Home

"user manual"

1. Doc No MAL 4164 4MC PM doc 329 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBIT FR amp 4 8 4 2 CF CT Call Subroutine If False or True Purpose Software amp Command Reference Calls jump to a specified subroutine given by program pointer or label according to the stack top condition After returning from the subroutine by the RT command execution will continue at the next macro clause The CF Call False command will execute the requested call if the stack top element is false zero 0 The CT Call True command will execute the requested call if the stack top element is true non zero Attributes Syntax Type Axis related Array Assignment Receive parameter Parameter type Scope Restrictions Save to Flash Default Value Range CF lt Label gt CF lt Constant gt CT lt Label gt CT lt Constant gt Command No Yes Number or Label Program None Keyword is not axis related thus XCF YCF etc are equivalent Doc No MAL 4164 4MC PM doc 330 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR A Software amp Command
2. cccccecceesceseeseeeeeseeeeeeeees 238 4 2 3 Macro Handling Keywords ccccccccsccssssseecesseessesesseeseesseecsseseeseeccaecseusecaeesecaeenseaseneeas 238 4 2 4 Low Level Expressions Handling and the Numbers Stack nson 240 4 2 5 Variables And Indirect Addressing csccsccssesccssessssseessevecuseescuseeseesecaeesecaceecueeenenaeeneeas 245 4 2 6 Labels And Subroutines NAMES sccccscescesessceseesseseesceecceeeeusceseesecaeesecaeeecesenesesneeaes 249 42 57 Macro Flow Control z cisivsstseesaustnsvsanctvevbscetvietvctsswsgnsdmepyanosbeses ous Coestbanaguouparsauedpeeeidedeees 252 4 2 8 Wait and Internal State Inquiry Functions cccccesceseseeeceseeeenseeneeseeeeesecaeeeecuseenenaeeseeas 256 4 3 TIMER FUNCTIONS ncia en a es ee ea 261 4 3 1 Automatic Routines Not Supported Future Option 262 4 3 2 Accessing Remote Units Via CAN Communication 0 sccesceeceesseeseeeeeeeeceeeceescnseenaeenee 264 4 3 3 External Communication Link Interfaces RS 232 ccccccccccccsssecesneeeneceececnseceeacecnsecenee 266 4 4 NOTES REGARDING THE LOW LEVEL AL 4164 4MC MACRO PROGRAM 269 44D MACKO GNA MOTOS sirindi pene dresie i aa enea e Ea EN e Ee 269 4 4 2 Macro Syntax Check And Run Time ErtrOf ossesoeeeeeeeeseseesesreesrereererrrsreseesseerrresereres 270 4 4 3 Macro Size And Number Of Labels c ccccecssscsesessseseensesecnseeecusesseesecaeesecaeesecaeseesecnaeees 270 4 4 4 Macro Download FOrmat c cccsccesccssesscssesecssees
3. define QR_X_RUNNING 4 bitO define QR_Y_RUNNING 2 bit 1 define QR_Z_ RUNNING 4 bit2 define QR_W_RUNNING 8 bit3 define QR_E_RUNNING 16 bit 4 define QR_F_RUNNING 32 bit5 define QR_G_RUNNING 64 bit 6 define QR_H RUNNING 428 bit 7 define QR_U_RUNNING 256 bit 8 define QR_V_RUNNING 512 bit 9 Motion Status Bits Mask Definitions MS define MS_MASK_IN_MOTION q Doc No MAL 4164 4MC PM doc 318 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference define MS_MASK_IN_STOP 2 define MS_MASK_IN_ACC 4 define MS_MASK_IN_DEC a define MS_MASK_IN_WAIT_INPUT 16 define MS_MASK_IN_PTP_STOP 32 define MS_MASK_IN_WAIT 64 Status Register Bits Mask Definitions ST In Motion Rep amp 0x0010 In Motion Homing amp 0x0080 No Motion In TR amp 0x0020 Ikkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk Ikkkkkkkkkkkkkkkkkkkkkkkk i e D DEFINITIONS OF FILE kkkkkkkkkkkkk Ikkkkkkkkkkkkkkkkkkkkkkkk Ikkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk Doc No MAL 4164 4MC PM doc 319 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any
4. Below a list is provided that describes the possible Axes Relation Attributes supported by the controller Table 3 2 AL 4164 4MC Keyword Axes Attributes Keyword Axes Attributes Axes Supported By the Keyword None Irrelevant to the axis The Keyword is NOT Axis Related CPA_KW_IS_4M_RELATED Keyword is supported on axes X Y Z W Only 4 Physical Axes Only CPA_KW_IS_8M_RELATED Keyword is supported on axes X W Z W E F G H 8 Main Axes CPA KW IS_UV RELATED Keyword is supported on axes U V only Virtual Axes Only CPA KW IS_UV RELATED CPA_KW_IS_4M_RELATED Keyword is supported on axes X Y Z W U V Physical and Virtual Axes Only CPA_KW_IS_8M_RELATED CPA_KW_IS_UV_RELATED Keyword is supported on all 10 axes X W Z W E F G H U V Doc No MAL 4164 4MC PM doc 199 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 3 5 1 3 Axes Groups The AL 4164 4MC family supports Group Definitions for Axes Identifiers As indicated above the AL 4164 4MC family controllers language syntax requires an axis identifier before any Keyword When a specific axis identifier is given the command interpreter will interpret the clause and will act upon t
5. Doc No MAL 4164 4MC PM doc 327 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBIT FR amp Range Min Max Software amp Command Reference The following list describe all the valid keyword Restrictions None No motion Motor is off Motor is on Macro not running X Y V ALL Macro s not running 4 8 4 1 CS Call Subroutine Purpose Calls jump to a specified subroutine given by program pointer or label After returning from the subroutine by the RT command execution will continue at the next macro clause Attributes Type Command Axis related No Array Assignment Receive parameter Yes Parameter type Number or Label Scope Program Restrictions None Save to Flash Default Value Range Doc No MAL 4164 4MC PM doc 328 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference Syntax CS lt Label gt CS lt Constant gt Keyword is not axis related thus XCS YCS and BCS are equivalent Examples MAIN XCS SUB _1 Will call the SUB_1 Subroutine SUB_1 XMO 1 XRT See Also RT CF CT
6. Example 1 Consider the following simple start jog motion sequence Speed is set to 20 000 motion mode set to 1 Jog in AL 4164 4MC controllers motor is enabled and commanded to begin the motion XSP 20000 Set Speed Doc No MAL 4164 4MC PM doc 294 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference XMM 1 XMO 1 XBG Set Motion Mode Enable motor Begin Motion This sequence can be also implemented by using the following definitions define XFastHomeSpeed 20000 Define Fast Home Speed constant define XMMJog 1 Defines Jogging Motion Mode define XbeginMotion XMO 1 XBG Define XBeginMotion Command The pre compiler will translate the following commands MV 0000s TESTBENCHSC4M SCM Claes 51202 1 TEST SC_4M CONTROLLER REV 01 gt F Echo Figure 4 8 Reporting Descriptive directive information Which includes the flowing information The command echo XQV followed by the file name used to download the program TESTBENCHSC4M scm in this case followed by all descriptive strings each statement in a single line 4 6 3 3 The include Directive The include directive tells the pre compiler to treat the contents of a specified file as if those contents had appeared in the source program at the poi
7. One of the main objectives of the CAN bus interface in the SC AT family controllers is to allow an additional communication interface which is much faster than the RS 232 and easy to implement and access In the AL 4161 4MC family controllers CAN communication uses binary language syntax In general there are a lot of common features between the RS 232 and CAN bus command syntax However there are some essential differences The exceptions are listed in the following list gt Most of the commands all non special commands clauses are limited to 8 characters i e limited to one CAN bus message Note that not all messages include the full 8 bytes message length Special commands may include more than one full CAN message Please refer to the special commands section for more details Since command clauses may be longer than 8 characters a different binary format is be used to encapsulate the RS232 command clause into 8 characters except for the special commands as noted Each response to a command clause is also limited to 8 characters unless otherwise noted CAN communication ignores the echo mode and does not send an echo Prompt is still sent as usual except for the special modes as noted below Since the CAN hardware controller also indicates the message size no termination is used in the communication protocol The following sections describe Host to AL 4164 MC Controller and AL 4164 MC Controller
8. Push without argument duplicates last stack element Pop without argument remove last stack element Add Subtract Multiply Divide ABS Negate amp Bitwise AND Bitwise OR A Bitwise XOR Bitwise NOT Logical NOT result is always 0 or 1 gt 0 Is negative lt 0 Is zero 0 Is not zero gt Is greater lt Is smaller Is equal l Is not equal gt Is greater equal lt Is smaller equal Note that push and the pop operators must be attached to a parameter name Doc No MAL 4164 4MC PM doc 322 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR P d Software amp Command Reference 4 8 3 3 Flow Control Keywords Table 4 11 AL 4164 4MC Macro program flow control keywords Keyword Description CS Call subroutine at a new macro pointer CT Call subroutine if last stack element is TRUE not zero CF Call subroutine if last stack element is FALSE zero JP Jump to a new macro pointer JT Jump if last stack element is TRUE not zero JF Jump is last stack element is FALSE zero JZ Jump to a new macro pointer and clear subroutines stack to restart the macro with subroutines stack clear RT Return from a subroutine 4 8 3 4 Wait and Internal State Inquiry Functions Table 4 12 Wait and Internal S
9. Save and Download Macro menu item saves the current edited macro and download it This option is available only when one of SC4M Shell or SC2M Shell is open and connected to controller Debug Macro Debug Macro menu item enables to debug a given macro file This option is available only when one of SC4M Shell or SC2M Shell is open and connected to controller The given macro file must be the same as the macro that resides in the controller Doc No MAL 4164 4MC PM doc 410 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 5 7 19 4 5 7 19 5 5 7 19 6 5 7 19 7 Debug Current Macro Debug Macro menu item enables to debug the current edited macro This option is available only when one of SC4M Shell or SC2M Shell is open and connected to controller The edited macro must be the same as the macro that resides in the controller Debug Macro X Debug Macro X menu item switch the debugging to macro X Remember there are 10 possible macros in the controller X V Debug Macro Y Debug Macro Y menu item switch the debugging to macro Y Remember there are 10 possible macros in the controller X V Reset Program Reset Program menu item resets the current selected macro s execution point Doc No MAL
10. defines an integer number gap in 61 uSec servo sample intervals between each two consecutive recording sample points RG is used to allow data sampling at a slower rate then the servo sample rate When RG 1 the data sampling rate equals the servo sample rate of 16 384 points sec When RG 2 recorded data will be sampled every second servo sample i e at a rate of 8 192 points sec RG 16 will result in data sample rate of 1 024 points sec and so on 1 8 3 2 2 RG 2 Recording Upload Delay When uploading large data buffers in CAN bus the AL 4164 4MC controllers can generate high loads on the CAN bus network Depending on the PC load and type of CAN board on high buffers upload some CAN messages can be lost In order to avoid this problem the AL 4164 4MC controllers can add delays between CAN messages during data recording upload The Delay is set by RG 2 and is given in servo sample time multipliers RG 2 0 means no delay RG 2 1 means 1 sample time delay this is 61 micro sec on the 4M and 122 micro sec on the 2M and so on Usually a delay of 3 5 samples is sufficient for most cases Doc No MAL 4164 4MC PM doc 88 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 1 8 3 3 Select Recording
11. gt The DACs in the AL 4164 4MCsystem has a finite resolution of 16 bits 32 767 for 10 v Although negligible this still has a non linear quantization effect gt The SC AT 2M analog command output has a resolution if 12 or 13 bits configurable using a dedicated CG bit see section 1 5 10 below gt When working with the PWM command interface for MD or other drives using mini driver interfaces the final system resolution is 12 bits 2047 for 100 PWM gt The encoder has of course a finite digital resolution which also implies non linear quantization effect gt Non Linear Gain Scheduling Please see next section for more information Doc No MAL 4164 4MC PM doc 69 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Software amp Command Reference 1 5 10 Filter Gain Scheduling The AL 4164 4MC software has a built in control filter gain scheduling logic The gain scheduling may be used in order to improve the settling performances of a system mainly to reduce settling times This is simply done by changing the PID or PIV filter constants KP KI KD for a short period of time after a motion is completed The user can define the period after previous end of motion condition in which the gain scheduling is effective
12. AR array The user should use separate AR areas for each axis if more then one is needed to be operated in Mode 2 or 3 simultaneously Mode 3 32 Bit Arbitrary Tables with FPAG RAM Support This operation mode is similar to Mode 2 i e supporting 32 bit arbitrary location compare table but instead of being based only on the real time controller software to manage points increment it is using the encoder interface RAM as a FIFO to allow unlimited pulse frequency operation This mode is not supported in the current Firmware version 1 8 10 Compare Function Parameters Activation and Error Codes The AL 4164 4MC uses a new special array PG abbreviation stands for Pixel Generation Parameters to control the Compare function operation Doc No MAL 4164 4MC PM doc 98 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR Software amp Command Reference and a new activation command PQ This section describes the option defined by each parameter and the command syntax 1 8 10 1 The PG Array AL 4164 4MC The PG array elements controls the operation of the compare function PG is an axis related array sized 10 x 8 Each axis has 8 parameters controlling the compare operation as described below Table 1 2 PG
13. Attribute Description Value CPA_MOTOR_ON Pa ft se CPA_PARAM_SAVED_TO FLASH 0x00000030 Parameter is Saved to Flash Function CPA_PARAM_SPECIAL_ASSIGN 0x00000400 Parameter Has Special Assign Function pwns 2S eee 2 ee l CPA_COMMAND_ALLOWS_PARAM 0x00001000 Commands Allows a Number Parameter CPA_COMMAND_ALLOWS_STRING_ PARAM 0x00002000 Commands Allows a string Parameter Se a CPA PARAM_LEN BITO CPA PARAM_LEN_BIT_1 0x00000200 NotUsed _ _ CPA_PARAM_SPECIAL_REPORT 0x00000300 Parameter Has Special Report CPA_COMMAND_SPARE 1 0x00003000 NotUsed CPA COMMAND_SPARE 2 0x00004000 NotUsed er ee CPA_KW_IS_COMMAND 0x00010000 Keyword is a Command Keyword CPA_KW_IS_VIRT_AXIS_ RELATED 0x00030000 Keyword is Virtual Axis Related CPA KW_SPARE_1 Cf Ox00040000 NotUsed O a a ee CPA_KW_SOURCE_MUST_BE_MACRO 0x00100000 KW Source Must be from MACRO Only CPA_KW_SOURCE_MUST_BE_COM 0x00200000 KW Source Must be from Comm only CPA KW_IS_AXIS_RELATED 0x00020000 Keyword is Axis Related CPA_KW_SOURCE_M UST_BE_RS232 0x00300000 KW Source Must be from RS 232 only CPA_KW_ALL_MACRO_HALTED 0x10000000 KW Must have all programs halted NotUsed o O Doc No MAL 4164 4MC PM doc 142 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written auth
14. Doc No MAL 4164 4MC PM doc 248 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Software amp Command Reference 4 2 6 Labels And Subroutines Names Labels are required for two main tasks l To define subroutine names starting location and II To define locations to jump to for program flow control The AL 4164 4MC controller does not distinguish between these two types of labels The same label definition may be used for both subroutine definition and jump location definition Labels are defined in the AL 4164 programming language as follows LABEL 1 The sign must precede any definition of label The must be the first character in a line 2 Followed by the sign is the label definition Labels may include ASCII printable characters with no blanks Maximal label size is 12 characters see restrictions on labels definitions below 3 Ending a label definition is the sign N NOTE To speed up real time execution of the macro program the PC Shell pre compiler module translate label definitions to internal pointer locations This eliminates the need to interpret the labels at run time execution Nevertheless from the user point of view this process is completely transparent The user uses the actual ASCII labels as def
15. Hold Phase 2 at 25 Hold Phase 1 at 0 templ temp1 250 Set Phase 2 command Jitter Phase 1 500 lsb 1 4 Sec delay Increase Phase 2 command Jitter Phase 1 1 4 Sec delay 500 Isla of Full Current Command Current Command Check that we are not mechanically stuck in either RLS or FLS limits STEPPER Mode NC 3 Haas wWallil Cause EGicisoie aim Pinase liaahe we call a function to Go If we are in one of the Out of the relevant Limit in and then call Ourselves Again to re Init if XCS XMOV_P T XCS COMM_X 1 endif y if XCS XMOV_N XCS COMM_X y endif ALL is OK and set back to normal XIP amp IP_MASK_XRLS Call Call the Move Away from RLS Func Ourselves Again XIP amp IP_MASK_XFLS Call Call the Move Away from FILS Func Ourselves Again Initialize the Magnetic Location Offset Close Loop mode TimerX 16 WaitTimerxX XML 24000 TimerX 16 WaitTimerxX 1 Sec delay Set the SIN Phase Offset 1 Sec delay XTC 0 XAO 0 XMO 0 XNC 0 XER 2500 Set Normal Mode Params Back J Dome Wica SIN TMeielivzeeciom fF UMCcE Lom Doc No MAL 4164 4MC PM doc 138 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Software amp
16. REVISION PAGE REVISION PAGE REVISION PAGE REVISION 222 B 285 B 348 B 411 B 223 B 286 B 349 B 412 B 224 B 287 B 350 B 413 B 225 B 288 B 351 B 414 B 226 B 289 B 352 B 415 B 227 B 290 B 353 B 416 B 228 B 291 B 354 B 417 B 229 B 292 B 355 B 418 B 230 B 293 B 356 B 419 B 231 B 294 B 357 B 232 B 295 B 358 B 233 B 296 B 359 B 234 B 297 B 360 B 235 B 298 B 361 B 236 B 299 B 362 B 237 B 300 B 363 B 238 B 301 B 364 B 239 B 302 B 365 B 240 B 303 B 366 B 241 B 304 B 367 B 242 B 305 B 368 B 243 B 306 B 369 B 244 B 307 B 370 B 245 B 308 B 371 B 246 B 309 B 372 B 247 B 310 B 373 B 248 B 311 B 374 B 249 B 312 B 375 B 250 B 313 B 376 B 251 B 314 B 377 B 252 B 315 B 378 B 253 B 316 B 379 B 254 B 317 B 380 B 255 B 318 B 381 B 256 B 319 B 382 B 257 B 320 B 383 B 258 B 321 B 384 B 259 B 322 B 385 B 260 B 323 B 386 B 261 B 324 B 387 B 262 B 325 B 388 B 263 B 326 B 389 B 264 B 327 B 390 B 265 B 328 B 391 B 266 B 329 B 392 B 267 B 330 B 393 B 268 B 331 B 394 B 269 B 332 B 395 B 270 B 333 B 396 B 271 B 334 B 397 B 272 B 335 B 398 B 273 B 336 B 399 B 274 B 337 B 400 B 275 B 338 B 401 B 276 B 339 B 402 B 277 B 340 B 403 B 278 B 341 B 404 B 279 B 342 B 405 B 280 B 343 B 406 B 281 B 344 B 407 B 282 B 345 B 408 B 283 B 346 B 409 B 284 B 347 B 410 B Doc No MAL 4164 4MC PM doc Ill Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other
17. The AL 4164 4MC controllers firmware code supports Data Recording using the following Keywords e Begin Stop Data Recording command e Data Recording Configuration Parameters a Select Recorded variables parameter a Select Recording Length parameter a Select Recording GAP parameter e Report Recording Status parameter Doc No MAL 4164 4MC PM doc 85 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR 1 8 3 ORBI T FR ES Software amp Command Reference e Data Recording Array Normally the user should not use these parameters and command directly since all the Data Recording features of the AL 4164 4MC are fully supported by the SCShell application GUI With few mouse clicks the user can select the recorded variables initiate recording process and view the resulted graphs in our advanced Data Viewer application Please refer to chapter 4 later on in this User s Manual for more information about the SCShell application GUI support for Data Recording However from time to time the user may choose to directly use Data Recording low level keywords bypassing the GUI This may be useful for example to initiate a data recording process from within a script program in order to synchronize the Data Recording process with a machine sequence The next sections fully
18. endif End if 4 6 4 4 While Loops While loops are used to execute repeated block of statements until some condition expires As with math statement expressions the while continue break and endwhile statements should start with the character symbol The syntax for the while block statement is while expression Statements continue Optional break Optional endwhile The while keyword executes statements repeatedly until expression becomes 0 The endwhile keyword must end any while block Nested while loops are supported It is possible to include if statements and for loops within a while statement given that they do not cross the boundaries of the while block and each other s Several continue and Doc No MAL 4164 4MC PM doc 304 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference break commands are allowed within a while loop continue and break commands are valid only within while and for loops Statements may be any valid normal or math expressions Valid operators within the while statement itself the conditions are gt Valid math operators Sree Fo l Valid logical operators gt lt gt lt Example 1 AL 4164 4MC Showing a simple infinite loop using a while stat
19. following components Code Debugging Area Shows the current debugging status This area shows macro commands their lines and low level command s translation Line Number Editor macro line number 4 4 Controller Memory Address Controller commands memory address 4 User Macro Command Pre Compiled macro command as appears in the macros scm file 4 Macro Command Interpretation Interpretation of the macro command in low level controller commands The debugging area shows the user macro command and the corresponding low level commands The debugger runs on the low level commands and in each line resides one controller command Doc No MAL 4164 4MC PM doc 395 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR kL Software amp Command Reference User Macro Command XPS XPS XPS 1 Macro Command Memory XPS Controller Interpretation Figure 5 5 Debugging Area Example Debug Toolbar The debug toolbar is enabled for all the debug toolbar options see section 5 7 21 2 Watch Area This area shows watch variables and their values This area enables 4 Adding Variables to the watch area Add directly to the watch area by editing the Variable Select a variable from the Code Debug Ar
20. limits only during motion This new protection will also be implemented in future firmware versions of the AL 4164 4MC Doc No MAL 4164 4MC PM doc 83 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR kL Software amp Command Reference 1 8 Advanced Features The AL 4164 4MC presents numerous important new and advanced features This chapter describes the following AL 4164 4MC advanced controller features e Data Recording e Advanced Encoder Interfaces Compare Events e Advanced Encoder Interfaces Capture Events e Auxiliary Analog Interfaces e Support for DC Brushless Motors Sin Commutation in AL 4164 4MC only e Dynamic Error Mapping Correction 1 8 1 Data Recording Data recording is a very powerful feature of the AL 4164 4MC controller s family that allows the user to record internal controller variables store them in local temporary arrays and upload them to a host computer using either one of the controller s communication channels The user can of course access the recorded buffers from within a script program if required Data recording significantly improves the control filter adjustment process control parameters tuning application debugging and monitoring and troubleshooting The AL 4164 4MC has new improved outstanding Data Recording capab
21. sesessessssssesesessenesseseseseesesesssseseeeenentssesesteeenessnsesesteersenesseseseesenesessesesees 202 3 6 4 AL 4164 4MC To Host ceececeeccesesseeceseesceecseeececeeeeseescaecseesecsaeeecsaeecessecaseaeeaeeneeseenaeees 206 3 7 CAN COMMUNICATION s esesseesesseseeseseseressesrssrsesertsreerstnseserterestststetestnesseseeteresesenseneeee 209 3 7 1 Syntax Host to AL 4164 4MC Controller ccccccesccssescesessceseescesecneesecceeeeneceeeeeeaseneens 210 3 7 2 Syntax AL 4164 4MC Controller to HOSt c cceccsscsssesssssesessseeecnseeseuseeeceseeaeesecaeeeenaeeneens 222 3 7 3 CAN Download Buffer MOde c sccccssccssessceseeseesenseeseesecaeesecsceseesseeeessecaeesecsaeeeeaeeneeas 225 3 7 4 CAN Enhanced Download Buffer Mode EDB noose 228 4 MACRO LANGUAGE 10 ccecscescsccsesecencscccecscessssensssssnesscsnssesessssesesencsscsncssosssssossessnessesness 235 4 1 INTRODUCTION css eis a ee ali naana ea eA a EE Eae 235 4 2 THE AL 4164 4MC MACRO ENGINE cceceeceesecseeseceseeeeesecaeesecneeeeenaeeeceaecateecsaeeateaes 237 Doc No MAL 4164 4MC PM doc X Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBIT FR FORWARD 4 2 1 General AL 4164 4MC Macro Program Structure ccccccccesceesseesseesceescessceecnsecnseente 237 4 2 2 External Communication vs Macro Execution PYiOvrity
22. used to drive motor Phases A and B respectively In this case SIN mode is Enabled NC has few possible modes of operation as described below e NC 0 Close Loop The axis is configured for close loop operation Phase A and B commands are issued according to the normal SIN commutation equation given in section 1 8 18 2 above e NC 1 Open Loop Desecrate Phase Commands TC directly set the Main DAC command and AO directly set the Auxiliary DAC Doc No MAL 4164 4MC PM doc 131 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference command TC and AO can be set independently This mode is used during the phase initialization process to fix the rotor in a known equilibrium point position see homing example below IA command TC gt Ib AO Command e NC 2 Open Loop SIN Commutation BLDC Mode In this mode TC is set as the equivalent vector current command and the controller performs the SIN commutation projection according to the Magnetic Location g ML MP x 360 This mode can be used to provide normal open loop current command only after phase initialization process is completed Ta Command TC x sin g Ib TC xsin g 120 Command In this mode when TC is const
23. 387 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference Source Code Editor Main screen components Edit Tool Bar Tool Bar for editing options enabled only in edit mode Debug Tool Bar Tool Bar for debugging options enabled only in debug mode gt Workspace Area Shows the current files included in the workspace see section 5 5 3 Edit View Area This area enables Editing macro file in edit mode see section 5 5 4 Show debugging status and options in debug mode see section 5 5 6 Build Watch Area Show the results of macro compiling and used as a watch view in debug mode Doc No MAL 4164 4MC PM doc 388 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ee ee 5 3 Workspace lod fl sc8m_global_defs fag orbit_defs scm Workspace Porbit cws orbit_defs scm name orbit_main scm sc8m_global_defs scm Workspace files descript r Defini include lali Figure 5 2 Workspace Area Workspace purpose is to help manage macros that include more than one file For example macro that include two fil
24. 5 7 16 4 Copy Copy menu item copies the highlighted text 5 7 16 5 Past Past menu item past the text retrieved by cut or copy command Doc No MAL 4164 4MC PM doc 402 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 5 7 16 6 Select All Select All menu item selects all the text in the top most opened file 5 7 16 7 Find Find menu item searches for a string in the top most open file Selecting this menu item shows the Find Dialog see Figure 5 7 Find Dialog Find zix Find what l Findet Match whole word only Direction Cancel I Match case C Up Down Figure 5 7 Find Dialog Doc No MAL 4164 4MC PM doc 403 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBIT FR Software amp Command Reference 5 7 16 8 Replace Replace menu item replaces the given text with another given text Selecting this menu item shows the Replace dialog Replace HEI Find what Replace with Replace Replace Aill I Match whole word only Cancel I Match case __ Cancel Figure 5 8 Replace Dialog 5 7 16 9 GoTo Go To menu item enables jumping to line b
25. B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference The following list describe all the valid keyword Restrictions None Keyword Needs No Motion Keyword Needs Motion Keyword Needs Motor Off Keyword Needs Motor ON Doc No MAL 4164 4MC PM doc 158 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 1 9 5 1 AB Abort Motion Command Purpose The AB Abort command aborts any motion immediately without any profile The motion will be stopped abruptly in the next servo interrupt following the Abort command The AB command should be used in emergency cases only Normally the ST or KR commands should be used to stop any type of motion Note that if an Abort command is issued when a motor is moving at high speed the servo loop may be disabled due to high error Attributes Type Command Axis related Yes Array Assignment Command Allows Parameter No Scope All Restrictions None Save to Flash Default Value Range Syntax XAB Aborts X Motion AAB Abort moti
26. Command Reference Function to Move Away From RLS in STEPPER Mode NC 3 ul XMOV_P XMO 0 XAO 0 Disable Motor and Analog Out XNC 3 Set Special STEPPER Mode NC 3 XER 150000 Increase Error For Process XCA1 0 Init Magnetic Phase to ZERO XMO 1 XTC 2000 Set Motor ON and TC Current Command 1 MOVXP1 TimerXx 16 WaitTimerX 1 mili sec delay XCA1 XCA1 20 Increase Angle if XCA1 gt 48000 Check More then 1 5 Cycle is done XTC 0 Done Return to Calling Function XMO 0 XNC 0 XRT endif XJP MOVXP1 Function to Move Away From FLS in STEPPER Mode NC 3 uf XMOV_N XMO 0 XAO 0 Disable Motor and Analog Out XNC 3 Set Special STEPPER Mode NC 3 XER 150000 Increase Error For Process XCA1 0 Init Magnetic Phase to ZERO XMO 1 XTC 2000 Set Motor ON and TC Current Command 1 MOVXN1 TimerX 16 WaitTimerxX 1 mili sec delay XCA1 XCA1 20 Decrease Angl if XCA1 lt 48000 Check More then 1 5 Cycle is done XTC 0 Done Return to Calling Function XMO 0 XNC 0 XRT endif XJP MOVXN1 Doc No MAL 4164 4MC PM doc 139 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 1 8 19 Dynamic Error Mapping Correction Dynamic Error Mapping Correction is required for correction of
27. Doc No MAL 4164 4MC PM doc 38 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR Software amp Command Reference 1 4 6 1 2 Starting a Position Based Gearing Motion Communication Description Clauses YMO 1 Enabling Y Axis servo loop motor on YMM 2 YSM 0 Set Y axis to Position Based Gear Mode YME 0 Set Y Master Axis As X Y will follow X YFR 1 048 576 Set Following Ratio to Vg YBG Start Y Motion Following the X axis In this example Y axis is command to follow the X axis reference position with ratio of 1 46 Note that usually when an axis is intended to operate in gear mode the following axis is first being enabled and enters motion BG and only afterwards the master axis is commanded to move Starting a gearing motion BG with MM 2 where the master axis is already in motion will result in velocity command step to the following axis 1 4 6 1 3 Monitoring a Position Based Gearing Motion Please refer to section 1 4 1 3 above 1 4 6 1 4 Stopping a Position Based Gearing Motion Gear motion is theoretically an infinite motion It stops only as a result of a user command or due to some fault limitation or protection A Gear motion can be stopped by the following communication clauses Doc No MAL 4164 4MC PM doc 39 Rev B Information co
28. Name 2 in the incoming EDB message Please refer above to Array codes YZI 7 Buffer 2 Axis Code Same as for Buffer 1 but for buffer 2 YZI 8 Buffer 2 Current Index Same as for Buffer 1 but for buffer 2 YZI 9 Buffer 2 Increment Value Same as for Buffer 1 but for buffer 2 EDB Mode Constraints gt The new EDB mode is supported of course in CAN bus only The EDB mode gt is Not supported in RS 232 Unlike the standard DB Download Buffer command In the AL 4164 4MC controllers where the controller enters a special communication mode the new EDB mode works continuously and in parallel to normal RS 232 and CAN messages if the EDB is enabled of course This means that when data is downloaded through the EDB message the user can communicate with the controller normally with exceptions like download macro upload data recording buffers etc When a prompt is requested the user should always wait for the reply before sending any other data to the controller like any other normal clause In the new EDB mode the controller will only validate that the array code and the current store index for each buffer are legal The controller will not check that the axis number matches the array type nor will validate the data range It is under the user s responsibility to guarantee correct initial configuration Doc No MAL 4164 4MC PM doc 233 Rev B Information con
29. ORBI T FR ES Software amp Command Reference Examples XQF 1 Reports the Macro Running Status Register of all axes XQF3 Reports the Macro RTE Status Register of all axes See Also QI QR Doc No MAL 4164 4MC PM doc 350 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 4 8 4 14 QG Get Internal State Value Purpose Gets the value of a specified internal state variable The desired state is provided as a parameter or as a stack argument For a list of supported internal states please refer to paragraph 2 8 Wait and Internal State Inquiry Functions in this user s manual The QG command returns the state value to the macro number stack as FALSE 0 or TRUE 1 Please refer to 2 8 Wait and Internal State Inquiry Functions in this user s manual for inversing the logic of the returned value Attributes Type Command Axis related No Array Assignment Receive parameter Yes Parameter type Number Scope Both Restrictions None Save to Flash Default Value Range Syntax QG lt Constant gt Keyword is not axis related thus XQG YQG and WQG etc are all equivalent Doc No MAL 4164 4MC PM doc 351 Rev B Information contained herein is the sole property o
30. Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBIT FR FORWARD Table of Contents 1 AL 4164 4MC SOFTWARE amp COMMAND REFERENCE csscsssssssssssssssssssesssenessesneee 1 1 INTRODUCTION Ga cstecani tects ae aeaa E EEE san aii inti an anise 1 2 GLOSSARY ca se2s sees ates cocecaceaecucs S R E E O 2 1 3 COMMANDS SYNTAX AND PROTOCOLS cccscescsseseescseesenecsenseeecsensesecsesesecsensesecsesenesseaenees 11 eT Generalis e a a a a a aE E E E tpesssougees ll 1 3 2 Supported Communication Channel Protocols Il 1 3 3 Controller Communication Language Definitions c ccccceteeseete ents cnet eeeeseeeneeneeeaees 13 1 4 MOTION MODES oeiia ran EE E EE EGEA ERA E 25 1 4 1 Point To Point PTP MM 0 SM 0 ccccccccccsssececesseecessncecesseececusauececseeeeceesneeecsenaeeess 26 1 4 2 Repetitive Point To Point Rep PTP MM 0 SM 1 cccccesccesceeseceseeeeeeeeeeeeeeeeeeeneees 31 1 4 3 Jogging JOG MM 1 SM 0 uo eieecceeceeeceecseseeeseeseeeeeeeeecesecaecsaeceaecaaecaeesseeeeeeneeeeeaeaees 33 1 44 Monitoring a MOtionn c ceccccecccceccesceseceecseeeneeeseeeseesseeeceeseceseceaecaecsuecaaecaeeeseeeeseeeseaeeeaees 34 1 43 Stopping a MOON assess esses sceaersuossensceceuseserpsgrdicedesoasbesndeapetscdsugseadsvaceaseneoseanedeaseusedsessnne gt 34 1 4 6 Ge
31. The AL 4164 4MC macro program can send messages to the RS 232 links using the MG command The keyword MG sends the attached string parameter to the RS232 channel The macro execution is halted till the transmission of the last string character is initiated It is then continues normally MG is not axis related i e XMG YMG and BMG are all the same The usage of this features should be done carefully do avoid any conflicts with the normal RS232 streams The length of the complete clause is limited to 20 characters which limits the string to send to 15 characters after removing the XMG characters Blanks are stripped before any clause is executed As a result the string should not include blanks refer to the special characters below for a work around There is no difficulty to use MG in both the X and the Y macro without any synchronization requirement To allow sending strings that contain CR or blanks use the following special characters The amp character in the string will be replaced with carriage return lt CR gt The character in the string will be replaced with a blank Doc No MAL 4164 4MC PM doc 267 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference q NOTE The value of a paramet
32. This toolbar section is dedicated for file manipulation like new save open ad print gt gt ABELA This toolbar section is dedicated for editing text like cut copy past undo and redo js a gt As This toolbar section is dedicated for text searching in the current opened file gt M This toolbar section is dedicated for bookmarks It enables to add go to next go to previous and remove all bookmarks ba This toolbar button is for show hide the output area gt gt 2 This toolbar button is for showing the about dialog Doc No MAL 4164 4MC PM doc 417 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Software amp Command Reference 5 7 21 2 Debug Toolbar CERLE ERESAJCJE Figure 5 12 Debug Toolbar Debug Toolbar enables the following options This toolbar button is for stop the debugging and reset the current macro gt Eh This toolbar button is for break current selected macro execution ny gt M fit This toolbar section is dedicated for trace one step and macro animation This toolbar button is for running current selected macro th This toolbar section is dedicated for breakpoints It enables add remove and remove all break points gt F This toolbar section is dedicated for setti
33. duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Software amp Command Reference 3 7 3 CAN Download Buffer Mode This mode enables a host computer to download large quantities of CAN data to the AR array General The DB keyword is sent by CAN with a number stating the first AR index to receive the data downloaded This index is incremented for every message received This command initiates a process in the AL 4164 4MC similarly to QD of downloading a list of numbers directly to the AR array from a user given starting point The command is active only in CAN In RS232 it will issue a gt prompt but will do nothing Download Buffer Sequence The DB sequence is performed in the following matter gt XDB or YDB or BDB or WDB is sent by the host to the controller with a numeric parameter using standard CAN protocol The parameter is the number of the first element in AR to which the downloaded data should be written If all is OK the controller responds with the gt OK terminator message The controller initializes a buffer pointer counter and also switches itself into a Buffer Downloading Mode In Buffer Downloading Mode any received CAN message is treated as follows If the length of the buffer is 8 The data is considered as two numbers MSByte first for each number gt If the length of the buffer is 4 as above but one number If the len
34. duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBIT FR amp Software amp Command Reference 4 8 4 25 QT Trace Macro Execution Single Line Purpose Executes the relevant macro one clause at a time This command is usually used for debugging mode It is used by the AL 4164 4MC Shell and debugging editor during macro programs debugging sessions Attributes Syntax QT Examples XQT YQT See Also QE QP Type Axis related Array Assignment Receive parameter Parameter type Scope Restrictions Save to Flash Default Value Range Trace executes Trace executes Command Yes one clause from the X macro program one clause from the Y macro program Doc No MAL 4164 4MC PM doc 364 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 4 8 4 26 QU Upload Macro Buffer Purpose Uploads the macro program from the internal controller macro buffer to the active communication link This command is currently used by ORBIT FR AL 4164 4MC Shell application It may be used by the user from a stand alone simple terminal only will not work from the AL 4164 4MC Shell terminal window Attributes Type Command Axi
35. extracts bit 3 using the bit wise amp operator with argument 4 and then store the result in bInput3 actually XPA10 BInput3 can later be used in any other math simple or conditional expressions Using the ANS keyword The pre compiler supports a special keyword the ANS This keyword instructs the compiler to use the last value found on the stack top Note that the ANS keyword may appear only at the begging of the right hand side of math expressions It is useful in cases where a previous statement lest the stack with some result and to save the pop and push instructions The following example demonstrates the usage of this keyword for the previous example define bInput3 XPA10 XIP binput3 ANS amp 4 As before the global Parameters Array PA 10 is used to define a user variable bInput3 XIP is then pushed to the stack top The math expression recognizes the ANS keyword indicating that the stack already contains a parameter so it just extracts from it bit 3 using the bit wise amp operator with argument 4 and then store the result in blnput3 actually XPA10 Using AL 4164 4MC Commands as operands A right hand side of a mathematical expression may include an AL 4164 4MC command that receives parameters The following example demonstrates the usage Doc No MAL 4164 4MC PM doc 301 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication dupli
36. is defined by a set of related parameters such as speed SP acceleration AC and many other parameters While most of these parameters can be modified on the fly during an active motion practically affecting the motion profile the Motion Mode itself can not be modified during an active motion The Motion Mode for the AL 4164 4MC is defined by a combination of two parameters MM Motion Mode and SM Special Motion Mode Most standard motion modes are defined by the value of MM with SM 0 Some special motion modes use both MM to define the basic motion mode and SM to define a special variation of it The following sections describe the details of each motion mode Please refer to the following notes gt The communication clauses given in the following sections for how to start stop and monitor each motion mode are just examples A specific application can use any desired value for the related parameters such as acceleration and speed gt The values of most parameters do not need to be sent again before each motion The controller will use the current value of each parameter when a new motion is commanded gt Sometimes we use a semicolon mark between to commands This is simply to save space The user can use the in all commands or use none Doc No MAL 4164 4MC PM doc 25 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it ma
37. it is not recommended to do so as this will result in a position and possibly also velocity reference steps Doc No MAL 4164 4MC PM doc 40 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Software amp Command Reference 1 4 6 2 Velocity Based Gearing MM 3 x Note This mode is currently not fully implemented 1 4 7 ECAM Motions 1 4 7 1 Position Based ECAM MM 5 SM 0 1 4 7 1 1 Description Position based ECAM Electronic CAM is a unique motion mode that allows one axis to follow a motion of another axis based on a user defined position location table Currently F W Revision 2 05 D the AL 4164 4MC support position based ECAM motion mode for X and Y axes only The AL 4164 4MC support master reference position DP based ECAM motion In this mode the position profile is taken from a set of values from the AR array actually performing a user defined contour The time scale is instead of Time as for Time based ECAM see MM 4 the master DP Desired Position value The active master Axis can be selected from any of the 4 available encoder inputs axes X Y Z W in AL 4164 4MC using the ME Master Encoder command A new Array Parameter EA ECAM Parameters Array Size 4 8 in AL 4164 4MC was added to support the n
38. this file contains low level commands only this file can also be downloaded to controller see section 4 3 Extension dbg the debugger symbols file This file contains all the original code including all defined symbols and included files and all low level commands The file is organized such that each executable source line is followed by its translated executable low level code The SrcEdit debugger uses this file for the debugging process Extension err an error file describing errors that were found during the pre compile process if there were any Since the file being downloaded to the controller is always pre compiled no comments spaces etc the actual data buffer though being ASCII based is difficult to understand and track For this reason in order to debug an AL 4164 4MC program the user should have the original source macro code and its related dbg file being automatically generated by the AL 4164 4MC Shell In any case the user is able to up load the actual macro buffer from the controller using the Macro Upload Macro sub menu on the AL 4164 4MC Shell main application menu Note that the buffer header will include all the descriptive commands see below and also the file name and the date of last version download This may be used for version control of macro code In the following sections all the above features are thoroughly described Examples are given on each subjec
39. which might be implied by the use of the smoothing itself The user should be aware that theoretically a smoothed profile takes longer time to complete then a similar trapezoidal profile with no smoothing The actual time difference between the non smoothed theoretical trapezoidal profile to the smoothed one depends on all motion profile parameters SP AC DC and the motion distance of course In any case the maximal time difference does not exceed the overall smoothed period 2 WW sample times Doc No MAL 4164 4MC PM doc 55 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR kL Software amp Command Reference 1 5 The Control Filter 1 5 1 General The AL 4164 4MC controller s family supports as a standard two control filter structures to allow users maximum flexibility in servo control loops tuning These are e Full Position feedback based control loop Designated below as PID e Dual Position over Velocity loop control filter structure Designated below as PIV Although in the presence of a single feedback device usually a single encoder based position feedback it is easy to show that the two control schemes are identical there exist a transformation converting from one filter constants to the other there are few benefits mainly for the
40. 10 Figure 1 7 Analog Input Scaling Block Diagram Doc No MAL 4164 4MC PM doc 119 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Software amp Command Reference N NOTE On the AL 4164 4MC the analog inputs are sampled at the servo sampling rate 16 kHz For a complete description of the Analog Inputs Hardware circuits please refer to the AL 4164 4MC products Hardware User s Manuals reference The analog input value is calculated and reported by the software variable Al according to the following equation AI Floor Ainp x A2DHWGain AS x AG x2 NOTES Floor x truncates any non integer value to an integer value towards minus infinity Ainp x A2DHWGain is in the range of 10v analog input result in nominal A2D reading of 0 Ov analog input result in nominal A2D reading of 2047 and a 10v analog input result in nominal A2D reading of 4095 AS The Analog Offset parameter is in the range of 0 4095 Note that AS is decremented from the actual positive A2D reading value so for example in order to nominally achieved a symmetric Al reading the value of AS should be 2047 and not 2047 The current implementation of Al computation formula dose not uses a dead band function altho
41. 10 v In addition to that on the AL 4164 4MC the analog command electrical output circuit includes a first order low pass filter with a cross over frequency of 2000 Doc No MAL 4164 4MC PM doc 66 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Software amp Command Reference Hz The purpose of that filter is to reduce high frequency power supply noises and its effect on the close loop system performances should be negligible In any case this filter can be removed in case this is specifically required for custom applications 1 5 7 PWM Command Format As noted in the previous section the AL 4164 4MC controllers provides in addition to the analog servo command interfaces also PWM commands for the Mini Drivers interfaces This is relevant for the following configurations gt AL 4164 4MC PWM command outputs for PMD 1M Mini Drivers When using the AL 4164 4MC PWM outputs the electrical command interface bypasses the Analog DAC circuits The AL 4164 4MC servo controller s command the driver with direct digital PWM and Direction lines In this case the AL 4164 4MC hardware automatically generates the PWM and Direction command from the upper 12 bits 11 sign of the DAC command The resulted PWM frequency is approximately 32 kHz The command g
42. 2 1 2 3 7 1 2 1 3 Software amp Command Reference Bytes 2 3 Two bytes representing clause ASCII Keyword same as RS 232 communication Keywords All the controller keywords as described in section 3 below are valid here except those representing Arrays not normal clauses Bytes 4 7 optional These 4 bytes are optional and includes a binary data element signed long representation Note that this parameter is optional and is regarded by the controller only if the Pre Fix Data bit bit 2 is 1 i e clause includes data 3 7 1 2 1 4 Byte 8 Not used Must be empty for future compatibility CAN Bus Messages Normal Clauses Bytes Description 3 7 1 2 2 Normal Clauses Examples The report X SP clause will be represented in RS 232 by XSP lt CR gt RS 232 Set parameter clauses And in CAN by Byte 1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Bytes Pre fix Key W KeyW Data 3 Data 2 Data 1 Data 0 optional optional optional optional Doc No MAL 4164 4MC PM doc 214 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBIT FR amp Software amp Command Reference Message length will be 3 bytes The set Y AC 10000 clause will be represented in RS 232 by YAC 10000 lt CR gt RS 232 Set paramete
43. 379 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 4 8 5 ZR Remote Report Value CAN Networking Purpose Remote Report parameter Sends a report clause to a remote unit The parameter to be reported is the command s parameter The reported value is pushed to the numeric stack one item is added to this stack Attributes Type Command Axis related No Array Assignment Receive parameter Yes Parameter type String Scope Program Restrictions None Save to Flash Default Value Range Syntax ZR lt String Parameter gt Keyword is not axis related thus XZR YZR and BZR are equivalent Examples Remote access to a remote array element variable XZR XPA23 Report remote XPA 23 push one number to stack See Also ZA ZC ZI ZM ZS Doc No MAL 4164 4MC PM doc 380 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBIT FR amp 4 8 5 1 Purpose Software amp Command Reference ZS Remote Command Status CAN Networking A parameter that holds the status of the last remote unit s response Can be only reset to ze
44. 4 17 Pre compiler directive commands and Keywords cccceeseeeeeeeeteeeeeeenaees 326 Table 5 1 Source Code Editor Keyboard Shortcuts 0 0 0 0 cccceeeeeeeeeeeeeeteeeneeeeseeeeeeseeeaees 419 Doc No MAL 4164 4MC PM doc XV Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR 1 1 ORBI T FR kL Software amp Command Reference AL 4164 4MC SOFTWARE amp COMMAND REFERENCE INTRODUCTION The AL 4164 4MC is a new advanced state of the art multi axes servo controller enhancing the ORBIT FR products family line This chapter covers the product general Software User s Manual and describes the Command Reference of the new AL 4164 4MC servo controllers This manual is based on previous versions that supported the AL 4164 4MC controller The main purpose of this User s Manual is to provide full information over the supported software features of the product as well as to give a user technical reference for each keyword supported by the communication protocol Doc No MAL 4164 4MC PM doc 1 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR Software amp Command Reference 1 2 GLOSSARY The followi
45. 4120 The first command will start the X macro from the XHOME label The second command will start the Z macro from pointer location 4120 See Also QP QT QH 31 Obviously the Z macro exists in the SC AT 4M controller only Doc No MAL 4164 4MC PM doc 348 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBIT FR amp 4 8 4 13 QF Macro Running Status Purpose Software amp Command Reference Reports the macro running status This is an array report only command Currently the following array indexes are reported 1 Macro Running Index Mask of running macro s Internally Used RTE Index of macro has a RTE Mask of macro s that encountered a Run Time Error 4 Internally Used 5 Internally Used Please refer to the QR for the macro initialization statuses Attributes Syntax Type Axis related Array Assignment Receive parameter Parameter type Scope Restrictions Save to Flash Default Value Range XQF1 YQF2 etc Parameter No Yes No read only Doc No MAL 4164 4MC PM doc 349 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR
46. 4164 4MC PM doc 299 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR a Sn eeenee 0037 0038 XPA1 2000 XPAZ 1000 XPA3 4 Initialization gt 04250 XPA1L Z2000 04260 XPAZ 1000 04270 XPA3 4 p 0039 GXPA4 XPA3 XPA1 Z XPAZ Compute value of XPA4 04277 XPA3 04283 XPA1 04289 04292 04294 04300 04302 04304 0040 XPA4 Z Store for XSP 04310 A 04316 04319 04321 2 0041 XSP 10 Store for XAC 04326 04331 04335 04337 0042 Figure 4 9 Mathematical parsing example Example 2 Another simple example shows below a combination of the define directive with a mathematical expression to create a user defined variable blnput3 holding the Boolean value of digital input port 3 define blnput3 XPA10 bInput3 XIP amp 4 Doc No MAL 4164 4MC PM doc 300 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference The global Parameters Array PA 10 is used to define a user variable bInput3 It is then used as the left side argument in a math statement The math expression takes the value of XIP a word bit array containing all digital input ports
47. 4MC macros The figure below shows the main AL 4164 4MC Shell application window 5 SCShell 7 00 SC Controller Shell Application Control amp Robotics Solutions Ltd File Communication Macro Commands DataRecording Tools SY LD RS EC QC QK KR BRBA Terminal view Name COM Controller COM1 COM2 Baud 38400 Axis 1 X 2 Z 3Y 4 WW Motions Configurations Product Version SC 4M 1 10 Controller COM1 COM2 Baud 38400 ON Local Special Function oo o oo gie m SHL Meana Driver Fault F Macros coe Ex Motion Status No Motion ae Ex Motion Status No Motion Filter ae Motor Fault Abort Input eco Motor Fault Abort Input gt Axis G Axis H Data Recording Axis Y Posio Rs Tons tT X SLL SHL Velocity MMIII over rout F Super Custom Postion oY RLS z FLS z SLL SHL Velocity jo Driver Fault B rote E S C S SLL SHL Velocity jo Driver Fault E coor N roi coor ID nv r Motion Status No Motion Motion Status No Motion Motor Fault Abort Input Motor Fault Abort Input m Macro I Initiaized Running X Y Z 6 W 6 E F 6 G H U 8 M Abort Input m Data Recording Recording Variable RV i m Recording Variable Recording Length RL fioo0 aang HL XRV fx z None 7 FRV fx z None z Recording Gap RG fi GRV z None D san E Dee Fel Pere F Stop Recording ZRY fx z None z H
48. 5 7 Remove File Workspace sub menu Remove Workspace sub menu menu item removes the highlighted file from workspace 5 7 6 Save Save menu item saves the top most opened file 5 7 7 Save As Save As menu item saves the top most opened file to a different name 5 7 8 Save All Save All menu item saves all files opened in the Edit area Doc No MAL 4164 4MC PM doc 399 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 5 7 9 Print Print menu item prints the top most opened file 5 7 10 Print Preview Print Preview menu item previews the file to print before printing 5 7 11 Print Setup Print Setup enables the selection of printer and its options before printing 5 7 12 File Locations File Location menu item prompts the File Location dialog File Locations SetUp x Open File Directory History Select Cancel Figure 5 6 Source Code Edit File Location Dialog This dialog enables editing the open close files directory location This directory is the directory to open in the file browser Doc No MAL 4164 4MC PM doc 400 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written
49. 6 3 Directive Commands and 1 6 4 Advanced Expressions Parsing in this user s manual for thorough description of all pre compiler supported directive commands and advanced syntax expressions Full description and numerous examples are given in these references 4 8 6 2 Label Definition To be completed on next version of this User s Manual In the mean time please refer to paragraphs 1 6 3 Directive Commands and 1 6 4 Advanced Expressions Parsing in this user s manual for thorough description of all pre compiler supported directive commands and advanced Doc No MAL 4164 4MC PM doc 382 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference syntax expressions Full description and numerous examples are given in these references 4 8 6 3 define To be completed on next version of this User s Manual In the mean time please refer to paragraphs 1 6 3 Directive Commands and 1 6 4 Advanced Expressions Parsing in this user s manual for thorough description of all pre compiler supported directive commands and advanced syntax expressions Full description and numerous examples are given in these references 4 8 6 4 description To be completed on next version of this User s Manual In the mean time please re
