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FlexDC Software User Manual

1. The CA array controls advanced features of the controller real time servo loop Although not restricted by the interpreter module allows range is 2 147 000 000 the specific limitations of each element in the array should be checked in the A1 command reference and in chapter 4 Part II Nanomotion Ltd 127 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference Key Axis Description Restrictions Saved Read Reset Array Assignment Word Related to Only Val Size Range Flash CG Yes Axis Configuration Motor OFF Yes No _ a 0 127 DA No Data Recording Array None No No 1x15 000 2 147 000 000 DC Yes Deceleration Value counts s _ None Yes No aoe 512 120 000 000 DL Yes Limit Deceleration counts s None Yes No ae a 512 120 000 000 DO Yes DAC Analog Offset None Yes No 0 32 767 DP Yes Desired Position No Yes 0 E 2 147 000 000 EC No Last Communication Error None No Yes 0 O 100 Code EM Yes Last End Of Motion Reason None No Yes 0 sis 0 8 ER Yes Max Position Error Limit None Yes No E 1 8 000 000 FF Yes Acc and Vel Feed Forward None Yes No 0 2x2 0 65 536 Gain HL Yes High Software Limit for None Yes No 2 147 000 000 Motions IA No Indirect Access Index Array None Yes No 1x50 2 147 000 000 IL No Set Input Port Bit Logic None Yes No a 2a 0 16 777 215 IP No Get Input Port None
2. Table 5 EDB Buffers Nanomotion Ltd 58 FlexDC Software User Manual Part II FlexDC Software and Commands Reference 2 7 5 4 EDB Mode Limitations The EDB mode is supported in CAN bus only and not supported in RS232 e Unlike the standard DB Download Buffer FlexDC command where the controller enters a special communication mode the EDB mode works continuously and in parallel to normal RS232 and CAN messages if the EDB is enabled of course This means that when data is downloaded through the EDB message the user can communicate with the controller normally with exceptions like download macro upload data recording buffers etc When a prompt is requested the user should always wait for the reply before sending any other data to the controller like any other normal clause Inthe EDB mode the controller only validates that the array code and the current store index for each buffer are legal The controller neither checks that the axis number matches the array type nor validates the data range It is the user s responsibility to guarantee the correct initial configuration 2 7 5 5 EDB Mode Example In order to use the EDB mode the host software should initialize the following parameters This assumes that the user downloads to the buffer 2 i e the Axis1 data is downloaded to AR 301 600 and the Axis2 data is loaded to AR 1301 1600 Nanomotion Ltd 59 FlexDC Software User Manual Part II FlexDC So
3. cceeesessseceeeeeeeeeeeseseneeeeeeeees 43 2 6 4 Using DCOM Software Library for Ethernet Communication 45 FLDC458001 01 REV B August 29 2012 Nanomotion Ltd POB 623 Yokneam 20692 Israel Tel 972 73 2498000 Fax 972 73 2498099 Web Site www nanomotion com E mail nano nanomotion com FlexDC Software User Manual Table of Contents 2 0 GAN COmmMUMCaliOn piscin Anaeterennecndnase nue a ea na aAA 46 2AM General rreperi EESE aot E a EEEN SESE 46 2 7 2 Language Syntax Host to FlexDC sssessseenneesssererrrnrrsssrrrrrrrn 47 2 7 3 Special ComMmmMmandS ssssseeeeesseeeserrrrtrsstrrrrrrntttssrrtrrrrnrrrsrernerr nee 54 2 7 4 Language Syntax FlexDC to Host eeeeeeeeeeeeeeeeeeeeeeeeeeneeeeeeees 55 2 7 5 CAN Enhanced Download Buffer Mode EDB 00cceeee 57 3 Moton WIGS re raa aa E aa r a a e aae daar AOE a E r anaana naa E aira dEi 61 3 1 Point to Point PTP MM 0 SM 0 cece ces ctet eet vonenteaetecd se tate eraleal ade 62 g ti Stating a PEP Motion cessan los est Rea inet eee ae neal 63 3 1 2 Monitoring MOONS sis Scsx octet nada racee te cues eviadeeSahnaetenaarsiehoeeatels 63 3 1 3 Stopping a Motion ect leicaen etee tes canto oceivnes ened e detente Cees 65 3 1 4 On The Fly Parameters Change ccceeesssececceeeeeeeeeeeseseeeeeeeees 65 3 2 Repetitive Point to Point Rep PTP MM 0 SM 1 eeeeeeeeeeeees 66 3 3 Jogging JOG MM 1 SM 0 iii seatatehet
4. OP controls simultaneous access to all the Output Port word bits at one assignment In order to access one bit at a time Set or Clear a specific bit the FlexDC firmware includes 2 additional commands OS That Set to 1 logic a specific output bit and OC That clears to 0 logic a specific output bit See OS and OC references The user can also control the actual H W logic level of each output bit using the OL Output Logic parameter OP is non axis related so axis preceding character has no effect Attributes Type Parameter Axis related No Array No Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash No Default Value 0 Range 0 255 Syntax XOP 0 Set the Output Port to 0 all bits cleared AOP Report value of OP the output port word XOP 255 Set ALL digital outputs to High 1 logic See also OC OL OS XOM Nanomotion Ltd 195 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 52 OS Output Set Bit Command Purpose The OS command sets Set to 1 a specific Bit in the digital Output Port word Unlike the OP parameter that only allows simultaneous access to all the output bits the OS command allows bit wise set operations on the digital output word This is required for example when only a certain bit is need to be set wit
5. Attributes Type Command Axis related Yes Array Boies Assignment ae Command Allows Parameter Yes Number 1 Scope All Restrictions Needs Motor ON and No Motion Save to Flash Default Value Range aa Syntax XBG Start X Motion BBG Start motion in X and Y non synchronized BBG 1 Start vector X Y motion ABG Start Motion in all axes Nanomotion Ltd 147 FlexDC Software User Manual Part II FlexDC Software and Commands Reference Examples The following code example shows starting a normal motion in X axis from Position 0 to Position 100 000 and waiting for end of motion The example can be written as a script program file The main routine name is MOVX and can be executed and tested Routine to Move to Position 100 000 and wait for end of motion MOVX XMO 1 XPS 0 Enables the motor and Set Position 0 XMM 0 XSM 0 Set Normal Point To Point Motion Mode XAP 100000 Set Next PTP absolute location to 100 000 counts XAC 90000 XDC 90000 Set AC DC 90 000 XSP 25000 Set Speed to 25 000 XBG Start a Motion Wait for End Of Motion while XMS 0 Wait for MS Motion Status top be 0 endwhile XQH Stop program execution See also ST KR AB MM MS and VA VD VL VS about Vector Motions Nanomotion Ltd 148 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 16 BR
6. description Test SC_3M Controller Rev 01 target SC 2M 140 0 250000 Program Code Issuing an XQV command in this case yields the following controller response see Figure 18 Iy 00000 a TESTBENCH SCM Cea 151202 TEST SC_2M CONTROLLER REV 01 gt Ej Figure 18 Reporting Descriptive Directive Information Nanomotion Ltd 292 FlexDC Software User Manual Part IIl FlexDC Macro Language This response includes the following information The command echo XQV followed by the file name used to download the program TESTBENCH scm in this case followed by all descriptive strings each statement in a single line 13 3 4 The include Directive The include directive tells the pre compiler to treat the contents of a specified file as if those contents had appeared in the source program at the point where the directive appears You can organize constant definitions and subroutine implementations into include files and then use include directives to add these definitions to any source file e g using global parameter definitions and for example homing routines The syntax for the directive is include lt path spec gt or include path spec The path spec is a filename optionally preceded by a directory specification The filename must name an existing file The include directive instructs the pre compiler to replace the directive by the entire contents of the specified include file It may appear anywhere
7. 0 to Position 100 000 same motion parameters as above using WT Wait delay between the motions XMO 1 XPS 0 XMM 0 XSM 1 XAP 100000 XAC 250000 XDC 500000 XSP 25000 XWT 16384 XBG See also Enables the motor and Set Position 0 Set Repetitive Point To Point Motion Mode Set Next PTP absolute location to 100 000 counts Set Acceleration to 250 000 Set Acceleration to 500 000 Set Speed to 25 000 Set 1 second delay between motions Start a Motion MM WT AB ST KR MO Nanomotion Ltd 214 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 68 SP Speed Purpose Sets the Speed of the profile in PTP motions and the Jogging speed in Jogging motions The Speed value is defined in units of counts sec The value of SP can be negative to define a negative JOG motion However in PTP motion mode the SP sign is ignored and actual speed direction is set by position profile requirements Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash Yes Default Value 100 000 Range 30 000 000 30 000 000 Syntax XSP 100000 Set X Axis SP 100 000 ASP 20000 Set SP 200 000 in all axes Examples The following code example shows starting a Jog motion in the Y axis using SP 50 000 counts sec Negative M
8. Deceleration SP Speed AP Absolute position desired absolute position RP Relative position desired relative position WT Wait Period DL Limit Deceleration Absolute Absolute or Relative motion Repetitive Repetitive Motion Mode SM 1 The Begin Motion button downloads the axis parameters and starts the selected motion presuming the relevant axis servo is ON Parameters can be updated while axis is in motion to do so just change the relevant parameters and download them by pressing the Menu Button The following presents two examples The first one for starts an absolute motion and the other starts an absolute repetitive motion 1 Start absolute motion example Nanomotion Ltd 1 Set the desired Acceleration parameter AC 2 Set the desired Deceleration parameter DC 3 Set the desired Speed SP 4 Set the desired Absolute position AP 5 Set the desired Wait Time WT 6 Set the desired Limit deceleration DL 7 Check the Absolute check box 8 Uncheck the Repetitive check box 9 Check that the axes servo is ON 10 Press the Start Axis Button 357 FlexDC Software User Manual Part IV Nanomotion Shell Application 2 Start absolute motion that repeats itself example 1 Set the desired Acceleration parameter AC 2 Set the desired Deceleration parameter DC 3 Set the desired Speed SP 4 Set the desired Absolute position AP 5 Set the
9. FAA EE KHER EERE EE RELL REE EE EEEERELEREREEEEEERELEEEREE BEER RELEREREREEES Define Target Hardware target Sc Include Files Sinclude lt se2m_at_global_defs scm gt Global Include Project definitions ion This is A Sample Script For two axes Homing and Conditioning description Encoder O 1uM RHE AAA KER HK E HERE ERE REALE REE RER EERE ERE REAR EERE ELE RLERERRERLERLEREE KR AEHERREREREREHEREERERERERE LEER ERE RERERERERREREREREREREERERERERERE Start Public Routine Definitions KA REHERRERERERE HELE ERERERERELEEREREREREREEEEREREREREERERERERERERREE AREER EE EARLE HEEL EERE ERE EEE EREREREREEEEEERERERELEEEEEEREEERELEEEL EE 4 gt Build Hit F9 to toggle a line marker Ln 1 Col 1 Figure 14 Srcedit the FlexDC Macro File Editor Nanomotion Ltd 272 FlexDC Software User Manual Part IIl FlexDC Macro Language 12 3 Shell Support for Downloading Macro Files to the FlexDC Hardware The Nanomotion Shell Application supports a user friendly interface to allow downloading new macro files to the FlexDC hardware 12 3 1 Download a New Macro For downloading a new macro to the FlexDC hardware perform the following steps 1 Verify that the FlexDC is connected to a communication line and the communication link is active refer to Figure 13 also refer to the FlexDC User Manual for Quick Start instructions 2 On Macro menu on the Nanomotion Shell Application main screen click
10. FlexDC Software User Manual Part Il FlexDC Software and Commands Reference Notes Floor x truncates any non integer value to an integer value towards minus infinity Ainp x A2DHWGain is in the range of 10v analog input result in nominal A2D reading of 0 Ov analog input result in nominal A2D reading of 2047 and a 10v analog input result in nominal A2D reading of 4095 AS The Analog Offset parameter is in the range of 0 4095 Note that AS is decremented from the actual positive A2D reading value so for example in order to nominally achieved a symmetric Al reading the value of AS should be 2047 and not 2047 The current implementation of Al computation formula dose not uses a dead band function although the dead band parameter AD is supported but has no effect AG and AF parameters the Analog Gain and Gain Offset can be used to achieve any effective gain in the range of 219 4 624 288 to 1 65 536 AG range is 219 524 288 AF range is 0 16 i e Gain Factor can be 1 1 1 65 536 The AG and AF parameters can be used to achieve very high or very low gains or can combined together to achieve accurate floating point gains For example to achieve an overall gain of 4 125 use AG 33 and AF 3 Using the AG and AF parameters the user can define any desired range for the Al value For example if XAS 2047 XAG 100 XAF 2 and the analog input varies in the range
11. Followed by the sign is the label definition Labels may include ASCII printable characters with no blanks Maximal label size is 12 characters see restrictions on labels definitions below Ending a label definition is the sign Note To speed up real time execution of the macro program the pre compiler module translates label definitions to internal pointer locations This eliminates the need to interpret the labels at run time execution Nevertheless this process is completely transparent to the user The user uses the actual ASCII labels as defined in the macro source code for external and internal routine calls as well as for the various jump functions For further information about label and pointer definitions see section 12 4 Part Ill Example f user s homing routine is defined with the following label HOME_X the following communication command will start execution of this subroutine XQE HOME_X From within a macro procedure the same homing function will be called using the Call Subroutine function see further description on section 10 7 Part Ill regarding macro flow control XCS HOME_X Nanomotion Ltd 259 FlexDC Software User Manual Part IIl FlexDC Macro Language 10 6 1 Restrictions on Labels Definition The sign must be the first character in a label definition line Maximal label size is limited to 12 characters not including the proceeding and the terminating Labels
12. For CAN remote unit addresses ZI is usually used in script programs in order to define the remote unit s addresses The ZI array is an axis related array with size of 2x12 elements Each element in the array is a LONG format number which can be assigned with any value at any time The index range of the ZI array is 1 12 see Table 32 xX Y 1 Remote Transmit Address The remote Remote Transmit Address The remote message is sent from the FlexDC on this message is sent from the FlexDC on this address for macro X address for macro Y 2 Remote Receive Address The remote Remote Receive Address The remote message is received in the FlexDC on message is received in the FlexDC on this address for macro xX this address for macro Y 3 Additional CAN TA Address 4 Additional CAN RA Address EDB Configuration 5 EDB Error Status EDB Receiving CAN Address 6 Buffert Array Code Buffer2 Array Code 7 Buffert Axis Code Buffer2 Axis Code 8 Bufferi Current Index Buffer2 Current Index 9 Buffer1 Increment Value Buffer2 Increment Value 10 11 12 Table 32 ZI array NanomotionLtd 2400 FlexDC Software User Manual The ZI keyword has the following attributes Attributes Nanomotion Ltd Type Axis related Array Assignment Command Allows parameter Scope Restrictions Save to Flash Default Val
13. Joystick Folder covers the Joystick Motion Mode see Figure 30 Joystick Axis 6 Axis Y as a6 ac ac ts oc w po Sts wwf as a as as Position Joystick Velocity Joystick C Position Joystick Velocity Joystick C Begin Motion Update Stop Motion Begin Motion Update Stop Motion Nanomotion Ltd i D Figure 30 Joystick Folder Joystick Folder parameters AC Acceleration DC Deceleration Al Analog Input read only AS Analog offset AG Analog gain The Begin Motion button downloads the axis parameters and starts the joystick mode presuming the relevant axis servo is ON Parameters can be updated while axis is in motion to do so just change the relevant parameters and download them by pressing the Menu button Setting axis in joystick mode example 1 Set the desired Acceleration parameter AC 2 Set the desired Deceleration parameter DC 3 Set Analog input offset AS 4 Set Analog input gain AG 5 Check that the axes servo is ON 6 Press the Start Axis Button 361 FlexDC Software User Manual Part IV Nanomotion Shell Application 18 3 2 Configurations Folder Group Configurations CAN Protection y Configuration x _e Configuration Y Figure 31 Configurations Folder Group The Configurations folder group see Figure 31 includes folders for configuring servo controller parameters Each folder enables the fo
14. Nanomotion Ltd 19 FlexDC Software User Manual Lists List of Tables Table 1 CAN Bus Pre Fix Byte Formalt cccccccceeeeeeeeeeeeeceeeeeeeeeeeeenaaeaeeeeeeeeeeeeeenenaaaaes 47 Table 2 Pre Fix Axes Id ntifiers cicieisnccspietaverghe hecnciehaucieh adeteded sien ecieartannedeednieneauwiienaes 47 Table 3 Normal Clause CAN Bus Message Format c ccceeeeeeeeeeeeeeneeeeeeeeeeeeeeeeneeeeaees 49 Table 4 Non Normal Array Clause CAN Bus Message Format c eeeeeeeeeeeeeeeeeeeees 51 Table 5 EDB Bunters ccccssaskccctseceieesits deck sacetices sdalsudecnedetyed a tan AE a E 58 Table 6 Control Filter Parameters x 22cs cscs soteneesisie iat teieerisech anne eanenl ee eareiaes 90 Table 7 Internal Controller Variables for Data Recording ccccceeeeeeeeeeeeeeeeeeeeeeeeeees 101 Table 8 PG Array Compare Function Parameters Description ccccccccccseseeeeees 107 Table 9 Error Codes Generated by the PQ Compare Function ccceeeeeeeeeeeeeneeees 110 Table 10 A 32 bit Array WOrd no ccctcesceicsseckteenctak teease ives stue test dekieusttehetegetandeseivinianwanrtee te 112 Table 11 FlexDC Keywords Attributes and Restrictions ccccccccccccececeeceeeeeeeeeeeeeeeeeees 125 Table 12 Commands Keywords LiSt cccccceeeceececceeeeeeeeeeeeceeeeeeeeeeeesgeaaaaeeeeeeeeeeeenena 126 Table 13 Parameters Keywords LiSt cccceeeeeseseeeeeee eee eeeeeeeeeeaeeeeeeee
15. One or more white space characters must separate token string from identifier Any characters appearing between the left defining the token string and the identifier are ignored Note that every character appearing within the token string between the are used including white spaces characters etc The following example illustrates the usage of the define directive Nanomotion Ltd 290 FlexDC Software User Manual Part IIl FlexDC Macro Language Example Consider the following simple start jog motion sequence Speed is set to 20 000 motion mode set to 1 Jog in FlexDC motor is enabled and commanded to begin the motion XSP 20000 Set Speed XMM 1 XMO 1 XBG Set Motion Mode Enable motor Begin Motion This sequence can be also implemented by using the following definitions define XFastHomeSpeed 20000 Define Fast Home Speed constant define XMMJog 1 Defines Jogging Motion Mode define XBeginMotion XMO 1 XBG Define XBeginMotion Command The pre compiler translates the following commands XSP XfastHomeSpeed Set Speed XMM XMMJog Set Motion Mode XBeginMotion Enable motor and start motion to exactly the same sequence of commands as appears above 13 3 3 The description Directive The description directive may be used to include comment lines within a macro file that are downloaded to the controller buffer and saved with the program on the target hardware memory unlike nor
16. computers on the local area network a IP Address a computer IP address Controller Communication Protocol communication protocol can be RS232 or CAN RS232 Communication parameters for the RS232 communication the parameters list a RS232 Port COM port the controller is connected to a RS232 Baud Rate RS232 Connection speed the current FlexDC firmware supports 38400 bps CAN Communication Parameters parameters for the CAN communication the parameters list a PC Tx CAN Add 0 2047 PC CAN transmit address a PC Rx CAN Add 0 2047 PC CAN receive address a Baud Rate CAN communication speed this combo box is read only the DCOM server defines the speed refer to Part V SCServer COM DCOM Interface Library a Channel the CAN channel currently supported gt Kvaser cards up to four channels depending on the CAN hardware card installed 386 FlexDC Software User Manual Part IV Nanomotion Shell Application gt ESD cards only one channel supported Dialog box buttons a Delete deletes the current selected communication definition This option also deletes all the views that are defined with this communication a Update updates the communication definition a Add adds the current setup to the communication list error messages are given for missing information and an identical communication name a Exit closes the dialog box 18
17. for ABORT Bit 28 is set high is the Abort input is Active no current through the Abort lines 5 2 Software Generated Faults The FlexDC real time servo loop software can generate the following faults e High position loop error e Encoder Signal Error e Motor Stuck Condition Each one of the above axis related fault conditions generates similar result to a Driver Fault condition The specific axis is immediately disabled and the relevant software status bits are updated 5 2 1 High Position Error This error occurs when the servo loop position error is too high The Position Error PE is continuously compared to the maximal allowed error value ER Whenever PE gt ER the axis is disabled The High Position Error protection is active at all times when a servo axis is enabled i e when MO 1 This means that the Position Error is also monitored when the axis is in open loop modes The max allowed positioning error is 8 000 000 encoder counts High Position Error fault is reported by MF 3 Nanomotion Ltd 93 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 5 2 2 Encoder Signal Error Protections The FleXDC hardware supports two types of encoder signals error conditions e Encoder A Quad B Error This error is detected when the controller encoder hardware interface detects that both A and B encoder lines are changed simultaneously In normal A quad B
18. for which the FlexDC needs to inhibit the driver and to abort all motion activities e Firmware Version Downloading the FlexDC executes an internal firmware BIOS to perform all its tasks From time to time new firmware versions are released corrections of problems new features etc New firmware versions are supplied by Nanomotion or available on our web site The FlexDC together with the Nanomotion Shell Apllication enables the downloading of a new version via the RS232 ONLY line The advantages of this process over older EPROM replacement method are clear Nanomotion Ltd 461 FlexDC Software User Manual Part VII Glossary e Flash Memory Flash the FlexDC includes a 2M bits Flash Memory for its firmware parameters and user program The Flash Memory is in principal similar to an EEPROM memory It enables the downloading of a new firmware version e Host a computer terminal PLC or any other device which may send communication clauses to the FlexDC via one of its communication links e Identifiers Axes the FlexDC Commands Syntax always requires an axis identifier before the keyword itself If a Keyword attribute is non axis related any axis identifier is legal and has the same result The Command Interpreter ignores the axis identifiers of non axis related keywords e Identifiers Group Axes the FlexDC Commands Syntax supports the concept of Axes Group identifier definition An Axes Group allows the u
19. BXC Pushes the last X and Y Captured positions to the Stack top See also XN Nanomotion Ltd 238 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 83 XN Capture Events Counter Purpose The XN parameter is used in conjunction with the Capture function to report the number of Capture Events Each time the hardware Captures Latches a new position the total number of Capture events XN is incremented accordingly The user can reset this variable to 0 and monitor its value to wait for a Capture event within a script program This can be used for example to signal events to a host computer whenever a Capture event is sensed XN is an axis related parameter keyword Each axis holds its own Capture index counter XN has the following attributes Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows Parameter Scope All Restrictions None Save to Flash No Default Value 0 Range 0 Syntax XXN Reports the X axis Capture Events Number YXN 0 Reset Y axis Capture Event counter See also XC Nanomotion Ltd 239 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 84 ZI CAN Array Purpose Z holds various CAN related parameters These parameters are used in numerous cases 1 CAN remote unit addresses 2 EDB modes 3 Additional transmit and receive addresses
20. Begin Recording Command Purpose The BR command begins a new data recording sequence The BR command assumes that the recorded variables and parameters are configured The BR command allows receiving an argument parameter XBR and XBR 1 both start a new recording sequence XBR 0 terminates the current data recording process The BR or BR 1 command checks whether the last recording session was terminated and issues a STILL_RECORDING Error Code 16 if not i e if RR gt 0 Data Recording can be started only when previous recording session was terminated Note that the controller does not check if previous buffers were uploaded or not Issuing a Begin Recording command always overrides old data Attributes Type Command Axis related No Array et Assignment San Command Allows Parameter Yes Number 0 or 1 Scope All Restrictions BR or BR 1 Needs recording OFF Save to Flash Default Value Range sens Syntax XBR Start Data recording XBR 1 Start Data recording XBR 0 Stop Data recording See also RG DA RL RR RV Nanomotion Ltd 149 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 17 CA Special Control Parameters Array Purpose CA is a special control parameters array allowing the user to further configure the servo loop features CA is an axis related array valid for axes X Y
21. Both Restrictions See below Save to Flash Yes No Default Value Yes value No Range Min Max The following list describes all the valid keyword Restrictions None Keyword Needs No Motion Keyword Needs Motion Keyword Needs Motor OFF Keyword Needs Motor ON 7 Axis or related keyword s preceding character X or Y affects the keyword behavior Applicable for parameters only Applicable for parameters only 10 Applicable for commands only Nanomotion Ltd 137 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 6 AB Abort Motion Command Purpose The AB Abort command aborts any motion immediately without any profile The motion is stopped abruptly in the next servo interrupt following the Abort command The AB command should be used in emergency cases only Normally the ST or KR commands should be used to stop any type of motion Note that if an Abort command is issued when a motor is moving at high speed the servo loop may be disabled due to high error Attributes Type Command Axis related Yes Array sete Assignment ss Command Allows Parameter No Scope All Restrictions None Save to Flash Default Value Range SS Syntax XAB Aborts X Motion AAB Abort motion of All axes Examples The following code example shows starting a normal motion in X axis from Position 0 to Position 100 000 an
22. COMMUNICATION LIBRARY COMMDLL DLL ccseseeeeeeeeeeeeeeeeees 443 PA EAA a ieo eTe ss cs Sa lead E eae 444 BAA General cecustsscectccasniee teat toneees i p e a rea ea oon o TEE naai 444 24 2 The RS232 Communication DLL snsssssseeeessseeenrrrreressrrrrrrrnrrrsserrrrrrnn 444 25 The Communication Library COMDLL DLL cccecteeeeeeseeeeeeeeeeeeeeeeneees 446 25 1 MVS TUNG EIOINS corre eaa rete aa e dia el ecto tetas eden teens 446 25 2 DLEARF FUNCIONS o seee E bate eles eee nee tote lente 447 25 2 1 CreateComDeV isa Meee eA aan eich ee sd danays va eusha ddaanes sa eqatetdenees 447 25 2 2 DestroyComDev srera aa E eenia senate 447 25 2 3 SCIUPCOMDEVING io si cccectes cveivessiantees vaneivesuiastees iecervestdeeves neseewerte 448 25 24 OpeNGCOMDey a csetesccaciceeorkanery sichded ceekanees REEE 449 20 25 ClOSECOMDEV eesisedcnaecanhchebae a r aa shal aes tutebonc aes 449 252 67 ISCOMMCCICO ona Rebate Pep E OE a 450 20 2 GOPYCOMINIO nesrece n e a e E cheney 451 25 28 SendCOmM String ere eieren aaae ekat Ea uae 452 25 2 9 AG AGOMING ci nan these otes ek ape ak hus See ae nie ae a Mince mente 453 25 2 10 ReadComBuf Agel eee see A ee ee 454 25 2 11 ReadSizeComBul wxsccecci acess win eke nie ethane 455 26 Communication Error CodeS csccsesseeeeeeeeeeeeeeeneeeeneeeeeeeeeeeseeeeeeeeeeeeeeenneees 456 21 GOOG Example sececo eeces Pesci aa case tes ceca ethers ee eases 457 PART VU ESSA
23. Clears the numbers stack This command should be used when a new program starts running to avoid stack errors in case previous functions did not leave the stack clear Attributes Type Command Axis related Yes Array s Assignment one Receive parameter No Parameter type Scope Both Restrictions None Save to Flash Default Value Range E Syntax QZ Examples XQZ Clears the X macro program numbers stack YQZ Clears the Y macro program numbers stack See also QN Nanomotion Ltd 337 FlexDC Software User Manual Part IIl FlexDC Macro Language 15 4 24 RT Return from Subroutine Purpose Returns from a subroutine call Note that if the subroutine was not called using one of the Call Sub functions CS CF CT a stack error will occur Attributes Type Command Axis related No Array a Assignment ia Receive parameter No Parameter type Scope Program Restrictions None Save to Flash Default Value Range sss Syntax RT Keyword is not axis related thus XRT YRT and BRT are equivalent Examples MAIN XCS SUB_1 Calls the SUB_1 Subroutine XPA1 1 Return point of subroutine SUB_1 XMO 1 XRT Return from function See also CS CT CF QE Nanomotion Ltd 338 FlexDC Software User Manual Part IIl FlexDC Macro Language 15 4 25 TD Timer Down Purpose The TD Timer Down is a 32 bits timers Axis related one for ea
24. DA PG GP FA FV FF KD KI KP RG ZE ET CANReceiveAddress RA No No The SC CAN Rx Address CANTransmitAddress TA No No The SC CAN Tx Address CANBaudRate CB No No CAN Baud Rate CommErrorCode EC No No Communication Error Code Configuration CG Yes No Configuration ContinuousCurrentLimit CL Yes No Torque Limit CurrentFilterFactor CF Yes No The Current Filter Factor CompareDistance CD Yes No Compare Distance 14 This command is obsolete in current FlexDC firmware Nanomotion Ltd 432 FlexDC Software User Manual Part V SCServer COM DCOM Interface Library FlexDC COM Interface Keyword FlexDC Parameter Description Key Axis Read word Relate Only CompareMode CM Yes No Compare Mode DACCommand TC Yes No DACCommand DACLimit TL Yes No DAC Limit DACOffset DO Yes No DAC Offset Deceleration DC Yes No Deceleration DesiredPosition DP Yes Yes Report current Servo Position command ECAMEndIndex EE Yes No The last index in ECAM mode ECAMGapSize EG Yes No The gap size in ECAM mode ECAMInterpolationMode El Yes No The interpolation mode in ECAM mode ECAMStartIndex ES Yes No The first index in ECAM mode ECAMWrapIndex EW Yes No The wrap index in ECAM mode EndMotionReason EM Yes Yes The last motion Reason for defined Axis FirmwareVersion VR No Yes SC Firmware Ve
25. Download Macro 3 An Open File dialog box appears letting the user to select a desired macro file default macro files extension is SCM 4 Select the desired macro file and press open The Nanomotion Shell Application automatically opens the selected file pre compiles the program downloads the macro buffer to the FlexDC hardware memory and initializes the FlexDC program 5 A Download completed successfully message appears if the macro download prosess is successful The program macro is now ready for running Note that after loading a new program the AUTOEXEC is not started automatically but only after power up 6 In order to save the downloaded program to the FlexDC Flash Memory use the XSV command via the Nanomotion Shell Application terminal window A program that is not saved to the Flash Memory will be lost after power up 7 If it is required to start an automatic execution of the macro program switch the FlexDC power OFF and ON again to restart its real time software Note that you can still run any valid subroutine name by using the debugger or by issuing an XQE lt LABEL gt command via the terminal window After downloading a program issuing an XQE command with no parameters starts program execution from the first macro line Nanomotion Ltd 273 FlexDC Software User Manual Part IIl FlexDC Macro Language 12 3 2 Download a New DAT File A DAT file is the file generated by the pre compiler To d
26. The cycle of the UHR can be defined in CA 39 CA 39 8 defines 100 PWM Notes If the CA 39 value is bigger than 8 command to driver is normal PIV output If the CA 39 value is smaller than 0 command to driver is always 0 The UHR algorithm does not affect driver offset for analog output The UHR algorithm works in both open and closed loops CA 39 0 defines 0 PWM Nanomotion Ltd 87 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 4 9 AB5 Driver Brake Mode The FlexDC Motion Controller has the Brake Mode when working with AB5 driver In Brake ON Mode the driver disconnects the power supply to the motor however servo is still active As the motor is turned OFF it consumes no power and the EOP can be extended Refer to the AB5 AB51 Driver User Manual for detailed information Note The combination of Brake ON while the driver is Enabled poses a conflict and the user must consider the transient upon returning to the Brake OFF Mode 4 10 Acceleration and Velocity Feed Forward The FlexDC supports reference command Feed Forward features e Command Acceleration Feed Forward Acc FF is supported in closed loop modes The Acceleration Feed Forward gain is controlled by the FF 2 parameter FF 2 0 means no acceleration Feed Forward is used The Acceleration Feed Forward Gain FF 2 is working on the profile acceleration in counts sec2 219 units It is recommended to set FF 2
27. This macro presumes the relevant motion data is downloaded by a host PC The macro sends a message via the RS232 or CAN or LAN to the host PC regarding how the home procedure ended Notes Sc2m_at_Global_Defs scm the Include File must be placed in the same folder with main macro file It stores definitions of all relevant values of all the motion parameters Nanomotion Ltd 303 FlexDC Software User Manual Part IIl FlexDC Macro Language 14 2 Script Content oie 2s 2s 2g 2s 2 E E 2 oie 2 E E 2s E E E K E os 2s oie 2 ois K k k K K k K K k k k kK K K K K K K kK Kk ok ok K K ok ok ok ok ook ok KKK Helo Generic Sample Script for FlexDC RESETS RASS 2K kk ok kk kkk oi 2k 2s K k kK KK K oie 2s 2k EE E E E 2 E 2 E E 2s E K os K E os E K 2 k K k k K K K K K K k k K K K K K K K kK Kk KK K K KK Kk kK kK KK By Avi Elnekave Nanomotion f Rev 01 03 03 2008 Creation 9 oi ok 2k 2s 2 2 2k of E 2 of E 2k of 2s E of E E of ois oe of 2 E of 2 of of k 2k E ois k of k 2 2k k oh of k ok ok k ok k k ok k k ok ok k ok ok ok ok ok ok ok k ok ok ok kk PAS 2S he 2h 218 2S fg E E E ig E E E ag E E E k fe E 28 2 2s E 28 2s 2g 218 28 is e k 2S 2s 2g 28 E ik 2g 28 2s 2k k k kk 2k k k k k k kk k k k k ok oe kk kkk Define Target Hardware target SC Include Files include lt sc2m_at_global_defs scm lt Global Include 1 Project definitions description This is A Sample Script For two axes Homing and Conditionin
28. Traces executes one clause from the X macro program YQT Traces executes one clause from the Y macro program See also QE QP Nanomotion Ltd 333 FlexDC Software User Manual Part IIl FlexDC Macro Language 15 4 20 QU Upload Macro Buffer Purpose Uploads the macro program from the internal controller macro buffer to the active communication link This command is currently used by Using Nanomotion Shell application It may be used by the user from a stand alone simple terminal only will not work from the Nanomotion Shell Application terminal window Attributes Type Command Axis related No Array a Assignment Sit Receive parameter No Parameter type Scope Communication Restrictions None Save to Flash Default Value Range Sin Syntax QU Keyword is not axis related thus XQU YQU and BQU are equivalent Examples XQU Starts Macro Buffer upload See also QD QL Nanomotion Ltd 334 FlexDC Software User Manual Part IIl FlexDC Macro Language 15 4 21 QV Uploads Descriptive Data Purpose Uploads all macro descriptive data to the active communication line The macro descriptive data includes the following information e Macro file name used to download the last program downloaded file name and extension only no full path Last download date format is DDMMYY e Descriptive comments declared by the description pre compiler directive each desc
29. Wait between the motions XMO 1 XPS 0 Enables the motor and Set Position 0 XMM 0 XSM 1 Set Repetitive Point To Point Motion Mode XAP 100000 Set Next PTP absolute location to 100 000 counts XAC 100000 XDC 100000 Set Acceleration to 250 000 XSP 25000 Set Speed to 25 000 XWT 16384 Set 2 second delay between motions XBG Start a Motion See also AC DL SP MM BG Nanomotion Ltd 236 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 81 WW Profiler Smooth Factor The FlexDC supports an advanced symmetric S curve like profile smoothing algorithm The smoothing is controlled by the WW parameter WW can be set to 0 to avoid any profile smoothing In that case the generated position velocity profile is pure trapezoidal or triangular If WW is set to 12 the smoothing is set to its maximal value In this case the generated profile has full smoothing and the velocity trajectory is not purely trapezoidal The WW parameter is used by the controller as a power of 2 coefficient for the smoothing time value For example WW 6 means that smoothing is done over a period of time of 2 6 sample time i e 8 msec The resulted profile generates its full acceleration value in the 2 6 sample time Setting WW 12 to its Maximal smoothing value of 2 12 results in a 0 5 sec acceleration smooth period Attributes Type Parameter Axis
30. command PQ This section describes the option defined by each parameter and the command syntax Nanomotion Ltd 106 FlexDC Software User Manual 6 2 3 1 Part Il FlexDC Software and Commands Reference The PG Array The PG array elements control the operation of the compare function PG is an axis related array sized 2 x 8 Each axis has 8 parameters controlling the compare operation as described in Table 8 Array Element PGI Function Operation Mode Description This parameter controls the compare function mode of operation 1 PG i 1 0 Defines Compare Mode 0 2 PG i 1 2 Defines Compare Mode 2 PG i 2 Distance and direction For Mode 0 this parameter defines the auto increment distance The parameter should be limited to 32 767 excluding 0 For Mode 2 this parameter should be 1 for positive motions incrementing position motions and 1 for negative motions decrementing position motions PG i 3 Start Point For Mode 0 this parameter defines the Start Position PStart in encoder counts for the compare function The first compare pulse is always be at exactly that point For Modes 2 this parameter defines the Start Index IStart in the AR compare position table corresponding to the first compare point The first compare point is at the encoder location defined by AR Istart PG iI 4 End Point For Mode 0 this param
31. e Using a special wait function QW that automatically enters to an internal wait condition until the desired condition is satisfied Nanomotion Ltd 264 FlexDC Software User Manual Part IIl FlexDC Macro Language The tradeoff between each method is implementation simplicity against flow control For example the QW command is very simple and short in writing but does not include time out test i e there is no way to exit from the command before the condition is met Another case is if more then one condition is required to be tested or waited for In this case a simple loop should be used Both the QW and QG commands share the same parameters internal state conditions Table 37 describes the Wait and State inquiry commands supported by the FlexDC low level macro engine Keyword Description aw Waits till a specified internal state will be set or cleared QG Gets the value of a specified internal state variable The desired state is provided as a parameter or as a stack argument Table 37 Macro Program Wait and State Inquiry Keywords It should be noted that all the state variables are actually bits of existing keywords such as Output Bit 1 which is OP O The QG command returns the state value as FALSE 0 or TRUE 1 The QW command holds the macro execution until the state is satisfied The following table presents the currently available list of internal states variables The Keyword column are the key
32. 0 e Command Velocity Feed Forward Vel FF is currently supported in closed loop control mode only The Velocity Feed Forward gain is controlled by the FF parameter FF 1 In most of the cases FF 1 should be set to 0 In both cases the resulted Feed Forward value is added to the filter command output in DAC LSB units Nanomotion Ltd 88 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 4 11 Open Loop Operation The FlexDC supports a dedicated open loop operation mode In this mode the user can directly set the value of PO without the closed loop control filter and regardless of the system position readings or the position or velocity errors Note that although under open loop mode the High Position Error protection mechanism of the controller is still active see chapter 5 Part II TL always saturates the command even when operating in open loop mode If the maximum ER 8000000 is not enough to operate the open loop it is recommended to disconnect the encoder plug from the FlexDC The method to activate this mode is to use the NC parameter to disable the closed loop operation set NC 1 in motor OFF and then set motor ON and to use the TC Torque Command parameter to set the desired PO value Because the offset DO is always added to the PO the actual PO value equals to PO TC DO As the 2 order filter is applied also under the open loop mode it is possible to record the step response
33. 1 or 1 in Modes 2 and 3 65 70 PG_ERR_PS_PE_PARAM_NOT_VALID QW_AXIS_OUT_OF_RANGE This error is issued by PQ 1 Enable Compare Function if the Start Point or End Point Parameters defined by PG i 3 and PG i 4 are not valid These parameters are validated only in Modes 2 and 3 see specific operation mode description for more details about limitations on PStart and PEnd This error is issued if the Axis which is derived from the parameter to the QW command is out of range 71 QW_CODE_OUT_OF_RANGE This error is issued if the Code which is derived from the parameter to the QW command is out of range 72 QW_BIT_OUT_OF_RANGE This error is issued if the Bit which is derived from Nanomotion Ltd 246 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference EC EC Code Name Error Description Val the parameter to the QW command is out of range 73 QW_LOGIC_OUT_OF_RANGE This error is issued if the Logic which is derived from the parameter to the QW command is out of range 74 QW_INTERNAL This error is issued if an internal error due to the QW command occurred 97 HW_INIT_ERROR An error occurred trying to re initialize the CAN bus via re setting the RA or TA variables 98 FLASH_ERASE This Error Code is issued if an error occurred during the Saving to Flash Procedure The error is related to erasing the Flash Me
34. 1 x 2 array RG or RG 1 is the recording Gap RG 2 defines a delay for upload Recording data buffers in CAN bus mode only Please see the RG command reference for more information The RL Recording buffer Length defines the number of max recorded data points per vector It can be 15 000 points for one vector or 1 750 for 8 vectors and anything in between See the RL command reference and the section Data Recording in this User Manual for more information Nanomotion Ltd 129 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference Key Axis Description Restrictions Saved Read Reset Array Assignment Word Related to Only Val Size Range Flash WT Yes Wait time for Repetitive PTP None Yes No 0 800 000 000 WW Yes Smoothing Factor None Yes No 0 12 XC Yes Last Capture Latch Pos None No Yes 2 147 000 000 Value XN Yes Number of Capture Events None No No 0 Only 7 4 Keywords List Functional Groups Table 13 Parameters Keywords List The following section describes the FlexDC Keywords list ordered in functional groups 7 4 1 The following Keyword Groups are distinguished Keywords Group Description Motion and Profiler Related Keywords Control Filter and Real time Servo Loop Keywords Data Recording Related Keywords Special Features Interface Function Keywords I O Function Keywords Script Progr
35. COM_NOTIMPLEMENTED Nanomotion Ltd No Error Time out while waiting for response Communication Error Communication Device Read Error Communication Device Write Error Input output Buffs to big 255 Max Input or Output buffers are NULL Pointer to communication device is NULL Never returned value Error in Communication parameters Bad Echo received from controller Communication purging device error Function Not Implemented 456 FlexDC Software User Manual Part VI Communication Library Commdll dll 27 Code Example The following example opens the device sends and receives a string to and from a client and closes the device I create the com device and check if error I void pComDev CreateComDev if pComDev NULL return Error set device parameters COMDEVINFO cominfo comInfo idComDev NULL comInfo bPort 1 comInfo fConnected FALSE comInfo fXonXoff FALSE cominfo bByteSize 8 comInfo bFlowCtrl 0 cominfo bParity NOPARITY comInfo bStopBit ONESTOPBIT comInfo wBaudRate CBR_38400 comInfo fReConnect FALSE comInfo cEvtChar cominfo iSpecialVersion 0 Set Com Info Data and Check if OK if CopyComInfo amp comInfo FALSE return Error Nanomotion Ltd 457 FlexDC Software User Manual Part VI Communication Library Commdll dll open the device DWORD dwlinQueue 250 DWORD dwOutQueue 250 If OpenComD
36. Macro Program Pointer Purpose The Macro program pointer may be used to check the current program location or to be assigned with a value for indirect calls Attributes Type Parameter Axis related Yes Array No Assignment Yes Receive parameter Parameter type Scope Both Restrictions None Save to Flash No Default Value 0 Range 0 Max Macro Pointer Syntax QP QP lt Number gt Examples XQP Reports QP of X XQP 1000 YQP 2000 Sets QP of X Y respectively See also QE Nanomotion Ltd 330 FlexDC Software User Manual Part IIl FlexDC Macro Language 15 4 17 QQ Macro Program Stack Purpose Reports the macro program subroutine s stack The QQ keyword may be used to debug macro execution The QQ command returns the subroutines call stack in absolute macro pointers Attributes Type Command Axis related Yes Array ao Assignment os Receive parameter No Parameter type Scope Communication Restrictions None Save to Flash Default Value Range g Syntax QQ Examples XQQ Reports the X macro program subroutines stack YQQ Reports the Y macro program subroutines stack See also QW Nanomotion Ltd 331 FlexDC Software User Manual Part IIl FlexDC Macro Language 15 4 18 QR Macro Initialization Status Purpose Reports the macro initialization status This is a bit array report only command Currently the followi
37. Part IIl FlexDC Macro Language for more information The following table describes the current supported MS bits Nanomotion Ltd MS MS Code MS Hex Value Description BIT 0 MS_IN_MOTION 0x00000001 Whenever this bit in 1 the axis is in Motion 1 MS_IN_STOP 0x00000002 This bit 1 when the axis is stopping due to user command or any other non normal stop condition such as Limit etc 2 MS_IN_ACC 0x00000004 This bit indicates that the axis is accelerating 3 MS_IN_DEC 0x00000008 This bit indicates that the axis is decelerating 4 Reserved 0x00000010 Not used In This Version 5 Reserved 0x00000020 Not used In This Version 6 MS_IN_WAIT_REP 0x00000040 This bit indicates that the axis is waiting for the Wait Time to elapse in Repetitive PTP motions 31 7 Reserved 0x00000080 Not used In this version Table 25 MS Motion Status Parameter Bits Description 184 FlexDC Software User Manual Part II FlexDC Software and Commands Reference The MS parameter has the following attributes Attributes Type Axis related Array Assignment Command Allows parameter Scope Restrictions Save to Flash Default Value Range Syntax XMS Report value MS for X axis AMS Report value MS for all axes Examples Parameter Yes No No All None No 0 N A The following simple example demonstrates a repetitive motion in the
38. Recording Gap parameter controls the number of servo cycles interval Gap between each two consecutive recorded data points The FlexDC data recording capabilities allows for collecting data at the servo loop rate i e 8 192 per second However since currently the recording buffers are limited to 1 875 data points to each vector up to 8 vectors simultaneously at 8 192 points per second this would have limited the recording time to less then 1 second In order to allow longer recordings RG is defined For example if RG 8 i e a data point is collected to the recording buffer each 8 servo cycles i e at a rate of 1msec per point recording of up to 10 seconds is possible and so on Attributes Type Parameter Axis related No Array Yes Size 2 Assignment Yes Command Allows Parameter Scope All Restrictions None Save to Flash Yes Default Value 1 Range 1 16 384 Syntax XRG 1 Set Recording Gap to 1 XRG Report value of RG See also BR DA RL RR RV Nanomotion Ltd 205 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 61 RG 2 Data Recording Upload Delays Purpose The RG 2 Recording Upload Delay parameter controls the number of servo cycles delay between each two consecutive CAN messages during Upload Recording Data in CAN bus operation mode When uploading large data buffers in CAN bus the FlexDC can generate high loads on the
39. Run Time 108 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference Error if called from within a script macro program The relevant Error Code flags EC or QC is updated to reflect the error cause Notes The user should be aware that not all conditions for correct operation of the Compare Function could be validated during command initialization For example the minimal distance between each two consecutive points in the AR table in Mode 2 cannot be tested as the limitation depends on the actual motion speed It is the user s responsibility to specify correct parameters values for each operation mode Refer to the specific mode description section defining operation limitations in each mode The error codes generated by the PQ command are presented below 6 2 3 3 Dedicated Error Codes related to the Compare Function Operation As explained in the previous section in case that the PQ command fails to validate one of its parameters the command returns an error prompt gt or generates a script Run Time Error if called from within a script macro program Nanomotion Ltd 109 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference The relevant Error Code flags EC or QC are presented in Table 9 Val EC QC Code Name Error Description 34 EC_PARAM_OUT_OF_RANGE The PQ command s pa
40. Save Custom Commands Choose a file in the Save Custom Commands To dialog box the file must have the scc extension Press the Save button to save the selected file 18 4 1 2 Edit Custom Commands This menu item shows a dialog for editing all the custom commands at one dialog The Edit Custom Command see Figure 49 dialog has two columns Command Name text that appears at the Outlook Bar Command custom command refer to section 18 3 6 to be send Each row in the dialog refers to one custom command 381 FlexDC Software User Manual Part IV Nanomotion Shell Application The dialog buttons Last 15 button browses the previous 15 custom commands Next 15 button browses the next 15 custom commands OK button closes the dialog box and applies changes Cancel button closes the dialog box and discards changes Edit Custom Commands Command Name Command Set YN1 3630rs YPA100 9 YPA101 57957 YPA102 112768 Y PA103 50121 P Set YN2 1430rs YPA110 9 YPA111 62269 YPA112 123934 Y PA113 58892 v P Set YN3 5450r s fYPA120 9 YPA121 54978 YPA122 103591 V PA123 44063 Y P2 Set xN1 1872Hz2 xPA100 9XxPA101 52225xPA102 78157 XPA103 38232 XPA Set XN2 830Hz PA110 9 lt PA111 55348 XPA112 104808XPA113 44815 lt P Set XN3 280Hz PA120 9 XPA121 65256 XPA1 22 1 29622 XPA123 64837 XP KBR XCAT 3 0 KBR XCAT 3 0 xcat 3 1 xcat 3 1 Set x ID XMO 0XNC 1
41. ______ this toolbar section is dedicated for breakpoints It enables adding removing see section 19 7 5 12 and removing all break points see section 19 7 5 13 PartlV D gt statement see section 19 7 5 14 this toolbar section is dedicated for setting and showing the next macro this toolbar button is for showing the current selected macro Run Time Error see section 19 7 5 16 Part IV Gi this toolbar button refreshes the Watch List and updates the Watch Area see section 19 7 5 17 Part IV k H Ws toolbar combo box is for switching between macros The combo box selection changes according to the Nanomotion Shell Application and editor by communicating with FlexDC The combo box includes 2 possible macros Nanomotion Ltd 418 FlexDC Software User Manual 19 9 Appendix B Macro File Editor Application Keyboard Part IV Nanomotion Shell Application Shortcuts Key Purpose Ctrl D Download macro F7 Save and download current macro Alt G Debug macro Ctrl F7 Debug current macro Ctrl R Reset program Ctrl B Break macro execution F10 Trace one step Ctrl E Animate macro execution F5 Run program from current pointer location F9 Insert Remove breakpoint Ctrl T Show next statement Ctrl Q Show Run Time Error Ctrl N New file Ctrl O Open file Ctrl S Save file Cirl P Print file Table 48 Macro File Editor Application Keyboard Shortcuts Nanomotion
42. by definition Attributes Type Parameter Axis related Yes Array No Assignment No Command Allows parameter Scope All Restrictions None Save to Flash No Default Value 0 Range 8 000 000 8 000 000 Syntax XPE Report X axis Positioning Error PE APE Report Positioning Error PE for all axes See also ER PS DP Nanomotion Ltd 198 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 55 PG Position Compare Parameters Array Purpose The PG array elements control the operation of the Position Compare Function PG is an axis related array sized 2 x 8 Each axis has 8 parameters controlling the compare function operation as described below The FlexDC product supports the Compare Function on both axes X and Y The PG array parameter has the following attributes Attributes Type Parameter Axis related Yes Array Yes size 2 8 Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash Yes Default Value 0 Range 2 147 000 000 2 147 000 000 See Compare Function description for full limitations description Syntax XPG 1 0 Set X Axis PG 1 to O set X axis Mode 0 YPG 2 100 Set Y Axis PG 2 to 100 set Y axis Compare Distance 100 XPG 7 0 Set X Axis PG 7 to 0 set W axis Compare Pulse Polarity See also PQ Nanomotion Ltd 199 FlexDC Software U
43. e Verification of correct firmware and FPGA versions after power on e Forward Limit Switch stops any on going motion in the relevant direction e Reverse Limit Switch stops any on going motion in the relevant direction e High Position Software Limit stops any on going motion in the relevant direction e Low Position Software Limit stops any on going motion in the relevant direction Nanomotion Ltd 91 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference The FlexDC includes the following limitations e The peak driver command is limited usually to limit the max Force Velocity command to the motor Driver command limitation has two different parameters TL which is the ultimate command saturation limit and IS which can separately from TL limit the Integral value This is needed in some cases to improve dynamic responses It should be noted that the value of TL overrules the value of IS see chapter 4 Part Il for details The following sections provide a more detailed description of the faults protections and the controller response in each case 5 1 Driver Faults and Abort Input Driver Fault is a condition indicating that something is wrong with the motor power driver connected to the controller The Driver Fault is an actual hardware signal line that the driver outputs This signal is continuously monitored by the controller real time servo loop at the main control sample rate of 8 kHz
44. equation as follows U PEx KP 1 z x65536 x KD x 1_ 65536 1 z Nanomotion Ltd 81 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference Note that the final closed loop transfer function 2 zeros and an integral has different parameter scaling and an isolated parameters form This can be considered as a more convenient filter form as one can note that the filter has 2 zeros separately effected by KP and KI an integral and total loop gain KD actually the velocity loop gain Another benefit in that form is that one can operate the closed loop system with KP 0 no position feedback to tune the velocity loop performances only and then use the KP gain to control the position loop gain and resulted bandwidth 4 2 2 Position Error Calculation The Position Error variable PE is a read only parameter updated by the real time control loop and computed by PE DP PS where as noted above DP PS and PE are the desired position actual position and Position Error all in encoder count units The Position Error is always 0 by definition whenever the servo is OFF MO 0 since the servo controller automatically updates the current desired position DP to be equal to the actual position PS During all Servo ON modes MO 1 in both open and closed loop cases the real time control loop checks the current Position Error value PE and compares it to the maxim
45. increment This implies a practical limitation on the position distance in encoder count units between each two consecutive table points depending on the actual motion speed The limitation requires that the resulting max arbitrary location compare pulse frequency is smaller then 8 192 Hz in the current product firmware version In any case regardless of the motion direction End should be greater than Start The exact conditions tested before the mode is enabled are 0 lt IStart lt IEnd lt 10 000 Similarly to Mode 0 here the positions in the AR array MUST be defined in a strict ascending or strict descending order and comply with the Distance actually direction definition and the actual motion direction If these conditions are not met the compare pulses are generated in unpredicted unexpected positions The AR array used for location table definitions is a non axis related array The size of the AR Array is 1 x 1 000 Although all axes can operate simultaneously and independent from one another when working in Mode 2 all axes share the same AR array The user should use separate AR areas for each axis if more than one is needed to be operated in this mode 6 2 3 Compare Function Parameters Activation and Error Codes The FlexDC uses a special array PG abbreviation stands for Pixel Generation Parameters to control the Compare function operation and a new activation
46. motion in X or Y only with unexpected motion parameters and should be avoided The BBG 1 function calculates new values to the above parameters independently of the Motion Mode and the Special Mode parameters As a result a vector motion is created for all motion modes which use the above parameters including Jogging Point To Point Repetitive Point To Point etc Motion modes which do not use the above parameters such as ECAM is not affected by the 1 parameter BG 1 However the above parameters in any case are recalculated and overwritten The user can still modify all parameters which supports on the fly modifications such as SP However it affects each axis independently and causes a motion that may not be consistent with the originally desired vector VA VD VL and VS can still be modified on the fly but will not affect since these parameters are used only for the pre calculation within the BBG 1 command function Note that in the current implementation the controller does not remember that it is in vector common motion The BBG 1 performs a pre calculation which prepares the SP AC DC and DL parameters of both axes for a synchronized motion along the vector and initiate a motion for both axes From this point the two axes performs normal independent motion according to their MM and SM parameters While this is a very simple and predictable behavior it has a disadvantage that the axes are not truly linked togethe
47. read only ZS 2 Remote Timeout or returned from remote unit ZS 3 Parameter syntax error Syntax ZS Keyword is not axis related thus XZS YZS and BZS are equivalent See also ZA ZC Zl ZM ZR Nanomotion Ltd 345 FlexDC Software User Manua Part IV Nanomotion Shell Application Part IV Nanomotion Shell Application Nanomo tion Ltd 346 FlexDC Software User Manual Part IV Nanomotion Shell Application 16 Introduction 16 1 General Part lV covers the following FlexDC software applications Nanomotion Shell Application and the Srcedit the Macro File Editor Application These applications are applied for Axis axes online status reporting User friendly interface for controller s parameters Easy axis axes motion for all motion modes New firmware download Macro download upload and status reporting Full IDE for macro editing and debugging Nanomotion Ltd 347 FlexDC Software User Manual Part IV Nanomotion Shell Application 17 Software Installation The software installation consists of two stages e Hardware drivers installation e Software installations 17 1 Hardware Drivers Installation The FlexDC currently supports the following communication protocols e RS232 serial Communication Protocol e CAN e LAN Each of these communication protocols needs a specific communication link The Nanomotion Shell Application program supports the following CAN
48. when not loaded from Flash Memory or when Flash Memory value is not valid as well as Minimum and Maximum limit values 7 2 Command Keywords List Table 12 describes alphabetical list of the FlexDC Commands Keywords Command Axis Description Restrictions Keyword Related AB Yes Immediately Abort any motion None BG Yes Begins a new Motion Motor ON BR No Start data recording process Not Currently Recording KR Yes Kill stop repetitive PTP motions None LD No Load all parameters from Flash Memory All Macro Programs Stooped oc No Clear an output Bit set bit Low None Os No Set an output Bit set bit High None PQ Yes Activate Disables Compare Mode None QK Yes Kill all motions and Programs RS No S W Reset Controller Communication Only All Motors are disabled and programs are stopped ST Yes Stop any motion None SV No Save all parameters from Flash Memory All programs are stopped UD No Upload Recording Data None VR No Get Firmware and FPGA Versions None ZA Prg Remote Assign CAN message From Program Only Related ZC Prg Remote CAN Command From Program Only Related ZR Prg Remote Report Can Message From Program Only Related ZM Prg Remote Send CAN Message None Related String Number Nanomotion Ltd Table 12 Commands Keywords List 126 FlexDC Software User Manual Note Part II FlexDC Software and Commands Reference Table 12 DOES NOT i
49. 10 6 2 Ending a Label Definition is the SIQK ccceeeeeeetetteeeeteees 260 10 7 Macro Flow Control scceicis ccs cgece ce sates cabecean cxahigins cabedacn sal cadvescaaetensvsdaceetenee tes 261 10 8 Wait and Internal State Inquiry FUNCTIONS cece ceeeeeeeeee eee eteeeetteeeeeeeees 264 10 9 Dimer FUNCIONS icp ese sates ennenen tiara Cia d E nes 267 FlexDC Low Level Macro Prograim ccccccccsseeesseeeeeeeeeeesneeeeeeeeeeeeeeeeeeeeseeeeeeees 269 Taal Macro and Motions krenienn nenea a EEE 269 11 2 Macro Syntax Check and Run Time Error ssssssssessssssserrneesssrrrrerrnnneseee 269 11 3 Macro Size and Number of Labels seesseeeenneeneesssernnrrnrrrssrrrrrrrrnee ne 270 11 4 Macro Download Format ccccceceeecceneeeeeeeeeeeeeceeaeeeeeeeeeeeeeeteecseaeeeeeeees 270 Integrated Development Environment cccssseeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeneeeenenees 271 12 1 General irese a lives xq nengesdlabures sa EE AAE REEE EE E EE EEEE EE EERE EEE 271 12 2 Writing and Editing FlexDC Macro Files ccccceeeeeeeeeeeeeeeeetneeeeeeees 272 12 3 Shell Support for Downloading Macro Files to the FlexDC Hardware 273 12 3 1 Download a New Macro a circtsicudictaiurgea Riksta eect 273 12 3 2 Download a New DAT File c ccccccceeeeeeeesseeeeeeeeeeeeeeeeenaaeees 274 12 4 Srcedit Macro Debugger Environment Features ccceeceeeeeeeeseeeeeeeees 276 124 1 General enraiar nanan see haleec
50. 13 Nanomotion Shell Application Main Screen esssssssserreeressersserrnrrrsserrrerrrn 271 Figure 14 Srcedit the FlexDC Macro File Editor cccccceecceecseeeeeeeeeeeeeeeeessneeeeeeeees 272 Figure 15 FlexDC Shell File Locations Setup Dialog cceeeeceeeeeneeeeeeeeeeeeeeeeneeeeeeees 275 Figure 16 Srcedit Macro Debugger Window ccceeeeeeeeeeeeeeeeeeneeeeeeeeeeeeeeennaeeeeeeees 278 Figure 17 Srcedit Macro Debugger Window Toolbar ccccceeeeeeeeeeeeeeeeeeeeeeeeeesnneeeeeeeees 280 Figure 18 Reporting Descriptive Directive Information eeceeeeeeeeeeeeeeeeeeeeeeeenneeeeeeeees 292 Figure 19 Mathematical Parsing Example cceceeeeeeeeeeeeeeeeeeeeecneeeeeeeeeeeeeseeneeeeeeeees 296 Figure 20 FlexDC Main Screen ycicesvapencdscthnathteece vile vechidee ce buepreecadessecnctarebenidernasadteate 350 Figure 21 Axes Status Area eis eee ng aa ee ee eA tase ee de eid 351 Figure 22 Macro Status Area oi ccccc 2 cceisssechet cece teases etuet edeneesned teadi aaubatet abennineteetseaete 352 Figure 23 Version Control Alea sccctien card acne eeu coe het teat doe ciaes gdeten cue cea oer aati etn 353 Figure 24 Fast Menu ButtOnins2 c dads dances duo adda duanedncoaneseueaaas 353 Figure 25 The Menu BUM ste tice sata edhe sachet baie Srinteleseic ta edibs eguneae et br aaeiedueebiud ar aoSieeeie 354 Figure 26 Motion Folder Group i ieee raed le nt a ee eee deed es 355 Figure 27
51. 16384 Same as XKI 16384 Set X Axis KI 16 384 XKI 2 30000 Set X Axis KI 2 30000 for Gain Scheduling AKI 100000 Set KI 100 000 for all axes See also CG KP KD Nanomotion Ltd 173 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 38 KP Control Filter Proportional Term Gain Purpose The KP parameter is used to set the control filter algorithm position loop proportional term gain in PID control mode and the position loop overall gain in PIV control mode The KP parameter is an array parameter with the size of 4 x 2 i e for each axis X Y KP 1 and KP 2 are available The first element KP 1 or KP see note below set the normal filter gains while the second element KP 2 set the gain for the Gain Scheduling algorithm Note The FlexDC command interpreter supports for backward compatibility access to any array parameter first element as a non array element This means that for example XKP is identical to XKP 1 Attributes Type Parameter Axis related Yes Array Yes size 4 2 Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash Yes Default Value 32 767 Range 0 2 147 000 000 Syntax XKP 16384 Set X Axis KP 16 384 XKP 1 16384 Same as XKP 16384 Set X Axis KP 16 384 XKP 2 30000 Set X Axis KP 2 30000 for Gain Scheduling AKP 100000 Set KP 100 000 for al
52. 429 FlexDC Software User Manual Part V SCServer COM DCOM Interface Library 21 4 Using the Object from Visual C 1 Import the SCServerExe type library into the project by writing the following line import SCServerExe tlb no_namespace 2 Declare a variable of type ISCServerExelnterface e g ISCServerExelnterface piSC 3 Open the COM Object using the regular COM methods 4 VC code Example import SCServerExe tib no_namespace ISCServerExelnterface piSC NULL try HRESULT hr CoCreatelnstance __uuidof SCServerExelnterface NULL CLSCTX_ALL _uuidof lISCServerExelnterface reinterpret_cast lt void gt amp piSC piSC gt OpenDevice 0 CRS_SC_2M CAN_COMMUNICATION 600 500 0 1 0 IVal piSC gt GetPosition 0 X catch _com_error e char str 150 _bstr_t desc e Description if desc length gt 0 sprintf str Description s n LPTSTR desc MessageBox str COM Error MB_Ok CoUninitialize if piSC piSC gt Release Nanomotion Ltd 430 FlexDC Software User Manual Part V SCServer COM DCOM Interface Library 22 Object Parameters and Methods Syntax 22 1 Object Parameters In Table 49 a short description of all the existing interface commands implemented as object parameters is given along with the following additional information Keyword is axis related or not and parameter if is read only Accessing the FlexDC parameters have the identical sy
