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MA6445-SW - Kollmorgen

1. H 4 The switch triggers again and the motor immediately stops and establishes this position as the mechanical home position the POS COMMAND counter is set to zero In this case the mechanical home position is equal to the electrical home position 5 If you defined an offset using HMPOS OFFSET an additional move is performed and electrical home is established at this new position In this case mechanical home is not equal to electrical home Rev 1 MA6445 SW StepperBASIC Reference Manual 3 137 SEEK HOME continued Homing velocity VELOCITY profile nN SWITCH CHANGES eee Pa STATE a ACCEL RATE RPM S i RUN SPEED RPM i MIN SPEED RPM TIME MIN SPEED RPM Note Refer to Section 2 2 Homing Routines and Section 2 9 M aking the M otor M ove for additional information Syntax SEEK HOME Related HOME ACTIVE matches mechanical switch triggering polarity to instructions software DIR sets the direction the motor moves during initial move for SEEK HOME RUN SP EED sets the speed the motor moves during initial move to find li mit switch MIN SP direction EED sets the low speed used after the motor changes when the switch is found the first time POS COMMAND displays current step position HMPOS OFFSET determines additional move necessary for
2. offset GO HOME moves the motor to electrical home position CW OT and CCW OT limits motion if initial SEEK HOME motion isin wrong direction 3 138 MA6445 SW StepperBASIC Reference Manual Rev 1 SEEK HOME continued Programming e Connect the mechanical switch for homing to J 8 8 guidelines e Set DIR to 0 or 1 for clockwise or counterclockwise rotation to move toward the limit switch e Set HOME ACTIVE to 0 or 1 to set the software to look for an open or closed input respectively when the switch triggers e f desired set cW OT or CCW OT travel limits e f desired set an offset from the mechanical position using HMPOS OFFSET e SEEK HOME holds program execution on the current line until function completion Program Program line segment o 5 Sets the minimum motor speed 10 MIN SPEED 100 15 Sets the acceleration rate at 40 000 R PM s 20 ACCEL RATE 40000 25 Sets the run speed to 200 RPM 30 RUN SPEED 200 35 Sets the SEEK HOME function to interpret the home position as input J 5 8 closed 40 HOME ACTIVE 1 45 Sets the direction of rotation counterclockwise when looking at the motor shaft end first so that the motor moves the elevator towards the home switch 50 DIR 1 55 Perform the homing function 60 SEEK HOME Rev 1 MA6445 SW StepperBASIC Reference Manual 3 139 SET SCANn statement Purpose SET SCANn set scan 1 or
3. Program These instructions except for SEEK HOME do not wait for execution completion before continuing to the next line For example after a GO INCR is encountered the program immediately goes to the next line even though the move is still executing The SEEK HOME function waits for completion of the move before the program continues to the next line Rev 1 MA6445 SW StepperBASIC Reference Manual 2 23 Common variables Stopping the motor Common variables for motion instructions are as follows Specific instructions are given in the appropriate instruction section 1 ENABLE 1 Also enable the hardware pulling the Enable input low If not done motion instructions are ignored 2 RUN SPEED will determine the motor speed 3 ACCEL RATE and optionally DECEL RATE will determine the acceleration rate and the deceleration rate 4 MIN SPEED sets the initial velocity step 5 STEPSIZE sets the amount of rotation per input step Both hardware and software should be the same Note RUN SPEED ACCEL RATE and MIN SPEED are not required for GEARING RUN SPEED and ACCEL RATE can be changed while a move is in progress using UPD MOVE U pdate M ove There are several ways to stop the motor after a motion statement has been executed e Wait for the motion to be completed
4. MA6445 SW StepperBASIC Reference Manual 3 77 MIN SPEED parameter float Purpose MIN SPEED Minimum Speed sets the minimum speed used in making any move It is commonly referred to as the Start Stop Speed Note Refer to Section 2 9 Making the M otor M ove for additional information IMPORTANT NOTE The value of this variable is stored in NVRAM when the SAVEVAR command is executed Syntax MIN SPEED x Stepsize Range 1 4 6 to 1 171 8 RPM 2 1 8 to 1 171 8 RPM 5 1 8 to 468 7 R PM 25 1 5 to 375 0 RPM 125 0 58 to 150 0 R PM Default x lowest value of range for selected step size Programming Save MIN SPEED in NVRAM if desired using SAVEVAR guidelines 3 78 MA6445 SW StepperBASIC Reference Manual Rev 1 MOVING variable integer read only Purpose Syntax Value Related instructions Programming guidelines Rev 1 MOVING is read only display that is equal to 1 when the motor is moving x MOVING x Oif the motor is not moving x lif the motor is moving PREDEF OUT defines output 12 to output a low signal when the motor is moving Program MOVING to display the current moving status for use in an expression Note MOVING displays 0 during all stops in motion including commanded stops that you may not be able to see These stops may not be visually perceptible
5. DIR INPUT selects quadrature encoder or step and direction inputs J 11 Rev 1 MA6445 SW StepperBASIC Reference Manual 3 97 a POS VERIFY ERROR continued Programming The position verification error is only operational for 1 move guidelines It is cleared upon the next move e Install an encoder and verify that it is set to the correct ENCODER line count e Make sure STEPSIZE is correct e Use GO ABS GO INCR Of GO HOME for moves Position verification does not work with other move instructions e Set STEP DIR INPUT 0 if using quadrature inputs to the J 11 encoder interface 3 98 MA6445 SW StepperBASIC Reference Manual Rev 1 POS VERIFY J UMP parameter integer Purpose Syntax Range Default Related instructions Rev 1 POS VERIFY JUMP moves program execution to specified line when a position verification error occurs Note Refer to Section 2 5 Using the Position Verification and Correction Function for additional information POS VERIFY UMP x x the desired line number to jump to x 0 for no jump x 0 POS VERIFY CORRECTION returns the number of steps difference for the position error POS VERIFY DEADBAND sets the maximum allowed difference in motor steps microsteps between encoder and pulse counts that can occur before a position verification error is triggered POS VERIFY ERROR indicates tha
6. 1 Set STEP DIR INPUT 1 to configure J 11 for step and direction input 2 Connect the step and direction inputs at the J 11 interface Refer to Section 2 5 5 J 11 Encoder Step and Direction MA6445 SW StepperBASIC Reference Manual Rev 1 STEP DIR INPUT continued 3 Set ENCODER as follows ENCODER steps or microsteps per revolution 4 where the number of steps or microsteps per revolution refers to the incoming step and direction inputs at the J 11 encoder interface Stepsize Encoder 1 50 2 100 5 250 25 1250 125 6250 4 Program GEARING and associated instructions as desired refer to GEARING Rev 1 MA6445 SW StepperBASIC Reference Manual 3 161 STEPSIZE parameter integer Purpose STEPSIZE sets the microstep rate assumed for the associated drive The stepsize for the drive is determined by the DIP switch located on the top of the 6x45 IMPORTANT NOTE The value of this variable is stored in NVRAM when the SAVEVAR command is executed Syntax STEPSIZE x Value Stepsize 1 Full step 2 Half step 5 1 5 step 25 1 25 step 125 1 125 step Default x 25 Related GEARING turns On or Off electronic or uni directional instructions electronic gearing Note sTEPSIZE must be gt 5 for Gearing 3 162 MA6445 SW StepperBASIC Refere
7. RATIO the electronic gearing ratio of motor shaft movement to encoder shaft movement using encoder line count STEP DIR INPUT selects quadrature encoder or step and direction inputs J 11 MA6445 SW StepperBASIC Reference Manual 3 35 E SE ENCODER continued Program Program line segment Installed encoder is 500 lines per revolution 10 ENCODER 500 15 Ratio is 0 5 for a half turn of the motor shaft per encoder revolution 20 RATIO 0 5 25 Turn On electronic gearing 30 GEARING 1 MA6445 SW StepperBASIC Reference Manual Rev 1 eee END statement Purpose END terminates the execution of a program Syntax END Programming This statement may be used anywhere in a program to cause the guidelines program to terminate and stop the motor This statement may be used as the last line of the program Note An error will not occur if the END statement is not used The CONT command will not work after execution of an END statement it will however continue following a STOP statement To restart the program following an END statement the RUN command must be used Related STOP Stops program and motion instructions CONT causes the program to continue after a STOP command is encountered Rev 1 MA6445 SW StepperBASIC Reference Manual 3 37 FAULTCODE variable integer Purpose FAULTCODE flags general drive or microprocessor fault Programming guidelines oc
8. integer Purpose Syntax Value Default Related instructions Programming guidelines Rev 1 REG DIST Registration Distance is the distance that is moved automatically when a Registration input is applied This function specified with REG FUNC performs a move like a GO INCR but with microsecond response to the input Note Refer to Section 2 10 Registration Functionality for additional information REG DIST x X 134 217 728 to 134 217 727 x 0 ENCODER sets the line count of the master encoder REG ENCPOS encoder position when Registration input triggers REG FLAG flag to indicate that R egistration input is triggered REG FUNC specifier to perform REG DIST index move when Registration input triggers STEP DIR INPUT specifies encoder or step direction input Attach differential R egistration inputs to J 11 6 CH Z and J 11 7 CH Z Program REG FUNC 1 to specify allowing REG DIST Refer to REG FUNC for more information Note Set STEP DIR INPUT 1 and ENCODER STEPSIZE 50 MA6445 SW StepperBASIC Reference Manual 3 117 REG DIST continued Registration The following is a schematic diagram of the input connections for input J 11 6 and J 11 7 connection 5V 5XX5 n 1 4 7K l Sl CHZ y J6 6 4 7K 75175 4 7K l DaN CHZ Y J6 7 REGISTR
9. The target position is the absolute position relative to the electrical home position Note Refer to Section 2 9 1 Description of Motion Statements for additional information IMPORTANT NOTE The value of this variable is stored in NVRAM when the SAVEVAR command is executed Syntax TARGET POS x Stepsize Range 1 33 554 432 lt x lt 33 554 431 2 67 108 864 lt x lt 67 108 863 5 67 108 864 lt x lt 67 108 863 25 268 435 456 lt x lt 268 435 455 125 536 870 912 lt x lt 536 870 911 Related POS COMMAND displays or redefines position instructions STEPSIZE full or microstep rate for the drive SEEK HOME causes homing routine using mechanical switch GO ABS moves motor shaft to position specified by TARGET POS GO HOME moves motor shaft to electrical home MOVING flag turned on when the motor is moving 3 166 MA6445 SW StepperBASIC Reference Manual Rev 1 TARGET POS continued Programming Note Do not program a new value for POS COMMAND after guidelines TARGET POS has been programmed Target Position is an absolute position variable based on the existing POS COMMAND position Program Program line enn 10 STEPSIZE 25 20 MI N SPEED 25 30 ACCEL RATE 500 40 RUN SPEED 1000 50 POS COMMAND 0 60 TARGET POS 100000 70 GO ABS 80 F MOVING
10. esult of a comparison of two values with these relational operators is recorded by Pacific Scientific StepperBA SIC as either true or false The relational operators are Relational Operator Description of Operation Example E quality 10 IF INT1 9THEN 20 Inequality 50 IF FLT1 lt gt 9THEN 15 Less than 30 IF INT2 lt 151T HEN 100 Greater than IF FLT1 gt INT2 THEN 20 Less than or equal to IF FLT1 lt INT2 THEN 20 Greater than or equal to IF INT3 gt INT5 THEN 20 Note Arithmetic operators are performed before relational operators in an executing program line Relational operators are performed in the order of precedence shown in the table Rev 1 MA6445 SW StepperBASIC Reference Manual Logical Logical operators are used in ITF THEN ELSE WHILE WEND and FOR NEXT statements The logical operators are Logical Operator Description of Operation Example NOT Condition must not be NOT FLG1 true AND Both conditions must be FLG2 AND INT2 5 true OR Either or both FLG1OR DIR conditions must be true XOR Either but not both FLG5 XOR FLG6 conditions must be true Note Logical operators are performed in the order of precedence given in the table Arithmetic operators are evaluated before relational operators 1 4 Constants Introduction StepperBA SIC
11. GO INCR moves motor an index distance GO VEL moves motor at constant velocity MIN SPEED sets the minimum speed used in making a move T T ED prior to issuing motion commands Programming Specify RUN SP guidelines 3 132 MA6445 SW StepperBASIC Reference Manual Rev 1 SAVE command Purpose Syntax Related instructions Programming guidelines Rev 1 SAVE saves the program from RAM in NVRAM so that the program is not lost when power is removed SAVE SAVEVAR saves specified variable to NVRAM LOAD copies saved program from NVRAM to RAM LOADVAR transfers saved variables from NVRAM to RAM NEW clears the program memory e Complete programs are saved Portions of a program cannot be designated to be saved e Recover the program from NVRAM using the LOAD command or by cycling power e SAVE Can be used as an instruction within a program if desired It will not stop program execution Program line SAVE OK Program Saved in NVRAM The program is now saved in NVRAM When you turn the drive off the program will remain in NVRAM When the controller is turned back on the saved program will be loaded into RAM automatically MA6445 SW StepperBASIC Reference Manual 3 133 SAVEVAR command statement Purpose Syntax Allowed variables Related instructions 3 134 SAVEVAR Saves an INTn or FLTn vari
12. Note This does not apply to the Go VEL statement e Type lt Ctrl gt lt C gt e Pull the R emote Stop input low J 8 5 with PREDEF INP13 1 e Remove the ENABLE input from the control Note This will disable the motor current and torque but may not cease motion e Execute a STOP MOTION statement Note Either LIMIT J 8 3 with PREDEF INP11 1 or LIMIT J8 2 with PREDEF INP10 1 inputs pulled low MA6445 SW StepperBASIC Reference Manual Rev 1 The program stops the motor if e A scan triggers and a scan stop is active SKn STOP 1 e A software overtravel has occurred e A stall occurs causing a STALL STOP Continuous CONTINUOUS MOTION enables motion to proceed motion continuously over multiple motion instructions 2 9 1 Descriptions of Motion Statements GO VEL This statement causes the motor to move at the specified run speed RUN SPEED The direction of rotation is specified by the DIR variable as follows Value Functionality DIR 0 M otor rotates clockwise DIR 1 M otor rotates counterclockwise After the Go VEL statement has been executed the motor will continue to rotate at the specified RUN SPEED until one of the STOP conditions described above occurs or until another GO VEL statement is executed If another GO VEL statement is executed then motor will accelerate or decelerate to the
13. e Make sure STEPSIZE is correct Both hardware and software 3 158 MA6445 SW StepperBASIC Reference Manual Rev 1 STALL STOP continued Program Program line STEPSIZE 1 STEP DI R INPUT ENCODER 1000 STALL DEADBAND 10 5 S iT TALL J UMP 100 TALL STOP 1 GO VEL F MOVING THEN 80 00 PRINT STALL HAS OCCURRED 110 PRINT MOTOR SHOULD HAVE STOPPED 120 END 10 20 30 40 50 60 70 80 1 Rev 1 MA6445 SW StepperBASIC Reference Manual 3 159 STEP DIR INPUT parameter integer Purpose STEP DIR INPUT Step Direction Input determines whether Syntax Value Default Related instructions Programming guidelines 3 160 connector J 11 is configured as an encoder input or as a step and direction input When configured as a step direction input the drive functions as a follower under electronic gearing Note Refer to Sections 2 5 2 6 2 8 and 2 10 for additional information STEP DIR INPUT x X 0 results in connector pins J 11 2 to J 11 5 being quadrature encoder inputs for A A B and B x 1 results in connector pins J 11 2 to J 11 5 being step step direction and direction signals for external control x 0 STEPSIZE full or microstep rate for the drive ENCODER sets the line count of the master encoder To use STEP DIR INPUT specified for step and direction for Electronic Gearing
14. 1 HMPOS OFFSET 0 ACCEL RATE 1000 MAX DECEL 10000 STALL STOP 0 STALL UMP 0 POS VERIFY UMP 0 2 Type in your program programming variables as needed 3 When through with the program type the SAVEVAR command to save the correct variables and type the SAVE command to save the final version of your program to memory in case power is cycled Other variables Other variables need not be included in this header because they are covered as follows CCW OT CCW OT JUMP CW OT CW OT JUMP Covered by CW CCW OT ON DIR RUN SPEED Must be set up as needed before GO VEL or SEEK HOME ENCODER RATIO Covered by GEARING 0 INDEX DIST Must be set up as needed before GO INCR JOG SPEED Covered by PREDEF INP 0 POS CHKn Covered by POS CHKx OUT 0 SKn JUMP SKn OUTPUT SKn STOP SKn TRIGGER Covered by CLEAR SKn TARGET POS Must be set up as needed before GO ABS WAIT TIME Must be set up as needed before PAUSE Rev 1 MA6445 SW StepperBASIC Reference Manual 1 19 1 9 Error Messages Introduction There are three types of errors syntax runtime system Errors are displayed on the terminal screen indicating the type of error and the error code All possible errors are listed in the tables below 1 9 1 Syntax Errors Introduction A syntax error is an error in the syntax
15. 10 Set stepsize equal to 25 20 STEPSIZE 25 30 RUN SPEED 300 40 Set an incremental move of 25000 microsteps 50 INDEX DIST 25000 60 GO NCR 3 4 MA6445 SW StepperBASIC Reference Manual Rev 1 AUTO command Purpose Syntax Related instructions Programming guidelines Rev 1 AUTO automatically generates program line numbers presenting a new line number after each program line is added AUTO line number increment RENUM renumbers program lines If the new line number does not appear the previous line was not successfully added to the program because of a syntax error R etype the line number and instruction correctly to remedy this The AUTO command stays in effect until the user types lt Cntl gt lt c gt or until a line typed in by the user contains a syntax error Program line AUTO 100 50 lt enter gt Generates line numbers 100 150 200 AUTO lt enter gt Generates line numbers 10 20 30 MA6445 SW StepperBASIC Reference Manual 3 5 CCW OT parameter integer Purpose CCW OT Counterclockwise O vertravel sets the counterclockwise software overtravel limit in motor steps When the counterclockwise overtravel variable is turned On CCW OT ON 1 and the set distance is surpassed the motor decelerates to a stop and further counterclockwise motion is prevented An error code is generated and an overtravel jump occurs if programmed Note Please
16. 120 DECEL RATE 1000 130 RUN SPEED 10000 140 INDEX DIST 10000 150 GO NCR RUN lt enter gt Line 100 disables deceleration track acceleration when line 150 is encountered Trapezoidal move profile is performed with deceleration rate different from acceleration Rev 1 MA6445 SW StepperBASIC Reference Manual 3 27 DELETE command Purpose DELETE removes one or more lines from a program Syntax DELETE line numberl line number 2 Where line number1 designates the first line number to be deleted and line number2 designates the last line number to be deleted Note A line may also be deleted by typing the line number followed by lt Return gt Example Program line program DELETE This results in an error message because no line number was specified DELETE 25 Deletes line 25 from the program DELETE 20 50 Deletes lines 20 through 50 from the program DELETE 50 Deletes all lines from the beginning of the program through line 50 3 28 MA6445 SW StepperBASIC Reference Manual Rev 1 DIR parameter integer Purpose Syntax Value Default Related instructions Programming guidelines Rev 1 DIR Direction sets the direction the motor turns when a GO VEL Or SEEK HOME function is executed The step counter POS COMMAND increases with moves in the set direction and decreases with moves in the opposite direction Note Refer to Section 2 9 Descript
17. Exceeding this value interpreted as a stall activates any programmed stall variables Note Refer to Section 2 6 Stall Detection Function for additional information STALL DEADBAND x x 0 to 4 294 967 296 full or microsteps x 0 STALL STOP stops the motor when the deadband is exceeded STALL JUMP jumps to program line number when deadband is exceeded STALL ERROR indicates that a stall has occurred when deadband is exceeded MAX DECEL sets the maximum deceleration rate e Install an encoder and verify that it is set to the correct ENCODER line count e Make sure STEPSIZE is correct Both hardware and software If you change step size convert the deadband by multiplying by the corresponding factor For example if you go from full step to 25 microstep and the deadband was 4 program a new deadband of 100 4 x 25 e Program stall stop jump or error as desired MA6445 SW StepperBASIC Reference Manual Rev 1 SS uMuMSULULMlM STALL DEADBAND continued Note STALL DEADBAND may Due to the inherent limitations may lead or lag the encoder by for this by entering a STALL DI corresponding microsteps Program Program line segment 10 STEPSIZE 1 20 STEP DIR INPUT 0 30 ENCODER 1000 40 STALL DEADBAND 10 50 STALL J UMP 100 60 STALL STOP 1 70 GO VEL 80 IF MOVING THEN 80 100 PRINT STALL HAS 0 be exceede
18. as soon as the condition is satisfied Similar functionality can be performed by an IF THEN statement in your Pacific Scientific StepperBA SIC program H owever using a SCAN function has two key advantages 1 The SCAN response will be much faster than the IF THEN response because the SCAN condition is tested every millisecond and the SCAN action is performed as soon as the condition is satisfied 2 When the SCAN function is used there is no need to have a program loop that regularly tests the specified condition Once the SCAN function is set up and turned on the SCAN condition will be automatically tested every millisecond until the SCAN function is turned OFF Rev 1 MA6445 SW StepperBASIC Reference Manual 2 1 2 1 1 Setting the SCAN Trigger Condition The SCAN input condition which is also referred to as the SCAN Trigger Condition is specified using the variable SKn TRIGGER The first digit of Skn TRIGGER specifies which one of the sixteen discrete inputs the SCAN is checking The second digit of Skn TRIGGER specifies whether the SCAN condition is satisfied when the input is equal to zero or whether the SCAN condition is satisfied when the input is equal to 1 For example SKn TRIGGER 51 sets the SCAN condition as input 5 INP5 being equal to 1 2 1 2 Setting the SCAN Output Action There are three actions which can be performed when the SCAN Trigger Condition is satisfied Any combination of thes
19. e String constants e Numeric constants String Two types of constants may be used with Pacific Scientific These constants are used with PRINT and INPUT statements A string constant is a sequence of alphanumeric characters enclosed within quotation marks Example Hello There 3 14159 MA6445 SW StepperBASIC Reference Manual Rev 1 Numeric Integer Float These constants are used in numeric expressions in assignment statements and in print statements There are two types of numeric constants e integer e float Numbers with no values to the right of the decimal point Numbers with values to the right of the decimal point 1 5 Notation Conventions The following notation conventions are used in this manual when explaining StepperBA SIC language use Notation Named Indicates lt return gt return surrounded the user should press the carriage by angle brackets return key on the keyboard square brackets the entry within the brackets is optional three dots the entry may be repeated multiple times CAPS capital letters upper entries which must be entered exactly as case shown Ic lower case letters user supplied information Caps lc bold typeface capital information sent to the terminal screen and lower case letters slash preceding a a global command or an address computer command command within a global command colon se
20. expression is the initial value of the counter variable and the second expression is the final value of the counter variable The program lines following the FoR statement are executed until the corresponding NEXT statement is encountered Then the counter variable is incremented or decremented if STEP is negative by STEP The BASIC interpreter software checks to see if the counter variable is greater than or less than the final value If the value of the counter variable is not greater than not less than the final value the BASIC interpreter software executes the statement following the FOR statement and the loop is repeated If the variable is greater smaller than the final value execution continues with the statement following the NEXT statement Note If STEP is not specified the default value of 1 is assumed MA6445 SW StepperBASIC Reference Manual 3 41 E FOR NEXT continued If STEP is negative the final value of the counter is less than the initial value The variable is decreased by the value of STEP each time through the loop and the loop is executed until the variable is less than the final value The body of the loop is skipped if the initial value times the sign of the step is greater than the final value times the sign of the step The NEXT statement can optionally include the name of the control variable used in the FOR statement FOR loops can be nested up to a limit of eight Eac
21. for more information Syntax GO VEL Rev 1 MA6445 SW StepperBASIC Reference Manual 3 55 EEE EEE GO VEL continued Related RUN SP instructions EED run speed for the move ACCEL RATE acceleration rate for the move MAX DEC EL maximum deceleration rate to stop motion DECE RATE deceleration rate for the move if RUN SPEED 0 set to stop move MIN SP EED minimum speed for application STOP MOTION stops motor motion using deceleration rate specified by MAX DECEL CONTINUOUS MOTION enables multiple motion instructions with no stop between moves UPD MOV E updates current move in process with new variables Programming Set appropriate RUN SPEED MIN SPEED ACCEL RATE and guidelines MAX DECEL variables e Change the RUN SPEED variables in the lines following GO VEL to change the run speed accordingly e Set direction using DIR Program Program line segment 5 Set minimum speed for application 10 MI N SPEED 25 15 Set acceleration rate to 100 000 RPM second 20 ACCEL RATE 100000 25 Set run speed to 1 000 RPM 30 RUN SPEED 1000 35 Go to RUN SPEED velocity 40 GO VEL 45 Stop motion with input 1 50 WHEN INP7 0 STOP MOTION Ww ul oa MA6445 SW StepperBASIC Reference Manual Re
22. information POS COMMAND x Stepsize POS COMMAND Value 1 33 554 432 to 33 554 431 2 67 108 864 to 67 108 863 5 67 108 864 to 67 108 863 25 268 435 456 to 268 435 455 125 536 870 912 to 536 870 911 GO HOME moves the motor to POS COMMAND 0 electrical home position SEEK HOME causes homing routine using mechanical switch then sets POS COMMAND 0 DIR sets direction for POS COMMAND increase WHENPCMD specifies the motor position when the WHEN condition is satisfied MA6445 SW StepperBASIC Reference Manual Rev 1 POS COMMAND continued Programming Note Do not change POS COMMAND after CCW OT CW OT guidelines TARGET POS Or POS CHKn have been programmed These absolute position variables change value if the electrical home position is changed Program Program line ment ii 10 POS COMMAND 0 20 INDEX DIST 1000 30 GO I NCR 40 WHILE MOVING WE ND 50 IF POS COMMAND lt gt INDEX DIST THEN PRINT ERROR 60 END This program redefines the current position to zero and checks that the correct distance is traveled Rev 1 MA6445 SW StepperBASIC Reference Manual 3 93 POS VERIFY CORRECTION parameter integer read only Purpose POS VERIFY CORRECTION displays the number of motor steps required to complete a move that had a position verification error Y ou may program a move using this cor
