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14 B002 Timing and execution flow TIMING AND EXECUTION FLOW Servo cycle Admin task PL2 code task Handle Resolver Inputs... Handle Digital Inputs and evaluate interrupt flags Do all Profile and Gear/Cam calculations Do Regulator calculations Do much more... Handle all Analog Outputs and set the Current references Handle the Serial communication Run Interpreter and execute the PL2 code Figure 2. DMC servo cycle. The firmware executes in two ways: 0 1 ms SOFTWARE SYSTEM • One is clock dependent, executing once each system clock cycle. This is called a servo cycle. (Figure 2.). It handles all real time critical tasks, such as velocity and position measurement, regulators, motion profiles, cams and gear functions. It also updates real time outputs, i.e. analog outputs for monitoring purposes. i These functions are always performed, regardless of whether an application is running or not. • The rest of the firmware execution is done in background. One task is handling the serial communication. Another task is interpreting and executing the PL2 code. It is important to realize that most real-time dependent functions are completely executing in FW. Consider the profile generator. It produces new values every ms, but it does not require any PL2 involvement once the initial profile statement has been executed. From this point onwards, the FW is executing all related calculations within the servo cycle and the PL2 code may perform other tasks concurrently. Another example is the output of real time data to the analog outputs. Once the PL2 code has established a ”connection”, for example, from actual speed to an analog output, the FW performs the real time update of the analog output. User's Manual 5.1 Inmotion Technologies AB Doc. No.9032 0027 01 (B), Rev. 11.07.2001
SOFTWARE SYSTEM Event Triggered Programming EVENT TRIGGERED PROGRAMMING DMC 2 PL2 SW FLOW Figure 3. DMC PL2 Software flow. User's Manual 5.1 Inmotion Technologies AB Doc. No.9032 0027 01 (B), Rev. 11.07.2001 15
Page 1 and 2: HEAD OFFICE INMOTION TECHNOLOGIES A
Page 3 and 4: Table of Contents Table of Contents
Page 5 and 6: Related items .....................
Page 7 and 8: Related items .....................
Page 9: Creating/Editing Source Code ......
Page 12 and 13: 12 System architecture register val
Page 16 and 17: 16 Function Block Diagram SOFTWARE
Page 18 and 19: 18 Function Block Diagram Figure 5.
Page 20 and 21: 20 Function Block Diagram Function
Page 22 and 23: 22 Load a new firmware release SOFT
Page 24 and 25: 24 User's Manual 5.1 Inmotion Techn
Page 26 and 27: 26 Argument types executing results
Page 28 and 29: 28 Mnemonic Operators PL2 NATIVE PO
Page 30 and 31: 30 Compiler Symbols PL2 NATIVE POSI
Page 32 and 33: 32 Compiler directives PL2 NATIVE P
Page 34 and 35: 34 Compiler directives Warnings: No
Page 36 and 37: 36 Spline function compilation dire
Page 38 and 39: 38 Multiline Macro MACRO DEFINITION
Page 41 and 42: PL2 Mnemonics GENERAL The general f
Page 43 and 44: PL2 MNEMONICS Standard set Mnemonic
Page 45 and 46: PL2 MNEMONICS TRACE RELATED MNEMONI
Page 47 and 48: PL2 MNEMONICS Indexed Addressing Mn
Page 49 and 50: PL2 MNEMONICS If r_length < r_Membe
Page 51 and 52: PL2 MNEMONICS Text mode \000 Intern
Page 53 and 54: Extended register groups INTRODUCTI
Page 55 and 56: EXTENDED REGISTER GROUPS STACK HAND
Page 57 and 58: EXTENDED REGISTER GROUPS RD1, Resol
Page 61 and 62: EXTENDED REGISTER GROUPS RD1.FiltSp
Page 65 and 66:
EXTENDED REGISTER GROUPS RD2, Resol
Page 67 and 68:
EXTENDED REGISTER GROUPS RD2.ChkLow
Page 69 and 70:
EXTENDED REGISTER GROUPS Pos Inc Pr
Page 71 and 72:
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
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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 89 and 90:
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
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EXTENDED REGISTER GROUPS Bit2 (4) =
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EXTENDED REGISTER GROUPS Int, Inter
Page 109 and 110:
EXTENDED REGISTER GROUPS IN, DIGITA
Page 111 and 112:
EXTENDED REGISTER GROUPS X7A:6. In.
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EXTENDED REGISTER GROUPS X7B:33. Ou
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Page 117 and 118:
EXTENDED REGISTER GROUPS Vector, In
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EXTENDED REGISTER GROUPS CAPTURE, C
Page 121 and 122:
Page 123 and 124:
Page 125 and 126:
EXTENDED REGISTER GROUPS Ana.ConnTM
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EXTENDED REGISTER GROUPS EEPROM Gro
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EXTENDED REGISTER GROUPS Bit(0..3)
Page 131 and 132:
Page 133 and 134:
EXTENDED REGISTER GROUPS RD1CORR, P
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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
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EXTENDED REGISTER GROUPS isrDone: M
Page 153 and 154:
EXTENDED REGISTER GROUPS MsgObjLAN2
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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
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EXTENDED REGISTER GROUPS wait tmr.t
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EXTENDED REGISTER GROUPS XENDAT.Tra
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EXTENDED REGISTER GROUPS XENDAT, Af
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EXTENDED REGISTER GROUPS XENDAT.RPo
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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
Page 181 and 182:
EXTENDED REGISTER GROUPS SAnyBus ;
Page 183 and 184:
Page 185 and 186:
EXTENDED REGISTER GROUPS SAnyBus As
Page 187 and 188:
EXTENDED REGISTER GROUPS PutLONG Pu
Page 189 and 190:
EXTENDED REGISTER GROUPS ABOUTMAIL
Page 191 and 192:
EXTENDED REGISTER GROUPS EN1-EN4, E
Page 193 and 194:
EXTENDED REGISTER GROUPS IENC Group
Page 195 and 196:
EXTENDED REGISTER GROUPS MODEN3-MOD
Page 197:
EXTENDED REGISTER GROUPS ModEN3.Cap
Page 200 and 201:
200 Computer Mode Record type 1 2 3
Page 203 and 204:
PL2 On line commands PL2 ON LINE CO
Page 205:
PL2 ON LINE COMMANDS Command name E
Page 208 and 209:
208 B009 Definitions THE ECT MAIN M
Page 210 and 211:
210 Edit in generating this code. F
Page 212 and 213:
212 Compile EXITING EDIT To exit Ed
Page 214 and 215:
214 Test line, assisting the user t
Page 216 and 217:
216 Test including the upload and d
Page 218 and 219:
1 2 3 4 5 6 X7:A 16 15 14 13 12 11
Page 220:
Start (reset entry) Init If ..... t
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