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200 Computer Mode Record type 1 2 3 4 5 6 7 8 9 COMMUNICATION PROTOCOL Description Example End of data record. Is sent after a program has been completely up/downloaded and disables download of program code. Prepare for download. Stops Execution initializes the program area and enables download of program code. :00000001FF :00000002FE Stop program execution. :00000003FD Start execution at first line of program. :00000004FC Set Terminal Mode. The same as the statement [LET] Comm.Mode = 0. Used to exit the Computer Mode. Upload all programs Memory. The contents of the program memory are sent as type 0 records, ending with a type 1 record. Only Non-empty records are sent;. Read system tables. This record type can be used by the PL compiler or similar program to determine what commands are supported by the current version of the DMC 2 firmware. Current Format (Addr Contents): 0 DMC Version number (0 for all Ver 0.XX) 1 TBLROOT -- Pointer to pointer to Com mand name definition tables. 2 XGWPTR -- Pointer to write pointer in X-group table 3 XGROUP -- Pointer to base of X-group table 4 XGDISTAB - Pointer to Xgroup R/W dispatch table 5 1F -- To be defined later -- If the field is >= 1, then the field is a 16-bit address in the firmware memory. The first data byte indicates the number of bytes of firmware memory to return starting at . It is not possible to read addresses 0..1F. Get a register value. Specifies the number of the register to get. Valid numbers are from 0 to 255 or an Xregister descriptor. The value of the register is returned in a record of type 8, with a field equal to 4. Set one or more registers. Specifies the first register to set. Len * 4 specifies the number of registers to load with the following data. Four bytes of data are required for each register. If the PL program is executing time-critical code, :00000005FB :00000006FA :0008 User's Manual 5.1 Inmotion Technologies AB Doc. No.9032 0027 01 (B), Rev. 11.07.2001
COMMUNICATION PROTOCOL Record type D :008F02D897 Computer Mode Description Example do not load more than a few registers in each record. A longer record implies that the PL program is halted a longer time while the registers are loaded from the internal communication buffers to the register area. This is particularly critical when loading Xregisters. 7 :04000B790000001761 Ex: Read Member 2 in Group 15 at node 13 ; select node 13 ; Addr = 32768+15 x 256+2 (8F02) ; Type = D for node and 8 for record type ;Csum = 97 (0 –(8F+02+D8)) Ex: Write 23 (dec) to register 11 at node 7 ; select node 7 ; Len = 4 ; Addr = 11 (dec) (B) ; Type = 7 for node and 9 for record type ; Data = 17 (hex) ;Csum = 61 ( 0-(04+0B+79+17)) User's Manual 5.1 Inmotion Technologies AB Doc. No.9032 0027 01 (B), Rev. 11.07.2001 201
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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
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EXTENDED REGISTER GROUPS MOTOR, MOT
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EXTENDED REGISTER GROUPS 2-Pole: 81
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EXTENDED REGISTER GROUPS Motor.Base
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EXTENDED REGISTER GROUPS REG, PID R
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EXTENDED REGISTER GROUPS GROUP MEMB
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EXTENDED REGISTER GROUPS Positive T
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EXTENDED REGISTER GROUPS Reg, PID r
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EXTENDED REGISTER GROUPS Gear.Incr
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EXTENDED REGISTER GROUPS Gear, Elec
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EXTENDED REGISTER GROUPS TMR, SYSTE
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EXTENDED REGISTER GROUPS Tmr, Syste
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EXTENDED REGISTER GROUPS RELATED IT
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EXTENDED REGISTER GROUPS SysIo.ADC1
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EXTENDED REGISTER GROUPS Bit10 (102
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EXTENDED REGISTER GROUPS INT, INTER
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EXTENDED REGISTER GROUPS Bit2 (4) =
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EXTENDED REGISTER GROUPS Int, Inter
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EXTENDED REGISTER GROUPS IN, DIGITA
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EXTENDED REGISTER GROUPS X7A:6. In.
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EXTENDED REGISTER GROUPS X7B:33. Ou
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EXTENDED REGISTER GROUPS Vector, In
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EXTENDED REGISTER GROUPS CAPTURE, C
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EXTENDED REGISTER GROUPS Ana.ConnTM
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EXTENDED REGISTER GROUPS EEPROM Gro
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EXTENDED REGISTER GROUPS Bit(0..3)
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EXTENDED REGISTER GROUPS RD1CORR, P
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EXTENDED REGISTER GROUPS OptAD, ana
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EXTENDED REGISTER GROUPS OptAD.7 7
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EXTENDED REGISTER GROUPS LAN1, LOCA
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EXTENDED REGISTER GROUPS WriteLAN1
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EXTENDED REGISTER GROUPS LAN1, Loca
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EXTENDED REGISTER GROUPS LAN1, Loca
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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
Page 175 and 176: EXTENDED REGISTER GROUPS IDENTIFIER
Page 177 and 178: EXTENDED REGISTER GROUPS >RPDATA.Ar
Page 179 and 180: EXTENDED REGISTER GROUPS EXAMPLE US
Page 181 and 182: EXTENDED REGISTER GROUPS SAnyBus ;
Page 183 and 184: EXTENDED REGISTER GROUPS GROUP MEMB
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 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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