23. 0 to disable the drive x 1 to enable the drive x 1 PWR ON ENABLE automatically enables the drive upon power up ENABLED displays drive enable state FAULTCODE indicates if the controller is faulted To enable that is allow power to flow to the motor verify that the following conditions are all true 1 Drive is not faulted 2 Enable input J 10 5 connected to I O RTN 3 ENABLE variable set to 1 If any of these conditions is false power will not flow into the motor Therefore when conditions 1 and 2 are true the ENABLE variable may be used to control whether or not power flows into the motor Note When the controller is turned on the ENABLE variable is set equal to the value PWR ON ENABLE MA6445 SW StepperBASIC Reference Manual 3 31 ENABLED variable integer read only Purpose ENABLED indicates whether controller is enabled Syntax x ENABLED 0 controller disabled 1 controller enabled Related ENABLE variable to enable drive in program instructions FAULTCODE indicates if the controller has faulted Programming To enable that is allow power to flow to the motor verify that the guidelines following conditions are all true 1 Drive is not faulted 2 Enable input J 10 5 connected to I O RTN 3 ENABLE variable programmed 3 32 MA6445 SW Ste
24. 256 1 128 0 64 1 32 0 16 1 8 0 4 1 OUTPUTS will be equal 2 0 1 1 Or PWR ON OUTPUTS 1365 PWR ON OUTPUTS continued Set the variable equal to the sum of the x values to turn Off high the desired outputs For example e All outputs Off high PwR ON OUTPUTS 4095 e All outputs On low PWR ON OUTPUTS 0 e Output 5 Off all others On PwR ON OUTPUTS 16 e Output 5 and 12 Off all others On PWR ON OUTPUTS 16 When through execute the SAVEVAR command to store the variable in NVRAM Warning F or approximately 1 2 second after power is applied to the unit a hardware reset pulse forces all outputs to the On low state Hence all outputs sink current for approximately 1 2 second At the end of this reset pulse the outputs are set to the state defined by the P R ON OUTPUTS variable gt M ake sure that any external machine logic takes this into account 3 110 MA6445 SW StepperBASIC Reference Manual Rev 1 QRY command statement Purpose QRY Query lists the current values of parameter and status instructions The values may be the default values preset at the factory or the currently programmed values The parameters and status instructions listed are shown with default values if appropriate Parameters Parameter Default Parameter Default ACCEL RATE 1000
25. 3 10 CINT function 3 11 CLEAR command 3 12 CLR SCANn statement 3 13 CONT command 3 15 CONTINUOUS MOTION variable integer 3 17 CW OT parameter integer 3 20 CW OT JUMP parameter integer 3 22 CW OT ON parameter integer 3 23 DCL TRACK ACL variable integer 1 3 24 DECEL RATE parameter integer 3 26 DELETE command 3 28 DIR parameter integer SAVEVAR 3 29 ENABLE parameter integer 3 31 ENABLED variable integer R O 3 32 Rev 1 MA6445 SW StepperBASIC Reference Manual 4 Name Type Default Value Page ENCDR POS variable integer 3 33 ENC FREQ variable float R O 3 34 ENCODER parameter integer SAVEVAR 3 35 END statement 3 37 FAULTCODE variable integer 3 38 FLGn user variable flag 3 39 FLTn user variable float SAVEVAR 3 40 FOR NEXT statement integer 3 41 FREE command 3 43 GEARING parameter integer 0 3 44 GO ABS statement 3 46 GO HOME statement 3 48 GO INCR statement 3 50 GOSUB RETURN statement 4 52 GOTO statement 3 54 GOVEL statement 3 55 HM POS OF FSET parameter integer SAVEVAR 3 57 HOME ACTIVE parameter integer SAVEVAR 3 58 IF THEN ELSE statement 3 59 INDEX DIST parameter integer SAVEVAR 3 60 INKEY function 3 61 INPn variable integer R O 3 63 IN POSITION variable integer R O 3 65 INPUT statement 3 67 INPUTS variable integer R O 3 68 INT function 3 70 4 2 MA6445 SW StepperBAS
26. Charlestown MA StepperBA SIC Version X X Copyright 1988 1991 OK Program Loaded Properly Variables Loaded into RAM Rev 1 MA6445 SW StepperBASIC Reference Manual 1 11 Pack Function Executing Pack Function Done where X X is the Version Number 6 Verify operation by typing the following RUN SPEED 10 lt enter gt DIR O lt enter gt GO VEL lt enter gt The motor rotates slowly 10 RPM in the clockwise direction 7 Stop motor motion by pressing the lt Ctrl gt and lt c gt keys Continue testing and programming as appropriate for your application 8 Press the lt Ctrl gt lt e gt keys to return to the PacCom M ain M enu for access to other PacCom tools U pon successful completion of these procedures the unit is ready to be programmed Power up Perform the following procedure for multiple unit control procedure under R S 422 R S 485 F ollow the steps outlined here to log RS 422 RS 485 onto and test each indexer drive individually 1 Apply power to all indexer drives 2 Verify that the POWER status indicator on each drive front panel is On No cursor or message is displayed on the PC screen when operating under R S 422 R S 485 3 Type x lt enter gt with the address for the first unit for log on in the x position For example to log on to a drive with address 1 type 1 lt enter gt Note Unique addresses must be set for each unit on the bus If incor
27. Connection registration 2 32 Constants 1 6 CONT 3 15 CONTINUOUS MOTION 2 26 3 17 Conventions 1 1 Rev 1 MA6445 SW StepperBASIC Reference Manual Counterclockwise overtravel checking CW OT 2 5 3 20 CW OT JU MP 2 5 3 22 CW OT ON 2 5 3 23 D DCL TRACK ACL 3 24 DECEL RATE 3 26 DELETE 3 28 DIR 2 19 3 29 Display only 1 10 Editing programs 1 15 1 17 Editor screen 1 17 Electrical home 2 4 Electronic gearing 2 21 Electronic gear ratio 2 22 ENABLE 3 31 ENABLED 3 32 ENCDR POS 3 33 ENC FREQ 3 34 ENCODER 2 12 2 22 2 32 3 35 Encoder 2 12 inputs 2 21 position 2 21 output 2 17 END 3 37 Index 1 Error messages 1 20 Runtime 1 22 Syntax 1 20 System 1 23 FAULTCODE 3 38 Flag variables 1 1 FLGn 3 39 FLTn 3 40 Float variables 1 1 1 9 FOR NEXT 3 41 FREE 3 43 Functions 1 9 2 1 G GEARING 3 44 Gearing electronic 2 15 Getting started 1 10 Global variables 1 2 GO ABS 2 28 3 46 GO HOME 2 28 3 48 GO INCR 2 27 3 50 GOSUB RETURN 3 52 GOTO 3 54 GO VEL 2 26 3 55 H Header program 1 18 HMPOS OFFSET 3 57 HOME ACTIVE 3 58 Homing routines 2 4 IF THEN ELSE 3 59 Immediate mode 1 14 INDEX DIST 2 20 3 60 INKEY 3 61 INPn 3 63 IN POSITION 2 12 INPUT 3 67 B 1 INPUTS 3 68 Installation 1 10 Instruction types 1 8 Interface requirements 1 10 INT 4 70 INTn 4 71 J JOG SPEED 4 74 Line format 1 15 LIST 3 74
28. E a a E 3 GO HOME continued Programming Set appropriate RUN SPEED MIN SPEED ACCEL RATE guidelines DECEL RATE and TARGET POS variables e Enable CONTINUOUS MOTION for multiple motion functions e Program parameter changes during a move using UPD MOVE Program Program line segment 5 Set run speed to 1000 RPM 10 RUN SPEED 1000 15 Set acceleration rate to 1 000 R PM second 20 ACCEL RATE 1000 25 Go to the electrical home position 30 GO HOME 35 Hold program execution at line 40 until move completes 40 WHILE MOVING WEND Rev 1 MA6445 SW StepperBASIC Reference Manual 3 49 GO INCR statement Purpose GO INCR Go Incremental moves the motor shaft an incremental distance Distance as specified in INDEX DIST may be positive or negative The motor speed follows a trapezoidal velocity profile as specified by ACCEL RATE RUN SPEED and DECEL RATE Note The program does not wait for motion completion After the program initiates this move it immediately goes to the next instruction If CONTINUOUS MOTION is enabled you may perform multiple motion instructions with no stop between moves Parameters may be changed during a move using UPD MOVE Note Refer to Section 2 9 Making the Motor M ove for additional information Syntax GO I NCR Related MIN SPEED sets the start
29. INTn variables in immediate mode Set the individual variable to 0 or 1 as required Note Flags are not saved in NVRAM by SAVEVAR If you cycle power you will loose the state of the FLG variables Program line 100 FLG7 1 Flag 7 is 1 1000 IF FLG7 1 THEN STOP MOTI ON Stop motor if flag 7 is 1 MA6445 SW StepperBASIC Reference Manual 3 39 FLTn variable float Purpose FLTn Floating point variables 1 to 32 are decimal variables you define as part of your program Syntax FLTn x where n 1 to 32 Range 3x10 to 1 7 x10 Default FLTn 0 Resolution IEEE Single Precision Floating Point Related FLGn eight flag 0 to 1 user defined variables instructions Programming guidelines INTn thirty two integer user defined variables CLEAR clears FLGn FLTn and INTn variables in immediate mode SAVEVAR FLT1 FLT32 are saved in NVRAM memory Set the individual variable equal to a floating value within the range Program line 100 RATIO FLT9 FLT3 Set ratio equal to sum of float variable 9 and 3 MA6445 SW StepperBASIC Reference Manual Rev 1 FOR NEXT statement Purpose Syntax Programming guidelines Rev 1 FOR NEXT allows a series of statements to be executed in a loop a given number of times FOR variable start value TO end value STEP increment NEXT variable An integer or floating point is used as a counter The first
30. Please refer to REG DIST for a schematic diagram of the input input connections for J 11 6 and J 11 7 connection Rev 1 MA6445 SW StepperBASIC Reference Manual 3 121 REG FUNC parameter integer Purpose REG FUNC Registration Functionality specifies whether REG DIST is the distance that is moved automatically when a Registration input is applied This function performs a move like a GO INCR but with microsecond response to the input Note Refer to Section 2 10 Registration Functionality for additional information Syntax REG FUNC x x 1to allow REG DIST move upon Registration trigger x 0 to disallow REG DIST move upon Registration trigger Default x 0 Related ENCODER sets the line count of the master encoder instruction REG DIST distance moved upon Registration input REG ENCPOS encoder position when Registration input triggers REG FLAG flag to indicate that R egistration input triggered STEP DIR INPUT specifies encoder or step direction input 3 122 MA6445 SW StepperBASIC Reference Manual Rev 1 REG FUNC continued Programming Attach differential Re guidelines CH Z Set REG FUNC 1 R gistration inputs to J 6 6 CH Z and J 6 7 EG FLAG is now cleared Any motion command in process is terminated upon a Registration input Note Registration mark handling is not operational if electronic
31. Program Program line 10 15 20 25 30 35 40 45 Rev 1 Installed encoder is 500 lines per revolution ENCODER 500 Ratio is 0 5 for a half turn of the motor shaft per encoder revolution RATIO 0 5 Sets GEARING equal to the value of INP1 J9 2 If INP1 is zero then electronic gearing is turned Off GEARING 0 if INP1 is one then electronic gearing is turned On GEARING 1 WHILE 1 GEARING INPI Monitor INP1 continually WE ND MA6445 SW StepperBASIC Reference Manual 3 45 GO ABS statement Purpose GO ABS Go Absolute moves the motor shaft to the position specified by TARGET POS This position is based on a zero position at electrical home The motor speed follows a trapezoidal velocity profile as specified by ACCEL RATE and RUN SPEED with deceleration equal to the acceleration rate Direction of travel depends on current position and target position only DIR has no effect Note The program does not wait for Go ABS completion After the program initiates this move it immediately goes to the next instruction If CONTINUOUS MOTION is enabled you may perform multiple motion instructions with no stop between moves Variables may be changed during a move using UPD MOVE Note Refer to Section 2 9 M aking the Motion Move for more information Syntax GO ABS Related MIN SPEED sets the start stop speed for making the move instr
32. RUN SPEED f RPM MIN SPEED RPM TIME MIN SPEED RPM 5 Motion is stopped This position is defined as mechanical home If no offset is programmed see following this position is also defined as electrical home where POS COMMAND 0 If an offset is needed you can program HMPOS OFFSET to add an additional incremental move when the mechanical home position is reached This position is electrical home POS COMMAND 0 2 28 MA6445 SW StepperBASIC Reference Manual Rev 1 2 10 Registration Functionality Introduction In motion control terms registration provides the ability to execute a preset move with reference to an external event while the motor is executing another move This is done by executing a long move which would under normal conditions cause the index to go beyond the registration mark As the move proceeds the sensor detects the presence of the registration mark It then aborts the current move and without stopping begins the R egistration M ove to the precise position REGISTRATION VELOCITY MARK APPLIED DISTANCE MARK ENABLED IF NO REGISTRATION MARK TIME REGISTRATION Setting up for To utilize the 6x45 registration functionality attach the registration differential registration signal to J 11 6 and J 11 7 CHZ and CHZ If the source of registration signal does not provide differential TTL levels refer to Connecting to R egistration Input o
33. StepperBASIC Reference Manual Rev 1 UPD MOVE statement Purpose Syntax Related instructions Programming guidelines Rev 1 UPD MOVE updates a move in process with new variables This allows you to change motion on the fly without having to stop motion and restart the motion function again with new variables UPD MOVE ACCEL RATE limits the maximum commanded acceleration rate CONTINUOUS MOTION specifies continuous motion allowing variable changing without stopping the move DCL TRACK ACL specifies that the acceleration rate is equal to the deceleration rate DECEL RATE limits the maximum commanded deceleration rate DIR sets the direction the motor turns when a GO VEL or a SEEK HOME function is executed RUN SPE T D sets the commanded velocity Set CONTINUOUS MOTION 1 to specify continuous motion then implement continuous motion with UPD MOVE M ove functions that are updated with UPD MOVE are GO ABS GO HOME GO INCR and GO VEL U pdate desired ACCEL RATE DECEL RATE RUN SPEED and DIR for GO VEL moves only T DCL TRACK ACL must be equal to zero to set DECEL RAT independently T MA6445 SW StepperBASIC Reference Manual 3 171 UPD MOVE continued Program Program line segment 110 CONTINUOUS MOTION 1 120 PO
34. THEN 80 90 IF POS COMMAND lt gt TARGET POS THEN 200 100 END 200 PRINT ERROR 210 END This program will set the target for motion to 100 000 microsteps and then move to target position Rev 1 MA6445 SW StepperBASIC Reference Manual 3 167 variable float Purpose TIME is a continually running internal software timer that counts from 0 to 67 10886 seconds If you enter a value for TIME the timer resets to continue from this new time For example when TIME 2 is executed the timer resets to the 2 second point before continuing to count up to 67 10886 seconds go to zero and repeat the cycle Syntax TIME XX XXX Range 0 to 67 10886 seconds timer updated every 1 024 msec Default x 0 Programming Set TIME equal to a value that represents the starting time for guidelines the count e To get an accurate reading of the time of a given event such as a switch closing set a floating point variable equal to TIME and then PRINT that variable Do this because the PRINT statement takes a relatively long time to execute e To time events longer than 67 10886 seconds use a counter to count the number of times the timer resets Program division of the desired time by 67 10886 for the number of timer resets Then determine the remainder U sing these values program the desired motion for the appropriate number of time intervals plus the remainder 3 168 MA6445 SW StepperBASIC Reference Manual R
35. a blank space The underscore character _ is used to illustrate the blank space In all instances characters received by the 6x45 will be echoed transmitted after they are received These INPUT statements will cause the 6x45 to transmit a line feed followed by a carriage return after a carriage return is received by the controller to terminate the input data string 10 INPUT INTI will transmit the prompt t 20 INPUT Please Enter INT1 INTI will transmit the prompt Please Enter 1NT1 _ 30 INPUT Please Enter INT1 INTI will transmit the prompt Please Enter I NT1_ These INPUT statements will suppress the 6x45 s transmission of a line feed and carriage return after a carriage return is received by the controller to terminate the input data string 40 INPUT INTI will transmit the prompt _ 50 INPUT Please Enter INT1 INTI will transmit the prompt Please Enter NT1 _ 60 INPUT Please Enter INT1 INTI will transmit the prompt Please Enter INT1_ MA6445 SW StepperBASIC Reference Manual Rev 1 StepperBASIC Index A ABS 3 2 ACCEL RATE 4 3 Alphabetic characters 1 3 Arithmetic operators 1 4 ASCII codes A 1 AUTO 3 5 B BASIC statements 1 8 C CCW OT 2 6 3 6 CCW OT JU MP 2 6 3 8 CCW OT ON 2 6 3 9 Characters 1 3 CHR 3 10 CINT 3 11 CLEAR 3 12 CLR SCA Nn 2 3 3 13 Clockwise overtravel checking 2 5 Commands 1 8 Communication 1 10 Computer 1 10
36. change is made to the program while in Paccom editor the program must be saved each time Note While in the PacCom editor mode there will be no syntax checking Syntax checking is only done when downloading the program to the drive MA6445 SW StepperBASIC Reference Manual Rev 1 1 8 4 Writing and Editing Programs Using the Screen Editor Line format StepperBA SIC programs are comprised of lines of instructions each starting with a line number and ending when lt enter gt is pressed Line numbers are usually in increments of 10 10 20 30 and so on to allow you to insert lines that may have been overlooked without renumbering all subsequent lines Example 20 RUN SPEED 200 lt enter gt 30 ACCEL RATE 1000 lt enter gt 40 PRINT NT1 lt enter gt 50 IF INT1 6 THEN 90 lt enter gt Rules Start each line with a number followed by a space Or use the AUTO command to automatically display the next line number each time you press lt enter gt when typing in the lines of your program U se numbers from 1 to 65500 Do not type more than 132 characters on a line Editing Once a program has been entered it may be edited in one of the following ways e anew line may be added to the program e an existing line may be modified e an existing line may be deleted New lines The line number must be legal and at least one non blank character must follow the line number in the line Existing line If a line number that already exists
37. counts versus commanded microsteps counts to 10 counts Line 90 moves the program execution to line 1000 when the POS VERIFY ERROR is tripped Line 100 sets the position counter to 0 zero Line 110 sets the encoder counter to 0 zero Line 120 initiates an incremental move Line 130 holds the program executions until the move is completed Line 140 causes the program to jump to line 2000 2 12 MA6445 SW StepperBASIC Reference Manual Rev 1 Explanation cont d Line 1000 will print I AM CORRECTING if the error had exceeded the POS VERIFY DEADBAND limit set in line 80 Line 1010 sets an incremental correction move equal to the POS VERIFY CORRECTION variable Line 1020 initiates the incremental correction move Line 1030 holds the program as long as the move is not completed Line 1040 checks if there is a position error after the correction move has been completed and if there is an error it will correct again otherwise it will force the execution of the program to go to line 2000 Line 2000 will print the final encoder position after the motor rotation has stopped Line 2010 will terminate the program execution 2 6 Stall Detection Function Introduction The Stall Detection Command detects a stall condition based upon the users allowable difference between the motor commanded position and the actual rotor position The encoder could be in on the motor or the load axis Rev 1 MA
38. decelerates to a stop and further clockwise motion is prevented An error code is generated and an overtravel jump occurs if programmed Note Refer to Section 2 3 Setting Up the Software O vertravel Function for additional information Syntax CW OT x R ange Stepsize Steps 1 33 554 432 lt x lt 33 554 431 2 67 108 864 lt x lt 67 108 863 5 67 108 864 lt x lt 67 108 863 25 268 435 456 lt x lt 268 435 455 125 536 870 912 lt x lt 536 870 911 Default x 0 Related CW OT JUMP sets the line number destination if overtravel instructions exceeded CW OT ON turns on clockwise overtravel checking OT ERROR displays value for the appropriate direction if an overtravel error occurs See also corresponding clockwise variables CCW OT CCW OT ON and CCW OT JUMP 3 20 MA6445 SW StepperBASIC Reference Manual Rev 1 CW OT continued Programming 1 Set cw oT to the desired distance in motor position This guidelines distance is based on POSITION 0 2 Program cw Jump for a line number destination if desired 3 Program CW OT ON 1 to turn On overtravel checking Rev 1 MA6445 SW StepperBASIC Reference Manual 3 21 CW OT J UMP parameter integer Purpose CW OT JUMP Clockwise O vertravel Error J ump sets the line the program jumps to upon an overtravel error This variable works with Cw OoT and CW OT ON to implement the clockwise software overtravel limit function If you set
39. digit of Skn TRIGGER specifies which of the programmable inputs will be affected when the Scan condition is satisfied The first digit can be from 1 to 8 corresponding to INP1 through INP8 The second digit specifies whether the input will be checked against 0 or checked against 1 Note Refer to Section 2 1 1 Setting the SCAN trigger Condition for additional information Syntax SKn TRIGGER x y wheren lor 2 R ange x 1to 16 of input y 0 low ON or 1 high OFF Value Scan Condition 10 INP1 equals 0 11 INP1 equals 1 20 INP2 equals 0 21 INP2 equals 1 30 INP3 equals 0 31 INP3 equals 1 Note The same conditions apply for values through 160 and 161 Default x 0 3 150 MA6445 SW StepperBASIC Reference Manual Rev 1 SKn TRIGGER continued Related SET SCANn activates scan 1 or scan 2 instructions SKn JUMP sets the jump line number SKn OUTPUT sets an output action SKn ENCPOS records encoder position when scan triggers SKn STOP stops the motor CLR SCANn turns off scanning Programming Set up the SKn TRIGGER before the other scan instructions guidelines Note SKn TRIGGER checks for an input state not for a transition to a state This means that the input must be set to the appropriate Off state after the SET SCANn has triggered If for instance you perform a scan triggering it with the correct input the
40. gearing is in use Thec ontroller must be in motion and executing a motion command to perform the registration distance Registration Please refer to REG DIST for a schematic diagram of the input input connections for J 11 6 connection Rev 1 MA6445 SW Stepp and J 11 7 erBASIC Reference Manual 3 123 REM or statement Purpose REM Remark enables you to include explanatory remarks or comments in the program The text of the REM statement is not stored into the RAM All comments are stored as REM only the content is not stored The REM statement is provided so that programs downloaded from other computers may contain comments A REM may appear anywhere within the line and anything following the REM is treated as a comment Comments may also appear at the end of any program line by the use of the apostrophe These will be converted to REM and stored as above Since the line number for a Remark statement is stored in RAM GOTO and GOSUB statements may jump to these line numbers Syntax REM text of comment or text of comment Program Program line segment 10 REM Beginning of loop program 15 WHILE 1 20 REM now do the loop 25 Loop 5 times 30 FOR 1 to 5 40 PRINT 50 NEXT 60 WE ND 3 124 MA6445 SW StepperBASIC Reference Manual Rev 1 RENUM command Purpose Syntax Programming guidelines Rev 1 RENUM renumbers program lines Note This i
41. in the program is typed the modifying existing line is replaced with the text of the newly entered line when lt return gt is entered Rev 1 MA6445 SW StepperBASIC Reference Manual 1 17 Existing line deleting If you type the line number of the line to be deleted with no characters following the number that line will be deleted when lt return gt is pressed To delete an entire program type NEW lt return gt Note zw will clear memory prior to entering a new program 1 8 5 Program Header To insure that variables previously programmed do not affect current program initialize all variables at the start of each program This shuts off any forgotten variables that may affect the current program For example if the Stall J ump Go To Line variable was not set to zero in memory as follows STALL UMP 1000 The variables would still try to jump to a line 1000 upon a stall If the current program does not have a line 1000 the program stops execution upon a stall and displays an error message Procedure 1 Type the following immediate mode header before the program STEPSI ZE 1 MIN SPEED 100 GEARING 0 ENABLE 1 RMT START 2 PWR ON ENABLE 1 PWR ON OUTPUTS 255 PREDEF NP 0 PREDEF OUT 0 POS CHK1 OUT 0 POS CHK2 0UT 0 POS CHK3 OUT 0 OUTPUTS 255 CW OT ON 0 CCW OT ON 0 CLR SCAN1 CLR SCAN2 1 18 MA6445 SW StepperBASIC Reference Manual Rev 1 HOME ACTIVE
42. indicates when the motor is in position This flag is set by the internal software to 1 or 0 It will be set to 1 when the following conditions are true M otor commanded to be stopped the last move is completed POS VERIFY DEADBAND has not been exceeded Example WO onun SWPP e STEPSIZE 25 MI N SPEED 5 RUN SPEED 1000 ACCEL RATE 5000 ENCODER 1250 INDEX DIST 20000 POS VERIFY TIME 200 POS VERIFY DEADBAND 10 POS VERIFY J UMP 1000 0 POS COMMAND 0 110 ENCDR POS 0 120 GO I NCR 130 IF MOVING THEN 130 140 GOTO 2000 Rev 1 MA6445 SW StepperBASIC Reference Manual 2 11 Explanation 1000 PRINT I AM CORRECTING 1010 INDEX DIST POS VERIFY CORRECTION 1020 G0 INCR 1030 IF MOVING THEN 1030 1040 IF POS VERIFY ERROR THEN 1010 ELSE 2000 2000 PRINT FINAL POSITION IS POS COMMAND 2010 PRINT FINAL ENCODER POSITION IS ENCDR POS 2020 END Line 10 sets the software stepsize variable both software and hardware stepsize should be the same Line 20 sets the start stop speed to 5 rpm Line 30 sets the run speed to 1000 rpm Line 40 sets the acceleration rate to 5000 rpm sec Line 50 sets the encoder variable to 1250 ppr Line 60 sets an incremental move of 20000 microsteps 4 revs Line 70 sets a wait time of 200 msec before reading the encoder position Line 80 sets the maximum microstep difference allowed for measured encoder
43. is 25 this shift MA6445 SW StepperBASIC Reference Manual Rev 1 PWR ON ENABLE variable Purpose PWR ON ENABLE specifies the value of ENABLE when the controller is turned on IMPORTANT NOTE The value of this variable is stored in NVRAM when the SAVEVAR command is executed Syntax PWR ON ENABLE x Value x Oorl Related ENABLE allows or prevents power flow to the motor instructions Programming If you want the ENABLE flag to be equal to 1 when the controller is guidelines turned on set PWR ON ENABLE equal to 1 and execute a SAVEVAR command When the controller is turned on after this ENABLE will automatically be set to 1 If the controller is not faulted and the ENABLE input J 10 5 is pulled low then power will be allowed to flow to the motor If you want the ENABLE flag to be equal to 0 when the controller is turned on set PWR ON ENABLE equal to 0 and execute a SAVEVAR command When the controller is turned on ENABLE will automatically be set to 0 Note To enable the controller ENABLE must be set to 1 There must be no faults present and the hardware enable input must be asserted Rev 1 MA6445 SW StepperBASIC Reference Manual 3 107 PWR ON OUTPUTS variable Purpose PWR ON OUTPUTS power on outputs specifies the state of the outputs when the controll
