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124 Ana, Analog I/O ANA, ANALOG I/O Group Group No. Description EXTENDED REGISTER GROUPS Ana 15 The Ana group is the analog user input/output interface. Inputs: The standard user analog inputs have 14 bits resolution and approximate 12 bits of linearity. The result from the inputs can be both scaled and offsetadjusted to be directly usable as set-speed, settorque, etc. in the user program. The RANGE parameter sets the numerical range for the input and the OFFS parameter sets the offset. The result is calculated as: (RAW-RESULT / 16384) * RANGE + OFFSET For example: RANGE = 10000 OFFSET = -2000. This results in a range from –2000 to 8000. Outputs: The RAW range for the analog outputs is - 32768 to 32767 with 12 bits of resolution. The RAW_OUTPUT is calculated as: RAW_OUTPUT := Ana.Out * 2 Ana.OutSF + Ana.OutOffs GENERAL There is no range-check to clamp the RAW_OUTPUT to -32768 .. 32767. In case of overflow, the analog voltage will wrap from full positive to full negative, and vice versa. The analog interface in the DMC 2 consists of two 14 bit inputs and two 12 bits outputs. These analog channels have no secondary functions and can be used freely by the application program. The inputs can be scaled to any 32 bit range and the outputs can be scaled with a shift factor (binary scale). The outputs are limited to 1mA of current (10 kOhm) load by the meens of a 1 kOhm output impedance. The outputs are short ciruit proof. The scale of the outputs are set so that full logical output (16bit) gives 10.6 V. This means that a +/- 10 V output scale is mapped to +/- 31000 in th eoutput value. FUNCTION Ana.In1..Ana.In2 Ana.In1Range Ana.In1Offs Ana.ConnTMR. The Ana.In1Range and Ana.In1Offs scale the value in Ana.In1 (Ana.In2 is handled in the same way). The values of the inputs can be read from the program whenever needed and treated as any values or the inputs can be ”connected” to registers with an update rate set with Ana.ConnTMR. Ana.Out1..Ana.Out2 The output is scaled with Ana.Out1Sf for Ana.Out1 and Ana.Out2Sf for Ana.Out2. Ana.Out1Sign.. The sign of the outputs can be set in the Ana.Out1Sign Ana.Out2Sign and Ana Out2Sign registers User's Manual 5.1 Inmotion Technologies AB Doc. No.9032 0027 01 (B), Rev. 11.07.2001
EXTENDED REGISTER GROUPS Ana.ConnTMR RELATED ITEMS and Ana.Out2Sign registers. The outputs can be written from the program or connected to any register with the rate set in Ana.ConnTMR. Ana, Analog I/O Connect Statement for defining cyclical updates of analog functions. EXAMPLE USAGE . Ana.In1Range , 100 000 Ana.In1Offs , -50000 Ana.In2Range , -16000 Ana.In2Offs , 8000 . Ana.Out1SF , -2 Ana.Out1Offs,0 Ana.Out1Sign , 1 . Ana.Out2SF , 2 Ana.Out2Offs,0 Ana.Out2Sign , -1 . connect Ana.In1 to Pg.Speed Ana.ConnTMR,1 . GROUP MEMBERS (GROUP 15) ;+/- 10 V is mapped to +/- 50 000 ; ;+/- 10 V is mapped to -/+ 8000 ; ;+/- 131068 is mapped to +/- 10 V ; ; ;+/- 8191 is mapped to -/+ 10 V ; ; ;connect analog input 1 to the speed command ;1 ms update rate Group.Member Member No. Range Ability Default Ana.In1 0 -2 31 ..2 31 -1 R Scaled and offset-adjusted value for user analog input 1. (For raw data, see SysIoO.ADC4) Terminal: X7A:3,4 Ana.In2 1 -2 31 ..2 31 -1 R Scaled and offset-adjusted value for user analog input 2. (For raw data, see SysIo.ADC5) Terminal: X7A:1,2 Ana.In1Range 2 -2 31 ..2 31 -1 RW Range for Ana.In1 Ana.In2Range 3 -2 31 ..2 31 -1 RW Range for Ana.In2 Ana.In1Offs 4 -2 31 ..2 31 -1 RW Offset for Ana.In1 Ana.In2Offs 5 -2 31 ..2 31 -1 RW User's Manual 5.1 Inmotion Technologies AB Doc. No.9032 0027 01 (B), Rev. 11.07.2001 125
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HEAD OFFICE INMOTION TECHNOLOGIES A
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Table of Contents Table of Contents
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Related items .....................
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Related items .....................
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Creating/Editing Source Code ......
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12 System architecture register val
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14 B002 Timing and execution flow T
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16 Function Block Diagram SOFTWARE
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18 Function Block Diagram Figure 5.
