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HS-20USB USER MANUAL

1. Pin Definition 1 8 12 V unregulated at 5 A or 5 volts regulated using jumper JP501 2 Ground 3 Not used keyed RS 232 Supply Isolated 4 Ground isolated 5 12 V at 50mA 6 12 V at SOMA Logic power and optionally RS 232 power is supplied to the HS 20USB via connector J501 A mating female connector is also provided Pin 1 is toward the edge of the board If jumper JP501 is shorted between pins 2 and 3 those closest to the USO1 7805 5 V regulator the HS 20USB expects a logic power input of 8 12 V unregulated this is the factory default setting If jumper JP501 is shorted between pins 1 and 2 the HS 20USB is expects a logic power input of 5V regulated DANGER Severe damage will occur if JP501 set for 5 V regulated input and 8 12 V unregulated supplied instead HS 20USB_REV_139 odt Rev 1 39 Page 12 of 61 Motor Control Connector J201 Pin Definitions J201 is the HS 20USB motor control interface It allows the connection of the HS 20USB to any device that uses the standard step and direction interface Pin 1 is marked by an arrow on the connector The pin numbers then alternate pin 1 is first pin top row pin 2 is first pin bottom row and so on such that all of the even pins are in one row odd in the other Pin Name Function 1 Step 0 Step pulse for motor 0 2 Direction 0 Direction for motor 0 3 Step
2. but before the are executed If arg is FALSE then the instructions after the up to the close curly brace is executed The IF instruction can be nested up to the limit of the control stack Example A programmer wants to read four bits and test to see if they match a certain test value If it matches he wants to branch to one routine and if it doesn t he wants to branch to a different routine The four bits start at bit location 2 and the test pattern is 1011 IB 124 Read four bits and put on stack EQ A B Test bits read with 0B 1011 IF A PX 2 PX 3 If true execute program area 2 If false execute program area 3 IP Increment Pointer Immediate Increment the data pointer such that it will point to the next data value present in the data list See also DP SP RP and WP LT lt int1 gt lt int2 gt Less Than Immediate Where intl and int2 can come from the stack or be immediate values TRUE is returned if HS 20USB_REV_139 odt Rev 1 39 Page 45 of 61 argl is less than arg2 otherwise FALSE is returned Example Execute a move only if a BCD switch value is less than 100 BCD 4 4 Get BCD value LT A 100 Is it less than 100 IF A v1 0 1000 If TRUE move MUL lt int1 gt lt int2 gt Multiply Immediate Where intl and int2 are the numbers to be multiplied the result is left on the stack The result of the multiplication must be within the range of 16 bit numbers 0000 to FFFF or 0 to
3. Clear Encoder Position Resist dvcivectaaaesticsanicnea eee 26 CEP lt Axis gt lt Encoder Scale Factor gt lt Acceptable Tolerance gt Compare Encoder Position 26 CTP lt Axis gt lt Position gt lt Multiplier gt Compute Target PosItiON oooonnccnnnnnnococioncnonaconccnnos 26 DN Decelerate No Ri ic aan 21 INES PVC Cel AA EE T EE ASE R E AE A 27 BOs ED Enable Mode Pola IAS 27 ENC lt On Off gt Encoder Subsystem Enable oooocnncccnoconoccconacconcconncnoncconccconc cnn nonnn nro cccnccnnnos 27 HS 20USB_REV_139 odt Rev 1 39 Page 2 of 61 EP lt Axis gt lt Encoder Position gt Set Encoder POSItiOM oooccnnnnnnnnonononononononananononanonanananananananos 27 GO Go to Absolute Target Position ari 27 HET lt Axis Mask Halt Motor ARIS di iaa Sii das 21 JD lt a gt lt b gt Joystick Digital Control Mode Bell oooonoconocinoccoccnonononconcnononnonncnnncnnncnncnonannncnnnos 28 ARIS lt XXXXXX gt Set Locati ii A A E E eines E aes 28 ED Arig Limit Disable anena aos 28 LESA gt Ett Erica A a 28 NCL Normally Closed Ets ii asis 28 NOL Normally Operi LIMitS Si E a A ee ieat 28 LM lt Mask gt Limit Ma Ska AA A AAA uneads 29 EN TCA No hnnain lt Ness 29 LY VQ CA E A Bile T A A Ea a e a a 29 MPN lt Axis gt Motor Power Noni ais 29 MPY lt Axis gt Motor Power Yes nass ihe espeatengudeatt duran iaa es 29 QE lt Axis gt lt Scale Factor gt Query Encoder Position ReglSteT oooooonocnnnnnnincnn
4. HS 20USB_REV_139 odt Rev 1 39 Page 24 of 61 The following is another and self documenting example of the interaction between buffered and immediate commands v1 0 10000 initiate a 10 000 step movement on Motor 0 the following two commands generate a result WHILE the previous command is being processed read a BCD switch for a move distance scale the BCD switch input assuming it is in thousandths of an inch and that we have a full step 200 steps per revolution motor directly coupled to a 5 threads per inch screw to form a move distance for motor 1 BCD 12 1 4 read move distance for next move put on stack MUL A 4 5 thread per inch screw convert 4 steps 001 inch v1 1A move number of steps calculated by MUL instruction wc wait for subsystem finish Command Documentation Assumptions HS 20USB systems can be configured in a great variety of ways For example rather than having one encoder per motor a given axis might be assigned two encoders one to monitor motor rotation and a second to monitor for shaft slippage somewhere else in the drive train This manual makes the following assumptions in documenting CyberVec commands e An Axis or Motor argument will resolve to a value between 0 and 3 specifying one of the 4 HS 20USB axes e Normal motor encoder association i e the axis address Axis can be used to refer to the motor and or the encoder Command Documentation Format The following format will be
5. J301 is a user definable external interface connector Many of the pins on this connector can be defined as inputs or outputs allowing the use of this connector to interface to many different components Among other things it can support are 1 a 4 line 40 character LCD display 2 a 20 key matrix keypad and or up to 16 BCD switch digits This connector J301 is a user definable input output interface These inputs and outputs are limited to 1 mA source or sink A very general description of this connector is given This connector must not be used for long cables It is intended as an electronic to electronic interface in a very protected environment Pin Name Function 1 8 IOAO IOA7 Byte definable input or output 9 Ground 11 18 IOBO IOB7 Byte definable input or output 19 21 IN1 IN3 Input 22 10C3 Input 23 HS V 24 26 10 IODO IOD3 Nibble definable input or output HS 20USB_REV_139 odt Rev 1 39 Page 15 of 61 Analog and Encoder Interface Connector J601 Pin Definitions Pin Name Definition 1 Analog0 Analog input 8 bit ADC 2 Analogl Analog input 8 bit ADC 3 Analog Analog input 8 bit ADC 4 Analog Analog input 8 bit ADC 5 AnalogV Analog Supply Reference Voltage 6 AnalogGnd Analog Ground Supply Reference 7 Encoder0A Encoder Channel 0 Phase A 8 Encoder0B Encoder Channel 0 Pha
6. 1 Step pulse for motor 1 4 Direction 1 Direction for motor 1 5 Step 2 Step pulse for motor 2 6 Direction 2 Direction for motor 2 7 Step 3 Step pulse for motor 3 8 Direction 3 Direction for motor 3 9 Ground 10 Enable 3 Enable for motor 3 11 CW Limit 0 Clockwise limit for motor 0 12 CCW Limit 0 Counter clockwise limit for motor 0 13 Index 0 Index Mark input for motor 0 14 CW Limit 1 Clockwise limit for motor 1 15 CCW Limit 1 Counter clockwise limit for motor 1 16 Index 1 Index Mark input for motor 1 17 CW Limit 2 Clockwise limit for motor 2 18 CCW Limit 2 Counter clockwise limit for motor 2 19 Index 2 Index Mark input for motor 2 20 CW Limit 3 Clockwise limit for motor 3 21 CCW Limit 3 Counter clockwise limit for motor 3 22 Index 3 Index Mark input for motor 3 23 5 V Source 250 mA Max total for all pins 24 Enable 0 Enable for motor 0 25 Enable 1 Enable for motor 1 26 Enable 2 Enable for motor 2 Signal Definitions Enable Step Direction CW Limit Enable is an active high signal When this signal is high the motor is enabled When it is low the motor is disabled This can be reversed see CyberVec EO and El commands On the rising edge of the step signal the motor will take a step When this signal is high the motor will rotate clockwise and when this signal is low the motor is in counter clockwise rotation mode When pulled low this motor input signifies that a limit of travel has been reached i
7. 18 output 24 26 10 input 9B 1 8 input 11 18 input 24 26 10 input All other values are illegal OB lt Type gt lt Pin gt lt Width gt lt Value gt Output Bits Immediate Writes bit field to digitial outputs lt Type gt is an integer specifying the connector 1 3201 2 3301 4 3701 lt Pin gt is the starting pin address 1 26 of the target set For J201 there are 3 available groups of output pins 1 8 10 and 24 26 For J301 there are 4 available groups of pins which must have been previously conditioned via the IO command 1 8 10 11 18 and 24 26 For J701 there is one available group of pins 2 9 For all three of these connectors the set of target output pins must fall within one group lt Width gt is the width of the bit field 8 max HS 20USB_REV_139 odt Rev 1 39 Page 39 of 61 OSC lt int gt Output Character to Serial Port Immediate Outputs least significant 8 bits of lt int gt to serial USB port as a single character Examples osc D output carriage return character OSC A output linefeed character OSD lt int gt Output Decimal to Serial Port Immediate Converts lt int gt to decimal character format and outputs to serial USB port OSI lt int gt Output Integer to Serial Port Immediate Converts lt int gt to hex character format and outputs to serial USB port OSS string Output String to Serial Port Immediate Outputs the characters bracketed
8. 56 WPH lt Type gt lt Pin gt Wait For a Pin to Go sit Aca 56 WPL lt Type gt lt Pin gt Wait For a Pin to Go LOW eecceeesceeseceseeeeeeeeeeeeseceseeesaeeneeenseeneeeaes 37 Titema Commands E AS EN O eA Tat 58 1 Ariane date Disable abad 58 Mi A A A deen vaca eed aa 58 OR a o A A O O Ot ae 58 QT Query Ramp Table Characteristics srta ia atea 58 RD Rate DOWN A Manta ria 59 RA xit Rate Home ds 59 a AA A ovaghiauane i A E A teas aes 59 PRS Rate os OW sos ah cc vac cesa 59 PRU Rago Ub ds 59 APPEND A cancers a Sp Malet lS ata IE wc ita Cada lace ake asec 60 Installation of USB Driver Software on Host PC cceccccccesssccccesssseeceeessceceeessseeecesssseeseeensseeeeeees 60 HS 20USB_REV_139 odt Rev 1 39 Page 6 of 61 Introduction The HS 20USB is a 3 9 x 6 0 circuit board on which has been implemented a 4 axis step motor indexer controller with USB 2 0 interface It can control up to 4 step motors via external step and direction driver cards operating in full or half step mode The HS 20USB in turn can be controlled directly from a host PC by downloading commands to it via the USB interface or it can operate stand alone by executing a previously downloaded program In either case immediate or stored program execution the command set utilized is CyberVec a powerful text string based language which the HS 20USB can interpretively execute and which includes commands for step motor control digital and sensor I O contr
9. Encoder Scaled Immediate Read the specified encoder position register divide it by the Encoder Scale Factor using HS 20USB_REV_139 odt Rev 1 39 Page 29 of 61 24 bit integer math then place the result onto the user stack Caution It is the programmers responsibility to choose a scale factor which will ensure that the result will fit the 16 bit integer capacity of the user data stack QL lt Axis gt Query Location Immediate Read the specified axis location register and output to the serial port in 24 bit hexadecimal format See also QLS QLS lt Axis gt lt Motor Scale Factor gt Query Location Scaled Immediate Read the specified axis location register divide it by the Motor Scale Factor using 24 bit integer math then place the result onto the user stack Caution It is the programmers responsibility to choose a scale factor which will ensure that the result will fit the 16 bit integer capacity of the user data stack QM lt Axis gt Query Motion Status Immediate Return TRUE to the stack if specified motor is in motion FALSE otherwise Example cl E Place TRUE or FALSE on stack IF A OSS Motor 2 is moving Print if TRUE R lt int gt Rate Buffered This command sets the stepping rate in steps second to the value specified by int All subsequent motion commands will run at this rate Example First Rate R 4000 v2 0 1000 1 500 First Move of two axes R 2000 Second Rate v2 1 4000 O 2000
10. Int gt Complement Bits Immediate Performs a ones complement operation all zero bits are changed to 1 bits and all 1 bits are changed to zero bits on Int with the result placed on the stack DIV lt Int1 gt lt Int2 Immediate Performs unsigned divide Intl Int2 and places result on the stack See also IDV DP Decrement Pointer Immediate Decrement the user data pointer by one element to point to the previous element DUP Duplicate Top Stack Item Immediate This command duplicates the top item on the stack with the original value being pushed one level deeper Example It is required to read five BCD switches starting at address four Motor is then to be moved this number of steps clockwise After a 5 second delay motor 1 is to be moved this same distance counter clockwise BCD 4 4 Read BCD switches DUP Duplicate number v11A Move specified distance Cw D5000 Delay for 5 seconds NEG A Make distance negative V1 1A Move specified distance CCW EQ lt int1 gt lt int2 gt Test for Equality Immediate Where intl and int2 are the values to be compared This command compares its two arguments and returns a TRUE to the stack if they are equal or a FALSE to the stack if they are not equal Using the stack operator removes the compared values from the stack these values are not saved and are therefore lost following the EQ command See IF command for example FOR lt arg1 gt loop commands FOR Loop Stat
11. Second Move R 1000 Third Rate v2 0 3000 1 3000 Third Move RCN Run Continuous No Immediate This command exits from Run Continuous mode See RCY Run Continuous Yes RCY Run Continuous Yes Buffered This command causes CyberVec to run the next vector move command continuously until stopped by a command either RCN or AB The termination of the continuous move however accomplished terminates run continuous mode To perform another continuous move you must specify RCY again Vectors may be implemented in either ramped or non ramped mode while in Run Continuous mode There are two methods for terminating a continuous move First you may use the RCN command Run HS 20USB_REV_139 odt Rev 1 39 Page 30 of 61 Continuous No which cancels continuous mode at once However the command which had been running in continuous mode will not terminate immediately It will instead finish the complete move as specified in the command It will then terminate normally as though run continuous mode had never been specified Second you may use the AB Abort instruction This terminates the move immediately If ramping had been in progress vector plus Ramping Yes mode an abrupt halt rather than ramp down will occur This may cause the motors to slip in coming to a stop If this occurs the position counters will no longer be correct due to the missed steps One way to get a graceful stop with ramping in run continuous mode is to specify a s
