Table of Contents - TG Drives

26
Argument types
executing results.
The typical form for a PL program Statement is:
100 Let R7 = Pg.speed / 112
PL2 NATIVE POSITION LANGUAGE
[Line] Mnemonic [Mnemonic Operator] [Argument] [[Operator] [Argument]]
ARGUMENT TYPES
SConst Short Constant, 16-bit. Can have any value between
-32768 and 32767. However, not all statements use all bits.
LConst Long Constant, 32-bit. Can have any value between
–2147483648 and 2147483647. However, not all statements
use all bits.
Reg Internal 32-bit, ordinary register. Can be accessed directly as
Rnnn or indirectly as R(Rnnn) (where nnn is the register
number).Example:
[Let] R220 = 17
[Let] R(R220) = 4711 ;This will set R17 =4711
XReg Designates an Extended Register. The XReg is usually an
ordinary register or a system variable. Some system variables
are read-only. An attempt to write to a read-only system
variable has no effect.System variables are formed into groups
such as,
Pg
Motor
Profile Generator
The motor interface
Each group has members such as:
Motor.Mode
Motor.Comm
Motor.Poles
Motor.PPR
Type of motor.
Commutation source.
Number of motor poles.
Pulses per revolution.
Line Designates a line number. The range is 1 to 8191.
ABBREVIATED ARGUMENT TYPES
LRval Either LConst or Reg.
Lval Either LConst or Xreg.
RLine Either a Line or a Reg.
SRval Either SConst or Reg.
Sval Either SConst or Xreg.
[Argument] Denotes optional argument.
EXPRESSION OPERATORS
The expression operator indicates the action to be performed on the two
arguments.
The typical form of an expression is:
User's Manual 5.1 Inmotion Technologies AB
Doc. No.9032 0027 01 (B), Rev. 11.07.2001