Operating Software Instruction Manual for MCC Series of Motion Controllers

Transcription

1 Operating Software Instruction Manual for MCC Series of Motion Controllers Control Panel Stand-alone Operation Command Reference Manual Host Controlled Operation

2 Power-up Help System Operation Controlling the Outputs and Monitoring the Inputs Power-up After power-up the status LED blinks and then remains lit. The controller sends a message to the PC showing its revision number that would be displayed in the Incoming Messages pane. You could click on the button to make sure the status LED blinks then remains lit and the revision number is displayed in the Incoming Messages pane. This ensures that the communication is established between the controller and the PC Help System After installation of the software the online help system will be available. The online help system may be accessed by; 1) Click on "?" located on upper right corner of the control panel, then drag it to any button and click. A message will explain the functionality of that button.

3 Operation If the controller is not connected to the PC, Click on Configuration then select Demo from the drop down menu to test drive the software without the controller.

4 If you click on any button, you would see the outgoing messages to the controller and the incoming messages from the controller in the corresponding panes.

5 The following display will appear that allows the user to set or reset each output individually and monitor all analog and digital inputs.

6

7 Stand-alone Operation The following are the steps that need to be taken to write, download and run the code. 1) Click on 'Code Development'. 2) Click on Open File icon to open an existing file in the default directory; for example, x-axis-absolute-move.txt.

8 3) Click on the button before each download. Please make sure the status LED blinks then remains lit. The revision number should be displayed in the Incoming Messages pane. 4) Click on button to send the code from PC to the controller.

9 At the start of download the controller sends "Downloading from PC to Controller" which is displayed in the Incoming Messages. When the download is completed the controller sends "End of downloading" message to the PC. 5) Once the download is completed, click on and the controller will start to execute the program. 6) To store the code to non-volatile memory of the controller, repeat step 4 and 5 then click on. This will save the program in the nonvolatile memory of the controller. 7) To retrieve the saved code from the non-volatile memory and run the code, click on then.

10 Or, you could use the Upload-and-Run pin of the command port. Please consult the Hardware Reference Manual for the location of the pin.

11 MOTION ACCX value or variable DONEX? HOMEX JOGX MOVAX MOVRX POSX value or variable STOPX VELMNX value or variable VELX value or variable Sets the linear acceleration of the X-axis to value or variable. Halts the execution of the program until the motion of the X-axis is completed. Instructs home searching sequence of the X-axis. Instructs jogging mode of the specified X-axis. Begins an absolute move on the X-axis. Begins a relative move on the X-axis. Sets the distance to move of the X-axis to value or variable. Stops the motion of the X-axis. Sets the minimum step rate of the X-axis to value or variable. Sets the maximum step rate of the X-axis to value or variable. GENERAL CONFIGURATION EPOSX JOFF JON MOFFX MONX MSGOFF MSGON SPOSX value or variable SQUADX value or variable Equates the current position of the X-axis to the value of the corresponding step counter. Disables the joystick and trackball operation. Enables the joystick and trackball operation. Turns the motor driver of the X-axis off. Turns the motor driver of the X-axis on. Turns off the feedback messages sent from the controller. Turns on the feedback messages sent from the controller. Sets the current position for the X-axis to value or variable. Sets the X-axis quadrature decoder to value or variable. DATA FLOW CLRBIT value or variable DISPLAY value or variable INPUT variable IN variable KEYPAD variable OUT value or variable PRINT string, value or variable RQUADX variable RSTSX variable RX SETBIT value or variable PROGRAM FLOW CONT END GOSUB line GOTO line IF expr THEN statement IF expr THEN statement1 ELSE statement2 IFBIT value THEN statement Resets the discrete output specified by value to low state. Displays the specified string, value or variable on the LCD display. Receives numeric data from the serial port and places it in variable. Reads the input ports and places its value in variable. Reads the keypad and places its value in variable. Writes the value to the output ports. Prints the specified string, value or variable to the serial port. Places the value of X-axis quadrature input in variable. Places the status of X-axis in variable. Reports the value of X-axis step counter. Sets the discrete output specified by value to high state. Continues the program after a PAUSE command is received. Terminates the program execution. Branches to subroutine starting at line number specified by line. Transfers program execution to line number specified by line. If expr is true executes statement, otherwise continues execution on to next line. If expr is true executes statement1, otherwise executes statement2. If the specified bit is high then executes statement.