12. Tata a Roget convenes 45 IDV lt Numerator gt lt Denominator gt Signed Integer DIVIdS oooooccnnccnnocnococonccconncanncnananoncnnnos 45 IF argl optional true clause optional false clause If Conditional Statement 45 IP ncerement POMAR 45 HS 20USB_REV_139 odt Rev 1 39 Page 4 of 61 LP lt itl gt lt mntO gt Less Th iii titi 45 MUELA Ue eds 46 NEC sin Nou a a e aa 46 NXT NEXT arta tota 46 OR lt intl gt lt int2 gt Logically Bitwise OR A ants hacen use 46 POPA Pop Pointers nionee O e oa 46 PUP lt Pus bi Pointe ecer atine e RAS ERT E O E E adatom aves 46 RET R turn from CA Taco Si A EEE EEE EE A ENAT ES 47 RP Read Val c at Pointer omada E A 47 RV Sat Read Variable a AE 47 SP lt int gt Set Pointer to Program Spin it 47 SUB itl te SUB ACE tanda 47 SUP lt integer gt S btract Pointer sisien ir ein a E E E E aS 47 SAA EE WAI PPE E E E A E A E E E A RE E E N 47 WHL lt argl gt loop commands While LOOP ooooonoccnioccnocaconncionononnconnncnnncnonoconcconncconccnnos 47 WP lt int gt Write Value to Poio a deeateaniaasees 48 WV lt var gt lt int gt Write Y al a A eta 48 CentraliSystem Command o do aas 49 lt ESC gt A dort Interrupt Pro Mn a coin 49 ASESC gt GLOBAL ESCAPE data ii 49 AD ADO ASIS AA AS 49 Alc Acknowledge Mm A E 50 AKG ACKnOw edge a utlered cai icat seareccarads A A extend 50 ARO Address Read a A a 51 CR lt Ramp gt Checksum Ramp AA A A E ated iid uadat
13. a CyberVec n command where n is an HS 20USB address in order to select a different dialog partner That HS USB which is then said to be selected will enable its transmitter and all of the other HS 20USB s will disable theirs and enter standby mode unless executing a previously issued CyberVec command or commands During this period all normal transmissions from the host PC are assumed to be directed to the newly selected HS 20USB All of the other HS 20USB s in the system receive these transmissions but simply ignore them Likewise all transmissions received by the host are assumed to have originated from the newloy selected HS 20USB In some instances such as the global abort ESC a command sent by the host PC is responded to by all HS 20USB s in the system Status at Power Up SELECTED HS 20USB 0 ECHO MODE ON see EY and EN commands RAMP MODE OFF see RY and RN commands MOTOR POWER OFF see MPY amp MPN commands SELECTED RAMP O Cinternal LIMIT CHECKING OFF LIMIT MODE NORMALLY OPEN Special Characters Character Sequences A Take command argument data from the stack Output the result of a command to the serial USB port in text format rather than placing on the stack The number following is hexadecimal ESC Abort stops execution and clears input FIFO for selected HS 20USB ESC Global abort n Select HS 20USB with address n multi dropped system Command Parameters Arguments Most CyberVec comm
14. and acceleration of a given ramp table For examaple if the value of the prescaler is divided by 2 the base top rate and acceleration are doubled Example SR 16 Sets the prescale value to 16 STL lt Mode gt Stall Detect Enable Disable This command enables Mode 1 or disables Mode 0 a low cost stall detection functionality requiring that each motor shaft be equipped with a 180 degree interrupter that blocks an opto HS 20USB_REV_139 odt Rev 1 39 Page 33 of 61 interrupter for 50 of each revolution the output of each such optointerrupter being in turn connected to the corresponding axis index input This command enables or disables monitoring for all axes in unison Ifa stall is detected bit 80 hex ins SysFlags is set see QF Query Flags command in addition all axes are brought to a halt via ramping if in use It is necessary for the program to issue a HLT 1 instruction before any further movement is possible Furthermore if this feature is enabled and then disabled it is necessary to re enable encoder tracking by using the ENC command See HLT and ENC STM lt N gt lt Type gt lt Pin gt lt Time gt Set Timer This command activates one of the three 0 1 or 2 countdown timers maintained by CyberVec These timers operate with 0 01 second resoution and are capable of automatically causing a specifiable output pin to be toggled changed to the opposite setting when the countdown reaches 0 N is the time
15. command waits for the specified digitial input pin to go high before executing the next command lt Type gt Indicates which connector or method of reading connector J201 connector 1 2 3301 connector lt Pin gt Specifies the pin 1 26 to test Example You require a system to wait for a go signal from a PLC before initiating a move WPH 1 16 wait for signal on pin 16 of J201 to go to 5 volts v1 0 5000 Move motor 0 5000 steps HS 20USB_REV_139 odt Rev 1 39 Page 56 of 61 WPL lt Type gt lt Pin gt Wait For a Pin to Go Low Immediate This command waits for the specified digitial input pin to go low before executing the next command See also WPH lt Type gt Indicates which connector or method of reading connector J201 connector 1 2 3301 connector lt Pin gt Specifies the pin 1 26 to test HS 20USB_REV_139 odt Rev 1 39 Page 57 of 61 Internal Commands The commands in this section directly affect internal registers It is highly recommended that the general user not use these commands due to the unforeseen effects they could have on the CyberVec system These commands are more subject to change than the standard commands Most of these commands have to do with the details of step motor timing control With ramping enabled the rate specified in the R Rate command is the maximum stepping rate The start stop rate is determined by the characteristics of the ramp table The internal ramp t
16. pin 11 IF Statement OSS Inside called Program display RET return to caller end of program space segment This command may not be used outside a control loop structure and is generally used in conjunction with an IF statement as shown in the example below WHL 1 this symbol establishes body of while loop QM 1 if motion COM A change to if NO motion IF A BRK Break if no motion OSS Motion has stopped BRO lt Offset gt lt Table gt Branch on Offset into Table Immediate The first parameter represents an offset into the table in a data area specified by the second parameter Up to 100 values can be stored in the table One use for this is to BRO having the offset value come from the matrix keypad and the offset values stored in the data area table represent program numbers A key can then branch directly to its support program CAL lt Prog gt Call Program HS 20USB_REV_139 odt Rev 1 39 Page 43 of 61 Immediate Where lt Prog gt is an integer specifying the program number to execute The program called will normally have a RET instruction at its end and when the called program executes the return instruction execution will continue with the instruction following the call CLO lt Offset gt lt Data Space Call with Offset Immediate This command is similar to BRO but expects the destination program found at Offset into data space to be terminated with a return See BRO COM lt
17. trace out the hypotenuse Argument n which must immediately follow the V specifies the number of axes involved Two subsequent arguments are required for each such axis Axis specifies the axis address 0 1 2 or 3 and Steps specifies the number of steps to be moved along that axis The axes can be specifed in any order Example An application must generate a linear motion covering a distance of 750 steps along axis 0 3 000 steps along axis 1 and 1 500 steps along axis 2 and at a rate of 2 500 steps second R 2500 set rate v3 1 3000 2 1500 O 750 do specified vector move If the motors are to be run above their start stop speed typically about 1 000 steps second for size 23 motors with low inertia loads the larger step count s must be an even multiple of the smallest step count WTM lt N gt lt Time gt Wait for Timer Loads CyberVec timer N with intial countdown value of Time hundredths of a second then delays program execution until countdown has reached 0 See also STM and RTM X lt int gt Set Absolute Position Target for X Axis Immediate Sets absolute position target for axis 0 to int for subsequent GO command There must be no space characters embedded in this command See also GO U Y and Z Y lt int gt Set Absolute Position Target for Y Axis Immediate Sets absolute position target for axis 1 to int for subsequent GO command There must be no space characters embedded in this command Se
18. transmitted to the host DR lt Ramp gt lt Count gt Download Ramp Immediate Where Ramp indicates which ramp is being downloaded and Count specifies the number of elements integers that will be downloaded in the subsequent list The data for this command must be in a specified format The first number is the pre scale value This is followed by a 0 and then the ramp values After the ramp values are sent a terminating zero 0 is sent EN Echo No Immediate Terminates echo mode Following this command received characters will no longer be echoed to the serial USB port All commands that return data Alc AKc etc will still return their respective data See also EY Example You are using a program to send commands to CyberVec and do not want transmitted characters echoed back to the serial port At some later time you find a problem and wish to test it manually You would like to see your own typing so you must turn the echo function back on EN Set No Echo Mode during PC to HS 20USB comm v1 0 800 Move etc EY Set Echo Mode during operator interaction v2 0 800 1 400 Move AKA Acknowledge EY Echo Yes Immediate Enables echo mode Following this command all received characters will be echoed back to the serial USB port See EN Echo No for example FL Flush Buffer Immediate Clears the instruction buffer Does not affect the command that is currently being executed This command also resets to zero the
19. use of this address The following explanation will focus on the typical usage please consult CyberPak 800 328 3938 for possible variants on this basic scheme An HS 20USB reads its address select switch during power up Even though the switch has 16 different positions only address 0 through 7 are currently supported If there is only one HS 20USB in the system i e the RS 232 multi drop capability is not being used it is typically set for address 0 If there are several HS 20USB s in the system each must have a unique address The directly connected HS 20USB is typically given address 0 with the others assigned the sequential addresses 1 2 etc The basic CyberVec convention is that only one HS 20USB at a time has the privilege of engaging HS 20USB_REV_139 odt Rev 1 39 Page 22 of 61 in a dialog with the host PC At power up that privilege belongs to the HS 20USB with address 0 it will therefore enable its transmitter and issue a start up message Meanwhile all of the other HS 20USB s in the system if there are any will disable their transmitters and enter standby mode During this initial period all normal transmissions from the host PC are assumed to be directed to HS 20USB 0 All of the other HS 20USB s in the system if there are any receive these transmissions but simply ignore them Likewise all transmissions received by the host are assumed to have originated from HS 20USB 0 Thereafter the host PC must issue
20. used to document CyberVec commands AAA lt Arg1 gt lt Arg2 gt Command Name Buffered Immediate Beta Command description where AAA is the command code itself lt Argl gt and lt Arg2 gt are arguments where applicable and Beta indicates a command in the beta stage of implementation This is followed by a brief command description HS 20USB_REV_139 odt Rev 1 39 Page 25 of 61 CyberVec Commands Motor and Motion Control Commands AN Accelerate No Buffered Beta This command disables acceleration for subsequent moves Use this command to link several vector commands together to create a unique movement profile such as ramping up then running a distance without ramping down after the final move ANG lt Mode gt Set Angle Restriction Mode Immediate This command sets multi axis Vn motion commands to operate in a specific manner If Mode evaluates to 0 then each vector component will start and stop at the same time and be completed as a single axis move If Mode evaluates to 1 then the Vn command will execute a multi axis component of two or more axes to move in a 45 degree direction followed by a single axis move to complete the major component In the case where more than two axes are specified the greatest number of axes will move together the same number of steps followed by successive similar treatment of the remaining axes AY Accelerate Yes Buffered Beta This command enables acceleration f
21. 02 Power J501 Motor Indexing J201 Aux I O J301 Encoder J601 Solenoid Outputs J701 Cyber Psk Ca E 2006 J501 Power J701 Open Drain Output 6 Clearance JP501 Typ 4 PLCS voltage Select 5 okt Reg Mounted for Heatsink 0 75 Communications Introduction The USB interface of the HS 20USB operates in serial RS 232 emulation mode utilizing technology provided by semiconductor manufacturer FTDI www ftdichip com In this approach an FTDI chip HS 20USB_REV_139 odt Rev 1 39 Page 8 of 61 on the HS 20USB board and FTDI software on the host PC see Appendix A for installation instructions cooperate to make the USB link emulate a standard RS 232 connection Indeed the FTDI software on the PC end actually creates a virtual COM port which can be utilized by any PC application such as Hyperterminal as if it were a real RS 232 COM port As such it possible to use Hyperterminal to type CyberVec command strings into the HS 20USB for immediate execution Alternatively a PC program written in C or Basic can open a virtual COM port and send CyberVec commands to the HS 20USB for execution As a third alternative the CyberPak host utility HSL EXE HS Link can be used to 1 download a bulk CyberVec program to the HS 20USB for subsequent execution or 2 upload a CyberVec program from the HS 20USB for backup or editing on the host PC If an actual RS 232 COM port is available on the ho
22. 1 of 61 RTM lt N gt Read Timer Read the timer specified by N 0 1 or 2 and return the result to the stack See also STM and WTM for a full description of the Timer Subsystem RY Ramping Yes Buffered All move commands will execute using ramping after this command has been executed SAPU lt Position gt Set Absolute U Axis Position SAPX lt Position gt Set Absolute X Axis Position SAPY lt Position gt Set Absolute Y Axis Position SAPZ lt Position gt Set Absolute Z Axis Position This command set an absolute position in support of the X Y Z and U commands See also GO X Y Z and U commands SEP lt Axis gt lt Encoder Scale Factor gt Subtract Encoder Position Immediate The internal encoder register for the specified axis is divided using 24 bit integer math by the specified Encoder Scale Factor This scaled encoder value is then subtracted from the current motor position and the signed difference is placed onto the user stack Note If the result of the subtraction produces a difference result greater than 32767 or less than 32768 an overflow will have occurred and the result placed onto the user stack will be an ERRONEOUS VALUE This is quite unlikely when this command is used as intended Location tracking must be enabled See also LY CEP CE and QE commands SLC lt int gt Set Location Counter Immediate This command sets the Location Register to the specified 16 bit integer value Thi