44. line number at which you want to start the program Program Program line segment 10 PRINT LINE NUMBER 10 20 PRINT LINE NUMBER 20 Example 1 RUN lt enter gt INE NUMBER 10 INE NUMBER 20 Program execution starts at the first line Example 2 RUN 20 lt enter gt LINE NUMBER 20 Program execution starts at line 20 3 130 MA6445 SW StepperBASIC Reference Manual Rev 1 fo _________ RUN SPEED parameter float Purpose RUN SPEED sets the maximum speed used in making an incremental or absolute move It is also used to set the velocity for a GO VEL command Note Refer to Section 2 9 Making the M otor M ove for additional information IMPORTANT NOTE The value of this variable is stored in NVRAM when the SAVEVAR command is executed Syntax RUN SPEED x Stepsize Range 1 0 01 to 18 750 00 R PM 2 0 01 to 18 750 00 R PM 5 0 01 to 7 500 00 R PM 25 0 01 to 6 000 00 R PM 125 0 01 to 2 399 99 R PM Note If the MIN SPEED value is higher than the RUN SPEED value the drive will default to the MI N SPEED value Refer to MIN SPEED for range information Default x 1000 Rev 1 MA6445 SW StepperBASIC Reference Manual 3 131 E SE RUN SPEED continued Related DIR specifies the direction of a GO VEL command instructions GO ABS moves motor to target position
45. motor will be at the electrical home position and POS COMMAND will be zero All absolute positions will then be referenced to this electrical home position Note Refer to Section 2 9 Making the M otor Move for more information on SEEK HOME At any point you may move to the electrical home position by executing the GO HOME function This function is exactly equivalent to setting TARGET POS to zero and executing the GO ABS go to absolute position function 2 3 Using the Software Overtravel Limit Function Introduction The software overtravel limit function is used to prevent the motor from traveling outside pre defined limits Two independent overtravel limits may be specified one for limiting travel in the clockwise direction and the other for limiting travel in the counterclockwise direction Note Either one or both or these limits may be enabled at any time 2 4 MA6445 SW StepperBASIC Reference Manual Rev 1 Overtravel limit exceeded If either the clockwise and or the counterclockwise overtravel limit function is enabled the internal software constantly checks the motor position and compares it to the overtravel limits If the motor position exceeds the overtravel limit and that overtravel limit is enabled then the controller will decelerate the motor to a stop and will prevent further motion in the direction for which the limit was exceeded In addition a program line number may be specified for each of
46. new value of RUN SPEED If the new value of RUN SPEED is zero the motor will decelerate to a stop and the GO VEL move will be complete Note If you terminate the Go VEL move by setting RUN SPEED equal to zero and executing a GO VEL statement than you must set RUN SPEED equal to a non zero value before attempting to execute another motion statement Rev 1 MA6445 SW StepperBASIC Reference Manual 2 25 GO INCR This statement causes the motor to rotate a specified amount INDEX DIST The software uses a trapezoidal velocity profile to rotate the motor The acceleration rate is specified by ACCEL RATE and the slew speed is specified by RUN SPEED and MIN SPEED sets the initial velocity step VELOCITY aN SLOPE ACCEL RATE RUN SPEED AREA INDEX DIST MIN SPEED gt TIME Direction The direction of rotation is determined by the sign of INDEX DIST Value Functionality INDEX DIST gt 0 M otor rotates clockwise INDEX DIST lt 0 M otor rotates counterclockwise 2 26 MA6445 SW StepperBASIC Reference Manual Rev 1 GO ABS GO HOME Direction This statement causes the motor to move to an absolute position This absolute position is specified by the variable TARGET POS The absolute position is relative to the HOME position i e the place where POS COMMAND 0 The direction of mo
47. overtravel detected POS COMMAND 0 Example 0 0 CW OT 100000 0 CW OT UMP 200 0 CW OT ON 1 0 cCCW OT 100000 0 CCW OT JUMP 300 0 cCCW OT ON 1 0 DIR 0 0 STEPSIZE 25 100 MIN SPEED 25 110 ACCEL RATE 5000 120 RUN SPEED 100 130 GO VEL 140 GOTO 110 Oon DN SWPP e 0 PRINT Clockwise Overtravel 210 DIR 1 215 GO VEL 220 GOTO 110 300 PRINT Counterclockwise Overtravel 310 DIR 0 315 GO VEL 320 GOTO 110 2 6 MA6445 SW StepperBASIC Reference Manual Rev 1 Explanation This example sets up a clockwise overtravel limit of 100000 microsteps and a counterclockwise overtravel limit of 100000 microsteps The example sets the clockwise jump line number to 200 and sets the counterclockwise jump line number to 300 The two limit checks are turned on and the motor is commanded to turn at 100 rpm in the clockwise direction When the clockwise overtravel limit is exceeded the motor will decelerate to a stop and the program will transfer control to line 200 At line 200 a message is printed the motor direction is reversed and control is passed back to line 110 When the counterclockwise overtravel limit is exceeded the motor will decelerate to a stop and the program will transfer control to line 300 At line 300 a message is printed the motor direction is reversed and control is passed back to line 110 This process will continue until the program is aborted 2 4 Using th
48. position check has been enabled by setting POS CHKn OUT where n s value is 1 2 or 3 equal to 10 or 11 the corresponding output cannot be changed by the program e g OUTn 1 until that position check has been disabled 2 8 MA6445 SW StepperBASIC Reference Manual Rev 1 Example 10 POS COMMAND 0 20 POS CHK1 5000 30 POS CHK2 0 40 POS CHK3 5000 50 POS CHK1 OUT 10 60 POS CHK2 OUT 11 70 POS CHK3 OUT 10 80 TARGET POS 10000 90 GO ABS 100 TARGET POS 10000 110 GO ABS 120 GOTO 80 Line 10 defines the current position as home Lines 20 through 40 set position check 1 to 5000 position check 2 to 0 and position check 3 to 5000 Lines 50 through 70 turn On all position checks and specify the output states Lines 80 through 120 command the motor to move from 10000 to 10000 continuously Rev 1 MA6445 SW StepperBASIC Reference Manual 2 9 2 5 Using the Position Verification and Correction Function Introduction For incremental and absolute moves Pacific Scientific StepperBA SIC compares incremental distance traveled by the encoder to the distance commanded on the motor shaft Setting up for There are five variables associated with the Position Position Verification These are Verification VARIABLE DESCRIPTION POS VERIFY TI ME U ser defined variable which specifies the amount of wait time in milliseconds after the positioning move is finished before it looks a
49. program The WHEN statement provides latching of several variables when the WHEN condition is satisfied These variables are WHEN ENCPOS WHENPCMD The software checks for the defined condition every 1 024 millisecond and performs the action within 1 024 millisecond of condition satisfaction Note Refer to Section 2 7 Using the WHEN Statement for additional information WHEN condition action The condition must be e INPn 1or0 e POS COMMAND gt value e POS COMMAND lt value e ENCDR POS gt value e ENCDR POS lt value MA6445 SW StepperBASIC Reference Manual 3 177 WHEN continued The action must be e OUTn lor0 e RATIO value e Any of the following GEARI NG GO ABS GO HOME GO I NCR GO VEL PAUSE REG FUNC SEEK HOME STOP MOTI ON e CONTINUE CONTINUE allows program execution to continue at the next program line e UPD MOVE Related WHEN ENCPOS specifies the encoder position ENCPOS latched instructions when the WHEN condition is satisfied WHENPCMD specifies the motor position command POS COMMAND latched when the WHEN condition is satisfied Programming Program the WHEN statement followed by the valid condition and guidelines action separated by a comma 3 178 MA6445 SW StepperBASIC Reference Manual Rev 1 WHEN ENCPOS variable integer read only Purpose Syntax Value Related in
50. program or to edit the program Note This command does not load variables Syntax LOAD Related LOADVAR copies stored values for global variables instructions SAVE saves program in RAM toNVRAM SAVEVAR stores the values of parameters into NVRAM so they will be saved when the controller is turned off Programming The LOAD command can be used to restore the program to the guidelines most recently saved version The program stored in NVRAM is automatically transferred into RAM when you turn on the controller 3 74 MA6445 SW StepperBASIC Reference Manual Rev 1 LOADVAR command Purpose Syntax Loaded Variables Related Instructions Rev 1 LOADVAR copies stored values for the global variables from NVRAM into RAM LOADVAR loads variables into RAM ACCEL RATE DIR MAX DECEL ENCODER MIN SPEED PETI nig PLT 2 PREDEF NP10 PREDEF NP15 HMPOS OFFSET PWR ON ENABLE HOME ACTIVE RMT START INDEX DI ST RUN SPEED I NT1 INT32 STEPSI ZE OG SPEED WAI T TI ME SAVE saves program from RAM to NVRAM SAVEVAR saves variables from RAM to NVRAM LOAD loads program from NVRAM to RAM MA6445 SW StepperBASIC Reference Manual 3 75 a E F LOADVAR continued Programming Use LOADVAR to restore the values of the global variables to a set guidelines of previously stored values This may be done in preparation for running a program When you turn on the cont
51. repeated triggering Rev 1 Follow these guidelines for effective programming of the set scan function Warning Do not use a scan for an emergency stop to prevent personal injury Use a hard wired switch connected to the power source for an emergency stop Note If both Scan 1 and Scan 2 are triggered at the same time within the same millisecond only one of the scans will trigger 1 Set up the SKn TRIGGER for the input to trigger the scan 2 Set SKn STOP SKn JUMP SKn OUTPUT to stop jump and output as desired 3 Set the SET SCANn 4 To turn Off a scan program a CLR SCANn The SET SCANn instruction works for one scan only triggering when the designated input is seen but not more times if the input is seen again To repeatedly use a scan input in your program make sure that your program repeats or loops to the SET SCANn function For example in the program segment 60 SK1 TRIGGER 30 70 SK1 JUMP 500 0 SET SCAN1 90 GO INCR 1001F MOVING PRINT Moving 110 PAUSE 500 PRINT Program interrupted 510 PAUSE 520G0TO 80 MA6445 SW StepperBASIC Reference Manual 3 141 E ET SET SCANn continued A low input 3 applied after line 80 will trigger the scan H owever when the program loops back to line 90 a second time a repeat application of input 3 will not cause the scan to occur again M aking the line 520 GoTo statement go to line 80 to revisit the scan wou
52. the motor shaft to home without sensing the home switch position determined previously with SEEK HOME The motor speed follows a trapezoidal velocity profile as specified by ACCEL RATE RUN SPEED and DECEL RATE Note The program does not wait for Go HOME completion A fter the program initiates this move it immediately goes to the next instruction GO HOME performs the same action as setting TARGET POS to zero and executing a GO ABS function If CONTINUOUS MOTION is enabled you may perform multiple motion instructions with no stop between moves Note Refer to Section 2 9 Homing Routine for additional information Syntax GO HOME Related MIN SPEED sets the start stop speed for making the move instructions RUN SPEED run speed for the move ACCEL RATE acceleration rate for the move DECEL RATE deceleration rate for the move TARGET POS target position for GO ABS POS COMMAND redefines the current absolute position to be the specified absolute position SEEK HOME causes homing routine using mechanical switch HMPOS OFFSET determines offset from mechanical home to establish electrical home CONTINUOUS MOTION enables multiple motion instructions with no stop between moves 3 48 MA6445 SW StepperBASIC Reference Manual Rev 1 E T
53. the two limits If a program line number is specified then the program will jump to that line when the corresponding overtravel limit is exceeded This allows you to write a recovery routine for an overtravel error 2 3 1 Setting up the Software Overtravel Function To use the overtravel limit function set up the following variables VARIABLE DESCRIPTION CW OT Specifies the maximum clockwise position CW OT ON Specifies whether or not the clockwise overtravel checking is enabled CW OT J UMP Specifies the line number to be jumped to when the clockwise overtravel limit is exceeded CCW OT Specifies the maximum counterclockwise position CCW OT ON Specifies whether or not the counterclockwise overtravel checking is enabled CCW OT UMP Specifies the line number to be jumped to when the counterclockwise overtravel limit is exceeded Note If you do not want the program to jump to a new line number when the overtravel limit is exceeded then you must set the jump destination Cw OT JUMP or CCW OT JUMP equal to zero Rev 1 MA6445 SW StepperBASIC Reference Manual 2 5 OT ERROR Note The variable OT ERROR is set by the internal software to reflect the status of the overtravel function OT ERROR always has one of the following values VALUE DESCRIPTION 0 No overtravel detected 1 Clockwise overtravel detected 2 Counterclockwise
54. x x 0 for output 12 not pre defined for moving x 1 for output 12 pre defined for moving x 0 MOVING displays a value of 1 when the motor is moving Set PREDEF OUT equal to 1 for a low output from output 12 when the motor is moving Refer to section 2 5 4 J 9 and J 8 Discrete Input O utput Connection in the Installation M anual for information on output 12 pre defined for moving MA6445 SW StepperBASIC Reference Manual 3 105 PRINT statement Purpose PRINT displays output on the terminal screen while the program is running Syntax PRINT expression expression Programming guidelines 3 106 E xpressions can be e Variables e Calculations with numeric variables and constants e String constants enclosed in quotes Pacific Scientific StepperBA SIC defines zones of 13 characters which can be used to produce output in columns e Ifa list of expressions is separated by commas or spaces each subsequent expression is printed in the next available Zone e If alist of expressions is separated by semicolons the Zones are ignored and consecutive expressions are printed in the next character space e If the PRINT statement ends with a comma or a semicolon the carriage return line feed at the end of the screen output is suppressed Program line 10 INT1 25 20 PRINT The total is INT1 this shift RUN lt enter gt This program segment prints The total
55. 0 1 14 1 14 1 15 1 15 1 17 1 18 1 20 1 20 1 22 1 23 2 1 2 1 2 2 2 2 2 3 2 4 2 4 2 5 2 7 Rev 1 2 5 Using the Position Verification and Correction Function 2 10 2 6 Stall Detection Function 1 ans oea a ee 2 13 2 7 U sing the WHEN Statement 0 0000 eevee 2 17 2 8 Electroni G a guana we 4 oka ee ee ee ee ed 2 19 2 9MakingtheMotorMove 0 0 0 eee eee 2 23 2 9 1 Descriptions of Motion Statements 2 25 2 10 Registration Functionality ce ee ee 2 29 3 StepperBASIC Instructions 3 1 4 Quick Reference 4 1 Appendix A ASCII Codes A 1 Appendix B Input Statements B 1 Index Rev 1 MA6445 SW StepperBASIC Reference Manual 1 Conventions Introduction This chapter contains a summary of conventions used with Pacific Scientific StepperBASIC Topics covered are e Variable names e Characters e Operators used in programming e Constants e Notation conventions e StepperBASIC instruction types e Getting started e Programming e Error messages 1 1 Variable Names Introduction Variables are used with BASIC functions and statements for general programming tasks There are three basic types of variables e INTEGER e FLOAT e FLAG Variable names are the values acted upon by functions The variables are pre defined or user defined Note Variable names are not case sensitive Type of Variable Characteristic Integer 4 byte 2 s complem
56. 0 RPM TIME POSITION 15000 Ww m foe MA6445 SW StepperBASIC Reference Manual Rev 1 CONTINUOUS MOTION continued U sed with U pdate M ove Syntax Value Default Related instructions Programming guidelines Rev 1 Continuous M otion must be enabled when using U pdate M ove UPD MOVE CONTINUOUS MOTION x x 0 to disallow Continuous M otion Once a move is in process the move must complete and motion stop before other moves may initiate x 1 to specify Continuous M otion when new variables and UPD MOVE encountered x 0 UPD MOVE immediately update the current move in process with new variables Set CONTINUOUS MOTION 1 to specify Continuous M otion Note Any relevant variables that the program encounters while the motion profile is in process will be implemented for the remainder of the profile Program line 90 Specify continuous motion 100 CONTINUOUS MOTION 1 110 RUN SPEED 2000 120 INDEX DIST 100000 130 GO I NCR 140 GO I NCR RUN lt enter gt Single move of 200 000 steps will be performed without any stopping MA6445 SW StepperBASIC Reference Manual 3 19 CW OT parameter integer Purpose CW OT Clockwise overtravel sets the clockwise software overtravel limit in motor steps When the clockwise overtravel variable is turned On CW OT ON 1 and the set distance is surpassed the motor
57. 00 40 WHEN I NP3 0 GO VEL In this example line 40 causes Input 3 to be checked every 1 024 msec As soon as Input 3 is seen to be low INP3 0 the program will execute a GO VEL go at velocity move The syntax for using the WHEN statement is line number WHEN condition action Condition The condition specifies what condition must be satisfied before the action is performed The condition may be any one of the following e Checking for an input to be equal to 0 or 1 e Checking for the position command to be greater than or less than some value e Checking for the position to be greater than or less than some value e Checking for the Encoder position to be greater than or less than some value Rev 1 MA6445 SW StepperBASIC Reference Manual 2 17 Action The action specifies what operation is to be taken when the condition is satisfied The action may be any one of the following SEEK HOME Setting an Output equal to 0 or 1 Setting RATIO equal to a new value e Turning GEARING ON OFF e Turning REG FUNC ON OFF Performing any one of the following functions GO ABS GO I NCR PAUSE GO HOME GO VEL UPD MOVE STOP MOTI ON e Allowing program execution to continue to the next instruction with no action performed On the 1 024 msec sample that the WHEN condition is satisfied and the action is performed the values of POS COMMAND and 1 WH EN ENCDR PO
58. 00 130 RUN SPEED 10000 140 INDEX DIST 10000 150 GO I NCR RUN lt enter gt Line 100 disables deceleration track acceleration when line 150 is encountered Trapezoidal move profile is performed with deceleration rate different from acceleration Rev 1 MA6445 SW StepperBASIC Reference Manual 3 25 DECEL RATE parameter integer Purpose DECEL RATE Deceleration R ate sets the deceleration performed at the end of a move Syntax DECEL RATE x where x is the desired deceleration rate in RPM sec Stepsize Range 1 17 46 to 1 000 000 R PM sec 2 17 46 to 1 000 000 R PM sec 5 6 98 to 1 000 000 R PM sec 25 5 59 to 1 000 000 R PM sec 125 2 24 to 1 000 000 R PM sec Stepsize Resolution 1 4 6 RPM sec 2 4 6 RPM sec 5 1 8 R PM sec 25 1 5 R PM sec 125 0 58 R PM sec Default x 1000 Related DCL TRACK ACL specifies deceleration rate different than instructions acceleration 3 26 MA6445 SW StepperBASIC Reference Manual Rev 1 DECEL RATE continued Programming Specify DCL TRACK ACL 0 then set DECEL RATE to the desired guidelines value To switch from deceleration at DECEL RATE to deceleration at the acceleration rate program DCL TRACK ACL 1 Program Program line segment 90 Disables deceleration tracks acceleration 100 DCL TRACK ACL 0 110 ACCEL RATE 1000000
59. 1 Example Using the STEP and DIR Outputs STEPSIZE 25 0 0 STEP DIR INPUT 0 0 ENCODER 1250 0 RATIO 2 0 GEARING 0 1 0 Hom APUN e 1 1 CONTINUE 0 Line 10 sets the step size to 25 both hardware and software should be the same settings Line 20 configure J 6 inputs for encoder type signal Line 30 the installed encoder provides a 1250 PPR 5000 quadrature counts per rev Line 40 sets 2 motor shaft turns per encoder shaft revolution Line 50 Turn gearing ON Line 60 Holds the program at this line until input 1 goes high Line 70 Turns OFF gearing The controller s STEP DIR out J 11 generates differential signals as long as there is motion in progress These output signals can be used to drive two other controllers The two controllers slaves will follow the master s exact profile speed and direction These output signals are fed back to the same controller J 10 when registration functionality is required R efer to Section 2 10 Registration Functionality for additional information MA6445 SW StepperBASIC Reference Manual Rev 1 2 9 Making the Motor Move Introduction There are six different statements which you can use to make the motor move e GO VEL e GO INCR e GO ABS e GO HOME e SEEK HOME e GEARING Each of these provides a different type of movement described as follows The instruction GEARING is covered in Section 2 8 Electronic G earing
60. 10 Limit Clockwise PREDEF I NP11 Limit Counterclockwise PREDEF I NP12 R emote Start PREDEF I NP13 R emote Stop PREDEF I NP14 Jog Clockwise PREDEF I NP15 J 0g Counterclockwise Default PREDEF INPn 0 for inputs 10 to 15 3 102 MA6445 SW StepperBASIC Reference Manual Rev 1 EE ee PREDEF INPn continued Syntax PREDEF INPn y R ange 0 lt y lt 63 Default 63 Value Input Function PREDEF I NP10 Limit Clockwise PREDEF I NP11 Limit Counterclockwise PREDEF I NP12 R emote Start PREDEF I NP13 R emote Stop PREDEF I NP14 J og Clockwise PREDEF I NP15 J og Counterclockwise where y is the decimal corresponding sum of the weighted PREDEF INP as described by PREDEF INP 32 PREDEF INP15 16 PREDEF INP14 8 PREDEF INP13 4 PREDEF INP12 2 PREDEF INP11 1 PREDEF INP10 Related INPn displays the state of individual inputs instructions f INPUTS displays the state of the inputs as a binary coded decimal value corresponding to the sum of the binary number of the inputs Programming Individual Set the desired input equal to 1 to enable the input for guidelines the predefined functionality Group Set the variable equal to the sum of the inputs of the BCD equivalencies to enable predefined functionality for that group of variables Rev 1 MA6445 SW StepperBASIC Reference Manua
61. 2 activates the scan function to respond to trigger inputs When the input occurs the current program line completes and if programmed any or all of the following occur e Jump to another program line e Move to a subroutine e Stop motion e Output a signal Two inputs can be checked for scanning using SET SCAN1 and SET SCAN2 Performing a scan function is similar to checking an input in an IF THEN loop statement but the function has the added advantages of e Faster e Elimin response because input is checked every millisecond ation of a program loop to check the input The scan function runs transparently while the other program instruc checks tions execute Once a scan is set up and turned On it for the trigger input continuously until turned Off Note Refer to Section 2 1 3 Enabling and Disabling SCAN s for additional information Syntax SET SCANn where n lor 2 Related The predefined variables used with SET SCANn are instructions SKn ENC SKn JUM SKn OUT SKn STO POS records encoder position when scan triggers SKn TRIGGER sets the scan trigger input p sets the jump line number PUT sets an output action p stops the motor CLR SCANn turns off scanning 3 140 MA6445 SW StepperBASIC Reference Manual Rev 1 SET SCANn continued Programming guidelines LN Procedure M ultiple set scans for
62. 6445 SW StepperBASIC Reference Manual 2 13 Setting Up For Stall Detection There are four variables associated with the Stall D etection function VARIABLE DESCRIPTION STALL DEADBAND Sets the maximum step difference allowed between the commanded and measured steps commanded position versus rotor or encoder counts STALL STOP Stops the motor at the rate set by MAX DECEL when a stall is detected the STALL ERROR FLAG 1 tripped STALL ERROR Flag controlled by the internal software that indicates a stall has occurred the STALL DEADBAND variable had exceeded It is reset back to zero at the start of the next move STALL JUMP A variable that moves the program execution to a new line when STALL ERROR is tripped stall occurs Related instructions VARIABLE DESCRIPTION MAX DECEL A variable that sets the maximum deceleration rate in rpm sec at which the motor will decelerate to stop The encoder position and the position command are sampled at 8 msec intervals The value at each sample is compared to the last sample only If the difference is larger than the STALL DEADBAND value STALL ERROR will be set to 1 Due to the 8 msec sample rate and since the error does not accumulate there are limitations in the size of the STALL DEADBAND 2 14 MA6445 SW StepperBASIC Reference Manual Rev 1 Maximum Minimum Examp
63. ATION MARK SENSOR WITH OPEN L COLLECTOR OUTPUT Note Registration mark handling is not operational if electronic garing is in use The controller must be in motion and executing a motion command to perform the registration distance 3 118 MA6445 SW StepperBASIC Reference Manual Rev 1 REG ENCPOS variable integer read only Purpose Syntax R ange Related instructions Programming guidelines Registration input connection Rev 1 REG ENCPOS Registration Encoder Position specifies the encoder position when R egistration input triggers Note Refer to Section 2 10 Registration Functionality for additional information REG ENCPOS 2 147 483 648 to 2 147 483 647 encoder quadrature counts ENCODER sets the line count of the master encoder REG DIST distance moved upon Registration input REG FLAG flag to indicate that R egistration input is triggered REG FUNC specifier to perform REG DIST index move when Registration input triggers STEP DIR INPUT specifies encoder or step direction input Attach differential R egistration inputs to J 11 6 CH Z and J 11 7 CH Z Please refer to REG DIST for a schematic diagram of the input connections for J 11 6 and J 11 7 and REG FUNC for more information Note Registration mark handling is not operational if electronic gearing is in use The controller must b
64. CW OT JUMP equal to zero then the program will not jump when a clockwise overtravel occurs Note Refer to Section 2 3 Setting Up the Software O vertravel Function for more information Syntax CW OT J UMP x Value x line number of clockwise overtravel error handler x 0 to prevent jumping upon a clockwise overtravel error Default x 0 Related CCW OT counterclockwise overtravel limit instructions Programming guidelines CCW OT ON turns On counterclockwise overtravel checking CW OT ON turns On clockwise overtravel checking CW OT clockwise overtravel limit OT ERROR displays value for appropriate direction if overtravel occurs 1 Program cW OT ON 1 to turn ON overtravel checking 2 Set cw oT to desired distance in motor position This distance is based on POS COMMAND Q MA6445 SW StepperBASIC Reference Manual Rev 1 CW OT ON parameter integer Purpose Syntax Related instructions Programming guidelines Rev 1 CW OT ON Clockwise O vertravel Check Enable specifies whether the clockwise overtravel checking is turned On or Off Y ou can set CW OT ON to Oor 1 Note Refer to Section 2 3 Setting Up Software Overtravel F unction for additional information CW OT ON 1 Turns Clockwise Overtravel Enable On CW OT ON 0 Turns Clockwise Overtravel Enable O ff CW OT JUMP sets the line number destination of overtravel exceeded CW OT clockwise
65. Do not change the program interrupted by STOP Program execution will be incorrect if a STOP interrupted program is altered Y ou may however change variables in immediate mode during an active STOP command MA6445 SW StepperBASIC Reference Manual Rev 1 STOP MOTION statement Purpose Syntax Related instructions Programming guidelines Rev 1 STOP MOTION stops motor motion while allowing continued program execution Deceleration is as specified by the MAX D ECEL variable STOP MOTI ON STOP stops motion and interrupts the program MAX DE CEL specifies the rate of deceleration for STOP MOTION and other special stopping conditions Program a line with STOP MOTION wherever you wish to stop the motor while continuing the program Program line aD Vo Wo Ee AeA W W RY PY FF FE gt O Sn O Vv oe Vi Os g Set run speed to 1 000 RPM RUN SPEED 1000 Set acceleration rate to 10 000 R PM second ACCEL RATE 10000 Set deceleration rate to 1 000 000 R PM second MAX DECEL 1000000 Start motor GO VEL If input 1 is low then go to line 55 Otherwise go back to line 50 IF INP1 1 THEN 50 Stop the motor STOP MOTI ON MA6445 SW StepperBASIC Reference Manual 3 165 TARGET POS parameter integer Purpose TARGET POS Target Position sets the target position that is the destination when a GO ABS function is called
