Exchanges
Data Exchange Methods
The MC Unit is able to exchange data with the CPU Unit the following three
ways.
Data Words in IR/CIO Area
The MC Unit and the CPU Unit both have access to their own allocated words
in memory. These transfer I/O words allocated in the MC Unit memory and in
the CPU Unit’s IR/CIO Area are exchanged during the I/O refresh period. The
MC Unit accesses the words by using the BASIC commands PLC_READ and
PLC_WRITE.
CPU Unit
MC Unit
No program
required
PLC_READ
PLC_WRITE
VR Array
Allocated Words
Allocated Words
I/O Refresh
Data Transfer by CPU Unit
The CPU Unit is able to read/write directly into both the VR and Table memory areas of the MC Unit by using the ladder instructions IORD and IOWR.
BASIC programming in the MC Unit is not required.
CPU Unit
46
MC Unit
IORD
IOWR
No program
required
I/O Memory
Table/VR Array
Section 3-2
Overview of Data Exchanges
Data Transfer by MC Unit
The MC Unit can initiate data transfer to and from the CPU Unit using the
PLC_READ and PLC_WRITE commands. The CPU Unit’s user program is
not required and the transfer will be executed at the next I/O refresh.
CPU Unit
MC Unit
PLC_WRITE
PLC_READ
No
program
required
VR Array
I/O Memory
Next I/O
refresh
3-2-2
Data formats
The data transfers commands of the PC Unit and the MC Unit support two
data format types.
One-word format
The data is transferred word by word from each PC memory location to each
variable in the MC unit and vice versa. The value in the MC Unit is always the
integer equivalent of the hexadecimal value in the PC (no 2's complement).
From the floating-point data in the MC unit only the integer part will be transferred. The valid range is [0,65535].
Three-word format
The data in the PC is represented by three memory elements, in total three
words. The following is the configuration of a BCD position data item.
j+0
0
0
0
A
j+1
x10 3
x102
x10 1
x100
j+2
x10 7
x106
x10 5
x104
3
s
2
1
0
Decimal point A = 0 (Indicates 1)
1 (Indicates 0.1)
2 (Indicates 0.01)
Position data
3 (Indicates 0.001)
4 (Indicates 0.0001)
bit
x107
Sign bit (s)
0: positive
1: negative
Example 1: The three-word format of value 56143 is given by
j+0
0
0
0
0
j+1
6
1
4
3
j+2
0
0
0
5
Example 2: The three-word format of value -48.89 is given by
j+0
0
0
0
2
j+1
4
8
8
9
j+2
8
0
0
0
One data item uses three words. Therefore the total words for data transfers
should be the amount of data transferred multiplied by three.
47
Section 3-3
Details of the Data Exchange Methods
3-3
3-3-1
Details of the Data Exchange Methods
Data Words in IR/CIO Area
Data is read/written during the I/O refresh from either the MC Unit or the CPU
Unit.
• The amount of data is two words output and two words input.
• The data is copied between the VR area and the allocated words in the
MC Unit by using the PLC_READ and PLC_WRITE commands.
Transfer Output
The two words output data present in the CPU Unit is copied at every I/O
refresh to the allocated words within the MC Unit. When a PLC_READ command is given, the contents of the allocated words (n, n+1) will be copied to
the specified VR variables in the MC Unit.
The following example is for a C200HX/HG/HE PC.
CPU Unit
MC Unit
PLC_READ(PLC_REFRESH, 0, 2, 0)
None
VR(0)
27279
VR(1)
15
At PLC_READ
IR Area
n
0110101010001111
n+1
0000000000001111
I/O Refresh
n
0110101010001111
n+1
0000000000001111
Transfer Input
After the PLC_WRITE command is given, the content of the specified VR variables will be copied to the allocated words in the MC Unit. On the next I/O
refresh, this data will be copied to the allocated words (n+8, n+9) in the IR/
CIO area of the CPU Unit.
The following example is for a C200HX/HG/HE PC.
MC Unit
CPU Unit
None
PLC_WRITE(PLC_REFRESH, 0, 2, 10)
VR(10)
45
VR(11)
333
At PLC_WRITE
IR Area
48
n+8
0000000000101101
n+9
0000000101001101
I/O Refresh
n+8
0000000000101101
n+9
0000000101001101
Section 3-3
Details of the Data Exchange Methods
3-3-2
Data Transfer by CPU Unit
The CPU Unit is able to independently read and write to the MC Unit’s Table
and VR array.
• The maximum amount of data transferred is 128 words.
• The data transfer is synchronous with the ladder program.
IORD Instruction
The IORD instruction can be used in the following way to read data from the
MC Unit. Refer to the Operation Manual of your PC Unit for further details on
using this instruction.
IORD
C
C: Control code
S
S: Source Information
D
D: First destination word
C:
Value (hex)
Details
#A❏❏❏
VR (one-word format): Data is transferred from
the first VR variable as specified by ❏❏❏.
Range (BCD): 000 to 250.
#B❏❏❏
VR (three-word format): Data is transferred from
the first VR variable as specified by ❏❏❏.
Range (BCD): 000 to 250.
#❏❏❏❏
Table (three-word format): Data is transferred
from the first Table variable as specified by
❏❏❏❏ multiplied by factor 10.
Range (BCD): 0000 to 1599.
C200HX/HG/HE
S:
Value (hex)
#n❏❏❏
CS1 Series
Details
Value n is the unit number of the MC Unit.
Range: 0 to F.
The amount of data is specified by ❏❏❏.
Range: (BCD): 001 to 128.
S: left most 4 digits
S+1: right most 4 digits
S:
Value (hex)
#000n
Details
Value n is the unit number of the MC Unit.
Range: 0 to F.
S+1:
Value (hex)
#❏❏❏❏
D:
Details
The no. of transfer words is specified by ❏❏❏❏.
Range: 0000 to 0080 Hex.
First destination word in CPU Unit’s memory.
49
Section 3-3
Details of the Data Exchange Methods
Data
Item
Detail
PC
C200HX/HG/HE
Operand
D
IR Area 1
IR 000 to IR 235
SR Area 1
SR 236 to SR 252
SR Area 2
SR 256 to SR 299
IR Area 2
IR 300 to IR 511
HR Area
HR 00 to HR 99
AR Area
AR 00 to AR 27
LR Area
LR 00 to LR 63
TC Area
TC 000 to TC 511
TR Area
---
DM Area
DM 0000 to DM 6143
EM Area
---
Indirect DM
addresses
*DM 0000 to DM 6655
Constants
---
Data
Item
50
Detail
PC
CS1
Operand
D
CIO Area
CIO 0000 to CIO 6143
Work Area
W000 to W511
Holding Bit Area
H000 to H511
Auxiliary Bit Area
A000 to A959
Timer Area
T0000 to T4095
Counter Area
C0000 to C4095
DM Area
D00000 to D32767
EM Area without
bank
E00000 to E32767
EM Area with bank
En_00000 to En_32767 (n = 0 to C)
Indirect DM/EM
addresses in binary
@D00000 to @D32767
@E00000 to @E32767
@En_00000 to @En_32767 (n = 0 to C)
Indirect DM/EM
addresses in BCD
*D00000 to *D32767
*E00000 to *E32767
*En_00000 to *En_32767 (n = 0 to C)
Constants
---
Data Registers
---
Directly addressing
Index Registers
---
Indirect addressing
using Index Registers
,IR0 to ,IR15
-2048 to +2047 ,IR0 to ,IR15
DR0 to 15, IR0 to IR15
,IR0 to ,IR15+(++)
-(--) IR0 to IR15
Section 3-3
Details of the Data Exchange Methods
Flags
Value
(see note)
Instruction Execution Error Flag
(ER) (25503)
ON
OFF
• The number of transfer C., S., and D. settings are corwords is not in BCD, or it is rect.
0 words or is greater than
128 words.
• The indirectly addressed
DM address is greater than
6656 or not BCD.
• The destination Unit No. is
outside the range 0 to F, or
is on a SYSMAC BUS
slave rack.
• The number of transfer
words is not BCD.
Carry Flag
(CY) (25504)
---
---
Greater Than Flag
(GR) (25505)
---
---
Equals Flag
(EQ) (25506)
Reading was correctly completed.
Reading was not correctly
completed.
Less Than Flag
(LE) (25507)
---
---
Overflow Flag
(OF) (25404)
---
---
Underflow Flag
(UF) (25405)
---
---
Negative Flag
(N) (25402)
---
---
Note SR Area addresses for the C200HX/HG/HE, C200H, and C200HS are given
in parentheses.
Value
PC Transfer Error
Flag
(IR n+7 bit 07)
ON
OFF
• The control code is not None of the errors has
occurred.
valid for the MC Unit.
• The amount of words is not
a multiple of three for
three-word format transfer.
• The MC Unit’s Table or VR
address in combination
with the amount of data is
invalid.
• There is an overflow of
IORD/IOWR
and
PLC_READ/PLC_WRITE
transfers.
Note The user should be aware that the MC Unit does not check if the MC Unit data
is in the range of the three-word format.
51
Section 3-3
Details of the Data Exchange Methods
Transfer example for
C200HX/HG/HE PC
In the following example, 20 words from VR(123) to VR(142) is transferred
from the MC Unit with unit number set to 0 to addresses DM0000 to DM0019
in one-word format.
001.00
IORD
#A123
#0020
DM0000
IOWR Instruction
The IOWR instruction can be used in the following way to write data to the MC
Unit. Refer to the Operation Manual of your PC Unit for further details on
using this instruction.
IOWR
C
C: Control code
S
S: First source word
D
D: Destination information
C:
Value (hex)
S:
Details
#A❏❏❏
VR (one-word format): Data is transferred to the
first VR variable as specified by ❏❏❏. Range
(BCD): 000 to 250.
#B❏❏❏
VR (three-word format): Data is transferred to
the first VR variable as specified by ❏❏❏.
Range (BCD): 000 to 250.
#❏❏❏❏
Table (three-word format): Data is transferred to
the first Table variable as specified by ❏❏❏❏
multiplied by factor 10. Range (BCD): 0000 to
1599.
First source word in CPU Unit’s memory.
C200HX/HG/HE
D:
Value (hex)
#n❏❏❏
CS1 Series
Details
Value n is the unit number of the MC Unit.
Range: 0 to F.
The amount of data is specified by ❏❏❏.
Range: (BCD): 001 to 128.
D: left most 4 digits
D+1: right most 4 digits
D:
Value (hex)
#000n
Details
Value n is the unit number of the MC Unit.
Range: 0 to F.
D+1:
Value (hex)
#❏❏❏❏
52
Details
The no. of transfer words is specified by ❏❏❏❏.
Range: 0000 to 0080 Hex.
Section 3-3
Details of the Data Exchange Methods
Data
Item
Detail
PC
C200HX/HG/HE
Operand
S
IR Area 1
IR 000 to IR 235
SR Area 1
SR 236 to SR 255
SR Area 2
SR 256 to SR 299
IR Area 2
IR 300 to IR 511
HR Area
HR 00 to HR 99
AR Area
AR 00 to AR 27
LR Area
LR 00 to LR 63
TC Area
TC 000 to TC 511
TR Area
---
DM Area
DM 0000 to DM 6655
EM Area
---
Indirect DM
addresses
*DM 0000 to DM 6655
Constants
---
Data
Item
Detail
PC
CS1
Operand
S
CIO Area
CIO 0000 to CIO 6143
Work Area
W000 to W511
Holding Bit Area
H000 to H511
Auxiliary Bit Area
A000 to A959
Timer Area
T0000 to T4095
Counter Area
C0000 to C4095
DM Area
D00000 to D32767
EM Area without
bank
E00000 to E32767
EM Area with bank
En_00000 to En_32767 (n = 0 to C)
Indirect DM/EM
addresses in binary
@D00000 to @D32767
@E00000 to @E32767
@En_00000 to @En_32767 (n = 0 to C)
Indirect DM/EM
addresses in BCD
*D00000 to *D32767
*E00000 to *E32767
*En_00000 to *En_32767 (n = 0 to C)
Constants
#0000 to #FFFF (binary)
Data Registers
---
Directly addressing
Index Registers
---
Indirect addressing
using Index Registers
,IR0 to ,IR15
-2048 to +2047 ,IR0 to ,IR15
DR0 to 15, IR0 to IR15
,IR0 to ,IR15+(++)
-(--) IR0 to IR15
53
Section 3-3
Details of the Data Exchange Methods
Clearing PC Transfer Error
in MC Unit
C:
Value (hex)
#EC00
S:
Details
The PC transfer error flag in IR/CIO area is
cleared.
Use any source address
C200HX/HG/HE
D:
Value (hex)
#n001
Details
Value n is the unit number of the MC Unit. The
amount of data should always be 001.
CS1 Series
D:
Value (hex)
#000n
Details
Value n is the unit number of the MC Unit.
Range: 0 to F.
D+1:
Value (hex)
#0001
Details
The amount of data should always be 0001.
Flags
Value
(see note)
Instruction Execution Error Flag
(ER) (25503)
54
ON
OFF
• The number of transfer C., S., and D. settings are corwords is not in BCD, or it is rect.
0 words or is greater than
128 words.
• The indirectly addressed
DM address is greater than
6656 or not BCD.
• The Unit No. of the MC
Unit is outside the range
0 to F, or is on a SYSMAC
BUS slave rack.
• The number of transfer
words is not BCD.
• The instruction was not
correctly completed.
Carry Flag
(CY) (25504)
---
---
Greater Than Flag
(GR) (25505)
---
---
Equals Flag
(EQ) (25506)
Writing was correctly completed.
Writing was not correctly completed.
Less Than Flag
(LE) (25507)
---
---
Overflow Flag
(OF) (25404)
---
---
Underflow Flag
(UF) (25405)
---
---
Negative Flag
(N) (25402)
---
---
Section 3-3
Details of the Data Exchange Methods
Note SR Area addresses for the C200HX/HG/HE, C200H, and C200HS are given
in parentheses.
Value
PC Transfer Error
Flag
(IR n+7 bit 07)
ON
OFF
• The control code is not None of the errors has
occurred.
valid for the MC Unit.
• The amount of words is not
a multiple of three for
three-word format transfer.
• The MC Unit’s Table or VR
address in combination
with the amount of data is
invalid.
• There is an overflow of
IORD/IOWR
and
PLC_READ/PLC_WRITE
transfers.
Note The user should be aware that the MC Unit does not check if the PC memory
data complies to the three-word format.
Transfer example
In the following example, 60 words from DM0100 to DM0159 is transferred in
three words format from the PLC Unit to TABLE(10100) to TABLE(10119) of
the MC Unit with unit number set to 5.
001.00
IOWR
#1010
DM0100
#5060
3-3-3
Data Transfer by MC Unit
The MC Unit is able to independently read and write from the MC Unit’s VR
array to the CPU Unit’s I/O memory by using the PLC_READ and
PLC_WRITE commands.
• The maximum amount of data transferred is 127 words.
• The commands only support the one-word format.
• The data is transferred at the end of the CPU scan cycle during I/O
refresh.
• The BASIC program will be paused until completion of the transfer.
Refer to the 5-3-122 PLC_READ and 5-3-124 PLC_WRITE for more details
on the commands.
PLC_READ Command
The following BASIC program will read 50 words from the CPU Unit’s DM 0 to
DM 49 to VR variables 100 to 149 in one-word format. A PC user program is
not required.
BASIC program:
PLC_READ(PLC_DM,0,50,100)
PLC_WRITE Command
The following BASIC program will write 50 words from the MC Unit’s VR variables 0 to 99 from the CPU Unit’s EM 200 to EM 299 to in one-word format. A
PC user program is not required.
BASIC program:
PLC_WRITE(PLC_EM,200,100,0)
55
Section 3-3
Details of the Data Exchange Methods
Restrictions for CS1-series PCs
When the MC Unit is used with a CS1-series PC, there are some addressing
restrictions for the data transfer using the PLC_READ and PLC_WRITE commands. Note that the other two methods do not have these restrictions and
should be used for accessing data outside this range.
The addresses shown in the following table can be specified for PLC_READ
and PLC_WRITE.
Area
CS1 address
Designation method
PC_area
DM area
56
First word address
D00000 to D06655
PLC_DM
0 to 6655
CIO area
CIO 0000 to CIO 0511
PLC_IR
0 to 511
Data Link area (in
CIO area)
CIO 1000 to CIO 1063
PLC_LR
0 to 63
Holding Bit area,
part 1
H000 to H099
PLC_HR
0 to 99
Holding Bit area,
part 2
H100 to H127 (except
H101)
PLC_AR
0 to 27
Timer area
T0000 to T0511
PLC_TC
EM area, bank 0
E0_00000 to E0_06143 PLC_EM
0 to 511
0 to 6143
SECTION 4
Multitasking BASIC Programming
This section gives an overview of the fundamentals of multitasking BASIC programs and the methods by which programs
are managed for the MC Unit.
4-1
4-2
4-3
4-4
4-5
4-6
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
BASIC Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-2-1 Axis, System and Task Statements . . . . . . . . . . . . . . . . . . . . . . . . . .
4-2-2 Data Structures and Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-2-3 Mathematical Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Motion Control Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Command Line Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
BASIC Programs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-5-1 Managing Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-5-2 Program Compilation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-5-3 Program Execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Error Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
58
58
58
59
60
61
65
65
65
66
66
68
57
Section 4-1
Overview
4-1
Overview
The C200HW-MC402 Motion Control Unit features a multitasking version of
the BASIC programming language. The motion control language is largely
based upon a tokenised BASIC and the programs are compiled into the tokenised form prior to their execution.
Multitasking is simple to set up and use and allows very complex machines to
be programmed. Multitasking gives the MC Unit a significant advantage over
equivalent single task systems. It allows modular applications where the logically connected processes can be grouped together in the same task program, thus simplifying the code architecture and design.
The MC Unit can hold up to 14 programs if memory size permits. A total of 5
tasks can be allocated to the programs. The execution of the programs is user
controlled using BASIC.
The BASIC commands, functions and parameters presented here can be
found in SECTION 5 BASIC Motion Control Programming Language.
4-2
BASIC Programming
The BASIC language consists among others of commands, functions and
parameters. These BASIC statements are the building blocks provided to
control the MC Unit operation.
Commands
Commands are words recognized by the processor that perform a certain
action but do not return a value. For example, PRINT is a recognized word
that will cause the value of the following functions or variables to be printed on
a certain output device.
Functions
Functions are words recognized by the processor that perform a certain
action and return a value related to that action. For example, ABS will take the
value of its parameter and return the absolute value of it to be used by some
other function or command. For example ABS(-1) will return the value 1,
which can be used by the PRINT command, for example, to generate a string
to be output to a certain device.
Parameters
Parameters are words recognized by the processor that contain a certain
value. This value can be read and, if not read only, written. Parameters are
used to determine and monitor the behavior of the system. For example,
ACCEL determines the acceleration rate of a movement for a certain axis.
4-2-1
Axis, System and Task Statements
The commands, functions and parameters apply either to (one of) the axes,
the tasks running or the general system.
Axis Statements
58
The motion control commands and the axis parameters apply to one or more
axes. Axis parameters determine and monitor how an axis reacts on commands given and how it reacts to the outside world. Every axis has a set of
parameters, so that all axes can work independently of each other. The
motion control commands are able to control one or more of the axes simultaneously, while every axis has its own behavior.
The axis parameters are reset to their default values either when the power to
the MC Unit is turned ON, the MC Unit is restarted from Motion Perfect, the
MC Unit is restarted using the Restart Bit in the CPU Unit or the INITIALISE
command is executed.
The commands and parameters work on some base axis or group of axes,
specified by the BASE command. The BASE command is used to change this
base axis group and every task has its own group which can be changed at
any time. The default base axis is 0.
Section 4-2
BASIC Programming
Individual axis dependent commands or parameters can also be programmed
to work on a temporary base axis by including the AXIS function as a modifier
in the axis dependent command. A temporary base axis is effective only for
the command or parameter after which AXIS appears.
Task Statements
The task parameters apply to a single task. The task parameters monitor the
task for example for error handling. The PROC modifier allows the user to
access a parameter of a certain task. Without PROC the current task is
assumed. The BASE command (see above) is task specific and can be used
with the PROC modifier.
System Statements
These statements govern the overall system features, which are basically all
statements which do not belong to the first two groups.
4-2-2
Data Structures and Variables
BASIC programs can store numerical data in various types of variables. Some
variables have predefined functions, such as the axis parameters and system
parameters; other variables are available for the programmer to define as
required in programming. The MC Unit’s Table, global and local variables are
explained in this section. Furthermore also the use of labels will be specified.
Table
The Table is an array structure that contains a series of numbers. These numbers are used for instance to specify positions in the profile for a CAM or
CAMBOX command. They can also be used to store data for later use, for
example to store the parameters used to define a workpiece to be processed.
The Table is common to all tasks on the MC Unit, i.e., the values written to the
Table from one task can be read from other tasks. The Table is backed up by
a battery and will maintain its contents when power is turned OFF.
Table values can be written and read using the TABLE command. The maximum length of the array is 16000 elements, from TABLE(0) to TABLE(15999).
The Table array is initialized up to the highest defined element.
Global Variables
The global variables, also called VR variables, are common to all tasks on the
MC Unit. This means that if a program running on task 2 sets VR(25) to a certain value, then any other program running on a different task can read that
same value from VR(25). This is very useful for synchronizing two or more
tasks, but care must be taken to avoid more than one program writing to the
same variable at the same time. The controller has 251 global variables,
VR(0) to VR(250). The variables are read and written using the VR command.
The VR variables maintain their values when power is turned OFF to the MC
Unit. They are stored in RAM backed up by battery in the MC Unit.
!Caution
If the voltage of the backup battery drops, Table and global data will be lost.
This can happen when the power to the MC Unit is turned OFF for a long
period of time. The user should be very aware of this and should take the following precautions:
• Initialize variables from a program at power up as much as possible.
• Store dynamic application data, which can not be defined in programs, in
the PC Unit’s memory as much as possible.
• Update the data from the PC Unit at each power up before operation.
The Low Battery flag will turn ON when the voltage of the backup battery has
dropped. Also the BATTERY_LOW system parameter will become TRUE. For
detailed information, refer to 3-1-2 Overview of IR/CIO Area Allocations and
5-3-28 BATTERY_LOW.
59
Section 4-2
BASIC Programming
Local Variables
Named variables or local variables can be declared in programming and are
local to the task. This means that two or more programs running on different
tasks can use the same variable name, but their values can be different. Local
variables cannot be read from any task except for the one in which they are
declared. Local variables are always cleared when a program is started. The
local variables can be cleared by using either the CLEAR or the RESET command. Undefined local variables will return zero. Local variables cannot be
declared on the command line.
A maximum of 255 local variables can be declared. Only the first 16 characters of the name are significant.
Labels
BASIC programs are normally executed in descending order through the
lines. Labels can be used to alter this execution flow using the BASIC commands GOTO and GOSUB. To define a label it must appear as the first statement on a line and it must be ended by a colon (:). Labels can be character
strings of any length, but only the first 15 characters are significant.
Using Variables and Labels
Each task has its own local labels and local variables. For example, consider
the two programs shown below:
start:
FOR a = 1 to 100
MOVE(a)
WAIT IDLE
NEXT a
GOTO start
start:
a=0
REPEAT
a = a + 1
PRINT a
UNTIL a = 300
GOTO start
These two programs when run simultaneously in different tasks and have
their own version of variable “a” and label “start”. Note that undefined local
variables will also return zero and not generate an error message.
If you need to hold data in common between two or more programs, VR variables should be used, or alternatively, if a large amount of data is to be held,
the Table can be used.
To make a program more readable when using a VR variable, a named local
variable can be used as a constant in the VR variable. The constant, however,
must be declared in each program using the variable. In the example below,
VR(3) is used to hold a length parameter.
start:
GOSUB initial
VR(length) = x
...Body of program
initial:
length = 3
RETURN
4-2-3
...Body of program
initial:
length = 3
RETURN
Mathematical Specifications
Number format
60
start:
GOSUB initial
MOVE(VR(length))
PRINT VR(length)
The MC Unit has two main formats for numeric values: single precision floating point and single precision integer.
Section 4-3
Motion Control Application
The single precision floating point format is internally a 32 bit value. It has an
8 bit exponent field, a sign bit and 23 bit fraction field with an implicit 1 as the
–39
24th bit. Floating point numbers have a valid range of ± 5.9 ⋅ 10
to
38
± 3.4 ⋅ 10 .
Integers are essentially floating point numbers with a zero exponent. This
implies that the integers are 24 bits wide. The integer range is therefore given
from -16777216 to 16777215. Numeric values outside this range will be floating point.
!WARNING
All mathematical calculations are done in floating point format. This implies
that for calculations of/with larger values the results may have limited accuracy. The user should be aware of this when developing the motion control
application.
Positioning
For positioning, the Unit will round up if the fractional encoder edge distance
calculated exceeds 0.9. Otherwise the fractional value will be rounded down.
Floating point comparison
The comparison functions considers small difference between values as
equal to avoid unexpected comparison results. Therefore any two values for
–6
which the difference is less than 1.19 ⋅ 10 are considered equal.
Precedence
The precedence of the operators is given below:
Unary Minus, NOT
^
/ *
MOD
+ = <> > >= <= <
AND OR XOR
Left to Right
The best way to ensure the precedence of various operators is through the
use of parentheses.
4-3
Motion Control Application
Initialisation
For setting up a motion application with the MC Unit, the following parameters
need to be considered.
Parameter
Description
WDOG
The WDOG parameter contains the software switch used to control the enable relay contact, which enables all drivers.
SERVO
The SERVO parameter determines whether the base axis runs
under servo control (ON) or open loop (OFF). When in open loop
the output speed reference voltage is determined by the DAC
parameter.
DAC
The DAC parameter contains the voltage value which is applied
directly to the Servo Driver when the base axis is in open loop.
P_GAIN
The P_GAIN parameter contains the proportional gain for the
axis.
I_GAIN
The I_GAIN parameter contains the integral gain for the axis.
D_GAIN
The D_GAIN parameter contains the derivative gain for the axis.
VFF_GAIN
The VFF_GAIN parameter contains the speed feed forward gain
for the axis.
OV_GAIN
The OV_GAIN parameter contains the output speed gain for the
axis.
61
Motion Control Application
Section 4-3
In the following example a simple motion application including initialisation for
a single axis is shown.
init:
BASE(0)
P_GAIN=.5: I_GAIN=0: D_GAIN=0
VFF_GAIN=0: OV_GAIN=0
ACCEL=1000
DECEL=1000
SPEED=500
WDOG=ON
SERVO=ON
loop:
MOVE(500)
WAIT IDLE
WA(250)
MOVE(-500)
WAIT IDLE
WA(250)
GOTO loop
Move Execution
Every task on the MC Unit has a set of buffers that holds the information from
the motion commands given. The motion commands include MOVE, MOVEABS, MOVEMODIFY, MOVECIRC, MHELICAL, FORWARD, REVERSE,
MOVELINK, CONNECT, CAM and CAMBOX. Refer to 5-2-1 Motion Control
Commands for details on specific commands.
Motion Generator
The motion generator, a background process that prepares and runs moves,
has a set of two motion buffers for each axis. One buffer holds the Actual
Move, which is the move currently executing on the axis. The MTYPE axis
parameter contains the identity number of this move. For example the MTYPE
will have value 10 if currently the FORWARD move is executed. The other
buffer holds the Next Move, which is executed after the Actual Move has finished. The NTYPE axis parameter contains the identity number of this next
move.
The BASIC programs are separate from the motion generator program, which
controls moves for the axes. The motion generator has separate functions for
each axis, so each axis is capable of being programmed with its own axis
parameters (for example speed, acceleration) and moving independently and
simultaneously or they can be linked together using special commands.
When a move command is processed, the motion generator waits until the
move buffers for the required axes are empty and then loads these buffers
with the move information.
Note If the task buffers are full, the program execution is paused until buffers are
available again. This also applies to the command line task and no commands can be given for that period. Motion Perfect will disconnect in such a
62
Section 4-3
Motion Control Application
case. The PMOVE task parameter will be set to TRUE when the task buffers
are full and will be reset to FALSE when the task buffers are available again.
Task buffers
Task 1
MOVECIRC(..) AXIS(0)
FORWARD AXIS(1)
Task 2
Motion
Generator
Task 3
Task 4
MOVE(..) AXIS(0)
Task 5
Sequencing
Move buffers
Axis
..
7
Next Move (NTYPE)
MOVE (1)
0
FORWARD (10)
1
IDLE (0)
2
..
IDLE (0)
Actual Move (MTYPE)
MOVECIRC (4)
MOVECIRC (4)
IDLE (0)
..
IDLE (0)
Move
Loading
Sequencing
On each servo interrupt every millisecond (see 4-5-3 Program Execution), the
motion generator examines the NTYPE buffers to see if any of them are available. If there are any available then it checks the task buffers to see if there is
a move waiting to be loaded. If a move can be loaded, then the data for all the
specified axes is loaded from the task buffers into the NTYPE buffers and the
corresponding task buffers are marked as idle. This process is called
sequencing.
Move Loading
Once sequencing has been completed, the MTYPE buffers are checked to
see if any moves can be loaded. If the required MTYPE buffers are available,
then the move is loaded from the NTYPE buffers to the MTYPE buffers and
the NTYPE buffers are marked as idle. This process is called move loading.
If there is a valid move in the MTYPE buffers, then it is processed. When the
move has been completed, the MTYPE buffers are marked as idle.
Accessing I/O
The MC Unit has three different types of I/O. These are the physical I/O, the
driver I/O and the virtual I/O. The inputs and outputs are accessible by using
the IN and OP commands in BASIC and within Motion Perfect using the I/O
status window. Refer to 5-3-83 IN, 5-3-115 OP and 6-6-6 I/O Status Window
for further details.
63
Section 4-3
Motion Control Application
The different types of inputs are explained here.
Input type
Physical
Driver
Virtual
Range
Description
(amount)
0 - 15 (16) The physical inputs are freely allocable to the different functions. Some of the functions are origin
search, limit switches, jog inputs and so on. The
MC Unit uses axis parameters to allocate a certain
function to an input.
The first four inputs R0 to R3 are used as registration inputs for axis 0 to 3. These inputs can also be
used for any other purpose.
The related BASIC command and axis parameters
are
REGIST
Registration Command
DATUM_IN
Selection of origin switch input
FAST_JOG
Selection of fast jog input
FHOLD_IN
Selection of feedhold input
FWD_IN
Selection of forward limit input
FWD_JOG
Selection of forward jog input
REV_IN
Selection of reverse limit input
REV_JOG
Selection of reverse jog input
16 - 19 (4) The four driver inputs nr. 16 to 19 correspond to
the four alarm inputs from the drivers of axis 0 to 3.
20 - 31
The virtual inputs are only present inside the MC
(12)
Unit and are used for computational purposes only.
The virtual inputs and outputs are bi-directional.
The inputs are controlled by the outputs. All functions which can be used on physical inputs can
also by these used for these virtual inputs.
The different types of outputs are explained here.
Output
type
Physical
Driver
Virtual
64
Range
Description
(amount)
8 - 15 (8)
The physical outputs are freely allocable to any
user defined functions. An output can be set and
reset depending on the current axis position by
using the command PSWITCH.
Note that the physical output connections O0 to O7
are corresponding to the internal outputs 8 to 15.
16 (1)
The single driver output is the driver alarm reset for
all drivers.
20 - 31
The virtual outputs are only present inside the MC
(12)
Unit and are used for computational purposes only.
The virtual inputs and outputs are bi-directional.
The inputs are controlled by the outputs.
Section 4-4
Command Line Interface
4-4
Command Line Interface
The Command Line Interface provides a direct interface for the user to give
commands and access parameters on the system. There are two options to
use the command line interface:
• Use the Terminal Window within Motion Perfect and the MC Unit connected. See SECTION 6 Programming Environment for details.
• Use a VT100 Terminal to connect to the MC Unit. This is similar to using
the Terminal Window within Motion Perfect when the MC Unit is disconnected.
The MC Unit puts the last 10 commands given on the command line in a
buffer. Pressing the Up and Down Cursor Key will cycle through the buffer to
execute the command again.
4-5
BASIC Programs
The MC Unit can store up to 14 programs in memory, provided the capacity of
memory is not exceeded. The MC Unit supports simple file-handling instructions for managing these program files rather like the DOS filing system on a
computer.
The Motion Perfect software package is used to store and load programs to
and from a computer for archiving, printing and editing. It also has several
controller monitor and debugging facilities. Refer to SECTION 6 Programming
Environment for details on Motion Perfect.
4-5-1
Managing Programs
Motion Perfect automatically creates a project which contains the programs to
be used for an application. The programs of the project are kept both in the
controller as on the computer. Whenever a program is created or edited,
Motion Perfect edits both copies in order to always have an accurate backup
outside the controller at any time. Motion Perfect checks that the two versions
of the project are identical using a cyclic redundancy check. If the two differ,
Motion Perfect allows copying the MC Unit version to disk or vice versa.
Programs on the computer are stored in ASCII text files. They may therefore
be printed, edited and copied using a simple text editor. The source programs
are held in the MC Unit in a tokenised form and as a result, the sizes of the
programs will be less on the MC Unit compared to the same programs on the
computer.
Storing Programs
Programs on the MC Unit are held in battery-backed RAM or flash EPROM
when power is turned OFF. At start-up before operation either the programs
present in RAM are used or the programs in flash EPROM will be copied first
to RAM. These two options are selectable by using the POWER_UP system
parameter.
The current programs in RAM can be copied to flash EPROM by using the
EPROM command. Both the POWER_UP parameter as the EPROM command are also provided by Motion Perfect with buttons on the control panel
and commands under the Program and Controller menus.
Note After development of the application programs, be sure to save the data in
flash memory within the MC Unit. The data will remain in the S-RAM during
operation and power down, but considering possible battery failure it is
advised to store the data in flash memory.
65
Section 4-5
BASIC Programs
Program Commands
The MC Unit has a number of BASIC commands to allow creation, manipulation and deletion of programs. Motion Perfect provides buttons which also
perform these operations.
Command
SELECT
NEW
DIR
COPY
RENAME
DEL
LIST
4-5-2
Function
Selects a program for editing, deleting etc.
Deletes the current selected program, a specified
program or all programs.
Lists the directory of all programs.
Duplicates a specified program.
Renames a specified program.
Deletes the current selected program or a specified
program.
Lists the current selected program or a specified
program.
Program Compilation
The MC Unit system compiles programs automatically when required. It is not
normally required to force the MC Unit to compile programs, but programs
can be compiled under the Program Menu in Motion Perfect.
The MC Unit automatically compiles programs at the following times.
• The selected program is compiled before it is executed if it has been
edited.
• The selected program is compiled if it has been edited before switching
the selected program to another program.
• The selected program is compiled by using the COMPILE command.
The program syntax and structure are checked during compilation. If compilation is unsuccessful, a message will be provided and no program code will be
generated. A red cross will appear in the Motion Perfect directory box.
Programs cannot be run when compilation errors occur. The errors should be
corrected and the program recompiled.
The compilation process also includes the following:
• Removing comments.
• Compiling numbers into the internal processor format.
• Converting expressions into reverse Polish Notation format for execution.
• Precalculating variable locations.
• Calculating and embedding loop structure destinations.
4-5-3
Program Execution
The timing of the execution for the different tasks and the refreshing of the I/O
of the Unit revolves around the servo period of the system. For the MC Unit
the servo period is set to 1 ms. The servo period is not synchronised with the
PC scan time.
I/O Refresh
66
The I/O status of the MC Unit is refreshed at the beginning of every servo
cycle.
• The captured status of the digital inputs is transferred to the IN system
input variable. Note that this is the status captured in the previous servo
cycle.
• The analogue outputs for the speed references are updated.
• The digital outputs are updated conform the status of the OP system output variable.
• The status of the digital inputs is captured.
Section 4-5
BASIC Programs
Note that no automatic processing of the I/O signals is taking place, except for
registration. This implies that all actions must be programmed in the BASIC
programs.
Program Tasks
This servo period is split into three equal segments. These three slots are
partly taken up by respectively servo control, the background communications
and the basic house keeping tasks. The remaining period in each of the time
slots is available for the BASIC tasks.
The multi-tasking executive operates as follows. There are 6 tasks available
for execution. Tasks 1 to 5 are user tasks, which are used to run BASIC programs simultaneously, one program per task. Each program can be allocated
to a specific task or priority, which implies more or less execution time (see
Program Execution Priority below). It is important to know that the BASIC program execution is not synchronised with the servo cycle. The command line
always uses the system task 0. This task is used for the raw terminal communications and Motion Perfect communications.
Relevant commands
Motion Perfect provides several ways of executing, pausing and stopping the
programs using buttons on the control panel and the editing windows. The following commands can be given on the command line to control the execution.
Command
RUN
STOP
HALT
PROCESS
Function
Run the current selected program or a specified program, optionally on a specified task number.
Stop the current selected program or a specified
program.
Stop all programs on the system
Displays all running tasks.
The user can explicitly allocate the task priority on which the BASIC program
is expected to run. When a user program is run without explicit task allocation,
it is assigned the highest available task priority. Tasks 5 and 4 have high priority and tasks 3,2 and 1 have low priority.
Setting Programs to Run
at Start-up
Programs can be set to run automatically at different priorities when power is
turned ON. If required, the computer can be left connected as an operator
interface or may be removed and the programs run “stand-alone”.
Programs are set in Motion Perfect to run automatically at start-up using the
Set Power Up Mode… selection under the Program Menu. This operation
sets which program to run automatically and at which priority. This can also
be accomplished by the RUNTYPE parameter. The current status can be
seen with the DIR command.
Program Execution
Priority
The programs given task no. 5 and 4 have high priority and programs given
task 3, 2 and 1 have low priority. Task 0, which is the command line task, has
also low priority. When both high and low priority tasks are running, the high
priority tasks are divided over two slot and the low priority task are divided
over one slot. If all tasks have the same priority the tasks will be divided
equally over the three slots. Tasks with the same priority will be allocated to
the slots in such a way that over multiple servo periods that they will have
equal execution time.
Consider the following examples:
Example 1: Tasks 1 & 2 and command line running.
Servo Cycle (n)
Servo Control
House Keeping
Communications
Task 0
Task 1
Task 2
67
Section 4-6
Error Processing
The real-time executive operates in a round-robin schedule.
Example 2: Tasks 1, 2 & 3 and command line task 0 running
Servo Cycle (n)
Servo Cycle (n+1)
Servo
Control
House
Keeping
Comms
Servo
Control
House
Keeping
Comms
Task 0
Task 1
Task 2
Task 3
Task 0
Task 1
The real-time executive allocates the time slots to tasks 0, 1, 2 & 3 in turn.
Example 3: Tasks 1 & 4 and command line task 0 running
Servo Cycle (n)
Servo Cycle (n+1)
Servo
Control
House
Keeping
Comms
Servo
Control
House
Keeping
Comms
Task 4
Task 4
Task 0
Task 4
Task 4
Task 1
The real-time executive invokes task 4 as a high priority task every servo
cycle. The remaining tasks fit in the remaining slot in turn.