23. 65535 DEC Example In a cutoff application a lead screw is used which has 5 threads per inch The step motor is driven in full step mode with 200 steps per revolution Each step in this system is 00025 inch or 4 steps per 1 1000 of an inch It is decided to have the operator enter the position of a stop using 001 inch units GIM 1 8 4 Get operator supplied coordinate off matrix keyboard MUL A 4 Compute number of steps X A Setup axis to position 5 GO Move to absolute target position NEG lt int gt Negate Immediate Command negates arg using twos complement arithmetic and puts the resulting value on the stack For example the NEG function of 100 is 100 See DUP instruction for usage example NXT NEXT Immediate Obsolete Close FOR loop PLEASE DO NOT USE THE FOR NXT CONSTRUCTION Instead use the curly brace construction The FOR NXT construction can not be nested OR lt int1 gt lt int2 gt Logically Bitwise OR Immediate Bitwise OR intl and int2 and place the result onto the stack See AND for example POP Pop Pointer Immediate Recovers data stack to the pointer See PUP or example PUP Push Pointer Immediate Pushes the contents of the pointer register onto the data stack Example PUP push the pointer onto the stack ADD A 4 add an offset of 4 to the pointer POP pop the new offset pointer HS 20USB_REV_139 odt Rev 1 39 Page 46 of 61 Caution Always keep track of your pushes and po
24. HS 20USB USER MANUAL Copyright 2007 Cyberpak Company Inc All Rights Reserved Revision Date July 2007 Revision 1 39 CyberVec Revision 5 67 HS 20USB_REV_139 odt Rev 1 39 Page of 61 Table of Contents O 7 A AN fi Man al Organization sssini iia aa a aa aia ae aa aa i aaa aaa aaoi 7 Hardware Reference Mana AN a une eaten hub ashlee Alan id 8 Conn ctor SUMMA cn cinco 8 COMU AOS a tii is 8 AAA O o 8 Communications Configuration Options ccccccccssesesecesseeeseeeeeeeeeceaeeeeeceaeeeseecsseceeeceaeeeeeenseeeseeenes 9 Host USB Port Direct Additional Attachments via USB Hub oooonnccninccnoccnoccconncconccconacanccinnonnn 9 Host COM Port Direct Optional RS 232 Multi DrOp oooooconoccnonaconccinnnconcconnaconccnonccnnccnnnacnos 10 Host USB Port Direct with Serial Multi Drop Expansi0OM ooconnnccnonoconccoonononcconnncnnncnononancconnn ns 11 Stand Alone with Optional RS 232 Multi DTOP oooonoccnoccnooccnoncconncnoncconcccnnccnn conan o concnnonncnnncnnnnos 11 RS 232 Connector J402 Pin DAA ia 12 Power Connector J501 Pin Definitions n nsssnssneosneesseeosseessessnessnotessessnsesseessneessorsssrenseesseessneessoes 12 Motor Control Connector J201 Pin DEAN can 13 Expansion Port Connector J301 Pin Defimitions ccceecceesseesseceseeeeseeeseeeeeceseceeeceseeneeenseeeeeenes 15 Analog and Encoder Interface Connector J601 Pin Definitions ooooonnccnnoconocaconccinncconnconncconccnnnccnnos 16 H
25. S 20USB firmware does not make direct use of this input You may also wish to use it as a general purpose input Rev 1 39 Page 16 of 61 Encoder Power The 5 volt Power Supply Source voltage and the Power Supply Ground pins may be used to power the circuit on each encoder High Current Sinking Outputs J701 Pin Definitions Pin Name Definition 1 External V User s power supply typically 24V 2 Output2 Sinking Output 3 Output3 Sinking Output 4 Output4 Sinking Output 5 Output5 Sinking Output 6 Output6 Sinking Output 7 Output7 Sinking Output 8 Output8 Sinking Output 9 Output9 Sinking Output 10 Ground Return These outputs may be used with small inductive or resistive loads such as pneumatic valves and small relays These outputs are NOT PROTECTED against shorts to the power supply positive All outputs may conduct at once The following wiring diagram shows an example of how J701 may be used To Power Suppy Return gt slo d ao eT a a 2 2 AE 3 S a z g 9 5118 g 5 vo ARRE lt 8 N O o 8 i Io zane Jumper Summary JP Name Definition 501 Logic Pwr Supply 1 2 5V regulated 2 3 8 12V unregulated positions 2 and 3 are closest to the 3 terminal 7805 regulator HS 20USB_REV_139 odt Rev 1 39 Page 17 of 61 CyberVec Reference Manual Overview CyberVec is a co
26. S20 via RS 232 multi drop Computer _ HS20 USB 1 Optional HS20 USB 2 RS232 HS20 USB X Stand Alone with Optional RS 232 Multi Drop In this configuration a computer is not needed The master unit can control slave units via the RS 232 interface Consult CyberPak for this configuration Of course slave units are not required a single HS 20USB can operate stand alone to control up to 4 step motors HS20 USB 1 HS20 USB 2 RS232 HS20 USB X Optional Master Slaves HS 20USB_REV_139 odt Rev 1 39 Page 11 of 61 Please consult CyberPak 800 328 3938 for assistance with multi drop configurations RS 232 Connector J402 Pin Definitions RS232 Header and Computer Serial DB9 Pinout J402 DB 9 Definition 3 2 Master Mode RxD Slave Mode TxD 4 7 RTS Loop Back to CTS 5 3 Master Mode TxD Slave Mode RxD 6 8 CTS Loop Back to RTS 7 8 9 10 1 4 6 9 N C 9 5 GND A host controller can be configured to use Pins 7 and 8 to verify cable plugged in To use this serial port you must configure your terminal or PC serial port to match these HS 20USB settings Select the port to be used and set for 8 data bits 1 stop bit no parity and a baud rate of 19200 The HSL EXE utility is preset with these attributes Power Connector J501 Pin Definitions
27. USB outputs a D when finished saving now cycle power to the HS 20USB C CYBERVEC V5 67EU PROG128 HS 20USB first outputs its banner HELLO WORLD it then automatically executes program GOODBYE in program space 0 Cif any Using the PC to Create and Edit CyberVec Programs CyberVec programs will quickly reach a size where it is easier to create and edit them on a PC with the programs then being downloaded to the HS 20USB for test and execution Inasmuch as CyberVec is text based CyberVec programs can be managed as simple text files on the PC with a separate text file for each CyberVec program space For example if you develop your application such that it occupies program spaces 0 1 2 and 3 the corresponding PC files could be named APP V000 APP V001 APP V002 and APP V003 It is critical that these program text files be created and edited with a Notepad type editor i e an editor which does not introduce non ASCII formatting codes etc Two other points should be kept in mind as well 1 the semicolon delimited comments shown in this manual are for instructional purposes only and must not be included in the CyberVec program text itself and 2 each CyberVec program segment must be terminated by a line containing a single period Following is the sample program above as it would appear as a PC text file HS 20USB_REV_139 odt Rev 1 39 Page 20 of 61 OSS HELLO WORLD OSS GOODBYE Downloading Programs f
28. able characteristics may be determined by the QT not yet implemented command You may generate your own ramp table in the HS 20 RAM by using the GR not yet implemented command Commands permit direct immediate control over the rate of the system step rate You may even to an extent turn off ramping and use the RI RU RD and QR commands to do your own ramping This requires a considerable understanding of some technical aspects of the internal workings of the HS 20USB CPU TIMER and is not recommended for most applications RI RU RD rate commands deal directly with the Z8 counter timer to determine the rate You must be knowledgeable about the Z8 hardware in order to make precise use of this feature This use is not recommended and may be prohibited in future releases PRE1 INT 7200 RATE 1 Tl 921600 PREI RATE T1 WILL BE NEAR 128 To combine these values into one 16 bit integer CTC PRE1 256 T1 CTC must be 16383 and RI CTC For rate sensitive applications these features can permit speed adjustments of better than 1 through much of the speed range of the High Stepper System ID Immediate Disable Immediate Disables step interrupt Effect dependent on instruction which was under execution at the time IE Immediate Enable Immediate Enables step interrupt Effect dependent on instruction which was under execution at the time QR Query Rate Immediate Immediately on receipt the current values in th
29. absolute target position registers for the X Y Z and U commands See AB abort for example PC lt Prog gt Program Checksum Immediate This command returns the checksum of the specified program See also PV Program Verify HS 20USB_REV_139 odt Rev 1 39 Page 52 of 61 PD lt Prog gt Program Dump Immediate This Command dumps the specified program to the serial USB port so that the user can verify the contents of program locations PL lt Prog gt Program Load Immediate This command loads all following data into the specified program data area The maximum number of bytes allowed in a program area is 250 A program must be terminated by the period character Example An application uses a sequence of moves several times and it is decided to store them in a program space The program is verified and a checksum recorded to verify the program is correct on future units PL 1 Command to load program into space 1 v1 0 1000 The program itself v2 0 1000 1 1000 Program terminator character Dump program to serial USB port l IPC 1 Also output checksum to serial USB port in print mode uo iw m PO Pop the Stack Immediate Command No arguments This command pops a value from the stack This value is not returned it is simply removed from the stack thrown away PU lt int gt Push Value onto Stack Immediate Pushes int onto the stack PV lt Prog gt Program Verify Immediate Compare th
30. am load command Conversely the PD program dump command will cause the contents of a particular program space to be output in text format by the HS 20USB via the terminal mode link And the PX command causes program execution to begin at the specified program space Each CyberVec program segment i e the program occupying one program space must be terminated by a text line consisting of a single ASCII period hex 2E Note that many of CyberVec programming examples shown in this manual are not complete program segments but rather a few consecutive commands extracted from a larger program hence they are not terminated with a period As a program is being stored into a particular space a checksum is computer for it and stored separately This provides a subsequent method for checking program validity All of the above described CyberVec program development and execution takes place in RAM The SAV 1 command can be then be used to store the complete set of 128 programming spaces to flash memory Upon power up the RAM program spaces are restored automatically from flash If program space 0 is then found to contain a valid CyberVec program as determined by recomputing its checksum and comparing against the stored value it is automatically executed This program will typically perform certain initialization housekeeping and will then invoke programs stored in other HS 20USB_REV_139 odt Rev 1 39 Page 19 of 61 spaces There is no requir
31. am segment illustrates one way to do this v2 0 3000 Send motor move wc Wait for move to complete B 1810 Output 1 low 0 bit to pin 8 of J201 in order to energize solenoid opto relay WOH lt Type gt lt Mask gt Wait On High Immediate This command waits for any of the specified digital input pins to go high before executing the next command This command works only with the J201 limit inputs 1 e Type must be set to 1 Mask is a bit wise value specifying which pins are to be tested 1 s and which are to be ignored 0 s The least significant bit of Mask corresponds to J201 pin 11 thus a Mask value of 07 would wait until any of the limit inputs for motor 0 and gone high J201 pins 11 12 13 before continuing with the next command See also WOL WPH and WPL WOL lt Type gt lt Mask gt Wait On Low Immediate This command waits for any of the specified digital input pins to go low before executing the next command This command works only with the J201 limit inputs i e Type must be set to 1 Mask is a bit wise value specifying which pins are to be tested 1 s and which are to be ignored 0 s The least significant bit of Mask corresponds to J201 pin 11 thus a Mask value of 07 would wait until any of the limit inputs for motor 0 and gone high J201 pins 11 12 13 before continuing with the next command See also WOH SPH and WPL WPH lt Type gt lt Pin gt Wait For a Pin to Go High Immediate This
32. ands require numeric parameters and these can be provided or specified in several different ways This is illustrated by the following examples of a command to move Motor 0 100 steps v1 0 100 specifies the distance in decimal v1 0 64 specifies the distance in hexadecimal V1OA specifies that the distance is to be taken from the stack HS 20USB_REV_139 odt Rev 1 39 Page 23 of 61 where it is assumed that 100 is on the stack v1 0 K4 specifies distance as contents of variable K4 which is assumed to be 100 v1 0 A specifies distance as ASCII numeric code for a Immediate vs Buffered Commands The HS 20USB CyberVec interpreter is built around two interleaved tasks 1 the buffered command processor and 2 the immediate command processor The terminology here is perhaps misleading in that one would think the immediate command processor to be the more time critical In fact it is the buffered command processor which is the real time interrupt driven task which performs time critical functions such as motion control It is referred to as the buffered command processor because the input to it is queued up for instantaneous contiguous availability like a stream of parts going into an assembly line The immediate command processor on the other hand performs non time critical tasks such as terminal I O during whatever time is left over between invocations of the buffered task Paradoxically such tasks often s
33. any CyberVec commands return their results on the stack Prefixing such commands with a character causes the result to be output in text format to the serial USB port instead of being placed on the stack in binary format HS 20USB Addressing For those systems containing only a single HS 20USB 1 e non multipdropped this manual section may be safely disregarded so long as 1 the HS 20USB is set to address 0 and 2 the HS 20USB is not accidentally de selected by issuing an n command where n is some digit other than 0 When an HS 20USB first powers up and assuming that it has not been pre programmed with a stored CyberVec command sequence it has no way of knowing whether it is a single HS 20USB directly connected to the host PC even if USB connected or merely one of several HS 20USB s multi dropped via RS 232 A related factor is that whatever the host PC transmits is simultaneously received by all of the HS 20USB s in the system 1 e an HS 20USB has no inherent method of knowing whether or not it is being talked to likewise everything transmitted by each of the HS 20USB s in the system is received by the PC host 1 e the PC host has no inherent method of knowing which of the HS 20USB s in the system has sent a given message In this environment it is important to understand the critical role played by the address assigned to each HS 20USB via its address selection switch and the CyberVec conventions surrounding the
