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204 Command Line Editor (CLE) Vector.CtrlC can stop motion. Example: PL2 ON LINE COMMANDS 10 Vector.CtrlC, 300 20 code Int.SysMask = Int.SysMask or 4xx.. Other 300 Pos Abort ; Abort any motion profile. 301 PG.Speed 0 ; Stop any motion. 302 End Control+Z Unit-Address Control key + the “Z” character. Select the unit to communicate with. The Unit-Address is the characters “1”-”9” and “A”-”F”. Control+T Control key + the “T” character. Display a snap shot of the controller status. COMMAND LINE EDITOR (CLE) User interaction in terminal mode has been improved with a full online editor. Also a circular buffer that stores the last used command line has been added. This enables a user to pick any command that already has been entered, from a list, to edit or execute. This will speed up interactive user sessions. The keys needed to navigate the circular buffer can be mapped so that the PC arrow keys can be used. To manipulate the command line from the keyboard, commands are given to the CLE as single ASCII characters. Holding the CONTROL key down before the key is pressed can generate all these commands, this will generate a single ASCII character in the range 0 to 31.The mapping of commands to special keys are made in the Promoton.ini file in the ECT directory. Command name ECT mapping Value Control key Description .. 0 +@ .. bol KEY_HOME 1 +A Goto beginning of the line. bck KEY_LEFT 2 +B Backup one character. stp 3 +C Stop execution of PL code. delf 4 +D Delete one character forward. eol KEY_END 5 +E Goto end of the line. fwd KEY_RIGHT 6 +F Go one char forward. .. 7 +G .. delb BS 8 +H Delete one char backward. tab KEY_INSERT 9 +I Insert one space. nop 10 +J No action at all. kill 11 +K Delete rest of line. .. 12 +L .. done RETURN 13 +M Line completed! next KEY_DOWN 14 +N Display next line. .. 15 +O .. User's Manual 5.1 Inmotion Technologies AB Doc. No.9032 0027 01 (B), Rev. 11.07.2001
PL2 ON LINE COMMANDS Command name ECT mapping Value Control key Command Line Editor (CLE) Description prev KEY_UP 16 +P Display previous line. .. 17 +Q Reserved, Xon/Xoff protocol. .. 18 +R .. .. 19 +S ctlt 20 +T junk KEY_ESCAPE 21 +U .. 22 +V delwb KEY_DELETE 23 +W Delete word backward. .. 24 +X .. yank 25 +Y Yank killed data back. .. 26 +Z .. .. 27 +Esc .. .. 28 +\ .. .. 29 +] .. .. 30 ++ .. .. 31 + - .. User's Manual 5.1 Inmotion Technologies AB Doc. No.9032 0027 01 (B), Rev. 11.07.2001 205
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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
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EXTENDED REGISTER GROUPS MsgObjLAN1
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EXTENDED REGISTER GROUPS isrDone: M
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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 200 and 201: 200 Computer Mode Record type 1 2 3
Page 203: PL2 On line commands PL2 ON LINE CO
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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