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ARLACON McBasic 3.2 programming environment reference manual

1. Declaration is not necessary for variables with short names composed of one letter or a letter anda number for example A a A3 a9 z8 z Z b BO BY All of the above names refer to different variables The name of a string variable ends with The maximum length of a string variable is set by STRING n command default 80 characters A a z Z Symbol names of string variables STRING Abc defines 80 char string variable STRING 125 Abcd defines 125 char string variable STRING 1 Abcdes defines 1 char string variable A numerical array name is a string of characters beginning with a letter following characters may be letters _ or numbers with dimension range s in parenthesis A 0 3 Arr 23 a2 3 z a 4 Z z 2 zZ 3 Zspeed_z 5 7 A string array name has a before dimension range s in parenthesis AS 2 a 17 SymArray 18 ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcOoN 53 Similarly the name of an address variable ends with An address variable may have values formed by a line numbe or a label with an offset if necessary Address arrays can also be defined to hold address values AQ 15 AddrArrayt 20 The scope of a variable or array determines where the variable can be accessed McBasic 3 2 variables have a scope according to the program structure where they were defined All variables declared in the beginning of the progr
2. ACCELX CREEPX ACCELX CREEPX MC BASMAE DOC ACC ELX Fig 11 8 motion with CREEP command 114 ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 115 11 9 FOLLOW AT Command Set an axis to follow another axis real ratio FOLLOW axis 1axis2 i FOLLOW axnr1 axnr2 AT axnr3 pos or rational ratio FOLLOW axis 1axis2 n m FOLLOW axnr1 axnr2 n m AT axnr3 pos axis1 axnr1 Axis which follows axis2 axnr2 Axis which is followed i Gear ratio between the axes Setting gear ratio to 0 disables the follow function between the axes and also resets any condition set with FOLLOW AT Gear ratio between axes as rational number n is the number of teeth in the primary gearwheel and m the number of teeth in the secondary gearwheel n and mcan be integers between 1 to 8000000 Defines the axis that triggers the follow ratio to be activated when using FOLLOW AT If AT axnr3 pos is omitted follow ratio is activated immediately Axnr3 can be same as axnr1 or axnr2 or any other axis in the system pos Defines the position at which the follow ratio is activated when using FOLLOW AT Set axis7 to follow position of axis2 with a gear ratio of between axes Axis has to be enabled FOLLOW can be also operate for example while other types of motion translations CREEP profile is performed by these axes FOLLOWXY 1 X foll
3. 11 16 POSITION CONTROL LOG 11 16 1 LOGSIZE Command Set motion control data log size LOGSIZEaxes n or LOGSIZE axnr n axes Axis letter or a list of axis letters whose log size is set axnr Axis number or a list of axis numbers whose log size is set n Size of log array samples to be reserved for specified axes Max 65535 within available memory Function Read data log size Syntax LOGSIZE axis axnn Type Real number axis axnr Axis whose log size is being read Value Current log array size samples of axis The LOGSIZE command is used before LOGDATA or LOG commands to set the size of the log array used for storing logged data The default value for the log array size is 400 samples McBasic reserves the memory for the log only after using it LOG so log size settings for axes not logged do not reserve memory After using a log it is not possible to redefine the log size for the axis until McBasic is restarted from McDOS or NEW command is used ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 124 11 162 LOG Command Motion control data log control LOGaxes k or LOG axnr k Axis letter or a list of axis letters whose log is controlled Axis number or a list of axis numbers whose log is controlled Logging interval expressed in control cycles 1 PIDFREQ After each interval the data is written into the log If k 0 the log is stop
4. Type Integer 0 4 List of axis or n axes numbers combination to inspect If not defined the buffer for axes 0 9 in the system is inspected O motion ready one translation not ready n 1 waiting to start Read motion buffer memory status The number of initialized translations for a given axis combination axes see MOVC commands can be read with this function if MOVEBUFFER is motion is ready 1 translation not ready none waiting 1 translation not ready 1 in buffer 1 translation not ready 2 in buffer 1 translation not ready 3 in buffer buffer full ROMO ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 113 Because there is not space for more than 4 translations in the motion buffer giving a motion command for an axis combination axes while MOVEBUFFERaxes is 4 causes the program to stop at the motion command until free space is available in motion buffer an unfinished translation becomes ready If this happens in a program with several tasks the task waiting for space in MOVEBUFFER passes control to the next task waiting to be put in execution 100 PWRXY 1 1000 R 100 CIRCLE RADIUS R 1010 X0 50 YO 50 MIDDLE POINT X0 YO 1020 FOR A 0 TO 2 PII STEP PII 8 1030 IF MOVEREADYXY lt 0 THEN STOP 1040 IF MOVEBUFFERXY gt 3 THEN 1030 1040 MOVCXY X0 R COS A YO R SIN A 1050 NEXT A or the same in an other form REAL Radius
5. PRIOR n PROF axes index expr PROF axnr index expr PROFSIZE axes expr PROFSIZE axnr axnr expr PTR devicenr expression PWRaxes expression PW R axnr axnr expression READ var var REAL variablename dim dim REM comment REN num Inum addr addr RES axes expression RES axnr axnr expression RESTORE address RESUME RESUME NEXT RETURN RUN SAVE string SCOMP axes expression SCOMP axnr axnr expression SHORT INTEGER varname dim SIZE devicenr size SPEEDaxes expression SPEED axnr axnr expression STOP STOPMOVE axes STOPMOVE axnr axnr STRING ength varname dim SYMBOLS SYSTEM SYSTEM string TASK address TASKMAX n TIMER n TRACE ONJOFF tasknr UNTIL condition WATCHDOG outputaddr freq WAYMOD n m WORD devicenr WORD varname dim A ARLACcoN set servo axes reference output set servo axes reference output set binary output set analog output set position loop repeat rate set current axes position set current axes position data output set task priority write to profile table write to profile table set profile table size for axes set profile table size for axes set file pointer set servo axes reference limit set servo axes reference limit read data from DATA lines declare real variables or arrays comment renumber program lines set axes position counter resolution set axes position counter resoluti
6. ARLACON McBasic A MCBASMAE DOC programming environment reference manual AriAcoN 84 10 13 RESTORE Command Set the read pointer in DATA expressions Syntax RESTORE address If address is given the read pointer is set to the beginning of the line at it If address is not given the read pointer is set to the beginning of the first DATA line in program This command can be used for pointing the DATA line where the next READ command starts to read the data If no RESTORE command is used in a program the read pointer is set to the beginning of the first DATA line when the program starts Each task has an own read pointer for DATA lines so reading DATA lines or using RESTORE command in one task does not affect other tasks DATA 1 Data2 DATA 2 3 RESTORE READ A1 A2 RESTORE Data2 READ B2 B3 10 1 4 DATAPTR Function Read current data pointer Syntax DATAPTR Value Address of the DATA line where READ will read data next If no DATA lines exist or pointer is past them value is End of program DATAPTR function allows reading the current status of the data pointer in the current task 10 2 USER DEFINED FUNCTIONS Often used expressions can be defined as user functions using the following commands This will conserve memory and make programs more efficient understandable and easier to modify ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 85 10 2 1 DEF C
7. OPEN 2 S1 OPEN 3 S2 JOYINP 2 0 1 x data to 0 y data to 1 JOYINP 3 2 3 x data to 2 y data to 3 DO FOR I 0 TO 3 CREEP 1 S0 JOY I CONTROLS FOUR SPEEDS NEXT I LOOP 11 15 PROFILE CONTROLLED MOTION With MOVEPROF commands it is possible to connect one or more axes to operate relative to another axis according to a pre programmed position profile ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACON 121 In this case the synchronizing axis controls an array pointer in the profile array of the axis to be synchronized The position of the synchronized axis is defined by the value in the profile array The values between array values are calculated using linear interpolation 11 15 1 PROFSIZE Command Set profile array size Syntax PROFSIZE axes axnr expression axis axnr Axes whose profile array size is being redefined expression New size for profile array Must be a power of 2 max 2 within limits of available memory Function Read profile array size Syntax PROF axis axnr Type Real number axis axnr Axis whose profile array size is being read Value Current profile array size of axis PROFSIZE provides a method for setting the size of the motion profile array of any axis individually By default the setting is 2048 when McBasic is started McBasic reserves the memory for the profile only after using the profile writi
8. ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACON 131 EDGE 1 0 Operation of the edge flip flop can be prevented by setting EDGE expr7 0 By setting EDGE expr1 1 the flip flop is reset to be set by the next edge received by the input The edge flip flop status can be read with EDGE function Function Read status of edge indicator Syntax EDGE expression Type Truth value expression Address of input Values O no edge detected 1 edge detected With EDGE function it is possible to inspect if an edge has been detected in input INP expression after it was last reset see EDGE DO IF EDGE 7 THEN EDGE 7 1 N N 1 UNTIL N gt NO LOOP 12 3 ANALOG I O Analog i o is available for MC400 systems as modules in the rack and for all Arlacon MC systems as McWay modules MC400 analog input modules operate by converting the incoming analog signal to a frequency signal in the control system Similarly the outputs operate by converting the frequency signal generated by the control system to an analog signal Conversions are performed in conversion modules isolated from control system logic and therefore possible interference is prevented from disturbing the operation of the control system Analog i o on McWay modules and other analog i o is accessed using the INPA and OUTA commands 12 3 1 INPA Function Read analog input Syntax INPA expression Type
9. ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACON 83 10 OTHER COMMANDS 10 1 DATA LINES Data lines form a program structure for defining data in the program Data can contain numerical string or address data Also expressions can be used as data 10 1 1 DATA Command DATA definition Syntax DATA expression expression expression Data entry Expressions can be numerical string or address data Data definitions of DATA expressions can be read during the program execution with READ command DATA expressions can be located in any part of program 100 DATA 10 13 15 ARLACON MOTION CONTROLS MANUFACTURER 110 DATA 3 2 7 AUTOMATIC MACHINE LTD CLIENT 10 1 2 READ Command Read data from DATA lines Syntax READ variable variable variable Variables where the data is read to Types of variables must correspond to the types of expressions in DATA lines Reading of data begins from the DATA line and variable where the read pointer is If READ command has not been used before reading of data begins from the first DATA line in the program The division of the variables in DATA lines and the length of DATA lines are not significant The data is read from DATA expressions with READ command in the order in which the data is encountered in DATA lines DATA 120 3 HELLO 34 567 LEN AS READ A AS PRINT A AS READ A B PRINT A B 123 00 HELLO 34 56 6
10. Timers can be used for example for generating delays and for measuring time intervals 1000 TIMER 0 5 Function Read a timer Syntax TIMER expression Type Real number expression Timer number 0 If used without ao bee refers to TIMER local for each task Value Status of a timer remaining time s If timer has stopped value is 0 The status of a timer can be read with this function For example measuring the execution time of the subroutine that begins from line 400 TIMER 3 1000 GOSUB Delayl PRINT 1000 TIMER 3 For example to generate a delay of 3 5 seconds Delayl TIMER 0 3 5 DO UNTIL TIMER 0 0 LOOP RETURN ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcOoN 82 9 2 2 DELAY Command A delay Syntax DELAY expression expression Time to wait s Maximum delay is 2 1E9 seconds about 68 years With DELAY command a delay can be generated using only one command DELAY is independent of timers Each of the simultaneous tasks started with TASK command have DELAY systems of their own So a delay in one task does not affect execution of another TASK When more than one task is being used DELAY automatically passed the control to the next task in queue until the specified delay has elapsed For example to list the program after 20 seconds to give the user time to connect a printer to console port before listing begins DELAY 20 LIST
11. ellipsis the syntax element can be repeated braces vertical line or alternative syntax elements ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 8 MOVE axis axis axis exor1 expr2 exorM or shorter MOVE axes expr TRACE ON OFF n In the examples the parts the user entries are written in normal text PRINT Text Text The parts printed by the control system are written in bold text This programming manual has been inspected to be as accurate as possible when describing the details of the McBasic programming language As McBasic is continuously developed to meet new demands of machine control some functions may be added or changed in later versions of the language However most new developments are designed to be compatible with old McBasic programs to enable simple updating of equipment and software Because of the large number of commands and functions in the McBasic language it is probable that the careful reader finds some parts in this programming manual where the operation is not explained as accurately as possible The author is grateful for all notes and suggestions regarding this manual and will try to use them to enhance the usefulness of this manual in future editions Vantaa 23 1 2001 Control Techniques SKS Oy Arlacon Motion Controls Ari Lindvall ARLACON McBasic programming environment reference manual 1 1 MCBASIC COMMANDS name te
12. 255 If used without n length will be 80 characters var List of names of string variables to declare separated by commas The declared variables can be seen in the structure where they were defined and the structures subroutines and tasks under it This way variables can be defined to have the exact scope desired For example declare a 125 character long string variable Abc 100 STRING 125 Abc 6 15 UCASE Function Converts string to upper case Syntax UCASE string Type String string String to be converted up to 255 characters long 100 First abcdef 110 Second UCASES First 120 PRINT First Seconds abcdef ABCDEF 6 16 ADDR Function Convert address to string Syntax ADDR address Type String address Address expression ADDR function converts an address expression to a string to allow manipulation and printing values of adress expressions The result is the line number or the label at the address referred to if either exists Otherwise the result is an address expression in brackets consisting of the nearest line number or label before the address plus followed by n where nis the number of lines the address is down from the label or linenumber example program ARLACON McBasic A MC BASMAE DOC programming environment reference manual ARLACON 51 Label 1 program line program line Label 2 program line B gt PRINT ADDRS 0 0
13. 3 0 3 1 00 3 14 000 3 141 0000 3 1415 00000 3 14159 000000 3 141590 0000000 3 1415900 00000000 3 14159000 0000000003 141590000 WO J0O0UIwNRrO 8 2 7 LINE Command Set length of output line Syntax LINE nn expression nn The number of the device whose line length is set expression Length of line integer 0 255 When set to 0 no automatic line feed is performed default Other values cause automatic line feed cr lf after expression characters have been output 500 LINE 1 132 8 2 8 BYTE nn Command Output a byte to a device Syntax BYTE nn expression nn Device number Can also be a variable or expression expression Value to be output integer 0 255 ASCII code Function Read a byte from a device Syntax BYTE nn Type Integer 0 255 ASCII code nn Device number to read from Can also be a variable or expression Value ASCII code 0 255 of the received character If there are no characters in the buffer or the file has no more characters function returns value 1 When writing to or reading from a file the file pointer PTR nn is automatically incremented by 1 ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACON 68 When writing numerical values to files using BYTE WORD FLOAT REAL or IEEE commands they are saved in binary mode and therefore can not be inspected or edited for example with a text editor When reading the f
14. ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACON 1 ARLACON McBasic 3 2 programming environment reference manual ARLACON MOTION CONTROL SYSTEM SERVO DRIVE SERVOMOTOR McBASIC SN H MOTION i H al REGULATOR PROGRAM gt CONTROL SERVO AMPLIFIER SPEED FEEDBACK O POSITION FEEDBACK O Programming environment Application program McBasic Arlacon Motion Controls Control Techniques SKS Oy Martinkyl ntie 50 01720 VANTAA tel 358 9 852 678 fax 358 9 852 6740 email arlacon sksct fi 23 1 2001 Ari Lindvall ARLACON McBasic MC BASMAE DOC programming environment reference manual 2 Table of contents 1 GENERAL 7 TI MCBASIC COMMANDS ollas deidad dao oo aranana 9 1 2 MGBASIC FUNG TIONS us da dd 12 2 GETTING STARTED 15 DAL WAC BASIC VERSION toos is SA 15 2 2 STARTING THE SYSTEM ral dit dde 15 23 WRITING PROGRAMS dt daa e el e a Ud do a aid 15 2 4 COMMAND AND VARIABLE NAMEG ccccccceccecceccesceecesceeceeceeceseescesecaeeaeceeeacersessereereenees 16 25 MARIA BLE A e E A tes les bio des la OS 16 PASM Er IN A NN A Uae Te Te OUTS PUTO CRT RCT erS 17 e PROCEDURES e Ae ne ee eee Ae ee da PE 18 3 CONTROL 19 Bots AAA 19 BO A cane aa Delantal eo e car oe e eee ae Noe am han soa nan ae am hae har tae veal ts Mae 19 o A ht Sha th Sikh ath th ak eh An 20 34A SYSTEM rahe slates Sites Mh a a ees Ce
15. B gt PRINT ADDRS 0 2 Labell B gt PRINT ADDRS 0 3 Label1 1 B gt PRINT ADDRS Label1 3 Label2 ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACON 52 7 VARIABLES AND ARRAYS A variable name is a string of characters of arbitrary length beginning with a letter Although both upper and lowercase letters are allowed it is advisable to use an uppercase letter to begin a long variable name followed by some lowercase letters as this makes it easier to distinguish variables from other McBasic reserved words Variable names are case sensitive upper and lowercase letters are considered different characters A variable name can also contain numbers and _ characters Reserved McBasic function and command names must not be used as variable names When using variable names beginning with an uppercase letter and continuing with a lowercase letter McBasic can distinguish them from command and function names For example Variable Piix2 Profile Velo34_56 Sin 3 Numeric string or address variables with long names must be declared by one of the following declaration commands DIM varl stringl1S varn REAL varl varn STRING stringl1S stringns STRING nn stringlS stringns ADDR addri Additionally array variables can be declared as BIT arrayl a b BYTE arrayl a b WORD arrayl a b FLOAT arrayl a b INTEGER arrayl a b SHORT INTEGER arrayl a b
16. Identification letter or number of axis Values The instantaneous speed of the position set value of axis after filtering if FILTERSIZE axis set gt 0 The true theoretical speed of an individual axis axis can be inspected with this function If filtering with the FILTERSIZE command is being used to limit the acceleration rise times S ramp the effect is also seen in FSPEED See also RSPEED SPEEDX 500 SPEED 1 250 ACCELX 500 ACCEL 1 250 MOVEX 3000 MOVE 1 1500 DELAY 1 PRINT FSPEEDX FSPEED 1 DELAY 1 PRINT FSPEEDX FSPEED 1 50 00 25 00 500 00 250 00 ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 107 11 35 RSPEED Function Unfitered current speed Syntax RSPEED axis n Type Real number axis n Identification letter or number of axis Values The instantaneous speed of the position set value of axis before filtering if FILTERSIZE axis set gt 0 In case filtering with FILTERSIZE is being used for the axis RSPEED can be used to observe the position reference speed before the filter This may be necessary for monitoring purposes or for certain algorithms where extra delay caused by filtering may affect the operation of feedback loops performed by the application program 11 3 6 POSERR 11 4 HOME Function Read value of position error Syntax POSERR axis n axis n Identification letter
17. When typing command and function names both uppercase and lowercase characters can be used whereas variable names are case sensitive 40 print sin 3 14 COS 1 65 Variable names can be either short or long A short numerical variable name consists of one letter and optionally one number A short string name consists of a letter followed by Short numerical variable names A a A3 a9 z8 z Z b BO BY Short string names AS aS z ZS Variables with short names can be used as global variables without declaring them whereas long variable names must be declared as described in chapters 6 and 7 before using them in the program 2 5 VARIABLE TYPES String and address variables are the only McBasic variables that McBasic does not automatically convert according to use Thus for example using a string variable when a command or a function requires a numerical value causes McBasic to display an error message ARLACON McBasic programming environment A reference manual ARLACON 17 All McBasic numerical expressions can normally be used for commands and functions requiring numerical values However care must be taken not to exceed the minimum and maximum value allowed MC BASMAE DOC Some considerations Any non zero value is considered to be true Only 0 is false Using a non integer value in a command or function requiring an integer value causes normally McBasic to round the value to
18. expression Real value to be converted String containing the value of the expression as printed with PRINT command DIGITS setting defines the number of decimals in string With the STR function the numerical value of expression can be converted to a string as it would be printed using PRINT command This way g numerical data can be formatted using string functions Number of decimals set by DIGITS command defines the number of decimals in the resulting string STR function is the inverse function of the VAL function AS STRS SOR 2 PRINT AS 1 41 10 DIGITS 2 20 PRINT RIGHTS 000 STRS PII 5 RUN 03 14 Function Type conversion Converts an integer value to a binary string Syntax BIN expression Type String expression Integer value to be converted 2 2 1 String containing the value of expression in binary 48 bit 2 s complement If expression is not an integer it is rounded off to closest integer For numbers greater than number range the last 48 binary numbers or a 0 value is returned The value of the BIN function is a string equivalent to the binary value of expression PRINT BINS 9 BINS 100000 1 1001 100001 ARLACON McBasic programming environment reference manual ARIACON 6 8 DEC 6 9 HEX MC BASMAE DOC A 47 Function Type conversion Converts an integer value to a decimal string Syntax DEC expression Type String expression Value to be converted 1
19. B gt DOS D4 gt McDos prompt current path gt note the McBasic prompt B gt 3 4 SYSTEM Command Call resident McDos commands from program Syntax SYSTEM string string Executable resident McDos command For example create new directory from within an McBasic program SYSTEM MKDIR D4 TEMP Note that in McBasic command mode it is possible to execute McDOS commands using a period before the command B gt DIR ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcOoN 21 3 5 NEW 3 6 RUN 3 7 END 3 8 STOP Command Clear program memory Syntax NEW Program memory is cleared variables and program are erased B gt NEW McBasicl6 3 2at Program System tables Variables amp compilations Recycled 719550 Free B gt When the program memory has been cleared a McBasic version revision and memory status message is displayed The message shows that program and symbol areas are empty and all available memory is free The amount of the free memory depends on the control system model and memory size and the McBasic version used Command Start program execution Syntax RUN Program starts at the first line Variable values are cleared Command End of program or task Syntax END Ends program execution END command can be used as the last command in the program However the use of END in the end of the program is not obligatory When using the TASK comma
20. DT COLUMBIA DT DOPROM EX LOAD EX BOOTS TX VD513 EX BTDDDD1 DT VDEMO BA DIR BA SETCLOCK BA P513T EX 8 2 18 TAB Function Set cursor on output line in PRINT command Syntax TAB column column Column where the next output is desired Set cursor on output line 1 255 Used only with PRINT command Moves cursor to desired column New column must higher than the current position of cursor 350 PRINT X Y TAB 20 65 Y 8 2 19 CURS column row Function Set cursor position on display Syntax CURS column row Type String Column where the next output is desired O leftmost column on screen Row where the next output is desired O topmost line on screen Value Cursor control sequence for Arlacon terminals Text output can be directed to desired position on a display screen with this function Coordinate range depend on the terminal type and settings used Function can be used for example when printing with PRINT command 5 PRINT CURSS 40 12 X POSX Par When cursor control is based on CURS or other control sequences TAB function cannot be used ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 76 8 2 20 LINK Command Link input output of data to two devices Syntax LINK n1 n2 n3 n1 Device number to which other devices are linked n2 Number of the first linked device n3 Number of the second linked device Printing to a device number n1 linked to tw