12 IFBIT value THEN statement1 ELSE statement2 IFNOTBIT value THEN statement IFNOTBIT value THEN statement1 ELSE statement2 REM RETURN PAUSE WAIT value or variable If the specified bit is high then executes statement1, otherwise executes statement2. If the specified bit is low then executes statement. If the specified bit is low then executes statement1, otherwise executes statement2. Designates a comment line. Ends a subroutine and causes execution to resume at the statement after the line, which called the subroutine. Pauses program execution until CONT is received. Waits for value number of milliseconds. MISCELLANEOUS DOWNLOAD LIST NEW ROM RUN Prepares the controller to receive the BASIC code. The mode is terminated upon receiving a dollar sign "$. Sends the current program to the serial port. Purges the memory. Used for updating the controller code Runs the program. VARIABLES and OPERATIONS Logical and Mathematical RAND variable Assigns a random value to variable EXAMPLES

13 Host Controlled Operation In this mode the host will send a series of ASCII commands to the controller over the RS-232 serial port. The controller process to the incoming commands and responses with the proper messages. Programming in Visual BASIC The following example sets the linear acceleration to 500,000 Steps / sec 2, step rate at 100 KHz, and the distance to travel equal to 200,000 steps. Then the controller is commanded to make an absolute move on the X Axis. Private Sub Command1_Click() ' Prototype Declare SioPuts Lib "WSC32.DLL" (ByVal Port As Long, ByVal Buffer As String, ByVal Size As Long) As Long Dim Code As Long Dim StringToBeTransmtd As String ' Set the linear acceleration of X Axis to 500,000 steps / sec / sec StringToBeTransmtd = "accx " + vbcr Code = SioPuts(ThePort, StringToBeTransmtd, Len(StringToBeTransmtd)) ' Set the linear velocity of X Axis to 100,000 steps / sec StringToBeTransmtd = "velx " + vbcr Code = SioPuts(ThePort, StringToBeTransmtd, Len(StringToBeTransmtd)) ' Set the position to move of X Axis to 200,000 steps StringToBeTransmtd = "posx " + vbcr Code = SioPuts(ThePort, StringToBeTransmtd, Len(StringToBeTransmtd)) 'Command the X Axis of the controller to make an absolute move StringToBeTransmtd = "movax" + vbcr Code = SioPuts(ThePort, StringToBeTransmtd, Len(StringToBeTransmtd)) End Sub Programming in 'C' The following example sets the acceleration at 10 Million Steps / sec 2, step rate at 100 KHz, and the distance to travel equal to 100,000 steps. Then the controller is commanded to make an absolute move. void send_command(void) { } char StringToBeTransmtd[80]; // Set the linear acceleration of X Axis to 500,000 steps / sec / sec strcpy(stringtobetransmtd,"accx \n"); SioPuts(Port,StringToBeTransmtd,strlen(StringToBeTransmtd)); // Set the linear velocity of X Axis to 100,000 steps / sec strcpy(stringtobetransmtd,"velx \n"); SioPuts(Port,StringToBeTransmtd,strlen(StringToBeTransmtd)); // Set the position to move of X Axis to 200,000 steps strcpy(stringtobetransmtd,"posx \n"); SioPuts(Port,StringToBeTransmtd,strlen(StringToBeTransmtd)); // 'Command the X Axis of the controller to make an absolute move strcpy(stringtobetransmtd,"movax\n"); SioPuts(Port,StringToBeTransmtd,strlen(StringToBeTransmtd)); The following is the information that you need to establish communication with OES line of controllers. 1) The baud rate is 19.2 K, 8-bit, no parity, one stop bit. 2) The length of input buffer of the MCC controller is 256 bytes. 3) ASCII characters should be terminated with CR or LF.