Example 4: Tasks 1, 2, 4 & 5 and command line task 0 running
Servo Cycle (n)
Servo Cycle (n+1)
Servo
Control
House
Keeping
Comms
Servo
Control
House
Keeping
Comms
Task 5
Task 4
Task 0
Task 5
Task 4
Task 1
Servo Cycle (n+2)
Servo
Control
House
Keeping
Comms
Task 5
Task 4
Task 2
The real-time executive invokes task 5 and task 4 as a high priority tasks
every servo cycle. Note that the high priority tasks take up both high priority
slots. The remaining tasks fit in the remaining slot in turn. If task 3 was also
added to above scenario it will be executed in the third slot alongside tasks 0,
1 & 2.
4-6
Error Processing
For the safety of the application it is very important that proper safety measures are taken for the different problems which may occur in the system. For
safe operation at all times the user must make use of the several options to
check for these errors in both the MC Unit or in the PC Unit.
It is advisable to have the master control of the application within the PC Unit,
not the MC Unit. The PC Unit can monitor the status of the MC Unit and of the
other Units, manage emergency shut-downs for the application, control the
data flows from and to the MC Unit, and so on.
As for the MC Unit, the BASIC programming language provide the programmer with the freedom to include a lot of safety measures or not. This requires
a sensible solution, which covers all possible behaviour of the system.
This section will present the possible errors that may occur and suggest the
way to detect them. For a full description of the error handling refer to section
7-3 Error Handling and for the IR/CIO area description section 3-1-2 Overview
of IR/CIO Area Allocations.
!Caution
68
The PC or MC Unit outputs may have undefined status due to deposits on or
burning of the output relays, or destruction of the output transistors. As a
counter-measure for such problems, external safety measures must be provided to ensure safety in the system.
Error Processing
Section 4-6
BASIC Errors
If a BASIC error is generated during the execution of a BASIC command in
some task, the program will be halted immediately or the user can define a
specific error routine structure to stop the system. The error routine can stop
the driver, put the digital I/O in a safe status and notify the PC Unit of the
error. Please refer to section 5-3-27 BASICERROR on the way to include an
error subroutine in a BASIC program. The BASIC error is also indicated in the
PC’s IR/CIO area.
Motion Error
In case a motion error occurs, the MC Unit will disable the control of the driver
automatically. The user has the ability to decide for each axis which motion
errors will disable the driver by using the ERRORMASK parameter (see section 5-3-61 ERRORMASK). After detection of the motion error the user is free
to program the necessary countermeasures for the other axes and the complete system. The PC’s IR/CIO area also indicates the axis on which the error
has occurred and the type of error.
PC Interface Error
In case of an error in the PC transfer using IORD and IOWR instruction, the
PC Interface Error flag (n+7 bit 07) in the IR/CIO area will be set. This bit can
be checked in the PC program to deal with any unforeseen event for PC
transfers.
Please refer to Appendix C Programming Examples to find an example of
implementing the control of the application including error checking. Example
no. 12 shows a master program which is dedicated to the control of the application by running the appropriate programs and is continuously checking for
any error event which may occur. This program should be set to run at startup of the MC Unit. It is strongly recommended to use this program or a similar
program within every application.
69
SECTION 5
BASIC Motion Control Programming Language
This section describes the commands and parameters required for programing the motion control application using the MC
Unit. All BASIC system, task and axis statements that determine the various aspects of program execution and MC Unit
operation are presented.
5-1
5-2
5-3
Notation Used in this Section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Classifications and Outlines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-2-1 Motion Control Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-2-2 I/O Commands and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-2-3 Loop and Conditional Structures . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-2-4 Program Commands and Functions . . . . . . . . . . . . . . . . . . . . . . . . .
5-2-5 System Commands and Parameters . . . . . . . . . . . . . . . . . . . . . . . . .
5-2-6 Mathematical and Logical Functions . . . . . . . . . . . . . . . . . . . . . . . .
5-2-7 Constants. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-2-8 Motion Perfect Commands, Functions and Parameters . . . . . . . . . .
5-2-9 Axis Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-2-10 Task Commands and Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-2-11 PC Data Exchange Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Command, function and parameter description . . . . . . . . . . . . . . . . . . . . . . .
5-3-1 Multiply: * . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3-2 Power: ^ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3-3 Add: + . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3-4 Subtract: – . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3-5 Divide: / . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3-6 Is Less Than: < . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3-7 Is Less Than Or Equal To: <=. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3-8 Is Not Equal To: <> . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3-9 Is Equal To: = . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3-10 Is Greater Than: > . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3-11 Is Greater Than or Equal To: >=. . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3-12 Statement separator: “:” . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3-13 Comment field: ‘ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3-14 ABS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3-15 ACCEL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3-16 ACOS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3-17 ADDAX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3-18 AND . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3-19 ASIN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3-20 ATAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3-21 ATAN2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3-22 ATYPE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3-23 AUTORUN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3-24 AXIS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3-25 AXISSTATUS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3-26 BASE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3-27 BASICERROR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3-28 BATTERY_LOW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3-29 CAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3-30 CAMBOX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3-31 CANCEL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
75
75
76
77
77
78
78
80
81
81
81
83
83
84
84
84
84
85
85
85
85
86
86
86
86
87
87
87
87
87
88
88
89
89
89
90
90
90
91
91
92
93
93
94
95
71
5-3-32
5-3-33
5-3-34
5-3-35
5-3-36
5-3-37
5-3-38
5-3-39
5-3-40
5-3-41
5-3-42
5-3-43
5-3-44
5-3-45
5-3-46
5-3-47
5-3-48
5-3-49
5-3-50
5-3-51
5-3-52
5-3-53
5-3-54
5-3-55
5-3-56
5-3-57
5-3-58
5-3-59
5-3-60
5-3-61
5-3-62
5-3-63
5-3-64
5-3-65
5-3-66
5-3-67
5-3-68
5-3-69
5-3-70
5-3-71
5-3-72
5-3-73
5-3-74
5-3-75
5-3-76
5-3-77
5-3-78
5-3-79
5-3-80
5-3-81
5-3-82
5-3-83
5-3-84
72
CHECKSUM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CLEAR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CLEAR_BIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CLOSE_WIN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
COMMSERROR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
COMPILE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CONNECT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CONTROL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
COPY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
COS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CREEP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
D_GAIN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DAC. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DAC_OUT. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DATUM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DATUM_IN. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DECEL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DEFPOS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DEL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DEMAND_EDGES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DIR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DISPLAY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DPOS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EDIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ENCODER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ENDMOVE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EPROM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ERROR_AXIS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ERROR_LINE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ERRORMASK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EXP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FALSE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FAST_JOG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FE_LIMIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FE_RANGE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FHOLD_IN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FHSPEED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FOR TO STEP NEXT. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FORWARD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FRAC. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FREE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FS_LIMIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FWD_IN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FWD_JOG. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
GET . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
GOSUB RETURN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
GOTO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
HALT. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
I_GAIN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IF THEN ELSE ENDIF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IN. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
INITIALISE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
96
96
96
96
97
97
97
98
98
98
99
99
99
100
100
101
101
101
102
102
103
103
103
104
104
104
104
104
105
105
105
106
106
106
106
106
107
107
107
108
108
109
109
109
109
109
110
110
111
111
111
112
113
5-3-85
5-3-86
5-3-87
5-3-88
5-3-89
5-3-90
5-3-91
5-3-92
5-3-93
5-3-94
5-3-95
5-3-96
5-3-97
5-3-98
5-3-99
5-3-100
5-3-101
5-3-102
5-3-103
5-3-104
5-3-105
5-3-106
5-3-107
5-3-108
5-3-109
5-3-110
5-3-111
5-3-112
5-3-113
5-3-114
5-3-115
5-3-116
5-3-117
5-3-118
5-3-119
5-3-120
5-3-121
5-3-122
5-3-123
5-3-124
5-3-125
5-3-126
5-3-127
5-3-128
5-3-129
5-3-130
5-3-131
5-3-132
5-3-133
5-3-134
5-3-135
5-3-136
INPUT. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
INT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
JOGSPEED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
KEY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LAST_AXIS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LINPUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LIST . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LOCK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MARK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MERGE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MHELICAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MOD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MOTION_ERROR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MOVE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MOVEABS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MOVECIRC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MOVELINK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MOVEMODIFY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MPOS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MSPEED. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MTYPE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NEW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NIO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NOT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NTYPE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
OFF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
OFFPOS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ON. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ON. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
OP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
OPEN_WIN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
OR. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
OUTLIMIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
OV_GAIN. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
P_GAIN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PLC_READ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PLC_TYPE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PLC_WRITE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PMOVE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
POWER_UP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PP_STEP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PRINT. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PROC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PROCESS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PROCNUMBER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PSWITCH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RAPIDSTOP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
READ_BIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
REG_POS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
REGIST . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
113
113
114
114
114
115
115
116
116
116
116
117
118
118
119
120
121
122
125
125
125
125
126
126
126
127
127
127
127
127
128
129
129
130
130
130
130
131
132
132
133
134
134
134
136
136
136
136
137
138
138
138
73
5-3-137
5-3-138
5-3-139
5-3-140
5-3-141
5-3-142
5-3-143
5-3-144
5-3-145
5-3-146
5-3-147
5-3-148
5-3-149
5-3-150
5-3-151
5-3-152
5-3-153
5-3-154
5-3-155
5-3-156
5-3-157
5-3-158
5-3-159
5-3-160
5-3-161
5-3-162
5-3-163
5-3-164
5-3-165
5-3-166
5-3-167
5-3-168
5-3-169
5-3-170
5-3-171
5-3-172
5-3-173
5-3-174
5-3-175
5-3-176
5-3-177
5-3-178
5-3-179
5-3-180
5-3-181
5-3-182
74
REMAIN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RENAME . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
REP_DIST. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
REP_OPTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
REPEAT UNTIL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RESET. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
REV_IN. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
REV_JOG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
REVERSE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RS_LIMIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RUN. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RUN_ERROR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RUNTYPE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SCOPE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SCOPE_POS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SELECT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SERVO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SET_BIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SETCOM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SGN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SIN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SPEED. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SQR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SRAMP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
STEPLINE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
STOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
TABLE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
TAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
TICKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
TRIGGER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
TROFF. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
TRON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
TRUE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
TSIZE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
UNITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VERSION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VFF_GAIN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VP_SPEED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
WA. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
WAIT IDLE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
WAIT LOADED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
WAIT UNTIL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
WDOG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
WHILE WEND . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
XOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
139
140
140
140
141
141
142
142
142
142
142
143
143
144
145
145
145
146
146
146
147
147
147
147
148
148
148
149
150
150
150
150
151
151
151
152
152
152
152
153
154
154
154
155
155
156
Section 5-1
Notation Used in this Section
5-1
Notation Used in this Section
This section describes the notation used in describing commands, functions,
and parameters. The section name gives the name of the command, function
or parameter. The descriptions within the section are divided into the following
parts. Individual parts are omitted when they are not applicable.
Type:
Syntax:
Alternative:
Standard BASIC notation is used to show command or function syntax.
Text that must be typed exactly as given is in typewriter font.
The names of arguments are given in italic font with underscores_for_spaces.
Replace these with the actual arguments.
Items in square brackets “[ ]” in the syntax notation are optional and can be
omitted. Repetition is denoted by “{ }” brackets. Items enclosed in these
brackets are repeated zero or more times.
Any alternative form of a command, function or parameter is given.
Description:
This field describes the purpose and application of the command, function or
parameter.
Precautions:
Specific precautions related to programming are provided.
Arguments:
5-2
The classification is given for command, function or parameter.
The name of each argument is given in bold italic font followed by a description of the argument.
See also:
In this field the related commands, functions and parameters are given.
Example:
One or more application examples is given for most commands, functions,
and parameters.
Classifications and Outlines
The table below describes the groups into which commands, functions, and
parameters are divided.
Groups
Motion Control Commands
I/O Commands and Functions
Loop and Conditional Structures
Program Commands and Functions
System Commands and Parameters
Mathematical Functions
Constants
Motion Perfect Commands and Parameters
Axis Parameters
Task Functions and Parameters
PC Data Exchange Commands
The rest of the tables in the following sections outline the commands, functions and parameters used for the MC Unit.
75
Section 5-2
Classifications and Outlines
5-2-1
Motion Control Commands
The table below outlines the motion control commands. Refer to the specified
pages for details.
Name
Syntax
Description
Page
ADDAX
ADDAX(axis)
ADDAX sets a link to a superimposed axis. All
demand position movements for the superimposed
axis will be added to any moves that are currently
being executed.
88
BASE
BASE(axis_1[,axis_2[, .... ]])
BA(axis_1[,axis_2[, .... ]])
BASE is used to set the base axis to the axis specified with axis.
91
CAM
CAM(start_point,end_point,
table_multiplier,distance)
CAM moves an axis according to values of a movement profile stored in the Table array.
93
CAMBOX
CAMBOX(start_point,end_point,
table_multiplier,link_distance,
link_axis[,link_option
[,link_position]])
CAMBOX moves an axis according to values of a
movement profile stored in the Table array. The
motion is linked to the measured motion of another
axis to form a continuously variable software gearbox.
94
CANCEL
CANCEL[(1)]
CA[(1)]
CANCEL cancels the move on an axis.
95
CONNECT
CONNECT(ratio,driving_axis)
CO(ratio,driving_axis)
CONNECT connects the demand position of an axis 97
to the measured movements of the axis specified for
driving_axis to produce an electronic gearbox.
DATUM
DATUM(sequence)
DATUM performs one of 7 origin search sequences 100
to position an axis to an absolute position or DATUM
reset following errors.
DEFPOS
DEFPOS(pos_1[,pos_2[, .... ]])
DP(pos_1[,pos_2[, .... ]])
DEFPOS defines the current position as a new abso- 101
lute position.
FORWARD
FORWARD
FO
FORWARD moves an axis continuously forward at
the speed set in the SPEED parameter.
MHELICAL
MHELICAL(end_1,end_2,
centre_1,centre_2,direction,
distance_3)
MH(end_1,end_2,centre_1,
centre_2,direction,distance_3)
MHELICAL performs an interpolated helical move by 117
moving 2 orthogonal axes in a circular arc with a
simultaneous linear move on a third axis.
MOVE
MOVE(dist_1[,dist_2[, .... ]])
MO(dist_1[,dist_2[, .... ]])
MOVE moves one or more axes at the demand
speed, acceleration and deceleration to the position
specified as increment from the current position.
MOVEABS
MOVEABS(pos_1[,pos_2[, .... ]])
MA(pos_1[,pos_2[, .... ]])
MOVEABS moves one or more axes at the demand 120
speed, acceleration and deceleration to the position
specified as absolute position, i.e., in reference to the
origin.
MOVECIRC
MOVECIRC(end_1,end_2,
centre_1,centre_2,direction)
MC(end_1,end_2,centre_1,
centre_2,direction)
MOVECIRC interpolates 2 orthogonal axes in a circular arc.
121
MOVELINK
MOVELINK(distance,
link_distance,link_acceleration,
link_deceleration,link_axis
[,link_option[,link_position]])
ML(distance,link_distance,
link_acceration,link_deceleration,
link_axis[,link_option
[,link_position]])
MOVELINK creates a linear move on the base axis
linked via a software gearbox to the measured position of a link axis.
122
MOVEMODIFY
MOVEMODIFY(position)
MM(position)
MOVEMODIFY changes the absolute end position of 125
the current single-axis linear move (MOVE or MOVEABS).
76
108
119
Section 5-2
Classifications and Outlines
Name
Syntax
Description
Page
RAPIDSTOP
RAPIDSTOP
RS
RAPIDSTOP cancels the current move on all axes.
137
REVERSE
REVERSE
REVERSE moves an axis continuously in reverse at
the speed set in the SPEED parameter.
142
5-2-2
I/O Commands and Functions
The table below outlines the I/O commands and functions. Refer to the specified pages for details.
Name
Syntax
Description
Page
GET
GET#n, variable
GET waits for the arrival of a single character and
assigns the ASCII code of the character to variable.
109
IN
IN(input_number
[,final_input_number])
IN returns the value of digital inputs.
112
INPUT
INPUT#n, variable{, ..... }
INPUT waits for a string to be received and assigns
the numerical value to variable.
113
KEY
KEY#n
KEY returns TRUE/FALSE depending on character
received.
114
LINPUT
LINPUT#n, vr_variable
LINPUT waits for a string and puts it in VR variables. 115
OP
OP(output_number,value)
OP(binary_pattern)
OP
OP sets one or more outputs or returns the state of
the first 24 outputs.
PRINT
PRINT[#n], expression{, .... }
?[#n], expression{, .... }
PRINT outputs a series of characters to a serial port. 134
PSWITCH
PSWITCH(switch,enable[,axis,
output_number,output_state,
set_position,reset_position])
PSWITCH turns ON an output when a predefined
136
position is reached, and turns OFF the output when a
second position is reached.
REGIST
REGIST(mode)
REGIST captures an axis position when a registration input or the Z mark on the encoder is detected.
138
SETCOM
SETCOM(baud_rate,data_bits,
stop_bits,parity[,port_number
[,XON/XOFF_switch]])
SETCOM sets the serial communications.
146
5-2-3
128
Loop and Conditional Structures
The table below outlines the loop and conditional structure commands. Refer
to the specified pages for details.
Syntax
Description
FOR TO STEP
NEXT
Name
FOR variable = start TO end [STEP
increment]
<commands>
NEXT variable
FOR ... NEXT loop allows a program segment to be
repeated with increasing/decreasing variable.
107
GOSUB RETURN
GOSUB label
GOSUB jumps to a subroutine at the line just after
label. The program execution returns to the next
instruction after a RETURN is given.
110
GOTO jumps to the line containing the label.
110
... RETURN
Page
GOTO
GOTO label
IF THEN ELSE
ENDIF
IF condition THEN
IF controls the flow of the program base on the
results of the condition.
<commands>
[ELSE
<commands>]
ENDIF
IF condition THEN <commands>
111
ON GOSUB or
GOTO
ON expression GOSUB label{, label} ON GOSUB or ON GOTO enables a conditional
ON expression GOTO label{, label} jump to one of several labels.
127
77
Section 5-2
Classifications and Outlines
Name
Syntax
Description
Page
REPEAT UNTIL
REPEAT
<commands>
UNTIL condition
The REPEAT ... UNTIL loop allows the program seg- 141
ment to be repeated until the condition becomes
TRUE.
WHILE WEND
WHILE condition
<commands>
WEND
The WHILE ... WEND loop allows the program segment to be repeated until the condition becomes
FALSE.
5-2-4
155
Program Commands and Functions
The table below outlines commands used for general programming purposes.
Refer to the specified pages for details.
Name
Syntax
Description
Page
Statement separator <statement>:<statement>
The statement separator enables more statements
on one line.
87
Comment field
‘ [<Comment field>]
The single quote enables a line not to be executed.
87
AUTORUN
AUTORUN
AUTORUN starts all the programs that have been
set to run at start-up.
90
COMPILE
COMPILE
COMPILE compiles the current program.
97
COPY
COPY “program_name”
“new_program_name”
COPY copies an existing program in memory to a
new program.
98
DEL
DEL [“program_name”]
RM [“program_name”]
DEL deletes a program from memory.
102
DIR
DIR
DIR displays a list of the programs held in memory,
their size and their RUNTYPE.
103
EDIT
EDIT[line_number]
ED[line_number]
EDIT allows a program to be modified using a VT100 104
Terminal.
EPROM
EPROM
EPROM stores the BASIC programs in the MC Unit
in the flash EPROM.
104
FREE
FREE
FREE returns the amount of available memory.
109
HALT
HALT
HALT stops execution of all programs currently running.
111
LIST
LIST
LIST prints the lines of a program.
115
NEW
NEW
NEW deletes all the program lines in MC Unit memory.
126
PROCESS
PROCESS
PROCESS returns the running status and task num- 136
ber for each current task.
RENAME
RENAME “old_program_name“
“new_program_name“
RENAME changes the name of a program in the MC 140
Unit directory.
RUN
RUN [“program_name“
[,task_number]]
RUN executes a program.
RUNTYPE
RUNTYPE “program_name“,
auto_run[,step_number]
RUNTYPE determines if a program is run at start-up, 143
and which task it is to run on.
142
SELECT
SELECT “program_name“
SELECT specifies the current program.
145
STEPLINE
STEPLINE [“program_name”
[, task_number]]
STEPLINE executes a single line in a program.
148
STOP
STOP [“program_name”
[, task_number]
STOP halts program execution.
148
TROFF
TROFF [“program_name”]
TROFF suspends a trace at the current line and
resumes normal program execution.
150
TRON
TRON
TRON creates a breakpoint in a program.
150
5-2-5
System Commands and Parameters
The table below outlines the system commands and parameters. Refer to the
specified pages for details.
78
Section 5-2
Classifications and Outlines
Name
Syntax
Description
Page
AXIS
AXIS(axis_number)
AXIS sets the axis for a command, axis parameter
read, or assignment to a particular axis.
90
BASICERROR
BASICERROR
Used to run a routine when an error occurs in a a
BASIC command.
92
BATTERY_LOW
BATTERY_LOW
BATTERY_LOW returns the status of the battery.
93
CHECKSUM
CHECKSUM
CHECKSUM contains the checksum for the RAM.
96
CLEAR
CLEAR
CLEAR clears all global variables and the local variables on the current task.
96
CLEAR_BIT
CLEAR_BIT(bit_number,
vr_number)
CLEAR_BIT clears the specified bit of the specified
VR variable.
96
COMMSERROR
COMMSERROR
COMMSERROR contains all the communications
errors that have occurred since the last time that it
was initialised.
97
CONTROL
CONTROL
CONTROL contains the type of MC Unit in the system.
98
DISPLAY
DISPLAY
DISPLAY contains a code indicating the application
of the bank of 8 indicators on the front panel of the
MC Unit.
103
ERROR_AXIS
ERROR_AXIS
ERROR_AXIS contains the number of the axis which 104
caused the enable WDOG relay to open when a following error exceeded its limit.
INITIALISE
INITIALISE
INITIALISE set all axis parameters to their default
values
LAST_AXIS
LAST_AXIS
LAST_AXIS contains the number of the last axis pro- 114
cessed by the system.
LOCK
LOCK(code)
UNLOCK(code)
LOCK prevents the programs from being viewed or
modified.
116
MOTION_ERROR
MOTION_ERROR
MOTION_ERROR contains an error flag for axis
motion errors.
118
NIO
NIO
NIO contains the number of inputs and outputs connected to the system.
126
PLC_TYPE
PLC_TYPE
PLC_TYPE contains the PC CPU Unit model that the 132
MC402-E is connected to on the backplane.
POWER_UP
POWER_UP
POWER_UP contains the location of programs to be 134
used at start-up.
READ_BIT
READ_BIT(bit_number,
vr_number)
READ_BIT returns the value of the specified bit in
the specified VR variable.
138
RESET
RESET
RESET resets all local variables on a task.
141
SET_BIT
SET_BIT(bit_number,
vr_number)
SET_BIT command sets the specified bit in the spec- 146
ified VR variable to one.
TABLE
TABLE(address, value{, value})
TABLE(address)
TABLE loads and reads data to the Table array.
TSIZE
TSIZE
TSIZE returns the size of the currently defined table. 151
VERSION
VERSION
VERSION returns the version number of the BASIC
language installed in the MC Unit.
152
VR
VR(expression)
VR calls the value of or assigns a value to a global
numbered variable.
152
WA
WA(time)
WA holds program execution for the number of milliseconds specified.
153
WAIT IDLE
WAIT IDLE
WAIT IDLE suspends program execution until the
base axis has finished executing its current move
and any buffered move.
154
WAIT LOADED
WAIT LOADED
WAIT LOADED suspends program execution until
the base axis has no moves buffered ahead other
than the currently executing move.
154
113
148
79
Section 5-2
Classifications and Outlines
WAIT UNTIL
WAIT UNTIL condition
WAIT UNTIL repeatedly evaluates the condition until 154
TRUE.
WDOG
WDOG
WDOG contains a software switch used to control
the enable relay contact used to enable all drivers.
5-2-6
155
Mathematical and Logical Functions
The table below outlines the mathematical and logical functions. Refer to the
specified pages for details.
Name
Syntax
Description
Page
Multiply: *
expression_1 * expression_2
* multiplies any two valid expressions.
84
Power: ^
expression_1 ^ expression_2
^ takes the power of any two valid expressions
84
Add: +
expression_1 + expression_2
+ adds any two valid expressions.
84
Subtract: –
expression_1 - expression_2
– subtracts any two valid expressions.
85
Divide: /
expression_1 / expression_2
/ divides any two valid expressions.
85
Is Less Than: <
expression_1 < expression_2
< returns TRUE if expression_1 is less than
expression_2, otherwise FALSE.
85
Is Less Than Or
Equal To: <=
expression_1 <= expression_2
<= returns TRUE if expression_1 is less than or
equal to expression_2, otherwise FALSE.
85
Is Not Equal To: <>
expression_1 <> expression_2
<> returns TRUE if expression_1 is not equal to
expression_2, otherwise FALSE.
86
Is Equal To: =
expression_1 = expression_2
= returns TRUE if expression_1 is equal to
expression_2, otherwise FALSE.
86
Is Greater Than: >
expression_1 > expression_2
> returns TRUE if expression_1 is greater than
expression_2, otherwise FALSE.
86
Is Greater Than or
Equal To: >=
expression_1 >= expression_2
>= returns TRUE if expression_1 is greater than or
equal to expression_2, otherwise FALSE.
86
ABS
ABS(expression)
ABS returns the absolute value of expression.
87
ACOS
ACOS(expression)
ACOS returns the arc-cosine of expression.
87
AND
expression_1 AND expression_2
AND performs an AND operation on corresponding
bits of the integer parts of two valid BASIC expressions.
88
ASIN
ASIN(expression)
ASIN returns the arc-sine of expression.
89
ATAN
ATAN(expression)
ATAN returns the arc-tangent of expression.
89
ATAN2
ATAN2(expression_1,
expression_2)
ATAN2 returns the arc-tangent of the ratio
expression_1 / expression_2.
89
COS
COS(expression)
COS returns the cosine of expression.
98
EXP
EXP(expression)
EXP returns the exponential value of expression.
105
FRAC
FRAC(expression)
FRAC returns the fractional part of expression.
108
INT
INT(expression)
INT returns the integer part of expression.
113
LN
LN(expression)
LN returns the natural logarithm of expression.
116
MOD
expression_1 MOD expression_2
MOD returns the expression_2 modulus of an
expression_1.
118
NOT
NOT(expression)
NOT performs an NOT operation on corresponding
bits of the integer part of the expression.
126
OR
expression_1 OR expression_2
OR performs an OR operation between corresponding bits of the integer parts of two valid BASIC
expressions.
129
SGN
SGN(expression)
SGN returns the sign of expression.
146
SIN
SIN(expression)
SIN returns the sine of expression.
147
SQR
SQR(expression)
SQR returns the square root of expression.
147
TAN
TAN(expression)
TAN returns the tangent of expression.
149
XOR
expression_1 XOR expression_2
156
XOR performs an XOR function between corresponding bits of the integer parts of two valid BASIC
expressions.
80
Section 5-2
Classifications and Outlines
5-2-7
Constants
The table below outlines the constants. Refer to the specified pages for
details.
Name
5-2-8
Description
Page
FALSE
FALSE returns the numerical value 0.
106
OFF
OFF returns the numerical value 0.
127
ON
ON returns the numerical value 1.
127
PI
PI returns the numerical value 3.1416.
130
TRUE
TRUE returns the numerical value -1.
151
Motion Perfect Commands, Functions and Parameters
The table below outlines the Motion Perfect commands, functions, and
parameters. Refer to the specified pages for details.
Name
Syntax
Description
Page
SCOPE
SCOPE(ON/OFF_control, period,
table_start, table_stop, P0[, P1
[, P2[, P3]]])
SCOPE programs the system to automatically store
up to 4 parameters every sample period.
144
SCOPE_POS
SCOPE_POS
SCOPE_POS contains the current Table position at
which the SCOPE command is currently storing its
first parameter.
145
TRIGGER
TRIGGER
TRIGGER starts a previously set SCOPE command. 150
5-2-9
Axis Parameters
The table below outlines the axis parameters. Refer to the specified pages for
details.
Name
Description
Page
ACCEL
ACCEL contains the axis acceleration rate. The rate
is in units/s2.
87
ATYPE
ATYPE contains the axis type.
90
AXISSTATUS
AXISSTATUS contains the axis status.
91
CLOSE_WIN
CLOSE_WIN defines the end of the window in which 96
a registration mark is expected.
CREEP
CREEP contains the creep speed on the current
base axis.
99
D_GAIN
D_GAIN contains the derivative gain for the axis.
99
DAC
DAC contains a voltage applied directly to a servo
axis.
99
DAC_OUT
DAC_OUT contains the voltage being applied to the
servo.
100
DATUM_IN
DATUM_IN contains the input number to be used as
the origin input. The number can be between 0 and
15.
101
DECEL
DECEL contains the axis deceleration rate in
units/s2.
101
DEMAND_EDGES
DEMAND_EDGES contains the current value of the
DPOS axis parameter in edge units.
102
DPOS
DPOS contains the demand position, in user units,
generated by the move commands.
103
ENCODER
ENCODER contains a raw copy of the encoder or
resolver hardware register.
104
ENDMOVE
ENDMOVE holds the position of the end of the current move in user units.
104
81
Section 5-2
Classifications and Outlines
Name
82
Description
Page
105
ERRORMASK
ERRORMASK contains a mask value that is ANDed
bit by bit with the AXISSTATUS axis parameter on
every servo cycle to determine if a runtime error
should turn OFF the enable (WDOG) relay.
FAST_JOG
FAST_JOG contains the input number to be used as 106
the fast jog input. The number can be between 0 and
15.
FE
FE is the position error in user units, and is equal to
the demand position in the DPOS axis parameter
minus the measured position in the MPOS axis
parameter.
FE_LIMIT
FE_LIMIT contains the maximum allowable following 106
error in user units.
FE_RANGE
FE_RANGE contains the following error report
range.
106
FHOLD_IN
FHOLD_IN contains the input number to be used as
the feedhold input. The number can be between 0
and 31.
106
FHSPEED
FHSPEED contains the feedhold speed.
107
FS_LIMIT
FS_LIMIT contains the absolute position of the forward software limit in user units.
109
FWD_IN
FWD_IN contains the input number to be used as a
forward limit input. The number can be between 0
and 31.
109
FWD_JOG
FWD_JOG contains the input number to be used as
a jog forward input. The number can be between 0
and 31.
109
I_GAIN
I_GAIN contains the integral gain.
111
JOGSPEED
JOGSPEED sets the slow jog speed in user units for 114
an axis to run at when performing a slow jog.
MARK
MARK contains TRUE when a registration event has 116
occurred to indicate that the value in the REG_POS
axis parameter is valid.
MERGE
MERGE is a software switch that can be used to
116
enable or disable the merging of consecutive moves.
MPOS
MPOS is the position of the axis in user units as
measured by the encoder or resolver.
125
MSPEED
MSPEED represents the change in the measured
position in user units/s in the last servo period.
125
MTYPE
MTYPE contains the type of move currently being
executed.
125
NTYPE
NTYPE contains the type of the move in the Next
Move buffer.
127
OFFPOS
OFFPOS contains an offset that will be applied to the 127
demand position without affecting the move in any
other way.
OPEN_WIN
OPEN_WIN defines the positions for the REGIST
command.
129
OUTLIMIT
OUTLIMIT contains an output limit that restricts the
voltage output from the MC Unit.
130
OV_GAIN
OV_GAIN contains the output velocity gain.
130
P_GAIN
P_GAIN contains the proportional gain.
130
PP_STEP
PP_STEP contains an integer value that scales the
incoming raw encoder count.
134
REG_POS
REG_POS stores the position in user units at which
a registration event occurred.
138
106
Section 5-2
Classifications and Outlines
Name
Description
Page
REMAIN
REMAIN is the distance remaining to the end of the
current move.
139
REP_DIST
REP_DIST contains the repeat distance, which is the 140
allowable range of movement for an axis before the
demand position and measured position are corrected.
REP_OPTION
REP_OPTION controls the application of the
REP_DIST axis parameter.
140
REV_IN
REV_IN contains the input number to be used as a
reverse limit input. The number can be between 0
and 31.
142
REV_JOG
REV_JOG contains the input number to be used as a 142
jog reverse input. The input can be between 0 and
31.
RS_LIMIT
RS_LIMIT contains the absolute position of the
reverse software limit in user units.
142
SERVO
SERVO determines whether the axis runs under
servo control or open loop.
145
SPEED
SPEED contains the demand speed in units/s.
147
SRAMP
SRAMP contains the S-curve factor.
147
UNITS
UNITS contains the unit conversion factor.
151
VFF_GAIN
VFF_GAIN contains the speed feed forward gain.
152
VP_SPEED
VP_SPEED contains the speed profile speed in user 152
units/s.
5-2-10 Task Commands and Parameters
The table below outlines the task commands and parameters. Refer to the
specified pages for details.
Name
Description
Page
ERROR_LINE
ERROR_LINE contains the number of the line which 105
caused the last BASIC program error.
PMOVE
PMOVE will contain 1 if the task buffers are occupied, and 0 if they are empty.
133
PROC
PROC allows a process parameter from a particular
process to be read or set.
136
PROCNUMBER
PROCNUMBER contains the number of the task in
which the currently selected program is running.
136
RUN_ERROR
RUN_ERROR contains the number of the last
BASIC error that occurred on the specified task.
143
TICKS
TICKS contains the current count of the task clock
pulses.
150
5-2-11 PC Data Exchange Commands
The table below outlines the PC Data Exchange Commands. Refer to the
specified pages for details.
Name
Syntax
Description
Page
PLC_READ
PLC_READ(PC_area,offset,
length,vr_number)
PLC_READ requests a data transfer from the CPU
Unit of the PC to the MC Unit at the end of the next
CPU Unit execution cycle.
131
PLC_WRITE
PLC_WRITE(PC_Area,offset,
length,vr_number)
PLC_WRITE requests a data transfer from the MC
132
Unit to the CPU Unit of the PC at the end of the next
CPU Unit execution cycle.
83
Command, function and parameter description
5-3
Section 5-3
Command, function and parameter description
This section describes the commands, functions and parameters which are
used in the BASIC programming language.
!WARNING
5-3-1
Multiply: *
Type:
Syntax:
Arguments:
expression_1
Any valid BASIC expression.
expression_2
Any valid BASIC expression.
factor = 10*(2.1+9)
The parentheses are evaluated first, and then the result, 11.1, is multiplied by
10. Therefore, factor would contain the value 111
Power: ^
Syntax:
Description:
!WARNING
Arguments:
Example:
Arithmetic Operation
expression_1 ^ expression_2
The power operator “^” raises expression_1 to the power of expression_2.
This operation uses floating point algorithms and may give small deviations
for integer calculations.
expression_1
Any valid BASIC expression.
expression_2
Any valid BASIC expression.
thirtytwo = 2^5
This sets the variable thirtytwo to 32.
Add: +
Type:
Syntax:
Arithmetic Operation
expression_1 + expression_2
Description:
The add operator “+” adds any two valid expressions.
Arguments:
expression_1
Any valid BASIC expression.
expression_2
Any valid BASIC expression.
Example:
84
expression_1 * expression_2
The multiply operator “*” multiplies any two valid expressions.
Type:
5-3-3
Arithmetic Operation
Description:
Example:
5-3-2
It is the responsibility of the programmer to ensure that the motion functions are invoked correctly, with the correct number of parameters and
values. Failure to do so may result in unexpected behavior, loss or damage to the machinery.
result = 10+(2.1*9)
The parentheses are evaluated first, and the result, 18.9, is added to 10.
Therefore, result would contain the value 28.9.
Command, function and parameter description
5-3-4
Subtract: –
Type:
Syntax:
Arguments:
expression_1
Any valid BASIC expression.
expression_2
Any valid BASIC expression.
VR(0) = 10-(2.1*9)
The parentheses are evaluated first, and the result, 18.9, is subtracted from
10. Therefore, VR(0) would contain the value –8.9.
Divide: /
Syntax:
Arithmetic Operation
expression_1 / expression_2
Description:
The divide operator “/” divides any two valid expressions.
Arguments:
expression_1
Any valid BASIC expression.
expression_2
Any valid BASIC expression.
Example:
a = 10/(2.1+9)
The parentheses are evaluated first, and then 10 is divided by the result, 11.1.
Therefore, a would contain the value 0.9009
Is Less Than: <
Type:
Syntax:
Logical Operation
expression_1 < expression_2
Description:
The less than operator “<“ returns TRUE if expression_1 is less than
expression_2, otherwise it returns FALSE.
Arguments:
expression_1
Any valid BASIC expression.
expression_2
Any valid BASIC expression.
Example:
5-3-7
expression_1 - expression_2
The subtract operator “–” subtracts any two valid expressions.
Type:
5-3-6
Arithmetic Operation
Description:
Example:
5-3-5
Section 5-3
IF VR(1) < 10 THEN GOSUB rollup
If the value returned from VR(1) is less than 10, then subroutine ”rollup” would
be executed.
Is Less Than Or Equal To: <=
Type:
Syntax:
Logical Operation
expression_1 <= expression_2
Description:
The less than or equal to operator “<=” returns TRUE if expression_1 is less
than or equal to expression_2, otherwise it returns FALSE.
Arguments:
expression_1
Any valid BASIC expression.
expression_2
Any valid BASIC expression.
Example:
maybe = 1 <= 0
85
Command, function and parameter description
Section 5-3
In the above line, 1 is not less than or equal to 0 and, therefore, variable
maybe would contain the value 0 (FALSE).
5-3-8
Is Not Equal To: <>
Type:
Syntax:
expression_1 <> expression_2
Description:
The not equal to operator “<>” returns TRUE if expression_1 is not equal to
expression_2, otherwise it returns FALSE.
Arguments:
expression_1
Any valid BASIC expression.
expression_2
Any valid BASIC expression.
Example:
5-3-9
Logical Operation
IF MTYPE <> 0 THEN GOTO 3000
If the base axis is not idle (MTYPE=0 indicates an axis idle), then a jump
would be made to label 3000.
Is Equal To: =
Type:
Syntax:
Logical Operation
expression_1 = expression_2
Description:
The equal to operator “=” returns TRUE if expression_1 is equal to
expression_2, otherwise it returns FALSE.
Arguments:
expression_1
Any valid BASIC expression.
expression_2
Any valid BASIC expression.
Example:
IF IN(7) = ON THEN GOTO label
If input 7 is ON, then program execution will continue at line starting “label:”.
5-3-10 Is Greater Than: >
Type:
Syntax:
Logical Operation
expression_1 > expression_2
Description:
The greater than operator “>” returns TRUE if expression_1 is greater than
expression_2, otherwise it returns FALSE.