50. 9 Set Home Position Encoder counters and set Protection Limits WaitForxInTR Timer1 DEF_DELAY_TIME WaitTimer1 XCS SET1X XPS XHomePos 10 Go to AbsHomePos If needed As of Rev 03 Always go to XAP 0 XBG WaitForEndOfMotionX WaitForXInTR XHL XHiL XLL Set Home Done OK and return XlsHome 1 XZM 1 XQH Doc No MAL 4164 4MC PM doc 313 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Software amp Command Reference jj_def_01 scm include file This file is an application specific definitions file JJ John Jake Definitions By Benjamin Spitzer jj def_01 scm Rev 01 10 12 2002 Creation Globals Definitions define XtargetTime XPA 12 define XtargetRadius XPA 13 define Xsmooth XPA 25 define XlowL XPA 4 define XhiL XPA 5 define Xposition XPA 6 define Xspeed XPA 7 define Xacceleration XPA 8 define XPTPMotionMode XPA 9 Axis Specific Homing and General Axis Type Related Parameters define XhomeMarkSearchDist XPA 34 define XHomePos XPA 17 define XabsPosAfterHome XPA 28 define XAbsPosAfterHomeFlag XPA 27 define XhomeSpeedFast XPA 15 define XHomeSpeedSlow XPA 16 define XhomeAcceleration XPA 14 Axis Specific Configuration and Protection Parameters def
51. All program flow control commands described in this section are naturally executed from within a macro code X V It is clear that when a JP command for example is executed from an X macro the jump is relevant for the X macro pointer only while when the same command executed from within a Y macro will affect only the Y macro pointer and so on for all macro s This logic is of course valid for all the above mentioned flow control commands JP JT JF JZ CS CT CF and RT Doc No MAL 4164 4MC PM doc 254 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference Due to this the preceding X character before the command itself e g XRT shown on the example above has no actual meaning and the same result will be also if the Y or other legal axis prefix characters where used including group prefixes The preceding axis indicating character X Y is still needed for the internal interpreter logic but have no other functional meaning This of course has the same relevancy when the Y etc macro s are handled As a rule try to stick to strict and clear logic definitions when selecting the preceding character For example if a function is related to only the X macro use X as a preceding character If a function
52. Doc No MAL 4164 4MC PM doc 210 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR P d Software amp Command Reference Table 3 7 Pre Fix Axes identifiers Bit 7 Bit 6 Bit 1 Bit 0 Axis Identifier Mask Hex 4 Bits 0 0 0 0 PING Message 0x0 0 0 0 1 X 0x1 0 0 1 0 Y Ox2 0 0 1 1 B 0x3 0 1 0 0 Z 0x4 0 1 0 1 W 0x5 0 1 1 0 E Ox6 0 1 1 1 F Ox7 1 0 0 0 G 0x8 1 0 0 0 H 0x9 1 0 1 0 U OxA 1 0 1 1 V OxB 1 1 0 0 C OxC 1 1 0 1 D OxD 1 1 1 0 Non Valid ID OXE 1 1 1 1 A OxF x NOTE Other then the 2 new axes identifier bits bits 6 and 7 the AL 4164 4MC Can message Pre Fix format as well as all other messages format 3 7 1 1 2 Bit 2 This bit indicates whether the clause will include data or not 1 if clause will include data 0 if not The data may be one of the following gt Assignment data Doc No MAL 4164 4MC PM doc 211 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR A Software amp Command Reference Commands Parameter data 3 7 1 1 3 Bit 3 3 7 1 1 4 This bit indicates if a parameter clause is a
53. E R cans ae R 183 ZIL SOU PULEP OF1S eieiei a e E E EEE ERRETEN E TREA 184 2 6 CONTINUOUS JOGGING MOTIONS AND COMPARE IN THIS MODE ccccesccsesessseeseneeeseeee 185 2 7 GENERAL PARAMETERS AND COMMANDS ccccsscesseseseescsseceseseceesseeeessssesesesesseseenesesegs 187 QA A gt BIT results bilgenin a E cage dtehs hed cont dandeesinad des necnecoedaudecsaes 189 3 COMMANDS SYNTAX AND PROTOCOLS sssesssoesesesescssesosoesesecosoeseeecoeeosoeseseseecesesosoeseeesoe 190 3 1 GENERAL 353 cosesdseds hugesciis stevia caccbsestesteeisesvavcancesteensasceucuucesaeateasesseavce saobesboceseungeviamtenecateane 190 3 2 SOFTWARE COMMUNICATION INTERFACES eseseseeesesreesesrrereserrresrsreerrsreerereeese 190 3 3 SUPPORTED COMMUNICATION PROTOCOLS sssssessesssestseseteessesestresnressessesesrentnenseseneeeeeenes 191 3 3 1 Simultaneous Communication Channels Operation Support sssssessesseseeseeeseeeeeeee 193 3 4 LANGUAGE DEFINITION siesci cxevsasesoevenssstevesescnovesteatevassesnbvente ae vec ecnavects dgenensecsevoeevadevouseskeybs 193 34T Generalsin E E N areas vse E E E E 193 34 2 Language Notations ssiciniiiiio ice e E O EE AEAEE 194 3 5 AXES IDENTIFIERS AND GROUPS curii ere Eee a e E NEE EARE RN 198 3 5 1 AL 4164 4MC Family Controllers Axes IdentifiefS eere 198 3 6 RS232 COMMUNICATION cicin E isis E E 202 36I Generalean A E E A R O R 202 3 6 2 Hatdware ANE T ACES sos cs de einean e ne ea ee oE a e Ereet 202 3 6 3 Language SyntaX
54. EE EA 3 must be lt AR_LARRAY_LENGTH 10 000 for AL 4164 4MCor 16 000 for SC AT 2M In the SC AT 2M the array used is actually the DA array Please refer to the DA keyword on section 1 8 3 6 The ECAM Gap EG EA 4 must be gt 1 Note that practically this number must be much larger then 1 usually larger then 100 The ECAM Gap EG EA 4 must be lt 32 767 The ECAM Number Of Cycles EN EA 5 must be gt 0 A New End Of Motion Reason was added EM EM_BAD_PROFILE_PARAM 9 is now used to indicate bad ECAM parameters that are encountered during ECAM motion A new Array code for EA is implemented for the CAN bus interface The EA CAN Array Code is 22 The difference between each two consecutive AR points must be within the range of 32767 No check is done and in case of values out of range unexpected motions may occur It is important to understand that ECAM mode uses the ARI table data as a relative trajectory reference based on the initial position of the axis before starting the ECAM motion This means that usually the first value in the ECAM table is 0 otherwise jump in the motion profile will be resulted After the number of requested ECAM cycles EN has been completed the motion is aborted and DP is set to the end point value of this cycle Initial DP AR EE Doc No MAL 4164 4MC PM doc 43 Rev B Information contained herein is the so
55. FR ES Software amp Command Reference 4 2 The AL 4164 4MC MACRO ENGINE 4 2 1 General AL 4164 4MC Macro Program Structure 4 2 1 1 AL 4164 4MC Macro Program Structure The AL 4164 4MC controller supports TEN macro programs X Y Z W E F G H U V macro s The ten macro programs share the same macro source code or buffer as described in the following figure X Macro Pointer Macro Buffer Y Macro Pointer Up to 250KB Single Z Macro Pointer Buffer Routines Auto routines V Macro Pointer Figure 4 1 Macros and Source Buffer Careful writing of the macro for example different routines enables independent macro programs However some routines can be shared if required Doc No MAL 4164 4MC PM doc 237 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference In addition the ten macro programs share the same variables and have the same access to all the controller s commands and parameters It is thus not necessary that the Z macro will handle Z motions while the X macro will handle the X motions A quite more logical approach is that one of the programs lets says X will handle all motions and one will handle all I Os logic as a PLC The ten macro programs are executed in parallel no priority logic One clause
56. Figure 1 4 List of Figures Communication Channels Handling within the Firmware Main Idle Loop 12 Typical motion profile with full smoothing eeessseeessssreesssiresesrresesrrsssrrrrssrrrnssreens 53 Typical motion with no profile smoothing cc cee eee ee etee eee ee eneeeeeeeeaeeeeeenaeeeeeeaes 54 Position Over Velocity Loop PIV Control Scheme Structure cee 58 Figure 1 5 Position Loop PID Control Scheme Structure ce eeeceeeeeeeeeeeeeeteeeeeeteeeeneaas 59 Figure 1 6 Position PID and Velocity PI Filters seseesssesssrnsseennnnrsnnansennaannnnnnaeennaanannaneennaanan 60 Figure 1 7 Analog Input Scaling Block Diagram 0 cccccccceecieeeeeeeeeeeeeeecieeeeeeneeeeeenaeeeeeeaas 119 Figure 3 1 Communication Channels Handling within the Firmware Main Idle Loop 192 Figure 4 1 Macros and Source Buffer ecccceeeeceeeeeeeeeeeeeeeeneeeeeeeeeeeeeeaeeeeeenaeeeeteneeeeeeaas 237 Figure 4 2 Typical Servo Controller CAN network configuration 0 0 eee 265 Figure 4 3 AL 4164 4MC Shell application main Window c cc cceeseceeeeeeeeessentaeeees 272 Figure 4 4 Editing an AL 4164 4MC macro file with the Editor SrcEdit exe 0 273 Figure 4 5 AL 4164 4MC SCShell file Locations Setup dialog c eeceeeeeeeeeeeeeeeees 277 Figure 4 6 SrcEdit Debugger WiINdOW ecceeeeeeeeeeeene eter enneee ee eaeeeeeeaeeeeeeei
57. General Purpose In8 N HomeX wo HomeY gt Homez HomeW ol Doc No MAL 4164 4MC PM doc 181 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR P d Software amp Command Reference 2 4 3 Output Ports The following chart reflects bit map of OP Description Bit Capture Output Trigger 0 Reserved for internal use 1 7 General Purpose Output1 8 General Purpose Output2 9 General Purpose Output3 10 General Purpose Output4 11 General Purpose Output5 12 General Purpose Output6 13 General Purpose Output7 14 General Purpose Output8 15 Home Performed AxisX 16 Home Performed AxisY 17 Home Performed AxisZ 18 Home Performed AxisW 19 Buzzer 20 These bits may also be modified using the OS and OC keywords Doc No MAL 4164 4MC PM doc 182 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR P d Software amp Command Reference 2 5 AL4162 2MC I P map 2 5 1 Input Port IP The following chart reflects the bit map of IP command ies Description Reserved Not used Not use
58. Macro Programming Keywords Reference 1 cccccsscessseeseeesceseeeseceseeseeeecesecnseenaeents 327 4 8 5 ZR Remote Report Value CAN Networking sccccscceseeseesceseeeeseeseesecneeeecneeeneeaeeeeens 380 4 8 6 Pre Compiler Directives and Keywords c cccsccssesssssesssesscssessenseescesecseesecaeenecneeeneeenseaes 382 5 MACRO SOURCE CODE EDITOR eeeesessesesesesceeosorseseseeceserosoeseseccerosoesesesoeceseroseecesesosseseeesee 386 Doc No MAL 4164 4MC PM doc XI Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBIT FR FORWARD 5 1 GENERAT 3 255525 unae a AEE E EE Ea EEE EE 386 5 2 MAINSCREEN essien eaaa EE EEA E E E EENE TESSE 387 5 3 WORKSPACE 255 50s cirisic0s sais enea nE a E Ea EE R EEEE EE 389 5 4 MACRO EDITING sinatennia i E S 391 5 5 MACRO DOWNLOADING sock cxesingecistsenecucvscps aE E EESE N EEEE 393 5 6 MACRO DEBUGGING ceanii e E E a a 394 Det MENUS eeunenn oxcpuags dose oencaucbuapscseesteaucbuege EEE 397 Di Tack File MICH eE A teens tea auaas dea abuacuies E E teat ane eerseneoees 397 I2 NEW E centile is eee uid E tele teatnnnemeenae ds 397 LLI OPEN yei e e E N NEER OR R EEEE O NENE 397 DA Closa ee E E E EE E E RESO 397 3 23 WOPKSPACE kende ra E EE a A E E E tiene 397 VA E E T A E O EE A E E EAEE 399 ILA GVEA er a acters destucusatatventuies cu cuedtatne
59. None Save to Flash Yes Default Value 0 Range 2 147 000 000 2 147 000 000 Doc No MAL 4164 4MC PM doc 165 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR A Software amp Command Reference Syntax XAR 1 0 Set AR 1 0 ZAR 1 Report value of AR 1 AAR 300 1000 Set AR 300 1 000 Examples For specific examples regarding usage of the AR array for 32 bit tables definition for Compare Events please see section 1 8 12 in this User s Manual for more information See Also Compare Functions Doc No MAL 4164 4MC PM doc 166 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 1 9 5 5 BG Begins a new Motion Command Purpose The BG command begins a new motion according to the current motion mode Please see chapter 1 4 in this User s Manual for further information about supported Motions Modes The BG command allows receiving an argument parameters The parameter may be omitted to start a normal single axis motion or currently in this version be used 1 to initiate a common X Y vector mo
60. PTP motion Communication Clauses SP AC DC DL RP AP Description Starts an acceleration or deceleration toward the new SP value Defined new Accelerations and Decelerations for the current motion Changes motion including direction to move toward the new AP AP DP RP value RP can be modified even during deceleration to the previous target position and can be modified to any value independent of the current position Changes motion including direction to move toward the new AP AP can be modified even during deceleration to the previous target position and can be modified to any value independent of the current position Note that AP or RP change during motion may cause the motor to change its motion direction This will happen if a new AP value is given to a point that was already passed by the system Repetitive Point To Point Rep PTP MM 0 SM 1 This mode is very similar to the standard PTP motion mode as described above Doc No MAL 4164 4MC PM doc 31 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR kL Software amp Command Reference However repetitive motion mode supports motions back and forth between two positions Each motion is a standard PTP motion uses SP AC DC etc as described above but the controller a
61. Reference Examples MAIN XPA1 Pushes the value of XPA1 to the stack top XCT SUB_1 Will call the SUB_1 Subroutine if XPA1 0 YCF SUB_2 Will call the SUB_2 Subroutine if XPA1 SUB_1 XMO 1 BRT SUB_2 YMO 1 BRT See Also RT CS Doc No MAL 4164 4MC PM doc 331 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 4 8 4 3 IN Input RS 232 Message Future Option Purpose Inputs a direct string from RS 232 channel The macro waits for the next communication clause capture it and converts its to a numeric value The value is stored at the numbers stack Only after this the macro continues The usage of this keyword should be done carefully do avoid any conflict with the normal RS232 stream This command is currently not implemented This is a future option Attributes Type Command Axis related No Array Assignment Receive parameter No Parameter type Scope Program Restrictions None Save to Flash Default Value Range Syntax IN Keyword is not axis related thus XIN YIN etc are equivalent Doc No MAL 4164 4MC PM doc 332 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication a
62. Reference source not found and the OM keyword reference in this user s manual for further information e 10 MODE_0 31 28 NEW feature in version 2 03 and later versions only These bits are used to configure Driver Fault Signals source for MD drivers operation Please see the OM keyword reference in this user s manual for further information Doc No MAL 4164 4MC PM doc 107 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 1 8 12 Position Compare Events Examples The following example demonstrates initialization of X axis compare to generate pulses at a fixed gap Mode 0 starting from location 10 000 counts to location 100 000 counts every 40 encoder counts The pulse is directed to Output 1 Motion from location 0 to location 150 000 counts at Speed 100 000 is then executed The resulted pulse frequency is 100 000 counts sec 40counts pulse 2 900 pulse sec When motion is completed the function is programmed to generate pulses in the opposite direction when moving back to location 0 Only the necessary parameters are re configured Doc No MAL 4164 4MC PM doc 108 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed
63. SEare M morion ame enter A LOGS tO wait fror the Compare Pulses Pulses are counted and after 100 the loop ends BXN 0 XIA1 0 XZ1I1 3 Remote MSG sent to CAN Address BBG XCAPI1 Q while XXN XIA1 Wait for Next Event endwhile XIA1 XXN XIAI1 XIA1 1 Increment counter BXC XZM 2 Send Last Event if XIA1 gt 100 Check End Condition XJP XCAPIEND endif XJP XCAPI1 XCAPIEND XZM END KOH Program Done Doc No MAL 4164 4MC PM doc 117 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ee See Note that since X and Y Capture occurs simultaneously we check only XXN to detect next event The next example demonstrates simple usage of the Capture mechanism to latch the Index location of the X axis This can be combined in a simple Homing process to perform exact Index based homing process This can be done at any motion speed It is recommended to check that only One Index was found usually in Rotary Motors to avoid full motor revolution homing index error Initialize X axis Motion Parameters and reset position XAC 100000 XDC 100000 XDL 100000 XSP 10000 XPS 0 XMO 1 XAP 10000 y Configure IO_MODE_1 Use X Axis Compare on Index y YOM 32 Set IO_MODE_1 X Compare on Index y Start X motion a
64. Scope Restrictions Save to Flash Default Value Range Parameter No No Zero ONLY Doc No MAL 4164 4MC PM doc 361 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference Syntax QR Keyword is not axis related thus XQR YQR and BQR are equivalent Examples XQR Reports the Macro Status Register XQR 0 Clear Macro Initialized Flag See Also QI QF Doc No MAL 4164 4MC PM doc 362 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 4 8 4 24 QS Save Macro q NOTE Not Supported Future Option Purpose Saves macro program to internal flash memory Attributes Type Command Axis related No Array No Assignment Receive parameter Parameter type Scope Communication Restrictions None Save to Flash Default Value Range Examples XQS See Also SV LD See SC Controller Commands Reference User s Manual Doc No MAL 4164 4MC PM doc 363 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication
65. Software amp Command Reference 1 9 4 2 3 Data Recording Related Keywords Table 1 9 Data Recording Related Keywords Kanner Begin Data Recording DA Data Recording Array size 1 x 100 000 Set Recording GAP in units of 16384 sec Set Recording length buffer length RR Report Recording Status Set the recorder variables 1 9 4 3 Special Features Interface Function Keywords Table 1 10 Special Encoder Interface Related Keywords General purpose Array size 1 x 10 000 This array is also used for 32 bit locations table definitions in Mode 2 and Mode 3 of the Position Compare Events Function Magnetic Location for SIN Commutated Brushless Motors Compare Function Parameters Array size 10 x 8 This array defines the parameters for the Position Compare Events Function operation Enable Disable Position Compare Events Function Command for Set I O Modes Hardware Configuration This keyword is used to configure the Compare and Capture functions See also I O functions Group 17 Currently Not Yet Supported in the AL4162 2MC Firmware Currently Not Yet Supported in the AL4162 2MC Firmware Doc No MAL 4164 4MC PM doc 153 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Software amp Command Reference a spec
66. Software amp Command Reference Message Format Message Bytes order is in little endian format This is NOT compliant with the Download Buffer Message format which is inverted MSB first EDB Data Validity Check No validity check to the data value itself is performed In any case a buffer is updated with new data it s store location is defined in a special new dedicated parameter and is auto incremented automatically EDB Buffers When we state Buffer we refer to a valid AL 4164 4MC Array member AR for example but the EDB mode is not limited to AR only In the EDB mode the user can select to download to any valid AL 4164 4MC Array element as explained below Furthermore the user can select to download Data Long 1 to one array and Data Long 2 to another array The following new SC AT parameters are used for the implementation of the new Enhanced Down Load Buffer Mode referred to as EDB in the table below Table 3 10 EDB Buffers For The AL 4164 4MC Param Description and Usage Name XZ 3 EDB Mode Configuration Bits Currently the following bits are used Other bits should be left O for future compatibility gt Bits 0 7 Select the mode These bits define a number 0 255 that controls the controller behavior on receiving data in the EDB incoming message If the number is 0 the controller ignores any data Doc No MAL 4164 4MC PM doc 229 Rev B Info
67. Start a Motion Wait for End Of Motion while XMS 0 Wait for MS Motion Status top be 0 endwhile XQH Stop program execution See Also ST KR AB MM MS and VA VD VL VS about Vector Motions Doc No MAL 4164 4MC PM doc 168 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 1 9 5 6 BR Begin Recording Command Purpose The BR command begins new data recording sequence The BR command assumes that the recorded variables and parameters are configured The BR command allows receiving an argument parameter XBR and XBR 1 will both start a new recording sequence XBR 0 will terminate the current data recording process The BR or BR 1 command checks whether the last recording session was terminated and issues a STILL_ RECORDING error code 16 if not i e if RR gt O Data Recording can be started only when previous recording session was terminated Note that the controller does not check if previous buffers were uploaded or not Issuing a Begin Recording command always overrides old data Attributes Type Command Axis related No Array Assignment Command Allows Parameter Yes Number 0 or 1 Scope All Restrictio
68. T FR ES Software amp Command Reference Although most of the keywords described above are generally used from an external communication line some commands can also be included from within a macro code For example the QE and QH XQE XQH or YQE YQH or VQE VQH etc keywords may be used from an X or Y etc macro routines to start and stop the execution of a second third etc macro program For further information please see chapter 8 sections 7 3 and related relevant commands in section 7 4 4 2 4 Low Level Expressions Handling and the Numbers Stack Almost any macro application involves expressions Expressions are used to perform calculations The standard AL 4164 4MC language syntax supports only parameters report and assignment such as XSP 10000 or XAR 34 5 More complex expressions such as XSP XAR 34 or XSP XAR 34 10000 or XSP XAR 34 XAR 567 20000 XAR 899 Are not supported by the low level AL 4164 4MC macro language In order to support variety of expiration types as well as relation expressions that are necessary for conditional program flow we have selected a new method when Motion Controllers are considered to handle these issues Each macro Doc No MAL 4164 4MC PM doc 240 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authori
69. The following parameters can be used by the user in order to operate the gain scheduling feature gt KP 2 is the parameter replacing KP KP 1 when gain scheduling is active gt Ki 2 is the parameter replacing KI KI 1 when gain scheduling is active gt KD 2 is the parameter replacing KD KD 1 when gain scheduling is active gt CA 4 is the gain scheduling period in servo sample time AL 4164 4MC sampling times 16k in 4M 8k in 2M The gain scheduling is active i e KP 2 KI 2 KD 2 are used after a motion is fully completed Motion Status bits are Not In Motion for a period of CA 4 sample times If before that a new motion has begun the gain scheduling is immediately disabled To disable the gain scheduling the user can simply set KP 2 KP KI 2 KI KD 2 KD and or set the period CA 4 0 Both will disable the feature Doc No MAL 4164 4MC PM doc 70 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Software amp Command Reference The user should avoid using too high parameter settings to avoid from system going out of stability when the gain scheduling is active Also it is not recommended to use this feature when very high position errors are reached during final motion acceleration phase 1 5 11 Acceleration and V
70. Timer down axis related variable Consists of 32 bits positive only i e 0 2147000000 4 The sample time of the AL 4164 4MC is approx 61 Ls Doc No MAL 4164 4MC PM doc 261 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference Example AL 4164 4MC The following commands is a simple example for implementing a 16384 sample time delay 1 second using XTD and the TimerZero state condition XTD 16384 Set time for 1 sec XQW 107000 Wait for timer to be 0 First XTD is initialized to 16384 then the QW function is called waiting for timer 1 to be zero 4 3 1 Automatic Routines Not Supported Future Option The AL 4164 4MC macro programs support automatic routines Automatic routines are automatically called upon a related event This feature frees the macro from polling these events and ensures immediate on the next macro clause execution of the dedicated subroutine upon the event Almost all of the automatic functions can be masked disabled except of the AUTOEXEC which is always enabled The following keywords support the automatic routine feature Table 4 7 AL 4164 4MC Macro program timer keywords Keyword Description Tdi Timer down axis related variable Consists of 32
71. all failure cases where the controller responds with gt message it also set a suitable value at EC to identify the failure type EC DOWNLOAD OVERFLOW EC gets this value if the buffer is overflowed during downloading trying to write to AR 4001 for instance Doc No MAL 4164 4MC PM doc 226 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR D Software amp Command Reference q NOTE RS232 communication can continue normally during the buffer downloading process via the CAN This does not include some critical keywords such as QD SV LD The results of sending one of these commands while in the process of downloading a buffer via the CAN are unexpected The controller does not include a protection for these cases Doc No MAL 4164 4MC PM doc 227 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR Software amp Command Reference 3 7 4 CAN Enhanced Download Buffer Mode EDB This mode is similar to the previous mode actually the DB Download buffer mode is a subset of EDB defined with the following exception The existing AL 4164 4MC communication protocol does not support downloading
72. authorization from ORBIT FR ORBI T FR Software amp Command Reference 3 6 RS232 COMMUNICATION 3 6 1 General This chapter defines the RS232 communication protocol and syntax including response to commands clauses and errors 3 6 2 Hardware Interfaces The AL 4146 4MC family controllers support the following RS 232 Hardware Interface RS232 3 wires no hardware handshaking 8 bits 1 start bit 1 stop bits no parity gt Baud rates of 38 400 BAUD 115 200 BAUD 3 6 3 Language Syntax 3 6 3 1 Host To AL 4164 4MC Family Controllers 3 6 3 1 1 Keywords Each keyword consists of two upper case letters Some of the parameters are defined as arrays These parameters are always referred with their two letters keyword and with an index number within a square brackets e g AR 2 Doc No MAL 4164 4MC PM doc 202 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR Software amp Command Reference 3 6 3 1 2 Clause Termination Each command clause is terminated with a terminator character which may be one of the following gt lt CR gt Carriage Return Semicolon 3 6 3 1 3 Axis Identification In Clause Each command clause is preceded with an axis identification letter to identify the axis to which the command clause is
73. authorization from ORBIT FR ORBI T FR Software amp Command Reference Every time you choose open save or download macro the editor opens the file browser at the location specified in this dialog The dialog components Browse buttons Enabling browsing for the desired location History Select Enables to select a location previously selected from a combo box Current Selected Show the currently configured location OK button Close the dialog and apply changes YYY Cancel button Close the dialog and discard changes 5 7 13 Recent Files This menu item shows a list of recently opened files and enable to choose file to open from the list 5 7 14 Recent Workspace This menu item shows a list of recently opened workspaces and enable to choose workspace to open from the list 5 7 15 Exit Exit menu item closes the Source Code Editor application Doc No MAL 4164 4MC PM doc 401 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 5 7 16 Edit Menu This section covers all Edit menu items 5 7 16 1 Undo Undo menu item enable to undo the last operation 5 7 16 2 Redo Redo menu item enable redo the last undo operation 5 7 16 3 Cut Cut menu item cuts remove copy the highlighted text
74. avoid High Error fault In addition high step values can cause oscillations due to the non linearity s especially saturation which are an inherent part of the control loop Doc No MAL 4164 4MC PM doc 49 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Software amp Command Reference 1 4 10 2 Starting a Step Motion Communication Description Clauses MO 1 Enabling the servo loop motor on MM 8 SM 1 Setting Position Step motion mode Repetitive Mode AP 100 Assigning an absolute target position counts RP 30 or assigning a relative value for the target position BG Begin the motion 1 4 10 3 Note that the AL 4164 4MC controllers also support repetitive Step Motions Similarly this can be done by setting SM 1 instead of SM 0 in the above sequence WT is used as the delay time between each two consecutive motions Monitoring and Stopping a Step Motion Please refer to section 1 4 1 3 above Note that the Step motion mode is very short one sample time As a result it is practically impossible to monitor the state of this motion In addition a Step motion does not affect the EM parameter which remains with the same value it has before the BG command Since the Step motion is very short it is not practical to stop it after a BG comma
75. bits positive only i e O 2147000000 Doc No MAL 4164 4MC PM doc 262 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Software amp Command Reference q NOTE Automatic routines are currently not supported The description given above is for future reference only Automatic routines label definitions will be changed in future versions 4 3 1 1 Automatic Routines AUTOEXEC As noted above automatic routines are not supported in current version of the AL 4164 4MC firmware at least up to version 1 44 In order to support the AUTOEXEC feature automatic program restart after power up currently the AL 4164 4MC macro program starts execution from the first macro line immediately after power on regardless of any label definitions This means that if automatic start of a program is required the program code to be executed upon startup must be the first executable code lines in the file For future compatibility always use the label AUTOEX at the beginning of any program file If automatic execution should be disabled any macro program should start in the first executable line with the following code AUTOEX Autoexec Routine Label BQH Stops execution of macro program Doc No MAL 4164 4MC PM doc 263 Rev B
76. contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Software amp Command Reference 1 5 14 Real Time Servo Loop Protections The AL 4164 4MC family controllers real time loop implements several types or protection mechanisms such as high position error motor stuck conditions encoder faults etc Please see chapter 1 6 in this User s Manual for more information Doc No MAL 4164 4MC PM doc 74 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Software amp Command Reference 1 5 15 Summary of all Control Filter Related Parameters The following table summarizes all servo loop related parameters of the AL 4164 4MC controller s family supported Table 1 1 Control Filter Parameters aca ae MO ___ Motor ON Enables MO 1 Disables MO 0 the servo loop No Control Enables NC 1 Disables NC 0 Open Loop Mode IS __ Integral Term Saturation of PID and PIV control filters _ PO The final control filter output command value DO The control filter offset calibration parameter Se CG Bit3 Configuration Bit controlling PID if 1 or PIV if O modes a fe a KP KP
77. current motion status Bit 0 In motion Doc No MAL 4164 4MC PM doc 28 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR kL Software amp Command Reference Bit 1 In stop Bit 2 In acceleration Bit 3 In deceleration Bit 4 Waiting for input to start motion Bit 5 In PTP stop decelerating to target Bit 6 Waiting for end of WT period SR _ A bitwise code describing some controller statuses Currently only Bit 5 zero based is reported Other bits may be used in the future and should not be assumed to have any pre defined value Bit 5 In target EM _ A code describing the cause for last end of motion EM 0 Motion is still active EM 1 Normal end of motion EM 2 Forward limit switch FLS EM 3 Reverse limit switch RLS EM 4 High software limit PS gt HL EM 5 Low software limit PS lt LL EM 6 Motor was disabled check MF EM 7 User command ST or AB EM 8 Motor off by user MO 0 This bit indicates that the motion profile has been finished and that the absolute position error PE is smaller than the target radius TR for at least target time TT consecutive samples each 61 s Doc No MAL 4164 4MC PM doc 29 Rev B Information contained herein is the sole property of ORBIT FR and is not for pub
78. dialog will open Use the File File Locations menu on the AL 4164 4MC Shell main application menu to define the default file locations The default file name is saved with the AL 4164 4MC Shell setup The figure below shows the File Locations definition dialog Use the browse buttons to open a Windows browser tree dialog Doc No MAL 4164 4MC PM doc 276 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR a ee File Location Setup xi Download Macro D macras a Download Version D Fw_Versiong Se e cms Figure 4 5 AL 4164 4MC SCShell file Locations Setup dialog Doc No MAL 4164 4MC PM doc 277 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 4 5 4 SrcEdit Macro Debugger Environment Features 4 5 4 1 General The SrcEdit is a powerful debugging environment The debugging environment uses the low level debug features of the AL 4164 4MC controller while providing an advanced GUI support Basically the debugging environment allows the user the following options Open a macro source file for debugging with an advanced color syntax highligh
79. doc 337 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 4 8 4 6 JZ Jump Zero Purpose Jump to a specified label or pointer location and clears subroutines stack to restart the macro with subroutines stack clear Attributes Type Command Axis related No Array Assignment Receive parameter Yes Parameter type Number or Label Scope Program Restrictions None Save to Flash Default Value Range Syntax JZ lt Label gt JZ lt Constant gt Keyword is not axis related thus XJZ YJZ and BJZ are equivalent Examples MAIN XPA1 0 XJZ MAIN Will jump the MAIN label clearing the subroutines stack Doc No MAL 4164 4MC PM doc 338 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ye Software amp Command Reference See Also JP JF JT 4 8 4 7 MG Send RS 232 Message Future Option This command is currently not implemented Purpose Sends a string to the RS232 channel Macro program execution is halted till the transmission of the last string character is initiated It is then continues normally The
80. duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR Software amp Command Reference 3 7 1 3 3 CAN Bus Array codes Description Currently the following array codes are supported Array Array code Notes AR 0 Not Used 1 IA 2 TD 3 QB 4 PA 5 Zl 6 Not Used 7 QF 8 CA 9 DA 10 PG 11 GP 12 FA 13 FV 14 FF 15 KD 16 KI 17 KP 18 RG 19 ZE 20 ET 21 EA 22 Please refer to the AL 4164 4MC controller command s reference for more information about arrays Doc No MAL 4164 4MC PM doc 219 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBIT FR amp Software amp Command Reference 3 7 1 4 Special Commands Currently the only special command case supported is the Label case Label is required to execute a program from a specified location For example the command XQE execute a program may be issued with no parameter at all and then the program will start running from the current program pointer If the user wants to start executing the program from a given label the label should be given as a Command s Parameter and the command should be signaled as a special command Since the AL 41646 4MC famil
81. error was generated in a user script program another dedicated parameter holding the last program error code is updated QC Program Error Code Fora complete description of all currently supported error codes please refer to chapter 01 8 10 later on in this User s Manual q NOTES gt An empty command clause is a legal do nothing or Ping command gt The promptis sent only after the clause execution have been completed Examples The italics strings are the AL 4164 4MC responses to the Host computer The blanks are only for the clarity of the example and the send get timing Setting SP Speed of X axis to 10 000 XSP 10000 X S amp S 100 00 gt Echo only if EO 1 Response always sent Y I Setting AC Acceleration of X and Y by default to 10 000 BAC BA Echo only if EO 1 Response always sent Doc No MAL 4164 4MC PM doc 22 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR kL Software amp Command Reference Reporting the value of the Z axis SP ZS P CR ZS P CR 10000 gt Echo only if E0 1 Response always sent Reporting the value of the SP for X and Y by default BSP B S P 10000 20000 gt Echo only if EO 1 Response always sent Reporting the value of the SP Grouping axes is s
82. from the X macro and then one clause from the Y macro and so on until the V macro The ten macro programs are completely independent The user can execute the macro s in parallel or stop each one at any time Independent automatic routines are also assigned to each macro program 4 2 2 External Communication vs Macro Execution Priority Communication clauses have higher priorities over the program execution Program clause will be executed only if there is no communication RS232 or CAN clause waiting It is thus clear that the communication load influences the macro execution speed 4 2 3 Macro Handling Keywords In order to support execution and handling of macro programs within the AL 4164 4MC family controllers a set of keywords was dedicated in order to support macro programming Note on commands syntax As with all other commands of the AL 4164 4MC UETA VALEE family controllers the new keywords should be preceded with X Y Z Doc No MAL 4164 4MC PM doc 238 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR P d Software amp Command Reference U V to identifies the respective macro Please see the AL 4164 4MC Controller User s Manual for further information about AL 4164 4MC communication syntax especially the Grou
83. interrupt entrance counter When the timers reaches a value of O they stop x NOTE The values of timers may be changed to any valid value from both communication and macro program Attributes Syntax iTD iTD iTD lt Number gt Type Axis related Array Assignment Receive parameter Parameter type Scope Restrictions Save to Flash Default Value Range Parameter Yes No O 2147000000 Doc No MAL 4164 4MC PM doc 373 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed ORBIT FR to any other party without written authorization from OREI T FR A Software amp Command Reference Examples The following commands is a simple example for implementing a 1 second delay using XTD and the Timer TD state condition AL 4164 4MC XTD 16384 XQW 107000 Firstly XTD is initialized then the QW function is called waiting for timer 1 to be zero See Also QW QG Doc No MAL 4164 4MC PM doc 374 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 4 8 4 32 ZA Remote Assign Value CAN Networking Purpose Remote Assign parameter Sends an assignment clause to a remote unit The parame
84. it immediately enters the motion with the reference as defined above No acceleration profile is generated for cases where the master axis is already in motion gt Currently the AL 4164 4MC support position gearing motion mode for X and Y axes only gt Like Jogging Gearing Motion is also theoretically an infinite motion It stops only as a result of a user command or due to some fault limitations or protections gt Ifa gearing motion is stopped by a user ST command or by other faults like hardware or software Limits the slave axis will start to decelerate using the relevant Deceleration parameters DC for normal Stop commands ST and DL for Limit Stop conditions In this case of course the axis is loosing the master s tracking gt In Gear Motions WW the smoothing parameter must be 0 since the slave is directly following the master DP according to the equation described above WW different from 0 will not effect normal tracking but will cause a position step command when a Stop command is given gt Like in all other motions an AB abort motion command will result in immediate stop of motion without any deceleration profile gt Due to an implementation limitation currently only when X is following Y one 1 sample time delay 61 micro sec in AL 4164 4MC will be present in the generated slave axis X reference profile related to the master profile Y
85. limit switch Stop any on going motion in the relevant direction Reverse limit switch Stop any on going motion in the relevant direction High position software limit Stop any on going motion in the relevant direction Low position software limit Stop any on going motion in the relevant direction The AL 4164 4MCcontrollers include the following limitations The peak driver command is limited usually to limit the max current command to the motor when a current driver is used Driver command limitation has two different parameters TL which is the ultimate command saturation limit and IS which can separately from TL limit the Integral value This is needed in some cases to improve dynamic responses It should be noted that the value of TL overrules the value of IS please see chapter 1 5 for further details about the control filter structure In the following sections a more detailed description of the faults protections and the controller response in each case is given Driver Faults and Abort Input Driver fault is a condition indicating that something is wrong with the motor power driver connected to the controller The driver fault is an actual hardware signal line that the driver outputs This signal is continuously monitored by the controller real time servo loop at the main control sample rate 16 kHz in the case of the AL 4164 4MC If the real time software detects that this line is Doc No MA
86. line Press F9 button or select this menu item To remove breakpoints follow the steps gt Move cursor to the breakpoint line Press F9 button or select this menu item 5 7 19 13 Remove All Breakpoints Remove All Breakpoints menu item removes all break points from the current selected macro 5 7 19 14 Set Next Statement Set Next Statement menu item sets the next line to be executed To Set Next Statement execution line follow the steps Move cursor to the desired line Select this menu item Doc No MAL 4164 4MC PM doc 413 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 5 7 19 15 Show Next Statement Show Next Statement menu item scrolls the edit area to the next line to be executed Use this option to find the current macro position 5 7 19 16 Show Run Time Error Show Run Time Error menu item shows the current selected macro run time error QC 5 7 19 17 Update Watch List Update Watch List menu item updates the watch area variables Doc No MAL 4164 4MC PM doc 414 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES
87. may not be passed to any other party without written authorization from ORBIT FR ORBIT FR amp Software amp Command Reference Keyword Description Logical NOT result is always 0 or 1 gt 0 Is positive lt 0 Is negative Is zero 10 Is not zero gt Is greater lt Is smaller Is equal l Is not equal gt Is greater equal lt Is smaller equal For further information please see chapter 1 8 sections 1 8 3 and related relevant commands in section 1 8 4 Doc No MAL 4164 4MC PM doc 244 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 4 2 5 Variables And Indirect Addressing Almost any macro application needs variables to hold temporary values to perform calculations and to transfer parameters to its subroutines and between the host application if exist and the macro Since the low level AL 4164 4MC programming syntax does not support dynamic variables allocation or free naming several types of arrays are supported by the AL 4164 4MC language and can be freely used from within a macro program as temporary variables registers Another common requirement is to perform indirect addressing to an array of variables This is to enable based indexing t
88. means that the basic motion mode is still a PTP motion MM 0 but it has a special modification identified by SM 1 NOTES gt Each motion segment within a repetitive motion is treated as a standard PTP motion The only difference is reflected in the SR parameter bit 4 In Repetitive PTP motion In addition when a motion segment is finished and the motion is paused for WT samples a dedicated bit in MS will identify this status bit 6 gt Modifying AP on the fly will modify the target position of the current segment but will not affect the 2 target position the back motion gt In the AL 4164 4MC controller s the repetitive motion is also supported under STEP mode MM 8 1 4 3 Jogging JOG MM 1 SM 0 1 4 3 1 Description In this mode the controller calculates a standard acceleration profile using the user specified acceleration AC toward the user specified speed SP This speed is kept constant until the motion is stopped by a user command In case of an ST Stop command the controller calculates a deceleration profile using the user specified deceleration DC The motion s direction is set according to the sign of the SP Speed parameter Doc No MAL 4164 4MC PM doc 33 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR 1 4 3 2 Starting a J
89. non linear mechanical position errors caused for example by lead or ball screw The correction is done by interpolating desecrate positions user defined correction table and altering the actual encoder position readings Each axis can be corrected independently The correction table itself is defined in equally spaced intervals between two maximum and minimum values of actual encoder readings Beyond these values the correction is fixed at the extreme table value point As a part of the real time process the true encoder position reading is corrected by a value that is taken from the correction table When current position does not match an exact table point linear interpolation is performed between two consecutive table points Outside of table range the last error correction value will be used This option is not yet fully supported by standard firmware revisions Please consult C amp RS sales for more information Doc No MAL 4164 4MC PM doc 140 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR 1 9 1 9 1 ORBI T FR ES Software amp Command Reference Keywords Reference This chapter describes the AL 4164 4MC controller keywords supported by the controller Firmware As discussed in section 1 3 3 2 of this user s manual the controller Language defines two grou
90. not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference In order to perform the capture feature while using this mode the following needs to be performed 1 Set all captures parameters do not yet enable the mode 2 Before downloading the points set the Capture Sync command please refer to end of document section 2 7 below Download the capture positions option 4 Start the capture mode x NOTES The sync command to the AL 4164 4MC specifies that all positions that are to be used as capture positions are related to this point There must be enough time between step 3 and 4 in order to promise the download was successful Sending the Sync Command while the axis was not in its limits results in updating the axis to its new moduled position gt All other capture restrictions apply to this mode as well Doc No MAL 4164 4MC PM doc 186 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR P d Software amp Command Reference 2 7 General Parameters and Commands Description Array Index Axis Notes Related AUX FPGA AR 10 No Updated at power up Version BIT result AR 11 No Updated as a result of BIT in the macro autoexec LCU Connected AR 12 No 0 Conne
91. not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 4 6 3 2 The define Directive The define directive may be used to give a meaningful name to a constant in a program The syntax for the directive is define identifier token string The define directive substitutes token string for all subsequent occurrences of the identifier in the source file except for cases where the identifier itself appears as a token in another define statement In this case the identifier will appear as it is The token string must appear within Note that the character may appear as a part of the token string itself more then once to allow string parameter definitions The define directive must appear before using the identifier Note that if an identifier will be used before its definition it will not be detected as an error by the pre compiler In this case the actual identifier string itself will be used and not the token string One or more white space characters must separate token string from identifier Any characters appearing between the left defining the token string and the identifier are ignored Note that every character appearing in the token string between the will be used including white spaces characters etc The following examples illustrates the usage of the define directive
92. of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR P d Software amp Command Reference 4 2 7 Macro Flow Control Any programming language should support program flow control commands to allow controlling the program flow during run time Flow control commands implement functions such as calling a subroutine Call Sub jumping to a certain location in the program Jump to a specific label or to a pointer location conditional jumps etc The table below describes flow control commands supported by the AL 4614 4MC controllers low level macro engine Table 4 3 AL 4164 Macro Program Flow Control Keywords Keyword Description CS Call subroutine at a new macro pointer CT Call subroutine if last stack element is TRUE not zero CF Call subroutine if last stack element is FASLE zero JP Jump to a new macro pointer JT Jump if last stack element is TRUE not zero JF Jump is last stack element is FALSE zero JZ Jump to a new macro pointer and clear subroutines stack RT To restart the macro with subroutines stack clear For further information please see chapter 1 6 sections 1 6 3 3 and related relevant commands in section 1 6 4 Note that the low level AL 4164 4MC macro engines support a limited number of flow control commands namely Calls Jumps and Return Conditional calls and or jumps are lim
93. of motion function XRWAIT is used in example 3 of section 1 6 4 4 above define DelayVar1 4000 define DelayVar2 50 define WaitTimer1 BQW 107000 Subroutine to wait for remote end of motion and for a delay after the motion XRWAIT Wait for end of motion while XZR MCD_MS amp 1 Check MS of Remote MCD XTD DelayVar2 WaitTimer1 Small delay endwhile Doc No MAL 4164 4MC PM doc 306 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 4 6 4 5 Wait time between motions XTD DelayVar1 WaitTimer1 Longer delay For Loops For loops are used to execute repeated block of statements until some condition expires As with math statement expressions the for continue break and endfor statements should start with the character symbol The syntax for the for block statement is for init expr cond expr loop expr Statements continue Optional break Optional endfor First the initialization init expr is evaluated Then while the conditional expression cond expr evaluates to a nonzero value statements are executed and the loop expression oop expr is evaluated When cond expr becomes 0 control passes to the statement following the for loop The endfor keyword must end an
94. of the command source which can be one of RS 232 Communication CAN bus Communication Possible other future supported communication links and the Internal script program engine When a new command is received from either one of the channels described above its source is recorded for later reference and the command itself is passed to an internal software module The Command Interpreter which checks its syntax and if a valid command is detected executes the command 1 3 3 2 Language Notations The communication keywords are divided into two groups of Keywords Parameters Keywords gt Command Keywords Doc No MAL 4164 4MC PM doc 13 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR kL Software amp Command Reference The execution time of a parameter keyword is minimal and usually negligible few micro seconds at most The execution time of a command may be longer for example save parameters or upload list data Below please find the definitions of each Keyword type group 1 3 3 2 1 Parameters Keywords Parameters can always report their value generally reflecting the value of an internal software or hardware register and in most cases can be assigned with a value There are some read only parameters that cannot be assigned with a new va
95. other party without written authorization from ORBIT FR ORBI T FR Software amp Command Reference 4 8 AL 4164 4MC SCRIPT KEYWORDS COMMANDS REFERENCE APPENDIX This chapter present a complete list of macro related commands supported by the AL 4164 4MC controller according to tasks in alphabetical order including detailed explanations and examples 4 8 1 Task Based Reference This section lists the commands according to their relation to several basic tasks The list provides a short description of each command 4 8 2 Task Description The commands are grouped to in the following tasks Macro handling keywords Operators Flow control Wait and state inquiry functions Timer functions gt Automatic routine control functions gt Remote access over the CAN commands Pre compiler directive commands and Keywords 4 8 3 Task Based Command list The following tables list all the AL 4164 4MC family controller commands according to their task A given command may appear under more then one task Doc No MAL 4164 4MC PM doc 320 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR P d Software amp Command Reference 4 8 3 1 Macro Handling Keywords Table 4 9 AL 4164 4MC Macro program handling keywords Keyword Description QB
96. party without written authorization from ORBIT FR a a Sii SAFETY SUMMARY These are general safety precautions that are related to any specific A procedure These are recommended precautions that personnel must understand and apply WARNING Use care when using metal tools that circuits are not shorted A Some circuits have high current capacity which when shorted will flash and may cause burns and or eye injury Remove all jewelry and exposed objects from body and clothing before performing maintenance adjustments and or troubleshooting Before working inside equipment remove all power unless power is required to be on to perform procedures Do NOT replace parts or modules with power ON Servicing this equipment requires working with the equipment while the equipment while AC power is applied Extreme caution must be exercised during these procedures Doc No MAL 4164 4MC PM doc IV Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBIT FR FORWARD WARNING Use care verifying that the electrical current that is written on the A sticker attached to the AL 4164 4MC Controller matches the electrical current used in your country If any changes are required please follow the instructions detailed hereafter 1 Open the top cover of the AL 4164 4MC
97. points for one vector or 10 000 for 10 vectors and anything in between Please see the RL command reference and the section Data Recording in this User s Manual for more information Doc No MAL 4164 4MC PM doc 148 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR Software amp Command Reference Key Axis Description Restrictions Read Reset Array Assignment Word Related Only Val Size Range XC Yes Last Capture Latch None No Yes 2 147 000 000 Pos Value Yes Number of Capture None No No 0 Only Events a es eT Ts S Doc No MAL 4164 4MC PM doc 149 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 1 9 4 Keywords List Functional Groups The following section describes the Controller Keywords list ordered in functional groups 1 9 4 1 Keywords Group Description The following Keyword Groups are distinguished e Motion and Profiler Related Keywords e Control Filter and Real time Servo Loop Keywords e Data Recording Related Keywords e Special Features Interface Function Keywords e 1 O Function Keywords e Scr
98. should start with the character symbol The syntax for the a mathematical expression is variable expression The variable may be any valid SC AT argument name allowed to be assigned with a value i e parameters and arrays Expressions may include operators constants parameters standard and arrays and commands as operands When an expression contains an AL Doc No MAL 4164 4MC PM doc 297 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Software amp Command Reference 4164 4MC command that receives a parameter separated from the command name by the comma char the command usually pushes the result to the stack by itself The following operators are currently supported within expressions Valid binary operators amp 4 gt lt gt lt Valid unary operators Brackets Important Note unary operators can be used only on single operands and not on expressions e g not before brackets The parser handles mathematical priority as follows 1 First mathematical priority is given to unary operators 2 Second mathematical priority is given to and amp over the other binary operators 3 For other priority use brackets Example 1 Initializing array members XPA1 XPA3 and compute a v
99. starting master position is set to the position of the master at the time of the BG command The ECAM table is than entered according to relative master motions from this point If MI is a non zero value it is used to set the starting master position instead of the above method This method is useful if the starting point of the ECAM was captured using the position capturing option and the value captured should be used to accurately define the starting position of the master MI is not saved to the FLASH and is initialized to zero after power on or reset The user may set it to any value before starting an ECAM motion EA 8 ls not used and should not be initialized for future compatibility During the BG Begin Motion command when MM 5 the ECAM parameters ES EW EE etc are checked for their validity and a is returned in case of an error In that case EC is set to 14 EC_WRONG_MOTION_PARAM The following conditions must be satisfied for a proper initialization of ECAM motion Doc No MAL 4164 4MC PM doc 42 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR kL Software amp Command Reference The ECAM Start Index ES EA 1 must be gt 1 The ECAM Wrap Index EW EA 2 must be gt ECAM Start Index EA 1 The ECAM End Index