14 4) After sending each packet of data to the MCCcontroller, sufficient time should be given to the controller to process it, usually 100msec. To receive characters, a buffer is setup and all the incoming characters are stored in it until they are fetched by the application. The following commands the X-axis to stop, and checks the receiving buffer for X Stopping string to make sure the X-axis has received and performed the command. Private Sub cmdxplus_mouseup(button As Integer, Shift As Integer, X As Single, Y As Single) Dim S As String Dim Start As Single Dim Counter As Integer Dim Where As Long StringToBeTransmtd = "stopx" & vbcr Do While (Counter < NoofRetries And Where = 0) Code = SioPuts(ThePort, StringToBeTransmtd, Len(StringToBeTransmtd)) Start = Timer() Do While Timer() < Start + DelayTime DoEvents ' Yield to other processes. Loop Where = InStr(strRcvdMsg, "X Stopping") Counter = Counter + 1 Loop If (Counter >= NoofRetries) Then If MsgBox("The controller is not responding! Turn the controller's power off.", vbokonly, "Error46") = vbok Then Exit Sub End If End Sub OES uses a serial communication package from

15 accx accx value or variable Sets the linear acceleration of the X-axis to value or variable or variable. This value is used to accelerate and decelerate the motor. The acceleration may not be modified while moving. The unit of value is in steps per sec 2. Range of Value 40,000-40,000,000 None Run, Command rem Set X-axis linear acceleration to 500,000 steps per sec 2. accx A = rem Set X-axis linear acceleration to value stored in A accx A

16 donex? donex? Halts the execution of the program until the motion of the X-axis is completed. DONE X Run rem Begin absolute move movax rem Wait until move is done donex?

17 homex homex Instructs a home searching sequence on the X-axis. The homing sequence is as follows: The motor will start to move. The sign of the velocity determines the direction of the move. Once it hits the Home switch, it decelerates to stop at the same rate as acceleration. Then the motor will move in reverse direction, at the slowest speed, until it senses the Home switch changes state then stops. A normally closed or normally low switch should be connected to the Home pin. Please consult the Hardware Reference Manual for the location of the Home pin. X Homing After completion of the sequence Done X Run, Command accx velx homex

18 jogx jogx Instructs jogging mode of the X-axis. X Jogging After stopping Done X Run, Command rem set the acceleration accx rem set the velocity velx rem start to jog jogx end $

19 movax movax Begins an absolute move on the X-axis. X Abs. Move Run, Command rem set the acceleration accx rem set the velocity velx rem set the position to move to posx rem start to make an absolute move movax

20 movrx movrx Begins a relative move on the X-axis. X Rel. Move Run, Command rem set the acceleration accx rem set the velocity velx rem set the position to move to posx rem start to make a relative move movrx

21 posx posx value or variable Sets the distance to move of the X-axis to value or variable. Range of Value to None Run, Command rem Set acceleration accx rem Set minimum velocity velmnx 0 rem Set maximum velocity velx rem Set the position to move to posx rem Instruct to make an absolute move movax

22 stopx stopx Stops the motion of the X-axis. X Stopping Run, Command if X > then stopx

23 velmnx velmnx value or variable Sets the minimum step rate of the X-axis to value or variable. The value sets the minimum slew speed of the motor. The value may not be modified while moving. The unit of value is in steps / Sec. Range of Value ,000 None Run, Command velmnx 0

24 velx velx value or variable Sets the maximum step rate of the X-axis to value or variable. This value sets the slew speed of the motor. The speed may not be modified while moving. The unit of value is in steps / Sec. Range of Value ,000 None Run, Command rem Set acceleration accx rem Set minimum velocity velmnx 0 rem Set maximum velocity velx jogx

25 eposx eposx Equates the current position of the X-axis to the value of the corresponding step counter. None Run, Command eposx

26 joff joff Disables the joystick and trackball operation. Range of Value None Joystick is off. Run, Command if A = B then joff jon jon Enables the joystick and trackball operation. Joystick is on. Run, Command if A = B then jon

27 moffx moffx Turns the motor driver of the X-axis off. None Run, Command if A = B then moffx

28 monx monx Turns the motor driver of the X-axis on. None Run, Command if A = B then monx

29 msgoff msgoff Turns off the feedback messages sent from the controller. None Run, Command msgoff msgon msgon Turns on the feedback messages sent from the controller. None Run, Command msgon

