IB-11C001 MOTION CONTROL SYSTEMS, MSC SERIES
JUNE 1995
MACROPROGRAM DEVELOPMENT SYSTEM
INSTRUCTION MANUAL INDUSTRIAL INDEXING SYSTEMS, Inc. Revision - E Approved By:
Proprietary information of Industrial Indexing Systems, Inc. furnished for customer use only. No other uses are authorized without the prior written permission of Industrial Indexing Systems, Inc.
MACROPROGRAM DEVELOPMENT SYSTEM INDEX
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
TABLE OF CONTENTS 1.0 INTRODUCTION ...................................................................................................................................................... 6 1.1 OVERVIEW ................................................................................................................................................. 6 1.2 MANUAL CONVENTIONS ......................................................................................................................... 6 2.0 INSTALLATION ........................................................................................................................................................ 7 2.1 HARDWARE CONFIGURATION ............................................................................................................... 7 2.2 INSTALLATION........................................................................................................................................... 8 2.2.1 DUAL FLOPPY DISK SYSTEM ................................................................................................. 8 2.2.2 HARD DISK SYSTEM ................................................................................................................ 8 2.3 CONFIGURATION ..................................................................................................................................... 10 2.3.1 SYSTEM CONFIGURATION ................................................................................................... 13 2.3.2 COLOR CONFIGURATION ...................................................................................................... 14 3.0 MPEDIT - MACRO PROGRAM EDITOR ............................................................................................................... 3.1 INTRODUCTION........................................................................................................................................ 3.2 FILE MAINTENANCE ................................................................................................................................ 3.3 THE EDITING PROCESS.......................................................................................................................... 3.4 SPECIAL KEYBOARD KEYS .................................................................................................................... 3.5 FUNCTION KEY FUNCTIONS.................................................................................................................. 3.5.1 COPY/EXTRACT .................................................................................................................................... 3.5.2 PASTE ..................................................................................................................................................... 3.5.3 SEARCH.................................................................................................................................................. 3.5.4 REPLACE................................................................................................................................................ 3.5.5 APPEND FILE ......................................................................................................................................... 3.5.6 FUNCTION DESCRIPTION.................................................................................................................... 3.5.7 QUIT NO SAVE....................................................................................................................................... 3.5.8 EXIT AND SAVE ..................................................................................................................................... 3.5.9 GO TO LINE ........................................................................................................................................... 3.5.10 DISP ERRORS...................................................................................................................................... 3.5.11 NEXT ERROR....................................................................................................................................... 3.5.12 INDENT ................................................................................................................................................. 3.5.13 PREVIEW FILE ..................................................................................................................................... 3.5.14 HELP ..................................................................................................................................................... 3.5.15 OOPS .................................................................................................................................................... 3.5.16 SAVE POSITION .................................................................................................................................. 3.5.17 BACK TO POSITION ............................................................................................................................ 3.5.18 CLEAR LINE ......................................................................................................................................... 3.5.19 CLEAR DISPLAY ..................................................................................................................................
17 17 17 17 18 19 19 19 19 20 20 20 20 20 21 21 21 21 21 21 21 22 22 22 22
4.0 MPCPL - MACRO PROGRAM COMPILER ........................................................................................................... 23 4.1 INTRODUCTION........................................................................................................................................ 23 4.2 USING MPCPL........................................................................................................................................... 23 4.3 MACROPROGRAM LINE FORMAT ......................................................................................................... 23 4.4 MACRO COMPILER OUTPUT FORMAT................................................................................................. 24 4.5 SPECIAL MPCPL INSTRUCTIONS.......................................................................................................... 24 5.0 MPDEBUG - MACRO PROGRAM DEBUGGER ................................................................................................... 5.1 INTRODUCTION........................................................................................................................................ 5.2 USING MPDEBUG..................................................................................................................................... 5.3 MPDEBUG CONVENTIONS ..................................................................................................................... 5.4 MPDEBUG FUNCTIONS...........................................................................................................................
JUNE 1995
25 25 25 26 26
Page 1
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INDEX
5.4.1 READ FUNCTIONS .................................................................................................................. 26 5.4.1.1 READ DATA.............................................................................................................. 26 5.4.1.2 READ DATA CONTINUOUS ................................................................................... 26 5.4.1.3 READ FLAG.............................................................................................................. 26 5.4.1.4 READ FLAG CONTINUOUS.................................................................................... 26 5.4.1.5 AXIS STATUS........................................................................................................... 27 5.4.1.6 MACRO STATUS ..................................................................................................... 27 5.4.2 WRITE FUNCTIONS................................................................................................................. 27 5.4.2.1 WRITE DATA............................................................................................................ 27 5.4.2.2 WRITE DATA CONTINUOUS.................................................................................. 27 5.4.2.3 WRITE FLAG ............................................................................................................ 27 5.4.2.4 WRITE FLAG CONTINUOUS .................................................................................. 27 5.4.3 TRACE FUNCTIONS ................................................................................................................ 28 5.4.3.1 TRACE BEFORE...................................................................................................... 28 5.4.3.2 TRACE ABOUT ........................................................................................................ 28 5.4.3.3 TRACE AFTER ......................................................................................................... 28 5.4.3.4 TRACE CURRENT ................................................................................................... 28 5.4.3.5 STOP TRACE ........................................................................................................... 29 5.4.3.6 READ TRACE........................................................................................................... 29 5.4.4 MSC COMMANDS .................................................................................................................... 29 5.4.4.1 STOP PROGRAM .................................................................................................... 29 5.4.4.2 RESET ...................................................................................................................... 29 5.4.4.3 SEND PROGRAM .................................................................................................... 29 5.4.4.4 START PROGRAM .................................................................................................. 29 5.4.4.5 PROM OPTIONS...................................................................................................... 29 5.4.4.6 TEST MODE ............................................................................................................. 30 5.4.4.7 SET AUTOSTART .................................................................................................... 30 5.4.5 VIEW FUNCTIONS ................................................................................................................... 30 5.4.5.1 SOURCE................................................................................................................... 30 5.4.5.2 EQUATE TABLE....................................................................................................... 30 5.4.5.3 LABEL TABLE........................................................................................................... 30 5.4.5.4 CONSTANTS............................................................................................................ 31 5.4.5.5 DATA TABLE ............................................................................................................ 31 5.4.5.6 LAST TRACE............................................................................................................ 31 5.4.6 BLOCK FUNCTIONS ................................................................................................................ 31 5.4.6.1 READ DATA.............................................................................................................. 31 5.4.6.2 WRITE DATA............................................................................................................ 31 6.0 INTRODUCTION TO MACROPROGRAMMING LANGUAGE ............................................................................. 6.1 BASIC CONCEPTS ................................................................................................................................... 6.2 INSTRUCTION FORMAT .......................................................................................................................... 6.3 COMMENTS............................................................................................................................................... 6.4 BLANK LINES ............................................................................................................................................ 6.5 LABEL LINES .............................................................................................................................................
32 32 32 33 33 33
7.0 COMPILER DIRECTIVES ....................................................................................................................................... 35 7.1 DESCRIPTION........................................................................................................................................... 35 8.0 FLAGS...................................................................................................................................................................... 8.1 DESCRIPTION........................................................................................................................................... 8.2 TIMERS ...................................................................................................................................................... 8.3 FLAG INSTRUCTIONS..............................................................................................................................
Page 2
36 36 47 47
JUNE 1995
MACROPROGRAM DEVELOPMENT SYSTEM INDEX
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
9.0 ARITHMETIC INSTRUCTIONS .............................................................................................................................. 48 9.1 OVERVIEW ................................................................................................................................................ 48 9.2 INTEGER ARITHMETIC ............................................................................................................................ 48 9.3 ARRAY MANIPULATION........................................................................................................................... 48 9.4 BYTE OPERATIONS ................................................................................................................................. 49 9.5 BIT ORIENTED OPERATIONS................................................................................................................. 49 9.6 BUILT IN ARITHMETIC FUNCTIONS....................................................................................................... 49 9.7 ARITHMETIC INSTRUCTION SUMMARY ............................................................................................... 50 10.0 PROGRAM FLOW INSTRUCTIONS.................................................................................................................... 51 10.1 DESCRIPTION......................................................................................................................................... 51 10.2 BRANCHING INSTRUCTIONS............................................................................................................... 51 10.3 SUBROUTINE CONTROL....................................................................................................................... 51 10.4 THE SELECT STATEMENT.................................................................................................................... 52 10.5 PROGRAM FLOW INSTRUCTION SUMMARY..................................................................................... 53 11.0 MOTION INSTRUCTIONS .................................................................................................................................... 54 11.1 OVERVIEW .............................................................................................................................................. 54 11.2 MSC CONVENTIONS AND MOTION TERMINOLOGY ........................................................................ 54 11.2.1 POSITION DATA..................................................................................................................... 54 11.2.2 SPEED (VELOCITY) DATA .................................................................................................... 54 11.2.3 ACCELERATION DATA.......................................................................................................... 54 11.2.4 GLOBAL AND LOCAL ZEROES ............................................................................................ 55 11.3 MOTION PREPARATION INSTRUCTIONS........................................................................................... 55 11.3.1 DIGITAL COMPENSATION.................................................................................................... 56 11.3.1.1 THE P TERM (PROPORTIONAL GAIN) ............................................................... 57 11.3.1.2 THE I TERM (INTEGRAL)...................................................................................... 57 11.3.1.3 THE D TERM (DIFFERENTIAL) ............................................................................ 57 11.3.2 VELOCITY GAIN ................................................................................................................... 58 11.4 VELOCITY CONTROL INSTRUCTIONS................................................................................................ 58 11.5 POSITIONING INSTRUCTIONS............................................................................................................. 59 11.6 PIECEWISE PROFILES .......................................................................................................................... 59 11.6.1 DESCRIPTION ........................................................................................................................ 59 11.6.2 BUILDING PROFILE DATA TABLES..................................................................................... 60 11.6.3 PIECEWISE PROFILES AND MASTER SLAVE ................................................................... 62 11.7 READING CONTROLLER POSITION .................................................................................................... 63 12.0 INTERRUPTS ........................................................................................................................................................ 12.1 DESCRIPTION......................................................................................................................................... 12.2 SOFTWARE INTERRUPTS .................................................................................................................... 12.3 HARDWARE INTERRUPTS.................................................................................................................... 12.4 INTERRUPT INSTRUCTIONS ................................................................................................................
64 64 64 65 66
13.0 MASTER SLAVE CONCEPTS.............................................................................................................................. 67 13.1 DESCRIPTION......................................................................................................................................... 67 13.2 SIMPLE LOCK (ELECTRONIC GEARBOX)........................................................................................... 68 13.2.1 USEFUL FACTS ABOUT SIMPLE LOCK MODE.................................................................. 68 13.3 LOCK METHODS FOR SIMPLE LOCK.................................................................................................. 69 13.3.1 LOCK METHOD 1 ................................................................................................................... 69 13.3.2 LOCK METHOD 4 ................................................................................................................... 71 13.3.3 LOCK METHOD 6 ................................................................................................................... 71 13.4 ELECTRONIC CAMS .............................................................................................................................. 71 13.4.1 MASTER SCALING................................................................................................................. 72
JUNE 1995
Page 3
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INDEX
13.4.2 DATA SCALING ...................................................................................................................... 72 13.4.3 IMPORTANT NOTES REGARDING ELECTRONIC CAM.................................................... 73 13.4.4 CALCULATING ELECTRONIC CAMS................................................................................... 73 13.5 ELECTRONIC CAM LOCK METHODS .................................................................................................. 77 13.5.1 LOCK METHOD 0 ................................................................................................................... 77 13.5.2 LOCK METHOD 5 ................................................................................................................... 78 13.5.3 LOCK METHOD 8 ................................................................................................................... 78 13.5.4 LOCK METHOD 9 ................................................................................................................... 78 13.6 SAMPLE ELECTRONIC CAM APPLICATION ....................................................................................... 78 13.7 PIECEWISE LOCK .................................................................................................................................. 80 13.8 MASTER ANGLE BUS ............................................................................................................................ 80 13.8.1 MASTER ANGLE BUS CAUTIONS ..................................................................................................... 83 13.9 FIBER OPTIC NETWORK....................................................................................................................... 83 13.10 MASTER SLAVE INSTRUCTIONS....................................................................................................... 89 14.0 PROGRAMMABLE LIMIT SWITCHES................................................................................................................. 90 14.1 DESCRIPTION......................................................................................................................................... 90 14.2 MSC-850/MCF-850 and MSC-250 PLS FUNCTIONS ........................................................................... 90 14.2.1 PROGRAMMING .................................................................................................................... 90 14.2.2 PROCESSING......................................................................................................................... 91 14.2.3 EXECUTION............................................................................................................................ 91 14.3 HIGH PERFORMANCE PROGRAMMABLE LIMIT SWITCH (MSC-850/HPL-850) ............................. 91 14.3.1 THEORY OF OPERATION..................................................................................................... 92 14.3.2 PROGRAMMING CONSIDERATIONS .................................................................................. 92 14.4 HPL-850 PROGRAMMING EXAMPLE #1.............................................................................................. 93 14.5 HPL-850 PROGRAMMING EXAMPLE #2.............................................................................................. 94 14.6 PROGRAMMABLE LIMIT SWITCH INSTRUCTIONS ........................................................................... 95 15.0 EXTENDED MEMORY OPERATIONS ................................................................................................................ 96 15.1 DESCRIPTION......................................................................................................................................... 96 15.2 EXTENDED RAM MEMORY................................................................................................................... 96 15.2.1 EXTENDED RAM MEMORY PROGRAMMING .................................................................... 96 15.2.2 EXTENDED MEMORY LIMITATIONS ................................................................................... 97 15.3 EPROM MEMORY................................................................................................................................... 97 15.3.1 AUTOMATIC PROGRAM LOAD FROM EPROM ................................................................. 97 15.3.2 EPROM STATUS CODES...................................................................................................... 98 15.4 EPROM MANAGER INSTRUCTIONS.................................................................................................... 99 16.0 ANALOG INPUT/OUTPUT...................................................................................................................................100 16.1 DESCRIPTION........................................................................................................................................100 16.2 CAPABILITIES ........................................................................................................................................100 16.3 ACM-850 FUNCTIONAL DESCRIPTION ..............................................................................................100 16.4 POWER ON STATES .............................................................................................................................100 16.5 ACM-850 INSTRUCTIONS.....................................................................................................................101 17.0 USER SERIAL PORTS ........................................................................................................................................102 17.1 DESCRIPTION........................................................................................................................................102 17.2 SERIAL PORT INITIALIZATION ............................................................................................................102 17.3 IMPORTANT NOTES REGARDING SERIAL PORTS..........................................................................103 17.4 SERIAL INSTRUCTIONS .......................................................................................................................105 18.0 INSTRUCTION REFERENCE .............................................................................................................................106
Page 4
JUNE 1995
MACROPROGRAM DEVELOPMENT SYSTEM INDEX
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
APPENDIX A Macroprogram Instruction Listing..........................................................................................................300 APPENDIX B CUSTOM SERIAL PORT CONFIGURATION FOR THE MSC SOFTWARE TOOLKIT ....................304 GLOSSARY OF TERMS ...............................................................................................................................................305 INDEX.............................................................................................................................................................................310
JUNE 1995
Page 5
MACROPROGRAM DEVELOPMENT SYSTEM INTRODUCTION
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
1.0 INTRODUCTION This document is part of a series of books that support Industrial Indexing Systems MSC family of motion control systems. It provides information about the Macroprogram Development System which serves as a tool to assist the user in development of motion control programs. 1.1 OVERVIEW The Macroprogram Development System is a software tool designed to provide an effective environment for creating Macroprograms for the MSC family of motion controllers. Program development for the MSC consists of creating and editing text files containing the appropriate program instructions, compiling these files to generate executable programs, and on-line program debugging. In addition to these features, the Macroprogram Development System provides aids for disk file maintenance and configuration. Highlights of the Macroprogram Development System are: 1.
Simple entry and editing of programs.
2.
Interaction between editing and compiling to quickly identify program lines containing errors.
3.
On-line manual describing the purpose and format of each Macroprogramming Language instruction.
4.
File manager to simplify creating and deleting Macroprogram source files.
5.
Comprehensive real time test and debug facility, including: a. Program tracing b .Inspection and modification of data values and input/outputs c. Monitoring of Controller status.
The remaining sections of this book assume that you are familiar with the operation of your personal computer. If you are not, please refer to your computer documentation. 1.2 MANUAL CONVENTIONS Throughout this manual, the following typeface conventions are used:
Page 6
1.
Instruction names appear in bold print.
2.
Optional parameters appear in italics.
3.
MSDOS commands typed by the user appear in BOLD, all capitals.
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTALLATION
2.0 INSTALLATION 2.1 HARDWARE CONFIGURATION The Macroprogram Development System (Toolkit) is designed to be used with an IBM compatible personal computer. The Toolkit, like any IIS product, has its' own part number. Software part numbers are assigned using the format SFO-NNNN RX where SFO-NNNN indicates the software part number and RX indicates the revision. Whenever the Toolkit is significantly changed, a new part number is assigned. There are several versions of the Toolkit currently in use. The minimum recommended hardware configuration necessary for using the Macroprogram Development System, part numbers SFO-3040, SFO-3076, SFO-3082 or SFO-3110 is listed below: ס ס ס ס ס ס
Computer:IBM PC, XT, or AT computer, or compatible Disk Storage:Dual 720K disk drives or single 720K disk drive with hard disk Display:Monochrome, CGA, EGA or Hercules Display Memory:Minimum 512K bytes user memory Comm Ports:Asynchronous communications adapter(RS232C serial interface) Op Sys:MS-DOS revision 2.0 or later
The Macroprogram Development System, part number SFO-3136, was released primarily for the support of the MSC-850/32 Controller. Since this controller allows for programs up to 64,000 bytes and with additional data storage of 64,000 bytes, the Toolkit memory requirements increased dramatically. The minimum recommended hardware configuration necessary for using this version of the Toolkit is as follows: ס ס ס ס ס ס ס
Computer:IBM PC AT computer with 286, 386 OR 486 processor, or compatible Disk Storage:Dual 720K disk drives or single 720K disk drive with hard disk Display:Monochrome, CGA, EGA or Hercules Display Memory:Minimum 640K bytes of base user memory and an additional 2MB of extended and/or expanded memory Comm Ports:Asynchronous communications adapter(RS232C serial interface) Op Sys:MS-DOS revision 5.0 or later Clock rate: 16 Mhz or higher
NOTE Not all PC systems advertised as being "IBM PC compatible" are 100% compatible. The Toolkit may not work on systems which are not truly 100% IBM PC compatible.
JUNE 1995
Page 7
MACROPROGRAM DEVELOPMENT SYSTEM INSTALLATION
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
2.2 INSTALLATION The Toolkit is normally supplied on a 3.5", 720 Kbyte diskette. The diskette will be identified with an SFO (System Functional Operation) number which identifies the Toolkit and the current revision level. 2.2.1 DUAL FLOPPY DISK SYSTEM To install the Toolkit on a dual floppy system, perform the following steps: 1. 2. 3. 4.
Obtain two blank, formatted diskettes. One diskette will be used to make a working copy of the IIS Toolkit diskette. The second diskette will serve to store the programs you will develop. Power up your computer and load the MSDOS operating system. When the A> prompt appears on the screen, place one of the blank diskettes in the B diskette drive, and place the Toolkit diskette in the A drive. Type the following command and press the Enter key. COPY A:*.* B:/V
5. 6. 7. 8.
This command instructs MSDOS to copy the Toolkit diskette from drive A to drive B and to verify that all information was copied correctly. Remove the IIS Toolkit diskette from drive A and store it in a safe place. Remove the copy from drive B and label it with the appropriate SFO number. Place the working diskette in drive A and the blank data diskette in drive B. Type IIS and press the Enter key. After a few seconds, the initial Toolkit screen should appear. Proceed to the Configuration section of this chapter for further instructions.
2.2.2 HARD DISK SYSTEM To install the Toolkit on a hard disk system, perform the following steps. These instructions assume that your hard disk is designated as drive C. If your hard disk is designated by a different letter, use that letter in place of C in the instructions below.
Page 8
1.
Power up your computer and load the MSDOS operating system.
2.
It is recommended that the Toolkit be installed in a subdirectory rather than in the root directory of your disk. Create a subdirectory named TOOLKIT by typing the following command and pressing the Enter key. MKDIR \TOOLKIT
3.
It is suggested that you create a subdirectory to contain the programs you will develop using the Toolkit. For example, to create a subdirectory called MACROS, type the following command, followed by the Enter key: MKDIR \MACROS
4.
Place the Toolkit diskette in floppy drive A.
5.
To copy the Toolkit programs to your hard drive, type the following command, followed by the Enter key: COPY A:*.* \TOOLKIT /V
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTALLATION
This command instructs MSDOS to copy the Toolkit diskette from drive A to the \TOOLKIT subdirectory on your hard drive and to verify that all information was copied correctly. 6.
Log on to the TOOLKIT directory by typing the following command and then pressing the Enter key. CD \TOOLKIT
7.
Type IIS and press the Enter key.
8.
After a few seconds, the initial Toolkit screen should appear. Proceed to the Configuration section of this chapter for further instructions.
9.
For subsequent use of the Toolkit, repeat steps 6 and 7.
JUNE 1995
Page 9
MACROPROGRAM DEVELOPMENT SYSTEM INSTALLATION
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
2.3 CONFIGURATION If you are using the Toolkit with part number SFO-3136, a "banner" similar to the one below will be displayed for a few seconds, on Toolkit startup:
Extended-DOS Power by Phar Lap's 286|DOS-Extender(tm) Version 2.1 Copyright 1991 Phar Lap Software Inc. Available Memory = XXXX Kb
Figure 2.1 - BANNER SCREEN
A software "shell" package is used by the Toolkit in order to access the extended and/or expanded memory in your computer. The "banner" is displayed by this "shell" software package, indicating the manufacturers name, the software "shell" package name, revision and available memory.
Page 10
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTALLATION
If you are using a Toolkit with part number SFO-3110 or SFO-3136, you may be prompted to select the "memory model" to be used for the development of your programs. A screen similar to Figure 2.2 may be displayed. The first configuration screen allows you to select the appropriate macroprogram memory size based on your MSC system. See Figure 2.2. STANDARD will accommodate any MSC system as long as your macroprogram is smaller than 16K bytes (PROGRAM + DATA). MEDIUM would be selected if you are using a MSC-250 and your macroprogram is larger than 16K bytes program + data. The program may not exceed 32K bytes (PROGRAM + DATA). LARGE is used for the MSC-850/32 system when your macroprogram size exceeds 16K bytes program + data. The program may not exceed either 64K Program and 64K Data.
Figure 2.2 - MSC MEMORY SELECTION SCREEN
JUNE 1995
Page 11
MACROPROGRAM DEVELOPMENT SYSTEM INSTALLATION
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
Generally speaking, if you are creating programs for use with the MSC-850/32 and the program and or data is expected to exceed 16K bytes, you should select the LARGE memory model. If you are creating programs for use with any other MSC type controller, the STANDARD memory model should be selected, since the sum of the program and data areas cannot exceed 16K bytes anyway. The Toolkit provides a configuration subsystem that allows you to tailor the Toolkit to your computer. There are two steps to the configuration process. System Configuration covers various options such as specifying where your program files are to be stored, maximum program size in lines, etc. Color Configuration allows you to customize screen colors and characteristics.
Figure 2.3 - TOOLKIT STARTUP SCREEN Figure 2.3 shows the Toolkit startup screen. Note that the first selection on the screen, MPEDIT/MPCPL, will be highlighted by an inverse video bar. This bar can be moved from one selection to another by using the up and down arrow keys. To activate the desired selection, press the Enter key.
Page 12
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTALLATION
2.3.1 SYSTEM CONFIGURATION The System Configuration option of the Toolkit allows you to set up certain Toolkit default characteristics. These characteristics are usually only set up once, and the configuration will not need to be selected again unless the characteristics change. The System Configuration screen is shown in Figure 2.4.
Figure 2.4 - SYSTEM CONFIGURATION SCREEN The configuration characteristics are as follows: 1.
Disk, directory and path selection for program file storage and retrieval. The disk selected must be a valid disk on your computer system. Directory and path selection are optional, but if chosen, they too must be valid directories on your computer system. Refer to your computer handbooks or manual for more information on the valid disk and directory names for your computer.
JUNE 1995
Page 13
MACROPROGRAM DEVELOPMENT SYSTEM INSTALLATION 2.
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
Save Intermediate Files on Disk (Y/N) During program compilation, the Toolkit creates a number of temporary files which are used during program debugging. If this option is set to N, these temporary files are kept only in memory. This speeds up the compilation process. However, if you exit the Toolkit, and at a later time, wish to further test your Macroprogram, the compilation process must be repeated to recreate the temporary files. Setting the option to Y causes the temporary files to be written to disk, as well as kept in memory.
3.
Expanded Listing (Y/N) During program compilation, the development system will, if requested, produce a detailed program listing file. This listing includes tables for the following: all constants, all data variables, all equates, and all instruction labels. The listing also shows all the source program instructions and their compiled "machine" codes. This listing is not required for successful program execution and considerable savings in compilation time and disk storage space can be realized if the listing is omitted.
4.
Communications Port Number (1 - 16) Many computers have more than one serial communications port available. You may select the appropriate port for your system by entering the appropriate port number. The Toolkit will automatically configure the communications port to the proper settings. Refer to your computer handbook or manual for information on serial communications with your computer. If you are using a port other than 1 or 2, please contact IIS for an application note on non-standard communications ports.
5.
RS485 Address (0 - 15) If you are using RS485 multi-drop communications, enter the device address that was set up on the MSC controller card. Refer to the instruction book for the type of MSC controller being used.
You can move from field to field on the CONFIGURATION screen by using the Enter key and/or the TAB and SHIFT/TAB keys. Once you have made the appropriate entries, you can press the ACCEPT DATA softkey and these selections will be recorded onto your disk. If you decide not to change these selections, you can press the EXIT CONFIG softkey and the system will return to the Macroprogram Development system selection menu. 2.3.2 COLOR CONFIGURATION The Color Configuration option of the Toolkit allows the user to customize the colors and/or video enhancements displayed on the computer screen. Selecting this option shows the form displayed in Figure 2.5. The left side of the screen will display eight lines of A's, illustrating the various enhancements and colors that your system is capable of displaying. The right side of the screen represents a miniature Toolkit screen. As you choose various display options, this side of the screen will change accordingly.
Page 14
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTALLATION
Figure 2.5 - COLOR CONFIGURATION SCREEN There are six different options which can be set using Color Configuration: TEXT
Controls the enhancement for lines 4 through 21 of the screen.
FUNCTION KEYS
Controls the enhancement for the function key labels displayed at the bottom of the screen.
LINE 1
Controls the enhancement for the top line of the screen. This line normally contains the name of the program being developed, the Toolkit banner, and the date.
LINE 2
Controls the enhancement for the second line of the screen. This line is normally used for system messages and user input.
LINE 3
Controls the enhancement for the third line of the screen. This line is normally used for system messages and user input.
JUNE 1995
Page 15
MACROPROGRAM DEVELOPMENT SYSTEM INSTALLATION CURSOR
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
Controls the enhancement for the higlight bar which appears on certain screens and is moved about using the cursor arrow keys.
To change the enhancement for a particular item, press function key F4 until its label displays the option name. Notice that, on the left side of the screen, a small arrow appears over the A which has the current enhancement. Use the cursor arrow keys to move the small arrow to the desired enhancement. Repeat this step for each change you wish to make. When you are satisfied with your choices, press F1, SAVE CONFIG. Your changes will then be recorded.
WARNING It is possible to change enhancements so that some or all of the Toolkit screen will not be displayed.
Page 16
JUNE 1995
MACROPROGRAM DEVELOPMENT SYSTEM MPEDIT
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
3.0 MPEDIT - MACRO PROGRAM EDITOR 3.1 INTRODUCTION MPEDIT is a full screen program editor which provides the ability to enter Macroprograms into computer memory and to make modifications simply and effectively. 3.2 FILE MAINTENANCE To use MPEDIT, it is necessary either to select a currently existing program file, or choose to create a new one. These functions are performed by selecting the Create/Select File function from the main menu of the Toolkit. This function will cause a list of any Macroprograms resident on the current data path to be displayed. At this point, you may: 1. 2.
3.
Choose an existing Macroprogram file by moving the highlight bar to the desired program and pressing the Enter key. Create a new Macroprogram by pressing F4. The Toolkit then asks for the desired file name. Type the file name, followed by the Enter key. File names can consists of letters and numbers. Do not use blank spaces in file names. MPEDIT automatically assigns the .prg extension to the file name you choose. Delete an existing Macroprogram file by moving the highlight bar to the desired program and pressing F2. The system will prompt you to be sure you wish to delete the file. Answer by pressing the Y key or the N key accordingly.
After you create or select a file for editing, the Toolkit takes a few seconds to create or read the file and then returns to the main Toolkit menu. At this point, you may choose the MPEDIT option from the menu and press the Enter key. 3.3 THE EDITING PROCESS Entering Macroprograms with MPEDIT is much like using the computer keyboard as a typewriter. Just type the program line as you would like it to appear, and press the Enter key when each line is complete. Note that as you type the line, it appears in the highlight bar on your screen. When the return key is pressed, the highlight bar moves down to the next line and the line you typed appears normally. Entering new lines or making corrections always occurs within the highlight bar. Within this manual, the location of the highlight bar will be referred to as the current line. Within the current line, there will be a blinking underline character, referred to as the cursor. When typing a line, corrections can be made by backspacing until the cursor is under the error, and retyping the correct information. When making corrections, it is NOT necessary to press the Enter key after the correction.
JUNE 1995
Page 17
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM MPEDIT
3.4 SPECIAL KEYBOARD KEYS Table 3.1 - SPECIAL FUNCTION KEY FEATURES
KEYFUNCTION Down Arrow
moves current line bar down one line
PgDn
display next page of text
Up Arrow
moves current line bar up one line
PgUp
display previous page of text
Right Arrow
moves cursor one space to the right
Left Arrow
moves cursor one space to the left
SHIFT/DELETE
deletes line at the cursor
SHIFT/INSERT I
nserts a blank line
HOME
moves to the top of the program
END
moves to the bottom of the program
INSERT
turns on insert character mode. Characters subsequently typed will be inserted at the cursor position. Press INSERT again to turn off insert mode
DEL
the character at the current cursor location is deleted
F9
changes from one set of function key definitions to another
TAB
moves the cursor to the next tab stop, tab stops are every eight columns
SHIFT/TAB
moves the cursor to the previous tab stop
Certain keyboard keys aid in the editing process by performing special functions. These keys, along with their functions, are described in Table 3-1.
Page 18
JUNE 1995
MACROPROGRAM DEVELOPMENT SYSTEM MPEDIT
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
NOTE On certain extended function keyboards, a separate set of cursor control and page control function keys are provided. Usually, the SHIFT/INSERT and SHIFT/DELETE functions do NOT work with this second set of keys. This is because the status of the SHIFT key is not transmitted to the computer for these keys.
3.5 FUNCTION KEY FUNCTIONS The function key functions provided by MPEDIT enable you to perform more sophisticated editing with only a few keystrokes. Each function key function is described in detail in this section. 3.5.1 COPY/EXTRACT This key provides a means of "snipping" out a piece of text which can be later added to a different location. To use COPY/EXTRACT, move the current line to the first line you wish to copy or extract and press the COPY/EXTRACT function key. The function key labels will change so that key 1 says COPY TO HERE, key 4 says EXTRACT TO HERE and key 8 says EXIT. Using the down arrow, move the current line to the end of the area you wish to copy. Notice that all the lines in the selected range are highlighted. When you reach the last line of the copy area, press the key marked COPY TO HERE or the key labeled EXTRACT TO HERE. The display will return to normal. A copy of the lines within the selected range has now been placed in a holding area so that the copy may be "pasted" into the program in another location. The copy portion of the COPY/EXTRACT function also works with the PREVIEW FILE function, allowing you to copy lines from another file into the one being edited. 3.5.2 PASTE This function allows a section of text which has been "snipped" out using the COPY/EXTRACT function to be placed at any desired location in the program. Move the current line bar to the desired location and press the PASTE function key. The copied lines will be inserted into the program above the current line bar. 3.5.3 SEARCH This function allows you to search throughout the text of your program for a particular sequence of characters. Pressing this function key causes MPEDIT to request the character string you wish to search for. Type the characters and press the Enter key. Searching begins at the line following the current line and continues until the desired string is found. If the requested string is found, the current line is moved to the line containing the string. If the requested string is not located, the message "Not Found" is displayed. Subsequent search requests will cause the previous search string to the displayed under the message "Enter Search String". Simply press the Enter key to search for the same string again. To search for a new string, type it over the top of the old string. Be sure to blank out any excess characters from the old string.
JUNE 1995
Page 19
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM MPEDIT
3.5.4 REPLACE The replace function works in a manner similar to the search function, except that the replace function allows you to replace the search string with a new sequence of characters. For example, the replace function could be used to change all occurrences of the string "Axis_1" to "Axis_2". Pressing this function key causes MPEDIT to first ask for the search string and then for the replace string. Searching then begins. If the search string is located, four function key options are presented: (F4)
ALL - Changes all occurrences of the search string to the replace string without intervention.
(F5)
REPLACE - Changes this occurrence and begins searching for the next one.
(F6)
SKIP - leaves this occurrence unchanged and begins searching for the next one.
(F8)
RETURN TO EDIT - Returns to the editing mode.
3.5.5 APPEND FILE This function will add the contents of a specified macroprogram source file to the end of the program currently being edited. Pressing this key will cause MPEDIT to ask for the name of the program file to be appended. Type the name and press the Enter key. The BROWSE FILES capability can also be used with APPEND. 3.5.6 FUNCTION DESCRIPTION Pressing this function key will display the current list of Macroprogram instructions. To view the details of an individual instruction, position the highlight by using the up and down arrow keys to the desired instruction and press the Enter key. To exit from these descriptions, press the EXIT DESCRIPT function key. 3.5.7 QUIT NO SAVE Pressing this function key exits from this session of editing and returns to the Macroprogram Development System selection menu without saving changes made during this edit session. The message WARNING: FILE WILL NOT BE SAVED. ARE YOU SURE? will be displayed. If a Y is typed, the original program file is reloaded from the disk, and changes are discarded. An N response will return control to the edit mode. 3.5.8 EXIT AND SAVE Pressing this key also exits from this session of editing. However, all changes made during this edit session will be saved onto disk. Before rewriting the edited file to disk, the system prompts for a file name. The current name is shown as a default. To save the new program under the same file name as the original, press the Enter key. If you wish to assign a new file name, type the new name over the top of the old name. When the Toolkit saves the file, it renames the original copy from "filename".PRG to "filename".BAK. In this way you have at least one backup copy. If any changes were made to the program during the editing session, the Toolkit will automatically invoke MPCPL to compile the program.
Page 20
JUNE 1995
MACROPROGRAM DEVELOPMENT SYSTEM MPEDIT
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
3.5.9 GO TO LINE Moves the highlight bar to a specific line number. This function can be used with the error printout from the MSC Macroprogram Compiler to quickly move to a specific line. 3.5.10 DISP ERRORS When the MSC Macroprogram Compiler is used to compile a Macroprogram, it produces a list of any errors found. MPEDIT will read this list if it is present, and display the message "Errors Found" on the screen when it starts up. If you wish to review the error list, press the DISP ERRORS function key. This function key does not appear if no error list exists for the program being edited. 3.5.11 NEXT ERROR This function key is used after a Macroprogram has been compiled. It functions like the search key, except that is causes MPEDIT to move to the next line containing an error. Note that lines containing errors will normally be shown as blinking on the screen (some monitors are incapable of displaying blinking characters). This function key does not appear if no error file exists or the error file is empty for the program being edited. 3.5.12 INDENT This function will align the instructions in a Macroprogram into formatted columns. Labels in column 1, instructions in column 16, parameters in column 31 and comments in column 61. Column formatting is NOT required for successful program compilation and execution. 3.5.13 PREVIEW FILE This function provides a means of reviewing the contents of one file while editing another. A section of the reviewed file may be copied into the file being edited in a manner similar to the COPY/EXTRACT function. PREVIEW FILE can be useful to inspect other macro programs similar to the one being edited. To use the preview function, press the corresponding function key. MPEDIT will respond by asking for a file name to preview. Type the desired file name and press Return. Note that the BROWSE FILES function can be used to select a file for previewing. It is also possible to use the COPY portion of COPY/EXTRACT to copy lines from a file being previewed into the program currently being edited. 3.5.14 HELP Pressing this key will display an abbreviated screen listing of the functions of special keyboard keys. By using the PgDn and PgUp keyboard keys, you can view further information concerning MSC flags, I/O definitions, and status words. Press the EXIT function key to return to the editing screen. 3.5.15 OOPS This function allows the last line of text deleted to be added back. This function is only available in the IBM PC version and works only if the line was deleted using the SHIFT/DEL keyboard keys.
JUNE 1995
Page 21
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM MPEDIT
3.5.16 SAVE POSITION This function allows you to mark a line in the file to return to should you wish to perform other functions on the remainder of the file. This function is used in conjunction with the BACK TO POSITION function. An example of the use of this feature is: You are presently at the fiftieth line of a given file and you now wish to search through the entire file for a particular character string. Following the search however, you wish return to the fiftieth line. You would press the SAVE POSITION function key, then proceed to do your search. When the search was completed, you would press the BACK TO POSITION function key. 3.5.17 BACK TO POSITION This function is used in conjunction with the SAVE POSITION and allows you to reposition the current line indicator to the previously marked (SAVED) line. Refer to Section 3.5.16 above for an example of the use of this function key. 3.5.18 CLEAR LINE This function allows you to erase a portion of a line or even an entire line. Position the cursor to the desired character. Now press this function key and all characters from the cursor to the right end of the line will be erased. This feature is only available in the IBM PC version. 3.5.19 CLEAR DISPLAY This function key allows you to erase the entire edit work area. Be very careful when using this feature as there is no way to restore the work area other than using the QUIT NO SAVE function.
Page 22
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM MPCPL
4.0 MPCPL - MACRO PROGRAM COMPILER 4.1 INTRODUCTION The Macroprogram Compiler (MPCPL) converts MSC Macroprograms from human readable instructions to numeric codes which can be interpreted and acted upon by the MSC. The Compiler is automatically executed on exiting from MPEDIT, or prior to running the debugger if the system cannot find the machine control program file for the program you are editing. In addition, MPCPL produces information which is used by the Macroprogram Editor (MPEDIT) and Macroprogram Debugger (MPDEBUG) to simplify the programming and testing processes. Optionally, MPCPL may also produce a detailed program listing file. 4.2 USING MPCPL MPCPL is invoked automatically by the Toolkit whenever compilation is necessary. 4.3 MACROPROGRAM LINE FORMAT Macroprogram lines can be made of up to four (4) parts, as shown in figure 4.1. These parts are:
Figure 4.1 - MACROPROGRAM INSTRUCTION FORMAT label
instruction
parameters
comment
1
.Label - A label can be from one (1) to twelve (12) characters in length, and may consists of both upper and lower case letters, numbers and the underscore character. Labels must begin in column 1 of the program line. Labels are optional. If no label is used, at least one blank must be at the beginning of the line.
2.
Instruction - This part of the line consists of any valid Macroprogram Language command. Instructions must be typed in lower case letters. At least one blank must precede the instruction and at least one blank must follow the instruction.
3.
Parameters - This part of the program line consists of the information, if any, processed by the instruction. It must be separated from the instruction by one or more spaces.
4.
Comment - This field can contain any explanatory information about the program line. It must be separated from the preceding field by at least one blank. Program lines which contain only comments must have an exclamation point (!) in column 1.