34. ardware ID number built into each of its USB interface chips In the above illustration for example a virtual COM1 which can be used just as if it were a real COM port might be created and linked logically to the 1 HS 20USB board a virtual COM2 might be created and linked to the 2 HS 20USB and so on Host COM Port Direct Optional RS 232 Multi Drop If the host PC has an actual RS 232 COM port it can be used to communicate with the HS 20USB via the latter s auxiliary RS 232 port The RS232 connection is made using the 10 pin header J402 on the PC board and matching connections with a computer DB9 connector A DB9 to IDC10 adapter cable is needed for the RS232 connection to the computer Additional units may be multi dropped along this same RS 232 bus Each HS 20USB must be given a unique address in the range 0 7 via its address select switch HS20 USB 1 HS20 USB 2 Optional HS20 USB X Optional In this configuration a special although not expensive RS 232 multi drop cable is needed which ties together in parallel the TXD RXD and GND pins of each HS 20USB as shown following HS 20USB_REV_139 odt Rev 1 39 Page 10 of 61 HS 20USB HS 20USB HS 20USB 1 N 0 Please consult CyberPak 800 328 3938 for assistance with multi drop configurations Host USB Port Direct with Serial Multi Drop Expansion The first HS 20USB is connected to the computer with a USB cable Additional units are connected off the first H
35. by double quote marks to the serial USB port Example oss Hello world OUT lt x gt Output Number to Serial Port Immediate Outputs hex value lt x gt ito the serial USB port The number can be an immediate value or from the stack The following example reads from a 5 digit BCD switch and then sends the value to the sent to the serial port BCD 4 5 Put number on stack OUT A Output BCD to serial port QAX lt Analog Channel Address gt Query 8 Bit Analog Channel Immediate Reads one of the four analog input channels of the HS 20USB The channel address must be in the range 0 3 The 8 bit unsigned result between 0 and 255 is placed onto the user data stack QK Query Matrix Keyboard Immediate Put a TRUE or FALSE value on the stack depending on whether a key is pressed at the time of execution of this command Example QK test to see if key pressed IF A CAL 11 if yes branch to user options QSC Query Serial Count Buffered This command returns the number of characters that are present in the serial USB input HS 20USB_REV_139 odt Rev 1 39 Page 40 of 61 buffer to the data stack It performs this operation without taking the characters out or looking at them RDY Ready I O Immediate Enables all I O s once they have been conditioned via specific commands See IO HS 20USB_REV_139 odt Rev 1 39 Page 41 of 61 Arithmetic amp Logic Commands ABS lt Integer gt Absolute Value Immediate This com
36. ced option in the next window HS 20USB_REV_139 odt Rev 1 39 Page 60 of 61 27 In the next window use the COM Port Number scroll bar to select the desired new COM port number 28 Click OK to exit this window while preserving changes 29 Click OK to exit previous window while preserving changes 30 Close the Device Manager window HS 20USB_REV_139 odt Rev 1 39 Page 61 of 61
37. column number 0 15 Width specifies the number of consecutive cells to be cleared starting at this position prior to updating the display Value is the integer value to be displayed and DPP is the decimal point position from the right For example to display 1 000 in the upper left corner while clearing the entire top row DDI OO 16 1000 3 DE Display Enable Immediate This command must be executed to initialize the LCD display DI lt Row gt lt Col gt lt Width gt lt Int gt Display Integer Immediate Displays integer value on LCD display where Row specifies the display row number 0 top 1 bottom Col specifies the starting column number 0 15 Width specifies the number of consecutive cells to be cleared starting at this position prior to updating the display and Int is the value to be displayed DS lt Row gt lt Col gt lt Width gt lt String gt Display String Immediate Displays string on LCD display where Row specifies the display row number 0 top 1 bottom Col specifies the starting column number 0 15 Width specifies the number of consecutive cells to be cleared starting at this position prior to updating the display and String is the text to be displayed If String has fewer characters that the field width as specified by Width String must be terminated by a lt RET gt character For example to display HELLO in the upper left corner DS 0 0 5 HELLO FCF Flush Character FIFO Imme
38. commands contained in the curly braces are executed If the argument is FALSE the loop is exited at the close curly brace The WHL loop can be nested HS 20USB_REV_139 odt Rev 1 39 Page 47 of 61 Examplel A programmer wants to call a processing routine until a bit goes low 18121 Read bit and put on stack WHL A while pin is high loop CAL 2 call processing instruction 18121 read pin to test end of WHL loop Example 2 Exit when pin reaches state WHL 1 while TRUE endless loop 18121 read pin to test IF A RET return from this program back to caller use BRK in place of RET if you want to exit loop only end of WHL loop WP lt int gt Write Value to Pointer Immediate Write the value specified by lt int gt to the current position of the pointer See also RP IP DP and SP WV lt var gt lt int gt Write Variable Immediate This command writes a value to a variable location Variable locations are labeled A0 A7 Z0 Z7 for a total of 208 integer storage locations HS 20USB_REV_139 odt Rev 1 39 Page 48 of 61 General System Commands lt ESC gt Abort Interrupt Program The Escape character 27 or 1B hex is a special single character command which does a program abort and partial reset of CyberVec Unlike other commands ESC may be sent to CyberVec at any time even in the middle of another command Any partial command will be erased as will any commands waiting in the instruct
39. d the BCD data bits to 15 16 17 18 in ascending bit order Your program must read this switch and use the result to produce that number of reciprocating movements on one axis HS 20USB_REV_139 odt Rev 1 39 Page 38 of 61 IB 2 15 4 read the BCD switch as an integer value is put on stack FOR A use the value read off the stack for loop count v1 0 3000 move axis forward 3000 steps v1 0 3000 move axis backward 3000 steps repeat until count exhausted ILO lt Type gt lt Value gt Initialize for J301 Digital I O Immediate Initializes logic associated with connector J301 for digital I O Certain of the pins can be reprogrammed to act as inputs or outpus Caution Some application features require that the IO is committed to particular modes in order to support the application Examples of this are BCD switches the LCD display and the matrix keyboard lt Type gt is an integer specifying the connector or method of reading connector 2 3301 connector only legal value for this command lt Value gt specified the resulting I O configuration of J301 pins 81 1 8 output 11 18 output 24 26 amp 10 output 83 1 8 output 11 18 input 24 26 10 output 89 1 8 output 11 18 output 24 26 10 input 8B 1 8 output 11 18 input 24 26 10 input 91 1 8 input 11 18 output 24 26 10 output 93 1 8 input 11 18 input 24 26 10 output 99 1 8 input 11
40. de 36 DEX Display Cursor ES hoa boaas jade EA teense EEEO A E RE AAE EEEO 36 DDI lt Row gt lt Col gt lt Width gt lt Value gt lt DPP gt Display Decimal Integer cece 37 AN a e ae a e aa ae arie er ENSA 37 DI lt Row gt lt Col gt lt Width gt lt Int gt Display Integer oooonnccnnnccnoconooccnonnconccnonoconcconnnconccnnnccnnnos 37 DS lt Row gt lt Col gt lt Width gt lt String gt Display StlID8B oooconnncnnocnoncconccconnconncnonoconononnccnn conan 37 FCF Fl sh Ch racter FIROQ A A A 37 GCM Get Character from Matrix Keyra aiii dd 37 GCS Get Character from Serial Portaminas 37 GDM lt Row gt lt Col gt lt Width gt lt DPP gt Get Decimal MatrlX oooconnccnnocnnoniconccooncconcconnccnnncnnnos 38 GIM lt Row gt lt Col gt lt Width gt Get Integer from Matrix Keypad oooooocnncconocccocccoococoncconnonanonos 38 GIS Get Integer from Serial Po ba 38 GSM Get the Scan Code for a Matrix Keyboald ooooooonoccnnoconococoncconnnonononanoconccnnnn conca nanaconcnnos 38 IB lt Type gt lt Pin gt lt Width gt Input Bits anni an ca a 38 HO lt Type gt lt Value gt Initialize for J301 Digital O eee ceceeccesecseeeeeeeceeeeneceaeeneeeeeeeaees 39 OB lt Type gt lt Pin gt lt Width gt lt Value gt Output BS on ahs 39 OSC lt int gt Output Character to Serial Portu isa 40 OSD lt int gt Output Decimal to Serial Porte iccasccssnsesensvszeduayaesodiun sed into heseendoadeduagoates
41. diate Flushes all characters from the serial USB input character FIFO first in first out buffer The HS 20USB can issue this command to clear spurious or obsolete characters from the buffer before continuting to receive characters f rom the host PC See GCS and GIS commands GCM Get Character from Matrix Keypad Immediate Returns next character input from matrix keypad using the scan conversion table GCS Get Character from Serial Port Immediate Returns the next byte available from the serial USB input data stream HS 20USB_REV_139 odt Rev 1 39 Page 37 of 61 GDM lt Row gt lt Col gt lt Width gt lt DPP gt Get Decimal Matrix Immediate Reads integer in pseudo decimal format from matrix keypad and outputs on LCD display as it is being entered where Row specifies the display row number 0 top 1 bottom Col specifies the starting column number 0 15 Width specifies the number of consecutive cells to be cleared starting at this position prior to updating the display and DPP specifies the assumed decimal point position For example if DPP is set to 3 operator inputs of 1 1 0 1 00 and 1 000 will cause the same integer value of 1000 to be returned to CyberVec GIM lt Row gt lt Col gt lt Width gt Get Integer from Matrix Keypad Immediate Reads integer from a matrix keypad and outputs on LCD display as it is being entered where Row specifies the display row number 0 top 1 bottom Col specifies the star
42. drivers it must load and will probably display a warning message to the effect that the driver has not passed Microsoft certification If so press Continue Anyway Windows will now display a screen showing its progress in loading the driver When the driver has been completely loaded Windows will display a final Window Click Finish Repeat steps 6 through 13 to load the second driver To confirm that a virtual COM port has been created and to determine its identity first go to the Windows Control Panel Select Classic Mode to view the Control Panel if not already in that mode Click twice on the System icon Select the Hardware tab on the next window Select Device Manager from the next menu Windows will now build a list of the types of devices on your system Click on the sign next to the Ports COM amp LPT category Windows will display a drop down list of such devices One of the devices in this list should be HS 20USB COMn where n is some integer value typically 3 This port may be used by any PC application just as if it were a real serial port for communicating with the DPAK It is possible to change the number assigned to this virtual port in order to match that required by an existing application as long as the desired number does not correspond to an actual COM port Start by RIGHT clicking on the HS 20USB COMn identifier Select Properties from the subsequent menu Select the Advan
43. e PRE1 and T1 register are transmitted back as a hex word with the 6 bit value in PRE1 as the MSB QT Query Ramp Table Characteristics HS 20USB_REV_139 odt Rev 1 39 Page 58 of 61 Immediate Returns 4 hex digits the first two being the prescale value defined in the ramp table used on start up and the second two digits being the highest value in the ramp table which is used at top speed RD Rate Down Immediate Increments by one the timer constant in T1 resulting in slightly slower rate Inhibited if T1 is outside the range of 245 10 RH lt int gt Rate Home Immediate Set the rate at which the system moves a motor out from an axis home limit switch after having engaged it This rate must be within the start stop rate of your step motor mechanical system which is usually between 100 and 1000 steps per second maximum Actually the argument is in prescaler format The two low bits must be set to 1 s The high six bits determine the move out rate with the fastest rate being a small number and the slowest rate being all one bits RH FF is slowest and RH 13 is much faster RH 07 would be the fastest but is probably beyond the start stop rate of your motors and would not work Selecting different ramps SR 10 R 5000 for example may affect the speed you achieve with a particular value This command will be available soon with a normal steps per second argument will change soon RI lt int gt Rate Immediate Immediate A
44. e also GO U X and Z Z lt int gt Set Absolute Position Target for Z Axis Immediate Sets absolute position target for axis 2 to int for subsequent GO command There must be no space characters embedded in this command See also GO U X and Y HS 20USB_REV_139 odt Rev 1 39 Page 35 of 61 Input Output amp Control Panel Interface Commands This section contains commands that are used to control input output and specialized commands for working with the control panel interface Using these commands it is possible to read and write to the many I O ports write a string to the display or read a matrix keyboard Some of these commands are specific to a particular type of device CyberVec supports device drivers for various types of displays keyboards and BCD interface schemes Some of these have evolved due to a direct request from a particular customer We can most likely add a hardware driver to interface to the device of your choice for a small fee We will maintain application notes to describe supported devices Ask The keyboard matrix display subsystem uses a scan code to character conversion table You may require customization of this table to match your keyboard overlay An application note is available describing the BCD interface BCD lt Type gt lt Pin gt lt Switches gt Read BCD Immediate Reads 4 bit BCD thumbwheel switch es via HS 20USB digital interface lt Type gt is an integer representing the locatio