100. the Y macro program numbers stack ZQN Reports the Z macro program numbers stack AL 4164 4MC only See Also QQ QZ Doc No MAL 4164 4MC PM doc 358 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 4 8 4 21 QP Macro Program Pointer Purpose The Macro program pointer may be used to check the current program location or to be assigned with a value for indirect calls Attributes Type Parameter Axis related Yes Array No Assignment Yes Receive parameter Parameter type Scope Both Restrictions None Save to Flash No Default Value 0 Range 0 Max Macro Pointer Syntax QP QP lt Number gt Examples XQP Reports QP of X ZQP Reports QP of Z AL 4164 4MC only XQP 1000 YQP 2000 Sets QP of X Y respectively See Also QE Doc No MAL 4164 4MC PM doc 359 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBIT FR amp 4 8 4 22 QQ Macro Program Stack Purpose Software amp Command Reference Reports the macro program subroutine s stack The QQ keyword may be used to debug macro execution The QQ command return
101. tuning process for the PIV configuration that will be discussed below e Figure 1 4 Position Over Velocity Loop PIV Control Scheme Structure below shows the AL 4164 4MC control loop structure in PID scheme e Figure 1 5 below shows the AL 4164 4MC control loop structure in PIV scheme e Figure 1 6 below shows both the position loop PID filter and Velocity loop in PIV Mode PI filter implementations The User can select between the two control schemes using a special bit in the axis configuration word CG 3 zero based The AL 4164 4MC controller s family includes in addition to the standard PID or PIV filter structures some additional features as described below Doc No MAL 4164 4MC PM doc 56 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR kL Software amp Command Reference gt High position error limit gt Digital 2 order low pass filter can be operational in all modes gt Automatic Gain Scheduling for improved point to point settling performances gt Special Open Loop modes for both normal and SIN mode commutation gt Acceleration and Velocity Feed Forwards gt Separate saturation levels for the Integral term and command output signal gt SIN Tables for SIN commutation motors In the following sections the Linear F
102. written authorization from ORBIT FR SE a T List of Tables Table 1 1 Control Filter Parameters ccc cccecceicceeeseedcesssenecdeesaedeeesenandenssenecddeeenadeeeesnaceveess 75 Table 1 2 PG Array in AL 4164 4MC Compare Function Parameters Description 99 Table 1 3 Error Codes Generated by the PQ Compare Function eeceeeeteteeees 103 Table 1 4 AL 4164 4MCKeywords Attributes and Restrictions 0 ccccccesseeeceeeeteeeeees 142 Table 1 5 AL 4164 4MC Commands Keywords LiSt c cccccecceeeeeeeeeeeeeeneeeeeeenaeeeseenaees 144 Table 1 6 AL 4164 4MC Parameters Keywords LiSt ccccccceeeeeeeeeeeeeeeeeeteeeseeneeeseenaees 146 Table 1 7 Motion and Profiler Related Keywords cccccccceceeeeeeeeeeeeeneeeeeeneeeeseenaeeeeennaees 151 Table 1 8 Control Filter and Real time Servo Loop Related Keywords eeeeeeenees 152 Table 1 9 Data Recording Related Keywords cceecceeeseeeeeeeeneeeeeeeneeeseeneeeseenieeeesenaaes 153 Table 1 10 Special Encoder Interface Related Keywords cccccccceeeeeeeeeeneeeeeeeneeeeeeeaees 153 Table 1 11 I O Functions Related KeywordS eesseesssseseerrnenssnnassennannsnnaarennaanannanannnnaanannaaee 154 Table 1 12 Communication and Configuration Keywords cccccceeeeeeeeeenteeeeseeneeeeeeeaees 155 Table 1 13 Protection Keywords 00 0 ceccecceeeeeeeeeeenee eee eeeaeeeeeeaaeeeseeaeeeseeaeeeeseecaeeee
103. 02211 XQW 102220 Doc No MAL 4164 4MC PM doc Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed 317 to any other party without written authorization from ORBIT FR Rev B ORBI T FR ES Software amp Command Reference define WaitForZFLSOff XQW 102221 define WaitForWRLSOn XQW 102230 define WaitForWRLSOff XQW 102231 define WaitForWFLSOn XQW 102240 define WaitForWFLSOff XQW 102241 define BeginX XBG define BeginY YBG define BeginZ ZBG define BeginW WBG End Of Motions Reson Definitions EM define END MOTION NORMAL q define END_ MOTION FLS 2 define END_MOTION_RLS 3 define END_MOTION_HL 4 define END_MOTION_LL 5 define END MOTION_FAULT g define END_MOTION_STOP 7 define END_MOTION_MOTOR_OFF 8 Input Ports Bits Mask Definitions IP define IP_MASK_XRLS 65536 bit 16 define IP_MASK_XFLS 131072 bit 17 define IP_MASK_XFLT 16777216 bit 24 define IP_MASK_YRLS 262144 bit 18 define IP_MASK_YFLS 524288 bit 19 define IP_MASK_YFLT 33554432 bit 25 define IP_MASK_ZRLS 1048576 bit 20 define IP_MASK_ZFLS 2097152 bit 21 define IP_MASK_ZFLT 67108864 bit26 define IP_MASK_WRLS 4194304 bit 22 define IP_MASK_WFLS 8388608 bit 23 define IP_MASK_WFLT 134217728 bit 27 Macro Status Bits Mask Definitions QR
104. 1 Enables the X Motor XPS 0 Set X axis encoder Position 0 XMM 0 XSM 0 Set Normal Point To Point Motion Mode XAP 100000 Set Next PTP absolute location to 100 000 counts XAC 250000 Set Acceleration to 250 000 XDC 500000 Set Acceleration to 500 000 XSP 25000 Set Speed to 25 000 XBG Start a Motion See Also DP RP PS BG Doc No MAL 4164 4MC PM doc 164 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 1 9 5 4 AR General Purpose Array Purpose AR is a user general purpose array The AR array is a non axis related array with size of 10 000 elements Each element in the array is a LONG format number which can be assigned with any value at any time Currently AR is also used internally by the Compare mechanism to define user 32 bit tables for the compare mode For further information please see section 1 8 5 in this User s Manual The index range of the AR array is 1 10 000 Since AR is non axis related accessing XAR YAR AAR etc actually access the same array element Attributes Type Parameter Axis related No Array Yes size 1 10 000 Assignment Yes Command Allows parameter Scope All Restrictions
105. 1 Proportional term PID gain and PIV mode position loop gain cae Integral term PID gain and PIV mode velocity loop Integral term gain KD KD 1 Derivative term PID gain and PIV mode velocity loop overall gain KP 2 KP Gain when gain schedulingis active _Ki 2 __ KI Gain when gain schedulingis active lt KD 2 _ KD Gain when gain scheduling is active _ a CCN EEEN _ CA 13 2 order filter Enable if 1 Disable if O flag OOo FF FF 1 Velocity Feed Forward Gain FF 2 Acceleration Feed Forward Gain I IUU Please see sections 1 9 4 2 2 below and 1 9 5 below in this User s Manual for full description of the entire filter related parameters Doc No MAL 4164 4MC PM doc 75 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Software amp Command Reference 1 6 Faults Protections and Limits The AL 4164 4MC controller s include various protection mechanisms and status report parameters which ensure safe operation and easy troubleshooting The protective mechanisms are divided into two groups Protections and Limitations Protection refers to a detection of a fault condition and the response to this condition generally disabling the servo Limitati
106. 1 1 Infinite loop XTD 16384 BQW 107000 1 Second Delay endfor Doc No MAL 4164 4MC PM doc 308 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 4 7 APPLICATION EXAMPLES To be completed on next version of this User s Manual 4 7 1 Example 1 The following example performs Homing on an X Axis The macro consists of 3 files 1 The main macro file 2 Application specific definition file Actually definitions for array variables that hold the relevant values of all the motion parameters PID Speeds etc 3 AL 4164 4MC Product Definition File A file that defines most of the bits and wait states of the system i WaitForEndOfMotionX ii WaitForlnput1 iii WaitForNoInput1 iv etc This macro presumes the relevant motion data will be downloaded by a PC host The relevant array variables are mentioned in the attached file The macro sends a message via the CAN bus to the host computer regarding how the home procedure ended See ZM and ZI Please follow macro documentation for sequence Itkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk tkkkkkkkkkkkkkkkk aaa JJ John Jake System controller Script File nee Ikkkkkkkkkkkkkkkk Itkkxkkkkkkkkkkkkkkkkkkkkkkkkkkkkk
107. 164 4MC PM doc Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed 45 Rev B to any other party without written authorization from ORBIT FR OREI T FR Software amp Command Reference counts referring to the slave s Y axis position As a result when the X and Y axes will move the speed of the Y axis will be exactly 1 10 that of the X axis The users can of course set any table data such as SIN tables to create circular motions or any other arbitrary profile 1 4 7 1 3 Monitoring a Position Based ECAM Motion Please refer to section 1 4 1 3 above 1 4 7 1 4 Stopping a Position Based ECAM Motion As noted above ECAM motion stops when the actual ECAM number of cycles equals EN when EN gt 0 ECAM is an infinite motion if EN 0 When EN gt 0 and the actual number of cycles equals EN the axis stop immediately using ABORT Command setting DP to the last table value relatively When EN 0 in order to stop the ECAM motion users should use the STOP or ABORT commands In general like any other motion an ECAM motion can be stopped by the following communication clauses Communication Description Clauses AB Aborts the motion immediately DP remains as its last value ST Stops the motion with deceleration using DC to zero speed Note that immediately after issuing the ST command the slave axis stops following t
108. 2 Release dip switch from its socket the AL 4164 4MC Please refer to Figure A Terminal Connector Doc No MAL 4164 4MC PM doc V Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBIT FR FORWARD 3 Release the extra terminal connector from its location at the side of the controller box Please refer to figure B Extra Terminal Connector Figure B Connect the appropriate terminal connector matching the voltage requirements of your country and mount back the cover of the AL 4164 4MC Doc No MAL 4164 4MC PM doc VI Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBIT FR FORWARD RESUSCITATION Personnel working with or near hazardous chemical or voltages should be familiar with modern methods of resuscitation USE SAFETY APPROVED EQUIPMENT When cleaners are being applied approved explosion proof lights blowers and other equipment shall be used Ensure that firefighting equipment is readily available and in working order Keep cleaners in special polyethylene bottles or in safety cans and in minimum quantities Discard soiled cloths into safety cans Doc No MAL 4164 4MC PM doc VII
109. 33 04235 XP AZ 04241 XBA2 Workspace 04247 00 04242 lt Area 94254 BOF EF_1 0046 Advance X axis pos Oo47 XPS XPS 1 0264 XPS Code a 04269 1 A 04272 Debugging nine aa Area 0048 Wait 0 5 sec 0049 Timeri 1024 i 04279 BTD1 1024 0050 WaitTimeri i 04289 XOW 53 04296 BUP UF_1 Files sels Fa 5 Variable Display program information version number and copyri Ln 174 Col 1 7 Figure 5 4 Macro Debugging This mode enables to debug the macro that currently resides in the controller Doc No MAL 4164 4MC PM doc 394 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference To switch the Source Code Editor to debugging mode follow the steps f the macro is not in controller first download the macro with Download Macro menu item or Save and Download Current Macro menu item see sections 5 6 5 1 1 and 5 6 5 1 2 and than go to the next step f the macro is already in the controller select from the Macro menu one of the following If macro is not opened in the editor select Debug Macro menu item see section 5 6 5 6 1 If macro is opened in the editor select Debug Current Macro menu item see section 5 6 5 6 2 After the Source Code editor is in debug mode the editor shows the
110. 4 4MC currently supports two basic communication protocols and channels ASCII based RS 232 gt Binary CAN bus Using separate hardware interface layers the RS 232 and CAN bus communication links and their protocols are completely independent from one another and can be used simultaneously excluding few special cases as described in section 2 2 1 below Doc No MAL 4164 4MC PM doc 191 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference Process ASCII RS 231 Messages f Process Binary CAN Messages Firmware Main Idle Loop Process Internal Figure 3 1 Communication Channels Handling within the Firmware Main Idle Loop As shown in Figure 2 1 the servo controllers firmware main loop continuously monitors both communication channels handling incoming messages separate from one another This is possible in the AL 4164 4MC firmware and syntax architecture as almost all keywords and commands are executed immediately without blocking any other process Doc No MAL 4164 4MC PM doc 192 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR k
111. 4164 4MC PM doc 411 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 5 7 19 8 Break Macro Program Execution Break Macro Program Execution menu item stop current selected macro run This menu item is enabled only when the current selected macro is running 5 7 19 9 Trace One Step Trace One Step menu item executes one command in the current selected macro 5 7 19 10 Animate Macro Execution Animate Macro Execution menu item animates current selected macro execution by running the macro step after step with delay between steps The animation can be seen on screen by following the current executed line arrow yellow arrow 5 7 19 11 Go From Current Pointer Location Go From Current Pointer Location menu item start running the current selected macro from current location Doc No MAL 4164 4MC PM doc 412 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 5 7 19 12 Insert Remove Breakpoint Insert Remove Breakpoint menu item adds or remove breakpoints To add breakpoints follow the steps Move cursor to the desired
112. 4MC hardware memory and will initialize the SC AT program If all is OK a Download completed successfully message should appear The program is now ready for running Note that after loading a new program the AUTOEX is not started automatically but only after power up 5 In order to save the downloaded program to the AL 4164 4MC controller flash memory use the XSV command from the AL 4164 4MC Shell terminal or Toolbar Program that is not saved to the flash memory will be lost after power up 6 If you want the AL 4164 4MC to start automatic execution of the macro program you must switch the AL 4164 4MC controller power off and on again to restart its real time software Note that you can still run any valid subroutine name by using the debugger or by issuing an XQE lt LABEL gt command from the terminal window After down loading a program issuing an XQE command with no Doc No MAL 4164 4MC PM doc 274 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference parameters will start program execution from the first macro line i e like running AUTOEXEC Downloading a new DAT file is done as follows 1 2 3 A DAT file is the file AL 4164 4MC Shell is connected to the AL 4164 4MC controller communication line an
113. 6 zero based as X RLS and so on Bit 4 0 Select General Purpose Digital Inputs Bit 4 1 Select Dedicated Digital Inputs e Bit 5 select whether the capture is on one of the inputs defined by Bits 4 0 or on this axis Encoder Index Input Bit 5 0 Select I O s as Capture Source Bit 5 1 Select Indexes as Capture Source e Bit 6 Select Input polarity Bit 6 0 Select Normal Positive Pulse Polarity Bit 6 1 Select Inverted Negative Pulse Polarity e Bits 7 8 Reserved Should be 0 for future compatibility Doc No MAL 4164 4MC PM doc 115 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 1 8 16 1 8 16 1 Position Capture Events Examples AL 4164 4MC Position Capture Events Examples The following example demonstrates usage of the Capture and Compare functions The X axis is programmed to generate Compare pulses on fixed GAP The pulses are directed to Fast Digital Output 1 It is assumed that DOut 1 is physically connected to Dinp 1 Axes X and Y are then programmed to Capture their locations on each Compare pulse The Captured X position should be identical to the desired Compare position The Captures Y position reflects the Y axis location when X was commanded to generate
114. 6 B XIV B 46 B 93 B 140 B 188 B XV B 47 B 94 B 141 B 189 B 1 B 48 B 95 B 142 B 190 B 2 B 49 B 96 B 143 B 191 B 3 B 50 B 97 B 144 B 192 B 4 B 51 B 98 B 145 B 193 B 5 B 52 B 99 B 146 B 194 B 6 B 53 B 100 B 147 B 195 B 7 B 54 B 101 B 148 B 196 B 8 B 55 B 102 B 149 B 197 B 9 B 56 B 103 B 150 B 198 B 10 B 57 B 104 B 151 B 199 B 11 B 58 B 105 B 152 B 200 B 12 B 59 B 106 B 153 B 201 B 13 B 60 B 107 B 154 B 202 B 14 B 61 B 108 B 155 B 203 B 15 B 62 B 109 B 156 B 204 B 16 B 63 B 110 B 157 B 205 B 17 B 64 B 111 B 158 B 206 B 18 B 65 B 112 B 159 B 207 B 19 B 66 B 113 B 160 B 208 B 20 B 67 B 114 B 161 B 209 B 21 B 68 B 115 B 162 B 210 B 22 B 69 B 116 B 163 B 211 B 23 B 70 B 117 B 164 B 212 B 24 B 71 B 118 B 165 B 213 B 25 B 72 B 119 B 166 B 214 B 26 B 73 B 120 B 167 B 215 B 27 B 74 B 121 B 168 B 216 B 28 B 75 B 122 B 169 B 217 B 29 B 76 B 123 B 170 B 218 B 30 B 77 B 124 B 171 B 219 B 31 B 78 B 125 B 172 B 220 B 32 B 79 B 126 B 173 B 221 B Doc No MAL 4164 4MC PM doc Il Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBIT FR FORWARD PAGE REVISION PAGE
115. 7 Byte8 2 gt Message length will be 2 bytes In order to retrieve the error code an EC command can be issued to the controller Doc No MAL 4164 4MC PM doc 222 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR Software amp Command Reference ORBIT FR amp 3 7 2 3 Prompt including a Single axis Report Response If a report command was issued for X or Y the controller is responding with the requested data followed by the prompt similar to RS 232 Byte 1 Byte 6 Byte7 Byte 8 Data 3 Byte 2 Data 2 Byte 3 Data 1 Byte 4 Data 0 Byte 5 Message length will be 4 bytes Data is represented binary signed long format Note that no gt is returned in this case 3 7 2 4 Prompt including a Report Response For Two Axes If a report command was issued for both axes BAC AAC for example the controller responds with the requested data with no prompt Byte 1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Byte8 Data 3 Data 2 Data 1 Data 0 Data 3 Data 2 Data 1 Data 0 Axis1 Axis1 Axis1 Axis1 Axis2 Axis2 Axis2 Axis2 Message length will be 8 bytes Data is represented binary signed long format Please No
116. A 17 Yes General Temp Homing PA 18 29 Yes variables Doc No MAL 4164 4MC PM doc 176 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR P d Software amp Command Reference 2 2 3 Homing Status Values The following chart specifies the relevant statuses Definition Value Explanation HOME_STAT_NOT_PERFORMED 0 Homing not yet performed HOME_STAT_PERFORMED_OK 1 Homing completed OK HOME_STAT_IN_HOMING 2 Currently started homing process HOME_SEARCH_HOME_SENS 3 Searching for home sensor HOME_SEARCH_NO_HOME_SENS 4 Searching for NO home sensor HOME_CHANGED_DIR_SRCH_HOME_SENS 5 Searching for ome sensor after direction was changed due to limit HOME_SEARCH_INDEX 6 Searching for index HOME_STAT_ERR1 1 Err 2 On home signal at beginning of home and End of motion reason normal HOME_STAT_ERR2 2 Err 2 No home sensor found between the limits HOME_STAT_ERR3 3 Err 3 Motion error finding the home Doc No MAL 4164 4MC PM doc 177 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR Software amp Command Reference Definitio
117. An array of 20 breakpoints pointers 1 to disable a pointer and following pointers QC Reports the last macro runtime error if there was any QD Downloads a macro QE Execute macro from the current macro pointer QP Ql Halt macro execution QK Initialize macro and its internal variables QL Kill macro execution also stops all motions of both axes QN Loads the macro from the FLASH Automatically after power on or reset This command is currently not implemented Using the LD for loading parameters also loads the macro QP Displays the macro stack QQ Holds the current macro pointer QR Uploads the program stack queue of return addresses Qs Reports the macro status QT Saves the macro to the FLASH QU Execute single macro clause trace from the current macro pointer QP QV Uploads a macro QZ Uploads all macro descriptive data and its checksum Doc No MAL 4164 4MC PM doc 321 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR P d Software amp Command Reference 4 8 3 2 Operator Keywords Table 4 10 AL 4164 4MC Macro program operators Keyword Description QN Displays the macro stack QZ Clears all the numbers stack
118. Array in AL 4164 4MC Compare Function Parameters Description Array Function Description Element PG iJ 1 Operation This parameter controls the compare function mode Mode of operation PG i 1 0 Defines Compare Mode 0 PG i 1 1 Defines Compare Mode 1 Optional PG i 1 2 Defines Compare Mode 2 PG i 1 3 Defines Compare Mode 3 Optional PG i 2 Distance For Modes 0 and 1 this parameter defines the auto and increment distance direction In Mode 0 this parameter should be limited to 32 767 excluding 0 In Mode 1 this parameter can be any number in the 32 bit range excluding 0 For Modes 2 and 3 this parameter should be 1 for positive motions incrementing position motions and 1 for negative motions decrementing position motions Doc No MAL 4164 4MC PM doc 99 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR Software amp Command Reference Array Function Element PG i S Start Point Description For Modes 0 and 1 this parameter defines the Start Position PStart in encoder counts for the compare function The first compare pulse will always be at exactly that point For Modes 2 and 3 this parameter defines the Start Index Start in the AR compare position table corresponding to the first co
119. Byte 1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Bytes Pret oyW oyW Daat Balad Daes aot Message length should be 7 bytes in this case The prefix includes the Z bit refer above to axis prefixes the NORMAL bit 0x08 the COMMANDS PARAMETER bit 0x10 and the SPECIAL COMMAND bit 0x20 The data bit should be set and data should be zero Not that the actual data is taken from the previous command Note that although in this case both the COMMANDS PARAMETER bit 0x10 and the SPECIAL COMMAND bit 0x20 are set in general this is dependent on the command used Doc No MAL 4164 4MC PM doc 221 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR P d Software amp Command Reference 3 7 2 Syntax AL 4164 4MC Controller to Host Clauses sent from the SC to the Host may have one of the following structures 3 7 2 1 Prompt OK An OK response to a command or a set parameter normal prompt as in RS 232 Byte 1 Byte 2 Byte 3 Byte4 Byte5 Byte6 Byte7 Byte 8 gt Message length will be 1 byte only 3 7 2 2 Prompt Not OK An error response to a command or a set parameter normal prompt as in RS 232 Byte 1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte
120. C about a driver s malfunction for which the AL 4164 4MC needs to inhibit the driver and to abort all motion activities Firmware Version The AL 4164 4MC executes an internal firmware Downloading BIOS to perform all its tasks From time to time new firmware versions are released corrections of problems new features etc New firmware version will be supplied by ORBIT FR or be available from our web site The AL 4164 4MC together with the SCShell enables the downloading of a new version via the RS232 ONLY line FLASH Memory The AL 4164 4MC includes a 16M bits FLASH memory for its firmware parameters and user program The FLASH memory enables the downloading of a new firmware version Host A computer terminal PLC or any other device which may send communication clauses to the AL 4164 AMC via one of its communication links Identifiers Axes The AL 4164 4MC Commands Syntax always requires an axis identifier before the keyword itself If a Keyword attribute is non axis related any axis identifier is legal and will have the same result The Command Interpreter ignores the axis identifiers of non axis related keywords Doc No MAL 4164 4MC PM doc 5 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR Software amp Command Reference Id
121. C only Back spaces are handled AL 4164 4MC only Doc No MAL 4164 4MC PM doc 205 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference Examples XSP lt CR gt Report parameter clauses YSP XAR 5 lt CR gt YSP 10000 Set parameter clauses BAC 1000000 lt CR gt BAR 3 345 XBG lt CR gt Commands BST 3 6 4 AL 4164 4MC To Host Each character including blanks tabs new line and terminators AL 4164 4MC only are echoed as is In case of a report parameter clause the reported value is sent back to the host decimal long integer text format 3 6 4 1 Clause Prompts After handling each command clause a prompt is sent back to the host computer The promptis gt in case of a successful command clause execution or gt in case of any error in the execution of the command clause command was not executed In the latter case a dedicated parameter EC Error Code will hold the code of the last communication error Doc No MAL 4164 4MC PM doc 206 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Software amp Command Refe
122. Command Reference 4 8 4 16 Ql Initialize Macro Purpose Initialize and reset macro program status and flags Note that after initialization the macro is not running The QI command is called automatically by the DCOM communication interface application each time a new macro program is downloaded to the controller Attributes Type Axis related Array Assignment Receive parameter Parameter type Scope Restrictions Save to Flash Default Value Range Syntax QI Command No Communication None Keyword is not axis related thus XQI YQI are equivalent Examples XQI Reset Macro programs See Also QE QH QD QL Doc No MAL 4164 4MC PM doc 354 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBIT FR amp 4 8 4 17 QK Kill Macro and Motions Purpose Software amp Command Reference Halts program execution of the relevant macro program and stops any motion in ALL motors The command is equivalent to the two commands QH XST YST etc see AL 4164 4MC commands reference for further information regarding ST command Attributes Syntax QK Examples XQK YQK See Also QH Type Axis related Array Assignment Receive parameter Parameter type Scope Restrictions Save to Flash Default V
123. E ETD define TimerF FTD define TimerG GTD define TimerH HTD define TimerU UTD define TimerV VTD Global Functions define WaitTimerX XQW 107000 define WaitTimerY YQW 207000 define WaitTimerZ ZQW 307000 define WaitTimerW WQW 407000 define WaitTimerE EQW 507000 define WaitTimerF FQW 607000 define WaitTimerG GQW 707000 define WaitTimerH HQW 807000 define WaitTimerU UQW 907000 define WaitTimerV VQW 1007000 define WaitForEndOfMotionX XQW 100000 define WaitForEndOfMotionY YQW 200000 define WaitForEndOfMotionZ ZQW 300000 define WaitForEndOfMotionW WQW 400000 define WaitForXInTR XQW 101060 define WaitForYInTR XQW 201060 define WaitForZInTR XQW 301060 define WaitForWInTR XQW 401060 define WaitForInput1On XQW 102010 define WaitForInput1 Off XQW 102011 define WaitForlnput2On XQW 102020 define WaitForlnput2Off XQW 102021 define WaitForInput3On XQW 102030 Doc No MAL 4164 4MC PM doc 316 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBIT FR amp define WaitF orlnput3Off define WaitForlnput4On define WaitF orlnput4Off define WaitForlnput5On define WaitF orlnput5Off define WaitForlnput6On d
124. E_X For axis X YQE HOME_Y For axis Y ZQE HOME_Z For axis Z WQE HOME_W For axis W The list of parameters input for homing the axes are as follows Home Speed Fast Also implies dir Home Speed Slow1 Also implies dir Home Speed Slow is calculated Slow2 Slow1 2 Search Index Max Distance Also implies the direction of search oS V a On Index Possible variables a 0 Home on sensor ONLY b 1 Home Search index c 2 Search Index ONLY Doc No MAL 4164 4MC PM doc 174 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference d 3 En DAT Home 6 Home Pos 7 Move to absolute position after home The output parameters for the home are as follows 1 Distance between the home sensor and index 2 Home status a 1 2 3 4 gt any negative number implies a home error b 0 Home not performed c 1 Home completed successfully The controller perform homing sequence as follows Clear Home Completed flag and LED If SearchIndex EN DAT update position goto 19 If SearchIndex Onlylndex goto 15 ee he If already on home sensor setspeed HomeSpeedFast begin motion and stop at no sensor If stopped by limit etc then error Set Speed Hom
125. FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBIT FR amp Software amp Command Reference 3 7 1 1 5 Bit5 This bit indicates that a Special Command is issued Currently only a label command is supported as a special command When this bit is set to 1 the controller will react according to the special case for each command Please refer to section 10 1 3 below Special Commands for further information 3 7 1 2 Normal clauses Assuming the Normal bit bit3 is 1 the following command structure is expected Table 3 8 Normal Clause CAN Bus Message Format Byte 1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Bytes Pre fix Key W KeyW Data 3 Data 2 Data 1 Data 0 optional optional optional optional 3 7 1 2 1_ Normal Clauses Bytes Description xX NOTE Blanks tabs and new line characters are not valid under CAN Backspaces are not valid under CAN 3 7 1 2 1 1 Byte 1 A pre fix as described above including clause attributes AxisID data Please see section 10 1 1 above Doc No MAL 4164 4MC PM doc 213 Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR Rev B ORBIT FR amp 3 7 1
126. Figure 5 3 Macro Editing 4 lale N Edit mode enables to edit macro files In this mode the editor gives a strong text editor with syntax coloring Doc No MAL 4164 4MC PM doc 391 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR A Software amp Command Reference Source Code Edit components in Edit mode Workspace Area See section 5 5 3 Edit Area This area include the opened files to be edited Files with scm extension will be syntax colored other file will be in black and white colors gt Output area Includes macro compilation errors and results Syntax coloring is divided into word groups Default text Numbers Symbols Strings Comments Directive Commands like define target Labels like AUTOEXE High Level Word like if else for while YYYYYYYY Doc No MAL 4164 4MC PM doc 392 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Software amp Command Reference 5 5 Macro Downloading This section is dedicated for macro downloading By downloading macro to controller the user can fined two types of errors Syntax err
127. IT FR OREI T FR P d Software amp Command Reference 4 8 3 7 Remote Access Over the CAN commands The following table describes the keywords that allow remote CAN access from within an AL 4164 4MC macro program Table 4 15 AL 4164 4MC Macro program remote CAN access commands Keyword Description ZA Remote Assign parameter Sends an assignment clause to a remote unit The parameter to be assigned is the command s parameter The value to assign is taken from the numeric stack one item removed ZC Remote Command Sends a command clause to the remote unit The command to send is the ZC command s parameter The command does not affect the numeric stack ZI I An array parameter ZI 1 holds the ID address to which the remote communication addresses the receive CAN ID address of the remote unit Z 2 holds the ID address to which the remote unit will answer the CAN ID address at which the answer is expected This array parameter is macro related XZI 1 is used in macro X YZI 1 is used in macro Y ZM Sends a string message limited to 8 characters to a pre defined remote CAN ID address defined by ZI 1 ZI 2 is ignored The message to send is the command s string parameter if was found or 1 or 2 as parameter for 1 or 2 respectively numbers off the numbers stack ZR Remote Report parameter Sends a report clause to a remote unit The parameter to be reported is the command s parameter The
128. IT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference Example 2 Another simple examples is the following assignment XSP XAR 34 10000 Which will be implemented in the AL 4164 4MC macro syntax as follows XAR34 10000 XSP Which means push XAR 34 push 10000 sum stack top two elements pop twice and push summation result to the stack top automatically then pop the result to XSP Also here the stack remains empty at the end of this process Example 3 A more complex expression such as XSP XAR 34 XAR 567 20000 XAR 899 Will be implemented in the AL 4164 4MC macro syntax as follows XAR34 XAR567 XAR899 20000 XSP Which means push XAR 34 push XAR 567 multiply stack top two elements pops twice and push multiplication result to the stack top automatically push XAR 899 push 20000 multiply stack top two elements again pops twice and push multiplication result to the stack top automatically sum the stack top two elements pop twice and push the summation result and finally pop the result to XSP Also here the stack remains empty at the end of this process Doc No MAL 4164 4MC PM doc 242 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without writt
129. Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 4 3 2 Accessing Remote Units Via CAN Communication 4 3 2 1 CAN Networking General Description An important feature of the AL 4164 4MC controllers macro program language is the ability to send commands to remote units through the CAN networking Remote CAN access is normally required if a user wants to use a single AL 4164 4MC controller board to control more then one controller modules In this case the user host is talking with the master AL 4164 4MC controller only usually in RS 232 while the AL 4164 4MC communicates with additional units through the CAN network Another possible configuration is when a single AL 4164 4MC controller manages several mixed modules Again this manager AL 4164 4MC talks with all its slaves through the CAN network and only if required talks also with a host system through an RS 232 link A typical CAN network involves the AL 4164 4MC controller that is shown in the figure below Doc No MAL 4164 4MC PM doc 264 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR EE ee Controller Controller Contro
130. Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR Software amp Command Reference Gearing Step Repetitive Step and PTP Motion Profiling Motion Profiling is the actual algorithm that calculates new reference points to the servo loop according to the selected Motion Mode Motion On The A characteristic of the AL 4164 4MC family that Fly Changing enables the modification of most of its parameters even when they are active For example the PID parameters can be modified while the motor is in servo loop motor is on A unique characteristic of the AL 4164 4MC is that most except profile smoothing of its motion parameters such as speed acceleration deceleration distance etc can be modified on the fly under almost any conditions Position Capture The Capture Position feature supported by the new Events AL 4164 4MC family products is the ability of the encoder interface hardware to capture latch the exact encoder location when a pre defined Input or encoder Index is detected The Capture hardware can latch encoder position when counting at ANY encoder speed The Capture mechanism can be programmed to latch encoder positions based on a user defined digital input or encoder index pulse Position Compare The Compare Position feature supported by the new Doc
131. KER E EEL EEEEEERELEEEEEREEEEEEERELEELEREREELEELEEEREEERELEEELEEEEEEER A 4 Files TESTNA 5 x K KION A Hit F9 to toggle a line marker Ln1 Col1 A Figure 4 4 Editing an AL 4164 4MC macro file with the Editor SrcEdit exe Doc No MAL 4164 4MC PM doc 273 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR P d Software amp Command Reference 4 5 3 AL 4164 4MC SCShell Support for Downloading Macro Files to the AL 4164 4MC Hardware The AL 4164 4MC Shell supports a user friendly interface to allow downloading new macro files to the AL 4164 4MC family hardware boards Downloading a new macro file is done in the following order 1 First verify that the AL 4164 4MC SCShell is connected to the AL 4164 4MC controller communication line and the communication link is open See Figure 4 3 AL 4164 4MC Shell application main window 2 Open the Macro DownLoad Macro sub menu on the AL 4164 4MC Shell main application menu 3 An Open File dialog will appear letting the user to select a desired macro file default AL 4164 4MC macro files extension is SCM Select the desired macro file and press open The AL 4164 4MC Shell will automatically open the selected file pre compile the program down load 2 the macro buffer to the AL 4164
132. L 4164 4MC PM doc T1 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Software amp Command Reference active the servo loop axis related to the relevant faulted driver is immediately disabled There is a separate independent driver fault input line for each one of the controller axes When an axis is disabled by a driver fault the controller automatically switches to Servo Off MO 0 condition in that axis In this condition the controller s driver inhibit output is activated and the analog or PWM command lines are immediately switched to 0 value The user can switch the actual logic of the driver fault line separately for each axis This enables to support any type of driver fault electrical and logic interface active high or active low Please see the CG axis configuration word for more information An Abort condition fault is generated when the general purpose ABORT input line is activated Unlike driver faults the Abort input is a single common input line that causes disable of all the controller axes Being a general Emergency input the fault condition generated by an Abort input is handled directly by the AL 4164 4MChardware Also the logic of the abort signal can not be inverted Abort is designed to be fail safe so in order to normally
133. L Software amp Command Reference 3 3 1 Simultaneous Communication Channels Operation Support As discussed above both communications protocols can operate simultaneously without any interference This is possible in the SC AT architecture as almost all keywords and commands are executed immediately without blocking any other process However there are some special cases where a special operation in one channel can block the other These cases are the following When downloading new firmware in RS 232 Supported ONLY in RS 232 all other channels are of course immediately disabled When downloading a new user program in one of the channels the other channel is blocked for the same operation Other communication with the second channel is fully functional gt When uploading large arrays in one channel other channels will be blocked until the upload operation is completed 3 4 Language Definition 3 4 1 General In the following sub sections the controller basic communication language is defined It should be noted that the same Language Syntax Rules applies regardless of the command source which can be one of RS 232 Communication CAN bus Communication Possible other future supported communication links and the Internal script program engine Doc No MAL 4164 4MC PM doc 193 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be pas
134. Length Parameter RL RL defines the number of data points per sampled vector This number defines the final size of each recorded vector 1 8 3 3 1 RL Parameter AL 4164 4MC RL can be up to 100 000 if only one vector is selected to be recorded or up to 10 000 if all vectors up to 10 are selected for recording For example when RG 16 and RL 10 000 each vector will be 10 seconds long Note that the AL 4164 4MC Shell software automatically appends a time vector to any recording file 1 8 3 4 Report Recording Status Parameter RR RR is a read only parameter indicating the recording status When a new recording starts the value of RR is internally set to the value of RL It is being automatically decremented by 1 at each sample point every RG servo sample times When RR 0 recording is complete 1 8 3 5 Select Recorded Variables Parameter RV The AL 4164 4MC supports simultaneous data vectors to be recorded at the same time The user can of course select to record less then these vectors AL 4164 4MC The AL 4164 4MC supports 10 simultaneous data vectors to be recorded at the same time Doc No MAL 4164 4MC PM doc 89 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR Software amp Com
135. M doc 281 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 4 5 4 2 1 Debugger Window Source View Area This is a read only view window that shows the macro source code file combined with the actual low level code generated automatically by the pre compiler Original source code lines are shown in dark black color accept for special keywords that are colored in blue if else etc labels that are colored in red and comments that are colored in light green Preceding each original source line is the original source code line number e g 0041 Each original source line is processed by the pre compiler and converted to an executable line note that in some cases the executable line is identical to a source line Executable lines are always colored in light gray to be distinguished from original source code lines 4 5 4 2 2 Debugger Window Source Icons Area This gray narrow column located on the left of the Source View window is used to mark program pointer locations and breakpoints The yellow arrow indicates the current program pointer location It is always pointing to executable lines not original source code lines Note that the pointer location icon is visible only when the relevant macro programs are not run
136. MG command must be followed with a string parameter see syntax below The length of the complete clause is limited to 20 characters which limits the string to send to 14 characters after removing the XMG _ characters Note that blanks are stripped before any clause is executed As a result the string should not include blanks Refer to the special characters below for a work around There is no difficulty to use MG in both the X and the Y macro without any synchronization requirements MG always sends the string to the RS232 port Some special characters can be used amp In the string will be replaced with carriage return In the string will be replaced with a blank Attributes Type Command Axis related No Array Assignment Receive parameter Yes Doc No MAL 4164 4MC PM doc 339 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference Parameter type String Scope Program Restrictions None Save to Flash Default Value Range Syntax MG SEND_STRING Keyword is not axis related thus XMG YMG and BMG are equivalent Examples BMG X_IN_HOME See Also IN ZM Doc No MAL 4164 4MC PM doc 340 Rev B Information contained herein is the sole propert
137. No MAL 4164 4MC PM doc 8 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR Software amp Command Reference Events Scripts or Macro Programming Sinusoidal Electronic Commutation Currently Supported in AL 4164 4MCOnly AL 4164 4MC product is the ability of the encoder interface hardware to compare the actual encoder hardware counter value to a pre defined user register value and to generate a H W pulse when there is a condition match The basic compare mechanism can work at ANY encoder speed Compare mechanism can be operated as a fixed GAP auto increment condition or variable GAP tables See specific chapter later on in this User s Manual for further information The AL 4164 4MC controller supports up to 10 simultaneous internal programs Also referred to as Scripts or Macro programs Internal programs are used for tasks like Homing an axis or other user defined low level servo tasks The new AL 4164 4MC family controllers are provided with an advanced SDI Software Development Environment including very powerful debugger and editor utilities making Scripts programming and debugging an easy task Electronic Sinusoidal Commutation is refereed to the ability of the controller to electronically and continuously control DC brushle
138. ORBIT FR Q AL 4164 4MC AL 4162 2MC INTEGRATED CONTROLLER And POWER CONTROL UNIT Programming Manual PROPRIETARY DATA ORBIT FR Has proprietary rights on the information in this document It is forbidden to copy duplicate or disclose the information herein in whole or in part or make use of the information unless permission has been previously obtained in writing from ORBIT FR Date Title Positioner Controller with Doc No December 2007 integrated PCU Programming Manual MAL 4164 4MC PM Prepared by Approved by Gilat Orkin Wolf Roni Braun Document pages and revisions are identified on page 2 Rev B ORBIT FR FORWARD REVISIONS Rev DESCRIPTION DATE APPROVED A ECO No 292531 23 9 2007 Roni Braun B ECO No 292707 21 5 2008 Roni Braun PAGE REVISION PAGE REVISION PAGE REVISION PAGE REVISION PAGE REVISION B 33 B 80 B 127 B 174 B Il B 34 B 81 B 128 B 175 B Ill B 35 B 82 B 129 B 176 B IV B 36 B 83 B 130 B 177 B V B 37 B 84 B 131 B 178 B VI B 38 B 85 B 132 B 179 B VII B 39 B 86 B 133 B 180 B Viii B 40 B 87 B 134 B 181 B IX B 41 B 88 B 135 B 182 B X B 42 B 89 B 136 B 183 B Xl B 43 B 90 B 137 B 184 B XII B 44 B 91 B 138 B 185 B XIII B 45 B 92 B 139 B 18
139. ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 5 Macro Source Code Editor 5 1 General Source Code Editor application purpose is editing and debugging ORBIT FR controller s macros The editor has two working modes Edit mode In this mode Source Code Editor application works like text editor with macro command syntax coloring Debug mode In this mode Source Code Editor application works like a code debugger that enables running stopping step by step running breakpoints etc The editor support debugging macros for the AL 4164 4MC Controller Doc No MAL 4164 4MC PM doc 386 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR Ba i a Mc tc 5 2 Main Screen Edit Tool Bar Debug Tool Bar ER toa Ele Edit Options View Macro Communication Wina6w Help De S SRD sh BAS A Ke X Maelo gt gt ow z L Workspace Area Fies Control amp Kobolics Solutions KO Mae Hit F9 to toggle a line mer o a y Build Watch Area Line Col position Edit View Area Figure 5 1 Source Code Editor Main Screen This section gives a short description of the main screen components Doc No MAL 4164 4MC PM doc
140. Only Address Write data to Hardware Register Address Internal Use Only M e le lc Related Related it Related Related String Number Doc No MAL 4164 4MC PM doc 144 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR A Software amp Command Reference 1 9 3 Parameters Keywords List The following table describes alphabetical list of all the AL 4164 4MC parameters All parameters are represented in signed long 32bit format Some parameters may be restricted to a positive only value Grayed parameters are not operational in the current released firmware version Doc No MAL 4164 4MC PM doc 145 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 1 9 3 1 AL 4164 4MC Parameters Keywords List Table 1 6 AL 4164 4MC Parameters Keywords List inal Word Related Only Val Size Range 2 eee a Seater 120 000 000 CAMOM Re Band AF Yes Analog Input Gain None Yes No 0 16 Analog Input Gain None 524 288 524 288 Al Yes Analog Input Vale None Yes Yes 2 147 000 000_ Auxiliary Analog None 32 767 e eae ee ee Ye
141. R ORBI T FR ES Software amp Command Reference 2 4 General Purpose I O s 2 4 1 AL 4164 4MC Description A connector with 8 General Purpose Inputs and 8 General Purpose Outputs is found on the AL 4164 4MC back panel a Note The Genera Purpose I O ports are also shared with some internally used I O It is recommended that user software be written is such way that is does not alter the state of any bits other then the General Purpose bits Always read the current state modify the applicable bits and then write the desired new state back to the I O register a Note When accessing the I O ports always use axis X Using other axes I O port is reserved for internal use and may interfere with the controller internal working Doc No MAL 4164 4MC PM doc 180 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR Software amp Command Reference 2 4 2 Input Port IP The following chart reflects the bit map of IP command Ww Description Capture Input Not used Not used Not used General Purpose In1 General Purpose In2 General Purpose In3 General Purpose In4 General Purpose In5 ol CO N ol off A WwW MB gt oO General Purpose In6 jo General Purpose In7 Ss
142. REI T FR Software amp Command Reference q NOTES The user should be aware that not all conditions for a correct operation of the Compare Function could be validated during command initialization For example the minimal distance between each two consecutive points in the AR table in Modes 2 and 3 cannot be tested as the limitation depends on the actual motion speed It is the user s responsibility to specify correct parameters values for each operation mode Please refer to the specific mode description section defining operation limitations in each mode The error codes generated by the PQ command are presented below 1 8 10 3 Dedicated Error Codes related to the Compare Function Operation As explained in the previous section in case that the PQ command fails to validate one of its parameters the command will return an error prompt 2 gt or will generate a script Run Time Error if called from within a script macro program The relevant error code flags EC or QC are presented below Table 1 3 Error Codes Generated by the PQ Compare Function EC QC Code Name Error Description EC_PARAM_OUT_OF_RANGE The PQ command s parameter is allowed to be 0 for disable or 1 for enable Issuing a PQ command with a parameter out of that range will issue this error code 38 EC_PARAM_EXPECTED The PQ command must receive a parameter If PQ is issue
143. RY fx z None z Custom Commands 1 5 Recording Status AR fo A s eA WRAV fk z None z URV fx z None z Upload Recording Data Custom Commands 3 _ UbadRecodng Das ERV k None oe w k a he T Add Velocity to graphes gt Figure 4 3 AL 4164 4MC Shell application main window Doc No MAL 4164 4MC PM doc 272 Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR Rev B ORBI T FR ES Software amp Command Reference 4 5 2 Writing and Editing AL 4164 4MC Macro Files The AL 4164 4MC Shell application supports an integrated editor environment SrcEdit exe for writing and editing and debugging AL 4164 4MC macro programs The integrated editor is supplied along with the manuals and installation disk FS CARS Editor TestBenchSC4M scm of x File Edit Options View Macro Communication Window Help 8 x D SH 8 5R ams 44 B 2 ese ee a aixi ZOH XQH d a a aaa daaa a aaa Test 0 Description REE A RARE AREA AAA REA ERR EEE ERERHEEEEEREREREEEEREREREEEERERERELEEEEEEE t r r r TESTOO r r wait about 1 2 sec Timer 1 1000 WaitTimeri r Set Result to OK GZAR 1 TestPass XQH XQH REKKKREKEAREKREAREKEEREREREREKEERREREREEREREREEREREREREERERERERREREKEEREEE Test i Description SEE
144. Reverse Hardware Limit or Low S W Limit will stop negative motions only towards decreasing position value During Limit stop Doc No MAL 4164 4MC PM doc 82 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Software amp Command Reference condition the controller uses the DL Deceleration on Limit value for the deceleration profile e Torque Limit The torque limit protection is continuously monitoring the motor command value and limits the maximal current or torque if current driver is used command As noted above the Driver command limitation has two different parameters TL which is the ultimate command saturation limit and IS which can separately from TL limit the Integral value This is needed in some cases to improve dynamic responses It should be noted that the value of TL overrules the value of IS please see chapter 1 5 for further details about the control filter structure The TL saturation limit is operational is all enabled motor states both open and close loop modes 1 7 1 Special Handling of Software Limits The new error code is generated during the BG command and only in PTP motion mode When a SW_LIMIT_ERROR is generated command will not start This behavior is different from previous implementations that checked for S W
145. SIN commutation mode the relevant bit in CG should be set for the desired axis and the configuration should be saved in the FLASH or script program Note that CG can be updated only while a motor is disabled i e MO 0 NOTE Current firmware versions of the AL 4164 4MC support SIN commutation on X and Y axes only Future revisions will support all 4 servo axes for that mode Doc No MAL 4164 4MC PM doc 126 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 1 8 18 4 The Magnetic Pitch Definition MP In order to be able to correctly perform the SIN function computation the controller needs to know the scaling between the main position sensor readings encoder counts resolution to the actual physical magnetic position The scaling is defined with a new parameter MP or Magnetic Pitch The Magnetic Pitch represents the actual full 360 magnetic cycle scaled to encoder counts This number should be set once per a given motor and encoder configuration and should never change For Example In a linear brushless motor application having a magnetic cycle of 60 96 mm 2 4 inch configured with a linear encoder having final resolution of 0 25 microns per count 4 counts per micron the magnetic pitch
146. Software amp Command Reference 5 7 20 Communication Menu This section covers all Communication menu items 5 7 20 1 Enable Shell Com Enable Shell Com menu item is used to reestablish connection with SC2m or SC4M shells if a connection was lost 5 7 20 2 Window Menu This section covers all Window menu items 5 7 20 2 1 New Window New Window menu item opens the top most opened file again in a new window 5 7 20 2 2 Cascade Cascade menu item cascades all the opened files in the edit area 5 7 20 2 3 Tile Tile menu item tiles all the opened files in the edit area Doc No MAL 4164 4MC PM doc 415 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 5 7 20 3 Help Menu This section covers all Help menu items Doc No MAL 4164 4MC PM doc 416 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR A Software amp Command Reference 5 7 21 Toolbars This section gives a description of the application s toolbars 5 7 21 1 Edit Toolbar OSHS DALAS Aw A KB Figure 5 11 Edit Toolbar Edit Toolbar enables the following options ba Oaks
147. Strip comments blanks tabs and any other non executable code 2 Target hardware type definition 3 Using the define directive 4 Using the include directive 5 Using the description directive 6 Advanced parsing of mathematical expressions 7 If blocks 8 While loops 9 For loops The AL 4164 4MC Shell program automatically activates the pre compiler each time a new macro file is being downloaded The source file is first scanned to replace all defines and combine all the include files then it is stripped from all the comments spaces tabs and other non executable code then the mathematical expressions and special if while and for statements are being processed Finally all the labels are searched and replaced by absolute program pointers Doc No MAL 4164 4MC PM doc 289 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference During the pre compile process the following files are being generated automatically by the AL 4164 4MC Shell all having the same name and path as the original source file but with different extensions Extension stp an intermediate file used by the pre compiler gt Extension dat the final buffer actually being down loaded to the controller
148. T FR ORBI T FR Software amp Command Reference 1 8 11 1 1 AL 4164 4MC IO_MODE_0 XOM Keyword Configure DRV FLT SRC Each digital output can be assigned as follows using a 3 bit configuration field OM In the table above i indicates the relevant digital output number from 1 8 e ON i 1 0 The first two bits of OM select the source axis for the compare output One of four options is possible as follows 0 0 Select X Compare Source for Output i 0 1 Select Y Compare Source for Output i 1 0 Select Z Compare Source for Output i 1 1 Select W Compare Source for Output i e OM i 2 Is the output mode selection bit defines whether the output is assigned to a standard output controlled by OP or an output of a compare function 0 defines a standard output 1 defines a compare function output When the mode select bit is cleared 0 then the source selection bits are ignored OM through OM s are using bits 0 23 of the IO_MODE_0 word Other bits of lO_MODE_0 are used for Doc No MAL 4164 4MC PM doc 106 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference e 10 MODE_0 27 24 These bits control Fast Digital Inputs assignment Please see section Error
149. We only set the ResetDoneOK flag for this axis XResetDoneOK 1 XRT PREK GKK K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K ok i The HOME_X function called by macro X only t The sequence of the Homing routine is Doc No MAL 4164 4MC PM doc 311 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR A Software amp Command Reference 1 Check is axis was configured OK and configure if not TBD Do we want to force RESET before homing If yes we simply have to clear the XResetDoneOK flag 2 N A 3 N A i 4 Go into the limit or I O at Fast Speed i 5 Wait for EOM and check that we stopped on Limit or I O i 6 Now again go out of the limit or I O fast safely enough 7 Now search the limit or I O slowly and accuratlly i 8 Wait for EOM and check that we stopped on Limit or I O 9 Define this position as HomePos 10 Go to AbsHomePos If needed As of Rev 03 Always go to O pos HOME_X 1 First Check If axis was configured OK and configure if not This is done by calling the Check Reset Function CRSTX Note that the function will first stop any on going motion XCS CRSTX XPS 0 XMO 1 XMM 1 XHL 80000000 XLL 80000000 Note No need to set Home ACC
