Table of Contents - TG Drives

PL2 NATIVE POSITION LANGUAGE
SCALING MNEMONIC OPERATORS
Compiler Extensions
The operation uses full 64-bit precision in the multiplication and division. In the
case of an overflow in the result will be ±MAXINT. (2147483647)
DIVMUL LET = DIVMUL
Arg1= 65536*Arg2
Arg3
MULDIV LET = MULDIV
Arg1= Arg2*Arg3
65536
Internal calculations are made with 64 bit arithmetic. The user must handle
overflow.
Example usage of the MULDIV and DIVMUL operators:
; Assume a 4 pole motor
; If we want to convert one motor revolution into a
; position of 1000
; calculate the conversion factor
r100 = 1000 DIVMUL Motor.PPR
r200 = rd1.pos MULDIV r100
disp r200
COMPILER EXTENSIONS
[ ] Angle brackets are meta symbols implying that text is optional.
addr_of @ An address of operator can be used to obtain the line number
for the start of a profile or Program. The ’@’ symbol
designates the address of an operator. Example:
[Let] R10 = @Profile ;Ex 1.
Profile Acc @Profile ;Ex 2
Vector.CycInt = @MyTimProg ;Ex 3.
Ex1. Load R10 with the line number where the profile ”Profile”
is defined.
Ex2. Start the profile ”Profile”.
Ex3. Load the vector for cyclic interrupts to point to the
interrupt routine ”MyTimProg”.
cond_expr A conditional expression used with conditional compilation
directives using the form:
.if const_expr cond_operator const_expr.
const A constant value of type LConst or Sconst
const_expr Any expression which result in a constant value. Constant
expressions consist of VSymbols, Operator[s] and const.
Parentheses can be used to alter the normal operator
precedence and associatively rules.
.define FOO = 10 / 2 + 1 ; Evaluates to 6
.define BAR = 10 / (2 + 1) ; Evaluates to 3
dyn_expr A dynamic expression which is evaluated during run time. The
DMC 2 has the capability of embedding dynamic expressions in
its instruction set. Dynamic expression consists of const_expr,
User's Manual 5.1 Inmotion Technologies AB
Doc. No.9032 0027 01 (B), Rev. 11.07.2001
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