JUNE 1995
Page 23
MACROPROGRAM DEVELOPMENT SYSTEM MPCPL
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
4.4 MACRO COMPILER OUTPUT FORMAT MPCPL produces the following outputs: 1.
Listing File (Optional) - The listing consists of: a.
An EQUATE Table - This table lists all symbols defined in equ statements. Its contents are symbol name, decimal symbol value, and hexadecimal symbol value.
b.
A LABEL Table - This table contains all program statement labels and their equivalent addresses.
c.
A CONSTANTS Table - This consists of a list of all constants used. This table consists only of address and values.
d.
A DATA Table - This table contains all the data variables used in the macroprogram. Each entry in this table consists of the variable name, followed by its address in both decimal and hexadecimal formats.
e.
A PROGRAM Listing - This portion consists of a listing of each program line together with the MSC numerical equivalent of the program line. Any errors detected in a program line will be listed just after the line containing the error.
2.
Error Summary File - This automatically created file contains a summary of any errors detected in the compilation process. It is used by MPEDIT to assist in locating and correcting errors.
3.
Symbol Table File - This optional diskette file contains all symbol, label, and data definitions. It is used by MPDEBUG to assist in the debugging process.
4.
Binary Program File - This file contains the compiled program in MSC Machine Instruction Format. It can be transmitted to the MSC by MPDEBUG (or other programs), and the MSC can perform the instructions contained in it.
5.
Debugger File - This file contains information used by MPDEBUG to translate trace information into source program lines.
4.5 SPECIAL MPCPL INSTRUCTIONS MPCPL recognizes certain instructions which are not acted upon by the MSC, but simplify the process of defining data and constants. Chapter Six of this manual contains a description of these statements.
Page 24
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM MPDEBUG
5.0 MPDEBUG - MACRO PROGRAM DEBUGGER 5.1 INTRODUCTION The Macroprogram Debugger (MPDEBUG) provides a means of transmitting a compiled MSC Macroprogram from a personal computer to the MSC and monitoring its execution. MPDEBUG provides the ability to: 1.
Inspect and modify values in the Macroprogram data area.
2.
Test and modify the status of MSC flags.
3.
Trace program flow and execution.
4.
Test the MSC Macroprogram status word.
5
.Inspect the status of each motor axis card.
6.
Review program source file, listing file, symbol table, error file.
7.
Transfer the resident Macroprogram to an EPROM chip via the PROM POCKET.
8.
Place each Axis Controller in the MSC System Unit into Test Mode.
MPDEBUG is able to reference information using the symbols which were used when the Macroprogram being debugged was written. This simplifies the debug process by eliminating the need to converse in decimal or hexadecimal numbers. This chapter describes the use and features of MPDEBUG.
NOTE The MSC controller must be connected to your computer before selecting MPDEBUG from the Macroprogram Development system selection menu. See IB11C001, the MSC-850 System Unit, for cable information.
5.2 USING MPDEBUG MPDEBUG is accessed from the main Toolkit menu by highlighting the appropriate option and pressing the Enter key. MPDEBUG will verify that an MSC controller is connected to the serial port specified in System Configuration, and if so, will continue to the main MPDEBUG screen. The top line of the main MPDEBUG screen, shows the name of the program currently residing in the MSC (if any), and the current status of the MSC. Initially, this status is STARTUP. The current status of the MSC and its card configuration will be displayed on the lower portion of the display. (See Section 5.4.1.6 on MACRO STATUS below).
JUNE 1995
Page 25
MACROPROGRAM DEVELOPMENT SYSTEM MPDEBUG
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
5.3 MPDEBUG CONVENTIONS Many MPDEBUG commands request data values, flag numbers, etc. These values may be typed in either numerically or as valid labels as defined in the Macroprogram source. For example, if the Macroprogram source defined axis 1 as "rotor", the word "rotor" could be used as a response when requesting the status of axis 1. MPDEBUG Data values may be entered as numbers or as valid arithmetic expressions. For example, to express 3.5 motor turns, where 4096 bits represents one motor turn, the expression 3.5*4096 could be entered. MPDEBUG will perform the computation and use the result. One function of MPDEBUG is available at all times. This is STOP PROGRAM. The STOP PROGRAM function commands the MSC to stop executing the current Macroprogram and to send a f_decel instruction to all Controller cards. 5.4 MPDEBUG FUNCTIONS The functions of MPDEBUG are broken into 6 sections. Each section and the functions it provides is described below. To select one of the major function areas, press its associated function key. To return to the main MPDEBUG menu, press the F9 function key. 5.4.1 READ FUNCTIONS The READ functions provide a means of retrieving information from the MSC and displaying it on the computer's screen. 5.4.1.1 READ DATA This function reads data from the MSC data area. Selecting READ DATA, will cause MPDEBUG to ask for a data address. Enter the address symbolically or numerically. MPDEBUG will read the data from the appropriate location in the MSC and display its value in decimal and in hexadecimal. You may continue in this function by typing another address, or exit by pressing the EXIT READ function key. 5.4.1.2 READ DATA CONTINUOUS This function performs just like READ DATA except that the specified location is read repeatedly and displayed on the screen until the EXIT READ function key is pressed. Up to four data locations may be selected to be read continuously. 5.4.1.3 READ FLAG This function will retrieve the status (ON = 1, OFF = 0) of the desired flag from the MSC. The flag number may be entered as a number or as a label. See Chapter 8 for further discussion of flags. 5.4.1.4 READ FLAG CONTINUOUS This function will continuously read and display the status of a specified MSC flag. Press the EXIT READ function key to stop this function. Up to four flags may be read continuously.
Page 26
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM MPDEBUG
5.4.1.5 AXIS STATUS This function continuously reads the status bits for the desired axis (Controller) and displays appropriate messages if any of the status bits are set. If no status bits are set, no messages will appear. 5.4.1.6 MACRO STATUS This command reads and displays the status information from the MSC System Unit. The screen shows the name of the currently loaded Macroprogram and the date and time this Macroprogram was compiled. The lower portion of the screen displays the name and software revision levels for each Controller in the MSC System unit. A description of any bits set in the Macroprogram Status Word also appears. The MACRO STATUS function does NOT continuously update the screen. 5.4.2 WRITE FUNCTIONS The Write functions provide a means for changing Macroprogram data locations and flags. 5.4.2.1 WRITE DATA This function writes data into the MSC data area. MPDEBUG will ask first for a data address. Enter the desired address symbolically or numerically. MPDEBUG will then ask for a data value. Enter this value as a single number or an arithmetic expression. 5.4.2.2 WRITE DATA CONTINUOUS This function allows continued updating of a particular MSC data location. It functions similarly to WRITE DATA except that after sending the specified value to the MSC, MPDEBUG will immediately request another value to be written. Exit the WRITE CONTINUOUS function by pressing the function key labeled EXIT WRITE. 5.4.2.3 WRITE FLAG This function will set or clear the desired flag. The flag number is entered either as a symbol or a number. To change the state of the specified flag, press the appropriately labeled function key. Alternately, type an S to set the flag or a C to clear it. If any other character is typed, the status of the flag is not changed.
NOTE Writing to an I/O flag assigns that flag as an output flag and will no longer respond to an external input.
5.4.2.4 WRITE FLAG CONTINUOUS This function allows the user to continuously change the state of a selected flag. Exit this function by pressing EXIT WRITE.
JUNE 1995
Page 27
MACROPROGRAM DEVELOPMENT SYSTEM MPDEBUG
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
5.4.3 TRACE FUNCTIONS The MSC has the ability to "remember" the last 112 instructions that it executed. MPDEBUG can tell the MSC when to start and stop this "memory" and can read and display the values contained in it. These TRACE functions are described below. The trace functions request two address values in order to know how to perform the trace. The first address requested is the focal point for the trace. (The prompt message will depend on the trace mode being used.) The second address requested is the START TRACE AT address. The MSC will not activate its trace memory until this address is encountered. Note that simply pressing the Enter key in response to the prompt address will cause the MSC to begin the trace immediately. This feature can be used as shown in the following example. Suppose you wish to trace execution of a subroutine labeled check_status, but only after the instruction labeled run_machine had executed. The proper key sequence would be: 1.
Press the TRACE AFTER function key.
2.
In response to the TRACE AFTER ADDRESS: prompt, enter check_status.
3.
In response to the START TRACE AT (PRESS ENTER TO START IMMEDIATELY) prompt, enter run_machine.
This sequence of steps tells the MSC to watch for the execution of the instruction at the label run_machine, and, after encountering it, to start watching for the instruction labeled check_status. When the check_status address is encountered, the next 112 instructions will be saved, transmitted to MPDEBUG, and displayed on the screen. Address values are easily entered by using the appropriate Macroprogram statement label. A list of labels is provided as part of the Macroprogram listing, and can be viewed using the VIEW SYMBOLS or the VIEW SOURCE function of MPDEBUG. Trace points between statement labels may be referenced by their numeric address. These addresses can be determined using the VIEW SOURCE function. 5.4.3.1 TRACE BEFORE This function allows you to view the Macroprogram instructions that were executed before reaching the specified label. 5.4.3.2 TRACE ABOUT This function will cause the instructions just before and just after the specified label to be traced. 5.4.3.3 TRACE AFTER This function will trace the Macroprogram instructions executed after reaching the specified label. 5.4.3.4 TRACE CURRENT This function commands the MSC to trace the next 112 instructions executed. It can be useful if you are not sure which part of your program is currently being executed.
Page 28
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM MPDEBUG
5.4.3.5 STOP TRACE Stop Trace commands the MSC to stop the currently active trace. It would most often be used when the specified trace does not finish naturally. For example, if you set up a trace after the label set_zero, and the program never got to the specified label, attempts to READ TRACE would produce only the message "Trace still running". STOP TRACE would then be used to tell the MSC to stop performing the trace. When the STOP TRACE function is used, the trace buffer may not contain meaningful information. 5.4.3.6 READ TRACE This function reads and displays the results of the last trace executed by the MSC. The trace screen may be scrolled up and down by using the cursor keys, the PgDn and PgUp keys, and the Home key. If the trace last specified has not completed, the message "Trace still running" will be displayed. 5.4.4 MSC COMMANDS This group of commands deals with transmitting Macroprograms to the MSC, starting program execution, and setting the MSC into various modes of operation. 5.4.4.1 STOP PROGRAM This function causes the currently executing Macroprogram to be stopped. An f_decel command is sent to each Controller card. NOTE: The STOP PROGRAM function key is available on all MPDEBUG menus. 5.4.4.2 RESET This function sends a serial RESET command to the MSC. The RESET will clear all flags, reset all Controller cards, and erase any Macroprogram and data resident in the MSC. This function must be preceded by a STOP PROGRAM function. 5.4.4.3 SEND PROGRAM This function will transmit the currently loaded Macroprogram to the MSC. A RESET function must be performed prior to using the SEND PROGRAM function. 5.4.4.4 START PROGRAM This function will begin execution of the Macroprogram currently resident in the MSC. This function will not execute if no program has been sent to the MSC. 5.4.4.5 PROM OPTIONS This function provides access to a sub-menu used to copy the Macroprogram currently resident in the MSC to an EPROM. NOTE: It is possible for the program resident in the MSC to be different from the program resident in the Toolkit. To copy the resident program to EPROM, perform the following steps: 1.
If the resident program is running, press F1, STOP PROGRAM.
2.
The PROGRAM MODE switch on the MSC PROM Pocket must be set to the Program position(the MSC-850/32 controller does not have a PROGRAM MODE switch).
JUNE 1995
Page 29
MACROPROGRAM DEVELOPMENT SYSTEM MPDEBUG
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
3.
Insert the EPROM to be programmed in the PROM Pocket. The EPROM must be an INTEL D27256-1 UV erasable EPROM, or equivalent.
4.
Press function key F2, BURN PROM. The message BURNING PROM..... will appear at the top of the screen. Depending on the size of the program being copied to EPROM, the message may remain on the display for up to 2 or 3 minutes.
While the EPROM is being programmed, the green LED on the PROM Pocket will be illuminated. When using the MSC-250 or MSC-850/32 controllers, the status display will indicate that the EPROM is being programmed. On successful completion of the programming operation, the message PROM Operation Successful will appear. If an error is detected during programming, refer to Table 15.1 for an explanation of the error code. 5.4.4.6 TEST MODE This function places each axis in the MSC System Unit into the test mode. Refer to the MSC System Manual Test Procedure section. 5.4.4.7 SET AUTOSTART This function sets the AUTOSTART bit in the MSC status word and, if necessary, begins execution of the Macroprogram residing in MSC non-volatile memory. The MSC operating system firmware tests the AUTOSTART bit on power-up. If it is turned on, the Macroprogram currently stored in non-volatile memory will be executed.
5.4.5 VIEW FUNCTIONS The view functions provide a means of displaying various pertinent files on the screen during the editing process. You may move from place to place in the file being displayed using the PgDn and PgUp keys. 5.4.5.1 SOURCE This function displays the source program file (created by MPEDIT) for the program currently being debugged. Program addresses are displayed for each instruction in the program. This is a convenient way to determine an address value to use with trace functions. 5.4.5.2 EQUATE TABLE This function displays all constants defined using the equ compiler directive. 5.4.5.3 LABEL TABLE This function displays all program labels and their corresponding addresses.
Page 30
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM MPDEBUG
5.4.5.4 CONSTANTS This function displays the constants defined in the Macroprogram along with their data addresses. 5.4.5.5 DATA TABLE This function displays all data locations defined using compiler directives such as begin_data, dim, or integer. The format for this display shows the variable name, its decimal address, and its hexadecimal address. 5.4.5.6 LAST TRACE This function displays the information from the last trace executed by the MSC. If no tracing has been done, an appropriate message is displayed. 5.4.6 BLOCK FUNCTIONS Block commands are used to read and write data areas. continuous data has to be modified or viewed.
They are helpful when a large amount of
When the BLOCK function key is pressed, the system responds by showing three additional function keys; STOP PROGRAM, READ DATA, and WRITE DATA. 5.4.6.1 READ DATA This function key allows you to select the beginning of a data area to be viewed. The data address is entered and the system will display the current contents of each of a series of data locations. By pressing the PgDn key, you can view the next group of continuous data locations. To exit BLOCK READ, press the EXIT BLK READ function key. 5.4.6.2 WRITE DATA This function key allows you to select the beginning of a data area to be viewed and, optionally, modified. The desired data address is entered and the system displays the Macroprogram data area beginning with the selected data address. To modify a data value, use the cursor keys to move the highlight to the desired variable. Type the new value and press the enter key. To change between decimal and hexadecimal format, press the appropriate function key. To exit BLOCK WRITE, press the EXIT BLK WRITE function key.
JUNE 1995
Page 31
MACROPROGRAM DEVELOPMENT SYSTEM INTRODUCTION TO MACROPROGRAMMING LANGUAGE
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
6.0 INTRODUCTION TO MACROPROGRAMMING LANGUAGE 6.1 BASIC CONCEPTS A Macroprogram is an organized group of instructions that can be executed by an MSC system unit. Macroprograms reside in a non-volatile memory in the system unit. In the MSC-850/32, there are 64,000 bytes allocated for the program area and an additional 64,000 bytes allocated for the data area. In the MSC-250, 32,000 bytes of storage are available for the combined program and data areas. In an MSC-800 and MSC-850, 16,000 bytes of storage are available for the combined program and data areas. This memory space is dynamically allocated as the program is compiled. The size of each area may vary, so long as the sum of the program and data areas do not exceed 16,000 bytes. 6.2 INSTRUCTION FORMAT Macroprogram instructions are, in many ways, similar to the instructions of the BASIC computer language. Each instruction consists of a statement label, an operation, a list of parameters, and an optional comment. This basic format is illustrated in Figure 6.1. Figure 6.1 - MACROPROGRAM INSTRUCTION FORMAT label
instruction
parameter list
comment
The label portion of the instruction is not always required, depending on the type of instruction used. It is required for instructions which define variables, text strings, arrays, or equated values. The parameter list part of an instruction line is also not always required. However, there are usually one or more parameters for an instruction. In the example in Figure 6.2, two parameters are required. Figure 6.2 - INSTRUCTION WITH TWO PARAMETERS label
Page 32
set_speed
axis_1,300
comment
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INTRODUCTION TO MACROPROGRAMMING LANGUAGE
6.3 COMMENTS Comments provide a means for a programmer to describe the functions being performed by a particular instruction or group of instructions. It is important to note that comments do not use any of the storage within the Macroprogram memory space. The liberal use of comments is highly recommended. There are two ways to implement comments within a Macroprogram: 1.
An entire line of text can be dedicated as a comment line by placing an exclamation point in the first character position of the line.
2.
Comments can be placed at the end of an instruction line by leaving at least one space between the last parameter in the instruction and the beginning of the comment.
Comments of both formats are included in the sample Macroprogram shown in Figure 6.3. 6.4 BLANK LINES Blank lines may be entered in the Macroprogram to make the program more readable. For example, a subroutine might be separated from the main body of the Macroprogram by one or more blank lines. As with comments, blank lines do not use any storage within the Macroprogram. 6.5 LABEL LINES Program lines containing only a label are allowed. It is often handy to place a line containing only a label just ahead of an instruction it references. In this way, it is easier to insert new instructions in the program if necessary during the testing process. Lines containing only a label use no storage within the Macroprogram.
JUNE 1995
Page 33
MACROPROGRAM DEVELOPMENT SYSTEM INTRODUCTION TO MACROPROGRAMMING LANGUAGE
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
Figure 6.3 - SAMPLE MACROPROGRAM LABEL
pos_1 pos_2 rack rack_down rack_busy fault_lite
OPERATION
PARAMETERS
COMMENT
msc_type declare
850 ON
equ equ equ equ equ equ
81920 -81920 1 93 94 0
two turns CW two turns CCW use axis 1 down flag busy flag I/O zero
turn_off
fault_lite
show no fault
drive_on set_speed set_ac_dc
rack rack,50 rack,20
enable drive 500 rpm speed rev/sec/sec
! do initialization functions
! set a local zero at current position set_local
rack
! begin main program loop restart position
rack,pos_1
go 2 turns CW
if_stat_on if_stat_on
rack_down,fault rack_busy,loop1
check error wait for done
position
rack,pos_2
go 2 turns CCW
if_stat_on if_stat_on
rack_down,fault rack_busy,loop2
check error wait for done
goto
restart
do it all again
turn_on sys_return
fault_lite
signal error
loop1
loop2
fault
Page 34
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM COMPILER DIRECTIVES
7.0 COMPILER DIRECTIVES 7.1 DESCRIPTION Compiler directives are a class of instructions which simplify such operations as defining constants, data arrays and cams, or which cause the MPCPL program to function in a particular way. These instructions have no direct effect on the MSC controller. Their purpose is to simplify the programmer's task. A list of compiler directive instructions and their formats is shown in Table 7.1. Table 7.1 - COMPILER DIRECTIVES
Instruction
Format
begin_cam begin_data cam data declare dim end_cam end_data equ integer msc_type text
label label
JUNE 1995
label
label label label
Ref. Page begin_cam begin_data cam data declare dim end_cam end_data equ integer msc_type text
value,value,etc. value,value,etc. mode controller#,size
value system_type "ASCII string"
116 117 122 134 135 138 146 147 149 203 217 291
Page 35
MACROPROGRAM DEVELOPMENT SYSTEM FLAGS
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
8.0 FLAGS 8.1 DESCRIPTION A flag is a bit in memory representing the current state of a timer, axis status, I/O or other condition. The MSC has reserved a storage area in memory for 256 flags. A flag can be either on (1) or off (0). There are a number of Macroprogram instructions dealing with flags. instructions comprise the largest subset of macroprogram instructions.
In fact, taken as a group, flag
There are flag instructions to read inputs, to turn outputs on and off, to start and stop timers, to read motor activity and fault conditions and to read, set and clear user program switches. Tables 8.1 through 8.9 list the flags available in the MSC family of controllers.
NOTE: The following are special considerations when using the MSC-250: 1)
The MSC-250 controller can use only two (2) I/O Expander units and therefore does not use I/O flags 48 - 63. Flags 64 - 71 are used as software PLS flags.
Page 36
2)
The motor status flags 128 - 175 are reserved for extended status indicators for axes 1 - 3 respectively on the MSC-250.
3)
The motor status flags 176 - 207 are not used in the MSC250. These cannot be used as additional user flags.
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
FLAG #
MACROPROGRAM DEVELOPMENT SYSTEM FLAGS
FUNCTION
0-7 8 - 23 24 - 39 40 - 55 56 - 71
ON BOARD I/O, PERMANENTLY ASSIGNED I/O EXPANDER ADDRESS CODE "A" I/O EXPANDER ADDRESS CODE "B" I/O EXPANDER ADDRESS CODE "C" I/O EXPANDER ADDRESS CODE "D"
72 - 79
PROGRAMMABLE TIMERS
CATEGORY INPUT/ OUTPUT
TIMER
80 - 95 96 - 111 112 - 127 128 - 143 144 - 159 160 - 175 176 - 191 192 - 207
CONTROLLER #1 STATUS FLAGS CONTROLLER #2 STATUS FLAGS CONTROLLER #3 STATUS FLAGS CONTROLLER #4 STATUS FLAGS CONTROLLER #5 STATUS FLAGS CONTROLLER #6 STATUS FLAGS CONTROLLER #7 STATUS FLAGS CONTROLLER #8 STATUS FLAGS
CONTROLLER STATUS
208 - 255
GENERAL PURPOSE USER FLAGS
USER
Table 8.1 - MSC-800, MSC-850, MSC-850/32 INTERNAL STATUS FLAGS
FLAG #
FUNCTION
0 - 15 16 - 31 32 - 47 48 - 63 64 - 71
ON BOARD I/O, PERMANENTLY ASSIGNED I/O EXPANDER ADDRESS CODE "A" I/O EXPANDER ADDRESS CODE "B" NOT USED SOFTWARE PLS FLAGS
72 - 79
PROGRAMMABLE TIMERS
CATEGORY INPUT/ OUTPUT
TIMER
80 - 95 96 - 111 112 - 127 128 - 143 144 - 159 160 - 175 176 - 191 192 - 207
CONTROLLER #1 STATUS FLAGS CONTROLLER #2 STATUS FLAGS CONTROLLER #3 STATUS FLAGS NOT USED NOT USED NOT USED NOT USED NOT USED
CONTROLLER STATUS
208 - 255
GENERAL PURPOSE USER FLAGS
USER
Table 8.2 - MSC-250 INTERNAL STATUS FLAGS
JUNE 1995
Page 37
MACROPROGRAM DEVELOPMENT SYSTEM FLAGS
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
#1
#2
#3
#4
#5
#6
#7
#8
MEANING
80
96
112
128
144
160
176
192
MDU FAIL
81
97
113
129
145
161
177
193
LOCK PENDING
82
98
114
130
146
162
178
194
FOLLOWING ERROR
83
99
115
131
147
163
179
195
MASTER/TEST MODE
84
100
116
132
148
164
180
196
CAM/PW PROFILE SIZE EXCEEDED
85
101
117
133
149
165
181
197
COMMAND INVALID IN THIS STATE
86
102
118
134
150
166
182
198
LOSS OF RESOLVER
87
103
119
135
151
167
183
199
AXIS TIME-OUT
88
104
120
136
152
168
184
200
MOTOR JOGGING
89
105
121
137
153
169
185
201
MOTOR INDEXING
90
106
122
138
154
170
186
202
CALCULATING
91
107
123
139
155
171
187
203
HWI ARMED
92
108
124
140
156
172
188
204
FORCE DECEL IN PROGRESS
93
109
125
141
157
173
189
205
AXIS DOWN
94
110
126
142
158
174
190
206
AXIS BUSY
95
111
127
143
159
175
191
207
MASTER/SLAVE LOCK
Table 8.3 - ACR-850 CONTROLLER STATUS FLAGS
Page 38
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM FLAGS
#1
#2
#3
#4
#5
#6
#7
#8
MEANING
80
96
112
128
144
160
176
192
MDU FAIL
81
97
113
129
145
161
177
193
LOCK PENDING
82
98
114
130
146
162
178
194
FOLLOWING ERROR
83
99
115
131
147
163
179
195
MASTER/TEST MODE
84
100
116
132
148
164
180
196
CAM/PW PROFILE SIZE EXCEEDED
85
101
117
133
149
165
181
197
COMMAND INVALID IN THIS STATE
86
102
118
134
150
166
182
198
MARKER OUT OF LIMIT
87
103
119
135
151
167
183
199
AXIS TIME-OUT
88
104
120
136
152
168
184
200
MOTOR JOGGING
89
105
121
137
153
169
185
201
MOTOR INDEXING
90
106
122
138
154
170
186
202
CALCULATING
91
107
123
139
155
171
187
203
HWI ARMED
92
108
124
140
156
172
188
204
FORCE DECEL IN PROGRESS
93
109
125
141
157
173
189
205
AXIS DOWN
94
110
126
142
158
174
190
206
AXIS BUSY
95
111
127
143
159
175
191
207
MASTER/SLAVE LOCK
Table 8.4 - ACE-850 CONTROLLER STATUS FLAGS
JUNE 1995
Page 39
MACROPROGRAM DEVELOPMENT SYSTEM FLAGS
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
#1
#2
#3
#4
#5
#6
#7
#8
MEANING
80
96
112
128
144
160
176
192
MDU FAIL
81
97
113
129
145
161
177
193
PLS FLAG 16
82
98
114
130
146
162
178
194
NOT USED
83
99
115
131
147
163
179
195
PLS FLAG 17
84
100
116
132
148
164
180
196
PLS FLAG 19
85
101
117
133
149
165
181
197
COMMAND INVALID IN THIS STATE
86
102
118
134
150
166
182
198
PLS FLAG 18
87
103
119
135
151
167
183
199
AXIS TIME-OUT
88
104
120
136
152
168
184
200
MOTOR JOGGING
89
105
121
137
153
169
185
201
MOTOR INDEXING
90
106
122
138
154
170
186
202
CALCULATING
91
107
123
139
155
171
187
203
NOT USED
92
108
124
140
156
172
188
204
FORCE DECEL IN PROGRESS
93
109
125
141
157
173
189
205
AXIS DOWN
94
110
126
142
158
174
190
206
AXIS BUSY
95
111
127
143
159
175
191
207
MASTER/SLAVE LOCK
Table 8.5 - MCF-850 CONTROLLER STATUS FLAGS
Page 40
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM FLAGS
#1
#2
#3
#4
#5
#6
#7
#8
MEANING
80
96
112
128
144
160
176
192
MDU FAIL
81
97
113
129
145
161
177
193
PLS FLAG 16
82
98
114
130
146
162
178
194
NOT USED
83
99
115
131
147
163
179
195
PLS FLAG 17
84
100
116
132
148
164
180
196
PLS FLAG 19
85
101
117
133
149
165
181
197
COMMAND INVALID IN THIS STATE
86
102
118
134
150
166
182
198
PLS FLAG 18
87
103
119
135
151
167
183
199
AXIS TIME-OUT
88
104
120
136
152
168
184
200
NOT USED
89
105
121
137
153
169
185
201
NOT USED
90
106
122
138
154
170
186
202
CALCULATING PLS DATA
91
107
123
139
155
171
187
203
NOT USED
92
108
124
140
156
172
188
204
NOT USED
93
109
125
141
157
173
189
205
AXIS DOWN
94
110
126
142
158
174
190
206
NOT USED
95
111
127
143
159
175
191
207
NOT USED
Table 8.6 - HPL-850 CONTROLLER STATUS FLAGS
JUNE 1995
Page 41
MACROPROGRAM DEVELOPMENT SYSTEM FLAGS
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
#1
#2
#3
#4
#5
#6
#7
#8
MEANING
80
96
112
128
144
160
176
192
NOT USED
81
97
113
129
145
161
177
193
NOT USED
82
98
114
130
146
162
178
194
NOT USED
83
99
115
131
147
163
179
195
MASTER TEST MODE
84
100
116
132
148
164
180
196
NOT USED
85
101
117
133
149
165
181
197
COMMAND INVALID IN THIS STATE
86
102
118
134
150
166
182
198
NOT USED
87
103
119
135
151
167
183
199
AXIS TIME-OUT
88
104
120
136
152
168
184
200
NOT USED
89
105
121
137
153
169
185
201
NOT USED
90
106
122
138
154
170
186
202
NOT USED
91
107
123
139
155
171
187
203
NOT USED
92
108
124
140
156
172
188
204
NOT USED
93
109
125
141
157
173
189
205
AXIS DOWN
94
110
126
142
158
174
190
206
NOT USED
95
111
127
143
159
175
191
207
NOT USED
Table 8.7 - ACM-850 CONTROLLER STATUS FLAGS
Page 42
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
#1
#2
80
96
NOT USED
81
97
LOCK PENDING
82
98
FOLLOWING ERROR
83
99
MASTER/TEST MODE
84
100
CAM/PW PROFILE
85
101
COMMAND INVALID IN THIS STATE
86
102
NOT USED
87
103
NOT USED
88
104
MOTOR JOGGING
89
105
MOTOR INDEXING
90
106
CALCULATING
91
107
HWI ARMED
92
108
FORCE DECEL IN PROGRESS
93
109
AXIS DOWN
94
110
AXIS BUSY
95
111
MASTER/SLAVE LOCK
MACROPROGRAM DEVELOPMENT SYSTEM FLAGS
MEANING
Table 8.8 - MSC-250 CONTROLLER STATUS FLAGS AXES 1 & 2
JUNE 1995
Page 43
MACROPROGRAM DEVELOPMENT SYSTEM FLAGS
#3
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MEANING
112
NOT USED
113
NOT USED
114
NOT USED
115
NOT USED
116
CAM/PW PROFILE SIZE EXCEEDED
117
COMMAND INVALID IN THIS STATE
118
NOT USED
119
NOT USED
120
MOTOR JOGGING
121
MOTOR INDEXING
122
CALCULATING
123
NOT USED
124
FORCE DECEL IN PROGRESS
125
NOT USED
126
AXIS BUSY
127
NOT USED
Table 8.9 - MSC-250 PSEUDO CONTROLLER STATUS FLAGS
Page 44
JUNE 1995
MACROPROGRAM DEVELOPMENT SYSTEM FLAGS
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
CAM SIZE EXCEEDED/ PIECEWISE PROFILE ARRAY FULL
This flag will be set if the number of cam array data elements exceeds 28K bytes, or if the number of piecewise profile segments exceeds 99.
COMMAND INVALID IN THIS STATE
This flag will be set whenever the axis is requested to execute a command that it is not capable of at that moment. This typically occurs when program steps are out of logical order. An example would be the situation where the axis is currently jogging and is then commanded to index without first completing a f_decel instruction and waiting for the motor to stop.
MARKER OUT OF LIMIT
This flag, specific to the MSC-850/ACE-850 and MSC-250 axis controllers, indicates that the controller observed a marker pulse from the encoder that was more than +/- 5 bits from the expected position, and that the marker correction function has been suspended. The flag will be cleared if the marker pulse is subsequently observed within the +/- 5 bit window.
LOSS OF RESOLVER
This flag, specific to the ACR-850C (SFO-8060) axis controller card, indicates that the resolver convertor has lost one or more of the required signals for conversion or the convertor has lost its ability to track the angle do to speeds in excess of 7200 RPM.
AXIS TIMEOUT
On system power up each controller card slot in an MSC controller is checked for the existence of a functional Controller card. This flag will be set for each axis that does not have a functional card installed or for those slots experiencing communications problems. This flag is not used in the MSC-250.
MOTOR JOGGING
This flag will be set when a jog_cw, jog_ccw, track_spd, l_track_spd, vel_cw or vel_ccw command is executed. This flag will be cleared after completing a f_decel operation.
MOTOR INDEXING
This flag will be set when a index or position command is executed. This flag will be cleared after completing the selected move.
CALCULATING PIECEWISE PROFILE
This flag will be set while a Piecewise profile is being calculated. It will be cleared otherwise.
CALCULATING PLS DATA
This flag will be set while Programmable Limit Switch data is being calculated.
HWI ARMED
The controller has received a hardware interrupt instruction and is monitoring its respective hardware interrupt input line.
FORCED DECEL IN PROGRESS
This flag will be set when an f_decel or unlock command is executed and the axis is still in motion.
AXIS DOWN
This flag will be set if a following error or axis timeout is encountered (following errors and axis timeouts are described above).
Page 46
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM FLAGS
AXIS BUSY
This flag will be set when the axis is busy performing a motion related operation such as jog_cw, jog_ccw, index, position, vel_cw, vel_ccw, track_spd, l_track_spd, or exec_profile. If an axis card experiences an AXIS DOWN condition while the AXIS BUSY flag is set, AXIS BUSY will remain set.
MASTER/SLAVE LOCK
This flag will be set when a lock command is executed. It will be cleared when a f_decel, unlock, or enable command is executed.
BUSY PROCESSING
This flag is set when the axis processor is executing a lengthy command to prevent the main processor from sending another Macroprogram instruction for the specified axis controller. The following Macroprogram Instructions cause this flag to be set: calc_cam_sum, calc_unit_cam, drive_on, drive_off, find_mrk_ccw, find_mrk_cw, over_draw, prep_profile, and test_mode.
8.2 TIMERS The MSC controllers provide 8 user programmable timers. These timers have a resolution of 10 milliseconds per "tick". Timers are used by first setting the timer to the desired number of counts or ticks. This causes the flag associated with the timer to turn on and to remain on until the specified time has passed. User timers are decremented on every other tick of the system's 5 millisecond clock. As a result of this, these timers should be considered accurate to +/- 10 milliseconds. 8.3 FLAG INSTRUCTIONS Instructions for operating on and testing flags are summarized in Table 8.10. Table 8.10 - FLAG INSTRUCTIONS
Instruction
Format
blk_io_in blk_io_out clr_flag get_status if_flag_off if_flag_on if_io_off if_io_on if_stat_off if_stat_on if_tmr_off if_tmr_on set_flag set_tmr turn_off turn_on
label label label label label label label label label label label label label label label label
JUNE 1995
Ref. Page blk_io_in blk_io_out clr_flag get_status if_flag_off if_flag_on if_io_off if_io_on if_stat_off if_stat_on if_tmr_off if_tmr_on set_flag set_tmr turn_off turn_on
input flag#,variable output flag#,variable user flag# controller# user_flag#,address_label user_flag#,address_label I/O flag#,address_label I/O flag#,address_label status_flag#,address_label status_flag#,address_label timer_flag#,address_label timer_flag#,address_label user_flag timer_flag#,ticks I/O flag# I/O flag#
118 119 129 179 190 191 192 193 195 196 197 198 244 278 294 295
Page 47
MACROPROGRAM DEVELOPMENT SYSTEM ARITHMETIC FUNCTIONS
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
9.0 ARITHMETIC INSTRUCTIONS 9.1 OVERVIEW The Macroprogramming language provides several types of arithmetic functions, including: 1. 2. 3. 4. 5.
32 bit integer arithmetic Array manipulation Byte operations Bit set and bit clear operations Built in arithmetic functions
Each of these items will be explained in more detail below. 9.2 INTEGER ARITHMETIC Variables in a Macroprogram normally occupy 32 bits (4 bytes) of storage. Arithmetic statements in Macroprogramming language operate on these 4 byte variables. The format for arithmetic instructions is similar to that of the BASIC language LET statement: let res=var1 op var2 where res is the result of the operation, var1 and var2 are the variables to be operated on, and op is the operation to be performed. Note that multiple operations in a single let statement are NOT allowed. For example, let a=b+c is acceptable, but let a=b+c/d is not. Calculations requiring multiple operations must be performed in multiple let statements. Spaces between variable names and operators should not be used. 9.3 ARRAY MANIPULATION A data array is a group of 32 bit variables which can be referenced by the same variable name. Data arrays are usually defined using a dim instruction or by use of the begin_data, data, and end_data instructions. See Chapter 18 for an explanation of these instructions. For example, to set aside ten 32 bit storage locations to contain a table of positions, the instruction positions dim 10 could be used. Within the Macroprogram, the first position in the table would be referred to as positions[0]. The value within brackets is known as the array subscript. Note that for a table of ten values, the array subscript ranges from zero to nine. Array subscripts can be a constant, an expression, or a variable.
Page 48
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACRORPROGRAM DEVELOPMENT SYSTEM ARITHMETIC FUNCTIONS
Special forms of the let instruction serve to store information in and retrieve information from data arrays. In our position table example, the instruction let p=position[3] would retrieve the fourth position from the array and store that value in the variable p. To store a value in a data array, the instruction let position[3]=x would be used. To use a value from an array in arithmetic instructions, it is necessary to retrieve the value into a non-array variable, perform the arithmetic operation, and then store the result back in the array. 9.4 BYTE OPERATIONS Macroprogramming Language provides a special instruction for the manipulation of byte oriented data such as electronic cams (see Chapter 14) or strings of characters. This special instruction, the let_byte, is similar to the special case of the let statement for handling data arrays. For example, to access the fourth character of the text string f_name, the instruction let_byte a=f_name[3] could be used. To store data into a byte oriented data array, the instruction format let_byte f_name[3]=a would be used. The let_byte instruction does not support any arithmetic operations. To perform arithmetic on byte oriented data, it is necessary to retrieve the byte into a conventional variable, perform the arithmetic, and store the result back into the byte array. Note: The let_byte instruction treats byte information as unsigned. 9.5 BIT ORIENTED OPERATIONS Macroprogramming Language provides instructions for setting (turning on) and clearing (turning off) individual bits within a 32 bit data value. These instructions can be useful when setting up variables for use with the set_map and set_mcf instructions and for programmable limit switches. A complementary set of bit testing instructions (see Chapter 18) allow program branching to take place depending on the state of a single bit in a 32 bit data value. 9.6 BUILT IN ARITHMETIC FUNCTIONS Macroprogramming Language supports certain built in arithmetic functions for commonly required calculations. These functions are listed in Table 9.1. The format for usage of these functions is let ans=fn(x) where fn represents the function name.
JUNE 1995
Page 49
MACROPROGRAM DEVELOPMENT SYSTEM ARITHMETIC FUNCTIONS
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
Table 9.1 - BUILT IN ARITHMETIC FUNCTIONS
Function
Description
abs(x)
Returns the absolute value of x.
sqr(x)
Returns the square root of x. Note: If x is negative or zero, zero is returned.
neg(x)
Returns the two's complement of x.
9.7 ARITHMETIC INSTRUCTION SUMMARY Arithmetic instructions are summarized in table 9.2. Table 9.2 - ARITHMETIC INSTRUCTIONS
Instruction
Format
clr_bit let_byte let set_bit
label label label label
Page 50
Ref. Page clr_bit let_byte let set_bit
bit#,variable destination=source variable=op1 operation op1 bit#,variable
128 209 207, 208 242
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM PROGRAM FLOW CONTROL
10.0 PROGRAM FLOW INSTRUCTIONS 10.1 DESCRIPTION Normally, Macroprogram instructions execute in an orderly, sequential fashion. Sometimes, it is desirable to alter this sequential order based on the status of an I/O module, the result of a calculation, the detection of a motor fault, or some other condition. Program flow instructions provide this capability. Macroprogramming Language provides three general classes of program flow instructions - branching, subroutine control, and the select statement. A special type of program flow instruction based on interrupts is described separately in Chapter 12. 10.2 BRANCHING INSTRUCTIONS Macroprogramming Language provides two types of branching instructions - unconditional and conditional. The goto and restart_at instructions are the only unconditional branch instructions other than subroutine control instructions, which are covered separately. Conditional branching instructions can be described verbally as follows: 1. 2. 3.
Test the specified condition. If the specified condition is true, transfer program control to the specified address. If the specified condition is false, continue by executing the next sequential instruction.
Conditional instructions can test the status of MSC flags, the result of an arithmetic comparison, the status of bits in a variable, or whether characters are present at a serial port. 10.3 SUBROUTINE CONTROL When designing a Macroprogram, it is often desirable to place a group of commonly used instructions into a unit called a subroutine. The subroutine can then be called from anywhere within the Macroprogram. Subroutines must begin with a labeled statement. The label on this initial statement is often referred to as the subroutine name. Subroutines must end with a return_sub instruction. The gosub instruction may then be used to transfer program control to the subroutine. The subroutine instructions are then executed until the return_sub instruction is encountered. At that point, program control returns to the instruction immediately following the gosub instruction.