53. 5 Byte 6 Byte 7 Byte 8 Pre fix KeyW KeyW Data 3 Data 2 Data 1 Data 0 optional optional optional optional 0x09 Ss P Message length is 3 bytes The set Y AC 10000 clause will be represented in RS232 by YAC 10000 lt CR gt RS232 Set parameter clauses and in CAN by Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Pre fix KeyW KeyW Data 3 Data 2 Data 1 Data 0 optional optional optional optional 0x0e A Cc 0x00 0x00 0x27 0x10 Message length is 7 bytes 2 7 2 2 3 Ping Request A Ping command is supported under CAN to allow the RS232 lt CR gt like command A message with length 1 byte that includes only the Normal bit set to 1 will be responded with an OK prompt Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Pre fix 0x08 Nanomotion Ltd This may be used if the controller is responding to communication messages at all Message length is 1 byte 2 7 2 3 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference Non Normal clauses Array Clauses Assuming the Normal bit bit3 is 0 the following command structure is expected see Table 4 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Pre fix Array Array Array Data 3 Data 2 Data 1 Data 0 Code Index 1 Index 0 optional optional optional optional Table 4 Non Normal Array Clau
54. 8bitASClINumerator 10000 gt 8bitASClINumerator Response always sent X S P 90000 CR 8bitASCliNumerator gt 8bitASCIlINumerator Response always sent X A C 200 CR 8bitASCliNumerator gt 8bitASCIlINumerator Response always sent X S P 90000 YSP XAC 200 BRP CR amp 8bitASClINumerator gt 50000 gt gt 2000 3000 gt 8bitASClINumerator Response always sent Nanomotion Ltd AA FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 2 6 4 Using DCOM Software Library for Ethernet Communication The FlexDC is provided with a free DCOM Distributed Component Object Model software library enabling easy and immediate interface with the customer s application program supporting Visual C Visual Basic LabView and others The COM Component Object Model server interface supports Ethernet options Refer to Part V for the COM DCOM Interface Library for further information The only difference in setting the communication type is in the OpenDeviceEx function Once this function is called when the connection is defined all access to the controller is over the Ethernet link and is transparent to the user programmer The user needs no prior knowledge in TCP IP in order to communicate with the controller The following is an example for calling OpenDeviceEx function OpenDeviceEx DevicelD Device id eCrsControllerT ype_SC_NT_2M controller type FlexDC
55. All None Yes 0 2 147 000 000 2 147 000 000 145 FlexDC Software User Manual 7 14 AS Analog Input Offset Purpose Set the Analog Input Offset See the Al Analog Input command reference for complete information about Analog Input interfaces support Attributes Syntax XAS 0 AAS 2047 Examples See Syntax above See also AD AF AG Al Nanomotion Ltd Type Axis related Array Assignment Command Allows Parameter Scope Restrictions Save to Flash Default Value Range Set X Axis AS 0 no offset Set AG 2047 to all axes Part Il FlexDC Software and Commands Reference Parameter Yes No Yes All None Yes 2 047 0 4 095 146 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 15 BG Begins a New Motion Command Purpose The BG command begins a new motion according to the current motion mode The BG command allows receiving an argument parameters The parameter may be omitted to start a normal single axis motion or currently in this version be used 1 to initiate a common X Y vector motion In the FlexDC if the motion mode is Point To Point MM 0 and the motion is in to one of the software limits the BG shall return an error and the EC if command performed via communication or QC if command performed via macro shall be set to ErrorCode EC 53
56. CAN bus network Depending on the PC load and type of CAN board on high buffers upload some CAN messages can be lost In order to avoid this problem the FlexDC can add delays between CAN messages during data recording upload The Delay is set by RG 2 and is given in servo sample time multipliers RG 2 0 means no delay RG 2 1 means 1 sample time delay this is 61 micro sec on the 4M and 122 micro sec on the 2M and so on Usually a delay of 3 5 samples is sufficient for most cases For complete description of the RG keyword attributes and examples see the RG keyword command reference above Attributes See RG keyword above Syntax See RG keyword above Examples See RG keyword above Nanomotion Ltd 206 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 62 RL Data Recording Length Purpose The RL Recording Length parameter controls the number of data points to be collected to the recording buffers during data recording process and as a result the overall recording time The RL parameter defines the number of points per vector If RL 1000 this means that for each selected vector to be recorded 1 000 data points are collected The total number of points collected in the recording process is RL x Number of Recorded Variables Currently the FlexDC supports up to 8 recorded vectors of up to 1 875 points each to a total of 15 000 data points overall The overall
57. Edit Toolbar see Figure 65 enables the following menu items O Save Open and Print see section 19 7 Part IV g Bea this toolbar section is dedicated for editing the text such as Cut Copy Past Undo and Redo see section 19 7 Part IV che this toolbar section is dedicated for file manipulation such as New Cu fh ii this toolbar section is dedicated for text searching in the current opened file see section 19 7 Part IV 4 Go to Next Go to Previous and Remove all Bookmarks this toolbar section is dedicated for bookmarks It enables to Add this toolbar button shows hides the Output Area this toolbar button is for showing the About dialog box Nanomotion Ltd OAT FlexDC Software User Manual Part IV Nanomotion Shell Application 19 8 2 Debug Toolbar BAMMA W So alex Figure 66 Debug Toolbar Debug Toolbar see Figure 66 enables the following menu items this toolbar button is for halting the debugging and resetting the current macro see section 19 7 5 7 Part IV Eh this toolbar button is for breaking the current selected macro execution see section 19 7 5 8 Part IV ft fit ao l this toolbar section is dedicated for tracing one step see section 19 7 5 9 and macro animation see section 19 7 5 10 Part IV EN __ this toolbar button is for running the current selected macro see section 19 7 5 11 Part IV th
58. FlexDC Software User Manual Part II FlexDC Software and Commands Reference The NC parameter has the following attributes Attributes Syntax XNC 0 ANC 1 Examples Type Axis related Array Assignment Command Allows parameter Scope Restrictions Save to Flash Default Value Range Disable open loop default Set NC 1 open loop for all axes Parameter Yes No Yes All Needs Motor OFF No The following code example enables open loop mode on Y axis and set the Y axis analog command output to 5 volts and 10 volts YMO 0 YNC 1 YMO 1 YTL 32763 YTC 16384 YTC 32763 YMO 0 YNC 0 See also Must Disables the motor before changing the NC Set NC 1 to indicate open loop for that axis Set MO 1 for Y Again Set Command saturation to 10 Volts Set command value to 50 5 Volts Set command value to 100 10 Volts Disables the motor before changing the NC Restore closed loop mode TC TL 2 order filter definitions Data Recording Nanomotion Ltd 187 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 48 OC Output Clear Bit Command Purpose The OC command Clears Set to 0 a specific Bit in the digital Output Port word Unlike the OP parameter that only allows simultaneous access to all the output bits the OC command allows bit wise clear operations on the digi
59. No Yes N A IS Yes Integral Saturation Limit None Yes No 1 32 767 KD Yes PIV Differential Gain None Yes No 2x2 0 2 147 000 000 Kl Yes PIV Integral Gain None Yes No 2x2 0 2 147 000 000 KP Yes PIV Proportional Gain None Yes No 2x2 0 2 147 000 000 LL Yes Low Software Limit for Motions None Yes No E 2 147 000 000 ME Yes Master Encoder Axis Definition None Yes No 0 3 MF Yes Motor Fault Reason None No Yes 0 255 MM Yes Motion mode Motion OFF Yes No srs 0 8 MO Yes Motor ON Enable Disable None No No 0 _ 0 1 MS Yes Motion Status None No Yes 0 8 NC Yes No Control Enable open loop Motor OFF No No 0 ene 0 3 OL No Set Output Port Bit Logic None Yes No E aa 0 255 OM Yes 1 O Hardware Configuration None Yes No 2 147 483 648 2 147 483 647 OP No Set Get Output Port None No No E aa 0 255 gt The OM parameters are bit filled commands Refer to the OM command reference for more information Nanomotion Ltd 128 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference Key Axis Description Restrictions Saved Read Reset Array Assignment Word Related to Only Val Size Range Flash PA Yes General Purpose Parameter None Yes No 2x 100 2 147 000 000 Array PE Yes Position Error No Yes 0 a 8 000 000 PG Yes Compare Function Parameters None Yes No 0 2x8 See note PO Yes Control
60. Normal JOG Motion Mode YAC 250000 Set Acceleration to 250 000 YDC 500000 Set Acceleration to 500 000 YSP 50000 Set Speed to 50 000 YBG Start a Motion The next example shows a STEP motion in X axis from Position 0 to Position 100 Note that in STEP motions there is no profile so AC SP DC may not be set When the BG command is issued the reference position of the relevant axis is set immediately to the value of AP Note that MM 8 can be combined with SM 1 to generate repetitive STEP motions XMO 1 XPS 0 Enables the motor and Set Position 0 XMM 8 XSM 0 Set Normal STEP Motion Mode XBG Start a Motion See also SM BG WT MO Nanomotion Ltd 182 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 45 MO Motor ON Enable Disable the Servo Loop Purpose Set motor ON or OFF MO 0 turns the relevant motor OFF disabling the motor driver and MO 1 sets the motor ON enabling the driver Note that when MO 1 command is issued the DP desired Position is set to PS actual position The FlexDC supports special hardware configurations for 1 or 2 axes mode When in a single axis configuration an MO 1 assignment is given to the non supported axis a special Error Code is issued EC 54 AXIS_NOT_SUPPORTED Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows parameter Scope All Restric
61. O Modes Hardware Configuration This keyword is used to configure the Compare and Capture functions See also Table 17 Special Encoder Interface Related Keywords Output Port Output Set Bit Table 18 I O Functions Related Keywords Part Il FlexDC Software and Commands Reference 134 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 4 2 6 Communication and Configuration Keywords Keyword Description CB CAN Bus Baud Rate RA CAN Bus Receiving CAN Address TA CAN Bus Transmitting CAN Address CG Specific Axis Configuration EC Last Communication Error Code ac Last Program Error Code Table 19 Communication and Configuration Keywords 7 4 2 7 Protection Keywords Keyword Description IS Integral Term Saturation of control filter see chapter 4 Part II TL Torque Limit Limits the D2A command All modes LL Low Software Limit HL High Software Limit MF Motor Fault Reason Report Table 20 Protection Keywords 7 4 2 8 General Keywords Keyword Description AR General purpose Array size 1 x 10 000 DA Data recording Array size 1 x 100 000 IA Indirect Access General Purpose Array PA General Purpose Parameters Array LD SV Load from and Save to Flash Memory Parameters and Script Program RS Software Reset Controller Command VR Get Firmware Version Command
62. Part IIl FlexDC Macro Language 10 FlexDC Macro Engine 10 1 General FlexDC Macro Program Structure The FlexDC controller supports two macro programs X and Y macros Both macro programs share the same macro source code or buffer as described in Figure 12 X Macro Pointer Macro Buffer Up to 16KB Single Buffer Routines Auto routines Y Macro Pointer Figure 12 Macros and Macro Source Buffer Careful writing of the macro for example different routines enables independent macro programs However some routines can be shared if required In addition both macro programs share the same variables and have the same access to all the controller s commands and parameters It is thus not necessary that the X macro will handle X motions while the Y macro will handle the Y motions A quite more logical approach is that one of the programs lets says X will handle all motions and one will handle all I Os logic as a PLC Nanomotion Ltd 250 FlexDC Software User Manual Part IIl FlexDC Macro Language The macro programs are executed in parallel no priority logic one clause from the X macro and then one clause from the Y macro The two macro programs are completely independent The user can execute the macros in parallel or stop each one at any time Independent automatic routines are also assigned to each macro program 10 2 External Communication vs Macro Execution Priority Communication clauses have higher
63. Point To Point Folder sis c c c ivicsss3 cect seantvecsesecusers ohigne tek ecvwacnatieestdecscenmnaabanet recedes 356 FIGUKE 2B JOOOINGMROIISN szscate di vnacltdatvatea stare cite reecnaea ia ai a aA 358 Figure 29 Gear IFOIGGIS sccm wa dust cathe ea iea das Bae 4 ames aa CGN aE 359 Figure 30 Joystick Folde ireira eea e EREE EEEE EEEE nee 361 Figure 31 Configurations Folder Group cccccceeeeessecceceeeeeeeeeeeeeaaeeeeeeeeeseenessaaeeeeeeeeeees 362 Fig re 32 CAN Folder rriren p ea erene eiea soe EAEE TEETER ERREA EEEE EEE EREE ERAS EA 363 Eig re 33 Pr tectom Folde sctiuie cecsatvate veers ontraimienestl ohare nuihenae eee onaente 364 Figure 34 Configuration Foldet cse nite cache daeedn Waae eadele eee ts 365 FLDC458001 01 REV B August 29 2012 Nanomotion Ltd POB 623 Yokneam 20692 Israel Tel 972 73 2498000 Fax 972 73 2498099 Web Site www nanomotion com E mail nano nanomotion com FlexDC Software User Manual Lists PIQUIG SS 51 S Folder HOU tacts oe aaa ede eet ad i cals dieteah ecet Gol dls ud gba ecE teal sd deduetestedeiee 366 Figure 36 1 0 Logie Foldet siirre ae Soda epa EEE REEE a EaR 367 Figure s7 Analog In Folde aces cc ttecatcees onenean a e aE EE dettdeins 368 Figure 38 Analog Out Folders 5 92 eed eee ee ee ee ees 369 Figure 39 I O Modes 0 Folders ve ce ccccicesss cect cece ivested eceut re seteneved etueazechteharadenaermnsvbatenssenedes 370 Figure 40 Special Function Folder Group seis cosecve
64. Software User Manual Part IV Nanomotion Shell Application If the macro has errors they appear in the Output area The syntax of the download errors is lt file name gt lt line number gt lt Error description gt e File name the file which contains errors Note a macro can include more than one file e Line number the line number points out on the error location e Error Description a short description of the error 19 6 Macro Debugging BS CRS Editor sc2mexample dbg OF Xx Fie Edit Options View Macro Communication Window Help laj x D ena BRO Ma ADMD 2 KaMS NS oaae 04230 1 A Area 04235 XPA2 04241 XP i2 04247 100 04254 BUF EF_ 1 0046 Advance X axis pos 0047 XPS XPS 1 04264 XPS 04269 Lt 04272 Execution 04274 XPS Wait 0 5 sec location 049 Timeri 1024 04279 BTD1 1024 ooso WaitTimeri Code 04289 XOW 53 Debugging Area Watch Area 04296 BJP UF_1 rf Display program information version number and copyri Ln 174 Col 1 7 Figure 58 Macro Debugging Nanomotion Ltd 402 FlexDC Software User Manual Part IV Nanomotion Shell Application The macro Debug Mode enables debugging a macro that currently resides in the controller see Figure 58 To switch the Macro File Editor Application to the macro Debug Mode follow the next instructions If the macro is not in controller first download the macro w
65. Store for XSP 04310 04316 04319 j 0432 xSP 0041 XaC XSP 10 Store for XAC 04326 XSP 04331 10 04335 04337 XACi 0042 Figure 19 Mathematical Parsing Example Example 2 Another simple example below shows a combination of the define directive with a mathematical expression to create a user defined variable blnput3 holding the Boolean value of digital input port 3 define blnput3 XPA10 blnput3 XIP amp 4 Nanomotion Ltd 296 FlexDC Software User Manual Part IIl FlexDC Macro Language The global Parameters Array PA 10 is used to define a user variable bInput3 It is then used as the left side argument in a math statement The math expression takes the value of XIP a word bit array containing all digital input ports extracts bit 3 using the bit wise amp operator with argument 4 and then store the result in binput3 actually XPA10 binput3 can later be used in any other math simple or conditional expressions Example 13 4 2 1 Using the ANS keyword The pre compiler supports a special keyword the ANS This keyword instructs the compiler to use the last value found on the stack top Note that the ANS keyword may appear only at the begging of the right hand side of math expressions It is useful in cases where a previous statement lest the stack with some result and to save the pop and push instructions The following example demonstrates the usage of th
66. The size of the CA array is 2 x 16 Each parameter in the CA Array controls a certain feature as explained below i indicates an axis identifier for X and Y Array Function Description Element CAIi 1 3 Not used Should be 0 for future compatibility CA i 4 This parameters defines the 2 PIV filter duration To disable the 2 PIV set CAIi 4 0 The duration is defined in servo samples units l e Value of 1 is 1 16384 of a second Value of 164 is 10 mili sec The recommended value range for the 2 PIV filter duration is 0 lt CA i 4 lt 16384 Negative values should be avoided CA i 5 6 Not used Should be 0 for future compatibility CA i 7 9 2 order filter These 3 parameters control the servo loop 2 order filter parameters operation Filter Gain Filter Bandwidth and Q factor or damping 6 CA i 10 12 Not used Should be 0 for future compatibility CA i 13 2 order filter This parameter Disables if O or Enables if 0 the servo loop Enable bit 2 order filter operation For future compatibility the value of CA i 13 should only be set 0 for Disable and 1 for Enable CA i 14 16 Not used Should be 0 for future compatibility Nanomotion Ltd 150 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference Note About CA Parameters Range The CA array is not range checked by the
67. Verify the status of the axis servo is OFF 2 Change one or more of the configuration options 3 Download the data to controller 4 Save parameters to Flash Memory SV 365 FlexDC Software User Manual Part IV Nanomotion Shell Application 18 3 3 I O s Folder Group I O s folder group see Figure 35 includes folders for configuring I O s parameters and online status reporting iJ 1 0 Logic Analog In Analog Out 170 Modes 0 1 0 Modes 1 Figure 35 I O s Folder Group Each of the I O s folders enable Download parameters to controller Upload parameters from controller Set parameters default values The O s folder group includes the following folders I O Logic folder see section 18 3 3 1 Part IV Analog In folder see section 18 3 3 2 Part IV Analog Output see section 18 3 3 3 Part IV I O Modes 0 see section 18 3 3 4 Part IV Nanomotion Ltd 366 FlexDC Software User Manual Part IV Nanomotion Shell Application 120 Logic Input Status amp Logic 0 1 Inputs 3 Logic on 18 3 3 1 I O Logic Folder I O Logic folder see Figure 36 covers the logic and status of all the inputs and outputs in the controller r Limits amp Logic 2 4 5 6 ri x i 3 3 Value 277623039 FLS M JE CrO fF T T Yau 196608 RLS Ww JE m Output Status amp Logic 0 1 Output E u Logic 7 I Value I Value T In To Tle T la T l
68. X axis not using the internal Repetitive PTP mode but rather by a simple script that polls the MS to check end of motion and to initiate a backward motion and so on XMO 1 XPS 0 Enables the motor and Set Position 0 XMM 0 XSM 0 Set Normal Point To Point Motion Mode XAC 250000 Set Acceleration to 250 000 XDC 500000 Set Acceleration to 500 000 XSP 25000 Set Speed to 25 000 X_START Label for REP PTP Motion XAP 100000 Set Next PTP absolute location to 100 000 XBG Start a Motion while XMS 0 Wait for End Of Motion in X XMS 0 endwhile XAP 0 Set Next PTP absolute location to 0 XBG Start a Motion while XMS 0 Wait for End Of Motion in X XMS 0 endwhile XJP X_START See also BG EM MM SM TR TT Nanomotion Ltd 185 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 47 NC No Control Set Open Loop Mode Purpose The NC parameter keyword set the controller to open loop mode In this mode the user can command a direct analog output command to the controller Analog Command Acmd output bypassing the PIV controller filter Refer to the TC command for further information The value of NC is not saved to the Flash Memory and each time the controller boots up the value of NC is set to 0 by default normal closed loop operation In order to switch to open l
69. X axis encoder Position 0 XMM 0 XSM 0 Set Normal Point To Point Motion Mode XAP 100000 Set Next PTP absolute location to 100 000 counts XAC 250000 Set Acceleration to 250 000 XDC 500000 Set Acceleration to 500 000 XSP 25000 Set Speed to 25 000 XBG Start a Motion See also DP RP PS BG NanomotionLid Qe FlexDC Software User Manual 7 13 AR General Purpose Array Purpose Part II FlexDC Software and Commands Reference AR is a user general purpose array The AR array is a non axis related array with a size of 1 000 elements Each element in the array is a LONG format number which can be assigned with any value at any time Currently AR is also used internally by the Compare mechanism to define user 32 bit tables for the compare mode For further information see section 6 2 2 The index range of the AR array is 1 1 000 Since AR is non axis related accessing XAR YAR BAR etc actually access the same array element Refer to the DA array for further information regarding the AR parameter Attributes Type Axis related Array Assignment Command Allows parameter Scope Restrictions Save to Flash Default Value Range Syntax XAR 1 0 Set AR 1 0 AAR 300 1000 Set AR 300 1 000 See also Compare Functions Nanomotion Ltd Parameter No Yes size 1 1 000 Yes
70. XCAG 2XMO 1 XSP 10 Figure 49 Edit All Custom Commands Dialog Nanomotion Ltd 382 FlexDC Software User Manual Part IV Nanomotion Shell Application 18 4 1 3 File Location The File Location menu shows the File Location Setup dialog box see Figure 50 File Location Setup x Download Macro pT TTT if cs Download Version Select v Import Properties Current Selected Figure 50 File Location Setup Dialog Box This dialog box enables editing the file locations of Download Macro the location to open macro to be downloaded Download Version the location to open firmware version to be downloaded Import Properties the location and name of the recording properties file Every time the user chooses a macro or firmware version to download the Nanomotion Shell Application opens the file browser at the location specified in this dialog Nanomotion Ltd 383 FlexDC Software User Manual Part IV Nanomotion Shell Application The dialog components Browse buttons enable browsing the desired location History Select enables to select a location previously selected from a combo box Current Selected shows the currently configured location OK button closes the dialog box and applies changes Cancel button closes the dialog box and discards changes 384 Nanomotion Ltd FlexDC Software User Manual Part IV Nanomot
71. XPA10 Statement 1 endif End if Check positive saturation if XPA1 gt XPA10 Simple gt If expression XPA1 XPA10 Statement 1 endif End if Nanomotion Ltd 299 FlexDC Software User Manual Part IIl FlexDC Macro Language 13 4 4 While Loops While loops are used to execute repeated block of statements until some condition expires As with math statement expressions the while continue break and endwhile statements should start with the character symbol The syntax for the while block statement is Example while expression Statements continue Optional break Optional endwhile The while keyword executes statements repeatedly until the expression becomes 0 The endwhile keyword must end any while block Nested while loops are supported It is possible to include if statements and for loops within a while statement given that they do not cross the boundaries of the while block and each other s Several continue and break commands are allowed within a while loop Continue and break commands are valid only within while and for loops Statements may be any valid normal or math expressions Valid operators within the while statement itself the conditions are e Valid math operators 7 81 4 e Valid logical operators gt lt 22 gt lt Nanomotion Ltd 300 FlexDC Software User Manual Part IIl FlexDC Macro Language Example 1 Showing a simple infinite l
72. YAI 2 Man AIST Man s Alla YAI A as 0 ag 0 as 0 ag fO ar 0 ap fO aF 0 ap fO Figure 37 Analog In Folder Analog Input folder supports the following parameters XAI YAI 1 4 Analog input values read only AS Analog offset only for X Y channels AG Analog gain only for X Y channels AF Analog input gain factor only for X Y channels AD Analog input dead band only for X Y channels The analog input value is automatically updated The last two parameters are updated by pressing the Menu Button To change the analog input parameters Nanomotion Ltd 1 Change one or more of the analog input parameters 2 Download the data to controller 3 Save parameters to Flash Memory SV 368 FlexDC Software User Manual Part IV Nanomotion Shell Application Note XAI YAI 1 4 are read only parameters and as such it is not included in the download parameter option 18 3 3 3 Analog Out Folder Analog Out folder see Figure 38 covers the Analog output parameters Analog Output Ausiliary Analog Outputs Main Analog Outputs Open Loop Analog Outputs Offsets AO Set Open xTC xDO YAD Set Open WALES YDO Note AO Controls the auxiliary analog Note TC Controls the main analog output commands DAC output commands DAC All analog outputs are 12 13 bit All analog outputs are 16 bit tesulotion Configured via CG resulotion D 4 Figure 38 Analog Out Fold
73. YPA 1 start motion YBG WaitForEndOfMotionY wait 1 sec TimerY 8000 WaitTimeryY 0 set absolute position to zero YAP 0 start motion YBG WaitForEndOfMotionY 0 TimerY 8000 WaitTimeryY 0 start from begining XJP MFT_Y YQH Halt all HALT XMO 0 YMO 0 YQH XQH Nanomotion Ltd 307 FlexDC Software User Manual Part IIl FlexDC Macro Language 15 FlexDC Script Keywords Commands Reference This chapter presents a complete list of macro related commands supported by the FlexDC according to tasks in alphabetical order including detailed explanations and examples 15 1 Task Based Reference This section lists the commands according to their relation to several basic tasks The list provides a short description of each command 15 2 Task Description The commands are grouped to in the following tasks e Macro handling keywords e Operators e Flow control e Wait and state inquiry functions e Timer functions e Automatic routine control functions e Remote access over the CAN commands e Pre compiler directive commands and keywords Nanomotion Ltd 308 FlexDC Software User Manual Part IIl FlexDC Macro Language 15 3 Task Based Command List Table 41 and Table 42 list all the FlexDC commands according to their task A given command may appear under more then one task 15 3 1 Macro Handling Keywords Nanomotion Ltd Keyword Description QB An array of 20
74. Yes 2 12 Assignment Yes Receive parameter Parameter type Scope Both Restrictions None Save to Flash Yes Default Value 0 Range ae Syntax XZI 1 YZI 1 XZI 1 lt Numbers gt YZI 1 lt Number gt Examples XZ11 100 Remote Receive Address RA 100 XZl2 101 Remote Transmit Address TA 101 XZC XBG Remote Begin Motion BG See also ZA ZC ZM ZR ZS Nanomotion Ltd 342 FlexDC Software User Manual Part IIl FlexDC Macro Language 15 4 29 ZM Remote Message CAN Networking Purpose Sends a string message limited to 8 characters to a pre defined remote CAN ID address defined by ZI 1 ZI 2 is ignored The message to send is the command s string parameter or 1 or 2 or 3 numbers OFF number stack number parameter Attributes Type Command Axis related No Array Assignment g Receive parameter Yes Parameter type String Scope Program Restrictions None Save to Flash Default Value Range g Syntax XZM lt string gt XZM lt Number 1 or 2 or 3 gt Examples XZM COMPLETE Sends the COMPLETE word over the CAN bus to address XZI1 XZM 1 Sends the number at the top of the X stack 1 longs Message size is 4 bytes XZM 2 Sends the two numbers at the top of the X stack 2 longs Message size is 8 bytes XZM 3 Sends the three numbers at the top of the X stack 2 bytes 3 bytes 3 bytes Message size is 8 bytes Top of stack i
75. a menu that includes Show Terminal Window changes the folder view to terminal view Update Status Window stops resumes the main view automatic update Watch Dialog shows the watch dialog see section 18 4 6 2 Part IV Nanomotion Ltd 353 FlexDC Software User Manual Part IV Nanomotion Shell Application 18 3 Folders This section gives a detailed description of all the supported folders The folders can be selected through the Outlook Bar on the left side of the screen see Figure 20 All the folders include a Menu Button see Figure 25 os Figure 25 The Menu Button The Menu Button has two options e Download Parameters pressing the left side of the Menu Button downloads all folder parameters to the FlexDC e Open folder s menu pressing the right side of the Menu Button opens folder s specific menu Most of the folders have a simple menu which enables e Download Data To Controller downloads folder s parameters to the FlexDC e Upload Data From Controller uploads folder s parameters from the FlexDC e Set Default Values sets folder s default values This option does not download the data to the controller Notes Folders with Menu Button that include different options are fully described in this section Nanomotion Ltd 354 FlexDC Software User Manual Part IV Nanomotion Shell Application 18 3 1 Motions Folder Group Motions folder group includes folders for easy
76. accesses the parameters array using the IA index Using this method a lot of conditions and program space may be saved Another example is management of stack pointer for recording of user specified data Indirect addressing is supported by using the IA array as an index array Example Assignment of constant value to AR 56 can be written simply by XAR56 1234 or using indirect addressing by XIA4 56 XAR XIA4 1234 First IA4 is assigned with the address 56 and then XIA4 is used as an indirect index to AR Notes When IA is used as an indirect address the square brackets must be used There is no need in this case for preceding characters X or Y within the square brackets before the IA Only the IA array may be used for indirect addressing but all other arrays support the use of IA as an indirect address including IA itself The IAi array elements may also be used within any normal expression and are not only limited to indirect addressing Nanomotion Ltd 258 FlexDC Software User Manual Part IIl FlexDC Macro Language 10 6 Labels and Subroutines Names Labels are required for two main tasks 1 To define subroutine names starting location and 2 To define locations to jump to for program flow control Labels are defined in the FlexDC programming language as follows LABEL The sign must precede any definition of label The must be the first character in a line
77. and Minor Versions with its release Date and Time RS232 only Examples See Syntax Above Nanomotion Ltd 234 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 80 WT Wait Period Purpose This parameter sets the Wait time for Repetitive Point to Point When the controller is in MM 0 PTP and SM 1 the motion is repetitive This means that the axis is commanded to perform a PTP motion to the specified absolute position and then after the motion is completed and a user specified delay WT is completed a new motion is automatically initiated to the starting position AP is updated to this value This back and forth motion is repeated until stopped by one of the following clauses AB abort ST stop KR Kill repetitive and MO 0 The WT parameter defines the delay time in number of servo samples each is approximately 122 us or 1 8 192 of a sec between the back and forth motions Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows Parameter Scope All Restrictions None Save to Flash Yes Default Value 0 Range 0 800 000 000 Syntax XWT 0 Set X Axis WT 0 AWT 16384 Set WT 16384 in all axes Nanomotion Ltd 235 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference Examples The example shows starting a Repetitive motion in X axis from Position 0 to Position 100 000 using 1 sec WT
78. before each stop Reversed and Forward to detect this situation These switches are connected to the FlexDC RLS and FLS digital inputs Reverse Limit Switch and Forward Limit Switch When the FlexDC detects an active state at one of these inputs it stops any motion toward the related direction e Limits Software HL LL similarly to the hardware limits RLS and FLS above the FlexDC supports software limitation for motion range HL High Limit and LL Low Limit defines a position range in which the FlexDC operates normally Whenever the motor s position exceeds this range the FlexDC stops any motion to the related direction e Motion Modes motion Mode defines the method in which the FlexDC calculates the desired position command as a function of time The FlexDC supports various motion modes The basic modes are listed below e Point To Point PTP e Jogging e Gearing e Step e Repetitive Step and PTP e Motion Profiling motion Profiling is the actual algorithm that calculates new reference points to the servo loop according to the selected Motion Mode e Motion On The Fly Changing a characteristic of the FlexDC that enables the modification of most of its parameters even when they are active For example the PIV parameters can be modified while the motor is in servo loop motor is ON A unique characteristic of the FlexDC is that all except profile smoothing of its motion parameters such as speed acce
79. bytes from the macro buffer 11 4 Macro Download Format The format of the macro download protocol is propriety of Nanomotion Ltd and can be supplied upon request However the High Level SCServerlInterface DCOM communication interface supports functions for downloading High Level macro programs compilation download and for the downloading of Low Level macro programs download only Refer to Part V SCServer COM DCOM Interface Library for further information Nanomotion Ltd 270 FlexDC Software User Manual Part IIl FlexDC Macro Language 12 Integrated Development Environment 12 1 General With the Nanomotion Shell Application the user can simply access all the controller commands and perform all the operations that the FlexDC supports Refer to the Quick Start chapter in the FlexDC User Manual for a brief description of the Nanomotion Shell Application program or refer to Part IV Nanomotion Shell Application for a detailed information Part IV thoroughly covers all the details of the Nanomotion Shell Application see Figure 13 related to macro programming support for the development downloading and debugging of FlexDC macros sit SC Shell 9 01 Nanomotion Shell Application File Communication Macro Commands DataRecording Tools Customers Help M SV LD RS EC QC QK KR BR BA YR QY Terminal RS232 SC AT 2M COM1 Baud 115200 Motions Anis Y Axis Position BESS FLS Position x SUSAN SHE p SU a
80. bytes sent must be equal to nOutBufDataLen nTimeOut Time out in miliseconds for wait fWaitCursor Use Hourglass cursor while waiting WaitResoponse Flag whether to wait for response from controller pCommDelayTime Communication response delay time Return Value 0 if function succeeds If the function fails an error code is returned Nanomotion Ltd 452 FlexDC Software User Manual 25 2 9 ReadString Function Name Part VI Communication Library Commdll dll __declspec dilexport int ReadString PVOID pComDev Purpose Input Arguments Return Value Nanomotion Ltd LPSTR pInpBuf DWORD nMaxLeninpBuf DWORD amp nBytsRead Read string from the COM port pComDev _ pointer to Comm device returned by CreateComDev plnpBuf Pointer to Buffer Receiving RS232 Data nMaxLenInpBuf Max Size of Receiving Buffer nBytsRead Number of Bytes actually received from the communication port 0 if function succeeds If the function fails an error 453 FlexDC Software User Manual Part VI Communication Library Commdll dll 25 2 10 ReadComBuf Function Name __declspec dilexport int ReadComBuf PVOID pComDev Purpose Input Arguments Return Value Nanomotion Ltd BOOL bBlock LPSTR pinpBuf DWORD nMaxLeninpBuf DWORD amp nBytsRead Reads a string from the COM port with option for blocking the incoming read thread pComDev Pointer to Comm device returned by CreateCo
81. cccceeceeeeeeeeeeeeeeeeeeeeeeeeeeeesnaeeeeaees 188 OL Output Logi sicions a decane eee E neeteasl anette 189 OM I O Modes Hardware Configuration ccccceeeeeeeeeeeeteeeeenneeeeeeees 190 OPS Qutp t Port heen a a a coat aieter ad 195 OS Output Set Bit Command 2 eee cece cette ee eeeeeeeeeeeeeeeteeeesaaeeeaees 196 PA Parameters Array ccccccccceeceeeesscceceeeeeeeeeensenaaeaeeeeeeeeeeeessessneaaeeeeeees 197 PE Position Error eae ee ae aa ace ioe 198 PG Position Compare Parameters Array cccceeeeeeeeeeeeeteeeeeeeeeeteees 199 PQ Compare Function Activate Disable Command ccccccceeeees 200 PO PIV Outp t ar e a E E natin iouaniieennnented 202 PS Position Encoder Position ses sciscescccsatcesvenseveectenteeetaseevesatebieewemertee tes 203 RA CAN Receiving Address cccecceeeeeeseecceeeeeeeeeeesenneeeeeeeeeeeeeeetenea 204 RG Data Recording GAP 22s setae dike ee 205 RG 2 Data Recording Upload DelayS cccceeceeeeeeeteeeeeeteeeeeeeeeeeeee 206 RL Data Recording Len gintt ccetuie canetinei tase cope stcai tec etiecr adi nated teteds 207 RP Relative Posio Nesser einna Ras vba se eed aed nearest 208 RR Data Recording Status baccecucetire cs snvte pueleerecieaor end ivesteombouke scenes 209 Table of Contents 10 FlexDC Software User Manual Table of Conten 7 65 RS Reset Controller COMMANG cceeeeeeeeeeeeee eee eeeeeeeeteee
82. communication interface This means that any valid number in the 32 bit range 2 147 000 000 can be set to any of the CA parameters This however should be carefully avoided Users MUST comply to the parameters range setting as defined in the table above for each specific parameter Attributes Type Axis related Array Assignment Command Allows parameter Scope Restrictions Save to Flash Default Value Parameter Yes CA 2 x 16 Yes All None Yes 0 Range See note above Syntax XCA 13 1 Enable 2 order filter for X Axis ACA 4 0 Set CA 4 0 for all axes Disable 2 PIV Examples The following commands enable 2 order filter operation for the X Axis with the following parameters f 100 Hz 0 7 XCA 7 1537305 XCA 8 127552 XCA 9 62110 XCA 13 1 See also KP KI KD Nanomotion Ltd Set Filter Parameters Enable X 2 order filter 151 FlexDC Software User Manual 7 18 CB CAN Baud Rate Purpose Part II FlexDC Software and Commands Reference To set the CAN baud rate The CAN baud rate must be saved to the Flash Memory and the controller must be reseated in order to change the CAN baud rate See the notes about Initialization of CAN bus parameters in the RA and TA command references Currently the following baud rates are supported CB 1 CB 2 CB 4 CB 8 CB 10 CB 20 Attributes Syntax XCB 1 XCB See also RA TA
83. data recording time is RL x RG 8 192 in sec units Attributes Type Parameter Axis related No Array No Assignment Yes Command Allows Parameter Scope All Restrictions None Save to Flash Yes Default Value a Range 1 15 000 Syntax XRL 1000 Set Recording Length to 1 000 XRL Report value of RL See also BR DA RG RR RV Nanomotion Ltd 207 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 63 RP Relative Position Purpose The RP parameter defines the next motion Relative Position in counts target The relative position is used for Relative Point to point motions When issuing an RP command the value of the next absolute position is computed as follows AP DP RP Upon a BG begin motion command the controller generates a profile from the current desired DP position to the current AP Refer to the AP command for more information Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash No Default Value 0 Range 2 147 000 000 2 147 000 000 Syntax XRP 100000 Set X Axis Relative Position to 100 000 ARP 100 Set RP 100 in all axes Examples The following example shows performing a 100 counts step followed by a 100 counts step XMO 1 Enables the X motor XPS 0 Set X axis encoder Positio
84. desired Wait Period WT 6 7 8 9 1 Set the desired Limit deceleration DL Check the Absolute check box Check the Repetitive check box Check that the Axes Servo is ON 0 Press the Start Axis Button The same steps are performed for relative motions with the following modifications Clear the Absolute check box Set the desired Relative position RP 18 3 1 2 Jogging Folder Jogging Folder covers the Jog Motion Mode see Figure 28 m Jogging Aris r ris Y Nanomotion Ltd AC 10000000 AC 100000 DC 10000000 DC 100000 SP 10000 sp jo DL 0 DL 100000 Begin Motion Begin Motion D 4 Figure 28 Jogging Folder 358 FlexDC Software User Manual Note The FlexDC supports normal jog mode only Gearing The Begin Motion button downloads the axis parameters and starts the Jogging Folder parameters AC Acceleration DC Deceleration SP Speed DL Limit Deceleration Part IV Nanomotion Shell Application selected motion presuming the relevant axis servo is ON The parameters can be updated while axis is in motion to do so just change the relevant parameters and download them by pressing the Menu Button The following example starts a new jog motion NO of WD 18 3 1 3 Gear Folder Gear Folder covers the Gearing Motion Mode see Figure 29 r ris AC DC FR ME 2 fo foo mo Position Gearing
85. e Mode 2 32 bit Arbitrary GAP location tables Nanomotion Ltd 103 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference In order to operate the Position Compare feature there are a few dedicated parameters and a command that controls its operation In the following sections the operation of each one of the supported Compare Function modes is explained Note Mode 1 Fixed GAP incremental Distance gt 16 Bit FlexDC current firmware version does not support Mode 1 Mode 3 32 bit Arbitrary GAP location tables using the FPGA RAM FlexDC current firmware version does not support Mode 3 6 2 1 Mode 0 Fixed GAP Incremental Distance lt 16 Bit In this mode the FlexDC is programmed with the desired start point PStart desired end point PEnd and desired incremental GAP Distance The first pulse is always generated at the exact Start Position PStart The hardware then automatically increments or decrements see explanation below the next compare point by the Distance value and so on until the PEnd is reached The first pulse is thus generated at Position PStart the second is generated at Position PStart Distance the next one will be at Position PStart Distance 2 etc In general the N pulse is generated at position Position PStart Distance N where N 0 is the start point PStart In this mode the compare pulses are fully generated by the hardware so there is n
86. ee ee ee EE eee ee a E __ E W L E E E a Figure 45 Super Custom Folder Each user defined variable has three values User Text a user can type any text Command the command to send to the controller This command is one of the servo controller commands refer to Part Il FlexDC Software and Commands Reference e Value the command value which can be the uploaded value from controller or the downloaded value to the controller Nanomotion Ltd 377 FlexDC Software User Manual Part IV Nanomotion Shell Application The Menu Button options Download Data To Controller downloads the commands and their values to controller Upload Data From Controller uploads the commands value from controller Save Commands To File saves all folders data to file Load Commands From file loads the folders data from file The folders data can be saved loaded from to file This option enables the user to change between user defined folders for example have a user defined folder for each of its customers 18 3 6 Custom Commands 1 3 Folder Group Custom commands see Figure 46 are controller commands the user can send by a button click without the necessity of writing the command in the Terminal folder see section 18 4 2 4 Part IV Custom commands are sent to the Terminal folder and therefore the reply is present at the Terminal folder The commands are automatically saved loaded when
87. feature is useful for finding the exact 1 count resolution homing location when operated on the encoder index and to synchronously latch multiple axes system locations when operated on digital inputs The FlexDC supports simultaneous capture on both of its two axes The user can configure the Compare Pulse Source for each encoder independently from other channels 6 3 1 Capture Modes When operated on the Index pulse the Capture uses the internal Index signal to latch the position In this mode each axis can capture the position based on its own Index pulse When based on digital inputs the user can select any one of the 10 digital input lines to be the Capture pulse source for any axis without any limitation The same digital input line can be used to synchronously Capture the location of both axes at once Although each one of the controller s digital inputs can be used as a Capture input in the current hardware version only two digital inputs DInp9 Dinp10 are supported as fast TTL inputs As normal inputs are optically isolated using standard inputs for Capture introduces a delay of a few microseconds Fast inputs are TTL based eliminating any delays Nanomotion Ltd 114 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 6 3 2 Operating the Position Capture and Relevant Keywords The Capture function is independent from any other operation mode of the controller The function of Position Capture is
88. in ALL motors The command is equivalent to the two commands QH XST YST etc refer to Part Il FlexDC Software and Commands Reference for further information regarding the ST command Attributes Type Command Axis related Yes Array eee Assignment aa Receive parameter No Parameter type Scope Both Restrictions None Save to Flash Default Value Range a Syntax QK Examples XQK Halts execution of the X program and stops ALL motions YQK Halts execution of the Y program and stops ALL motions See also QH Nanomotion Ltd 328 FlexDC Software User Manual Part IIl FlexDC Macro Language 15 4 15 QN Display Macro Stack Purpose Reports the macro program numbers stack The QN keyword may be used to debug macro execution The user can inquire the numbers stack form the Nanomotion Shell Application terminal window Note that currently it is possible to access the X macro stack push and pop from the terminal Attributes Type Command Axis related Yes Array si Assignment ahs Receive parameter No Parameter type Scope Communication Restrictions None Save to Flash Default Value Range lt 5 Syntax QN Examples XQN Reports the X macro program numbers stack YQN Reports the Y macro program numbers stack See also QQ QZ Nanomotion Ltd 329 FlexDC Software User Manual Part IIl FlexDC Macro Language 15 4 16 QP
89. in a source file Note that the include file contents is places at the point where the directive appears Nested include statements include statement within an included file are not allowed 13 4 Advanced Expressions Parsing 13 4 1 General As described earlier the FlexDC is designed with a simple fast real time execution engine supported by a powerful programming development and debugging environment the FlexDC An important part of the development environment is the pre compiler described by this chapter In addition to the directive commands supported by the pre compiler another powerful feature is its ability to support advanced expressions parsing not allowed in the low level FlexDC language syntax Nanomotion Ltd 293 FlexDC Software User Manual Part IIl FlexDC Macro Language The pre compiler currently supports the following expressions parsing e Mathematical expressions e f blocks e While loops e For loops Any advanced syntax line should be preceded by the sign The character must be the first nonwhite space character on the line containing the expression No white space characters should appear between the sign and the first letter of the high level command if while for etc Note that an advanced expression statement can not contain except the for loops These features are described in the following sections 13 4 2 Mathematical expressions Mathematical expressions are statements
90. is gt in the case of a successful command clause execution or gt in the case of any error in the execution of the command clause command was not executed In the latter case a dedicated parameter EC Error Code stores the code of the last communication error In cases when the last error was generated in a user script program another dedicated parameter stores the last program Error Code QC Program Error Code For a complete description of all currently supported error codes refer to chapter 15 Part Il in this user manual Notes An empty command clause is a legal do nothing command can serve as a ping command The prompt is sent only after the clause execution is completed Nanomotion Ltd 36 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference Examples The italics strings are the FlexDC responses to the Host computer The blanks are only for the clarity of the example and the send get timing Setting SP Speed of X axis to 10 000 Moos Pes 10000 XSP 10000 gt Echo only if EO 1 Response always sent Setting AC Acceleration of X and Y by default to 10 000 BAC 100000 0 CR BAC 1000000 CR gt _ eee Echo only if EO 1 Response always sent Reporting the value of the SP for X and Y by default BSP BS P 10000 20000 gt Echo only if EO 1 Response always sent Reporting the value of the SP ass
91. is no longer supported in the current firmware version 56 EC_UNSUPPORTED_DRIVER Set when a CG for Un Supported Driver type is configured in CG in FlexDC 60 PG_ERR_MODE_PARAM_NOT_VALID This error is issued by PQ 1 Enable Compare Function if the requested Compare Mode defined by PGi 1 is out of its range In the current firmware version only Modes 0 and 2 are supported for Compare Function 61 62 63 PG_ERR_PULSE_MODE_PARAM_NOT_VALID PG_ERR_PULSE_WIDTH_PARAM_NOT_VALID PG_ERR_PULSE_POL_PARAM_NOT_VALID This error is issued by PQ 1 Enable Compare Function if the Pulse Width Mode Parameter defined by PG i 6 is out of its range The allowed range for the Pulse Width Mode Parameter is 0 or 1 This error is issued by PQ 1 Enable Compare Function if the Pulse Width Parameter defined by PGi 5 is out of its range The allowed range for the Pulse Width Parameter is 0 to 3 This error is issued by PQ 1 Enable Compare Function if the Pulse Polarity Parameter defined by PG i 7 is out of its range The allowed range for the Pulse Polarity Parameter is O or 1 64 PG_ERR_PD_PARAM_NOT_VALID This error is issued by PQ 1 Enable Compare Function if the Distance Parameter defined by PG i 2 is out of its range Out of range values for Distance are 0 in all modes Out of 32 767 range in Mode 0 Not equal
92. line follow the next steps 1 Move the cursor to the desired line 2 Select this menu item 19 7 5 15 Show Next Statement The Show Next Statement menu item scrolls the edit area to the next line to be executed Use this menu item to find the current macro position 19 7 5 16 Show Run Time Error The Show Run Time Error menu item shows the current selected macro Run Time Error QC Nanomotion Ltd 415 FlexDC Software User Manual Part IV Nanomotion Shell Application 19 7 5 17 Update Watch List The Update Watch List menu item updates the Watch Area variables 19 7 6 Communication Menu The Communication Menu section covers all Communication Menu items 19 7 6 1 Enable Shell Com The Enable Shell Com menu item is used to reestablish connection with Nanomotion Shell Application if a connection was lost 19 7 7 Window Menu The Window Menu section covers all Window Menu items 19 7 7 1 New Window The New Window menu item opens the top most opened file again in a new window 19 7 7 2 Cascade The Cascade menu item cascades all the opened files in the Edit Area 19 7 7 3 Tile The Tile menu item tiles all the opened files in the Edit Area Nanomotion Ltd 416 FlexDC Software User Manual Part IV Nanomotion Shell Application 19 8 Toolbars The Toolbars section gives a description of the application s toolbars 19 8 1 Edit Toolbar OSHS jA ME AKAK D2 Figure 65 Edit Toolbar The
93. may be longer for example save parameters or upload list data Find the definitions of each keyword type group below 2 3 2 1 Parameters Keywords Parameters can always report their value generally reflecting the value of an internal software or hardware register and in most cases can be assigned with a value There are some read only parameters that cannot be assigned with a new value For example the Al Analog Input value is a read only parameter There are some parameters that when assigned with a new value can also modify the values of other parameters For example when modifying the PS Current Encoder Position Value of an axis the DP The current position command reference or Desired Position is also modified to the same value to avoid positioning errors 2 3 2 2 Command Keywords Command keywords always initiate a process start a motion save parameters begin internal script program execution etc Commands do not report a specific register values and in general do not assign any specific register values though they can internally modify the values of more then one register For example the BR Begin Recording command modifies the value of the RR Recording Status register The LD Load from Flash Memory command modifies values of almost ALL registers Commands can receive a parameter actually an argument which affects the command process For example the command to exec
94. motion Nanomotion Ltd 63 FlexDC Software User Manual Communication Clauses MF Part Il FlexDC Software and Commands Reference Description A code describing why the motor was lastly disabled MF 0 Motor was not disabled MF 1 Driver s fault Fault Input MF 2 Abort input emergency stop MF 3 High Position Error PE gt ER MF 4 Motor Stuck Condition MF 65 Encoder Quad Error MF 129 Encoder Dis Connected Error MS A bitwise code describing the current motion status Bit 0 In motion Bit 1 In stop Bit 2 In acceleration Bit 3 In deceleration Bit 4 Waiting for input to start motion Bit 5 In PTP stop decelerating to target Bit 6 Waiting for end of WT period SR A bitwise code describing some controller statuses Currently only Bit 5 zero based is reported Other bits may be used in the future and should not be assumed to have any pre defined value Bit 5 In target EM A code describing the cause for last end of motion EM 0 Motion is still active EM 1 Normal end of motion EM 2 Forward limit switch FLS EM 3 Reverse limit switch RLS EM 4 High software limit PS gt HL EM 5 Low software limit PS lt LL EM 6 Motor was disabled check MF EM 7 User command ST or AB EM 8 Motor OFF by user MO 0 This bit indicates that the motion profile has been finished and that the absolute position error IPEI is smaller than the target radiu
95. necessary This means that the C syntax for cond expr is not supported It is possible to include if statements and while loops within a for statement given that they do not cross the boundaries of the for block and each other s Several continue and break commands are allowed within for loops The continue and break commands are valid only within while and for loops Statements may be any valid normal or math expressions Valid operators within the for statement itself the conditions are e Valid math operators within assignment expressions 5 8 4 gt 5 lt gt lt e Valid math operators within conditional expressions 7 amp 4 5I e Valid logic operators within conditional expressions gt lt gt lt See the following examples for using for loops Example 1 A simple for loop counting time with a delay function for XPA1 100 XPA1 lt 120 XPA1 XPA1 1 _ Infinite loop XTD 16384 BQW 107000 1 Second Delay endfor Nanomotion Ltd 302 FlexDC Software User Manual Part IIl FlexDC Macro Language 14 Script Example 14 1 Script Structure The following script consists of Homing and Full Travel Repetitive Running for X and Y Axes The script incluides two files e The main macro file presented here e Application specific definition file definitions for array variables that hold the relevant values of all the motion parameters PIV Speeds etc
96. normal prompt as in RS232 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 o Message length is 2 bytes In order to retrieve the error code an EC command can be issued to the controller 2 7 4 3 Prompt Including a Single Axis Report Response If a report command was issued for X or Y the controller is responding with the requested data followed by the prompt similar to RS232 Data 3 Data 2 Data 1 Data 0 Nanomotion Ltd 55 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference Message length is 4 bytes Data is represented binary signed long format Note that no gt is returned in this case 2 7 4 4 Prompt Including a Report Response for Two Axes If a report command was issued for both axes BAC AAC for example the controller responds with the requested data with no prompt Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Data 3 Data 2 Data 1 Data 0 Data 3 Data 2 Data 1 Data 0 Axis1 Axis1 Axis1 Axis1 Axsi2 Axis2 Axis2 Axis2 Message length is 8 bytes Data is represented in binary signed long format Note The CAN report can return a response to a maximum of two axes 2 7 4 5 Controller Initiated CAN Messages FlexDC s macro program is able to send initiated messages from the controller to a host The command to initiate CAN messages from the controller script program t
97. of the filter Use open loop operation and record the Driver Command signal see section 4 3 Part Il Nanomotion Ltd 89 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 4 12 Summary of all Control Filter Related Parameters Table 6 summarizes all servo loop related parameters of the FlexDC supported Keyword Description MO Motor ON Enables MO 1 Disables MO 0 the servo loop NC No Control Enables NC 1 Disables NC 0 open loop mode TC Torque Command in open loop mode TL Torque Limit Limits the D2A command All modes IS Integral Term Saturation of PIV control filter PO The final control filter output command value DO The control filter offset calibration parameter CG Bit3 Configuration Bit controlling set to 0 PIV mode KP KP 1 Proportional position gain KLKI 1 Integral gain in velocity loop KD KD 1 Derivative gain in velocity loop KP 2 KP Gain when gain scheduling is active KI 2 KI Gain when gain scheduling is active KD 2 KD Gain when gain scheduling is active CA 4 Gain scheduling period CA 7 2 order filter AO gain CA 8 2 order filter B1 gain CA 9 2 order filter B2 gain CA 13 2 order filter Enable if 1 Disable if 0 flag FF FF 1 Velocity Feed Forward Gain FF 2 Acceleration Feed Forward Gain Nanomotion Ltd Table 6 Control Fi
98. parameter to be reported is the command s parameter The reported value is pushed to the numeric stack one item is added to this stack ZS A parameter that holds the status of the last remote unit s response Can be only reset to zero Table 46 Macro Program Remote CAN Access Commands Nanomotion Ltd 312 FlexDC Software User Manual Part IIl FlexDC Macro Language 15 3 7 Pre compiler Directive Commands and Keywords Table 47 describes the directives and keywords supported by the pre compiler Keyword Description Comment Line Label definition Subroutine name define Global constants define directive description Macro descriptive comment strings definitions include Include macro files target Defines the target hardware to download to for Defines a for loop block statement if Defines an if else conditional statement while Defines a while loop block statement Table 47 Pre compiler directive commands and Keywords 15 4 Macro Programming Keywords Reference This section presents all the controller keywords related to macro programming in alphabetical order including detailed definitions of each command and examples The description of each keyword includes Purpose The operation or task of the keyword Attributes See below Syntax Valid clause syntax Typical applic Typical use of keyword Example Simple example of the k
99. pre compiling compiling downloading and debugging macro programs To support this structure the macro programs logic combines a reduced set of low level commands supported by the macro execution engine and a wider more enhanced set of programming commands that are supported by the Integrated Development Environment While the low level macro execution engine embedded FlexDC firmware supports only the necessary numbers stack stack operations and basic flow control commands the higher level Nanomotion Shell Application environment supports advanced conditions If While etc and advanced expression calculations Translation from the high to low level language is fully automatic and is under operated by the Nanomotion Shell Pre compiler module integrated into the Nanomotion Shell Application program The only reasonable limitation that this programming structure imposes is that for the development of a macro program you should have a Windows based PC platform available This is if course required only for the development and debugging stage Once the program was downloaded to the embedded hardware and saved to its Flash Memory the controller program is fully autonomous and supports stand alone operation The benefits from this structure include a wider language base faster real time execution and a powerful Debugging Environment as well as other benefits that are outlined in Part Ill Nanomotion Ltd 249 FlexDC Software User Manual
100. priorities over the program execution Program clause is executed only if there is no communication RS232 or CAN clause waiting It is thus clear that the communication load influences the macro execution speed 10 3 Macro Handling Keywords In order to support execution and handling of macro programs within the FlexDC a set of keywords was dedicated in order to support macro programming see Table 34 Note on commands syntax like all other commands of the FlexDC the keywords should be preceded with X or Y to identify the respective macro Nanomotion Ltd 251 FlexDC Software User Manual Part IIl FlexDC Macro Language Keyword Description QB A macro related array of 20 breakpoints pointers 1 to disable a pointer and following pointers Should not be used QC Reports the last macro runtime error if there was any QD Downloads a macro QE Execute macro from the current macro pointer QP QH Halt macro execution Ql Initialize macro and its internal variables QK Kill macro execution also stops all motions of both axes QL Loads the macro from the Flash Memory Automatically after power ON or reset This command is currently not implemented Using the LD for loading parameters also loads the macro QN Displays the macro stack QP Holds the current macro pointer QQ Uploads the program stack queue of return addresses QR Reports the macro status
101. range of 1600 0 5 Volts The value of DO is saved to the flash memory and is restored on each power up Note that DO has an effect whenever the system is powered on regardless to the motor ON MO and No Control NC states As a result the offset calibration can be performed even when the controller is in Servo OFF state MO 0 DO is an axis related parameter and controls the offset of the various analog outputs as follows e XDO Set the Analog Offset of the Main X Analog Command Channel e YDO Set the Analog Offset of the Main Y Analog Command Channel Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows Parameter Scope All Restrictions None Save to Flash Yes Default Value 0 Range 32 767 32 767 Syntax XDO 100 Set X DAC DO 100 Offset 30 5 mv XDO 100 Set X DAC DO 100 Offset 30 5 mv XDO Report value of AS for X axis BDO 0 Set DO 0 to both axes no analog output offset See also TC AO Nanomotion Ltd 159 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 26 DP Desired Position Purpose DP holds the actual instantaneous Desired Position or Reference Position Command of the servo control loop When an axis is not in motion DP is constant and equals the local position reference point When an axis is in motion DP holds the real time
102. reset the controller software RS causes the FlexDC micro processor to enter a software reset state and completely re initializes the controller software After Reset all the controller parameters and script program resume their boot up values The AUTOEX starts running like in power on condition The RS command has the following attributes Attributes Type Command Axis related No Array Assignment Command Allows Parameter No Scope All Restrictions All motors must be OFF no program running Save to Flash Default Value Range Syntax XRS Resets the FlexDC Nanomotion Ltd 210 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 66 RV Data Recording Recorded Variables Purpose The PA array is an axis related array with a size of 2x100 elements Each element in the array is aLONG format number which can be assigned with any value at any time The index range of the PA array is 1 100 The RV keyword Recorded variables in the FlexDC is a non axis related array with the size of 1x8 elements Using the RV array the user may select the data member to be recorded for each one of the 8 data recording vectors XRV 1 controls Vector 1 XRV 2 controls Vector 2 and so on The user can select one of 51 internal data members for each vector In general the user can select one of 20 axis specific currently 11 available
103. separate network and are connected to a switch using standard non crossed Ethernet cable CAT 5E Smart switches have the ability to detect crossed cables and act correctly Nanomotion Ltd 38 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference S Figure 2 Milti Computer Controller Network In Figure 3 the FlexDC controller is directly connected to the PC In this case the Ethernet cable must be a crossed cable CAT 5E Local Connection Using Crossed Cable F Figure 3 Single Computer Controller Network In either way the IP addresses of the PC and the controllers must be statically defined as there is no DHCP server that dynamically defines these addresses see section 2 6 2 Part Il Nanomotion Ltd 39 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 2 6 2 Connecting and Defining the Ethernet LAN 2 6 2 1 Connecting the LAN Connect the RS232 and the LAN cables between the controller and the PC refer to the instructions given in the Quick Start chapter in the FlexDC User Manual for the RS232 connection and Nanomotion Shell Application installation refer to Figure 4 FlexDC Rear Panel JOYSTICK x SS Figure 4 RS232 and LAN Connections 2 6 2 2 Setting Controller s IP Address The FlexDC controller s IP address must be set by the user as part of controller s connection configuration setup The controller cannot obtain a
104. step running breakpoints etc for more details see section 19 6 Part IV For macro syntax refer to Part Ill FlexDC Macro Language Nanomotion Ltd 396 FlexDC Software User Manual Part IV Nanomotion Shell Application 19 2 Main Screen B Source Editor Sonne Window Help oOo she 4 HBS P E N w P p OC le z Build Watch Area Nanomotion Ltd Figure 55 Macro File Editor Application Main Screen This section gives a short description of the Macro File Editor Application main screen see Figure 55 components Macro File Editor Application Main screen components e Edit Tool Bar for editing options enabled only in edit mode e Debug Tool Bar for debugging options enabled only in debug mode e Workspace Area shows the current files included in the workspace see section 19 3 Part IV Nanomotion Ltd 397 FlexDC Software User Manual Part IV Nanomotion Shell Application e Edit View Area this area enables e Editing macro file in edit mode see section 19 4 Part IV e Show debugging status and options in debug mode see section 19 6 Part IV e Build Watch Area shows the results of macro compiling and used as a Watch View in debug mode 19 3 Workspace Workspace purpose is to help the user manage macros that include more than one file For example a macro file can include two files one is a definitions file and one is of the actual code Th