30 sposx sposx value or variable Sets the current position of the X-axis to value or variable. Range of Value to None Run, Command sposx A = sposx A

31 squadx squadx value or variable Sets the X-axis quadrature decoder to value or variable. Range of Value to None Run, Command squadx A = squadx A

32 clrbit clrbit value or variable Resets the discrete output specified by value or variable. Refer to the hardware reference manual for the location of each pin. Range of Value 1 to 16 None Run, Command rem Reset discrete output 5 clrbit 5 A = 10 rem Reset discrete output 10 clrbit A setbit setbit value or variable Sets the discrete output specified by value or variable. Refer to hardware reference manual for the location of each pin. Range of Value 1 16 None Run, Command setbit 5 A = 12 setbit A

33 keypad keypad variable Read the state of the keypad and places it in variable. Range of Variable 0 to 5 none Run, Command keypad A display display value display string display string, value Displays the specified value or string to the serial port. Range of Value to string, value Run, Command A = 123 display A =, A

34 input input variable Receives numeric data from the serial port and places it in variable. Range of Variable to ? Run, Command input A rem A numeric value should be sent to the controller through the serial port print print value print string print string, value Prints the specified value or string to the serial port. Range of Value to string, value Run, Command A = 123 print A =, A

35 in in variable Reads a word from the input ports and places it in variable. Refer to the hardware reference manual for the location of each pin. Range of Value 0 to 256 None Run, Command in A out out value out variable Writes the value or variable to the output ports. Refer to the hardware reference manual for the location of each pin. Range of Value 0 to 256 None Run, Command A = 10 out A

36 rquadx rquadx variable Places the value of X-axis quadrature input in variable. If no variable is specified the controller sends the value to the serial port. The optional quadrature decoder card is required. Range of Value through The value if no argument is specified. Run, Command rquadx A print "value of X-axis quadrature input =, A

37 rstsx rstsx variable Places the values of X-axis modes and inputs in variable. Bit 0 is 1 if in MOVE mode else 0 Bit 1 is 0 if Positive Limit Switch is hit else 1 Bit 2 is 0 if Negative Limit Switch is hit else 1 Bit 3 is 0 if Home Limit Switch is hit else 1 Bit 4 is spare Bit 5 is spare Bit 6 is spare Bit 7 is spare Bit 8 is 1 if Joystick Lower Left Key Is Pressed. Bit 9 is 1 if Joystick Middle Right Key Is Pressed. Bit 10 is 1 if Joystick Upper Right Key Is Pressed. Bit 11 is 1 if Joystick Lower Right Key Is Pressed. Bit 12 is spare. Bit 13 is spare. Bit 14 is spare. Bit 15 is spare. Bit 16 - bit 23 = X-axis analog value. Bit 24 - bit 31 = Spare Range of Value to The value if no argument is specified. Run, Command rstsx A print "Value of X-axis status =, A

38 rx rx Reports the value of X-axis step counter prefixed by X. The value of X-axis step counter prefixed by X. Run, Command sposx rx rem Controller will return X sposx rx rem Controller will return X-98765

39 cont cont Continues the execution of the program after a pause command is received. None Run rem Halt program execution. The controller may be interrogated after receiving the pause. pause rem Continue the program execution. cont pause pause Pauses program execution until CONT is received. PAUSE is useful in debugging. Using PAUSE, the execution of the program may be halted and the controller can be interrogated. Range of Value None Pausing...Type CONT. Run if A = B then pause

40 end end Ends program execution, and returns to command level. Ending Run rem Assign a value to A A = 1 rem Print the value stored in A print A rem End program execution end

41 gosub gosub line Branches to subroutine starting at line number specified by line. None Run gosub 100 rem other commands end 100 rem commands return return return Ends a subroutine and causes execution to resume at the statement after the line that called the subroutine. None Run gosub 100 rem other commands end 100 rem Subroutine starts here return

42 goto goto line Transfers program execution to line number specified by line. None Run goto 100 rem other commands end 100 rem commands return