21. axes n m expression List of axes or n axes numbers whose DERV is set If not defined DERV is set for all axes expression Value for DERV Integer 0 255 0 prevents operation of derivation 255 is the highest possible derivation factor Function Read derivation factor of position control Syntax DERV axis axis n Identification letter or number of axis is 1 Type Integer 0 255 Value Derv value of position control of axis DERV defines the part of reference caused by quick change in position error for every axis The higher DERV is set the stronger the reaction to change is By compensating for delays in actuators and mechanisms and reducing the control output when the error is diminishing DERV helps to stabilize the operation of control circuits Usually a high inertia mass and or slow reacting drive require higher DERV value On the other hand a too high DERV value may cause unstability or sluggish settling DERV value O removes derivative operation DERV represents the D of PID control that is the derivation factor ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACON 97 GAIN 10 INTG 0 affects all axes DERVXY 7 DERV 3 6 PRINT GAINX INTGX DERVX PRINT GAIN 3 INTG 3 DERV 3 10 0 7 10 0 6 11 2 7 SCOMP Command Set speed compensation of position control Syntax SCOMPI axes n expression List of axes or n axe
22. first index range O to expression expressionn max last index range O to expressionn First index lower limit First index upper limit range expr1 to expr2 Last index lower limit Last index upper limit range expr3 to expr4 Byte array cells can get integer values between 0 and 255 ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 57 7 6 WORD Command Declare word arrays WORD arrname expression1 expressionn or WORD arrname expr1 expr2 expr3 expr4 arrname Array name expression1 max first index range 0 to expression expressionn max last index range O to expressionn First index lower limit First index upper limit range expr1 to expr2 Last index lower limit Last index upper limit range expr3 to expr4 Word array cells can get integer values between 0 and 65535 7 7 SHORT INTEGER Command Declare short integer arrays SHORT INTEGER arrname expression1 expressionn or SHORT INTEGER arrname expr1 expr2 expr3 expra arrname Array name expression1 max first index range 0 to expression expressionn max last index range 0 to expressionn First index lower limit First index upper limit range expr to expr2 Last index lower limit Last index upper limit range expr3 to expr4 Short integer array cells can get integer values between 128 and 127 ARLACON McBasic A MCBASMAE DOC programming environment refer
23. follows Move left on line Move right on line Previous line Next line Insert character Delete character Insert line Delete line Insert line from buffer With the F6 function previously edited lines can be browsed and inserted in the program from the 250 characters long buffer Moving to another line with tt Y keys or exiting wiht lt enter gt completes editing the line 3 2 HELP Command Print list of commands and functions Syntax HELP nn searchstring nn The output device that is used default CN searchstring Optional string a substring in the command function to search for If omitted all commands and functions are listed Prints a list of available commands and functions containing the specified substring to the specified device Short syntax descriptions are also included HELP can be used for example to check the ARLACON McBasic programming environment A reference manual ARLACON 20 commands and functions available in the McBasic version used lt can also be used as help when programming MC BASMAE DOC B gt HELP HELP LINE expression expression RESUME_NEXT OPENF2 LP the printer is connected here HELP 2 print the list Or to look for help on a specific subject B gt HELP BUF list of functions MOVEBUFFER expression MOVEBUFFERaxles 3 3 DOS Command Return to McDos operating system DOS SYSTEM X The operation has three alternate syntaxes
24. is echoed after reading from a port McBasic program stops when an INPUT command is encountered until necessary data is received from device nn When reading from serial ports terminal etc this may stop program execution for a relatively long time Because of this INPUT command can only be used for reading from files in cases where the control system should perform other operations or TASKs simultaneously In these cases input data from serial ports should be read using the BYTE n function 50 INPUT 4 X Y AS 60 INPUT 3 A 65 semi colon at the end 66 prevents line feed 70 INPU ENTER A NUMBER N 75 PRINT number was N 78 semi colon at the end 79 prevents echoing question mark 80 INPU ENTER ANOTHER NUMBER N 85 PRINT N RUN ENTER A NUMBER 3 2 number was 5 00 ENTER ANOTHER NUMBER 4 4 00 ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 65 8 2 4 PRINT Command Output to a device Syntax PRINT nn expression exoression Device number 1 39 for which the file or port has been opened If no device number is given 1 is assumed usually CN the console Numerical or string expressions to be output Without expressions the command can be used for line feed Acomma used between expressions sets the next output to next column Each column is 8 characters wide A semi colon used between
25. year 0000 other items as above 100 DATES 1 900224123456 sets the date to 24 02 1990 and the time to 12 34 56 Function Read the real time clock date time Syntax DATES 1 Type String Value The current date and time in form yymmddhhmmss as described above Note that short long date format conversions and date calculations are possible using the DATE and DATE conversion functions described in chapters 8 2 13 14 100 PRINT DATES 1 900919161354 ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcOoN 81 100 DS DATES 1 110 PRINT MIDS DS 5 2 120 PRINT MIDS DS 1 2 130 PRINT MIDS DS 7 2 140 PRINT o clock MIDS DS 3 2 19 at T MID DS 9 2 19 09 1990 at 16 13 o clock 9 2 TIME MEASUMENTS 9 2 1 TIMER Command Set a timer Syntax TIMER expression1 expression2 expression1 Timer number 0 99 If used without timer number refers to TIMER local for each task expression2 Value to set s 0 2 1E9 The resolution of a timer is lt 1us The maximum value to set is 2 1E9 seconds about 68years There are 100 global timers available in McBasic Additionally there is an unnumbered local timer for each task Normally timer value is O when read If a timer needs to be started the timer must be set to a positive non zero value This causes the timer to start counting downwards according to time
26. 11 16 POSITION CONTROL sv sscesectsaeeseahsaansavh snobs eahusetueabsaanuaesaokee ain ae ibe 123 11 161 LOGSIZE seenen canes de 123 AAA A 124 EAS A A NN 124 12 I O CONNECTIONS 126 12 1 MO CONFIGURATION a odiada raras ice 126 12 1 1 WAYMOD A A AEAEE AEAEE EA ranana ans 127 AAE NA e A a E A e 128 12 1 8 MOTION CONTROL I O LOGICAL ADDRESSES cccccccccecsecsesceseeseessesseseereenes 128 12 1 4 OLOGICAL ADDRESSES alcoba 129 OE ies tect ti A O 129 DAA INP ale ee ellen A i ihini eed ie ei 129 Ge A e Nea a Reet in 130 A aR D C a Oe i ee ET A CT EEO 130 ES A Ae tarts Saleh aie are Rees alee te ate E te ctl 131 O N Raph 0h abt ah tte racecar Toca aac Tecate E idl MAL SAT EAEAN ial Ra lial eis S 131 A a a ee 132 De O A ep eels AAA 133 13 ERRORS 134 Tac ERROR ciccenc 2 aaa ae ee 135 o A o tadtatcles 135 a AAA A A A ARA 136 A lt 1 21 2 NR MEST SE PRE E TS RT A AE POPE nT EN CoE One ane TET ETE rn rent 136 e 136 ARLACON McBasic MCBASMAE DOC programming environment reference manual 6 A A O 136 E ea 137 HB ERA sli 137 13 9 ONERRO uscar 137 ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACON 7 1 GENERAL This manual describes the use of McBasic programming language version 3 2 supplied with ARLACON MC300 and MC400 control systems Since the programming environment is used under the McDos operating system we recommend first studying the McDos 2 2 operating system documentation In t
27. Ang Circle radius current angle REAL Xorig Yorig coordinates of the center PWR 1 2 1 Radius 100 Xorig 50 Yorig 50 FOR Ang 0 TO 2 PII STEP PII 8 IF MOVEREADY 1 2 lt 0 HEN STOP IF MOVEREADY 1 2 gt 3 THEN DO UNTIL MOVEREADY 1 2 lt 4 LOOP ENDIF MOVC 1 Xorig Radius COS Ang 2 Yorig Radius SIN Ang NEXT Ang 11 8 CREEP Command Start axis motion at given speed CREEP axes expr expr n expr 7 expr List of axes whose speed is set expr Speeds of motion expressions in the same order as axes are With the CREEP command it is possible to produce servo axis motion according to speed setting without destination For example with command CREEPX 10 CREEP 2 100 3 X0 3 0 X axis is set to run at 10mm s if RES is edges mm Acceleration and deceleration are performed according to current ACCEL and DECEL values Changes in parameters influence immediately also during acceleration and deceleration ARLACON McBasic programming environment reference manual BASMAN2 DWG ACC ELX A ARiAcoN CREEPXYZ 10 20 15 5 ACCELX 100 see Fig 11 8 10 CREEPX100 20 DELAY 3 30 ACCELX 150 40 CREEPX70 ELAY 1 CCELX 50 REEPX30 ELAY 5 CCELX 100 ELAY 75 CCELX 75 REEPX100 ELAY 2 REEPXO CREEPX
28. DIM SamArr1 10 10 one dimensional array with index from 10 to 10DIM same as in previous line one dimension array with index from 0 to 10 two dimension array first index from 1 to 7 second 54 89 SamArrl1 10 10 DIM Sam2 10 DIM Sam3 7 1 54 89 ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 55 7 2 REAL 7 3 FLOAT Command Declare double precision real floating point variables and arrays REAL namel expression1 expressionn or for arrays with specified index ranges REAL name expr1 expr2 expr3 expr4 name Variable or array names expression1 max first index range 0 to expression1 expressionn max last index range 0 to expressionn First index lower limit First index upper limit range expr1 to expr2 Last index lower limit Last index upper limit range expr3 to expr4 Real number is the default number format of McBasic and thus both real variables and arrays can be declared It is possible to declare other format single variables also but their internal format will always be a real number This can be done to show intended usage of a variable but declaring a variable as BIT does not actually limit the range of values the variable can get like when declaring different format arrays This arrangement has been made to allow as fast operation as possible when using single variables while conserving memory space when using arrays Rea
29. If the file to be appended contains numbered lines they are put in sequence with existing numbered lines Append command sets all variables to zero ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 62 APPEND NEWPART 8 2 FILES AND DATA OUTPUT 8 2 1 OPEN Command Open a file or port Syntax OPEN nn string nn Device name 1 39 for which the file or port is opened Program file name in the form device name suffix default suffix is TX default device is DO or device name in the form device After opening files and ports can be read and written with applicable commands and functions At the time of system start up before opening files and ports all device names refer to console CN The most important suffixes BA BASIC program file DT binary data file TX text file The most important devices MC400 physical name device CPU CN console port also MC300 LP second serial port also MC300 S0 third serial port S1 fourth serial port S2 auxiliary serial port S3 auxiliary serial port S4 auxiliary serial port S5 auxiliary serial port S6 auxiliary serial port S7 auxiliary serial port S8 auxiliary serial port S9 auxiliary serial port MC300 and MC400 systems can have up to 8 physical memory drives D1 D8 The current drive is the default drive and can be referred to as DO Details of the memory device disk drive setups c
30. READ a b c PRINT A B C RUN 110 210 310 7 10 LOCAL Command Declare variables local Syntax LOCAL varname arrayname strname varname arrayname strname addr Names of variables or arrays to be declared local Arrays get dimensions according to already existing arrays giving dimensions is therefore optional Declaring variables local create local instances of the given variables These local instances get a default value equal to the value of the variable before declaring local Declaring local makes it possible to import values to structures and thereafter alter them while preserving the value of the original variable Command Assign a value for a variable 7 11 LET Syntax LET variable expression variable Numerical or string variable expression New value of variable An assign command LET command is used for assigning a value expression to variable Old value of variable can be used in expression The word LET is optional A 123 5 9 A 1 7 A 7 1 LET A3 A A 1 7 AS string and so on A A 1 GetC B BYTE 1 IF B gt 0 THEN AS AS CHR B ELSE GOTO GetC ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 60 8 FILES AND SERIAL COMMUNICATIONS Data input and output can be done through serial ports or by reading and writing files When operating under McDos operating system every McBasic file and
31. Read offset value of axis Syntax OFFSET axis n axis n Identification letter or number of axis Type Real number Value Current offset value for specified axes dimension as defined by RES command for example mn The offset value of an axis represents the difference between the actual position counter or value read from a position transducer and the current position value POS axis of the axis When McBasic starts all OFFSET values are 0 Since the dimension of offset is dependent on the resolution it is necessary to set RES before setting offsets in the program In case an incremental encoder is being used the position counters are also reset to O when power is applied to the system resulting in a zero current position value POSn Typically the HOME command is then used in the program to find the correct zero position In case an absolute encoder is being used the initial position at power up is determined by the encoder The OFFSET command can then be used to set the coordinate system as necessary Because the applicable offset value will remain the same unless the absolute encoder is replaced or moved relative to the mechanism it is not necessary to find the zero position every time the system is started However it is possible to use the HOME command to determine the correct OFFSET value as a commissioning or service procedure When using commands that set the current position such as POS or HOME th
32. Real number expression Address of analog input Status of input 1 highest negative input voltage current 0 zero 1 highest positive input voltage current The function can be used for reading the voltage or current that is connected to an analog input PRINT INPA O0 ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcOoN 132 0 54 5 4V in input with 10V scale Expression defines the address of the analog input to read Function returns the value O if there is OV mA at the input For McWay analog i o the values are read from the A D converters on the i o modules In MC400 rack analog inputs a VFCO3603 V F converter is used to convert the input voltage or current to frequency A frequencies 0 5000 10000Hz correspornd to 1 0 1 readings respectively 12 3 2 OUTA Command Set analog output Syntax OUTA expr1 expr2 expr1 Address of analog output expr2 Value to set 1 1 1 highest negative value zero highest value Function Read analog output Syntax OUTA expression Type Real number expression Address of analog output Status of out 1 highest negative input voltage current 0 zero 1 highest positive input voltage current Analog outputs can be set using this command When starting the control system all analog outputs are set to 0 Expr2 is the value to be set to output and can vary between 1 1 Value zero represents the smallest output value usually OV
33. STRINGS MOTION CONTROL MOTION CONTROL FILES AND COMMUNICATIONS MATHEMATICS MOTION CONTROL MOTION CONTROL MOTION CONTROL MOTION CONTROL MATHEMATICS MOTION CONTROL MOTION CONTROL STRINGS MATHEMATICS MOTION CONTROL MOTION CONTROL MOTION CONTROL MOTION CONTROL MATHEMATICS MATHEMATICS MOTION CONTROL MOTION CONTROL ANALOG 1 O MATHEMATICS ERRORS MOTION CONTROL MOTION CONTROL MATHEMATICS INPUT OUTPUT ANALOG I O MOTION CONTROL MATHEMATICS FILES AND COMMUNICATIONS MOTION CONTROL MOTION CONTROL MOTION CONTROL MOTION CONTROL STRUCTURE ARLACON McBasic programming environment reference manual PROF axis sample data PROF axnr sample data PROFSIZE axis PROFSIZE axnr PTR devicenr PWRaxis PWR axnr REAL devicenr RESaxis RES axnr RIGHT string expression RND expression RPOS axis RPOS axnr RSPEEDaxis RSPEED axnr SCOMPaxis SCOMP axnr SGN expression SIN expression SIZE devicenumber SPEEDaxis SPEED axnr SQR expression STR expression TAB expression TAN expression TASK TASKMAX TEXT UCASES string TIMER n VAL string WAYERR waynr WAYMODS waynr modnr WORD devicenr XOR A ARLACcoN read from profile table read from profile table read axis profile table size read axis profile table size read file data pointer read position control output limit read position control output limit read 8 byte fp real number read axis re
34. and command lines between ELSE and ENDIF commands Commands to be executed Can be on the same line separated with colons command lines Any number of command lines between IF ELSEIF ELSE and ENDIF lines This command allows programming various case structures ELSE and ELSEIF commands must be the first commands on the line whereas ENDIF can be written in the end of the last command line if desired When necessary IF structures can be nested up to 20 deep IF A gt 0 AND A lt 10 THEN PRINT A small ELSEIF A lt O THEN PRINT A negative ELSE PRINT A LARGE ENDIF or shorter IF A gt 0 AND A lt 10 THEN PRINT A small ELSEIF A lt 0 THEN PRINT A negative ELSE PRINT A LARGE ENDIF ARLACON McBasic A MCBASMAE DOC programming environment reference manual AriAcoN 31 4 8 FOR NEXT Command Beginning of repeat loop Syntax FOR variable expression1 TO expression2 STEP expression3 Loop variable that gets values according to expressions while repeating the loop expression Value that variable gets at first round expression2 When variable reaches the value of expression2 the repeating will be finished expression3 If STEP part is used expression3 defines increment of variable between every round default 1 Command End of repeat loop Syntax NEXT variable The program part between FOR and NEXT expressions will be repea
35. calculations in McBasic 3 2 are performed with 8 byte floating point numbers with a precision of 14 significant numbers Operating range is 0 1 4 107 97 7 1 10 The operations in the following chapters are listed in calculating order this means that for an expression an earlier operation in the list is executed before a latter operation Arithmetical operations are executed first comparisons second and logical operations last 5 1 ARITHMETICAL OPERATIONS expressions in parenthesis sign exponent multiplication and division addition and subtraction gt II 1 5 2 LOGICAL OPERATIONS Comparisons can be done between numerical values or between character strings Comparisons return a truth value O false or 1 true A string comparison returns a result using alphabetical order according to ASCII code so that first character in order is a smaller string If the beginnings of the strings are equal the longer string is greater Logical operations can be done between truth values 0 false and 1 true In this case the result is also a truth value 0 or 1 Logical operations can also be performed between other values than 0 and 1 In this case the operations are considered binary see next chapter Comparison operations equal to lt smaller than gt greater than lt lt smaller than or equal to gt gt greater than or equal to lt gt gt lt unequal from logical operations NOT logic
36. example 10 PRINT TEXTS ARLACON McBasic A MC BASMAE DOC programming environment reference manual AriacoN 77 8 3 2 PNT Function Define a point in graphics Syntax PNT x y Type String X horizontal coordinate 0 is the left side of the screen 1 is the right side of the screen Y vertical coordinate 0 is the bottom of the screen 1 is the top of the screen Value Control sequence for terminal This function is used for entering points in connection with drawing functions The function defines a point on screen so that the x defines the horizontal position and the y defines the vertical position Further information about the use of PNT function in paragraphs LINE and FILL 8 3 3 LINES Function Set display to line draw mode Syntax LINES Type String Value Control sequence for output LINES sets a graphics display to line draw mode For example PRINT LINES In the line draw mode jointed lines can be drawn with current color settings by giving points with PNT function For example PRINT COLORS 1 LINES PNTS 0 0 PNTS 1 0 PRINT PNTS 1 1 PNTS 0 1 PNTS 0 0 TEXTS draws a frame on screen In the line draw mode the PNT function is the only available function The color changes must be done in the text mode The start point of a jointed line is defined by the first PNT function and the end point with the last PNT function The TEXT function is used to return to text mode ARLACON McB
37. executes the commands in the file This way the startup procedure can be defined to suit the application The McBasic environment is started from the McDOS operating system by typing the name of the McBasic version used as command name BAS16 prognamel prognamen where progname are names of programfiles to be loaded and run when starting McBasic If no progname is specified McBasic starts the execution of the program if any currently in its work memory If McBasic detects that a program previously in memory has been destroyed it searches and loads a backup copy from a file WAKEUP BA as described in chapter FILES If there is no program in the memory McBasic stays in the command mode 2 3 WRITING PROGRAMS McBasic programs can be written with many different tools ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 16 One way to write a program for the system is to use the command mode of the McBasic environment In this mode program lines can be entered from the console serial communications CN using a terminal PC or ARLACON display terminal Among other communications programs the Terminal program of the McBench programming environment for PC shipped with MC300 and MC400 controllers is well suited for this Program lines should be entered in the order of their execution if they are not numbered Other ways to work with programs are editing the program files with the TX text editor co
38. loops Also commands where task switching is possible during the command DELAY PRINT MOV should be avoided and at least care should be taken not to create a circumstance where task swithcing would occur within EXEC ARLACON Mc Basic A MCBASMAE DOC programming environment reference manual ARIACON 44 DO or Enter a command AS EXEC AS LOOP 6 2 ASC 6 3 LEN gt Enter a command PRINT 2 3 5 Enter a command Function Conversion from character to ASCII code Syntax ASC string Type Integer Usually a string of one character If string is longer than one character the character to be converted is the first character from left The ASCII code of the first character of the string 0 255 Also an empty string returns the value 0 The function returns the ASCII code of the first character in the string ASC function in the inverse function of CHR PRINT ASC ASC ABC 33 00 65 00 Function Length of string Syntax LEN string Type Integer string String to be measured Value Length of the string 0 255 0 if empty LEN returns the current length of the string Return value can be any integer between 0 255 depending of the contents of the string However a string variable always reserves memory according to the declared length of the variable or 80 bytes by default PRINT LEN HELLO AGAIN 11 00 ARLACON McBasic A MCBASMAE DOC pro
39. nn Device number for which the memory device directory has been opened expression Number of directory entry Contents of the directory entry in form nnnnnnnnsss 11 characters nnnnannnn file name sss suffix Aname of a subdirectory is an entry in form nnnnnnnnsss 12 characters Directory entries are filled from position 0 The first empty entry indicates that the rest of the directory is empty If the directory entry is empty the function returns an empty string Maximum number of files on one memory device is dependent on the type of device When reading the directory cells it is possible for example to list the directory in desired order and format DIR OPEN 2 D1 n 0 DO AS DIRS 42 n UNTIL AS IF LEN A 12 THEN PRIN AS 8 RIGHTS AS 4 ELSE PRINT LEFTS AS 8 RIGHTS AS 3 ENDIF C C 1 IF C 5 THEN C 0 PRINT LOOP E tj RUN SUBDIR DISK CM MEM CM DELETE CM STRIP PROM CM CMP BA COMGEN CM DOBACKUP EX TX ge ARLACON McBasic MCBASMAE DOC programming environment reference manual ARLACcoN 75 EXECUTES TX LF EX WAKEUP EX vp011 EX BTDDD51 DT BTDDDO1 DT BTDO0O011 DT PAL CM FOR27513 EX LILBUGHX DT FOR27011 EX NOZZLE DT PIP4 BA BTDD051 DT MCDOS CM LIST BA PIP5 BA LINES BA E EX README TX P513 EX UPLOAD EX NOLF EX DIR CM ASM CM XDISK CM EP CM COPY CM DATA CM DEL CM BTD0051
40. or OmA Value 1 represents the highest positive value for example 10V or 20mA depends on the scale of output Value 1 represents the most negative output value when using type output OUTA 2 0 7 With McWay analog i o outputs can also be read with the OUTA function With the MC400 FVCO3604 unit the analog output OUTA can not be read as a function ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 133 12 3 3 IFREQ Function Read a frequency input Syntax IFREQ expression Type Real number expression Number of frequency input Measured frequency Hz 0 underflow 20 200000 The frequency in an MC400 rack analog or frequency input can be read with the IFREQ function McBasic does not distinguish the analog an frequency inputs in program processing so frequency of an analog input converter module 5 10kHz or 0 10kHz can also be read with IFREQ function PRINT IFREQ 0 5420 00 Frequencies read with IFREQ function can vary between 20Hz and 200 kHz When using high frequencies the TMR unit must be equipped with fast optocouplers Measuring period is 1 millisecond or one period with frequencies under 1000Hz ARLACON McBasic A MC BASMAE DOC programming environment reference manual AriAacoN 134 13 ERRORS When an error condition occurs McBasic normally stops program execution closes open files and prints an error message and the address where the error was found Pro
