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52 Text mode TRead RAW CH 7 PL2 MNEMONICS TRead LINE Will read a line of data to the input buffer. TRead NUM Can then be used to read a numerical value from the buffer. TRead CH Can be used to read a character from the buffer. TRead UCH Does also read a character from the buffer, but it skips all leading spaces and then converts the character to uppercase format. (Uppercase convert does only work for 7-bit characters.) This is more convenient if you will accept both ”Y” and ”y” as a positive answer to a question. To be able to use TREAD NUM, TREAD CH or TREAD UCH, you must first execute TREAD LINE to get data into the input buffer and set the read-pointer to the start of the buffer. TRead LINE CLR UCH Will clear the input buffer, read a line into the input buffer and then skip all the leading spaces, get the first character and convert it to uppercase. TRead LINE CLR NUM Will clear the input buffer, read a line into the input buffer, and then read a numerical value. TRead NUM/CH/UCH Can be used to read additional characters/numbers entered on the same line. All these TREAD statements work with ECHO enabled, and the line-editor is also active, in the same way as it is in the command monitor. The only exception to this is the: TRead RAW CH This statement will read the first character it finds, directly from the input buffer, this is useful if you want to control the terminal completely by the PL code, if no character is available it will return the code 0. User's Manual 5.1 Inmotion Technologies AB Doc. No.9032 0027 01 (B), Rev. 11.07.2001
Extended register groups INTRODUCTION The DMC 2 hardware and software, such as the resolver or the regulator, are divided into groups. Each group has members where the various values and/or bits can be manipulated by a PL2 program. Hardware and software functions are accessible via a group’s members. Group members are implemented as extended registers, Xreg, thereby allowing arithmetic to be performed on them. Group name Number Description Page Stack 1 Stack Handling 55 RD1 2 Resolver/Digital Converter #1. 57 RD2 3 Resolver/Digital Converter #2 63 Pg 4 Profile Generator 68 Motor 5 Motor Interface. 73 Reg 6 PID Regulator 79 Gear 7 Electronic Gearbox 86 Tmr 8 System Timers 93 SysIo 9 System I/O 96 Int 10 Interrupt Control. 103 In 11 Digital Input. 109 Out 12 Digital Output. 112 Vector 13 Interrupt Vectors. 114 Capture 14 Capture a Precise Time and Position. 118 Ana 15 Analog I/O. 124 EEprom 16 Non Volatile parameter storage. 127 Comm 17 Serial Communication. 130 RD1Corr 18 Postion Correction 133 OptAD 22 Optional A/D Conversion Option M 135 LAN1 28 Local Area Network 1 139 MsgObjLAN1 29 Helper to LAN1 149 LAN2 30 Local Area Network 2 152 MsgObjLAN2 31 Helper to LAN2 153 MultDiv 49 Math, scaling with 64 bit protocol 154 FlashMem 50 Flash memory interface 156 ABIn 52 Input buffer to the Anybus-S modules 157 ABOut 53 Output buffer from the Anybus-S modules 158 DStore 54 Data storage buffers 159 ParArea 55 Non-violated parameter storage. 161 User's Manual 5.1 Inmotion Technologies AB Doc. No.9032 0027 01 (B), Rev. 11.07.2001 53
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 32 and 33: 32 Compiler directives PL2 NATIVE P
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: PL2 MNEMONICS Text mode \000 Intern
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:
EXTENDED REGISTER GROUPS GROUP MEMB
Page 117 and 118:
EXTENDED REGISTER GROUPS Vector, In
Page 119 and 120:
EXTENDED REGISTER GROUPS CAPTURE, C
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Page 123 and 124:
Page 125 and 126:
EXTENDED REGISTER GROUPS Ana.ConnTM
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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
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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
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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
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EXTENDED REGISTER GROUPS XENDAT.Tra
Page 169 and 170:
EXTENDED REGISTER GROUPS XENDAT, Af
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EXTENDED REGISTER GROUPS XENDAT.RPo
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EXTENDED REGISTER GROUPS Counter 0
Page 175 and 176:
EXTENDED REGISTER GROUPS IDENTIFIER
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EXTENDED REGISTER GROUPS >RPDATA.Ar
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EXTENDED REGISTER GROUPS EXAMPLE US
Page 181 and 182:
EXTENDED REGISTER GROUPS SAnyBus ;
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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
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EXTENDED REGISTER GROUPS ModEN3.Cap
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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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