150. XQI 2 Break macro execution on selected Breaks macro program execution macro only It is equivalent to the Ctrl B XQH YQH etc commands 3 Runs the selected macro line by line Trace one step F10 single clause at a time It is equivalent to the XQTetc Doc No MAL 4164 4MC PM doc 283 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR P d Software amp Command Reference Description Related menu and accelerators 4 Animates the macro program execution Animate macro execution Ctr A Animation rate is 10 clauses second It is equivalent to the XQT etc commands 10 sec 5 Runs the program from the current Go from current pointer location pointer location It is equivalent to the F5 XQE YQE commands with no parameter 6 Toggles a breakpoint On Off Location is Insert Remove breakpoint selected by the mouse location The F9 nearest valid executable line is affected Note that breakpoints are valid for normal run and also for animate run Note also that when running normal when reaching a breakpoint the program pointer will point to the next executable line after the breakpoint When animating the program pointer will point on the breakpoint line before it was executed 7 Remove
151. a 1 in the incoming EDB message XZI 7 Buffer 1 Axis Code This parameter defines the axis to be updated in axis related arrays 1 is X 2 is Y etc If a non axis related array is assigned this parameter MUST BE 1 Note that the controller does not validate this parameter according to the Array type code Please refer above to Array codes XZI 8 Buffer 1 Current Index This parameter is used as the current index to which the new data is being stored in the selected Array and Axis The controller ONLY checks that the current index location is valid for the specific selected array not for a specific axis If the store index is valid the index is being auto incremented after the store with the Auto Increment parameter value see below XZI 9 Buffer 1 Increment Value This parameter is used as the Auto Increment value in case a valid store is executed This number value is not validated YZI 6 Buffer 2 Array Code This parameter defines the code standard AL 4164 4MC CAN Array Code for the requested Array to be updated by the parameter Long Data Doc No MAL 4164 4MC PM doc 232 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR Software amp Command Reference Param Description and Usage
152. abilities please see Chapter 4 and 5 in this document Doc No MAL 4164 4MC PM doc 156 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 1 9 5 Keywords List Alphabetical List The following section presents the AL 4164 4MC Keywords list excluding Script Programming Keywords in alphabetical order including detailed definitions of each command and examples The description of each keyword include e Purpose The operation or task of the keyword e Attributes See below e Syntax Valid clause syntax e Example Simple example of the keyword usage e See also Related commands The following list describe all the valid keyword Attributes Type Command Parameter Axis related Yes No Array Yes dimension No Assignment Yes No i e Read Only Command Allows Parameter Yes Number String Both No Scope Communication Program Both Restrictions See below Save to Flash Yes No Default Value Yes value No Range Min Max 19 Axis or related Keyword s preceding Character X Y etc affects the keyword behavior Applicable for parameters only 2 Applicable for parameters only E Applicable for commands only Doc No MAL 4164 4MC PM doc 157 Rev
153. ach axis XFR 2 YFR 2 The position and velocity of these encoders can be read by the XP and XV parameters The data recording supports the recording of the XP and XV parameter 2 1 3 Configuration CG Command bits Description Bit Invert Motor Command 1 Direction Inverse Encoder Direction 2 Configure Axis as SIN 3 commutated Use PID control for this axis Invert AUX motor command 5 direction Enable Encoder Error 6 Invert driver fault logic Velocity Feedback Type 8 9 None 00 Tacho 10 Dual Loop 01 None 11 Invert Dual loop encoder 10 Doc No MAL 4164 4MC PM doc 173 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 2 2 Homing 2 2 1 Description Homing is performed using build in macro Homing can be executed on all 4 axes Homing is done on home input whose polarity may be inversed using IL parameter In addition the homing may set to work with or without index search and with or without home switch index only It is assumed the axis was already tuned and relevant filter protection and motion parameters already configured Each axis execute its own macro In order to run a homing sequence the following must be sent by communication XQE HOM
154. acro X only Resets the controller parameters Note only important configuration parameters such as PID Configuration bits Analog interface parameters etc are j being initialized here i NOTE This is an internal funation only It is used to initialize i all neccesary controller parameters befor any motion is executed Doc No MAL 4164 4MC PM doc 310 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference The function is called form within the Move and Home functions only if it is detected that RESET was not allready pefromed CRSTX In any case First we stop any motion XST WaitForEndOfMotionX Check if Reset allready done Return immediate if YES if XResetDoneOk Reset was allready done so return immediate endif XlsHome 0 No reset was done yet for this axis Set params from XPA array For X axis Only See the jj def_01 scm included file for interpretation of the defines XCG XConfig XKP XPIDKp XKI XPIDKi XKD xXPIDKd XA1 1 XPIDKp XA 1 2 XPIDkKi XA1 3 XPIDKd XTT XTargetTime XWW XSmooth XER XMaxPosErr XDL 10000000 XTL 32000 XCS SETIX We are Done As this is an internal function only return here to calling routine No notification message is needed
155. addressed It MUST be one of the following characters or numbers 3 6 3 1 4 Axis Identification In Clause AL 4164 4MC Controller Real Axes Physical and Extended Table 3 3 AL 4164 4MC Real Axes Identifiers Axis Name Letter and ASCII Digit Identifiers 1 2 3 4 5 6 7 X Y Z W E F G H The second row of the above list consists of the preceding axis letters the first row consists of the parallel axis numbers that may be used Doc No MAL 4164 4MC PM doc 203 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR Software amp Command Reference Virtual Axes Table 3 4 Virtual Axes Identifier Axis Name Letter Identifiers Only U V Virtual Axes Groups Table 3 5 Virtual Axes Identifier Axis Name Letter Identifiers Only A B C D Groups a NOTE Number Identifiers are supported for the 8 Real Axes only X to H As noted above the A B C and D defines the programmable groups Please see section 8 4 3 above for more information and examples 3 6 3 2 Axis Related Keywords and Clause Axis Identifiers Some of the command clauses are not axis related e g SV for saving parameters to the FLASH or the AR for the data array in th
156. aeeeeeenaneeeeenas 281 Figure 4 7 SrcEdit Debugger Window Toolbar 0 ccccceeeeeneeeeeeeteeeeeeecneeeeeeneeeeeenaeeeeeenas 283 Figure 4 8 Reporting Descriptive directive information c ceeeeeeeeeeeeeeeeenteeeeeeneeeeeeaes 295 Figure 4 9 Mathematical parsing Example ccccceceeeeeeeeteeeeeeeneeeeeteneeeee teaser tieeeeereed 300 Figure 5 1 Source Code Editor Main Screen eccceeccceeeeeeeeeeeeeeeeneeeeeteneeeeesnieeeeetieeeeereaa 387 Figure 5 2 Workspace Areas scniechi dienes ei dan i eerie 389 Figure 6 3 Macro Editing scissile hen eee ae 391 Figure 5 4 Macro DEDUGGING 2 cai atti ein Nein etd ci iin 394 Figure 5 5 Debugging Area Example 0 cccceccsneeeeeeeeeeeeeeeineeeeetineeeeetiieeeeetieeeeetiieeeeeenea 396 Figure 5 6 Source Code Edit File Location Dialog 00 cccececceeeeeeeeeeeeeeneeeeeeeneeeeeeneeeeeeeee 400 Figure 6 7 Find Dial0g s c ecidven tenia d en dead id ed eed 403 Figure 5 8 Replace DialoGiwiiiicss vandal Needed et die endian 404 Figure 5 9 Editor OpuGn renren ened l abasic 405 Figure 5 10 Colors Dialog 2i ec4ciude end i Ne i i eee eed 406 Figure S 11 Edit Toolbar escacen graa a A heed ee es ee 417 Figure 5 12 Debug Toolbar cc esis ee ieee ee ee et 418 Doc No MAL 4164 4MC PM doc XIII Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without
157. agnetic alignment movement will be presented in future firmware versions of the AL 4164 4MC servo controller Doc No MAL 4164 4MC PM doc 130 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 1 8 18 5 Analog Commands in SIN Mode and Open Loop Operation NC The AL 4164 4MC has 8 analog command outputs all 16 bit resolution In normal mode SIN commutation disabled the 4 main analog outputs DAC 1 4 are used as the servo drive commands and the 4 auxiliary analog outputs DAC 5 8 are used for general purposes The NC and TC parameters allow direct control over the 4 main DAC outputs of the controller in Open Loop mode when control loop is disabled The AO parameter allows direct control over the 4 auxiliary DAC outputs regardless of the NC state Note that After power up the controller is always initialized to close loop operation mode NC 0 When SIN mode is disabled NC 1 enables open loop operation TC can be set in the range of 32 767 to set the main analog command outputs in the range of 10v Similarly AO can be set in the range of 32 767 to set the auxiliary analog commands in the range of 10v When SIN mode is enabled the Main and Auxiliary DAC outputs are
158. ain in that case is still the same as in the DAC case the gain is normalized internally by the hardware gt A full 32767 LSB command generates a 100 PWM signal with Dir gt A scale 16384 LSB command generates a 50 PWM signal with Dir gt A 0 command generates a 0 PWM signal with Dir Doc No MAL 4164 4MC PM doc 67 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Software amp Command Reference gt A 2 scale 16384 LSB command generates a 50 PWM signal with Dir gt A full 32767 LSB command generates a 100 PWM signal with DIR For a complete description of the relevant product command electrical interfaces characteristics please refer to the specific produc s hardware user s manual 1 5 8 Encoder Gain The AL 4164 4MC counts quadrate encoder pulses This implies a feedback gain For example a typical rotary system with an encoder of 1000 ppr mounted on the motor s axis the encoder s gain is as follows Enc_Gain 4 1000 2x counts rad 1 5 9 Non Linear Elements The actual control filter structure includes the following non linearity s gt The filter command output is saturated to the value the TL Torque Limit parameter The output command saturation is active a
159. al clauses Array clauses Bytes Description x NOTE Blanks tabs and new line characters are not valid under CAN gt Back spaces are not valid under CAN 3 7 1 3 1 1 Byte 1 A pre fix as described above including clause attributes X Y B data 3 7 1 3 1 2 Byte 2 A byte representing the Array code Each array in addition to its name has a code The code must be included in this byte in binary format Doc No MAL 4164 4MC PM doc 216 Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR Rev B ORBIT FR amp Software amp Command Reference 3 7 1 3 1 3 Bytes 3 4 Two bytes representing a binary array index in unsigned short format replacing the RS 232 ASCCI Array Index The valid range for the array index is the same as in RS 232 communication and described in the Keyword Reference section below 3 7 1 3 1 4 Bytes 5 8 optional These 4 bytes are optional and includes a binary data element signed long representation Note that this parameter is optional and is regarded by the controller only if the Pre Fix Data bit bit 2 is 1 i e clause includes data 3 7 1 3 2 Non Normal clauses Array clauses Examples The report X AR 5 clause will be represented in RS 232 by XAR 5 lt CR gt RS 232 Report Array member clauses And in CAN by Byte 1 Byt
160. all breakpoints from the Remove all breakpoints controller and from the debugger window 8 Locate the program pointer at the next Set next statement Ctrl N valid program clause Location is selected by the mouse location 9 Shows the current pointer location Show next statement Ctrl V located at XQP YQP accordingly 10 Opens a dialog shortly describing Show run time error Ctr Q possible reasons for the last macro run time error 11 Update Watch Window Macro Update watch list 12 Axis Combo box selection for the N A current macro you wish to debug Doc No MAL 4164 4MC PM doc 284 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR kL Software amp Command Reference 4 5 4 3 SrcEdit File Menu 4 5 4 3 1 General This section is intended to help the user start editing creating a new macro and how to work with workspace fetchers 4 5 4 3 2 Creating New Macro gt From the File menu choose New This will create a new file with the name Untitled with no extension From the File menu choose Save As select the file name and location and save the file with the extension SCM Add the macro target target AL 4164 4MC 141 0 250000 according to the version read out after sending the XVR s
161. alue Range Command Yes Will halt execution of the X program and stop ALL motions Will halt execution of the Y program and stop ALL motions Doc No MAL 4164 4MC PM doc 355 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed ORBIT FR to any other party without written authorization from ORBI T FR ES Software amp Command Reference 4 8 4 18 QL Upload Macro Buffer From Flash Future Option Purpose Reloads macro program from internal flash memory Currently use the LD Load all parameters and macro program This command is currently not implemented This is a future option Attributes Type Command Axis related No Array Assignment Receive parameter No Parameter type Scope Communication Restrictions None Save to Flash Default Value Range Syntax Function not supported in this version Examples Function not supported in this version See Also SV LD See SC Controller Commands Reference User s Manual Doc No MAL 4164 4MC PM doc 356 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBIT FR amp 4 8 4 19 Purpose Software amp Command Reference QM Mask Automati
162. alue for XPA4 The value of XPA4 is divided by 2 and stored in XSP The value of XSP is then multiplied by 10 and stored in XAC XPA1 2000 XPA2 1000 XPA3 4 Initialization XPA4 XPA3 XPA1 2 XPA2 Compute value of XPA4 XSP XPA4 2 Store for XSP XAC XSP 10 Store for XAC Note that rules of controller operator parameters range implies Doc No MAL 4164 4MC PM doc 298 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference In the above code for example the operator supports multiplication of 16 bit by 16 bit numbers and the operator supports division of 32 bit by 16 bit numbers see section 2 4 for further information The actual low level code generated by the SC AT compiler environment is shown in Figure 1 9 Mathematical parsing example for reference The debugger window shows both the original code lines in dark black color including the comment lines followed for each source line by the low level compiler implementation Note how blank spaces are stripped when evaluating the mathematical expressions The user can step line by line on the low level code lines with the debugger and on each step inquire the stack value using the BQN report stack command for debugging the code Doc No MAL
163. an only be called from an RS 232 link For example downloading new Firmware is supported ONLY in RS 232 mode Keyword Source MUST have all internal programs halted 0x10000000 The keyword can only be executed when all internal user programs are halted For example the LD command Load from flash can be called only in that case Parameter values always have a minimum and maximum value for assignment clauses Most parameters are saved to FLASH Few are initialized to default non active values on power on reset or load from FLASH events a NOTE The attribute values given above are internally used by the controller interpreter module and are given for reference only Doc No MAL 4164 4MC PM doc 197 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR P d Software amp Command Reference 3 5 Axes Identifiers and Groups 3 5 1 AL 4164 4MC Family Controllers Axes Identifiers 3 5 1 1 The AL 4164 4MCAxes Identifiers Each communication clause that is sent to the controller must be related to a specific axis The standard version of the AL 4164 4MC controller can control up to 4 axes However the AL 4164 4MC interpreter software module supports up to 10 different axes identifiers Most of the AL 4164 4MC controller keywords that are directly related to motio
164. and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR
165. and slave s initial position when the slave axis was initially commanded to actually begin the Gearing Motion Gearing motion is initialized like any other motion This means that first the motion parameters and mode should be set and then a valid BG Begin Command should be given Upon issuing a BG command to an axis in MM 2 first the master and slave initial positions are locked and then the axis enters a motion state where its reference is calculated according to the following equation MasterDP MasterInitDP FR 16 777 216 SlaveDP SlaveInitDP Remarks gt For an axis in gearing motion mode the slave all other motion profiler parameters i e SP AC etc are ignored gt Users should avoid alter a master axis DP by a issuing a PS command to the master axis while it is connected to a slave axis that is in motion to avoid position Step Commands to the slave and possible a high error faults gt Although FR can be change during motion doing so will result in a slave step command which may cause a high error fault Doc No MAL 4164 4MC PM doc 37 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR kL Software amp Command Reference gt When an axis is commanded to begin a motion in MM 2
166. angle should be known In a system using incremental position sensor typically like an encoder the true absolute physical position after power up is not known Thus in the absence of hall effect sensors to provide this information in order to operate in SIN mode each time the controller is powered up a phase initialization process should be performed The Phase Initialization Process finds the true absolute magnetic angle of the system by bringing the motor to a known magnetic equilibrium point and then stets a correct offset value to ML the real time magnetic location parameter From that point on ML is updated automatically and holds the true absolute magnetic position A simple technique for DCBL motors phase initialization process is first to place the rotor into predetermined position for example by feeding the two motor phases directly As constant DC current feeds two motor phases motor torque is a known sinusoidal function of rotor electrical angle The Sinusoidal motor torque curve on one electrical revolution has two zero crossing points one of them represents a stable equilibrium and the other a non stable one Note that the equilibrium point is a location where the motor produces zero force regardless of the current that flows through its phases 90 from that point the motor force is at its maximum peak for a given current This is where we ideally want to be at all times during normal
167. ant the motor will produce a constant torque or force according to T x Kt and will start to accelerate e NC 3 Open Loop SIN Commutation Stepper Mode Like in NC 2 in this mode also TC is set as the equivalent vector current command but the controller performs the SIN commutation projection according to a user defined magnetic angle Global Servo Parameters Array CA 0 and not related to the true Magnetic Location ML The current command equations in this mode are 1A command TC x sin TC xsin 120 where 0 CaM 360 Ib MP Command In this operation mode when TC and CA O are both constant the motor will be locked in a stable equilibrium point like a stepper motor Doc No MAL 4164 4MC PM doc 132 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference holding in its position TC set the motor Holding Torque and CA 0 can directly control the rotor phase angle By increasing or decreasing the value of CA 0 the motor can be moved back and forward again much like a stepper motor is controlled Note that this is still an open loop mode The actual encoder reading is dis regarded and no servo loop is performed This operation mode can be use
168. apture and Relevant Keywords csscsscssesseseenseeneneeees 112 1 8 16 Position Capture Events Examples ccccccscceesceescesscesecesecesecueeceeeaeeeaeeeseeeeeeeneeaees 116 1 8 17 Analog Input nterfaces 1 eccesccescesecseeeseeneeeseeeseeeseeeeeeeeeseceseceaecsaecaecnascnaeenaeeaeeas 119 1 8 18 Support for DC Brushless Motors Sin assoseesessessseesseeeeerseresesreersrrrreererresenreerrsen 122 1 8 19 Dynamic Error Mapping Correction cccccccccecceescessceescesecesecnsecueeeeeeseeeeeeeneeeeeeaees 140 1 9 KEYWORDS REFERENGE y2 ccscisbstescascecesciideceicsicsvescsizeredcssvers scvsdeces ceive seuteetescaisecdseuvdsceseats 141 1 9 1 Keywords Attribute Reference ccccccssssccesssessesseeseeseesseseencesecseeceeaeeaeesecaaeeeaeeeeeaeenes 141 1 9 2 Command Keywords List ccccccccssccscssscssessesscnsesecsseeseesecaeesecacesccsaeecesaeeseesecaaeseeaeeeenesnaes 143 1 93 Parameters Keywords LiSt scccssccsesscssessseseescesecscesecaceseesecaceseenaeecesaseaeesecaeesesacseeeaeenes 145 1 94 Keywords List Functional Group c 1ccescceseesseesseeseeeeeeseeeseceecesecaecaecaeceseneeeneeas 150 1 9 5 Keywords List Alphabetical List cc cccscesccssescesseescesecsesecnceesceseeeceseeseesecaseeeecaaeeeenaes 157 2 SPECIAL FEATURES API csccscsscssesseescecesesccsnssnsccsnessesensssesssenessessessesssssesssssneseeseess 172 2 1 VELOCITY FEEDBACK 2 ccibctst seesssoetessacsaisebsereivelasoaspessersiogsbesss
169. aring Motion MOdes c cccccccscesccssesssssecssesscssesecsseeseeseessesecacessceeeeesaeeseesecatesessaeenesasenseas 36 L47 BEGAM Monon Serung oa cuit ie teas Eee init eet ee aia ales 41 148 Search ndeke micas Osten ky ts tiainaniebiniige teu i hee bay Anes 47 149 Joystick Motion Mode c sccssescssssesseseceesecncesecnseecesseenssecaceseensecesaseaeesscaeesesseeeeeeaeeeseas 48 1 4 10 Position Step Motion MM 8 SM 0 or SM 1 uuieeeeccseseceessecenceenseceeeceeneceeaeecnseeeeee 49 1 4 11 Profile Smoothing in the AL 4164 4MC Controllers Family 51 1 5 THE CONTROL FILTER cei dticstssevteseesetticestvieses Qicstescvtesrereieridsrie sei dieseiveseiawianreiaes 56 LOH General ngtussiiisnstautien yi Rig ones ie tien eee Enis ie dae ia Mies 56 1 5 2 Linear PID and PIV Filter EqQuations ccccccsssssesseseessesecsseescuseseeeseeseesecasesesceseenaeeneeas 61 1 5 3 Standard PID Filter Mode voces ii acs toscs scusceased yas tan toibenvans castes svansstoea sats Vaan 61 LIA PIV Filter MOG ssi vecvee ictestess Sancta tee eid aain iseia eea SEEE A Eaa eei 62 1 5 5 High 2 Order Filtet ee a ee ce a ee ec ene mee TE eae 64 1 5 6 Output Command and D2A GQiti icescccccsccsiessesccesessceseeiseseccenscuseeneeaeesceaecateessaeeneeaseneees 66 15 7 PWM Command Format iccxcseispescecsales Giidac Bessie asia iene Money E ease 67 LIS Encoder Gains Sere eaa tec oe EE INE R N eet eweed Meee Ay 68 139 Non Linear Elements vecccccccccsssessuwsesescievevsnts esiv
170. array filed parameter for each group Each BIT in the parameter defines an axis to be related to the group For example 1023 all 10 bits are 1 defines ALL 1 defines the X axis only 3 defines X and Y axes the B default and so on For further information regarding Groups Definitions please see the GP keyword reference in section 1 9 3 1 in this User s Manual The AL 4164 4MC SCShell program provides an easy GUI for groups definitions Please see chapter 1 8 10 for more information Doc No MAL 4164 4MC PM doc 18 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference x NOTE In the current firmware version when working in CAN bus communication a multiple axes report command for a group with more then 2 axes will report ONLY the first two axes values This limitation is currently implied due to the 8 bytes basic CAN message format This limitation may be removed in future firmware versions 1 3 3 3 Controller Language Syntax In the following section the general Language Syntax of the AL 4164 4MC family servo controller s software is presented Please note that while the discussion below mostly refers to the RS 232 ASCII protocol the CAN bus protocol is logically sim
171. ates to a group GP 1 defines the A group GP 2 defines the B group etc GP 1 and GP 2 are non saved to the Flash memory GP 3 and GP 4 deafening the C and D groups are saved to the Flash Please see the GP keyword reference for more information 12 ML Magnetic Location Used for SIN Commutation algorithm See ML command reference for more information See also MP Magnetic pitch 13 The OM parameters are bit filed commands Please see the OM command reference for more information Doc No MAL 4164 4MC PM doc 147 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference Key Axis Description Restrictions Read Reset Array Assignment Word Related Only Val Size Range Pa Ve Gerea Paes tone Ye f He cal a 0 General Purpose None 10 x 200 2 147 000 000 Parameter Array e a Se mw w 0 6 000 000 __ WIRA AN Parameters RP a a a Command Sh ccc a Value KAON a Address RG No _ Recording Gap _ None Yes No 1x2 1 16 384 eRe e Recording Lana e ___ Yes _ No _ OO __ Next Relative Position None 2 147 000 000 Target CRR No Recording Status None No ves 0 omom ee a ee sw Yes Special moton m
172. ation contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR kL Software amp Command Reference 1 4 10 1 4 10 1 These parameters need to be high enough to enable good tracking on the joystick motions variations of the Al parameter but low enough to avoid nervous motions An important note is that when this mode is activated using the required MM and SM values the AP parameter is continuously and internally assigned with the Al value Note This mode is currently not fully implemented Position Step Motion MM 8 SM 0 or SM 1 Description In this mode the Desired Position DP is assigned with the Absolute Position AP immediately after the Begin BG command The profiler does not generate any motion profile and the AC DC and SP values are ignored The theoretical Motion time in this mode is O by definition True Step command This mode is useful for the measurement of the closed loop step response and bandwidth It is generally not used in practical applications since it generates infinite acceleration and jerk MM 8 can be combined with SM 1 to generate repetitive step motions Note that you can also use the Relative Position RP parameter Assigning a value to RP will anyhow modify the value of AP properly Note that the value of the step should be smaller than ER to
173. blication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR Software amp Command Reference 2 7 1 BIT results bits Ww p Test Main FPGA Error AUX FPGA Error GND OV Error 2 5V Error 2V Error 2V Error 2 5V Error 3 3V Error GND OV Error 2 18V Error Driver X Not Connected Co N DD of A Ol NM oO oO Driver Y Not Connected x N Driver Z Not Connected ow Driver W Not Connected q Note A bit set indicates an error BIT is performed once as controllers power up Doc No MAL 4164 4MC PM doc 189 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 3 COMMANDS SYNTAX AND PROTOCOLS 3 1 3 2 General This chapter focuses on the AL 4164 4MC communication syntax including response to commands clauses and errors The various communication protocols are presented in details in the following sections This chapter describes the low level hardware communication Orbit FR supplied software driver install a high level driver that support a DCOM interface SOFTWARE COMMUNICATION INTERFACES In addition to standard RS 232 and CAN bus
174. c 397 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 5 7 5 1 New Workspace Workspace sub menu New Workspace menu item creates an empty new workspace Choosing this menu item enables the user to select or enter the workspace name this name is the name the workspace file is saved to 5 7 5 2 Open Workspace sub menu Open Workspace sub menu menu item opens workspace from file This menu item enables the user to select or enter the workspace file 5 7 5 3 Save Workspace sub menu Save Workspace sub menu menu item saves the opened workspace 5 7 5 4 Save As Workspace sub menu Save As Workspace sub menu menu item saves the opened workspace to a user defined name 5 7 5 5 Close Workspace sub menu Close Workspace sub menu menu item closes the opened workspace Doc No MAL 4164 4MC PM doc 398 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 5 7 5 6 Add File Workspace sub menu Add File Workspace sub menu menu item adds file to workspace This menu item enables the selection of file to be added 5 7
175. c No MAL 4164 4MC PM doc 44 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBIT FR amp Software amp Command Reference 1 4 7 1 2 Starting a Position Based ECAM Motion The following code sequence will initiate an ECAM motion of Y axis with X being the master The ECAM motion is a triangular profile from 0 to 5000 and back to 0 Communication Clauses YWW 0 YMO 1 YMM 5 YSM 0 YEA 1 1 YEA 2 1 YEA 3 13 YEA 4 10000 YEA 5 1 YEA 7 0 XAR 1 0 XAR 2 0 XAR 3 1000 XAR 4 2000 XAR 5 3000 XAR 6 4000 XAR 7 5000 XAR 8 5000 XAR 9 4000 XAR 10 3000 XAR 11 2000 XAR 12 1000 XAR 13 0 YME 0 YBG Description Enable Y Axis servo loop motor on No Smoothing Set Y axis to Position Based ECAM Mode Set ECAM Start and Wrap Indexes to 1 i e AR 1 Set ECAM End Index to 13 i e AR 13 Set ECAM Gap to 10 000 counts Set ECAM Number of Cycles to 1 Set Normal Master Init Position The Master position at BG will be used as the Master Init Position Initialize the ECAM Table AR 1 to AR 13 Set Y Master Axis As X Y will follow X Begin the motion for Y axis In this example the ECAM Gap is 10 000 counts referring to the master s X axis position while the distance between each two table point is 0 or 1 000 Doc No MAL 4
176. c Routines Future Option Set mask bits for the automatic routines except the AUTOEXEC The automatic routines are disabled after power on or reset This command is currently not implemented This is a future option Attributes Syntax Type Axis related Array Assignment Receive parameter Parameter type Scope Restrictions Save to Flash Default Value Range Function not supported in this version Examples Function not supported in this version See Also QA Parameter No Doc No MAL 4164 4MC PM doc 357 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 4 8 4 20 QN Display Macro Stack Purpose Reports the macro program numbers stack The QN keyword may be used to debug macro execution The user can inquire the numbers stack form the AL 4164 4MC Shell terminal window Note that currently it is possible to access the X macro stack push and pop from the terminal Attributes Type Command Axis related Yes Array Assignment Receive parameter No Parameter type Scope Communication Restrictions None Save to Flash Default Value Range Syntax QN Examples XQN Reports the X macro program numbers stack YQN Reports
177. cation and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference of this syntax We are using again the previous example to get a variable holding the Boolean value of digital input 3 define blnput3 XPA10 bInput3 XQG 30 The XQG command inquiring internal state value is used here to get the value of digital input 3 parameter value 30 is INPUT_3 The value is pushed to the stack top by the command itself Is then assigned to bInput3 actually XPA10 4 6 4 3 If Blocks If blocks are used for conditional code execution As with math statement expressions the if else and endif statements should start with the character symbol The syntax for the if block statement is if expression Statement else Optional Statemeni2 endif The if keyword executes statement if expression is true nonzero If else is present and expression is false zero it executes statement2 After executing statement1 or statement2 control passes to the next statement Nested if blocks are supported It is possible to include while and for loops within an if statement given that they do not cross the boundaries of the if block and each other s Doc No MAL 4164 4MC PM doc 302 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party wit
178. ccccccscceseesceseeseesecnseeecuseeeesseeeeeecsaeeseeaecaeeeeseeees 83 1 8 ADVANCED FEATURES 332 03 decneahsdiavleicdicuiens REKE EE EKETE EEEE Hanae EE E 84 TBD DGtA Recording soneran e EE E EA E A nee S 84 1 8 2 Operating Data Recording in the AL 4164 4MC Controller s Family sccseseceeeeenn 85 1 8 3 Data Recording Keywords sssssssecsesccsseenceseessesecaceecseenssseesceeesaeencaecaeesesseeeeeasenseas 86 1 8 4 Data Recording Support on the AL 4164 4MC Shell nossos 92 LED POSUION Compare EVENIS asiosio e E E SE EEEE STR ESERE 93 1 8 6 Mode 0 Fixed GAP Incremental Distance lt 16 Bit ccccccccccscccsssccessesssecsseseseecsseseenes 94 1 8 7 Mode 1 Fixed GAP incremental Distance gt 16 Bit cccccccccccsccscscccsscesssscsseessesesseeennes 96 1 8 8 Mode 2 32 Bit Arbitrary Tables c iceccesccscesccsseseessesceseesesecseeescuseesesseeseesecaeeseesecaeeeeeseeees 97 1 8 9 Mode 3 32 Bit Arbitrary Tables with FPAG RAM Suppott sssseeeeeeeeeren 98 1 8 10 Compare Function Parameters Activation and Error CodeS 1 c10csccseeeeeteeetees 98 1 8 11 Configuring Digital Outputs for the Compare Function 104 1 8 12 Position Compare Events Examples ccccccccecssscesscesecesecesecusecneeeaeeeseeeseeeeeeeeeeaes 108 1 8 13 Position Capture Events c ssessseooctnoseencasssnisessessaseivnssiedensoosesnntstsesenssesusennedenseensas IlI 1 8 14 Capture Modes sinais oie a E e ee a EE a E O E a E OENE 112 1 8 15 Operating the Position C
179. ccept the command clause The Command Interpreter module checks the restrictions before actually executing the command or making a parameter assignment For parameters the restrictions relate only for assignment since reporting is always valid For a complete list of ALL attributes and restrictions please refer to the AL 4 64 4MC Advanced Multi Axes Servo Controller Software User s Manual and Commands Reference User s Manual section Keyword References Restrictions for both parameters and commands may be one or more of the following list Doc No MAL 4164 4MC PM doc 195 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Software amp Command Reference gt None No restriction is applicable Motor Should be ON 0x00000001 The requested command or parameter assignment needs an enabled motor For example the BG begin motion command must have its related motor enabled in order to be executed successfully Motor Should be OFF 0x00000002 The requested command or parameter assignment needs a disabled motor For example the CG axis configuration parameter can be assigned with a new value ONLY if its related motor is disabled The assignment cannot be executed if the motor is enabled Motion Should be ON 0x00000004 The req
180. channels handling incoming messages separate from one another 1 3 2 1 Simultaneous Communication Channels Operation Support As discussed above both communications channel protocols can operate simultaneously without any interference This is possible in the AL 4164 4MC architecture as almost all keywords and commands are executed immediately without blocking any other process However there are some special cases where a special operation in one channel can block the other These cases are When downloading new firmware in RS 232 Supported ONLY in RS 232 all other channels are immediately disabled Doc No MAL 4164 4MC PM doc 12 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR A Software amp Command Reference 1 3 3 1 3 3 1 2 When downloading a new user program in one of the channels the other channel is blocked for the same operation Other communication with the second channel is fully functional When uploading large arrays in one channel other channels will be blocked until the upload operation is completed Controller Communication Language Definitions General In the following sub sections the controller basic communication language is defined It should be noted that the same Language Syntax Rules applies regardless
181. command All modes LL Low Software Limit HL High Software Limit MF O Motor Fault Reason Report Doc No MAL 4164 4MC PM doc 155 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR Software amp Command Reference 1 9 4 4 3 General Keywords Table 1 14 General Purpose Related Keywords Keyword Description General purpose Array size 1 x 10 000 Data recording Array can also be used for GP size 1 x 100 000 OA Indirect Access General Purpose Array General Purpose Parameters Array S W Reset Controller Command LD SV Load from and Save to Flash Memory Parameters and Script Program VR Get Firmware Version Command XR XW Read and Write to Hardware Registers Internal Use Only 1 9 4 4 4 Programming Keywords The AL 4164 4MC servo controllers have a powerful script engine that allows running up to 10 AL 4164 4MC programs simultaneously at very fast rates Combined with our Integrated Script Development and Debugging Environment IDE the AL 4164 4MC internal programming engine provides endless capabilities for user application development starting from simple homing routines up to full machine sequences management For complete description User s Manual and Commands Reference of the AL 4164 4MC scripting cap
182. communication interfaces the driver software installs a Microsoft standard DCOM Distributed Component Object Model Server interfaces that enable the professional or novice programmer easy access in order to communicate with the AL 4164 4MC family controllers The programmer does not need knowledge of the Low Level keywords instead knowledge of High Level keywords is needed only This allows controlling the AL 4164 4MC from any programming environment that supports COM Please refer to the specific tool documentation on how to import COM objects The AL4164 4MC will appear with the name SCServerExelnterface In order to receive more information regarding the DCOM and Lib Interfaces please refer to the DCOM interface document available from ORBIT FR Examples are available as well Doc No MAL 4164 4MC PM doc 190 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR 3 3 ORBI T FR Software amp Command Reference The following User s Manuals are regarding the DLL s and COM DCOM interfaces gt COMDLL RS 232 Communication Library User s Manual Document revision 2 0 Date November 2003 gt SCServer COM DCOM Interface Library Reference User s Guide Document Revision 3 01 Date December 2003 Supported Communication Protocols The AL 416
183. cro line i e like running AUTOEXEC Doc No MAL 4164 4MC PM doc 275 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Software amp Command Reference q NOTES The AL 4164 4MC SCShell pre compiler searches for several types of errors in the downloaded program If an error is found an error message is issued and a window is opened describing the error reason and source including line number that caused the error An error file is also generated describing the errors found during the pre compile process The error file name will have the same name of the program name with an ERR extension see full description of pre compiler process later on in this chapter The AL 4164 4MC SCShell application supports pre compiling of macro program files even without communication to a target AL 4164 4MC hardware This may be useful to allow writing and initial syntax testing when the hardware is not available This is done simply by using the Macro Pre compile Macro sub menu on the AL 4164 4MC Shell main application menu The AL 4164 4MC Shell will do all the operations as in the normal Download Macro Option but without actually downloading the macro buffer to the hardware The user may select a default directory in which the AL 4164 4MC SCShell macro download
184. ct bit 1 and store the bit on the stack top 4 Execute a JumpTrue commana to the label WEM_X i e if XMS l 0 condition satisfied the program will jump back to the sub start location The program will continue when the jump condition is false i e XMS 0 meaning the motor is not in motion XMS 0 XJT AWEM__X End condition met so return to calling subroutine Doc No MAL 4164 4MC PM doc 253 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference tkkxkxkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk Calling Subroutine MOVE_X Start motion on X motor and wait for end of motion by calling the WEM_X subroutine MOVE_X Initiate motion on X motor XMM 0 XSM 0 XSP 20000 XAC 100000 XMO 1 XBG Wait for end of motion on X motor using the Call Subroutine function Note that the CS command takes a label as a parameter The parameter is separated by a single comma Note that when a label is used as a parameter no is used the is used only for label definition XCS WEM_X End condition met so return to calling subroutine EKE ois KE K KE K K K K K K K k K K K K K K K K K K K K K K K is K K K K K K K K K K K K K K K K K K K K K K K K K K Important Note
185. cted 256 Not Connected EN DAT Position PA 30 Yes Updated during home EN DAT Mask PA 31 Yes To be written before the home command The mask must be between 13 27 bit This mask is ended with the En DAT reading therefore for 13 bit the mask should be Ox1fff and for 27 bit should be Ox7ffffff in decimal format Driver modes AR 13 No Driver Modes per bit BitO X Driver Mode Bit1 Y Driver Mode Bit2 Z Driver Mode Bit3 W Driver Doc No MAL 4164 4MC PM doc 187 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference Mode O Driver in current mode 1 Driver in velocity mode This AR is written to a dedicated external FPGA address in the autoexec of the macro at power up Trigger Counter WPG 8 WPG 8 is a 32 bit register that holds the trigger counter triggers outputted May be reset as well Modulus Value HL notan NA Yes HL 2 states the array position the axis is parameter moduled at Compare Sync PG 2 NA Yes Synchronizes the command data to be downloaded and the axis position Doc No MAL 4164 4MC PM doc 188 Rev B Information contained herein is the sole property of ORBIT FR and is not for pu
186. d General Purpose In1 General Purpose In2 General Purpose In3 General Purpose In4 Reserved l N 0l Of A ol Ni gt O Reserved Reserved 9 Reserved 10 Reserved 11 Reserved 12 Reserved 13 Reserved 14 Reserved 15 Doc No MAL 4164 4MC PM doc 183 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR P d Software amp Command Reference 2 5 2 Output Ports The following chart reflects bit map of OP Description Bit Reserved 0 Reserved 1 General Purpose Output1 9 Trigger General Purpose Output2 10 General Purpose Output3 11 General Purpose Output4 12 General Purpose Output5 13 Reserved 14 Reserved 15 Reserved 16 Reserved 17 Reserved 18 Reserved 19 Reserved 20 Doc No MAL 4164 4MC PM doc 184 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 2 6 2 6 1 1 Continuous Jogging Motions and Compare In this Mode Description The AL4164 4MC support endless motion of rotary axes in Jogging mode only based on the following opti
187. d Analog Voltage Command Interfaces Velocity Feed Forward Open Loop Open Loop Operation Command TC Mode Switch NC Analog Driver Comman DC Brush Motion Position 16 Bit DACS Lo ol Profile PID Filter Brushless Generator Dac_Gain Single Command Interface or Brushless Commutatio 2 Phase a Command Interface Auxiliary Sinusoidal Motor and Encoder Load Gain System Electro Mechanical Figure 1 5 Position Loop PID Control Scheme Structure Doc No MAL 4164 4MC PM doc 59 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR D d Software amp Command Reference Position Error Loop Gain A Position Loop PID B Velocity PI Figure 1 6 Position PID and Velocity PI Filters Doc No MAL 4164 4MC PM doc 60 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Software amp Command Reference 1 5 2 Linear PID and PIV Filter Equations 1 5 3 Standard PID Filter Mode In standard Close Loop operation in PID mode the linear PID control filter output is fed into the 2 order filter if it is enabled and then passes the final output saturation for t
188. d is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Software amp Command Reference With the new SCShell the user can easily and automatically set filter variables The Shell provides a utility that converts standard Frequency and Damping values to the controller filter form parameters scaling The Shell is using a standard Z transform for the conversion 1 5 6 Output Command and D2A Gain According to the specific controller type and operation mode the control filter output is converted to an analog driver command or PWM signals The AL 4164 4MC controllers family support the following command types and resolutions gt AL 4164 4MC Main Analog Commands D2A s are 16 bits resolution gt AL 4164 4MC PWM command outputs for Mini Drivers in 12 bits resolution To avoid loop and command gain differences the standard S W for both the AL 4164 4MC in all drive types and operation modes support interface for ALL command types both Analog and PWM outputs in fixed 16 bits resolution i e 32 767 bits for 10 v or 100 PWM command and 32 767 bits for 10 v or 100 PWM command An additional fixed gain is implied by this conversion This gain is Command DAC_Gain 10 v 32767 LSB Since a command output of 32767 the maximum command value for the AL 4164 4MC generates the full scale analog command of
189. d the communication link is open see Figure 4 3 AL 4164 4MC Shell application main window Open the Macro Download DAT Macro sub menu on the AL 4164 4MC Shell main application menu An Open File dialog will appear letting the user to select a desired macro file default AL 4164 4MC macro files extension is DAT Select the desired macro file and press open The AL 4164 4MC Shell will automatically open the selected file pre compile the program download the macro buffer to the AL 4164 4MC hardware memory and will initialize the AL 4164 4MC controller program If all is OK a Download completed successfully message should appear The program is now ready for running Note that after loading a new program the AUTOEX is not started automatically but only after power up 6 In order to save the downloaded program to the controller flash memory use the ASV command from the AL 4164 4MC Shell terminal or Toolbar Program that is not saved to the flash memory will be lost after power up If you want the AL 4164 4MC controller to start automatic execution of the macro program you must switch the AL 4164 4MC power off and on again to restart its real time software Note that you can still run any valid subroutine name by using the debugger or by issuing an XQE lt LABEL gt command from the terminal window After down loading a program issuing an XQE command with no parameters will start program execution from the first ma
190. d to allow moving the motor in open loop mode before phase initialization process is completed For example if during the phase initialization mode a mechanical limit is detected the motor can be commanded for a controlled open loop motion to get away from the limit This mode can also be used to overcome coulomb friction problems during the phase initialization process The mode can further be used for advanced phase initialization processes q NOTES Both the Main and Auxiliary DAC commands can be inverted by the hardware using the dedicated configuration bits in CG please refer to the CG command reference for more information about CG bits When the Main or Aux DAC commands are inverted the effect on both TC and AO should be considered carefully when operating in SIN mode Switching only one phase command direction in SIN mode can effectively change the commutation sequence and take the motor out of its phase initialization point If motor direction is to be inverted both the Main and Aux channels should be inverted When the SIN mode commutation enable flag is ON CG 2zero based 1 and the motor is disabled MO 0 the real time servo loop automatically reset the value of AO Phase B command to zero so any assignment to AO has no effect Doc No MAL 4164 4MC PM doc 133 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplicati
191. d without a parameter this error code is returned MODE_PARAM_NOT_VALID This error is issued by PQ 1 if the requested Compare Mode defined by PG i 1 is out of its range In the current firmware version only Modes 0 and 2 are supported PULSE_MODE_PARAM_NOT_VALID This error is issued by PQ 1 if the Pulse Width Mode Parameter defined by PG Ii 6 is out of its range The allowed range for the Pulse Width Mode Parameter is 0 or 1 Doc No MAL 4164 4MC PM doc 103 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR Software amp Command Reference Val EC QC Code Name PULSE WIDTH_PARAM_NOT VALID 3 PULSE_POL_PARAM_NOT_VALID 65 PS_PE_PARAM_NOT_VALID NO_HW_SUPPORT_IN_4AXIS_VER PD_PARAM_NOT_VALID Error Description This error is issued by PQ 1 if the Pulse Width Parameter defined by PG i 5 is out of its range The allowed range for the Pulse Width Parameter is 0 to 3 This error is issued by PQ 1 if the Pulse Polarity Parameter defined by PG Ii 7 is out of its range The allowed range for the Pulse Polarity Parameter is O or 1 This error is issued by PQ 1 if the Distance Parameter defined by PG i 2 is out of its range Out of range values for Distance are 0O i
192. describe the AL 4164 4MC firmware Data Recording interfaces Data Recording Keywords This section describes the Data Recording keywords of the AL 4164 4MC controller s family 1 8 3 1 Begin Stop Data Recording Command BR Using this Command the user can start or stop data recording process The command only set internal flags that start the real time recording process The command does not check validity of recorded vectors whatsoever except for no current on going recording process see error code description below The command syntax is as follows Doc No MAL 4164 4MC PM doc 86 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference XBR lt Optional Parameter gt Where e X is an axis identifier Since BR is a global function not related to any axis Calling it with any axis identifier will start or stop according to the parameter the recording process e Parameter lt Optional gt The BR command can receive an optional parameter When called without any parameter i e XBR the command starts the recording process e Parameter 1 XBR 1 Start a new recording process This is identical to XBR e Parameter 0 XBR 0 Stops the current ongoing recording process RR is re
193. dified to the same value to avoid positioning errors Doc No MAL 4164 4MC PM doc 194 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 3 4 2 2 3 4 2 3 Command Keywords Command Keywords always initiate a process start a motion save parameters begin internal script program execution etc Commands do not report a specific register value and in general do not assign any specific register values though they can internally modify values of more then one register For example the BR Begin Recording command will of course modify the value of the RR Recording Status register The LD Load from Flash command will of course modify values of almost ALL registers Commands can receive a parameter actually an argument which affects the command process For example the command to execute a program QE can receive a label string argument indicating the name of the subroutine to execute e g XQE HOME Command s parameter can be a string see above or a number The command s parameter is separated from the command itself using a comma character Keywords Attributes and Restrictions Each Keyword has attributes defining it and restrictions that must be satisfied in order to a
194. ding this mode of operation 1 This depends on the controller being used AL 4164 4MC Although in this mode the hardware is responsible for the exact compare triggering it is the controller real time software firmware that manages the end point monitoring i e disabling the compare pulse output when PEnd is passed As a result although the actual pulse frequency is not limited if the resulting pulse frequency is higher then the servo sampling rate currently 16 384 Hz additional pulses might be generated beyond location PEnd In any case all pulses will be disabled no later then 61 uSec after PEnd is passed 2 As noted the value of Distance is limited to 32 767 excluding 0 Although the parameter itself is not range protected the compare function enable command validates all parameters and issues a dedicated error code if any of the parameters is out of range Doc No MAL 4164 4MC PM doc 95 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR 1 8 7 ORBI T FR ES Software amp Command Reference 3 The Compare function works correctly ONLY if the sign of Distance corresponds to the direction of motion and to PStart and PEnd definitions This means that for Distance gt 0 the user MUST specify PEnd gt PStart and the motion direction MUST be positive
195. dow in red Doc No MAL 4164 4MC PM doc 53 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ye Software amp Command Reference The resulted acceleration profile not shown in the graph is not continuous and includes 0 time acceleration changes jerks Note also the resulted actual motor velocity seen slightly overshooting in this case in both constant speed and zero speed settlings the blue actual motor speed graph overshooting the red desired speed graph in the upper window Solutions Data Viewer wwsampleforum sdy File View Window Zoom Objects Analyze Help a S ajak ia ai kay wwsampleforum sdy Untitled 1 1 1 T 1 1 T 1 1 1 1 1 T 1 1 1 1 1 1 T 1 1 1 1 1 1 Ta we te ee me ee MMM ee 0 796875 d 0 498047 DesPos 24238 XPos 24 Figure 1 3 Typical motion with no profile smoothing Doc No MAL 4164 4MC PM doc 54 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR kL Software amp Command Reference Note that profile smoothing implementation does not imply any numerical limitations and does not include any minimal motion time limit
196. ds the higher level PC Shell environment supports advanced conditions If While etc and advanced expression calculations Translation from the high to low level language is fully automatic and is the responsibility of the PC Shell environment pre compiler module integrated to our PC AL 4164 4MC Shell program The only reasonable limitation that this programming structure imposes is that for the development of a macro program you should have a PC Windows based platform available This is if course required only for the development and debugging stage Once the program was downloaded to the embedded hardware and saved to its flash memory the controller program is fully autonomous and supports stand alone operation Doc No MAL 4164 4MC PM doc 235 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference The benefits from this structure are of course wider language base faster real time execution powerful debugging environment and much more as will be demonstrated in this user s manual Doc No MAL 4164 4MC PM doc 236 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T
197. e 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Pre fix Array Array Array Data 3 Data 2 Data 1 Data 0 Code Index 1 Index 0 optional optional optional optional Message length will be 4 bytes The set B AR 1000 722 clause will be represented in RS 232 by Doc No MAL 4164 4MC PM doc 217 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBIT FR amp BAR 1000 722 lt CR gt Software amp Command Reference RS 232 Set Array member clauses And in CAN by Byte 1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Bytes Pre fix Array Array Array Data 3 Data 2 Data 1 Data 0 Code Index 1 Index 0 optional optional optional optional Message length will be 8 bytes The report X PA 1 clause will be represented in RS 232 by XPA 1 lt CR gt RS 232 Report Array member clauses And in CAN by Byte 1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Bytes Pre fix Array Array Array Data 3 Data 2 Data 1 Data 0 Code Index 1 Index 0 optional optional optional optional Doc No MAL 4164 4MC PM doc 218 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication
198. e 4 5 AL 4164 4MC Macro Program Internal wait Conditions 0 0 0 0 eeeeeeeeeneees 258 Table 4 6 AL 4164 4MC Macro program timer keywordS eceeeceeeeeeeeeeeeeeeeeeeeeaeeeteeaaees 261 Table 4 7 AL 4164 4MC Macro program timer KeyWords cccecseeeeeneeeeeeeeneeeeeeeneeeeeeenaees 262 Table 4 8 ScrEdit Debugger window Toolbar and Menu functions ceeeeeeeteeeeees 283 Table 4 9 AL 4164 4MC Macro program handling Keywords csceeeeeeeeeeeseteeeeeenaees 321 Table 4 10 AL 4164 4MC Macro program operators ccccceeeeeceeceeceeeeeeeeeeeeenaeeeeeeeeneees 322 Table 4 11 AL 4164 4MC Macro program flow control KeyWOrds c ccceeeeeereeeeeeeeees 323 Doc No MAL 4164 4MC PM doc XIV Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBIT FR FORWARD Table 4 12 Wait and Internal State Inquiry Functions 000 0 eee eeeeee ee teereeeeeeeaeeeeeeeaees 323 Table 4 13 AL 4164 4MC Macro program timer keywordS 0 0 0 ecceeceeeeeeeeeeeeeeeeeteeneeeeteenaees 324 Table 4 14 AL 4164 4MC Macro program automatic routines control keywords 324 Table 4 15 AL 4164 4MC Macro program remote CAN access command6s 06 325 Table 4 16 AL 4164 4MC Macro program external communication interfaces 326 Table
