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32 Compiler directives PL2 NATIVE POSITION LANGUAGE Ex: Define a PDATA table holding Sine values for 0 to 9 degrees normalized to an amplitude of 65000 .define c_Amplitude = 65000 .define c_period = 180*1000*996/3129 ; 180*1000/pi pdata sin( 0 * 1000, c_period, c_Amplitude),0 ;0 degrees pdata sin( 1 * 1000, c_period, c_Amplitude),1 ;1 degrees pdata sin( 2 * 1000, c_period, c_Amplitude),2 ;2 degrees pdata sin( 3 * 1000, c_period, c_Amplitude),3 ;3 degrees pdata sin( 4 * 1000, c_period, c_Amplitude),4 ;4 degrees pdata sin( 5 * 1000, c_period, c_Amplitude),5 ;5 degrees pdata sin( 6 * 1000, c_period, c_Amplitude),6 ;6 degrees pdata sin( 7 * 1000, c_period, c_Amplitude),7 ;7 degrees pdata sin( 8 * 1000, c_period, c_Amplitude),8 ;8 degrees pdata sin( 9 * 1000, c_period, c_Amplitude),9 ;9 degrees This will compile to: 1 PData 0 , 0 2 PData 1134 , 1 3 PData 2268 , 2 4 PData 3402 , 3 5 PData 4534 , 4 6 PData 5665 , 5 7 PData 6794 , 6 8 PData 7921 , 7 9 PData 9046 , 8 10 PData 10168 , 9 This can be very useful for creating motion profiles or look-up tables. The RDPdata mechanism (see Extended register groups on page 53) can bee used to read Pdata tables for any purpose. COMPILER DIRECTIVES The PL2 Language compiler has the following directives: .LIST Format: .LIST ON|OFF [; Comment] Function: Disable/enable the generation of list file output. Default: On .LISTMACRO Format: .LISTMACRO ON|OFF [; Comment] Function: Disable/enable the generation of macro expansions in the list file output Default: On .NOTE Format: .NOTE ”string”, Vsymbol [; Comment] Function: Print ”string” and the value of symbol to the list file output. .ERROR Format: .ERROR ”string” [; Comment] User's Manual 5.1 Inmotion Technologies AB Doc. No.9032 0027 01 (B), Rev. 11.07.2001
PL2 NATIVE POSITION LANGUAGE Compiler directives Function: The error string is printed to the list file output. .ORG Format: .ORG const [; Comment] Function: Sets the location counter to the value of the const so that next output record is generated at line const. Warnings: If code is overwritten because of the .org directive, a warning is generated. Error: If const results in a value that is not within the memory range for this controller configuration, an error is generated. .LINESTEP Format: .LINESTEP const [; Comment] .DEFINE Format: Function: Sets the incremented location counter values between each generated line; the default is 1. Its purpose is to simplify debugging by allowing space between the lines. For maximum execution speed, use ’.LINESTEP 1’. Warnings: None Error: If, during code generation, all memory for this controller configuration is used, an error is generated. .DEFINE Vsymbol = const .DEFINE Vsymbol = const_expr .DEFINE Rsymbol = reg .DEFINE Xsymbol = xreg .DEFINE Isymbol = indirect_reg [; Comment] [; Comment] [; Comment] [; Comment] [; Comment] Function: Defines a symbol as an alias for a constant expression, constant, register, extended register or indirect register. A constant expression is first evaluated to a const. The symbol has the same value and type as the right-hand side. Warnings: None Error: If the right-hand side cannot be evaluated, an error is generated. .UNDEFINE Format: .UNDEFINE XSYMBOL Function: Undefine a symbol in the compiler so that it can be redefined. .BYTE Format: .BYTE const1, const2., const5 [; Comment] Function: Primarily intended to allow an older version of the compiler to generate code for unimplemented program statements. .MACRO NEWINSTR a, b, c .BYTE 123, 34, a, b, c .ENDMACRO User's Manual 5.1 Inmotion Technologies AB Doc. No.9032 0027 01 (B), Rev. 11.07.2001 33
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 14 and 15: 14 B002 Timing and execution flow T
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 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 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
Page 79 and 80: 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:
EXTENDED REGISTER GROUPS GROUP MEMB
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
Page 105 and 106:
EXTENDED REGISTER GROUPS Bit2 (4) =
Page 107 and 108:
EXTENDED REGISTER GROUPS Int, Inter
Page 109 and 110:
EXTENDED REGISTER GROUPS IN, DIGITA
Page 111 and 112:
EXTENDED REGISTER GROUPS X7A:6. In.
Page 113 and 114:
EXTENDED REGISTER GROUPS X7B:33. Ou
Page 115 and 116:
Page 117 and 118:
EXTENDED REGISTER GROUPS Vector, In
Page 119 and 120:
EXTENDED REGISTER GROUPS CAPTURE, C
Page 121 and 122:
Page 123 and 124:
Page 125 and 126:
EXTENDED REGISTER GROUPS Ana.ConnTM
Page 127 and 128:
EXTENDED REGISTER GROUPS EEPROM Gro
Page 129 and 130:
EXTENDED REGISTER GROUPS Bit(0..3)
Page 131 and 132:
Page 133 and 134:
EXTENDED REGISTER GROUPS RD1CORR, P
Page 135 and 136:
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
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:
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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