Arguments:
expression_1
Any valid BASIC expression.
expression_2
Any valid BASIC expression.
Examples:
Example 1
VR(0) = 1 > 0
In the above line, 1 is greater than 0 and, therefore, VR(0) would contain the
value –1
Example 2
WAIT UNTIL MPOS > 200
Program execution will wait until the measured position is greater than 200.
5-3-11 Is Greater Than or Equal To: >=
Type:
Syntax:
86
Logical Operation
expression_1 >= expression_2
Command, function and parameter description
Section 5-3
Description:
The greater than or equal to operator “>=” returns TRUE if expression_1 is
greater than or equal to expression_2, otherwise it returns FALSE.
Arguments:
expression_1
Any valid BASIC expression.
expression_2
Any valid BASIC expression.
Example:
IF target >= 120 THEN MOVEABS(0)
If the variable target holds a value greater than or equal to 120, then the base
axis will move to an absolute position of 0.
5-3-12 Statement separator: “:”
Type:
Syntax:
Description:
Example:
Program command
<statement>:<statement>
The statement separator, represented by the colon “:”, can be used to separate BASIC statements on a multi-statement line. This separator can be used
both on the command line as in programs.
PRINT "THIS LINE": GET low : PRINT "DOES THREE THINGS"
5-3-13 Comment field: ‘
Type:
Program command
Syntax:
‘ [<Comment field>]
Description:
Example:
The single quote “ ‘ “ can be used in a program to mark a line as being comment which will not be executed. The single quote can be put at the beginning
of a line or after any valid statement.
‘ This line will not be printed.
PRINT "Start"
5-3-14 ABS
Type:
Syntax:
Mathematical Function
ABS(expression)
Description:
ABS converts a negative number into its positive equal. Positive numbers are
unaltered.
Arguments:
expression
Any valid BASIC expression.
Example:
IF ABS(VR(0)) > 100 THEN PRINT "VR(0) Outside ±100"
5-3-15 ACCEL
Type:
Description:
Axis parameter
ACCEL contains the axis acceleration rate. The rate is in units/s 2. The parameter can have any positive value including zero.
See also:
AXIS, DECEL, UNITS
Example:
BASE(0)
ACCEL = 100
‘Set acceleration rate
PRINT "Acceleration rate: ";ACCEL;" mm/s/s"
ACCEL AXIS(2) = 100 ‘Sets acceleration rate for axis (2)
5-3-16 ACOS
Type:
Mathematical Function
87
Command, function and parameter description
Syntax:
Section 5-3
ACOS(expression)
Description:
ACOS returns the arc-cosine of the expression. The expression value must
be between –1 and 1. The result in radians will be between 0 and PI. Input
values outside the range will return zero.
Arguments:
expression
Any valid BASIC expression.
Example:
>> PRINT ACOS(-1)
3.1416
5-3-17 ADDAX
Type:
Syntax:
Description:
!WARNING
Arguments:
Motion Control Command
ADDAX(axis)
The ADDAX command takes the demand position changes from the superimposed axis as specified by the axis argument and adds them to any movement running on the axis to which the command is issued. After the ADDAX
command has been issued the link between the two axes remains until broken. Use ADDAX(-1) to cancel the axis link.
ADDAX works on the default basis axis (set with BASE) unless AXIS is used
to specify a temporary base axis.
ADDAX allows an axis to perform the moves specified for 2 axes added
together. Combinations of more than two axes can be made by applying
ADDAX to the superimposed axis as well.
Beware that giving several ADDAX commands in a system can create a dangerous loop when for instance one axis is linked to another and vice versa.
This may cause instability in the system.
axis
The axis to be set as a superimposed axis. Set the argument to –1 to cancel
the link and return to normal operation.
See also:
AXIS
Example:
Pieces are placed onto a continuously moving belt and further along the line
are picked up. A detection system gives an indication as to whether a piece is
in front of or behind its nominal position, and how far.
In the example below, axis 0 is assumed to be the base axis and it executes a
continuous forward movement and a superimposed move on axis 2 is used to
apply offsets according to the offset calculated in a subroutine.
FORWARD
’Set continuous move
ADDAX(4)
’Add axis 4 for correction
REPEAT
GOSUB getoffset
’Get offset to apply
MOVE(offset) AXIS(2)
UNTIL IN(2) = ON
’Until correction is done
5-3-18 AND
Type:
Syntax:
Description:
88
Logical Operator
expression_1 AND expression_2
AND performs an AND operation on the corresponding bits of the integer
parts of two valid BASIC expressions.
The AND operation between two bits is defined as follows:
Section 5-3
Command, function and parameter description
Bit 1
Arguments:
Examples:
Bit 2
Result
0
0
0
0
1
0
1
0
0
1
1
1
expression_1
Any valid BASIC expression.
expression_2
Any valid BASIC expression.
Example 1
VR(0) = 10 AND (2.1*9)
The parentheses are evaluated first, but only the integer part of the result, 18,
is used for the AND operation. Therefore, this expression is equivalent to the
following:
VR(0) = 10 AND 18
The AND is a bit operator and so the binary action is as follows:
Therefore, VR(0) will contain the value 2.
01010
AND
10010
00010
Example 2
IF MPOS AXIS(0) > 0 AND MPOS AXIS(1) > 0 THEN GOTO cycle1
5-3-19 ASIN
Type:
Syntax:
Mathematical Function
ASIN(expression)
Description:
ASIN returns the arc-sine of the expression. The expression value must be
between –1 and 1. The result in radians will be between –PI/2 and PI/2. Input
values outside the range will return zero.
Arguments:
expression
Any valid BASIC expression.
Example:
>> PRINT ASIN(-1)
-1.5708
5-3-20 ATAN
Type:
Syntax:
Mathematical Function
ATAN(expression)
Description:
ATAN returns the arc-tangent of the expression. ATAN can have any value
and the result will be in radians.
Arguments:
expression
Any valid BASIC expression.
Example:
>> PRINT ATAN(1)
0.7854
5-3-21 ATAN2
Type:
Syntax:
Mathematical Function
ATAN2(expression_1,expression_2)
89
Command, function and parameter description
Section 5-3
Description:
ATAN2 returns the arc-tangent of the nonzero complex number
(expression_2, expression_1), which is equivalent to the angle between a
point with coordinate (expression_1, expression_2) and the x-axis. If
expression_2 >= 0, the result is equal to the value of ATAN (expression_1 /
expression_2). The result in radians will be between –PI and PI.
Arguments:
expression_1
Any valid BASIC expression.
expression_2
Any valid BASIC expression.
Example:
>> PRINT ATAN2(0,1)
0.0000
5-3-22 ATYPE
Type:
Axis parameter
Description:
ATYPE contains the axis type. The following values can be set:
0
Virtual axis
2
Servo axis
3
Encoder axis
The ATYPE parameters are set by the system at start-up to the default value
of the axis. The user is able to change the type of the axis at any time. The
default for axes 0 to 3 are 2 (servo axis) and for axes 4 to 7 are 0 (virtual axis).
Refer to 1-3 Motion Control Concepts for more details on the different axis
types.
Note Only the axes with the supported hardware, which are axis 0 to 3 can be operating as servo axis or a encoder axis.
See also:
AXIS
Example:
>> PRINT ATYPE AXIS(2)
2.0000
The above command line and response show that axis 2 is operating as a
servo axis.
5-3-23 AUTORUN
Type:
Syntax:
Description:
See also:
Program Command
AUTORUN
AUTORUN starts all the programs that have been set to run at start-up.
RUNTYPE
5-3-24 AXIS
Type:
Syntax:
AXIS(axis_number )
Description:
The AXIS modifier sets the axis for a single motion command or a single axis
parameter read/write to a particular axis. AXIS is effective only for the command line in which it is programmed. Use the BASE command to change the
base axis for all following command lines.
Arguments:
axis_number
Any valid BASIC expression specifying the axis number.
Precautions:
90
System Command
The AXIS command can be used to modify any axis parameter expression
and the following axis dependent commands: ADDAX, CAM, CAMBOX, CANCEL, CONNECT, DATUM, DEFPOS, FORWARD, MOVEABS, MOVECIRC,
Section 5-3
Command, function and parameter description
MHELICAL, MOVELINK, MOVE, MOVEMODIFY and REVERSE. Other commands for which AXIS is used are: REGIST, WAIT IDLE and WAIT LOADED.
See also:
BASE
Examples:
Example 1
PRINT MPOS AXIS(3)
Example 2
MOVE(300) AXIS(2)
Example 3
REPDIST AXIS(3) = 100
5-3-25 AXISSTATUS
Type:
Description:
Axis Parameter
AXISSTATUS contains the axis status. The meaning of each bit is as follows:
Bit
Description
Value
0
Unused
1
1
Following Error Exceeds Warning Range
2
2
Unused
4
3
Unused
8
4
In Forward Limit
16
5
In Reverse Limit
32
6
Origin Search (DATUM) in progress
64
7
Feedhold
128
8
Following Error Exceeds Limit
256
9
In Forward Software Limit
512
10
In Reverse Software Limit
1024
11
Cancelling Move
2048
Note This parameter is read-only.
See also:
AXIS, ERRORMASK
Example:
IF (AXISSTATUS AND 16)>0 THEN PRINT "In forward limit"
5-3-26 BASE
Type:
Syntax:
Alternative:
Description:
Motion Control Command
BASE(axis_1[,axis_2[, axis_3[, axis_4[, axis_5[, axis_6[, axis_7[, axis_8]]]]]]])
BASE
BA(axis_1[, axis_2[, axis_3[, axis_4[, axis_5[, axis_6[, axis_7[, axis_8]]]]]]])
BA
BASE is used to set the default base axis or to set a specified axis sequence
group. All subsequent motion commands and axis parameters will apply to
the base axis or the specified axis group unless the AXIS command is used to
specify a temporary base axis. The base axis is effective until it is changed
again with BASE.
Each BASIC process can have its own axis group and each program can set
its own axis group independently. Use the PROC modifier to access the
parameter for a certain task.
The BASE order grouping can be set by explicitly assigning the order of axes.
This order is used for interpolation purposes in multi-axes linear, circular and
helical moves. The default for the base axis group is (0,1,2,3,4,5,6,7) at startup or when a program starts running on a task.
91
Command, function and parameter description
Section 5-3
The BASE command without any arguments returns the current base order
grouping.
Arguments:
See also:
Examples:
axis_i
The number of the axis set as the base axis and any subsequent axes in the
group order for multi-axis moves.
AXIS
Example 1
It is possible to program each axis with its own speed, acceleration and other
parameters.
BASE(1)
UNITS = 2000
’Set unit conversion factor for axis 1
SPEED = 100
’Set speed for axis 1
ACCEL = 5000
’Set acceleration rate for axis 1
BASE(2)
UNITS = 2000
’Set unit conversion factor for axis 2
SPEED = 125
’Set speed for axis 2
ACCEL = 10000 ’Set acceleration rate for axis 2
Example 2
In the example below, axes 0, 1 and 2 will move to the specified positions at
the speed and acceleration set for axis 0. BASE(0) sets the base axis to
axis 0, which determines the three axes used by MOVE and the speed and
acceleration rate.
BASE(0)
MOVE(100,-23.1,1250)
Example 3
Assume that we want to do a linearly interpolated move between axes 0,2
and 3. The following BASE command should be used to assign the grouping
of axes. This will set the internal base group order to (0,2,3,4,5,6,7,1).
BASE(0,2,3)
MOVE(100,200,30)
Example 4
On the command line the base group order can be shown by typing BASE.
>> BASE(0,2,3)
>> BASE
(0,2,3,4,5,6,7,1)
Example 5
Use the PROC modifier to show the base group order of a certain task.
>> RUN "PROGRAM",5
>> BASE PROC(5)
(0,1,2,3,4,5,6,7)
5-3-27 BASICERROR
Type:
Description:
92
System Command
The BASICERROR command can be used to run a routine when a run-time
error occurs in a program. BASICERROR can only be used as part of an ON
... GOSUB or ON ... GOTO command. This command is required to be executed once in the BASIC program. If several commands are used only the one
executed last is effective.
See also:
ERROR_LINE, ON, RUN_ERROR
Example:
If an error occurs in a BASIC command in the following example, then the
error routine will be executed.
ON BASICERROR GOTO error_routine
....
no_error = 1
Command, function and parameter description
Section 5-3
STOP
error_routine:
IF no_error = 0 THEN
PRINT "The error ";RUN_ERROR[ 0 ];
PRINT " occurred in line ";ERROR_LINE[ 0 ]
ENDIF
STOP
The IF statement is present to prevent the program going into error routine
when it is stopped normally.
5-3-28 BATTERY_LOW
Type:
Description:
System Parameter
This
parameter
monitors
the
status
of
the
internal
RAM
backup battery. When the battery is too low the status of the parameter
changes to TRUE, otherwise it will be FALSE.
Note This parameter is read-only.
5-3-29 CAM
Type:
Syntax:
Motion Control Command
CAM(start_point, end_point, table_multiplier, distance)
Description:
The CAM command is used to generate movement of an axis following a
position profile which is stored in the Table array. The table values are absolute positions relative to the starting point and are specified in encoder edges.
The table of values is specified with the TABLE command. The movement
can be defined with any number of points from 2 to 16,000. The MC Unit
moves continuously between the values in the table to allow a number of
points to define a smooth profile. Two or more CAM commands can be executed simultaneously using the same or overlapping values in the Table array.
The Table profile is traversed once.
CAM requires that the start element in the Table array has value zero. The
distance argument together with the SPEED and ACCEL parameters determine the speed moving through the Table array. Note that in order to follow
the CAM profile exactly the ACCEL parameter of the axis must be at least
1000 times larger than the SPEED parameter.
CAM works on the default basis axis (set with BASE) unless AXIS is used to
specify a temporary base axis.
Arguments:
start_point
The address of the first element in the Table array to be used.
Being able to specify the start point allows the Table array to hold more than
one profile and/or other information.
end_point
The address of the end element in the Table array.
table_multiplier
A value used to scale the values stored in the table.
The table values are specified in encoder edges. The table multiplier is set to
1 in this case but can be set to any non-zero value to alter the values set in
the Table array.
distance
A factor given in user units that controls the speed of movement through the
table. The time taken to execute CAM depends on the current axis speed and
this distance. For example, assume the system is being programmed in mm
and the speed is set to 10mm/s and the acceleration sufficiently high. If a distance of 100mm is specified, CAM will take 10 seconds to execute.
93
Section 5-3
Command, function and parameter description
The SPEED parameter in the base axis allows modification of the speed of
movement when using the CAM move.
See also:
ACCEL, AXIS, CAMBOX, SPEED, TABLE
Example:
Assume that a motion is required to follow the following position equation:
t(x) = x*25 + 10000(1–cos(x))
Here, x is in degrees. This example is for a table that provides a simple oscillation superimposed with a constant speed. To load the table and cycle it continuously the following code would be used.
GOSUB camtable
loop:
CAM(1,19,1,200)
GOTO loop
Note The subroutine camtable would load the data below into the Table array.
Table
position
Degree
Value
1
0
0
2
20
1103
3
40
3340
4
60
6500
5
80
10263
6
100
14236
7
120
18000
8
140
21160
9
160
23396
10
180
24500
11
200
24396
12
220
23160
13
240
21000
14
260
18236
15
280
15263
16
300
12500
17
320
10340
18
340
9103
19
360
9000
5-3-30 CAMBOX
Type:
Syntax:
Description:
94
Motion Control Command
CAMBOX(start_point, end_point, table_multiplier, link_distance, link_axis
[, link_option[, link_position]])
The CAMBOX command is used to generate movement of an axis following a
position profile in the Table array. The motion is linked to the measured
motion of another axis to form a continuously variable software gearbox. The
table values are absolute position relative to the starting point and are specified in encoder edges.
The table of values is specified with the TABLE command. The movement
can be defined with any number of points from 2 to 16,000. Being able to
specify the start point allows the Table array to be used to hold more than one
profile and/or other information. The MC Unit moves continuously between
the values in the table to allow a number of points to define a smooth profile.
Two or more CAMBOX commands can be executed simultaneously using the
same or overlapping values in the Table array.
Command, function and parameter description
Section 5-3
The CAMBOX command requires the start element of the table to have
value zero. Note also that CAMBOX command allows traversing the table
backwards as well as forwards depending on the master axis direction.
The link_option argument can be used to specify different options to start the
command and to specify a continuous CAM. For example, if the link_option is
set to 4 then the CAMBOX operates like a “physical” CAM.
CAMBOX works on the default basis axis (set with BASE) unless AXIS is
used to specify a temporary base axis.
Arguments:
start_point
The address of the first element in the Table array to be used.
end_point
The address of the end element in the Table array.
table_multiplier
A value used to scale the values stored in the table.
The table values are normally specified in encoder edges. The table multiplier
is set to 1 in this case but can be set to another value to alter the values set in
the Table array.
link_distance
The distance in user units the link axis must move to complete the specified
output movement. The link distance must be specified as a positive distance.
link_axis
The axis to link to.
link_option
1
Link starts when registration event occurs on link axis.
2
Link starts at an absolute position on link axis (see link_position).
4
CAMBOX repeats automatically and bi-directionally. This option is
canceled by setting bit 1 of REP_OPTION parameter (i.e.
REP_OPTION = REP_OPTION OR 2).
5
Combination of options 1 and 4.
6
Combination of options 2 and 4.
link_position
The absolute position where CAMBOX will start when link_option is set to 2.
Precautions:
See also:
While CAMBOX is being executed, the ENDMOVE parameter will be set to
the end of the previous move. The REMAIN axis parameter will hold the
remainder of the distance on the link axis.
AXIS, CAM, REP_OPTION, TABLE
5-3-31 CANCEL
Type:
Syntax:
Alternative:
Description:
Motion Control Command
CANCEL[(1)]
CA[(1)]
CANCEL cancels the current move on an axis. Speed-profiled moves (FORWARD, REVERSE, MOVE, MOVEABS, MOVECIRC and MHELICAL) will be
decelerated at the programmed deceleration rate and then stopped. Other
moves will be immediately stopped.
CANCEL command cancels the contents of the current move buffer
(MTYPE). The command CANCEL(1) command cancels the contents of the
next move buffer (NTYPE) without affecting the current move in the MTYPE
buffer.
95
Command, function and parameter description
Section 5-3
CANCEL works on the default basis axis (set with BASE) unless AXIS is used
to specify a temporary base axis.
Precautions:
• CANCEL cancels only the presently executing move. If further moves are
buffered they will then be loaded.
• During the deceleration of the current move additional CANCELs will be
ignored.
• CANCEL(1) cancels only the presently buffered move. Any moves stored
in the task buffers indicated by the PMOVE variable can be loaded into
the buffer as soon as the buffered move is cancelled.
See also:
AXIS, MTYPE, NTYPE, PMOVE, RAPIDSTOP
Examples:
Example 1
FORWARD
WA(10000)
CANCEL
Example 2
MOVE(1000)
MOVEABS(3000)
CANCEL
’Cancel the move to 3000 and move to 4000 instead.
MOVEABS(4000)
Note that the command MOVEMODIFY is a better solution for modifying endpoints of moves in this case.
5-3-32 CHECKSUM
Type:
System Parameter
Description:
CHECKSUM contains the checksum for the RAM. At start-up, the checksum
is recalculated and compared with the previously held value.
Note This parameter is read-only.
5-3-33 CLEAR
Type:
Syntax:
Description:
See also:
System Command
CLEAR
CLEAR resets all global VR variables to zero and when used in program will
also reset the local variables on the current task to zero.
RESET, VR
5-3-34 CLEAR_BIT
Type:
Syntax:
System Command
CLEAR_BIT(bit_number, vr_number)
Description:
The CLEAR_BIT command resets the specified bit in the specified VR variable to zero. Other bits in the variable will keep their values.
Arguments:
bit_number
The number of the bit to be reset. Range: [0, 23].
vr_number
The number of the VR variable for which the bit will be reset. Range: [0, 250]
See also:
READ_BIT, SET_BIT, VR
5-3-35 CLOSE_WIN
Type:
Alternative:
96
Axis Parameter
CW
Command, function and parameter description
Description:
Section 5-3
CLOSE_WIN defines the end of the window inside or outside which a registration mark is expected. The value is in user units.
See also:
AXIS, OPEN_WIN, REGIST, UNITS
5-3-36 COMMSERROR
Type:
System Parameter
Description:
COMMSERROR contains the serial communication errors that have occurred
since the last time that it was initialized. The bits in COMMSERROR are
defined as follows:
Bit
Value
0
Receive buffer overrun on Network channel
1
Retransmit buffer overrun on Network channel
2
Receive structure error on Network channel
3
Transmit structure error on Network channel
4
Error RS-232C programming port A
5
Error RS-232C programming port A
6
Error RS-232C programming port A
7
Error RS-232C programming port A
8
NA
9
NA
10
NA
11
NA
12
Error RS-232C port B
13
Error RS-232C port B
14
Error RS-232C port B
15
Error RS-232C port B
16
NA
17
NA
18
NA
19
NA
Note This parameter is read-only.
5-3-37 COMPILE
Type:
Syntax:
Description:
Program Command
COMPILE
COMPILE compiles the current program to intermediate code.
Program are compiled automatically by the system software prior to program
execution or when another program is selected.
5-3-38 CONNECT
Type:
Syntax:
Alternative:
Description:
Motion Control Command
CONNECT(ratio,driving_axis)
CO(ratio,driving_axis)
CONNECT connects the demand position of an axis to the measured movements of the axis specified by driving_axis to produce an electronic gearbox.
The ratio can be changed at any time by executing another CONNECT command on the same axis. To change the driving axis the CONNECT command
needs to be cancelled first. CONNECT with different driving axis will be
ignored. The CONNECT command can be cancelled with a CANCEL or RAPIDSTOP command.
97
Command, function and parameter description
Section 5-3
CONNECT works on the default basis axis (set with BASE) unless AXIS is
used to specify a temporary base axis.
ratio
Holds the number of edges the base axis is required to move per edge increment of the driving axis. The ratio value can be either positive or negative and
has sixteen bit fractional resolution. Note that the ratio is specified as an
encoder edge ratio.
driving_axis
Defines the axis that will drive the other axis.
Arguments:
See also:
AXIS, CANCEL, RAPIDSTOP
Example:
In a press feed, a roller is required to rotate at a speed one quarter of the
measured rate from an encoder mounted on the incoming conveyor. The
roller is wired to axis 0. An input channel monitors the encoder pulses from
the conveyor and forms axis 1. The following code can be used.
BASE(1)
SERVO = OFF
’This axis is used to monitor the conveyor
BASE(0)
SERVO = ON
CONNECT(0.25,1)
5-3-39 CONTROL
Type:
Description:
System Parameter
CONTROL contains the type of MC Unit in the system. For the MC402-E the
CONTROL parameter returns value 251.
Note This parameter is read-only.
5-3-40 COPY
Type:
Syntax:
Program Command
COPY “program_name” “new_program_name”
Description:
COPY copies an existing program in memory to a new program with the specified name. The program names can also be specified without quotes.
Precautions:
This command is implemented for an offline (VT100) terminal. Within Motion
Perfect users can select the command from the Program menu.
Arguments:
program_name
Name of the program to be copied.
new_program_name
Name to use for the new program.
See also:
DEL, NEW, RENAME
Example:
>> COPY "prog" "newprog"
5-3-41 COS
Type:
Syntax:
COS(expression)
Description:
COS returns the cosine of the expression. Input values are in radians and
may have any value. The result value will be in the range from -1 to 1.
Arguments:
expression
Any valid BASIC expression.
Example:
98
Mathematical Function
>> PRINT COS(0)
1.0
Command, function and parameter description
Section 5-3
5-3-42 CREEP
Type:
Description:
Axis Parameter
The CREEP parameter contains the creep speed on the axis. The creep
speed is used for the slow part of an origin search sequence. CREEP is
allowed to have any positive value (including zero).
The creep speed is entered in units/s using the unit conversion factor UNITS.
For example, if the unit conversion factor is set to the number of encoder
edges/inch, the speed is set in inches/s.
See also:
AXIS, DATUM, UNITS
Example:
BASE(2)
CREEP = 10
SPEED = 500
DATUM(4)
CREEP AXIS(1) = 10
SPEED AXIS(1) = 500
DATUM(4) AXIS(1)
5-3-43 D_GAIN
Type:
Description:
See also:
Precautions:
Axis Parameter
D_GAIN contains the derivative gain for the axis. The derivative output contribution is calculated by multiplying the change in following error with D_GAIN.
The default value is zero.
Adding derivative gain to a system is likely to produce a smoother response
and allow the use of a higher proportional gain than could otherwise be used.
High values may cause oscillation.
See section 1-4-2 Servo System Principles for more details.
AXIS, I_GAIN, OV_GAIN, P_GAIN, VFF_GAIN
In order to avoid any instability the servo gains should be changed only when
the SERVO is OFF.
5-3-44 DAC
Type:
Description:
Axis Parameter
DAC contains the voltage value which is applied directly to the Servo Driver
when the base axis is in open loop (SERVO=OFF). The range of the DAC
parameter depends on the OUTLIMIT parameter and is by default from -2048
to 2047. This corresponds to putting - 10 V to 10 V on the output.
The value currently being applied to the drive is read using the DAC_OUT
axis parameter.
See also:
AXIS, DAC_OUT, OUTLIMIT, SERVO
Example:
The following lines can be used to force a square wave of amplitude ±5V and
period of approximately 500ms on axis 0.
WDOG = ON
SERVO = OFF
square:
DAC AXIS(0) = 1024
WA(250)
DAC AXIS(0) = -1024
WA(250)
GOTO square
99
Command, function and parameter description
Section 5-3
5-3-45 DAC_OUT
Type:
Description:
Axis Parameter
DAC_OUT contains the voltage being applied to the servo.
The voltage being applied to the servo comes from one of two sources. If the
SERVO axis parameter is OFF, then the value set in DAC axis parameter is
written to the axis hardware. If the SERVO parameter is ON, then a value calculated using the servo algorithm is written to the axis hardware. Either way,
the voltage can be read back using DAC_OUT.
The return value will be between –2048 and 2047 and will indicate voltages
between 10V and -10V.
See also:
AXIS, DAC, OUTLIMIT, SERVO
Example:
>> PRINT DAC_OUT AXIS(3)
288.0000
5-3-46 DATUM
Type:
Syntax:
Motion Control Command
DATUM(sequence)
Description:
DATUM performs one of 6 origin search sequences to position an axis to an
absolute position and also can be used to reset the following errors. DATUM
uses both the creep speed and the demand speed for the origin searches.
The creep speed in the sequences is set using the CREEP axis parameter
and the demand speed is set using the SPEED axis parameter. The datum
switch input number, which is used for sequences 3 to 7, is selected by the
DATUM_IN parameter.
DATUM works on the default basis axis (set with BASE) unless AXIS is used
to specify a temporary base axis.
Arguments:
sequence
0
1
2
3
4
100
The currently measured position is set as the demand position for all
axes. DATUM(0) will also reset a following error in the AXISSTATUS
registers for the axes.
The axis moves at creep speed forward until the Z marker is encountered. The demand position is then reset to zero and the measured
position is corrected to maintain the following error.
The axis moves at creep speed reverse until the Z marker is encountered. The demand position is then reset to zero and the measured
position is corrected to maintain the following error.
The axis moves at the demand speed forward until the datum switch
is reached. The axis then moves reverse at creep speed until the
datum switch is reset. The demand position is then reset to zero and
the measured position corrected so as to maintain the following
error.
The axis moves at the demand speed reverse until the datum switch
is reached. The axis then moves forward at creep speed until the
datum switch is reset. The demand position is then reset to zero and
the measured position corrected so as to maintain the following
error.
Command, function and parameter description
5
6
Precautions:
See also:
Section 5-3
The axis moves at demand speed forward until the datum switch is
reached. The axis then reverses at creep speed until the
Z marker is encountered. The demand position is then reset to zero
and the measured position corrected so as to maintain the following
error.
The axis moves at demand speed reverse until the datum switch is
reached. The axis then moves forward at creep speed until the Z
marker is encountered. The demand position is then reset to zero
and the measured position corrected so as to maintain the following
error.
The origin input set with the DATUM_IN parameter is active low, i.e., the origin switch is set when the input is OFF. The feedhold, reverse jog, forward
jog, forward and reverse limit inputs are also active low. Active low inputs are
used to enable fail-safe wiring.
ACCEL, AXIS, CREEP, DATUM_IN, DECEL, SPEED
5-3-47 DATUM_IN
Type:
Alternative:
Axis Parameter
DAT_IN
Description:
The DATUM_IN parameter contains the input number to be used as the
datum switch input for the DATUM command. The input number is valid from
0 to 15 and from 20 to 31. If DATUM_IN is set to –1, then no input is used as
the datum switch input.
Precautions:
The origin input is active low, i.e., the origin switch is set when the input is
OFF. The feedhold, reverse jog, forward jog, forward and reverse limit inputs
are also active low. Active low inputs are used to enable fail-safe wiring.
See also:
AXIS, DATUM
Example:
DATUM_IN AXIS(0) = 12
5-3-48 DECEL
Type:
Description:
Axis Parameter
DECEL contains the axis deceleration rate. The rate is in units/s2. The parameter can have any positive value including zero.
See also:
ACCEL, AXIS, UNITS
Example:
DECEL = 100
’Set deceleration rate
PRINT " Deceleration rate is ";DECEL;" mm/s/s"
5-3-49 DEFPOS
Type:
Syntax:
Alternative:
Description:
Motion Control Command
DEFPOS(pos_1[, pos_2[, pos_3[, pos_4[, pos_5[, pos_6[, pos_7[, pos_8]]]]]]])
DP(pos_1[, pos_2[, pos_3,[ pos_4[, pos_5[, pos_6[, pos_7[, pos_8]]]]]]])
DEFPOS defines the current demand position (DPOS) as a new absolute
position. The measured position (MPOS) will be changed accordingly in order
to keep the following error. DEFPOS is typically used after an origin search
sequence (see DATUM command), as these set the current position to zero.
DEFPOS can be used at any time. See also OFFPOS which can be used to
perform a relative adjustment of the current position.
DEFPOS works on the default basis axis (set with BASE) unless AXIS is used
to specify a temporary base axis.
101
Command, function and parameter description
Section 5-3
Precautions:
Changes to the axis positions made via DEFPOS are made on the next servo
update. This can potentially cause problems when a move is initiated in the
same servo period as the DEFPOS. OFFPOS can be used to avoid this problem.
For example, the following sequence could easily fail to move to the correct
position because DEFPOS will not have been completed when MOVEABS is
loaded.
DEFPOS(100)
MOVEABS(0)
DEFPOS statements are internally converted into OFFPOS position offsets,
which provides an easy way to avoid the problem by programming as follows:
DEFPOS(100)
WAIT UNTIL OFFPOS = 0
MOVEABS(0)
Arguments:
pos_i
The absolute position for (base+i) axis in user units. Refer to the BASE command for the grouping of the axes.
See also:
AXIS, DATUM, DPOS, OFFPOS, MPOS, UNITS
Example:
The last line defines the current position to (–1000,–3500) in user units. The
current position would have been reset to (0,0) by the two DATUM commands.
BASE(2)
DATUM(5)
BASE(1)
DATUM(4)
WAIT IDLE
DEFPOS(-1000,-3500)
5-3-50 DEL
Type:
Syntax:
Alternative:
Program Command
DEL [“program_name” ]
RM [“program_name” ]
Description:
DEL deletes a program from memory. DEL without a program name can be
used to delete the currently selected program (using SELECT). The program
name can also be specified without quotes. DEL ALL will delete all programs.
DEL can also be used to delete the Table as follows:
DEL “TABLE”
The name “TABLE” must be in quotes.
Precautions:
This command is implemented for an offline (VT100) terminal. Within Motion
Perfect users can select the command from the Program menu.
Arguments:
program_name
Name of the program to be deleted.
See also:
COPY, NEW, RENAME, SELECT, TABLE
Example:
>> DEL oldprog
5-3-51 DEMAND_EDGES
Type:
Description:
See also:
Axis Parameter
DEMAND_EDGES contains the current value of the DPOS axis parameter in
encoder edge units.
AXIS, DPOS
Note This parameter is read-only.
102
Section 5-3
Command, function and parameter description
5-3-52 DIR
Type:
Syntax:
Alternative:
Description:
See also:
Program Command
DIR
LS
DIR displays a list of the programs held in memory, their memory size and
their RUNTYPE. Furthermore the controller’s available memory size, power
up mode and current selected program is displayed.
FREE, POWER_UP, PROCESS, RUNTYPE, SELECT
5-3-53 DISPLAY
Type:
Description:
System Parameter
DISPLAY selects the bank of 8 in- or outputs which is displayed by the IO status LED indicators on the front panel of the MC Unit. The following values are
valid:
0
1
2
Inputs 0 to 7
Inputs 8 to 15
Inputs 16 to 23
3
4
5
6
Inputs 24 to 31
Outputs 0 to 7
Outputs 8 to 15
Outputs 16 to 23
7
Outputs 24 to 31
First bank of 8 physical inputs.
Second bank of 8 physical inputs.
Inputs16 to 19 are driver error inputs for
axes 0 to 3.
Inputs 20 to 23 are virtual inputs.
Virtual inputs.
Not existing on C200HW-MC402-E.
Bank of 8 physical outputs.
Output 16 is driver error reset for all drivers.
Outputs 17 to 19 do not exist.
Outputs 20 to 23 are virtual outputs.
Virtual outputs.
See also:
IN, OP
Example:
The first line in the following example sets the indicators to show status of the
physical outputs. The second line will cause the top left indicator to light.
DISPLAY = 5
OP(8,ON)
5-3-54 DPOS
Type:
Description:
Axis Parameter
DPOS contains the demand position in user units, which is generated by the
move commands in servo control. When the controller is in open loop
(SERVO=OFF), the measured position (MPOS) will be copied to the DPOS in
order to maintain a zero following error.
The range of the demand position is controlled with the REP_DIST and
REP_OPTION axis parameters. The value can be adjusted without doing a
move by using the DEFPOS command or OFFPOS axis parameter. DPOS is
reset to zero at start-up.
Note This parameter is read-only.
See also:
AXIS, DEFPOS, DEMAND_EDGES, FE, MPOS, REP_DIST, REP_OPTION,
OFFPOS, UNITS
Example:
>> PRINT DPOS AXIS(0)
34.0000
The above line will return the demand position in user units.
103
Command, function and parameter description
Section 5-3
5-3-55 EDIT
Type:
Program Command
Syntax:
EDIT [line_number]
Alternative:
ED [line_number]
Description:
EDIT starts the built in screen editor allowing a program in the MC Unit memory to be modified using a VT100 Terminal. The currently selected program
will be edited.
The editor commands are as follows:
Quit Editor
[CTRL] K and D
Delete Line
[CTRL] Y
Precautions:
This command is implemented for an offline (VT100) terminal. Within Motion
Perfect users can select the command from the Program menu.
Arguments:
line_number
The number of the line at which to start editing.
See also:
SELECT
5-3-56 ENCODER
Type:
Axis Parameter
Description:
ENCODER contains a raw copy of the encoder. For the servo axis a 12-bit
(modulo 4095) number is used.
The MPOS axis parameter contains the measured position calculated from
the ENCODER value automatically, allowing for overflows and offsets.
Note This parameter is read-only.
See also:
AXIS, MPOS
5-3-57 ENDMOVE
Type:
Description:
Axis Parameter
ENDMOVE holds the position of the end of the current move in user units. If
the SERVO axis parameter is ON, the ENDMOVE parameter can be written
to produce a step change in the demand position (DPOS).
Note As the measured position is not changed initially, the following error limit
(FE_LIMIT) should be considered. If the change of demanded position is too
big, the limit will be exceeded.
See also:
AXIS, DPOS, FE_LIMIT, UNITS
5-3-58 EPROM
Type:
Syntax:
Program Command
EPROM
Description:
EPROM stores the BASIC programs in the MC Unit in the flash EPROM. This
information is retrieved at start-up if the POWER_UP parameter has been set
to 1.
Precautions:
Motion Perfect offers this command as a button on the control panel.
See also:
POWER_UP, RUNTYPE
5-3-59 ERROR_AXIS
Type:
104
System Parameter
Command, function and parameter description
Description:
Section 5-3
ERROR_AXIS contains the number of the axis which has caused a motion
error.
A motion error occurs when the AXISSTATUS state for one of the axes
matches the ERRORMASK setting. In this case the enable relay (WDOG) will
be turned OFF, the MOTION_ERROR parameter will have value 1 and the
ERROR_AXIS parameter will contain the number of the first axis to have the
error.
Note This parameter is read-only.
See also:
AXISSTATUS, ERRORMASK, MOTION_ERROR, WDOG
5-3-60 ERROR_LINE
Type:
Task Parameter
Description:
The ERROR_LINE parameter contains the number of the line which caused
the last BASIC run-time error in the program task. This value is only valid
when the BASICERROR parameter is TRUE.
Each task has its own ERROR_LINE parameter. Use the PROC modifier to
access the parameter for a certain task. Without PROC the current task will
be assumed.
Note This parameter is read-only.
See also:
BASICERROR, PROC, RUN_ERROR
Example:
>> PRINT ERROR_LINE PROC(4)
23
5-3-61 ERRORMASK
Type:
Description:
!Caution
See also:
Axis Parameter
ERRORMASK contains a mask value that is ANDed bit by bit with the AXISSTATUS axis parameter on every servo cycle to determine if a motion error
has occurred.
When a motion error occurs the enable relay (WDOG) will be turned OFF, the
MOTION_ERROR parameter will have value 1 and the ERROR_AXIS parameter will contain the number of the first axis to have the error.
Check the AXISVALUES parameter for the status bit allocations. The default
setting of ERRORMASK is 256. The enable relay will only be turned OFF if
the following error exceeds its limits.
It is up to the user to define in which cases the enable relay needs to be disabled. For safe operation it is strongly suggested to disable the enable relay
when the following error has exceed its limit in all cases. This is done by setting bit 8 of ERRORMASK (ERRORMASK=ERRORMASK OR 256).
AXIS, AXISSTATUS, ERROR_AXIS, MOTION_ERROR, WDOG
5-3-62 EXP
Type:
Syntax:
Mathematical Function
EXP(expression)
Description:
EXP returns the exponential value of the expression.
Arguments:
expression
Any valid BASIC expression.
Example:
>> print exp(1.0)
2.7183
105
Command, function and parameter description
Section 5-3
5-3-63 FALSE
Type:
Constant
Description:
FALSE returns the numerical value 0.
Note A constant is read-only.
Example:
test:
res = IN(0) OR IN(2)
IF res = FALSE THEN
PRINT "Inputs are off"
ENDIF
5-3-64 FAST_JOG
Type:
Axis Parameter
Description:
FAST_JOG contains the input number to be used as the fast jog input. The
number can be from 0 to 15 and from 20 to 31. If FAST_JOG is set to –1, then
no input is used for the fast jog.
