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88 Gear, Electronic gearbox EXTENDED REGISTER GROUPS PDATA statements), is set by Gear.CamLen variable. Each PDATA statement corresponds to 1024 increments. If there is a 2-pole resolver on RD2 and you want 2 turns on RD2 equal one turn on the CAM, and 17 PDATA statements are desired. The PDATA vector length is 17 * 1024 = 17408 increments. Two turns on RD2 is 8192 * 2 = 16384 increments. To map 16384 to 17408, the gearbox must be setup like this: Set Gear.In = 17 and Gear.Out = 16 to accomplish this. Fill the PDATA statements with the positions for the corresponding index values. The positions given in the PDATA statements are scaled by the Gear.CamScale, which has the same function as the PG.ProScale. In this version, only linear interpolation between index points is possible. The scaling is disabled when incremental cam is used. TIME LOCKED CAM The same as Position Lock cam but RD2 is replaced by a time function to generate the index into the table. MASTER/SLAVE In this mode the gearbox is used to follow a value given by a master. The master can be as simple as an analog input, in this case a CONNECT command can be used to connect an analog input to Gear.SlaveSPos. The master can also be another DMC 2 unit over the LAN, in that case the distributed position can be written to Gear.SlaveSPos by a user written PL program. In both cases the Gear.SlaveSPos must be written in a timely manner and the firmware will automatically calculate the time difference between the writes and store that value in Gear.SlaveUTime. The simple interpolation is done internally as, Gear. SlavePos − Gear. SlaveAPos Gear. SlaveSpeed = Tmr. Abs − Gear. SlaveUTime If Gear.SlaveFixTm 0 the calculation will use the fixed value instead. INCREMENTAL CAM This mode adds an indexing function to the cam. Each time the index to the cam table wraps, the Gear.CamInc is added to the output. Gear.CamLen must be set to the ”number of Pdata files minus one”. Gear.CamInc should normally be set to the last value in the Pdata table. The scaling with Gear.CamScale is disabled in this mode. User's Manual 5.1 Inmotion Technologies AB Doc. No.9032 0027 01 (B), Rev. 11.07.2001
EXTENDED REGISTER GROUPS GROUP MEMBERS (GROUP 7) Group.Member Member No Gear, Electronic gearbox Range Ability Gear. 0 0..255 RW Bit0 (1)Gear.Mode=0 Gear.Mode=1 Gearing is active. Bit1 (2)Gear.Mode=2+1 Bit2 (4)Gear.Mode=4+ 1 Bit3 (8) Reserved. Bit4 (16) Reserved. Bit5 (32)Gear.Mode=3 2+1 Set the operating mode of the Electronic Gearbox. Gearing is not active. In this mode the Gear.Pos may be used as a set-position offset value by the PL program. Gearing into index of ”POSITION LOCK CAM”. EN2 is not used as source for the Gear box. Instead, the source POS is incremented by one for each servo cycle. i.e. 1000 tics/second. This allows the POS LOCK CAM to be used as a TIME LOCK CAM. Master/slave mode with simple interpolator. The master position is given in Gear.SlaveSPos Bit6 (64) Reserved, Master/slave mode, interpolator with speed feed forward. Bit7 (128) Incremental cam active. ( Gear.CamLen must be ). Gear.In 1 -32767..32767 RW Specifies the number of cogs on the input gear wheel. It may be a negative value. It is possible to clamp the maximum value independent of the size of assigned value. Gear.Out 2 1..32767 RW Specifies the number of cogs on the output gear. It may NOT be a negative value. It is possible to clamp the maximum value independent of the size of assigned value. The Gear.In and Gear.Out members has been corrected to clamp to the maximum value independent of the size of the value assigned. Gear.Speed 3 -32767 000 .. 32767 000 R This is the geared speed from En2 or from the CAM profile Gear.Pos 4 -2 31 ..2 31 -1 R(W) This is the geared position from En2. Because the gearing is incremental, the position starts from the current value when Gear.Mode is set to 1. Writing to Gear.Pos when gearing is active may result in a “lost position”. The incremental gearing also allows changes of Gear.In and Gear.Out anytime during Gear operation. However, this is not recommended during CAM operation. User's Manual 5.1 Inmotion Technologies AB Doc. No.9032 0027 01 (B), Rev. 11.07.2001 89
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HEAD OFFICE INMOTION TECHNOLOGIES A
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Table of Contents Table of Contents
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Related items .....................
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Related items .....................
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Creating/Editing Source Code ......
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12 System architecture register val
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14 B002 Timing and execution flow T
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16 Function Block Diagram SOFTWARE
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18 Function Block Diagram Figure 5.
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20 Function Block Diagram Function
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22 Load a new firmware release SOFT
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24 User's Manual 5.1 Inmotion Techn
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26 Argument types executing results
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28 Mnemonic Operators PL2 NATIVE PO
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30 Compiler Symbols PL2 NATIVE POSI
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32 Compiler directives PL2 NATIVE P
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34 Compiler directives Warnings: No
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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: EXTENDED REGISTER GROUPS Gear.Incr
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 117 and 118: EXTENDED REGISTER GROUPS Vector, In
Page 119 and 120: EXTENDED REGISTER GROUPS CAPTURE, C
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 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
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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 GROUP MEMB
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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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