JUNE 1995
Page 51
MACROPROGRAM DEVELOPMENT SYSTEM PROGRAM FLOW CONTROL
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
10.4 THE SELECT STATEMENT Often, the process of controlling program flow is more complex than testing a flag and branching if the flag is set. For example, it may be necessary to choose among several alternatives based on a user entered menu selection. In cases like these, the select instruction group provides an effective means of controlling program flow. A sample select group is shown in Figure 10.1. select
keynum case 1 . (statements to do when keynum = 1) . exit_select case 2 . (statements to do when keynum = 2) . exit_select
default . (statements to do when keynum does not match a case option) . exit_select end_select
Figure 10.1 - TYPICAL SELECT STATEMENT GROUP
A Macroprogram may contain up to 30 select statement groups. Each group may contain up to 100 case instructions.
Page 52
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM PROGRAM FLOW CONTROL
10.5 PROGRAM FLOW INSTRUCTION SUMMARY Program flow instructions are summarized in Table 10.1. Table 10.1 - PROGRAM FLOW INSTRUCTIONS
Instruction
Format
case default end_select exit_select gosub goto if if_bit_clr if_bit_set if_char if_flag_off if_flag_on if_io_off if_io_on if_no_char if_stat_off if_stat_on if_tmr_off if_tmr_on restart_at return_sub select
label label label label label label label label label label label label label label label label label label label label label label
JUNE 1995
Ref. Page case default end_select exit_select gosub goto if if_bit_clr if_bit_set if_char if_flag_off if_flag_on if_io_off if_io_on if_no_char if_stat_off if_stat_on if_tmr_off if_tmr_on restart_at return_sub select
num
subroutine label address_label var1 op var2,address_label bit#,variable,address_label bit#,variable,address_label port#,address_label user_flag#,address_label user_flag#,address_label I/O flag#,address_label I/O flag#,address_label port#,address_label status_flag#,address_label status_flag#,address_label timer_flag#,address_label timer_flag#,address_label address_label variable
125 136 148 151 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 236 237 239
Page 53
MACROPROGRAM DEVELOPMENT SYSTEM MOTION INSTRUCTION
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
11.0 MOTION INSTRUCTIONS 11.1 OVERVIEW Motion instructions are divided into five classes: 1.
Pre-motion Preparation
2.
Velocity Control
3.
Incremental and Absolute Positioning
4.
Piecewise Profiles
5.
Master/Slave Operations
Master/Slave operations are covered separately in Chapter 13. instructions are covered here.
The remaining classes of motion
11.2 MSC CONVENTIONS AND MOTION TERMINOLOGY 11.2.1 POSITION DATA MSC-850 and MSC-850/32 Controllers maintain position data as a signed 24 bit number. The least significant 12 bits of this number represent the position of the feedback transducer. The most significant 12 bits are used as a signed turns counter. The range of valid positions is from -2048 to +2047 turns. MSC-250 controllers maintain position data as a 32 bit number. The least significant 12 bits of this number represent the position of the feedback transducer. The most significant 20 bits are used as a signed turns counter. The range of valid positions is from -524,287 to +524,287 turns. Positive positions represent a displacement from zero in the clockwise direction. Incremental distances are expressed in a manner similar to position data. For example, an incremental distance of two turns would be expressed as 8192 (2*4096). Positive distances represent clockwise motion. 11.2.2 SPEED (VELOCITY) DATA MSC controllers process speed data in RPM. Speeds may range from 0 to 3600 RPM (7200 RPM if using an MSC-250) in whole number increments. In special cases, speed values can be scaled down by a factor of 256 to provide fractional speed control. 11.2.3 ACCELERATION DATA 2
Acceleration (accel/decel) data is expressed in revolutions/second . Accelerations may range from 2 to 800 2 2 revolutions/second (1600 revolutions/second if using an MSC-250). In special cases, acceleration values can be scaled down by a factor of 256 to provide very slow acceleration rates.
Page 54
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM MOTION INSTRUCTIONS
11.2.4 GLOBAL AND LOCAL ZEROES MSC controllers can maintain both a global and a local zero. Global zero usually refers to a fixed machine home position, and is often established by moving a load until it contacts a sensor. Local zero can be thought of as a floating home position. Local zero is often used when moving a known distance from the global zero, setting the local zero, and then performing a series of motions relative to the new zero position. The local zero may then be cleared. 11.3 MOTION PREPARATION INSTRUCTIONS Motion preparation instructions are used to condition a controller prior to executing any motion. They are used to turn on the drive (amplifier), to set speeds and acceleration rates, and to set and clear zero positions. At power up, the ACR-850 controller sets its turns counter to zero. The low order 12 bits of its position will reflect the current resolver reading. The default settings for speed, acceleration, and digital compensation are activated. At power up, ACE-850 controllers and MSC-250 axis controllers also set theirs turns counters to zero. The low order 12 bits of its position are also set to zero. For an ACE-850, absolute position of the feedback transducer is not known until the controller is instructed to find the encoder marker pulse. Table 11.1 lists motion preparation instructions. Table 11.1 - MOTION PREPARATION INSTRUCTIONS
Instruction
Format
clr_local digi_comp drive_off drive_on f_decel find_mrk_ccw find_mrk_cw find_tm_ccw find_tm_cw master set_ac_dc set_acy_cnt set_home set_gl_ccw set_gl_cw set_local set_speed set_vgain
label label label label label label label label label label label label label label label label label label
JUNE 1995
Ref. Page clr_local digi_comp drive_off drive_onc f_decel find_mrk_ccw find_mrk_cw find_tm_ccw find_tm_cw master set_ac_dc set_acy_cnt set_home set_gl_ccw set_gl_cw set_local set_speed set_vgain
controller# controller#,gain,integral,damp controller# ontroller# controller# controller#,counts controller#,counts controller#,counts controller#,counts controller# controller#,rate controller#,count controller#,offset controller# controller# controller# controller#,speed controller#,vel_gain
131 137 141 142 152 153 154 155 156 142, 216 240 241 250 245, 246 247, 248 252 251, 276 281
Page 55
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM MOTION INSTRUCTIONS
11.3.1.1 THE P TERM (PROPORTIONAL GAIN) At power up the controller is configured as a proportional gain controller. The default gain value of 16 provides an overall system gain of 1 which will produce a POS OUT signal of 20 volts per revolution of the encoder shaft. This relationship can be varied by changing the P term; P = 256 will produce a POS OUT signal of 20 volts per 1/16 revolution of the encoder shaft. P = 1 will produce a POS OUT signal of 20 volts per 16 turns of the encoder shaft. This relationship can be used to increase/decrease the servo systems' response and stiffness.
11.3.1.2 THE I TERM (INTEGRAL) The integral term is introduced into a servo control system when the proportional gain cannot compensate for steady-state errors. The actual amount of integral to be added is system dependant; the valid range is +/- 127. At power-up, the integral term is 0. The I term introduces an anticipated error. During steady-state operation, it reduces the position error, providing more accurate position tracking. During acceleration/deceleration ramps, it can increase system responsiveness by tending to overshoot the commanded value. 11.3.1.3 THE D TERM (DIFFERENTIAL) The differential term is introduced into a servo control system to control the rate of change of the error signal. The D term has the effect of rounding the acceleration/deceleration ramps, reducing overshoot of the commanded value. The actual amount of D to be added is system dependant; the valid range is +/- 127. At power-up, the differential term is 0. The D term benefits the system by reducing overshoot and providing more stability and better response by damping oscillations. Because the D term suppresses oscillations, the proportional gain term can be increased to provide a more responsive system.
JUNE 1995
Page 57
MACROPROGRAM DEVELOPMENT SYSTEM MOTION INSTRUCTION 11.3.2
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
VELOCITY GAIN The set_vgain command sets the velocity feed forward gain for the specified axis. During calculation of the position output value for the specified axis, the velocity feed forward gain term is multiplied by the current commanded velocity. The resultant value is added to the other digital compensation terms for that axis. An approximate starting value for the velocity gain term may be calculated as follows: K * 402,650 Vg = -------------------BPR where K is the velocity scale factor for the motor/drive system, in volts per 100 RPM, and BPR is the number of transducer bits per revolution, after quadrature, of the motor shaft. For example, BPR would be 4096 for a 1024 line encoder.
11.4 VELOCITY CONTROL INSTRUCTIONS Velocity control instructions are used in applications where control of motor speed is the objective. Velocity control instructions are listed in Table 11.2. MSC controllers provide several different types of velocity control instructions. Choice of instruction is usually determined by the requirements of the application. Each of the different types is described below. 1.
Jog instructions cause the controller to run its motor at a constant velocity until commanded to stop. Direction of rotation is determined by the instruction -- jog_cw or jog_ccw. Velocity may not be changed while the motor shaft is moving.
2.
Track speed instructions allow on-the-fly speed changes. Unlike jog instructions, direction of rotation is determined by the sign of the speed variable, with positive values indicating clockwise rotation. Two forms of the track speed instruction are provided. The track_spd instruction covers speeds in the range of -3600 to 3600 RPM with a resolution of 1 RPM. The l_track_spd instruction covers speeds from -128 to +127.99 RPM in increments of 1/256 RPM.
Page 58
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM MOTION INSTRUCTIONS
3.
Velocity instructions provide speed control with very low acceleration rates. Like the jog instructions, direction of rotation is determined by the instruction syntax. When a controller receives a vel_cw or vel_ccw command, it divides its present acceleration rate by 256 before using it. Speed, but not direction, may be changed while in velocity mode by issuing another velocity instruction with the new speed.
4.
To stop a motor shaft, the f_decel instruction is used. This instruction causes the motor to decelerate to zero speed at the currently programmed deceleration rate.
Velocity control instructions are summarized in Table 11.2. Table 11.2 - VELOCITY CONTROL INSTRUCTIONS
Instruction
Format
f_decel jog_ccw jog_cw l_track_spd track_spd vel_ccw vel_cw
labe label label label label label label
Ref. Page lf_decel jog_ccw jog_cw l_track_spd track_spd vel_ccw vel_cw
controller# controller# controller# controller#,speed controller#,speed controller# controller#
152 204 205 206 292 297 298
11.5 POSITIONING INSTRUCTIONS MSC Controllers support two types of positioning instructions - absolute and incremental. Absolute motions are made relative to the zero or home position for the controller. Incremental motions are made relative to the current controller position. An absolute move is referred to as a position. An incremental move is called an index. Positioning instructions are listed in Table 11.3. Table 11.3 - POSITIONING INSTRUCTIONS
InstructionFormat label label
Index Position
Ref. Page index position
controller#,distance controller#,abs_position
200 226
11.6 PIECEWISE PROFILES
11.6.1 DESCRIPTION Piecewise Profiles provides a simple means of defining complex motion profiles as a series of speeds, accel/decel rates and distances.
JUNE 1995
Page 59
MACROPROGRAM DEVELOPMENT SYSTEM MOTION INSTRUCTION
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MSC controllers perform piecewise motion profiles according to the following guidelines: A.
If the present motor speed is LESS than the speed specified by the next profile segment, then: 1. 2.
B.
Accelerate to the new speed. Continue at the new speed until the distance specified has been moved. NOTE - some of the distance is used during acceleration.
If the present motor speed is GREATER than the speed specified by the next profile segment, then: 1. 2.
Continue at the old speed until the specified distance less the distance needed to decelerate has been traveled. Decelerate to the new speed.
11.6.2 BUILDING PROFILE DATA TABLES Profile data tables are organized as a series of profile segments. Each profile segment consists of a target 2 speed (in RPM), an acceleration value (in revs/second ) and a distance (in bits). The last profile segment in a profile must contain a zero speed. All profile segments in a given profile must contain direction values of the same sign. Profiles may be conveniently entered using the data definition capability of Macroprogramming Language. The following example defines a simple piecewise profile. prodatabegin_data data data data end_data
500,100,6.2*4096 1000,200,8.6*4096 0,150,15.2*4096
The profile above can be described as follows: 1. 2. 3.
4.
2
Accelerate to 500 RPM at an acceleration rate of 100 revs/sec , continue until the motor has turned 6.2 revolutions (including acceleration distance). 2 Accelerate to 1000 RPM at an acceleration rate of 200 revs/sec . Continue at that speed until the motor has traveled 8.6 additional turns (including acceleration distance). Continue at 1000 RPM as long as necessary, then decelerate to zero speed at a deceleration rate 2 of 150 revs/sec . The Total distance traveled in this segment is 15.2 motor revolutions, including deceleration distance. The total distance traveled in the profile is 30 revolutions.
A sample program segment to execute this sample profile is shown in Figure 11.2.
Page 60
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM MOTION INSTRUCTIONS
Figure 11.2 - PIECEWISE PROFILES EXAMPLE PROGRAM SEQUENCE
pw_calc
equ
prodata
begin_data data 500,100,6.2*4096 data 1000,200,8.6*4096 data 0,150,15.2*4096 end_data . . prep_profile 1,prodata if_stat_on pw_busy,ck_calc get_pstat 1,status if status<>0,calc_err . exec_profile 1 if_stat_on busy,wt_busy . (instructions performed when execution is ok) .
ck_calc
wt_busy
!
90
calcs busy flag
send profile wait for calcs error routine do the profile wait til done
Error handler
calc_err if status=0,profile_ok let_byte piece=status[3] let_byte error=status[2] . (process errors here) . .
JUNE 1995
all zero = OK get piece get error code
Page 61
MACROPROGRAM DEVELOPMENT SYSTEM MOTION INSTRUCTION
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
Piecewise motion profiles may also be calculated by a macroprogram and stored in an array in the appropriate format. This format is always speed accel distance speed accel distance speed accel distance . . The maximum number of profile segments allowed in a piecewise profile is 96. Note that the last segment in a piecewise profile must have a zero speed. In the MSC-850/32, MSC-850, MSC-800 and MSC-250 controllers, Piecewise profile data shares the same memory area as cam data. Piecewise profile data is always placed in the axis controllers memory starting at location zero. 11.6.3 PIECEWISE PROFILES AND MASTER SLAVE It is possible to send a piecewise profile to an axis controller card and to instruct the controller card to execute the profile whenever another axis controller reaches a specified angular position. Refer to Section 13.7, page Error! Bookmark not defined., for a discussion of this technique. Table 11.4 lists Piecewise profile instructions. Table 11.4 - PIECEWISE PROFILE INSTRUCTIONS
Instruction
Format
exec_profile get_pstat prep_profile set_trig_pw
label label label label
Page 62
Ref. Page exec_profile get_pstat prep_profile set_trig_pw
controller# controller#,status controller#,array_label controller#,master_angle
150 177 227 280
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM MOTION INSTRUCTIONS
11.7 READING CONTROLLER POSITION The MSC-850/32 and MSC-850 provides a means for reading the current transducer position for the ACR850 and ACE-850 Controllers, as well as for the MCF card when it is being used as a "pseudo axis." It is possible to read two types of position data from an axis controller: 1.
Actual Position - The get_pos instruction returns the actual position of the corresponding transducer in the format described in section 11.2.1.
2.
Commanded Position - The get_com instruction returns the commanded position for the specified controller. Commanded position is usually slightly different than actual position. The difference is referred to as following error.
Note that for the "pseudo axis", commanded position is always equal to actual position.
Table 11.5 summarizes instructions for reading controller positions. Table 11.5 - INSTRUCTIONS FOR READING CONTROLLER POSITION
Instruction
Format
get_com get_fol_err get_pos
label label label
JUNE 1995
Ref. Page get_com get_fol_err get_pos
controller#,variable controller#,variable controller#,variable
165 166 176
Page 63
MACROPROGRAM DEVELOPMENT SYSTEM INTERRUPTS
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
12.0 INTERRUPTS 12.1 DESCRIPTION It is often necessary for an MSC controller, and therefore the Macroprogram, to respond rapidly to an external event, such as a switch closure or an operator input. Macroprogramming Language provides two methods for responding to this type of event. Software Interrupts provide a means for a Macroprogram to respond to changes in state of any MSC flag. Hardware Interrupts provide a means for a Controller Module to perform a preprogrammed task immediately on receipt of an input signal. 12.2 SOFTWARE INTERRUPTS The Software Interrupts feature of the MSC provides for automatic Macroprogram response to the change in state of any MSC flag (I/O, timer, motor status or user). This feature functions by allowing the programmer to associate the change of state of a flag with a Macroprogram subroutine. Whenever the specified change occurs, the MSC makes a note of what it was doing, and then transfers control to the associated subroutine just as though a gosub instruction was performed. When the subroutine is completed, control passes back to the interrupted operation. In the MSC-850/32 and MSC-850, Software Interrupts are checked between the execution of Macroprogram instructions. Therefore, program activities such as downloading large cams can hold off the recognition of software interrupts. In the MSC-250, Software Interrupts are checked once every millisecond. Software Interrupt processing provides up to 32 prioritized interrupts ranging from priority 0 (highest) to 31 (lowest). If more than one interrupt occurs at the same time, the one with the LOWEST event number (highest priority) will be recognized first. The user may disable all or selected software interrupts during portions of the macroprogram which should not be "interrupted". Software Interrupt processing is edge triggered -- the specified gosub will occur only on the leading or trailing edge of the specified transition, depending on the type of interrupt specified. For example, if a software interrupt is specified to occur whenever input module number 1 turns on, and software interrupt processing is enabled while input module number 1 is already on, no software interrupt will occur. The interrupt will only occur when the transition from the off to the on state occurs. A description of the macro instructions associated with software interrupts is at the end of this chapter.
Page 64
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INTERRUPTS
12.3 HARDWARE INTERRUPTS In some cases, it is desirable for a particular Controller Module to respond very rapidly to an external event. For these instances, MSC-850/32, MSC-850 and MSC-250 Controllers provide a feature called Hardware Interrupts. Each axis controller is directly connected to the corresponding I/O Module Controller slot. For example, Controller #1 is linked to I/O-1 (flag 0) Controller #2 is linked to I/O-2 (flag 1) . . . . Controller #8 is linked to I/O-8 (flag 7) Hardware Interrupts can be processed much faster than conventional Input/Output handling since the Main Processor distributes the desired task to the Controller before the interrupt occurs rather than waiting for the Input module to be activated, then distributing the task or instruction. Because of this, Hardware Interrupts are capable of 1 millisecond response times. The following is a list of the tasks or instructions which can be executed by an axis Controller when the corresponding hardware interrupt signal is detected: trap_pos over_draw index position
lock ratio exec_profile f_decel
Each instruction above is used with the hardware interrupt feature by issuing an enable_hwi instruction, followed by the instruction to be executed when the interrupt is detected.
NOTE When using the trap_pos instruction with a controller using encoder for feedback (ACE-850, MSC-250), the marker correction feature is disabled until the hardware interrupt is recognized.
The following example would instruct Controller #1 to index 2048 bits when input module I/O-1 changes from a low to high state: label
enable_hwi index
1,2048
Execution of this pair of instructions causes the Main Processor to instruct the appropriate Controller card that it should now monitor its hardware interrupt signal and perform the designated operation when the interrupt signal is activated. The axis controller responds by enabling its BUSY and HWI ARMED flags. After the controller detects the interrupt and completes the task, its BUSY and HWI ARMED flags will be disabled. It is the programmers responsibility to issue this pair of instructions again if it is desired to perform the task again.
JUNE 1995
Page 65
MACROPROGRAM DEVELOPMENT SYSTEM INTERRUPTS
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
The programmer can cancel an armed task by issuing the instruction disable_hwi. This instruction has 1 parameter - the slot # of the Controller card which is currently monitoring the hardware interrupt signal. On receipt of the disable_hwi instruction, the Controller's BUSY and HWI ARMED status flags will be turned off. Only 1 task can be executed per interrupt. If more than 1 task is issued, the most recent will be used. 12.4 INTERRUPT INSTRUCTIONS Table 12.1 lists software and hardware interrupt instructions. Table 12.1 - SOFTWARE AND HARDWARE INTERRUPT INSTRUCTIONS
Instruction
Format
clr_all_swi clr_swi disable_hwi disable_swi enable_hwi enable_swi f_decel get_trap_pos over_draw set_swi_mask swi_if_off swi_if_on trap_pos
label label label label label label label label label label label label label
Page 66
Ref. Page clr_all_swi clr_swi disable_hwi disable_swi enable_hwi enable_swi f_decel get_trap_pos over_draw swt_swi_mask swi_if_off swi_if_on trap_pos
interrupt# controller#
controller# controller#,variable controller#,speed,limit,distance variable interrupt#,flag,sub_label interrupt#,flag,sub_label controller#
127 132 139 140 143, 144 145 152 182 221 277 283 284 293
JUNE 1995
MACROPROGRAM DEVELOPMENT SYSTEM MASTER SLAVE CONCEPTS
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
13.2 SIMPLE LOCK (ELECTRONIC GEARBOX) In simple lock mode, the position of the master axis is used directly to determine the proper slave axis position and speed. Figure 13.1 illustrates simple lock mode. In this example, the master axis and slave axes were positioned to zero before entering master slave lock. Slave axis 1 has a ratio of 2, and slave axis 2 has a ratio of 0.5.
Note the motion profile of each slave in relationship to the master. Slave axis 1 always travels at twice the speed of the master. The distance traveled by slave 1 is twice that of the master. Slave 2 travels at half the speed of the master and moves half the distance.
13.2.1 USEFUL FACTS ABOUT SIMPLE LOCK MODE 1.
Ratios are treated as 12 bit fractions. To express a ratio of 1.0, the actual argument in the ratio instruction would be 4096.
2.
Allowed values for ratio are from -8.000 to +7.9999 (-32768 to +32767 bits). Positive ratios cause a slave axis to turn in the same direction as the master; negative ratios cause counter rotation.
3.
At the start of a Macroprogram, the ratio value for each axis is set to one-to-one (+4096 bits).
4.
The recommended sequencing for establishing master/slave lock is as follows: A.
If necessary, position the master and/or slaves to the desired locations.
B.
Establish the accel/decel rates for the slaves. For certain lock methods, a high acceleration rate is needed to insure that the slave axis closely maintains the configured ratio between itself and the master axis.
C.
Issue a set_map instruction to start the information flow between the master and the slave (see Section 13.4).
D.
Lock the slave axis using the simple lock mode (mode 1).
E.
Set the desired ratio for the slave axis.
F.
Proceed with the desired motion for the master axis.
Steps D through E can be used to lock on to a master axis already in motion. 5.
Page 68
A typical sequence for ending simple lock is: A.
Unlock the slave axis using the unlock instruction.
B.
Set the ratio for the slave axis to zero.
C.
Terminate the master angle passing process by issuing a set_map instruction with no source axis.
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001 D.
MACROPROGRAM DEVELOPMENT SYSTEM MASTER SLAVE CONCEPTS
Determine that the slave axis has stopped by testing its AXIS BUSY status flag.
6.
Ratio may be changed at any time during simple lock mode. The slave axis will simply break lock, accelerate or decelerate at the currently programmed rate to match the master speed at the new ratio, and re-enter lock.
7.
While in master/slave lock, a slave axis will ignore all motion instructions except forced deceleration. Issuing a f_decel instruction will break lock and cause the slave axis to stop.
13.3 LOCK METHODS FOR SIMPLE LOCK There are four lock methods which can be used in simple lock applications. Each method and its function are outlined in Table 13.1. Table 13.1 - LOCK METHODS FOR SIMPLE LOCK Lock Method
Description
1
Simple lock with acceleration limit. Slave tracks master position as long as currently set accel/decel rate is not exceeded.
2
Velocity Lock. Slave tracks master velocity, with accel/decel rate limit.
4
Simple lock with no acceleration limit.
6
Keyway to Keyway lock. Ratio is forced to be 1.0. On receipt of lock command, slave axis aligns its position transducer to match that of master. Accel/decel rate limit is used.
Details for each of these lock methods are presented below. 13.3.1 LOCK METHOD 1 Lock Method 1 provides the electronic equivalent of a gearbox. The electronic gearbox or ratio is driven by the master angle from one of the master angle buses. The master angle is processed by the previously specified ratio instruction and an offset is added, resulting in an effective master used to drive the slave command position. When the lock instruction is executed, with a lock method of 1, the axis Controller calculates the instantaneous offset between the master angle processed by the ratio and the slave command position. Once the offset is calculated, master slave lock is accomplished. Once per millisecond (MSC-850) or once every 488 microseconds (MSC-250) thereafter, the slave axis position is updated based on the new master position. The slave motion is limited by the previously executed set_ac_dc instruction and further limited to a maximum speed of 3600 RPM. The limiting of the slave acceleration rate can be an advantage in systems that have rough or rapidly changing master speeds. The limited acceleration on the slave dampens the slave motor and smooths out the operation.
JUNE 1995
Page 69
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM MASTER SLAVE CONCEPTS
13.3.2 LOCK METHOD 4 Lock method 4 is identical to lock method 1, except that the slave is not limited by the specified slave acceleration rate. This means that during lock, the slave is commanded directly by the effective master position. Note that any perturbations or roughness in the master will be passed onto the slave with no rate limiting.
The ratio instruction can be executed during Lock Method 4. When a new ratio is executed, the slave controller breaks lock, slews to new lock speed at the specified acceleration rate and relocks using the above equation. The MOTOR JOGGING status flag is on during the slew period. Note that after the slew period a new offset is calculated. The acceleration rate may be changed during slew by executing a set_ac_dc instruction prior to the ratio instruction. 13.3.3 LOCK METHOD 6 Lock method 6 allows the user to align the absolute position of the slave with the absolute position of the master. The ratio in Lock Method 6 is fixed at 1:1 and may not be changed. The slave controller acceleration rate is limited by the previously executed set_ac_dc instruction. The slave top speed is also limited to 3600 RPM. When the lock instruction is executed, the slave controller executes the following equation every 1 millisecond. Master Angle = Slave Command Position This equation is executed modulo 1 turn (4096 bits) of the master. This means that when the lock instruction is executed, the slave will move, at the acceleration rate specified, in the shortest direction to bring the master and slave absolute angles into alignment. Note that Lock Method 6 can cause movement when lock is executed even if the master is at rest. The slave acceleration and speed are limited. Hunting can occur if the master rate of change is greater than the specified slave acceleration rate. The rule of thumb of having the slave acceleration rate at least 5 times the expected master rate of change is applicable. The limited acceleration rate can be used to smooth a master with fast perturbations (roughness). 13.4 ELECTRONIC CAMS The MSC multi-axis controllers provide a mode of operation that effectively emulates mechanical cams. In the electronic cam mode, slave axes follow digital cams based on the rotation of a master axis. Electronic cams are tables of incremental motor moves. Each incremental value occupies one byte of memory in the MSC and has an allowable range of -127 to +127. (A value of 128 is used to signal the end of the cam). As the master axis turns, its position is continually transmitted onto the data bus. The slave controller uses the current master position to determine the proper index into the electronic cam array. As the index moves through the cam table, the incremental distances are added together to form the proper slave axis position. Linear interpolation is performed between elements in the cam array. When the end of the cam table is reached, the process begins again at the beginning of the table.
JUNE 1995
Page 71
MACROPROGRAM DEVELOPMENT SYSTEM MASTER SLAVE CONCEPTS
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
The key MSC macro instruction for electronic cam mode is the cam_data instruction. This instruction transmits the electronic cam from the MSC master processor to the specified Controller and establishes the scaling factors for master position data and the cam array data. Master and data scaling are explained in the paragraphs below. 13.4.1 MASTER SCALING Master scaling provides a mechanism to control the rate at which a slave axis proceeds through its cam array relative to the rate at which the master axis turns. Positional information within the MSC is treated as a 24 bit binary number. The least significant half (12 bits) of the number refers to the position within the current motor revolution, and the most significant half serves as a turn counter. In electronic cam mode, the master scale factor refers to the number of times the master position value is divided by 2 (i.e. shifted right) by the slave processor. For example, if a master scale factor of 12 were used, 12 the slave processor would divide the master position value by 4096 (2 ). The slave processor then compares the least significant 12 bits of the scaled value to the previous scaled master position to determine if it has changed. If the value has changed, the cam array index is changed accordingly. Table 13.2 summarizes the effect of master scaling. Table 13.2 - MASTER SCALING Master Scale Factor
Cam Array Advances Every
12 11 10 9 8 7 6 5 4 3 2 1 0
full turn 1/2 turn 1/4 turn 1/8 turn 1/16 turn 1/32 turn 1/64 turn 1/128 turn 1/256 turn 1/512 turn 1/1024 turn 1/2048 turn 1/4096 turn
13.4.2 DATA SCALING In order to insure that each element of an electronic cam is in the range of -127 to +127, it is often necessary n to scale the cam data. This is accomplished by dividing the data by 2 where n is selected to cause the largest element of the cam array to be less than -127 to +127. 3 For example, if the largest element in a cam array is 864, we would need to divide by 8 (2 ) to reduce the number below 128. The data scale factor in this case would be 3. Data scale factors from zero to 7 are allowed.
Page 72
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM MASTER SLAVE CONCEPTS
13.4.3 IMPORTANT NOTES REGARDING ELECTRONIC CAMS The following items should be considered when using electronic cams (Note - These examples assume a positive ratio value is being used): 1. Positive cam data indicates to the slave axis that the slave should travel in the same direction as the master axis. 2.
The cam data pointer will always start at the top of the cam table, unless the set_cam_ptr instruction and lock method 5, 8 or 9 are used.
3.
The cam data pointer will move toward the cam data table terminator when the master axis is traveling in the clockwise (CW) direction. The cam data pointer will move away from the cam data table terminator when the master axis is traveling in the counter-clockwise (CCW) direction.
13.4.4 CALCULATING ELECTRONIC CAMS There are several ways that electronic cam data can be transferred to the appropriate axis controller: 1. The cam data can be precalculated and placed in cam tables using the instructions begin_cam, cam and end_cam. When the cam_data instruction is executed, the data defined in the cam table will be transferred to the axis controller along with the 'master scale' and 'data scale' values. The cam table terminator character (hex value 0x80) will be automatically transferred by the cam_data instruction, as well. 2.
The cam data can be calculated by the Macroprogram, or off-line by another computing device. This data can then be transferred to the axis controller using a series of let_byte instructions. The programmer in this instance is reponsible for sending the cam table terminator character (hex value 0x80) as the last cam data table element. When the cam_data instruction is executed, only the 'master scale' and 'data scale' values are transferred to the axis controller, since it is expected that the data has been previously transmitted.
3.
The cam data table can be calculated by the axis controller using the calc_unit_cam instruction. When using this approach, a data table defining the 'shape' of the profile is transitted to the axis controller. The programmer then issues a calc_unit_cam instruction which will calculate the cam data table. When the cam_data instruction is executed, only the 'master scale' and 'data scale' values are transferred to the axis controller, since it is expected that the data has been previously calculated.
In applications where it might be desirable to compute an electronic cam based on a predetermined shape, such as a modified sine or trapezoidal type motion profile, the calc_unit_cam instruction can be used to greatly simplify this process. The general process for using the calc_unit_cam instruction is as follows: DEFINE THE MOTION SHAPE BY CREATING A 'UNIT CAM' TABLE 1.
Either graphically or mathematically describe the motion profile desired. The profile should be a function of distance versus machine angle or other appropriate X-axis value.
2.
Measure and tabulate the value of distance at 128 equally spaced X-axis intervals over the duration of the profile.
3.
Normalize the distance values by dividing each tabulated value by the largest value in the table.
JUNE 1995
Page 73
MACROPROGRAM DEVELOPMENT SYSTEM MASTER SLAVE CONCEPTS
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001 16
4.
Scale each table value by multiplying it by 65,536 (2 ).
5.
Add a zero element to the beginning of the table and replicate the last element in the table, so that the resulting table has 130 elements.
These steps result in a 'unit cam' table, which can then be used to generate cams of various lengths and number of elements. TRANSFER THE 'UNIT CAM' TABLE TO THE AXIS CONTROLLER 6.
Dimension data storage areas on the axis controller of interest as follows: cam_area table_area
dim dim
axis#,6750 axis#,130
The labels 'cam_area' and 'table_area' may be named whatever you desire. The dimension numbers must be as shown. It would also be acceptable to have more than one 'cam_area' defined, as long as the total is equal to 6750 (this is 6750 4-byte elements totaling 27000 bytes). This is due to the fact that the axis controller expects to find the start of the 'table_area' at memory location 6750. 7.
Load the 'unit cam' table into the axis controllers 'table_area' using the let instruction (the 130 entries in the 'unit cam' table are 4-byte values). CALCULATE THE CAM
8.
Determine the total distance to be represented by the cam, and the total number of cam elements required.
9.
Issue the appropriate calc_unit_cam instruction. While the axis controller is busy calculating the cam, its status flag for CALCULATING PW PROFILE is set.
Note It is not necessary to issue a drive_on instruction before executing the calc_unit_cam instruction. 10.
Insert an end of cam character (hex value 0x80) at the appropriate place in the cam array.
11.
Issue a cam_data instruction so that the appropriate 'master scale' and 'data scale' are used.
At this point, the axis controller contains a valid electronic cam. Processing can now follow normal cam procedures. The instruction format for calc_unit_cam is as follows: calc_unit_cam
axis#,distance,elements
where 'axis#' is the axis controller number, 'distance' is the total distance in counts to be traveled and 'elements' is the size of the cam to be generated.
Page 74
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM MASTER SLAVE CONCEPTS
EXAMPLE The following example illustrates the calc_unit_cam instruction and the steps taken to load the predetermined 'unit cam' table named 'trap_1_3' into the axis controllers memory: msc_type declare off
850
calc down busy lock
equ equ equ equ
74 77 78 79
axis_1 busy_1 down_1 calc_1 lock_1
equ equ equ equ equ
1 (axis_1*16)+busy (axis_1*16)+down (axis_1*16)+calc (axis_1*16)+lock
cam table
dim dim
1,6750 1,130
! ! ----- TABLE FOR UNIT TRAPEZOIDAL CURVE 1/3,1/3,1/3 (SCALED by 2^15) ----! trap_1_3 begin_data data 0,9,36,81,144,225,324 data 441,576,729,900,1089,1296,1521 data 1764,2025,2304,2601,2916,3249,3600 data 3969,4356,4761,5184,5625,6084,6561 data 7056,7569,8100,8649,9216,9801,10404 data 11025,11664,12321,12996,13689,14400,15129 data 15876,16640,17408,18176,18944,19712,20480 data 21248,22016,22784,23552,24320,25088,25856 data 26624,27392,28160,28928,29696,30464,31232 data 32000,32768,33536,34304,35072,35840,36608 data 37376,38144,38912,39680,40448,41216,41984 data 42752,43520,44288,45056,45824,46592,47360 data 48128,48896,49660,50407,51136,51847,52540 data 53215,53872,54511,55132,55735,56320,56887 data 57436,57967,58480,58975,59452,59911,60352 data 60775,61180,61567,61936,62287,62620,62935 data 63232,63511,63772,64015,64240,64447,64636 data 64807,64960,65095,65212,65311,65392,65455 data 65500,65527,65536,65536 end_data ! ! ----- LOAD THE UNIT CAM TABLE INTO AXIS CONTROLLER #1 ----! load_table let ctr=0 load_loop let t=trap_1_3[ctr] let table[ctr]=t let ctr=ctr+1
JUNE 1995
Page 75
MACROPROGRAM DEVELOPMENT SYSTEM MASTER SLAVE CONCEPTS if
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
ctr<130,load_loop
! ! ----- CALCULATE THE CAM BASED ON UNIT CAM TABLE ----! let distance=40960 let elements=2048 let start_of_cam=0
calc_busy
calc_unit_cam axis_1,distance,elements,start_of_cam if_stat_on calc_1,calc_busy
! ! ----- CALCULATE THE CAM SUM FOR THE CAM ----! let end_of_cam=elements-1
sum_busy
calc_cam_sum axis_1,start_of_cam,end_of_cam if_stat_on calc_1,sum_busy
! ! ----- GET SUM, SHOULD EQUAL REQUESTED CAM DISTANCE ----! get_cam_sum axis_1,sum if sum<>distance,calc_err
! ! ----- INDICATE THE CAM TO USE, MASTER SCALE AND DATA SCALE ----! cam_data axis_1,cam,5,0 ratio axis_1,4096 . . . .
Page 76
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM MASTER SLAVE CONCEPTS
13.5 ELECTRONIC CAM LOCK METHODS Table 13.3 - CAM LOCK METHODS
Lock Method
Description
0
Cam lock at beginning of cam data table.
5
Cam lock at current cam pointer position. Used in conjunction with the set_cam_ptr instruction to lock at other than the beginning of the cam data table.
8
Cam Lock at current cam pointer position when specified master angle is crossed. (See set_trig_cam)
9
Same as Lock type 8 except execution of the cam is terminated at the last element in the cam.
10
Velocity cam lock.
A detailed explanation of each of these lock methods follows. 13.5.1 LOCK METHOD 0 When the lock instruction is executed with a lock method of 0, the axis controller puts the cam pointer at the very top of the cam array, creates an instantaneous offset between the absolute master angle, on the selected bus, and 0.00 effective master, then locks the axis to the master. Once per millisecond after the lock instruction, the following equation is executed to drive the cam pointer. (Absolute master angle * ratio) + offset = effective master master scale (2 )
As this equation executes, the integer part of the effective master causes the cam pointer to move and the fractional part is used to linearly interpolate cam elements. The offset value in the equation is set at lock to yield a 0.00 effective master and is modified each time the cam pointer wraps around to maintain the cam pointer within the cam data array. If the ratio is changed during lock in Lock Method 0, the offset is instantaneously changed to yield the same effective master just before as just after the ratio instruction. Changing the ratio on the fly during Lock Method 0 does not cause a jump in the cam pointer, but does cause a change in rate or direction of cam pointer movement. Since the slave speed and acceleration rate are not limited, the slave servo may change speed abruptly. Caution should be used when changing ratio when executing a cam. During Cam Lock Method 0, the pointer position in the cam data table can be captured using the get_cam_ptr instruction.
JUNE 1995
Page 77
MACROPROGRAM DEVELOPMENT SYSTEM MASTER SLAVE CONCEPTS
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
13.7 PIECEWISE LOCK Piecewise lock, lock method 3, provides a means of triggering execution of a Piecewise profile in a slave axis based on the master reaching a certain angular position. Refer to Section 11.7 for further details on Piecewise profiles. To establish Piecewise lock, follow the steps outlined below. 1.
Build the profile as described in Section 11.7.
2.
Establish appropriate master angle passing.
3.
Issue the prep_profile command to transfer the profile data to the slave axis card.
4.
Set up the trigger angle with the set_trig_pw instruction.
5.
Issue the lock command with lock method set to 3.
When the specified master angle position is reached, the Piecewise profile will be executed.
13.8 MASTER ANGLE BUS The master angle bus is a high speed data highway which links the controllers in an MSC-850/32 or MSC850 System Unit. Each System Unit has two independent buses, designated as Master Bus A and Master Bus B. The set_map Macroprogram instruction provides a means for the programmer to specify which Controller talks as a master on a given bus and which Controller(s) listen as slaves. There can only be one controller as master on a bus. Any controller may be configured as a slave. One slave controller may not be configured to listen to both masters, except for the MCF-850 card which can listen to both. The set_map instruction uses a 4 byte word (32 bits) to define the total configuration. In the 32 bit variable, two (2) bytes are used for each bus. One byte configures which controller is the master and the other byte configures which controllers are the slaves. The set_bit instruction provides a convenient means of setting the proper bits in the set_map variable. Figure 13.5 diagrams the configuration of the set_map variable for the MSC-850/32 and MSC-850. Figure 13.6 shows the configuration of the set_map variable for the MSC-250.