105. that are called by the PC or any other host are restricted to a length of maximum 6 characters Labels may include ASCII printable alphanumeric characters only Labels are case sensitive The underscore _ character may be used within a label definition but can not start a label definition No blanks are allowed within a label definition 10 6 2 Ending a Label Definition is the Sign In order to implement high level program flow statements such as if and while the pre compiler module automatically generates internal program labels The following labels are saved keywords and should not be used by the user Sl lt CONST gt El lt CONST gt WH_ lt CONST gt EW_ lt CONST gt UF_ lt CONST gt CF_ lt CONST gt EF_ lt CONST gt where CONST stands for a constant label index number 1 2 Labels that are defined with an additional prefix i e WAIT_INPUT are not downloaded to the controller and can not be called by the PC or any other host The additional is calculated as an additional character in the maximum label length count Examples for valid label definitions MAIN HOME_X L_1 L_ p1 L__pe2 Nanomotion Ltd 260 FlexDC Software User Manual Part IIl FlexDC Macro Language Examples for non valid label definitions MAIN No terminating LS Label can not start with _ HOMING_X_AXIS Label too long Sl
106. that include one or more mathematical operators see list of supported operators below combined with operands constants and parameters to construct a mathematical sentence Any mathematical expression statement line should start with the character symbol The syntax for the mathematical expression is variable expression The variable may be any valid FlexDC argument name allowed to be assigned with a value i e parameters and arrays Expressions may include operators constants parameters standard and arrays and commands as operands When an expression contains an FlexDC command that receives a parameter separated from the command name by the comma char the command usually pushes the result to the stack by itself The following operators are currently supported within expressions e Valid binary operators amp 4 gt lt gt lt e Valid unary operators L e Brackets Nanomotion Ltd 294 FlexDC Software User Manual Part IIl FlexDC Macro Language Note Unary operators can be used only on single operands and not on expressions e g not before brackets The parser handles mathematical priority as follows e First mathematical priority is given to unary operators e Second mathematical priority is given to and amp over the other binary operators e For other priority use brackets Example 1 Initializing array members XPA1 XPA3 and compute a value
107. the Nanomotion Shell Application is closed opened and can be saved loaded from file for more information refer to 18 4 1 Part IV Custom command format can include more than one command separated by a semicolon Nanomotion Ltd 378 FlexDC Software User Manual Part IV Nanomotion Shell Application Custom Commands 1 gA INIT g HOME X g HOME Y g HOME x amp Y gn RUNX gA RUN Y gin RUN X amp Y gin HALT g Command 9 g Command 10 z5 Command 11 E Custom Commands 2 Custom Commands 3 Support Figure 46 Custom Commands Folder Group Some examples for custom commands e XPS Report X axis position e XPS YPS Report X and Y axis position e XPS 0 XVL 1000 XAC 1000 XDC 1000 XAP 10000 XSM 0 XMM 0 XMO 1 XB G Set X axis parameters and begin motion e XQE HOME Run X axis macro labeled HOME There are two options to edit a custom command one custom command at a time Select the custom command to edit from the Outlook Bar left mouse click on the custom command icon and select the Edit Custom from the menu The Edit Custom Command dialog box appears see section 18 4 1 2 Part IV Nanomotion Ltd 379 FlexDC Software User Manual Part IV Nanomotion Shell Application Edit Custom Command x Command Name Command Controller Name Command s Figure 47 Edit Custom Command Dialog Box Command The Edit Custom Command dialog box see
108. the macro to Note the file should have the dat extension 3 A process progress dialog box shows the upload is in progress status 4 When the upload is finished a message box appears with the upload results 18 4 3 5 Erase Macro The Erase Macro menu item erases the macro from controller Save parameters to Flash Memory if needed 18 4 4 Commands Menu 18 4 4 1 Save The Save command saves controller s parameters to the Flash Memory SV 18 4 4 2 Load The Load command loads controller s parameters from the Flash Memory LD 18 4 4 3 Reset Controller The Reset Controller command resets the controller RS 18 4 4 4 EC The EC command shows the communication error code text EC 18 4 4 5 Show RTE The Show RTE command shows all axis macro runtime error QC Nanomotion Ltd 391 FlexDC Software User Manual Part IV Nanomotion Shell Application 18 4 5 Nanomotion Ltd 18 4 4 6 Kill All The Kill All command kills all running programs 18 4 4 7 Kill Repetitive The Kill Repetitive command kills all axis repetitive motions Data Recording Menu 18 4 5 1 Import Properties The Import Properties menu item imports the SD viewer application properties for recorded data 18 4 5 2 Clear Properties The Clear Properties menu item clears properties imported by Import Properties menu item 18 4 5 3 Show Last Recording The Show Last Recording menu item opens the SD viewer with the
109. to 4 only Long Data 1 is assumed valid and only a single buffer is updated Buffer 1 e If the received message length is less than 8 the message is ignored e If the received message length is equal to 8 both Long Data 1 and Long Data 2 are assumed to be valid and both buffers 1 and 2 are updated correspondingly Nanomotion Ltd 2 7 5 1 Message Format Message Bytes order is in little endian format This is NOT compliant with the Download Buffer Message format which is inverted MSB first 2 7 5 2 EDB Data Validity Check No validity check to the data value itself is performed In any case a buffer is updated with new data its storing location is defined in a special new dedicated parameter and is auto incremented automatically 2 7 5 3 EDB Buffers The Buffer is a valid FlexDC array member ART for example but the EDB mode is not limited to AR only In the EDB mode the user can select to download to any valid FlexDC array element as explained below 57 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference Furthermore the user can select to download Data Long 1 to one array and Data Long 2 to another array The following FlexDC parameters in Table 5 are used for the implementation of the Enhanced Download Buffer Mode EDB XZI 4 Buffer 1 Array Code This parameter defines the code for the requested Array to be updated by the parameter Long Data 1 in th
110. to the remaining warranty coverage of the original part NM s sole and exclusive obligation under this warranty provision shall be to repair or at its sole option exchange defective products or the relevant part or component but only if i the Purchaser reports the defect to NM in writing and provides a description of the defective product and complete information about the manner of its discovery within ten 10 days of its discovery ii NM has the opportunity to investigate the reported defect and determines that the defect arises from faulty material parts or workmanship and iii the Purchaser returns the affected product to a location designated by NM These provisions constitute the exclusive remedy of the Purchaser for product defects or any other claim of liability in connection with the purchase or use of NM products This warranty policy applies only to NM products purchased directly from NM or from an authorized NM distributor or representative This warranty shall not apply to i products repaired or altered by anyone other than those authorized by NM ii products subjected to negligence accidents or damage by circumstances beyond NM control iii product subjected to improper operation or maintenance i e operation not in accordance with NM Installation Manuals and or instructions or for use other than the original purpose for which the product was designed to be used The warranty stands only when the motors are used
111. two encoders independent from one another The user can configure the hardware to redirect a generated event pulse to any one of the controller digital outputs This way a user working with a dual axes system X Y stage for example requiring to generate compare event pulses based on the X and Y encoders alternatively can use only one digital output and control the source of the pulse to be an X or Y encoder Compare Event by using a simple software configuration Note that the current hardware version of the FlexDC supports two of its eight digital outputs as Fast Outputs The standard FlexDC digital outputs interface is isolated and buffered While this is good for normal outputs when fast synchronization pulses are required a faster interface is needed Thus the FlexDC supports the first four digital outputs as Fast Outputs Outputs configured as Fast Outputs are non isolated and are driven by a TTL buffer The Fast Outputs use the same pins as do the normal outputs of the controller DOut5 and DOut6 As a standard the FlexDC generates a single hardware pulse for each compare event The user can control the pulse width with a few software configurable options However the controller can optionally support any special output pulse sequence For this option it is suggested to contact Nanomotion technical support In general the FlexDC supports two modes of Compare Events Generation e Mode 0 Fixed GAP incremental Distance lt 16 Bit
112. user general purpose parameters array PA can be used during script program development for any purpose The PA array is an axis related array with a size of 2x100 elements Each element in the array is a LONG format number which can be assigned with any value at any time The index range of the PA array is 1 100 As noted PA is a user general purpose array and is not used anywhere by the controller s firmware code unless the user has included a reference to it within a script program Attributes Type Parameter Axis related Yes Array Yes size 2 200 Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash Yes Default Value 0 Range 2 147 000 000 2 147 000 000 Syntax XPA 1 0 Set XPA 1 O YPA 10 Report value of YPA 10 BPA 100 1000 Set both axes PA 100 1 000 Examples See below Nanomotion Ltd 197 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 54 PE Position Error Purpose PE is a read only parameter holding the actual servo loop positioning error The Positioning Error PE is defined as the current desired position minus the actual position PE DP PS Whenever the servo loop is enabled MO 1 in both open and closed loop modes the real time software computes and updates the value PE When the motor is disabled MO 0 DP PS so the Position Error is 0
113. volts YMO 0 YNC 1 YMO 1 YTL 32763 YTC 16384 YTC 32763 YMO 0 YNC 0 See also CG NC TL 2 order filter definitions and Data Recording Nanomotion Ltd Disables the motor before changing the NC Set NC 1 to indicate Open Loop for that axis Set MO 1 for Y Again Set Command saturation to 10 Volts Set command value to 50 5 Volts Set command value to 100 10 Volts Disables the motor before changing the NC Restore closed loop mode 223 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 74 TD Timer Down Purpose The TD parameter is an internal timer counting down towards 0 The timer can be set to any value from 0 to 100 000 000 Upon reaching a count of 0 the timer stops TD should be used by user programs to generate delays or count times The TD parameter is always reset to 0 after boot TD is an axis related parameter There are 2 different internal timers that can be accessed by the user XTD and YTD There is no actual relation between XTD to the X axis Each timer can be used by any program The TD timers count in the servo sample rate i e 8 192 counts per second The TD parameter has the following attributes Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash No Default
114. width parameter PG i 5 is used to set the required pulse width in multiplications of 1 92 uSec intervals This implementation provides a more flexible user interface for defining the compare pulse width The max allowed value for PG i 5 is 255 This results in a Pulse Width of 489 6 uSec Nanomotion Ltd In the arbitrary table supported Mode 2 the controller real time software is responsible for updating the compare match registers As a result the compare pulse width may be longer then requested The start point of the pulse is however always matches the exact compare point without any delay 6 2 3 2 The PQ Command The PQ command is an axis related command enabling or disabling the Compare function for a specific axis The command requires a parameter indicating the requested operation The command syntax is as follows XPQ Parameter where Xis an axis identifier For the current FlexDC version the compare function is supported for both axes X and Y e Parameter 0 Indicates immediate disable of compare for the specified axis No conditions are checked expect a valid axis identifier Parameter 1 Indicates start compare function for the specified axis The command validates correct parameter PG for the specific requested mode In a situation where one of the command s parameters is out of range the command returns an error prompt gt or generates a script
115. with the NM drivers amplifiers NM shall not in any event have obligations or liabilities to the Purchaser or any other party for loss of profits loss of use or incidental increased cost of operation or delays in operation special or consequential damages whether based on contract tort including negligence strict liability or any other theory or form of action even if NM has been advised of the possibility thereof arising out of or in connection with the manufacture sale delivery use repair or performance of the NM products Without limiting the generality of FLDC458001 01 REV B August 29 2012 Nanomotion Ltd POB 623 Yokneam 20692 Israel Tel 972 73 2498000 Fax 972 73 2498099 Web Site www nanomotion com E mail nano nanomotion com AA NANOMOTION A Johnson Electric Company the preceding sentence NM shall not be liable to the Purchaser for personal injury or property damages Patent Information Nanomotion products are covered under one or more of the following registered or applied for patents 5 453 653 5 616 980 5 714 833 111597 5 640 063 6 247 338 6 244 076 6 747 391 6 661 153 69838991 3 6 384 515 7 119 477 7 075 211 69932359 5 1186063 7 211 929 69941195 5 1577961 4813708 6 879 085 6 979 936 7 439 652 7061158 1800356 1800356 1800356 2007 533057 pending 2011 093431 pending 7 876 509 10 2007 7009928 pending 200780019448 6 7713361 9 pending 12 294 926 pending GB200800
116. 0 3 3 1 Description In this mode the controller calculates a standard acceleration profile using the user specified acceleration AC toward the user specified speed SP This speed is kept constant until the motion is stopped by a user command In case of an ST Stop command the controller calculates a deceleration profile using the user specified deceleration DC The motion s direction is set according to the sign of the SP Speed parameter 3 3 2 Starting a Jog Motion Communication Clauses Description MO 1 Enabling the servo loop motor ON MM 1 SM 0 Setting Jogging motion mode AC 500000 Assigning a value for the acceleration counts sec DC 200000 Assigning a value for the deceleration counts sec Used when stopped or when changing SP on the fly DL 1000000 Assigning a value for the Limit DC counts sec WW 0 Defines no smoothing SP 50000 Assigning a value for the speed counts sec BG Begin the motion 3 3 3 Monitoring a Motion See section 3 1 2 above Part Il 3 3 4 Stopping a Motion A jogging motion is theoretically an infinite motion It stops only as a result of a user command or due to some fault limitation or protection Nanomotion Ltd 67 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference A jogging motion can be stopped by one of the following communication clauses Communication Clauses Description AB Aborts th
117. 0 5 3276 8000 100 130400 XFF 1 130400 Nanomotion Ltd 164 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 31 HL High Software Limit Purpose HL is the Software High Position Limit This value is monitored during all motions by the controller Whenever the actual encoder position PS is higher then the HL value and the velocity VL is positive moving towards higher positions motion is stopped immediately using the stop deceleration parameter DL DL should be normally set to a higher value then DC as during normal operation conditions HL is for emergency cases stop only The value of HL is validated by the controller during motion start BG commands only i e a motion beyond the software limits to an AP gt HL cannot be initiated in motion mode Point To Point MM 0 A special communication Error Code EC 53 is generated by the BG command in that case BG command returns gt Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash Yes Default Value 2 147 000 000 Range 2 147 000 000 Syntax XHL 100000000 Set X Software HL to 100 000 000 AHL 2147000000 Set Software HL to 2 147 000 000 for all axes See also DL HL PS EC 53 Nanomotion Ltd 165 FlexDC Software User Manual Part Il FlexDC Software and Commands Re
118. 00 Set Acceleration to 250 000 XDC 500000 Set Acceleration to 500 000 XSP 25000 Set Speed to 25 000 XBG Start a Motion See also DC DL SP BG Nanomotion Ltd 139 FlexDC Software User Manual Part II FlexDC Software and Commands Reference 7 8 AD Analog Input Dead Band Purpose Set the Analog Input Dead Band range See the Al Analog Input command reference for complete information about Analog Input interfaces support Note Current firmware revision does not support dead band in the analog input interface Although the AD parameter is fully supported by the communication interface it has no other effect Analog Input value always assumes AD 0 Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows Parameter Scope All Restrictions None Save to Flash Yes Default Value 10 Range 0 2 407 Syntax XAD 10 Set X Axis AD 10 10 LSB of the Analog Input AAD 0 Set AD 0 to all axes No Dead Band Examples See Syntax above See also AF AG Al AS Nanomotion Ltd 140 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 9 AF Analog Input Gain Factor Purpose Set the Analog Input Gain Factor Multiplier See the Al Analog Input command reference for complete information about Analog Input interfaces support Attributes Type Parameter Axis related Ye
119. 000 XAC 10000000 XDC 10000000 Close the servo loop motor on XMO 1 Turn to velocity mode by motion mode MM and special mode SM XMM 1 XSM 0 Start jog XBG wait untill dac output gt 15000 5 volts while abs XPO lt 15000 endwhile In this position we are at the left hard stop turn off the motor XMO 0 wait 100msec TimerX 800 WaitTimerX 0 defined hard stop position 0 5mm 5000 counts XPS 5000 Turn motor on wait 10msec and move positive to the right hard limit XMO 1 TimerX 80 WaitTimerX0 XSP 50000 XBG wait untill dac output gt 15000 5 volts while abs XPO lt 15000 endwhile XMO 0 In this position we are at the right hard stop turn off the motor TimerX 800 WaitTimerX 0 defined right hard stop 0 5 mm from the max travel YPA 1 XPA 1 XPS 5000 turn the motor on and switch to PTP mode XMO 1 TimerX 80 WaitTimerx XMM 0 move to home position 0 at velocity of 50mm sec XSP 500000 XAP 0 XBG WaitForEndOfMotionX XMO 0 if XPA 2 1 XJP MFT_X endif stop program YQH XQH 1 Nanomotion Ltd 305 FlexDC Software User Manual Part IIl FlexDC Macro Language Homing subroutine for Y Axis HOME_Y defined velocity counts sec acceleration counts sec 2 decleration counts sec 2 YSP 50000 YAC 10000000 YDC 10000000 Close the servo loop motor on YMO 1 Turn to velocity mode by motion mode MM and special mode SM YMM 1 YSM 0 Start jog YBG w
120. 00041 78 pending GB2009000003796 pending 12 398 216 pending GB2446428 12 517 261 pending 08702695 1 pending 10 2009 7017629 pending 12 524 164 pending 12 581 194 pending Nanomotion Ltd 3 DATI nanonorion A Johnson Electric Company Revision History Revision Release Details date 00 A Nov 2008 New release 01 A Jan 2009 Conjoin all SW documentation into FlexDC SW User Manual Add FlexDC Installation and Operation Sequence schema 01 B Jul 2009 The Bytes tables edited for consistency NA Aug 2012 Administrative change added patent information section in front matter Nanomotion Ltd 4 FlexDC Software User Manual Table of Contents Table of Contents PARTI PREECE yess i cv aie a stan a a aE ea maaa aa aao aa E Taa aAa Te e netoen ae iit 22 1 PRETACG E E ene ee he ee 23 Til 2 HOWBINIOW 2 ctecccetere sc aecte neler se teaeti eee dada E E E E 23 1 2 FlexDC Software User Manual Structure cccceeeeeeeeeeeeeeeetteeeeeeeeeeteeee 23 1 3 FlexDC Installation and Operation Sequence ccceeeeeetteeetttteeeeeeeeeteeee 26 PART Il FLEXDC SOFTWARE AND COMMANDS REFERENCE ccss eecesesseees 27 2 Commands Syntax and Protocols eeeecccceeeseeeeeeeeeeeeeeeeeeeeeseeeeeeeeeeeeeeeenneees 28 2al o Introduction snte ea Ga a Eaa Ae Aa sGeddeeteeqeendas tase ieehlbeertaxtvies 28 2 2 Supported Communication Protocols sssss
121. 0x10000000 The keyword can only be executed when all internal user programs are halted For example the LD command Load from Flash Memory can be called only in that case Parameter values always have a minimum and maximum value for assignment clauses Most parameters are saved to Flash Memory Few are initialized to default non active values at power ON reset or Load from Flash memory events Nanomotion Ltd 32 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 2 4 Axes and Groups Identifiers The FlexDC supports Group Definitions for Axes Identifiers The FlexDC language syntax requires an axis identifier before any keyword X Y FlexDC Axis Prefixes for physical axes When a specific axis identifier is given the command interpreter interprets the clause and acts upon the specific axis only B for both X and Y axes The FlexDC command interpreter supports a notation of the one Axes Group Identifier The user can perform an action on more then one axis simultaneously for example reporting the position of all axes at once the Axes Group B This group defines X axis and Y axis as sub groups For example issuing the following assignment BPS 0 sets the position of both axes X and Y to 0 2 4 1 FlexDC Axes Attributes In addition to the restrictions and attributes described above each keyword in the servo controller has also an Axes Relatio
122. 1 BAP 150000 N Initialize the X Compare Function Set Mode 0 XPG2 200 Set Compare Distance XPG3 10000 Set Compare Start Position XPG4 100000 Set Compare End Position XPG5 2 Sei Pulse Whaichein s 9 jwsee XPG7 0 Set Pulse Polarity to Normal Positive 22O y IL Activate X Compare Function Start X Y motion and enter a Loop to wait for the Compare Pulses Pulses are counted and after 100 the loop ends BXN 0 XICA 0 XZI1 3 Remote MSG sent to CAN Address BBG XCAPI1 while XXN XICA Wait for Next endwhile XICA XXN XICA XICA 1 Increment counter BXC gt X2M 2 Send Last Event if XICA gt 100 Check End Condition XJP XCAPIEND endif XJP XCAPI1 XCAPIEND XZM END XQH Program Done Nanomotion Ltd 119 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference Note that since X and Y Capture occurs simultaneously only the XXN is checked to detect the next event 6 3 7 2 Latching the Index Location of an Axis The next example demonstrates simple usage of the Capture mechanism to latch the Index location of the X axis This can be combined in a simple Homing process to perform exact Index based homing process This can be done at any motion speed It is recommended to check that only One Index was found usually in Rotary Motors to avoid full motor revolution homing index error Initialize X axis Mot
123. 3 To edit an array 1 Choose the array type to edit from the Array Type combo box 2 If the array is axis related the dialog enables the selection of the desired axis from the Array Axis combo box 3 Modify the array directly in the Edit Area dialog box or use one of the options in the Array Menu see menu items below 4 At any stage values can be modified via the Edit Area dialog box The Array Menu dialog box includes e Load Array From File loads an array values from file The range is defined on the dialog start and range edit box Save Array To File loads an array values to file The range is defined on the dialog start and range edit box Only values that are not empty are saved Upload Array From Controller uploads an array values from controller The range is defined on the dialog start and range edit box Download Array to Controller downloads an array values to controller The range is defined on the dialog start and range edit box The user can use sequence of array operations this way the user can build an array from the controller values and file values for example A certain file has AR values from index 1 to 100 and another file with AR values from index 200 210 The user can upload AR values twice once for index 1 100 and once again for index 200 300 Then use the menu item Download Array to controller to download the values to the controller Nanomotion Ltd 394
124. 4 2 2 Update Status Window On Communication menu click the Update Status Window menu item This menu item stops or resumes the Nanomotion Shell Application main screen update Clicking this menu item updates the main screen twice a second Using this menu item the user can send commands via the Terminal folder see section 18 4 2 4 Part IV 18 4 2 3 Connect Disconnect Last Selected The Connect Last Selected menu item connects to controller with the last successful connection The Disconnect Last Selected menu item disconnects current connection The last successful connection is saved load when the Nanomotion Shell Application is closed opened so this menu item is available even after the shell is closed or open Nanomotion Ltd 387 FlexDC Software User Manual Part IV Nanomotion Shell Application 18 4 2 4 Show Terminal Window The Show Terminal Window menu item changes the current selected folder to the Terminal Folder see Figure 52 Clear J Echo Clear The Terminal window s purpose is to send commands to the controller and to Figure 52 Terminal Folder show the controller s responses Custom commands are also sent via the Terminal window Terminal folder components Echo check box enables disables echo of the command s sent to the controller For example the sent to the controller command XPS has the answer XPS 10000 when the Echo is enabled and 1000 if the
125. 5 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 21 DB Download Buffer The DB command provides an efficient fast download of large array buffers in CAN Bus Only Both the DB and EDB modes support auto increment of the array index meaning that the user only provides initial start index and then only sends the data 7 22 DC Deceleration Purpose The normal Deceleration value from cruise velocity towards Zero speed in all motion modes that use the internal Profiler This value is used to set the motion profile deceleration value in PTP JOG etc The Deceleration value is defined in units of counts sec with resolution of 256 counts sec The FlexDC support different deceleration values for normal deceleration and Limits H W or S W deceleration See the DL parameter Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows Parameter Scope All Restrictions None Save to Flash Yes Default Value 100 000 Range 512 120 000 000 Syntax XDC 1000000 Set X Axis DC 1 000 000 YDC 1000000 Set Y Axis DC 1 000 000 XDC Report value of DC for X axis Nanomotion Ltd 156 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference Examples The following code example shows starting a motion in X axis from Position 0 to Position 100 000 using Speed Acceleration and Deceleratio
126. 50000 bytes Nanomotion Ltd 289 FlexDC Software User Manual Part IIl FlexDC Macro Language target SC 2M 141 0 250000 Note that a target directive must be defined in order to pre compile and download a macro Not defining this directive is an error The target definition directive should appear before the first executable code line in a source file This also implies to include files If an include file contains actual executable code it must appear after the target definition Include files that contain only define directives may appear before the target definition 13 3 2 The define Directive The define directive may be used to give a meaningful name to a constant in a program The syntax for the directive is define identifier token string The define directive substitutes token string for all subsequent occurrences of the identifier in the source file except for cases where the identifier itself appears as a token in another define statement In this case the identifier appears as it is The token string must appear within Note that the character may appear as a part of the token string itself more then once to allow string parameter definitions The define directive must appear before using the identifier Note that if an identifier is used before its definition the pre compiler will not detect it as an error In this case the actual identifier string itself is used and not the token string
127. AN addresses listens and transmits on additional addresses See the ZI keyword for more information Attributes Type Parameter Axis related No Array No Assignment Yes Command Allows Parameter Scope All Restrictions None Save to Flash Yes Default Value 2 Range 0 2047 Syntax XTA 2 Set CAN TA 2 XTA Report value of TA See also CB RA Zl Nanomotion Ltd 221 FlexDC Software User Manual Part II FlexDC Software and Commands Reference 7 73 TC Torque Command Purpose The TC parameter keyword is used to set the Servo Analog Command value to a user specified value when operating in open loop mode when NC 1 and MO 1 In Open loop mode the value of TC is directly forwarded to the controller Analog Command Acmd output bypassing the PIV controller filter Refer to the NC command for further information on how to enter open loop mode The value of TC is not saved to the Flash Memory After MO 1 with NC 1 by default the analog output value commend is 0 to avoid motor motion TC is set automatically to zero when MO 1 It should be noted that in Open Loop mode the actual analog command is still limited by the TL Torque Limit parameter Also the control 2 order filter may be used to monitor its operation and actual effect on the analog output value The operation of the filter can of course be disabled by an appropriate flag see 2 order f
128. BEL2 Subroutine if XPA1 LABEL1 XPA2 1 LABEL2 XPA2 2 See also JP JZ Nanomotion Ltd 318 FlexDC Software User Manual 15 4 5 JZ Jump Zero Purpose Part IIl FlexDC Macro Language Jump to a specified label or pointer location and clears subroutines stack to restart the macro with subroutines stack clear Attributes Syntax Type Axis related Array Assignment Receive parameter Parameter type Scope Restrictions Save to Flash Default Value Range JZ lt Label gt JZ lt Constant gt Command No Yes Number or Label Program None Keyword is not axis related thus XJZ YJZ and BJZ are equivalent Examples MAIN XPA1 0 XJZ MAIN See also JP JF JT Nanomotion Ltd Jumps the MAIN label clears the subroutines stack 319 FlexDC Software User Manual Part IIl FlexDC Macro Language 15 4 6 QB Macro Breakpoint Array Purpose Defines a breakpoint location pointer when executing a macro program Up to 20 breakpoints are supported simultaneously for ALL macro programs 20 for X 20 for Y Setting a QB element to 1 avoid the check of all the following elements QB must be set to the pointer of the first byte of a clause Otherwise it does not halt the related macro program Attributes Type Axis related Array Assignment Receive parameter Parameter type Scope Restrictions Save to Flash Default Value Range
129. BOOL CopyCominfo PVOID pComDev COMDEVINFO cinfo BOOL retrive Purpose Checks if port is already connected Call this function to check if port is already connected Copy COM info data structure from or to the dll COM info data structure according to the retrieve flag If the retrieve flag is TRUE copies data from the dil to the given structure otherwise copy data to the dil COM info structure Input Arguments pComDev pointer to Comm device returned by CreateComDev cinfo pointer to COMDEVINFO structure retrive flag indicate if to set or retrieve COMDEVINFO Return Value TRUE if the operation is OK Nanomotion Ltd 451 FlexDC Software User Manual Part VI Communication Library Commdll dll 25 2 8 SendComString Function Name __declspec dilexport int SendComSitring PVOID pComDev LPSTR pinpBuf DWORD nMaxLeninpBuf DWORD amp nBytsRead LPSTR pOutBuf DWORD nOutBufDataLen DWORD amp nBytsSent DWORD nTimeOut BOOL fWaitCursor BOOL WaitResoponse DWORD pCommDelayTime Purpose Send a string and optionally wait for a response from the client Input pComDev pointer to Comm device returned by Arguments CreateComDev plnpBuf Pointer to Buffer Receiving RS232 Data nMaxLenInpBuf Max Size of Receiving Buffer nBytsRead Number of Bytes actually received from the communication port pOutBuf Pointer to Write Data Buffer nOutBufDataLen Number of Data Bytes in pOutBuf nBytsSent Actual number of
130. C Software User Manual Part IV Nanomotion Shell Application 18 3 4 Special Function Folder Group Special Function folder group see Figure 40 includes folders for configuring special controller functions parameters and online status reporting Special Function Event Capture Event Generator x Event Generator Y Figure 40 Special Function Folder Group Each of the Special Function folders enables except to read only folders like Event Capture folder e Download parameters to controller e Upload parameters from controller e Set parameters default values Special Function folder group includes the following folders e Event Capture folder see section 18 3 4 1 Part IV e Event Generator X Y folders see section 18 3 4 2 Part IV Nanomotion Ltd 371 FlexDC Software User Manual Part IV Nanomotion Shell Application 18 3 4 1 Event Capture Folder Event Capture folder see Figure 41 covers the event capture controller variables status Event Capture Capture Event Counter Reset axis capture event counter Last capture position latch Figure 41 Event Capture Folder The Event Capture folder enables three options for each axis Capture Event Counter XN Reports the number of capture events from the last capture events counter reset e Last Capture Position Latch XC Reports the last capture location position Reset button Clears the capture event
131. Configuration Although OM is an axes related parameter and it is implemented as such in the FlexDC firmware there is no actual relation between the XOM YOM etc to actual axes The distinct axes identifiers are used in this case only to access more then one optional hardware registers of the FlexDC Writing to OM immediately changes the corresponding internal hardware register values In the current firmware version there are only 2 functional registers related to the OM parameter These are in Table 26 OM Hardware Functionality Axis Register XOM IO_MODE_0 Controls Digital Outputs Assignment as normal or Compare Output functions YOM IO_MODE_1 Controls Encoder Capture I O signal Source and logic Table 26 OM I O Mode Configuration Functionality Definitions IO MODE 0 XOM Table 27 describes the IO_MODE_0 bits order and Table 28 describes the specific description IO_MODE_0O Bit 31 0 3 13 2 2 2 2 2 2 2 2 2 2 1 1 1 1 1 1 1 1 1 19 8 7161 5 413121 1 0 1 10 9 8 7 6 5 4 3 2 1 0 9 1876 514 32 10 Out 5 Src Table 27 O_MODE_0O Bits Order Nanomotion Ltd 190 FlexDC Software User Manual Bits 1 0 Name DOut5 Src Part II FlexDC Software and Commands Reference 10_MODE_0 Bits Description Defines the Dout5_Fast fast output source 00 As normal Output 01 From compare X 10 From compare Y 3 2 D
132. DC each sample is 122 us WT defines the wait time between consecutive motions Upon BG the controller generates a motion toward AP waits WT samples and then generates motion toward the original position where it waits again WT samples and so on e KR Kill Repetitive command Unlike a standard PTP motion a Repetitive PTP motion is not finished unless stopped by the user or any fault or limitation While AB and ST acts just as for a standard PTP motion KR stops the repetitive sequence completing the current PTP motion and only then stopping A Repetitive PTP motion is started just as a standard PTP motion but with SM 1 instead of SM 0 This means that the basic motion mode is still a PTP motion MM 0 but it has a special modification identified by SM 1 Notes Each motion segment within a repetitive motion is treated as a standard PTP motion The only difference is reflected in the SR parameter bit 4 In Repetitive PTP motion In addition when a motion segment is finished and the motion is paused for WT samples a dedicated bit in MS identifies this status bit 6 Modifying AP on the fly modifies the target position of the current segment but does not affect the second target position the back motion Inthe FlexDC the repetitive motion is also supported under STEP mode MM 8 Nanomotion Ltd 66 FlexDC Software User Manual Part II FlexDC Software and Commands Reference 3 3 Jogging JOG MM 1 SM
133. DC PIV Filter Nanomotion Ltd 80 FlexDC Software User Manual Part II FlexDC Software and Commands Reference The linear filter equations in the PIV Filter Mode are PE DP PS VC PE x KP DP DP _ x 65536 VE VC PS PSx_ x 65536 VE x VE x KD VE x 65536 PO Sat TL U x SecondOrderFilter KI x SVE k i 0 where DP PS and PE are the desired position actual position and Position Error similar to PID mode KP is the position loop gain KI is the velocity loop Integral term gain KD is the velocity loop overall gain multiplier VC is the velocity loop reference command Note that VC includes an inherent not controlled by the user velocity command Feed Forward element represented in the second equation above by DP DP 1 VE is the internal velocity loop error The velocity loop feedback is currently used as a simple numeric derivative of the position reading represented in the third equation above by PS PS Both VC and VE are internal software variables and can not be accessed from the communication U is the Velocity PI filter output TL is the output command saturation value The 2 order filter block is filter high order low pass filter PO is the final control loop output This value is converted to the analog output command for the external driver using the 16 bit DAC in the system The filter equations in this case can also be written in a Z transform transfer function
134. DP RP value RP can be modified even during deceleration to the previous target position and can be modified to any value independent of the current position AP Changes motion including direction to move toward the new AP AP can be modified even during deceleration to the previous target position and can be modified to any value independent of the current position Note that AP or RP change during motion may cause the motor to change its motion direction This happens if a new AP value is given to a point that was already passed by the system Nanomotion Ltd 65 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 3 2 Repetitive Point to Point Rep PTP MM 0 SM 1 This mode is very similar to the standard PTP motion mode as described above However repetitive motion mode supports motions back and forth between two positions Each motion is a standard PTP motion uses SP AC DC etc as described above but the controller automatically generates the sequence of motions without the need to re sending the BG command This mode is excellent for tuning the PIV filter The motor is commanded to perform infinite motions back and forth while the PIV parameters are modified on the fly to examine their effect on the motion performance optionally using the Data Recording feature Two additional keywords are used for the Repetitive PTP mode e WT Wait Time parameter in samples With the Flex
135. Drive Command None No Yes 32 767 PS Yes Encoder Position Value None No No 0 E 2 147 000 000 RA No Receiving CAN Address None Yes No aoe E 0 2047 RG No Recording Gap None Yes No 1x2 1 16 384 RL No Recording Length None Yes No 1 100 000 RP Yes Next Relative Position Target None No No 0 SA 2 147 000 000 RR No Recording Status None No Yes 0 da 0 100 000 RV Yes Recorded Variables None Yes No a a 0 211 SM Yes Special motion mode No Motion Yes No EEs 0 8 SP Yes Speed For Profiler Motions None Yes No at nao 30 000 000 SR Yes Status Register None No Yes 0 8 388 607 TA No Transmitting CAN Address None Yes No _ sis 0 2047 TC Yes Torque open loop Command None No No 0 E 32 767 TD Yes 32 Bit Timer Down Parameter None No No 0 100 000 000 TL Yes Torque Limit None Yes No E H 0 32 767 TR Yes Target Radius None Yes No 0 32 767 TT Yes Target Time None Yes No 0 32 767 VA No Vector Acceleration None Yes 0 100 000 000 VD No Vector Deceleration None Yes 0 100 000 000 VL Yes Actual Velocity None No Yes 30 000 000 VS Yes Vector Speed None Yes No 30 000 000 The PG array element s range is restricted by the PQ command depending on the compare function operation mode Refer to the relevant command s references PG PQ and the Advanced Features section about the compare feature in this user manual The Recording Gap parameter RG is now a
136. E E cere 276 12 4 2 Srcedit Macro Debugger WiNdoW sssssssesssernnersssrrerrrrnnrsserrrnne 277 12 4 3 Srcedit File Menu 2c 255s fe etnrtecian Waa ed wala eaucdea ida tu yecte 282 The IDE Pre Compiler Support 2 20 ccecseeceeeeeeeeeeeeeeeeeeaeeeeeneeeeeeeeesaneeeeeeeeeeeeeees 286 T34 General isch et eas teeta aaa ala nieeta heute eee dau A hace Tea ate 286 13 2 Non Executable Code Comments Blanks etc ceseeeeeesereeeeeees 288 13 3 Directive GOMMAaNOS isise ieii aa eaa eea a e EaP TEE a 289 13 3 1 The target Definition Directive sssessesereneesserrrerrrnreeserrree 289 13 3 2 The define Directive ssesessesennnrereeeserrerrrnnrrsserrrrrrrnrrrnneeesee 290 Nanomotion Ltd Table of Contents 12 FlexDC Software User Manual Table of Contents 13 3 3 The description Directive ccccccceeeeeeesesseeceeeeeeeeeeseesaeeeeeees 291 13 3 4 The include Directive cece cece eeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 293 13 4 Advanced Expressions Parsing vccccsiecsseaceiericacisceieteni ene cueiees 293 Ves Gena ee ra ee ae e ia aeae ae vie a aane ade ia ees 293 13 4 2 Mathematical expressions ssssssnereeeeeseerertrrnrreserrrrrrrnrressereee 294 13 4 3 If BIOCKS iimtinn aaee case aaa E E EAE EA EARE EE 298 134 4 While LOOPS siini a a A 300 13 4 5 FOr LOODS ii a aE E EE E REEE a 301 a gt lt SOript DE a A A E E T 303 1A Script Struct r e iini a A a ead
137. E_PARAM Last Motion ended due to Bad ECAM Parameters Table 22 End Of Motion Reason EM Codes Attributes Type Parameter Axis related Yes Array No Assignment No Command Allows parameter Scope All Restrictions None Save to Flash No Default Value 0 Range 0 9 Syntax XEM Report value EM for X axis AEM Report value EM for all axes See also MF Nanomotion Ltd 162 FlexDC Software User Manual Part II FlexDC Software and Commands Reference 7 29 ER Max Position Error Limit Purpose The ER parameter defines the Max allowed Positioning Error while the servo loop is enabled MO 1 The Positioning Error PE is defined as the current desired position minus the actual position PE DP PS The servo controller real time loop monitors the value of PE and compares it to the Max allowed error ER When ABS PE gt ER the servo controller automatically disables the servo loop switch automatically to MO 0 state The max allowed error ER is also monitored when the controller is in open loop mode when NC 1 and MO 1 to avoid the motor from running over the end of travels When the motor is disabled MO 0 DP PS so the Position Error is 0 by definition Attributes Type Parameter Axis related Yes Array No Assignment No Command Allows parameter Scope All Restrictions None Save to Flash Yes Default Value 2000 Range 1 8 000 000 Synt
138. Echo is disabled Clear button clears the edit area from text and the history commands see next component Nanomotion Ltd 388 FlexDC Software User Manual Part IV Nanomotion Shell Application Edit Area area in which the user writes the commands and reads controller s answers This area has the following edit features a Edit commands with all alphabetic chars o Enter for sending the command s to controller a Backspace key to delete and edit the command a Up Down arrow keys to browse through previous commands sent e Terminal command format can include more than one command separated by semicolon 18 4 2 5 Show Previous Folder Show Previous Folder menu item switch between the current folder and the previous folder 18 4 3 Macro Menu 18 4 3 1 Pre compile Macro The Pre Compile menu item compiles a given macro without downloading it to the controller Pre compile a macro step by step 1 On Macro menu click the Pre Compile menu item 2 Choose the macro file to compile from the Pre Comple Macro File dialog box Note the macro files have the scm extension 3 A process progress dialog box shows the pre compilation status 4 When the pre compilation is finished a message box appears with the compilation result Nanomotion Ltd 389 FlexDC Software User Manual Part IV Nanomotion Shell Application 18 4 3 2 Download Macro The Download Macro menu item pre c
139. Figure 47 enables Edit the command to be send via the Controller Command s edit box Edit the user text for the command This text is shown at the Outlook Bar Apply changes by pressing the OK button Discard changes by pressing the Cancel button All custom commands To edit all commands in one dialog see section 18 4 1 2 Part IV 18 3 7 Manuals Folder Group The Manuals folder includes user manuals related to the FlexDC servo controller the FlexDC User Manual and the FlexDC Sofware User Manual The manuals are updated from time to time and can be downloaded from the Nanomotion official web site www nanomotion com Nanomotion Ltd 380 FlexDC Software User Manual Part IV Nanomotion Shell Application 18 4 Men us This section gives a detailed description of all the menus see Figure 48 the Nanomotion Shell Application currently supports File Communication Macro Commands Data Recording Tools Figure 48 The Nanomotion Shell Application Main Menu 18 4 1 File Menu Nanomotion Ltd 18 4 1 1 Load Save Custom Commands These menu items save load custom commands to from file To load custom commands from file follow the steps On the File menu click the Load Custom Commands Choose the file to load from the Load Custom Commands From dialog box the file must have scc extension Press the Open button to open the selected file Saving custom commands to file On the File menu click
140. FlexDC Software User Manual Part IV Nanomotion Shell Application 18 4 6 2 Watch Dialog Command Value PS 1 YPS APS Commands Figure 54 Watch Dialog The Watch Dialog menu shows a floating dialog box that shows commands status The Watch Dialog box see Figure 54 has two parts At the left side are the user s commands any command that can be read from the controller except upload macro and recorded data commands Atthe right side are the commands values which are retrieved from controller commands values are updated at the same time the main screen is updated Edit a command step by step 1 Select the cell to edit at the grids left side 2 Enter the desired command for example XPS 3 When finished editing the cell press enter To edit another command repeat the above process Nanomotion Ltd 395 FlexDC Software User Manual Part IV Nanomotion Shell Application 19 Srcedit the Macro File Editor Application 19 1 General Srcedit is the Macro File Editor Application Its purpose is to enable the user to edit and debug controllers macros The editor has two working modes e Edit mode in this mode the Macro File Editor Application works as a text editor with macro command syntax coloring for more details see section 19 4 Part IV e Debug mode in this mode the Macro File Editor Application works as a code debugger that enables running the macro stopping it step by
141. INTERFACE LIBRARY cccsseseeeeseeseeeeeeeeeee 420 QO Mtrod ctiOm isaac ake eee 421 20 1 Interface Specifications fs cescce ences since sand seresccusenriaseat tanec ecterateaes tioneeenereneente 422 20 2 The SCServerScope Application 0 0 0 0 ccccceeeeeseeeeeceeeeeeeeeeeseeeeeeeeeeeeeeees 424 20 3 Keys Used by the Application cece eeeeeeneeeeeeeeeeeteeeneeeeeeeeeeneees 425 20 4 Product Notations ReviSions c ccccceeeeeeeeeeeeeeeeeeeeeeeeeeeeaeaeeeeeeeeeeeeae 425 21 Getting Start act as cci cence dase rainane ianen naasa deca cath cetebenectiieasieendete tne 426 21 1 Setting up the Object Baud and Card Type ccecccceeeeeeseeeeeeeeeeeeeeeeeeees 426 21 2 Using the Object from VB iescemet cos tance are venie etueb Sie cat eepwersiedbebtenets doled 426 21 3 VB COdG Example inasin iei ied that eet eee eed hws 428 21 4 Using the Object from Visual Cs ccs said cc ccnvte eel ea cstaeceeel ecnectormeiean att 430 22 Object Parameters and Methods Syntax cccccsssssesssseeeesssseeeeessseenenssees 431 Nanomotion Ltd 16 FlexDC Software User Manual Table of Contents 22 1 Object Parameters svetete amacne are ciona cea dinaa e aeo iE 431 22 2 Ojei Methods seserian aa atiae A Eee Aere NIeu aa raat alae 436 23 Object Definition Siipi ni eect tenia ea 442 23 1 Communication Protocols 22 24 saan ae ae 442 23 2 FlexDC Type Supported iccste iiss eanedt aes ede iano hae he ed eee 442 PART VI
142. If the real time software detects that this line is active the servo loop axis related to the relevant faulted driver is immediately disabled There is a separate independent Driver Fault Input line for each one of the controller axes When an axis is disabled by a Driver Fault the controller automatically switches to the Servo OFF MO 0 condition in that axis In this condition the controller s driver inhibit output is activated and the analog command is immediately switched to 0 value The user can switch the actual logic of the Driver Fault line separately for each axis This enables to support any type of Driver Fault electrical and logic interface active high or active low See the CG axis configuration word command for more information in chapter 7 Part Il Nanomotion Ltd 92 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference The following parameters reflect the Driver Faults and Abort conditions Coniroller State Description MO is set to 0 The motor ON parameter is reset to 0 EM is set to 6 Last Motion End Reason is 6 Motor Fault MF is set to 1 for DRV Motor Fault Reason is Driver Fault Input MF is set to 2 for ABORT Motor Fault Reason is Abort Input IP 24 is 1 for XDrv Fit The relevant bit in IP the Input Port Word is set active IP 25 is 1 for YDrv Fit high Bit 24 for X Driver Fault Bit 25 for Y IP 28 is 1
143. Input polarity for Axis X 0 set Normal pulse polarity 1 set Inverted pulse polarity ca These bits are currently not used and should be left 0 for future compatibility 11 8 Y Axis Evt Bits 11 8 of IO_MODE_1 controls the Capture Event Source for the Y Axis The following bit order definitions applies 0000 Y Event source is Din1 0001 Y Event source is Din2 0010 Y Event source is Din3 0011 Y Event source is Din4 0100 Y Event source is Din5 0101 Y Event source is Din6 0110 Y Event source is Din7 0111 Y Event source is Ding 1000 Y Event source is Din9_Fast 1001 Y Event source is Din10_ Fast 1010 Y Event source is Index Y 1011 Y Event source is Index X Select Input polarity for Axis Y 0 set Normal pulse polarity 1 set Inverted pulse polarity These bits are currently not used and should be left 0 for future compatibility Table 30 FlexDC YOM O_MODE_1 Bits Configuration Description Nanomotion Ltd 192 FlexDC Software User Manual Part II FlexDC Software and Commands Reference The OM parameter has the following attributes Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash Yes Default Value 0 Range 2 124 000 000 2 124 000 000 Syntax XOM 0
144. Jogging Gearing C Begin Motion Axis Y Set the desired Acceleration parameter AC Set the desired Deceleration parameter DC Set the desired Speed SP Set the desired Limit deceleration DL Set jogging mode to Normal Jog mode Check that the axes servo is ON Press the Start Axis Button AC fi oo000 DC fi 00000 FR fo ME Master Encx x C Position Gearing Jogging Gearing C Begin Motion Nanomotion Ltd Figure 29 Gear Folder 359 FlexDC Software User Manual Part IV Nanomotion Shell Application Gear Folder parameters e AC Acceleration DC Deceleration FR Master Slave encoder ratio Gearing Mode Position Gearing e Jogging Gearing The Begin Motion button downloads the axis parameters and starts the selected motion presuming the relevant axis servo is ON Parameters can be updated while axis is in motion to do so just change the relevant parameters and download them by pressing the Menu Button Next is an example for setting axis for gearing mode Start gear mode example 1 Set the desired Acceleration parameter AC 2 Set the desired Deceleration parameter DC 3 Set the desired master slave encoder ratio FR 4 Set gearing mode to position mode 5 Check that the axes servo is ON 6 Press the Start Axis button Nanomotion Ltd 360 FlexDC Software User Manual Part IV Nanomotion Shell Application 18 3 1 4 Joystick Folder
145. KP KP 1 when gain scheduling is active e KI 2 is the parameter replacing KI KI 1 when gain scheduling is active e KDJ 2 is the parameter replacing KD KD 1 when gain scheduling is active e CA 4 is the gain scheduling period in servo sample time The gain scheduling is active i e KP 2 KI 2 KD 2 are used after a motion is fully completed Motion Status bits are not in motion for a period of CA 4 sample times If before that a new motion has begun the gain scheduling is immediately disabled To disable the gain scheduling the user can simply set KP 2 KP KI 2 KI KD 2 KD and or set the period CA 4 0 Both disable the feature The user should avoid using too high parameter settings to avoid the system losing stability when the gain scheduling is active It is also not recommended to use this feature when very high position errors are reached during final motion acceleration phase Nanomotion Ltd 85 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 4 8 Note AB1A Driver Special Algorithms 4 8 1 Dead Zone Algorithm This algorithm improves the settling time taking full advantage of the intrinsic motor friction The algorithm sends zero command to the driver when the position approaches the target within the Dead Zone Min CA 36 in encoder counts unit When the Position Error increases above the Dead Zone Max CA 37 the controller starts servoing again Typically in a s
146. Ltd 419 FlexDC Software User Manua Part V SCServer COM DCOM Interface Library Part V SCServer COM DCOM Interface Library Nanomo tion Ltd 420 FlexDC Software User Manual Part V SCServer COM DCOM Interface Library 20 Introduction Part V describes the COM software interface module for the Nanomotion FlexDC servo controller The purpose of this module is to provide a simple generic server interface for the FlexDC servo controller The defined upper level implementation method for the required interface is a Microsoft COM DCOM based server module The underlying communication interfaces with the actual FlexDC hardware and firmware are based on the following existing hardware communication links e RS232 based on the standard supported host PC serial communication links e CAN Bus based on a KVASER CAN board Note Future versions of the DCOM server interface may support additional links such as USB for example etc The server supports simultaneous low level interfaces thus supporting for example three controllers one working with CAN Bus another one with RS232 COM1 and an additional one with RS232 COM2 Important note The interface is designed and implemented as a single threaded interface This means that at any given time only one controller can be accessed This of course does not limit the number of processes that can access the server interface All access requests are queued and handled one a
147. M Not used 46 DOWNLOAD_OVERFLOW This error is issued in the following cases The macro buffer during the download macro exceeds the maximum macro size An index overflow occurred in the special CAN download buffer sequence 47 NEEDS_MOTOR_ON This error is issued if the condition for the specific clause is having the motor ON while the clause was issued when motor is OFF 48 NEEDS_MOTOR_OFF This error is issued if the condition for the specific clause is having the motor OFF while motor is ON 49 NEEDS_MOTION_ON This error is issued if the condition for the specific clause is having the motion ON while motion is OFF 50 NEEDS_MOTION_OFF This error is issued if the condition for the specific clause is having the motion OFF while motion is ON 51 MACRO_NOT_INITIALIZED This error is issued if a macro related clause is initiated before the macro was initialized 52 NEEDS_COMMUNICATION This error is issued if a clause was not sent via communication whilst the clause was defined to be of KW_SOURCE_MUST_BE_COM 53 SW_LIMIT_ERROR A Point To Point motion was initiated into one of the Nanomotion Ltd 245 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference EC Val EC Code Name Error Description software limits 54 AXIS_NOT_SUPPORTED The Assignment to MO 1 failed as the current hardware does not support the axis set 55 UNSUPPORTED_MODE The method called
148. Macro Language 12 4 2 1 Debugger Window Source View Area The Source View Area is a read only view that shows the macro source code file combined with the actual low level code generated automatically by the pre compiler Original source code lines are shown in dark black color accept for special keywords that are colored in blue if else etc labels that are colored in red and comments that are colored in light green Preceding each original source line is the original source code line number e g 0041 Each original source line is processed by the pre compiler and converted to an executable line note that in some cases the executable line is identical to a source line Executable lines are always colored in light gray to be distinguished from original source code lines 12 4 2 2 Debugger Window Source Icons Area The Source Icons Area is a gray narrow column located on the left of the Source View window which is used to mark program pointer locations and breakpoints The yellow arrow indicates the current program pointer location It is always pointing to executable lines not original source code lines Note that the pointer location icon is visible only when the relevant macro programs are not running The red dot is used to mark breakpoints Breakpoints are always located next to executable lines not original source code lines If the user wants to set a breakpoint on a non executable line the Sr
149. N 0x00000004 The requested command or parameter assignment can be executed only if a motion is currently being executed Nanomotion Ltd 31 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference e Motion should be OFF 0x00000008 The requested command or parameter assignment can be executed only if there is no current motion For example the Motion Mode MM parameter can not be changed during motion e Parameter is Read only 0x00000010 A Read Only parameter can only be inquired for its value The user can not assign values for Read Only parameters For example DP the current reference Desired Position value is a read only parameter and can not be directly assigned a new value by the user e Keyword Source MUST be an internal program 0x00100000 The keyword can only be used from an internal script program For example the RT return from subroutine command can only be called from with in a program subroutine e Keyword Source MUST be external Communication 0x00200000 The keyword can only be used from an external communication link For example the QD download a new program command can only be called from an external communication link e Keyword Source MUST be RS232 Communication 0x00400000 The keyword can only be called from an RS232 link For example downloading new Firmware is supported ONLY in RS232 mode e Keyword Source MUST have all internal programs halted
150. N Socata 303 14 2 Script Content ertet reee aapa e aaa aaeeea ke eataa PETE hS 304 15 FlexDC Script Keywords Commands Reference ccssssessseeeeeeeeeeeeeeeeeneeees 308 15 1 Task Based Reference cccccccceceeeseceeceeeeeeeeeeessaaeaeeeeeeeeteeetssessaeaaeeeeees 308 15 2 Task DeSGrpliOnine A sean Mette ake As cette in Meta ely cade nu a 308 15 3 Task Based Command Listssiessjseccc seceivensdalstees steanves thes ceca tecatees ides ec eceeendis 309 15 3 1 Macro Handling Keywords ccccceeeeeeeeeeeeceeeeeeeeeeeeenenaeees 309 15 3 2 Operator Keywords scsse csiccestethee cate tedsaehecieerecsteeareeetetiaes ened 310 15 3 3 Flow Control KeywordS 5 4 i2csicest Ait Aare ieee 311 15 3 4 Wait and Internal State Inquiry FUNCTIONS cc cceeeeetteeeeeees 311 15 3 5 Timer Function Keywords c cccccccceeeeeeeeeeeeeneeeeeeeeeeeeeeesaaeees 311 15 3 6 Remote Access over the CAN commands 0st 312 15 3 7 Pre compiler Directive Commands and Keywords 00008 313 15 4 Macro Programming Keywords Reference ceeeceeeeeeeeeeeeenteeeeeeees 313 15 4 1 CS Call Subroutine cis Aad ee eee 315 15 4 2 CF CT Call Subroutine If False or True cccccceeeeeeeeseeeeeees 316 154 3 SIP SUI age sc ost ctcate ici ta tat chem tee aai a amet 317 15 4 4 JF JT Jump If False or True ecccceeeeeeeeeesseceeeeeeeeeeeeeeenaeees 318 154 9 IZ SUMP LONG e E E 319 15 4 6 QB Macro Br
151. Nanomotion Ltd Can Baud 1 Mbps CAN Baud 500 kBps CAN Baud 250 kBps CAN Baud 125 kBps CAN Baud 100 kBps CAN Baud 50 kBps Type Axis related Array Assignment Command Allows Parameter Scope Restrictions Save to Flash Default Value Range Set CAN Baud rate to 1 Mbps Report value of CB Parameter No No Yes All None Yes 1 20 152 FlexDC Software User Manual Part II FlexDC Software and Commands Reference 7 19 CG Axis Configuration CG Axis Configuration for the Controller Purpose CG is an axis related parameter defining specific axis configuration CG Currently supports 16 configuration bits Bit 0 to bit 15 as described in the following table CG Bit Function Description Zero Based 0 Invert Main This bit controls the MAIN Servo Driver command polarity main servo Servo Driver driver analog or PWM command output TC Command When set to 0 the default polarity is invert i e TC 32767 results in an analog command voltage of 10v When set to 1 the default polarity is non invert i e TC 32767 results in an analog command voltage of 10v 1 Invert Main This bit controls the encoder polarity Users can set or clear this bit to Encoder change the encoder reading direction When set to 0 the default polarity is non invert When set to 1 the default polarity is invert 2 R
152. Nanomotion Ltd 75 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference EF Solutions Data Viewer ww 2sampleforum sdy tal S ajaja FA a a E So SIK E ww12sampleforum sdy Untitled 0 546875 d 0 548828 9 XVeldtt 99940 XVRefdtt 4 Figure 7 Typical motion profile with full smoothing Nanomotion Ltd 76 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference fr Solutions Data Viewer wwsampleforum sdyv Iof x TE View Window Zoom Objects Analyze Help wwsampleforum sdy Untitled 1 1 1 1 T 1 1 1 1 T 1 g T 1 1 1 Ta n eee _ oi 0 796875 d 0 498047 DesPos 24238 XPos 24 4 Figure 8 Typical Motion Profile with no Smoothing Nanomotion Ltd 77 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference Note that profile smoothing implementation does not imply any numerical limitations and does not include any minimal motion time limit which may be implied by the use of the smoothing itself The user should be aware that theoretically a smoothed profile takes longer time to complete than a similar trapezoidal profile with no smoothing The actual time difference between the non smoothed theoretical trapezoidal profile to the smoothed one depends on all motion profile parameters SP AC DC and the motion distance of course In any case the maximal time difference does not exceed t
153. Object Parameters and Methods Syntax Chapter 23 Object Definitions Part VI Communication Library Commdll dll The Comdll dll library enables the user and interface to COM ports using the RS232 communication Chapter 24 Introduction Chapter 25 The Communication Library COMDLL DLL Chapter 26 Communication Error Codes Chapter 27 Code Example Part VII Glossary Nanomotion Ltd 25 FlexDC Software User Manual Part l Preface 1 3 FlexDC Installation and Operation Sequence Action Related Documentation Controller installation Connecting the system Software installation Communication OK FlexDC User Manual Quick Start chapter Check communication settings and connection Tuning the controller Operating the controller direct mode programming mode FlexDC Software User Manual Nanomotion Ltd 26 FlexDC Software User Manua Part II FlexDC Software and Commands Reference Part ll FlexDC Software and Commands Reference Nanomo tion Ltd 27 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 2 Commands Syntax and Protocols 2 1 Introduction This chapter focuses on the FlexDC communication syntax including response to commands clauses and errors 2 2 Supported Communication Protocols The FlexDC currently supports two basic communication protocols and channels e ASCII based RS232 e Binary CAN bus Using separate hardware interface
154. Out6 Src Defines the Dout6_Fast fast output source 00 As normal Output 01 From compare X 10 From compare Y 31 4 These bits are currently not used and should be left O for future compatibility Table 28 FlexDC XOM IO_MODE_0 Bits Configuration Description IO MODE 1 YOM Table 29 describes the 1O_MODE_1 bits order and Table 30 describes specific description IO_MODE O Bit 31 0 o 3 3 2 2 2 2 2 2 2 2 2 2 1 1 1 1 1 1 1 1 1 1 9 8 7 6 5 4 3 2 1 0 1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 Y Axis X Axis Capture Capture Event Event Source Source Def Def Table 29 O_MODE_1 Bits Order Nanomotion Ltd 191 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference Bits Name 10_MODE_0 Bits Description 7 0 X Axis Evt Bits 3 0 of IO_MODE_1 controls the Capture Event Source for the X Axis The following bit order definitions applies 0000 X Event source is Din1 0001 X Event source is Din2 0010 X Event source is Din3 0011 X Event source is Din4 0100 X Event source is Din5 0101 X Event source is Din6 0110 X Event source is Din7 0111 X Event source is Ding 1000 X Event source is Din9_ Fast 1001 X Event source is Din10_ Fast 1010 X Event source is Index X 1011 X Event source is Index Y Select
155. P In the FlexDC only Dout5_ Fast and Dout6_Fast can be assigned as compare outputs It should be noted that when an output is assigned to a compare event only its physical logic level is affected The value of OP is not changed and does not reflect in this case the actual hardware pin state The next two sections define how to assign digital outputs to the compare function and how to support fast TTL electrical interface 6 2 4 1 Assignment of a Digital Output to a Position Compare Event The FlexDC Hardware supports assignment for any of its 8 actual physical digital output pins as standard outputs or as a position compare function output The digital outputs are configured using the O_MODE_0 select word currently assigned using the XOM parameter see the OM keyword reference in chapter 7 Part Il for further information FlexDC Software User Manual Part II FlexDC Software and Commands Reference This is a 32 bit array word defined as follows 1O MODE_0 XOM Keyword IO_MODE 0 Bits 31 0 ge at esc Table 10 A 32 bit Array Word As noted above in the FlexDC only Dout5 Fast and Dout6_Fast can be assigned as compare outputs Digital output can be assigned as follows using a 3 bit configuration field OM as shown in Table 10 and the bit description below Bits 1 0 Defines the Dout5_Fast Output source 00 Standard Output controlled by OP 01 Output from co
156. QS Saves the macro to the Flash Memory QT Execute single macro clause trace from the current macro pointer QP QU Uploads a macro QV Uploads all macro descriptive data QZ Clears all the numbers stack Table 34 FlexDC Macro Program Handling Keywords Although most of the keywords described above are generally used from an external communication line some commands can also be included from within a macro code For example the QE and QH XQE XQH or YQE YQH keywords may be used from an X or Y macro routines to start and stop the execution of the second macro program For further information refer to chapter 15 Part IIl see sections 15 3 and 15 4 Nanomotion Ltd 252 FlexDC Software User Manual Part IIl FlexDC Macro Language 10 4 Low Level Expressions Handling and the Numbers Stack Almost any macro application involves expressions Expressions are used to perform calculations The standard FlexDC language syntax supports only parameters report and assignment such as XSP 10000 XAR 34 5 More complex expressions are not supported by the low level FlexDC macro language for example XSP XAR 34 XSP XAR 34 10000 XSP XAR 34 XAR 567 20000 XAR 899 In order to support variety of expiration types as well as relation expressions that are necessary for conditional program flow each macro X and Y has its own numbers stack Dedicated keywords are added to support pushing and popping to from the stack and math
