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8 Related Items.................................................................................................189 Example Usage..............................................................................................189 Group members (Group 62)...........................................................................189 ABFBus..............................................................................................................190 General ..........................................................................................................190 Function .........................................................................................................190 Related Items.................................................................................................190 Example Usage..............................................................................................190 Group members (Group 63)...........................................................................190 EN1-EN4, Encoder1-4.......................................................................................191 General ..........................................................................................................191 Backward compatibility note .......................................................................191 Function .........................................................................................................191 Related Items.................................................................................................192 Example Usage..............................................................................................192 Group members (Group 64-67) .....................................................................192 IENC ..................................................................................................................193 General ..........................................................................................................193 Function .........................................................................................................193 Related Items.................................................................................................193 Example Usage..............................................................................................193 Group members (Group 69)...........................................................................193 ModEn3-ModEn4...............................................................................................195 General ..........................................................................................................195 Function .........................................................................................................195 Related Items.................................................................................................195 Example Usage..............................................................................................195 Group members (Group 72-73) .....................................................................195 Communication protocol ................................................................199 Introduction........................................................................................................199 Protocol Format .................................................................................................199 Description .....................................................................................................199 Computer Mode.................................................................................................199 PL2 On line commands..................................................................203 PL2 On line commands .....................................................................................203 Command Line Editor (CLE) .............................................................................204 ECT................................................................................................207 Introduction........................................................................................................207 Definitions..........................................................................................................207 Running ECT .................................................................................................207 The ECT desktop ...........................................................................................207 The ECT main menu......................................................................................208 File ..............................................................................................................208 Project.........................................................................................................208 Options........................................................................................................208 Window .......................................................................................................208 Help.............................................................................................................208 Using the text editor .......................................................................................209 Selecting text ..............................................................................................209 Edit.....................................................................................................................209 Accessing the Edit Application.......................................................................210 When Editing Existing Files ........................................................................210 User's Manual 5.1 Inmotion Technologies AB Doc. No.9032 0027 01 (B) Rev. 11.07.2001
Creating/Editing Source Code .......................................................................211 Exiting Edit .....................................................................................................212 Compile..............................................................................................................212 Introduction ....................................................................................................212 Accessing Compile ........................................................................................212 Setting up the Compiler .................................................................................212 Compiling source code ..................................................................................213 Compiler output..............................................................................................213 Test....................................................................................................................214 Introduction ....................................................................................................214 Test setup ......................................................................................................214 Test function ...............................................................................................215 Accessing the test system .............................................................................216 Test menu ......................................................................................................216 File ..............................................................................................................216 Controller ....................................................................................................216 Exiting the test enviroment.............................................................................217 User's Manual 5.1 Inmotion Technologies AB Doc. No.9032 0027 01 (B), Rev. 11.07.2001 9
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: Related items .....................
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 and 56: EXTENDED REGISTER GROUPS STACK HAND
Page 57 and 58: EXTENDED REGISTER GROUPS RD1, Resol
Page 59 and 60:
EXTENDED REGISTER GROUPS RD1, Resol
Page 61 and 62:
EXTENDED REGISTER GROUPS RD1.FiltSp
Page 63 and 64:
Page 65 and 66:
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:
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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