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56 Stack handling PUSH ;put data on the stack Gosub Convert ;call conversion routine EXTENDED REGISTER GROUPS POP ;take converted data from the stack ;Conversion routine Convert: .register CalcData ;temporary register Define Scale = 123 ;scale factor POP CalcData ;take input from the stack CalcData = CalcData * Scale ;modify... PUSH CalcData ;put output on stack Return done.... GROUP MEMBERS (GROUP 1) Group.Member Member No. Stack.0-63 0-63 -2 31 ..2 31 -1 RW Range Ability User's Manual 5.1 Inmotion Technologies AB Doc. No.9032 0027 01 (B), Rev. 11.07.2001
EXTENDED REGISTER GROUPS RD1, Resolver/Digital converter #1. RD1, RESOLVER/DIGITAL CONVERTER #1. Group Group No. Description RD1 2 Resolver/digtal converter #1 that is used for main motor communication and regulation. GENERAL The RD1 group contains registers for control and monitoring of the Resolver 1 input, which is, used for primary feedback of motor position and speed. The resolver is supplied with a excitation frequency from the DMC 2 and outputs two amplitude modulated signals which represents the sine and cosine of the angular position at all times. These analog signals are sampled and converted at a constant rate (4 kHz). From the sine and cosine values, the angle can be calculated as arctan(sine/cosine). From this periodic angle measurement, the speed and position of the motor can be derived. The resolver gives an absolute position over one turn. The position unit is Increments (incs), where a two pole (single speed) resolver gives 8192 incs/turn, a four pole resolver gives 16384 incs/turn and so on. The speed unit then becomes Increments/second (incs/s) and the acceleration unit becomes: Increments/second 2 (incs/s 2 ) In high resolution mode these numbers are multiplied by 8. Resolver Resolver speed High resolution Mode Standard Mode PPR PPR 2-Pole 1-Speed resolver 65536 8192 4-Pole 2-Speed resolver 131072 16384 6-Pole 3-Speed resolver 196608 24576 8-Pole 4-Speed resolver 262144 32768 FUNCTION Resolver 1 (RD1) must be set up properly in order to run the motor. The commutation of motor currents depends on proper operation of RD1. RD1.Mode Selects the mode of operation for the resolver interface. RD1.Mode = 0 turns off the resolver and resets RD1.Pos. RD1. Mode = 1 Is the normal setting for standard resolvers. Other values enable special functions. RD1.SHAdj Compensates for phase shift in the resolver and cables. The synchronous demodulation principle of the resolver interface requires that this parameter is set to the proper value. A span of +/- 150 is sufficient for all types of resolvers. A measuring routine (PL2 coded) for this parameter is included in the SW package RD1.RPos Is used as the reference for all movements in the DMC 2 . This relative axis position can be set to any value by the statement Ref Pos . User's Manual 5.1 Inmotion Technologies AB Doc. No.9032 0027 01 (B), Rev. 11.07.2001 57
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HEAD OFFICE INMOTION TECHNOLOGIES A
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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 and 52: PL2 MNEMONICS Text mode \000 Intern
Page 53 and 54: Extended register groups INTRODUCTI
Page 55: EXTENDED REGISTER GROUPS STACK HAND
Page 59 and 60: 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) =
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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 GROUP MEMB
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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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EXTENDED REGISTER GROUPS MsgObjLAN2
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EXTENDED REGISTER GROUPS Denominato
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EXTENDED REGISTER GROUPS ABIN Group
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EXTENDED REGISTER GROUPS DSTORE, Gr
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EXTENDED REGISTER GROUPS PARAREA, G
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EXTENDED REGISTER GROUPS XENDAT, Gr
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EXTENDED REGISTER GROUPS wait tmr.t
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EXTENDED REGISTER GROUPS XENDAT.Tra
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EXTENDED REGISTER GROUPS XENDAT, Af
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EXTENDED REGISTER GROUPS XENDAT.RPo
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EXTENDED REGISTER GROUPS Counter 0
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EXTENDED REGISTER GROUPS IDENTIFIER
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EXTENDED REGISTER GROUPS >RPDATA.Ar
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EXTENDED REGISTER GROUPS EXAMPLE US
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EXTENDED REGISTER GROUPS SAnyBus ;
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EXTENDED REGISTER GROUPS SAnyBus As
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EXTENDED REGISTER GROUPS PutLONG Pu
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EXTENDED REGISTER GROUPS ABOUTMAIL
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EXTENDED REGISTER GROUPS EN1-EN4, E
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EXTENDED REGISTER GROUPS IENC Group
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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
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PL2 On line commands PL2 ON LINE CO
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PL2 ON LINE COMMANDS Command name E
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208 B009 Definitions THE ECT MAIN M
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210 Edit in generating this code. F
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212 Compile EXITING EDIT To exit Ed
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214 Test line, assisting the user t
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216 Test including the upload and d
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1 2 3 4 5 6 X7:A 16 15 14 13 12 11
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Start (reset entry) Init If ..... t
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