The fast jog input controls the jog speed between two speeds. If the fast jog
input is set, the speed as given by the SPEED axis parameter will be used for
jogging. If the input is not set, the speed given by the JOGSPEED axis parameter will be used.
Note This input is active low.
See also:
AXIS, FWD_JOG, JOGSPEED, REV_JOG, SPEED
5-3-65 FE
Type:
Axis Parameter
Description:
FE is the position error in user units, and is equal to the demand position in
the DPOS axis parameter minus the measured position in the MPOS axis
parameter. The value of the following error can be monitored by using the axis
parameters FE_LIMIT and FE_RANGE.
Note This parameter is read-only.
See also:
AXIS, DPOS, FE_LIMIT, FE_RANGE, MPOS, UNITS
5-3-66 FE_LIMIT
Type:
Alternative:
Description:
See also:
Axis Parameter
FELIMIT
FE_LIMIT contains the maximum allowable following error in user units.
When exceeded, bit 8 of the AXISSTATUS parameter of the axis will be set.
Depending on the value of ERRORMASK, the MC Unit will generate a motion
error and reset the enable relay (WDOG).
This limit can be used to guard against fault conditions, such as mechanical
lock-up, loss of encoder feedback, etc.
AXIS, AXISSTATUS, ERRORMASK, FE, FE_RANGE, UNITS
5-3-67 FE_RANGE
Type:
Alternative:
Description:
See also:
106
Axis Parameter
FERANGE
FE_RANGE contains the following error report range in user units. When the
following error exceeds this value on a servo axis, bit 1 in the AXISSTATUS
axis parameter will be turned ON.
AXIS, AXISSTATUS, ERRORMASK, FE, FE_LIMIT, UNITS
Command, function and parameter description
Section 5-3
5-3-68 FHOLD_IN
Type:
Axis Parameter
Alternative:
FH_IN
Description:
FHOLD_IN contains the input number to be used as the feedhold input. The
number can be from 0 to 15 and from 20 to 31. If FHOLD_IN is set to –1, then
no input is used as a feedhold input.
If an input number is set and the feedhold input turns ON, the speed of the
move on the axis is changed to the value set in the FH_SPEED axis parameter. The current move is NOT cancelled. Furthermore, bit 7 of the AXISSTATUS parameter is set. When the input turns OFF again, any move in progress
when the input was set will return to the programmed speed.
Precautions:
This feature only works on speed controlled moves. Moves which are not
speed controlled (CAMBOX, CONNECT and MOVELINK) are not affected.
Note This input is active low.
See also:
AXIS, AXISSTATUS, FHSPEED
5-3-69 FHSPEED
Type:
Axis Parameter
Description:
FHSPEED contains the feedhold speed. This parameter can be set to a value
in user units/s at which speed the axis will move when the feed-hold input
turns on. The current move is not cancelled. FHSPEED can have any positive
value including zero. The default value is zero.
Precautions:
This feature only works on speed controlled moves. Moves which are not
speed controlled (CAMBOX, CONNECT and MOVELINK) are not affected.
See also:
AXIS, FHOLD_IN, UNITS
5-3-70 FOR TO STEP NEXT
Type:
Syntax:
Structural Command
FOR variable = start TO end [STEP increment]
<commands>
NEXT variable
Description:
The FOR ... NEXT loop allows the program segment between the FOR and
the NEXT statement to be repeated a number of times.
On entering this loop, the variable is initialized to the value of start and the
block of commands is then executed. Upon reaching the NEXT command, the
variable is increased by the increment specified after STEP. The STEP value
can be positive or negative, if omitted the value is assumed to be 1.
If variable is less than or equal to end, then the block of commands is repeatedly executed until variable is greater than end, at which time the command
after NEXT is executed.
Precautions:
FOR ... NEXT statements can be nested up to 8 levels deep in a BASIC program.
Arguments:
variable
Any valid BASIC expression.
start
Any valid BASIC expression.
end
Any valid BASIC expression.
107
Section 5-3
Command, function and parameter description
increment
Any valid BASIC expression.
See also:
Examples:
REPEAT, WHILE
Example 1
The following loop turns ON outputs 0 to 10.
FOR opnum = 0 TO 10
OP(opnum,ON)
NEXT opnum
Example 2
The STEP increment can be positive or negative.
loop:
FOR dist = 5 TO -5 STEP -0.25
MOVEABS(dist)
GOSUB pick_up
NEXT dist
Example 3
FOR...NEXT statements can be nested (up to 8 levels deep) provided the
inner FOR and NEXT commands are both within the outer FOR...NEXT loop:
loop1:
FOR l1 = 1 TO 8
loop2:
FOR l2 = 1 TO 6
MOVEABS(l1*100,l2*100)
GOSUB 1000
NEXT l2
NEXT l1
5-3-71 FORWARD
Type:
Syntax:
Alternative:
Motion Control Command
FORWARD
FO
Description:
FORWARD moves an axis continuously forward at the speed set in the
SPEED parameter.
FORWARD works on the default basis axis (set with BASE) unless AXIS is
used to specify a temporary base axis.
Precautions:
The forward motion can be stopped by executing the CANCEL or RAPIDSTOP command, or by reaching the forward, inhibit, or origin return limit.
See also:
AXIS, CANCEL, RAPIDSTOP, REVERSE, UNITS
Example:
start:
FORWARD
WAIT UNTIL IN(0) = ON
CANCEL
’Wait for stop signal
5-3-72 FRAC
Type:
Syntax:
FRAC(expression)
Description:
FRAC returns the fractional part of the expression.
Arguments:
expression
Any valid BASIC expression.
Example:
108
Mathematical Function
>> PRINT FRAC(1.234)
0.2340
Command, function and parameter description
Section 5-3
5-3-73 FREE
Type:
System Function
Syntax:
FREE
Description:
FREE returns the remaining amount of memory available for user programs
and Table array elements.
Precautions:
Each line takes a minimum of 4 characters (bytes) in memory. This is for the
length of this line, the length of the previous line, number of spaces at the
beginning of the line and a single command token. Additional commands
need one byte per token; most other data is held as ASCII.
The MC Unit compiles programs before they are executed, this means that
twice the memory is required to be able to execute a program.
Example:
>> PRINT FREE
47104.0000
5-3-74 FS_LIMIT
Type:
Axis Parameter
Alternative:
FSLIMIT
Description:
FS_LIMIT contains the absolute position of the forward software limit in user
units.
A software limit for forward travel can be set from the program to control the
working envelope of the machine. When the limit is reached, the MC Unit will
decelerate to zero, and then cancel the move. Bit 9 of the AXISSTATUS axis
parameter will be turned ON when the axis position is greater than FS_LIMIT.
See also:
AXIS, AXISSTATUS, RS_LIMIT, UNITS
5-3-75 FWD_IN
Type:
Axis Parameter
Description:
FWD_IN contains the input number to be used as a forward limit input. The
number can be from 0 to 15 and from 20 to 31. If FWD_IN is set to –1, then no
input is used as a forward limit.
If an input number is set and the limit is reached, any forward motion on that
axis will be stopped. Bit 4 of the AXISSTATUS will also be set.
Note This input is active low.
See also:
AXIS, AXISSTATUS, REV_IN
5-3-76 FWD_JOG
Type:
Description:
Axis Parameter
FWD_JOG contains the input number to be used as a jog forward input. The
input can be from 0 to 15 and from 20 to 31. If FWD_JOG is set to –1
(default), then no input is used as a forward jog input.
Note This input is active low.
See also:
AXIS, FAST_JOG, JOGSPEED, REV_JOG
5-3-77 GET
Type:
Syntax:
Description:
I/O Function
GET#n, variable
GET waits for the arrival of a single character and assigns the ASCII code of
the character to a variable. The BASIC program will wait until a character is
109
Command, function and parameter description
Section 5-3
available. Channels 5 to 7 are logical channels that are superimposed on the
RS-232C programming port when using Motion Perfect.
Arguments:
n
The specified input device.
0
1
5
6
7
RS-232C programming port A
RS-232C serial port B
Motion Perfect port A user channel 5
Motion Perfect port A user channel 6
Motion Perfect port A user channel 7
variable
The name of the variable to receive the ASCII code.
Precautions:
Channel 0 is particularly used for the connection to Motion Perfect and/or the
command line interface. Please be aware that this channel may give problems for this function.
See also:
INPUT, KEY, LINPUT
Example:
The following line can be used to store the ASCII character received on the
Motion Perfect port channel 5 in k.
GET#5, k
5-3-78 GOSUB RETURN
Type:
Syntax:
Structural Command
GOSUB label
... RETURN
Description:
GOSUB enables a subroutine jump. GOSUB stores the position of the line
after the GOSUB command and then jumps to the specified label. Upon
reaching the RETURN statement, program execution is returned to the stored
position.
Precautions:
Subroutines on each task can be nested up to 8 levels deep.
Arguments:
label
A valid label that occurs in the program. If the label does not exist, an error
message will be displayed during structure checking at the beginning of execution and program execution will be halted.
See also:
GOTO
Example:
main:
GOSUB routine
GOTO main
routine:
PRINT "Measured position=";MPOS;CHR(13);
RETURN
5-3-79 GOTO
Type:
Syntax:
110
Structural Command
GOTO label
Description:
GOTO enables jump of program execution. GOTO jumps program execution
to the line of the program containing the label.
Arguments:
label
A valid label that occurs in the program. If the label does not exist, an error
message will be displayed during structure checking at the beginning of execution and program execution will be halted.
Command, function and parameter description
See also:
GOSUB
Example:
loop:
PRINT "Measured position = ";MPOS;CHR(13);
GOTO loop
Section 5-3
5-3-80 HALT
Type:
Syntax:
Description:
See also:
System Command
HALT
HALT stops execution of all programs currently running. The command can
be used both on command line as in programs. Refer to the STOP command
to stop a single program.
PROCESS, STOP
5-3-81 I_GAIN
Type:
Axis Parameter
Description:
I_GAIN contains the integral gain for the axis. The integral output contribution
is calculated by multiplying the sums of the following errors with I_GAIN. The
default value is zero.
Adding integral gain to a servo system reduces positioning error when at rest
or moving steadily. It can produce or increase overshooting and oscillation
and is therefore only suitable for systems working on constant speed and with
slow accelerations.
See section 1-4-2 Servo System Principles for more details.
Precautions:
In order to avoid any instability the servo gains should be changed only when
the SERVO is OFF.
See also:
D_GAIN, OV_GAIN, P_GAIN, VFF_GAIN
5-3-82 IF THEN ELSE ENDIF
Type:
Syntax:
Description:
Structural Command
IF condition THEN
<commands>
[ELSE
<commands>]
ENDIF
IF condition THEN <commands>
IF controls the flow of the program based on the results of the condition. If the
condition is TRUE the commands following THEN up to ELSE (or ENDIF if not
included) will be executed. If the condition is FALSE the commands following
ELSE will be executed or the program will resume at the line after ENDIF in
case no ELSE is included. The ENDIF is used to mark the end of the conditional block.
IF evaluates the condition. If it is true, the commands following it will be executed. If it is not true, the commands are skipped. If condition is FALSE and
an ELSE command sequence is specified, then the ELSE command
sequence is executed.
Precautions:
IF...THEN [ELSE] ENDIF sequences can be nested without limit. For a multiline IF...THEN construction, there must not be any statement after THEN. A
single-line construction must not use ENDIF.
111
Command, function and parameter description
Arguments:
Examples:
Section 5-3
condition
Any logical expression.
commands
Any valid BASIC commands.
Example 1
IF MPOS > (0.22 * VR(0)) THEN GOTO exceeds_length
Example 2
IF IN(0) = ON THEN
count = count + 1
PRINT "COUNTS = ";VR(1)
fail = 0
ELSE
fail = fail + 1
ENDIF
5-3-83 IN
Type:
Syntax:
IN(input_number[,final_input_number])
IN
Description:
The IN function returns the value of digital inputs.
• IN(input_number, final_input_number) will return the binary sum of the
group of inputs. The two arguments must be less than 24 apart.
• IN(input_number) with the value for input_number less than 32 will return
the value of the particular channel.
• IN (without arguments) will return the binary sum of the first 24 inputs (as
IN(0,23)).
Check 4-3 Motion Control Application for a description of the various input
types.
Arguments:
input_number.
The number of the input for which to return a value. Value: An integer
between 0 and 31.
final_ input_number.
The number of the last input for which to return a value. Value: An integer
between 0 and 31.
See also:
Examples:
112
I/O Function
DISPLAY, OP
Example 1
The following lines can be used to move to the position set on a thumbwheel
multiplied by a factor. The thumbwheel is connected to inputs 4, 5, 6 and 7,
and gives output in BCD.
moveloop:
MOVEABS(IN(4,7)*1.5467)
WAIT IDLE
GOTO moveloop
The MOVEABS command is constructed as follows:
Step 1: IN(4,7) will get a number between 0 and 15.
Step 2: The number is multiplied by 1.5467 to get required distance.
Step 3: An absolute move is made to this position.
Example 2
In this example a single input is tested:
test:
WAIT UNTIL IN(4)=ON
‘Conveyor is in position when ON
GOSUB place
Command, function and parameter description
Section 5-3
5-3-84 INITIALISE
Type:
Syntax:
Description:
See also:
System Command
INITIALISE
INITIALISE sets all axis parameters to their default values for all axes. The
parameters are also reset each time the MC Unit is started.
EX
5-3-85 INPUT
Type:
Syntax:
I/O Command
INPUT#n, variable{, variable}
Description:
The INPUT command will wait for a string to be received and will take the
numerical value of this string which is terminated with a carriage return <CR>.
The value of a valid string is assigned to the specified variable. If the string is
invalid, the user will be prompted with an error message and the task will be
repeated. Multiple inputs may be requested on one line, separated by commas, or on multiple lines, separated by carriage return. The maximum amount
of inputs on one line has no limit other than the line length.
Channels 5 to 7 are logical channels that are superimposed on the RS-232C
programming port when using Motion Perfect.
Arguments:
n
The specified input device.
0
1
5
6
7
RS-232C programming port A
RS-232C serial port B
Motion Perfect port A user channel 5
Motion Perfect port A user channel 6
Motion Perfect port A user channel 7
variable
The variable to write to.
Precautions:
Channel 0 is particularly used for the connection to Motion Perfect and/or the
command line interface. Please be aware that this channel may give problems for this function.
See also:
GET, LINPUT
Example:
Consider the following program to receive data from the terminal.
INPUT#5, num
PRINT#5, "BATCH COUNT=";num[0]
A possible response on the terminal could be:
123<CR>
BATCH COUNT=123
5-3-86 INT
Type:
Syntax:
Description:
Mathematical Function
INT(expression)
INT returns the integer part of the expression.
Note To round a positive number to the nearest integer value take the INT function
of the value added by 0.5. Similarly, to round for a negative value subtract 0.5
to the value before applying INT.
113
Command, function and parameter description
Section 5-3
expression
Any valid BASIC expression.
Arguments:
Example:
>> PRINT INT(1.79)
1.0000
5-3-87 JOGSPEED
Type:
Axis Parameter
Description:
JOGSPEED sets the jog speed in user units for an axis. A jog will be performed when a jog input for an axis has been declared and that input is low. A
forward jog input and a reverse jog input are available for each axis, respectively set by FWD_JOG and REV_JOG. The speed of the jog can be controlled with the FAST_JOG input.
See also:
AXIS, FAST_JOG, FWD_JOG, REV_JOG, UNITS
5-3-88 KEY
Type:
I/O Parameter
Syntax:
KEY#n
Description:
The KEY command returns TRUE or FALSE depending on if a character has
been received on an input device or not. This command does not read the
character but allows the program to test if any character has arrived. A TRUE
result will reset when the character is read with GET.
Channels 5 to 7 are logical channels that are superimposed on the RS-232C
programming port when using Motion Perfect.
Argument:
n
The specified input device.
0
1
5
6
7
Precautions:
RS-232C programming port A
RS-232C serial port B
Motion Perfect port A user channel 5
Motion Perfect port A user channel 6
Motion Perfect port A user channel 7
Channel 0 is reserved for the connection to Motion Perfect and/or the command line interface. Please be aware that this channel may give problems for
this function.
See also:
GET
Example:
WAIT UNTIL KEY#1
GET#1, k
Beware that for using KEY#1 in an equation may require parentheses in the
statement, in this case: WAIT UNTIL (KEY#1)=TRUE.
5-3-89 LAST_AXIS
Type:
Description:
System Parameter
LAST_AXIS contains the number of the last axis processed by the system.
Most systems do not use all the available axes. It would therefore be a waste
of time to task the idle moves on all axes that are not in use. To avoid this to
some extent, the MC Unit will task moves on the axes from 0 to LAST_AXIS,
where LAST_AXIS is the number of the highest axis for which an AXIS or
BASE command has been processed, whichever of the two is larger.
Note This parameter is read-only.
See also:
114
AXIS, BASE
Command, function and parameter description
Section 5-3
5-3-90 LINPUT
Type:
Syntax:
I/O Command
LINPUT#n, vr_variable
Description:
The LINPUT command waits for an input string and stores the ASCII values of
the string in an array of variables starting at the specified VR variable. The
string must be terminated with a carriage return <CR>, which is also stored.
The string is not echoed by the controller.
Channels 5 to 7 are logical channels that are superimposed on the RS-232C
programming port when using Motion Perfect.
Arguments:
n
The specified input device.
0
1
5
6
7
RS-232C programming port A
RS-232C serial port B
Motion Perfect port A user channel 5
Motion Perfect port A user channel 6
Motion Perfect port A user channel 7
vr_variable
The first VR-variable to write to.
Precautions:
Channel 0 is particularly used for the connection to Motion Perfect and/or the
command line interface. Please be aware that this channel may give problems for this function.
See also:
GET, INPUT,VR
Example:
Consider the following line in a program.
LINPUT#5, VR(0)
Entering START<CR> will give
VR(0)=83
S
VR(1)=84
T
VR(2)=65
A
VR(3)=82
R
VR(4)=84
T
VR(5)=13
<CR>
5-3-91 LIST
Type:
Program Command
Syntax:
LIST [“program_name”]
Alternative:
TYPE [“program_name”]
Description:
The LIST command prints the current selected program or the program specified by program_name. The program name can also be specified without
quotes. If the program name is omitted, the current selected program will be
listed.
Precautions:
This command is implemented for an offline (VT100) terminal. Within Motion
Perfect users can use the Program Editor.
Arguments:
See also:
program_name
The program to be printed.
SELECT
115
Command, function and parameter description
Section 5-3
5-3-92 LN
Type:
Mathematical Function
Syntax:
LN(expression)
Description:
LN returns the natural logarithm of the expression. The input expression value
must be greater than zero.
Arguments:
expression
Any valid BASIC expression.
Example:
>> PRINT LN(10)
2.3026
5-3-93 LOCK
Type:
System Command
Syntax:
LOCK(code)
UNLOCK(code)
Description:
The LOCK command prevents the program from being viewed, modified or
deleted by personnel unaware of the security code. The UNLOCK command
allows the locked state to be unlocked. The code number can be any integer
and is held in encoded form. LOCK is always an immediate command and
can be issued only when the system is UNLOCKED.
!WARNING
Arguments:
The security code must be remembered; it will be required to unlock the system. Without the security code the system can not be recovered.
code
Any valid integer with maximum 7 digits.
Example:
>> LOCK(561234)
The programs cannot be modified or seen.
>> UNLOCK(561234)
The system is now unlocked.
5-3-94 MARK
Type:
Axis Parameter
Description:
MARK contains TRUE when a registration event has occurred to indicate that
the value in the REG_POS axis parameter is valid. MARK is set to FALSE
when REGIST command has been executed and is set to TRUE when the
register event occurs.
Note This parameter is read-only.
See also:
AXIS, REG_POS, REGIST
5-3-95 MERGE
Type:
Description:
!Caution
116
Axis Parameter
MERGE is a software switch that can be used to enable or disable the merging of consecutive moves. With MERGE is ON and the next move already in
the next move buffer (NTYPE), the axis will not ramp down to zero speed but
will load up the following move enabling a seamless merge. All non-zero values for MERGE are also considered ON.
It is up to the programmer to ensure that merging is sensible. For example,
merging a forward move with a reverse move will cause an attempted instantaneous change of direction.
Section 5-3
Command, function and parameter description
MERGE will only function if the following are all true.
1. Only the speed profiled moves MOVE, MOVEABS, MOVECIRC, MHELICAL and MOVEMODIFY can be merged with each other.
2. There is a move in the next move buffer (NTYPE).
3. The axis group does not change for multi-axis moves.
When merging multi-axis moves, only the base axis MERGE axis parameter
needs to be set.
Precautions:
If the moves are short, a high deceleration rate must be set to avoid the MC
Unit decelerating in anticipation of the end of the buffered move.
See also:
AXIS
Example:
MERGE = OFF
MERGE = ON
‘Decelerate at the end of each move
‘Moves will be merged if possible
5-3-96 MHELICAL
Type:
Syntax:
Alternative:
Motion Control Command
MHELICAL(end_1, end_2, centre_1, centre_2, direction, distance_3)
MH(end_1, end_2, centre_1, centre_2, direction, distance_3)
Description:
MHELICAL performs an interpolated helical move by moving two orthogonal
axes in a circular arc with a simultaneous linear move on a third axis. The
path of the movement is determined by the 6 arguments, which are incremental from the starting position.
The first 5 arguments are the same as those of the MOVECIRC command.
The arguments end_1 and centre_1 apply to the base axis and end_2 and
centre_2 apply to the following axis. The linear mode is defined by
distance_3. All arguments are given in user units of each axis. The speed of
the movement along the circular arc is set by the SPEED, ACCEL and
DECEL parameters of the base axis.
MHELICAL works on the default basis axis group (set with BASE) unless
AXIS is used to specify a temporary base axis.
Precautions:
Both MHELICAL and MOVECIRC compute the nominal radius and the angle
of movement from the centre and end point. If the endpoint does not lie on the
calculated path, the move simply ends at the computed end and not the specified end point. It is the responsibility of the programmer to ensure that the two
points correspond to correct points on a helix.
For MOVECIRC to be correctly executed, the two axes moving in the circular
arc must have the same number of encoder pulses per linear axis distance. If
they do not, it is possible to adjust the encoder scales in many cases by
adjusting with PP_STEP axis parameters for the axis.
Arguments:
end_1
The end position for the base axis.
end_2
The end position for the next axis.
centre_1
The centre position around which the base axis is to move.
centre_2
The centre position around which the next axis is to move.
117
Section 5-3
Command, function and parameter description
direction
A software switch that determines whether the arc is interpolated in a clockwise or counterclockwise direction. Value: 0 or 1.
2
2
Direction=0
Direction=1
1
1
If the two axes involved in the movement form a right-hand axis, set direction
to 0 to produce positive motion about the third (possibly imaginary) orthogonal
axis.
If the two axes involved in the movement form a left-hand axis, set direction to
0 to produce negative motion about the third (possibly imaginary) orthogonal
axis.
Direction
Right-hand axis
Left-hand axis
0
Positive
Negative
1
Negative
Positive
distance_3
The distance to move on the third axis.
See also:
AXIS, MOVECIRC, PP_STEP, UNITS
5-3-97 MOD
Type:
Syntax:
Mathematical Function
expression_1 MOD expression_2
Description:
MOD returns the expression_2 modulus of expression_1. This function will
take the integer part of any non-integer input.
Arguments:
expression_1
Any valid BASIC expression.
expression_2
Any valid BASIC expression.
Example:
>> PRINT 122 MOD 13
5.0000
5-3-98 MOTION_ERROR
Type:
Description:
System Parameter
MOTION_ERROR contains an error flag for axis motion errors. The parameter will have value 1 when a motion error has occurred.
A motion error occurs when the AXISSTATUS state for one of the axes
matches the ERRORMASK setting. In this case the enable relay (WDOG) will
be turned OFF, the MOTION_ERROR parameter will have value 1 and the
ERROR_AXIS parameter will contain the number of the first axis to have the
error.
A motion error can be cleared executing a DATUM(0) command.
Note This parameter is read-only.
See also:
118
AXISSTATUS, DATUM, ERROR_AXIS, ERRORMASK, WDOG
Section 5-3
Command, function and parameter description
5-3-99 MOVE
Type:
Syntax:
Alternative:
Description:
Motion Control Command
MOVE(dist_1[, dist_2[, dist_3[, dist_4[, dist_5[, dist_6[, dist_7, dist_8]]]]]]])
MO(dist_1[, dist_2[, dist_3[, dist_4[, dist_5[, dist_6[, dist_7, dist_8]]]]]]])
MOVE moves with one or more axes at the demand speed and acceleration
and deceleration to a position specified as increment from the current position. In multi-axis moves the movement is interpolated and the speed, acceleration and deceleration are taken from the base axis.
The specified distances are scaled using the unit conversion factor in the
UNITS axis parameter. If, for example, an axis has 4,000 encoder edges/mm,
then the number of units for that axis would be set to 4000, and MOVE(12.5)
would move 12.5 mm.
MOVE works on the default basis axis group (set with BASE) unless AXIS is
used to specify a temporary base axis. Argument dist_1 is applied to the base
axis, dist_2 is applied to the next axis, etc. By changing the axis between individual MOVE commands, uninterpolated, unsynchronised multi-axis motion
can be achieved. Incremental moves can be merged for profiled continuous
path movements by turning ON the MERGE axis parameter.
Considering a 4-axis movement, the individual speeds are calculated using
the equations below. Given command MOVE( x 1, x 2, x 3, x 4 ) and the profiled
speed v p as calculated from the SPEED, ACCEL and DECEL parameters
from the base axis and the total multi-axes distance L .
2
2
2
2
L = x1 + x2 + x3 + x4 .
The individual speed v i for axis i at any time of the movement is calculated
as
xi ⋅ vp
v i = ------------- .
L
Arguments:
See also:
Examples:
dist_i
The distance to move for every axis i in user units starting with the base axis.
AXIS, MOVEABS, UNITS
Example 1
A system is working with a unit conversion factor of 1 and has a 1000-line
encoder. It is, therefore, necessary to use the following command to move 10
turns on the motor. (A 1000 line encoder gives 4000 edges/turn).
MOVE(40000)
Example 2
In this example, axes 1, 2 and 3 are moved independently (without interpolation). Each axis will move at its programmed speed and other axis parameters.
MOVE(10) AXIS(1)
MOVE(10) AXIS(2)
MOVE(10) AXIS(3)
Example 3
An X-Y plotter can write text at any position within its working envelope. Individual characters are defined as a sequence of moves relative to a start point
so that the same commands can be used no matter what the plot position.
The command subroutine for the letter “m” might be as follows:
m:
MOVE(0,12)
’move A -> B
MOVE(3,-6)
’move B -> C
119
Section 5-3
Command, function and parameter description
MOVE(3,6)
MOVE(0,-12)
B
’move C -> D
’move D -> E
D
C
A
E
5-3-100 MOVEABS
Type:
Syntax:
Alternative:
Description:
Motion Control Command
MOVEABS(pos_1[,pos_2[,pos_3[,pos_4[,pos_5[,pos_6[,pos_7[,pos_8]]]]]]])
MA(pos_1[,pos_2[, pos_3[,pos_4[,pos_5[,pos_6[,pos_7[,pos_8]]]]]]])
MOVEABS moves one or more axes at the demand speed, acceleration and
deceleration to a position specified as absolute position, i.e., in reference to
the origin. In multi-axis moves the movement is interpolated and the speed,
acceleration and deceleration are taken from the base axis.
The specified distances are scaled using the unit conversion factor in the
UNITS axis parameter. If, for example, an axis has 4,000 encoder edges/mm,
then the number of units for that axis would be set to 4000, and MOVEABS(12.5) would move to a position 12.5 mm from the origin.
MOVEABS works on the default basis axis group (set with BASE) unless
AXIS is used to specify a temporary base axis. Argument pos_1 is applied to
the base axis, pos_2 is applied to the next axis, etc. By changing the axis
between individual MOVE commands, uninterpolated, unsynchronised multiaxis motion can be achieved. Absolute moves can be merged for profiled continuous path movements by turning ON the MERGE axis parameter.
Considering a 4-axis movement, the individual speeds are calculated using
the equations below. Given command MOVE( ax 1, ax 2, ax 3, ax 4 ), the current position ( ay 1, ay 2, ay 3, ay 4 ) and the profiled speed v p as calculated
from the SPEED, ACCEL and DECEL parameters from the base axis and the
total multi-axes distance
L =
2
2
2
2
x 1 + x 2 + x 3 + x 4 where x i = ax i – ay i .
The individual speed v i for axis i at any time of the movement is calculated
as
Arguments:
See also:
Examples:
120
xi ⋅ vp
v i = ------------.
L
pos_i
The position to move every axis i to in user units starting with the base axis.
AXIS, MOVE, UNITS
Example 1
An X-Y plotter has a pen carousel whose position is fixed relative to the plotter
origin. To change pen, an absolute move to the carousel position will find the
target irrespective of the plot position when the command is executed.
MOVEABS(20,350)
Example 2
A pallet consists of a 6 by 8 grid in which gas canisters are inserted 85mm
apart by a packaging machine. The canisters are picked up from a fixed point.
Command, function and parameter description
Section 5-3
The first position in the pallet is defined as position (0,0) using the DEFPOS
command. The part of the program to position the canisters in the pallet is as
follows:
xloop:
FOR x = 0 TO 5
yloop:
FOR y = 0 TO 7
MOVEABS(-340,-516.5) ’Move to pick up point
GOSUB pick
’Go to pick up subroutine
PRINT "MOVE TO POSITION: ";x*6+y+1
MOVEABS(x*85,y*85)
GOSUB place
’Go to place down subroutine
NEXT y
NEXT x
5-3-101 MOVECIRC
Type:
Syntax:
Alternative:
Motion Control Command
MOVECIRC(end_1,end_2,centre_1,centre_2,direction)
MC(end_1,end_2,centre_1,centre_2,direction)
Description:
MOVECIRC interpolates 2 orthogonal axes in a circular arc. The path of the
movement is determined by the 5 arguments, which are incremental from the
current position.
The arguments end_1 and centre_1 apply to the base axis and end_2 and
centre_2 apply to the following axis. All arguments are given in user units of
each axis. The speed of movement along the circular arc is set by the
SPEED, ACCEL and DECEL parameters of the base axis.
MOVECIRC works on the default basis axis group (set with BASE) unless
AXIS is used to specify a temporary base axis.
Precautions:
The MOVECIRC computes the radius and the total angle of rotation from the
centre, and end-point. If the endpoint does not lie on the calculated path, the
move simply ends at the computed end and not the specified end point. It is
the responsibility of the programmer to ensure that the two points correspond
to correct points on a circle.
For MOVECIRC to be correctly executed, the two axes moving in the circular
arc must have the same number of encoder pulses per linear axis distance. If
they do not, it is possible to adjust the encoder scales in many cases by
adjusting with PP_STEP axis parameters for the axis.
Arguments:
end_1
The end position for the base axis.
end_2
The end position for the next axis.
centre_1
The position around which the base axis is to move.
centre_2
The position around which the next axis is to move.
121
Section 5-3
Command, function and parameter description
direction
A software switch that determines whether the arc is interpolated in a clockwise or counterclockwise direction. Value: 0 or 1
2
2
Direction=0
Direction=1
1
1
If the two axes involved in the movement form a right-hand axis, set direction
to 0 to produce positive motion about the third (possibly imaginary) orthogonal
axis.
If the two axes involved in the movement form a left-hand axis. set direction to
0 to produce negative motion about the third (possibly imaginary) orthogonal
axis.
Direction
Right-hand axis
Left-hand axis
1
Negative
Positive
0
Positive
Negative
See also:
AXIS, MHELICAL, PP_STEP, UNITS
Example:
The command sequence to plot the letter 0 might be as follows:
MOVE(0,6)
’Move A -> B
MOVECIRC(3,3,3,0,1)
’Move B -> C
MOVE(2,0)
’Move C -> D
MOVECIRC(3,-3,0,-3,1)
’Move D -> E
MOVE(O,-6)
’Move E -> F
MOVECIRC(-3,-3,-3,0,1)
’Move F -> G
MOVE(-2,0)
’Move G -> H
MOVECIRC(-3,3,0,3,1)
’Move H -> A
C
D
B
E
A
F
H
G
5-3-102 MOVELINK
Type:
Syntax:
Alternative:
Description:
122
Motion Control Command
MOVELINK(distance, link_distance, link_acceleration, link_deceleration,
link_axis[, link_option[, link_position]])
ML(distance, link_distance, link_acceleration, link_deceleration, link_axis
[, link_option[, link_position]])
MOVELINK creates a linear move on the base axis linked via a software gearbox to the measured position of a link axis. The link axis can move in either
direction to drive the output motion.
The parameters indicate what distance the base axis will move for a certain
distance of the link axis (link_distance). The link axis distance is divided into
three phases which apply to the movement of the base axis. These parts are
the acceleration part, the constant speed part and the deceleration part. The
link acceleration and deceleration distances are specified by the
Section 5-3
Command, function and parameter description
link_acceleration and link_deceleration parameters. The constant speed link
distance is derived from the total link distance and these two parameters.
The three phases can be divided into separate MOVELINK commands or can
be added up together into one. Consider the following two rules when setting
up the MOVELINK command.
Rule 1
In an acceleration and deceleration phase with matching speed, the
link_distance must be twice the distance.
Deceleration
Acceleration
Speed
link
distance
Speed
distance
distance
link
speed
link
speed
Time
link
distance
Time
Rule 2
In a constant speed phase with matching speeds, the two axes travel the
same distance so the distance to move must equal the link_distance.
MOVELINK works on the default basis axis group (set with BASE) unless
AXIS is used to specify a temporary base axis. The axis set for link_axis
drives the base axis.
Note If the sum of link_acceleration and link_deceleration is greater than
link_distance, they are both reduced in proportion in order to equal the sum to
link_distance.
Arguments:
distance
The incremental distance in user units to move the base axis, as a result of
the measured link_distance movement on the link axis.
link_distance
The positive incremental distance in user units that is required to be measured on the link axis to result in the distance motion on the base axis.
link_acceleration
The positive incremental distance in user units on the link axis over which the
base axis will accelerate.
link_deceleration
The positive incremental distance in user units on the link axis over which the
base axis will decelerate.
link_axis
The axis to link to.
123
Command, function and parameter description
Section 5-3
link_option
1
Link starts when registration event occurs on link axis.
2
Link starts at an absolute position on link axis (see link_position).
4
MOVELINK repeats automatically and bi-directionally. This option is
canceled by setting bit 1 of REP_OPTION parameter (i.e.
REP_OPTION = REP_OPTION OR 2).
5
Combination of options 1 and 4.
6
Combination of options 2 and 4.
link_position
The absolute position where MOVELINK will start when link_option is set to 2
See also:
AXIS, REP_OPTION, UNITS
Example:
A flying shear cuts a roll of paper every 160 m while moving at the speed of
the paper. The shear is able to travel up to 1.2 m of which 1 m is used in this
example. The paper distance is measured by an encoder, the unit conversion
factor being set to give units of metres on both axes. Axis 3 is the link axis.
MOVELINK(0,150,0,0,3)
‘wait distance
MOVELINK(0.4,0.8,0.8,0,3) ‘accelerate
MOVELINK(0.6,1.0,0,0.8,3) ‘match speed then decelerate
WAIT UNTIL NTYPE=0
‘wait till last move started
OP(8,ON)
‘activate cutter
MOVELINK(-1,8.2,0.5,0.5,3) ‘move back
In this program, the MC Unit waits for the roll to feed out 150m in the first line.
After this distance, the shear accelerates to match the speed of the paper,
coasts at the same speed, then decelerates to a stop within a 1m stroke. This
movement is specified using two separate MOVELINK commands. The program then waits for the next move buffer to be clear NTYPE=0. This indicates
that the acceleration phase is complete. The distances on the link axis
(link_distance) in the MOVELINK commands are 150, 0.8, 1.0, and 8.2, which
add up to 160m.
To ensure that the speeds and positions of the cutter and paper match during
the cut task, the arguments of the MOVELINK command must be correct.
Therefore it is easiest to first consider the acceleration, constant speed and
deceleration phases separately. As mentioned before the acceleration and
deceleration phases require the link_distance to be twice the distance. Both
phases can therefore be specified as:
MOVELINK(0.4,0.8,0.8,0,1)
’This move is all accel
MOVELINK(0.4,0.8,0,0.8,1)
’This move is all decel
In a constant speed phase with matching speeds, the two axes travel the
same distance so the distance to move must equal the link distance. The constant speed phase could, therefore, be specified as follows:
MOVELINK(0.2,0.2,0,0,1)
’This is all constant speed
The MOVELINK command allows the three sections to be added by summing
the distance, link_distance, link_acceleration and link_deceleration for each
phase, producing the following command.
MOVELINK(1,1.8,0.8,0.8,1)
In the program above, the acceleration phase is programmed separately. This
is done to be able to perform some action at the end of the acceleration
phase.
MOVELINK(0.4,0.8,0.8,0,1)
124
Section 5-3
Command, function and parameter description
MOVELINK(0.6,1.0,0,0.8,1)
5-3-103 MOVEMODIFY
Type:
Syntax:
Alternative:
Motion Control Command
MOVEMODIFY(position)
MM(position)
Description:
MOVEMODIFY changes the absolute end position of the current single-axis
linear move (MOVE or MOVEABS). If there is no current move or the current
move is not a linear move, then MOVEMODIFY is treated as a MOVEABS
command. The ENDMOVE parameter will contain the position of the end of
the current move in user units.
MOVEMODIFY works on the default basis axis (set with BASE) unless AXIS
is used to specify a temporary base axis.
Arguments:
position
The absolute position to be set as the new end of move.
See also:
AXIS, MOVE, MOVEABS, UNITS
5-3-104 MPOS
Type:
Description:
Axis Parameter
MPOS is the measured position of the axis in user units as derived from the
encoder. This parameter can be set using the DEFPOS command. The OFFPOS axis parameter can also be used to shift the origin point. MPOS is reset
to zero at start-up.
The range of the measured position is controlled with the REP_DIST and
REP_OPTION axis parameters.
Note This parameter is read-only.
See also:
AXIS, DEFPOS, DPOS,
REP_OPTION, UNITS
Example:
WAIT UNTIL MPOS >= 1250
SPEED = 2.5
ENCODER,
FE,
OFFPOS,
REP_DIST,
5-3-105 MSPEED
Type:
Description:
See also:
Axis Parameter
MSPEED represents the change in the measured position in 10-3 user units/s
in the last servo period. The servo period defaults to 1 ms. Therefore, the
MSPEED parameter can be used to represent the speed measured in units/s.
MSPEED represents a snapshot of the speed and significant fluctuations,
which can occur, particularly at low speeds. It can be worthwhile to average
several readings if a stable value is required at low speeds.
AXIS, VP_SPEED, UNITS
5-3-106 MTYPE
Type:
Description:
Axis Parameter
MTYPE contains the type of move currently being executed. The possible values are given below.
Move No.