41. parameter settings of controllers may be quite different in different applications McBasic has default values for control parameters and for other parameters of motion control When started McBasic uses these values until set in the program otherwise It is recommended that motion control parameters are set at the beginning of program even if some of the default values could be used in the application This makes the program easier to read and modify 11 1 ENCODER OPERATION 11 11 RES Command Set resolution for position scale of axes Syntax RES axes n expression axes n List of axes or n axes numbers whose resolution is set If not defined resolution is set to all axes expression Value for resolution pulse edges measuring unit Function Read resolution for position scale of axis Syntax RES axis n axis n Identification letter or number of axis Type Real number Value Resolution of position scale of axis pulse edges measuring unit Set resolution for axes Expression defines the number of pulse edges counts for a distance or angle unit for example edges mm 1 encoder pulse cycle produces 4 pulse edges from two channels This means that if a motor axis has an encoder that gives 500 pulses revolution and one revolution of the motor moves the mechanism 5 mm the resolution should be set to 4 500 5 or 400 RES 1 2 3 4 500 5 or ARLACON McBasic A MCBASMAE DOC progra
42. read position control derivation read position control derivation read directory item read axis type read axis type read edge detector state read encoder error counter read encoder error counter read encoder type read encoder type read error line number read error line read error number read error line address error message power of e draw filled area read axis position reference filter setting read axis position reference filter setting read real number user defined numerical function user defined string function read position set value after filter read position set value after filter user memory status MC BASMAE DOC 12 details in chapter MATHEMATICS MOTION CONTROL MOTION CONTROL MOTION CONTROL MOTION CONTROL STRINGS MATHEMATICS STRINGS MATHEMATICS STRINGS FILES AND COMMUNICATIONS MOTION CONTROL MOTION CONTROL MOTION CONTROL MOTION CONTROL TIMING STRINGS FILES AND COMMUNICATIONS MATHEMATICS FILES AND COMMUNICATIONS OTHER COMMANDS FILES AND COMMUNICATIONS FILES AND COMMUNICATIONS FILES AND COMMUNICATIONS STRINGS MOTION CONTROL MOTION CONTROL MOTION CONTROL MOTION CONTROL FILES AND COMMUNICATIONS MOTION CONTROL MOTION CONTROL INPUT OUTPUT MOTION CONTROL MOTION CONTROL MOTION CONTROL MOTION CONTROL ERRORS ERRORS ERRORS ERRORS ERRORS MATHEMATICS FILES AND COMMUNICATIONS MOTION CONTROL MOTION CONTROL FILES AND COMMUNICATIONS OTHER COMMANDS
43. repeated every 5s A port can be locked so that interrupts are disabled and the related buffer is cleared as follows OPEN 2 LP OFF A port that is OFF will not send or receive characters until opened again If no communication parameter is given the operating system uses default values as follows baud rate 9600 baud 9K6 data 8 bits 8 parity no parity N stop 1 bit 1 xon xoff hand shake on 1 ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 64 8 2 2 CLOSE Command Close a file or port Syntax CLOSE nn nn Device number 1 39 for which the file or port was opened To finish using a file The file is closed and possible data in buffer is written on disk When closing ports the communication parameters remain as set input and output for device number are redirected to CN 30 CLOSE 3 8 2 3 INPUT Command Read data from a device INPUT nn string variable variable Device number 1 39 for which file or port was opened If no device number is given 1 is assumed usually CN the console port string If string is given it will be echoed to the device as a prompt bl If string is followed by a comma the echoed prompt will be followed by a question mark if followed by a semicolon no question mark is echoed variable Variables to be read strings or numbers 3 If expression is followed by semi colon no line feed cr lf
44. serial port must be opened before use and closed after use unless operations are meant to point to the default port console CN Files are referred to with logical device names device number after opening them In case of an error message or when exiting McBasic all open files are automatically closed Same commands can be used for both files and serial ports Ports and files have both logical and physical device names The syntax for logical device names is n where nis an integer between 1 39 These are also called device numbers Physical device names can be opened for any logical name or device number with the OPEN command Similarly files can be opened for any logical name by giving a physical file name for a logical name The unopened device numbers refer automatically to the console port CN Opening and closing input and output files is explained in more detail in part 8 2 FILES AND DATA OUTPUT 8 1 PROGRAM FILES Under McDos operating system the McBasic environment is called from disk or other memory device by giving the name of the interpreter program for example BASIC as a command The operating system loads and starts the McBasic programming environment interpreter and compiler stored in the command file such as BAS16 CK The name of the McBasic command file may vary according to the system type and version used See chapter 2 1 McBasic versions If a name or a list of names of McBasic program files is given simult
45. set to pulse edges mm the critical compensation is set with SCOMPX 400 Setting SCOMP to a greater value results in undercritical compensation Undercritical compensation can be used for example to prevent overshoot at the end of a motion A too low ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 98 SCOMP setting results in negative position lag the axis is ahead of the position set value which is usually not applicable SCOMP value O removes the operation of speed compensation When calculating actual speed compensation out of the SCOMP setting McBasic uses the current RES values 11 28 ACOMP Command Set acceleration compensation of position control Syntax ACOMPT axes n m expression List of axes or n axes numbers whose ACOMP is set If not defined ACOMP is set for axes 0 9 XYZWABCDTU in the system expression Value for acceleration compensation O prevents operation of compensation Function Read acceleration compensation of position control Syntax ACOMP axis n axis n Identification letter or number of axis Type Real number Value ACOMP value of position control of axis Acceleration feedforward or acceleration compensation for position control Value of expression is greater or equal than acceleration of the axis when 100 10V is added to the control output ACOMP parameter can be used to add to the control reference output a part de
46. the NEW command With the command DELETE addr1 line addr and the lines after it are removed With the command DELETE addr2 line addr2 and the lines before it are removed With the command DELETE addr1 addr2 line addr and addr2 and the lines between them are removed If addr and adar2 are the same line only that line is removed In line numbered programs the same operation can be performed by giving only the line number A new line can also be given to replace the old one The use of DELETE command clears the values of variables For example remove lines Lab1 and Lab2 and the lines between them DELETE Labl1 Lab2 ARLACON McBasic programming environment A reference manual ARIACON 3 14 REN MC BASMAE DOC 24 Command Renumber program lines Syntax REN nn1 nn2 nn3 label3 4nn4 label43 1 nn1 The first line number of the area to be renumbered default 10 The step between new line numbers default 10 nn3 label3 The line number label of the first line to be renumbered default beginning of program nn4 label4 The line number label of the last line to be renumbered default end of program A REN command without any parameters renumbers the program lines beginning from line 10 using steps of 10 The jump addresses etc are updated automatically according to the new line numbering Also only some of the parameters can be given and in this case the other parameters will use their default
47. to allow filtering of measured position such as a reference encoder giving position or speed information for other axes A negative FILTERSIZE value causes overshoot when changes in acceleration and speed occur but has no position lag during motion at constant speed While removing unwanted noise from measured signals FILTERSIZE can also generate a higher resolution reference position from a low resolution position encoder by adding a 16 bit fractional part to it and thus dividing the actual increments in 65535 parts for extra resolution in generating new filtered position values every position control cycle The following picture shows the effect of FILTERSIZE for a typical translation MOVE PIDFREQ 400 25ms gt Position loop H cycle time 1s 400 2 5ms Original speed reference Speed reference with FILTERSIZE 10 Speed reference with FILTERSIZE 10 Acceleration unfiltered Acceleration with FILTERSIZE 10 Acceleration with FILTERSIZE 10 Y To Fig 11 2 10 The effect of FILTERSIZE ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcOoN 102 11 2 11 SPEED Command Set motion speed Syntax SPEED axes n expression List of axes or n axes numbers whose vector speed is set If there is only one axis its speed is set If not defined SPEED is set for all axes expression Setting for speed Function Read moti
48. wait for logic to be armed DO UNTIL CAPTTYPEX 1 LOOP wait for edge to be found IF CAPTTYPEX 1 THEN X CAPTPOSX read captured position to X LOOP 11 13 2 CAPTPOS Function Read captured position Syntax CAPTPOS axis n axis n Identification letter or number of axis Type Real number Value Position captured from axis 0 when no position has been captured yet CAPTPOS allows reading the position captured by WAX2 module fast position capture logic It should only be read after CAPTTYPE returns 1 ready The position thus acquired represents the actual position at the trigger event The accuracy with WAX2 using the index channel is approximately 1 encoder pulse edge and 0 1 millisecond using inpO 11 14 JOYSTICK OPERATION 11 14 1 JOY Function Read joystick position Syntax JOY n1 or JOY X Y Type Real number Joystick channel 0 15 0 X el AN 1 Y vertical direction n1 numbered joystick channels Joystick in center position Joystick in left down position Joystick in right up position If a proportional control device such as a joystick is connected to the control system through a control terminal the position of the device can be read both in horizontal for example JOY 0 or JOYX and in vertical for example JOY 1 or JOYY direction with this function The value of function varies between 1 1 0 represents the center position JOY function can be used for manual axis cont
49. 0 12 10113 String containing the value of expression in decimal form If expression is not an integer it is rounded off to closest integer For numbers greater than number range values in exponent form are returned The value of the DEC function is a string equivalent to hexadecimal value of expression PRINT DECS 1000 DECS 100000 4096 32 Function Type conversion Converts an integer value to a hexadecimal string Syntax HEX expression Type String expression Integer value to be converted 2 28 1 String containing the value of expression in hexadecimal form 48 bit 2 s complement If expression is not an integer it is rounded off to closest integer For numbers greater than number range the last twelwe hexadecimal numbers or a 0 value is returned The value of the HEX function is a string equivalent to hexadecimal value of expression PRINT HEX 1000 HEXS 100000 1 3E8 100001 ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcOoN 48 6 10 LEFT Function Sub string of a string Syntax LEF T string expression Type String string String to be divided expression Length of sub string Value Sub string of string length expression characters taken from beginning of string PRINT LEFTS ABCDEFG 3 6 11 RIGHT Function Sub string of a string Syntax RIGHTS string expression Type String string String to be divide
50. 00 200 GOSUB MoveArm X n Y n A n 4 4 RETURN Command Return from a subroutine Syntax RETURN Return from a subroutine The last command in a subroutine must always be a RETURN command After RETURN operation of the program continues from the next McBasic command after GOSUB and all local variable space used in the subroutine is freed For example 1200 GOSUB 1400 STOP 1400 PRINT Subroutine 1410 RETURN gt RUN Subroutine gt ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 28 4 5 ON GOTO Command Jump to a selected program line Syntax ON expression GOTO adadr1 adadr2 addrn expression Integer defining which of the given addresses will be used as jump address This value must be between 1 and n addr1 Jump address when expression is 1 addr2 Jump address when expression is 2 addrn Jump address when expression is n Selection structure that selects the jump address according to the value of expression 1500 ON X0 1 GOTO 2000 3000 1000 If XO 0 the jump address is 2000 if XO 1 the jump address is 3000 and if X0 2 the jump address is 1000 ON X0 1 GOTO Lab1 Lab2 Lab3 If XO 0 the jump label is Lab1 if XO 1 the jump label is Lab2 and if X0 2 the jump label is Lab3 If the value of expression is not between 0 N the McBasic gives an error message 4 6 ON GOSUB Command Subroutine call to a selected program line Syntax ON expression GOSUB adadr1 add
51. 2 2 1 INP Function Read status of input Syntax INP expression Type Truth value expression Input address input not active off input active on Communications error McWay Missing module McWay INP function is used for reading the status of a binary input 250 IF INP 3 0 AND INP 4 THEN 250 ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 130 12 2 2 OUT Command Control an output Syntax OUT expr1 expr2 expr Address of output expr2 Value to set 0 output off 1 output on Command sets a binary output on or off For example 110 OUT 35 120 OUT 36 sets on outputs number 35 and 36 Function Read output status Syntax OUT expression Type Truth value expression Address of output output off output on Communications error McWay Missing module McWay OUT function is used for reading the status of an output If the output has not been set previously its status is 0 IF OUT 5 0 THEN OUT 5 1 DELAY 0 5 ENDIF OUT 5 0 12 2 3 EDGE Command Control edge indicator of input Syntax EDGE expr1 expr2 expr Address of input Control data O acknowledge and inhibit 1 acknowledge and reset Edge indicator operates by setting an edge flip flop when input INP expr7 receives an edge a change in state Direction of change that causes the transmission rising falling edge depends on settings of input unit
52. AE DOC programming environment reference manual AriAcoN 136 13 3 RESUME 13 4 ERR 13 5 ERL 13 6 ERL Command Return from the error handling routine of ON ERROR command Syntax RESUME NEXT If NEXT part is not used the return address is the beginning of the line where the error occurred If NEXT is used return address is the beginning of the next line IF ERR 2 THEN RESUME NEXT Function Number of the last occurred error Syntax ERR Type Integer 0 127 Function Line number of the line where an error last occurred Syntax ERL Type Integer 0 65535 Line number of the line where the error occurred 0 for line without linenumber 1 65535 program line This function is not effective if line numbers are not used in the program In this case it is always equal to 0 For programs without line numbers use the ERRE function instead to obtain the address of the line where the error last occurred 10010 PRINT Error ERR 10020 PRINT on line ERL Function Contents of the line where an error last occurred Syntax ERL Type String 80 characters Values Contents of the line as text string PRINT Error ERR PRINT on line ERLS ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 137 13 7 ERR Function Error message as string Syntax ERR expression Type String expression Number of error mes
53. C BASMAE DOC programming environment reference manual AriacoN 79 35 foreground magenta 36 foreground green 37 foreground cyan 38 foreground yellow 39 foreground white Halftones 4 gt 5 6 So 7 SS X 8 9 10 11 12 13 14 15 background not changed foreground The background color is the screen color behind the text and the foreground color is the color of the text itself when printing the text to screen When screen is cleared with a code such as CHR 26 the whole background of the screen is changed to the last defined background color Further display control sequences are discussed in respective display device documentation ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACON 80 9 TIMING AND REAL TIME CLOCK If the system is equipped with a real time clock all the files are dated automatically according to the current time of the real time clock The real time clock is set to current time by setting the console date The date and time can also be read from console CN usually 41 9 1 REAL TIME CLOCK Clock is set with command Command Set date time of the real time clock Syntax DATES H1 string The new date in form yyimmddhhmmss yy year 80 79 80 1980 79 2079 mm month 12 01 January dd day hh hours mm minutes ss seconds or alternatively yyyyimmaddlhhmmss where yyyy
54. E Or A A OO RO A 58 TON G7 ae eT ne A S 59 A Pan ORT E e EEA Sata ener een ren a ATTEN 59 8 FILES AND SERIAL COMMUNICATIONS 60 8 1 PROGRAM FILES RE O 60 8 1 1 SAVE a A e T 61 A A aula dl ti T E 61 A a aaa ereta a A o aes 61 8 2 FILES AND DATA OLI tio tdi lr i 62 8 2 1 O he Ail E AE REAA A a A 62 BD E E EOE A R E ATE E E E EE 64 A o A E A AE E AA 64 A AA A A seit ate tat ibaa te astas taal shite 65 coat e e 66 8 2 6 A vat ata eit ence cea A apnudeen saauansaqeauineaa a ANS 66 ARLACON McBasic MC BASMAE DOC programming environment reference manual 4 A A A EO EEE TENT Ta Te 67 A A lavala aa aeaa aa ai dats 67 82 9 E A A A aae aia 68 A PRCT IND O 68 adi REAL la dla 69 A EE e e e e a 70 aa DATE o ll OI 71 A A E 72 to Petare tT aE 72 A o e eS 73 A A O A EE A ENT A OTT 74 O O A 75 8 2 19 CURSS COMUMMN OW eoococcinnoccnnnnnocccnnnnncccnnonnncnnonnnnnnn naar nr rca nen e aa 75 A oe aah ke es cate a es et A EA aa nat ae eee 76 8 3 GRAPHICS CONTROL FUNCTIONS 0occcncccnnccnnnononnncnnnoccnnncnnnncnnnonnnnncnnnanonnnnnnnnnnnnnncnnncccnaninns 76 e A E RE ACL Sate RCE a AAA AA 76 BG PNT setae hahaa tha NNNSNN Aah Aah ahah kt T 77 A a a hi a ac ht te e ath ek i 77 e FEES A A A O A A 78 8 3 5 COLOR dio 78 9 TIMING AND REAL TIME CLOCK 80 9 1 REAL TIME OL OGK dai wameceatudiuny 80 92 TIME MEASUMENTS Sd olaaa s c 81 9 2 1 A A A O EA BA A CARRE EAE RC AE OEE NOES AE Ce IA eA Ee Ee aE 81 9 2 2 B ty s 6 Aa eae a a a e e 82 10 OTH
55. ELX SPEEDX 60 250 250 45 ACCEL command affects the axes as SPEED command and therefore it must be set to same combinations of axes as SPEED to achieve the desired vector speed and acceleration ACCEL setting is limited by the maximum change of speed being 32767 counts control cycle 2 with a resolution of 1 16777216 counts control cycle This means that for example in a normal MC300 or MC400 system with control cycle of 2 5ms and resolution such as 100 edges mm the maximum acceleration is about 52000m s2 and minimum acceleration is about 3E 7mm s2 ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 104 11 213 MAXERR Command Set limit for position controller position error intervention Syntax MAXERR axes n m expression List of axes or n axes numbers whose limits are set If not defined limits are set for all axes in the system expression Value for limit for example mm Value Current maximum error limit Set limit for position controller position error intervention according to the value expression for axes axes mm if RES is set as pulse edges mm If motor encoder position differs from the position set value more than MAXERR motor control is automatically disabled Setting MAXERR 0 prevents the intervention of MAXERR To ensure quick and reliable protection function MAXERR should be set to a value somewhat higher than the practic
56. EPROF axes axis2 MOVEPROF axnr1 axnrp1 axnrn axnrpn axes Axes which are started to move according to their PROF arrays axis2 Axis controlling the array pointer axnr1 axnrn Axes which are started to move according to their PROF arrays axnrp axnron Axes controlling the array pointers Moving by a profile array is performed by moving axis2 or axnrpn which may be same or different axes Usually the axes used as pointer axes are so called virtual axes existing only theoretically DRIVETYPE 1 76 A virtual axis does not represent any real physical axis A virtual axis is actually an axis whose DRIVETYPE is set so that only motion commands are operable Usually an axis that has no physical control connection is used as a virtual axis For example DRIVETYPET 16 32 128 ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 123 When starting profile motion the necessary axes must be active in other words PWRaxis1 1 and PWRT or PWRaxis2 1 It is recommended to set the resolution of the synchronizing axis to same as the number of entries in profile array for example REST 512 With this resolution a command MOVERT 1 moves the axis axes one profile array cycle For example to start a circulating motion see the profile tables generated in the example in paragraph 12 28 1 with axes X and Y 100 REST 512 ACCELT 2 120 PWRXYT 1 130 MOVEPROFXY T 140 CREEPT 2
57. ER COMMANDS 83 TOE DATA ME NES cite ties do ee isle sie sid ke ld dd e aided aie ld a ld a Te De 83 A DAT Ate each ete eta hee hts tetas fe tea hte ike 83 10612 READ ne eo ul a OD rT EN RTE 83 104 37 RESTORE 0 oo 84 TOM SDATAPT Asa ea ee a Rae e E RR a ae Le a ke 84 10 2 USER DEFINED FUNCTIONS coccccncccnnnccnnnccnnnccnnnccnnncnonaconnncnnnncnonanonnnnnnnannnnnnonnnncnnnncnnaninnnnes 84 O A GR SO AN OO OG A S R EE EN OE 85 10 22 NAAN O ooo balas 85 103 CGOMMENTS 010 0 elle o la l la dl lada lo do lla ala lo la dd la le e a ew 86 MU A e COPE CPS PUES TEED CEES TEE ES TERS COESIECT ECE TGED ERSTE CEES TOES CATE T 86 A OO ER OR On RE ne A OR RC TO OR Se REE 86 11 MOTION CONTROL 87 11 1 ENCODER OPERATION eaaa a a Ea n Ea cnn nano Sanas iraa iiia 88 7 BSG A Ee EOC TR ENA EA ORO AA 88 A E A E EE 89 dor OEESE Tc ade e a da a alabea aaan dal la odo leida ba lala lea ba aharia ada 90 iria BEING ERY yes ae ee e a e 91 11 2 POSITION CONTROL SETTINGS 0occcncccnnononnncnnnonononononononnnnnnoncnonanonnnnnnnonnnnnnnnnnnnnnanannncnannes 92 H2 DRIVETYPE testes lei o chic s a hie Gis bic Gaile ite Gis ol ahi O 92 Was AM cd eee eee EEG naaa ana aaa ria arta aaa ar ARSE EAE Oh 93 ih eS 1 O O A CECE CARO CEE E 94 ad GAN en Di GR DOO GO A EO RO mL ON Mt Op 94 ais es Saas IN I E E T T A E Te Ee I Ty 95 AA eed Meta E ered lett 96 HL S GH e e STE 97 O A a E E OO OO ES 98 a ARAN ea ae ee aT eae ae ae ae eae eee ee eee ee ae een ee 99 IATA F
58. IETERSIZE usan aaa darte daa ada edad MENGES SENG Otte See dad IA a 100 e ES o A AAE 102 ARLACON McBasic MC BASMAE DOC programming environment reference manual 5 11212 e A NONE RN AeA EORTC NT SEE Le a TORT Ce 103 A A O aa Cat tats Ae 104 11 3 POSITION CONTROL FUNCTIONS vrscidecetscstzadcatazsed ausues detectado ellas todas 104 ta Ee AN AR A AA AAA AE 104 iaa IEPS aaa mr a e td E E la mC eT care 105 a O A A A A O 106 A A A E 106 Were AA A A rate tact 107 O A er ene Deere Cre POE een rent E Ra Ona SA ge nee 107 SA aa TT a POA OO eR RES oer 107 Hee STORMOVE otero cdas denise idiotas estridente leads 108 11 6 MOVEREADY A hed dnsuiantlasaiant antes publ nubbssmiaastaraibttae tas 109 TET TRANSLATIONS ete cis ie e ca Nigel es aie 110 A A T eth Saat hele le 110 RI O O O ET TT cv OT 110 11 7 3 MOVC AND MI eae ices ett et baa ie aaa alah 111 TA MONEBUEFER arnes pta aba baneado ba Re E AE nba e dd 112 RO 113 RE AAA AA 115 E a A A te ata NNN 116 REAG A ace terse eradicate lad ual 116 A O utr cinta etek 117 iS AST POSITION CAPTURE ar ur ates Lo Matus 118 A A re Lr Le ee ee eee 118 o A 119 11 14 JOYSTICK OPERATION ss vies sesesiuevacanssesesezstavesansgevatanrtasauenstavesansgivatagssaeauinetaennruinacanaagiees 119 cE hur GOY au ti tan OREO OREN PE POE ORE O ORO ORO RO 119 sie ee SALON E EC 120 11 15 PROFILE CONTROLLED MOTION au a te a e al 120 AAAS A PRO SIZE sic ld 121 o ete RO OT nO Ce PC RD OO OT 121 ASS MOVERROR bote od aT eam 122
59. LACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 100 11 2 10 FILTERSIZE Command Set filter type and length for position set value to limit jerk or noise Syntax FILTERSIZE axes n m expression List of axes or n axes numbers whose FILTERSIZE is set If not defined FILTERSIZE is set for axes 0 9 XYZWABCDTU in the system expression Value defining type and length of position set value filter Positive filter values represent averaging filters with a length of expression position loop cycle time Negative values represent filters with zero position lag at constant speed with a response length of expression position loop cycle time O prevents operation of compensation Maximum value is dependent on the filter lengths available in different McBasic versions 256 in MC400 BAS16 128 in MC400 BAS100 and 64 in MC300 BAS300 Function Read position set value filter type and length Syntax FILTERSIZE axis n axis n Identification letter or number of axis Type Integer Value Current FILTERSIZE setting for axis Position set value filtering is typically used for limiting the rate of change of acceleration jerk in various types of motion This is often referred to as using S ramps in motion profiles With FILTERSIZE it is possible to define the time it takes for the acceleration to change during any type of motion The period of time used to reach the new acceleratio
60. MATICAL FUNCTIONS c cecceccesceccescessescessescessescescscssercessersesseacersessessersesserterserees 37 BB WON G2 dct ait aae aea alo ahh halk ach ah ak ahah gk ald k 37 5 5 2 A TE 37 ARLACON McBasic MC BASMAE DOC programming environment reference manual 3 GSES SRE A EEA NRT AAO Pe TRS Tee ea EAE RT OS a re te 38 A E N A a a ee 38 A A A A nate osehiy 38 EAS 5 de lo 39 A o A ROR ETC ORO ED FRET TL ORO CR TON ay 39 A Na eae eae ae et A ak Neda tn chee 39 SSe MEEA gt d horace T E EA EENAA EAA A Mal atia ate TA 40 Eaa Oa E OE AAA A EAT A A EE 40 pE SOR A t a A b a a 40 Bes VPM E E AA O S A 41 E e a e a A A E 41 o OR AA A A 41 o Ek te ade ea ca RR CRO a ORO RAO ORT ad RENT irre NT Ie 42 BS dies A A hates a 42 6 STRINGS 43 5 EE a A Lee a es 43 BED INS A ta lates toes A EA A 44 AAA AAA 44 A A eT rT Oe eT nL eT ee ee 45 6 07 OARA ee eMedia ee ee alada lola ala da lada ala la lada ea Ma der 45 A e eo 46 A o OT Fe 46 A A LE UATE Ree UN nN en een en OTe 47 O Nar Canes T 47 AN A TE ICE EEEE AAAA 48 A AA O Et OO RGA 48 A A IN ULL TT ELT rT TNE 49 GAG INSTR cele ete als A tala A 49 A A E 50 A E On UO TC OT DT CO OP UOT 50 O ADO A eds 50 7 VARIABLES AND ARRAYS 52 AAA A NN 54 e A A A E 55 A SI AO 55 A i ee T ees hehe ate hee i ae 56 A UO a rT ROO Oe OO OO OU A E 56 TO WO ERR CR ee Oe ee eee E bollos 57 Ta JSHORT INTEGER ceuta etc eee eens T ae a aa 57 ToS NINETIES see ao aa EAEAN 58 E ADDR Ta RR ORR ORONO ORO a PR
