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Pacific Scientific 950 Basic Reference Manual

1. Will wrap around when the signal exceeds the output voltage level The value of the selected signal does not change Related See DM2Gain DM2F0 and DM20ut instructions 3 84 MA950 LR DM2Out Pre defined Variable Float Status Variable Read Only Purpose Syntax Range Guidelines MA950 LR DM2Out indicates the value of the selected filtered variable output to DAC Monitor 2 J4 4 The value is reported in the units of the selected variable For example DM2Map 1 selects VelCmdA and the units would be RPM x DM20ut Depends on DM2Map selected signal With DM2F0 set low such as 1 Hz DM1Out s value will accurately measure the DM1Map selected signal s dc component DM2Out can also be used to examine variables that can not be directly queried such as motor phase voltage duty cycle DM2Map 19 20 or 21 Enable Pre defined Variable Integer Purpose Enable controls whether or not power can flow to the motor i e whether or not the drive can be enabled 0 Disables the drive 1 Allows drive to be enabled Syntax Enable x Units none Range Oorl Default 0 Guidelines Before power can flow to the motor the following must all be true 1 Drive is not faulted 2 Enable input J4 6 is connected to I O RTN 3 Enable pre defined variable is set to 1 Related Enabled instructions 3 86 MA950 LR Enabled Pre defined Variable Integer Read Onl
2. axis 128 main IntrPACLAN 1 while 1 wend end main Interrupt PACLAN static count as integer print Count count print Arg LANIntrArg print Source LANIntrSource print end interrupt UARAKRKAAARAKRAKRAKRARKRARARARARAAAL 3 271 SetMotor Function Purpose SetMotor specifies the motor Back EMF waveshaping to be used by the OC950 Syntax SetMotor string expression Guidelines When you specify a motor name with the SetMotor function the OC950 looks up that name to see if it has a custom waveshape for that motor If it does then it uses this Back EMF waveshape for Signature Series waveshaping If it does not find the motor name then it uses a sine wave for Back EMF waveshaping Related GetMotors instructions Example SetMotor R32G Print GetMotors 3 272 MA950 LR Sgn Function Purpose Sgn returns the sign of a numeric expression Syntax result Sgn x if x lt 0 returns 1 x 0 returns 0 x gt 0 returns 1 Guidelines x is any numeric expression Not to be confused with the trig function Sin Example print sgn 33 prints 1 print sgn 0 prints 0 print sgn 45 77 prints 1 MA950 LR 3 273 SHL Left Shift Operator Purpose Left Shift Operator Syntax result operandl SHL operand2 Guidelines This operator performs a left shift by operand2 places of operand1 This is equivalent to multiplying operan
3. Purpose Syntax Guidelines Related instructions MA950 LR If Then Else statements controls program execution based on the evaluation of numeric or string expressions IF conditionl THEN Statement blockl ELSEIF condition2 THEN Statement block2 ELSE Statement block3 END IF If condition1 is True then statement block1 is executed Otherwise if condition2 is True then statement block2 is executed If the original IF condition is False and all ELSEIF conditions are False then the ELSE statement block statement block3 is executed Select Case While Wend Exit 3 131 ILmtMinus Pre defined Variable Integer NV Parameter Purpose ILmtMinus Counter Clockwise Current Limit sets the maximum allowable torque current amplitude in the counter clockwise direction This is a percentage of the drive s peak current rating Ipeak Syntax ILmtMinus x Units Percentage of peak current rating of drive Range 0 to 100 Default Parameter value specified in the Params End Params section of your program The 950 IDE New Program function calculates this value based upon the specified motor and drive Guidelines Only integer values may be entered i e no fractional numbers Warning If ILmtMinus 0 01 Ipeak gt twice the motor s continuous current rating the motor s over temperature sensor is not guaranteed to always respond fast enough to prevent motor winding damage
4. character may be used in a future version to indicate structure members And although 950BASIC is case insensitive we recommend that you adopt a consistent naming convention such as IndexDist and avoid having indexDist index dist and Indexdist in the same program The pre defined types are INTEGER FLOAT and STRING LONG may be used for INTEGER and SINGLE or DOUBLE for FLOAT INTEGER variables are 32 bit signed integers FLOAT variables are IEEE single precision floating point numbers STRING variables are represented internally as a maximum length a current length and an array of ascii characters this means that strings may contain null characters When a FLOAT result is assigned to an INTEGER variable or when a FLOAT argument is used where and INTEGER is expected the value is coerced to an integer before use Coercion from FLOAT to INT always rounds to the nearest integer For example 1 2 rounds to 1 1 7 rounds to 2 1 2 rounds to 1 1 7 rounds to 2 Literal constants 1 12 Scalar INTEGER and FLOAT coercion is automatically provided for function arguments When passing ARRAYS as arguments however the types must match exactly since coercion could be prohibitively expensive at run time String assignment is checked at run time an attempt to copy a string to a destination that is too small will result in a run time error String indexing is 1 origin For example mid abc 1 1 returns the string
5. r M2 M3 M5 Explanation In this application material is being fed beneath a rotary knife The master encoder measures forward movement of the material under the knife The slave motor controls rotation of the knife In order for this to work properly the slave motor must be controlled as a function of master encoder counts so that the blade of the rotary knife 1 Stays out of the way until the proper amount of material has passed 2 Accelerates so that the speed of the knife matches the speed of the material during the cut and 3 Decelerates back to the original speed until the material is almost in position for the next cut Note The rotary knife will either accelerate or decelerate to match the speed of the material in the cut phase depending on whether or not the circumference of the rotary knife is less than or greater than the length of the piece to be cut You may need to interchange the terms accelerate and decelerate or simply think of them as signed quantities MA950 LR 1 53 1 54 950BASIC s AddPoint statements specify a cam profile as a mapping from master position to slave position But the problem as stated above refers to relative velocities and accelerations and it s not always clear how to get from velocity and acceleration to position The CamWizard was designed to make such applications easy to implement The only things you need to provide are e the number of master counts co
6. Examples These two examples show both a simple PACLANAdadr directive that just specifies axis 255 and then a more complicated PACLANAddr directive that specifies axes 1 and 3 and axes 6 through 9 Programinfo PACLANAddr 255 End ProgramiInfo Programinfo SPACLANAddr 1 3 6 to 9 End ProgramiInfo 3 212 MA950 LR Params End Params Statement Purpose Syntax Guidelines Related instructions MA950 LR The Params End Params section of your program specifies the values for the non volatile parameters This section is created for you automatically when you use the New Program selection on the File menu Params parameterl parameter value parameter2 parameter value End Params The values assigned to the parameters in the parameters section of your program are automatically written to these parameters the next time that you power up the drive before the program gets executed So even if Autostart is not set and the program does not run automatically these values will get initialized to the values that you have specified All other pre defined variables get initialized to fixed default values ARFO ARF1 CommOff PoleCount Kip ILmtMinus ILmtPlus ItThresh Kpp Kvi Kvp 3 213 Pause Statement Purpose Pause causes the program execution to pause for a specified amount of time The motion of the motor is not affected Syntax Pause x Guidelines Interrupts are active durin
7. Purpose Syntax Guidelines Related instructions MA950 LR LANInterrupt n invokes the PACLAN interrupt on axis n LANInterrupt n where n identifies the address of the destination of the interrupt Before issuing this statement in your program you should ensure that the destination axis is connected to the PACLAN and is running a program Otherwise a runtime error will be generated on the source axis LANIntrSource Interrupt SendLANInterrupt 165 LANIntrArg Pre defined Array Variable Integer Purpose Syntax Units Range Default Related instructions 3 166 LANIntrArg contains an integer value specified by the source axis of the PACLAN interrupt when that axis invokes a PACLAN interrupt LANIntrArg can be used in the PACLAN interrupt handler for any purpose you want x LANIntrArg none LANIntrSource SendLANInterrupt MA950 LR LANIntrSource Pre defined Variable Integer Purpose Syntax Units Range Default Guidelines Related instructions MA950 LR LANIntrSource indicates the axis address of the source of a PACLAN interrupt This variable was called Axis Intr in the SC750 x LANIntrSource none 1 255 none LANIntrSource is set automatically by the firmware when it processes and dispatches a PACLAN interrupt You can use it in your PACLAN interrupt handler to do different things depending upon who sent you the interrupt LANIntrArg SendLA
8. Purpose Syntax Guidelines Related instructions MA950 LR ReadSLCSBinary reads the specified element 16 bits from the specified binary file on the specified SLC500 When this function is encountered in the OC950 program the OC950 will send the appropriate message to the SLC500 connected to the OC950 s serial port and wait for the response If there is a valid response then the OC950 will put the data in the appropriate variable i e the variable on the left hand side of the equals sign If there is no valid response then the OC950 will set the status variable ABErr appropriately Note This feature is only available in the Enhanced OC950 Firmware x ReadSLC5Binary SLC500 address file number element number You must first set RuntimeProtocol to 5 Allen Bradley DF1 Protocol before using this function Other communication parameters baudrate and ABCrc on the SC950 must match the corresponding parameters on the PLC ReadSLC5Integer ReadSLC5Float WriteSLC5Integer WriteSLC5Integer WriteSLC5Float 3 237 ReadSLC5Binary continued Example The following program reads an integer from a SLC500 PLC binary file It then sets IndexDist to twice the value read from the SLCS500 Note All communication settings on both devices SC950 and SLC500 must match main dim SLC5Dist as integer runtimeprotocol 5 Allen Bradley DF1 Protocol baudrate 19200 baudrate MUST match PLC setting ab
9. Set Reg1LoFlag to zero to arm the latches i e prepare them to capture data at a registration transition This flag will automatically be set to one when the hardware detects a high to low transition on Reg1 J4 10 ReglLoFlag x none Oor1 0 RegControl determines what data gets latched on a Reg1 transition RegControl 3 247 Reg1LoPosition Pre defined Variable Integer Read Only Purpose Reg1LoPosition contains the latched value of the motor position when the Reg1 input J4 10 captured its last high to low registration event Syntax x ReglLoPosition Units resolver counts Range Default none Guidelines Set Reg1LoFlag to 0 to arm the registration latch Related RegControl instructions 3 248 MA950 LR EM Reg2HiEncpos Pre defined Variable Integer Read Only Purpose Syntax Units Range Default Guidelines Related instructions MA950 LR Reg2HiEncpos contains the latched value of the encoder counter EncPos when the Reg2 input J4 11 captured its last low to high registration event Note RegControl must be set to 1 in order for Reg2HiEncpos to be latched x Reg2HiEncpos encoder counts none Set Reg2HiFlag to 0 to arm the registration latch RegControl 3 249 Reg2HiFlag Pre defined Variable Integer Purpose Syntax Units Range Default Guidelines Related instructions 3 250 Reg2HiFlag is used to arm and monitor the Reg2Hi registra
10. Within a program all off axis variable accesses require the variable name to be appended with the axis address in square brackets Axis designation with square brackets is not required for on axis variable usage PACLAN provides read write access to all pre defined variables on all SC950s connected to the PACLAN You should use care in writing to pre defined variables on another axis because extensive use of this capability can lead to programs that are difficult to debug Each C950 also contains two uncommitted variable arrays LANFIt and LANInt specifically intended for inter axis communications These array variables also have read write capability See LANFIit and LANInt Note Attempting to read from or write to a controller that is not present on the PACLAN will result in a run time error on the initiating controller Use the pre defined variable Status Axis to determine if an axis is present on the PACLAN PACLAN can access any pre defined variable on any other axis This is performed by appending the axis address in square brackets after the variable name For instance to set the variable x equal to the value of Velocity on axis 3 use the statement x Velocity 3 Example LANInt and LANFIt Arrays 1 40 To set index distance on axis 5 equal to 10 000 counts use the statement IndexDist 5 10000 Pre defined variables with an axis specifier may be used wherever any other variables
11. GearLock Pre defined Variable Integer Read Only Purpose Syntax Range Guidelines Related instructions 3 116 The GearLock variable indicates when the slave axis follower axis in an electronic gearing application has achieved velocity synchronization with the electronic gearing master The amount of position deviation that has accumulated while the slave axis was limiting its acceleration or deceleration is contained in the variable GearError x GearLock where x 0 indicates that the slave has not achieved velocity synchronization x 1 indicates that the slave has achieved velocity synchronization Oor1 The slave axis acceleration or deceleration is limited to AccelGear or DecelGear whenever 1 Gearing is turned on or turned off 2 Ratio is changed 3 PulsesIn or PulsesOut is changed AccelGear DecelGear GearError MA950 LR GearLock continued Example AccelGear 10000 PulsesIn 1 PulsesOut 1 GearError 0 Gearing 1 While GearLock 0 Wend catch up the position lost while acceleration was being limited IndexDist GearError GoIncr MA950 LR 3 117 GetMotor Function Purpose GetMotor returns a string which indicates the motor name that was specified with the last SetMotor function Syntax AS GetMotor Guidelines GetMotor always returns the motor name in upper case even if you specified the name with lower case letters Related
12. Guidelines 3 298 VBusThresh is an adjustable parameter to allow the drive to fault if the AC line power for the motor DC supply is low VBusThresh x Volts 1 to 1000 1 fault is disabled When VBus lt VBusThresh the drive will fault and display a blinking 1 This functionality allows the drive to have an interlock so that it will not try to move the motor unless there is sufficient motor bus voltage VBusThresh 255 is a good value to detect a 230 Vac line more than 15 low Note A value of 1 disables the Bus Under Voltage Fault E 1 MA950 LR F VelCmd Pre defined Variable Float Status Variable Read Only Purpose VelCMd is the net desired velocity loop command input Syntax x Velcmd Units RPM Range VelLmtLo to VelLmtHi 21 000 to 21 000 Default Related VelLmtHi VelLmtLo instructions MA950 LR 3 299 VelErr Pre defined Variable Float Status Variable Read Only Purpose VelErr is commanded velocity measured velocity VelCmd VelFB Syntax x VelErr Units RPM Range 48 000 to 48 000 3 300 MA950 LR VelFB Pre defined Variable Float Status Variable Read Only Purpose Syntax Units Range Default Guidelines MA950 LR VelFB is the instantaneous value of the velocity feedback 48 000 to 48 000 for resolver 30 000 to 30 000 for encoder none For normal operation RemoteFB 0 or 1 VelFB is the resolver velocity For
13. Inkey while news fee AS AS new new Inkey wend MA950 LR InpO Inp20 Pre defined Variable Integer Read Only Purpose Syntax Units Range Default Guidelines Related instructions Example MA950 LR Inp0 Inp20 reports the value of one of the discrete digital inputs on the OC950 0 indicates a logic low level 1 indicates a logic high level x Inpn none 0 or 1 none Each of the 21 inputs can be used to trigger an interrupt on either or both its high to low and or low to high transition s Inputs Wait for Inp0 0 and Inp1 1 before starting While Inp0 1 OR Inpl 0 Wend Print Starting 3 137 InPosition Pre defined Variable Integer Read Only Purpose Syntax Units Range Default Guidelines Related instructions 3 138 InPosition indicates whether or not the motor has achieved commanded position InPosition is useful to monitor move commands to ensure that the desired motion has been completed InPosition is always 0 False or 1 True x InPosition none Oor1 none InPosition is 1 True only if all the following are true Drive is enabled Moving 0 Position Error less than InPosLimit InPosLimit Moving MA950 LR ESS re InPosLimit Pre defined Variable Purpose InPosLimit specifies the tolerance of Position Error PosError within which the InPosition flag will be set to 1 True Syntax InPosLimit x
14. a STRING variables have a firmware imposed maximum length of 230 characters and a default maximum length of 32 characters They may be assigned a different maximum length by declaring them to be of type STRING n where n is a positive integer between 1 and 230 inclusive Arrays of any of the pre defined types can be declared Arrays have a maximum rank of 4 dimensions The upper bound of each dimension has no compiler defined limit however because of the limited data space of the controller there is a logical upper bound which depends on the controller model Array indexing is 1 origin The indices in each dimension range from 1 to the upper bound of the dimension Every reference to an array element is checked at run time any attempt to reference beyond the bounds of the array causes a run time error New types can not be defined there is no support for the TYPE construct of QuickBasic String constants begin and end with the double quote character They can not extend past the end of the input line Any printable ASCII character may appear in a string constant An attempt to generate a string literal with non ASCII characters will cause a compile time error Although no check is made to verify that non ASCII strings are not created at run time you should avoid doing so because attempting to print non ASCII characters at run time may confuse the Integrated Development Environment s debugger MA950 LR Decima
15. 3 106 FaultReset is used to reset drive faults FaultReset x Oor1 0 at power up if not mapped FaultReset active automatically disables the drive When not mapped to a BDIO setting FaultReset to 1 via the serial port will reset the latched function If the fault persists when FaultReset is active the drive remains faulted If the Fault condition does not persist then setting FaultReset to 1 clears the latched fault and returning FaultReset to 0 resumes normal operation MA950 LR Fix Function Purpose Fix returns the truncated integer part of x Syntax result Fix x Guidelines Fix does not round off numbers it simply eliminates the decimal point and all digits to the right of the decimal point Related Abs Cint Int instructions MA950 LR 3 107 For Next Statement Purpose For Next allows a series of statements to be executed in a loop a specified number of times Syntax For loop counter Start Value To End Value Step increment Statements Next Guidelines You can exit from a For Next loop using the Exit For If step increment is omitted then increment defaults to 1 The loop_counter can be floating point or integer The Step increment can be positive or negative integer or floating point Related While Wend Exit instructions Example Dim x as integer For x 1 to 100 Step 2 Print x print 2 to 100 in 2 s Next dim x as float for x 0 5 to 1 2 ste
16. J4 4 Syntax DM2Gain x Default 2 0 Guidelines Changing DM2Map changes DM2Gain s value unless DM2Map changes to a signal with identical units such as VelCmdA to VelFB DM2Map 1 to 2 Set DM2Gain to keep the signal in the DAC Monitor in the 5 volt range Below lists units when DM2Gain 1 Monitor Scale Factor Monitor Scale Factor 0 No Effect 15 1 V Cycle 1 1 V KRPM 16 1 V Amp 2 1 V kRPM 17 1 V Amp 3 1 V kRPM 18 1 V Amp 4 1 V kRPM 19 1 V 100 5 1 V Rev 20 1 V 100 6 1 V Rev 21 1 V 100 7 1 V Rev 22 1 V V 8 1 V Amp 23 1 V Rev 9 1 V Amp 24 1 V Amp 10 1 V V 25 1 V Amp 11 1 V Hz 26 1 V 100 12 10 V 4096 27 1 V 100 13 1 V 100 28 1 V KRPM 14 1 V Degree C Related DM2Map DM2F0 and DM2Out instructions MA950 LR 3 83 DM2Map Pre defined Variable Integer Purpose DM2Map selects signal sent to the DAC Monitor 2 output on J4 3 Syntax DM2Map x Range 0 to 65 537 Default 1 VelFB Velocity Feedback Guidelines See Hardware manual for definitions of mnemonics Monitor Mnemonic Monitor Mnemonic 0 AnalogOut2 16 IR 1 VelFB 17 IS 2 VelCmdA 18 IT 3 VelErr 19 VR 4 FVelErr 20 VS 5 Position 21 VT 6 PosError 22 VBus 7 PosCommand 23 ResPos 8 ICmd 24 Cmd Non Trgq Current 9 IFB 25 Non Trq IFB 10 AnalogIn 26 Trq Voltage Duty Cycle 11 EncFreq 27 Non Trq Voltage Duty Cycle 12 EncPos 28 VelCmd 13 ItFilt 65536 Clamp Off 14 HSTemp 65537 Clamp On 15 Comm Ang
17. MA950 LR EncFreq Encoder Frequency is the frequency in quadrature pulses per second of the external encoder or steps per second if step and direction format is used x EncFreq Quadrature encoder counts per second EncMode 0 Steps per second EncMode 1 3 000 000 to 3 000 000 EncFreq Encoder Speed RPM Encoder Line Couny Calculated from delta EncPos at position loop update rate Although the values returned do not have fractional parts this variable is communicated as a floating point quantity See EncInF0 for recommended maximum count frequencies Encin Pre defined Variable Integer Purpose Syntax Units Range Default Guidelines EncIn specifies the line count of the encoder being used or one fourth the steps revolution if step and direction input format is used EnciIn x Encoder line count EncMode 0 Steps per quarter revolution EncMode 1 1 to 65535 1024 EnclIn is used to insure proper units in KPP KVP VelFB when using an encoder for Servo feedback RemoteFB 1 or 2 EnclIn is also used when using the encoder input port for Electronic Gearing and using the Ratio variable to specify the electronic gearing ratio MA950 LR EncinFO Pre defined Variable Float Purpose Syntax Units Range EncMode 0 Quadrature Decode EncMode 1 or2 Step Dir or Up Down Default MA950 LR EncInF0 selects digital low pass filter frequency o
18. Related ARFO ARF1 ARZO instructions MA950 LR 3 27 Asc Function Purpose ASC string expression returns a decimal numeric value that is the ASCII code for the first character of the string expression x Syntax x Asc s Guidelines If the string begins with an uppercase letter the value of Asc will be between 65 and 90 If the string begins with a lowercase letter the value of Asc will be between 97 and 122 Values 0 to 9 return 48 to 57 3 28 MA950 LR Atan Function Purpose Atan arc tangent returns the arctangent of its argument in radians Syntax result atan x Guidelines The result is always between pi 2 and pi 2 The value of x may be any numeric type To convert from degrees to radians multiply by 0 01745329 MA950 LR 3 29 Autostart Pre defined Variable Integer Purpose Autostart specifies whether or not the program in the OC950 starts executing automatically when AC power is applied 0 Program does not start automatically 1 Program starts automatically Syntax Autostart x Units none Range Oorl Default 0 Guidelines Autostart should be set to 0 or 1 in the Variables Window Compiler Menu Variables option of the 950 IDE 3 30 MA950 LR AxisAddr Pre defined Variable Integer Read Only Purpose Syntax Units Range Default Guidelines MA950 LR AxisAddr indicates the PacLAN address of the OC950 It can also be used as a gen
19. _ _ _ _ _ gt a ay Dir Pre defined Variable Integer Purpose Syntax Units Range Default Guidelines Related instructions MA950 LR Dir specifies the direction that the motor will turn when a GoVel statement is executed It has no effect on any other motion statements If Dir 0 then the motor will turn in the positive direction If Dir 1 then the motor will turn in the negative direction Dir x none Oor1 Positive and negative directions of motor motion are defined by the PosPolarity variable GoVel PosPolarity DM1F0 Pre defined Variable Integer Purpose DM1FO0 sets the frequency in Hz of a single pole low pass filter on the DAC Monitor 1 output J4 3 Syntax DM1FO x Units Hertz Range 0 01 to 4 17e7 Default 1000 Hertz Guidelines DM1FO0 can be used to attenuate high frequency components from the DM1Map selected signal Setting DM1FO0 to 1 Hz and using DM10Out to examine the filtered value is an easy way to accurately measure the selected signal s dc value 3 78 MA950 LR DM1Gain Pre defined Variable Float Purpose Sets the multiplicative scale factor applied to the DM1Map selected signal before outputting on DAC Monitor 1 J4 3 Syntax DM1Gain x Default 0 6667 Guidelines Changing DM1Map changes DM1Gain s value unless DM1Map changes to a signal with identical units such as VelCmdA to VelFB DM1Map 1 to 2 Set DM1Gain to keep the signal in the DAC Mon
20. 0 least significant word first most significant word second 1 most significant word first least significant word second Default 1 MA950 LR 3 175 MBErr Pre defined Variable Integer Purpose MBErr indicates whether or not an error occurred and which error when you execute a MODBUS Master statement or function e g MBWriteBit MBErr is only set to zero when the program starts executing After that it has a sticky functionality in that anytime an error occurs MBErr will get updated so you can do multiple MODBUS Master transactions and then verify that MBEtr is zero to make sure that were all successful Value Description 0 no Error 1 No Response from Slave time out 2 Invalid Slave Address Specified must be 0 254 3 Invalid Bit Address Specified must be 1 9999 or 10001 19999 4 Invalid Register Address Specified must be 30001 39999 or 40001 49999 Note This feature is only available in the Enhanced OC950 Firmware Syntax MBErr 0 x MBErr Range 0 1 2 3 4 Default 0 Guidelines Set MBErr to zero before each block of MODBUS Master transactions you execute Please refer to Section 1 11 Using an OC950 as a Modbus Master 3 176 MA950 LR MBErr continued Example MA950 LR This example initializes MBErr to 0 and then performs two MODBUS master transactions first it reads a new value for RunSpeed and then it writes 1 to bi
21. 0 ActiveCam 2 end sub r sub CreateCam_2 This code creates a cam whose profile is an exponentially damped sine wave sub CreateCam_2 dim m s as float dim i as integer CreateCam 2 for i 0 to NPOINTS 1 master position m i MC NPOINTS 1 computed slave position s 1 exp 1 5 k i sin 2 pi w i addpoint m 2000 s next i end createcam end sub 4 1 56 MA950 LR Program cont d MA950 LR Generate a cam that does exponentially damped sinusoidal motion and activate it Please note that since we re computing 500 points of slave profile here several seconds will elapse during the calculation of the cam table main enable 1 vmdir 0 vmrunfreq 1000 vmgovel print Creating cam 2 call CreateCam_ 2 call ActivateCam_2 print Cam 2 is active now end main 1 57 Virtual encoder virtual master Move parameters Move statements Other variables 1 58 The virtual encoder is an internal count generator that can be used as the input to the cam It is controlled very much like the profile generator that is used to control the motion of the motor The pre defined variables and statements associated with the virtual encoder are listed below vm Dir specifies direction for vmGoVel vmIndexDist specifies distance for vmGolIncr vmRunFreq specifies speed frequency for vmGolIncr and vmGoVel vmGolIncr executes incremental move vmGoVel executes
22. 3 332 MA950 LR WriteSLC5Integer Statement Purpose Syntax Guidelines Related instructions MA950 LR WriteSLCSInteger writes the specified 16 bit element to the specified integer file on the specified SLC500 When this function is encountered in the OC950 program the OC950 will send the appropriate message to the SLC500 connected to the OC950 s serial port and wait for an acknowledgement ACK If there is no valid response then the OC950 will set the status variable ABErr appropriately Note This feature is only available in the Enhanced OC950 Firmware WriteSLC5Integer node address file number element number value You must first set RuntimeProtocol to 5 Allen Bradley DF1Protocol before using this function Other communication parameters baudrate and ABCrc on the SC950 must match the corresponding parameters on the PLC ReadSLC5Binary ReadSLC5Float WriteSLC5Binary ReadSLC5Integer WriteSLC5Float 3 333 WriteSLC5Integer continued Example The following program writes an integer to the SLC500 PLC Note that all communication settings on both devices SC950 and SLCS500 must match main dim SLC5Speed as integer runtimeprotocol 5 Allen Bradley DF1 protocol baudrate 19200 baudrate MUST match PLC setting abere 1 Set check to CRC MUST match PLC setting SLC5Speed 1234 WriteSLC5Integer 5 7 19 SLC5Speed SLC500 File 7 Integer File end
23. 3 334 MA950 LR Xor Operator Purpose Xor performs a logical XOR operation on two expressions Syntax result A xor B Guidelines The result evaluates to True if and only if one of the boolean expressions is True and the other boolean expression is False Otherwise the result is False Related Or Xor Band Bor Bxor instructions Example x 17 y 27 if x gt 20 Xor y gt 20 then print This will get printed end if if x lt 20 And y gt 20 then print This won t get printed end if MA950 LR 3 335 Appendix A Operating at 9600 Baud Procedure To set up your OC950 to operate at 9600 Baud follow these steps 1 Verify that the Firmware version is 1 2 or greater Select Variables in the Compile menu type FWV in the Variables expression box and press lt Enter gt The current value should be 1200 or greater Establish communications with the OC950 at 19200 baud Type BaudRate in the Variables expresion box and press lt Enter gt The current value should be 19200 lt Tab gt to the New Value box and type 9600 and press lt Enter gt A warning message will appear indicating that the Target the OC950 is not responding Click on lt OK gt to clear this error window Close the Variables Window Select Communications in the Options Menu In the Communications Options Window select 9600 baud and click on lt OK gt Return to the Variables Window
24. Pre defined Variable 0 3 264 ScurveTime Pre defined Variable Floating Point 0 3 265 Select Case Statement 3 267 MAQ950 LR Name Type Default Value Page SendLANInterrupt Pre defined function 3 269 SetMotor Function 3 272 Sgn Function 3 273 SHL Left Shift Operator 3 274 SHRA Arithmetic Right Shift 3 275 Operator SHRL Logial right Shift Operator 3 276 Sin Function 3 277 Space Function 3 278 Sqr Function 3 279 Static Statement 3 280 Status Pre defined Variable 3 282 Stop Statement 3 283 Str Function 3 284 String Function 3 285 Sub End Sub Statement 3 286 Swap Statement 3 288 SysLanWindow1 8 Pre defined Variable 3 289 Tan Function 3 290 TargetPosition Pre defined Variable Integer 0 3 291 Time Pre defined Variable Float 3 292 Status Variable Read Only Trim Function 3 293 Ucase Function 3 294 MA950 LR 2 13 Name Type Default Value Page UpdMove Statement 3 295 Val Function 3 296 VBus Pre defined Variable Float Status 3 297 Variable Read Only VBusThresh Pre defined Variable Float 1 3 298 VelCmd Pre defined Variable Float Status 3 299 Variable Read Only VelErr Pre defined Variable Float Status 3 300 Variable Read Only VelFB Pre defined Variable Float Status 3 301
25. Static Statement Purpose Used for declaring variables before use All variables except pre defined variables must be declared before they can be used The Static statement is used in a Function Sub or Interrupt to specify that the specified variable s value be remembered even when the Function or Sub is finished The next time that the Function Sub or Interrupt is executed the value will be available Syntax Static varl var2 as type where type is INTEGER 32 bit integer FLOAT IEEE single precision float STRING default length is 32 characters Guidelines The default length for strings is 32 characters This default can be overridden by following the STRING type designator with a see example Related Dim Sub Function Interrupt instructions 3 280 MA950 LR Static continued Example This example illustrates the difference between using Dim and Static in a Sub procedure x always gets reset to zero while y continually gets incremented main while 1 call MySub pause 1 wend end main sub MySub dim x as integer value is forgotten static y as integer value is remembered x x 1 y y 1 print x y end sub MA950 LR 3 281 Status Pre defined Variable Purpose Syntax Guidelines Example 3 282 Status axis can be used over PACLAN to determine if a particular axis is connected to the PACLAN and whether or not that axis is presently r