199. e AL 4164 4MC command interpreter Doc No MAL 4164 4MC PM doc 17 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR kL Software amp Command Reference AL 4164 4MC There are 4 Axes Groups supported by the AL 4164 4MC These are A B C and D By default the A group stands for ALL axes and the B group defines X and Y axes sub group For example issuing the following assignment APS 0 set the position of all axes to 0 while BPS 0 set only the X and Y axes position to 0 When the controller is powered up the A and B group definitions are automatically set to their default The user cannot change the default definition of the A and B groups nor save them to the FLASH memory After power up the user can however define other values to the A and B groups although this is not recommended As a design rule we recommend to use A and B always as their default initial definitions If other sub groups are needed it is recommended to use the C and D groups The C and D groups can be assigned to any value The definition is saved to the flash memory with all other controller parameters and can be used after power up Group definition is simply made using a new bit
200. e commands supported by the AL 4164 4MC Shell pre compiler 4 6 3 1 The target Definition Directive The target directive defines the current firmware type and version of the hardware to which the macro is being downloaded to It is used to define features supported by the current version internal controller macro buffer size and possibly other parameters The syntax for the directive is target lt product type gt lt product version gt lt buffer_offset gt lt buffer_size gt GH All the characters between the are the actual target definition Comment may be placed on the same line after the target definition preceded by the comment sign character For example the following target directive defines an AL 4164 4MC product firmware version 1 41 macro buffer offset 0 and macro buffer size 250000 bytes target AL 4164 4MC 141 0 250000 Note that a target directive must be defined in order to pre compile and download a macro Not defining this directive is an error The target definition directive should appear before the first executable code line in a source file This also implies to include files If an include file contains actual executable code it must appear after the target definition Include files that contain only define directives may appear before the target definition Doc No MAL 4164 4MC PM doc 293 Rev B Information contained herein is the sole property of ORBIT FR and is
201. e rotor position in reference to the absolute magnetic poles within 6 segments 60 each for a complete 360 of the magnetic cycle or pitch In standard Trapezoidal or 6 Step commutation the current flowing through the 3 motor phases is constant during each full 60 segment Typically in each segment the current flows through 2 phases only while the third phase has 0 current It is acommon standard in this method that the motor s driver receives a single 10v current command from the servo controller and based on the motor Hall Effect Sensor signals generates all 3 phase currents according to the correct sequence The main shortcoming of this method is that motors operating in Trapezoidal commutation shows a very non linear torque constant with high ripple disturbance torques forces at constant input currents Being directly related to the rotor magnetic position the disturbance torque frequency depends on the motor velocity and can have a dramatic effect on overall system performances as the bandwidth of this disturbance can span over a frequency range from 0 to hundreds of Hz From the servo controller aspect both DC Brush type and DC Brushless BLDC motors working in trapezoidal commutation method are similar Doc No MAL 4164 4MC PM doc 123 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any othe
202. eSpeedFast Begin motion Search for home sensor If stopped due to Limit then Speed Speed ONDA Stop once home sensor detected 9 If stopped due to Limit then error 10 Set speed HomeSpeedSlow Begin motion 11 Search for no home sensor 12 If stopped due to Limit then error 13 Set Speed SlowSpeed 2 14 Search home sensor on and stop 15 If need to search index Set Speed to SlowSpeed Set Relative position Search Index Max Distance Begin motion Doc No MAL 4164 4MC PM doc 175 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR P d Software amp Command Reference Else goto 17 16 If indexfound 1 stop 17 If endofmotion if foundindexes 1 then error 18 Set pos take into consideration delta to index pos and set index to home distance delta variable Set the XP parameter to 0 19 Move absolute after home 20 Set Home Completed flag and LED 2 2 2 Homing Related Parameters Description Array Index Axis Related Home Speed Fast PA 10 Yes Home Speed Slow PA 11 Yes Search Index Max PA 12 Yes Distance Home Type On PA 13 Yes Index Etc Home Position PA 14 Yes Move to absolute PA 15 Yes position after home Distance between PA 16 Yes home and index Home status P
203. ea left mouse click and select Add To Watch menu item Remove watch variable by selecting the variable from the variable list and press delete button Editing a watch variable by double click on the variable editing it and apply changes by pressing enter Updating the watch variable list see section 5 7 21 2 A Variable value that changed from the last update is colored with Red if the value did not change its color is black Source Icons Area This area shows breakpoints bookmarks and the current execution point Bookmarks Blue cubes in the Source Icons area Breakpoints Red circles in the Source Icons area Execution Location Yellow arrow in the Source Icons area marks the current execution location Doc No MAL 4164 4MC PM doc 396 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 5 7 Menus 5 7 1 File Menu This section covers all File menu items 5 7 2 New New menu item creates a new empty macro file 5 7 3 Open Open menu item opens a macro file to edit 5 7 4 Close Close menu item closes the top most opened macro file 5 7 5 Workspace This menu item will show sub menu for workspace options Workspace menu is a sub menu to File menu Doc No MAL 4164 4MC PM do
204. ease refer to paragraphs 1 6 3 Directive Commands and 1 6 4 Advanced Expressions Parsing in this user s manual for thorough description of all pre compiler supported directive commands and advanced syntax expressions Full description and numerous examples are given in these references Doc No MAL 4164 4MC PM doc 384 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 4 8 6 8 if To be completed on next version of this User s Manual In the mean time please refer to paragraphs 1 6 3 Directive Commands and 1 6 4 Advanced Expressions Parsing in this user s manual for thorough description of all pre compiler supported directive commands and advanced syntax expressions Full description and numerous examples are given in these references 4 8 6 9 while To be completed on next version of this User s Manual In the mean time please refer to paragraphs 1 6 3 Directive Commands and 1 6 4 Advanced Expressions Parsing in this user s manual for thorough description of all pre compiler supported directive commands and advanced syntax expressions Full description and numerous examples are given in these references Doc No MAL 4164 4MC PM doc 385 Rev B Information contained herein is the sole property of
205. ed for i e XIA1 temporary usage of macro variables through and indirect addressing see XIA50 explanation below No other internal controller function uses this array under any circumstances q NOTE When working with non axis related arrays i e AR iJand IA i using either X Y or group prefixes as a preceding character yields access to the same internal register This is true of course for all non axis related commands supported by the AL 4164 4MC syntax The selection of which preceding character to use is user free With the multi dimensional PA i array one example may be to use XPA for storing X motion parameters and YPA to store Y motion parameters etc This decision is again completely left for the macro programmer to decide Doc No MAL 4164 4MC PM doc 246 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 4 2 5 1 Indirect Addressing As noted all the arrays described above supports indirect addressing Indirect addressing is required to enable based indexing to a set of parameters For example a single homing routine that should serve more then one axis with each axis having different motion parameters may use indirect addressing accessing the global parameters array The calling task shou
206. eeseeseesecacesecscesessaeecesaecaeesecaeesessaeeneaseneeas 271 4 5 THE INTEGRATED DEVELOPMENT ENVIRONMENT 272 4 3 G nerale Sensctenues socbsceaasnsetedineas E T E EE EE N E EEE E Eees 272 4 5 2 Writing and Editing AL 4164 4MC Macro Files cscccscssccecesseeseesseteereesecsesecneeaseseneenss 273 4 5 3 AL 4164 4MC SCShell Support for Downloading Macro Files to the AL 4164 4MC H rdware smeo iid eden ted Shagancadstdes aise iuteagechsdunns aa a eaa Ee aea A E E Tara E E 274 4 5 44 SrcEdit Macro Debugger Environment Features oscene 278 4 6 THE IDE PRE COMPILER SUPPORT sssseeeseeseeeesieerrsrsrerrrrereeesrsrereeretsrsesreererenene 289 46L General srai eae aae a Sues O AE aa Eaa Aa a Ea a E E E ES 289 4 6 2 Non Executable Code Comments Blanks Etc ossee 291 4 6 3 Directive Commands oo eeeecceccesesesesecssesecssesecsseescseeceesecseesecueeeeesaeesesaecaeesecaeesceeseneseeneeees 292 4 6 4 Advanced Expressions PArSin g c scsccssesssscesesseseesseecseeecseeecsseeseesecaeesecaeesecaeeeeseenaeees 296 4 7 APPLICATION EXAMPLES 33 sen cidinidetienintias adidas aiiisisend Auld ian 309 4d AEROMPLE TL iasan E R ibs Gout heats lag Mage phlassiugtosdeet 309 4 8 AL 4164 4MC SCRIPT KEYWORDS COMMANDS REFERENCE APPENDIX 320 481 Task Based Reference sisses E a S 320 482 Task Description sissien ott ieee et le E A 320 4 8 3 Task Based Command list ccccccccecccesscescesecesecesecnsecnseceeeseeeseeeseeseeeeeeeseeeeeeseseneseneeeaes 320 4 8 4
207. eference 4 8 4 30 RT Return From Subroutine Purpose Returns from a subroutine call Note that if the subroutine was not called using one of the Call Sub functions CS CF CT a stack error will occur Attributes Type Command Axis related No Array Assignment Receive parameter No Parameter type Scope Program Restrictions None Save to Flash Default Value Range Syntax RT Keyword is not axis related thus XRT YRT and BRT are equivalent Examples MAIN XCS SUB_1 Will call the SUB_1 Subroutine XPA1 1 Return point of subroutine Doc No MAL 4164 4MC PM doc 371 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference SUB_1 XMO 1 XRT Return from function See Also CS CT CF QE Doc No MAL 4164 4MC PM doc 372 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBIT FR amp 4 8 4 31 TD Timer Down Purpose Software amp Command Reference 32 bits timers Axis related one for each axis positive only 0 2147000000 updated once this keyword is called It is calculated according to the hardware
208. efine WaitForlnput6Off define WaitForlnput7On define WaitF orlnput7 Off define WaitForlnput8On define WaitF orlnput8Off define WaitForlnput9On define WaitF orlnput9Off define WaitForlnput10On define WaitForlnput10Off define WaitForlnput110On define WaitForlnput11 Off define WaitForlnput120n define WaitForlnput12Off define WaitForlnput130n define WaitForlnput130Off define WaitForlnput140n define WaitForlnput14Off define WaitForlnput150n define WaitForlnput150ff define WaitForlnput16On define WaitForlnput16Off define WaitForXRLSOn define WaitForXRLSOff define WaitForxFLSOn define WaitForXFLSOff define WaitForYRLSOn define WaitForYRLSOff define WaitForYFLSOn define WaitForYFLSOff define WaitForZRLSOn define WaitForZRLSOff define WaitForZFLSOn Software amp Command Reference XQW 102031 XQW 102040 XQW 102041 XQW 102050 XQW 102051 XQW 102060 XQW 102061 XQW 102070 XQW 102071 XQW 102080 XQW 102081 XQW 102090 XQW 102091 XQW 102100 XQW 102101 XQW 102110 XQW 102111 XQW 102120 XQW 102121 XQW 102130 XQW 102131 XQW 102140 XQW 102141 XQW 102150 XQW 102151 XQW 102160 XQW 102161 XQW 102170 XQW 102171 XQW 102180 XQW 102181 XQW 102190 XQW 102191 XQW 102200 XQW 102201 XQW 102210 XQW 1
209. eld in the range of 0 lt ML lt MP If position is incremented above the value of MP more then 360 or decrements below 0 ML is automatically modulated to remain in the O lt ML lt MP range The true magnetic location angle is computed as follows g we 360 MP D 6b As noted like the true encoder position PS ML is continuously updated by the real time code at all times while the controller is operating ML is however not effected when PS value is changed Users can set a value to ML in the range of 0 lt ML lt MP to define the offset between the incremental position reading and the true absolute physical magnetic 0 location The initial offset of ML should be set ONLY during the Phase Initialization Process as explained in the following section Changing ML value after phase initialization during normal operation in SIN commutation mode will cause abrupt undesired motion and should be avoided Doc No MAL 4164 4MC PM doc 128 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 1 8 18 4 2 Phase Initialization Process For correct sinusoidal commutation operation the exact absolute up to few electrical degrees magnetic or electrical
210. elocity Feed Forward The AL 4164 4MC controller s family support reference command Feed Forward features gt Command Acceleration Feed Forward Acc FF is supported in both PID and PIV close loop modes The Acceleration Feed Forward gain is controlled by the FF 2 parameter FF 2 0 means no acceleration feed forward is used The Acceleration Feed Forward Gain FF 2 is working on the profile acceleration in counts sec2 219 units gt Command Velocity Feed Forward Vel FF is currently supported in PID close loop control mode only The Velocity Feed Forward gain is controlled by the FF parameter FF 1 FF 0 means no acceleration feed forward is used The Velocity Feed Forward Gain FF is working on the profile velocity in counts sample time units In both cases the resulted Feed Forward value is added to the filter command output in DAC LSB units Note that the PIV control scheme has an inherent internal velocity feed forward path with unity gain SeFigure 1 4 Position Over Velocity Loop PIV Control Scheme Structure directed to the Velocity loop error junction This is an essential implementation issue to allow 0 position error during constant speed motion profile The user cannot change the gain to this feed forward path nor disable it Doc No MAL 4164 4MC PM doc 71 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed
211. elow the next compare point by the Distance value and so on until the PEnd is reached The first pulse is thus generated at Position PStart the second is generated at Position PStart Distance the next one will be at Position PStart Distance 2 etc In general the N pulse is generated at position Position PStart Distance N where N 0 is the start point PStart Doc No MAL 4164 4MC PM doc 94 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference In this mode the compare pulses are fully generated by the hardware so there is no limit to the max pulses frequency Distances as low as 1 encoder count at any encoder speed are supported The value of Distance the incremental GAP is limited to 16 bit i e 32 767 excluding 0 The sign of Distance controls direction of operation Positive Distance value defines increasing encoder counter motion Negative Distance value defines decreasing encoder counter motion see remark below The compare pulse in this mode is automatically disabled by the real time controller firmware when the end point condition is met This is when Position gt PEnd for Distance gt 0 and when Position lt PEnd for Distance lt 0 There are few important issues to note regar
212. em shows the Colors dialog Foreground Foreground Color Color Text Item Background Background Color Color Eont Style Directive Command Label High Level Word Key Words 1 i Text Font Style Figure 5 10 Colors Dialog Colors dialog components Text Item Select the text type to be changed gt Foreground Color Text foreground color Background Color Text background color gt Text Font Style Normal Bold or Italic Next is given an example for changing a numbers text color and font Doc No MAL 4164 4MC PM doc 406 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference Number text color and font setting step by step gt Select the Text Item to edit Select the text foreground gt Select the text background Default is the page color Select the text font style To apply changes for this document press apply and than ok Doc No MAL 4164 4MC PM doc 407 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 5 7 18 View Menu This section covers al
213. ement counting seconds while 1 Infinite loop XTD 16384 XQW 107000 1 Second Delay XPA1 XPA1 1 endwhile Example 2 Showing a simple while loop with internal termination test using an if and break statements AL 4164 4MC XPA1 0 while 1 Infinite loop XTD 16384 XQW 107000 1 Second Delay XPA1 XPA1 1 Increment seconds counter if XPA1 gt 20 Test for expired time 20 seconds break endif Doc No MAL 4164 4MC PM doc 305 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference endwhile Example 3 This example shows the usage of a while block to implement a subroutine waiting for end of motion on a remote MCD unit We define global variables for the implementation of the wait functions We then use a while statement with a complex expression statement The expression XZR MCD_MS amp 1 inquire the value of the remote MCD_MS motion status will be pushed by the ZR to the stack top and then extract the first bit amp 1 indicating InMotion The result will be at the stack top and will be used by the while condition While in motion the function will stay in the loop executing a small Var2 delay each cycle If not in motion a longer delay Var1 will be waited and the function returns This wait for end
214. en authorization from ORBIT FR OREI T FR P d Software amp Command Reference Again as noted above the main advantage of this parsing syntax is that expression complexity is practically unlimited and does not required complex run time parsing mechanisms to be implemented by the controller macro engine Nevertheless for those users who are not used to program in this way the PC based AL 4164 4MC Shell pre compiler supports standard expression parsing translating normal expressions to the low level syntax For full description of the AL 4164 4MCM Shell pre compiler support please refer to chapter 5 later on in this users manual The following additional keywords are added to support expressions and the numbers stack These keywords are usually uses from within a macro program but are also supported from the communication mainly for debugging purposes Table 4 2 AL 4164 4MC Macro program operators Keyword Description QN Displays the macro stack QZ Clears all the numbers stack Push without argument duplicates last stack element Pop without argument remove last stack element Add Subtract i Multiply Divide ABS Negate amp Bitwise AND Bitwise OR A Bitwise XOR Bitwise NOT Doc No MAL 4164 4MC PM doc 243 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it
215. ensed XN is an axis related parameter keyword Each axis holds its own Capture index counter On the AL 4164 4MC only 4 axes are supported so accessing XN with axes identifiers higher then W has no meaning The Capture Location XC The last Captured location is stored by the controller firmware in the XC parameter for each axis independently i e XXC YXC etc The user should note that when PS is updated the value of XC is meaningless The Capture feature implementation does not support hardware or software buffers Whenever a Capture is detected the last value of XC is overridden and lost As indicated above XC is an axis related parameter keyword Each axis holds its own Captured Position Location value On the AL 4164 4MC Doc No MAL 4164 4MC PM doc 113 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR P Software amp Command Reference only 4 axes are supported so accessing XC with axes identifiers higher then W has no meaning 1 8 15 3 Selection of Capture Source Pulse YOM The user can configure the Capture pulse source by modifying the IO_MODE_1 register This is in the current firmware version done using the YOM parameter please see the OM keyword re
216. ent 1 8 15 Operating the Position Capture and Relevant Keywords The Capture function is independent to any other operation mode of the controller The operation of Position Capture is very simple The user only needs to set the Capture source signal configuration word and the controller will automatically Capture positions whenever the Capture source pulse is detected There is no special activation command for the Capture function nor any special error codes related to it The following dedicated Keywords are used to configure and work with the Capture function e XN Capture Index counter Doc No MAL 4164 4MC PM doc 112 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 1 8 15 1 1 8 15 2 e XC Last Capture Position e YOM Configure the Capture Signal source for all axes In the following sections the usage of these keyword is explained The Capture Events Counter XN Each time the hardware Captures Latches a new location the total number of Capture events XN is incremented by 1 The user can reset this variable to O and monitor its value to wait for a Capture event within a script program This can be used for example to signal events to a host computer whenever a Capture event is s
217. ent to acknowledge the EDB message interpretation The prompt format matches standard existing AL 4164 4MC communication protocol The prompt return address is the standard controller TA address XZI 5 EDB Mode Error Status Report Using this parameter the user usually a host computer but also possibly an RS 232 terminal interface can interrogate the last error in EDB message interpretation The following bits are reported YYYY Y Bit 0 Error in EDB message buffer length Bit 1 Buffer 1 Index is not valid Bit 2 Buffer 1 Array Code is not valid Bit 3 Buffer 2 Index is not valid Bit 4 Buffer 2 Array Code is not valid Each new incoming message clears the last error status report YZI 5 EDB Mode Receiving CAN Address Any valid see definition above message received in that address when Doc No MAL 4164 4MC PM doc 231 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR P d Software amp Command Reference Param Name Description and Usage Bits 0 7 of the EDB configuration parameter is 1 is used to update the relevant data buffers XZI 6 Buffer 1 Array Code This parameter defines the code standard AL 4164 4MC CAN Array Code for the requested Array to be updated by the parameter Long Dat
218. entifiers Group Axes Inhibit Output Incremental Encoder Keyword Keyword Attributes The AL 4164 4MC Commands Syntax support the concept of Axes Group identifier definition An Axes Group allows the user to define an arbitrary sub set of controller axes to be acted upon Like in normal axes identifiers the Command Interpreter ignores the Group Identifier of non axis related keywords The AL 4164 4MC supports up to 4 axes Groups identifiers A B C D The A and B Groups always have the default of All and Both X and Y assignments after power up A dedicated digital output of the AL 4164 4MC one for each axis that is used to enable disable an external motor s driver The inhibit output reflects the state of the MO parameter A standard position sensor used as a position feedback in conjunction with motors and servo systems A special AL 4164 4MC hardware circuit uses the encoder s signals to continuously sense the motor load position and speed and to accordingly control the motor motion A token consisting of 2 characters which identifies a unique AL 4164 4MC command or parameter Each Keyword of the AL 4164 4MC has one or more attributes The Keyword attribute tells the command 1 The SC AT 2M does not support configurable Axis groups Doc No MAL 4164 4MC PM doc 6 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplicat
219. er VA Vector Acceleration for XY Vector Motions Vector Deceleration for XY Vector Motions Vector Limit Deceleration for XY Vector Motions Vector Speed for XY Vector Motions Doc No MAL 4164 4MC PM doc 151 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 1 9 4 2 2 Control Filter and Real time Servo Loop Keywords Table 1 8 Control Filter and Real time Servo Loop Related Keywords Keyword Description Special Control Parameters Array BF Bese Poston Hot the eit Postion Reernce O Control Filter Diff Term Gain RE ereo tema Actual servo loop Position Error The Control Drive Command PS Position Holds the actual encoder position value IS Integral Term Saturation of PID and PIV control filters Status Register Motor ON Enables MO 1 Disables MO 0 the servo loop NC No Control Enables NC 1 Disables NC 0 Open Loop Mode TC Torque Command in Open Loop mode TL Torque Limit Limits the D2A command All modes Target Radius Doc No MAL 4164 4MC PM doc 152 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES
220. er can be sent to the RS232 port by a simple clause that contains its keyword only just as reporting it via a terminal For example XKP clause in a macro will send XKP value to the RS232 port BKP will send the X and the Y values separated by a comma Similarly commands that reports a list of values QQ UD when included in a macro will send their output to the RS232 line Examples The command XMG STATE_01 Will send the following string through the RS 232 lines STATE 01 The command XMG STATE_018 amp Will send the same string followed by a carriage return lt CR gt character q NOTE This function is not supported under the current firmware version Description is given for reference only Do not use this function Doc No MAL 4164 4MC PM doc 268 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 4 4 NOTES REGARDING THE LOW LEVEL AL 4164 4MC MACRO PROGRAM 4 4 1 Macro and Motions Under the AL 4164 4 family controllers the macro execution and the axis motions are completely independent If a motion fails for some reason and normally the motor is disabled in this case it does not directly affect macro execution Note that if after the motor was disabled a begin motion command is issued t
221. es one for definitions and one file of actual code the best way to manage such a macro is with workspace Workspace operations gt Creating a new workspace From File menu choose File Workspace New Workspace select or create a new workspace file A new workspace name will appear at the workspace area Open Close Save workspace From File menu choose File Workspace Save File Workspace Save As File Workspace Open or File Workspace Close Doc No MAL 4164 4MC PM doc 389 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Software amp Command Reference gt gt Close workspace Adding files There are two ways to add file to workspace Drag and Drop the file to the workspace are From File menu choose File Workspace Add File and select the file to choose Deleting files There are two ways to delete files from workspace Select file to delete form workspace are left mouse click and select Remove File Select the file to remove and from File menu choose File Workspace Remove File this will remove the selected file from workspace Compiling Debugging workspace To compile a workspace the main macro file should be opened and on top of all other opened files Than compiling will be done on the top most opened file O
222. es into the source file Pre compiler lines are recognized and carried out before any other action is taken The sign defining a directive command must be the first nonwhite space character on the line containing the directive No white space characters should appear between the sign and the first letter of the directive Directives include arguments The comment delimiter must precede any text that follows a directive command except for arguments or values that are part of the directive Note that some directive commands may appear anywhere in a source file while some are valid only at the beginning of a file The target directive must appear only at the beginning of a source file The define description and include directives may appear anywhere in a source file Like C programming the define directive command applies only to code appearing after its definition this is also true for defines within include files As a thumb rule use all define directive statements at the beginning of any source file Use separate include files for define statements and for sub routines implementation Doc No MAL 4164 4MC PM doc 292 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference Below are described the directiv
223. ese cases the axis identification letter is ignored although it still MUST be included Doc No MAL 4164 4MC PM doc 204 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference Calling a keyword with no Axis identifier pre fix is an error 3 6 3 3 Clause Handling A command clause is handled only after the termination character has been received Next command clause characters are received buffer but are not handled until the current command handling is completed Each command clause includes only a single keyword The keyword may be a command or a parameter In case of a command keyword the command clause will include only the command keyword preceded with the axis identification letter In case of a parameter keyword the command clause may be a report or a set parameter clause A report parameter value command clause includes only the parameter keyword with index in square brackets for arrays A set parameter value command clause includes the parameter keyword with index in square brackets for arrays and the value Parameter values are decimal long integers and in text format ASCCI printable characters q NOTES gt Blanks tabs and new line characters are received echoed but are ignored AL 4164 4M
224. essage clears the last error status report ZZI 3 EDB Mode Receiving CAN Address Any valid see definition above message received in that address when Bits 0 7 of the EDB configuration parameter is 1 is used to update the relevant data buffers XZI 4 EDB Mode Configuration Bits Currently the following bits are used Other bits should be left O for future compatibility gt Bits 0 7 Select the mode These bits define a number 0 255 that controls the controller behavior on receiving data in the EDB Doc No MAL 4164 4MC PM doc 230 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR Software amp Command Reference Param Name Description and Usage incoming message If the number is 0 the controller ignores any data Currently we define only the EDB mode as 1 When the number is 1 the EDB mode as described below is active Note that other future modes may use this address for other purposes so avoid sending any data to this address not for that specific process Bit 8 Enable Disable Prompt Reply to incoming EDB mode messages This bit is used only if Bits O 7 gt 0 If Bit 8 is O no prompt is sent to acknowledge the EDB message interpretation If Bit 8 is 1 a prompt is s
225. ested The start point of the pulse will however always match the exact compare point without any delay 1 8 10 2 The PQ Command The PQ command is an axis related command enabling or disabling the Compare function for a specific axis The command requires a parameter indicating the requested operation The command syntax is as follows XPQ Parameter Where e Xis an axis identifier e AL 4164 4MC For the current AL 4164 4MC version the compare function is supported for axes X Y Z W only Issuing the command with other axes identifies will issue an error see error codes below e Parameter 0 Indicates immediate disable of compare for the specified axis No conditions are checked expect a valid axis identifier e Parameter 17 Indicates start compare function for the specified axis The command validates correct parameter PG for the specific requested mode In any case that one of the command s parameters is out of range the command will return an error prompt gt or will generate a script Run Time Error if called from within a script macro program The relevant error code flags EC or QC will be updated to reflect the error cause Doc No MAL 4164 4MC PM doc 102 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR O
226. ew ECAM motion mode EA 1 ES ECAM Start Index Points to the first point in AR to be used for the ECAM EA 2 EW ECAM Wrap Index Points to the first point in AR to be used for ECAM cycles following the first cycle Doc No MAL 4164 4MC PM doc 41 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR kL Software amp Command Reference EA 3 EE ECAM End Index Points to the last point in AR to be used for the ECAM EA 4 EG ECAN Gap Defines the master distance in counts related to the master encoder between two consecutive AR points EA 5 EN ECAM Number Of Cycles Defines the actual number of ECAM cycles to be executed If 0 ECAM is performed infinite number of cycles until stopped If EN gt 0 the axis will perform EN complete ECAM cycles EA 6 El ECAM Interpolation Mode Defines the method used to interpolate the position profile commands with an EG period between each two consecutive ARI points Currently only linear interpolation is supported El should be always set to 0 EAT7 MI Master Init Position Defines the starting position of the master MI defines the starting position of the master If MI is zero normal case then the
227. f ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference Examples XQG 100000 Reports on the stack if the X axis is in motion XQG 200000 Reports on the stack if the Y axis is in motion XQG 200001 Reports on the stack if the Y axis is not in motion See Also QW Doc No MAL 4164 4MC PM doc 352 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBIT FR amp 4 8 4 15 QH Halt Macro Purpose Software amp Command Reference Halts program execution of the relevant macro program Attributes Syntax QH Examples XQH YQH ZQH See Also QP QT QE Type Axis related Array Assignment Receive parameter Parameter type Scope Restrictions Save to Flash Default Value Range Command Yes Will halt execution of the X program Will halt execution of the Y program Will halt execution of the Z program AL 4164 4MC only Doc No MAL 4164 4MC PM doc 353 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp
228. fer to paragraphs 1 6 3 Directive Commands and 1 6 4 Advanced Expressions Parsing in this user s manual for thorough description of all pre compiler supported directive commands and advanced syntax expressions Full description and numerous examples are given in these references Doc No MAL 4164 4MC PM doc 383 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 4 8 6 5 4 8 6 6 4 8 6 7 include To be completed on next version of this User s Manual In the mean time please refer to paragraphs 1 6 3 Directive Commands and 1 6 4 Advanced Expressions Parsing in this user s manual for thorough description of all pre compiler supported directive commands and advanced syntax expressions Full description and numerous examples are given in these references target To be completed on next version of this User s Manual In the mean time please refer to paragraphs 1 6 3 Directive Commands and 1 6 4 Advanced Expressions Parsing in this user s manual for thorough description of all pre compiler supported directive commands and advanced syntax expressions Full description and numerous examples are given in these references for To be completed on next version of this User s Manual In the mean time pl
229. ference in this user s manual for further information This is a 32 bit array word defined as follows 7 8 15 3 1 AL 4164 4MC lIO_MODE_1 YOM Keyword The 1O_MODE_1 register is divided into 4 bytes each one configuring the Capture Event Source for a separate axis The LS Byte controls the X Axis Capture Event configuration and the MS Byte controls the W Axis Capture Event configuration respectively The order of Bits in Each Byte is identical for all axes The Bit order in each Byte is described below Doc No MAL 4164 4MC PM doc 114 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference e Bits 3 0 selects the number of digital input to be used as a capture input trigger source for that axis Bits 3 0 0 Select Digital Input 1 DInp1 Bits 3 0 1 Select Digital Input 2 DInp2 Bits 3 0 2 Select Digital Input 3 DInp3 Bits 3 0 3 Select Digital Input 4 DInp4 Bits 3 0 15 Select Digital Input 15 Dinp15 e Bit 4 selects weather the general purpose Digital Inputs are used i e DInp1 to DInp16 or weather the dedicated inputs are used i e XRLS XFLS etc For a complete list of all dedicated inputs please see the IP keyword reference Dedicated IP bits starting from Bit 1
230. figures Figure 1 4 Position Over Velocity Loop PIV Control Scheme Structure and Figure 1 5 The user can test the operation of the filter Doc No MAL 4164 4MC PM doc 64 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Software amp Command Reference in open loop and actually record the step response of the filter This can be done when the 2 order filter is enabled by switching to Open Loop mode NC 1 issue a torque command TC XxX and record the Driver Command signal The filter can be enabled or disabled using a special dedicated new parameter CA 13 gt When CA 13 0 the 2 order filter is disabled in all modes gt When CA 13 1 the 2 order filter is enabled in all modes The 2 order filter equations are _ U Xa 1b XY 24 by XV 55 k or Y a xU b xY b xY Where gt Uand Y are the filter input and output signals and gt a0 b1 b2 are the filter constants The filter parameters are user defined and are set in by a special set of dedicated new parameters CA 7 CA 8 and CA 9 with the following scaling gt CA 7 a0 x 65536 x 16384 gt CAI8 b1 x 65536 gt CA 9 b2 x 65536 Doc No MAL 4164 4MC PM doc 65 Rev B Information contained herein is the sole property of ORBIT FR an
231. format printable characters x NOTES gt Blanks tabs and new line characters are received echoed but ignored gt Back spaces are handled Examples XSP lt CR gt Report parameter clauses YSP XAR 5 lt CR gt YSP 10000 Set parameter clauses BAC 1000000 lt CR gt BAR 3 345 XBG lt CR gt Commands AST YQE HOME_X Command to execute a subroutine named HOME_X using the Y script engine 1 3 3 3 2 Controller To Host Each character including blanks tabs new line and terminators is echoed as is unless otherwise is selected by the user EO command Echo On Off In case of a report parameter clause the reported value is sent back to the host decimal long integer text format in RS 232 and binary format in CAN bus After handling each command clause a prompt is sent back to the host computer The prompt is gt in case of a successful command clause Doc No MAL 4164 4MC PM doc 21 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference execution or gt in case of any error in the execution of the command clause command was not executed In the later case a dedicated parameter EC Error Code will hold the code of the last communication error In cases where the last
232. from ORBIT FR ORBIT FR amp Software amp Command Reference 4 8 4 35 ZM Remote Message CAN Networking Purpose Sends a string message limited to 8 characters to a pre defined remote CAN ID address defined by ZI 1 ZI 2 is ignored The message to send is the command s string parameter or 1 or 2 or 3 numbers off number stack number parameter Attributes Type Command Axis related No Array Assignment Receive parameter Yes Parameter type String Scope Program Restrictions None Save to Flash Default Value Range Syntax XZM lt string gt XZM lt Number 1 or 2 or 3 gt Examples XZM COMPLETE Sends the COMPLETE word over the CAN bus to address XZ11 XZM 1 Sends the number at the top of the X stack 1 longs Message size is 4 bytes Doc No MAL 4164 4MC PM doc 378 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR A Software amp Command Reference XZM 2 Sends the two numbers at the top of the X stack 2 longs Message size is 8 bytes XZM 3 Sends the three numbers at the top of the X stack 2 bytes 3 bytes 3 bytes Message size is 8 bytes Top of stack is the 2 byte number is set in the high bytes of the CAN message See Also ZA ZC ZI ZR ZS Doc No MAL 4164 4MC PM doc
233. from the macro buffer Please see chapter 4 for further information on macro pre compilation and error messages 4 4 4 Macro Download Format The format of the macro download protocol is propriety of Control And Robotics Solutions and can be supplied upon request However the High Level AL 4164 4MC Serverlnterface DCOM communication interface supports functions for downloading High Level macro programs compilation download and for the downloading of Low Level macro programs download only Please refer to the DCOM User Interface Manual for further information Doc No MAL 4164 4MC PM doc 271 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ee ee 4 5 THE INTEGRATED DEVELOPMENT ENVIRONMENT 4 5 1 General The AL 4164 4MC Shell program is a shell application for the ORBIT FR AL 4164 4MC controller family With this application the user can simply access all the controller commands and perform all the operations that the controllers support A brief description of all user interface of the AL 4164 4MC Shell program can be found on the AL 4164 4 McC User s Manual The purpose of this chapter is to thoroughly cover all the details of the AL 4164 4MC Shell application related to macro programming support for the development downloading and debugging of AL 4164
234. full comment line followed by another one and an empty line XZI1 10 This is a comment within an executable line XZI2 11 This is also a comment within an executable line 2 Empty Lines Empty lines are lines with no text see example above Empty lines are completely removed by the AL 4164 4MC Shell pre compiler before downloaded to the AL 4164 4MC macro buffer 3 Blanks and Tabs In normal executable statements the pre compiler removes blanks and tabs only before the start and after the end of a Doc No MAL 4164 4MC PM doc 291 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference statement line Blanks and tabs within a normal executable statement are not removed In advanced mathematical expressions lines starting with blanks and tabs are removed also from within the statement itself see section 5 4 for further information about advanced expressions parsing 4 6 3 Directive Commands Pre compiler directives such as define and include are typically used to make source programs easy to change and easy to compile in different execution environments Directives in the source file tell the pre compiler to perform specific actions For example the pre compiler can replace tokens in the text and insert the contents of other fil
235. ges to the workspace will be saved only after you save the workspace closing the workspace without saving will discarded the changes Doc No MAL 4164 4MC PM doc 287 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR kL Software amp Command Reference 4 5 4 3 3 4 Open File In Workspace Double clicking the file from the workspace area will open the file for editing 4 5 4 3 3 5 Compiling Workspace To compile a workspace the main macro file MUST be opened and on top of all other opened files Ifa workspace contains more than one macro than select the macro to compile Open it The macro window MUST be top most Doc No MAL 4164 4MC PM doc 288 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 4 6 THE IDE PRE COMPILER SUPPORT 4 6 1 General The AL 4164 4MC Shell includes a built in pre compiler module The main purpose of the pre compiler is to extend the basic features of the low level language syntax mainly parsing capabilities to a more easy to use high level syntax The AL 4164 4MC Shell pre compiler supports the following features 1
236. gth of the buffer is 1 and the content is lt CR gt this message terminates the mode gt Otherwise error and the mode is terminated Doc No MAL 4164 4MC PM doc 225 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR kL Software amp Command Reference Messages following the termination message will be considered as standard CAN messages The host sends the buffer see the SC Macro manual for the buffer format with a terminating CR message length 1 at the end of the buffer message after message The messages are formatted as the report messages with a length of 8 or 4 bytes Received numbers are appended to the buffer AR array It is recommended although not a must to follow the following guideline The CAN messages that download the buffer will be of 8 bytes 2 numbers each except for the last message in case of odd number of values to download This is to optimize the download time The controller receives the CR message and terminates the buffer downloading mode The controller sends the OK prompt gt message to terminate the download process Overflow In case that the downloaded buffer overflowed the controller buffer extra numbers were ignored the controller responds with the non OK prompt gt message to the terminating CR In
237. he DAC The PID loop linear filter is shown in Figure 1 6 above The PID linear filter equations are PE DP PS KP KD KI U x PE x PE PE xy PE 256 K 256 PEx t1 65536 2 i PO Sat TL U x SecondOrderFilter Where gt DPis the current desired position or position command in encoder counts This value is usually the output of the profiler routine according to the current motion mode and the motion parameters such as AC DC SP etc PS is the actual encoder position reading in counts PE is the current position error value in encoder counts KP Kl and KD are PID Proportional Integral and Derivative gains Uis the PID filter output TL is the output command saturation value The 2 order filter block is filter high order low pass filter VV VV VV WV PO is the final control loop output This value is converted to the analog output command for the external driver using the 16 bit DAC in the system Doc No MAL 4164 4MC PM doc 61 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR 1 5 4 ORBI T FR Software amp Command Reference U can also be written in a Z transform transfer function equation as follows U PE x Kr Rea z K iy 256 256 65536 1 z PIV Filter Mode In Close Loop ope
238. he macro will stop and report a run time error because a BG command is not valid when motor is disabled But again this is not directly because of the motor failure However since this linkage is sometimes required there are two dedicated features that are supported by the AL 4164 4MC controller related to this issue A dedicated automatic routine AUTO _XMF and AUTO_YMF etc that is invoked when the related motor is disabled due to an error q NOTE Auto Routines are currently not supported Please see section 1 8 4 for more details Description is for future reference only A dedicated keyword QK that halts the macro execution and all motions of ALL axes Upon receiving a BQK command the controller will immediately stop all motions and macro programs Doc No MAL 4164 4MC PM doc 269 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 4 4 2 Macro Syntax Check And Run Time Error The AL 4164 4MC family controllers do not perform any macro syntax check when the macro is downloaded or before it is executed Only a limited syntax check compilation is done by the PC AL 4164 4MC Shell before the macro is downloaded However during macro execution at run time each executed clause is checked as part of its inte
239. he master and starts an autonomous stop profile motion towards zero speed MO 0 Disables the motor effectively stopping any motion Doc No MAL 4164 4MC PM doc 46 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference Of course any software or hardware fault limitation or protection will also immediately abort or stop the motion depending on the fault or limitation type x NOTE Like in Gearing motions in ECAM motion also any fault condition acting on the master axis will not directly effect the following slave axis This means that the following axis remains linked to the master DP regardless of the master s motion status or motor status For example if a master axis is disabled due to a high error condition its motor will be turned off but the following axis will still be in motion condition and will keep following the disabled axis encoder even after it is stopped 1 4 7 1 5 On The Fly Parameters Change An axis during ECAM motion is not affected by any of the normal profiler motion parameters e g SP AC etc Changing any of the ECAM motion parameters has no effect once motion has been started 1 4 8 Search Index The AL 4164 4MC controllers do not have a special dedicated motion mode for search index Thi
240. he specific axis only In order to let the user perform an action on more then one axis simultaneously for example the AL 4164 4MC command interpreter supports reporting position of all axes at once the notation of Group Axes Identifiers 3 5 1 3 1 AL 4146 4MC Axes Groups There are 4 Axes Groups supported by the AL 4164 4MC These are A B C and D By default the A group stands for ALL axes and the B group defines X and Y axes sub group For example issuing the following assignment APS 0 set the position of all axes to 0 while BPS 0 set only the X and Y axes position to 0 When the controller is powered up the A and B group definitions are automatically set to their default The user cannot change the default definition of the A and B groups nor save them to the FLASH memory After power up the user can however define other values to the A and B groups although this is not recommended As a design rule we recommend to use A and B always as their default initial definitions If other sub groups are needed it is recommended to use the C and D groups Doc No MAL 4164 4MC PM doc 200 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Software amp Command Refere
241. hout written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference Statements may be any valid normal or math expressions Valid operators within the if statement itself the conditions are Valid math operators amp 1 Valid logical operators gt lt I gt lt Example 1 This example shows a simple usage of an if block to compute an ABS value of a parameter XPA1 100 Assign a temporary negative value to XPA1 if XPA1 lt 0 Simple lt 0 If expression XPA1 XPA1 Statement 1 endif End if The result of this code block will be a positive value of 100 XPA1 initialization of XPA1 100 is for the example purpose only Example 2 This example shows a simple implementation of a saturation function The saturation value is given by a parameter XPA1 100 Assign a temporary negative value to XPA1 XPA10 45 Saturation value Check negative saturation if XPA1 lt XPA10 Simple lt If expression Doc No MAL 4164 4MC PM doc 303 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference XPA1 XPA10 Statement 1 endif End if Check positive saturation if XPA1 gt XPA10 Simple gt If expression XPA1 XPA10 Statement 1
242. i e from lower encoder count to higher encoder count For Distance lt 0 the user MUST specify PEnd lt PStart and the motion direction MUST be negative i e from higher encoder count to lower encoder count 4 If the above conditions are not met the compare pulses will be generated in unexpected positions Mode 1 Fixed GAP incremental Distance gt 16 Bit This operation mode is similar to Mode 0 i e fix automatically incremented or decremented GAP except that it allows Distance values to be larger then 16 bit Actually any Distance number value in the 32 bit range excluding 0 can be used in this mode However since the compare point increment or decrement in this mode is managed by the controller real time firmware code the max possible compare pulse frequency is limited to 1 2 of the servo sampling rate i e max 8 192 Hz in the AL 4164 4MCcontroller and to 4 096 Hz in the AL 4164 4MC controller The user is recommended to work in this mode in cases where the required incremental GAP is absolutely grater then 32 767 encoder counts If the required distance is absolutely smaller then 32 767 counts Mode 0 should be used It should be noted that when working in Mode 1 for Distance gt 32 767 counts the Max possible pulses frequency is anyhow limited by the max supported encoder speed For example when moving at 30 000 000 counts sec if the required distance is 32 768 counts the resulted frequenc
243. ific axis Capture Location The XC parameter holds the last captured position of an axis XN Capture Events Counter This parameter is automatically incremented by the firmware on each Capture Event 1 9 4 4 Analog and Digital I O Function Keywords Table 1 11 I O Functions Related Keywords A D A D ee ee ee IL oc Output Clear Bit OL Output Logic Bit Array Set I O Modes Hardware Configuration This keyword is used to configure the Compare and Capture functions See also Special Encoder interface functions Output Port Output Set Bit Doc No MAL 4164 4MC PM doc 154 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 1 9 4 4 1 Communication and Configuration Keywords Table 1 12 Communication and Configuration Keywords Kone CB CAN Bus Baud Rate CAN Bus Receiving CAN Address TA CAN Bus Transmitting CAN Address The Commands Interpreter Axes Group Definitions AL 4164 4MCOnly CG Specific Axis Configuration EC Last Communication Error Code Last Program Error Code 1 9 4 4 2 Protection Keywords Table 1 13 Protection Keywords Keyword Description Integral Term Saturation of PID and PIV control filters see control filter Torque Limit Limits the D2A
244. ilar 1 3 3 3 1 Host to SC Each keyword consists of two upper case letters Some of the parameters are defined as arrays These parameters are always referred to with their two letters keyword and with an index number within a square brackets e g AR 2 Each command clause is terminated with a terminator character which may be one of lt CR gt or Each command clause is preceded with an axis identification letter to identify the axis to which the command clause is addressed It might be one of the following characters Doc No MAL 4164 4MC PM doc 19 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR kL Software amp Command Reference AL 4164 4MC Axis Prefixes X Y Z W EB F G H and U V for axes 1 through 8 and for the 2 additional Virtual axes total of 10 axes interface B for Both After power up B always refers to the X and Y axes This is done for backward compatibility A for All After power up A always refers to all axes C and D two additional user defined groups All groups A B C D can be configured to define any subset of axes using a special new Group assign parameter Some of the comma
245. ilities including the following Doc No MAL 4164 4MC PM doc 84 Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR Software amp Command Reference AL 4164 4MC Simultaneous recording of up to 10 internal controller variables Up to a total of 100 000 data recording points The user can select to record 10 vectors 10 000 sample points each 1 vector 100 000 sample points or any other combination Selection of more then 150 internal variables for each recorded vector More then 100 spare variables to select from for future firmware usage is already supported in the existing Data Recording interface Fast sampling rate of up to 61 uSec per sample point for all selected vectors The AL 4164 4MC supports Data Recording at the servo sampling rate of 16 384 Hz The user can of course choose to collect data samples at a slower rate using the Recording Gap parameter see below Optional advanced triggering options This option is not supported by the standard firmware version of the controller Please consult Control and Robotics Solutions Ltd for more information In the next sections the operation of Data Recording in the AL 4164 4MC controller s firmware is explained 1 8 2 Operating Data Recording in the AL 4164 4MC Controller s Family
246. ilters equations and non linear algorithms are described in details 4 SIN commutation Currently supported in AL 4164 4MC only Doc No MAL 4164 4MC PM doc 57 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR D d Software amp Command Reference 10 V 4M 16bit Analog Voltage Acceleration Feed Forward ane interfaces Q Velocity Feed Forward Open Loop Open Loop Operation Cammand TC Mode Switch NC Analog Driver DC Brush Motion amma Velocit or see 2 l elocity 16 Bit DACS PI Filter en Brushless Generator p He Dac_Gain Single Command Position _ Interface i pod i or AEG TIM Commutatio 2 Phase Auxiliary be Command Encoder Interface Dual Loop Auxiliary Option Motor and Encoder Velocity Z Encoder Load Counts Gain System Encoder Position PS Counts Electro Mechanical System Figure 1 4 Position Over Velocity Loop PIV Control Scheme Structure Doc No MAL 4164 4MC PM doc 58 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR D d Software amp Command Reference d z ray 10 V 16 Bits Acceleration Feed Forwar
247. in encoder counts is equal to MP 60 960 x4 243 840 counts ym counts Note that some motor manufacturers provide the magnetic pitch distance for 180 magnetic degrees and not 360 In the SC 4M MP must be equal to full 360 magnetic degrees i e equal to the distance between N S N poles and not N S only 1 8 18 4 1 The Actual Magnetic Location ML The magnetic pitch MP defined above is a constant number per application used by the controller to know how many counts are in 360 of the magnetic cycle As noted above this parameter should be set once and does should not change during system operation Doc No MAL 4164 4MC PM doc 127 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference During operation in order to compute the instantaneous projection of the current command to the phase currents a and b as noted by the equation in section 1 8 18 2 above the true magnetic location angle should be known at all times A new real time parameter ML Magnetic Location holds this position in encoder count units ML is continuously updated by the real time code to reflect any change in the encoder position but unlike the main encoder counter reading PS the ML is always h
248. ine XConfig XPA 19 define XmaxPosErr XPA 20 define XLowLim XPA 1 1 define XhighLim XPA 10 Axis Specific Servo PID Parameters define XPIDKp XPA 22 define XPIDKi XPA 23 define XPIDKd XPA 24 Axis Specific Analog Interfaces define XHomeMarkSearchDist1 XPA 35 Axis Specific Internal Parameters Only Doc No MAL 4164 4MC PM doc 314 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference define XisHome XPA 41 define XlastErr XPA 42 define XresetDoneOK XPA 43 Global Application Parameters define XTempVar0 BIA 20 define XTempVar1 BIA 21 define XTempVar2 BIA 22 Doc No MAL 4164 4MC PM doc 315 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBIT FR amp Software amp Command Reference AL 4164 4MC_GLOBAL_DEFS scm include file This file is a controller type specific definitions file SC 4M Controller Global Definitions By C amp RS File sc_global_defs scm Rev 01 18 12 02 Creation define TimerX XTD define TimerY YTD define TimerZ ZTD define TimerW WTD define Timer
