Language Reference Guide

Language reference table of contents
Language reference introduction 9
! (exclamation point)
Pause Program Execution 10
(Single Space Character)
Single Space Delimiter and String Terminator 12
Direct Binary Mode Control
Binary Trajectory Data Format 13
@PE
Real-Time Actual Position Error 16
@V
Present Trajectory Velocity 17
a . . z
32-Bit Variables 19
aa . . zzz
32-Bit Variables 21
ab[index]
8-bit Array Variables 23
al[index]
32-Bit Array Variables 26
aw[index] 16-bit Array Variables 29
A=expression
Set Acceleration 32
ADDR
Set Motor Address 34
AIN{address}{input}
Analog Input from I/O Device 35
AMPS=expression
Set Drive PWM Limit 36
AOUT{address},{value}
Analog Output to I/O Device 37
Ba
Peak-Over-Current Status Bit 38
Bb
Parity Error Status Bit 39
Bc
Communications Overflow Status Bit 40
Be
Excessive Position Error Status Bit 43
Bf
Communications Framing Error Status Bit 44
Bh
Overheat/RMS Over-Current Status Bit 45
Bi
Index-Position Captured Status Bit 47
Bk
User Program Checksum Error Status Bit 49
Bl
Historical Left-Limit Status Bit 50
Bm
Real-Time Left-Limit Status Bit 52
Bo
Motor-Off Status Bit 53
Bp
Real-Time Right-Limit Status Bit 54
Br
Historical Right-Limit Status Bit 55
Bs
Syntax-Error Status Bit 57
Bt
Trajectory-In-Progress Status Bit 58
Bu
Array Index Error Status Bit 60
Bw
Encoder-Wrap-Around Status Bit 61
Bx
Real-Time Index Input Status Bit 63
BASE
Cam Mode Master Cycle Length 64
BRKC
Brake Control Re-Direct to Port C 66
1
Language reference table of contents (continued)
BRKENG
Brake Engage 67
BRKG
Brake Control Re-Direct to Port G 68
BRKI
Brake Control Re-Direct to Port I 69
BRKRLS
Brake Release 70
BRKSRV
Brake Engage When Not Servoing 71
BRKTRJ
Brake Engage With No Active Trajectory 72
BREAK
Program Flow Loop Exit Control 74
C{statement_label_number}
Program Subroutine Label 76
CCHN(type,channel)
Close Communications Channel 78
CHN
Combined Communications Error Flag 79
CHN0
Communications Error Flag (RS-232) 81
CHN1
Communications Error Flag (RS-485) 83
CLK
Hardware Clock Variable 85
CMD
Accept Command Input RS-232 87
CMD1
Accept Command Input RS-485 89
CTR
Second Encoder/Step and Direction Counter 91
D=expression
Set R elative Distance 93
DAT
Accept Data Input Only (RS-232) 95
DAT1
Accept Data Input Only (RS-485) 97
DEFAULT
Switch-Case Structure Element 99
DIN{port}{channel}
Input Byte From I/O Device 101
DOUT{port}{channel}{expression}
Output Byte to I/O Device 102
E=expression
Set Allowable Position Error 103
ECHO
Echo Incoming RS-232 Data 104
ECHO_OFF
Turn RS-232 Echo Off 105
ECHO1
Echo Incoming RS-485 Data 106
ECHO_OFF1
Turn RS-485 Echo Off 107
ELSE
IF-Structure command flow element 108
ELSEIF
IF-structure command flow element 110
ENC0
Set/Restore Internal Encoder for Servo 112
ENC1
Select External Encoder for Servo 113
END
End Program Code Execution 114
ENDIF
End IF Statement 115
ENDS
End SWITCH Statement 116
EPTR=expression
Set Data EEPROM Pointer 117
2
Language reference table of contents (continued)
ES400
Set EPROM Read/Write Speed 118
ES1000
Set EPROM Read/Write Speed 120
F
Load PID Filter 122
F=expression
Motor Function Control 123
G
Start Motion (GO) 126
GETCHR
Get Character from main RS-232 129
GETCHR1
Get Character From RS-485 130
GOSUB{number}
Subroutine Call 131
GOTO{number}
Branch Program Flow to a Label 133
I (capital i)
Encoder Index Pulse Location 134
IF expression
Conditional Program Code Execution 136
KA=expression
PID Acceleration Feed Forward 139
KD=expression
PID Derivative Compensation 140
KG=expression
PID Gravity Compensation 141
KI=expression
PID Integral Compensation 142
KL=expression
PID Integral Limit 143
KP=expression
PID Proportional Compensation 144
KS=expression
PID Derivative Term Sample Rate 145
KV=expression
PID Velocity Feed Forward 146
LEN
Main RS-232 data buffer fill level 147
LEN1
RS-485 data buffer fill level 148
LIMD
Enable Directional Travel Limits 149
LIMH
Travel Limits Active High 150
LIML
Travel Limits Active Low 151
LIMN
Enable Non-Directional Travel Limits 152
LOAD
Download Compiled User Program to Motor 153
LOCKP
Prevent User Program Upload 155
LOOP
Return to WHILE Program Flow Control 156
MC
Enable Mode-CAM (Electronic Camming) 158
MC2
Mode CAM 2X Multiplier 160
MC4
Mode CAM 4X Multiplier 161
MC8
Mode CAM 8X Multiplier 162
MD50
Enable Direct Analog-Input Drive-Mode 163
MF0
Enable Quadrature-Input Counter Mode 164
MF1
Enable Mode-Follow, Raw Resolution 166
MF2
Enable Mode-Follow Half-Quadrature 167
3
Language reference table of contents (continued)
MF4
Enable Mode-Follow Full Quadrature 168
MFDIV
Set Mode-Follow Divisor 169
MFMUL
Set Mode-Follow Multiplier 170
MFR
Calculate/Enable Mode-Follow-Ratio 171
MP
Enable Position-Mode 173
MS
Enable Mode-Step 175
MS0
Enable Step/Direction Counter Mode 177
MT
Enable Torque-Mode 180
MTB
Enable Mode Torque Brake 182
MV
Enable Velocity-Mode 183
O=expression
Set Main Position Counter 185
OCHN
Open /Set-up Communications Channel 187
OFF
Turn Off Drive Stage 188
P=expression
Set Commanded Absolute Position 189
PID#
P.I.D. Tuning Filter Control 191
PRINT( )
Print to Primary Communications Port 193
PRINT1( )
Print to Secondary Communications Port 195
PRINTA( ) . . . PRINTH( )
Print to External LCD Display 197
Q
Report Host-Mode Status 199
Ra . . . Rz
Report 32-Bit Variable Data Value 200
Raa . . . Rzz
Report 32-Bit Variable Data Value 202
Raaa . . . Rzzz
Report 32-Bit Variable Data Value 204
Rab[index]
Report 8-Bit Array Data Value 206
Ral[index]
Report 32-Bit Array Data Value 208
Ral[index](continued)
Report 32-Bit Array Data Value 209
Raw[index]
Report 16-Bit Array Data Value 210
RA
Report Commanded Acceleration 212
RAIN{port}{input}
Report Expanded Analog Input Value 213
RAMPS
Report Allowable PWM Limit 214
RBa
Report PEAK-Over-current Status Bit 215
RBb
Report Communications Parity Error Status Bit 216
RBc
Report Communications Overflow Status Bit 217
RBd
Report Math Overflow Status Bit 218
RBe
Report Position Error Status Bit 219
RBf
Report Communications Framing Error Status Bit 220
4
Language reference table of contents (continued)
RBh
Report Over-Heat/RMS Over-Current Status Bit 221
RBi
Report Index-Captured Status Bit 222
RBk
Report EEPROM Checksum Status Bit 223
RBl
Report Real-Time Left-Over-Travel-Limit State 224
RBm
Report Historical Left-Over-Travel-Limit Status Bit 225
RBo
Report Motor-Off Status Bit 226
RBp
Report Historical Right-Over-Travel-Limit Logic State 227
RBr
Report Real-Time Right-Over-Travel-Limit State 228
RBs
Report Syntax-Error Status Bit 229
RBt
Report Busy-Trajectory Status Bit 230
RBu
Report Array Index Error Status Bit 231
RBw
Report Encoder Wrap Status Bit 232
RBx
Report Real-Time Index Pulse Logic State 233
RCHN
Report Serial Communications Status Flags 235
RCHN0
Report Primary Serial Port Status 236
RCHN1
Report Secondary Serial Port Status 238
RCS
Report Primary Serial Port Checksum 240
RCS1
Report Secondary Serial Port Checksum 241
RCTR
Report Secondary Encoder Counter 242
RD
Report Commanded Relative Distance Value 243
RDIN{port}{channel}
Report Expanded Input Logic Status 244
RE
Report Maximum Allowable Position Error 245
RETURN
Return-From-Subroutine Program Flow Control 246
RI
Report Last-Captured Index Pulse Location 247
RKA
Report Acceleration-Feed-Forward Gain Tuning Value 248
RKD
Report Derivative-Gain Tuning Value 249
RKG
Report Gravitational Compensation Gain Tuning Value 250
RKI
Report Integral-Gain Tuning Value 251
RKP
Report Proportional-Gain Tuning Value 252
RKS
Report Inertial Time Constant Tuning Value 253
RKV
Report Velocity-Feed-Forward Tuning Value 254
RP
Report Real Time Position 255
RPE
Report Real-Time Position Error 256
RS
Report 8-Bit System Status Byte 258
RS2
Restore Port G normal control 260
5
Language reference table of contents (continued)
RS4
Set Port G to RS-485 R/W Control Pin 261
RSP
Report CPU speed and Firmware Revision 262
RT
Report Commanded Torque Value 263
RUN
Start/Re-Start Program Execution 264
RUN?
Halt Program Execution until RUN Received 266
RV
Report Current Trajectory Velocity 267
RW
Report System 16-Bit Status Word 268
S (as command)
Stop Motion Quickly 269
S (as status byte)
8-Bit System Status Byte 270
SADDR#
Set Motor Address 272
SILENT
Silence Primary Port Outgoing Communications 274
SILENT1
Silence Secondary Port Outgoing Communications 275
SIZE=expression
Set Number of CAM Table Data Points 276
SLEEP
Ignore Incoming Commands on Primary Port 278
SLEEP1
Ignore Incoming Commands on Secondary Port 279
STACK
Clear Stack Pointer Register 280
SWITCH expression
Selectable Program Flow Control 282
T=expression
Set Open Loop Commanded Torque Value 284
TALK
Enable Outgoing Messages on Primary Port 286
TEMP
Read Motor Temperature 288
TH
Set Maximum Allowable Temperature 289
THD
Set Overheat Delay Timer 290
TWAIT
Pause Program Execution During Active Trajectory 291
UA=expression
Set I/O Port A Out t Logi c State 292
UAA Read I/O Port A as Analog Input 293
UAI (as command)
Set I/O Port A to Input 294
UAI (as input value)
Read I/O Port A Logic State 295
UAO (as command)
Set I/O Port A to Output 296
UBexpression
Set I/O Port B Output Logic State 297
UBA
Read I/O Port B as Analog Input 298
UBI (as command)
Set I/O Port B to Input 299
UBI (as input value)
Read I/O Port B Logic State 300
UBO (as command)
Set I/O Port B to Output 301
UCexpression
Set I/O Port C Output Logic State 302
UCA
Read I/O Port C as Analog Input 303
UCI (as command)
I/O COMMAND 304
6
Language reference table of contents (continued)
UCI (as input value)
Read I/O Port C to Input 305
UCO (as command)
Set I/O Port C to Output 306
UCP
Set I/O Port C as Positive Over Travel Limit 307
UDexpression
Set I/O Port D Output Logic State 308
UDA
Read I/O Port D as Analog Input 309
UDI (as command)
Set I/O Port D to Input 310
UDI (as input value)
Read I/O Port D to Input 311
UDM
Set I/O Port D as Negative Over Travel Limit 312
UDO (as command)
Set I/O Port D to Output 313
UEexpression
Set I/O Port E Output Logic State 314
UEA
Read I/O Port E as Analog Input 315
UEI (as command)
Set I/O Port E to Input 316
UEI (as input value)
Set I/O Port E to Input 317
UEO (as command)
Set I/O Port E to Input 318
UFexpression
Set I/O Port F Output Logic State 319
UFA
Read I/O Port F as Analog Input 320
UFI (as command)
Set I/O Port F to Input 321
UFI (as input value)
Read I/O Port F Logic State 322
UFO (as command)
Set I/O Port F to Output 323
UG
Enable/Re-Enable Port G Sync Functionality 324
UGexpression
Set I/O Port G Output Logic State 325
UGA (as input value)
Read I/O Port G As Analog Input 326
UGI (as input value)
Read I/O Port G Logic Level State 327
UGI (as command)
Set I/O Port G to Input 328
UGO (as command)
Set I/O Port G to Output 329
UP
Complied User Program and Header Upload 330
UPLOAD
Standard User Program Upload 331
V
Commanded Velocity 332
VLD(variable, number)
Data EEPROM READ/WRITE COMMAND 333
VST(variable, number)
DATA-EEPROM READ/WRITE COMMAND 335
WAIT=expression
Pause Program Flow for pre-determined time 337
WAKE
Enable Open Communications on Primary Port 338
WAKE1
Enable Open Communications on Secondary Port 339
WHILE expression
Conditional Program Loop Flow Control 340
X
Decelerate Shaft to a Relative Position 342
Z
Total CPU Reset 343
7
Language reference table of contents (continued)
Za
Reset Peak Over Current Flag 344
Zb
Reset Comms Parity Error Flag 345
Zc
Reset Comms Buffer Overflow Flag 346
Zd
Reset Math Overflow Error Flag 347
Ze
Reset Position Error Flag 348
Zf
Reset Comms Framing Error Flag 349
Zl
Reset Historical Left Limit Flag Flag 350
Zr
Reset Historical Right Travel Limit Flag 351
Zu
Reset Array Index Error state Flag 353
Zw
Reset Encoder Wrap Status Flag 354
ZS
Global Reset System State Flags 355
Array Variable Memory Map
Page 1 of 2 357
Array Variable Memory Map
Page 2 of 2 358
8
Language reference introduction
The Smartmotor™ "Language Reference" lists each Smartmotor command
in alphabetical order. Every command is described in exacting detail and
shown in the context of a real-world example where it applies.
The commands are supplemented with a "Related Commands" section in the
outside column that is designed to guide you to other pertinent commands
and assure that you become aware of every resource the Smartmotor has to
offer to address your specific need.
The examples are printed in a bold in a MORE STRUCTURED FONT to be
quickly and unmistakably identified and interpreted. Comments are included
and separated with a single quotation mark as they would be in your own
programs.
You will almost certainly find the SmartMotor programmability the most powerful of any motion controller you have ever used. Any problem you may be
facing will have many solutions to choose from. The key to successful application programming is knowing enough to choose the most elegant solution
available.
Please let us know if you find any errors or omissions in this book so that
we may improve it for future readers. Such notifications should be sent
by e-mail with the words "Language Reference" in the subject line sent to:
info@animatics.com. Thank you in advance for your contribution.
©2001, 2002 Animatics Corporation. All rights reserved
Animatics The SmartMotor Language Reference.
Contact Us:
Animatics Corporation
3200 Patrick Henry Dr.
Santa Clara, CA 95054
USA
Tel: 1 (408) 748-8721
Fax: 1 (408) 748-8725
www.animatics.com
This book is furnished under license and may be used or copied only in
accordance with the terms of such license. The content of this book is furnished
for informational use only, is subject to change without notice and should not be
construed as a commitment by Animatics Corporation. Animatics Corporation
assumes no responsibility or liability for any errors or inaccuracies that may
appear in this book.
Except as permitted by such license, no part of this publication may be
reproduced, stored in a retrieval system or transmitted, in any form or by any
means, electronic, mechanical, recording, or otherwise, without the prior written
permission of Animatics Corporation.
Animatics, the Animatics logo, SmartMotor and the SmartMotor logo are all
trademarks of Animatics Corporation. Windows, Windows 95/98, Windows 2000
Windows NT and Windows XP are all trademarks of Microsoft Corporation.
9
! (exclamation point)
Pause Program Execution
Related
Commands:
GETCHR
GETCHR1
APPLICATION:
Program flow control
DESCRIPTION:
Pauses Program Execution
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
Use ENTER key from host terminal
REPORT COMMAND:
None
READ/WRITE:
N/A
LANGUAGE ACCESS:
Use only within a user program
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSIONS: All
DETAILED DESCRIPTION:
The command ! suspends the user program until a properly terminated character or
string is received through the SmartMotor™ serial port. As long as the SmartMotor is in
command mode, the character or string received will be interpreted as a command.
The ! command is useful when debugging new programs and stopping output streams
from the motor at runtime. The ! command doesn’t affect the trajectory generator or a
move in progress.
See sample code on next page:
10
! (exclamation point) (continued)
Pause Program Execution
Related
Commands:
GETCHR
GETCHR1
EXAMPLE: (user debug output page with pause)
a=10000000
'program parameter
O=a
'set axis origin
MP
'set buffered motion mode to Mode Position
A=100 'set buffered acceleration
V=4000 'set buffered maximum velocity
P=-a
'set buffered target position
b=50
'loop counter
c=0
'data set counter
GOSUB10'call debug routine
G
WHILE b'while b>0
GOSUB10
'emit data set
IF Bt==0 'exit if trajectory done
BREAK
ENDIF
b=b-1
'decrement loop index
LOOP
GOSUB10'emit final data set
END
'program terminate
C10
c=c+1
'increment data set counter
'NOTE PRINT(#13) sends a carriage return
PRINT(#13,#13,"DATA SET ")
Rc
PRINT(#13,"Value of a
",a)
PRINT(#13,"Value of b
",b)
PRINT(#13,"Position
")
RP
PRINT("Velocity
")
RV
PRINT("Acceleration
")
RA
PRINT("Position Error
")
RPE
!
RETURN
‘wait for ENTER from SMI terminal
11
(Single Space Character)
Related
Commands:
Carriage Return
Single Space Delimiter and String Terminator
APPLICATION:
Program flow control
DESCRIPTION:
Single spaces placed between a series of user variables or commands
EXECUTION:
Immediate
FIRMWARE VERSIONS: All
DETAILED DESCRIPTION:
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
Serial communications channel data
A single space character may be placed between a series of user commands in a
single ASCII string as delimiter. If sent from a PLC or PC, the same space character
can be used as an string terminating character.
When assigning values to sequential variables, use between assigned value and terminate sequence with an immediately following period.
The space character can also be used in PRINT command strings in like manner.
EXAMPLE as Delimiter for variable initialization:
n 7 2 8 56.
equivalent:
t=6
aw[t] 63 44 98. '(Note spaces and period)
equivalent:
'(Note spaces and period)
n=7 o=2 p=8 q=56
aw[6]=63 aw[7]=44 aw[8]=98
EXAMPLE as Delimiter and Null Terminator in PRINT command:
PRINT("a=1 b=2 ")
'note space after b=2 as null terminator
equivalent:
PRINT("a=1 b=2",#13)
'note carriage return as null terminator
Note: When sending commands via serial port from a PC or PLC or other controller, a space
character can be used as both a delimiter and a string terminator. It can be used equally and
interchangeably with a carriage return as a string terminator.
12
Direct Binary Mode Control
Binary Trajectory Data Format
Related
Commands:
P
V
A
APPLICATION:
Direct Mode Position, Velocity, and Acceleration Data
DESCRIPTION:
Binary Packet Data
EXECUTION:
Immediate
CONDITIONAL TO:
Appropriate terminal
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
Serial communications channel data
UNITS:
Function byte + 32 bit binary packet
RANGE OF VALUES:
0x80000000 to 0x7FFFFFFF
TYPICAL VALUES:
0x80000000 to 0x7FFFFFFF
DEFAULT VALUE:
N/A
FIRMWARE VERSIONS: Version 3.2, firmware version G3 and higher
DETAILED DESCRIPTION:
Direct Mode commands always have the following five byte format: a single command
byte, followed by four data bytes. There are three command bytes presently available
in hex format:
0xFE Commanded Position Header Bit
0xFD
Commanded Velocity Header Bit
0xFC
Commanded Acceleration Header Bit
Note: Binary strings set Buffered Values!
To have them take effect, they must also be followed by a G command
and a Null Terminator (Carriage Return or Space Character)
EXAMPLE:
Set Buffered target position to 100
0xFE 0x00 0x00 0x00 0x64
Set Buffered target position to -2
(P=100)
(P=-2)
0xFE 0xFF 0xFF 0xFF 0xFE
13
Direct Binary Mode Control (continued)
Binary Trajectory Data Format
Related
Commands:
P
V
A
Set Buffered target velocity to 10000
(V=-10000)
0xFE 0xFF 0xFF 0xD8 0xF0
Set Buffered target acceleration to 1024
0xFD 0x00 0x00 0x27 0x10 Set Buffered target velocity to -10000
(V=10000)
(A=1024)
0xFD 0x00 0x00 0x04 0x00
Note: A<0 is not valid.
Since a direct mode command is always in a fixed format, it doesn’t require an end of
line character. However, to have the buffered values take effect, the G character may
be directly appended to the end of any direct mode command.
EXAMPLE:
Set Buffered target position to 100 and "Go"
(P=100 G)
0xFE 0x00 0x00 0x00 0x64 0x47 0x20
Set Buffered target acceleration to 100 and "Go" (A=100 G)
0xFC 0x00 0x00 0x00 0x64 0x47 0x20
Keep in mind, Proper Mode commands must be set up prior to binary command
strings in order to get predictable results. If Velocity Mode Is required, then first send
MV followed by the associated binary commands.
This would then allow for fast changes in speed once in velocity mode.
14
@P
Real-Time Actual Position
Related
Commands:
P
RP
@PE
@V
ENC0
ENC1
APPLICATION:
Monitor trajectory
DESCRIPTION:
Fetch Real-Time Encoder Position
EXECUTION:
Next PID sample
CONDITIONAL TO:
N/A
LIMITATIONS:
Expression value
REPORT COMMAND:
RP
READ/WRITE:
Read only
LANGUAGE ACCESS:
Expressions and conditional testing
UNITS:
Encoder counts
RANGE OF VALUES:
-2147483648 to 2147483647
TYPICAL VALUES:
N/A
DEFAULT VALUE:
0 at power reset
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
@P is used to access the value of the primary encoder. This number may be called
the current position or actual position. If the motor shaft moves the value of @P will
be changed by the net number of encoder counts occurring during this shaft motion.
The primary encoder is tracked at all times and is independent of the mode of operation of the SmartMotor™, or any error condition.
PRINT(@P) and RP would transmit an identical value if It were possible to execute
both commands at the same time.
@P cannot be used to store a new value to a given shaft position; to change the point
of origin for the encoder use the syntax O=expression. To set a desired target position use P=expression.
Example:
A=100
'set buffered acceleration
V=40000
'set buffered velocity
MV
'set to Mode Velocity
G
'GO, start motion trajectory
WHILE @P<=5000 'wait until real time position
LOOP 'exceeds 5000 counts
PRINT("Position is above 5000",#13)
Note: @P follows the primary encoder used to close the loop. If you issue ENC1, it
will follow an external encoder. Please see ENC0 and ENC1 for more details.
15
@PE
Real-Time Actual Position Error
Related
Commands:
E
@P
APPLICATION:
Monitor trajectory
DESCRIPTION:
Fetch Real-Time Position Error
EXECUTION:
Next PID sample
CONDITIONAL TO:
None
LIMITATIONS:
Expression value
REPORT COMMAND:
RPE
READ/WRITE:
Read only
LANGUAGE ACCESS:
Expressions and conditional testing
UNITS:
Encoder counts
RANGE OF VALUES:
Magnitude limited to user set value of E
TYPICAL VALUES:
0 to 32000
DEFAULT VALUE:
1000
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
Position Error is the difference in encoder counts between the desired trajectory position and the measured position. If the absolute value of @PE exceeds the user value
E, the drive stage will turn off immediately setting both the Bo (Motor Off) and Be
(Position Error) status bits will be set to 1, within that PID servo sample. When the
servo is off, @PE reverts to zero since there is no longer a desired position.
PRINT(@PE) and RPE would transmit an identical value if it were possible to execute
both commands at the exactly the same time.
Note: As acceleration, A, is increased, a larger value of E will be required. E is unsigned but @PE may be positive or negative.
Example:
E=1000
'set maximum position error permitted
A=100
'set buffered acceleration
V=3200000 'set buffered maximum velocity
P=12345678 'set buffered target position
G
'move to target
WHILE Bt
'while trajectory in progress
IF @PE>800
PRINT(#13,"WARNING)
PRINT(#13,"Postion error close to limit")
ENDIF
LOOP 16
@V
Present Trajectory Velocity
Related
Commands:
V
MV
RV
@P
@PE
PIDn
APPLICATION:
Monitor trajectory
DESCRIPTION:
Commanded PID Trajectory Velocity
EXECUTION:
Next PID sample
CONDITIONAL TO:
Calculated Trajectory
LIMITATIONS:
Expression value
REPORT COMMAND: RV, PRINT(@V)
READ/WRITE:
Hardware read only
LANGUAGE ACCESS:
Expressions and conditional testing
UNITS:
Scaled encoder counts per PID sample
(65536 scaled counts = 1 count)
RANGE OF VALUES:
-2147483648 to 2147483647
TYPICAL VALUES:
-3000000 to 3000000
DEFAULT VALUE:
0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The function @V returns the present target trajectory velocity. Instead of
returning the actual velocity, it tells you what the velocity is supposed to be.
For the most part, this is the same as the actual velocity, for the simple reason
that, if you are not at the right velocity, you are likely in position error. Similarly,
if you observe the position error is not changing (see @PE), the present
reported velocity is the exact velocity.
Equations for Real world Units:
Velocity (Encoder Counts/Sec)
=
@V x k
Velocity (RPS)
=
@V x k / Encoder Resolution
Velocity (RPM)
=
@V x k / Encoder Resolution x 60
Where: Encoder Resolution = Encoder Counts per Revolution
and k=0.0620876 for all standard SmartMotors™ <=v4.95
When in Position or Velocity Mode, MP or MV, the actual velocity is enforced
by the PID feedback control to match the desired velocity computed by the
trajectory generator.
If the position error (see @PE) is exactly constant, the actual velocity will
exactly match the desired velocity over time, that is, macroscopically with
respect to time.
(Continued on following page)
17
@V (continued)
Present Trajectory Velocity
Related
Commands:
V
MV
RV
@P
@PE
PIDn
While Accelerating, the position error may increase as a result of the physical velocity being less than the trajectory velocity. During the constant velocity slew phase, if
position error were constant, physical velocity would equal the trajectory velocity on
average.
Looking at time microscopically, within one PID sample, the limit of encoder measurement is one encoder count, a velocity granularity of 65536 scaled counts, per sample.
This is in contrast to the macroscopic velocity, which has a granularity of one scaled
count. In position or velocity mode, the macroscopic trajectory velocity with a granularity of 1 scaled count per sample is returned by @V.
In modes that do not generate a trajectory velocity, for example, torque mode, the
velocity must be gleaned from changes in the encoder each Sample, so the microscopic value with a granularity of 65536 scaled counts per sample is returned by
@V.
RV, PRINT(@V), and the sequence a=@V Ra would transmit identical values, if it
were possible to execute all three command sequences simultaneously.
To display the user-specified buffered maximum velocity value V (V=expression),
as opposed to the present velocity, the sequences a=V Ra or equivalently PRINT(V)
would be used.
Example:
A=20
'set buffered acceleration
V=66500
'set buffered velocity
MV
'Set to Velocity Mode
G
'Begin Moving
WHILE @V<V
'wait for acceleration phase to complete
LOOP
PRINT("Target Velocity has ben reached",#13)
18
a..z
32-Bit Variables
Related
Commands:
aa . . zzz
ab[index]
al[index]
aw[index]
APPLICATION:
General purpose data control
DESCRIPTION:
User signed 32 bit variables
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
Versions prior to 4.00 only have variables a . . . j
REPORT COMMAND:
Ra . . Rz
READ/WRITE:
Read Write
LANGUAGE ACCESS:
Assignment, expressions and conditional testing
UNITS:
Signed 32 bit Integer
RANGE OF VALUES:
-2147483648 to 2147483647
TYPICAL VALUES:
-2147483648 to 2147483647
DEFAULT VALUE:
0
FIRMWARE VERSIONS: 4.00 and higher
Versions prior to 4.00 have 10 variables, a . . j
DETAILED DESCRIPTION:
The SmartMotor™ has three groups of pre-defined user variables. The first group
consists of the variables a through z. They are general purpose Read/Write 32 bit
signed integer variables that can be reported and used on either side of an equal sign
in an equation.
The variables a thru z are stored in Dynamic RAM, meaning
Their values are lost when power is lost!
The value of any variable a through z variable is reported with the R, PRINT( ) or
PRINT1( ) functions.
EXAMPLE:
See Appendix C
To describe the
relationship between
user assigned
variables, aa thru
zzz, and variable
arrays, ab[ ], al[ ]
and aw[ ]
Rg
'Report the value of g to the primary serial port
PRINT("g=",g,#13) 'Print to the primary serial port.
PRINT1("g=",g,#13) 'Print to the secondary serial port.
All 32 bit signed integer variables are limited to integer values between -2147483648
to 2147483647. Math operations that result in decimal values are truncated, or rounded down. If you assign or perform an operation that would normally result in a value
outside of this range, the variable will "wrap," or take on the corresponding modulo.
As an example, because of this, 2147483647+1=-2147483648. The result "wrapped
around" to the negative extreme.
19
a . . z (continued
32-Bit Variables
Related
Commands:
aa . . zzz
The following are other restrictions:
• If a+b exceeds 32 signed bits the operation c=a+b
will produce a wrong result. No error flag is set.
al[index]
aw[index]
• If a-b exceeds 32 signed bits the operation c=a-b
will produce a wrong result. No error flag is set.
ab[index]
• If a*b exceeds 32 signed bits the operation c=a*b
will produce a wrong result. The system flag Bd will bet set.
If one of these variables is used with a variable of another type, it will be appropriately converted. In technical jargon, the variable will be type cast. For example, in the
equation where the variable on the left of the equal sign is a 16 bit one like aw[4],
all variables will be converted to 16 bit values and then operated on. Assigning the
variable aw[27] = y directly stores the 16 least significant bits of y into aw[27]. The
higher bits of the variable y are lost. Similarly, if the right hand variable is an 8 bit one
like ab[167], all variables will be converted to 8 bit values before being operated on.
Conversely, if the left hand value is a 32 bit variable and the right hand side contains
16 bit variables, the 16 bit variables will be temporarily "upgraded" to 32 bits. In the
equation c=ab[4]-aw[7], both ab[4] and aw[7] are converted into 32 bit numbers
before the subtraction occurs.
In the SmartMotor™ language, all user variables are written as lower case letters,
while functions and commands have at least one upper case character. The term a
is a general purpose variable, while A is the Acceleration function. Any user variable can be assigned a value with an equation, as discussed above, but can also be
sequentially loaded by specifying the starting variable and the series of values to be
loaded.
EXAMPLE:
Suppose the following code:
See Appendix C
To describe the
relationship between
user assigned
variables, aa thru
zzz, and variable
arrays, ab[ ], al[ ]
and aw[ ]
c=123
d=345
e=-599
f=346
g=678678
'assign
'assign
'assign
'assign
'assign
the
the
the
the
the
value
value
value
value
value
of
123
of
345
of
-599
of
346
of 678678
to
to
to
to
to
"c"
"d"
"e"
"f"
"g"
The Sequential loading method equivalent is as follows:
c 123 345 -599 346 678678.
'sequentially load data into
'variable c thru g
Note: The last number MUST BE followed by a "." period.
All user variables are initialized to the value of 0 at power up or upon execution of
the system reset command Z. Other than by direct assignment, this is the only way
that the SmartMotor sets all of the user variables to 0. Issuing a RUN command does
not perform this automatic initialization. For this reason, it is usually preferred to test
a program, whether it is auto-execution or not, by power cycling the SmartMotor or
issuing a system reset command Z.
20
aa . . zzz
32-Bit Variables
Related
Commands:
a..z
ab[index]
al[index]
aw[index]
APPLICATION:
General purpose data control
DESCRIPTION:
User signed 32 variables
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
This data space is shared with ab[ ], aw[ ], al[ ] arrays, and coordinated motion (see mode MD)
REPORT COMMAND:
Raa . . . Rzzz
READ/WRITE:
Read Write
LANGUAGE ACCESS:
Assignment, expressions and conditional testing
UNITS:
Signed 32 bit Integer
RANGE OF VALUES:
-2147483648 to 2147483647
TYPICAL VALUES:
-2147483648 to 2147483647 DEFAULT VALUE:
0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
The SmartMotor™ has three groups of pre-defined user variables. The second and
third group consists of the variables aa through zz and aaa through zzz. They are
general purpose Read/Write 32 bit signed integer variables that can be reported and
used on either side of an equal sign in an equation.
All variables aa thru zzz are stored in Dynamic RAM, meaning
Their values are lost when power is lost!
The value of any variable aa through zzz variable is reported with the R, PRINT( ) or
PRINT1( ) functions.
See Appendix C
To describe the
relationship between
user assigned
variables, aa thru
zzz, and variable
arrays, ab[ ], al[ ]
and aw[ ]
EXAMPLE:
Rgg
'Report the value of gg to the primary serial port
PRINT("gg=",gg,#13) 'Print to the primary serial port.
PRINT1("gg=",gg,#13) 'Print to the secondary serial port.
Unlike the variables set a through z, the variables aa through zz and aaa through zzz
are overlaid with the variable arrays ab[ ], aw[ ] and al[ ].
As signed 32 bit variables, they are subject to the usual restrictions of signed digital
words and values. The first bit is always a sign bit. They are limited to integer values
between -2147483648 to 2147483647. Math operations that result in decimal values
are truncated, or rounded down. If you assign or perform an operation that would normally result in a value outside of this range, the variable will "wrap", or take on the corresponding modulo. As an example, because of this, 2147483647+1=-2147483648.
The result "wrapped around" to the negative extreme.
21
aa . . zzz (contined)
32-Bit Variables
Related
Commands:
a..z
ab[index]
aw[index]
al[index]
Bit Overflow Status (Bd System Status bit):
•
If aa+bb exceeds 32 signed bits the operation cc=aa+bb
will produce a wrong result. No error flag is set.
•
If aa-bb exceeds 32 signed bits the operation cc=aa-bb
will produce a wrong result. No error flag is set.
•
If aa*bb exceeds 32 signed bits the operation cc=aa*bb
will produce a wrong result. The system flag, Bd, will be set.
If one of these variables is used with a variable of another type, it will be appropriately
converted. In technical jargon, the variable will be type cast. For example, if a 16
bit variable like aw[4] is used, all variables will be converted to 16 bit values and
then operated on. Assigning the variable aw[27]=yy directly stories the 16 least
significant bits of yy to aw[27]. The higher bits of the variable yy are lost. Similarly,
if the left hand variable is an 8 bit one like ab[167], all variables will be converted
to 8 bit values before being operated on. Conversely, if the left hand value is a 32
bit variable and the right hand side contains 16 bit variables, the 16 bit variables
will be temporarily "upgraded" to 32 bits. In the equation cc=ab[4]-aw[7], both
ab[4] and aw[7] are converted into 32 bit numbers before the subtraction occurs.
EXAMPLE:
Suppose the following code:
cc=123
dd=345
ee=-599
ff=346
gg=678678
'assign
'assign
'assign
'assign
'assign
the
the
the
the
the
value
value
value
value
value
of
123
of
345
of
-599
of
346
of 678678
to
to
to
to
to
"cc"
"dd"
"ee"
"ff"
"gg"
The Sequential loading methode equivlent is as follows:
cc 123 345 -599 346 678678.
'sequentially load data into
'variable cc thru gg
Note: The last number MUST BE followed by a "." period.
All user variables are initialized to the value of 0 at power up or upon execution of the
system reset command, Z. Other than by direct assignment, this is the only way the
SmartMotor™ sets all of the user variables to 0. Issuing a RUN command doesn’t
perform this automatic initialization. For this reason, it is usually preferred to test a
program, whether it is auto-execution or not, by power cycling the SmartMotor or issuing a system reset command, Z.
22
ab[index]
8-bit Array Variables
APPLICATION:
General purpose data control
DESCRIPTION:
User signed 8 bit variables
EXECUTION:
Immediate
CONDITIONAL TO:
Index values 0 to 203
LIMITATIONS:
Index limited to number or sum or difference of any a..z
VST
This data space is shared with variables aa . . zz, aaa . . zzz, arrays aw[ ] and al[ ], and coordinated
motion (MD).
VLD
REPORT COMMAND:
Rab[index]
READ/WRITE:
Read write
LANGUAGE ACCESS:
Assignment, expressions and conditional testing
UNITS:
Signed 8 bit number
RANGE OF VALUES:
-128 to 127
TYPICAL VALUES:
-128 to 127
DEFAULT VALUE:
0
Related
Commands:
a..z
aa . . zz
aaa . . zzz
aw[index]
al[index]
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
The SmartMotor™ has 8, 16 and 32 bit array variable access. The 8 bit array takes
the form of the variables ab[index]. These are general purpose 8 bit signed integer
variables that can be reported, used on either side of an equation, and used with
variables other than 8 bit. Like all user variables, they are always lower case, can be
sequentially loaded, and are automatically initialized to zero at power up or reset. All
arrays share memory space with the variables aa through zz and aaa through zzz.
See Appendix C
To describe the
relationship between
user assigned
variables, aa thru
zzz, and variable
arrays, ab[ ], al[ ]
and aw[ ]
The syntax of the 8 bit array is ab[index], which stands for array byte, and accepts
an index value between 0 and 203. This index can be specified explicitly or though
another variable. For example, ab[4] refers to the fifth element in the 8 bit array, while
ab[n] refers to the n'th element of the array, where the value of "n" must be between
0 and 203.
The value of any array variable is reported with the R, PRINT( ) or PRINT1( ) functions.
EXAMPLE:
Rab[47]
'Report the value of ab[47] to the primary serial port
PRINT("ab[47]=",ab[47],#13) 'Print to the primary serial port.
PRINT1("ab[47]=",ab[47],#13) 'Print to the secondary serial port.
23
ab[index] (continued)
8-Bit Array Variables
Related
Commands:
a..z
aa . . zz
aaa . . zzz
aw[index]
al[index]
VST
VLD
The ab[ ] array is classified as read write, meaning that they can be assigned a value,
or can be assigned to some other variable or function. Another way of saying this, is
these variables can be left or right hand values.
EXAMPLE:
ab[24]=ab[43]+ab[7]
The above is a valid equation, combining the contents of ab[43] and ab[7] and sending the total into ab[24].
As signed 8 bit variables, they are subject to the usual restrictions of signed digital
words and values. The first bit is always a sign bit. They are limited to integer values
between -128 and 127. Math operations that result in decimal values are truncated,
or rounded down. If you assign or perform an operation that would normally result in
a value outside of this range, the variable will "wrap," or take on the corresponding
modulo. As an example, because of this, 127+1=-128. The result "wrapped around"
to the negative extreme.
Bit Overflow Status (Bd System Status bit):
•
If ab[1]+a exceeds 32 signed bits the operation c=ab[1]+a
will produce a wrong result. No error flag is set.
•
If a-ab[1] exceeds 32 signed bits the operation c=a-ab[1]
will produce a wrong result. No error flag is set.
•
If a*ab[1] exceeds 32 signed bits the operation c=a*ab[1]
will produce a wrong result. The system flag, Bd, will be set.
If one of these variables is used with a variable of another type, it will be appropriately
converted (the variable will be type cast).
EXAMPLE:
In the equation where the variable on the left of the equal sign is an 8 bit one like ab[4],
all variables will be converted to 8 bit values and then operated on. Assigning the variable ab[27]=al[m] directly stores the 8 least significant bits of al[m] into aw[27]. The
higher bits of the variable al[m] are lost. Conversely, if the left hand value is a 32 bit
variable and the right hand side contains both 8 bit and 16 bit variables, the 8 bit and
16 bit variables will be temporarily "upgraded" to 32 bits. In the equation al[3]=ab[4]aw[7], both ab[4] and aw[7] are converted into 32 bit numbers before the subtraction
occurs.
In the SmartMotor™ language, all user variables are written as lower case variables,
while functions and commands have at least one upper case character. The term ab[i]
is a general purpose variable, while A is the acceleration function. Any user variable
can be assigned a value with an equation, but can also be sequentially loaded by
specifying the starting variable and the series of values to be loaded.
(Continued on following page)
24
ab[index] (continued)
8-Bit Array Variables
Related
Commands:
a..z
aa . . zz
aaa . . zzz
aw[index]
al[index]
VST
VLD
(Continued from preceding page)
EXAMPLE:
ab[6] 123 34 67 34 127.
Loads sets ab[6] equal to 123, aw[7] to 34 and so forth, ending with 127 loaded into
ab[10]. The command syntax requires a space between the leading variable and
each subsequent value. The function is terminated by a period.
All user variables are initialized to the value of 0 at power up or upon execution of the
system reset command Z. Other than by direct assignment, this is the only way that
the SmartMotor™ sets all of the user variables to 0. Issuing a RUN command does
not perform this automatic initialization. For this reason, it is usually preferred to test
a program, whether it is auto-execution or not, by power cycling the SmartMotor or
issuing a system reset command Z.
The aa through zz and aaa through zzz variables share the same physical memory as
part of the ab[ ], aw[ ] and al[ ] arrays. That is, if you set aaa=123456, you will find
al[0] has the same value, regardless of what you set it to before. Similarly, the values
of ab[0] through ab[3] and aw[0] and aw[1] will have values that correspond to the
individual 8 bit bytes and 16 bit words that are part of aa.
See Appendix C
To describe the
relationship between
user assigned
variables, aa thru
zzz, and variable
arrays, ab[ ], al[ ]
and aw[ ]
25
al[index]
Related
Commands:
a..z
aa . . zz
aaa . . zzz
ab[index]
aw[index]
VST
32-Bit Array Variables
APPLICATION:
General purpose data
DESCRIPTION:
User signed 32 bit variables
EXECUTION:
Immediate
CONDITIONAL TO:
The value of index must be between 0 and 50
LIMITATIONS:
This data space is shared with variables aa . . zz, aaa . . zzz, arrays ab[ ] and aw[ ], and coordinated motion (see MD)
REPORT COMMAND:
Ral[index]
READ/WRITE:
Read write
LANGUAGE ACCESS:
Assignment, expressions and conditional testing
UNITS:
Signed 32 bit number
RANGE OF VALUES:
-2147483648 to 2147483647
TYPICAL VALUES:
-2147483648 to 2147483647
DEFAULT VALUE:
0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
See Appendix C
To describe
the relationship
between user
assigned variables,
aa thru zzz, and
variable arrays,
ab[ ], al[ ] and
aw[ ]
The SmartMotor™ has 8, 16 and 32 bit arrays. The 32 bit array takes the form
of the variables al[index]. These are general purpose 32 bit signed variables
that can be reported, used on either side of an equation, and used with variables other than 32 bit. Like all user variables, they are always lower case,
can be sequentially loaded and are automatically initialized at power up or
reset. All arrays share memory space with the variables aa through zz and
aaa through zzz.
The syntax of the 32 bit array is al[index] (al stands for array long) and
accepts an index value between 0 and 49. This index can be specified explicitly or though another variable.
EXAMPLE:
al[4] refers to the fifth element (count begins with zero) in the 32 bit array.
The value of any array element al[ ] is reported with the R, PRINT( ) or
PRINT1( ) functions. For example to send the value of variable al[47] out the
primary serial port, u se the command Ral[47] or PRINT(al[47],#13). To send
the value of the variable al[37] out serial port 1, use PRINT1(al[37],#13).
The al[ ] array is classified as read write, meaning that they can be assigned a
26
al[index] (continued)
32-Bit Array Variables
Related
Commands:
a..z
aa . . zz
aaa . . zzz
ab[index]
aw[index]
VST
value, or can be assigned to some other variable or function. Another way of saying
this, though more cryptically technocratic, is that these variables can be left or right
hand values.
EXAMPLE:
al[24]=al[43]+al[7]
is a valid equation, combining al[43] and al[7] and sending the total into al[24].
As signed 32 bit variables, they are subject to the usual restrictions of signed digital
words and values. The first bit is always a sign bit. They are limited to integer values between -2147483648 to 2147483647. Math operations that result in decimal
values are truncated, or rounded down. If you assign or perform an operation that
would normally result in a value outside of this range, the variable will "wrap," or take
on the corresponding modulo. As an example, because of this, 2147483647+1=2147483648. The result "wrapped around" to the negative extreme.
Bit Overflow Status (Bd System Status bit):
•
If al[1]+a exceeds 32 signed bits the operation c=al[1]+a
will produce a wrong result. No error flag is set.
•
If a-al[1] exceeds 32 signed bits the operation c=a-al[1]
will produce a wrong result. No error flag is set.
•
If a*al[1] exceeds 32 signed bits the operation c=a*al[1]
will produce a wrong result. The system flag, Bd, will be set.
If one of these variables is used with a variable of another type, it will be appropriately
converted (the variable will be type cast).
EXAMPLE:
In the equation where the variable on the left of the equal sign is a 16 bit one like
aw[4], all variables will be converted to 16 bit values and then operated on. Assigning the variable aw[27]=al[m] directly stores the 16 least significant bits of al[m] into
aw[27]. The higher bits of the variable al[m] are lost. Similarly, if the left variable is
an 8 bit one like ab[167], all variables will be converted to 8 bit values before being
operated on. Conversely, if the left value is a 32 bit variable and the right side contains
both 8 and 16 bit variables, both 8 and 16 bit variables will be temporarily "upgraded"
to 32 bits. In the equation al[3]=ab[4]-aw[7], both ab[4] and aw[7] are converted into
32 bit numbers before the subtraction occurs.
In the SmartMotor™ language, all user variables are written as lower case variables,
while functions and commands have at least one upper case character. The term
al[i] is a general purpose variable, while A is the Acceleration function. Any user
variable can be assigned a value with an equation, as discussed above, but can also
be sequentially loaded by specifying the starting variable and the series of values to
be loaded.
(Continued on following page)
27
al[index] (continued)
32-Bit Array Variables
Related
Commands:
a..z
aa . . zz
aaa . . zzz
ab[index]
aw[index]
VST
VLD
(Continued from preceding page)
EXAMPLE:
al[6] 123 345 567 346 678678.
The above loads sets al[6] equal to 123, al[7] to 345 and so forth, ending with 678678
loaded into al[10]. The command syntax requires a space between the leading variable and each subsequent value. The function is terminated by a period.
All user variables are initialized to the value of 0 at power up or upon execution of the
system reset command Z. Other than by direct assignment, this is the only way that
the SmartMotor™ sets all of the user variables to 0. Issuing a RUN command does
not perform this automatic initialization. For this reason, it is usually preferred to test
a program, whether it is auto-execution or not, by power cycling the SmartMotor or
issuing a system reset command, Z.
The aa through zz and aaa through zzz variables share the same physical memory
as part of the ab[ ], aw[ ] and al[ ] arrays. That is, if you set aaa=123456, you will find
that al[0] has the same value, regardless of what you set it to before. Similarly, the
values of ab[0] through ab[3] and aw[0] and aw[1] will have values that correspond
to the individual 8 bit bytes and 16 bit words that are part of aa.
See Appendix C
To describe the
relationship between
user assigned
variables, aa thru
zzz, and variable
arrays, ab[ ], al[ ]
and aw[ ]
28
aw[index]
16-bit Array Variables
Related
Commands:
a..z
aa . . zz
aaa . . zzz
al[index]
APPLICATION:
General purpose data
DESCRIPTION:
User signed 16 bit data variables
EXECUTION:
Immediate
CONDITIONAL TO:
Index values 0 to 101
LIMITATIONS:
This data space is shared with variables aa . . zz, aaa . . zzz, arrays ab[ ] and al[ ], and coordinated motion.
(see MD).
ab[index]
VST
REPORT COMMAND:
Raw[index]
VLD
READ/WRITE:
Read write
LANGUAGE ACCESS:
Assignment, expressions and conditional testing
UNITS:
Signed 16 bit number
RANGE OF VALUES:
-32768 to 32767
TYPICAL VALUES:
-32768 to 32767
DEFAULT VALUE:
0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
The SmartMotor™ has 8, 16 and 32 bit arrays. The 16 bit array takes the form of the
variables aw[index]. These are general purpose 16 bit signed variables that can be
reported, used on either side of an equation, and used with variables other than 16
bit. Like all user variables, they are always lower case, can be sequentially loaded
and are automatically initialized at power up or reset. All arrays share memory space
with the variables aa through zz and aaa through zzz.
Appendix C
(Page ?)
uses tables to
describe the
relationship between
user assigned
variables, aa thru
zzz, and variable
arrays, ab[ ], al[ ]
and aw[ ]
The syntax of the 16 bit array is aw[index], which stands for array word, and accepts
an index value between 0 and 101. This index can be specified explicitly or though
another variable.
EXAMPLE:
aw[4] refers to the fifth element in the 16 bit array
aw[i] refers to the (I+I)th element of the array, where the value of i must be between 0 and 101.
The value of any array element aw[ ] is reported with the R, PRINT( ) or PRINT1( )
functions. For example to send the value of variable aw[47] out the primary serial
port, use the command Raw[47] or PRINT(aw[47],#13). To send the value of the
variable aw[37]out serial port 1, use PRINT1(aw[37],#13).The aw[ ] array is classified as read write, meaning that they can be assigned a value, or can be assigned to
29
aw[index] (continued)
16-Bit Array Variable
Related
Commands:
a..z
aa . . zz
aaa . . zzz
al[index]
ab[index]
VST
VLD
some other variable or function. Another way of saying this, though more cryptically
technocratic, is that these variables can be left or right hand values.
EXAMPLE:
aw[24]=aw[43]+aw[7]
The above is a perfectly valid equation, taking aw[43] and aw[7] and stuffing the sum
into aw[24].
As signed 16 bit variables, they are subject to the usual restrictions of signed digital
words and values. The first bit is always a sign bit. They are limited to integer values
between -32768 and 32767. Math operations that result in decimal values are truncated, or rounded down. If you assign or perform an operation that would normally
result in a value outside of this range, the variable will "wrap," or take on the corresponding modulo. As an example, because of this, 32767+1=-32768. The result
"wrapped around" to the negative extreme.
Bit Overflow Status (Bd System Status bit):
•
If aw[1]+a exceeds 32 signed bits the operation c=aw[1]+a
will produce a wrong result. No error flag is set.
•
If a-aw[1] exceeds 32 signed bits the operation c=a-aw[1]
will produce a wrong result. No error flag is set.
•
If a*aw[1] exceeds 32 signed bits the operation c=a*aw[1]
will produce a wrong result. The system flag, Bd, will be set.
If one of these variables is used with a variable of another type, it will be appropriately converted. In technical jargon, the variable will be type cast. For example, in
the equation where the variable on the left of the equal sign is an 8 bit one like ab[4],
all variables will be converted to 8 bit values and then operated on. Assigning the
variable aw[27]=al[m] directly stores the 16 least significant bits of al[m] into aw[27].
The higher bits of the variable al[m] are lost. Conversely, if the left value is a 32 bit
variable and the right side contains 16 bit variables, the 16 bit variables will temporarily revert to 32 bits. In the equation al[3]=ab[4]-aw[7], both ab[4] and aw[7] are
converted into 32 bit numbers before the subtraction occurs.
In the SmartMotor™ language, all user variables are written as lower case variables,
while functions and commands have at least one upper case character. The term
aw[i] is a general purpose variable, while A is the Acceleration function. Any user
variable can be assigned a value with an equation, as discussed above, but can also
be sequentially loaded by specifying the starting variable and the series of values to
be loaded.
(Continued on following page)
30
aw[index] (continued)
16-Bit Array Variable
Related
Commands:
a..z
aa . . zz
aaa . . zzz
al[index]
ab[index]
VST
VLD
(Continued from preceding page)
EXAMPLE:
aw[6] 123 345 567 346 31868.
The above loads sets aw[6] equal to 123, aw[7] to 345 and so forth, ending with
31868 loaded into aw[10]. The command syntax requires a space between the leading variable and each subsequent value. The function is terminated by a period.
All user variables are initialized to the value of 0 at power up or upon execution of the
system reset command Z. Other than by direct assignment, this is the only way that
the SmartMotor™ sets all of the user variables to 0. Issuing a RUN command does
not perform this automatic initialization. For this reason, it is usually preferred to test
a program, whether it is auto-execution or not, by power cycling the SmartMotor or
issuing a system reset command Z.
The aa through zz and aaa through zzz variables share the same physical memory
as part of the ab[ ], aw[ ] and al[ ] arrays. That is, if you set aaa=123456, you will find
that al[0] has the same value, regardless of what you set it to before. Similarly, the
values of ab[0] through ab[3] and aw[0] and aw[1] will have values that correspond
to the individual 8 bit bytes and 16 bit words that are part of aa.
Appendix C
(Page ?)
uses tables to
describe the
relationship between
user assigned
variables, aa thru
zzz, and variable
arrays, ab[ ], al[ ]
and aw[ ]
31
A=expression
Set Acceleration
Related
Commands:
D
E
G
MP
MV
PIDn
P
S
V
X
F=1
APPLICATION:
Trajectory control
DESCRIPTION:
Set buffered acceleration
EXECUTION:
Buffered pending G command
CONDITIONAL TO:
E, G, V, PIDn
LIMITATIONS:
Must not be negative
Effective value is rounded down to next even
number
REPORT COMMAND:
RA
READ/WRITE:
Read write LANGUAGE ACCESS:
Assignment, expressions and conditional testing
UNITS:
Scaled encoder counted/sample2
RANGE OF VALUES:
0 to 2147483647
TYPICAL VALUES:
0 to 5000
DEFAULT VALUE:
0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
Setting the buffered A value determines the acceleration that will be used by subsequent position or velocity moves to calculate the required trajectory. Changing A during a move will not alter the current trajectory unless a new G command is issued.
To set acceleration, take the desired acceleration in Rev/S², multiply it by 7.91 for 500
line encoder motors and 15.82 for 1000 line encoder motors. Then set A equal to it
(the integer portion).
Acceleration is pre-scaled by 65,536 (256*256) and may range from 0 to 2,147,483,648;
the default value is zero. A is buffered by G. It should also be understood that since
A is bit shifted once to the right by the extended PID filter loop, odd values for A will
be reduced by 1 in operation. An A=1 command will have the same effect as A=0,
you won't go anywhere.
Equations for Real world Units:
Acceleration (Encoder Counts/Sec2)
=
A xk
Acceleration (RPS )
=
A x k / Encoder Resolution
Acceleration (RPM )
=
A x k / Encoder Resolution x 60
2
2
Where: Encoder Resolution = Encoder Counts per Revolution
and k=252.63236 for all standard SmartMotors™ <=v4.95
32
A=expression (continued)
Related
Commands:
D
E
G
MP
MV
PIDn
P
V
X
Example:
MP
'Set
A=5000 'Set
P=20000 'Set
V=100000'Set
G
Example:
Mode Position
Acceleration
Absolute Position
Velocity
'Start Motion
A=100
V=750
MV
G
'set buffered acceleration
'set buffered velocity
'set buffered velocity mode
'Start motion
F=1
33
ADDR
Set Motor Address
Related
Commands:
SADDR
APPLICATION:
Serial communications control
DESCRIPTION:
Motor address
EXECUTION:
N/A
CONDITIONAL TO:
Firmware >= 4.15, Use "SADDR=" for <4.15
LIMITATIONS:
N/A
REPORT COMMAND:
PRINT(ADDR), (variable)=ADDR R(variable)
READ/WRITE:
Read/Write above version 4.15
LANGUAGE ACCESS:
UNITS:
Assignment, expressions and conditional testing Address
RANGE OF VALUES:
0 to 100
TYPICAL VALUES:
1 to 100
DEFAULT VALUE:
0 on power-up until assigned
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
SmartMotors™ are designed to be used as much in multiple axis systems as in
single axis ones. For that reason, they have been afforded the ability to be uniquely
addressed. This is done with the ADDR=expression command (not available in versions below 4.15. Use the SADDR# command). For example ADDR=5 or SADDR5
both set the motor’s address to be 5. ADDR is a read write function, so it can also
be used to access the address of the current SmartMotor.
Using ADDR within a program permits an identical program stored in different motors
to differentiate between motors and provide individual runtime controls.
SWITCH ADDR
CASE 1
CASE 2
CASE 3 G
BREAK
CASE 4 S
ENDS
' motors 1,2 and 3 "GO"
' motor 4
"STOP"
' Start motion (or stop)
Note: ADDR=# syntax DOES NOT work with v4.40 SM2315 series motors!
SADDR# syntax must be used to assign the address.
34
AIN{address}{input}
Analog Input from I/O Device
Related
Commands:
AOUT
DIN
DOUT
UAA
APPLICATION:
Input command (use with Anilink device)
DESCRIPTION:
Fetch 8 bit analog input byte
EXECUTION:
Immediate AniLink byte read
CONDITIONAL TO:
N/A
LIMITATIONS:
Port = A .. H and Input = 1, 2, 3, or 4
REPORT COMMAND:
RAIN{address}{input}
READ/WRITE:
Read only
LANGUAGE ACCESS:
Expressions and conditional testing
UNITS:
Numerical value
RANGE OF VALUES:
0 to 255
TYPICAL VALUES:
0 to 255
DEFAULT VALUE:
255 in absence of peripheral device
FIRMWARE VERSIONS: ALL
All seven
SmartMotor™ I/O
points also serve
as direct Analog
inputs.
DETAILED DESCRIPTION:
The SmartMotor™ communicates with optional expansion cards such as the AIO-100
and AIO110 AniLink cards through the AIN{address}{input} command, where
address refers to the address of the Anilnk card and input refers to the input channel
of the Anilink card. The address is given as a character between A and H, while the
input is between 1 and 4. See the AIO-100 User Manual for specific details.
The AIN{address}{input} returns an unsigned 8 bit value, ranging from 0 to 255, linearly corresponding to the analog voltage on the specified input channel. A return of
0 corresponds to 0 volts and 255 to 5 volts. If the specified card is not present or the
connected is not present, the function will return a value of 255.
The AIN{address}{input} function is read only. It cannot be used on the left side of
an equation, but only on the right.
The value of the AIN{address}{input} function can be reported through the primary
serial port with the PRINT(AIN{address}{input},#13) and AIN{address}{input}
functions. To transmit the value through serial channel 1 use PRINT1(AIN{address}
{input},#13).
Example:
x=AINA1
'Assign analog value of Port A input 1 to "a"
Please refer to the associated
Analog I/O card.
Users Manuals for specifics about each optional
35
AMPS=expression
Set Drive PWM Limit
Related
Commands:
RAMPS
T
MT
APPLICATION:
Amplifier control
DESCRIPTION:
Sets maximum allowed PWM to motor windings
EXECUTION:
Next PID sample
CONDITIONAL TO:
N/A
LIMITATIONS:
Must not be negative
REPORT COMMAND:
RAMPS
READ/WRITE:
Read write
LANGUAGE ACCESS:
Assignment, expressions and conditional testing
UNITS:
1/1023 of maximum PWM permitted
RANGE OF VALUES:
0 to 1023
TYPICAL VALUES:
1000
DEFAULT VALUE:
1000
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
Referencing
against a hard stop
this way
can eliminate an
additional switch
and cable.
The AMPS command effectively limits both the continuous torque and speed of the
SmartMotor™.
To set the SmartMotor to use maximum available PWM, issue the command
AMPS=1023. Setting AMPS=0 limits PWM to 0 thereby preventing any output torque.
To conceptually understand what happens when you use values between 0 and 1023,
consider the following torque-speed diagram:
The AMPS function essentially cuts the torque-speed characteristic of the motor
by slicing off the part of the curve to the right of the AMPS line. Note that there are
some values of AMPS that will limit
top speed but not peak torque. The
slope of the line is highly dependent on the voltage of the power
source.