26. TORT WARRANTY PATENT OR COPYRIGHT INFRINGEMENT SHALL NOT EXCEED THE PRICE SPECIFIED OF THE PRODUCTS OR PROGRAMS GIVING RISE TO THE CLAIM AND IN NO EVENT SHALL PACIFIC SCIENTIFIC BE LIABLE UNDER THESE WARRANTIES OR OTHERWISE EVEN IF PACIFIC SCIENTIFIC HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES FOR SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES INCLUDING WITHOUT LIMITATION DAMAGE OR LOSS RESULTING FROM INABILITY TO USE THE PRODUCTS OR PROGRAMS INCREASED OPERATING COSTS RESULTING FROM A LOSS OF THE PRODUCTS OR PROGRAMS LOSS OF ANTICIPATED PROFITS OR OTHER SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES WHETHER SIMILAR OR DISSIMILAR OF ANY NATURE ARISING OR RESULTING FROM THE PURCHASE INSTALLATION REMOVAL REPAIR OPERATION USE OR BREAKDOWN OF THE PRODUCTS OR PROGRAMS OR ANY OTHER CAUSE WHATSOEVER INCLUDING NEGLIGENCE The foregoing shall also apply to Products Programs or parts for the same which have been repaired or replaced pursuant to such warranty and within the period of time in accordance with Pacific Scientific s date of warranty No person including any agent distributor or representative of Pacific Scientific is authorized to make any representation or warranty on behalf of Pacific Scientific concerning any Products or Programs manufactured by Pacific Scientific except to refer purchasers to this warranty Table of Contents 1 950BASIC Language 1 1 9SOBASIC Program Structure 2 2 eee 1 2
27. for smooth dynamics and acceptable overshoot but should be set to 100 for minimum following error which may be necessary in electronic gearing applications MA950 LR Kvi Pre defined Variable Float NV Parameter Purpose Kvi sets the integral gain of the velocity loop Syntax Kvi x Units Hertz Range 0 0 to 636 6 Default Parameter value specified in the Params End Params section of your program The 950 IDE New Program function calculates this value based upon the specified motor and drive Guidelines Kvi is the velocity loop integral gain It defines the frequency where the velocity loop compensation transitions from predominantly integral characteristics gain decreasing with frequency to predominantly proportional characteristics constant gain with frequency This value should typically be less than 10 of the velocity loop bandwidth Related Kvp instructions MA950 LR 3 161 Kvp Pre defined Variable Float NV Parameter Purpose Syntax Units Range Default Guidelines 3 162 Kyp sets the proportional gain of the velocity loop Kvp x Amps Radians Second 0 to Ipeak 12 6 Parameter value specified in the Params End Params section of your program The 950 IDE New Program function calculates this value based upon the specified motor and drive Kvp is defined by the following relationship Kvp Commanded motor torque current Velocity Error where Commanded motor current has
28. smoother lower jerk the profile ScurveTime x seconds 0 000 to 0 256 seconds 0 002 0 004 0 008 0 016 0 032 0 064 0 128 0 256 0 trapezoidal profile Specifying a non zero value for ScurveTime will increase move time by ScurveTime For example a trapezoidal move ScurveTime 0 that takes 0 500 seconds to complete will take 0 756 seconds to complete if ScurveTime is set to 0 256 ScurveTime can only be changed when the motor is not moving Moving 0 If you attempt to change ScurveTime while the motor is moving the command will be ignored AccelRate DecelRate 3 265 T MMMM ScurveTime continued Example main Enable 1 AccelRate 10000 Decel Rate 10000 RunSpeed 1000 IndexDist 40960 time the move without S curve ScurveTime 0 Time 0 GoIncr While Moving Wend Print Time now time the move with S curve ScurveTime 0 256 Time 0 GoIncr While Moving Wend Print Time end main 3 266 MA950 LR Select Case Statement Purpose Select Case executes one of several statement blocks depending upon the value of an expression Syntax Select Case test expression Case expression listl Statement blockl Case expression list2 lt Statement blockl Case expression list3 lt Statement blockl Case Else else block End Select Guidelines The test expression must evaluate to a numeric or floating point value There may
29. 151 via i ItThresh 1 152 GoVel 1 20 3 125 MA950 LR inden ItThreshA 3 153 MBInfo Block End 1 43 3 179 MBRead16 1 45 3 186 MBRead32 1 45 3 187 K MBReadBit 1 45 3 185 Kii 3 157 MBReadFloat 1 45 3 189 Kip 3 158 MBwWrite16 1 44 3 192 Kpp 3 159 MBWrite32 1 44 3 193 Kvff 3 160 MBwWriteBit 1 44 3 191 Kvi 3 161 MBWriteFloat 1 44 3 195 Kvp 3 162 Mid 3 197 Mod 3 198 Modbus 1 41 L Definition 1 41 LANFIt 3 163 Modbus Master 1 44 Language definition 1 10 Modbus Slave 1 43 LANint 3 164 Registers 1 42 LANInterrupt 3 165 Model 3 199 LANIntrArg 3 166 ModelExt 3 200 LANIntrSource 3 167 ModifyEncPos 3 201 Lcase 3 168 Motor 3 202 Left 3 169 Moving 3 203 Len 3 170 Lexical conventions 1 10 Literal constants 1 12 N Local variables 1 1 Numeric Operators 1 29 Log 3 171 Log10 3 172 Logical Operators 1 30 O Ltrim 3 173 OCDate 3 204 OCSNum 3 205 Oct 3 206 M On Error Call 1 22 Main 3 174 On Error Goto 3 207 Definition 1 7 Optimizations 1 35 MB32WordOrder 1 42 3 175 Or 3 209 MBErr 3 176 Out0 Out20 3 210 MBFloatWordOrder 1 42 3 178 Outputs 3 211 Index 4 MA950 LR P Reg1LoEncpos 3 246 PACLAN 1 38 Reg1LoFlag 3 247 Confaraiion 1 38 Reg1LoPosition 3 248 Pre defined Reg2HiEncpos 3 249 variables 1 39 Reg2HiFlag 3 250 Params End Params 3 213 Reg2HiPosition 3 251 Pause 1 23 3 214 Reg2LoEncpos 3 252 PoleCount 3 215 Reg2LoFlag 3 253 PosCommand 3 216 Reg2LoPosition 3 254 PosError
30. 16 000 000 rpm sec 16 000 000 rpm sec Set DecelGear prior to initiating Gearing AccelGear GearError GearLock DecelRate Pre defined Variable Integer Purpose Syntax Units Range Default Guidelines Related instructions Example DecelRate deceleration rate sets the maximum commanded deceleration rate when the speed is decreased Note DecelRate is independent of AccelRate Each variable must be set independently to the appropriate value for the desired motion DecelRate x rpm sec 1 to 16 000 000 rpm sec 10 000 rpm sec Set DecelRate prior to initiating the move You can update DecelRate during a move by executing an UpdMove statement AccelRate This example sets DecelRate to 5 000 RPM sec and does an incremental move of 10 motor revolutions assuming CountsPerRev is 4096 RunSpeed 1000 AccelRate 10000 DecelRate 5000 IndexDist 40960 GoIncr MA950 LR DeclareCam Statement Purpose Syntax Guidelines Related instructions Example MA950 LR DeclareCam allocates memory for the specified cam table You must declare a cam table before you can create the cam table The DeclareCam statement must be put before the word MAIN in your program Note This feature is only available in the Enhanced OC950 Firmware SDeclareCam x y where x is the cam number 1 8 and y is the maximum number of points that you will be putting into the cam tabl
31. 3 132 MA950 LR iLmtPlus Pre defined Variable Integer NV Parameter Purpose Syntax Units Range Default Guidelines LN MA950 LR ILmtPlus Clockwise Current Limit sets the maximum allowable torque current amplitude in the clockwise direction This is a percentage of the drive s peak current rating Ipeak ILmtPlus x Percentage of peak current rating of drive 0 to 100 Parameter value specified in the Params End Params section of your program The 950 IDE New Program function calculates this value based upon the specified motor and drive Only integer values may be entered i e no fractional numbers Warning If ILmtPlus 0 01 Ipeak twice the motor s continuous current rating the motor s over temperature sensor is not guaranteed to always respond fast enough to prevent motor winding damage Include Statement Purpose The Include statement allows you to textually include multiple separate files in a single source file Syntax S Include include file name Guidelines A file cannot include itself either directly or indirectly Include file nesting is allowed to a depth of 16 Relative paths in a nested include file are relative to the directory location of the include file not the current working directory of the compiler Example This example shows two files myinc inc and myfile bas The file myinc inc has a sub procedure for doing and incremental move that is used by the m
32. 3 217 RegControl 3 255 PosErrorMax 3 218 RemoteFB 3 256 Position 3 219 ResPos 3 258 PosModulo 3 220 Restart 1 23 3 259 PosPolarity 3 221 Right 3 260 Pre defined variables and Rtrim 3 261 commands 1 29 RunSpeed 3 262 with PACLAN 1 39 RuntimeParity 3 263 Print 1 23 3 223 RuntimeProtocol 1 43 3 264 Program Sections 1 2 Program Template 1 3 Pulsesin 3 224 S PulsesOut 3 225 ScurveTime 3 265 Select Case 1 24 3 267 SendLANInterrupt 3 269 R SetMotor 3 272 Random 3 226 Setup parameter definitions Randomize 3 228 1 4 Ratio 3 229 Sgn 3 273 ReadPLCS5Binary 1 48 3 231 SHL 3 274 ReadPLC5Float 1 48 3 233 SHRA 3 275 ReadPLCSInteger 1 48 3 235 SHRL 3 276 ReadSLC5Binary 1 48 3 237 Sin 3 277 ReadSLCSFloat 1 48 3 239 Space 3 278 ReadSLCSInteger 1 48 3 241 Sqr 3 279 Reg1HiEncpos 3 243 Statements 1 14 Reg1HiFlag 3 244 Static 3 280 Reg1HiPosition 3 245 Status 3 282 MA950 LR Index 5 Stop 1 25 3 283 vmGolIncr 1 58 3 302 Str 3 284 vmGoVel 1 58 3 304 String Operator 1 32 vm Moving 1 58 3 305 String 3 285 vm RunFreq 1 58 3 306 Sub End Sub 1 25 3 286 vmStopMotion 1 58 3 307 Subroutines 1 7 vmUpdMove 1 58 3 308 Definition 1 9 Swap 1 25 3 288 SysLanWindow1 8 3 289 When 1 26 3 315 WhenEncPos 3 317 WhenPosCommand 3 318 Tan 3 290 WhenPosition 3 319 TargetPos 3 291 WhenRespos 3 320 Time 3 292 WhenTime 3 321 Trim 3 293 While Wend 1 26 3 322 WritePLCSBinary 1 48 3 32
33. BDIO3 8 BDIO4 16 BDIOS5 32 BDIO6 0 will turn on the corresponding pull down transistor while 1 will turn off the corresponding pull down transistor Note BDIOs mapped to output functions via their BDIOMap are determined by that function and their value in BDOutputs will be ignored For example BDInputs 12 would pull down BDIO 1 2 5 6 and open circuit BDIO 3 4 See BDOut1 6 to control outputs individually 3 40 MA950 LR Beep Statement Purpose Beep transmits a BEEP character ASCII 07 to the serial port Syntax Beep Example print Listen to this pause 0 5 Beep MA950 LR 3 41 BlkType Pre defined Variable Integer Purpose BlkType specifies configuration as a position velocity or torque block Syntax BlkType x Range 0 1 or 2 Default 2 Position Mode Guidelines BlkType sets the overall control functionality of the drive For block diagrams of the drive configurations refer to the manual which describes the alternative BlkType settings When used in any of the analog modes the analog control is the differential voltage applied to the Analog Cmd Analog Command and Analog Cmd Analog Command inputs J4 1 and J4 2 respectively BlkType Servo Configuration 0 Analog Torque Block 1 Analog Velocity Block 2 Digital Position Block 3 42 MA950 LR Bnot Operator Purpose Syntax Guidelines Example MA950 LR Bnot pe
34. CONVEYOR_IS_ RUNNING inp1 0 if CONVEYOR_IS_ RUNNING then print The conveyor is running end if R Analogin Pre defined Variable Float Status Variable Read Only Purpose AnalogIn Analog input contains the digitized value of the analog input channel which is the differential voltage of J4 1 relative to J4 2 after ADOffset is added and passed through ADFO low pass filter Syntax x AnalogiIn Units Volts Range 13 5 to 13 5 Default None Guidelines AnalogIn can be monitored to check the presence and voltage of signals at the analog input terminals 3 20 MA950 LR AnalogOutt1 Pre defined Variable Float Control Variable Purpose Syntax Units Range Default Guidelines MA950 LR AnalogOut1 Analog Output1 sets the voltage level of the DAC Monitor 1 J4 3 when DM1Map 0 AnalogOutl x Volts 5 0 to 4 961 0 volts When DM1Map is not equal to 0 AnalogOut1 is not used AnalogOut2 Pre defined Variable Float Control Variable Purpose Syntax Units Range Default Guidelines AnalogOut2 Analog Output1 sets the voltage level of the DAC Monitor 2 J4 4 when DM2Map 0 AnalogOut2 x Volts 5 0 to 4 961 0 volts When DM2Map is not equal to 0 AnalogOutz2 is not used MA950 LR And Operator Purpose And performs a logical AND operation on two expressions Syntax result A and B Guidelines The result evaluates to True if and only if both
35. Enhanced Features 604 128K with PACLAN and Enhanced Features Related Model instructions 3 200 MA950 LR ModifyEncPos Statement Purpose ModifyEncPos translates EncPos encoder position from old_value to new_value Syntax ModifyEncPos old_ value new_value Guidelines Use ModifyEncPos to zero out the encoder position EncPos before starting a cam Related EncPos ActiveCam instructions Example The following program illustrates ModifyEncPos The encoder position captured by BDIOS Reg2 will be the zero position When Reg2HiFlag Continue ModifyEncPos Reg2HiEncPos 0 PosCommand 0 ActiveCam 1 MA950 LR 3 201 E Motor Pre defined Variable Purpose Motor indicates the first 4 characters of the motor part number used to determine the Signature Series current wave shape used to eliminate torque constant ripple Syntax x Motor Range Up to any 4 ASCII characters Default Sine 1 162 768 483 3 202 MA950 LR Moving Pre defined Variable Integer Read Only Purpose Syntax Units Range Default Guidelines Related instructions Example MA950 LR Moving indicates whether or not the commanded motion profile is complete 0 commanded motion complete 1 move in progress x Moving none O or 1 0 Moving only indicates whether or not the commanded motion profile is complete Even when the commanded motion profile is completed Moving 0 there may still be motor motion
36. For example you could map RunSpeed as a 16 bit integer element and specify a scale factor of 10 SABMapInteger 1 runspeed 10 0 Whenever the Allen Bradley DF1 master reads integer element 1 the OC950 would automatically multiply the present value of RunSpeed by 10 and return this value to the master And when the master writes to integer element 1 the OC950 will automatically divide the new value by 10 0 before writing it to RunSpeed In this case if the value of RunSpeed was 22 5 then the Master would read 225 for integer element 1 Similarly if the master wrote a value of 307 the RunSpeed would be set to 30 7 MA950 LR SLC500 to OC950 Cable PLC5 to OC950 Cable To establish Allen Bradley DF1 communications between the SC950 and the SLC500 PLC the following connections are required SC950 J51 DB9 SLC500 Channel 0 DB9 2 RS232 TX 2 RS232 RX 3 RS232 RX 3 RS232 TX 5 Common 5 Common To establish Allen Bradley DF1 communications between the SC950 and the PLCS the following connections are required SC950 J51 DB9 PLCS5 Channel 0 DB25 2 RS232 TX 3 RS232 RX 3 RS232 RX 2 RS232 TX 5 Common 7 Common 1 13 Cam Profiling Definition MA950 LR Note The following functionality applies only to OC950s with Enhanced Firmware Standard OC950s are are not capable of cam profiling In the 950 a cam is a cyclic gene
37. Interrupt IOHi Print Interrupt generated on PLSO IntrI0Hi 1 Re enable IOHi interrupt on exit End Interrupt Const Statement Purpose Const declares symbolic constants to be used instead of numeric values Syntax Const name x Guidelines Using the CONST Statement can make your program much more readable and self documenting Unlike variables CONSTANTS can assume only one value in a program Related Alias instructions Example Const SLEW_SPEED 2500 Const WORK SPEED 100 RunSpeed SLEW _SPEED GoVel Pause 0 5 RunSpeed WORK_SPEED GoVel 3 66 MA950 LR Cos Function Purpose Cos x returns the cosine of x where x is in radians Syntax y Cos x Guidelines x must be in radians To convert from degrees to radians multiply by 0 017453 MA950 LR 3 67 CountsPerRev Pre defined Variable Integer Purpose Syntax Units Range Default Guidelines CountsPerRev specifies the scaling of all position based pre defined variables CountsPerRev x Resolver Counts 4096 8192 16384 32768 65536 4096 CountsPerRev specifies the scaling and hence the resolution of all position based variables The default value is 4096 resolver counts per motor revolution 5 27 arc min Note This variable controls the resolution of position variables It does not affect accuracy MA950 LR CreateCam Statement Purpose Syntax Guidelines MA950 LR The Cre
38. PLC5Speed PLCS File 3 Binary File end 3 324 MA950 LR WritePLC5Float Statement Purpose WritePLCS5Float writes the specified 32 bit element to the specified float file on the specified PLCS When this function is encountered in the OC950 program the OC950 will send the appropriate message to the SLC500 connected to the OC950 s serial port and wait for an acknowledgement ACK If there is no valid response then the OC9S50 will set the status variable ABErr appropriately Note This feature is only available in the Enhanced OC950 Firmware Syntax WritePLC5Float node address file number element number value Guidelines You must first set RuntimeProtocol to 5 Allen Bradley DF1 Protocol before using this function Other communication parameters baudrate and ABCrc on the SC950 must match the corresponding parameters on the PLC Related ReadPLC5Integer ReadPLC5Binary ReadPLC5Float instructions WritePLC5Integer WritePLC5Binary MA950 LR 3 325 WritePLC5Float continued Example The following program writes a float to the PLCS binary file Note that all communication settings on both devices SC950 and PLCS must match main dim PLC5Speed as float runtimeprotocol 5 Allen Bradley DF1 protocol baudrate 19200 baudrate MUST match PLC setting abere 1 Set check to CRC MUST match PLC setting PLC5Speed 345 678 WritePLC5Float 5 8 19 PLC5Speed PLCS Fil
39. Pre defined Variable Integer Purpose Syntax Range Default Guidelines Related instructions CamCorrectDir specifies the direction of the correction move that is done when a new cam table is activated by setting ActiveCam n or when speed synchronization is achieved Note This feature is only available in the Enhanced OC950 Firmware CamCorrectDir x 0 1 2 3 2 shortest distance CamCorrectDir can have one of the following values 0 move is done clockwise 1 move is done counter clockwise 2 move is done in the direction which will yield the shortest move see below 3 no correction move is performed The correction move is done using AccelRate DecelRate and RunSpeed You should note that even if CamCorrectDir specifies for example a clockwise correction move this just specifies the direction of the superimposed move If the cam generated speed is the opposite direction and is larger than RunSpeed then the slave will just slow down For CamCorrectDir 2 the direction of the correction is calculated based upon PosModulo to yield the shortest distance move For example if PosModulo 10000 and the clockwise correction move would be 8000 then a counter clockwise move of 2000 will be performed instead ActiveCam MA950 LR CamCorrectDir continued Example MA950 LR In the following example the correction move will be done in the direction yielding the shortest move distance Th
40. Pre defined Variable Integer 10 000 rpm sec 3 12 ActiveCam Pre defined Variable Integer 3 13 AddPoint Statement 3 15 ADFO Pre defined Variable Float 1 000 Hz 3 17 ADOffset Pre defined Variable Float 0 volts 3 18 Alias Statement 3 19 AnalogIn Pre defined Variable Float 3 20 Status Variable Read Only MAQ950 LR 2 1 Name Type Default Value Page AnalogOut1 Pre defined Variable Float 0 volts 3 21 Control Variable AnalogOut2 Pre defined Variable Float 0 volts 3 22 Control Variable And Operator 3 23 ARFO Pre defined Variable Float set up 3 24 NV Parameter ARF1 Pre defined Variable Float set up 3 25 NV Parameter ARZO Pre defined Variable Float 0 Hz 3 26 ARZ1 Pre defined Variable Float 0 Hz 3 27 Asc Function 3 28 Atan Function 3 29 Autostart Pre defined Variable Integer 0 3 30 AxisAddr Pre defined Variable Integer 255 3 31 Read Only Band Operator 3 32 BaudRate Pre defined Variable Integer 19200 3 33 BDInp1 BDInp6 Pre defined Variable Integer 3 34 Status Variable Read Only BDInputs Pre defined Variable Integer 3 35 Status Variable Read Only BDIOMap1 BDIOMap6 Pre defined Variables 3 36 Integer NV Parameter BDLgcThr Pre defined Variable Integer 0 3 38 BDOut1 BDOut6 Pre defined Variable Integer 1 3 39 Control Variable BDOutputs Pre defined Variable Integer 63 3 40 Control Var
41. Program Sections e siw ee ke Ei ee ow ew Ge es 1 3 Main program Subroutines Functions and Interrupt Handlers 1 4 Language definition 2 2 0 ee ee L3 Statements oe ae wee a Hoke eee bee Gade ee Gow a 1 6 Built In Functions 2 respe tesisa rones isadi 1 7 EXPressionS 3 5 2d 6 oa 63 5 Hee bs oes oe dE eRe ors 1 8 Function Invocation 2 2 0 eee ee ee 1 9 Arrays and Function Parameter Lists 0 1 10 PACLAN oc aoe ee paaa aiaosa ee a we See Ree Gee WAT MOCO US ts ce ee S58 e a eh Ghd ode dh Ghee eae tear Ne 1 12 Allen Bradley DF 1 Communications 1 13 Camm Prong s s So dete Bie ce pi coving a Be ae ee ah ew pl a a Ge 2 Quick Reference of 950BASIC Instructions 3 950BASIC Instructions in Alphabetical Order Appendix A Index MA950 LR 1 1 1 1 1 2 1 7 1 10 1 14 1 27 1 29 1 32 1 34 1 38 1 41 1 47 1 51 2 1 3 1 Rev F 1 950BASIC Language In this chapter This chapter describes the overall structure of a 9SOBASIC program and the elements of the 950BASIC language Topics covered are e scope e program structure setup parameters global variables constants and aliases main program subroutines functions and interrupt handlers e language description lexical conventions identifiers data types constants statements built in functions pre defined variables expressions function invocation include
42. Range Default Guidelines Related instructions MA950 LR Reg2LoFlag is used to arm and monitor the Reg2Lo registration data latches Set Reg2LoFlag to zero to arm the latches i e prepare them to capture data at a registration transition This flag will automatically be set to one when the hardware detects a high to low transition on Reg1 J4 11 Reg2LoFlag x none Oor1 0 RegControl determines what data gets latched on a Reg2 transition RegControl 3 253 S gt PE hhhhh gt pDS _aaa Reg2LoPosition Pre defined Variable Integer Read Only Purpose Syntax Units Range Default Guidelines Related instructions 3 254 Reg2LoPosition contains the latched value of the motor position Position when the Reg2 input J4 11 captured its last high to low registration event Note RegControl must be set to 2 in order for Reg2LoPosition to be latched x Reg2LoPosition resolver counts none Set Reg2LoFlag to 0 to arm the registration latch RegControl MA950 LR O oI RegControl Pre defined Variable Integer Purpose RegControl controls what data EncPos or Position gets latched into the registration latches Functionality is shown below Value of Functionality RegControl 0 Reg transitions capture Position and EncPos Reg2 transitions are ignored 1 Reg transitions capture Position Reg transitions capture En
43. The interrupt source name and interrupt enable flag are unique for each interrupt source Receiving an interrupt will suspend program execution and the interrupt service routine will be executed Then program execution will resume at the point that it was interrupted Interrupts are enabled or disabled by setting or clearing the associated interrupt enable flag Interrupts are disabled until explicitly enabled After an interrupt is triggered it is automatically disabled until it is enabled again in your program Related Intr Interrupt Source Name Sub Endsub Restart instructions 3 144 MA950 LR M Interrupt End Interrupt continued Example main Time 0 IntrI0Lo 1 while 1 pause 0 5 Out0 0 Pause 0 005 Out0 1 wend end main Interrupt I0Lo print I m awake If Time gt 10 then print OK That s it else IntrI0Lo 1 end if End Interrupt MA950 LR 3 145 Intr source Pre defined Variable Integer Purpose Intr Interrupt source name is used to enable or disable interrupts from the specified source If you enable a given interrupt then there must be an Interrupt Service Routine for that interrupt source in your program Syntax Intr source x Units none Range 0 disabled or 1 enabled Default 0 disabled Guidelines IntrCcwinh when CCWInh goes True IntrCcwot when Position lt CcwOt IntrCwinh when CWInh goes True In
44. The motor accelerates and reaches maximum speed as specified by AccelRate and RunSpeed with direction determined by DIR Stop motion by e Programming AbortMotion for maximum deceleration allowed by current limits e Programming RunSpeed 0 for deceleration at rate set by DecelRate Note After the program initiates a GoVel it immediately goes to the next instruction Variables may be changed during a move using UpdMove MA950 LR Goto If Then Else INCLUDE MA950 LR Goto label Note that a program can only Goto a label in the same scope Furthermore a Goto may jump out of a For or While loop but not INTO one IF conditionl THEN Statement blockl ELSEIF condition2 THEN Statement block2 ELSE e e Statement block3 END IF IF THEN ELSE statements control program execution based on the evaluation of numeric expressions The IF THEN ELSE decision structure permits the execution of program statements or allows branching to other parts of the program based on the evaluation of the expression There are two structures of IF THEN ELSE statements single line and block formats SINCLUDE inclfile Include include file name Textually include inclfile at this point in the compilation Note that there can be no space between and include and that the include directive must start at the beginning of the line 1 21 Input Interrupt End Int
45. Units resolver counts Range Default 5 Guidelines Set InPosLimit before using InPosition Related InPosition instructions MA950 LR 3 139 _ Input Statement Purpose The Input statement reads a character string received from the serial port terminated by a carriage return Syntax Input prompt string input variable Guidelines The input variable can be integer floating point or a string As an option the prompt string is transmitted when the Input statement is encountered This prompt string can be either a string constant or a string variable If the prompt string is followed by a semi colon then a question mark will be printed at the end of the prompt string If the prompt string is followed by a comma then no question mark will be printed Related Inkeys instructions Example dim YourName as string input What s your name YourNameS print Hello YourName I m leaving 3 140 MA950 LR n es Inputs Pre defined Variable Integer Read Only Purpose Inputs reports the status of the 21 bi direction I O points on the OC950 as a parallel word For each bit in Inputs 0 corresponds to a low logic level 1 corresponds to a high logic level Syntax x Inputs Units none Range 0 21 757 952 Default none Guidelines Use Inp0 Inp20 to look at i
46. Variable Read Only VelLmtHi Pre defined Variable Float 10 000 3 302 VelLmtLo Pre defined Variable Float 10 000 3 303 Velocity Pre defined Variable Float Status 3 304 Variable Read Only vmDir Pre defined Variable Integer 0 3 305 vmEncpos Pre defined Variable Integer 3 306 vmGolncr Statement 3 307 vmGoVel Statement 3 309 vmMoving Pre defined Variable Float Read 3 310 Only vmRunFreq Pre defined Variable Float 10 000 3 311 vmStopMotion Statement 3 312 vmUpdMove Statement 3 313 When Statement 3 315 WhenEncPos Pre defined Variable Integer Status 3 317 Variable Read Only 2 14 MA950 LR Name Type Default Value Page WhenPosCommand Pre defined Variable Integer 3 318 Status Variable Read Only WhenPosition Pre defined Variable Integer 3 319 Status Variable Read Only WhenResPos Pre defined Variable Integer 3 320 Status Variable Read Only WhenTime Pre defined Variable Float 3 321 Status Variable Read Only While Wend Statement 3 322 WritePLCSBinary Statement 3 323 WritePLC5Float Statement 3 325 WritePLCSInteger Statement 3 327 WriteSLCSBinary Statement 3 329 WriteSLCS5Float Statement 3 331 WriteSLCSInteger Statement 3 333 Xor Operator 3 335 MAQ50 LR 5 45 3 Instructions Introduction MA950 LR This section is an alphabetical reference to 9SOBASIC instructions e commands e functions
47. a For Next or a While Wend Syntax Exit Sub Function Interrupt For While Guidelines You should not confuse the Exit statement with the End statement The Exit statement causes program control to pass to the end of the block structure whereas the End statement defines the end of the structure Related Sub Function Interrupt For Next While Wend instructions 3 100 MA950 LR Exp Function Purpose Exp returns e the base of natural logarithms raised to a power Syntax result Exp x Guidelines The Exp function complements the action of the Log function Related Log Log10 instructions MA950 LR 3 101 ExtFault Pre defined Variable Integer Status Variable Purpose ExtFault provides additional information on FaultCodes Blinking 1 1 or E 14 and Alternating F 3 243 0 otherwise Range 0 to 16 Guidelines In the variables window poll the value of ExtFault for additional fault information Values listed below LED Value of Description Display ExtFault i 1 VelFB lt 21038 i 2 VelFB lt 1 5 max VelLmtxx 3 0 No ExtFault information E 1 Resolver calibration data corrupted z 2 Excessive dc offset in current feedback sensor E 3 DSP incompletely reset by line power dip E 6 Excessive dc offset in Analog Command A D 3 7 Unable to determine option card type E 8 DSP stack overflow E 10 Firmware and cont
48. and function cannot be nested If you get an Interrupt while waiting for a response to a Modbus Master statement or function then you cannot initiate another Modbus Master statement or function in the Interrupt Handler If you do so then you will get a Runtime Error 36 Please refer to Section 1 11 Using an OC950 as a Modbus Master MBReadBit MBRead16 MBRead32 MBReadFloat MBWriteBit MBWritel6 MBWrite32 MBWriteFloat MB32WordOrder MBFloatWordOrder MBErr This example writes the integer value of Inp0 to registers 1 on the MODBUS slave at address 5 RuntimeProtocol 3 Modbus Master MBWriteBit 5 1 Inp0 3 191 MBWrite16 Statement Purpose MBwWrite16 writes an integer 16 bits value to the specified MODBUS slave If any error occurs then this function will set the predefined variable MBErr to indicate the source of the error Note This feature is only available in the Enhanced OC950 Firmware Syntax MBWritel6 SlaveAddress RegisterAddress IntegerValue Guidelines This is a Modbus Master statement so you must set RuntimeProtocol to 3 MODBUS Master before using it Otherwise you will get a RuntimeError Modbus Master statements and function cannot be nested If you get an Interrupt while waiting for a response to a Modbus Master statement or function then you cannot initiate another Modbus Master statement or function in the Interrupt Handler If you do so then you will get a Runtime Error 3
49. as the result of settling time and or electronic gearing InPosition InPosLimit IndexDist 10000 GoIncr While Moving Wend Pause 0 5 IndexDist IndexDist GoIncr 3 203 OCDate Pre defined Variable Integer Status Variable Read Only Purpose OCDate gives the Option Card date code Syntax x OCDate Range 0 to 27 Default Set at factory 3 204 MA950 LR OCSNum Pre defined Variable Integer Status Variable Read Only Purpose OCSNum gives the Option Card serial number Syntax x OCSNum Range 0 to 27 Default Set at factory MA950 LR 3 205 Oct Function Purpose Oct converts an integer number to its equivalent octal ASCII string Syntax result S Oct x Guidelines Octal numbers are numbers to the base 8 rather than base 10 The argument to Oct is rounded to an integer before Oct x is evaluated Related Hex Str instructions Example dim x y as integer dim result1 result2 as string x 20 y amp H6A result1l Oct x result2 OctS y print resultl result2 Prints 24 152 3 206 MA950 LR On Error Goto Statement Purpose Syntax Guidelines Related instructions MA950 LR On Error Goto allows you to define a run time error handler to prevent run time errors from halting program execution Different error handlers can be defined for different parts of the program An error handler is active from when the On Error Goto st
50. be as many Cases in the Select Case statement as you want There can only be one Case Else and it must be the last case in the sequence The Case Else statement block is executed if all other tests fail Select Case statements where the expression lists are integer constants are executed more more quickly at run time Related If Then Else instructions MA950 LR 3 267 Select Case continued Example This example prints out some interesting information about the numbers between 1 and 20 main dim x as integer for x 1 to 20 print x is 3 select case x case 1 3 5 7 9 print Odd case 4 8 print 4 or 8 case 12 to 18 print between 12 and 18 case else print other end select next end main 3 268 MA950 LR SendLANinterrupt x n Pre defined Function Purpose Syntax Guidelines MA950 LR SendLANInterrupt x n invokes PACLAN interrupt on axis n The value of x is passed along to the destination of the PACLAN interrupt and is automatically placed in the axis LANIntrArg pre defined variable result SendLANInterrupt arg axis where n identifies the address of the destination of the interrupt The value returned in result will be one of the following destination received and accepted the interrupt success PACLAN transmit failure transmit OK but no response destination s LANInterrupt queue is full destination doesn t have a PACLAN interrupt defined de