66. FOR NEXT IF THEN ELS aoe of GOTO statements because a program with many GoTO statements is difficult to read and debug GOTO is a simple statement used to change the flow of program execution If the GOTO statement is used to start execution after the program has stopped the user should ensure that the nesting levels of subroutines FOR N Program Program line ment 10 INTL 1 15 Execution leaves off here 20 GOTO 65 65 Execution continues here 70 RUN SPEED 100 110 PRINT INTI 3 54 MA6445 SW StepperBASIC Reference Manual Rev 1 GO VEL statement Purpose GO VEL Go Velocity moves the motor shaft at a constant speed The motor accelerates and reaches maximum speed as specified by ACCEL RATE and RUN SPEED with direction determined by DIR Stop motion by Ean STOP MOTION for deceleration at rate set by MAX DECE e Applying a Stop M otion input for deceleration at rate set by MAX DECEL e Programming RUN SPEED 0 for deceleration at rate set by ECEL RATE or ACCEL RATE if DECEL RATE not set Note After the program initiates a GO VEL it immediately goes to the next instruction If CONTINUOUS MOTION is specified you may perform multiple motion instructions with no stop between moves Variables may be changed during a move using UPD MOVE Note Refer to Section 2 9 Making the M otor Move
67. G FLAG 0 2 Setting REG FUNC 1 Rev 1 MA6445 SW StepperBASIC Reference Manual 2 31 Example STEPSIZE 25 ENCODER 1250 MIN SPEED 5 ACCEL RATE 5000 RUN SPEED 750 REG DIST 15000 INDEX DIST 25000 GO NCR REG FUNC 1 00 IF MOVING THEN 100 110 GOTO 80 D OGOGO 5 1 2 3 4 5 6 7 8 9 1 Line 10 sets the software step size to 25 the hardware step size switch should be the same Line 20 sets the encoder variable to 1250 ppr Line 30 through 50 set the motion parameters Line 60 sets registration distance of 3 revs Line 70 and 80 perform an incremental move of 5 revs Line 90 enables the registration function to automatically move a registration distance once the registration input is triggered REG FLAG 1 Line 100 holds the program until the move is completed Line 110 forces the program to go to line 80 MA6445 SW StepperBASIC Reference Manual Rev 1 3 StepperBASIC Instructions Introduction This section is an alphabetical reference to StepperBA SIC instructions e commands e functions e parameters e statements e variables The name and type of each instruction is listed at the top of the page The instruction is then described based on the following categories Purpose The purpose of the instruction Syntax The complete notation of the instruction Related instructions Other StepperBASIC commands that are similar t
68. HOM MA6445 SW StepperBASIC Reference Manual E is active 63 INPn continued Programming 0 indicates logic low input ON guidelines a 1 indicates logic high input OFF Note This is a read only variable and can not be set by the software Program Program line segment 10 MIN SPEED 50 20 ACCEL RATE 5000 30 RUN SPEED 300 40 WHEN INP1 0 GO VEL When input 1 is switched On perform a Go Velocity move 3 64 MA6445 SW StepperBASIC Reference Manual Rev 1 IN POSITION variable integer read only Purpose Syntax Value Related instructions Rev 1 IN POSITION indicates whether or not the motor is considered to be in position IN POSITION is always either 1 true or 0 false This variable is only valid when StepperBASIC is configured to use Position Verification Before using this variable please refer to Section 2 5 Using the Position Verification and Correction Function If StepperBASIC is not configured to use Position Verification then IN POSITION will always be 0 False The internal software automatically sets the IN POSITION flag equal to 1 when the following two conditions are met e The last commanded move is complete e POS VERIFY DEADBAND is not exceeded If either of these conditions are not satisfied then the internal software will automatically set the IN POSITION flag equal to 0 x IN POSITION X 0O0orl PO
69. IC Reference Manual Rev 1 Name Type Default Value Page INTn user variable integer SAVEVAR 3 71 JOG SPEED variable float SAVEVAR 3 72 LIST command 3 73 LOAD command 3 74 LOADVAR command 3 75 MAX DECEL parameter integer SAVEVAR 3 77 MIN SPEED parameter float SAVEVAR 3 78 MOVING variable integer R O 3 79 NEW command 3 81 OT ERROR variable integer R O 3 82 OUTn parameter integer 3 83 OUTPUTS parameter integer SAVEVAR 3 83 PACK command 3 87 PAUSE statement 3 88 POS CHKn parameter integer 0 3 89 POS CHKn OUT parameter integer 0 3 90 POS COMMAND variable integer 3 92 POS VERIFY CORRECTIO parameter integer 3 94 N R O POS VERIFY DEADBAND parameter integer 3 95 POS VERIFY ERROR variable integer R O 3 97 POS VERIFY JUMP parameter integer 3 99 POSVERIFY TIME parameter integer 3 101 PREDEF INP parameter integer SAVEVAR 3 102 PREDEF OUT parameter integer SAVEVAR 3 105 PRINT statement 3 106 PWR ON ENABLE parameter integer SAVEVAR 3 107 Rev 1 MA6445 SW StepperBASIC Reference Manual Name Type Default Value Page PWR ON OUTPUTS parameter integer SAVEVAR 3 108 QRY command statement 3 111 QRY PRM command statement 3 113 QRY STAT command statement 3 114 RATIO parameter
70. ION BREACH OF CONTRACT NEGLIGENCE STRICT LIABILITY TORT WARRANTY PATENT OR COPY RIGHT INFRINGEMENT SHALL NOT EXCEED THE PRICE SPECIFIED OF THE PRODUCTS OR PROGRAMS GIVING RISE TO THE CLAIM AND IN NO EVENT SHALL PACIFIC SCIENTIFIC BE LIABLE UNDER THESE WARRANTIES OR OTHERWISE EVEN IF PACIFIC SCIENTIFIC HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES FOR SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES INCLUDING WITHOUT LIMITATION DAMAGE OR LOSS RESULTING FROM INABILITY TO USE THE PRODUCTS OR PROGRAMS INCREASED OPERATING COSTS RESULTING FROM A LOSS OF THE PRODUCTS OR PROGRAMS LOSS OF ANTICIPATED PROFITS OR OTHER SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES WHETHER SIMILAR OR DISSIMILAR OF ANY NATURE ARISING OR RESULTING FROM THE PURCHASE INSTALLATION REMOVAL REPAIR OPERATION USE OR BREAKDOWN OF THE PRODUCTSOR PROGRAMS OR ANY OTHER CAUSE WHATSOEVER INCLUDING NEGLIGENCE The foregoing shall also apply to Products Programs or parts for the same which have been repaired or replaced pursuant to such warranty and within the period of time in accordance with Pacific Scientific s date of warranty No person including any agent distributor or representative of Pacific Scientific is authorized to make any representation or warranty on behalf of Pacific Scientific concerning any Products or Programs manufactured by Pacific Scientific except to refer purchasers to this warranty Table of Contents 1 Conventions 1 1 Var
71. LOAD 3 74 LOADVAR 3 75 Logical operators 1 6 M MAX DECEL 2 15 3 77 Memory Non volatile 1 15 RAM 1 15 M odes programming 1 14 M otion statements 2 27 M otor movement 2 25 Index 2 MA6445 SW StepperBASIC Reference Manual Rev 1 Rev 1 M otor stopping 2 26 Multiple statements 1 16 N NEW 3 81 Notation 1 7 Numeric characters 1 3 constants 1 6 O Operators 1 4 OT ERROR 2 6 3 82 OUTn 3 83 OUTPUTS 3 84 Overtravel limit 2 5 P PACK 3 87 Parameters 1 9 PAUSE 3 88 POS CH Kn 2 8 3 89 POS CHKn OUT 2 9 3 90 POS COM MAND 3 92 Position Check Function 2 8 Position V erification and Correction Function 2 11 ae ne ee eeeeon 2 11 POS VERIFY DEADBAND 2 11 3 95 POSVERIFY ERROR 2 11 3 97 POS VERIFY JUMP 2 11 3 99 POS VERIFY TIME 2 11 3 101 Power up R S 232 1 11 R S 422 485 1 11 PREDEF INPn 3 102 PREDEF OUT 3 105 Predefined variables 1 9 PRINT 3 106 Program header 1 18 Programming 1 14 modes 1 14 writing editing 1 15 PWR ON ENABLE 3 107 PWR ON OUTPUTS 3 108 Q QRY 3 111 QRY PRM 3 113 QRY STAT 3 114 Quick reference 4 1 R RATIO 2 22 3 115 REG DIST 2 32 3 117 REG ENCPOS 3 119 REG FLAG 2 33 3 120 REG FU NC 2 32 3 122 R egistration functionality 2 30 Relational operators 1 5 REM 3 124 RENUM 3 125 RESET STACK 3 126 RETURN 3 127 RMT START 3 128 R S 232 communication 1 11 R S 485 communication 1 12
72. LR SCANn Clear Scan 1 or 2 turns Off scan 1 or scan 2 Note Refer to Section 2 1 Enabling and Disabling SCANs for additional info Syntax CLR SCANN wheren 10 rmation r2 Related SET SCANn activates scan 1 or scan 2 instructions SKn JUMP SKn OUTPUT oKn STOP sets the jump line number SKn TRIGGER sets the scan trigger input sets an output action SKn GOSUB sets the gosub line number EL value stops the motor using MAX DEC Programming Program CLR SCANn at the point in the program where you guidelines wish to turn the scan off e To turn the scan On again program s3 e Refer to SI ET SCANn for scan information Rev 1 MA6445 SW StepperBASIC Reference Manual ET SCANn a CLR SCANn continued Program Program line Set scan to occur when input 2 goes to low voltage 0 SK1 TRIGGER 20 5 Stop motor when scan input seen 0 SK1 STOP 1 5 Do not jump 0 SK1 JUMP 0 5 Turn output 1 On when scan input seen 0 SK1 OUTPUT 11 5 Begin checking for scan input 0 SET SCANI 5 Turn motor at 1000 RPM 0 RUN SPEED 1000 5 0 5 0 5 0 5 0 U Perform motion GO VEL Wait for 5 seconds WAIT TIME 5 Pause PAUSE Turn Off scan 1 FF WO o CO o nH HD DHS oS FP A Ww Ww YY YY FF FH NH 0 CLR SCANI N lt enter gt Scan1 looks for input 2 going low Sc
73. MA6445 SW StepperBASIC Reference Manual Index 3 RUN 3 130 RUN SPEED 3 131 Runtime errors 1 22 S SAVE 3 133 SAVEVAR 3 134 SCAN enable disable 2 3 functions 2 1 Screen editor 1 17 SEEK HOME 2 4 2 29 3 136 SET SCANn 2 3 3 140 Setting SCAN output 2 2 Setting SCAN trigger 2 2 SKn ENCPOS 3 143 SK n J UMP 2 2 3 144 SKn OUTPUT 2 2 3 146 SKn STATUS 3 148 SKn STOP 2 2 3 149 SKn TRIGGER 2 2 3 150 slash 3 152 STALL DEADBAND 2 14 3 154 Stall Detection function 2 14 STALL ERROR 2 15 3 156 STALL JUMP 2 15 3 157 STALL STOP 2 14 3 158 Statements 1 8 STEP DIR INPUT 2 12 2 32 3 160 STEP DIR outputs 2 24 STEPSIZE 2 33 3 162 StepperBA SIC functions 2 1 STOP 3 164 STOP MOTION 3 165 Stopping motor 2 19 2 25 Index 4 String constants 1 6 Syntax errors 1 20 System errors 1 23 TARGET POS 3 166 Terminal requirements 1 10 types 1 10 TIME 3 168 TRON and TROFF 3 170 Typing Paccom 1 16 U UPD MOVE 3 171 User variables 1 2 V Variable names 1 1 VELOCITY 3 173 VER 3 175 Ww WAIT TIME 3 176 Warranty i WHEN 3 177 WHEN statements 2 18 WHEN ENCPOS 3 179 WHENPCMD 3 180 WHILE WEND 3 181 Wiring controller 2 31 Writing programs 1 12 MA6445 SW StepperBASIC Reference Manual Rev 1
74. MIN SPEED 1 465 DIR 0 PREDEF NP 63 ENCODER 1000 PREDEF OUT 0 FLT1 FLT8 asset PWR ON ENABLE 1 HMPOS OFFSET 0 PWR ON OUTPUTS 0 HOME ACTI VE 0 RMT START 0 NDEX DIST 5000 RUN SPEED 1000 INT1 1NT8 asset STEPSI ZE 25 OG SPEED 1000 WAIT TI ME 1 MAX DECEL 100000 Status display Status Display Default Status Display Default ENABLE 1 OUTPUTS 0 ENABLED 0 POS COMMAND 0 ENCDR POS 1 STEP DIR NPUT 0 FAULTCODE 0 TARGET POS 0 NPUTS 65535 Rev 1 MA6445 SW StepperBASIC Reference Manual 3 111 QRY continued Syntax QRY Related QRY PRM displays parameters values only instructions QRY STAT displays current status values only Programming Use ory after programming SAVEVAR to check the values of the guidelines parameters saved and to check current status values Program Program line segment QRY lt enter gt 3 112 MA6445 SW StepperBASIC Reference Manual Rev 1 QRY PRM command statement Purpose QRY PRM Query Parameters lists the current values of parameter instructions The values may be the default values preset at the factory or the currently programmed values The parameters shown are listed with default values Parameters Parameter Default Parameter Default ACCEL RATE 1000 MAX DECEL 100000 DIR 0 MIN SPEED 1 465 ENCODER 1000 PREDEF NP 63 FLT1 FLT8 ass
75. NT No line feed Quote Period dot or decimal ACCEL RATE 10 point Single quote This is a comment Rev 1 MA6445 SW StepperBASIC Reference Manual 1 3 1 3 Operators Used in Programming Introduction Arithmetic Example The operators used by StepperBA SIC are arithmetic relational and logical and are evaluated in that order of precedence H owever operations within parentheses are performed first Inside the parentheses the usual order of precedence occurs The arithmetic operators are Arithmetic O perator Description of Example Operation one variable Negation of value 3 x M ultiplication D ivision 4 21 3 10 5 2 two variables Addition Subtraction 27 8 19 2 Note When multiple arithmetic operators are used in an expression they are performed in the order of precedence given in the table that is multiplication is performed before addition and so on Also integer division is not supported Precedence may be altered by the use of parentheses For example INTL 2 3 5 will assign the value 17 2 15 to the variable INT1 The statement INT1 2 3 5 will assign the value 25 5 5 to the variable INT1 MA6445 SW StepperBASIC Reference Manual Rev 1 Relational Relational operators are used in IF TH WHILE W END and FOR NI EN ELS H EXT statements Ther
76. PCMD variable integer R O 3 180 WHILE WEND statement 3 181 Rev 1 MA6445 SW StepperBASIC Reference Manual Appendix A ASCII Codes ASCII Code Result ASCII Code Result ASCII Code Result ASCII Code Result 0 NUL 32 amp 96 1 SA SOH 133 6 A 97 a 2 B STX 134 6 B 98 b 3 AC ETX 35 6 amp 7 Cc 99 c 4 sD EOT 36 68 D 100 d 5 E ENQ 37 69 E 101 6 F ACK 38 amp 7 F 102 f 7 G BEL 39 7 G 103 g 8 H BS 40 72 H 104 h 9 HT 41 B 105 i 10 J LEF 42 74 J 106 j 11 K VI 43 735 K 107 k 2 ai FF 44 7 L 108 13 M CR J45 7 M 109 m 14 N SO 46 l 78 N 110 n 5o o SI 47 73 0 ir o 16 P DLE 48 0 30 P 112 p 17 0 DC1 149 1 81 Q 113 q 18 R DC2 50 2 8322 R 114 r 19 S DC3 51 3 83 OS 115 s 20 T DC4 52 4 84 T 116 t 2 u NAK 53 5 835 uU 117 u 22 V SYN 54 6 86 v 118 v 23 W ETB 55 7 87 w 119 w 24 X CAN 56 8 88 xX 120 x 2 y EM 57 9 83 Y 121 y 3 zZ SUB 58 9 Z 122 z 27 I ESC 59 91 123 28 FS 60 lt 92 124 29 GS 61 93 J 125 30 24 RS 62 gt 4 126 3 A US 163 5 127 Rev 1 MA6445 SW StepperBASIC Reference Manual A Appendix B INPUT Statement Introduction This appendix is intended to provide additional information on the INPUT statement INPUT statement When a StepperBASIC program execu
77. PacliFic SCIENTIFIC AUTOMATION TECHNOLOGY GROUP MOTION TECHNOLOGY DIVISION 110 Fordham Road Wilmington MA 01887 978 988 9800 Fax 978 988 9940 Part MA6445 SW List Price 65 U S J anuary 1998 Revl MA6445 SW StepperBASIC Programming Reference Manual for use with 6x45 Microstep Indexer Rev 1 This document is copyrighted by Pacific Scientific Company It is supplied to the user with the understanding that it will not be reproduced duplicated or disclosed in whole or in part without the express written permission of Pacific Scientific Company Copyright 1997 1998 WARRANTY AND LIMITATION OF LIABILITY Includes software provided by Pacific Scientific Pacific Scientific warrants its motors and controllers Product s to the original purchaser the Customer and in the case of original equipment manufacturers or distributors to their original consumer the Customer to be free from defects in material and workmanship and to be made in accordance with Customer s specifications which have been accepted in writing by Pacific Scientific In no event however shall Pacific Scientific be liable or have any responsibility under such warranty if the Products have been improperly stored installed used or maintained or if customer has permitted any unauthorized modifications adjustments and or repairs to such Products Pacific Scientific s obligation hereunder is limited solely to repairing or r
78. RINT OT ERROR OT ERROR 1020 DIR NOT DIR 1030 GOTO 80 RUN lt enter gt The motor oscillates between position 25000 and 25000 Rev 1 MA6445 SW StepperBASIC Reference Manual 3 7 CCW OT J UMP parameter integer Purpose CCW OT JUMP Counterclockwise O vertravel Error J ump Location specifies the jump location for counterclockwise overtravel errors If CCW OT JUMP is equal to zero the program will not jump when a counterclockwise overtravel occurs Note Refer to Section 2 3 Setting Up the Software O vertravel Function for additional information Syntax CCW OT JUMP x where x is the line number of counterclockwise overtravel error handler CCW OT JUMP 0 prevents the program from jumping when a counterclockwise overtravel error occurs Default x 0 Related CCW OT sets the counterclockwise software overtravel limit instructions Programming guidelines CCW OT ON turns On Off counterclockwise overtravel checking OT ERROR displays value for the appropriate direction if an overtravel error occurs See also corresponding clockwise variables cw OT and CW OT ON 1 Program CcW OT ON 1 to turn On overtravel checking 2 Set ccw orT to the desired distance in motor position This distance is based on POS COMMAND MA6445 SW StepperBASIC Reference Manual Rev 1 CCW OT ON Variable Integer Purpose CCW OT ON CounterclockwiseO vertravel Check Enable works wi
79. Rev 1 RATIO parameter float Purpose Syntax R ange Default Related instructions Programming guidelines Rev 1 RATIO sets a ratio between an external encoder or step and direction source and the motor shaft for electronic gearing motion Note Refer to Section 2 8 Electronic Gearing for additional information IMPORTANT NOTE The value of this variable is stored in NVRAM when the SAVEVAR command is executed RATIO X x 0 000001 to 100 x 1 GEARING turns electronic gearing On or Off ENCODER sets the line count of the master encoder STEP DIR INPUT specifies encoder or step direction input e For an encoder input install an encoder input from the master and verify that it is set to the correct ENCODER line count e A negative value for RATIO causes motion opposite to the encoder shaft e For step and direction inputs use Step Dir signals at the J 11 encoder interface MA6445 SW StepperBASIC Reference Manual 3 115 TS RATIO continued Program Program line segment 10 RATIO 0 1 20 ENCODER 1000 30 GEARING 1 GEARING is On The motor follows the external encoder This program specifies that the motor shaft will turn 0 1 revolution for each encoder shaft revolution The installed encoder is 1000 lines per revolution 3 116 MA6445 SW StepperBASIC Reference Manual Rev 1 REG DIST parameter
80. S COMMAND 0 130 RUN SPEED 2000 140 INDEX DIST 100000 150 GO I NCR 160 RUN SPEED 100 170 WHEN POSITION gt 5000 UPD MOVE This program waits until the position is greater than 5000 then updates move causing the run speed to drop to 100 RPM 3 172 MA6445 SW StepperBASIC Reference Manual Rev 1 fC VELOCITY variable float read only Purpose VELOCITY indicates the actual speed at which the motor shaft is running averaged over a 128 msec interval This is a read only variable Syntax x VELOCITY Stepsize Range 1 0 01 to 18 750 00 RPM 2 0 01 to 18 750 00 RPM 5 0 01 to 7 500 00 R PM 25 0 01 to 6 000 00 R PM 125 0 01 to 2 399 99 R PM Related RUN SPEED Programmed speed realistically represented by instructions VELOCITY Rev 1 MA6445 SW StepperBASIC Reference Manual 3 173 EE SET VELOCITY continued 3 174 Program line 0 STEPRSIZE 1 0 RUN SPEED 1000 0 MI N SPEED 50 0 ACCEL RATE 1000 0 DIR 0 0 GO VEL 0 WAIT TIME 5 PAUSE 0 ont ODO o A W N re ELSE 80 90 PRINT VELOCITY FOLLOW NG ERROR This program checks mismatch between RUN SP MA6445 SW StepperBASIC Reference Manual IF RUN SPEED VELOCITY 100 gt 1 THEN 90 EED and VELOCITY If greater than 1 print error message Rev 1 a VER command Purpose VER is an immediate mode instruction that displays the versio
81. S MOTION enables motion to proceed continuously over multiple motion instructions M otion does not stop when new motion instructions are encountered instead motion continues with the parameters of the new motion instruction If CONTINUOUS MOTION is not enabled motion stops after each motion instruction When enabled CONTINUOUS MOTION 1 the following program segment results in one continuous move to a position one turn beyond the absolute position of 10000 VELOCITY 10 20 30 40 50 60 70 CONTINUOUS MOTION 1 POS COMMAND 0 TARGET POS 10000 INDEX DIST 5000 RUN SPEED 200 GO ABS GO INCR 200 RPM i TIME POSITION 15000 MA6445 SW StepperBASIC Reference Manual EE SS SSS eS SS SE EEE CONTINUOUS MOTION continued When If line 10 had not enabled Continuous M otion disabled CONTINUOUS MOTION 0 two distinct moves would occur VELOCITY i f TIME POSITION 10000 POSITION 15000 Changing If new motion variables are programmed following existing motion variables instructions these new variables become effective as soon as a new motion instruction is encountered For example the following program segment generates the motion profile shown 10 CONTINUOUS MOTION 1 20 POS COMMAND 0 30 TARGET POS 10000 40 RUN SPEED 500 50 GO VEL 60 RUN SPEED 100 70 WHEN POS COMMAND gt 5000 GO ABS 500 RPM POSITION 5000 VELOCITY 10
82. S VERIFY CORRECTION returns the number of steps difference for the position verification error POS VERIFY DEADBAND sets the maximum allowed difference in motor steps microsteps between encoder and pulse counts that can occur before a position verification error is triggered POS VERIFY ERROR indicates that a position verification error has occurred POS VERIFY JUMP jumps to program line number upon position verification error POS VERIFY TIME setting time for encoder reading MA6445 SW StepperBASIC Reference Manual 3 65 EE E ET IN POSITION continued Program Program line segment 10 POS VERIFY DEADBAND 10 20 POS VERIFY TIME 100 30 GO I NCR 40 F MOVING THEN 40 50 IF NOT IN POSITION THEN PRINT ERROR 60 PRINT POS VERIFY CORRECT ON 3 66 MA6445 SW StepperBASIC Reference Manual Rev 1 INPUT statement Purpose Syntax Value Related instructions Programming guidelines Rev 1 INPUT enables the program to prompt you for numeric input to a running program INPUT prompt variable A semicolon after the INPUT statement keeps the cursor on the same line after the instruction is executed A semicolon after the prompt causes a question mark followed by a space to be displayed If a comma is used rather than a semicolon no question mark is displayed INKEY enables the program to prompt for alphabetic or speci
83. S are stored in the variables WHENPCMD and ENCPOS respectively The values of these variables may be used for even greater synchronization The following list is a sampling of some possible WHEN statements 50 60 100 320 360 870 900 950 WHE N WHE N WHEN WHEN WHEN WHEN WHEN WHEN INP1 1 GO VEL INP3 0 OUT4 1 POS COMMAND lt INT6 STOP MOTI ON ENCDR POS gt INT3 GO INCR INP6 1 RATIO FLT4 POSITION gt 40960 CONTINUE REG FLAG OUT 1 INP5 REG FUNC 1 MA6445 SW StepperBASIC Reference Manual Rev 1 Example The following program is an example of using the WHEN statement This program executes an incremental move as soon as INP3 goes low It then waits for INP3 to go high again When INP3 goes high the program goes back to waiting for INP3 to go low so that it can perform another incremental move The response time from INP3 going low to the motor motion starting will be approximately 1 msec 10 INDEX DIST 40960 20 WHEN INP3 0 GO INCR 30 WHEN NP3 1 CONTINUE 40 GOTO 20 2 8 Electronic Gearing Introduction Electronic gearing allows you to control the movement of the motor shaft from an external source Gearing usually is done with encoder inputs However it can be performed using Step Dir inputs also To use electronic gearing you must provide an external encoder or differential Step Dir source This external source is used as a master reference for el
84. able or a complete group of variables from RAM toNVRAM memory This is done so that the variable or group of variables is not lost when power is removed SAVEVAR INTn or FLTn SAVEVAR with no variable specified for group of variables The variables that can be saved are as follows If no variable is specified after SAVEVAR all of these variables are saved ACCEL RATE MAX DECEL DI R MI N SPEED ENCODER PREDEF NP FLETA psa ag PETS PREDEF OUT HMPOS OFFSET PWR ON ENABLE HOME ACTI VE PWR ON OUTPUTS NDEX DI ST RMT START INT1 1NT32 RUN SPEED OG SPEED STEPSI ZE WALT TI ME SAVE saves program from RAM toNVRAM LOADVAR transfers variables from NVRAM to RAM LOAD copies the program stored in NVRAM into RAM in order to execute or edit the program MA6445 SW StepperBASIC Reference Manual Rev 1 SAVEVAR continued Programming guidelines Rev 1 e For an INTn or FLTn program the variable name in parentheses only Do not include its assigned value Note You must set the new variable value separately preceding SAVEVAR INTn or FLTn e Program SAVEVAR with no specified variable to save all allowed variables e Check saved variables using QRY PRM e The SAVEVAR command can be executed from within a program e To insure that variables from previous programs do not affect the current program initialize all variables at the start of each program as described
85. al characters Only integer float or flag variables of numeric data types no alphabetic characters are allowed as input If you are using R S 422 or RS 485 multi unit configuration and the drive specified for INPUT is not logged On INPUT is automatically set to zero If the drive is logged On then the variable is set per the value entered at the terminal Note Refer to Appendix B INPUT Statement for additional information Program line 10 INPUT I NT1 20 PRINT You entered INTI RUN lt enter gt Program prompts for INT1 If you press 3 lt enter gt the program prints Y ou entered 3 MA6445 SW StepperBASIC Reference Manual 3 67 INPUTS variable integer read only Purpose INPUTS displays the state of the 16 inputs This is a read only variable determined by the voltage levels applied to the discrete input pins Syntax x NPUTS Range 0 to 65535 Default 65535 inputs disconnected high or all inputs O ff Value where x is a decimal value corresponding to the sum of the weighted inputs as described by INPUTS 32768 INP16 16384 INP15 8192 INP14 4096 INP13 2048 INP12 1024 INP11 512 INP10 256 INP9 128 INP8 64 INP7 32 INP6 16 INP5 8 INP4 4 INP3 2 INP2 1 INP1 where INPn State of input as indicated by INPn 1 OFF high INPn 0 ON low Related INPn reads input signals for individual
86. an1 will be active for only five seconds after motor starts to move 3 14 MA6445 SW StepperBASIC Reference Manual Rev 1 CONT command Purpose CONT Continue after Stop is an immediate mode instruction that causes resumption of a program interrupted by a STOP command Using CONT with STOP is an effective tool for testing and debugging programs Syntax CONT Related STOP causes program interrupt used with CONT instructions Note Do not confuse the instruction CONTINUE used with WHEN with CONT Programming Program CONT from immediate mode whenever a program is guidelines interrupted using the STOP command Note Do not change the program interrupted by STOP Program execution will be incorrect if a STOP interrupted program is altered Y ou may however change variables in immediate mode during an active STOP command Rev 1 MA6445 SW StepperBASIC Reference Manual 3 15 CONT continued Program Program Line segment 90 The program stops 100 STOP 110 Program resumes from here when CONT programmed 120 PRINT Program RUN When the program runs it completes up to line 100 and prints Break in line 100 You may now enter instructions in immediate mode including variable changes CONT Program execution continues from line 110 Ww i m e2 MA6445 SW StepperBASIC Reference Manual Rev 1 CONTINUOUS MOTION variable integer Purpose When enabled Rev 1 CONTINUOU
87. and if the expression is still true then the loop statements are executed again This continues until the expression is no longer true If the expression is not true then the BASIC interpreter software executes the statement immediately following the WEND statement Syntax WHILE expression loop statements WE ND expression is any numeric or boolean expression Programming WHILE WEND loops may be nested up to a limit of 8 Each guidelines WEND is matched to the most recent WHILE Unmatched WHILE Or WEND statements cause run time errors Rev 1 MA6445 SW StepperBASIC Reference Manual 3 181 WHILE WEND continued Program Program line segment 10 INTI 3 20 WHILE INTI gt 1 30 PRINT INTL INTI 40 INT1 INTI 1 50 WE ND 60 END RUN lt enter gt This program will print out the following INT1 3 INTL 2 3 182 MA6445 SW StepperBASIC Reference Manual Rev 1 4 Quick Reference Introduction This section contains commands functions parameters statements and variables for Pacific Scientific StepperBASIC Below is a summary of the list of instructions Name Type Default Value Page ABS function 3 2 ACCEL RATE parameter integer SAVEVAR 3 3 AUTO command 3 5 CCW OT parameter integer 0 3 6 CCW OTJUMP parameter integer 3 8 CCW OT ON parameter integer 3 9 CHR function