AMPS torque-speed
diagram
AMPS is often used to limited torque
and speed.
AMPS has no effect in torque mode
(MT, T) . In this mode, the value of
T controls the commanded torque
of the motor, without limitation by
AMPS.
36
AOUT{address},{value}
Analog Output to I/O Device
Related
Commands:
AIN
DIN
DOUT
APPLICATION:
Output command (use with Anilink device)
DESCRIPTION:
Output analog byte to Anilink peripheral port
EXECUTION:
Immediate AniLink byte write
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
None
READ/WRITE:
Write only
LANGUAGE ACCESS:
variable
Unlatched output value, to recall, create shadow UNITS:
Numerical value
RANGE OF VALUES:
0 to 255
TYPICAL VALUES:
0 to 255
DEFAULT VALUE:
N/A
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
When using an optional AniLink Analog I/O Card such as AIO-100 or AIO-110, an
8-bit (0-255) output voltage can be specified. Adjustments on the card allow the user
to set the upper and lower limits, and therefore the range, anywhere between zero
and Full scale output voltage. The examples assume the voltage reference inputs
are set to full scale, zero and 5 VDC such as for the AIO-100.
Examples:
AOUTC128
'Output 2.5V Mod: C
a=128
'Set any variable
Use a comma when using a variable:
AOUTC,a
'Output to port
See the appendix for information about the use of the Ani-Link AIO-100 analog I/O
expansion module and associated AniLink chip set.
The syntax of the command is AOUT{address},{value} sends a byte value to the
associated AniLink peripheral card. The "address" of the AIO-100 card is a character
between A and H, and is set on the card by three jumpers. The value is a number
between 0 and 255. If the value is 0, the output voltage is the minimum value. If it is
255, the voltage is maximum.
Please refer to the associated Users Manuals for specifics about each optional
Analog I/O card.
37
Ba
Peak-Over-Current Status Bit
Related
Commands:
RW
RPW
Z
Za
ZS
APPLICATION:
Monitor Motor status
DESCRIPTION:
Over current detected state EXECUTION:
Historical, latched by PID sample
CONDITIONAL TO:
Hardware Detection
LIMITATIONS:
None
REPORT COMMAND:
Rba, RW(bit 14), RPW(bit14)
READ/WRITE:
Read only. To reset , issue Za or ZS
LANGUAGE ACCESS:
Expressions and conditional testing
UNITS:
Binary bit
RANGE OF VALUES:
0 or 1
TYPICAL VALUES:
0
DEFAULT VALUE:
0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
The SmartMotor™ firmware checks each PID Sample to see whether or not a PeakOver current condition exists. The set point is in hardware and depends on the model
motor and drive stage. If the set point is reached, the system flag Ba is to 1. Once an
over-current has been detected, the SmartMotor will shut the amplifier off for several
servo samples in attempt to reduce the peak load and then turn back on to try to complete its commanded motion. If the position error exceeds the allowable following error
E, during the off state, the servo will get a Following Error (Be status Bit) .
The Ba bit is not reset until either a power reset, a Z, ZS, or Za command is issued.
Note: in non-PLS firmware motors, a "G" will reset the Ba bit.
If Ba flag is regularly found to be set there may be a problem. This typically indicated
that the motor is undersized in the peak range. Please verify the motor is correctly
"sized" for the presently assigned task.
IF the Ba bit is set every machine cycle, try lowering acceleration,. If it is still set very
cycle, there could be a large moment of inertia mismatch.
The AMPS command has no effect on the Ba bit. It only effects continuous current, not
peak current.
Example: (sub component of system check routine)
IF Ba
PRINT("OVER CURRENT")
Za
ENDIF
'If Peak over Current is detected
'inform host
'clear over current state latch
38
Bb
Parity Error Status Bit
APPLICATION:
Monitor Serial Communications
DESCRIPTION:
Serial communications parity error detected state
EXECUTION:
Historical, latched by serial communications CHN1
CONDITIONAL TO:
parity
Channel 0 or channel 1 open with Even or Odd OCHN
LIMITATIONS:
None
REPORT COMMAND:
RBb, RCHN (bit3), RCHN0 (bit3), RCHN1 (bit3)
Zb
READ/WRITE:
Read only. To reset to zero issue Zb command
ZS
LANGUAGE ACCESS:
Expressions and conditional testing
UNITS:
Binary bit
RANGE OF VALUES:
0 or 1
TYPICAL VALUES:
0
DEFAULT VALUE:
0 Not applicable to default No parity
Related
Commands:
CHN
CHN0
Z
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
The firmware checks for and flags any communications parity error event by setting
Bb to 1. If such an error occurs, an error recovery routine can be implemented at the
discretion of the user. In practice, unless the environment is electrically noisy, this error
is unlikely. Any data or syntax error due to noise is potentially dangerous in a motion
control environment; please take appropriate precautions.
Parity only has relevance when the serial protocol includes parity checking. To include
parity checking, the open channel command OCHN parity parameter must specify
either even parity (E) or odd parity (O). The default is no parity (N), in which case there
is no parity bit transmitted over the serial channel to check. If ignore parity (I) is specified as the parity parameter, there is a parity bit included with every data character, but
it is not checked.
Example: (sub component of system check routine)
OCHN(RS4,1,E,9600,1,8,C)
'open RS485 channel 1 IF Bb
PRINT("SERIAL PARITY ERROR")
Zb
'clear Parity Error status bit
ENDIF
39
Bc
Communications Overflow Status Bit
APPLICATION:
Monitor Serial Communications
DESCRIPTION:
Serial Communications Receive Buffer overflow occurred
CHN
EXECUTION:
Historical, latched by Buffer Overflow detection
CHN0
CONDITIONAL TO:
Serial port buffer overflow
CHN1
LIMITATIONS:
None
Z
REPORT COMMAND:
RBc, RCHN (bit0), RCHN0 (bit0), RCHN1 (bit0)
Zc
READ/WRITE:
Read only. To reset to zero issue Zc command
ZS
LANGUAGE ACCESS:
Expressions and conditional testing
OCHN
UNITS:
Binary bit
RCHN0
RANGE OF VALUES:
0 or 1
RCHN1
TYPICAL VALUES:
0
DEFAULT VALUE:
0
Related
Commands:
FIRMWARE VERSIONS: 3.00 and higher
DETAILED DESCRIPTION:
Version 4.00 and higher motors have a software serial receive buffer maintained by
the firmware. The buffer length is 16 characters. If a motor receives serial characters
faster than the command interpreter can read them, the buffer will eventually overflow,
and Bc is set to 1. An error routine can be written to recover from such a failure.
In any serial daisy chain link, if characters are transmitted to the motors with no intermission between characters, the motors can get behind, eventually overflowing the
motors’ input buffer. The generally accepted solution is to put a delay between characters, between commands, or between long blocks of characters. In the case of the
SmartMotor™, the above does not normally happen because most applications have
naturally-occuring intervals between commands or groups of commands.
Example: (sub component of system check routine)
IF Bc
PRINT("SERIAL OVERFLOW")
'inform host
Zc
'clear overflow state latch
ENDIF
40
Bd
Math Overflow Status Bit
Related
Commands:
Zd
ZS
RW
RPW
APPLICATION:
Monitor expression evaluation math overflow
DESCRIPTION:
Math product overflow, value out of range
EXECUTION:
Historical, immediate
CONDITIONAL TO:
Software detects value out of range
LIMITATIONS:
None
REPORT COMMAND:
RBd, RW (bit 11), RPW (bit 11)
READ/WRITE:
Read only. To reset to zero issue Zd or Zs command LANGUAGE ACCESS:
Expressions and conditional testing
UNITS:
Binary bit
RANGE OF VALUES:
0 or 1
TYPICAL VALUES:
0
DEFAULT VALUE:
0
FIRMWARE VERSIONS: 3.00 and higher
DETAILED DESCRIPTION:
Bd is set to 1 by a math multiplication out of range condition (>32Bit signed integer)
or an out of range Mode Follow Ratio result (>256).
The SmartMotor™ employs 32 bit signed integer calculations for all math functions. If, for example, a*b results in a magnitude greater than 31 binary bits, the Bd
system flag is set to 1. You can possibly avoid this by scaling the numbers, performing calculations in a different order, or using different method of calculation.
Example:
Try this following product on your own hand held calculator and observe the result.
Then try the same calculation using a motor.
Zd
'reset error flag
zz=123456789
aa=987654321
f=aa*zz
Rf
<Response to host will be -67153019>
RBd
<Response to host will be 1>
Notice that even the sign of the product is incorrect.
41
Bd (continued)
Math Overflow Status Bit
Related
Commands:
Zd
ZS
RW
RPW
Example:
Mode Follow with Ratio permits the shaft to respond with a user defined
scaling gain to the external encoder input. There is a limit to the magnitude
of the gain such that
-256 < GAIN < 256
The system flag Bd is set if this GAIN restriction is violated.
The flag is set immediately after executing the MFR command.
Zd
'reset error flag
MFMUL=256'Multiplier for incoming encoder counts
MFDIV=1
'Divisor for incoming encoder counts
RBd
'Response to host 0
MFR
'Calculate Mode Follow Ratio
RBd
'Response to host 1
The MFMUL parameter cannot exceed 256 * MFDIV.
Note: The Bd bit will only go out of range on multiplication of two numbers,
not addition. In other words, IF you add two numbers and the result exceeds
+/-231 in magnitude, the number will be bit rolled over.
Example:
a=2140000000
ZS
b=a+a
Rb
-14967296
Under the above condition even though the value of "b" is not correct, the
Math overflow bit was not set.
42
Be
Excessive Position Error Status Bit
APPLICATION:
Monitor trajectory for error
DESCRIPTION:
Position error declared
EXECUTION:
Historical, immediate
G
CONDITIONAL TO:
move
Position error exceeded E value during trajectory E
LIMITATIONS:
Torque modes have no position error
REPORT COMMAND:
RBe, RS (bit 5), RW (bit 5), RPW (bit 5)
READ/WRITE:
Read only. Reset to issuing a G command
LANGUAGE ACCESS:
Expressions and conditional testing
UNITS:
Binary bit
RANGE OF VALUES:
0 or 1
TYPICAL VALUES:
0
DEFAULT VALUE:
0
Related
Commands:
Ze
ZS
RW
RPW
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The Be status bit indicates the detection of a position error. Each and every PID sample,
the magnitude of the measured position error is compared to the allowable following
error (E) value set by the user. If this value is exceeded, the servo will be immediately
turned off, The Bo bit will be set to 1, The Bt bit will be set to 0, and Be will be set to
1 all at the same time. If issued, RMODE will return an "E".
This condition is reset by:
* Issuing a G in non-PLS
* Issuing Ze or ZS (PLS firmware only).
Example: (sub component move monitor routine)
TWAIT
'wait for trajectory in progress
'to complete
IF Be
'unsuccessful, position error?
PRINT("POSITION ERROR") 'inform host
ENDIF
Note: an extended period of peak over current may result in a position error
due to the fact that an over current condition will cause a reduction in power to
the motor thereby causing it to fall behind possibly enough to exceed E (maximum allowable position error)
If a motor continuously gets a Position Error no matter what, check for loss of
drive power, increased load or locked load.
43
Bf
Communications Framing Error Status Bit
Related
Commands:
CHN
CHN0
CHN1
Z
Zf
ZS
APPLICATION:
Monitor serial communications
DESCRIPTION:
Serial communication framing error detected
EXECUTION:
Historical, latched by serial communication receive
CONDITIONAL TO:
Hardware detection
LIMITATIONS:
None
REPORT COMMAND:
RBf, RCHN (bit 1), RCHN0 (bit 1), RCHN1 (bit 1)
READ/WRITE:
Read only. Reset to zero using command
LANGUAGE ACCESS:
Expressions and conditional testing
UNITS:
Binary bit
RANGE OF VALUES:
0 or 1
TYPICAL VALUES:
0
DEFAULT VALUE:
0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
Bf indicates whether a framing error has been detected. Every serial byte
received by the SmartMotor™ is checked to see if it has the correct start and
stop bits, or "frame." If not, Bf is set to 1. If such an error occurs, the error recovery routine is at the discretion of the user. In practice, unless the environment
is electrically noisy, this error is unlikely. Any data error or syntax error due
to noise is potentially dangerous in a motion control environment; please take
appropriate precautions.
Note: A framing error can occur with slightly mismatched baud rates between two
devices as well. SmartMotors meet the IEEE specification of baud rate +/-10%.
If baud rates exceed that range between two devices, a framing error is likely to
occur.
Example: (sub component of system check routine)
IF Bf
PRINT("SERIAL FRAMING ERROR")'inform host
Zf
'clear over current state latch
ENDIF
44
Bh
Overheat/RMS Over-Current Status Bit
Related
Commands:
TEMP
TH
THD
Z
OFF
RW
RPW
APPLICATION:
Monitor motor error state
DESCRIPTION:
Hardware motor overheat state
EXECUTION:
sample
Real time, set after thermal delay (THD)/reset each PID
CONDITIONAL TO:
Motor temperature, temperature set point (TH), temperature set point dead band, thermal delay (THD)
LIMITATIONS:
None
REPORT COMMAND:
Real time: RBh
Historical:
READ/WRITE:
Read only
LANGUAGE ACCESS:
Expressions and conditional testing
UNITS:
Binary bit
RANGE OF VALUES:
0 or 1
TYPICAL VALUES:
0
DEFAULT VALUE:
0
RS (bit 6), RW (bit 6), RPW (bit 6)
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
There are two mechanisms in the SmartMotor™ that can indicate excessive heat.
The first is a temperature sensor, while the second is an RMS current monitor. The
former is a direct measurement of heat, while the latter predicts that an overheat will
occur. In either case, Bh will be set to 1.
With continuous heavy loads all motors will generate heat. If the heat sinking or
ventilation is inadequate, eventually the motor will overheat. If this situation repeatedly
occurs it may mean that the motor does not have enough power for the assigned task
(motor sizing inadequate) or excessive resistance (friction) to motion is occurring. In
this event, please check your overall motion system.
The overheat temperature limit is adjustable by the user by the TH command, but cannot
exceed 70º Celsius (optional 85º). The amount of time that the temperature is allowed
to stay at or above this temperature is set by the THD function. If the temperature stays
at or above the TH value for longer than THD servo samples, the amplifier will turn off,
Bh will be set to 1, the motor off bit Bo set to 1 and the trajectory bit is cleared to 0
ALL at the same time!. If issued, RMODE will return "O" meaning the drive stage is
off. The SmartMotor will reject any command to start motion until the temperature has
fallen 5º Celsius below the trip point.
Note: If power is removed and restored and temperature is <5 degrees below the set
point, the motor will be allowed to move. This however can lead to damage if it is done
repeatedly.
45
Bh (continued)
Overheat/RMS Over-Current Status Bit
Related
Commands:
TEMP
TH
THD
Z
OFF
RW
RPW
The RMS current monitor continuously calculates the equivalent Root-MeanSquare current of the amplifier. If the RMS current is too high for longer than
THD servo samples, the amplifier will turn off, Bh will be set to 1, the motor off bit
Bo set to 1 and the trajectory bit cleared to 0 ALL at the same time!. If issued,
RMODE will return "O." The SmartMotor™ will reject any motion commands
for approximately 10 milliseconds. The biggest difference between the two
overheat mechanisms described will be that, if the RMS current monitor detects
and overheat, the SmartMotor may not physically feel hot.
Once Bh is set to 1, the historical overheat flag is latched when read by RW,
RS or accessing S. If the overheat condition no longer exists, Bh will be reset to
zero upon reporting (RS, RW) or accessing the S value.
Example: (sub component of system check routine)
IF Bh
IF TEMP>69
PRINT("MOTOR TOO HOT")
'inform host
GOSUB123
'deal with condition
ELSE
PRINT("RMS Over Current Trip")
GOSUB123
'deal with condition
ENDIF
ENDIF
Example:
Test to measure approximate shut down time - not very accurate but illustrates
TH, THD, and TEMP.
PRINT(#13,"Default value of TH = ",TH) 'default=70
PRINT(#13,"Motor Temperature = ",TEMP)
PRINT(#13,"START MOTION")
A=222
V=44444
MV
G
THD=32000 'THD default = 12000 or 3 seconds
' units are PID samples
TH=TEMP-5 'Force an over heat condition
' units are degrees Centigrade
' TH maximum setting is 70
a=CLK
WHILE Bh==0 LOOP
WHILE Bt LOOP
b=CLK
PRINT(#13,"Servo OFF after ",b-a," PID samples")
46
Bi
Index-Position Captured Status Bit
APPLICATION:
Monitor Index Latching
DESCRIPTION:
Hardware index position available state.
EXECUTION:
Set upon hardware index latched
Rl
CONDITIONAL TO:
Hardware index level detected high and prior index value read, F command and Port G.
F=
LIMITATIONS:
Latched until index value read
REPORT COMMAND:
RBi, RS (bit3), RW (bit3), RPW (bit3)
READ/WRITE:
Read only. Reset to zero by reading or assigning index value
LANGUAGE ACCESS:
Expressions and conditional testing
UNITS:
Binary bit
RANGE OF VALUES:
0 or 1
TYPICAL VALUES:
Any legal encoder value
DEFAULT VALUE:
0
Related
Commands:
Bx
I
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
When enabled, the Bi flag is set to 1 when the internal encoder Z pulse (index mark)
is detected. The value of the primary encoder in the servo sample that the index is
captured is stored in the "I" system register WITHIN 5 microseconds of the time it
was captured!
While Bi is 1, the microprocessor is prohibited from making another index capture. If the
captured value is read or accessed via accessing the I register via RI of <variable>=I,
the Bi flag will be reset to zero and the ability to capture the index is again enabled.
The commands RI and PRINT(I,#13) report the captured index reading through the
primary serial channel. PRINT1(I,#13) reports through the channel 1 serial port. Any of
these command sequences reset the Bi flag to zero. Assignments such as variable=I
likewise assign the captured value and reset the Bi flag to zero. If Bi is zero at the time
the I value is accessed, the previously captured index value is again returned.
Example: (simple homing)
MV
A=10
V=-4000
G
WHILE Bm==0 i=I
LOOP
X
P=I
G
TWAIT
O=0
'set buffered velocity mode
'set buffered acceleration
'set low buffered maximum velocity
'start slow motion profile
'travel until negative limit reached
'clear and arm index capture
'decelerate to a stop
'go back to index
'start motion
'wait till end of trajectory
'set origin at index
47
Bi (continued)
Index-Position Captured Status Bit
Related
Commands:
Bx
I
Rl
F=
Example: (Fast Index Find)
MP
A=1000
V=4000000
D=2100
i=I
O=0
G
TWAIT
P=I
G
TWAIT
O=0
'set buffered velocity mode
'set fast acceleration
'set fast velocity
'set relative distance just beyond
'one shaft turn
'clear and arm index capture
'force change to position register
'start fast move
'wait till end of trajectory
'go back to index
'start motion
'wait until end of trajectory
'set origin at index
Index used as High Speed Position Capture:
When enabled via F=1024 (v4.95 or later firmware) the Bi flag is set to 1 when
Port G I/O pin gets driven to zero. This happens within 5 microseconds of Port
G going low. As a result Port G can be used to capture position for high speed
registration applications
Example: (Fast Position Capture)
UGI
'Set Port G as Input Port
'Set F command flags
al[0]=64
'set value to enable C2 interrupt call
'(C2 gets called when Port G grounded)
al[1]=1024 'set value to enable Index Position capture
'to be triggered from Port G
F=al[0]+al[1]
V=100000
'Set Velocity
A=100
'Set Acceleration
MV
'Set to Velocity Mode
G
'Start Moving
END
C2 'This routine gets called automatically when Port G goes low
PRINT("Port G grounded when",#13)
PRINT("position=",@P,#13)
RETURNI
Sample Terminal Screen output from above code:
(Port G repeatedly grounded)
Port G grounded when
position=226076
Port G grounded when
position=257022
Port G grounded when
position=271849
Port G grounded when
position=279430
Port G grounded when
position=295069
48
Bk
User Program Checksum Error Status Bit
Related
Commands:
RCKS
RW
RPW
LOAD
UPLOAD
VST
APPLICATION:
EEPROM data validation
DESCRIPTION:
EEPROM Checksum Failure State
EXECUTION:
Historical, set on eeprom data check
CONDITIONAL TO:
RCKS, VST( ), or RES calibration data check
LIMITATIONS:
Stored EEPROM program is SMX formatted
REPORT COMMAND:
RBk, RW (bit 15), RPW (bit 15)
READ/WRITE:
Read only, reset by RCKS
and first post reset REScommand
LANGUAGE ACCESS:
Expressions and conditional testing
UNITS:
Binary flag
RANGE OF VALUES:
0 or 1
VALUE BY STATE:
0= valid EEPROM user program checksum
and valid VST( )
1 = Invalid EEPROM user program checksum, or invalid VST( )
DEFAULT VALUE:
0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
Bk indicates whether a user program checksum write error has been detected. If Bk is
1, either the user program and/or program header has been corrupted. You should not
run the program in the SmartMotor™. This can occur if communications connection
was lost or corrupted during a download of a program. Bk is reset to zero by a power
reset, Z, and a valid (pass) checksum is detected via RCKS.
RCKS scans the entire program including header and returns two 6-bit checksums followed by a "P" (pass) or "F" (fail) at the end. If RCKS reports a failure, Bk is set to 1.
RCKS sends its value through the primary serial port.
Example: (commands issued and responses from terminal screen)
RCKS
RBk
000049 0025E0 P
0
The VST( ) command also has the capability to set Bk to 1. VST( ) performs a read
operation after every byte it writes to the User Data EEPROM; if the read byte is not
the same as what was sent, the flag Bk is set to 1.
49
Bl
Historical Left-Limit Status Bit
APPLICATION:
Monitor left limit switch
DESCRIPTION:
Left limit latch
EXECUTION:
Historical, sampled each PID update until latched
CONDITIONAL TO:
LIMH. LIML, UDI, UDO, UDM
LIMITATIONS:
None
REPORT COMMAND:
RBl, RS (bit 2), RW (bit 2), RPW (bit 2)
LIMD
READ/WRITE:
Read only. Reset by Zl, ZS, RS, RW, RPW, assignment or printing of S
LIMN
LANGUAGE ACCESS:
Expressions and conditional testing
UNITS:
Binary flag
RANGE OF VALUES:
0 or 1
RW
VALUE BY STATE:
0= Left/negative limit has not been active
UCI
1= Left/negative limit has been active
UCP
DEFAULT VALUE:
0
UCO
FIRMWARE VERSIONS: 4.00 and higher firmware motors
UDI
DETAILED DESCRIPTION:
UDM
Bl is the historical left limit flag. If the left limit is found to be active during any servo
sample, Bl is set to 1, and remains 1 until reset by the user. In addition, the motion will
stop and the motor will either servo or turn the amplifier OFF, depending on the value
of the F function. The historical left/negative limit flag Bl provides a latched value in
case the limit may have already been reached and overpassed but is not at presently
active.
Related
Commands:
Bm
Bp
Br
LIMH
LIML
RS
RPW
UDO
SLE
SLD
SLP
SLN
Zl
ZS
The real time left/negative limit flag is Bm, which only remains set to 1 while the signal
level on the user pin D is active. Whenever Bm is set to 1, Bl is set to one. The polarity of the signal that is considered active is determined by commands LIMH (Active
High-To-Stop) and LIML (active Low-To_Stop) in all non-PLS firmware motors. PLS
firmware motors are always Active High asserted.
If the pin’s function is assigned to being general purpose I/O by use of the UDI or UDO
commands, neither Bm nor Bl will be affected by the pin state. Changing pin states
will not elicit limit behavior from the motor. It will be necessary to issue the UDM command to assign the pin’s function to being a limit switch, for the pin to again elicit limit
behavior, including the setting of Bl.
(Continued on next page)
50
Bl (continued)
Historical Left-Limit Status Bit
Related
Commands:
Bm
Bp
Br
LIMH
LIML
LIMD
LIMN
RS
RPW
RW
UCI
In non-PLS firmware motors, Bl is reset to zero under the following conditions:
1. When the S status byte is accessed for assignment
2. or reported via RS, PRINT(S,#13) or PRINT1(S,#13)
3. or directly reset with Zl and ZS.
4. or a G command is issued AND the Bm bit is not set.
In PLS firmware motors, Bl is reset to zero under the following conditions:
By issuing either Zl and ZS.
Example code:
UCP
UCO
UDI
UDM
IF Bm
PRINT("LEFT LIMIT PRESENTLY ACTIVE")
ELSEIF Bl
PRINT("LEFT LIMIT Previously CONTACTED")
ELSE
PRINT("LEFT LIMIT NEVER REACHED")
ENDIF
UDO
SLE
SLD
SLP
SLN
Zl
ZS
Hardware Travel Limit Overview
Status Bits
Historical
Command to
Clear Historical Bit
Command to
Disable
Travel Limit Input
Command to
Enable
Travel Limit Input
Port
Pos/Neg
Plus/Minus
Left/Right
Real Time
Port C
Positive
PLUS
RIGHT
Br
Bp
Zr, or ZS
UCI or UCO
UCP
Port D
Negative
MINUS
LEFT
Bl
Bm
Zl, or Zs
UDI or UDO
UDM
51
Bm
Real-Time Left-Limit Status Bit
Related
Commands:
APPLICATION:
Monitor left/negative switch
Bl
DESCRIPTION:
Left limit state
Bp
EXECUTION:
Real time, sampled each PID update
Br
CONDITIONAL TO:
LIMH, LIML, UCI, UCO, UCM
LIMH
LIMITATIONS:
LIML
REPORT COMMAND:
RBm, RW and RPW (bit 10)
LIMD
READ/WRITE:
Read only, set/reset by pin voltage level
LIMN
LANGUAGE ACCESS:
Expressions and conditional testing
UNITS:
Binary bit
RPW
RANGE OF VALUES:
0 or 1
RW
VALUES BY STATE:
0 = left / negative limit switch not active
or pin not assigned as a limit switch
1 = left / negative limit switch active
DEFAULT VALUE:
0
RS
UCI
UCP
UCO
UDI
UDM
UDO
SLE
SLD
SLP
SLN
Zl
ZS
None
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
Bm indicates if the Left/Negative pin is presently active. If Bm is set to 1, the historical Left limit flag Bl is also set to one. In non PLS firmware motors, the polarity of the
signal that is considered active is determined by commands LIMH and LIML. [PLS
firmware has Active High Limits only! ]
Note on Programmable Software Limits (>=4.76 firmware)
The Active/Real-Time status bit will be set to a one as long real time position is
beyond the programmed software limit position.
The Left/Negative Hardware Travel Limit may be disabled by being assigned
as a general purpose Input via UDI command or Output via UDO command.
To Re-Enable the Left/Negative Hardware Travel Limit, issue UDM.
Example:
IF Bm
PRINT("LEFT LIMIT PRESENTLY ACTIVE")
ELSEIF Bl
PRINT("LEFT LIMIT Previously CONTACTED")
ELSE
PRINT("LEFT LIMIT NEVER REACHED")
ENDIF
Hardware Travel Limit Overview
Status Bits
Command to
Clear Historical Bit
Command to
Disable
Travel Limit Input
Command to
Enable
Travel Limit Input
Port
Pos/Neg
Plus/Minus
Left/Right
Real Time
Historical
Port C
Positive
PLUS
RIGHT
Br
Bp
Zr, or ZS
UCI or UCO
UCP
Port D
Negative
MINUS
LEFT
Bl
Bm
Zl, or Zs
UDI or UDO
UDM
52
Bo
Motor-Off Status Bit
Related
Commands:
BRKTRJ
G
OFF
Z
APPLICATION:
Monitor Motor Off State
DESCRIPTION:
Motor OFF state
EXECUTION:
Sampled each PID sample
CONDITIONAL TO:
Motor is off LIMITATIONS:
None
REPORT COMMAND:
RBo
READ/WRITE:
Read only. Set by G
LANGUAGE ACCESS:
Expressions and conditional testing
UNITS:
Binary flag
RANGE OF VALUES:
0 or 1
VALUE BY STATE:
1 = Motor is off
0 = Motor is on
DEFAULT VALUE:
1
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
Simply stated Bo=0, drive stage is on, Bo =1 dirve stage is off. The Red Drive LED on
the motor direclty follows the Bo bit and is therfore a direct indication of the Bo bit. If
Bo=1, the Red LED is on. If Bo=0, the Red LED is off.
There are only three reasons that Bo=1.
1. Upon first power-up of a SmartMotor™ and prior to any command that would turn on the drive stage.
2. Any time the OFF command is issued.
3. Any Motor Fault resulting in the OFF command being issued at firmware level.
a. Position Error (Be=1),
b. Overheat/RMS-Over-Current (Bh=1),
c. Exceeding enabled travel limits (Br or Bl detected even briefly).
A motor reset via the Z command will also have Bo set to one only beacuce it is the
same as a Power-up in #1 above.
If BRKTRJ has been issued, when a trajectory is not in progress (Bt is 0), the brake
is engaged and power is not applied to the motor coils. In this state, Bo will not be 0,
even though the amplifier is actually off. This may seem confusing, but it is because
the brake is holding the the shaft locked in place nd therefor may be applying a force
to the load. BRKTRJ is the only mode that behaves this way.
53
Bp
Real-Time Right-Limit Status Bit
Related
Commands:
APPLICATION:
Monitor right limit switch
Bm
DESCRIPTION:
Right / Positive limit state
Bl
EXECUTION:
Sampled each PID update
Br
CONDITIONAL TO:
LIMH, LIML
LIMH
LIMITATIONS:
None
LIML
REPORT COMMAND:
RBp
LIMD
READ/WRITE:
Read only
LIMN
LANGUAGE ACCESS:
Expressions and conditional testing
UNITS:
Binary flag
RPW
RANGE OF VALUES:
0 or 1
RW
VALUES BY STATE:
0= right/positive limit switch not active or pin not assigned as a limit switch
1= right/positive limit switch is active
DEFAULT VALUE:
0
RS
UCI
UCP
UCO
UDI
UDM
UDO
SLE
SLD
SLP
SLN
Zl
ZS
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
Bp indicates if the right/positive pin is presently active. If Bp is set to 1, the
historical right limit flag Br is also set to one. In non PLS firmware motors, the
polarity of the signal that is considered active is determined by commands LIMH
and LIML. [PLS firmware has Active High Limits only! ]
Note on Programmable Software Limits (>=4.76 firmware)
The Active/Real-Time status bit will be set to a one as long real time position is
beyond the programmed software limit position.
The Right/Positive Hardware Travel Limit may be disabled by being assigned
as a general purpose Input via UCI command or Output via UCO command.
To Re-Enable the Right/Positve Hardware Travel Limit, issue UCP.
Example:
IF Br
PRINT("Right LIMIT PRESENTLY ACTIVE")
ELSEIF Bp
PRINT("Right LIMIT Previously CONTACTED")
ELSE
PRINT("Right LIMIT NEVER REACHED")
ENDIF
Hardware Travel Limit Overview
Status Bits
Historical
Command to
Clear Historical Bit
Command to
Disable
Travel Limit Input
Command to
Enable
Travel Limit Input
Port
Pos/Neg
Plus/Minus
Left/Right
Real Time
Port C
Positive
PLUS
RIGHT
Br
Bp
Zr, or ZS
UCI or UCO
UCP
Port D
Negative
MINUS
LEFT
Bl
Bm
Zl, or Zs
UDI or UDO
UDM
54
Br
Historical Right-Limit Status Bit
Related
Commands:
APPLICATION:
Monitor Right limit switch latch
Bm
DESCRIPTION:
Right limit latch
Bp
EXECUTION:
Sampled each PID update until latched
Bl
CONDITIONAL TO:
LIMH, LIML
LIMH
LIMITATIONS:
None
LIML
REPORT COMMAND:
RBr
LIMD
READ/WRITE:
Read only. Reset by RW, RS, Zr, ZS
LIMN
LANGUAGE ACCESS:
Expressions and conditional testing
UNITS:
Binary flag
RANGE OF VALUES:
0 or 1
RW
VALUE BY STATE:
0= Right/positive limit has not been active
UCI
1= Right /positive limit has been active
UCP
DEFAULT VALUE:
0
UCO
FIRMWARE VERSIONS: 4.00 and higher
UDI
DETAILED DESCRIPTION:
UDM
Br is the historical right limit flag. If the right limit is found to be active during any servo
sample, Br is set to 1, and remains 1 until reset by the user. In addition, the motion will
stop and the motor will either servo or turn the amplifier OFF, depending on the value
of the F function. The historical right/positive limit flag Br provides a latched value in
case the limit may have already been contacted (active) but is not at presently active.
RS
RPW
UDO
SLE
SLD
SLP
SLN
Zl
ZS
The real time Right/Positive limit flag is Bp, which only remains set to 1 while the signal
level on the user pin C is active. Whenever Bp is set to 1, Br is set to one. The polarity of the signal that is considered active is determined by commands LIMH (Active
High-To-Stop) and LIML (active Low-To_Stop) in all non-PLS firmware motors. PLS
firmware motors are always Active High asserted.
If the pin’s function is assigned to being general purpose I/O by use of the UCI or UCO
commands, neither Bp nor Br will be affected by the pin state. Changing pin states
will not elicit limit behavior from the motor. It will be necessary to issue the UCP command to assign the pin’s function to being a limt switch, for the pin to again elicit limit
behavior, including the setting of Br.
(Continued on next page)
55
Br (continued)
Historical Right-Limit Status Bit
Related
Commands:
Bm
Bp
Bl
LIMH
LIML
LIMD
LIMN
RS
RPW
RW
UCI
UCP
UCO
UDI
In non-PLS firmware motors, Br is reset to zero under the following conditions:
1. When the S status byte is accessed for assignment
2. or reported via RS, PRINT(S,#13) or PRINT1(S,#13)
3. or directly reset with Zr and ZS.
4. or a G command is issued AND the Bp bit is not set.
In PLS firmware motors, Br is reset to zero under the following conditions:
By issuing either Zr and ZS.
Example code:
UDM
UDO
SLE
IF Br
PRINT("Right LIMIT PRESENTLY ACTIVE")
ELSEIF Bp
PRINT("Right LIMIT Previously CONTACTED")
ELSE
PRINT("Right LIMIT NEVER REACHED")
ENDIF
SLD
SLP
SLN
Zl
ZS
Hardware Travel Limit Overview
Status Bits
Historical
Command to
Clear Historical Bit
Command to
Disable
Travel Limit Input
Command to
Enable
Travel Limit Input
Port
Pos/Neg
Plus/Minus
Left/Right
Real Time
Port C
Positive
PLUS
RIGHT
Br
Bp
Zr, or ZS
UCI or UCO
UCP
Port D
Negative
MINUS
LEFT
Bl
Bm
Zl, or Zs
UDI or UDO
UDM
56
Bs
Syntax-Error Status Bit
Related
Commands:
RCS
RCS1
RCKS
RBk
RUN
Z
ZS
APPLICATION:
Monitor Command Syntax Errors
DESCRIPTION:
Command syntax error occurred state
EXECUTION:
Immediate
CONDITIONAL TO:
Syntax error found while executing commands
LIMITATIONS:
None
REPORT COMMAND:
RBs
READ/WRITE:
Read only. Reset to zero using Zs command
LANGUAGE ACCESS:
Expressions and conditional testing
UNITS:
Binary flag
RANGE OF VALUES:
0 or 1
VALUE BY STATE:
0= no syntax error occurred
1= syntax error detected DEFAULT VALUE:
0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
If a syntax error is encountered in either a serial command or user program, the Bs
flag is set to 1. This flag only indicates that a syntax error was encountered. The most
common syntax errors are misspellings of commands, but the improper use of variables are also flagged. For example, trying to access the array element aw[20000] will
also produce a syntax error. If this is the case, the command that contains the syntax
error is ignored.
Some errors may appear to be valid syntax, and require other means to detect. To
more fully protect against ASCII input stream errors one can use RCKS, RCS, and
RCS1 commands as well as checking for framing and parity errors.
Examples:
Suppose host transmitted A=100 but A=101 is received due to noise.
Bs would not be set, but Bb might be.
Suppose host should have transmitted A=100 but actually
transmitted A=L00.
Bs would be set but Bb would not be.
Note: Responses to requests for values in variables or otherwise may cause the Bs bit to be set
in any downstream motors on an RS-232 bus or any other motor on a parallel RS-485 bus.
The reason for this is because a value (a number) in and of itself is not a valid SmartMotor™
command and as a result, the other motors seeing that response will flag their Bs Bit.
Example:
Issue RP to Motor-1 in a 3 motor system, when Motor-1 responds with it's position in
the form of just an integer number, that number in and of itself is not seen as
valid command syntax.
57
Bt
Trajectory-In-Progress Status Bit
Related
Commands:
BRKTRJ
G
OFF
S
X
APPLICATION:
Monitor Trajectory
DESCRIPTION:
Trajectory in progress state flag
EXECUTION:
Updated each PID sample
CONDITIONAL TO:
Trajectory in progress
LIMITATIONS:
None
REPORT COMMAND:
RBt
READ/WRITE:
Read only
LANGUAGE ACCESS:
Expressions and conditional testing
UNITS:
Binary flag
RANGE OF VALUES:
0 or 1
VALUE BY STATE:
0 = no trajectory in progress
1 = trajectory in progress
DEFAULT VALUE:
0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The flag Bt is set to 1 any time the motor is performing a calculated trajectory path
from one point to another. Once the trajectory generator has requested the final target
position, the Bt flag is reset to zero. At this point, the PID positioning control takes over
the motion, which means that the motor shaft may still be moving due to mechanical
settling.
Torque Mode (MT) will not set the Bt bit to 1 because there is no target trajectory.
Mode Velocity (MV) will maintain the Bt bit to 1 regardless of commanded velocity or
acceleration even they are set to Zero.
Mode Follow and Mode Step will maintain Bt to 1 even if there are no change in incoming counts.
If a relative or absolute move is commanded in position mode (MP), and there is no
(zero) commanded Acceleration or Velocity, the Bt bit will be set to 1 and the motor
shaft will not move.
Example 1:
WHILE Bt LOOP
WHILE @V
LOOP
OFF
BRKENG
'while trajectory in progress
'while still settling or while velocity not zero
'motor off
'brake engage
58
Bt (continued)
Trajectory-In-Progress Status Bit
Related
Commands:
BRKTRJ
G
OFF
S
X
Example 2:
MP
V=440000
A=10
P=10000
G 'start the first buffered move
LOOP
'Note: TWAIT could have been used!
WHILE Bt
A=20
P=20000
'buffer a position move request
V=-222000
G
'wait for first trajectory to be done
'buffer another move
'now begin the second move
Example 3:
MV
V=440000
A=10
'Set to Velocity Mode
G
'start moving
LOOP 'otherwise or the motor
WHILE Bt
'Bt will remain 1 until commanded
'errors out for some reason 59
Bu
Array Index Error Status Bit
Related
Commands:
ZS
Zu
APPLICATION:
Monitor array index error
DESCRIPTION:
Out of range array index state flag
EXECUTION:
Latched high upon illegal array access attempted
CONDITIONAL TO:
User command attempted to access an array using an illegal index
LIMITATIONS:
None
REPORT COMMAND:
RBu
READ/WRITE:
Read only. Reset to zero using Zu command
LANGUAGE ACCESS:
Expressions and conditional testing
UNITS:
Binary bit
RANGE OF VALUES:
0 or 1
VALUE BY STATE:
0 = no illegal array index has occured
DEFAULT VALUE:
0
FIRMWARE VERSIONS: 4.00 or higher
DETAILED DESCRIPTION:
The index for each of the ab[index], aw[index] and al[index] arrays has a valid
range. If you go outside the valid range, the system flag Bu is set to 1. The syntax
error bit Bs will also be set to 1. Bu is more explicit.
Example:
Zu
t=0
WHILE t<60
al[t]=t
t=t+1
LOOP
RBu
'reset illegal index flag
'initialize array members 'to values 0,1,2,3,4….
Response is 1 since al[50] is the legal end of array.
60
Bw
Encoder-Wrap-Around Status Bit
Related
Commands:
Z
G
Bi
APPLICATION: Monitor Encoder Wrap Around
DESCRIPTION: Encoder overflow or underflow occurred
EXECUTION: Updated each PID sample
CONDITIONAL TO:
Position mode set
RBx
LIMITATIONS: Velocity and Torque Modes are immune to encoder wrap around, all others are subject to it.
RBi
REPORT COMMAND: RBw
I
READ/WRITE: Read only. Reset via G or ZS command
LANGUAGE ACCESS: Expressions and conditional testing
UNITS: Binary flag
RANGE OF VALUES: 0 or 1
VALUE OF STATES: 0= No encoder wrap around occurred
1= Encoder wrap around occurred by
position mode move
DEFAULT VALUE: 0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
If Bw is 1, it indicates that the encoder position has exceeded or "wrapped,"
beyond maximum value for the 32 bit position register. Specifically, the position
has gone outside of the range -2147483648 to 2147483647.
This does not at all mean that the SmartMotor™ has lost its position information. It is still tracking its position. If the SmartMotor "wraps" while in Absolute
or Relative Position Mode, it will set the Position Error Bit Be to 1, as well.
Velocity mode is designed to survive the wrap around condition and torque
mode does not care about any trajectory updates. Neither of these causes Bw
will set to 1.
Note: Mode Follow (MF_) allows for a means around wrapping condition by
allowing MF0 to be issued on the fly. This will zero out encoder counter registers without having an effect on the motion profile.
Continued on next page.
61
Bw (continued)
Encoder-Wrap-Around Status Bit
Related
Commands:
Z
G
Bi
RBx
RBi
I
Example to prevent wrap status while in Mode Follow continuously:
MF4 'Set to Mode Follow at default 1:1 ratio
WHILE 1
IF @P>2147480000
MF0
ENDIF
IF @P<-2147480000
MF0
ENDIF
LOOP
END
Example to prevent wrap status while continuously indexing :
UGI
'Use Port G as general input
D=20000
'Set relative distance
V=1234567
'Set Velocity
A=123
'Set Acceleration
WHILE 1
'while forever
WHILE UGI LOOP
'wait for Port G to be grounded
G
'Go (start Moving)
TWAIT
'Wait until the move is complete
O=0
'set origin to zero
WHILE UGI==0 LOOP'prevent double trigger
LOOP
END
62
Bx
Real-Time Index Input Status Bit
Related
Commands:
Bi
I
Rl
F=
APPLICATION:
Monitor Hardware Index Capture Input
DESCRIPTION:
Index input state
EXECUTION:
Updated each PID sample
CONDITIONAL TO:
N/A
LIMITATIONS:
None
REPORT COMMAND:
RBx
READ/WRITE:
Read only
LANGUAGE ACCESS:
Expressions and conditional testing
UNITS:
Binary flag
RANGE OF VALUES:
0 or 1
VALUE OF STATES:
0 = index capture input is not in contact (low)
1 = index capture input is in contact (high)
DEFAULT VALUE:
0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
Bx is the real-time state of the index input level. The Bx bit is set to a 1 ONLY while
the motor is sitting on the index. Be aware that the index marker is only one encoder
count wide, this function is mainly used to verify the exact position of the index. For
most other uses, it is more efficient to use the functions Bi and I.
Example: (Fast Index Find , Report Bx)
MP
A=1000
V=4000000
D=2100
i=I
O=0
G
TWAIT
P=I
G
TWAIT
O=0
'set buffered velocity mode
'set fast acceleration
'set fast velocity
'set relative distance just beyond
'one shaft turn
'clear and arm index capture
'force change to position register
'start fast move
'wait till end of trajectory
'go back to index
'start motion
'wait until end of trajectory
'set origin at index
IF Bx
PRINT("On Index Pulse",#13)
ENDIF
63
BASE
Related
Commands:
MC
MC2
MC4
MC8
SIZE
aw[index]
MF1
MF2
MF3
MF4
Cam Mode Master Cycle Length
APPLICATION:
CAM Mode Control
DESCRIPTION:
Cycle period of Mode Cam encoder
EXECUTION:
Immediate
CONDITIONAL TO:
SIZE, MC_, G being issued
LIMITATIONS:
2 < BASE < 32767
REPORT COMMAND:
N/A
READ/WRITE:
Write only
LANGUAGE ACCESS:
None
UNITS:
Encoder counts
RANGE OF VALUES:
2 < BASE < 32767
TYPICAL VALUES:
User determined
DEFAULT VALUE:
User determined
FIRMWARE VERSIONS: 4.12 and higher
DETAILED DESCRIPTION:
CAM Mode requires three items to properly perform a cam profile, a BASE, SIZE
and DATA table. BASE specifies the number of encoder counts that the master turns
through one cycle while the slaved, camming SmartMotor™ moves through the points
in its data table. SIZE is the number of points in the data table.
In the example given below, the camming SmartMotor moves from zero to 120 encoder
counts in the positive direction and then back to the zero for every 2000 counts of
the master encoder. If the master encoder moves at a constant velocity in the positive direction, this camming profile will continue to repeat for as long as the master
encoder continues to move. Since the profile completes every 2000 counts of the
master encoder, the BASE is 2000.
The Units are actual encoder counts that are seen at the SmartMotors external encoder
input, User ports A and B. This is the same external encoder input that can be read
through the counter function CTR.
BASE is a parameter required to control Cam Mode motion. In Cam Mode, each value
of the external encoder defines a required corresponding SmartMotor position; Cams
typically define a periodic motion profile or trajectory. BASE defines the number of
encoder counts through the external Cam moves before the required position mapping, or required motion, is exactly repeated. Suppose BASE=10000 encoder counts,
and the suppose the required Smart position is to be 100 when the external encoder
(CTR) reports a value of 2506, then SmartMotor will be required to be at position 100
whenever CTR= … -27494, -17294, 2506, 12506, 22506, 32506, etc.
The SmartMotor performs a practical cam application by partitioning the required cam
trajectory definition into a number of linearly interpolated segments. The SIZE parameter stores the number of segments. The segments are required to partition the BASE
64
BASE (continued)
Cam Mode Master Cycle Length
Related
Commands:
MC
MC2
into a set of equally spaced intervals. Suppose BASE=1000 and SIZE=50. Each segment will then be of width BASE/SIZE or 20 counts. The cam motion is then defined
by providing the required SmartMotor™ positions corresponding to CTR= 0, 20, 40,
60 …940, 960 and 980 and 1000. If the motion is truly periodic the required position
at CTR=0 will identical to the required position at CTR=1000.
MC8
The cam table is loaded into the aw[ ] array, beginning at aw[0] and ending with
aw[SIZE]. It is simplest to define the cam using position at CTR=0 to be encoder position 0 by issuing MF0 and O=0 commands.
SIZE
EXAMPLE:
MC4
Aw[index]
MF1
A "saw tooth" cam with periodic motion every 2000 external encoder counts and the
motion interpolation divided into 25 (equal) segments.
MF2
MF3
MF4
BASE=2000 'Cam period
SIZE=25
'data segments (number of data points in table)
'CTR data interval = BASE/SIZE = 2000/25 = 80
'CAM motor will be at Data position every 80
'Master encoder counts:
'CTR=0, CTR=80, CTR=160,.... CTR=1840, CTR=1920, CTR=2000
'Now assigning data values beginning with aw[0]:
aw[0] 0 10 20 30 40 50 60 70 80 90 100.
aw[20] 110 120 120 110 100 90 80 70 60.
aw[19] 50 40 30 20 10 0.
MF4 'reset external encoder to zero
O=0 'reset internal encoder position
MC
'buffer CAM Mode
G
'start following the external encoder using cam data
The motor will now begin following the External (Master) encoder via the defined CAM
profile above.
65
BRKC
Brake Control Re-Direct to Port C
APPLICATION:
Hardware brake control
DESCRIPTION:
Re-Direct Brake Control to Port C user Output
EXECUTION:
Immediate and effective until otherwise
commanded
BRKSRV
CONDITIONAL TO:
BRKI, BRKG
BRKTRJ
LIMITATIONS:
None
BRKG
REPORT COMMAND:
N/A
BRKI
READ/WRITE:
N/A
UCO
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT STATE:
BRKI (Brake Control Default to Internal Bake Pin)
Related
Commands:
BRKENG
BRKRLS
FIRMWARE VERSIONS: 4.15, all PLS firmware. (Not available on 4.40 )
DETAILED DESCRIPTION:
SmartMotors™ may be purchased with optional internal zero backlash brakes used
to hold a load for safety purposes.
They are Fail Safe Magnetic Clutch Disk Brakes. When power is lost the brake engages. The default with power on is to disengage the brake when ever the drive stage is
turned on. The brake takes between 3 and 5 milliseconds to actuate or release.
If an External Brake is used instead of the optional internal brake, the BRKC command allows automatic and interrupt driven control of the external brake via I/O port
pin C.
BRKC is a re-direction of the same signal that would otherwise control an internal
brake. As a result, Port C will follow the state of the internal brake pin. Port C will be
active low (zero volts) when ever the brake should be engaged and at 5VDC when
ever the brake should be disengaged.
The logic state follows the present Brake control method chosen.
See BRKSRV, BRKTRJ, BRKENG and BRKRLS for more.
Example:
UCO
BRKC
BRKRLS
BRKENG
'
'
'
'
Assign Port C to be used as an output pin
re-direct brake control to port C pin
will set port C to 0VDC
will set port C to 5VDC
66
BRKENG
Brake Engage
APPLICATION:
Hardware brake control
DESCRIPTION:
Engages hardware brake immediately
EXECUTION:
Immediate and effective until otherwise
commanded
CONDITIONAL TO:
Hardware BRAKE required
BRKC
LIMITATIONS:
None
BRKG
REPORT COMMAND:
N/A
BRKI
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT STATE:
Power On: BRKSRV
Related
Commands:
BRKRLS
BRKSRV
BRKTRJ
Power Off:
brake is engaged
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
It is important to
turn the servo off
when the brake
is engaged, or
the motor could
be driving against
the brake and
overheat. When
the SmartMotor
powers up, or
comes out of a soft
reset, the brake
control is set to
BRKSRV by default
to automatically
enforce this safety
rule.
SmartMotors™ may be purchased with optional internal zero backlash brakes used
to hold a load for safety purposes.
They are Fail Safe Magnetic Clutch Disk Brakes. When power is lost the brake engages. The default with power on is to disengage the brake when ever the drive stage is
turned on. The brake takes between 3 and 5 milliseconds to actuate or release.
When BRKENG is issued, the brake is de-energized allowing the magnetic brake to
lock the shaft in place.
BRKENG terminates the brake control modes BRKSRV, BRKTRJ, and BRKRLS.
NOTE: BRKENG is a manual over-ride to the BRKSRV and BRKTRJ commands. You
must subsequently issue either BRKSRV, BRKTRJ, or BRKRLS to allow any further
shaft movement !
Example:
OFF
WHILE @V LOOP
BRKENG
'
'
'
'
turn motor off
wait for zero velocity
before applying the brake (shaft locked)
67
BRKG
Brake Control Re-Direct to Port G
APPLICATION:
Hardware brake control
DESCRIPTION:
Re-Direct Brake Control to Port G user Output
EXECUTION:
Immediate and effective until otherwise
commanded
BRKSRV
CONDITIONAL TO:
BRKI, BRKC
BRKTRJ
LIMITATIONS:
None
BRKC
REPORT COMMAND:
N/A
BRKI
READ/WRITE:
N/A
UGO
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT STATE:
BRKI (Brake Control Default to Internal Bake Pin)
Related
Commands:
BRKENG
BRKRLS
FIRMWARE VERSIONS: 4.15, all PLS firmware. (Not available on 4.40 )
DETAILED DESCRIPTION:
SmartMotors™ may be purchased with optional internal zero backlash brakes used
to hold a load for safety purposes.
They are Fail Safe Magnetic Clutch Disk Brakes. When power is lost the brake engages. The default with power on is to disengage the brake when ever the drive stage is
turned on. The brake takes between 3 and 5 milliseconds to actuate or release.
If an External Brake is used instead of the optional internal brake, the BRKC command allows automatic and interrupt driven control of the external brake via I/O port
pin G.
BRKG is a re-direction of the same signal that would otherwise control an internal
brake. As a result, Port G will follow the state of the internal brake pin. Port G will be
active low (zero volts) when ever the brake should be engaged and at 5VDC when
ever the brake should be disengaged.
The logic state follows the present Brake control method chosen.
See BRKSRV, BRKTRJ, BRKENG and BRKRLS for more.
Example:
UGO
BRKG
BRKRLS
BRKENG
'
'
'
'
Assign Port G to be used as an output pin
re-direct brake control to port G pin
will set port G to 0VDC
will set port G to 5VDC
68
BRKI
Brake Control Re-Direct to Port I
APPLICATION:
Hardware brake control
DESCRIPTION:
Re-Direct Brake Control to Internal Brake Pin
EXECUTION:
Immediate and effective until otherwise
commanded
BRKSRV
CONDITIONAL TO:
BRKG, BRKC
BRKTRJ
LIMITATIONS:
None
BRKC
REPORT COMMAND:
N/A
BRKG
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT STATE:
BRKI (Brake Control Default to Internal Bake Pin)
Related
Commands:
BRKENG
BRKRLS
FIRMWARE VERSIONS: 4.15, all PLS firmware. (Not available on 4.40 )
DETAILED DESCRIPTION:
SmartMotors™ may be purchased with optional internal zero backlash brakes used
to hold a load for safety purposes.
They are Fail Safe Magnetic Clutch Disk Brakes. When power is lost the brake engages. The default with power on is to disengage the brake when ever the drive stage is
turned on. The brake takes between 3 and 5 milliseconds to actuate or release.
If an External Brake is used instead of the optional internal brake, the BRKC or BRKG
commands allow automatic and interrupt driven control of the external brake via I/O
port pin C or G respectively.
BRKI allows the control of the internal brake.
The logic state follows the present Brake control method chosen.
See BRKSRV, BRKTRJ, BRKENG and BRKRLS for more.
Example:
UGO
BRKG
BRKI
' Assign Port G to be used as an output pin
' Direct brake control to port G pin
' Re-Direct brake control back to internal brake
69
BRKRLS
Brake Release
APPLICATION:
Hardware brake control
DESCRIPTION:
Release hardware break immediately
EXECUTION:
Immediate and effective until otherwise
commanded
CONDITIONAL TO:
Hardware BRAKE required
BRKC
LIMITATIONS:
None
BRKG
REPORT COMMAND:
N/A
BRKI
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT STATE:
Power on:
BRKSRV
Power off:
brake engaged
Related
Commands:
BRKENG
BRKSRV
BRKTRJ
FIRMWARE VERSIONS: 4.00 and higher
It is important
to turn the servo
off when the brake
is engaged, or the
motor could be
driving against
the brake and
overheat.
DETAILED DESCRIPTION:
See BRKSRV
command.
When BRKRLS is issued, the brake is maintained energized allowing full shaft
movement.
SmartMotors™ may be purchased with optional internal zero backlash brakes used
to hold a load for safety purposes.
They are Fail Safe Magnetic Clutch Disk Brakes. When power is lost the brake
engages. The default with power on is to disengage the brake when ever the drive
stage is turned on. The brake takes between 3 and 5 milliseconds to actuate or
release.
BRKRLS terminates BRKSRV mode, BRKTRJ mode, and BRKENG condition.
BRKENG
OFF
WAIT=4069
V=0
A=0
MP
P=@P
G
BRKRLS ' Assuming motion has stopped
' or almost stopped
'
'
'
'
'
'
Set buffered velocity
Set buffered acceleration
Set buffered mode
Set Target position to current position
Begin servo at current position
Release, disengage brake
70
BRKSRV
Brake Engage When Not Servoing
Related
Commands:
BRKENG
BRKRLS
APPLICATION:
Hardware brake control
DESCRIPTION:
Release hardware break while motor is on
Engage hardware brake while motor is off
EXECUTION:
Immediate and effective until otherwise
commanded
BRKC
CONDITIONAL TO:
Hardware BRAKE required
BRKG
LIMITATIONS:
None
BRKI
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT STATE:
Power On: BRKSRV
BRKTRJ
Power Off: brake engaged
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
NOTE:
A position error
will terminate both
the trajectory in
progress state and
servo on state.
In this instance,
the brake would
then be asserted
automatically.
SmartMotors™ may be purchased with optional internal zero backlash brakes used
to hold a load for safety purposes.
They are Fail Safe Magnetic Clutch Disk Brakes. When power is lost the brake engages. The default with power on is to disengage the brake when ever the drive stage is
turned on. The brake takes between 3 and 5 milliseconds to actuate or release.
It is important to turn the servo off when the brake is engaged, or the motor could be
driving against the break and overheat. The BRKSRV command does this for you by
releasing the brake automatically whenever the motor is on and engaging it whenever
the motor turns off for any reason. Another way of looking at this is, the brake will be
applied whenever the motor off bit Bo is 1.
BRKSRV terminates the brake control modes BRKENG, BRKTRJ, and BRKRLS.
BRKSRV
MP
A=100
V=100000
P=1000
G
'set brake mode assuming it is safe
'set buffered mode
'set buffered acceleration
'set buffered maximum velocity
'set target
'servo on, brake release, go to target
71
BRKTRJ
Brake Engage With No Active Trajectory
APPLICATION:
Hardware brake control
DESCRIPTION:
Release hardware brake while a trajectory is in progress
Engage brake, turn off servo while no trajectory is in progress
EXECUTION:
Immediate and effective until otherwise
commanded
BRKC
CONDITIONAL TO:
Hardware BRAKE required
BRKG
LIMITATIONS:
None
BRKI
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT STATE:
Power On:
BRKSRV
Power Off:
brake engaged
Related
Commands:
BRKENG
BRKRLS
BRKSRV
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
SmartMotors™ may be purchased with optional internal zero backlash brakes used
to hold a load for safety purposes.
They are Fail Safe Magnetic Clutch Disk Brakes. When power is lost the brake engages. The default with power on is to disengage the brake when ever the drive stage is
turned on. The brake takes between 3 and 5 milliseconds to actuate or release.
BRKTRJ automatically coordinates movement and brake application. When a trajectory is started by a G command, the brake is released. When the trajectory completes
the brake is engaged and, simultaneously, the servo is turned off. In this mode, and
whenever the motor is not performing a trajectory, the brake is automatically engaged
and the servo turned off for any reason that the Bt (Busy Trajectory Bit) clears.
A consequence of this behavior is that any non-trajectory mode, like torque mode,
will not result in motion, as the brake will be engaged and the servo will be off. This
could be confusing to a user unaware of the nature of BRKTRJ, especially since the
motor-off flag Bo is 0 or false. To understand this, from an operating control mode
point of view, the motor has not changed modes to OFF, which would be coincidental
with Bo set to 1. When running in torque or some other non-trajectory mode, it is
more appropriate to use BRKSRV
BRKTRJ terminates the BRKSRV mode, BRKENG condition, and BRKRLS condition.
72
BRKTRJ (continued)
Brake Engage With No Active Trajectory
Related
Commands:
BRKENG
BRKRLS
BRKSRV
BRKC
BRKG
BRKI
One consequence of BRKTRJ is that the trajectory flag is reset to zero immediately
when trajectory generator declares the trajectory to be over. At this instant, the
BRKTRJ will engage the brake (de-energize the brake)
BRKTRJ
'set brake mode to follow Bt bit.
MP
'set buffered mode
A=100
'set buffered acceleration
V=100000
'set buffered maximum velocity
C1
'program statement label
P=1000
'set buffered target position
G
'servo on, start trajectory
(The brake will automatically be energized and released)
TWAIT
'wait for trajectory to end
'now brake will be on and servo off
WAIT=4069 'brake on for ~one second
P=0
'set new buffered target position
G
'servo on, brake off, trajectory
WAIT=4069
GOTO1
'effective loop forever
Note: A position error will terminate the trajectory in progress state. In this case, brake
would then be asserted.