51. data to a Modbus Slave These are MBWriteBit a b c write a bit Ox or 1x reference MBWritel6 a b c write a 16 bit integer 3x or 4x reference MBWrite32 a b c write a 32 bit integer double 3x or 4x reference MBWriteFloat a b c write a float double 3x or 4x reference where in each case a is the slave s Modbus address b is the register address where the data is to be written c is the new data MA950 LR There are four Modbus functions added to the OC950 BASIC language to allow the OC950 to operate as a Modbus master to read data from a Modbus slave These are x MBReadBit a b read a bit Ox or 1x reference x MBRead1l6 a b read a 16 bit integer 3x or 4x reference x MBRead32 a b read a 32 bit integer double 3x or 4x reference x MBReadFloat a b read a float double 3x or 4x reference where in each case a is the slave s Modbus address b is the register address containing the data we re reading When one of these functions or statements is executed in your program the OC950 will send a Modbus message to the specified slave and the wait for and process the response message If any error occurs while sending or receiving the message it will be indicated in the variable MBErr Modbus master statements and functions cannot be nested If you get an interrupt while waiting for the response to a Modbus master message then you cannot initiate another Modbus transaction by execu
52. defined Variable Integer 3 200 Status Variable Read Only ModifyEncPos Statement 3 201 Motor Pre defined Variable sine 1 162 758 483 3 202 Moving Pre defined Variable Integer 0 3 203 Read Only OCDate Pre defined Variable Integer factory 3 204 Status Variable Read Only OCSNum Pre defined Variable Integer factory 3 205 Status Variable Read Only Oct Function 3 206 On Error Goto Statement 3 207 Or Operator 3 209 Out0 Out20 Pre defined Variable Integer 1 3 210 Outputs Pre defined Variable Integer 2 097 151 3 211 PACLANAddr Compiler Directive 3 212 Params EndParams Statement 3 213 Pause Statement 3 214 PoleCount Pre defined Variable Integer set up 3 215 NV Parameter PosCommand Pre defined Variable Integer 3 216 PosError Pre defined Variable Integer 3 217 Status Variable Read Only 2 10 MA950 LR Name Type Default Value Page PosErrorMax Pre defined Variable Integer 40960 3 218 Position Pre defined Variable Integer 3 219 Read Only PosModulo Pre defined Variable Integer 3 220 PosPolarity Pre defined Variable Integer 0 3 221 Print Statement 3 223 PulsesIn Pre defined Variable Integer 1 3 224 PulsesOut Pre defined Variable Integer 1 3 225 Random Pre defined Variable Float 3 226 Read Only Randomize Statement 3 228 Ratio Pre defined Variable Floating 1 0 3 229 point Re
53. described in greater detail in the following paragraphs Setup parameter definitions Global variables constants and aliases This section of the program defines the power on default parameters for servocontroller tuning and configuration It is executed immediately upon power up before entering main and before any interrupts are enabled The section begins with the keyword params and ends with the keywords end or end params or endparams this is similar to the format used to define a subroutine or function The only statements permitted in this section are assignment statements of the form lt pre defined variable gt lt constant expression gt This section is automatically generated by 950IDE when File New is selected from the main menu Ordinarily you will not need to modify the statements in this section they are automatically given optimal values based on the new program dialog and should not be changed unless further tuning is necessary This section contains variables constant definitions and alias expressions that are considered global in scope that is they apply everywhere in the program unless specifically overridden by another declaration at local scope inside a subroutine function or interrupt handler Global definitions may be placed almost anywhere in the program text between subroutines before or after main and so on Global varia
54. e statements e string functions e parameters e statements e string variables e variables The name and type of each instruction is listed at the top of each page The instruction is then described based on the following categories Purpose The purpose of the instruction Syntax The complete notation of the instruction Related instructions Other commands that are similar to this particular instruction Programming guidelines Pertinent information about the instruction and its use Example program Possible use of the instruction in a program ABCrc Pre defined Variable Integer Purpose Syntax Guidelines Example ABCrc sets the method by which an Allen Bradley DF1 message is checked for validity Note This feature is only available in the Enhanced OC950 Firmware ABCre 1 Sets message check method to CRC ABCre 0 Sets message check method to BCC The setting in the SC950 MUST match the setting in the PLC The following program reads an integer from a SLC500 PLC It then sets RunSpeed to twice the integer read from the SLC500 Note All communication settings on both devices SC950 and SLC500 must match main dim SLC5Speed as integer runtimeprotocol 5 Allen Bradley DF1 protocol baudrate 19200 baudrate MUST match PLC setting aberc 1 Set check to CRC MUST match PLC setting SLC5Speed ReadSLC5Integer 5 7 19 RunSpeed SLC5Speed 2 end MA950 LR ABE
55. expressions are True Otherwise the result is False Related Or Xor Band Bor Bxor instructions Example x 17 y 27 if x gt 20 And y gt 20 then print This won t get printed end if if x lt 20 And y gt 20 then print This will get printed end if MA950 LR 3 23 ARFO Pre defined Variable Float NV Parameter Purpose Syntax Units Range Default Guidelines Related instructions ARFO is the first velocity loop compensation anti resonance low pass filter corner frequency ARFO x Hertz 0 01 to 10e6 10e6 to 0 01 Parameter value specified in the Params End Params section of your program The 950 IDE New Program function calculates this value based upon the specified motor and drive ARFO is the corner frequency in Hz of one of two single order low pass anti resonant filters or if lt 0 is the under damped pole pair frequency in Hz and ARF1 would be the pole pair Q The purpose of the anti resonant filters is to attenuate the velocity loop gain at the mechanical resonant frequency ARF1 ARZO ARZ1 MA950 LR ARF1 Pre defined Variable Float NV Parameter Purpose ARFI is the second velocity loop compensation anti resonance low pass filter corner frequency Syntax ARF1 x Units Hertz Range 0 01 to 10 000 000 1 to 100 Q Default Parameter value specified in the Params End Params section of your program The 950 IDE New Program function calculat
56. messages stacked up ABUnsRsps of unsolicited response messages I ve received ACK Acknowledgement received message is valid correct CRC BCC and frame NAK Negative Acknowledgement received message is invalid 49 Allen Bradley DF1 Map Wizard Procedure Example 1 50 This wizard will create and or update an ABInfo block in your program The ABInfo block is used to map pre defined variables or user defined global variables to specific ABComm elements so that an Allen Bradley DF1device can read or write them This mapping is only used when the OC950 is processing ABComm messages initiated by another device not when it is initiating commands The wizard allows you to map OC950 variables in Allen Bradley DF1 terminology as Integer file elements Allen Bradley pre defined file 7 or as Float file elements Allen Bradley pre defined file 8 To create a mapping of an OC950 variable to an Allen Bradley DF1 element you 1 Select which file Integer or Float 2 Specify the element address 3 Specify the OC950 variable name You may also specify an optional scale factor the default is 1 0 This scale factor is automatically applied when the Allen Bradley DF1 element is read or written by the Allen Bradley DF1 master This is particularly useful for mapping floating point OC950 variables into integer Allen Bradley DF1 elements It can also be used for mapping integer OC950
57. on the format of long integer numbers among all MODBUS devices You may need to set MB32WordOrder to 0 its default value is 1 in order to properly write floating point numbers to a MODBUS slave Please refer to Section 1 11 Using an OC950 as a Modbus Master MBReadBit MBRead16 MBRead32 MBReadFloat MBWriteBit MBWritel6 MBWrite32 MBWriteFloat MB32WordOrder MBFloatWordOrder MBErr 3 193 MBWrite32 continued Example 3 194 This example writes the long integer value of TargetPos to registers 40001 and 40002 on the MODBUS slave at address 5 In this example the MODBUS slave accepts long integer data low word first so we need to set MB32WordOrder to 0 in order for the slave to receive this data properly RuntimeProtocol 3 Modbus Master MB32WordOrder 0 LS word first MBWrite32 5 40001 TargetPos MA950 LR MBWriteFloat Statement Purpose Syntax Guidelines Related instructions MA950 LR This statement writes a floating point value to the specified MODBUS slave If any error occurs then this function will set the predefined variable MBErr to indicate the source of the error The register address passed to this function is the first register address of the 32 bit floating point value Note This feature is only available in the Enhanced OC950 Firmware MBWriteFloat SlaveAddress RegisterAddress FloatValue This is a Modbus Master statement so you must set Runtime
58. parameters This allows you to change motion on the fly without having to stop motion and initiate a new move UpdMove updates AccelRate DecelRate Dir and RunSpeed UpdMove Program execution continues with the line immediately following the UpdMove statement as soon as the move is initiated Program execution does not wait until the move is complete The drive must be enabled in order for any motion to take place UpdMove will not initiate motion if there is not a move in progress The UpdMove statement will be ignored AbortMotion GoAbs GoHome GoIncr 3 295 Val Function Purpose Val returns the numerical value of a string Syntax result Val a Guidelines If the first character of a is not numeric then Val will return 0 Related Str instructions 3 296 MA950 LR VBus Pre defined Variable Float Status Variable Read Only Purpose Syntax Units Range Guidelines MA950 LR VBus is the voltage of the high voltage dc supply rectified from the AC line used to power the motor x VBus Volts 0 to 1 000 Monitoring this variable can be used to detect the presence of the AC line power for the motor DC supply For 115 Vac line power the Bus is nominally 160 Vdc For 240 Vac line power the Bus is nominally 330 Vdc For 480 Vac line power the Bus is nominally 670 Vdc 3 297 VBusThresh Pre defined Variable Float Purpose Syntax Units Range Default
59. parse and type check all of the included source it will not generate code that goes into the downloaded program If select case cases are all constants much more efficient code will be generated If any of the cases is a variable the generated code will be equivalent to a string of if then else statements for all of the cases If any of the cases is an open ended range e g is 10 or covers a large range e g 1 to 1000 a fast table lookup will be generated This method can several times faster than the first method If all of the cases are constant and can reasonably be grouped into locally dense subsets then the fastest possible code will be generated a binary search of dispatch tables followed by an indirect jump through the table This last method can be much faster than the first method so if speed is a consideration you should keep your cases constant and close together It is not necessary that cases be textually close together it is only necessary that the values form a reasonably dense set 1 36 MA950 LR MA950 LR The compiler performs limited dead code elimination based on simple constant analysis For example consider the following code const DEBUGGING FALSE main dim i sum as integer for i 1 to 10 sum sum i if DEBUGGING then print partial sum is ssum next i end main Since the value of DEBUGGING is FALSE the compiler will recognize that the prin
60. print result1 result2 Prints 14 6A 3 126 MA950 LR HSTemp Pre defined Variable Float Status Variable Read Only Purpose Syntax Units Range Guidelines Related instructions MA950 LR HSTemp indicates the drive heatsink temperature x HSTemp Degrees Centigrade 10 to 150 The drive heat sink temperature is monitored to determine if the drive is within a safe operating region for the power electronics This variable can be used to see how much thermal margin remains for a given application ItThresh 3 127 HwV Pre defined Variable Integer Status Variable Read Only Purpose HwV indicates the drive s control electronics hardware version number Syntax x HwV Range Greater than 0 Guidelines 12 first production control card version 3 128 MA950 LR G ICmd Pre defined Variable Float Status Variable Read Only Purpose ICmd indicates the commanded motor torque current Note that ILmtMinus and ILmtPlus limit the range of this variable Syntax x ICmd Units Amperes Range Ipeak to Ipeak MA950 LR 3 129 IFB Pre defined Variable Status Variable Read Only Purpose Syntax Units Range Guidelines 3 130 IFB indicates the measured motor torque current value x IFB Amperes Ipeak to Ipeak IFB can be monitored to observe the actual torque current flowing in the motor IFB should equal ICmd MA950 LR If Then Else Statement
61. supply under voltage Blinking 7 7 Output over current or bus over voltage Blinking 9 9 Shunt regulator overload Blinking A 10 Bus OV detected by DSP Blinking 5 11 Auxiliary 5V Low 3 108 MADR FaultCode continued Table cont d MA950 LR Status LED Value Fault Meaning Blinking 12 Not assigned Blinking 13 Not assigned Solid amp 14 Processor throughput fault Blinking 14 Power Up Self Test Failure Alternating E7 225 Bus UV Bus Voltage VBusThresh Alternating E 226 Ambient Temp Too Low Alternating E3 227 Encoder commutation align failed Only CommSrc 1 Alternating EY 228 Drive software incompatible with NV memory version Alternating 5 229 Control Card hardware not compatible with drive software version Alternating 6 230 Drive transition from unconfigured to configured while enabled Alternating E7 231 Two AInNull events too close together Alternating FI 241 Excessive Position Following Error Alternating F3 243 Parameter Checksum Error Memory Error Alternating F 4 Run time Error FaultReset cannot reset these faults See ExtFault for further information on Blinking E Blinking 1 and Alternating F3 See Err for Alternating F4 3 105 FaultReset Pre defined Variable Integer Mappable Input Function Purpose Syntax Range Default Guidelines
62. the randomize argument to force the system to seed the random number generator with the current time main dim i as integer randomize 1 for i 1 to 5 print random next i print randomize 1 for i 1 to 5 print random next i print randomize for i 1 to 5 print random next i end MA950 LR 3 229 Ratio Pre defined Variable Floating point Purpose Syntax Units Range Default Guidelines Related instructions 3 230 Ratio sets the electronic gearing ratio rev to rev between the encoder shaft master and the motor shaft slave Ratio x Motor revolutions Encoder Revolution 2 000 to 2 000 1 0 Ratio must be set more recently than PulsesIn or PulsesOut in order to use Ratio to control electronic gearing EnciIn MA950 LR ReadPLC5Binary Pre defined Function Purpose Syntax Guidelines Related instructions MA950 LR ReadPLCSBinary reads the specified 16 bit element from the specified binary file on the specified PLCS When this function is encountered in the OC950 program the OC950 will send the appropriate message to the PLCS connected to the OC950 s serial port and wait for the response If there is a valid response then the OC950 will put the data in the appropriate variable i e the variable on the left hand side of the equals sign If there is no valid response then the OC950 will set the status variable ABErr appropriately
63. to stop motion and restart the motion function again with new variables 1 25 When While Wend 1 26 When when condition when action When is used for very fast output response to certain input conditions You specify the condition and action Upon encountering the When program execution waits until the defined condition is satisfied Then the program immediately executes the action and continues with the next line of the program The When statement provides latching of several variables when the When condition is satisfied These variables are WhenEncpos WhenRespos WhenPosCommand WhenTime WhenPosition The software checks for the defined condition every 0 5 millisecond and performs the action within 0 5 millisecond of condition satisfaction While condition lt Statement block Wend While Wend tells the program to execute a series of statements as long as an expression after the While statement is true If the expression is true then the loop statements between While and Wend are executed The expression is evaluated again and if the expression is still true then the loop statements are executed again This continues until the expression is no longer true If the expression is not true the statement immediately following the Wend statement is executed MAQ950 LR 1 6 Built in Functions A function that takes a numeric argument either FLOAT or INTEGER returns
64. we need to set MB32WordOrder to 0 in order to receive this data properly RuntimeProtocol 3 Modbus Master MB32WordOrder 0 LS word first RunSpeed MBRead32 5 40003 MA950 LR MBReadFloat Pre defined Function Purpose Syntax Guidelines Related instructions MA950 LR This function reads a floating point value from the specified MODBUS slave and returns the value read If any error occurs then this function will return zero and set the predefined variable MBEtr to indicate the source of the error The register address passed to this function is the first register address of the 32 bit floating point value Note This feature is only available in the Enhanced OC950 Firmware x MBReadFloat SlaveAddress RegisterAddress This is a Modbus Master function so you must set RuntimeProtocol to 3 MODBUS Master before using this function Otherwise you will get a RuntimeError Modbus Master statements and function cannot be nested If you get an Interrupt while waiting for a response to a Modbus Master statement or function then you cannot initiate another Modbus Master statement or function in the Interrupt Handler If you do so then you will get a Runtime Error 36 There is not complete standardization on the format of floating point numbers among all MODBUS devices You may need to set MBFloatWordOrder to 0 its default value is 1 in order to properly receive floating point numbers from a MODBUS sl
65. 00 Rad sec Maximum bandwidth is 2II 1500 Rad sec MA950 LR Kpp Pre defined Variable Float NV Parameter Purpose Syntax Units Range Default Guidelines MA950 LR Kpp sets the proportional gain of the position loop Kpp x Hertz 0 0 to 159 4 Parameter value specified in the Params End Params section of your program The 950 IDE New Program function calculates this value based upon the specified motor and drive Kpp is defined by the following relationship VelCmd rad sec 2 II Kpp PosError Rad 3 159 Kv ff Pre defined Variable Float Purpose Syntax Units Range Default Guidelines 3 160 Kvff sets the proportion of velocity feed forward signal added to the velocity command from differentiated position command Kvff x Percentage 0 to 199 9 0 Kvff is functional only for positioning modes BlkType 2 When Kvff 0 the net velocity command in positioning mode results entirely from PosError For this case there will be a static nonzero PosError when commanding a constant shaft speed This error is know as the following error Velocity feed forward adds a term to VelCMd proportional to delta PosCommand at the position loop update rate which can decrease following error Increasing Kvff reduces steady state following error and gives faster response time However if Kvff is too large it will cause overshoot Typically Kvff should not be set larger than 80
66. 13 GearError continued Example 3 114 AccelGear 10000 PulsesIn 1 PulsesOut 1 GearError 0 Gearing 1 While GearLock 0 Wend IndexDist GearError GoIncr catch up the position lost while acceleration was being limited MA950 LR Gearing Pre defined Variable Integer Purpose Syntax Units Range Default Guidelines Related instructions MA950 LR Gearing controls the Electronic Gearing Functionality Turns electronic gearing on or off and sets the allowed direction of motion for electronic gearing Value Description 0 Off No electronic gearing 1 On Motor motion allowed in either direction 2 On Motor motion allowed only in the positive direction 3 On Motor motion allowed only in the negative direction Gearing X none 0 1 2 3 0 The pre defined variable Moving does not recognize motor motion caused by electronic gearing When unidirectional gearing is used Gearing 2 or 3 then motion in the allowed direction occurs only when the master encoder returns to the point at which it originally reversed direction Note that other motion commands such as GoVel or GoIncr can cause motor motion in the disabled gearing direction Other motion commands such as GoVel or GolIncr may be executed while gearing is active These moves will be superimposed added to on the motion caused by electronic gearing PulsesiIn PulsesOut EncIn
67. 24 PACLAN Transmit Error 5 not used 25 PACLAN Response Timeout 6 Out of Memory 26 PACLAN Response Error 7 not used 27 Interrupt Error 8 not used 28 Maximum String Length Exceeded 9 not used 29 String Overflow 10 not used 30 Array Index Bounds Error 11 Attempt to use Feature not 31 Invalid Axis in PACLAN Message available in this firmware 12 Internal Firmware Error 32 No LAN Interrupt Handler 13 Invalid Predefined Variable ID 33 LAN Interrupt Queue is full Number 14 Attempt to write to a 34 LAN Interrupt is not available Read Only Variable 15 DSP Read Error 35 LAN Interrupt Destination is busy 16 DSP Write Error 36 MODBUS Attempt to do nested Master functions 17 DSP Command Error 37 MODBUS Attempt to use Master w o setting RuntimeProtocol 18 not used 38 MODBUS Illegal Slave Address 255 19 not used 39 AB DF1 Invalid PLC Address 0 255 20 not used 40 AB DF1 Invalid PLC File Number Specified 3 98 MA950 LR Err continued Value of Error Caused by Value of Error Caused by Err Err 41 AB DFI1 Invalid PLC 51 AddPoint Used AddPoint outside a Element Number Specified CreateCam block 42 AB DF1 too many 52 CreateCam EndList without Create unresolved messages outstanding 43 AB DFI Attempt to use AB 53 CreateCam Tried to create a cam with DF1 w o setting less than three points RunTimeProtocol
68. 3 WritePLCS5Float 1 48 3 325 WritePLCSInteger 1 48 3 327 Ucase 3 294 WriteSLC5Binary 1 48 3 329 UpdMove 1 25 3 295 WriteSLC5Float 1 48 3 331 WriteSLCSInteger 1 48 3 333 Val 3 296 Variable definitions 1 5 Xor 3 335 VBus 3 297 VBusThresh 3 298 VelCmd 3 299 VelErr 3 300 VelFB 3 301 VelLmtHi 3 302 VelLmtLo 3 303 Velocity 3 304 virtual master 1 58 vmDir 1 58 3 305 vmEncpos 1 58 3 306 Index 6 MA950 LR
69. 32 maps a pre defined variable or a global user variable to two contiguous Modbus 16 Bit Register Addresses 3x reference or 4x reference as a 32 bit integer Note This feature is only available in the Enhanced OC950 Firmware Map32 Modbus Address Variable Name ScaleFactor Once a variable has been mapped and the Modbus Slave Protocol has been turned on RuntimeProtocol 2 the Modbus master can read and or write to these variables without any interaction by the user s program MB32WordOrder MBFloatWordOrder MBInfo SMBMap32 30001 Position SMBMap32 30003 PosCommand SMBMap32 40001 IndexDist SMBMap32 40003 TargetPos End MBMapFloait Statement Purpose MBMapFloat maps a pre defined variable or a global user variable to two contiguous Modbus 16 Bit Register Addresses 0x reference or 1x reference as a floating point number Note This feature is only available in the Enhanced OC950 Firmware Syntax SMapFloat Modbus Address Variable Name Guidelines Once a variable has been mapped and the Modbus Slave Protocol has been turned on RuntimeProtocol 2 the Modbus master can read and or write to these variables without any interaction by the user s program Related MB32WordOrder MBFloatWordOrder instructions Example MBInfo SMBMapFloat 30001 Velocity SMBMapFloat 30003 Time SMBMapFloat 40001 RunSpeed End 3 184 MA950 LR MBReaaBit Pre defined Function Pu
70. 44 AB DF1 Transmit queue 54 AddPoint Used the same master overflow position for two points or master position was negative 45 DeclareCam Invalid Cam 55 CreateCam Tried to create the Number specified ActiveCam 46 DeclareCam Too many 56 ActiveCam Tried to activate a cam that points specified was not created 47 CreateCam Tried to Create 57 ActiveCam Tried to activate a cam while a new cam before finished it is being created creating the first one 48 CreateCam Tried to create 58 ActiveCam Tried to activate a cam cam w o declaring it while RunSpeed 0 49 Addpoint Tried to add more 59 ActiveCam Tried to activate a cam points than declared with master position outside the cam table 50 Addpoint Starting Master position is non zero MA950 LR Runtime errors are caused by the program running on the OC950 trying to do something that is not allowed For example runtime errors occur when you attempt to write a value that is too high or too low to a particular variable We try to catch as many errors as possible when the program is compiled but some errors can only be detected when the program is running The particular problem which caused the Runtime Error F4 Fault can be determined by looking at the value of the Err variable Use the Variables Window to find the value of Err Exit Statement Purpose The Exit statement is used to exit from a subroutine a function an interrupt
71. 56 MA950 LR Chr Function Purpose Chr returns a one character string whose ASCII value is the argument Syntax s Chr x Guidelines a argument to Chr must be a numeric value in the range 0 to Example This example will print an uppercase B dim a as string a Chr 66 print a MA950 LR 3 57 Cint Function Purpose Cint converts a numeric expression to the closest integer number Syntax x Cint numeric expression Related Int Fix instructions 3 58 MA950 LR D F Cis Statement Purpose Cls transmits 40 line feed characters ASCII code 10 to the serial port Cls clears the display of a terminal Syntax Cls Example print Take a good look now pause 2 cls MA950 LR 3 59 CmdGain Pre defined Variable Float Purpose Syntax Units Range Default Guidelines CmdGain sets the scale factor of the analog input for BlkTypes 0 and 1 CmdGain x x BlkType 0 Amperes Volt soi ald Bes BlkType 1 KRPM Volt 10 BlkType 2 Not Applicable 0 5 CmdGain is a floating point variable that sets the command gain on the analog input voltage from J4 1 to J4 2 for BlkTypes 0 Analog torque block and 1 Analog velocity block MA950 LR Oou CommEnbl Pre defined Variable Integer Control Variable Purpose CommEnbI allows disallows normal commutation Syntax CommEnbl x Range Oorl Default 1 Guidelines 0 disables commutati
72. 6 Please refer to Section 1 11 Using an OC950 as a Modbus Master Related MBReadBit MBRead16 MBRead32 MBReadFloat instructions MBWriteBit MBWritel6 MBWrite32 MBWriteFloat MB32WordOrder MBFloatWordOrder MBErr Example This example writes the integer value of IndexDist to registers 40001 on the MODBUS slave at address 5 RuntimeProtocol 3 Modbus Master MBWritel6 5 40001 IndexDist 3 192 MA950 LR MBWrite32 Statement Purpose Syntax Guidelines Related instructions MA950 LR This statement writes a long integer 32 bits value to the specified MODBUS slave If any error occurs then this function will set the predefined variable MBErr to indicate the source of the error The register address passed to this function is the first register address of the 32 bit long integer value Note This feature is only available in the Enhanced OC950 Firmware MBWrite32 SlaveAddress RegisterAddress LongIntegerValue This is a Modbus Master statement so you must set RuntimeProtocol to 3 MODBUS Master before using it Otherwise you will get a RuntimeError Modbus Master statements and function cannot be nested If you get an Interrupt while waiting for a response to a Modbus Master statement or function then you cannot initiate another Modbus Master statement or function in the Interrupt Handler If you do so then you will get a Runtime Error 36 There is not complete standardization
73. 61 Parameter Kvp Pre defined Variable Float NV set up 3 162 Parameter LanFLT Pre defined Array Variable Float 0 0 3 163 LANint Pre defined Array Variable Integer 0 3 164 LANInterrupt Statement 3 165 LANIntrArg Pre defined Array Variable Integer 3 166 LANIntrSource Pre defined Variable Integer 3 167 Lcase Function 3 168 Left Function 3 169 2 8 MA950 LR Name Type Default Value Page Len Function 3 170 Log Function 3 171 Log10 Function 3 172 Ltrim Function 3 173 Main Statement 3 174 MB32WordOrder Pre defined Variable 1 3 175 MBErr Pre defined Variable Integer 0 3 176 MBFloatWordOrder Pre defined Variable 1 3 178 MBInfo Block End Statement 3 179 MBMapBit Statement 3 180 MBMap16 Statement 3 182 MBMap32 Statement 3 183 MBMapFloat Statement 3 184 MBReacBit Pre defined Function 3 185 MBRead16 Pre defined Function 3 186 MBRead32 Pre defined Function 3 187 MBReadFloat Pre defined Function 3 189 MBWriteBit Statement 3 191 MBWrite16 Statement 3 192 MBWrite32 Statement 3 193 MBWriteFloat Statement 3 195 Mid Function 3 197 Mod Operator 3 198 MA950 LR 2 Name Type Default Value Page Model Pre defined Variable Integer 3 199 Status Variable Read Only ModelExt Pre
74. A950 LR Position Pre defined Variable Integer Read Only Purpose Syntax Units Range Default Guidelines Related instructions Example MA950 LR Position indicates the motor s actual position This is a read only variable and cannot be set directly by the software The value of Position is affected by PosModulo and PosPolarity x Position resolver counts 134 217 728 to 134 217 727 set equal to ResPos on power up If you write a new value to PosCommand then Position will be automatically changed such that PosError the difference between them is unchanged PosCommand PosModulo PosPolarity print Position PosCommand PosCommand 0 print Position PosCommand 3 219 PosModulo Pre defined Variable Integer Purpose Syntax Units Range Default Guidelines Related instructions 3 220 PosModulo specifies the position modulo value The position modulo value is the value of Position where Position is automatically reset to zero If PosModulo is zero the default value then position modulo is not used PosModulo x resolver counts 0 to 134 217 727 0 turned off PosModulo is useful for rotary motion applications EncPosModulo MA950 LR PosPolarity Pre defined Variable Integer Purpose Syntax Units Range Default Guidelines Related instructions MA950 LR PosPolarity specifies the connection between motor shaft rotation direction clock
75. File end 3 328 MA950 LR WriteSLC5Binary Statement Purpose Syntax Guidelines Related instructions MA950 LR WriteSLCSBinary writes the specified 16 bit element to the specified binary file on the specified SLC500 When this function is encountered in the OC950 program the OC950 will send the appropriate message to the SLC500 connected to the OC950 s serial port and wait for an acknowledgement ACK If there is no valid response then the OC9S50 will set the status variable ABErr appropriately Note This feature is only available in the Enhanced OC950 Firmware WriteSLC5Binary node address file number element number value You must first set RuntimeProtocol to 5 Allen Bradley DF1Protocol before using this function Other communication parameters baudrate and ABCrc on the SC950 must match the corresponding parameters on the PLC ReadSLC5Binary ReadSLC5Float WriteSLC5Integer ReadSLC5Integer WriteSLC5Float 3 329 WriteSLC5Binary continued Example The following program writes an integer to the SLC500 PLC Binary file Note that all communication settings on both devices SC950 and SLC500 must match main dim SLC5Speed as integer runtimeprotocol 5 Allen Bradley DF1 protocol baudrate 19200 baudrate MUST match PLC setting aberc 1 Set check to CRC MUST match PLC setting SLC5Speed 1234 WriteSLC5Binary 5 3 19 SLC5Speed SLC500 File 3 B