Move Type
0
IDLE (no move)
1
MOVE
2
MOVEABS
125
Command, function and parameter description
Section 5-3
3
MHELICAL
4
MOVECIRC
5
MOVEMODIFY
10
FORWARD
11
REVERSE
12
DATUM
13
CAM
14
JOG_FORWARD
15
JOG_REVERSE
20
CAMBOX
21
CONNECT
22
MOVELINK
MTYPE can be used to determine whether a move has finished or if a transition from one move type to another has taken place.
A non-idle move type does not necessarily mean that the axis is actually moving. It can be at zero speed part way along a move or interpolating with
another axis without moving itself.
Note This parameter is read-only.
See also:
AXIS, NTYPE
5-3-107 NEW
Type:
Syntax:
Program Command
NEW [“program_name”]
Description:
NEW deletes all program lines of the program from memory. NEW without a
program name can be used to delete the currently selected program (using
SELECT). The program name can also be specified without quotes. NEW
ALL will delete all programs.
NEW can also be used to delete the Table as follows:
NEW “TABLE”
The name “TABLE” must be in quotes.
Precautions:
This command is implemented for an offline (VT100) terminal. Within Motion
Perfect users can select the command from the Program menu.
See also:
COPY, DEL, RENAME, SELECT, TABLE
5-3-108 NIO
Type:
Description:
System Parameter
NIO contains the total number of inputs and outputs of the system.
5-3-109 NOT
Type:
Logical Operator
Syntax:
NOT expression
Description:
NOT performs a NOT operation on all bits of the integer part of the expression.
The NOT operation is defined as follows:
Bit
Arguments:
126
Result
0
1
1
0
expression
Any valid BASIC expression.
Command, function and parameter description
Example:
Section 5-3
>> PRINT 7 AND NOT 1
6.0000
5-3-110 NTYPE
Type:
Description:
Axis Parameter
NTYPE contains the type of the move in the next move buffer. Once the current move has finished, the move present in the NTYPE buffer will be executed. The values are the same as those for the MTYPE axis parameter.
NTYPE is cleared by the CANCEL(1) command.
Note This parameter is read-only.
See also:
AXIS, MTYPE
5-3-111 OFF
Type:
Description:
Constant
OFF returns the numerical value 0.
Note A constant is read-only.
Example:
OP (lever,OFF)
The above line sets the output named lever to OFF.
5-3-112 OFFPOS
Type:
Axis Parameter
Description:
OFFPOS contains an offset that will be applied to the demand position
(DPOS) without affecting the move in any other way. The measured position
will be changed accordingly in order to keep the following error. OFFPOS
effectively adjusts the zero position of the axis. The value set in OFFPOS will
be reset to zero by the system as the offset is loaded.
Precautions:
The offset is applied on the next servo period. Other commands may be executed prior to the next servo period. Be sure that these commands do not
assume the position shift has occurred. This can be done by using the WAIT
UNTIL statement (see example).
See also:
AXIS, DEFPOS, DPOS, MPOSUNITS
Example:
The following lines define the current demand position as zero.
OFFPOS = -DPOS
WAIT UNTIL OFFPOS = 0
’Wait until applied
This example is equivalent to DEFPOS(0).
5-3-113 ON
Type:
Description:
Constant
ON returns the numerical value 1.
Note A constant is read-only.
Example:
OP (lever,ON)
The above line sets the output named lever to ON.
5-3-114 ON
Type:
Syntax:
Structural Command
ON expression GOSUB label{, label}
ON expression GOTO label{, label}
127
Command, function and parameter description
Section 5-3
Description:
ON enables a conditional jump. The integer expression is used to select a
label from the list. If the expression has value 1 the first label is used, for
value 2 then the second label is used, and so on. Depending on the GOSUB
or GOTO command the subroutine or normal jump is performed.
Precautions:
If the expression is not valid, no jump is performed.
Arguments:
expression
Any valid BASIC expression.
label
Any valid label in the program.
See also:
GOSUB, GOTO
Example:
REPEAT
GET#5,char
UNTIL 1<=char and char<=3
ON char GOSUB mover, stopper, change
5-3-115 OP
Type:
Syntax:
OP(output_number, value)
OP(binary_pattern)
OP
Description:
OP sets one or more outputs or returns the state of the first 24 outputs. OP
has three different forms depending on the number of arguments.
• Command OP(output_number,value) sets a single output channel. The
range of output_number is between 8 and 31 and value is the value to be
output, either 0 or 1.
• Command OP(binary_pattern) sets the binary pattern to the 24 outputs
according to the value set by binary_pattern.
• Function OP (without arguments) returns the status of the first 24 outputs.
This allows multiple outputs to be set without corrupting others which are
not to be changed.
Use the DISPLAY parameter to show the appropriate bank of 8 outputs or
inputs on the uncommitted LEDs on the MC Unit. Refer to 4-3 Motion Control
Application for a description of the various types of output and inputs.
Precautions:
The first 8 outputs (0 to 7) do not physically exist on the MC Unit. They can
not be written to and will always return 0.
Arguments:
output_number
The number of the output to be set.
value
The value to be output, either OFF or ON. All non-zero values are considered
as ON.
binary_pattern
The integer equivalent of the binary pattern is to be output.
See also:
Examples:
128
I/O Function/Command
DISPLAY, IN
Example 1
The following two lines are equivalent.
OP(12,1)
OP(12,ON)
Example 2
This following line sets the bit pattern 10010 on the first 5 physical outputs,
outputs 13 to 31 would be cleared. The bit pattern is shifted 8 bits by multiplying by 256 to set the first available outputs as outputs 0 to 7 do not exist.
Section 5-3
Command, function and parameter description
OP(18*256)
Example 3
This routine sets outputs 8 to 15 ON and all others OFF.
VR(0) = OP
VR(0) = VR(0) AND 65280
OP(VR(0))
The above programming can also be written as follows:
OP(OP AND 65280)
Example 4
This routine sets value val to outputs 8 to 11 without affecting the other outputs by using masking.
15 14 13 12 11 10 9
8
7
6
5
4
3
2
1
0
val
val = 8
mask = OP AND NOT(15*256)
OP(mask OR val*256)
‘The value to set
‘Get current status and mask
‘Set val to OP(8) to OP(11)
5-3-116 OPEN_WIN
Type:
Alternative:
Description:
See also:
Axis Parameter
OW
OPEN_WIN defines the beginning of the window inside or outside which a
registration event is expected. The value is in user units.
CLOSE_WIN, REGIST, UNITS
5-3-117 OR
Type:
Syntax:
Description:
Logical Operator
expression_1 OR expression_2
OR performs an OR operation between corresponding bits of the integer parts
of two valid BASIC expressions.
The OR operation between two bits is defined as follows:
Bit 1
Arguments:
Examples:
Bit 2
Result
0
0
0
0
1
1
1
0
1
1
1
1
expression_1
Any valid BASIC expression.
expression_2
Any valid BASIC expression.
Example 1
result = 10 OR (2.1*9)
The parentheses are evaluated first, but only the integer part of the result, 18,
is used for the operation. Therefore, this expression is equivalent to the following:
result = 10 OR 18
The OR is a bit operator and so the binary action taking place is:
01010
OR
10010
11010
129
Command, function and parameter description
Section 5-3
Therefore, result will contain the value 26.
Example 2
IF KEY OR VR(0) = 2 THEN GOTO label
5-3-118 OUTLIMIT
Type:
Axis Parameter
Description:
OUTLIMIT contains an output limit that restricts the voltage output from the
MC Unit for both servo loop (SERVO=ON) and open loop (SERVO=OFF).
The default is the maximum voltage output generated by a 12-bit DAC, which
is value 2047. Therefore, the output values are normally limited to -2048 to
2047 (–10 V to 10 V). Although the OUTLIMIT can be given values higher
than 2047, the output voltage can never be outside the -10 V to 10 V range.
See also:
AXIS, SERVO, DAC_OUT
Example:
OUTLIMIT AXIS(0) = 1023
The above line will limit the voltage output to a 5 V limit output (-5 V to 5 V).
5-3-119 OV_GAIN
Type:
Axis Parameter
Description:
OV_GAIN contains the output velocity gain. The output velocity output contribution is calculated by multiplying the change in measured position with
OV_GAIN. The default value is 0.
Adding output velocity gain to a system is mechanically equivalent to adding
damping. It is likely to produce a smoother response and allow the use of a
higher proportional gain than could otherwise be used, but at the expense of
higher following errors. High values may cause oscillation and produce high
following errors.
See section 1-4-2 Servo System Principles for more details.
Precautions:
In order to avoid any instability the servo gains should be changed only when
the SERVO is OFF.
See also:
AXIS, D_GAIN, I_GAIN, P_GAIN, VFF_GAIN
5-3-120 P_GAIN
Type:
Axis Parameter
Description:
P_GAIN contains the proportional gain. The proportional output contribution is
calculated by multiplying the following error with P_GAIN. The default value is
1.0.
The proportional gain sets the ’stiffness’ of the servo response. Values that
are too high will cause oscillation. Values that are too low will cause large following errors.
See section 1-4-2 Servo System Principles for more details.
Precautions:
In order to avoid any instability the servo gains should be changed only when
the SERVO is OFF.
See also:
AXIS, D_GAIN, I_GAIN, OV_GAIN, VFF_GAIN
5-3-121 PI
Type:
Description:
Constant
PI returns the numerical value 3.1416.
Note A constant is read-only.
Example:
130
circum = 100
PRINT "Radius = ";circum/(2*PI)
Section 5-3
Command, function and parameter description
5-3-122 PLC_READ
Type:
Syntax:
Description:
Command
PLC_READ(PC_area,offset,length,vr_number)
The PLC_READ command is used to read data from the PC using one of the
PC Data Exchange methods and write it to the VR variables. The PLC_READ
enables the user to access PC data either by reading directly from the PC
memory or by reading the two PC output words in IR/CIO area. Refer to 3-2
Overview of Data Exchanges for more details on PC Data Exchange.
Direct data transfer
PLC_READ requests a data transfer from the CPU Unit to the MC Unit at the
end of the next CPU Unit I/O refresh. The transfer of data takes place transparently to the PC program. The PC area to read from is specified by the
PC_area argument. The input is given by PLC_xx, where xx is the specified
memory area. The maximum amount of data to be transferred is 127 words.
Data words in IR/CIO area
The two word output data within the PC area is updated every I/O refresh to
the allocated words in the MC Unit. These allocated words can be copied to
VR variables by specifying the PC_area argument as PLC_REFRESH.
The other arguments specify the amount of data to be read and the source
and destination addresses. The program execution will pause until the data is
transferred.
Arguments:
PC_area
The memory area in the CPU Unit from which the data is to be transferred.
The valid areas are as follows:
PC_area
Data area
Address range
PLC_DM (0)
DM area
0 to 1999 - C200H
0 to 6143 - C200HS/HE/HG/HX, CS1
PLC_IR (1)
IR(SR) area
0 to 255
0 to 299
0 to 511
- C200H
- C200HS
- C200HE/HG/HX, CS1
PLC_LR (2)
LR area
0 to 63
- C200H/HS/HE/HG/HX, CS1
PLC_HR (3)
HR area
0 to 99
- C200H/HS/HE/HG/HX, CS1
PLC_AR (4)
AR area
0 to 27
- C200H/HS/HE/HG/HX, CS1
PLC_TC (5)
TC area
0 to 511
- C200H/HS/HE/HG/HX, CS1
PLC_EM (6)
EM area
0 to 6143 - C200HE/HG/HX, CS1
PLC_REFRESH (7)
-
-
offset
The address offset into the specified memory area in the CPU Unit.
length
The number of words of data to be transferred starting from, and including,
the specified address offset in the CPU Unit.
vr_number
The first VR variable into which word data is to be stored. Consecutive VR
variables will be used for any subsequent words that are transferred.
Care must be taken when specifying vr_number to ensure that the specified
VR variables are not outside the VR variable range. A parameter out-of-range
error will occur if this restriction is not met.
131
Command, function and parameter description
Examples:
Section 5-3
Example 1
To read the contents of DM 500 to DM 599 from the CPU Unit into the
VR(100) to VR(199) on the MC Unit, the following command must be executed.
PLC_READ(PLC_DM,500,100,100)
Example 2
The following command is used to read the word data from the CPU Unit’s IR
area from the allocated words in the MC Unit to VR(10) and VR(11).
PLC_READ(PLC_REFRESH,0,2,10)
5-3-123 PLC_TYPE
Type:
System Parameter
Description:
PLC_TYPE gives the PC CPU Unit model that the MC402 is connected to on
the Backplane. The possible values are as follows:
0
1
2
3
4
5
6
7
Unknown PC
C200H
C200HS
C200HE (CPU11)
C200HE (not CPU11)
C200HG
C200HX (up to CPU85-Z)
C200HX (CPU85-Z and up)
CS1
Note This parameter is read-only.
Example:
Assuming the connected CPU Unit model is a C200HG, the following line will
return give this result.
>> PRINT PLC_TYPE[0]
5
5-3-124 PLC_WRITE
Type:
Syntax:
Description:
Command
PLC_WRITE(PC_area,offset,length,vr_number)
The PLC_WRITE command is used to and read data from the VR variables
and write the data to the PC using one of the PC Data Exchange methods.
The PLC_WRITE enables the user to access PC data either by writing directly
to the PC memory or by writing to the two PC input words in IR/CIO area.
Refer to 3-2 Overview of Data Exchanges for more details on PC Data
Exchange.
Direct data transfer
PLC_WRITE requests a data transfer from the MC Unit to the CPU Unit at the
end of the next CPU Unit I/O refresh. The transfer of data takes place transparently to the PC program. The PC area to write to is specified by the
PC_area argument. The input is given by PLC_xx, where xx is the specified
memory area. The maximum amount of data to be transferred is 127 words.
Data words in IR/CIO area
The two word input data within allocated words in the MC Unit are updated
every I/O refresh to the IR/CIO area of the CPU Unit. These allocated words
can be written from the VR variables by specifying the PC_area argument as
PLC_REFRESH.
132
Section 5-3
Command, function and parameter description
The other arguments specify the amount of data to be written and the source
and destination addresses. The program execution will pause until the data is
transferred.
Arguments:
PC_Area
The memory area in the CPU Unit from which the data is to be transferred.
The valid areas are as follows:
PC_area
Data area
Address range
PLC_DM (0)
DM area
0 to 1999 - C200H
0 to 6143 - C200HS/HE/HG/HX, CS1
PLC_IR (1)
IR(SR) area
0 to 255
0 to 299
0 to 511
PLC_LR (2)
LR area
0 to 63
- C200H/HS/HE/HG/HX, CS1
PLC_HR (3)
HR area
0 to 99
- C200H/HS/HE/HG/HX, CS1
PLC_AR (4)
AR area
0 to 27
- C200H/HS/HE/HG/HX, CS1
PLC_TC (5)
TC area
0 to 511
- C200H/HS/HE/HG/HX, CS1
PLC_EM (6)
EM area
0 to 6143 - C200HE/HG/HX, CS1
PLC_REFRESH (7)
-
-
- C200H
- C200HS
- C200HE/HG/HX, CS1
offset
The address offset into the specified memory area in the CPU Unit.
length
The number of words of data to be transferred starting from, and including,
the specified address offset in the CPU Unit.
vr_number
The first VR variable from which word data is to be read. Consecutive VR variables will be used for any subsequent words that are transferred.
Care must be taken when specifying vr_number to ensure that the specified
VR variables are not outside the VR variable range. A parameter out-of-range
error will occur if this restriction is not met.
Example:
To write the contents of variables VR(100) to VR(199) on the MC Unit to DM
500 to DM 599 in the CPU Unit, the following command must be executed.
PLC_WRITE(PLC_DM,500,100,100)
5-3-125 PMOVE
Type:
Description:
Task Parameter
PMOVE will contain TRUE if the task buffers are occupied, and FALSE if they
are empty.
When the task executes a movement command, the task loads the movement
information into the task move buffers. The buffers can hold one movement
instruction for any group of axes. PMOVE will be set to TRUE when loading of
the buffers has been completed. When the next servo interrupt occurs, the
motion generator will load the movement into the next move (NTYPE) buffers
of the required axes if they are available. When this second transfer has been
completed, PMOVE will be cleared to zero until another move is executed in
the task.
Each task has its own PMOVE parameter. Use the PROC modifier to access
the parameter for a certain task. Without PROC the current task will be
assumed.
Note This parameter is read-only.
See also:
NTYPE, PROC
133
Command, function and parameter description
Section 5-3
5-3-126 POWER_UP
Type:
Description:
System Parameter
POWER_UP contains the location of programs to be used at start-up, either
in RAM or in flash EPROM. The POWER_UP parameter is stored in flash
EPROM.
The following values are valid:
0
1
Precautions:
See also:
Use programs in RAM
Copy programs from flash EPROM into RAM before using program in
RAM
• Programs are individually set to be run at start-up with the RUNTYPE
command.
• POWER_UP cannot be included in BASIC programs.
EPROM, RUNTYPE
5-3-127 PP_STEP
Type:
Description:
See also:
Examples:
Axis Parameter
PP_STEP contains an integer value that scales the incoming raw encoder
count. The incoming raw encoder count will be multiplied by PP_STEP before
being applied. Scaling can be used to match encoders to high-resolution
motors for position verification or for moving along circular arcs on machines
where the number of encoder edges/distance is not the same on the axes.
The valid range is [-1023, -1] and [1, 1023]. Default is value 1.
AXIS, MHELICAL, MOVECIRC, UNITS
Example 1
A motor has 20,000 steps/rev. The MC Unit will thus internally process 40,000
counts/rev. A 2,500-pulse encoder is to be connected. This will generate
10,000 edge counts/rev. A multiplication factor of 4 is therefore required to
convert the 10,000 counts/rev to match the 40,000 counts/rev of the motor.
The following line would be used for axis 3.
PP_STEP AXIS(3) = 4
Example 2
An X-Y machine has encoders which input 50 edges/mm in the X axis (axis 0)
and 75 edges/mm in the Y axis (axis 1). Circular arc interpolation is required
between the axes. This requires that the interpolating axes have the same
number of encoder counts/distance. It is not possible to multiply the X axis
counts by 1.5, because PP_STEP must be an integer. Both X and Y axes
must, therefore, be set to give 150 edges/mm. The settings would be as follows:
PP_STEP AXIS(0) = 3
PP_STEP AXIS(1) = 2
UNITS AXIS(0) = 150
UNITS AXIS(1) = 150
5-3-128 PRINT
Type:
Syntax:
Description:
134
I/O Command
PRINT[#n,] expression{, expression }
?[#n,] expression{, expression}
PRINT outputs a series of characters to the serial ports. PRINT can output
parameters, fixed ASCII strings, and single ASCII characters. By using
PRINT#n, any port can be selected to output the information to. The default
port is the RS-232C programming port A.
Command, function and parameter description
Section 5-3
Multiple items to be printed can be put on the same line separated by a
comma “,” or a semi-colon “;”. A comma separator in the print command
places a tab between the printed items. The semi-colon separator prints the
next item without any spaces between printed items.
The width of the field in which a number is printed can be set with the use of
[w,x] after the number to be printed. The width of the column is given by w and
the number of decimal places is given by x. Using only one parameter [x]
takes the default width and specifies the number of decimal places to be
printed. The numbers are right aligned in the field with any unused leading
characters being filled with spaces. If the number is too long, then the field will
be filled with asterisks to signify that there was not sufficient space to display
the number. The maximum field width allowable is 127 characters.
CHR(x)
The CHR(x) command is used to send individual ASCII characters using their
ASCII codes. The semi-colon on the end of the print line suppresses the carriage return normally sent at the end of a print line. ASCII(13) generates CR
without a linefeed so the line above would be printed on top of itself if it were
the only print statement in a program. PRINT CHR(x); is equivalent to PUT(x)
in some forms of BASIC.
Arguments:
n
The specified output device. If omitted, the RS-232C programming port will be
used.
0
1
5
6
7
RS-232C programming port A (default)
RS-232C serial port B
Motion Perfect port A user channel 5
Motion Perfect port A user channel 6
Motion Perfect port A user channel 7
expression
The expression to be printed.
Examples:
Example 1
PRINT "CAPITALS and lower case CAN BE PRINTED"
Example 2
Consider VR(1) = 6 and variab = 1.5, the print output will be as follows:
PRINT 123.45,VR(1)-variab
123.4500 4.5000
Example 3
In this example, the semi-colon separator is used. This does not tab into the
next column, allowing the programmer more freedom in where the print items
are placed.
length:
PRINT "DISTANCE = ";mpos
DISTANCE = 123.0000
Example 4
PRINT VR(1)[ 4,1 ];variab[ 6,2 ]
6.0 1.50
Example 5
params:
PRINT "DISTANCE = ";mpos[ 0 ];" SPEED = ";v[ 2 ];
DISTANCE = 123 SPEED = 12.34
Example 6
PRINT "ITEM ";total" OF ";limit;CHR(13);
135
Command, function and parameter description
Section 5-3
5-3-129 PROC
Type:
Task Command
Syntax:
PROC(task_number)
Description:
The PROC modifier allows a process parameter from a particular process to
be read or written. If omitted, the current task will be assumed.
Argument:
task_number
The number of the task to access.
Example:
WAIT UNTIL PMOVE PROC(3)=0
5-3-130 PROCESS
Type:
Program Function
Syntax:
PROCESS
Description:
PROCESS returns the running status and task number for each current task.
See also:
HALT, RUN, STOP
5-3-131 PROCNUMBER
Type:
Task Parameter
Description:
The PROCNUMBER parameter contains the number of the task in which the
currently selected program is running. PROCNUMBER is often required when
multiple copies of a program are running on different tasks.
Note This parameter is read-only.
Example:
MOVE(length) AXIS(PROCNUMBER)
5-3-132 PSWITCH
Type:
Syntax:
PSWITCH(switch, enable[, axis, output_number, output_state, set_position,
reset_position])
Description:
PSWITCH turns ON an output when a predefined position is reached, and
turns OFF the output when a second position is reached. The positions are
specified as the measured absolute positions.
There are 16 position switches each of which can be assigned to any axis.
Each switch is assigned its own ON and OFF positions and output number.
The command can be used with 2 or all 7 arguments. With only 2 arguments a
given switch can be disabled.
PSWITCHs are calculated on each servo cycle and the output result applied
to the hardware. The response time is therefore 1 servo cycle (1 ms) approximately.
Precautions:
An output may remain ON if it was ON when the PSWITCH was turned OFF.
The OP command can be used to turn OFF an output as follows:
PSWITCH(2,OFF)
OP(14,OFF)
’Turn OFF pswitch controlling OP 14
Arguments:
136
I/O Command
switch
The switch number. Range: [0,15].
enable
The switch enable. Range: [ON, OFF].
axis
The number of the axis providing the position input.
output_number
The physical output to set. Range: [8,15] and [20,31].
Section 5-3
Command, function and parameter description
output_state
The state to output. Range: [ON, OFF].
set_position
The absolute position in user units at which output is set.
reset_position
The absolute position in user units at which output is reset.
See also:
OP, UNITS
Example:
A rotating shaft has a cam operated switch which has to be changed for different size work pieces. There is also a proximity switch on the shaft to indicate
the TDC of the machine. With a mechanical cam, the change from job to job is
time consuming. This can be eased by using PSWITCH as a software cam
switch. The proximity switch is wired to input 7 and the output is output 11.
The shaft is controlled by axis 0 of a 3-axis system. The motor has a 900ppr
encoder. The output must be on from 80 units.
PSWITCH uses the unit conversion factor to allow the positions to be set in
convenient units. First the unit conversion factor must be calculated and set.
Each pulse on an encoder gives four edges for the MC Unit to count. There
are thus 3,600 edges/rev or 10 edges/degree. If we set the unit conversion
factor to 10, we can work in degrees.
Next we have to determine a value for all the PSWITCH arguments.
sw
en
axis
opno
opst
setpos
rspos
The switch number can be any switch that is not in use. In
this example, we will use number 0.
The switch must be enabled to work; set the enable to 1.
The shaft is controlled by axis 0.
The output being controlled is output 11.
The output must be on so set to 1.
The output is to produced at 80 units.
The output is to be on for a period of 120 units.
This can all be put together in the following lines of BASIC code:
switch:
UNITS AXIS(0) = 10
’Set unit conversion factor
REPDIST = 360
REP_OPTION = ON
PSWITCH(0,ON,0,11,ON,80,200)
This program uses the repeat distance set to 360 degrees and the repeat
option ON so that the axis position will be maintained between 0 and 360
degrees.
5-3-133 RAPIDSTOP
Type:
Syntax:
Alternative:
Description:
Precautions:
Motion Control Command
RAPIDSTOP
RS
RAPIDSTOP cancels the current
buffer (MTYPE). Moves for speed
ABS, MOVEMODIFY, FORWARD,
will decelerate to a stop. Moves
stopped.
move on all axes from the current move
profiled move commands (MOVE, MOVEREVERSE, MOVECIRC, and MHELICAL)
for other commands will be immediately
• RAPIDSTOP cancels only the presently executing moves. If further
moves are buffered in the next move buffers (NTYPE) or the task buffers
they will then be loaded.
137
Command, function and parameter description
Section 5-3
• During the deceleration of the current moves additional RAPIDSTOPs will
be ignored.
See also:
CANCEL, MTYPE, NTYPE
5-3-134 READ_BIT
Type:
System Command
Syntax:
READ_BIT(bit_number, vr_number)
Description:
The READ_BIT command returns the value of the specified bit in the specified VR variable, either 0 or 1.
Arguments:
bit_number
The number of the bit to be read. Range: [0,23].
vr_number
The number of the VR variable for which the bit is read. Range: [0,250].
See also:
CLEAR_BIT, SET_BIT, VR
5-3-135 REG_POS
Type:
Alternative:
Description:
Axis Parameter
RPOS
REG_POS stores the position in user units at which a registration event
occurred.
Note This parameter is read-only.
See also:
AXIS, MARK, REGIST, UNITS
5-3-136 REGIST
Type:
Syntax:
Description:
Axis Command
REGIST(mode)
REGIST captures an axis position when a registration input or the Z marker
on the encoder is detected.
The capture is carried out by hardware, so software delays do not affect the
accuracy of the position captured. If the registration input or Z marker is
detected as specified within the specified window, the MARK axis parameter
will be set to TRUE and the position will stored in the REG_POS axis parameter.
The inputs R0 to R3 correspond to registration inputs for servo axes 0 to 3.
These registration inputs are fixed, but other functions like datum switch input
and limit switch inputs can also be allocated to inputs R0 to R3. Refer to 1-5
Specifications for the time delay on the inputs.
REGIST works on the default basis axis (set with BASE) unless AXIS is used
to specify a temporary base axis.
Inclusive windowing
Add 256 to the mode argument value to apply inclusive windowing. When
inclusive windowing is applied, signals will be ignored if the axis measured
position is not greater than the OPEN_WIN parameter and less than the
CLOSE_WIN parameter.
Exclusive windowing
Add 768 to the mode argument value to apply exclusive windowing. When
exclusive windowing is applied, signals will be ignored if the axis measured
position is not less than the OPEN_WIN parameter or greater than the
CLOSE_WIN parameter.
138
Command, function and parameter description
Precautions:
Arguments:
REGIST must be executed once for each position capture.
mode
Specifies the type of capture to make.
1
2
3
4
See also:
Examples:
Section 5-3
Capture absolute position on rising edge of Z marker
Capture absolute position on falling edge of Z marker
Capture absolute position on rising edge of registration input
Capture absolute position on falling edge of registration input
AXIS, CLOSE_WIN, MARK, OPEN_WIN, REG_POS
Example 1
catch:
REGIST(3)
WAIT UNTIL MARK
PRINT "Registration input at:";REG_POS
Example 2
A paper cutting machine uses a CAM profile to quickly draw paper through
servo-driven rollers and then stop it while it is cut. The paper is printed with a
registration mark. This mark is detected and the length of the next sheet is
adjusted by scaling the CAM profile with the third argument (table_multiplier)
of the CAM command:
‘Set window open and close
length = 200
OPEN_WIN = 10
CLOSE_WIN = length-10
GOSUB Initial
loop:
TICKS = 0
’Set servo cycle counter to 0
IF MARK THEN
offset = REG_POS
’Next line makes offset -ve if at end of sheet
IF ABS(offset-length) < offset THEN
offset=offset - length
ENDIF
PRINT "Mark seen at:"offset[5.1]
ELSE
offset = 0
PRINT "Mark not seen"
ENDIF
‘Reset registration prior to each move
DEFPOS(0)
REGIST(3+768)
’Allow mark at first 10 mm or last 10 mm of sheet
CAM(0,50,(length+offset*0.5)*cf,1000)
WAIT UNTIL TICKS > 500
GOTO loop
The variable cf is a constant which would be calculated depending on the
machine draw length per encoder edge.
5-3-137 REMAIN
Type:
Axis Parameter
139
Command, function and parameter description
Description:
Section 5-3
The REMAIN axis parameter is the distance remaining to the end of the current move. It can be tested to see how much of the move has been completed. REMAIN is defined in user units.
Note This parameter is read-only.
See also:
AXIS, UNITS
Example:
To change the speed to a slower value 5mm from the end of a move.
start:
SPEED = 10
MOVE(45)
WAIT UNTIL REMAIN < 5
SPEED = 1
WAIT IDLE
5-3-138 RENAME
Type:
Syntax:
Program Command
RENAME “old_program_name” “new_program_name”
Description:
RENAME changes the name of a program in the MC Unit directory. The program names can also be specified without quotes.
Precautions:
This command is implemented for an offline (VT100) terminal. Within Motion
Perfect users can select the command from the Program menu.
Arguments:
old_program_name
Current name of the program.
new_program_name
New name of the program.
See also:
COPY, DEL, NEW
Example:
RENAME "car" "voiture"
5-3-139 REP_DIST
Type:
Description:
See also:
Axis Parameter
REP_DIST contains the repeat distance, which is the allowable range of
movement for an axis before the demand position (DPOS) and measured
position (MPOS) are corrected. REP_DIST is defined in user units. The exact
range is controlled by REP_OPTION. The REP_DIST can have any non-zero
positive value.
When the measured position has reached its limit, the MC unit will adjust the
absolute positions without affecting the move in progress or the servo algorithm. Not that the demand position can be outside the range because the
measured position is used to trigger the adjustment.
For every occurrence (DEFPOS, OFFPOS, MOVEABS, MOVEMODIFY)
which defines a position outside the range, the end position will be redefined
within the range.
AXIS, DPOS, MPOS, REP_OPTION, UNITS
5-3-140 REP_OPTION
Type:
140
Axis Parameter
Section 5-3
Command, function and parameter description
Description:
REP_OPTION controls the application of the REP_DIST axis parameter and
the repeat option of the CAMBOX and MOVELINK motion control commands.
Bit
0
1
See also:
Description
The repeated distance range is controlled by bit 0 of the
REP_OPTION parameter.
• If REP_OPTION bit 0 is OFF, the range of the demanded and
measured positions will be between -REP_DIST and
REP_DIST.
• If REP_OPTION bit 0 is ON, the range of the demanded and
measured positions will be between 0 and REP_DIST.
The automatic repeat option of the CAMBOX and MOVELINK commands are controlled by bit 1 of the REP_OPTION parameter. The
bit is set ON to request the system software to end the automatic
repeat option. When the system software has set the option OFF it
automatically clears bit 1 of REP_OPTION.
AXIS, CAMBOX, MOVELINK, REP_DIST
5-3-141 REPEAT UNTIL
Type:
Syntax:
Structural Command
REPEAT
<commands>
UNTIL condition
Description:
The REPEAT ... UNTIL loop allows the program segment between the
REPEAT and the UNTIL statement to be repeated a number of times until the
condition becomes TRUE.
Precautions:
REPEAT ... UNTIL construct can be nested indefinitely.
Arguments:
commands
Any valid set of BASIC commands
condition
Any valid BASIC logical expression
See also:
FOR, WHILE
Example:
A conveyor is to index 100mm at a speed of 1000mm/s, wait for 0.5s and then
repeat the cycle until an external counter signals to stop by turning ON
input 4.
cycle:
SPEED = 1000
REPEAT
MOVE(100)
WAIT IDLE
WA(500)
UNTIL IN(4) = ON
5-3-142 RESET
Type:
Syntax:
Description:
See also:
System Command
RESET
The RESET command sets the value of all local variables of the current
BASIC task to zero.
CLEAR
141
Section 5-3
Command, function and parameter description
5-3-143 REV_IN
Type:
Axis Parameter
Description:
REV_IN contains the input number to be used as a reverse limit input. The
number can be from 0 to 15 and from 20 to 31. If REV_IN is set to –1, then no
input is used as a reverse limit.
If an input number is set and the limit is reached, any reverse motion on that
axis will be stopped. Bit 5 of the AXISSTATUS axis parameter will also be set.
Note This input is active low.
See also:
AXIS, AXISSTATUS, FWD_IN
5-3-144 REV_JOG
Type:
Axis Parameter
Description:
REV_JOG contains the input number to be used as a jog reverse input. The
input can be from 0 to 15 and from 20 to 31. If REV_JOG is set to –1 (default),
then no input is used as a reverse jog input.
Note This input is active low.
See also:
AXIS, FAST_JOG, FWD_JOG, JOGSPEED
5-3-145 REVERSE
Type:
Syntax:
Alternative:
Motion Control Command
REVERSE
RE
Description:
REVERSE moves an axis continuously in reverse at the speed set in the
SPEED parameter.
REVERSE works on the default basis axis (set with BASE) unless AXIS is
used to specify a temporary base axis.
Precautions:
The reverse motion can be stopped by executing the CANCEL or RAPIDSTOP command, or by reaching the reverse limit, inhibit, or origin return limit.
See also:
AXIS, CANCEL, FORWARD, RAPIDSTOP
Example:
back:
REVERSE
WAIT UNTIL IN(0) = ON
CANCEL
’Wait for stop signal
5-3-146 RS_LIMIT
Type:
Alternative:
Description:
See also:
Axis Parameter
RSLIMIT
RS_LIMIT contains the absolute position of the reverse software limit in user
units.
A software limit for reverse travel can be set from the program to control the
working envelope of the machine. When the limit is reached, the MC Unit will
decelerate to zero, and then cancel the move. Bit 10 of the AXISSTATUS axis
parameter will be turned ON when the axis position is smaller than / below
RS_LIMIT.
AXIS, FS_LIMIT, UNITS
5-3-147 RUN
Type:
142
Program Command
Command, function and parameter description
Syntax:
Section 5-3
RUN [“program_name”[, task_number]]
Description:
RUN executes the program in the MC Unit as specified with program_name.
RUN with the program name specification will run the current selected program. The program name can also be specified without quotes.
The task number specifies the task number on which the program will be run.
If the task number is omitted, the program will run on the highest available
task. RUN can be included in a program to run another program.
Precautions:
Execution continues until one of the following occurs:
• There are no more lines to execute.
• HALT is typed at the command line to stop all programs.
• STOP is typed at the command line to stop a single program.
• A run-time error is encountered.
Arguments:
program_name
Any valid program name.
task_number
Any valid task number. Range: [1,5].
See also:
HALT, STOP
Examples:
Example 1
The following example executes the currently selected program.
>> SELECT "PROGRAM"
PROGRAM selected
>> RUN
Example 2
The following example executes the program named “sausage”.
RUN "sausage"
Example 3
The following example executes the program named “sausage” on task 3.
RUN "sausage",3
5-3-148 RUN_ERROR
Type:
Task Parameter
Description:
RUN_ERROR contains the number of the last BASIC run-time error that
occurred on the specified task.
Each task has its own RUN_ERROR parameter. Use the PROC modifier to
access the parameter for a certain task. Without PROC the current task will
be assumed.
Note This parameter is read-only.
See also:
BASICERROR, ERROR_LINE, PROC
Example:
>> PRINT RUN_ERROR PROC(5)
9.0000
5-3-149 RUNTYPE
Type:
Syntax:
Description:
Program Command
RUNTYPE “program_name ”, auto_run[, task_number]
RUNTYPE determines whether the program, specified by program_name, is
run automatically at start-up or not and which task it is to run on. The task
number is optional, if omitted the program will run at the highest available
task.
143
Command, function and parameter description
Section 5-3
The current RUNTYPE status of each programs is displayed when a DIR
command is executed. If one program has compilation errors no programs will
be started at power up.
Precautions:
Arguments:
To set the RUNTYPE using Motion Perfect, select "Set Power-up mode" from
the Program Menu. RUNTYPE information is stored into the flash EPROM
only when the EPROM command is executed after.
program_name
The name of the program whose RUNTYPE is being set.
autorun
0
Running manually on command.
1
Automatically execute on power up. All non-zero values are considered as 1.
task_number
The number of the step on which to execute the program. Range: [1,5].
See also:
AUTORUN, EPROM, EX
Example:
>> RUNTYPE progname,1,5
The above line sets the program "progname" to run automatically at start-up
on task 5.
>> RUNTYPE progname,0
The above line sets the program "progname" to manual running.
5-3-150 SCOPE
Type:
Motion Perfect Command
Syntax:
SCOPE(ON/OFF_control, period, table_start, table_stop, P0[, P1[, P2[, P3]]])
Description:
SCOPE programs the system to automatically store up to 4 parameters every
sample period. The storing of data will start as soon as the TRIGGER command has been executed.
The sample period can be any multiple of the servo period. The parameters
are stored in the Table array and can then be read back to a computer and
displayed on the Motion Perfect Oscilloscope or written to a file for further
analysis using the "Create Table file" option on the File Menu.
The current Table position for the first parameter which is written by SCOPE
can be read from the SCOPE_POS parameter.
Note Motion Perfect uses SCOPE when running the Oscilloscope function.
144
Precautions:
Applications like the CAM command, CAMBOX command and the SCOPE
command all use the same Table as the data area. Do not use the same data
area for different applications.
Arguments:
ON/OFF_control
Set ON or OFF to control SCOPE execution. If turned ON the SCOPE is
ready to run as soon as the TRIGGER command is executed.
period
The number of servo periods between data samples.
table_start
The address of the first element in the Table array to start storing data.
table_stop
The address of the last element in the Table array to be used.
P0
First parameter to store.
P1
Optional second parameter to store.
Command, function and parameter description
Section 5-3
P2
Optional third parameter to store.
P3
Optional fourth parameter to store.
See also:
SCOPE_POS, TABLE, TRIGGER
Examples:
Example 1
SCOPE(ON,10,0,1000,MPOS AXIS(4),DPOS AXIS(4))
This example programs the SCOPE function to store the MPOS parameter for
axis 4 and the DPOS parameter for axis 4 every 10 ms. The MPOS parameter
will be stored in table locations 0 to 499; the DPOS parameters, in table locations 500 to 999. The SCOPE function will wrap and start storing at the beginning again unless stopped. Sampling will not start until the TRIGGER
command is executed.
Example 2
SCOPE(OFF)
This above line turns the scope function off.