Once in BRKTRJ mode, the brake can be audibly hear clicking on at the beginning of
each move and clicking back off at the end of each move.
This is normal and gives assurance of proper operation.
73
BREAK
Program Flow Loop Exit Control
Related
Commands:
CASE
DEFAULT
ENDS
LOOP
SWITCH
WHILE
APPLICATION:
Program execution flow control
DESCRIPTION:
Causes immediate exit from a WHILE
or SWITCH control block
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
Downloaded code only, not via Serial Port !
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
BREAK is used both by WHILE . . LOOP and SWITCH . . ENDS control flow structure
blocks. In both structures, if BREAK is encountered the program jumps out of that
particular WHILE loop or SWITCH structure. If the control blocks are to be nested,
BREAK only exits the WHILE loop or SWITCH structure that it is currently in.
The most common use of BREAK is to end each CASE of a SWITCH control structure. Without the BREAK statement, the program would continue to execute into the
next CASE, even if it is not true.
EXAMPLE:
SWITCH a
CASE 1
PRINT("Hiya!",#13)
CASE 2
PRINT("Lo there!",#13)
BREAK
CASE 3
PRINT("Me here!",#13)
BREAK
DEFAULT
PRINT("Urp!",#13)
BREAK
ENDS
If a=2, the SmartMotor™ will print "Lo there!" If a=1, however, the SmartMotor will print
both "Hiya!" and "Lo there!" There is no BREAK statement to stop the program from
running into case 2.
74
BREAK (continued)
Program Flow Loop Exit Control
Related
Commands:
CASE
DEFAULT
ENDS
LOOP
SWITCH
WHILE
BREAK could always be replaced by GOTO, and this is how it is actually executed
using the precompiled program location. BREAK has the advantages of not requiring
a statement label to define the program branch location and conforming to structured
programming methodology.
BREAK is not a valid terminal command, it is only valid from within a user program. If
you want to be able to "break out of" a control block by remote (terminal) commands
you will need to use GOTO# or GOSUB# and appropriate statement labels. The example illustrates this concept.
EXAMPLE:
a=1
WHILE a
PRINT("I am still here …",#13)
WAIT=12000
IF a==100
BREAK
'a=100 could be sent via serial command
ENDIF
LOOP
GOTO20
C10
PRINT("EXITED with a==100",#13)
END
C20
PRINT("EXITED with a<0",#13)
END
75
C{statement_label_number}
Program Subroutine Label
Related
Commands:
GOSUBnnn
GOTOnnn
APPLICATION:
Program execution flow control
DESCRIPTION:
Program statement label
EXECUTION:
N/A
CONDITIONAL TO:
N/A
LIMITATIONS:
Pre 4.00 firmware only permits labels C0…C9
C0…C999
Firmware 4.00 and higher permits labels REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
C{number} is a statement label, where "number" is a value between 0 and 999.
Statement labels mainly provide the internal addressing required to support the
GOSUB{number} and GOTO{number} language commands. For example GOTO1
directs the program to label C1, while GOSUB37 directs the program to the subroutine that starts at label C37. You can also use labels to simply enhance program clarity. Statement labels may be placed anywhere within a program except in the middle
of an expressions.
The program labels work via a jump table in the header of the compiled program.
The header contains the location of every label from 0 up to the highest label value
used.
EXAMPLES: (consider these two programs)
and
C0
END
C999
END
The first compiled program (C0 . . END) will be much smaller than the second (C999
. . END), even though they behave exactly the same.
The program header is read whenever the SmartMotor™ powers up or is reset. This
means that the SmartMotor knows how to jump to any label location, even if the
76
C{statement_label_number} (continued)
Program Subroutine Label
Related
Commands:
GOSUBnnn
GOTOnnn
program has never been run, and start executing the program from there. This is a
common means of making a single program that contains several routines that can
be invoked on demand from a host.
EXAMPLE:
END
C0
C1
C2
PRINT("Routine 0",#13)
END
PRINT("Routine 1",#13)
END
PRINT("Routine 2",#13)
END
To run routine 1, the host simply issues GOTO1 to the SmartMotor™. If the host
issues GOTO3, routine 3 is run. You can use a similar technique to allow the host to
control where the program starts.
Using GOTOnnn to jump to a location within a SWITCH block may be syntactically valid but yield unexpected runtime program execution when CASE number is
encountered.
It is also possible to use IF, WHILE, and SWITCH to provide such multiple choice
program start points.
EXAMPLES:
IF a==6
C0
G
ENDIF
GOTO5
SWITCH a
CASE 1 PRINT("1")
C5 CASE 2 PRINT("2")
ENDS
'valid syntax
'at runtime "2" will be 'transmitted END
77
CCHN(type,channel)
Close Communications Channel
Related
Commands:
OCHN( )
Z
APPLICATION:
Communications control
DESCRIPTION:
Close a communications channel
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
PARAMETERS:
Type= RS2, RS4
Channel = 0 or 1
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
CCHN(type,channel) closes the specified communications channel, where
"type" is the communications mode, and "channel" is the comm port you want
to close. This command flushes the serial port buffer and any characters still in
the buffer will be lost. The channel 0 comm port can only be RS-232 or RS-485,
while channel 1 can only be RS-485.
Valid CCHN commands:
CCHN(RS2,0)'Close the channel 0 RS232 port
CCHN(RS4,1)'Close the channel 1 RS485 port
After power up or Z reset command, channel 0 is opened
as RS232 by default.
78
CHN
Combined Communications Error Flag
APPLICATION:
Serial communications control
Bb
DESCRIPTION:
Fetch combined serial communications error event flags
Bc
EXECUTION:
Immediate
Bf
CONDITIONAL TO:
N/A
Bs
LIMITATIONS:
Cannot assign value of CHN
REPORT COMMAND:
RCHN
READ/WRITE:
Report value only
LANGUAGE ACCESS:
Report via RCHN only
UNITS:
Set of 4 binary state flags
PARAMETERS:
Type= RS2, RS4, or IIC
Channel = 0 or 1
RANGE OF VALUES:
0 to 15
TYPICAL VALUES:
0
DEFAULT VALUE:
0
Related
Commands:
CHN0
CHN1
Zs
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
The read only function CHN holds binary coded historical error information
about the two serial channels on the SmartMotor™. It gives the 4 bit status of
either serial port channels 0 or 1, broken down as follows:
CHN bit 0= 1 if either receive buffer has overflowed
CHN bit 1= 1 if a framing error occurred on either channel
CHN bit 2= 1 if a scan error occurred on either channel
CHN bit 3= 1 if a parity error occurred on either channel
For example, if RCHN returns a 4, it means that a scan error was detected on
channel 0 or channel 1. You cannot tell, however, whether the syntax error was
on channel 0, 1 or both. If you really must know, you would issue RCHN0 and
RCHN1, which return the 4 bit status of the individual serial ports.
CHN is read only, but cannot be assigned to a variable. It can be reported
through RCHN, PRINT(CHN,#13) and PRINT1(CHN,#13) as well.
79
CHN (continued)
Combined Communications Error Flag
Related
Commands:
Each of the four bits of CHN correspond to one of the four communications system status bytes:
Bb
Bc= CHN bit 0
Bc
Bf= CHN bit 1
Bf
Bs= CHN bit 2 AND User Program Scan Error
Bs
Bb= CHN bit 3
CHN0
CHN1
Zs
80
CHN0
Communications Error Flag (RS-232)
APPLICATION:
Serial communications control
CHN
DESCRIPTION:
flags
Fetch serial communications channel 0 error event CHN1
EXECUTION:
Immediate
RCHN
CONDITIONAL TO:
N/A
RCHN0
LIMITATIONS:
N/A
RCHN1
REPORT COMMAND:
RCHN0
READ/WRITE:
Read only
LANGUAGE ACCESS:
Expressions and conditional testing
UNITS:
Set of 4 binary state bits
RANGE OF VALUES:
0 to 15
TYPICAL VALUES:
0
DEFAULT VALUE:
0
Related
Commands:
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
CHN0 holds binary coded historical error information regarding the channel 0 communications channel. It gives the 4 bit status of the primary, or channel 0, serial port,
broken down as follows:
CHN0 bit 0= 1 if the primary receive buffer has overflowed
CHN0 bit 1 = 1 if a framing error occurred on channel 0
CHN0 bit 2= 1 if a scan error occurred on channel 0
CHN0 bit 3= 1 if a parity error occurred on channel 0
If RCHN0 returns a 4, it means that a scan error was detected on channel 0. If CHN0
equals zero, no error has been detected since opening the channel.
CHN0 is read only, but cannot be assigned to a variable. It can be reported through
RCHN0, as already seen, and PRINT(CHN0,#13) and PRINT1(CHN0,#13) as well.
See Examples on follOwing page:
81
CHN0 (continued)
Related
Commands:
CHN
CHN1
RCHN
RCHN0
RCHN1
Communications Error Flag (RS-232)
Example:
The host transmitted A=100 but the serial port actually received K=100
then tried to execute K=100
PRINT(CHN0)
'responds to host with 4
'since K= is invalid
Example: (test individual flags)
IF CHN0&4
PRINT("HOST CHANNEL - scan error occurred")
ELSEIF CHN0&1
PRINT("HOST CHANNEL - buffer overflow")
ENDIF
Example: (test all flags)
IF CHN0
PRINT("SERIAL ERROR !!")
ENDIF
82
CHN1
Communications Error Flag (RS-485)
APPLICATION:
Serial communications control
CHN
DESCRIPTION:
flags
Fetch serial communications channel 1 error event CHN0
EXECUTION:
Immediate
RCHN
CONDITIONAL TO:
N/A
RCHN0
LIMITATIONS:
N/A
RCHN1
REPORT COMMAND:
RCHN1
READ/WRITE:
Read only
LANGUAGE ACCESS:
Expressions and conditional testing
UNITS:
Set of 4 binary state bits
RANGE OF VALUES:
0 to 15
TYPICAL VALUES:
0
DEFAULT VALUE:
0
Related
Commands:
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
CHN1 holds binary coded historical error information regarding the channel 1 communications channel. It gives the 4 bit status of the channel 1 serial port, broken down
as follows:
CHN1 bit 0= 1 if the primary receive buffer has overflow
CHN1 bit 1= 1 if a framing error occurred on channel 0
CHN1 bit 2= 1 if a scan error occurred on channel 0
CHN1 bit 3= 1 if a parity error occurred on channel 0
If RCHN1 returns a 4, it means that a scan error was detected on channel 1. If CHN1
equals zero, no error has been detected since opening the channel.
CHN1 is read only, but cannot be assigned to a variable. It can be reported through
RCHN1, as already seen, and PRINT(CHN1,#13) and PRINT1(CHN1,#13) as well.
See Examples on Following Page
83
CHN1 (continued)
Communications Error Flag (RS-485)
Related
Commands:
CHN
CHN0
RCHN
RCHN0
RCHN1
Example:
Host transmitted A=100 but the serial port actually received K=100 then tried to
execute K=100
PRINT(CHN1) 'responds to host with 4
'since K= is invalid
Example: (test individual flags)
IF CHN1&4
PRINT("CHANNEL 1 - scan error occurred")
ELSEIF CHN1&1
PRINT("CHANNEL 1 - buffer overflow")
ENDIF
Example: (test all flags)
IF CHN1
PRINT("CHANNEL 1 SERIAL ERROR !!")
ENDIF
84
CLK
Hardware Clock Variable
Related
Commands:
RCLK
WAIT
APPLICATION:
Hardware clock access
DESCRIPTION:
Value of free running firmware clock
EXECUTION:
Incremented once each PID sample
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
RCLK
READ/WRITE:
Read only
LANGUAGE ACCESS:
Expressions and conditional testing
UNITS:
Number
RANGE OF VALUES:
0 to 2147483647
TYPICAL VALUES:
Sequential
DEFAULT VALUE:
0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
CLK is an independent, free running, read write counter. It is reset to zero upon a
hardware or software reset, and it increments once per PID cycle. The default PID
rate produces ~4069 samples per second, so there are roughly four CLK ticks per
millisecond at PID1. If the PID sample is modified by PID2, PID4 or PID8, the amount
of time associated with one CLK tick will increase by 2x, 4x or 8x, respectively. The
user may also assign a value to this counter at any time. CLK is 31 bits in size and
will roll over (return to zero) at value 2,147,483,647, which corresponds to 4.13 days
at PID1.
Example 1:
The following two examples perform the same function, pause for one second:
WAIT=4069 CLK=0
WHILE CLK<4069 'Pause for one sec
'Initialize clock
'Loop one sec
LOOP
85
CLK (continued)
Hardware Clock Variable
Related
Commands:
RCLK
WAIT
The advantage of the second example is that you could write code within the WHILE
loop to execute during the pause.
Example 2:
CLK increments more slowly at PID2 than PID1 etc.
To most easily see the effect, load and run the following code.
PID1
a=5
WHILE a
a=a-1
CLK=20
WHILE CLK<4089 LOOP 'note nested whiles are permitted
PRINT("PID1",#13)
LOOP
a=5
PID2
WHILE a
a=a-1
CLK=20
WHILE CLK<4089 LOOP
PRINT("PID2",#13)
LOOP
PID4
a=5
WHILE a
a=a-1
CLK=20
WHILE CLK<4089 LOOP
PRINT("PID4",#13)
LOOP
PID1
'return to PID1
END
86
CMD
Accept Command Input RS-232
Related
Commands:
CMD1
DAT
DAT1
OCHN
APPLICATION:
Serial communications control Parameter
DESCRIPTION:
Set serial communication channel 0 to receive
commands
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT STATE:
Command channel
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
By default, anything received over the primary serial port is interpreted as a command. By configuration, however, both the primary and channel 1 serial ports can
treat incoming information as either commands or data. The CMD function tells the
SmartMotor™ to interpret information coming into the primary port as standard commands.
The alternate to CMD is DAT, which causes the SmartMotor to simply store incoming
bytes in the 16 character serial buffer. The characters are read from the buffer with
the GETCHR command, while the LEN function holds the number of characters in
the buffer.
WARINING !! Issuing DAT at the command line will prevent the motor from
responding to any further commands via Com 0 (RS-232 Port) and will essentially lock you out of the motor !!!
It is a good idea to devise a means of invoking CMD via I/O or specific serial data if
you use data mode.
See next Page for Examples.
87
CMD (continued)
Related
Commands:
CMD1
DAT
DAT1
OCHN
Accept Command Input RS-232
Example: (using the default host channel)
PRINT(#13,"Default mode is CMD")
PRINT(#13,"Issuing DAT")
DAT
PRINT(#13,"Issuing a=GETCHR")
PRINT(#13,"Use SMI to send RP command",#13)
a=GETCHR
b=GETCHR
c=GETCHR
PRINT(#13,"Received ASCII ",a)
PRINT(#13,"Received ASCII ",b)
PRINT(#13,"Received ASCII ",c)
PRINT(#13,"Issuing CMD")
CMD
IF a==82 GOTO10 ENDIF
'validate user command
IF b==80 GOTO10 ENDIF
'sent via SMI
IF c==32 GOTO10 ENDIF
PRINT(#13,"Use SMI to send RP command")
PRINT(#13,"You should see a motor response",#13)
END
C10
PRINT(#13,"PROGRAM DID NOT RECEIVE RP COMMAND")
PRINT(#13,"PROGRAM ABORTING",#13)
END
88
CMD1
Accept Command Input RS-485
Related
Commands:
APPLICATION:
Serial communications control
CMD
DESCRIPTION:
Set serial communication channel 1 to receive
commands
DAT
EXECUTION:
Immediate
DAT1
CONDITIONAL TO:
N/A
OCHN
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT STATE:
Command channel
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
By default, anything received over the secondary serial port is interpreted as a command. By configuration, however, channel 1 serial port can treat incoming information
as either commands or data. The CMD1 function tells the SmartMotor™ to interpret
information coming into the channel 1 port as commands.
The alternate to CMD1 is DAT1, which causes the SmartMotor to simply store incoming bytes in the 16 character serial buffer. The characters are read from the buffer
with the GETCHR1 command, while the LEN1 function holds the number of characters in the buffer. For details about the use of data mode, please refer to the DAT1
command.
WARINING !! Issuing DAT1 at the command line will prevent the motor from
responding to any further commands via Com 1 (RS-485 Port) and will essentially lock you out of the motor !!!
It is a good idea to devise a means of invoking CMD1 via I/O or specific serial data if
you use data mode.
See next page for example:
89
CMD1 (continued)
Accept Command Input RS-485
Related
Commands:
CMD
DAT
DAT1
OCHN
Example: (using the default channel 1)
PRINT1(#13,"Default mode is CMD")
PRINT1(#13,"Issuing DAT")
DAT
PRINT1(#13,"Issuing a=GETCHR")
PRINT1(#13,"Use SMI to send RP command",#13)
a=GETCHR
b=GETCHR
c=GETCHR
PRINT1(#13,"Received ASCII ",a)
PRINT1(#13,"Received ASCII ",b)
PRINT1(#13,"Received ASCII ",c)
PRINT1(#13,"Issuing CMD")
CMD1
IF a==82 GOTO10 ENDIF
'validate user command
IF b==80 GOTO10 ENDIF
'sent via SMI
IF c==32 GOTO10 ENDIF
PRINT1(#13,"Use SMI to send RP command")
PRINT1(#13,"You should see a motor response",#13)
END
C10
PRINT1(#13,"PROGRAM DID NOT RECEIVE RP COMMAND")
PRINT1(#13,"PROGRAM ABORTING",#13)
END
90
CTR
Second Encoder/Step and Direction Counter
Related
Commands:
ENC0
ENC1
MC
MF
MF0
MF1
MF2
MF4
MFR
MS
MS0
MSR
APPLICATION:
External Encoder
DESCRIPTION:
External encoder counter reading
EXECUTION:
Updated once each PID sample
CONDITIONAL TO:
External encoder input signal available
ENC0 and ENC1 commands - see example below
LIMITATIONS:
None
REPORT COMMAND:
RCTR
READ/WRITE:
Read only
LANGUAGE ACCESS:
Expressions and conditional testing
UNITS:
Encoder counts
RANGE OF VALUES:
-2147483648 to 2147483647
TYPICAL VALUES:
0
DEFAULT VALUE:
0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
* Some low cost
SmartMotors™ do
not have second
encoder input capability.
By Default, CTR contains the present value for the secondary encoder (or Step and
Direction) signals. ENC0 and ENC1 determine whether the internal or external inputs
are primary or secondary. ENC0 is the default state. This means that the internal
encoder will be the primary encoder and Ports A and B will be the source for Phase
A and B (or Step and Direction) of an external source. Under this condition, CTR will
contain the position or count value for Ports A and B. Unlike using O=expression for
the internal encoder counter, CTR cannot be set to any specific value. It can only be
set to zero
If you issue MS0, MF0, MF1, MF2, or MF4, CTR will be set to zero and Ports A and B
will be set to receive phase A and B of a standard quadrature encoder. If the external
encoder changes position. RCTR will report that value.
If you issue ENC1, CTR will be set to zero and the sources of CTR and @P will swap.
Now CTR will reflect internal encoder position and @P will reflect external encoder
position.
If you issue ENC0, the sources will swap back to default and again CTR will follow
the external encoder.
MF0 and MS0 will both set CTR to Zero without changing the mode of operation.
(Continued on next page)
91
Second Encoder/Step and Direction Counter
Related
Commands:
ENC0
ENC1
MC
MF
MF0
MF1
MF2
MF4
MFR
MS
MS0
MSR
EXAMPLE:
To better understand the meaning of CTR; try the following with a SmartMotor™.
O=1234
'Set origin to zero
Then issue:
RP
'response will be 1234
Then issue:
ENC1
'make INTERNAL encoder the source of
CTR
Then issue:
RP
'response will be zero
RCTR
'response is also zero 0
'Physically turn the motor shaft and
'Query the position again
RP
'response should again be that
'NON ZERO response obtained before
RCTR
'response is another non zero number
ENC0
'return internal motor shaft encoder to
'Normal functioning
If you have an external encoder, attach it to a SmartMotor and repeat the above
sequence or some similar sequence.
If in gear mode (Mode Follow via MF(n)) and you issue MF0 on the fly, CTR will be
set to zero while trajectory continues without any glitch in movement. This serves two
purposes. One, it gives a means to zero the counter while moving. Two, it allows the
user to prevent Wrap status from occurring should CTR exceed +/-2^31.
92
D=expression
Set R elative Distance
Related
Commands:
APPLICATION:
Trajectory control
DESCRIPTION:
Relative move distance for position mode
EXECUTION:
Buffered pending a G command
MF1
CONDITIONAL TO:
usage.
Position mode. See MFR command for alternate MFR
LIMITATIONS:
Encoder wrap around will produce a position error
P
REPORT COMMAND:
RD
V
READ/WRITE:
Read write
LANGUAGE ACCESS:
Assignment, expressions and conditional testing
UNITS:
Encoder counts
RANGE OF VALUES:
-2147483648 to 2147483647
TYPICAL VALUES:
N/A
DEFAULT VALUE:
0
FIRMWARE VERSIONS:
ALL
A
G
MP
The D command
can be used
during gearing
to implement
Dynamic Phase
Adjust
(See MFR).
The D command
can also be sued
in CAM mode to
implement a dwell
between CAM
cycles.
DETAILED DESCRIPTION:
D=expression commands a relative distance move from the present position and will
be repeated every time a G command is issued. It is a signed value allowing a relative
move in either direction.
If you command a D move while the motor shaft is moving, its starting point will be
the actual shaft position when the G command is executed. In other words, the D
move will be relative to the reception of the G command on-the-fly. This method will
result in accumulating drift.
To avoid drift, If you issue the command D=100 and then enter the G command
ten times each after the previous move has completed, you will travel a total of
precisely 1000 counts regardless of any following error at the end of the previous
moves. The D move starts from where you are supposed to be, regardless of the
present position error, avoiding the problem of position drift or accumulating errors
over several relative moves.
In downloaded code, you would use the TWAIT command prior to the next G command. In doing so, the next G will not be issued until the previous trajectory has
completed.
Relative Moves are subject to wrap status. If the next relative move causes the counter to exceed +/- 2^31 counts, the motor will error out. The following code example
will allow continuous indexing without exceeding maximum count.
Continued on next page 93
D=expression (continued)
Set Relative Distance
Related
Commands:
P
A
V
G
MP
MF1
MFR
Example
(Continuous Index Moves with no accumulated error or roll over)
O=0
'reset origin
A=100
'Set Acceleration
V=100000
'Set Velocity
D=20000
'Set Relative distance
MP
'Set to Position Mode
WHILE 1
'While Forever.......
G
'Initiate Index Move
TWAIT
'Wait until Move is Completed
O=0
'Reset Position to Zero
LOOP
'loop back to repeat continuously
END
In the above example, the motor counts will continuously increase to 20000
during each move and then be set back to zero at the end of each move. There
will be no accumulating error because the O=(expression) command accounts
for any following error that may be present after the trajectory has completed.
The D command
is also used
during gearing to
implement
Dynamic Phase
Adjust
(See MFR).
Phase Offset Moves using the D command.
While in gearing (Mode Follow or Step Mode), the motor will follow an external
encoder or pulse and direction signal. The D command allows a move within
gearing to adjust the shaft position forward or backwards .
Suppose the motor is set on Mode follow and is following a conveyor at a
continuous speed of 1000RPM. If the shaft needs to be moved forward 2000
counts, you can enter D=2000, V=(speed relative to machine base), and G and
the motor will move forward in it's gearing trajectory by 2000 counts.
This method may be used for printing alignment on electronic line shafts. It may
also be used for tension control between two motors feeding a product through
nip rollers. Phase offset moves allow for anti-backlash where two motors drive
the same gear or load from the same point. It may also be used for adjustment
and alignment of wide gantries where there may be two X or two Y motors.
94
DAT
Accept Data Input Only (RS-232)
APPLICATION:
Serial communications control
DESCRIPTION:
Set serial communication channel 0 to receive data
EXECUTION:
Immediate
CMD1
CONDITIONAL TO:
N/A
DAT1
LIMITATIONS:
Applies to Com Channel 0 (main RS-232 Port)
REPORT COMMAND:
N/A
READ/WRITE:
N/A
Related
Commands:
CMD
LANGUAGE ACCESS: N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT STATE:
Command channel (See CMD)
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
By default, anything received over the primary serial port is interpreted as a command. By configuration, however, incoming information can be parsed as general
data instead of actual command data. The DAT applies to the primary Com channel
0 port and will simply store incoming bytes in the 16 character serial buffer without
attempting to execute any of that data. The characters are read from the buffer with
the GETCHR command, while the LEN function holds the number of characters in the
buffer. With proper code writing a custom serial command parser can be created.
Warning: The DAT command should only be used within the context of a downloaded
program with proper code to follow that deals with all incoming serial data from that
point on. If DAT is issued via serial port, you will be immediately locked out of the
motor until next power-up. It is highly recommended to write code that will handle any
incoming data and allow a means to issue CMD command within that code to re-open
standard command mode via serial port.
The following code example is written to parse out incoming data. It specifically
looks for the characters R, P, and (space key) one by one. Each incoming character
is stored into 3 consecutive variables. Then they are compared to the proper ASCII
value to insure they match. If the match, the program prints acknowledgment of it.
See next page for code example
95
DAT (continued)
Related
Commands:
CMD
CMD1
DAT1
LEN
OCHN
Accept Data Input Only (RS-232)
Example: (using the default host channel)
PRINT(#13,"Default mode is CMD")
PRINT(#13,"Issuing DAT")
DAT
PRINT(#13,"Issuing a=GETCHR")
PRINT(#13,"Use SMI to send RP command",#13)
a=GETCHR
b=GETCHR
c=GETCHR
PRINT(#13,"Received ASCII ",a)
PRINT(#13,"Received ASCII ",b)
PRINT(#13,"Received ASCII ",c)
PRINT(#13,"Issuing CMD")
CMD
IF a!=82 GOTO10 ENDIF
'check for "R"
IF b!=80 GOTO10 ENDIF 'check for "P"
IF c!=32 GOTO10 ENDIF 'check for space character
PRINT(#13,"Use SMI to send RP command")
PRINT(#13,"You should see a motor response",#13)
END
C10
PRINT(#13,"PROGRAM DID NOT RECEIVE RP COMMAND")
PRINT(#13,"PROGRAM ABORTING",#13)
96
DAT1
Accept Data Input Only (RS-485)
Related
Commands:
APPLICATION:
Serial communications control
DESCRIPTION:
Set serial communication channel 1 to receive data
CMD
EXECUTION:
Immediate
CMD1
CONDITIONAL TO:
N/A
DAT
LIMITATIONS:
Applies to Com Channel 1 (Alternate RS-485 Port)
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT STATE:
Command channel
FIRMWARE VERSIONS:
4.00 and higher
DETAILED DESCRIPTION:
By default, anything received over the secondary serial port is interpreted as a command. By configuration, however, incoming information can be parsed as general data
instead of actual command data. The DAT1 applies to the secondary Com channel
1 port and will simply store incoming bytes in the 16 character serial buffer without
attempting to execute any of that data. The characters are read from the buffer with
the GETCHR1 command, while the LEN1 function holds the number of characters
in the buffer. With proper code writing a custom serial command parser can be created.
Warning: The DAT1 command should only be used within the context of a downloaded program with proper code to follow that deals with all incoming serial data from
that point on. If DAT1 is issued via serial port, you will be immediately locked out of
the motor until next power-up. It is highly recommended to write code that will handle
any incoming data and allow a means to issue CMD1 command within that code to
re-open standard command mode via serial port.
The following code example is written to parse out incoming data. It specifically
looks for the characters R, P, and (space key) one by one. Each incoming character
is stored into 3 consecutive variables. Then they are compared to the proper ASCII
value to insure they match. If the match, the program prints acknowledgment of it.
See next page for code example
97
DAT1 (continued)
Accept Data Input Only (RS-485)
Related
Commands:
CMD
CMD1
DAT1
LEN
OCHN
Example: (using the secondary com channel 1)
PRINT1(#13,"Default mode is CMD1")
PRINT1(#13,"Issuing DAT1")
DAT1
PRINT1(#13,"Issuing a=GETCHR1")
PRINT1(#13,"Use SMI to send RP command",#13)
a=GETCHR1
b=GETCHR1
c=GETCHR1
PRINT1(#13,"Received ASCII ",a)
PRINT1(#13,"Received ASCII ",b)
PRINT1(#13,"Received ASCII ",c)
PRINT1(#13,"Issuing CMD1")
CMD1
IF a!=82 GOTO10 ENDIF
'check for "R"
IF b!=80 GOTO10 ENDIF 'check for "P"
IF c!=32 GOTO10 ENDIF 'check for space character
PRINT1(#13,"Use SMI to send RP command")
PRINT1(#13,"You should see a motor response",#13)
END
C10
PRINT1(#13,"PROGRAM DID NOT RECEIVE RP COMMAND")
PRINT1(#13,"PROGRAM ABORTING",#13)
END
98
DEFAULT
Switch-Case Structure Element
APPLICATION:
Program execution control
DESCRIPTION:
Default for SWITCH program controlblock
BREAK
EXECUTION:
Immediate
CASE
CONDITIONAL TO:
N/A
ENDS
LIMITATIONS:
Must reside within a SWITCH and ENDS structure
SWITCH
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
Related
Commands:
FIRMWARE VERSIONS:
4.00 and higher
DETAILED DESCRIPTION:
DEFAULT allows controlled code execution in a SWITCH structure for non-CASE
evaluated results. In the following example, DEFAULT is used when no VASE can be
executed for the value of "x".
EXAMPLE 1:
SWITCH x
CASE 1
PRINT("x=1",#13)
BREAK
CASE 2
PRINT("x=2",#13)
BREAK
CASE 3
PRINT("x=3",#13)
BREAK
DEFAULT
PRINT("x does not equal 1, 2 or 3,#13)
BREAK
ENDS
The first line, SWITCH x, lets the SmartMotor™ know that it is checking the value of
the variable x. The second line, CASE 1:, begins the section of code that tells the
SmartMotor what to do if x is equal to 1. Similarly, the 8th line, CASE 3:, tells what to
do if x=3. Finally, DEFAULT, tells what to do if none of the CASE's match the value of
the x.
99
DEFAULT (continued)
Switch-Case Structure Element
Related
Commands:
BREAK
CASE
ENDS
SWITCH
If no CASE number equals the value of the SWITCH expression and there is no
DEFAULT case, program execution passes through the SWITCH control block
to the ENDS statement without explicitly performing any commands.
There can only be one DEFAULT statement per SWITCH control block.
DEFAULT is not a valid terminal command, it is only valid within a user program.
Example 2:
a=20
WHILE a
SWITCH a-12
CASE -4 PRINT("-4 ") BREAK
CASE -3 PRINT("-3 ") BREAK
CASE -2 PRINT("-2 ") BREAK
CASE -1 PRINT("-1 ") BREAK
CASE 0 BREAK
CASE 1 PRINT("+1 ") BREAK
CASE 2 PRINT("+2 ") BREAK
CASE 3 PRINT("+3 ") BREAK
CASE 4 PRINT("+4 ") BREAK
DEFAULT PRINT("D ")
ENDS
a=a-1
LOOP
The above code example produces the following output:
D D D D +4 +3 +2 +1 -1 -2 -3 -4 D D D D D D D
100
DIN{port}{channel}
Input Byte From I/O Device
Related
Commands:
DOUT
APPLICATION:
Input control
DESCRIPTION:
Fetch AniLink digital peripheral input byte
EXECUTION:
Immediate byte read from IIC link
CONDITIONAL TO:
Peripheral input attached to motor
LIMITATIONS:
Port= A . . H and Channel= 0 . . 63
REPORT COMMAND:
RDIN{Port}{channel}
READ/WRITE:
Read only
LANGUAGE ACCESS:
Expressions and conditional testing
UNITS:
Number
RANGE OF VALUES:
0 to 255
TYPICAL VALUES:
0 to 255
DEFAULT VALUE:
255
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
See Appendix ?
for greater detail
and information
about expanding
the SmartMotor™
I/O using AniLink
chip sets.
The DIN{Address}{Channel} is used to read the single byte integer value of a
given address and channel from a peripheral I/O device such as the DIO-100
or OPTO-1 digital I/O expansion module. The value is received via the AniLink
communications channel. The "address" parameter must correspond with hardware address jumpers on the peripheral expansion card. The Addresses are
designated as A, B, C, D, E, F, G, or H. The "channel" number, which may be
from 0 to 63, is device specific. Typically it is 0 thru 8. See the specific peripheral user manual for specific details.
DIN{address}{channel} returns an unsigned 8 bit value, ranging from 0 to 255.
If the specified card or connection is not present, the function will return a value
of 255.
Example 1: (reading the first 8 inputs of an OPTO-1 on Address A)
x=DINA0
'Assign first 8 inputs to "x"
Example 2: (reading the second 8 inputs of an OPTO-1 on Address A)
x=DINA1
'Assign second 8 inputs to "x"
Example 3: (reading the third input bit of an OPTO-1 on Address A)
x=DINA0 & 4
'Assign second 8 inputs to "x"
101
DOUT{port}{channel}{expression}
Output Byte to I/O Device
Related
Command:
DIN
APPLICATION:
Input control
DESCRIPTION:
Output byte to Anilink digital peripheral
EXECUTION:
Immediate byte write to IIC link
CONDITIONAL TO:
Peripheral output attached to motor
LIMITATIONS:
Port = A . . H and Channel = 0 . . 63
REPORT COMMAND:
N/A
READ/WRITE:
Write only
LANGUAGE ACCESS:
Assignment to output peripheral only
UNITS:
Number
RANGE OF VALUES:
0 to 255
TYPICAL VALUES:
0 to 255
DEFAULT VALUE:
255
RELATED COMMANDS: DIN
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
NOTE:
8 bit data =
Logical AND of
expression with
255
The DOUT{Address}{channel}, expression command allows eight bits of data to be
written to a peripheral I/O device such as the DIO-100 or OPTO-1 digital I/O expansion module. The value is transmitted via the AniLink communications channel. The
"address" parameter must correspond with hardware address jumpers on the peripheral expansion card. The Addresses are designated as A, B, C, D, E, F, G, or H. The
"channel" number, which may be from 0 to 63, is device specific. Typically it is 0 thru
8. See the specific peripheral user manual for specific details.
DIN{address}{channel} returns an unsigned 8 bit value, ranging from 0 to 255. If the
specified card or connection is not present, the function will return a value of 255.
Example 1: (sending data to the first 8 outputs of an OPTO-1 on Address A)
DOUTA0,255
DOUTA0,0
'Sets first 8 outputs to 1
'Sets first 8 outputs to 0
Example 2: (setting value to specific bit output of an OPTO-1 on Address A)
x=DINA0
DOUTA0,x|4
DOUTA0,x&251
'Fist read state of the outputs
'Set 3rd bit to 1
'Set 3rd bit to 0
102
E=expression
Set Allowable Position Error
Related Commands
G
APPLICATION:
Position Error Handling
MP
DESCRIPTION:
Maximum Allowable Following Error
MV
EXECUTION:
Immediate. Enforced each PID sample
CONDITIONAL TO:
Trajectory in progress
LIMITATIONS:
Torque mode has no position error
REPORT COMMAND:
RE
READ/WRITE:
Read and Write
LANGUAGE ACCESS:
Assignment, expressions and conditional testing
UNITS:
Encoder counts
RANGE OF VALUES:
0 to 8388607 (23 Bit UNSIGNED Value)
TYPICAL VALUES:
1000
DEFAULT VALUE:
1000
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The E command is used to set the maximum allowable Position Error in encoder
counts. Position Error is the difference between the desired position, at any instant in
time, and the actual position. The SmartMotor™ uses the position error to generate
a torque by means of the PID filter. The more the error or deflection, the more torque
the motor applies in attempt to correct.
E is primarily used as a safety measure, a programmable allowable error beyond
which the motor recognizes it is outside of the domain of control you wish to enforce.
If E=100 is command and a position error of greater than 100 encoder counts occurs,
the motor will be turned off. When the motor is turned off, the Bo (Motor-Off Bit) is
set to 1, and the Be (Position Error Bit) will be set to 1. All closed-loop modes are
bound by this E value. Non-closed loop modes such as Torque Mode, ignore the
value of E.
The amount of Position Error is always proportional to the difference between commanded torque and load torque. The higher the commanded speed, the higher the
position error will be. High Accelerations can lead to short duration high spikes in
position error. The value for E should always be high enough to allow for acceleration
and declaration ramps. It may be necessary to increase tuning gains to keep position
error within reasonable limits for good dynamic operation.
Example:
E=1234
'set maximum allowable error to 1234
If the motor dynamically ever exceeds 1234, it fault on Position error immediately.
103
ECHO
Echo Incoming RS-232 Data
Related
Commands:
ECHO1
ECHO_OFF
ECHO_OFF1
APPLICATION:
Serial communications control
DESCRIPTION:
Motor echoes received channel 0 serial
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
Applies to Channel 0 (Primary Com Port)
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
Motor defaults to ECHO_OFF (non-echo)
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The ECHO command causes the SmartMotor™ to re-transmit (or echo
out) all serial bytes on the transmit line that were received on the receive
line of the primary comm port. This retransmission occurs when the
SmartMotor reads these bytes from the buffer, regardless of whether
these bytes are command or individual data bytes. ECHO_OFF terminates the echo facility. ECHO can be issued to control a single motor
communicating with a host terminal or any another serial device, as well
as control groups of motors sharing series loop (daisy chain) serial communication lines.
ECHO is required to pass serial bytes though a motor to the next motor
in a multi-drop serial daisy chain setup such as when the Add-A-Motor
cables are used. It is also often used in single motor applications for
transmit verification.
104
ECHO_OFF
Turn RS-232 Echo Off
APPLICATION:
Serial communications control
ECHO
DESCRIPTION:
Motor does NOT echo received channel 0
serial characters
ECHO_ON
EXECUTION:
Immediate
ECHO_OFF1
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
off
Motor Defaults to ECHO_OFF (non-echo)
Related
Commands:
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
ECHO_OFF causes the SmartMotor™ channel 0, or primary, comm port
to stop echoing. This is the default power-up state of any SmartMotor. No
incoming channel 0 characters are re-transmitted. The command can
be issued to control a single motor communicating with a host terminal
or any another serial device, as well as control groups of motors sharing
series or parallel serial communication I/O lines.
In order to automatically detect and differentiate between multiple motors
on a serial daisy chain cable, the ECHO state can be alternately turned
on and off to insure addressing is done properly.
Note: It is not possible to maintain communications on a serial chain
without issuing ECHO.
105
ECHO1
Echo Incoming RS-485 Data
APPLICATION:
Serial communications control
DESCRIPTION:
Motor echoes received channel 1 serial
ECHO
EXECUTION:
Immediate
ECHO_OFF
CONDITIONAL TO:
N/A
ECHO_OFF1
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
ECHO1 is off
Related
Commands:
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The ECHO1 command causes the SmartMotor™ to re-transmit (or echo out)
all serial bytes on the transmit line that were received on the receive line of the
secondary comm port. This retransmission occurs when the SmartMotor reads
these bytes from the buffer, regardless of whether these bytes are command or
individual data bytes. ECHO_OFF1 terminates the echo facility.
It is important to note that the channel 1 serial port is half-duplex RS485. It
cannot simultaneously send and receive. Thus, when used directly as RS-485,
the ECHO1 command is not recommended.
106
ECHO_OFF1
Turn RS-485 Echo Off
Related
Commands:
ECHO
ECHO_OFF
ECHO_OFF1
APPLICATION:
Serial communications control
DESCRIPTION:
Motor does NOT echo received serial 1
characters
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE: ECHO is off
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
ECHO_OFF1 causes the SmartMotor™ channel 1 serial port to stop
echoing. No incoming channel 1 characters are retransmitted. The
command can be issued to control a single motor communicating with
a host terminal or any another serial device, as well as control groups of
motors sharing series or parallel serial communication I/O lines.
107
ELSE
IF-Structure command flow element
Related
Commands:
ELSEIF exp
ENDIF
IF exp
APPLICATION:
Program execution control
DESCRIPTION:
Component of IF expression … ELSE …. ENDIF control block
EXECUTION:
Immediate if exercised
CONDITIONAL TO:
Value of associated IF expression
LIMITATIONS:
Must reside with IF expression … ENDIF
program control block
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
An IF expression … ENDIF control block may optionally include an ELSE statement to control execution when none of the test conditions are true. Suppose that you want the SmartMotor™ to do one thing if the variable g=43, and
another if it isn’t.
EXAMPLE:
IF g==43
PRINT("Gee … 43!",#13)
ELSE
PRINT("No 43 for me.",#13)
ENDIF
The first line checks to see if g is equal to 43. If so, the string "Gee … 43!" is
sent out the primary serial port. The ELSE in line 3 tells the SmartMotor what
to do otherwise.
An IF control block can only have, at most, one ELSE. If such an ELSE exists
and the language interpreter evaluates the IF expression to be false (zero) and
there are no ELSEIF statements, then program will branch immediately to the
statement following the ELSE. If there are ELSEIF expression clauses within
the control block, all the ELSEIF clauses must precede the ELSE clause. In
these cases the ELSE clause is only executed in if both the IF expression is
false (zero) and all the ELSEIF expressions are false (zero).
108
ELSE (continued)
IF-Structure command flow element
Related
Commands:
ELSEIF exp
ENDIF
IF exp
ELSE is analogous to the DEFAULT case for a SWITCH control block.
ELSE is not a valid terminal command, it is only valid within a user
program.
EXAMPLE:
a=1
'PRINT("FALSE") is always executed
IF a==2
PRINT("TRUE")
ELSE
PRINT("FALSE")
ENDIF
EXAMPLE:
IF a==1 'only if a is NOT 1, 2, or 3
'will GOSUB5 be executed.
GOSUB2
ELSEIF a==2
GOSUB3
ELSEIF a==3
GOSUB4
ELSE
GOSUB5
ENDIF
109
ELSEIF
IF-structure command flow element
Related
Commands:
APPLICATION:
Program execution control
DESCRIPTION:
Alternate Evaluation of IF ..ENDIF control block
ELSE
EXECUTION:
Immediate if exercised
ENDIF
CONDITIONAL TO:
Value of associated ELSEIF expression
IF exp
LIMITATIONS:
Must reside with IF expression … ENDIF
program control block
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
An IF expression, ENDIF control block may optionally include any number of
ELSEIF expressions to perform multiple evaluations in a specified order. Suppose that you want the SmartMotor™ to do one thing if the variable g=43,
another if g=43000 and another if g=-2.
EXAMPLE:
IF g==43
PRINT("Gee … 43!",#13)
ELSEIF g==43000
PRINT("43 grand for me."#13)
ELSEIF g==-2
PRINT("2?"#13)
ENDIF
The first line checks to see if g is equal to 43. If so, the string "Gee … 43!" is
sent out the primary serial port and the IF control block terminates. If g is not
43, the program goes on to test if g is 43000. If it is, "43 grand for me." is sent
out the primary serial port and the IF control block terminates. Similarly, if g
is not 43000, the program goes on to test if g is -2. If it is, "-2?" is sent out the
primary serial port and the IF control block terminates.
An IF control block can have multiple ELSEIF statements. If such an ELSEIF
clause exists and the language interpreter evaluates the IF expression to be
false (zero) the program will branch immediately to first ELSEIF expression.
110
ELSEIF (continued)
IF-structure command flow element
Related
Commands:
ELSE
ENDIF
IF exp
If the associated expression is true, then the following clause is executed until an ELSEIF, ELSE or ENDIF is encountered and then execution branches to the ENDIF of the present IF control block. If the first
ELSIF clause is not executed, then program execution continues at the
next ELSEIF expression and so on until all the ELSEIF expressions have
been tested. In the case all ELSEIFs have false expressions and an
ELSE clause exists that clause will be executed.
The ELSEIF statement is similar to the CASE number case for a
SWITCH control block. Note the difference - ELSEIF handles expressions, CASE only handle a fixed number.
ELSEIF is not a valid terminal command, it is only valid within a user
program.
Example:
a=3
IF a==2
'expression will be found false
PRINT("222"
ELSEIF a==3
'expression will be found true
PRINT("333"'so "3333" will be printed.
ENDIF
Example:
IF a==1 GOSUB2
ELSEIF a==2
GOSUB3
ELSEIF a==3
GOSUB4
ELSE
GOSUB5
ENDIF
'only if a is NOT 1, 2, or 3
'willGOSUB5 be executed.
111
ENC0
Set/Restore Internal Encoder for Servo
Related
Commands:
CTR
ENC1
APPLICATION:
Encoder control
DESCRIPTION:
Use internal encoder as the primary encoder
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT STATE:
ENC0
FIRMWARE VERSIONS: 4.11 and higher
DETAILED DESCRIPTION:
The SmartMotor™ can accept inputs from either the internal integrated encoder or
an external source. ENC0 will cause the SmartMotor to read its position from the
internal encoder, while ENC1 uses the secondary (external) encoder. When ENC0
is active, the external encoder input will be tracked by the CTR variable and @P will
track the internal encoder.
EXAMPLE:
ENC1
ENC0
'Servo from external encoder
'restore default encoder behavior
ENC1
ENC0
'Servo from external encoder
'restore default encoder behavior
112
ENC1
Select External Encoder for Servo
Related
Commands:
ENC0
APPLICATION:
Encoder selection control
DESCRIPTION:
Swap internal and external encoder functions.
Use external encoder as the primary encoder.
The internal encoder is now associated with CTR
value.
WARNING:
If the ENC1
command is issued
without an external
encoder connected
both electrically to
the A and B inputs
and physically to
the shaft, and
connected properly,
the shaft will run
away with full speed
and torque.
EXECUTION:
Immediate
CONDITIONAL TO:
External encoder attached to motor
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT STATE:
ENC0
FIRMWARE VERSIONS: 4.11 and higher
DETAILED DESCRIPTION:
The SmartMotor™ can accept inputs from either the internal integrated
encoder or an external source. The ENC1 command will cause the SmartMotor
to servo from the secondary (external) encoder channel, instead of the internal
encoder. The internal encoder will likewise then be readable by way of the CTR
variable. @P will rack the external encoder. The default mode of operating
from the internal encoder is restored with the ENC0 command.
If the external encoder is not connected or connected wrong, the motor may
run away. If this happens, use the RP command to check the position. If by
rotating the shaft you can change the position, then the encoder is connected,
but the A and B signals likely need to be swapped to reverse the direction
described by the quadrature phasing of the A and B signals.
EXAMPLE:
ENC1 'Servo from external encoder
ENC0 'restore default encoder behavior
113
END
End Program Code Execution
Related
Commands:
RCKS
Rv
RUN
RUN?
UP
UPLOAD
Z
APPLICATION:
Program execution control
DESCRIPTION:
Terminates the user program execution
EXECUTION:
Immediate
CONDITIONAL TO:
Valid whether issued by host or user program
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS: N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
END terminates execution of a user program if running. END may be issued via
serial communications channels or from within the user program itself. Each program
must have a minimum of at least one END statement. The windows interface SMI
scanner will not compile a source file without at least one END present. END only
terminates the user program and internally resets the program pointer to the beginning of the program; no other state, variable, mode, or trajectory is affected.
The SMI program provides a speed bar button to send END. This is especially useful
when something prevents the user from fully typing END at the terminal screen.
Example:
IF Be END ENDIF
'terminate user program
'upon position error
Note: All PLS firmware Motors automatically issue END upon receiving any of the
following error conditions:
Be (Position Error)
Bl (Left Travel Lmit)
Br (Right Travel Limit)
Bh (Over Temperature/RMS Over Current)
Please consult PLS firmware documentation for more details and options around
this.
114
ENDIF
End IF Statement
Related Command:
APPLICATION:
Program execution control
IF exp
DESCRIPTION:
IF expression … ENDIF control block terminator
ELSE
EXECUTION:
N/A
CONDITIONAL TO:
There must exist a corresponding IF expression
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
ELSEIF exp
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
Every IF
structure must
be terminated with
an ENDIF
Each control block commencing with IF expression … must have a corresponding
ENDIF block exit statement. The program statement following ENDIF is the common
exit point branched to upon processing the IF … ENDIF control block regardless of
the execution path thought the control block at run time. There can only be one ENDIF
statement for each IF statement. The common exit point following ENDIF is branched
to upon the following:
1. Processing a true IF expression clause and encountering ELSEIF, ELSE, or ENDIF.
2. Processing a true ELSEIF expression and encountering another ELSEIF, ELSE, or ENDIF.
3. Processing an ELSE expression and encountering ENDIF.
4. If all IF and ELSIF expressions are false and there no ELSE clause.
ENDIF is not a valid terminal command, it is only valid within a user program.
Example:
IF a==1
PRINT("ok",#13)
ENDIF
PRINT("EXIT",#13)
115
ENDS
End SWITCH Statement
Related Command:
CASE number
DEFAULT
SWITCH exp
APPLICATION:
Program execution control
DESCRIPTION:
terminator
SWITCH expression … ENDS control block EXECUTION:
N/A
CONDITIONAL TO:
a corresponding SWITCH expression
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
Each SWITCH expression must have a corresponding ENDS block exit statement.
Any program statement immediately following ENDS is the common exit point
branched to upon processing the SWITCH . . . ENDS control block regardless of
execution path through the control block at run time. There can only be one ENDS
statement for each SWITCH statement.
The common exit point following ENDS is branched to upon the following:
1. Upon encountering a BREAK
2. Upon encountering ENDS
3. The SWITCH expression value is not equal to any CASE number value and there is no DEFAULT statement label for the control block.
ENDS is not a valid terminal command, it is only valid within a user program.
EXAMPLE :
SWITCH x
CASE 1
CASE 2
CASE 3
ENDS
'This is the
PRINT("x=1",#13) BREAK
PRINT("x=2",#13) BREAK
PRINT("x=3",#13) BREAK
exit point for SWITCH...ENDS code block
116
EPTR=expression
Set Data EEPROM Pointer
Related
Command:
VST
VLD
APPLICATION:
EEPROM Data storage control
DESCRIPTION:
Set user data EEPROM pointer
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
None
READ/WRITE:
Write only. EPTR auto incriminated as used
LANGUAGE ACCESS:
Assignment only UNITS:
EEPROM Address pointer
RANGE OF VALUES:
0 to 7999 <= v4.13, 0-32000 >= v4.15
TYPICAL VALUES:
0 to 32000
DEFAULT VALUE:
0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
EPTR sets the address location (pointer) within the Nonvolatile used data
EEPROM for the data retrieval read VLD(variable, number) function and data
storage write VST(variable, number) function. The EPTR value is write only,
once it is set, EPTR auto-increments by 1, 2, or 4 with each read or write
access to the physical EEPROM device according to the present data type.
Example:
EPTR=4000
VST(hh,1)
VST(ab[7])
VST(aw[7])
VST(x,3)
VST(x,4)
'set EPTR = 4000
'store a 32 bit value
'EPTR is now 4004
'store an 8 bit value
'EPTR is now 4005
'store a 16 bit value
'EPTR is now 4007
'Store 3 consecutive variables, x,y,z
'EPTR is now 4007+(3*4) or 4019
'INVALID !!! EPTR remains 4019 !!!
Note: You cannot store consecutive variables past their group range. In other
words, you can store any consecutive variables a-z or aa-zz or aaa-zzz within
their groups only.
VST(aa,26)
VST(aa,27)
'Perfectly Valid !!!
'INVALID !!!
117
ES400
Set EPROM Read/Write Speed
Related Command:
APPLICATION:
EEPROM Read write Control
ES1000
DESCRIPTION:
Set EEPROM read write rate to 400kz
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
None
READ/WRITE:
None
LANGUAGE ACCESS:
N/A
UNITS:
Bits per sec
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
1000
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
ES400 controls the transmit and receive bit rate while communicating between the
EEPROMS and the microprocessor. There are two settings ES400 and ES1000.
ES1000 is the preferable higher data transfer rate for read and writing user programs
and data, and is the default data rate of version 4 and later SmartMotors™ and later.
The ES400 command is used with older EEPROMs. If you have an "older" EEPROMs
and SmartMotors of differing versions, you may wish to consider upgrading the
EEPROMS.
Note: The following applies to units prior to year 2000.
If you get an "F,"or failure, response to the RCKS command (report program checksum) following a program download, you may wish to issue an ES400 command from
the terminal and try again. If RCKS now passes, you may have a slow EEPROM.
In some cases you may need to make ES400 the first program statement within a
program, but as the command controls the speed at which the memory is read, the
command really has little value in a program, and you may wish to consider upgrading
the EEPROM.
118
ES400 (continued)
Set EPROM Read/Write Speed
Related
Command:
ES1000
Example:
The following simple test program may well abort if ES400 is unreliable.
PRINT("TEST ES400 & ES1000")
a=1000
WHILE a
a=a-1
ES400
'slower data rate
PRINT(#13,"ES400 ",a)
GOSUB5
ES1000
'faster data rate
PRINT(#13,"ES1000 ",a)
GOSUB5
LOOP
PRINT(#13,"TEST RAN TO COMPLETION")
PRINT(#13,"NO DATA ERROR DETECTED")
END
C5
WAIT=100
c=a
b=a
IF c!=b
PRINT("DATA PROBLEM - ABORT TEST")
ENDIF
RETURN
'add many GOTO10 statements here
GOTO10
'to fill up your program EEPROM
C10
PRINT(#13,"PROGRAM POINTER ERROR - ABORT TEST")
END
119
ES1000
Set EPROM Read/Write Speed
Related Command:
APPLICATION:
EEPROM Read write Control
ES400
DESCRIPTION:
Set EEPROM read write rate to 1000kz
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
EEPROM Read Write Capability
REPORT COMMAND:
None
READ/WRITE:
None
LANGUAGE ACCESS:
N/A
UNITS:
Bits per sec
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
1000
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
ES1000 controls the transmit and receive bit rate while communicating between the
EEPROMS and the microprocessor. There are two settings - ES400 and ES1000.
ES1000 is the preferable higher data transfer rate for read and writing user programs
and data, and is the default data rate of version 4 SmartMotors™ and later. The ES400
command is used with older EEPROMs. If you have an "older" EEPROMs and SmartMotors of differing versions, you may wish to consider upgrading the EEPROMs.
Note: the following applies to units prior to year 2000:
If you get an "F,"or failure, response to the RCKS command (report program checksum) following a program download, you may wish to issue an ES400 command from
the terminal and try again. If RCKS now passes, you may have a slow EEPROM.
In some cases you may need to make ES400 the first program statement within a
program, but as the command controls the speed at which the memory is read, the
command really has little value in a program, and you may wish to consider upgrading
the EEPROM.
120
ES1000 (continued)
Set EPROM Read/Write Speed
Related
Command:
ES400
Example:
The following simple test program may well abort if ES1000 is unreliable.
PRINT("TEST ES400 & ES1000")
a=1000
WHILE a
a=a-1
ES400
'slower data rate
PRINT(#13,"ES400 ",a)
GOSUB5
ES1000
'faster data rate
PRINT(#13,"ES1000 ",a)
GOSUB5
LOOP
PRINT(#13,"TEST RAN TO COMPLETION")
PRINT(#13,"NO DATA ERROR DETECTED")
END
C5
WAIT=100
c=a
b=a
IF c!=b
PRINT("DATA PROBLEM - ABORT TEST")
ENDIF
RETURN
'add many GOTO10 statements here
GOTO10
'to fill up your program EEPROM
C10
PRINT(#13,"PROGRAM POINTER ERROR - ABORT TEST")
END
121
F
Load PID Filter
APPLICATION:
Amplifier control
DESCRIPTION:
Load buffered PID filter values into PID filter
EXECUTION:
Next PID sample
CONDITIONAL TO:
N/A
KG
LIMITATIONS:
N/A
KI
REPORT COMMAND:
N/A
KL
READ/WRITE:
N/A
KP
LANGUAGE ACCESS:
N/A
KS
UNITS:
N/A
KV
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
Related
Command:
HA
KD
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The servo tuning parameters, KA, KD, KG, KI, KL, KP, KS, and KV, are all buffered
parameters. These parameters, once requested, take effect only when the F command is issued. This allows several parameters to be change at one time, without
intermediate tuning states causing disruptions. Tuning parameters can be changed
during a move profile, although caution is urged.
A default set of tuning parameters is in effect at power up or reset, but are optimized
for an unloaded shaft. Different motor sizes have different optimal PID default gain
values.
EXAMPLE:
KP=100
F
G
WAIT=40000
KP=KP+10
F 'initialize KP to a some value
'load into present PID filter
'start motion
'increment the present KP gain value`:
'change into filter END
122
F=expression
Motor Function Control
Related Command:
APPLICATION:
Motor Function control
None
DESCRIPTION:
Miscellaneous commands
EXECUTION:
Immediate
CONDITIONAL TO: N/A
LIMITATIONS:
N/A
REPORT COMMAND:
RF
READ/WRITE:
Write only
LANGUAGE ACCESS:
Assignment only
UNITS:
Number
RANGE OF VALUES:
0 to 15
TYPICAL VALUES:
0
DEFAULT VALUE:
0
FIRMWARE VERSIONS:
4.00 and higher
DETAILED DESCRIPTION:
F=value sets various functions or operational conditions of the motor. The value is Bitweighted meaning that each binary bit is a on or off state for that particular function. As
a result, it is also bit additive meaning that to turn on or off any selected function the
appropriate bits must be set to 1 or 0. F is not assignable or readable. If you wish to
rack it's value a shadow variable may be used.
Example:
x=2
F=x
x=2& 8
F=x
This allows you to keep track of the functions that are enabled or disabled via the F
command.
The following page covers a description of each function.
123
F=expression (continued)
Motor Function Control
Related
Command:
F=1
Decelerate to stop on limit switch input (as opposed to just turning off)
F=2 *
Invert Commutation (Changes Shaft rotation)
F=4
Any Report commands transmit to Com 1 only. (Use with Extreme Caution)
F=8
Clear PID integral term at trajectory-end to avoid possible slow settling
F=16 *
Mode Cam positions are relative for each re-entry into CAM table (from either direction)
F=32 *
GOSUB1 is issued under motor fault condition C1 can not be called again prior to receiving a RETURNF
F=64 * GOSUB2 is issued on user input G transition from high to low C2 can not be called again prior to receiving a RETURNI
F=128 *
Internal Slave Counter = base + dwell modulo while in CAM Mode
F=256 *
Set T.O.B. to be active for entire move profile.
F=512 *
Suppress T.O.B. until Slew Velocity has been reached
None
F=1024 * Enables Port G to Index trigger latch function (only in SM2316D/DT >=4.93 firmware)
* Note: Only Applies to >=v4.77 only……..
Warning: C1 has priority over C2.
C1 can be activated when in C2.
The F value can be changed on the fly while in an Interrupt subroutine to change
its effect. An example would be turning off the G interrupt once in C2 to prevent
any subsequent calls.
F Command is Binary Bit flag additive:
Example: F=21 would break down to F=(16+4+1). Motor would run CAM Mode
relative, redirect print statements to port 1, and decelerate on limits.