43 if then if {relational expression} then instruction If relational expression is true execute instruction. Error Message If then is missing, Expected: then Run if A<> B then print A<>B if then else if {relational expression} then instruction1 else instruction2 If relational expression is true execute instruction1, otherwise execute instruction2. Error Message If then is missing, Expected: then Run if A<> B then print A<>B else print A=B

44 ifbit then ifbit value then instruction If the bit specified by value or variable is high then execute instruction. Refer to the hardware reference manual for the location of each pin. Range of Value 1 to 16 None Run A = 10 ifbit A then goto 100 ifbit then else ifbit value then instruction1 else instruction2 If the bit specified by value or variable is high then execute instruction1, otherwise execute instruction2. Refer to the hardware reference manual for the location of each pin. Range of Value 1 to 16 None Run A = 10 ifbit A then goto 100 else goto 200

45 ifnotbit then ifnotbit value then instruction If the bit specified by value or variable is low then execute instruction. Refer to the hardware reference manual for the location of each pin. Range of Value 1 to 16 None Run A = 10 ifnotbit A then goto 100 ifnotbit then else ifnotbit value then instruction1 else instruction2 If the bit specified by value or variable is low then execute instruction1, otherwise execute instruction2. Refer to the hardware reference manual for the location of each pin. Range of Value 1 to 16 None Run A = 10 ifnotbit A then goto 100 else goto 200

46 rem rem Designates a comment line. None Run rem This is a comment line. wait wait value wait variable Waits for value or variable number of milliseconds. Range of Value None Run rem Wait for 10 msecs wait 10 rem Wait for 200 msecs A = 200 wait A

47 downlaod download Signals the controller to receive the BASIC code. The mode is terminated upon receiving a dollar sign $. Downloading from PC to Controller (After completion of downloading) End of downloading Command rem Signal the controller to receive the BASIC code. The code should be terminated by a dollar sign $. download list list Sends the current program from the controller to the serial port. Listing Command list new new Purges the controller s memory. Purging the memory Command new

48 rom rom Used for updating the controller's firmware code. Range of Value None ROMing Command run run Runs the program. Running Command run

49 variables The controller recognizes twenty two 32-bit variables, A through V. These variables may be used to receive, store and process numeric values. The range of the variables is from through W, X, Y, and Z store the value of step counters. These values are read only and may not be written to. logical and mathematical operations The following operation may be performed on any two values or variables. + Addition / Division < Less Than <= Less Than or Equal & Logical AND Logical OR # Logical XOR % Modulo > More Than >= More Than or Equal * Multiplication <> Not Equal ~ Logical One s Complement () Parentheses - Subtraction rand rand variable Places a 32-bit random value in the variable. Range of Value None Run, Command rem a random value will be placed in B rand B print B

50 s Most of the following examples are based on x-axis-absolute-move. Please study it first. clrbit-setbit gosub-return if-then-else ifbit-then-else ifnotbit-then-else in-out input joff-jon line-circle msgoff-msgon operations variables x-axis-absolute-move x-axis-homing x-axis-jogging x-axis-moff-mon x-axis-relative-move x-axis-rquadx x-axis-rstsx x-axis-sposx x-axis-stop This program makes the X-motor to move back and forth, at the end of each move output 1 is toggled. Demonstrating the usage of a subroutine. Demonstrating the conditional execution of a program based on a logical statement. Demonstrating the conditional execution of a program based on the value of a discrete input. Demonstrating the conditional execution of a program based on the value of a discrete input. Demonstrating reading and writing from / to the discrete inputs / outputs. Demonstrating receiving numerical values from the serial port. Demonstrating how to enable and disable the joystick. Illustrating the coordinated move, lines and arcs. Illustrating how to turn on and off the feedback messages. Illustrating logical and mathematical operations. Demonstration of usage of variables. Moving the X-motor relative to the reference point. Commanding the X-motor to find the home switch. Commanding the X-motor to jog. Turning X-motor driver on or off. Moving the X-motor relative to its last point. Using the quadrature-x decoder for position verification. Demonstrating the usage of the status of the X-motor. Demonstrating how to set the X-motor position to a value Demonstrating how to stop the X-motor