5-3-151 SCOPE_POS
Type:
Description:
Motion Perfect Parameter
SCOPE_POS contains the current Table position at which the SCOPE command is currently storing its first parameter.
Note This parameter is read-only.
See also:
SCOPE
5-3-152 SELECT
Type:
Syntax:
Program Command
SELECT “program_name“
Description:
SELECT specifies the current program for editing, running, listing, etc.,
SELECT makes a new program if the name entered does not exist. The program name can also be specified without quotes.
When a program is selected, the commands COMPILE, DEL, EDIT, LIST,
NEW, RUN, STEPLINE, STOP and TROFF will apply to the currently selected
program unless a program is specified in the command line. When another
program is selected, the previously selected program will be compiled. The
selected program cannot be changed when a program is running.
Precautions:
This command is implemented for an offline (VT100) terminal. Motion Perfect
automatically selects programs when you click on their entry in the list in the
control panel.
See also:
COMPILE, DEL, EDIT, LIST, NEW, RUN, STEPLINE, STOP, TROFF
Example:
>> SELECT "PROGRAM"
PROGRAM selected
>> RUN
5-3-153 SERVO
Type:
Description:
Axis Parameter
SERVO determines whether the base axis runs under servo control or open
loop. When SERVO is ON, the axis hardware will output a voltage depending
on the gain settings and the following error.
145
Section 5-3
Command, function and parameter description
When SERVO is OFF, the axis hardware will output a voltage dependent on
the DAC axis parameter. All non-zero values for SERVO is also considered
as ON.
See also:
AXIS, DAC, FE_LIMIT, WDOG
Example:
SERVO AXIS(0) = ON
SERVO AXIS(1) = OFF
’Axis 0 is under servo control
’Axis 1 is run open loop
5-3-154 SET_BIT
Type:
Syntax:
System Command
SET_BIT(bit_number, vr_number)
Description:
The SET_BIT command sets the specified bit in the specified VR variable to
one. Other bits in the variable will keep their values.
Arguments:
bit_number
The number of the bit to be set. Range: [0,23].
vr_number
The number of the VR variable for which the bit is set. Range: [0,250].
See also:
CLEAR_BIT, READ_BIT, VR
5-3-155 SETCOM
Type:
Syntax:
I/O Command
SETCOM(baud_rate, data_bits, stop_bits , parity[, port_number
[, XON/XOFF_switch]])
Description:
SETCOM sets the serial communications. By default, the RS-232C port settings are 9,600 baud, 7 data bits, 2 stop bits and even parity. These default
settings are recovered at start-up.
Arguments:
baud_rate
1200, 2400,4800, 9600,19200, 38400
data_bits
7, 8
stop_bits
1, 2
parity
0
None
1
Odd
2
Even
port_number
0
RS-232C programming port A (default)
1
RS-232C serial port B
XON/ XOFF_switch
0
1
OFF
ON
This switch is available only on serial port B.
5-3-156 SGN
Type:
Syntax:
146
Mathematical Function
SGN(expression)
Command, function and parameter description
Section 5-3
Description:
SGN returns the sign of a number. It returns value 1 for positive values
(including zero) and value -1 for negative values.
Arguments:
expression
Any valid BASIC expression.
Example:
>> PRINT SGN(-1.2)
-1.0000
5-3-157 SIN
Type:
Syntax:
Mathematical Function
SIN(expression)
Description:
SIN returns the sine of the expression. Input values are in radians and may
have any value. The result value will be in the range from -1 to 1.
Arguments:
expression
Any valid BASIC expression.
Example:
>> PRINT SIN(PI/2)
1.0000
5-3-158 SPEED
Type:
Axis Parameter
Description:
The SPEED parameter contains the demand speed in units/s. It can have any
positive value (including zero). The demand speed is the maximum speed for
the speed profiled motion commands.
See also:
ACCEL, AXIS, DATUM, DECEL, FORWARD, MHELICAL, MOVE, MOVEABS, MOVECIRC, MOVEMODIFY, REVERSE, UNITS
Example:
SPEED = 1000
PRINT "Set speed = ";SPEED
5-3-159 SQR
Type:
Syntax:
Mathematical Function
SQR(expression)
Description:
SQR returns the square root of the expression. The expression must have
positive (including zero) value.
Arguments:
expression
Any valid BASIC expression.
Example:
>> PRINT SQR(4)
2.0000
5-3-160 SRAMP
Type:
Axis Parameter
Description:
SRAMP contains the S-curve factor. The S-curve factor controls the amount
of rounding applied to the trapezoidal profiles. A value of 0 sets no rounding.
A value of 10 sets maximum rounding.
Using S-curves increases the time required for the movement to complete.
SRAMP is applied to the FORWARD, MHELICAL, MOVE, MOVEABS,
MOVECIRC and REVERSE commands.
Precautions:
The S-curve factor must not be changed while a move is in progress.
See also:
AXIS
147
Command, function and parameter description
Section 5-3
5-3-161 STEPLINE
Type:
Syntax:
Program Command
STEPLINE [“ program_name”[, task_number]]
Description:
STEPLINE executes one line (i.e., “steps”) in the program specified by
program_name. The program name can also be specified without quotes. If
STEPLINE is executed without program name on the command line the current selected program will be stepped. If STEPLINE is executed without program name in a program this program will be stepped.
If the program is specified then all occurrences of this program will be
stepped. If there is no copy of the program running, then one will be started on
the next available task. If the task is specified as well then only the copy of the
program running on the specified task will be stepped. If there is no copy of
the program running on the specified task then one will be started on it.
Arguments:
program_name
The name of the program to be stepped.
task_number
The number of the task with the program to be stepped. Range: [1,5].
See also:
Examples:
RUN, SELECT, STOP, TROFF, TRON
Example 1
>> STEPLINE "conveyor"
Example 2
>> STEPLINE "maths",2
5-3-162 STOP
Type:
Syntax:
Program Command
STOP [“ program_name”[, task_number ]
Description:
STOP halts execution of one program specified with program_name. The program name can also be specified without quotes. If the program name is omitted, then the currently selected program will be halted.
In case of multiple executions of a single program on different tasks the
task_number can be used to specify the specific task to be stopped.
Arguments:
program_name
The name of the program to be stopped.
task_number
The number of the task with the program to be stepped. Range: [1,5].
See also:
Examples:
HALT, RUN, SELECT
Example 1
>> STOP progname
Example 2
The lines from label on will not be executed in this example.
STOP
label:
PRINT var
RETURN
5-3-163 TABLE
Type:
Syntax:
148
System Command
TABLE(address, value{, value})
TABLE(address)
Command, function and parameter description
Section 5-3
Description:
TABLE loads data to and reads data from the Table array. The Table has a
maximum length of 16,000 elements. The table values are floating-point numbers with fractions. The table can also be used to hold information, as an
alternative to variables. The TABLE command has two forms.
• TABLE(address, value{, value}) writes a sequence of values to the Table
array. The location of the element is specified by address. The sequence
can have a maximum length of 20 elements.
• TABLE(address) returns the table value at that entry.
A value in the table can be read only if a value of that number or higher has
been previously written to the table. For example, printing TABLE(1001) will
produce an error message if the highest table location previously written to
the table is location 1000. The total Table size is indicated by the TSIZE
parameter. Note that this value is one more than the highest defined element
address.
The table entries are backed up by a battery. The table can be deleted with by
using DEL “TABLE” or NEW “TABLE” on the command line.
Precautions:
Applications like the CAM command, CAMBOX command and the SCOPE
command in Motion Perfect all use the same Table as the data area. Do not
use the same data area range for different purposes.
!Caution
Arguments:
See also:
Examples:
If the voltage of the backup battery drops, Table and VR data will be lost. This
can happen when the power to the MC Unit is turned OFF for a long period of
time. You must rewrite table data, e.g., from a program, whenever the backup
battery has been drained. The Low Battery Flag will turn ON when the voltage
of the backup battery has dropped. Also the BATTERY_LOW system parameter will become TRUE. Refer to 3-1-2 Overview of IR/CIO Area Allocations
and 5-3-28 BATTERY_LOW for detailed information.
address
The first location in the Table to read or write. Range: [0,15999]
value
The value to write at the given location and at subsequent locations.
BATTERY_LOW, CAM, CAMBOX, DEL, NEW, SCOPE, TSIZE, VR
Example 1
TABLE(100,0,120,250,370,470,530,550)
The above line loads the following internal table:
Table Entry
Value
100
0
101
120
102
250
103
370
104
470
105
530
106
550
Example 2
The following line will print the value at location 1000.
>> PRINT TABLE(1000)
5-3-164 TAN
Type:
Syntax:
Mathematical Function
TAN(expression)
149
Command, function and parameter description
Section 5-3
Description:
TAN returns the tangent of the expression. The expression is assumed to be
in radians.
Arguments:
expression
Any valid BASIC expression.
Example:
>> print TAN(PI/4)
1.0000
5-3-165 TICKS
Type:
Task Parameter
Description:
TICKS contains the current count of the task clock pulses. TICKS is a 32-bit
counter that is decremented on each servo cycle. TICKS can be written and
read. It can be used to measure cycles times, add time delays, etc.
Each task has its own TICKS parameter. Use the PROC modifier to access
the parameter for a certain task. Without PROC the current task will be
assumed.
Example:
delay:
TICKS = 3000
OP(9,ON)
test:
IF TICKS< = 0 THEN
OP(9,OFF)
ELSE
GOTO test
ENDIF
5-3-166 TRIGGER
Type:
Syntax:
Description:
Motion Perfect Command
TRIGGER
TRIGGER starts a previously set up SCOPE command.
Note Motion Perfect uses TRIGGER automatically for its oscilloscope function.
See also:
SCOPE
5-3-167 TROFF
Type:
Syntax:
Program Command
TROFF [“ program_name”]
Description:
TROFF suspends a trace at the current line and resumes normal program
execution for the program specified with program_name. The program name
can also be specified without quotes. If the program name is omitted, the
selected program will be assumed.
Arguments:
program_name
The name of the program for which to suspend tracing.
See also:
SELECT, TRON
Example:
>> TROFF "lines"
5-3-168 TRON
Type:
Syntax:
Description:
150
Program Command
TRON
TRON creates a breakpoint in a program that will suspend program execution
at the line following the TRON command. The program can then for example
be executed one line at a time using the STEPLINE command.
Command, function and parameter description
Section 5-3
• Program execution can be resumed without using the STEPLINE command by executing the TROFF command.
• The trace mode can be stopped by issuing a STOP or HALT command.
• Motion Perfect highlights lines containing TRON in the Edit and Debug
Windows.
See also:
TROFF
Example:
TRON
MOVE(0,10)
MOVE(10,0)
TRON
MOVE(0,-10)
MOVE(-10,0)
5-3-169 TRUE
Type:
Description:
Constant
TRUE returns the numerical value -1.
Note A constant is read-only.
Example:
test:
t = IN(0) AND IN(2)
IF t = TRUE THEN
PRINT "Inputs are ON"
ENDIF
5-3-170 TSIZE
Type:
Description:
System Parameter
TSIZE returns the size of the Table array, which is one more than the currently highest defined table element.
TSIZE is reset to zero when the Table array is deleted using DEL “TABLE” or
NEW “TABLE” on the command line.
Note This parameter is read-only.
See also:
DEL, NEW, TABLE
Example:
The following example assumes that no location higher than 1000 has been
written to the Table array.
>> TABLE(1000,3400)
>> PRINT TSIZE
1001.0000
5-3-171 UNITS
Type:
Axis Parameter
Description:
The UNITS axis parameter contains the unit conversion factor. The unit conversion factor enables the user to define a more convenient user unit like m,
mm or motor revolutions by specifying the amount of encoder edges to
include a user unit.
Axis parameters like speed, acceleration, deceleration and the motion control
commands are specified in these user units.
Precautions:
UNITS can be any non-zero value, but it is recommended to design systems
with an integer number of encoder pulses per user unit. Changing UNITS will
affect all axis parameters which are dependent on UNITS in order to keep the
same dynamics for the system.
See also:
AXIS, PP_STEP
151
Command, function and parameter description
Example:
Section 5-3
A leadscrew arrangement has a 5mm pitch and a 1,000-pulse/rev encoder.
The units must be set to allow moves to be specified in mm.
The 1,000 pulses/rev will generate 1,000 x 4 = 4,000 edges/rev. One rev is
equal to 5mm. Therefore, there are 4,000/5 = 800 edges/mm. UNITS is thus
set as following.
>> UNITS = 1000*4/5
5-3-172 VERSION
Type:
System Parameter
Description:
VERSION returns the version number of the BASIC language installed in the
MC Unit.
Note This parameter is read-only.
Example:
>> PRINT VERSION
1.5000
5-3-173 VFF_GAIN
Type:
Axis Parameter
Description:
VFF_GAIN contains the speed feed forward gain. The speed feed forward
output contribution is calculated by multiplying the change in demand position
with VFF_GAIN. The default value is zero.
Adding speed feed forward gain to a system decreases the following error
during a move by increasing the output proportionally with the speed.
See section 1-4-2 Servo System Principles for more details.
Precautions:
In order to avoid any instability the servo gains should be changed only when
the SERVO is OFF.
See also:
AXIS, D_GAIN, I_GAIN, OV_GAIN, P_GAIN
5-3-174 VP_SPEED
Type:
Description:
Axis Parameter
VP_SPEED contains the speed profile speed in user units/s. The speed profile speed is an internal speed which is accelerated and decelerated as the
movement is profiled.
Note This parameter is read-only.
See also:
AXIS, MSPEED, UNITS
Example:
’Wait until at command speed
MOVE(100)
WAIT UNTIL SPEED = VP_SPEED
5-3-175 VR
Type:
Syntax:
Description:
152
System Command
VR(expression)
The VR command calls the value of or assigns a value to a global variable.
These VR variables hold real numbers and can be easily used as an element
or as an array of elements. The MC Unit has in total 251 VR variables. The
variables are accessed as variables 0 to 250.
The VR variables can be used for several purposes in BASIC programming.
• The VR variables are backed up by a battery and are not cleared between
start-ups.
Command, function and parameter description
Section 5-3
• The VR variables are globally shared between tasks and can be used for
communications between tasks. The programs must be written so that
only one program writes to the same global variable at the same time.
!Caution
Arguments:
See also:
Examples:
If the voltage of the backup battery drops, Table and VR data will be lost. This
can happen when the power to the MC Unit is turned OFF for a long period of
time. You must rewrite table data, e.g., from a program, whenever the backup
battery has been drained. The Low Battery Flag will turn ON when the voltage
of the backup battery has dropped. Also the BATTERY_LOW system parameter will become TRUE. Refer to 3-1-2 Overview of IR/CIO Area Allocations
and 5-3-28 BATTERY_LOW for detailed information.
expression
Any valid BASIC expression. Range: [0,250].
BATTERY_LOW, CLEAR_BIT, READ_BIT, SET_BIT, TABLE
Example 1
In the following example, the value 1.2555 is placed into VR variable 15. The
local variable val is used to name the global variable locally:
val = 15
VR(val) = 1.2555
Example 2
A transfer gantry has 10 put down positions in a row. Each position may at
any time be full or empty. VR(101) to VR(110) are used to hold an array of ten
1’s and 0’s to signal that the positions are full (1) or empty (0). The gantry puts
the load down in the first free position. Part of the program to achieve this
would be as follows:
movep:
MOVEABS(115)
‘Move to first put down position
FOR VR(0) = 101 TO 110
IF (VR(VR(0)) = 0) THEN GOSUB load
MOVE(200)
‘200 is spacing between positions
NEXT VR(0)
PRINT "All positions are full"
WAIT UNTIL IN(3) = ON
GOTO movep
load:
’Put load in position and mark array
OP(15,OFF)
VR(VR(0)) = 1
RETURN
The variables are backed up by a battery so the program here could be
designed to store the state of the machine when the power is OFF. It would of
course be necessary to provide a means of resetting completely following
manual intervention.
Example 3
loop:
‘Assign VR(65) to VR(0) multiplied by
‘axis 1 measured position
VR(65) = VR(0)*MPOS AXIS(1)
PRINT VR(65)
GOTO loop
5-3-176 WA
Type:
Syntax:
System Command
WA(time)
153
Command, function and parameter description
Section 5-3
Description:
WA holds program execution for the number of milliseconds specified for
time. The command can only be used in a program.
Arguments:
time
The number of milliseconds to hold program execution.
Example:
The following lines would turn ON output 7 two seconds after turning OFF output 1.
OP(1,OFF)
WA(2000)
OP(7,ON)
5-3-177 WAIT IDLE
Type:
Syntax:
System Command
WAIT IDLE
Description:
WAIT IDLE suspends program execution until the base axis has finished executing its current move and any buffered move. The command can only be
used in a program.
WAIT IDLE works on the default basis axis (set with BASE) unless AXIS is
used to specify a temporary base axis.
Precautions:
The execution of WAIT IDLE does not necessarily mean that the axis will be
stationary in a servo motor system.
See also:
AXIS, WAIT LOADED
Example:
MOVE(100)
WAIT IDLE
PRINT "Move Done"
5-3-178 WAIT LOADED
Type:
Syntax:
Description:
System Command
WAIT LOADED
WAIT LOADED suspends program execution until the base axis has no
moves buffered ahead other than the currently executing move. The command can only be used in a program.
This is useful for activating events at the beginning of a move, or at the end
when multiple moves are buffered together.
WAIT LOADED works on the default basis axis (set with BASE) unless AXIS
is used to specify a temporary base axis.
See also:
AXIS, WAIT IDLE
Example:
‘Switch output 8 ON at start of start of MOVE(500)
‘and OFF at end
MOVE(800)
MOVE(500)
WAIT LOADED
OP(8,ON)
MOVE(400)
WAIT LOADED
OP(8,OFF)
5-3-179 WAIT UNTIL
Type:
Syntax:
154
System Command
WAIT UNTIL condition
Command, function and parameter description
Section 5-3
Description:
WAIT UNTIL repeatedly evaluates the condition until it is TRUE. After this
program execution will continue. The command can only be used in a program.
Arguments:
condition
Any valid BASIC logical expression.
Examples:
Example 1
In this example, the program waits until the measured position on axis 0
exceeds 150, and then starts a movement on axis 7
WAIT UNTIL MPOS AXIS(0)>150
MOVE(100) AXIS(7)
Example 2
The expressions evaluated can be as complex as you like provided they follow BASIC syntax, for example:
WAIT UNTIL DPOS AXIS(2)< = 0 OR IN(1) = ON
The above line would wait until the demand position of axis 2 is less than or
equal to 0 or input 1 is ON.
5-3-180 WDOG
Type:
System Parameter
Description:
The WDOG parameter contains the software switch used to control the
enable relay contact, which is used to enable all drivers. This parameter
should be turned ON before executing moves. WDOG can be turned ON and
OFF under program control and on command line. All non-zero values are
considered ON. The analogue outputs of the axis will always be zero when
the WDOG is OFF.
The enable relay will automatically turn OFF when a MOTION_ERROR
occurs. A motion error occurs when the AXISSTATUS state for one of the
axes matches the ERRORMASK setting. In this case the enable relay
(WDOG) will be turned OFF, the MOTION_ERROR parameter will have
value 1 and the ERROR_AXIS parameter will contain the number of the first
axis to have the error.
Precautions:
The WDOG parameter can be executed automatically by Motion Perfect
when the Drives Enable Button is clicked on the control panel.
See also:
AXISSTATUS, ERROR_AXIS, ERRORMASK, MOTION_ERROR, SERVO
5-3-181 WHILE WEND
Type:
Syntax:
Structural Command
WHILE condition
<commands>
WEND
Description:
The WHILE ... WEND loop allows the program segment between the WHILE
and the WEND statement to be repeated a number of times until the condition
becomes FALSE. In that case program execution will continue after WEND.
Precautions:
WHILE ... WEND loops can be nested without limit.
Arguments:
condition
Any valid logical BASIC expression.
See also:
FOR, REPEAT
Example:
WHILE IN(12) = OFF
MOVE(200)
WAIT IDLE
155
Section 5-3
Command, function and parameter description
OP(10,OFF)
MOVE(-200)
WAIT IDLE
OP(10,ON)
WEND
5-3-182 XOR
Type:
Syntax:
Description:
Logical Operator
expression_1 XOR expression_2
XOR performs an XOR function between corresponding bits of the integer
parts of two valid BASIC expressions.
The XOR function between two bits is defined as follows:
Bit 1
Arguments:
Example:
Bit 2
Result
0
0
0
0
1
1
1
0
1
1
1
0
expression_1
Any valid BASIC expression.
expression_2
Any valid BASIC expression.
a = 10 XOR (2.1*9)
The parentheses are evaluated first, but only the integer part of the result, 18,
is used for the operation. Therefore, this expression is equivalent to the following:
VR(0)=10 XOR 18
The XOR is a bit operator and so the binary action taking place is as follows:
01010
XOR
10010
11000
The result is, therefore, 24.
156
SECTION 6
Programming Environment
The MC Unit is programmed using the Motion Perfect programming software. The Motion Perfect package is Microsoft
Windows based and provides the user to program, monitor and debug motion based applications.
6-1
6-2
6-3
6-4
6-5
6-6
6-7
Motion Perfect Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Motion Perfect Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Going Online with the MC Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Motion Perfect Projects. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-4-1 Motion Perfect Project Manager. . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-4-2 Using Motion Perfect on a MC Unit for the First Time . . . . . . . . . .
Motion Perfect Desktop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-5-1 Control Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-5-2 Editing and Running Simple Programs . . . . . . . . . . . . . . . . . . . . . .
Motion Perfect Tools. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-6-1 Terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-6-2 Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-6-3 Axis Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-6-4 Controller Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-6-5 VR and Table Editors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-6-6 I/O Status Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-6-7 Full Controller Directory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-6-8 Jog Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-6-9 Oscilloscope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Suggestions and Precautions in Using Motion Perfect . . . . . . . . . . . . . . . . . .
158
158
158
159
159
161
161
162
163
164
164
165
168
169
169
170
171
171
172
177
157
Section 6-1
Motion Perfect Features
6-1
Motion Perfect Features
Motion Perfect provides the following features.
• Using the Project Manager to maintain a consistent copy of application
programs on the computer.
• Creating, copying, renaming, deleting, editing, running and debugging
programs on the MC Unit.
• Using the Control Panel, Full Controller Directory, Axis Parameters Window, and I/O status to monitor the MC Unit and to control its status.
• Using the Program Debugger, Axis Parameters Window, Software Oscilloscope Window and Jog Axes Window to adjust the servo system.
It is possible to open several windows on the Motion Perfect desktop and run
them simultaneously. A user could be stepping through a program displayed
in an Editor Window, while checking the program’s output and entering input
characters via a separate terminal Window, and while also monitoring and
updating the axis parameters and I/O status in their Windows.
Note Refer also to the Motion Perfect Help files for further details on this software
package.
6-2
Motion Perfect Requirements
The C200HW-MC402E requires Motion Perfect version 2.0 or later. Please
note that previous versions of the package will not work with this MC Unit.
The following are required to run Motion Perfect version 2.0.
1. IBM Personal Computer or 100% compatible.
2. Microsoft Windows 95, 98, 2000 or NT 4.0.
3. 66 MHz 486 based processor (133 MHz Pentium recommended).
4. 16 MB RAM (32 MB recommended).
5. 10 MB of hard disk space.
6. Enhanced serial communications port (UART 16550).
7. 800 x 600 pixel display or higher resolution with at least 256 colors.
8. Mouse or tracker ball.
6-3
Going Online with the MC Unit
Motion Perfect can be connected to the MC Unit once the MC Unit is powered-up and running in order to use all features. After installation Motion Perfect can be started by using the Start Button.
Note The computer must be connected to the MC Unit using a RS-232C Serial
Cable (by OMRON) between a COM port on the computer and the MC Units
RS-232C Programming Port. Refer to 2-3-3 Serial Port Connections for
details.
When started, Motion Perfect will display its introductory splash screen whilst
looking for any controllers connected to the computer.
158
Section 6-4
Motion Perfect Projects
The status of the connection to the controller is displayed on the screen. The
statements indicate at which COM port Motion Perfect is currently checking
for a Motion Controller and which settings are used. The screen will confirm if
Motion Perfect has found a controller or will indicate that no controller is
found.
Motion Perfect will be disconnected when no suitable controllers have been
found. The offline terminal will be shown. Refer to SECTION 7 Troubleshooting.
6-4
Motion Perfect Projects
Motion Perfect facilitates the works with MC Unit applications by using
projects, which are a valuable aid in efficient application design and development. Projects are stored on the computer and each project contains the MC
Unit programs, parameters and data required for one motion application.
Managing each application as one project enables effective version control
and provides a mechanism for verifying the application programs on the MC
Unit.
6-4-1
Motion Perfect Project Manager
The project manager is a background process that automatically maintains
consistency between the programs on the MC Unit and the project on the
computer. When you edit a program in the Motion Perfect editor, it changes
both copies of the program. This avoids the slow process of uploading and
downloading programs and ensures that there is always a backup of changes
you make. As programs are created, copied or erased on the MC Unit using
the Motion Perfect tools, the project is updated so that the files and programs
are always consistent.
Project Backups
A backup copy of the project is stored on the computer after on-line operation
has been successfully started. The backup copy can be loaded if the MC Unit
version of the programs become corrupted for any reason by selecting Revert
to backup from the File Menu.
The backup file will be overwritten each time a project is opened. If you open
a new project during a development session, the new projects backup copy
will overwrite the previous backup.
159
Motion Perfect Projects
Consistency Check
Section 6-4
When Motion Perfect starts, it always performs a consistency check between
any programs on the MC Unit and the current project files on the computer. It
will only enable its tool site when it has successfully verified that the programs
in the controller matches the project on the computer. The CRC values of the
programs are compared to perform the check. The Check Project Window
shows the status of the check. When both projects are consistent, the statement “Project check OK” is shown in the message field.
If both projects differ, the window will display the options for the user to determine how to resolve this inconsistency. The Check Project Window is shown
here:
The window enables the user to select the required option to resolve the discrepancy. The options available include:
Function
Purpose
Save
Save controller programs to new project. Create a new project
on the computer and save the programs to this project.
Load
Load a different project. Select a new project on the computer
and load this project into the controller.
Change
Change project for comparison. Select a different project on the
computer with which to perform the programs consistency
check.
New
Erase controller programs and create a new project. Create a
new empty project on the computer and delete all programs on
the controller.
Resolve
Resolve project and controller mismatches. Continue to check
the project, enabling the user to resolve each individual program
inconsistency by either saving the project version into the controller or loading the controller version into the project.
Cancel
Run Motion Perfect without connection to the controller.
You can force Motion Perfect to verify that the two copies are identical at any
time by selecting Check project from the File Menu.
160
Section 6-5
Motion Perfect Desktop
6-4-2
Using Motion Perfect on a MC Unit for the First Time
If this is the first time the MC Unit has been used with Motion Perfect and you
do not have any programs on the MC Unit, click the New Button in the Check
Project Options Window and then click the Yes Button when asked.
New Project Window
1,2,3...
6-5
The New Project Window will open enabling you to enter the required name of
the new project and specify the directory on your computer in which to store
the project.
1. Type a suitable project name in the Project Name text box, and then use
the Disk Directory box to move to the directory in which to store the project.
2. If you wish to create a new directory on your computer, then move to the
parent directory and click on the Create Directory button. Type the name
of the new directory in the New Directory Window.
3. After selecting the required directory and entering the new project name,
click the Create Button.
4. If the project path and name already exist, a window will appear asking
whether to overwrite the existing project. If you confirm, the previous
project will be overwritten and lost.
5. When a new project has been created, the Check Project Window will be
displayed, with empty MC Unit Program and Project Program List Boxes
and a ‘Project check OK’ message. Click the Ok Button to continue.
You have now created a new project on your computer, the Motion Perfect
desktop will open, and all its facilities will be available.
Motion Perfect Desktop
Once Motion Perfect has verified that the contents of the controller and the
project on the computer are consistent, the Motion Perfect Desktop will
appear. The desktop work area of Motion Perfect is where you will open up
the windows to use when editing programs and using the Motion Perfect
tools. The general look of the desktop is displayed below.
Toolbar
Editor Window
Terminal Window
Control Panel
Controller
Messages
Window
161
Motion Perfect Desktop
6-5-1
Section 6-5
Control Panel
Motion Perfect is equipped with a Control Panel that is used to control program execution and the MC Unit while editing and debugging the programs.
The Control Panel will appear after the initial opening window on the left of the
main Motion Perfect Window:
Controller Status
The Fixed/Editable buttons determine to fix the programs from RAM into
flash EPROM. When the project is fixed, the programs cannot be modified
with Motion Perfect. To continue editing the programs, click Editable.
The Drives enabled button toggles the state of the enable (watchdog) relay
on the controller, which controls the drivers. See 5-3-180 WDOG for details.
The Axis status error button monitors the Motion errors of the MC Unit. This
button is normally greyed out, unless a motion error occurs on the controller.
When an error does occur, you can use this button to clear the error condition.
This is equivalent to using the DATUM(0) command. See 5-3-46 DATUM for
details.
Program List Box
The Program List Box in the middle of the Control Panel will show a list of the
programs in the project. There are two buttons next to each program name to
control the execution of this program.
The Run/Stop button (red) shows that the program is stopped and can be
clicked to start program execution.
When a program is being executed, the program name in the Program List
Box will appear in italics, the MC Unit task number on which the program is
running will appear alongside the program name, and the color of the Run/
Stop button will change into green.
To stop the program click the Run/Stop button again to stop the program. A
program cannot be edited while it is being executed.
The Step button (yellow) can be used to step through the program. The Run/
Stop Button will turn yellow and one line of the program will be executed each
time the Run/Stop button is clicked. When the Step button is clicked again,
the program will be run normally.
When a program is being stepped, a green bar will appear in the Editor Window, highlighting the line of the program about to be executed.
162
Section 6-5
Motion Perfect Desktop
Programs are compiled before execution. If there are any compilation errors
in the program, a window will appear briefly describing the error and giving the
number of the line containing the error. You can correct the error and repeat
the process.
Shortcut Buttons
Underneath the Program List Box you can find four shortcut buttons which are
used for (from left to right):
• Controller configuration
• Full controller directory
• Create new program
• Halt all programs
Selected Program Box
The Select Program box displays the current selected program and the available buttons, which can be performed on the selected program. These five
available functions are (from left to right):
• Run
• Step
• Stop
• Edit
• Set power up mode
Refer to 4-5-3 Program Execution and 5-3-149 RUNTYPE for details on setting the power up mode.
Free Memory
The Free Memory field indicates the remaining free memory available on the
controller.
Motion Stop
The Motion Stop button stops all programs and cancels all moves in case of
emergency.
6-5-2
Editing and Running Simple Programs
This section provides a couple of typical examples of a simple programming
session using Motion Perfect. The following procedure assumes that the MC
Unit is already on-line with Motion Perfect and a new project has been created.
Example 1
1,2,3...
1. Create a new program in the new project by selecting New from the Program Menu or by clicking on the Control Panel’s shortcut button “Create
New Program”.
2. Name your program ‘LED1’ and click the OK Button.
3. Using the editor, enter a simple program to flash the indicator connected
to output 8. Type the program in lower case. When you press the Return
Key, Motion Perfect will update the program on the computer and in the
MC Unit, and will replace the BASIC keywords with their tokenised versions in upper case.
DISPLAY = 5
loop:
OP(8,ON)
WA(1000)
OP(8,OFF)
WA(1000)
GOTO loop
The program can now be run, stepped and stopped without closing the Editor
Window. The Program Menu can be used, but it is easier to use the Control
Panel as described in the previous section. The Editor Window has similar
buttons itself to do the same.
When the program is executed, the LED indicator for output 8 will flash.
163
Section 6-6
Motion Perfect Tools
Note The command line will also remain available for immediate commands if the
task 0 Terminal Window is open.
Compilation
The system will compile and link the program before running it. If the compiler
detects errors in the program, it will not run, but will print the line number at
which the error occurred. The line can be located by looking at the current line
number displayed in the bottom right of the Editor Window’s status bar or by
selecting Goto from the Edit Menu.
Example 2
1,2,3...
6-6
A similar second program can be made based on the first program. This can
be done quickly by copying the LED1 program and then editing it.
1. Select Copy program from the Program Menu and copy the LED1 program, calling the new program ‘LED2’.
2. Select the LED2 program and press the Edit Button to open it.
3. Change the LED2 program to control a different OP with a different period.
Refer to for SECTION 5 BASIC Motion Control Programming Language
details on programming.
4. Executed the programs together.
The Run and Step Buttons on the Control Panel will control only the currently
selected program Use the Run/Stop and Step Button or the menus to control
other programs at the same time.
Motion Perfect Tools
This section describes the main Motion Perfect tools.
1. Terminal
2. Editor
3. Axis Parameters
4. Controller Configuration
5. VR and Table Editors
6. I/O Status
7. Full Controller Directory
8. Jog Axes
9. Oscilloscope
6-6-1
Terminal
The Terminal Window provides a direct connection to the MC Unit. Most commands, functions and parameter read/writes can be issued directly on the
command line.
Most of the functions that must be performed during the installation, programming and final setup of a system with a MC Unit have been automated by the
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options available in the Motion Perfect Menus. A Terminal Window is shown
in the following display.
Up to four Terminal Windows can be opened simultaneously over the single
serial port. Channel 0 must be used to issue commands. Channels 5, 6 and 7
can be used to provide I/O windows to programs running on the MC Unit.
Channel Number
The Channel Number Combo Box can be used to select one of the valid
async communications channels.
VT100 Emulation
The MC Unit expects to talk to a terminal that accepts the DEC VT100 terminal protocol. This setting can be used for the Terminal Window to emulate a
VT100 terminal.
ASCII Emulation
This mode will echo the ASCII description for the non-printing characters
received. Also, CR and LF will cause the corresponding action.
6-6-2
Editor
This section describes the Editor used to edit BASIC programs for the MC
Unit. The Editor is a fully featured Windows-based tool. An Editor Window will
be opened when a new program is created or an existing program is selected
for editing.
When the cursor is moved off the current line, any changes made to this line
are sent to the MC Unit, which performs syntax checking, tokenises the line
(all recognized BASIC keywords are converted to upper case), and returns
the tokenised result to the window. When an Editor Window is closed, the
project file is updated with the modified program.
Note It is not possible to open a new Editor Window while any program is running
on the MC Unit.
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Creating and Opening Programs
There are several ways that programs can be opened or created.
Opening Programs
Existing programs can be edited by opening an Editor Window using one of
the following methods.
• Select Edit from the Program Menu and then selecting the required program.
• Click the Edit Button on the Control Panel to open an Editor Window for
the selected program.
• Double-click a program in the Program List Box on the Control Panel.
Creating Programs
New programs can be created using one of the following methods.
• Select New from the Program Menu. The default name can be changed
before opening the Editor Window. Click into the Program Name Text
Box, enter the new name and then press the Edit Button.
• Click the Create New program button on the Control Panel.
When opening an Editor Window, Motion Perfect performs a CRC check
between the program on the MC Unit and the program in the project. If the
CRCs are different, the user will be advised to perform a project check to
obtain further information on the differences.
Basic Editing Operations
The basic editing operations that can be used in an Editor Window are outlined below. The operation can be accessed by selecting the corresponding
button on the top of the Editor Window or can be selected from one of the
menu's of the window.The operations correspond to the buttons displayed in
the picture below (from left to right).
Saving Program
This enables the user to force the program to be saved on the computer harddisk. Motion Perfect saves the file automatically when the Editor Window is
closed or the program is compiled.
Printing Program
This will print the code of the program.
Cut, Copy and Paste
Windows-style cut, copy paste operation can be performed using the mouse
and/or the keyboard. Use the following procedure to cut or copy text.
Select the text, and cut or copy it to the clipboard.
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Move the cursor to the insert point, and paste the text on the clipboard.
Listing and Jumping to
Labels
A list of all labels in the program in the current Editor Window will be displayed. To jump to a specific label, click the desired label in the display to
enter it in the text box at the bottom of the window and press the OK button.
The cursor will move to the specified label in the program. Alternatively, a
specific line number can be selected by entering the value of the line number
text box at the bottom of the window, and the pressing the OK button.
Finding Text
The program in the current Editor Window can be searched for a specific text
string. One can specify the search to be case sensitive and the search direction. The user can continue the program while the Find Window is displayed,
by simply clicking back to the Editor Window. The Find Window will remain on
the display until the Cancel Button is clicked.
Replacing Text
Text found in an Editor Window can be replaced with a specified text string.
Enter both strings in the appropriate fields. The following buttons are available
in the Find and Replace Window:
Button
Function
FindNext A simple search will be made for the specified string.
Replace
A specified search string will be replaced with a replace string.
ReplaceAll All occurrences of the search string will be replaced from the
current cursor position to the beginning or end of the program,
depending upon the search direction.
Run, Step and Stop
These operations are used to run the program, run a single line in the program and stop the program. These operations can also be found on the control panel (same buttons).
Add breakpoint
In the Editor Window breakpoints can be added to enable easy debugging.
Debugging is explained in the Debugging part of this section below.
Compiling
This operation forces the program to be compiled.
Debugging
The Motion Perfect debugger allows you to run a program directly from the
Editor Window in a special trace mode, executing one line at a time (known as
stepping) whilst viewing the line in the window. It is also possible to set breakpoints in the program, and run it at normal speed until it reached the breakpoin.
Any open Editor Windows will automatically enter the 'Debug Mode - Read
Only' when programs are running on the Motion Controller. Hence, breakpoints are set in the Editor Window, and the code viewed in the same window
in debug mode when the program is running.
Stepping Through a
Program
The next line in a program can be executed by doing one of the following:
• Use the Step button (yellow) alongside the required program name in the
Program List box on the Control Panel.
• If the required program is currently selected, see Selected Program box
of the Control Panel, then push the Step button of this box.
• Push the Step button of the Editor Window toolbar.
• Selecting Start Stepping... from the Program menu. If one program is executing on several tasks, then the task number can also be specified.
The next program line to be executed will be highlighted in the Editor Window
with a green background. The operation can be repeated to step multiple
lines.
Breakpoints
Breakpoints are special place markers in the code which allow us to identify a
particular section (or sections) of the program when debugging the code. At
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the point on which the breakpoint is inserted, the program will pause and
return control to Motion Perfect. This is enabling to check the current state of
the controller or single step through the code of the program. Breakpoints are
indicated in the program using the TRON command.
Breakpoints can be set by moving the cursor to the required line, and then
either
• Typing command TRON on this line.
• Pushing the Add Breakpoint button on the Editor Window toolbar.
• Selecting Toggle Breakpoint from the Program Menu.
• Pressing Ctrl–B from the keyboard.
A TRON command will be inserted at the current line in the program, indicated by highlighting. The breakpoint can be removed to selecting the same
operation again or to just by removing the line manually. All breakpoints can
be removed from a program by selecting Clear All Breakpoints from the
Debug Menu.
6-6-3
Axis Parameters
The Axis Parameters Window allows the user to set and read the axis parameter settings. This window works like a Windows-based spread sheet. The
Axis Parameter Window is shown below.