88. arameter integer Purpose Syntax Value Related instructions Programming guidelines Rev 1 SKn STOP is set to 1 to stop motion when a scan is triggered The deceleration rate is set by MAX DECEL SK1 STOP and SK2 STOP are the respective scan 1 scan 2 stop motion variables Note Refer to Section 2 1 2 Setting the Scan Output Action for additional information SKn STOP x x 1 to stop motion x 0 to turn Off scan stop motion SET SCANn activates scan 1 or scan 2 SKn JUMP sets the jump line number SKn TRIGGER sets the scan trigger input SKn OUTPUT sets an output action CLR SCANn turns off scanning MAX DECEL sets the deceleration rate for special stopping conditions SKn ENCPOS records encoder position when scan triggers Program SKn STOP 1 to stop motion when the scan triggers Note When a scan is triggered motion is stopped immediately The program line that is executing when the scan triggers does not complete Set up SKn STOP 0 to disable scan stop motion so that motion will continue when the scan triggers Refer to SET SCANn for scan information and an example program MA6445 SW StepperBASIC Reference Manual 3 149 SKn TRIGGER variable integer Purpose SKn TRIGGER specifies the scan triggers condition Two independent scans are available and both may be activated at the same time The first
89. at can occur before a position verification error is triggered POS VERIFY ERROR indicates that a position verification error has occurred POS VERIFY JUMP jumps to program line number upon position verification error e Install an encoder and verify that it is set to the correct ENCODER line count e Make sure STEPSIZE is correct e Use GO ABS GO INCR or GO HOME for moves Position verification does not work with other move instructions e Set STEP DIR INPUT 0 if using quadrature inputs to the J 11 encoder interface MA6445 SW StepperBASIC Reference Manual 3 101 PREDEF INPn parameter integer Purpose PREDEF INPn Pre defined Input n and PREDEF INP Pre defined Inputs enable pre defined functionality for discrete inputs INP10 to INP15 PREDEF INPn specifies functionality for an individual input n PREDEF INP specifies functionality for all inputs IMPORTANT NOTE The value of this variable is stored in NVRAM when the SAVEVAR command is executed Syntax PREDEF INPn x Value PREDEF INPn 0 for each individual input n 10 to 15 to disable pre defined functionality enable the discrete input functionality for the input PREDEF INPn 1 for each individual input 10 to 15 to enable pre defined functionality as follows Input Function PREDEF I NP
90. ause the motor to stop using the DECEL RATE of 1000 rpm sec if a stall is detected STALL ERROR 1 Line 110 and 120 will reset the position command and the encoder counters to zero 0 Line 130 will initiate the incremental move Line 140 will hold the program until the motion is completed Line 150 will take the program back to line 110 Line 1000 will print MOTOR STALLED XXXXXX STEPS FROM START if a stall is detected STALL ERROR 1 2 16 MA6445 SW StepperBASIC Reference Manual Rev 1 2 7 Using the WHEN Statement The WHEN statement is used to get extremely fast response to certain input conditions When the Pacific Scientific StepperBA SIC program encounters a WHEN statement it tests the specified condition every 1 024 msec and as soon as the condition is satisfied the specified output action is initiated When the StepperBA SIC program encounters a WHEN statement the program will not proceed to the next line of the program until the WHEN condition is satisfied When the WHEN condition is satisfied and the specified action has been performed the WHEN statement is complete In order to execute this function again you must execute another WHEN statement For example if you desire the motor to rotate at 1000 RPM until Input 3 is pulled low INP3 0 at which point the motor is to be decelerated to 500 RPM you use the following program 10 RUN SPEED 1000 20 GO VEL 30 RUN SPEED 5
91. ax INDEX DIST x where positive values move clockwise and negative values move counterclockwise Stepsize Range 1 33 554 432 lt x lt 33 554 431 2 67 108 864 lt x lt 67 108 863 5 67 108 864 lt x lt 67 108 863 25 268 435 456 lt x lt 268 435 455 125 536 870 912 lt x lt 536 870 911 Default x 5 000 Related GO INCR performs an incremental move from the current instructions position Programming Specify INDEX DIST prior to issuing a GO INCR command guidelines 3 60 MA6445 SW StepperBASIC Reference Manual Rev 1 INKEY function Purpose Syntax Value Related instructions Programming guidelines Rev 1 INKEY returns the key or control code corresponding to a key pressed or control entered from the keyboard This function is useful to control program flow based on key presses such as Y or N x NKEY Refer to Appendix A ASCII Codes for an ASCII code table of values CHR x Converts an ASCII code to its equivalent character INKEY returns a string character If no character is pending in the serial buffer a null string length zero is returned If several characters are pending only the first is returned Once a character is read from the buffer it is removed from the buffer U se this instruction to control program flow as shown in the example The control characters
92. ber sets the address as the Specify only unit to respond to immediate mode commands O nce received the addressed unit is the only one to react to or respond to commands received The address specification remains in effect until another address specification is given Address specifications may be temporarily overridden with a Global command This command can be given even to units running programs in order to stop a single unit See the INPUT and PRINT statements for additional notes about using multiple units 3 152 MA6445 SW StepperBASIC Reference Manual Rev 1 Slash continued Syntax In lt Return gt where n is the address of the controller that you want to log on to x lt Return gt where x is a global command that is to be executed by every controller connected to the R S 485 serial link Program Program line ae STOP Tell all units to stop motion GO VEL Tell all units to begin motion LAC Global control c All units abort motion 13 Set address to unit 3 2 LIST Set address to unit 2 and list program of unit 2 Rev 1 MA6445 SW StepperBASIC Reference Manual 3 153 STALL DEADBAND parameter integer Purpose STALL DEADBAND sets the maximum step difference allowed Related instructions Programming guidelines 3 154 between commanded and measured steps step counts versus encoder counts During a move this difference is checked against the deadband variable
93. by a Pacific Scientific StepperBA SIC program The only way to change the value of INPUTS is to actually change the voltage level at the connector pins used for the discrete inputs Note Global variables are treated the same as user variables within expressions and programs MA6445 SW StepperBASIC Reference Manual Rev 1 1 2 Characters Along with Pacific Scientific StepperBA SIC instructions alphabetic and numeric characters are used in creating programs Alphabetic Any alphabetic character is legal in StepperBASIC Program instructions are not case sensitive Alpha characters may be typed in either upper or lower case StepperBA SIC processes all text in upper case after compilation The drive does not recognize case when the text is part of a string that is text bracketed by quotes for printout or display Numeric The digits 0 through 9 are legal for use in StepperBA SIC Character Name Example Space PRINT Hello FLT1 E qual sign of assignment FLT1 VELOCITY symbol Plus sign INT1 INT2 3 Minus sign INT1 RUN SPEED 100 Asterisk or multiplication FLT1 6 28 FLT3 symbol Slash or division symbol FLT1 INDEX DIST 4096 lt gt Not equal IF VELOCITY lt gt 0GOTO 100 lt Less than IF VELOCITY lt 100 GOTO 10 gt Greater than IF POSITION gt 0GOTO 10 a l Ie INT1 3 INT2 INT3 Closed parenthesis i Comma PRINT FLT1 FLT2 Semicolon PRI
94. ction for additional information STALL UMP x x the desired line number x 0 for no jump x 0 STALL DEADBAND sets the maximum allowed difference in motor steps microsteps between encoder and pulse counts that can occur before a stall is triggered STALL ERROR indicates that a stall has occurred STALL STOP stops the motor when stall occurs e Install an encoder and verify that it is set to the correct ENCODER line count e Make sure STEPSIZE is correct Both hardware and software MA6445 SW StepperBASIC Reference Manual 3 157 STALL STOP parameter integer Purpose STALL STOP stops the motor at a rate set by MAX DECEL when a stall occurs Note Refer to Section 2 6 Stall Detection Function for additional information Syntax STALL STOP Value x 0 Off Disables the stop on STALL triggered x 1 On Enables the stop on STALL triggered Default x 0 Related STALL DEADBAND sets the maximum allowed difference in instructions motor steps microsteps between encoder and pulse counts that can occur before a stall is triggered STALL ERROR indicates that a stall has occurred STALL JUMP sets the jump line number MAX DECEL maximum deceleration rate used for STALL STOP Programming Install an encoder and verify that it is set to the correct guidelines ENCODER line count
95. currence This code occurs whenever the PROCESSOR FAULT LED is lit x FAULTCODE x 0 displayed if no fault present or is entered to clear fault code after source of faulting has been removed x 1 displayed if drive faulted x 2 displayed if an error occurred while loading the program fromthe NVRAM to RAM x 3 displayed if an error occurred while loading the variables from the NVRAM to RAM e Program a fault code in an expression to detect faults that occur during operation e If fault occurs reset FAULTCODE by programming FAULTCODE 0 If a drive fault occurred cycle power only If the fault recurs troubleshoot as follows E 1 Check correct connections to motor See Section 2 5 1 in the Installation M anual 2 Check for voltage drops in line voltage V oltage must be at 120 volts 20 For further help contact Pacific Scientific A pplication Engineering at 978 988 9800 from 8 am to 5 pm Eastern Standard Time or contact your Pacific Scientific distributor MA6445 SW StepperBASIC Reference Manual Rev 1 FLGn variable Purpose Syntax Range Default Related instructions Programming guidelines Rev 1 FLGn Flag variables 1 to 8 are flag that is 0 or 1 variables you define as part of your program FLGn x X 0O0orl FLGn 0 FLTn thirty two floating point user defined variables INTn thirty two integer user defined variables CLEAR clears FLGn FLTn and
96. d STEP DIR INPUT specifies encoder or step direction input instructions ENCODER sets the line count of the master encoder Programming The value returned is a floating point variable To convert the guidelines value to an integer use CINT ENC FREQ is updated every 160 msec and represents the average frequency over the preceding 160 msec interval Program Program line ment 7 10 ENCODER 1024 20 PRINT ENC FREQ CINT ENC FREQ Assuming the master encoder is moving at a rate of 3000 RPM the output for this program will be ENC FREQ 204800 Note ENC FREQ ENCODER X Speed RPM x 4 60 3 34 MA6445 SW StepperBASIC Reference Manual Rev 1 ENCODER parameter integer Purpose Syntax Range Default Related instructions Rev 1 ENCODER specifies the number of line counts per revolution for the installed encoder This variable must be specified if using electronic gearing position verification and correction stall detection and registration function Note An incremental quadrature encoder with differential line driver type outputs must be used Refer to Sections 2 5 2 6 2 8 and 2 10 for additional information IMPORTANT NOTE The value of this valuable is saved in NVRAM when the SAVEVAR command is executed ENCODER x x 200 to 10000 x 1000 GEARING turns On or Off electronic gearing
97. d even without a stall of a mechanical system the motor up to 2 full motor steps Account EADBAND of at least 4 full steps or CCURRED 110 PRINT MOTOR SHOULD HAVE STOPPED 120 END Rev 1 MA6445 SW StepperBASIC Reference Manual 3 155 STALL ERROR variable integer read only Purpose STALL ERROR indicates that a stall has occurred Note Refer to Section 2 6 Stall Detection Function for additional information Syntax x STALL ERROR where x 0 no stall x 1 stall occurred Related STALL DEADBAND range sets the maximum instructions allowed difference in motor steps microsteps between encoder and pulse counts that can occur before a stall is triggered STALL JUMP line number jumps to program line number upon stall STALL STOP flag stops the motor when stall occurs Programming Stall error is only operational for 1 move It is cleared upon guidelines the next move e Install an encoder and verify that it is set to the correct ENCODER line count e Make sure STEPSIZE is correct Both hardware and software 3 156 MA6445 SW StepperBASIC Reference Manual Rev 1 STALL UMP parameter integer Purpose Syntax Range Related instructions Programming guidelines Rev 1 STALL JUMP moves program execution to a specified line in the program when a stall occurs Note Refer to Section 2 6 Stall Detection Fun
98. delines Instruction Value Instruction Value OUT12 1 OUT6 1 OUT11 0 OUT5 0 OUT10 1 OUT4 1 OUT9 0 OUT3 0 OUT8 1 OUT2 1 OUT7 0 OUT1 0 Then OUTPUTS will be equal 2048 1 1024 0 512 1 256 0 128 1 64 0 32 1 16 0 8 1 4 0 2 1 1 0 Or OUTPUTS 2730 If the individual outputs are configured as follows Instruction Value Instruction Value OUT12 0 OUT6 0 OUT11 1 OUT5 1 OUT10 0 OUT4 0 OUT9 1 OUT3 1 OUT8 0 OUT2 0 OUT7 1 OUT1 1 Then OUTPUTS will equal 2048 0 1024 1 512 0 256 1 128 0 64 1 32 0 8 0 4 1 2 0 1 1 Or OUTPUTS 1365 Rev 1 MA6445 SW StepperBASIC Reference Manual 3 85 OUTPUTS continued For example Set the variable equal to the sum of the x values for Off high outputs e Outputs 1 to 8 Off high OUTPUTS 255 128 1 64 1 32 1 16 1 8 1 4 1 2 1 1 1 e All outputs On low OUTPUTS 0 2048 0 1024 0 512 0 256 0 128 0 64 0 32 0 16 0 8 0 4 0 2 0 1 0 e Output 5 Off all others On OUTPUTS 16 2048 0 1024 0 512 0 256 0 128 0 64 0 32 0 16 1 8 0 4 0 2 0 1 0 MA6445 SW StepperBASIC Reference Manual Rev 1 PACK command Purpose PACK speeds up program execution by generating the GoTo table before the program executes The PACK command goe
99. e keyboard The 6x45 Indexer D rive contain a large number of pre defined parameters which specify constraints on motion control and mode control functions Parameters are functionally analogous to variables except once set they typically remain constant Rev 1 MA6445 SW StepperBASIC Reference Manual 1 9 1 7 Interface Requirements Terminal types Y ou can select two types of interface terminal for controlling the unit Display only A display only dumb terminal allows you to type programs and commands but will not save programs externally the program can be saved in the drive memory Note The T 10C terminal available from Pacific Scientific is a display only terminal that allows you to enter values and run downloaded programs Computer A computer terminal allows you to save and work on programs externally from the controller In addition you can use utilities such as the PacCom Toolkit for editing programs downloading programs and terminal emulation An example of this type of terminal isan IBM AT PC Terminal The requirements for the terminal are requirements e RS 232 RS 485 or RS 422 serial communication on board e 9600 baud transmission rate 1 7 1 Setting Up Communications Introduction This section covers downloading programs and terminal emulation using the communications utilities in the Paccom Toolkit PacCom 1 With power disconnected from the unit verify that the installation power and eart
100. e Position Check Function Introduction The position check function is used to allow the internal software to automatically turn On set to 0 or turn Off set to 1 an output discrete OUT1 OUT2 and or OUT3 based upon the motor s position Note Up to three position check functions may be defined at any time When a position check function has been defined the internal software checks the motor position every 2 048 msec and either turns On or turns Off the appropriate discrete output depending upon whether the motor position is greater than or less than the specified check position Rev 1 MA6445 SW StepperBASIC Reference Manual 2 7 Three independent o set up the position check function two variables must be position checks specified for each of the three position checks which may be defined VARIABLE DESCRIPTION POS CHKn Specifies the position check value POS CHKn OUT Specifies whether or not position check is enabled and if enabled whether Output n OUTn is to be turned On or Off POS CHKn OUT may be set to one of three values 0 Position check n is disabled 10 OUTn 0 if the motor position is greater than POS CHKn OUTn 1 if the motor position is less than POS CHKn 11 OUTn 1 if the motor position is greater than POS CHKn OUTn 0 if the motor position is less than POS CHKn The value of n can be 1 2 or 3 Note Once a
101. e actions can be specified The four available output actions are 1 Turn a specified output ON or OFF This action is specified using the variable SKn OUTPUT 2 Stop the motor This action is specified by setting the variable Skn STOP to 1 If SKn STOP is set to zero the motor will not be stopped when the SCAN Trigger Condition is satisfied 3 Jump to a specified line of the StepperBA SIC program This action is specified using the variable Skn JUMP If SKn JUMP is set to zero then the StepperBA SIC program will not be affected when the SCAN Trigger Condition is satisfied If SKn JUMP is set to a non zero value the program will commence execution at the instruction specified by the SKn JUMP program line Note Use of the SCAN jump SKn JUMP functions may absolutely require the execution of the RESET STACK statement to ensure internal program control is restored if the SCAN input has been triggered during execution of a subroutine or looping construct 2 2 MA6445 SW StepperBASIC Reference Manual Rev 1 2 1 3 Enabling and Disabling SCANs SCAN functions are enabled or disabled as follows e The SCAN function is enabled by executing SET SCANn e The SCAN function is disabled by executing CLR SCANn Example Asan example suppose you have an End of Travel Limit Switch If this switch is activated then all motion must stop an output must be turned on and a message must be displayed on the screen of the terminal Th
102. e following segment will perform this function 10 SK1 TRIGGER 10 20 SK1 STOP 1 30 SK1 UMP 2000 40 SK1 OUTPUT 11 50 SET SCAN1 2000 PRINT End of Travel Limit Switch activated 2010 IF NP1 0 THEN 2010 2020 GOTO 100 Line 10 specifies the SCAN trigger condition as input 1 going to a low voltage Line 20 specifies that the motor will stop when the SCAN condition is satisfied Line 40 specifies that Output 1 will be turned Off when the Scan condition is satisfied Line 50 enables the SCAN function Line 2000 prints a message on the terminal screen This message will be displayed when the SCAN condition is satisfied Line 2010 waits until 1 goes to a high voltage before proceeding to line 2020 Line 2020 jumps to line 100 which should be a program restart routine in this example Rev 1 MA6445 SW StepperBASIC Reference Manual 2 3 2 2 Homing Routines Electrical home Pacific Scientific StepperBA SIC is an absolute positioning system It maintains a position counter POS COMMAND and is capable of moving the motor shaft to any absolute position The position counter has a range of approximately 32 000 revolutions to 32 000 revolutions of the motor shaft The position at which the position counter POS COMMAND equals zero is called the electrical home position The electrical home position can be established by executing the SEEK HOME function After the SEEK HOME function is performed the
103. e in motion and executing a motion command to perform the registration distance MA6445 SW StepperBASIC Reference Manual 3 119 REG FLAG variable integer Purpose REG FLAG Registration Flag indicates that the R egistration Syntax Value Default Related instructions 3 120 input has triggered Note Refer to Section 2 10 Registration Functionality for additional information x REG FLAG x 1 indicates a R egistration input triggered x 0 ENCODER sets the line count of the master encoder REG DIST distance moved upon Registration input REG ENCPOS encoder position when Registration input triggers REG FUNC specifier to perform REG DIST index move when Registration input triggers STEP DIR INPUT specifies encoder or step direction input MA6445 SW StepperBASIC Reference Manual Rev 1 REG FLAG continued Programming Attach differential R egistration inputs to J 11 6 CH Z and guidelines J11 7 CH Z To clear the flag set REG FLAG 0 Note REG FLAG is automatically cleared by REG FUNC 1 Program REG DIST for the appropriate distance after specifying REG FUNC 1 Refer to REG FUNC for more information Note Registration mark handling is not operational if electronic gearing is in use The controller must be in motion and executing a motion command to perform the registration distance Registration
104. e motor position SKn STOP stops the motor CLR SCANn turns off scanning Rev 1 MA6445 SW StepperBASIC Reference Manual 3 143 SKn J UMP parameter integer Purpose SKn JUMP Scan Jump 1 or 2 sets a program line destination to jump to when a scan is triggered SK1 JUMP and SK2 JUMP are the respective scan 1 or scan 2 jump variables Note Refer to Section 2 1 Scan Functions for additional information Syntax SKn J UMP x Value x the desired line number destination x 0 for no jump Range x 0 to 65 536 Related SET SCANn activates scan 1 or scan 2 instructions SKn TRIGGER sets the scan trigger input SKn OUTPUT sets an output action SKn STOP stops the motor CLR SCANn turns off scanning SKn ENCPOS records encoder position when scan triggers RESET STACK Clears the internal stack so that the program may be restarted 3 144 MA6445 SW StepperBASIC Reference Manual Rev 1 I O ee SKn J UMP continued Programming Program SKn JUMP x for the line number at the desired guidelines location Note When a scan is triggered the program line that is executing completes before the jump occurs Set up SKn JUMP 0 if no jump is desired If there is a possibility that the SCAN trigger will occur while a subroutine FOR NEXT Of WHILE WEND loop is executing it is extremely important that a RESET STACK instruction is
105. ectronic gearing must provide differential line driver type outputs in quadrature form The receiver IC isan SN 75175 Rev 1 MA6445 SW StepperBASIC Reference Manual 2 19 Encoder position Setting the electronic gear ratio The encoder inputs must be wired up as follows Encoder Signal Pin Number CHA STEP J 11 2 CHA STEP J11 3 CHB DIR j11 4 CHB DIR J11 5 Encoder 5V J11 8 Encoder GND J 11 9 Note An external power supply may be used to power up the encoder If this is done then the power supply ground must be connected to J 11 9 That also applies if a differential Step Dir source was used as a MASTER then a GND common from this source must be connected to J 11 9 When an external reference source has been connected the encoder position variable ENCDR POS is updated by the internal software every 1 024 msec The value of the encoder position is contained in the variable ENCDR POS This variable continues to be updated even if electronic gearing is turned off The variable RATIO is used to specify the electronic gear ratio VARIABLE DESCRIPTION RATIO Specifies the electronic gear ratio in terms of motor shaft to encoder Step Dir shaft movement The line count of the master encoder must be specified in order to use the RATIO variable Note The actual gear ratio will be specified by the most recently specif
106. en no program is being run if guidelines the JOG discrete input J 8 6 is connected to I O RTN The motor will jog counterclockwise when no program is being run if the JOG discrete input J 8 7 is connected to I O RTN Note The jog inputs are not active when a Pacific Scientific StepperBASIC program is running PREDEF INP14 0 JOG or PREDEF INP15 0 JOG 3 72 MA6445 SW StepperBASIC Reference Manual Rev 1 LIST command Purpose Syntax Programming guidelines Rev 1 LIST displays a complete program or part of a program on the terminal screen LIST line number line number The LIST command displays the program lines in a standardized output format E xtra spaces or tabs except for character constants will be stripped out Keywords and expressions are separated by a single space as shown in the examples of syntax in this document To temporarily stop the output of the LIST command on the terminal use lt Ctrl gt lt s gt U se lt Ctrl gt lt q gt to resume the listing Program line LIST Lists all lines of the program LIST 20 Lists only line 20 LIST 50 Lists all lines from 50 to the end of the program LIST 60 Lists all lines from the beginning of the program to line 60 LIST 20 70 Lists all lines from 20 to 70 MA6445 SW StepperBASIC Reference Manual 3 73 LOAD command Purpose LOAD copies the program stored in NVRAM into RAM in order to execute the
107. ens at the home position opening J 8 8 from ground e The home switch is closed pulled low when the mechanical switch contact is not in position e f HOME ACTIVE 1 the home mechanical switch closes at the home position connecting J 8 8 to ground pulled low The home switch is open when the mechanical switch contact is not in position Note Refer to Section 2 9 1 Descriptions of Motion Statements for additional information IMPORTANT NOTE The value of this variable is saved in NVRAM when the SAVEVAR command is executed Syntax HOME ACTIVE x Value x 0 if switch normally closed triggering open x lif switch normally open triggering closed Default x 0 Related GO HOME moves the motor to electrical home position instructions SEEK HOME causes homing routine using mechanical switch HMPOS OFFSET sets additional move necessary for offset 3 58 MA6445 SW StepperBASIC Reference Manual Rev 1 statement Purpose IF THEN ELSE statements control program execution based on the evaluation of logical expressions The IF THEN ELSE decision structure permits the execution of program statements or allows branching to other parts of the program based on the evaluation of the expression Syntax IF expression THEN statement ELSE statement IF expression GOTO line number ELSE
108. ent F loat 4 byte IEEE single precision Flag single bit flag Rev 1 MA6445 SW StepperBASIC Reference Manual 1 1 Examples Global variables These three types of variables are organized into two groups e Global meanings and usage defined by R eal Time Software e User available for user defined purposes All three types occur in both groups Unlike standard BASIC Pacific Scientific StepperBA SIC variable names are pre defined Note No variable names other than pre defined names may be used Arrays may not be used Type of Variable Pre defined Names Integer INT1 INT2 INT3 INT32 Floating point FLT1 FLT2 FLT3 FLT32 Flag FLG1 FLG2 FLG3 FLG8 Global variables are used to communicate with R eal Time Software The Real Time Software is that part of the software which directly controls the motion of the motor Values of global variables can be set to control the operation of the motor when used in conjunction with other commands such as the CALL command Other global variables report the current status of various aspects of motor operation Some Global variables are Read Only This means that the value of these variables cannot be changed by the user directly For instance the variable named INPUTS is the current state of discrete inputs This value can be printed or used in an expression but a new value cannot be assigned to INPUTS