51 rem Moving the X-motor relative to the reference point rem This program makes the x-motor to move back and forth rem Commands demonstrated; velx, accx, posx, movax, rem, wait, goto rem Set the velocity velx 2000 rem Set the acceleration accx rem Set the position to move to posx 5000 rem Start the absolute move movax rem Wait until the move is completed donex? rem Wait for 250 msec wait 250 rem Set the position to move to posx 0 rem Start the absolute move movax rem Wait until the move is completed donex? rem Wait for 250 msec wait 250 rem Start all over again goto 200 end $

52 rem Commanding the X-motor to find the home switch rem This program makes the X-motor to find the home position rem Commands demonstrated; velx, accx, homex, donex?, end rem Set the velocity velx rem Set the acceleration accx rem Start homing homex rem Wait until the move is completed donex? end $

53 rem Commanding the X-motor to jog rem This program makes the X-motor to jog rem Commands demonstrated; velx, accx, jogx, end rem Set the velocity velx 8000 rem Set the acceleration accx rem Start jogging jogx end $

54 rem Moving the X-motor relative to its last point rem This program makes the X-motor to move back and forth rem Commands demonstrated; velx, accx, posx, movrx, rem, wait, goto rem Set the velocity velx 2000 rem Set the acceleration accx rem Set the position to move to posx 5000 rem Start the relative move movrx rem Wait until the move is completed donex? rem Wait for 250 msec wait 250 rem Move again goto 200 end $

55 rem Demonstrating how to stop the X-motor rem This program makes the X-motor to jog rem Commands demonstrated; velx, accx, jogx, stopx, end rem Set the velocity velx 8000 rem Set the acceleration accx rem Start jogging jogx 100 rem Wait until the trip point if X < then goto 100 stopx end $

56 rem Setting the minimum velocity of the X-motor rem This program makes the X-motor to move back and forth rem Commands demonstrated; velx, velmnx, accx, posx, movax, rem, wait, goto rem Set the velocity velmnx 10 velx 2000 rem Set the acceleration accx rem Set the position to move to posx 5000 rem Start the absolute move movax rem Wait until the move is completed donex? rem Wait for 250 msec wait 250 rx rem Set the position to move to posx 0 rem Start the absolute move movax rem Wait until the move is completed donex? rem Wait for 250 msec wait 250 rx rem Start all over again goto 200 end $

57 rem Illustrating the usage of the X-motor step counter rem This program makes the X-motor to jog rem Commands demonstrated; velx, accx, jogx, stopx, eposx rem Set the velocity velx 8000 rem Set the acceleration accx rem Start jogging jogx 100 rem Wait until the trip point if X < then goto 100 stopx eposx end $

58 rem Demonstrating how to enable and disable the joystick rem This program makes the X-motor to move back and forth rem Commands demonstrated; velx, accx, posx, movax, rem, wait, goto, joff, jon, pause, cont rem Set the velocity velx 2000 rem Set the acceleration accx rem Set the position to move to posx 5000 rem Start the absolute move movax rem Wait until the move is completed donex? rem Wait for 250 msec wait 250 rem Activate the joystick jon rem PAUSE until CONT is received pause rem Disable the joystick joff rem Set the position to move to posx 0 rem Start the absolute move movax rem Wait until the move is completed donex? rem Wait for 250 msec wait 250 rem Start all over again goto 200 end $

59 rem Turning X-motor driver on or off rem This program makes the X-motor to move back and forth rem Commands demonstrated; velx, accx, posx, movax, rem, wait, goto, moffx, monx rem Set the velocity velx 2000 rem Set the acceleration accx rem Set the position to move to posx 5000 rem Start the absolute move movax rem Wait until the move is completed donex? rem Wait for 250 msec wait 250 moffx pause monx rem Set the position to move to posx 0 rem Start the absolute move movax rem Wait until the move is completed donex? rem Wait for 250 msec wait 250 moffx pause monx rem Start all over again goto 200 end $