124
F=expression (continued)
Motor Function Control
Related
Command:
None
Example using F=32 for Interrupt driven Fault routine
F=32
'Enable C1 Fault routine
MV
V=10000
A=100 G
'Set to Velocity Mode
'Set Speed
'Set Acceleration
'Start moving in Velocity Mode
END
C1
' Fault Routine (Gets called on any of the following
faults)
IF Be
' Checking for error status bits
PRINT(" Position Error",#13)
ENDIF
IF Bh
PRINT(" Over Temp Error",#13)
ENDIF
IF Bi
PRINT(" Over Current Error",#13)
ENDIF
IF Bl
PRINT(" Left/Positive Travel Limit Error",#13)
ENDIF
IF Br
PRINT(" Right/Negative Travel Limit Error",#13)
ENDIF
WHILE 1
'Wait for Motor Reset
IF r==1
'If host sends r=1 via serial port
ZS
'Reset the motor
ENDIF
IF UAI==0 'If Input A gets rounded
ZS
'Reset the motor
ENDIF
LOOP
RETURNF
'Return form Fault routine
Example using F=64 for Port G, C2 interrupt subroutine call
F=64 'Enable
END
C2
'
PRINT("
RETURNI '
Port G interrupt routine
Port G interrupt Routine
Port G was grounded",#13)
Return from Input Trigger
Example using F=64 for C2 subroutine call and F=1024 Index Re-direct for position capture
F=64+1024 'Enable Port G interrupt routine and Index Capture
Re-direct
END
C2
' Port G interrupt Routine
PRINT(" Port G was grounded",#13)
PRINT(" Position captured at:",I,#13)
RETURNI 'Return from Input Trigger
125
G
Start Motion (GO)
Related
Command:
A
D
E
MC
MD
MFR
MP
MV
P
UG
UGI
UGO
V
APPLICATION:
Trajectory control, Parameter Update
DESCRIPTION:
Initiate or change trajectory parameters.
EXECUTION:
Next PID sample
CONDITIONAL TO:
Clearing of prior errors (in PLS firmware only)
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The G command stands for "Go" and is used to start motion or update buffered values such as Speed or acceleration.
A "G" command is required in each of the following cases:
1. Initiate an Absolute Move in Mode Position (MP)
V=10000 A=100 P=1234 MP G
2. Initiate a Relative Move in Mode Position (MP)
V=10000 A=100 D=4000 MP G
3. Initiate a Velocity in Mode Velocity (MV)
V=10000 A=100 MV G
4. Change to a new Velocity in Mode Position (MP) or Mode Velocity (MV)
V=10000 A=100 MV G
WAIT=1000 V=V*2 G
5. Change to a new Acceleration in Mode Position (MP) or Mode Velocity (MV)
V=10000 A=100 MV G
WAIT=1000 A=A*2 G
6 Initiate/Change an Electronic Gear Ratio in Mode Follow with Ratio (MFR),
MF0 MFMUL=1 MFDIV=10 MFR G
7 Initiate/Change an Electronic Gear Ratio in Mode Step with Ratio (MSR),
MF0 MFMUL=1 MFDIV=10 MSR G
8. Initiate Cam Mode (MC) :
MF0 MC1 G
126
G (continued)
Start Motion (GO)
Related
Command:
A
D
9. Begin Host Mode (MD).motion prior to filling all buffered data slots.
(See Users Guide for Host Mode)
10. Initiate a phase Offset Move while in Electronic Gear Ratio in either Mode-
Follow or Mode-Step
E
MC
MD
MFR
MP
MV
P
UG
UGI
UGO
V
MF0 MFMUL=1 MFDIV=10 MFR G
WAIT=2000 D=2000 V=100 G
On Power-Up, the Motor defaults to the Off state with MP (Mode Position buffered
in with no Velocity or Acceleration values. As a result, if G is issued the motor will
immediately servo in place.
Mode Follow (MS1, MF1, MF2 and MF4), Mode Step (MS), Mode Torque (MT),
and Amplifier Mode (MD50) are immediately active, they do not wait for any G command.
If a G command is transmitted and no motion results, any of the following may be
the cause:
• E=0 or too small
• A=0 or 1
• V=0 or so small motion is not visible to naked eye
• Target position equals present position
• D=0
• Bh=1 the motor is hotter than max permitted temperature TH
• AMPS=0 or too small
• T=0 or too small
• Motor is in Torque Mode
• LIMD is in effect and the "wrong" limit input switch is active
• Issued MF0 or MS0 instead of MFn or MS
• External encoder signal not present or not changing (in follow modes)
• Motor is part of a daisy chain that hasn't been properly set up
• Serial communications are good but target motor is not
addressed
• Serial communications at incorrect baud rate
• Serial communications cable not attached or poorly connected
• Motor has no drive power
• Motor has a prior fault that needs to be cleared first (PLS firmware)
• Motor has no connections to limit switch inputs on boot-up and therefor has
travel limit fault (PLS firmware)
127
G (continued)
Start Motion (GO)
Related Command:
A
D
E
MC
Example:
MD
MFR
MP
MV
P
UG
UGI
UGO
V
A=100 V=10000
P=1000 MP G To servo in place:
P=@P G 'Set buffered Acceleration
'Set buffered Velocity
'Set buffered Position
'Set buffered Position Mode
'load buffered move, Start Motion
'Set buffered position equal to actual position
'Servo in place
The execution time for G command varies with the computational burden of the mode
or on the fly move. In the some cases, the G command computation may take longer
than expected, and may result in motion profiles of poor quality or erroneous movement. This can happen in very tight loops that don't allow the G command to fully
process with each cycle, such as the following:
Example:
C10
P=CTR
G
GOTO10
'Place a label
'Set position equal to CTR
'Issue GO command
'Loop back to label
This type of code practice is not recommended because it forces a re-calculation over
and over again and will cause abrupt jerks or small glitches in the move profile.
128
GETCHR
Get Character from main RS-232
APPLICATION:
Serial communications control
DESCRIPTION:
Fetch next character in channel 0 serial
input buffer
LEN
EXECUTION:
Immediate
LEN1
CONDITIONAL TO:
Requires that a character is in the buffer
OCHN
LIMITATIONS:
Must check if LEN>0 before using
Related
Command:
GETCHR1
WARNING:
The OCHN
command will
cause the
SmartMotor to
ignore incomming
commands and can
lock you out. It is
a good idea to use
the RUN?
command during
development. If
you get locked out,
you can recover by
sending two capitol
E's during the first
1/2 second after
power up. This will
cause the motor to
abort its program
and give you a
chance to download
a better one. The
terminal software
has utilites to do
this.
REPORT COMMAND: N/A
READ/WRITE:
Read only
LANGUAGE ACCESS: Expressions and conditional testing
UNITS:
N/A
RANGE OF VALUES: N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
GETCHR reads and removes the next available character in the channel
0 serial receive buffer. It is absolutely necessary to check that LEN>0
before issuing the GETCHR command.
Normally, the SmartMotor™ interprets incoming RS-232 data as commands. Sometimes, it is useful to prevent that from happening and
instead, write a custom command interpreter. This is accomplished by
re-opening the input channel in data mode with the OCHN command.
Example:
C20
'Place a label
IF LEN>0
'Check to see that LEN>0
c=GETCHR
'Get character from buffer
IF c==69
'Check to see if it is an E
END
'End the program
ENDIF
ENDIF
GOTO20
'Loop back to C20
129
GETCHR1
Get Character From RS-485
Related Command:
APPLICATION:
Serial communications control
GETCHR
DESCRIPTION:
Fetch next character in channel 1 serial input buffer
LEN
EXECUTION:
Immediate
LEN1
CONDITIONAL TO:
Requires that a character is in the buffer
LIMITATIONS:
Must check if LEN1>0 before using
REPORT COMMAND:
N/A
READ/WRITE:
Read only
LANGUAGE ACCESS:
Expressions and conditional test
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
OCHN1
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
GETCHR1 reads and removes the next available character in the channel 1
serial receive buffer. It is absolutely necessary to check that LEN1>0 before
issuing the GETCHR1 command.
Sometimes, it is useful to be able to accept special commands and/or data
over the RS-485 port such as might come from a light curtain or a bar code
reader. This is accomplished by opening the input channel in data mode with
the OCHN1 command.
Example:
C20
'Place a label
IF LEN1>0
'Check to see that LEN>0
c=GETCHR1
'Get character from buffer
IF c==69
'Check to see if it is an E
END
'End the program
ENDIF
ENDIF
GOTO20
'Loop back to C20
130
GOSUB{number}
Subroutine Call
Related Command:
APPLICATION:
Program execution control
C{number}
DESCRIPTION:
Perform subroutine beginning at Cnumber
EXECUTION:
Immediate
CONDITIONAL TO:
C number previously defined
LIMITATIONS:
GOSUB0 to GOSUB999
GOTO{number}
STACK
nesting msut be <=6 levels deep !!!
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The GOSUB{number} command redirects program execution to a subroutine of the
program marked with a label C{number}. The end of every subroutine is marked
by the RETURN statement, which causes execution to return to the line following
the corresponding GOSUB{number} command. Subroutines may call further subroutines; this is called nesting. There may be as many as a thousand GOSUBs but
they may be nested only up to six deep. A subroutine may call itself, which is called
recursion but is highly discouraged because it can lead to a stack overflow or nesting limit. A counter, conditional test or some other scheme can prevent exceeding
the nesting limit.
Subroutines
present a great
opportunity to
partition and
organize your
code.
The STACK control flow command explicitly and deliberately destroys the RETURN
address history. Thus, if you issue STACK, take care that the program execution
does not encounter a RETURN before the next GOSUB.
The GOSUB command is valid from both the serial channels and within the a user
program. Do not, however, issue GOSUB{number} unless the corresponding
C{number} label exists within the stored program. Otherwise you willg et a memory
pointing error.
Note: If an attempt to issue a nonexistent GOSUB call is done via serial port, the
motor will respond with "+/-" which basically means a memory error.
131
GOSUB{number} (continued)
Subroutine Call
Related
Command:
C{number}
GOTO{number}
STACK
Example:
GOSUB20
'run subroutine 20
GOSUB21
'run subroutine 20
a=3
GOSUB25
'run subroutine 20
END
'End code execution
C20
GOSUB30
PRINT("20",#13)
RETURN
C21
GOSUB30
PRINT("21",#13)
RETURN
C25
PRINT(" 25:",a)
a=a-1
IF a==0
RETURN
ENDIF
GOSUB25
RETURN
C30
PRINT(#13,"Subroutine
RETURN
'nested subroutine
'nested subroutine
'recursive subroutine
'normal subroutine
Call ")
The output will be as follows:
Subroutine Call 20
Subroutine Call 21
25:3 25:2 25:1
In the above program example you can issue GOSUB20, GOSUB21,
GOSUB25 or GOSUB30 from the terminal as well.
132
GOTO{number}
Branch Program Flow to a Label
Related Command:
APPLICATION:
Program execution control
BREAK
DESCRIPTION:
Branch program execution to statement
C{number}
EXECUTION:
Immediate
CONDITIONAL TO:
C{number} previously defined
LIMITATIONS:
GOTO0 to GOTO999
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
C{number}
ELSE
DEFAULT
GOSUB{number}
NOTE:
Extensive use of
IF statements and
GOTOs can quickly
make your programs
impossible to read or
debug.
Learn to organize your
code with one main
loop using a GOTO
and write the rest
of the program with
subroutines.
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The GOTO{Number} command unconditionally redirects program execution control
to another part of the program marked by the label C{Number}.
The GOTO{Number} command is valid from both the serial channels and within a
user program. Take care, however, not to issue a GOTO{Number} command unless
the corresponding C{Number} label exists witihn the stored program.
Novice programmers use IF statements and GOTOs to create elaborate and sophisticated programs that quickly become impossible to read or debug. Force yourself to
use GOSUBs for program control. You'll be glad you did.
Example: (download the following program)
C0
'Place main label
IF UAI==0
PRINT("Input A Low",#13)
ENDIF
GOTO0
'GOTO allows program to run forever
END
133
I (capital i)
Encoder Index Pulse Location
Related
Commands:
Bi
Bx
RBi
RBx
APPLICATION:
Hardware Index Capture
DESCRIPTION:
Encoder value latched by hardware index capture
EXECUTION:
Immediate
CONDITIONAL TO:
Index previously captured
LIMITATIONS:
High velocity at time of capture will create a
systematic offset error
REPORT COMMAND:
RI
READ/WRITE:
Read only
LANGUAGE ACCESS:
Expressions and conditional testing
UNITS:
Encoder counts
RANGE OF VALUES:
-2147483648 to 2147483647
TYPICAL VALUES:
-2147483648 to 2147483647
DEFAULT VALUE:
0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
I (capital i) is the function that stores the last hardware latched encoder index position. It can be read from a host with the RI command, or it can be read by the
program with a line such as a=I. Only after it is read by either of these means, will
the SmartMotor™ be looking for the next Index event. The host or the program can
monitor for the event by reading the flag, Bi. Bi will read as zero until an index is
latched, at which time Bi will be set to one. Bi is set to zero when the index position
is read or accessed.
The commands RI and PRINT(I,#13) report the captured index value through the
primary serial channel. PRINT1(I,#13) reports through the channel 1 serial port.
All three commands reset the Bi flag to zero. Assignments such as variable=I also
assign the captured value and reset the Bi flag to zero. If Bi is zero at the time the I
value is accessed, the previously captured index value is returned again.
The index is a physical reference mark on the encoder. It is also referred to as a Z
pulse, marker pulse, and sometimes combinations of all three names. Its most widely
used in homing sequences requiring a high degree of repeatability.
134
I (continued)
Encoder Index Pulse Location
Related
Commands:
Bi
Bx
RBi
RBx
Example: (homing against a hard stop with Index reference)
AMPS=100
O=0 MP A=100 V=100000 P=-1000000 G WHILE Bt IF Bi a=I ENDIF
LOOP O=-a P=0 G AMPS=1023 'Current limit 10%
'Declare this home
'Set Mode Position
'Set Acceleration
'Set Velocity
'Move negative
'Start Motion
'Wait for motion fault
'If Index Pulse Seen
'Record Index Position
'Loop back to wait
'Last Index is Home
'Move to New Home
'Start Motion
'Restore power
Note: >=v4.95 has the ability to redirect Port G to the Index register input trigger allowing high speed position capture via Port G this capture time occurs at
CMOS level and is typically around 3 to 5 microseconds.
All the same rules apply to arming and clearing the index as stated above.
The Re-Direct to Port G is accomplished with the F command. See F= in this
programmers guide for more detail.
135
IF expression
Conditional Program Code Execution
Related
Commands:
ELSE
ELSEIF
ENDIF
APPLICATION:
Program execution control
DESCRIPTION:
Conditional run time program execution
EXECUTION:
Test expression and take action as coded
CONDITIONAL TO:
Program execution branch if expression is zero or false
LIMITATIONS:
Requires corresponding ENDIF
Can be executed only from within user program
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The IF statement is the basic means by which an executing program can make a
choice between alternative execution paths at runtime. In its simplest form the IF
control block consists of:
IF (expression) evaluates as non-zero Run the code below the "IF" command
ENDIF
Every "IF" structure must be
terminated with an
"ENDIF".
Expression is a test condition, Both mathematical comparisons and boolean logic
bit wise comparisons can be used. Each must evaluate to be true.
IF a==b
(If a equals b)
IF a!=b
IF a<b
(If a is less than b)
IF a<=b (If a is less than or equal to b)
IF a>b
(If a is greater than b) IF a>=b (If a is greater than or equal to b)
IF a&b
(If a AND b, bit-wise)
IF a
(If a does not equal zero, common shortcut to IF a==1)
IF a|b
(If a does not equal b)
(If a OR b, bit wise comparison)
All above examples must be True to allow code beginning below the IF command
to run. If they are not true, the code execution will jump down to the nearest ELSE,
ELSEIF or ENDIF and continue from there.
136
IF expression (continued)
Conditional Program Code Execution
Related
Commands:
ELSE
ELSEIF
ENDIF
Example 1: Simple case of: IF true, run some code.
IF @P>12345'If Position is above 12345
PRINT("position is greater than 12345",#13)
ENDIF
'This is the next line of code to be executed
'whether it is true or not.
Example 2: If true, run some code, ELSE if false run some other code...
IF @P>12345
'If Position is above 12345
PRINT("position is greater than 12345",#13)
ELSE
'If it is no true
PRINT("position is not greater than 12345",#13)
ENDIF
'This is the next line of code to be executed
Example 3: If true, run some code, else if something else is true......
IF @P>12345
'If Position is above 12345
PRINT("position is greater than 12345",#13)
ELSEIF @P==0
'If Position equals zero
PRINT("position is at zero",#13)
ENDIF
'This is the next line of code to be executed
'even if position is not at zero and
'not greater than 12345.
Example 4: Test for two conditions and default to another line of code:
IF @P>100
'If
PRINT("position
ELSEIF @P<=0
'If
PRINT("position
ELSE
PRINT("position
ENDIF
Position is above 100
is greater than 100",#13)
it less than or equal to zero
is <= to zero",#13)
is between zero and 100",#13)
(Continued on next page)
137
IF expression (continued)
Conditional Program Code Execution
Related
Commands:
ELSE
ELSEIF
ENDIF
Example 5: Binary Bit Mask Comparison:
a=10
b=5
c=7
d=1
e=0
'binary
'binary
'binary
'binary
'binary
1010
0101
0111
0001
0000
IF a&2
'Compare "a" and 2 as binary numbers bit for it.
PRINT("This is true because 2 is 0010",#13)
ENDIF
IF a&d
'Are any bits in common with a AND d?
PRINT("This will never PRINT",#13)
ENDIF
IF a|b
'Are there any bits that are 1 in either number?
PRINT("This will print",#13)
ENDIF
IF d|e
'even though e is zero, d is non-zero:
PRINT("This will print",#13)
ENDIF
IF b&c
PRINT("This is true",#13)
ENDIF
END
Every "IF" structure must be
terminated with an
"ENDIF".
138
KA=expression
PID Acceleration Feed Forward
Related
Commands:
F
RKA
KD
KG
KI
KL
KP
KS
KV
APPLICATION:
PID filter control
DESCRIPTION:
Acceleration feed forward gain
EXECUTION:
Buffered pending an F command
CONDITIONAL TO:
N/A
LIMITATIONS:
Must be positive
REPORT COMMAND:
RKA
READ/WRITE:
Read write
LANGUAGE ACCESS:
Expressions and conditional testing
UNITS:
N/A
RANGE OF VALUES:
0 to 65535
TYPICAL VALUES:
0 to 3000
DEFAULT VALUE:
0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
KA sets the buffered acceleration feed forward gain. The acceleration feed forward
term helps the PID filter to cope with the predictable effects of acceleration and
inertia.
The KA gain factor is only applied in position (MP) and velocity (MV) moves. Issuing
a new KA parameter is not effective until it is loaded into the present PID filter by
the F command. The default value for KA is 0, and acceptable values range from 0
to 65,535.
It is difficult or impossible to tune KA in low inertia systems. Even in high inertia
systems it can be a challenge to observe the benefit during very short acceleration
periods. It is best to rely on the host tuning utility for assistance if it is thought that
KA could be useful.
PRINT(KA,#13) and RKA both report the value of KA through the primary serial
port, while PRINT1(KA, #13) sends it out channel 1. KA is valid with any expression, and can be treated as if it were any read-write variable. The motion or servo
characteristics are unaffected until KA is applied by the F function.
Example:
KA=200
F
'set buffered acceleration feed forward
'update PID filter
139
KD=expression
PID Derivative Compensation
Related
Commands:
KA
KG
KI
KL
KP
KS
KV
APPLICATION:
PID filter control
DESCRIPTION:
Derivative gain
EXECUTION:
Buffered pending an F command
CONDITIONAL TO:
N/A
LIMITATIONS:
Must be positive
REPORT COMMAND:
RKD
READ/WRITE:
Read write
LANGUAGE ACCESS:
Assignment, expressions and conditional testing
UNITS:
N/A
RANGE OF VALUES:
0 to 65535
TYPICAL VALUES:
400 to 2000
DEFAULT VALUE:
Motor size dependent
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
KD sets the value of the derivative gain of the PID filter. If the PID filter gives stable
performance, KD is usually the vibration absorbing, or damping, term.
For any stable KP value there is an optimum KD value, prior to and beyond which the
motor will be unstable. An effective way to tune the filter, therefore, is to repetitively
raise the KP value and then run the KD term up and down to find the local optimum.
The point at which the KD term cannot stabilize the servo is the point where KP has
gone too far. To test each setting twist the shaft of the motor and let it go while looking
for abrupt and resolute response. The host level tuning utility can be useful in finding
the optimum. The F command must be issued for a new buffered KD parameter to take
effect. Typically a KD of ~10x KP is a good starting point for any given KP<300.
PRINT(KD,#13) and RKD both report the value of KD through the primary serial port,
while PRINT1(KD, #13) sends it out channel 1. KD is valid with any expression, and
can be treated as if it were any read-write variable. The motion and servo characteristics are unaffected until KD is applied by the F function.
Example:
KD=2000
F
'set buffered derivative gain
'update PID filter
140
KG=expression
PID Gravity Compensation
Related
Commands:
KA
KD
KI
KL
KP
KS
KV
APPLICATION:
PID filter control
DESCRIPTION:
Gravitational gain
EXECUTION:
Buffered pending an F command
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
RKG
READ/WRITE:
Read write
LANGUAGE ACCESS:
Assignment, expressions and conditional testing
UNITS:
N/A
RANGE OF VALUES:
-8388608 to 8388607
TYPICAL VALUES:
0
DEFAULT VALUE:
0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
KG sets the gravity compensation term of the PID filter.
Simple PID filters are ill equipped where a constant force is asserted on the
system. An example of such a constant force is that induced by gravity acting
on a vertically moving axis. The KG term exists to offset the PID filter output in
a way that removes the effect of such constant forces.
The best way to set KG is to turn KP and KI to zero and servo in place. The
load will want to fall, but hold it in place. Issue increasingly positive or increasingly negative KG parameters until the load barely holds. Record that value and
continue increasing the parameter until the load starts to go up. Now record this
value. The optimum KG value is the average of these two.
Valid values for KG are integers from -8388608 to 8388607. As a result, you
may not see much of an effect until KG is greater than one million in magnitude.
However, extremely higher magnitudes values risks rapid pulse width modulation (PWM) saturation (uncontrollable servo behavior). The default value is 0.
PRINT(KG,#13) and RKG both report the value of KG through the primary
serial port, while PRINT1(KG, #13) sends it out channel 1. KG is valid with any
expression, and can be treated as if it were any read-write variable. The motion
and servo characteristics are unaffected until KG is applied by the F function.
Example :
KG=10000000 'Set buffered Gravity Term
F 'Update Filter
141
KI=expression
PID Integral Compensation
Related
Commands:
KL
KA
KD
KG
KP
KS
KV
APPLICATION:
PID filter control
DESCRIPTION:
Integral gain
EXECUTION:
Buffered pending an F command
CONDITIONAL TO:
N/A
LIMITATIONS:
Must be positive, total integral limited by KL
REPORT COMMAND:
RKI
READ/WRITE:
Read write
LANGUAGE ACCESS:
Assignment, expressions and conditional testing
UNITS:
N/A
RANGE OF VALUES:
0 to 32767
TYPICAL VALUES:
0 to equal that of present KP
DEFAULT VALUE:
Motor size dependent
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The KI term sets the integral gain of the PID filter. The integral compensator is not for
stability. Raising it too far will cause the motor to become unstable. The KI command
is designed to compensate for friction in the system. Since the amount of power sent
to the motor is proportional to the distance it is from its target position, there comes
a time, close to the target, where the small position error is creating too small of a
torque for the motor to reach the final target.
The integral term of the PID filter is generated by taking the sum of the position
error of every sample and then multiplying by KI. As such, it creates a force that is a
function of error and time. As time passes (a few milliseconds) and the control sees
that a correction is not being made, it boosts the signal. This boost occurs at a rate
set by the KI parameter. While you are tuning your motor for stability, it is probably
a good idea to set KI to zero, and then later bring it up until you see that it reliably
compensates for the friction of your system. The F command must be issued for a
new buffered KI parameter to take effect and KL, the protective upper limit, must be
high enough to allow KI to do its job.
PRINT(KI,#13) and RKI both report the value of KI through the primary serial port,
while PRINT1(KI, #13) sends it out channel 1. KI is valid with any expression, and
can be treated as if it were any read-write variable. The motion and servo characteristics are unaffected until KI is applied by the F function.
Example:
KI=250
F 'Set buffered integral gain
'Update Filter
142
KL=expression
PID Integral Limit
Related
Command:
KA
KD
KG
KI
KP
KS
KV
APPLICATION:
PID filter control
DESCRIPTION:
Integral limit
EXECUTION:
Buffered pending an F command
CONDITIONAL TO:
N/A
LIMITATIONS:
Must be positive
REPORT COMMAND:
RKL
READ/WRITE:
Read write
LANGUAGE ACCESS:
Assignment, expressions and conditional testing
UNITS:
N/A
RANGE OF VALUES:
0 to 32767
TYPICAL VALUES:
5 to 200
DEFAULT VALUE:
Motor size dependent
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The KL term sets a limit on the effects of the KI term. Since the KI integrates the
position error over time, it can ultimately dominate the PID equation. KL sets an upper
limit on what the KI term can be.
Physically speaking, the KI term will raise the power to the servo as a function of time.
If there is something other than friction blocking the servo and it is unable to move,
the amount of torque given to the motor over time can quickly become unreasonably
large. It is therefor a good idea to keep KL as low as possible while still allowing the
KI term to effectively contend with friction. The F command must be issued for a new
buffered KL parameter to take effect.
PRINT(KL,#13) and RKL both report the value of KL through the primary serial port,
while PRINT1(KL, #13) sends it out channel 1. KL is valid with any expression, and
can be treated as if it were any read-write variable. The motion and servo characteristics are unaffected until KL is applied by the F function.
Example:
KL=1500 F
'Set buffered integral limit
'Update Filter
143
KP=expression
PID Proportional Compensation
Related
Command:
KA
KD
KG
KI
KL
KS
KV
APPLICATION:
PID filter control
DESCRIPTION:
Proportional gain
EXECUTION:
Buffered pending an F command
CONDITIONAL TO:
N/A
LIMITATIONS:
Must be positive
REPORT COMMAND:
RKP
READ/WRITE:
Read write
LANGUAGE ACCESS:
Assignment, expressions and conditional testing
UNITS:
N/A
RANGE OF VALUES:
0 to 32767
TYPICAL VALUES:
40 to 300
DEFAULT VALUE:
Motor size dependant
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The KP command is used to set the gain of the proportional parameter of the PID
filter. Any new value of KP is held in a buffer until an F command is issued.
The higher the KP the stiffer the motor will be. At some point the added stiffness will
cause the motor to become unstable. If moving the KD value up and down cannot
stabilize the servo, then the KP value is too high and must be reduced.
PRINT(KP,#13) and RKP both report the value of KP through the primary serial
port, while PRINT1(KP, #13) sends it out channel 1. KP is valid with any expression, and can be treated as if it were any read-write variable. The motion and servo
characteristics are unaffected until KP is applied by the F function.
Example:
KP=250 F 'Set buffered proportional gain
'Update Filter
144
KS=expression
PID Derivative Term Sample Rate
Related
Command:
KA
KD
KG
KI
KL
KP
KV
APPLICATION:
PID filter control
DESCRIPTION:
Inertial load gain
EXECUTION:
Buffered pending an F command
CONDITIONAL TO:
N/A
LIMITATIONS:
Must be positive
REPORT COMMAND:
RKS
READ/WRITE:
Read write
LANGUAGE ACCESS:
Assignment, expressions and conditional testing
UNITS:
N/A
RANGE OF VALUES:
0 to 255
TYPICAL VALUES:
1
DEFAULT VALUE:
1
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The KS term of the extended PID filter will sometimes allow the SmartMotor™ to
handle inertial ratios in excess of the traditional 5:1 or 10:1. This reflected load to rotor
inertia ratio is often sighted as a traditional limit for dependable servo motor application. The KS term represents the number of sample periods used to form the integration of the KD term. By raising the KS value beyond one, a latency is developed within
the response vector of the PID equation’s differential element. Since this reduces the
rate at which the current error switches sign, it allows the motor to apply its available
torque more decisively. This is also useful in situations where the mechanical time
constant of the motor/load system is longer than the PID period by several orders of
magnitude. Such systems can be very difficult to stabilize with a traditional PID filter.
If your application has an inertial ratio of greater than 5:1, experiment with raising
KS above 1. Your ear will provide a good method of judgment; listen for a range KS
values which provide relaxed but decisive motor response across the velocity and
acceleration regions required by your application.
PRINT(KS,#13) and RKS both report the value of KS through the primary serial port,
while PRINT1(KS, #13) sends it out channel 1. KS is valid with any expression, and
can be treated as if it were any read-write variable. The motion and servo characteristics are unaffected until KS is applied by the F function.
Example :
KS=5 F 'Set buffered differential sample rate
'Update Filter
145
KV=expression
PID Velocity Feed Forward
Related
Command:
KA
KD
KG
KI
KL
KP
KS
APPLICATION:
PID filter control
DESCRIPTION:
Velocity feed forward gain
EXECUTION:
Buffered pending an F command
CONDITIONAL TO:
N/A
LIMITATIONS:
Must be positive
REPORT COMMAND:
RKV
READ/WRITE:
Read write
LANGUAGE ACCESS:
Assignment, expressions and conditional testing
UNITS:
N/A
RANGE OF VALUES:
0 to 32767
TYPICAL VALUES:
0 to 400
DEFAULT VALUE:
0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
KV sets the gain for the velocity feed forward element of the extended PID filter.
The velocity feed forward element can be thought of as a dynamically proportional
adjustment to the PID filter required by the latency of the digital filter with respect to
time. A zero value for KV disables the term within the filter.
If you put the SmartMotor™ into at a relatively high speed velocity move and monitor the position error with the Status Monitor, you will see a constant position error.
Issue a series of successively larger KV parameters followed by F commands and
watch the error reduce to zero.
The default value for KV is zero, acceptable values range from 0 to 65,535. Typically
useful values range from 0 to 2000. Current values can be read back with RKV.
PRINT(KV,#13) and RKV both report the value of KV through the primary serial port,
while PRINT1(KV, #13) sends it out channel 1. KV is valid with any expression, and
can be treated as if it were any read-write variable. The motion and servo characteristics are unaffected until KV is applied by the F function.
Example :
KV=1000
F 'Set buffered velocity feed forward
'Update Filter
146
LEN
Main RS-232 data buffer fill level
Related Command:
APPLICATION:
Communication control
GETCHAR
DESCRIPTION:
receive buffer
Number of characters in serial host (channel 0) EXECUTION:
Immediate
CONDITIONAL TO:
Host communication channel open
LIMITATIONS:
Maximum buffer length is 16 characters
REPORT COMMAND:
None
READ/WRITE:
Read only
LANGUAGE ACCESS:
Expressions and conditional testing
UNITS:
Number of available characters
RANGE OF VALUES:
0 to 16
TYPICAL VALUES:
0 to 16
DEFAULT VALUE:
0
FIRMWARE VERSIONS:
4.00 and higher
GETCHAR1
LEN1
DETAILED DESCRIPTION:
LEN returns the number of characters placed in the serial communications channel 0
receive buffer which are still awaiting to be processed. A serial channel in COMMAND
mode will typically return LEN as 0, but a serial channel in DATA mode may well return
a non zero value. Testing the value of LEN is a good way to see if there is any character for GETCHR to fetch.
Example:
DAT
i=0
IF LEN GOSUB5
ENDIF
END
C5
ab[i]=GETCHR
i=i+1
RETURN
'Set serial channel 0 to DATA mode
'any data received?
'if so process data
'read and store in data
'process incoming data
'maintain reference index
From the above example, "i" will be equal to LEN.
147
LEN1
RS-485 data buffer fill level
APPLICATION:
Communication control
GETCHAR
DESCRIPTION:
Number of characters in channel 1 serial
receive buffer
GETCHAR1
EXECUTION:
Immediate
CONDITIONAL TO:
Host communication channel open
LIMITATIONS:
Maximum buffer length is 16 characters
REPORT COMMAND:
None
READ/WRITE:
Read only
LANGUAGE ACCESS:
Expressions and conditional testing
UNITS:
Number of available characters
RANGE OF VALUES:
0 to 16
TYPICAL VALUES:
0 to 16
DEFAULT VALUE:
0
FIRMWARE VERSIONS:
4.00 and higher
Related
Command:
LEN
DETAILED DESCRIPTION:
LEN1 returns the number of characters placed in the serial communications
channel 1 receive buffer which are still awaiting to be processed.
A serial
channel in COMMAND mode will typically return LEN1 as 0, but a serial channel in DATA mode may well return a non zero value. Testing the value of LEN1
is a good way to see if there is any character for GETCHR to fetch.
Example:
DAT1
i=0
IF LEN1 GOSUB5
ENDIF
END
C5
ab[i]=GETCHR1
i=i+1
RETURN
'make serial channel 1 DATA mode
'any data received ?
'if so process data
'read and store in data
'process incoming data
'maintain reference index
From the above example, "i" will be equal to LEN.
148
LIMD
Enable Directional Travel Limits
Related Command:
APPLICATION:
Travel Limit switch controL
LIMH
DESCRIPTION:
Limit switches have directional property
LIML
EXECUTION:
Immediate
LIMN
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT PROPERTY:
Limits are non directional
FIRMWARE VERSIONS:
4.15 and 4.40 (non-PLS firmware only) DETAILED DESCRIPTION:
LIMD (Limit Directional) specifies the way the SmartMotor™ responds to a G command while any limit input is active.
LIMD prevents motion further into or past the detected limit. LIMD can be cancelled
by LIMN (Limit non-directional), which allows movement further into the limit. Neither
of these commands change the response of the motor when it encounters a limit after
already in motion.
Basic Effects of LIMD are as follows:
If the Positive Limit is active and the motor is commanded in the positive direction, it will fail to move.
If the negative limit is active and the motor is commanded in the negative direction,
the motor will fail to move.
In both cases above, LIMD has prevented further motion beyond the detected travel
limit.
In contrast, if the negative limit is active and motion is commanded in the positive
direction, motion will be allowed.
If the positive limit is active and motion is commanded in the negative direction, motion
will be allowed.
Note: LIMD behavior is applicable to all modes of operation.
149
LIMH
Travel Limits Active High
Related Command:
LIMD
LIML
LIMN
UCP
UDM
APPLICATION:
Travel Limit Switch Control
DESCRIPTION:
Limits are active high to stop motion
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT PROPERTY:
Limits are active low
FIRMWARE VERSIONS:
4.15 and 4.40. (not available in PLS firmware)
DETAILED DESCRIPTION:
The limit switches are associated with the I/O C and I/O D pins. Following a power up
or reset (the Z command), the limit inputs are active LOW by default. This means if
the logic state goes low, the motor will stop.
LIMH defines the limit inputs to be active HIGH. This means if the logic state level
goes high, the motor will stop.
NOTE: The limit input pins have 5K Ohm pull-ups meaning they are seen as logic high
when there is no connection to them.
LIML defines them back to active low.
Associated with the limit switches are the system flags:
Command
Command to
Command to
to Clear
Disable
Enable
Pos/Neg Plus/Minus Left/Right Real Time Historical Historical Bit Travel Limit Input Travel Limit Input
Hardware Travel Limit Overview
Port
Status Bits
Port C
Positive
PLUS
RIGHT
Br
Bp
Zr, or ZS
UCI or UCO
UCP
Port D
Negative
MINUS
LEFT
Bl
Bm
Zl, or Zs
UDI or UDO
UDM
Note: PLS firmware defaults to LIMH with no option to change it.
Please consult PLS firmware documentation for more information.
150
LIML
Travel Limits Active Low
Related Command:
APPLICATION:
Limit switch control
LIMD
DESCRIPTION:
Limit switches are active low
LIMH
EXECUTION:
Immediate
LIMN
CONDITIONAL TO: N//A
UCP
LIMITATIONS:
N/A
UDM
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT PROPERTY:
Limit switches are active low
FIRMWARE VERSIONS:
4.15 and 4.40
DETAILED DESCRIPTION:
The limit switches are associated with the I/O C and I/O D pins. Following a power up
or reset (the Z command), the limit inputs are active LOW by default. This means if
the logic state goes low, the motor will stop.
LIML defines the limit inputs to be active Low. This means if the logic state level goes
low, the motor will stop.
NOTE: The limit input pins have 5K Ohm pull-ups meaning they are seen as logic high
when there is no connection to them.
LIMH defines them to active High.
Associated with the limit switches are the system flags:
Command
Command to
Command to
to Clear
Disable
Enable
Pos/Neg Plus/Minus Left/Right Real Time Historical Historical Bit Travel Limit Input Travel Limit Input
Hardware Travel Limit Overview
Port
Status Bits
Port C
Positive
PLUS
RIGHT
Br
Bp
Zr, or ZS
UCI or UCO
UCP
Port D
Negative
MINUS
LEFT
Bl
Bm
Zl, or Zs
UDI or UDO
UDM
Note: PLS firmware defaults to LIMH with no option to change it.
Please consult PLS firmware documentation for more information.
151
LIMN
Enable Non-Directional Travel Limits
Related Command:
APPLICATION:
Limit switch control
LIMD
DESCRIPTION:
Limit switches non directional
LIML
EXECUTION:
Immediate
LIMH
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT PROPERTY:
Limit switches are non directional
FIRMWARE VERSIONS: 4.15 and 4.40 (not available in PLS firmware)
DETAILED DESCRIPTION:
LIMN (Limit NON-Directional) specifies the way the SmartMotor™ responds to a G
command while any limit input is active.
LIMN means that if you are on a limit switch (if it is active at the time). The motor will
still be allowed to move in the same direction upon receiving another G (go) command.
Basic Effects of LIMN are as follows:
If the Positive Limit is active and the motor is commanded in the positive direction, it will still be able to move
If the negative limit is active and the motor is commanded in the negative direction, it
will still be able to move.
Note: LIMN behavior is applicable to all modes of operation.
152
LOAD
Download Compiled User Program to Motor
Related
Command:
LOCKP
LOCKPROM
RCKS
RUN
RUN?
UP
UPLOAD
APPLICATION:
User program EEPROM control
DESCRIPTION:
Receive and store SmartMotor™ executable program
EXECUTION:
Immediate
CONDITIONAL TO:
User program EEPROM present
LIMITATIONS:
EPPROM capacity is limited to 8k, 16k, or 32k
REPORT COMMAND:
UP, UPLOAD, RCKS
READ/WRITE:
EEPROM is read write unless "locked"
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
This command
is intended to be
used in custom
terminal software
LOAD is used by a terminal to download a compiled program file and store it within
the USER PROGRAM EEPROM of the SmartMotor. The LOAD command causes
a SmartMotor to load all incoming host communications into program memory up to
the first occurrence of the ASCII character 255. Program sizes can be as great as
32k. This command is mainly used by host utilities, which also compiles the program
before download.
LOAD does not terminate the present motion mode or trajectory, change motion
parameters such as E, A, V, KP etc, or alter the present value of the user variables.
If the motor does not receive the ASCII 255 byte sometime after the LOAD command, the motor will continue to store incoming serial bytes directly to the Program
EEPROM; During this time you are likely to be confused by the motor’s apparent lack
of response to your commands. The only way to terminate this condition is to transmit
ASCII 255s or to reset the power.
Note: The SMI (SmartMotor Interface) software package is adjusted to take care of
this automatically.
By using the "LOAD" command you can download from any controller/HMI/PLC or
PC based program capable of storing an ASCI text file. For any given motor that is
actively addressed, (i.e. you are talking to it and it responds) If you issue the LOAD
command to the motor, it immediately goes into a memory-write mode while checking
all incoming data. Every ASCII character that is received after the LOAD command
is issued goes directly onto the Program EPROM. To terminate the LOAD command,
the last characters to send are 2(two) hexFF characters. The hexFF characters tell
the motor that it is the end of the file and to drop back into regular command mode.
153
LOAD (continued)
Download Compiled User Program to Motor
Related
Command:
LOCKP
RCKS
RUN
RUN?
UP
UPLOAD
Details on the downloadable file:
When you compile an SMS file with the SMI software, it creates an SMX file
extension with the same name in the same directory. This is the file you need
to download to the motor.
So basically here is what you should do:
Do an initial download of your program to the motor from SMI on some other
machine. Issue the "RCKS" command. This is the "Report Checksum" command. It will respond with a string in the form of:
RCKS
000000 0000EB P
where the 000000 0000EB will be different than shown and represent a unique
2-byte checksum to any given program. The P at the end will be either a P
(passed) or F (failed). Keep this number in your own program/PLC that will do
the downloading.
1. Store the SMX file for downloading.
2. Store the string received from the RCKS command above as well.
3. Establish serial communications with the motor.
4. Issue RCKS command
5. If it does not match the stored checksum number: Open the smx file. Issue
the LOAD command. Start sending down all characters in the smx file from
beginning to end. When the last character is read from the file and sent to the
motor then send2(two) hexFF characters to the motor.
6. Issue RCKS command again If it comas back with the stored string (with the "P" at the end) then the download was successful.
7. Issue "RUN" to see if it works as expected.
Reasons for unsuccessful download:
a. Noise on serial port
b. Loss of connection during download.
c. Failure to send the two hexFF's before power-down.
d. The SMX file as SMI compiled it was altered in some way.
Note: If you were to open an SMX file in NotePad to look at it and then save
it, Notepad will automatically add carriage return characters at the end of each
line it sees. The resultant file will not work. Each carriage return would have to
be stripped back out prior to download. So do not alter the smx file in any way
from how SMI generated it.
154
LOCKP
Prevent User Program Upload
Related Command:
APPLICATION:
User program execution control
UP
DESCRIPTION:
Prevents effects of UP and UPLOAD
UPLOAD
EXECUTION:
N/A
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES: N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSIONS:
4.00 and higher
DETAILED DESCRIPTION:
NOTE:
(For motors
with a plug-in
Memory Module)
Once LOCKP has
been invoked the
Memory Module
EEPROM cannot
be unlocked and
the module must be
replaced to return to
an unlocked
condition.
LOCKP modifies the contents of the header file portion of the downloaded Program
in the motor's EEPROM to prevent the contents from being uploaded. That is, the
commands UP and UPLOAD will not actually be able to upload the program body or
contents. This does not prevent the downloading of another program.
It is suggested that the LOCKP command is used after program development and
testing is complete.
LOCKP is intended as a serial command only. It should be issued from the terminal
screen.
It should not be in the actual downloaded code.
Once LOCKP is issued, issuing UP or UPLOAD will no longer produce results.
155
LOOP
Return to WHILE Program Flow Control
Related Command:
APPLICATION:
Program execution control
BREAK
DESCRIPTION:
Terminator for WHILE expression
WHILE
EXECUTION: Immediate
CONDITIONAL TO: N/A
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES: N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSIONS:
ALL
DETAILED DESCRIPTION:
LOOP is the statement terminator for the WHILE control block. Each WHILE must
have one and only one corresponding LOOP. Each time LOOP is encountered, program execution branches back to re-evaluate the WHILE expression.
The WHILE (expression) . . LOOP control block creates a program loop that repeatedly executes for as long as the expression value is true or non zero. The expression
is evaluated at the time WHILE is first encountered, and each time program execution
is sent back to the WHILE by the corresponding terminating LOOP statement. If the
expression value is zero or false, program execution continues on the line of code
just below the LOOP command.
For version 4.00 and higher the SMI compiler encodes the LOOP (corresponding)
WHILE program address location within the executable file. No WHILE/GOSUB
return stack is used to carry out the proper execution of the LOOP statement. Thus
LOOP executes the function equivalent of a GOTO without the need for declaring a
program statement label. Simply restated: WHILE expression .. LOOP is functionally encoded as Cx WHILE expression . . GOTOx. This means that it is legal to jump
into a WHILE control loop directly from an external program location.
LOOP is not a valid terminal command. It is only valid within a user program.
(Continued on next page.)
156
LOOP (continued)
Return to WHILE Program Flow Control
Related
Command:
BREAK
WHILE
Example:
b=1
WHILE b<5
PRINT(#13,"b=",b)
b=b+1
LOOP
PRINT(#13,"Exit Loop")
END
Output will be:
b=1
b=2
b=3
b=4
b=5
Exit Loop
157
MC
Enable Mode-CAM (Electronic Camming)
Related Command:
APPLICATION:
Motion mode control
BASE
DESCRIPTION:
Request CAM mode
CTR
EXECUTION:
Buffered pending a G
G
CONDITIONAL TO:
BASE=expression and SIZE=expression
MC2
LIMITATIONS:
Requires external encoder signal source
MC4
REPORT COMMAND:
RMODE
MF1
READ/WRITE:
N/A
MF2
LANGUAGE ACCESS:
N/A
MF4
UNITS:
N/A
MS
RANGE OF VALUES:
N/A
SIZE
TYPICAL VALUES:
N/A
DEFAULT MODE:
MP
FIRMWARE VERSIONS:
ALL
DETAILED DESCRIPTION:
MC puts the SmartMotor™ into CAM Mode, which causes the SmartMotor to follow
a predetermined profile in accordance with an external encoder source. To set up a
cam operation, you must also specify BASE, SIZE, aw[0]..aw[SIZE] position data
and initialize to the external encoder counter. Start the camming motion by issuing a G
command. The example below is a complete command sequence.
In Cam Mode, each value of the external encoder defines a required corresponding
SmartMotor position; cams typically define a periodic motion profile or trajectory.
BASE defines the number of encoder counts through which the external Cam moves
before the required position mapping, or required motion, is exactly repeated.
EXAMPLE:
This is a "saw tooth" CAM with periodic motion of BASE=2000 external encoder
counts and the motion interpolation divided into 25 (equal) segments:
(Continued on next page)
158
MC (continued)
Enable Mode-CAM (Electronic Camming)
Related
Command:
BASE
CTR
G
LOAD
MC2
MC4
MC8
MF1
'Example CAM MODE Setup:
BASE=2000 'Cam period
SIZE=25
'data segments (number of data points in table)
'CTR data interval = BASE/SIZE = 2000/25 = 80
'CAM motor will be at Data position every 80
'Master encoder counts:
'CTR=0, CTR=80, CTR=160,.... CTR=1840, CTR=1920, CTR=2000
'Now assigning data values beginning with aw[0]:
aw[0] 0 10 20 30 40 50 60 70 80 90 100.
aw[20] 110 120 120 110 100 90 80 70 60.
aw[19] 50 40 30 20 10 0.
MF4 'reset external encoder to zero
O=0 'reset internal encoder position
MC
'buffer CAM Mode
G
'start following the external encoder using cam data
MF2
MF4
MS
SIZE
The motor will now begin following the External (Master) encoder via the defined
CAM profile above. The SmartMotor™ performs a practical cam application
by partitioning the required cam trajectory definition into a number of linearly
interpolated segments. The variable SIZE stores the number of segments.
The segments are required to partition the BASE into a set of equally spaced
intervals.
The set of required positions must always use the 16-Bit array values beginning
at aw[0] and ending with aw[SIZE]. (aw[0 thru 99]). While this appears to limit
the size of the cam table to 100 entries no larger than +32678, this is not the
case. You can continually load new values into the aw[ ] array as the values get
used - be sure you load the new values into aw[ ] array elements only after they
have been used. The actual cam target positions can be increased by 2x, 4x or
8x with the MC2, MC4 or MC8 statements.
In other words, suppose aw[20]=100. If you use MC2, the effective value will be
200, with MC4, it will be 400, and with MC8 it will be 800.
So MC2, MC4 or MC8 change the amplitude by a factor of 2X, 4X, or 8X
respectively.
The Cam Mode, like any other position mode, is subject to the error band defined
by the E value, and subject to limit switch inputs. While in motion during Cam
Mode, flag Bo will be 0, flag Bt will be 1 and flag Be will be 0.
Note: PLS version Firmware allow the ability to run a relative CAM mode vice
Absolute. Please consult the Firmware addendum documents for more detail.
159
MC2
Mode CAM 2X Multiplier
Related Command:
APPLICATION:
Motion mode control
BASE
DESCRIPTION:
Request MODE CAM with x2 multiplier
CTR
EXECUTION:
Buffered pending a G
G
CONDITIONAL TO: BASE=expression and SIZE=expression
MC
LIMITATIONS:
Requires external encoder signal source
MC4
REPORT COMMAND:
RMODE
MC8
READ/WRITE:
N/A
MF1
LANGUAGE ACCESS:
N/A
MF2
UNITS:
N/A
MF4
RANGE OF VALUES:
N/A
MS
TYPICAL VALUES: N/A
SIZE
DEFAULT MODE:
MP
FIRMWARE VERSIONS:
Version 4.10 and higher
DETAILED DESCRIPTION: Same as mode MC in all regards with exception that all
data points int he CAM table are multiplied by 2.
Suppose the following CAM table:
aw[0] 0 10 20 30 40 50 40 30 20 10 0.
The CAM motor would normally move through points 0, 10, 20, 30, etc....
But if MC is replaced with MC2, the CAM motor would instead mover though points
0, 20, 40, 60, 80, 100, 80, 60, 40, 20, and back to zero.
See the MC command for full details on CAM mode.
160
MC4
Mode CAM 4X Multiplier
Related Command:
APPLICATION:
Motion mode control
BASE
DESCRIPTION:
Request MODE CAM with x4 multiplier
CTR
EXECUTION:
Buffered pending a G
G
CONDITIONAL TO: BASE=expression and SIZE=expression
MC
LIMITATIONS:
Requires external encoder signal source
MC2
REPORT COMMAND:
RMODE
MC8
READ/WRITE:
N/A
MF1
LANGUAGE ACCESS:
N/A
MF2
UNITS:
N/A
MF4
RANGE OF VALUES:
N/A
MS
TYPICAL VALUES: N/A
SIZE
DEFAULT MODE:
MP
FIRMWARE VERSIONS:
Version 4.10 and higher
DETAILED DESCRIPTION: Same as mode MC in all regards with exception that all
data points in the CAM table are multiplied by 2.
Suppose the following CAM table:
aw[0] 0 10 20 30 40 50 40 30 20 10 0.
The CAM motor would normally move through points 0, 10, 20, 30, etc....
But if MC is replaced with MC4, the CAM motor would instead mover though points
0, 40, 80, 160, 340, 680, 340, 160, 80, 40, and back to zero.
See the MC command for full details on CAM mode.
161
MC8
Mode CAM 8X Multiplier
Related Command:
APPLICATION:
Motion mode control
BASE
DESCRIPTION:
Request MODE CAM with x8 multiplier
CTR
EXECUTION:
Buffered pending a G
G
CONDITIONAL TO: BASE=expression and SIZE=expression
MC
LIMITATIONS:
Requires external encoder signal source
MC2
REPORT COMMAND:
RMODE
MC4
READ/WRITE:
N/A
MF1
LANGUAGE ACCESS:
N/A
MF2
UNITS:
N/A
MF4
RANGE OF VALUES:
N/A
MS
TYPICAL VALUES: N/A
SIZE
DEFAULT MODE:
MP
FIRMWARE VERSIONS:
Version 4.10 and higher
DETAILED DESCRIPTION: Same as mode MC in all regards with exception that all
data points in the CAM table are multiplied by 8.
Suppose the following CAM table:
aw[0] 0 10 20 30 40 50 40 30 20 10 0.
The CAM motor would normally move through points 0, 10, 20, 30, etc....
But if MC is replaced with MC8, the CAM motor would instead mover though points
0, 80, 160, 240, 320, 400, 320, 240, 160, 80, and back to zero.
See the MC command for full details on CAM mode.
162
MD50
Enable Direct Analog-Input Drive-Mode
Related Command:
N/A
APPLICATION:
Motion mode control
DESCRIPTION:
Request MODE ANALOG AMPLIFIER
EXECUTION: Immediate
CONDITIONAL TO: Analog signal input available
LIMITATIONS:
N/A
REPORT COMMAND:
RMODE
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES: N/A
DEFAULT MODE:
MP
FIRMWARE VERSIONS:
4.15 and 4.40 series only DETAILED DESCRIPTION:
MD50 converts the SmartMotor™ into a simple analog amplifier with motor. It accepts
a 0 to 5V analog signal from I/O Port A pin with a 10-Bit A/D resolution. It is center
weighted such that 2.5VDC gives zero PWM, 5VDC gives full positive PWM and 0VDC
gives full negative PWM. Since Port A has a 5K pull-up resistor, if MD50 is initiated
with no connection to Port A, the motor will immediately be commanded to full positive
PWM.
In operation, MD50 is similar to Mode Torque - there is no trajectory calculation,
so there is no position error associated with the resultant motion. Flags Bo, Bt and Be
will all be zero. Motion is not affected by the E value. A motor in MD50 mode responds
to RMODE with W. MD50 motion is conditional to limit switch input activity, (see LIMD
, LIMN, LIMH and LIML), and MD50 can be terminated with OFF, S, and X.
MD50, like MT, is immediate, and if the signal input at PIN A is a logical high or low,
then full output will be requested instantly. If you assign Port A as an output, then set
Port A to logic 1 or zero via UA=1 or UA=0 respectively, the motor will be commanded
to full PWM in either positive or negative direction respectively.
MD50 performs an analog read on the I/O A pin signal every PID sample. A to D
conversions are one of the most lengthy processes, so you may wish to use the
PID2 command if you are also running a user program that takes additional analog
readings.
MD50 is closely tied to MT. When invoked, any prior value in the "T" parameter gets
over written. To change from MD50 to MT, be sure to first issue OFF and then T=value
before issuing the MT command.
163
MF0
Enable Quadrature-Input Counter Mode
Related Command:
APPLICATION:
External encoder control
RCTR
DESCRIPTION:
Reset external encoder to zero
CTR
EXECUTION:
Immediate
MF1
CONDITIONAL TO:
External encoder inputs available
MF2
LIMITATIONS:
MF4
REPORT COMMAND:
RCTR
READ/WRITE:
References read only external encoder CTR
N/A
LANGUAGE ACCESS: N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
Resets CTR to zero
FIRMWARE VERSIONS: All except 4.40 series
DETAILED DESCRIPTION:
The command MF0 allows the user to zero the second encoder register (see the CTR
command) without changing the present motion mode of the SmartMotor™.
Following MF0, a secondary encoder signal, whether coming from an external source
through the I/O A and B pins, will be continuously tracked and made available in
the form of the CTR function; no gearing relationship is active, unless you write one
yourself.
If the Mode Follow with Ratio (MFR) or the CAM Mode does not meet your requirement you can write your own loop and define a unique relationship between the
incoming secondary encoder signal and the motor’s position.
In addition, it may be that you do not want there to be any such relationship to motion.
A common use of MF0 is to take input from a quadrature output selector switch,
especially in the context of a user interface, often including an LCD readout like the
Animatics LCD2X20 and LCD4X20.
If the you are running in MF, MFR, MC or other encoder follow modes, be careful
issuing MF0 as the value of CTR is immediately zeroed. The SmartMotor will interpret
this to be a sudden change in the master encoder input from its prior value to 0.
Continued on next page
164
MF0 (continued)
Related
Command:
RCTR
CTR
MF1
MF2
MF4
Enable Quadrature-Input Counter Mode
EXAMPLE: (This example will print to the main channel)
b=4
'b high for initial print
C1
'Switch watch routine
a=CTR&3
'a will recycle 0-3
IF a!=b
'See if new a
PRINT("SELECT: ",a,#13)
b=a
'Update b, no re-prnt.
ENDIF
IF UGI==0
'Look for button
GOSUB20
'Sub. to use a
ENDIF
GOTO1
'Infinite loop
165
MF1
Enable Mode-Follow, Raw Resolution
APPLICATION:
Motion mode control
CTR
DESCRIPTION:
motion
Mode Follow 4 external counts per 1 count of shaft
MC
EXECUTION:
Immediate
MC2
CONDITIONAL TO:
External encoder inputs present
MC4
LIMITATIONS:
Do not issue MF0 while in mode MF1
MC8
REPORT COMMAND:
RMODE
MF0
READ/WRITE:
Associated external encoder is read only
MF2
LANGUAGE ACCESS:
N/A
MF4
UNITS:
N/A
MS
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT MODE:
MP
Related
Command:
FIRMWARE VERSIONS: All except 4.40 series
DETAILED DESCRIPTION:
MF1 causes the SmartMotor™ to instantly and precisely follow a second, external,
encoder signal from input pins A and B, resetting the external encoder CTR value
to zero. For each 4 external encoder counts (in the same direction) received by the
SmartMotor, the motor shaft will be requested to follow, moving 1 internal encoder
count in the same direction. Velocity and acceleration feed-forward gains are not
computed during this mode. Issuing any other mode such as MT or MP followed by
G will take the SmartMotor™ out of this following behavior.
For other ratios
and fractional
relationships see
Mode Follow with
Ratio (MFR)
MF1 instantly turns on the servo and resets any position error. The servo off flag Bo
is set to 0, the trajectory flag Bt is set to 1, and the position error flag Be is reset to 0.
The motion is restricted by the present E value. Issuing E=0 will immediately cause
a position error after 4 encoder counts, in the same direction, are received from the
external encoder. The motion is also subject to the currently defined activity of the
limit switches.
Example:
MF1 'Reset CTR and Set follow mode
RMODE
'RESPONSE is "F"
WAIT=100000 'Follow for a while
MP 'Revert to position mode
P=0 'Set destination for home
A=100
'Set acceleration
V=537*1000
'Set velocity
G 'Terminate following start position move
RMODE
'RESPONSE is "P"
166
MF2
Enable Mode-Follow Half-Quadrature
Related Command:
APPLICATION:
Motion mode control
CTR
DESCRIPTION:
shaft motion
Mode Follow 2 external counts per 1 count of EXECUTION:
Immediate
CONDITIONAL TO:
External encoder inputs present
LIMITATIONS:
Do not issue MF0 while in mode MF2
REPORT COMMAND:
RMODE
READ/WRITE:
Associated external encoder is read only
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT MODE:
MP
FIRMWARE VERSIONS:
All except 4.40 series
MC
MC2
MC4
MC8
MF0
MF1
MF4
MS
DETAILED DESCRIPTION:
MF2 causes the SmartMotor™ to instantly and precisely follow a second, external,
encoder signal from input pins A and B, resetting the external encoder CTR value
to zero. For each 4 external encoder counts (in the same direction) received by the
SmartMotor, the motor shaft will be requested to follow, moving 1 internal encoder
count in the same direction. Velocity and acceleration feed-forward gains are not
computed during this mode. Issuing any other mode such as MT or MP followed by G
will take the SmartMotor™ out of this following behavior.
For other ratios
and fractional
relationships see
Mode Follow with
Ratio (MFR)
MF2 instantly turns on the servo and resets any position error. The servo off flag Bo
is set to 0, the trajectory flag Bt is set to 1, and the position error flag Be is reset to
0. The motion is restricted by the present E value. Issuing E=0 will immediately cause
a position error after 4 encoder counts, in the same direction, are received from the
external encoder. The motion is also subject to the currently defined activity of the
limit switches
Example:
MF2 'Reset CTR and Set follow mode
RMODE
'RESPONSE is "F"
WAIT=100000 'Follow for a while
MP 'Revert to position mode
P=0 'Set destination for home
G 'Terminate following start position move
RMODE
'RESPONSE is "P"
167
MF4
Enable Mode Follow Full Quadrature
Related Command:
APPLICATION:
Motion mode control
CTR
DESCRIPTION:
motion.
Mode Follow 1 external counts per 1 count of shaft EXECUTION:
Immediate
CONDITIONAL TO:
External encoder inputs present
LIMITATIONS:
Do not issue MF0 while in mode MF4
REPORT COMMAND:
RMODE
READ/WRITE:
Associated external encoder is read only
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT MODE:
MP
FIRMWARE VERSIONS:
All except 4.40 series
MC
MC2
MC4
MC8
MF0
MF1
MF2
MS
DETAILED DESCRIPTION:
MF4 causes the SmartMotor™ to instantly and precisely follow a second, external,
encoder signal from input pins A and B, resetting the external encoder CTR value
to zero. For each 4 external encoder counts (in the same direction) received by the
SmartMotor, the motor shaft will be requested to follow, moving 1 internal encoder
count in the same direction. Velocity and acceleration feed-forward gains are not
computed during this mode. Issuing any other mode such as MT or MP followed by G
will take the SmartMotor™ out of this following behavior.
MF4 instantly turns on the servo and resets any position error. The servo off flag Bo
is set to 0, the trajectory flag Bt is set to 1, and the position error flag Be is reset to
0. The motion is restricted by the present E value. Issuing E=0 will immediately cause
a position error after 4 encoder counts, in the same direction, are received from the
external encoder. The motion is also subject to the currently defined activity of the
limit switches.