109. eplacing at its option at its factory any Products or parts thereof which prove to Pacific Scientific s satisfaction to be defective as a result of defective materials or workmanship in accordance with Pacific Scientific s stated warranty provided however that written notice of claimed defects shall have been given to Pacific Scientific within two 2 years after the date of the product date code that is affixed to the Product and within thirty 30 days from the date any such defect is first discovered The products or parts claimed to be defective must be returned to Pacific Scientific transportation prepaid by Customer with written specifications of the claimed defect Evidence acceptable to Pacific Scientific must be furnished that the claimed defects were not caused by misuse abuse or neglect by anyone other than Pacific Scientific Pacific Scientific also warrants that each of the Pacific Scientific M otion Control Software Programs Program s will when delivered conform to the specifications therefore set forth in Pacific Scientific s specifications manual Customer however acknowledges that the Programs are of such complexity and that the Programs are used in such diverse equipment and operating environments that defects unknown to Pacific Scientific may be discovered only after the Programs have been used by Customer Customer agrees that as Pacific Scientific s sole liability and as Customer s sole remedy Pac
110. er encoder inputs only Default x 0 Related ENCODER sets the line count of the master encoder instructions RATIO the electronic gearing ratio of motor shaft movement to encoder shaft movement using encoder line count ENCDR POS displays the encoder position STEPSIZE sets the full or microstep rate for the drive STEP DIR INPUT specifies encoder or step direction input 3 44 MA6445 SW StepperBASIC Reference Manual Rev 1 GEARING continued Programming e guidelines STEPSIZE must be 5 for gearing Note Gearing usually is done with encoder inputs H owever it can be performed using Step Dir inputs also Refer to EP DIR INPUT ST Install an encoder input from the master and verify that it is set to the correct ENCODER line count Refer to Section 2 5 5 J 11 E ncoder Step and Direction Input Connection in the Installation M anual Specify RATIO before programming GEARING Note Turn Off gearing before stopping motion The instruction STOP MOTION will not stop motor motion resulting from gearing T he variable MOVING does not recognize moving caused by GI FEARING If directional limits are set gearing motion in the allowed direction occurs only when the master encoder returns to the point where it originally reversed direction Note Other motion commands could result in motion in the disabled gearing direction
111. er is powered up IMPORTANT NOTE The value of this variable is stored in NVRAM when the SAVEVAR command is executed Syntax PWR ON OUTPUTS x Range 0 to 4095 Default 4095 Value where x is a decimal value corresponding to the sum weighted outputs as described by PWR ON OUTPUTS 2048 OUT12 1024 OUT 11 512 1 256 OUT9 128 OUT8 64 OUT7 32 OUT6 16 OUTS 8 OUT4 4 OUT3 2 OUT2 1 OUTI where OUTn State of output as indicated by OUTn 1 OFF high OUTn 0 ON low 3 108 MA6445 SW StepperBASIC Reference Manual Rev 1 PWR ON OUTPUTS continued Programming guidelines Rev 1 MA6445 SW StepperBASIC Reference Manual If the individual outputs are configured such that Instruction Value Instruction Value OUT12 1 OUT6 1 OUT11 0 OUT5 0 OUT10 1 OUT4 1 OUT9 0 OUT3 0 OUT8 1 OUT2 1 OUT7 0 OUTI 0 Then PWR ON 2048 1 1024 0 512 1 256 0 128 1 64 0 32 1 16 0 8 1 4 0 OUTPUTS will be equal 2 1 1 0 Or PWR ON OUTPUTS 2730 If the individual outputs are configured as follows Instruction Value Instruction Value OUT12 0 OUT6 0 OUT11 1 OUT5 1 OUT10 0 OUT4 0 OUT 9 1 OUT3 1 OUT8 0 OUT2 0 OUT7 1 OUT1 1 Then PWR ON 2048 0 1024 1 512 0
112. et PREDEF OUT 0 GO FUNC 0 PWR ON ENABLE 1 HMPOS OFFSET 0 PWR ON OUTPUTS 0 HOME ACTI VE 0 RMT START 0 NDEX DI ST 5000 RUN SPEED 1000 INT1 1NT8 asset STEPSI ZE 25 OG SPEED 1000 WAIT TI ME 1 Syntax QRY PRM Related QRY displays parameters and current status values instructions QRY STAT displays current status values only Programming Use ORY PRM after programming SAV guidelines the parameters saved Program Program line segment QRY PRM lt enter gt EVAR to check the values of Rev 1 MA6445 SW StepperBASIC Reference Manual 3 113 QRY STAT command statement Purpose Status display Syntax Related instructions Programming guidelines 3 114 QRY STAT Query Status lists the current values of status instructions The values may be the default values preset at the factory or the currently programmed values The status instructions listed are shown with default values Status Display Default Status Display Default ENABLE 1 OUTPUTS 0 ENABLED 0 POS COMMAND 0 ENCDR POS 1 STEP DIR NPUT 0 FAULTCODE 0 TARGET POS 0 NPUTS 65535 QRY STAT QRY displays parameters and status values QRY PRM displays parameters values only Use QRY STAT to check current drive status The values displayed are not saved in SAVEVAR Program line QRY STAT lt enter gt MA6445 SW StepperBASIC Reference Manual
113. ev 1 TIME continued Program Program line ii 10 IF INP1 1 THEN 10 20 TIME 0 30 IF INP1 0 THEN 30 40 FLT1 TIME 50 PRINT FLT1 This program waits until input 1 is equal to zero connected to I O RTN It then measures the length of time that the input remains connected to I O RTN The program then displays this on the terminal screen Rev 1 MA6445 SW StepperBASIC Reference Manual 3 169 TRON and TROFF command Purpose To enable or disable tracing of the executing program lines for use in debugging your program TRON stands for TRace ON TROFF stands for TRace OFF Syntax TRON to enable tracing Programming guidelines 3 170 or TROFF to disable tracing TRON enables the printing of each program line as that line is executed by the BASIC interpreter software This is useful when you are trying to find out if your program is working properly TROFF disables the trace The lines that are printed when executing a program after a TRON command appear just as they would in a LIST command Tracing is disabled when you first turn on the controller Tracing is also disabled when you execute a NEW Command Note Tracing will slow down program execution time Program line TRON 5 PRINT BEGINNING NOW 15 Print ENDING NOW 20 END RUN lt enter gt TROFF This program turns tracing on and then prints Beginning Now The program then prints Ending Now before turning tracing off MA6445 SW
114. executed to insure the internal program control is maintained This should be executed either on or shortly after the instruction at the jump destination Refer to SET SCANn for scan information and an example program Rev 1 MA6445 SW StepperBASIC Reference Manual 3 145 SKn OUTPUT parameter integer Purpose SKn OUTPUT specifies which of the programmable outputs is to be turned On or turned Off when the corresponding scan condition is satisfied The first digit of SKn OUTPUT specifies which of the programmable outputs will be affected when the Scan condition is satisfied The first digit can be from 1 to 8 corresponding to OUT1 through ouTs The second digit specifies whether the output will be turned ON 0 or turned OFF 1 If you do not want any of the outputs affected when the Scan condition is satisfied you must set SKn OUTPUT equal to 0 Note Refer to Section 2 1 Scan Functions for additional information Syntax SKn OUTPUT x y wheren lor 2 R ange x 1to 12 of output y 0 low ON or 1 high OFF Value Scan Output Action 0 Scan output action disabled 10 OUT1 turned On when Scan condition satisfied 11 OUT1 turned Off when Scan condition satisfied 20 OUT 2 turned On when Scan condition satisfied 21 OUT 2 turned Off when Scan condition satisfied 30 OUT3 turned On when Scan condition satisfied 31 OUT3 turned Off when Scan condition satis
115. fied Note The same conditions apply for values through 120 and 121 3 146 MA6445 SW StepperBASIC Reference Manual Rev 1 SKn OUTPUT continued Related SET SCANn activates scan 1 or scan 2 instructions SKn JUM SKn ENC SKn STO p sets the jump line number SKn TRIGGER sets the scan trigger input POS records encoder position when scan triggers p stops the motor CLR SCAN turns off scanning Rev 1 MA6445 SW StepperBASIC Reference Manual 3 147 SKn STATUS variable integer read only Purpose SKn STATUS indicates the status of the SCAN function Note Refer to Section 2 1 Scan Functions for additional information Syntax SKn STATUS xwheren lor 2 R ange x 0 lor2 Value of Interpretation SKn STATUS 0 Scan function is not active V alue after executing CLR SCANn statement 1 Scan function is active but not triggered V alue after executing SET SCANn statement but before triggering occurs 2 Scan function has been triggered Default x 0 Related SET SCANn activates scan 1 or scan 2 instructions SKn JUMP sets the jump line number SKn TRIGGER sets the scan trigger input SKn ENCPOS records encoder position when scan triggers SKn STOP stops the motor CLR SCAN turns off scanning 3 148 MA6445 SW StepperBASIC Reference Manual Rev 1 SKn STOP p
116. float SAVEVAR 3 115 REG DIST parameter integer 3 117 REG ENCPOS variable integer R O 3 119 REG FLAG variable integer 3 120 REG FUNC parameter integer 3 122 REM statement 3 124 RENUM command 3 125 RESET STACK statement 3 126 RETURN statement 3 127 RMT START parameter integer SAVEVAR 3 128 RUN command 3 130 RUN SPEED parameter float SAVEVAR 3 131 SAVE command 3 133 SAVEVAR command statement 3 134 SEEK HOME statement 3 136 SET SCANn statement 3 140 SKn ENCPOS variable integer R O 3 143 SKn JUMP parameter integer 3 144 SkKn OUTPUT parameter integer 3 146 SKn STATUS variable integer R O 3 148 SKn STOP parameter integer 3 149 SKn TRIGGER parameter integer 3 150 4 4 MA6445 SW StepperBASIC Reference Manual Rev 1 Name Type Default Value Page slash command 3 152 STALL DEADBAND parameter integer 3 154 STALL ERROR variable integer R O 3 156 STALL JUMP parameter integer 3 157 STALL STOP parameter integer 3 158 STEP DIR INPUT parameter integer 3 160 STEPSIZE parameter integer 3 162 STOP statement 3 164 STOP MOTION statement 3 165 TARGET POS parameter integer SAVEVAR 3 166 TIME variable float 3 168 TRON and TROFF command 3 170 UPD MOVE statement 3 171 VELOCITY variable float R O 3 173 VER command 3 175 WAIT TIME parameter float SAVEVAR 3 176 WHEN statement 3 177 WHEN ENCPOS variable integer R O 3 179 WHEN
117. gram line 10 PRINT CHR 66 RUN lt enter gt The upper case letter B will be printed MA6445 SW StepperBASIC Reference Manual Rev 1 CINT function Purpose Syntax Range Related instructions Rev 1 The convert to integer function CINT x converts x to an integer by rounding the fractional portion If the fractional portion is greater than 0 5 x is rounded up to the next integer if less than 0 5 x is rounded down to the existing integer portion CINT x 32 768 to 332 767 INT converts a constant or variable into the largest integer that is less than or equal to x Program line PRINT CINT 45 67 The value 46 will be printed PRINT CINT 12 11 The value 12 will be printed PRINT CINT VELOCITY The value 1000 will be printed if the motor is moving at 1000 RPM MA6445 SW StepperBASIC Reference Manual 3 11 command Purpose CLEAR is an immediate mode instruction that sets FLGn FLTn and INTn variables to 0 Note CLEAR does not affect program text or global variables Syntax CLEAR Related FLGn flag variable cleared by CLEAR instructions FLTn float variable cleared by CLEAR INTn integer variable cleared by CLEAR Programming Program CLEAR from immediate mode to set all user specified guidelines variablesin RAM to 0 Variables in the program are not affected 3 12 MA6445 SW StepperBASIC Reference Manual Rev 1 CLR SCANn statement Purpose C
118. h NEXT statement encountered at runtime must correspond to the most recently encountered FOR statement The value of the expression is evaluated prior to the start of loop execution Changing any variable used in the expressions within the loop will not affect the number of loops performed The final expression is evaluated before the initial value expression Program Program line ee 20 FOR INTL 2 to 5 30 PRINT I NTI 40 NEXT RUN lt return gt 3 42 MA6445 SW StepperBASIC Reference Manual Rev 1 FREE command Purpose FREE displays the number of free bytes of program memory Syntax FREE Programming When writing a program of several hundred lines check the size of guidelines the program periodically to ensure that it does not exceed the 12K byte size of NVRAM Program Program line segment FREE Screen displays 500 bytes used 11500 bytes free OK Rev 1 MA6445 SW StepperBASIC Reference Manual 3 43 GEARING parameter integer Purpose GEARING turns electronic gearing on or off and sets allowed direction of motion Electronic gearing slaves the motion of the controller s motor to a master encoder signal Note Refer to Section 2 8 Electronic Gearing for more information Syntax GEARING x Value Value Description x 0 Gearing is Off X 1 Gearing isOn x 2 Follow clockwise master encoder inputs only X 3 Follow counterclockwise mast
119. h ground connections to J 1 are correctly procedure installed 2 Disconnect the 9 pin connector from J 7 to ensure that the enable input is disconnected 3 Set up the PC for terminal emulation a Turn On the computer b Load MS DOS boot up 1 10 MA6445 SW StepperBASIC Reference Manual Rev 1 Note User keyboard entries are indicated in boldface and individual key presses such as lt enter gt are in brackets Prompts and selections displayed in the StepperBASIC program are enclosed in quotes c Insert the Paccom diskette in the A drive then type A lt enter gt to select drive A 4 Load PacCom version 3 1 or higher For further information refer to the PacCom Software Toolkit Instruction M anual a Type paccom lt enter gt The Main M enu is displayed b Press lt enter gt at Select Hardware c Use the arrows to move to 5645 Note This selection is also appropriate for the 6x45 d Press lt enter gt e Use arrows to move to Terminal Emulator then press lt enter gt 5 Power up the unit per the R S 232 or R S 422 R S 485 procedure Power up Perform the following procedure for single units controlled procedure from the terminal under R S 232 RS 232 1 Apply power to the controller 2 Verify that the POWER status indicator on the drive front panel is On 3 Verify that the PC display shows the following versions higher than 2 3 are acceptable Pacific Scientific
120. however MOVING displays 0 during the stop interval MA6445 SW StepperBASIC Reference Manual 3 79 MOVING continued Program Program line segment 10 RUN SPEED 200 20 INDEX DIST 25000 30 GO I NCR 35 WHILE MOVING 40 PRINT I am moving 50 WE ND 60 PRINT I have stopped moving Line 30 will execute an incremental move Line 50 will cause the program to go to line 40 as long as the move is not completed and print I am moving Line 60 will print I have stopped moving after the move is completed 3 80 MA6445 SW StepperBASIC Reference Manual Rev 1 NEW command Purpose Syntax Related instruction Programming guidelines Rev 1 NEW clears the program memory and sets the value of all user variables in RAM to zero This command does not affect the program or the variables stored in NVRAM NEW lt enter gt LOAD copies program stored in NVRAM into RAM SAVE saves program in RAM into NVRAM NEW is usually used to remove a program from memory before entering a new program The NEW command erases any program lines in RAM and sets all user variables to 0 as when you use the command CLEAR No change is made to the NVRAM memory Trace mode is turned off if it was on as when you use the command TROFF To intentionally clear the program and the stored variables use NEW followed by SAVE Program line NEW The screen displays OK Program memory i
121. iable Names sa eas si wa eee Se Oe BRS Ga we TZ Characters ace a5 sk A et ae a dale aa eee 1 3 OperatorsUsedinProgramming 020004 LA CONSEANIS i e a tO ee a ee eh oe es owe Pw ee 1 5 Notation Conventions so saqsa nrod ha bee ke ee a 1 6 StepperBASIC Instruction TypeSs s2s442445 448 454 1 7 InterfaceRequirements 0 0 0 ee a 1 7 1 Setting U p Communications 0 0000 ae 1 8 Programming ss 2 6 ean waa a SO A EE A t 1 8 1ProgrammingModes 0 0 1 8 2 ProgramMemoryandFiling 0000 eae 1 8 3 Writing and Editing Programs in StepperBASIC 1 8 4 Writing and Editing Programs Using the Screen Editor 1 8 5 Program Header so scora ac toka a e a a 1 9ErrorMessages s a a aoua a a a o aA e e a e h a 19 I SYMaKEMOS s 2 a dou Pe oa BERR Se E g 19 2 R UNGIMGIETFONS sua pucu as aama ee a g ah 19o Sytem ETOS e ecaa np eaae bak EEDA e 2 Using StepperBASIC Functions 2 1ScanFunctions ssa sarena e E E a a a 2 1 1 Setting the SCAN Trigger Condition 2 1 2 Setting the SCAN Output Action aoaaa aaa aaa 2 1 3 Enabling and Disabling SCANS oona aaa aaa 2 2 Homing ROUtNES sesa sedatancsraned antt tinEgs 2 3 Using the Software O vertravel Limit Function oaaao aaa 2 3 1 Setting up the Software Overtravel Function 2 4 U sing the Position Check Function sasaaa MA6445 SW StepperBASIC Reference Manual 1 1 1 1 1 3 1 4 1 6 1 7 1 8 1 10 1 1
122. ied value MA6445 SW StepperBASIC Reference Manual Rev 1 Related instructions VARIABLE DESCRIPTION STEPSI ZE Step size must be gt 5 for gearing STEP DIR INPUT Set up the encoder port to direction inputs see an encoder or step ENCODER encoder Should be set to the number of PPR of the installed Turning electronic gearing ON and OFF e Bi directional electronic gearing is enabled by setting GEARING 1 e Electronic gearing is disabl ed by setting GEARING 0 e Electronic gearing in the clockwise direction only is enabled by setting GEARING 2 e Electronic gearing in the counterclockwise direction only is enabled by setting GEAR ING 3 Note The STOP MOTION instruction will not stop the motor motion resulting from gearing Therefore turn gearing off GEARING 0 before stoppin g motion e The variable MOVING does not recognize moving caused by GEARING e f directional limits are set gearing motion in the allowed direction occurs only when the point where it originall the master encoder returns to y reversed direction e Other motion commands could result in motion in the disabled gearing direction e The variable read only v speed at which the motor i ELOCITY will return the actual s running Note The minimum step size required is 5 Rev 1 MA6445 SW StepperBASIC Reference Manual 2 2
123. ific Scientific will correct documented failures of the Programs to conform to Pacific Scientific s specifications manual PACIFIC SCIENTIFIC DOES NOT SEPARATELY WARRANT THE RESULTS OF ANY SUCH CORRECTION OR WARRANT THAT ANY OR ALL FAILURES OR ERRORS WILL BE CORRECTED OR WARRANT THAT THE FUNCTIONS CONTAINED IN PACIFIC SCIENTIFIC S PROGRAMS WILL MEET CUSTOMER S REQUIREMENTS OR WILL OPERATE IN THE COMBINATIONS SELECTED BY CUSTOMER This warranty for Programs is contingent upon proper use of the Programs and shall not apply to defects or failure due to i accident neglect or misuse ii failure of Customer s equipment iii the use of software or hardware not provided by Pacific Scientific iv unusual stress caused by Customer s equipment or v any party other than Pacific Scientific who modifies adjusts repairs adds to deletes from or services the Programs This warranty for Programs is valid for a period of ninety 90 days from the date Pacific Scientific first delivers the Programs to Customer THE FOREGOING WARRANTIESARE IN LIEU OF ALL OTHER WARRANTIES EXCEPT ASTO TITLE WHETHER EXPRESSED OR IMPLIED INCLUDING WITHOUT LIMITATION ANY WARRANTY OF MERCHANTABILITY OR OF FITNESS FOR ANY PARTICULAR PURPOSE AND ARE IN LIEU OF ALL OTHER OBLIGATIONS OR LIABILITIES ON THE PART OF PACIFIC SCIENTIFIC PACIFIC SCIENTIFIC S MAXIMUM LIABILITY WITH RESPECT TO THESE WARRANTIES ARISING FROM ANY CAUSE WHATSOEVER INCLUDING WITHOUT LIMITAT
124. in Section 1 8 5 Program H eader to Initialize Variables Program line 10 INT6 100 20 SAVEVAR 1 NT6 Set integer 6 to 100 Save value in integer 6 to non volatile memory when the unit is power cycled the saved value is loaded into RAM as the current variable MA6445 SW StepperBASIC Reference Manual 3 135 SEEK HOME statement Purpose SEEK HOME moves the motor to search for a mechanical limit switch When the switch is encountered the motor homes in and stops on the exact switch position This position defined as electrical home is set to zero in the POS COMMAND counter to provide the zero reference home for further motion The sequence of events illustrated by a linear motion slide drive is as follows 1 Motor moves toward limit switch based on direction specified by DIR and speed specified by RUN SPEED O PROXIMITY DETECTOR 2 When the limit switch is triggered input J 8 8 changes state and the motor stops HOME ACTIVE specifies the polarity of the limit switch At this point the motor has overshot the edge of the limit switch 3 136 MA6445 SW StepperBASIC Reference Manual Rev 1 SEEK HOME continued 3 The motor reverses direction and moves slowly as specified by MIN SPEED toward the edge of the limit switch the motor went beyond the switch in step 2 gt MOTOR ho LECCE RSBeSEE ee ee
125. ion of Motion Statements for additional information IMPORTANT NOTE The value of this valuable is saved in NVRAM when the SAVEVAR command is executed DIR x x 0 rotation is clockwise when looking at the motor shaft end first x 1 rotation is counterclockwise when looking at the motor shaft end first x 0 GO VEL moves the motor shaft at a constant speed POS COMMAND displays steps and can also be set to a value RUN SPEED sets the commanded velocity SEEK HOME causes the motor to find its home position based upon a limit switch connected to INP 16 Note DIR does not define direction for the Go INCR motion function The sign of INDEX DIST defines direction for this function MA6445 SW StepperBASIC Reference Manual 3 29 ESS _EE_ _ SS SSO DIR continued Program Program line i 10 DIR 0 20 SEEK HOME 30 DIR NOT DIR 40 RUN SPEED 250 50 GO VEL Lines 10 and 20 determine the clockwise direction for rotation to find the home position Lines 30 through 50 determine the rotation move in constant speed of 250 RPM in the counterclockwise direction 3 30 MA6445 SW StepperBASIC Reference Manual Rev 1 ENABLE parameter integer Purpose Syntax Value Default Related instructions Programming guidelines Rev 1 ENABLE allows or prevents power flow to the motor ENABLE x x
126. l 3 103 PREDEF INP continued pE For example AIl inputs pre defined PREDEF INP 63 32 1 16 1 8 1 4 1 2 1 1 1 Inputs 10 and 11 only pre defined PREDEF INP 3 32 0 16 0 8 0 4 0 2 1 1 1 No inputs pre defined PREDEF INP 0 32 0 16 0 8 0 4 0 2 0 1 0 All inputs pre defined except input 15 PREDEF INP 31 32 0 16 1 8 1 4 1 2 1 1 1 When through execute the SAVEVAR command to store the variable in NVRAM Refer to section 2 5 4 J9 and J 8 Discrete Input O utput Connection in the Installation M anual for information on the pre defined inputs Program Program line PREDEF INP10 1 Limit functionality enabled PREDEF INP10 0 Limit functionality disabled PREDEF INP 0 No inputs predefined PREDEF INP 5 Inputs 10 and 12 predefined for Limit and R emote Start 3 104 MA6445 SW StepperBASIC Reference Manual Rev 1 PREDEF OUT parameter integer Purpose Syntax Value Default Related instructions Programming guidelines Rev 1 PREDEF OUT Pre defined Output 12 specifies that output 12 is active low whenever the motor is moving IMPORTANT NOTE The value of this variable is stored in NVRAM when the SAVEVAR command is executed PREDEF OUT
127. ld enable the scan to be used repeatedly Stack overflow errors may occur if you have a GOSUB RETURN Or WHILE WEND statement in a program so that a scan could trigger within either of these loops Program Program line segment 5 Set scan to occur when input 1 goes to low voltage INP1 0 10 SK1 TRIGGER 10 15 Stop motor when scan input seen 20 SK1 STOP 1 25 Jump to line 2000 when scan input seen 30 SK1 J UMP 2000 35 Turn output 1 On when scan input seen 40 SK1 OUTPUT 11 45 Begin checking for scan input 50 SET SCAN1 1995 Print message when scan input seen 2000 PRINT End of travel li mit switch has activated 2005 Wait until input 1 goes high before proceeding 2010 IF INP1 0 THEN 2010 2015 Repeat the program 2020 GOTO 50 3 142 MA6445 SW StepperBASIC Reference Manual Rev 1 Skn ENCPOS variable integer read only Purpose SKn ENCPOS records the encoder position when a SCAN 1 or SCAN 2 is triggered Skn ENCPOS is equivalent to an ENCDR POS at the scan trigger point Note Refer to Section 2 1 Scan Functions for additional information Syntax SKn ENCPOS where n lor 2 R ange 2 147 483 648 to 2 147 483 648 Related SET SCANn activates SCAN1 or SCAN2 instructions SKn TRIGGER sets the scan trigger input SKn JUMP sets the jump line number SKn OUTPUT sets an output action SKn POS reads th
128. le The following equation is used to calculate the maximum deadband allowed as a function of rotor speed Maximum STALL DEADBAND 8 RPM step rev 60000 Note If a larger value is used the indexer will not detect a stall condition The minimum value for the stall deadband can be calculated using the following equation Minimum STALL DEADBAND 4 STEPSIZE In general stepper motors will lose 4 full steps at once when they stall The above equation will allow 4 full steps of error before a stall is being detected STEPSIZE 25 MI N SPEED 5 ACCEL RATE 100 MAX DECEL RUN SPEED INDEX DIST 75000 ENCODER 1250 STALL DEADBAND 100 STALL UMP 1000 STALL STOP 1 POS COMMAND ENCDR POS 0 GO I NCR F MOVING THEN 140 150 GOTO 110 1000 PRINT MOTOR STALLED CINT ENCDR POS STEPS FROM START 1010 END o H co e oo oo Oo Oon ononn FWP e 10 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Rev 1 MA6445 SW StepperBASIC Reference Manual 2 15 Explanation Line 10 sets the software stepsize variable to 25 Line 20 through 50 sets the move profile parameters Line 60 sets an incremental move to 75000 steps 15 revs Line 70 sets the encoder to 1250 ppr Line 80 sets the allowable error to 100 Line 90 will force the program to jump to line 1000 and start executing if a stall is detected STALL ERROR 1 Line 100 will c
129. line number The ELSE clause must be on the same line as the F THEN statement Note A statement can be any Pacific Scientific SteoperBASIC statement or any series of SteoperBASIC statements separated by colons Programming Ifthe expression is TRUE not zero the statement following guidelines the THEN is executed otherwise the statement following the ELSE is executed if specified e f no ELSE is used then the statement following the ITF THEN is executed e The GoTo syntax is also used as a short form of THEN GOTO If the number of ELSE clauses do not match the number of IF statements each ELSE is matched with the closest unmatched THEN or GOTO statement Note IF THEN ELSE statements may be nested up to a limit of eight Program Program line segment 400 IF INT4 gt INT GOSUB 1000 ELSE GOSUB 2000 1000 PRINT INT4 gt I NTT 1010 RETURN 2000 PRINT INT4 lt I NTT 2010 RETURN Rev 1 MA6445 SW StepperBASIC Reference Manual 3 59 INDEX DIST parameter integer Purpose INDEX DIST sets the distance the motor rotates during each index when a GO INCR function is performed Note Refer to Section 2 9 1 Descriptions of Motion Statements for additional information IMPORTANT NOTE The value of this variable is saved in NVRAM when the SAVEVAR command is executed Synt
130. line number RETURN Programming Subroutines may be located anywhere in the program They guidelines may be nested to a limit of 8 i e up to 8 GOSUBs can be executed without an intervening RETURN statement An attempt to exceed the nesting limit will result in a run time error e To test a subroutine without running the rest of the program issue a RUN command with the starting line number of the subroutines as the line number parameter When the RETURN statement of the subroutine is executed BASIC will return to Lr mode with the error message RETURN without UB Caution Do Not use GOSUB RETURN in immediate mode The program may not execute correctly if this is done 3 52 MA6445 SW StepperBASIC Reference Manual Rev 1 GOSUB RETURN continued Program Program line segment 10 PRINT BEGI NNI NG 20 GOSUB 100 30 PRINT ENDI NG 40 END 100 PRINT THIS IS THE SUBROUTINE 110 RETURN RUN lt enter gt The screen displays BEGINNING THISISTHE SUBROUTINE ENDING Rev 1 MA6445 SW StepperBASIC Reference Manual 3 53 GOTO statement Purpose GOTO causes software to jump to a specific line number and continue executing Syntax GOTO line number Programming The GoTo statement should only be used where necessary It is E WHILE WEND instead EXT loops are not altered guidelines good programming practice to use structured control statements