45. e application Note For very fast PC s a Hyperterminal parameter setting the delay between each character transmitted might need to be increased Programming Environment Advanced Topics In addition to being used for program storage the program spaces can also be used for the storage of tabular data This data like the programs themselves can be saved in flash via the SAV1 command and is likewise automatically restored from flash upon power up In addition to program RAM there are two other RAM areas that can be explicitly saved to flash memory and that are automatically restored from flash during power up 1 Ramp motor accelerate decelerate curve storage 2 and named variable storage The commands for saving these to flash memory are respectively SAV 2 and SAV 3 One does not have to depend on a power up to restore the various RAM areas from flash This can be HS 20USB_REV_139 odt Rev 1 39 Page 21 of 61 done explicitly with the RES 1 RES 2 and RES 3 commands which respectively restore program ramp and variable RAM The SAV and RES commands are typically executed in interactive terminal mode during the software development process Inasmuch as flash memory supports only a limited number of write cycles though this number is in the millions the SAV command should not be embedded in a CyberVec program loop The CyberVec programming environment also includes a stack along with the typical types of stack operations M
46. e host PC and the selected HS 20USB is basically an ASCII terminal mode dialog although as noted the host end of the dialog can be generated by a BASIC or C language program rather than a human operator Given that you have your PC connected to the HS 20USB via a virtual see Appendix A or actual comm port a program such as HyperTerminal one of the Windows accessories can be used to make your PC emulate a terminal each character you type on the keyboard is transmitted to the HS 20USB anc each charcter transmitted by the HS 20USB is displayed on your screen If the HS 20USB auxiliary RS 232 port is being used to connect with the PC host the host COM port must be set to 19200 baud 8 data bits 1 start bit 1 stop bits and software flow control 1 e XON Ctrl Q XOFF Ctrl S The CyberVec interpreter can be switched via the EY and EN commands between echo and non echo mode The former is more appropiate for the human operator who needs feedback while typing the latter is more appropriate when the CyberVec commands are being generated by a C or BASIC program HS 20USB_REV_139 odt Rev 1 39 Page 18 of 61 The CyberVec dialog is stream oriented as opposed to line oriented in other words the HS 20USB will in many cases act upon a meaningful sequence of characters before it has received a RET character The ASCII RET key from the old Teletype carriage return is usually labeled ENT or ENTER on PC keyboards and is s
47. e recomputed checksum of the program in space Prog with its stored checksum Ifthe results match then the program is most likely intact and executable and a TRUE is returned to the stack Example PV 3 F verify program in space 3 IF A PX 1 if program is OK then execute program 1 OSS Program 3 has bad checksum othermi se output err message exit stop running application program PX lt Prog gt Program Execute Immediate Execute program in specified space under the assumption that a valid CyberVec program has been previously stored there HS 20USB_REV_139 odt Rev 1 39 Page 53 of 61 Example We have previously installed a program in space 1 v1 0 1000 Start of program a total of three moves v2 0 1000 1 1000 v2 0 1000 1 1000 required program terminator To start execution from interactive command mode we send the following command to the HS 20USB PX 1 QF Query Flags Immediate Returns the master status byte wherein a 1 bit indicates an internal condition which existed however briefly Using this command resets all bits back to zero until a condition sets them again so if you must test for multiple bits you must save the value returned by QF into a variable for re use Bit Meaning 0 Instruction FIFO was full on a write attempt This is not an error but means the commands are being sent faster than they can be executed or queued 1 Character FIFO has over flowed and data has been lost This
48. eem to be performed immediately because they are not part of the time critical queue being fed to the buffered processor hence the designation immediate commands CyberVec commands can thus be divided into the buffered or immediate category and are so designated in this manual With this background consider the following CyberVec program RY Set ramp mode on R 5000 set rate to 2000 steps per second v1 0 10000 issue move command D 2000 delay two seconds OSS DONE output the string DONE to the serial port This example probably DOES NOT work the way the programmer intended The programmer probably wanted the DONE string to print 2 seconds after move completion However DONE is printed immediately after the move is initiated The reason is that V1 move and D delay are buffered commands whereas OSS output string is an immediate command and the immediate command processor task will probably be able to execute it long before the buffered commands are completed To accomplish what the programmer intended one would merely need to insert a WC wait for clear command into the above program as follows RY Set ramp mode on R 5000 set rate to 2000 steps per second v1 0 10000 issue move command D 2000 delay two seconds hee WC wait for subsystem to finish f OSS DONE output the string DONE to the serial port The WC command is an immediate command which waits for completion of the buffered commands
49. ement Immediate The commands bracketed by curly braces will be executed the number of times specified HS 20USB_REV_139 odt Rev 1 39 Page 44 of 61 by the iteration count parameter argl Zero skips over the loop commands without executing any of them The FOR loop may be nested Example Reciprocate a motor axis 10 times FOR 10 use value from BCD switch for iteration count v1 0 1000 move motor forward v1 0 1000 move motor backward See also BRK and RET GT lt int1 gt lt int2 gt Greater Than Test Immediate Where intl and int2 can come from the stack or be immediate values TRUE is returned if intl is greater than int2 otherwise FALSE is returned Examaple Execute a move only if a BCD switch value is greater than 100 BCD 4 4 Get BCD value GT A 100 Is it less than 100 IF A v1 0 1000 If TRUE move IDV lt Numerator gt lt Denominator gt Signed Integer Divide Immediate Where the operation intl divided by int2 is performed int1 int2 and the result of this operation is placed on the user data stack NOTE This is a signed divide See also DIV IF argl optional true clause optional false clause y If Conditional Statement Immediate Where arg is a Boolean value of either TRUE not zero or FALSE zero The curly braces contain the instructions to execute arg equals TRUE and or an optional else clause If arg is TRUE then the instructions contained after the open curly brace
50. ement that HS 20USB applications occupy consecutive program spaces it is perfectly legal for example to have an application that lives in program spaces 0 1 2 and 117 The only thing to keep in mind is that if you want your application to auto start on power up the initialization segment as noted above must reside in program space 0 Following is a typical dialog 1 to enter a two line CyberVec program which simply outputs HELLO WORLD and then GOODBYE 2 to verify that the program has been correctly entered by a having it re output to the serial port and b actually executing the program and 3 to save the program to flash memory When the power is cycled on the HS 20USB the program is then executed automatically User input in shown in bold face and lt ENT gt indicates the Enter key Keep in mind that the semicolon delimited comments cannot actually be sent to the HS 20USB PL O lt ENT gt OSS HELLO WORLD lt ENT gt OSS GOODBYE lt ENT gt lt ENT gt PD O lt ENT gt OSS HELLO WORLD OSS GOODBYE PX O lt ENT gt enter the cmnd to execute the prog O space HELLO WORLD the program is executed by the HS 20USB GOODBYE SAV 1 lt ENT gt enter the cmnd to save pograms to flash set to enter a program for space 0 enter a simple print command enter a second print command the program must be terminated by a enter the cmnd to dump the program O space the program is output by the HS 20USB D HS 20
51. eneral I O you would issue the following CyberVec command LM 1B6 The default on power up is to enable all limit functions Limit Mask 0000 LN Location No Immediate This command disables location tracking see LY LY Location Yes Immediate This command causes CyberVec to keep track of the number of steps each axis 0 to 3 takes in internal registers This information can be read using the QLn Query Location command This function causes significant processor overhead thus lowering max achievable performance Location tracking is normally not needed inasmuch as a well designed step motor system will consistently move the number of steps specified MPN lt Axis gt Motor Power No Immediate This command disables power to the specified motor See E0 El commands which must be used prior to MPN MPY to ensure they work correctly MPY lt Axis gt Motor Power Yes Immediate This command enables power to the specified motor This command MUST be used even if you are not using the motor power enable output pin It sets up an internal mask which dedicates the proper step output pin to step pulse train use See E0 El commands which must be used prior to MPN MPY to ensure they work correctly QE lt Axis gt lt Scale Factor gt Query Encoder Position Register Immediate Read the specified encoder position register and output to the serial port in 24 bit hexadecimal format QES lt Axis gt lt Scale Factor gt Query
52. equence like the one in the following example RY ramp yes RCY run continuous yes v1 0 500 Single component vector RCN run continuous no RN Ramping No Buffered All move commands will execute without using ramping after this command has been executed Step motors cannot start at high speeds Therefore ramping must be used to start motors when high speeds are required Ramping starts the motor slowly and then increases or ramps up to the desired rate RQ lt int gt Rate Quick Immediate This command is identical to the buffered rate command R except that it is an immediate command This command can be used to change the motor rate while the motor is running Example An application requires that the motor be run at two speeds depending on whether an input indicates high speed or low speed Note RQ 0 will cause a current move to halt by ramping down with no location counter position loss PROGRAM 1 RCY Select run continuous mode RY Select ramp mode R 2000 Initially set low speed v1 0 1000 Doesn t matter how many steps since we are in run continuous PX 2 Now execute program 2 E end of program segment PROGRAM 2 IB 1 26 1 Check port 1 pin 26 for hi low speed switch IF A RQ 4000 Px 2 If input 1 then speed 4000 and repeat prog 2 RQ 2000 Otherwise set rate to 2000 PX 2 and repeat program 2 if input is low end of program segment HS 20USB_REV_139 odt Rev 1 39 Page 3
53. igh Current Sinking Outputs J701 Pin DefinitiONS oonoccnnnccnonaconccooncnoncconnaconccnonocan crono ncon ccoo ncnnnno 17 A e 17 Cybery ce Reference Manta A id 18 O A a A a 18 CyberVec Dialog Character re 18 The Basic Programming EOI A AA suteduas ited ine eineasiex 19 Using the PC to Create and Edit CyberVec PrograMS ooooonoccnocccooccconcconncnoncconnnnonocnn conan oconcnnnnn cnn ncnnnn ns 20 Downloading Programs from the PC to the HS 20USB oooccniccccococonccoonoconnconnnconccnonocnnncnnnoconcconncnnnnos 21 Programming Environment Advanced Topic usina id dica 21 ES LUISA A O A iO 22 Status at O O O dare ie 23 Special Characters Character SEQuenCes ri dos 23 Command Parameters Aro mine nis ss ydonieses gars iaseanecasa a dd 23 Immediate vs Buffered C Gmina si tiscss bine co redal cee bah Gea dealisath ales Uostedahavacesude eeacdats 24 Command Documentation ASSUMPTIONS cccccccceesseesseeeseeeseeeeeceseeeueceseeeeeceseeeaeceaeeeeesnaeeneeeeeaeees 25 Command Documentation F OTM at cis ssscscecccesatensiasencesbatece ether taiove its 25 Cyber Vec Commands riesumare n a a 26 Motor and Motion Control Commands ssesesseeeseseeseeeseseeseessesetsssssresressessressesstestessessresressessresees 26 AN Accelerate No Ela acts 26 ANG lt Mode gt Set Angle Restriction Mode iiic scasessssacstecasecsssceenccanetunatevstaentaesoncssocenneceuntens 26 AY Agcil rate Y Er arin a eaa ven a E e e E E N eaii ath 26 CE lt Axis gt
54. ion FIFO is empty maybe due to a previously issued flush command FL all activity will halt Otherwise the next instruction in HS 20USB_REV_139 odt Rev 1 39 Page 49 of 61 the instruction FIFO will be executed Caution If a ramping command is under execution steps will be lost as a non graceful not ramped down halt will occur Example The HS 20USB is being used in a system that provides the operator with a non emergency stop button The Control program accomplishes this stop by executing the following command sequence FL Flush Buffer AB Abort Current Command This sequence of commands flushes the buffer erasing the commands within and aborts the current command bringing the system to a stop DO NOT USE THIS COMMAND AS YOUR SAFETY EMERGENCY STOP but instead kill power to the motors via a reliable hardware scheme Alc Acknowledge Immediate Immediate Transmit character c to HS 20USB serial USB port Equivalent to an OSS command with a single character string There is a buffered version of this command see AKc the two of which can be used in combination to monitor the progress of buffered motion commands Example v2 1 2000 0 500 First move buffered v1 0 800 Second move buffered v3 1 2000 O 1000 2 500 Third move buffered AIr gt HS 20USB will transmit r to indicate it has received buffered move commands AKd HS 20USB will transmit d to indicate it has completed buffered moves AKc Ack
55. ion buffer Additionally the ESC forces any motion to be halted including the MOVE OUT portion of a limit switch action This means that you will have to reset the limit enable LE instruction for each axis in order to resume after your program halts The escape character stops motion and re synchronizes communications The following states variables are affected e System stack is reset Control data stack is reset User data stack is reset Character fifo s input amp output are cleared Run continuous mode is canceled Limits are disabled Any executing motion instruction is ABORTED Active Motor Flags are Cleared System interrupts are COMM MOTION enabled Program mode is canceled IF SKIP BIT is cleared used in skipping IF false instructions Trigger output functions disabled Slow Mode is Disabled e Step rate timer is restored All other System settings are unaffected by this control character See also ESC AB and FL DO NOT USE THIS COMMAND AS YOUR SAFETY EMERGENCY STOP but instead kill power to the motors via a reliable hardware scheme lt ESC gt GLOBAL ESCAPE Sending this two character sequence will abort all user programs running on all HS 20 indexers on the network See ESC above DO NOT USE THIS COMMAND AS YOUR SAFETY EMERGENCY STOP but instead kill power to the motors via a reliable hardware scheme AB Abort Immediate This command aborts the command in progress If the instruct