76. IOMap1 BDIOMap6 sets the logical function of the BDIOs on J4 7 to J4 12 BDIOMap x 2 147 482 648 to 2 147 482 648 Parameter value specified in the Params End Params section of your program The 950 IDE New Program function assigns the following default functions BDIOMapX Default BDIOMap1 Fault Reset Input Active Low BDIOMap2 CW Inhibit Input Active Low BDIOMap3 CCW Inhibit Input Active Low BDIOMap4 OFF BDIOMap5 Brake Output Active High BDIOMap6 Fault Output Active High To use one of the BDIO points as a programmable Input Output the mapping for that point must be removed Remove the mapping by setting the appropriate BDIOMap variable to zero MA950 LR es BDIOMap1 BDIOMap6 continued Although the value is a 32 bit integer the value is easily set in the Variables Screen or in the program using the following pre defined constants for setting the BDIOMap variables Fault_Reset_Inp_Hi Fault_Out_Hi Fault_Reset_Inp_Lo Fault_Out_Lo CW _Inhibit_Inp_Hi Enabled_Out_Hi CW_Inhibit_Inp_Lo Enabled_Out_Lo CCW _Inhibit_Inp_Hi Brake_Out_Hi CCW_Inhibit_Inp_Lo Brake_Out_Lo Related Input Functions FaultReset CwInh CcwInh instructions Output Functions Fault Enabled Brake Example BDIOMap4 Enabled_Out_Lo will map Enabled as an active low output to J4 10 MA950 LR BDLgcThr Pre defined Variable In
77. NInterrupt 3 167 Lcase Function Purpose Lcase converts a string expression to lowercase characters Syntax result S Lcase string expression Guidelines Lcase affects only letters in the string expression Other characters such as numbers are not changed Related UcaseS instructions Example dim x as string x U S A print Lcase x prints u s a 3 168 MA950 LR Left Function Purpose Left returns a string of the n leftmost characters in a string expression Syntax result Left x n Guidelines If n is greater than Len x then the entire string will be returned Related Len Mid Right instructions Example aS Mississippi print Left a 5 prints Missi MA950 LR 3 169 Len Function Purpose Len returns the number of characters in a string expression Syntax result Len x Guidelines Non printing characters and blanks are included Example x New York New York Print Len x prints 18 3 170 MA950 LR Log Function Purpose Syntax Guidelines Related instructions Example MA950 LR Log returns the natural logarithm of a numeric expression result Log x x must be greater than 0 Exp Log10 Print Log 45 0 7 0 prints 1 860752 Print Log 1 prints 0 Log10 Function Purpose Log10 returns the base 10 logarithm of a numeric expression Syntax result Log
78. Note This feature is only available in the Enhanced OC950 Firmware x ReadPLC5Binary node address file number element number You must first set RuntimeProtocol to 5 Allen Bradley DF1 Protocol before using this function Other communication parameters baudrate and ABCrc on the SC950 must match the corresponding parameters on the PLC ReadSLC5Integer ReadPLC5Float WritePLC5Integer WritePLC5Binary WritePLC5Float 3 231 ReadPLC5Binary continued Example The following program reads an integer from a PLCS binary file It then sets RunSpeed to twice the integer read from the PLCS Note All communication settings on both devices SC950 and PLCS must match main dim PLC5Speed as integer runtimeprotocol 5 Allen Bradley DF1 Protocol baudrate 19200 baudrate MUST match PLC setting aberc 1 Set check to CRC MUST match PLC setting PLC5Speed ReadPLC5Binary 5 3 19 PLCS File 3 Binary File RunSpeed PLC5Speed 2 end 3 232 MA950 LR ReadPLC5Float Pre defined Function Purpose Syntax Guidelines Related instructions MA950 LR ReadPLC5Float reads the specified 32 bit element from the specified float file on the specified PLCS When this function is encountered in the OC950 program the OC950 will send the appropriate message to the PLCS connected to the OC950 s serial port and wait for the response If there is a valid response then the OC950 wil
79. PaciFic SCIENTIFIC HIGH PERFORMANCE MOTORS amp DRIVES MA950 LR 950BASIC Reference Manual Version 4 1 110 Fordham Road Wilmington MA 01887 978 988 9800 Fax 978 988 9940 Part MA950 LR List Price 60 U S May 1999 Rev F This document is copyrighted by Pacific Scientific Company It is supplied to the user with the understanding that it will not be reproduced duplicated or disclosed in whole or in part without the express written permission of Pacific Scientific Company Copyright 1996 1997 1998 1999 WARRANTY AND LIMITATION OF LIABILITY Includes software provided by Pacific Scientific Pacific Scientific warrants its motors and controllers Product s to the original purchaser the Customer and in the case of original equipment manufacturers or distributors to their original consumer the Customer to be free from defects in material and workmanship and to be made in accordance with Customer s specifications which have been accepted in writing by Pacific Scientific In no event however shall Pacific Scientific be liable or have any responsibility under such warranty if the Products have been improperly stored installed used or maintained or if customer has permitted any unauthorized modifications adjustments and or repairs to such Products Pacific Scientific s obligation hereunder is limited solely to repairing or replacing at its option at its factory any Products or par
80. Pos before initiating a GoAbs Related GoAbs instructions MA950 LR 3 291 Time Pre defined Variable Float Status Variable Read Only Purpose Syntax Units Range Guidelines Related instructions 3 292 Time contains the value of the free running 32 bit timer that is maintained by the internal firmware on the OC950 The resolution on this timer is 1 millisecond Time x seconds 0 to 2 147 483 24 8 days The Time variable is set to zero when the SC950 is powered on WhenTime MA950 LR Trim Function Purpose Syntax Guidelines Related instructions Example MA950 LR Trim returns a copy of the original string with leading and trailing blanks removed result Trim x x can be any string expression Ltrim Rtrim x Hello u print Trim x prints Hello 3 293 Ucase Function Purpose Ucase converts a string expression to uppercase characters Syntax result Ucase string expression Guidelines Ucase affects only letters in the string expression Other characters such as numbers are not changed Related Lcase instructions Example dim x as string x u s a print Ucase x prints U S A 3 294 MA950 LR UpdMove Statement Purpose Syntax Guidelines Related instructions MA950 LR UpdMove Update Move parameters updates a move that is in progress with new move
81. Print Hello Goodbye Print The End MA950 LR 3 223 Pulsesin Pre defined Variable Integer Purpose PulsesIn specifies the number of encoder counts used when specifying an exact electronic gearing ratio PulsesIn is the number of encoder counts required to increase PosCommand by PulsesOut resolver counts when using exact gearing Syntax PulsesIn x Units encoder counts Range 1 to 32767 Default 1 Guidelines PulsesIn or PulsesOut must be set more recently than Ratio in order to use exact electronic gearing Related Gearing PulsesOut Ratio instructions 3 224 MA950 LR O OUO PulsesOut Pre defined Variable Integer Purpose PulsesOut specifies the number of resolver counts used when specifying an exact electronic gearing ratio PulsesOut is the number of resolver counts that the motor will move for each PulsesIn number of encoder counts Syntax PulsesOut x Units resolver counts Range CountsPerRev 2 to CountsPerRev 2 Default 1 Guidelines PulsesIn or PulsesOut must be set more recently than Ratio in order to use exact electronic gearing Related Gearing PulsesIn Ratio instructions MA950 LR 3 225 Random Pre defined Variable Float Read Only Purpose Random returns a pseudo random number from a uniform distribution between 0 0 and 1 0 inclusive Syntax x Random Range 0 0 to 1 0 Guidelines Use Randomize to seed the random number generator Relat
82. Protocol to 3 MODBUS Master before using it Otherwise you will get a RuntimeError Modbus Master statements and function cannot be nested If you get an Interrupt while waiting for a response to a Modbus Master statement or function then you cannot initiate another Modbus Master statement or function in the Interrupt Handler If you do so then you will get a Runtime Error 36 There is not complete standardization on the format of floating point numbers among all MODBUS devices You may need to set MBFloatWordOrder to 0 its default value is 1 in order to properly write floating point numbers to a MODBUS slave Please refer to Section 1 11 Using an OC950 as a Modbus Master MBReadBit MBRead16 MBRead32 MBReadFloat MBWriteBit MBWritel6 MBWrite32 MBWriteFloat MB32WordOrder MBFloatWordOrder MBErr 3 195 aaa MBWriteFloat continued Example This example writes the floating point value 1 5 to registers 40001 and 40002 on the MODBUS slave at address 5 In this example the MODBUS slave accepts floating point data low word first so we need to set MBFloatWordOrder to 0 in order for the slave to receive this data properly RuntimeProtocol 3 Modbus Master MBFloatWordOrder 0 LS word first MBWriteFloat 5 40001 1 5 3 196 MA950 LR Mid Function Purpose Mid returns a substring of the original string that begins at the specified offset location and is of the specified optiona
83. RemoteFB 2 VelFB is based on delta EncPos at a position loop update rate 3 301 VelLmtHi Pre defined Variable Float Purpose VelLmtHi sets the highest VelCmd value allowed and a VelFB overspeed fault threshold Syntax VelLmtHi x Units RPM Range 21 039 to 21 039 Default 10 000 Guidelines For BlkTypes that have a velocity loop BlkType 1 2 VelCmd and VelCmd2 are clamped to be less than VelLmtHi In torque control BlkType 0 VelLmtHi has no clamping function If VelLmtHi is reduced to below the current value of VelCmd2 or VelCmd then VelCmd2 and or VelCmd are reduced to VelLmtLo For all BlkTypes a fault with FaultCode 1 will occur if VelFb gt 1 5 max of VelLmtLo VelLmtHil Related VelLmtLo instructions 3 302 MA950 LR VelLmtLo Pre defined Variable Float Purpose Syntax Units Range Default Guidelines Related instructions MA950 LR VelLmtLo sets the smallest VelCmd value allowed and a VelFB overspeed fault threshold VelLmtLo x RPM 21 039 to 21 039 10 000 For BlkTypes that have a velocity loop BlkType 1 2 VelCmd and VelCmd2 are clamped to be greater than VelLmtLo In torque control BlkType 0 VelLmtLo has no clamping function If VelLmtLo is increased to above the current value of VelCmd2 or VelCmd then VelCmd2 and or VelCmd are increased to VelLmtLo For all BlkTypes a fault with FaultCode 1 will occur if VelFb gt 1 5 max of VelLm
84. See also the note under the Optimizations section A file cannot include itself either directly or indirectly Include file nesting is allowed but limited to a pre defined maximum depth currently 16 Like the C preprocessor the path of an include file is relative to the directory of the included file not the current working directory of the compiler Suppose for example the source program is in directory C WORK and includes the file H HEADER and that the file HEADER includes COMMON The compiler will look for COMMON in C H not in C WORK C WORK A BAS SINCLUDE H HEADER c H HEADER SINCLUDE COMMON A file may be included multiple times which can cause compilation errors For example if B BAS includes files MATH and INCL and INCL also includes MATH MATH will be included twice causing a compile time error B BAS SINCLUDE MATH SINCLUDE INCL INCL SINCLUDE MATH 1 9 Arrays and Function Parameter Lists When an array parameter formal of a function or subroutine is declared the number of dimensions is specified but the extent of number of elements in each dimension is not specified This allows the programmer some freedom when invoking such a function For example a function may be defined to take a one dimensional array and compute the sum of the elements in the array A single function can be written that will take a one dimensional array of any s
85. SetMotor instructions 3 118 MAQ50 LR TE GoAbs Statement Purpose GoAbs Go to Absolute Position causes the motor to move to the position specified by TargetPos This is an absolute position referenced to the position where PosCommand 0 Syntax GoAbs Guidelines Program execution continues with the line immediately following the GoAbs statement as soon as the move is initiated Program execution does not wait until the move is complete Related AbortMotion GoHome GoIncr GoVel instructions MA950 LR 3 119 GoAbsDir Pre defined Variable Integer Purpose GoAbsDir determines the direction of rotation when PosModulo or EncposModulo is used and an absolute move GoAbs is commanded GoAbsDir Direction 0 Clockwise CW 1 Counter Clockwise CCW 2 Shortest Distance CW or CCW 3 None Syntax GoAbsDir x Units none Range 0 1 2 3 Default 3 Guidelines Set GoAbsDir before GoAbs 3 120 MA950 LR GoAbsDir continued Example The following program illustrates GoAbsDir Assume Position Enable 1 PosModulo 1000 AccelRate 1000 DecelRate 1000 RunSpeed 5000 TargetPos 850 GoAbsDir 0 GoAbs The motor will travel CW 300 counts GoAbsDir 1 GoAbs The motor will travel CCW 700 counts GoAbsDir 2 GoAbs The motor will travel 300 counts CW GoAbsDir 3 GoAbs The motor will travel CW 300 counts MA950 LR 3 121 GoHo
86. String n m 2 n is the number of occurrences of the desired character the length of the returned string In 1 the returned string will consist of the first character in a In 2 the returned string will consist of the ASCII value of m SpaceS Print String 5 45 prints Print String 5 A prints AAAAA 3 285 Sub End Sub Statement Purpose The Sub statement declares a sub procedure and defines the sub procedures format Syntax Sub argument list body of the sub procedure End Sub Guidelines A sub procedure is invoked with the Call statement A sub procedure can accept arguments like a function but does not return any value If the sub procedure does not take any arguments then it is illegal to provide an empty argument list either when defining the sub procedure or when calling it Related Call Function Exit End instructions 3 286 MA950 LR Sub End Sub continued Example This example defines a sub procedure that takes one integer argument main dim x as integer for x 1 to 10 call MySub x pause 1 next end main sub MySub a as integer print a gt if a lt 5 then print a 0 5 else print a 2 0 end if end sub MA950 LR 3 287 Swap Statement Purpose Swap exchanges the value of two variables Syntax Swap x y Guidelines The two variables must be both numeric floating point of integer or both stri
87. Variable set up 3 133 Integer NV Parameter Include Statement 3 134 IndexDist Pre defined Variable 4096 3 135 Integer Inkey String Function 3 136 Inp0 Inp20 Pre defined Variable 3 137 Integer Read Only InPosition Pre defined Variable 3 138 Integer Read Only InPosLimit Pre defined Variable 5 3 139 Input Statement 3 140 Inputs Pre defined Variable 3 141 Integer Read Only Insert Function 3 142 Int Function 3 143 Interrupt End Interrupt Statement 3 144 Intr source Pre defined Variable 3 146 Integer Ipeak Pre defined Variable Float 3 149 Status Variable Read Only ItFO Pre defined Variable Float 0 02 Hz 3 150 MA950 LR Name Type Default Value Page ItFilt Pre defined Variable Float Status 3 151 Variable Read Only ItThresh Pre defined Variable Integer NV set up 3 152 Parameter ItThreshA Pre defined Variable Float Status 3 153 Variable Read Only LR Pre defined Variable Float Status 3 154 Variable Read Only LS Pre defined Variable Float Status 3 155 Variable Read Only LT Pre defined Variable Float Status 3 156 Variable Read Only Ki Pre defined Variable Float 50 Hz 3 157 Kip Pre defined Variable Float NV set up 3 158 Parameter Kpp Pre defined Variable Float NV set up 3 159 Parameter Kvff Pre defined Variable Float 0 3 160 Kvi Pre defined Variable Float NV set up 3 1
88. abount 5 seconds set up vmEncpos and virtual move parameters vmEncpos 0 vmRunFreq 20000 vmIndexDist 100000 initiate the move time 0 set time to zero just for measurement vmGoIncr wait for the move to be complete while vmMoving 1 wend print the results print vmEncpos vmEncpos print time time MA950 LR vmGoVel Statement Purpose Syntax Guidelines Related instructions Example MA950 LR vmGoVel Go at Velocity causes the virtual master to move continuously at the frequency specified by vmRunFreq in the direction positive or negative specified by vmDir The frequency may be modified during the move by using the vmUpdMove statement Note This feature is only available in the Enhanced OC950 Firmware vmGoVel Program execution continues with the line immediately following the vmGoVel statement as soon as the move is initiated Program execution does not wait until the move is complete You can stop a velocity move on the virtual encoder by using the vmStopMotion statement Executing a vmGolncr statement after executing a vmGoVel and before a vmStopMotion will cause the virtual encoder to switch over to an incremental move which will terminate when vmIndexDist encoder counts have been put out The drive does not need to be enabled in order for to use the virtual master vmGoIncr vmStopMotion vmUpdMove This will run the virtual encoder
89. active high to a BDIO pin MA950 LR 3 45 Bxor Operator Purpose Bxor performs a bitwise XOR of two integer expressions Syntax result x Bxor y Guidelines The Bxor operator performs a bitwise XOR operation on the two numeric expressions The expressions are converted to integers 32 bits before the BXOR operation takes place For each of the 32 bits in the result the bit will be set to 1 if the corresponding bits in the two arguments are different from each other If the corresponding bits are identical both 0 or both 1 then the bit will be set to 0 Example x 45 0010 1101 binary y 99 0110 0011 binary print x Bor y prints 78 0100 1110 3 46 MA950 LR Call Statement Purpose Syntax Guidelines Related instructions Example MA950 LR Call transfers program control to a subroutine When the subroutine is finished then control is transferred to the line following the CALL The CALL statement replaces the GOSUB statement which is no longer supported Call sub argl arg2 A subroutine is essentially a function with no return value Arguments to subroutines are passed by value This means that the subroutine receives a copy of these arguments Any assignments to these arguments made by the subroutine will have no effect on these variables in the calling function or subroutine Sub Call PrintSum 3 4 Sub PrintSum i j as integer print itj End Sub CamCorrectDir
90. adPLCSBinary Pre defined Function 3 231 ReadPLC5Float Pre defined Function 3 233 ReadPLCSInteger Pre defined Function 3 235 ReadSLOSBinary Pre defined Function 3 237 ReadSLC5Float Pre defined Function 3 239 ReadSLC5Integer Pre defined Function 3 241 Reg1HiEncpos Pre defined Variable Integer 3 243 Read Only Reg1HiFlag Pre defined Variable Integer 0 3 244 Reg1HiPosition Pre defined Variable Integer 3 245 Read Only RegiLoEncpos Pre defined Variable Integer 3 246 Read Only MA950 LR 2 11 Name Type Default Value Page Reg1LoFlag Pre defined Variable Integer 0 3 247 RegiLoPosition Pre defined Variable Integer 3 248 Read Only Reg2HiEncpos Pre defined Variable Integer 3 249 Read Only Reg2HiFlag Pre defined Variable Integer 0 3 250 Reg2HiPosition Pre defined Variable Integer 3 251 Read Only Reg2LoEncpos Pre defined Variable Integer 3 252 Read Only Reg2LoFlag Pre defined Variable Integer 0 3 253 Reg2LoPosition Pre defined Variable Integer 3 254 Read Only RegControl Pre defined Variable Integer 3 255 RemoteFB Pre defined Variable Integer 0 3 256 ResPos Pre defined Variable Integer 3 258 Status Variable Read Only Restart Statement 3 259 Right Function 3 260 Rtrim Function 3 261 RunSpeed Pre defined Variable Floating Point 1 000 3 262 RuntimeParity Pre defined Variable 0 3 263 RuntimeProtocol
91. ain program in myfile bas MyInc Inc Sub DoIndexMove Distance as integer IndexDist Distance GoIncr while Moving wend End Sub MyFile Bas Include myinclude inc Main while 1 call DoIndexMove 4096 Pause 0 5 wend End Main 3 134 MA950 LR IndexDist Pre defined Variable Integer Purpose Syntax Units Range Default Guidelines Related instructions Example MA950 LR IndexDist specifies the distance that the motor will turn during an incremental move Golncr IndexDist x resolver counts 4096 Specify IndexDist before initiating a GoIncr statement AccelRate DecelRate RunSpeed GoIncr This example sets IndexDist to 40 960 10 motor revolutions assuming CountsPerRev is 4096 and does an incremental move RunSpeed 1000 AccelRate 10000 DecelRate 5000 IndexDist 40960 GoIncr 3 135 Inkey String Function Purpose Syntax Guidelines Related instructions Example 3 136 Inkey returns a 1 character string corresponding to the character in the serial port receive buffer If there is no character waiting the Inkey will be the Null string If several characters are pending only the first one is returned x Inkeys Assigning a string from Inkey removes the character from the serial port s receive buffer Character Interrupt The following program lines remove all characters from the receive buffer and put them into A new
92. ame as those followed by functions See below for details This statement transmits 40 line feed characters ASCII code 10 to the serial port Cls clears the display of a terminal Const name x Declares symbolic constants to be used instead of numeric values Forward references are allowed but circular references are not supported CONST x y 2 CONST y 17 unsupported CONST x y 2 CONST y x 2 Like alias variable and function declarations Const declarations made in the global scope are imported into all functions including the main function 1 15 Dim Exit 1 16 Dim varl var2 as type NV All variables must be declared Local variables must be declared in the function before use Global variables can be defined in the module after use in a function as can functions The NV specifier can be used on a Dim statement in the global scope or in the main function or a Static statement in function scope Variables in the global scope are automatically imported into functions and subroutines Variables in function scope including inside the main function are not accessible in other functions Arrays can not be assigned directly i e the following is not allowed DIM X 5 Y 5 AS INTEGER X Y Instead a loop is needed DIM X 5 Y 5 I AS INTEGER FOR I 1 to 5 X I Y I NEXT I Exit Sub Function Interrupt For While Exits the closest enclosing context o
93. are used with the exception of the WHEN statement Two general purpose read write variable arrays one integer one floating point are available for user defined inter axis message passing There are 32 elements in each array These arrays are essentially pre defined variables that have no pre defined functionality and are thus available to you for whatever purpose you choose The integer array syntax is designated as x LANInt y n LANInt y n x where y is the array element 1 32 and n specifies the axis address containing the LAN array The floating point array syntax is designated as x LANFIt y n LANF1t y n x where y is the array element 1 32 and n specifies the axis address containing the LAN array Again like the other pre defined variables these arrays can be used wherever any other variable can be used Please see LANint and LANFIt for additional information MA950 LR PACLAN Interrupts Example 1 11 Modbus Definition MA950 LR Interrupts can be sent from a source axis to a destination axis using PACLAN To send an interrupt to a program running on another axis use the SendLANInterrupt function This function allows you to specify the axis address of the program the interrupt is being sent to The SendLANInterrupt function also allows you to send an integer argument along with the interrupt The receiving axis must have a PACLAN interrupt handler defined or el
94. arrays and parameter lists optimizations 1 1 950BASIC Program Structure Local variables MA950 LR The notion of scope is a key concept in 950BASIC programs By scope we mean those parts of the program in which a particular name is visible There are two levels of scope in 950BASIC global and local Variables and constant definitions aliases and so on that are defined inside a main definition or a subroutine function or interrupt handler definition are considered to be local in scope that is they are visible only within that function Global variables All other definitions those occurring outside functions for example are considered global in scope they are visible inside main and inside any subroutine function or interrupt handler For example consider the following simple 950BASIC program dim i as integer main dim i as integer for i 1 to 10 print the cube of i is cube i call increment next i end main function cube i as integer as integer cube i i i end function sub increment i i l end sub This program prints a table of the cubes of the integers from 1 to 10 The first global definition of i is visible inside subroutine increment but shadowed by the i in main and function cube The definition of i inside main is local to main and is NOT the same variable as the i inside the func
95. asic logical operators are NOT short circuiting i e when executing the code if a x or b y or c z then if a x is true b y and c z are still invoked MA950 LR MA950 LR The BITxxx boolean operators are provided to support bitwise operations on integer values They operate quite differently from their logical equivalents For example 2 and 1 has the value 1 TRUE since each operand is true but 2 bitand 1 has the value 0 since no matching bits are 1 Similarly 3 or 4 has the value 1 TRUE since at least one operand is not FALSE while 3 bitor 4 has the value 7 the three Isb s are set Remember that relational and logical operators return numeric values 0 for FALSE and 1 for TRUE Any value not equal to FALSE is considered to be logically equivalent to TRUE for purposes of the logical operators It is syntactically incorrect to code DIM a b c x AS INTEGER xXx a lt b lt ce String Operators Operator Assoc Name left string concatenation lt gt lt 2 nonassoc string comparisons see below lt gt nonassoc string comparisons see below There is no implicit coercion between strings and numeric types String comparison is case sensitive Relative comparisons are made using ASCII lexical ordering The empty string sorts before all other strings String comparison operators are non associative b
96. ateCam statement is used to initiate the creation of a cam table The actual points in the cam table are inserted with a series of AddPoint statements The CreateCam block must terminated by an End statement Note This feature is only available in the Enhanced OC950 Firmware CreateCam n AddPoint 0 yl AddPoint xx yy End where n is the cam number 1 8 of the cam table that you are creating You must declare a cam table before you create the cam table You can create a cam table as many times as you want You must create a cam table before you make it active You cannot create a cam table if it is active The master position for the first entry must be 0 The master positions must keep increasing as you add points EncPosModulo must equal the total master distance in you CAM For a repeating CAM PosModulo should be set equal to the distance that the slave travels in one CAM cycle CreateCam continued Related instructions Example DeclareCam AddPoint ActiveCam In the following example a cam is declared created and activated DeclareCam 1 5 allocate space for cam 1 5 points main CreateCam 1 start the cam create block AddPoint 0 0 AddPoint 200 100 AddPoint 400 200 add the points AddPoint 600 300 AddPoint 800 400 End end the cam create block Enable 1 enable the motor EncPosModulo 800 set EncPosMod
97. atement is executed until another one is executed On Error Goto Error Handler Name or On Errror Goto 0 An error handler has the same structure as a subroutine but must end with a Restart disables any user defined run time error handler and reinstalls the default handler Any subsequent run time error will print an error message and halt the program Errors occurring within the error handler are handled by the default error handler This means that they will halt program execution Restart 3 207 E On Error Goto continued Example dim Count as integer main dim y as integer if Count lt 10 then on error goto MyHandler else on error goto 0 end if y 0 pause 0 5 y l y print I ll never get here end main Sub MyHandler Count Count t 1 print Count restart End Sub 3 208 MA950 LR Or Operator Purpose Or performs a logical OR operation on two expressions Syntax result A or B Guidelines The result evaluates to True if either of the expressions is True Otherwise the result is False Related Or Xor Band Bor Bxor instructions Example x 17 y 27 if x gt 20 or y gt 20 then print This will get printed end if if x lt 20 or y gt 20 then print so will this end if MA950 LR 3 209 Out0 Out20 Pre defined Variable Integer Purpose Syntax Units Range Default Guideline
98. ation rate sets the maximum commanded acceleration rate when the speed is increased Note AccelRate is independent of DecelRate Each variable must be set independently to the appropriate value for the desired motion AccelRate x rpm sec 1 to 16 000 000 rpm sec 10 000 rpm sec Set AccelRate prior to initiating the move You can update AccelRate during a move by executing an UpdMove statement DecelRate This example sets AccelRate to 10 000 RPM sec and does an incremental move of 10 motor revolutions assuming CountsPerRev is 4096 RunSpeed 1000 AccelRate 10000 DecelRate 10000 IndexDist 40960 GoIncr MA950 LR ActiveCam Pre defined Variable Integer Purpose Syntax Range MA950 LR ActiveCam activates the specified cam table This means that the Position Command will be calculated based upon the Master Position CamMasterPos and the points in the specified cam table When you activate a new cam the drive accelerates at AccelGear or decelerates at DecelGear as necessary to the speed required by the present motion of the Cam Master and the slave position profile defined in the cam table When speed synchronization is achieved GearLock is set to one and a correction move is performed to bring the slave into position lock with the cam table The direction of this move is controlled by CamCorrectDir The parameters of this correction move are the same as for any other move i e AccelRate D
99. ave Please refer to Section 1 11 Using an OC950 as a Modbus Master MBReadBit MBRead16 MBRead32 MBReadFloat MBWriteBit MBWritel6 MBWrite32 MBWriteFloat MB32WordOrder MBFloatWordOrder MBErr 3 189 MBReadFloat continued Example 3 190 This example reads a floating point value from registers 40001 and 40002 on the MODBUS slave at address 5 and puts the value in RunSpeed In this example the MODBUS slave sends floating point data low word first so we need to set MBFloatWordOrder to 0 in order to receive this data properly RuntimeProtocol 3 Modbus Master MBFloatWordOrder 0 LS word first RunSpeed MBReadFloat 5 40001 MA950 LR MBWriteBit Statement Purpose Syntax Guidelines Related instructions Example MA950 LR This statement writes a bit value to a 1x reference register the specified MODBUS slave If any error occurs then this function will set the predefined variable MBErr to indicate the source of the error Note This feature is only available in the Enhanced OC950 Firmware MBWriteBit SlaveAddress RegisterAddress IntegerValue This is a Modbus Master statement so you must set RuntimeProtocol to 3 MODBUS Master before using it Otherwise you will get a RuntimeError Modbus Master statements
100. ax vmStopMotion Guidelines Program execution continues with the line immediately following the vmStopMotion statement as soon as the move is initiated Program execution does not wait until the move is complete Related vmGoIncr vmGoVel vmUpdMove instructions Example This will run the virtual encoder forward at 20 000 counts sec for 5 seconds and the stop it vmRunFreq 20000 vmDir 0 vmGovel pause 5 vmStopMotion 3 312 MA950 LR E vmUpdMove Statement Purpose vmUpdMove Update Virtual Encoder Move paramaters updates a move that is in progress with new move parameters This allows you to change motion on the fly without having to stop motion and initiate a new move vmUpdMove updates vmDir and vmRunFreq Note This feature is only available in the Enhanced OC950 Firmware Syntax vmUpdMove Guidelines Program execution continues with the line immediately following the vmUpdMove statement as soon as the move is initiated Program execution does not wait until the move is complete vmUpdMove will not initiate motion if there is not a move in progress The vmUpdMove statement will be ignored Related vmGoIncr vmGoVel instructions MA950 LR 3 313 er vmUpdMove continued Example 3 314 This example will initiate an incremental move of 100 000 counts at 50 000 counts sec After 1 second it will change the move speed to 10 000 counts sec and update the move pa