60 rem Illustrating how to turn on and off the feedback messages rem This program makes the X-motor to move back and forth rem Commands demonstrated; velx, accx, posx, movax, rem, wait, goto. msgon, msgoff rem Set the velocity velx 2000 rem Set the acceleration accx rem Turn off the feedback messages sent from the controller msgoff 200 rem Set the position to move to posx 5000 rem Start the absolute move movax rem Wait until the move is completed donex? rem Wait for 250 msec wait 250 rem Turn on the feedback messages sent from the controller msgon rem Set the position to move to posx 0 rem Start the absolute move movax rem Wait until the move is completed donex? rem Wait for 250 msec wait 250 rem Start all over again goto 200 end $

61 rem Demonstrating how to set the X-motor position to a value rem This program makes the X-motor to move back and forth rem Commands demonstrated; velx, accx, posx, movax, rem, wait, goto, sposx rem Set the velocity velx 2000 rem Set the acceleration accx rem Set the current position sposx rem Set the position to move to posx 5000 rem Start the absolute move movax rem Wait until the move is completed donex? rem Wait for 250 msec wait 250 rem Set the position to move to posx 1000 rem Start the absolute move movax rem Wait until the move is completed donex? rem Wait for 250 msec wait 250 rem Start all over again goto 200 end $

62 rem Using quadrature-x decoder rem This program makes the X-motor to move back and forth rem Commands demonstrated; velx, accx, posx, movax, rem, wait, goto, rquadx rem The X-motor quadrature encoder should be connected to the quadrature encoder of rem input of the controller. Please consult the Hardware Reference Manual. rem Set the velocity velx 2000 rem Set the acceleration accx rem Set quadrature decoder to 0 squadx rem Set the position to move to posx 5000 rem Start the absolute move movax rem Wait until the move is completed donex? rem Wait for 250 msec wait 250 rem Read quadrature decoder-x rquadx A print "Quad-X = ", A rem Set the position to move to posx 0 rem Start the absolute move movax rem Wait until the move is completed donex? rem Wait for 250 msec wait 250 rem Read quadrature decoder-x rquadx A print "Quad-X = ", A rem Start all over again goto 200 end $

63 rem This program makes the X-motor to move back and forth, at the end of each move output 1 is toggled. rem Commands demonstrated; velx, accx, posx, movax, rem, wait, goto, setbit, clrbit rem Set the velocity velx 2000 rem Set the acceleration accx clrbit rem Set the position to move to posx 5000 rem Start the absolute move movax rem Wait until the move is completed donex? setbit 1 rem Wait for 250 msec wait 250 rem Set the position to move to posx 0 rem Start the absolute move movax rem Wait until the move is completed donex? rem Wait for 250 msec wait 250 clrbit 1 rem Start all over again goto 200 end $

64 rem Demonstrating receiving numerical values from the keypad keypad A display "You entered ", A end $

65 rem Demonstrating reading and writing from / to the discrete inputs / outputs rem This program reads a value from discrete input ports and writes it to the discrete rem output port. 100 in A out A goto 100 end $

66 rem Demonstrating the usage of the status of the X-motor rem This program makes the X-motor to move back and forth rem Commands demonstrated; velx, accx, posx, movax, rem, wait, goto, rstsx, rx rem Set the velocity velx 2000 rem Set the acceleration accx rem Set the position to move to posx 5000 rem Start the absolute move movax rem Wait until the move is completed 100 rx wait 250 rstsx A if (A & 1) = 1 then goto 100 rx rem Wait for 250 msec wait 250 rem Set the position to move to posx 0 rem Start the absolute move movax rem Wait until the move is completed 150 rx wait 250 rstsx A if (A & 1) = 1 then goto 150 rx rem Wait for 250 msec wait 250 rem Start all over again goto 200 end $

67 rem This program makes the X-motor to move back and forth rem Commands demonstrated; velx, accx, posx, movax, rem, wait, goto, gosub, return rem Set the velocity velx 2000 rem Set the acceleration accx gosub 300 rem Start all over again goto rem Set the position to move to posx 5000 rem Start the absolute move movax rem Wait until the move is completed donex? rem Wait for 250 msec wait 250 rem Set the position to move to posx 0 rem Start the absolute move movax rem Wait until the move is completed donex? rem Wait for 250 msec wait 250 return end $