Example:
MF4 'Reset CTR and Set follow mode
RMODE
'RESPONSE is "F"
WAIT=100000 'Follow for a while
MP 'Revert to position mode
A=100
'Set acceleration
V=537*1000
'Set velocity
P=0 'Set destination for home
G 'Terminate following start position move
RMODE
'RESPONSE is "P"
168
MFDIV
Set Mode-Follow Divisor
Related Command:
APPLICATION:
Mode follow control
Bd
DESCRIPTION:
Mode follow external encoder with ratio
MFMUL/MFDIV
EXECUTION:
Buffered pending a G
CONDITIONAL TO:
D, MFMUL, MF1, MF2, MF4, V
MF1
LIMITATIONS:
than 256
Magnitude of ratio MFMUL/MFDIV must be less MF2
REPORT COMMAND:
N/A
MF4
READ/WRITE:
Write only
MFR
LANGUAGE ACCESS:
Assignment, expressions and conditional testing
UNITS:
Number
RANGE OF VALUES:
-32768 to 332767
TYPICAL VALUES:
-5 < (MFMUL/MFDIV) < 5
DEFAULT VALUE:
N/A
CTR
D
G
MFMUL
V
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
The ratio MFMUL/MFDIV specifies the gain for Mode Follow with Ratio (MRF). To
use MFR, you will need to define the specific relationship (ratio) of the encoder count
input to outgoing requested encoder counts of motion. The command MFR must
be issued after both MFMUL and MFDIV have been set. Both MFMUL and MFDIV
may positive or negative; use this fact to control the direction of shaft motion. Overly
large ratio gains are flagged by the firmware setting the system flag Bd, and may be
unstable. The error flag Bd will be set by MFR if the magnitude of MFMUL/MFDIV is
256 or greater. MFR does NOT reset Bd if already set by a prior procedure.
Example:
Zd
MF0 MFDIV=-10 MFMUL=21 MFR D=0 IF Bd GOTO12
ENDIF
G D=500 V=5000 G END
C12
S
END
'reset Bd system flag
'reset CTR
'Denominator = -10
'Numerator = 21
'Calculate Ratio, input 21 external counts
'resulting motion -10 counts
'No phase shift
'gain too large
'Start Following
'Implementing Phase Adjust:
'Set Relative Distance
'Set Relative Velocity
'Start Phase Adjust
'Stop Motion
169
MFMUL
Set Mode-Follow Multiplier
Related Command:
APPLICATION:
Mode follow control
Bd
DESCRIPTION:
Mode follow external encoder with ratio
MFMUL/MFDIV
EXECUTION:
Buffered pending a G
CONDITIONAL TO:
D, MFMUL, MF1, MF2, MF4, V
MF1
LIMITATIONS:
than 256
Magnitude of ratio MFMUL/MFDIV must be less MF2
REPORT COMMAND:
N/A
MF4
READ/WRITE:
Write only
LANGUAGE ACCESS:
Assignment, expressions and conditional testing
UNITS:
Number
RANGE OF VALUES:
-32768 to 332767
TYPICAL VALUES:
-5 < (MFMUL/MFDIV) < 5
DEFAULT VALUE:
N/A
CTR
D
G
MFDIV
MFR
V
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
The ratio MFMUL/MFDIV specifies the gain for Mode Follow with Ratio (MRF). To
use MFR, you will need to define the specific relationship (ratio) of the encoder count
input to outgoing requested encoder counts of motion. The command MFR must
be issued after both MFMUL and MFDIV have been set. Both MFMUL and MFDIV
may positive or negative; use this fact to control the direction of shaft motion. Overly
large ratio gains are flagged by the firmware setting the system flag Bd, and may be
unstable. The error flag Bd will be set by MFR if the magnitude of MFMUL/MFDIV is
256 or greater. MFR does NOT reset Bd if already set by a prior procedure.
Example:
Zd
'reset Bd system flag
MF0 'reset CTR
MFDIV=-10 'Denominator = -10
MFMUL=21 'Numerator = 21
MFR 'Calculate Ratio, input 21 external counts
'resulting motion -10 counts
D=0 'No phase shift
IF Bd GOTO12
ENDIF
'gain too large
G 'Start Following
'Implementing Phase Adjust:
D=500 'Set Relative Distance
V=5000 'Set Relative Velocity
G 'Start Phase Adjust
END
C12
S
END
170
MFR
Calculate/Enable Mode-Follow-Ratio
APPLICATION:
Motion mode control
DESCRIPTION:
Request MODE FOLLOW WITH RATIO
EXECUTION:
Buffered pending a G
CONDITIONAL TO:
Ratio MFMUL/MFDIV, D, and V
MF1
LIMITATIONS:
256
Magnitude of ratio MFMUL/MFDIV must be less than
MF2
REPORT COMMAND:
Ratio Cannot be reported
MF4
READ/WRITE:
N/A
Related
Command:
CTR
D
G
MFDIV
LANGUAGE ACCESS: N/A
MFMUL
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
-5 < MFMUL/MFDIV < 5 (non-reportable)
DEFAULT MODE:
MP
V
FIRMWARE VERSIONS:4.00 and higher
DETAILED DESCRIPTION:
The command MFR is used to implement a fractional relationship between an
incoming secondary encoder signal and the SmartMotor™ internal shaft position, represented by the primary internal encoder count. The fractional relationship is defined the user set ratio of MFMUL to MFDIV.
To use MFR, you will need to define the specific desired relationship (ratio) of
the external encoder input to shaft position, represented by the primary internal
encoder count. The command MFR must be issued after both MFMUL and
MFMUL have been specified. Both MFMUL and MFDIV may positive or negative; use this fact to control the resulting direction of shaft motion. Overly large
ratio gains are flagged by the firmware setting the system flag Bd, and may
be unstable. The error flag Bd will be set by MFR if the magnitude of MFMUL/
MFDIV is 256 or greater. MFR does NOT reset Bd if already set by a prior procedure.
MFR followed by G will immediately turn on the servo and reset any position
error. The servo off flag Bo is set to 0, the trajectory flag Bt is set to 1, and
the position error flag Be is reset to 0. The motion is restricted by the present
E value. Issuing E=0 would immediately cause a position error upon a single
count of output motion being requested. The motion is also subject to the currently defined activity of the limit switches.
The fractional ratio is accurate to 23 binary places, this means that if the external encoder displacement during the motion exceeds 256*256*64 or 4,000,000
counts the G command should be reissued. Within this limitation, the calculated
requested trajectory position is to within one count of mathematical precision.
171
MFR (continued)
Calculate/Enable Mode-Follow-Ratio
Related
Command:
CTR
D
G
Phase Offset Adjust:
In some applications, it may be necessary to introduce a phase shift to achieve
proper alignment during MFR following.
To perform this shift, parameters D and V are employed to superimpose the
corrective phase. During a phase shift RD will report the remaining phase difference.
MF1
MF2
MF4
MFDIV
MFMUL
V
Example:
Zd
MF0 MFDIV=-10 MFMUL=21 MFR D=0 IF Bd GOTO12
ENDIF
G D=500 V=5000 G RMODE
END
C12
S
END
'reset Bd system flag
'reset CTR
'Denominator = -10
'Numerator = 21
'Calculate Ratio
'input 21 external counts
'resulting motion -10 counts
'No phase shift
'gain too large
'Start Following
'Implementing Phase Adjust:
'Set Relative Distance
'Set Relative Velocity
'Start Phase Adjust
'Response is "X"
'Stop Motion
172
MP
Enable Position-Mode
APPLICATION:
Motion mode control
DESCRIPTION:
Request MODE POSITION
A
EXECUTION:
Buffered pending a G
D
CONDITIONAL TO:
A, D, E, G, P,V, PID loop
E
LIMITATIONS:
Motor power sufficient to deliver acceleration A
and velocity V
REPORT COMMAND:
RMODE
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT MODE:
Default motion mode at power up
Related
Command:
G
MV
P
V
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The position mode is the default mode of the motor. If you ever change modes, you can
return to position mode by issuing the MP command. The mode request is buffered
until a G command is issued.
For a standard
position mode
move, the
SmartMotor™
requires, at a
minimum,
a Position,
Velocity and an
Acceleration.
For a standard position mode move, the SmartMotor™ requires, at a minimum,
a position, non-zero trajectory velocity V and an non-zero positive acceleration A.
Position mode calculates the trajectory to the target position at the time the G command
is issued. The preceding P=expression or D=expression determines if the move is
to be absolute (destination target set equal to buffered P value) or relative (destination
target set equal to current trajectory position plus the buffered D offset value). The G
command may be issued at any time and may be repeated, particularly in the case of
relative modes with D=offset.
MP followed by G will immediately turn on the servo and reset any position error.
The servo off flag Bo is set to 0, the trajectory flag Bt is set to 1, and the position
error flag Be is reset to 0. The motion is restricted by the present E value. Issuing
E=0 would immediately cause a position error upon a single count of output motion
being required. The motion is also subject to the currently defined activity of the limit
switches. RMODE will respond with a "P".
The SmartMotor performs trapezoidal and triangular velocity profiles by default, but
because position, velocity and acceleration are all changeable "on the fly" (during a
move), more elaborate profiles can be implemented through programming.
Continued on next page:
173
MP (continued)
Enable Position-Mode
Related
Command:
D
Due to integer math truncation, A is effectively rounded down to the next even number.
A value of 1 or 0, therefore, produce a net acceleration of ZERO. In these instances,
requests to change the current velocity produce no change in velocity until A>=2 is
requested and a new G command issued.
E
Example:
A
G
MV
P
V
MV A=1000
V=50000
G
WAIT=6000
MP
A=50 V=40000
P=1000
G
WAIT=200
V=45000
P=0
G
'Velocity Mode
'Set Acceleration
'Set Velocity
'Start Motion
'Wait 6000 samples
'Position Mode
'Set Acceleration
'Set Velocity
'Set Position
'Start (change) Motion
'Wait 200 samples
'Change Velocity
'Update Position
'Start Motion
174
MS
Enable Mode-Step
Related Command:
APPLICATION:
Motion mode control
CTR
DESCRIPTION:
Request MODE STEP AND DIRECTION
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
MFDIV
LIMITATIONS:
Step and direction input available
MFMUL
REPORT COMMAND:
RMODE
READ/WRITE:
only
Associated step and direction counter CTR is read LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
MS resets CTR to zero
RCTR
RMODE
MSR
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
Opto-isolaton
modules are
suggested when
using Step and
Direction to assure
reliable operation.
The MS command enables mode step and direction. In the step and direction mode
the SmartMotor™ emulates a 2,000 or 4000, depending on model, step per revolution stepping motor and driver package, where I/O pins "A" and "B" are used to
receive the step and direction inputs, respectively. In Step and Direction mode the
SmartMotor is still operating in a closed loop fashion with the PID loop executing the
servo functions, so tuning is still important.
The MS command is immediate and concurrently resets the external encoder CTR
value to zero. For each external step pulse received by the SmartMotor, the motor
will be requested to move one internal encoder count in the same direction as the
direction input. For other ratios and fractional relationships see Mode Follow with
Ratio (MSR). Velocity and acceleration parameters have no meaning in this mode.
Issuing any other mode such as MT or MP, followed by G, will take the SmartMotor
out of this following behavior.
Under MS, a logic level high on the DIRECTION input causes motion in the positive direction. That is, the shaft will move such that the internal encoder value will
increase. The STEP input is enabled on the rising edge of the I/O A input signal and
active while the signal is high. The actually motion of the step occurs on the signal
falling edge. In accordance with standard rules, do not change the DIRECTION
signal while the STEP signal is active (logic high). If you do, you can cause that step
move to go the wrong direction.
175
MS (continued)
Enable Mode-Step
Related
Command:
CTR
RCTR
RMODE
MFDIV
MFMUL
MSR
MS will immediately turn on the servo and reset any position error. The servo off Bo
is set to 0, the trajectory flag Bt is set to 1, and the position error flag Be is reset to 0.
The motion is restricted by the present E value. Issuing E=0 would immediately cause
a position error upon any encoder pulse being received from the external encoder.
The motion is also subject to the currently defined activity of the limit switches.
As with most stepping systems, opto-isolation modules are suggested when using
Step and Direction to assure robust operation.
Example 1: Immediate Mode Step, 1:1
MS 'Reset CTR and step and direction mode
'Motor will immediately start following pulses at 1:1
RMODE
'RESPONSE is "S"
WAIT=100000 'Follow for a while
MP 'Revert to position mode
P=0 'Set destination for home
A=100
'Set acceleration
V=50000
'Set velocity
G 'Terminate following start position move
RMODE
'RESPONSE is "P"
Example 2: Buffered Mode Step with ratio of 1:10
MS0 'Reset CTR to Zero, no motion will result
'This also sets up Port A and B
'for step and direction input mode
RMODE
'RESPONSE will be from previous mode!
MFMUL=10 'Multiply incoming pulses by 10
MFDIV=100 'Divide incoming pulses by 100
MSR 'Calculate Mode Step Ratio
G 'motor will now begin following a 1:10
RMODE
'RESPONSE is "X"
176
MS0
Enable Step/Direction Counter Mode
Related Command:
APPLICATION:
Counter mode control
CTR
DESCRIPTION:
Request step and direction counter mode
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
Step and direction input available
MFMUL
REPORT COMMAND:
RCTR
MFDIV
READ/WRITE:
step and direction counter CTR is read only
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
MS0 resets CTR to zero
RCTR
MS
MSR
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The command MS0 (Mode Step Zero) allows the user to zero the second encoder
register (CTR) without changing the mode status of the SmartMotor™. Following
MS0, incoming step and direction signals, using I/O pins A and B, will be fully decoded
and presented in the form of the CTR variable; no gearing relationship is active,
unless you write one yourself.
If the you are running in MS MF, MSR, MFR, MC or other encoder follow modes, be
careful issuing MS0 as the value of CTR is immediately zeroed. The SmartMotor will
interpret this to be a sudden change in the master encoder input from its prior value
to 0.
As with most stepping systems, opto-isolation modules are suggested when using
Step and Direction to assure robust operation.
Example:
MS0
'reset CTR to zero
'CTR value follows step and direction inputs
Example:
It may
be useful to monitor the quantity or frequency of incoming pulses.
a=CTR 'Read CTR at start
WAIT=4069 'Wait one second
a=CTR-a
'Read the difference
PRINT("Rate=",a," Pulses/Sec")
177
MSR
Calculate/Enable Mode-Step-Ratio
APPLICATION:
Motion mode control
DESCRIPTION:
Request MODE STEP WITH EXECUTION:
Buffered pending a G
CONDITIONAL TO:
Ratio MFMUL/MFDIV, D, and V
LIMITATIONS:
Magnitude of ratio MFMUL/MFDIV must be less than 256
REPORT COMMAND:
RMODE
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
MFDIV
UNITS:
N/A
MFMUL
RANGE OF VALUES:
N/A
TYPICAL VALUES:
-5 < MFMUL/MFDIV < 5
DEFAULT MODE:
MP
Related
Command:
Bd
CTR
D
G
MF1
MF2
MF4
V
RATIO
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
MSR is used to implement a fractional relationship between an incoming secondary
encoder signal and the SmartMotor™ internal shaft position, represented by the primary internal encoder count. The fractional relationship is defined the user set ratio
of MFMUL to MFDIV.
To use MSR, you will need to define the specific relationship (ratio) of the external
encoder input to shaft position, represented by the primary internal encoder count.
The command MSR must be issued after both MFMUL and MFDIV have been specified. Both MFMUL and MFDIV may be positive or negative; use this fact to control the
resulting direction of shaft motion. Overly large ratio gains are flagged by the firmware
setting the system flag Bd, and may be unstable. The error flag Bd will be set by
MFR if the magnitude of MFMUL/MFDIV is 256 or greater. MFR does NOT reset Bd
if already set by a prior procedure.
MSR followed by G will immediately turn on the servo and reset any position error.
The servo off Bo is set to 0, the trajectory flag Bt is set to 1, and the position error
flag Be is reset to 0. The motion is restricted by the present E value. Issuing E=0
would immediately cause a position error upon a single count of output motion
being required. The motion is also subject to the currently defined activity of the limit
switches.
The fractional ratio is accurate to 23 binary places, this means that if the external
encoder displacement during the motion exceeds 256*256*64 or 4,000,000 counts
the G command should be reissued. Within this limitation, the calculated requested
trajectory position is to within one count of mathematical precision.
In some applications, it may be necessary to introduce a phase shift to achieve proper
178
MSR (continued)
Calculate/Enable Mode-Step-Ratio
Related
Command:
Bd
CTR
D
G
MF1
MF2
MF4
MFDIV
MFMUL
V
alignment during MFR following. To perform this shift, parameters D and V are
employed to superimpose the corrective phase. During a phase shift RD will
report the remaining phase difference.
As with most stepping systems, opto-isolation modules are suggested when
using Step and Direction to assure robust operation.
Example:
Zd
MFDIV=-10 MFMUL=21 MSR D=0 IF Bd GOTO5 ENDIF
G
Implementing Phase Adjust:
D=500 V=5000 G RMODE C5
END
'reset Bd system flag
'Numerator = 21
'Numerator = 21
'Calculate Ratio
'input 21 external counts
'resulting motion -10 counts
'No phase shift
'gain too large
'Start Following
'Set Relative Distance
'Set Relative Velocity
'Start Phase Adjust
'RESPONSE is "X"
179
MT
Enable Torque-Mode
Related Command:
APPLICATION:
Motion mode control
T=exp
DESCRIPTION:
Request MODE TORQUE
EXECUTION:
Immediate
CONDITIONAL TO:
-1023 < T < 1023
LIMITATIONS:
None
REPORT COMMAND:
RMODE, RT
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT MODE:
MP
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
MT enables torque mode. In this mode, the motor is commanded to develop a specific power level, set by T=expression. T is in units of tenths of percent of the full
capacity of the subject motor.
T=1023 results 100% PWM full torque in the positive direction.
T=-1023 results 100% PWM full torque in the negative direction.
The encoder still tracks position and can still be read with the @P variable, but the
PID loop is off and the motor is not servoing or running a trajectory.
For any given torque and no applied load, there will be a velocity at which the back
EMF of the motor will cause the acceleration to stop and the velocity to hold more
or less constant. Under the no load condition, therefore, the T command will control
velocity. As the delivered torque increases, the velocity decreases.
Note that this means that MT does not regulate torque. Instead, it delivers a fixed
amount of power to the motor coils. As motor power is the product of torque and
RPM, velocity decreases as the delivered torque increases and vice versa.
MT will immediately turn on the servo and reset any position error. The servo off flag
Bo is set to 0, the trajectory flag Bt is reset to 0, and the position error flag Be is reset
to 0. The motion is not restricted by the present E value. Issuing E=0 would have no
effect upon the present motion. The motion is subject to the currently defined activity
of the limit switches.
180
MT (continued)
Related
Command:
T=exp
Enable Torque-Mode
Amplifier mode MD50 effects the internal value of T.
The Reported value of T will not reflect the effect if switching from MD50 to
MT mode. To change from mode MD50 to mode MT, issue the sequence OFF
T=value MT.
Torque Mode Example:
UAI
T=0
MT
C1
a=UAA-512 '2.5V
T=2*a
GOTO1
END
'Set I/O A as Input
'Initialize T=0
'Enter Mode Torque
'Loop Forever
= 0 Torque
'UAA will range from 0 to 1023 over
'an input voltage of 0 to 5VDC
The above example will track an incoming analog signal from 0 to 5 Volts
UAA= 0 to 1023
Note: Do not attempt to regulate speed with Torque Mode. It is not designed
for that and will give poor results. In like manner, it is difficult at best to attempt
to place a speed limit on Torque mode. If the load decreases, the motor shaft
speed will increase to a new equilibrium with th lighter load because Power
must remain the same.
181
MTB
Enable Mode Torque Brake
Related Command:
APPLICATION:
Motion mode control
CTR
DESCRIPTION:
Dynamically brakes the motor
D
EXECUTION:
Immediate
G
CONDITIONAL TO:
N/A
MF1
LIMITATIONS:
N/A
MF2
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT MODE:
N/A
MF4
MFDIV
MFMUL
MT
T
V
FIRMWARE VERSIONS: >=4.76
DETAILED DESCRIPTION:
MTB places the SmartMotor™ into dynamic brake mode. In this mode, the motor
coils are shorted together. Any motion of the shaft would normally produce Back EMF
somewhat proportional to speed. Bt having the windings shorted out causes this Back
EMF to be dissipated immediately. he result is a magnetic damping counter force to
any attempted motion of the shaft for an external source.
IF MTB is issued while moving at a given speed, the shaft will come to a gradual stop
at a rate proportional to the Back-EMF that was being generated at the time of issuing the MTB command. The shaft doesn’t stop at any predetermined or commanded
position and its trajectory is uncontrolled.
While in MTB, the motor will not produce any external DC bus voltage rise if the shaft
is rotated because all windings are shorted back to themselves. As a result, the DC
bus is protected against bus over voltage to within the drive stage current limits.
MTB is the default mode of operation for all motors with >=4.765 firmware. MTB is
automatically issued any time the motor faults on over temp, position errors or travel
limit crash.
The only mean to prevent this automatic action is to issue BRKRLS and OFF in that
sequence,.
To Re-enable the automatic MTB function, issue BRKSRV (brake Servo)
182
MV
Enable Velocity-Mode
Related
Command:
A
D
E
G
MV
P
V
PID loop
APPLICATION:
Motion mode control
DESCRIPTION:
Request MODE VELOCITY
EXECUTION:
Buffered pending a G
CONDITIONAL TO:
A, D, E, G, P, V, PID loop
LIMITATIONS:
Motor power sufficient to deliver Acceleration, A, and Velocity, V
REPORT COMMAND:
RMODE
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT MODE:
MP
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The MV command enables velocity mode. In velocity mode, the value of V, the target velocity, can be negative or positive. In contrast, position mode only uses the
magnitude of the velocity parameter. Acceleration and velocity can be changed at
any time, even during motion. The G command will initiate "on the fly" changes to
any of the parameters.
If the actual velocity is greater that the value defined by V, then, upon reception of
the next G command, the motor shaft will decelerate at the rate set by A until the
excess velocity is removed. Conversely, if the actual velocity is less than V when
the G command is entered, then the motor shaft motion will accelerate at the rate
set by A until the requested velocity is attained. Similarly, if the actual velocity is in
the opposite direction of V when the G command is entered, then the motor shaft
motion will decelerate and then accelerate at the rate set by A until the requested
velocity is attained.
Once the commanded velocity V is attained, motion continues at this rate, i.e. uniform velocity, indefinitely until the commanded velocity is changed or the mode is
otherwise terminated. The encoder may wrap around during this mode, but no position error will be declared during the wrap.
In all firmware pror to 4.76, MV followed by G will immediately turn on the servo and
reset any position error. The servo off Bo is set to 0, the trajectory flag Bt is set to
1, and the position error flag Be is reset to 0. The motion is restricted by the present
183
MV (continued)
Enable Velocity-Mode
Related
Command:
A
D
E
G
MV
P
V
PID loop
E value. Issuing E=0 would immediately cause a position error upon a single
count of output motion being required The motion is subject to the currently
defined activity of the limit switches. RMODE will respond with a V.
In firmware ==4.76 if ay prior errors exist, Zs r th appropriate command must
be used to clear the associated error status bit flag.
Due to arcane digital math, A is effectively rounded down to the next even
number. A values of 1 and 0 therefor produce a net acceleration of zero. In
these instances, requests to change the current velocity produce no change in
velocity until A>=2 is requested and a new G command issued.
Example:
MV
'buffer velocity mode request
A=2
'set the minimum possible buffered acceleration
V=44444
'set buffered velocity
G
'apply buffered motion parameter and mode
WAIT=V
'do not use TWAIT since move is forever
RMODE
'response is "V"
V=-V
'prepare to reverse velocity direction
A=2*A
'with double the present acceleration
G
'reverse direction
V=V/4
'prepare to slow to one quarter
'of original velocity
WAIT=V*V
'this is a valid expression
G
'slow to one quarter original velocity
WAIT=4096*10
'Wait 10 seconds
'(4069 servo samples = 1 second)
X
'decelerate to stop at acceleration set by "A"
END
184
O=expression
Set Main Position Counter
Related
Command:
RP
MS0
MF0
APPLICATION:
Reset SmartMotor’s™ encoder origin
DESCRIPTION:
Request SmartMotor’s encoder origin change
EXECUTION:
Immediate
CONDITIONAL TO:
Present encoder count
LIMITATIONS:
SmartMotor’s axis must be at rest
REPORT COMMAND:
RP
READ/WRITE:
Write only
LANGUAGE ACCESS:
Assignment
UNITS:
Encoder counts
RANGE OF VALUES:
-2147483648 to 2147483647
TYPICAL VALUES:
-2147483648 to 2147483647
DEFAULT VALUE:
0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The O=expression allows the current position to be set to any value desired. You may declare the current position to be zero by entering O=0 (the letter "O" the number zero). Similarly, you may declare the current position to
be 1234 by entering O=1234. Using the O=expression does not modify previously
entered P and D registers.
The O=expression avoids position drift and accumulated error by changing the
SmartMotor’s commanded position for the sample in which the command is executed,
regardless of the real time position error and whether or not the shaft is moving. This
command is useful in homing routines to set an origin or "home" position.
In firmware versions 4.12, 4.40 and later, The SmartMotor explicitly performs the
O=expression operation before checking for excessive position error.
O=0 is often used to avert a 32 bit roll-over condition.
Continued on next page
185
O=expression (continued)
Set Main Position Counter
Related
Command:
RP
MS0
MF0
Example: (reassigning origin does not destroy P and P buffered values)
A=20
V=100000
P=5000
MP
O=-1000
'present position set to negative 10000
GOSUB5
O=12345
'present position set to 12345
GOSUB5
D=5000
O=3000
'present position set to 3000
GOSUB5
END
C5
PRINT(#13,"Move origin is ",@P)
G
WHILE Bt LOOP
WAIT=4000
PRINT(#13,"Position is ")
RP
RETURN
Program output is:
Move origin is
Position is
Move origin is
-1000’
5000
12345
Position is
5000
Move origin is
3000
Position is
8000
186
OCHN
Open /Set-up Communications Channel
Related Command:
APPLICATION:
Communication control
CCHN
DESCRIPTION:
Open a communications channel
RCHN
EXECUTION:
Immediate
RCHN0
CONDITIONAL TO:
External communication i/o connections
RCHN1
LIMITATIONS:
Hardware capabilities
REPORT COMMAND:
RCHN, RCHN0, RCHN1 report status conditions
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
See detailed description
TYPICAL VALUES:
See detailed description
DEFAULT VALUE:
OCHN (RS2, 0, N, 9600, 1, 8, C)
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
OCHN(TYPE,CHANNEL,PARITY,RATE,STOP BITS,DATA BITS, SPECIFICATION)
opens a serial channel with the following specifications:
TYPE: RS2, RS4, or IIC
CHANNEL:
0 ( for host), 1
PARITY:
O=odd, E=even, N=none, I=ignore
Serial baud RATE:
2400, 4800, 9600, 19200, 38400 bps
AniLink bit RATE:
100 khz, 400 khz
STOP BITS:
1
DATA BITS:
8
Serial SPECIFICATION:
C=cmd, D=data
AniLink SPECIFICATION
M=master, S=slave.
Opening channel 0 as a RS485 port dedicates I/O G to the RS485 control function,
which is required for use with Animatics RS232 to RS485 converters like the RS485
and RS485-ISO. When using one of these adapters, you must ensure that the I/O
G pin is configured as a TTL output with the UGO command before the channel is
opened.
Example:
OCHN(RS2,0,N,9600,1,8,C)
'performed at reset
187
OFF
Turn Off Drive Stage
Related
Command:
G
MD50
MF1
MF2
MF4
MS
MT
MTB
APPLICATION:
Motor control
DESCRIPTION:
Turn servo off
EXECUTION:
Next PID sample update
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMANDS:
RS and RBo
READ/WRITE:
Read only associated status flag, Bo
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
OFF
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
OFF turns the power to the motor coils off and terminates the activity of the current
motion mode. The system flag for Motor Off, Bo, will be set to 1. The shaft will be free
to coast to a stop, or to be rotated by other external means. The response to RMODE
is O for off. The system flag, Bt, for trajectory in progress will be set to zero. The
system position error flag, Be, to zero. The motor will still track any shaft movement
and continue to update the present encoder position.
Note: In all firmware -4.76, the OFF command may result in switching to: MTB (Mode
Torque Brake) depending on settings. If the otor is in default settings, MTB would be
the default "Off-State mode when OFF is issued.
Please see MTB command for more details
188
P=expression
Set Commanded Absolute Position
Related
Command:
@P
@PE
A
APPLICATION:
Trajectory control
DESCRIPTION:
Set trajectory target position
EXECUTION:
Buffered pending a G command
CONDITIONAL TO:
A, E, G, MP, and V
LIMITATIONS:
D
A, V, and E all non zero for real time position to change
E
REPORT COMMAND:
RP
G
READ/WRITE:
Read write
LANGUAGE ACCESS:
Assignment, expressions, and conditional testing
UNITS:
Encoder counts
RANGE OF VALUES:
-2147483648 to 2147483647
TYPICAL VALUES:
-2147483648 to 2147483647
DEFAULT VALUE:
0
MP
V
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
To specify an absolute target position to the SmartMotor’s™ positional origin, set
P=target position, positive or negative, and then follow with a G command.
P=expression sets the target position in Position Mode.
Unless a subsequent D=expression is issued, and as long as the appropriate trajectory parameters A and V, the motor will move to position specified by the last
requested P value when the G command is issued.
The Mode of operation will be Absolute Positon Mode. The RMODE command will
respond with "P"
RP will report the actual position, but if you set a variable equal to P such as "a=P",
that variable will be loaded with the last entered target position rather than the actual
position. If you want to use the actual position in your program then use the @P variable such as a=@P.
Continued on next page:
189
P=expression (continued)
Set Commanded Absolute Position
Related
Command:
@P
@PE
A
D
E
G
MP
V
Example:
MP
P=1000
A=100
V=32212*50
G
TWAIT
P=2000
G
TWAIT
P=-2000
G
TWAIT
P=-1000
G
TWAIT
P=0
G
'Change to position mode (default power-up mode)
'Set buffered position to 1000 encoder counts
'Set acceleration
'Set velocity
'Start Motion
'Wait for move to be performed
'set a new buffered absolute target position
'Set a new (negative) buffered target position.
190
PID#
P.I.D. Tuning Filter Control
Related Command:
APPLICATION:
PID sample rate control
A
DESCRIPTION:
Set PID sample rate to basic rate
V
EXECUTION:
Next PID update
WAIT
CONDITIONAL TO:
N/A
CLK
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
PID Modulo samples
RANGE OF VALUES:
1, 2, 4, and 8 only.
TYPICAL VALUES:
N/A
DEFAULT RATE:
PID1
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
The PID parameter sets the PID sample rate.
Valid values are: PID1, PID2, PID4, and PID8.
PID1 is the default. See the RSP, Report Sample Period, detailed description for
determining the actual default sample rate frequency of your SmartMotor™. The
default rate is close to 4000 samples/second.
Each PID sample period, the motor firmware scans and updates encoder position,
trajectory generator, I/O, serial communications ports, and uses position error to
perform the PID calculation to control the servo drive stage. The user program code, if
any, is executed at any time the microprocessor is not involved in these activities.
The WAIT command is controlled by the system CLK (clock) The PID value
changes the reported values to CLK and the effects of WAIT as well.
Both Velocity and Acceleration are impacted the same way the WAIt command is.
The values of 1, 2 4 and 8 mean the PID filter will react upon and update on position
error to correct dive power every 1 2 4 or 8 PID samples. This does not change how
code is executed but does change how much time is given to that execution. As a
result, a program run at PID8 will typically run faster than a program run at PID1.
However, since the frequency of PID updates to the drive stage are changed and
samples of position error are done at different intervals, PID8 will result in a more
course or abrasive motion than PID1. Special care should be taken when using the
PID command due to this fact. Improper usage could result in very sporadic motion.
The next page show a comparison of the different PID values
191
PID#
(Continued)
P.I.D. Tuning Filter Control
Related
Command:
A
V
WAIT
CLK
Example:
'For a 2000 count encoder SmartMotor™:
'Using three fixed values under each of the PID settings
v=128504
'use to Set commanded Velocity
a=3167
'use to Set commanded Acceleration
w=32552
'use to set Wait time
PID1
WAIT=w
V=v
A=a
'Default PID updates
'Wait time
= 8
'Velocity
= 2400
'Acceleration = 400
PID2
WAIT=w
V=v
A=a
'PID updates
'Wait time
'Velocity
'Acceleration
every 2 servo samples
= 4
seconds
= 1200 RPM
= 200 RPS^2
PID4
WAIT=w
V=v
A=a
'PID updates
'Wait time
'Velocity
'Acceleration
every 4 servo samples
= 2
seconds
= 600 RPM
= 100 RPS^2
PID8
WAIT=w
V=v
A=a
'PID updates
'Wait time
'Velocity
'Acceleration
every 8 servo samples
= 1
second
= 300 RPM
= 50
RPS^2
PID1
WAIT=w
'Return to Default PID
'Wait time
= 8 seconds
'
every servo sample
seconds
RPM
RPS^2
END
As can be seen above, although the values used for Velocity, Acceleration, and Wait
times remained the same, their effect was changed by a factor for the PID setting.
As a result, much care should be taken if changes are made in the middle of a
program.
The PID parameter can be changed from PID1 to PID8 while the motor is sitting still
to increase I/O scanning efficiency or other code execution and then returned to
PID1 just prior to the next move. This is a technique used to increase response time
for input triggers or mathematical calculations while there is no trajectory in progress.
192
PRINT( )
Print to Primary Communications Port
Related Command:
APPLICATION:
Communications output control
BAUD
DESCRIPTION:
Serial communications channel 0 PRINT function
CCHN
EXECUTION:
Immediate, at present baud rate
CMD
CONDITIONAL TO:
Host or channel 0 serial port open
DAT
LIMITATIONS:
Output is not buffered, each character transmitted must wait for previous character to be finished. Next command not executed until entire PRINT function is done. REPORT COMMAND:
N/A
PRINTA . .
READ/WRITE:
N/A
. . PRINTH
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
Values passed to PRINT string must be
in the range of -2147483648 to 2147483647
TYPICAL VALUES:
Any of the ASCII character set
DEFAULT VALUE:
N/A
F=4
OHCN
PRINT1
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION: PRINT ("ASCII string", #ascii_code, expression)
WARNING:
DO NOT USE
A COMMENT
MARKER (‘)
WITHIN PRINT( ).
IT WILL CAUSE A
COMPILER ERROR
The PRINT( ) command is used to transmit (output) data to the serial communications channel 0, RS232 TX and RS232 RX pins, otherwise known as the primary
host channel. PRINT( ) commands may be used to send output to a terminal for
display, communicate with third party devices, or used to send commands to other
motors.
All items to be printed reside within the parentheses and are separated by commas.
ASCII Text strings must be within double quotation marks. Variables are referenced
by name and their ASCII string vales are printed. Simple math expressions are
allowed.
Raw ASCII code values are prefixed by the # sign. The SPACE character is #32,
TAB is #9, CARRIAGE RETURN is #13, and LINE FEED is #10.
PRINT( ) commands pause other code execution until the last character has been
transmitted. No language commands, whether from the host or user program, are
executed until the last character has been placed in the hardware transmit port.
What does this mean in practice? To put it more simply, there is a practical difference
between PRINT(a,b,c) and the sequence PRINT(a) PRINT(b) PRINT(c). Executing
from within a program PRINT(a,b,c) will output the values of a, b, and c without the
possibility of another command from the terminal interfering. Executing PRINT(a)
PRINT(b) PRINT(c) from within a program while the host terminal is transmitting
GOSUB5 to the motor could lead to the execution sequence GOSUB5
193
PRINT( ) (continued)
Related
Command:
BAUD
CCHN
CMD
DAT
F=4
OHCN
PRINT1
PRINTA..
..PRINTH
Print to Primary Communications Port
Example:
OFF
KP=100
'Set Proportional Gain
O=1234
'Set origin to 1234
a=1 b=2
PRINT("Demonstration:",#13)
PRINT("a=",a)
PRINT(" and b=",b,#13)
PRINT("a+b=",a+b,#13)
PRINT("Position:",@P,#13)
WAIT=10
'Allow time for serial buffer processing
PRINT("KP=",KP,#13)
PRINT("Hello World",#13,#13)
PRINT("Run Subroutines",#13)
WAIT=10
PRINT(#128,"GOSUB5 ",#13)
'tell all motors to run subroutine 5
WAIT=10
PRINT(#129,"GOSUB10",#13)
'Tell Motor-1 to run subroutine 10
WAIT=10
PRINT(#130,"GOSUB20",#13)
'Tell Motor-2 to run subroutine 20
WAIT=10
PRINT(#131,"GOSUB30",#13)
'Tell Motor-3 to run subroutine 30
x=123
PRINT(#132,"GOSUB",x,#13)
'Tell Motor-4 to run subroutine 123
v=100000
a=100
p=2000
PRINT(#130,"A=",a," V=",v,#13)
'Set speed and accel in motor 2
WAIT=10
PRINT(#130,"MP P=",p, " G",#13)
'Command Motor-2 to position
2000
WAIT=10
PRINT(#13,#13,"End of Demonstration.",#13)
END
---------------------------------------------------Output:
Demonstration:
a=1 and b=2
a+b=3
Position:1234
KP=100
Hello World
Run Subroutines
GOSUB5
GOSUB10
GOSUB20
GOSUB30
GOSUB123
A=100 V=100000
MP P=2000 G
End of Demonstration.
194
PRINT1( )
Print to Secondary Communications Port
Related Command:
APPLICATION:
Communications output control
BAUD
DESCRIPTION:
Serial communications channel 1 PRINT function
CCHN
EXECUTION:
Immediate, at present baud rate
CMD
CONDITIONAL TO:
Channel 1 serial port open
DAT
LIMITATIONS:
function is done.
Output is not buffered. Each character transmitted must wait for previous character to be finished.
Next command not executed until entire PRINT PRINTA . .
REPORT COMMAND:
N/A
. . PRINTH
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
OCHN
PRINT
RANGE OF VALUES:
Values passed to PRINT string must be
in the range of -2147483648 to 2147483647
TYPICAL VALUES:
Any of ASCII character set
DEFAULT VALUE:
N/A
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The PRINT1( ) command is used to transmit (output) data to the serial communications
channel 1, I/O pin E and F, otherwise known as the secondary serial channel.
Note: Proper OCHN command is required prior to use of PRINT1 !!
All items to be printed reside within the parentheses and are separated by commas.
ASCII Text strings must be within double quotation marks. Variables are referenced
by name and their ASCII string vales are printed. Simple math expressions are
allowed.
Raw ASCII code values are prefixed by the # sign. The SPACE character is #32,
TAB is #9, CARRIAGE RETURN is #13, and LINE FEED is #10.
PRINT1( ) commands pause other code execution until the last character has been
transmitted. No language commands, whether from the host or user program, are
executed until the last character has been placed in the hardware transmit port.
What does this mean in practice? To put it more simply, there is a practical difference between PRINT1(a,b,c) and the sequence PRINT1(a) PRINT(b) PRINT(c).
Executing from within a program PRINT1(a,b,c) will output the values of a, b, and c
without the possibility of another command from the terminal interfering. Executing
PRINT1(a) PRINT1(b) PRINT1(c) from within a program while the host terminal is
transmitting GOSUB5 to the motor could lead to the execution sequence GOSUB5
195
PRINT1( ) (continued)
Print to Secondary Communications Port
Related
Command:
BAUD
CCHN
CMD
DAT
OCHN
PRINT
PRINTA . .
. . PRINTH
Example:
OFF
KP=100
'Set Proportional Gain
O=1234
'Set origin to 1234
a=1 b=2
PRINT1("Demonstration:",#13)
PRINT1("a=",a)
PRINT1(" and b=",b,#13)
PRINT1("a+b=",a+b,#13)
PRINT1("Position:",@P,#13)
WAIT=10
'Allow time for serial buffer
processing
PRINT1("KP=",KP,#13)
PRINT1("Hello World",#13,#13)
PRINT1("Run Subroutines",#13)
WAIT=10
PRINT1(#128,"GOSUB5 ",#13)
'tell all motors to run
subroutine 5
WAIT=10
PRINT1(#129,"GOSUB10",#13)
'Tell Motor-1 to run subroutine
10
WAIT=10
PRINT1(#130,"GOSUB20",#13)
'Tell Motor-2 to run subroutine
20
WAIT=10
PRINT1(#131,"GOSUB30",#13)
'Tell Motor-3 to run subroutine
30
x=123
PRINT1(#132,"GOSUB",x,#13)
'Tell Motor-4 to run subroutine
123
v=100000
a=100
p=2000
PRINT1(#130,"A=",a," V=",v,#13)
'Set speed and accel in
motor 2
WAIT=10
PRINT1(#130,"MP P=",p, " G",#13)
'Command Motor-2 to
position 2000
WAIT=10
PRINT1(#13,#13,"End of Demonstration.",#13)
END
---------------------------------------------------Output:
Demonstration:
a=1 and b=2
a+b=3
Position:1234
KP=100
Hello World
Run Subroutines
GOSUB5
GOSUB10
GOSUB20
GOSUB30
GOSUB123
A=100 V=100000
MP P=2000 G
End of Demonstration.
196
PRINTA( ) . . . PRINTH( )
Print to External LCD Display
Related Command:
APPLICATION:
Anilink communications output control
BAUD
DESCRIPTION:
Anilink communications PRINT function
CCHN
EXECUTION:
Immediate, at present baudrate
CMD
CONDITIONAL TO:
Anilink LCD required for display
DAT
OCHN
LIMITATIONS:
Output is not buffered. Each character transmitted must wait for previous character to be finished. Next command not executed
until entire PRINT function is done.
PRINT
REPORT COMMAND:
N/A
PRINT1
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
Expressions limited to -2147483648 to 2147483647
TYPICAL VALUES:
Any of ASCII character set
DEFAULT VALUE:
N/A
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The PRINTA( ) through PRINTH( ) print to an LCD on the AniLink port or to a DIO-100
card. The command actually employs DOUTA1 as the export mechanism. PRINTA( )
outputs to an LCD that is addressed A, PRINTB( ) to an LCD addressed B and so
forth. As in the case with all AniLink expansion cards, the LCD address is selectable
via jumpers
All items to be printed reside within the parentheses and are separated by commas.
ASCII Text strings must be within double quotation marks. Variables are referenced
by name and their ASCII string vales are printed. Simple math expressions are
allowed.
Raw ASCII code values are prefixed by the # sign. The SPACE character is #32, TAB
is #9, CARRIAGE RETURN is #13, and LINE FEED is #10.
There is a practical difference between PRINTA(a,b,c) and the sequence PRINTA(a)
PRINTA(b) PRINTA(c). Executing from within a program PRINTA(a,b,c) will be output
the values of a, b, and c without the possibility of another command from the terminal
interfering. Executing PRINTA(a) PRINTA(b) PRINTA(c) from within a program while
the host terminal is transmitting GOSUB5 to the motor could lead to the execution
sequence GOSUB5 PRINT(a) PRINTA(b) PRINTA(c), or PRINTA(a) GOSUB5
PRINTA(b) PRINTA(c) etc., depending upon the exact timing. The resulting output
may or may not be the identical.
197
PRINTA( ) . . . PRINTH( ) (continued)
Print to External LCD Display
Related
Command:
BAUD
CCHN
CMD
DAT
OCHN
PRINT
PRINT1
In SMI, the character " ‘ " is a comment delimiter. As such, if you put a " ‘ " inside
of the PRINT statement, the SMI debugger will think that are commenting out
the rest of the PRINT statement and flag it as an error. The SmartMotor™,
however, doesn’t use comments, and will transmit the " ‘ " as a character. The
easiest thing to do is simply not use " ‘ " within a print string.
Please consult manual for LCD display products for more
on the following example.
Example: (printing output to an AniLink LCD with port address A)
PRINTA(#56,#14,#6,#1)
'#56 initialize LCD,
#14 turns on cursor
#6 sets cursor
direction
#1 clears LCD and
resets position to
first character of
first line
PRINTA(#128,"I AM LCD ADDRESS A") 'Print stating from character block 128, far left character of first line
PRINTA(#192,"2nd. TEXT LINE") 'Print starting from character block 192, far left character of second line of LCD
PRINTA(#148,"3rd. TEXT LINE") 'Print starting from character block 148, 1st character 3rd line. Four line LCD4X20 only)
PRINTA(#212,"4th. TEXT LINE") 'Print starting from character block 212, 1st character fourth line. Four line LCDX20 only
198
Q
Report Host-Mode Status
Related Command:
MD
APPLICATION:
Report command
DESCRIPTION:
Request HOST MODE status packet
EXECUTION: Immediate
CONDITIONAL TO:
LIMITATIONS:
MD host mode
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
Data packet - see detailed description
RANGE OF VALUES:
N/A
TYPICAL VALUES: N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSIONS:
4.15 and later. ??
DETAILED DESCRIPTION:
SEE SMI DOCUMENTATION FOR HOST UTILITY
Host Position Status Request Command Q Returns BINARY data only!
To track host positioning mode progress, the Q command returns status, clock, and
space available in the dedicated circular buffer. The response to Q takes two forms,
one while the mode not running and another while a trajectory is progress and no error
has occurred. Both response conform to the overall byte format of 0xF9 + byte1 +
byte2 + byte3 + byte 4 in binary. See diagram below:
Identifier
1 1 1 1
F
Status Byte
1 0
24 Bit Clock Data
0 1
0 = 1 if: In MD Mode (prior to filling buffers (slot) or G received)
9
1
2
3
4
5
6
7
= 1 if: In MD Mode and Running, Either G received or = 16 slots were filled
= 1 if: Invalid Time Delta 16 bit value received
= 1 if: Invalid Position Delta 23 Bit value received
= 1 if: Internal Program Data space error
= 1 if: Buffer Overflow (to much data received)
= 1 if: Buffer Underflow (to little data received)
= 1 if: If in Host Mode, =0 if not in Host Mode
A trajectory terminates if an unacceptable position error occurs, if invalid data received.
if data overflow, or if data underflow. The host should send data pairs only when at
least 3 empty data slots are available. MD responds to limit switches, trajectory will
be aborted. MD mode uses KV feed forward for improved performance.
199
Ra . . . Rz
Report 32-Bit Variable Data Value
Related
Command:
PRINT( )
APPLICATION:
Report command
DESCRIPTION:
Report user variable a . . . z
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
Pre 4.00 only variables defined are a, b, c, d, e, f, g and h
REPORT VALUE:
a through z
READ/WRITE:
N/A
LANGUAGE ACCESS: N/A
UNITS:
Number
RANGE OF VALUES:
-2147483648 to 2147483647
TYPICAL VALUES:
-2147483648 to 2147483647
DEFAULT VALUE:
0
RELATED COMMANDS: N/A
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
It is recommended
that you use
the alternative
"PRINT( )"
command when
printing from
your embedded
programs because
of its greater
completeness
and versitility.
Ra reports the signed value of the variable a to the primary serial channel. A minus
sign will precede negative values, no leading zeros are transmitted, and an ASCII
carriage return terminates the transmitted data value. The equivalent PRINT( )
command is PRINT(a,#13). Use similar PRINT commands for Rb, Rc, through Rx,
Ry, Rz.
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if Ra is received
through channel 0, the response is sent through channel 0. If Ra is received
through channel 1, the response goes out channel 1.
In SmartMotors so equipped, if F=4 has been commanded, this report is redirected to serial channel 1 and the reported value is not be "seen" output the
primary or currently active serial channel. Following F=4, the equivalent to Ra is
PRINT1(a,#13). F=0 resets report commands to again be sent out the primary or
currently active serial port.
200
Ra . . . Rz (continued)
Related
Command:
PRINT( )
Report 32-Bit Variable Data Value
Example:
F=0
'use HOST channel
PRINT(#13,"F=0 ")
GOSUB5
F=4
'redirect report output
PRINT(#13,"F=4 ")
GOSUB5
F=0
'reset to default
END
C5
a=123
b=456
c=789
PRINT(a,b,c)
Ra
Rb
Rc
END
Host terminal only "sees" the following program output, Take note of the carriage
returns (not explicitly shown here)
F=0 123456789123
456
789
201
Raa . . . Rzz
Report 32-Bit Variable Data Value
Related Command:
N/A
APPLICATION:
Report command
DESCRIPTION:
Report user variable aa
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
Not valid for pre 4.00 firmware
REPORT VALUE:
aa
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
Number
RANGE OF VALUES:
-2147483648 to 2147483647
TYPICAL VALUES:
-2147483648 to 2147483647
DEFAULT VALUE:
0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
Raa reports the signed value of the variable aa to the primary serial channel. A minus
sign will precede negative values, no leading zeros are transmitted, and an ASCII
carriage return terminates the transmitted data value. The equivalent PRINT( ) command is PRINT(aa,#13). Use similar PRINT commands for Rbb, Rcc, through Rxx,
Ryy, Rzz.
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if Raa is received
through channel 0, the response is sent through channel 0. If Raa is received through
channel 1, the response goes out channel 1.
In SmartMotors™ so equipped, if F=4 has been commanded, this report is redirected
to serial channel 1 and the reported value is not be "seen" output the primary or currently active serial channel. Following F=4, the equivalent to Raa is PRINT1(aa,#13).
F=0 resets report commands to again be sent out the primary or currently active
serial port.
202
Raa . . . Rzz (continued)
Report 32-Bit Variable Data Value
Related
Command:
N/A
Example:
F=0 'use HOST channel
PRINT(#13,"F=0 ")
GOSUB5
F=4
'redirect report output
PRINT(#13,"F=4 ")
GOSUB5
F=0
'reset to default
END
C5
rr=123
ss=456
tt=789
PRINT(rr,ss,tt)
Rrr
Rss
Rtt
END
Host terminal only "sees" the following program output. Take note of the carriage
returns (not explicitly shown here).
F=0 123456789123
456
789
203
Raaa . . . Rzzz
Report 32-Bit Variable Data Value
Related Command:
N/A
APPLICATION:
Report command
DESCRIPTION:
Report user variable aaa
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
Not valid for pre 4.00 firmware
REPORT VALUE:
aaa
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
Number
RANGE OF VALUES:
-2147483648 to 2147483647
TYPICAL VALUES:
-2147483648 to 2147483647
DEFAULT VALUE:
0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
Raaa reports the signed value of the variable aaa to the primary serial channel. A
minus sign will precede negative values, no leading zeros are transmitted, and an
ASCII carriage return terminates the transmitted data value. The equivalent PRINT( )
command is PRINT(aaa,#13). Use similar PRINT commands for Rbbb, Rcccc, through
Rxxx, Ryyy, Rzzz.
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if Raaa is received
through channel 0, the response is sent through channel 0. If Raaa is received through
channel 1, the response goes out channel 1.
In SmartMotors™ so equipped, if F=4 has been commanded, this report is redirected to
serial channel 1 and the reported value is not be "seen" output the primary or currently
active serial channel. Following F=4, the equivalent to Raaa is PRINT1(a,#13). F=0
resets report commands to again be sent out the primary or currently active serial
port.
204
Raaa . . . Rzzz (continued)
Report 32-Bit Variable Data Value
Related
Command:
N/A
Example:
F=0 'use HOST channel
PRINT(#13,"F=0 ")
GOSUB5
F=4
'redirect report output
PRINT(#13,"F=4 ")
GOSUB5
F=0
'reset to default
END
C5
iii=123
jjj=456
kkk=789
PRINT(iii,jjj,kkk)
Rii
Rjj
Rkk
END
Host terminal only "sees" the following program output. Note the carriage returns
(not explicitly shown here).
F=0 123456789123
456
789
205
Rab[index]
Report 8-Bit Array Data Value
Related Command:
N/A
APPLICATION:
Report command
DESCRIPTION:
Report user variable ab[index]
EXECUTION: Immediate
CONDITIONAL TO: N/A
LIMITATIONS:
Index range from 0 to 50
REPORT VALUE:
ab[index]
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
Number
RANGE OF VALUES:
TYPICAL VALUES:
-128 to 127
DEFAULT VALUE:
0
FIRMWARE VERSIONS:
4.00 and higher
-128 to 127
DETAILED DESCRIPTION:
Rab[index] reports the signed value of the variable ab[index] to the primary serial
channel. A minus sign will precede negative values, no leading zeros are transmitted,
and an ASCII carriage return terminates the transmitted data value. The equivalent
PRINT( ) command is PRINT(ab[index],#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if Rab[23] is
received through channel 0, the response is sent through channel 0. If Rab[23] is
received through channel 1, the response goes out channel 1.
The valid range of values of "index" is 0 to 200. Index may be expressed directly as
a number, a variable a . . z, the sum of two a . . z variables, or difference of two a .
. z variables. There are no other combinations. See Example 1 for clarification; the
example illustrates all legal index formats; thus Rab[-6], Rab[t-6], and Rab[-g] do not
represent valid index references. If you attempt to use a legal valid syntax, but the
actual index value is out of range, system state flag Bs set to 1 and a syntax error
message may be reported. See Examples 3 and 4.
The ab[0] to ab[200] variables represent signed 8 bit values; assignment of larger
values is handled by truncating any extra leading data bits. The most significant bit
is always considered to be a sign bit. See Example 2 for results when ab[index] is
assigned a value larger than 255.
206
Rab[index] (continued)
Report 8-Bit Array Data Value
Related
Command:
N/A
Example 1:
a=0
WHILE a<=6
ab[a]=a
a=a+1
LOOP
p=2 q=3 u=1 v=5
PRINT(ab[0]," ")
PRINT(ab[1]," ")
PRINT(ab[2]," ")
PRINT(ab[3]," ")
PRINT(ab[4]," ")
PRINT(ab[5]," ")
PRINT(ab[6]," ")
END
'assign test values
Rab[0]
Rab[1]
Rab[p]
Rab[q]
Rab[v-u]
Rab[v]
Rab[v+u] 'report
'report
'report
'report
'report
'report
'report
ab[0]
ab[1]
ab[2]
ab[3]
ab[4]
ab[5]
ab[6]
Example 2:
a=254
'assign test values
WHILE a<=258
i=a-252
ab[i]=a
'assignment truncated to only 8 bits
Rab[i]
'reported values are -2 -1 0 1 and 2
a=a+1
LOOP
END
Example 3:
Rab[201] 'sets Bs
'fails to report a value but instead
'emits a syntax error message
'if syntax reports active
Example 4:
v=605
Rab[v]
'sets Bs
'fails to report a value but instead
'emits a syntax error message
'if syntax reports active
207
Ral[index]
Report 32-Bit Array Data Value
Related Command:
N/A
APPLICATION:
Report command
DESCRIPTION:
Report user variable al[index]
EXECUTION:
Immediate
CONDITIONAL TO: N/A
LIMITATIONS:
Index range from 0 to 200
REPORT VALUE:
al[index]
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
Number
RANGE OF VALUES: -2147483648 to 2147483647
TYPICAL VALUES: -2147483648 to 2147483647
DEFAULT VALUE:
0
FIRMWARE VERSIONS:
4.00 and higher
DETAILED DESCRIPTION:
Ral[index] reports the signed value of the variable al[index] to the primary serial
channel. A minus sign will precede negative values, no leading zeros are transmitted,
and an ASCII carriage return terminates the transmitted data value. The equivalent
PRINT( ) command is PRINT(al[index],#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if Ral[23] is received
through channel 0, the response is sent through channel 0. If Ral[23] is received
through channel 1, the response goes out channel 1.
The valid range for the value of "index" is 0 to 50. Index may be expressed directly
as a number, a variable a . . z, the sum of two a . . z variables, or difference of two a
. . z variables.
See Example 1 for clarification; the example illustrates ALL legal index formats; thus
Rab[-6],
Rab[t-6], and Rab[-g] do not represent valid index references. If you attempt to
use a legal valid syntax, but the actual index value is out of range, system state
flag Bs set to 1 and a syntax error message may be reported See Examples 2 and
3.
The al[0] to al[50] variables represent signed 32 bit values; assignment of larger
values is handled by truncating any extra leading data bits. The most significant bit, is
always considered to be a sign bit.
208
Ral[index](continued)
Report 32-Bit Array Data Value
Related
Command:
N/A
Example 1:
a=0
WHILE a<=6
al[a]=a
a=a+1
LOOP
p=2 q=3 u=1 v=5
PRINT(al[0]," ")
PRINT(al[1]," ")
PRINT(al[2]," ")
PRINT(al[3]," ")
PRINT(al[4]," ")
PRINT(al[5]," ")
PRINT(al[6]," ")
'assign test values
Ral[0] Ral[1] Ral[p] Ral[q]
Ral[v-u]
Ral[v] Ral[v+u] 'report
'report
'report
'report
'report
'report
'report
al[0]
al[1]
al[2]
al[3]
al[4]
al[5]
al[6]
END
Example 2:
Ral[51] 'sets Bs
'fails to report a value but instead
'emits a syntax error message
'if syntax reports active
Example 3:
H=222
al[h] 'sets Bs
'fails to report a value but instead
'emits a syntax error message
'if syntax reports active
209
Raw[index]
Report 16-Bit Array Data Value
Related Command:
N/A
APPLICATION:
Report command
DESCRIPTION:
Report user variable aw[index]
EXECUTION:
Immediate
CONDITIONAL TO: N/A
LIMITATIONS:
Index range from 0 to 100
REPORT VALUE:
aw[index]
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
Number
RANGE OF VALUES:
-32768 to 32767
TYPICAL VALUES:
-32768 to 32767
DEFAULT VALUE:
0
RELATED COMMANDS:
N/A
FIRMWARE VERSIONS:
4.00 and higher
DETAILED DESCRIPTION:
Raw[index] reports the signed value of the variable aw[index] to the primary serial
channel. A minus sign will precede negative values, no leading zeros are transmitted,
and an ASCII carriage return terminates the transmitted data value. The equivalent
PRINT( ) command is PRINT(aw[index],#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if Raw[23] is
received through channel 0, the response is sent through channel 0. If Raw[23] is
received through channel 1, the response goes out channel 1.
The valid range for the value of "index" is 0 to 100. Index may be expressed directly
as a number, a variable a . . z, the sum of two a . . z variables, or difference of two
a . . z variables.
See Example 1 for clarification; the example illustrates ALL legal index formats; thus
Raw[-6], Raw[t-6] and Raw[-g] do not represent valid index references. If you attempt
to use a legal valid syntax, but the actual index value is out of range, system state flag
Bs set to 1 and a syntax error message may be reported See Examples 3 and 4.
The aw[0] to aw[100] variables represent signed 16 bit values; assignment of larger
values is handled by truncating any extra leading data bits. The most significant bit,
is always considered to be a sign bit. See Example 2 for results when aw[index] is
assigned a value larger than 256*256 or 65536.