61. Note that the inpO referred to is the first input on the WAX2 module with the encoder for the axis in question It also has an input address as defined by WAYMOD command for use with the INP function Function Read position capture status Syntax CAPTTYPE axis n axis n Identification letter or number of axis Type Real number Current status of position capture of axis not used ready position captured waiting for index falling edge waiting for index rising edge waiting for inpO falling edge waiting for inpO rising edge Note that since the operation of the capture function involves communication between the processor and the axis module CAPTTYPE command should only be executed once to arm the logic About 2 position loop cycles should be allowed for the logic to be active When CAPTTYPE function reports that a position has been captured CAPTTYPE 1 it takes some time about 2 position loop cycles for CAPTTYPE function to return the corresponding value Thus it is advisable to set CAPTTYPE only once and the ensure that the value of the CAPTTYPE function indicates that the logic has been armed Trying to arm the logic several times with a CAPTTYPE command without waiting for CAPTTYPE to reach the set value first may cause position loop malfunction Example ARLACON McBasic MC BASMAE DOC programming environment reference manual ARIACON 119 DO CAPTTYPEX 0 look for index rising edge DELAY 05
62. OP structure error 44 strange label ARLACON McBasic MC BASMAE DOC programming environment reference manual AriacoN 135 45 same label twice 53 file error 54 strange date 55 too many links 56 you can not use links here Od loop in links 60 strange module 61 address error 62 I O loop full 63 address should be multiple of four 13 1 ERROR Command Print an error message on console Syntax ERROR expression expression Number of error message 1 127 Error message This command is used to generate an error message Program execution stops or jumps to error handling program see ON ERROR Number of error message is the value of expression IF A gt 100 THEN ERROR 1 13 2 ON ERROR Command Jump in case of an error Set error trap Syntax ON ERROR address address Address where to jump in case of an error Defines the address of the error handling routine If this command has been executed an error anywhere in the program causes a jump to line address The error trap is task specific so it can be set differently for each task if necessary By default every new task inherits its error trap setting from its parent task ON ERROR ErrHandling ErrHandling STOPMOVE FOR N 32 TO 47 OUT N 0 NEXT N P P P RINT CALL FOR SERVICE RINT ERROR ERR ERRS ERR RINT ON LINE ERL STOP ARLACON McBasic A MCBASM
63. OTHER COMMANDS MOTION CONTROL MOTION CONTROL CONTROL ARLACON McBasic programming environment reference manual FSPEEDaxis FSPEED axnr GAINaxis GAIN axnr IEEE32 devicenr IEEE32 devicenr IEEE64 devicenr IEEE32I devicenr HEX expression IFREQ ainput INP input INPA input INSTR expr string substring INT expression INTGaxis INTG axnr JOY n JOYX JOYY LEFTS string expression LEN string LIMITTYPEaxes LIMITTYPE axnr LINES LOG expression LOGDATA axis sample data LOGDATA axnr sample data LOGSIZEaxis LOGSIZE axnr MAX expr1 expr2 MAXERRaxis MAXERR axnr MID string expr1 expr2 MIN expr1 expr2 MOVEBUFFERaxes MOVEBUFFER axnr axnr MOVEREADY axes MOVEREADY axnr axnr NOT expression OFF OFFSET axis OFFSET axnr OFREQ aoutput ON ONERRO OPWRaxis OPWR axnr OR OUT output OUTA output PIDFREQ PII PNT xcoord ycoord POS axis POS axnr POSERRaxis POSERR axnr PRIOR A ARLACcoN read position set value speed after filter read position set value speed after filter read position control gain read position control gain read 4 byte IEEE unix format fp number read 4 byte IEEE pc format fp number read 8 byte IEEE unix format fp number read 8 byte IEEE pc format fp number expression to hexadecimal string read frequency input read binary input read analog input locate substring integer part of number read position control integrat
64. R N 1 TO 100 110 PRINT N 120 IF INP 32 THEN N 100 GOTO 140 130 OUT 32 NOT OUT 32 140 NEXT N Alternatively the NEXT command can be executed elsewhere in the program for example 100 FOR N 1 TO 100 110 PRINT N 120 IF INP 32 THEN N 100 NEXT N GOTO 1000 130 OUT 32 NOT OUT 32 140 NEXT N 150 END 1000 PRINT Finished earlier 1010 END 4 9 DO UNTIL LOOP Command Repeat loop DO commands UNTIL condition LOOP or DO commands command lines UNTIL condition command lines UNTIL conditionn LOOP commands Commands that are executed in the loop If several separated by colons command lines Command lines within the loop UNTIL condition Exit point from loop If condition is true program continues from after LOOP command Point where program execution returns to beginning of loop DO Up to 20 loop commands may be nested in a program It is possible to use several UNTIL commands in one LOOP DO A A 1 UNTIL A gt 100 OUT 32 NOT OUT 32 UNTIL INP 32 1 LOOP DO UNTIL BYTE 1 13 LOOP DO UNTIL MOVEREADYXY LOOP H ARLACON McBasic A MCBASMAE DOC programming environment reference manual AriAcoN 33 4 10 TASK Command Create a task Branches the program execution Syntax TASK address expression address Starting point of the task to be created expression Values for variables local in the new task as defined i
65. TURE MOTION CONTROL MOTION CONTROL CONTROL STRUCTURE ERRORS STRINGS MOTION CONTROL MOTION CONTROL FILES VARIABLES AND TABLES MOTION CONTROL ARLACON McBasic programming environment reference manual FOLLOW axnr1 axnr2 n1 n2 FOR TO STEP GAlNaxes expr GAIN axnr axnr expr GOSUB expr expr address GOTO address HELP devicenr HOME axes HOME axnr axnr IEEE32 devicenr expression IEEE32I devicenr expression IEEE64 devicenr expression IEEE641l devicenr expression IF THEN ELSE INPUT devicenr INTEGER variablename dim dim INTGaxes expr INTG axnr axnr expr JOYINP 2n1 n2 n3 LET variable expression LIMITTYPE axes type LIMITTYPE axnr axnr type LINE n expression LINK dev1 dev2 dev3 LIST n number label LOAD string LOCAL variable LOGaxes n LOG axnr axnn n LOGDATAaxes expr LOGDATA axnr axnr expr LOGSIZE axes expr LOGSIZE axnr axnr expr LOOP MAXERRaxes expr MAXERR axnr axnn expr MOVC axes expr MOVC axnr expr axnr expr MOVCRaxes expr MOVCR axnr expr axnr expr MOVE axes expr MOVE axnr expr axnr expr MOVERaxes expr MOVER axnr expr axnr expr MOVEPROF axes axis MOVEPROF axnr axnr axnr axnr NEW NEXT variable NOBREAK address NOBREAKS NUMBER num Inum addr addr OFFSETaxes expression OFFSET axnr axnr expression OFREQ outanr expr ON var GOSUB
66. Type Integer 0 255 Value Intg value of position control of axis INTG defines the part of reference output the position controller gives in relation to position error and time The higher the INTG value and the position error are the faster the reference output increases during time Constant position error which can not be eliminated by proportional control can be eliminated by using INTG Because integrating increases the order the control system it also increases the tendency to oscillation Therefore the use of INTG usually requires lower GAIN value for stability A too low INTG causes slow error correction and a too high INTG causes oscillation of the system ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 96 In control systems already having one or more integrators as usually when using a tacho generator feedback speed control circuit INTG is usually set to zero INTG 1 2 4 INTGY 3 INTGZ 0 PRINT INTG 1 INTGY INTGZ In control loops accurately speed compensated with SCOMP parameter and with fast acting speed loop INTG can in some cases be used to reach better path accuracy without losing stability This kind of a control is usually possible in accurate and stiff mechanisms INTG value 0 removes the integrating operation INTG represents the in PID control that is the integrating factor 11 2 6 DERV Command Set derivation factor of position control Syntax DERV
67. Value Current refresh rate cycles second PIDFREQ setting provides means for setting the refresh rate of the position control loops By default PIDFREQ is 400 in standard McBasic versions The setting is mutual for all axes in the system Because the setting affects all time based motion parameters it is recommended that PIDFREQ be set in the beginning of the program before any motion parameter settings 11 2 4 GAIN Command Set proportional gain of position control Syntax GAIN axes n m expression laxes n m List of axes or n m axes numbers whose GAIN is set If not defined GAIN is set for axes XYZWABCDTU or 0 9 in the system expression Value for gain Integer 0 65535 O prevents operation of the feedback system 65535 is the highest possible gain Function Read proportional gain of position control Syntax GAIN axis n axis n Identification letter or number of axis Type Integer 0 65535 Value Gain value for position control of axis Proportional gain of the PID control GAIN defines the amount of output from the position controller in proportion to the position error of the axis In other words GAIN represents the P of PID control that is the amplification factor If GAIN is set to zero operation of the controller is prevented and output REF is set to zero However even with GAIN set to zero the feedforward part SCOMP of the output of the controller remains operable when
68. X MOVCX 1500 would cancel the first translation after 3 seconds and change the destination to 1500 without stopping MOVEPROFXY DELAY 3 STOPMOVEX MOVCX 1500 would cancel the profile motion after 3 seconds and start a translation to position 1500 obeying set ACCELX or DECELX to reach the set SPEEDX 11 6 MOVEREADY Function Read motion status MOVEREADY axes n Type Integer List of axes or n axes numbers If not defined all axes are considered motion ready axis enabled motion not ready busy servo control disabled by setting PW Rn 0 negative limit NLIM exceeded positive limit PLIM exceeded emergency switch EMRG open MAXERRn exceeded excessive errors in McWay i o loop WAYERR encoder errors in an absolute encoder WAX2A Read motion status With the MOVEREADY function it is possible to read whether motion with defined axis or axes is not ready ready or stopped servo control disabled for some other reason If more than one of the above mentioned conditions exist simultaneously MOVEREADY gets a value where different error values are added for example MOVEREADYn 10 if negative limit switch is influenced and emergency stop is open MOVEREADY is 1 also when control is not yet enabled Control is enabled for example with the command PWRaxis 1 ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 110 or by performing any translatio
69. a dies eas Pa te Airs tenes e Malls Rana 20 SP ERE N A Ce ee On ee ee CO EOE EWE CO SN NON On Oren rey Orme ener 21 36 WING capa ihe oo a si el apa e ara al adela a dad a dal ae aa a laa al aa da alt atk a 21 37 END Feed tee OTR ORT CRETE COE CC EC CAE RCC OC ETC FORT CTO Sr TTC CCR Cage 21 3 Ga EO TOPA ROR ORT ROR ONE EN ECO RON A A RTC me ERO ONE RTO ET 21 3 97 BREAK eenn INT AN 22 510 NOBREAK camente e eea Mets Mea Marae Maa a a Maa acha e hate Nate Rae Melan 22 O ERER AEE RETAANE ETARE EEE TAT 22 cc Cae 27 A E EEE 23 59 DELETE ut EEEE EEE EEE E EEE EEA 23 STA REN fhe e ee en dada dela todo lolo lala tete lalo dela aaa eate erat eat 24 A a Ak a ek a os 24 3160 FREES O O A OOO A A ARON A A OT AA A ONO SE GO RT 25 4 STRUCTURE 26 A E REN eee et ARO eee ae 26 Wy O A A O A O A 26 E AN A ERE ROR RENEE Pry eT eR eRe RENE TE 27 AAS RETURN oxide ao as Relea O aa celle salty foal idles 27 7 A RE1 ES Rete NR REC Pt OC Te EIN ETON S rer E OAE E 28 46o HON AO SUB IAN A A sta cbuo bie 28 4 ME TIEN ee Ee ll oe nabs 29 AB ROR NEX Taui ce ls Ue E A alk Mlle raa a E cn o a 31 A9 O AE AAA 32 A E ERA Trade hl ute Medial A rh ats Nett alah apts Uadiatt Mel A 33 71s ASMA ooo lee ales 33 o o PAPEN O CO A TP PE oP 34 5 MATHEMATICS 36 5 1 ARITHMETICAL OPERATIONS sella atea ln 36 52 LOGICAL OPERATIONS inti eke Milo Meda dl dla Mela ale dla Mela Mi 36 53 BINARY OPERATIONS scence nnn n a ana aiai 36 BA NUMBER INPUT FORMATS kat dato Mada 37 5 5 MATHE
70. addr addr ON var GOTO adar addr ON ERROR adar OPEN Adevicenr string A ARLACcoN follow another axis position repeat loop set position control gain set position control gain call subroutine jump to program line display command list find axes home position find axes home position write 4 byte IEEE unix format fp number write 4 byte IEEE pc format fp number write 8 byte IEEE unix format fp number write 8 byte IEEE pc format fp number conditional commands input value fo variable declare 16bit integer variables or arrays set position control integration set position control integration set joystick input set value for variable configure axes limit switches configure axes limit switches set output line length link output to two other devices list program load program declare variables local control motion control log operation control motion control log operation set analog input to attach to axis log set analog input to attach to axis log set size of log array set size of log array see DO UNTIL LOOP set position error limit set position error limit continuous absolute motion continuous absolute motion continuous relative motion continuous relative motion absolute motion absolute motion relative motion relative motion activate profile controlled motion activate profile controlled motion clear program memory end of repeat loop remove breakpoint remove all breakpoints num
71. al negation AND logical AND function OR logical OR function XOR logical absolute OR function Comparison and logical operations can be combined Parenthesis can be used to indicate calculation order For example 200 IF A gt B AND INP 32 XOR INP 33 THEN 300 5 3 BINARY OPERATIONS Binary operations can be used also between other integers than 0 and 1 up to 47 bits as follows ARLACON McBasic A MC BASMAE DOC programming environment reference manual AriacoN 37 AND AND operation for a 47 bit integer OR OR operation for a 47 bit integer XOR XOR operation for a 47 bit integer In this case the result is also a max 47 bit integer For example PRINT 01010010 AND SOF 2 5 4 NUMBER INPUT FORMATS Numerical values can be entered and programmed in McBasic in several ways 1 23 45 0 basic format 1 0 23 4 0 0656 77 decimal format 1E0 2 34E1 1E6 0 2E 17 exponent format 41 BFCO 0020 100000 hexadecimal format 11 01110101 1111111111 binary format PRINT 1010 0D 1E3 10 13 1000 5 5 MATHEMATICAL FUNCTIONS 5 5 1 ON Function Constant 1 Syntax ON Can be used for example as truth value instead of 1 TRACE ON TRACE NOT ON 100 OUT 45 ON 5 5 2 OFF Function Constant 0 Syntax OFF Can be used for example as truth value instead of zero TRACE OFF 100 OUT 45 0FF 200 IF INP 35 0FF THEN 500 ARLACON McBasic A MC BASMAE DOC programming environment reference manual A
72. al position error during motion 11 3 POSITION CONTROL FUNCTIONS 11 31 POS Command Set position counter Syntax POS axes n expression List of axes or n axes numbers whose positions are set If not defined position is set for axes 0 9 X Y Z W A B C D T and U expression New position in units defined by RES for example mm ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 105 Function Read position counter Syntax POS axis n axis n Identification letter or number of axis Type Real number Value Current actual position of axis in units as set by RES command With POS command the position value of an axis can be set to desired value Position of axis is set to expression independent of position of axis at time of setting In other words POS command moves the coordinates as specified POSZ 10 POSX 2 0 When desired coordinates can be moved relative to the current position of axis by considering the actual position for example POSX POSX 100 moves the coordinates 100mm in negative direction in other words the position value is increased by 100mm The POS function can be used to read the current actual position POS is also convenient for reading encoder inputs not configured for position control IF POS 1 gt 200 THEN STOPMOVE 1 The size of McBasic 3 2 position counters is 32 bits This means that for example with a resolut
73. also be written after other commands without separator this line is comment A A 1 also this comment works ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACON 87 11 MOTION CONTROL The control software for servo motors runs continuously in background of the McBasic environment The axes positions are controlled by PID algorithms with separately adjustable parameters for each axis The common refresh rate of the algorithms can be set with the PIDFREQ command Motion commands initialize the execution of the desired motion and program execution can continue immediately simultaneously with the motion The system the takes care of the performing of the motion in background This way the motion commands in the program actually only start motion and do not represent the performing of the whole motion The available axes are labelled in two ways The first 10 axes in the system have letter names X Y Z W A B C D T and U Axes can also be referred to with numbers starting from 0 The number of axes X U are 0 to 9 respectively For all motion control commands and functions two alternate syntaxes for letter named and numerically referenced are available Axes gt 9 have no letter names and can only be referred to by their number Motion commands can be issued for a desired number of axes simultaneously Thus commands such as ACCELXYZ 10 ACCEL 2 20 ACCEL 2 4 6 30 are valid For some motion
74. am before creating any further tasks or calling subroutines have a global scope so they may be referred to from any task or subroutine Variables created in other tasks or subroutines are only visible from them and from subroutines called from them or tasks created from them Variables with this kind of a local scope are created with DIM STRING BIT BYTE WORD SHORT INTEGER INTEGER REAL FLOAT and ADDR commands They have an initial value zero and disappear when returning from the subroutine or when the task ends They can have the same name as used in some other scope The memory space occupied by the disappeared variables is freed and can be used again Thus variables and arrays can be declared as local In this case they Must be declared with appropriate commands in the beginning of the task or subroutine where the local variables are needed If variables are declared local with the LOCAL command they inherit dimensions for arrays sizes for strings and values which they had in case there were any previously Incase of declaring with other declaration commands the array dimensions string lengths and variable values are not inherited Ina new task or subroutine all local variables of the creating task or calling subroutine are visible unless redefined Variable is local until END RETURN command of the corresponding TASK subroutine Onreturn from the level where variables were local the values o
75. an be found in the McDOS 2 2 Operating System User s Manual chapter 3 2 Memory devices ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 63 Details of serial port settings can also be found in the McDOS 2 2 Operating System User s Manual chapter 4 26 SET command In MC300 systems a physical device names according to the type of the display TR 320x240 greyscale Icd ETR 640x400 EL are available for referencing the inbuilt display and keypad board Additionally a device XX is available for use as a trash bin to simulate a non existing port for example Any output in XX is always lost no input is ever received from XX Files are referenced after opening using device numbers The default device in commands that do not require a device number is 1 Console port in other words the port where the programming terminal is connected is usually left as 1 For example OPEN 2 LP 2 serial port LIST 2 15 INPUT Which text file NS 20 OPEN 3 D1 4 NS TX disk file When opening serial ports it is possible to set communication parameters by adding the necessary parameters in the control string after the device name OPEN 2 LP 9K68E11 where device name EN Pt baud rate 300 600 1K2 2K4 4K8 9K6 19K 38K number of data bits 7 8 parity 0 space 1 mark E even O odd N no number of stop bits Ly xon xoff handshake 0 not used 1 used R xon
76. aneously with the command McBasic loads and starts the program s automatically after starting itself The use of the suffix BA in the names is optional D8 gt BAS16 PROG1 PROG2 PROG3 If no program name is given and there is battery secured CMOS memory available the interpreter searches the McBasic workspace memory for an executable program If a program is found in the memory it is started automatically If the memory is empty McBasic looks for a file WAKEUP BA from the current disk drive and directory This can also be a virtual drive such as system flash memory D6 or CMOS RAM drive D7 set to be the current drive before starting McBasic McBasic can be started from the current directory or some other directory specified in conjunction with the command or beforehand using the McDOS PATH command If no WAKEUP BA file is found from the current directory the memory remains empty and McBasic remains in command mode Under McDos operating system start up can be automated by saving a WAKEUP EX file on disk or virtual disk WAKEUP EX can contain commands such as D8 BAS300 or ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcON 61 PATH DO D8 BASIC PROGRAM The first command loads McBasic version BAS300 MC300 system from system eprom D8 and searches for program first in work memory and if not found for a WAKEUP BA file on the current directory which may be the drive root directory ho
77. asic A MCBASMAE DOC programming environment reference manual ARLACcoN 78 8 3 4 FILLS Function Set display to fill mode Syntax FILL Type String Value Control sequence for output FILL sets a graphics display to fill mode In this mode the drawn jointed lines are automatically closed with a straight line and filled with the current color Otherwise FILL operates as LINE An area that has been filled with FILL function can be surrounded with a frame of different color by drawing the frame with LINE command using the same points 8 3 5 COLOR Function Color definition Syntax COLOR color Color definition Sets both the text color and the line color as well as the fill color for an area This function operates only in the text mode 45 PRINT COLORS 1 set color 1 For example in CGA02804 color display cause the following color numbers are available operation of LINE and FILL 0 draw with the background color 1 draw with the foreground color 2 draw with shifted foreground and background color 3 draw with the complementary colors 4 7 halftone only the background 8 11 halftone only the foreground 12 15 halftone both the background and the foreground 16 background black 17 background blue 18 background red 19 background magenta 20 background green 21 background cyan 22 background yellow 23 background white 32 foreground black 33 foreground blue 34 foreground red ARLACON McBasic A M
78. aximum task number for simultaneous tasks 2 33 default value is 9 This command sets the maximum task number available for program tasks As the number of the first task is 2 see 4 8 TASK with TASKMAX 9 the valid task numbers will be 2 9 In case of TASKMAX 33 it is possible to use up to 32 simultaneous tasks ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcOoN 34 Increasing maximum number of tasks consumes memory in the system data structures so it is advisable to set TASKMAX to the value necessary for the application TASKMAX must be set in the beginning of the program before any variables with local scope are declared Function Maximum number of tasks Syntax TASKMAX Type Integer Value By default number of tasks is 8 May change in the range 2 32 The maximum task number can be read using the TASKMAX function 4 12 PRIOR Command Set the priority of current task Syntax PRIOR expression expression Value for priority Integer 0 127 lock to current task priority The task having the smallest PRIOR value gets the most execution time For non critical tasks high PRIOR values can be used Function Priority of current task Syntax PRIOR Type Integer Values 0 12 Each task has its own priority default value is the priority of the task that creates the new task the original priority of the main program is 3 In a simple case a task gets execution turn after
79. ber unnumbered program lines set offset value or move current position set offset value or move current position set frequency output select subroutine select jump address set error trap open file or port MC BASMAE DOC 10 MOTION CONTROL STRUCTURE MOTION CONTROL MOTION CONTROL STRUCTURE STRUCTURE CONTROL MOTION CONTROL MOTION CONTROL FILES AND COMMUNICATIONS FILES AND COMMUNICATIONS FILES AND COMMUNICATIONS FILES AND COMMUNICATIONS STRUCTURE FILES AND COMMUNICATIONS VARIABLES AND TABLES MOTION CONTROL MOTION CONTROL MOTION CONTROL OTHER COMMANDS MOTION CONTROL MOTION CONTROL FILES AND COMMUNICATIONS FILES AND COMMUNICATIONS FILES AND COMMUNICATIONS FILES AND COMMUNICATIONS VARIABLES AND TABLES MOTION CONTROL MOTION CONTROL MOTION CONTROL MOTION CONTROL MOTION CONTROL MOTION CONTROL STRUCTURE MOTION CONTROL MOTION CONTROL MOTION CONTROL MOTION CONTROL MOTION CONTROL MOTION CONTROL MOTION CONTROL MOTION CONTROL MOTION CONTROL MOTION CONTROL MOTION CONTROL MOTION CONTROL CONTROL STRUCTURE CONTROL CONTROL CONTROL MOTION CONTROL MOTION CONTROL ANALOG 1 O STRUCTURE STRUCTURE ERRORS FILES AND COMMUNICATIONS ARLACON McBasic programming environment reference manual OPWRaxes expression OPWR axnr axnr expression OUT outputnr 0 1 OUTA outputnn expression PIDFREQ expression POSaxes expression POS axnr axnr expression PRINT devicename