101. bles constants and aliases do not need to be defined before use the only requirement is that they be defined at some point in the program text So in effect you may have multiple instances of the global variables section throughout your program However as a matter of good programming style we recommend that you keep all global definitions in one place preferably at or near the beginning of your program MA950 LR Variable definitions Constant definitions MA950 LR The format of a global variable definition is best described by the following examples e dim a b as integer x y z as float e dim ia 3 4 as integer e dim sl s2 as string 80 e dim sa 5 2 as string Line 1 declares a and b as integers x y and z as floats Line 2 declares a 3 x 4 array of integers Line 3 declares s1 and s2 as strings each of length 80 Line 4 declares sa as a 5 x 2 array of strings each with the default length of 32 characters In addition global variables can be specified as nv to indicate that their values are retained when power is turned off All other global variables are automatically initialized when the program begins strings are set to empty and floats and integers are set to 0 There are no restrictions on the ordering of volatile vs non volatile user variables However we recommend that for ease of program maintenance you place all non volatile variables definitions in a single section at the beginning o
102. bortMotion On Error Goto 3 259 Right Function Purpose Right returns a string of the n rightmost characters in a string expression Syntax result Right x n Guidelines If n is greater than Len x then the entire string will be returned Related Len Mid Left instructions Example aS Mississippi print Right a 5 prints sippi 3 260 MA950 LR Rtrim Function Purpose Syntax Guidelines Related instructions Example MA950 LR Returns a copy of the original string with trailing blanks removed result Rtrim x x can be any string expression Ltrim Trim x 4 Hello u print Rtrim x prints Hello 3 261 el RunSpeed Pre defined Variable Floating Point Purpose Syntax Units Range Default Guidelines Related instructions 3 262 RunSpeed sets the maximum speed allowed during an incremental GoIncr or absolute GoAbs move and sets the commanded speed during a velocity move GoVel RunSpeed x RPM 0 to 20 000 actual maximum is set by motor and drive 1000 Specify RunSpeed before initiating any move commands GoAbs GoHome GoIncr GoVel UpdMove MA950 LR RuntimeParity Pre defined Variable Purpose This variable is used to specify the Runtime Parity The valid values for RuntimeParity are Value Explanation 0 none no parity 1
103. by selecting Variables in the Compile Menu and verify that BaudRate is set to 9600 The OC950 and the 950IDE will now both communicate at the new baud rate MAQ950 LR Index AnalogOut1 3 21 ABMapFloat 3 6 AnalogOut2 3 22 AMMapInteger 3 7 And 3 23 DeclareCam 1 52 3 73 ARFO 3 24 INCLUDE 1 21 1 33 ARFI1 3 25 3 134 Arithmetic expressions 1 29 MBMap16 3 182 Arrays and Function MBMap32 3 183 Parameter Lists 1 34 MBMapBit 3 180 ARZO 3 26 MBMapFloat 3 184 ARZI1 3 27 PACLANAddr 3 212 Asc 3 28 Atan 3 29 Autostart 3 30 A AxisAddr 3 31 ABCrc 3 2 ABErr 3 3 ABInfoEnd 3 4 B AbortMotion 1 14 3 8 Band 3 32 Abs 3 9 BaudRate 3 33 AccelGear 3 10 BDInp1 BDInp6 3 34 AccelRate 3 12 BDInputs 3 35 ActiveCam 1 52 3 13 BDIOMap1 6 3 36 AddPoint 1 52 3 15 BDLgcThr 3 38 ADFO 3 17 BDOut1 BDOut6 3 39 ADOffset 3 18 BDOutputs 3 40 Allen Bradley DF 1 1 47 Beep 1 15 3 41 definition 1 47 BlkType 3 42 diagnostics 1 49 Bnot 3 43 settings 1 48 Bor 3 44 wizard 1 50 Brake 3 45 Alias 1 4 1 14 3 19 Built in Functions 1 27 Definition 1 6 Bxor 3 46 AnalogIn 3 20 MA950 LR Index 1 Call 1 15 3 47 Data types 1 11 CamCorrectDir 1 52 3 48 DecelGear 3 73 Cam Master 1 52 3 50 DecelRate 3 74 CamMasterPos 3 51 Dim 1 16 3 76 Cam Profiling 1 51 Dir 3 77 definition 1 51 DM1F0 3 78 example 1 55 DM1Gain 3 79 related variables 1 52 DM1Map 3 80 virtual master 1 58 DM10ut 3 81 wizard 1 53 DM2F0 3 82 CamSlav
104. by the caller Subroutines are invoked by call instructions as in call print_sum 3 4 For a function say sum_squares a typical definition might be function sum_squares i jJ as integer as integer sum_squares i 2 j 2 end function The function above returns a value of type integer The value of the function is assigned by assigning to the name of the function as if it were a variable Note however that it is not legal to use the function name as a variable on the right hand side of an assignment a function name on the right hand side is always an INVOCATION of that function There must be at least one statement in the function that assigns a value to the function However it is not possible in general to detect at compile time if that statement will actually be executed Functions are invoked by name as in print sum_squares 3 4 Note This is syntactically identical to an array reference Interrupt handler For an interrupt handler say ilhi a typical definition might definition be interrupt ilhi print interrupt occurred on input 1 intrilhi TRUE end interrupt Note that the interrupt is re enabled by the statement intrilhi TRUE A similar statement must be executed once before the interrupt can be serviced It is a run time error to attempt to enable an interrupt for which no handler has been defined Interrupt handlers do not return values and cannot have argument
105. cPos 2 Reg transitions capture Position Reg transitions capture Position Syntax RegControl x Units none Range 0 1 2 Default 0 Guidelines Set RegControl to the desired value before capturing any registration data BDIOMap4 must be set to 0 off if Reg1 is being used BDIOMap5 must be set to 0 off if Reg2 is being used Related ReglHiFlag ReglLoFlag Reg2HiFlag Reg2LoFlag instructions MA950 LR 3 255 RemoteFB Pre defined Variable Integer Purpose RemoteFB selects the source of the feedback signal for the loops Syntax RemoteFB x Units When RemoteFB is not equal to 0 the units on the following variables change as shown below Variable Name Units RemoteFB 1 or 2 Units RemoteFB 0 PosCommand encoder counts resolver counts PosError PosErrorMax InPosLimit IndexDist TargetPos Cwot Ccwot WhenPosCommand RunSpeed encoder counts sec rpm AccelRate encoder counts sec sec rpm sec DecelRate encoder counts sec sec rpm sec Range 0 1 or 2 Default 0 all loops closed around resolver 3 256 MA950 LR E ee RemoteFB continued Guidelines 0 Resolver velocity and resolver position feedback 1 Resolver velocity and encoder position feedback 2 Encoder velocity and encoder position feedback When RemoteFB is not equal to 0 make sure EncIn is set to the proper value so that scaling of KPP KVP and VelFB will be in th
106. d this information is retained after cycling power Please see Appendix A Operating at 9600 Baud for additional information BDiInp1 BDiInp6 Pre defined Variable Integer Status Variable Read Only Purpose Syntax Range Guidelines BDInp1 reads the state of BDIO1 J4 7 BDInp 2 reads the state of BDIO2 J4 8 BDInp3 reads the state of BDIO3 J4 9 BDInp4 reads the state of BDIO4 J4 10 BDInp5 reads the state of BDIOS J4 11 BDInp6 reads the state of BDIO6 J4 12 x BDInpX Oor1 BDInpX indicates whether BDIOX input voltage is above or below the logic threshold selected by the variable BDLgcThr BDInpX 0 indicates a logic low input BDInpX 1 indicates a logic high input MA950 LR III SSS BDInputs Pre defined Variable Integer Status Variable Read Only Purpose Syntax Range Guidelines MA950 LR BDInputs reads the state of the BDIO inputs in parallel This variable is determined by the voltage levels applied to the BDIO Input pins J4 7 to J4 12 x BDInputs 0 to 63 6 BDIOs BDInputs 1 BDIO1 2 BDIO2 4 BDIO3 8 BDIO4 16 BDIOS 32 BDIO6 0 corresponds to a low input while 1 corresponds to a high input For example BDInputs 12 means that BDIO 1 2 5 6 are low and BDIO 3 4 are high See BDInp1 6 to query inputs individually BDIOMap1 BDIOMap6 Pre defined Variables Integer NV Parameter Purpose Syntax Range Default Guidelines BD
107. d Variable Float Status Variable Read Only Purpose FVelErr is commanded velocity measured velocity VelCmdA VelFB after being processed by the velocity loop compensation anti resonant filter section Syntax x FVelErr Units RPM Range 48 000 to 48 000 Related ARFO ARF1 ARZO ARZ1 instructions MA950 LR 3 111 FwV Pre defined Variable Integer Status Variable Read Only Purpose FwV indicates the 950 firmware version number For example FwV 1100 would be version 1 1 Syntax x FwV Range 1000 to 65535 3 112 MAQ50 LR GearError Pre defined Variable Integer Purpose Syntax Units Guidelines Related instructions MA950 LR GearError indicates the amount of position deviation that has accumulated on the slave axis in an electronic gearing application as a result of the slave axis limiting its acceleration or deceleration while achieving velocity synchronization x GearError resolver counts GearError is never set to zero automatically It will continue to accumulate position deviation each time acceleration limiting is activated In most situations you should set GearError to zero before doing something that will activate acceleration limiting The slave axis acceleration or deceleration is limited to AccelGear or DecelGear whenever 1 Gearing is turned on or turned off 2 Ratio is changed 3 PulsesIn or PulsesOut is changed AccelGear DecelGear GearLock 3 1
108. d and or write to this variable without any interaction by the user s program The MBMapBit statement must be located inside an MBInfo block RuntimeProtocol In the example below the pre defined variable Dir is mapped to MODBUS address 1 and the pre defined variable Enable is mapped to the MODBUS address 10002 MBInfo SMBMapBit 1 Dir SMBMapBit 10002 Enable End 3 181 MBMap16 Statement Purpose MBMap16 maps a pre defined variable or a global user variable to a Modbus 16 Bit Register Address 3x reference or 4x reference Note This feature is only available in the Enhanced OC950 Firmware Syntax Map16 Modbus Address Variable Name ScaleFactor Guidelines Once a variable has been mapped and the Modbus Slave Protocol has been turned on RuntimeProtocol 2 the Modbus master can read and or write to these variables without any interaction by the user s program Related MBMap instructions Example In the example below the pre defined variable Faultcode is mapped to MODBUS address 30001 and the pre defined variable RunSpeed is mapped to the MODBUS address 40001 and the pre defined variable Velocity is mapped to MODBUS address 40002 with a scale factor of 10 MBInfo SMBMap16 30001 Faultcode SMBMap16 40001 RunSpeed SMBMap16 40002 Velocity 10 End 3 182 MA950 LR MBMap32 Statement Purpose Syntax Guidelines Related instructions Example MA950 LR MBMap
109. d from the active cam table based upon the present value of Encpos and or vmEncpos This offset is the result of incremental GoIncr or velocity GoVel moves that have been superimposed by you on the cam table Note This feature is only available in the Enhanced OC950 Firmware x CamSlaveOffset feedback counts 0 PosModulo If there is no active cam ActiveCam 0 then the value of this variable is undefined MA950 LR C CCDate Pre defined Variable Status Variable Read Only Purpose CCDate gives the Control Card date code Syntax CCDate x Range 0 to 2 Default Set at factory MA950 LR 3 53 CCSNum Pre defined Variable Integer Status Variable Read Only Purpose CCSNum gives the Control Card serial number Syntax ccsNum x Range 0 to 27 Default Set at factory 3 54 MA950 LR E _ A Ccwlnh Pre defined Variable Integer Purpose CcwInh indicates the current state of the CCWINH Inhibit Input It can also be used as an interrupt source Syntax x CcwInh Range Oorl Units none Default none MA950 LR 3 55 Ccwot Pre defined Variable Integer Purpose Ccwot sets the counter clockwise software overtravel limit When the position of the motor becomes more negative than this limit a counter clockwise overtravel interrupt will occur if that interrupt is active Syntax Ccwot x Range 134 217 728 to 134 217 727 resolver counts Units resolver counts Default 0 3
110. d1 by 2 operand2 number of times 3 274 MA950 LR SHRA Arithmetic Right Shift Operator Purpose Arithmetic Right Shift Operator Syntax result operandl SHRA operand2 Guidelines This operator performs an arithmetic right shift of operand1 by operand2 number of places This is equivalent to dividing operand by 2 operand2 number of times MA950 LR 3 275 SHRL Logical Right Shift Operator Purpose Logical Right Shift Shift Operator Syntax result operandl SHRL operand2 Guidelines This operator performs a logical right shift of operand1 by operand2 number of places In a logical right shift zeros are shifted in from the left 3 276 MA950 LR Sin Function Purpose Sin x returns the sine of x where x is in radians Syntax y Sin x Guidelines x must be in radians To convert from degrees to radians multiply by 0 017453 MA950 LR 3 277 Space Function Purpose Space returns a string of n spaces Syntax result Space n n is 0 to 255 Guidelines n is rounded to an integer before Space is evaluated Related String instructions Example x Space 2 hello Space 6 print x prints hello 3 278 MA950 LR Sqr Function Purpose Sqr returns the square root of a numeric expression Syntax result Sqr x Guidelines x must be greater than or equal to zero Example x 10 print Sqr x prints 3 162278 MA950 LR 3 279
111. defined Variable Integer 16 000 000 3 73 rpm sec DecelRate Pre defined Variable Integer 10 000 rpm sec 3 74 DeclareCam Statement 3 75 Dim Statement 3 76 Dir Pre defined Variable Integer 0 3 77 DM1F0 Pre defined Variable Integer 1 000 Hz 3 78 DM1Gain Pre defined Variable Float 0 6667 3 79 DM1Map Pre defined Variable Integer 9 3 80 DM1Out Pre defined Variable Float 3 81 Status Variable Read Only DM2F0 Pre defined Variable Float 1 000 Hz 3 82 DM2Gain Pre defined Variable Float 2 0 3 83 MAQ950 LR Name Type Default Value Page DM2Map Pre defined Variable Integer 1 3 84 DM2Out Pre defined Variable Float 3 85 Status Variable Read Only Enable Pre defined Variable Integer 0 3 86 Enabled Pre defined Variable Integer 3 87 Read Only EnablePLSO Pre defined Variable Integer 0 3 88 EnablePLS7 EncFreq Pre defined Variable Float 3 89 Status Variable Read Only EncIn Pre defined Variable Integer 1024 3 90 EncInF0O Pre defined Variable Float 800 000 3 91 EncMode Pre defined Variable Integer 0 3 93 EncOut Pre defined Variable Integer 1024 3 94 EncPos Pre defined Variable Integer 3 95 EncPosModulo Pre defined Variable Integer 0 3 96 End Statement 3 97 Err Pre defined Variable 3 98 Exit Statement 3 100 Exp Function 3 101 ExtFault Pre defined Variable Integer 3 102 Status Variable Fault Pr
112. e Guidelines Related instructions MA950 LR WhenPosition records the value of Position when the WHEN condition is satisfied x WhenPosition resolver counts 134 217 728 to 134 217 727 The WHEN condition is checked once per millisecond When Statement Position 3 319 WhenRespos Pre defined Variable Integer Status Variable Read Only Purpose Syntax Units Range Guidelines Related instructions 3 320 WhenRespos records the value of Respos when the WHEN condition is satisfied x WhenRespos resolver counts 0 CountsPerRev The WHEN condition is checked once per millisecond When Statement Respos MA950 LR WhenTime Pre defined Variable Float Status Variable Read Only Purpose Syntax Units Range Guidelines Related instructions MA950 LR WhenTime records the value of Time when the WHEN condition is satisfied x WhenTime seconds 0 2 147 483 24 8 days The WHEN condition is checked once per millisecond When Statement Time 3 321 While Wend Statement Purpose Executes a series of statements for as long as the condition after the WHILE is True Syntax While condition lt Statement block Wend Guidelines While Wend statements may be nested Each Wend is matched to the most recent While Unmatched While or Wend statements cause compile time errors Related Exit For Next instructions Example Time 0 Whi
113. e default units When RemoteFB is equal to 1 or 2 Encpos becomes Read Only and the variable Position becomes Read Write Use PosCommand to change the value of Encpos in this configuration RemoteFB is Read Only when the drive is enabled If you attempt to change the value of RemoteFB with the drive enabled it will be ignored MA950 LR 3 257 ResPos Pre defined Variable Integer Status Variable Read Only Purpose ResPos Resolver Position is the absolute mechanical orientation of the resolver relative to the motor housing Syntax x ResPos Units Resolver Counts 1 Resolver count 1 65536 rev Range 0 to 65535 Guidelines Respos varies from zero to maximum range and then back to zero as the motor rotates positive through one complete revolution Related PosPolarity instructions 3 258 MA950 LR Restart Statement Purpose Syntax Guidelines Related instructions MA950 LR Restart causes program execution to begin again from the beginning of the program Restart is the only way to exit from an Error Handler routine Any interrupts WHEN statements or loops in progress will be aborted Note RESTART does not clear the user program variables or by itself change any program variables any pre defined variables or have any effect on motor motion Restart If the RESTART statement is used to exit from a user error handler then an infinite loop will occur if the error condition is not cleared A
114. e y must be less than 1000 This statement allocates memory for the cam table You don t have to put in as many points as you declare but you can t put in more points CreateCam AddPoint ActiveCam To declare cam 1 with 10 points the statement is DeclareCam 1 10 Note The DeclareCam statement must appear before main SDeclareCam 1 10 main Dim Statement Purpose The DIM statement is used for declaring variables before use All variables except pre defined variables must be declared before they can be used The DIM statement may also be used to specify that a global variable is non volatile When the controller is power cycled non volatile variables retain the value present when the controller was powered down All other user variables are initialized to zero Syntax Dim varl var2 as type NV where type is INTEGER 32 bit integer FLOAT IEEE single precision float STRING default length is 32 characters Guidelines The default length for strings can be overridden by following the STRING type designator with a see example See the examples for how to use DIM to dimension an array Related Static instructions Example Dim x y Z as Integer NV 3 non volatile integers Dim q as float 1 floating point Dim Arrayl 4 5 as integer a 4x5 array Dim A as String 50 a 50 character string 3 76 MA950 LR gt E gt gt E gt E gt E gt E E E gt gt gt gt E E
115. e 8 Float File end 3 326 MA950 LR WritePLC5Integer Statement Purpose Syntax Guidelines Related instructions MA950 LR WritePLCSInteger writes the specified 16 bit element to the specified integer file on the specified PLCS When this function is encountered in the OC950 program the OC950 will send the appropriate message to the SLC500 connected to the OC950 s serial port and wait for an acknowledgement ACK If there is no valid response then the OC9S50 will set the status variable ABErr appropriately Note This feature is only available in the Enhanced OC950 Firmware WritePLC5Integer node address file number element number value You must first set RuntimeProtocol to 5 Allen Bradley DF1Protocol before using this function Other communication parameters baudrate and ABCrc on the SC950 must match the corresponding parameters on the PLC ReadPLC5Integer ReadPLC5Binary ReadPLC5Float WritePLC5Binary WriteSLC5Float 3 327 WritePLC5Integer continued Example The following program writes an integer to the PLCS Note that all communication settings on both devices SC950 and PLCS must match main dim PLC5Speed as integer runtimeprotocol 5 Allen Bradley DF1 protocol baudrate 19200 baudrate MUST match PLC setting abere 1 Set check to CRC MUST match PLC setting PLC5Speed 1234 WritePLC5Integer 5 7 19 PLC5Speed PLCS File 7 Integer
116. e GoAbs e GoHome e Golncr e GoVel e Out0 Out20 0 1 e Ratio value e UpdMove Guidelines The When condition is checked every 1 millisecond At the instant within 1 msec that the when condition is satisfied the values of the following variables are strobed into special when variables e Encpos WhenEncPos e PosCommand WhenPosCommand e Position WhenPosition e ResPos WhenResPos e Time WhenTime Related WhenEncPos WhenPosCommand WhenPosition WhenResPos instructions WhenTime Example When Inp0 1 continue When EncPos gt 10000 Out3 1 When Time gt 5 6 Ratio 2 2 3 316 MA950 LR WhenEncPos Pre defined Variable Integer Status Variable Read Only Purpose WhenEncPos records the value of EncPos when the WHEN condition is satisfied Syntax x WhenEncPos Units encoder counts Range 2 147 483 648 to 2 147 483 647 Related When Statement EncPos instructions MA950 LR 3 317 WhenPosCommand Pre defined Variable Integer Status Variable Read Only Purpose Syntax Units Range Guidelines Related instructions 3 318 WhenPosCommand records the value of PosCommand when the WHEN condition is satisfied x WhenPosCommand resolver counts 134 217 728 to 134 217 727 The WHEN condition is checked once per millisecond When Statement PosCommand MA950 LR WhenPosition Pre defined Variable Integer Status Variable Read Only Purpose Syntax Units Rang
117. e cam table for Cam 1 needs to have been already declared and created CamCorrectDir 2 ActiveCam 1 CamMaster Pre defined Variable Integer Purpose Syntax Range Default Guidelines Related instructions CamMaster is used to specify the source of the input to the cam table for cam profiling Note This feature is only available in the Enhanced OC950 Firmware CamMaster x 0 1 2 0 real encoder virtual encoder CamMaster can be given one of the following values 0 Encpos vmEncpos 1 vmEncpos only Encpos is ignored 2 Encpos only vmEncpos is ignored CamMasterPos MA950 LR CamMasterPos Pre defined Variable Integer Read Only Purpose CamMasterPos gives the value of the master position presently being used as the input to the cam table The value of CamMasterPos depends upon Encpos vmEncpos and CamMaster as follows Value of Value of Cam Master CamMasterPos is 0 vmEncpos Encpos 1 vmEncpos 2 Encpos Note This feature is only available in the Enhanced OC950 Firmware Syntax x CamMasterPos Units encoder counts Range 0 EncposModulo Related CamMaster Encpos vmEncpos instructions MA950 LR 3 51 CamSlaveOffset Pre defined Variable Integer Read Only Purpose Syntax Units Range Guidelines CamSlaveOffset indicates the offset or difference between PosCommand and the position command that is calculate
118. e defined Variable Integer 3 103 Mappable Output Function FaultCode Pre defined Variable Integer 3 104 Status Variable Read Only MA950 LR 2 5 Name Type Default Value Page FaultReset Pre defined Variable Integer 0 3 106 Mappable Input Function Fix Function 3 107 For Next Statement 3 108 Function Statement 3 109 FVelErr Pre defined Variable Float 3 111 Status Variable Read Only FwV Pre defined Variable Integer 3 112 Status Variable Read Only GearError Pre defined Variable Integer 3 113 Gearing Pre defined Variable Integer 0 3 115 GearLock Pre defined Variable Float 3 116 Read Only GetMotor Function 3 118 GoAbs Statement 3 119 GoAbsDir Pre defined Variable Integer 3 3 120 GoHome Statement 3 122 GolIncr Statement 3 123 Goto Statement 3 124 GoVel Statement 3 125 Hex Function 3 126 HSTemp Pre defined Variable Float 3 127 Status Variable Read Only HwV Pre defined Variable Integer 3 128 Status Variable Read Only 2 6 MA950 LR Name Type Default Value Page ICmd Pre defined Variable Float 3 129 Status Variable Read Only IFB Pre defined Variable Status 3 130 Variable Read Only If Then Else Statement 3 131 ILmtMinus Pre defined Variable set up 3 132 Integer NV Parameter ILmtPlus Pre defined
119. eOffset 3 52 DM2Gain 3 83 CCDate 3 53 DM2Map 3 84 CCSNum 3 54 DM2Out 3 85 CcewInh 3 55 Ccwot 3 56 Chr8 3 57 E Cint 3 58 Enable 3 86 Cls 1 15 3 59 Enabled 3 87 CmdGain 3 60 EnablePLSO 7 3 88 CommEnb l 3 61 EncFreq 3 89 CommOff 3 62 EncIn 3 90 CommSrc 3 63 EncInFO 3 91 ConfigPLS 3 64 EncMode 3 93 Const 1 15 3 65 EncOut 3 94 Constant definitions 1 4 1 5 EncPos 3 95 Cos 3 66 EncPosModulo 3 96 CountsPerRev 3 67 End 3 97 CreateCam 1 52 3 68 Err 3 78 3 98 Cwlnh 3 70 Exit 1 16 3 100 Cwot 3 72 Exp 3 101 Index 2 MA950 LR Expressions 1 29 Arithmetic 1 29 HexS TT o N pe Hexadecimal constants 1 13 umeric Operators 1 HST 3 127 String Operator 1 32 a AIr ExtFault 3 102 IR 3 154 Fault 3 103 Is aes FaultCode 3 104 IT na o o ic ad ee ae it i Identifiers 1 10 conti 1213 If Then Else 1 21 3 131 For Next 1 17 3 108 UE 3 130 Function 1 18 3 109 TLmtMinus 3 132 Functions 1 7 ILmtPlus 3 133 Built In 1 27 IndexDist 3 135 Definition 1 9 Inkey 3 136 Invocation 1 32 Inp0 Inp20 3 137 FVelErr 3 111 InPosition 3 138 FwV 3 112 InPosLimit 3 139 Input 1 22 3 140 Inputs 3 141 Instr 3 142 GearError 3 113 Int 3 143 Gearing 3 115 Interrupt 1 22 GearLock 3 116 Interrupt Handlers 1 7 GetMotor 3 118 Definition 1 10 lobal iabl 1 2 1 4 Interrupt a 1 19 3 119 End Interrupt 3 144 GoAbsDir 3 120 Intr source 3 146 GoHome 1 20 3 122 Ipeak 3 149 ItFO 3 150 Golncr 1 20 3 123 Got 1 21 3 124 ItFilt 3 129 3
120. earch defaults to position 1 LCASE str str returns lower case copy of arg LEFT str n str returns n leftmost chars of str LEN str int returns length of str in bytes LTRIM str str trim leading spaces MID str n m str returns substring starting at position n for up to to m bytes OCT n str octal string representation of arg RIGHT str n str rightmost n chars of str RTRIM str str trim trailing spaces SPACE n str returns a string of n spaces STR n str decimal string representation of str STRING n str str return n copies of first char of str STRING n ch str return n copies of char TRIM str str trim leading AND trailing spaces UCASE str str returns upper case copy of arg VAL str numeric returns numeric value of str 1 28 MA950 LR Pre defined variables and commands The 950BASIC language is augmented by a set of pre defined variables whose purpose is to set motor specific control parameters and by a set of pre defined commands whose purpose is to control the motor For example AccelRate DecelRate and RunSpeed are typically used to set the acceleration rate deceleration rate and commanded motor speed for the next commanded move AccelRate 1000 0 DecelRate 1000 0 RunSpeed 500 0 GoVel The program fragment above sets up the relevant motion parameters and commands the motor to move in velocity mode You cannot create variables or function names etc
121. ecause they evaluate to a numeric value i e it makes no sense to say a b c It is sensible to say x a b x is assigned the value TRUE if a is the same as b and false otherwise 1 8 Function Invocation A function invocation is denoted in the following manner var func argl arg2 argn The arguments are passed by value i e modifications made to the formal parameters inside a function are not reflected in the actuals Arrays are also passed by value to functions Arrays can not be returned by a function 1 32 MA950 LR INCLUDE MA950 LR A function of no arguments is invoked by using the function name alone For example if func_none takes no arguments then func none is correct and func_none is invalid The return value of a function may not be ignored by the caller If the return value of a function is regularly ignored the function should be rewritten as a subroutine which is simply a function with no return value The INCLUDE directive is used to textually include one file in another The syntax is described above The INCLUDE facility is a simple powerful way to create a consistent family of applications By including source files containing commonly used functions subroutines constant definitions aliases etc you have control over the source for each application When you change that source you can update each application simply by recompiling
122. ecelRate and RunSpeed You should note that if the master is not moving or if the slave position profile in the cam table doesn t require cam motion when the cam Is activated then the speed synchronization will occur instantly and the correction move will be executed as soon as the cam is activated Note This feature is only available in the Enhanced OC950 Firmware ActiveCam x 0 8 ActiveCam continued Guidelines Related instructions Example 3 14 ActiveCam is automatically set to zero i e any cam is disengaged when the drive is disabled The correction move can be disabled Set CamCorrectDir 3 You must declare and create a cam table before you make it active If RunSpeed is equal to zero when you set ActiveCam then a run time error will be generated because the correction move cannot be performed CamCorrectDir In the following example a cam is declared created and activated DeclareCam 1 5 allocate space for cam 1 5 points main CreateCam 1 start the cam create block AddPoint 0 0 AddPoint 200 100 AddPoint 400 200 add the points AddPoint 600 300 AddPoint 800 400 End end the cam create block Enable 1 enable the motor EncPosModulo 800 set EncPosModulo to master counts cycle PosModulo 400 set PosModulo to slave SC950 counts cycle EncPos 0 clear the counter ActiveCam 1 activate cam 1 End MA950 LR AddPoint State
123. ed Randomize instructions 3 226 MA950 LR Random continued Example The following program illustrates this by printing two identical random number sequences followed by a different random number sequence The first two sequences are identical because the seed is the same for each sequence The third uses the default value of the randomize argument to force the system to seed the random number generator with the current time main dim i as integer randomize 1 for i 1 to 5 print random next i print randomize 1 for i 1 to 5 print random next i print randomize for i 1 to 5 print random next i end MA950 LR 3 227 Randomize Statement Purpose Randomize x initializes the random number generator It has an optional floating point argument to specify the initial seed If the optional argument is not present the system will use the current time as the seed Given the same initial seed any two sequences of random numbers will be identical Syntax Randomize x Guidelines Use Random to get a random number Related Random instructions 3 228 MA950 LR Randomize continued Example The following program illustrates this by printing two identical random number sequences followed by a different random number sequence The first two sequences are identical because the seed is the same for each sequence The third uses the default value of
124. ed on the DF1 peer to peer communications protocol The Allen Bradley DF1 functionality allows the SC950 to communicate with other devices supporting AB DFlon a peer to peer basis The SC950 is capable of responding to messages initiated by other devices unsolicited commands as well as initiating messages to read and write registers on other devices solicited commands The SC950 support communications with the following Allen Bradley PLCs e SLC500 family of processors both solicited and unsolicited commands e PLCS family of processors solicited commands only the SC950 can initiate read write commands but will not respond to read write commands initiated by the PLCS Other devices supporting Allen Bradley DF1 Serial Communications protocol may also be able to communicate with the SC950 Procedure To establish Allen Bradley DF1 communications between the SC950 and another device 1 The SC950 comm port J51 must be wired to the other device properly 2 All the software communication settings on both devices must match For more detail see ABCrc BaudRate and RuntimeProtocol In general the settings on the following page are appropriate MA950 LR 1 47 Allen Bradley DF1 settings Related instructions 1 48 The following table lists the settings necessary for AB DF1 SC950 Other Device Mode RunTimeProtocol 5 Full Duplex BaudRate 19200 19200 Data Bits n a 8 Sto
125. edefined variable MBEtr to indicate the source of the error The register address passed to this function is the first register address of the 32 bit integer value Note This feature is only available in the Enhanced OC950 Firmware x MBRead32 SlaveAddress RegisterAddress This is a Modbus Master function so you must set RuntimeProtocol to 3 MODBUS Master before using this function Otherwise you will get a RuntimeError Modbus Master statements and function cannot be nested If you get an Interrupt while waiting for a response to a Modbus Master statement or function then you cannot initiate another Modbus Master statement or function in the Interrupt Handler If you do so then you will get a Runtime Error 36 There is not complete standardization on the format of long integer 32 bit numbers among all MODBUS devices You may need to set MB32WordOrder to 0 its default value is 1 in order to properly receive long integer 32 bit numbers from a MODBUS slave Please refer to Section 1 11 Using an OC950 as a Modbus Master MBReadBit MBRead16 MBRead32 MBReadFloat MBWriteBit MBWritel6 MBWrite32 MBWriteFloat MB32WordOrder MBFloatWordOrder MBErr MBRead32 continued Example 3 188 This example reads a long integer value from registers 40003 and 40004 on the MODBUS slave at address 5 and puts the value in IndexDist In this example the MODBUS slave sends long integer data low word first so
