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92 Gear, Electronic gearbox EXTENDED REGISTER GROUPS Gear.CamInterp 22 0..2 RW 0= Linear interpolate between two points as STD. 1= Cubic trigonometric interpolation (4 points). The interpolator interpolates through each specified point. This may introduce undershoots, but by carefully selecting 2= points a very nice smooth cam can be achived. Cubic BSpline interpolation (4 points). Does not interpolate through the control points, and does not undershoot. Normal PDATA lines are used as for the linear interpolation and it is possible to switch between the interpolation modes in real time, and also modify points in real time. i Gear.SlaveFixTm 23 0..2550 Be aware that the motor will move to the new position with no speed limit! This is of the same nature as modifying the point we are currently interpolating. Fix time base for virtual master mode of gearbox Gear.PreCamLine 24 See Gear.Camline Preset value for Gear.Camline Gear.PreCamLen 25 See Gear.Camlen Preset value for Gear.Camlen Gear.PreCamscale 26 See Gear.CamScale Preset value for Gear.CamScale Gear.PreCamInc 27 See Gear.CamInc Gear.PreCamSet 28 Preset value for Gear.CamInc Force setting of preset values by writing to Gear.PreCamSet when written the above Preset values are copied into the corresponding gearbox parameters. This allowing for dynamic switching of cam parameters Gear.CamPeriods 29 -2 31 ..2 31 -1 RW Number of periods of the cam. This value increments for each period of the cam, (signed). Gear.PosRef 30 -2 31 ..2 31 -1 R Actual reference out from the Gear/Cam function that are used by the regulator. Valid only if Pos Mod On has been activated. Shows Gear.Pos in the case of gearing and shows Gear.CamPos in the case of cam usage. User's Manual 5.1 Inmotion Technologies AB Doc. No.9032 0027 01 (B), Rev. 11.07.2001
EXTENDED REGISTER GROUPS TMR, SYSTEM TIMERS Group Group No Description Tmr 8 System timers for timekeeping, etc. GENERAL Tmr, System timers The timer system is based on the cycle time of the DMC 2 software. A crystal - controlled frequency (40 MHz) is divided down to a 1 kHz cycle using the CPU’s internal interrupt system. This 1 ms cycle time is then used for all timer functions. Due to crystal tolerances, 1 ms in one DMC 2 is not exactly the same as 1 ms in another DMC 2 . Time measurements must therefore be non-critical in application usage. To achieve simultaneous cycles in several DMC 2 ’s the 1 kHz clock can be synchronized between units. FUNCTION Tmr.Abs The timer system has one absolute measurement in the Tmr.Abs. This counter holds the number of cycles since the last power up (or reset). The timers are all 32 bit wide, except for the word wide Tmr.CycInt, which means that they will wrap around after 596.5 hours (24.9 days). Tmr.CycInt The Tmr.CycInt is intended to be used for generating a cyclical event (timer interrupt) within the application software. The rest of the timers (Tmr.T0 through Tmr.T3) are free for application usage RELATED ITEMS Vector.CycInt System interrupt vector for timer interrupt. Int.SysMask Int.SysPend Ireturn sys 1 Return statement. EXAMPLE USAGE ; Cyclical event CycEvent: Bit mask for system interrupts, bit 0 (bit value 1) enables the cyclical event. Bit mask for pending events, bit 0 (bit value 1) indicates the cyclical event. . Vector.CycInt , @CycEvent Tmr.CycInt , 100 or Int.SysMask , 1 . clr Tmr.T2 wait Tmr.T2 > 186 . Ireturn sys 1 ;pointer to service routine ;100 ms event rate ;enable the event ;reset timer T2 ;wait here for 186 ms ;return from event User's Manual 5.1 Inmotion Technologies AB Doc. No.9032 0027 01 (B), Rev. 11.07.2001 93
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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
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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 91: EXTENDED REGISTER GROUPS Gear, Elec
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
Page 139 and 140: EXTENDED REGISTER GROUPS LAN1, LOCA
Page 141 and 142: 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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