56. ion target which has been previously been set using the X Y Z or U commands As of this version the moves will be executed one axis at a time and in order by axis address The FL flush command resets all absolute positions to zero HLT lt Axis Mask gt Halt Motor Axis Immediate Begins stopping the motor s specified by the the axis mask as soon as this command is executed If more than one motor is involved in the current movement and the HLT command is use to halt just one axis the entire vector will ramp down to the start stop rate of the major axis the specified motor will be halted and then the rest of the motors involved will ramp up again to finish the movement The axis mask is in the format hhhh where h represents a digit 0 or 1 You must always specify all digits and you must specify the symbol prior to the argument Example HLT 1010 stops motors at addresses 1 and 3 HS 20USB_REV_139 odt Rev 1 39 Page 27 of 61 JD lt a gt lt b gt Joystick Digital Control Mode Begin Immediate This command initiates joystick style control with optional limit switch input of the pair of axes specified by the hex digits a and b appended directly to the letters JD It is assumed that these two axes have been interfaced as per the J201 section of the Hardware Reference Manual A third switch may be connected to the INDEX input of the b axis which when closed causes CyberVec to exit from joystick mode RCY
57. is an error which may cause subsequent commands to be misinterpreted Your program did not observe the XON XOFF protocol 2 Step over run flag indicates that the commanded step rate was greater than the rate at which CyberVec was capable of running 3 An illegal instruction was sent to CyberVec If you don t think that you sent an illegal command perhaps there was a missing argument or illegal argument to the instruction or a communications error 4 A limit switch closed during a previous move This signals can be read to determine if there was an over travel by any axis during a move 5 Internal Error 6 Internal Error 7 Stall Detect true when set to 1 QI Query Instruction Count Immediate This command returns the count of buffered commands awaiting execution QS Query Sense Limit Inputs Buffered This command echoes the status of the limit switch checking function of CyberVec Ifa limit switch has been closed this function will return a data mask representing which axis limit a switch closed on An integer is returned with one bit set for each axis with axis 0 in the least significant bit axis in the next least significant bit and so on The bit value does not indicate whether it was the CCW or CW limit which was closed Using this command to read this data clears this data This command may be used after QF in which a set bit 4 indicates that a limit switch has closed but does not tell you which one HS 20USB_REV_139
58. is gt lt Scale Factor gt Set Motor to Encoder PoOSItION oooocnoccnocaconccoonnconnconncconccnnnos 33 SR Ramp ID Select RAT a dE 33 STL lt Mode gt Stall Detect Enable Disables acoicio snoot caos e dado condeaesersedassaeash 33 STM lt N gt lt Type gt lt Pin gt lt Time gt Set PIM L ss 34 TR1 lt data space gt lt pin gt Trigger Pulse Enable Channel Fl oonconnconicniconicinocinccnnncnancnncnnnon 34 TR2 lt data space gt lt pin gt Trigger Pulse Enable Channel HL oocoocnccciciccnocanoccncconnonrnconanonon 34 U lt int gt Set Absolute Position Target for U Ax18 veacintonacondios caninas n dd aa dais 35 Vn lt Axis gt lt Steps gt lt Axis gt lt Steps gt Vector Relative MOVe ooooconocnnncononccioncconncnnnannos 35 WIM lt N gt lt Time gt Wait for TIM A O a E 35 X lt int gt Set Absolute Position Target for X AXIS cc cccscsssrcsscssetscssreseecescesenseesessenceesees 35 Y lt int gt Set Absolute Position Target for Y AXiS oooonccnncononccnoncconcconnccnnncnnoron crono cnn nonnnonnnno 35 Z lt int gt Set Absolute Position Target for Z AXlS oooooocnoccnnoconocaconccoonoconccnnnoconccnnoconccnnncconccnnss 35 HS 20USB_REV_139 odt Rev 1 39 Page 3 of 61 Input Output amp Control Panel Interface Commands cece eeseesceseeeeeeseceseeseeeeeceseceeeeeeeseesneeaeenaee 36 BCD lt Type gt lt Pin gt lt Switches gt Read BODA tres diene ta seas eegitaad 36 DCN Display CONO o
59. le which is named HS 20USB_XP_20000_DRIVERS ZIP Exit from your browser and confirm that this file was correctly downloaded probably to your desktop It should have an unzipped size of approximately 380 KB Create a folder on your PC for example C HS 20USB_ DRIVERS and unzip the contents of the dwonloaded folder to it You should end up with a folder containing approximately 16 files the first of which is CDM 2 00 00 Release Info doc We will refer to this as the Driver Folder We will actually be loading TWO drivers from this folder one for the USB link itself and a second which provides the virtual COM port Plug the USB cable from the host PC into the CyberPak electronics It is NOT necessary to have the CyberPak electronics powered up at this point inasmuch as the USB interface portion of the CyberPak electronics is powered via the USB cable itself The Windows New Hardware Wizard will pop up Select No not this time to inform it that you wish to locate the appropriate drivers yourself Click Next In the next window select Install from a list or specific location Advanced then click Next In the next window select Search for the best driver in these locations then click Browse In the next window browse to the Driver Folder selecte it then click OK Upon return to the previous window the path to the driver folder should now be displayed Click Next Windows will find the first of the two
60. lute motor position register for the specified axis to the absolute position value in the encoder register as scaled via the specified scale factor SR lt Ramp ID gt Select Ramp Buffered Specifies the ramp accel decel curve to be used for subsequent ramped moves Ramp ID must be an integer in the range 0 15 however storage for only one internal ramp 0 and two external ramps 10 and 11 has currently been implemented It is important to re set the rate when a new ramp table is selected If the rate is not set following a SR command the following moves will occur at unpredictable speeds since an element of the ramp is used to compute internal parameters to achieve the specified speed Example You require a customized ramp table You may generate this customized ramp table using the GR EXE generate ramp not implemented yet program which permits you to specify start stop speed maximum speed acceleration and ramp type You would then use Hyperterminal to download the ramp to HS 20USB ramp area 10 You could then use the following CyberVec program to test the new ramp parameters SR 10 Select ramp A 10 D R 5000 Set rate 5000 must be lower or equal to Max ramp value specified in GR EXE v1 0 30000 Move 30 000 steps using new ramp Note Using a negative parameter for this command has an entirely different effect it loads the timer prescale value with the absolute value of the specified integer This shifts the rate
61. mand converts the Integer to a positive number if it was a negative number and does no conversion if it was a positive number In both cases the resulting positive number is placed onto the stack ADD lt Valuel gt lt Value2 gt Add two Values Immediate This command adds two 16 bit values and places the result on the stack The values can be specified individually or from the stack The individual numbers and the result must be in the range of FFFF 0000 65535 0 ADP lt Integer gt Add to Pointer Immediate Add the offset value specified by integer to the pointer Use this command to help index into data tables See also RP WP SP and SUP AND lt Integer1 gt lt Integer2 gt Logically Bitwise And Two Values Immediate This command ands two 16 bit integers in a bitwise logical operation and places the result onto the stack Example Assume that the variable B7 contains 4C81 and the following instruction is performed AND B7 FFOO The value 4C00 is left on the stack BIT lt Value gt lt Bit gt Bit Test Instruction Immediate This command tests the bit specified by B in Value and returns to the stack TRUE if the bit is 1 and FALSE if the bit is 0 Bit must be between 0 and 15 This command must be terminated Example bit A6 3 would return TRUE if the bit at 08 is set i e 1000 BRK Break Out of Program Loop Immediate This command is similar to the C language break statement in that 1t ca
62. mplete text based language for controlling the operation of a step motor system As such it includes not only motion control commands but also commands for digital and sensor I O control panel I O arithmetic and logic branching and looping host PC terminal style I O and program management In total the CyberVec language includes more than 150 separate commands An interactive CyberVec interpreter forms the core of the HS 20USB firmware As such the term CyberVec as used herein can refer not only to the CyberVec language but also to this interpreter and by extension to the HS 20USB itself For example if this manual states that CyberVec provides 128 separate program spaces numbered 0 through 127 what is really meant is that the HS 20USB acting in its capacity as a CyberVec interpreter provides 128 separate program spaces numbered 0 through 127 As with the BASIC programming environment the HS 20USB CyberVec interpreter can execute commands interactively as they are presented via the USB or RS 232 interface or the interpreter can accept a complete CyberVec program and store it in flash memory for subsequent 1 e upon power up execution Note also that the CyberVec commands downloaded to the HS 20USB do not have to be entered by a human operator quite often for example they are generated by a C or BASIC language supervisory program running on the host PC CyberVec Dialog Characteristics The dialog between th
63. n and arrangement of the BCD switches Current values are 1 will read direct interface BCD switch es on J201 17 11 Uses multiplexed switches on J201 18 12 Uses multiplexed switches on J301 Type 1 is practical for only 2 3 digits Types 17 or 18 can support up to 16 BCD switch digits It is possible to support more 256 with simple outboard hardware Contact factory if you require more than 16 BCD switches lt Pin gt is the pin address 1 26 of the least significant bit of the least significant digit to be read BCD always uses the lowest numbered switch as the least significant digit lt Switches gt is the number of BCD switches to be read expressed as an integer Example It is required to read four BCD switches starting at pin location and then to move axis zero the number of steps specified by these switches BCD 12 1 4 Read 4 BCD switches Result goes on stack E v1O0A Move axis O the distance from BCD switches DCN Display Cursor No Immediate Turn off the blinking display cursor for the LCD display DCY Display Cursor Yes Immediate Turn on the blinking display cursor for the LCD display HS 20USB_REV_139 odt Rev 1 39 Page 36 of 61 DDI lt Row gt lt Col gt lt Width gt lt Value gt lt DPP gt Display Decimal Integer Immediate Displays integer value on LCD display in pseudo floating point format where Row specifies the display row number 0 top 1 bottom Col specifies the starting
64. n the clockwise direction If limit checking was enabled this axis will stop and move in the HS 20USB_REV_139 odt Rev 1 39 Page 13 of 61 counter clockwise direction as stated under the limit enable command in the indexer controller manual The NCL instruction reverses the definition of this input CCW Limit When pulled low this motor input signifies that a limit of travel has been reached in the counter clockwise direction If limit checking was enabled this axis will stop and move in the clockwise direction as stated under the limit enable command in the HS 20 indexer controller manual The NCL instruction reverses the definition of this input Following is a diagram showing how joystick and limit switch imputs could be wired into J201 oo El a o x Tmo0 Tmo punowy Limit Switches p q Figure 1 16 Joystick amp Limit Comection It is possible to choose normally closed or normally open axis limit switches If the former one MUST take the precaution of grounding making appear normally closed any unused inputs for any axis which runs with limits enabled LE CCW CW or INDEX inputs of connector J201 See CyberVec NCL Normally Closed Limits command If operating with normally closed switches unused inputs are pulled high on the circuit board so nothing needs to be done with them HS 20USB_REV_139 odt Rev 1 39 Page 14 of 61 Expansion Port Connector J301 Pin Definitions
65. nowledge Buffered Buffered Transmit character c to HS 20USB serial USB port This is the buffered version of the Alc command This command can be used to signal the host when a series of buffered moves is completed or to construct one s own protocol Example 1 You have a program that sends commands from a text file It sends commands faster than they can be executed and the buffer overflows To correct this problem you must change your program to wait for a specified signal before sending the next command v2 0 2000 11000 Initiate buffered move AKd HS 20USB transmits d when buffered move done Example 2 An application requires the system to move an X Y table at a 45 degree angle Upon completion of this move a pneumatic valve must be opened and the X Y table must immediately reverse the 45 angle v2 0 1000 1 1000 Move at 45 AKa Acknowledge v2 0 1000 1 1000 Reverse 45 HS 20USB_REV_139 odt Rev 1 39 Page 50 of 61 The commands are sent to the HS 20USB in a burst all at once While the first command is being executed the rest are decoded and buffered When the first move finishes the Hs 20USB transmits an a When the host computer receives the a it generates a signal on its parallel port to open the pneumatic valve Meanwhile the HS 20USB has begun the reverse 45 degree move AR Address Read Immediate Command This command reads the value of the address switch and stores the value on the stack CR lt Ram
66. o referred to elsewhere in this manual Likewise CyberVec will in many cases not output a RET LINE FEED sequence where one would normally be expected See sample dialog below for examples With some exceptions the CyberVec interpreter is case insensitive 1 e it shouldn t matter whether commands are sent in upper case or lower case letters CyberVec maintains a fairly large input buffer 256 characters total The HS 20USB will automatically transmit an XOFF Ctrl S character if this buffer reaches its high water mark of 200 characters and will automatically transmit an XON Ctrl Q character when CyberVec processing has reduced the number of characters in this buffer to its low water mark of 150 characters The abort commands flush this buffer Comments beginning with a semicolon have been appended to many of the command lines shown in the examples below These are for instructional purposes only and must not be transmitted to an HS 20USB as it will attempt to interpret them as actual commands The Basic Programming Environment The HS 20USB CyberVec interpreter provides 128 separate program spaces numbered 0 through 127 each of which is able to store a short CyberVec program of up to 250 total characters A program in one space can chain to a program in another space or call it as a subroutine CyberVec statements sent to an HS 20USB in interactive terminal mode can be stored in a specified program space via the PL progr