126. either a Modbus master or as a Modbus slave In either case there must be a program running on the OC950 in order for it to communicate on Modbus When there is no program running on the OC950 the OC950 communicates using its native protocol There are two fundamental data types defined by Modbus bits and registers Bits contain one bit of information In the Modbus address space bits may be located at addresses 1 9999 0x references and 10001 19999 1x references In Modbus terminology bits are called either coils 0x references or inputs 1x references Inputs are read only meaning that the master can read the value of these bits but cannot write a new value to them Coils are read write An MMI or touchscreen could use a bit reference to read the value of the OC950 s Moving pre defined variable or to write a new value to the Dir variable Registers contain 16 bits of information In the Modbus address space registers may be located at addresses 30001 39999 3x references and 40001 49999 4x references In Modbus terminology registers are called either Input Registers 3x references or Holding Registers 4x references Input Registers are read only the master can read the value of these registers but cannot write a new value to them Holding Registers are read write Examples of using register references include an MMI or touchscreen using a register reference to read the value of Velocity or write a new value to IndexDis
127. entioned in an earlier section constant definitions are completely folded at the point of definition which makes for more efficient code Constant expressions inside 9SOBASIC statements are also folded under certain conditions For example in the statement const PI 3 1415926535 main print PI 2 end main the value of PI 2 is not computed at run time it has already been detected as a constant value and pre computed by the compiler as a single literal constant to be printed Similarly the literal constant 3 4 PI in x 3 4 PI x is folded at compile time leaving only one multiplication to be performed at run time 1 35 However certain constant expressions will not be folded For example the computation of x 3 PI x 4 will be done at run time involving 3 multiplications This is because the analysis of constant expressions does not attempt to exploit algebraic commutativity laws Since the basic arithmetic operators are left associative you can ensure the best performance by grouping constant factors together towards the left or using a new constant definition If a function is not referenced transitively from MAIN plus any interrupt handlers the compiler does not generate code for it So you can freely include libraries with code that is not used e g a comprehensive library that contains functions supporting several possible axis configurations Although the compiler will still
128. equency for the analog input channel J4 1 to J4 2 Syntax ADFO x Units Hertz Range 0 01 to 4 17e7 Default 1 000 Hertz Guidelines ADFO is the corner frequency in Hz of the single order low pass filter The purpose of the filter is to attenuate the high frequency components from the digitized input signal Decreasing ADFO lowers the response time to input changes but it also increases the effective resolution of AnalogIn ADFO0 AnalogIn Effective Bits LSB Size Max 14 1 6 mV 150 16 0 4 mV 10 18 0 1 mV MA950 LR 3 17 ADOffset Pre defined Variable Float Purpose ADOffset adjusts the steady state value of the analog command input Syntax ADOffset x Units Volts Range 15 to 15 Default 0 volts Guidelines AnalogIn is equal to the differential voltage between J4 1 and J4 2 plus the ADOffset 3 18 MA950 LR Alias Statement Purpose Syntax Guidelines Related instructions Example MA950 LR Alias allows you to define your own names for system resources such as Input or Output pins Alias lt name gt lt expression gt ALIAS is much more powerful than CONST Constant expressions are computable at compile time whereas an alias has a value that may only be known at the time that it is being used For this reason ALIASes should be used with care too much aliasing can make it very difficult for you to read your own program Const Alias
129. er WriteSLC5Float 3 241 ReadSLC5integer continued Example The following program reads an integer from a SLC500 PLC It then sets RunSpeed to twice the integer read from the SLC500 Note All communication settings on both devices SC950 and SLC500 must match main dim SLC5Speed as integer runtimeprotocol 5 Allen Bradley DF1 Protocol baudrate 19200 baudrate MUST match PLC setting aberc 1 Set check to CRC MUST match PLC setting SLC5Speed ReadSLC5Integer 5 7 19 SLC500 File 7 Integer File RunSpeed SLC5Speed 2 end 3 242 MA950 LR Reg1HiEncpos Pre defined Variable Integer Read Only Purpose Syntax Units Range Default Guidelines Related instructions MA950 LR Reg1HiEncpos contains the latched value of the encoder counter EncPos when the Reg input J4 10 captured its last low to high registration event Note RegControl must be set to 0 in order for Reg HiEncpos to be latched x ReglHiEncpos encoder counts none Set Reg1HiFlag to 0 to arm the registration latch RegControl ReglHiFlag ReglLoEncpos 3 243 Reg1HiFlag Pre defined Variable Integer Purpose Syntax Units Range Default Guidelines Related instructions 3 244 Reg1HiFlag is used to arm and monitor the Reg1Hi registration data latches Set ReglHiFlag to zero to arm the latches i e prepare them to capture data at a registration transition T
130. eral configuration parameter allowing you to have the same program in different drives that behaves differently on some of them depending upon what value the DIP switch is set to x AxisAddr none 1 to 255 Set by Address DIP Switch S1 on OC950 Every OC950 in a PacLAN network must have a unique address Band Operator Purpose Band performs a bitwise AND of two integer expressions Syntax result x Band y Guidelines The Band operator performs a bitwise And operation on the two numeric expressions The expressions are converted to integers 32 bits before the Band operation takes place For each of the 32 bits in the result the bit will be set to 1 if and only if the corresponding bit in both of the arguments is 1 Example x 45 0010 1101 binary y 99 0110 0011 binary print x Band y prints 33 0010 0001 3 32 MA950 LR BaudRate Pre defined Variable Integer Purpose Syntax Range Default Guidelines MA950 LR BaudRate specifies the baudrate used on the OC950 Serial Port It can be set to either 19200 or 9600 baud BaudRate x 9600 or 19200 19200 When you configure your OC950 to communicate at 9600 baud it will communicate at this baudrate while the program is running and when the program is stopped Therefore it is essential that you also configure the 9SOIDE software on your PC to communicate at the same baudrate Once you configure your OC950 to communicate at 9600 bau
131. erc 1 Set check to CRC MUST match PLC setting SLC5Speed ReadSLC5Binary 5 3 19 SLC500 File 3 Binary File IndexDist SLC5Dist 2 end 3 238 MA950 LR ReadSLC5Float Pre defined Function Purpose Syntax Guidelines Related instructions MA950 LR ReadSLCS5Float reads the specified element 32 bits from the specified Floating file on the specified SLC500 When this function is encountered in the OC950 program the OC950 will send the appropriate message to the SLC500 connected to the OC950 s serial port and wait for the response If there is a valid response then the OC950 will put the data in the appropriate variable i e the variable on the left hand side of the equals sign If there is no valid response then the OC950 will set the status variable ABErr appropriately Note This feature is only available in the Enhanced OC950 Firmware x ReadSLC5Float SLC500 address file number element number You must first set RuntimeProtocol to 5 Allen Bradley DF1 Protocol before using this function Other communication parameters baudrate and ABCrc on the SC950 must match the corresponding parameters on the PLC ReadSLC5Integer ReadSLC5Binary WriteSLC5Integer WriteSLC5Integer WriteSLC5Binary 3 239 ReadSLC5Float continued Example The following program reads a float from a SLC500 PLC It then sets RunSpeed to 2 55 value read from the SLC500 Note All commu
132. errupt Laninterrupt On Error Goto 1 22 Input prompt string input variable Input reads a character string received by the serial communications port terminated by a carriage return As an option the prompt message is transmitted when the Input statement is encountered If the prompt string is followed by a semicolon then a question mark will be printed at the end of the prompt string If a comma follows the prompt string then no question mark will be printed Interrupt Interrupt Source Name program statements End Interrupt As per manual except that interrupt handlers may now be located anywhere in the program text e g before main Laninterrupt axis Laninterrupt invokes an interrupt to the PacLAN controller specified by AXIS Note This command is only available with PacLAN controllers On Error Goto Error Handler Name or On Error Goto 0 When a firmware runtime error condition takes place Error Handler Name is called the error handler is de installed and an internal flag in error handler is set Any subsequent runtime error including attempting to set the error handler or return from the On Error handler causes an immediate Stop On Error Goto 0 disables the current On Error handler if an error occurs when no error handler is installed Stop is invoked MA950 LR Pause Print Examples Restart MA950 LR Pause Pause_ Time causes the prog
133. es this value based upon the specified motor and drive Guidelines ARFI is the corner frequency in Hz of one of two single order low pass anti resonant filters or if ARFO is lt 0 then ARF1 is the Q of the under damped pole pair The purpose of the anti resonant filters is to attenuate the velocity gain at the mechanical resonant frequency Related ARFO ARZO ARZ1 instructions MA950 LR 3 25 ARZO Pre defined Variable Float Purpose Syntax Units Range Default Guidelines Related instructions ARZO is the first velocity loop compensation zero ARZO x Hertz 20 to 1e5 le5 to 35 0 Hertz ARZO is generally not needed and should be set to 0 which eliminates it entirely For very demanding compensation schemes it can be used to add lead compensation or with ARZ1 to add a notch filter ARZO positive sets the zero frequency in Hz and if lt 0 sets the under damped zero pair frequency in Hz ARFO ARF1 ARZ1 MA950 LR ARZ1 Pre defined Variable Float Purpose ARZO is the second velocity loop compensation zero Syntax ARZ1 x Units Hertz Range 20 to 1e6 100 to 100 Q Default 0 Hertz Guidelines ARZ1 is generally not needed and should be set to 0 which eliminates it entirely For very demanding compensation schemes it can be used to add lead compensation or with ARZO to add a notch filter ARZ1 sets the zero frequency in Hz or if ARZO is set lt 0 then ARZ1 sets the under damped zero pair Q
134. f EncMode Description 0 Selects quadrature encoder pulses 1 Selects step and direction input signals 2 Selects up down input signals Ignores input signal EncPos value held MA950 LR EncOut Pre defined Variable Integer Purpose EncOut selects the resolution of the incremental shaft position output port J4 14 J4 15 J4 16 J4 17 and J4 19 J4 20 Syntax EncOut x Units Emulated encoder line count Range 0 128 256 512 1024 2048 4096 8192 16384 125 250 500 1000 2000 4000 8000 16000 Default 1024 Guidelines EncOut 0 cross connects the Encoder input J4 21 J4 22 and J4 23 J4 24 to the Encoder output to provide buffering CH Z out J4 19 J4 20 is held fixed for EncOut 0 3 94 MA950 LR EncPos Pre defined Variable Integer Purpose Syntax Units Range Default Guidelines Related instructions MA950 LR EncPos indicates the position of the external encoder For example with a 1024 line count encoder each increment of EncPos is equal to 1 4096 of a revolution of the encoder shaft If Encoder Position Modulo functionality is active i e EncPosModulo not equal to 0 the EncPos will be automatically reset to zero every time it reaches the modulo value x Encpos or Encpos x encoder counts 2 147 483 648 to 2 147 483 648 or 0 to EncPosModulo 1 none EncPos is not affected by the value of EncIn EncMode must be set to
135. f the program and add new variables to the end of that section The format of a constant declaration is lt name gt lt constant_expression gt as in const ARRAY SIZE 4 NUMBER_OF_ENTRIES const PI_SQUARE 3 1415926535 2 const GREETING Hello const SALUTATION GREETING world const NUMBER _OF_ ENTRIES 5 Alias definitions Names for constants follow the same rules as variable names see below Forward definitions are allowed circular definitions are detected and reported at compile time Although it is not required you will probably find it convenient to adopt a convention of keeping all constants in UPPER_CASE so that you can easily distinguish between constants and variables in your program Constant definitions are entirely folded at compile time This means that you should always feel free to write maintainable constant expressions such as const LENGTH 3 const WIDTH 10 const AREA LENGTH WIDTH The value of AREA is computed at compile time so your program will NOT need to compute this at run time and your program will be easier to maintain if LENGTH changes at some future date An alias is just what you would expect another name for something Aliases allow you to define your own names for system resources such as input output pins The intention is to make it possible for you to use names that are meaningful to you in your particular application The format of a
136. f the specified type It is a compile time error to EXIT a construct that is not currently in scope MA950 LR For Next MA950 LR For loop_counter Start Value To End Value Step increment lt Statements Next If step increment is not specified uses 1 as the step increment If step increment is positive continues while the value of End_Value If step increment is negative continues while the value of var limit Note The loop index variable must be a simple identifier not an array element or a pre defined variable and must be a numeric variable integer or float The semantics of a for loop are defined in terms of the following transformation FOR var init TO limit STEP delta stlist NEXT var becomes var init delta_val delta limit_val limit test IF delta_val 0 AND var limit_val THEN GOTO done ELSEIF delta_val 0 AND var limit_val THEN GOTO done ENDIF stlist var var delta_val GOTO test done Note Substantially more efficient code can be generated if delta is a constant i e the default value of 1 is used or specified as an expression which can be evaluated at compile time 1 17 Function 1 18 Function function name argument list as function type Statements End Function On function entry all local variable strings are and all numeric locals are zero including all elements of local arrays If the function takes no argument
137. forward at 20 000 counts sec vmRunFreq 20000 vmDir 0 vmGovel 3 309 vmMoving Pre defined Variable Integer Read Only Purpose Syntax Range Guidelines Related instructions Example 3 310 vmMoving indicates whether or not the virtual encoder is moving 0 virtual encoder is not moving 1 virtual encoder is moving Note This feature is only available in the Enhanced OC950 Firmware vmGoVel vmGoIncr Start an incremental move on the virtual encoder vmRunFreq 10000 vmIndexDist 123456 vmGoIncr time 0 while vmMoving wend print time MA950 LR vmRunFreq Pre defined Variable Floating point Purpose Syntax Units Range Default Guidelines Related instructions Example MA950 LR vmRunFreq sets the maximum frequency allowed during an incremental vmGolIncr move and sets the commanded speed during a velocity move vmGoVel Note This feature is only available in the Enhanced OC950 Firmware vmRunFreq x encoder counts second 0 1 000 000 10 000 The resolution of vymRunFreq is 1 000 counts second vmGoVel vmDir vmGoIncr vmIndexDist This will run the virtual encoder forward at 20 000 counts sec vmRunFreq 20000 vmDir 0 vmGovel 3 311 vmStopMotion Statement Purpose vmStopMotion stops the virtual encoder vmEncpos will stay at it s present value Note This feature is only available in the Enhanced OC950 Firmware Synt
138. from there Syntax Goto Label Guidelines GOTO is NOT RECOMMENDED as a looping technique Excessive use of the GOTO statement can lead to disorganized and confusing programs Preferred looping techniques are For Next If Then Else While Wend Related On Error Goto instructions 3 124 MA950 LR GoVel Statement Purpose Syntax Guidelines Related instructions MA950 LR GoVel Go at Velocity causes the motor to move at a constant speed specified by RunSpeed and direction specified by Dir The motor speed follows a velocity profile as specified by AccelRate DecelRate and RunSpeed This profile may be modified during the move using the UpdMove statement GoVel Program execution continues with the line immediately following the GoVel statement as soon as the move is initiated Program execution does not wait until the move is complete The drive must be enabled in order for any motion to take place AbortMotion GoAbs GoHome GoIncr 125 Hex Function Purpose Hex converts an integer number to its equivalent hexadecimal ASCII string Syntax result Hex x Guidelines Hexadecimal numbers are numbers to the base 16 rather than base 10 The argument to Hex is rounded to an integer before Hex x is evaluated Related Oct Str instructions Example dim x y as integer dim result1 result2 as string x 20 y amp H6A result1l Hex x result2 HexS y
139. g a Pause statement Related Time instructions Example for x 0 1 to 2 0 step 0 1 Outo 1 Pause x Outd 0 Pause x next 3 214 MA950 LR PoleCount Pre defined Variable Integer NV Parameter Purpose Syntax Units Range Default Guidelines AN MA950 LR PoleCount matches the drive for the appropriate motor pole count or encoder quadrature counts per motor cycle PoleCount x motor poles 2 to 65534 even numbers only 1 to 65535 Encoder Counts per electrical cycle Parameter value specified in the Params End Params section of your program The 950 IDE New Program function calculates this value based upon the specified motor and drive For CommSrc 0 PoleCount sets the number of motor poles For CommSrc 1 PoleCount sets the number of encoder quadrature counts per motor electrical cycle Note Set CommSrc before writng to PoleCount Warning When the PoleCount set does not match the actual pole count the motor s operation will be erratic 3 215 PosCommand Pre defined Variable Integer Purpose Syntax Units Range Guidelines Related instructions Example 3 216 PosCommand Position Command contains the current position command The value of PosCommand is affected by PosModulo and PosPolarity PosCommand x resolver counts 134 217 728 to 134 217 727 PosCommand can be used to determine the position being commanded You can write to PosComma
140. gister Note This feature is only available in the Enhanced OC950 Firmware SABMapInteger x MyVar x register number MyVar Predefined or global user defined integer variable Only needed when the SLC500 initiates read write transactions from to the SC950 ABInfo Block This example maps a pre defined variable IndexDist and a global user variable MyInt to SC950 Allen Bradley Integer file registers IndexDist is mapped to Register 1 of the SC950 Integer file MyInt is mapped to Register 27 of the SC950 Integer file Dim MyInt as integer ABInfo SABMapInteger 1 IndexDist SABMapInteger 27 MyInt End AbortMotion Statement Purpose AbortMotion stops motor motion while allowing continued program execution Deceleration is determined by the motor torque capability in conjunction with the current limit parameters Syntax AbortMotion Example This program segment commands the motor at constant velocity until input 1 goes to a logic 0 then the motor is commanded to stop AccelRate 12000 Set acceleration rate equal to 12 000 RPM sec RunSpeed 120 Set Run speed equal to 120 RPM GoVel When Inpl 0 AbortMotion Print Move Aborted 3 8 MA950 LR Abs Function Purpose Abs x converts the associated value x to an absolute value If the value is negative it is converted to a positive value If the value is positive it is not changed Syntax result Abs x Guideline
141. he Params End Params section of your program The 950 IDE New Program function calculates this value based upon the specified motor and drive Guidelines ItThresh in conjunction with ItF0 specifies the thermal protection fault for the drive The actual I t fault threshold may be lowered if the heat sink temperature HSTemp gets too high Note The maximum value for ItThresh is limited to protect the drive s power electronics Related ItThreshA instructions 3 152 MA950 LR ItThreshA Pre defined Variable Float Status Variable Read Only Purpose ItThreshA is the maximum continuous output current as a percentage of Ipeak trip level for the I t thermal protection fault Syntax x ItThresha Units percent Range 0 to 100 Default none Guidelines ItThresh sets the desired value for ItThreshA and the two are equal for lower heat sink temperatures i e lower HsTemps At higher HSTemps ItThreshA may be lowered to protect the power stage When ItFilt exceeds ItThreshA the drive will I t fault When doing a worst case motion profile examining ItThreshA ItFilt and HSTemp will indicate how much drive thermal margin remains MA950 LR 3 153 E I R Pre defined Variable Float Status Variable Read Only Purpose LR is the measured current flowing in Motor Phase R J2 4 Syntax x IR Units Amps 3 154 MA950 LR E IS Pre defined Variable Float Status Variable Read Only Purpose LS is the meas
142. his flag will automatically be set to one when the hardware detects a low to high transition on Reg1 J4 10 ReglHiFlag x none Oor 1 0 RegControl determines what data gets latched on a Reg1 transition RegControl MA950 LR Reg1HiPosition Pre defined Variable Integer Read Only Purpose Syntax Units Range Default Guidelines Related instructions MA950 LR Reg1HiPosition contains the latched value of the motor position Position when the Reg input J4 10 captured its last low to high registration event x ReglHiPosition resolver counts none Set Reg1HiFlag to 0 to arm the registration latch RegControl 3 245 EEE SS Ee _ _ gt gt gt gt __aa_a RegiLoEncpos Pre defined Variable Integer Read Only Purpose Syntax Units Range Default Guidelines Related instructions 3 246 ReglLoEncpos contains the latched value of the encoder counter EncPos when the Reg input J4 10 captured its last high to low registration event Note RegControl must be set to 0 in order for Regl LoEncpos to be latched x ReglLoEncpos encoder counts none Set Reg1HiFlag to 0 to arm the registration latch RegControl MA950 LR SO I Reg1LoFlag Pre defined Variable Integer Purpose Syntax Units Range Default Guidelines Related instructions MA950 LR Reg1LoFlag is used to arm and monitor the Reg1Lo registration data latches
143. iable 2 2 MA950 LR Name Type Default Value pad Beep Statement 3 41 BlkType Pre defined Variable Integer 2 3 42 Bnot Operator 3 43 Bor Operator 3 44 Brake Pre defined Variable Integer 3 45 Mappable Output Function Read Only Bxor Operator 3 46 Call Statement 3 47 CamCorrectDir Pre defined Variable Integer 2 3 48 CamMaster Pre defined Variable Integer 0 3 50 CamMasterPos Pre defined Variable Integer 3 51 Read Only CamSlaveOffset Pre defined Variable Integer 3 52 Read Only CCDate Pre defined Variable Status factory 3 53 Variable Read Only CCSNum Pre defined Variable Integer factory 3 54 Status Variable Read Only Ccwlnh Pre defined Variable Integer 3 55 Ccwot Pre defined Variable Integer 0 3 56 Chr Function 3 57 Cint Function 3 58 Cls Statement 3 59 CmdGain Pre defined Variable Float 0 5 3 60 MA950 LR Name Type Default Value Page CommEnbl Pre defined Variable Integer 1 3 61 Control Variable CommOff Pre defined Variable Float set up 3 62 NV Parameter CommSre Pre defined Variable Integer 0 3 63 ConfigPLS Statement 3 64 Const Statement 3 66 Cos Function 3 67 CountsPerRev Pre defined Variable Integer 4096 3 68 CreateCam Statement 3 69 CwlInh Pre defined Variable 3 71 Cwot Pre defined Variable 3 72 DecelGear Pre
144. ied by TargetPos This position is based on a zero position at electrical home The motor speed follows a velocity profile as specified by AccelType AccelRate and DecelRate Direction of travel depends on current position and target position only DIR has no effect Note The program does not wait for GoAbs completion After the program initiates this move it immediately goes to the next instruction Variables may be changed during a move using UpdMove 1 19 GoHome Golncr GoVel 1 20 GoHome moves the motor shaft to the electrical home position Position 0 The motor speed follows a velocity profile as specified by AccelRate RunSpeed and DecelRate Note The program does not wait for GoHome completion After the program initiates this move it immediately goes to the next instruction GoHome performs the same action as setting TargetPos to zero and executing a GoAbs function Golncr Go Incremental moves the motor shaft an incremental index from the current position Distance as specified in IndexDist may be positive or negative The motor speed follows a trapezoidal velocity profile as specified by AccelType AccelRate RunSpeed and DecelRate Note The program does not wait for motion completion After the program initiates this move it immediately goes to the next instruction Parameters may be changed during a move using UpdMove GoVel Go Velocity moves the motor shaft at a constant speed
145. igures the functionality of one of the eight Programmable Limit Switches PLS on the OC950 Syntax ConfigPLS PLSNumber StartPosition Duration ActiveLevel Source PLSNumber the PLS being configured 0 7 StartPosition the position where the PLS turns on Duration the distance for which the PLS is on ActiveLevel 0 output is set to zero when the PLS is ON 1 output is set to one when the PLS is ON Source 0 Resolver Position 1 Encoder Position Guidelines The ConfigPLS statement just configures the PLS You must enable the PLS using the appropriate EnablePLSx pre defined variable before the PLS starts executing PLSs can be used to generate position based interrupts The I O points are bi directional on the OC950 Therefore configure an Interrupt to occur on the rising falling edge of the Input IntrI0Hi associated with the Output Out0 that the PLS PLSO is controlling 3 64 MA950 LR ConfigPLS continued Related instructions Example MA950 LR EnablePLSx The statements below will configure PLSO such that Out0 will be set to 1 when Position is between 4096 and 4196 Out0 will be set to 0 at all other times ConfigPLS 0 4096 100 1 0 EnablePLSO 1 The example below will configure PLSO to generate an interrupt once during each rev of the motor Main PosModulo 4096 ConfigPLS 0 2048 500 1 0 EnablePLSO 1 Enable 1 IntrI0Hi 1 Runspeed 1000 GoVel While l wend End
146. inary File end 3 330 MA950 LR WriteSLC5Float Statement Purpose WriteSLCSFloat writes the specified 32 bit element to the specified float file on the specified SLCS500 When this function is encountered in the OC950 program the OC950 will send the appropriate message to the SLC500 connected to the OC950 s serial port and wait for an acknowledgement ACK If there is no valid response then the OC9S50 will set the status variable ABErr appropriately Note This feature is only available in the Enhanced OC950 Firmware Syntax WriteSLC5Float node address file number element number value Guidelines You must first set RuntimeProtocol to 5 Allen Bradley DF1 Protocol before using this function Other communication parameters baudrate and ABCrc on the SC950 must match the corresponding parameters on the PLC Related ReadSLC5Binary ReadSLC5Float WriteSLC5Integer instructions ReadSLC5Integer WriteSLC5Binary MA950 LR 3 331 WriteSLC5Float continued Example The following program writes a float to the SLC500 PLC float file Note that all communication settings on both devices SC950 and SLC500 must match main dim SLC5Speed as float runtimeprotocol 5 Allen Bradley DF1 protocol baudrate 19200 baudrate MUST match PLC setting abere 1 Set check to CRC MUST match PLC setting SLC5Speed 456 789 WriteSLC5Float 5 8 19 SLC5Speed SLC500 File 8 Float File end
147. ion can be passed between any two axes on a peer to peer basis This capability is supported by specific features built into the BASIC language on the OC950 PACLAN connectivity is an option and is only available on the OC950 503 01 and OC950 504 01 and OC950 603 01 and OC950 604 01 models Use ModelExt to determine what type of OC950 you have Using PACLAN you can read and write pre defined variables on any other SC950 connected to the PACLAN You can also generate interrupts on any of those axes causing them to perform specific actions Implementing a PACLAN network involves the following simple steps e Configure each SC950 on the PACLAN with a unique address using the address selection DIP switch on the OC950 card e Connect the SC950s with RG62 coax cable terminating it at both ends with a 93 ohm terminator e Develop programs for the axes that incorporate inter axis communications Note Please see Section 3 5 in MA950 0C950 Hardware and Installation Manual for cabling and hardware information MA950 LR Reading and Writing Pre defined Variables Accessing Pre defined Variables Over PACLAN Example MA950 LR PACLAN provides interaxis communication of the pre defined variables and PACLAN array variables Inter axis pre defined variables can be used in a BASIC program in exactly the same manner as local pre defined variables The SC950 will access the variables over PACLAN transparently to the user program
148. is only available in the Enhanced OC950 Firmware MBInfo lt SMBMap Statements gt End This MBInfo block is only used when you are configuring the OC950 as a Modbus Slave It is not used when you are operating as a Modbus Master There can be only one MBInfo block in a program It should be put before the Main section of the program Please refer to Section 1 11 Using an OC950 as a Modbus Slave SMBMapBit SMBMapl6 SMBMap32 SMBMapFloat 3 179 MBinfo Block End continued Example This example maps several pre defined variables and one global user variable MyFloat to Modbus registers MBInfo SMBMapBit 1l Dir SMBMap16 40001 IndexDist SMBMap32 40002 Position SMBMap32 40004 MyFloat SMBMapFloat 40006 RunSpeed Dim MyFloat As Float Main RuntimeProtocol 2 3 180 MA950 LR MBMapBit Statement Purpose Syntax Guidelines Related instructions Example MA950 LR MBMapBit maps a pre defined variable or a global user variable to a Modbus Bit Register Address 0x reference or 1x reference Note This feature is only available in the Enhanced OC950 Firmware SMapBit Modbus Address Variable Name This statement is used to map a pre defined variable or a global user variable to a MODBUS address when the 950 is acting as a MODBUS slave Once a variable has been mapped and the Modbus Slave Protocol has been turned on RuntimeProtocol 2 the Modbus master can rea
149. itor in the 5 volt range Below lists units when DM1Gain 1 Monitor Scale Factor Monitor Scale Factor 0 No Effect 15 1 V Cycle 1 1 V kKRPM 16 1 V Amp 2 1 V kKRPM 17 1 V Amp 3 1 V KRPM 18 1 V Amp 4 1 V kKRPM 19 1 V 100 5 1 V Rev 20 1 V 100 6 1 V Rev 21 1 V 100 7 1 V Rev 22 1 V V 8 1 V Amp 23 1 V Rev 9 1 V Amp 24 1 V Amp 10 1 V V 25 1 V Amp 11 1 V Hz 26 1 V 100 12 10 V 4096 27 1 V 100 13 1 V 100 28 1 V KRPM 14 1 V Degree C Related DM1Map DM1FO and DM1Out instructions MA950 LR 3 79 DM1Map Pre defined Variable Integer Purpose DM1Map selects signal sent to the DAC Monitor 1 output on J4 3 Syntax DM1Map x Range 0 to 65 537 Default 9 IFB Current Feedback Guidelines See Hardware manual for definitions of mnemonics Monitor Mnemonic Monitor Mnemonic 0 AnalogOut1 16 IR 1 VelFB 17 IS 2 VelCmdA 18 IT 3 VelErr 19 VR 4 FVelErr 20 VS 5 Position 21 VT 6 PosError 22 VBus 7 PosCommand 23 ResPos 8 ICmd 24 Cmd Non Trgq Current 9 IFB 25 Non Trq IFB 10 AnalogIn 26 Trq Voltage Duty Cycle 11 EncFreq 27 Non Trq Voltage Duty Cycle 12 EncPos 28 VelCmd 13 ItFilt 65536 Clamp Off 14 HSTemp 65537 Clamp On 15 Comm Ang Will wrap around when the signal exceeds the output voltage level The value of the selected signal does not change Rela