80. bove Converted number format date in form yyyymmddhhmmss 4 digit year Device CN console usually 1 is the real time clock of the system see chapter 9 REAL TIME CLOCK Disk files are automatically dated according to the console date when written to a disk For example string 900224123456 represents the date February 02 1990 and the time 12 34 56 DATE 1 900224123456 PRINT DATES 1 900224123456 DATE function also provides means to convert date calculation results from number format back to string format and to convert 2 digit year formats to 4 digits ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACON 72 Example PRINT DATES DATE DATES 1 19990825135344 8 2 14 DATE Function Convert date string to number Syntax DATE date Type Real number date Date to convert in form yy yymmda hhmmss A number representing the date in days from 2 1 2000 Dates before 2 1 2000 are negative numbers and after 2 1 2000 positive numbers The DATE function allows calculations with dates The date 2 1 2000 first Sunday of year 2000 has been chosen to be the zero date DATE gives the difference from this date in days so the integer part of the value represents full days while the fractional part tells the time Thus time and date differences can be calculated For example there are 236 days between 1 1 1999 and 25 8 1999 whereas there are 237 day
81. d expression Length of sub string Value Sub string of string length expression characters taken from end of string PRINT RIGHTS ABCDEFG 3 EFG ARLACON McBasic A MC BASMAE DOC programming environment reference manual ARIACON 49 6 12 MID Function Substring of a string Syntax MID string expression 1 expression2 Type String string String from which the subtring is to be taken from expression1 The position of the first character of the substring as counted from the beginning of the string 1 represents the first character expression2 Length of substring Value A substring of string length expression2 characters starting from the character in position expression PRINT MIDS ABCDEFG 2 4 BCDE 6 13 INSTR Function Location of substring in string Syntax INSTR expression string 1 string2 Type Integer expression Position in string1 where search for substring begins 1 represents the first character position Whole string will be searched for string1 String where substring is being searched string2 Substring to be searched for Position of the first character of sub string string2 in string1 If substring string2 is not found value is O 100 PRINT INSTR 1 ABCDEFGH CD 3 00 ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACOoN 50 6 14 STRING Command Declare string variables Syntax STRING n var Maximum length of a string n 1
82. e DEF command must always be at the beginning of the line 4 2 GOTO Command Jump to given program address Syntax GOTO adar addr Line number or label destination address Execution of the program will continue from line nnn or label nnn 100 GOTO 290 the program is continued from line 290 120 GOTO Labl program is continued from line labeled Labl By using the GOTO command from command prompt the program can be started or continued from some other than the very first line The variable values are not affected GOTO 5000 starts the program from line 5000 Address expressions can also be used GOTO Label1 3 GOTO 10000 1 ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 27 4 3 GOSUB Command Sub routine call GOSUB adar or GOSUB label par1 par2 addr The first line of the subroutine Line number or label label Label of the first line of a procedure using parameter passing par1 par2 Values for local variables defined in conjunction with the abel Max 25 subroutine calls can be nested The program continues from addr RETURN at the end of subroutine returns the operation to the next command after GOSUB GOSUB command can be also used from command prompt for example for testing the operation of a subroutine RETURN command at the end of subroutine returns the control back to command prompt 110 GOSUB 2000 120 GOSUB ArrayIni GOSUB Draw 1
83. e value of OFFSET is changed respectively It is also possible to change the offset using a command like ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 91 OFFSETX 0FFSETX 100 which adds 100 to the current position of X axis POSX Setting the offset rather than POSX directly POSX POSX 100 has the advantage that in case X axis is moving during the operation no inaccuracy is introduced because of time difference between reading and writing the values Also OFFSET can be used to wrap the position of an axis moving infinitely in one direction such as a roller in a converting machine in order to keep the position between 0 and 1 for example A command like IF POSX gt 1 THEN OFFSETX 0FFSETX 1 will operate correctly and wrap around even when the value of OFFSET exceeds its 32bit range 11 1 4 ENCERR Function Read encoder error counter Syntax ENCERR axis n axis n Identification letter or number of axis Type Integer 0 255 Value Number of errors in encoder decoding since last read ENCERR provides a tool for monitoring errors and interference in encoder operation of WAX2 and WAX2A In conjunction with WAX2 incremental encoder ENCERR counts decoding errors where edges have been detected simultaneously in both channels A and B This situation indicates that accumulating errors probably result in encoder operation and therefore the system should be te
84. each n lines where n is the priority value If there are several tasks with approximately same priority the distribution of execution turns operates as described later Priority can have values between 0 and 127 0 priority reserves all execution time and thus prevents changing tasks Priority can be set in a task as many times as needed Priority value 0 can be used if the task must not be interrupted by another task ARLACON McBasic programming environment reference manual AriacoN 35 TASK ToDo FOR I 1 TO 30 PRINT PRIOR N END MC BASMAE DOC E gt lt H H ToDo PRIOR 2 FOR J 1 TO 30 PRINT PRIOR NEXT J Switching tasks is based on a queue of executable tasks where each task waits for its execution turn Each task has its own so called wait counter which defines how many program lines it has to wait for its execution turn Each line change decrements the wait counters of the tasks in the queue After the wait counter of the first task is 0 task switching is performed and the first task in the queue is put in execution The task ending its execution turn is put back to the queue according to its PRIOR setting so that the value in the wait counters of the tasks before it smaller or equal to the PRIOR setting The wait counter of the task is set to its PRIOR value ARLACON McBasic programming environment reference manual 5 MATHEMATICS A A RLACON MC BASMAE DOC 36 Mathematical
85. ed a procedure For example DispArea R R R R PII PRINT Area R RETURN The procedure is called by giving a list of parameters with the label For example GOSUB DispArea 100 X The parameter R is local within the procedure with the initial value passed when calling the procedure The defined parameters can have any name and are assumed real numbers max 80 character strings if ending in or addresses if ending in Up to 8 parameters can be defined for a procedure ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACON 19 3 CONTROL This chapter describes the operation of the commands controlling the operation on the McBasic programming environment 3 1 ED Command Edit program Syntax ED address address Place in program to start editing ED command allows typing in and editing program from McBasic command mode While it is possible to type in program lines with linenumbers without using ED it allows editing of previously entered lines and typing in lines without linenumbers When the command is issued the referred line appears on the screen and can be edited It is then possible to move up and down in the program with arrow keys The currently edited line is always printed on the screen below the previous edited line independent ED returns to McBasic command mode with the lt return gt key When in ED editing mode using an ANSI compatible terminal other functions are available as
86. ence manual ARLACcoN 58 7 8 INTEGER Command Declare integer arrays INTEGER arrname expression1 expressionn or INTEGER arrname expr1 expr2 expr3 expr4 arrname Array name expression1 max first index range 0 to expression expressionn max last index range 0 to expressionn First index lower limit First index upper limit range expr to expr2 Last index lower limit Last index upper limit range expr3 to expr4 Integer array cells can get integer values between 32768 and 32767 7 9 ADDR Command Declare address variables and arrays ADDR name expression1 expressionn or for arrays with specified index ranges REAL name expr1 expr2 expr3 expra Variable or array names expression1 max first index range O to expression1 expressionn max last index range 0 to expressionn First index lower limit First index upper limit range expr1 to expr2 Last index lower limit Last index upper limit range expr3 to expr4 Address variables and array cells can contain any address values in the program Thus the value of an address variable can be a label or a line number existing in the program with an optional offset For example ADDR Pointer StartOfData DATA 100 200 300 DATA 110 210 310 DATA 120 220 320 EndOfData MC BASMAE DOC ARLACON McBasic programming environment A reference manual ARLACON 59 Pointer StartOfDatat2 RESTORE Pointer
87. expressions sets the next output right next to the previous output PRINT command performs an automatic line feed after output If the last expression is followed by a comma or a semi colon no line feed cr lf is printed If the character is comma the cursor is tabulated to the next column When printing strings the output can be formatted using string functions and expressions can be combined by sign PRINT ABC CHRS 10 DEF ASCII 10 is line feed ABC DEF When several tasks use the same output device it is necessary to control the output so that different tasks do not print simultaneously as printed sequences might get mixed This may be accomplished by using flag variables to time the operation of tasks or by locking tasks with the PRIOR setting ARLACON McBasic A MC BASMAE DOC programming environment reference manual AriacoN 66 8 2 5 LIST Command List whole program Syntax LIST nn nn By giving device number nn program will be listed to device nn otherwise to device 1 Command List part of program Syntax LIST nn address 1 address2 nan By giving device number nn program will be listed to device nn otherwise to device 1 address 1 The first line to be listed Default is linenumber 1 or start of program address2 The last line to be listed Default is linenumber 65535 or end of program If only comma is given program will be listed until next empty line LIST has following feature
88. f variables existing at the higher level have been preserved Variables that did not exist at the higher level disappear Arrays are tables of values referenced by the same variable name An array can have 1 to 7 dimensions Array names are a strings of characters first of which is a letter followed by other characters or numbers from 0 to 9 or _ As with variable names short array names of one letter or one letter followed by one number are automatically defined global when used in the program Array entries cells are being referenced using indexes separated with commas in parenthesis after the array name For example ArrSamp 1 3 4 7 8 Block3 1 h 2 7 asize 1 3 K3 5 9 are entries in different arrays It is also possible to define an array for strings or addresses For example SymArray 3 6 b 8 are entries in different string arrays and Addr 5 5 G 3 are entries in address arrays Each entry in an array reserves memory according to the type of the array variable type Array size is defined by DIM or type declaration commands before an array is used In case if numerical array with the name of one letter or one letter and a number is not defined before its use the default dimension of 10 or 10 10 is assumed An array can be from one to seven dimensional and the only limit for array size is the size of memory available An array index can have negative zero and positive interger values For example DIM A 3 2 2 STRING 1 LetA
89. functions producing a single value only one axis can be used as argument For example to read current accelerations for axes 2 and 4 functions ACCEL 2 and ACCEL 4 should be used However some functions such as MOVEBUFFER n7 n2 or MOVEBUFFERXYZ and MOVEREADY n7 n2 can also refer to the status of a combination of axes In combined motion commands XYZ or 0 targ1 1 targ2 2 targ3 the axes move at speeds resulting in simultaneous completion of the translation With cartesian mechanisms this corresponds to a straight line from starting point to end point linear interpolation With separate motion commands X Y Z or 0 1 2 axes can be controlled independently There are separate commands for control of continuous movement Parameter settings of PID algorithms have immediate effect on control Speed and acceleration deceleration settings affect the next translation commands However acceleration deceleration has immediate effect for speed controlled motion CREEP Commands with no axis reference can be used to set some parameters for axes 0 9 axes with letter names For example SPEED 100 affects axes 0 9 but SPEEDXZ 50 affects only X and Z axes 0 and 2 SPEED 13 100 affects only axis number 13 Accelerations and speeds of combined axes motion commands are defined so that limitations for speed and acceleration for all axes in the command are taken into account This way for example the acceleration of a translation is defi
90. gram execution can be continued from the error line by CONT command Usually it is not desirable to stop program execution for example because of a mistake the user makes on keyboard For this kind of cases an error handling routine can be defined to sort the error situation and continue program execution However if an error is encountered in the error handling routine the program stops and a normal error message is generated Error messages used in McBasic 1 parameter overflow 2 INPUT error 3 strange character or variable 4 closing parenthesis missing 5 DIM error 6 strange expression 7 linenumber error 8 variable overflow 9 too many subroutines 10 strange RETURN 1 1 strange variable 12 strange command 13 parenthesis error 14 too big program 15 index error 16 too many FOR NEXT loops 17 odd NEXT 18 FOR NEXT loop structure error 19 unfinished FOR NEXT loop 20 ON error 21 Error 21 22 DEF structure error 23 function error 24 string error 25 string overflow 26 1 0 error 27 strange address 28 address error 29 internal string error 30 error 31 IF structure error 32 end of DATA 33 renumber error 34 cannot CONT 35 internal stack error 36 stack overflow Sl internal structure error 38 ty PF error 39 odd RESUME 40 too many TASKs 41 structure stack overflow 42 structure nesting error 43 DO LO
91. gramming environment reference manual ARLACcON 45 6 4 VAL 6 5 CHR Function Type conversion Converts a string containing a numerical value to numerical form Syntax VAL string Type Real number string String to be converted Value Numerical value in the string A string can contain a numerical value in some of McBasic numbers entry formats or for example an expression combined from several number formats For example PRINT VAL PII VAL 1E2 X PII Asym COS X 10 0 01 PRINT VAL Asym RUN 3 14 100 00 9 99 VAL function is the inverse function of STR Function Type conversion Converts a numerical ASCII code to one character string Syntax CHR expression Type String expression Code to be converted ASCII code of the desired character 0 255 Value String containing one character where the ASCII code of the character is expression If expression is 0 function returns an empty string CHR function can be used for example to print characters using PRINT command or to add any ASCII character into a string The value of expression must be between 0 255 CHR function is the inverse function of ASC function PRINT CHR 33 CHRS 65 1A ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcON 46 6 6 STR 6 7 BINS Function Type conversion Converts a value of numerical expression to string decimal Syntax STR expression Type String
92. he NUMBER command resembles that of the REN command The difference is that the REN command only renumbers lines that are already numbered wherease the NUMBER command numbers also lines that have no line number Therefore when using the NUMBER command the program cannot contain labels Function User memory status Syntax FREE n Type Integer size of compressed program source code size of system tables like LOG PROF size of variables and compiled program size of free memory recycled memory not included size of total recycled memory size of recycled numerical variables size of recycled string variables size of recycled variables of mixed sizes arrays strings size of recycled subroutine links size of recycled task blocks Size of memory occupied by different program components determined by n value The following relations are valid FREE 1 FREE 2 FREE 3 FREE 4 FREE 5 FREE 6 Full memory FREE 3 FREE 2 FREE 1 FREE 0 FREE 1 ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACON 26 4 STRUCTURE The structure commands controlling the program operation are used as follows 4 1 Command Command separator Syntax command command command commana command Commands written on same program line Several commands can be written on same program line when separated by command separator Some limitations DATA command must always be at the beginning of the lin
93. he beginning of this manual there is a short summary of McBasic commands and functions in alphabetic order after which the startup and programming procedures are described Chapter CONTROL describes the commands used in the command mode of the programming environment The next chapters explain the syntax and operation of program commands and functions for different areas of programming Examples are provided to clarify operation and use In connection with each command and function there is a table describing the meaning of different syntax elemenis Command Description of operation Syntax The exact form in which the command is written elements Description of the parameters and different forms of syntax Function Description of operation Syntax The exact form in which the function is written Type The type of value returned by the function elements Description of the arguments and different forms of syntax Value Description of values the function can return The following notation conventions have been used in this manual Examples have been indented and a typewriterlike text has been used in them 10 REM example The syntax elements in the commands and functions that must be replaced with their respective values have been written in italics GOTO linenumber SIN expression MOVE axes expression The following notations are used when describing optional parts of syntax brackets the syntax element is optional
94. he sum of squares of every speed in the group for example Vxyz Vx24Vy2 Vz2 0 5 When setting all axes available in the system the axis names may be left away For example ina two axis system the command SPEED 100 is equivalent to SPEEDXY 100 ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcON 103 The maximum speed value for calculation of a motion is 32767 counts control cycle and resolution is 2 3E 10 counts control cycle This means that for example in a normal MC300 or MC400 system with a control cycle of 2 5ms with a resolution such as 100 edges mm the maximum speed is about 131 m s and minimum speed is about 0 00000007 mm s Same limitations are valid also for CREEP command 11 2 12 ACCEL Command Set acceleration of motion Syntax ACCEL axes n m expression List of axes or n axes numbers whose vector acceleration is set If only one axis its independent acceleration is set If not defined acceleration is set to all axes in the system expression Value for acceleration Value Acceleration used in MOVE MOVC and CREEP commands with axis Sets motion acceleration and deceleration to value expression to axes mm ss if RES has been set to pulse edges mm Setting ACCEL affects motion commands executed after the setting 110 SPEED 50 ACCEL 250 115 SPEED 2 60 SPEEDX 45 310 PRINT SPEED 2 ACCEL 2 ACC
95. ile it is advisable to use BYTE WORD FLOAT REAL and IEEE functions 120 BYTE 3 190 A BYTE IF A lt gt 65 THEN 190 8 2 9 WORD nn Command Write a word 2 bytes to a device Syntax WORD nn expression nn Device number Can also be a variable or an expression expression Value to be written integer 0 65535 Function Read a word from a device Syntax WORD nn Type Integer 0 65535 nn Device number to be read from Can also be a variable or an expression Value 0 65535 of the received word If there were not 2 bytes available in device buffer or the file did not contain 2 more characters the function returns value 1 When writing to or reading from a file the file pointer PTR nn is automatically incremented by 2 Because WORD requires 2 characters ready for reading it can mainly be used with files When using serial ports the use of BYTE function is recommended See BYTE nn 130 WORD 3 64000 200 P WORD 4 8 2 10 FLOAT nn Command Write a floating point number 4 bytes to a device Syntax FLOAT nn expression nn Device number to be read from Can also be a variable or an expression expression Value to be written real number ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 69 Function Read a floating point number 4 bytes from a device Syntax FLOAT nn Type Real number nn Device number to be read f
96. ingly The new empty space at the end of the file is not set to zero so some data that has been deleted before may become readable Command Set file size Syntax SIZE nn expression nn Device number for which the file has been opened expression New size bytes Function Read the file size Syntax SIZE nn Type Integer nn Device number for which the file has been opened Value Size of file bytes When using for a serial port the function returns the size of the free space in output buffer Value of the file size must be smaller than or equal to the size of free memory in the device ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcOoN 74 This command can be used for example to destroy a file or part of a file If the size of the file is set to zero and the file is closed the file will be removed from disk Output to a port with too little free space in the buffer can be avoided using the SIZE function thus avoiding interrupting the program and task changing SIZE 3 PTR 3 let s destroy a file beginning from PTR SIZE 4 0 CLOSE 4 delete the fil OPEN 4 FILE TX IF SIZE 4 0 THEN PRINT File not found sub routine prints MS to 2 when enough space DO WHILE SIZE 2 lt 250 LOOP PRINT 2 M RETURN 8 2 17 DIR Function Read a directory entry Syntax DIR nn expression Type String
97. ion read position control integration joystick position joystick position JOY 0 joystick position JOY 1 part of string from end length of string read axis limit switch configuration read axis limit switch configuration draw line natural logarithm read position control log data read position control log data read log array size read log array size greater of two numbers read current position error limit read current position error limit part of string smaller of two numbers read motion buffer memory status read motion buffer memory status read axis status read axis status logical negation constant 0 read axis offset value read axis offset value read output frequency constant 1 read current error trap address read axis reference output read axis reference output boolean or binary OR function read binary output status read analog output status read position loop repeat rate constant pi 3 1415926 graphics point read axis position read axis position read axis position error read axis position error read current task priority MC BASMAE DOC 13 MOTION CONTROL MOTION CONTROL MOTION CONTROL MOTION CONTROL FILES AND COMMUNICATIONS FILES AND COMMUNICATIONS FILES AND COMMUNICATIONS FILES AND COMMUNICATIONS STRINGS ANALOG 1 O INPUT OUTPUT ANALOG l O STRINGS MATHEMATICS MOTION CONTROL MOTION CONTROL MOTION CONTROL MOTION CONTROL MOTION CONTROL STRINGS
98. ion of 100 edges mm position can have values between 214748364800 mm or 214km If position exceeds either the maximum or minimum value of counter it wraps over to the other end of the range This allows moving over the limits of position counters when for example using relative motion commands or with FOLLOW or CREEP etc 11 3 2 FPOS Function Read filtered position set value Syntax FPOS axis n axis n Identification letter or number of axis Type Real number Value Current position set value of axis in units as set by RES command FPOS allows reading the position set value as seen by the position control algorithm The effect of FILTERSIZE if filtering is being used is also seen in FPOS ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 106 11 33 RPOS Function Read unfiltered position set value Syntax RPOS axis m axis n Identification letter or number of axis Type Real number Value Current position set value of axis before filtering in units as set by RES command RPOS allows reading the position set value unfiltered As the use of filtering causes a lag in the response of FPOS RPOS can be used for observing the operation of the filter It may also be preferred in algorithms programmed in the application requiring the unfiltered position as an input 11 3 4 FSPEED Function Filtered current speed Syntax FSPEED axis n Type Real number axis n
99. ion Read axis limit switch configuration Syntax LIMITTYPE axis n axis n Identification letter or number of axis Type Integer Value Limit switch type of inspected axis as explained above McBasic can be configured with the LIMITTYPE command to use desired type of limit switch signals The setting affects also operation of HOME command When a motion being performed activates a limit switch while its reference is moving in the direction of the switch servo power enable is cut off for the axis However it is possible to use motion commands to move away from the limit switch In case a higher level of security is needed the EMRG signal can be connected to outer limits and emergency switch arrangement to disable the axis completely thus requiring manual or mechanical override to get the axis back to operating area In cases with high power or dangerous mechanisms both precautions are often used for maximum safety It is also advisable to use power contactors to cut off servo system or motor power when EMRG is activated ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 94 11 23 PIDFREQ Command Set refresh rate of position control loops Syntax PIDFREQ expression expression New refresh rate 50 2000 The feedback loop and position control algorithms will be executed expression times per second Function Read refresh rate of position control loops Syntax PIDFREQ Type Integer 50 2000