157. RY ais aes ke wd es check egies ecg ee tes eee eed eta 459 PAo GlosSary E ini ne ennai nee ee es 460 Nanomotion Ltd 17 FlexDC Software User Manual Lists List of Figures Figure 1 Communication Channels Handling within the Firmware Main Idle Loop 28 Figure 2 Milti Computer Controller Network ccccceeeeeeeeeeeeneeeeeeeeeeeeesesnaaaeeeeeeeeeees 39 Figure 3 Single Computer Controller Network ccceeeeeeeeeeeeecneeeeeeeeeeeeesenaeeeeeeeeeeees 39 Figure 4 RS232 and LAN Connections iefeccsceec evaes terete chores nak gallon edavaemiesd a ueee eared 40 Figure 5 Nanomotion Shell Application Configurations Menu cceeeeeeeeeeeeeeeeeee 41 Figure 6 Communication Settings Dialog BOX ccccseeeeeeeeeeeeeeeeneeeeeeeeeeeeeenneeeeeeeeeeenes 42 Figure 7 Typical motion profile with full smoothing cee eee ee eeeeteee teeter ee eetetaeeeeeeeeeeteees 76 Figure 8 Typical Motion Profile with NO SMOOtHING ccc eeeeeeee teeter et teeeeeeeeeeeeeeteees 77 Figure 9 Velocity PI GOntrll Or isos 25 ces badanicesycesh ct vssancdeveetct Stoodcenviay tas Maaaaded tens eviatedeade 79 Fig re 10 The FlexDG PIV Fiter merrer taet vals eai Et E 80 Figure 11 Analog Input Scaling Block Diagram ssssssserrsesssssrenrrnrrrsseernrrnnnnsserrrnerenne 121 Figure 12 Macros and Macro Source Buffer cccceeeeeeeeeeeeeceeeeeeeeeeeenenseaeeeeeeeeeees 250 Figure
158. Reset O_MODE_0 register XOM Report Value of IO MODE_O XOM 0 Reset lO _MODE_1 register XOM Report Value of IO MODE_1 Examples The following assignment set all digital outputs as standard normal outputs controlled by the OP parameter XOM 0 The following assignment set Digital Output 5 DOut5 to be assigned to X Axis Compare Digital Output 6 DOut6 to be assigned to Y Axis Compare In this MODE accessing the bits 5 and 6 of OP by modifying OP value or with the OC and OS Output Clear and Set Bit commands only modifies the value of OP but does not affect the actual hardware output pins XOM 9 The following assignment set only Digital Output 5 DOut5 to be assigned to X Axis Compare All other digital outputs as standard normal outputs controlled by the OP parameter XOM 1 The following assignment set only Digital Output 5 DOut1 to be assigned to Y Axis Compare All other digital outputs as standard normal outputs controlled by the OP parameter XOM 2 Nanomotion Ltd 193 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference The following assignment defines the X Axis Capture Source to be the X Encoder Index Input YOM 10 The following example demonstrates simultaneous independent usage of X and Y axes axes Compare and Capture functions e The X axis is configured to generate Compare pulses on DOut5 and assuming that DOut5 is conn
159. S YCS and BCS are equivalent Examples MAIN XCS SUB _1 Calls the SUB_1 Subroutine SUB_1 XMO 1 XRT See also RT CF CT 315 Nanomotion Ltd FlexDC Software User Manual Part IIl FlexDC Macro Language 15 4 2 CF CT Call Subroutine If False or True Purpose Call jump to a specified subroutine given by program pointer or label according to the stack top condition After returning from the subroutine by the RT command execution will continue at the next macro clause The CF Call False command will execute the requested call if the stack top element is false zero 0 The CT Call True command will execute the requested call if the stack top element is true non zero Attributes Type Command Axis related No Array kaal Assignment w Receive parameter Yes Parameter type Number or Label Scope Program Restrictions None Save to Flash Default Value Range See Syntax CF lt Label gt CF lt Constant gt CT lt Label gt CT lt Constant gt Keyword is not axis related thus XCF YCF etc are equivalent Examples MAIN XPA1 Pushes the value of XPA1 to the stack top XCT SUB_1 Calls the SUB_1 Subroutine if XPA1 0 YCF SUB_2 Calls the SUB_2 Subroutine if XPA1 SUB_1 XMO 1 BRT SUB_2 YMO 1 BRT See also RT CS Nanomotion Ltd 316 FlexDC Software User Manual 15 4 3 JP Jump Purpose Jump to a specified label
160. Some of the parameters are defined as arrays These parameters are always referred with their two letters keyword and with an index number within a square brackets e g AR 2 2 5 3 2 Clause Termination Each command clause is terminated with a terminator character which may be one of the following CR gt Carriage Return e 5 semicolon Nanomotion Ltd 34 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference Notes 2 5 3 3 Axis Identification in Clause Each command clause is preceded with an Axis Identification Letter to identify the axis to which the command clause is addressed see paragraph 2 4 Part Il 2 5 3 4 Axis Related Keywords and Clause Axis Identifiers Some of the command clauses are not axis related e g SV for saving parameters to the Flash Memory or the AR for the Data Array in these cases the axis identification letter is ignored although it still MUST be included Calling a keyword with no axis identifier pre fix is an error 2 5 3 5 Clause Handling A command clause is handled only after the termination character has been received Command clause characters are received buffer but are not handled until the current command handling is completed Each command clause includes only a single keyword which may be a command or a parameter In the case of a command keyword the command clause includes only the command keyword preceded with the axis ident
161. Sri Velocity DRAEI r Velocity Driver Fault I Error In Motion B Enor oY In Motion a RLS a DEN im Motion Status No Motion Motion Status No Motion Motor Fault None Servo Servo Motor Fault Extemal Drv Fault Macro I Initialized Running X amp Y I Abort Input Configurations 0 s Special Function Miscellaneous Custom Commands 1 Custom Commands 2 Custom Commands 3 Support Ready DCOM Version 2 41 No Property File Is Selected Figure 13 Nanomotion Shell Application Main Screen Nanomotion Ltd 271 FlexDC Software User Manual Part IIl FlexDC Macro Language 12 2 Writing and Editing FlexDC Macro Files The Nanomotion Shell Application supports an integrated Srcedit the Macro File Editor Application for writing and editing and debugging FlexDC macro programs see Figure 14 This Macro File Editor Application is installed together with the Nanomotion Shell Application S Source Editor FlexDC _Home_Run_v1 01 scm Eile Edit Options View Macro Communication Window Help Dees B a AREER EERE AREER HERE EERE EREEEEEEER EEE ER EREEERERERELERELEEEEERREE FARRER ERLE ARERR EEK E EE RkRKRRERERE Generic Sample Script for FlexDC HRERRKRRREA HRRARRRERRE ARRRRREERRE HERE REE R EE ERE EERE EEREEREEEREREEERE LEER LEREEEREEEREE EERE ABE By Avi Elnekave Nanomotion Rev 01 03 03 2008 Creation FA HEE KEELE ER ELE REEL EEERERELERELEEEELERELER ELE BEER ERERERELEREELERELE
162. Syntax QB i QBi QB iJ lt Number gt QBi lt Number gt The array index i range is 1 20 Examples For internal usage ONLY See also QT QE Nanomotion Ltd Parameter Yes Yes size 2x20 Yes 1 Max Macro Pointer 320 FlexDC Software User Manual Part IIl FlexDC Macro Language 15 4 7 QC Macro Run Time Error Purpose Reports the last macro run time error code Attributes Type Axis related Array Assignment Receive parameter Parameter type Scope Restrictions Save to Flash Default Value Range Syntax QC Examples XQC YQC See also EC Nanomotion Ltd Parameter Yes No No read only 321 FlexDC Software User Manual Part IIl FlexDC Macro Language 15 4 8 QD Download Macro Buffer Purpose Downloads the macro program to the internal FlexDC macro buffer This command is currently active by using the Nanomotion Shell application DCOM communication interface only Attributes Type Axis related Array Assignment Receive parameter Parameter type Scope Restrictions Save to Flash Default Value Range See also QU QV Command No Yes String Communication No Macro s are running No Nanomotion Ltd 322 FlexDC Software User Manual Part IIl FlexDC Macro Language 15 4 9 QE Execute Macro Purpose Executes a user program from a specified location program label or pointer or
163. Table 21 General Purpose Related Keywords Nanomotion Ltd 135 FlexDC Software User Manual Part II FlexDC Software and Commands Reference 7 4 2 9 Programming Keywords The FlexDC servo controllers have a powerful script engine that allows running up to two FlexDC programs simultaneously at very fast rates Combined with our Integrated Script Development and Debugging Environment IDE the FlexDC motion controller s internal programming engine provides endless capabilities for user application development starting from simple homing routines up to full machine sequences management Refer to Part IIl FlexDC Macro Language 7 5 Keywords List The following section presents the FlexDC Keywords list excluding Script Programming Keywords in alphabetical order including detailed definitions of each command and examples The description of each keyword includes e Purpose The operation or task of the keyword e Attributes See below e Syntax Valid clause syntax e Example Simple example of the keyword usage e See also Related commands Nanomotion Ltd 136 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference The following list describes all the valid keyword Attributes Type Command Parameter Axis related Yes No Array Yes dimension No Assignment Yes No i e Read Only Command Allows Parameter Yes Number String Both No Scope Communication Program
164. Trace short sDEVID Opened Device ID QT Traces a single line of short sAxis Defined Axis for operation the program Nanomotion Ltd 439 FlexDC Software User Manual Part V SCServer COM DCOM Interface Library Method Keyword Function Parameters FlexDC Function Description Keyword ProgramUpload short SDEVID Opened Device ID QU Returns a BSTR of the short sAxis Defined Axis for operation ee heen 7 P in the o bstrString ae bstrString The returned program Note that bstrString is P j allocated by the server and must be released by client Recording Upload short sDEVID Opened Device ID UD Returns a BSTR of the short sAxis Defined Axis for operation ae canes Md Bi recording data from the ee ae ae SC to bsirString Note p 9 that bstrString is allocated by the server and must be released by client RecordingUploadEx short sDEVID Opened Device ID UD Returns a part or all the short sAxis Defined Axis for operation recording data buffer the long Timeout Max Time to wait till all amount of date to p d c is in buffer returned is specified in alas uiters ISper2 ISper1 vars long IBufferLen Recorded data buffer length long ISper1 First index of data to receive long ISper2 Last index of data to receive VARIANT variant If communication is RS232 a BSTR string else a long array RecordingBegin short sDEVID Opened Device ID BR Begin Recording sho
165. V Nanomotion Ltd 373 FlexDC Software User Manual Part IV Nanomotion Shell Application 18 3 5 Miscellaneous Folder Group Miscellaneous an Data Recording Super Custom Figure 43 Miscellaneous Folder Miscellaneous folder group see Figure 43 includes the following folders e Data Recording see section 18 3 5 1 Part IV e Super Custom see section 18 3 5 2 Part IV 18 3 5 1 Data Recording Folder Data Recording r Recording Variable AW Recording Length RL 2000 ecordng v anobi MV Recording Gap RG pe RAY 1 g 7 Desired Position x Rv 5 ix 7 None z _StatRecoing _StopRecodino avg Ks fon e v Re foe Upload Recording Data IV Add Velocity to graphes a ik E None z RVI7 kk zi None z I Kill Repetative After Upload Data AVIA k E T viel k m isd Upload Data Gap RG 2 fi fo Cy Se EE ee ee eee eee ee Djs Figure 44 Data Recording Folder Data Recording folders see Figure 44 enables the control of all the recording parameters and gives an online status of current recording progress The folders parameters Nanomotion Ltd 374 FlexDC Software User Manual Part IV Nanomotion Shell Application e Recording Length RL number of points to record e Recording Gap RG number of ISR between each recording point e Add Velocity to Graph select this check box if it is required to add a software computed velocity to graph e Up
166. Val 22 23 24 25 26 EC Code Name NOT_ENOUGH_ARG DIVIDE_BY_ZERO BAD_CONSTANT NO_VALID_MACRO CAN_NOT_FIND_LABEL Error Description following stacks Number Stack As a result of a number pop command Program Stack As a result of a Return command Not used This Error Code is issued once a macro source clause included a division operator to a denominator with the value of zero Not used This Error Code is issued once the QI keyword is issued without any macro in the system This Error Code is issued once the QE LABEL clause is sent with an un existing label This means the user issued an execute command to a specific macro routine but the specific routine does not exist 27 BAD_NUMERIC_FIELD Not used 28 CLAUSE_TOO_LONG This Error Code is issued once a clause exceeds the length of 255 29 MACRO_END This Error Code is issued once a macro One Step or an macro Execute command were issued and the macro reached the end 30 MACRO_POINTER This Error Code is issued once the macro pointer is 31 32 TARGET_ADDRESS TOO_LONG_LABEL not in the limits of the macro code or one of the following functions lack a pointer as a parameter Jump Call Not used This Error Code is issued if a label parameter exceeds the limit of 12 It can happen in one of the following functions 1 Jump 2 Call 3 Execute 33 PARAM_NOT_ALLOWED This Error Cod
167. Value 0 Range 0 100 000 000 Syntax XTD 8192 Set 1 Second Delay for X Timer XTD Report the value of XTD BTD 8192 Set 1 Second Delay for both timers Nanomotion Ltd 224 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference Examples The following code example sets the X Timer to 1 second delay and then waits for the timer to reach zero count This is a simple way to implement a 1 second delay function XTD 8192 Set X Timer to 1 Second while XTD gt 0 Waits for XTD to become zero endwhile Another way to generate a 1 second delay is to use TD as above but then wait for TD to reach a zero value using the QW command define TimerX XTD define WaitTimerX XQW 107000 TimerX 16384 Set XTD 8192 WaitTimerX Waits for XTD to become zero See also Refer to Part Ill FlexDC Macro Language Nanomotion Ltd 225 FlexDC Software User Manual Part II FlexDC Software and Commands Reference 7 75 TL Torque Limit Analog Command Saturation Purpose The TL parameter limits the value of the analog output command to the servo amplifier In applications where a current loop driver is used most cases the TL limit actually limits the motor current TL saturates the analog output command in both closed loop NC 0 and open loop NC 1 2 3 operation modes See section 4 Part Il for the The Control Filter further inf
168. WV nanonorion A Johnson Electric Company FlexDC Software User Manual FLDC458001 01 REV B August 29 2012 Nanomotion Ltd POB 623 Yokneam 20692 Israel Tel 972 73 2498000 Fax 972 73 2498099 Web Site www nanomotion com E mail nano nanomotion com FlexDC Software User Manual Copyright This document contains proprietary information of Nanomotion Ltd and may not be reproduced in any form without prior written consent from Nanomotion Ltd No part of this document may be reproduced translated stored in a retrieval system or transmitted in any form and by any means electronic mechanical photographic photocopying recording or otherwise without the written permission of Nanomotion Ltd Information provided in this document is subject to change without notice and does not represent a commient on the part of Nanomotion Ltd Copyright 2008 2012 Yokneam Israel All rights reserved All products and company names are trademarks or registered trademarks of their respective holders Limited Warranty Nanomotion hereinafter NM warrants the product other than software manufactured by it to be free from defects in material and workmanship for a period of time of one year except those parts normally considered as consumable expendable components such as motor conditioning brushes The warranty commences thirty 80 days from the date of shipment NM warrants those parts replaced under warranty for a period equal
169. XPG1 0 Set Mode 0 XPG2 40 Set Compare Distance XPG3 10000 Set Compare Start Position XPG4 100000 Set Compare End Position XPG5 2 Set Pulse Width 3 9 usec XPG7 0 Set Pulse Polarity to Normal Positive XPQ 1 Activate X Compare Function Sean x OT Ona cue wene EO ene OE MOE LON XBG while XMS 0 Wait for End Of Motion endwhile Initialize the Compare in the opposite direction XPO 0 Disable X Compare XPG2 40 Set Compare Distance Negative Direction XPG3 100000 Set Compare Start Position XPG4 10000 Set Compare End Position XPQ 1 Activate X Compare Function 4 Start Backward X motion towards 0 position XAP 0 XBG Nanomotion Ltd 113 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 6 3 Position Capture Events Position Capture Latching events are a hardware supported feature of the FlexDC encoder interface that provides the ability to latch the exact encoder position register based on an external or internal hardware pulse The FlexDC hardware Capture mechanism support two type of trigger pulse sources e Capture Position Based on an Encoder Index Pulse and e Capture Position Based on a Digital Input Pulse FlexDC hardware fully supports the encoder hardware interface The Nanomotion Shell Application can capture positions based on either Index or Inputs at any encoder speed There is no limitation on the motion velocity This
170. _1 Saved keyword 10 7 Macro Flow Control Any programming language should support program flow control commands to allow controlling the program flow during run time Flow control commands implement functions such as calling a subroutine Call Sub jumping to a certain location in the program Jump to a specific label or to a pointer location conditional jumps etc The table below describes flow control commands supported by the FlexDC low level macro engine For further information see chapter 15 Part Ill Keyword Description cS Call subroutine at a new macro pointer CT Call subroutine if last stack element is TRUE not zero CF Call subroutine if last stack element is FASLE zero JP Jump to a new macro pointer JT Jump if last stack element is TRUE not zero JF Jump is last stack element is FALSE zero JZ Jump to a new macro pointer and clear subroutines stack to restart the macro with subroutines stack clear RT Return from a subroutine Table 36 Macro Program Flow Control Keywords Note that the low level macro engines support a limited number of flow control commands namely Calls Jumps and Return Conditional calls and or jumps are limited to True False Zero conditions only The condition is always checked on the stack top element naturally conditional commands that use the stack pop once upon execution More advanced conditional expressions are supported by the pre compiler env
171. _VALID This error is issued by PQ 1 if the Start Point or End Point Parameters defined by PG i 3 and PG i 4 are not valid These parameters are validated only in Mode 2 see specific operation mode description for more details about limitations on PStart and PEnd Table 9 Error Codes Generated by the PQ Compare Function Nanomotion Ltd 110 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 6 2 4 Configuring Digital Outputs for the Compare Function The FlexDC has general purpose digital output pins There are six un committed general purpose digital outputs in the FlexDC which are called Dout6_Fast When not assigned as position compare event outputs digital output pins can be controlled by the OP Output Port parameter Each hardware digital output pin reflects the state of the corresponding bit in the output word parameter OP see the OP parameter keyword reference in chapter 7 Part Il for more details When configured as Position Compare Event output the actual hardware digital output pins in are controlled by the compare function If the compare function is enabled without any output pin being assigned to it no pulses are generated the pin reflects the relevant bit value of OP When an output pin is assigned to a position compare event function its state is controlled by the compare logic hardware and is not affected by the digital output word O
172. a Recording Menu ccceeecececcceee eset eeeeeseeeeeeeeeeeeeeeeeteeeae 392 18 46 TOONS MGM iaeei a aa ee E R ee eer 393 19 Srcedit the Macro File Editor Application ccccccssscsssseeeeeeeeeeeeeeseeees 396 VO o1 MAGNO All cone goa A A T TE TEE A TASE E IA NATTE 396 Nanomotion Ltd Table of Contents 15 FlexDC Software User Manual Table of Contents 19 2 MANN OCE OMen emra ene enc na eh Scalia EAE A EP 397 19 3 WOrkS pace retornan e aa a EEE eei 398 194 Macro Editing tennie oranan Ona hee eaten aa 400 19 5 Macro Downloading seeessesesnernreesseererrrrnrerssrrrrrrrnnrtsserrnernnennnnnsseernnen 401 19 6 Macro DeDUQGING sccessci eters nd ehetensii cain teenie ead eee 402 19 7 Men s iaoeo a a ae a date tad a E a a rea a ae ae 405 19 7 1 File Menu eaa a a ale 405 19 7 2 EAMEL A ans 408 19 7 3 Options MenU oe scottee sites be A Sedat nnn net Oars Biase e ia ET 410 19 747 View M nU ieena era licec cuted E E 412 19 7 5 Macro Menu sssessessooeeernrnrroerrerrnnnnrerrrrentrnnnnserrrtrnennne enneren 413 19 7 6 Communication Menu sssssssssssssseserrnrresseererrrnnrrsserrrrrrrnnenserrrnne 416 19 7 7 Window VIGNULS 25 een ete oe cen ee cd Nui Mee a ee deca ae 416 19 8 TODA S e a a eda eeidd E R E a aaeeiene 417 19 8 1 Edit Tolare e a 417 19 8 2 Debug Toolbar a meee aes 418 19 9 Appendix B Macro File Editor Application Keyboard Shortcuts 419 PART V SCSERVER COM DCOM
173. a a E Rl Meee Rh 393 Figure 54 Watch DIAG Gee teach tia cadence eg why Caan tM aa Cece aden tecnbua sees eutm cain 395 Figure 55 Macro File Editor Application Main Screen cceeeeeeeeeneeeeeeeeeeeeeeeeeeeenneeeeeeeees 397 PIGune S62 VVOrkKSpaCe Ated rererere a eael eet aA 398 Figure 57 Macro Editing sancti ew etnies et ota eth tn tos toned atten tle 400 Figure 58 Macro DEBUGGING x soca eevee citer siawed ce hccnveds eS eocen ceeded dada Rea entavehaueen seeegegee 402 Figure 59 Debugging Area Example ccccccceessesecceeeceeeeeeeeeeeesnaaeeeeeeeeeeeeeessaaaeeeeeees 404 Figure 60 Source Code Edit File Location Dialog 0 ceeseeseeeesseeeeeeeeeeeeeeeesneeeeeeenaes 407 Figure 61 Fined Dialog BOX m i saia a ead neni E E e a R R a 409 Figure 62 Replace Dialog BOX tes aul eke tes atte ctel in tiot tesla ctl etl ete etl ean 409 Figure 63 Editor Options Dialog BOX cisieucescdsinccideelasuntecidhevioetedel eaage eee deeds 410 Figure 64 Colors Dialog tes caccteacencict ces puck teetuet aca pod Go paknche sta teetitiak pechotontaet tga patriowteteheneadd 411 Figure 65 Edit OCIA ee ac Seas aa aa ata a ae a ee ge Ne ee ade tee eh 417 Figure 66 Deb g Toolbar sists i eiiecat ati otis iaieiiea a ainiaan aeien ele 418 Figure 67 DCOM Communication Registry Setup sssesssssssnnrrreresserrrrrrrerrnrressrrrrrrrnn 426 Figure 68 References Dialog Boxecisi taiassieceucstdeteianenenescietareiedeiaenienenuendeemeidenitaeene 427
174. a given line number by the user Nanomotion Ltd 409 FlexDC Software User Manual Part IV Nanomotion Shell Application 19 7 3 Options Menu The Options Menu section covers all Options Menu items 19 7 3 1 Editor The Editor menu item enables the user to change the editor options This menu item shows the Editor Options dialog box see Figure 63 Editor Options Ed IV Auto indent a C IV Print Line Numbers Cancel Tab Size 4 Margin C No Margin Fixed Margin C Scrolling Margin Figure 63 Editor Options Dialog Box Editor Options dialog box enables Spaces for Tabs changes tab chars with space bar chars Auto Indent enables disables automatic indentation Print Line Number enables disables printing line number e Tab Size number of space bar chars per tab char The Margin menu item is not supported in the current FlexDC software Nanomotion Ltd 410 FlexDC Software User Manual Part IV Nanomotion Shell Application 19 7 3 2 Colors By choosing the Colors menu item the user can change the editor text colors This menu item shows the Colors dialog box see Figure 64 Colors x Foreground Color ltem Foreground Color Window background Text Item Background Color Background Color Font Style Directive Command Label High Level Word Key Words 1 Text Font Style Figure 64 Colors Dialog Colors dialog compone
175. above features are thoroughly described Examples are given on each subject to cover all relevant aspects The parsing logic to the low level syntax is also described Nanomotion Ltd 287 FlexDC Software User Manual Part IIl FlexDC Macro Language 13 2 Non Executable Code Comments Blanks etc When writing a program source code in order to achieve a clear readable and maintainable code it is typically accepted and sometimes even required to use comments spaces empty lines tabs etc After a while the macro buffer tends to fill up with comments and non executable code which are eventually reduce the final performance of the program To solve this problem the pre compiler strips from the source non executable code sections The following non executable codes are removed Comments are defined by the Nanomotion Shell environment as any text that appears in a line following the character sign A comment lt may appear anywhere in a code file This includes full lines of comments or executable code line followed by the comment sign on the same line to describe a specific statement An example for comment lines is given below A full comment line followed by another one and an empty line XZ 1 10 This is a comment within an executable line XZ l2 11 This is also a comment within an executable line Empty Lines are lines with no text Empty lines are completely removed by the pre compiler before
176. age 12 4 3 2 Working with Workspaces The purpose of workspace is to help you manage macros that include more than one file For example If your macro includes two files for definitions and one file of actual code the best way to manage such a macro is with a workspace alzi ATI cws ati_def_01 scm ati_DiscreteAnalogue_Ver_01 scm ati_OpenLoop_Ver_01 scm ati_Servo_Yer_01 scm sc_global_defs scm Files 12 4 3 3 Creating New Workspace To create a new workspace on File menu click Workspace click New Workspace This option enables the user to choose or create a new file for the workspace the file is to be saved with the CWS extension Nanomotion Ltd 283 FlexDC Software User Manual Note Part IIl FlexDC Macro Language 12 4 3 4 Open Close Save Existing Workspace To open an existing workspace on File menu click Workspace click Open in the Open Workspace File dialog box and choose the workspace to open To save the current opened workspace on File menu click Workspace click Save To save the current opened workspace on File menu click Workspace click Save As and choose the new name to save the workspace to with the CWS extension To close the current workspace without saving on File menu click Workspace click Close This prompts the user to save the workspace in the following manner choosing Yes saves the workspace otherwise the ch
177. ait untill dac output gt 15000 5 volts while abs YPO lt 15000 endwhile In this position we are at the left hard stop turn off the motor YMO 0 wait 100msec TimerY 800 WaitTimerY 0 defined hard stop position 0 5mm 5000 counts YPS 5000 Turn motor on wait 10msec and move positive to the right hard limit YMO 1 TimerY 80 WaitTimerYO YSP 50000 YBG wait untill dac output gt 15000 5 volts while abs YPO lt 15000 endwhile YMO 0 In this position we are at the right hard stop turn off the motor TimerY 800 WaitTimerY 0 defined right hard stop 0 5 mm from the max travel YPA 1 YPA 1 YPS 5000 turn the motor on and switch to PTP mode YMO 1 TimerY 80 WaitTimerY YMM 0 move to home position 0 at velocity of 50mm sec YSP 500000 YAP 0 YBG WaitForEndOfMotionY YMO 0 if YPA 2 1 YJP MFT_Y endif stop program YQH XQH 1 Nanomotion Ltd 306 FlexDC Software User Manual Part IIl FlexDC Macro Language Move X axis full travel back and forth MFT_X XMO 1 set absolute position to full travel YPA 1 XAP XPA 1 start motion XBG WaitForEndOfMotionX wait 1 sec TimerX 8000 WaitTimerX 0 set absolute position to zero XAP 0 start motion XBG WaitForEndOfMotionX TimerX 8000 WaitTimerX 0 start from begining XJP MFT_X XQH 1 Move Y axis full travel back and forth MFT_Y YMO 1 set absolute position to full travel YPA 1 YAP
178. al part of the COM interface The application is known as SCServerScope Application or the SCServerScope exe This application includes in its file menu under COM Registry the Registry Setter dialog box This dialog box enables the user as mentioned to set and read the current CAN card type baud rate buffer size and RS232 buffer size we are using The Registry path is as follows HKEY_LOCAL_MACHINE SOFTWARE CRS SCServer NanomotionLid 884 FlexDC Software User Manual Part V SCServer COM DCOM Interface Library 20 3 Keys Used by the Application CANCardBaud 0 stating 1000 Baud 1 stating 500 Baud 2 stating 250 Baud 3 stating 125 Baud 4 stating 100 Baud 5 stating 50 Baud CANCardType 0 stating the PIC ISA card 1 stating the Kvaser PCI card 2 stating the ESD PCI card 3 stating the CRS ISA card CANBufferSize Supports 1k 16k buffer size RS232BufferLength Supports 65k 1M buffer sizes 20 4 Product Notations Revisions The DCOM server object modules are identified under the following notations Object Name SCServerExe Revision 2 31 Object Interface Name ISCServerExelnterface Nanomotion Ltd 425 FlexDC Software User Manual Part V SCServer COM DCOM Interface Library 21 Getting Started 21 1 Setting up the Object Baud and Card Type 1 The DCOM Server setup files are intalled together with the Nanomotion Shell Application installation After the installation pr
179. ally the immediate fault cause disappears On the FlexDC the Motor Fault Reason parameter holds encoded information about the actual fault cause as follows e Lower 16 bits of MF hold Motor Fault Reason as generated and set by the real time firmware e Upper 16 bits of MF holds the extended Motor Fault Reason as latched by the hardware The lower 16 bits of MF represent a general fault cause number as defined in the following table Lower 16 Bits of MF MF MF Code Description Value 0 MF_NO_FAULT None Normal Operation 1 MF_DRV_FLT Fault caused buy a Driver Error for a specific axis DRV_FLT H W line was asserted 2 MF_ABORT_INPUT Fault caused buy the general Abort Input ABORT H W line was asserted 3 MF_HIGH_ERR Fault caused for a specific axis when its Position Error PE is exceeding the allowed maximum Position Error for that axis when Abs PE gt ER 4 MF_MOTOR_STUCK Fault caused for a specific axis when a Motor Stuck Condition is detected Motor Stuck Condition is a condition when the servo command is saturated reaching TL for more then 0 5 seconds and no motion is detected Table 23 Motor Fault Cause Reasons MF Codes in FlexDC The Upper 16 bits of MF represent extended fault source options and they are set ONLY when the lower 16 bits of MF equals to 1 i e the motor fault type is Driver Fault The additional fault source information is defined i
180. amming Keywords Configuration and Protection Keywords General Keywords Nanomotion Ltd 130 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 4 2 Keywords Groups The following list describes all the FlexDC keywords excluding Script Programming Keywords divided to the logical groups indicated above 7 4 2 1 Motion and Profiler Related Keywords Keyword Description AB Abort Command Immediately stops any motion AC Acceleration value in counts sec for all Profiler based motions AP Next Absolute Position for PTP Motions BG Begins a new Motion Command DC Deceleration value in counts sec for all Profiler based motions DL Limit Deceleration value in counts sec for all Profiler based motions EM Last End of Motion Reason FR Gearing Mode Following Ratio KR Kill stop repetitive PTP motions ME Master Encoder Definition for Gearing Motion Mode MM Defined the next Motion Mode e g PTP JOG etc MS Motion Status Definition RP Next Relative Position for PTP Motions SM Defines Special motion modes Repetitive etc SP Defines Cruise Speed in counts sec for all Profiler based motions ST Stop Motion Command WT Defines delay in units of Geaad sec for repetitive PTP motions WW Profile Smooth Factor parameter VA Vector Acceleration for XY Vector Motions VD Vector Deceleration for XY Vector Motions VL Vector Limit Deceleration for XY Vector Motions VS Vect
181. and 9 reserved data elements for each axis and 10 global registers In the following list all options for RV are defined In the table below i indicates the requested axis in zero based form X axis is defined by i 0 Y axis is defined by i 1 None empty PS VL Ix20 8 A 12061 xv x204 012720 Ais Reed Resen T wwen OO o e owen o sewa O Nanomotion Ltd 211 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference The RV command has the following attributes Attributes Syntax XRV 1 0 XRV 1 See also Type Parameter Axis related No Array Yes size 1 8 Assignment Yes Command Allows Parameter Scope All Restrictions None Save to Flash Yes Default Value 0 Range 0 211 Set X axis RV to 0 no recording Report value of RV 1 BR DA RG RL RR Nanomotion Ltd 212 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 67 SM Special Motion Mode Attribute Parameter Purpose Defines an enhancement to the standard Point to Point Motion Mode MM 0 The following Special Modes are supported SM 0 No Special Mode SM 1 Repetitive Motion Repetitive Point to Point When the controller is in MM 0 PTP and SM 1 the motion is repetitive This means that the axis is commanded to perform a PTP motion to the specified absolute position and then after the motion is completed and a user specified de
182. and Abort input The FlexDC supports the following digital inputs uncommitted and committed according to the order as listed IP Bit 0 Based and Hex Value 0 0x0000 0001 1 0x0000 0002 2 0x0000 0004 3 0x0000 0008 4 0x0000 0010 5 0x0000 0020 6 0x0000 0040 7 0x0000 0080 8 0x0000 0100 H W Signal Name Functionality Digital Input 1 Din1 Digital Input 2 Din2 Digital Input 3 Din3 Digital Input 4 Din4 Digital Input 5 Dind Digital Input 6 Din6 Digital Input 7 Din7 Digital Input 8 Din8 Digital Input 9 Din9_ Fast IP Bit 0 Based and Hex Value 16 0x0001 0000 17 0x0002 0000 18 0x0004 0000 19 0x0008 0000 20 0x0010 0000 21 0x0020 0000 22 0x0040 0000 23 0x0080 0000 24 0x0100 0000 H W Signal Name Functionality X Axis RLS X Axis FLS Y Axis RLS Y Axis FLS X Index Y Index X Aux Encoder Index Y Aux Encoder Index X Axis Driver Fault Result After Driver Fault Source logic CG Mux 9 0x0000 0200 Digital Input 10 25 0x0200 0000 Y Axis Driver Fault Result Dini0_Fast After Driver Fault Source logic CG Mux 10 0x0000 0400 X Axis External Fault 26 0x0400 0000 0 Input 11 0x0000 0800 Y Axis External Fault 27 0x0800 0000 0 Input 12 0x0000 1000 X Axis Internal Fault 28 0x1000 0000 ABORT Input Input 13 0x0000 2000 Y Axis Internal Fa
183. and push summation result to the stack top automatically then pop the result to XSP Also here the stack remains empty at the end of this process Example 3 Amore complex expression such as XSP XAR 34 XAR 567 20000 XAR 899 Is implemented in FlexDC macro syntax as follows XAR34 XAR567 XAR899 20000 XSP Which means push XAR 34 push XAR 567 multiply stack top two elements pops twice and push multiplication result to the stack top automatically push XAR 899 push 20000 multiply stack top two elements again pops twice and push multiplication result to the stack top automatically sum the stack top two elements pop twice and push the summation result and finally pop the result to XSP Also here the stack remains empty at the end of this process Nanomotion Ltd 254 FlexDC Software User Manual Part IIl FlexDC Macro Language Again as noted above the main advantage of this parsing syntax is that expression complexity is practically unlimited and does not required complex run time parsing mechanisms to be implemented by the p controller macro engine Nevertheless for those users who are not used to programming in this way the PC based pre compiler supports standard expression parsing translating normal expressions to the low level syntax For full description of the pre compiler support refer to chapter 13 Part Ill Additional keywords are added to support expressions and the num
184. anges made in the workspace are discarded 12 4 3 5 Add Remove Files to from Workspace Removing a file from workspace Select a file in the workspace area File menu click Workspace click Remove File this removes the file from the workspace Select a file in the workspace area to remove right click the mouse select Remove File from the menu Adding a file to workspace can be done in two ways Drag the file into the workspace area this will add the file to the current workspace OR On File menu click Workspace click Add File and select the file from the dialog box The changes made in the workspace are saved only after the user saves the workspace Closing the workspace without saving discards the changes Nanomotion Ltd 284 FlexDC Software User Manual Part IIl FlexDC Macro Language 12 4 3 6 Open File in Workspace Double click the file from the workspace area to open the file for editing 12 4 3 7 Compiling Workspace e To compile a workspace the main macro file MUST be open and active on top of all other open files If a workspace contains more than one macro then select the macro to compile and opens it The macro window MUST be open and active on top of all other open files Nanomotion Ltd 285 FlexDC Software User Manual Part IIl FlexDC Macro Language 13 The IDE Pre Compiler Support 13 1 General The Nanomotion Shell Application includes a built in Integrated Dev
185. anual Part IIl FlexDC Macro Language 12 4 3 Srcedit File Menu This section is intended to help the user start editing creating a new macro script and how to work with workspace fetchers 12 4 3 1 Creating New Macro All macros must be located in the same folder To create a new macro follow the next steps 1 Nanomotion Ltd On the File menu click New A new Untitled file is created with no extension On the File menu click Save As type a file name select file s location and save the file under the SCM extension In the created script file add the macro target target SC see section 13 3 1 Part Ill Add the include lt sc2m_at_global_defs scm gt see section 13 3 4 Part Ill Add the AUTOEX label at the beginning of the script file Note At power on the program begins to run from the first line regardless of whether this label is added or not until it reaches the XQH command which halts the program If the user is interested in running the whole script the XQH command must be placed at the end of the script If the user is not interested in running the whole script the XQH command must be placed right after the AUTOEX Write the body of the script file Place label after the XQH command in order to resume running the script if needed For example HOME_X Save the script See script example in chapter 14 Part III 282 FlexDC Software User Manual Part IIl FlexDC Macro Langu
186. any parameter i e XBR the command starts the recording process Parameter 1 XBR 1 Start a new recording process This is identical to XBR Parameter 0 XBR 0 Stops the current ongoing recording process RR is reset to 0 immediately When a new recording starts RR Recording Status is automatically set to the value of RL the total required number of sample points As the recording process continues on each sample point the value of RR is decremented by 1 When recording is complete RR is 0 Only then it is possible to upload the recorded data The BR or BR 1 Begin Recording command checks only that RR is zero before enabling a new recording process If BR is issued during an active recording while RR gt 0 the command is rejected and a STILL_RECORDING Error Code 16 is generated Note that the controller does not check if previous buffers were uploaded or not Issuing a new Begin Recording command always overrides old data BR O does not check any conditions and always stops the data recording process 6 1 2 2 Select Recording GAP Parameter RG See the RG keyword reference in chapter 7 Part Il for more information about upload data recording data delays in CAN bus operation 99 Nanomotion Ltd FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 6 1 2 3 RG Parame
187. applications when using AR in its defined limits i e 1 1000 no overlap occurs even when the full data recording buffers are used 6 1 3 Data Recording Support in Nanomotion Shell Application The user can select the recorded variables configure recording length initiate recording process and view the resulted graphs in our advanced Data Viewer application Refer to Part IV Nanomotion Shell Application for more information about the support for Data Recording Nanomotion Ltd 102 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 6 2 Position Compare Events Position compare events is a hardware supported feature of the FlexDC encoder interface that provides the ability to generate accurate hardware pulses based on comparing the actual encoder position with pre defined values When a compare condition is satisfied a hardware pulse is automatically generated by the FlexDC and is directed to one of the digital outputs of the FlexDC The compare feature is implemented by the FlexDC encoder hardware interface so the actual delay between the exact compare time to the generated pulse is very short few cycles of the internal 66 MHz encoder interface module clock in the current hardware version This feature is useful in applications like printing and scanning where external hardware should be synchronized with actual encoder location The FlexDC supports simultaneous compare events on both of its
188. ar the value of EC to 0 at any time to clear the last Error Code register It should be noted that EC only holds errors generated by the Commands Interpreter if the source of the clause is communication Errors generated by programs are reported by the QC parameter and are Program Task specific Attributes Type Parameter Axis related No Array No Assignment Yes 0 only Command Allows parameter Scope All Restrictions None Save to Flash No Default Value 0 Range 0 100 Syntax XEC 0 Reset value of EC XEC Report value EC Nanomotion Ltd 161 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 28 EM End of Motion Reason Purpose EM is a read only parameter reporting the last end of motion reason EM is automatically updated by the real time controller firmware The following End of Motion reasons are currently reported EM EM Code Description Value 0 EM_IN_MOTION In motion or After Boot up 1 EM_NORMAL Last Motion ended Normally 2 EM_FLS Last Motion ended due to Hardware FLS 3 EM_RLS Last Motion ended due to Hardware RLS 4 EM_HL Last Motion ended due to Software HL 5 EM_LL Last Motion ended due to Software LL 6 EM_MF Last Motion ended due to Motor Fault check MF 7 EM_USER_STOP Last Motion ended due to User Stop ST or AB 8 EM_MOTOR_OFF Last Motion ended due to Motor OFF MO 0 9 EM_BAD_PROFIL
189. are signal lines Software limits are low and high position values beyond and above which the error is asserted An FLS Forward Hardware Limit or High Software Limit stops positive motions only towards increasing position value An RLS Reverse Hardware Limit or Low Software Limit stops negative motions only towards decreasing position value During Limit Stop Condition the controller uses the DL Deceleration on Limit value for the deceleration profile e Torque Limit The torque limit protection is continuously monitoring the driver command value and limits the maximal command As noted above the Driver command limitation has two different parameters TL which is the ultimate command saturation limit and IS which can separately from TL limit the Integral value This is needed in some cases to improve dynamic responses It should be noted that the value of TL overrules the value of IS see chapter 4 Part Il for further details about the Nanomotion Ltd 95 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference control filter structure The TL saturation limit is operational is all enabled motor states both open and closed loop modes 5 4 Special Handling of Software Limits In the FlexDC when a Begin Motion command BG is issued in PTP mode MM 0 beyond a software limit the BG command fails with a new Error Code type EC 53 SW_LIMIT_ERROR The new Error Code is generated duri
190. aturation Lint sercieiccerceesccrehetecerrenaeteielceetemeercide akaens 171 Nanomotion Ltd 9 FlexDC Software User Manual 7 36 7 37 7 38 7 39 7 40 7 41 7 42 7 43 7 44 7 45 7 46 7 47 7 48 7 49 7 50 7 51 7 52 7 53 7 54 7 55 7 56 7 57 7 58 7 59 7 60 7 61 7 62 7 63 7 64 Nanomotion Ltd KD Control Filter Diff Term Gain 00 eee eeeccecceeeeeeeeeeetsesneeeeeeeeeeeeees 172 KI Control Filter Integral Term Gain cccececeeeeeeeeeeeeeneeeeeeeeeeeeeeenaaees 173 KP Control Filter Proportional Term Ga in ccccceceeeceeeeteeeeeeeeeeeeennees 174 KR Kill Repetitive Motions Command ccceeeeeeeeeeeetteeeeeeeeeeteeeetaeees 175 LD SV Load and Save Commands cccceeeeeeeeeeeeneeeeeeeeeeeeeeeaaees 176 LL Low Software Limit ss setees cceicesscs eget cece tens cab teed cn catgns cebeesatensvdeteetsaeeess 177 ME Master Encoder sciscictetetictaiacehicacteietainiehiinceielaiappiedeheinandienss 178 MF Motor Fault Reason vsseecccietcescesecvccitenieescaneeveisteeigersateemesauenedeteestneeee 179 MM Motion Mode restate ict ated oe A laretetictacie died darce et Rn eGR aated ait nee ase 181 MO Motor ON Enable Disable the Servo Loop eeeeeeeeeeeeeeeees 183 Mo Motion Status rien Abana doe vaca A A E aera iets 184 NC No Control Set Open Loop Mode ecccecceceeeeeeeeeeeeeneeeeeeeeees 186 OC Output Clear Bit Command
191. ax XER 8000000 Set X Axis ER to 8 000 000 AER 2000 Set ER 2000 for all axes See also PS DP PE Nanomotion Ltd 163 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 30 FF Feed Forward Gains Purpose FF controls the Velocity and Acceleration Feed Forward Gains The Velocity Feed Forward gain is controlled by the FF parameter FF 1 The controller has an inherent Feed Forward velocity therefore normally the FF 1 0 The Velocity Feed Forward Gain FF is working on the profile velocity in counts sec 8000 units This feature is used only in a special mode of UHR with an AB1A Driver and at a very low speed less than 100um sec Command Acceleration Feed Forward Acc FF is controlled by the FF 2 parameter The Acceleration Feed Forward Gain FF 2 is working on the profile acceleration in counts sec 2 units In both cases the resulted Feed Forward value is added to the filter command output in DAC LSB units Attributes Type Parameter Axis related Yes Array Yes size 2 2 Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash Yes Default Value 0 Range 0 65 536 Syntax XFF 2 200 Set X Axis Acceleration FF to 200 AFF 0 Set Velocity FF 0 for all axes Examples If motor s speed is 100 counts sec UHR Mode and the user desires to add to the drive output the DC command of 0 5 V then VFF
192. bers stack see Table 35 These keywords are usually used from within a macro program but are also supported from the communication mainly for debugging purposes Keyword Description QN Displays the macro stack QZ Clears all the numbers stack Push without argument duplicates last stack element Pop without argument remove last stack element Add Subtract j Multiply Divide Il ABS Negate amp Bitwise AND Bitwise OR A Bitwise XOR Bitwise NOT Logical NOT result is always 0 or 1 gt 0 Is positive lt 0 Is negative 0 Is zero 10 Is not zero Nanomotion Ltd 255 FlexDC Software User Manual Part IIl FlexDC Macro Language Keyword Description gt Is greater lt Is smaller Is equal l Is not equal gt Is greater equal lt Is smaller equal Table 35 Macro Program Operators For further information refer to chapter 15 Part Ill see sections 15 3 and 15 4 10 5 Variables and Indirect Addressing 10 5 1 Variables Almost any macro application needs variables to hold temporary values to perform calculations and to transfer parameters to its subroutines and between the host application if exists and the macro Since the low level programming syntax does not support dynamic variables allocation or free naming several types of arrays are supported by the FlexDC language and can be free
193. breakpoints pointers 1 to disable a pointer and following pointers QC Reports the last macro runtime error if there was any QD Downloads a macro QE Execute macro from the current macro pointer QP QH Halt macro execution QI Initialize macro and its internal variables QK Kill macro execution also stops all motions of both axes QL Loads the macro from the Flash Memory Automatically after power ON or reset This command is currently not implemented Using the LD for loading parameters also loads the macro QN Displays the macro stack QP Holds the current macro pointer QQ Uploads the program stack queue of return addresses QR Reports the macro status QS Saves the macro to the Flash Memory QT Execute single macro clause trace from the current macro pointer QP QU Uploads a macro QV Uploads all macro descriptive data and its checksum QZ Clears all the numbers stack Table 41 FlexDC Program Handling Keywords 309 FlexDC Software User Manual Part IIl FlexDC Macro Language 15 3 2 Operator Keywords Keyword Description QN Displays the macro stack QZ Clears all the numbers stack Push without argument duplicates last stack element Pop without argument remove last stack element Add Subtract Multiply Divide Il ABS Negate amp Bitwise AND Bitwise OR A Bitwise XOR Bitwise NOT Logical NOT result
194. broutine Nanomotion Ltd 262 FlexDC Software User Manual Part IIl FlexDC Macro Language XRT 6 Ae Ae e He Ae Ae Ae Ae Ae Ae Ae Ae KKK KKK KKK KK KK KKK KKK KKK KK KK A A A Ae A A e e e e A A k k k k A E Calling Subroutine MOVE_X Start motion on X motor and wait for end of motion by calling the WEM _X subroutine 6 MOVE_X Initiate motion on X motor XMM 0 XSM 0 XSP 20000 XAC 100000 XMO 1 XBG Wait for end of motion on X motor using the Call Subroutine function Note that the CS command takes a label as a parameter The parameter is separated by a single comma Note that when a label is used as a parameter no is used the is used only for label definition XCS WEM_ X 6 End condition met so return to calling subroutine 6 Ae Ae e He Ae Ae Ae Ae Ae Ae Ae e Ae e Ae Ae Ae Ae Ae Ae KKK KKK KKK KKK KKK KKK KKEKKKKK KKK Nanomotion Ltd 263 FlexDC Software User Manual Part IIl FlexDC Macro Language Important Note All program flow control commands described in this section are naturally executed from within a macro code X and Y macros It is clear that when a JP command for example is executed from an X macro the jump is relevant for the X macro pointer only while when the same command executed from within a Y macro will affect only the Y macro pointer and so on for all macros This logic is of course valid for all the above menti
195. cards e Kvaser CAN Cards e ESD CAN Cards These drivers installation are necessary refer to the driver installation manuals supplied with the driver 17 2 Software Installation This section describes the installation of the FlexDC software and other utility programs Nanomotion Ltd 348 FlexDC Software User Manual Part IV Nanomotion Shell Application 17 2 1 Nanomotion Shell Application Nanomotion Shell Application program is the GUI Graphical Software Interface for the FlexDC motion controller This interface uses all controller keywords and enables easy access to the controller keywords and functionalities The FlexDC is supported by dedicated software which requires a PC operating system with one of the following Windows 98 Windows 2000 Windows XP The software installation is user friendly using a dedicated Setup Utility provided on the product CD The standard setup installation installs the FlexDC user manuals together with the Nanomotion Shell Application for user s convenience 17 2 2 SCServer DCOM The SCServer DCOM is a Hi Level communication interface This Hi Level communication interface is used by the Nanomotion Shell Application and is necessary for its operation The SCServerScope is installed together with the Nanomotion Shell Application Refer to Part_V for further information 17 2 3 SrcEdit Software The SrcEdit is a powerful debugging environment and IDE for the FlexDC controller The mac
196. cates whether the data element in a message is a Command s Parameter or a Parameter Assignment When the bit is 0 then a normal parameter assignment i e with the sign is requested like RS232 XPS 1234 parameter assignment for example This bit should be 0 for all standard parameter assignments When the bit is 1 then the data in the message is referred to asa Command s Parameter given with a when a command is expected to receive a parameter For example the command XQE execute a program may be issued with no parameter at all and then the program will start running from the current program pointer If the user wants to start executing the program from a given label or pointer the label or pointer should be given as a Command s Parameter In RS232 the syntax will be XQE LABEL1 or XQE 1234 for a pointer In CAN the Command s Parameter bit should be set to indicate this case Nanomotion Ltd 48 FlexDC Software User Manual 2 7 2 2 Part Il FlexDC Software and Commands Reference a Bit5 This bit indicates that a Special Command is issued Currently only a label command is supported as a special command When this bit is set to 1 the controller reacts according to the special case for each command See section 2 7 3 for Special Commands Part Il Normal Clauses Assuming the Normal bit bit3 is 1 the following com
197. cedit issues a warning message and may locate the breakpoint on the next valid executable line if requested Nanomotion Ltd 279 FlexDC Software User Manual Part IIl FlexDC Macro Language Nanomotion Ltd 12 4 2 3 Debugger Window Toolbar Menu and Pop Up Menu The debugger window toolbar menu and pop up menu by right clicking include 12 different options to operate all the debugger features In this section a description of each item is given Note that the description is identical for all three interfaces mentioned above Figure 17 shows the debugger window toolbar SMR WS od acleslx Figure 17 Srcedit Macro Debugger Window Toolbar 280 FlexDC Software User Manual Part IIl FlexDC Macro Language Table 40 describes each toolbar icon from left to right as appear in the toolbar image and the relevant related menu Description Related Menu and accelerators Stop debugging and reset macro program affecting macros It is equivalent to the following sequence of commands XQK XQI Reset Program Ctrl R Break macro execution on selected macro only It is equivalent to the XQH YQH etc commands Breaks macro program execution Ctrl B Runs the selected macro line by line single clause at a time It is equivalent to the XQTetc Trace one step F10 Animates the macro program execution Animation rate is 10 clauses second It is equivalent to the XQT e
198. cess and view the resulted graphs in the advanced Data Viewer application Read further in this manual for more information about the Nanomotion Shell Application support for Data Recording However from time to time the user may choose to directly use Data Recording low level keywords bypassing the GUI This may be useful for example to initiate a data recording process from within a script program in order to synchronize the Data Recording process with a machine sequence The next sections fully describe the FlexDC firmware Data Recording interfaces 6 1 2 Data Recording Keywords This section describes the Data Recording keywords of the FlexDC 6 1 2 1 Begin Stop Data Recording Command BR Using this Command the user can start or stop the data recording process The command only sets internal flags that start the real time recording process The command does not check the validity of recorded vectors whatsoever except for non current on going recording process The command syntax is as follows Nanomotion Ltd 98 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference XBR lt Optional Parameter gt where Xis an axis identifier Since BR is a global function not related to any axis calling it with any axis identifier starts or stops according to the parameter the recording process Parameter lt Optional gt The BR command can receive an optional parameter When called without
199. ch axis positive only 0 2147000000 updated once this keyword is called It is calculated according to the hardware interrupt entrance counter When the timer reaches a value of 0 they stop Note The values of the timer may be changed to any valid value from both communication and macro program Attributes Type Parameter Axis related Yes Array No Assignment Yes Receive parameter Parameter type Scope Both Restrictions None Save to Flash No Default Value 0 Range 0 2147000000 Syntax iTD iTD iTD lt Number gt Examples The following commands is a simple example for implementing a 1 second delay using XTD and the Timer TD state condition XTD 8192 XQW 107000 Firstly XTD is initialized then the QW function is called waiting for timer 1 to be zero See also QW QG Nanomotion Ltd 339 FlexDC Software User Manual Part IIl FlexDC Macro Language 15 4 26 ZA Remote Assign Value CAN Networking Purpose A Remote Assign parameter which sends an assignment clause to a remote unit The parameter to be assigned is the command s parameter The value to assign is taken from the numeric stack one item removed Attributes Type Command Axis related No Array ae Assignment an Receive parameter Yes Parameter type String Scope Program Restrictions None Save to Flash Default Value Range aa Syntax ZA lt String Parameter gt Keyword
200. command with no parameters starts program execution from the first macro line Nanomotion Ltd 274 FlexDC Software User Manual Part IIl FlexDC Macro Language Notes The pre compiler searches for several types of errors in the downloaded program If an error is found an error message is issued and a window is opened describing the error reason and source including line number that caused the error An error file is also generated describing the errors found during the pre compile process The error file name will have the same name as the program name with an ERR extension see full description of pre compiler process later on in this chapter The Nanomotion Shell Application supports pre compiling of macro program files even without communication to a target FlexDC hardware This may be useful to allow writing and initial syntax testing when the hardware is not available On Macro menu on the Nanomotion Shell Application main screen click Pre compile Macro The Nanomotion Shell Application actually performs the normal Download Macro procedure only without downloading the macro buffer to the hardware The user can select a default directory in which the Macro Download dialog box opens On File menu click File Locations to define the default file locations The default file name is saved with the Nanomotion Shell Application setup Figure 15 shows the File Locations definition dialog box Use the browse but
201. counter for the axis Sends XN 0 to controller In addition the folders enable the upload of all folders parameters from controller via the Update All Values button Nanomotion Ltd 372 FlexDC Software User Manual Part IV Nanomotion Shell Application 18 3 4 2 Event Generator Folders Event Generator folder see Figure 42 covers the compare function parameters for axes X Y Event Generator Axis Compare Mode Mode 0 SE PGI Pulse Width 1 92 us x a User Defined PG 5 Ditection Ine Value forModeO PG 2 Pulse Width Mode fick o irg Start Point Index PGS Pulse Polarity Normal Positive Pulse gt PGI End Point Index fo PG Start Stop D l4 Figure 42 Event Generator Folder Each Event Generator folder enables the following parameters editing updating Set the compare mode PG 1 Set the distance and direction according to the compare mode PG 2 Set the start position PG 3 Set the compare end point or index PG 4 Select the pulse width PG 5 is selected the user defined option defines a pulse with a width of 1 92us x Value Select the pulse polarity PG 7 In addition to the above the folder enables the following operations Start button Start current events generating PQ 1 Stop button Stop current events generating PQ 0 All folders parameters are manually downloaded uploaded via the Menu Button only see section 18 3 Part I
202. cro file 19 7 1 4 Workspace The Workspace menu item shows the workspace options 19 7 1 4 1 New Workspace The New Workspace menu item creates an empty new workspace By choosing this menu item the user can select or enter a workspace name under which the workspace file is saved 19 7 1 4 2 Open The Open menu item opens a workspace from a file By choosing this menu item the user can select or enter the workspace file 19 7 1 4 3 Save The Save menu item saves the opened workspace 19 7 1 4 4 Save As The Save As menu item saves the opened workspace to a user defined name 19 7 1 4 5 Close The Close menu item closes the opened workspace 405 FlexDC Software User Manual Part IV Nanomotion Shell Application 19 7 1 4 6 Add File The Add File menu item adds file to a workspace By choosing this menu item the user can select a file to be added 19 7 1 4 7 Remove File The Remove File menu item removes the highlighted file from workspace 19 7 1 5 Save The Save menu item saves the top most opened file 19 7 1 6 Save As The Save As menu item saves the top most opened file to a different name 19 7 1 7 Save All The Save All menu item saves all files opened in the Edit Area 19 7 1 8 Print The Print menu item prints the top most opened file 19 7 1 9 Print Preview The Print Preview menu item previews the file to print before printing 19 7 1 10 Print Setup Print Setup enables the selecti
203. ction CPA_COMMAND_ALLOWS_PARAM 0x00001000 Commands Allows a Number Parameter CPA_COMMAND_ALLOWS_STRING_PARAM 0x00002000 Commands Allows a string Parameter CPA_COMMAND_SPARE_1 0x00003000 Not used CPA_COMMAND_SPARE_2 0x00004000 Not used CPA_KW_IS_ COMMAND 0x00010000 Keyword is a Command Keyword CPA_KW_IS_AXIS_ RELATED 0x00020000 Keyword is Axis Related CPA_KW_IS_VIRT_AXIS_ RELATED 0x00030000 Keyword is Virtual Axis Related CPA_KW_SPARE_1 0x00040000 Not used CPA_KW_SOURCE_MUST_BE_MACRO 0x00100000 KW Source Must be from MACRO Only CPA_KW_SOURCE_MUST_BE_COM 0x00200000 KW Source Must be from Comm only CPA_KW_SOURCE_MUST_BE_RS232 0x00300000 KW Source Must be from RS232 only CPA_KW_SOURCE_MUST_BE_CAN_MAIN 0x00400000 KW Source Must be from Main CAN Ch CPA_KW_SOURCE_MUST_BE_CAN_AUX 0x01000000 KW Source Must be from Aux CAN Ch CPA_KW_SOURCE_MUST_BE_USB 0x02000000 KW Source Must be from USB Channel CPA_KW_SOURCE_MUST_BE_LAN 0x03000000 KW Source Must be from LAN Channel CPA_KW_SPARE_2 0x04000000 Not used CPA_KW_ALL_MACRO_HALTED 0x10000000 KW Must have all programs halted CPA_SPARE_2 0x20000000 Not used CPA_SPARE_3 0x30000000 Not used CPA_SPARE_4 0x40000000 Not used Table 11 FlexDC Keywords Attributes and Restrictions Nanomotion Ltd 125 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference Each command and parameter can have one or more attributes from the table above In addition each parameter has a default value
204. cution point 19 7 5 8 Break Macro Program Execution The Break Macro Program Execution menu item halts current selected macro running This menu item is enabled only when a macro is running 19 7 5 9 Trace One Step The Trace One Step menu item executes one command in the current selected macro 19 7 5 10 Animate Macro Execution The Animate Macro Execution menu item animates the current selected macro execution by running the macro step after step with a delay between the steps The animation appears on the screen followed by a current executed line yellow arrow 19 7 5 11 Go from Current Pointer Location The Go from Current Pointer Location menu item runs a current selected macro from a current location NanomotionLid At FlexDC Software User Manual Part IV Nanomotion Shell Application 19 7 5 12 Insert Remove Breakpoint The Insert Remove Breakpoint menu item adds or removes breakpoints To add breakpoints follow the next steps 1 Move the cursor to the desired line 2 Press F9 button or select this menu item To remove breakpoints follow the next steps 1 Move the cursor to the breakpoint line 2 Press F9 button or select this menu item 19 7 5 13 Remove All Breakpoints The Remove All Breakpoints menu item removes all break points from a current selected macro 19 7 5 14 Set Next Statement The Set Next Statement menu item sets the next line to be executed To Set Next Statement execution
205. d attributes are given for reference purpose only and are designated in GRAY font Attribute values are also used internally by the controller Firmware and are given for reference purpose only In the table below the abbreviation KW stands for Keyword Where Need is used this means that in order for the clause to be executed correctly the condition defined there should be met For example the command BG begins a new motion needs of course its relevant motor to be ON i e Enabled Nanomotion Ltd 124 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference Attribute Definition Attribute Attribute Description Value CPA_MOTOR_ON 0x00000001 Needs Motor ON CPA_MOTOR_OFF 0x00000002 Needs Motor OFF CPA_MOTION_ON 0x00000003 Needs Motion ON CPA_MOTION_OFF 0x00000004 Needs Motion OFF CPA_PARAM_IS_READ_ONLY 0x00000010 Parameter is Read Only CPA_PARAM_IS_ ARRAY 0x00000020 Parameter is Array CPA_PARAM_SAVED_TO_FLASH 0x00000030 Parameter is saved to Flash Memory CPA_PARAM_INIT_NEEDED 0x00000040 Parameter needs initialization Internal CPA_PARAM_LEN_BIT_0O 0x00000100 Not used CPA_PARAM_LEN_BIT_1 0x00000200 Not used CPA_PARAM_SPECIAL_REPORT 0x00000300 Parameter Has Special Report Function CPA_PARAM_SPECIAL_ASSIGN 0x00000400 Parameter Has Special Assign Fun
206. d then aborting the motion XMO 1 XPS 0 Enables the motor and Set Position 0 XMM 0 XSM 0 Set Normal Point To Point Motion Mode XAP 100000 Set Next PTP absolute location to 100 000 counts XAC 90000 XDC 90000 Set AC DC 90 000 XSP 25000 Set Speed to 25 000 XBG Start a Motion XAB Immediately aborts the X motion See also BG ST KR ER Nanomotion Ltd 138 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 7 AC Acceleration Purpose To outline the normal Acceleration value to cruise velocity in all motion modes that use the internal Profiler This value is used to set the motion profile acceleration value in PTP JOG Motion modes etc The Acceleration value is defined in units of counts sec Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows Parameter Scope All Restrictions None Save to Flash Yes Default Value 100 000 Range 512 120 000 000 Syntax XAC 1000000 Set X Axis AC 1 000 000 AAC 240000 Set AC 250 000 all axes Examples The following code example shows starting a normal motion in X axis from Position 0 to Position 100 000 using Speed and Acceleration values XMO 1 XPS 0 Enables the motor and Set Position 0 XMM 0 XSM 0 Set Normal Point To Point Motion Mode XAP 100000 Set Next PTP absolute location to 100 000 counts XAC 2500
207. dal or triangular for short distances shape The user can select to smooth the profile in order round the sharp trapezoidal or triangular corners If smoothing is used then the actual jerks are limited no zero time acceleration change Without smoothing the jerks are infinite acceleration is changed at 0 time The target position can be specified relatively to the current desired position using the RP Relative Position parameter It can be also specified as an absolute position using the AP Absolute Position parameter It is important to note that PTP motion is always executed toward the value of the AP parameter However sending an RP lt value gt clause is internally interpreted as AP DP lt value gt where DP is the current desired position normally equal to the current actual position As a result the AP is indeed modified when a new value is assigned to RP and any following PTP motion toward AP actually moves to the desired relative position The only disadvantage of this method is that for repeated relative motions RP should be sent again before each motion The FlexDC supports separate AC Acceleration and DC Deceleration values in all profile based motion types Furthermore a new DL Deceleration on Limit parameter is supported in order to define a special Deceleration values when Limits are hit works both for software and hardware limits Nanomotion Ltd 62 FlexDC Software User Manual Pa