150. ize and correctly compute the sum Because 95OBASIC checks array bounds at run time on each access there is no risk that a function will read or write outside the bounds of the array When a formal parameter to a function is an array instead of specifying the extent of each dimension a list of variables is used to both implicitly specify the number of dimensions and to hold the extent of each dimension These variables are read only they can not be modified within the function 1 34 MA950 LR Optimizations MA950 LR We recommend that you adopt a convention for assigning names to placeholders One such convention is to use the name of the array with a numerical suffix For example function f a al a2 a3 as integer as integer where al a2 and a3 are the variables that get the extents of the array a The function f above would be called as follows dim x_array 3 4 5 as integer dim y_array 1 2 10 as integer print f x_array f y_array In both invocations of f the function correctly determines the extent of each dimension of the passed array Remember that when passing an array to a function the type of the array must match EXACTLY with the type expected by the function Unlike scalar arguments which are implicitly coerced from float to int or int to float arrays are NOT coerced An attempt to pass an integer array to a function that expects a float array results in a compile time error As m
151. l length Syntax result MidS x start length Guidelines Start and length must both be numeric expressions If length is omitted then Mid returns a substring that starts at start and goes to the end of x Related Instr Left Len Right instructions Example x abcdefghi print MidS x 1 5 prints abcde print MidS x 6 prints fghi MA950 LR 3 197 Mod Operator Purpose This is the modulus or remainder operator It divides one number by another and returns the remainder Syntax x y MOD z Guidelines This MOD operator is only used in numeric expressions There is a Position Modulo value PosModulo and an encoder position modulo value EncPosModulo These are separate pre defined variables and are not related directly to the MOD operator Example print 19 MOD 5 prints 4 3 198 MA950 LR Model Pre defined Variable Integer Status Variable Read Only Purpose Model indicates the drive model number power level Syntax Model x Range 952 953 954 955 MA950 LR 3 199 ModelExt Pre defined Variable Integer Status Variable Read Only Purpose ees gives information about the type of OC950 that you ave Syntax x ModelExt Range Model Explanation 501 32K 502 128K 503 32K with PACLAN 504 128K with PACLAN 601 32K with Enhanced Features 602 128K with Enhanced Features 603 32K with PACLAN and
152. l encoder is controlled using vmGoVel and vmGolIncr Note This feature is only available in the Enhanced OC950 Firmware vmEncpos X counts 0 to EncposModulo 1 EncPosModulo is used as the modulo value for vmEncpos vmGoIncr vmGoVel vmMoving This example shows how vmEncpos is updated during a vmGolIncr move vmRunFreq 10000 vmIndexDist 100000 Time 0 EncposModulo 200000 vmEncpos 0 vmGoIncr while Time lt 12 Print Time Time vmEncpos vmEncpos vmMoving vmMoving Pause 1 wend MA950 LR vmGolncr Statement Purpose Syntax Guidelines Related instructions MA950 LR vmGolncr Go Incremental causes the virtual master to move a distance specified by vmIndexDist The virtual master runs at the frequency specified by vmRunFreq This frequency may be modified during the move by using the vmUpdMove statement Note This feature is only available in the Enhanced OC950 Firmware vmGotIncr Program execution continues with the line immediately following the vmGolncr statement as soon as the move is initiated Program execution does not wait until the move is complete The drive does not need to be enabled in order for to use the virtual master vmGoVel vmStopMotion vmUpdMove 3 307 I MMMM vmGolncr continued Example 3 308 This example moves the virtual encoder 100 000 counts at a frequency of 20 000 counts second This move will take
153. l integer constants Hexadecimal constants Floating point constants MA950 LR Decimal integer constants are a string of decimal digits with no decimal point A leading sign is optional and is parsed as a unary minus For example 1 1 314159 are all valid decimal constants Hexadecimal constants are denoted by a leading amp H or amp h and can not have a sign or decimal point Hexadecimal constants are composed from the set 0 9A Fa f upper and lower case may be mixed For example amp h00ff amp HFFOO amp H1234abcd are all valid hexadecimal constants Note Octal and binary constants are not supported Floating point constants are specified in fixed point or mantissa exponent notation A floating point constant consists of one of the following Note is not a legal floating point constant by design digit 0 9 optsign nothing fixed optsign digit gt digit optsign digit exp fixed e optsign digit float fixed exp For example 3 14159E 6 1 0E6 are all valid floating point constants 1 5 Statements AbortMotion Alias 1 14 Statements are separated by a new line CR LF or a colon The statements of the language are AbortMotion stops motor motion while allowing continued program execution Deceleration is determined by the motor torque capability in conjunction wi
154. l put the data in the appropriate variable i e the variable on the left hand side of the equals sign If there is no valid response then the OC950 will set the status variable ABErr appropriately Note This feature is only available in the Enhanced OC950 Firmware x ReadPLC5Float node address file number element number You must first set RuntimeProtocol to 5 Allen Bradley DF1 Protocol before using this function Other communication parameters baudrate and ABCrc on the SC950 must match the corresponding parameters on the PLC ReadSLC5Integer ReadPLC5Binary WritePLC5Integer WritePLC5Binary WritePLC5Float 3 233 ReadPLC5Float continued Example The following program reads a float from a PLCS binary file It then sets RunSpeed to 3 45 times the value read from the PLCS Note All communication settings on both devices SC950 and PLCS must match main dim PLC5Speed as float runtimeprotocol 5 Allen Bradley DF1 Protocol baudrate 19200 baudrate MUST match PLC setting aberc 1 Set check to CRC MUST match PLC setting PLC5Speed ReadPLC5Float 5 8 1 PLCS File 8 Float File RunSpeed PLC5Speed 3 45 end 3 234 MA950 LR ReadPLC5iInteger Pre defined Function Purpose Syntax Guidelines Related instructions MA950 LR ReadPLCSInteger reads the specified 16 bit element from the specified integer file on the specified PLCS When this functio
155. l0 x Guidelines x must be greater than 0 Related Exp Log instructions Example Print Log10 100 prints 2 Print Log10 1 prints 0 3 172 MA950 LR Ltrim Function Purpose Syntax Guidelines Related instructions Example MA950 LR Ltrim returns a copy of the original string with leading blanks removed result Ltrim x x can be any string expression Rtrim Trim x 4 Hello u print Ltrim x prints Hello 173 Main Statement Purpose Main is used to indicate the start of your program Every program begins with Main and ends with End Main This program structure is created for you automatically when you use the New Program function on the File menu Syntax Main your main program End Main Guidelines There can be only one Main and End Main in your program Related Sub Function Interrupt instructions Example Main print This is all there is to it End Main 3 174 MA950 LR MB32WordOrder Pre defined Variable Purpose MB32WordOrder specifies the word order for 32 bit double register Modbus register accesses This affects 32 bit integers The word order for floating point variables is specified by MBFloatWordOrder The setting for MB32WordOrder affects both master and slave operations Note This feature is only available in the Enhanced OC950 Firmware Syntax MB32WordOrder x Range Oorl where
156. le Time lt 5 Dir Inp0 GoVel Wend AbortMotion 3 322 MA950 LR WritePLC5Binary Statement Purpose Syntax Guidelines Related instructions MA950 LR WritePLCSBinary writes the specified 16 bit element to the specified binary file on the specified PLCS When this function is encountered in the OC950 program the OC950 will send the appropriate message to the SLC500 connected to the OC950 s serial port and wait for an acknowledgement ACK If there is no valid response then the OC9S50 will set the status variable ABErr appropriately Note This feature is only available in the Enhanced OC950 Firmware WritePLC5Binary node address file number element number value You must first set RuntimeProtocol to 5 Allen Bradley DF1 Protocol before using this function Other communication parameters baudrate and ABCrc on the SC950 must match the corresponding parameters on the PLC ReadPLC5Integer ReadPLC5Binary ReadPLC5Float WritePLC5Integer WriteSLC5Float 3 323 WritePLC5Binary continued Example The following program writes an integer to the PLCS binary file Note that all communication settings on both devices SC950 and PLCS must match main dim PLC5Speed as integer runtimeprotocol 5 Allen Bradley DF1 protocol baudrate 19200 baudrate MUST match PLC setting abere 1 Set check to CRC MUST match PLC setting PLC5Speed 1234 WritePLC5Binary 5 3 19
157. les and one global user variable MyFloat to SC950 Allen Bradley Df1 file registers IndexDist is mapped to Register 1 of the SC950 Integer file Position is mapped to Register 27 of the SC950 Integer file MyFloat is mapped to Register 9 of the SC950 Float file ABInfo SABMapInteger 1 IndexDist SABMapInteger 27 Position SABMapFloat 9 MyFloat End Dim MyFloat As Float Main RuntimeProtocol 5 MA950 LR 3 5 ABMapFloat Statement Purpose ABMapFloat maps a float variable pre defined or user defined to the SC950 Float File register Note This feature is only available in the Enhanced OC950 Firmware Syntax SABMapFloat x MyFloat X register number MyFloat Pre defined or global user defined float variable Guidelines Only needed when the SLCS500 initiates read write transactions from to the SC950 Related ABInfo Block instructions Example This example maps a predefined variable RunSpeed and a global user variable MyFIt to SC950 ABComm Float file registers RunSpeed is mapped to Register 1 of the SC950 Float file MyFit is mapped to Register 5 of the SC950 Float file Dim MyFlt as float ABInfo SABMapFloat 1 RunSpeed SABMapFloat 5 MyF1t End 3 6 MA950 LR ABMapInteger Statement Purpose Syntax Guidelines Related instructions Example MA950 LR ABMapInteger maps an integer variable pre defined or user defined to the SC950 Integer File re
158. ll respond to Modbus messages both reads and writes without any intervention from the user program You should keep in mind the following when configuring an OC950 as a Modbus slave the OC950 baud rate must match the master s See BaudRate variable the OC950 parity must match the master s See RuntimeParity the OC950 supports 1 start bit 8 data bits and 1 stop bit the OC950 does not require or support hardware handshaking If the master requires it then it must be defeated on the master 255 is not a valid Modbus slave address Setting RuntimeProtocol to 2 with an AxisAddr of 255 will cause a Runtime Error 38 Using an OC950 as a Modbus Master 1 44 The Modbus Master functionality allows an OC950 to communicate with one or more Modbus slaves You would use an OC950 as a Modbus master to communicate with a Modicon PLC or some other device which can only operate as a Modbus slave As Modbus master the OC950 would initiate all traffic on the Modbus network To use an OC950 as Modbus master you just need to set RuntimeProtocol to 3 Modbus Master and then use any of the eight Modbus functions and statements which implement Modbus master functionality If you try to use one of these functions or statements without first setting RuntimeProtocol to 3 then you ll get a Runtime Error 37 There are four Modbus statements added to the OC950 BASIC language to allow the OC950 to operate as a Modbus master to write
159. lue expression list1 is a non empty list of case defn separated by commas There can be at most one Case Else and if present it must appear as the last case It will be selected only if all other tests fail case defn can be any of the following expr expr TO expr tests inclusive closed range IS relop expr lt lt 2 gt IS expr equiv to IS expr Note Select case statements where the case defn expressions are composed solely of integer constants will be evaluated much more quickly at run time Cases involving variables must be transformed to logically equivalent if then else statements MA950 LR Static Stop Sub End Sub Swap UpdMove MA950 LR Static varl var2 as type The Static statement may be used only inside a function definition It declares variables that maintain their values across function invocations Stop stops the execution of the program Sub argument list body of the sub procedure End Sub Declare a subroutine Invoked via Call Optionally takes arguments As with Function it is illegal to provide an empty parameter list if the subroutine takes no parameters Swap X y Swaps the values of the variables The types of the two variables must be the same Does not work on arrays does work on strings UpdMove Update Move updates a move in process with new variables This allows you to change motion on the fly without having
160. m the specified MODBUS slave and returns the value read If any error occurs then this function will return zero and set the pre defined variable MBErr to indicate the source of the error Note This feature is only available in the Enhanced OC950 Firmware x MBRead16 SlaveAddress RegisterAddress This is a Modbus Master function so you must set RuntimeProtocol to 3 MODBUS Master before using this function Otherwise you will get a RuntimeError Modbus Master statements and function cannot be nested If you get an Interrupt while waiting for a response to a Modbus Master statement or function then you cannot initiate another Modbus Master statement or function in the Interrupt Handler If you do so then you will get a Runtime Error 36 Please refer to Section 1 11 Using an OC950 as a Modbus Master MBReadBit MBRead16 MBRead32 MBReadFloat MBWriteBit MBWritel6 MBWrite32 MBWriteFloat MB32WordOrder MBFloatWordOrder MBErr This example reads an integer value from register 40005 on the MODBUS slave at address 5 and puts the value in IndexDist RuntimeProtocol 3 Modbus Master RunSpeed MBRead32 5 40005 MA950 LR MBRead32 Pre defined Function Purpose Syntax Guidelines Related instructions MA950 LR This function reads a long integer 32 bits value from the specified MODBUS slave and returns the value read If any error occurs then this function will return zero and set the pr
161. me Statement Purpose GoHome causes the motor to move to the position specified where PosCommand 0 The GoHome statement is identical to a GoAbs statement with TargetPos 0 The motor speed follows a velocity profile as specified by AccelRate DecelRate and RunSpeed This profile may be modified during the move using the UpdMove statement Syntax GoHome Guidelines Program execution continues with the line immediately following the GoHome statement as soon as the move is initiated Program execution does not wait until the move is complete The drive must be enabled in order for any motion to take place Related AbortMotion GoAbs GoIncr GoVel instructions 3 122 MA950 LR ee I Golncr Statement Purpose Golncr Go Incremental causes the motor to move a distance specified by IndexDist The motor speed follows a velocity profile as specified by AccelRate DecelRate and RunSpeed This profile may be modified during the move using the UpdMove statement Syntax GoIncr Guidelines Program execution continues with the line immediately following the Golncr statement as soon as the move is initiated Program execution does not wait until the move is complete The drive must be enabled in order for any motion to take place Related AbortMotion GoAbs GoHome GoVel instructions MA950 LR 3 123 Goto Statement Purpose GOTO causes the software to jump to the specified label and continue executing
162. ment Purpose Syntax Guidelines Related instructions MA950 LR The Addpoint statement adds the specified point master position and corresponding slave position to the cam table that is being created This statement may only be used inside a CreateCam block Note This feature is only available in the Enhanced OC950 Firmware AddPoint master position slave_position You must be inside a CreateCam block to use the Addpoint statement The master position for the first Addpoint statement in a CreateCam block must always be zero The master position must always increase as you add points to the cam table There must be at least three points in your cam table SDeclareCam AddPoint continued Example 3 16 In the following example a cam is declared created and activated S DeclareCam 1 5 main CreateCam 1 AddPoint 0 0 AddPoint 200 AddPoint 400 AddPoint 600 AddPoint 800 End Enable 1 EncPosModulo 800 PosModulo 400 EncPos 0 ActiveCam 1 End 100 200 300 400 allocate space for cam 1 5 points start the cam create block add the points end the cam create block enable the motor set EncPosModulo to master counts cycle set PosModulo to slave counts cycle clear the counter activate cam 1 MA950 LR ADFO Pre defined Variable Float Purpose ADFO is the first order low pass filter corner fr
163. n alias expression is alias lt name gt lt expression gt For example the following alias defines application specific uses of input 1 alias CONVEYOR_IS RUNNING inp1 0 alias CONVEYOR_IS STOPPED inpl 1 if CONVEYOR_IS_ RUNNING then print running else print stopped An alias is much more powerful than a constant Constant expressions are computable at compile time while an alias has a value that is only known in general at the time it is used For this reason aliases should be used with care too much aliasing can make it very difficult for you to understand your program MA950 LR 1 3 Main program Subroutines Functions and Interrupt Handlers Main definition MA950 LR These sections share the same fundamental structure lt section gt lt declarations gt lt statements gt lt section end gt An example of each of these sections follows with an explanation of key points For main a typical definition might be main dim i as integer i 1 print i end main Note that the variable i defined above in the dim statement is a local variable it is not accessible to other functions and inside main its definition overrides any other variable named T that might exist at global scope Unlike global variables local variables MUST be defined at the beginning of the section they must appear before any executable statement in main For example the f
164. n is encountered in the OC950 program the OC950 will send the appropriate message to the PLCS connected to the OC950 s serial port and wait for the response If there is a valid response then the OC950 will put the data in the appropriate variable i e the variable on the left hand side of the equals sign If there is no valid response then the OC950 will set the status variable ABErr appropriately Note This feature is only available in the Enhanced OC950 Firmware x ReadPLC5Integer node address file number element number You must first set RuntimeProtocol to 5 Allen Bradley DF1 Protocol before using this function Other communication parameters baudrate and ABCrc on the SC950 must match the corresponding parameters on the PLC ReadPLC5Binary ReadPLC5Float WritePLC5Integer WritePLC5Binary WritePLC5Float 3 235 ReadPLC5integer continued Example 3 236 The following program reads an integer from a PLCS It then sets RunSpeed to twice the integer read from the PLCS Note All communication settings on both devices SC950 and PLCS must match main dim PLC5Speed as integer runtimeprotocol 5 Allen Bradley DF1 Protocol baudrate 19200 baudrate MUST match PLC setting aberc 1 Set check to CRC MUST match PLC setting PLC5Speed ReadPLC5Integer 5 7 19 PLCS File 7 Integer File RunSpeed PLC5Speed 2 end MA950 LR ReadSLC5Binary Pre defined Function
165. n the incremental encoder input connected to J4 21 through J4 24 EncInFO x Hertz 4 values depending on EncMode EncInF0 Hz Max Hardware Quad Min Hardware Pulse Count Limit Hz Width micro second 1 600 000 3 333 333 0 6 800 000 952 400 21 400 000 476 200 4 2 200 000 238 100 8 4 EncInF0 Hz Max Hardware Quad Min Hardware Pulse Count Limit Hz Width micro second 800 000 833 333 0 6 200 000 238 000 2 1 100 000 119 000 4 2 50 000 59 500 8 4 800 000 EnclinF0 continued Guidelines EncInFO0 is the maximum recommended count frequency for reliable operation If the maximum input frequency is lt EncInFO lowering it will give better noise rejection The maximum hardware count limits require ideal timing with exact 50 duty cycle perfect quadrature symmetry etc The recommended EncInF0 count takes real world signal tolerances into account With the SC900 s emulated encoder out wired to another SC900 s encoder in and EncInFO 1 600 000 Hz the count frequency can work reliably up to 2 000 000 Hz 3 92 MA950 LR eee EncMode Pre defined Variable Integer Purpose EncMode specifies the type of digital command expected at the incremental position command port Syntax EncMode x Range 0 1 2 or 3 Default 0 quadrature Guidelines EncMode replaces the SC750 pre defined variable StepDir Value o
166. nd at any time this establishes a new electrical home position where PosCommand 0 Writing to PosCommand will not affect motor motion Position PosModulo PosPolarity The following program lines set electrical home position when Inp0 goes toa 0 Dir 0 RunSpeed 100 GoVel When Inp0 0 Continue AbortMotion While Moving Wend PosCommand 0 MA950 LR PosError Pre defined Variable Integer Status Variable Read Only Purpose Syntax Units Range Guidelines MA950 LR PosError Actual Position Error is equal to the difference between the position command PosCommand and the actual position Position x PosError Counts same units as position feedback 134 217 728 to 134 217 727 This variable only makes sense for position control blocks BlkType 2 3 217 PosErrorMax Pre defined Variable Integer Purpose Syntax Units Range Default Guidelines 3 218 PosErrorMax sets the maximum value in position feed back counts for the position loop following error fault PosErrorMax X Counts same units as position feedback 0 to 294 912 000 4500 revs 40960 The following error fault compares PosError with the PosError predicted from EncFreq and Kyff and if the magnitude of the difference is larger than PosErrorMax continuously for longer than 1 second or statistically larger over half the time the drive will generate a following error fault F 1 M
167. ngs Example dim AS BS as string AS Hello BS Good bye print AS BS Swap AS BS print AS BS 3 288 MA950 LR SysLanWindow1 8 Pre defined Variable Purpose These variables provide advanced troubleshooting information about the ARCNET network SysLanWindowX Description SysLanWindowl Number of Messages initiated by this node SysLanWindow2 Number of messages processed by this node SysLanWindow3 Number of broadcast messages initiated by this node SysLanWindow4 Number of broadcast messages processed by this node SysLanWindow5 Number of times we couldn t send a response to a message SysLanWindow6 Number of unexpected response we have received SysLanWindow7 Number of messages lost due to receiver overflow SysLanWindow8 Number of network reconfigurations MA950 LR 3 289 Tan Function Purpose Tan x returns the tangent of x where x is in radians Syntax y Tan x Guidelines x must be in radians To convert from degrees to radians multiply by 0 017453 3 290 MA950 LR OOOO UI TargetPos Pre defined Variable Integer Purpose TargetPos specifies the target position for an absolute GoAbs move TargetPos is an absolute position referenced to the electrical home position the position where PosCommand 0 Syntax TargetPos x Units resolver counts Range Default 0 Guidelines Set Target
168. nication settings on both devices SC950 and SLC500 must match main dim SLC5Speed as float runtimeprotocol 5 Allen Bradley DF1 Protocol baudrate 19200 baudrate MUST match PLC setting aberc 1 Set check to CRC MUST match PLC setting SLC5Speed ReadSLC5Float 5 8 19 SLC500 File 8 Float File RunSpeed SLC5Speed 2 55 end 3 240 MA950 LR ReadSLC5integer Pre defined Function Purpose Syntax Guidelines Related instructions MA950 LR ReadSLCSInteger reads the specified 16 bit element from the specified integer file on the specified SLC500 When this function is encountered in the OC950 program the OC950 will send the appropriate message to the SLC500 connected to the OC950 s serial port and wait for the response If there is a valid response then the OC950 will put the data in the appropriate variable i e the variable on the left hand side of the equals sign If there is no valid response then the OC950 will set the status variable ABErr appropriately Note This feature is only available in the Enhanced OC950 Firmware x ReadSLC5Integer SLC500 address file number element number You must first set RuntimeProtocol to 5 Allen Bradley DF1 Protocol before using this function Other communication parameters baudrate and ABCrc on the SC950 must match the corresponding parameters on the PLC ReadSLC5Binary ReadSLC5Float WriteSLC5Binary WriteSLC5Integ
169. nputs individually Related Inpn BDInputs Outputs BDOutputs instructions MA950 LR 3 141 Instr Function Purpose Instr returns the starting location of a substring within a string Syntax result Instr n x y x is the string y is the substring n optionally sets the start of the search Guidelines n must be in the range 1 to 255 Instr returns 0 if e n Len x e y cannot be found in x If y is null empty Instr returns n Related Len instructions 3 142 MA950 LR Int Function Purpose Syntax Guidelines Related instructions Example MA950 LR Int convert to largest integer truncates an expression to a whole number result Int x Int behaves the same as Fix for positive numbers They behave differently for negative numbers Cint Fix Print Int 12 34 prints the value 12 Print Int 12 34 prints the value 13 Interrupt End Interrupt Statement Purpose The Interrupt statement marks the beginning of an Interrupt Service Routine The Interrupt Service Routine is defined by a program structure resembling a subroutine The interrupt feature permits execution of a user defined subroutine upon receipt of a hardware interrupt signal or a pre defined interrupt event Syntax Interrupt Interrupt Source Name program statements End Interrupt Guidelines Interrupts are triggered by pre defined events or external hardware sources
170. odd parity 2 even parity Syntax RuntimeParity x Range 0 1 2 Default 0 MA950 LR 3 263 RuntimeProtocol Pre defined Variable Purpose Syntax Range Default 3 264 RuntimeProtocol specifies the RuntimeProtocol The valid values for RuntimeProtocol are Value Explanation 0 none 1 user defined binary 2 Modbus Slave 3 Modbus Master 4 OC950 Protocol allows communication with IDE 5 Allen Bradley DF1 Communications Protocol Note Modbus functionality RuntimeProtocol 2 or 3 and Allen Bradley DF 1 functionality RuntimeProtocol 5 are only available in the enhanced OC950 firmware IMPORTANT NOTE When you set RuntimeProtocol to any value other than zero then Inp20 is automatically used to stop the user program When Inp20 is brought low 0 then the program will stop This is done because when a run time protocol is in use it is impossible to stop the program over the serial port This means that if you use RuntimeProtocol then neither Inp20 nor Out20 may be used in your program for any purpose other than stopping your program RuntimeProtocol x 0 1 2 3 4 0 MA950 LR ScurveTime Pre defined Variable Floating Point Purpose Syntax Units Range Default Guidelines Related instructions MA950 LR ScurveTime sets the amount of S curve smoothing that is applied to all velocity profiles The greater the value of ScurveTime the
171. ograms to conform to Pacific Scientific s specifications manual PACIFIC SCIENTIFIC DOES NOT SEPARATELY WARRANT THE RESULTS OF ANY SUCH CORRECTION OR WARRANT THAT ANY OR ALL FAILURES OR ERRORS WILL BE CORRECTED OR WARRANT THAT THE FUNCTIONS CONTAINED IN PACIFIC SCIENTIFIC S PROGRAMS WILL MEET CUSTOMER S REQUIREMENTS OR WILL OPERATE IN THE COMBINATIONS SELECTED BY CUSTOMER This warranty for Programs is contingent upon proper use of the Programs and shall not apply to defects or failure due to i accident neglect or misuse ii failure of Customer s equipment iii the use of software or hardware not provided by Pacific Scientific iv unusual stress caused by Customer s equipment or v any party other than Pacific Scientific who modifies adjusts repairs adds to deletes from or services the Programs This warranty for Programs is valid for a period of ninety 90 days from the date Pacific Scientific first delivers the Programs to Customer THE FOREGOING WARRANTIES ARE IN LIEU OF ALL OTHER WARRANTIES EXCEPT AS TO TITLE WHETHER EXPRESSED OR IMPLIED INCLUDING WITHOUT LIMITATION ANY WARRANTY OF MERCHANTABILITY OR OF FITNESS FOR ANY PARTICULAR PURPOSE AND ARE IN LIEU OF ALL OTHER OBLIGATIONS OR LIABILITIES ON THE PART OF PACIFIC SCIENTIFIC PACIFIC SCIENTIFIC S MAXIMUM LIABILITY WITH RESPECT TO THESE WARRANTIES ARISING FROM ANY CAUSE WHATSOEVER INCLUDING WITHOUT LIMITATION BREACH OF CONTRACT NEGLIGENCE STRICT LIABILITY
172. ollowing is illegal main dim i as integer i 1 dim j as integer this is an error j i You may also define local constant definitions and aliases provided that like local variables they appear before any executable statement Local constant definitions override global definitions of the same name For example given the following global definitions const N 1 main const N Hello world print N call subl end main sub subl print N end sub The program will print Hello world 1 because the N visible inside main is the constant defined there while the N visible to sub is the global constant N whose value is 1 The main program is the section of your program that will be executed immediately after the params section regardless of its position in the program text Other functions subroutines and interrupt handlers are executed according to the flow of control defined in the program Main does not accept arguments and cannot be called from any other subroutine function or interrupt handler MAQ950 LR Subroutine definition Function definition MA950 LR For a subroutine say print_sum a typical definition might be sub print_sum i j as integer print itj end sub The arguments to this subroutine are specified as integer variables and are passed by value any assignments to these variables will have no effect on the arguments supplied
173. on commutation angle set only by CommOff 1 enables commutation IMPORTANT NOTE CommEnb must always be 1 for normal operation Leaving CommEnbl at 0 can overheat and possibly damage the motor MA950 LR 3 61 CommOff Pre defined Variable Float NV Parameter Purpose Syntax Units Range Default Guidelines CommOff sets the origin for the electrical commutation angle CommOff x x degrees 0 to 360 Parameter value specified in the Params End Params section of your program The 950 IDE New Program function sets this value to 0 degrees Proper value for standard Pacific Scientific motors is 0 Note For CommSrc 1 incremental encoder commutation CommOff is set to 0 on every power up independent of the value in the non volatile memory Drive RAM value is always read write MA950 LR CommSrc Pre defined Variable Integer Purpose Syntax Range Default Guidelines MA950 LR CommSrc selects resolver or incremental encoder feedback for motor commutation CommSrc x Oorl 0 resolver 0 selects resolver feedback commutation PoleCount set to number of motor pole pairs 1 selects incremental encoder feedback commutation PoleCount set to number of quadrature encoder counts per motor electrical cycle Note Writing to CommSrc sets Polecount 0 Therefore first set CommsSvrc to the correct value and then set PoleCount ConfigPLS Statement Purpose ConfigPLS conf
174. otection circuit ItFO x Hertz Lower limit set by Model Upper limit gt 10 0 02 Hertz ItFO in conjunction with ItThresh specifies the thermal protection circuit for the drive ItFO is the corner frequency of a low pass filter which processes an estimate of the drive s power dissipation Increasing ItFO makes the response more sensitive to over current conditions Note The minimum frequency for ItF0 slowest to fault is limited to protect the drive s power electronics MA950 LR ItFilt Pre defined Variable Float Status Variable Read Only Purpose ItFilt is the drive s output current amplitude low pass filtered by ItFO and normalized by Ipeak to a percentage ItFilt is the input to the drive s I t thermal protection fault Syntax x ItFilt Units percentage of drive peak current Range 0 to 100 Guidelines ItFilt provides a means of evaluating the I t protection circuit When ItFilt exceeds the threshold specified by ItThreshA the drive faults with Faultcode 4 ItFilt ItFO low pass filter of IR IS IT 50 Ipeak MA950 LR 3 151 ItThresh Pre defined Variable Integer NV Parameter Purpose ItThresh sets the maximum continuous output current as a percentage of Ipeak before the I t thermal protection faults the drive Syntax ItThresh x Units percentage of drive peak current Range 0 to 100 Actual upper limit depends on Model Default Parameter value specified in t