The Axis Parameters Window is made up of a table of cells separated into two
banks, bank 1 at the top and bank 2 at the bottom.
• Bank 1 contains the values of parameters that can be changed by the
user. The values can be changed by clicking on it and entering the new
value.
• Bank 2 is read-only and contains the values which are set by the system
software of the MC Unit as it processes the BASIC commands and monitors the status. These values are updated continuously at a specified rate.
The following operations are possible on the Axis Parameters Window.
• The user is able to change the size of the window. The black dividing bar
can be repositioned to change the space occupied by the two banks.
• When the user changes the UNITS parameter for an axis, all the parameters given in user units for that axis will be adjusted by the new factor.
These new values will loaded automatically in the screen.
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• The AXISSTATUS parameter displays status bits. The characters indicating each bit will turn red and capital if the bit is ON and green if the bit is
OFF. The ‘frdhexy’ characters correspond to
f
r
d
h
e
x
y
Forward limit
Reverse limit
Datuming
Feed hold
Following error exceed limit
Forward software limit
Reverse software limit
• The Axes Button at the bottom of the window can be pressed to access a
Window to select the axes that are displayed. By default, the axes set for
the last modified start-up program from the File Menu, Jog Axes Window
or Axes Parameters Window will be displayed.
• The parameters in the bank 1 section are only read when the screen is
first displayed or the parameter is edited by the user. It is possible that if a
parameter is changed in the controller then the value displayed may be
incorrect. The refresh button will force Motion Perfect to read the whole
selection again.
6-6-4
Controller Configuration
The Controller Configuration Window shows the hardware and software configuration of the MC Unit. The MC Unit configuration can be checked by
selecting Controller Configuration from the Controller Menu or the appropriate
button of the Control Panel.
6-6-5
VR and Table Editors
The VR and Table Editor tools provide a spreadsheet style interface to view
and modify a range of values in memory. To modify a value, click on the existing value with the mouse and type in the new value and press return. The
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change will be immediate and can be made whilst programs are running.
Push the refresh button to reload the values.
Range
Both in the VR and Table Editor you can select the range of the view by giving
the begin and end element. The range of the Table Editor is limited to the
highest element, which is specified by the TSIZE system parameter. Both editor show up to a maximum of 100 elements. Use the scroll bar to scroll
through the data.
Refresh Button
The editors do not update the shown values automatically. Push the Refresh
Button to update the values of the elements or when you have changed the
range of elements.
6-6-6
I/O Status Window
The I/O Status Window allows the user to view the status of all the I/O points
and toggle the status of the output points. The I/O Status Window is shown in
the centre of the screen below. Refer to Accessing I/O for a description of the
different types of I/O.
Digital Inputs
This shows the total range of input channels on the current Motion Controller.
Digital Outputs
This shows the total range of output channels on the current Motion Controller.
Inputs
This field the status of the inputs of the Motion Controller. The banks contain 8
indicators which show the status of the inputs.
• Physical inputs (0-15): The indicator is green when the input is ON and
white when the input is OFF.
• Driver alarms axes 0 to 3 (16-19): The indicator is red when the input is
ON and white when the input is OFF.
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• Virtual inputs (20-31): The indicator is turquoise when the input is ON and
white when the input is OFF.
Outputs
6-6-7
This field the status of the outputs of the Motion Controller. The banks contain
8 indicators which show the status of the outputs. These output points can be
put ON or OFF by clicking on the indicators.
• Physical outputs (8-15): The indicator is yellow when the output is ON and
white when the output is OFF.
• Driver alarm reset (16): The indicator is red when the output is ON and
white when the output is OFF.
• Virtual outputs (20-31): The indicator is turquoise when the output is ON
and white when the output is OFF.
Note that the virtual in- and outputs are bi-directional and are controlled by
toggling the output indicators. The in- and outputs can be accessed by using
controller commands IN and OP. Refer to 5-3-83 IN and 5-3-115 OP.
Full Controller Directory
The Full Controller Directory Window dynamically shows details of all programs on the MC Unit, and details of all running tasks or processes. The window can be opened by selecting Full Directory from the Program Menu or
the appropriate button on the Control Panel.
6-6-8
Jog Screen
The Jog Screen can be used to set-up and operate the jogging operation of
the motion controller with the bi-directional virtual I/O. The screen sets the
axis parameters corresponding to jogging (FWD_JOG, REV_JOG and
JOGSPEED) and controls the virtual inputs which are set to jogging. This tool
will not use the Fast Jog feature of the controller and therefore the
FAST_JOG parameter is assumed to be -1.
Note The jogging inputs which are connected are considered to be active low (normally closed). This implies that jogging is enabled when the input is low and is
disabled when the input is high.
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The Jog Screen is shown below.
Jog Inputs
The jog inputs must be between 20 and 31, i.e., the virtual bi-directional I/O
channels. There are separate inputs for forward and reverse jogging of each
axis. When a jog input is set to a valid input number, the corresponding output
will be turned ON and then the corresponding FWD_JOG or REV_JOG axis
parameter will be set.
Jog Speed Settings
This is the speed at which the jog will be performed, which is given by the
JOGSPEED parameter. The value of the speed is limited to the range from 0
to the demand speed given by the SPEED parameter for this axis. This value
can be changed by writing directly to this field or by using the jog speed control (up/down) buttons.
Jog Buttons
The screen provides Forward and Reverse Jog Buttons for each axis. When
the button is pushed the jogging is activated and the corresponding virtual
input will be OFF. Prior to the activation the value of the Jog Speed field will
be written to the JOGSPEED parameter. When released this input is ON and
the jogging will be stopped.
Warnings Area
The Warnings Area shows the status of the last jog request.
When a Jog Button is pressed, a warning will be given for any of the following:
• The axis is a SERVO axis and the servo is OFF
• The jog speed is 0.
• The acceleration or deceleration rate for this axis is 0
• The forward or reverse jog input is out of range
• There is already a move other than a jog being performed on this axis
6-6-9
Oscilloscope
The software oscilloscope can be used to trace axis and motion parameters,
which is a helpful tool for program development and system setup. The oscilloscope provides four channels, each capable of recording at up to 1,000
samples/s, with manual cycling or program-linked triggering.
The MC Unit records the data at the selected frequency, and then uploads the
information to the scope to be displayed. If a larger time base value is used,
the data is retrieved in sections, and the trace is seen to be plotted in sections
across the display. The positions and other axis parameters are displayed in
encoder edges.
Exactly when the MC Unit starts to record the required data depends upon
whether it is in Manual or Program Trigger Mode.
• In Program Trigger Mode, it starts recording data when it encounters a
TRIGGER command in a program running on the MC Unit.
• In Manual Mode, it starts recording data immediately.
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The Trigger Button can be used to start the scope as soon as the required
settings have been made. The scope controls are divided into the two parts:
the general controls and the channel specific controls.
General Controls
The oscilloscope general control appear at the bottom left of the oscilloscope
window. From here you can control the time base, triggering modes, Table
range used and others.
The general controls are explained here:
Time base
The required time base is selected using the up/down scale buttons either side of the current time base scale text box (left hand
side button decreases the scale, and the right hand side button
increases the scale value.) The value selected is the time per grid
division on the display.
If the time base is greater than a predefined value, then the data is
retrieved from the controller in sections (as opposed to retrieving a
compete trace of data at one time.) These sections of data are
plotted on the display as they are received, and the last point plotted is seen as a white spot.
After the scope has finished running and a trace has been displayed, the time base scale can be changed to view the trace with
respect to different horizontal time scales. If the time base scale is
reduced, a section of the trace can be viewed in greater detail, with
access provided to the complete trace by moving the horizontal
scroll bar.
Horizontal Scroll Once the scope has finished running and displayed the trace of the
Bar
recorded data, only part of the trace will be displayed if the time
base is changed to a faster value. The remainder can be viewed
by moving the thumb box on the horizontal scroll bar.
Additionally, If the scope is configured to record both motion
parameters and plot table data, then the number of points plotted
across the display can be determined by the motion parameter. If
there are additional table points not visible, these can be brought
into view by scrolling the table trace using the horizontal scroll bar.
The motion parameter trace will not move.
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Channel-specific Controls
One-shot/ Continuous Trigger
Mode
The One-shot/Continuous Trigger Mode Button toggles between
these two modes:
One Shot Trigger Mode (Button raised)
In One-shot Mode, the scope runs until it has been triggered and
one set of data recorded by the MC Unit, retrieved and displayed.
Continuous Trigger Mode (Button pressed)
In Continuous Mode the scope continues running, retrieving data
from the MC Unit each time it is re-triggered and new data is
recorded. The scope continues to run until the Trigger Button is
pressed for a second time to stop the scope.
Manual/Program Trigger
Mode
The Manual/Program Trigger Mode Button toggles between these
two modes.
Manual Mode (Button raised, pointing hand)
In Manual Mode, the MC Unit is triggered and starts to record data
immediately after the Trigger Button is pressed.
Program Mode (Button pressed, program listing)
In Program Trigger Mode, the scope starts running when the Trigger Button is pressed. The MC Unit will start recording data when a
TRIGGER command is executed in a program running on the MC
Unit.
After the TRIGGER command is executed by the program and the
MC Unit has recorded the required data, the required data is
retrieved by the scope and displayed. The scope stops running if in
One-shot Trigger Mode, or it waits for the next trigger on the MC
Unit if in Continuous Trigger Mode.
Trigger Button
When the Trigger Button is pressed, the scope will be started. If
the scope is Manual Mode then the MC Unit immediately starts
recording data. If it is in Program Trigger Mode then the MC Unit
waits until it encounters a TRIGGER command in a running program.
After the Trigger Button has been pressed, the text on the Button
changes to ‘Halt’ while the scope is running. If the scope is in the
One-shot Mode, then after the data has been recorded and plotted
on the display, the Trigger Button text will return to ‘Trigger’, indicating that the operation has been completed.
The scope can be halted at any time when it is running by pressing
the trigger button (the 'Halt' text is displayed).
Reset Scope
Configuration
The current scope configuration and all settings will be saved
when the scope window is closed, and retrieved when the scope
window is next opened. This removes the need to set each individual control again every time the scope window is opened.
The Reset Scope Configuration Button can be pressed to reset the
scope configuration, clearing all controls to their default values.
Status Indicator
The Status Indicator is located between the Options Button and
the Reset Scope Configuration Button. This indicator changes
color according to the current status of the scope as follows:
Red
Scope stopped.
Black
Waiting for MC Unit to complete recording data.
Yellow Retrieving data from the MC Unit.
Each scope channel has the following channel-specific controls organized in
each of four channel control blocks surrounded by a colored border. The color
of the border is the same as the color for the channel trace on the display.
Each channel has the following:
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Parameter Box
The parameters which the scope can record and display are
selected using a pull-down list box in the upper left corner of each
channel control block.
Depending upon the parameter chosen, the next label will switch
between axis or channel.
It is also possible to plot the points held in the MC Unit Table array
directly by selecting the Table parameter, followed by the number
of a channel whose first/last points have been configured using the
Advanced Options Window, which is described later in this section.
If the scope channel is not required then ‘NONE’ should be
selected in the parameter list box.
Axis/Channel
List Box
The Axis/Channel List Box allows the user to select the required
axis for a motion parameter, or channel for a digital input/output.
The list box label will switch according to the setting in the Parameter List Box.
Vertical Scale
The scope vertical scale in units per grid division on the display
can be set to either Automatic or Manual Mode.
In Automatic Mode, the scope calculates the most appropriate
scale when it has finished running and prior to displaying the trace.
If the scope is running with continuous triggering, it will initially be
unable to select a suitable vertical scale. When this happens, the
scope must be halted and re-started, or used in the manual scaling
mode.
In Manual Mode, the user selects the scale per grid division. The
vertical scale is changed by pressing the Up/Down Scale Buttons
at the sides of the Current Scale Text Box. The button on the left
decreases the scale value, and the button on the right increases
the scale value.
To return to the Automatic Mode, continue pressing the left button
(decreasing the scale value) until the word ‘AUTO’ appears in the
current scale text box.
Channel Trace
Vertical Offset
The Vertical Offset Buttons are used to move a trace vertically on
the display. This control is useful when two or more traces are
identical, in which case they will overlay each other and only the
uppermost trace will be seen on the display.
The offset value will remain in effect for a channel until the Vertical
Offset Reset Button is pressed or the scroll bar is used to return
the trace to its original position.
Vertical Offset
Reset
The vertical offset value applied using the vertical offset scroll bars
can be cleared when the Vertical Offset Reset Button is pressed.
Cursor Button
After the scope has finished running and has displayed a trace, the
cursor bars can be enabled. These are displayed as two vertical
bars of the same color as the channel trace, and initially located at
the maximum and minimum trace points. The values these represent are shown below the scope display, and the text is of the
same color as the channel the values represent.
The bars can be moved by positioning the mouse cursor over the
required bar, holding down the left mouse button, and dragging the
bar to the required position. The maximum or minimum value
shown below the display is updated as the bar is dragged along
with the value of the trace at the current bar position.
The cursor bars are enabled/disabled by pressing the Cursor Button, which toggles alternately displaying and removing the cursor
bars.
When the cursor bars are disabled, the maximum and minimum
points are indicated by a single white pixel on the trace.
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Advanced Oscilloscope
Configuration Options
When the Options Button of the General Options is pressed, the Advanced
Oscilloscope Configuration Window will be displayed.
The scope defaults to recording five points per horizontal time
Oscilloscope:
Samples per Divi- base grid division. This value can be adjusted using the adjacent
scroll bar.
sion
To achieve the fastest scope sample rate it is necessary to
reduce the number of samples per grid division to 1 and increase
the time base scale to its fastest value of 1 ms per grid division.
The trace might not be plotted completely to the right side of the
display, depending upon the time base scale and number of
samples per grid division.
Oscilloscope:
Table Range
The MC Unit records the required parameter data values in the
MC Unit’s Table array prior to uploading these values to the
scope. By default, the lowest scope Table value used is zero. If
this conflicts with programs running on the MC Unit that require
this section of the Table, then the lower scope table value can be
set.
The lower scope table value is adjusted by clicking into the text
box and entering the new value. The upper scope table value will
be automatically updated and cannot be changed by the user.
The upper scope table value depends on the number of channels
in use and the number of samples per grid division.
If an attempt is made to enter a lower table value which causes
the upper table value to exceed the maximum permitted value on
the MC Unit, then the original value will be used by the scope.
It is possible to plot MC Unit Table ranges directly with the Oscilloscope.
Select Table in the parameter box of the Axis Specific Controls to display the
Table elements.
Table Graph:
The scope defaults to recording fifty points per horizontal time
Points per division base grid division. This value can be adjusted using the adjacent
scroll bar.
Table Graph:
Table Range
The Table Limit Text Boxes are used to enter the Table ranges
for the four possible channels of the Oscilloscope.
Parameter Checks
There is a maximum Table size on the MC Unit, and it is not possible to enter
Table channel values beyond this value. It is also not possible to enter a lower
scope table value or increase the samples per grid division to a value which
causes the upper scope Table value to exceed the MC Unit maximum Table
value.
If the number of samples per grid division is increased, and subsequently the
time base scale is set to a faster value, causing an unobtainable resolution,
the scope will automatically reset the number of samples per grid division.
Displaying MC Unit Table
Points
If the scope is configured for both Table and motion parameters, then the
number of points plotted across the display is determined by the time base
and samples per division. If the number of points to be plotted for the table
parameter is greater than the number of points for the motion parameter, the
additional table points will not be displayed, but can be viewed by scrolling the
table trace using the horizontal scroll bar. The motion parameter trace will not
move.
Uploading Data from the
MC Unit to the Scope
If the overall time base is greater than a predefined value, then the data is
retrieved from the MC Unit in blocks, and the display can be seen to be
updated in sections. The last point plotted in the current section will be displayed as a white spot.
If the scope is configured both to record motion parameters and to plot Table
data, then the Table data is returned in one complete block, and the motion
parameters are read either continuously or in block, depending upon the time
base.
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Section 6-7
Even if the scope is in Continuous Trigger Mode, the Table data is not reread; only the motion parameters are continuously read from the MC Unit.
Enabling/Disabling Scope
Controls
While the scope is running, all the scope controls except the Trigger Button
will be disabled. To change the time base or vertical scale, the scope must be
stopped and restarted.
Display Accuracy
The MC Unit records the parameter values at the required sample rate in the
Table, and then passes the information to the scope. The trace displayed is
therefore accurate with respect to the selected time base. There is, however,
a delay between when the data is recorded by the MC Unit and when it is displayed on the scope due to the time taken to upload the data via the serial
link.
6-7
Suggestions and Precautions in Using Motion Perfect
Programming and
Program Control
• Motion Perfect provides complete programming functions, such as edit,
delete, rename, create, select and copy functions. When available, these
should be used instead of the equivalent BASIC system commands in the
Terminal Window. Motion Perfect cannot detect changes made by these
BASIC system commands and a project check will be required to resolve
inconsistencies.
• Use Reset the Controller on the MC Unit Menu to perform a software
reset of the MC Unit.
• You do not need to close an Editor Window to run a program. It saves
time not to. It is better to open an edit session for each program you want
to see before running any programs. If there are programs already running, then it will not be possible to open an edit session.
• Do not turn the power ON and OFF or remove the serial connection when
using Motion Perfect. If you do so, a communications error message will
appear, and Motion Perfect will go off-line.
• You can force Motion Perfect to compare the computer project with the
MC Unit programs at any time by selecting Check project from the File
Menu.
Running Motion Perfect
Off-line
Motion Perfect can be run in an off-line mode if it is unable to find a MC Unit
and open a valid project. This may occur if it does not find any MC Units connected to the computer or if the project consistency check fails and the check
is canceled.
In the offline mode, all project-related functions will be disabled. The user will
only have access to
• Terminal Window (VT100 emulation).
• System software load.
• Communications setup.
• On-line help functions.
A Terminal Window can be opened and an attempt can be made to establish
communications with the MC Unit. If the MC Units line mode >> prompt is
returned when the Enter Key is pressed from the keyboard at the computer,
then the MC Unit can be communicated with using the BASIC system commands (see the BASIC on-line help for further information). The commands
given in 5-2-4 Program Commands and Functions can be used to manipulate
programs using a terminal.
Project Backups
If the MC Unit stops responding during a development session and the same
project is reconnected, then it is likely the consistency check will be passed.
In the case that the programs are not consistent, the Check Project Options
Window will be displayed. Please be aware that if the current project is re-
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Section 6-7
opened, the backup copy of the project will be overwritten. It is therefore necessary to determine which copy of the programs to use before re-connecting
Motion Perfect.
To investigate the inconsistency further, a Terminal Window can be opened
off-line and the programs on the MC Unit can be listed. Any computer-based
editor or word processor can be used to examine the computer backup
project file copy of the programs. In this way, the location of the uncorrupted
or latest version of the programs can be identified. The correct program can
be imported to the project by using the Load Program File option of the
Project Menu.
The computer project copy of a program is updated during a Motion Perfect
development session whenever an edit session for the program is closed.
Retrieving Backup
If you want to abandon changes made during a development session and
reload the backup copy made at the start of the session, then select Revert to
Backup from the Project Menu.
Downloading Firmware
The Motion Controller series feature a flash-EPROM for storage of both user
programs and the system software. From Motion Perfect it is possible to
upgrade the software to a newer version using a system file.
Select the 'Load System Software' option from the controller menu and a
warning dialog will be presented to ensure the current project has been saved
the user wishes to continue. Press OK and select the file which needs to be
loaded.
!WARNING
Each Motion Controller has its own system file, identified by the first letter of
the file name. Please ensure to only load software designed for the specific
controller.
Downloading will take several minutes, depending on the speed of the personal computer. When the download is complete, a checksum is performed to
ensure that the download process was successful, and a confirmation screen
will be presented to store the software into EPROM. The controller will take a
few moments to store the software into the EPROM.
!WARNING
During the process of storing the software into EPROM the power may
NEVER be interrupted. If power is interrupted the MC Unit may disfunction
and has to be returned to OMRON for re-initialisation.
If the storing has been completed the unit is back to normal operation. At this
point you can check the controller configuration to confirm the new software
version.
178
SECTION 7
Troubleshooting
This section provides procedures on troubleshooting problems that may arise with the MC Unit.
7-1
7-2
7-3
7-4
Problems and Countermeasures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Error Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Error Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CPU Unit Error Flags and Control Bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
180
184
184
187
179
Section 7-1
Problems and Countermeasures
7-1
Problems and Countermeasures
The following table shows possible problems which may occur and the possible solution.
No.
Items to check
Remedy
Power supply lines are wired
incorrectly.
Check the power supply wiring.
Correct the power supply wiring.
The power supply voltage is
low.
Check the power supply voltage.
Check the power supply
capacity and correct the
power supply.
3
An internal fuse has blown.
Check the fuses.
Replace the fuse and determine what caused it to blow.
(Refer to the troubleshooting
section in the applicable CPU
Unit operation manual).
4
The power supply is defective.
Check the power supply.
Replace the power supply.
The power supply capacity is
insufficient.
Add up the power supply capacity for all of the Units mounted to
the same Backplane, including
the CPU Unit, and compare that
to the power supply capacity of
the Power Supply Unit. If the
combined capacity of the Units
is greater than that of the Power
Supply Unit, then they cannot
be properly used.
Increase the power supply
capacity.
Change the configuration so
that the power supply capacity at the Backplane is not
exceeded.
The MC Unit is defective.
---
Replace the MC Unit.
Serial communications cable is
not connected properly.
Check the cable connection and Correct the cable wiring.
wiring.
Replace cable if necessary.
Motion Perfect serial communications settings are different
from the MC Unit settings.
Check Motion Perfect settings.
Correct the settings or set the
settings to default and reset
the MC Unit. Default settings
of the Unit is 9600 baud,
even parity and two stop bits.
9
A program is running which is
printing to the port and interfering Motion Perfect’s protocol.
Check the MC Unit by using a
VT100 Terminal.
Stop the program (verify if it
is safe to do so) by giving
command HALT or STOP.
10
The MC Unit is defective
---
Replace the MC Unit.
1
2
5
Problem
None of the CPU
Unit’s indicators
are lit when the
power is turned
ON.
None of the MC
Unit’s indicators
are lit.
6
7
8
11
Motion Perfect
cannot connect
to the MC Unit.
The MC Unit is not operating.
Is the RUN indicator lit?
Check No. 5
The wiring is incorrect between
the MC Unit and the Servo
Driver.
Check the wiring with a tester.
Change the connecting cables.
Correct the wiring.
13
A Servo Driver alarm has been
generated.
Check the contents of the Servo If there is an alarm, follow the
Driver alarm.
instructions.
14
The MC Unit is defective.
---
12
180
Driver cannot be
enabled.
Probable causes
Replace the MC Unit.
Section 7-1
Problems and Countermeasures
No.
15
Problem
Probable causes
Motor is not turn- The Servo Driver is not
ing.
enabled.
Items to check
Remedy
Correct the MC Unit settings.
Check the MC Unit to see
whether the Driver is enabled
Correct the Servo Driver
and the servo loop active
operation.
(WDOG and SERVO parameters).
Check whether the Servo Driver
is operating.
16
The wiring is incorrect between
the MC Unit and the Servo
Driver.
Check the wiring with a tester.
Change the connecting cables.
Correct the wiring.
17
A run prohibit input (limit
switch), such is P-OT or N-OT,
is ON for a U-series Servo
Driver.
Check the run prohibit inputs.
Turn OFF the Servo Driver
run prohibit input.
Make the setting so that the
Servo Driver run prohibit
inputs will not be used.
18
The Servo Driver is not in the
correct (speed control) mode
(and is not receiving MC Unit
speed reference).
Check the Servo Driver settings.
Correct the Servo Driver settings.
19
The mechanical axis is locked.
Check whether there is a
mechanical limit or lock in
effect.
Manually release the
mechanical lock.
20
The MC Unit is defective.
---
Replace the MC Unit.
The Servo Driver is set for
reverse rotation.
Check whether the Servo Driver Correct the setting for the
is set for reverse rotation by jog- direction of Servo Driver rotaging.
tion.
22
The feedback signal (phase A/
B) is reversed.
Check whether the feedback
signal (phase A/B) is reversed.
23
The PP_STEP parameter setting is set for reverse rotation.
Check whether the parameter is Correct the parameter value.
set for reverse rotation (is negative).
The machinery is vibrating.
Check for foreign objects in the
machinery’s moving parts, and
inspect for damage, deformation, and looseness.
Make any necessary repairs.
25
The speed loop gain is insufficient. (The gain is too high.)
---
Perform autotuning.
Manually adjust (decrease)
the gain.
26
The wrong Servomotor is
selected (so it cannot be
adjusted).
Check the torque and inertia
ratings and select another Servomotor.
Change to a suitable Servomotor.
27
There is eccentricity in the cou- --plings connecting the Servomotor axis and the mechanical
system.
21
24
Rotation is
reversed.
There are
unusual noises.
Correct the wiring.
Adjust the mounting of the
Servomotor and machinery.
181
Section 7-1
Problems and Countermeasures
No.
Problem
28
Motor rotation is
unstable.
Items to check
Remedy
The parameters are set incorrectly.
Check the MC Unit parameters
with Motion Perfect.
Set the parameters correctly
and modify the initialisation
program accordingly.
29
The Servo Motor power lines
and encoder lines are wired
incorrectly.
Check the Servo Motor power
lines and encoder lines.
Correct the wiring.
30
The speed reference (VREF_0, Check the speed reference wir- Correct the wiring.
ing.
VREF_1, VREF_2, VREF_3)
polarity is wrong.
31
There is eccentricity in the couplings connecting the Servomotor axis and the mechanical
system. There may be loose
screws or load torque fluctuation due to the meshing of pulley gears.
Check the machinery. Try turning the motor with no load (i.e.,
with the machinery removed
from the coupling).
Adjust the machinery.
32
The gain adjustment is insufficient.
---
Execute Servomotor autotuning.
Manually adjust the Servomotor gain.
Adjust the servo control
parameters with Motion Perfect.
33
The wrong Servomotor is
selected (so it cannot be
adjusted).
Check the torque and inertia
ratings and select another Servomotor.
Change to a suitable Servomotor.
34
The Servomotor bearings are
damaged.
Replace the Servomotor.
Turn OFF the Servo Driver
power. If the Servomotor has a
brake, turn ON the brake power
supply and release the brake,
and then manually turn the
motor’s output axis with the
motor’s power line disconnected (because the dynamic
brake may be applied).
35
The Servomotor windings are
disconnected.
With a tester, check resistance
between the Servomotor’s U, V
and W power lines. There
should be a proper balance
between the line resistances.
Replace the Servomotor.
Check whether the Servo Driver
control signals are too long.
Check whether the control signal lines and power lines are
bundled together.
Shorten the control signals.
Separate the control signal
lines and the power lines.
Use a low-impedance power
supply for the control signal
lines.
Correct the wiring.
36
Probable causes
Inductive noise is being generVibration is
ated.
occurring at the
same frequency
as the application
frequency.
37
The control signals are not
properly grounded.
Check whether the control signal shield is properly grounded
at the Servo Driver.
Check whether the control signal lines are in contact with
ground.
38
Twisted-pair or shielded cable
is not being used between the
MC Unit and the Servo Driver.
Use twisted-pair and shielded
Check whether twisted-pair
cables are used for the encoder cable as in the wiring examples.
signals and speed references,
and whether the cables are
shielded.
182
Section 7-1
Problems and Countermeasures
No.
39
Problem
Probable causes
The motor axis is The gain adjustment is insufficient. (The gain is too low.)
vibrating
unsteadily.
Items to check
---
Remedy
Perform autotuning.
Manually adjust (increase)
the gain.
40
The gain cannot be adjusted
This particularly tends to occur
because the mechanical rigidity in systems with vertical axes,
is too weak.
scalar robots, palletisers, and
so on, which place a torsion
load on the axes.
Increase the mechanical rgidity.
Re-adjust the gain.
41
The mechanical structure is
producing stick slip (high viscosity statical friction).
---
Perform autotuning.
Manually adjust the gain.
42
The wrong Servomotor is
selected (so it cannot be
adjusted).
Check the torque and inertia
ratings and select another Servomotor.
Change to a suitable Servomotor.
43
The Servomotor or Servo Driver --is defective.
Replace the Servomotor or
the Servo Driver.
The slippage is not constant.
Malfunction due to noise.
Is shielded cable being used?
Use shielded cable.
The shield is not properly
grounded at the Servo Driver.
Check the ground wiring.
Correct the wiring.
The MC Unit’s output power
supply is not separated from
other power supplies.
Check whether the MC Unit’s
output power supply is separated from other power supplies.
Separate the MC output supply from other power supplies.
44
45
46
There is slippage in positioning.
47
48
Install a noise filter at the primary side of the MC Unit’s
output power supply.
Ground the MC Unit’s output
power supply
49
The cable between the MC Unit Check whether the cable is two
and the Servomotor is too long. meters or less.
The maximum cable length is
two meters.
50
Twisted-pair cable is not being
used for the pulse outputs.
Use twisted-pair cable for
pulse outputs.
51
The cable between the MC Unit Check whether the cable is sep- Separate the cable from
and the Servo Driver is not sep- arated from other power lines.
other power lines.
arated from other power lines.
52
The cable between the MC Unit Check whether the cable is two
and Servo Driver is too long.
meters or less.
53
There is malfunctioning due to
noise from a welding machine,
inverter, etc.
Check whether there is a device Separate the Unit from the
such as a welding machine or
noise source.
inverter nearby.
54
There is slippage in the
mechanical system.
Check for slippage by marking
the mechanical connections.
Check whether twisted-pair
cable is being used for the
pulse outputs. (The connected
voltage is 0 V or 5/24 VDC.)
The maximum cable length is
two meters.
Tighten the connections.
183
Section 7-2
Error Indicators
7-2
Error Indicators
The following errors are displayed at the LED indicators at the top of the MC
Unit’s front panel.
RUN
7-3
DISABLE
Remedy
ON
---
(Normal)
OFF
OFF
The MC Unit is defective. Replace the MC Unit.
---
Flashing
---
The battery voltage is
low.
Replace the battery.
---
Flashing
The following error has
exceeded the limit. The
Servo Drives have been
disabled.
Check what caused the
error, correct the problem
and restart application.
Flashing
Flashing
One of the following
Set the correct unit numerrors occurred in the
ber and turn ON the
configuration of MC Unit power again.
and CPU Unit:
Illegal unit number
Unit number duplication
Cyclic initial error
Unit number setting error
Error Handling
Motion error
The motion coordinator is designed to trap error conditions in hardware, and if
required to automatically disable the drive and outputs to the drive. As this
happens automatically, it may not be immediately apparent that an error has
occurred and therefore there are some software flags which identify the situation.
A motion error occurs when the AXISSTATUS state for one of the axes
matches the ERRORMASK parameter setting. In this case the enable relay
(WDOG) will be turned OFF, the MOTION_ERROR parameter will have
value 1 and the ERROR_AXIS parameter will contain the number of the first
axis to have the error. As a result of the WDOG turning OFF, the speed reference signals of the axes will be set to zero. The relevant parameters are
again given here.
Parameter
184
Error
Description
WDOG
WDOG controls the enable relay which enables the drivers. In
case of a motion error this enable relay will be disabled.
AXISSTATUS
AXISSTATUS contains the status bits of an axis.
ERRORMASK
ERRORMASK is bit wise ANDed with the AXISSTATUS to
determine whether a motion error has occurred and the driver
enable should be set OFF. The default value of ERRORMASK
is 256 (i.e. bit 8 set) which implies a motion error occurs if following error exceeds limits.
MOTION_ERROR
The MOTION_ERROR parameter will be ON when a motion
error has occurred.
ERROR_AXIS
The ERROR_AXIS parameter contains the number of the axis
for which a motion error has occurred.
Section 7-3
Error Handling
Run-time BASIC Errors
Run-time BASIC errors will stop the program or will go into the error routine as
defined by BASICERROR. The following parameters are relevant when
checking a run-time error.
Parameter
Description
BASICERROR
The BASICERROR command traps the error and allows the
control of the program to go to an error handling routine
ERROR_LINE
The ERROR_LINE parameter which shows which line in the
program has encountered the error.
RUN_ERROR
The RUN_ERROR shows the identity number of the actual
error.
The table below shows a list of the different types of BASIC run-time errors
which are detected.
Error No.
1
Message Displayed
Command not recognized
2
Invalid transfer type
3
Error programming Flash
4
Operand expected
5
Assignment expected
6
Quotes expected
7
Stack overflow
8
Too many named variables
9
Divide by zero
10
Extra characters at end of line
11
] expected in PRINT
12
Cannot modify a special program
13
THEN expected in IF
14
Error erasing Flash
15
Start of expression expected
16
) expected
17
, expected
18
Command line broken by ESC
19
Parameter out of range
20
No process available
21
Parameter is read only
22
Modifier not allowed
23
DriveLink axis is in use
24
Command is command line only
25
Command runtime only
26
LABEL expected
27
Program not found
28
Duplicate label
29
Program is locked
30
Program(s) running
31
Program stopped
32
Cannot select program
33
No program selected
34
No more programs available
35
Out of memory
36
No code available to run
37
Command out of context
185
Section 7-3
Error Handling
Error No.
186
Message Displayed
38
Too many nested structures
39
Structure nesting error
40
ELSE/ENDIF without previous IF
41
WEND without previous WHILE
42
UNTIL without previous REPEAT
43
Variable expected
44
TO expected if FOR
45
Too many nested FOR/NEXT
46
NEXT without FOR
47
UNTIL/IDLE expected after WAIT
48
GOTO/GOSUB expected
49
Too many nested GOSUB
50
RETURN without GOSUB
51
LABEL must be at start of line
52
Cannot nest one line IF commands
53
LABEL not found
54
Line number cannot have decimal point
55
Cannot have multiple instances of REMOTE
56
Invalid use of $
57
VR(x) expected
58
Program already exists
59
Process already selected
60
Duplicate axes not permitted
61
PLC type is invalid
62
Evaluation error
63
Reserved keyword not available on this controller
64
Label not found
65
Table index range error
66
Table is full
67
Invalid line number
68
String exceeds permitted length
69
Scope period should exceed number of Ain params
70
Value is incorrect
71
Invalid I/O channel
72
Value cannot be set.
73
Directory not locked
74
Directory already locked
75
Program not running on this process
76
Program not running
77
Program not paused on this process
78
Program not paused
79
Command not allowed when running Motion Perfect
80
Directory structure invalid
81
Directory is locked
82
Cannot edit program
Section 7-4
CPU Unit Error Flags and Control Bits
PC Transfer Error Flag
7-4
The PC Transfer Error Flag in the PC’s IR/CIO area will be set for a IORD/
IOWR instruction in the following cases:
• The control code of the IORD/IOWR instruction is not valid for the MC
Unit.
• The amount of words transferred is not a multiple of three for three-word
format transfer.
• The MC Unit’s Table or VR address in combination with the amount of
data is invalid.
• There is an overflow due to several IORD/IOWRs instructions and BASIC
commands PLC_WRITE/PLC_READ.
CPU Unit Error Flags and Control Bits
The PC error flags in the following tables will indicate the following errors.
• Duplicate unit numbers on Special I/O Units
• Refreshing between the CPU Unit and Special I/O Unit did not proceed
normally.
To restart a Special I/O Unit, toggle the corresponding Restart Bit shown in
the tables. These bits can be used to restart the Unit without turning off the
power supply.
C200HX/HG/HE PCs
Address
Function
SR 25415
ON when an error occurs in a Special I/O Unit.
SR 282 bit i
ON when an error occurs in Unit i
SR 281 bit i
Restarts Unit i
C200HS PCs
Address
Function
SR 25415
ON when an error occurs in a Special I/O Unit.
AR 00 bit i
ON when an error occurs in Unit i
AR 01 bit i
Restarts Unit i
CS1 PCs
Address
Function
A40202
ON when an installed Unit does not match the Unit registered
in the I/O table.
A42800 to A43315
Specifies the corresponding Unit number 0 to 95 when the Unit
does not match the Unit registered in the I/O table.
A40206
ON when an error occurs in the data exchange with a Unit.
A41800 to A42315
Specifies the corresponding Unit number 0 to 95 when an error
occurs in the data exchange with the Unit.
A50200 to A50715
Restarts Units 0 to 95.
187
SECTION 8
Maintenance and Inspection
This section explains the maintenance and inspection procedures that must be followed to keep the MC Unit operating in
optimum condition. It also includes proper procedures when replacing an MC Unit or battery.
8-1
8-2
Routine Inspections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Handling Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8-2-1 Procedure for Replacing an MC Unit . . . . . . . . . . . . . . . . . . . . . . . .
8-2-2 Procedure for Replacing a Battery . . . . . . . . . . . . . . . . . . . . . . . . . .
190
191
191
192
189
Section 8-1
Routine Inspections
8-1
Routine Inspections
In order for your MC Unit to continue operating at optimum condition, periodic
inspections are necessary. The main components of the Unit are semiconductors and have a long service life, but depending on the operating environment, there may be more or less deterioration of these and other parts. A
standard inspection schedule is once every six months to one year. More frequent inspections may be advisable depending on the operating environment.
Maintain the inspection schedule once it has been set.
Inspection Points
Item
Check to be sure that the power supply, ambient temperature, humidity, and
other specifications are within the specifications. Be sure that there are no
loose screws and that all battery and cable connections are secure. Clean
any dust or dirt that has accumulated.
Inspection points
Criteria
Remarks
I/O Power
Supply
24 VDC: 20.4 to 26.4 VDC
Measure the voltage variations at
the I/O power supply terminal block.
Do they meet the standards?
With a voltage tester, check
between the terminals and make
sure that the power supply falls
within the acceptable range.
Installation
and wiring
Is the MC Unit securely mounted?
With a Phillips screwdriver, tighten
all mounting screws.
Environment
conditions
There must be looseness.
Are the cable connectors properly
inserted and locked?
Carefully insert and lock all cable
connectors.
Are there any loose screws in the
external wiring?
With a Phillips screwdriver, tighten
all screws in the external wiring.
Are any crimp terminals for external There must be sufficient diswiring too close together?
tance between them.
Do a visual check and separate the
terminals as required.
Are any external cables disconnected?
Do a visual check and connect or
replace cables as required.
There must be no external
abnormalities.
Is the ambient temperature within
0 to 55°C
the acceptable range? (When used
in a panel, the ambient temperature
inside the panel must be checked.)
With a thermometer, check the
ambient temperature inside the
panel and make sure that it falls
within the acceptable range.
10% to 90% RH (with no con- With a hydroscope, check the
Is the ambient humidity within the
ambient humidity inside the panel
acceptable range? (When used in a densation)
and make sure that it falls within the
panel, the ambient temperature
acceptable range.
inside the panel must be checked.)
190
Is the Unit exposed to direct sunlight?
It must not be exposed to
direct sunlight.
Shield the Unit from direct sunlight.