208. ddresses etc Nanomotion Ltd 436 FlexDC Software User Manual Part V SCServer COM DCOM Interface Library Method Keyword Function Parameters FlexDC Function Description Keyword GetFirstConnectedDe int pHandle Enumeration handle N A Used to enumerate the viceld long pVal Next connected device id in device id connected in the system the system This function returns the next device id connected in the system Call this function only after calling GetFirstConnectedDevic eld GetNextConnectedDe int pHandle Enumeration handle viceld long pVal First connected device id in the system IsConnected Ex short sControllerType Controller type N A Returns the DevID of a the object is connected to connected configuration short SCOMMType Communication If the configuration is not type the object is connected to connected 1 will be short sAddrRx CAN Rx Address returned short sAddrTx CAN Tx Address long ISerialBaud Serial Baud Rate short sSerialPort Serial Port In IsConnectedEx only long IChannelNumber CAN channel number long ISper Currently not in use KillRepetative short sDEVID Opened Device ID KR Kills the repetitive motion short sAxis Defined Axis for operation LoadFlashParameter short sDEVID Opened Device ID LV Loads parameters from S short sAxis Defined Axis for operation SC flash Nanomotion Ltd 437 FlexDC Software User Ma
209. downloaded to the FlexDC macro buffer Blanks and Tabs in normal executable statements the pre compiler removes blanks and tabs only before the start and after the end of a statement line Blanks and tabs within a normal executable statements are not removed In advanced mathematical expressions lines starting with blanks and tabs are removed also from within the statement itself see section 13 4 Part Ill for further information about advanced expressions parsing Nanomotion Ltd 288 FlexDC Software User Manual Part IIl FlexDC Macro Language 13 3 Directive Commands Pre compiler directives such as define and include are typically used to make source programs easy to change and easy to compile in different execution environments Directives in the source file tell the pre compiler to perform specific actions For example the pre compiler can replace tokens in the text and insert the contents of other files into the source file Pre compiler lines are recognized and carried out before any other action is taken The sign defines a directive command It must be the first nonwhite space character on the line containing the directive No white space characters should appear between the sign and the first letter of the directive Directives include arguments The comment delimiter must precede any text that follows a directive command except for arguments or values that are part of the directive Note that so
210. during active motion practically affecting the motion profile the motion mode itself can not be modified during active motion The motion mode for the FlexDC is defined by a combination of two parameters MM Motion Mode and SM Special Motion Mode Most standard motion modes are defined by the value of MM with SM 0 Some special motion modes use both MM to define the basic motion mode and SM to define a special variation of it The following sections describe each motion mode Notes The communication clauses given in the following sections for how to start stop and monitor each motion mode are just examples A specific application can use any desired value for the related parameters such as acceleration and speed The values of most parameters do not need to be sent again before each motion The FlexDC uses the current value of each parameter when a new motion is commanded Sometimes we use a semicolon mark between commands This is simply to save space The user can use the in all commands or use none Nanomotion Ltd 61 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 3 1 Point to Point PTP MM 0 SM 0 In this mode the controller calculates a standard smoothed trapezoidal profile from the current position to a user specified target position using a user specified acceleration and speed The profile is called trapezoidal since the velocity command has a trapezoi
211. e last error in the system UserMode UM No No MCD only Table 49 Interface Commands Nanomotion Ltd 435 FlexDC Software User Manual Part V SCServer COM DCOM Interface Library 22 2 Object Methods In Table 50 a short description is given to all existing interface commands methods Method Keyword Function Parameters FlexDC Function Description Keyword Abort short sDEVID Opened Device ID AB Abort Motion on defined short sAxis Defined Axis for Axis operation Begin short sDEVID Opened Device ID BG Begin Motion on defined short sAxis Defined Axis for operation axis CloseDevice short sDEVID Opened Device ID N A Closes an open device GetDeviceStatus Ex short sDevID Opened Device ID N A Gets the status of a short iDevOpen Flag if deice is open or not short iController Type Controller type the object is connected to short iCOMMType Communication type the object is connected to short iAddrRx The object s CAN Rx Address short iAddrTx The object s CAN Tx Address long ISerialBaud The Objects serial baud rate short iSerialPort The Objects port short iDebugMode Flag if in debug mode or not In GetDeviceStatusEx only short sChannelNumber CAN channel number long ISper Currently not in use communication device Check whether it is open defined controller Communication Protocol Baud Port A
212. e 3 therefore we are dealing with OP Bit 3 therefore we are waiting for bit 3 on OP to turn active high Example fit is required to wait until the 3rd output went active low send XQW 103031 The state mnemonics can be used instead of the state number only from within a macro not in communication clauses They are converted by the pre compiler to the related standard constant numbers before downloaded to the controller Mnemonics are not allowed as a communication clause The FlexDC will fail to interpret them since it only gets standard constants as state numbers Refer to chapter 13 for defined constants Note For non axis related keywords i e OP the axis sent is irrelevant can be anything between 1 10 but on the other hand MUST be sent Examples The following commands wait for digital input 1 to be ON TRUE and OFF FALSE in the FlexDC XQW 102010 Wait for input 1 ON XQW 102011 Wait for input 1 OFF 10 9 Timer Functions The FlexDC has independent timers each being updated decremented by one on every hardware sample time The sample time of the FlexDC is approx 122 us These axis related timers one per axis 32 bit positive only are updated once the dedicated TimerDown iTD keyword is called The axis related TimerDown iTD parameter will Wrap if the iTD is bigger than 72 hours Nanomotion Ltd 267 FlexDC Software User Manual Part IIl FlexDC Macro Language Note Th
213. e All Restrictions None Save to Flash Yes Default Value 32 767 Range 0 2 147 000 000 Syntax XKD 16384 Set X Axis KD 16 384 XKD 1 16384 Same as XKD 16384 Set X Axis KD 16 384 XKD 2 30000 Set X Axis KD 2 30000 for Gain Scheduling AKD 100000 Set KD 100 000 for all axes See also CG KP KI Nanomotion Ltd 172 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 37 KI Control Filter Integral Term Gain Purpose The Kl parameter is used to set the control filter algorithm position loop integral term gain in PID control mode and the Velocity PI loop integral term gain in PIV control mode The KI parameter is an array parameter with the size of 4 x 2 i e for each axis X Y KI 1 and KI 2 are available The first element KI 1 or KI See note below set the normal filter gains while the second element KI 2 set the gain for the Gain Scheduling algorithm Note The FlexDC command interpreter supports for backward compatibility access to any array parameter first element as a non array element This means that for example XKI is identical to XKI 1 Attributes Type Parameter Axis related Yes Array Yes size 4 2 Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash Yes Default Value 32 767 Range 0 2 147 000 000 Syntax XKI 16384 Set X Axis KI 16 384 XKI 1
214. e 310 Table 43 Macro Program Flow Control Keywords ceeeeeeeeeeeeee eee eee eteeeeaeeeeeeeeeeeeeeteees 311 Table 44 Macro Program Wait And State Inquiry KeyWords ccccceeeeeeeetteeeeeeeeeeeeee 311 Table 45 Macro Program Timer KeyWords 2 ccceeeeeeeeeeeeceeeeeeeeeeeeeeeeenaeeeeeeeeeeeeeeneees 311 Table 46 Macro Program Remote CAN Access Commands ccccccccccccecceeeeeeeeeeeeees 312 Table 47 Pre compiler directive commands and KeyWords ccccceeeeeeeeeeeteeeeeeeeeeeeeees 313 Table 48 Macro File Editor Application Keyboard Shortcuts cccccceeeeeeeeeeeeeeeeeeeeeeee 419 Table 49 Interface Commands ccccceeeeeeeeeecneceee teen eeteeenaaaaeeeeeeeeeeeeegaaaeaaeeseeeeenna 435 Table 50 Interface Commands Method c ceeeeeeeeeeeeeeeeeneeee sete eee teceeaeeeeeeeeeeneeeneee 441 Nanomotion Ltd 21 FlexDC Software User Manual Part Preface Nanomotion Ltd Part I Preface 22 FlexDC Software User Manual Part I Preface 1 Preface 1 1 Overview FlexDC Motion Controller Nanomotion s dual axis controller driver The FlexDC is offered in either single or dual axis configurations It is a stand alone system which operates with a standard power supply of 100 240 VAC 50 60 Hz for FlexDC technical data refer to FlexDC User Manual This FlexDC Software User Manual is divided into six parts Every part contains detailed informat
215. e IP address set by the network administrator in the IP window see Figure 6 Define one of the following communication ports in Ports window 4000 4001 4002 see Figure 6 Communication Settings t x Controller Name LAN v Controller Type m COM Options Local C Computer C IP Address m Controller Communication Protocol LAN v m R5232 Communication RS 232 Port af RS 232 Baud Rate C 38400 C 115200 CAN Communication PC Tx CAN Add 0 2047 0 PC Px CAN Add 0 2047 0 fi Baud Rate 1000 KBPS Channel i oy Gye Os m Controller LAN Communication Setup IP 100 100 100 165 Port 4000 Delete Update Add ext Figure 6 Communication Settings Dialog Box 11 Check the communication via the Nanomotion Shell Application connection combo box NanomotionLtd AD FlexDC Software User Manual Part II FlexDC Software and Commands Reference 2 6 3 TCP IP Protocol Ethernet LAN In general the raw data within the TCP IP protocol is similar to the FlexDC RS232 protocol The user should comply with the following guidelines All messages from the host to the controller end with lt CR gt After the lt CR gt a 1 byte message numerator appears Blanks tabs back spaces and new line characters should not be sent In case of a report parameter clause the reported value is sent back to the host in decimal long in
216. e best way to manage this macro file is working with workspace see Figure 56 zizi fl sc8m_global_defs fg orbit_defs scm Workspace name orbit cws orbit_defs scm orbit_main sem sc8m_global_defs scm Workspace files descript r inc lude fall Figure 56 Workspace Area Nanomotion Ltd 398 FlexDC Software User Manual Part IV Nanomotion Shell Application Workspace operations Note Creating a new workspace on the File menu click Workspace click New Workspace select or create a new workspace file A new workspace name will appear at the workspace area Open Close Save workspace on the File menu click Workspace click Save or Save As to save a workspace or click Open to open a workspace or click Close to close a workspace Adding files there are two ways to add a file to workspace e Drag and drop a file into the workspace e On the File menu click Workspace click Add File and select a file from the dialog box Deleting files there are two ways to delete a file from workspace e Select a file in the workspace left mouse click and select Remove File e Select a file in the workspace On the File menu click Workspace click Remove File Compiling Debugging workspace to compile a workspace the main macro file should be opened and on top of all other opened files Compiling is performed on the top most opened file for more infor
217. e incoming EDB message Not supported in current FlexDC firmware YZI 4 Buffer 1 Axis Code This parameter defines the axis to be updated in axis related arrays 1 is X 2 is Y etc If a non axis related array is assigned this parameter MUST BE 1 Note that the controller does not validate this parameter according to the Array type code See section 2 7 2 4 ZZI 4 Buffer 1 Current Index This parameter is used as the current index to which the new data is stored in the selected Array and Axis The controller ONLY checks that the current index location is valid for the specific selected array not for a specific axis If the store index is valid the index is being auto incremented after the store with the Auto Increment parameter value see below WZI 4 Buffer 1 Increment Value This parameter is used as the Auto Increment value in case a valid store is executed This number value is not validated EZI 4 Buffer 2 Array Code This parameter defines the code for the requested Array to be updated by the parameter Long Data 2 in the incoming EDB message Refer above to Array codes Not supported in current FlexDC firmware FZI 4 Buffer 2 Axis Code Same as for Buffer 1 to be applied to Buffer 2 GZI 4 Buffer 2 Current Index Same as for Buffer 1 to be applied to Buffer 2 HZI 4 Buffer 2 Increment Value Same as for Buffer 1 to be applied to Buffer 2
218. e is issued if a parameter in a dedicated clause exceeds the limits for this parameter 34 PARAM_OUT_OF_RANGE This Error Code is issued when a command is given a parameter out of range or when trying to assign a parameter with a value out of its range Please check the relevant command or parameter keyword reference for more information about the allowed range for the specific parameter Nanomotion Ltd 244 FlexDC Software User Manual Part II FlexDC Software and Commands Reference EC EC Code Name Error Description Val 35 STATE_NUMBER_RANGE Not used 36 CAN_BAD_SPECIAL This Error Code is issued when a CAN message size in the special download array feature differs from 1 4 or 8 37 CAN_REMOTE_TIMEOUT The FlexDC has the ability to send via macro CAN strings to remote units If the remote unit does not reply within a given timeout 1 second this error is issued 38 PARAM_EXPECTED This error is issued when a command requiring a parameter is issued with out one Please check the relevant command keyword reference for more information about the command s parameter 39 BAD_PARAM_TYPE Not used 40 BAD_PARAM_LENGTH Not used 41 CAN_NOT_ACTIVE Not used 42 BAD_ARGUMENT Not used 43 CAPTURE_DISABLED Not used 44 BAD_PARAM_SYNTAX This error is issued when the wrong parameter is attached to a clause 45 ARRAY_PARA
219. e motion immediately DP remains as its last value ST Stops the motion with deceleration using DC to zero speed MO 0 Disables the motor effectively stopping any motion Any software or hardware fault limitation or protection also immediately aborts or stops the motion depending on the fault or limitation type 3 3 5 On The Fly Parameters Change The following parameters can be modified on the fly during an active jogging motion Communication Clauses Description SP Starts an acceleration or deceleration toward the new SP value The New SP value can have a different sign from the previous SP value AC DC Affects any following motion toward a new SP value 3 4 Gearing Motion Modes 3 4 1 Nanomotion Ltd Position Based Gearing MM 2 3 4 1 1 Description Gearing or electronic gearing motion is refer to a motion mode where an axis follows another axis position with a pre defined fixed ratio The FlexDC supports position gearing motion mode for X and Y axes only The position gearing is implemented based on a master DP follow method In this method the follower axis is slaved to a user selected Master Axis Desired Position i e master s DP not its actual encoder position PS This method allows for very accurate multiple axes vector motions with one axis being used as a master while the other axis can be slaved to it s reference position i e to the master s theoretical pro
220. e timers are not updated by the real time kernel of the FlexDC but by the call to the enquiry of iTD They do not require a macro to be running However the values of timers may be changed to any valid value 32 bits from both communication and macro programs Table 39 describes the timer functions supported by the FlexDC Keyword Description Tdi Timer down axis related variable Consists of 32 bits positive only i e 0 2147000000 Table 39 Macro Program Timer Keywords Example The following commands is a simple example for implementing a 8192 sample time delay 1 second using XTD and the TimerZero state condition XTD 8192 Set time for 1 sec XQW 107000 Wait for timer to be 0 First the XTD is initialized to 8192 then the QW function is called waiting for timer 1 to be zero Nanomotion Ltd 268 FlexDC Software User Manual Part IIl FlexDC Macro Language 11 FlexDC Low Level Macro Program 11 1 Macro and Motions In the FlexDC the macro execution and the axis motions are completely independent If a motion fails for some reason usually the motor is disabled in this case it does not directly affect the macro execution Note that if after the motor was disabled a begin motion command is issued the macro will stop and report a run time error because a BG command is not valid when motor is disabled But again this is not necessarily because of the motor failure However since this lin
221. eCrsCommunicationT ype_ ETHERNET Ethernet communication 0 Reserved LanPort Flex supports one of the three ports any or all 4000 4001 4002 0 Reserved IPAddress See below for format 0 Reserved 0 Reserved 0 Reserved 0 Reserved 0 Reserved The TCP IP Port can be one of the following 4000 4001 4002 The TCP IP address format is according to the following Lets assume we have the following IP address IPAddress Byte 1 Byte 2 Byte 3 Byte 4 Nanomotion Ltd 45 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 2 7 The conversion is performed as follows IPAddress Byte 1 lt lt 24 Byte 2 lt lt 16 Byte 3 lt lt 8 Byte 1 In addition to the standard RS232 and CAN Bus communication library interfaces the FlexDC also recognizes the Microsoft standard DCOM Server Interface which provides easier access to professional or novice programmers to communicate with the controller Only high level keywords knowledge is needed CAN Communication 2 7 1 General One of the main objectives of the CAN bus interface in the FlexDC is to allow for an additional communication interface which is much faster than the RS232 and is easy to implement and access CAN communication uses binary language syntax In general there are many common features shared by the RS232 and CAN bus command syntax However there are some important differences The excepti
222. eaeeeeeeeeeeeeees 238 7 83 XN Capture Events Counter ccccccceeeeesseeceeeeeeeeeeeeeseaeeeeeeeeeeeeeetneas 239 P04 Oe GAN ANa V e en enien Ganedie r en aaa R en ween 240 8 Communication and Program Error Codes eeecceceeeseeeeseeeeeeeeeeeeneeeeeees 242 PART III FLEXDC MACRO LANGUAGE 2 cccccseseeeeeeeeeeeeeeeeeeeeeeeseeeeeeeeneeeeeeeeneeaes 248 9 Introductio eieaa a nna Aer Papers nen eR ny ent ere eriad ara iarrai aoaaa danie 249 10 FlexDC Macro Emin issccscccccecs caisscescccseecnccsnvesacacnenen gasses sah vansnesscdcnneesconaneessees 250 10 1 General FlexDC Macro Program Structure cccceeeeeeeeeeeeeeeeenneeeeeeeees 250 10 2 External Communication vs Macro Execution Priority ccceeeeeee 251 10 3 Macro Handling KE yWOrdS 2 i2cc 4e2 aawetier here tenceie Rann ewas neha emmdetes 251 10 4 Low Level Expressions Handling and the Numbers Stack 0ccee 253 10 5 Variables and Indirect Addressing ccceeeeeeessseeceeeeeeeeeeenensneaeeeeeees 256 Nanomotion Ltd ts 11 FlexDC Software User Manual 11 12 13 TOSS Variables iicn nrn r futenioaden atu dlands 256 10 5 2 Indirect Addressing xgectceesect cet pacer seseactremrnceetenracth stent dantenrngeedinds 258 10 6 Labels and Subroutines NAMes ccccccceeeeeeeeeeeeeeeeeeeeeeeeeeeeseneeeeeeeeeeees 259 10 6 1 Restrictions on Labels Definition cceeeeeeeeeeeeeeeeeeeeeeeeneees 260
223. eakpoint Array s ssesssssssseesenernnersserrrrnrrnnesserrrnne 320 Nanomotion Ltd 13 FlexDC Software User Manual Table of Contents 15 4 7 QC Macro Run Time Error ccccceeeeeeeeeeeseeeeeeeeeeeeesteeseeeees 321 15 4 8 QD Download Macro Buffer ccccccceeeeeeeeeeeeeeeeeeeeeeeeeeeeenaaees 322 15 4 9 QE Execute Macro 0 cece cceeecee cere eeeeeeeaeeeeeeeeeeeeeeeeenenaaeees 323 15 4 10 QF Macro Running Status cc eecceeeeeeeeeeeeeeeeeeeeeeeeeeenaeees 324 15 4 11 QG Get Internal State Value eee eeceeeeeeseeeeeeeeeeeees 325 15 412 CRU Halt MAG i 0 scset ex vee ce tecvied a a A 326 15 4 13 QI Initialize MaGroseiesccticectidieedt edatiwerdien adie oedeeteei ane 327 15 4 14 QK Kill Macro and Motions ccccceeeeeeeeeeeeeeeeeeeeeeeeeeeenaaees 328 15 4 15 QN Display Macro Stack vtccccd et cutis od 2 2 cites 329 15 4 16 QP Maero Program Pointer scasicshcmac bie ciabetetnatsteeen 330 15 4 17 QQ Macro Program Stack sii csnsied idles eas 331 15 4 18 QR Macro Initialization Status ce eeeeeeeeeeeeeeeeeeeeeees 332 15 4 19 QT Trace Macro Execution Single Line eee 333 15 4 20 QU Upload Macro Buffet ccceceeeeeeeeeeeeeeteeeeeeeeeeeeeeenaaees 334 15 4 21 QV Uploads Descriptive Data eeeceeeeeeeeeeeeeeeeeenaeees 335 15 4 22 QW Wait till CONCItION 0 eee cece eee teeeeteeeeeeeeeeteeteaaaees 336 15 4 23 QZ Clears Macr
224. ected by external wiring to Din9 the X Capture function is programmed to latch the Compare locations e The Y axis is configured to generate Compare pulses on DOut6 and assuming that DOut6 is connected by external wiring to Din10 the Y Capture function is programmed to latch the Compare locations Set X Compare to DOutS and Y Compare to DOut6 The resulted value is 5 XOM 9 Set IO_MODE_0 YOM 2312 Set IO_MODE_1 X Capture on Din9 Y Capture on Din10 See also OP IP Compare Function Capture Function refer to the Technical Data chapter in the FlexDC User Manual regarding the Fast Digital Outputs and Inputs Nanomotion Ltd 194 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 51 OP Output Port Purpose Sets and gets the FlexDC Motion Controller s uncommitted digital Output Port bits The FlexDC servo controller supports 6 general purpose digital outputs refer to the Technical Data chapter in the FlexDC User Manual for more information about hardware interfaces of digital I O The OP parameter holds the Output Port word bit array Each bit in OP controls a single digital output bit port as shown below The user can of course read the value of OP in order to get the current Output Port word status e Bit 0 of OP Controls digital output port 1 e Bit 1 of OP Controls digital output port 2 e Bit 7 of OP Controls digital output port 8
225. ected to this DevID This internal variable is decremented once the CloseDevice method is called One the variable 0 the device is really freed e In order to enquire whether a configuration is connected use the IsConnected parameter which returns the DevID of the connected configuration or 1 if not connected e In order to enquire the connection configuration of a DevID call the GetDevStatus method which returns the full connection configuration As opposed to the IsConnected parameter which returns a DevID e The DevID is used to interface all DCOM methods Return errors if was not opened i e SC Speed Dev1 Axis1 5000 where Dev1 is not defined A method to inquire existing DevID properties will also be defined e In addition a CloseDevice function was of course implemented to allow closing a previously opened connection This is to allow multiple connections of the same device which may be required for example for debugging sessions Nanomotion Ltd 423 FlexDC Software User Manual Part V SCServer COM DCOM Interface Library 20 2 The SCServerScope Application The DCOM interface uses Registry variables to define the type of CAN board used and also for the CAN baud rate A simple dedicated Windows application and code is provided to access the following global Registry Database parameters see Figure 67 e CAN Card Type e CAN Baud rate e CAN Buffer Size e RS232 Buffer Size These variables are an integr
226. eeeeeeeteeeeeeeee 210 7 66 RV Data Recording Recorded Variables ssssssssssseseseesseeseeees 211 7 67 SM Special Motion Mode Attribute Parameter ssssseesseeeeeeeeees 213 7 68 SP Speed PReR tpn pera ree PEO rtp Pape re PET ep Pe raret Po ETO ert Seiler PEE eee Ee 215 7 69 ST Stop Motion Gommand cen dicn eae ee eee ee nn 216 7 70 SR Status Register veicssssecces cacetveasebadeed nak iees vdetved saseieasvaensd tees select eens 218 7 71 SV Save Command seiacetececehi cca wtonecidl ernie nani adie nhatiedle 220 7 72 TA CAN Transmitting Address ccccceecceeecenneeeeeeeeeeeeeeneeeeeeeeeeeeeeteeee 221 Leb TGS OPS GS OMAN ces ede lated eet neat ed ee eset 222 FEAT DTS DOWN iig eee eee nei teense EE Aar A E ONEA wad 224 7 75 TL Torque Limit Analog Command Saturation cceeeeeeeeeeeeeeeeee 226 T46 TR Target RadiUS is nuenenesn irnn eant eaan e e n eaa 228 PLT VW Farget HME ei eea a EEEH eieae AEAT AERE ELE E 229 7 78 VA VD VS Vector Motion Parameters sseeesseeeenerrneeessrrrrerrnreeesee 230 7 79 VR Get Version Command ccccccceeeseeseneeeeeeeeneneeeeeesaeeeeseeeeeneeeees 233 7 80 WA Walt Period ct sces tate cto sects ea tantactete tee a lies aad Wet aata eat 235 7 81 WW Profiler Smooth Factor cccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeaeeeeeeeeeeteeee 237 7 82 XC Last Capture Position Latch cceceeeeeeeeee eee eeeeeeenee
227. eeeeseseeeeeeeeeeeneees 130 7 4 1 Keywords Group DeSCTiptiOn ccceeeeeceeeeeeeeeeeeeeeeeeseeeeaaeeeeeeees 130 7 4 2 Keywords Groups c cdeciscdccehechey hdeviaetheeeel ded lene beeeh aeranonns 131 1 5 Keywords LIST tec Sacs toripe a a tented seat deletes eat dna 136 7 6 AB Abort Motion Command ccccececeeeeeeeeeeeecneeeeeeeeeeeessecaeeeeeeeeeeees 138 Nanomotion Ltd 8 FlexDC Software User Manual Table of Contents Fad PG Acceleration e ues beats tet taut 139 7 8 AD Analog Input Dead Band c ccc ccceeeeceeeecee cere eeeeeeeeeeeeeeeeeeeteeeeeeee 140 7 9 AF Analog Input Gain Factor ccccccceeeeeccenceee reer ee eeeeeenneeeeeeeeeeteeeteees 141 7 10 AG Analog Input Gain occa ae a as ee Aas Nea ae nee 142 FAY Al Analog Input a A ae eee 143 7 12 AP Absolute Position sis cccciet ie seteesceheteed rechten cabetvcdnncetees uber ev ee edeteet eee 144 7 13 AR General Purpose Array ccceceeeeeeeseceeeeeeeeeeeeeeesaeeeeeeseeeeeeeeeneas 145 7 14 AS Analog Input Offset s cccctciiescesschivessgeeiues vakeees rtavigensseeenetinernemeqenteaeess 146 7 15 BG Begins a New Motion Command cccceeceeeeeeeeeeeeeeneeeeeeeeeeeteeee 147 7 16 BR Begin Recording Command 2 cccccccecseneeeeeseeeceeeeeeeneeeeeeeeeeeees 149 7 17 CA Special Control Parameters Array cccceeeeeeeeeeeeeeeeeeeneeeeeeeeeeeeeees 150 7 18 GB GAN Baud Rates onenete ed crenata ered tne Gere e
228. eeesnaaaaeeeeeeeeeeeeenna 130 Table 14 Motion and Profiler Related KeyWords cccccecceeeeeeeeeeeeeeeeteeeenneeeeeeeeeeteeeeaae 131 Table 15 Control Filter and Real time Servo Loop Related Keywords cceeeeeeeeees 132 Table 16 Data Recording Related Keywords cccccceeeesssscceeeeeeeeeee eeaaeeeeeeeeeeeenenaae 132 Table 17 Special Encoder Interface Related Keywords ccceceeeeeeeeeeeeeeeeeeeeeeeeeeeees 133 Table 18 I O Functions Related Keywords cccceeeeeeeseeeeeeeeeeeeeeeeeenaeaeeeeeeeeeeennnaae 134 Table 19 Communication and Configuration KeyWords ccceceeeeeeeeeeeeeneeeeeeeeeeeteeee 135 Table 20 Protection Keywords 35 2 Aa ae ee ge NS ie ennet 135 Table 21 General Purpose Related Ke yWordS ccccceceeeeeeeeeeeeneeeeeeeeeeeeeeetnaeeeeeeeeeeeeeea 135 Table 22 End Of Motion Reason EM Codes ssssssssseeessssrrrrrnrrrssrrrrrrrnnnrssrrrnrrnnersent 162 Table 23 Motor Fault Cause Reasons MF Codes in FlexDC eeeeeeeeeeeeeeeeeeeees 179 Table 24 Extended Motor Fault Cause Reasons MF Codes in FlexDC ee 180 Table 25 MS Motion Status Parameter Bits Description ceccceeeeeeeeeeeteeeeeeeeeeeeeee 184 Table 26 OM I O Mode Configuration Functionality Definitions ceeceeeeeeeees 190 Table 27 1O MODE 0 BitS Orderin manaren rrean oe oedtiweivee a eea 190 Table 28 FlexDC XOM O_MODE_0 Bi
229. ei tie tuae de eeieeg ieee eats 67 F C M DIa e1101 lemme reer are eet ane E 67 3 3 2 Starting a Jog Motion icc cs eietotsyiiaieticai eee nceeieeeh aeons 67 3 3 3 Monitoring a Motions sas ssice coiseneccesscascees sedatives ceeseeeettiecees xesvenetedeteebee ds 67 33 4 Stopping a MOON ear a aries 67 3 3 5 On The Fly Parameters Change sssssssssserrnessseerrrrrrnresserrrrerrn 68 3 4 Gearing Motion MOdCS a c 2ic steam tivcetetsr nba ebsreehadesaaea ives tecrbaaneeeny 68 3 4 1 Position Based Gearing MM 2 00 ee eeceeeeececeeeeeeeeeeeeeeenneeeeeeeees 68 3 5 Joystick Motion Modes 13 35 cere 2e celia be centered Poneaadnetie one teen 72 3 5 1 Velocity Based Joystick Motion Mode sssseeeeseeeeeeseeeeeeees 72 3 5 2 Position Based Joystick Motion Mode sssseseeeseeesseseeseees 72 3 6 Position Step Motion MM 8 SM 0 or SM 1 ceeeeeeeeeeeeeeeeeeeeeeeees 73 3 6 1 DescriptiO Mirige e a a e EEEE EREE iE 73 3 6 2 Starting a Step Motion seis aseciieiecehs deeper teeta hee eed 74 3 6 3 Monitoring and Stopping a Step Motion cccccccceeeeeeeeeeteeeeeeeees 74 3 7 Profile Smoothing in the Rl6xDG i ciscevvece hs toot naetieee sie ereee eet 74 Nanomotion Ltd 6 FlexDC Software User Manual Table of Contents 4 The Control Plier ccs ccccaccececekatice ceed escent ctaeies 79 AT Generaler eee ee e eea eE a e toto eater 79 4 2 Linear PIV Filter EQuanonss lt 22cceawcnn a dewcek
230. elopment Environment IDE pre compiler module The main purpose of the pre compiler is to extend the basic features of the low level language syntax mainly parsing capabilities to a more easy to use high level syntax The Nanomotion Shell pre compiler supports the following features e Strip comments blanks tabs and any other non executable code e Target hardware type definition e Using the define directive e Using the include directive e Using the description directive e Advanced parsing of mathematical expressions e f blocks e While loops e For loops The Nanomotion Shell Application automatically activates the pre compiler each time a new macro file is being downloaded The source file is first scanned to replace all define s and combine all the include files then it is stripped from all the comments spaces tabs and other non executable code then the mathematical expressions and special if while and for statements are being processed Finally all the labels are searched and replaced by absolute program pointers During the pre compile process the following files are being generated automatically by the Nanomotion Shell Application all having the same name and path as the original source file but with different extensions Nanomotion Ltd 286 FlexDC Software User Manual Part IIl FlexDC Macro Language e Extension stp an intermediate file used by the pre compiler e Ext
231. ematical as well as relational operator keywords are added These numbers stacks to distinguish from the internal program stack that is used to store return pointers for CS commands are currently accessible also from the RS232 communication line mainly for debugging This way the macro can perform any expression without complexity limitations and without operators preceding limitations Dedicated macro keywords such as the JT Jump if True CT Call subroutine if True automatically uses the last stack element as their input arguments This structure is similar in concept to any u controller assembly language syntax Below are some examples demonstrating this simple concept Nanomotion Ltd 253 FlexDC Software User Manual Part IIl FlexDC Macro Language Example 1 A possible standard expression such as JP ABCD XPS gt 10000 which means Jump to label ABCD if X position is greater than 10000 will be written in macro syntax as follows XPS 10000 gt JTHABCD which means push XPS push 10000 pop the last two elements and push 1 if greater 0 if smaller Pop from stack and jump if 1 The stack remains empty at the end of this process as it should be Example 2 Another simple examples is the following assignment XSP XAR 34 10000 which is implemented in the macro syntax as follows XAR34 10000 XSP which means push XAR 34 push 10000 sum stack top two elements pop twice
232. encoder operation this is an invalid condition The encoder signal lines are sampled by the hardware at a very high rate and If in a single sample event both A and B changes their state the error is asserted e Encoder Disconnected Line Error This error is detected when the controller encoder hardware interface detects that one of the following A A B B signals are not connected The condition is detected by sampling all signals and evaluating the following state A A B B If the state is true for more then 4 consecutive servo samples the error is stated The second error condition disconnected line requires a full differential encoder interface to be used The protection cannot be used in single ended line encoders Note that only the A A and B B lines are sampled for errors There is no implementation for Index disconnected line detection The user can enable or disable the encoder error detection by a dedicated bit in the axis configuration word CG Encoder Error faults when enabled are reported by special code in the MF keyword the Motor Fault Cause 5 2 3 Motor Stuck Protection The purpose of the Motor Stuck Protection is to protect the motor from continuous high command operation When the command reaches the TL value and the Velocity of the motor is 0 after 1 second the controller automatically disables the axis This protection
233. ension dat the final buffer actually being downloaded to the controller this file contains low level commands only this file can also be downloaded to controller see section 13 3 Part Ill e Extension dbg the debugger symbols file This file contains all the original code including all defined symbols and included files and all low level commands The file is organized such that each executable source line is followed by its translated executable low level code The Srcedit Macro Debugger uses this file for the debugging process e Extension err an error file describing errors that were found during the pre compile process if there were any Since a file being downloaded to the controller is always pre compiled no comments spaces etc the actual data buffer though being ASCII based is difficult to understand and track For this reason in order to debug a FlexDC program the user should have the original source macro code and its related dbg file being automatically generated by the Nanomotion Shell Application In any case the user can upload the actual macro buffer from the controller by clicking Upload Macro on the Macro menu on the Nanomotion Shell Application Note that the buffer header includes all the descriptive commands see below and also the file name and the date of last version download This may be used for version control of macro code In the following sections all the
234. er Analog Out folder is divided into two sections 1 Analog Output parameters XAO X axis analog output value YAO Y axis analog output value 2 Open Loop parameters XNC X axis enable disable open loop YNC Y axis enable disable open loop XTC X axis Torque open loop command YTC Y axis Torque open loop command All folders parameters are downloaded uploaded via the Menu Button only see section 18 3 Part IV Nanomotion Ltd 369 FlexDC Software User Manual Part IV Nanomotion Shell Application 18 3 3 4 I O Modes 0 Folder I O Modes 0 folder see Figure 39 covers the control digital outputs as normal or compare output function and fast digital inputs parameters Output type Compare source 10 Mode 0 Digital Output Source Configuration Normal or Capture Digital Output 5 Normal vi Digital Output 6 Normal E Fiom Compare OM Value From Compare Y w Command value in controller Figure 39 I O Modes 0 Folder I O Modes 0 folder include the following options Configure Digital Outputs enables two options a Output Type Normal or Compare mode a Compare source to use can be X or Y Command value in controller Shows the XOM command value currently in controller All folders parameters are downloaded uploaded via the Menu Button only see section 18 3 Part IV Nanomotion Ltd 370 FlexD
235. er 2 0 Interfaces b pplication Performance Explorer SCServerExe Rey 1 01 Location E MyProjects SCServer SCServerExe Debug SCServerExe e Language Standard Figure 68 References Dialog Box 3 Select the SCServerExe option 4 From the declarations area define a interface to the object e g Dim SC As New SCServerExelnterface 5 All parameters and methods may be accessed by using the defined interface parameter In the example above use SC as the parameter name Nanomotion Ltd 427 FlexDC Software User Manual Part V SCServer COM DCOM Interface Library 21 3 VB Code Example Declarations Dim SC As New SCServerExelnterface Const RS232_COMM 21 Const CAN_COMM 20 Const X_AXIS 88 Const Y_AXIS 89 Form Load Private Sub Form_Load Dim ddd As Long Dim str As String Dim aa As Integer Dim bb As Integer Dim cc As Integer Dim dd As Integer Dim ee As Integer Dim ff As Integer Dim gg As Integer Dim hh As Integer Dim Il As Long On Error GoTo MyError SC GetDeviceStatus 0 aa bb cc dd ee ll gg hh Ifaa lt gt 1 Then Nanomotion Ltd 428 FlexDC Software User Manual Part V SCServer COM DCOM Interface Library Open CAN Device SC OpenDevice 0 50 CAN_COMM 600 500 0 1 0 End If Read SC Version str SC FirmwareVersion 0 X_AXIS Exit Sub MyError str Err Description MsgBox str voOKOnly Error End Sub Nanomotion Ltd
236. er DP regardless of the master s motion status or motor status For example if a master axis is disabled due to a high error condition its motor does not turn OFF but the following axis still is in motion condition and keeps following the disabled axis encoder even after it is stopped 3 4 1 5 On The Fly Parameters Change An axis during gear motion is not affected by any of the normal profiler motion parameters e g SP AC etc Although the following ration FR can be modified during motion it is not recommended to do so as it results in a position and possibly also velocity reference steps 3 5 Joystick Motion Modes 3 5 1 3 5 2 Nanomotion Ltd Velocity Based Joystick Motion Mode 3 5 1 1 Description This mode is very similar to the jogging mode However instead of jogging in the user specified SP value the jogging speed is taken from the analog input assuming it is connected to a Joystick or any other source of analog voltage The analog input parameter Al is used instead of SP All other parameters AC DC etc are used exactly as for jogging mode Position Based Joystick Motion Mode 3 5 2 1 Description This mode is very similar to the standard PTP mode However instead of using the user specified Absolute Position AP parameter as the target position this mode uses the Analog Input Al parameter as its target position 72 FlexDC Software User Manual Part Il FlexDC Software a
237. es Default Value 0 Range 0 65535 Syntax XCG 0 Set X Axis CG 0 YCG Report value of CG for Y axis Nanomotion Ltd 154 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 20 DA Data Recording Array Purpose DA is used to store data recording buffers The DA array is automatically updated by the recorded data when the controller is in a data recording process When not used for data recording the DA array can be used for any general purpose The DA and the AR arrays both share the same memory space AR is limited to 1 000 from the communication only but can be further used in order to access parameters with indexes larger than 1 000 via DA The actual size of DA is 16 000 but recordings are limited to 15 000 The data recordings are performed from the end of the DA vector while ECAM PixGen use the standard AR parameter from the beginning Attributes Type Parameter Axis related No Array Yes size 1 16 000 Recordings limited to 15 000 Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash Yes Default Value 0 Range 2 147 000 000 2 147 000 000 Syntax XDA 1 0 Set DA 1 0 XDA 1000 Report value of DA 1 000 YAR 300 1000 Set DA 300 1 000 See also Data Recording RG RL RV RR BR ECAM Mode is not supported in the current FlexDC version Nanomotion Ltd 15
238. eserved Should be left 0 3 PIV Must be set ONLY to 0 for PIV Control Factory default 4 Reserved Should be left 0 5 Enable This bit Disables when set to O or Enables when set to 1 the Encoder Hardware Encoder Error detection feature Note that when enabled Error the controller forces Driver Fault condition when encoder error is Detection detected This option must be used with encoders having electrical differential interface only When single ended encoders are used this bit must be disabled Reserved Should be left 0 Use Auxiliary Must be set ONLY to 0 for Single Loop Factory default Encoder Feedback 8 Invert This bit controls the Auxiliary encoder polarity Users can set or clear Auxiliary this bit to change the Auxiliary encoder reading direction Encoder When set to 0 do not invert aux encoder Nanomotion Ltd 153 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference CG Bit Zero Based Function Description Feedback When set to 1 invert aux encoder 9 Not in use N A 10 Analog Currently Not used Should be left 0 Command Resolution Biti 11 Reserved Should be left 0 12 15 Driver Type 12 13 14 Set to 1 Factory default Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows Parameter Scope All Restrictions Needs Motor OFF Save to Flash Y
239. et Speed to 25 000 XAP 100000 Set Next PTP absolute location to 100 000 TR 10 TT 160 Set Target Radius and Target Time XBG Start a Motion WaitForEndOfMotionX Waits for End of Motion in X Axis WaitForXInTR Waits for In Target in X Axis See also MS BG TR TT QW Nanomotion Ltd 219 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 71 SV Save Command Purpose See LD Load Command Nanomotion Ltd 220 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 72 TA CAN Transmitting Address Purpose This parameter sets the CAN Transmitting Address The CAN transmitting address is the CAN address to which the controller responds to in any case a CAN message is received the receiving address is defined in the RA parameter The CAN Transmitting Address must be saved to the flash memory and the controller must be reset in order to change the CAN settings Changing RA TA immediately re initializes the CAN hardware to take the requested effect Care should be taken as changing RA TA while working in CAN bus stops the communication with the PC The parameters must still be saved to the Flash Memory as in previous revisions in order to be valid after boot A new error codes EC_HW_INIT_ERROR 97 was added to indicate a CAN hardware initialization error In the FlexDC in addition and independent to the standard RA and TA C
240. eter defines the End Position PEnd in encoder counts for the compare function Beyond this location the compare function is automatically disabled For Mode 2 this parameter defines the End Index IEnd in the AR compare position table corresponding to the last compare point The last compare point is at the encoder location defined by AR IEnd PG i 5 PGIil 7 Pulse Width Pulse Polarity This parameter defines the pulse width ignoring PG i 6 1 PG i 5 0 Pulse Width 1 clock of 15 nano sec 2 PG i 5 1 Pulse Width 1 92 uSec 3 PG i 5 2 Pulse Width 3 84 uSec C civics 5 PG i 5 255 Pulse Width 489 6 uSec Max Value This parameter defines the compare pulse polarity mode 1 PG i 7 0 Defines Normal Positive Pulse 2 PG i 7 1 Defines Inverted Negative Pulse PG i 8 Not used Should not be assigned to any value for future compatibility Table 8 PG Array Compare Function Parameters Description Nanomotion Ltd 107 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference Notes In Table 8 i represents the selected axis In Incremental Mode 0 since the hardware automatically increments the compare match register the actual compare condition is valid for only 2 basic hardware clock cycles 66 MHz Inthe FlexDC the PG iJ 6 parameter Pulse Width Mode is not used In turn the pulse
241. eters values for each of the supported Compare Modes Nanomotion Ltd 200 FlexDC Software User Manual The PQ command has the following attributes Attributes Syntax Type Axis related Array Assignment Command Allows Parameter Scope Restrictions Save to Flash Default Value Range Part II FlexDC Software and Commands Reference Command Yes Must Have Number 0 or 1 All See above The command syntax is as follows see also syntax definitions above XPQ 1 YPQ 1 See also PG Nanomotion Ltd Enable Compare Function for X Axis Enable Compare Function for Y Axis 201 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 57 PO PIV Output Purpose PO is a read only parameter reflecting the actual servo driver command value In closed loop operation PO is the actual servo control output In open loop operation PO equals the TC command Attributes Type Parameter Axis related Yes Array No Assignment No Command Allows parameter Scope All Restrictions Save to Flash Default Value Range 32 767 32 767 Syntax XPO Report PO value for X Axis APO Report PO value for all Axes See also TC and Control Loop Description Nanomotion Ltd 202 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 58 PS Position Encoder Position P
242. ether the opened macro file matches the current FlexDC program An error message appears if the files are mismatched If the test is OK the main debugger window opens Nanomotion Ltd 277 FlexDC Software User Manual Part IIl FlexDC Macro Language Figure 16 shows the Srcedit application debugger window sample code source view is for demonstration purposes only E CRS Editor TestBenchSC4M_ dbg T File Edit Options View Macro Communication Window Help 2 x 24 BRO 2 ME AKAD P Debugger mealies Toolbar MPHH WS oek gt 0038 Description z 0039 r SHER AA ALKA AAA KAA AA kkk ALKLAAKAKAAKAEKAAAEKLKKAKKKAKEKEERSE 0040 e Workspace area 0041 TESTOO 0042 i 0043 d 0044 wait about 1 2 sec 0045 t eee Program Pointer 0046 Timer 1 1000 WaitTimeri i gt 000098 BTD1 1000 Location Mark 000108 XOW 53 0047 r 0048 Set Result to OK 0049 t Source View 0050 XAR 1 TestPass 000115 2 oboiis XAR 1 0051 XQH XQH 000126 XQH 000130 XQH ain r ane a oos 0054 t i ee 4 gt x NI Value Ln 356 Col 4 caP YZ Hit F9 to toggle a line marker Figure 16 Srcedit Macro Debugger Window The debugger window has some fields that allow the activation of all the debugger features and allow user interface In the following sections each field is shortly described Nanomotion Ltd 278 FlexDC Software User Manual Part IIl FlexDC
243. ev pComDev NULL dwinQueue dwOutQueue return Error check if connected m If IsConnected pComDev return Error send and get data from device char pOutBuf 16 XSP 1000 r char pInpBuf 255 DWORD dwNBytesRead DWORD dwnBytesSent 0 DWORD dwnOutBufDataLen 9 0 int iRc 0 iRc SendComString pComDev plnpBuf 255 dwNBytesRead pOutBuf dwnOutBufDataLen dwnBytesSent 500 wait for 5 sec FALSE TRUE do wait for answer Check Error Code If iRC COM_Ok return Error now the answer is in pInpBuf destroy com device clean up DestroyComDev pComDev pComDev NULL Nanomotion Ltd 458 FlexDC Software User Manual Part VII Glossary Part Vil Glossary Nanomotion Ltd 459 FlexDC Software User Manual Part VII Glossary 28 Glossary The following definitions are used provided only for this user manual Abort Input a dedicated digital input typically connected to the machine s emergency button When the FlexDC detects an active state at this input it immediately disables both motors In addition to the standard firmware support for the Abort signal as noted above the FlexDC also supports the Abort signal It is monitored by the Hardware to disable all drivers in case Abort is sensed Clause a single complete independent communication statement that can be interpreted and evaluated Each clause consist
244. evant deceleration parameters DC for normal stop commands ST and DL for limit stop conditions In this case of course the axis is losing the master s tracking In Gear Motions WW the smoothing parameter must be 0 since the slave is directly following the master DP according to the equation described above A WW value other than 0 does not affect normal tracking but causes a position step command when a stop command is given Like in all other motions an AB abort motion command results in immediate stop of motion without any deceleration profile Due to an implementation limitation only when X is following Y one sample time delay 122 micro sec in FlexDC is present in the generated slave axis X reference profile related to the master profile Y Nanomotion Ltd 70 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 3 4 1 2 Starting a Position Based Gearing Motion Communication Clauses Description YMO 1 Enabling Y Axis servo loop motor ON YMM 2 YSM 0 Set Y axis to Position Based Gear Mode YME 0 Set Y Master Axis As X Y follows X YFR 1 048 576 Set Following Ratio to 46 YBG Start Y Motion following the X axis In this example the Y axis is commanded to follow the X axis s reference position with a ratio of 1 6 Note that typically when an axis is intended to operate in gear mode the following axis is
245. ex X 10 1011 X Event source is Index Y 11 Bit 4 selects the polarity of the X axis capture event Bit 4 0 Select Normal Positive Pulse Polarity Bit 4 1 Select Inverted Negative Pulse Polarity Nanomotion Ltd 116 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference Bit 7 5 Reserved Should be 0 for future compatibility Bits 11 8 selects the Y Axis Capture Source 1010 Y Event source is Index Y 1011 Y Event source is Index X 0000 Y Event source is DIN1 0 0001 Y Event source is Din2 1 0010 Y Event source is Din3 2 0011 Y Event source is Din4 3 0100 Y Event source is Din5 4 0101 Y Event source is Din6 5 0110 Y Event source is Din7 6 0111 Y Event source is Din8 7 1000 Y Event source is Din9_Fast 8 1001 Y Event source is Din10_Fast 9 10 Bit 12 selects the polarity of the Y axis capture event Bit 12 0 Select Normal Positive Pulse Polarity Bit 12 1 Select Inverted Negative Pulse Polarity Bits 31 13 Reserved Should be 0 for future compatibility Nanomotion Ltd 117 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 6 3 6 Configuring Fast Digital Inputs for the Capture Function The FlexDC has two dedicated fast inputs Din9_ Fast and Din10_ Fast There is no special configuration req
246. eyword usage See also Related commands The following list describes all the valid keyword Attributes Nanomotion Ltd 313 FlexDC Software User Manual Type Command Parameter Axis related Yes No Array Yes dimension No Assignment Yes No read only Receive parameter Yes No Parameter type Number String Scope Communication Program Both Restrictions See below Save to Flash Yes No Default Value Yes value No Range Min Max The following list describes all the valid keyword Restrictions None No motion Motor is OFF Motor is ON Macro not running X Y V ALL Macro s not running Axis or Macro related Keyword s preceding character X Y B affects the keyword behavior Applicable for commands only Nanomotion Ltd Part IIl FlexDC Macro Language 314 FlexDC Software User Manual Part IIl FlexDC Macro Language 15 4 1 CS Call Subroutine Purpose Calls jumps to a specified subroutine given by program pointer or label After returning from the subroutine by the RT command execution continues at the next macro clause Attributes Type Axis related Array Assignment Receive parameter Parameter type Scope Restrictions Save to Flash Default Value Range Syntax CS lt Label gt CS lt Constant gt Command No Yes Number or Label Program None Keyword is not axis related thus XC
247. f a clause includes an array variable and the index of the array variable is not in the correct range for the specific array Note ALL start array indexes are 1 AND NOT 0 4 NOT_IN_SCOPE Not used BAD_NUMBER_RANGE This Error Code is issued if an assignment clause is not In the range for the specific variable 6 READ_ONLY This Error Code is issued if an assignment clause was issued on a Read Only keyword 7 NOT_AN_ARRAY This Error Code is issued if a clause consists of array referral on a keyword that is NOT an array This is detected in the following matter Nanomotion Ltd 242 FlexDC Software User Manual Part II FlexDC Software and Commands Reference EC Val EC Code Name Error Description An Open Parenthesis appears in the clause after the Keyword Or at all Digits appear immediately after the keyword in a clause AN_ARRAY Not used RECEIVE_BUF_FULL This Error Code is issued if the string sent by RS232 exceeds the maximum of 128 characters 10 TOO_LONG_MESSAGE Not used 11 FAIL_ERASE_FLASH Not used 12 FAIL_WRITE_FLASH Not used 13 TOO_LARGE_NUMBER This Error Code is issued if the clause being interpreted includes an assign command with more than 12 digits 14 WRONG_MOTION_PARAM This Error Code is issued if during a motion the controller detects wrong motion parameters This can happen for example if durin
248. f more then 40 internal variables for each recorded vector e More then 50 spare variables to select from for future firmware usage are already supported in the existing Data Recording interface e Fast sampling rate of up to 122 uSec per sample point for all selected vectors The FlexDC supports Data Recording at the servo sampling rate of 8 192 Hz The user can choose to collect data samples at a slower rate using the Recording Gap parameter see below Optional advanced triggering options This option is not supported by the standard firmware version of the controller Please consult Nanomotion experts for more information Nanomotion Ltd 97 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference In the next sections the operation of Data Recording in the FlexDC firmware is explained 6 1 1 Operating Data Recording in the FlexDC The FlexDC firmware code supports Data Recording using the following Keywords e Begin Stop Data Recording command e Data Recording Configuration Parameters Select Recorded variables parameter e Select Recording Length parameter Select Recording GAP parameter e Report Recording Status parameter e Data Recording Array Instead of using these parameters and commands directly the user can control the Data Recording features of the FlexDC through the Nanomotion Shell Application GUI With a few mouse clicks the user can select the recorded variables initiate recording pro
249. ference 7 32 IA Indirect Array Purpose IA is a user general purpose Index Array Although IA can be used for any general purpose during program development it was intentionally defined to allow Indirect Index Addressing from within a script program The IA array is a non axis related array with a size of 100 Each element in the array is a LONG format number which can be assigned to any value at any time The index range of the IA array is 1 100 Since IA is non axis related accessing XAR YAR AAR etc actually access the same array element As noted IA is a user general purpose array and is not used anywhere by the controller s firmware code unless the user has included a reference to it within a script program Attributes Type Parameter Axis related No Array Yes size 1 53 Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash Yes Default Value 0 Range 2 147 000 000 2 147 000 000 Syntax XIA 1 0 Set IA 1 0 BIA 10 Report value of IA 10 for X and Y AIA 53 1000 Set IA 53 1 000 Examples See below Nanomotion Ltd 166 FlexDC Software User Manual 7 33 IL Input Logic Purpose Part II FlexDC Software and Commands Reference The IL Input Logic parameter controls the logic of all digital inputs Bits 0 23 of IL corresponds and inverts the relevant bits in IP See t
250. filer output 68 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference Note The master axis can be set to motor ON or OFF i e MO 0 In the latter case the master s DP PS so using a disabled axis as a master axis provides true encoder position tracking The following dedicated parameters are used for Position Based Gearing Motion ME Master Encoder or Axis This parameter defines which axis is the master axis for a given slave gear motion The ME parameter can select between the following encoder inputs ME 0 for X Axis Encoder ME 1 for Y Axis Encoder FR Following Ratio This parameter defines the slave s following ratio in relation to the master s axis ME reference position DP FR can be any number in the range of 2 147 000 000 2 147 000 000 As noted above FR is an integer number scaled to 8 24 format i e FR 16 777 216 means a following ratio 1 0 Note The FR parameter is using a 32 bit 8 24 format scaling resolution to allow ratios of up to x 128 and x e777 B16 The slave axis reference position is relative to the master s and slave s initial position when the slave axis was initially commanded to actually begin the Gearing Motion Gearing motion is initialized like any other motion This means that first the motion parameters and mode should be set and then a valid BG Begin Command sho
251. first being enabled and enters motion BG and only afterwards the master axis is commanded to move Starting a gearing motion BG with MM 2 where the master axis is already in motion results in a velocity command step to the following axis 3 4 1 3 Monitoring a Position Based Gearing Motion See section 3 1 2 above Part Il 3 4 1 4 Stopping a Position Based Gearing Motion As noted above gear motion is theoretically an infinite motion It stops only as a result of a user command or due to some fault limitation or protection A gear motion can be stopped by the following communication clauses Communication Clauses Description AB Aborts the motion immediately DP remains as its last value ST Stops the motion with deceleration using DC to zero speed Note that immediately after issuing the ST command the slave axis stops following the master and starts an autonomous stop profile motion towards zero speed MO 0 Disables the motor effectively stopping any motion Nanomotion Ltd Any software or hardware fault limitation or protection also immediately aborts or stops the motion depending on the fault or limitation type 71 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference Note In gear motion any fault condition acting on the master axis does not directly affects the following slave axis This means that the following axis remains linked to the mast
252. for XPA4 The value of XPA4 is divided by 2 and stored in XSP The value of XSP is then multiplied by 10 and stored in XAC XPA1 2000 XPA2 1000 XPA3 4 Initialization XPA4 XPA3 XPA1 2 XPA2 Compute value of XPA4 XSP XPA4 2 Store for XSP XAC XSP 10 Store for XAC Note that rules of FlexDC operator parameters range implies In the above code for example the operator supports multiplication of 16 bit by 16 bit numbers and the operator supports division of 32 bit by 16 bit numbers see section 10 4 Part Ill for further information The actual low level code generated by the FlexDC compiler environment is shown in Figure 19 for reference The debugger window shows both the original code lines in black color including the comment lines followed for each source line by the low level compiler implementation Note how blank spaces are stripped when evaluating the mathematical expressions The user can step line by line on the low level code lines with the debugger and on each step inquire the stack value using the BQN report stack command for debugging the code Nanomotion Ltd 295 FlexDC Software User Manual Part IIl FlexDC Macro Language 0037 0038 XPA1 2000 XPAZ 1000 XPA3 4 Initialization gt 04250 XPA1 2000 04760 XPAzZ 1000 04270 XPA3 4 H 0039 XPA4 XPA3 XPA1 Z XPAZ Compute value of XPAd4 04277 XPAS 04283 XPA1 04289 04292 04294 04300 04302 0430 0040 XPA4 Z
253. from the current location if no parameter is given Attributes Type Command Axis related Yes Array o Assignment ao Receive parameter No Parameter type Scope Both Restrictions None Save to Flash Default Value Range aH Syntax The QE command can be executed with no parameters or with a single Label or constant parameter Syntax Description QE Starts or continues program execution from current pointer location QE lt Const gt Start program execution from a given pointer location QE lt Label gt Start program execution from a given label Examples If no parameters are used the command simply starts or continues execution of the relevant macro from the current macro pointer XQP YQP XQE YQE If a parameter label or constant is used the macro will start or continue execution from the specified label or pointer e g XQE XHOME See also QP QT QH Nanomotion Ltd 323 FlexDC Software User Manual Part IIl FlexDC Macro Language 15 4 10 QF Macro Running Status Purpose Reports the macro running status This is an array report only command Currently the following array indexes are reported 1 Macro Running Index Mask of running macro s 2 Internally Used 3 RTE Index of macro has a RTE Mask of macro s that encountered a Run Time Error 4 Internally Used 5 Internally Used Refer to the QR for the macro
254. ftware and Commands Reference 2 7 5 6 Command Sequence YZI 4 1 Enable EDB the Mode YZI 4 256 Enable EDB Prompt Mode YZI 5 5 Set The EDB Rx CAN Address XZI 6 0 Set first data array to AR Array XZI 7 1 Axis is 1 for Non Axis Related Array XZI 8 301 For Start Index AR 301 XZI 9 1 Inc Index 1 by 1 each message YZI 6 0 Set second data array to AR Array YZI 7 1 Axis is 1 for Non Axis Related Array YZI 8 1301 For Start Index AR 1 YZI 9 1 Inc index 2 by 1 each message Once the above definitions are given the host should start downloading the EDB messages in the format described above 8 bytes per message where the lower 4 bytes are the data to the main scan axis buffer and the upper 4 bytes are for the orthogonal axis For each new slice the host needs to modify only the Current Index next Start Point During operation the user can inquire the value of the EDB Mode Error Status Report to check for EDB message errors Nanomotion Ltd 60 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 3 Motion Modes This chapter describes the various motion modes supported by the FlexDC Motion mode defines a type of motion The exact motion for each Motion Mode is defined by a set of related parameters such as speed SP acceleration AC and many other parameters While most of these parameters can be modified on the fly
255. g description Encoder 0 1uM PAS 2S 2 he As E E he E E E fe Ae E E ig he Ae k 2s he E k fe he k 2s he Ae e 2 fe he 28 2 he E k 2 fe e e k 2s 2g k k k k k k k k k kk k k kk kk kk k Start Public Routine Definitions oi 2 2k 2s EE E E E E E os oie of 2s E E 2k E of E K of 2 E k 2k k k k k k k k k k k k k k k k k k k k k k k k kk ok ok kk ok ok kkk kkk kkk AUTOEX Function Called at power on Find Home and auto travel from hard Limits AUTOEX XPA 2 0 Zero home X state YPA 2 0 Zero home Y state Set Servo Parameters XCA 7 222749440 2nd order filter parameters damping for 700 Hz 0 6 XCA 8 86352 2nd order filter parameters damping for 700 Hz 0 6 XCA 9 3441 1 2nd order filter parameters damping for 700 Hz 0 6 XCA 13 1 Enable 2nd order filter XKP 2000 XKI 2500 XKD 30 YCA 7 222749440 2nd order filter parameters damping for 700 Hz 0 6 YCA 8 86352 2nd order filter parameters damping for 700 Hz 0 6 YCA 9 34411 2nd order filter parameters damping for 700 Hz 0 6 YCA 13 1 Enable 2nd order filter YKP 2000 YKI 2500 YKD 30 XMO 0 YMO 0 Set servo OFF for X and Y axes These parameters work for Nanomotion HR motors and AB1A drivers Nanomotion Ltd 304 FlexDC Software User Manual Part IIl FlexDC Macro Language Homing subroutine for X Axis HOME_X defined velocity counts sec acceleration counts sec 2 decleration counts sec 2 XSP 50
256. g ECAM motion bad ECAM data or wrong motion of the master axis is detected Note the ECAM motion mode is not supported in the current FlexDC firmware 15 WRONG_RECORD_PARAM This Error Code is issued if the number of recording points exceeds the size of the DA array 16 STILL_RECORDING This Error Code is issued when the user sends a Begin Recording Command BG or BG 1 while Data Recording is still in process i e RR gt 0 Data Recording can be started only when previous recording session was terminated Note that the controller does not check if previous buffers were uploaded or not Issuing a Begin Recording command always overrides old data 17 NO_RECORDING_DATA Not used 18 CAN_BAD_ARRAY_CODE Not used 19 CAN_BAD_LENGTH Not used 20 STACK_FULL This Error Code is issued once a macro source clause included a push command once the stack was full The Push command can be to one of the following stacks Number Stack As a result of a number push command The number stack size is 15 Program Stack As a result of a Call command The Program s Stack size is 15 21 STACK_EMPTY This Error Code is issued once a macro source clause included a pop command once the stack was empty The pop command can be to one of the Nanomotion Ltd 243 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference EC
257. he IP parameter reference for exact definitions of all IP and IL bits By default IL 0 Each bit in IL that is assigned to 1 inverts the logic of the corresponding IP bit bits 0 23 Only Notes e The ABORT input logic CANNOT be inverted Being a SAFETY input the ABORT logic must be configured such that when disconnected by the hardware the ABORT is active i e all axes are disabled e The Driver Fault Bits IP 24 25 can be inverted using CG bit 6 These are the IL parameter attributes Attributes Syntax XIL AIL XIL 15 See also CG IP Nanomotion Ltd Type Axis related Array Assignment Command Allows parameter Scope Restrictions Save to Flash Default Value Range Report IL value non axis related Report IL value non axis related Parameter No No Yes All None Yes 0 0 16 777 215 OxOOff fff Inverts the logic of DIN1 DIN2 DIN3 DIN4 167 FlexDC Software User Manual 7 34 IP Input Port Purpose Part II FlexDC Software and Commands Reference To read the digital Input Port bits of the FlexDC The IP parameter is continuously updated by the real time servo loop to reflect the value of all digital input bits of the controller IP reports both the uncommitted digital inputs Digital Inputs 1 10 as well as all the committed digital inputs i e limit switches Driver Faults
258. he overall smoothed period 2 WW sample times Nanomotion Ltd 78 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 4 The Control Filter 4 1 General The FlexDC Filter is based on Position over Velocity Loop PIV Filter see Figure 10 In the following sections the Linear Filters equations and Non linear Algorithms are described in details 4 2 Linear PIV Filter Equations 4 2 1 PIV Filter Mode In closed loop operation in PIV mode the control loop structure can be considered as divided into two separated loops an external position loop cascaded over an internal velocity loop The velocity loop linear PI filter in PIV mode is shown in Figure 9 Velocity Error Loop Gain Figure 9 Velocity PI Controller Nanomotion Ltd 79 FlexDC Software User Manual Part II FlexDC Software and Commands Reference gt 10 V 16 bit Analog Voltage Acceleration Feed Forward Command Velocity Feed Forward S Interfaces LS Ba sid fz 5 To Open Loop Operation Auxiliary Mode Switch NC Analog Command on 16 Bit Driver Motion DP PE eae Order X DACS AB1 AB5 Profile Q S Slee Filter Dac_Gain Generator oS O PI Filter Position PS Loop Gain Encoder Velocity Encoder Counts Second 1 7 Encoder Counts Gain Enc_Gain Encoder Position PS Counts The Dead Zone Algorithm is enabled only with AB1 Driver Motion Phase Figure 10 The Flex
259. hen RG 8 and RL 1 875 each vector will be 2 seconds long Note that the Nanomotion Shell Application automatically appends a time vector to any recording file Nanomotion Ltd 100 FlexDC Software User Manual Nanomotion Ltd Part Il FlexDC Software and Commands Reference 6 1 2 6 Report Recording Status Parameter RR RR is a read only parameter indicating the recording status When a new recording starts the value of RR is internally set to the value of RL It is being automatically decremented by 1 at each sample point every RG servo sample times When RR 0 recording is complete 6 1 2 7 Select Recorded Variables Parameter RV The FlexDC supports simultaneous data vectors to be recorded at the same time The user can of course select to record less then this vector FlexDC supports 8 simultaneous data vectors to be recorded at the same time The definition of each recorded vector contents the link to an internal controller variable is done using the RV parameter Currently the following internal controller variables see Table 7 can be selected for data recording for each one of the recorded vectors Recorded Variable Axis Variable Description Related Keyword None empty vector Encoder Position Yes PS Encoder Velocity Yes VL Position Error Yes PE Desired Position Yes DP Controller Output Yes PO Status Regi