210
Raw[index] (continued)
Report 16-Bit Array Data Value
Related
Command:
N/A
Example 1:
a=0
WHILE a<=6
aw[a]=a
a=a+1
LOOP
p=2 q=3 u=1 v=5
PRINT(aw[0]," ")
PRINT(aw[1]," ")
PRINT(aw[2]," ")
PRINT(aw[3]," ")
PRINT(aw[4]," ")
PRINT(aw[5]," ")
PRINT(aw[6]," ")
END
'assign test values
Raw[0]
Raw[1]
Raw[p]
Raw[q]
Raw[v-u]
Raw[v]
Raw[v+u]
'report
'report
'report
'report
'report
'report
'report
aw[0]
aw[1]
aw[2]
aw[3]
aw[4]
aw[5]
aw[6]
Example 2:
a=65534
'assign test values
WHILE a<=65538
i=a-65534
aw[i]=a
'assignment truncated to only 16 bits
Rwb[i]
'reported values are -2 -1 0 1 and 2
a=a+1
LOOP
END
Example 3:
Raw[101] 'sets Bs
'fails to report a value but instead
'emits a syntax error message
'if syntax reports active
v=-605
aw[v] 'sets Bs
'fails to report a value but instead
'emits a syntax error message
'if syntax reports active
Example 4:
211
RA
Report Commanded Acceleration
Related Command:
N/A
APPLICATION:
Report command
DESCRIPTION:
Report buffered acceleration
EXECUTION: Immediate
CONDITIONAL TO: N/A
LIMITATIONS:
REPORT VALUE:
N/A
A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
Scaled encounter counts/PID sample/PID sample
RANGE OF VALUES:
-2147483648 to 2147483647
TYPICAL VALUES:
-2147483648 to 2147483647
DEFAULT VALUE:
0
FIRMWARE VERSIONS:
ALL
DETAILED DESCRIPTION:
RA reports the signed value of the buffered acceleration to the primary serial channel.
A minus sign will precede negative values, no leading zeros are transmitted, and an
ASCII carriage return terminates the transmitted data value. The equivalent PRINT( )
command is PRINT(A,[index],#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. Thus, if RA is received
through channel 0, the response is transmitted through channel 0. If RA is received
through channel 1, the response is transmitted through channel 1.
Example:
V=3333
A=33
MV
G
A=444
RA
'use acceleration value 333
'returns the value 444
212
RAIN{port}{input}
Report Expanded Analog Input Value
Related
Command:
AOUT
DIN
DOUT
APPLICATION:
Report command
DESCRIPTION:
Fetch and report Anilink peripheral analog input
byte
EXECUTION:
Immediate IIC byte read, followed by transmit
character
CONDITIONAL TO:
Port and input must exist
LIMITATIONS:
Port = A .. H and Input = 1, 2, 3, or 4
REPORT VALUE:
AIN{port}{input}
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
Unsigned numerical value
RANGE OF VALUES:
0 to 255
TYPICAL VALUES:
0 to 255
DEFAULT VALUE:
If requested input does not exist, the value 255 is
returned
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
RAIN{address}{channel} fetches the unsigned 8 bit data value from the
AIO-100 AniLink and reports it to the primary serial channel. The parameters
address and channel refer to address and input channel, respectively, of the
expansion card. No leading zeros are transmitted, and an ASCII carriage return
terminates the transmitted data value. The equivalent PRINT( ) command is
PRINT(AIN{address}{channel},#13).
Address may be A, B, C, D, E, F, G, or H, which is defined by jumper settings on
the corresponding peripheral. The range of valid channels is 1 through 4.
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through
the current active serial channel and not just the primary port. Thus, if the report
command is received through channel 0, the response is transmitted through
channel 0. If the report command is received through channel 1, the response
is transmitted through channel 1.
Examples:
RAINC3
RAINA1
RAINW4
RAINB0
'valid port and channel
'valid port and channel
'invalid port, syntax error created
'invalid channel, syntax error created
213
RAMPS
Report Allowable PWM Limit
Related Command:
APPLICATION:
Report command
AMPS
DESCRIPTION:
Report maximum allowed current to motor
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT VALUE:
AMPS
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
1/1023 of maximum current permitted
RANGE OF VALUES:
0 to 1023
TYPICAL VALUES:
1023
DEFAULT VALUE:
1023
T
MT
windings
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
RAMPS reports the unsigned value of AMPS, the maximum power setting, to the
primary serial channel. No leading zeros are transmitted, and an ASCII carriage
return terminates the transmitted data value. The equivalent PRINT( ) command is
PRINT(AMPS,#13)
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. Thus, if the report command
is received through channel 0, the response is transmitted through channel 0. If the
report command is received through channel 1, the response is transmitted through
channel 1.
Example:
AMPS=333
RAMPS
AMPS=2000
RAMPS
'response is 333
'too large, entry auto corrected for safety
'response is 1023
214
RBa
Report PEAK-Over-current Status Bit
Related
Command:
Z
Za
ZS
APPLICATION:
Report command
DESCRIPTION:
Report system state over current latch
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT VALUE:
Ba
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
Binary state
RANGE OF VALUES:
0 to 1
STATE VALUE 1:
Over current event occurred
STATE VALUE 0:
Over current has not occurred
FIRMWARE VERSIONS: Versions 4.xx excluding HIRES Version 4.20
DETAILED DESCRIPTION:
RBa reports the value of the system over-current flag, Ba. It returns a 1 if an overcurrent has been detected and a 0 if not. It is followed by an ASCII carriage return. The
equivalent PRINT( ) command is PRINT(Ba,#13)
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. Thus, if the report command
is received through channel 0, the response is transmitted through channel 0. If the
report command is received through channel 1, the response is transmitted through
channel 1.
Example:
PID1
'sample rate 4069 / second
WHILE Bt
'report trajectory status about each second
WAIT=4000
PRINT(#13,"OVERCURRENT STATE
")
RBa
PRINT(#13,"OVERHEAT STATE
")
RBh
PRINT(#13,"POSITION ERROR STATE ")
RBe
LOOP
PRINT(#13,"TRAJECTORY TERMINATED",#13)
END
215
RBb
Report Communications Parity Error Status Bit
Related Command:
APPLICATION:
Report command
RCHN
DESCRIPTION:
error latched
Report system state flag communication parity
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT VALUE:
Bb
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
Binary state
RANGE OF VALUES:
0 to 1
STATE VALUE 1:
Parity error event has occurred
STATE VALUE 0:
Parity error event has not occurred
RCHN0
RCHN1
Zb
Z
ZS
FIRMWARE VERSIONS: Versions 4.xx excluding HIRES Version 4.20
DETAILED DESCRIPTION:
RBb reports the value of the communications parity error flag, Bb. It returns a 1 if any
parity error has been detected and a 0 if not. It is followed by an ASCII carriage return.
The equivalent PRINT( ) command is PRINT(Bb,#13)
Note:
A syntax error from
the terminal causes
RCHN to respond
with value 4 but
the value CHN0 or
CHN1, assigned to
an expression is still
zero.
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. Thus, if the report command
is received through channel 0, the response is transmitted through channel 0. If the
report command is received through channel 1, the response is transmitted through
channel 1.
Example:
C10
'communication status check subroutine
'check both serial channel simultaneously
IF CHN0
'return immediately if no errors found
PRINT("PARITY ERROR STATE
") RBb
PRINT("BUFFER OVERFLOW STATE ") RBc
PRINT("FRAMING ERROR STATE
") RBf
PRINT("SYNTAX ERROR STATE
") RBs
ENDIF
RETURN
216
RBc
Report Communications Overflow Status Bit
APPLICATION:
Report command
RCHN
DESCRIPTION:
Report system state flag communication buffer
overflow event latch
RCHN0
EXECUTION:
Immediate
RCHN1
CONDITIONAL TO:
N/A
Z
LIMITATIONS:
N/A
Zc
REPORT VALUE:
Bc
ZS
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
Binary state
RANGE OF VALUES:
0 to 1
STATE VALUE 1:
Communication buffer overflow event occurred
STATE VALUE 0:
Communications buffer overflow has not occured
Related
Command:
FIRMWARE VERSIONS: Versions 4.xx excluding HIRES Version 4.20
DETAILED DESCRIPTION:
RBc reports the state of the serial communications overflow error flag, Bc. It
returns a 1 if any overflow error has been detected and a 0 if not. It is followed by
an ASCII carriage return. The equivalent PRINT() command is PRINT(Bc,#13).
Note:
A syntax error from
the terminal causes
RCHN to respond
with value 4 but
the value CHN
assigned to an
expression is still
zero.
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through
the current active serial channel and not just the primary port. Thus, if the report
command is received through channel 0, the response is transmitted through
channel 0. If the report command is received through channel 1, the response
is transmitted through channel 1.
Example:
C10
'communication status check subroutine
'check both serial channel simultaneously
IF CHN0
'return immediately if no errors found
PRINT("PARITY ERROR STATE
") RBb
PRINT("BUFFER OVERFLOW STATE ") RBc
PRINT("FRAMING ERROR STATE
") RBf
PRINT("SYNTAX ERROR STATE
") RBs
ENDIF
RETURN
217
RBd
Report Math Overflow Status Bit
Related Command:
APPLICATION:
Report command
Z
DESCRIPTION:
Report system state flag math overflow event latch
Zd
EXECUTION:
Immediate
ZS
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT VALUE:
Bd
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
Binary state
RANGE OF VALUES:
0 to 1
STATE VALUE 1:
Math overflow during product calculation orMFMUL/MFDIV division, has occurred
STATE VALUE 0:
No math overflow has occurred
FIRMWARE VERSIONS: Versions 4.xx excluding HIRES Version 4.20
DETAILED DESCRIPTION:
RBd reports the value of the MFMUL/MFDIV math overflow error flag, Bd. It returns
a 1 if any math overflow error was detected and a 0 if not. It is followed by an ASCII
carriage return. The equivalent PRINT( ) command is PRINT(Bd,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. Thus, if the report command
is received through channel 0, the response is transmitted through channel 0. If the
report command is received through channel 1, the response is transmitted through
channel 1.
Example 1:
Zd
RBd
a=1111111
b=2222222
c=a*b
Rc
RBd
Example 2:
Zd
MFMUL=257
MFDIV=1
MFR
RBd
'returns 0
'returns -470886558
'returns 1
'reset Bd
'initialize Mode Follow with Ratio
'returns 1 => MFR gain too large
If a standard 32 bit hand held calculator, in decimal mode, is used, it would also report
an error.
218
RBe
Report Position Error Status Bit
Related Command:
APPLICATION:
Report command
G
DESCRIPTION:
latch
Report system state flag position error occurred EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT VALUE:
Be
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
Binary state
RANGE OF VALUES:
0 to 1
STATE VALUE 1:
Position error during trajectory motion occurred
STATE VALUE 0:
No position error during trajectory has occurred
RS
RW
RPW
Z
FIRMWARE VERSIONS: Versions 4.xx excluding HIRES Version 4.20
DETAILED DESCRIPTION:
RBe reports the value of the position error flag, Be. It returns a 1 if a position error
was detected and a 0 if not. It is followed by an ASCII carriage return. The equivalent
PRINT( ) command is PRINT(Be,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. Thus, if the report command
is received through channel 0, the response is transmitted through channel 0. If the
report command is received through channel 1, the response is transmitted through
channel 1.
Example:
O=0
'Set current position to zero
A=100
'Set acceleration
V=50000
'Set velocity
P=100000000
'Set target position
E=1000
'default position error limit
MP
'Set to position mode
G
'Go and begin buffered move
WAIT=40000
'Wait abut 10 seconds
E=0
'Force a position error by setting 'allowable limit to zero
WAIT=10
'Wait ten servo samples
RBe
'response is 1
T=111
MT
'position error reset by mode change
RPE
'report position error limit,
response is 0
RBe
'report position error bit,
response is 0
219
RBf
Report Communications Framing Error Status Bit
Related Command:
APPLICATION:
Report command
OCHN
DESCRIPTION:
error event latch
Report system state flag communications framing EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT VALUE:
Bf
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
Binary state
RANGE OF VALUES:
0 to 1
STATE VALUE 1:
channel 1
Parity error event occurred on either channel 0 or STATE VALUE 0:
No communication parity error event has occurred
RCHN
RCHN0
RCHN1
Z
Zf
ZS
FIRMWARE VERSIONS: Versions 4.xx excluding HIRES Version 4.20
DETAILED DESCRIPTION:
RBf reports the value of the serial communications framing error flag, Bf. It returns a 1
if any framing error has been detected and a 0 if not. It is followed by an ASCII carriage
return. The equivalent PRINT( ) command is PRINT(Bf,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.
Example:
Note a syntax error
from the terminal
causes RCHN to
respond with value
4 but the value
CHN assigned to
an expression is still
zero.
C10
'communication status check subroutine
'check both serial channels simultaneously
IF CHN0
'return immediately if no error found
PRINT("PARITY ERROR STATE
") RBb
PRINT("BUFFER OVERFLOW STATE
") RBc
PRINT("FRAMING ERROR STATE
") RBf
PRINT("SYNTAX ERROR STATE
") RBs
ENDIF
RETURN
220
RBh
Report Over-Heat/RMS Over-Current Status Bit
Related
Command:
TEMP
TH
THD
Z
APPLICATION:
Report command
DESCRIPTION:
Report real time system state motor overheat
condition
EXECUTION:
Updated each PID sample
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT VALUE:
Bh
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
Binary state
RANGE OF VALUES:
0 to 1
STATE VALUE 1:
Motor in overheat condition
STATE VALUE 0:
Motor not is overheat condition
FIRMWARE VERSIONS: Versions 4.xx excluding HIRES Version 4.20
DETAILED DESCRIPTION:
RBh reports the value of the overheat flag, Bh. It returns a 1 if an overheat was
detected and a 0 if not. It is followed by an ASCII carriage return. The equivalent
PRINT( ) command is PRINT(Bh,#13)
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through
the current active serial channel and not just the primary port. That is, if the
report command is received through channel 0, the response is sent through
channel 0. If the report command is received through channel 1, the response
goes out channel 1.
Example:
WHILE Bt
'report trajectory status WAIT=4000 'about once a second
PRINT("OVER CURRENT STATE
")
RBa
PRINT("OVER HEAT STATE
")
RBh
PRINT("POSITION ERROR STATE
")
RBe
LOOP
PRINT(#13,"TRAJECTORY TERMINATED",#13)
221
RBi
Report Index-Captured Status Bit
Related Command:
APPLICATION:
Report command
Bx
DESCRIPTION:
Report system state flag index position latched
EXECUTION:
Latch updated at PID sample if index event observed
RI
CONDITIONAL TO:
N/A
Z
LIMITATIONS:
N/A
REPORT VALUE:
Bi
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
Binary state
RANGE OF VALUES:
0 to 1
STATE VALUE 1:
Latched index encoder count reading available
STATE VALUE 0:
No new latched index position available
I
FIRMWARE VERSIONS: Versions 4.xx excluding HIRES Version 4.20
DETAILED DESCRIPTION:
RBi reports the value of the index available flag, Bi. It returns a 1 if a new index value
was latched and a 0 if not. It is followed by an ASCII carriage return. The equivalent
PRINT( ) command is PRINT(Bi,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.
Example: (Notice PRINT outputs from the following program)
A=10
'buffer a slow velocity mode move
V=4000
MV
E=100
'small error band
G
'go
WHILE Bt
RBi
IF Bi
PRINT("NEW INDEX VALUE ")
ELSE
PRINT("OLD INDEX VALUE ")
ENDIF
RI
WAIT=400
LOOP
END
222
RBk
Report EEPROM Checksum Status Bit
Related Command:
APPLICATION:
Report command
RCKS
DESCRIPTION:
Report EEPROM state flag I/O error event latch
EXECUTION:
Immediate
CONDITIONAL TO:
RCKS
LIMITATIONS:
N/A
REPORT VALUE:
Bk
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
Binary state
RANGE OF VALUES:
0 to 1
STATE VALUE 1:
error
RCKS reported Program EEPROM checksum VST( ) reported Write Data EEPROM error
STATE VALUE 0:
error
RCKS reported Program EEPROM checksum RW
Z
FIRMWARE VERSIONS: Versions 4.xx excluding HIRES Version 4.20
DETAILED DESCRIPTION:
RBk reports the state of the checksum error flag, Bk. It returns a 1 if a checksum
was detected and a 0 if not. It is followed by an ASCII carriage return. The
equivalent PRINT( ) command is PRINT(Bk,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through
the current active serial channel and not just the primary port. That is, if the
report command is received through channel 0, the response is sent through
channel 0. If the report command is received through channel 1, the response
goes out channel 1.
Example:
RCKS
RBk
'reporting value, If 1 then the stored program is bad
223
RBl
Report Real-Time Left-Over-Travel-Limit State
Related
Command:
Bm
RS
RW
S
Z
ZS
APPLICATION:
Report command
DESCRIPTION:
Report Left Limit State Latch
EXECUTION:
Updated each PID sample
CONDITIONAL TO:
LIML, LIMH, UDM
LIMITATIONS:
N/A
REPORT VALUE:
Bl
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
Binary state
RANGE OF VALUES:
0 to 1
STATE VALUE 1:
Left limit switch has been active
STATE VALUE 0:
Left limit switch has not been active
FIRMWARE VERSIONS: Versions 4.xx excluding HIRES Version 4.20
DETAILED DESCRIPTION:
RBl reports the value of the historical left limit flag, Bl. It returns a 1 if an active left
limit input was detected and a 0 if not. It is followed by an ASCII carriage return. The
equivalent PRINT( ) command is PRINT(Bl,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.
224
RBm
Report Historical Left-Over-Travel-Limit Status Bit
Related Command:
APPLICATION:
Report command
Bl
DESCRIPTION:
Report Historical Left Limit State
Z
EXECUTION:
Updated each PID sample
CONDITIONAL TO:
LINH, LIML, UDI, UDO
LIMITATIONS:
N/A
REPORT VALUE:
Bm
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
Binary state
RANGE OF VALUES:
0 to 1
STATE VALUE 1:
Left limit switch active
STATE VALUE 0:
Left limit switch not active
FIRMWARE VERSIONS: Versions 4.xx excluding HIRES Version 4.20
DETAILED DESCRIPTION:
RBm reports the value of the Historical left limit flag, Bm. It returns a 1 if an active left
limit input was detected and a 0 if not. It is followed by an ASCII carriage return. The
equivalent PRINT( ) command is PRINT(Bm,#13)
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.
225
RBo
Report Motor-Off Status Bit
Related
Command:
G
Z
ZS
APPLICATION:
Report command
DESCRIPTION:
Report real time system state motor off
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT VALUE:
Bo
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
Binary state
RANGE OF VALUES:
0 to 1
STATE VALUE 1:
Motor PWM signal is off
STATE VALUE 0:
Motor PWM signal is on, motor coils are powered.
FIRMWARE VERSIONS: Versions 4.xx excluding HIRES Version 4.20
DETAILED DESCRIPTION:
RBo reports the state of the motor off flag, Bo. It returns a 1 if an active left
limit input was detected and a 0 if not. It is followed by an ASCII carriage
return. The equivalent PRINT( ) command is PRINT(Bo,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through
the current active serial channel and not just the primary port. That is, if the
report command is received through channel 0, the response is sent through
channel 0. If the report command is received through channel 1, the response
goes out channel 1.
Example:
OFF
RBo
T=100
MT
RBo
MP
G
RBo
OFF
RBo
END
'motor responds with a 1
'servo on, no PID loop
'motor responds with a 0
'change mode, servo on with PID loop
'motor still responds with a 0
'motor responds with a 1
226
RBp
Report Historical Right-Over-Travel-Limit Logic State
Related Command:
APPLICATION:
Report command
Z
DESCRIPTION:
Report Historical Right Limit State
EXECUTION:
Updated each PID sample
CONDITIONAL TO:
LIMH, LIML, UCI, UCP, UCO
LIMITATIONS:
N/A
REPORT VALUE:
Bp
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
Binary state
RANGE OF VALUES:
0 to 1
STATE VALUE 1:
Right limit switch active
STATE VALUE 0:
Right limit switch not active
FIRMWARE VERSIONS: Versions 4.xx excluding HIRES Version 4.20
DETAILED DESCRIPTION:
RBp reports the value of the Historical right limit flag, Bp. It returns a 1 if an active left
limit input was detected and a 0 if not. It is followed by an ASCII carriage return. The
equivalent PRINT( ) command is PRINT(Bp,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.
227
RBr
Report Real-Time Right-Over-Travel-Limit State
Related
Command:
Z
APPLICATION:
Report command
DESCRIPTION:
Report Right Limit Active State Latch
EXECUTION:
Updated each PID sample
EXECUTION:
Updated each PID sample
CONDITIONAL TO:
LIMH, LIMH, UCP
LIMITATIONS:
N/A
REPORT VALUE:
Br
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
Binary state
RANGE OF VALUES:
0 to 1
STATE VALUE 1:
Right limit switch active
STATE VALUE 0:
Right limit switch not active
FIRMWARE VERSIONS: Versions 4.xx excluding HIRES Version 4.20
DETAILED DESCRIPTION:
RBr reports the value of the real time right limit flag, Br. It returns a 1 if an active
left limit input was detected and a 0 if not. It is followed by an ASCII carriage
return. The equivalent PRINT( ) command is PRINT(Br,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through
the current active serial channel and not just the primary port. That is, if the
report command is received through channel 0, the response is sent through
channel 0. If the report command is received through channel 1, the response
goes out channel 1.
228
RBs
Report Syntax-Error Status Bit
Related Command:
APPLICATION:
Report command
Z
DESCRIPTION:
Report system state flag scanning error event latch
Zs
EXECUTION:
Immediate
ZS
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT VALUE:
Bs
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
Binary state
RANGE OF VALUES:
0 to 1
STATE VALUE 1:
Command scan error has occurred since Bs reset
STATE VALUE 0:
reset
Command scan error has not occurred since Bs FIRMWARE VERSIONS: Versions 4.xx excluding HIRES Version 4.20
DETAILED DESCRIPTION:
RBs reports the value of the real time right limit flag, Bs. It returns a 1 if an active left
limit input was detected and a 0 if not. It is followed by an ASCII carriage return. The
equivalent PRINT( ) command is PRINT(Bs,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. Thus, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.
Scan errors result from malformed command and data syntax. An illegal array read/
write access index also sets the scan error flag. Scan errors can occur from commands
within program execution or received via either serial channel. A program encountering
an illegal array access or syntax error should be carefully debugged. These programs
may not execute accurately following the error.
Bs is reset by ZS and Zs.
Note: Downstream motors in a serial daisy chain will get their Bs bit set when
upstream motors respond to report commands This is common and can be ignored.
Example:
Zs
'reset any prior scan error state
j=88
'for use as array index
zzz=3333
al[j]=zzz 'value assigned is OK
'but the index value is not, max
Array al[index] is location al[50]
RBs
'responds with 1
229
RBt
Report Busy-Trajectory Status Bit
Related Command:
APPLICATION:
Report command
G
DESCRIPTION:
Report real time system trajectory in progress state
Z
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT VALUE:
Bt
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
Binary state
RANGE OF VALUES:
0 to 1
STATE VALUE 1:
Trajectory in progress
STATE VALUE 0:
No trajectory in progress
FIRMWARE VERSIONS: Versions 4.xx excluding HIRES Version 4.20
DETAILED DESCRIPTION:
RBt reports the state of the trajectory in progress flag, Bt. It returns a 1 if a a trajectory
is in progress and a 0 if not. It is followed by an ASCII carriage return. The equivalent
PRINT( ) command is PRINT(Bt,#13)
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.
Example:
OFF
RBt
A=555
V=777777
MV
G
RBt
WAIT=8000
T=7
MT
RBt
WAIT=8000
OFF
WAIT=8000
MF4
RBt
END
'free shaft, no trajectory calculation
'motor responds with 0
'Set to Mode Velocity
'Start trajectory calculation
'motor responds with 1
'Set to Mode Torque (no trajectory)
'motor responds with 0
'Mode Follow starts trajectory calculation
'motor responds with 1
230
RBu
Report Array Index Error Status Bit
Related Command:
APPLICATION:
Report command
Z
DESCRIPTION:
Report write array access error latch
Zu
EXECUTION:
Immediate
ZS
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT VALUE:
Bu
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
Binary state
RANGE OF VALUES:
0 to 1
STATE VALUE 1:
Illegal report array value event occurred STATE VALUE 0:
Illegal report array value event has not occurred
FIRMWARE VERSIONS: Versions 4.xx excluding HIRES Version 4.20
DETAILED DESCRIPTION:
RBu reports the state of the array index error flag, Bu. It returns a 1 if there was
any attempt to use an invalid index for an array variable and a 0 if not. It is followed
by an ASCII carriage return. The equivalent PRINT( ) command is PRINT(Bu,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through
the current active serial channel and not just the primary port. That is, if the report
command is received through channel 0, the response is sent through channel 0. If
the report command is received through channel 1, the response goes out channel 1.
Bu is reset by Z, ZS, and Zu.
Note, illegal array indexes always set Bs flag.
Example: (if the following is executed by a user program)
ZS
m=44444
Raw[m]
PRINT(#13,"Issued Raw[illegal]",#13)
PRINT("Bu") Rbu 'Bu=1. array index range error occurred PRINT("Bs") RBs 'Bs is 1, syntax occurred
PRINT(#13,"Issue ZS ",#13)
ZS
PRINT("Bu") RBu
PRINT("Bs",Bs) RBs
n=44444
s=aw[n] 'Illegal assignment behaves differently PRINT(#13,"Assigned aw[illegal]",#13)
'expression value is simply not assigned
PRINT("Bu") Rbu 'Bu is 0
PRINT("Bs") RBs 'Bs is 1
END
231
RBw
Report Encoder Wrap Status Bit
Related Command:
APPLICATION:
Report command
G
DESCRIPTION:
Report system state flag
Z
EXECUTION:
Immediate
CONDITIONAL TO:
Current motion mode
LIMITATIONS:
N/A
REPORT VALUE:
Bw
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
Binary state
RANGE OF VALUES:
0 to 1
STATE VALUE 1:
move
Encoder wrap around occurred during a position STATE VALUE 0:
Encoder wrap around event not recorded
FIRMWARE VERSIONS: Versions 4.xx excluding HIRES Version 4.20
DETAILED DESCRIPTION:
RBw reports the state of the position wrap around flag, Bw. In any motion mode
other than MV, MT or MD50, it returns a 1 if the encoder position wrapped and a 0 if
not. It is followed by an ASCII carriage return. The equivalent PRINT( ) command is
PRINT(Bw,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.
Example: (try the follow Bw test program, at no instance is Bw set)
ZS
O=2147480000 'place close to wrap around at 2147483647
T=33
MT
PRINT(#13,"VALUE OF @ = ") RP
PRINT(#13,"VALUE OF Bw = ") RBw
WAIT=20000
IF @P<0
PRINT(#13,"VALUE OF @ = ") RP
ENDIF
IF Bt
PRINT(#13,"STILL GOING OK!")
ENDIF
PRINT(#13,"VALUE OF Bw = ") RBw
END
232
RBx
Report Real-Time Index Pulse Logic State
Related Command:
APPLICATION:
Report command
Bi
DESCRIPTION:
Report real time index input state
Z
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT VALUE:
Bx
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
Binary state
RANGE OF VALUES:
0 to 1
STATE VALUE 1:
Index input presently contacted
STATE VALUE 0:
Index input not presently contacted
FIRMWARE VERSIONS: Versions 4.xx excluding HIRES Version 4.20
DETAILED DESCRIPTION:
RBx reports the state of the real time index flag, Bx. It returns a 1 if the current
position is coincident with the encoder index 0 if not. It is followed by an ASCII
carriage return. The equivalent PRINT( ) command is PRINT(Bx,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through
the current active serial channel and not just the primary port. That is, if the report
command is received through channel 0, the response is sent through channel 0. If
the report command is received through channel 1, the response goes out channel
1.
Example: (Fast Index Find , Report Bx)
MP
A=1000
V=4000000
D=2100
i=I
O=0
G
TWAIT
P=I
G
TWAIT
O=0
'set buffered velocity mode
'set fast acceleration
'set fast velocity
'set relative distance just beyond
'one shaft turn
'clear and arm index capture
'force change to position register
'start fast move
'wait till end of trajectory
'go back to index
'start motion
'wait until end of trajectory
'set origin at index
RBx
Output will be 1
233
RBy
Report Step/Direction Change Over-Run Status
Related Command:
APPLICATION:
Report command
N/A
DESCRIPTION:
event latch
Report system state step direction change overrun EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT VALUE:
By
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
Binary state
RANGE OF VALUES:
0 to 1
STATE VALUE 1:
Step direction overrun event occurred
STATE VALUE 0:
Step direction overrun event has not occurred
FIRMWARE VERSIONS: 4.40 only!
DETAILED DESCRIPTION:
RBy reports the state of the step and direction overrun flag, By. It returns a 1 if the
SmartMotor™ detected an invalid step, most likely due to an improper direction
change, and a 0 if not. It is followed by an ASCII carriage return. The equivalent
PRINT( ) command is PRINT(By,#13).
Note: IEEE standard states that the Direction bit should be looked at while the stp bit
is low. If th direction bit transitions at the exact same time as the stp bit the By bit will
be set.
234
RCHN
Report Serial Communications Status Flags
Related
Command:
CCHN
OCHN
RCHN0
RCHN1
APPLICATION:
Report command
DESCRIPTION:
Report serial communications status flags
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT VALUE:
Logical OR of CHN0 with CHN1
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
Binary states
RANGE OF VALUES:
0 to 15
TYPICAL VALUES:
0 to 15
DEFAULT VALUE:
0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
RCHN returns the value of the historical communications function CHN. The
read only function CHN holds binary coded historical error information about the
two serial channels on the Smartmotor™. It gives the 4 bit status of either serial
port channels 0 or 1, broken down as follows:
CHN bit 0 = 1 if either receive buffer has overflowed
CHN bit 1 = 1 if a framing error occurred on either channel
CHN bit 2 = 1 if a scan error occurred on either channel
CHN bit 3 = 1 if a parity error occurred on either channel
No leading zeros are transmitted, and it is followed by an ASCII carriage return.
It is followed by an ASCII carriage return. The equivalent PRINT( ) command is
PRINT(CHN,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through
the current active serial channel and not just the primary port. That is, if the
report command is received through channel 0, the response is sent through
channel 0. If the report command is received through channel 1, the response
goes out channel 1.
Example:
RCHN
'test all command input combined error flags
'error occurred in value return is non zero
235
RCHN0
Report Primary Serial Port Status
Related Command:
APPLICATION:
Report command
CCHN
DESCRIPTION:
flags
Report serial communications channel 0 status EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT VALUE:
CHN0
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
Binary states
RANGE OF VALUES:
0 to 15
TYPICAL VALUES:
0 to 15
DEFAULT VALUE:
0
OCHN
RCHN
RCHN1
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
RCHN0 returns the value of the historical communications function CHN0. The read
only function CHN0 holds binary coded historical error information about the two serial
channels on the SmartMotor™. It gives the 4 bit status of either serial port channels
0 or 1, broken down as follows:
CHN0 bit 0 = 1 if either receive buffer has overflowed
CHN0 bit 1 = 1 if a framing error occurred on either channel
CHN0 bit 2 = 1 if a scan error occurred on either channel
CHN0 bit 3 = 1 if a parity error occurred on either channel
No leading zeros are transmitted, and it is followed by an ASCII carriage return.
It is followed by an ASCII carriage return. The equivalent PRINT( ) command is
PRINT(CHN0,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.
236
RCHN0 (continued)
Report Primary Serial Port Status
Related
Command:
CCHN
OCHN
RCHN
RCHN1
Example: (download and run the following)
END
C5
'test individual flags
IF CHN0&4
PRINT("CHANNEL 0 - scan error occurred")
ELSEIF CHN0&1
PRINT("CHANNEL 0 - buffer overflow")
ENDIF
PRINT(#13)
RETURN
C10
'test all flags
IF CHN0
PRINT("CHANNEL 0 SERIAL ERROR !!")
ENDIF
PRINT(#13)
RETURN
Then from terminal type RKK GOSUB5.
237
RCHN1
Report Secondary Serial Port Status
Related Command:
APPLICATION:
Report command
CCHN
DESCRIPTION:
flags
Report serial communications channel 1 status EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT VALUE:
CHN1
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
Binary states
RANGE OF VALUES:
0 to 15
TYPICAL VALUES:
0 to 15
DEFAULT VALUE:
0
OCHN
RCHN0
RCHN1
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
RCHN1 returns the value of the historical communications function CHN1. The read
only function CHN1 holds binary coded historical error information about the two serial
channels on the SmartMotor™. It gives the 4 bit status of either serial port channels
0 or 1, broken down as follows:
CHN1 bit 0 = 1 if either receive buffer has overflowed
CHN1 bit 1 = 1 if a framing error occurred on either channel
CHN1 bit 2 = 1 if a scan error occurred on either channel
CHN1 bit 3 = 1 if a parity error occurred on either channel
No leading zeros are transmitted, and it is followed by an ASCII carriage return.
It is followed by an ASCII carriage return. The equivalent PRINT( ) command is
PRINT(CHN1,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.
238
RCHN1 (continued)
Report Secondary Serial Port Status
Related
Command:
CCHN
OCHN
RCHN0
RCHN1
Example: (download and run the following)
END
C5
'test individual flags
IF CHN1&4
PRINT1("CHANNEL 1 - scan error occurred")
ELSEIF CHN1&1
PRINT1("CHANNEL 1 - buffer overflow")
ENDIF
PRINT1(#13)
RETURN
C10
'test all flags
IF CHN1
PRINT1("CHANNEL 1 SERIAL ERROR !!")
ENDIF
PRINT1(#13)
RETURN
Then from terminal type RKK GOSUB5
239
RCS
Report Primary Serial Port Checksum
Related Command:
APPLICATION:
Report command
RCS1
DESCRIPTION:
Report channel 0 serial receive checksum
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT VALUE:
Checksum for channel 0 since prior RCS
LANGUAGE ACCESS:
N/A
READ/WRITE:
N/A
UNITS:
ASCII checksum number
RANGE OF VALUES:
0 to 255
TYPICAL VALUES:
0 to 255
DEFAULT VALUE:
Non zero
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
RCS reports the accumulated channel 0 checksum value to the primary serial channel.
No leading zeros are transmitted, and it is followed by an ASCII carriage return. It is
followed by an ASCII carriage return. There is no equivalent PRINT( ) command.
The RCS checksum value is the simple 8 bit sum of all the ASCII bytes received by
channel 0 serial channel. RCS resets the channel 0 checksum to zero after reporting
the current value. See the ASCII Table in the appendix to map character to ASCII value.
There is no CS command or function. It cannot be printed or assign to a variable.
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.
Example: (using the SMI terminal screen)
First noting ASCII Space = 32 ASCII A = 65
ASCII 1 = 49
ASCII C = 67
ASCII 2 = 50
ASCII R = 82
ASCII 3 = 51
ASCII S = 83
ASCII "=" is 61 and SMI issues a space following a command
Z
RCS
A=112
RCS
A=113
RCS
'response is 8 = Mod 8
'[82+67+83+32]=264-256=8
'response is 58 = Mod 8
'[65+61+49+49+50+32+82+67+83+32]=570-512= 58
'response is 59, which is as expected,
'one more than before.
240
RCS1
Report Secondary Serial Port Checksum
Related Command:
APPLICATION:
Report command
RCS
DESCRIPTION:
Report channel 1 serial receive checksum
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT VALUE:
Checksum for channel 0 since prior RCS1
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
Number
RANGE OF VALUES:
0 to 255
TYPICAL VALUES:
0 to 255
DEFAULT VALUE:
Non zero
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
RCS1 reports the accumulated channel 1 checksum value to the primary serial channel.
No leading zeros are transmitted, and it is followed by an ASCII carriage return. It is
followed by an ASCII carriage return. There is no equivalent PRINT( ) command.
There is no CS1 command or function. You cannot print or assign a variable to CS1.
The RCS1 checksum value is the simple 8 bit sum of all the ASCII bytes received
by the channel 1 serial channel. RCS1 resets the channel 1 checksum to zero after
reporting the current value. See the ASCII Table appendice to map character to ASCII
value.
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.
Example: (see example RCS for additional explanation)
Z
RCS1
A=112
RCS
A=113
RCS1
'response is 8 = Mod 8
'[82+67+83+32]=264-256=8
'response is 58 = Mod 8
'[65+61+49+49+50+32+82+67+83+32]=570-512= 58
'response is 59, which is as expected,
'one more than before.
241
RCTR
Report Secondary Encoder Counter
Related Command:
APPLICATION:
Report command
CTR
DESCRIPTION:
Report external encoder counter value
ENC0
EXECUTION:
Updated each PID sample
ENC1
CONDITIONAL TO:
External encoder signal available
MC
LIMITATIONS:
N/A
MF0
REPORT VALUE:
CTR
MFR
READ/WRITE:
N/A
MS0
LANGUAGE ACCESS:
N/A
MSR
UNITS:
Encoder counts or step pulses
RANGE OF VALUES:
-2147483648 to 2147483647
TYPICAL VALUES:
-2147483648 to 2147483647
DEFAULT VALUE:
0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
RCTR reports the signed 32 bit value of the secondary encoder counter
CTR.
No leading zeros are transmitted and it is followed by an ASCII
carriage return. The equivalent PRINT( ) command is PRINT(CTR,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through
the current active serial channel and not just the primary port. That is, if the report
command is received through channel 0, the response is sent through channel 0. If
the report command is received through channel 1, the response goes out channel 1.
Example:
MF0
RCTR
'responds with 0
Now provide external encoder input change.
RCTR
MF4
RCTR
'response is non zero
'CTR reset to zero
'response is 0
242
RD
Report Commanded Relative Distance Value
Related
Command:
A
E
G
P
MFR
MP
APPLICATION:
Report command
DESCRIPTION:
Report buffered relative move distance
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT VALUE:
D
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
Encoder counts
RANGE OF VALUES: -2147483648 to 2147483647
TYPICAL VALUES: -2147483648 to 2147483647
DEFAULT VALUE:
0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
RD reports the value of the buffered relative move distance D. No leading zeroes
are transmitted and it is followed by an ASCII carriage return. It is followed by an
ASCII carriage return. The equivalent PRINT( ) command is PRINT(D,#13)
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through
the current active serial channel and not just the primary port. That is, if the
report command is received through channel 0, the response is sent through
channel 0. If the report command is received through channel 1, the response
goes out channel 1.
Example:
O=0
MP
A=222
V=44444
D=-7777
G
D=2266
RD
'set up a move
'first buffered D value to be used
'buffered D value
'response is 2266
243
RDIN{port}{channel}
Report Expanded Input Logic Status
Related Command:
APPLICATION:
Report command
DOUT
DESCRIPTION:
byte
Fetch and report Anilink digital peripheral input EXECUTION:
Immediate byte read from IIC link
CONDITIONAL TO:
Peripheral input attached to motor
LIMITATIONS:
Returns 255 if port and channel does not exist
REPORT VALUE:
DIN{port}{channel}
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
Number
RANGE OF VALUES:
0 to 255
TYPICAL VALUES:
0 to 255
DEFAULT VALUE:
255
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
RDIN{address}{channel} Report the unsigned 8 bit data value from the specified
Anilink digital peripheral and reports it to the primary channel. The parameters address
and channel refer to address and input channel, respectively, of the expansion card.
No leading zeros are transmitted, and an ASCII carriage return terminates the
transmitted data value. The equivalent PRINT( ) command is PRINT(DIN{address}
{channel},#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.
The command is most commonly used with an Animatics DIO-100 digital I/O module
or an AniLink thumb wheel module.
Address may be A, B, C, D, E, F, G, or H, which is defined by jumper settings on
the corresponding peripheral. The range of valid channels is 0 through 63, and is
determined by the hardware.
Example:
PRINT("DISPLAY THUMBWHEEL C INPUTS",#13,#13)
RDINC0
'report wheel C, digit 0
RDINC1
'report wheel C, digit 1
RDINC2
'report wheel C, digit 2
Example:
RDINK0
RDINA66
RDINC
'invalid port
'invalid channel
244
RE
Report Maximum Allowable Position Error
Related Command:
APPLICATION:
Report command
A
DESCRIPTION:
Report maximum allowable position error
E
EXECUTION:
Immediate
G
CONDITIONAL TO:
N/A
P
LIMITATIONS:
N/A
MP
REPORT VALUE:
E
MV
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
Encoder counts
RANGE OF VALUES: -32768 to 32767
TYPICAL VALUES: -32768 to 32767
DEFAULT VALUE:
1000
V
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
RE reports the value of the allowable following error E. No leading zeros are transmitted
and it is followed by an ASCII carriage return. The equivalent PRINT( ) command is
PRINT(E,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.
For normal operation E is greater than or equal to zero. If E is assigned a negative
value a position error is immediately generated.
Example:
I
A=554
V=666666
MV
E=300
G
WAIT=4000
RE
E=-E
RE
'set up a buffered velocity move
'go
'response is 1000
'response is NOT -1000
245
RETURN
Return-From-Subroutine Program Flow Control
Related
Command:
C
END
GOSUB
RUN
RUN?
APPLICATION:
Program execution control
DESCRIPTION:
Return subroutine execution to next program
statement following present subroutine call
EXECUTION:
Immediate
CONDITIONAL TO:
A prior program statement GOSUBn was
performed
LIMITATIONS:
Prior to version 4.00 only total of 6 WHILE and GOSUB permitted at any one time. Version 4.00 supports up to 6 GOSUBS permitted at any one time.
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS: N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
Subroutines
present a great
opportunity to
partition and
organize your
code.
The RETURN command is used to terminate a subroutine within a user program.
Upon execution of the RETURN, program execution takes up immediately after the
GOSUB that invoked the subroutine call. RETURN is normally executed from within
the user program, but with care, the HOST terminal may also be used to issue a
RETURN instruction.
The RETURN program locations are stored in memory called a stack. The stack
depth is 6. Do not use more than 6 nested subroutines; if the the stack overflows,
the program may will crash.
Example:
PRINT("WAIT FOR HOST TERMINAL COMMANDS",#13)
GOSUB10
'start of subroutine 10
PRINT("PROGRAM RECEIVED EXTERNAL RETURN")
END
C10
'start of subroutine 10
WHILE 1
'wait for terminal commands
WAIT=100
'report terminal errors
IF Bs
PRINT(#13,"SCAN ERROR",#13)
Zs
ENDIF
LOOP
RETURN 'return to line just below GOSUB10 command
246
RI
Report Last-Captured Index Pulse Location
Related Command:
APPLICATION:
Report command
Bi
DESCRIPTION:
Report latched index position
Bx
EXECUTION:
Immediate
CONDITIONAL TO:
Index capture
Rbi
LIMITATIONS:
N/A
RBx
REPORT VALUE:
I
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
Encoder counts
RANGE OF VALUES:
-2147483648 to 2147483647
TYPICAL VALUES:
-2147483648 to 2147483647
DEFAULT VALUE:
0
I
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
RI reports the signed value of the latest captured index. No leading zeros are
transmitted and it is followed by an ASCII carriage return. The equivalent PRINT( )
command is PRINT(I,#13).
If system flag Bi is 1 a "new" Index value is available. Issuing RI will reset Bi to zero.
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.
Example: (Notice PRINT outputs from the following program)
A=10
'buffer a slow velocity mode move
V=4000
MV
E=100
'small error band
G
'go
WHILE Bt
RBi
IF Bi
PRINT("NEW INDEX VALUE ")
ELSE
PRINT("OLD INDEX VALUE ")
ENDIF
RI
WAIT=400
LOOP
END
247
RKA
Report Acceleration-Feed-Forward Gain Tuning Value
Related Command:
APPLICATION:
Report command
F
DESCRIPTION:
Report buffered acceleration feed forward gain
KA
EXECUTION:
Immediate
KV
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT VALUE:
KA
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
PID coefficient
RANGE OF VALUES:
0 to 32767
TYPICAL VALUES:
0
DEFAULT VALUE:
0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
RKA reports the signed value of the buffered PID acceleration feed forward gain value
KA. No leading zeros are transmitted, and it is followed by an ASCII carriage return.
The equivalent PRINT( ) command is PRINT(KA,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.
The KA gain factor is only applied in position (MP) and velocity (MV) moves. Unlike the
KV gain, the effectiveness of KA is difficult to verify. Future implementation will most
likely be modified. The buffered KA value is not effective until a load filter command
F is issued.
RKA
'Report present buffered KA
248
RKD
Report Derivative-Gain Tuning Value
Related Command:
APPLICATION:
Report command
F
DESCRIPTION:
Report buffered differential gain
KI
EXECUTION:
Immediate
KL
CONDITIONAL TO:
N/A
KP
LIMITATIONS:
N/A
REPORT VALUE:
KD
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
PID coefficient
RANGE OF VALUES:
0 to 32767
TYPICAL VALUES:
0
DEFAULT VALUE:
0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
RKD reports the signed value of the buffered PID derivative gain value KD. No leading
zeros are transmitted, and it is followed by an ASCII carriage return. The equivalent
PRINT( ) command is PRINT(KD,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.
RKD
'Report present buffered KD
249
RKG
Report Gravitational Compensation Gain Tuning Value
Related Command:
APPLICATION:
Report command
F
DESCRIPTION:
Report buffered gravitational gain
KGON
EXECUTION:
Immediate
KGOFF
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT VALUE:
KD
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
PID coefficient
RANGE OF VALUES:
-8388608 to 8388607
TYPICAL VALUES:
0
DEFAULT VALUE:
0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
RKG reports the signed value of the buffered PID gravity constant KG. No leading
zeros are transmitted, and it is followed by an ASCII carriage return. The equivalent
PRINT( ) command is PRINT(KG,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.
RKG
'Report present buffered KG
250
RKI
Report Integral-Gain Tuning Value
Related Command:
APPLICATION:
Report command
F
DESCRIPTION:
Report buffered integral gain
KD
EXECUTION:
Immediate
KI
CONDITIONAL TO:
Integral limited by KL term
KL
LIMITATIONS:
N/A
KP
REPORT VALUE:
KI
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
PID coefficient
RANGE OF VALUES:
0 to 32767
TYPICAL VALUES:
0 to 20
DEFAULT VALUE:
Motor size dependant
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
RKI reports the signed value of the buffered PID integral gain value KI. No leading
zeros are transmitted, and it is followed by an ASCII carriage return. The equivalent
PRINT( ) command is PRINT(KI,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.
RKI
'Report present buffered KI
251
RKP
Report Proportional-Gain Tuning Value
Related Command:
APPLICATION:
Report command
F
DESCRIPTION:
Report buffered proportional gain
KD
EXECUTION:
Immediate
KI
CONDITIONAL TO:
N/A
KL
LIMITATIONS:
N/A
KP
REPORT VALUE:
KP
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
PID coefficient
RANGE OF VALUES:
0 to 32767
TYPICAL VALUES:
40 to 400
DEFAULT VALUE:
Motor size dependent
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
RKP reports the signed value of the buffered PID proportional gain value KP. No
leading zeros are transmitted, and it is followed by an ASCII carriage return. The
equivalent PRINT( ) command is PRINT(KP,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.
RKP
'Report present buffered KP
252
RKS
Report Inertial Time Constant Tuning Value
Related Command:
APPLICATION:
Report command
F
DESCRIPTION:
Report buffered inertial constant
KD
EXECUTION:
Immediate
KI
CONDITIONAL TO:
N/A
KL
LIMITATIONS:
N/A
KP
REPORT VALUE:
KS
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
PID coefficient
RANGE OF VALUES:
0 to 255
TYPICAL VALUES:
1
DEFAULT VALUE:
1
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
RKS reports the signed value of the buffered PID sample rate modifier KS. No leading
zeros are transmitted, and it is followed by an ASCII carriage return. The equivalent
PRINT( ) command is PRINT(KS,#13). A value of KS=0 is functionally equivalent to
a KS=1.
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.
RKS
'Report present buffered KS
253
RKV
Report Velocity-Feed-Forward Tuning Value
Related Command:
APPLICATION:
Report command
F
DESCRIPTION:
Report buffered velocity feed forward gain
KA
EXECUTION:
Immediate
KV
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT VALUE:
KV
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
PID coefficient
RANGE OF VALUES:
0 to 32767
TYPICAL VALUES:
0 to 400
DEFAULT VALUE:
0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
RKV reports the signed value of the buffered PID velocity feed forward value KV.
No leading zeros are transmitted, and it is followed by an ASCII carriage return. The
equivalent PRINT( ) command is PRINT(KV,#13)
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.
KV is very useful to fine tune long constant velocity trajectory profiles. Changes in KV
are not updated until the load PID filter F command is issued.
RKV
'Report present buffered KV
254
RP
Report Real Time Position
Related Command:
APPLICATION:
Report command
@P
DESCRIPTION:
Report current position
@E
EXECUTION:
Next PID sample
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT VALUE:
@P
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
Encoder counts
RANGE OF VALUES:
-2147483648 to 2147483647
TYPICAL VALUES:
-2147483648 to 2147483647
DEFAULT VALUE:
0
P
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
RP is the fundamental command to position data. RP reports the real time value of the
primary encoder counter @P. No leading zeros are transmitted and it is followed by
an ASCII carriage return. The equivalent PRINT( ) command is PRINT(@P,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.
Do not confuse RP with PRINT(P). RP returns the present position, whereas PRINT(P)
returns the latest P=expression buffered requested absolute target position value.
Notice also, ENC1 changes the encoder position signal source from the default internal
encoder to the external encoder inputs.
RP
'Report present shaft position
255
RPE
Report Real-Time Position Error
Related Command:
APPLICATION:
Report command
E
DESCRIPTION:
Report position error
G
EXECUTION:
Next PID sample
CONDITIONAL TO:
Servo active
LIMITATIONS:
Torque mode has zero position error
REPORT VALUE:
@PE
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
Encoder counts
RANGE OF VALUES:
-E to E
TYPICAL VALUES:
-E to E
DEFAULT VALUE:
0
@PE
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
RPE reports the signed value of the instantaneous position error @PE. No leading
zeros are transmitted and it is followed by an ASCII carriage return. The equivalent
PRINT( ) command is PRINT(@PE,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.
256
RPE (continued)
Report Real-Time Position Error
Related
Command:
E
G
@PE
Example: (measure motion settling time)
O=0 'set current shaft position as origin
P=20000
'set target position
V=1000000
'set velocity
A=100
'set acceleration
G
'Go/start motion
WHILE Bt
LOOP
'wait for trajectory complete
a=CLK
'read the clock into variable '"a". Clock measured in servo 'samples 4069 servo samples =1second.
GOSUB5
'observe settling motion
END
C5
'subroutine label 5
IF @PE GOTO10 ENDIF 'de-bounce position error
IF @PE GOTO10 ENDIF
IF @PE GOTO10 ENDIF
IF @PE GOTO10 ENDIF
t=CLK-a
'Store clock into variable t
'measure settling time
PRINT(#13,"DECLARED AS SETTLED")
PRINT(#13,"SETTLING TIME ")
GOSUB20 PRINT(".")
GOSUB20 PRINT(" seconds")
RETURN
C10
'subroutine label 10
PRINT(#13,"POSITION ERROR ")
RPE
'report position error
GOTO5
C20
'Subroutine label 20.
'perform long divide
s=t/4069
PRINT(s)
p=s*4069
r=t-p
t=10*r
RETURN
END
257
RS
Report 8-Bit System Status Byte
Related Command:
APPLICATION:
Report command
RPW
DESCRIPTION:
Report motor status bits
RW
EXECUTION: Immediate
CONDITIONAL TO:
N//A
LIMITATIONS:
N/A
REPORT VALUE:
S
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
8 motor status bits
RANGE OF VALUES:
0 to 255
TYPICAL VALUES:
0 to 255
DEFAULT VALUE:
128 =- Motor OFF
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
RS reports the unsigned value of the present SmartMotor™ status byte S. No leading
zeros are transmitted and it is followed by an ASCII carriage return. The equivalent
PRINT( ) command is PRINT(S,#13). As does RW, RS resets the Bh, Bl, and Br flag
values to zero.
A summary of S, the motor status byte, is:
Bo
Motor OFF
Status flag 7
Bh
Excessive temperature
Status flag 6 reset by RS, RW
Be
Excessive position error
Status flag 5
Bw
Encoder wrap around
Status flag 4
Bi
Index report available
Status flag 3 reset by RI
Bl
Historical negative limit
Status flag 2 reset by RW, RS
Br
Historical positive limit
Status flag 1 reset by RW, RS
Bt Trajectory in progress
Status flag 0
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.
258
RS (continued)
Report 8-Bit System Status Byte
Related
Command:
RPW
RW
Example:
O=10000
'Set current shaft position
'as position 10000, set up move
P=0
A=222
V=33333
MP
G
'go
WHILE Bt
GOSUB5 'monitor for status change
LOOP
PRINT(#13,"FINAL REPORT",#13)
GOSUB5
'final report
END
C5
'subroutine 5
PRINT(#13,"STATUS BYTE VALUE ") RS
IF S&32
'logical AND status byte "S"
'and position error status bit (0010 0000)
PRINT(#13,"POSITION ERROR !!!")
ENDIF
IF S&16
'logical AND status byte "S"
'and wraparound status bit (0001 0000)
PRINT(#13,"WRAP AROUND !!!")
ENDIF
IF S&1
'logical AND status byte "S"
'and trajectory error status bit (0000 0001)
PRINT(#13,"TRAJECTORY IN PROGRESS")
ENDIF
RETURN
259
RS2
Restore Port G normal control
Related Command:
APPLICATION:
I/O Control
CCHN
DESCRIPTION:
Restore PIN G I/O to default
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT MODE:
RS-232
OCCHN
RS4
FIRMWARE VERSIONS: 3.4x and higher
DETAILED DESCRIPTION:
The RS2 puts the SmartMotor™ primary serial port into its default operating mode,
RS232. The command is commonly used to put the primary serial port into RS232
mode after being previously put into RS485 mode with RS4. Among other things, RS4
dedicates the I/O pin G to make the primary full-duplex RS232 channel a half-duplex
RS485 channel. RS2 frees the I/O G pin for general purpose use.
RS2 is also an argument in the OCHN command, used to put the target serial port in
RS232 mode.
260
RS4
Set Port G to RS-485 R/W Control Pin
Related
Command:
CCHN
ECHO
ECHO_OFF
OCCHN
RS2
APPLICATION:
I/O Control
DESCRIPTION:
PIN G is set to support RS485
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
ECHO_OFF
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT MODE:
RS232
FIRMWARE VERSIONS: 3.4x and higher
DETAILED DESCRIPTION:
The RS4 command puts the primary serial port into RS485 mode. This allows
you to use a RS232 to RS485 adapter, like the Animatics RS485 or RS485-ISO,
on the primary serial port. As RS485 is half duplex and RS232 is full duplex,
RS4 dedicates the I/O pin G to control the direction of RS485 data. This is
required for use with Animatics RS232 to RS485 converters like the RS485 and
RS485-ISO. When using one of these adapters, you must ensure that the I/O
G pin is configured as a TTL output with the UGO command before the channel
is opened.
Note: RS4 should only be used when the RS485ISO
communications adapter is being used.
261
RSP
Report CPU speed and Firmware Revision
Related Command:
APPLICATION:
Report command
PID1
DESCRIPTION:
Report PID sample period and Firmware Revision
PID2
EXECUTION:
Immediate
PID4
CONDITIONAL TO:
N/A
PID8
LIMITATIONS:
N/A
REPORT STRING:
ASCII alphanumeric string
READ/WRITE:
Read only
LANGUAGE ACCESS:
N/A
UNITS:
ASCII string
RANGE OF VALUES:
Firmware version dependant
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The report command RSP returns a five digit value of the PID sample period,
followed by an ASCII string code representing firmware version. For versions
4.0 and higher, this basic sample rate is associated with the command PID1. The
following is a table of firmware releases and RSP responses at the time of this
printing:
The PID sample period, in microseconds, is the five digit number/100.
All version 4XX series motors respond in t form of:
24576/(firmware revision)
Example when sent to anSM2315D with 4.40c firmware.:
RSP
24576/440C
262
RT
Report Commanded Torque Value
Related Command:
APPLICATION:
Report command
MT
DESCRIPTION:
Report torque request
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT VALUE:
T
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
Encoder counts
RANGE OF VALUES:
-1023 to 1023
TYPICAL VALUES:
-1000 to 1000
DEFAULT VALUE:
1000
FIRMWARE VERSIONS: <v4.95
DETAILED DESCRIPTION:
RT reports the value of the mode torque output value T. No leading zeros are
transmitted and it is followed by an ASCII carriage return. The equivalent PRINT( )
command is PRINT(T,#13).
Example: (this demonstrates the Severe Warning label in the margin)
SEVERE
WARNING:
If MT follows
MD50, issue OFF
and T=expression
before the MT
command.
T=33
'Test only with open shaft, 'setting torque value
MT
'set torque mode
WAIT=4000
'wait about 1 second
PRINT("TORQE VALUE ")
RT
'report torque requested
MD50 'use analog voltage input to control torque 'control mode. Potentiometer placed on I/O pin A. 'Voltage of 0V equates to t=-1023
'and 5 V equates to T=1023
WAIT=4000
PRINT("TORQE VALUE ") RT
WAIT=4000
MT
'Effect: torque request of 33
'has been destroyed
PRINT("ISSUED MT")
WAIT=4000
T=33
263
RUN
Start/Re-Start Program Execution
Related Command:
APPLICATION:
Program execution control
END
DESCRIPTION:
initial command
Execute user EPPROM program beginning at EXECUTION:
Immediate
CONDITIONAL TO:
No effect if no EEPROM program exists
LIMITATIONS:
Valid EEPROM stored program commands
REPORT COMMAND:
UP and UPLOAD
READ/WRITE:
EEPROM source
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT:
RUN at power recycle, or software reset
RUN?
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The RUN command will start a stored (downloaded) user EEPROM program.
Issuing a RUN command does not reset any motion, variable or I/O states.
It does reset the program execution pointer (Stack Pointer) to zero, and resets the
internal GOSUB stack.
To test your program with a truly "fresh" start use the Z command to completely reset
the motor as if it were newly powered up.
If a program exists within the SmartMotor™ user EEPROM it will automatically be
run every time the motor is turned on.
To prevent this, make RUN? the first program statement of your user program, or if
you wish, place RUN? anywhere in your program. Upon encountering a RUN? the
program interpreter, execution machine, recalls whether or not the RUN command
was previously issued, and if RUN was not issued, program execution ceases. This
is similar to to encountering an END statement, except that a subsequent RUN command causes the program to take up after the RUN? statement.
Version 4 SmartMotors provide an abort facility to prevent auto-execution of stored
program. In version 4.0, 4.10 through 4.13 and 4.2 SmartMotors, the stored program
is aborted if any recognizable serial character is received during the first 500 mil-
264
RUN (continued)
Start/Re-Start Program Execution
Related
Command:
END
RUN?
liseconds after power up or reset. In versions 4.15, 4.75 and onwards, the
stored program is aborted if the serial character string "EE", or subset "EE"
of "EEEEEEEEEEEE …." during the first 500 milliseconds after power up or
reset.
Example: (user program with possible halt)
PRINT(" LOADING TRAJECTORY")
A=100
V=1000000
P=1000000
MP
PRINT(" Type RUN to start",#13
'Prompt user for "RUN" command
RUN?
'Run command requested. Stop program 'execution until "RUN" command is received.
PRINT(" EXECUTING TRAJECTORY")
G
END
265
RUN?
Halt Program Execution until RUN Received
APPLICATION:
Program execution control
END
DESCRIPTION:
RUN
Halt execution of user program commenced without
RUN
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
Valid via serial communication or program read
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT:
Halts programs automatically started at power up
Related
Command:
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The program will
only begin when
explicitly told to
run by a "RUN"
command sent by
a host.
If a program exists within the SmartMotor™ user EEPROM it will automatically run
every time the motor is turned on. To prevent this make RUN? the first program
statement of the user program, or place RUN? anywhere in the program. When
RUN? is encountered the program interpreter, execution machine, recalls whether or
not the RUN command was previously issued, and if RUN was not issued, program
execution ceases. This is similar to to encountering an END statement, except that
a subsequent RUN command causes the program to take up after the RUN? statement.
RUN? does not terminate the present motion mode or trajectory, change motion
parameters such as E, A, V, and KP, or alter the present value of the user variables.
RUN? may be issued externally through the serial channel. It can distinguish motors
which have suffered a power reset or software reset Z from those motors in a daisy
chain which have not performed a reset..
Example:
GOSUB1 GOSUB2
'always execute subroutine 1 upon any reset
'always execute subroutine 2 upon any reset
PRINT("Type RUN to start",#13)
'Prompt user for
'RUN command
RUN?