67. odt Rev 1 39 Page 54 of 61 QV Query Version Number Immediate Returns the CyberVec version number in a special format where the high byte of the integer contains the major version number and the low byte contains the minor version number in BCD format Example An upgraded host PC software application can provide a special new feature on the machine if the HS 20USB system which controls it has CyberVec firmware with version 4 32 or later The host computer can determine which version firmware is in the control system without removing the machine electronics panel for inspection of the EPROM label by downloading the following command for execution Qv Assuming that the CyberVec version number is 4 33 the above command will cause the HS 20USB to trasnmit 0433 via the serial USB port to the host PC thus indicating that the new feature can be implemented Note the character preceding the command which causes the return value to be output to the serial USB port as decimal charater string rather than being put on the the stack as a binary value RES lt Area gt Restore RAM Immediate Restores the specified RAM area from flash memory where Area 1 specifies all 128 program spaces 2 specifies the user ramps and 3 specifies the named variables A D charcter for done is automatically transmitted via the serial communications link when the command is completed Note that all three of these RAM areas are automatically restored d
68. ol panel I O arithmetic branching and looping Features 4 axis control via external step and direction full or half step driver cards Can be used with any step and direction interface driver card including CyberPak s own CY 41 and or CY 42 Encoder support for each axis USB 2 0 interface operating in serial RS 232 emulation mode Auxiliary RS 232 serial port which can be used in place of the USB interface for host PC communication and or as a means of muti drop connectivity for up to 7 additional HS 20USB boards Module address switch for use in multi drop configurations Embedded CyberVec interpreter Direct control from PC or PLC via immediate execution of CyberVec commands Stand alone operation via execution of previously downloaded CyberVec program Non volatile FLASH storage for CyberVec programs and parameters 8 12 V unregulated or 5V regulated logic supply option 12 digital inputs with built in support for joystick limit switch control 4 8 bit analog inputs 8 open drain outputs which can drive relays solenoids and other small loads Built in support for a local control panel 10 key keypad LCD display thumbwheel Manual Organization This manual is divided into the following sections Hardware Reference Manual CyberVec Reference Manual Appendix A Installation of USB Driver Software on Host PC HS 20USB_REV_139 odt Rev 1 39 Page 7 of 61 Hardware Reference Manual Connector Summary USB J401 Serial Port J4
69. oncconncnnncconccnnnos 29 QES lt Axis gt lt Scale Factor gt Query Encoder Scaled ooooooninccnoncnioconococoncconncconccnonacancconnnonos 29 OL Aig gt Query LOMA iS 30 QLS lt Axis gt lt Motor Scale Factor gt Query Location Scaled ooooniccnnccinncnnocicocccoonononcconcnnnos 30 OM lt Axis gt Query Motion Statusiccccsseiscceseecditesaesigaetsetaoasiadssecesdecsnessactesdeceedesapiegsbeaesvecaucsiaetes 30 Remte aR eisai naea A in ao 30 RON R n Contin ous Nos nper i E 30 RCY R n CONTRO Yess nemi an e i aN Ear Gv te o EA ersa 30 RN FRATTON NO A A ds 31 RO int Rate Qui a A A aa 31 UN A o A A A O 32 RRA A ES 32 SAPU lt Position gt Set Absolute U Axis Position sesesesseseeseeesseseessssressessresressessresressessees 32 SAPX lt Position gt Set Absolute X Axis POSItION oooooconocnconccoonoconcconnnconncnnnoconcconnnconccnnnnninnos 32 SAPY lt Position gt Set Absolute Y Axis Position seseseseeseesesssseseessesressessresressessesressessees 32 SAPZ lt Position gt Set Absolute Z Axis POSItION ooooooconioconocaconcconononncononoconccnono conca ranaconennos 32 SEP lt Axis gt lt Encoder Scale Factor gt Subtract Encoder POSItION ooooonnnccnnncnnoconocnconncconacnnos 32 SLC xin Set Location Counter ls 32 SLD lt arg gt Slow Mode Divisor siii studs cca casiesvnes Magurdoadesiesticadevtiapchocd aundaesileasessnes ibas 32 SEN Slow Mode No a a a 32 BLY SOW Mode Ve a aio 32 SME lt Ax
70. or subsequent moves Use this command to link several vector commands together to create a unique movement profile CE lt Axis gt Clear Encoder Position Register Immediate This command sets the encoder position register for the specified axis to zero CEP lt Axis gt lt Encoder Scale Factor gt lt Acceptable Tolerance gt Compare Encoder Position Immediate This command reads the encoder position for the specified axis divides it by the scale factor using 24 bit integer math then determines if the resulting value is within the tolerance specified by the final argument If the encoder and motor positions match within and equal to the tolerance a TRUE value is returned to the user data stack otherwise a FALSE is returned to the stack Notes The tolerance is in motor step size units the location counting function must be enabled see LY command and both the encoder and the position counters must have been initialized see L and SEP commands CTP lt Axis gt lt Position gt lt Multiplier gt Compute Target Position Buffered This command permits specification of a 24 bit position using the 16 bit integer math of CyberVec Location tracking must be on See also LY L SAPX SAPY SAPZ and SAPU commands Only a single axis may be moved at a time using this command The move will start as soon as this command is issued HS 20USB_REV_139 odt Rev 1 39 Page 26 of 61 DN Decelerate No Buffered This command disables decele
71. p gt Checksum Ramp Immediate This command calculates and returns the checksum for the specified ramp table D lt Int gt Delay Buffered Delays specified number of milliseconds during buffered command processing Example You must move parts to a specific location allow time for them to be processed and then move them again v3 1 1600 0 800 2 400 First move D 1000 Delay exactly one second v2 0 3000 1 1500 Second move DD lt Prog gt Data Dump Immediate Dump the contents of program data space Prog to the serial USB port All 127 data values are dumped as 16 bit hex numbers See DL command for example DL lt Prog gt lt Count gt Data Load Immediate Load program data space Prog wiith list of numbers to follow where Count indicates how many numbers are to be expected A maximum of 127 is permitted Example Load program data space 7 with the following trigger points see Trigger command 2 3 100 245 300 and 0 DL 7 6 Load program space 7 with following 6 numbers 2 3 100 245 le DD 7 sont by dumping Cybervec output will be as follows 0003 0064 00F5 012C 0000 HS 20USB_REV_139 odt Rev 1 39 Page 51 of 61 DOB Dump Output Buffer Immediate In multi drop mode command responses are stored in a buffer and are not output to the serial port as these characters would otherwise be lost When you select an indexer then issue this command and all characters which are in the buffer are then
72. pplies the MSB of the hexadecimal argument to PRE1 and the LSB of T1 CAUTION For the high and low bytes 0 64 and 0 256 respectively RS lt int gt Rate Slew Immediate Sets the minimum T1 value The motor will ramp up or down to attain the speed set by xx Smaller xx values result in higher speeds Use this command where dynamic speed control with ramping is required RS 0 is a special case whereby a vector in progress is ramped down to the start stop speed then terminated An additional side effect of this is that the firmware will continue to gobble up instructions from the instruction fifo but will in effect not execute the movement instructions in it The behavior of this side effect is subject to change in future releases RU Rate Up Immediate Decrements by one the timer constant in T1 resulting in slightly faster rate Inhibited if T1 is outside the range of 245 10 HS 20USB_REV_139 odt Rev 1 39 Page 59 of 61 APPENDIX A Installation of USB Driver Software on Host PC SI AA 12 13 14 You should now find yourself back at your Windows desktop 16 17 18 19 20 21 22 23 24 Select the Port Settings tab in the next window 26 Go to the Support page of the CyberPak web site www cyberpakco com With the assumption that you are running Windows XP or Windows 2000 click on HS 20USB XP 2000 Driver Software Your browser shoud then give you the opportunity to download the target ZIP fi
73. ps See also RP WP IP DP SP amp POP RET Return from CAL Immediate This command returns to the command after the previous CAL Example IN PROGRAM 2 CAL 9 call program 9 OSS Has returned this executes after program 9 finishes PROGRAM 9 OSS Program 9 hello from program 9 RET returns to program 2 or whoever called i end of program 9 RP Read Value at Pointer Immediate Read value at pointer and place it onto the stack See also WP IP DP SP PUP and POP RV lt var gt Read Variable Command This command reads a value from a variable location Variable locations are labeled A0 A7 Z0 Z7 for a total of 208 integer storage locations SP lt int gt Set Pointer to Program Space Immediate Set pointer to base of a data area specified by int which must be a legal program data area number See also WP IP DP RP PUP and POP SUB lt int1 gt lt int2 gt Subtract Immediate This command subtracts int2 from intl and places the result on the stack SUP lt integer gt Subtract Pointer Immediate This command subtracts the integer argument value from the pointer Use for indexing into data tables See also RP WP SP and ADP SWP Swap Immediate This command swaps exchanges position of the two top values on the stack WHL lt arg1 gt loop commands While Loop Immediate The integer arg is evaluated each time through the loop If the argument is TRUE the
74. r number Type is 1 for J201 connector output and 2 for J301 connector output see IB command Pin is an integer between and 26 specifying the pin to be toggled and Time is the countdown value in hundredths of a second See also RTM and WTM TRI lt data space gt lt pin gt Trigger Pulse Enable Channel 1 TR2 lt data space gt lt pin gt Trigger Pulse Enable Channel 2 Buffered Enable trigger mode using program data space program This mode is available with step and direction interface only This option uses J201 pins 1 8 as a trigger output pin It is up to the programmer to make proper selection and use of the pin A vector following this command will toggle the trigger pin on the steps specified in the previously loaded program data space prog The steps in the program data space must be in ascending order the first out of order step will disable trigger mode as will the end of a vector Example An application requires an output pulse on step locations 10 and 20 from the origin This pulse is needed in both directions and the first toggle should occur on the specified step with a second toggle after one additional step Assuming that we start at zero the code would look as follows DL 11 4 Load space 11 with 4 numbers you can control pulse width He Re by distance step separation 20 Start second pulse at 20 21 DL 12 4 Load space 12 with 4 numbers 79 These are used going backwards 80 So count from
75. ration for subsequent moves Use this command to link several vector commands together to create a unique movement profile DY Decelerate Yes Buffered This command enables deceleration for subsequent moves Use this command to link several vector commands together to create a unique movement profile E0 E1 Enable Mode Polarity EO chooses that the enable bit 1 energizes the motor driver and the El chooses that the enable bit 0 energizes the motor The CY 41 requires E0 and the CY 42 requires El This command may be used anywhere but if it is used as the VERY FIRST TWO CHARACTERS of program zero then the firmware will look ahead even before the system interpreter is started It will thus very quickly assert the proper mode which will lessen or eliminate the chance that a clunk noise will occur in the motor as the system powers up This command must be used before using the MPY and MPN commands or they may not work correctly ENC lt On Off gt Encoder Subsystem Enable This command is not required unless stall detect STL has been enabled Off is 0 and On is 1 EP lt Axis gt lt Encoder Position gt Set Encoder Position Immediate This command forces the encoder position register to the value specified in the argument This command can be used in place of the CE clear encoder position command if the desired initialization value is not zero GO Go to Absolute Target Position Immediate Go to an absolute posit
76. rom the PC to the HS 20USB Once the contents of the various HS 20USB program segments have been created as separate PC text files the Send Text File feature of Hyperterminal under the Transfer menu header can be used to automate the actual download of the program segments to the HS 20USB In this mode of operation Hyperterminal transmits the contents of a text file as if it was being typed rapidly on the keyboard With the assumption that a program segment is to be downloaded to HS 20USB programming space 0 and with the assumption that the program is stored as PC file APP V000 the procedure is as follows 1 While still in normal Hyperterminal interactive mode type the command PL 0 lt ENT gt into the HS 20USB to place it in the state where it is expecting entry of a program segment for program space 0 2 With your mouse select the Hyperterminal Transfer menu heading then select Send Text File from the pull down menu 3 When prompted to do enter APP V000 as the name of the file to be downloaded Hyperterminal will rapidly transmit the contents of APP V000 one character at a time When it reaches the terminating period it will return to normal interactive mode This same period will also signal to the HS 20USB that the complete program segment has been entered and it too will return to normal interactive move The above procedure should then be repeated for each of the other program segments comprising the complet