Is there any accumulation of dust
(especially iron dust) or salts?
There must be none of these
present.
Remove any accumulation of dust
or salts and protect against them.
Is the Unit exposed to any spray of
water, oil, or chemicals?
It must not be exposed to any Protect the Unit from water, oil, and
of these.
chemicals.
Is the location subject to corrosive
or flammable gases?
The Unit must not be exposed Check for smells or use a gas sento these.
sor.
Is the location subject to shock or
vibration?
The amount of shock or vibra- Install a cushion or other device to
reduce shock and vibration.
tion must be within the
acceptable ranges given in
the specifications.
Is the location near any source of
noise?
There must be no noise.
Remove the Unit from the noise
source or apply countermeasures.
Section 8-2
Handling Precautions
Item
Inspection points
Installation
and wiring
Is the MC Unit securely mounted?
Remarks
With a Phillips screwdriver, tighten
all mounting screws.
Are the cable connectors properly
inserted and locked?
Carefully insert and lock all cable
connectors.
Are there any loose screws in the
external wiring?
With a Phillips screwdriver, tighten
all screws in the external wiring.
Are any crimp terminals for external There must be sufficient diswiring too close together?
tance between them.
Do a visual check and separate the
terminals as required.
Are any external cables disconnected?
Do a visual check and connect or
replace cables as required.
Required Tools
8-2
Criteria
There must be looseness.
There must be no external
abnormalities.
The following tools, materials, and equipment are required when performing
an inspection.
• Phillips screwdriver
• Voltage tester or digital voltage meter
• Industrial alcohol and a clean cotton cloth
• Synchroscope
• Oscilloscope
• Thermometer
• Hydrometer
Handling Precautions
• Turn OFF the power before replacing the Unit.
• If a Unit is found to be faulty and is replaced, check the new Unit again to
ensure there are no errors.
• When returning a faulty Unit for repair, make a detailed record of the
Unit’s malfunction and take it together with the Unit to your nearest
OMRON office or sales representative.
• If a contact is not good, put some industrial alcohol on a clean cotton cloth
and wipe the surface. After doing this, install the Unit.
• Before restarting operation, transfer the required programs and (position)
data to the MC Unit that was changed, and save them to the flash memory.
8-2-1
Procedure for Replacing an MC Unit
Use the following procedure when it is necessary to replace an MC Unit.
1,2,3...
1. Make a note of the unit number of the MC Unit to be replaced.
2. To retain the status of the MC Unit that is to be replaced, use Motion Perfect to check the project of the Unit and to have a local copy saved on the
personal computer.
3. Turn OFF the power supply.
4. Replace the MC Unit, and reconnect the wiring as before.
5. Set the unit number for the MC Unit.
6. Turn ON the power supply to the PC.
7. Clear all the programs in the MC Unit.
8. Download all of the programs and data to the MC Unit, and save the programs in flash memory.
191
Section 8-2
Handling Precautions
8-2-2
Procedure for Replacing a Battery
Battery Type
Type: Sonnenschein Lithium 1/2 AA
Model: SL-350/S
The battery in the MC Unit has a life expectancy of 5 years at an ambient temperature of 25°C, whether or not the MC Unit is connected to electricity. The
life time will be shorter at higher ambient temperatures.
Replacing Battery
When the battery voltage begins to fail, the RUN indicator will start flashing,
the BATTERY_LOW parameter will be set to TRUE and the Low Battery Flag
bit the IR/CIO area will be turned ON. Replace the battery as outlined below
within 1 week.
1. Be sure that the programs have been saved either in flash memory or on
disk.
2. Turn OFF the power.
3. Remove the two retaining screws at the back of the MC Unit.
4. Remove the back cover of the MC Unit.
5. Slide the controller boards out of its case.
6. Undo the screws at the pillars holding the two boards together.
7. Gently separate the two boards from each other. Do not damage the interboard connector.
8. Remove the old battery and replace it with the new one. This operation
must be completed within 5 minutes.
9. Put the two boards back together again. Again, do not damage the interboard connector.
10. Tighten the screws at the retaining pillars.
11. Gently slide the controller boards back into the sleeve until they are properly home.
12. Replace the back cover of the MC Unit.
13. Replace and tighten the retaining screws.
1,2,3...
192
Appendix A
Upgrading from C200HW-MC402-UK
This appendix provides further details on the changes that have been made for the C200HW-MC402-E in comparison with the C200HW-MC402-UK Unit. As indicated in 1-6 Comparison with C200HW-MC402-UK, the
C200HW-MC402-E is not fully backward compatible. Please read this appendix carefully when upgrading from
the C200HW-MC402-UK to the C200HW-MC402-E Unit.
In general programs created on the C200HW-MC402-UK will run on the C200HW-MC402-E without modification. In some cases detailed operation may differ or modification of the program may be required. Please
review the application for the items listed below.
BASIC Programming Language
It is strongly recommended to fully re-test the application programs when upgrading to the C200HW-MC402-E.
The programs need to be checked for the changes in BASIC command, functions and parameters. In particular
review routines containing or related to any of the following:
• The INDEVICE and OUTDEVICE parameters are not supported for the C200HW-MC402-E. Programs
must be modified adopting the #n argument for the GET, INPUT, KEY and LINPUT functions. The PRINT
function has port 0 as default.
• The performance and error handling for many of the commands, functions and parameters have been
improved. In most cases this concerns improvement of argument checking and error handling. Functional
specifications are not changed unless mentioned explicitly. Nevertheless the changes could affect detailed
operation of an application, in particular in user error-handling or data-validation routines. Such routines
should therefore be re-verified for correct operation.
• The following commands are used by the Motion Perfect software and are not intended for direct use in
user programs.
APPENDPROG
INPUTS1
AXISVALUES
LOADSYSTEM
EX
MPE
INPUTS0
STORE
They are therefore removed from the user manual. The commands can however still be used from within
user programs and their functionality is unchanged from that in the C200HW-MC402-UK. However, it is
recommended to remove these commands from user programs and execute the functions via Motion Perfect.
• The PC interface BASIC commands PLC_READ and PLC_WRITE and PC instructions IORD and IOWR
have been modified to enable new features which may be used to improve or simplify communication with
the PC. The commands are however backward compatible with the C200HW-MC402-UK.
Execution Time
The execution time for BASIC commands has been improved. The C200HW-MC402-E has faster memory,
which leads to lower memory access times for the system. For existing applications this will normally not cause
problems unless the application is programmed in such a way that application timing depends on BASIC execution time (for example when using WHILE/WEND or FOR/NEXT loops for time-delay construction).
Cyclic Servo Period
The cyclic servo period, which was adjustable for the C200HW-MC402-UK, has been fixed to the value of
1 ms. This means change of servo period is no longer supported. It will usually not be necessary to change the
BASIC program as the SERVO_PERIOD parameter still accepts assignment of any value. SERVO_PERIOD
will however always return value 0.001 (1 ms) and actual servo period will not be changed.
193
Appendix A
Upgrading from C200HW-MC402-UK
The main purpose of the adjustable servo period was to allow change of the time-slicing for the various BASIC
tasks so that overall performance could be improved (in particular for serial communications). In the C200HWMC402-E this is no longer necessary because of the improved serial communications handling and BASIC
execution times.
Allocated IR/CIO Area Words
The allocation of the IR/CIO area words have been changed for the C200HW-MC402-E in relation to the
C200HW-MC402-UK. This has two effects:
• The PCs I/O Table needs to be re-registered when the MC Unit is replaced by a C200HW-MC402-E.
• All (PC-)programs which are using the IR/CIO area words must be updated. The following guidelines can
be used:
• The C200HW-MC402-UK status words (IR/CIO address n to n+5) have been shifted two words up (n+2
to n+7). See the figure below. For example, the Unit operating flag for the C200HW-MC402-UK on unit
number 0 can be found on 100.00 and the same bit for the C200HW-MC402-E on unit number 0 can be
found on 102.00.
PC
C200HW-MC402-UK
PC
IR
area
C200HW-MC402-E
IR/CIO
area
Status
Input
}
Transfer
Output
6 words
Status
Input
Transfer
Input
Word x bit i (C200HW-MC402-UK)
}
2 words
}
8 words
Þ Word x + 2 bit i (C200HW-MC402-E)
• The functionality of the axis origin flags (addresses n+5 and n+6, bits 03 and 11 for C200HW-MC402-E)
has been modified. The bits will be set for the complete origin search (DATUM) sequence of the corresponding axis.
Please refer to SECTION 3 PC Data Exchange for further details on the IR/CIO area allocation of the
C200HW-MC402-E.
User-defined Serial Communications
The serial communications interface has been modified internally and the C200HW-MC402-E requires that
Programming Port A will only be used for programming purposes with Motion Perfect or VT100 Terminal. It is
therefore strongly recommended to use serial port B for user-defined serial communication.
User-defined communication via Port A is still supported but acceptable performance must be verified thoroughly as the new setup may cause problems like missing or extra input characters during user-defined communication. If problems occur, running the program task on a higher priority may improve the operation.
Compatible Software
For configuring the C200HW-MC402-E, Motion Perfect version 2.0 (or up) needs to be used. Older versions
will not recognize the Unit. Motion Perfect 2.0 (or up) is compatible with the C200HW-MC402-UK. Programs
and projects created under Motion Perfect 1.x can be used with Motion Perfect 2.0 without modification.
194
Appendix B
PC Interface Area Lists
PC Interface Area Outputs (CPU Unit to MC Unit)
Output
word
Bit
Name
Function
n
00 to 15
Output Word 1
First transfer output word.
n+1
00 to 15
Output Word 2
Second transfer output word.
PC Interface Area Inputs (MC Unit to CPU Unit)
Input word
n+2
Bit
Name
Function
00
Unit Operating Flag
OFF: MC Unit is not operating.
01
Motion Error Flag
OFF: No error.
ON: MC Unit is operating.
ON: A motion error has occurred.
02
Task 1 Flag
OFF: Task1 is inactive.
ON: Task 1 is active.
03
Task 2 Flag
OFF: Task 2 is inactive.
ON: Task 2 is active.
04
Task 3 Flag
OFF: Task 3 is inactive.
ON: Task 3 is active.
05
Task 4 Flag
OFF: Task 4 is inactive.
ON: Task 4 is active.
06
Task 5 Flag
OFF: Task 5 is inactive.
ON: Task 5 is active.
07
PC Transfer Busy Flag
ON: The MC Unit is exchanging data with the PC Unit.
08 to 15
Digital Input Status Flags Indicate the status of digital inputs 0 to 7.
n+3
00 to 15
Digital Input Status Flags Indicate the status of the digital inputs 8 to 23.
n+4
00 to 15
Digital Output Status
Flags
Indicate the status of digital outputs 8 to 23.
n+5
00
Axis 0 Following Error
Warning Limit Flag
ON: The warning limit was exceeded for the following error for axis 0.
01
Axis 0 Forward Limit Flag ON: A forward limit is set for axis 0.
02
Axis 0 Reverse Limit Flag ON: A reverse limit is set for axis 0.
03
Axis 0 Origin Search Flag ON: An origin search is in progress for axis 0.
04
Axis 0 Feedhold Flag
ON: A feedhold is set for axis 0.
05
Axis 0 Following Error
Limit Flag
ON: The limit was exceeded for the following error for axis 0.
06
Axis 0 Software Forward
Limit Flag
ON: The software forward limit was exceeded for axis 0.
07
Axis 0 Software Reverse
Limit Flag
ON: The software reverse limit was exceeded for axis 0.
08
Axis 1 Following Error
Warning Limit Flag
ON: The warning limit was exceeded for the following error for axis 1.
09
Axis 1 Forward Limit Flag ON: A forward limit is set for axis 1.
10
Axis 1 Reverse Limit Flag ON: A reverse limit is set for axis 1.
11
Axis 1 Origin Search Flag ON: An origin search is in progress for axis 1.
12
Axis 1 Feedhold Flag
ON: A feedhold is set for axis 1.
13
Axis 1 Following Error
Limit Flag
ON: The limit was exceeded for the following error for axis 1.
14
Axis 1 Software Forward
Limit Flag
ON: The software forward limit was exceeded for axis 1.
15
Axis 1 Software Reverse
Limit Flag
ON: The software reverse limit was exceeded for axis 1.
195
Appendix B
PC Interface Area Lists
Input word
n+6
n+7
Bit
00
Name
Axis 2 Following Error
Warning Limit Flag
Function
ON: The warning limit was exceeded for the following error for axis 2.
01
Axis 2 Forward Limit Flag ON: A forward limit is set for axis 2.
02
Axis 2 Reverse Limit Flag ON: A reverse limit is set for axis 2.
03
Axis 2 Origin Search Flag ON: An origin search is in progress for axis 2.
04
Axis 2 Feedhold Flag
ON: A feedhold is set for axis 2.
05
Axis 2 Following Error
Limit Flag
ON: The limit was exceeded for the following error for axis 2.
06
Axis 2 Software Forward
Limit Flag
ON: The software forward limit was exceeded for axis 2.
07
Axis 2 Software Reverse
Limit Flag
ON: The software reverse limit was exceeded for axis 2.
08
Axis 3 Following Error
Warning Limit Flag
ON: The warning limit was exceeded for the following error for axis 3.
09
Axis 3 Forward Limit Flag ON: A forward limit is set for axis 3.
10
Axis 3 Reverse Limit Flag ON: A reverse limit is set for axis 3.
11
Axis 3 Origin Search Flag ON: An origin search is in progress for axis 3.
12
Axis 3 Feedhold Flag
ON: A feedhold is set for axis 3.
13
Axis 3 Following Error
Limit Flag
ON: The limit was exceeded for the following error for axis 3.
14
Axis 3 Software Forward
Limit Flag
ON: The software forward limit was exceeded for axis 3.
15
Axis 3 Software Reverse
Limit Flag
ON: The software reverse limit was exceeded for axis 3.
00
Task 1 BASIC Error Flag
ON: An error occurred in the BASIC program in task 1.
01
Task 2 BASIC Error Flag
ON: An error occurred in the BASIC program in task 2.
02
Task 3 BASIC Error Flag
ON: An error occurred in the BASIC program in task 3.
03
Task 4 BASIC Error Flag
ON: An error occurred in the BASIC program in task 4.
04
Task 5 BASIC Error Flag
ON: An error occurred in the BASIC program in task 5.
05
Low Battery Flag
ON: The voltage of the backup battery is low.
06
Not used
---
07
PC Transfer Error Flag
ON: An error has occurred during data transfer between MC Unit and
PC Unit.
08 to 15
Indicator Mode
Contains the value of the DISPLAY system parameter, which determines the display mode of the bank of the 8 LED indicators on the
front panel. Refer to 5-3-53 DISPLAY for details.
n+8
00 to 15
Input Word 1
First transfer input word.
n+9
00 to 15
Input Word 2
Second transfer input word.
196
Appendix C
Programming Examples
Example 1: Turning an Output ON and OFF Every 100ms
The following code controls output 10 to go on and off every 100 ms. The DISPLAY parameter is included to
show the blinking on the MC Unit’s LED indicators.
DISPLAY = 5
loop:
OP(10, ON)
WA(100)
OP(10, OFF)
WA(100)
GOTO loop
Example 2: Flashing MC Unit Outputs
The following code will sequentially step through all available outputs on the MC Unit and flash them for 0.5
seconds each
start:
FOR a = 8 TO (NIO-1)
OP(a, ON)
WA(500)
OP(a, OFF)
NEXT a
GOTO start
Example 3: Turning ON Outputs
The following code will sequentially step through all available outputs on the MC Unit and turn them ON only
when input 0 is ON.
start:
FOR a = 8 TO 15
WAIT UNTIL IN(0) = ON
OP(a, ON)
WAIT UNTIL IN(0) = OFF
OP(a, OFF)
NEXT a
GOTO start
Example 4: Positioning a Rotary Table
A rotary table must stop at one of 8 equally spaced positions according to the value of a thumbwheel input
(inputs 4 to 7). The table will not move until a start button is pressed (input 15).
start:
WAIT UNTIL IN(15) = ON
WAIT UNTIL IN(15) = OFF
GOSUB get_tws
MOVEABS(45 * tw_value)
WAIT IDLE
GOTO start
get_tws:
tw_value = IN(4,7)
RETURN
197
Programming Examples
Appendix C
Example 5: Positioning with Product Detection
A ballscrew is required to move forward at a creep speed until it reaches a product, at which point a
microswitch (IN(2)) is turned ON. The ballscrew is stopped immediately, the position at which the product was
sensed is indicated and the ballscrew is returned at a rapid speed back to the start position.
start:
IF ( IN(1) = ON ) THEN WAIT UNTIL IN(8) = OFF
WAIT UNTIL IN(1) = ON
SPEED = 10
FORWARD
WAIT UNTIL IN(2) = ON
prod_pos = MPOS
CANCEL
WAIT IDLE
PRINT "Product Position : "; prod_pos
SPEED = 100
MOVEABS(0)
WAIT IDLE
GOTO start
Example 6: Positioning on a Grid
A square palette has sides 1m long. It is divided into a 5 x 5 grid, and each of the positions on the grid contains
a box which must be filled using the same square pattern of 100mm by 100mm. A dispensing nozzle controlled
by digital output 8 must be turned ON when filling the box and OFF at all other times.
nozzle = 8
start:
FOR x = 0 TO 4
FOR y = 0 TO 4
MOVEABS(x*200, y*200)
WAIT IDLE
OP(nozzle, ON)
GOSUB square_rel
OP(nozzle, OFF)
NEXT y
NEXT x
GOTO start
square_rel:
MOVE(0, 100)
MOVE(100, 0)
MOVE(0, -100)
MOVE(-100,0)
WAIT IDLE
WA(1000)
RETURN
Example 7: Synchronising Cutter Movement
A flying shear cutter is required to synchronise with a continuously moving web and to cut a roll of paper every
5m:
• The cutter (axis 1) can move a total of 600mm. We use a maximum 500mm of this travel.
• The blade is operated by a solenoid which is switched by digital output 8.
• The blade must be operated mid-way through the cutter motion.
• The cutter must synchronise to cut, and return to its start position all within not more than 80% of the
repeat cycle.
198
Appendix C
Programming Examples
To ensure that speeds and positions of the cutter and paper match during the cut process, the arguments of
the MOVELINK command must be correct. It is normally easiest to consider the acceleration, constant speed
and deceleration phases separately and then combine them as required.
start:
UNITS AXIS(0) = 5000 ’Meters
UNITS AXIS(1) = 5000
BASE(0)
FORWARD
loop:
BASE(1)
MOVELINK(0, 4, 0, 0, 0)
’Wait distance
MOVELINK(0.1, 0.2, 0.2, 0, 0)
MOVELINK(0.3, 0.3, 0, 0, 0)
MOVELINK(0.1, 0.2, 0, 0.2, 0)
’Accelerate
’Match speed
’Decelerate
MOVELINK(-0.5, 5, 3, 3, 0)
’Move back
GOTO loop
The middle MOVELINK commands can be done in one move using the following line.
MOVELINK(0.5, 0.7, 0.2, 0.2, 0)
Example 8: Generating Smooth High-speed Profiles
It is often desirable to generate a smooth profiled move for the maximum operational speed in high-speed
machines. An optimal profile for this is a sine squared:
y= mx - n(sin(x))
In this example we work in radians.
start:
GOSUB filltable
BASE(0)
SPEED = 200
FORWARD
BASE(1)
loop:
CAMBOX(0,36,1,100,0)
WAIT IDLE
WA(1000)
GOTO loop
filltable:
num_p = 37
scale = 2000
FOR p=0 TO num_p
TABLE(p,((-SIN(PI*2*p/num_p)/(PI*2))+p/num_p)*scale)
NEXT p
RETURN
Example 9: Coordinating Two Moving Objects
Two conveyors run in parallel, conveyor A (axis 1) carries a product that must be transferred into boxes evenly
spaced on conveyor B (axis 0). The transfer operation requires the products to be aligned at the end of the
conveyor.
A registration process checks the position of the product on the conveyor and calculates the amount that conveyor A must be advanced or retarded in order to align with conveyor B. Input 1 indicates that the registration
process has been completed and the correction amount loaded serially into VR(1).
199
Programming Examples
Appendix C
setup:
BASE(1)
CONNECT(1,0)
ADDAX(2)
BASE(2)
loop:
IF IN(1) = ON THEN WAIT UNTIL IN(1) = OFF
WAIT UNTIL IN(1) = ON
correction = VR(1)
MOVE(correction)
WAIT IDLE
GOSUB do_transfer
GOTO loop
do_transfer:
OP(15,ON)
WA(500)
OP(15,OFF)
RETURN
Example 10: Coordinating Motion with Mark Detection
A cyclic cut-to-length operation requires a rolled product to be cut in relation to a printed mark.
The product is nominally 150mm long and the printed registration mark appears 30mm from the end of the
product. The product must be stationary when cut, but the draw motion should be one continuous move.
A high-speed optical sensor is connected to the registration input of the feed axis.
loop:
REGIST(3)
DEFPOS(0)
MOVE(150)
WAIT UNTIL MARK
MOVEMODIFY(REG_POS+30)
WAIT IDLE
GOSUB cut_operation
GOTO loop
cut_operation:
’Omitted from this example.
RETURN
Example 11: Pick and Place Machine
A pick-and-place machine is filling boxes on a palette. When the palette is full, a transfer carousel will replace
the palette with a fresh one and a secondary operation will spiral-wrap the whole palette with plastic film.
We can assume the palletising operation is similar to example 6.
The wrapping operation takes approximately half the time taken to fill the palette and involves the following
operations:
• Wait for "finished" signal from pick-and-place unit
• Rotate the carousel 180°
• Signal pick-and-place unit "OK to continue"
• Engage the wrapper drive (digital output)
• Rotate wrapper 4 times
• Disengage the wrapper drive
• Signal operator to remove palette
• Wait until operator presses the continue button
200
Appendix C
Programming Examples
GOSUB constants
GOSUB constants
start:
FOR x = 0 TO 4
FOR y = 0 TO 4
MOVEABS(x*200, y*200)
WAIT IDLE
OP(nozzle, ON)
GOSUB square_rel
OP(nozzle, OFF)
NEXT y
NEXT x
VR(fill_complete) = 1
WAIT UNTIL VR(carousel_ok) = 1
VR(fill_complete) = 0
GOTO start
constants:
ax_X = 0
ax_Y = 1
ax_carousel = 2
ax_wrapdrive = 3
loop:
WAIT UNTIL VR(fill_complete) <> 0
VR(carousel_ok) = 0
MOVE(180) AXIS(ax_carousel)
WAIT IDLE
VR(carousel_ok) = 1
OP(engage_wrap, ON)
WA(1000)
MOVE(4) AXIS(ax_wrapdrive)
WAIT IDLE AXIS(ax_wrapdrive)
OP(engage_wrap, OFF)
OP(lamp_OK)
WAIT UNTIL IN(but_con) = ON
OP(lamp, OFF)
GOTO loop
constants:
ax_X = 0
ax_Y = 1
ax_carousel = 2
ax_wrapdrive = 3
but_con = 1
engage_wrap = 8
lamp = 9
nozzle = 10
fill_complete = 10
carousel_ok = 11
but_con = 1
engage_wrap = 8
lamp = 9
nozzle = 10
fill_complete = 10
carousel_ok = 11
RETURN
RETURN
Example 12: Master Program
This master shell program is designed to master most applications. The program controls the executions of the
application programs and continuously monitors the status of the system. Please be careful to use it in the
application and check that it is functioning correctly in all cases before relying on its safety operation. This program should be set to run at power up at low priority (tasks 1, 2 or 3).
Note This master shell program does not include any hand-shaking for communications with the PC Unit. If
the application is using dynamic data from the PC memory, be sure to transfer the data to the MC Unit
during the initialization phase of the application.
GOSUB vars
‘Define the highest real axis
top = 3
GOSUB initial
‘Set error check with ERRORMASK in conjunction with
‘MOTION_ERROR. BEWARE not to use this for MC402-UK.
ERRORMASK=32+64+256+512+1024
loop:
‘Continuous check for errors for all axes
FOR i = 0 TO top
BASE(i)
201
Programming Examples
Appendix C
IF MOTION_ERROR THEN GOSUB crash
NEXT i
‘Continuous check for emergency stop
IF IN(7)=0 THEN GOSUB e_stop
GOTO loop
vars:
‘Initiate the application variables
RETURN
initial:
‘Initiate the application
‘Stop your application tasks
STOP “applic”
WA(100)
‘Cancel all moves
RAPIDSTOP
FOR a=0 TO top
BASE(a)
CANCEL
CANCEL
CANCEL
WAIT IDLE
SERVO = OFF
NEXT a
WDOG = OFF
‘Initialise the axis parameters
WA(1000)
RUN “startup”
WA(100)
BASE(top)
WAIT UNTIL SERVO=1
WA(100)
‘Reset any following errors
FOR b = 0 TO top
BASE(b)
DATUM(0)
NEXT b
‘Enable axes
WDOG=1
‘Run the application individually on a specified task
RUN “applic”,2
RETURN
crash:
‘This routine will cancel all moves in case of emergency
‘and will store the errors.
VR(27 + ERROR_AXIS)=0
BASE(ERROR_AXIS)
‘IN(16) TO IN(19) refer to the driver alarm inputs
IF IN(16+ERROR_AXIS) THEN
VR(27+ERROR_AXIS)=VR(27+ERROR_AXIS)+1
IF AXISSTATUS AND 16 THEN
VR(27+ERROR_AXIS)=VR(27+ERROR_AXIS)+16
IF AXISSTATUS AND 32 THEN
VR(27+ERROR_AXIS)=VR(27+ERROR_AXIS)+32
IF AXISSTATUS AND 256 THEN VR(27+ERROR_AXIS)=VR(27+ERROR_AXIS)+256
202
Programming Examples
Appendix C
IF AXISSTATUS AND 512 THEN VR(27+ERROR_AXIS)=VR(27+ERROR_AXIS)+512
IF AXISSTATUS AND 1024 THEN VR(27+ERROR_AXIS)=VR(27+ERROR_AXIS)+1024
‘Cancel all moves
RAPIDSTOP
FOR a=0 TO top
BASE(a)
CANCEL
CANCEL
CANCEL
WAIT IDLE
SERVO = OFF
NEXT a
WDOG = OFF
‘Stop all application programs individually. Another
‘option is to halt all programs with HALT.
STOP “applic”
‘A bit may be set to restart the programs (if safe)
‘WAIT UNTIL IN(24)
‘GOSUB initial
RETURN
e_stop:
‘Emergency Stop
RAPIDSTOP
FOR a=0 TO top
BASE(a)
CANCEL
CANCEL
CANCEL
WAIT IDLE
SERVO = OFF
NEXT a
WDOG = OFF
‘Stop all application programs individually.
STOP “applic”
WAIT UNTIL IN(7)
RETURN
203
Index
A
absolute moves, 7
acceleration rate, 7
adding axes, 13
applicable PCs, 20
application, precautions, xiii
ASCII emulation, 165
axis
adding, 13
demand position, 17
encoder, 6
following error, 17
measured position, 17
repeat distance, 140
servo, 6
status, 91
types, 6
virtual, 6
axis connector, 27
axis types, 6
B
BASIC
commands, 58
data structures, 59
driver I/O, 64
functions, 58
I/O access, 63
labels, 60
parameters, 58
physical I/O, 64
statements, 58
variables, 59
virtual I/O, 64
BASIC commands, functions and parameters
listed alphabetically, 84
ABS, 87
ACCEL, 7, 87
ACOS, 87
add operator, 84
ADDAX, 13 , 88
AND, 88
ASIN, 89
ATAN, 89
ATAN2, 89
ATYPE, 6, 90
AUTORUN, 90
AXIS, 59, 90
AXISSTATUS, 91, 169 , 184
BASE, 58, 91
BASICERROR, 92 , 185
BATTERY_LOW, 93
CAM, 11, 93
CAMBOX, 12, 94
CANCEL, 13, 95
CHECKSUM, 96
CLEAR, 60, 96
CLEAR_BIT, 96
CLOSE_WIN, 96
comment field, 87
COMMSERROR, 97
COMPILE, 97
CONNECT, 12, 97
CONTROL, 98
COPY, 98
COS, 98
CREEP, 99
D_GAIN, 17, 61, 99
DAC, 61 , 99
DAC_OUT, 100
DATUM, 13 , 100
DATUM_IN, 64, 101
DECEL, 7, 101
DEFPOS, 5, 101
DEL, 102
DEMAND_EDGES, 102
DIR, 103
DISPLAY, 45 , 103, 196
divide operator, 85
DPOS, 17, 103
EDIT, 104
ENCODER, 104
ENDMOVE, 104
EPROM, 65, 104
equal operator, 86
ERROR_AXIS, 104, 184
ERROR_LINE, 105, 185
ERRORMASK, 105, 184
EXP, 105
FALSE, 106
FAST_JOG, 14, 64, 106
FE, 17, 106
FE_LIMIT, 37, 106
FE_RANGE, 106
FHOLD_IN, 64 , 107
FHSPEED, 107
FOR, 107
FORWARD, 9, 108
FRAC, 108
FREE, 109
FS_LIMIT, 109
FWD_IN, 38, 64, 109
FWD_JOG, 14, 64, 109
GET, 109
GOSUB, 60, 110
GOTO, 60, 110
greater than operator, 86
greater than or equal operator, 87
205
Index
HALT, 111
I_GAIN, 17, 61 , 111
IF, 111
IN, 112
INITIALISE, 58, 113
INPUT, 113
INT, 113
JOGSPEED, 114
KEY, 114
LAST_AXIS, 114
less than operator, 85
less than or equal operator, 85
LINPUT, 115
LIST, 115
LN, 116
LOCK, 116
MARK, 116
MERGE, 14 , 116
MHELICAL, 10, 117
MOD, 118
MOTION_ERROR, 118 , 184
MOVE, 7, 9, 119
MOVEABS, 7, 9, 120
MOVECIRC, 10, 121
MOVELINK, 13, 122
MOVEMODIFY, 125
MPOS, 17, 125
MSPEED, 125
MTYPE, 62, 125
multiply operator, 84
NEW, 126
NIO, 126
NOT, 126
not equal operator, 86
NTYPE, 62, 127
OFF, 127
OFFPOS, 127
ON, 127
OP, 128
OPEN_WIN, 129
OR, 129
OUTLIMIT, 130
OV_GAIN, 17, 61, 130
P_GAIN, 17 , 61, 130
PI, 130
PLC_READ, 48 , 55, 131
PLC_TYPE, 132
PLC_WRITE, 48, 55, 132
PMOVE, 63 , 133
power operator, 84
POWER_UP, 65, 134
PP_STEP, 134
PRINT, 134
PROC, 59, 136
PROCESS, 136
PROCNUMBER, 136
PSWITCH, 64, 136
206
RAPIDSTOP, 13, 137
READ_BIT, 138
REG_POS, 138
REGIST, 14 , 64, 138
REMAIN, 139
RENAME, 140
REP_DIST, 140
REP_OPTION, 140
REPEAT, 141
RESET, 60, 141
RETURN, 110
REV_IN, 38 , 64, 142
REV_JOG, 14 , 64, 142
REVERSE, 9, 142
RS_LIMIT, 142
RUN, 142
RUN_ERROR, 143, 185
RUNTYPE, 67, 143
SCOPE, 144
SCOPE_POS, 145
SELECT, 145
SERVO, 61, 145
SET_BIT, 146
SETCOM, 146
SGN, 146
SIN, 147
SPEED, 7, 147
SQR, 147
SRAMP, 147
statement separator, 87
STEPLINE, 148
STOP, 148
subtract operator, 85
TABLE, 59, 148
TAN, 149
TICKS, 150
TRIGGER, 150
TROFF, 150
TRON, 150
TRUE, 151
TSIZE, 151
UNITS, 5, 7, 151
UNLOCK, 116
VERSION, 152
VFF_GAIN, 18, 61, 152
VP_SPEED, 152
VR, 59, 152
WA, 153
WAIT IDLE, 154
WAIT LOADED, 154
WAIT UNTIL, 154
WDOG, 61, 155, 184
WHILE, 155
XOR, 156
BASIC programs
compile description, 66
debugging, 150, 167
Index
editing, 165
error processing, 68
managing, 65
multitasking, 58
priority, 66
run at start-up, 67
stepping, 148
storing, 65
tasks, 66
trace function (TRON/TROFF), 150
BASIC statement groups
axis parameters, 81
constants, 81
I/O commands and functions, 77
loop and conditional structure commands, 77
mathematical and logical functions, 80
motion control commands, 76
Motion Perfect statements, 81
PC data exchange commands, 83
program commands and functions, 78
system commands and parameters, 78
task commands and parameters, 83
buffer
actual move, 62
next move, 62
task, 62
C
control system, 14
coordinate system
description, 5
scaling, 134
CP control. See continuous path control
CPU Unit, data transfers, 46
D
data format, 47
datuming. See origin search
debugging. See BASIC programs, debugging
deceleration rate, 7
decoder, 15
demand position, 17
demand speed, 7
derivative gain, 17
dimensions
MC Unit, 26
terminal block, 33
driver I/O, in BASIC, 64
E
EG control. See electronic gearing
C200HW-MC402-UK, comparison with , 20
electronic gearbox, 12
C200HW-MC402-UK, upgrading from , 193
electronic gearing, 11
cables
computer to MC Unit, 32
MC Unit to terminal block, 33
part numbers, 5
terminal block to Servo Drivers, 33
enable relay. See Servo Driver, enable relay
CAM control, 11
cancelling moves , 13
circular interpolation , 10
clearing following error, 100
command line interface, 65, 164
communication errors, 97
comparison with C200HW-MC402-UK, 20
components, 24
connections
axis, 27
I/O, 26
serial ports, 31
Servo Driver, 33
terminal block, 33
continuous moves, 9
continuous path control, 9
encoder, 14
encoder axis, 6
error processing, 68
errors
BASIC error code list, 185
BASIC run-time errors, 185
motion errors, 184
PC error flags, 187
PC transfer error flag, 51 , 55
serial communication, 97
examples
controlling I/O, 197
coordinating two moving objects, 199
coordinating with mark detection, 200
grid positioning, 198
high-speed profiles, 199
master shell program, 201
pick and place, 200
product detection, 198
programming, 197
rotary table, 197
synchronising cutter, 198
207
Index
F
IOWR instruction, 52
IR/CIO area allocation, 42
features, 2
feedback pulses , 14
feedhold
input, 107
speed, 107
flags
BASIC error, 45, 196
indicator mode, 45, 196
low battery, 45, 196
PC control, 187
PC error, 187
PC transfer error, 45, 196
transfer input, 45, 196
transfer output, 43
floating point
comparison, 61
definition, 60
flying shear, 198
J-L
jogging, 14, 171
forward input, 109
reverse input, 142
speed, 114
labels, definition, 60
LED indicators, 24
limit switches
description, 38
forward input, 109
reverse input, 142
linear interpolation, 9
linked CAM control, 12
linked move, 13
local variables, 60
following error
description, 17
limit, 106
limit setting, 37
range, 106
master program, 69, 201
functional specifications , 18
mathematical specifications, 60
M
measured position, 17
G-I
gain
derivative, 17
integral, 17
output speed, 17
proportional, 17
speed feedforward, 18
general specifications, 18
global variables , 59
helical interpolation, 10
I/O access in BASIC , 63
I/O connector, 26
I/O specifications , 29
indicators, 24
initialisation, application , 61
installation , 23
integer, definition , 60
integral gain , 17
interpolation
circular, 10
helical, 10
linear, 9
IORD instruction , 49
208
motion control
algorithm, 16
concepts, 5–14
initialisation, 61
types, 2
motion errors, 184
motion generator, 62
Motion Perfect
axis parameters window, 168
connecting to MC Unit, 158
control panel, 162
controller configuration window, 169
debugging, 167
desktop, 161
features, 158
firmware download, 178
full controller directory window, 171
I/O status window, 170
jog screen, 171
oscilloscope, 172
program editor, 165
project backup, 177
requirements, 158
retrieving backup, 178
serial connection, 31
simple examples, 163
Index
Table editor, 169
terminal window, 164
tools, 164
VR editor, 169
Motion Perfect projects
backup, 159
consistency check, 160
description, 159
manager, 159
application, xiii
Motion Perfect, 177
operating environment, xiii
safety, xii
servo system, 36
servomotor, 36
wiring, 38
precedence, 61
motor runaway, 36
print registration, 14
delay time, 19
mounting Units , 25
programming examples, 197
move loading, 63
proportional gain, 17
moves
absolute, 7
calculations, 9
cancelling, 13
continuous, 9
defining, 7
execution, 62
jogging, 14, 171
merging, 14
relative, 7
PTP control. See point-to-point control
multitasking , 58
Q-R
quadrature, 14
registration. See print registration
relative moves, 7
restrictions on CS1 data exchange, 56
RS-232C communication errors, 97
RS-232C connections, 31
N-O
noise, precautions against, 38
runaway
due to disconnected wiring, 37
due to faulty wiring, 36
number format, 60
one-word format, 47
operating environment, precautions, xiii
origin search, 13
output speed gain , 17
S
safety precautions, xii
S-curve factor, 147
semi-closed loop system, 16
sequencing, 63
P
PC data exchange
data in IR/CIO area, 48
error flag, 51, 55
methods, 46
one-word format, 47
three-word format, 47
transfer by CPU Unit, 49
transfer by MC Unit, 55
PC, applicable models, 20
physical I/O, in BASIC , 64
point-to-point control, 7
positioning
continuous path, 9
electronic gearing, 11
point-to-point, 7
precautions
servo axis, 6
Servo Driver
alarm inputs, 64
connection to terminal block, 33
enable relay, 155
resetting alarm, 64
servo period, 66
servo system, 16
precautions, 36
software limit
forward, 109
reverse, 142
software reset, 177
Special I/O Unit Area, word allocation, 42–43
specifications
functional, 18
general, 18
209
Index
I/O, 29
mathematical, 60
speed feedforward gain , 18
statements
axis, 58
description, 58
system, 59
task, 59
system configuration , 4
T-U
table variables, 59
task
buffer, 62
clock pulses, 150
priority, 66
terminal window, 65 , 164
terminating resistors, 34
three-word format, 47
troubleshooting BASIC programs, 167
unit conversion factor, 5, 7
upgrading from C200HW-MC402-UK , 193
V-Z
variables
global, 59, 152
local, 60
table, 59, 148
virtual axis, 6
virtual I/O, in BASIC , 64
VR variables. See variables, global
VT100 Emulation, 165
wiring
axis connector, 27
I/O connector, 26
precautions, 38
Z-marker, 15
210
Revision History
A manual revision code appears as a suffix to the catalog number on the front cover of the manual.
Cat. No. W903-E2-2
Revision code
The following table outlines the changes made to the manual during each revision. Page numbers refer to the
previous version.
Revision code
Date
1
January 2000
2
June 2001
Revised content
Original production
Modifications made for MC402-E version and for support of CS1 series. This
manual has been extensively revised throughout all sections and appendices.
211