131. lt Ctrl gt lt s gt lt Ctrl gt lt q gt and lt Ctrl gt lt c gt are not returned by INKEY MA6445 SW StepperBASIC Reference Manual 3 61 EEEE E eee INKEY continued Program Program line segment 5 Test integer 1 four times 10 FOR INT1 1 TO 4 15 INT2 0 20 WHILE INT2 0 25 Read zero or a character when entered 30 INT2 INKEY 35 Loop until a character is entered 40 WE ND 45 Print value 50 PRINT Your key value is INT2 60 NEXT RUN lt enter gt The program prints Y our key value is 97 Y our key value is 98 Y our key value is 99 Y our key value is 100 MA6445 SW StepperBASIC Reference Manual Rev 1 INPn variable integer read only Purpose Syntax Value Default Related instructions Rev 1 INPn Inputs 1 to 16 displays the state of a specific discrete input This is a read only variable determined by the voltage level applied to the input pin x NPn x 0 to read specific input On pulled low x 1 to read specific input Off open circuit high x 1 INPUTS allows you to read all 16 inputs in a word PREDEF INPn pre defines input 10 to 15 functionality as follows Input Functionality Input Functionality Input 10 Limit Input 13 Stop Input 11 Limit Input 14 Jogt Input 12 Start Input 15 Jog Note Home switch input 16 is automatically pre defined if a SEEK
132. move the measured versus commanded difference is checked against the deadband variable If the deadband is exceeded POS VERIFY ERROR POS VERIFY CORRECTION and any programmed position verify variables are activated Note Refer to Section 2 5 U sing the Position Verification and Correction Function for additional information POS VERIFY DEADBAND x x 0 to 4 294 967 296 steps microsteps x 0 POS VERIFY CORRECTION returns the number of steps difference for the position verification error POS VERIFY ERROR indicates that a position error has occurred POS VERIFY JUMP jumps to program line number when position error occurs POS VERIFY TIME settling time for encoder reading IN POSITION indicates when step position is reached STEP DIR INPUT selects quadrature encoder or step and direction inputs to J 11 MA6445 SW StepperBASIC Reference Manual 3 95 EEE POS VERIFY DEADBAND continued Programming Note Due to the inherent limitations of a mechanical system the guidelines encoder may lead or lag the motor by 1 full motor step Account for this by entering a POS v1 or corresponding micro ERIFY D steps EAD BAND of at least 2 full steps e Install an encoder and verify that it is set to the correct ENCODER line count e Use GO ABS GO INCR Or GO HOME for moves Position verificatio
133. n number of the software Syntax VER lt enter gt Program VER lt enter gt segment Returns Pacific Scientific Charlestown MA StepperBA SIC Version X X Copyright 1988 1991 YY YY OK where x x is the version number and YY YY is the version check sum no Rev 1 MA6445 SW StepperBASIC Reference Manual 3 175 WAIT TIME parameter float Purpose WAIT TIME sets the amount of time in seconds that the program pauses when the PAUSE statement is executed IMPORTANT NOTE The value of this variable is stored in NVRAM when the SAVEVAR command is executed Syntax WAIT TIME x R ange X 0 001 to 67 10886 seconds Default x 1 Related PAUSE causes the program to wait as specified by WAIT TIME instructions Program Program line e 10 WAIT TIME 0 5 20 IF INP1 1 THEN 20 30 PAUSE 40 GO I NCR This program looks at INP1 J 9 2 and waits until this input is zero connected to I O RTN The program pauses for 0 5 second and then performs an incremental move 3 176 MA6445 SW StepperBASIC Reference Manual Rev 1 WHEN statement Purpose Syntax Rev 1 WHEN is used for very fast output responses to certain input conditions Y ou specify the condition and action U pon encountering the WHEN program execution waits until the defined condition is satisfied Then the program immediately executes the action and continues with the next line of the
134. n RAM is now cleared and all user variables are set to zero MA6445 SW StepperBASIC Reference Manual 3 81 OT ERROR variable integer read only Purpose OT ERROR indicates when either of the software over travel limits is exceeded Note Refer to Section 2 3 1 Setting Up the Software O ver travel Function for additional information Syntax OT ERROR x x 0 for no over travel error x 1 for clockwise over travel error x 2 for counterclockwise over travel error Note OT ERROR is only set when the appropriate clockwise or counterclockwise checking is turned on Related CCW OT sets the counterclockwise software over travel limit instructions CCW OT ON turns on counterclockwise over travel limit CCW OT JUMP specifies the jump location for counterclockwise over travel errors CW OT sets the clockwise software over travel limit CW OT ON turns on clockwise over travel checking CW OT JUMP specifies the jump location for clockwise over travel errors 3 82 MA6445 SW StepperBASIC Reference Manual Rev 1 OUTn parameter integer Purpose Syntax Value Default Related instructions Programming guidelines Rev 1 OUTn Outputs 1 to 12 sets the state of a specific discrete output OUT1 x OUTn 0 for specific outputs 1 to 12 to be On pulled low OUTn 1 for specific outputs 1 to 12 to be Off open circuit x 1 OUTPUTS allows you
135. n clear the scan Upon reprogramming another SET SCANn you will immediately trigger the scan If this is not desired make sure to set the input Off before repeating the SET SCANn Refer to SET SCANn for scan information and an example program Rev 1 MA6445 SW StepperBASIC Reference Manual 3 151 Slash command Purpose This command is used for two things e To log on to a specific controller when using the R S 485 serial link to communicate with the controllers e A prefix for global commands when using the R S 485 serial link to communicate with the controllers Is used when there are two or more 6x45 units connected in parallel to the same terminal using the R S 485 serial port of each unit A set of switches on the 6x45 specifies the address of the 6x45 an address of 31 is taken to mean this is a single module configuration Commands can be given either to all units connected Global commands or can be directed to just one unit A ddress specify Global All commands which can be used in immediate mode are allowed Command to be specified after the character Every 6x45 will react to the command just as it would in single unit mode with the exception that there will be no output produced to the terminal in order to prevent multiple access to a shared hardware signal line Commands whose only purpose is to produce output such as LIST will do nothing A ddress The character followed by the unit num
136. n does not work with other move instructions e Makesure STEPSIZ E is correct Note If you change step size convert the deadband by multiplying by the corresponding factor For example if you go from full step to 25 microstep and the deadband was 4 program a new deadband of 100 that is 4 x 25 e Set STEP DIR INPUT 0 if using quadrature inputs to the J 11 encoder interface 3 96 MA6445 SW StepperBASIC Reference Manual Rev 1 POS VERIFY ERROR variable integer read only Purpose POS V ERIFY ERROR indicates an unacceptable mismatch of comma nded versus measured steps for a move This error display is triggered when the POS VERIFY DEADBAND limit is exceeded Note Refer to Section 2 5 Using the Position Verification and Correct ion Function for additional information Syntax 0 no error or 1 error occurred POS VERIFY ERROR Related POS VERIFY CORRECTION returns the number of steps instructions difference for the position error POS VERIFY DEADBAND sets the maximum allowed difference in motor steps microsteps between encoder and pulse counts that can occur before a position verification error is triggered POS VERIFY JUMP jumps to program line number upon position verification error POS VERIFY TIME settling time for encoder reading IN POSITION indicates when step position is reached STEP
137. n the following page The registration function will trigger when the Z input goes negative relative to the Z input Also connect the STEP and DIR outputs to the STEP and DIR inputs refer to Wiring the controller Wiring the The table below shows wiring connections for 6x45 indexers Controller J11 J10 pin 2 pin 1 pin 3 pin 2 pin 4 pin 3 pin 5 pin 4 Rev 1 MA6445 SW StepperBASIC Reference Manual 2 29 Connecting to The registration inputs Z and Z on the stepper indexers Registration connect to a different line receiver It is necessary to apply a Input voltage across the receiver having one polarity in the active state and the opposite polarity in the inactive state If the source is a single ended device such as a proximity or photo sensor one of the circuits shown below should be used to provide the required input Vo TRIGGER 75174 DIFFERENTIAL LINE DRIVER OR EQUIVALENT SENSOR SUPPLY w i Zz Vo OUT Z aN 47V EN IN5230 5V 2 SENSOR I ZENER REQUIRED IF SUPPLY VOLTAGE GREATER THAN 20 Vdc Vo TRIGGER e SENSOR SUPPLY peel f 20K OUT 7 VVV Z 20v he IN5250 Vo 10K z SENSOR j ZENER REQUIRED IF SUPPLY VOLTAGE GREATER THAN 20 Vdc Note The return used for the sensor source should be connected to the con
138. nce Manual 1 21 1 9 2 Runtime Errors Introduction A runtime error is an error that occurs during program execution Coded runtime errors and their causes are Error code Error Explanation 1 Stack overflow Too many operations caused the size of the stack to overflow the amount of available memory 2 Divide by 0 Y ou may not divide by zero 3 Exceeding FOR NEXT Too many FOR NEXT loops are nested 4 No matching NEXT A FOR statement has no matching NEXT statement 5 No matching FOR A NEXT statement has no matching FOR statement 6 Exceeded WHILE nest Too many WHILE WEND loops are nested 7 No matching WEND A WHILE statement has no matching WEND statement 8 No matching WHILE A WEND statement has no matching WHILE 9 No line to go to A GOTO or GOSUB cannot find the line number to which to go 10 Exceeded GOSUB nest Too many GOSUB RETURNs are nested 11 No matching GOSUB A RETURN is encountered before a GOSUB 12 S Curve Error This is a profile generator error 13 Registration overrun Registration re triggers before registration GOSUB completes execution 1 22 MA6445 SW StepperBASIC Reference Manual Rev 1 1 9 3 System Errors Introduction A system error is a serious error which can only be fixed by changes to the software system Coded system errors are as foll
139. nce Manual Rev 1 STEPSIZE continued Programming Note Changing STEPSIZ guidelines RUN SP E will automatically change values of EED ACCEL RAT E etc Check these values and reprogram if desired 1 Set the Step Size for the drive from the DIP switch refer to section 3 1 1 Step Size in the Installation M anual 2 Program the STEPSIZE 3 Program a SAVEVAR 4 Cycle power Save ST EPSIZ p Cauti c E to NVRAM if desired on hanging STEPSIZE without performing the above rocedure will cause unpredictable results Rev 1 MA6445 SW StepperBASIC Reference Manual 3 163 STOP statement Purpose STOP stops motion and interrupts the program The program continues when CONT is programmed U sing STOP with ConrT is an effective tool for testing and debugging programs Syntax STOP Related CONT causes program to continue from STOP line instructions Programming guidelines 3 164 STOP MOTION stops motion while allowing program execution END stops the program while allowing motion to continue Program a line with STOP wherever you wish to have the program stop so you can program in immediate mode and abort any commanded motion except GEARING A lt Ctrl gt lt c gt entered from the terminal while the program is running has the same effect as a STOP statement encountered within the program Note
140. nter the RUN command Programs created are savable and can be recalled for repeated use 1 14 MA6445 SW StepperBASIC Reference Manual Rev 1 1 8 2 Program Memory and Filing Introduction RAM memory Non volatile battery backed RAM The drive has two types of memory RAM and non volatile battery backed RAM The unit operates out of RAM non volatile battery backed RAM is used for storage SAVE and SAVEVAR or program retrieval LOAD and LOADVAR The drive uses RAM memory for programming and running in the direct mode This memory is volatile that is it is only available when the unit has power and it is lost if power is removed from the system 12K 12000 bytes of memory is available for programming The drive uses non volatile battery backed RAM memory for program storage This memory is non volatile meaning that it is retained if power is removed from the drive 12K 12000 bytes of memory is available for storage Note As an alternative you may choose to upload to PacCom for storage if using a computer for terminal emulation 1 8 3 Writing and Editing Programs in StepperBASIC Line format Example Rules StepperBA SIC programs are comprised of lines of instructions each starting with a line number and ending when lt enter gt is pressed Line numbers are usually in increments of 10 10 20 30 and so on to allow you to insert lines that may have been overlooked without renumbering all subsequen
141. nual Rev 1 POS CHKn parameter integer Purpose Syntax Value Range Default Related instructions Programming guidelines Rev 1 POS CHKn Position Check trigger 1 2 or 3 specifies the position at which outputs 1 2 and 3 are switched to the polarity designated by the POS CHKn OUT parameter Position check function as a programmable limit switch output Note Refer to Section 2 4 Using the Position Check Function for additional information POS CHKn x where n 1 2 or 3 x is any valid arithmetic expression 134 217 728 to 134 217 727 x 0 POS CHKn OUT defines output when POS CHKn exceeded Program POS CHKn OUT to enable the POS CHKn Refer to POS CHKn OUT for more information Note Make sure to program POS CHkKn after establishing electrical home with SEEK HOME or POS COMMAND POS CHKn isan absolute position variables that is changed when electronic home is changed MA6445 SW StepperBASIC Reference Manual 3 89 POS CHKn OUT variable integer Purpose POS CHKn OUT Position Check Output Specifier is used in Syntax Default Related instructions conjunction with POS CHKn to implement Position Check n Position Check functions as a programmable limit switch output Note Refer to Section 2 4 Using the Position Check Function for additional information POS CHKn OUT can be set to one of three values Value Descrip
142. o this particular instruction Programming guidelines Pertinent information about the instruction and its use in StepperBA SIC Program segment Possible use of the instruction in a program Rev 1 MA6445 SW StepperBASIC Reference Manual 3 1 function Purpose The A bsolute Value function ABS x converts the associated value to an absolute value If the value is negative it is converted to a positive value If the value is positive it is not changed Syntax ABS x Programming guidelines Enter the argument the value in parentheses immediately following the term ABS Program line 10 INT1 1000 20 PRINT ABS INT1 RUN lt enter gt Program prints 1000 MA6445 SW StepperBASIC Reference Manual Rev 1 ACCEL RATE parameter integer Purpose ACCEL RATE Acceleration R ate sets the rate at which the motor will accelerate decelerate to change speed IMPORTANT NOTE The value of this variable is saved in NVRAM when the SAVEVAR command is executed Syntax ACCEL RATE x where x is the desired acceleration rate in RPM sec and it depends on step size with range and resolution as follows Range Stepsize Range 1 17 46 to 1 000 000 R PM sec 2 17 46 to 1 000 000 R PM sec 5 6 98 to 1 000 000 R PM sec 25 5 59 to 1 000 000 R PM sec 125 2 24 to 1 000 000 R PM sec No
143. of an entered command Syntax errors may appear on the screen when a program is being entered or when a program is running Error Code Error Explanation 1 Command terminator Not used 2 Command missing Program line does not begin with a valid BASIC statement or command 3 Number missing BASIC was expecting a number 4 Invalid list Not used 5 Statement not entered BASIC was expecting a statement 6 Assignment not BASIC was expecting an equal entered sign 7 THEN not entered The THEN of an IF THEN ELSE statement was omitted MA6445 SW StepperBASIC Reference Manual Rev 1 Error Code Error Explanation 8 TO not entered The TO of a FOR NEXT statement was omitted 9 Variable not entered A variable was omitted 10 Close parenthesis not A closed parenthesis was entered omitted 11 Open parenthesis not An open parenthesis was entered omitted 12 Invalid factor BASIC was expecting a constant variable function or NOT 13 U nknown identifier Not used 14 Quote not entered A quote was omitted 15 Digit not entered A number contains a character which is not a digit 16 Comma or semicolon A comma or semicolon not entered was omitted 20 Error in WHEN Syntax of WHEN statement is statement incorrect Rev 1 MA6445 SW StepperBASIC Refere
144. outputs instructions PREDEF INP10 15 specifies the functionality of discrete inputs 10 to 15 3 68 MA6445 SW StepperBASIC Reference Manual Rev 1 INPUTS continued Programming If the individual inputs are connected such that guidelines Instruction Value Instruction Value Instruction Value INP16 0 INP10 1 INP4 1 INP15 0 INP9 0 INP3 0 INP14 0 INP8 1 INP2 1 INP13 0 INP7 0 INP1 0 INP12 1 INP6 1 INP11 0 INP5 0 Then INPUTS will equal 2048 1 1024 0 512 1 256 0 128 1 64 0 32 1 16 0 8 1 4 0 2 1 1 0 or INPUTS 2730 If the individual INPUTS are configured as follows Instruction Value Instruction Value Instruction Value INP16 0 INP10 0 INP4 0 INP15 0 INP9 1 INP3 1 INP14 0 INP8 0 INP2 0 INP13 0 INP7 1 INP1 1 INP12 0 INP6 0 INP11 1 INP5 1 Then INPUTS will equal 2048 0 1024 1 512 0 256 1 128 0 64 1 32 0 16 1 8 0 4 1 2 0 1 1 or INPUTS 1365 Revl S MA 445 SW SttepperBASIC Reference Manual 3 69 INT function Purpose INT x Convert to Largest Integer truncates an expression to a whole number Syntax INT x Related CINT converts x to an integer by rounding the fractional instructions portion FLTn decimal floating point
145. ows Error Code Error Explanation 1 Line without a line There is no line number number associated with the line Thus the integrity of the program is lost 2 Invalid token A token cannot be converted back into a known symbol while attempting to list a program 3 No more program The program cannot be fit into memory the available memory 4 R enumber table Occurs during a RENUM overflow command The temporary number table size is exceeded 5 GOTO table overflow Occurs when a program is running and the GOTO table overflows The GOTO table is used to store line number positions so they only have to be looked up once Rev 1 MA6445 SW StepperBASIC Reference Manual 1 23 2 Using StepperBASIC Functions In this chapter This chapter provides an in depth description of how to perform certain actions using StepperBA SIC These include the following e Scan functions e Homing routines e Overtravel limits e POSITION check function e Position verification and correction function e Stall detection function e Using the WHEN statement e Electronic gearing e Making the motor move e Registration functionality 2 1 Scan Functions Introduction The purpose of the SCAN functions is to allow you to specify an action to be taken when a given discrete input condition is satisfied The specified input condition is tested every millisecond and the specified action is performed immediately
146. paration between multiple commands entered on the same line C control C stops operation of program I c slash control C a global control C used to stop all programs in all controllers Rev 1 MA6445 SW StepperBASIC Reference Manual 1 7 1 6 StepperBASIC Instruction Types Introduction Pacific Scientific StepperBA SIC consists of programming statements or functions and arithmetic operations permitted in the BASIC programming language A complete list of these instructions is given in Section 4 Quick Reference of this manual Statements Statements are of two types BASIC and StepperBASIC e BASIC statements control the flow of instructions within a program They direct the execution of functions for example comparing function results and going to specific points in the program based on the comparison prompting for input printing results of functions and so on An example of a BASIC statement is GOTO 100 e Pacific Scientific StepperBASIC statements control the motion of the motor in real time Motion statements command the motor to move at constant velocity to move at a specified position etc An example of a Pacific Scientific StepperBA SIC statement is GO ABS Commands Commands normally operate on the program currently residing in the controller s memory and are not normally used within a program In general if a command is used in a program the command will operate properly but the program
147. pon a high to low transition at the R emote Start input Note Predefined input 12 must be set to 1 for J 8 4 to function as Remote Start IMPORTANT NOTE The value of this variable is stored in NVRAM when the SAVEVAR command is executed Syntax RMT START x Value Value of Functionality RMT START 0 To power up in immediate mode and initiate a GO command upon input 1 To power up in immediate mode and initiate a RUN command upon input 2 To power up running the program and when through initiate a RUN command upon input Default x 0 3 128 MA6445 SW StepperBASIC Reference Manual Rev 1 RMT START continued Related GO initiates motion as defined by GO VEL GO ABS or instructions GO INCR PREDEF INPn specifies the functionality of discrete inputs 10 to 15 Programming Set PREDEF INP12 1 to define input 1 for R emote Start guidelines e Set RMT START to the desired value for motion function emulation e Save RMT START in NVRAM if desired using SAVEVAR Rev 1 MA6445 SW StepperBASIC Reference Manual 3 129 command Purpose RUN executes all or part of the program in RAM The RUN command is used to begin executing the program If no line number is specified the program begins executing at the lowest line number in the program Syntax RUN RUN line number where line number is the
148. pperBASIC Reference Manual Rev 1 ENCDR POS variable integer Purpose ENCDR POS Encoder Position displays encoder position For example with a 1024 line encoder each increment of ENCDR POS is equal to 1 4096 of a revolution of the encoder shaft Note Refer to Sections 2 5 2 6 2 8 and 2 10 for additional information Syntax x ENCDR POS Value x 2 147 483 647 encoder line count Related ENCODER sets the line count of the master encoder instructions ST Programming e guidelines EP DIR INPUT specifies encoder or step direction input ENC FREQ displays encoder frequency Install an incremental quadrature encoder with differential line driver type outputs on th 2 5 5 J 11 Encoder Step the Installation M anual Install the encoder input e master motor Refer to Section and Direction Input Connection in from the master and verify that it is set to the correct ENCOD ER line count ENCDR POS can also be is converted for step and STEP DIR INPUT used when the J 11 Encoder Interface direction input R efer to Note The maximum encoder frequency is 500 KHz Rev 1 MA6445 SW StepperBASIC Reference Manual 3 33 ENC FREQ variable float read only Purpose ENC FREQ Encoder Frequency displays the encoder frequency in pulses per second Syntax x ENC FREQ Maximum 500 KHz frequency Relate
149. rect or duplicate addresses are set erratic performance will occur Refer to Section 3 2 Setting Up Serial Addresses Using Switch 2 in the Installation M anual to set addresses 1 12 MA6445 SW StepperBASIC Reference Manual Rev 1 4 The OK prompt is displayed If you do not see this prompt check that you set a unique address that you logged on to a valid address that the serial cable is properly installed the PacCom steps used in setting up the PC A N Caution Do not continue with this procedure until proper serial link communication a s 5 10 s been establish M ake sure that the E nable input J 7 5 is open and plug the 9 pin connector cable into J 7 Enable the drive by connecting Enable J 7 5 to ground Be ready to disconnect the E nable from ground quickly if there is unwanted motion or excessive noise from the motor Verify operation by typing the following RUN SPEED 10 lt enter gt DIR 0 lt enter gt GO VEL lt enter gt The motor rotates slowly 10 RPM in the clockwise direction Stop motor motion by pressing lt Ctrl gt lt c gt R epeat steps 3 to 8 for the other indexer drives in your installation Press lt Ctrl gt lt e gt to return to the PacCom Main Menu U pon successful completion of these procedures the indexer drive is ready to be programmed Rev 1 MA6445 SW StepperBASIC Reference Manual 1 13 1 8 Programming Introduc
150. rection to insure that lost steps are made up Note Refer to Section 2 5 Using the Position Verification and Correction Function for additional information Syntax x steps POS VERIFY CORRECTION Related POS VERIFY DEADBAND sets the maximum allowed instructions difference in motor steps microsteps between encoder and pulse counts that can occur before a position verification error is triggered POS VERIFY ERROR indicates that a position verification error has occurred POS VERIFY JUMP jumps to program line number upon position verification error POS VERIFY TIME settling time for encoder reading IN POSITION indicates when step position is reached STEP DIR INPUT selects quadrature encoder or step and direction inputs to J 11 pin 2 3 4 5 Programming Install an encoder and verify that it is set to the correct guidelines ENCODER line count e Make sure STEPSIZE is correct e Use GO ABS GO INCR Or GO HOME for moves Position verification does not work with other move instructions 3 94 MA6445 SW StepperBASIC Reference Manual Rev 1 POS VERIFY DEADBAND parameter integer Purpose Syntax Range Default Related instructions Rev 1 POS VERIFY DEADBAND sets the maximum step difference allowed for measured versus commanded steps encoder versus step counts At the end of an absolute or incremental
151. refer to Section 2 3 Setting Up Overtravel Function for additional information Syntax CCW OT x Stepsize Steps 1 33 554 432 lt x lt 33 554 431 2 67 108 864 lt x lt 67 108 863 5 67 108 864 lt x lt 67 108 863 25 268 435 456 lt x lt 268 435 455 125 536 870 912 lt x lt 536 870 911 Default x 0 Related CCW OT JUMP sets the line number destination if overtravel instructions exceeded CCW OT ON turns on counterclockwise overtravel checking OT ERROR displays value for the appropriate direction if an overtravel error occurs See also corresponding clockwise variables CW OT CW OT ON and CW OT JUMP 3 6 MA6445 SW StepperBASIC Reference Manual Rev 1 E E E SSS S CCW OT continued Programming 1 Set ccw oT to the desired distance in motor position This guidelines distance is based on POS COMMAND 0 2 Program ccw JUMP for a line number destination if desired 3 Program CCW OT ON 1 to turn On overtravel checking Program Program line E 10 PREDEF INP 0 20 ENABLE 1 30 STEPSI ZE 25 40 MIN SPEED 100 50 RUN SPEED 1000 60 ACCEL RATE 1000 70 POS COMMAND 0 80 CW OT 25000 90 CCW OT 25000 100 CW OT ON 1 110 CCW OT ON 1 120 CW OT JUMP 1000 130 CCW OT J UMP 1000 140 GO VEL 150 WHILE MOVING WEND 160 PRINT ERROR 170 END 1000 PRINT CW amp CCW OT J UMP OK 1010 P