260. hout changing the other bits Using the OS Output Set Bit command saves the user from first reading the value of OP setting one of its bits using a logical operator and then re assign OP read modify write When accessing the output port bits from two separate script tasks this is necessary otherwise the value of OP can be wrong The OS Output Set Bit command must receive a parameter indicating the specific bit to set currently 1 8 Calling the command without a parameter generates an EC_PARAM_EXPECTED EC 38 error Calling the command with an out of range parameter generates an EC_PARAM_OUT_OF_RANGE EC 94 error Attributes Type Command Axis related No Array No Assignment s Command Allows parameter Must have Bit 1 8 Scope All Restrictions None Save to Flash Default Value Command Parameter Range 1 8 Syntax XOS 1 Sets the first bit LSB Bit 0 in OP to 1 XOS 8 Sets the last bit MSB Bit 7 in OP to 1 Examples XOP 0 Clears ALL digital outputs to Low 0 XOS 1 Set the first bit LSB Bit 0 in OP to 1 OP 1 XOP 0 Clears ALL digital outputs to Low 0 XOS 8 Sets the last bit MSB Bit 7 in OP to 1 OP 128 See also OC OL OP Nanomotion Ltd 196 FlexDC Software User Manual Part II FlexDC Software and Commands Reference 7 53 PA Parameters Array Purpose PA is a
261. ice returned by CreateComDev function hWnd HANDLE of window to receive notifications if this parameter is NULL no notification is sent dwinQueue Received buffer maximum size dwOutQueue Sent buffer maximum size Return Value TRUE if the function succeeds otherwise FALSE If the selected port is already open or used by another device the function fails 25 2 5 CloseComDev Function Name __declspec dilexport BOOL CloseComDev PVOID pComDev Purpose This function closes an opens communication device Input Arguments pComDev pointer to Comm device returned by CreateComDev Return Value TRUE if the function succeeds FALSE otherwise Nanomotion Ltd 449 FlexDC Software User Manual Part VI Communication Library Commdll dll 25 2 6 IsConnected Function Name __declspec dilexport BOOL IsConnected PVOID pComDev Purpose Checks if port is already connected Call this function to check if port is already connected Input Arguments pComDev pointer to Comm device returned by CreateComDev Return Value TRUE if the port is open FALSE if port is closed Note The user cannot use this function to check if a port is already used by another device Using this function the user can check if a previous call to OpenComDev is successful Nanomotion Ltd 450 FlexDC Software User Manual Part VI Communication Library Commdll dll 25 2 7 CopyComInfo Function Name __declspec dilexport
262. ification letter In the case of a parameter keyword the command clause may be a report or a set parameter clause A report parameter value command clause includes only the parameter keyword with index in square brackets for arrays A set parameter value command clause includes the parameter keyword with index in square brackets for arrays and the value Parameter values can be in decimal form long integers and in text format ASCII printable characters Blanks tabs and new line characters are received echoed but ignored Back spaces are handled Nanomotion Ltd 35 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference Examples XSP lt CR gt Report parameter clauses YSP XAR 5 lt CR gt YSP 10000 Set parameter clauses BAC 1000000 lt CR gt BAR 3 345 XBG lt CR gt Commands BST 2 5 4 Language Syntax FlexDC to Host In case of a report parameter clause the reported value is sent back to the host decimal long integer text format Each character including blanks tabs new line and terminators are echoed as is unless otherwise selected by the user EO command Echo ON OFF In case of a report parameter clause the reported value is sent back to the host decimal long integer text format in RS232 and binary format in CAN bus 2 5 4 1 Clause Prompts After handling each command clause a prompt is sent back to the host computer The prompt
263. igh step values can cause oscillations due to the non linearity s especially saturation which are an inherent part of the control loop Nanomotion Ltd 73 FlexDC Software User Manual Part II FlexDC Software and Commands Reference 3 6 2 Starting a Step Motion Communication Clauses Description MO 1 Enabling the servo loop motor ON MM 8 SM 1 Setting Position Step motion mode Repetitive Mode AP 100 Assigning an absolute target position counts RP 30 or assigning a relative value for the target position BG Begin the motion Note that the FlexDC also supports repetitive Step Motions Similarly this can be done by setting SM 1 instead of SM 0 in the above sequence WT is used as the delay time between each two consecutive motions 3 6 3 Monitoring and Stopping a Step Motion Note that the step motion mode is very short one sample time As a result it is practically impossible to monitor the state of this motion In addition a step motion does not affect the EM parameter which remains at the same value as it was before the BG command Since the step motion is very short it is not practical to stop it after a BG command If a repetitive step motion is commanded the user should use the KR kill Repetitive command much like a normal PTP Rep motion 3 7 Profile Smoothing in the FlexDC The FlexDC supports an advanced symmetric S curve like profile smoothing algorithm The s
264. ilter definitions in chapter 4 Part II The user can choose to record the actual Driver Command PO value In cases where the 2 order filter is enabled the actual value recorded is the step response of the filter If no 2 order filter is used the actual value recorded is equal to the value commanded by TC In any case the value is saturated by TL The value range of the TC parameter is 16 bit reflecting the controller extended analog command resolution This means that setting TC 32767 commands an analog command of 10 volts while setting TC 32767 commands an analog command of 10 volts TC 0 of course sets analog command to 0 volts Note that the sign of the analog output can be inverted using the dedicated CG bits The Analog offset can be set using the DO command Nanomotion Ltd 222 FlexDC Software User Manual The TC parameter has the following attributes Attributes Syntax XTC 16384 ATC 0 Examples Type Axis related Array Assignment Command Allows parameter Scope Restrictions Save to Flash Default Value Range Reset value of X axis TC to 16384 Part Il FlexDC Software and Commands Reference Parameter Yes No Yes All None No 0 32 767 32 767 Set TC 0 for all axes set analog Cmd 0 The following code example enables Open Loop mode on Y axis and set the Y axis analog command output to 5 volts and 10
265. in Screen Nanomotion Ltd 350 FlexDC Software User Manual Part IV Nanomotion Shell Application The Main Screen Components Note Selected Connection enables the selection of defined connections Version Control current servo controller version Status View status of the main two axes and macro status per each axis Folder View current folder selected by user Outlook Bar enables the selection of folders and custom commands DCOM version current DCOM server version the software used 18 2 1 Axes Status Area Axes status area gives a full status report on each axis see Figure 21 Axis Postion M FFAs 7 v E o Velocity Driver Fault j n E Motion Status No Motion In TR ervo Motor Fault None Last Motion ended normally Figure 21 Axes Status Area The Servo button sets the servo ON or OFF The status on the button states the current status of the controller For instance a green button with the Servo On text means that the controller axis servo status is currently on The status area view is updated at a rate of every 500 ms Nanomotion Ltd 351 FlexDC Software User Manual Part IV Nanomotion Shell Application The Axis Status Area shows e Position current position e Velocity current velocity e Error position Error e Servo Servo ON or Servo OFF e Last Motion End last motion ending reason e RLS reverse lim
266. ing Note that p bstrString is allocated by the server and must be released by client ProgramExecute short sDEVID Opened Device ID QE Executes the program short sAxis Defined Axis for operation Nanomotion Ltd 438 FlexDC Software User Manual Part V SCServer COM DCOM Interface Library Method Keyword Function Parameters FlexDC Function Description Keyword ProgramHalt short sDEVID Opened Device ID QH Halts the running of the short sAxis Defined Axis for operation program Programlnitialize short sDEVID Opened Device ID QI Initializes the program short sAxis Defined Axis for operation Programkill short sDEVID Opened Device ID QK Kills the running of the short sAxis Defined Axis for operation program ProgramLoad short sDEVID Opened Device ID QL Loads the program from short sAxis Defined Axis for operation the SC Flash ProgramNumberStack short sDEVID Opened Device ID QN Returns a BSTR of the short sAxis Defined Axis for operation Heal a Mecha in ee e o bstrString ee a The returned program Note that bstrString is f allocated by the server and must be released by client ProgramStack short sSDEVID Opened Device ID QQ Returns a BSTR of the short sAxis Defined Axis for operation programs call stack to BSTR bstrStack The returned program bstrStack Note that stack String bstrStack is allocated by the server and must be released by client Program
267. ing information 2 7 2 1 1 CAN Bus Message Pre Fix Definition Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Reserved Reserved Special Commands Normal Command Axis ID Axis ID Command Parameter command has data not an array command Table 1 CAN Bus Pre Fix Byte Format o Bits 1 0 Much like the RS232 communication interface the CAN bus pre fix byte includes a binary bit field 2 bits that indicates the axis identifier Please note that logically the same axes identifiers as in RS232 are used as listed in Table 2 Bit 1 Bit 0 Axis Identifier Mask Hex 4 Bits 0 PING Message 0x0 0 1 X 0x1 1 0 Y 0x2 1 1 B 0x3 Table 2 Pre Fix Axes identifiers Nanomotion Ltd AT FlexDC Software User Manual Part Il FlexDC Software and Commands Reference o Bit2 This bit indicates whether the clause will include data or not 1 if clause will include data 0 if not The data may be either Assignment data or Commands Parameter data a Bit3 This bit indicates if a parameter clause is a normal parameter i e not an array parameter which means that there is no index required If this bit is set to 1 then this is a normal command not an array If the bit is 0 then the parameter is an array parameter i e an array code and index is expected See section 2 7 2 3 for Non Normal clauses Array Clauses Part Il a Bit4 This bit indi
268. ing parameters ER Max position Error Limit LL the software Low Limit HL the software High Limit TL Torque Limit IS Integral Saturation limit Changing a protection parameter 1 Change one or more of the protection parameters 2 Download the data to controller 3 Now the parameters are in the controller 4 Save parameters to Flash Memory SV 364 FlexDC Software User Manual Part IV Nanomotion Shell Application 18 3 2 3 Configuration X Y Folders Configuration Invert Motor Command Direction Main DAC and PWM Outputs Analog Command Res Inverse Main Encoder Direction Inverse Aux Enc Dir v Encoder Type Configure Sinusoidal Commutation gt P Switch A B Phases External Invert Driver Fault Logic v Driver Type Al Vv Enable Encoder Error Detection and Report as Driver Fault I Use Digital Current Loop F Use Aux Enc For Dual Loop Velocity Feedback I Use 2nd Order LPF as Velocity Feedback Filter Dual Loop Encoder Ratio FRI2 Calc Ratio CG D 4 Figure 34 Configuration Folder Configuration folder see Figure 34 includes the following options supported by the current FlexDC firmware Invert motor command direction main DAC and PWM output Inverse main encoder direction Analog command resolution 16 bit Encoder type A Quad B Analog Sin Cos Driver Type External Invert Driver Fault Logic Changing the configuration parameter Nanomotion Ltd 1
269. ing user defined position tables in ECAM The ME parameter defines the master axis for that purpose Note The master axis can be in motor ON or OFF i e MO 1 or MO 0 states In the later case the Master s DP PS so using a disabled axis as a master axis provides true encoder position tracking ME defines which axis is the Master axis for a given slave motion The ME parameter can be any valid physical axis as described below e The ME parameter can select between the following encoder inputs ME 0 for X Axis Encoder ME 1 for Y Axis Encoder ME 2 for X Auxiliary Encoder Input ME 8 for Y Auxiliary Encoder Input Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash Yes Default Value 0 Range 0 3 Syntax XMM 1 Set X Master Encoder as Y YMM Report Master Encoder of Y Axis AMM 0 Set All MM 0 See also FR MM Nanomotion Ltd 178 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 43 MF Motor Fault Reason Purpose MF is a read only parameter reporting the last Motor Fault Reason MF is automatically updated by the real time controller firmware As actual motor faults always causes an MO 0 condition Motor Disable the purpose of the MF parameter is to latch the cause of the last fault from the time that the motor is disabled usu
270. initialization statuses Attributes Type Parameter Axis related No Array Yes Assignment No read only Receive parameter Parameter type Scope Both Restrictions None Save to Flash Default Value Range A Syntax XQF1 YQF2 etc Examples XQF1 Reports the Macro Running Status Register of all axes XQF3 Reports the Macro RTE Status Register of all axes See also QI QR Nanomotion Ltd 324 FlexDC Software User Manual Part IIl FlexDC Macro Language 15 4 11 QG Get Internal State Value Purpose Gets the value of a specified internal state variable The desired state is provided as a parameter or as a stack argument For a list of supported internal states refer to section 10 8 The QG command returns the state value to the macro number stack as FALSE 0 or TRUE 1 Refer to section 10 8 Part Ill for inversing the logic of the returned value Attributes Type Command Axis related No Array sss Assignment a Receive parameter Yes Parameter type Number Scope Both Restrictions None Save to Flash Default Value Range ance Syntax QG lt Constant gt Keyword is not axis related thus XQG and YQG are equivalent Examples XQG 100000 Reports on the stack if the X axis is in motion XQG 200000 Reports on the stack if the Y axis is in motion XQG 200001 Reports on the stack if the Y axis is not in motion See also QW Na
271. ion Compare Events Examples cccccceeeeeeeeeeseeeteeeeeeees 112 6 3 Position Gapture Events neern aea en KEA ENERE 114 6 3 1 Capture Modes sssessnneennrreneesseerrrrrnrtsserrrrrrrnrtrssrrrrnnrnnnnnseernnee 114 6 3 2 Operating the Position Capture and Relevant Keywords 115 6 3 3 The Capture Events Counter XN sssssssseseessseereserrrrrrnresssrrrrne 115 6 3 4 The Capture Location XC ssssssesseessssseeserrrrnrressrrrrrnrrnrrssrerenne 115 6 3 5 Selection of Capture Source Pulse YOM eccceeeeeeeeeeeeees 116 6 3 6 Configuring Fast Digital Inputs for the Capture Function 118 6 3 7 Position Capture Events Examples cc cccceeeeeeeeeeeeeeteeeeeeeeees 118 6 4 Auxiliary Analog Input Interfaces 0 0 0 0 cece ceseeecceeee eee eeeeeeeeeeeeeeeeeeeeeees 121 6 5 Dynamic Error Mapping Correction iss 20 csentese fase cite Greate nd meee 123 7 Keywords Reference 40 c ccna hen ent iends edict 124 7 1 Keywords Attribute Reference cccceeeeeeeseceeeceeeeeeeeeeeeeseeeeeeeeeeeeenees 124 7 2 Command Keywords List 22 33 sj cunt ein esate wit tient enn aniest 126 7 3 Parameters Keywords List ccccccceeeeeeeeeeeeneeeceeeeeeeeeeeeennaeeaeeeeeeeeeeeae 127 7 3 1 Parameters Keywords List cceeeeeeesescceeeeeeeeeeeeeeeesesseeeeeeeees 127 7 4 Keywords List Functional Groups cccesseeceeeeseeec
272. ion Parameters and reset position XAC 100000 XDC 100000 XDL 100000 XSP 10000 XPS 07 XMO ii XAP 10 00 0 Configure IO_MODE_1 Use X Axis Compare on Index YOM 10 Set IO_MODE_1 X Compare on Index Start X motion and enter a Loop to wait for the Index Pulse XXN 0 XBG while XXN Wait for Next Index endwhile Index is found Stop the motion The Index location is stored in XXC Stop the program XST XQH Nanomotion Ltd 120 FlexDC Software User Manual Part II FlexDC Software and Commands Reference 6 4 Auxiliary Analog Input Interfaces The FlexDC has two general purpose analog inputs Analog inputs are nominally 10v and are converted using 12 bits A2D s in the FlexDC The analog input values as can be reported by the Al parameter XAI YAI in the FlexDC Al is the value of the analog input after deducting the Offset parameter AS see Figure 11 Hardware Software 1 H W A2D Gain 2047 10 Figure 11 Analog Input Scaling Block Diagram Note The analog inputs are sampled at 1kHz each input is sampled every 8 Servo cycles For a complete description of the Analog Inputs Hardware circuits refer to the FlexDC User Manual The analog input value is calculated and reported by the software variable Al according to the following equation AI Floor Ainp x A2DHWGain AS x AGx 2 Nanomotion Ltd 121
273. ion Shell Application 18 4 2 Communication Menu 18 4 2 1 Setup Communication Communication Settings Communication Controller Name setting name Controller Type COM Options Local Computer IP Address n c Controller Communication Protocol R5232 7 DCOM location Protocol RS232 parameters RS232 Communication R5 232 Port COM 1 RS 232 Baud Rate C 38400 115200 CAN parameters CAN Communication PC Tx CAN Add 0 2047 PC Rx CAN Add 0 2047 Baud Rate 1000 KBPS Channel Dip aol igs tgs Controller LAN Communication Setup IP ny Port PE Delete Update He C Figure 51 Communication Settings Dialog Box Nanomotion Ltd 385 FlexDC Software User Manual Part IV Nanomotion Shell Application Nanomotion Ltd The Setup Communication menu see Figure 51 enables the communication type definition for using the controller The Setup Communication dialog box components Controller Name user defined communication setting name This name is unique to each type of communication Controller Type the supported controller is SC AT 2M FlexDC DCOM Location the location of DCOM server The location defines the computer the controller is connected to The location can be a Local on the current computer a Computer a computer name on the local area network use the Browse button under the COM Options for a list of all
274. ion of the subject it is discussing The user can easily navigate through the manual using the embedded links in every chapter 1 2 FlexDC Software User Manual Structure Part l Preface Chapter 1 Preface Part Il FlexDC Software and Commands Reference This part focuses on the FlexDC communication syntax protocols including response to commands clauses and errors Chapter 2 Commands Syntax and Protocols This chapter provides full information over the supported software features of the product and gives a user technical reference for each keyword supported by a communication protocol Chapter 3 Motion Modes This chapter describes the various motion modes that are supported by the FlexDC Chapter 4 The Control Filter This chapter describes the Linear Filters equations and Non linear Algorithms Chapter 5 Faults Protections and Limits This chapter provides detailed description of faults protections and the controller s response in each case Nanomotion Ltd 23 FlexDC Software User Manual Part I Preface Document Structure continued Chapter 6 Advanced Features This chapter describes the FlexDC advanced features such as Data Recording Advanced Encoder Interfaces and others Chapter 7 Keywords Reference This chapter describes the keywords supported by the flexDC firmware Chapter 8 Communication and Program Error Codes This chapter lists all possible communication and pr
275. ironment Refer to sections 13 4 3 and 13 4 5 Part III for further information Nanomotion Ltd 261 FlexDC Software User Manual Part IIl FlexDC Macro Language Program flow control commands may only be executed from within a macro code i e these commands are not supported from communication terminal Example The following low level macro code segment demonstrates a subroutine that waits for end of motion condition in the X motor of the controller The subroutine returns if the X motor is not in motion While in motion the subroutine is in an infinite loop Calling for this subroutine from another code segment is also shown 6 Ae Ae e Ae Ae He Ae Ae Ae Ae Ae Ae Ae Fe Ae Ae Ae Ae Ae Ae KK KKK KKK KKK KKK KK KK e A Ae Ae e A e e e e A A k k k k A AR Called Subroutine WEM _X Wait for end of motion on X motor 6 WEM_ X Wait for No motion in X motor 1 Push X motion status XMS parameter 2 Push constant 1 motion status bit 1 means motion ON or OFF 3 Execute amp operator to extract bit 1 and store the bit on the stack top 4 Execute a JumpTrue command to the label WEM_X i e if XMS l 0 condition satisfied the program will jump back to the sub start location The program will continue when the jump condition is false i e XMS 0 meaning the motor is not in motion J XMS 0 XJT WEM_ X End condition met so return to calling su
276. irst computes the Vector Distance and Vector Angle based on the X and Y motion distance components The vector distance is not directly defined along the vector but instead it is defined as its X Y components The desired motion distances for the X and the Y axes are defined normally using AP or RP The desired distance along the X axis is KAP XDP and YAP YDP for the Y axis The DP value represents the desired current position before the motion while AP is the desired target position The Vector Distance and Angle are computed as follows Vector Distance SQRT XAP XDP YAP YDP Vector Angle ATAN YAP YDP XAP XDP Once the Vector Angle is determined it is used to compute the accelerations decelerations and speeds projection on both X and Y axes as follows XAC AVA SIN Vector Angle XDC AVD SIN Vector Angle XDL AVL SIN Vector Angle XSP ASP SIN Vector Angle Nanomotion Ltd 230 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference YAC AVA COS Vector Angle YDC AVD COS Vector Angle YDL AVL COS Vector Angle YSP ASP COS Vector Angle In the next phase of the BBG 1 command both the X and Y axes are commanded for synchronized motion based on the AC DC DL SP parameters computed above The actual axis specific AC DC DL SP are being overwritten by the BBG 1 Note that in this case the BBG 1 command must be use BBG XBG 1 or YBG 1 starts a
277. is always 0 or 1 gt 0 Is positive lt 0 Is negative 0 Is zero 10 Is not zero gt Is greater lt Is smaller Is equal l Is not equal gt Is greater equal lt Is smaller equal Table 42 Macro Program Operators Note that push and the pop operators must be attached to a parameter name Nanomotion Ltd 310 FlexDC Software User Manual Part IIl FlexDC Macro Language 15 3 3 Flow Control Keywords Keyword Description cS Call subroutine at a new macro pointer CT Call subroutine if last stack element is TRUE not zero CF Call subroutine if last stack element is FALSE zero JP Jump to a new macro pointer JT Jump if last stack element is TRUE not zero JF Jump is last stack element is FALSE zero JZ Jump to anew macro pointer and clear subroutines stack to restart the macro with subroutines stack clear RT Return from a subroutine Table 43 Macro Program Flow Control Keywords 15 3 4 Wait and Internal State Inquiry Functions Keyword Description Qw Waits till a specified internal state will be set or cleared QG Gets the value of a specified internal state variable The desired state is provided as a parameter or as a stack argument Table 44 Macro Program Wait And State Inquiry Keywords 15 3 5 Timer Function Keywords Keyword Description iTd Timers down axis related variable Consists of 32 bits positive only Each element is calcula
278. is keyword for the previous example define blnput3 XPA10 XIP binput3 ANS amp 4 As before the global Parameters Array PA 10 is used to define a user variable bIlnput3 XIP is then pushed to the stack top The math expression recognizes the ANS keyword indicating that the stack already contains a parameter so it just extracts from it bit 3 using the bit wise amp operator with argument 4 and then store the result in bInput3 actually XPA10 Nanomotion Ltd 13 4 2 2 Using FlexDC Commands as Operands A right hand side of a mathematical expression may include a FlexDC command that receives parameters The following example demonstrates the usage of this syntax We are using again the previous example to get a variable holding the Boolean value of digital input 3 297 FlexDC Software User Manual Part IIl FlexDC Macro Language Example define bInput3 XPA10 blInput3 XQG 30 The XQG command inquiring internal state value is used here to get the value of digital input 3 parameter value 30 is INPUT_3 The value is pushed to the stack top by the command itself Is then assigned to blnput3 actually XPA10 13 4 3 If Blocks If blocks are used for conditional code execution As with math statement expressions the if else and endif statements should start with the character symbol The syntax for the if block statement is if expression Statement1 else Optiona
279. is not axis related thus XZA YZA and BZA are equivalent Examples XZl1 100 Remote Receive Address RA 100 XZIl2 101 Remote Transmit Address TA 101 1 XZA XMO Remote Motor ON MO 1 See also ZC ZI ZM ZR ZS Nanomotion Ltd 340 FlexDC Software User Manual Part IIl FlexDC Macro Language 15 4 27 ZC Remote Command CAN Networking Purpose A Remote Command which sends a command clause to the remote unit The command to send is the ZC command s parameter The command does not affect the numeric stack Attributes Type Command Axis related No Array oe Assignment ae Receive parameter Yes Parameter type String Scope Program Restrictions None Save to Flash Default Value Range sss Syntax ZC lt String Parameter gt Keyword is not axis related thus XZC YZC and BZC are equivalent Examples XZ11 100 Remote Receive Address RA 100 XZl2 101 Remote Transmit Address TA 101 XZC XBG Remote Begin Motion BG See also ZA Zl ZM ZR ZS Nanomotion Ltd 341 FlexDC Software User Manual Part IIl FlexDC Macro Language 15 4 28 ZI Remote Parameters Array CAN Networking Purpose An axis related array parameter The ZI 1 array holds the address of the remote device to send messages to The ZI 2 array holds the address of the reply sent back to the FlexDC i relates to the current macro Attributes Type Parameter Axis related Yes Array
280. is overridden and lost As indicated above XC is an axis related parameter keyword Each axis holds its own Captured Position Location value Nanomotion Ltd 115 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 6 3 5 Selection of Capture Source Pulse YOM The user can configure the Capture pulse source by modifying the IO_MODE_1 register This is in the current firmware version done using the YOM parameter see the OM keyword reference in chapter 7 Part Il for further information This is a 32 bit array word defined as follows 6 3 5 1 1O0_MODE_1 YOM Keyword IO _MODE_1 Bits 15 0 15 14 13 12 11 10 9 8 7 6 51 4 3 2414 0 Pol Y Axis Capture Pol X Axis Capture Source Select Source Select The order of Bits in Each Byte is identical for all axes The Bit order in each Byte is described below Bits 0 3 selects the X Axis Capture Source 0000 X Event source is Din1 0 0001 X Event source is Din2 1 0010 X Event source is Din3 2 0011 X Event source is Din4 3 0100 X Event source is Din5 4 0101 X Event source is Din6 5 0110 X Event source is Din7 6 0111 X Event source is Din8 7 1000 X Event source is Din9_Fast 8 1001 X Event source is Din10_Fast 9 1010 X Event source is Ind
281. it switch ON OFF e FLS forward limit switch ON OFF e SLL software low limit ON OFF e SHL software high limit ON OFF e Driver Fault driver Fault ON OFF e In Motion in motion ON OFF e Motion Status the current motion status description text e Motor Fault text of motor fault if one occurred 18 2 2 Macro Status Area The macro status area gives a status view of the currently running macro see Figure 22 Macro Ir Initialized Running X Y Figure 22 Macro Status Area The Macro Status Area reports the following e initialized If macro is initialized or not e Running Status of each of the macros Green LED macro is currently running Red LED macro stop running due to an error Gray LED macro currently is not running Nanomotion Ltd 352 FlexDC Software User Manual Part IV Nanomotion Shell Application 18 2 3 Version Control Area The Version Control Area shows the current version of the servo controller and its communication parameters see Figure 23 Figure 23 Version Control Area The version format is as follows Servo controller type SC AT 2M FlexDC Firmware version Communication name Communication port Communication baud rate Servo controller location of connection At a local computer or at a network computer 18 2 4 Fast Menu Button D Figure 24 Fast Menu Button The fast menu button see Figure 24 shows
282. ith Download Macro menu item or Save and Download Current Macro menu item see sections 19 7 5 1 and 19 7 5 2 Part IV If the macro is already in the controller on the Macro menu click on one of the following e f macro is not opened in the editor click Debug Macro see section 19 7 5 3 Part IV e f macro is opened in the editor click Debug Current Macro see section 19 7 5 4 Part IV After the Macro File Editor Application is in debug mode the editor shows the following components see Figure 59 Code Debugging Area shows the current debugging status macro commands their lines and low level commands translation Line Number editor macro line number Controller Memory Address controller s commands memory address User Macro Command pre compiled macro command as appears in the macros scm file Macro Command Interpretation interpretation of the macro command in low level controller commands As seen in Figure 59 the debugging area shows the user macro command and the corresponding low level commands The debugger runs on the low level commands and in each line resides one controller command Nanomotion Ltd 403 FlexDC Software User Manual Part IV Nanomotion Shell Application Has Numb User Macro ine Number XPS XPS 1 Command 04264 04269 Controller Macro 04272 04274 Command Interpretation Memory Address Figure 59 Debugging Area Example e Debug T
283. ive command e To the value of PO the final filter signal output after the 2 order filter calculations an offset value defined by DO DAC Offset is added in order to compensate analog output voltage offset Although the software range limit for DO is 382 767 in DAC LSB units it is usually not required to use values more then few hundreds Note that by using high values of DO a non symmetrical analog output range can be resulted The final DAC command is always protected from roll over beyond 16 bit value It is recommended to set DO to 0 Nanomotion Ltd 84 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference e The encoder has a finite digital resolution which also implies a non linear quantization effect e Non Linear Gain Scheduling see the next section for more information 4 7 Filter Gain Scheduling The FlexDC software has a built in control filter gain scheduling logic The gain scheduling logic may be used in order to improve the settling performances of a system mainly to reduce settling times This is done simply by changing the filter s constants KP KI KD for a short period of time after a motion is completed The user can define the period after previous end of motion condition in which the gain scheduling is effective The following parameters can be used by the user in order to operate the gain scheduling feature e KP 2 is the parameter replacing
284. kage is sometimes required the FlexDC supports a dedicated feature a dedicated keyword Qk that halts the macro execution and all motions of ALL axes Upon receiving a BQK command the controller immediately stops all motions and macro programs 11 2 Macro Syntax Check and Run Time Error The FlexDC does not perform any macro syntax check when the macro is downloaded or before it is executed Only a limited syntax check compilation is performed by the Nanomotion Shell Application before the macro is downloaded However during macro execution at run time each executed clause is checked as part of its interpreting process In case of an interpretation error the controller performs the following e Assigns the Error Code to QC This keyword axis related identifies the last macro run time error code the same as the EC codes e Stops the macro execution as with the QH keyword with the macro pointer QP pointing to the clause with the run time error This feature is very important for debugging a macro program Nanomotion Ltd 269 FlexDC Software User Manual Part IIl FlexDC Macro Language 11 3 Macro Size and Number of Labels The FlexDC macro is saved on the hardware Flash Memory as a linear buffer This macro buffer is 16KB long There is no direct limitation on the number of labels that are supported by the FlexDC macro program The only limitation is the total number of macro bytes Note that each label definition consumes 19
285. l Statement2 endif The if keyword executes statement1 if the expression is true nonzero If else is present and the expression is false zero it executes statement2 After executing statement1 or statement2 control passes to the next statement Nested if blocks are supported It is possible to include while and for loops within an if statement given that they do not cross the boundaries of the if block and each other s Statements may be any valid normal or math expressions Valid operators within the if statement itself the conditions are e Valid math operators amp 4 e Valid logical operators gt lt 22 gt lt Nanomotion Ltd 298 FlexDC Software User Manual Part IIl FlexDC Macro Language Example 1 This example shows a simple usage of an if block to compute an ABS value of a parameter XPA1 100 Assign a temporary negative value to XPA1 if XPA1 lt 0 Simple lt 0 If expression XPA1 XPA1 Statement 1 endif End if The result of this code block will be a positive value of 100 XPA1 initialization of XPA1 100 is for the example purpose only Example 2 This example shows a simple implementation of a saturation function The saturation value is given by a parameter XPA1 100 Assign a temporary negative value to XPA1 XPA10 45 Saturation value Check negative saturation if XPA1 lt XPA10 Simple lt If expression XPA1
286. l axes See also CG KI KD Nanomotion Ltd 174 FlexDC Software User Manual Part II FlexDC Software and Commands Reference 7 39 KR Kill Repetitive Motions Command Purpose The KR Kill Repetitive command terminates repetitive Point To Point motion cycles Unlike the ST command the motion is not stopped immediately but stops after the current motion has ended Attributes Type Command Axis related Yes Array Boe Assignment cos Command Allows Parameter No Scope All Restrictions None Save to Flash Default Value Range maai Syntax XKR Stop X Repetitive Motion AKR Stop Repetitive Motion of All axes Examples The Next example shows starting a Repetitive motion in X axis from Position 0 to Position 100 000 using WT Wait delay between the motions KR is then issued to kill the repetitive motion XMO 1 XPS 0 Enables the motor and Set Position 0 XMM 0 XSM 1 Set Repetitive Point To Point Motion Mode XAP 100000 Set Next PTP absolute location to 100 000 counts XAC 250000 Set Acceleration to 250 000 XDC 500000 Set Acceleration to 500 000 XSP 25000 Set Speed to 25 000 XWT 16384 Set 1 second delay between motions XBG Starts a Motion XKR Terminatea the repetitive motion See also BG AB ST SM MM WT Nanomotion Ltd 175 FlexDC Software User Manual Part Il FlexDC Software and Comma
287. last recorded data This menu item does not upload the recorded data 18 4 5 4 Open Graph Application The Open Graph Application opens the SD viewer 18 4 5 5 Start Recording with Begin Motion The Start Recording with Begin Motion starts the recording when one of the axes receives the Begin Motion command Select the Start Recording with Begin Motion to start recording with BG command Deselect this menu item and the BG command does not start the data recording The recording parameters must be downloaded to controller before the begin motion occurs 392 FlexDC Software User Manual Part IV Nanomotion Shell Application 18 4 5 6 Stop Current Recording Process The Stop Current Recording Process menu item stops the current ongoing recording process This menu item does not upload the recorded data 18 4 5 7 Start Recording The Start Recording sends a start recording command to the controller 18 4 6 Tools Menu This menu includes Tools for easy array editing and watch dialog to view online changes in the controller 18 4 6 1 Array Editing x Value z Array AR 10 AR 11 AR 12 ARNAI Array Axis Anay Type E O Array type Start Index Range 1 i Oooo Close Array menu Figure 53 Array Editing Dialog Nanomotion Ltd 393 FlexDC Software User Manual Part IV Nanomotion Shell Application The Array Editing menu item enables editing controller s arrays see Figure 5
288. lay WT is expired a new motion is automatically initiated to the starting position AP is updated to this value When the latter motion is completed and the WT delay is finished the cycle starts again This back and forth motion is repeated until stopped by one of the following clauses AB abort ST stop KR Kill repetitive and MO 0 The SM command is restricted to No Motion condition Trying to change SM value while motion is in progress generates an EC_NEEDS MOTION OFF error 50 Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows Parameter Scope All Restrictions Needs Motion OFF Save to Flash Yes Default Value 0 Range 0 8 Syntax XSM 1 Set X Axis SM 1 ASM 0 Set SM 0 in all axes Nanomotion Ltd 213 FlexDC Software User Manual Part II FlexDC Software and Commands Reference Examples The following code example shows starting a Normal Non Repetitive motion in X axis from Position 0 to Position 100 000 XMO 1 XPS 0 XMM 0 XSM 0 XAP 100000 XAC 250000 XDC 500000 XSP 25000 XBG Enables the motor and Set Position 0 Set Normal Point To Point Motion Mode Set Next PTP absolute location to 100 000 counts Set Acceleration to 250 000 Set Acceleration to 500 000 Set Speed to 25 000 Start a Motion The Next example shows starting a Repetitive motion in X axis from Position
289. layers the RS232 and CAN bus communication links and their protocols are completely independent from one another and can be used simultaneously excluding few special cases as described in section 2 2 1 below Process ASCII RS232 Messages Process Binary CAN Messages Firmware Main Idle Loop Process Internal Scripts Programs Figure 1 Communication Channels Handling within the Firmware Main Idle Loop Nanomotion Ltd 28 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference As shown in Figure 1 the servo controller firmware main loop is continuously monitoring both communication channels handling incoming messages separate from one another This is possible in the FlexDC firmware and syntax architecture as almost all keywords and commands are executed immediately without blocking any other processes The complete bits and bytes comprehensive description of each one of the protocols is fully covered further in this user manual 2 3 2 2 1 Simultaneous Communication Channels Operation Support As discussed above both communications protocols can operate simultaneously without any interference This is possible in the FlexDC architecture as almost all keywords and commands are executed immediately without blocking any other processes However there are certain cases where a special operation in one channel can block the other These cases are e When downloading new firmware i
290. leration deceleration distance etc can be modified on the fly under almost any conditions Nanomotion Ltd 463 FlexDC Software User Manual Part VII Glossary e Position Capture Events Capture Position feature is the ability of the encoder interface hardware to capture latch the exact encoder location when a pre defined Input or encoder Index is detected The Capture hardware can latch encoder position when counting at ANY encoder speed The Capture mechanism can be programmed to latch encoder positions based on a user defined digital input or encoder index pulse e Position Compare Events the Compare Position feature is the ability of the encoder interface hardware to compare the actual encoder hardware counter value to a pre defined user register value and to generate a H W pulse when there is a condition match The basic compare mechanism can work at ANY encoder speed Compare mechanism can be operated as a fixed GAP auto increment condition or variable GAP tables e Scripts or Macro Programming the FlexDC supports up to 2 simultaneous internal programs also referred to as Scripts or Macro programs Internal programs are used for tasks like Homing an axis or other user defined low level servo tasks The FlexDC is provided with an advanced SDE Software Development Environment including very powerful debugger and editor utilities making Scripts programming and debugging an easy task e Windows Shell Progra
291. lexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 49 OL Output Logic Purpose Sets and gets the FlexDC Output Port Logic control word Using the OL Output Logic parameter the user can control the actual H W logic level of each bit in the controller Output Port Word Each bit in OL corresponds to the same bit in OP and to a specific H W digital output The bit order of OL is the same as OP i e e Bit 0 of OL Controls the logic of digital output port 1 e Bit 1 of OL Controls the logic of digital output port 2 e Bit 7 of OP Controls the logic of digital output port 8 OL is non axis related so axis preceding character has no effect OL is usually set to a pre defined value after the initial application setup and then OP OS or OC should be used to control the outputs Attributes Type Parameter Axis related No Array No Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash Yes Default Value 0 Range 0 255 Syntax XOL 0 Set non inverted logic to all digital Outputs AOL Report value of OL the output port word XOL 128 Invert the logic of output port 8 XOL 255 Invert the logic of all output ports See also OC OP OS Nanomotion Ltd 189 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 50 OM I O Modes Hardware
292. ll parameters and issues a dedicated Error Code if any of the parameters is out of range The Compare function works correctly ONLY if the sign of Distance corresponds to the direction of motion and to PStart and PEnd definitions This means that for Distance gt 0 the user MUST specify PEnd gt PStart and the motion direction MUST be positive i e from lower encoder count to higher encoder count For Distance lt 0 the user MUST specify PEnd lt PStart and the motion direction MUST be negative i e from higher encoder count to lower encoder count Ifthe above conditions are not met the compare pulses are generated in unexpected positions 6 2 2 Mode 2 32 Bit Arbitrary Tables Mode 2 allows the user to define an array of 32 bit position locations to specify arbitrary compare locations In Mode 2 the user fills in the desired compare locations to the general purpose array AR In the FlexDC up to 1 000 compare points may be defined currently limited by the size of the AR array The user then defines the Start and End indexes index entries on the AR array from which the compare locations are taken The Distance parameter needs to be defined as 1 for positive motions and 1 for negative motions Nanomotion Ltd 105 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference Notes In this mode the controller real time firmware code is responsible for table points location
293. llowing e Download parameters to controller e Upload parameters from controller e Set parameters default values Configurations folder group includes the following folders e CAN folder see section 18 3 2 1 Part IV e Protection folder see section 18 3 2 2 Part IV e Configuration X Y see section 18 3 2 3 Part IV Nanomotion Ltd 362 FlexDC Software User Manual Part IV Nanomotion Shell Application 18 3 2 1 CAN Folder CAN Baud rate KBPS Baude Rate 1000K x Rix fi TE 200 2 1 21 2 21 3 E E l 21 10 21 11 21 12 Figure 32 CAN Folder CAN folder see Figure 32 supports the following parameters CAN baud rate Rx address Tx address Zlarrays Changing the controllers CAN address 1 Select the desired baud rate 2 Enter the desired Rx address 3 Enter the desired Tx address 4 Enter Zl s values optional 5 Download the data to controller Nanomotion Ltd 363 FlexDC Software User Manual Part IV Nanomotion Shell Application 18 3 2 2 Protection Folder The Protection folder see Figure 33 includes the protection parameters which are automatically loaded by the Nanomotion Shell Application Protection Axis ER fsoo000 ig pae eR 20000 ig fzer oo LL 100000000 w fo HL fioooooooo HL fo TL 200 tL fo Nanomotion Ltd Figure 33 Protection Folder Protection folder supports the follow
294. load Data Gap the gap between CAN messages when uploading recorded data e Kill Repetitive After Upload Data select this check box if it is required to stop repetitive motion after the recorded data had been uploaded e Recording Variables RV this UI section enables the selection of the variable to be recorded on relevant RV vector Each vector can record every one of the two axes and every axis has the following possible recording data None e Position Velocity Position Error Desired Position Driver Command Status Register Motion Status Analog Input Motor Fault Motor Status Motor s Current Filter Data Log Digital Inputs Digital Outputs Actual Digital Out Heatsink Temp Nanomotion Ltd 375 FlexDC Software User Manual Part IV Nanomotion Shell Application The RV vectors must have sequential order this dictates the UI behavior The UI will enable RV variable only if the RV before that has a value other than None If a RV variable value will be selected with None value all the RV that follows him will be reset to None value and disabled The folder buttons e Start Recording downloads all the recording parameters and starts the recording process e Stop Recording stops the current ongoing recording e Upload Recording Data uploads the recording data that is currently in the controller This optio
295. lt in a malfunctioning un expected results board In CAN bus communication the standard VR report has the following syntax see Table 31 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Type FW Ver FW Ver Num FPGA Reserved Macro Macro Number Hi Low Axes Version Size Hi Size Low 52 0 101 2 5 0 0 16 Table 31 FlexDC to Host CAN VR Version Report Message Format Nanomotion Ltd 233 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference The VR Version Report command also supports receiving a parameter as part of the command syntax Calling VR without any parameter is fully compatible to previous revisions version report format indicated above However the controller now also supports the following additional version reports BVR 1 Reports Boot and Single or Dual Axes Controller Version BVR 2 Reports Firmware Major and Minor Versions with its release Date and Time BVR 3 Reports the FPGA Version In current firmware version special VR requests are supported on the FlexDC in RS232 only The VR command has the following attributes Attributes Type Command Axis related No Array are Assignment east Command Allows Parameter Yes see above Scope All Restrictions None Save to Flash Default Value Range a Syntax XVR Standard Version Report XVR 2 Reports Firmware Major
296. lter Parameters 90 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 5 Faults Protections and Limits The FlexDC includes various protection mechanisms and status report parameters which ensure safe operation and easy troubleshooting The protective mechanisms are divided into two groups protections and limitations e Protection refers to the detection of a fault condition and the response to this condition generally disabling the servo e Limitation refers to an algorithm which continuously monitors and limits saturates a value keeping it from reaching a fault condition e Fault represents a list of conditions which are detected and responded to with a proper protection function Some of the protections are implemented directly by the hardware ensuring safe fast and immediate response while some are implemented by software providing user control of the protection behavior All detected faults result in immediate Servo OFF condition Analog signal commands are reset to 0 voltage and the drivers are immediately disabled The FlexDC controller detects the following faults e Driver Fault via the Fault Input refer to the Fault Output and TP Termal Protection sections in the AB5 AB51 Driver User Manual e High Position Error e Encoder Signal Error two types of encoder error detection e Motor Stuck Condition The FlexDC includes the following protections
297. ly used from within a macro program as temporary variables registers Another common requirement is to perform indirect addressing to an array of variables This is to enable based indexing to a set of parameters In order to support this feature a special array keyword is defined This is the IAi array see description below For ease of use each array described below may be accessed through both the communication lines and internally from within a macro with or without the square index brackets Nanomotion Ltd 256 FlexDC Software User Manual Part IIl FlexDC Macro Language Square brackets must be used when using indirect addressing as an exception i e AR XIA6 see further explanation below The following arrays are currently defined Array Axis Size in Name Related FlexDC Notes AR i No 1 16000 This is a general purpose array And may be used elements freely from within a macro program i e AR1 This array is also used for Compare Mode and through For Data Recording The data recording is performed AR16000 from index 16000 backwards Therefore once performing data recording and using the AR array the user MUST act carefully PA i Yes 2x 100 This is a general purpose array Parameters Array elements intentionally defined for temporary usage of macro i e XPA1 variables through No other internal controller function uses this array XPA200 under any circumstances a
298. m Nanomotion Shell Application Nanomotion provides an enhanced Windows 9x or NT 2000 XP Nanomotion Shell Application program for easy and fast interface with the FlexDC Using the Nanomotion Shell Application starting up or verifying a new idea concept is just few mouse clicks away NanomotionLid 864
299. mDev bBlock Block the read thread plnpBuf Pointer to Buffer Receiving RS232 DatanMaxLenInpBuf Max Size of Receiving Buffer nBytsRead Number of Bytes actually received from the communication port 0 if function succeeds If the function fails an error code is returned 454 FlexDC Software User Manual Part VI Communication Library Commdll dll 25 2 11 ReadSizeComBuf Function Name __declspec dilexport int ReadSizeComBuf PVOID pComDev LPSTR pinpBuf DWORD nMaxLeninpBuf long IReadNumberOfBytes DWORD dwTimeOut DWORD amp nBytsRead Purpose Reads a number of bytes from the port within a given timeout Input Arguments pComDev Pointer to Comm device returned by CreateComDev pInpBuf Pointer to Buffer Receiving RS232 Data nMaxLenInpBuf Max Size of Receiving Buffer IReadNumberOfBytes Expected number of bytes to read from port dwTimeOut Time out In miliseconds for wait nBytsRead Number of Bytes actually received from the communication port Return Value 0 if function succeeds If the function fails an error code is returned Nanomotion Ltd 455 FlexDC Software User Manual Part VI Communication Library Commdll dll 26 Communication Error Codes The following error codes are reported by the DLL COM_OK 0 COM_TIMEOUT COM_COM_ERR COM_READ_ERR COM_WRITE_ERR COM_BUFFER_TOO_BIG COM_BUFFS_NOT_VALID COM_PDEVNOT_VALID COM_DEVNOT_VALID COM_PARAM_ERR COM_BAD_ECHO COM_CANT_PURGE_COM
300. mal comments that are stripped during the pre compile process and are not downloaded to the macro buffer The syntax for the directive is description descriptive string All the description directive statements in a source file are searched for by the pre compiler The descriptive strings are then placed in a special place in the beginning of the macro buffer The descriptive string must appear within Note that the may be a part of the string The description directive may appear anywhere in a source file Nevertheless during download all descriptive strings are located at the head of the macro buffer Each description statement is presented as a single line in the macro buffer Nanomotion Ltd 291 FlexDC Software User Manual Part IIl FlexDC Macro Language Descriptive strings are contained in an uploaded macro buffer on the Macro menu click the Up Load Macro The user may also inquire all directive strings with the BQV command via the terminal Note Since descriptive strings are downloaded to the controller macro buffer they consume macro buffer space unlike normal comments Use them carefully The following example illustrates the usage of the description directive Example The use of description directive statements to define program version control The following code fragment demonstrates a simple program header that includes descriptive statements and hardware target definitions
301. mand structure is expected see Table 3 Note Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Pre fix KeyW KeyW Data 3 Data 2 Data 1 Data 0 optional optional optional optional Table 3 Normal Clause CAN Bus Message Format 2 7 2 2 1_ Normal Clauses Bytes Description Back spaces blanks tabs and new line characters are not valid under CAN Nanomotion Ltd o Byte 1 A pre fix as described above including clause attributes AxisID data See section 2 7 2 1 above o Bytes 2 3 Two bytes representing clause ASCII Keyword same as RS232 communication keywords All the controller keywords as described in chapter 7 Part Il are valid here except those representing Arrays not normal clauses o Bytes 4 7 optional These 4 bytes are optional and includes a binary data element signed long representation Note that this parameter is optional and is regarded by the controller only if the Pre Fix Data bit bit 2 is 1 i e clause includes data 49 FlexDC Software User Manual a Byte 8 Part Il FlexDC Software and Commands Reference Not used Must be empty for future compatibility 2 7 2 2 2 Normal Clauses Examples The report X SP clause will be represented in RS232 by XSP lt CR gt RS232 Set parameter clauses and in CAN by Byte 1 Byte 2 Byte 3 Byte 4 Byte
302. mation on macro compiling and downloading see section 19 7 5 Part IV Open file in Edit View Area There are two ways to open file in workspace e Double click on the file in the workspace area e On the File menu click Workspace press Open and select a file Workspace changes are saved only after saving the workspace closing the workspace without saving discards the changes Nanomotion Ltd 399 FlexDC Software User Manual Part IV Nanomotion Shell Application 19 4 Macro Editing E CRS Editor orbit_main scm oj x File Edit Options View Macro Communication Window Help l8 x JO e St BOs ma 44 Ke amm eld gt gt cle l Hy alxj File orbit main scm orbit cws orbit_defs scm obk manson ae aa sc8m_global_defs sc1 ftarget Sc 2m 203 0 250000 Project definitions description Orbit Macro Rev O1 e Definitions Include file include lt orbit_defs scm gt include lt sc8m_global_defs scm gt r r HARK KAKKKKKKKKKKRKAARAKAKKKEKKKRKKEKRKEEKEKREREREEEKEKEKEREEEEEEEEEER F KRKKKKAKEKKKKARAKAA KKK KKAARKAARKKAAKKAKAAKAARKAREKRKAEKRKERKEAREAEEE AUTOEX Function Called at power on HANTOEX r gt SCANAxis 1 1 irstRotation xis 1 ied Files 4 gt ca xj d LA Hit F9 to toggle a line marker Figure 57 Macro Editing Edit mode enables to edit macro files In this mode the editor gives a powerful text editor with syn
303. me directive commands may appear anywhere in a source file while some are valid only at the beginning of a file The target directive must appear only at the beginning of a source file The define description and include directives may appear anywhere in a source file Like C programming the define directive command applies only to code appearing after its definition this is also true for defines within include files As a thumb rule use all define directive statements at the beginning of any source file Use separate include files for define statements and for sub routines implementation Below are described the directive commands supported by the Nanomotion Shell pre compiler 13 3 1 The target Definition Directive The target directive defines the current firmware type and version of the hardware to which the macro is being downloaded to It is used to define features supported by the current version internal controller macro buffer size and possibly other parameters The syntax for the directive is target lt product type gt lt product version gt lt buffer_offset gt lt buffer_size gt All the characters between the are the actual target definition Comment may be placed on the same line after the target definition preceded by the comment sign character For example the following target directive defines a FlexDC product firmware version 1 41 macro buffer offset 0 and macro buffer size 2
304. module created by the call to CreateComDev and frees all memory The user must call this function before closing an application Input Arguments pComDev pointer to Comm device returned by CreateComDev Return Value TRUE if the function succeeds FALSE otherwise NanomotionLid az FlexDC Software User Manual Part VI Communication Library Commdll dll 25 2 3 SetupComDevinfo Function Name __declspec dilexport int SetupComDevinfo PVOID pComDev BYTE nPort WORD wBaudRate BYTE bByteSize BYTE bParity BYTE bStopBits Purpose This function initializes the communication port device Call this function before trying to open the port Input Arguments pComDev Pointer to Communication device returned by CreateComDev function nPort Port Number 1 2 3 or 4 wBaudRate Baud Rate CBR_300 _ 4800 9600_19200 bByteSize Byte Size Must be 8 bits Bparity Parity Must Be NOPARITY bStopBits Stop Bits Must Be ONESTOPBIT Return Value 0 if OK otherwise an error occurred Use the ShowCommErr function with the return value to show an error message Nanomotion Ltd 448 FlexDC Software User Manual Part VI Communication Library Commdll dll 25 2 4 OpenComDev Function Name __declspec dilexport BOOL OpenComDev PVOID pComDev HWND hWnd DWORD dwinQueue DWORD dwOutQueue Purpose This function opens the selected communication device Input Arguments pComDev Pointer to Communication dev
305. moothing is controlled by the WW parameter The WW can be set to 0 to avoid any profile smoothing In that case the generated position velocity profile is pure trapezoidal or triangular If the WW is set to 12 the smoothing is set to its maximal value In that case the generated profile has full smoothing and the velocity trajectory is not a pure trapezoidal The WW parameter is used by the controller as a power of 2 coefficient for the smoothing time value For example WW 6 means that smoothing is done over a period of time of 2 6 sample time 1000 2 6 2 13 8msec Setting WW 12 to its maximal smoothing value of 2 12 results in a 0 5 sec Nanomotion Ltd 74 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference The following figures show two simple profiles generated in similar motion parameters with different smoothing values For both motions the following general parameters are used AC DC 1 000 000 SP 100 000 AP 100 000 In one case no smoothing is used WW 0 and in the other full smoothing is defined WW 12 Figure 7 below shows the motion profile with full smoothing implemented in the profile Note the smooth velocity profile the upper window in red There are no sharp corners in the generated velocity profile like in Figure 8 for instance The resulted acceleration profile not shown in the graph is continuous and does not have any sudden step changes
306. mory 99 FLASH_VOLTAGE This Error Code is issued if an error occurred during the Saving to Flash Procedure The error is related to the flash voltage 100 FLASH_ACK_TIMEOUT This Error Code is issued if an error occurred during the Saving to Flash Procedure The error is related to acknowledge time out from the flash hardware 101 FLASH_SUSPEND This Error Code is issued if an error occurred during the Saving to Flash Procedure The error is related to flash suspend 102 FLASH_WRITE This Error Code is issued if an error occurred during the Saving to Flash Procedure The error is related to flash write Table 33 Communication and Program Error Codes Nanomotion Ltd 247 FlexDC Software User Manua Part IIl FlexDC Macro Language Part Ill FlexDC Macro Language Script Programming Language and the Integrated Development Environment Nanomo tion Ltd 248 FlexDC Software User Manual Part IIl FlexDC Macro Language 9 Introduction Part Ill describes the FlexDC macro programming language and environment In order to benefit from the best performance possible from the FlexDC controller hardware platforms the macro environment is designed with a simple fast execution engine and a powerful programming development and debugging environment The embedded FlexDC and its firmware are responsible for the real time macro execution while the PC based Nanomotion Shell Application provides the environment for editing
307. motion Ltd 460 FlexDC Software User Manual Part VII Glossary e Digital Control Filter an algorithm that is periodically executed 8192 times per second The algorithm compares the desired motor position and its actual position to calculate a command to the motor to minimize the difference between these values The FlexDC Digital Control Filter algorithm supports both standard position based PIV as well as Position Over Velocity loop structure The FlexDC supports additional advanced features Refer to chapter 4 Part Il for further information e Echo in RS232 mode the FlexDC automatically echoes send a copy back each character that it receives during normal communication The returned character can be used by the host to verify proper communication In the binary CAN bus communication protocol ECHO is not supported Only OK ERR prompt is used e Error Codes in case that the FlexDC encounters an error when interpreting a received clause it ignores this clause and responds with before the returned terminator gt The FlexDC also stores a code for the interpretation error at a parameter named EC which can be later reported to analyze the error source A separate parameter QC holds the error codes of any program running in the controller Scripts or Macro e Fault Input a dedicated digital input whose source is typically the motor s driver It is used to inform the FlexDC about a driver s malfunction
308. motion configuration and execution see Figure 26 Motions Point To Point gt y Jogging gt Gear Zl Joystick ECAM Figure 26 Motion Folder Group Each folder enables the following e Download Upload and set default values to parameters e Start of an axis motion in the specified motion mode Nanomotion Ltd 355 FlexDC Software User Manual Part IV Nanomotion Shell Application The Motions folder group includes the following folders 3 e Point To Point motion folder see section 18 3 1 1 Part IV e Jogging motion folder see section 18 3 1 2 Part IV e Gear motion folder see section 18 3 1 3 Part IV e Joystick motion folder see section 18 3 1 4 Part IV e ECAM motion folder current FlexDC firmware does not support this mode 18 3 1 1 Point To Point Folder Point To Point folder covers the Point to Point motion mode MM 0 see Figure 27 Paramneters Axis Y aP 0 ac fio0000 AP fo pe 10000000 wr eoo pe ficoo00 wr fo sp foo no fo sp 0 DL fioo000 AP j0 ap 0 I Repetative Absolute D Repetative Absolute Begin Motion Begin Motion Start motion Motion type Figure 27 Point To Point Folder 13 Each folder represents a different controller motion mode Nanomotion Ltd 356 FlexDC Software User Manual Part IV Nanomotion Shell Application Point To Point folder parameters AC Acceleration DC
309. mpare channel X 10 Output from compare channel Y 11 Currently unused for future purposes Bits 3 2 Defines the Dout6_Fast Output source 00 Standard Output controlled by OP 01 Output from compare channel X 10 Output from compare channel Y 11 Currently unused for future purposes 6 2 5 Position Compare Events Examples The following example demonstrates initialization of X axis compare to generate pulses at a fixed gap Mode 0 starting from location 10 000 counts to location 100 000 counts every 40 encoder counts The pulse is directed to Output 1 Motion from location 0 to location 150 000 counts at Speed 100 000 is then executed The resulted pulse frequency is 100 000 counts sec 40 counts pulse 2 500 pulse sec When motion is completed the function is programmed to generate pulses in the opposite direction when moving back to location 0 Only the necessary parameters are re configured Nanomotion Ltd 112 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference Disable any active compare for X Axis XPQ 0 Configure Digital Output 1 to be assigned as an X Axis Compare Output All other outputs are standard Outputs XOM 1 DOutl is X Compare Initialize X axis Motion Parameters and reset position Ni XAC 1000000 XDC 1000000 XDL 1000000 XSP 100000 XPS 0 XMO 1 XAP 150000 Initialize the X Compare Function
310. munication DLL The Windows RS232 Communication Interface library is written in Microsoft Visual C version 6 and is designed to work in 32bit Windows Operating systems In order to use the DLL interface the LIB and header files should be included in the project It is recommended to use the Microsoft Visual C development platform Microsoft Developer Studio versions 6 or further NanomotionLid o A FlexDC Software User Manual Part VI Communication Library Commdll dll Notes This DLL supports only the RS232 protocol CAN interfaces libraries depend on the actual CAN hardware used on the PC thus no standard DLL is supplied Nanomotion supports users to interface the FlexDC servo controller using their own CAN hardware upon request Functions described in Part VI are for reference only The functions may be subjected to changes by Nanomotion Ltd Nanomotion Ltd 445 FlexDC Software User Manual Part VI Communication Library Commdll dll 25 The Communication Library COMDLL DLL 25 1 Instructions The RS232 communication library is built as a Windows DLL Dynamic Linked Library The main library module file name is Comdll dll In order to run applications that use this library the user must implement the following steps 1 Copy the Comdll dll file to application directory or to the Windows system directory 2 The functions exported by the library which provide an API application program interface to
311. n 0 XMM 0 XSM 0 Set Normal Point To Point Motion Mode XAC 90000 XDC 90000 Set AC DC 90 000 XSP 25000 Set Speed to 25 000 XRP 100 Define a 100 counts step XBG Start a Motion XRP 100 Define a 100 counts step XBG Start a Motion See also DP AP PS BG Nanomotion Ltd 208 FlexDC Software User Manual 7 64 RR Data Recording Status Purpose Part II FlexDC Software and Commands Reference RR is a read only parameter indicating the recording process status When a new recording begins after BR command is issued RR is internally set to the value of RL During the data recording process RR is automatically decremented by 1 for each data point collected to all buffers This practically happens every RG servo cycles When RR equals 0 data recording has terminated and the recorded data can be uploaded When RR gt 0 data recording upload is denied Attributes Syntax XRR See also Type Axis related Array Assignment Command Allows Parameter Scope Restrictions Save to Flash Default Value Range Report value of RR BR DA RG RL RV Nanomotion Ltd Parameter No No No All None No 1 10 000 209 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 65 RS Reset Controller Command Purpose The RS command can be used to
312. n address automatically as a dynamic address therefore the user must set the static IP address To set the controller s IP address follow the next steps Open the Nanomotion Shell Application refer to the Quick Start chapter in the FlexDC User Manual for Nanomotion Shell Application installation instructions 2 Onthe Nanomotion Shell Application initial main screen select the LAN communication in the connection combo box see Figure 5 Nanomotion Ltd 40 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference SC Shell 9 01 Nanomotion Shell Application oj x File Communication Macro Commands DataRecording Tools Customers Help M SV LD RS EC QC OK KR BR BY VR QY Terminal WN PM IP 100 100 100 165 Port 4000 Motions Product Version SC AT 2M 1 60 onfigurations 1 CAN B RLS Li FLS F Protection GOOO sl SLL r il Velocity sl Driver Fault Vv Driver Fault Vv z Configuration x Ero In Motion m In Motion E s ae i Motion Status No Motion Le Configuration Y Servo Motor Fault Extemal Drv Fault m Macro I Initialized Running Configurations 6 Y 6 T Abort Input gt RX TX CAN Base Rx Tx J IP Base 100 100 100 165 CAN Main Rx Tx fo 15 CAN Comm Baud Rate 700K CAN Aux R T i 5 The controller Supports Fixed LAN Ports CAN Beato X Remote a 4000 4001 4002 CAN Broadcast R