100. it switch is no longer influenced The zero point is set to this position The axis continues to move to the positive direction for the deceleration distance Limit switches and index LIMITTYPE 10 or 14 If the index channel is also used the axis continues after leaving the limit switch until a pulse is received from index channel CLKX The origin of coordinates is set according to index pulse and motion stops at the distance of deceleration in positive direction Only index LIMITTYPE 9 When using only index channel for search of origin the motion moves in the positive direction until a pulse is received from the index channel The origin of coordinates is set according to index pulse and motion stops at the distance of deceleration in positive direction Limit switch and mask LIMITTYPE 3 or 7 Operation using index mask In this case limit switch signals are connected so that the limit switches in both ends of motion influence the PLIM input A signal which changes its state somewhere in the motion area close to the position where origin is searched is connected to NLIM output HOME function will then move the axis to the position where mask signal changes its state and set origin to a location where mask signal changes its state when running to positive direction The axis stops after deceleration distance from this point Motion speed while searching the edge of the mask is as set with SPEED command unlike in other motion perfo
101. ith a letter and followed by any number of letters or numbers and ending with a character Underline characters are also allowed in variable names For example AS BS cS SymVariable My_string String variables with single letter names are automatically defined as 80 character long and can be used without declaring them Other string variables must be declared using the DIM STRING or STRING n statements The maximum length of a string variable is by default 80 characters Other lengths can be set using the STRING n command to declare 1 255 characters long variables STRING My_string YourString DIM Stringl STRING 150 LongString Arrays of strings can be declared similarly STRING 10 StrArray 10 50 A string can be combined from substrings with sign Hello NS how are you ESE ITXS D2 A string may contain any characters also control characters CtrlString CHRS 27 A101 0x CHR 27 is esc Command Execution of a command in a string Syntax EXEC string string String containing an executable McBasic command A command in the form of a string is interpreted and executed The string must consist of a McBasic command without syntax errors Since the EXEC command must interpret the command contained in the string it takes significantly longer than normally to execute a command using EXEC Thus it is not advisable a to include EXEC commands in programs with critical timing or in frequently performed
102. l numbers and array cells can get values from 1 4E 4897 to 7 1E4896 with a resolution of 1 4E 14 For example REAL MyVar BigArray 1000 5 3 YearArray 1900 2099 Command Declare single precision real floating point arrays FLOAT arrname expression1 expressionn or FLOAT arrname expr1 expr2 expr3 expra arrname Array name expression1 max first index range O to expression expressionn max last index range O to expressionn First index lower limit First index upper limit range expr1 to expr2 Last index lower limit Last index upper limit range expr3 to expr4 Single precision floating point array cells can get values from 1 4E 42 to 5 0E41 with a resolution of 2 4E 7 ARLACON McBasic A MC BASMAE DOC programming environment reference manual AriacoN 56 7 4 BIT Command Declare bit arrays BIT arrname expression1 expressionn or BIT arrname expr1 expr2 expr3 expra arrname Array name expression1 max first index range O to expression expressionn max last index range 0 to expressionn First index lower limit First index upper limit range expr to expr2 Last index lower limit Last index upper limit range expr3 to expr4 BIT array cells can get values between 0 or 1 7 5 BYTE Command Declare byte arrays BYTE arrname expression1 expressionn or BYTE arrname expr1 expr2 expr3 expr4 arrname Array name expression max
103. lding the WAKEUP EX file that controls the starting of the system The latter command set the search path to include D8 and always loads the program file PROGRAM BA Program execution can be stopped from console CN with a control X code This causes the system to output to console information about memory use program size variables and compiled size of program as well as size of free memory 8 1 1 SAVE Command Save a program into a file Syntax SAVE string string Program file name in the form device name suffix Default suffix is BA and default device is DO in other words the drive that has been used last Program is saved with the given file name If a file with the same name already exists it is overwritten SAVE TEST7 SAVE D7 TEST8 BA 8 1 2 LOAD Command Load a program from a file Syntax LOAD string string Program file name in the form device name suffix Loads a program Default suffix is BA and default device is DO Previously loaded or written programs and variables are destroyed LOAD TEST2 LOAD D4 TEST8 8 1 3 APPEND Command Append a program Syntax APPEND string string Program file name in the form device name suffix Appends a file into existing program String is the name of the file to be appended Default suffix is BA and default device is DO Append adds the contents of the program file in the end of the already loaded program
104. mmand Write a IEEE format floating point number 4 or 8 bytes to a device Syntax IEEEnn I devicenr expression nn bits in format 32 or 64 PC style format indicator If omitted unix style is assumed devicenr Device number to be read from Can also be a variable or an expression expression Value to be written real number Function Read a IEEE format floating point number 4 or 8 bytes from a device Syntax EEEnn I nn Value Received real number If specified number of bytes was not available from device buffer the function returns 0 IEEE format read write can be used for floating point data exchange between Arlacon MC and other systems ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcOoN 71 8 2 13 DATES Command Set file date Syntax DATE nn string nn Device number for which the file has been opened New date in form yyimmddhhmmss yy year 80 79 80 1980 79 2079 mm month 01 12 01 January dd day 01 31 hh hours 00 23 mm minutes 00 59 ss seconds 00 59 or alternatively yyy immda hhmmss where yyyy year 0000 9999 other items as above Function Read file date or convert date in number format to string DATE nn or DATE a Type String nn Device number for which the file has been opened a Date in number format as produced by DATE function to be converted to string File or system date in form yymmddhhmmss see a
105. mming environment reference manual ARLACON 89 RES 1 400 PRINT Resolution is about 1 RES 1 mm RES command affects the position scale and among other things interpretation of speed and acceleration Because RES affects many settings it is advisable to set it at the beginning of the program before setting any other parameters Setting resolutions of several axes to same value can be done using the combined command RESXY 400 A combined RES command sets resolutions of different axes as they were set with separate commands The resolutions of all axes O thru 9 can be set to the same value using a command such as RES 400 11 1 2 ENCSIZE Command Set encoder counter bitcount Syntax ENCSIZE axes n m expression List of axes or n axes numbers whose encoder sizes are set expression New encoder size bits For incremental encoder 32 32 default 32 bits max counter range For absolute encoder 24 24 default 24 centered 24 bit Sign controls coordinate system positive positive coordinate system negative centered coordinate system Function Read encoder counter bitcount Syntax ENCSIZE axis n axis n Identification letter or number of axis Type Real number Value Current encoder setting ENCSIZE setting allows control of counter operation for incremental encoders and data decoding for absolute encoders When using incremental encoders setting ENCSIZE
106. n Constant T Syntax PII Value T 3 14159 PRINT PII SIN 0 5 PII 3 14 1 00 5 5 13 SIN Function Trigonometric sine Syntax SIN expression Type Real number expression Argument of the function in radians 27 radians 360 degrees Value sin expression PRINT SIN 0 SIN 1 0 00 0 84 5 5 14 COS Function Trigonometric cosine Syntax COS expression Type Real number expression Argument of the function in radians 27 radians 360 degrees Value cos expression PRINT COS 0 COS 1 1 00 0 54 ARLACON McBasic A MC BASMAE DOC rogramming environment ee nce Els nual AriacoN 42 5 5 15 TAN Function Trigonometric tangent Syntax TAN expression expression Argument of the function in radians 27 radians 360 degrees Value tan expression PRINT TAN 0 TAN 1 0 00 1 56 5 5 16 ATAN Function Trigonometric arctangent Syntax ATAN expression Type Real number expression Argument in radians 27 radians 360 degrees atan expression Return values between 7 2 7 2 PRINT ATAN 0 ATAN 1 0 00 0 78 ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACON 43 6 STRINGS 6 1 EXEC A string is an expression consisting of 0 255 characters Thus a string is essentially a piece of text String values are assigned in quotes PRINT Hello String variables are variables holding a string value McBasic string variable names are consist of characters beginning w
107. n above For example in a 10V control output the following values correspond to each other OPWR VREF 1 10V 0 5 5V 0 OV 0 5 5V 1 10V Using OPWR command disables the normal operation of position controller If limit switches are in use they are also operable when using OPWR command EMRG and MAXERR also operate normally The state of the reference output can be read with the OPWR function also when the controller is operating This can be used to study load effects etc For example to set speed compensation of X axis automatically MOVERX1000 DELAY 2 SCOMPX RSPEEDX OPWRX ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACON 118 11 13 FAST POSITION CAPTURE 11 13 1 CAPTTYPE Command Activate position capture operation Syntax CAPTTYPE axes n m H expression List of axes or n axes numbers whose capture operation is activated expression Controls mode of operation input and edge Capture position when encoder index channel falling edge 1 encoder index channel rising edge 2 inpO falling edge 3 inpO rising edge The CAPTTYPE command can be used with the WAX2 servo connection module with incremental encoder to arm the fast position capture logic included in the module hardware CAPTTYPE command allows use of the encoder index channel X channel or WAX2 module first input inpO falling or rising edge as a trigger for the capture event
108. n after a change in the acceleration is defined as a number of position loop cycles Thus for example a FILTERSIZE value of 10 corresponds to 25ms period for a system with PIDFREQ 400 1s 400 2 5ms Limiting jerk effectively allows limiting the rate of change of torque and current in the drive system As in practical drive systems rate of change of current is limited by the bandwidth of the current loop and the maximum available voltage and the inductance of the motor using suitable FILTERSIZE allows generation of position profiles that the drive is able to follow Also it is often even more important to limit the frequency content of motion to be performed by a given machanism By using suitable FILTERSIZE values unwanted oscillation and strain in mechanisms can be avoided Using positive FILTERSIZE values causes an axis to have a position lag compared to the original position reference before fitering At constant speed this lag is equal to half of the filter period multiplied by current speed For example a 25ms filter at 1000mm s would cause a 12 5mm lag Using a filter also causes the total time for a translation to be one filter period longer than the original translation Usually this is well compensated by the shorter actual settling time when using a suitable filter ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 101 Negative FILTERSIZE values use a different digital FIR finite response filter
109. n command For example MOVERX 0 relative translation of zero length starts the controller but no motion is performed 330 IF MOVEREADY lt 0 THEN STOP 340 IF MOVEREADYZ THEN PRINT Z ready 11 7 TRANSLATIONS 11 71 MOVE Command Absolute translation MOVE axes expr expr n expr n expr axes n axes to perform the translation Destinations of translation expressions in same order as the axis identification letters are defined in the system Translation is performed using the given axis combination axes along a straight line linear interpolation using accelerations and speeds set with ACCEL and SPEED commands Parameters expression must always be given in the order in which the axes that are used for the translation are defined in the control system List axes defines the axes which are used to perform the translation For simplicity it is recommended to follow the definition order of system The axis identification letters if such type of axis identification is used are usually in order X Y Z W A B C D T U 140 MOVEXZ X0 Z1 1 144 MOVEY 20 050 146 MOVEX100 MOVE 4 X0 MOVE 1 Xcod0 2 Ycod0 3 Zcod0 Xcod0 11 72 MOVER Command Relative translation MOVER axes expr expn n expr n expr axes n List of axes used to perform the translation expr Lengths of translations expressions in same order as the axis Similar to MOVE wi
110. n conjunction with the label starting the new task address Parameter passing is only possible when address is a label This command allows several tasks to be executed simultaneously Program execution continues simultaneously both beginning from address and continuing from the next line The new task will have the lowest available free task number so generally tasks are numbered from 2 on according to the sequence they were created in However a new task may get a lower number if a previously created task has been killed leaving its number free The system can switch tasks after finishing a command line or in conjunction with some commands like DELAY motion commands waiting for space in MOVEBUFFER or serial output commands waiting for free space in buffer A task can be killed by an END command Max 32 tasks can be run simultaneously The maximum task number in the program is set by TASKMAX Default value for TASKMAX is 9 resulting in max 8 simultaneous tasks Function Current maximum task number Syntax TASK Type Integer 2 TASKMAX Value Number of task in starting order The number of the first task main program is 2 The number of the current task can be read using the TASK function This may sometimes be useful for reserving global resources like numbered timers or device numbers for subroutines that can be called from several tasks 4 11 TASKMAX Command Set the maximum task number Syntax TASKMAX n n m
111. n of commands after THEN Program execution then continues from next line or ENDIF if used If condition was not true allows the execution of commands after ELSE or between ELSE and ENDIF if used Only necessary if the program line continues with a part always executed regardless of condition commands Commands to be executed If several command are used they must be separated with colons 2100 IF K 0 THEN PRINT Zero division ELSE GOTO 2300 2200 IF K gt lt 0 THEN GOTO 2900 2300 IF A lt B THEN C B A ELSE C A B ENDIF A 0 IF A 0 THEN PRINT A 0 ELSE PRINT A lt gt 0 ARLACON McBasic programming environment A reference manual ARLACcoN 30 Command Conditional commands structure IF condition THEN commands command lines ELSEIF condition THEN commanas command lines ELSEIF condition THEN commanas command lines ELSE commands command lines ENDIF MC BASMAE DOC IF condition THEN When condition is true allows the execution of commands and command lines after THEN until next ELSEIF or ELSE command Program execution then continues from after ENDIF ELSEIF condition THEN If preceding conditions were false and condition is true allows the execution of commands and command lines after next THEN Program execution then continues from after ENDIF If all preceding conditions were false allows the execution of commands
112. n of the installation it should only be read after suitable intervals such as some minutes or the value should be accumulated in a separate variable When starting a system several error may accumulate in the counters because of power up sequencing Therefore the first read reset of WAYERR should be ignored As 3 consecutive failed cycles cause axis position control to automatically switch off error should not occur regularly in any loop In a correctly operating system no more than 1 error occurs within a minute and no more than 10 errors occur within a day While considerably higher error rates can occur without affecting the operation of an application it is a good practice to observe that the error levels are within normal and even include error level check in the program Example of a simple WAYERR check routine CheckWay IF TIMER 5 0 IF WAYERR 0 gt 3 THEN PRINT Wayerrors TIMER 5 300 ENDIF RETURN 12 1 3 MOTION CONTROL I O LOGICAL ADDRESSES When using WAX2 connection modules the motion control related inputs and outputs on the modules are numbered according to the axis number Each axis occupies four i o addresses in and out as follows axisnr address INP address OUT address n n 4 ENCX encoder index n a n 4 1 NLIM negative limit switch ENA1 relay output n 4 2 PLIM positive limit switch ENA2 relay output n 4 3 EMRG emergency stop n a ARLACON McBasic A MCBASMAE DOC programming environmen
113. nd to create more than one simultaneous program tasks END can be used to end a task Thus a program can contain several END commands to end tasks Command Stop program execution Syntax STOP Equivalent to stopping the program by sending a Ctrl X in the console serial interface CN A STOP command can be included in the program for example to stop the program in a special condition or they can be used as breakpoints for testing purposes The variables in the stopped program can be observed Program execution can be continued with the CONT command ARLACON McBasic A MCBASMAE DOC programming environment reference manual AriAcoN 22 3 9 BREAK Command Set breakpoints in program Syntax BREAK addr addr Address for the new breakpoint The BREAK command allows setting breakpoints without altering the program Therefore breakpoints can be inserted and removed when the program is stopped without loosing variable values or having to restart the program Examples BREAK 100 set breakpoint at line 100 in a line numbered program BREAK Skip set breakpoint at label MySub BREAK Skip 5 set breakpoint at 5 lines after label Skip BREAK Finish 2 set breakpoint at 2 lines befor label Finish BREAK MySub set breakpoint at procedure label starting 3 10 NOBREAK 3 11 CONT Command Remove breakpoints from program NOBREAK addr or NOBREAKS Adress of the breakpoint to remove Alternate syntax NOBREAKS remo
114. ned by the axis with the lowest acceleration or speed Also a combination of axes can be configured to use specified combined vector speed and acceleration To do this the speeds and accelerations of the axes involved must be set using combined commands such as SPEEDXYZ 50 ACCELXYZ 100 This causes all motion using the X Y or Z axes for example XY XZ YZ XYZ to use the given track speed and acceleration An axis can be removed from a track speed group by setting its speed or acceleration separately for example SPEEDY SPEEDY In this case only X and Z axes use the track speed setting given before ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 88 Motion control commands such as GAIN INTG DERV SCOMP ACOMP DCOMP and FILTERSIZE set parameters for position control Position controllers are used to keep the actual position measured from a position encoder reasonably close to the set value position generated with motion commands Accuracy stability softness etc of control can be tuned by setting control parameters according to need Parameters can be set for each axis separately and they can also be set during motion Operation of position controllers is influenced by the properties of actuators and servo amplifiers as well as by the properties and gear ratios of transmissions mechanisms and the location and resolution of speed and position sensors Therefore the
115. ng motion commands McBasic calculates phases of translation and saves them into the motion buffer MOVEBUFFER This is called initializing a translation If no motion is being executed by axes concerned the translation is performed immediately If a translation is currently being executed the new translation remains waiting in the buffer For continuous motion using MOVC commands at least one initialized translation defined by a MOVC command must be waiting in the buffer when the deceleration phase of the previous translation begins The maximum number of translations in the motion buffer is 4 for each axis combination ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 112 If a MOVC motion command is executed during the previous translation deceleration phase the acceleration phase for the new translation begins immediately after motion command has been executed This can be used for example to limit speed to a desired level in motion path corners 150 FOR A 0 TO 2 PII STEP 0 1 160 MOVCXY R SIN A R COS A 170 NEXT A or the same in an other form REAL Angle Radius FOR Angle 0 TO 2 PII STEP 0 1 MOVC 1 Radius SIN Angle 2 Radius SIN Angle NEXT Angle BASMAN1 DWG SPEEDX SPEEDX ACCELX SP EDX MOVE X MOVCX MOVEX MOVERX MOVCRX MOVERX Fig 11 7 3 Speed profiles 11 7 4 MOVEBUFFER Function Read motion buffer status Syntax MOVEBUFFER axes n
116. ng to it so profile settings for unused axes do not reserve memory After using a profile it is not possible to redefine the profile size for the axis until McBasic is restarted from McDOS or NEW command is used 11 15 2 PROF Command Write to a profile array Syntax PROF axis n axnr n expression axis axnr Axis whose profile array is being written to n Number of the profile array entry expression Value to write into cell position ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcOoN 122 Function Read from a profile array Type Real number axis axnr Axis whose profile array is being read from n Number of the profile array entry Value Value of cell position Syntax PROF axis n axnr n The number of array entries for each axis is can be set with the PROFSIZEn command For example when using a 512 size profile cells 0 511 form the actual motion profile Array entry 512 is set in non progressive motion equal to entry 0 In progressive motion the progression of the profile is PROFaxis 512 PROFaxis 0 for each cycle For example to set a sine formed profile for X axis and a cosine formed profile for Y axis circulating motion in a plane 10 FOR N 0 TO 511 20 PROFX N SIN 2 PII N 512 PROFY N COS 2 PII N 512 40 NEXT N PROF X 512 PROFX 0 PROFY 512 PROFY 0 Note PROF as function 11 15 38 MOVEPROF Command Start profile motion MOV
117. ntained in McDos as a command file or editing program files in a PC using the McBench program editor or another editor suitable for editing ASCII files Programs can then be loaded to the control system either using a diskette if applicable or serial comms See McBench documentation Program lines can be marked with numbers labels and be written without them An empty line is also interpreted as a program line A line marked with a label should begin from the first position of the line Lines without labels or numbers must have at least one space character in the beginning of the line Lines can be numbered from 1 to 65535 10 PRINT first line 30 PRINT third line 20 PRINT second line Labl PRINT fourth line PRINT fifth line In McBasic command mode program lines with line numbers can be entered by just typing them and ending the line with a lt return gt They can also be replaced by typing a new line with the same number Any type of program lines can be entered and edited with the ED command described in chapter 3 Editing a program causes current values of variables to be cleared By exiting McBasic to McDos operating system programs can be written and edited as text files using the McDos TX screen editor Programs can also be edited in other systems such as a PC computer and loaded to the MC control system either using a diskette if available or via serial communications with ASCII transfer 2 4 COMMAND AND VARIABLE NAMES
118. number a seed for random number Value Random real number between 0 1 Expression other than zero sets the seed for random number generator zero returns the next random number PRINT RND 7 RND 0 RND 0 0 89 0 88 0 76 ARLACON McBasic A MC BASMAE DOC programming environment reference manual AriacoN 40 5 5 9 EXP Function Power of Neper s constant e 2 71828 Syntax EXP expression Type Non negative real number expression Exponent real number With values between approx 81 96 the function value remains within number range expression PRINT EXP 0 EXP 1 EXP 1 5 1 00 2 72 4 48 5 5 10 LOG Function Natural logarithm Syntax LOG expression Type Real number expression Real number In expression Natural logarithm of expression The radix of the logarithm is Neper s constant e 2 71828 With negative values of expression the function returns the absolute value of the logarithm of expression PRINT LOG 1 LOG EXP 1 0 00 1 00 5 5 11 SQR Function Square root Syntax SQR expression Type Non negative real number expression Real number to take square root from Vexpression Square root of expression With negative values of expression the function returns the absolute value of the square root of expression PRINT SOR 2 SOR 100 SOR 0 01 1 41 10 0 10 ARLACON McBasic A MC BASMAE DOC programming environment reference manual ARIACON 41 5 5 12 PII Functio