249. ined herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Software amp Command Reference 1 5 4 1 Position Error Calculation In both PID and PIV modes the basic position error is computed and reported using the PE variable This is a read only parameter updated by the real time control loop and computed by PE DP PS Where as noted above DP PS and PE are the desired position actual position and position error all in encoder count units The position error is always 0 by definition whenever the servo is off MO 0 since the servo controller automatically updates the current desired position DP to be equal to the actual position PS During all Servo ON modes MO 1 in both open and close loop cases the real time control loop checks the current position error value PE and compares it to the maximum allowed position error ER Whenever PE gt ER the real time loop automatically disables the motor and indicates the error reason as High Error fault In the AL 4164 4MC family controllers the maximum ER value can be as high as 8 000 000 counts 1 5 5 High 2 Order Filters x The AL 4164 4MC controller s family includes a digital second order filter NOTE The 2 order filter is present in all control scheme structures i e PID PIV and Open Loop see
250. ined in the macro source code for external and internal routine calls as well as for the various jump functions For further information about label and pointer definitions please see chapter 4 PC Shell environment Doc No MAL 4164 4MC PM doc 249 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference Example If a user homing routine is defined with the following label HOME_X The following communication command will start execution of this subroutine XQE HOME_X From within a macro procedure the same homing function will be called using the Call Subroutine function see further description on section 1 2 7 regarding macro flow control XCS HOME_X Restrictions on labels definition 1 The sign must be the first character in a label definition line 2 Maximal label size is limited to 12 characters not including the proceeding and the terminating Labels that are called by the PC or any other host are restricted to a length of maximum 6 characters 3 Labels may include ASCII printable alphanumeric characters only Labels are case sensitive The underscore _ character may be used within a label definition but can not start a label definition No blanks are allowed within a label defin
251. ion and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR Software amp Command Reference Interpreter how to be treated For example a Keyword can be an axis related Keyword related to an axis or Global Keyword Limit Hardware Most motion systems have mechanical end of travel RLS FLS stops especially with linear load motion In order to prevent the load from hitting these stops an electronic device switch is located before each stop Reversed and Forward to detect this situation These switches are connected to the AL 4164 4MC RLS and FLS digital inputs Reverse Limit Switch and Forward Limit Switch When the AL 4164 4MC detects an active state at one of these inputs it stops any motion toward the related direction Limits Software Similarly to the hardware limits RLS and FLS HL LL above the Controller supports software limitation for motion range HL High Limit and LL Low Limit defines a position range in which the AL 4164 4MC operates normally Whenever the motor s position exceeds this range the AL 4164 4MC stops any motion to the related direction Motion Modes Motion Mode defines the method in which the AL 4164 4MC calculates the desired position command as a function of time The AL 4164 4MC supports various motion modes The basic modes are listed below Point To Point PTP Jogging ECAM Doc No MAL 4164 4MC PM doc Rev B
252. ipt Programming Keywords e Configuration and Protection Keywords e General Keywords 1 9 4 2 Keywords Groups The following list describes all the Controller Keywords excluding Script Programming Keywords divided to the logical groups indicated above Doc No MAL 4164 4MC PM doc 150 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 1 9 4 2 1 Motion and Profiler Related Keywords Table 1 7 Motion and Profiler Related Keywords Description AB eon ea Sep an MBION AP Reroute Peston o Begins a new Motion Command Deceleration value in counts sec for all Profiler based motions DL Limit Deceleration value in counts sec for all Profiler based motions ECAM Motion Parameters Array Last End of Motion Reason Gearing Mode Following Ratio KR Kill stop repetitive PTP motions ME Master Encoder Definition for ECAM and Gearing Motion Modes Defined the next Motion Mode e g PTP JOG etc Motion Status Definition RP Next Relative Position for PTP Motions Defines Special motion modes Repetitive etc z Eae Defines Cruise Speed in counts sec for all Profiler based motions WT Defines delay in units of 16384 sec for repetitive PTP motions Www Profile Smooth Factor paramet
253. is User s Manual for more information A dedicated SIN power amplifier receives as an input the 2 analog commands from the controller and internally derive the third phase command based on the condition that the sum of all 3 phase currents must be zero The following sections describe the SIN Commutation configuration parameters of the AL 4164 4MC Please see section 1 9 5 below in this Doc No MAL 4164 4MC PM doc 125 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 1 8 18 3 User s Manual for a complete syntax and description of each keyword below Enable SIN Commutation Mode New bit in CG By default the AL 4164 4MC servo controller assumes that standard DC brush or brushless with trapezoidal hall commutation type motors are used In this mode the controller uses only the main DAC output of each axis as an analog command output of the servo loop In order to enable SIN commutation a dedicated configuration bit in CG the axis configuration word should be set Bit 2 zero based of CG control this mode each axis has its own configuration bit within the axis CG word e CG 2 zero based 0 Disable SIN mode e CG 2 zero based 1 Enables SIN mode In order for the controller to work in
254. is related to only the Y macro use Y as a preceding character and so on for all relevant macro s Doc No MAL 4164 4MC PM doc 255 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 4 2 8 Wait and Internal State Inquiry Functions In normal programming sequences it is often required to wait for some events or special conditions to happen There are three ways of programming a wait sequence in the low level AL 4164 4MC macro gt Using simple standard commands to inquire about the required state pushing it to the stack and then perform some conditional statement or high level if blocks Using a special state inquiry command QG automatically inquire the relevant state according to the commands parameter including extraction of relevant bits from a byte word or long data and pushing it to the stack and then perform some conditional statements or high level if blocks Using a special wait function QW that automatically enters to an internal wait condition until the desired condition is satisfied The tradeoff between each method is implementation simplicity against flow control For example the QW command is very simple and short in writing but does not include time out test i e there is no wa
255. ited to True False Zero conditions only The condition is always checked on the stack top element naturally conditional commands that use the stack pop once upon execution Doc No MAL 4164 4MC PM doc 252 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference More advanced conditional expressions are supported by the PC Shell pre compiler environment Please refer to chapter 1 4 later on in this document for further information Program flow control commands may only be executed from within a macro code i e these commands are not supported from communication terminal Example The following low level macro code segment demonstrates a subroutine that waits for end of motion condition in the X motor of an AL 4164 4MC controller The subroutine returns if the X motor is not in motion While in motion the subroutine is in an infinite loop Calling for this subroutine from another code segment is also shown tkkxkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk Called Subroutine WEM__X Wait for end of motion on X motor WEM_ X Wait for No motion in X motor 1 Push X motion status XMS parameter 2 Push constant 1 motion status bit 1 means motion On or Off 3 Execute amp operator to extra
256. ition Ending a label definition is the sign In order to implement high level program flow statements such as if and while the AL 4164 4MC Shell pre compiler module automatically generates internal program labels The following labels are saved keywords and should not be used by the user SI_ lt CONST gt El_ lt CONST gt WH_ lt CONST gt EW_ lt CONST gt Doc No MAL 4164 4MC PM doc 250 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference UF_ lt CONST gt CF_ lt CONST gt EF_ lt CONST gt where CONST stands for a constant label index number 1 2 6 Labels that are defined with an additional prefix i e AWAIT_INPUT are not downloaded to the controller and can not be called by the PC or any other host The additional is calculated as an additional character in the maximum label length count Examples for valid label definitions MAIN HOME_X L_1 L_ p1 L_ p2 Examples for non valid label definitions MAIN No terminating _LS Label can not start with _ HOMING_X_AXIS Label too long SI_1 Saved keyword Doc No MAL 4164 4MC PM doc 251 Rev B Information contained herein is the sole property
257. itten authorization from ORBIT FR 2 1 ORBI T FR ES Software amp Command Reference Special Features API This chapter describe AL 4164 4MC features not covered by specific commands Velocity Feedback The default velocity feedback is performed by numeric derivative of the encoder positions In addition 2 more Velocity feedbacks are defined 1 Tacho Velocity Feedback 2 Dual Encoder Feedback 2 1 1 Tacho Velocity Feedback A dedicated CG bit state the velocity feedback type A dedicated Al Analog Input per axis reflect the axis speed The following commands are used to configure the tacho feedback CG Include bits to specify feedback type Al Analog Input Actually the calculated speed in cts sec AS Analog Offset AG Analog Gain AF Analog Factor User should not use these commands directly The tacho feedback is configured using SCShell program The data recording supports the recording of the Al parameter Doc No MAL 4164 4MC PM doc 172 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR P d Software amp Command Reference 2 1 2 Dual Encoder Velocity Feedback A dedicated CG bit state the velocity feedback type The array parameter FR 2 consists of the ratio between the encoders whereas 65536 ration 1 1 for e
258. ive position Doc No MAL 4164 4MC PM doc 26 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBIT FR amp Software amp Command Reference The only disadvantage of this method is that for repeated relative motions RP should be sent again before each motion The AL 4164 4MC controllers support separate AC Acceleration and DC Deceleration values in all profile based motion types Furthermore a new DL Deceleration on Limit parameter is supported in order to define a special Deceleration values when Limits are hit works both for software and hardware limits 1 4 1 2 Starting a PTP Motion Communication Description Clauses MO 1 Enabling the servo loop motor on MM 0 SM 0 Setting PTP motion mode AC 500000 Assigning a value for the acceleration counts sec DC 500000 Assigning a value for the deceleration counts sec DL 1000000 Assigning a value for the Limit DC counts sec WW 0 Defines no smoothing SP 50000 Assigning a value for the speed counts sec AP 100000 Assigning an absolute target position counts RP 30000 or assigning a relative value for the target position BG Begin the motion Doc No MAL 4164 4MC PM doc 27 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication a
259. kkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk Doc No MAL 4164 4MC PM doc 309 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Ee Software amp Command Reference By Mr Magoo C amp RS Rev 01 22 07 2002 Creation Still Open Issues Ikkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk Ikkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk Define Target Hardware target SC 4M 144 0 250000 Project definitions description JJMacroRev 01 Definitions Include file i include lt jj_def_01 scm gt include lt sc8m_global_defs scm gt ii tk xkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk tk xkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk AUTOEX Function Called at power on AUTOEX Set 2nd Order Filter Parameters AA1 7 81520405 AA1 8 103213 AA1 9 42652 AA1 13 0 AA1 4 1 0 time for PID2 AA1 14 0 NO Acc Feed Forward ALowLim 800000000 AHighLim 800000000 Axis Specific Internal Parameters Only AlsHome 0 AResetDoneOK 0 Set Capture Source for XYZ axis to INDEX YOM 2105376 32 32 256 32 256 256 Define Output Logic XOL 128 Ikkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk The CRSTX function called by m
260. l View menu items 5 7 18 1 Main Toolbar Main Toolbar menu item shows hides the main toolbar 5 7 18 2 Debug Toolbar Debug Toolbar menu item shows hides the debug toolbar 5 7 18 3 Status Bar Status Bar menu item shows hides the Status Bar at the bottom of the editor 5 7 18 4 Output Output menu item shows hides the Output area see section 5 7 21 2 Doc No MAL 4164 4MC PM doc 408 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 5 7 18 5 Watch Watch menu item shows hides the Watch area only in debug mode see section 5 7 21 2 5 7 18 6 Work Space Work Space menu item shows hides the Work Space Doc No MAL 4164 4MC PM doc 409 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 5 7 19 Macro Menu 5 7 19 1 5 7 19 2 5 7 19 3 This section covers all Macro menu items Download Macro Download Macro menu item enables to download macro file to controller This option is available only when one of SC4M Shell or SC2M Shell is open and connected to controller Save and Download Macro
261. ld store the start index of the relevant axis parameters in an IA array element and the homing routine will access the parameters array using the IA index Using this method a lot of conditions and program space may be saved Another example is management of stack pointer for recording of user specified data Indirect addressing is supported on the AL 4164 4MC family controllers macro programming using the IA array as an index array Example Assignment of constant value to AR 56 can be written simply by XAR56 1234 or using indirect addressing by XIA4 56 XAR XIA4 1234 First A4 is assigned with the address 56 and then XIA4 is used as an indirect index to AR Doc No MAL 4164 4MC PM doc 247 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Software amp Command Reference A Notes When IA is used as an indirect address the square brackets must be used There is no need in this case for preceding characters X Y within the square brackets before the IA Only the IA array may be used for indirect addressing but all other arrays support the use of IA as an indirect address including IA itself gt The IAi array elements may also be used within any normal expression and are not only limited to indirect addressing
262. ld be aware that the current hardware version of the AL 4164 4MC support ALL 8 digital outputs interface are isolated and buffered While this is good for normal outputs this may pose some limits on how small the trigger pulse width can be Doc No MAL 4164 4MC PM doc 93 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR 1 8 6 ORBI T FR ES Software amp Command Reference In general the AL 4164 4MC controllers support 4 modes of Compare Events Generation e Mode 0 Fixed GAP incremental Distance lt 16 Bit e Mode 1 Fixed GAP incremental Distance gt 16 Bit e Mode 2 32 bit Arbitrary GAP location tables e Mode 3 32 bit Arbitrary GAP location tables using the FPGA RAM In order to operate the Position Compare feature there are few dedicated parameters and a new command that control its operation In the following sections the operation of each one of the supported Compare Function modes is explained Mode 0 Fixed GAP Incremental Distance lt 16 Bit In this mode the controller is programmed with the desired start point PStart desired end point PEnd and desired incremental GAP Distance The first pulse will always be generated at the exact Start Position PStart The hardware then automatically increments or decrements see explanation b
263. le property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR kL Software amp Command Reference Note that an ABORT command is used not STOP This is to ensure that the final DP value will match the ECAM table value It is the user s responsibility to ensure that the ECAM profile includes the deceleration part to avoid sudden abort of motion when the number of cycles is completed As noted above ECAM uses the general purpose ARI array for Table Input data In general the Master Based ECAM works only for positive and monotonous motion of the master axis If the master moves in a negative direction use the relevant CG configuration bits to inverse its direction Unexpected motions can happen if the master does not perform positive motion However within an ECAM cycle the master can stop and even invert its motion direction without any problems as long as the master does not move below the Start ES and above the End EE locations Another limitation is that the master axis should not perform more than a complete ECAM cycle during the time between two consecutive samples 61 us However this limitation can be normally ignored since it practically means bad ECAM parameters setup In ECAM Motions WW the smoothing parameter must be 0 since the axis is using the table locations as a reference Do
264. le the others are running or to debug more than one macro simultaneously to test synchronization issues q NOTE Debugging pre compiling and down loading macros with the SrcEdit Macro Debugger Environment are available ONLY while the AL 4164 4MC shell is open and communicating with the controller 4 5 4 2 SrcEdit Debugger Window To debug a macro program run the SrcEdit application Select File Open sub menu on the SrcEdit main application menu An Open File dialog will appear letting the user to select macro file to debug extension SCM There are two options to debug the Opened program If the program is the one currently in the controller select Macro Debug Macro sub menu on the SrcEdit main application menu gt If the program is not currently in the controller first download the macro select Macro Save and Download Current Macro sub menu and then select Macro Debug Current Macro sub menu on the SrcEdit main application menu In either case the SrcEdit application will check with the help of the AL 4164 4MC shell whether the opened macro file matches the current AL 4164 4MC program An error message will appear if the files are mismatched If the test is OK the main debugger window will be opened Doc No MAL 4164 4MC PM doc 279 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any
265. lication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference In this section an example is given to demonstrate a phase initialization process for a linear motor stage application with SIN commutation mode operation The application uses an X axis high resolution linear motor stage with a linear 1 micron resolution encoder The motor s magnetic pitch is 32 mm i e 32 000 counts MP 32 000 The initialization point is at 90 i e ML 24 000 The main initialization script routine is COMM_X The routine initializes global parameters such as the magnetic pitch SIN Enable mode bit etc and then gradually increases Phase 2 current command AO Note that this process is done in open loop mode NC 1 to allow separate desecrate phase command for each one of the phases Phase 2 current command is increased gradually In this case in 250 Isb steps 0 8 of the full current command each 250msec apart This is done to avoid abrupt jump in motor location if its initial position is far from the magnetic 0 stable equilibrium point mainly near the 180 un stable equilibrium point During the gradual increase of the Phase 2 current command we jitter Phase 1 current command TC in the range of 500 Isb 1 5 of the full current command This is done since if the initial start point is near the 180 un stable equilibrium
266. lication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR kL Software amp Command Reference 1 4 1 4 Stopping a Motion A PTP motion is automatically finished when the desired position the motion profile not the actual motor position reaches the desired target position At this time the Motion Status MS is read as 0 and the controller is ready for a new motion or a new motion mode The EM End Motion parameter is set to 1 indicating normal end of motion A PTP motion can be also stopped by the following communication clauses Communication Description Clauses AB Aborts the motion immediately DP remains as its last value ST Stops the motion with deceleration to zero speed MO 0 Disables the motor effectively stopping any motion Of course any software or hardware fault limitation or protection will also immediately abort or stop the motion depending on the fault or limitation type The Last motion end reason can be monitored with the EM parameter Doc No MAL 4164 4MC PM doc 30 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR Software amp Command Reference 1 4 1 5 On The Fly Parameters Change 1 4 2 The following parameters can be modified on the fly during an active
267. ller SC SC SC Controller Controller Controller Figure 4 2 Typical Servo Controller CAN network configuration RS 232 or CAN Network to When configuring a multiple devices CAN network there are several important issues to take care for before the actual multi device communication can be working Each controller should be assigned with a dedicated network unique CAN receive and transmit addresses Note that each controller module both SC family and MCD family products have special parameters for assigning CAN receive and transmit addresses namely the TA board CAN Transmit Address and RA board CAN Receive Address parameters The CAN baud rate should be identical in all units using the CB parameter on ALL products All parameters should be saved to the controllers memory using the XSV command and the controllers should be reset hardware reset is required i e turn power off and on The CAN interconnection cables between each module must be carefully prepared Although in general a standard pin to pin connection is used the RS 232 Tx and Rx lines pins 1 and 2 on the RJ45 connectors on the AL 4164 4MC should be disconnected at least on one side Doc No MAL 4164 4MC PM doc 265 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR S
268. lso under open loop mode it is possible to record the step response of the filter Use Open loop operation and record the record the Driver Command signal see also a remark in section 1 5 5 1 5 13 AL 4164 4MC Open Loop Operation SIN commutation motors For the X and Y axes the user can also use a special NC 2 mode for open loop SIN commutation motors When CG 3 is set SIN commutation is enabled and NC 2 an open loop TC command will use the internal commutation SIN tables for both phases of the motor i e the scalar TC command will be transformed using the SIN table and encoder Magnetic Location to a dual phase command and will change both the MAIN DAC value for Phase A and the AUX DAC value for Phase B accordingly In F W revisions 2 04 and later the controller also support a New Special Open Loop Mode NC 3 for X and Y Axes When SIN commutation is enabled and NC 3 the motor SIN phase angle command can be initialized by a user defined parameter and is not effected by the actual Magnetic Location This is frequently used during motor PHASES initialization in SIN mode For full information about SIN commutated motors support by the AL 4164 4MC please see the NC command reference and also section 1 8 17 below in this User s Manual When NC 1 an open loop TC command will only change the value of the main DAC regardless of the stage of CG 3 bit status Doc No MAL 4164 4MC PM doc 73 Rev B Information
269. lue For example the Al Analog Input value is a read only parameter There are some parameters that when assigned with a new value can also modify the values of other parameters For example when modifying the PS Current Encoder Position Value of an axis the DP The current position command reference or Desired Position is also modified to the same value to avoid positioning errors 1 3 3 2 2 Command Keywords Command Keywords always initiates a process start a motion save parameters begin internal script program execution etc Commands does not report a specific register values and in general does not assign any specific register values though they can internally modify values of more then one register For example the BR Begin Recording command will modify the value of the RR Recording Status register Doc No MAL 4164 4MC PM doc 14 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR kL Software amp Command Reference The LD Load from Flash command will modify values of almost ALL registers Commands can receive a parameter actually an argument which effects the command process For example the command to execute a program QE can receive a label string argument indicating the name of the subroutine
270. mand Reference The definition of each recorded vector contents the link to an internal controller variable is done using the RV parameter Currently the following internal controller variables can be selected for data recording for each one of the recorded vectors Recorded Variable Axis Variable Description Related Keyword NONE Empty Vector aw a i a a Ce Desired Position poa o e m Je i a E om om Lm Ls Lo x NOTES e By selecting a NULL variable value RV 0 for a specific vector this vector will be disabled not recorded e It is required that enabled Recorded Vectors will be orderly arranged This means that after the first NULL RV all following axes RV s should be 0 Doc No MAL 4164 4MC PM doc 90 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference e Most of the variables are axis related variables This means for example that the user can select to record for each recorded vector the value of XPS YPS etc e Please see the RV parameter keyword in this User s Manual for specific details about all possible RV values 1 8 3 6 The Recordings Data Array DA 1 8 3 6 1 DA Array in AL 4164 4MC On the AL 4164 4MC DA is an internal temporary data array used f
271. me error code Attributes Syntax QC Examples XQC YQC See Also EC Type Axis related Array Assignment Receive parameter Parameter type Scope Restrictions Save to Flash Default Value Range Software amp Command Reference Parameter Yes No No read only Doc No MAL 4164 4MC PM doc 345 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 4 8 4 11 QD Download Macro Buffer Purpose Download macro program to the internal AL 4164 4MC controller macro buffer This command is currently used by ORBIT FR DCOM communication interface only For further information please contact Control and Robotics Solutions Ltd Attributes Type Command Axis related No Array Assignment Receive parameter Yes Parameter type String Scope Communication Restrictions No Macro s are running Save to Flash No Default Value Range Syntax For further information please contact ORBIT FR Examples For further information please contact ORBIT FR Ltd See Also Doc No MAL 4164 4MC PM doc 346 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any othe
272. motor it is assumed of course that the motor current vector is ideally perpendicular to the magnetic field at all times If the current vector is parallel to the magnetic field the motor will produce no torque at all like in stepper operation mode Any deviation in the orthogonality of the current vector in relation to the magnetic field can be considered as a disturbance or non linearity of the motor s torque constant parameter Kt This disturbance is in general a SIN function of the rotor position in reference to the magnetic poles location of the motor In DC Brush type motors it is the brush collector sometimes referred to as the commutator that mechanically distributes the motor current among the rotor windings in order for the armature current vector to remain Doc No MAL 4164 4MC PM doc 122 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference perpendicular to the stator magnetic field regardless of the actual rotor position In traditional 3 Phase brushless DC motors BLDC the current commutation is done electrically by the driver based on coarse position sensors Hall Effect Sensors This commutation method is referred to as Hall Bases Trapezoidal or 6 Step commutation The Hall effect sensors can locate the relativ
273. mpare output will be active as long as the compare condition is satisfied followed by the width option defined by PG i 5 See note regarding compare pulse with in the notes below PG i 7 Pulse This parameter defines the compare pulse polarity Polarity mode PG i 7 0 Defines Normal Positive Pulse PG i 7 1 Defines Inverted Negative Pulse PG i 8 Not Used Should not be assigned to any value for future compatibility notes 1 In the table above i represents the selected axis 2 In Incremental modes Modes 0 and 1 since the hardware automatically increments the compare match register the actual compare condition is valid for only 2 basic H W clock cycles 66 MHz so practically if the pulse mode parameter is set to 0 PG i 6 0 the resulted compare pulse width will be 33 nano sec If PG i 6 1 the resulted compare pulse width is exactly defined by PG i 5 as specified above 3 In the arbitrary table supported modes Modes 2 and 3 the controller real time software is responsible for updating the compare match registers As a result the compare pulse width may be longer then Doc No MAL 4164 4MC PM doc 101 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference requ
274. mpare point The first compare point will be at the encoder location defined by AR starf PGIiI4 End Point For Modes 0 and 1 this parameter defines the End Position PEnd in encoder counts for the compare function Beyond this location the compare function will be automatically disabled For Modes 2 and 3 this parameter defines the End Index End in the AR compare position table corresponding to the last compare point The last compare point will be at the encoder location defined by AR End PG iJ 5 Pulse Width This parameter defines the pulse width when PG i 6 1 PGfi 5 0 Pulse Width 1 94 uSec PGfi 5 1 Pulse Width 7 75 uSec PGfi 5 2 Pulse Width 15 5 uSec PGfi 5 3 Pulse Width 248 23 uSec Was 3 9 PG i 6 Pulse Width This parameter defines the compare pulse width mode The Pulse Width selection bits were modified in revision 2 03 in the AL 4164 4MC Doc No MAL 4164 4MC PM doc 100 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR Software amp Command Reference Array Function Description Element Mode PG i 6 0 Specify that the compare output will be active as long as the compare condition is satisfied PG i 6 1 Specify that the co
275. mples XZ1I1 100 XZI2 101 XZC XBG See Also ZA ZI ZM ZR ZS Remote Receive Address RA 100 Remote Transmit Address TA 101 Remote Begin Motion BG Doc No MAL 4164 4MC PM doc 376 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 4 8 4 34 ZI Remote Parameters Array CAN Networking Purpose An axis related array parameter The iZI 1 array holds the address of the remote device to send messages to the iZ 2 array holds the address of the reply sent back to the AL 4164 4MC controller relates to the current macro Attributes Type Parameter Axis related Yes Array Yes AL 4164 4MC 10x4 Assignment Yes Receive parameter Parameter type Scope Both Restrictions None Save to Flash Yes Default Value 0 Range Syntax XZI 1 ZI 1 XZI 1 lt Number gt Y ZI 1 lt Number gt Examples XZI1 100 Remote Receive Address RA 100 XZI2 101 Remote Transmit Address TA 101 XZC XBG Remote Begin Motion BG See Also ZA ZC ZM ZR ZS Doc No MAL 4164 4MC PM doc 377 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization
276. n Each one of the above axis related fault conditions generates similar result to a Driver Fault condition The specific axis is immediately disabled and the relevant software status bits are updated AL 4164 4MC Only Doc No MAL 4164 4MC PM doc 79 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Software amp Command Reference 1 6 2 1 High Position Error This error is asserted when the servo loop position error is two high please see section 1 5 4 1 above for more information about Position Error calculation The position error PE is continuously compared to the maximal allowed error value ER Whenever PE gt ER the axis is disabled The high position error protection is active at all times when a servo axis is enabled i e when MO 1 This means that the position error is also monitored when the axis is in open loop modes The max allowed positioning error is 8 000 000 encoder counts High position error fault is reported by MF 3 1 6 2 2 Encoder Signal Error Protections The AL 4164 4MC hardware supports two types of encoder signals error conditions Encoder A Quad B Error This error is asserted when the AL 4164 4MCencoder hardware interface detects that both A and B encoder lines are changed simul
277. n duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference Word Related 2y Val Size Range GAR aa Max Position Error e a 000 Acc and Vel Feed None 0 65 536 pe era a e e e a a Yes Following Ratio for None Yes No 2 147 000 000 mL ere eT E eee ad Fl al i Definition High Software Limit None t 2 147 000 000 e hee ee el ee a ee eee ee Arra IL No Set Input Port Bit None Yes No 0 16 777 215 IP No GetinputPort None No Yes 0 536 870 911 Limit CKD Yes PID Differential Gain None Yes No 4x2 0 2 147 000 000 C Ki Yes PID Integral Gain None Yes No 4x2 0 2 147 000 000 ke Yes PID Proportional Gain None Yes No 4x2 02147000000 DIB oio il for Motions see eee e e Definition LMF Ye _ Motor FaultReason_ None___ No Yes ores _ Magnetic Location See Footnote 2 147 000 000 Position Cmm Yes Motion made Motion o vs no S bn ill Gl Enable Disable w e ee joen e e o ML 100 000 000 MS Yes MotionStatus ___ None__ No Yes Hd i Rome R Ml il i Open Loop Sel E Logic Yes VO Hardware None 2 147 483 648 Configuration 2 147 483 647 11 The GP parameter defines the Command Interpreter Axes Groups GP is a non axis related array parameter Each element rel
278. n duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 4 8 4 5 JF JT Jump If False or True Purpose Jump to a specified label or pointer location according to the stack top condition The JF Jump False command will execute the requested jump if the stack top element is false zero 0 The JT Jump True command will execute the requested jump if the stack top element is true non zero Attributes Type Command Axis related No Array Assignment Receive parameter Yes Parameter type Number or Label Scope Program Restrictions None Save to Flash Default Value Range Syntax JF lt Label gt JF lt Constant gt JT lt Label gt JT lt Constant gt Keyword is not axis related thus XJF YJF etc are equivalent Doc No MAL 4164 4MC PM doc 336 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR A Software amp Command Reference Examples MAIN XPA1 Pushes the value of XPA1 to the stack top XJT LABEL1 Will call the LABEL1 Subroutine if XPA1 0 YJF LABEL2 Will call the LABEL2 Subroutine if XPA1 LABEL1 XPA2 1 LABEL2 XPA2 2 See Also JP JZ Doc No MAL 4164 4MC PM
279. n Value Explanation signal off HOME_STAT_ERR4 4 Err 4 Motion error re finding the home signal on HOME_STAT_ERR5 5 Err 5 Motion ended without finding an index HOME_STAT_ERR6 6 Err 6 Motion ended and more than 1 index was found HOME_STAT_ERR7 7 Err 7 Motion after home ended in error HOME_STAT_ERR8 8 Err 8 Abort signal or LCU on Doc No MAL 4164 4MC PM doc 178 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 2 3 EN DAT Absolute Encoder Support NO firmware support exist in the firmware Once the home macro per axis is called a special dedicated parameter state if the axis is of type En Dat The macro update a dedicated parameter of the axis accordingly in the home function Only ONE En Dat type is supported and it is the standard 23 bit En Dat The parameter that is updated only takes into consideration the position of the En Dat encoder and not the additional encoder on the motor The host software is responsible for the final PS position Doc No MAL 4164 4MC PM doc 179 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT F
280. n all modes Out of 32 767 range in Mode 0 Not equal 1 or 1 in Modes 2 and 3 This error is issued by PQ 1 if the Start Point or End Point Parameters defined by PG i 3 and PG i 4 are not valid These parameters are validated only in Modes 2 and 3 see specific operation mode description for more details about limitations on PStart and PEnd The PQ command is supported on the AL 4164 4MCfor axes X Y Z W only Issuing the command with a different axis identifier will result in this error code 1 8 11 Configuring Digital Outputs for the Compare Function The AL 4164 4MC controllers have general purpose digital output pins There are 9 un committed general purpose digital outputs in the AL 4164 4MC These are DOut1 DOut8 and the trigger output see 2 4 When not assigned as position compare event outputs digital output pins can be controlled by the OP Output Port parameter Each hardware digital output pin reflects the state of the corresponding bit in the output word parameter OP please see the OP parameter keyword reference for more details Doc No MAL 4164 4MC PM doc 104 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference When an output pin is assigned to a p
281. n execution needs to be referred to for the main 4 axes only However for some other enhanced features and future expansion capabilities the communication interface already supports accessing 10 axes For example the AL 4164 4MC supports up to 10 script program tasks to be run simultaneously for which the 10 axes interface can already be used In order to optimize the AL 4164 4MC controller code a new method was defined in which each keyword may be related to a different number of axes The following table describes the available axes the AL 4164 4MC controller supports Table 3 1 AL 4164 4MC Axis Identifiers Axis Name Identifier and Number 1 2 3 4 5 6 7 8 9 10 X Y Z W E F G H U V Doc No MAL 4164 4MC PM doc 198 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR P d Software amp Command Reference 3 5 1 2 The AL 4164 4MC Axes Attributes In addition to the Restriction Attributes described above each keyword in the servo controller has also an Axes Relation Attribute field The Axes Relation Attribute field defines whether the keyword is axis related or not and also defines to which of the axes the keyword can be related and for which not 3 5 1 2 1 AL 4164 4MC Axes Attributes
282. n process once again It is assumed that the second time the function is executed no hardware limits will be sensed Error recovery tests can be added to avoid staying locked within an infinite loop in case of un expected problems For example the second call to the main function should not try to re call itself again For the sake of code simplicity and clarity error recovery tests are not implemented in the examples below Users can of course include them for more robust software application interfaces Doc No MAL 4164 4MC PM doc 137 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ee Se SIN Mode Phase Initialization Process for a Linear Motor J COMM_X XMO 0 XPS 0 XMP 32000 XCG XC Cae XNC 1 XAO 0 XER 64000 XMO 1 J Excite Phase 2 J XAO O AwWOLel Sicaek am 10 Disable Motor and Set Zero Position Set Magnetic Pitch Enable SIN Commutation Mode in CG Switch to Open Loop Desecrate phases Increase Error for the process Enable the motor gradually While doing so jitter Phase 1l decd Lock non stable equilibrium point for templ 250 XAO temp1 XTC 500 TimerX 4000 WaitTimerx templ temp1 250 XAO temp1 XTC 500 TimerX 4000 WaitTimerxX endfor XAO 8000 y XTC 0 y templ lt 6000
283. n the AL 4164 4MC has a 256 counts sec resolution Attributes Type Axis related Array Assignment Command Allows Parameter Scope Restrictions Save to Flash Default Value Range Syntax XAC 1000000 WAC 1000000 ZAC AAC 240000 Parameter Yes No Yes All None Yes 100 000 512 120 000 000 Set X Axis AC 1 000 000 Set W Axis AC 1 000 000 Report value of AC for Z axis Set AC 250 000 all axes Doc No MAL 4164 4MC PM doc 161 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference Examples The following code example shows starting a normal motion in X axis from Position 0 to Position 100 000 using Speed and Acceleration values XMO 1 XPS 0 Enables the Motor and Set Position 0 XMM 0 XSM 0 Set Normal Point To Point Motion Mode XAP 100000 Set Next PTP absolute location to 100 000 counts XAC 250000 Set Acceleration to 250 000 XDC 500000 Set Acceleration to 500 000 XSP 25000 Set Speed to 25 000 XBG Start a Motion See Also DC DL SP BG Doc No MAL 4164 4MC PM doc 162 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication a
284. nce The C and D groups can be assigned to any value The definition is saved to the flash memory with all other controller parameters and can be used after power up Groups definition is simply made using a new bit array filed parameter for each group Each BIT in the parameter defines an axis to be related to the group For example 1023 all 10 bits are 1 defines ALL 1 defines the X axis only 3 defines X and Y axes the B default and so on For further information regarding Groups Definitions please see the GP keyword reference in the AL 4164 4MC Advanced Multi Axes Servo Controller Software User s Manual and Commands Reference User s Manual section Keyword References The AL 4164 4MC Shell program provides an easy GUI for groups definitions Please see AL 4164 4MC Shell User s Manual for more information q NOTE In the current firmware version when working in CAN bus communication a multiple axes report command for a group with more then 2 axes will report ONLY the first two axes values This limitation is currently implied due to the 8 bytes basic CAN message format This limitation may be removed in future firmware versions Doc No MAL 4164 4MC PM doc 201 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written
285. nd Doc No MAL 4164 4MC PM doc 50 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR kL Software amp Command Reference If a repetitive Step Motion is commanded the user should use the KR kill repetitive command much like a normal PTP Rep motion 1 4 11 Profile Smoothing in the AL 4164 4MC Controllers Family The AL 4164 4MC controllers Family support an advanced symmetric S curve like profile smoothing algorithm The smoothing is controlled by the WW parameter WW can be set to 0 to avoid any profile smoothing In that case the generated position velocity profile is pure trapezoidal or triangular If WW is set to 12 the smoothing is set to its maximal value In that case the generated profile has full smoothing and the velocity trajectory is not pure trapezoidal The WW parameter is used by the controller as a power of 2 coefficients for the smoothing time value For example WW 6 means that smoothing is done over a period of time of 2 6 sample time In the AL 4164 4MC this will take approx 4 msec Setting WW 12 to its Maximal smoothing value of 2412 will result in a 0 25 sec AL 4164 4MC acceleration smooth period The following figures shows two simple profiles generated in similar motion parameters with different smoothing values Fo
286. nd clauses are not axis related e g SV for saving parameters to the FLASH or the AR for the global general purpose array In these cases the axis identification letter is ignored although it still must be included The Command Interpreter handles a command clause only after the termination character has been received Next command clause characters are received buffered but are not handled until the current command handling is completed Each command clause includes only a single keyword The keyword may be a command or a parameter In case of acommand keyword the command clause will include the command keyword preceded with the axis identification letter with optional parameters string or numbers separated with a comma In case of a parameter keyword the command clause may be a report or a set parameter clause A report parameter value command clause includes only the parameter keyword with index in square brackets for arrays Doc No MAL 4164 4MC PM doc 20 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference A set parameter value command clause includes the parameter keyword with index in square brackets for arrays and the value The parameter value is a decimal long integer and in text
287. nd enter a Loop to wait for the Index Pulse XXN 0 XBG while XXN weir ror Neke Tneez endwhile Index is found Stop the motion The Index location is stored in XXC Stop the program y XST XQH Doc No MAL 4164 4MC PM doc 118 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Software amp Command Reference 1 8 17 Analog Input Interfaces The AL 4164 4MC has four 4 analog inputs These are dedicated to tacho feedback type axes Analog inputs are nominally 10v and are converted using 12 bits A2D s in the AL 4164 4MC When working with 10 bit A2D s at least 2 LSB s noise 4 bits i e 8 bits p t p noise level should be expected This can be reduced by lowering the effective resolution to 10 bits by using Gain Factor GF gt 2 see exact Al computation formula below The analog input values as can be reported by the Al parameter XAI YAI in the AL 4162 2MC and XAI YAI ZAI WAI in the AL 4164 4MC are of course a function of the analog input voltage Ainp in v units but are also a function of a set of scaling and offset parameters as explained below The following figure shows a schematic block diagram of the Analog Input Software Parameters Hardware Software HW A2D Gain 2047
288. nd it may not be passed to any other party without written authorization from ORBIT FR OREI T FR Software amp Command Reference 1 4 1 3 Monitoring Motions During and after an active motion the motion status can be continuously monitored using the following parameters Please note that these parameters reflect the internal controller status regardless of the motion mode and are relevant in all motion modes described below in this chapter The user can of course choose to record any of these variables and many others using the internal Data Recording capability Please refer to the chapter dealing in Data Recording features of the AL 4164 4MC controllers in this User s Manual see section 1 8 1 Communication Description Clauses PS Reports the current actual motor position counts VL Reports the current actual motor speed counts sec _ DP Reports the current desired position counts PE Reports the current position error DP PS counts __ MO Reports the current motor status Should be normally 1 for motor on Will be O off only in case of fault during the motion MF A code describing why the motor was lastly disabled MF 0 Motor was not disabled MF 1 Driver s fault Fault input MF 2 Abort input emergency stop MF 3 High position error PE gt ER MF 4 Motor Stuck Condition MF 65 Encoder Quad Error MF 129 Encoder Dis Connected Error MS A bitwise code describing the
289. nd it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 1 9 5 3 AP Absolute Position Purpose Defines the Next motion Absolute Position in counts target The absolute position value is used by the controller as the next target position in both the PTP and Repetitive PTP motion modes Upon a BG begin motion command the controller will generate a profile from the current desired DP position to the current AP Note that in relative motion the RP command simply changes the value of the AP Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash No Default Value 0 Range 2 147 000 000 2 147 000 000 Syntax XAP 100000 Set X Axis Absolute Position to 100 000 ZAP Report value of Z axis AP AAP 0 Set AP O in all axes Doc No MAL 4164 4MC PM doc 163 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference Examples The following example shows resetting the X axis position to O and then initiate a normal motion in X axis from Position 0 to Absolute Position 100 000 XMO
290. nd it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference Examples Function not supported in this version See Also MG ZM Doc No MAL 4164 4MC PM doc 333 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBIT FR amp 4 8 4 4 JP Jump Purpose Jump to a specified label or pointer location Attributes Syntax Type Axis related Array Assignment Receive parameter Parameter type Scope Restrictions Save to Flash Default Value Range JP lt Label gt JP lt Constant gt Keyword is not axis related thus XJP YJP etc Examples MAIN XJP A_1 Will jump the A_1 label A_1 XSP 12345 Software amp Command Reference Command No Yes Number or Label Program None are equivalent Doc No MAL 4164 4MC PM doc 334 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR A Software amp Command Reference See Also JF JT JZ Doc No MAL 4164 4MC PM doc 335 Rev B Information contained herein is the sole property of ORBIT FR and is not for publicatio
291. nd to synchronously latch multiple axes system locations when operated on digital inputs The AL 4164 4MC supports simultaneous capture on all of its four 4 axes The user can configure the Compare pulse source for each encoder independently from other channels Doc No MAL 4164 4MC PM doc 111 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 1 8 14 Capture Modes 1 8 14 1 AL 4164 4MC Capture Modes When operated on the Index pulse the Capture uses the internal Index signal to latch the position In this mode each axis can capture the position based only on its own Index pulse When based on digital inputs the user can select any one of the 32 digital input lines general purpose and dedicated inputs to be the Capture pulse source for any axis without any limitation The same digital input line can be used to synchronously Capture location of all axes at once Although each one of the controller s digital inputs can be used as a Capture input in the current hardware version only the first three 3 digital inputs DInp1 DInp2 DInp3 are supported as fast TTL inputs As normal inputs are optically isolated using standard inputs for Capture introduces a delay of few microseconds Fast inputs are TTL based so no delay is pres
292. ng and showing the next macro statement c i gt This toolbar button is for showing current selected macro run time error Gi This toolbar button refreshes the watch list and updates the watch area gt k E g This toolbar combo box is for switching between macros The combo box selection changes according to the shell the editor is communicating with for SC4M the combo box includes 10 possible macros and for SC2M the combo box includes 2 possible macros Doc No MAL 4164 4MC PM doc 418 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR P d Software amp Command Reference 5 7 22 Source Code Editor Keyboard Shortcuts Table 5 1 Source Code Editor Keyboard Shortcuts Key Purpose Ctrl D Download macro F7 Save and download current macro Alt G Debug macro Ctrl F7 Debug current maco Ctrl R Reset program Ctrl B Break macro execution F10 Trace one step Ctrl E Animate macro execution F5 Run program from current pointer location F9 Insert Remove breakpoint Ctrl T Show next statement Ctrl Q Show run time error Ctrl N New file Ctrl O Open file Ctrl S Save file Ctrl P Print file Doc No MAL 4164 4MC PM doc 419 Rev B Information contained herein is the sole property of ORBIT FR
293. ng definitions are used within this manual Please note that these definitions are provided only for the scope of the AL 4164 4MC products and this manual Abort Input Clause Clause Assignment Clause Command A dedicated digital input typically connected to the machine s emergency button When the AL 4164 4MC detects an active state at this input it immediately disables all motor drivers A single complete independent communication statement that can be interpreted and evaluated Each clause consists of keywords and operators and is terminated by a terminator to identify end of clause A communication statement sent by a host and instructs the Controller to assign a value to a specified parameter A typical assignment clause consists of oy Keyword value terminator A communication statement sent by a host and instructs the Controller to perform a specified command process A command clause consists of Keyword terminator Doc No MAL 4164 4MC PM doc 2 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBIT FR amp Clause Report Clause Terminator Command Interpreter Communication Protocol Communication Syntax Language Syntax Digital Control Filter Software amp Command Reference A communication
294. ning The red dot is used to mark breakpoints Breakpoints are always located next to executable lines not original source code lines If the user wants to set a breakpoint on a non executable line the SrcEdit will issue a warning Doc No MAL 4164 4MC PM doc 282 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference message and may locate the breakpoint on the next valid executable line if requested 4 5 4 2 3 Debugger Window Toolbar Menu and Pop Up Menu The debugger window toolbar menu and pop up by right click include 12 different options to operate all the debugger features In this section a description of each item is given Note that the description is identical for all three interfaces mentioned above The figure below shows the debugger window toolbar AMMRE WS dalek J Figure 4 7 SrcEdit Debugger Window Toolbar The table below describes each toolbar icon from left to right as appear in the toolbar image and the relevant related menu Table 4 8 ScrEdit Debugger window Toolbar and Menu functions Description Related menu and accelerators Stop debugging and reset macro Reset Program Ctrl R program affecting macros It is equivalent to the following sequence of commands XQK
295. normal parameter i e not an array parameter which means that there is no index required If this bit is set to 1 then this is a normal command not an array If the bit is O then the parameter is an array parameter i e an array code and index is expected Please refer to Non Normal clauses Array Clauses section 10 1 2 below Bit 4 This bit indicates whether the data element in a message is a Command s Parameter or a Parameter Assignment When the bit is 0 then a normal parameter assignment i e with the sign is requested like RS 232 XPS 1234 parameter assignment for example This bit should be O for all standard parameter assignments When the bit is 1 then the data in the message is referred to as a Command s Parameter given with a when a command is expected to receive a parameter For example the command XQE execute a program may be issued with no parameter at all and then the program will start running from the current program pointer If the user wants to start executing the program from a given label or pointer the label or pointer should be given as a Command s Parameter In RS 232 the syntax will be XQE LABEL1 or XQE 1234 for a pointer In CAN the Command s Parameter bit should be set to indicate this case Doc No MAL 4164 4MC PM doc 212 Rev B Information contained herein is the sole property of ORBIT
296. not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference Examples XQW 100000 Waits for the X axis to be in motion XQW 200000 Waits for the Y axis to be in motion XQW 200001 Waits for the Y axis to be not in motion See Also QG Doc No MAL 4164 4MC PM doc 369 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBIT FR amp 4 8 4 29 Purpose QZ Clears Macro Numbers Stack Software amp Command Reference Clears the numbers stack This command should be used when a new program starts running to avoid stack errors in case previous functions did not leave the stack clear Attributes Syntax QZ Examples XQZ YQZ See Also QN Type Axis related Array Assignment Receive parameter Parameter type Scope Restrictions Save to Flash Default Value Range Command Yes Clears the X macro program numbers stack Clears the Y macro program numbers stack Doc No MAL 4164 4MC PM doc 370 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed ORBIT FR to any other party without written authorization from ORBI T FR ES Software amp Command R
297. ns BR or BR 1 Needs recording off Save to Flash Default Value Range Doc No MAL 4164 4MC PM doc 169 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference Syntax XBR Start Data recording XBR 1 Start Data recording XBR 0 Stop Data recording Examples See section 1 8 3 1 in this User s Manual for further information See Also RG DA RL RR RV 1 9 5 7 XVR Firmware Version Purpose Read firmware version Attributes Type Axis related Array Assignment Command Allows Parameter Scope Restrictions Save to Flash Command No No No No All None Doc No MAL 4164 4MC PM doc 170 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Software amp Command Reference Default Value Range Syntax XVR Read firmware version Examples None See Also None Doc No MAL 4164 4MC PM doc 171 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without wr