313. n Attribute Field The Axes Relation Attribute Field defines whether the keyword is axis related or not and also defines to which of the axes the keyword can be related and to which not Below is a list that describes the possible Axes Relation Attributes supported by the controller Keyword Axes Attributes Axes Supported by the Keyword None Irrelevant to the axis The keyword is NOT axis related CPA_KW_IS_AXIS_ RELATED Keyword is supported on axes X and Y both axes Nanomotion Ltd 33 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 2 5 RS232 Communication This section defines the RS232 communication protocol and syntax including response to commands clauses and errors This section presents the general Language Syntax of the FlexDC controller s software as well Note that the RS232 ASCII protocol the CAN bus protocol is logically similar 2 5 1 Hardware Interfaces The FlexDC supports the following RS232 hardware Interface e RS232 3 wires no hardware handshaking e 8 bits 1 start bit 1 stop bits no parity e Baud rates of 38 400 Baud 115 200 Baud 2 5 2 Connecting and Defining the RS232 Connect the FlexDC and define the RS232 connection according to the detailed instructions given in the Quick Start Chapter in the FlexDC User Manual 2 5 3 Language Syntax Host to FlexDC 2 5 3 1 Keywords Each keyword consists of two upper case letters
314. n RS232 supported ONLY in RS232 all other channels are immediately disabled e When downloading a new user program in one of the channels the other channel is blocked for the same operation Other communication with the second channel is fully functional e When uploading large arrays in one channel other channels are blocked until the upload operation is completed FlexDC Communication Language Definitions 2 3 1 General In the following sub sections the FlexDC basic communication language is defined It should be noted that the same Language Syntax Rules apply regardless of the command source which can be one of the following RS232 communication CAN Bus communication possible future supported communication links and the internal script program engine When a new command is received from either one of the channels described above its source is recorded for later reference and the command itself is passed to an Nanomotion Ltd 29 FlexDC Software User Manual Part II FlexDC Software and Commands Reference internal software module The Command Interpreter which checks its syntax and if a valid command is detected executes the command 2 3 2 Language Notations The communication keywords are divided into two groups of keywords e Parameters Keywords e Command Keywords The execution time of a parameter keyword is minimal and usually negligible few micro seconds at most The execution time of acommand
315. n enables the user to upload the recording data when required by the user After a recording is started the recording status is updated automatically in the Recording Status RR variable A step by step example of recording 1000 points of X axis position and X axis Velocity ao ONO 9 Set Recording Length RL variable to 1000 Set Recording Gap RG variable to 1 Check the add velocity to graph we add this option so we can compare between the actual velocity to the theoretical one Set Upload Data Gap to 1 Set XRV RV 1 combo boxes to X and Position Set YRV RV 2 combo boxes to X and Velocity Push the Start Recording button The Recording Variable RR is automatically updated with the current recording status Once the recording is finished the shell will upload the recorded data automatically 10 The SDV viewer will show the recorded data For more recording options see section 18 4 5 Part IV Nanomotion Ltd 376 FlexDC Software User Manual Part IV Nanomotion Shell Application 18 3 5 2 Super Custom Folder Super Custom folder see Figure 45 is a user defined folder The user can define the commands to be upload download from to controller and the give Folders Menu Button each command a user name fase castor Te Command Valu Command Value ee L _ B_ O E E 7n_ D E E O E EE 7_z _ Ee E y _ E W 2 ee E ee EE eee
316. n the following table Nanomotion Ltd 179 FlexDC Software User Manual Part II FlexDC Software and Commands Reference Upper 16 Bits of MF Valid Only When Low16Bits MF MF Bit Fault Source MF Bit Fault Source 0 Based 0 Based 16 0 Internal Type Driver Fault 16 8 Not used set to 0 16 1 External Type Driver Fault 16 9 Not used set to 0 16 2 Under Voltage Fault PD AT 2M 16 10 Not used set to 0 16 3 Over Voltage Fault PD AT 2M 11 Not used set to 0 16 4 Encoder A quad B Error 12 Not used set to 0 16 5 Not used set to 0 13 Not used set to 0 16 6 Not used set to 0 14 Not used set to 0 16 7 Encoder Disconnect Line Error 15 Not used set to 0 Table 24 Extended Motor Fault Cause Reasons MF Codes in FlexDC Note The extended upper 16 bits of MF codes are OR ed with the MF_DRV_FLT when asserted These are the MF parameter attributes Attributes Type Parameter Axis related Yes Array No Assignment No Command Allows parameter Scope All Restrictions None Save to Flash No Default Value 0 Range See above Syntax XMF Report Motor Fault for X axis AMF Report value of MF for all axes See also EM Nanomotion Ltd 180 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 44 MM Motion Mode Purpose To set the controlle
317. n values XMO 1 XPS 0 Enables the motor and Set Position 0 XMM 0 XSM 0 Set Normal Point To Point Motion Mode XAP 100000 Set Next PTP absolute location to 100 000 counts XAC 250000 Set Acceleration to 250 000 XDC 500000 Set Acceleration to 500 000 XSP 25000 Set Speed to 25 000 XBG Start a Motion 7 23 DF Download Firmware Purpose To download any new firmware versions to the controller New Firmware should be downloaded to the controller using the Shell utility application only WARNING Under any circumstances do NOT use the DF command directly from a terminal interface Nanomotion Ltd 157 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 24 DL Limit Deceleration Purpose The Limit Deceleration value used by the profiler whenever one of the limits is detected H W or S W to stop from any speed to 0 speed This value is used to set the motion profile Limit Deceleration value in PTP JOG etc The Limit Deceleration value is defined in units of counts sec with resolution of 256 counts sec Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows Parameter Scope All Restrictions None Save to Flash Yes Default Value 100 000 Range 512 120 000 000 Syntax ADL 2000000 Set DL 2 000 000 in all axes XDL Report value of DL for X axis Examples The foll
318. nclude any script programming related commands Refer to Part lll FlexDC Macro Language for further reference on Script Program related functions 7 3 Parameters Keywords List Table 13 describes alphabetical list of all the FlexDC parameters Notes Table 13 DOES NOT include any script programming related parameters Refer to Part lll FlexDC Macro Language for further reference on script programming related functions All parameters are represented in signed long 32bit format Some parameters may be restricted to a positive only value Grayed parameters are not operational in the current released firmware version 7 3 1 Parameters Keywords List Key Axis Description Restrictions Saved Read Reset Array Assignment Word Related to Only Val Size Range Flash AC Yes Acceleration Value counts s None Yes No gt an 512 120 000 000 AD Yes Analog Input Dead Band None Yes No 10 aa 0 2 047 AF Yes Analog Input Gain Factor None Yes No 0 a 0 16 AG Yes Analog Input Gain None Yes No E s5 524 288 524 288 Al Yes Analog Input Value None Yes Yes 2 147 000 000 AP Yes Next Absolute Position Target None No No 0 2 147 000 000 AR No General Purpose Array None Yes No 1x1 000 2 147 000 000 AS Yes Analog Input Offset None Yes No 2047 0 4 095 CA Yes Special Control Parameters None Yes No 2x16 See note Array CB No CAN Baud Rate Settings None Yes No 1 1 20
319. nd Allows parameter Scope All Restrictions None Save to Flash No Default Value 0 Range 0 536 870 911 0x1 fff fff Syntax XIP Report IP value non axis related YIP Report IP value non axis related AIP Report IP value non axis related See also IL OP Refer to Part IIl FlexDC Macro Language Nanomotion Ltd 170 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 35 IS Integral Saturation Limit Purpose The IS parameter limits the output value of the Integral Term only when working in closed loop mode in PIV control scheme IS limits ONLY the integral term saturation and not the actual final control output which is limited by the TL parameter The purpose of IS is to allow different saturation limits to the Integral and control output This is needed in some cases to avoid overshoots The range of IS is 1 32 767 IS 1 practically disables Integral term in the control filter IS 32 767 is full range 100 integral saturation Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash Yes Default Value 32 763 Range 1 32 767 Syntax XIS 16384 Set X Axis 1S 16 384 50 of Max Range AlS 32767 Set IS 32 767 in all axes 100 limit Examples The following code example shows starting a normal motion in X a
320. nd Commands Reference Since a standard PTP mode supports on the fly modification of the AP parameter this mode automatically supports the changes of the Al during the motion practically tracking them with the user specified acceleration AC and speed SP parameters These parameters needs to be high enough to enable good tracking on the joystick motions variations of the Al parameter but low enough to avoid high frequencies motions It is important to note that when this mode is activated using the required MM and SM values the AP parameter is continuously and internally assigned with the Al value 3 6 Position Step Motion MM 8 SM 0 or SM 1 3 6 1 Description In this mode the Desired Position DP is assigned with the Absolute Position AP immediately after the Begin BG command The profiler does not generate any motion profile and the AC DC and SP values are ignored The theoretical motion time in this mode is 0 by definition True Step commana This mode is useful for the measurement of the closed loop step response and bandwidth It is generally not used in practical applications since it generates infinite acceleration and jerk MM 8 can be combined with SM 1 to generate repetitive step motions Note that you can also use the Relative Position RP parameter Assigning a value to RP modifies the value of AP properly The value of the step should be smaller than ER to avoid High Error fault In addition h
321. nd YPA1 through YPA200 IA i No 1x 50 This is a general purpose index array Index Array elements intentionally defined for temporary usage of macro i e XIA1 variables and indirect addressing see explanation through below XIA50 No other internal controller function uses this array under any circumstances Note When working with non axis related arrays i e AR i and IA i using either X Y or group prefixes as a preceding character yields access to the same internal register this is true of course for all non axis related commands supported by the FlexDC syntax The selection of which preceding character to use is user free With the multi dimensional PAI array one example may be to use XPA for storing X motion parameters and YPA to store Y motion parameters etc This decision is again completely left for the macro programmer to decide Nanomotion Ltd 257 FlexDC Software User Manual Part IIl FlexDC Macro Language 10 5 2 Indirect Addressing All arrays described above support indirect addressing Indirect addressing is required to enable based indexing to a set of parameters For example a single homing routine that should serve more then one axis with each axis having different motion parameters may use indirect addressing accessing the global parameters array The calling task should store the start index of the relevant axis parameters in an IA array element and the homing routine
322. ndependently The correction table itself is defined in equally spaced intervals between two maximum and minimum values of actual encoder readings Beyond these values the correction is fixed at the extreme table value point As a part of the real time process the true encoder position reading is corrected by a value that is taken from the correction table When current position does not match an exact table point linear interpolation is performed between two consecutive table points Outside of table range the last error correction value is used This option is not yet fully supported by standard firmware revisions Please consult Nanomotion experts for more information Nanomotion Ltd 123 FlexDC Software User Manual Part II FlexDC Software and Commands Reference 7 Keywords Reference This chapter describes the keywords supported by the FlexDC firmware As discussed the controller language defines two groups of keywords e Parameters Keywords e Command Keywords As noted there each parameter owns a set of internal attribute flags defining the behavior of the Interpreter Module in response to each keyword received such as if the Keyword is Axis Related or not is the Keyword is a parameter or command etc 7 1 Keywords Attribute Reference The following table describes the FlexDC Keywords Attributes List Note that some of the attributes are internal only while some other are currently not used All internal and not use
323. nds Reference 7 40 LD SV Load and Save Commands Purpose LD and SV are the Load from Flash Memory and Save to Flash Memory commands The LD and SV commands are used to load and save the controller parameters and script programs to and from the board Flash Memory The LD and SV commands can only be issued while all motors are in disable mode in MO 0 SV should be issued only when the system is not in motion The SV command can receive the following parameters ASV Save All Parameters and Script Program to Flash Memory ASV 1 Save Only the Controller Parameters to the Flash Memory ASV 2 Save Only the Script Program to the Flash Memory The LD and SV commands have the following attributes Attributes Type Command Axis related No Array et Assignment Saat Command Allows Parameter Yes see SV command above Scope All Restrictions All motors must be OFF Save to Flash Default Value Range zei Syntax XSV Save all Parameters and Script Program to Flash Memory XSV 1 Save Only Parameters to Flash Memory XSV 2 Save Only the Script Program to Flash Memory BLD Load Parameters and Script Program from Flash Memory Nanomotion Ltd 176 FlexDC Software User Manual Part II FlexDC Software and Commands Reference 7 41 LL Low Software Limit Purpose LL is the Software Low Position Limit parameter This value is monitored du
324. ne 152 7 19 CG Axis Configuration oes dses bea cs art aeneseeeeanses evaet tact teaneet vrei meectton dae reads 153 7 20 DA Data Recording Array arcccccsievectsrewie tees eeciatieieewnl wadeani nl ece eens 155 7 21 DB Download Buffer gsie2c caeckia tact leadaeceeargeastieitonaaidstdeerdlesben tleniantiees 156 7 22 DO Deceleration cere sicads crete ea teatctet etree da tie unt tet adts yong 156 7 23 DF Download Firmware 006 kis Mae a he eae 157 7 24 DL Limit Deceleration 00 ceeecccceecee cece eeeeeeeeeeeee eee eeeeeaaeaaaeaeeeeeeeeeeneas 158 7 25 D Analog DAC Offset eeecceccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeaaaaeeaaeeeeeeeeeenas 159 7 26 DP Desired POSiINOlit Ac anentent acta Glan tta ececctter tans ate ienectiea tents 160 7 27 EC Communication Error Code ccccccccccceeeeeeeeeeeeeeeeeeaneeeeeeeeeteeeteee 161 7 28 EM End of Motion Reasomiccccicasetonuteiercenvectnatieeiay decent itieterieeed 162 7 29 ER Max Position Error Lititssticiccsseseececitccteescaaeevesttenteeevacereeeaentees tetanic 163 7 30 FF Feed Forward Gains sisicccceiiiviotcansd eieieansaatenie ih eepeaaetenvae eee nd 164 7 31 HL High Software Limit tehsiccat stot ateshie at eueacas eee ctataasiaabeeetien aaa 165 TaZ WAS CIRC CEP AY nierica i a A hota Ai ierian ieee Adres 166 TaS WSN LOGIC erne aaa a ee ee neal a ee cles a cee E EA ites 167 Tal NEP SS APS OMA hanenn soe eat Dace Sates e Pitan Sal Den oe R Scene 168 7 35 IS Integral S
325. ned workspace to open from the list 19 7 1 14 Exit The Exit menu item closes the Macro File Editor Application Edit Menu The Edit Menu section covers all Edit Menu items Nanomotion Ltd 19 7 2 1 Undo The Undo menu item enables the user to undo the last operation 19 7 2 2 Redo The Redo menu item enables the user to redo the last undo operation 19 7 2 3 Cut The Cut menu item cuts remove copy the highlighted text 19 7 2 4 Copy The Copy menu item copies the highlighted text 19 7 2 5 Paste The Paste menu item pastes the text retrieved by the Cut or the Copy command 19 7 2 6 Select All The Select All menu item selects all the text in the top most opened file 408 FlexDC Software User Manual Part IV Nanomotion Shell Application 19 7 2 7 Find The Find menu item searches for a string in the top most open file Selecting this menu item shows the Find dialog box see Figure 61 Find Tx Find what I Find Wert I Match whole word only Direction Cancel I Match case C Up Down Figure 61 Find Dialog Box 19 7 2 8 Replace The Replace menu item replaces the given text with another given text Selecting this menu item shows the Replace dialog box see Figure 62 Replace 27x Find what Replace with Replace Replace All I Match whole word only Cancel Match case cnca Figure 62 Replace Dialog Box 19 7 2 9 GoTo The Go To menu item jumps to
326. ng status bits are reported 0x00000000_ No Script is present 0x00000001 Flag if downloaded macro encountered overflow 0x00000002 Internally Used 0x00000004_ Flag if macro download finished 0x00000008 Flag if macro was downloaded successfully 0x00000010_ Flag if macro was initialized successfully 0x00000020 Internally Used 0x00000040 Internally Used 0x00000080 Internally Used 0x00000100 Internally Used Refer to the QF for the macro running statuses Attributes Type Parameter Axis related No Array No Assignment Zero ONLY Receive parameter Parameter type Scope Both Restrictions None Save to Flash Default Value Range Syntax QR Keyword is not axis related thus XQR YQR and BQR are equivalent Examples XQR Reports the Macro Status Register XQR 0 Clears Macro Initialized Flag See also QI QF Nanomotion Ltd 332 FlexDC Software User Manual Part IIl FlexDC Macro Language 15 4 19 QT Trace Macro Execution Single Line Purpose Executes the relevant macro one clause at a time This command is usually used in debugging mode It is used by the Nanomotion Shell Application and debugging editor during macro programs debugging sessions Attributes Type Command Axis related Yes Array ao Assignment os Receive parameter No Parameter type Scope Both Restrictions None Save to Flash Default Value Range g Syntax QT Examples XQT
327. ng the AG and AF parameters for scaling the user can define any practical desired range for the Al reading value Attributes Type Parameter Axis related Yes Array No Assignment No Command Allows Parameter Scope All Restrictions None Save to Flash Default Value Range o Syntax AAI Nanomotion Ltd 143 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 12 AP Absolute Position Purpose Defines the Next Motion Absolute Position in counts target The absolute position value is used by the controller as the next target position in both the PTP and Repetitive PTP motion modes Upon a BG begin motion command the controller generates a profile from the current desired DP position to the current AP Note that in relative motion the RP command simply changes the value of the AP Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash No Default Value 0 Range 2 147 000 000 2 147 000 000 Syntax XAP 100000 Set X Axis Absolute Position to 100 000 AAP 0 Set AP 0 in all axes Examples The following example shows resetting the X axis position to 0 and then initiate a normal motion in X axis from Position 0 to Absolute Position 100 000 XMO 1 Enables the X Motor XPS 0 Set
328. ng the BG command and only in PTP motion mode When a SW_LIMIT_ERROR is generated the command does not start This behavior is different from previous implementations that checked for S W limits only during motion Nanomotion Ltd 96 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 6 Advanced Features This chapter describes the following FlexDC advanced controller features e Data Recording e Advanced Encoder Interfaces Compare Events e Advanced Encoder Interfaces Capture Events e Auxiliary Analog Interfaces e Dynamic Error Mapping Correction 6 1 Data Recording Data recording is a very powerful feature of the FlexDC that allows the user to record internal controller variables store them in local temporary arrays and upload them to a host computer using either one of the controllers communication channels The user can of course access the recorded buffers from within a script program if required Data recording significantly improves the control filter adjusent process control parameters tuning application debugging and monitoring and troubleshooting The FlexDC has an outstanding Data Recording capabilities including the following e Simultaneous recording of up to 8 internal controller variables e Upto a total of 15 000 data recording points The user can select to record 8 vectors 1 875 sample points each 1 vector 15 000 sample points or any other combination e Selection o
329. nomotion Ltd 325 FlexDC Software User Manual 15 4 12 QH Halt Macro Purpose Part IIl FlexDC Macro Language Halts program execution of the relevant macro program Attributes Type Axis related Array Assignment Receive parameter Parameter type Scope Restrictions Save to Flash Default Value Range Syntax QH Examples XQH Halts execution of the X program YQH Halts execution of the Y program See also QP QT QE Nanomotion Ltd Command Yes 326 FlexDC Software User Manual Part IIl FlexDC Macro Language 15 4 13 QI Initialize Macro Purpose Initialize and the reset macro program status and flags Note that after initialization the macro is not running The QI command is called automatically by the DCOM communication interface application each time a new macro program is downloaded to the controller Attributes Type Command Axis related No Array Beet Assignment os Receive parameter No Parameter type Scope Communication Restrictions None Save to Flash Default Value Range g Syntax QI Keyword is not axis related thus XQI YQI are equivalent Examples XQI Resets Macro programs See also QE QH QD QL Nanomotion Ltd 327 FlexDC Software User Manual Part IIl FlexDC Macro Language 15 4 14 QK Kill Macro and Motions Purpose Halts program execution of the relevant macro program and stops any motion
330. ntax with the exception of a few parameters are documented in the FlexDC COM interface keyword Param short sDEVID short sAxis whereas the sDEVID is the opened device and the sAxis is the letter of the required axis FlexDC COM Interface Keyword FlexDC Parameter Description Key Axis Read word Relate Only AbsolutePosition AP Yes No Absolute position Acceleration AC Yes No Acceleration Analoginput Al No Yes Analog Input AnaloginputDeadBand AD Yes No Analog Dead Zone AnalogInputGain AG Yes No Analog Gain AnalogInputGainFactor AF Yes No AnalogInputGainFactor AnalogInputOffset AS Yes No Analog Offset AnalogInputsFilterCoefficient XF Yes Yes Analog Inputs Filter Coefficient AnalogOutput AO Yes No Analog Output AnalogOutputsScale OS Yes No The scaling of the Analog Output Nanomotion Ltd 431 FlexDC Software User Manual Part V SCServer COM DCOM Interface Library FlexDC COM Interface Keyword FlexDC Parameter Description Key Axis Read word Relate Only ArrayElement short sDEVID AR Yes No Assigns and reads array element short sAxis short CV variables e g PA AR etc sArrayType short sIndex IA TD Description QB sArrayType AR 0 CV 1 PA A 2 TD 3 QB 4 PA 5 ZI 6 XI 7 QF 8 CA 9 DA 10 PG 11 GP ZI 12 FA 13 FV 14 FF 15 KD 16 KI XI 17 KP 18 RG 19 ZE 20 ET 21 QF sIndex Index in array CA
331. nts Text Item selects the text type to be changed Foreground Color text foreground color Background Color text background color Text Font Style Normal Bold or Italic Number text color and font setting step by step Select the Text Item to edit Select the text foreground Select the text background Default is the page color Select the text font style To apply changes for this document press Apply and than press OK ark WD Nanomotion Ltd 411 FlexDC Software User Manual Part IV Nanomotion Shell Application 19 7 4 View Menu The View Menu section covers all View Menu items Nanomotion Ltd 19 7 4 1 Main Toolbar The Main Toolbar menu item shows hides the main toolbar 19 7 4 2 Debug Toolbar The Debug Toolbar menu item shows hides the debug toolbar 19 7 4 3 Status Bar The Status Bar menu item shows hides the Status Bar at the bottom of the editor screen 19 7 4 4 Output The Output menu item shows hides the Output area see Figure 57 19 7 4 5 Watch The Watch menu item shows hides the Watch area only in debug mode see Figure 58 19 7 4 6 Work Space The Work Space menu item shows hides the Work Space area see Figure 57 412 FlexDC Software User Manual Part IV Nanomotion Shell Application 19 7 5 Macro Menu The Macro Menu section covers all Macro Menu items 19 7 5 1 Download Macro The Download Macro men
332. nual Part V SCServer COM DCOM Interface Library Method Keyword Function Parameters FlexDC Function Description Keyword OpenDevice Ex short sDevID Opened Device ID N A Attempts to open a short sControllerType see communication device section 23 2 Part V for controller type on defined controller values Communication Protocol short SCOMMType see oe Port Addresses section 23 1 Part V for communication J55 type values short sAddrRx CAN Rx Address short sAddrTx CAN Tx Address long ISerialBaud Serial baud rate short SerialPort Serial port 1 10 short DebugMode Debug mode flag In this case all parameters will return 0 In OpenDeviceEx only long IChannelNumber CAN channel number long ISper Currently not used ProgramDownload short sSDEVID Opened Device ID N A Download macro file BSTR bstrFileName Macro file name scm to controller full path int iTargetFW Version Firmware version number int iTargeacroBufferOffset Target macro buffer offset int iTargeacroBufferSize Target macro buffer size int iWarning Number of warnings ProgramClearNumb short sDEVID Opened Device ID QZ Clears the program s erStack short sAxis Defined Axis for operation number stack ProgramDescriptio short sDEVID Opened Device ID QU Returns a BSTR of the nData short sAxis Defined Axis for operation a cu a x NO in the program to z a Jhe roued program bstrStr
333. nual Part Il FlexDC Software and Commands Reference 7 59 RA CAN Receiving Address Purpose To set the CAN Receiving Address The CAN Receiving address is the CAN address which the controller monitors for incoming CAN messages Responses are sent to the CAN address defined by the TA parameter The CAN Receiving Address must be saved to the flash memory and the controller must be reseated in order to change the CAN settings Changing RA TA immediately re initializes the CAN hardware to take the requested effect Care should be taken as changing RA TA while working in CAN bus stops the communication with the PC The parameters must still be saved to the Flash Memory as in previous revisions in order to be valid after boot A new Error Code EC _HW_INIT_ERROR 97 was added to indicate a CAN hardware initialization error The FlexDC in addition and independent to the standard RA and TA CAN addresses listens and transmits on additional addresses See the ZI keyword for more information Attributes Type Parameter Axis related No Array No Assignment Yes Command Allows Parameter Scope All Restrictions None Save to Flash Yes Default Value 1 Range 0 2047 Syntax XRA 1 Set CAN RA 1 XRA Report value of RA See also CB TA ZI Nanomotion Ltd 204 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 60 RG Data Recording GAP Purpose The RG
334. o a host PC is ZM For more information regarding the ZM command refer to chapter 7 Partl The controller can send the following formats One report variable the format of the data in the CAN message is identical to section 2 7 4 3 above Two report variables the format of the data in the CAN message is identical to section 2 7 4 4 above A string up to a length of 8 bytes the host can identify the length of the CAN message sent The message bytes are in the order of the string sent from the controller Nanomotion Ltd 56 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 2 7 5 CAN Enhanced Download Buffer Mode EDB This mode enables a host computer to download large quantities of CAN data to the AR array In this mode the controller continuously listens to a dedicated CAN address and monitors all messages received in it According to a set of parameters the controller then stores the incoming data in the relevant buffers and auto increments the store location for both buffers separately The new message format received by the controller is CAN Byte 0 1 2 3 4 5 6 7 Data Format D1 LSB E FE D1 MSB D2 LSB ase SE D2 MSB Data While using this mode keep with the following guidelines e f the received message length is less than 4 the message is ignored e f the received message length is equal
335. o limit to the max pulses frequency Distances as low as one encoder count at any encoder speed are supported The value of Distance the incremental GAP is limited to 16 bit i e 32 767 excluding 0 The sign of Distance controls direction of operation Positive Distance value defines increasing encoder counter motion Negative Distance value defines decreasing encoder counter motion see notes below The compare pulse in this mode is automatically disabled by the real time controller firmware when the end point condition is met This is when Position gt PEnd for Distance gt 0 and when Position lt PEnd for Distance lt 0 Nanomotion Ltd 104 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference Notes Although in this mode the hardware is responsible for the exact compare triggering it is the controller real time software firmware that manages the end point monitoring i e disabling the compare pulse output when PEnd is passed As a result although the actual pulse frequency is not limited if the resulting pulse frequency is higher then the servo sampling rate currently 8 192 Hz additional pulses might be generated beyond location PEnd In any case all pulses are disabled no later then 122 Sec after PEnd is passed As noted the value of Distance is limited to 32 767 excluding 0 Although the parameter itself is not range protected the compare function enable command validates a
336. o o id Nanomotion Ltd Figure 36 I O Logic Folder The I O Logic folder is divided into three sections 1 Input Status amp Logic this section has two functionalities Inputs Shows the current status of the input Green LED for ON Red LED for OFF The status is updated automatically There is no need for uploading the parameters in order to see the updated inputs Logic Show Set the current input logic Setting input logic is done automatically once the user toggles the desired check box The status of the input logic requires upload operation 2 Limits amp Logic this section handles the limits inputs status and logic according to the axis connections The behavior of this section is the same as Input Status and Logic section 3 Output Status amp Logic this section has two functionalities Output Show Set the current output status Setting output state is done automatically once the user toggles the desired check box The status of outputs requires upload operation 367 FlexDC Software User Manual Part IV Nanomotion Shell Application Logic Show Set the current output logic Setting output logic is done automatically once the user toggles the desired check box The status of outputs logic requires upload operation 18 3 3 2 Analog Input Folder Analog Input folder see Figure 37 covers the Analog input parameters Analog Input Axis X Axis Y XAI 2
337. o Numbers Stack 337 15 4 24 RT Return from Subroutine essseesseeseerrneesserrrnrrrnreeserrrnee 338 15 4 25 TD Timer Dowco sce ee eae 339 15 4 26 ZA Remote Assign Value CAN Networking 0000e 340 15 4 27 ZC Remote Command CAN Networking eeeeeeeees 341 15 4 28 Zl Remote Parameters Array CAN Networking 0 0 342 15 4 29 ZM Remote Message CAN Networking cccceceeeeeeeees 343 15 4 30 ZR Remote Report Value CAN Networking ceeee 344 15 4 31 ZS Remote Command Status CAN Networking 00 345 PART IV NANOMOTION SHELL APPLICATION cscsecesseeeesseeeeseeeeesseeeesseeeenseees 346 16 TENURE CELI sk escalate cect aaa ukani 347 16 1 SCION sin ase ink cots sect arse re eS RR beers a beac a 347 17 Software Installation no sscicseececsccecevenssensececctvewcnasecaececwteevcned see kunana aieeaa naaman 348 NanomotionLtd 4 FlexDC Software User Manual 17 1 Hardware Drivers Installation cccccccceeeeeeeeseeeceeeeeeeeeeeeeseaeeeaaaeeeeeees 348 17 2 Software Installation acececeerecteccectcenctieasthactecutacteeastaectatenetraettnee netsreeaes 348 17 2 1 Nanomotion Shell Application ssssnnsseeeeseeenernneesserrenrrrnnesserrrnee 349 17 2 2 SCServer DOOM ave eee ee ee eee ee ee 349 172 9 SrcEdit Solware cciciwnioigeiiin hie eu ete eee 349 18 The Nanomotion Shell Application GUI eeeeeeeee
338. ocess is complete the DCOM server is ready to use The DCOM module uses the Windows Registry database for some initial settings as defined below Registry Setter x m Regist values set select Card Type CAN Baud fi ooo 7 CAN Buffer Size 1k ii RS232 Buffer Size fi M Read Registry write Registry Figure 67 DCOM Communication Registry Setup 2 Double click the SCServerScope on your desktop 3 On the File menu click COM Registry in the SCServerScope Nanomotion Ltd dialog box to set the registry variables see Figure 67 21 2 Using the Object from VB 1 Open VB and open a new project Standard exe project 2 Open the references dialog box see Figure 68 Menu Project gt References Nanomotion Ltd 426 FlexDC Software User Manual Part V SCServer COM DCOM Interface Library References Projecti vbp x Available References v visual Basic For Applications Cancel v Visual Basic runtime objects and procedures v visual Basic objects and procedures YI OLE Automation Browse tet SCServerExe Rev 1 01 145 Helper COM Component 1 0 Type Library a 145 RADIUS Protocol 1 0 Type Library Active DS Type Library Priority Active Setup Control Library Help ActiveMovie control type library _ ActiveX DLL to perform Migration of MS Repository Y1 APE Database Setup Wizard Application Performance Explor
339. of 10 v Then XAI 10 2047 10 x 100 x 2 51 175 This is required for the Joystick motion modes For example the Al parameter is used as a speed reference for the Velocity Based Joystick Mode Using AG and AF the Al value can be scaled to any desired velocity range AS can be used to compensate joystick or analog input circuits offsets Note that nominally AS should be 2047 to achieve Al 0 for nominal Ov analog input value Nanomotion Ltd 122 FlexDC Software User Manual Part II FlexDC Software and Commands Reference AD the analog dead band is required for the Velocity Based Joystick Mode Standard joysticks do not always return to the same zero value when they are released This may cause a small velocity drift motion AD can be used to define a range at which the analog input is read as zero avoiding any undesired motion In case a simple analog input reading is required set parameters as follows AD 0 AS 2047 AG 1 and AF 0 This provides a standard reading of 2047 for an input of approximately 10 v 6 5 Dynamic Error Mapping Correction Dynamic Error Mapping Correction is required for the correction of non linear mechanical position errors caused for example by lead or ball screw The correction is performed by interpolating desecrate positions user defined correction table and altering the actual encoder position readings Each axis can be corrected i
340. ogram Error Codes EC supported by the FlexDC firmware Part Ill FlexDC Macro Language This part describes the FlexDC macro programming language and environment Chapter 9 Introduction Chapter 10 FlexDC Macro Engine Chapter 11 FlexDC Low Level Macro Program Chapter 12 Integrated Development Environment This chapter covers all the details of the Nanomotion Shell Application related to macro programming support for the development downloading and debugging of FlexDC macros Chapter 13 The IDE Pre Compiler Support This chapter discusses the built in Integrated Development Environment pre compiler module the main purpose of which to extend the basic features of the low level language syntax to high level syntax Chapter 14 Script Example Chapter 15 FlexDC Script Keywords Commands Reference This chapter lists macro related commands supported by the FlexDC NanomotionLtd 24 FlexDC Software User Manual Part I Preface Document Structure continued Part IV Nanomotion Shell Application Chapter 16 Introduction Chapter 17 Software Installation Chapter 18 The Nanomotion Shell Application GUI Chapter 19 Srcedit the Macro File Editor Application Part V SCServer COM DCOM Interface Library This part describes the COM software interface module for the Nanomotion FlexDC servo controller Chapter 20 Introduction Chapter 21 Getting Started Chapter 22
341. oller parameters read and write while debugger is active with the watch frame All the above options can be accessed in several ways using the debugger window menu or using the debugger window toolbar or using the mouse right click option to open a pop up menu or using dedicated accelerator keys It is possible to debug one macro while other macros are running or to debug more than one macro simultaneously to test synchronization issues Nanomotion Ltd 276 FlexDC Software User Manual Part IIl FlexDC Macro Language Note Debugging pre compiling and down loading macros with the Srcedit Macro Debugger Environment are available ONLY while the Nanomotion Shell Application is open and communicating with the controller 12 4 2 Srcedit Macro Debugger Window To debug a macro program run the Srcedit application and follow the next steps 12 On File menu on the Srcedit main screen click Open 13 An Open File dialog box appears 14 Select macro file to debug file extension SCM There are two options to debug the opened program e If the program is currently in the controller on Macro menu on the Srcedit main screen click Debug Macro e If the program is currently not in the controller first download the macro On Macro menu click Save and Download Current Macro and then click Debug Current Macro In either case the Srcedit application checks with the help of the Nanomotion Shell Application wh
342. ompiles and downloads a given macro file Download macro step by step 1 On the Macro menu click the Download Macro menu item 2 Choose the macro file to compile and download Note the macro files have the scm extension 3 A process progress dialog box shows the download status 4 When the download is finished a message box appears with the download result 5 Save parameters to Flash Memory if needed 18 4 3 3 Download DAT File The Download DAT File menu item downloads a compiled macro file The DAT file is the pre compile file generated for download Download DAT file step by step 1 On the Macro menu click the Download DAT File menu item 2 Choose the DAT file to download Note that the DAT files have the dat extension 3 A process progress dialog box shows the download status 4 When the download is finished a message box appears with the download result 5 Save parameters to Flash Memory if needed 18 4 3 4 Upload Macro The Upload Macro menu item uploads macro from controller The file created by this process is a DAT file the same DAT file created by the macro pre compile process and can be downloaded by Download DAT File menu item see section 18 4 3 3 Part IV Nanomotion Ltd 390 FlexDC Software User Manual Part IV Nanomotion Shell Application Upload Macro step by step 1 On the Macro menu click Upload Macro menu item 2 Choose the DAT file to save
343. on of printer and its menu items before printing Nanomotion Ltd 406 FlexDC Software User Manual Part IV Nanomotion Shell Application 19 7 1 11 File Locations The File Location menu item prompts the File Location dialog box see Figure 60 History Select Current D Selected File Locations SetUp Browse Cancel OK Figure 60 Source Code Edit File Location Dialog This dialog box enables editing the open files directory location This directory is the directory to open in the file browser Every time the user chooses Open Save or Download Macro the editor opens the file browser at the location specified in this dialog box The dialog components are as follows Nanomotion Ltd Browse button enabling browsing to the desired location History Select enables to select a location previously selected from a combo box Current Selected shows the currently configured location OK button closes the dialog and applies changes Cancel button closes the dialog and discards changes 407 FlexDC Software User Manual Part IV Nanomotion Shell Application 19 7 2 19 7 1 12 Recent Files The Recent Files menu item shows a list of recently opened files The user can choose a recently opened file to open from the list 19 7 1 13 Recent Workspace The Recent Workspace menu item shows a list of recently opened workspaces The user can choose a recently ope
344. onal optional optional 0x01 0x00 0x00 0x05 Message length is 4 bytes The set B AR 1000 722 clause will be represented in RS232 by BAR 1000 722 lt CR gt RS232 Set Array member clauses and in CAN by Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Pre fix Array Array Array Data 3 Data 2 Data 1 Data 0 Code Index 1 Index 0 optional optional optional optional 0x07 0x00 0x03 Oxe8 0x00 0x00 0x02 Oxd2 Message length is 8 bytes The report X PA 1 clause will be represented in RS232 by XPA 1 lt CR gt RS232 Report Array member clauses And in CAN by Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Pre fix Array Array Array Data 3 Data 2 Data 1 Data 0 Code Index 1 Index 0 optional optional optional optional 0x01 0x05 0x00 0x01 Nanomotion Ltd Message length is 4 bytes FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 2 7 2 4 CAN Bus Array codes Description FlexDC supports the following array codes Array Array code AR 0 Not used 1 IA 2 TD 3 Not used 4 PA 5 Zi 6 Not used 7 Not used 8 CA 9 DA 10 PG 11 Not used 12 Not used 13 Not used 14 FF 15 KD 16 KI 17 KP 18 RG 19 Not used 20 Not used 21 Not used 22 RV 23 Al 24 FR 25 Refer to chapter 7 Part Il for more information regarding the arrays Nanomo
345. oned flow control commands JP JT JF JZ CS CT CF and RT Due to this the preceding X character before the command itself e g XRT shown on the example above has no actual meaning and the same result will be also if the Y or other legal axis prefix characters where used including group prefixes The preceding axis indicating character X or Y is still needed for the internal interpreter logic but have no other functional meaning As a rule try to stick to these strict and clear logic definitions when selecting the preceding character For example if a function is related to only the X macro use X as a preceding character If a function is related to only the Y macro use Y as a preceding character 10 8 Wait and Internal State Inquiry Functions In normal programming sequences it is often required to wait for some events or special conditions to happen There are three ways of programming a wait sequence in the low level macro e Using simple standard commands to inquire about the required state pushing it to the stack and then perform some conditional statement or high level if blocks e Using a special state inquiry command QG automatically inquire the relevant state according to the commands parameter including extraction of relevant bits from a byte word or long data and pushing it to the stack and then perform some conditional statements or high level if blocks
346. ons are as follows e Most command clauses all non special commands are limited to 8 characters i e limited to one CAN bus message Note that not all messages include the full 8 bytes message length e Special commands may include more than one full CAN message See section 2 7 3 Part Il for more details e Since command clauses may be longer than 8 characters a different binary format is to be used to encapsulate the RS232 command clause into 8 characters except for the special commands as noted before e Each response to a command clause is also limited to 8 characters unless otherwise noted e CAN communication ignores the echo mode and does not send an echo Prompt is still sent as usual except for the special modes e Since the CAN hardware controller also indicates the message size no termination is used in the communication protocol Nanomotion Ltd 46 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 2 7 2 Language Syntax Host to FlexDC Normally CAN communication message has basic 8 bytes structure messages shorter than 8 bytes are also valid The first byte in each message is a fixed structure Pre Fix Byte The next section describes the Pre Fix Byte Structure 2 7 2 1 The CAN Bus Message Pre Fix Definition Each clause sent from the Host to the controller must include a first byte Pre Fix which describes the clause attributes This pre fix byte must include the follow
347. ons are divided into the following sections Communication Protocols and Servo Controllers supported by the COM object codes 23 1 Communication Protocols Definition in h file Value Parameter Function used in CAN_COMMUNICATION 20 OpenDevice OpenDeviceEx RS232_COMMUNICATION 21 OpenDevice OpenDeviceEx 23 2 FlexDC Type Supported Definition in h file Value Parameter Function used in CRS_SC_2M_AT 54 OpenDevice OpenDeviceEx Nanomotion Ltd 442 FlexDC Software User Manua Part VI Communication Library Commdll dll Part VI Communication Library Commdll dll Nanomo tion Ltd 443 FlexDC Software User Manual Part VI Communication Library Commdll dll 24 Introduction 24 1 General The Comdll dil library enables the user and interface to COM ports using the RS232 communication The functions included in this DLL interface have been customized to be used with Nanomotion products and might not necessarily suite for other interface The FlexDC CD includes the following files in order to install the Comdll dll library e Comdll dll the communication dll file e Comdll lib the comdll dil library file interface e Cdevapi h the software header file to include in the project This DLL is for Win32 based operating systems ONLY Part VI provides a description of all functions exported by the Comdll dll library module 24 2 The RS232 Com
348. oolbar the debug toolbar is enabled for all the debug toolbar options see section 19 8 2 Part IV e Watch Area this area shows watch variables and their values This area enables e Adding Variables to the Watch Area Add directly to the Watch Area by editing the variable Select a variable from the Code Debug Area left click on Add to Watch Menu e Remove watch variable by selecting the variable from the variable list and press Delete button e To edit a watch variable double click the variable To apply changes press Enter e Updating the watch variable list see section 19 7 5 17 Part IV A Variable value that changed from the last update is colored with Red if the value did not change its color is black e Source Icons Area this area shows breakpoints bookmarks and the current execution point e Bookmarks blue cubes in the Source Icons area e Breakpoints red circles in the Source Icons area e Execution Location yellow arrow in the Source Icons area marks the current execution location NanomotionLid 8040 FlexDC Software User Manual Part IV Nanomotion Shell Application 19 7 Menus 19 7 1 File Menu The File Menu section covers all File Menu items Nanomotion Ltd 19 7 1 1 New The New menu item creates a new empty macro file 19 7 1 2 Open The Open menu item opens a macro file to edit 19 7 1 3 Close The Close menu item closes the top most opened ma
349. oop mode the user should switch the motor OFF set MO 0 for the relevant axis then set the value of NC to 1 NC 1 and then switch the motor ON again After MO 1 with NC 1 by default the analog output value commend is 0 to avoid motor motion TC is set automatically to zero when MO 1 In this state the user can control the actual analog output value by using the TC Torque Command parameter keyword It should be noted that in open loop mode the actual analog command is still limited by the TL Torque Limit parameter In addition the control 2 order filter may be used to monitor its operation and actual effect on the analog output value The operation of the filter can be disabled by an appropriate flag see 2 order filter definitions in chapter 4 Part Il The user can choose to record the actual Driver Command PO value In case the 2 order filter is enabled the actual value recorded is the step response of the filter If no 2 order filter is used the actual value recorded is equal to the value commanded by TC In any case the value is saturated by TL In order to switch back again to closed loop operation the motor should be disabled MO 0 and only then NC may be set back to 0 The NC command is restricted to motor OFF condition Trying to modify NC while motor is enabled MO 1 generates an EC_NEEDS_ MOTOR_OFF error 48 Nanomotion Ltd 186
350. oop using a while statement counting seconds while 1 Infinite loop XTD 8192 XQW 107000 1 Second Delay XPA1 XPA1 1 endwhile Example 2 Showing a simple while loop with internal termination test using an if and break statements XPA1 0 while 1 Infinite loop XTD 8192 XQW 107000 1 Second Delay XPA1 XPA1 1 Increment seconds counter if XPA1 gt 20 Test for expired time 20 seconds break endif endwhile 13 4 5 For Loops For loops are used to execute repeated block of statements until some condition expires As with math statement expressions the for continue break and endfor statements should start with the character symbol The syntax for the for block statement is for init expr cond expr loop expr Statements continue Optional break Optional endfor Nanomotion Ltd 301 FlexDC Software User Manual Part IIl FlexDC Macro Language First the initialization init expr is evaluated Then while the conditional expression cond expr evaluates to a nonzero value statements are executed and the loop expression oop expr is evaluated When cond expr becomes 0 control passes to the statement following the for loop The endfor keyword must end any for block Nested for loops are supported The init expr and cond expr expressions must include assignments i e see example 1 below Currently all three expressions init expr cond expr and loop expr are
351. oped The following example can be written as a script program file The main routine name is FINDI1 and can be executed and tested Routine to find Input 1 FINDI1 XMO 1 XPS 0 Enables the motor and Set Position 0 XMM 0 XSM 0 Set Normal Point To Point Motion Mode XAP 100000 Set Relative motion of 100 000 counts XAC 90000 XDC 90000 Set AC DC 90 000 XSP 25000 Set Speed to 25 000 XBG Start a Motion Now enter a loop to check for input 1 to become low while AIP amp 1 Wait for Input 1 to be Low endwhile Input is found so stop the motion while XMS 0 Wait for MS Motion Status top be 0 endwhile XQH Stop the program See also BG AB KR MS IP Nanomotion Ltd 217 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 70 SR Status Register Purpose The SR Status Register is a read only parameter holding information on the current axis status Currently SR should only be used to inquire the In Target bit condition of the axis The In Target status is indicated in bit 6 1 based i e 0x20 Hex of SR For a complete description of In Target Status bit operation see the TR and TT parameters The SR parameter has the following attributes Attributes Type Axis related Array Assignment Command Allows parameter Scope Res
352. operated only in closed loop Motor Stuck Fault is reported by MF 4 Nanomotion Ltd 94 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 5 3 Software Protections Non Fault Conditions The following software protections are managed by the controller without generating a fault condition This means that the servo axis stays enabled even though the protection may be active e FPGA Version During the controller boot process the firmware reads the FPGA version and verifies that the current version matches the firmware version An error is indicated if the version does not match The error is indicated by the CPU LED blinking eight times during the boot process If the FPGA version error occurs please contact Nanomotion experts for further instructions e CAN Hardware Initialization Failure During the controller boot process the firmware initializes the CAN hardware In case that there is a problem in the CAN hardware initialization process an error is indicated by the CPU LED blinking 16 times during the boot process The controller then continues the boot process and can still communicate in RS232 If this error occurs please contact Nanomotion experts for further instructions e Hardware and Software Motion Limits The controller software continuously checks both the hardware and software limits Whenever a limit is detected any ongoing motion is stopped Hardware limits are actual hardw
353. or Speed for XY Vector Motions Table 14 Motion and Profiler Related Keywords Nanomotion Ltd 131 FlexDC Software User Manual Part II FlexDC Software and Commands Reference 7 4 2 2 Control Filter and Real Time Servo Loop Keywords Keyword Description CA Special Control Parameters Array DP Desired Position Holds the actual Position Reference ER Max allowed Position Error FF Acceleration and Velocity Feed Forward Gains KD Control Filter Diff Term Gain KI Control Filter Integral Term Gain KP Control Filter Proportional Term Gain PE Actual servo loop Position Error PO The Control Drive Command PS Position Holds the actual encoder position value IS Integral Term Saturation of PIV control filter SR Status Register MO Motor ON Enables MO 1 Disables MO 0 the servo loop NC No Control Enables NC 1 Disables NC 0 open loop mode TC Torque Command in open loop mode TL Torque Limit Limits the D2A command All modes TR Target Radius TT Target Time Table 15 Control Filter and Real time Servo Loop Related Keywords 7 4 2 3 Data Recording Related Keywords Keyword Description BR Begin Data Recording DA Data Recording Array size 1 x 100 000 RG Set Recording GAP in units of 16384 Sec RL Set Recording length buffer length RR Report Recording Status RV Set the recorder va
354. or pointer location Attributes Type Axis related Array Assignment Receive parameter Parameter type Scope Restrictions Save to Flash Default Value Range Syntax JP lt Label gt JP lt Constant gt Part IIl FlexDC Macro Language Command No Yes Number or Label Program None Keyword is not axis related thus XJP YUP etc are equivalent Examples MAIN XJP A_1 Jumps the A_1 label A_1 XSP 12345 See also JF JT JZ Nanomotion Ltd 317 FlexDC Software User Manual Part IIl FlexDC Macro Language 15 4 4 JF JT Jump If False or True Purpose Jump to a specified label or pointer location according to the stack top condition The JF Jump False command will execute the requested jump if the stack top element is false zero 0 The JT Jump True command will execute the requested jump if the stack top element is true non zero Attributes Type Command Axis related No Array me Assignment an Receive parameter Yes Parameter type Number or Label Scope Program Restrictions None Save to Flash Default Value Range aa Syntax JF lt Label gt JF lt Constant gt JT lt Label gt JT lt Constant gt Keyword is not axis related thus XJF YJF etc are equivalent Examples MAIN XPA1 Pushes the value of XPA1 to the stack top XJT LABEL1 Calls the LABEL1 Subroutine if XPA1 0 YJF LABEL2 Calls the LA
355. ormation The range of TL is 0 32 767 TL 0 disables the analog command output to O volts TL 32 767 is full range 100 command i e 10 Volts Attributes Syntax XTL 16384 ATL 32767 Nanomotion Ltd Type Axis related Array Assignment Command Allows parameter Scope Restrictions Save to Flash Default Value Range Parameter Yes No Yes All None Yes 32 763 0 32 767 Set X Axis TL 16 384 50 of Max Range Set TL 32 767 in all axes 100 limit 226 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference Examples The following code example enables open loop mode on Y axis but limits the Max analog command to 5 Volts YMO 0 Must Disables the motor before changing the NC YNC 1 Set NC 1 to indicate open loop for that axis YMO 1 Set MO 1 for Y Again YTL 16384 Set Command saturation to 5 Volts YTC 16384 Set command value to 50 5 Volts YTC 32767 Set command value to 100 10 Volts but TL actually limits the actual outout value to 5 Volts See also NC TC IS Nanomotion Ltd 227 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 76 TR Target Radius Purpose The TR parameter defines the Target Radius in Encoder counts for the In Target detection logic TR is used in conjunction with TT the Target Time and the Status registe
356. otion YMO 1 YPS 0 Enables the motor and Set Position 0 YMM 1 YSM 0 Set Normal JOG Motion Mode YAC 250000 Set Acceleration to 250 000 YDC 500000 Set Acceleration to 500 000 YSP 50000 Set Speed to 50 000 YBG Start a Motion See also C DL SP MM BG Nanomotion Ltd 215 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 69 ST Stop Motion Command Purpose The ST Stop command stops any motion using the DC deceleration value Unlike the Abort AB command the stop command stops the motion by generating a deceleration profile to O speed until a complete motion stop ST may be used whenever a motion needs to be stopped in controlled manner For example when a motion to search some input flag is performed when the input is detected the ST command may be used to stop the motion see example below Attributes Type Command Axis related Yes Array Se Assignment tsi Command Allows Parameter No Scope All Restrictions None Save to Flash Default Value Range San Syntax XST Stop X Motion AST Stop motion of All axes Nanomotion Ltd 216 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference Examples The following example starts a motion and then enters a loop to check for Input 1 to become low 0 When condition is met the motion is sto
357. owing code example shows starting a motion in X axis from Position 0 to Position 100 000 DL is set to 2 000 000 counts sec x 10 of AC and DC so when the HL High S W Limit is detected at 50 000 counts the servo controller stops the motion with deceleration of 2 000 000 counts sec XMO 1 XPS 0 Enables the motor and Set Position 0 XMM 0 XSM 0 Set Normal Point To Point Motion Mode XAP 100000 Set Next PTP absolute location to 100 000 counts XAC 200000 XDC 200000 Set AC DC 200 000 XDL 2000000 Set Limit Deceleration to 2 00 000 XHL 50000 Set X High S W Limit to 50 000 counts XSP 25000 Set Speed to 25 000 XBG Start a Motion Nanomotion Ltd 158 FlexDC Software User Manual Part II FlexDC Software and Commands Reference 7 25 DO Analog DAC Offset Purpose DO Driver Command Offset sets the Driver outputs command offset values The Controller has two analog driver command outputs one for X and one for Y The DO parameter sets the offset for the Driver command signals There is no special offset parameter for the analog outputs when used as general purpose outputs and not ad driver commands DO should be used only with the AB5 driver to calibrate the zero motion by using the DO command DO is applied in LSB units The range of the DO command is 32 767 10 Volts Normally the DO command is in the
358. ownload a new DAT file perform the following steps 1 Verify that the FlexDC is connected to a communication line and the communication link is active refer to Figure 13 also refer to the FlexDC User Manual for Quick Start instructions On Macro menu click Download DAT Macro An Open File dialog box appears letting the user to select a desired macro file default macro files extension is DAT Select the desired macro file and press open The Nanomotion Shell Application automatically opens the selected file pre compiles the program downloads the macro buffer to the FlexDC hardware memory and initializes the FlexDC program A Download completed successfully message appears if the macro download process is successful The program macro is now ready for running Note that after loading a new program the AUTOEXEC is not started automatically but only after power up In order to save the downloaded program to the FlexDC Flash Memory use the XSV command via the Nanomotion Shell Application terminal window A program that is not saved to the Flash Memory will be lost after power up If it is required to start automatic execution of the macro program switch the power OFF and ON again to restart its real time software Note that you can still run any valid subroutine name by using the debugger or by issuing an XQE lt LABEL gt command from the terminal window After down loading a program issuing an XQE
359. p and record the step response of the filter This can be done when the 2 order filter is enabled by switching to open loop mode NC 1 issue a torque command TC XxX and record the driver command signal Nanomotion Ltd 83 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 4 4 Output Command DAC Out The FlexDC has a 16 bit DAC Output e 10V is represented by 32 767 and e 10V is represented by 32 767 4 5 Encoder Gain The controller counts quadrature encoder pulses This implies a feedback gain For example a typical linear system with an encoder of 0 1m resolution mounted on the linear stage the encoder s gain is as follows Enc_Gain 10 counts m 4 6 Non Linear Elements The actual control filter structure includes the following non linearities e The filter command output is saturated to the value of the TL Torque Limit parameter The output command saturation is active at all times in all modes The software range limit for TL is 0 32 767 in DAC LSB units or from 0 to 10 V to the Driver command It is recommended to set TL to 32767 full drive command e When working in closed loop operation only the filter Integral term output is also saturated to the value the IS Integral Saturation parameter The software range limit for IS is 1 32767 in DAC LSB units It is recommended to set the Integrator limit IS to 16500 approximately half of the full dr
360. put eeccceeeeeeeeeeeeeeeeeeeneeeeeeeeeeeeeseenneeeeeeeeeees 92 5 2 Software Generated Faults cceccccccccceeeeeeeeeeeseeeeeeeeeeeeeessssnaaeeeeeeeeeeees 93 5 21 High Position Erro eien tebe acetal Gace alice 93 5 2 2 Encoder Signal Error Protections ceeeeeeeeeeeeeeeeeeeeeeeeeeneeeeeeees 94 5 2 3 Motor Stuck Protectomccccspciccceeeeetehc cidaiaedi diet od ipeeiededitaeene 94 5 3 Software Protections Non Fault Conditions ceeeeeeeeeeeeeeeee eee 95 5 4 Special Handling of Software Limits 0 eee ccceeeeee eee eeeeeeeeeeeeeeeeeeeeeeeees 96 6 Advanced Features 2ic ccieccceics Ae etree eee 97 6 1 Data Recordihg ei foci sa pacee leider pack a dele Erea Aa aAA RAE EEE EE NEKEAREN 97 Nanomotion Ltd FlexDC Software User Manual Table of Contents 6 1 1 Operating Data Recording in the FlexDC ccccccccccceceeeeeeeeeeees 98 6 1 2 Data Recording Keywords cccccceeesssssccceeeeeeeeeessssseeeeeeeeeeeees 98 6 1 3 Data Recording Support in Nanomotion Shell Application 102 6 2 Position Compare Evens ao ei ee eee a ee 103 6 2 1 Mode 0 Fixed GAP Incremental Distance lt 16 Bit ee 104 6 2 2 Mode 2 32 Bit Arbitrary Tables 0 cceceeceeeeeeeeeeeeeeeeeeeneeeeeeees 105 6 2 3 Compare Function Parameters Activation and Error Codes 106 6 2 4 Configuring Digital Outputs for the Compare Function 111 6 2 5 Posit
361. r SR parameters During operation while an axis is enabled MO 1 and not in motion MS 0 the real time control loop continuously checks the Position Error PE and when ABS PE lt TR for at least TT Target Time sample times a dedicated bit in SR is set to high logic 1 The In Target logic is usually used to let a host application or a script program to monitor the end of motion condition and wait for the axis to reach the desired target position within a specific defined error The TR parameter has the following attributes Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows Parameter Scope All Restrictions None Save to Flash Yes Default Value 2 Range 0 32 767 Syntax XTR 10 Set X Target Radius to 10 counts ATR 20 Set All Axes Target Radius to 20 counts Examples See the SR Status Register Command reference See also SR TT Nanomotion Ltd 228 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 77 TT Target Time Purpose The TT parameter defines the Target Time in servo sample units for the In Target detection logic TT is used in conjunction with TR the Target Radius and the Status register SR parameters During operation while an axis is enabled MO 1 and not in motion MS 0 the real time control loop continuously checks the Position Er
362. r For example a fault in one axis will not affect the other Nanomotion Ltd 231 FlexDC Software User Manual Part II FlexDC Software and Commands Reference Attributes and Syntax Except from being non axis related parameters the VA Vector Acceleration VD Vector Deceleration and VS Vector Speed are analogues to the axis specific parameters AC DC and SP and has similar attributes Examples The following example starts a common XY vector motion BMO 1 BMM 0 BSM 0 BVS 100000 BVA 1000000 BVD 1000000 XAP 50000 YAP 600000 BBG 1 Se also AC DC DL SP MM Nanomotion Ltd 232 FlexDC Software User Manual Part II FlexDC Software and Commands Reference 7 79 VR Get Version Command Purpose The VR command retrieves the controller Firmware and FPGA versions The standard Version Command response report in RS232 communication protocol has the following syntax FlexDC Motion Controller 2 101 2 5 16 The following interpretation is applicable FlexDC Motion Controller 2 Indicates the new FlexDC product code 101 Indicates that Firmware Version 1 01 is installed 2 Indicates that this is a 2 axis version 5 Indicates the FPGA version 5 16 Indicates the Macro Buffer size in KBytes 16 kBytes Note Firmware version must comply with FPGA versions Downloading firmware versions without prior authorization from Nanomotion Ltd is not allowed and might resu
363. r Motion mode for the next Motion Currently the following motion modes are supported MM 0 Point to Point MM 1 Jogging MM 2 Position Based Gearing MM 5 Position Based ECAM MM 8 Step Command no profiler The MM command is restricted to a No Motion condition Trying to change the MM value while motion is in progress generates an EC_NEEDS MOTION OFF error 50 Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows Parameter Scope All Restrictions Needs Motion OFF Save to Flash Yes Default Value 0 Range 0 8 Syntax XMM 1 Set X Axis MM 1 AMM 0 Set MM 0 in all axes Nanomotion Ltd 181 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference Examples The example shows starting a Normal Non Repetitive motion in X axis from Position 0 to Position 100 000 XMO 1 XPS 0 Enables the motor and Set Position 0 XMM 0 XSM 0 Set Normal Point To Point Motion Mode XAP 100000 Set Next PTP absolute location to 100 000 counts XAC 250000 Set Acceleration to 250 000 XDC 500000 Set Acceleration to 500 000 XSP 25000 Set Speed to 25 000 XBG Start a Motion The following code example shows starting a Jog motion in the Y axis using SP 50 000 counts sec Negative Motion YMO 1 YPS 0 Enables the motor and Set Position 0 YMM 1 YSM 0 Set
364. rameter is allowed to be 0 for disable or 1 for enable Issuing a PQ command with a parameter out of that range will issue this error code 38 EC_PARAM_EXPECTED The PQ command must receive a parameter If PQ is issued without a parameter this Error Code is returned 60 MODE_PARAM_NOT_VALID This error is issued by PQ 1 if the requested Compare Mode defined by PG i 1 is out of its range In the current firmware version only Modes 0 and 2 are supported 61 PULSE_MODE_PARAM_NOT_VALID This error is issued by PQ 1 if the Pulse Width Mode Parameter defined by PG i 6 is out of its range The allowed range for the Pulse Width Mode Parameter is O or 1 62 63 64 PULSE_WIDTH_PARAM_NOT_VALID PULSE_POL_PARAM_NOT_VALID PD_PARAM_NOT_VALID This error is issued by PQ 1 if the Pulse Width Parameter defined by PG i 5 is out of its range The allowed range for the Pulse Width Parameter is 0 to 3 This error is issued by PQ 1 if the Pulse Polarity Parameter defined by PG i 7 is out of its range The allowed range for the Pulse Polarity Parameter is O or 1 This error is issued by PQ 1 if the Distance Parameter defined by PG i 2 is out of its range Out of range values for Distance are 0 in all modes Out of 32 767 range in Mode 0 Not equal 1 or 1 in Mode 2 65 PS_PE_PARAM_NOT