119. o other device numbers copies the output to both devices Reading from n1 reads data from either linked device if available It is possible to link more that 2 devices to one device number by using more than one level of links Max 30 links can be used simultaneously To break a link CLOSE n7 command is used It closes n7 but not the devices linked to it Devices linked to another device number can be used also directly to their own device numbers Several links can also lead to one device OPEN 2 S2 OPEN 3 S3 OPEN 7 D7 RECORD TX LINK 10 2 3 link channels 2 and 3 to 10 LINK 11 10 7 link channels 10 and 7 to 11 PRINT 11 START print to 2 3 and 7 DO B BYTE 10 read from 2 and 3 UNTIL B lt 0 LOOP if channels 2 and 3 are empty loop CLOSE 3 OPEN 3 CN change of device in channel 3 PRINT 11 STOP CLOSE 10 CLOSE 11 break links 10 and 11 CLOSE 2 CLOSE 3 CLOSE 7 closing primary channels 8 3 GRAPHICS CONTROL FUNCTIONS Graphics control functions can be used for controlling graphics on ARLACON ETR and CGA terminals and screens These McBasic functions help to generate automatically the necessary PLOT 10 control sequences required by terminals 8 3 1 TEXT Function Display control to text mode Syntax TEXT Type String Value Control sequence for terminal TEXT sets display to text mode For
120. ommand Define a user function Syntax DEF FNname var1 varn expression Function identification name Name can be any lenght and always starts with FN Letters numbers or_ can be used in name If the value of expression is a string or an address a or character must be added to the name of user function respectively string or address function var varn Internal variables of a user function 0 8 pcs expression Definition of the value returned by the user function Both internal and global variables as well as all the McBasic operators and functions can be used also previously defined user functions If function identification name is followed by or O the user function is a string or address function and returns a string or address value respectively Otherwise return values of user functions are numerical Maximum number of internal variables in a user function is eight In addition to these variables all McBasic global variables can be used Internal variables var varn of a user function are declared automatically local String parameters are 80 characters long and numerical are of the REAL type DEF FNCasd X XS ASC MIDS X X AS ABCDEFG N 3 PRINT FNCasd N 1 A 68 00 10 2 2 FNname Function A user defined function Syntax FNnamel O expression1 expressionN name function identification name as in DEF FNname or character indicates a string or addres
121. on set data pointer for READ return from error trap routine return from error trap routine return from subroutine start program execution save program set axes speed compensation set axes speed compensation declare 8bit integer variables or arrays set file size set axes speed set axes speed stop program execution stop motion stop motion declare string variables display symbols in use exitto McDos execute McDos command create task set max task number set timer trace program execution see DO UNTIL LOOP set watchdog operation set McWay i o configuration write word declare 16bit word variables or arrays MC BASMAE DOC 11 MOTION CONTROL MOTION CONTROL INPUT OUTPUT ANALOG l O MOTION CONTROL MOTION CONTROL MOTION CONTROL FILES AND COMMUNICATIONS STRUCTURE MOTION CONTROL MOTION CONTROL MOTION CONTROL MOTION CONTROL FILES AND COMMUNICATIONS MOTION CONTROL MOTION CONTROL OTHER COMMANDS VARIABLES AND TABLES COMMENTS CONTROL MOTION CONTROL MOTION CONTROL OTHER COMMANDS DATA ERRORS ERRORS STRUCTURE CONTROL FILES AND COMMUNICATIONS MOTION CONTROL MOTION CONTROL VARIABLES AND TABLES FILES MOTION CONTROL MOTION CONTROL CONTROL MOTION CONTROL MOTION CONTROL STRINGS CONTROL CONTROL CONTROL STRUCTURE STRUCTURE TIMING CONTROL STRUCTURE INPUT OUTPUT 1 0 CONFIGURATION FILES AND COMMUNICATIONS VARIABLES AND TABLES ARLACON McBasic programming environment
122. on speed axis n Identification letter or number of axis Type Real number Value Speed setting for MOVE and MOVC commands for specified axis Syntax SPEED axis n Set the motion speed to value expression for the axes axes mm s if RES is set to pulse edges mm Setting influences all future motion commands SPEED command sets the speed the translations started with MOVE and MOVC commands use between acceleration and deceleration phases To reach the speed set with SPEED command the length of the translation must be long enough and value of ACCEL high enough to allow for a constant speed phase between acceleration and deceleration Speed can be set for a single axis for example SPEEDX 750 SPEED 5 523 The specified axis follows this setting when moved alone If several axes with speeds set with different SPEED commands are moved by common MOVE or MOVC command the translation is executed using linear interpolation and limiting the motion speeds so that none of the axes exceed their set speeds or accelerations Speed can also be set for a combination of axes for example SPEEDXYZ 750 SPEED 2 5 6 230 This setting affects the axes involved as if the speeds were set separately when any of the axes is moved alone If the axes are moved by common motion commands the translation follows the set track vector speed The vector speed is calculated by taking the square root of t
123. ontinue program after stop motion at constant speed motion at constant speed data for READ command set date set deceleration feedforward set deceleration feedforward set deceleration set deceleration define user function delay remove program lines set position control derivation set position control derivation set printing accuracy declare variables or arrays repeat loop return to operating system configure servo connections configure servo connections edit program input edge acknowledge alternate program part alternate conditional program part set encoder range set encoder range end program or task end of IF structure cause error execute command set position reference filter set position reference filter write 4 byte floating point real number declare 4 byte fp variables arrays follow another axis position MC BASMAE DOC 9 details in chapter COMMENTS STRUCTURE VARIABLES AND ARRAYS STRUCTURE MOTION CONTROL MOTION CONTROL MOTION CONTROL MOTION CONTROL VARIABLES AND TABLES FILES VARIABLES AND TABLES CONTROL FILES VARIABLES AND TABLES MOTION CONTROL MOTION CONTROL FILES CONTROL MOTION CONTROL MOTION CONTROL OTHER COMMANDS FILES CLOCK MOTION CONTROL MOTION CONTROL MOTION CONTROL MOTION CONTROL OTHER COMMANDS TIMING CONTROL MOTION CONTROL MOTION CONTROL FILES VARIABLES AND TABLES STRUCTURE CONTROL MOTION CONTROL MOTION CONTROL CONTROL INPUT OUTPUT STRUCTURE STRUC
124. or number of axis Type Real number Value Current position error for example mm The difference between the set value of position and the actual value of position can be read with the POSERR function When motion is stopped POSERR is equal to the positioning error During motion POSERR represents the deviation from desired track along the axis For example 320 IF ABS POSERRX gt 2 THEN STOPMOVE stops motion if error of X axis is more than 2 mm Command Automatic synchronization zero point search of coordinate system Syntax HOME axes n List of axes or axes numbers participating in search Motion axes axes begin the zero point search sequence MOVEREADYaxes 0 until the zero points are found and the motion has stopped Speed when searching is one eight 1 8 of the speed set with SPEED command The operation of HOME command is affected by the selected limit switch configuration LIMITTYPE as follows No limit switches or index LIMITTYPE 1 ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACON 108 Position of axes axes is set to zero Equal to POSaxes 0 Limit switches LIMITTYPE 2 or 6 When only limit switches NLIM and PLIM are used the zero point search operates so that the HOME command causes motion into negative direction until the negative limit switch When the limit switch is influenced the motion changes its direction and continues until the lim
125. ows Y with a ratio 1 10 The FOLLOW AT command can be used to start the follow function when a specified axis reaches a specified position This can be used to accurately syncronize axes also when using profile motion FOLLOW 0 1 17 23 AT 1 500 start axis 0 to follow 1 with ratio 17 23 when 1 reaches 500 Because the ratio used in FOLLOW command is defined internally as a fixed point binary number with an 8 bit integer and 16 bit decimal part the following limitations are valid its operation Maximum value of ratio i is 128 counts count with accuracy of 1 65536 counts To follow continuous reference motion without inaccuracy caused rounding error at least the reference encoder must be selected to have a power of 2 pulse number for example 512 or 1024 pulses rouna ARLACON McBasic A MCBASMAE DOC programming environment reference manual AriAcoN 116 11 10 FOLLOWRATIO 11 11 PWR Function Read current follow ratio for axis Syntax FOLLOWRATIO axis Type Real number axis Identification number of axis Value The ratio with which axis is currently following some other axis 0 if no current ratio exists FOLLOWRATIO function can be used for example to test if a FOLLOW AT condition has been reached Command Start and stop position control Set maximum value of control output Syntax PWR axes n expression List of axes If not defined axes 0 9 expression Value to set 0 1 0 Control off O l
126. ped Start stop motion control data log on specified axes Value k specifies the log interval as a multiple of position control cycles If kis 1 the control data is saved for every control cycle for example after every 2 5 ms if PIDFREQ is set to 400 With higher values of k data is saved after each k control cycles This way data can be logged for a longer period while not using more memory The array is always filled so that the first entry in the array is the latest data The older data is automatically shifted in the log array This way history of data from the desired time period can easily be maintained in the log array If kis 0 data logging is stopped example OGSIZEXY 1000 set log array sizes for X and Y LOGXY 5 data logging every 5 cycles SPEEDXY 100 ACCELXY 1000 MOVERXY 150 150 DO UNTIL MOVEREADYXY LOOP during motion DELAY 1 small delay LOGXY 0 stop logging 11 16 38 LOGDATA Function Read motion control log data LOGDATAaxis sample data or LOGDATA axnr sample data Type Real number axis Identification letter axis Number of axis when number reference is used The number of sample read integer 0 LOGSIZE 1 Sample 0 is the latest sample LOGSIZE 1 is the oldest sample The number of data to read integer 0 7 see below Read the data stored in log array gathered using the LOGaxes n command With different values of parameter data the follo
127. pending on the theoretical instantaneous acceleration of the position set value The factor allows for accurate path control of motion during acceleration even without integration in the speed loop ACOMP parameter is often used when the position controller is used in connection with a proportional speed control circuit without integration and with limited gain ACOMP setting is called critical when the controlled axis follows the generated motion with similar position error during acceleration and constant speed In connection with a critical SCOMP value this error is near zero For example if X axis requires an additional 2V 20 of full 10V scale of reference in order to accelerate at 400 mm s2 and RESX is set to pulse edges mm the critical compensation is set with ACOMPX 400 0 2 or ACOMPX 2000 ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 99 Thus 2000mm s2 is the theoretical acceleration produced with a 10V 100 reference at zero speed providing such current would be applicable to produce the acceleration Setting ACOMP to a greater value results in undercritical compensation Undercritical compensation can be used to compensate only partly for the lag caused by acceleration for optimum dynamic performance A too low ACOMP setting results in negative position lag during acceleration the axis is ahead of the position set value which is usually not applicable ACOMP value O removes the o
128. peration of acceleration compensation When calculating actual acceleration compensation out of the ACOMP setting McBasic uses the current RES values 11 29 DCOMP Command Set deceleration compensation of position control Syntax DCOMPI axes m expression List of axes or n axes numbers whose DCOMP is set If not defined DCOMP is set for axes 0 9 XYZWABCDTU in the system expression Value for deceleration compensation 0 prevents operation of compensation Function Read acceleration compensation of position control Syntax DCOMP axis n axis n Identification letter or number of axis Type Real number Value DCOMP value of position control of axis Deceleration feedforward or deceleration compensation for position control Value of expression is greater or equal than deceleration of the axis when 100 10V is deducted from the control output The value of DCOMP is set to equal to ACOMP when ACOMP is set for the axis DCOMP setting can then be altered after the ACOMP has been set The dimension of DCOMP is similar to that of ACOMP so DCOMP values differing from ACOMP can be used to adjust for differences caused by friction and efficiency behaviour during acceleration and deceleration thus allowing optimisation of the dynamic behaviour of the system during different phases of motion Typically DCOMP must be set to a somewhat greater value than ACOMP to allow less compensation during deceleration AR
129. ple axes to be controlled with normal 10V reference output 10 DRIVETYPEXY 1 For example axis number 3 to be used as encoder input and analog output 10 DRIVETYPE 3 1 16 64 128 McBasic has preset axis identifications DRIVETYPE and LIMITTYPE default values values which are valid before they are set with DRIVETYPE and LIMITTYPE commands These settings are system specific and their values depend on the system model and McBasic language version ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 93 11 2 2 LIMITTYPE Command Configure axis limit switch operation Syntax LIMITTYPE axes n type List of axes or n axes numbers whose type of limit switches is set Type setting Integer type function 1 no limit switches NLIM and PLIM normal closed LIM n c and MASK open in negative end NLIM and PLIM normal open LIM n o and MASK closed in negative end only index pulse CLKX edge activated as 2 with index pulse as 3 with index pulse as 6 with index pulse as 7 with index pulse where the signals are as follows signal function connect to NLIM limit switch NLIM in negative end NLIM PLIM limit switch PLIM in positive end PLIM LIM common limit switch activated in both ends PLIM MASK limit switch mask indicates the section of motion area where the servo is currently located NLIM CLKX index pulse the exact 0 position CLKX Funct
130. pper and lowercase characters numbers 0 9 and characters amp can be used in a label A label must start at the first column and can be followed by a command For example 10 REAL Abc some numbered lines 15 Abc 2 20 PRINT Abc Print is a command Labell Abc Abc 10 Labell is a label PRINT Abc Print is command Note spaces before PRINT 2 12 Following error messages can be generated when misusing labels e error 44 when the command addresses a nondefined label e error 45 when an attempt is made to define a label twice ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 18 Both labels and line numbers may be used in the following commands to determine the destination of operation GOTO GOSUB ON ERROR ON GOTO ON GOSUB LIST DELETE ED RESTORE REN In most cases also mixed usage of labels and line numbers is possible in these commands For example ON I GOTO 100 Lab2 300 Lab4 500 600 Lab2 GOSUB 1000 Lab4 GOSUB CalSum DELETE 100 Labl deletes lines from 100 to label Labl Additionally address variables and expressions can also be used in conjunction with the above listed commands excluding ON GOTO and ON GOSUB 2 7 PROCEDURES When using a label to call subroutines with the GOSUB command it is also possible to define parameters to be passed to the subroutine as local variables A subroutine using parameter passing is call
131. puts starting from n2 0 4x255 8 digital i o starting from n3 0 4x65535 n2 n1 if OUT n7 omitted WAX POS n1 OUTA n2 1O n3 WAX for position input 32bits n1 position input 0 255 n2 analog output 0 255 12 digital i o starting from n3 0 4x65535 n2 n1 if OUT n7 omitted For further details of module specific syntaxes refer to chapter 3 of ARLACON McWay I O system user s manual ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 128 12 1 2 WAYERR Function Read and reset McWay i o loop error counter Syntax WAYERR loopnr Type Integer 0 255 Number of failed refresh cycles after last read Reading resets the counter loopnr McWay loop number 0 7 The WAYERR function gives access to an error counter in the control system that counts defective transmissions in the McWay i o loop Each loop in the system has its own counter that can be accessed using the number of the specific loop In MC300 based systems loopnr is always 0 MC400 systems can be configured to have up to 8 loops 0 7 Each error counter advances when the controller sends a loop refresh message but does not receive a correct response from the loop Thus WAYERR essentially counts failed refresh cycles The maximum error count can be 255 When reading the WAYERR function for a loop the respective counter is reset to zero Therefore if WAYERR is used in a program to monitor the correct operatio
132. r2 addrn expression Integer defining which of the subroutines beginning at given linenumbers or labels will called The value must be between 1 and n addr1 Address of subroutine when value of expression is 1 addr2 Address of subroutine when value of expression is 2 addrn Address of subroutine when expression is n Selection structure that selects the subroutine to be called according to the value of expression This structure cannot be used for calling subroutines with parameters procedures 1600 ON X0 1 GOSUB Labl1 Bal2 Res3 Operation is similar to ON GOTO structure ARLACON McBasic A MCBASMAE DOC programming environment reference manual AriAcoN 29 4 7 IF THEN ELSE Command Conditional jump Syntax IF condition THEN linenumber1 ELSE linenumber 2 condition Expression whose truth value defines the jump address linenumber1 Jump address when condition is true lt gt 0 linenumber2 Jump address when condition is false 0 If ELSE linenumber2 part is not given the program continues from the next line Using this command the program operation can be directed according to a logical value IF A 7 THEN Labell ELSE Label2 The same structure can also be used for conditional execution of alternative commands Command Conditional commands structure one line Syntax IF condition THEN commands ELSE commands ENDIF IF condition When condition is true allows the executio
133. reference manual 1 2 MCBASIC FUNCTIONS name ABS expression ACCEL axis ACCEL axnr ACOMP axis ACOMP axnr ADDR address AND ASC string ATAN expression BIN S expression BYTE devicenr CAPTPOSaxis CAPTPOS axnr CAPTTYPE axis CAPTTYPE axnr CLOCK CHR expression COLOR colornumber COS expression CURS xcoord ykoord DATAPTR DATE devicenr DATE expression DATE datestring DEC expression DECELaxis DECEL axnr DERVaxis DERV axnr DIR devicenr entry DRIVETY PEaxis DRIVETYPE axnr EDGE input ENCERRaxis ENCERR axnr ENCSIZE axis ENCSIZE axnr ERL ERL ERR ERR ERR errornumber EXP expression FILL FILTERSIZE axis FILTERSIZE axnr FLOAT devicenr FNname argument FNname argument FPOSaxis FPOS axnr FREE n A AriAcoN description absolute value read axis acceleration read axis acceleration read acceleration feedforward read acceleration feedforward convert address to string boolean or binary AND function ASCII character to number arcus tangent expression to binary string read byte read captured position read captured position read position capture status read position capture status system timer number to ASCII character set display terminal color cosine set cursor position read data pointer read date convert number to long date string convert date to number expression to decimal string read axis deceleration read axis deceleration
134. riacoN 38 5 5 3 ABS Function Absolute value Syntax ABS expression Type Non negative real number expression Real number Value Mathematical absolute value of expression PRINT ABS 3 14 ABS 3 14 3 14 3 14 5 5 4 SGN Function Sign Syntax SGN expression Type Integer expression Real number 1 if expression is positive O if expression is 0 1 if expression is negative PRINT SGN 3 14 SGN 3 14 SGN 0 1 00 1 00 0 00 5 5 5 INT Function Rounding off to the next smaller integer Syntax INT expression Type Integer expression Real number Value An integer next smaller or equal integer to expression PRINT INT 3 14 INT 3 9 INT 3 1 3 00 3 00 4 00 ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 39 5 5 6 MIN Function Smaller of two numbers Syntax MIN expression1 expression2 Type Real number expression Real number expression2 Real number Value expression if expression1 lt expression2 expression2 if expression1 gt expression2 PRINT MIN 1 0 5 MIN 2 1 1 00 1 00 5 5 7 MAX Function Greater of two numbers Syntax MAX expression1 expression2 Type Real number expression1 Real number expression2 Real number Value expression2 if expressiont lt expression2 expression1 if expression1 gt expression2 PRINT MAX 1 0 5 MAX 2 1 0 50 2 00 5 5 8 RND Function Random number Syntax RDN expression Type Real number expression Real
135. rmed by HOME command Limit switch mask and index LIMITTYPE 11 or 15 If also the index channel used the axis continues to move after it has passed the edge of mask until a pulse is received from index channel CLKX The origin of coordinates is set at the index pulse and the axis stops after deceleration to positive direction Speed when searching the index is one eight 1 8 of the speed set with SPEED command 100 RUNNING HOME 110 HOMEXYZ 120 IF NOT MOVEREADYXYZ THEN 190 130 RETURN 11 5 STOPMOVE Command Stop motion Syntax STOPMOVE axes 10 List of axes or n axes numbers to stop If not defined axes 0 9 are stopped STOPMOVE stops motion generated by MOVE MOVER MOVC MOVCR CREEP or MOVEPROF commands using the currently defined deceleration If higher deceleration is required ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 109 DECEL can be set before STOPMOVE command Note that STOPMOVE does not cancel any FOLLOW ratios Desired axes can be selected to be stopped Stopping is performed with servo control active Servo control also remains active unless MAXERR limit is not exceeded during stopping 130 ACCELXZ 900 STOPMOVEXZ 600 STOPMOVE axes 0 thru 9 STOPMOVE also provides a method to change the destination of a translation or to change the type of motion performed For example MOVEX 10000 DELAY 3 STOPMOVE
136. rol For example vV 100 CREEPX JOY 0 V CREEPY JOY 1 V LOOP ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 120 allows both X and Y axes manual speed control with a joystick with a maximum speed of 100 11 142 JOYINP Command Assign joystick channels and control joystick data transfer Syntax JOYINP4n1 n2 n3 n1 Device number where the joystick data is read from If n1 0 joystick channels n2 and n3 are disabled n2 Joystick channel number for x data 0 15 default 0 n3 Joystick channel number for y data 0 15 default 1 Maximum 8 devices can be connected to terminals with joysticks simultaneously Defines the channel number which may be in the range of 0 15 from which to read joystick data If for example a hand control terminal equipped with a joystick is connected to port 2 the command JOYINP 2 can be used to start serial port 2 joystick communication When joystick communication is active the joystick position can be read with JOY n7 function Command JOYINP 0 n2 n3 ends the joystick communication JOYINP 0 is also valid For example display the position of a joystick in a device connected to 2 10 OPEN 2 LP 20 JOYINP 2 1 30 PRINT JOY 0 JOY 1 CHR 13 40 GOTO 30 JOYINP n7 n2 n3 is used to connect more then one joystick to system at the same time It also enables easy indexing of joystick inputs
137. rom Can also be a variable or an expression Value Received real number If there were not 4 bytes available in device buffer or the file did not contain 4 more characters the function returns 0 When writing to or reading from a file the file pointer PTR nn is automatically incremented by 4 Because FLOAT requires 4 character ready for reading it can mainly be used with files When using serial ports the use of BYTE function is recommended See BYTE nn 130 FLOAT 3 1000 PII 200 P FLOAT 4 8 2 11 REAL nn Command Write a floating point number 8 bytes to a device Syntax REAL nn expression Device number to be read from Can also be a variable or an expression expression Value to be written double precision real number Function Read a floating point number 8 bytes from a device Syntax REAL nn Type Real number nn Device number to be read from Can also be a variable or an expression Value Received real number If there were not 8 bytes available in device buffer or the file did not contain 8 more characters the function returns 0 When writing to or reading from a file the file pointer PTR nn is automatically incremented by 8 Because REAL requires 8 character ready for reading it can mainly be used with files When using serial ports the use of BYTE function is recommended ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 70 8 2 12 IEEE Co
138. rray 32 LetArray 1 A A 2 0 1 A 2 2 1 ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 54 7 1 DIM Command Declare real string or address variables or arrays define array size DIM arrname expression1 expressionn var str addr also DIM arrname expr1 expx2 expr3 expr arrname Array variable name expression1 max first index range 0 to expression expressionn max last index range O to expressionn First index lower limit First index upper limit range expr1 to expr2 Last index lower limit Last index upper limit range expr3 to expr4 var Real number variable name str String variable name String variables declared using DIM are always 80 characters long Address variable name With DIM command variables and dimensions for one or more arrays can be defined in one command 10 DIM ArrOne 12 M 5 5 B 5 20 FOR I 0 TO 12 30 A I 1 40 NEXT I FOR I 60 M I I NEXT I 0 LOS 1 It is also possible to define arrays with the type declaration commands see 2 5 VARIABLES TYPES For example STRING 125 SymArray 5 5 REAL Var 5 Var2 5 WORD Var 5 Var2 5 INTEGER Var 5 Var2 5 BYTE Var 5 Var2 5 BIT Var 5 Var2 5 SHORT INTEGER Var 5 Var2 5 Array index can take negative zero or opositive integer values By default the lower limit is supposed to be 0