Page 80
JUNE 1995
MACROPROGRAM DEVELOPMENT SYSTEM MASTER SLAVE CONCEPTS
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
Figure 13.6 - MSC-250 MASTER ANGLE BUS CONFIGUARTION CHART Consider an example where the Controller in slot 3 is to be the master axis, and Controllers in slots 1, 4, and 5 are to be slaves. Master bus A will be used for the data path. The following Macroprogram instructions could be used to configure the master angle bus: talk_3 slave_1 slave_4 slave_5
equ 29 Slot 3 talker on Bus A equ 23 Slot 1 listen on Bus A equ 20 Slot 4 listen on Bus A equ 19 Slot 5 listen on Bus A . . let mapvar=0 clear all bits set_map mapvar stop all map activity set_bit talk_3,mapvar set appropriate bits set_bit slave_1,mapvar set_bit slave_4,mapvar set_bit slave_5,mapvar set_map mapvar get communications going (instructions to set up desired master slave modes)
Page 82
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM MASTER SLAVE CONCEPTS
13.8.1 MASTER ANGLE BUS CAUTIONS It is important to note that the data being transmitted on a master angle bus is the current master position transducer reading. Macroprogram instructions such as set_local or set_offset DO NOT affect the data being transmitted on a master angle bus, but DO impact the logical position of an axis. Thus, it is possible to read a position from a master Controller using a get_pos instruction and get a position value which does not match the value being transmitted on the master angle bus. Another precaution regarding master angle bus data concerns ACE-850 controllers. Because encoders are incremental devices, the ACE-850 sets its position transducer reading to zero on power up. Zero would be transmitted on the master angle bus if the ACE-850 were commanded to be a master under these circumstances. If a find marker instruction was then issued to the ACE-850, data being sent on the master angle bus would undergo a step change as the ACE-850 located the encoder marker pulse. It is recommended that the find marker instruction be done for an encoder based master Controller before the Controller is instructed to transmit on the master angle bus. 13.9 FIBER OPTIC NETWORK The Fiber Optic Network feature of the MSC-850 provides a means of extending Master Angle Bus communications to multiple MSC-850 System Units. This function is provided by the MCF-850 Controller. The MSC-250 has one fiber optic receiver. This allows a link between an MSC-850/MCF-850 and an MSC250.
JUNE 1995
Page 83
MACROPROGRAM DEVELOPMENT SYSTEM MASTER SLAVE CONCEPTS
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
Figure 13.7 - MSC-850/MCF-850 CONFIGURATION CHART
Page 84
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM MASTER SLAVE CONCEPTS
Figure 13.8 - MSC-250 MULTI-FUNCTION CONFIGURATION CHART JUNE 1995
Page 85
MACROPROGRAM DEVELOPMENT SYSTEM MASTER SLAVE CONCEPTS
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
Each MCF-850 Controller has two fiber optic communications ports. Each port consists of a transmitter and a receiver. The MCF-850 must be configured, using the set_mcf instruction, to complete the desired data paths. Figure 13.7 shows the bit assignments used to define the network data paths. Each MSC-250 Controller has a single fiber optic communications port. This port contains a single receiver. There is port must be configured similar to the way the MCF-850 is configured using the set_mcf instruction. Figure 13.8 shows the bit assignments used to define the network data paths. Consider the example diagrammed in Figure 13.9. In this example, three MSC-850 System Units are linked in a daisy chain fashion. The location of master axes and communication interrelationships are shown in the figure. The following Macroprogram segments could be used to establish the desired network configuration. Program for System Unit 1 talk_3 slave_1 slave_4 slave_5 MABAA mcf_slot
equ equ equ equ equ equ . . let set_bit set_mcf
29 23 20 19 0 6
Slot 3 talker on Bus A Slot 1 listen on Bus A Slot 4 listen on Bus A Slot 5 listen on Bus A Bus A is source for Fiber Optic A MCF is in Slot 6
mcf_var=0 MABAA,mcf_var mcf_slot,mcf_var
Master bus A is Fiber Optic A source
let mapvar=0 set_map mapvar set_bit talk_3,mapvar set_bit slave_1,mapvar set_bit slave_4,mapvar set_bit slave_5,mapvar set_map mapvar . (instructions to set up desired master slave modes) .
Page 86
clear all bits stop all map activity set appropriate bits
get communications going
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM MASTER SLAVE CONCEPTS
Program for System Unit 2 talk_1 slave_2 slave_3 MABAA MABBB mcf_slot
equ equ equ equ equ equ . . let set_bit set_bit set_mcf
29 23 20 0 13 4
Slot 1 talker on Bus B Slot 1 listen on Bus B Slot 4 listen on Bus B Bus A is source for Fiber Optic A Bus B is source for Fiber Optic B MCF is in Slot 4
mcf_var=0 MABAA,mcf_var MABBB,mcf_var mcf_slot,mcf_var
Master bus A is Fiber Optic A source Master bus B is Fiber Optic B source
let mapvar=0 set_map mapvar set_bit talk_1,mapvar set_bit slave_2,mapvar set_bit slave_3,mapvar set_map mapvar . (instructions to set up desired master slave modes) .
clear all bits stop all map activity set appropriate bits
get communications going
Program for System Unit 3 slave_1A slave_2B slave_3B MABAA MABBB mcf_slot
equ equ equ equ equ equ . . let set_bit set_bit set_mcf
23 20 19 0 13 4
Slot 1 listen on Bus A Slot 2 listen on Bus B Slot 3 listen on Bus B Bus A is source for Fiber Optic A Bus B is source for Fiber Optic B MCF is in Slot 4
mcf_var=0 MABAA,mcf_var MABBB,mcf_var mcf_slot,mcf_var
Master bus A is Fiber Optic A source Master bus B is Fiber Optic B source
let mapvar=0 set_map mapvar set_bit slave_1A,mapvar set_bit slave_2B,mapvar set_bit slave_3B,mapvar set_map mapvar . (instructions to set up desired master slave modes) .
JUNE 1995
clear all bits stop all map activity
get communications going
Page 87
MACROPROGRAM DEVELOPMENT SYSTEM MASTER SLAVE CONCEPTS
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
System Unit #1 has a Controller talking on Master Bus A. System Unit #1 has no need for information from System Unit #2 or #3. Master Controller in slot 3. Slave controllers in slots 1, 4, and 5. MCF-850 Controller in slot 6.
System Unit #2 has a Controller talking on Master Bus B. System Unit #2 has no need for information from System Unit #1 other than to pass the data to System Unit #3. Master Controller in slot 1. Slaves in 2 and 3. MCF-850 in slot 3.
System Unit #3 has slave controllers listening to both Master Angle Busses. Master Angle Bus A receives data from Fiber Optic Port A. Master Angle Bus B receives data from Fiber Optic Port B. Bus A slave in slot 1. Bus B slaves in slots 2 and 3. MCF-850 in slot 4.
Figure 13.9 - DAISY CHAIN FIBER OPTIC NETWORK
Page 88
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM MASTER SLAVE CONCEPTS
13.10 MASTER SLAVE INSTRUCTIONS Table 13.4 summarizes master slave instructions. Table 13.4 - MASTER SLAVE INSTRUCTION SUMMARY
Instruction
Format
calc_cam_sum calc_unit_cam cam_data get_cam_cnt get_cam_end get_cam_ptr get_cam_strt get_map get_map_stat get_mcf incr_com lock ratio set_cam_ptr set_map set_mcf set_trig_cam switch_cam unlock
label label label label label label label label label label label label label label label label label label label
JUNE 1995
Ref. Page calc_cam_sum calc_unit_cam cam_data get_cam_cnt get_cam_end get_cam_ptr get_cam_strt get_map get_map_stat get_mcf incr_com lock ratio set_cam_ptr set_map set_mcf set_trig_cam switch_cam unlock
controller#,start_element,ending_element controller#,distance,# elements,start_element controller#,label,ms,ds controller#,variable controller#,variable controller#,variable controller#,variable variable variable controller#,variable controller#,bits,interrupts controller#,lock# controller#,ratio controller#,value variable controller#,variable controller#,master_angle controller#,start_element controller#,mode#
120 121 123, 124 160 161 162 163 168, 169 170 171, 172 199 211 233 243 254 258 279 285 296
Page 89
MACROPROGRAM DEVELOPMENT SYSTEM PROGRAMMABLE LIMIT SWITCHES
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
14.0 PROGRAMMABLE LIMIT SWITCHES 14.1 DESCRIPTION MSC-850/32, MSC-850 and MSC-250 controllers provide a means of switching output modules on and off in relationship to the position of a master axis. This function, called Programmable Limit Switch (PLS), is similar to that provided by mechanical cam or drum switches. The MCF-850 Multi-Function Controller and the MSC-250 Controller provides basic PLS capabilities. For applications with high performance requirements, the HPL-850 High Speed Programmable Limit Switch controller is better suited. Each of these options is described in detail below. 14.2 MSC-850/MCF-850 and MSC-250 PLS FUNCTIONS One of the features of the PLS-850 controller and the MSC-250 is the Programmable Limit Switch feature. There are 24 PLS output flags available. These flags can be switched on and off, depending on the position of the master angle being used to drive the PLS function. These flags consist of 16 hardware modules and 8 software outputs. In the MCF-850, the 16 hardware modules are located on a PLS-850 rack. In the MSC250, they may be 16 modules located at the on-board I/O, I/O expander #1 or I/O expander #2. Four of the eight software outputs are flags, and can be used to trigger software interrupts. The state of all 24 flags can be monitored using the get_pls_out instruction. The user's Macroprogram specifies set points (angles) of the master angle bus where the 24 flags should be turned ON and OFF. During program execution, this angular position is monitored, and the outputs are turned ON and OFF according to the programmed set points. 14.2.1 PROGRAMMING Before attempting to write a Macroprogram using the Programmable Limit Switch feature of the MSC, it is important to understand the following: 1.
Only one ON and OFF angle may be programmed for each output. If the controller receives a second set of data for an output, it will replace the existing data with new data.
2.
The ON and OFF set points are interpreted assuming a clockwise direction of rotation. For example, ON at 1000, OFF at 2000, means that an output will be on whenever the master angle position is between 1000 and 2000 bits. However, ON at 2000, OFF at 1000, means that an output will be off between 1000 and 2000 bits, and on for the remainder of the master rotation.
3.
The switching of individual output modules may be masked off without reprogramming the PLS function.
Page 90
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM PROGRAMMABLE LIMIT SWITCHES
14.2.2 PROCESSING When the controller receives a set_pls_ang instruction, it searches the programmed data for an existing record for the specified output. If a matching record is found, it will be replaced by the new data. While this instruction is being processed, the CALCULATING flag of the axis controller will be activated. The Macroprogram must verify that this flag is no longer active before executing subsequent set_pls_ang instructions. The axis processor will ignore any set_pls_ang instructions issued while the CALCULATING flag is activated. 14.2.3 EXECUTION The controller monitors data from a master angle bus and turns ON and OFF the outputs at programmed set points. No change in state from OFF to ON will occur if a particular switch output is disabled through the use of the set_pls_mask instruction. Changes in state from ON to OFF will still occur at the programmed set point even if a particular limit switch is disabled.
NOTES The angular position can come from one of several sources, as programmed by the set_mcf instruction.
MSC-850/MCF-850 A. Pseudo Axis B. Master Angle Bus A C. Master Angle Bus B D. Fiber Optic Channel A E. Fiber Optic Channel B
MSC-250 A .Pseudo Axis B. Master Angle Bus A C. Master Angle Bus B D. Fiber Optic Receiver
When the MSC is powered down, all of the PLS (programmable limit switch) data is lost. This data must be reset on power up by the macroprogram. 14.3 HIGH PERFORMANCE PROGRAMMABLE LIMIT SWITCH (MSC-850/HPL-850) The high performance programmable limit switch controller (HPL-850) is intended as a replacement for mechanical limit switches. Its function is to monitor angular position received on one of two master angle data buses, and to turn on and off outputs at programmed set points. The HPL-850 was designed for systems requiring multiple master turns per 360 degree cycle. The maximum number of turns per 360 cycle is 256. The HPL-850 is also equipped with a time advance feature. This allows the programmer to advance the on and off settings for an output by a specified time. There are 24 outputs which may be turned on and off at set points specified in a Macroprogram. Sixteen of these are outputs residing on PLS-850 output rack. The remaining 8 switches are software flags. The first four of these may be programmed to generate software interrupts in the Macroprogram. The application Macroprogram specifies the source of the master angle data (master angle bus A or B), establishes the set points of the master angle where switches are to be turned ON and OFF, and sets any time advances to be used. During program execution, the HPL-850 monitors master angle position and turns on and off switches according to the programmed set points.
JUNE 1995
Page 91
MACROPROGRAM DEVELOPMENT SYSTEM PROGRAMMABLE LIMIT SWITCHES
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
14.3.1 THEORY OF OPERATION The HPL-850 has no direct position sensor. The input angle data must be supplied by one of two Master Angle Data Buses. The programmer specifies a rollover point for the HPL. This value represents the point at which the HPL's accumulator will reset. For example, if a particular process completes one cycle in 4.5 turns of a master resolver, the rollover point could be specified as 4.5*4096, or 18432. The accumulator value may be initialized to a value between zero and the rollover point set by the preset instruction. An internal data table holds a series of 24 bit values representing the state of the 24 output flags at each of 8192 possible accumulator values. This table is created from the set_pls_ang instructions issued in the application Macroprogram. The HPL-850 uses its accumulator value, appropriately scaled, to create a pointer into this data table. The data table contents are then sent to the HPL-850 output functions (16 outputs and 8 user flags). 14.3.2 PROGRAMMING CONSIDERATIONS Before attempting to write a Macroprogram using the Programmable Limit Switch function of the HPL-850, it is important to understand the following: 1.
Only one ON and OFF angle may be programmed for each output. If the HPL-850 receives a second set of data for an output, it will replace the existing data with new data.
2.
The ON and OFF set points are entered assuming a CW direction of the angle.
3.
The set_pls_mask instruction may be used to disable or enable output switching without reprogramming the PLS function.
4.
The master angle bus data source (set_mcf) must be configured before issuing a set_gl_cw, set_gl_ccw or set_local instruction.
5.
The time advance feature is meant to be used on machines with steady velocity inputs. Output results can be difficult to predict during accel/decel curves due to changing velocity.
6.
The time advance parameters should never allow the output signal to advance into the next cycle.
Page 92
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM PROGRAMMABLE LIMIT SWITCHES
14.4 HPL-850 PROGRAMMING EXAMPLE #1 The Master Angle Bus A is fed by a resolver rotating one revolution for one machine cycle. The system o o requires an output to be on between 160 and 200 . This output fires an air cylinder which has a 50 millisecond time delay, requiring the output signal to be advanced by 50 milliseconds. The following Macroprogram excerpt could be used for this application. hpl hpl_calc pls_cnt
equ equ equ
3 122 4096
HPL-850 card is in slot 3 calculating data flag, slot 3 4096 counts per machine cycle
! constants to define on angle and off angle on_angle off_angle
equ equ
(4096*160)/360 (4096*200)/360
air_cyl time_adv
equ equ
0 5
module 0 is air cylinder output advance 5 timer ticks = 50 ms.
. . set_hpl hpl,1 set_pls_cnt
hpl,pls_cnt
data source is Master Bus A set counts per cycle
! set up the on, off angles and the output module number
w1
set_pls_ang if_stat_on
hpl,on_angle,off_angle,air_cyl hpl,hpl_calc,w1
! set up the time advance
w2
set_pls_time if_stat_on
hpl,time_adv,air_cyl hpl,hpl_calc,w2
! set the HPL-850 accumulator to zero (assume master is already at zero) set_local hpl . (continue program execution)
JUNE 1995
Page 93
MACROPROGRAM DEVELOPMENT SYSTEM PROGRAMMABLE LIMIT SWITCHES
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
14.5 HPL-850 PROGRAMMING EXAMPLE #2 A system drives a lead screw 26 revolutions. An oil mist solenoid is to come on between 14 and 21 revolutions. Master Angle Bus data is on Bus B. The following Macroprogram excerpt could be used for this application. hpl hpl_calc pls_count
equ equ equ
3 122 26*4096
HPL-850 card is in slot 3 calculating data flag, slot 3 counts per machine cycle
! constants to define on angle and off angle on_angle off_angle
equ equ
14*4096 21*4096
oil_mist
equ
0
module 0 is oil mist output
. . set_hpl set_pls_cnt
hpl,2 hpl,pls_count
data source is Master Bus B set counts per cycle
! set up the on, off angles and the output module number
w1
set_pls_ang hpl,on_angle,off_angle,oil_mist if_stat_on hpl,hpl_calc,w1 . . (instructions to initialize lead screw and position to zero) . .
! set the HPL-850 accumulator to zero (master is already at zero) set_gl_cw hpl_slot . . (continue program execution) . .
Page 94
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM PROGRAMMABLE LIMIT SWITCHES
14.6 PROGRAMMABLE LIMIT SWITCH INSTRUCTIONS Table 14.1 lists the Macroprogram instructions associated with Programmable Limit Switch Functions. Table 14.1 - PROGRAMMABLE LIMIT SWITCH INSTRUCTIONS
Instruction
Format
get_angle get_for_ang get_pls_mask get_pls_out preset set_gl_ccw set_gl_cw set_local set_mcf set_pls_ang set_pls_cnt set_pls_mask set_pls_time
label label label labe labe labe label label labe label label label label
JUNE 1995
Ref. Page get_angle get_for_ang get_pls_mask lget_pls_out lpreset lset_gl_ccw set_gl_cw set_local lset_mcf set_pls_ang set_pls_cnt set_pls_mask set_pls_time
controller#,variable controller,channel#,variable controller#,variable controller#,variable controller#,variable controller# controller controller# controller,variable controller#,on,off,module# controller#,count controller#,variable controller#,time,module#
158, 159 167 173 174 228, 229 245, 246 247, 248 252 256 267 272 274 275
Page 95
MACROPROGRAM DEVELOPMENT SYSTEM EXTENDED MEMORY OPERATIONS
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
15.0 EXTENDED MEMORY OPERATIONS 15.1 DESCRIPTION The MSC-850/32 and MSC-850 provides three types of extended memory - volatile RAM, non-volatile RAM, and EPROM memory. The MSC-250 provides two types of extended memory - volatile RAM and EPROM memory. EPROM memory is accessed through the PROM Pocket built in to each MSC System Unit. 15.2 EXTENDED RAM MEMORY Using the MSC-850/32 or the MSC-850, the ACE-850, ACR-850 and ACY-850 Controllers have 28K bytes of volatile data memory available for use by a Macroprogram. In the MSC-250, axis 1 and 2 have 28K bytes of volatile data memory each. This memory can be used to create very high resolution electronic cam data tables and for other operations which need large amounts of temporary storage. The MCF-850 Controller provides 32K bytes of non-volatile data memory. This memory can be used to store data which must be retained even when power is shut off. 15.2.1 EXTENDED RAM MEMORY PROGRAMMING To create a data array in axis controller memory, a special form of the dim instruction is used: SYNTAX: label
dim
controller#,words
PARAMETERS: label
Name assigned to block of memory (array)
controller#
Axis ID #.
words
Length of data memory allocated to the label. Allocated in 4 byte (32 bit) words
Once this special form of the dim instruction has been executed, it is not necessary to reference this area in memory by axis ID#. Values in these arrays are accessed using the let_byte and let instructions exactly the same way as for any other array.
WARNING! Piecewise profiles and the conventional form of the cam_data instruction use memory from the 28K volatile RAM area. It is the responsibility of the programmer to ensure that arrays declared with the extended form of the dim statement do not overlap with piecewise profiles or conventional cams.
Page 96
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM EXTENDED MEMORY OPERATIONS
15.2.2 EXTENDED MEMORY LIMITATIONS 1.
The prep_profile instruction for Piecewise profiles may not reference data stored in axis controller memory. Data for this type of profile must reside in the master controller.
2.
The cam_data instruction can only reference data residing in the master controller or in axis controller memory which is the target of the cam_data instruction.
3.
Depending upon the location of the data array, the cam_data instruction executes differently. If the array is in the master controller's memory, the cam_data instruction transmits the array to the specified axis controller, establishes pointers to the beginning and end of the cam array, and defines both the master scale and data scale factors. If the array is in the axis controller's memory, the cam_data instruction only establishes pointers to the beginning and end of the array, and the master and data scale factors. No data transfer is executed.
15.3 EPROM MEMORY EPROM Memory on the MSC is controlled through a series of Macroprogram instructions called the EPROM MANAGER. These instructions are used to read from and write to an EPROM chip contained in the PROM POCKET. They are designed to simplify access to EPROM memory and are patterned after similar commands in the BASIC language. In the MCF-850, the use of non-volatile data storage greatly diminishes the need to have a programming device connected to the MSC-850 and can allow increased Macroprogram size. The PROM POCKET uses an INTEL D27256-1 UV erasable programmable ROM (EPROM) or compatible, and provides 32K bytes of memory. Each MCF-850 also provides 32K bytes of data storage. 15.3.1 AUTOMATIC PROGRAM LOAD FROM EPROM The MSC power up sequence allows the automatic loading of a macroprogram from the PROM POCKET EPROM. If an EPROM is in the PROM POCKET and the EPROM contains a Macroprogram file as the first file, that Macroprogram will be loaded, execution will begin and the MSC AUTOSTART bit will be set. This sequence will take place even if there is a valid Macroprogram already in the MSC and even if that Macroprogram has been set to AUTOSTART.
JUNE 1995
Page 97
MACROPROGRAM DEVELOPMENT SYSTEM EXTENDED MEMORY OPERATIONS
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
15.3.2 EPROM STATUS CODES Each EPROM Manager instruction returns a status code that indicates the result of the instruction. The status return codes are shown in Table 15.1.
Table 15.1 - EPROM STATUS CODES CODE 0 1 2 3 4 5 6 7 8 9 10 11 12 13
Page 98
MEANING Operation was successful No EPROM present End of file File not found Duplicate file name Verify during write failed EPROM Full No file open/created Bad unit identifier (<1 or >8) Wrong mode (i.e. trying to write to an opened file) Bad file type (i.e. trying to open a macroprogram file) Unit busy - file already opened/created using this unit identifier Attempt to create more than one file at a time The sum of the 'program' and 'data' area exceeds 32,000 bytes
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM EXTENDED MEMORY OPERATIONS
15.4 EPROM MANAGER INSTRUCTIONS Instructions for use with the EPROM Manager are summarized in Table 15.2. Table 15.2 - EPROM MANAGER INSTRUCTIONS
Instruction
Format
Close create get_space get_volume load initialize open read save write
label label label label label label label label label label
JUNE 1995
Ref. Page close create get_space get_volume load initialize open read save write
unit,status unit,f_n,status unit,space,status unit,d_a,status unit,f_n,status unit,d_a,status unit,f_n,status unit,d_a,l,status unit,f_n,status unit,d_a,l,status
126 133 178 183 210 201 220 234 238 299
Page 99
MACROPROGRAM DEVELOPMENT SYSTEM ANALOG INPUT/OUTPUT
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
16.0 ANALOG INPUT/OUTPUT 16.1 DESCRIPTION MSC-850/32 and MSC-850 The ACM-850 Analog Control Module provides the MSC-850 system with eight analog input and four analog output channels. The ACM-850 might be used in applications like a joystick interface, controlling DC motor drives, or monitoring analog sensors. MSC-250 The MSC-250 has one analog input and one analog output channel. 16.2 CAPABILITIES Data range
12 bit conversion over a range of -10 to +10 volts is provided. The data range is -2048 (-10 volts) to +2047 (+10 volts).
Offse
tAny of the 12 channels may be offset. The offset value is added to the real channel value at the time of conversion. The channel offsets range from -2048 to +2047. The default value is 0.
Slew rate
An analog rate of change limit may be set for each channel. This rate of change limit is "calibrated" in bits per 10 milliseconds. The default value is +2047.
16.3 ACM-850 FUNCTIONAL DESCRIPTION Analog processing uses a 10 millisecond update cycle in which all analog inputs and outputs are updated. In the ACM-850 updates are done sequentially by channel number. INPUT channels are read-only. Each input channel is read, and the raw voltage signal is added to the corresponding channel offset value. The result of this addition is compared to the previous reading for that channel, and if necessary, limited by the slew rate limit currently in effect. OUTPUT channels are updated using the same algorithm as INPUT channels. That is, the offset is added and then the rate of change limit is applied. This limited result is then output. 16.4 POWER ON STATES On power up, or after a RESET command from MPDEBUG, the analog I/O channels are in the following state: 1. 2. 3.
Page 100
Offsets are set to zero (0) Slew rate limits are set to 2047 Output channel values are set to zero
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM ANALOG INPUT/OUTPUT
16.5 ACM-850 INSTRUCTIONS Table 16.1 - ACM-850 INSTRUCTIONS
Instruction
Format
analog_in analog_out analog_rt analog_zo
label label label label
JUNE 1995
Ref. Page analog_in analog_out analog_rt analog_zo
controller#,ch#,value controller#,ch#,output controller#,ch#,value controller#,ch#,value
109 110 114 115
Page 101
MACROPROGRAM DEVELOPMENT SYSTEM USER SERIAL PORTS
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
17.0 USER SERIAL PORTS 17.1 DESCRIPTION The MSC family of controllers support a number of serial communication ports. The following is a summary of the ports available for each controller and a short description of each: MSC TYPE
PORT NUMBER
DESCRIPTION
MSC-800 MSC-800 MSC-800
0 1 2
User programmable active/passive current loop port. RS-232C Executive serial port. User programmable passive current loop port.
MSC-850 MSC-850 MSC-850
0 1 2
User programmable active/passive current loop port. RS-232C Executive serial port. User programmable passive current loop port.
MSC-250 MSC-250 MSC-250
1 2 3
RS-232C/RS-485 Executive serial port. User programmable passive current loop. User programmable RS-232C serial port.
MSC-850/32 MSC-850/32 MSC-850/32 MSC-850/32
0I 1 2 0R
User programmable active/passive current loop port. RS-232C/RS-485 Executive serial port. User programmable passive current loop. User programmable RS-232C serial port.
An active current loop port indicates that this port powers the current loop. A passive current loop port indicates that the user device will power the current loop. The executive port is an RS-232C serial port that only supports the IIS Packet Protocol method of communication. This port is typically used by the Macroprogram Development System for the loading and testing of IIS Macroprograms. The user programmable ports are suitable for use with a variety of computer displays, hand-held terminals, strip displays, printers, data entry terminals, etc. 17.2 SERIAL PORT INITIALIZATION Before a serial port can be used, it is necessary to tell the MSC controller which port to use and the desired communication parameters. The port_set instruction is used for this purpose. The format of this instruction is: label port_set port,baud,protocol Depending on the MSC controller being used; the port number will be either a 0, 1, 2, 3, 0I or 0R, the baud rate can be 110, 300, 600, 1200, 2400, 4800, 9600, 19200 or 38400. The protocol variable is used to select the proper combination of parity, stop bits and XON/XOFF selection, according to Table 17.1. NOTE: If no parity is chosen, then the MSC assumes 8 bit data words. If parity is chosen, the MSC assumes 7 bit data words.
Page 102
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM USER SERIAL PORTS
Table 17.1 - COMMUNICATION PROTOCOL SELECTION Protocol 0 1 2 3 4 5 6 7 8 9 10 11 12 13
Description 1 stop bit, no parity, XON/XOFF disabled 2 stop bits, no parity, XON/XOFF disabled 1 stop bit, odd parity, XON/XOFF disabled 2 stop bits, odd parity, XON/XOFF disabled 1 stop bit, even parity, XON/XOFF disabled 2 stop bits, even parity, XON/XOFF disabled RESERVED RESERVED 1 stop bit, no parity, XON/XOFF enabled 2 stop bits, no parity, XON/XOFF enabled 1 stop bit, odd parity, XON/XOFF enabled 2 stop bits, odd parity, XON/XOFF enabled 1 stop bit, even parity, XON/XOFF enabled 2 stop bits, even parity, XON/XOFF enabled
Once a port_set instruction has been executed, it remains in effect until another is issued. Once a serial port has been initialized, print, print_num, and input instructions may be issued. 17.3 IMPORTANT NOTES REGARDING SERIAL PORTS The following factors should be considered when using the MSC serial ports. 1.
Serial port instructions have been implemented so that Macroprogram execution does not need to be delayed while waiting for characters to be transmitted or received. This leads to the following considerations: a.
Print and print_num instructions are queued up to be executed by a separate task. Several milliseconds may pass between the execution of the instruction and the actual transmission of characters. The instruction sequence let print_num let
x=10 4,0,x x=25
could result in "25" being sent out the serial port instead of "10". It may be necessary to use temporary variables to yield the desired result.
JUNE 1995
b.
The print queue of the operating system has room for a limited number of entries. It is possible for the user to overrun this queue by rapidly issuing print commands with no time delay between them. If your application will issue several print commands in succession, it may be necessary to implement a software delay between print commands.
c.
The input instruction takes precedence over the print and print_num instructions. The instruction sequence
Page 103
MACROPROGRAM DEVELOPMENT SYSTEM USER SERIAL PORTS
NULL msg_prompt
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
text text print input
"" null string "Please Enter Speed: " msg_prompt NULL,4,0,x,in_done
may result in the input instruction executing before msg_prompt is sent out the port. A programmed wait of approximately 30 milliseconds between the print and the input statement may be necessary to achieve the desired result. 2.
Page 104
There are two special cases of the input command: a.
The first parameter of the input instruction is the address of a text string which is sent to the serial port as a prompt. If the prompt string exists, then the current value of the variable being input is sent to the port immediately following the prompt string. If the prompt string is a null string, i.e. consists of a single null character, then no prompt is displayed, and the current value of the variable is NOT sent to the port.
b.
A special form of the input command is provided to handle single character input. In this form, the prompt string is a null string and the length and width parameters are zero. In this situation, the decimal value of the next character received via the serial port will be placed in the input variable.
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM USER SERIAL PORTS
17.4 SERIAL INSTRUCTIONS Table 17.2 summarizes instructions used with MSC serial ports. Table 17.2 - SERIAL PORT INSTRUCTION SUMMARY
Instruction
Format
get_pq_space if_char if_no_char input port_set print print_num stop_input
label label label label label label label label
JUNE 1995
Ref. Page get_pq_space if_char if_no_char input port_set print print_num stop_input
space port#,address_label port#,address_label t_l,len,dec,var,u_f port#,baud,protocol text_label len,dec,var
175 189 194 202 224 230 231 282
Page 105
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
18.0 INSTRUCTION REFERENCE INSTRUCTION
DESCRIPTION
analog_in analog_out analog_rt analog_zo begin_cam begin_data blk_io_in blk_io_out calc_cam_sum calc_unit_cam cam cam_data case close clr_all_swi clr_bit clr_flag clr_hi_scan clr_local clr_swi create data declare default digi_comp dim dim disable_hwi disable_swi drive_off drive_on enable_hwi enable_swi end_cam end_data end_select equ exec_profile exit_select f_decel find_mrk_ccw find_mrk_cw find_tm_ccw find_tm_cw get_act_spd get_angle get_cam_cnt get_cam_end get_cam_ptr
controller#,channel#,variable controller#,channel#,value controller#,channel#,value controller#,channel#,value
Page 106
input_flag#,variable output_flag#,variable controller#,starting element,ending element controller#,distance,# of elements,starting element value,value,etc. controller#,data_label,master_scale,data_scale num unit,status bit#,variable user_flag# controller# interrupt# unit,file_name,status value,value,etc. mode controller#,gain,integral,damp size controller#,size controller# controller# controller#
constant_expression controller# controller# controller#,counts controller#,counts controller#,counts controller#,counts controller#,variable controller#,variable controller#,variable controller#,variable controller#,variable
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001 get_cam_strt get_cam_sum get_com get_fol_err get_for_ang get_map get_map_stat get_mcf get_pls_mask get_pls_out get_pq_space get_pos get_pstat get_space get_status get_t_mark get_time get_trap_pos get_volume gosub goto if if_bit_clr if_bit_set if_char if_flag_off if_flag_on if_io_off if_io_on if_no_char if_stat_off if_stat_on if_tmr_off if_tmr_on incr_com index initialize input integer jog_ccw jog_cw l_track_spd let let_byte load lock master msc_type no_op offset_master open over_draw port_set
JUNE 1995
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
controller#,variable controller#,variable controller#,variable controller#,variable controller#,channel#,variable variable variable controller#,variable controller#,variable controller#,variable variable controller#,variable controller#,status unit,space,status controller# controller#,state variable controller#,variable unit,data_area,status subroutine_label address_label compare1 operator compare2,address_label bit#,variable,address_label bit#,variable,address_label port#,address_label user_flag#,address_label user_flag#,address_label I/O flag#,address_label I/O flag#,address_label port#,address_label status_flag#,address_label status_flag#,address_label timer_flag#,address_label timer_flag#,address_label controller#,bits,interrupts controller#,distance unit,data_area,status label,length,decimals,variable,user_flag controller# controller# controller#,speed variable=operand1 opcode operand2 destination=source unit,file_name,status controller#,lock# controller# system_type controller id#,offset unit,file_name,status controller#,speed,limit,distance port#,baud,protocol
Page 107
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY position prep_profile preset print print_num rand_int ratio read read_offset restart_at return_sub save select set_ac_dc set_acy_cnt set_bit set_cam_ptr set_flag set_gl_ccw set_gl_cw set_hi_scan set_home set_local set_map set_mcf set_offset set_ovd_mode set_pls_ang set_pls_cnt set_pls_mask set_pls_time set_speed set_swi_mask set_tmr set_trig_cam set_trig_pw set_vgain stop_input swi_if_off swi_if_on switch_cam sys_fault sys_return test_mode text track_spd trap_pos turn_off turn_on unlock vel_ccw vel_cw write
Page 108
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
controller#,abs_position controller#,data_label controller#,variable text_label length,decimals,value max_number,variable controller#,ratio unit,data_area,length,status controller#,variable address_label unit,file_name,status variable controller#,rate controller#,count bit#,variable controller#,value user_flag# controller# controller# controller#,offset controller# variable controller#,variable controller#,value controller#,mode controller#,on_angle,off_angle,module# controller#,count controller#,variable controller#,time,module# controller#,speed variable timer_flag#,time controller#,master_angle controller#,master_angle controller#,vel_gain interrupt#,flag,subroutine_label interrupt#,flag,subroutine_label controller#,start element, # of elements controller# "ASCII string" controller#,speed controller# I/O flag# I/O flag# controller#,mode# controller# controller# unit,data_area,length,status
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
analog_in SYNTAX: label
analog_in
PARAMETERS: controller#
channel#
variable
controller#,channel#,variable
controller id# Range: MSC-250 MSC-850/32 MSC-850 MSC-800 Channel to be used. Range: MSC-250 MSC-850/32 MSC-850 MSC-800 Returned reading.
always 4 1 to 8 1 to 8 1 to 8 Always 1 1 to 8 1 to 8 1 to 8
DESCRIPTION: Perform a read from the specified channel of the analog controller. The data is placed in 'variable' after it is modified based on the channel's current slew rate limit and offset parameters. The modified data will have a range of -2048 to +2047 which is equivalent to -10 VDC to +10 VDC. The value read may be delayed up to 11 milliseconds due to access time through the update loop. RETURNS: Returns the current reading of the specified analog input channel plus any currently set offset value and limited by current slew rate setting. SEE: analog_out analog_rt analog_zo USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
analog_in analog_in analog_in analog_in
Page 109
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
analog_out (ACM-850) SYNTAX: label
analog_out
PARAMETERS: controller#
channel# Range:
value
controller#,channel#,value
controller id# Range: MSC-250 MSC-850/32 MSC-850 MSC-800 Channel to be used. MSC-250 Always 1 MSC-850/32 MSC-850 MSC-800 Value to output. Range: -2048 to +2047
Always 4 1 to 8 1 to 8 1 to 8 9 to 12 9 to 12 9 to 12
DESCRIPTION: Modify the output value by the specified channel's current slew rate limit and offset parameters and then write to the specified channel. The specified channel update may be delayed for as long as 11 milliseconds due to the access time of the control loop. Executing the f_decel macro instruction will slew all output channels to 0 volts. The modified output data will have a range from -2048 to +2047 which is equivalent to -10 VDC to +10 VDC. Outputs are initialized to 0.0 volts on power-up. Outputs will slew to 0.0 volts when program is stopped by the MSC Toolkit. RETURNS: None. SEE: analog_in analog_zo analog_rt USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 110
analog_out analog_out analog_out analog_out
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
analog_out (ACR-850 or ACE-850 or ACY-850) SYNTAX: label
analog_out
PARAMETERS: controller# channel# value
controller#,channel#,value
controller id# Range: MSC-850/32 MSC-850 Channel to be used. Range: MSC-850/32 MSC-850 Value to output. Range: -2048 to +2047
1 to 8 1 to 8 Always 1 Always 1
DESCRIPTION: The analog_out instruction can be used with the ACR-850, ACE-850 and ACY-850 controller cards in order to implement an open loop mode of operation known as "analog mode". In this mode of operation, the drive unit will be enabled by an external input source. A drive_off instruction followed by a set_mcf instruction to the ACE-850, ACR-850 or ACY-850 will put that axis controller into "analog mode". Once in "analog mode", the controller will be in an open loop mode where the analog output to the drive is not driven by the "position loop", but rather is controlled in the Macroprogram using the analog_out instruction. When used with the ACR-850, ACE-850 or ACY-850 cards, the analog_out instruction will now function in the same manner as when it is used with the ACM-850 card. A voltage in the range of -10V to +10V, based on an analog_out value ranging from -2048 to +2047, will be generated by the ACE-850, ACR-850 or ACY850 controller cards. A subsequent drive_on instruction will put the controller back into the normal "position loop mode" of operation. RETURNS: None. SEE: set_mcf (ACR-850 or ACE-850 or ACY-850 cards) USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
analog_out analog_out analog_out analog_out
Page 111
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
analog_out (MSC-250 controller 4) SYNTAX: label
analog_out
PARAMETERS: controller# channel# value
controller#,channel#,value
controller id# Range: MSC-250 Always 4 Channel to be used. Range: MSC-250 Always 1 Value to output. Range: -2048 to +2047
DESCRIPTION: Modify the output value by the specified channel's current slew rate limit and offset parameters and then write to the specified channel. The specified channel update may be delayed for as long as 11 milliseconds due to the access time of the control loop. Executing the f_decel macro instruction will slew all output channels to 0 volts. The modified output data will have a range from -2048 to +2047 which is equivalent to -10 VDC to +10 VDC. Outputs are initialized to 0.0 volts on power-up. Outputs will slew to 0.0 volts when program is stopped by the MSC Toolkit. RETURNS: None. SEE: analog_in analog_zo analog_rt USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 112
analog_out analog_out analog_out analog_out
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
analog_out (MSC-250 controller 1 and 2) SYNTAX: label
analog_out
PARAMETERS: controller# channel# value
controller#,channel#,value
controller id# Range: MSC-250 1 or 2 Channel to be used. Range: MSC-250 Always 1 Value to output. Range: -2048 to +2047
DESCRIPTION: The analog_out instruction can be used with axis controller #1 and #2, in order to implement an open loop mode of motion control known as "analog mode". In this mode of operation, the drive will be enabled by an external input source. A drive_off instruction followed by a set_mcf instruction (with a value of 1) to the axis controller, will put that axis controller into "analog mode". Once in "analog mode", the controller will be in an open loop mode. The analog output voltage from the controller can be driven using the analog_out instruction. The analog_out instruction will now function in the same manner as it is used with axis controller #4 of the MSC-250, which provides a single analog output channel. A voltage in the range of -10V to +10V, based on an analog_out value ranging from -2048 to +2047, will be generated by the axis controller. A subsequent set_mcf instruction (with a value of 0) will put the axis controller back into the normal "position loop mode" of operation. RETURNS: None. SEE: set_mcf (MSC-250 controller 1 and 2) USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
analog_out analog_out analog_out analog_out
Page 113
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
analog_rt SYNTAX: label
analog_rt
PARAMETERS: controller#
channel#
value
controller#,channel#,value
controller id# Range: MSC-250 MSC-850/32 MSC-850 MSC-800 Channel to be used. Range: MSC-250 MSC-850/32 MSC-850 MSC-800 The slew rate limit. Range: 0 to 2047
Always 4 1 to 8 1 to 8 1 to 8 1 (for input channel) & 9 (for output channel) 1 to 12 1 to 12 1 to 12
DESCRIPTION: Sets the specified channel slew rate limit in bytes per 10 milliseconds. The slew rate value limits the rate at which a particular channel (input or output) can change. A slew rate of 1 is equivalent to a rate of change of 4.88 mV per 10 milliseconds. RETURNS: None. SEE: analog_in analog_out analog_zo USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 114
analog_rt analog_rt analog_rt analog_rt
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
analog_zo SYNTAX: label
analog_zo
PARAMETERS: controller#
channel#
value
controller#,channel#,value
controller id# Range: MSC-250 MSC-850/32 MSC-850 MSC-800 Channel to be used. Range: MSC-250 MSC-850/32 MSC-850 MSC-800 Offset value. Range: -2048 to +2047
Always 4 1 to 8 1 to 8 1 to 8 1 (for input channel) & 9 (for output channel) 1 to 12 1 to 12 1 to 12
DESCRIPTION: Sets the specified channel offset value in 4.88 millivolts per bit. Offset value is cleared on power-up. Outputs will slew to 0.0 volts when program is stopped by the MSC Toolkit. Zero offset values are cleared on powerup. RETURNS: None. SEE: analog_in analog_out analog_rt USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
analog_zo analog_zo analog_zo analog_zo
Page 115
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
begin_cam SYNTAX: label
begin_cam
PARAMETERS: None. DESCRIPTION: Signals the start of a cam data area which will contain 8 bit (1 byte) values which represent incremental cam data. Each begin_cam instruction must have a corresponding end_cam instruction. This instruction requires a 'label'. EXAMPLE cam_array
begin_cam cam 1,2,3,4,5 cam 6,6,6,6,6 cam 5,4,3,2,1 end_cam
RETURNS: None. SEE: cam end_cam USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 116
begin_cam begin_cam begin_cam begin_cam
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
begin_data SYNTAX: label
begin_data
PARAMETERS: None. DESCRIPTION: Signals the beginning of a data area which will contain 32-bit (4 byte) values. This instruction requires a 'label'. EXAMPLE profile
begin_data data data end_data
100,200,15*4096 0,200,40*4096
RETURNS: None. SEE: end_data data USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
begin_data begin_data begin_data begin_data
Page 117
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
blk_io_in SYNTAX: label
blk_io_in
PARAMETERS: input_flag# variable
input_flag#,variable
Starting flag number to read. Must be a multiple of 8 (0,8,16 etc.). Value of I/O flags to be read.