298. nt where the directive appears You can organize constant definitions and Doc No MAL 4164 4MC PM doc 295 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference subroutine implementations into include files and then use include directives to add these definitions to any source file e g using global parameter definitions and for example homing routines The syntax for the directive is include lt path spec gt or include path spec The path spec is a filename optionally preceded by a directory specification The filename must name an existing file The include directive instructs the pre compiler to replace the directive by the entire contents of the specified include file It may appear anywhere in a source file Note that the include file contents will be places at the point where the directive appears Nested include statements include statement within an included file are not allowed 4 6 4 Advanced Expressions Parsing 4 6 4 1 General As described earlier in chapter 1 4 of this user s manual the AL 4164 4M family controllers are designed with a simple fast real time execution engine supported by a powerful programming development and debugging environment the AL 4164 4MC shell An important part of the develo
299. ntained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR Software amp Command Reference Communication Description Clauses AB Aborts the motion immediately DP remains as its last value ST Stops the motion with deceleration using DC to zero speed Note that immediately after issuing the ST command the slave axis stops following the master and starts an autonomous stop profile motion towards zero speed MO 0 Disables the motor effectively stopping any motion Any software or hardware fault limitation or protection will also immediately abort or stop the motion depending on the fault or limitation type x Note In gear motion any fault condition acting on the master axis will not directly affect the following slave axis This means that the following axis remains linked to the master DP regardless of the master s motion status or motor status For example if a master axis is disabled due to a high error condition its motor will be turned off but the following axis will still be in motion condition and will keep following the disabled axis encoder 1 4 6 1 5 On The Fly Parameters Change An axis during gear motion is not affected by any of the normal profiler motion parameters e g SP AC etc Although the following ratio FR can be modified during motion
300. o 4000 counts with the compare table initialized to generate pulses at locations 1500 2000 2250 2375 When motion is terminated a backward motion is Doc No MAL 4164 4MC PM doc 109 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ee Se programmed to generate pulses at the exact same locations but when moving in the opposite direction Disable any active compare for Y Axis XPO 0 Configure Digital Outputs 1 and 2 to be assigned to X Y Compare outputs All other outputs are standard Outputs XOM 44 OM 1 4 OM 2 5 DOutl is X DOut2 is Y Initialize Y axis Motion Parameters and reset position XAC 1 000000 YDE NOOO 0007 S2 100000 VE S 0 7 MOL ARAN Initialize the Compare Function and Table Points Note that Table points MUST be INVERTED YPG1 2 Set Mode 0 YPG2 1 Set Compare Direction POSITIVE YPG3 1 Set Compare Start Index AR 1 YPG4 4 Set Compare End Index AR 4 YRES 3 Sec Pulse Wauceleln 5 3 9 See YPG6 1 Set Pulse Width Mode Use width Parameter YPG7 0 Set Pulse Polarity to Normal Positive YAR1 1500 YAR2 2000 YAR3 2250 YAR4 2375 YAR1 2375 YAR2 2250 YAR3 2000 YAR4 1500 W2O A Activate X Compare Function Start motion and wait for end of moti
301. o a set of parameters In order to support this feature a special array keyword is defined This is the IAi array see further description below For ease of use each array described below may be accessed through both the communication lines and internally from within a macro with or without the square index brackets An exception is when using indirect addressing where in this case the square brackets must be used i e AR XIA6 see further explanation below Doc No MAL 4164 4MC PM doc 245 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR Software amp Command Reference The following arrays are currently defined Array Axis Size In Notes Name Related AL 4146 4MC AR i No 1 16000 This is a general purpose array And elements may be used freely from within a i e AR1 macro program through This array is also used for ECAM and AR16000 compare modes PA i Yes 2 xX 100 This is a general purpose array elements Parameters Array intentionally i e XPA1 defined for temporary usage of macro through variables XPA200 No other internal controller function and YPA1 uses this array under any through circumstances YPA200 IA I No 1 X 50 This is a general purpose index array elements Index Array intentionally defin
302. o immediately abort or stop the motion depending on the fault or limitation type 1 4 5 1 On The Fly Parameters Change The following parameters can be modified on the fly during an active Jogging motion Communication Description Clauses SP Starts an acceleration or deceleration toward the new SP value The New SP value can have a different sign from the previous SP value AC DC Will affect any following motion toward a new SP value Doc No MAL 4164 4MC PM doc 35 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 1 4 6 Gearing Motion Modes 1 4 6 1 Position Based Gearing MM 2 1 4 6 1 1 Description Gearing or electronic gearing motion is referring to a motion mode where an axis follows another axis position with a pre defined fixed ratio AL 4164 4MC supports position gearing motion mode for X and Y axes only The position gearing is implemented based on a master DP follow method In this method the follower axis is slaved to a user selected Master Axis Desired Position i e The Master s DP not its actual encoder position PS This method allows to perform very accurate multiple axes vector motions with one axis being used as a master while other axes can be slaved to it s reference position i e to
303. ode No Motion ves No F Speed For Profiler None No 23 o 000 000 Motions SR_ Yes Status Register_____ None No Yes 0 8 388 607 EE o e eee eee Address ic aoua Command cc l a A Parameter TL Yes TorqueLimit _ None Yes No 0 32767 TR Yes TargetRadius None Yes No 0 32767 TT Yes TargetTime None Ye Nof 0 32 767 vA No Vector Acceleration None Yes O 100 000 000 _ VD No Vector Deceleration None Yes o 100 000 000 _ vL Yes ActualVelocity None No Yes 30 000 000 VS Yes VectorSpeed None Yes No f 30000 000 WT Yes Wait time for None Yes No 0 800 000 000 Repetitive PTP ww Yes Smoothing Factor None Yes Nof 012 14 The PC array element s range is restricted by the PQ command depending on the compare function operation mode Please refer to the relevant command s references PG PQ and the Advanced Features section about the compare feature in this user s manual 15 The Recording Gap parameter RG is now a 1 x 2 array RG or RG 1 is the recording Gap RG 2 defines a delay for upload Recording data buffers in CAN bus mode only Please see the RG command reference for more information 16 The RL Recording buffer Length defines the number of max recorded data points per vector It can be 100 000
304. oder Error faults when enabled are reported by special code in the MF keyword the Motor Fault Cause Please see the MF keyword description in section 1 4 1 3 for more information 1 6 3 Motor Stuck Protection The purpose of the Motor Stuck protection is to protect the motor from sustained high current operation The protection detects the following condition e In AL 4164 4MC Motor Is Stuck if The motor current command reaches its peak limit Saturated by TL without any encoder movement less then 2 counts sample time for a period of 0 5 seconds When the condition is met the controller automatically disables the faulted axis This is an axis related fault of course The motor stuck error condition is operational whenever an axis is enabled in close loop operation mode The protection is not active in the open loop modes The protection is operational at all times There is no way to disable this protection Doc No MAL 4164 4MC PM doc 81 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Software amp Command Reference Motor Stuck fault is reported by MF 4 1 7 Software Protections Non Fault Conditions The following software protections are managed by the AL 4164 4MC without generating fault condition This means that the se
305. of two data points into two different not necessarily consecutive buffers therefore a new mode is defined as follows The new mode is designated as Enhanced Down Load Buffer Mode or EDB In this mode the controller continuously listens to a new dedicated CAN address and monitors all messages received in it According to a new set of parameters the controller then stores the incoming data in the relevant buffers and auto increments the store location for both buffers separately The new message format received by the controller is CAN byte 0 1 2 3 4 5 6 7 Data Format D1 LSB D1 MSB D2 LSB D2 MSB Data longDatah Long Data 2 The following guidelines are to be followed while using this mode f the received message length is less than 4 the message is ignored 3 f the received message length is 4 only Long Data 1 is assumed valid and only a single buffer is updated Buffer 1 Ifthe received message length is less than 8 the message is ignored f the received message length is 8 both Long Data 1 and Long Data 2 are assumed to be valid and both buffers 1 and 2 are updated correspondingly Doc No MAL 4164 4MC PM doc 228 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR P d
306. oftware amp Command Reference q NOTE The AL 4164 4MC supports simultaneous RS 232 and the CAN This means that while modules are connected via the CAN the user can use the RS 232 ports to connect a PC shell for monitoring purposes In any case it is of course recommended to use a stand alone configuration when initializing each controller board working with a shell software one to one initialize configuration servo parameters CAN addresses etc 4 3 3 External Communication Link Interfaces RS 232 4 3 3 1 Input From Communication Link Future Option A dedicated keyword will be added to support direct input from the RS232 channel The keyword is IN The macro waits for the next communication clause captures it and converts its to a numeric value The value is stored at the numbers stack Only after this the macro continues The usage of this keyword should be done carefully do avoid any conflict with the normal RS232 stream NOTE This function is not supported under the current firmware version Description is given for reference only Do not use this function Doc No MAL 4164 4MC PM doc 266 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 4 3 3 2 Message To Communication Link Future Option
307. og Motion 1 4 4 1 4 5 Communication Clauses MO 1 MM 1 SM 0 AC 500000 DC 200000 DL 1000000 WW 0 SP 50000 BG Monitoring a Motion ORBI T FR kL Software amp Command Reference Description Enabling the servo loop motor on Setting Jogging motion mode Assigning a value for the acceleration counts sec Assigning a value for the deceleration counts sec Used when stopped or when changing SP on the fly Assigning a value for the Limit DC counts sec Defines no smoothing Assigning a value for the speed counts sec Begin the motion Please refer to section 1 4 1 3 above Stopping a Motion A Jogging motion is theoretically an infinite motion It stops only as a result of a user command or due to some fault limitation or protection A Jogging motion can be stopped by the following communication clauses Doc No MAL 4164 4MC PM doc 34 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR Software amp Command Reference Communication Description Clauses AB Aborts the motion immediately DP remains as its last value ST Stops the motion with deceleration using DC to zero speed MO 0 Disables the motor effectively stopping any motion Any software or hardware fault limitation or protection will als
308. on YBG while YMS 0 Westie iow Hine Oi Moe iom endwhile Initialize the Compare in the opposite direction XEO 0 Disable Y Compare YPG2 1 Set Compare Direction NEGATIVE YPG3 1 Sec Comoeiwes Siew Wincles lt g ARI YPG4 4 Set Compare End Index AR 4 YAR1 2375 YAR2 2250 YAR3 2000 YAR4 1500 Y2O I Activate X Compare Function Doc No MAL 4164 4MC PM doc 110 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 1 8 13 Position Capture Events Position Capture Latching events is a hardware supported feature of the AL 4164 4MC controllers encoder interface that provides the ability to latch the exact encoder position register based on an external or internal hardware pulse The AL 4164 4MC hardware Capture mechanism support two type of trigger pulse sources e Capture Position Based on an Encoder Index Pulse and e Capture Position Based on a Digital Input Pulse Being fully supported by the encoder hardware interface the AL 4164 4MChardware can capture positions based on either Index or Inputs at any encoder speed There is no limitation on the motion velocity This feature is useful to find exact 1 count resolution homing location when operated on the encoder Index a
309. on and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 1 8 18 5 1 Analog Offset Calibration In the discussion and SIN mode equation presented above it is assumed that the command amplitude at peak Sin level of 1 is identical for both motor phases In the presents of an analog offset on either Phase A or B commands motor performance can dramatically deteriorate due to increased force ripple during rotor movement The analog offset will directly effect the phases current balance and will increase the overall total motor ripple forces The following equation simply explains this condition Ia I xsin Offset Ib I xsin g 120 It is thus very much recommended to tune the analog offset to as near as possible to zero level when working in SIN mode commutation with BLDC motors On the AL 4164 4MC new hardware revisions the analog offset value is kept to a minimum level by using accurate analog circuits 0 1 However offset can still appear on the analog Main and Aux commands The DO DAC Offset command should be used to eliminate the analog offset completely Please see the DO command reference for more information 1 8 18 5 2 Phase Initialization Script Routine Examples Doc No MAL 4164 4MC PM doc 134 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication dup
310. on of All axes Doc No MAL 4164 4MC PM doc 159 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference Examples The following code example shows starting a normal motion in X axis from Position 0 to Position 100 000 and then aborting the motion XMO 1 XPS 0 Enables the Motor and Set Position 0 XMM 0 XSM 0 Set Normal Point To Point Motion Mode XAP 100000 Set Next PTP absolute location to 100 000 counts XAC 90000 XDC 90000 Set AC DC 90 000 XSP 25000 Set Speed to 25 000 XBG Start a Motion XAB Will immediately abort the X motion See Also BG ST KR ER Doc No MAL 4164 4MC PM doc 160 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 1 9 5 2 AC Acceleration Purpose The normal Acceleration value to cruise velocity in all motion modes that use the internal Profiler This value is used to set the motion profile acceleration value in PTP JOG etc Motion modes The Acceleration value is defined in units of counts sec All Acceleration Deceleration parameters i
311. on refers to an algorithm which continuously monitors and limits saturates a value avoiding it from reaching a fault condition Faults represent the list of conditions which are detected and responded to with a proper protection function Some of the protections are implemented directly by the HW ensuring safe fast and immediate response while some are implemented by software providing user control of the protection behavior All the detected faults cause an immediate servo off condition Analog and PWM signal commands are reset to 0 voltage or 0 PWM and the drivers are immediately disabled The faults which are detected by the AL 4164 4MC controller s are e External driver fault via the Fault input e Abort emergency switch input This fault cause immediate disable of ALL motors e High position error e Encoder signal error Two types of encoder error detection are supported see below e Motor Stuck condition Doc No MAL 4164 4MC PM doc 76 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR 1 6 1 ORBI T FR Software amp Command Reference In addition to the faults described above the AL 4164 4MCcontrollers also include the following protections Verification of correct firmware and FPGA versions after power on Forward
312. ons Reset based on pre defined position modulus number When this mode is activated during motion the axis roll its position based on the value of the High Software Limit parameter 2 HL 2 Motion that do not start in a range of HL 2 lt Position lt HL 2 will be calculated by the firmware and moduled to its correct value During JOG motion while one of the modes is activated the axis position as well as its reference position command will be reset to 0 Motion will continue normally endlessly in this mode without any position limitation Note that in this mode the software Low Limit LL should be kept beyond lower than the expected actual position travel from limit to limit The High software limit parameter divided by 2 HL 2 is used to indicate the Modulus value Note that under this mode the smoothing parameter WW MUST be set to zero If a BG command is issued when WW gt 0 an EC_MUST_HAVE_WW0 85 error code will be issued The new motion mode is an extension to the standard JOGGING motion mode MM 1 Position based Reset is initialized with MM 1 SM 2 Note that when a STOP command is issued the ROLL logic will terminate so during stop profile the axis can go beyond the defined position limit value it will not be rolled to 0 Doc No MAL 4164 4MC PM doc 185 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may
313. operate the controller the user MUST close a circuit through the isolated abort input lines at all times Whenever this circuit is broken the controller immediately switches to Abort condition Doc No MAL 4164 4MC PM doc 78 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR Software amp Command Reference The following parameters reflect the DRIVER FAULTS and ABORT conditions Controller State Description MO is set to 0 The Motor On parameter is reset to 0 EM is set to 6 Last Motion End Reason is 6 Motor Fault MF is set to 1 for DRV Motor Fault reason is Driver Fault Input MF is set to 2 for Motor Fault reason is Abort Input ABORT IP 24 is 1 for XDrv Fit The relevant bit in IP the Input Port Word is IP 25 is 1 for YDrv FIt set active high Bit 24 for X driver fault Bit 25 IP 26 is 1 for ZDrv FIt for Y Bit 26 Z and Bit 27 for W axis IP 27 is 1 for WDrv FIt IP 28 is 1 for ABORT Bit 28 is set high is the Abort input is Active no current through the Abort lines 1 6 2 Software Generated Faults The AL 4164 4MC real time servo loop software can generate the following faults e High position loop error e Encoder signal error e Motor Stuck conditio
314. operation in SIN mode Doc No MAL 4164 4MC PM doc 129 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference In the AL 4164 4MC servo controller when the stable equilibrium point is found the magnetic location offset from that point should be set to 90 or 270 electrical degrees ML suvi EQ Point 4 x MP For the above technique a worst case magnetic alignment movement from a random initial rotor position to a stable state is one half of electrical revolution 180 electrical degrees or MP 2 This worst case is achieved if initial rotor position almost coincides with a non stable equilibrium point We suppose that a motor is not stuck near or at a non stable equilibrium position it is theoretically possible for relatively high Coulomb friction The Phase Initialization Script Example shown below demonstrates how to deal with both coulomb friction and mechanical end of travel limits There are more efficient methods that implements phase initialization with much smaller rotor movement few electrical degrees only These methods involve monitoring the initial phase and closing a loop to minimize the magnetic alignment movement An automatic Phase Initialization Process method that keeps small m
315. or The velocity loop feedback is currently used as a simple numeric derivative of the position reading represented in the third equation above by PS PS Both VC and VE are internal software variables and can not be accessed from the communication Uis the Velocity PI filter output TL is the output command saturation value The 2 order filter block is filter high order low pass filter Y VV Y PO is the final control loop output This value is converted to the analog output command for the external driver using the 16 bit DAC in the system The filter equations in this case can also be written in a Z transform transfer function equation as follows U PE x KP 1 2 x 65536 x KD x L 65536 1 z Please note that here the final close loop transfer function has the same structure as in the PID case 2 zeros and an integral but with different parameters scaling and with an isolated parameters form This can be considered as a more convenient filter form as one can note that the filter has 2 zeros separately effected by KP and KI an integral and total loop gain KD actually the velocity loop gain Another benefit in that form is that one can operate the close loop system with KP 0 no position feedback to tune the velocity loop performances only and then use the KP gain to control the position loop gain and resulted bandwidth Doc No MAL 4164 4MC PM doc 63 Rev B Information conta
316. or the Data Recording logging Note that this array is a temporary array and is not saved to the Flash memory When the controller power is off all data in the DA will be lost The data in the DA array is arranged in a simple logical order For each sample point DA contains the recorded variables according to the natural order XRV YRV etc The size of DA in the AL 4164 4MC is 100 000 points Doc No MAL 4164 4MC PM doc 91 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 1 8 4 Data Recording Support on the AL 4164 4MC Shell As noted above the AL 4164 4MC SCShell GUI application fully supports all the Data Recording features of the AL 4164 4MC controllers The user can select the recorded variables configure recording length initiate recording process and view the resulted graphs in our advanced Data Viewer application Please refer to the User s Manual for more information about the AL 4164 4MC SCShell application GUI support for Data Recording Doc No MAL 4164 4MC PM doc 92 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software am
317. orization from ORBIT FR ORBI T FR ES Software amp Command Reference Each command and parameter can have one or more attributes from the table above In addition each parameter has a default value when not loaded from FLASH or when FLASH value is not valid as well as Minimum and Maximum limit values 1 9 2 Command Keywords List The following table describes alphabetical list of the AL 4164 4MC Commands Keywords Doc No MAL 4164 4MC PM doc 143 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Ee Software amp Command Reference Table 1 5 AL 4164 4MC Commands Keywords List Command Axis Description Restrictions Keyword Related 9 AB Yes ___ Immediately Abort any motion S None BG Yes BeginsanewMotion Ss MotorON _ _ _ BR_ No Startdata recording process Not Currently Recording DB No Download Array Buffers in CAN Bus None _ _ _ DF LD No Load all parameters from Flash Memory All Macro Programs MG No SendRS 232 Message From Macro Program Only oc Yes__ Killallmotionsand Programs O No S W Reset Controller Communication Only All Motors are disabled ST SV None o i O UD No Upload Recording Data None Get Firmware and FPGA Versions No Read data from Hardware Register Internal Use
318. ors Errors in syntax like for loops paring errors Program flow errors Errors detected by debugging Downloading Macro step by step Open the macro file in the editors Edit Area If working with workspace select the main macro file Verify that the relevant controller shell is opened and communicating with the controller gt In Macro menu select Download Macro menu item gt The result of the download will appear if the download succeeds than an OK message will appear else the errors are listed in the Output Area If the macro has errors they will appear in the Output area The syntax of the download errors is lt file name gt lt line number gt lt Error description gt gt File name The file that has errors Remember a macro can include more than one file Line number The line number where the error is Error Description A short description of the error Doc No MAL 4164 4MC PM doc 393 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 5 6 Macro Debugging B C amp RS Editor sc2mexample dbg 0f x Fie Edit Options View Macro Communication Window Hep fay Osea Ss Seo s ms Execution Ra Mm amp So ac ax location al i 04230 1 042
319. osition compare event function its state is controlled by the compare logic hardware and is not affected by the digital output word OP If the compare function is enabled without any output being assigned to it no pulses will be generated the pin will reflect the relevant bit value of OP In the AL 4164 4MC only the first 4 outputs can be assigned as compare outputs It should be noted that when an output is assigned to a compare event only its physical logic level is affected The value of OP is not changed and does not reflect in this case the actual hardware pin state The next two sections define how to assign digital outputs to the compare function and how to support fast TTL electrical interface 1 8 11 1 Assignment of a Digital Output to a Position Compare Event The AL 4164 4MC Hardware supports assignment for any of its 8 actual physical digital output pins as standard outputs or as a position compare function output The digital outputs are configured using the IO _MODE_0 select word currently assigned using the XOM parameter please see the OM keyword reference in this user s manual for further information This is a 32 bit array word defined as follows Doc No MAL 4164 4MC PM doc 105 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBI
320. other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference The figure below shows the SrcEdit application debugger window sample code source view is for demonstration purposes only Doc No MAL 4164 4MC PM doc 280 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR A Software amp Command Reference B CERS Editor TestBenchSC4M dbg Iof x File Edit Options View Macro Compunication Window Help e x a i AAAA e 0038 Description 0039 r SHEKEL E EKA E LHL L ALLL LEK ELLE LLE KEELE LEE LEEKS EELELELESE 0040 0041 TESTOO 0042 r 0043 f 0044 wait about if 0045 Pane 0046 000098 BTD1 1000 XOW 53 0047 0048 Set Result 0049 t 0050 XaR 1 TestPas 000115 2 cboiis XAR 1 oosi XOH XQH 000126 XQH 000130 XQH 0052 d 0053 y 0054 ee Files 4 Ln 356 Col 4 CAP Hit F9 to toggle a line marker Figure 4 6 SrcEdit Debugger Window As shown in the figure above the debugger window has some fields that allow the activation of all the debugger features and allow user interface In the following sub sections each field will be shortly described Doc No MAL 4164 4MC P
321. p Command Reference 1 8 5 Position Compare Events Position compare events are a hardware supported feature of the AL 4164 4MC controller s family encoder interface that provides the ability to generate accurate hardware pulses based on comparing the actual encoder position with pre defined values When a compare condition is satisfied a hardware pulse is automatically generated by the controller and is directed to one of the digital outputs of the AL 4164 4MC Controller As noted the compare feature is implemented by the AL 4164 4MC encoder hardware interface so the actual delay between the exact compare time to the generated pulse is very short few cycles of the internal 66 MHZ encoder interface module clock in the current hardware version This feature is useful in applications like printing and scanning where external hardware should be synchronized with actual encoder location AL 4164 4MC The AL 4164 4MC supports simultaneous compare events on all of its 4 encoders independent from one another The user can configure the hardware to redirect a generated event pulse to any one of the controller digital outputs This way a user working with a dual axes system X Y stage for example requiring to generate compare event pulses based on the X and Y encoders alternatively can use only one digital output and control the source of the pulse to be an X or Y encoder Compare Event using simple software configuration The user shou
322. p assigning in order to manipulate a few macro s simultaneously with one command The only thing to modify is a different Axis prefix Table 4 1 AL 4164 4MC Macro Program handling keywords Keyword Description QB An macro related array of 20 breakpoints pointers 1 to disable a pointer and following pointers Should not be used QC Reports the last macro runtime error if there was any QD Downloads a macro QE Execute macro from the current macro pointer QP QH Halt macro execution QI Initialize macro and its internal variables QK Kill macro execution also stops all motions of both axes QL Loads the macro from the FLASH Automatically after power on or reset This command is currently not implemented Using the LD for loading parameters also loads the macro QN Displays the macro stack QP Holds the current macro pointer QQ Uploads the program stack queue of return addresses QR Reports the macro status QS Saves the macro to the FLASH QT Execute single macro clause trace from the current macro pointer QP QU Uploads a macro QV Uploads all macro descriptive data QZ Clears all the numbers stack Doc No MAL 4164 4MC PM doc 239 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI
323. pebecsensstateasseusieetoadgssaisaioa ss 172 2 1 1 Tacho Velocity Feedback ccccccsccecessesscsseescuseesceseesseseeacesecaceeesseesesaecaeesecaseneesesaaeeeneeaes 172 2 1 2 Dual Encoder Velocity Feedback c ccscsscsesessseseessesetsesecuseeecuseeeceaecseesecaceecuaeeeeeeneeaes 173 2 1 3 Configuration CG Command bits ccecscceseccsseessssecsseeeceseeecnseeeeeaecaeesecaceecseeeeeneeseeaes 173 2 2 FLOTO rrie E E EEE EERE NAE E N ENE A 174 Doc No MAL 4164 4MC PM doc IX Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBIT FR FORWARD 22 Descriptores a A asta cag ode day sade E talon sesso edesteaannesas toed 174 2 2 2 Homing Related Parameter s ccccccessscsescssesecsseeseeseescesecseeecceeeeaeeceesecseesecaeeeeessaeaes 176 2 2 3 Homing Status Values msni E S toca densa ccaytens ER 177 2 3 EN DAT ABSOLUTE ENCODER SUPPORT c ccssesesscsseesessesssesesesesecsesecseesesaeseussesseeenenes 179 2 4 GENERAL PURPOSE LIO Souro e EE cuvysopscusbedteatevsepe cversuressecebeaveveete sates 180 241 AL41644MC Description jinciscsciss syscine cea vivssasciengingiteaseiann Seat pate seo tices ducndebe E 180 242 Japu Port IP reire cscs see ae asta eee ne ages 181 243 IOUPUEP O18 inii e E E E EEE R EE EER 182 235 ALA1622MC VP MAP inea dite os Me 183 29 1 daput Port IP renees e e E
324. pen file in Edit View Area There are two ways to open file in workspace Double click on the file in the workspace area From File menu choose File Workspace Open and select file to open x NOTE Workspace changes are saved only after saving the workspace closing the workspace without saving will discarded the changes Doc No MAL 4164 4MC PM doc 390 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR oe ee 5 4 Macro Editing BS CERS Editor orbit_main scm File Edit Options View Macro Communication Window Help l x AER AEEA Fam hao gt gt oll ald File orbit _ main scm orbit cws orbit_defs scm orbit_main scm sc8m_global_defs sct Workspace ftarget Sc 4m 203 0 250000 r Area Project definitions description Orbit Macro Rev O1 r Definitions Include file Sinclude lt orbit_defs scm gt Sinclude lt scSm_global_defs scm gt r KEK KKK KKK K KRHA KAKA KAKAKEKKEKRKEKEAEKEAEEKKEKERERLEREREEEEKEEEESE F BHKKLA ALA L LLL KAA KAKAKAK AK KLAKKKAAKALEESE SHAK AA ALAA AAA A ALL LE 4 AUTOEX Function Called at power o r AUTOEX 15CaNaxis 1 1lFirstRotationa xis 1 x gt Whew S S A Hit F9 to toggle a line marker 2 ae Output Area Edit Area
325. perty of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR Software amp Command Reference value ONLY if its related motor is disabled The assignment can not be executed if the motor is enabled Motion Should be ON 0x00000004 The requested command or parameter assignment can be executed only if a motion is currently being executed Motion Should be OFF 0x00000008 The requested command or parameter assignment can be executed only if there is no current motion For example the Motion Mode MM parameter can not be changed during motion gt Parameter is Read Only 0x00000010 A Read Only parameter can only be inquired for its value The user can not assign values for Read Only parameters For example DP the current reference Desired Position value is a read only parameter and can not be directly assigned a new value by the user gt Keyword Source MUST be an internal program 0x00100000 The keyword can only be used from an internal script program For example the RT return from subroutine command can only be called from with in a program subroutine Keyword Source MUST be external Communication 0x00200000 The keyword can only be used from an external communication link For example the QD download a new program command can only be called from an external communication link gt Ke
326. pment environment is the pre compiler described by this chapter In addition to the directive commands supported by the pre compiler another powerful feature is its ability to support advanced expressions parsing not allowed in the low level AL 4164 4MC language syntax The pre compiler currently supports the following expressions parsing Doc No MAL 4164 4MC PM doc 296 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 1 Mathematical expressions 2 If blocks 3 While loops 4 For loops Any advanced syntax line should be preceded by the sign The character must be the first nonwhite space character on the line containing the expression No white space characters should appear between the sign and the first letter of the high level command if while for etc Note that an advanced expression statement cannot contain except the For loops These features are described in the following sections 4 6 4 2 Mathematical expressions Mathematical expressions are statements that include one or more mathematical operators see list of supported operators below combined with operands constants and parameters to construct a mathematical sentence Any mathematical expression statement line
327. point reference to Phase 2 the current flowing through Phase 1 will not produce any effective force In this case the motor can be stuck in its un stable eq Point and wrong initialization phase can be assumed If a small current command to Phase 2 is also applied the motor will be forced out of its un stable eq Point and will settle at the stable point for correct initialization Once motor is near its stable eq Point referenced to Phase 2 Phase 1 command is reduced to zero TC 0 Doc No MAL 4164 4MC PM doc 135 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference The final current commands when the motor is held in its stable equilibrium point is 8 000 Isb 25 of the full current command in Phase 2 AO 8 000 and zero current command in Phase 1 TC 0 Note that actual current command values as well as other initialization process parameters such as the magnetic pitch Phase 2 command step resolution the delay periods Phase 1 jitter current values etc are application specific and should be tuned for each electro mechanical configuration motor type stage masses friction forces etc In general the higher the friction forces are greater phase command values will be required This applies to both the main Pha
328. point Array Purpose Software amp Command Reference Defines a breakpoint location pointer when executing a macro program Up to 20 breakpoints are supported simultaneously for ALL macro programs 20 for X 20 for Y Setting a QB element to 1 avoid the check of all the following elements QB must be set to the pointer of the first byte of a clause Otherwise it will not halt the related macro program Attributes Syntax QB i QBi Type Axis related Array Assignment Receive parameter Parameter type Scope Restrictions Save to Flash Default Value Range QB i lt Number gt QBi lt Number gt The array index iJrange is 1 20 Parameter Yes Yes AL 4164 4MC size 10x20 Yes 1 Max Macro Pointer Doc No MAL 4164 4MC PM doc 343 Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR Rev B ORBI T FR ES Software amp Command Reference Examples For internal usage ONLY See Also QT QE Doc No MAL 4164 4MC PM doc 344 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBIT FR amp 4 8 4 10 QC Macro Run Time Error Purpose Reports the last macro run ti
329. position distance in encoder count units between each two consecutive table points depending on the actual motion speed The limitation requires that the resulting max arbitrary location compare pulse frequency will be smaller then 8 192 Hz in the current product firmware version 2 In any case regardless of the motion direction End should be greater than Start The exact conditions tested before the mode is enabled are 0 lt Start lt End lt 10 000 Doc No MAL 4164 4MC PM doc 97 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR 1 8 9 OREI T FR Software amp Command Reference 3 Similarly to Mode 0 and Mode 1 here the positions in the AR array MUST be defined in a strict ascending or strict descending order and comply to the Distance actually direction definition and the actual motion direction If these conditions are not met the compare pulses will be generated in unpredicted unexpected positions 4 The AR array used for location table definitions is a non axis related array The AR array size depends on the controller being used AL 4164 4MC The size of the AR Array is 1 x 10 000 Although all axes can operate simultaneously and independent from one another when working in Mode 2 or Mode 3 all axes share the same
330. ps of Keywords e Parameters Keywords e Command Keywords As noted there each parameter owns a set of internal attribute flags defining the behavior of the Interpreter Module in response to each keyword received like whether the Keyword is Axis Related or not is the Keyword is a parameter or command and much more Keywords Attribute Reference The following table describes the AL 4164 4MC Keywords Attributes List Please note that some of the attributes are internal only while some other are currently not used All internal and not used attributes are given for reference purpose only and are designated in font Attribute values are also used internally by the controller Firmware and are given for reference purpose only In the table below the abbreviation KW stands for Keyword Where Need is used this means that in order for the clause to be executed correctly the condition defined there should be met For example the command BG Begins a new motion needs of course its relevant motor to be ON i e Enabled Doc No MAL 4164 4MC PM doc 141 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference Table 1 4 AL 4164 4MCKeywords Attributes and Restrictions Attribute Definition Attribute
331. r both motions the following general parameters are used AC DC 1 000 000 SP 100 000 AP 100 000 Doc No MAL 4164 4MC PM doc 51 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR kL Software amp Command Reference In one case no smoothing is used WW 0 and in the other full smoothing is defined WW 12 Figure 1 2 below shows the motion profile with full smoothing implemented in the profile Note the smooth velocity profile the upper window in red There are no sharp corners in the generated velocity profile Doc No MAL 4164 4MC PM doc 52 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR a E E The resulted acceleration profile not shown in the graph is of course continuous and dose not have any sudden step changes ER Solutions Data Viewer ww12sampleforum sdy File View Window Zoom Objects Analyze Help 0 546875 d 0 548828 XVeldtt 99840 XVRefdtt 7 Figure 1 2 Typical motion profile with full smoothing Figure 1 3 below shows the same motion profile with no smoothing at all implemented in the profile Note the sharp trapezoidal velocity profile the upper win
332. r clauses And in CAN by Byte 1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Bytes Pre fix Key W KeyW Data 3 Data 2 Data 1 Data 0 optional optional optional optional Message length will be 7 bytes 3 7 1 2 3 Ping request A Ping command is supported under CAN to allow the RS 232 lt CR gt like command A message with length 1 byte which includes only the NORMAL bit set to Twill be responded with an OK prompt Byte 1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Bytes Pre fix This may be used if the controller is responding to communication messages at all Message length will be 1 byte Doc No MAL 4164 4MC PM doc 215 Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR Rev B ORBIT FR amp Software amp Command Reference 3 7 1 3 Non Normal clauses Array clauses Assuming the Normal bit bit3 is 0 the following command structure is expected Table 3 9 Non Normal Array Clause CAN Bus Message Format Byte 1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Bytes Pre fix Array Array Array Data 3 Data 2 Data 1 Data 0 Code Index 1 Index 0 optional optional optional optional 3 7 1 3 1_Non Norm
333. r party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 1 8 18 2 Sin Commutation in BLDC Motors In order to overcome the main shortcoming described above a continuous Sinusoidal Commutation is used In this method instead of fixing the motor phase currents throughout the 60 segments the currents are continuously sin based function changed over the full 360 magnetic cycle In this case the motor torque constant can be near ideal with only negligible disturbance torques left mainly due to lower magnitude second order non linearity which are not under the scope of this discussion In order to operate a 3 Phase BLDC motor in sinusoidal commutation method an accurate position of the magnetic rotor location is necessary i e the absolute rotor position in relation to the magnetic cycle This can be achieved by using an analog position sensor or more naturally by using the system digital encoder location The later method is of course much more reliable accurate and does not require a dedicated analog position sensor cost money for that purpose As all modern servo control systems usually use an incremental encoder feedback sensor deriving the true rotor position with high accuracy is natural The main issue to take care of is the initial magnetic angle offset due to the use of an incremental encoder rather then an absolute one after power up the system does not know it
334. r party without written authorization from ORBIT FR ORBIT FR amp QU QV 4 8 4 12 QE Execute Macro Purpose Software amp Command Reference Executes a user program from a specified location program label or pointer or from the current location if no parameter is given Attributes Syntax Type Axis related Array Assignment Receive parameter Parameter type Scope Restrictions Save to Flash Default Value Range Command Yes The QE command can be executed with no parameters or with a single Label or constant parameter Syntax Description QE Starts or continues program execution from current pointer location QE lt Const gt Start program execution from a given pointer location QE lt Label gt Start program execution from a given label Doc No MAL 4164 4MC PM doc 347 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference Examples If no parameters are used the command simply starts or continues execution of the relevant macro from the current macro pointer XQP YQP XQE YQE If a parameter label or constant is used the macro will start or continue execution from the specified label or pointer e g XQE XHOME ZQE
335. ration in PIV mode the control loop structure can be considered as divided into two separated loops An external position loop cascaded over an internal velocity loop Similar to the PID mode the linear Velocity loop PI control filter output is fed into the 2 order filter if it is enabled and then passes the final output saturation for the DAC The Velocity loop linear PI filter in PIV mode is shown in Figure 1 6 above The linear filter equations in that mode are PE DP PS VC PE x KP DP DP x 65536 VE VC PS PS x x 65536 VE VE x KD VE x 65536 PO Sat TL U x SecondOrderFilter KI x SVE i 0 Where gt DP PS and PE are the desired position actual position and position error similar to PID mode gt KP is the position loop gain gt Kl is the velocity loop Integral term gain Doc No MAL 4164 4MC PM doc 62 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Software amp Command Reference gt KD is the velocity loop overall gain multiplier gt VC is the velocity loop reference command Note that VC includes an inherent not controlled by the user velocity command feed forward element represented in the second equation above by DP DPx 1 gt VE is the internal velocity loop err
336. rence q NOTES An empty command clause is a legal do nothing command could be serve as a ping command The prompt is sent only after the clause execution has been completed Examples Italics strings are the SC controller responses to the Host computer The blanks are only for the clarity of the example and the send get timing XSP 10000 XSP 10000 gt Echo Response always sent BAC 1000000CR YAC 1000000 CR gt Echo Response faa sent XSP CR X SP CR 10000 gt Echo gt Response always sent BASP ASP 10000 20000 0 0 0 0 0 0 0 0 gt Echo Response always sent 3 The A group as previously mentioned is supported in the AT 4M controller only Doc No MAL 4164 4MC PM doc 207 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference BBG CR BBG CR gt Echo Response always sent YAC 1 0 00 CR YACz 1 000 CR gt Echo Response always sent 7 Doc No MAL 4164 4MC PM doc 208 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 3 7 CAN COMMUNICATION
337. reported value is pushed to the numeric stack one item is added to this stack ZS A parameter that holds the status of the last remote unit s response Can be only reset to zero Doc No MAL 4164 4MC PM doc 325 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBIT FR amp 4 8 3 8 External Communication Link Interfaces RS 232 Table 4 16 AL 4164 4MC Macro program external communication interfaces Keyword Description IN Inputs RS 232 string from the communication line Future Option Command is currently not supported MG Send a string to the RS 232 communication line This command is currently not implemented 4 8 3 9 Pre compiler Directive Commands and Keywords The following table describes the directives and keywords supported by the SC Shell Pre compiler Table 4 17 Pre compiler directive commands and Keywords Keyword Description Comment Line Label definition Subroutine name define Global constants define directive description Macro descriptive comment strings definitions include Include macro files target Defines the target hardware to download to for Defines a for loop block statement if Defines an if else conditional statement while Defines a while loop block sta
338. rmation contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR Software amp Command Reference Param Name Description and Usage Currently we define only the EDB mode as 1 When the number is 1 the EDB mode as described below is active Note that other future modes may use this address for other purposes so avoid sending any data to this address not for that specific process Bit 8 Enable Disable Prompt Reply to incoming EDB mode messages This bit is used only if Bits O 7 gt 0 If Bit 8 is O no prompt is sent to acknowledge the EDB message interpretation If Bit 8 is 1 a prompt is sent to acknowledge the EDB message interpretation The prompt format matches standard existing AL 4164 4MC communication protocol The prompt return address is the standard controller TA address YZ 3 EDB Mode Error Status Report Using this parameter the user usually a host computer but also possibly an RS 232 terminal interface can interrogate the last error in EDB message interpretation The following bits are reported gt Bit 0 Error in EDB message buffer length gt Bit 1 Buffer 1 Index is not valid Bit 2 Buffer 1 Array Code is not valid gt Bit 3 Buffer 2 Index is not valid Bit 4 Buffer 2 Array Code is not valid Each new incoming m
339. rmation contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference Examples BQV Uploads the descriptive information See Also description directive Doc No MAL 4164 4MC PM doc 367 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBIT FR amp 4 8 4 28 Purpose QW Wait Till Condition Software amp Command Reference Waits for a specified internal state variable The desired state is provided as a parameter For a list of supported internal states please refer to paragraph 1 2 8 Wait and Internal State Inquiry Functions in this user s manual The QW command holds the macro execution until the state is satisfied Attributes Syntax QW lt Constant gt Type Axis related Array Assignment Receive parameter Parameter type Scope Restrictions Save to Flash Default Value Range Command No Yes Number Program None Keyword is not axis related thus XQW YQW and BQW are equivalent Doc No MAL 4164 4MC PM doc 368 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may
340. ro Attributes Type Axis related Array Assignment Receive parameter Parameter type Scope Restrictions Save to Flash Default Value Range ZS 0 Last Message OK ZS 1 Still Waiting for reply from remote unit Parameter No No No read only ZS 2 Remote Timeout or returned from remote unit ZS 3 Parameter syntax error Syntax ZS Keyword is not axis related thus XZS YZS and BZS are equivalent See Also ZA ZC ZI ZM ZR Doc No MAL 4164 4MC PM doc 381 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 4 8 6 Pre Compiler Directives and Keywords This section describes the AL 4164 4MC Shell pre compiler support for directive commands and advanced math expression syntax To be completed on next version of this User s Manual In the mean time please refer to paragraphs 1 6 3 Directive Commands and 1 6 4 Advanced Expressions Parsing in this user s manual for thorough description of all pre compiler supported directive commands and advanced syntax expressions Full description and numerous examples are given in these references 4 8 6 1 Comment Line To be completed on next version of this User s Manual In the mean time please refer to paragraphs 1
341. rpreting process In case of an interpretation error the controller does the following 1 Assigns the error code to QC It is a new keyword axis related that identifies the last macro run time error code the same as the EC codes 2 Stops the macro execution as with the QH keyword with the macro pointer QP pointing to the clause with the run time error This feature is very important for debugging a macro program 3 Ifan automatic AUTO_RTE exists and enabled it is called instead of step 2 above QC is still assigned with the error to enables the AUTO_RTE to acts upon q NOTE Auto Routines are currently not supported Please see section 1 8 4 for more details Description is for future reference only 4 4 3 Macro Size And Number Of Labels The AL 4164 4MC family controllers macro is saved on the hardware flash memory as a linear buffer The AL 4164 4MC controller currently supports a macro buffer of 250KB long Doc No MAL 4164 4MC PM doc 270 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference There is no direct limitation on the number of labels that are supported by the AL 4164 4MC controllers macro program The only limitation is the total number of macro bytes Note that each label definition consumes 19 bytes
342. rvo axis stays enabled even though the protection may be active FPGA Version During the controller boot process the firmware reads the FPGA version and verifies that the current version matches the firmware version An Error is indicated if the versions do not match The error is reported in 8 blinks of the CPU LED during the boot process The controller firmware and FPGA versions are reported using the BVR command please see BVR command reference It is strongly recommended to avoid this error Please consult ORBIT FR in any case that an FPGA version error is detected CAN Hardware Initialization Failure During the controller boot process the firmware initializes the CAN hardware In case that there is a problem in the CAN hardware initialization process an error is reported by 16 blinks of the CPU Led during the boot process The controller then continues the boot process and can still communicate in RS 232 Please consult ORBIT FR in any case that an FPGA version error is detected Hardware and Software Motion Limits The controller software continuously checks both the hardware and software limits Whenever a limit is detected any ongoing motion is stopped Hardware limits are actual hardware signal lines Software limits are low and high position values beyond and above which the error is asserted An FLS Forward Hardware Limit or High S W Limit will stop positive motions only towards increasing position value An RLS
343. s Absolute None No No 2 147 000 000 Array AS Ves __ Analog Input Offset 2047 __ 0 4 095 CA Special Control None 4x16 See Remark 2 Parameters Array CB No CAN Baud Rate None 1 20 setings pea Ves Axis Configuration __ Motor Of __ e _ NE OT DC Yes Deceleration Value None 512 counts s 120 000 000 Limit Deceleration None 512 counts s 2 120 000 000 DO Yes DAC Analog Offset None Yes No 0 32767 DP Yes Desired Position o r 0 E fe 2 147 000 000_ Parameters Array Error Code EM Yes last End Of Motion None no vs 0o 8 The A1 array was supported in firmware versions prior to 2 3 It is now obsolete and replaced by the CA Control Parameters Array Please see below The CA array controls advanced features of the controller real time servo loop Although not restricted by the interpreter module allows range is 2 147 000 000 the specific limitations of each element in the array should be checked in the A1 command reference and in the Control Filter chapter in this User s Manual 1 The EA array element s range is restricted by the ECAM mode support Please refer to the relevant command s references EA ECAM Motion Mode Description for more information Doc No MAL 4164 4MC PM doc 146 Rev B Information contained herein is the sole property of ORBIT FR and is not for publicatio
344. s is done by an internal macro as part of homing macro Doc No MAL 4164 4MC PM doc 47 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 1 4 9 Joystick Motion Modes 1 4 9 1 Velocity Based Joystick Motion Mode 1 4 9 1 1 Description This mode is very similar to the Jogging mode However instead of jogging in the user specified SP value the jogging speed is taken from the analog input assuming it is connected to a Joystick or any other source of analog voltage The analog input parameter Al is used instead of SP All other parameters AC DC etc are used exactly as for Jogging mode x Note This mode is currently not fully implemented 1 4 9 2 Position Based Joystick Motion Mode 1 4 9 2 1 Description This mode is very similar to the standard PTP mode However instead of using the user specified Absolute Position AP parameter as the target position this modes uses the Analog Input Al parameter as its target position Since a standard PTP mode supports on the fly modification of the AP parameter this mode automatically supports the changes of the Al during the motion practically tracking them with the user specified acceleration AC and speed SP parameters Doc No MAL 4164 4MC PM doc 48 Rev B Inform
345. s related No Array Assignment Receive parameter No Parameter type Scope Communication Restrictions None Save to Flash Default Value Range Syntax QU Keyword is not axis related thus XQU YQU and BQU are equivalent Examples XQU Starts Macro Buffer upload See Also QD QL Doc No MAL 4164 4MC PM doc 365 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Software amp Command Reference 4 8 4 27 QV Uploads Descriptive Data Purpose Uploads all macro descriptive data to the active communication line The macro descriptive data includes the following information Macro file name used to download the last program downloaded file name and extension only no full path gt Last download date format is DDMMYY gt Descriptive comments declared by the description pre compiler directive each descriptive declaration in a separate line Attributes Type Command Axis related No Array Assignment Receive parameter No Parameter type Scope Communication Restrictions None Save to Flash Default Value Range Syntax QV Keyword is not axis related thus XQV YQV and BQV are equivalent Doc No MAL 4164 4MC PM doc 366 Rev B Info
346. s the subroutines call stack in absolute macro pointers Attributes Syntax QQ Examples XQQ YQQ See Also QW Type Axis related Array Assignment Receive parameter Parameter type Scope Restrictions Save to Flash Default Value Range Command Yes Communication None Reports the X macro program subroutines stack Reports the Y macro program subroutines stack Doc No MAL 4164 4MC PM doc 360 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed ORBIT FR to any other party without written authorization from ORBIT FR amp 4 8 4 23 QR Macro Initialization Status Purpose Software amp Command Reference Reports the macro initialization status This is a bit array report only command Currently the following status bits are reported 0x00000000 No Script is present 0x00000001 Flag if downloaded macro encountered overflow 0x00000002 Internally Used 0x00000004 Flag if macro download finished 0x00000008 Flag if macro was downloaded successfully 0x00000010 Flag if macro was initialized successfully 0x00000020 Internally Used 0x00000040 Internally Used 0x00000080 Internally Used 0x00000100 Internally Used Please refer to the QF for the macro running statuses Attributes Type Axis related Array Assignment Receive parameter Parameter type