77. run continuous RN no ramping and R rate commands are usually issued prior to entering joystick mode If the system is not in run continuous mode the joystick will trigger a burst of steps each time a change in the axis switches is detected If this function is called while the system is in RAMPING mode see RY then closing a joystick switch will ramp up the axis likewise releasing the switch will initiate a ramped stop rather than the normal immediate halt L lt Axis gt lt xxxxxx gt Set Location Buffered Sets the internal software location counter for specified axis to xxxxx which is a hex ineteger Currently the stack operator may not be used to specify the hex value LD lt Axis gt Limit Disable Immediate Disables the limit switch checking function for the specified axis with the possible consequence that a motor may be left in a permanently stalled condition at the axis limit of travel LE lt Axis gt Limit Enable Immediate Enables limit switch checking for the specified axis If an over travel is detected one of two things will happen 1 During single axis move Upon the detection of over travel the motor will stop in non ramped mode or ramp down to stop in ramped mode It will then back up step by step until the limit switch opens and then it will stop 2 During Multi axis move Upon the detection of over travel the system will stop in non ramped mode or ramp down to stop in ramped mode Then
78. s command allows the current location to be set from a 16 bit interger source such as a variable or the user data stack This command does not allow the full 24 bit range to be set but is useful for smaller range systems where the value must be modified or restored from the 16 bit user data stack or variable spaces SLD lt arg gt Slow Mode Divisor Immediate Sets slow mode divisor to the value of lt arg gt which must be in the range of 0 255 A value of 0 effectively sets the divisor to 256 This command however does not actually initiate slow mode see SLY SLN Slow Mode No Buffered Return to normal operation after previously executed SLY command SLY Slow Mode Yes HS 20USB_REV_139 odt Rev 1 39 Page 32 of 61 Buffered Enters a mode in which all system timing is divided by the slow mode divisor specified by the SLD instruction This includes step rates and timing with regard to the delay instruction but does not affect the special timer subsystem instructions Example R 1000 set system rate to 1000 steps sec SLD 100 set divisor to 100 SLY choose slow mode 1 100 speed D 20 delay two seconds v1 0 100 move 100 steps at actual rate of 10 step sec SLN resume normal rate mode SME lt Axis gt lt Scale Factor gt Set Motor to Encoder Position Immediate When a loss of position or stall occurs the encoder will have the correct position and the motor position will be incorrect This command resets the abso
79. s ed 51 DAt DEI SS eee 51 DD lt Prog gt Data DUMP iiine ee seid E hen EEE a AEE E a badd a 51 DL Pigs Count Data Lodi As 51 DOB Dump Outp t Butt a lion 52 DR lt Ramp gt lt Count gt Download Ramp ccccccceeccessseeeseceseeeeseeeeeceseceseeeesecnseeceseeneeeeaeensees 52 EN CHO Noti era di A EO aay EE E EN ESE 52 EY SECO VES A dia 52 A A a O 52 PO lt Prog Program Checks M e a 52 PD lt Prog gt Program DUMP A as 53 PL lt Prog gt Program Lo a 53 PO Pop O ii E A E E E A ET E R LOGS aatal 53 PU lt int gt Push Value onto Stak sass vaso ios 53 PV Pro Program Verify mansi porene ean a o a ica 53 PX lt Prog gt Program Exec in 53 OF OQ ery Led Bela ak vices ea nce dea ihda ve a E a neon cs Pes sergio sth ian se Taek 54 OF Query Instruction CO A A aa 54 QOS Query Sense Limit PS ii dl 54 OV Q ery Version NUM DOR ecri meremere a wan caeded out aea e O ae E E a aeaaee 55 RES Area Restore AVE E E e R declares Mac shits 55 RST Reset A He eae 8a A A ee A h A aE en ot Dae 55 SAV Area Save RAM nren r a ae E A E gar dyauaocouamndentltceavancautyterascrasant anions 55 HS 20USB_REV_139 odt Rev 1 39 Page 5 of 61 ST Self A aa n See RI AAR ESR AA Ake nea 55 WC Wait For Commands to Fish is a deel 56 WOH lt Type gt lt Mask gt Wait On Highs scsi cccscssvedescsavecectass sacetvockscshededasvserstoaniaabeeeees 56 WOL lt Type gt lt Mask gt Wait On LW wsccssvsesd casa arto ahcelicetesd tii corea
80. se B 9 EncoderOI Encoder Channel 0 Index 10 5 Volt Power Supply Source Voltage 11 Ground Power Supply Ground 12 EncoderlA Encoder Channel 1 Phase A 13 Encoder1B Encoder Channel 1 Phase B 14 Encoder1I Encoder Channel 1 Index 15 5 Volt Power Supply Source Voltage 16 Ground Power Supply Ground 17 Encoder2A Encoder Channel 2 Phase A 18 Encoder2B Encoder Channel 2 Phase B 19 Encoder2I Encoder Channel 2 Index 20 5 Volt Power Supply Source Voltage 21 Ground Power Supply Ground 22 Encoder3A Encoder Channel 3 Phase A 23 Encoder3B Encoder Channel 3 Phase B 24 Encoder31 Encoder Channel 3 Index 25 5 Volt Power Supply Source Voltage 26 Ground Power Supply Ground Signal Defintions Analog Inputs Encoder Inputs Encoder Index HS 20USB_REV_139 odt Analog input signals between 0 and 5 volts are accepted by an 8 bit analog to digital converter producing a single byte result in the range 0 255 The encoder generates two pulse wave forms that are 90 degrees out of phase These inputs are used to monitor shaft movement and direction The on board encoder circuit multiplies the encoder s line count by four 4X This means that if you have a 1000 line per revolution encoder you will get 4000 counts per revolution The encoder inputs are compatible with open collector or TTL type encoders Many encoders have a signal which produces a pulse each revolution This signal may be connected to the encoder index pin however the H
81. st PC the auxiliary RS 232 port on the HS 20USB can be interchageably used in place of the USB port for communications When USB communication is used the serial data converted from the USB link is also mirrored on the axillary serial port of the HS 20USB With this overview the following section will detail each of the several possible comm configurations Communications Configuration Options Host USB Port Direct Additional Attachments via USB Hub Host COM Port Direct Optional RS 232 Multi Drop Host USB Port Direct with Serial Multi Drop Expansion Stand Alone with Optional RS 232 Multi Drop Host USB Port Direct Additional Attachments via USB Hub In cases where there is only one HS 20USB the host interface is as simple as connecting a standard USB cable from the computer to the HS 20USB Computer USB HS20 USB Additional HS 20USB s can be connected using a USB hub or additional USB ports on the computer HS 20USB_REV_139 odt Rev 1 39 Page 9 of 61 USB Computer oan HS20 USB 1 USB USB a 20 Usg HUB e AS20 08B 2 Optional B US HS20 USB N Optional The USB HUB could be inside of computer Such a configuration is possible because the FTDI host driver software is able to create multiple virtual COM ports and logically connect each to a specific HS 20USB board based on a unique h
82. start of move 0 must properly locate pulses TR2 11 7 Use space 11 for triggers out J201 pin 7 Use space 12 for triggers out J201 pin 7 going in reverse direction v1 0 100 going in forward direction This sequence will cause a level to be toggled on the 10th and 11th steps and on the 20th and 21st of the first vectors For the second vector realize that we are starting from 100 instead of from zero We see that step 10 from zero is step 90 from 100 We only specify positive numbers in a trigger so our location is for this toggle is 90 Using this we can calculate that our points to trigger are 80 81 90 and 91 Using this data we will toggle the trigger pin at the same absolute position going in both directions HS 20USB_REV_139 odt Rev 1 39 Page 34 of 61 U lt int gt Set Absolute Position Target for U Axis Immediate Sets absolute position target for axis 3 to int for subsequent GO command There must be no space characters embedded in this command See also GO X Y and Z Vn lt Axis gt lt Steps gt lt Axis gt lt Steps gt Vector Relative Move Buffered Initiates a vectored move i e a multi axis move in which the speed of the involved axes is coordinated such that the resultant is a straight line For example rather than moving horizontally in the X direction and then vertically in the Y direction to trace out the two perpendicular legs of a right triangle the X and Y axes are driven simultaneously so as to
83. the remaining motors those that haven t yet over traveled will continue When the system has finished the remaining moves the motor that over traveled will back up step by step until the limit switch opens NCL Normally Closed Limits Immediate It is possible to choose normally closed or normally open axis limit switches Use of this command specifies normally closed switches You MUST take the precaution of grounding making appear normally closed any unused inputs for any axis which runs with limits enabled LE CCW CW or INDEX inputs of connector J201 NOL Normally Open Limits Immediate This is the normal default configuration This command needs to be executed only if one had previously issued the NCL command and for some reason decided to revert to normally open HS 20USB_REV_139 odt Rev 1 39 Page 28 of 61 inputs Unused inputs are normally pulled high at the interface so nothing needs to be done with them LM lt Mask gt Limit Mask Immediate This command is used to individually define J201 pins as limit inputs or general purpose inputs Mask is a 12 bit field where the least significant bit corresponds to J201 pin 11 and the most significant bit corresponds to J201 pin 22 A 0 bit enables the corresponding pin as a limit input while a bit frees the pin for use as a general input For example if you have limit switches connected to J201 pins 11 14 17 and 20 the four CW limits and wish to use the remaining pins as g
84. ting column number 0 15 and Width specifies the number of consecutive cells to be cleared starting at this position prior to updating the display Integer input must be terminated by a non digit key GIS Get Integer from Serial Port Immediate Returns the integer value assembled from the next available serial USB input data stream GSM Get the Scan Code for a Matrix Keyboard Immediate Returns the raw scan code for next pressed key on a matrix keyboard This code represents the location of the key in terms of row and column numbers with the row in the high nibble and the column in the low nibble IB lt Type gt lt Pin gt lt Width gt Input Bits Immediate Reads bit field from digital inputs lt Type gt is an integer specifying the connector or method of reading connector 1 J201 connector 2 3301 connector 4 HS 20E J701 high current outputs can read back output state 11 J201 connector custom multiplexed scheme 12 J301 connector custom multiplexed scheme see BCD application note lt Pin gt is the pin address 1 26 of the least significant bit of the bit field lt Width gt is the width of the bit field 8 max The specified bits are read converted to an 8 bit integer value and stored on the stack Example Your application has a requirement for a single simple BCD switch You choose to connect the switch to J301 using input pins 15 through 18 You connect the BCD common terminal to J301 pin 9 an
85. umibaaa couraees 40 OSI lt int gt Output Integer to Serial Portas sia 40 OSS string Output String to Serial POTt ooooonccnnccioccnicccnococonnconnnconccnnnononccnnnccnn nro ncnanncnn cnn 40 OUT lt x gt Output Number to Serial Pot is 40 QAX lt Analog Channel Address gt Query 8 Bit Analog Chamnel ooonnccnnccinccnicccnoconincconnnnns 40 MAI dy riada AAA A E O 40 OSC QUe Seral COMME ia A E A AS 40 RDY Rea dy VO A a E 41 Arithmctic E Losic COMA iS 42 ABS Slnite per Absolute Valid 42 ADD lt Valuel gt lt Value2 gt Add two Values oooconnocnncnonncnononnnonanacononconnnnononaconanncconcconnnnonon 42 ADP inte ser Add to Polito 42 AND lt Integer1 gt lt Integer2 gt Logically Bitwise And Two Valu8S ooconcnnnonnccnncincnnnccnonconncnnos 42 BIT lt Value gt lt Bit gt Bit Test Instruct Otc oe 42 BRK Break Out of Program Los 42 BRO lt Offset gt lt Table gt Branch on Offset into Table cece cecccsceeeceeeeeeseeeeeeseeeeeensees 43 CAE Pros Call PLO SEAM otra ill did idiota leal 43 CLO lt Offset gt lt Data Space Call with Odd A AA 44 COM Sint Complement BS velcaatensbds cagehceadecenyeacertionds 44 DINSA eel otras ltr ciate leh oh aa dd as 44 DP Decret Po e ed asia 44 DUP Duplicate Top Stack MA tia deta 44 EQ lt intl gt lt int2 gt Test for Equality ido 44 FOR lt arg1 gt loop commands FOR Loop Statement ceceeccesceeceseeeeeeceseeeeeeseeeeesereeaees 44 GT int l gt gt Greater Than
86. uring power up See also SAV RST Reset Immediate This command resets the HS 20USB microcontroller by stopping strobes to the watchdog timer There is a short delay after this instruction as the system re initializes If a valid CyberVec program 0 is then detected it will be automatically executed SAV lt Area gt Save RAM Immediate Saves the specified RAM area to flash memory where Area 1 specifies all 128 program spaces 2 specifies the user ramps and 3 specifies the named variables A D charcter for done is automatically transmitted via the serial communications link when the command is completed Inasmuch as flash memory supports only a limited number of write cycles though this number is in the millions the SAV command should not be embedded in a CyberVec program loop ST Self Test Immediate Initiates an HS 20USB self test This command should only be issued in interactive terminal mode and requires a special self test loopback adapter It will destroy the RAM contents by overwriting it with test patterns HS 20USB_REV_139 odt Rev 1 39 Page 55 of 61 WC Wait For Commands to Finish Immediate This command waits for buffered command processing to be completed thus allowing synchronization between the host PC and the motion control subsystem Example An application requires that a pneumatic solenoid be energized after a the motor in the control system has reached the point commanded The following progr
87. uses exit from a loop This command only works with loop type instructions such as FOR and WHL It breaks out of nested IF statements and even nested calls until it finds a FOR or WHL loop and then executes the first command after the close curly brace of that loop Example 1 The goal is to exit a loop when a pin goes high HS 20USB_REV_139 odt Rev 1 39 Page 42 of 61 FOR 100 100 count loop IB 1 11 1 read stop pin EQ A 1 test for pin value CAL 2 call processing instruction end of WHL loop IF A BRK if pin 11 is high then exit for loop outside of for loop OSS Outside of loop The FOR loop will continue for 100 cycles or until pin 11 goes high Upon pin 11 being high when tested the BRK command is executed and all commands up to the closing are skipped and the for loop is exited with OSS being the next command executed Example 1 Multiple CAL and IF instructions do not affect result of BRK Program 1 FOR 100 outside loop OSS Outside Loop display message when we pass here OSC D force a line feed CAL 2 call program 2 OSS Finished indicate finished with program end of FOR 100 loop end of program space segment Program 2 called from above IB 1 11 1 read J201 pin 11 one bit only EQ A 1 see 1f pin 11 was high IFA if pin 11 check pin 15 IB 1 15 1 read pin 15 EQ A 1 see if pin 15 is high IF A BRK if pin 15 is high break out of for loop end of

HS-20USB USER MANUAL

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