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20 Function Block Diagram Function
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22 Load a new firmware release SOFT
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24 User's Manual 5.1 Inmotion Techn
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26 Argument types executing results
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28 Mnemonic Operators PL2 NATIVE PO
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30 Compiler Symbols PL2 NATIVE POSI
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32 Compiler directives PL2 NATIVE P
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34 Compiler directives Warnings: No
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36 Spline function compilation dire
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38 Multiline Macro MACRO DEFINITION
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PL2 Mnemonics GENERAL The general f
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PL2 MNEMONICS Standard set Mnemonic
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PL2 MNEMONICS TRACE RELATED MNEMONI
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PL2 MNEMONICS Indexed Addressing Mn
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PL2 MNEMONICS If r_length < r_Membe
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PL2 MNEMONICS Text mode \000 Intern
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Extended register groups INTRODUCTI
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EXTENDED REGISTER GROUPS STACK HAND
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EXTENDED REGISTER GROUPS RD1, Resol
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EXTENDED REGISTER GROUPS RD1.FiltSp
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EXTENDED REGISTER GROUPS RD2.ChkLow
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EXTENDED REGISTER GROUPS Pos Inc Pr
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EXTENDED REGISTER GROUPS Pg.ASpeed
Page 73 and 74: EXTENDED REGISTER GROUPS MOTOR, MOT
Page 75 and 76: EXTENDED REGISTER GROUPS 2-Pole: 81
Page 77 and 78: EXTENDED REGISTER GROUPS Motor.Base
Page 79 and 80: EXTENDED REGISTER GROUPS REG, PID R
Page 81 and 82: EXTENDED REGISTER GROUPS GROUP MEMB
Page 83 and 84: EXTENDED REGISTER GROUPS Positive T
Page 85 and 86: EXTENDED REGISTER GROUPS Reg, PID r
Page 87 and 88: EXTENDED REGISTER GROUPS Gear.Incr
Page 91 and 92: EXTENDED REGISTER GROUPS Gear, Elec
Page 93 and 94: EXTENDED REGISTER GROUPS TMR, SYSTE
Page 95 and 96: EXTENDED REGISTER GROUPS Tmr, Syste
Page 97 and 98: EXTENDED REGISTER GROUPS RELATED IT
Page 99 and 100: EXTENDED REGISTER GROUPS SysIo.ADC1
Page 101 and 102: EXTENDED REGISTER GROUPS Bit10 (102
Page 103 and 104: EXTENDED REGISTER GROUPS INT, INTER
Page 105 and 106: EXTENDED REGISTER GROUPS Bit2 (4) =
Page 107 and 108: EXTENDED REGISTER GROUPS Int, Inter
Page 109 and 110: EXTENDED REGISTER GROUPS IN, DIGITA
Page 111 and 112: EXTENDED REGISTER GROUPS X7A:6. In.
Page 113 and 114: EXTENDED REGISTER GROUPS X7B:33. Ou
Page 117 and 118: EXTENDED REGISTER GROUPS Vector, In
Page 119 and 120: EXTENDED REGISTER GROUPS CAPTURE, C
Page 121 and 122: EXTENDED REGISTER GROUPS CAPTURE, C
Page 123: EXTENDED REGISTER GROUPS CAPTURE, C
Page 127 and 128: EXTENDED REGISTER GROUPS EEPROM Gro
Page 129 and 130: EXTENDED REGISTER GROUPS Bit(0..3)
Page 133 and 134: EXTENDED REGISTER GROUPS RD1CORR, P
Page 135 and 136: EXTENDED REGISTER GROUPS OptAD, ana
Page 137 and 138: EXTENDED REGISTER GROUPS OptAD.7 7
Page 139 and 140: EXTENDED REGISTER GROUPS LAN1, LOCA
Page 141 and 142: EXTENDED REGISTER GROUPS WriteLAN1
Page 143 and 144: EXTENDED REGISTER GROUPS LAN1, Loca
Page 145 and 146: EXTENDED REGISTER GROUPS LAN1, Loca
Page 147 and 148: EXTENDED REGISTER GROUPS LAN1.ErrVe
Page 149 and 150: EXTENDED REGISTER GROUPS MsgObjLAN1
Page 151 and 152: EXTENDED REGISTER GROUPS isrDone: M
Page 153 and 154: EXTENDED REGISTER GROUPS MsgObjLAN2
Page 155 and 156: EXTENDED REGISTER GROUPS Denominato
Page 157 and 158: EXTENDED REGISTER GROUPS ABIN Group
Page 159 and 160: EXTENDED REGISTER GROUPS DSTORE, Gr
Page 161 and 162: EXTENDED REGISTER GROUPS PARAREA, G
Page 163 and 164: EXTENDED REGISTER GROUPS XENDAT, Gr
Page 165 and 166: EXTENDED REGISTER GROUPS wait tmr.t
Page 167 and 168: EXTENDED REGISTER GROUPS XENDAT.Tra
Page 169 and 170: EXTENDED REGISTER GROUPS XENDAT, Af
Page 171 and 172: EXTENDED REGISTER GROUPS XENDAT.RPo
Page 173 and 174: EXTENDED REGISTER GROUPS Counter 0
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EXTENDED REGISTER GROUPS IDENTIFIER
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EXTENDED REGISTER GROUPS >RPDATA.Ar
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EXTENDED REGISTER GROUPS EXAMPLE US
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EXTENDED REGISTER GROUPS SAnyBus ;
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EXTENDED REGISTER GROUPS GROUP MEMB
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EXTENDED REGISTER GROUPS SAnyBus As
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EXTENDED REGISTER GROUPS PutLONG Pu
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EXTENDED REGISTER GROUPS ABOUTMAIL
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EXTENDED REGISTER GROUPS EN1-EN4, E
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EXTENDED REGISTER GROUPS IENC Group
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EXTENDED REGISTER GROUPS MODEN3-MOD
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EXTENDED REGISTER GROUPS ModEN3.Cap
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200 Computer Mode Record type 1 2 3
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PL2 On line commands PL2 ON LINE CO
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PL2 ON LINE COMMANDS Command name E
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208 B009 Definitions THE ECT MAIN M
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210 Edit in generating this code. F
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212 Compile EXITING EDIT To exit Ed
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214 Test line, assisting the user t
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216 Test including the upload and d
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1 2 3 4 5 6 X7:A 16 15 14 13 12 11
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Start (reset entry) Init If ..... t
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