DESCRIPTION: The first eight bits in 'variable' are used to store the state of the I/O modules, starting with 'input_flag#'. EXAMPLE If 'variable' = 3, the first two inputs are ON. If 'variable' = 255, all eight input modules are ON. RETURN: A four byte variable with the LS byte representing the ON and OFF states of the eight I/O read. (Bit ON, I/O is ON) SEE: blk_io_out USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 118
blk_io_in blk_io_in blk_io_in N/A
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
blk_io_out SYNTAX: label
blk_io_out
PARAMETERS: output_flag# variable
output_flag#,variable
Starting flag number to modify. Must be a multiple of 8 (0,8,16 etc.). Value of I/O flags to set.
DESCRIPTION: The first eight bits in 'variable' are used to set or clear eight outputs, starting with 'output_flag#'. EXAMPLE If 'variable' = 3, the first two output modules are ON. If 'variable' = 255, all eight output modules are ON. RETURNS: None. SEE: blk_io_in USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
blk_io_out blk_io_out blk_io_out blk_io_out
Page 119
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
calc_cam_sum SYNTAX: label
calc_cam_sum controller#,starting element,ending element
PARAMETERS: controller#
controller id # Range: MSC-250 1 to 2 MSC-850/32 1 to 8 MSC-850 1 to 8 starting element Element # relative to axis memory zero. ending element Element # relative to axis memory zero.
DESCRIPTION: Sums the values of cam elements in axis controller memory starting with 'starting element' and including 'ending element'. Starting and ending element numbers are relative to axis controller memory location zero. The axis status flag 'calculating' will be ON until calculations are complete. The calculated sum can be retrieved using the get_cam_sum instruction. RETURNS: None. SEE: get_cam_sum calc_unit_cam USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 120
calc_cam_sum calc_cam_sum calc_cam_sum N/A
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
calc_unit_cam SYNTAX: label
calc_unit_cam controller#,distance,# of elements,starting element
PARAMETERS: controller#
controller id# Range: MSC-250 1 to 2 MSC-850/32 1 to 8 MSC-850 1 to 8 distance Total distance of the cam in bits. # of elements Number of elements which make up the cam. starting element The first element of the cam. This element is relative to axis memory location zero.
DESCRIPTION: Allows the user to define the shape of a cam and to have the axis controller calculate the cam data array. A table of co-efficients is transmitted to the axis controller as well as the number of elements and starting element in the axis controller's 28K data block. The resolution of the table of co-efficients is 128 data points. The 128 data points used to define the shape of the cam must reside in the last 1K memory area (elements 6750 - 6879) of the axis controller's 28K memory array prior to execution of this instruction. RETURNS: None. SEE: calc_cam_sum get_cam_sum USAGE: MSC-250: MSC-850/32: MSC-850:
JUNE 1995
calc_unit_cam calc_unit_cam calc_unit_cam
Page 121
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
cam SYNTAX: label
cam
PARAMETERS: value
value,value,etc. Incremental cam value. Range: -127 to +127
DESCRIPTION: Specifies one-byte incremental values for an electronic cam. Expressions are allowed. More than one cam value may be contained in a cam statement. By placing the end_cam statement at the end of the cam table, a cam table terminator (128) is automatically generated. EXAMPLE cam_array
begin_cam cam 1,2,3,4,5,6,7,8,9,10 cam 10,10,10,10,10,10,10 cam 10,9,8,7,6,5,4,3,2,1 end_cam
RETURNS: None. SEE: begin_cam end_cam USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 122
am cam cam cam
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
cam_data SYNTAX: label
cam_data
PARAMETERS: controller#
data_label master_scale
controller#,data_label,master_scale,data_scale
controller id# Range: MSC-250 1 to 2 MSC-850/32 1 to 8 MSC-850 1 to 8 MSC-800 1 to 8 Program label of the cam data. Number of times to right shift the master position as it is received by the controller. Range: 0 to 12 Master Scale Factor Cam array advances every 12 1 full turn 11 1/2 turn 10 1/4 turn 9 1/8 turn 8 1/16 turn 7 1/32 turn 6 1/64 turn 5 1/128 turn 4 1/256 turn 3 1/512 turn 2 1/1024 turn 1 1/2048 turn 0 1/4096 turn
data_scale
Number of times to left shift each data element. Range: 0 to 7
DESCRIPTION: The cam_data instruction provides the specified controller with its' master scale, data scale and cam data array location. When 'data_label' is dimensioned to reside within macroprogram memory, this instruction will also transfer the data array associated with 'data_label' to the specified controller. When 'data_label' is dimensioned to reside directly on the volatile memory of the axis controller, no transfer of data will occur. Data can be transferred to the controller memory using the let or let_byte instructions before and/or after the cam_data instruction has been issued. This instruction then serves as a pointer to that data array. More than 1 data array can be dimensioned per controller. RETURNS: None.
JUNE 1995
Page 123
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
cam_data (continued) SEE: begin_cam cam end_cam lock set_map let let_byte USAGE: MSC-250:c MSC-850/32: MSC-850: MSC-800:
Page 124
am_data cam_data cam_data cam_data
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
case SYNTAX label
case
PARAMETERS: num
num A integer value. Range :-32768 to 32767
DESCRIPTION: Used with the select instruction to designate a branch address. Each case value must be unique. EXAMPLE select
num case 1 . . exit_select case 2 . . exit_select default . . exit_select end_select
RETURNS: None. SEE: select default exit_select end_select USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
case case case case
Page 125
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
close SYNTAX: label
close
PARAMETERS: unit status
unit,status File identifier. Range: 1 to 8 Variable containing the result of the operation.
DESCRIPTION: This instruction closes a file that was opened via the create or open instructions. This instruction frees the 'unit' for use with another file. If the file was opened via the create instruction, a directory entry is written at this time. RETURNS: The return variable will be zero if the operation is successful. Non-zero status codes are described in Section 15.3.2. SEE: write open read create initialize get_space get_volume save load USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 126
close close close close
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
clr_all_swi SYNTAX: label
clr_all_swi
PARAMETERS: None. DESCRIPTION: Disables and clears all 32 (0 through 31) software interrupts. RETURNS: None. SEE: swi_if_on swi_if_off clr_swi enable_swi disable_swi set_swi_mask USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
clr_all_swi clr_all_swi clr_all_swi N/A
Page 127
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
clr_bit SYNTAX: label
clr_bit
PARAMETERS: bit# variable
bit#,variable Number of the bit within the 4 byte variable to be cleared to off (logic 0). Range: 0 to 31 The 4 byte area in memory affected by this instruction.
DESCRIPTION: The specified bit will be cleared (logic 0). If that bit has been previously cleared, it will remain cleared. If that bit was previously set (logic 1), it will now be cleared. This instruction has no effect on the remaining bits of this 4-byte variable. This instruction will be ignored if 'bit#' is outside the range of 0 to 31. RETURNS: None. SEE: set_bit USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 128
clr_bit clr_bit clr_bit N/A
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
clr_flag SYNTAX: label
clr_flag
PARAMETERS: user_flag#
user_flag# Number of the user flag to be cleared. Range: 208 to 255
DESCRIPTION: Clears the specified user flag. RETURNS: None. SEE: set_flag USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
clr_flag clr_flag clr_flag clr_flag
Page 129
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
clr_hi_scan SYNTAX: label
clr_hi_scan
PARAMETERS: None. DESCRIPTION: Clears a previously executed 'set_hi_scan' instruction. Sets the I/O Expander scan rate to every 12msec per expander. i.e.(1 expander - scan rate is every 12msec 2 expanders - scan rate is every 24msec 3 expanders - scan rate is every 36msec 4 expanders - scan rate is every 48msec) RETURN: None. SEE: set_hi_scan USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 130
N/A clr_hi_scan N/A N/A
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
clr_local SYNTAX: label
clr_local
PARAMETERS: controller#
controller# controller id # Range: MSC-250 MSC-850/32 MSC-850 MSC-800
1 to 3 1 to 8 1 to 8 1 to 9
DESCRIPTION: Clears the current local zero position and causes the specified controller card to use the current global zero as the absolute zero position. RETURNS: None. SEE: set_local USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
clr_local clr_local clr_local clr_local
Page 131
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
clr_swi SYNTAX: label
clr_swi
PARAMETERS: interrupt#
interrupt# Interrupt number. Range: 0 to 31
DESCRIPTION: Purges a previously defined software interrupt. RETURNS: None. SEE: clr_all_swi enable_swi disable_swi swi_if_on swi_if_off set_swi_mask USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 132
clr_swi clr_swi clr_swi clr_swi
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
create SYNTAX: label
create
PARAMETERS: unit file_name status
unit,file_name,status File identifier. Range: 1 to 8 Label of the text statement containing the file name. Variable containing the result of the operation.
DESCRIPTION: This instruction creates a new file on the EPROM and prepares to write data in the file. The MSC will associate the file name with the unit identifier and will set the file record pointer to the beginning of the file. Only 1 file may be written to at one time. RETURNS: The return variable will be zero if the operation is successful. Non-zero status codes are described in Section 15.3.2. SEE: open close write initialize get_space get_volume load save USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
create create create create
Page 133
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
data SYNTAX: label
data
PARAMETERS: value
value,value,etc. 32-bit constant Range :-2,147,483,648 to +2,147,483,647
DESCRIPTION: Specifies 32-bit values. More than 1 value may be contained in a statement. EXAMPLE profile
begin_data data data end_data
200,100,4096 0,100,4096
RETURNS: None. SEE: begin_data end_data USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 134
data data data data
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
declare SYNTAX: label
declare
PARAMETERS: mode
mode This entry can be only ON or OFF.
DESCRIPTION: This is a directive to the MSC Toolkit Compiler. If 'mode' is ON, the Compiler will expect that all variables, text strings, equates etc. will be declared by the programmer. They will not be automatically created by the Compiler. If 'mode' is OFF, the Compiler will automatically create data space for those variables used but not declared. The Compiler will assume that 'mode' is OFF if this instruction is not included in the macroprogram. RETURNS: None. SEE: No related instructions. USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
declare declare declare declare
Page 135
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
default SYNTAX: label
default
PARAMETERS: None. DESCRIPTION: Used with the select instruction to designate a group of statements which are executed if none of the case statements produce a match. EXAMPLE select
x case 1 . . exit_select case 2 . . exit_select default exit_select
end_select RETURNS: None. SEE: select end_select exit_select case USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 136
default default default default
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
digi_comp SYNTAX: label
digi_comp
PARAMETERS: controller#
gain integral damp
controller#,gain,integral,damp
controller id# Range: MSC-250 MSC-850/32 MSC-850 MSC-800 Range: 1 to 255 Range: 0 to 255 Range: -128 to +127
1 to 2 1 to 8 1 to 8 1 to 8
DESCRIPTION: Set digital compensation values. Default values for these parameters are: gain = 16 integral = 0 damp = 0 It is not necessary to use this instruction if you are using conventional compensation methods. RETURNS: None. SEE: set_vgain USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
digi_comp digi_comp digi_comp digi_comp
Page 137
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
dim SYNTAX: label label
dim or dim
PARAMETERS: size controller#
size controller#,size Number of 32-bit storage locations to reserve. controller id# Range: MSC-250 MSC-850/32 MSC-850
1 to 2 1 to 8 1 to 8
DESCRIPTION: This statement allocates the indicated number of storage locations to the name 'label'. In the MSC-850 and MSC-250, this instruction may be used to allocate all or part of the 28K of controller memory. This instruction requires a 'label'. RETURNS: None. SEE: No related instructions. USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 138
dim dim dim dim
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
disable_hwi SYNTAX: label
disable_hwi
PARAMETERS: controller#
controller#
controller id# Range: MSC-250 MSC-850/32 MSC-850
1 to 2 1 to 8 1 to 8
DESCRIPTION: Terminates scanning of the hardware interrupt signal in the specified axis controller. Also clears the appropriate HWI ARMED status in the controller. RETURNS: None. SEE: enable_hwi USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
disable_hwi disable_hwi disable_hwi N/A
Page 139
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
disable_swi SYNTAX: label
disable_swi
PARAMETERS: None. DESCRIPTION: Disables software interrupt processing. RETURNS: None. SEE: enable_swi swi_if_on swi_if_off clr_swi clr_all_swi set_swi_mask USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 140
disable_swi disable_swi disable_swi swi_off
JUNE 1995
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
drive_on SYNTAX: label
drive_on
PARAMETERS: controller#
controller#
controller id# Range: MSC-250 MSC-850/32 MSC-850 MSC-800
1 to 2 1 to 8 1 to 8 1 to 8
DESCRIPTION: Reset all motor fault conditions and turns on the servo amplifier. All controllers must be enabled at least once prior to executing any motion instructions. A controller initializes to "reset mode" on power-up. Regarding MSC-850 and MSC-850/32 systems, if an axis controller card is currently in "analog mode" when a drive_on instruction is executed, "analog mode" will be disabled and "position loop mode" will be enabled.
RETURNS: None. SEE: drive_off, set_mcf set_mcf (ACR-850 or ACE-850 or ACY-850 cards) set_mcf (MSC-250 controller 1 and 2) USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 142
drive_on drive_on drive_on enable
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
enable_hwi SYNTAX: label
enable_hwi
PARAMETERS: The instruction immediately following enable_hwi. DESCRIPTION: This instruction, when used with supported 'hardware interrupt' instructions, will enable scanning at the specified motion controller for the 'hardware interrupt' signal to be activated. When the 'hardware interrupt' signal is detected, the specified instruction will immediately be executed. The MSC Toolkit Compiler will associate the instruction that follows 'enable_hwi' as the instruction to be executed. The following instructions are currently supported: enable_hwi over_draw
controller id#,speed,limit,distance
enable_hwi trap_pos
controller id#
enable_hwi ratio
controller id#,ratio
enable_hwi lock
controller id#,lock type
enable_hwi position
controller id#,abs_position
enable_hwi index
controller id#,distance
enable_hwi exec_profile
controller id#
enable_hwi f_decel
controller id#
The HWI ARMED status in the controller will be on after this instruction has been executed. RETURNS: None.
JUNE 1995
Page 143
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
enable_hwi (continued) SEE: disable_hwi over_draw trap_pos ratio position index lock exec_profile f_decel USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 144
enable_hwi enable_hwi enable_hwi N/A
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
enable_swi SYNTAX: label
enable_swi
PARAMETERS: None. DESCRIPTION: Enables software interrupt processing. RETURNS: None. SEE: disable_swi swi_if_on swi_if_off clr_swi clr_all_swi set_swi_mask USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
enable_swi enable_swi enable_swi swi_on
Page 145
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
end_cam SYNTAX: label
end_cam
PARAMETERS: None. DESCRIPTION: Signals the end of a data area containing incremental cam data. Each begin_cam instruction must have a corresponding end_cam instruction. Automatically places an end of cam value (80 hex) in the cam array. EXAMPLE cam_array
begin_cam cam cam cam end_cam
1,2,3,4,5 6,6,6,6,6 5,4,3,2,1
RETURNS: None. SEE: begin_cam cam USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 146
end_cam end_cam end_cam end_cam
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
end_data SYNTAX: label
end_data
PARAMETERS: None. DESCRIPTION: Signals the end of a data array area. Each begin_data instruction must have a corresponding end_data instruction. EXAMPLE profile
begin_data data data end_data
100,200,4096 0,200,4096
RETURNS: None. SEE: begin_data data USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
end_data end_data end_data end_data
Page 147
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
end_select SYNTAX: label
end_select
PARAMETERS: None. DESCRIPTION: Used to end a group of select/case statements. end_select statement.
Each select statement must have a corresponding
RETURNS: None. SEE: select case exit_select default USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 148
end_select end_select end_select end_select
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
equ SYNTAX: label
equ
constant_expression
PARAMETERS: constant_expression
A 32-bit number or expression.
DESCRIPTION: The equ instruction assigns a symbol to a number or mathematic expression. The MSC Toolkit Compiler replaces each occurrence of 'label' with the assigned number. numbers are allowed in expressions but any resulting fraction will be truncated.
Fractional
This instruction requires a 'label'. RETURNS: None. SEE: text integer USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
equ equ equ equ
Page 149
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
exec_profile SYNTAX: label
exec_profile
PARAMETERS: controller#
controller#
controller id# Range: MSC-250 MSC-850/32 MSC-850 MSC-800
1 to 3 1 to 8 1 to 8 1 to 9
DESCRIPTION: Executes a previously defined piece-wise profile. While the profile is executing, the get_pstat instruction may be used to determine the profile segment currently running. This instruction sets the controller status flags AXIS BUSY and MOTOR INDEXING. These flags remain set until a f_decel instruction causes the motor to reach zero speed or the profile is completed. This instruction will be ignored if no valid data has been transmitted to the controller via the prep_profile instruction. This instruction will be ignored if the controller has not received a drive_on instruction, or if the controller is busy executing a motion instruction. If the instruction cannot be executed, the axis status flag COMMAND INVALID IN THIS STATE will be set. This flag will automatically be cleared by the controller at the next communication between the main processor and the axis controller. In the MSC-850 and the MSC-800, this occurs automatically every 100 milliseconds even if no Macroprogram instruction directs communication to occur. RETURNS: None. SEE: prep_profile get_pstat USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 150
exec_profile exec_profile exec_profile exec_profile
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
exit_select SYNTAX: label
exit_select
PARAMETERS: None. DESCRIPTION: Used to end a group of statements being executed within a particular case statement. Causes program control to transfer to the statement following the end_select statement. Each case statement must have a corresponding exit_select statement. EXAMPLE select case
1
. exit_select case
2
. exit_select default . exit_select end_select RETURNS: None. SEE: select case end_select default USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
exit_select exit_select exit_select exit_select
Page 151
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
f_decel SYNTAX: label
f_decel
PARAMETERS: controller#
controller# controller id# Range: MSC-250 MSC-850/32 MSC-850 MSC-800
1 to 3 1 to 8 1 to 8 1 to 9
DESCRIPTION: The specified controller will be commanded to stop its motion at the last set accel/decel rate. If its motion is currently stopped, f_decel has no effect. The controller status flag FORCE DECEL IN PROGRESS is set by this instruction. It remains set until the controller's motion reaches zero speed. A mode zero unlock will occur if the controller is currently in a master/slave lock. If this instruction is directed to an analog controller (i.e. ACM-850), all outputs will slew to zero. A f_decel instruction is automatically sent to all controller cards whenever a sys_fault or a sys_return instruction is executed. RETURNS: None. SEE: unlock USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 152
f_decel f_decel f_decel f_decel
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
find_mrk_ccw SYNTAX: label
find_mrk_ccw
PARAMETERS: controller#
Counts
controller#,counts
controller id# Range: MSC-250 1 to 2 MSC-850/32 1 to 8 MSC-850 1 to 8 The line count of the encoder multiplied by 4. Range: 2048, 4096, 8192 or 16384 counts only.
DESCRIPTION: The ACE-850 power-up routine sets the ACE-850 to a local mode. This means that the encoder is initially sitting at a 0.0 reference location. This instruction is used to change the 0.0 reference location to be at the marker. Executing this instruction causes the motor shaft to jog in the counter-clockwise direction (at the previously defined accel/decel rate and speed) until the encoder marker is detected. At the moment the marker is detected: 1) the internal turn/position counters will be zeroed 2) the motor will do a forced deceleration to zero speed At the completion of the deceleration: 1) the 'bit loss/auto correction' feature will be enabled 2) the position counter is now relative to the marker (i.e. a position to 0.0 will move the motor to the marker) Before using this instruction, the programmer should do the following: 1) turn the motor/drive unit on using the drive_on instruction 2) set the accel/decel rate, using the set_ac_dc instruction 3) set the motor speed, using the set_speed instruction NOTE: This instruction is ONLY valid for line counts of 512, 1024, 2048 and 4096. RETURNS: None. SEE: find_mrk_cw USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
find_mrk_ccw find_mrk_ccw find_mrk_ccw N/A
Page 153
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
find_mrk_cw SYNTAX: label
find_mrk_cw
PARAMETERS: controller#
counts
controller#,counts
controller id# Range: MSC-250 1 to 2 MSC-850/32 1 to 8 MSC-850 1 to 8 The line count of the encoder multiplied by 4. Range: 2048, 4096, 8192 or 16384 counts only.
DESCRIPTION: The ACE-850 power-up routine sets the ACE-850 to a local mode. This means that the encoder is initially sitting at a 0.0 reference location. This instruction is used to change the 0.0 reference location to be at the marker. Executing this instruction causes the motor shaft to jog in the clock-wise direction (at the previously defined accel/decel rate and speed) until the encoder marker is detected. At the moment the marker is detected: 1) the internal turn/position counters will be zeroed 2) the motor will do a forced deceleration to zero speed At the completion of the deceleration: 1) the 'bit loss/auto correction' feature will be enabled 2) the position counter is now relative to the marker (i.e. a position to 0.0 will move the motor to the marker) Before using this instruction, the programmer should do the following: 1) turn the motor/drive unit on using the drive_on instruction 2) set the accel/decel rate, using the set_ac_dc instruction 3) set the motor speed, using the set_speed instruction NOTE: This instruction is ONLY valid for line counts of 512, 1024, 2048 and 4096. RETURNS: None. SEE: find_mrk_ccw USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 154
find_mrk_cw find_mrk_cw find_mrk_cw N/A
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
find_tm_ccw SYNTAX: label
find_tm_ccw
PARAMETERS: controller# MSC-8501 to 8 counts
controller#,counts
controller id# Range: MSC-2501 to 2 MSC-850/321 to 8 The line count of the encoder multiplied by 4. Range: 2048, 4096, 8192 or 16384 counts only.
DESCRIPTION: The ACE-850 power-up routine sets the ACE-850 to a local mode. This means that the encoder is initially sitting at a 0.0 reference location. This instruction is used to change the 0.0 reference location to be at the marker. This instruction is used for markers which stay on for 180 degrees. Executing this instruction causes the motor shaft to jog in the counter-clockwise direction (at the previously defined accel/decel rate and speed) until the encoder marker is detected. At the moment the marker is detected: 1) the internal turn/position counters will be zeroed 2) the motor will do a forced deceleration to zero speed At the completion of the deceleration: 1) the 'bit loss/auto correction' feature will be enabled 2) the position counter is now relative to the marker (i.e. a position to 0.0 will move the motor to the marker) Before using this instruction, the programmer should do the following: 1) turn the motor/drive unit on using the drive_on instruction 2) set the accel/decel rate, using the set_ac_dc instruction 3) set the motor speed, using the set_speed instruction NOTE: This instruction is ONLY valid for line counts of 512, 1024, 2048 and 4096. RETURNS: None. SEE: find_tm_cw USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800
JUNE 1995
find_tm_ccw find_tm_ccw find_tm_ccw :N/A
Page 155
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
find_tm_cw SYNTAX: label
find_tm_cw
PARAMETERS: controller#
counts
controller#,counts
controller id# Range: MSC-250 1 to 2 MSC-850/32 1 to 8 MSC-850 1 to 8 The line count of the encoder multiplied by 4. Range: 2048, 4096, 8192 or 16384 counts only.
DESCRIPTION: The ACE-850 power-up routine sets the ACE-850 to a local mode. This means that the encoder is initially sitting at a 0.0 reference location. This instruction is used to change the 0.0 reference location to be at the marker. This instruction is used for markers which stay on for 180 degrees. Executing this instruction causes the motor shaft to jog in the clock-wise direction (at the previously defined accel/decel rate and speed) until the encoder marker is detected. At the moment the marker is detected: 1) the internal counters will be set to -(counts/2) (i.e. the actual 0.00 point is 180 degrees clockwise away, this insures that the instructions find_tm_cw and find_tm_ccw find the same 0.00 reference location) 2) the motor will do a forced deceleration to zero speed At the completion of the deceleration: 1) the 'bit loss/auto correction' feature will be enabled 2) the position counter is now relative to the marker (i.e. a position to 0.0 will move the motor to the marker) Before using this instruction, the programmer should do the following: 1) turn the motor/drive unit on using the drive_on instruction 2) set the accel/decel rate, using the set_ac_dc instruction 3) set the motor speed, using the set_speed instruction NOTE: This instruction is ONLY valid for line counts of 512, 1024, 2048 and 4096. RETURNS: None. SEE: find_tm_ccw USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 156
find_tm_cw find_tm_cw find_tm_cw N/A
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
get_act_spd SYNTAX: label
get_act_spd
PARAMETERS: controller#
variable
controller#,variable
controller id# Range: MSC-250 1 to 3 MSC-850/32 1 to 8 MSC-850 1 to 8 Current motion controller speed in RPM. (4096 bits per revolution are assumed)
DESCRIPTION: Returns the actual speed at the motor shaft of the specified motion controller (in RPM) into 'variable'. RETURNS: Actual axis speed. SEE: No related instructions. USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
get_act_spd get_act_spd get_act_spd get_mspd (get master axis speed)
Page 157
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
get_angle SYNTAX: label
get_angle
PARAMETERS: controller#
variable
controller#,variable
controller ID # Range: MSC-250 1 to 2 MSC-850/32 1 to 8 MSC-850 1 to 8 The current angle of the master axis driving this controller in master/slave lock.
DESCRIPTION: Returns the current angle of the master axis driving this axis controller in master/slave lock. RETURNS: master angle SEE: get_for_ang USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800
Page 158
get_angle get_angle get_angle :N/A
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
get_angle (MSC-850/HPL-850) SYNTAX: label
get_angle
PARAMETERS: controller# variable
controller#,variable
controller ID # Range: MSC-850/32 1 to 8 MSC-850 1 to 8 The value of the HPL-850 accumulator.
DESCRIPTION: Returns the current HPL-850 accumulator. RETURNS: The current HPL-850 accumulator value is placed into 'variable'. SEE: preset USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
N/A get_angle get_angle N/A
Page 159
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
get_cam_cnt SYNTAX: label
get_cam_cnt
PARAMETERS: controller#
variable
controller#,variable
controller id# Range: MSC-250 1 to 2 MSC-850/32 1 to 8 MSC-850 1 to 8 The returned cam counter.
DESCRIPTION: Returns the number of executions of the currently executing cam. The cam counter is incremented when the cam pointer rolls over from last element to first element, and is decremented each time the cam pointer rolls over from first element to last element. RETURNS: The number of times this cam has been executed. This value is signed 32-bit number. SEE: No related instructions. USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 160
get_cam_cnt get_cam_cnt get_cam_cnt N/A
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
get_cam_end SYNTAX: label
get_cam_end
PARAMETERS: controller#
variable
controller#,variable
controller id# Range: MSC-250 1 to 2 MSC-850/32 1 to 8 MSC-850 1 to 8 The last element in the current cam.
DESCRIPTION: Returns the ending location of the cam currently being executed, relative to the axis card memory location zero. RETURNS: Returns the element number of the last value in the current cam. SEE: switch_cam get_cam_strt get_cam_count USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
get_cam_end get_cam_end get_cam_end N/A
Page 161
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
get_cam_ptr SYNTAX: label
get_cam_ptr
PARAMETERS: controller#
variable
controller#,variable
controller id# Range: MSC-250 1 to 2 MSC-850/32 1 to 8 MSC-850 1 to 8 MSC-800 1 to 8 Returned cam array member.
DESCRIPTION: Stores the cam array element relative to the beginning of the current cam into a variable. RETURNS: The number of the current cam element. SEE: set_cam_ptr USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800
Page 162
get_cam_ptr get_cam_ptr get_cam_ptr :store_frm
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
get_cam_strt SYNTAX: label
get_cam_strt
PARAMETERS: controller#
variable
controller#,variable
controller id# Range: MSC-250 1 to 2 MSC-850/32 1 to 8 MSC-850 1 to 8 The first element in the current cam.
DESCRIPTION: Retrieves the starting location of the cam currently executed, relative to axis memory location zero. RETURNS: The first element of the current cam relative to axis controller memory zero. SEE: get_cam_end get_cam_count USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
get_cam_strt get_cam_strt get_cam_strt N/A
Page 163
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
get_cam_sum SYNTAX: label
get_cam_sum
PARAMETERS: controller#
variable
controller#,variable
controller id# Range: MSC-250 1 to 2 MSC-850/32 1 to 8 MSC-850 1 to 8 Returned sum of cam elements.
DESCRIPTION: Returns the result of the last calc_cam_sum instruction in 'variable'. This instruction may be executed after the instruction 'calc_cam_sum' has been executed, and the axis status flag 'CALCULATING' has gone from ON to OFF. RETURNS: The calculated cam sum. SEE: calc_cam_sum USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 164
get_cam_sum get_cam_sum get_cam_sum N/A
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
get_com SYNTAX: label
get_com
PARAMETERS: controller#
variable
controller#,variable
controller id# Range: MSC-250 MSC-850/32 MSC-850 Returned position.
1 to 3 1 to 8 1 to 8
DESCRIPTION: Gets the absolute commanded motor position of the specified controller and places this position in 'variable'. In the MSC-850/32, MSC-850 and MSC-800 controllers, position is a signed 24 bit number. In the MSC250, position is a signed 32-bit number. RETURNS: Axis controllers commanded position. SEE: get_pos USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
get_com get_com get_com store_com
Page 165
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
get_fol_err SYNTAX: label
get_fol_err
PARAMETERS: controller#
variable
controller#,variable
controller id# Range: MSC-250 1 to 2 MSC-850/32 1 to 8 MSC-850 1 to 8 The current following error angle.
DESCRIPTION: Returns the current following error angle. This value is the difference between the current commanded position and the current actual position and is represented as a signed value with a normal range of " 4095. Altering the digital gain to less than 16 may result in a value, which exceeds normal range. CCW will return negative values, and CW motion will return positive values. RETURNS: Returns the current difference between the axis commanded and actual positions. SEE: No related instructions. USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 166
get_fol_err get_fol_err get_fol_err N/A
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
get_for_ang SYNTAX: label
get_for_ang
PARAMETERS: controller#
channel# variable
controller#,channel#,variable
controller id# Range: MSC-250 Always 3 MSC-850/32 1 to 8 MSC-850 1 to 8 Range: MSC-250 Always 1 MSC-850/32 1 to 2 MSC-850 1 to 2 The current fiber optic angle.
DESCRIPTION: Returns the current fiber optic angle for the specified channel. RETURNS: Fiber optic angle. This value is a signed 16-bit number with the range -32768 to +32767. SEE: No related instructions. USAGE: MSC-250: MSC-850/32: MSC-850:g MSC-800:
JUNE 1995
get_for_ang get_for_ang et_for_ang N/A
Page 167
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
get_map SYNTAX: label
get_map
PARAMETERS: variable
variable
The currently defined map value.
DESCRIPTION: Queries the current definition of the master angle bus communication configuration defined by the last set_map instruction. RETURNS: Returns the current master angle bus configuration. The variable may be interpreted as follows:
MSC-850 MASTER ANGLE BUS CONFIGURATION CHART
Page 168
JUNE 1995
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
get_map_stat SYNTAX: label
get_map_stat
PARAMETERS: variable
variable
Returned 'map' status.
DESCRIPTION: 'map' is an acronym for Master Angle Passing. Returns the status of the last set_map instruction. Status Description ------------------------------------------------0 Valid 'map' value. 1 More than 1 transmitter on Bus 'A'. 2 More than 1 transmitter on Bus 'B'. RETURNS: Status of last set_map instruction executed. SEE: set_map USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 170
get_map_stat get_map_stat get_map_stat N/A
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
get_mcf SYNTAX: label
get_mcf
PARAMETERS: controller#
variable
controller#,variable controller id# Range: MSC-250 Always 3 MSC-850/32 1 to 8 MSC-850 1 to 8 The currently defined 'mcf' value.
DESCRIPTION: 'mcf' is an acronym for Multi Function Controller. Returns the current definition of the specified multi function controller card, as defined by the last valid set_mcf instruction. This 4-byte variable is used as shown in the following diagrams:
MCF-850 MULTI-FUNCTION CONFIGURATION
JUNE 1995
Page 171
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
get_mcf (continued)
MSC-250 MULTI-FUNCTION CONFIGURATION
SEE: set_mcf USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 172
get_mcf get_mcf get_mcf N/A
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
get_pls_mask SYNTAX: label
get_pls_mask
PARAMETERS: controller#
variable
controller#,variable
controller id# Range: MSC-250 Always 3 MSC-850/32 1 to 8 MSC-850 1 to 8 The currently defined 'pls' mask value.
DESCRIPTION: 'pls' is an acronym for Programmable Limit Switch. Returns the currently defined 'pls' mask value into 'variable', as defined by the last set_pls_mask instruction. Only the low order 3 bytes are used. RETURNS: The currently defined pls mask. SEE: set_pls_mask USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
get_pls_mask get_pls_mask get_pls_mask N/A
Page 173
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
get_pls_out SYNTAX: label
get_pls_out
PARAMETERS: controller#
variable
controller#,variable
controller id# Range: MSC-250 Always 3 MSC-850/32 1 to 8 MSC-850 1 to 8 The current state of the 'pls' output modules.
DESCRIPTION: 'pls' is an acronym for Programmable Limit Switch. Returns the current state of the 'pls' output modules into 'variable'. A bit on (logic 1) indicates that the associated module is 'on'. A bit off (logic 0) indicates that the associated output is 'off'. Only the low order 3 bytes are used. Bits 0 to 15 are the hardware 'pls' flags. Bits 16 to 23 are the internal 'pls' flags. RETURNS: Current state of PLS outputs. SEE: set_pls_ang set_pls_mask USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 174
get_pls_out get_pls_out get_pls_out N/A
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
get_pq_space SYNTAX: label
get_pq_space
PARAMETERS: variable
variable
Return variable.
DESCRIPTION: Returns the number of bytes available in the output buffer. There is one buffer for all ports. If another 'port_set' instruction is executed, the previous prints still get executed. The size of the buffer is 3060 bytes. Any 'prints' executed which exceed the size of the buffer are lost. RETURNS: Number of available bytes in the output buffer. SEE: port_set USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
get_pq_space get_pq_space N/A N/A
Page 175
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
get_pos SYNTAX: label
get_pos
PARAMETERS: controller#
variable
controller#,variable controller id# Range: MSC-250 MSC-850/32 MSC-850 MSC-800 Returned position.
1 to 3 1 to 8 1 to 8 1 to 8
DESCRIPTION: Gets the absolute actual motor position of the specified controller and places this position in 'variable'. The position is a signed 24-bit value. RETURNS: The current actual motor position. SEE: get_com USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 176
get_pos get_pos get_pos store_pos
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
get_pstat SYNTAX: label
get_pstat
PARAMETERS: controller#
status
controller#,status
controller id# Range: MSC-250 MSC-850/32 MSC-850 MSC-800 Returned status.
1 to 3 1 to 8 1 to 8 1 to 9
DESCRIPTION: Returns the calculation or running status of a Piecewise profile. A.
After a profile calculation has been performed, get_pstat is used to check the results of the calculations. If there were no errors, 'status' is zero. If any part of the calculations failed, then get_pstat will return a calculation error code and the number of the profile segment that caused the error as follows: Least significant byte: profile segment number in error Next significant byte: error code (see below)
B.
While a profile is executing, get_pstat returns the number of the profile segment that is being executed.
RETURNS: Error Codes: Code -----1 3
Meaning ---------Attempt to change profile direction. Insufficient distance for specified speed and/or acceleration.
The following example represents a 'status' where the profile segment number in error is 10 and the error code for that segment is 3: status: 778 (decimal)status:0000 030A (hexadecimal) SEE: prep_profile exec_profile USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
get_pstat get_pstat get_pstat get_pstat
Page 177
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
get_space SYNTAX: label
get_space
PARAMETERS: unit space status
unit,space,status
File identifier. Range: 1 to 8 Variable containing the number of remaining bytes. Variable containing the result of the operation.
DESCRIPTION: This instruction returns to 'space' the number of remaining bytes (characters) in the EPROM. RETURNS: The return variable will be zero if the operation is successful. Non-zero status codes are described in Section 15.3.2. SEE: open close write create initialize read get_volume load save USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 178
get_space get_space get_space get_space
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
get_status SYNTAX: label
get_status
PARAMETERS: controller#
controller#
controller ID # Range: MSC-850/32 MSC-850 MSC-800
1 to 8 1 to 8 1 to 8
DESCRIPTION: Updates the axis status flags for the specified controller. This insures the axis status flags contain the most current information. In the MSC-850/32, MSC-850, and MSC-800, if this instruction is not used, the axis status flags are automatically updated every 100 milliseconds. RETURNS: None. SEE: No related instructions. USAGE: MSC-250: MSC-850/32: MSC-850: MSC_800:
JUNE 1995
N/A get_status get_status get_status
Page 179
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
get_t_mark SYNTAX: label
get_t_mark
PARAMETERS: controller#
state
controller#,state
controller id# Range: MSC-250 1 to 2 MSC-850/32 1 to 8 MSC-850 1 to 8 The current marker state. Range: 0 or 1
DESCRIPTION: The value of 'state' will be either one (1) if the marker is on or zero (0) if the marker is off. RETURNS: The current state of the encoder marker. SEE: find_tm_cw find_tm_ccw find_mrk_cw find_mrk_ccw USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 180
get_t_mark get_t_mark get_t_mark N/A
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
get_time SYNTAX: label
get_time
PARAMETERS: variable
variable
Returned time.