365. related Yes Array No Assignment Yes Command Allows Parameter Scope All Restrictions Not In Motion Save to Flash Yes Default Value 0 Range 0 12 Syntax XWW 0 Set XWW 0 No Smoothing for X Axis AWW 8 Set WW 8 for all axes See also MM Nanomotion Ltd 237 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 82 XC Last Capture Position Latch Purpose The XC parameter is used in conjunction with the Capture function to report the last captured position of an axis The last Captured location is stored by the controller firmware in the XC parameter for each axis independently i e XXC YXC axes respectively The user should note that when PS is updated the value of XC becomes meaningless The Capture feature implementation does not support hardware or software buffers Whenever a Capture is detected the last value of XC is overwritten and lost As indicated above XC is an axis related parameter keyword Each axis holds its own Captured Position Location value XC has the following attributes Attributes Type Parameter Axis related Yes Array No Assignment No Command Allows Parameter Scope All Restrictions None Save to Flash No Default Value 0 Range 2 147 000 000 2 147 000 000 Syntax XXC Reports the Last Captured position of X axis YXC Reports the Last Captured position of Y axis
366. riables Nanomotion Ltd Table 16 Data Recording Related Keywords 132 FlexDC Software User Manual 7 4 2 4 Special Features Interface Function Keywords Part Il FlexDC Software and Commands Reference Keyword Description AR General purpose Array size 1 x 10 000 This array is also used for 32 bit locations table definitions in Mode 2 of the Position Compare Events Function OM Set I O Modes Hardware Configuration This keyword is used to configure the Compare and Capture functions See also I O functions Group PG Compare Function Parameters Array size 10 x 8 This array defines the parameters for the Position Compare Events Function operation PQ Enable Disable Position Compare Events Function Command for a specific axis XC Capture Location The XC parameter holds the last captured position of an axis XN Capture Events Counter This parameter is automatically incremented by the firmware on each Capture Event Nanomotion Ltd Table 17 Special Encoder Interface Related Keywords 133 FlexDC Software User Manual Keyword OP Os Nanomotion Ltd 7 4 2 5 Analog and Digital I O Function Keywords Description Analog Dead Band Analog Input Gain Factor Analog Input Gain Analog Input Analog Input Offset Auxiliary Analog Outputs Command Analog Output DAC Offset Input Logic Bit Array Input Port Output Clear Bit Output Logic Bit Array Set I
367. ring all motions by the controller Whenever the actual encoder position PS is smaller then the LL value and the velocity VL is negative moving towards lower positions motion is stopped immediately using the stop deceleration parameter DL DL should be normally set to a higher value then DC as during normal operation conditions LL is for emergency cases stop only The value of LL is validated by the controller during motion start BG commands only i e a motion beyond the software limits to an AP lt LL cannot be initiated in motion mode Point To Point MM 0 A special communication Error Code EC 53 is generated by the BG command in that case BG command returns gt Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash Yes Default Value 2 147 000 000 Range 2 147 000 000 Syntax XLL 100000000 Set X Software LL to 100 000 000 ALL 2147000000 Set Software LL to 2 147 000 000 for all axes See also DL HL PS EC 53 Nanomotion Ltd 177 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 42 ME Master Encoder Purpose ME is the Master Encoder Definition for Gearing and ECAM motion modes Gearing and ECAM are motion modes where an axis follows another axis position with a pre defined fixed ratio in Gearing or us
368. riptive declaration in a separate line Attributes Type Command Axis related No Array nee Assignment oa Receive parameter No Parameter type Scope Communication Restrictions None Save to Flash Default Value Range eat Syntax QV Keyword is not axis related thus XQV YQV and BQV are equivalent Examples BQV Uploads the descriptive information See also description directive Nanomotion Ltd 335 FlexDC Software User Manual Part IIl FlexDC Macro Language 15 4 22 QW Wait till Condition Purpose Waits for a specified internal state variable The desired state is provided as a parameter For a list of supported internal states refer to section 10 8 Part Ill The QW command holds the macro execution until the state is satisfied Attributes Type Command Axis related No Array BE Assignment sss Receive parameter Yes Parameter type Number Scope Program Restrictions None Save to Flash Default Value Range pam Syntax QW lt Constant gt Keyword is not axis related thus XQW YQW and BQW are equivalent Examples XQW 100000 Waits for the X axis to be in motion XQW 200000 Waits for the Y axis to be in motion XQW 200001 Waits for the Y axis to be not in motion See also QG Nanomotion Ltd 336 FlexDC Software User Manual 15 4 23 Purpose Part IIl FlexDC Macro Language QZ Clears Macro Numbers Stack
369. ro programs are integral part of the FlexDC The debugging environment uses the low level debug features of the FlexDC while providing an advanced GUI support The SrcEdit is installed together with the Nanomotion Shell Application installation Read further in Part_lV for SrcEdit functionalities Nanomotion Ltd 349 FlexDC Software User Manual Part IV Nanomotion Shell Application 18 The Nanomotion Shell Application GUI 18 1 General This chapter gives a detailed description of the Nanomotion Shell Application its main screen see Figure 20 available folders dialogs and menus 18 2 Main Screen st SC Shell 9 01 Nanomotion Shell Application File Communication Macro Commands Data Recording Tools Customers Help 4 S LD RS l EC QC QK KR BR B YR QV Terminal I R5232 SC AT 2M COM1 Baud 115200 Matone Product Version SC AT 2M 1 60 lt Point To Point X Axis RLS J ESE i RLS FLS JE she SLL r SHL Position Velocity Dre Fa r ity Driver Fault Motion Status No Motion Motion Status No Motion Motor Fault None Servo Servo OFF Motor Fault Extemal Dry Fault Servo o A Motor a M Macro I Initialized Running X Y I Abort Input Configurations 120 s Special Function Miscellaneous Custom Commands 1 Custom Commands 2 Custom Commands 3 Support Ready DCOM Version 2 41 No Property File Is Selected Figure 20 FlexDC Ma
370. ror PE and when ABS PE lt TR for at least TT Target Time sample times a dedicated bit in SR is set to high logic 1 The In Target logic is usually used to let a host application or a script program to monitor the end of motion condition and wait for the axis to reach the desired target position within a specific defined error The TT parameter has the following attributes Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows Parameter Scope All Restrictions None Save to Flash Yes Default Value 2 Range 0 32 767 Syntax XTT 160 Set X Target Time to 160 samples 20 msec in the FlexDC ATT 656 Set All Axes Target Time to 60 samples Examples See the SR Status Register Command reference See also SR TR Nanomotion Ltd 229 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 78 VA VD VS Vector Motion Parameters Purpose The VA Vector Acceleration VD Vector Deceleration and VS Vector Speed are used for special X Y Vector motions Vector motions are supported by the FlexDC for the execution of synchronized X and Y motions The Vector motion syntax is fully compatible with the FlexDC syntax Vector motion is initialized in the FlexDC by issuing a BBG 1 command BBG command with a parameter equals to 1 When a BBG 1 command is executed the controller f
371. rror code e g Timeout WriteError CanAddrError ReadError etc or alternatively read the description returned by the com_error object These codes are defined values The following DCOM method was defined in order to allow multiple devices interfaces through all supported underlying communication links currently RS232 and CAN OpenDevice short sDevID short sControllerType short SCOMMType short sAddrRx short sAdadrTx long SerialBaud short sSerialPort short sDebugMode Whereas Nanomotion Ltd 422 FlexDC Software User Manual Part V SCServer COM DCOM Interface Library e sDevID Device ID number to be used by all sub sequent methods parameters interfacing this device Note that this number is a global ID number that should be used by all processes accessing the device interface e sControllerType currently either MCD or SC family controllers e sSCOMMType currently CAN bus or serial sAddRx sAddTx CAN receive and transmit addresses ISerialBaud RS232 serial baud rate Serialport RS232 serial port DbgMode flag whether this device works in debug mode or not e The function fails if the DevID is already open on a different configuration than stated or if serial COM port is busy etc e Once this method was called with identical configuration as another client ID and communication configuration the COM object increments an internal variable stating the number of clients conn
372. rsion FollowerGearingRatio FR Yes No Follower Gearing ratio HighLimit HL Yes No Position High limit InputsLogic IL No No Digital input logic InputsPort IP No Yes Digital Input Port LowLimit LL Yes No Position Low limit MaximumError ER Yes No Error limit MotionMode MM Yes No Motion Mode MotionStatus MS Yes Yes Report Motion status MotorCurrent IM Yes Yes The Current motor current MotorFault MF Yes Yes The Last Motor Fault MotorOn MO Yes NO Motor On NoControl NC Yes No No Control Nanomotion Ltd 433 FlexDC Software User Manual Part V SCServer COM DCOM Interface Library FlexDC COM Interface Keyword FlexDC Parameter Description Key Axis Read word Relate Only ObjectVersion N A No Yes The SCServerExe COM Object s version Description The get_ ObjectVersion returns short pVal To version refer idl file OutputsLogic OL No No Digital out logic OutputsMode OM Yes No Special Outputs Mode OutputsPort OP No Yes Digital Output Port OutputBit OS No No Set Get OutputBit OC PeakCurrentLimit PL Yes No Peak Current Limit PeakCurrentDuration PD Yes No Peak Current Duration PIDDifferentialTerm KD Yes No Digital Filter Zero PIDGain GA Yes No Digital filter Gain PIDGainTerm KP Yes No Digital filter Gain PIDIntegralTerm Kl Yes No Digital filter Integration constant PIDOutpu
373. rt II FlexDC Software and Commands Reference 3 1 1 Starting a PTP Motion Communication Clauses Description MO 1 Enabling the servo loop motor ON MM 0 SM 0 Setting PTP motion mode AC 500000 Assigning a value for the acceleration counts sec DC 500000 Assigning a value for the deceleration counts sec DL 1000000 Assigning a value for the Limit DC counts sec WW 0 Defines no smoothing SP 50000 Assigning a value for the speed counts sec AP 100000 Assigning an absolute target position counts RP 30000 Or assigning a relative value for the target position BG Begin the motion 3 1 2 Monitoring Motions During and after active motion the motion status can be continuously monitored using the following parameters Note that these parameters reflect the internal controller status regardless of the motion mode and are relevant in all motion modes described below in this chapter The user can of course choose to record any of these variables and many others using the internal Data Recording capability Communication Clauses Description PS Reports the current actual motor position counts VL Reports the current actual motor speed counts sec DP Reports the current desired position counts PE Reports the current Position Error DP PS counts MO Reports the current motor status Should be normally 1 for motor ON 0 OFF only in case of fault during the
374. rt sAxis Defined Axis for operation ResetController short sDEVID Opened Device ID RS Resets the controller Nanomotion Ltd short sAxis Defined Axis for operation 440 FlexDC Software User Manual Part V SCServer COM DCOM Interface Library Method Keyword Function Parameters FlexDC Function Description Keyword SaveFlashParameters short sDEVID Opened Device ID SV Saves savable short sAxis Defined Axis for operation parameters to SC flash SendStringToController short sDEVID Opened Device ID N A Sends a string to the BSTR stOutString String to send to controller as is Note that controller stInString is allocated by y the server and must be pe as String returned from released by client Stop short sDEVID Opened Device ID ST Stops Motion on defined short sAxis Defined Axis for operation AXIS SendString short sDEVID Opened Device ID N A Sends and gets a string BSTR stOutString String to send to to from an opened opened Device device The string is sent BSTR stInString String returned from R andisteturmad as opened Device ShutDcomServer N A N A Close the DCOM Nanomotion Ltd Table 50 Interface Commands Methods brutally 441 FlexDC Software User Manual 23 Object Definitions This chapter defines the definitions that are needed for the various object parameters Part V SCServer COM DCOM Interface Library methods The definiti
375. s Array No Assignment Yes Command Allows Parameter Scope All Restrictions None Save to Flash Yes Default Value 0 Range 0 16 Syntax XAF 2 Set X Axis AF 2 Gain factor is 1 4 AAF 0 Set AF 0 to all axes Gain Factor 1 1 Examples See Syntax above See also AD AG Al AS Nanomotion Ltd 141 FlexDC Software User Manual 7 10 AG Analog Input Gain Purpose Set the Analog Input Gain Part Il FlexDC Software and Commands Reference See the Al Analog Input command reference for complete information about Analog Input interfaces support Attributes Type Axis related Array Assignment Command Allows Parameter Scope Restrictions Save to Flash Default Value Range Syntax XAG 10 Set X Axis AG 10 AAF 1 Set AG 1 to all axes Examples See syntax above See also AD AF Al AS Nanomotion Ltd Parameter Yes No Yes All None Yes 0 524 288 524 288 142 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 11 Al Analog Input Purpose Report the analog input value The analog input value is calculated and reported by the software variable Al according to the following equation AI Floor Ainp x AZDHWGain AS x AG x2 AS The Analog Offset parameter is in the range of 0 4095 Nominal value of AS 2047 results in a nominal Al reading of 0 Usi
376. s TR for at least target time TT consecutive samples each 61 ps Nanomotion Ltd 64 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 3 1 3 Stopping a Motion A PTP motion is automatically finished when the desired position the motion profile not the actual motor position reaches the desired target position At this time the Motion Status MS is read as 0 and the controller is ready for a new motion or a new motion mode The EM End Motion parameter is set to 1 indicating normal end of motion A PTP motion can be also stopped by the following communication clauses Communication Clauses Description AB Aborts the motion immediately DP remains as its last value ST Stops the motion with deceleration to zero speed MO 0 Disables the motor effectively stopping any motion Of course any software or hardware fault limitation or protection also immediately aborts or stops the motion depending on the fault or limitation type The last motion end reason can be monitored with the EM parameter 3 1 4 On The Fly Parameters Change The following parameters can be modified on the fly during active PTP motion Communication Clauses Description SP Starts an acceleration or deceleration toward the new SP value AC DC DL Defined new Accelerations and Decelerations for the current motion RP Changes motion including direction to move toward the new AP AP
377. s enna esa iueseaide 79 4 2 1 PIV Filter Mode iat se ees a ee a ge sees 79 4 2 2 Position Error Calculation c cascisiscdeietetaseapahtieaeeionenendaeareeeantnee 82 4 3 High 2nd Order Filterssvs sesiesccsktees ccneeiei sechtees svbeteea valves sedeceebeeaGensseenedenwers 83 4 4 Output Command DAC Out ceeeceeeeeeee eter eeeeeeeaeeeeeeeeeeeeeessaaeeeaeeeeeeees 84 45 Encoder Gaif iesen parti caes eats a ected she choke csaiea ra ee 84 4 6 Non Linear ElIGMenms vicgec tis neshotarte Riven tecscnte atv costatatr te OR eient nd eae 84 4 7 Filter Gain Scheduling screenees eae E E a 85 4 8 AB1A Driver Special Algorithms sesssesssnnenenesssseenerrnrrrsserenrrrnrersserrrrrrr n 86 4 8 1 Dead Zone Algorithm ssssssseennessseererrrrrtreseerrrrrrnrnrssrrrnrrrnnrnnnneeset 86 4 8 2 Feed Forward Algorithm sneseeesseesnrrnnreeseerenrrrnresssernnrrrnnneseresene 86 4 8 3 Offset Algorithmen E E ened 87 48 4 UHR Algorta 87 4 9 ABS Driver Brake Mode sis s iccccenss cade che heres deed he ee 88 4 10 Acceleration and Velocity Feed Forward ccceeeeeeeeeeeeeeeeeeeeeeeenaeeeeeeees 88 4 11 Open Loop Operation ess retleue A esse eevgaeecSensenRevade Soe Pepvieens iceewaee aioe 89 4 12 Summary of all Control Filter Related ParameterS ccceeceeessteeeeeeeees 90 5 Faults Protections and LitMits ccseseeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeneeeeeeeeeesneeeeneees 91 5 1 Driver Faults and Abort IN
378. s of keywords and operators and is terminated by a terminator to identify end of clause Clause Assignment a communication statement sent by a host and instructs the FlexDC to assign a value to a specified parameter A typical assignment clause consists oo of Keyword value terminator Clause Command a communication statement sent by a host and instructs the FlexDC to perform a specified command process A command clause consists of Keyword terminator Clause Report a communication statement sent by a host and instructs the FlexDC to report the value of a specified parameter A typical report clause consists of Keyword terminator Clause Terminator character that identifies end of communication clause It can be lt CR gt or in the communication from a host to an FlexDC or gt in the opposite direction all for the RS232 line Command Interpreter the Commands Interpreter is an internal software module of the FlexDC firmware responsible for interpreting Clauses sent to the controller The Command Interpreter handles all commands passed to the FlexDC Communication Protocol the low level hardware and software definition of a communication channel In RS232 for example it includes the baud rate handshake options parity etc Communication Syntax Language Syntax the rules that define the correct sequence of characters that may create a valid communication clause Nano
379. s the 2 byte number is set in the high bytes of the CAN message See also ZA ZC Zl ZR ZS Nanomotion Ltd 343 FlexDC Software User Manual Part IIl FlexDC Macro Language 15 4 30 ZR Remote Report Value CAN Networking Purpose A Remote Report parameter which sends a report clause to a remote unit The parameter to be reported is the command s parameter The reported value is pushed to the numeric stack one item is added to this stack Attributes Type Command Axis related No Array Assignment ga Receive parameter Yes Parameter type String Scope Program Restrictions None Save to Flash Default Value Range g Syntax ZR lt String Parameter gt Keyword is not axis related thus XZR YZR and BZR are equivalent Examples Remote access to a remote array element variable XZR XPA23 Report remote XPA 23 push one number to stack See also ZA ZC Zl ZM ZS NanomotionLid sss A FlexDC Software User Manual Part IIl FlexDC Macro Language 15 4 31 ZS Remote Command Status CAN Networking A parameter that holds the status of the last remote unit s response Can only be reset to Purpose zero Attributes Type Axis related Array Assignment Receive parameter Parameter type Scope Restrictions Save to Flash Default Value Range ZS 0 Last Message OK ZS 1 Still Waiting for reply from remote unit Parameter No No No
380. se CAN Bus Message Format 2 7 2 3 1 Non Normal Clauses Array Clauses Bytes Description Notes Blanks tabs and new line characters are not valid under CAN Back spaces are not valid under CAN o Byte 1 A pre fix as described above including clause attributes X Y B data o Byte2 A byte represents the Array Code Each array in addition to its name has a code The code must be included in this byte in binary format o Bytes 3 4 Two bytes representing a binary array index in unsigned short format replacing the RS232 ASCII Array Index The valid range for the array index is the same as in RS232 communication and described in chapter 7 Part Il o Bytes 5 8 optional These 4 bytes are optional and includes a binary data element signed long representation Note that this parameter is optional and is regarded by the controller only if the Pre Fix Data bit bit 2 is 1 i e clause includes data Nanomotion Ltd 51 FlexDC Software User Manual 2 7 2 3 2 Non Normal Clauses Array Clauses Examples Part Il FlexDC Software and Commands Reference The report X AR 5 clause is represented in RS232 by XAR 5 lt CR gt RS232 Report Array member clauses and in CAN by Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Pre fix Array Array Array Data 3 Data 2 Data 1 Data 0 Code Index 1 Index 0 optional opti
381. seeeeeeeeeeeeeeeeeeeeeeeeees 350 18A Generaler a a e E R a sae dates 350 18 2 MaM SCEE Mione onir a eased a E Ee tele 350 182 1 JAXOS Status Afe a ome cictecsde A Sint teturetsatSs net Oars Bae E a ia 351 TB 2 Macro SIAIUS ANCA mien E E dmaede 352 18 2 3 Version Control Area sic vac einicecce sa ead deidane lene hott erent 353 18 2 4 Fast Menu BUNON wrGi lee cage nits Oa ea eee ateaeatn 353 Al 23 POISE S680 ace E E Ses eee Na a eae Aas Ne a ne rags her dee 354 18 3 1 Motions Folder Group iciiccscescceotennsnditheatiaahiceige ete 355 18 3 2 Configurations Folder Group cc eecceeeeeeeeeeeeeneeeeeeeeeeeeeeenaaees 362 18 3 3 WOS Folder Group se ste tects tutti et Ree ee ee 366 18 3 4 Special Function Folder Group ccccceeeesseeeceeeeeeeeeeeeeeseeees 371 18 3 5 Miscellaneous Folder Group ccceeeeeeeeseeeeeeeeeeeeeeeeenaeees 374 18 3 6 Custom Commands 1 3 Folder Group ccceeeeeteeeeenees 378 18 3 7 Manuals Folder Group ccccceceeeeceecceeeeeeeeeeeeeeeeeeeeeeeeeteeeeeeea 380 184 MGNUS 2 ireen e mati ereetauesis bac catedian eee eact sateteenl an enauacttes 381 18 4 1 File Menu is As Ss ee eee eas eee eee 381 18 4 2 Communication Menu cccccccceceeceenee cette ee eeeeeenaaeeeeeeeeetteeeeeea 385 18 4 3 Macro Menu siiis cent ects cenavSetvel eatetens vad tee e Eaei 389 18 4 4 Commands MON sscccdscisciseioccenieenda selene eetauiguieaiee eee trnns reeset 391 18 4 5 Dat
382. seeeseessseesnrrrnrressrrrrrrrnrnrssereet 28 2 2 1 Simultaneous Communication Channels Operation Support 29 2 3 FlexDC Communication Language Definitions cceeeeeeeeeeeeeeeeeeees 29 roa Wig Mii 162 ae ete ace Pr ee eno ren eer Rete See meter nr rr rr ere 29 2 3 2 Language Notations seid cccecesrestenct ans eaeevteemecditusen yeah eoced sentetiodk eeeteues 30 2 3 3 Keywords Attributes and ReStrictionS ssssssssseeseeessseeeeeeeees 31 2 4 Axes and Groups Identifiers 2 2 2 2 eececceececeeeeeeeeeeeseeeeeeeeeeeeeeeeesaaeeaaeaeeeeeees 33 2 4 1 FlexDC Axes Attributes 2 2 2 2 ceeeccceneeee cette ee eeeeeaeeeeeeeeeeeeeeesnaeeeeeeees 33 2 5 RS232 COMMUMIGALOMN sss scsiec ic seteetcene tied eealtens cedetvedsncehassebeceei nat tanetir teeta 34 2 5 1 Hardware Interlaces 2 0 cehs edd atest eee 34 2 5 2 Connecting and Defining the RS232 eeeceececeeeeeeeeeeeeeeeeeeeeeees 34 2 5 3 Language Syntax Host to Fl xDC eee eee eeeeeeeeeeeeeeeeeeeeteeeeeeees 34 2 5 4 Language Syntax FlexDC to Host eeeeeeeeeeeeeeeeeeeeeeeeeneeeeeeeees 36 2 6 Ethernet LAN Communication o cccccc c csceeteccngecteseusectzceteceevsabs set dcenseceveetmenn se 38 2 6 1 FlexDC Network Topologies cccceeeeeeeesseccceeeeeeeeeeeeeseeeaeeeeeees 38 2 6 2 Connecting and Defining the Ethernet LAN cceeeeeeeeeeeeeeeeees 40 2 6 3 TCP IP Protocol Ethernet LAN
383. ser Manual Part II FlexDC Software and Commands Reference 7 56 PQ Compare Function Activate Disable Command Purpose The PQ command is an axis related command enabling or disabling the Compare Function for a specific axis The command requires a parameter indicating the requested operation The command syntax is as follows XPQ Parameter where X is an axis identifier For the current FlexDC version the compare function is supported both axes X and Y Parameter 0 Indicates immediate disable of compare for the specified axis No conditions are checked expect a valid axis identifier Parameter 1 Indicates start compare function for the specified axis The command validates correct parameter PG for the specific requested mode In any case that one of the command s parameters is out of range the command returns an error prompt gt or generates a script Run Time Error if called from within a script macro program The relevant Error Code flags EC or QC is updated to reflect the error cause Notes The user should be aware that not all conditions for the correct operation of the Compare Function can be validated during command initialization For example the minimal distance between each two consecutive points in the AR table in Modes 2 and 3 cannot be tested as the limitation depends on the actual motion speed It is the user s responsibility to specify correct param
384. ser to define an arbitrary sub set of controller axes to be acted upon Like in normal axes identifiers the Command Interpreter ignores the Group Identifier of non axis related keywords The FlexDC supports the B Both group identifier only e Inhibit Output a dedicated digital output of the FlexDC one for each axis which is used to enable disable an external motor s driver The inhibit output reflects the state of the MO parameter e Incremental Encoder a standard position sensor used as a position feedback in conjunction with motors and servo systems A special FlexDC hardware circuit uses the encoder s signals to continuously sense the motor load position and speed and to accordingly control the motor motion e Keyword a token consisting of two characters which identifies a unique FlexDC command or parameter e Keyword Attributes each Keyword of the FlexDC has one or more attributes The Keyword attributes tell the command Interpreter how to be treated For example a Keyword can be an axis related Keyword related to an axis or Global Keyword S The current FlexDC firmware does not support configurable Axis Groups Nanomotion Ltd 462 FlexDC Software User Manual Part VII Glossary e Limit Hardware RLS FLS most although not all motion systems have mechanical end of travel stops especially with linear load motion In order to prevent the load from hitting these stops an electronic device switch is located
385. servo loop control reference position In standard Profiler based motions e g Point to point Jog etc DP actually holds the Profiler position output value Upon completing a standard Point to Point motion DP holds the last value of AP used for that motion In other motion modes DP can be updated by other references Analog input in Joystick mode tables in ECAM mode other axes in master slave modes etc When an axis servo loop is disables MO 0 DP is continuously updated by the servo loop real time process to the value of PS current encoder reading so the Position Error PE is 0 by definition Attributes Type Parameter Axis related Yes Array No Assignment No Command Allows parameter Scope Restrictions Save to Flash Default Value 0 Range 2 147 000 000 2 147 000 000 Syntax XDP Report value of X axis DP ADP Report value of DP to all axes See also AP PS PE Nanomotion Ltd 160 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 27 EC Communication Error Code Purpose EC holds the last communication error code The value of EC is reset to 0 when the controller boots up When a communication error occurs in one of the communication channels the value of EC is updated accordingly by the Commands Interpreter to reflect the specific error cause The user can cle
386. simple The user only needs to set the Capture source signal configuration word and the controller automatically captures positions whenever the Capture source pulse is detected There is no special activation command for the Capture function nor any special error codes related to it The following dedicated Keywords are used to configure and work with the Capture function e XN Capture Index counter e XC Last Capture Position e YOM Configure the Capture Signal source for all axes In the following sections the usage of these keywords is explained 6 3 3 The Capture Events Counter XN Each time the hardware Captures Latches a new location the total number of Capture events XN is incremented by 1 The user can reset this variable to 0 and monitor its value to wait for a Capture event within a script program This can be used for example to signal events to a host computer whenever a Capture event is sensed XN is an axis related parameter keyword Each axis holds its own Capture index counter 6 3 4 The Capture Location XC The last Captured location is stored by the controller firmware in the XC parameter for each axis independently i e XXC YXC The user should note that when PS is updated the value of XC is meaningless The Capture feature implementation does not support hardware or software buffers Whenever a Capture is detected the last value of XC
387. ssicegee cet coceadencveve sti cotvaccienieecssuetnadneeteeesed 371 Figure 41 Event Capture Folder cccccccceeeeeeeeeeeeeeeeeeeeeeeeesnaaaaeeeeeeeeeeeeeeensssaaaeeeeeees 372 Figure 42 Event Generator Folder cciciciesschectuesvas seneeedentuctnas ceded ehesuatuat odes ehenneemedd oho reeeeee 373 Figure 43 Miscellaneous Folder ccccceeeeeeeeeeeeeeeeeeeeeeeeeeeneaaaeeeeeeeeseeseeneseaaaeeeeeees 374 Figure 44 Data Recording Folder cccccceeeeeeesseseeeeeeeeeeeeeeensaaaaeeeeeeeetensnsaaaeeeeeeeeeees 374 Figure 45 Super Custom Fold ercec ccseihe he eicnaie Acme tine cearhs Acne nese ae sedate ted 377 Figure 46 Custom Commands Folder Grou c eeeceeeeeeeeeeeeeeeenneeeeeeeeeeeeeeeneeeeeeeees 379 Figure 47 Edit Custom Command Dialog BoX ececcceeesesseeeeeeesneeeeeeenneeeeeeeneeeeenenaes 380 Figure 48 The Nanomotion Shell Application Main Menu cccceeeeeeeeeeeeeeennneeeeeeees 381 Figure 49 Edit All Custom Commands Dialog ccccceeeeeeeeeeecneeeeeeeeeeeeeeeteeennneeeeeeees 382 Figure 50 File Location Setup Dialog BOX 0 eeeceeeccceeeceeeeeeeeeeeeesaaaeeeeeeeeeeeeensaeaeeeeeees 383 Figure 51 Communication Settings Dialog BOX cccccccceeeeeeeeeeeeeeeeeeeeeeeeeteeessaaaeeeeees 385 Figure 52 Terminal Oleh 24a ita atiet halt eet aleed nie Wate teenth lan occas 388 Figure S33 Alray Editing Dialog ania cccce tet ice cewed thet cen cade
388. ster Yes SR Motion Status Yes MS Analog Input Yes Al Motor Fault Yes MF Input Port No IP Output Port No OP Reserved Table 7 Internal Controller Variables for Data Recording 101 FlexDC Software User Manual Part II FlexDC Software and Commands Reference Notes By selecting a NULL variable value RV 0 for a specific vector this vector is disabled not recorded Itis required that enabled Recorded Vectors is orderly arranged This means that after the first NULL RV all following axes RV s should be 0 Most of the variables are axis related variables This means for example that the user can select to record for each recorded vector the value of XPS YPS etc See the RV parameter keyword reference in chapter 7 Part Il for specific details about all possible RV values 6 1 2 8 DA and AR Arrays in FlexDC FleXDC has a data recording array DA in size of 16 000 points but the recording length is limited to 15 000 points only The general purpose array AR size is 1 000 points and overlaps the DA array in its first 1 000 points This means that DA 1 1000 AR 1 1000 To avoid over running the AR array when data recording is initiated the data recording starts from DA 16 000 and ends at DA 1001 depending on the RL This implementation allows special applications to define large AR arrays by accessing DA at locations higher then 1 000 In all normal
389. t PO Yes Yes PID Output PIDFeedForwared FF Yes No PID Feed Forwared Position PS Yes No Current Position PositionError PE Yes Yes Position Error ProfileSmoothing WW Yes No Profile Smoothing Program Status QR Yes Yes Current Program Status ProgramPointer QP Yes No Current Program Pointer ProgramRTE QC Yes Yes Last Program RTE RecordingGap RG No No Time Interval RecordingLength RL No No Recording Array Upper limit RecordingStatus RR No Yes Recording Function Enable RecordingVariables RV Yes No Data collection mask RecordingTriggerValue TV Yes No Recording Trigger Value RecordingTriggerSource TS Yes No Recording Trigger Source RecordingTriggerPosition TP Yes No Recording Trigger Position Nanomotion Ltd 434 FlexDC Software User Manual Part V SCServer COM DCOM Interface Library FlexDC COM Interface Keyword FlexDC Parameter Description Key Axis Read word Relate Only RelativePosition RP Yes No Relative Position SearchSpeed SS Yes No Search Speed SpecialMode SM Yes No Special Mode e g repetitive motion Speed SP Yes No Linear velocity StatusRegister SR Yes Yes Status Register TargetRadius TR Yes No Target Radius TargetRadiusTime TT Yes No Target Radius period Velocity VL Yes Yes Actual Velocity WaitPeriod WT Yes No Wait Time LastError No Yes Internal COM parameter returning th
390. t a time by the server standard single thread Server interface with SINGLETON interface Nanomotion Ltd 421 FlexDC Software User Manual Part V SCServer COM DCOM Interface Library 20 1 Interface Specifications This section shortly describes the specifications of the interface The DCOM server provides interfaces to all of the FlexDC controller parameters Each FlexDC controller variable is defined in the DCOM server as a server object parameter or method It is possible to communicate with any controller via RS232 or via CAN This of course is limited to the number of CAN ports 0 2047 and COM ports computer dependant Note that each controller requires at least two unique addresses one for transmit and one for receive Note that actual number of nodes supported number of devices may be limited by the hardware to a much lower value Please consult Nanomotion experts for further information regarding this issue The DCOM server may run without any hardware cable card or servo controller etc This may be done for all hardware connections and or for individual ones as well Note that in the case of this debug mode refer to the OpenDevice Ex methods all calls to the DCOM server will result with 0 as the reply Once an error occurs the COM Object throws an error This error can be caught with the try catch pair in VC or with the On Error in VB The user can then read the LastError parameter thus returning the relevant e
391. tal output word This is required for example when only a certain bit needs to be cleared without the other bits changed Using the OC Output Clear Bit command saves the user from first reading the value of OP clearing one of its bits using a logical amp operator and then re assign OP read modify write When accessing the output port bits from two separate script tasks this is necessary otherwise the value of OP can be wrong The OC Output Clear Bit command must receive a parameter indicating the specific bit to mask currently 1 8 Calling the command without a parameter generates an EC_PARAM_EXPECTED EC 38 error Calling the command with an out of range parameter generates an EC_PARAM_OUT_OF_RANGE EC 94 error Attributes Type Command Axis related No Array No Assignment sA Command Allows parameter Must have Bit 1 8 Scope All Restrictions None Save to Flash Default Value Command Parameter Range 1 8 Syntax XOC 1 Clears the first bit LSB Bit 0 in OP to 0 XOC 8 Clears the last bit MSB Bit 7 in OP to 0 Examples XOP 255 Set ALL digital outputs to High 1 logic XOC 1 Clears the first bit LSB Bit 0 in OP to 0 OP 254 XOP 255 Set ALL digital outputs to High 1 logic XOC 8 Clears the last bit MSB Bit 7 in OP to 0 OP 127 See also OL OP OS Nanomotion Ltd 188 F
392. tax coloring see Figure 57 Nanomotion Ltd 400 FlexDC Software User Manual Part IV Nanomotion Shell Application The Macro File Edit components in Edit Mode e Workspace Area see section 19 3 Part IV e Edit Area this area includes the opened files for editing Files with scm extension are syntax colored other files are in black and white colors e Output area includes macro compilation errors and results Syntax coloring is divided into word groups e Default text e Numbers e Symbols e Strings e Comments e Directive Commands such as define target e Labels such as AUTOEX HOME_X e High Level Word such as if else for while For more information on colors settings see 19 7 3 2 Part IV 19 5 Macro Downloading By downloading macro to the controller the user can find two types of errors e Syntax errors errors in syntax such as for loops paring errors e Program flow errors errors detected by the debugging process Downloading Macro step by step 1 Open the macro file in the Edit Area If working with workspace select the main macro file 2 Verify that the relevant controller shell is opened and communicating with the controller 3 On the Macro menu click Download Macro 4 The result of the download appears in a message if the download succeeds than an OK message appears otherwise the errors are listed in the Output Area Nanomotion Ltd 401 FlexDC
393. tc commands 10 sec Animate macro execution Ctrl A Runs the program from the current pointer location It is equivalent to the XQE YQE commands with no parameter Go from current pointer location F5 Toggles a breakpoint ON OFF Location is selected by the mouse location The nearest valid executable line is affected Note that breakpoints are valid for normal run and also for animate run Note also that when running normal when reaching a breakpoint the program pointer will point to the next executable line after the breakpoint When animating the program pointer will point on the breakpoint line before it was executed Insert Remove breakpoint F9 Remove all breakpoints from the controller and from the debugger window Remove all breakpoints Locate the program pointer at the next valid program clause Location is selected by the mouse location Set next statement Ctrl N Shows the current pointer location located at XQP YQP accordingly Show next statement Ctrl V 10 Opens a dialog shortly describing possible reasons for the last macro run time error Show run time error Ctrl Q 11 Update Watch Window Macro Update watch list 12 Axis Combo box selection for the current macro you wish to debug N A Table 40 Srcedit Macro Debugger Window Toolbar and Menu Functions Nanomotion Ltd 281 FlexDC Software User M
394. ted once the iTD is called Nanomotion Ltd Table 45 Macro Program Timer Keywords 311 FlexDC Software User Manual Part IIl FlexDC Macro Language 15 3 6 Remote Access over the CAN commands Table 46 describes the keywords that allow remote CAN access from within an FlexDC macro program Keyword Description ZA Remote Assign parameter Sends an assignment clause to a remote unit The parameter to be assigned is the command s parameter The value to assign is taken from the numeric stack one item removed ZC Remote Command Sends a command clause to the remote unit The command to send is the ZC command s parameter The command does not affect the numeric stack Zi l An array parameter ZI 1 holds the ID address to which the remote communication addresses the receive CAN ID address of the remote unit ZI 2 holds the ID address to which the remote unit will answer the CAN ID address at which the answer is expected This array parameter is macro related XZI 1 is used in macro X YZI 1 is used in macro Y ZM Sends a string message limited to 8 characters to a pre defined remote CAN ID address defined by ZI 1 ZI 2 is ignored The message to send is the command s string parameter if was found or 1 or 2 as parameter for 1 or 2 respectively numbers OFF the numbers stack ZR Remote Report parameter Sends a report clause to a remote unit The
395. teger text format As opposed to the RS232 protocol in the Ethernet protocol has no echo option The clause received by the controller is sent back to the host After handling a command or assignment clause a prompt is sent back to the host computer The prompt is gt in the case of a successful command clause execution or gt in the case of any error in the execution of the command clause command is not executed In this case a dedicated parameter EC Error Code stores the code of the last communication error All messages include an ACK or NACK gt gt or va ue gt After the gt sign the identical numerator that was sent by the host is sent back by the controller Standard Ethernet protocol supports chaining numerous clauses with the character semicolon In this case only one numerator be sent after the CR The controller s response reflects the order of the clauses sent in a single message divided by In a case where an axis grouping was sent as part of the clause the replies to these clauses are be separated by the character comma A CR must appear Chaining message length should be limited to 15 messages Nanomotion Ltd 43 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference Examples Italics strings are the controller s responses to the host computer The blanks are only for the clarity of the example and the send get timing X S P CR
396. ter The recording GAP RG defines an integer number gap in 122 uSec servo sample intervals between each two consecutive recording sample points RG is used to allow data sampling at a slower rate then the servo sample rate When RG 1 the data sampling rate equals the servo sample rate of 8 192 points sec When RG 2 recorded data is sampled every second servo sample i e at a rate of 4 096 points sec RG 8 results in data sample rate of 1 024 points sec and so on 6 1 2 4 RG 2 Recording Upload Delay When uploading large data buffers in CAN bus the FlexDC can generate high loads on the CAN bus network Depending on the PC load and type of CAN board on high buffers upload some CAN messages can be lost In order to avoid this problem the FlexDC can add delays between CAN messages during data recording upload The Delay is set by RG 2 and is given in servo sample time multipliers RG 2 0 means no delay RG 2 1 means 1 sample time delay this is 61 micro sec on the 4M and 122 micro sec on the 2M and so on Usually a delay of 3 5 samples is sufficient for most cases 6 1 2 5 Select Recording Length Parameter RL RL defines the number of data points per sampled vector This number defines the final size of each recorded vector RL value can be up to 15 000 if only one vector is selected to be recorded or up to 1 875 if all vectors up to 8 are selected for recording For example w
397. the FlexDC servo controller are declared in the DLL include file Cdevapi h Therefore the user must include this file in each source code file refer to Part IIl FlexDC Macro Language that tries to access DLL functions using the following deceleration in the header of your implementation file include cdevapi h 3 In order to link the project with the DLL at run time the user must include the DLL library file Comdev lib in the project This library file informs the linker during the link process that the functions declared by the Cdevapi h file are imported from the DLL at runtime see the Terminal Demo Application project workspace The following section describes the DLL API functions Nanomotion Ltd 446 FlexDC Software User Manual Part VI Communication Library Commdll dll 25 2 DLL API Functions 25 2 1 CreateComDev Function Name __declspec dilexport PVOID CreateComDev Purpose This function creates a communication device module and allocates memory inside the DLL for the communication process The user must call this function from the application before calling any other function in the DLL Return Value A pointer to an internal Communication device object Check that this pointer is not NULL Use this pointer in all subsequent calls to DLL functions 25 2 2 DestroyComDev Function Name __declspec dilexport BOOL DestroyComDev PVOID pComDev Purpose This function destroys the communication
398. tion Ltd 53 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 2 7 3 Special Commands Currently the only special command case supported is the Label case The label is required to execute a program from a specified location For example the command XQE execute a program may be issued with no parameter at all and the program starts running from the current program pointer If the user wants to start executing the program from a given label the label should be given as a Command s Parameter and the command should be signaled as a special command Since the FlexDC supports up to 6 label characters by CAN otherwise it supports up to 12 characters and the command itself includes 2 characters a special format is defined In such cases the command is split into 2 messages The first message includes the label data only with the pre fix byte of course and then the command itself with no data is sent The Special Command bit is used in these cases to indicate that the command is split into 2 messages For example the following RS232 syntax ZQE LABEL1 meaning start executing the Z program from label LABEL1 is issued in CAN as 2 consecutive messages The first message is as follows Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Pre fix Special Label Label Label Label Label Label Code byte 1 byte 1 byte 1 byte 1 byte 1 byte 1 0x20 0
399. tions None Save to Flash No Default Value 0 Range 0 1 Syntax XMO 1 Enable X motor set XMO to 1 AMO 0 Set MO 0 in all axes Disable All Axes Examples The following code example shows starting a Jog motion in the Y axis using SP 50 000 counts sec Negative Motion MO must be set to 1 to start the motion YMO 1 Enables the motor and Set Position 0 YPS 0 Set Position 0 YMM 1 YSM 0 Set Normal JOG Motion Mode YAC 250000 Set Acceleration to 250 000 YDC 500000 Set Acceleration to 500 000 YSP 50000 Set Speed to 50 000 YBG Start a Motion See also NC BG MM SM PS Nanomotion Ltd 183 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 46 MS Motion Status Purpose The MS Motion Status parameter holds information on the current motion status of specific axes This is a read only axis related parameter When an axis is not in motion its MS parameter is 0 by definition i e all bits are cleared whether a motion did not start at all or ended due to any reason The MS parameter is a bit field array Each bit represents a certain motion status More then one bit can be high i e logically 1 during a motion sequence MS is most commonly used to monitor the end of motion condition Another way to monitor end of motion is to use the extended WAIT commands QW Refer to
400. tons to open a Windows browser tree dialog box File Location Setup x Download Macro o oo Download Version D Fw_Versiong El ome Figure 15 FlexDC Shell File Locations Setup Dialog Nanomotion Ltd 275 FlexDC Software User Manual Part IIl FlexDC Macro Language 12 4 Srcedit Macro Debugger Environment Features 12 4 1 General The Srcedit is a powerful debugging environment and the FlexDC macro programs are part of this environment The Srcedit uses the low level debug features of the FlexDC while providing an advanced GUI support Basically the debugging environment allows the user the following options Opens a macro source file for debugging with an advanced color syntax highlighted source view both high level and low level commands are shown in a clear manner Starts and stops program execution for all axis macros Fast single selection combo box switching between the macro debugging Note that all the features described in this list are available for each macro separately Restarts resets a loaded program Brakes program execution at any point Traces program execution line by line Animates program execution auto trace Uses up to 20 breakpoints 20 for each macro Removes all breakpoints Sets a program pointer to a specific location line number or label Shows the next executable line go to current pointer location Shows run time errors Full access to all contr
401. trictions Save to Flash Default Value Range Syntax XSR Report value SR for X axis ASR Report value SR for all axes Nanomotion Ltd Parameter Yes No No All None No 0 N A 218 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference Examples The following simple example demonstrates how initialize a PTP motion in X axis then to wait for end of motion monitoring MS and In Target condition monitoring SR XMO 1 XPS 0 Enables the motor and Set Position 0 XMM 0 XSM 0 Set Normal Point To Point Motion Mode XAC 250000 Set Acceleration to 250 000 XDC 500000 Set Acceleration to 500 000 XSP 25000 Set Speed to 25 000 XAP 100000 Set Next PTP absolute location to 100 000 TR 10 TT 160 Set Target Radius and Target Time XBG Start a Motion while XMS 0 Wait for End Of Motion in X XMS 0 endwhile while XSR 32 Wait for In Target in X XSR 32 endwhile Another way to wait for In Target condition is to use the special QW command like in the following example define WaitForEndOfMotionX XQW 100000 define WaitForXInTR XQW 101060 XMO 1 XPS 0 Enables the motor and Set Position 0 XMM 0 XSM 0 Set Normal Point To Point Motion Mode XAC 250000 Set Acceleration to 250 000 XDC 500000 Set Acceleration to 500 000 XSP 25000 S
402. ts Configuration Description 191 Table 29 1O_ MODE 1 BitS Order a aa e a E a eana 191 Table 30 FlexDC YOM IO_MODE_1 Bits Configuration Description 192 Table 31 FlexDC to Host CAN VR Version Report Message Format ccceeeceeeeeees 233 Table 32 ZV NAY sedcastcest cc ctcarte cca a alc ac ih aca ct 240 Table 33 Communication and Program Error Codes ccseeeeeeeeeeeeeeeeeneeeeeeeeeeeeeeenaea 247 Table 34 FlexDC Macro Program Handling Keywords 2 ececeeeeeeeeeeeeeeeneeeeeeeeeeeteees 252 Table 35 Macro Program Operators tarcscscsice AhertesSlecdten dR iovins deere ce itedes aud econ Beavers 256 Nanomotion Ltd 20 FlexDC Software User Manual Lists Table 36 Macro Program Flow Control KeyWords 0 ceeeeeeeeeneeee tere eee eeeeeeeeeeeeeeeeeeeeneee 261 Table 37 Macro Program Wait and State Inquiry KeywordS eeeeeeeeeeeeeeeeeeeeeeeteeeeeaaees 265 Table 38 Macro Program Internal Wait Conditions ccccceeeeeeeeeeeeeeeeeneeeeeeeteeeeeeeeeae 266 Table 39 Macro Program Timer KeyWords ccceeeeeeeeeeeeeneeeeeeeeeeeeeeeeaaeeaaeeeeeeeeeeneee 268 Table 40 Srcedit Macro Debugger Window Toolbar and Menu Functions c0008 281 Table 41 FlexDC Program Handling Keywords ccccccceeceeeeeeeeeeeeteeeeenneeeeeeeeeeeeeetteeae 309 Table 42 Macro Program Operators ccccccceeeeeeeeeeeee tree eeececaaeeeeeeeeeeteeteeeecaeeeeseeeeenee
403. u item enables to download macro file to the controller This menu item is available only when one the Nanomotion Shell Application is open and connected to controller 19 7 5 2 Save and Download Macro The Save and Download Macro menu item saves the current edited macro and downloads it This menu item is available only when one the Nanomotion Shell Application is open and connected to controller 19 7 5 3 Debug Macro The Debug Macro menu item enables to debug a given macro file This menu item is available only when one the Nanomotion Shell Application is open and connected to controller The given macro file must be the same as the macro that resides in the controller 19 7 5 4 Debug Current Macro The Debug Macro menu item enables to debug the current edited macro This menu item is available only when one the Nanomotion Shell Application is open and connected to controller The edited macro must be the same as the macro that resides in the controller Nanomotion Ltd 413 FlexDC Software User Manual Part IV Nanomotion Shell Application 19 7 5 5 Debug Macro X The Debug Macro X menu item switches the debugging to macro X Note there are 2 possible macros in the controller X Y 19 7 5 6 Debug Macro Y The Debug Macro Y menu item switch the debugging to macro Y Note there are 2 possible macros in the controller X Y 19 7 5 7 Reset Program The Reset Program menu item resets the current selected macro exe
404. ue Range Part Il FlexDC Software and Commands Reference Parameter Yes Yes size 2 12 Yes All None Yes 0 100 000 100 000 241 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 8 Communication and Program Error Codes The following table lists ALL possible communication and program Error Codes EC supported by the FlexDC firmware The error codes listed below are applicable to both communication errors as well as program execution error codes The errors in Table 33 are applicable in both single and double axes versions of the FlexDC unless specified otherwise For program related error codes refer to Part Ill FlexDC Macro Language for more information EC EC Code Name Error Description Val Q COM_OK No Error in history This value is received also by resetting the EC variable 1 BAD_KEYWORD_AXIS This error is issued in the following cases Bad axis prefix was used for the command parameter Keyword does not support one of the axes in the group prefix used e g Group 1 is set to 1023 and the AAC clause is sent 2 SYNTAX_ERROR This error is issued once a wrong syntax for current clause was sent to the controller It may be one of the following Unrecognized operator Unrecognized Keyword Macro label not according to syntax defined General clause not according to the defined syntax 3 BAD_ARRAY_INDEX This error is issued i
405. uired for Fast Digital Inputs in the FlexDC 6 3 7 Nanomotion Ltd Position Capture Events Examples 6 3 7 1 Capture and CompareExample The following example demonstrates usage of the Capture and Compare functions The X axis is programmed to generate Compare pulses on fixed GAP The pulses are directed to Fast Digital Output 5 It is assumed that Dout5_Fast is physically connected to Din9_ Fast Axes X and Y are then programmed to Capture their locations on each Compare pulse The Captured X position should be identical to the desired Compare position The Captures Y position reflects the Y axis location when X was commanded to generate the Compare pulse The captured positions are then sent through the CAN bus to a host computer The Compare GAP is programmed to 200 encoder counts while motion is at 100 000 counts sec The resulted Compare frequency is 500 Hz This application can be used when an X Y scan is made and in order to know the exact planar location of the system on each compare pulse 118 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference Disable any active co mpare for X Axis Configure IO_MODE_0 DOut 5 assigned as X Compare Y Configure IO_MODE_1 X Y use DInp 1 as their Capture Source Set IO_MODE_0 YOM 2056 Set IO_MODE_1 X Y Use DInp 9 for Capture Initialize X Y axis Motion Parameters and reset position BAC 1000000 BDC 1000000 BDL 1000000 BSP 100000 BPS 0 BMO
406. uld be given Upon issuing a BG command to an axis in MMz z2 first the master and slave initial positions are locked and then the axis enters a motion state where its reference is calculated according to the following equation MasterDP MasterInitDP FR 16 777 216 SlaveDP SlaveInitDP Nanomotion Ltd 69 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference Notes For an axis in gearing motion mode the slave all other motion profiler parameters i e SP AC etc are ignored Users should avoid altering a master axis DP by a issuing a PS command to the master axis while it is connected to a slave axis that is in motion to avoid position Step Commands to the slave and possible a high error faults Although FR can be change during motion doing so results in a slave step command which may cause a high error fault When an axis is commanded to begin a motion in MM 2 it immediately enters the motion with the reference as defined above No acceleration profile is generated for cases where the master axis is already in motion Like jogging gearing motion is also theoretically an infinite motion It stops only as a result of a user command or due to some fault limitations or protections If a gearing motion is stopped by a user ST command or by other faults such as hardware or software limits the slave axis starts to decelerate using the rel
407. ult 29 0x1000 0000 Not used Input 14 0x0000 4000 X Index 30 0x2000 0000 Not used 15 0x0000 8000 Y Index 31 0x4000 0000 Not used Notes e Bits 0 9 of IP are the uncommitted Digital Inputs Nanomotion Ltd 168 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference e Bits 16 19 of IP are the RLS and FLS Limit Switch flags of axes X and Y e RLS and FLS stand for the Reverse Back Limit Switch flag inputs and the Forward Front Limit Switch flag inputs e The Driver Fault may be from 2 different sources e Internal Driver Fault Source Used in Nanomotion Ltd Dedicated Drivers e External Driver Fault Source Used in 3rd party driver manufacturers e The Driver Fault source is set using CG 13 e Bits 24 25 of IP are the Driver Fault Inputs of axes X and Y The polarity of these bits can be inverted using CG 6 These bits are the result of the Driver Fault Internal or external e The actual status of the internal or external Driver Fault may be found in Bits 12 15 e Bit 28 is the General Abort Input When Abort is ON all axes are disabled e The polarity of the ABORT bit cannot be inverted e Bits 29 31 are currently not used Nanomotion Ltd 169 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference These are the IP parameter attributes Attributes Type Parameter Axis related No Array No Assignment No Comma
408. um allowed Position Error ER Whenever PE gt ER the real time loop automatically disables the motor and indicates the error reason as High Error fault In the FlexDC the maximum ER value can be as high as 8 000 000 counts Nanomotion Ltd 82 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 4 3 High 2nd Order Filters The FlexDC includes a digital 2 order filter The filter can be enabled or disabled using a special dedicated new parameter CA 13 e When CA 13 0 the 2 order filter is disabled in all modes e When CA 13 1 the 2 order filter is enabled in all modes The 2 order filter equations are Ux Xa i 1 b xY _ b xY _ or Y a xU b xY _ 6 xYx where U and Y are the filter input and output signals and a0 b1 b2 are the filter constants The filter parameters are user defined and are set in by a special set of dedicated new parameters CA 7 CA 8 and CA 9 with the following scaling CA 7 a0 x 65536 x 16384 CA 8 b1 x 65536 CA 9 b2 x 65536 With the Nanomotion Shell Application the user can easily and automatically set filter variables The Shell provides a utility that converts standard Frequency and Damping values to the controller filter form parameters scaling The Shell is using a standard Z transform for the conversion Note The 2 order filter is present in both closed and open loops The user can test the operation of the filter in open loo
409. uming A is configured to all axes A S P CR A S P CR 100 200 300 400 500 600 700 800 900 1000 gt Echo only if EO 1 Response always sent Executing a Begin Motion Command for X and Y by default B BG CR BBG CR gt a E Echo only if EO 1 Response always sent Nanomotion Ltd 37 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference Trying to assign an out of range value to YAC error prompt is sent and EC is updated accordingly YA C 10 0 0 CR YA C 10 0O 0 CR gt Echo only if EO 1 Response always sent Executing a Script function named HOME_X in Program 1 X X Q E HOME_X CR X Q E HOME X CR gt Echo only if EO 1 Response always sent 2 6 Ethernet LAN Communication This chapter describes how to connect the FlexDC to a PC via Ethernet and establish the communication 2 6 1 FlexDC Network Topologies In order to obtain best communication performance with the controller it is recommended to connect the controller to a dedicated scheduled network apart from a global organization network Supporting numerous Ethernet cards is standard nowadays and can be easily configured This network may consist of a single computer and a controller Single Computer Controller network or of numerous computers with numerous controllers all connected via a hub switch Multi computer controller network In Figure 2 the FlexDC controllers are part of a
410. urpose This command reports the actual controller position Encoder Value The user can also be set as desired value to the current position define the current position as Note that setting the position value is valid only when not in motion Setting the PS immediately sets the DP desired position to the same value The PS command is restricted to No Motion condition Trying to change PS value while motion is in progress generates an EC_NEEDS MOTION_OFF error 50 Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows parameter Scope All Restrictions Needs Motion OFF Save to Flash No Default Value 0 Range 2 147 000 000 2 147 000 000 Syntax XPS 0 Set X Axis Position encoder to 0 APS 0 Set PS 0 in all axes Reset All Axes Examples The following example shows resetting the X axis position to 0 and then initiate a normal motion in X axis from Position 0 to Position 100 000 XMO 1 Enables the X Motor XPS 0 Set X axis encoder Position 0 XMM 0 XSM 0 Set Normal Point To Point Motion Mode XAP 100000 Set Next PTP absolute location to 100 000 counts XAC 250000 Set Acceleration to 250 000 XDC 500000 Set Acceleration to 500 000 XSP 25000 Set Speed to 25 000 XBG Start a Motion See also DP MM ER Nanomotion Ltd 203 FlexDC Software User Ma
411. ute a program QE Nanomotion Ltd 30 FlexDC Software User Manual Part II FlexDC Software and Commands Reference can receive a label string argument indicating the name of the subroutine to execute e g XQE HOME Command s parameter can be a string see above or a number The command s parameter is separated from the oy command itself using a comma character 2 3 3 Keywords Attributes and Restrictions Each keyword has attributes defining it and restrictions that must be satisfied in order to accept the command clause The Command Interpreter module checks the restrictions before actually executing the command or making a parameter assignment For parameters the restrictions relate only to assignment since reporting is always valid Restrictions for both parameters and commands may include one or more of the following list e None No restriction is applicable e Motor should be ON 0x00000001 The requested command or parameter assignment needs an enabled motor For example the BG begin motion command must have its related motor enabled in order to be executed successfully e Motor should be OFF 0x00000002 The requested command or parameter assignment needs a disabled motor For example the CG axis configuration parameter can be assigned with a new value ONLY if its related motor is disabled The assignment can not be executed if the motor is enabled e Motion should be O
412. words supported by the QW or QG commands The State Mnemonics Code column is the code for each state value when using the define directive supported by the pre compiler environment see chapter 13 Part Ill The condition that is referred can be either the extraction of one of the bits or to the value of the actual parameter The condition can of course be the not condition see Table 38 Nanomotion Ltd 265 FlexDC Software User Manual Part IIl FlexDC Macro Language Keyword State Mnemonic Code MS 0 SR 1 IP OP MO MF QR TD EM EC Qc O OINI ODO oO A OJIN i jo Table 38 Macro Program Internal Wait Conditions The parameter sent to the QW or QG command is actually a formula made of the following Parameter Axis 100000 Code 1000 Bit 10 Logic Axis 12 X Y respectively Code 010 See Table 38 for relevant code Bit 032 Bits 1 until 32 are the respective bits of the keyword If 0 was chosen as bit it states we are waiting for the keyword to either 0 or 0 according to the Logic Logic 01 Wait for active high or active low or 0 0 when bit 0 Example f it is required to wait until output 3 is active high send the following XQW 103030 Nanomotion Ltd 266 FlexDC Software User Manual Part IIl FlexDC Macro Language Explanation Axis 1 therefore we are dealing with axis 1 Cod
413. x 2047 CAN Macro Y Remote 3 ig Defining the IP SEUSS lies CAN BrOsteast TR 20a CAN Macro Z Remote fi E CAN Macro W Remote E fis Validate CAN Addresses Setup ppd Maas C e wm ___f Ready menu m CAN Configuration Setting Connection comb box DCOM Version 2 41 No Property File Is Selected Figure 5 Nanomotion Shell Application Configurations Menu 3 After the communication is established click the Configurations menu on the left pane of the main screen 4 Type the IP address in the IP Base window see Figure 5 data to the controller 6 Press the of Save button on the main screen toolbar to save the parameters to the Flash Memory 7 Press the FS Reset button on the main screen toolbar to reset the controller 8 Turn OFF and then turn ON the controller again so the controller connects to the set IP address 9 In order to validate the previously set on the Configurations menu on the left pane click the CAN icon NanomotionLtd AL FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 10 The user can define additional specific options for the LAN connection on the Communication menu click Setup Communication Menu similar to RS232 connection described in the Quick Start chapter in the FlexDC User Manual Inthe Communication Settings dialog box see Figure 6 choose the Controller Name Type th
414. x01 i A B le Message length should always be 8 bytes labels are left justified padded with blanks to the right Currently the only special code supported is 0x01 to indicate the label sign The prefix includes the Special Command bit only as 1 See the next message Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Pre fix KeyW KeyW Data1 Data2 Data3 Data4 0x7d Q E 0 0 0 0 Nanomotion Ltd 54 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference Message length should be 7 bytes in this case The prefix includes the Z bit refer above to axis prefixes the NORMAL bit 0x08 the COMMANDS PARAMETER bit 0x10 and the SPECIAL COMMAND bit 0x20 The data bit should be set and data should be zero The actual data is taken from the previous command Note that although in this case both the COMMANDS PARAMETER bit 0x10 and the SPECIAL COMMAND bit 0x20 are set in general this is dependent on the command used 2 7 4 Language Syntax FlexDC to Host Clauses sent from the controller to the host may have one of the following structures 2 7 4 1 Prompt OK An OK response to a command or a set parameter normal prompt as in RS232 ae eee eae a e Message length is 1 byte only 2 7 4 2 Prompt Not OK An error response to a command or a set parameter
415. xis from Position 0 to Position 10 000 but with the PID Integral term saturated to 25 XMO 1 XPS 0 Enables the motor and Set Position 0 XMM 0 XSM 0 Set Normal Point To Point Motion Mode XAP 10000 Set Next PTP absolute location to 100 000 counts XAC 90000 XDC 90000 Set AC DC 90 000 XSP 25000 Set Speed to 25 000 XIS 8192 Limit IS to 25 2 5 Volts XBG Start a Motion See also TL Control Filter Implementation Nanomotion Ltd 171 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 7 36 KD Control Filter Diff Term Gain Purpose The KD parameter is used to set the control filter algorithm position loop Differential term gain in PID control mode and Velocity loop overall gain in PIV control mode The KD parameter is an array parameter with the size of 4 x 2 i e for each axis X Y KD 1 and KD 2 are available The first element KD 1 or KD see note below set the normal filter gains while the second element KD 2 set the gain for the Gain Scheduling algorithm Note The FlexDC command interpreter supports for backward compatibility access to any array parameter first element as a non array element This means that for example XKD is identical to XKD 1 Attributes Type Parameter Axis related Yes Array Yes size 4 2 Assignment Yes Command Allows parameter Scop
416. ystem with encoder resolution of 0 1um Dead Zone Min is between 1 to 2 counts and Dead Zone Max is between 4 to 10 counts This mode is active only when not in motion This mode can be enabled or disabled by bit 1 in CA 33 0 based Note 4 8 2 Feed Forward Algorithm This algorithm zeros the Feed Forward Velocity value if the absolute distance between the current position PS and the final destination AP is smaller or equal to the value of CA 38 The value depends on the total moving mass and encoder resolution Typically this value equals to 20 50um This algorithm is active in single Point To Point motions mode only i e MM 0 SM 0 This mode can be enabled or disabled by bit 0 in CA 33 0 based Nanomotion Ltd 86 FlexDC Software User Manual Part Il FlexDC Software and Commands Reference 4 8 3 Offset Algorithm The offset algorithm improves the start motion time by reducing the motor dead band If desired velocity is positive CA 34 value is added to driver command If desired velocity is negative CA 35 value is added to driver command Note The offset is added before the 2 order filter and FF This mode works in repetitive motion This mode can be enabled and disabled by bit 2 in CA 33 0 based Itis user s responsibility to verify that the range of the offset is correct 0 3200 max 4 8 4 UHR Algorithm The UHR algorithm takes the Velocity Filter output and creates a PWM command

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