'Halt program execution until
'RUN command is received
'conditionally execute subroutine 3
GOSUB3
END
266
RV
Report Current Trajectory Velocity
Related
Command:
@V
V
APPLICATION:
Report command
DESCRIPTION:
Report current velocity
EXECUTION:
Next PID sample
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT VALUE:
@V
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
Scaled encoder counts/sample
RANGE OF VALUES:
-2147483648 to 2147483647
TYPICAL VALUES:
-3200000 to 3200000
DEFAULT VALUE:
0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
RV reports the signed 32 bit value of the current trajectory velocity @V. It is not the
actual velocity, but what the velocity is supposed to be at the time the RV command
was executed. No leading zeros are transmitted and it is followed by an ASCII carriage return. The equivalent PRINT( ) command is PRINT(@V,#13).
Example: (monitor acceleration ramp)
O=0
'set up a velocity move
E=4000
A=10
v=4000000
V=v
MV
G
WHILE @V<v
'monitor velocity while IF Be 'accelerating
BREAK 'exit if position error
ENDIF
GOSUB5
'report trajectory velocity
LOOP
GOSUB5
'final report
END
C5
PRINT(" VELOCITY ")
RV
'report trajectory
WAIT=4000
'commanded velocity request
RETURN
267
RW
Report System 16-Bit Status Word
Related Command:
APPLICATION:
Report command
RPW
DESCRIPTION:
Report extended motor status flags
EXECUTION:
Immediate
RW
Whoops, some
more of those pesky
asterisks that don't
seem
to go anywhere
CONDITIONAL TO: N/A
LIMITATIONS:
N/A
REPORT VALUE:
N/A
READ/WRITE:
Report only
LANGUAGE ACCESS:
None
UNITS:
16 motor status bits
RANGE OF VALUES:
**
TYPICAL VALUES: **
DEFAULT VALUE:
128 = Motor OFF
FIRMWARE VERSIONS: 4.00 and higher DETAILED DESCRIPTION:
RW reports the unsigned value of the present SmartMotor™ status word W. No leading
zeros are transmitted and it is followed by an ASCII carriage return. The equivalent
PRINT( ) command is PRINT(W,#13). As does RS, RW resets the Bh, Bl, and Br flag
values to zero.
A summary of W, the motor status word, is:
Bk
Ba
Bs Bu Bd Bm
Bp Bx Bo
Bh
Be
Bw Bi Bl Br Bt EEPROM checksum failure
AMPS over current latch
Syntax error
Array index range error
Math overflow error
Real time negative limit active
Real time positive limit active
Real time index report
Motor OFF
Excessive temperature
Excessive Position error
Position wrap around
Historical index report latched
Historical negative limit
Historical positive limit
Trajectory in progress
bit 15
bit 14
bit 13
bit 12
bit 11
bit 10
bit 9
bit 8
bit 7
bit 6 reset by RPW, RW, RS
bit 5
bit 4
bit 3 reset by RI, bit 3
bit 2 reset by RPW, RW, RS
bit 1 reset by RPW, RW, RS
bit 0
If RW is reported the historical limit and overheat flags are immediately reset after
the request command operation is completed. The value W cannot be assigned to a
variable.
268
S (as command)
Stop Motion Quickly
Related Command:
APPLICATION: Motion mode control
A
DESCRIPTION: Abruptly stop motor motion
D
EXECUTION:
Immediate
E
CONDITIONAL TO:
G
LIMITATIONS:
MP
MV
P
X
E value
If position error exceeds E, motor will shut off and coast to a stop
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: N/A
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
Caution
Careful use of
the S command
is vital.
The S command causes an emergency stop. It does not turn the motor off, rather it
sets the target position at the current position. The resulting commanded motion will
be very abrupt. In some cases it will be so abrupt that the amplifier can over current
or the servo error can exceed the maximum allowable error set by the E command.
This will, in turn, cause the motor to be turned off and coast. Consequently, careful
use of the S command is vital. Following S, the motion mode is position mode, unless
a position error is created, regardless of the mode it was in before. The response to
RMODE will be "R." If the motion that was stopped was a Mode Position move, the
previous target P or D values are still retained.
Example:
A=100
V=1000000
P=5000000
G
WHILE Bt
IF UAI 'E-stop if PIN A high
S 'Stop Abruptly
PRINT("Emergency Stop")
ENDIF
LOOP
269
S (as status byte)
8-Bit System Status Byte
Related Command:
APPLICATION: Program execution control
RPW
DESCRIPTION: Fetch primary motor status flags
RS
EXECUTION:
Immediate
RW
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
RS
READ/WRITE:
Read only
LANGUAGE ACCESS:
Expressions and conditional testing
UNITS:
Status byte
RANGE OF VALUES:
0 to 255
TYPICAL VALUES: 0 to 255
DEFAULT VALUE: 128= Motor OFF
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
S is the value of the primary motor status byte, composed of 8 system flags states.
The individual meaning of each flag is as follows:
Bo
Motor OFF
bit 7
Bh
Excessive temperature
bit 6 reset by access S
Be
Excessive position error
bit 5
Bw
Encoder wrap around
bit 4
Bi
Index report available
bit 3
reset by access I
Bl
Historical negative limit
bit 2
reset by access S
Br
Historical positive limit
bit 1
reset by access S
Bt
Trajectory in progress
bit 0
If S is reported, accessed or assigned, the historical bits, Bl and Br, are reset after
the requested operation is completed. S may be monitored or periodically tested to
check for unexpected conditions. If you are going to test S for various flag values,
read S into a variable to avoid losing historical data and states. Since S reflects system states it is read only; S=expression is invalid; it will be ignored but it will cause
a syntax error and set the extended system flag Bs.
270
S (as status byte) (continued)
8-Bit System Status Byte
Related
Command:
RPW
RS
RW
Example:
O=10000
'set up move
P=0
A=222
V=33333
MP
G
'go
WHILE Bt
GOSUB5 'monitor for status change
LOOP
PRINT(#13," FINAL REPORT",#13)
GOSUB5
'final report
END
C5
ss=S
'READ VALUE ONCE
'to record historical latches 'before reset !
PRINT(#13," STATUS BYTE VALUE ", ss)
IF ss&32
PRINT(#13," POSITION ERROR !!!")
ENDIF
IF ss&16
PRINT(#13," WRAP AROUND !!!")
ENDIF
IF ss&1
PRINT(#13," TRAJECTORY IN PROGRESS")
ENDIF
RETURN
271
SADDR#
Related
Command:
ADDR
Set Motor Address
APPLICATION:
Serial communication control
DESCRIPTION:
Set motor address
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
Expression and conditional testing via ADDR
UNITS:
Number
RANGE OF VALUES:
1 to 120
TYPICAL VALUES:
1 to 4
DEFAULT VALUE:
0= global address
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The SADDR{value} command is used to set the unit address of a SmartMotor™,
where "value" is an integer between 0 and 100. Separate addresses allow multiple
SmartMotors to share a common communication channel and still differentiate themselves.
The SADDR command is typically one of the first commands in a downloaded program. In an RS-485 network, where all communications go over the same two parallel
wires, the SADDR command must be in the program, whereas in an RS-232 network,
where communications travel from one motor to the next, addressing can be accomplished from a host, or master motor.
The address can be from 0 to 100. If it is zero, the motor will have no unique address.
Address 0 is the global address; it is used to talk to all motors on a network at once.
Example:
SADDR1 'Set address to 1
When given a non-zero address, a SmartMotor begins to listen to commands after it
receives its own unique address or the global address byte from the network. There
is no need to repeat the address byte with subsequent commands intended for the
same motor. The particular SmartMotor will continue to listen to commands until it
receives a different address byte, after which commands are ignored. The echo function of the SmartMotor is not affected by the addressed state. That is, if told to echo, a
SmartMotor will continue to echo, regardless of whether it is listening to commands.
Continued n next page:
272
SADDR# (continued)
Set Motor Address
Related
Command:
ADDR
EXAMPLE:
'Example Auto Addressing for 4 SmartMotors™ via SADDR command
'on an RS-232 Daisy chain
'This program code would be run at the same time
'in all motors on the chain at power-up.
ECHO
' Enable ECHO mode
a=1
' User variable "a" to set
address.
WAIT=2000
' Wait about 1/2 second to allow
power-up to each motor
PRINT(#128,"a=a+1 ",#13)
'Print downstream to each motor
WAIT=2000
' Wait about 1/2 second for each motor
to ECHO
' through the same string to the
next motor
'Note: At this point, each motor will have run the exact same code
'causing successive motors downstream to receive the same command
string
'from the number of motors upstream.
SWITCH a
CASE 1
SADDR1
GOSUB10
BREAK
CASE 2
SADDR2
GOSUB20
BREAK
CASE 3
SADDR3
GOSUB30
BREAK
CASE 4
SADDR4
GOSUB40
BREAK
ENDS
' Check he value of "a"
' Set Address to 1
' Set Address to 2
' Set Address to 3
' Set Address to 4
END
C10 'MOTOR 1 CODE
RETURN
C20 'MOTOR 2 CODE
RETURN
C30 'MOTOR 3 CODE
RETURN
C40 'MOTOR 4 CODE
RETURN
273
SILENT
Silence Primary Port Outgoing Communications
APPLICATION:
Serial communication control
TALK
DESCRIPTION:
responses to commands
Motor prevented from sending channel 0 TALK1
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
TALK0 state
Related
Command:
SILENT1
FIRMWARE VERSIONS: ALL
These commands
are almost always
sent from a host,
rather than existing
within a program.
DETAILED DESCRIPTION:
The SILENT command causes the SmartMotor™ to suppress all internally originating
serial communication messages intended for the channel 0 primary port. It does
not prevent the SmartMotor from sending messages in response to incoming serial
report commands from the host, and it does not interfere with ECHOing received
serial communication over channel 0.
This command is most commonly used when sending a new program to an individual
SmartMotor mounted in a networked system. In order to guarantee that the program
arrives as sent, it is required that all other motors in the array be silent during
download.
The TALK command negates the effect of SILENT and restores the motor's primary
port to it's default state of operation.
274
SILENT1
Silence Secondary Port Outgoing Communications
APPLICATION:
Serial communication control
TALK
DESCRIPTION:
responses to commands
Motor prevented from sending channel 1 TALK1
EXECUTION:
Immediate
SILENT
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
TALK1 state
Related
Command:
FIRMWARE VERSIONS: 4.0 and later
DETAILED DESCRIPTION:
The SILENT1 command causes the SmartMotor™ to suppress all internally originating
serial communication messages intended for the channel 1 secondary port. It does
not prevent the SmartMotor from sending messages in response to incoming serial
report commands from the host..
This command is most commonly used when sending a new program to an individual
SmartMotor mounted in a networked system. In order to guarantee that the program
arrives as sent, it is required that all other motors in the array be silent during
download.
The TALK1 command negates the effect of SILENT1 and restores the motor's
secondary port to it's default state of operation.
275
SIZE=expression
Set Number of CAM Table Data Points
Related Command:
APPLICATION:
Mode CAM control
BASE
DESCRIPTION:
Number a data entries for CAM Mode
EXECUTION:
Buffered pending MC and G commands
CONDITIONAL TO:
N/A
LIMITATIONS:
SIZE < BASE
REPORT COMMAND:
None
READ/WRITE:
Write only
LANGUAGE ACCESS:
Assignment only
UNITS:
Encoder counts
RANGE OF VALUES:
0 to 32767
TYPICAL VALUES:
0 to 100
DEFAULT VALUE:
0
G
MC
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
The SmartMotor™ performs a practical cam application by partitioning the required
cam trajectory definition into a number of linearly interpolated segments. The variable SIZE stores the number of segments.
The segments are required to partition the BASE into a set of equally spaced
intervals. For example; if BASE=1000 and SIZE=50, each segment will then be 20
counts wide (BASE/SIZE).
The cam motion is then defined by providing the required SmartMotor positions
corresponding to CTR=0, 20, 40, 60, . . . 940, 960, 980 and 1000. If the motion is
truly periodic the required position at CTR=0 will be identical to the required position
at CTR=1000. The set of required positions are to be entered into the aw[ ] array,
beginning at aw[0] and ending with aw[SIZE]. It is simplest to define the cam using
position at CTR=0 to be encoder position 0 by issuing MF0 and O=0 commands.
276
SIZE=expression (continued)
Set Number of CAM Table Data Point
Related
Command:
BASE
G
Example:
A "saw tooth" cam with periodic motion every 2000 external encoder counts
and the motion interpolation divided into 25 (equal) segments.
MC
BASE=2000 'Cam period
SIZE=25
'data segments (number of data points in table)
'CTR data interval = BASE/SIZE = 2000/25 = 80
'CAM motor will be at Data position every 80
'Master encoder counts:
'CTR=0, CTR=80, CTR=160,.... CTR=1840, CTR=1920, CTR=2000
'Now assigning data values beginning with aw[0]:
aw[0] 0 10 20 30 40 50 60 70 80 90 100.
aw[20] 110 120 120 110 100 90 80 70 60.
aw[19] 50 40 30 20 10 0.
MF4 'reset external encoder to zero
O=0 'reset internal encoder position
MC
'buffer CAM Mode
G
'start following the external encoder using cam data
The motor will now begin following the External (Master) encoder via the defined
CAM profile above.
277
SLEEP
Ignore Incoming Commands on Primary Port
Related Command:
APPLICATION:
Serial communication control
SLEEP1
DESCRIPTION:
commands
Motor prevented from executing channel 0 EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
Illegal with a user program
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
WAKE state
WAKE
WAKE1
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The SLEEP and
WAKE commands
are only sent from
a host, never part
of a SmartMotor™
program.
The SLEEP command is used to put a SmartMotor™ into Sleep Mode with respect
to channel 0 serial commands. While in Sleep Mode, a SmartMotor will continue to
echo (if in ECHO mode) all characters received over the network, but will ignore all
commands other than a WAKE command. A sleeping SmartMotor will also ignore
a G-line input "go" request, but will be responsive to other input’s dedicated functions.
The most common use of the SLEEP command is to keep daisy-chained SmartMotors
from responding to commands in a program which is being downloaded to another
SmartMotor™ in the same chain.
If a program is running when a SmartMotor receives the SLEEP command, the program will continue to run. Messages originating from within the running program of a
sleeping SmartMotor will be transmitted unless the motor is also in SILENT mode.
SLEEP may be issued from the terminal or within a user program. SLEEP mode is
terminated by the WAKE command.
278
SLEEP1
Ignore Incoming Commands on Secondary Port
Related Command:
APPLICATION:
Serial communication control
SLEEP
DESCRIPTION:
commands
Motor prevented from executing channel 1 EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
Illegal with a user program
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
WAKE1 state
WAKE
WAKE1
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
The SLEEP1 command is used to put a SmartMotor™ into Sleep Mode with respect
to channel 1 serial commands. When in Sleep Mode, a SmartMotor will continue to
echo (if in ECHO1 mode) all characters received over the network, but will ignore all
commands other than a WAKE1 command. A sleeping SmartMotor will also ignore a
G-line input "go" request, but will be responsive to other input’s dedicated functions.
The most common use of the SLEEP1 command is to keep SmartMotors in a
daisy-chain from responding to commands imbedded in a program which is being
downloaded to another SmartMotor in the same chain.
If a program is running when a SmartMotor™ receives the SLEEP1 command, the
program will continue to run. Messages originating from within the running program
of a sleeping SmartMotor will be transmitted unless the motor is also in SILENT1
mode.
SLEEP1 may be issued from the terminal or within a user program. SLEEP1 mode
is terminated by the WAKE1 command.
279
STACK
Clear Stack Pointer Register
Related Command:
APPLICATION:
Program execution control
END
DESCRIPTION:
Reset user program subroutine return stack
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
Prior to version 4.00 a total of 6 WHILE and GOSUB statements are permitted at one time.
Version 4.00 supports up to 6 GOSUB statements at one time.
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
Return STACK empty
GOSUB
RUN
RUN?
Are there any
WHILE statements
in version 4.00?
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
STACK empties the queue of pending (GOSUB) RETURN addresses.
In order to execute the RETURN program statement, the processor needs to be able
to recall the program address point to which it should return. These addresses are
stored within a region called a "stack".
A maximum of six address locations can be stored within the stack. This means
that if a seventh GOSUB is called prior to any intervening RETURN statements, the
stack will overflow and the program execution may fail. The stack region is managed
using a pointer to the presently effective return address storage location. The STACK
command directly resets this pointer to its initial condition. So the STACK command
clears all RETURN addresses in the stack queue.
Note: Since Issuing STACK will cause any RETURN command to follow to be ignored
, proper program flow via GOTO commands or otherwise should be used to prevent a
memory mapping error. Care should be taken when the STACK command is used.
Since GOSUB command may be issued serially to the Smartmotor, it may be possible
to overflow the stack regardless of the downloaded program code. The STACK
can be issued via serial communications as well to permit the program execution to
continue without concern for "how did we get here?". However, it is not recommended
since full knowledge of what lin of code the motor may be running at the time wuuld
not be known.
280
STACK (continued)
Clear Stack Pointer Register
Related
Command:
END
GOSUB
RUN
RUN?
Example:
C0
GOTO1
C7
PRINT(#13, "NO PROGRAM CRASH")
RETURN
END
GOSUB1
C1 GOSUB2
C2 GOSUB3
C3 GOSUB4
C4 GOSUB5
C5 GOSUB6
C6
STACK GOSUB7
PRINT(#13,"RETURN
END
'sixth GOSUB without return
'reset internal stack
'allowing a seventh GOSUB
FROM GOSUB7 OK")
The example above is not a good way to write code. It is just a means to
explain where the STACK command would be used to prevent program
crashes.
Often times, the STACK command is used after an error or motor protection
fault is detected. Then immediately after the STACK command, either RUN,
END or GOTO(location near top of program) is issued to recover.
281
SWITCH expression
Selectable Program Flow Control
Related Command:
APPLICATION:
Program execution control
BREAK
DESCRIPTION:
Multiple choice branch for program execution
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
Can only be executed from within user program
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
CASE number
DEFAULT
ENDS
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
The SWITCH command allows program flow control based on specific integer values
of an expression or specific parameter or variable..
At execution runtime the program interpreter evaluates the SWITCH expression value
and then tests the CASE numbers for a equal value in the order written in the program.
If the expression value does not equal the CASE number, the next CASE statement is
evaluated. If the expression value does equal the CASE number, program execution
continues with the command immediately after. The execution time is similar to the
equivalent IF expression control block. This means placing the most likely CASE
values at the top of the CASE list will yield the faster average program execution time.
The DEFAULT entry point is used if no CASE number is equals the expression value;
it is executed last. If no CASE number equals the value of the SWITCH expression
and there is no DEFAULT case, program execution passes through the SWITCH to
the ENDs without performing any commands.
If a BREAK is encountered, program execution branches to the instruction or label
following the ENDs of the SWITCH control block. BREAK can be used to isolate
CASEs. Without BREAK, the CASE number syntax is transparent and program
execution continues at the next instruction. That is, you will run into the next CASE
number code sequence.
Each SWITCH control block must have at least one CASE number defined plus one,
and only one, ENDS statement. SWITCH is not a valid terminal command, it is only
valid within a user program.
282
SWITCH expression (continued)
Selectable Program Flow Control
Related
Command:
BREAK
CASE number
DEFAULT
ENDS
Consider the following code fragment:
SWITCH v
CASE 1
PRINT(" v = 1
",#13)
BREAK
CASE 2
PRINT(" v = 2
",#13)
BREAK
CASE -23
PRINT(" v = -23 ",#13)
BREAK
DEFAULT
PRINT("v IS NOT 1,2 OR -23",#13)
BREAK
ENDS
The first line, SWITCH v, lets the SmartMotor™ know that it is checking the
value of the variable v. Each following CASE begins the section of code that
tells the SmartMotor what to do if v is equal to that "case".
Example:
a=-3
'test value
WHILE a<4
PRINT(#13,"a=",a," ")
SWITCH a
'test expression
CASE 3
PRINT("MAX VALUE",#13)
BREAK
CASE -1 'negative test values are valid
CASE -2
'note no BREAK here
CASE -3
PRINT("NEGATIVE")
BREAK
'note use of BREAK
CASE 0
'zero test value is valid
PRINT("ZERO")
'note order is random
DEFAULT
'the default case
PRINT("NO MATCH VALUE")
BREAK
ENDS
'need not be numerical
a=a+1
LOOP
END
a=-3 NEGATIVE
a=-2 NEGATIVE
a=-1 NEGATIVE
a=0 ZERO
a=1 NO MATCH VALUE
a=2 NO MATCH VALUE
a=3 MAX VALUE
The output is
283
T=expression
Set Open Loop Commanded Torque Value
Related
Command:
MT
RT
APPLICATION:
Motion mode control
DESCRIPTION:
Torque value for MODE TORQUE
EXECUTION:
Immediate
CONDITIONAL TO:
MT issued
LIMITATIONS:
N/A
REPORT COMMAND:
RT
READ/WRITE:
Read write
LANGUAGE ACCESS:
Assignment, expressions and conditional testing
UNITS:
Fraction of available torque
RANGE OF VALUES:
-1023 to 1023
TYPICAL VALUES:
-1000 and 1000
DEFAULT VALUE:
0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
Command MT enables torque mode. In this mode, the motor is commanded to
develop a specific power level, set by T=expression. T is in units of Tenths of
Percent of the full capacity of the subject motor and takes values between -1023
and 1023. T=-1023 results in full torque in the negative direction. The encoder still
tracks position and can still be read with the @P variable, but the PID loop is off
and the motor is not servoing or running a trajectory.
MT sets the PWM signal to the drive to a fixed percentage, which means that the
amplifier tries to deliver a fixed amount of power to the motor coils. For any given
torque and no applied load, there will be a velocity at which the back EMF of the
motor will cause the acceleration to stop and the velocity to hold more or less
constant. Under the no load or static load conditions, the T command will control
velocity. As the load torque increases, the velocity decreases.
Note: This means that MT does not regulate torque. Instead, it delivers a fixed
amount of power to the motor coils. As motor power is the product of torque and
RPM, velocity decreases as the delivered torque increases and vice versa.
In all firmware 4.76, MT will immediately turn on the servo and reset any position
error. The servo-off flag Bo is set to 0, the trajectory flag Bt is reset to 0, and the
position error flag Be is reset to 0. The motion is not restricted by the present E
value. Issuing E=0 would have no effect upon the present motion. The drive stage
is still subject to the currently defined activity of the limit switches.
In all firmware >=476, any prior faults must be cleared prior to accepting the MT
command.
Continued on next page:
284
T=expression (continued)
Set Open Loop Commanded Torque Value
Related
Command:
Amplifier mode MD50 DOES EFFECT the value of T. To change from mode
MD50 to mode MT, issue the sequence OFF T=value MT.
MT
RT
Example:
UAI 'Set I/O A as Input
T=0 'Initialize T=0
MT 'Enter Mode Torque
C1 'Label 1, Loop Forever
a=UAA-512 'Read User defined I/O pin
'10 bit analog reading range
'is 0 to 1023 from 0 to 5VDC
'[ 2.5 V = 0 Torque ]
T=2*a
' Result: -1023 to +1023 values from 0 to 5VDC
GOTO1
END
'GOTO LABEL 1
The above example will track an incoming analog signal from 0 to 5 Volts
(UAA=0 to 1023) and assign it to the T torque value of -1023 to 1023.
285
TALK
Enable Outgoing Messages on Primary Port
Related
Command:
SILENT
SILENT1
TALK1
APPLICATION:
Serial communication control
DESCRIPTION:
Normal channel 0 communications mode
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
TALK state
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
These commands
are almost always
sent from a host,
rather than existing
within a program.
TALK restores the motor’s ability to print messages to the serial communication
channel 0 if that ability was previously suppressed with the SILENT command.
This command is most commonly used following the download a user program to
a SmartMotor™ within a daisy chain. It could also be used to "un-silence" a debug
routine.
TALK may be issued from the terminal or within a user program.
286
TALK1
Enable Outgoing Messages on Secondary Port
Related
Command:
SILENT
SILENT1
TALK
APPLICATION:
Serial communication control
DESCRIPTION:
Normal channel 1 communications mode
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
TALK1 state
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
TALK1 restores the motor’s ability to print messages to the serial communication
channel 1 if that ability was previously suppressed with the SILENT1 command.
This command is most commonly used following the download a user program
to a SmartMotor™ within a daisy chain. It could also be used to "un-silence" a
debug routine.
TALK1 may be issued from the terminal or within a user program.
287
TEMP
Read Motor Temperature
Related Command:
APPLICATION:
Temperature control
BH
DESCRIPTION:
Read motor temperature
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
Read Only
LANGUAGE ACCESS:
N/A
UNITS:
Degrees Centigrade
RANGE OF VALUES:
-128 to 127
TYPICAL VALUES:
20 to 60
DEFAULT VALUE:
Room temperature
RBh
TH
THD
FIRMWARE VERSIONS: 4.11 and higher
DETAILED DESCRIPTION:
The present temperature of the motor can be determined by assigning TEMP to a user
variable or issuing PRINT(TEMP). The units are degrees Centigrade. Example:
t=TEMP
Rt
PRINT(TEMP) 'response 31 - the motor is warming up
'response 30
Motors with version 4.11 and higher permit the user to set the overheat temperature
trip point with the command TH=expression, and to set the time (THD=expression)
for which the overheat condition must exist before the servo is shut off. A motor in the
overheat condition will not turn on the servo even if commanded to do so.
If the motor were operating in Torque Mode at TEMP>TH for 4 seconds, the motor
would shut off. It would not restart until both the condition TH-TEMP>5 were true and
then MT command reissued.
a=-5
WHILE a<=10
TH=TEMP+a
WAIT=4000
G
WAIT=4000
IF Bt
BREAK
ENDIF
a=a+1
LOOP
PRINT("MOTOR RESTARTED WHEN TH-TEMP=",a)
END
Restart announced at TH - TEMP = 6.
288
TH
Set Maximum Allowable Temperature
Related Command:
APPLICATION:
Temperature control
Bh
DESCRIPTION:
Set maximum allowable temperature limit
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
Read write
LANGUAGE ACCESS:
N/A
UNITS:
Degrees Centigrade
RANGE OF VALUES:
0 to 70
TYPICAL VALUES:
20 to 60
DEFAULT VALUE:
70 or 85 (model number dependant)
RBh
TEMP
THD
FIRMWARE VERSIONS: 4.11 and higher
DETAILED DESCRIPTION:
TH=expression sets the maximum allowable temperature at which the SmartMotor™
is permitted to continually servo. The amount of time that the SmartMotor can still
servo at or above this temperature is set by the THD function. If the temperature stays
at or above the TH value for longer than THD servo samples, the amplifier will turn
off, Bh will be set to 1, the motor off bit Bo set to 1 and the trajectory bit cleared to 0.
If issued, RMODE will return "O." The SmartMotor will reject any command to start
motion until the temperature has fallen 5º Celsius.
There is no direct report command for TH, but variable=TH and PRINT(TH) are both
valid.
Example: (demonstrates relationship between TEMP, TH, and Bh)
GOSUB10
'report TEMP, TH, and Bh
a=5
WHILE a>-5
'vary TH about the present TEMP
TH=TEMP-a
WAIT=2000
GOSUB10
'observe Bh flag change from o to 1
a=a-1
'as TH is reduced to TEMP value and less
LOOP
END
C10
PRINT(#13,"Read the temperature
",TEMP)
PRINT(#13,"Read TH overheat value ",TH)
PRINT(#13,"Read Bh overheat flag ",Bh)
RETURN
289
THD
Set Overheat Delay Timer
Related Command:
APPLICATION:
Temperature control
Bh
DESCRIPTION:
Set overheat delay time
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
PID samples
RANGE OF VALUES:
0 to 65536
TYPICAL VALUES:
12000
DEFAULT VALUE:
12000 samples, approximately 3 seconds
RBh
TEMP
TH
FIRMWARE VERSIONS: 4.11 and higher
DETAILED DESCRIPTION:
The THD command permits the user to set to set the time for which the overheat condition
may exist before the servo is shut off. THD=16000 means that the SmartMotor ™ will
allows an overheat condition for 16000 servo samples or approximately 4 seconds
before shutting down. The maximum value for THD is 20000, in 4.4x series firmware
and 64000 in all others. One Servo Sample is ~ 250useconds.
If an overheat condition exists for more than THD samples, the amplifier will turn off,
Bh will be set to 1, the motor off bit Bo set to 1 and the trajectory bit cleared to 0.
If issued, RMODE will return "O." The SmartMotor will reject any command to start
motion until the temperature has fallen 5º Celsius.
Example: (test to measure approximate shut down time - not very accurate but
illustrates TH, THD, and TEMP)
PRINT(#13,"Default value of TH = ",TH)
PRINT(#13,"Motor Temperature = ",TEMP)
PRINT(#13,"START MOTION")
A=222
V=44444
MV
G
THD=32000 'THD default = 12000 PID samples or 3 seconds
TH=TEMP-5 'Force an over heat condition
'Units are degrees Centigrade
a=CLK
WHILE Bh==0 LOOP
WHILE Bt LOOP
b=CLK
PRINT(#13,"Servo OFF after ",b-a," PID samples")
END
290
TWAIT
Pause Program Execution During Active Trajectory
Related Command:
APPLICATION:
Program execution control
WAIT=exp
DESCRIPTION:
Suspend command execution while in trajectory
EXECUTION:
Immediate
CONDITIONAL TO:
Bt state
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The TWAIT command will pause program execution until the Busy Trajectory status
bit clears. Normally, program execution and trajectory generation are completely independent. Regardless of what the motion is doing, the processor executed ode form
the top down. If there were three consecutive motion commands they would all execute sequentially. Before the motor could even start to move, last motion command
would dominate. Using the TWAIT command, however, allows the move commands
to occur and complete end to end. An alternative to TWAIT is WHILE Bt . . . LOOP.
Both TWAIT and the WHILE Bt construction terminate when the trajectory ends,
regardless of the cause. Depending on the application, you may wish to perform error
checking to ensure that the move was properly completed.
Example:
C100 'Motion Subroutine
MP 'Mode Position
A=100 'Set acceleration
V=10000 'Set velocity
P=2000 'Set first position
G 'Start Motion
TWAIT 'wait till trajectory is done
P=-4000 'Set next position
G 'Start Motion
WHILE Bt
'While moving (similar to TWAIT)
IF UA==0
GOSUB200
ENDIF
LOOP 'wait till trajectory is done
RETURN 'Return to GOSUB
291
UA=expression
Set I/O Port A Out t Logi c State
Related
Command:
UAA
UAI
UAO
APPLICATION:
I/O control
DESCRIPTION:
Set Pin A output latch
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
Write only
LANGUAGE ACCESS:
Assignment only
UNITS:
Binary bit
RANGE OF VALUES:
0 or 1
TYPICAL VALUES:
0 or 1
DEFAULT VALUE:
0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
With this function
you could actually check if your
output is shorted.
User I/O line A can function as a TTL output. The pin defaults to be a general purpose
TTL (0 - 5 volt) input. To use PIN A as an output, set the value of the pin A output latch
UA to either 0 or 1. Issue the command UAO if this has not already been issued.
I/O pin A will be a logic high voltage if UA=1 and a logic low voltage if UA=0.
Regardless of whether the I/O pin is being used as an input or output, a 10 bit analog
reading of that I/O pin is always available through the UAA function.
Example:
UAO
UA=0
UA=1
'set PIN A to function as a digital output
'set PIN A to logic 0 (zero volts)
'set PIN A to logic 1 (+5 volts)
Note: The I/O state can be set prior to assigning as an output.
UA=0
UAO
'Pre-set PIN A to logic 0 (zero volts)
'set PIN A as an output pre-initialized to zero
292
UAA
Read I/O Port A as Analog Input
Related Command:
APPLICATION:
I/O control
UA
DESCRIPTION:
Read PIN A analog input
UAI
EXECUTION:
Immediate
UAO
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
PRINT(UAA)
READ/WRITE:
Read only
LANGUAGE ACCESS:
Expression and conditional testing
UNITS:
Number
RANGE OF VALUES:
0 to 1023
TYPICAL VALUES:
0 to 1023
DEFAULT VALUE:
I/O dependent
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
User I/O line A can serve as a 10 bit analog to digital input. The A to D reference is
5VDC and the returned data is between 0 and 1023. A value of 0 corresponds to
0 volts and 1023 to 5 volts. UAA is read only, and can be accessed with the statement variable=UAA, PRINT(UAA,#13) or WHILE UAA>200 . . . LOOP. The analog
read occurs once at the time the UAA command is executed. Assigning the variable
a=UAA will perform the analog read once and store it into the variable a.
All user I/O pins have in internal 5K pull-up resistor, as well as current limiting and
other protection mechanisms. Any analog voltage source, then, should be rated to
adequately drive a 5K ohm input impedance.
The analog to digital conversion is always available on its corresponding I/O pin. That
is, regardless of whether the pin is being used as an input, output or other function, a
10 bit analog reading of I/O that pin is always available.
Example:
PRINT(#13,"PRINT UAA = ",UAA)
b=UAA
PRINT(#13,"REPORT UAA = ")
Rb
RUAA 'Directly Report Port A Analog Value (>=4.76 firmware only)
293
UAI (as command)
Set I/O Port A to Input
Related Command:
APPLICATION:
I/O control
UA
DESCRIPTION:
Set Pin A to be an input
UAA
EXECUTION:
Immediate
UAO
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
Input
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
User I/O line A serves many functions. It can be a TTL (0 to 5V) input, TTL output, 10
bit analog input, secondary encoder input A or the step input in Step and Direction
Mode. While, user I/O line A defaults to being a general purpose TTL input, it can be
explicitly set up as a digital input with the UAI command.
If I/O line A has been set to an output with the command UAO, it can be reset to be an
input with the command UAI.
EXAMPLE:
UAI
'Initialize (U)ser defined I/O pin (A) as (I)nput
PRINT(#13,"PIN A Input ",UAI)
n=UAI
'Store state of I/O pin A
'as digital input into variable name "n"
PRINT(#13,"REPORT PIN A Input ") Rn
END
294
UAI (as input value)
Read I/O Port A Logic State
Related
Command:
UA
UAA
UAO
APPLICATION:
I/O input
DESCRIPTION:
Input at Pin A
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
PRINT(UAI)
READ/WRITE:
Read only
LANGUAGE ACCESS:
Expression and conditional testing
UNITS:
Binary bit
RANGE OF VALUES:
0 or 1
TYPICAL VALUES:
0 or 1
DEFAULT VALUE:
I/O dependent
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
User I/O line A serves many functions. It can be a TTL (0 to 5V) input, TTL output, 10 bit
analog input, secondary encoder input A or the step input in Step and Direction Mode.
User I/O line A defaults to being a general purpose TTL input. It can be accessed with
the statement variable=UAI, PRINT(UAI,#13) or WHILE UAI ... LOOP. The digital
read occurs once at the time the UAI command is executed. Assigning the variable
a=UAI will perform the digital read once and store it into the variable a.
If I/O line A has been set to an output with the command UAO, it can be reset to be
an input with the command UAI.
EXAMPLE:
UAI
'Initialize (U)ser defined I/O pin (A) as (I)nput
PRINT(#13,"PIN A Input ",UAI)
n=UAI
'Store state of I/O pin A
'as digital input into variable name "n"
PRINT(#13,"REPORT PIN A Input ") Rn
END
RUA
'Directly Report Port A logic State (>=4.76 firmware only)
n=U&1'Bitmask Port A to the variable n, (>=4.76 firmware only)
Rn
'Report Result
295
UAO (as command)
Set I/O Port A to Output
Related Command:
APPLICATION:
I/O control
UA
DESCRIPTION:
Set Pin A to be an output
UAA
EXECUTION:
Immediate
UAI
CONDITIONAL TO:
UA=0 or UA=1
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
Input
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
User I/O line A can function as a TTL output. The pin defaults to be a general purpose
TTL (0 - 5 volt) input. The command UAO specifies the I/O pin A as an output, while
UA=value sets the voltage. I/O pin A will be a logic high voltage if UA=1 and a logic
low voltage if UA=0. Regardless of whether the I/O pin is being used as an input or
output, a 10 bit analog reading of that I/O pin is always available through the UAA
function.
In order for the output voltage to reflect the state of UA, both UAO and UA=value
have to be issued. Suppose the I/O pin is functioning as a digital input. If you want to
output a logic low signal, the pin will not sink current until both UAO and UA=0 have
been issued. You only have to issue UAO once; the I/O pin stays configured as an
output for some other configuration specification is issued.
EXAMPLE:
UAO UA=1
PRINT(UAO)
UA=0
PRINT(UAO)
'define PIN A output
'set output latch value
'recall the latch value.
'response is 1
'set output latch value
'recall the latch value
'response is 0
296
UBexpression
Set I/O Port B Output Logic State
APPLICATION:
I/O control
UBA
DESCRIPTION:
Set Pin B output latch
UBI
EXECUTION:
Immediate
UBO
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
Write only
LANGUAGE ACCESS:
Assignment only
UNITS:
Binary bit
RANGE OF VALUES:
0 or 1
TYPICAL VALUES:
0 or 1
DEFAULT VALUE:
0
Related
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
User I/O line B can function as a TTL output. The pin defaults to be a general purpose
TTL (0 - 5 volt) input. To use PIN B as an output, set the value of the pin B output latch
UB to either 0 or 1. Issue the command UBO if this has not already been issued.
I/O pin A will be a logic high voltage if UB=1 and a logic low voltage if UB=0.
Regardless of whether the I/O pin is being used as an input or output, a 10 bit analog
reading of that I/O pin is always available through the UBA function.
Example:
UBO
UB=0
UB=1
'set PIN B to function as a digital output
'set PIN B to logic 0 (zero volts)
'set PIN B to logic 1 (+5 volts)
Note: The I/O state can be set prior to assigning as an output.
UB=0
UBO
'Pre-set PIN B to logic 0 (zero volts)
'set PIN B as an output pre-initialized to zero
297
UBA
Read I/O Port B as Analog Input
Related Command:
APPLICATION:
I/O input
UB
DESCRIPTION:
Read Pin B analog input
UBI
EXECUTION:
Immediate
UBO
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
PRINT(UBA)
READ/WRITE:
Read only
LANGUAGE ACCESS:
Expression and conditional testing
UNITS:
Number
RANGE OF VALUES:
0 or 1023
TYPICAL VALUES:
0 or 1023
DEFAULT VALUE:
I/O dependent
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
User I/O line B can serve as a 10 bit analog to digital input. The A to D reference
is 5VDC and the returned data is between 0 and 1023. A value of 0 corresponds to
0 volts and 1023 to 5 volts. UBA is read only, and can be accessed with the statement variable=UBA, PRINT(UBA,#13) or WHILE UBA>200 . . . LOOP. The analog
read occurs once at the time the UBA command is executed. Assigning the variable
a=UBA will perform the analog read once and store it into the variable a.
All user I/O pins have in internal 5K pull-up resistor, as well as current limiting and
other protection mechanisms. Any analog voltage source, then, should be rated to
adequately drive a 5K ohm input impedance.
The analog to digital conversion is always available on its corresponding I/O pin. That
is, regardless of whether the pin is being used as an input, output or other function, a
10 bit analog reading of I/O that pin is always available.
Example:
PRINT(#13,"PRINT UBA = ",UBA)
b=UBA
PRINT(#13,"REPORT UBA = ")
Rb
RUBA 'Directly Report Port B Analog Value (>=4.76 firmware only)
298
UBI (as command)
Set I/O Port B to Input
Related Command:
APPLICATION:
I/O control
UB
DESCRIPTION:
Set Pin B to be an input
UBA
EXECUTION:
Immediate
UBO
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
Input
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
User I/O line B serves many functions. It can be a TTL (0 to 5V) input, TTL output,
10 bit analog input, secondary encoder input B or the direction input in Step and
Direction Mode. While user I/O line B defaults to being a general purpose TTL input,
it can be explicitly set up as a digital input with the UBI command.
If I/O line B has been set to an output with the command UBO, it can be reset to be
an input with the command UBI.
Example:
UBI
'Initialize (U)ser defined I/O pin (B) as (I)nput
PRINT(#13,"PIN B Input ",UBI)
n=UBI
'Store state of I/O pin B
'as digital input into variable name "n"
PRINT(#13,"REPORT PIN B Input ") Rn
END
299
UBI (as input value)
Read I/O Port B Logic State
Related
Command:
UB
UBA
UBO
APPLICATION:
I/O input
DESCRIPTION:
Input at Pin B
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
PRINT(UBI)
READ/WRITE:
Read only
LANGUAGE ACCESS:
Expression and conditional testing
UNITS:
Binary bit
RANGE OF VALUES:
0 or 1
TYPICAL VALUES:
0 or 1
DEFAULT VALUE:
I/O dependent
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
User I/O line B serves many functions. It can be a TTL (0 to 5V) input, TTL output,
10 bit analog input, secondary encoder input B or the direction input in Step and
Direction Mode. User I/O line B defaults to being a general purpose TTL input. It
can be accessed with the statement variable=UBI, PRINT(UBI,#13) or WHILE UBI
. . . LOOP. The digital read occurs once at the time the UBI command is executed.
Assigning the variable a=UBI will perform the digital read once and store it into the
variable a.
If I/O line B has been set to an output with the command UBO, it can be reset to be an
input with the command UBI.
Example:
UBI
'Initialize (U)ser defined I/O pin (B) as (I)nput
PRINT(#13,"PIN B Input ",UBI)
n=UBI
'Store state of I/O pin B
'as digital input into variable name "n"
PRINT(#13,"REPORT PIN B Input ") Rn
END
RUB
'Directly Report Port B logic State (>=4.76 firmware only)
n=U&2'Bitmask Port B to the variable n, (>=4.76 firmware only)
Rn
'Report Result
300
UBO (as command)
Set I/O Port B to Output
Related Command:
APPLICATION:
I/O control
UB
DESCRIPTION:
Set Pin B to be an output
UBA
EXECUTION:
Immediate
UBI
CONDITIONAL TO:
UB=0 or UB=1
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
Input
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
User I/O line B can function as a TTL output. The pin defaults to be a general purpose
TTL (0 - 5 volt) input. The command UBO specifies the I/O pin B as an output, while
UB=value sets the voltage. I/O pin B will be a logic high voltage if UB=1 and a logic
low voltage if UB=0. Regardless of whether the I/O pin is being used as an input or
output, a 10 bit analog reading of that I/O pin is always available through the UBA
function.
In order for the output voltage to reflect the state of UB, both UBO and UB=value
have to be issued. Suppose the I/O pin is functioning as a digital input. If you want to
output a logic low signal, the pin will not sink current until both UBO and UB=0 have
been issued. You only have to issue UBO once; the I/O pin stays configured as an
output for some other configuration specification is issued.
EXAMPLE:
UBO UB=1
PRINT(UBO)
UB=0
PRINT(UBO)
'define PIN B output
'set output latch value
'recall the latch value.
'response is 1
'set output latch value
'recall the latch value
'response is 0
301
UCexpression
Set I/O Port C Output Logic State
Related Command:
APPLICATION:
I/O control
UCA
DESCRIPTION:
Set Pin C output latch
UCI
EXECUTION:
Immediate
UCO
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
Write only
LANGUAGE ACCESS:
Assignment only
UNITS:
Binary bit
RANGE OF VALUES:
0 or 1
TYPICAL VALUES:
0 or 1
DEFAULT VALUE:
0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
User I/O line C can function as a TTL output. The pin defaults to be a general purpose
TTL (0 - 5 volt) input. To use PIN C as an output, set the value of the pin C output latch
UC to either 0 or 1. Issue the command UCO if this has not already been issued.
I/O pin C will be a logic high voltage if UC=1 and a logic low voltage if UC=0.
Regardless of whether the I/O pin is being used as an input or output, a 10 bit analog
reading of that I/O pin is always available through the UCA function.
Example:
UCO
UC=0
UC=1
'set PIN C to function as a digital output
'set PIN C to logic 0 (zero volts)
'set PIN C to logic 1 (+5 volts)
Note: The I/O state can be set prior to assigning as an output.
UC=0
UCO
'Pre-set PIN C to logic 0 (zero volts)
'set PIN C as an output pre-initialized to zero
302
UCA
Read I/O Port C as Analog Input
Related Command:
APPLICATION:
I/O control
UC
DESCRIPTION:
Read Pin C analog input
UCI
EXECUTION:
Immediate
UCO
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
PRINT(UCA)
READ/WRITE:
Read only
LANGUAGE ACCESS:
Expression and conditional testing
UNITS:
Number
RANGE OF VALUES:
0 or 1023
TYPICAL VALUES:
0 or 1023
DEFAULT VALUE:
I/O dependent
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
User I/O line C can serve as a 10 bit analog to digital input. The A to D reference
is 5VDC and the returned data is between 0 and 1023. A value of 0 corresponds to
0 volts and 1023 to 5 volts. UCA is read only, and can be accessed with the statement variable=UCA, PRINT(UCA,#13) or WHILE UCA>200 . . . LOOP. The analog
read occurs once at the time the UCA command is executed. Assigning the variable
a=UCA will perform the analog read once and store it into the variable a.
All user I/O pins have in internal 5K pull-up resistor, as well as current limiting and
other protection mechanisms. Any analog voltage source, then, should be rated to
adequately drive a 5K ohm input impedance.
The analog to digital conversion is always available on its corresponding I/O pin. That
is, regardless of whether the pin is being used as an input, output or other function, a
10 bit analog reading of I/O that pin is always available.
Example:
PRINT(#13,"PRINT UCA = ",UCA)
b=UCA
PRINT(#13,"REPORT UCA = ")
Rb
RUCA 'Directly Report Port C Analog Value (>=4.76 firmware only)
303
UCI (as command)
I/O COMMAND
Related Command:
APPLICATION:
I/O control
UC
DESCRIPTION:
Set Pin C to be an input
UCA
EXECUTION:
Immediate
UCO
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
Input
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
User I/O line C serves many functions. It can be a TTL (0 to 5V) input, TTL output,
10 bit analog input and the positive travel limit input. While user I/O line C defaults
to being the positive limit input, it can be explicitly set up as a digital input with the
UCI command.
If I/O line C has been set to an output with the command UCO, it can be reset to be
an input with the command UCI.
EXAMPLE:
UCI
'Initialize (U)ser defined I/O pin (C) as (I)nput
PRINT(#13,"PIN C Input ",UCI)
n=UCI
'Store state of I/O pin C
'as digital input into variable name "n"
PRINT(#13,"REPORT PIN C Input ") Rn
END
304
UCI (as input value)
Read I/O Port C to Input
Related
Command:
UC
UCA
UCO
APPLICATION:
I/O input
DESCRIPTION:
Input at Pin C
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
PRINT(UCI)
READ/WRITE:
Read only
LANGUAGE ACCESS:
Expression and conditional testing
UNITS:
Binary bit
RANGE OF VALUES:
0 or 1
TYPICAL VALUES:
0 or 1
DEFAULT VALUE:
I/O dependent
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
User I/O line C serves many functions. It can be a TTL (0 to 5V) input, TTL output, 10
bit analog input, and Defaults to the positive travel limit input. It can be accessed with
the statement variable=UCI, PRINT(UCI,#13) or WHILE UCI . . . LOOP. The digital
read occurs once at the time the UCI command is executed. Assigning the variable
a=UCI will perform the digital read once and store it into the variable a.
EXAMPLE:
UCI
'Initialize (U)ser defined I/O pin (C) as (I)nput
PRINT(#13,"PIN C Input ",UCI)
n=UCI
'Store state of I/O pin C
'as digital input into variable name "n"
PRINT(#13,"REPORT PIN C Input ") Rn
END
RUC
'Directly Report Port C logic State (>=4.76 firmware only)
n=U&4'Bitmask Port C to the variable n, (>=4.76 firmware only)
Rn
'Report Result
305
UCO (as command)
Set I/O Port C to Output
Related Command:
APPLICATION:
I/O control
UC
DESCRIPTION:
Set Pin C to be an output
UCA
EXECUTION:
Immediate
UCI
CONDITIONAL TO:
UC=0 or UC=1
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
Input
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
Although its default function is to be the right limit input, user I/O line C can function as
a TTL output. The command UCO specifies the I/O pin C as an output, while UC=value
sets the voltage. I/O pin C will be a logic high voltage if UC=1 and a logic low voltage if
UC=0. Regardless of whether the I/O pin is being used as an input or output, a 10 bit
analog reading of that I/O pin is always available through the UCA function.
In order for the output voltage to reflect the state of UC, both UCO and UC=value
have to be issued. Suppose the I/O pin is functioning as a digital input. If you want to
output a logic low signal, the pin will not sink current until both UCO and UC=0 have
been issued. You only have to issue UCO once; the I/O pin stays configured as an
output for some other configuration specification is issued.
EXAMPLE:
UCO UC=1
PRINT(UCO)
UC=0
PRINT(UCO)
'define PIN C output
'set output latch value
'recall the latch value.
'response is 1
'set output latch value
'recall the latch value
'response is 0
306
UCP
Set I/O Port C as Positive Over Travel Limit
Related Command:
APPLICATION:
I/O control
LIMD
DESCRIPTION:
Set PIN C to be right / positive limit input
LIMH
EXECUTION:
Immediate
LIML
CONDITIONAL TO:
UC=0 or UC=1
LIMN
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
UCA
READ/WRITE:
N/A
UCI
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
Limit switch
UC
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
User I/O line C can be a TTL (0 to 5V) input, TTL output, 10 bit input, or act as the
positive limit input, which is the default state. UCP explicitly defines I/O pin C to be
the positive limit, while commands UCI and UCO make it into a TTL input or output,
respectively, disabling the limit behavior.
Example:
UCI a=UCI
Ra
UCP
'use PIN C as a general purpose input
'suppress limit behavior
'read the input value as digital input
'report input value
'restore default positive limit behavior to PIN C
307
UDexpression
Set I/O Port D Output Logic State
Related Command:
APPLICATION:
I/O control
UDA
DESCRIPTION:
Set Pin D output latch
UDI
EXECUTION:
Immediate
UDO
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
Write only
LANGUAGE ACCESS:
Assignment only
UNITS:
Binary bit
RANGE OF VALUES:
0 or 1
TYPICAL VALUES:
0 or 1
DEFAULT VALUE:
0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
User I/O line D can function as a TTL output. The pin defaults to be a general purpose
TTL (0 - 5 volt) input. To use PIN D as an output, set the value of the pin D output
latch UD to either 0 or 1. Issue the command UDO if this has not already been issued.
I/O pin D will be a logic high voltage if UD=1 and a logic low voltage if UD=0.
Regardless of whether the I/O pin is being used as an input or output, a 10 bit
analog reading of that I/O pin is always available through the UDA function.
Example:
UDO
UD=0
UD=1
'set PIN D to function as a digital output
'set PIN D to logic 0 (zero volts)
'set PIN D to logic 1 (+5 volts)
Note: The I/O state can be set prior to assigning as an output.
UD=0
UDO
'Pre-set PIN D to logic 0 (zero volts)
'set PIN D as an output pre-initialized to zero
308
UDA
Read I/O Port D as Analog Input
Related Command:
APPLICATION:
I/O control
UD
DESCRIPTION:
Read Pin D analog input
UDI
EXECUTION:
Immediate
UDO
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
PRINT(UDA)
READ/WRITE:
Read only
LANGUAGE ACCESS:
Expressions and conditional testing
UNITS:
Number
RANGE OF VALUES:
0 or 1023
TYPICAL VALUES:
0 or 1023
DEFAULT VALUE:
I/O dependent
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
User I/O line D can serve as a 10 bit analog to digital input. The A to D reference
is 5VDC and the returned data is between 0 and 1023. A value of 0 corresponds to
0 volts and 1023 to 5 volts. UDA is read only, and can be accessed with the statement variable=UDA, PRINT(UDA,#13) or WHILE UDA>200 . . . LOOP. The analog
read occurs once at the time the UDA command is executed. Assigning the variable
a=UDA will perform the analog read once and store it into the variable a.
All user I/O pins have in internal 5K pull-up resistor, as well as current limiting and
other protection mechanisms. Any analog voltage source, then, should be rated to
adequately drive a 5K ohm input impedance.
The analog to digital conversion is always available on its corresponding I/O pin. That
is, regardless of whether the pin is being used as an input, output or other function, a
10 bit analog reading of I/O that pin is always available.
Example:
PRINT(#13,"PRINT UDA = ",UDA)
b=UDA
PRINT(#13,"REPORT UDA = ")
Rb
RUDA 'Directly Report Port D Analog Value (>=4.76 firmware only)
309
UDI (as command)
Set I/O Port D to Input
Related Command:
APPLICATION:
I/O control
UD
DESCRIPTION:
Set Pin D to be an input
UDA
EXECUTION:
Immediate
UDM
CONDITIONAL TO:
N/A
UDO
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
Input
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
User I/O line D serves many functions. It can be a TTL (0 to 5V) input, TTL output, 10
bit analog input and the negative travel limit input. While user I/O line D defaults to
being the negative limit input, it can be explicitly set up as a digital input with the UDI
command.
If I/O line D has been set to an output with the command UDO, it can be reset to be
an input with the command UDI.
EXAMPLE:
UDI
'Initialize (U)ser defined I/O pin (D) as (I)nput
PRINT(#13,"PIN D Input ",UDI)
n=UDI
'Store state of I/O pin D
'as digital input into variable name "n"
PRINT(#13,"REPORT PIN D Input ") Rn
END
310
UDI (as input value)
Read I/O Port D to Input
Related
Command:
UD
UDA
UDM
UDO
APPLICATION:
I/O input
DESCRIPTION:
Input at Pin D
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
PRINT(UDI) [ RUDI >-v4.76 ]
READ/WRITE:
Read only
LANGUAGE ACCESS:
Expression and conditional testing
UNITS:
Binary bit
RANGE OF VALUES:
0 or 1
TYPICAL VALUES:
0 or 1
DEFAULT VALUE:
I/O dependent
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
User I/O line D serves many functions. It can be a TTL (0 to 5V) input, TTL output, 10
bit analog input, and Defaults to being the negative travel limit input. It can be accessed
with the statement variable=UDI, PRINT(UDI,#13) or WHILE UDI . . . LOOP. The
digital read occurs once at the time the UDI command is executed. Assigning the
variable a=UDI will perform the digital read once and store it into the variable a.
EXAMPLE:
UDI
'Initialize (U)ser defined I/O pin (D) as (I)nput
PRINT(#13,"PIN D Input ",UDI)
n=UDI
'Store state of I/O pin D
'as digital input into variable name "n"
PRINT(#13,"REPORT PIN D Input ") Rn
END
RUD
'Directly Report Port D logic State (>=4.76 firmware only)
n=U&8'Bitmask Port D to the variable n, (>=4.76 firmware only)
Rn
'Report Result
311
UDM
Set I/O Port D as Negative Over Travel Limit
Related Command:
APPLICATION:
I/O control
LIMH
DESCRIPTION:
Set Pin D to be left/negative limit input
LIML
EXECUTION:
Immediate
LIMN
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
UDA
REPORT COMMAND:
N/A
UDI
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT STATE:
Limit switch
UD
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
User I/O line D can be a TTL (0 to 5V) input, TTL output, 10 bit input, or act as the
negative limit input, which is the default state. UDM explicitly defines I/O pin D to be
the negative limit, while commands UDI and UDO make it into a TTL input or output,
respectively, disabling the limit behavior.
EXAMPLE:
UDI a=UDI
Ra
UDM
'Initialize PIN D as a general purpose input
'suppress limit behavior
'read the input value as a digital value
'report input value
'restore default negative limit behavior to PIN D
312
UDO (as command)
Set I/O Port D to Output
Related Command:
APPLICATION:
I/O control
UD
DESCRIPTION:
Set Pin D to be an output
UDA
EXECUTION:
Immediate
UDI
CONDITIONAL TO:
UD=0 or UD=1
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
Input
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
Although its default function is to be the left limit input, user I/O line D can function as a
TTL output. The command UDO specifies the I/O pin D as an output, while UD=value
sets the voltage. I/O pin D will be a logic high voltage if UD=1 and a logic low voltage if
UD=0. Regardless of whether the I/O pin is being used as an input or output, a 10 bit
analog reading of that I/O pin is always available through the UDA function.
In order for the output voltage to reflect the state of UD, both UDO and UD=value
have to be issued. Suppose the I/O pin is functioning as a digital input. If you want to
output a logic low signal, the pin will not sink current until both UDO and UD=0 have
been issued. You only have to issue UDO once; the I/O pin stays configured as an
output for some other configuration specification is issued.
EXAMPLE:
UDO UD=1
PRINT(UDO)
UD=0
PRINT(UDO)
'define PIN D output
'set output latch value
'recall the latch value.
'response is 1
'set output latch value
'recall the latch value
'response is 0
313
UEexpression
Set I/O Port E Output Logic State
Related Command:
APPLICATION:
I/O control
UEA
DESCRIPTION:
Set Pin E output latch
UEI
EXECUTION:
Immediate
UEO
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
Write only
LANGUAGE ACCESS:
Assignment only
UNITS:
Binary bit
RANGE OF VALUES:
0 or 1
TYPICAL VALUES:
0 or 1
DEFAULT VALUE:
0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
User I/O line E can function as a TTL output. The pin defaults to be a general purpose
TTL (0 - 5 volt) input. To use PIN E as an output, set the value of the pin E output
latch UE to either 0 or 1. Issue the command UEO if this has not already been issued.
I/O pin E will be a logic high voltage if UE=1 and a logic low voltage if UE=0.
Regardless of whether the I/O pin is being used as an input or output, a 10 bit
analog reading of that I/O pin is always available through the UEA function.
Example:
UEO
UE=0
UE=1
'set PIN E to function as a digital output
'set PIN E to logic 0 (zero volts)
'set PIN E to logic 1 (+5 volts)
Note: The I/O state can be set prior to assigning as an output.
UE=0
UEO
'Pre-set PIN E to logic 0 (zero volts)
'set PIN E as an output pre-initialized to zero
314
UEA
Read I/O Port E as Analog Input
Related Command:
APPLICATION:
I/O control
UE
DESCRIPTION:
Read Pin E analog input
UEI
EXECUTION:
Immediate
UEO
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
PRINT(UEA)
READ/WRITE:
Read only
LANGUAGE ACCESS:
Expressions and conditional testing
UNITS:
Number
RANGE OF VALUES:
0 or 1023
TYPICAL VALUES:
0 or 1023
DEFAULT VALUE:
I/O dependent
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
User I/O line E can serve as a 10 bit analog to digital input. The A to D reference
is 5VDC and the returned data is between 0 and 1023. A value of 0 corresponds to
0 volts and 1023 to 5 volts. UEA is read only, and can be accessed with the statement variable=UCE, PRINT(UEA,#13) or WHILE UEA>200 . . . LOOP. The analog
read occurs once at the time the UEA command is executed. Assigning the variable
a=UEA will perform the analog read once and store it into the variable a.
All user I/O pins have in internal 5K pull-up resistor, as well as current limiting and
other protection mechanisms. Any analog voltage source, then, should be rated to
adequately drive a 5K ohm input impedance.
The analog to digital conversion is always available on its corresponding I/O pin. That
is, regardless of whether the pin is being used as an input, output or other function, a
10 bit analog reading of I/O that pin is always available.
Example:
PRINT(#13,"PRINT UEA = ",UEA)
b=UEA
PRINT(#13,"REPORT UEA = ")
Rb
RUEA 'Directly Report Port E Analog Value (>=4.76 firmware only)
315
UEI (as command)
Set I/O Port E to Input
Related Command:
APPLICATION:
I/O control
UE
DESCRIPTION:
Set Pin E to be an input
UEA
EXECUTION:
Immediate
UEO
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
Input
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
User I/O line E serves many functions. It can be a TTL (0 to 5V) input, TTL output, 10
bit analog input, the AniLink data line and the RS485 A signal. While user I/O line E
defaults to being the AniLink data line, it can be explicitly set up as a digital input with
the UEI command.