DESCRIPTION: Return the current system time in 'variable'. The 'variable' is an unsigned 32-bit data value. The resolution of the timer is 5 milliseconds. The timer will reset to 0 during system power up. RETURNS: Current system time from power-up. SEE: set_tmr USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800
JUNE 1995
get_time get_time get_time :store_time
Page 181
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
get_trap_pos SYNTAX: label
get_trap_pos
PARAMETERS: controller#
variable
controller#,variable
controller id# Range: MSC-250 MSC-850/32 MSC-850 Returned position. Range: MSC-850/32 MSC-850 MSC-250
1 to 2 1 to 8 1 to 8 (-2048*4096) to (+2048*4096)-1 bits (-2048*4096) to (+2048*4096)-1 bits (-524287*4096) to (+524287*4096)-1 bits
DESCRIPTION: Returns the actual motor position of the specified controller (saved by executing the last trap_pos instruction) into 'variable'. RETURNS: Returns last trapped position. SEE: trap_pos enable_hwi USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 182
get_trap_pos get_trap_pos get_trap_pos N/A
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
get_volume SYNTAX: label
get_volume
PARAMETERS: unit data_area status
unit,data_area,status
File identifier. Range: 1 to 8 Label of a 'text' instruction. Variable containing the result of the operation.
DESCRIPTION: This instruction reads the EPROM label area and places this volume name in the 'data_area'. The volume name can be from 1 to 15 characters. RETURNS: The return variable will be zero if the operation is successful. Non-zero status codes are described in Section 15.3.2. SEE: None. USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
get_volume get_volume get_volume get_volume
Page 183
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
gosub SYNTAX: label
gosub
subroutine_label
PARAMETERS: subroutine_label Program label of the subroutine. DESCRIPTION: Branches to the specified address. When a return_sub instruction is executed the program branches to the instruction following the gosub instruction. The MSC provides 20 levels of subroutine nesting. The STACK OVERFLOW status flag will be set if more than 20 levels are used. RETURNS: None. SEE: goto USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 184
gosub gosub gosub gosub
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
goto SYNTAX: label
goto
PARAMETERS: address_label
address_label Label where execution will continue.
DESCRIPTION: Branches to the specified address label. RETURNS: None. SEE: gosub USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
goto goto goto goto
Page 185
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
if SYNTAX: label
if
PARAMETERS: compare1 operator compare2 address_label
compare1 operator compare2,address_label Variable or constant to be compared. Type of comparison to be performed. Variable or constant to be compared. Branch address if comparison is true.
DESCRIPTION: Performs arithmetic comparison and causes branching to the specified address if the comparison is true. If the comparison is false, no branching occurs and execution continues with the next instruction. Operator symbols ---------= <> > < >= <=
Description --------------Equal to Not equal to Greater than Less than Greater than or equal to Less than or equal to
RETURNS: None. SEE: No related instructions. USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 186
if if if if
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
if_bit_clr SYNTAX: label
if_bit_clr
PARAMETERS: bit# variable address_label
bit#,variable,address_label
Bit number of the 4-byte variable to be tested. Range:0 to 31 The 4-byte variable to be tested. Branch address.
DESCRIPTION: Branch to the specified address if the specified bit is cleared (logic 0). If the bit tested is on (logic 1), no branching occurs and execution continues with the next instruction. This instruction will be ignored if 'bit#' is outside the range of 0 to 31. RETURNS: None. SEE: if_bit_set USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
if_bit_clr if_bit_clr if_bit_clr N/A
Page 187
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
if_bit_set SYNTAX: label
if_bit_set
PARAMETERS: bit# variable address_label
bit#,variable,address_label
Bit number of the 4-byte variable to be tested. Range:0 to 31 The 4-byte variable to be tested. Branch address.
DESCRIPTION: Branch to the specified address if the specified bit is set to on (logic 1). If the bit tested is off (logic 0), no branching occurs and execution continues with the next instruction. This instruction will be ignored if 'bit#' is outside the range of 0 to 31. RETURNS: None. SEE: if_bit_clr USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 188
if_bit_set if_bit_set if_bit_set N/A
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
if_char SYNTAX: label
if_char
PARAMETERS: port#
address_label
port#,address_label MSC communications port number. Range: MSC-250 1,2,3 MSC-850/32 0I,0R,0,1,2,3 MSC-850 0,2 MSC-800 0,2 Branch address.
DESCRIPTION: Branches to the specified address if characters are sensed at the specified port. If no characters are sensed, execution continues with the next instruction. RETURNS: None. SEE: if_no_char USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
if_char if_char if_char if_input_on
Page 189
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
if_flag_off SYNTAX: label
if_flag_off
PARAMETERS: user_flag# address_label
user_flag#,address_label
Flag number to test. Range: 208 to 255 Branch address.
DESCRIPTION: Branch to the specified address if the specified user flag is off. If the user flag is on, no branching occurs and execution continues with the next instruction. RETURNS: None. SEE: if_flag_on USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 190
if_flag_off if_flag_off if_flag_off if_flag_off
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
if_flag_on SYNTAX: label
if_flag_on
PARAMETERS: user_flag# address_label
user_flag#,address_label
Flag number to test. Range: 208 to 255 Branch address.
DESCRIPTION: Branch to the specified address if the specified user flag is on. If the user flag is not on, no branching occurs and execution continues with the next instruction. RETURNS: None. SEE: if_flag_off USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
if_flag_on if_flag_on if_flag_on if_flag_on
Page 191
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
if_io_off SYNTAX: label
if_io_off
PARAMETERS: I/O flag#
address_label
I/O flag#,address_label Input or Output module number. Range: MSC-250 0 to 47 MSC-850/32 0 to 71 MSC-850 0 to 71 MSC-800 0 to 71 Branch address.
DESCRIPTION: Branches to the specified address if the specified I/O flag is off. If the I/O flag is on, branching does not occur and execution continues with the next instruction. RETURNS: None. SEE: if_io_on USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 192
if_io_off if_io_off if_io_off if_io_off
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
if_io_on SYNTAX: label
if_io_on
PARAMETERS: I/O flag#
address_label
I/O flag#,address_label Input or Output module number. Range: MSC-250 0 to 47 MSC-850/32 0 to 71 MSC-850 0 to 71 MSC-800 0 to 71 Branch address.
DESCRIPTION: Branches to the specified address if the specified I/O flag is on. If the I/O flag is off, branching does not occur and execution continues with the next instruction. RETURNS: None. SEE: if_io_off USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
if_io_on if_io_on if_io_on if_io_on
Page 193
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
if_no_char SYNTAX: label
if_no_char
PARAMETERS: port#
address_label
port#,address_label
MSC communications port number. Range: MSC-250 1,2,3 MSC-850/320 I,0R,0,1,2,3 MSC-850 0,2 MSC-800 0,2 Branch address.
DESCRIPTION: Branches to the specified address if no characters are sensed at the specified port. If characters are sensed, execution continues with the next instruction. RETURNS: None. SEE: if_char USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 194
if_no_char if_no_char if_no_char if_input_off
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
if_stat_off SYNTAX: label
if_stat_off
PARAMETERS: status_flag#
address_label
status_flag#,address_label
Controller status flag. Range: MSC-250 MSC-850/32 MSC-850 MSC-800 Branch address.
80 to 143 80 to 207 80 to 207 80 to 207
DESCRIPTION: Branches to the specified address label if the controller status flag indicated is off. If the controller status flag is on, branching does not occur and execution continues with the next instruction. RETURNS: None. SEE: if_stat_on USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
if_stat_off if_stat_off if_stat_off if_stat_off
Page 195
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
if_stat_on SYNTAX: label
if_stat_on
PARAMETERS: status_flag#
address_label
status_flag#,address_label
Controller status flag. Range: MSC-250 MSC-850/32 MSC-850 MSC-800 Branch address.
80 to 143 80 to 207 80 to 207 80 to 207
DESCRIPTION: Branches to the specified address label if the controller status flag indicated is on. If the controller status flag is off, branching does not occur and execution continues with the next instruction. RETURNS: None. SEE: if_stat_off USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 196
if_stat_on if_stat_on if_stat_on if_stat_on
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
if_tmr_off SYNTAX: label
if_tmr_off
PARAMETERS: timer_flag# address_label
timer_flag#,address_label
Timer flag number. Range: 72 to 79 Branch address.
DESCRIPTION: Branches to the specified address if the timer flag indicated is off. If the timer flag is on, branching does not occur and execution continues with the next instruction. RETURNS: None. SEE: set_tmr if_tmr_on USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
if_tmr_off if_tmr_off if_tmr_off if_tmr_off
Page 197
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
if_tmr_on SYNTAX: label
if_tmr_on
PARAMETERS: timer_flag# address_label
timer_flag#,address_label
Timer flag number. Range: 72 to 79 Branch address.
DESCRIPTION: Branches to the specified address if the timer flag indicated is on. If the timer flag is off, branching does not occur and execution continues with the next instruction. RETURNS: None. SEE: set_tmr if_tmr_off USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 198
if_tmr_on if_tmr_on if_tmr_on if_tmr_on
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
incr_com SYNTAX: label
incr_com
PARAMETERS: controller#
bits Interrupts
controller#,bits,interrupts
controller id# Range: MSC-250 1 to 2 MSC-850/32 1 to 8 MSC-850 1 to 8 The incremental value, in bits, to be added to the commanded position. The number of motor interrupts to move the distance specified in 'bits'. Motor interrupts occur every 1 ms in the MSC-850/32 & MSC-850 and every 500 μs in the MSC-250.
DESCRIPTION: This instruction calculates the number of bits to be added to the commanded position, each motor interrupt as a result of the calculations 'bits/motor interrupts'. Resulting accel/decel rates are not limited. 'bits' may be signed for direction. RETURNS: None. SEE: No related instructions. USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
incr_com incr_com incr_com N/A
Page 199
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
index SYNTAX: label
index
PARAMETERS: controller#
distance
controller#,distance controller id# Range: MSC-250 1 to 3 MSC-850/32 1 to 8 MSC-850 1 to 8 MSC-800 1 to 9 Incremental number of bits to move. Range: MSC-250 (-524287*4096) to (+524287*4096) -1 MSC-850/32 (-2048 * 4096) to (+2048 * 4096) -1 MSC-850 (-2048 * 4096) to (+2048 * 4096) -1 MSC-800 (-2048 * 4096) to (+2048 * 4096) -1
DESCRIPTION: Commands the specified controller to index the motor the distance given. The speed of the move is determined by the previously set accel/decel rate and speed. The MSC has a resolution of 4096 bits per turn. To index 1 turn, distance would be 4096. The axis controller status flags MOTOR BUSY and MOTOR INDEXING will be set (ON) while the motor is indexing. This instruction will be ignored if the controller has not received a drive_on instruction or if the controller is busy executing a motion instruction. If the instruction cannot be executed, the axis status flag COMMAND INVALID IN THIS STATE will be set. This flag will automatically be cleared by the controller at the next communication between the main processor and the axis controller. In the MSC-850 and MSC-800 this automatically occurs every 100 milliseconds even if no Macroprogram instruction directs communication to occur. RETURNS: Position SEE: No related instructions. USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 200
index index index index
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
initialize SYNTAX: label
initialize
PARAMETERS: unit data_area status
unit,data_area,status File identifier. Range: 1 to 8 Label of a 'text' instruction containing the volume name. Variable containing the result of the operation.
DESCRIPTION: This instruction writes a volume name from 'data_area' to the EPROM label area. Only one name may be written to a given EPROM. RETURNS: None. SEE: create write read close get_space get_volume load save text get_volume USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
initialize initialize initialize initialize
Page 201
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
input SYNTAX: label
input
PARAMETERS: label length decimals variable user_flag
label,length,decimals,variable,user_flag ASCII string (prompt) to be displayed Maximum length of input value. Decimal places in the input value. The value entered. Flag indicating input is complete.
DESCRIPTION: Prepares and reads numeric (only) information from an MSC port. The port is selected by using the port_set instruction. Input string 'length' determines the number of characters accepted during input. The number of characters includes the sign and decimal point (if applicable) as well as the number of characters. 'Decimal places' indicates the number of values to the right of the decimal point. Input 'variable' is the destination address of the numeric input. The port_set instruction must be executed prior to invoking the input instruction. The characters allowed while entering strings with length exceeding 1 character are +.-1234567890. If the value being entered has an actual character length greater than the specified input string 'length', the excess characters are ignored. Actual string lengths less than the input string length are permitted and are justified accordingly. RETURNS: The return 'variable' contains the numeric conversion of the ASCII string entered at the terminal. This number value is value * (10 ^ decimals). EXAMPLE If 2.2 is entered and decimals = 1 then value = 2.2 * (10 ^ 1) = 2.2 * 10 = 22 SEE: text port_set print print_num USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 202
input input input input
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
integer SYNTAX: label
integer
PARAMETERS: None. DESCRIPTION: This statement assigns a 32-bit storage location, or variable, to the name 'label'. The storage location will be initialized to zero when the Macroprogram is loaded into the MSC Controller. This instruction requires a 'label'. RETURNS: None. SEE: dim equ text USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
integer integer integer integer
Page 203
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
jog_ccw SYNTAX: label
jog_ccw
PARAMETERS: controller#
controller# controller id# Range: MSC-250 MSC-850/32 MSC-850 MSC-800
1 to 3 1 to 8 1 to 8 1 to 9
DESCRIPTION: Commands the specified controller to turn the motor shaft in a counter-clockwise direction using the last set accel/decel rate and speed. Motion will continue until an f_decel instruction is executed. This instruction sets the controller status flags AXIS BUSY and AXIS JOGGING. These flags remain set until an f_decel instruction causes the motor to reach zero speed. This instruction will be ignored if the controller has not received a drive_on instruction, or if the controller is busy executing a motion instruction. If the instruction cannot be executed, the axis status flag COMMAND INVALID IN THIS STATE will be set. This flag will automatically be cleared by the controller at the next communication between the main processor and the axis controller. This occurs automatically every 100 milliseconds even if no Macroprogram instruction directs communication to occur. RETURNS: None. SEE: jog_cw set_speed set_ac_dc f_decel USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 204
jog_ccw jog_ccw jog_ccw jog_ccw
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
jog_cw SYNTAX: label
jog_cw
PARAMETERS: controller#
controller# controller id# Range: MSC-250 MSC-850/32 MSC-850 MSC-800
1 to 3 1 to 8 1 to 8 1 to 9
DESCRIPTION: Commands the specified controller to turn the motor shaft in a clockwise direction using the last set accel/decel rate and speed. Motion will continue until an f_decel instruction is executed. This instruction sets the controller status flags AXIS BUSY and AXIS JOGGING. These flags remain set until an f_decel instruction causes the motor to reach zero speed. This instruction will be ignored if the controller has not received a drive_on instruction, or if the controller is busy executing a motion instruction. If the instruction cannot be executed, the axis status flag COMMAND INVALID IN THIS STATE will be set. This flag will automatically be cleared by the controller at the next communication between the main processor and the axis controller. This occurs automatically every 100 milliseconds even if no Macroprogram instruction directs communication to occur. RETURNS: None. SEE: jog_ccw set_speed set_ac_dc f_decel USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
jog_cw jog_cw jog_cw jog_cw
Page 205
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
l_track_spd SYNTAX: label
l_track_spd
PARAMETERS: controller#
speed
controller#,speed
controller id# Range: MSC-250 MSC-850/32 MSC-850 MSC-800 Entry Range: Resulting Speed:
1 to 3 1 to 8 1 to 8 1 to 9 -32768 to +32767 -128 to +127 RPM
DESCRIPTION: The specified controller tracks (changes to) the speed indicated divided by 256. All speed changes occur at the previously set accel/decel rate divided by 256. The speed may be changed at any time. This instruction sets the controller status flags AXIS BUSY and AXIS JOGGING. These flags remain set until a f_decel instruction causes the motor to reach zero speed. This instruction will be ignored if the controller has not received a drive_on instruction, or if the controller is busy executing a motion instruction. If the instruction cannot be executed, the axis status flag COMMAND INVALID IN THIS STATE will be set. This flag will automatically be cleared by the controller at the next communication between the main processor and the axis processor. In the MSC-850, this occurs automatically every 100 milliseconds even if no Macroprogram instruction directs communication to occur. RETURNS: None. SEE: track_spd USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 206
l_track_spd l_track_spd l_track_spd l_track_spd
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
let SYNTAX: label label
let let
variable=operand1 opcode operand2 variable=function(operand1)
* MSC-850/32, MSC-850, MSC-250 ONLY *
Resulting value. Variable or constant. Operation to be performed. Variable or constant. Allowable function type.
* MSC-850/32, MSC-850, MSC-250 ONLY *
PARAMETERS: variable operand1 opcode operand2 function
DESCRIPTION: Performs the indicated arithmetic operation as follows: opcode -------+ * / & | ^ [] >> << }} {{
operation ----------addition subtraction multiplication division bitwise and bitwise or bitwise exclusive or array indexing shift right shift left rotate right rotate left
function ---------sqr abs neg
operation ----------square root of operand1 absolute value of operand1 negate operand1
* MSC-850/32, MSC-850, MSC-250 ONLY *
* MSC-850/32, MSC-850, MSC-250 ONLY * * MSC-850/32, MSC-850, MSC-250 ONLY * * MSC-850/32, MSC-850, MSC-250 ONLY *
The only arithmetic operation allowed, using arrays, is a simple assign. Operations such as add, subtract, multiply etc. are not allowed. The let instruction can be used to transfer data (in 4-byte blocks) from Macroprogram data memory to the volatile memory of an axis controller. The following example will dimension a 100-element array called 'test_array' on controller# 3. The value 1234 will be placed in element 19 (array subscripts are zero based) of this array.
JUNE 1995
Page 207
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
let (continued) EXAMPLE test_array
dim . . . let
3,100
test_array[18]=1234
The let instruction can be used to transfer data (in 4-byte blocks) from the volatile memory of an axis controller to Macroprogram data memory. The following example will dimension a 100-element array called 'test_array' on controller# 8. The current value of element 3 (array subscripts are zero based) will be placed into variable 'x'. This type of operation can ONLY be used on MSC-850/32, MSC-850 and MSC-250 systems. EXAMPLE test_array
dim . . . let
8,100
x=test_array[2]
RETURNS: None. SEE: let_byte USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 208
let let let let
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
let_byte SYNTAX: label
let_byte destination=source
PARAMETERS: destination source
Variable or cam table element. Variable or cam table element.
DESCRIPTION: Used to store and retrieve cam elements, one byte at a time. The only arithmetic operation allowed using the let_byte instruction is a simple assign. Can also be used to pack or split 32 bits to 8 bits or 8 bits to 32 bits. The let_byte instruction can be used to transfer data (in 1-byte blocks) from Macroprogram data memory to the volatile memory of an axis controller. The following example will dimension a 100 element array called 'test_array' on controller# 3. The value 117 will be placed in byte 19 (array subscripts are zero based) of this array. This type of operation can ONLY be used on MSC-850/32, MSC-850 and MSC-250 systems. EXAMPLE test_array
dim 3,100 . . . let_byte test_array[18]=117
The let_byte instruction can be used to transfer data (in 1-byte blocks) from the volatile memory of an axis controller to Macroprogram data memory. The following example will dimension a 100 element (400 byte) array called 'test_array' on controller# 8. The current value of byte 3 (array subscripts are zero based) will be placed into variable 'x'. This type of operation can ONLY be used on MSC-850/32, MSC-850 and MSC250 systems. EXAMPLE test_array
dim 8,100 . . let_byte x=test_array[2]
RETURNS: None. SEE: let USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
let_byte let_byte let_byte let_byte
Page 209
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
load SYNTAX: label
load
PARAMETERS: unit file_name status
unit,file_name,status File identifier. Range: 1 to 8 Label of the 'text' statement containing the file name. Variable containing the result of the operation.
DESCRIPTION: This instruction loads the macroprogram file specified by 'file_name'. If the specified macroprogram is found, it will replace entirely the macroprogram currently residing in the MSC. When the 'load' is completed, program execution begins automatically. If the file does not contain a macroprogram, the current program continues execution at the instruction following the load instruction. Data may not be passed to the new program using this instruction. RETURNS: The return variable will be non-zero if the operation fails. Non-zero status codes are described in Table 15.3.2. SEE: open close create read write initialize get_space get_volume load USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 210
load load load load
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
lock SYNTAX: label
lock
PARAMETERS: controller#
lock #
controller#,lock# controller id# Range: MSC-250 1 to 2 MSC-850/32 1 to 8 MSC-850 1 to 8 Lock method (see explanations below)
NOTE: Lock modes 0, 5, 8 and 9 (described below) may be used in conjunction with the switch cam feature. See the switch_cam instruction for additional information and examples on the use of the combined features. DESCRIPTIONS: Locks the specified controller onto the master position vector as defined by the master angle configuration. Lock #
Lock Method
0
cam lock
The MSC multi-axis controllers provide a mode of operation that effectively emulates mechanical cams. In the electronic cam mode, slave axes follow digital cams based on the master angle from one of the master angle buses. Electronic cams are tables of incremental motor moves. Each incremental value occupies one byte of memory in the MSC and has an allowable range of -127 to +127. The slave controller uses the current master position to determine the proper index into the electronic cam array. As the index moves through the cam table, the incremental distances are added together to form the proper slave axis position. Linear interpolation is performed between elements in the cam array. When lock method 0 is executed, the cam executes at the first element in the array. When the end of the cam table is reached, the process begins again at the beginning of the table. This process is bi-directional, with the cam moving to increasing positive number elements with clockwise master rotation and decreasing number elements with counterclockwise rotation. Further information about cam lock can be found by reviewing the following instructions; cam_data, set_cam_ptr, get_cam_ptr, switch_cam, get_cam_strt, get_cam_end, get_cam_sum, calc_unit_cam, begin_cam, end_cam.
JUNE 1995
Page 211
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
lock (continued) Lock #
Lock Method
1
simple lock with accel/decel limits
Lock method 1 provides the electronic equivalent of a gearbox. The electronic gearbox or ratio is driven by the master angle from one of the master angle buses. The master angle is processed by the previously specified ratio instruction and an offset is added, resulting in an effective master used to drive the slave command position. When lock method 1 is executed, the axis controller calculates the instantaneous offset between the master angle processed by the ratio and the slave command position. Once the offset is calculated, master slave lock is accomplished. Once per millisecond (MSC-850 and MSC-850/32) or once every 488 microseconds (MSC-250) thereafter, the slave axis position is updated based on the new master position. The slave motion is limited by the previously set accel/decel rate (see set_ac_dc) and is limited to a speed of 3600 RPM (MSC-850 and MSC-850/32) or 7200 RPM (MSC-250). The limiting of the slave acceleration can be an advantage in systems that have rough or rapidly changing master speeds. The limited acceleration on the slave dampens the slave motor and smooths out the operation. The ratio instruction can be executed while in lock method 1. When the ratio instruction is executed, the slave controller switches to simply slewing at the set_ac_dc rate until the slave reaches the new slave speed. When the speed is matched, a new offset is calculated and lock is resumed. It is important to note that after a ratio instruction is executed, a new offset is used. The axis status flag MOTOR JOGGING is on while the slave motor is changing from one speed to another. This flag goes off when the ratio lock equation starts executing. The acceleration rate may be changed during the slew from one speed to another caused by a ratio change. A set_ac_dc executed prior to the ratio instruction will cause the slew acceleration rate to change. The result of executing a lock command may vary, depending on the value used in the ratio command and the command sequence. This can best be illustrated using the following examples: EXAMPLE 1 label
ratio . . . lock
slave,ratio_value
slave,1
At the moment the lock is executed: a) the slave axis will calculate an internal master/slave "offset", by comparing the master angle with the slave position b) the slave axis will accelerate at the rate set using the last set_ac_dc command c )the slave axis will "make up" the distance lost during the acceleration time, by running at a faster rate for that same period of time (the slave axis would appear to momentarily "overshoot" the requested ratio) d) the slave axis will run at the requested ratio while maintaining the internal master/slave "offset" Subsequent changes in 'ratio_value' will not result in the slave axis "making up" any lost distance while adjusting to a new ratio.
Page 212
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
lock (continued)
EXAMPLE 2
In this example, the ratio command is executed twice. The result of locking the slave axis will be different than that of EXAMPLE 1. label
ratio . . lock . . ratio
slave,0 slave,1 slave,ratio_value
At the moment the lock is executed: a) the slave axis will calculate an internal master/slave "offset", but since the ratio is initially set to zero, no motion occurs At the moment the second ratio instruction is executed: a) the slave axis will accelerate at the rate set using the last set_ac_dc command b) the slave axis will run to the requested ratio while maintaining the internal master/slave "offset" (the slave axis will NOT attempt to "make up" any lost distance while adjusting to the new ratio) Lock #
Lock Method
2
velocity lock
In velocity lock, the slave axis tracks the master velocity with accel/decel limit.
3
piecewise profile lock
In piecewise profile lock, the slave axis will execute the piecewise profile in memory when the master angle (modulo 4096) crosses the specified angle from either direction (CW or CCW). This master angle is specified by the instruction set_trig_pw. The instruction prep_profile must be executed before the lock instruction.
4
simple lock without accel/decel limits
Lock method 4 is identical to lock method 1. The only difference is that the slave axis is not limited by the specified slave acceleration rate. This means that during lock, the slave is commanded directly by the effective master position. Note: Any perturbations or roughness in the master will be passed onto the slave with no accel/decel rate limiting. The ratio instruction can be executed during lock method 4. When a new ratio is executed, the slave controller breaks lock, slews to new lock sped at the specified acceleration rate and relocks using the above equation. The MOTOR JOGGING status flag is on during the slew period. Note that after the slew period a new offset is calculated. The acceleration rate may be changed during slew executing a set_ac_dc instruction prior to the ratio instruction.
JUNE 1995
Page 213
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
lock (continued) Lock #
Lock Method
5
cam lock
Lock method 5 is identical to lock method 0 except that the user has the option of positioning the cam pointer to a position other than the beginning of the cam. This is accomplished by executing the set_cam_ptr instruction. Execution of the cam will begin at the position in the cam data table at the cam pointer.
6
keyway lock
Lock method 6 allows the user to align the absolute position of the slave with the absolute position of the master. The ratio in Lock Method 6 is fixed at 1:1 and may not be changed. The slave controller acceleration rate is limited by the previously executed set_ac_dc instruction. The slave top speed is also limited to 3600 RPM. When the lock instruction is executed, the slave controller executes the following equation every 1 millisecond: master angle = slave command position This equation is executed modulo 1 turn (4096 bits) of the master. This means that when the lock instruction is executed, the slave will move, at the acceleration rate specified, in the shortest direction to bring the master and slave absolute angles into alignment. Note that Lock Method 6 can cause movement when lock is executed even if the master is at rest. The slave accel and speed are limited. Hunting can occur if the master rate of change is greater than the specified slave acceleration rate. The rule of thumb of having the slave acceleration rate at least 5 times the expected master rate of change is applicable. The limited acceleration rate can be used to smooth a master with fast perturbations (roughness).
7
undefined
8
lock cam to master angle
In lock type 8, the slave axis will begin executing its cam when the master axis crosses the specified angle (modulo 4096) from either direction (CW or CCW). This angle is specified using the instruction set_trig_cam. It is possible to start execution of the cam from any point in the cam by using the instruction set_cam_ptr. The axis status flag SWITCH CAM PENDING will be set until the master crosses the specified lock angle and execution of the cam begins.
9
lock cam to master angle for 1 cycle only
Lock type 9 is identical to lock type 8 except that execution of the cam will automatically terminate at the last element in the cam.
Page 214
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
lock (continued) Lock #
Lock Method
10
velocity cam lock
In lock method 10, the output is no longer based on distance but varies with speed changes in the cam table, based on a constant calculated at the time the lock command is issued. Lock method 10 must be executed after lock method 0 ot 5. The position output voltage will reflect the velocity of the cam rather than the position of the cam. Following error checking and software digital compensation are disabled.
RETURNS: None. SEE: set_map ratio set_trig_pw set_trig_cam set_cam_ptr USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
lock lock lock lock
all lock types available all lock types available all lock types available lock types 0,1,2,3,4,5
Page 215
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
master SYNTAX: label
master
PARAMETERS: controller#
controller# controller id # Range: MSC-800
1 to 8
DESCRIPTION: Resets all motor fault conditions and puts the specified axis controller into a passive position sensing mode. Turns the servo amplifier off and disables the following error check. Sets the analog position output to be proportional to the feedback transducer position as follows:
RETURNS: For an MSC-850/ACE-850 controller, the above table will not be accurate unless an appropriate find marker instruction had been done. RETURNS: None. SEE: drive_on drive_off enable USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 216
drive_off drive_off drive_off master
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
msc_type SYNTAX: label
msc_type
PARAMETERS: system_type
system_type
The type of MSC system type being used. Range: 800, 850, 250, 850/32
DESCRIPTION: This statement is a MSC Toolkit Compiler directive. It is used by the Compiler to identify the instruction set that is allowed for use with the designated system unit. This will help avert the situation where a programmer attempts to use an instruction that is not supported by the system unit. The Compiler will assume the msc_type is 800 if this instruction is not included in the macroprogram. RETURNS: None. SEE: No related instructions. USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
msc_type msc_type msc_type msc_type
Page 217
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
no_op SYNTAX: label
no_op
PARAMETERS: None. DESCRIPTION: Performs a 'no operation' instruction. Commonly used to provide a short time delay. RETURNS: None. SEE: No related instructions. USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 218
no_op no_op no_op no_op
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
offset_master SYNTAX: label
offset_master
PARAMETERS: controller# offset
controller id#,offset
controller id# Range: MSC-250 1 to 3 MSC-850/32 1 to 8 Offset to be added to the master position. This value is a signed 32-bit number.
DESCRIPTION: This command instructs the operating system to add the specified offset value (in bits) to the actual transducer angle of the specified master controller before it is placed on the master angle bus. The offset is an absolute value added to the master angle and is unaffected. Only the data being placed on the master angle bus is affected. RETURNS: None. SEE: No related instructions. USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
offset_master offset_master N/A N/A
Page 219
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
open SYNTAX: label
open
PARAMETERS: Unit file_name Status
unit,file_name,status File identifier. Range: 1 to 8 Label of the text statement containing the file name. Variable containing the result of the operation.
DESCRIPTION: This instruction attempts to open the specified file for reading. The MSC associates the file name with the unit identifier and will set the file record pointer to the beginning of the file. Up to 8 files may be open at one time. RETURNS: The return variable will be zero if the operation is successful. Non-zero status codes are described in Section 15.3.2. SEE: create initialize write read close get_space get_volume load save USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 220
open open open open
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
over_draw SYNTAX: label
over_draw
PARAMETERS: controller#
speed limit distance
controller#,speed,limit,distance
controller id# Range: MSC-250 1 to 2 MSC-850/32 1 to 8 MSC-850 1 to 8 Desired speed to start overdraw in RPM. Must not exceed speed of associated index or position instruction. Desired limit in bits. Represents maximum travel allowed if hardware interrupt does NOT occur. Distance to travel AFTER the hardware interrupt occurs.
DESCRIPTION: This instruction is typically used in feed to sensor types of applications. Information provided by the over_draw instruction modifies an index or position instruction as shown in Figure 18.1. As the index or position instruction nears completion, motor speed will begin to decrease according to the set accel/decel rate. When the motor speed reaches the value specified in the over_draw instruction, deceleration will cease. The motor will run at constant speed until one of two conditions are met: 1. 2.
The distance specified in 'limit' is reached. Should this occur, the motor will decelerate to a stop. The Controller's associated input module turns on. Should this occur, the position of the motor shaft is immediately noted. The motor will stop 'distance' bits from the point the input module turns on.
It should be noted that the motor shaft position is trapped immediately by the controller's hardware. However, it may be as long as 1 millisecond before the trapped position is serviced. For this reason, the 'distance' variable should allow at least enough distance for deceleration plus the distance the motor shaft would turn in 1 millisecond at the 'speed' specified in the over_draw instruction.
JUNE 1995
Page 221
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
over_draw (continued) EXAMPLE: busy_1 hwi_armed_1
equ equ . . set_speed set_ac_dc . . enable_hwi over_draw
94 91
axis busy flag interrupt armed flag
1,400 1,100
400 rpm 2 100 rev/sec
1,100,4096,2000
! wait for index to finish. If interrupt still armed, sensor not tripped loop if_stat_on 1,busy_1,loop if_stat_on 1,hwi_armed_1,od_fail . (normal processing) . od_fail (handle case where sensor not seen) RETURNS: None. SEE: enable_hwi disable_hwi USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
over_draw over_draw over_draw N/A
Page 223
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
port_set SYNTAX: label
port_set port#,baud,protocol
PARAMETERS: port#
baud protocol
Port number on the MSC. Range: MSC-250 2, 3 MSC-850/32 0I,0R,0,1,2,3 MSC-850 0, 2 MSC-800 0, 2 Data transmission rates are listed below. Communications characteristics are listed below.
DESCRIPTION: Open and initialize the specified communications port. The port_set instruction may be executed at any time. port# -
0 is the active current loop port for the MSC-800, MSC-850 and MSC-850/32. 1 is the executive port for all MSC controllers. 2 is the passive current loop port for all MSC controllers. 3 is an RS-232C port on the MSC-250 and MSC-850/32. 0I is the active/passive current loop port for the MSC-850/32. 0R is an RS-232C port on the MSC-850/32.
baud rate -
use any one of the following: 110, 300, 600, 1200, 2400, 4800, 9600 for all MSC controllers. 19200, 38400 with ports 1 or 0R on the MSC-850/32.
protocol -
specify the communications characteristics as follows:
protocol -------------0 1 2 3 4 5 6 7 8 9 10 11 12 13
Description -----------------1 stop bit, no parity, XON/XOFF disabled 2 stop bits, no parity, XON/XOFF disabled 1 stop bit, even parity, XON/XOFF disabled 2 stop bits, even parity, XON/XOFF disabled 1 stop bit, odd parity, XON/XOFF disabled 2 stop bits, odd parity, XON/XOFF disabled RESERVED RESERVED 1 stop bit, no parity, XON/XOFF enabled 2 stop bits, no parity, XON/XOFF enabled 1 stop bit, even parity, XON/XOFF enabled 2 stop bits, even parity, XON/XOFF enabled 1 stop bit, odd parity, XON/XOFF enabled 2 stop bits, odd parity, XON/XOFF enabled
If no parity, then data word is 8 bits. If even or odd parity, then data word is 7 bits.
Page 224
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
port_set (continue) RETURNS: None. SEE: print_num print input stop_input get_pq_space if_char if_no_char USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
port_set port_set port_set port_set
Page 225
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
position SYNTAX: label
position controller#,abs_position
PARAMETERS: controller#
abs_position
controller id# Range: MSC-250 1 to 3 MSC-850/32 1 to 8 MSC-850 1 to 8 MSC-800 1 to 9 The absolute position relative to position zero. Range: MSC-250 (-524287*4096) to (+524287*4096) -1 bits MSC-850/32 (-2048*4096) to (+2048*4096) -1 bits MSC-850 (-2048*4096) to (+2048*4096) -1 bits MSC-800 (-2048*4096) to (+2048*4096) -1 bits
DESCRIPTION: Move the controller to the specified position, relative to zero. The speed of the move is determined by the previously set accel/decel rate and speed. The MSC has a resolution of 4096 bits per turn. To position to turn 1, 'abs_position' would be 4096. RETURNS: None. SEE: index USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 226
position position position position
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
prep_profile SYNTAX: label
prep_profile
PARAMETERS: controller#
data_label
controller#,data_label
controller id# Range: MSC-250 1 to 3 MSC-850/32 1 to 8 MSC-850 1 to 8 MSC-800 1 to 9 Label of the data for the profile.
DESCRIPTION: Transmits the desired Piecewise profile data to the specified controller and prepares the data for execution. While the motion controller is performing its' calculations, the CALCULATING PIECEWISE PROFILE controller status flag will be on. When profile calculations or execution have been completed, this controller status flag will be turned off. After calculations are completed, the get_pstat instruction may be used to determine whether calculations completed successfully. RETURNS: None. SEE: exec_profile get_pstat USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
prep_profile prep_profile prep_profile profile
Page 227
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
preset SYNTAX: label
preset
PARAMETERS: controller#
variable
controller#,variable controller id# Range: MSC-250 MSC-850/32 MSC-850 offset value
Always 3 1 to 8 1 to 8
DESCRIPTION: Adds the offset value in bits to the master angle used to drive the PLS. RETURNS: None. SEE: No related instructions. USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 228
preset preset preset N/A
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
preset (MSC-850/HPL-850) SYNTAX: label
preset
PARAMETERS: controller# variable
controller#,variable controller id# Range: MSC-850/32 1 to 8 MSC-850 1 to 8 The desired HPL accumulator value.
DESCRIPTION: Sets the HPL-850 accumulator to the specified count value. This instruction allows the user to set the HPL850 angle to a desired value regardless of the position of the Master Angle Bus driving the HPL-850. RETURNS: None. SEE: set_local USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
N/A preset preset N/A
Page 229
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
print SYNTAX: label
PARAMETERS: text_label
text_label Label of a text string.
DESCRIPTION: Print the ASCII character string to the port declared in the previous port_set instruction. The execution of a port_set instruction must precede the execution of the print instruction. The output to the port is buffered, that is, the speed characteristics of the port do not affect the execution of the MSC. RETURNS: None. SEE: input text USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 230
print print print print
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
print_num SYNTAX: label
print_num
PARAMETERS: length decimals value
length,decimals,value
Number of character places of 'value' parameter. Number of decimal places of 'value' parameter. Numeric value to be converted to ASCII characters and displayed according to the length and decimal parameters.
DESCRIPTION: Print the output value to the port declared in the previous port_set instruction. The format of the printed number is defined by 'length' which declares the maximum number of character positions allowed to represent the numeric value and by 'decimals' which declares the number of numeric positions to the right of the decimal point. If the specified length is less than the actual length of the value to be printed, a string of asterisks (*) will be printed instead. If the specified length is greater than the actual length of the value to be printed, the number will be right justified accordingly. The execution of a port_set instruction must precede the execution of the print_num instruction. The output to the port is buffered, that is the speed characteristics of the port do not affect the execution of the MSC. RETURNS: None. SEE: print text USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800
JUNE 1995
print_num print_num print_num :print_num
Page 231
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
rand_int SYNTAX: label
rand_int
PARAMETERS: max_number variable
max_number,variable Maximum allowed number returned. Range: 1 to 65535 Variable where result is returned.
DESCRIPTION Generates a random number in the range from 0 to the maximum number specified. RETURNS: The random number is returned in 'variable'. SEE: No related instructions. USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 232
rand_int rand_int rand_int rand_int
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
ratio SYNTAX: label
ratio
PARAMETERS: controller#
Ratio
controller#,ratio controller id# Range: MSC-250 MSC-850/32 MSC-850 MSC-800
1 to 2 1 to 8 1 to 8 1 to 8
Desired electronic ratio (in bits). Range: -32768 to +32767 (-8.000 to +7.999)
DESCRIPTION: Scale the master/slave position vector being passed by the 'ratio' value for the specified controller. Combined with the lock instruction (simple lock method), an electronic 'gear box' with a variable ratio may be emulated. 'ratio' is in bits (i.e. 4096 would give a ratio of 1:1). RETURNS: None. SEE: set_map unlock lock USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
ratio ratio ratio ratio
Page 233
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
read SYNTAX: label
read
PARAMETERS: unit data_area length status
unit,data_area,length,status File identifier. Range: 1 to 8 Label of the begin_data, begin_cam, dim or variable name. Number of bytes (characters) to be read. Variable containing the result of the operation.