152. roller the values of the variables stored in NVRAM are automatically transferred to RAM If an error is encountered during this transfer factory default parameters are loaded Program Program line segment LOADVAR Variables loaded into RAM 3 76 MA6445 SW StepperBASIC Reference Manual Rev 1 MAX DECEL parameter integer Purpose Syntax Value Default Related instructions Programming guidelines Rev 1 MAX DECEL Maximum Deceleration sets the maximum rate at which the motor decelerates under any of the following conditions e STOP MOTION instruction is executed e STOP instruction is executed e Remote Stop J 8 5 input is activated e lt Ctrl gt lt c gt is typed on the keyboard e SCANT is satisfied and SK1 STOP is set to 1 e SCAN2 is satisfied and SK2 STOP is set to 1 e STALL STOP occurs Y ou can set this value to a high rate for emergency stops and use a lower value for ACCEL RATE if your application requires it IMPORTANT NOTE The value of this variable is stored in NVRAM when the SAVEVAR command is executed MAX DECEL x x 5 to 1 000 000 R PM second x 100 000 STOP MOTION stops motion while allowing program execution SKn STOP stops motion when a scan is triggered STOP stops motion and interrupts the program e Do not set to a value below 5 RPM second The motor will not stop if MAX DECEL is set to zero 0
153. s an immediate mode command RENUM new number existing number increment New number is the first line number to be used in the new sequence the default is 10 Existing number is the number of the line where you want the renumbering to begin The default is the first line of the program Increment is the increment to be used with the new sequence default is 10 RENUM changes all line number references in GOTO GOSUB THEN and ELSE statements Note RENUM does not affect SKn JUMP program line numbers Change these line numbers manually after performing RENUM Program line GOSUB 41 9 GOSUB 27 11 GOSUB 93 12 END 27 PRINT SUBROUTINE A 28 RETURN 41 PRINT SUBROUTINE B 42 RETURN 93 PRINT SUBROUTINE C 95 RETURN RENUM LIST MA6445 SW StepperBASIC Reference Manual 3 125 RESET STACK statement Purpose RESET STACK Clears the StepperBA SIC internal stack so that the Syntax Programming guidelines 3 126 program may be restarted from within a subroutine call or after jumping out of a WHILE WEND or FOR NEXT loop RESET STACK internal stack to allow program flow to be re directed after aborting execution of a subroutine WHILE WEND loop or RESET STACK permits the re initialization of the controller s FOR NEXT loop These program control mechanisms all require u
154. s through the Pacific Scientific StepperBA SIC program and puts an entry in the GoTo table for every GOTO GOSUB and IF THEN ELSE statement This allows the program to execute faster because this table does not need to be generated as the program runs Syntax PACK Programming The PACK command is automatically executed when the controller guidelines is turned On For maximum program speed the PACK function should be executed before the program is run if the program has been changed since the last time the program was executed Rev 1 MA6445 SW StepperBASIC Reference Manual 3 87 PAUSE statement Purpose PAUSE causes the program to pause the amount of time specified by the WAIT TIME variable The motion of the motor is not affected The R emote Stop hardware input remains active while the program is paused Typing lt Ctrl gt lt c gt on the keyboard will also abort the program when the program is paused Syntax PAUSE Related WAIT TIME sets time for pause instructions Programming guidelines The PAUSE function can be used in place of software loops e g FOR NEXT for precise control of timing Program line 10 WAIT TIME 0 5 20 WHILE NP1 1 WEND 30 PAUSE 40 GO I NCR This program looks at INP1 J 9 2 and waits until this input is zero connected to I O RTN The program pauses for 0 5 second and then performs an incremental move MA6445 SW StepperBASIC Reference Ma
155. se of the internal stack Use of the SCAN jump SKn JUMP functions require the execution of the RESET STACK statement to ensure internal program control is restored if the SCAN input has been triggered during execution of a subroutine or looping construct Program line 100 PRINT Program Restarted 110 SK1 TRIGGER 10 120 SK1 J UMP 500 130 SET SCAN1 140 FOR INT1 1 to 100 500 PRINT SCAN1 Triggered 510 RESET STACK 520 GO TO 100 MA6445 SW StepperBASIC Reference Manual Rev 1 RETURN statement Purpose RETURN ends a subroutine and sends control to the instruction following the most recent GOSUB statement executed Syntax RETURN Related GOSUB RETURN statement to branch to and execute a instructions subroutine Programming Program a RETURN at the end of the subroutine to send execution guidelines to the line following the most recent GOSUB executed 10 GOSUB 1000 1000 PRINT PRINT VELOCITY VELOCITY 1010 RETURN Rev 1 MA6445 SW StepperBASIC Reference Manual 3 127 RMT START parameter integer Purpose RMT START defines R emote Start input J 8 4 to e Power up in immediate mode and initiate a Go command upon a high to low transition at the R emote Start input e Power up in immediate mode and initiate a RUN command upon a high to low transition at the R emote Start input e Power up running the program and after program completion initiate a RUN command u
156. software overtravel limit OT ERROR displays value for the appropriate direction if an overtravel error occurs See also corresponding clockwise variables CCW OT CCW OT ON and CCW OT JUMP 1 Set cw oT to the desired distance in motor position This distance is based on POS COMMAND 0 2 Program cw Jump for a line number destination if desired 3 Program CW OT ON 1 to turn overtravel checking On MA6445 SW StepperBASIC Reference Manual 3 23 DCL TRACK ACL variable integer Purpose DCL TRACK ACL Deceleration Tracks Acceleration enables the Default Related instructions acceleration rate equal to the deceleration rate If disabled deceleration is a separate value to be set using DECEL RATE DCL TRACK ACL x x Oto turn OFF Deceleration Tracks Acceleration to use DECEL RATE x 1 to turn ON Deceleration Tracks Acceleration The program uses the acceleration rate to decelerate Note DCL TRACK ACL is automatically turned Off when a DECEL RATE is specified x 1 DECEL RATE sets the deceleration rate for motion ACCEL RATE sets the acceleration rate when speed is increased MA6445 SW StepperBASIC Reference Manual Rev 1 DCL TRACK ACL continued Program Program line segment 90 Disable deceleration track acceleration 100 DCL TRACK ACL 0 110 ACCEL RATE 1000000 120 DECEL RATE 10
157. stop speed for making the move instructions UN SPEED run speed for the move R ACCEL RATE acceleration rate for the move D ECEL RATE deceleration rate for the move INDEX DIST index distance for each move cycle CONTINUOUS MOTION enables multiple motion instructions with no stop between moves UPD MOVE updates current move in process with new variables 3 50 MA6445 SW StepperBASIC Reference Manual Rev 1 GO INCR continued Programming Set appropriate RUN SPEED MIN SPEED ACCEL RATE and guidelines Rev 1 DECEL RATE variables Note Set direction of the motor using INDEX DIST Positive values move clockwise and negative values move counterclockwise Direction is not affected by DIR Enable CONTINUOUS MOTION for multiple motion functions Program parameter changes during a move using UPD MOVE Program line 5 Set acceleration rate to 100 000 RPM second 10 ACCEL RATE 100000 15 Set run speed to 1 000 RPM 20 RUN SPEED 1000 25 Set the incremental index distance to 25 000 steps 30 INDEX DIST 25000 35 Perform index distance move 40 GO I NCR MA6445 SW StepperBASIC Reference Manual ry GOSUB RETURN statement Purpose GOSUB RETURN Go to subroutine branches program execution to a subroutine executes it and returns Syntax GOSUB
158. structions Program segment Rev 1 WHEN ENCPOS When Encoder Position records the encoder position at the time the WHEN statement becomes true This value is checked for at 1 024 millisecond time intervals x WHEN ENCPOS xX is 2 147 483 648 to 2 147 483 647 external encoder counts WHEN provides fast response to certain input conditions ENCDR POS provides the encoder position Program line 10 Latch encoder position when input 6 goes low 20 WHEN INP6 0 OUT6 0 30 PRINT WHEN Encoder position is WHEN ENCPOS MA6445 SW StepperBASIC Reference Manual 3 179 WHENPCMD variable integer read only Purpose WHENPCMD When Position Command specifies the motor position when the WHEN condition is satisfied Syntax x WHENPCMD Related POS COMMAND contains the current position command instructions WHEN provides fast response to certain input conditions Program Program line segment a 10 Latch encoder position when input 1 goes low 20 WHEN INP1 0 CONTINUE 30 PRINT WHEN POS COMMAND IS WHENPCMD 3 180 MA6445 SW StepperBASIC Reference Manual Rev 1 WHILE WEND statement Purpose WHILE WEND tells the program to execute a series of statements as long as an expression after the WHILE statement is true If the expression is true then the loop statements between WHILE and WEND are executed The expression is evaluated again
159. t a position verification error has occurred POS VERIFY TIME settling time for encoder reading IN POSITION indicates when step position is reached STEP DIR INPUT selects quadrature encoder or step and direction inputs to J 11 MA6445 SW StepperBASIC Reference Manual 3 99 _ POS VERIFY J UMP continued Programming Install an encoder and verify that it is set to the correct guidelines ENCODER line count e Make sure STEPSIZE is correct e Use GO ABS GO INCR or GO HOME for moves Position verification does not work with other move instructions e Set STEP DIR INPUT 0 if using quadrature inputs to the J 11 encoder interface 3 100 MA6445 SW StepperBASIC Reference Manual Rev 1 POS VERIFY TIME parameter integer Purpose Syntax Range Default Related instructions Programming guidelines Rev 1 POS VERIFY TIME establishes a settling time for the encoder reading If a value is not set you may see position verification errors Note Refer to Section 2 5 Using the Position Verification and Correction Function for additional information POS VERIFY TIME x x 0 to 65 536 milliseconds x 0 POS VERIFY CORRECTION returns the number of steps difference for the position error POS VERIFY DEADBAND sets the maximum allowed difference in motor steps microsteps between encoder and pulse counts th
160. t lines 20 RUN SPEED 200 lt enter gt 30 ACCEL RATE 1000 lt enter gt 40 PRINT INT1 lt enter gt 50 IF INTL 6 THEN 90 lt enter gt Start each line with a number followed by a space Use numbers from 1 to 65500 Do not type more than 132 characters on a line Rev 1 MA6445 SW StepperBASIC Reference Manual 1 15 Multiple statements Typing in Paccom M ultiple instructions may be put on a single line For ease in reading you may separate each instruction by a colon although this is not required The program will run faster and take less memory with no colons All instructions on the line will be executed with the same line number An example of program line syntax is as follows line number statement statement lt return gt Program lines may not be preceded by the global command prefix Thus there can be no global edits If the following line is typed 2INT1 1 PRINT INT1 a new line 2 will not be added to the program of each controller Rather the following will occur e Unit 2 will be logged on and all others will be logged off e The local variable INT1 of the controller with address 2 will be assigned the value of 1 e The value of the variable INT 1 will be printed immediately Type your program as if you are typing on a word processor then download the program to the drive using the download utility provided by PacCom After a
161. t the encoder position This will allow for any ringing to settle POS VERI FY CORRECT ON A read only variable that gives the difference between the rotor position and the position command in number of microsteps NOT ENCODER COUNTS It is to be used as the correction distance POS VERI FY ERROR This is a flag that is tripped when the rotor error between the rotor position and the commanded position is greater than that allowed by the POS VERIFY DEADBAND POS VERI FY DEADBAND Is the allowable error in microsteps this number in a system If the error between the commanded position and the position measured by the encoder exceeds this value the POS VERIFY ERROR flag will be tripped POS VERI FY J UMP Causes the program to jump to a new line when the POS VERIFY DEADBAND is exceeded This will allow the correction to be made based upon the commands at the line jumped to 2 10 MA6445 SW StepperBASIC Reference Manual Rev 1 Related Commands VARIABLE DESCRIPTION ENCODER Should be set to the number of PPR pulses per revolution of your encoder STEP DIR INPUT Set up the encoder port for an encoder or step and direction inputs from another control Note If STEP DIR INPUT 1 for accepting step and direction inputs ENCODER needs to be set to Stepsize 50 I N POSITION Flag controlled by the internal software that
162. te Below these values ACCEL RATE is set to 0 Resolution Stepsize Resolution 1 4 6 RPM 2 4 6 RPM 5 1 8 RPM 25 1 5 RPM 125 0 58 RPM Default x 1000 Rev 1 MA6445 SW StepperBASIC Reference Manual 3 3 N ACCEL RATE continued Related MAX D ECEL alternative deceleration rate for special condition instructions stopping D ECEL RATE deceleration rate when DCL TRACK ACL disable DCL TRACK ACL enables same deceleration rate as acceleration GO ABS causes the motor to move to the position specified by TARGET a POS GO HOME moves the motor shaft to the electrical home position GO INC current position GO VEL RUN SP UPD MO progress using specified ACCEL RATE DECEL RATE and RUN SPE Programming e R moves the motor shaft an incremental index from the moves the motor shaft at constant speed EED sets the commanded velocity in RPM VE updates the commanded motion currently in iD Program variable whenever there is a change in the rate of guidelines motion including negative motion e f ACCEL RATE 0 and a move is initiated the motor runs at MIN SPEED e Set the ACCEL RATE parameter prior to issuing any motion command statement e ACCEL RATE can be updated using the UPD MOVE statement Program Program line segment
163. tes the INPUT execution statement the following sequence of events occur 1 The character input buffer of the 6x45 controller is cleared 2 a If there is no user defined prompt within the controller will transmit a question mark followed by a space _ b If there is a user defined prompt string the prompt is transmitted followed by a question mark and a space c If the prompt string is followed by a comma instead of a semi colon the prompt is transmitted but the question mark is suppressed 3 Numeric Data Characters received by the controller are placed in the input character buffer They are also echoed back transmitted by the controller one at a time after they are received Note Line feeds received by the 6x45 are ignored 4 Step 3 is repeated until a carriage return is transmitted to the 6x45 5 When a carriage return is transmitted to the 6x45 the numeric input data is terminated A fter its reception the 6x45 transmits a line feed followed by a carriage return unless a semicolon appears just after INPUT in which case the line feed and carriage return are suppressed 6 If the numeric response is a valid numeric value then the input data is placed in the specified variable Otherwise the INPUT process is repeated from Step 1 Rev 1 MA6445 SW StepperBASIC Reference Manual B 1 Variations of INPUT statement options Note _ in these examples represents a question mark followed by
164. th CCW OT and CCW OT J UMP to turn On the counterclockwise software overtravel limit function CCW OT ON specifies whether the counterclockwise overtravel checking is turned On or Off Y ou can set CCW OT ON to 0 or 1 Note Please refer to Section 2 3 Setting Up Overtravel Function foradditional information Syntax CCW OT ON 1 Turns counterclockwise overtravel check On CCW OT ON O Turns counterclockwise overtravel check Off Related CCW OT J UMP sets theline number destination of overtravel instructions exceeded CCW OT counterclockwise software overtravel limit OT ERROR displays value for the appropriate direction if an overtravel error occurs See also corresponding clockwise variables CW OT CW OT ON and CW OT J UMP Programming 1 Set CCW OT to the desired distance in motor position This guidelines distance is based on POS COMMAND 0 2 Program ccw Jump for a line number destination if desired 3 Program CCW OT ON 1 to turn overtravel checking On Rev 1 MA6445 SW StepperBASIC Reference Manual 3 9 CHR function Purpose CHR converts an ASCII code to its equivalent character Syntax CHR n Related INKEY returns the key or control code corresponding to a key instructions Programming guidelines pressed or control entered from the keyboard n is a value from 0 to 255 Refer to Appendix A ASCII Codes for a table of ASCII values Pro
165. tion 0 Position check n disabled 10 Position check n enabled If POSITION gt POS CHKn then ouTn 0 If POSITION lt POS CHKn then ouTn 1 11 Position check n enabled If POSITION gt POS CHKn then ouTn 1 If POSITION lt POS CHKn then ouTn 0 POS CHKn OUT 0 POS CHKn OUT 10 POS CHKn OUT 11 x 0 POS CHKn position to trigger POS CHKn OUT MA6445 SW StepperBASIC Reference Manual Rev 1 POS CHKn OUT continued Programming guidelines Rev 1 e OUTI to OUT3 Outputs 1 to 3 cannot be programmed if the outputs are enabled using POS CHK1 OUT to POS CHK3 OUT e Set the POS CHKn position before programming POS CHKn OUT Program line 10 POS COMMAND 0 20 POS CHK1 OUT 10 30 POS CHK1 10 5000 40 DIR 0 50 GO VEL This program will cause OUT1 to be 1 until the motor rotates 10 revolutions if the Indexer is configured for ST that point OUT1 will be set to 0 MA6445 SW StepperBASIC Reference Manual EPSIZ E 25 At POS COMMAND variable integer Purpose POS COMMAND Position Command is a read or write position Related instructions counter that allows you to e Display and use the current step position to perform absolute distance calculations e Redefine the current position or the electrical home position Note Refer to Section 2 2 Homing Routines for additional
166. tion The Pacific Scientific 6x45 Indexer D rives control motor velocity and position The user interacts with the controller via a computer or a standard dumb terminal The computer or terminal is connected to the controller by one of two serial communications ports e RS 232 e RS 485 U sing the computer or terminal they user may talk to the controller by e entering BASIC commands via a programming language StepperBA SIC similar to standard BASIC computer programming language e executing a StepperBA SIC program stored in the memory of the controller by typing RUN lt return gt Note The controller can hold only one program and has no file system 1 8 1 Programming Modes Mode types StepperBA SIC operates in one of two possible modes Immediate or Program Immediate In the immediate mode statements and commands are executed when you press lt enter gt at the end of a line R esults are displayed immediately but the instructions cannot be recalled or stored after they have been used Use this mode when storing a program is not needed for instance during installation you would type GO VEL lt enter gt to check the motor for excessive vibration The motor runs at default velocity until you type STOP lt enter gt Program The program mode is the program writing and running mode of the indexer drive This mode requires StepperBA SIC instructions preceded by line numbers To run the program you must e
167. to set a group of outputs PREDEF OUT pre defines output 12 for motor moving POS CHKn OUT sets outputs 1 to 3 based on position PWR ON OUTPUTS specifies the state of the outputs when the controller is powered up e Set the individual variable equal to 0 to output a 0 to turn On the output or to 1 to output a 1 to turn an output OFF Note Outputs 1 to 3 are also controlled by POS CHKn OUT MA6445 SW StepperBASIC Reference Manual 3 83 OUTPUTS parameter integer Purpose OUTPUTS specifies the state of the 12 outputs Related instructions OUTPUTS x 0 to 4095 4095 where x is a decimal value corresponding to the sum of the weighted outputs as described by OUTPUTS 2048 OUT12 1024 OUT11 512 OUT 10 256 OUT9 128 OUT8 64 OUT7 32 OUT6 16 OUT5 8 OUT4 4 OUT3 2 OUT2 1 OUTI where OUTn State of output as indicated by OUTn 1 OFF high OUTn 0 ON low OUT1 12 outputs low signals for individual outputs PREDEF OUT pre defines output 12 for motor moving PWR ON OUTPUT specifies the state of the outputs when the controller is powered up MA6445 SW StepperBASIC Reference Manual Rev 1 OUTPUTS continued Programming If the individual outputs are configured such that gui
168. tor rotation is determined by the value of TARGET POS and the current value of POS COMMAND Value Functionality TARGET POS gt M otor rotates clockwise POS COMMAND TARGET POS lt M otor rotates POS COMMAND counterclockwise The GO HOME statement is exactly equivalent to TARGET POS 0 GO ABS This statement moves the motor to the zero home position electrical home where POS COMMAND 0 Direction of motor rotation is specified by the current value of POS COMMAND relative to 0 zero Value Functionality POS COMMAND gt 0 Motion goes in negative direction to 0 zero POS COMMAND lt 0 Motion goes in positive direction to 0 zero Rev 1 MA6445 SW StepperBASIC Reference Manual 2 27 SEEK HOME This statement causes the motor to move to mechanical home position as defined by an external limit switch connected to J 8 8 U pon initiation the following steps occur 1 The motor moves as specified by DIR direction RUN SPEED ACCEL RATE 2 When the switch is found it changes state the variable HOME ACTIVE should be set to correspond to the desired state change 3 The motor decelerates to a stop 4 Direction reverses and the motor moves slowly defined by MIN SPEED until the switch changes again VELOCITY nN SWITCH CHANGES STATE SLOPE ra N ACCEL RATE RPM S
169. troller s return at a single point 2 30 MA6445 SW StepperBASIC Reference Manual Rev 1 Related instructions There are six variables associated with the REG FUNC function They are VARIABLE DESCRIPTION STEP DIR NPUT This variable must be set 1 It will configure J 11 to a STEP and DIR input STEPSI ZE Both software and hardware setup should be the same 1 2 5 25 or 125 ENCODER Based upon the designated STEPSIZE the ENCODER variable setting should be as follows STEPSIZE ENCODER 1 50 2 100 5 250 25 1250 125 6250 REG DI ST The distance that is moved automatically after the Registration input is applied REG FLAG 1 and REG FUNC 1 It will perform a move like the Go INCR but with microsecond response to the input REG FUNC Setting up this variable 1 will enable activate the registration function and it will allow for a registration move set up the REG DIST to be performed if a registration input was applied REG FLAG 1 Setting up this variable 0 will disable the registration function and no registration distance will be performed even if a registration input was applied REG FLAG Flag indicates the status of the registration input REG FLAG 1 Input has triggered REG FLAG 0 Input has not triggered This flag can be cleared in two ways 1 Setting RE
170. uctions RUN SPEED run speed for the move ACCEL RATE acceleration rate for the move DECEL RATE deceleration rate for the move TARGET POS target position for GO ABS CONTINUOUS MOTION enables multiple motion instructions with no stop between moves UPD MOVE update current move in process with new variables 3 46 MA6445 SW StepperBASIC Reference Manual Rev 1 GO ABS continued Programming e guidelines appropriate RUN SPEED MIN SPEED ACCEL RATE ECE L RATE and TARGET POS variables Enable CONTINUOUS MOTION for multiple motion instructions Program parameter changes during a move using UPD MOVE Program Program line 5 1 l 2 2 3 3 au oaa A gt own o a S amp S Rev 1 uo a o A a Set run speed to 1 000 RPM RUN SPEED 1000 Set acceleration rate to 1 000 RPM second ACCEL RATE 1000 Set deceleration rate to 100 000 RPM second DECEL RATE 100000 Set target position to 10000 steps from the electrical home position TARGET POS 10000 Move motor to target position GO ABS Hold execution of program to line 60 until move is completed WHILE MOVING WEND MA6445 SW StepperBASIC Reference Manual 3 47 GO HOME statement Purpose GO HOME moves the motor to the electrical home position This moves
171. v 1 HMPOS OFFSET parameter integer Purpose Syntax Value Default Related instructions Programming guidelines Rev 1 HMPOS OFFSET Home Position Offset is the offset distance from the mechanical home position When the SEEK HOME homing function is performed the motor moves to mechanical home position as designated by the home switch connected to input J 8 8 The motor then moves the HMPOS OFFSET distance away from the home switch This final position known as electrical home is set to zero in the POS COMMAND counter to provide the zero reference home for further moves IMPORTANT NOTE The value of this variable is saved in NVRAM when the SAVEVAR command is executed HMPOS OFFSET x x 4 096 000 to 4 096 000 steps direction relative to POS COMMAND x 0 SEEK HOME causes homing routine using mechanical switch PRINT POS COMMAND displays current step position e Connect limit switch for homing to J 8 8 e Program SEEK HOME to perform the homing with the home position offset e Save HMPOS OFFSET in NVRAM if desired using SAVEVAR MA6445 SW StepperBASIC Reference Manual 3 57 HOME ACTIVE parameter integer Purpose HOME ACTIVE matches the software to the mechanical home switch used for SEEK HOME e f HOME ACTIVE 0 the home mechanical switch op
172. variables you define as part of your program INTn integer variables defined as part of the program Program line 10 PRINT INT 99 89 Prints the value 99 10 PRINT INT 12 11 Prints the value 13 MA6445 SW StepperBASIC Reference Manual Rev 1 INTn variable integer Purpose Syntax Range Related instructions Rev 1 INTn integers 1 to 32 are integer variables you define as part of your program IMPORTANT NOTE The value of this variable is saved in NVRAM when the SAVEVAR command is executed I NTn where n equals 1 to 32 X rj F C 2 147 483 648 LGn eight flag 0 or 1 user defined variables LTn thirty two floating point value to right of decimal user defined variables EAR clears FLGn FLTn and INTn variables in immediate mode SAVEVAR saves INTn to NVRAM memory MA6445 SW StepperBASIC Reference Manual 3 71 J OG SPEED variable float Purpose JOG SPEED sets the speed the motor rotates when jogging IMPORTANT NOTE The value of this variable is stored in NVRAM when the SAVEVAR command is executed Syntax JOG SPEED x Stepsize Range 1 MIN SPEED to 18 750 00 R PM 2 MIN SPEED to 18 750 00 R PM 5 MIN SPEED to 7 500 00 RPM 25 MIN SPEED to 6 000 00 RPM 125 MIN SPEED to 2 399 99 RPM Programming The motor will jog clockwise wh
173. will be stopped For example if the LIST command appears in a program the program will stop operating and list the program An example of a command is DELETE 120 300 1 8 MA6445 SW StepperBASIC Reference Manual Rev 1 Functions Pre defined variable types Parameters BASIC functions perform a computation and return a value that can be used in arithmetic expressions For example BASIC functions convert decimal numbers to integers and convert an ASCII code to its equivalent screen display character An example of a function is INT1 INKEY Variables are the values acted upon by functions or as the result of arithmetic operations Variables can be further categorized as Read Write R W or Read Only R O Pre defined variables are reserved for use with specific Pacific Scientific functions These pre defined variables are either e Floating points numbers with values to the right of the decimal place Used with functions that require decimal numbers for example the VELOCITY variable contains the motor speed in revolutions per minute or e Integers integers used with functions that require integers for example the number of steps to move the motor Some pre defined variables are read only that is they cannot be altered from the keyboard or by the program The INPUTS variable for instance is dependent solely on the state of the programmable inputs at the connector interface and cannot be altered from th

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