If I/O line E has been set to an output with the command UEO, it can be reset to be
an input with the command UEI.
Example:
UEI
'Initialize (U)ser defined I/O pin (E) as (I)nput
PRINT(#13,"PIN E Input ",UEI)
n=UEI
'Store state of I/O pin E
'as digital input into variable name "n"
PRINT(#13,"REPORT PIN E Input ") Rn
END
RUE
'Directly Report Port E logic State (>=4.76 firmware only)
n=U&16 'Bitmask Port E to the variable n, (>=4.76 firmware only)
Rn
'Report Result
316
UEI (as input value)
Set I/O Port E to Input
Related
Command::
UE
UEA
UEO
APPLICATION: I/O input
DESCRIPTION: Input at Pin E
EXECUTION:
Immediate
CONDITIONAL TO: N/A
LIMITATIONS:
N/A
REPORT COMMAND: PRINT(UEI)
READ/WRITE: Read only
LANGUAGE ACCESS:
Expression and conditional testing
UNITS: Binary bit
RANGE OF VALUES:
0 or 1
TYPICAL VALUES: 0 or 1
DEFAULT VALUE: I/O dependent
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
User I/O line E serves many functions. It can be a TTL (0 to 5V) input, TTL output, 10
bit analog input, the AniLink data line and the RS485 A signal. While user I/O line E
defaults to being the AniLink data line, it can be explicitly set up as a digital input with
the UEI command.
If I/O line E has been set to an output with the command UEO, it can be reset to be an
input with the command UEI.
Example:
UEI
'Initialize (U)ser defined I/O pin (E) as (I)nput
PRINT(#13,"PIN E Input ",UEI)
n=UEI
'Store state of I/O pin E
'as digital input into variable name "n"
PRINT(#13,"REPORT PIN E Input ") Rn
END
RUE
'Directly Report Port E logic State (>=4.76 firmware only)
n=U&16 'Bitmask Port E to the variable n, (>=4.76 firmware only)
Rn
'Report Result
317
UEO (as command)
Set I/O Port E to Input
Related Command:
APPLICATION:
I/O control
UE
DESCRIPTION:
Set Pin E to be an output
UEA
EXECUTION:
Immediate
UEI
CONDITIONAL TO:
UE=0 or UE=1
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
Input
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
Although its default function is to be the AniLink data line, user I/O line E can function as
a TTL output. The command UEO specifies the I/O pin E as an output, while UE=value
sets the voltage. I/O pin E will be a logic high voltage if UE=1 and a logic low voltage if
UE=0. Regardless of whether the I/O pin is being used as an input or output, a 10 bit
analog reading of that I/O pin is always available through the UEA function.
In order for the output voltage to reflect the state of UE, both UEO and UE=value have
to be issued. Suppose the I/O pin is functioning as a digital input. If you want to output
a logic low signal, the pin will not sink current until both UEO and UE=0 have been
issued. You only have to issue UEO once; the I/O pin stays configured as an output
for some other configuration specification is issued.
Example: (set PIN E as output and recall output latch value)
UEO UE=1
PRINT(UEO)
UE=0
PRINT(UEO)
'define PIN E output
'set output latch value
'recall the latch value.
'response is 1
'set output latch value
'recall the latch value
'response is 0
318
UFexpression
Related
Command:
UFA
UFI
UFO
Set I/O Port F Output Logic State
APPLICATION:
I/O control
DESCRIPTION:
Set Pin F output latch
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
Write only
LANGUAGE ACCESS:
Assignment only
UNITS:
Binary bit
RANGE OF VALUES:
0 or 1
TYPICAL VALUES:
0 or 1
DEFAULT VALUE:
0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
User I/O line F can function as a TTL output. The pin defaults to be a general purpose
TTL (0 - 5 volt) input. To use PIN F as an output, set the value of the pin F output
latch UF to either 0 or 1. Issue the command UFO if this has not already been issued.
I/O pin F will be a logic high voltage if UF=1 and a logic low voltage if UF=0.
Regardless of whether the I/O pin is being used as an input or output, a 10 bit
analog reading of that I/O pin is always available through the UFA function.
Fxample:
UFO
UF=0
UF=1
'set PIN F to function as a digital output
'set PIN F to logic 0 (zero volts)
'set PIN F to logic 1 (+5 volts)
Note: The I/O state can be set prior to assigning as an output.
UF=0
UFO
'Pre-set PIN F to logic 0 (zero volts)
'set PIN F as an output pre-initialized to zero
319
UFA
Read I/O Port F as Analog Input
Related
Command::
UF
UFI
UFO
APPLICATION:
I/O control
DESCRIPTION:
Read Pin F analog input
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
PRINT(UFA)
READ/WRITE:
Read only
LANGUAGE ACCESS:
Expressions and conditional testing
UNITS:
Number
RANGE OF VALUES:
0 or 1023
TYPICAL VALUES:
0 or 1023
DEFAULT VALUE:
I/O dependent
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
User I/O line F can serve as a 10 bit analog to digital input. The A to D reference is
5VDC and the returned data is between 0 and 1023. A value of 0 corresponds to 0
volts and 1023 to 5 volts. UFA is read only, and can be accessed with the statement
variable=UFA, PRINT(UFA,#13) or WHILE UFA>200 . . . LOOP. The analog read
occurs once at the time the UFA command is executed. Assigning the variable a=UFA
will perform the analog read once and store it into the variable a.
All user I/O pins have in internal 5K pull-up resistor, as well as current limiting and
other protection mechanisms. Any analog voltage source, then, should be rated to
adequately drive a 5K ohm input impedance.
The analog to digital conversion is always available on its corresponding I/O pin. That
is, regardless of whether the pin is being used as an input, output or other function, a
10 bit analog reading of I/O that pin is always available.
Example:
PRINT(#13,"PRINT UCA = ",UFA)
b=UFA
PRINT(#13,"REPORT UFA = ")
Rb
RUFA 'Directly Report Port F Analog Value (>=4.76 firmware only)
320
UFI (as command)
Set I/O Port F to Input
Related Command:
APPLICATION:
I/O control
UF
DESCRIPTION:
Set Pin F to be an input
UFA
EXECUTION:
Immediate
UFO
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
Input
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
User I/O line F serves many functions. It can be a TTL (0 to 5V) input, TTL output, 10
bit analog input, the AniLink clock line and the RS485 B signal. While user I/O line
F defaults to being the AniLink clock line, it can be explicitly set up as a digital input
with the UFI command.
If I/O line F has been set to an output with the command UFO, it can be reset to be
an input with the command UFI.
Example:
UFI
'Initialize (U)ser defined I/O pin (F) as (I)nput
PRINT(#13,"PIN F Input ",UFI)
n=UFI
'Store state of I/O pin F
'as digital input into variable name "n"
PRINT(#13,"REPORT PIN F Input ") Rn
END
RUF
'Directly Report Port F logic State (>=4.76 firmware only)
n=U&32 'Bitmask Port F to the variable n, (>=4.76 firmware only)
Rn
'Report Result
321
UFI (as input value)
Read I/O Port F Logic State
Related
Command::
UF
UFA
UFO
APPLICATION: I/O input
DESCRIPTION: Input at Pin F
EXECUTION:
Immediate
CONDITIONAL TO: N/A
LIMITATIONS:
N/A
REPORT COMMAND: PRINT(UFI)
READ/WRITE: Read only
LANGUAGE ACCESS:
Expression and conditional testing
UNITS: Binary bit
RANGE OF VALUES:
0 or 1
TYPICAL VALUES: 0 or 1
DEFAULT VALUE: I/O dependent
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
User I/O line F serves many functions. It can be a TTL (0 to 5V) input, TTL output, 10
bit analog input, the AniLink clock line and the RS485 B signal. While user I/O line F
defaults to being the AniLink clock line, it can be explicitly set up as a digital input with
the UFI command.
If I/O line F has been set to an output with the command UFO, it can be reset to be an
input with the command UFI.
Example:
UFI
'Initialize (U)ser defined I/O pin (F) as (I)nput
PRINT(#13,"PIN E Input ",UFI)
n=UFI
'Store state of I/O pin F
'as digital input into variable name "n"
PRINT(#13,"REPORT PIN F Input ") Rn
END
RUF
'Directly Report Port F logic State (>=4.76 firmware only)
n=U&32 'Bitmask Port F to the variable n, (>=4.76 firmware only)
Rn
'Report Result
322
UFO (as command)
Set I/O Port F to Output
Related Command:
APPLICATION:
I/O control
UF
DESCRIPTION:
Set Pin F to be an output
UFA
EXECUTION:
Immediate
UFI
CONDITIONAL TO:
UF=0 or UF=1
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
Input
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
Although its default function is to be the AniLink clock line, user I/O line F can function as
a TTL output. The command UFO specifies the I/O pin F as an output, while UF=value
sets the voltage. I/O pin F will be a logic high voltage if UF=1 and a logic low voltage if
UF=0. Regardless of whether the I/O pin is being used as an input or output, a 10 bit
analog reading of that I/O pin is always available through the UFA function.
In order for the output voltage to reflect the state of UF, both UFO and UF=value have
to be issued. Suppose the I/O pin is functioning as a digital input. If you want to output
a logic low signal, the pin will not sink current until both UFO and UF=0 have been
issued. You only have to issue UFO once; the I/O pin stays configured as an output
for some other configuration specification is issued.
Example: (set PIN F as output and recall output latch value)
UFO UF=1
PRINT(UFO)
UF=0
PRINT(UFO)
'define PIN F output
'set output latch value
'recall the latch value.
'response is 1
'set output latch value
'recall the latch value
'response is 0
323
UG
Enable/Re-Enable Port G Sync Functionality
Related Command:
APPLICATION:
I/O control
UGA
DESCRIPTION:
Set Pin G to Act as "G" command when grounded
UGI
EXECUTION:
Immediate
UGO
CONDITIONAL TO:
N/A
RS4
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
Assignment only
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
User I/O line G can function as the "GO" or G command when grounded. It
does so by default. If at any time UGI or UGO commands are used, this functionality is disabled. To Re-enable the "sync-function" just issue UG by itself.
The reason it is called the "sync function" is because it allows multiple motors to trigger Go commands via hardware at the exact same time thereby synchronizing them.
324
UGexpression
Set I/O Port G Output Logic State
Related Command:
APPLICATION:
I/O control
UGA
DESCRIPTION:
Set Pin G output latch
UGI
EXECUTION:
Immediate
UGO
CONDITIONAL TO:
N/A
RS4
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
Write only
LANGUAGE ACCESS:
Assignment only
UNITS:
Binary bit
RANGE OF VALUES:
0 or 1
TYPICAL VALUES:
0 or 1
DEFAULT VALUE:
0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
User I/O line G can function as a TTL output. The pin defaults to be a general purpose
TTL (0 - 5 volt) input. To use PIN G as an output, set the value of the pin G output
latch UG to either 0 or 1. Issue the command UGO if this has not already been issued.
I/O pin G will be a logic high voltage if UG=1 and a logic low voltage if UG=0.
Regardless of whether the I/O pin is being used as an input or output, a 10 bit
analog reading of that I/O pin is always available through the UGA function.
Gxample:
UGO
UG=0
UG=1
'set PIN G to function as a digital output
'set PIN G to logic 0 (zero volts)
'set PIN G to logic 1 (+5 volts)
Note: The I/O state can be set prior to assigning as an output.
UG=0
UGO
'Pre-set PIN G to logic 0 (zero volts)
'set PIN G as an output pre-initialized to zero
325
UGA (as input value)
Read I/O Port G As Analog Input
Related Command:
APPLICATION:
I/O control
UG
DESCRIPTION:
Read Pin G analog input
UGI
EXECUTION:
Immediate
UGO
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
PRINT(UGA)
READ/WRITE:
Read only
LANGUAGE ACCESS:
Expressions and conditional testing
UNITS:
Number
RANGE OF VALUES:
0 or 1023
TYPICAL VALUES:
0 or 1023
DEFAULT VALUE:
I/O dependent
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
User I/O line G can serve as a 10 bit analog to digital input. The A to D reference
is 5VDC and the returned data is between 0 and 1023. A value of 0 corresponds to
0 volts and 1023 to 5 volts. UGA is read only, and can be accessed with the statement variable=UGA, PRINT(UGA,#13) or WHILE UGA>200 . . . LOOP. The analog
read occurs once at the time the UGA command is executed. Assigning the variable
a=UGA will perform the analog read once and store it into the variable a.
All user I/O pins have in internal 5K pull-up resistor, as well as current limiting and
other protection mechanisms. Any analog voltage source, then, should be rated to
adequately drive a 5K ohm input impedance.
The analog to digital conversion is always available on its corresponding I/O pin. That
is, regardless of whether the pin is being used as an input, output or other function, a
10 bit analog reading of I/O that pin is always available.
Example:
PRINT(#13,"PRINT UGA = ",UGA)
b=UGA
PRINT(#13,"REPORT UGA = ")
Rb
RUGA 'Directly Report Port G Analog Value (>=4.76 firmware only)
326
UGI (as input value)
Read I/O Port G Logic Level State
Related Command:
APPLICATION:
I/O control
UG
DESCRIPTION:
Read Pin G Logicinput
UGI
EXECUTION:
Immediate
UGO
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
PRINT(UGI)
READ/WRITE:
Read only
LANGUAGE ACCESS:
Expressions and conditional testing
UNITS:
Number
RANGE OF VALUES:
0 or 1023
TYPICAL VALUES:
0 or 1023
DEFAULT VALUE:
I/O dependent
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
User I/O line G serves many functions. It can be a TTL (0 to 5V) input, TTL output, 10 bit analog
input, the hardware "go" line, and the primary port RS485 control line. While user I/O line G
defaults to being the active low hardware "go," it can be explicitly set up as a digital input with
the UGI command.
If I/O line G has been set to an output with the command UGO, it can be reset to be an input
with the command UGI.
Example:
UGI
'Initialize (U)ser defined I/O pin (G) as (I)nput
PRINT(#13,"PIN E Input ",UGI)
n=UGI
'Store state of I/O pin G
'as digital input into variable name "n"
PRINT(#13,"REPORT PIN G Input ") Rn
END
RUG
'Directly Report Port G logic State (>=4.76 firmware only)
n=U&64 'Bitmask Port G to the variable n, (>=4.76 firmware only)
Rn
'Report Result
327
UGI (as command)
Set I/O Port G to Input
Related Command:
APPLICATION:
I/O control
UG
DESCRIPTION:
Set PIN G to be an input
UGA
EXECUTION: Immediate
UGO
CONDITIONAL TO: N/A
RS4
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES: N/A
DEFAULT STATE:
Input
FIRMWARE VERSIONS:
ALL
DETAILED DESCRIPTION:
User I/O line G serves many functions. It can be a TTL (0 to 5V) input, TTL output, 10 bit analog
input, the hardware "go" line, and the primary port RS485 control line. While user I/O line G
defaults to being the active low hardware "go," it can be explicitly set up as a digital input with
the UGI command.
If I/O line G has been set to an output with the command UGO, it can be reset to be an input
with the command UGI.
Example:
UGI
'Initialize (U)ser defined I/O pin (G) as (I)nput
PRINT(#13,"PIN G Input ",UGI)
n=UGI
'Store state of I/O pin G
'as digital input into variable name "n"
PRINT(#13,"REPORT PIN G Input ") Rn
END
RUG
'Directly Report Port G logic State (>=4.76 firmware only)
n=U&64 'Bitmask Port G to the variable n, (>=4.76 firmware only)
Rn
'Report Result
328
UGO (as command)
Set I/O Port G to Output
Related Command:
APPLICATION:
I/O control
UG
DESCRIPTION:
Set Pin G to be an output
UGA
EXECUTION:
Immediate
UGI
CONDITIONAL TO:
UG=0 or UG=1
RS4
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
Input
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
Although its default function is the hardware "go" line, user I/O line G can function as a
TTL output. The command UGO specifies the I/O pin G as an output, while UG=value
sets the voltage. I/O pin G will be a logic high voltage if UG=1 and a logic low voltage
if UG=0. Regardless of whether the I/O pin is being used as an input or output, a 10
bit analog reading of the I/O pin is always available through the UGA function.
In order for the output voltage to reflect the state of UG, both UGO and UG=value
have to be issued. Suppose the I/O pin is functioning as a digital input. If you want
to output a logic low signal, the pin will not sink current until both UGO and UG=0
have been issued. Just issue UGO once, the I/O pin stays configured until another
configuration specification is issued.
When you open channel 0 as an RS485 port dedicates I/O G to the RS485 control
function, which is required for use with Animatics RS232 to RS485 converters like the
RS485 and RS485-ISO. When using one of these adapters, you must ensure that the
I/O G pin is configured as a TTL output with the UGO command before the channel
is opened.
EXAMPLE:
UGO UG=1
PRINT(UGO)
UG=0
PRINT(UGO)
'define PIN G output
'set output latch value
'recall the latch value.
'response is 1
'set output latch value
'recall the latch value
'response is 0
329
UP
Complied User Program and Header Upload
Related
Command::
UPLOAD
APPLICATION:User program verification
DESCRIPTION:Upload user EEPROM through serial communications
EXECUTION:Immediate
CONDITIONAL TO:N/A
LIMITATIONS:N/A
REPORT COMMAND:N/A
READ/WRITE:N/A
LANGUAGE ACCESS:N/A
UNITS:ASCII Characters
RANGE OF VALUES:Alpha numeric
TYPICAL VALUES:Alpha numeric
DEFAULT VALUE:
N/A
FIRMWARE VERSIONS:4.00 and higher
DETAILED DESCRIPTION:
WARNING
Do not use the
UP
command within
a user program.
It will terminate
the program.
The UP command will cause the SmartMotor™ compiled user program runtime code
to be sent out the primary serial port. In contrast, the UPLOAD command returns the
user program in readable text. The output from the UP command will include a header
containing binary information and special codes, created by the compiler to make the
program run faster, interspersed with the program text.
UP immediately terminates any running user program. The program counter is lost. UP
does not terminate the present motion mode or trajectory, change motion parameters
such as E, A, V, or KP, or alter the present value of the user variables.
The comments in your original source code do not appear when you UP or UPLOAD
a program. Comments are removed by the compiler, which is normal for any compiled
computer program.
When uploading a program from a SmartMotor in a daisy chain, prevent the other
SmartMotors in the chain from issuing unexpected characters by using the SILENCE
and SLEEP commands. After the upload is complete, you can re-enable normal
communications with WAKE and TALK.
330
UPLOAD
Standard User Program Upload
Related
Command::
UP
APPLICATION:
User program verification
DESCRIPTION:
Upload user EEPROM through serial communications
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
UPLOAD terminates user program execution
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
ASCII Characters
RANGE OF VALUES:
Alpha numeric
TYPICAL VALUES:
Alpha numeric
DEFAULT VALUE:
N/A
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
WARNING
Do not use the
UPLOAD
command within
a user program.
It will terminate
the program.
The UPLOAD command will upload only the text portion of the SmartMotor’s™
program as it appeared in your original source file. In contrast, the UP command
will upload the text along with all of the binary information created by the
compiler that allows the program to run faster.
UPLOAD immediately terminates any running user program. The program
counter is lost. UPLOAD does not terminate the present motion mode or
trajectory, or change motion parameters such as E, A, V, KP, etc., or alter the
present value of the users variables.
When communicating over a terminal use the UPLOAD command to verify the
program is the expected one. The comments in your original source code do not
appear when you UP or UPLOAD a program. The comments were removed by
the compiler, as is usual for any compiled computer program.
When uploading a program from a SmartMotor in a daisy chain, prevent the
other SmartMotors in the chain from issuing unexpected characters by using
the SILENCE and SLEEP commands. After the upload is complete, you can
re-enable normal communications with WAKE and TALK.
Example: (try the following program, down load it and then RUN)
PRINT(" PERFORM UPLOAD CMD")
UPLOAD
PRINT(" ANY MORE ?")
END
Output is "PERFORM UPLOAD CMD"
331
V
Commanded Velocity
Related
Command:
@P
@PE
@V
A
D
E
G
MP
MV
V
APPLICATION:
Trajectory control
DESCRIPTION:
Maximum velocity
EXECUTION:
Buffered
CONDITIONAL TO:
MP, MV
LIMITATIONS:
N/A
REPORT COMMAND:
PRINT(V)
READ/WRITE:
Read write
LANGUAGE ACCESS:
Assignment, expressions, and conditional testing
UNITS:
Scaled encoder counts
RANGE OF VALUES:
-2147483648 to 2147483647
TYPICAL VALUES:
-23200000 to 3200000
DEFAULT VALUE:
0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
Use the V=expression to set the slew rate used by the velocity and position mode
moves. In the SmartMotor™, a point to point move is determined by P=expression,
the target position, V=expression, the target travelling velocity, and A=expression,
the acceleration at which to reach the target velocity. In a velocity mode move, you
only need V=expression, the target travelling velocity, and A=expression, the acceleration at which to reach the target velocity. V is always positive in position mode but
can be positive or negative in velocity mode.
The value of V defaults to zero so it must be given a value before any motion can take
place. The new value does not take effect until the next G command is executed.
MP P=10000 V=10000 A=1000 G
TWAIT
P=0
G
'Set Position Mode
'Set Position
'Set Velocity
'Set Acceleration
'Start Motion
'pause program execution during move
'Set new position
'Start Motion again
Velocity is held to 32 bits, 16 bits integer and 16 bits fractional. The units are counts
per sample period, shifted by the 16 bits (65,536).
32,212= (2,000counts/revolution)(65,536)
(4,069samples/second)
332
VLD(variable, number)
Data EEPROM READ/WRITE COMMAND
Related Command:
APPLICATION:
User data recovery
Bk
DESCRIPTION:
Sequentially load user variables from data EPROM EXECUTION:
Immediate
RBk
CONDITIONAL TO:
EPTR= variable
VST
LIMITATIONS:
EPTR set from 0 to 32000
REPORT COMMAND:
N/A
READ/WRITE:
Sequential read
LANGUAGE ACCESS:
N/A
UNITS:
1 byte, 2 byte, or 4 byte reads
RANGE OF VALUES:
-2147483648 to 2147483647
TYPICAL VALUES:
-2147483648 to 2147483647
DEFAULT VALUE:
User stored values
EPTR
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
VST( ) or VLD( ) commands are used to store and load data from internal nonvolatile
RAM, (EEPROM). To read or write into this memory space a memory address location
must first be specified with the EPTR=expression command, where expression takes
a value between 0 and 32000, and then use the VST( ) or VLD( ) commands to store
or retrieve data.
To Read in a series of values and assign these values to a sequence of user variables
use the VLD(variable, number) command. The first parameter (variable) specifies the name of the first user variable of a
sequence of variables that you wish to load. The second parameter (number) specifies the number of variables in the sequence
of variables that you wish to store. The command interpreter will automatically note the size of variable you define,
either 1, 2, or 4 bytes long.
When using the data EEPROM, it is important to note that the only the data values are
stored or loaded. The association of these values to any variable is not retained. The
only way to retrieve this data is by keeping track of the EPTR value.
If the data memory access is out of range, the scan error flag Bs will be set.
Examples:
Storing and retrieving a single 32 bit standard variable:
a=123456778
'assign a value to the variable "a"
EPTR=100
'Set EPROM pointer to 100
VST(a,1)
'Store into EPROM (EPTR incremental to 104 automatically)
EPTR=100
'Set Eprom to 100 again
VLD(b,1)
'Load from location 100 into the variable "b"
Rb
'Report result will be:
123456789
333
VLD(variable, number) (continued)
data EEPROM READ/WRITE COMMAND
Related
Command:
Bk
EPTR
RBk
VST
Storing and retrieving a single 16 bit standard variable:
aw[0]=32000
'assign a value to the 16 bit "array word"(0)
EPTR=100
'Set Eprom pointer to 100
VST(aw[0],1) 'Store into EPROM (EPTR incremental to 102 automatically)
EPTR=100
'Set Eprom to 100 again
VLD(x,1)
'Load from location 100 into the variable "x"
Rx
'Report result will be:
32000
Storing and retrieving a single 8 bit standard variable:
ab[0]=126
'assign a value to the 8 bit "array byte"(0)
EPTR=100
'Set Eprom pointer to 100
VST(aw[0],1) 'Store into EPROM EPTR incremental to 101 automatically)
EPTR=100
'Set Eprom to 100 again
VLD(x,1)
'Load from location 100 into the variable "x"
Rx
'Report result will be:
126
Storing and retrieving a 5 consecutive 32 bit standard variables:
a 10 11 12 13 14.
'assign values to the variables "a" thru "f"
EPTR=100
'Set Eprom pointer to 100
VST(a,5)
'EPTR will increment to 100+(4*5)=120
'(4 bytes x 5 stored)
EPTR=100
'Set Eprom to 100 again
VLD(v,5)
'Load from location 100 into the variable "b"
Rv
'will report 10
Rw
'will report 11
Rx
'will report 12
Ry
'will report 13
Rz
'will report 14
I've left the
strikethroughs
intact. I assume
there'll be
something to
replace them or
they'll go away
eventually
. . . Ernie
Storing 7 16-bit numbers into EEPROM:
i=10 'Using the variable "i" as index to an array variable
j=7 'Using the variable "j" as the number of sequential
'variables you wish to store
Example 16-bit array data Data :
aw[i] 1111 2222 3333 4444 -1111 -2222 -3333.
EPTR=3200
'Set EPROM memory pointer location to 3200
VST(aw[i],j)
'Store "j" or 7 sequential variables
'beginning with aw[i]
'into EPROM starting at address 3200.
Note: The EEPROM value will automatically increment for each value stored.
EPTR value after above execution will be set to
3200+(7 variable * 2 bytes each) or 3214
Retrieving Same data into other variables for later use:
EPTR=3200
i=10 'Using the variable "i" as index to an array variable
j=7 'Using the variable "j" as the number of sequential
'variables you wish to store
VLD(aw[r],s)
WHILE t<5
PRINT(#13,aw[t+r]," ")
t=t+1
LOOP
END
'output is 111 222 333 444 -1111
334
VST(variable, number)
DATA-EEPROM READ/WRITE COMMAND
Related Command:
APPLICATION:
User data storage
Bk
DESCRIPTION:
Sequentially store user variables to data EPROM
EXECUTION:
Immediate
RBk
CONDITIONAL TO:
EPTR= variable
VST
LIMITATIONS:
EPTR set from 0 to 7999
REPORT COMMAND:
N/A
READ/WRITE:
Sequential write
LANGUAGE ACCESS:
N/A
UNITS:
1 byte, 2 byte, or 4 byte reads
RANGE OF VALUES:
-2147483648 to 2147483647
TYPICAL VALUES:
-2147483648 to 2147483647
DEFAULT VALUE:
User determined values
EPTR
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
VST( ) command is used to store data into internal nonvolatile RAM, (EEPROM).
To write into this memory space a memory address location must first be specified
with the EPTR=expression command, where expression takes a value between 0
and 32000, use the VST(variable, number) command. The first parameter (variable)
specifies the name of the first user variable of a sequence of variables that you wish
to write from. The second parameter (number) specifies the number of variables in
the sequence of variables that you wish to store. The command interpreter will automatically note the size of variable you define,
either 1, 2, or 4 bytes long.
When using the data EEPROM, it is important to note that the only the data values
are stored. The association of these values to any variable is not retained. The only
way to retrieve this data is by keeping track of the EPTR value.
As each byte is written to the EEPROM, is immediately verified by reading the
EEPROM device. If the byte read does not match the byte write the system bit Bk
will be set to 1. If the data memory access is out of range, the scan error flag Bs will
be set.
Examples:
Storing and retrieving a single 32 bit standard variable:
a=123456778
'assign a value to the variable "a"
EPTR=100
'Set EPROM pointer to 100
VST(a,1)
'Store into EPROM (EPTR incremental to 104 automatically)
EPTR=100
'Set Eprom to 100 again
VLD(b,1)
'Load from location 100 into the variable "b"
Rb
'Report result will be:
123456789
335
VST(variable, number) (continued)
DATA-EEPROM READ/WRITE COMMAND
Related
Command:
Bk
EPTR
RBk
VST
Storing and retrieving a single 16 bit standard variable:
aw[0]=32000
'assign a value to the 16 bit "array word"(0)
EPTR=100
'Set Eprom pointer to 100
VST(aw[0],1) 'Store into EPROM (EPTR incremental to 102 automatically)
EPTR=100
'Set Eprom to 100 again
VLD(x,1)
'Load from location 100 into the variable "x"
Rx
'Report result will be:
32000
Storing and retrieving a single 8 bit standard variable:
ab[0]=126
'assign a value to the 8 bit "array byte"(0)
EPTR=100
'Set Eprom pointer to 100
VST(aw[0],1) 'Store into EPROM EPTR incremental to 101 automatically)
EPTR=100
'Set Eprom to 100 again
VLD(x,1)
'Load from location 100 into the variable "x"
Rx
'Report result will be:
126
Storing and retrieving a 5 consecutive 32 bit standard variables:
a 10 11 12 13 14.
'assign values to the variables "a" thru "f"
EPTR=100
'Set Eprom pointer to 100
VST(a,5)
'EPTR will increment to 100+(4*5)=120
'(4 bytes x 5 stored)
EPTR=100
'Set Eprom to 100 again
VLD(v,5)
'Load from location 100 into the variable "b"
Rv
'will report 10
Rw
'will report 11
Rx
'will report 12
Ry
'will report 13
Rz
'will report 14
Storing 7 16-bit numbers into EEPROM:
i=10 'Using the variable "i" as index to an array variable
j=7 'Using the variable "j" as the number of sequential
'variables you wish to store
Example 16-bit array data Data :
aw[i] 1111 2222 3333 4444 -1111 -2222 -3333.
EPTR=3200
'Set EPROM memory pointer location to 3200
VST(aw[i],j)
'Store "j" or 7 sequential variables
'beginning with aw[i]
'into EPROM starting at address 3200.
Note: The EEPROM value will automatically increment for each value stored.
EPTR value after above execution will be set to
3200+(7 variable * 2 bytes each) or 3214
Retrieving Same data into other variables for later use:
EPTR=3200
i=10 'Using the variable "i" as index to an array variable
j=7 'Using the variable "j" as the number of sequential
'variables you wish to store
VLD(aw[r],s)
WHILE t<5
PRINT(#13,aw[t+r]," ")
t=t+1
LOOP
END
'output is 111 222 333 444 -1111
336
WAIT=expression
Pause Program Flow for pre-determined time
APPLICATION:
Program execution control
DESCRIPTION:
Suspends command execution for defined number of PID samples
CLK
EXECUTION:
Immediate
PID#
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
PID samples
RANGE OF VALUES:
0 to 2147483647
TYPICAL VALUES:
0 to 4000
DEFAULT VALUE:
N/A
Related
Command:
TWAIT
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The WAIT=expression will pause program execution for a specified amount of time.
Time is measured in PID sample periods of which there are 4,069 per second by
default. Some firmware versions may have a different of PID rate - please refer to
the RSP command for details on how to query your SmartMotor™ for its PID sample
period. The number of PID sample periods per second can be changed with the PID#
commands for motors with version 4.00 or later firmware.
EXAMPLE: (pause program execution for a given period)
w=32552
'use to set Wait time
PID1
WAIT=w
'Default PID updates every servo sample
'Wait time
= 8
seconds
PID2
WAIT=w
'PID updates
'Wait time
every 2 servo samples
= 4
seconds
PID4
WAIT=w
'PID updates
'Wait time
every 4 servo samples
= 2
seconds
PID8
WAIT=w
'PID updates
'Wait time
every 8 servo samples
= 1
second
'
PID1
WAIT=w
'Return to Default PID
'Wait time
= 8 seconds
337
WAKE
Enable Open Communications on Primary Port
APPLICATION:
Serial communication control
DESCRIPTION:
Motor to execute all communications channel 0
commands
SLEEP1
EXECUTION:
Immediate
WAKE1
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
WAKE state
Related
Command:
SLEEP
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The SLEEP and
WAKE commands
are only sent from
a host, never part
of a SmartMotor™
program.
WAKE clears the SLEEP condition of a SmartMotor™. A SmartMotor that has been
put to SLEEP rejects all commands received through the primary port but WAKE.
WAKE is intended to be used from the host terminal while programs are being downloaded to other motors, but is is perfectly valid from within a user program.
338
WAKE1
Enable Open Communications on Secondary Port
Related
Command:
SLEEP
SLEEP1
WAKE1
APPLICATION:
Serial communication control
DESCRIPTION:
Motor to execute all communications channel 1
commands
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
WAKE1 state
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
WAKE1 clears the SLEEP1 condition of a SmartMotor™. A SmartMotor that has been
put to SLEEP1 rejects all commands received through the channel 1 serial port but
WAKE1.
WAKE1 is intended to be used from the host terminal while programs are being
downloaded to other motors, but is is perfectly valid from within a user program.
339
WHILE expression
Conditional Program Loop Flow Control
Related Command:
APPLICATION:
Program execution control
BREAK
DESCRIPTION:
Defines block of code repeatable while expression is true
EXECUTION:
Immediate
LOOP
IF
SWITCH
CONDITIONAL TO: LIMITATIONS:
Value of expression
6 Deep WHILE loop nesting <v4.0 firmware No limit >=v4.0 firmware
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
expression values -2147483648 to 2147483647
TYPICAL VALUES: expression values -2147483648 to 2147483647
DEFAULT VALUE:
N/A
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The WHILE loop creates a program loop that repeatedly executes as long as a certain condition is true or non zero.
EXAMPLE:
WHILE {expression is true}
execute program command here
LOOP
The "expression" is evaluated the first time WHILE is encountered, and each time
program execution is sent back to the WHILE by its corresponding LOOP statement.
If the "expression" value is zero or false, program execution re-directs to the code
just below the LOOP command. Any valid standard Animatics expression can be
used. In particular, WHILE 1 . . . LOOP is a standard loop forever control block.
Each WHILE expression control block must be terminated with a corresponding
LOOP exit statement. WHILE control blocks may be nested.
If BREAK is encountered while executing a WHILE control block, program execution
unconditionally takes up after the LOOP statement.
WHILE is not a valid terminal command, it is only valid within a user program.
See examples on next page
340
WHILE expression (continued)
program flow structures
Related
Command:
BREAK
LOOP
IF
Example:
WHILE Bt UB=1
UB=0
LOOP
'While trajectory still in progress
'More efficient than Bt==1
'Set output high
'Set output low
'Loop back to While
Example:
SWITCH
a=0
WHILE a<7
b=a<3
'this is valid syntax !
IF b
PRINT("T ")'true !
ELSE
PRINT("F ")'false !
ENDIF
a=a+1 'increment loop index
LOOP
END
'output is "T T T F F F F "
Example of nested WHILE Loops:
D=20000
A=100
V=1000000
MP
WHILE 1
'Set
'Set
'Set
'Set
Relative Move Distance
Acceleration
Velocity
to Position Mode
'While Forever
WHILE UAI==1 LOOP
'wait for Port A to be grounded
G
'Start Relative Move
WHILE Bt
'While Moving
IF UBI==0 'If Port B is grounded
X
'Stop motion
ENDIF
LOOP
WHILE UAI==0 LOOP
'wait for Port A to reset.
IF UCI==0
'If Port C was grounded
BREAK
'exit the WHILE 1 LOOP
ENDIF
LOOP
PRINT("Port C was grounded"),#13)
END
341
X
Decelerate Shaft to a Relative Position
Related
Command:
G
S
APPLICATION:
Trajectory control
DESCRIPTION:
Slow motor motion to stop
EXECUTION:
Immediate
CONDITIONAL TO:
A non zero
LIMITATIONS:
N/A
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
RELATED COMMANDS: G, S
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The X command immediately abandons the current trajectory mode and causes the
motor to slow to a stop using the current acceleration value A. This is different from
the S command, which stops the motor a soon as possible without regard to the current acceleration. Regardless of the motion mode prior to the command, X leaves the
motor position mode. The response to RMODE will be an "R".
Example:
MP
A=200
V=50000
P=1000000
G
WHILE Bt
IF UAI
X
ENDIF
RMODE
LOOP
'Select Position Mode
'Set Acceleration
'Set Velocity
'Set Position
'Start Motion
'Loop while Trajectory
'If input goes high
'Decelerate now
'response is "R"
342
Z
Total CPU Reset
Related
Command:
RUN
RUN?
APPLICATION:
Reset motor
DESCRIPTION:
Software reset motor to power up condition
EXECUTION:
Immediate
CONDITIONAL TO:
Serial character transmit completion
LIMITATIONS:
None
REPORT COMMAND:
N/A
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The Z command will totally reset the SmartMotor™ just as if power were taken away
and later restored. Consequently, if there is a stored program, it will be run from the
beginning. All modes of operation, variables and status bits will be restored back to
their defaults. Subsequent to a power up or reset, the SmartMotor will
This command
should not be
used in a stored
SmartMotor™
program.
1. initialize the motion mode, status bits and variables,
2. hold the serial port closed for approximately ¼ second
3. open and initialize the serial port
4. delay for ½ second. At the end of this time, the SmartMotor will examine the communications buffer. In versions 4.0 through 4.12, if any character
is in the buffer, the stored program will not be executed. In versions 4.15
and later, the stored program will be aborted only if the specific characters "EE" are found.
5. The stored program will now run, unless aborted as described above.
After a program download, using the Z command is a very good way to evaluate how
your SmartMotor™ will operate when powered on. The RUN command will execute
the stored program, but it will not clear the motor to its default condition, so the subsequent operation will not necessarily mimic what would happen at power up.
WARNING! The Z command should not be used at or near the top of program
code. In doing so, it may cause a continuous and repetitive resetting of the CPU and
lock out the motor. IF this does happen, the Communications Lockup recovery tool
may be used to regain access to the motor.
343
Za
Reset Peak Over Current Flag
Related Command:
APPLICATION:
Program execution control
Ba
DESCRIPTION:
Reset current limit violation latch
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
RBa
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
RESET VALUE:
0
RBa
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
Za resets the overcurrent error flag Ba to zero. If the current violation still exists Ba
will be set to 1 again.
In early firmware versions, Ba was vallid only after being enabled by a Za or ZS command after the motion had started. This proved cumbersome to users, so enabling
is not required in versions 4.15, 4.41, 4.75 and later. If Ba flag is regularly found to
be set there may be a problem. Please verify the motor is correctly "sized" for the
presently assigned task.
Example:
IF Ba 'Test flag
PRINT("Over Current")
Za 'Reset flag
ENDIF
WAIT=4000
IF Ba 'Retest flag PRINT("Over Current still in effect")
ENDIF
344
Zb
Reset Comms Parity Error Flag
Related
Command:
Bb
RBb
CHN0
CHN1
APPLICATION:
Program execution control
DESCRIPTION:
Reset serial data parity violation latch
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
RBb
READ/WRITE:
N/A LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
RESET VALUE:
0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
Zb resets system flag Bb, the parity error violation latch, to zero. A parity error indicates that the communications has failed at a fundamental level. For safe operation,
it is vital to find and eliminate the cause if this error flag is ever set.
EXAMPLE:
IF Bb 'Test flag
PRINT(" Parity Error ")
Zb
'Reset flag
ENDIF
345
Zc
Reset Comms Buffer Overflow Flag
Related Command:
APPLICATION:
Program execution control
Bc
DESCRIPTION:
Reset communications buffer overflow latch
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LANGUAGE ACCESS:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
RBc
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
RESET VALUE:
0
RBc
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
Zc resets system flag Bc, the serial communication receive buffer overflow violation
latch, to zero. If the communication buffer overflows, the SmartMotor™ may receive
a garbled or partial data byte. For safe operation, it is vital to find and eliminate the
cause if this error flag is ever set.
EXAMPLE:
\
IF Bc
'Test flag
PRINT("Buffer Overflow")
Zc
'Reset flag
ENDIF
346
Zd
Reset Math Overflow Error Flag
Related
Command:
Bd
RBd
APPLICATION:
Program execution control
DESCRIPTION:
Reset math overflow violation latch
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LANGUAGE ACCESS:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
RBd
READ/WRITE:
N/A LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
RESET VALUE:
0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
Zd resets the math overflow violation flag Bd to zero. For safe operation, it is
vital to find and eliminate the cause if this error flag is ever set.
EXAMPLE:
IF Bd 'Test flag
PRINT("Math Overflow")
Zd 'Reset flag
ENDIF
347
Ze
Reset Position Error Flag
Related
Command:
Bd
RBd
APPLICATION:
Program execution control
DESCRIPTION:
Reset Position Error Status Bit "Be"
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LANGUAGE ACCESS:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
RBd
READ/WRITE:
N/A LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
RESET VALUE:
0
FIRMWARE VERSIONS: 4.46 and higher
DETAILED DESCRIPTION:
Ze resets the Be Following error or position error flag to zero. This only works
with PLS. PS2 and =4.76 firmware
EXAMPLE:
IF Be 'Test flag
PRINT("Following Error")
Ze 'Reset flag
ENDIF
348
Zf
Reset Comms Framing Error Flag
Related Command:
APPLICATION:
Program execution control
Bf
DESCRIPTION:
Reset serial communication framing error latch
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
RBf
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
RESET VALUE:
0
RBf
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
Zf resets system flag Bf, the serial communications framing error violation latch, to
zero. A framing error means that the serial communications has failed at a fundamental level. For safe operation, it is vital to find and eliminate the cause if this error flag
is ever set.
EXAMPLE:
IF Bf 'Test flag
PRINT("Framing Error")
Zf 'Reset flag
ENDIF
349
Zl
Reset Historical Left Limit Flag Flag
Related
Command:
Bl
RBl
APPLICATION:
Program execution control
DESCRIPTION:
Reset historical left limit latch
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
RBl
READ/WRITE:
N/A LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
RESET VALUE:
0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
Zl resets system flag Bl, the left limit latch, to zero. If you use Bl to detect
the activation of the left limit, take care to reset it with Zl before scanning
for the bit again.
EXAMPLE:
IF Bl 'Test flag
PRINT("Left Limit Latched ")
Zl 'Reset flag
ENDIF
350
Zr
Reset Historical Right Travel Limit Flag
Related Command:
APPLICATION:
Program execution control
Br
DESCRIPTION:
Reset historical right limit latch
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
RBr
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
RESET VALUE:
0
RBr
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
Zr resets system flag Br, the right limit latch, to zero. If you use Br to detect the activation of the right limit, be sure to reset it with Zr before scanning for the bit again.
EXAMPLE:
IF Br 'Test flag
PRINT("Right Limit Latched")
Zr 'Reset flag
ENDIF
351
Zs
Reset Command Syntax Error Flag
Related
Command:
Bs
RBs
APPLICATION:
Program execution control
DESCRIPTION:
Reset command scan error latch
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
RBs
READ/WRITE:
N/A LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
RESET VALUE:
0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
Zs resets system flag Bs, the syntax or index access error latch, to zero. The RBs
report and ZS commands may assist in discovering whether or not the present firmware version recognizes what appears to be a perfectly valid command and data
packet.
EXAMPLE:
IF Bs PRINT("Syntax Error")
Zs ENDIF
'Test flag
'Reset flag
352
Zu
Reset Array Index Error state Flag
Related Command:
APPLICATION:
Program execution control
Bu
DESCRIPTION:
Reset user array index read access error latch
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
RBu
READ/WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
RESET VALUE:
0
RBu
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
Zu resets system flag Bu, the index read access violation latch, to zero. If the Bu
flag is set, it means that you are improperly using an array and you may be writing
data to an unspecified location. For safe operation, it is vital to find and eliminate the
cause if this error flag is ever set.
EXAMPLE:
IF Bu
PRINT("Array Error")
Zu ENDIF
'Test flag
'Reset flag
353
Zw
Reset Encoder Wrap Status Flag
Related
Command:
Bw
RBw
APPLICATION:
Program execution control
DESCRIPTION:
Reset encoder wrap around event latch
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT COMMAND:
RBw
READ/WRITE:
N/A LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
RESET VALUE:
0
RELATED COMMANDS: Bw, RBw
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
Zw resets system flag Bw, the encoder wrap around violation latch, to zero. The
SmartMotor™ tracks its position as 32 bit data, so a valid position is between
-2147483648 and +2147483648. If the motor moves out of this range, the position
will overflow or "wrap around". It is therefore advisable to not operate any following
mode, cam mode, absolute position move, or relative position move such that wrap
around may occur. Reset the origin to avoid operating in this region.
EXAMPLE:
IF Bw 'Test flag
PRINT("Wraparound Occurred")
Zw 'Reset flag
ENDIF
354
ZS
Global Reset System State Flags
Related Command:
APPLICATION:
Program execution control
Za
DESCRIPTION:
Reset software system latches to power up state
Zb
EXECUTION:
Immediate
Zc
CONDITIONAL TO:
N/A
Zd
LIMITATIONS:
None
Zf
REPORT COMMAND:
N/A
Zl
READ/WRITE:
N/A
Zr
LANGUAGE ACCESS:
N/A
Zs
UNITS:
N/A
Zu
RANGE OF VALUES:
N/A
Zw
TYPICAL VALUES:
N/A
RESET VALUES:
N/A
FIRMWARE VERSIONS: 4.00 and higher, 4.76 and higher, see below
DETAILED DESCRIPTION:
Almost any event that occurs within a SmartMotor™ gets recorded in system flags.
These flags can be read as part of a program or a host inquiry. Once read, it is necessary to reset the flag that records the particular event in order to record the next
occurrence. ZS resets all of the latched bits in the S status byte and the W status
word, as well as the three communication status bits: Ba, Bb, Bc, Bd, Be, Bf, Bl, Br,
Bs, Bu and Bw.
ZS performs the following flag resets:
Za Reset hardware current limit violation
Zb Reset serial data parity error
Zc Reset communications buffer overflow
Zd Reset user math overflow
Ze
Reset Position Error (In >=4.76 firmware only.)
Zf Reset communications framing error
Zl Reset historical left limit
Zr Reset historical right limit
Zs Reset user command syntax error
Zu Reset user read array indexing out of range
Zw Reset wraparound
Continued on next page
355
ZS (cont)
Reset System state Flag
Related
Command:
Za
Zb
Zc
Zd
Zf
Zl
Zr
Zs
Zu
Zw
Example:
ZS
'reset all error and limit flag latches
'useful for debugging new programs
'but not satisfactory for real time control
'consider the following
C900 'Error Report Subroutine
IF Ba 'Test flag
PRINT("Over Current")
ENDIF
IF Bb 'Test flag
PRINT("Parity Error")
ENDIF
IF Bc
'Test flag
PRINT("Buffer Overflow")
ENDIF
IF Bd 'Test flag
PRINT("Math Overflow")
ENDIF
IF Bf 'Test flag
PRINT("Framing Error")
ENDIF
IF Bl 'Test flag
PRINT("Left Limit")
ENDIF
IF Br 'Test flag
PRINT("Right Limit")
ENDIF
IF Bs 'Test flag
PRINT("Syntax Error")
ENDIF
IF Bu 'Test flag
PRINT("Array Error")
ENDIF
IF Bw 'Test flag
PRINT("Wraparound Occurred")
ENDIF
ZS
'Reset all tested flags. Faulty !!!
END
'By the time ZS is executed it is possible,
'some previously tested zero flags may now be set.
356
Array Variable Memory Map
Page 1 of 2
MSB
MSB
aw[0]
aa
al[0]
LSB
MSB
aw[1]
LSB
MSB
LSB
MSB
aw[2]
bb
al[1]
LSB
MSB
aw[3]
LSB
MSB
LSB
MSB
aw[4]
cc
al[2]
LSB
MSB
aw[5]
LSB
MSB
LSB
MSB
aw[6]
dd
al[3]
LSB
MSB
aw[7]
LSB
MSB
LSB
MSB
aw[8]
ee
al[4]
LSB
MSB
aw[9]
LSB
MSB
LSB
MSB
aw[10]
ff
al[5]
LSB
MSB
aw[11]
LSB
MSB
LSB
MSB
aw[12]
gg
al[6]
LSB
MSB
aw[13]
LSB
LSB
MSB
ab[0]
LSB
MSB
ab[1]
LSB
MSB
ab[2]
LSB
MSB
ab[3]
LSB
MSB
ab[4]
LSB
MSB
ab[5]
LSB
MSB
ab[6]
LSB
MSB
ab[7]
LSB
MSB
ab[8]
LSB
MSB
ab[9]
LSB
MSB
ab[10]
LSB
MSB
ab[11]
LSB
MSB
ab[12]
LSB
MSB
ab[13]
LSB
MSB
ab[14]
LSB
MSB
ab[15]
LSB
MSB
ab[16]
LSB
MSB
ab[17]
LSB
MSB
ab[18]
LSB
MSB
ab[19]
LSB
MSB
ab[20]
LSB
MSB
ab[21]
LSB
MSB
ab[22]
LSB
MSB
ab[23]
LSB
MSB
ab[24]
LSB
MSB
ab[25]
LSB
MSB
ab[26]
LSB
MSB
ab[27]
LSB
MSB
MSB
aw[14]
hh
al[7]
LSB
MSB
aw[15]
LSB
MSB
LSB
MSB
aw[16]
ii
al[8]
LSB
MSB
aw[17]
LSB
MSB
LSB
MSB
aw[18]
jj
al[9]
LSB
MSB
aw[19]
LSB
MSB
LSB
MSB
aw[20]
kk
al[10]
LSB
MSB
aw[21]
LSB
MSB
LSB
MSB
aw[22]
ll
al[11]
LSB
MSB
aw[23]
LSB
MSB
LSB
MSB
aw[24]
mm
al[12]
LSB
MSB
aw[25]
LSB
MSB
LSB
MSB
aw[26]
nn
al[13]
LSB
MSB
aw[27]
LSB
LSB
MSB
ab[28]
LSB
MSB
ab[29]
LSB
MSB
ab[30]
LSB
MSB
ab[31]
LSB
MSB
ab[32]
LSB
MSB
ab[33]
LSB
MSB
ab[34]
LSB
MSB
ab[35]
LSB
MSB
ab[36]
LSB
MSB
ab[37]
LSB
MSB
ab[38]
LSB
MSB
ab[39]
LSB
MSB
ab[40]
LSB
MSB
ab[41]
LSB
MSB
ab[42]
LSB
MSB
ab[43]
LSB
MSB
ab[44]
LSB
MSB
ab[45]
LSB
MSB
ab[46]
LSB
MSB
ab[47]
LSB
MSB
ab[48]
LSB
MSB
ab[49]
LSB
MSB
ab[50]
LSB
MSB
ab[51]
LSB
MSB
ab[52]
LSB
MSB
ab[53]
LSB
MSB
ab[54]
LSB
MSB
ab[55]
LSB
MSB
MSB
aw[28]
oo
al[14]
LSB
MSB
aw[29]
LSB
MSB
LSB
MSB
aw[30]
pp
al[15]
LSB
MSB
aw[31]
LSB
MSB
LSB
MSB
aw[32]
qq
al[16]
LSB
MSB
aw[33]
LSB
MSB
LSB
MSB
aw[34]
rr
al[17]
LSB
MSB
aw[35]
LSB
MSB
LSB
MSB
aw[36]
ss
al[18]
LSB
MSB
aw[37]
LSB
MSB
LSB
MSB
aw[38]
tt
al[19]
LSB
MSB
aw[39]
LSB
MSB
LSB
MSB
aw[40]
uu
al[20]
LSB
MSB
aw[41]
LSB
LSB
MSB
ab[56]
LSB
MSB
ab[57]
LSB
MSB
ab[58]
LSB
MSB
ab[59]
LSB
MSB
ab[60]
LSB
MSB
ab[61]
LSB
MSB
ab[62]
LSB
MSB
ab[63]
LSB
MSB
ab[64]
LSB
MSB
ab[65]
LSB
MSB
ab[66]
LSB
MSB
ab[67]
LSB
MSB
ab[68]
LSB
MSB
ab[69]
LSB
MSB
ab[70]
LSB
MSB
ab[71]
LSB
MSB
ab[72]
LSB
MSB
ab[73]
LSB
MSB
ab[74]
LSB
MSB
ab[75]
LSB
MSB
ab[76]
LSB
MSB
ab[77]
LSB
MSB
ab[78]
LSB
MSB
ab[79]
LSB
MSB
ab[80]
LSB
MSB
ab[81]
LSB
MSB
ab[82]
LSB
MSB
ab[83]
LSB
MSB
MSB
aw[42]
vv
al[21]
LSB
MSB
aw[43]
LSB
MSB
LSB
MSB
aw[44]
ww
al[22]
LSB
MSB
aw[45]
LSB
MSB
LSB
MSB
aw[46]
xx
al[23]
LSB
MSB
aw[47]
LSB
MSB
LSB
MSB
aw[48]
yy
al[24]
LSB
MSB
aw[49]
LSB
MSB
LSB
MSB
aw[50]
zz
al[25]
LSB
MSB
aw[51]
LSB
MSB
LSB
MSB
aw[52]
aaa
al[26]
LSB
MSB
aw[53]
LSB
MSB
LSB
MSB
aw[54]
bbb
al[27]
LSB
MSB
aw[55]
LSB
LSB
MSB
ab[84]
LSB
MSB
ab[85]
LSB
MSB
ab[86]
LSB
MSB
ab[87]
LSB
MSB
ab[88]
LSB
MSB
ab[89]
LSB
MSB
ab[90]
LSB
MSB
ab[91]
LSB
MSB
ab[92]
LSB
MSB
ab[93]
LSB
MSB
ab[94]
LSB
MSB
ab[95]
LSB
MSB
ab[96]
LSB
MSB
ab[97]
LSB
MSB
ab[98]
LSB
MSB
ab[99]
LSB
MSB
ab[100]
LSB
MSB
ab[101]
LSB
MSB
ab[102]
LSB
MSB
ab[103]
LSB
MSB
ab[104]
LSB
MSB
ab[105]
LSB
MSB
ab[106]
LSB
MSB
ab[107]
LSB
MSB
ab[108]
LSB
MSB
ab[109]
LSB
MSB
ab[110]
LSB
MSB
ab[111]
LSB
357
Array Variable Memory Map
Page 2 of 2
MSB
MSB
aw[56]
ccc
al[28]
LSB
MSB
aw[57]
LSB
MSB
LSB
MSB
aw[58]
ddd
al[29]
LSB
MSB
aw[59]
LSB
MSB
LSB
MSB
aw[60]
eee
al[30]
LSB
MSB
aw[61]
LSB
MSB
LSB
MSB
aw[62]
fff
al[31]
LSB
MSB
aw[63]
LSB
MSB
LSB
MSB
aw[64]
ggg
al[32]
LSB
MSB
aw[65]
LSB
MSB
LSB
MSB
aw[66]
hhh
al[33]
LSB
MSB
aw[67]
LSB
MSB
LSB
MSB
aw[68]
iii
al[34]
LSB
MSB
aw[69]
LSB
LSB
MSB
ab[112]
LSB
MSB
ab[113]
LSB
MSB
ab[114]
LSB
MSB
ab[115]
LSB
MSB
ab[116]
LSB
MSB
ab[117]
LSB
MSB
ab[118]
LSB
MSB
ab[119]
LSB
MSB
ab[120]
LSB
MSB
ab[121]
LSB
MSB
ab[122]
LSB
MSB
ab[123]
LSB
MSB
ab[124]
LSB
MSB
ab[125]
LSB
MSB
ab[126]
LSB
MSB
ab[127]
LSB
MSB
ab[128]
LSB
MSB
ab[129]
LSB
MSB
ab[130]
LSB
MSB
ab[131]
LSB
MSB
ab[132]
LSB
MSB
ab[133]
LSB
MSB
ab[134]
LSB
MSB
ab[135]
LSB
MSB
ab[136]
LSB
MSB
ab[137]
LSB
MSB
ab[138]
LSB
MSB
ab[139]
LSB
MSB
MSB
aw[70]
jjj
al[35]
LSB
MSB
aw[71]
LSB
MSB
LSB
MSB
aw[72]
kkk
al[36]
LSB
MSB
aw[73]
LSB
MSB
LSB
MSB
aw[74]
lll
al[37]
LSB
MSB
aw[75]
LSB
MSB
LSB
MSB
aw[76]
mmm
al[38]
LSB
MSB
aw[77]
LSB
MSB
LSB
MSB
aw[78]
nnn
al[39]
LSB
MSB
aw[79]
LSB
MSB
LSB
MSB
aw[80]
ooo
al[40]
LSB
MSB
aw[81]
LSB
MSB
LSB
MSB
aw[82]
ppp
al[41]
LSB
MSB
aw[83]
LSB
LSB
MSB
ab[140]
LSB
MSB
ab[141]
LSB
MSB
ab[142]
LSB
MSB
ab[143]
LSB
MSB
ab[144]
LSB
MSB
ab[145]
LSB
MSB
ab[146]
LSB
MSB
ab[147]
LSB
MSB
ab[148]
LSB
MSB
ab[149]
LSB
MSB
ab[150]
LSB
MSB
ab[151]
LSB
MSB
ab[152]
LSB
MSB
ab[153]
LSB
MSB
ab[154]
LSB
MSB
ab[155]
LSB
MSB
ab[156]
LSB
MSB
ab[157]
LSB
MSB
ab[158]
LSB
MSB
ab[159]
LSB
MSB
ab[160]
LSB
MSB
ab[161]
LSB
MSB
ab[162]
LSB
MSB
ab[163]
LSB
MSB
ab[164]
LSB
MSB
ab[165]
LSB
MSB
ab[166]
LSB
MSB
ab[167]
LSB
MSB
MSB
aw[84]
qqq
al[42]
LSB
MSB
aw[85]
LSB
MSB
LSB
MSB
aw[86]
rrr
al[43]
LSB
MSB
aw[87]
LSB
MSB
LSB
MSB
aw[88]
sss
al[44]
LSB
MSB
aw[89]
LSB
MSB
LSB
MSB
aw[90]
ttt
al[45]
LSB
MSB
aw[91]
LSB
MSB
LSB
MSB
aw[92]
uuu
al[46]
LSB
MSB
aw[93]
LSB
MSB
LSB
MSB
aw[94]
vvv
al[47]
LSB
MSB
aw[95]
LSB
MSB
LSB
MSB
aw[96]
www
al[48]
LSB
MSB
aw[97]
LSB
LSB
MSB
ab[168]
LSB
MSB
ab[169]
LSB
MSB
ab[170]
LSB
MSB
ab[171]
LSB
MSB
ab[172]
LSB
MSB
ab[173]
LSB
MSB
ab[174]
LSB
MSB
ab[175]
LSB
MSB
ab[176]
LSB
MSB
ab[177]
LSB
MSB
ab[178]
LSB
MSB
ab[179]
LSB
MSB
ab[180]
LSB
MSB
ab[181]
LSB
MSB
ab[182]
LSB
MSB
ab[183]
LSB
MSB
ab[184]
LSB
MSB
ab[185]
LSB
MSB
ab[186]
LSB
MSB
ab[187]
LSB
MSB
ab[188]
LSB
MSB
ab[189]
LSB
MSB
ab[190]
LSB
MSB
ab[191]
LSB
MSB
ab[192]
LSB
MSB
ab[193]
LSB
MSB
ab[194]
LSB
MSB
ab[195]
LSB
MSB
xxx
al[49]
LSB
MSB
yyy
al[50]
LSB
MSB
MSB
ab[196]
LSB
aw[98]
MSB
ab[197]
LSB
LSB
MSB
MSB
ab[198]
LSB
aw[99]
MSB
ab[199]
LSB
LSB
MSB
MSB
ab[200]
LSB
aw[100]
MSB
ab[201]
LSB
LSB
MSB
MSB
ab[202]
LSB
aw[101]
MSB
ab[203]
LSB
LSB
Note:
zzz
The "zzz" memory location
is used for SWITCH-CASE
calculations.
Do not use it if the
SWITCH command is
being used in user code.
358
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