DESCRIPTION: This instruction reads data from the given 'data_area' to the specified unit (file). The number of bytes (characters) to be read is given as 'length'. RETURNS: The return variable will be zero if the operation is successful. Non-zero status codes are described in Section 15.3.2. SEE: open close write create initialize get_space get_volume load save USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 234
read read read read
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
read_offset SYNTAX: label
read_offset
PARAMETERS: controller#c
variable
controller#,variable
ontroller id# Range: MSC-250 MSC-850/32 MSC-850 MSC-800 Offset value in bits.
1 to 2 1 to 8 1 to 8 1 to 8
DESCRIPTION: Returns the current offset as set by the set_offset instruction. RETURNS: The current offset is returned in the designated 'variable'. SEE: set_offset USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
read_offset read_offset read_offset read_offset
Page 235
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
restart_at SYNTAX: label
restart_at
PARAMETERS: address_label
address_label
Branch address.
DESCRIPTION: Clear all gosub return addresses and branch to the specified 'address label'. RETURNS: None. SEE: goto gosub return_sub USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 236
restart_at restart_at restart_at restart_at
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
return_sub SYNTAX: label
return_sub
PARAMETERS: None. DESCRIPTION: Return from a subroutine invoked by a gosub instruction. The MSC provides 20 levels of subroutine nesting. The Macroprogram status STACK OVERFLOW will occur if more than 20 levels are used. If a return_sub instruction is encountered without a corresponding gosub, a Macroprogram status of STACK UNDERFLOW may occur. RETURNS: None. SEE: gosub USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
return_sub return_sub return_sub return_sub
Page 237
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
save SYNTAX: label
save
PARAMETERS: unit file_name status
unit,file_name,status File identifier. Range: 1 to 8. Label of the text statement containing the file name. Variable containing the result of the operation.
DESCRIPTION: This instruction saves the macroprogram and all data currently residing in the MSC as a file with the name contained in 'file_name'. RETURNS: The return variable will be zero if the operation is successful. Non-zero status codes are described in Section 15.3.2. SEE: open close create read write initialize get_space get_volume load USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 238
save save save save
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
select SYNTAX: label
select
PARAMETERS variable
variable Variable to be tested.
DESCRIPTION: Change program flow based on the value of 'variable'. When executed, a program branch occurs to the case statement which matches the specified 'variable'. If there is no match, program flow resumes at the instruction following the default instruction. exit_select instruction causes a branch to the instruction following the end_select instruction.
The
EXAMPLE select
num case . . exit_select case . . exit_select
1
2
default . . exit_select end_select RETURNS: None. SEE: case exit_select default end_select USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
select select select select
Page 239
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
set_ac_dc SYNTAX: label
set_ac_dc
PARAMETERS: controller#
rate
controller#,rate
controller id# Range: MSC-250 1 to 3 MSC-850/32 1 to 8 MSC-850 1 to 8 MSC-800 1 to 9 Desired accel/decel rate in revs/sec/sec. Range: MSC-250 2 to 1600 MSC-850/32 2 to 800 MSC-850 2 to 800 MSC-800 2 to 800
DESCRIPTION: Set the accel/decel rate for the specified controller. All motions for this controller (except cam, ratios and piecewise profiles) will be determined by this rate. The rate is scaled in revs/sec/sec for all motions (except vel_cw and vel_ccw instructions) for which the rate scale is (revs/sec/sec) / 256. The default accel/decel rate is 2 revs/sec/sec. This is also the lowest allowable accel/decel rate. The highest allowable rate is 800 revs/sec/sec. RETURNS: None. SEE: set_speed USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 240
set_ac_dc set_ac_dc set_ac_dc set_ac_dc
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
set_acy_cnt (ACY-850) SYNTAX: label
set_acy_cnt
PARAMETERS: controller# count
controller#,count
controller id# Range: MSC-850/32 1 to 8 MSC-850 1 to 8 Desired encoder count in bits per revolution. Range: 2048, 4096, 8192 or 16384 counts only.
DESCRIPTION: Defines the number of bits generated per motor revolution. This number will be the result of multiplying the encoder line count by 4. NOTE: This instruction is ONLY valid when used with the ACY-850 axis controller. RETURNS: None. SEE: No related instructions. USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
N/A set_acy_cnt set_acy_cnt N/A
Page 241
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
set_bit SYNTAX: label
set_bit
PARAMETERS: bit# variable
bit#,variable Number of the bit within the 4-byte variable to be set to on (logic 1). Range: 0 to 31 The 4-byte area in memory affected by this instruction.
DESCRIPTION: The specified bit will be set to on (logic 1). If that bit has been previously set, it will remain set. If that bit was previously cleared (logic 0), it will now be set to on. This instruction has no effect on the remaining bits of this 4-byte variable. This instruction will be ignored if 'bit#' is outside the range of 0 to 31. RETURNS: None. SEE: clr_bit if_bit_set if_bit_clr USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 242
set_bit set_bit set_bit N/A
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
set_cam_ptr SYNTAX: label
set_cam_ptr
PARAMETERS: controller#
value
controller#,value
controller id# Range: MSC-250 1 to 2 MSC-850/32 1 to 8 MSC-850 1 to 8 MSC-800 1 to 8 The new start position within the cam table. Range: 0 to (cam table length - 1)
DESCRIPTION: Repositions the 'start of cam' pointer in the current cam table array for the selected controller. This instruction must be used in conjunction with lock types 5, 8 and 9 in order to execute the cam from within the table, rather than the start of the table. RETURNS: None. SEE: get_cam_ptr USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
set_cam_ptr set_cam_ptr set_cam_ptr cam_pointer
Page 243
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
set_flag SYNTAX: label
set_flag
PARAMETERS: user_flag#
user_flag# Number of the user flag. Range: 208 to 255
DESCRIPTION: Sets the specified user flag. If using a pseudo axis with an MSC-800 controller, flags 208-224 are used as axis status flags and should not be used as user flags. RETURNS: None. SEE: clr_flag USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 244
set_flag set_flag set_flag set_flag
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
set_gl_ccw SYNTAX: label
set_gl_ccw
PARAMETERS: controller#
controller#
controller id# Range: MSC-250 MSC-850/32 MSC-850 MSC-800
1 to 3 1 to 8 1 to 8 1 to 9
DESCRIPTION: Set the absolute 0.0 position to the nearest position transducer zero in the counter-clockwise direction. The current local 0.0 will be cleared. NOTE: For an ACE-850 controller or an MSC-250 controller, a find marker instruction must be done before the set_gl_ccw instruction in order to produce meaningful results. This instruction may be executed while the motor is in motion. If it is performed while the motor is stopped, no motion will occur. This instruction is often used in conjunction with a zero revolution switch to establish an absolute zero or home position on multi-turn systems. RETURNS: None. SEE: set_gl_cw USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
set_gl_ccw set_gl_ccw set_gl_ccw set_gl_ccw
Page 245
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
set_gl_ccw (HPL-850) SYNTAX: label
set_gl_ccw
PARAMETERS: controller#
controller#
controller ID# Range: MSC-850/32 MSC-850
1 to 8 1 to 8
DESCRIPTION: Sets the 0.0 degree reference to the nearest CCW Master Angle Bus 0.0. RETURNS: None. SEE: set_local set_gl_cw USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 246
set_gl_ccw set_gl_ccw set_gl_ccw N/A
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
set_gl_cw SYNTAX: label
set_gl_cw
PARAMETERS: controller#
controller#
controller id# Range: MSC-250 MSC-850/32 MSC-850 MSC-800
1 to 3 1 to 8 1 to 8 1 to 9
DESCRIPTION: Set the absolute 0.0 position to the nearest position transducer zero in the clockwise direction. The current local 0.0 will be cleared. NOTE: For an ACE-850 controller, a find marker instruction must be done before the set_gl_cw instruction in order to produce meaningful results. This instruction may be executed while the motor is in motion. If it is performed while the motor is stopped, no motion will occur. This instruction is often used in conjunction with a zero revolution switch to establish an absolute zero or home position on multi-turn systems. RETURNS: None. SEE: set_gl_ccw USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
set_gl_cw set_gl_cw set_gl_cw set_gl_cw
Page 247
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
set_gl_cw (HPL-850) SYNTAX: label
set_gl_cw
PARAMETERS: controller#
controller#
controller ID# Range: MSC-850/32 MSC-850
1 to 8 1 to 8
DESCRIPTION: Sets the 0.0 degree reference to the nearest CW Master Angle Bus 0.0. RETURNS: None. SEE: set_local set_gl_ccw USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 248
set_gl_cw set_gl_cw set_gl_cw N/A
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
set_hi_scan SYNTAX: label
set_hi_scan
PARAMETERS: None. DESCRIPTION: Sets the I/O expander scan rate to once per 1.2 ms. This instruction may be used in systems with IOE-850 type expanders only. Default scan rates are as follows: 1 expander - once every 12msec 2 expanders - once every 24msec 3 expanders - once every 36msec 4 expanders - once every 48msec RETURNS: None. SEE: clr_hi_scan USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
N/A set_hi_scan N/A N/A
Page 249
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
set_home (ACY-850) SYNTAX: label
set_home
PARAMETERS: controller# offset
controller#,offset
controller id# Range: MSC-850/32 1 to 8 MSC-850 1 to 8 Position offset value. Range: -4096 to +4096
DESCRIPTION: Establishes a position offset for the specified controller. This instruction should be used when defining a 'home' or 0.0 reference location. The following steps illustrate how to clear the encoder 'turns' counter: 1) 2) 3) 4) 5) 6)
Remove power to the motor/drive system. Remove the encoder cable from the drive to be zeroed. Position the device to its physical 'home' location. Drain the capacitor on the encoder unit for approximately 5 minutes. Reconnect the encoder cable. Enable power to the motor/drive system.
The following Macroprogram example illustrates how to establish the 'offset' value and initial use of this value. This procedure will typically be done only one time, until a new 'home' reference location is needed. EXAMPLE label
drive_on get_com let set_home
acy_controller acy_controller,position offset=0-position acy_controller,offset
On subsequent power down/up sequences, it will be necessary to set the offset for the appropriate ACY-850 controller. It is important that the 'offset' value remain the same until a new 'home' reference location is needed. Keep in mind that the value 'offset' is retained in NVRAM. EXAMPLE label
drive_on set_home
acy_controller acy_controller,offset
NOTE: This instruction is ONLY valid when used with the ACY-850 axis controller. RETURNS: None. SEE: No related instructions.
Page 250
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
set_home (ACY-850) continued USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
N/A set_home set_home N/A
Page 251
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
set_local SYNTAX: label
set_local
PARAMETERS: controller#
controller#
controller id# Range: MSC-250 MSC-850/32 MSC-850 MSC-800
1 to 3 1 to 8 1 to 8 1 to 9
DESCRIPTION: Set the present motor position as the absolute 0.0 position. Will override the set_gl_ccw and set_gl_cw instructions, however, the global 0.0 position is not changed. Used to establish a 'floating' home position. RETURNS: None. SEE: clr_local set_gl_cw set_gl_ccw USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 252
set_local set_local set_local set_local
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
set_local (HPL-850) SYNTAX: label
set_local
PARAMETERS: controller#
controller#
Slot number of the HPL-850 Controller. Range: 1 to 8
DESCRIPTION: Causes the HPL-850 Controller accumulator to be set to zero. The current Master Angle Data reading becomes the zero degree position. RETURNS: None. SEE: set_gl_cw set_gl_ccw USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
N/A set_local set_local N/A
Page 253
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
set_mcf (MCF-850) SYNTAX: label
set_mcf
PARAMETERS: controller#
variable
controller#,variable controller id# Range: MSC-850/32 MSC-850
1 to 8 1 to 8
Multi-function controller configuration value.
DESCRIPTION: This instruction is used to configure the MCF-850 controller which is used with the MSC-850 and MSC850/32 systems. This card controls the Pseudo Axis, Master Angle Bus Network, Fiber Optic Network and Programmable Limit Switch (PLS) functions.
MSC-850/MCF-850 MULTI-FUNCTION CONFIGURATION
Page 256
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
set_mcf (continued) SEE: get_mcf set_map RETURNS: None. USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
set_mcf set_mcf set_mcf N/A
Page 257
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
set_mcf (HPL-850) SYNTAX: label
set_mcf
PARAMETERS: controller#
variable
controller#,variable controller id# Range: MSC-850/32 MSC-850
1 to 8 1 to 8
This value defines the source of the master angle which will drive the Programmable Limit Switches.
DESCRIPTION: The value of variable above can be only one of the following: 1)
If variable = 0, there is no source for the PLS. This disables the PLS function.
2)
If variable = 1, the source of the master angle is Master Angle Bus A.
3)
If variable = 2, the source of the master angle is Master Angle Bus B.
RETURNS: None. SEE: set_pls_ang (HPL-850 card) set_pls_cnt (HPL-850 card) USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 258
set_mcf set_mcf set_mcf N/A
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
set_mcf (ACR-850 or ACE-850 or ACY-850) SYNTAX: label
set_mcf
PARAMETERS: controller#
variable
controller#,variable controller id# Range: MSC-850/32 MSC-850
1 to 8 1 to 8
A value of 1 will enable the "analog mode". A value of 0 will disable the "analog mode".
DESCRIPTION: The set_mcf instruction can be used with the ACR-850, ACE-850 and ACY-850 controller cards in order to implement an open loop mode of operation known as "analog mode". In this mode of operation, the drive unit will be enabled by an external input source. A drive_off instruction followed by a set_mcf instruction to the ACE-850, ACR-850 or ACY-850 will put that axis controller into "analog mode". Once in "analog mode", the controller will be in an open loop mode where the analog output to the drive is not driven by the "position loop", but rather is controlled in the Macroprogram using the analog_out instruction. When used with the ACR-850, ACE-850 or ACY-850 cards, the analog_out instruction will now function in the same manner as when it is used with the ACM-850 card. A voltage in the range of -10V to +10V, based on an analog_out value ranging from -2048 to +2047, will be generated by the ACE-850, ACR-850 or ACY850 controller cards. A subsequent drive_on instruction will put the controller back into the normal "position loop mode" of operation. The following program segment shows how a program might select the "analog mode" of operation, then revert back to the normal "position loop mode" of operation. ! ----- This section enables "analog mode” on the WINDER axis controller ----! enable_t_mode turn_on WINDER_ENABLE ! enable the drive with a discreet output drive_off WINDER ! disable "position mode" set_mcf WINDER,1 ! enable "analog mode" ! ----- This section generates an output voltage at the WINDER axis controller ----! a_mode analog_out WINDER,1,volts ! ranges from -2048 to +2047 (-10V to +10V) if_io_on ANALOG_MODE,a_mode ! stay in "analog mode" while input activated ! ----- This section puts the output voltage at the WINDER back to zero ----! analog_out WINDER,1,0 ! output voltage back to zero set_tmr 72,100 ! short delay to allow the output to get to zero wait if_tmr_on 72,wait ! ----- This section enables normal "position mode" ----!
JUNE 1995
Page 259
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
set_mcf (continued) enable_p_mode drive_on set_speed set_ac_dc index
WINDER WINDER,speed WINDER,acdc WINDER,distance
! enables "position mode" ! set WINDER speed ! set WINDER accel/decel rate ! index the WINDER
RETURNS: None. SEE: analog_out (ACR-850 or ACE-850 or ACY-850 cards) drive_on USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 260
set_mcf set_mcf set_mcf N/A
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
set_mcf (MSC-250 controller 3) SYNTAX: label
set_mcf
PARAMETERS: controller# variable
controller#,variable controller id# Range: MSC-250
Always 3
Multi-function controller configuration value.
DESCRIPTION: This instruction is used to configure the multi-function controller on the MSC-250, which is controller #3. This controls the Pseudo Axis, Master Angle Bus Network, Fiber Optic Network and Programmable Limit Switch (PLS) functions.
MSC-250 MULTI-FUNCTION CONFIGURATION
JUNE 1995
Page 261
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
set_mcf (continued) RETURNS: None. SEE: get_mcf set_map USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 262
set_mcf set_mcf set_mcf N/A
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
set_mcf (MSC-250 controller 1 and 2) SYNTAX: label
set_mcf
PARAMETERS: controller# Variable
controller#,variable controller id# Range: MSC-250
1 or 2
A value of 1 will enable the "analog mode". A value of 0 will disable the "analog mode".
DESCRIPTION: The set_mcf instruction can be used with axis controllers #1 and #2 on the MSC-250 in order to implement an open loop mode of operation known as "analog mode". In this mode of operation, the drive unit will be enabled by an external input source. A drive_off instruction followed by a set_mcf instruction to either controller #1 or #2 will put that controller into "analog mode". Once in "analog mode", the controller will be in an open loop mode where the analog output to the drive is not driven by the position loop, but rather is controlled in the Macroprogram using the analog_out instruction. When used with controllers #1 or #2, the analog_out instruction will now function in the same manner as when it is used with axis controller #4 of the MSC-250. A voltage in the range of -10V to +10V, based on an analog_out value ranging from -2048 to +2047, will be generated by the axis controller. A subsequent set_mcf instruction, using a value of 0 for the configuration value, will put the controller back into the normal "position loop mode" of operation. The following program demonstrates how a program might select the "analog mode" of operation as well as reverting back to the normal "position loop mode" of operation. ! ! ----- This section enables "analog mode" on the WINDER axis controller ----! enable_t_mode turn_on WINDER_ENABLE ! enable the drive with a discreet output drive_off WINDER ! disable "position mode" set_mcf WINDER,1 ! enable "analog mode" ! ! ----- This section generates an output voltage at the WINDER axis controller ----! a_mode analog_out WINDER,1,volts ! volts ranges from -2048 to +2047 (-10V to +10V) if_io_on ANALOG_MODE,a_mode ! stay in "analog mode" while input activated ! ----- This section puts the output voltage at the WINDER back to zero ----! analog_out WINDER,1,0 ! output voltage back to zero set_tmr 72,100 ! short delay to allow the output to get to zero wait if_tmr_on 72,wait ! ! ----- This section enables normal "position mode" ----!
JUNE 1995
Page 263
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
set_mcf (continued) enable_p_mode set_mcf drive_on set_speed set_ac_dc index
WINDER,0 WINDER WINDER,speed WINDER,acdc WINDER,distance
! disables "analog mode" ! enables "position mode" ! set WINDER speed ! set WINDER accel/decel rate ! index the WINDER
RETURNS: None. SEE: analog_out (MSC-250 controller 1 and 2) USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 264
set_mcf set_mcf set_mcf N/A
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
set_offset SYNTAX: label
set_offset
PARAMETERS: controller#
value
controller#,value
controller id# Range: MSC-250 1 to 2 MSC-850/32 1 to 8 MSC-850 1 to 8 Desired offset in bits. Range: -32768 to +32767
DESCRIPTION: Offsets all positions by the specified value in bits. This instruction will cause the motor to move the distance specified by 'value' within the next motor interrupt. RETURNS: None. SEE: No related instructions. USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
set_offset set_offset set_offset set_offset
Page 265
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
set_ovd_mode SYNTAX: label
set_ovd_mode controller#,mode
PARAMETERS: controller#
mode
controller id# Range: MSC-250 1 to 2 MSC-850/32 1 to 8 MSC-850 1 to 8 Selects the section of the motion profile where the overdraw sensor is active. Range: 0 to 1
DESCRIPTION: Selects the section of the motion profile where the overdraw sensor is active. Mode 0 - the sensor is active through the entire profile. Mode 1 - the sensor is only active during the overdraw section of the profile. In mode 0, when the sensor is activated during the index part of his profile, the index will be treated as a regular index with no search speed section executed. RETURNS: None. SEE: over_draw USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 266
set_ovd_mode set_ovd_mode set_ovd_mode N/A
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
set_pls_ang (MCF-850) SYNTAX: label
set_pls_ang
PARAMETERS: controller# on_angle off_angle module#
controller#,on_angle,off_angle,module#
controller id# Range: MSC-850/32 1 to 8 MSC-850 1 to 8 Turn ON module# at this angle in bits. Range: 0 to 4095 (representing 1 full master cycle). Turn OFF module# at this angle in bits. Range: 0 to 4095 (representing 1 full master cycle). Desired output module on the PLS-850 output rack. Range: 0 to 23
DESCRIPTION: 'PLS' is an acronym for Programmable Limit Switch. This instruction defines the action that will occur on the designated 'PLS' output module. 'module#' 0 to 15 are mapped to the PLS outputs. 'module#' 16 to 23 are mapped internally to the controller status flags. Each time a set_pls_ang instruction is issued, the axis controller executes a sorting algorithm and will activate its' CALCULATING flag. The Macroprogram must verify that this flag is no longer active before executing subsequent set_pls_ang instructions. The "rollover point" is the master cycle length in bits. The default "rollover point" is 4096. That is, the cycle is defined as a value between 0 and 4095. For an MCF-850 controller, the "rollover point" can be modified to be a value (in bits) of 4096, 8192, 16384, 32768 or 65536. The "rollover point" can be changed from the default value of 4096 by using the set_pls_cnt instruction. The programmed PLS ON/OFF angles can still only range from 0 to 4095. These angles will be automatically scaled by the controllers operating system to function with the new "rollover point". The following two examples show the effect of using the default "rollover point" versus a longer "rollover point", using the set_pls_cnt instruction. EXAMPLE 1: ROLLOVER POINT = 4096 PLS ON ANGLE = 1024 PLS OFF ANGLE = 2047 |----------|----------|----------|----------| MASTER BITS 0 1023 2047 3071 4095 |---off---|----on----|---off---|---off---| PLS STATUS
JUNE 1995
Page 267
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
set_pls_ang (continued) EXAMPLE 2: ROLLOVER POINT = 8192 PLS ON ANGLE = 1024 PLS OFF ANGLE = 2047 |--------------------|--------------------|--------------------|--------------------| MASTER BITS 0 2047 4095 6143 8191 |--------off--------|--------on---------|---------off--------|--------off---------| PLS STATUS SEE: get_pls_out set_pls_mask set_pls_cnt (MCF-850 card) USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 268
set_pls_ang set_pls_ang set_pls_ang N/A
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
set_pls_ang (HPL-850) SYNTAX: label
set_pls_ang
PARAMETERS: controller# on_angle off_angle module#
controller#,on_angle,off_angle,module#
controller id# Range: MSC-850/32 1 to 8 MSC-850 1 to 8 Turn ON module# at this angle in bits. Range: 0 to the "rollover point" in bits (representing 1 full master cycle). Turn OFF module# at this angle in bits. Range: 0 to the "rollover point" in bits (representing 1 full master cycle). Desired output module on the PLS-850 output rack. Range: 0 to 23
DESCRIPTION: 'PLS' is an acronym for Programmable Limit Switch. This instruction defines the action that will occur on the designated PLS output module. 'module#' 0 to 15 are mapped to the PLS outputs. 'module#' 16 to 23 are mapped internally to flags. Each time a set_pls_ang instruction is issued, the axis controller executes a sorting algorithm and will activate its' CALCULATING flag. The Macroprogram must verify that this flag is no longer active before executing subsequent set_pls_ang instructions. The "rollover point" is the master cycle length in bits. The default "rollover point" is 4096. That is, the cycle is defined as a value between 0 and 4095. For an HPL-850 controller, the "rollover point" can be modified to be a value (in bits) between 256 and 8,388,607. The "rollover point" can be changed from the default value of 4096 by using the set_pls_cnt instruction. The programmed PLS ON/OFF angles can range up to the "rollover point" set using the set_pls_cnt instruction. The following two examples show the effect of having a longer master cycle using the set_pls_cnt instruction. EXAMPLE 1: ROLLOVER POINT = 4096 PLS ON ANGLE = 1024 PLS OFF ANGLE = 2047 |----------|----------|----------|----------| MASTER BITS 0 1023 2047 3071 4095 |---off---|----on----|---off---|---off---| PLS STATUS
JUNE 1995
Page 269
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
set_pls_ang (continued) EXAMPLE 2: ROLLOVER POINT = 12000 PLS ON ANGLE = 3000 PLS OFF ANGLE = 5999 |--------------------|--------------------|--------------------|--------------------| MASTER BITS 0 2999 5999 8999 11999 |--------off--------|--------on---------|---------off--------|--------off---------| PLS STATUS
RETURNS: None. SEE: get_pls_out set_pls_mask set_pls_cnt (HPL-850 card) USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 270
set_pls_ang set_pls_ang set_pls_ang N/A
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
set_pls_ang (MSC-250) SYNTAX: label
set_pls_ang
PARAMETERS: controller# on_angle off_angle module#
controller#,on_angle,off_angle,module#
controller id# Range: MSC-250 Always 3 Turn ON module# at this angle in bits. Range: 0 to 4095 (representing 1 full master cycle). Turn OFF module# at this angle in bits. Range: 0 to 4095 (representing 1 full master cycle). Desired output module on the PLS-850 output rack. Range: 0 to 23
DESCRIPTION: 'PLS' is an acronym for Programmable Limit Switch. This instruction defines the action that will occur on the designated PLS output module. 'module#' 0 to 15 are mapped to the PLS outputs. 'module#' 16 to 23 are mapped internally to flags. Each time a set_pls_ang instruction is issued, the axis controller executes a sorting algorithm and will activate its' CALCULATING flag. The Macroprogram must verify that this flag is no longer active before executing subsequent set_pls_ang instructions. The "rollover point" is the master cycle length in bits. This value is always 4096 for the MSC-250. EXAMPLE 1: ROLLOVER POINT = 4096 PLS ON ANGLE = 1024 PLS OFF ANGLE = 2047 |----------|----------|----------|----------| MASTER BITS 0 1023 2047 3071 4095 |---off---|----on----|---off---|---off---| PLS STATUS RETURNS: None. SEE: get_pls_out set_pls_mask USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
set_pls_ang set_pls_ang set_pls_ang N/A
Page 271
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
set_pls_cnt (MCF-850) SYNTAX: label
set_pls_cnt
PARAMETERS: controller# count
controller#,count
controller id# of the HPL-850 controller. Range: MSC-850/32 1 to 8 MSC-850 1 to 8 Sets the cycle length for the PLS function in bits/cycle. Range: 0 to 4.
DESCRIPTION: This instruction sets the cycle length for the PLS function in the MCF-850 card. The default PLS cycle length is 4096 master bits per cycle. The following table shows the relationship between the "count" value and the number of master bits per PLS cycle. master bits per PLS cycle
count 0 1 2 3 4
4096 8192 16384 32768 65536
Changing the cycle length, however, does not change the allowable range of PLS ON/OFF angles. This will still be a value from 0 to 4095, scaled by the controller to work within the new range of bits per cycle. RETURNS: None. SEE: set_pls_ang (MCF-850 card) USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 272
N/A set_pls_cnt set_pls_cnt N/A
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
set_pls_cnt (HPL-850) SYNTAX: label
set_pls_cnt
PARAMETERS: controller# count
controller#,count
controller id# of the HPL-850 controller. Range: MSC-850/32 1 to 8 MSC-850 1 to 8 Sets the cycle length for the HPPLS in bits/cycle. Range: 256 to 8,388,607
DESCRIPTION: 'HPPLS' is an acronym for High Performance Programmable Limit Switch. This instruction sets the cycle length for the HPPLS (360 degree reference). The 'count' is entered in terms of bits/cycle on the Master Angle Bus. Changing the cycle length changes the allowable range of ON/OFF angles that may be entered, up to the specified cycle length as indicated by this instruction. RETURNS: None. SEE: set_mcf (HPL-850 card) set_pls_ang (HPL-850 card) USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
N/A set_pls_cnt set_pls_cnt N/A
Page 273
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
set_pls_mask SYNTAX: label
set_pls_mask
PARAMETERS: controller#
variable
controller#,variable
controller id# Range: MSC-250 Always 3 MSC-850/32 1 to 8 MSC-850 1 to 8 The currently defined 'pls' mask value.
DESCRIPTION: 'pls' is an acronym for Programmable Limit Switch. Defines the 'pls' mask value used to enable/disable pls functioning of the pls outputs. The 3 low order bytes of 'variable' represent the 24 associated output modules/flags. Those bits set in 'variable' will be masked with the currently defined 'pls' state to determine which 'pls' modules will continue to be affected. The 'pls mask' is used to control the activity of the output modules without clearing and/or redefining the output modules using the set_pls_ang instruction. RETURNS: None. SEE: get_pls_mask USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 274
set_pls_mask set_pls_mask set_pls_mask N/A
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
set_pls_time SYNTAX: label
set_pls_time
PARAMETERS: controller# time module#
controller#,time,module#
controller id# of the HPL-850 controller. Range: MSC-850/32 1 to 8 MSC-850 1 to 8 Turn on/off 'module#' in advance of crossing its specified angle. milliseconds*10. Range: 0 to 255 Desired output module on the PLS-850 output rack. Range: 0 to 15
Enter 'time' as
DESCRIPTION: 'HPPLS' is an acronym for High Performance Programmable Limit Switch. This instruction assigns a time advance to the specified 'module#'. This will cause 'module#' to trigger 'time/10 milliseconds' in advance of crossing the specified on/off angle. NOTE: This instruction is ONLY valid when used with the HPL-850. RETURNS: None. SEE: set_pls_ang USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
N/A set_pls_time set_pls_time N/A
Page 275
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
set_speed SYNTAX: label
set_speed
PARAMETERS: controller#
speed
controller#,speed
controller id# Range: MSC-250 MSC-850/32 MSC-850 MSC-800 Desired speed in RPM. Range: MSC-250 MSC-850/32 MSC-850 MSC-800
1 to 3 1 to 3 1 to 8 1 to 9 5 to 7200 RPM 5 to 3600 RPM 5 to 3600 RPM 5 to 3600 RPM
DESCRIPTION: Set the speed of the specified controller to 'speed'. RETURNS: None. SEE: set_ac_dc USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 276
set_speed set_speed set_speed set_speed
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
set_swi_mask SYNTAX: label
set_swi_mask
PARAMETERS: variable
variable
The software interrupt mask variable.
DESCRIPTION: Determines which of the 32 software interrupts are active. A value of 1 in the corresponding bit of the mask 'variable' enables the software interrupt. RETURNS: None. SEE: swi_if_on swi_if_off enable_swi disable_swi clr_swi clr_all_swi USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
set_swi_mask set_swi_mask N/A N/A
Page 277
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
set_tmr SYNTAX: label
set_tmr
PARAMETERS: timer_flag# time
timer_flag#,time Timer flag number. Range: 72 to 79 Time to set.
DESCRIPTION: Activates or enables a timer for a time = 'time'. Time is given in .01 second intervals. The specified flag remains set until 'time' has expired. RETURNS: None. SEE: if_tmr_on if_tmr_off USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 278
set_tmr set_tmr set_tmr set_tmr
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
set_trig_cam SYNTAX: label
set_trig_cam
PARAMETERS: controller#
master_angle
controller#,master_angle
controller id# Range: MSC-250 1 to 2 MSC-850/32 1 to 8 MSC-850 1 to 8 Angle of the master controller. Range: 0 to +4095
DESCRIPTION: Sets the trigger point for lock methods 8 & 9 (see lock). When the master controller angle crosses the trigger angle from either direction, the slave axis begins executing the cam at the specified cam pointer. (The cam pointer will be set to zero if no set_cam_ptr instruction has been executed prior to the lock). RETURNS: None. SEE: lock USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
set_trig_cam set_trig_cam set_trig_cam N/A
Page 279
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
set_trig_pw SYNTAX: label
set_trig_pw
PARAMETERS: controller#
master_angle
controller#,master_angle
controller id# Range: MSC-250 1 to 2 MSC-850/32 1 to 8 MSC-850 1 to 8 MSC-800 1 to 8 Angle of the master controller. Range: 0 to +4095
DESCRIPTION: Sets the trigger point for lock method 3 (see lock). When the master controller angle equals the angle position, a Piecewise profile is executed. RETURNS: None. SEE: prep_profile lock USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 280
set_trig_pw set_trig_pw set_trig_pw set_trig_pw
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
set_vgain SYNTAX: label
set_vgain
PARAMETERS: controller# vel_gain
controller#,vel_gain
controller id# Range: MSC-250 1 to 2 MSC-850/32 1 to 8 Feed forward gain value.
DESCRIPTION: This command sets the velocity feed forward gain for the specified 'controller id#'. During calculation of the position output value for the specified controller, the velocity feed forward gain term is multiplied by the current commanded velocity. The resultant value is added to the other digital compensation terms for that controller. A starting value for the velocity gain term may be calculated as follows: K * 402,650 Vg = -------------------BPR where 'K' is the velocity scale factor for the motor/drive system, in volts per 1000 RPM, and 'BPR' is the number of transducer bits per revolution, after quadrature, of the motor shaft. For example, 'BPR' would be 4096 for a 1024 line encoder. This instruction is used to compensate for following error caused by an extend velocity mode motor and driver. RETURNS: None. SEE: digi_comp USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
set_vgain set_vgain N/A N/A
Page 281
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
stop_input SYNTAX label
stop_input
PARAMETERS: None. DESCRIPTION: Terminates all active input instructions and clears the input buffer area of all characters. RETURNS: None. SEE: input if_char if_no_char USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 282
stop_input stop_input stop_input stop_input
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
swi_if_off SYNTAX: label
swi_if_off
interrupt#,flag,subroutine_label
PARAMETERS: interrupt#
Interrupt number. Range: 0 to 31 flag Flag to trigger the interrupt. Range: 0 to 255 subroutine_label Subroutine branch address.
DESCRIPTION: Sets up an event, which will trigger when 'flag' changes from on to off. RETURNS: None. SEE: swi_if_on enable_swi disable_swi clr_swi clr_all_swi set_swi_mask USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
swi_if_off swi_if_off swi_if_off off_swi
Page 283
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
swi_if_on SYNTAX: label
swi_if_on
interrupt#,flag,subroutine_label
PARAMETERS: interrupt#
Interrupt number. Range:0 to 31 flag Flag to trigger the interrupt. Range:0 to 255 subroutine_label Subroutine branch address.
DESCRIPTION: Sets up an event, which will trigger when 'flag' changes from off to on. RETURNS: None. SEE: enable_swi disable_swi swi_if_off clr_swi clr_all_swi set_swi_mask USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 284
swi_if_on swi_if_on swi_if_on on_swi
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
switch_cam SYNTAX: label
switch_cam
PARAMETERS: controller#
start element # of elements
controller#,start element,# of elements
controller id# Range: MSC-250 1 to 2 MSC-850/32 1 to 8 MSC-850 1 to 8 Element relative to axis card memory array element zero Number of cam elements
DESCRIPTION: The SWITCH CAM feature allows the programmer to switch from executing one cam to another. The programmer specifies the starting element relative to element 0 in the axis controller's 28K array and the number of elements to be executed. The manner in which the SWITCH CAM feature works, is dependent on a number of parameters: 1)
the lock type being used
2)
the order in which the switch_cam and lock instructions are executed
3)
the current state of the axis controller, as defined by its axis status flags
When a cam is being executed and a switch_cam instruction is issued, tyhe LOCK PENDING status flag is set until the cam "rolls" from the last to the first or the first to the last cam element. When the "roll" occurs, the LOCK PENDING flag is cleared, the MASTER/SLAVE lock is set and the new cam begins execution. Execution of an unlock command will clear the LOCK PENDING axis status flag, if currently set. EXAMPLE 1: When using the switch_cam instruction with lock mode 0 or 5 (assume the axis is not busy and a cam_data instruction has been executed). MSC COMMAND -----------------------switch_cam
RESULT ------------a) sets the start/end of cam pointers b) no affect on axis status flags
lock
a) turn on MASTER/SLAVE LOCK and AXIS BUSY flags
In this example, the switch takes place immediately (affecting the cam pointers) and the actual lock will occur at the moment the lock command is issued.
JUNE 1995
Page 285
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
switch_cam (continued) EXAMPLE 2: When using the switch_cam instruction with lock mode 0 or 5 (assume the axis is not busy and a cam_data instruction has been executed). MSC COMMAND -----------------------lock
RESULT ------------a) turn on MASTER/SLAVE LOCK and AXIS BUSY flags
switch_cam
a) sets the start/end of cam pointers for the next cam to be executed b) turns on the LOCK PENDING flag
In this example, a lock takes place immediately. The switch_cam instruction will set up the cam pointers to be used for the next cam, that is, the cam to be executed upon completion of the current cam. EXAMPLE 3: When using the switch_cam instruction with lock mode 8 or 9 (assume the axis is not busy and a cam_data instruction has been executed). MSC COMMAND -----------------------set_trig_cam
RESULT ------------a) sets the lock trigger angle
switch_cam
a) sets the start/end of cam pointers b) no affect on axis status flags
lock
a) turn on LOCK PENDING and AXIS BUSY flags
In this example, the switch takes place immediately (affecting the cam pointers) and the actual lock will occur at the moment the master angle has crossed the defined trigger angle. Once the lock takes place, the LOCK PENDING flag is turned off and the MASTER/SLAVE LOCK flag is turned on. EXAMPLE 4: When using the switch_cam instruction with lock mode 8 or 9 (assume the axis is not busy and a cam_data instruction has been executed).
Page 286
MSC COMMAND -----------------------set_trig_cam
RESULT ------------a) sets the lock trigger angle
lock
a) turn on LOCK PENDING and AXIS BUSY flags
switch_cam
if the LOCK PENDING flag is on, then a) sets the start/end of cam pointers b) no affect on axis status flags c) the actual lock occurs at the trigger angle if the MASTER/SLAVE LOCK flag is on, then a) turns on the LOCK PENDING flag b) the switch occurs upon completion of the current cam
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
switch_cam (continued) In this example, if the LOCK PENDING flag is on at the moment the switch is executed, the result of the switch is that the cam start/end pointers will be realigned and the lock will still occur when the master angle crosses the trigger angle. In this example, if the LOCK PENDING flag is off at the moment the switch is executed (the master angle has already crossed the trigger angle), the current cam will be completed and then the switch will occur. NOTES: 1)
The lock instruction will only be executed when the AXIS BUSY flag is off, otherwise, it will be ignored.
2)
A switch_cam instruction will override a previous switch_cam instruction that has not been already implemented.
3)
A set_trig_cam instruction will override a previous set_trig_cam instruction that has not been already implemented.
RETURNS: None. SEE: lock USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
switch_cam switch_cam switch_cam N/A
Page 287
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
sys_fault SYNTAX: label
sys_fault
PARAMETERS: None. DESCRIPTION: Stop execution of the macroprogram and set the system fault bit in the MSC status word. An f_decel instruction is executed for all controllers. RETURNS: None. SEE: sys_return USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 288
sys_fault sys_fault sys_fault sys_fault
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
sys_return SYNTAX: label
sys_return
PARAMETERS: None. DESCRIPTION: Stop execution of the macroprogram and set the system return bit in the MSC status word. An f_decel instruction is executed for all controllers. RETURNS: None. SEE: sys_fault USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
sys_return sys_return sys_return sys_return
Page 289
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
test_mode SYNTAX: label
test_mode
PARAMETERS: controller#
controller#
controller id# Range: MSC-250 MSC-850/32 MSC-850
1 to 2 1 to 8 1 to 8
DESCRIPTION: The designated controller will be put into test mode. See the hardware manual for the particular controller to determine the function of test mode. RETURNS: None. SEE: No related instructions. USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800
Page 290
test_mode test_mode test_mode N/A
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
text SYNTAX: label
text
PARAMETERS: string
"ASCII string" ASCII string (enclosed in quotes).