68 rem Demonstrating the conditional execution of a program based on a logical statement rem This program makes the X-motor to move back and forth rem Commands demonstrated; velx, accx, posx, movax, rem, wait, goto. if...then...else rem Set the velocity velx 2000 rem Set the acceleration accx I = I + 1 rem Set the position to move to posx 5000 rem Start the absolute move movax rem Wait until the move is completed donex? rem Wait for 250 msec wait 250 rem Set the position to move to posx 0 rem Start the absolute move movax rem Wait until the move is completed donex? rem Wait for 250 msec wait 250 rem Start all over again if I < 5 then goto 200 else end end $

69 rem Demonstrating the conditional execution of a program based on the value of a discrete input rem This program makes the X-motor to move back and forth rem Commands demonstrated; velx, accx, posx, movax, rem, wait, goto, ifbit...then...else rem Set the velocity velx 2000 rem Set the acceleration accx rem Set the position to move to posx 5000 rem Start the absolute move movax rem Wait until the move is completed donex? rem Wait for 250 msec wait 250 rem Set the position to move to posx 0 rem Start the absolute move movax rem Wait until the move is completed donex? rem Wait for 250 msec wait 250 rem Start all over again ifbit 1 then goto 200 else end end $

70 rem Demonstrating the conditional execution of a program based on the value of a discrete input rem This program makes the X-motor to move back and forth rem Commands demonstrated; velx, accx, posx, movax, rem, wait, goto, ifnotbit...then...else rem Set the velocity velx 2000 rem Set the acceleration accx rem Set the position to move to posx 5000 rem Start the absolute move movax rem Wait until the move is completed donex? rem Wait for 250 msec wait 250 rem Set the position to move to posx 0 rem Start the absolute move movax rem Wait until the move is completed donex? rem Wait for 250 msec wait 250 rem Start all over again ifnotbit 1 then goto 200 else end end $

71 rem Demonstration of usage of variables rem This program makes the X-motor to move back and forth rem Commands demonstrated; velx, accx, posx, movax, rem, wait, goto A = 2000 B = C = 5000 T = 250 rem Set the velocity velx A rem Set the acceleration accx B 200 rem Set the position to move to posx C rem Start the absolute move movax rem Wait until the move is completed donex? rem Wait for T msec wait T print "X = ", X rem Set the position to move to posx 0 rem Start the absolute move movax rem Wait until the move is completed donex? rem Wait for T msec wait T print "X = ", X rem Start all over again goto 200 end $

72 rem Illustrating logical and mathematical operations 100 print "Testing addition / subtraction operation..." rem generate a 32-bit number rand A rand B C = A + B D = C - A if D <> B then print "...Addition / subtraction test failed." print "Testing multiplication / division operation..." rand E rand F E = E & F = F & REM to make sure that divider is not zero F = F + 1 G = E * F H = G / F if H <> E then print "...multiplication / division test failed." if H <> E then end print "Testing modulos operation..." rand E rand F E = E & F = F & REM to make sure that divider is not zero F = F + 1 if E >= F then H = E / F else H = F / E if E >= F then I = E % F else I = F % E if E <= F then if (( E * H ) + I) <> F then print "...modulos operation failed." if E <= F then if (( E * H ) + I) <> F then end wait U print "Testing logical operation..." rand G rand H G = G * H H = G # -1 I = G H if I <> -1 then print "...logical OR operation failed." if I <> -1 then end I = G & H if I <> 0 then print "...logical AND operation failed." if I <> 0 then end I = G # -1 if I <> H then print "...logical XOR operation failed." if I <> H then end I = ~G if I + G <> -1 then print "...logical unary operation failed." if I + G <> -1 then end goto 100 end $

73 rem Illustrating the coordinated move, lines and arcs vaccel vvel rem arc 1st_axis_end, 2nd_axis_end, 1st_axis_center, 2nd_axis_center, direction rem line 1st_axis_end, 2nd_axis_end A = B = C = 0 D = 0 E = 1 F = 7071 G = 7071 SPOSX 0 SPOSY 0 line F, G done? wait 5 rx ry arc A, B, C, D, E done? wait 5 rx ry line 0, 0 done? wait 5 rx ry end $