347. s true absolute position Please refer to the next section for more discussion about magnetic offset phase initialization In Sinusoidal Commutation it is the servo controller who is responsible for the continuous phase currents distribution An internal software algorithm Doc No MAL 4164 4MC PM doc 124 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference takes the servo loop current command and generates two phase commands according to the following equation Ia I x sin o Ib I xsin g 120 where l Is the total armature current command the servo loop output la Is the current command for motor phase a lb Is the current command for motor phase b and p Is the magnetic position of the armature relative to the magnetic poles As shown above in this mode the controller provide 2 separate current commands a and Ib each one standard 10v format for each channel operating in SIN commutation The analog commands are issued from the AL 4164 4MC servo controller to a SIN 3 phase driver through the Acmd Main DAC and AcmdAux Aux DAC signals Please refer to the AL 4164 4MC hardware reference manual and to Figure 1 4 Position Over Velocity Loop PIV Control Scheme Structure and Figure 1 5 of th
348. save the current opened workspaces select from the file menu File Workspace Save Doc No MAL 4164 4MC PM doc 286 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Software amp Command Reference To save the current opened workspaces select from the file menu File Workspace Save As and choose the new name to save the workspace to with the CWS extension To close the current workspace without saving select from the file menu File Workspace Close this will prompt you if you want to save the workspace choosing yes will act as if you chose to save the workspace otherwise the workspace changes will be discarded 4 5 4 3 3 3 Add Remove Files To From Workspace Removing a file from workspace can be done in two ways Select the file to remove in the workspace area Then s elect from the file menu File Workspace Remove File this will remove the file from the workspace Select the file to remove in the workspace area right click the mouse select Remove File from the menu Adding file to workspace can be done in two ways gt Drag the file to be added to the workspace area this will add the file to the current workspace gt Select from the file menu File Workspace Add File and select the file to be added from the file dialog NOTE The chan
349. se 2 command value and the jitter Phase 1 command value Once the motor is settled in its stable equilibrium point the initialization process is done and the magnetic offset should then be set to 90 or 270 In our case ML 24 000 counts Before concluding the initialization process and setting the magnetic offset angle we check that the motor is not mechanically stuck in one of its mechanical hardtops The hardware limit switches status is checked for that purpose If one of the limits is ON we must assume that the motor is stuck in a mechanical hardtop and recover from that situation otherwise again wrong initialization phase can be assumed This is done by calling another subroutines XMOV_P and XMOV_P These subroutines enter the motor to NC 3 Open Loop SIN Commutation Stepper Mode and then start to slowly change the phase angle until at least a full magnetic cycle is completed we actually guarantee that 1 5 full cycles are completed Note that in this mode the motor is moving in Open Loop Stepper mode operation Doc No MAL 4164 4MC PM doc 136 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference Once this is completed the main function calls itself again to complete the initializatio
350. sed to any other party without written authorization from ORBIT FR 3 4 2 ORBI T FR ES Software amp Command Reference When a new command is received from either one of the channels described above its source is recorded for later reference and the command itself is passed to an internal software module The Command Interpreter which checks its syntax and if a valid command is detected executes the command Language Notations The communication keywords are divided into two groups of Keywords gt Parameters Keywords Command Keywords The execution time of a parameter keyword is minimal and usually negligible few micro seconds at most The execution time of a command may be longer for example save parameters or upload list data Below please find the definitions of each Keyword type group 3 4 2 1 Parameters Keywords Parameters can always report their value generally reflecting the value of an internal software or hardware register and in most cases can be assigned with a value There are some read only parameters that cannot be assigned with a new value For example the Al Analog Input value is a read only parameter There are some parameters that when assigned with a new value can also modify the values of other parameters For example when modifying the PS Current Encoder Position Value of an axis the DP The current position command reference or Desired Position is also mo
351. senaneeeneaes 155 Table 1 14 General Purpose Related Keywords 0 ccccecceeeeeeeeeeneeeeeenneeeeeeneeeeeeneeeeeeeaes 156 Table 3 1 AL 4164 4MC Axis Identifiers ccccccceeseeeneeeeeeeeeeeeeeceeeeesaeeecaeeeeeeeeeseaeeneeeees 198 Table 3 2 AL 4164 4MC Keyword Axes AttriDUtes 2 2 eee c ee eeneeeeeeenneeeeeeteeeseeneeeeeenaaes 199 Table 3 3 AL 4164 4MC Real Axes Identifiers 20 0 eccccceccneeeeeeeeeeeeeneeeeeeeeeeeeteeaeeeeennaees 203 Table 3 4 Virtual Axes Identifier c 02 0 uit cael aed eee 204 Table 3 5 Virtual Axes Identifier sccc0cc csi eave Aide ava aad aes 204 Table 3 6 CAN Bus Pre Fix Byte Format 0 0 0 0 eccecceeeeere eter ee eeenneeeeeeeneeeseeaeeeseeneeeenenaees 210 Table 3 7 Pre Fix Axes G6ntlers ccce0s ceaseiadiiaiGGa ania cee 211 Table 3 8 Normal Clause CAN Bus Message Format cccecccceceeeeeeeneeeeeeeneeeseeeaeeeeeenaees 213 Table 3 9 Non Normal Array Clause CAN Bus Message Format 216 Table 3 10 EDB Buffers For The AL 4164 4MC 00 c cccccccececeeeeeeeeceeeeeeeeeceeeeeseaeeeseaeeseeeeeeas 229 Table 4 1 AL 4164 4MC Macro Program handling KeyWords c cccceceeeceeeeeeenteeeeeeeees 239 Table 4 2 AL 4164 4MC Macro program operators ccccceeeeeceeceeceeeeeeeeeeeeetieeeeeeeeneees 243 Table 4 3 AL 4164 Macro Program Flow Control Keywords cccccseeceeeeseeeeeeneeeeeeenaees 252 Table 4 4 AL 4164 4MC Macro Program wait and state Inquiry Keywords 257 Tabl
352. set to 0 immediately When a new recording starts RR Recording Status is automatically set to the value of RL the total required number of sample points As the recording process goes along on each sample point the value of RR is decremented by 1 When recording is complete RR is 0 Only then it is possible to upload the recorded data The BR or BR 1 Begin Recording command checks only that RR is zero before enabling a new recording process If BR is issued during an active recording while RR gt 0O the command will be rejected and a STILL_RECORDING error code 16 will be generated Note that the controller does not check if previous buffers were uploaded or not Issuing a new Begin Recording command always overrides old data BR 0 does not check any conditions and will always stop data recording process Doc No MAL 4164 4MC PM doc 87 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 1 8 3 2 Select Recording GAP Parameter RG Please see the RG keyword reference section 1 8 3 2 1 for more information about upload data recording data delays in CAN bus operation 1 8 3 2 1 RG Parameter AL 4164 4MC The recording GAP RG
353. since set by in Reset Func XSP XHomeSpeedFast 4 Init JOG mode set PH gt gt PL lt lt go to limit and wait EOM XBG 5 Wait for EOM and check that we stopped on Limit or I O 5 2 In Linear Axis Check EOM Reason should be RLS or FLS According to Direction WaitForEndOfMotionX XTempVar0 XEM END_MOTION_RLS amp XEM END_MOTION_FLS if XTempVar0 Assert EOM Not Valid XZM 1 Set Err Event Code TODO Parameter XQH endif 6 Go out of limit fast and safely egnough to assure accurate homing Timer 1 DEF_DELAY_TIME WaitTimer1 XMM 0 XRP XHomeMarkSearchDist XBG WaitForEndOfMotionX Timer 1 DEF_DELAY_TIME WaitTimer1 Must check that EOM reason is NORMAL if XEM END_MOTION_NORMAL Assert EOM Not Valid XZM 2 Set Err Event Code Doc No MAL 4164 4MC PM doc 312 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR A Software amp Command Reference XQH endif 7 Search Limit or 1 O Slowly XMM 1 XSP XHomeSpeedSlow XBG 8 Wait for EOM and check that we stopped on Limit or 1 0 8 2 In Linear Axis Check EOM Reason should be RLS or FLS According to Direction WaitForEndOfMotionX XTempVar0 XEM END_MOTION_RLS amp XEM END_MOTION_FLS if XTempVar0 Assert EOM Not Valid XZM 3 Set Err Event Code TODO Parameter XQH endif
354. ss motors phases commutation In brushless type motors there are 2 main techniques for phase commutation The traditional Trapezoidal commutation usually done within the analog motor driver and Sinusoidal commutation Doc No MAL 4164 4MC PM doc 9 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR kL Software amp Command Reference In Sinusoidal commutation the motor phase currents are changed continuously as a function of the motor magnetic angle In Electronic Sinusoidal Commutation the controller generates the 2 phase current commands to be used by a special motor driver as a function of the encoder feedback reading Virtual Axes The AL 4164 4MC support 2 Virtual axes U and V The virtual axes are used for special features like multiple axes synchronized motions Master Slave etc Windows Shell ORBIT FR provides an enhanced Windows 9x or Program NT 2000 XP application program named SCShell SCShell for easy and fast interface with the AL 4164 4MC family controllers Using the SCShell starting up or verifying a new idea concept is just few mouse Clicks away j Currently not supported in the SC AT 2M controller Doc No MAL 4164 4MC PM doc 10 Rev B Information contained herein is the sole property of ORBIT FR and is no
355. ssssiveavesuesessadievestesusevonssuevesiteatessite deesvetewbes 68 1 5 10 Filter Gan Scheduling sitere a ited ee eset E one seenesy 70 1 5 11 Acceleration and Velocity Feed FOrWArd c cscscssesssesscsseescuseeseeseescesecateeeneeeeenseeneaes 7I 1 5 12 Open Loop Operati ti siiin n tae e a a S 72 1 5 13 AL 4164 4MC Open Loop Operation SIN commutation Motors ssssssessseeeeeee 73 1 5 14 Real Time Servo Loop Protections cccccccccesscesscesecesecusecuseeseeeseeeseeseesseeseeenseenaeeaes 74 1 5 15 Summary of all Control Filter Related Parameters osoon 75 Doc No MAL 4164 4MC PM doc VIII Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBIT FR FORWARD 1 6 FAULTS PROTECTIONS AND LIMITS si ccscsadsccicvscscesssadeceicsscsccsesidgcesessesceisoadeccscuvescdsevsdscesessere 76 1 6 1 Driver Faults and Abort nput ceccccceccesccscesscssesecsseeseeseeseesecaceseceaeeceaeeseesecaseseeaecaeeseeneeaes 77 1 6 2 Software Generated Faults ccceccsssscssscssssecssesecssessceseeseesecscesecsecaeesecaeeeeeaeeseeaecaeeseenaeaes 79 156 3 Motor Stuck Protection escscscecpisigeciinccupscvehas tunes teceveneaestgaaecpeu EAEE EE nab EAR 8l 1 7 SOFTWARE PROTECTIONS NON FAULT CONDITIONS ssesceeeeseececeeeeecesseeeeceesneeeessnaeers 82 1 7 1 Special Handling of Software Limits c
356. statement sent by a host and instructs the AL 4164 4MC to report the value of a specified parameter A typical report clause consists of Keyword terminator A character that identifies end of communication clause It can be lt CR gt or in the communication from a host to a Controller or gt in the opposite direction all for the RS232 line The Commands Interpreter is an internal software module of the AL 4164 4MC firmware responsible for interpreting Clauses sent to the controller The Command Interpreter handles all commands passed to the AL 4164 4MC The low level hardware and software definition of a communication channel In RS232 for example it includes the baud rate handshake options parity etc The rules that define the correct sequence of characters that may create a valid communication clause An algorithm that is periodically executed 16 483 times per second in the AL 4164 4MC The algorithm compares the desired motor position and its actual position to calculate a command to the Doc No MAL 4164 4MC PM doc Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed 3 Rev B to any other party without written authorization from ORBIT FR OREI T FR Software amp Command Reference motor to minimize the difference between these values The new Controller Digital Control Filter algorithm supports both s
357. t all times in all modes The software range limit for TL is 0 32 767 in DAC LSB units gt When working in close loop operation only in both PID and PIV modes the filter Integral term output is also saturated to the value the IS Integral Saturation parameter The software range limit for IS is 1 32767 in DAC Doc No MAL 4164 4MC PM doc 68 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Software amp Command Reference LSB units By setting IS 1 the user can actually disable the Integral term in the system IS should be generally used when it is required that the integral will compensate small dynamic errors or friction forces but to avoid large values to be charged to the integral history gt To the value of PO the final filter signal output after the PID PIV and 2 order filter calculations an offset value defined by DO DAC Offset is added in order to compensate analog output voltage offset Although the software range limit for DO is 32 767 in DAC LSB units it is usually not required to use values more then few hundreds Note that by using high values of DO a non symmetrical analog output range can be resulted The final DAC command is always protected from roll over beyond 16 bit value
358. t for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 1 3 Commands Syntax and Protocols 1 3 1 General This chapter mainly focuses on the AL 4164 4MC communication syntax including response to commands clauses and errors The various communication channel protocols are briefly presented for reference only 1 3 2 Supported Communication Channel Protocols The AL 4164 4MC currently supports two basic communication Channel protocols ASCII based RS 232 Binary CAN bus Using separate hardware interface layers the RS 232 and CAN bus communication links and their protocols are completely independent from one another and can be used simultaneously excluding few special cases as described in section 1 3 2 1 below Doc No MAL 4164 4MC PM doc 11 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference Process ASCII RS 232 Messages Process Binary CAN Messages Firmware Main Idle Loop Process Internal Scripts Programs Figure 1 1 Communication Channels Handling within the Firmware Main Idle Loop As shown Figure 1 1 the servo controllers firmware main loop is continuously monitoring both communication
359. t to cover all relevant aspects The parsing logic to the low level syntax is also described Doc No MAL 4164 4MC PM doc 290 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 4 6 2 Non Executable Code Comments Blanks Etc When writing a program source code in order to achieve a clear readable and maintainable code it is usually accepted and sometimes even required to use comments spaces empty lines tabs etc While this poses no problem for normal editing for the embedded hardware where time and space resources are relatively limited it may easily cause the macro buffer to fill up with comments and non executable code which will eventually harm the final performance of the program To solve this problem the AL 4164 4MC Shell pre compiler strips from the source non executable code sections The following non executable code is removed 1 Comments Comments are defined by the AL 4164 4MC Shell environment as any text that appears in a line following the character sign A comment may appear anywhere in a code file This includes full lines of comments or executable code line followed by the comment sign on the same line to describe a specific statement An example for comment lines is given below A
360. t value AD the analog dead band is required for the Velocity Based Joystick Mode Standard joysticks do not always return to the same zero value when they are released This may cause a small velocity drift motion AD can be used to define a range at which the analog input will be read as zero avoiding any undesired motion In case a simple analog input reading is required set parameters as follows AD 0 AS 2047 AG 1 and AF 0 This will provide a standard reading of 2047 for an input of approximately 10 v As noted the dead band function is not implemented in firmware revision 2 05 C This will be included in future revisions Doc No MAL 4164 4MC PM doc 121 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 1 8 18 Support for DC Brushless Motors Sin NOTE this feature is not available in the current version of AL4164 4MC 1 8 18 1 General Background In an ideal DC servomotor the motor s torque or force in linear motors is linearly proportional to the motor s current and is given by the following simple equation Tm Kt x Im Where Tm Is the Motor s torque or force Kt Is the motor torque or force constant Im _ Is the motor equivalent DC current For DC type servo
361. tained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference EDB Mode Example In order to use the EDB mode the host software should initialize the following parameters This assumes that we are downloading to the buffer 2 i e the Axis data shall be downloaded to AR 301 600 j7 and the Axis2 data will be loaded to AR 1301 1600 Command Sequence AL 4164 4MC XZI 3 1 Enable EDB the Mode XZI 3 256 Enable EDB Prompt Mode ZZI 3 5 Set The EDB Rx CAN Address XZI 4 0 Set first data array to AR JArray YZI 4 1 Axis is 1 for For Non Axis Related Array ZZ 4 301 For Start Index AR 301 W2ZI 4 1 Inc Index 1 by 1 each message EZI 4 0 Set second data array toAR JArray FZI 4 1 Axis is 1 for Non Axis Related Array GZI 4 1301 For Start Index AR 1 HZI 4 1 Inc index 2 by 1 each message Once the above definitions are given the host should now start downloading the EDB messages in the format described above 8 bytes per message where the lower 4 bytes are the data to the main scan axis buffer and the upper 4 bytes are for the orthogonal axis For each new slice the host will need to modify only the Current Index next Start Point During operation the user can inquire the value of the EDB Mode Error Status Report
362. tandard position based PID as well as Position Over Velocity loop structure The new AL 4164 4MC products support additional advanced features Please see the relevant chapter in this User s manual under Control Filter Algorithms Echo In RS 232 mode the AL 4164 4MC controller s automatically echoes send a copy back each character that it receives during normal communication The returned character can be used by the host to verify proper communication In the binary CAN bus communication protocol ECHO is not supported Only OK ERR prompt is used Error Codes In case that the AL 4164 4MC encounters an error when interpreting a received clause it ignores this clause and responds with before the returned terminator gt The AL 4164 4MC also stores a code for the interpretation error at a parameter named EC which can be later reported to analyze the error source A separate parameter QC holds the error codes of any program running in the controller Scripts or Macro Doc No MAL 4164 4MC PM doc 4 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR Software amp Command Reference Fault Input SA dedicated digital input whose source is typically the motor s driver It is used to inform the AL 4164 4M
363. taneously In normal A quad B encoder operation this is a non valid condition The encoder signal lines are sampled by the hardware at a very high rate and If in a single sample event both A and B changes their state the error is asserted Encoder Disconnected Line Error This error is asserted when the AL 4164 4MC encoder hardware interface detects that one of the following A IA B IB signals are not connected The condition is detected by sampling all signals and evaluating the following state A A B IBY If the state is true for more then 4 consecutive servo samples the error is asserted Doc No MAL 4164 4MC PM doc 80 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Software amp Command Reference The second error condition disconnected line requires full differential encoder interface to be used The protection cannot be used in single ended line encoders Note that only the A A and B B lines are sampled for errors There is no implementation for Index disconnected line detection The user can enable or disable the encoder error detection by a dedicated bit in the axis configuration word CG Please see the CG keyword reference in section 1 8 18 3 for more information Enc
364. tate Inquiry Functions Keyword Description Qw Waits till a specified internal state will be set or cleared QG Gets the value of a specified internal state variable The desired state Doc No MAL 4164 4MC PM doc 323 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR P d Software amp Command Reference 4 8 3 5 Timer Function Keywords Table 4 13 AL 4164 4MC Macro program timer keywords Keyword Description iTd Timers down axis related variable Consists of 32 bits positive only Each element is calculated once the iTD is called 4 8 3 6 Automatic Routine Control Functions Table 4 14 AL 4164 4MC Macro program automatic routines control keywords Keyword Description QA Enables disables the automatic routines except the AUTOEXEC Automatic routines are disabled after power on or reset This command is currently not implemented QM Individually mask enable disable each of the automatic routines except the AUTOEXEC This command is currently not implemented Doc No MAL 4164 4MC PM doc 324 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORB
365. tates we are waiting for the keyword to either 0 or 0 according to the Logic Logic 0 1 Wait for active high or active low or 0 0 when bit 0 For instance if want to wait until output 3 is active high will send the following XQW 103030 Explanation Axis 1 therefore we are dealing with axis 1 Code 3 therefore we are dealing with OP Bit 3 therefore we are waiting for bit 3 on OP to turn active high If we were to wait until the 3rd output went active low the XQW 103031 command would have been sent The state mnemonics can be used instead of the state number only from within a macro not in communication clauses They are converted by the AL 4164 4MC Shell pre compiler to the related standard constant numbers before downloaded to the controller Mnemonics are not allowed as a communication clause The AL 4164 4MC controllers will fail to interpret them since it only gets standard constants as state numbers Further information on pre compiler support for defined constants may be found in chapter 1 3 ORBIT FR supply standard include files for this purpose Doc No MAL 4164 4MC PM doc 259 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR A Software amp Command Reference NOTE For non axis related keywords i e OP the a
366. te The CAN report can return a response to a maximum of TWO axes If In the case of the AL 4164 4MC controller for instance a group consists of 4 axes the first two axes in the axes order are replied ONLY Doc No MAL 4164 4MC PM doc 223 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 3 7 2 5 Controller Initiated CAN Messages The AL 4164 4MC controller s macro program has the ability of sending initiated messages from the AL 4164 4MC controller to a host The command to initiate CAN messages from the controller script program to a host pc is ZM Please refer to the Software Reference User s Manual ZM command reference for more information The following formats can be sent by the controller 1 One report variable the format of the data in the CAN message is identical to section 10 2 3 above 2 Two report variables the format of the data in the CAN message is identical to section 10 2 4 above 3 A string up to a length of 8 bytes The host can identify the length of the CAN message sent The message bytes are in the order of the string sent from the controller Doc No MAL 4164 4MC PM doc 224 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication
367. ted source view both high level and low level commands are shown in a clear manner Starting and stopping program execution for all axis macros Fast single selection combo box switching between the macro debugging Note that all the features described in this list are available for each macro separately Restarting reset of a loaded program Breaking program execution at any point Tracing program execution line by line Animating program execution auto trace Using up to 20 breakpoints 20 for each macro Removing of all breakpoints Setting a program pointer to a specific location line number or label Showing what the next executable line go to current pointer location Showing Run Time Errors YYYYYYYYVYVYY Full access to all the controller parameters read and write while debugger is active with the watch frame 2 X V for the AL 4164 4MC Doc No MAL 4164 4MC PM doc 278 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR Software amp Command Reference All the above options can be accessed in several ways Using the debugger window menu or using the debugger window tool bar or using the mouse right click option to open a pop up menu or using dedicated accelerator keys Note that it is possible to debug one macro whi
368. tement Doc No MAL 4164 4MC PM doc Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed 326 to any other party without written authorization from ORBIT FR Software amp Command Reference ORBI T FR Software amp Command Reference 4 8 4 Macro Programming Keywords Reference This section presents all the controller keywords related to macro programming in alphabetical order including detailed definitions of each command and examples The description of each keyword include Purpose The operation or task of the keyword Attributes See below Syntax Valid clause syntax Typical applic Typical use of keyword Example Simple example of the keyword usage See also Related commands The following list describe all the valid keyword Attributes Type Command Parameter Axis related Yes No Array Yes dimension No Assignment Yes No read only Receive parameter Yes No Parameter type Number String Scope Communication Program Both Restrictions See below Save to Flash Yes No Default Value Yes value No 26 Axis or Macro related Keyword s preceding Character X Y or more in SC AT 4M B affects the keyword behavior 27 Applicable for parameters only 8 Applicable for parameters only aR Applicable for commands only k Applicable for commands only
369. ter to be assigned is the command s parameter The value to assign is taken from the numeric stack one item removed Attributes Type Command Axis related No Array Assignment Receive parameter Yes Parameter type String Scope Program Restrictions None Save to Flash Default Value Range Syntax ZA lt String Parameter gt Keyword is not axis related thus XZA YZA and BZA are equivalent Examples XZ1I1 100 Remote Receive Address RA 100 XZI2 101 Remote Transmit Address TA 101 1 XZA XMO Remote Motor ON MO 1 See Also ZC ZI ZM ZR ZS Doc No MAL 4164 4MC PM doc 375 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBIT FR amp Software amp Command Reference 4 8 4 33 ZC Remote Command CAN Networking Purpose Remote Command Sends a command clause to the remote unit The command to send is the ZC command s parameter The command does not affect the numeric stack Attributes Syntax Type Axis related Array Assignment Receive parameter Parameter type Scope Restrictions Save to Flash Default Value Range ZC lt String Parameter gt Command No Yes String Program None Keyword is not axis related thus XZC YZC and BZC are equivalent Exa
370. the Compare pulse The captured positions are then sent through the CAN bus to a host computer The Compare GAP is programmed to 200 encoder counts while motion is at 100 000counts sec The resulted Compare frequency is 500 Hz This application can be used when an X Y scan is made and in order to know the exact planar location of the system on each compare pulse Doc No MAL 4164 4MC PM doc 116 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ee See Disable any active compare for X Axis XBOTO Configure IO_MODE_0 DOut 1 assigned as X Compare and DInp 1 as Fast Output XOM 4 2 24 16777220 Configure IO_MODE_1 X Y use DInp l as their Capture Source XOM 16777220 Set IO_MODE_0 YOM 0 Set IO_MODE_1 X Y Use DInp 1 for Capture y Initialize X Y axis Motion Parameters and reset position BAC 1000000 BDC 1000000 BDL 1000000 BSP 1 010000 BES 0 BMO 1 BAP 11500100 y Initialize the X Compare Function XPG1 0 Set Mode 0 XPG2 200 Set Compare Distance XPG3 10000 Set Compare Start Position XPG4 100000 Set Compare End Position XPG5 3 Set Pulse Width 3 9 wSec XPG6 1 Set Pulse Width Mode Use width Parameter XPG7 0 Set Pulse Polarity to Normal Positive 32O AL Activate X Compare Function Y
371. the master s theoretical profiler output q NOTE The master axis can be in Motor On or Off i e MO 0 states In the later case the Master s DP PS so using a disabled axis as a master axis will provide true encoder position tracking The FR Following Ratio parameter is using a 32 bit with fix point 8 24 format scaling resolution to allow ratios of up to x 128 and x 46 777 216 The following dedicated parameters are used for Position Based Gearing Motion ME Master Encoder or Axis This parameter defines which axis is the Master axis for a given slave gear motion On the AL 4164 4MC Controllers the ME parameter can be any valid physical axis ME 0 for X ME 1 for Y ME 2 for Z or ME 3 for W Doc No MAL 4164 4MC PM doc 36 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR kL Software amp Command Reference FR Following Ratio This parameter defines the slave s following ratio in relation to the Master s axis ME reference position DP FR can be any number in the range of 2 147 000 000 2 147 000 000 As noted above FR is an integer number scaled to 8 24 format l e FR 16 777 216 means a following ratio 1 0 The slave axis reference position is relative to the master s
372. tion Attributes Type Command Axis related Yes Array Assignment Command Allows Parameter Yes Number 1 Scope All Restrictions Needs Motor ON and No Motion Save to Flash Default Value Range Syntax XBG Start X Motion BBG Start motion in X and Y non synchronized BBG 1 Start vector X Y motion ABG Start Motion in all axes Doc No MAL 4164 4MC PM doc 167 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference Examples The following code example shows starting a normal motion in X axis from Position 0 to Position 100 000 and waiting for end of motion The example can be written as a script program file The main routine name is MOVX and can be executed and tested Please see the SC4M Macro Scripts Language features User s Manual for further information about script programming Routine to Move to Position 100 000 and wait for end of motion MOVX XMO 1 XPS 0 Enables the Motor and Set Position 0 XMM 0 XSM 0 Set Normal Point To Point Motion Mode XAP 100000 Set Next PTP absolute location to 100 000 counts XAC 90000 XDC 90000 Set AC DC 90 000 XSP 25000 Set Speed to 25 000 XBG
373. to any other party without written authorization from ORBIT FR ORBI T FR Software amp Command Reference Future firmware versions may also support velocity feed forward to the DAC command in PIV mode 1 5 12 Open Loop Operation The AL 4164 4MCcontrollers support a dedicated Open Loop operation mode In this mode the user can directly set the value of PO without the close loop control filter and regardless of the system position readings or the position or velocity errors This mode should be used very carefully since the motor is not under close loop control in that case Note that although under open loop mode the high position error protection mechanism of the controller is still active see section 1 5 4 1 above TL always saturates the command even when operating in open loop mode The method to activate this mode is to use the NC parameter to disable the close loop operation set NC 1 in Motor Off and then set Motor ON and to use the TC Torque Command parameter to set the desired PO value The actual PO value will be equal to PO TC DO Since the offset DO is always added to PO Doc No MAL 4164 4MC PM doc 72 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Software amp Command Reference As the 2 order filter is applied a
374. to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 1 8 12 1 AL 4164 4MCExamples Disable any active compare for X Axis y EO a0 Configure Digital Output 1 to be assigned as an X Axis Compare Output All other outputs are standard Outputs y XOM 4 OM 1 4 DOutl is X Compare y Initialize X axis Motion Parameters and reset position XAC 1000000 XDC 1000000 XDL 1000000 XSP 100000 XPS 0 XMO 1 XAP 150000 y Initialize the X Compare Function XPG1 0 Set Mode 0 XPG2 40 Set Compare Distance XPG3 10000 Set Compare Start Position XPG4 100000 Set Compare End Position XPG5 3 Set Pulse Width 3 9 uSec XPG6 1 Set Pulse Width Mode Use width Parameter XPG7 0 Set Pulse Polarity to Normal Positive MPO A Activate X Compare Function S Stare X mocion ancl wal tor enc OF mocion XBG while XMS 0 Wait for End Of Motion endwhile y y Initialize the Compare in the opposite direction XPQ 0 Disable X Compare XPG2 40 Set Compare Distance Negative Direction XPG3 100000 Set Compare Start Position XPG4 10000 Set Compare End Position MPO A Activate X Compare Function y Start Backward X motion towards 0 position XAP 0 XBG The next example demonstrates operation of the Y axis compare in table Mode 2 Initially the controller is programmed to execute a motion from 0 t
375. to check for EDB message errors Doc No MAL 4164 4MC PM doc 234 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 4 MACRO LANGUAGE 4 1 INTRODUCTION This document is the user s manual for the ORBIT FR AL 4146 4MC family servo controllers macro programming language and environment In order to exploit as much performance as possible from the AL 4164 4MC hardware platforms the macro environment is designed with a simple fast execution engine and a powerful programming development and debugging environment The embedded AL 4164 4MC u controllers and its firmware are responsible for the real time macro execution while the PC Based AL 4164 4MC Shell applications provides the environment to edit pre compile compile download and debug macro programs on the embedded board To supports this structure the logic we have adopted for the AL 4164 4MC macro programs is combined of a reduced set of low level commands supported by the macro execution engine and a wider more enhanced set of programming commands that are supported by the PC Shell development environment While the low level macro execution engine embedded p controller firmware supports only the necessary numbers stack stack operations and basic flow control comman
376. to execute e g XQE HOME Command s parameter can be a string see above or a number The command s parameter is separated from the command itself using a comma character 1 3 3 2 3 Keywords Attributes and Restrictions Each Keyword has attributes defining it and restrictions that must be satisfied in order to accept the command clause The Command Interpreter module checks the restrictions before actually executing the command or making a parameter assignment For parameters the restrictions relate only for assignment since reporting is always valid For a complete list of ALL attributes and restrictions please refer to section 1 9 1 Keywords Attribute Reference Restrictions for both parameters and commands may be one or more of the following list the restriction attribute value is given for reference see section 1 9 1 Keywords Attribute Reference for more information gt None No restriction is applicable Motor Should be ON 0x00000001 The requested command or parameter assignment needs an enabled motor For example the BG begin motion command must have its related motor enabled in order to be executed successfully Motor Should be OFF 0x00000002 The requested command or parameter assignment needs a disabled motor For example the CG axis configuration parameter can be assigned with a new Doc No MAL 4164 4MC PM doc 15 Rev B Information contained herein is the sole pro
377. to the Host communication using CAN interface Doc No MAL 4164 4MC PM doc 209 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR P d Software amp Command Reference 3 7 1 Syntax Host to AL 4164 4MC Controller Normally a CAN communication message has a basic 8 bytes structure messages shorter then 8 bytes are also valid The first byte in each message is a fixed structure Pre Fix Byte The next section describes the Pre Fix Byte Structure 3 7 1 1 The CAN Bus Message Pre Fix Definition Each clause sent from the Host to the AL 4164 4MC must include a first byte Pre Fix which describes the clause attributes This pre fix byte must include the following information 3 7 1 1 1 AL 4164 4MC CAN Bus Message Pre Fix Definition Table 3 6 CAN Bus Pre Fix Byte Format Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit O Axis Axis Special Commands Normal command Command Axis Axis ID ID Command Parameter not an array cmnd has data ID ID 3 7 1 1 1 1 Bits 7 6 1 0 Much like the RS 232 communication interface the CAN bus pre fix byte includes a binary bit field 4 bits that indicates the axis identifier Note that logically the same axes identifiers as in RS 232 are used as listed in the following table
378. tring See section 6 3 1 below Add the macro description for instance description CFEventsRev 01 Your macro revision Included files only if you need to include files Add an AUTOEX routine that will be called at power up see section 1 6 10 1 Add functions and code as describe in section 1 6 4 5 4 3 3 Working With Workspaces The purpose of workspace is to help you manage macros that include more than one file For example If your macro includes two files for definitions and one file of actual code the best way to manage such a macro is with a workspace Doc No MAL 4164 4MC PM doc 285 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference ATI cws ati_def_01 scm ati_DiscreteAnalogue_Ver_01 scm ati_OpenLoop_Ver_01 scem ati_Servo_VYer_01 scm sc_global_defs scm Files 4 5 4 3 3 1 Creating New Workspace To create a new workspace choose from the file menu File Workspace New Workspace This option will enable the user to choose or create a new file for the workspace the file is to be saved with the CWS extension 4 5 4 3 3 2 Open Close Save Existing Workspace To open an existing workspace select from the file menu File Workspace Open and choose the workspace to open gt To
379. uested command or parameter assignment can be executed only if a motion is currently being executed Motion Should be OFF 0x00000008 The requested command or parameter assignment can be executed only if there is no current motion For example the Motion Mode MM parameter cannot be changed during motion Parameter is Read Only 0x00000010 A Read Only parameter can only be inquired for its value The user cannot assign values for Read Only parameters For example DP the current reference Desired Position value is a read only parameter and cannot be directly assigned a new value by the user Keyword Source MUST be an internal program 0x00100000 The keyword can only be used from an internal script program For example the RT return from subroutine command can only be called from with in a program subroutine Keyword Source MUST be external Communication 0x00200000 The keyword can only be used from an external communication link For example the QD download a new program command can only be called from an external communication link Doc No MAL 4164 4MC PM doc 196 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Software amp Command Reference Keyword Source MUST be RS 232 Communication 0x00400000 The keyword c
380. ugh the dead band parameter AD is supported but has no effect AG and AF parameters the Analog Gain and Gain Offset can be used to achieve any effective gain in the range of 219 524 288 to 1 65 536 AG range is 219 524 288 AF range is 0 16 i e Gain Factor can be 1 1 1 65 536 Doc No MAL 4164 4MC PM doc 120 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference e The AG and AF parameters can be used to achieve very high or very low gains or can combined together to achieve accurate floating point gains For example to achieve an overall gain of 4 125 use AG 33 and AF 3 Using the AG and AF parameters the user can define any desired range for the Al value For example if XAS 2047 XAG 100 XAF 2 and the analog input varies in the range of 10 v Then XAI 10 2047 10 x 100 x 27 51 175 This is required for the Joystick motion modes For example the Al parameter is used as a speed reference for the Velocity Based Joystick Mode Using AG and AF the Al value can be scaled to any desired velocity range AS can be used to compensate joystick or analog input circuits offsets Note that nominally AS should be 2047 to achieve Al 0 for nominal Ov analog inpu
381. upported in the AL 4164 4MC only for all axes assuming A is configured to All axes A S P CR A S P CR 100 200 300 400 500 600 700 800 900 1000 gt Echo only if EO 1 Response always sent Executing a Begin Motion Command for X and Y by default B B G CR B B G CR gt Echo only if EO 1 Response always sent Trying to assign out of range value to YAC error prompt is sent and EC is updated accordingly YA C 10 0 0 CR YA C 10 0 0 CR gt Echo only if EO 1 Response always sent Doc No MAL 4164 4MC PM doc 23 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference Executing a Script function named HOME_X in Program 1 X X Q E HOME_X CR X Q E HOME_X CR gt Echo only if EO 1 Response always sent Doc No MAL 4164 4MC PM doc 24 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR kL Software amp Command Reference 1 4 Motion Modes This chapter describes the various Motion Modes that are supported by the AL 4164 4MC controller s family Motion Mode defines a type of motion The exact motion for each Motion Mode
382. utomatically generates the sequence of motions without the need to re sending the BG command This mode is excellent for tuning the PID filter The motor is commanded to perform infinite motions back and forth while the PID parameters are modified on the fly to examine their effect on the motion performance optionally using the Data Recording feature Two additional keywords are used for the Repetitive PTP mode gt WT Wait Time parameter in samples e AL 4164 4MC each sample is 61 us WT Defines the wait time between consecutive motions Upon BG the controller will generate a motion toward AP waits WT samples and than will generate a motion toward the original position where it will wait again WT samples and so on forever gt KR Kill Repetitive command Unlike a standard PTP motion a Repetitive PTP motion does not finished unless stopped by the user or any fault or limitation While AB and ST will act just as for a standard PTP motion KR will stop the repetitive sequence completing the current PTP motion and only then stopping Doc No MAL 4164 4MC PM doc 32 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Software amp Command Reference N A Repetitive PTP motion is started just as a standard PTP motion but with SM 1 instead of SM 0 This
383. ve supported by the PC Shell pre compiler environment see further information in chapter 4 The condition that is referred to can be either the extraction of one of the bits or to the value of the actual parameter The condition can of course be the not condition Doc No MAL 4164 4MC PM doc 257 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR P d Software amp Command Reference Table 4 5 AL 4164 4MC Macro Program Internal wait Conditions Keyword State Mnemonic Code MS 0 SR IP OP MO MF QR TD EM EC QC ol CO N ol al A O N gt jo The parameter sent to the QW or QG command is actually a formula made of the following Parameter Axis 100000 Code 1000 Bit 10 Logic Axis For the AL 4146 4MC Controller 1 10 X Y Z W E F G H U V respectively Code 0 10 See table above for relevant code Doc No MAL 4164 4MC PM doc 258 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference Bit 0 32 Bits 1 until 32 are the respective bits of the keyword If O was chosen as bit it s
384. ve tuo ontetutacatyadgedesneduvnadestnenpttedeentdysdtestlees 399 IAS GVEA pipen e E re R i E aE aa 399 DELO PRN E E obsess a A E E E 400 5 7 10 Prit Preview copien eea a e e E REA ES 400 5 7 11 Print SeU Pe e eE e T E E E 400 5 7 12 PLEA OCATONS scsi zeta nenssnssisnssessdeesctseusess eveaesadedonsedsamsdvoasesedsanpamsanned A a e ansias 400 5 7 13 Recent PUES orure nomoaren esaa ae n aE eni e S eaa Eni E E aa 401 5 7 14 Recent Workspaces smsa karans aaaeaii aee R SE O AE EE a EE ESSE 401 5 7 15 E ees oa i sees Novas e a A E E tat sa nes a E E tence Ss 401 5 7 16 Edit MCN seeesccscccsseesceesceeseeesecsecesecscecseeeseesneessesccesceeaeceaeceaeceaecaaecaaeeaeeeaeeeeeeeneeeeeeaees 402 DLA Options Menusi sice Soo stascantasadobinssubeiwestenasedaass igende E AEE soigens basnbeonsgacvdeaates 405 5 7 18 View Menti ssns aeren inn aae N A ea e nab eanduagsiootenaamohsenscdoeaeaipesisondedeeapanndi 408 5 7 19 MGCTO Men s ueis menena ana aaee ee E E e E a E S E E S 410 5 7 20 Communication Menusi oiei aE E A ERa 415 5 7 21 Toolbars ceinaren n a a a Ta a ear iE 417 5 7 22 Source Code Editor Keyboard Shortcuts cscccssscssecssesecsseesceseesceseeaeesecnseeeeecnaeees 419 Doc No MAL 4164 4MC PM doc XII Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR E a T Figure 1 1 Figure 1 2 Figure 1 3
385. xis sent is irrelevant can be anything between 1 10 but on the other hand MUST be sent Examples The following commands will wait for digital input 1 to be ON TRUE and off FALSE XQW 102010 Wait for input 1 On XQW 102011 Wait for input 1 Off Doc No MAL 4164 4MC PM doc 260 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference 4 3 TIMER FUNCTIONS The AL 4164 4MC family controllers holds independent timers each being updated decremented by one on every hardware sample time Currently approx 488 us These axes related timers One per axis 32 bit positive only are updated once the dedicated TimerDown iTD keyword is called The axis related TimerDown iTD parameter will Wrap if the iTD is not called within 20 hours AL 4164 4MC NOTE The timers are not updated by the real time kernel of the AL 4164 4MC controllers but by the call to the enquiry of iTD They do not require a macro to be running However the values of timers may be changed to any valid value 32 bits from both communication and macro programs The table below describes the timer functions supported by the AL 4164 4MC controllers Table 4 6 AL 4164 4MC Macro program timer keywords Keyword Description Tdi
386. y is anyhow only 30 000 000 32 768 915 Hz So practically using either Mode 0 or Mode 1 all possible incremental GAP distances are covered Doc No MAL 4164 4MC PM doc 96 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference without any frequency limitations Notes 3 and 4 above regarding the limitations of operation in Mode 0 directions are also relevant in this case This mode is not supported in the current Firmware version 1 8 8 Mode 2 32 Bit Arbitrary Tables Mode 2 allows the user to define an array of 32 bit position locations to specify arbitrary compare locations In Mode 2 the user fills in the desired compare locations to the general purpose array AR In the AL 4164 4MC Up to 10 000 compare points may be defined currently limited by the size of the AR array The user then defines the Start and End indexes index entries on the AR array from which the compare locations will be taken The Distance parameter needs to be defined as 1 for positive motions and 1 for negative motions Operation in Mode 2 has the following limitations 1 In this mode the controller real time firmware code is responsible for table points location increment This implies a practical limitation on the
387. y a given number Doc No MAL 4164 4MC PM doc 404 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR Software amp Command Reference 5 7 17 Options Menu This section covers all Options menu items 5 7 17 1 Editor Editor menu item enable to change the editor options This menu item shows the Editor Options dialog Editor Options x n IV Auto indent a E IV Print Line Numbers Cca Tab Size 4 Margin C No Margin Fixed Margin C Scrolling Margin Figure 5 9 Editor Options Editor Options dialog enables Spaces For Tabs Change tab chars with space bar chars Auto indent Enable Disable automatic indentation Print Line Number Enable Disable printing line number Tab Size Number of space bar chars per tab char V VY Y Margin There are three margin options Doc No MAL 4164 4MC PM doc 405 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR LE Software amp Command Reference No Margin TBD Fixed Margin TBD Scrolling Margin TBD 5 7 17 2 Colors Colors menu item enable to change the editor text colors This menu it
388. y controllers support up to 6 label characters By CAN Otherwise supports up to 12 characters and the command itself includes 2 characters a special format is defined In such cases the command is split into 2 messages The first message will include the label data only with the pre fix byte of course and then the command itself with no data will be sent The Special Command bit is used in these cases to indicate that the command is split into 2 messages For example the following RS 232 syntax ZQE LABEL1 meaning start executing the Z program from label LABEL1 will be issued in CAN as 2 consecutive messages The first message will be Byte 1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Bytes Pre fix Special Label Label Label Label Label Label Code byte 1 byte 1 byte 1 byte 1 byte 1 byte 1 Doc No MAL 4164 4MC PM doc 220 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference Message length should always be 8 bytes labels are left justified padded with blanks to the right Currently the only special code supported is 0x01 to indicate the label sign The prefix includes the Special Command bit only as 1 The next message will be
389. y for block Nested for loops are supported The init expr and cond expr expressions must include assignments i e see example 1 below Currently all three expressions init expr cond expr and loop expr are necessary This means that the C syntax for cond expr is not supported Doc No MAL 4164 4MC PM doc 307 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference It is possible to include if statements and while loops within a for statement given that they do not cross the boundaries of the for block and each other s Several continue and break commands are allowed within for loops Continue and break commands are valid only within while and for loops Statements may be any valid normal or math expressions Valid operators within the for statement itself the conditions are Valid math operators within assignment expressions Ta i amp gt lt gt lt J 3 Valid math operators within conditional expressions amp 4 Valid logic operators within conditional expressions gt lt l gt lt Following are some examples using for loops Example 1 A simple for loop counting time with a delay function for XPA1 100 XPA1 lt 120 XPA1 XPA
390. y not be passed to any other party without written authorization from ORBIT FR ORBI T FR kL Software amp Command Reference 1 4 1 Point To Point PTP MM 0 SM 0 1 4 1 1 PTP Motion Description In this mode the controller calculates a standard smoothed trapezoidal profile from the current position to a user specified target position using a user specified acceleration and speed The profile is called trapezoidal since the velocity command has a trapezoidal or triangular for short distances shape The user can select to smooth the profile in order round the sharp trapezoidal or triangular corners If smoothing is used then the actual jerks are limited no zero time acceleration change Without smoothing the jerks are infinite acceleration is changed at 0 time The target position can be specified relatively to the current desired position using the RP Relative Position parameter It can be also specified as an absolute position using the AP Absolute Position parameter It is important to note that a PTP motion is always executed toward the value of the AP parameter However sending an RP lt value gt clause is internally interpreted as AP DP lt value gt Where DP is the current desired position normally equal to the current actual position As a result the AP is indeed modified when a new value is assigned to RP and any following PTP motion toward AP will actually move to the desired relat
391. y of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR OREI T FR P d Software amp Command Reference 4 8 4 8 QA Enable Automatic Routine Future Option This command is currently not implemented Purpose Enables disables the automatic routines except the AUTOEXEC The automatic routines are disabled after power on or reset This command is currently not implemented This is a future option Attributes Type Parameter Axis related No Array No Assignment Yes Receive parameter Parameter type Scope Both Restrictions None Save to Flash Yes Default Value 0 Range 0 65536 Syntax QA QA lt Number gt Keyword is not axis related thus XQA YQA and BQA are equivalent Doc No MAL 4164 4MC PM doc 341 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ES Software amp Command Reference Examples Function not supported in this version See Also QM Doc No MAL 4164 4MC PM doc 342 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBIT FR amp 4 8 4 9 QB Macro Break
392. y to exit from the command before the condition is met Another case is if more then one condition is required to be tested or waited for In this case a simple loop should be used Both the QW and QG commands share the same parameters internal state conditions The table below describes the Wait and State inquiry commands supported by the AL 4164 4M clow level macro engine Doc No MAL 4164 4MC PM doc 256 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR ye Software amp Command Reference Table 4 4 AL 4164 4MC Macro Program wait and state Inquiry Keywords Keyword Description QW Waits till a specified internal state will be set or cleared QG Gets the value of a specified internal state variable The desired state It should be noted that all the state variables are actually bits of existing keywords such as Output Bit 1 which is OP 0 The QG command returns the state value as FALSE 0 or TRUE 1 The QW command holds the macro execution until the state is satisfied The following table presents the currently available list of internal states variables The Keyword column are the keywords supported by the QW or QG commands The State Mnemonics Code column is the code for each state value when using the define directi
393. yword Source MUST be RS 232 Communication 0x00400000 The keyword can only be called from an RS 232 link For example downloading new Firmware is supported ONLY in RS 232 mode gt Keyword Source MUST have all internal programs halted 0x10000000 The keyword can only be executed when all internal user programs are halted For example the LD command Load from flash can be called only in that case Doc No MAL 4164 4MC PM doc 16 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBI T FR kL Software amp Command Reference Parameter values always have a minimum and maximum value for assignment clauses Most parameters are saved to FLASH Few are initialized to default non active values on power on reset or load from FLASH events 1 3 3 2 4 Axes Identifiers and Groups The AL 4164 4MC family controllers support Group Definitions for Axes Identifiers The AL 4164 4MC controller language syntax requires an axis identifier before any Keyword When a specific axis identifier is given the command interpreter will interpret the clause and will act upon the specific axis only In order to let the user perform an action on more then one axis simultaneously for example reporting position of all axes at once the notation of Group Axes Identifiers is supported by th
394. zation from ORBIT FR ORBI T FR ES Software amp Command Reference In the AL 4146 4MC Macros X to V Has its own numbers stack Dedicated keywords are added to support pushing and popping to from the stack and mathematical as well as relational operators keywords are added These numbers stack to distinguish from the internal program stack that is used to store return pointers for CS commands are currently accessible also from the RS 232 communication line mainly for debugging This way the macro can perform any expression without complexity limitations and without operators preceding limitations Dedicated macro keywords such as the JT Jump If True CT Call subroutine if True automatically use the last stack element as their input arguments This structure is similar in concept to any p controller assembly language syntax Below are some examples demonstrating this simple concept Example 1 A possible standard expression such as JP ABCD XPS gt 10000 Which means Jump to label ABCD if X position is greater than 10000 will be written in the AL 4164 44MC macro syntax as follows XPS 10000 gt JTHABCD Which means push XPS push 10000 pop the last two elements and push 1 if greater 0O if smaller Pop from stack and jump if 1 The stack remains empty at the end of this process as it should be Doc No MAL 4164 4MC PM doc 241 Rev B Information contained herein is the sole property of ORB

"user manual"

Contents

Download Pdf Manuals

Related Search

Related Contents

&quot;user manual&quot;

Contents

Download Pdf Manuals

Related Search

Related Contents

"user manual"