DESCRIPTION: Defines a string of characters for use with the print and input instructions. Control and special keyboard characters which cannot be typed may be used by entering the ASCII decimal equivalent enclosed in '<' and '>'. This instruction requires a 'label'. RETURNS: None. SEE: print input USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
text text text text
Page 291
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
track_spd SYNTAX: label
track_spd
PARAMETERS: controller#
speed
controller#,speed
controller id# Range: MSC-250 1 to 3 MSC-850/32 1 to 8 MSC-850 1 to 8 MSC-800 1 to 9 Desired speed. Range: -3600 to +3600 RPM
DESCRIPTION: The specified controller tracks (changes to) the speed indicated. All speed changes occur at the previously set accel/decel rate. The speed may be changed at any time. This instruction sets the controller status flags AXIS BUSY and AXIS JOGGING. These flags remain set until a f_decel instruction causes the motor to reach zero speed. This instruction will be ignored if the controller has not received a drive_on instruction, or if the controller is busy executing a motion instruction. If the instruction cannot be executed, the axis status flag COMMAND INVALID IN THIS STATE will be set. This flag will automatically be cleared by the controller at the next communication between the main processor and the axis controller. This occurs automatically every 100 milliseconds even if no Macroprogram instruction directs communication to occur. RETURNS: None. SEE: l_track_spd USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 292
track_spd track_spd track_spd track_spd
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
trap_pos SYNTAX: label
trap_pos
PARAMETERS: controller#
controller#
controller id# Range: MSC-250 MSC-850/32 MSC-850
1 to 2 1 to 8 1 to 8
DESCRIPTION: When the hardware interrupt signal on the designated motion controller is detected, the current position will be saved immediately. This position can be retrieved later using the get_trap_pos instruction. EXAMPLE hwi_armed_1
equ 91 . . enable_hwi trap_pos
interrupt armed flag
1
! wait for indication that position has been trapped loop if_stat_on get_trap_pos .
1,hwi_armed_1,loop 1,pos
RETURNS: None. SEE: get_trap_pos USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
trap_pos trap_pos trap_pos N/A
Page 293
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
turn_off SYNTAX: label
turn_off
PARAMETERS: I/O flag#
I/O flag# Output module number. Range: MSC-250 MSC-850/32 MSC-850 MSC-800
0 to 47 0 to 71 0 to 71 0 to 71
DESCRIPTION: Causes the specified I/O flag to be turned off. If the corresponding I/O module is an output module, the output module will turn off. The turn_off instruction should not be used for I/O flag positions equipped with input modules. This will cause the MSC to designate that I/O flag as an output. The system will no longer respond correctly to the corresponding input module. RETURNS: None. SEE: turn_on if_io_on if_io_off USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 294
turn_off turn_off turn_off turn_off
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
turn_on SYNTAX: label
turn_on
PARAMETERS: I/O flag#
I/O flag# Output module number. Range: MSC-250 MSC-850/32 MSC-850 MSC-800
0 to 47 0 to 71 0 to 71 0 to 71
DESCRIPTION: Causes the specified I/O flag to be turned on. If the corresponding I/O module is an output module, the output module will turn on. The turn_on instruction should not be used for I/O flag positions equipped with input modules. This will cause the MSC to designate that I/O flag as an output. The system will no longer respond correctly to the corresponding input module. RETURNS: None. SEE: turn_off if_io_on if_io_off USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
turn_on turn_on turn_on turn_on
Page 295
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
unlock SYNTAX: label
unlock
PARAMETERS: controller#
mode#
controller#,mode# controller id# Range: MSC-250 MSC-850/32 MSC-850 MSC-800 unlock method Range: 0 or 1
1 to 2 1 to 8 1 to 8 1 to 8
DESCRIPTION: Terminate the master/slave or CAM lock. Using 'mode' 0, the controller will decelerate to zero speed at the previously set accel/decel rate. Using 'mode' 1, the controller will unlock from the master, but will continue to run at the last commanded speed. It will not decelerate until it is commanded to do so using the f_decel instruction. RETURNS: None SEE: lock USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
Page 296
unlock unlock unlock unlock
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
vel_ccw SYNTAX: label
vel_ccw
PARAMETERS: controller#
controller# controller id# Range: MSC-250 MSC-850/32 MSC-850 MSC-800
1 to 3 1 to 8 1 to 8 1 to 9
DESCRIPTION: The specified controller accelerates and runs in a counter-clockwise direction at the previously set accel/decel rate and speed. The current accel/decel rate is divided by 256 before acceleration begins. Accel/decel rate and speed may be modified while executing the vel_ccw instruction. This instruction sets the controller status flags AXIS BUSY and AXIS JOGGING. These flags remain set until a f_decel instruction causes the motor to reach zero speed. This instruction will be ignored if the controller has not received a drive_on instruction, or if the controller is busy executing a motion instruction. If the instruction cannot be executed, the axis status flag COMMAND INVALID IN THIS STATE will be set. This flag will automatically be cleared by the controller at the next communication between the main processor and the axis controller. This occurs automatically every 100 milliseconds even if no Macroprogram instruction directs communication to occur. RETURNS: None. SEE: vel_cw USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
vel_ccw vel_ccw vel_ccw vel_ccw
Page 297
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
vel_cw SYNTAX: label
vel_cw
PARAMETERS: controller#
controller# controller id# Range: MSC-250 MSC-850/32 MSC-850 MSC-800
1 to 3 1 to 8 1 to 8 1 to 9
DESCRIPTION: The specified controller accelerates and runs in a clockwise direction at the previously set accel/decel rate and speed. The current accel/decel rate is divided by 256 before acceleration begins. Accel/decel rate and speed may be modified while executing the vel_cw instruction. This instruction sets the controller status flags AXIS BUSY and AXIS JOGGING. These flags remain set until a f_decel instruction causes the motor to reach zero speed. This instruction will be ignored if the controller has not received a drive_on instruction, or if the controller is busy executing a motion instruction. If the instruction cannot be executed, the axis status flag COMMAND INVALID IN THIS STATE will be set. This flag will automatically be cleared by the controller at the next communication between the main processor and the axis controller. This occurs automatically every 100 milliseconds even if no Macroprogram instruction directs communication to occur. RETURNS: None. SEE: vel_ccw USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800: MSC-100:
Page 298
vel_cw vel_cw vel_cw vel_cw vel_cw
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INSTRUCTION SUMMARY
write SYNTAX: label
write
PARAMETERS: unit data_area length status
unit,data_area,length,status File identifier. Range: 1 to 8 Data source address. May be defined by begin_data, begin_cam, dim, or variable name. Number of bytes (characters) to be written. Variable containing the result of the operation.
DESCRIPTION: This instruction writes data from the given 'data_area' to the specified unit (file). The number of bytes (characters) to be written is given as 'length'. RETURNS: The return variable will be zero if the operation is successful. Non-zero status codes are described in Section 15.3.2. SEE: open close read create initialize get_space get_volume load save USAGE: MSC-250: MSC-850/32: MSC-850: MSC-800:
JUNE 1995
write write write write
Page 299
MACROPROGRAM DEVELOPMENT SYSTEM MACROPROGRAM INSTRUCTION LISTING
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
APPENDIX A Macroprogram Instruction Listing INSTRUCTION analog_in analog_out analog_rt analog_zo begin_cam begin_data blk_io_in blk_io_out calc_cam_sum calc_unit_cam cam cam_data cam_pointer case close clr_all_swi clr_bit clr_event clr_flag clr_hi_scan clr_local clr_swi create data declare default digi_comp dim disable_hwi disable_swi drive_off drive_on enable enable_hwi enable_swi end_cam end_data end_select equ events_off events_on exec_profile exit_select f_decel find_mrk_ccw find_mrk_cw
Page 300
COMMENTS
MSC-100
U U U
MSC-800 U U U U U U U
U U same as 'set_cam_ptr'
obsolete - same as 'clr_swi'
same as 'swi_off' same as 'master' same as 'enable' same as 'drive_on'
U U
U U U
U U
U U
U U U U U U U
U U U U U U U U
U
U
same as 'swi_on'
same as 'disable_swi' same as 'enable_swi'
also used with HWI
U U U U U U U U
U U U U
U U U
MSC-850 MSC-250
MSC-850/32
U U U U U U U U U U U U
U U U U U U U U U U U U
U U U U U U U U U U U U
U U U U
U U U U
U U U U
U
U
U U U U U U U U U U U U
U U U U U U U U U U U U
U U U U U U U U U U U U U U
U U U U U U
U U U U U U
U U U U U U
U U U U U
U U U U U
U U U U U
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001 INSTRUCTION find_tm_ccw find_tm_cw get_act_spd get_angle get_cam_cnt get_cam_end get_cam_ptr get_cam_strt get_cam_sum get_com get_fol_err get_for_ang get_frame get_mcf get_map get_map_stat get_mpos get_mspd get_pls_mask get_pls_out get_pos get_pq_space get_pstat get_space get_status get_t_mrk get_time get_trap_pos get_volume gosub goto if if_bit_clr if_bit_set if_char if_flag_off if_flag_on if_input_off if_input_on if_io_off if_io_on if_no_char if_stat_off if_stat_on if_tmr_off if_tmr_on incr_com index
JUNE 1995
COMMENTS
MACROPROGRAM DEVELOPMENT SYSTEM MACROPROGRAM INSTRUCTION LISTING MSC-100
MSC-800
U
same as 'store_com'
MSC-850 MSC-250
MSC-850/32
U U U U U U U U U U U U
U U U U U U U U U U U U
U U U U U U U U U U U U
U U U
U U U
U U U
U U U
U U U U U U
U
obsolete
U U
same as 'store_pos' U U
U U U
same as 'store_time'
U U U
U U U U
U U U U U U
U U U U U U
U U U U
U U U U
U
U
same as 'if_input_on'
same as 'if_no_char' same as 'if_char'
same as 'if_input_off'
also used with HWI
U U U U U U U U U U U U U U U
U U U U U U U U U U U U
U U U U U U U U U U U U U U U U U U U
U U U U U U U U U
U U U U U U U U U
U U U U U U U U U
Page 301
MACROPROGRAM DEVELOPMENT SYSTEM MACROPROGRAM INSTRUCTION LISTING INSTRUCTION initialize input integer jog_ccw jog_cw l_track_spd let let_byte load lock master msc_type no_op off_event off_swi on_event on_swi open over_draw p_vector port_set pos_rewind position prep_profile preset print print_num profile rand_int ratio read read_offset reset restart_at restart_cp return_sub rewind_cp save select set_ac_dc set_acy_cnt set_bit set_cam_ptr set_flag set_gl_ccw set_gl_cw set_hi_scan set_home
Page 302
COMMENTS
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MSC-100
U U U U U U U also used with HWI same as 'drive_off'
same as 'swi_if_off' same as 'swi_if_off' same as 'swi_if_on' same as 'swi_if_on'
U U U U U U U
MSC-800 U U U U U U U U U U U U U U
U obsolete also used with HWI same as 'profile'
same as 'prep_profile'
U
U U U U
also used with HWI
obsolete - same as 'drive_on'
U U U
obsolete U obsolete U U
U U U U
U U U U U U U U U U U U U U U
same as 'cam_pointer' U U U
MSC-850/32
U U U U U U U U U U
U U U U U U U U U U
U U U U U U U U U U
U U
U U
U U
U U
U U
U U
U
U
U
U U U U U
U U U U U
U U U U U
U U U U
U U U U
U U U U
U
U
U
U
U
U
U U U U U U U U
U U U U U U U U U
U
U
U U U U U U U U U U U
U U
used with HWI only obsolete
MSC-850 MSC-250
U U U
JUNE 1995
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001 INSTRUCTION set_local set_map set_mcf set_offset set_ovd_mode set_pls_ang set_pls_cnt set_pls_mask set_pls_time set_speed set_swi_mask set_tmr set_trig_cam set_trig_pw set_vgain start_cp stop_input store_com store_frm store_pos store_time swi_if_off swi_if_on swi_off swi_on switch_cam sys_fault sys_return test_mode text track_spd trap_pos turn_off turn_on unlock vel_ccw vel_cw write
JUNE 1995
COMMENTS
MACROPROGRAM DEVELOPMENT SYSTEM MACROPROGRAM INSTRUCTION LISTING MSC-100
MSC-800
U
U
U
U
U
U
U
U
U
U
obsolete same as 'get_com' obsolete same as 'get_pos' same as 'get_time' same as 'off_swi' same as 'on_swi' same as 'disable_swi' same as 'enable_swi'
U U U U
U U U U U U
U U
U U
U U
U U
U U
U U
U U
U U U U U U
used with HWI only
U U
MSC-850 MSC-250 U U U U U U U U U U
MSC-850/32
U U U U
U U U U U U U U U U U U U U U
U U U U U U U U U U U U U U U
U
U
U
U U
U U
U U
U U U U U U U U U U U U U
U U U U U U U U U U U U U
U U U U U U U U U U U U U
Page 303
MACROPROGRAM DEVELOPMENT SYSTEM APPENDIX B
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
APPENDIX B CUSTOM SERIAL PORT CONFIGURATION FOR THE MSC SOFTWARE TOOLKIT The MSC Software Toolkit, beginning with SFO3110R0, provides a feature to allow the use of non-standard serial communications configurations. This feature is needed when: 1.
Using devices with port addresses other than those for the standard COM1 and COM2 ports. Typical examples include COM3 and COM4, and RS485 cards.
2.
Using devices with IRQ levels other than the standards defined for COM1 and COM2.
3.
Using various multiport serial communications cards like the Digiboard PC/X series.
Configuration of the Toolkit for non-standard communication ports is accomplished using a data file which contains port address and interrupt information for each communication channel in use. A typical file is shown in Figure 1. Notice that the file consists of a series of three entries for each COM port defined, separated from the next group by a blank line. The word END indicates the end of the definition file. For each COM port defined, you will need to know the base address of the UART registers and the interrupt request (IRQ) setting. In our example file, the standard settings for COM1 and COM2 are shown. The remaining six entries are typical of factory default settings for the first six ports of a Digiboard PC/8 multiport serial card. Up to 16 COM ports may be defined in this manner. Table I Configuration File Format
Page 304
COM1 0x3f8 IRQ4
COM5 0x110 IRQ5
COM2 0x2f8 IRQ3
COM6 0x118 IRQ5
COM3 0x100 IRQ5
COM7 0x120 IRQ5
COM4 0x108 IRQ5
COM8 0x128 IRQ5
6
END
SEPTEMBER 1992
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM GLOSSARY OF TERMS
GLOSSARY OF TERMS ACC-800
A card used with an MSC-800 to control a resolver based motor/drive unit
ACCEL/DECEL
The rate of change to achieve a desired speed. Unit of measure is 2 revs/sec .
ACE-850
A card used with an MSC-850 to control an encoder based motor/drive axis
ACM-800
A controller card used with an MSC-800 to send and receive analog signals
ACM-850
A card used with an MSC-850 to send/receive analog signals
ACTUATOR
A device which creates mechanical motion by converting various forms of energy to mechanical energy.
AXIS
An independent motor/drive unit which is controlled by an IIS type controller
AXIS CONTROLLER
A card which is used with either an MSC-800 or MSC-850 to control an independent motor/drive unit
CLOSED LOOP
A regulating device in which the actuator position is sensed, and a signal proportional to this position (feed-back position) is compared with a signal proportional to the desired actuator position (command position). The difference between these signals is the error signal. The error signal causes a change in the actuator so as to force this signal to be zero.
COMMAND SIGNAL GENERATOR
A device that supplies a command position signal to an automatic control system. This signal represents the desired motion of the actuator that is required to accomplish a task such as making a part. This signal is usually in the form of an electrical signal.
COMMUNICATIONS
The transmission of information from one device to another. The information can take many forms such as command signals, device status and fault conditions.
COMMUTATOR
The part of the rotating armature of a motor that causes the electrical current to be switched to various armature windings. The proper sequenced switching of the windings creates the motor torque. The commutator also provides the means to transmit the electrical current from the stationary body of the motor to moving rotor.
COMPARATOR
A device where the feedback signal is subtracted from the command signal. The difference output of the comparator is called the error signal.
SEPTEMBER 1992
Page 305
MACROPROGRAM DEVELOPMENT SYSTEM GLOSSARY OF TERMS
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
DC DRIVE
An electronic control unit for running DC motors. The DC drive converts AC line current to a variable DC current to control a DC motor. The DC drive has a signal input that controls the torque and speed of the motor.
ENCODER
A type of feedback device which converts mechanical motion into electrical signals to indicate actuator position. Typical encoders are designed with a printed disc and a light source. As the disc turns with the actuator shaft, the light source shines through the printed pattern onto a sensor. The light transmission is interrupted by the patterns on the disk. These interruptions are sensed and converted to electrical pulses. By counting these pulses, actuator shaft position is determined.
FLAG
A bit in memory used by the programer to evaulate action to be taken. A program branch may be executed depending on the true or false result of a bit test. There are four types of flags supported by the Macroprogram language; axis status flags, I/O status flags, timer status flags and user flags.
HOME
A known point of reference frequently referred to as "global zero". Used as a point of reference for absolute positioning.
HOST
A computer system whose function is to monitor and coordinate the processes of other devices. A host computer will typically coordinate motion control functions as well as their interaction with other machine processes.
HPL-850
A card used with an MSC-850 multi-axis controller which provides high performance programmable limit switches.
I/O
The reception and transmission of information (Input/Output) between control devices. In modern control systems, I/O has two distinct forms. In one, it refers to switches, relays, etc. In the other form, I/O refers to analog signals that are continuous in nature such as speed, temperature, flow, etc.
INDEX
An index instruction will move the motor shaft an absolute distance relative to the current position.
INERTIA
The measure of an object's resistance to a change in its current velocity.
INITIALIZE
To execute a series of macro program instructions in order to teach an MSC axis controller an absolute zero reference.
INSTRUCTION
A Macroprogram command to the MSC. following format: have the following format: label
Page 306
instruction
parameters
All instructions have the
comment
SEPTEMBER 1992
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM GLOSSARY OF TERMS
INSTABILITY
Undesirable motion of an actuator that is different from the commanded motion. Instability can take the form of irregular speed or hunting of the final rest position.
IOE-800
A rack containing up to 16 interchangeable I/O modules. The modules may be AC or DC and any combination of input and output. oan MSC-100 will support up to 2 IOE-800 racks oan MSC-800 will support up to 4 IOE-800 racks oan MSC-850 will support up to 4 IOE-800 racks This device is also commonly referred to as an I/O Expander.
JOG
A jog instruction will move the motor shaft in the specified direction using the predefined speed and accel/decel rates. Once at speed, the motor will continue to jog until commanded to stop.
LINE SHAFT
A shaft rotated by the primary motor drive. The line shaft transmits power from the motor to a load or series of loads. In the multiple load case, the motions of the loads are synchronized to one another because they are driven from a common shaft.
MSC TOOLKIT
The personal computer based software package used to edit, compile and debug Macroprograms developed for MSC controllers.
MACROPROGRAM
A program written in IIS' basic-like language for the MSC family of motion controllers.
MICROPROCESSOR
A miniaturized computer system that executes instructions in a sequential manner. The sequential instructions form a control strategy for devices that may be connected to the system. The sequential instructions are loaded into the microprocessor and can be easily changed or modified. Modern microprocessors are small electronic devices that execute a wide range of instructions at speeds as high as 1,000,000 instructions per second.
MOTOR DIRECTION
The direction that a motor shaft is turning is determined by the facing the front of the motor shaft. From this perspective, direction is determined to be clockwise or counter-clockwise.
MAC-800
The main processor within the MSC-800 System Unit, which communicates with the axis controllers as well as external devices such as Personal Computers, I/O Expanders and operator interface devices.
MCF-850
A card used with an MSC-850 controller which provides optional high level functions such as 32K of non-volatile data storage, pseudo axis capability, and programmable limit switches.
SEPTEMBER 1992
Page 307
MACROPROGRAM DEVELOPMENT SYSTEM GLOSSARY OF TERMS
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MSC-100
A single axis, programmable servo motion controller
MSC-800
A multi-axis, programmable servo motion controller capable of synchronously controlling from 1 to 8 axes.
MSC-850
A multi-axis, programmable servo motion controller capable of synchronously controlling from 1 to 8 axes. This controller provides more advanced capability than the MSC-800.
MULTI-AXIS CONTROLLER
A system designed to control more than one actuator. This type of controller allows the actuators to work independently or as a coordinated group to perform more complex tasks.
ON-BOARD I/O
The I/O module slots that are provided with an MSC System Unit. Each MSC-800 or MSC-850 may have up to 8 onboard input and/or output modules.
OPEN-LOOP SYSTEM
A system where a command signal results in actuator movement which is not sensed and therefore not corrected for error. Open loop means no feedback.
OPERATOR INTERFACE
A device that allows the operator to communicate with a machine. This device typically has a keyboard or thumbwheel to enter instructions into the machine. It may also have a display device that allows the machine to display messages. An example of an operator interface is the OPI-1.
OSCILLATION
Undesirable motion of an actuator that is different from the command motion. See INSTABILITY.
PARAMETER
A value required for correct execution of an instruction. Each instruction has a parameter list which is used by the controller to execute the instruction. An example would be the index instruction. The controller needs to know which axis to index and the distance to index.
PLS-850
A rack containing up to 15 output modules for use with either an MCF850 programmable limit switch feature, or an HPL-850 high performance programmable limit switch feature.
PERIPHERAL
Various kinds of devices that operate in conjunction with an MSC controller. Examples of these are PLC's, joysticks, computers, and operator interfaces.
POSITION ERROR
The difference between the present actuator position (feedback) and the desired position (command).
POSITION FEEDBACK
Present actuator position as measured by a position transducer.
Page 308
SEPTEMBER 1992
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM GLOSSARY OF TERMS
PROGRAMMABLE LOGIC CONTROLLER (PLC)
(PLC) An electronic device that scans discrete (on/off) type inputs and controls discrete (on/off) type outputs. The relationship between the inputs and outputs are logical statements that are programmable by the user.
RESOLVER
A type of feedback device which converts mechanical position into an electrical signal. A resolver is a variable transformer that divides the impressed AC signal into two outputs, referred to as sine and cosine output signals. The comparison of these two signals is used to determine the absolute position of the resolver shaft.
ROTOR
The rotating part of a magnetic structure. In a motor, the rotor is connected to the motor shaft.
SERVO
An automatic control device for controlling large amounts of power by means of very small amounts of power and automatically correcting the performance of the mechanism. Servo systems are closed loop systems.
SERVO AMPLIFIER
An electronic device which produces the winding current for a servo motor. The amplifier converts a low level control signal into high voltage and current levels to produce torque in the motor.
SERVO MOTOR
An actuator which converts electrical energy (winding current) to mechanical energy (torque). Servo motor construction is optimized to provide maximum torque with minimum rotor inertia.
SYSTEM UNIT
A system unit consists of an ENC850 Unit Enclosure and MAC850 Main Processor. The Unit Enclosure is a metal cabinet with a motherboard mounted on the back plate. The Main Processor plugs into a connector on the motherboard and provides the processing power to run the operating system and customer application software. The motherboard serves as a multipurpose backplane in which the command bus, on-board I/O bus, two angle busses, and power distribution conductors reside.
SEPTEMBER 1992
Page 309
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INDEX
INDEX analog_in .............................................................................................................. 101, 106, 109, 110, 112, 114, 115, 300 analog_out.....................................................................................................101, 106, 109-115, 259, 260, 263, 264, 300 analog_rt............................................................................................................... 101, 106, 109, 110, 112, 114, 115, 300 analog_zo............................................................................................................. 101, 106, 109, 110, 112, 114, 115, 300 begin_cam........................................................................................35, 73, 106, 116, 122, 124, 146, 211, 234, 299, 300 begin_data................................................................................31, 35, 48, 60, 61, 75, 106, 117, 134, 147, 234, 299, 300 blk_io_in ..........................................................................................................................................47, 106, 118, 119, 300 blk_io_out ........................................................................................................................................47, 106, 118, 119, 300 calc_cam_sum ........................................................................................................... 47, 76, 89, 106, 120, 121, 164, 300 calc_unit_cam ....................................................................................................... 47, 73-76, 89, 106, 120, 121, 211, 300 cam .....35, 38, 39, 43, 44, 46, 47, 62, 67, 71-79, 89, 90, 96, 97, 106-108, 116, 120-124, 146, 160-164, 209, 211, 214, 215, 234, 240, 243, 279, 285-287, 296, 299-303 cam_data.................................................................................. 72-74, 76, 89, 96, 97, 106, 123, 124, 211, 285, 286, 300 cam_pointer................................................................................................................................................... 243, 300, 302 case ......................................................................... 23, 49, 52, 53, 72, 79, 106, 125, 136, 148, 151, 223, 239, 300, 307 close ...................................................................................... 99, 106, 126, 133, 178, 201, 210, 220, 234, 238, 299, 300 clr_all_swi ...............................................................................................66, 106, 127, 132, 140, 145, 277, 283, 284, 300 clr_bit ...............................................................................................................................................50, 106, 128, 242, 300 clr_flag .............................................................................................................................................47, 106, 129, 244, 300 clr_local............................................................................................................................................55, 106, 131, 252, 300 clr_swi.....................................................................................................66, 106, 127, 132, 140, 145, 277, 283, 284, 300 create.................................................8, 17, 92, 96, 98, 99, 106, 126, 133, 135, 178, 201, 210, 220, 234, 238, 299, 300 data...... 6-8, 11, 12, 14, 17, 24-27, 29, 31, 32, 35, 41, 46, 48, 49, 54, 60-63, 67, 71-80, 82, 83, 86, 88-94, 96-98, 100, 102, 106, 107, 108-110, 112, 116, 117, 121, 123, 124, 133-135, 146, 147, 150, 181, 183, 201, 207-211, 214, 219, 224, 227, 234, 238, 253, 285, 286, 299, 300, 304, 307 declare.........................................................................................................................................34, 35, 75, 106, 135, 300 default ................13, 20, 45, 52, 53, 55-57, 100, 106, 125, 136, 137, 148, 151, 239, 240, 249, 267, 269, 272, 300, 304 digi_comp ........................................................................................................................................55, 106, 137, 281, 300 dim ................................................................................... 31, 35, 48, 74, 75, 96, 106, 138, 203, 208, 209, 234, 299, 300 disable_hwi..............................................................................................................................66, 106, 139, 144, 223, 300 disable_swi.....................................................................................66, 106, 127, 132, 140, 145, 277, 283, 284, 300, 303 drive_off....................................................................................47, 55, 106, 111, 113, 141, 142, 216, 259, 263, 300, 302 drive_on...... 34, 47, 55, 74, 106, 111, 141, 142, 150, 153-156, 200, 204-206, 216, 250, 259, 260, 263, 292, 297, 298, 300, 302 enable_hwi ............................................................................................... 65, 66, 106, 139, 143, 144, 182, 223, 293, 300 enable_swi .....................................................................................66, 106, 127, 132, 140, 145, 277, 283, 284, 300, 303 end_cam........................................................................................................... 35, 73, 106, 116, 122, 124, 146, 211, 300 end_data......................................................................................................... 35, 48, 60, 61, 75, 106, 117, 134, 147, 300 end_select ........................................................................................................ 52, 53, 106, 125, 136, 148, 151, 239, 300 equ..................................................................... 24, 30, 34, 35, 61, 75, 82, 86, 87, 93, 94, 106, 149, 203, 223, 293, 300 exec_profile ..........................................................................................47, 61, 62, 65, 106, 143, 144, 150, 177, 227, 300 exit_select......................................................................................................... 52, 53, 106, 125, 136, 148, 151, 239, 300 f_decel26, 29, 46, 47, 55, 59, 65, 66, 69, 78, 106, 110, 112, 143, 144, 150, 152, 204-206, 288, 289, 292, 296-298, 300 find_mrk_ccw ....................................................................................................................47, 55, 106, 153, 154, 180, 300 find_mrk_cw ......................................................................................................................47, 55, 106, 153, 154, 180, 300 find_tm_ccw ............................................................................................................................55, 106, 155, 156, 180, 300 find_tm_cw ..............................................................................................................................55, 106, 155, 156, 180, 300 get_act_spd................................................................................................................................................... 106, 157, 300 get_angle.........................................................................................................................................95, 106, 158, 159, 301 get_cam_cnt............................................................................................................................................ 89, 106, 160, 301
Page 310
JUNE 1995
MACROPROGRAM DEVELOPMENT SYSTEM INDEX
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
get_cam_end...........................................................................................................................89, 106, 161, 163, 211, 301 get_cam_ptr ......................................................................................................................77, 89, 106, 162, 211, 243, 301 get_cam_strt............................................................................................................................89, 107, 161, 163, 211, 301 get_cam_sum..................................................................................................................76, 107, 120, 121, 164, 211, 301 get_com...........................................................................................................................63, 107, 165, 176, 250, 301, 303 get_fol_err ............................................................................................................................................... 63, 107, 166, 301 get_for_ang .....................................................................................................................................95, 107, 158, 167, 301 get_map................................................................................................................................... 89, 107, 168-170, 255, 301 get_map_stat...........................................................................................................................89, 107, 169, 170, 255, 301 get_mcf............................................................................................................................89, 107, 171, 172, 257, 262, 301 get_pls_mask ..................................................................................................................................95, 107, 173, 274, 301 get_pls_out............................................................................................................... 90, 95, 107, 174, 268, 270, 271, 301 get_pos..............................................................................................................................63, 83, 107, 165, 176, 301, 303 get_pstat............................................................................................................................61, 62, 107, 150, 177, 227, 301 get_space.............................................................................. 99, 107, 126, 133, 178, 201, 210, 220, 234, 238, 299, 301 get_status ................................................................................................................................................ 47, 107, 179, 301 get_t_mark............................................................................................................................................................. 107, 180 get_time................................................................................................................................................. 107, 181, 301, 303 get_trap_pos ...................................................................................................................................66, 107, 182, 293, 301 get_volume.................................................................... 99, 107, 126, 133, 178, 183, 201, 210, 220, 234, 238, 299, 301 gosub.................................................................................................................. 51, 53, 64, 107, 184, 185, 236, 237, 301 goto............................................................................................................................. 34, 51, 53, 107, 184, 185, 236, 301 if ................... 6, 8, 10-14, 19-21, 23, 25-31, 33, 34, 45-47, 50-54, 60, 61, 64-66, 68, 70-72, 76, 77, 83, 90-94, 97, 100, 102-105, 107, 108, 118, 119, 126-128, 132, 133, 135-137, 140, 142, 145, 150, 152, 175, 177-180, 183, 184, 186-198, 200, 202, 204, 205, 206, 210, 214, 217, 220, 221, 223-225, 231, 234, 237-239, 242, 244, 245, 247, 258, 259, 263, 277-279, 282-287, 292, 293-295, 297-299, 301-303 if_bit_clr ...................................................................................................................................53, 107, 187, 188, 242, 301 if_bit_set ..................................................................................................................................53, 107, 187, 188, 242, 301 if_char ..................................................................................................................... 53, 105, 107, 189, 194, 225, 282, 301 if_flag_off ...................................................................................................................................47, 53, 107, 190, 191, 301 if_flag_on ...................................................................................................................................47, 53, 107, 190, 191, 301 if_io_off ..................................................................................................................... 47, 53, 107, 192, 193, 294, 295, 301 if_io_on ..................................................................................................... 47, 53, 107, 192, 193, 259, 263, 294, 295, 301 if_no_char............................................................................................................... 53, 105, 107, 189, 194, 225, 282, 301 if_stat_off ...................................................................................................................................47, 53, 107, 195, 196, 301 if_stat_on ....................................................................................34, 47, 53, 61, 76, 93, 94, 107, 195, 196, 223, 293, 301 if_tmr_off............................................................................................................................47, 53, 107, 197, 198, 278, 301 if_tmr_on........................................................................................................... 47, 53, 107, 197, 198, 259, 263, 278, 301 incr_com .................................................................................................................................................. 89, 107, 199, 301 index ....................... 46, 47, 59, 65, 71, 72, 107, 143, 144, 200, 211, 221, 223, 226, 259, 264, 266, 301, 306, 308, 310 initialize ............................................................94, 99, 107, 126, 133, 178, 201, 210, 220, 224, 234, 238, 299, 301, 306 input ......... 6, 15, 27, 37, 46, 47, 64, 65, 92, 100, 103-109, 111, 113-115, 118, 189, 192-194, 202, 221, 225, 230, 259, 263, 282, 291, 294, 295, 301, 303, 305, 306, 308 integer................................................................................................................... 31, 35, 48, 77, 107, 125, 149, 203, 301 jog_ccw..........................................................................................................................46, 47, 58, 59, 107, 204, 205, 301 jog_cw ...........................................................................................................................46, 47, 58, 59, 107, 204, 205, 301 l_track_spd ....................................................................................................................46, 47, 58, 59, 107, 206, 292, 301 let ..................................................................... 48-50, 61, 73-76, 82, 86, 87, 96, 103, 107, 123, 124, 207-209, 250, 302 let_byte ................................................................................................... 49, 50, 61, 73, 96, 107, 123, 124, 208, 209, 302 load .............................................. 8, 55, 56, 74-76, 97, 99, 107, 126, 133, 178, 201, 210, 220, 234, 238, 299, 302, 307 lock ........ 38-40, 43, 47, 65, 67-71, 73, 75, 77, 78, 80, 89, 107, 124, 143, 144, 152, 158, 211-215, 233, 243, 279, 280, 285-287, 296, 302 master............ 38-40, 42, 43, 45, 47, 54, 55, 62, 67-74, 76-83, 86-94, 97, 106-108, 123, 141, 152, 157, 158, 168-170,
JUNE 1995
Page 311
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
MACROPROGRAM DEVELOPMENT SYSTEM INDEX
211-214, 216, 219, 228, 229, 233, 246, 248, 253-256, 258, 261, 267-273, 279, 280, 285-287, 296, 300, 302 msc_type .....................................................................................................................................34, 35, 75, 107, 217, 302 no_op............................................................................................................................................................. 107, 218, 302 offset_master......................................................................................................................................................... 107, 219 open........................................ 98, 99, 107, 111, 113, 126, 133, 178, 210, 220, 224, 234, 238, 259, 263, 299, 302, 308 over_draw....................................................................................................47, 65, 66, 107, 143, 144, 221-223, 266, 302 port_set.........................................................................................102, 103, 105, 107, 175, 202, 224, 225, 230, 231, 302 position ........18, 20, 22, 29, 33, 34, 45-49, 54-59, 62, 63, 65, 67-69, 71, 72, 77-80, 83, 90-92, 94, 108, 111, 113, 123, 131, 141-144, 153-156, 165, 166, 176, 182, 199, 200, 211-216, 219, 221, 226, 229, 233, 243, 245, 247, 250, 252, 253, 259, 263, 280, 281, 293, 302, 305, 306, 308, 309 prep_profile.....................................................................................47, 61, 62, 80, 97, 108, 150, 177, 213, 227, 280, 302 preset.................................................................................................................................92, 95, 108, 159, 228, 229, 302 print............................................................................................................6, 103-105, 108, 202, 225, 230, 231, 291, 302 print_num...................................................................................................................... 103, 105, 108, 202, 225, 231, 302 profile ..........38, 39, 43, 44, 46, 47, 60-62, 65, 67, 68, 70, 73, 74, 80, 97, 106, 108, 117, 134, 143, 144, 147, 150, 177, 213, 222, 227, 266, 280, 300, 302 rand_int.......................................................................................................................................................... 108, 232, 302 ratio...................................................................................... 65, 67-71, 73, 76, 77, 89, 108, 143, 144, 212-215, 233, 302 read...17, 21, 26, 28, 29, 31, 36, 63, 83, 97, 99, 100, 108, 109, 118, 126, 178, 201, 210, 220, 234, 235, 238, 299, 302 read_offset..................................................................................................................................................... 108, 235, 302 restart_at ........................................................................................................................................... 51, 53, 108, 236, 302 return_sub .........................................................................................................................51, 53, 108, 184, 236, 237, 302 save ....................................................................... 14, 16, 20, 22, 99, 108, 126, 133, 178, 201, 220, 234, 238, 299, 302 select ............................. 11, 12, 14, 17, 21, 26, 31, 51-53, 102, 106, 108, 125, 136, 148, 151, 239, 259, 263, 300, 302 set_ac_dc .............................................. 34, 55, 69-71, 108, 153-156, 204, 205, 212-214, 223, 240, 259, 264, 276, 302 set_acy_cnt ............................................................................................................................................. 55, 108, 241, 302 set_bit ..................................................................................................................... 50, 80, 82, 86, 87, 108, 128, 242, 302 set_cam_ptr......................................................................... 73, 77, 78, 89, 108, 162, 211, 214, 215, 243, 279, 300, 302 set_flag ............................................................................................................................................47, 108, 129, 244, 302 set_gl_ccw........................................................................................................... 55, 92, 95, 108, 245-248, 252, 253, 302 set_gl_cw.......................................................................................................55, 92, 94, 95, 108, 245-248, 252, 253, 302 set_hi_scan ........................................................................................................................................... 108, 130, 249, 302 set_home.........................................................................................................................................55, 108, 250, 251, 302 set_local .......................................................................... 34, 55, 83, 92, 93, 95, 108, 131, 229, 246, 248, 252, 253, 302 set_map............................................. 49, 68, 80, 82, 86, 87, 89, 108, 124, 168-170, 215, 233, 254, 255, 257, 262, 302 set_mcf .......................................................49, 86, 87, 89, 91, 92, 95, 108, 111, 113, 142, 171, 172, 256-264, 273, 302 set_offset .........................................................................................................................................83, 108, 235, 265, 302 set_ovd_mode............................................................................................................................................... 108, 266, 302 set_pls_ang ................................................................................................................91-95, 108, 174, 258, 267-275, 302 set_pls_cnt .........................................................................................................93-95, 108, 258, 267-270, 272, 273, 302 set_pls_mask .....................................................................................91, 92, 95, 108, 173, 174, 268, 270, 271, 274, 302 set_pls_time ...................................................................................................................................... 93, 95, 108, 275, 302 set_speed................................................................... 32, 34, 55, 108, 153-156, 204, 205, 223, 240, 259, 264, 276, 303 set_swi_mask.........................................................................................66, 108, 127, 132, 140, 145, 277, 283, 284, 303 set_tmr............................................................................................................ 47, 108, 181, 197, 198, 259, 263, 278, 303 set_trig_cam..................................................................................................... 77, 89, 108, 214, 215, 279, 286, 287, 303 set_trig_pw ........................................................................................................................62, 80, 108, 213, 215, 280, 303 set_vgain ...................................................................................................................................55, 58, 108, 137, 281, 303 stop_input ......................................................................................................................................105, 108, 225, 282, 303 swi_if_off.........................................................................................66, 108, 127, 132, 140, 145, 277, 283, 284, 302, 303 swi_if_on.........................................................................................66, 108, 127, 132, 140, 145, 277, 283, 284, 302, 303 switch_cam...................................................................................................................... 89, 108, 161, 211, 285-287, 303
Page 312
JUNE 1995
MACROPROGRAM DEVELOPMENT SYSTEM INDEX
INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11C001
sys_fault ........................................................................................................................................108, 152, 288, 289, 303 sys_return................................................................................................................................34, 108, 152, 288, 289, 303 test_mode................................................................................................................................................ 47, 108, 290, 303 text .. 6, 15, 18, 19, 21, 32, 33, 35, 49, 104, 105, 108, 133, 135, 149, 183, 201-203, 210, 220, 230, 231, 238, 291, 303 track_spd ...................................................................................................... 46, 47, 58, 59, 107, 108, 206, 292, 301, 303 trap_pos....................................................................................................65, 66, 107, 108, 143, 144, 182, 293, 301, 303 turn_off.......................................................................................................................................34, 47, 108, 294, 295, 303 turn_on ..................................................................................................................... 34, 47, 108, 259, 263, 294, 295, 303 unlock .....................................................................................................46, 47, 68, 78, 89, 108, 152, 233, 285, 296, 303 vel_ccw....................................................................................................................... 46, 47, 59, 108, 240, 297, 298, 303 vel_cw......................................................................................................................... 46, 47, 59, 108, 240, 297, 298, 303 write ......................................... 27, 31, 90, 92, 97-99, 108, 110, 112, 126, 133, 178, 201, 210, 220, 234, 238, 299, 303
JUNE 1995
Page 313
IB-11C001
INDUSTRIAL INDEXING SYSTEMS INC. 626 FISHERS RUN VICTOR, NEW YORK 14564 (585) 924-9181 FAX: (585) 924-2169
PRINTED IN USA © 1995