139. s e automatic nesting for commands FOR NEXT IF THEN ELSEIF ELSE ENDIF DO LOOP e removes spaces from before on comment lines e incase the comment ends with the comment will be right aligned with a leader consisting of characters similar to the character after the starting the comment LIST whole program to console LIST 2 whole program to 2 LIST 1000 beginning from line 1000 LIST 1000 1000 only line 1000 LIST Labl Lab2 from line Labl to line Lab2 including LIST Labl from line Labl to the next empty line LIST 2 1000 1990 lines 1000 1990 to 2 LIST 2 100 from line 100 to next empty line 8 2 6 DIGITS Set the number of decimals used when printing DIGITS expression expression Number of decimals 0 9 to be printed in PRINT command when printing numerical values A value 0 5 can be added to prevent exponent notation when printing small values Number of decimals used in printing is defined by the value of expression Default number of decimals when starting a McBasic program is 2 decimals Each task has its own setting for DIGITS so changing DIGITS setting in one task does not affect printing formats in other tasks DIGITS 3 print with 3 decimal places DIGITS 2 5 print with 2 decimal places and suppress exponent format ARLACON McBasic programming environment A reference manual ARLACON 67 4000 FOR I 0 TO 9 4005 DIGITS I 4010 PRINT I TAB 12 PII 4020 NEXT I MC BASMAE DOC
140. s between 1 1 2000 and 25 8 2000 2000 is a leap year PRINT DATE 990825 DATE 990101 DATE 000825 DATE 000101 236 00 237 00 DATE also allows week day calculations 0 Sunday 1 Monday 25 8 1999 is Wednesday X 990825 PRINT INT DATE X 7 INT DATE X 7 3 00 8 2 15 PTR Command Set a file pointer Syntax PTR nn expression nn Device number for which the file has been opened expression New value of pointer Value O points to the first byte of file SIZE nn 1 points to the last byte of file ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 73 8 2 16 SIZE Function Read a file pointer Syntax PTR nn Type Integer nn Device number for which the file has been opened Value Value of file pointer The value of the file pointer must be positive and smaller than or equal to the size of free memory in the device The file pointer of a newly opened file is 0 This command allows reading data from any part of a file and thus use the file as a random access file 5 OPEN 3 FILE DT D1 10 PTR 3 0 first character 20 A BYTE 3 is read to A 30 PTR 3 SIZE 3 1 last character 40 B BYTE 3 is read to B 200 IF PTR 3 gt SIZE 3 THEN STOP If the value of PTR is set greater than the current size of the file see SIZE the file size is automatically increased accord
141. s function returning a string or address value respectively expression expressionN Arguments of function 0 8 pcs numerical and or string or address expressions according to the definition in DEF command Call a user function Expression expressionN are internal variables arguments of function that must be given when the function is called Also values of external variables instances valid in the structure where function is used that were used in the user function definition affect the value of user function If no internal variables have been defined for a user function it is not necessary to give any arguments when calling the function ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 86 Note The user function must be defined before it is called in a program DEF FNS X Y X Y PRINT FNS 3 1 2 3 8 00 DEF FNX POSX SIN POSY PRINT FNX 10 3 COMMENTS 10 3 1 REM Command Comment line Syntax REM text text Comments can be any text Comment This command is used for writing informative text between program lines in order to make the program more readable Comments do not affect the execution of a program REM this line is a comment A 3 REM this comment also works 10 3 2 Command Comment line Syntax text text Comments can be any text Comment An alternative command for REM command In addition comments separated by sign can
142. s numbers whose SCOMP is set If not defined SCOMP is set for axes 0 9 XYZWABCDTU in the system expression Value for speed compensation O prevents operation of compensation Function Read speed compensation of position control Syntax SCOMP axis n axis n Identification letter or number of axis Type Real number Value SCOMP value of position control of axis Speed feedforward or speed compensation for position control Value of expression is greater or equal than speed of axis when control output is set to maximum full speed SCOMP parameter can be used to add to the control reference output a part depending on the theoretical instantaneous speed of the position set value The factor allows for accurate path control of motion even without integration in the position loop SCOMP parameter is often used when the position controller is used in connection with a tacho generator feedback speed control circuit In this case the best possible control result is often reached by setting INTG 0 and using SCOMP parameter as needed SCOMP setting is called critical when the controlled axis follows the generated motion without noticeable position error at all speeds Setting SCOMP according to the speed of the axis when the reference output reaches its maximum value for example 10V results in critical SCOMP For example if X axis runs 400 mm s when the servo amplifier is controlled with a 10V reference voltage and RESX is
143. sage Values Error message as defined in error message table This function can be used for example to print the error message corresponding to an error number PRINT ERRS ERR FOR I 1 TO 255 PRINT ERR ERR 1 NEXT I 13 8 ERR Function Error line address Syntax ERR Type Address Values Address of the line where an error last occurred For example PRINT ERR Label 3 13 9 ONERRO Function Error trap current address Syntax ONERRO Type Address Value Current error trap address for current task If error trap not set value is 0 ONERR function can be used to check the status of the error trap
144. solution read axis resolution part of string from beginning random number read position set value before filter read position set value before filter read position set value speed before filter read position set value speed before filter read axis speed compensation read axis speed compensation sign of number sine read file size or output buffer free space read axis set speed read axis set speed square root number to string set cursor on line tangent current task number maximum task number return to text mode end of graphics convert string to uppercase read timer value string to number read McWay error counter read McWay configuration read word boolean or binary XOR function MC BASMAE DOC 14 MOTION CONTROL MOTION CONTROL MOTION CONTROL MOTION CONTROL FILES AND COMMUNICATIONS MOTION CONTROL MOTION CONTROL FILES AND COMMUNICATIONS MOTION CONTROL MOTION CONTROL STRINGS MATHEMATICS MOTION CONTROL MOTION CONTROL MOTION CONTROL MOTION CONTROL MOTION CONTROL MOTION CONTROL MATHEMATICS MATHEMATICS FILES AND COMMUNICATIONS MOTION CONTROL MOTION CONTROL MATHEMATICS STRINGS FILES AND COMMUNICATIONS MATHEMATICS STRUCTURE STRUCTURE FILES AND COMMUNICATIONS STRINGS TIMING STRINGS 1 O CONFIGURATION 1 O CONFIGURATION FILES AND COMMUNICATIONS MATHEMATICS ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACON 15 2 GETTING STARTED McBasic is a control sys
145. sted for ENCERR to be always zero during normal operation first read may report errors occurred during power up In conjunction with WAX2A absolute encoder ENCERR reports errors occurred in SSI transmission from encoder to WAX2A 3 succeeding errors automatically result in a position loop error MOVEREADY 64 and drive disable ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACON 92 11 2 POSITION CONTROL SETTINGS 11 21 DRIVETYPE Command Configure operation of motion control Syntax DRIVETYPE axes n type List of axes or n axes numbers whose type is set Type setting 0 DCD internal amplifier AXE02704 1 10V reference AXE02703 or WAX 2 A module with WAX2 A enable at ENA2 only 2 0 10V reference with direction output at WAX2 ENA1 3 as 1 but for WAX2 A enable both at ENA1 and ENA2 Additional type data can be added to type Each of the following addition removes the related function from axis addition disabled function 16 limit switches MAXERR and EMRG intervention 32 encoder counter 64 motion commands MOVE MOVER MOVC CREEP etc 128 position controller Syntax DRIVETYPE axis n axis n Identification letter or number of axis Type Integer Value Type of axis as explained above Function Read operation configuration of motion control The desired type is calculated by taking the sum of the basic type and additional type data For exam
146. t reference manual ARLACcoN 129 Signal names represent the physical signal located in WAX2 modules Output addresses marked n a are not in use In a limit switch configuration with index mask nlim is the mask and plim is the limit switch data The axes in the system are numbered starting from 0 The first I O address for each axis is its number multiplied by 4 This address is also used in conjunction with axis module settings WAYMODS to specify the axis for an axis connection module Axes can be numbered freely within the available axis count in the system usually 16 axes The first 10 axes numbered 0 thru 9 have also letter names X Y Z W A B C D T U in the same order 12 1 4 I O LOGICAL ADDRESSES When PIA02301 i o modules are used in MC400 systems the addresses of inputs and outputs are as follows l o units PIA02301 8 inputs and 8 outputs 1 unit INP 32 39 OUT 32 39 EDGE 32 39 2 unit INP 40 47 OUT 40 47 EDGE 40 47 3 unit INP 48 55 OUT 48 55 EDGE 48 55 4 unit INP 56 63 OUT 56 63 EDGE 56 63 5 unit INP 64 71 OUT 64 71 EDGE 64 71 6 unit INP 72 79 OUT 72 79 EDGE 72 79 7 unit INP 80 87 OUT 80 87 EDGE 80 87 8 unit INP 88 95 OUT 88 95 EDGE 88 95 9 unit INP 96 103 OUT 96 103 EDGE 96 103 10 unit INP 104 111 OUT 104 111 EDGE 104 111 Edge commands available only in model PIAO2301A Other i o connected via McWay loops are configurable as described in McWay documentation 12 2 DIGITAL I O 1
147. t a lt 1 Start with maximum output of a physical maximum a 10V 1 Start normal operation Function Read control output limit Syntax PWR axis n Type Real number 0 1 axis n Identification letter or number of axis Values Maximum value of control output ref as explained above for expression PWRXYZ 1 enable XYZ PWR 0 all axes off PWRX 0 only X axis off The output of a position controller can be limited by using values of expression between 0 lt expression lt 1 for example to dampen the torque glitch when starting and stopping the controller or to prevent damages when testing or during critical parts of work cycle for example in case of an encoder fault 1 represents the full output for example 10V 0 5 represents the half of maximum value for example 5V ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 117 When using a drive in torque control mode the maximum torque can be limited with PWR setting 200 PWR 0 210 FOR N 0 TO 1 STEP 1 220 PWRX N 230 TIMER 0 1 240 IF TIMER 0 THEN 240 250 NEXT N 11 12 OPWR Command Forced set position control reference output Syntax OPWRI axes n expression List of axes or n axes numbers If not defined outputs of all axes are set expression Value to set 1 1 Output is set to expression physical maximum Values State of reference output of axis As expressio
148. ted For the first round of execution the variable gets the value expression1 After each repeating execution the variable is incremented in the NEXT statement by 1 or by expression3 if given until the finishing condition is reached If expression3 is positive the program part will be repeated until variable reaches a value greater than expression2 For the last execution the value of variable is equal to expression2 or smaller If expression3 is negative the program part will be repeated until variable reaches a value smaller than expression2 For the last execution the value of variable is equal to expression2 or greater When repeating is finished the variable keeps the value that it had during the last repetition The default value of expression3 is 1 The maximum number of nested FOR NEXT loops is 10 The variable used cannot be an array cell The repeat structure must always be terminated with a NEXT command which has the same variable as the respective FOR command FOR I 1 5 TO 4 STEP 1 2 PRINT I NEXT I RUN 1 5 2 0 2 5 3 0 3 5 4 0 A repeat loop cannot be exited in any other way than through a NEXT command If repetition needs to be finished without performing all of the rounds this can be done by setting the value of variable to a value greater or equal than expression2 expression3 and by jumping to the NEXT command ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACON 32 100 FO
149. tem oriented programming environment with efficient commands and functions for utilising the hardware and connections of ARLACON machine control systems The commands and functions for standard data processing calculations and output are essentially compatible with many popular Basic language interpreters and compilers 2 1 MCBASIC VERSIONS Since McBasic is a control system oriented environment different ARLACON control system models are equipped with system specific versions of the system software Some properties of the environment such as axis number and names and available o are dependent of the software and hardware configurations used The manufacturer configures the McBasic environment software for ARLACON control systems at factory when installing the software in the control system Current versions of McBasic for McDOS include BASIC CK plain McBasic for system utility BASO CK McBasic without axes with CMOS memory features BAS16 CK 16 logical axes version for MC400 MC400 standard version BAS16X CK As BAS16 CK but for use with McWay loop WO connected to CPU5 module port S1 BAS100 CK 100 logical axes version for MC400 BAS300 CK 16 logical axes version for MC300 MC300 standard version 2 2 STARTING THE SYSTEM At power up the MC control system starts the McDOS operating system as described in the McDOS user s manual After this McDOS seeks for the WAKEUP EX batch file from D1 D8 root directories and if found
150. th the difference that axes are moved a distance defined by expressions from their current position 140 MOVERXZ X0 Z1 1 144 MOVERY 20 050 146 MOVERX100 MOVER 4 X0 MOVER 1 Xcod0 2 Ycod0 3 Zcod0 Xcod0 ARLACON McBasic MCBASMAE DOC programming environment reference manual 111 BASMAN3 DWG MOVEXY EDA O ACCELXY Fig 11 7 2 two axis translations 11 73 MOVC AND MOVCR Command Absolute continuous translation MOVC axes expr expr n1 expr nn expr List of axes to perform the translation Destinations of translation expressions in same order as the axis Command Relative continuous translation MOVCR axes expr expr n expr n expr List of axes to perform the translation expr Lengths of translation expressions in same order as the axis MOVC commands operate as MOVE commands with the difference that the translation is started before the previous translation has stopped Deceleration and acceleration phases of translations are combined so that the result is continuous motion When performing MOVC translations with several axes the path does pass accurately through every corner point Instead the path is shaved to allow for continuous motion Amount of rounding depends on speed and acceleration settings Low speed with high acceleration produces sharp corners and high speed with low acceleration produces smooth corners When performi
151. the nearest integer value When using too high values in some integer operations McBasic normally uses the value defined by the least significant bits When using long variable names or large arrays It is necessary to declare the variables before using them Declaration can also be used to limit the scope of the variable as described in chapter 7 Examples of variable declarations STRING Abc C 5 D 8 8 string of 80 characters STRING 5 SymFirst SymArray 3 string of an arbitrary length in the range 1 255 here 5 characters REAL A Varia 4 B 3 3 floating point numbers with a length of 8 bytes ADDR A 5 Jumpe address arrays and variables Following types are used for arrays only FLOAT N 20 Dx 10 100 4 byte floating point numbers WORD a 5 c 5 5 16 bit word unsigned 0 65535 INTEGER Abc 3 Cba 6 6 16 bit word signed 32768 32767 BYTE Abc 3 Cba 6 6 8 bit byte unsigned 0 255 SHORT INTERGER Cha 6 6 8 bit byte signed 128 127 BIT Abc 3 Cba 6 6 1 bit 0 1 When numerical data is copied to an array of different type the values are rounded to nearest integer if necessary An error message is displayed if the value is not within valid limits 2 6 LABELS McBasic uses labels or line numbers to mark program lines to be referred to from applicable commands A label is a string of characters of arbitrary length starting with a letter U
152. to a value less than 32 causes the position counters to wrap around after reaching the specified counter size Thus for example setting ENCSIZEX 12 causes the position counter to return to O when reaching 4096 counts Depending on RESX this may mean any POSX This feature can be used in connection with binary line count encoders to wrap the position after for example 1 revolution to keep POSX between 0 1 in ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACON 90 mechanisms such as rotating knives etc Wrapping can also be achieved after other non binary count numbers using a rational FOLLOW ratio and a virtual axis connected to the actual axis When using absolute encoders ENCSIZE can be used to limit the bit count used to equal or less than available from the encoder used With either encoder type the sign of the ENCSIZE setting allows choosing a coordinate system from 0 to 2599 E counts positive system or from 25991751 to 2ENCSIZEA counts centered system However in ENCSIZE values O and 32 always set a 32 bit centered coordinate system as does ENCSIZE 32 11 13 OFFSET Command Set offset value or move current position Syntax OFFSET axes n m expression List of axes or n axes numbers whose offset are set If not defined limits are set for axes 0 9 in the system expression Offset value for specified axes dimension as defined by RES command for example mn Function
153. using motion commands ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 95 11 25 INTG Too low GAIN causes an inaccurate control and too high GAIN causes system oscillation GAINXY 400 GAIN 2 12 14 300 PRINT GAINX GAINY GAINZ PRINT GAIN 12 GAIN 14 400 400 300 300 300 In ARLACON MC300 and MC400 control systems McBasic uses a 32 bit counter for position error in position control Therefore the maximum position error is equal to the maximum operating area of the position measurement system 2147483648 encoder pulse edges counts However the proportional area when the smallest available GAIN value 1 is used equals to 524288 encoder counts When using very low GAIN values SCOMP parameter must usually be adjusted to correspond to drive full speed at 10V ref output to avoid excessive position lag Using SCOMP values larger than full speed allow for some lag if necessary for tuning positioning settling time see also FILTERSIZE Command Set integrating factor of position control Syntax INTG axes n expression List of axes or n axes numbers whose INTG is set If not defined INTG is set for all axes expression Value for INTG Integer 0 255 0 prevents integration 255 is the quickest possible integrating factor Function Read integrating factor of position control Syntax INT G axis axis n Identification letter or number of axis n
154. values REN REN 1000 10 REN 2000 1000 2999 REN 2000 10 1000 2999 Numbering must be possible without changing the order of the program lines otherwise McBasic does not renumber any lines If in the renumbered block lines without numbers are present they will not be affected by this command REN command does not set the variable values to zero In some cases programs can be build using the EXEC function so that renumbering changes or even prevents the execution of the program In these cases REN command must not be used in these part of the programs 3 15 NUMBER Command Numbers all program lines Syntax NUMBER nn1 nn2 nn3 label3 nn4 label4 nn1 The first line number of the program to be numbered default 10 nn2 The step between new line numbers default 10 nn3 label3 The line number label of the first line to be numbered default beginning of program nn4 label4 The line number label of the last line to be numbered default end of program A NUMBER command without any parameters numbers all program lines beginning from line 10 using steps of 10 The jump addresses etc are updated automatically according to the new line numbering ARLACON McBasic A programming environment ARLACON reference manual 3 16 FREE MC BASMAE DOC 25 Also only some of the parameters can be given and in this case the other parameters will use their default values NUMBER NUMBER 1000 10 The operation of t
155. ves all breakpoints Command Continue program execution after a breakpoint STOP or Ctrl X Syntax CONT The program continues from the next line or lines if several tasks after the point it was stopped Variable values are not affected ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcOoN 23 3 12 TRACE Command Control program tracing Syntax TRACE ON OFF n ON Program tracing on Program tracing off selected TASK Program tracing off All TASKs Only TASK n Program execution tracing Executed lines are listed at console while running the program If more than one TASK is being used only one TASK can be traced by selecting with its TASK number TRACE 3 TASKs are numbered 2 9 When the program starts the first TASK is number 2 New tasks are numbered in creating order Tracing program execution generates intense listing of program lines and therefore causes programs to run slowly In some cases it is also possible to insert TRACE commands in the program to control partial tracing of program to preserve processing speed 3 13 DELETE Command Remove program lines Syntax DELETE adar1 adadr2 addr 1 The address of the first line to be removed default beginning of program addr2 The address of the last line to be removed default end of program When used without parameters the DELETE command removes all program lines This operation can be done faster with
156. wing data can be read Type of all data is real number The variable tsample Means the time when sample was stored calculated backwards from latest sample ARLACON McBasic A MC BASMAE DOC programming environment reference manual AriacoN 125 data content dimension 0 time t0 tsample s gets value 0 if sample greater than size of log 1 actual position mm 2 set position mm 3 position error mm 4 contro output 1 1as OPWR 5 actual speed mm s 6 set speed mm s 7 analog chamnel 1 1 as INPA In the above RES is assumed to be set as pulse edges mm To set an analog channel of a WIA analog input module to be logged synchronously with the other data use the LOGSIZE command before starting logging with the LOG command Logging an analog input can be used to monitor values such as motor torque or current that may be available as analog signals from a drive or some other transducer Command Set analog input for LOGDATA data 7 LOGDATAaxis a or LOGDATA axnr a Identification letter axis axis ificati axnr Number of axis when number reference is used a Analog input number Number of analog input INPA a to be logged Each log entry uses 10 bytes of memory without and 14 bytes with analog data logging ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACON 126 12 I O CONNECTIONS The digital and analog inputs and outputs in Arlacon control systems are available for programming
157. with dedicated McBasic commands and functions Inputs and outputs exist in the control system both in various i o modules and for example in motion control connection modules These modules can reside in an MC400 rack or connected to a McWay distributed i o loop 12 1 1 0 CONFIGURATION Before a McWay loop can be used it must be initialised using the McBasic WAYMOD command ARLACON McBasic A MCBASMAE DOC programming environment reference manual ARLACcoN 127 12 1 1 WAYMOD Command l o system configuration Syntax WAYMOD n m string Loop number 0 7 m module number 0 120 specification and information of module END end of modules in loop EMPTY no modules in current position WIN INP nn WIN with 24 inputs from nn 0 4x65535 WOU OUT nn WOU with 32 outputs from nn 0 4x65535 WIO 1O nn WIO with 16 in 16 out from nn 0 4x4095 WIO INP n7 OUT n2 WIO with 16 in from n7 and 16 out from n2 0 4x4095 WOA OUTA nn WOA with 6 outputs from nn 0 65535 WIA INPA nn WIA with 6 inputs from nn 0 65535 WIA6 INPA nn WIA with 6 inputs from nn 0 65535 WIA4 INPA nn WIA with 4 inputs from nn 0 65535 WIA2 INPA nn WIA with 2 inputs from nn 0 65535 WAX INP n7 OUT n2 1O n3 WAX 02006 32bits WAX2 INP n7 OUT n2 1O n3 WAX2 32bits WAX2A INP n7 OUT n2 1O n3 WAX lt 2A for absolute encoder 40bits 4 limit inputs starting from n1 0 4x255 4 control out
158. xt command command var expr label var var ACCELaxes expr ACCEL axnr axnr expr ACOMP axes expr ACOMP axnr axnr expr ADDR var var APPEND string BIT arrayname dim dim BREAK addr BYTE devicenr expr BYTE arrayname dim dim CAPTTYPEaxes expr CAPTTYPE axnr axnr expr CLOSE devicenr CONT CREEPaxes expr CREEP axnr expr axnr expr DATA data data DATE devicenr datestring DCOMP axes expr DCOMP axnr axnr expr DECELaxes expr DECEL axnr axnr expr DEF FNfnname DELAY expr DELETE addr addr DERVaxes expr DERV axnr axnr expr DIGITS expr DIM variablename dim dim DO UNTIL LOOP DOS DRIVETY PE axes type DRIVETYPE axnr axnr expr ED linenumber label EDGE input 0 1 ELSE ELSEIF ENCSIZE axes width ENCSIZE axnr axnr width END ENDIF ERROR errornr EXEC string FILTERSIZEaxes expr FILTERSIZE axnr axnr expr FLOAT devicenr FLOAT variablename dim dim FOLLOW axis 1axis2 n1 n2 A AriAcoN description comment command delimiter set variable value define jump or subroutine start address set acceleration set acceleration set acceleration feedforward set acceleration feedforward declare address variables append to program declare bit array insert breakpoint in program write byte declare byte array set position capture mode set position capture mode close file c

ARLACON McBasic 3.2 programming environment reference manual

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