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1. of QuickSilver Controls Inc SilverLode SilverNugget SilverDust PVIA QuickSilver Controls and AntiHunt are trademarks of QuickSilver Controls Inc Technical Document QCI TD045 QuickSlver Controls Inc Begin Polling Routine Polling Status Routine Sample ASCII Code Send Poll Polling must be initialized by first sending a Poll Send Clear Poll Command then a Clear Poll Send an initial Poll command 16 0 CR Poll Clear Entire Status Word 16 1 65535 CR Clear Poll Send Motion Command Polling Routine Geo ERa repeated loop Command This can be done at any baud rate supported by the serial interface Response 10 0000 2000 CR Command Receive Complete Response OR 10 CR No bits set Command Be EA Check for 4 Command Complete Clear Only Bit 13 Send Clear 16 1 8192 CR Clear Poll Poll Command NOTE 8192 in decimal equals Exit Polling 2000 in hexadecimal QuickSilver Controls Inc Page 2 of 22. Technical Document QCI TD045 QuickGlver Controls Inc Date 16 June 2005 www QuickSilverControls com Polling The document details a method to continually query or poll a device of its status This is an advanced topic Please read the SilverLode User Manual for general background Overview Polling the SilverLode servos involves reading the Polling Status Word PSW as well as several other registers The appropriate registers are selected based on the required information Polling can be used to check the current status of the device for data such as errors command completion and other general information User and other register data may also be read A host controller can use this information to assist in motion coordination and error checking Information retrieval is accomplished by a host controller s polling routine The most basic routine consists of issuing the POL command receiving the Polling Status Word PSW see Polling Status Word in User Manual for definitions checking the word for the desired condition Clearing any active bits if any in the PSW via the Clear Poll CPL command and repeating until the condition is met The Poll Status Word is double buffered that is the bits cannot be cleared by the CPL until they have been read by the POL command The delay between repetitions can vary depending on the desired polling rate and the communications baud rates NOTE Because the POL command is used so often it has a shor
3. ten format See POL in command reference for details If a more consistent format is desired see the Poll With Response POR command An example of a polling routine is shown on the next page that can be used to retrieve the PSW after command execution This would be used for waiting until a motion completes before sending the next command The actual ASCII strings making up the commands are included for reference See Chapter 9 of the User Manual for more information on serial communications and the Command Reference for details on this command This basic polling routine could be extended to monitor the other status words i e Internal Status Word ISW and I O Status Word IOS This would increase the details available to the host and improve the capabilities of the host control program The Internal Status Word ISW available via the Read Internal Status RIS command provides information about the current operation of the device Status items such as whether the voltage is too high or low and current error conditions are available in this word The I O Status Word IOS provides the state of all seven of the standard digital I O lines the internal and external index and the over temperature detection circuit See Status Words in User Manual detailed information on the status words Property of QuickSilver Controls Inc Page 1 of 2 This document is subject to change without notice QuickControl and QCI are Registered Trademarks
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