175. p 0 1 print x print 0 5 to 1 2 in 0 1 increments next 3 108 MA950 LR Function Statement Purpose Syntax Guidelines Related instructions MA950 LR The Function statement is used to declare and define the name arguments and type of a user defined function The code for the function immediately follows the function statement and must be terminated by an End Function statement Function function name argument list as function type e Statements End Function On entry to the function all local variables are initialized to zero including all elements of local arrays All local string variables are initialized to the null string If a function takes no arguments then the argument list including the parentheses must be omitted both when declaring the function and when using the function The return value for the function is specified by making an assignment to the function name See the example below Arguments including array arguments are passed by value Arrays cannot be returned from functions Dim Static End Exit Sub 3 109 lt M Function continued Example This example declares a function that calculates the cube of a floating point number Main dim LocalFloat as float 1 234 LocalFloat cube LocalFloat LocalFloat print LocalFloat End Main Function cube x as float as float cube x 3 End Function 3 110 MA950 LR FVelErr Pre define
176. p Bits n a 1 Parity Parity 0 None Error Detect ABCrc 1 CRC ABCrc 0 BCC This parameter must be set to the value setting indicated The 950BASIC language supports Allen Bradley DF1 communications using the following command functions ABInfo Block ReadPLCSBinary ReadPLC5Float ReadPLCSInteger ReadSLCSBinary ReadSLC5Float ReadSLCSInteger WritePLCSBinary WritePLC5Float WritePLCSInteger WriteSLCSBinary WriteSLCSFloat WriteSLCSInteger MA950 LR Allen Bradley DF1 Diagnostic Variables MA950 LR There are several diagnostic counters that are maintained by the OC950 firmware as it processes Allen Bradley DF1 messages Typically you don t need to be concerned with these variables but they can be helpful in diagnosing problems in setting up or maintaining an Allen Bradley DF1 application The variables and a brief expanation are shown below Variable Explanation ABAcksRevd of message ACKs I ve received ABAcksSent of message ACKs I ve sent ABAckTimeouts of messages I didn t get an ACK for ABDupMsgs of duplicate messages discarded ABErrCount of times I called ab_error ABMsgsRcvd of messages I ve received ABMsgsSent of messages I ve sent ABNaksRcvd of message NAKs I ve received ABNaksSent of message NAKs I ve sent ABRspTimeouts of messages I didn t get a response for ABTXQMax max of outbound
177. rally non linear relationship between master encoder position and slave motor position That is the relationship between slave counts and master counts is no longer a constant ratio but changes as a function of master counts As in electronic gearing once a cam has been made active the program no longer needs to do anything special to maintain it the motion profile is repeated indefinitely until the cam is deactivated In camming terminology a master is typically an external encoder The encoder is wired into the SC950 encoder input port connector J4 pins 21 24 It is also possible to use the SC950 s virtual internal encoder Procedure Related variables 1 52 To use a cam profile on the SC950 you must perform the following three steps 1 Declare the cam See DeclareCam 2 Create the cam profile See CreateCam 3 Activate the cam profile See ActiveCam CamMaster specifies the source of the input to the cam table for cam profiling CamCorrectDir specifies the direction of the correction move that is done when a new cam table is activated by setting ActiveCam n Addpoint adds the specified point master position and corresponding slave position to the cam table that is being created MA950 LR Cam Wizard The CamWizard is designed to solve a large class of applications generally referred to as cut to length applications The picture below shows a typical setup a Knife
178. ram to pause the amount of time specified by the Pause_Time argument The motion of the motor is not affected Note This implementation differs from the SC750 Print expressionl expression2 Print a list of expressions separated by delimiters Any number of delimiters including zero can appear before or after the list of expressions At least one delimiter must appear between each pair of expressions in the printlist Note There need be no expressions at all PRINT print a newline PRINT advance a single tab stop PRINT a b print a and b tab between PRINT a b print a and b tab between and at end PRINT j 49X77 tab tab tab x tab tab tab Restart clears the run time error variables and causes program execution to start again from the beginning of the program Any Interrupts Subroutines WHEN statements or loops in process will be aborted This statement is used to continue program execution after a Run Time Error Handler or to abort from WHEN statements without satisfying the condition Note Restart does not cause the data area to be cleared or in itself change any program or motion variables 1 23 Select Case 1 24 Select Case test expression Case expression list1 statement blockl Case expression list2 statement blockl Case expression list3 statement blockl Case Else else block End Select test expression must evaluate to an INTEGER or FLOAT va
179. rameters set up the initial parameters and initiate the move vmRunFreq 50000 vmIndexDist 100000 time 0 vmGoIncr pause 1 second and then update the frequency pause 1 vmRunFreq 10000 vmUpdMove wait for the move to be complete and print out the elapsed time while vmMoving wend print time MA950 LR When Statement Purpose Syntax MA950 LR The WHEN statement is used for very fast response to certain input conditions Upon encountering and executing the WHEN statement program execution waits until the specified condition is satisfied When the condition is satisfied the when action is executed immediately and the program continues at the next line after the WHEN statement Interrupts are active and will be serviced during the execution of a WHEN statement The execution of an interrupt service routine will not affect how quickly the when action is executed after the when condition is satisfied When when condition when action when conditions e INPO INP20 0 1 e BDINPI BDINP6 0 1 e Position lt value e Position gt value e EncPos lt value e EncPos gt value e PosCommand lt value e PosCommand gt value e Time gt value e ReglHiFlag e RegiLoFlag e Reg2HiFlag e Reg2LoFlag 3 315 gt E gt E gt E gt EeE _ _ EE SS gt S gt F gt F_______ _ When continued when actions e AbortMotion e Continue
180. rforms a bitwise NOT of the integer expression result Bnot x The Bnot operator performs a bitwise NOT operation on a numeric expression The expression is converted to an integer 32 bits before the BNOT operation takes place For each of the 32 bits in the result the bit will be set to 1 if the corresponding bit in the argument is 0 the bit will be set to 0 if the corresponding bit in the argument is 1 x 45 0010 1101 binary print Bnot x prints 46 Bor Operator Purpose Bor performs a bitwise OR of two integer expressions Syntax result x Bor y Guidelines The Bor operator performs a bitwise OR operation on the two numeric expressions The expressions are converted to integers 32 bits before the BOR operation takes place For each of the 32 bits in the result the bit will be set to 1 if the corresponding bit in either of the arguments is 1 Example x 45 0010 1101 binary y 99 0110 0011 binary print x Bor y prints 111 0110 1111 3 44 MA950 LR E Brake Pre defined Variable Integer Mappable Output Function Read Only Purpose Brake indicates when the motor is not powered and a mechanical brake is needed to hold the motor Syntax x Brake Range Oor1 Guidelines 0 the motor is powered and the brake should be off 1 the mechanical brake should engage To insure that a mechanical brake is engaged when a drive s control power is removed the Brake function should be mapped
181. rol card ASIC incompatible E 11 Actual Model does not match value in non volatile memory 12 Unable to determine power stage E 13 Control card non volatile parameters corrupt E 14 Option card non volatile parameters corrupt F3 15 RAM failure FF 16 Calibration RAM failure 3 102 MAQ50 LR E Fault Pre defined variable Integer Mappable Output Function Purpose Fault indicates whether the drive has faulted and is disabled Syntax x Fault Range Oor1 Guidelines 0 is not faulted normal operation 1 is faulted no power flow to the motor Related FaultCode and ExtFault instructions MA950 LR 3 103 FaultCode Pre defined Variable Integer Status Variable Read Only Purpose FaultCode indicates a fault has occurred When the status display is not a Zor an a fault has occurred Reset the drive by asserting the fault reset signal or by cycling drive AC power Syntax x FaultCode Range 0 to 255 Guidelines O means the drive is not faulted and not enabled while 4 means the drive is not faulted and enabled Alternating 8 means actively inhibiting CW motion and alternating amp means actively inhibiting CCW motion Status LED Value Fault Meaning Blinking 7 1 Velocity feedback VelFB over speed Blinking 2 2 Motor Over Temp Blinking 3 3 Drive Over Temp Blinking 4 4 Drive I t Blinking 5 5 l n Fault 9x3 Blinking amp 6 Control 12 V
182. rpose Syntax Guidelines Related instructions Example MA950 LR This function reads a bit value 0x or 1x reference from the specified MODBUS slave and returns the value read If any error occurs then this function will return zero and set the predefined variable MBErr to indicate the source of the error Note This feature is only available in the Enhanced OC950 Firmware x MBReadBit SlaveAddress RegisterAddress This is a Modbus Master function so you must set RuntimeProtocol to 3 MODBUS Master before using this function Otherwise you will get a RuntimeError Modbus Master statements and function cannot be nested If you get an Interrupt while waiting for a response to a Modbus Master statement or function then you cannot initiate another Modbus Master statement or function in the Interrupt Handler If you do so then you will get a Runtime Error 36 Please refer to Section 1 11 Using an OC950 as a Modbus Master MBReadBit MBRead16 MBRead32 MBReadFloat MBWriteBit MBWritel6 MBWrite32 MBWriteFloat MB32WordOrder MBFloatWordOrder MBErr This example reads a bit value from register 10005 on the MODBUS slave at address 5 and puts the value in IndexDist RuntimeProtocol 3 Modbus Master RunSpeed MBRead32 5 10005 3 185 MBRead16 Pre defined Function Purpose Syntax Guidelines Related instructions Example 3 186 This function reads an integer value fro
183. rr Pre defined Variable Integer Purpose ABErr contains the error code of the last Allen Bradley DF1 transaction Note This feature is only available in the Enhanced OC950 Firmware Syntax x ABErr Guidelines ABErr Meaning 0 No error 1 Response error 2 Response timeout 3 Max number of NAKSs negative acknowledgements received 4 Max number of ENQs enquiries sent and still no response 5 SC950 Allen Bradley DF1 receive buffer is full MA950 LR 3 3 ABinfo End Purpose Syntax Guidelines Related instructions The ABInfo block section of a program is used to map pre defined variables and or global user variables to specific SC950 register addresses so that the OC950 can respond to unsolicited messages from a SLCS00 Note This feature is only available in the Enhanced OC950 Firmware ABInfo lt SABMap Statements gt End This ABInfo block is only used when you are configuring the OC950 as an Allen Bradley DF1device communicating with a SLC500 The ABInfo block is only needed when the SLC500 initiates read wrtie commands to the SC950 If the SC950 initiates all read write commands then the ABInfo block is unnecessary There can be only one ABInfo block in a program It should be put before the Main section of the program ABMapInteger ABMapFloat MA950 LR I Es ABInfo End continued Example This example maps several pre defined variab
184. rresponding to the length of material to be cut e the number of slave counts corresponding to one complete rotation of the knife and e the ratio of slave counts to master counts during the cut phase of the cycle Once you have provided these three pieces of information the CamWizard will automatically e generate code to declare a cam table of the correct size e generate a subroutine to create the cam table and e generate a subroutine to activate the cam MA950 LR Example MA950 LR In general you can create a cam to approximate any continuous function but the CamWizard cannot help you with it The basic technique is to develop a 950BASIC expression or function that defines the slave position as a function of master position and use it to generate a series of AddPoint statements at appropriate master position intervals The following example shows how to create a cam profile that looks like this Slave position Exponentially damped Sine Wave 1000 1500 2000 S00 0 T T amn s i i e006 a000 10000 12000 Master encoder counts 1 55 const MC 10000 master counts in total cycle const NPOINTS 501 number of points in cam profile const pi 3 1415926535 tuning constants for nice motion 0 69314718 100 1 7 5 pi const k const w 4 declarecam 2 NPOINTS sub ActivateCam_2 sub activatecam_ 2 Enable 1 EncPosModulo MC PosModulo MC EncPos
185. s Related instructions Example 3 210 Outn Out0 Out20 sets the state of the individual discrete outputs Outn x none Oorl 0 turns the output transistor on output is pulled down 1 turns the output transistor off output is pulled up Outputs BDOutn BDOutputs while 1 Outl 1 pause 0 5 Outl 0 pause 0 5 wend MA950 LR Outputs Pre defined Variable Integer Purpose Syntax Units Range Default Guidelines Related instructions Example MA950 LR Outputs allows setting of the Outputs in parallel Outputs x none 0 to 2 097 151 2 097 151 all outputs are 1 For each bit in Outputs 0 turns the output transistor on output is pulled down 1 turns the output transistor off output is pulled up Outn BDOutputs BDOutn while 1 Outputs amp h155555 alternate outputs pause 0 5 Outputs amp h0AAAAA alternate again pause 0 5 wend 3 211 PACLANAddr Compiler Directive Purpose The PACLANAddr directive allows you to specify what axes a program can be downloaded to The PACLANAddr directive must be enclosed in a ProgramInfo block This is created automatically by the OC950 IDE when you use File New to create a new program Syntax ProgramInfo SPACLANAddr axis list End ProgramiInfo Guidelines You can specify any number of axes in the axis list by separating them with commas You can also specify a range of addresses using the to keyword
186. s They can however declare local variables constants and aliases just like other subroutines Interrupt handlers are invoked when the 950 hardware detects that the designated interrupt condition has been satisfied provided that the interrupt has been enabled 1 4 Language definition Lexical conventions Identifiers 1 10 950BASIC is case insensitive String literals are not modified but all other text is treated as if it was entered in upper case This means that the identifiers spin Spin and SPIN all refer to the same entity Identifiers are alphanumeric and must start with an alphabetic character or underscore In addition they may include the underscore character _ and dollar sign Identifiers denote variables functions subroutines and statement labels symbolic constants and aliases Identifiers can be at most 40 characters long User defined identifiers may not include the period Use of a longer identifier is a compile time error MA950 LR Data types MA950 LR There are several pre defined variables that have a special form predefvar alpha alnum alnum alpha A Za z_ alnum A Za z_0 9 Many of these pre defined variables have alternate spellings without the character such as index dist and IndexDist Although both forms are accepted for compatibility the latter form is preferred since the
187. s the paramlist should be omitted An empty paramlist is illegal The value returned from the function is specified as in QuickBasic by assigning to an identifier with the name of the function For example FUNCTION cube x AS FLOAT AS FLOAT cube x x x END FUNCTION Arguments are passed by value Note Arrays can not be returned by a function Arrays passed to a function are passed by value If the return value is not set a runtime error condition is generated which can be caught with ON ERROR MA950 LR GoAbs MA950 LR Array actuals must conform with formals to the extent that they have the same number of dimensions and EXACTLY the same type The size of each dimension is available to the function through the use of local constants that are bound on function entry For example FUNCTION sum x N AS INTEGER AS INTEGER DIM i total AS INTEGER sum 0 FOR I 1 TON total total x i next sum total END FUNC This function exploits the fact that the variable N is automatically assigned a value when the function is called and that value will be the extent of the array that was passed on that invocation The variable N is a read only variable in this context attempts to write to N cause compile time errors Note that we also rely on the fact that the local variable total is automatically initialized to 0 upon function entry GoAbs Go Absolute causes the motor to move to the position specif
188. s Enter the argument the value in parentheses immediately following the term Abs Example for x 10 to 10 print Abs x next MA950 LR 3 9 AccelGear Pre defined Variable Integer Purpose Syntax Units Range Default Guidelines Related instructions 3 10 AccelGear sets the maximum acceleration that will be commanded on the follower when Gearing is turned ON or the electronic gearing ratio Ratio or PulsesOut PulsesIn is increased This maximum acceleration limit remains in effect until Gearlock is achieved Once Gearlock is achieved the follower will follow the master with whatever acceleration or deceleration is required Note AccelGear is independent of DecelGear Each variable must be set independently to the appropriate value for the desired motion AccelGear x rpm sec 1 to 16 000 000 rpm sec 16 000 000 rpm sec Set AccelGear prior to initiating Gearing DecelGear GearError GearLock MA950 LR E AccelGear continued Example This example shows how to use AccelGear to limit acceleration and then make up the lost distance AccelGear 10000 set AccelGear Ratio 1 0 Enable 1 GearError 0 clear GearError Gearing 1 While GearLock 0 Wend wait for LOCK IndexDist GearError GoIncr MAQ50 LR AccelRate Pre defined Variable Integer Purpose Syntax Units Range Default Guidelines Related instructions Example 3 12 AccelRate acceler
189. se the SendLANInterrupt will fail There is a queue on each axis which allows each axis to buffer PACLAN Interrupt requests For instance if axis 3 receives an interrupt from axis 5 it automatically jumps to a PACLAN interrupt handler and starts servicing the PACLAN interrupt If axis 3 receives a PACLAN interrupt request from axis 2 before it is done servicing the request from axis 5 then it will buffer that request and service it when it is done with axis 5 This queue can hold 32 interrupt requests Note The following functionality applies only to OC950s with Enhanced Firmware Standard OC950s are are not capable of communicating on a Modbus network Modbus was originally developed by Modicon as a means for PLCs to communicate with programming terminals It is now widely used by many suppliers of industrial automation equipment seeking a robust widely supported and inexpensive serial communications protocol Modbus is a serial RS232 or RS485 communications protocol consisting of one master and multiple slaves The Modbus master initiates all transactions on the Modbus network These transactions consist primarily of messages to read the values of data on a slave or to write new data values to a slave The Modbus slaves just generate responses to messages initiated by the master Modbus Register and Data Types Bits Registers Floating Point and 32 bit Integer Registers 1 42 An OC950 can be configured to operate as
190. stination is not running a program Dn nA FP WO Ne destination is busy downloading a program Before issuing this statement in your program you should ensure that the destination axis is connected to the PACLAN and is running a program Otherwise a runtime error will be generated on the source axis The SendLANInterrupt function differs from LANInterrupt in two ways e It always returns a value indicating whether or not the signal was received by the destination axis The LANInterrupt statement will fault the drive if the destination cannot accept the signal e The SendLANInterrupt function can send a specific argument along with the interrupt signal For the LANInterrupt statement the argument value is always 0 3 269 SendLANinterrupt x n continued Related instructions Example 3 270 LANIntrArg LANIntrSource Interrupt Status The following example shows two main programs one for axis 128 and one for axis 255 The program on axis 255 repeatedly sends a LAN interrupt signal to axis 128 with a sequence count as the argument The program on axis 128 prints the count the argument received and the address of the sending axis and the increments its count axis 255 main dim count as integer while 1 print SendLANInterrupt count 128 count count l pause 0 5 wend end main MA950 LR a SendLANinterrupt x n continued MA950 LR
191. t There are two additional register data types which while not explicitly defined by Modbus are supported by many Modbus devices These are 32 bit integer registers and 32 bit IEEE floating point registers Each of these extended types uses two adjacent 16 bit registers to hold the 32 bit value The OC950 supports 32 bit integers and 32 bit floating point as both a master and as a slave The word order of the two adjacent 16 bit registers that are combined to form the extended type is configurable using MB32WordOrder and MBFloatWordOrder MA950 LR Using an OC950 as a Modbus Slave MA950 LR You would set up your OC950 as a Modbus slave to allow a Modbus master such as a touchscreen or an MMI to read and or write values on the OC950 Configuring an OC950 to operate as a Modbus slave consists of adding the following items to your program 1 An MBInfo Block which maps pre defined variables and or user global variables to specific Modbus addresses The MBInfo block contains multiple MBMap lt xxx gt statements which specify this mapping You can use the Modbus Map Wizard in the 950 IDE to assist you in creating this map There is also an example program MBDEMO BAS in the Examples directory 950win examples which contains a complete MBInfo block 2 Adding a line to set RuntimeProtocol to 2 Modbus Slave You must set RuntimeProtocol to 2 to tell the OC950 to operate as a Modbus slave After you set this then the OC950 wi
192. t 1 on the Modbus slave If either transaction fails the it calls HandleModbusError which sets Out19 and stops the program RuntimeProtocol 3 Modbus Master MBFloatWordOrder 0 LS word first MBErr 0 initialize MBErr to zero RunSpeed MBReadFloat 5 40001 MBWriteBit 5 1 1 If MBErr lt gt 0 then call HandleModBusError Sub HandleModbusError NV_MBErr MBErr save MBErr to an NV Variable Out19 0 indicate we re faulted Stop stop the program End HandleModbusError 3 177 MBFloatWordOrder Pre defined Variable Purpose Syntax Range Default 3 178 MBFloatWordOrder specifies the word order for floating point double register Modbus register accesses This affects 32 bit integers The word order for long integer variables is specified by MB32WordOrder The setting for MBFloatWordOrder affects both master and slave operations Note This feature is only available in the Enhanced OC950 Firmware MBFloatWordOrder x 0 or 1 where 0 least significant word first most significant word second 1 most significant word first least significant word second 1 MA950 LR MBinfo Block End Statement Purpose Syntax Guidelines Related instructions MA950 LR The MBInfo block section of a program is used to map pre defined variables and or global user variables to specific Modbus register addresses so that the OC950 can operate as a Modbus slave Note This feature
193. tLo VelLmtHi VelLmtHi gt 3 303 IIN Velocity Pre defined Variable Float Status Variable Read Only Purpose Velocity is VelFB passed through a 3 5 Hz low pass filter Syntax x Velocity Units RPM Range 30 000 to 30 000 Guidelines When the measured velocity exceeds Velocity s range Velocity s value will be incorrect See VelFB for and instantaneous indication of measured velocity that is accurate to higher speeds 3 304 MA950 LR vmDir Pre defined Variable Integer Purpose Syntax Range Default Guidelines Related instructions Example MA950 LR vm Dir specifies the direction that the virutal encoder will go when a vmGoVel statement is executed It will also set the direction of the virtual encoder when a vmUpdMove is executed if the virtual encoder is performing a velocity move Note This feature is only available in the Enhanced OC950 Firmware vmDir x 0 1 0 is positive 1 is negative vmRunFreq vmGoVel This will run the virtual encoder forward at 20 000 counts sec vmRunFreq 20000 vmDir 0 vmGovel pause 5 This will run the virtual encoder backwards at 40 000 counts sec vmRunFreq 40000 vmDir 1 vmGoVel 3 305 vmEncpos Pre defined Variable Integer Purpose Syntax Units Range Guidelines Related instructions Example 3 306 vmEncpos contains the current value of the virtual encoder counter The virtua
194. ted DM1Gain M1F0 and DM10ut instructions 3 80 MA950 LR DM1Out Pre defined Variable Float Status Variable Read Only Purpose Syntax Range Guidelines MA950 LR DM10ut indicates the value of the selected filtered variable output to DAC Monitor 1 J4 3 The value is reported in the units of the selected variable For example DM1Map 1 selects VelCmdA and the units would be RPM x DM10Out Depends on DM1Map selected signal With DM1F0 set low such as 1 Hz DM1Out s value will accurately measure the DM1Map selected signal s dc component DM10Out can also be used to examine variables that can not be directly queried such as motor phase voltage duty cycle DM1Map 19 20 or 21 DM2F0 Pre defined Variable Float Purpose DM2F0 sets the frequency in Hz of a single pole low pass filter on the DAC Monitor 2 output J4 4 Syntax DM2FO x Units Hertz Range 0 01 to 4 17e7 Default 1000 Hertz Guidelines DM2FO0 can be used to attenuate high frequency components from the DM2Map selected signal Setting DM2FO0 to 1 Hz and using DM20Out to examine the filtered value is an easy way to accurately measure the selected signal s dc value 3 82 MA950 LR DM2Gain Pre defined Variable Float Purpose DM2Gain sets the multiplicative scale factor applied to the DM2Map selected signal before outputting on DAC Monitor 2
195. teger Purpose BDLgcThr sets the switching threshold for the Base drive inputs BDInp1 BDInp6 and the pull up voltage for the Base drive outputs BDOut BDOut6 Syntax BDLgcThr x Range Oor1 Default 0 5 volt compatible Guidelines 0 selects 5 volt logic compatibility 1 selects 24 volt logic compatibility BDLgcThr Low High Pull up Volts Volts Volts 0 2 1 3 1 5 0 1 4 0 5 0 12 0 3 38 MA950 LR BDOut1 BDOut6 Pre defined Variable Integer Control Variable Purpose Syntax Range Default Guidelines MA950 LR BDOut1 BDOut6 allows setting the output logic state of BDIO outputs not mapped to an output function via BDIOMapX BDOutl sets the state of BDIO1 J4 7 BDOut2 sets the state of BDIO2 J4 8 BDOut3 sets the state of BDIO3 J4 9 BDOut4 sets the state of BDIO4 J4 10 BDOuts sets the state of BDIOS J4 11 BDOut6 sets the state of BDIO6 J4 12 BDOutX x Oor1 1 transistor turned off 0 turns on the pull down transistor 1 turns off the pull down transistor To use a BDIO point as an input the associated BDOut must be set to 1 This is the default value BDOutputs Pre defined Variable Integer Control Variable Purpose For BDIO outputs not mapped to an output function via BDIOMap allows setting their output logic state in parallel Syntax BDOutputs x Range 0 to 63 6 BDIOs Default 63 Guidelines BDOutputs 1 BDIO1 2 BDIO2 4
196. th the current limit parameters Alias lt name gt lt expression gt Create an alias for an identifier Note not just any identifier alias can be a pre defined variable or another alias id must be a legal variable name Note You cannot create an alias for an array element Like Const definitions Alias definitions can be made to identifiers not yet defined Circular definitions are not allowed Note Any duplicate definition of an identifier in the same scope is illegal However a local definition can shadow a definition from the global scope Note that using a single identifier to denote two different objects is disallowed i e you can t have both a label and a variable named all_done Like constant variable and function declarations Alias declarations made in the global scope are imported into all functions including the main function MA950 LR Example Beep Call Cls Const MA950 LR Alias speed motor speed save some keystrokes Sends the ASCII character amp h7 to the serial port CALL sub argl arg2 sub is the name of a subroutine The current program counter is saved sub is invoked and when sub finishes by reaching an exit sub or end sub statement control is returned to the statement logically following the Call A subroutine is essentially a function with no return value The parameter passing conventions followed by subroutines are the s
197. that shadow the pre defined ones For a complete list of pre defined variables and commands refer to the detailed Language Reference section in this manual 1 7 Expressions Arithmetic expressions Numeric Operators MA950 LR Arithmetic expressions expressions involving INTEGER and FLOAT values can use the following operators Operators higher in the table have greater precedence than those below Operator Assoc Name right exponentiation right unary minus left mult div MOD left modulo left add sub 1 29 Logical Operators 1 30 Operator Assoc Explanation lt gt 2 gt 5 lt gt left the usual NOT BITNOT right not boolean not AND BITAND left and boolean and OR BITOR left or boolean or xor boolean XOR BITXOR xor Logical expressions as for example in the condition of an if statement may also use these operators Strings may also be concatenated with the operator Logical expressions may be formed from strings using the comparison operators NOT AND OR and XOR with the meaning of an empty string being FALSE and a non empty string being TRUE Integer values are coerced to floating point values as needed Floating point values are rounded when coerced to integer values Note This implementation differs from the SC750 which truncated floating point values As with QuickB
198. the appropriate value for the type of encoder input you are using EncIn EncInF0 EncMode EncPosModulo EncPosModulo Pre defined Variable Integer Purpose Syntax Units Range Default Guidelines Related instructions EncPosModulo specifies the encoder modulo value The encoder modulo value is the value of EncPos where EncPos is automatically reset to zero EncPosModulo x encoder counts 0 to 2 147 483 647 0 Setting EncPosModulo to 0 turns off the Encoder Position Modulo function and EncPos is never automatically reset This is the default setting EncPos PosModulo MA950 LR End Statement Purpose The End statement is used to mark the end of a program a subroutine a function an If Then Else block a Select Case block an Interrupt service routine or a Params section Syntax End Main Sub Function If Select Interrupt Params Guidelines Once the End statement is encountered the block structure is terminated Related Main Sub Function Select Case Interrupt Params instructions MA950 LR 3 97 Err Pre defined Variable Purpose Err indicates what caused the most recent Runtime Error The table below shows what each value of Err means Value Error Caused by Value Error Caused by of Err of Err 1 Division by zero in arithmetic 21 not used 2 Stack is full 22 No Interrupt Handler defined 3 not used 23 not used 4 not used
199. the same type Coercion between INTEGER and FLOAT is not performed unless necessary notation the args n and m refer to INTEGER types as in the definition of the MID function whose signature is MID string integer integer Name Args Return Semantics ABS numeric numeric absolute value ATAN _ float float arc tangent radians CINT numeric int truncate round to nearest int COS float float cosine EXP float float e arg arg 88 02969 o w overflow FIX numeric int truncate round toward zero INT numeric int truncate round towards INFINITY LOG float float natural log LOG10 float float log base 10 SGN numeric integer sign of argument 1 0 1 SIN float float sine radians SQR float float square root of arg TAN float float tangent radians MA950 LR 1 27 String Description function ASC string int ASCII code for 1st char CHR int string One character string containing the character with the ASCII code of arg If arg 255 returns CHR arg 256 HEX int string printable hexadecimal rep of arg without leading amp H INKEY string one character string read from serial port returns if no char available INSTR pos str1 str2 int index of str2 in str1 or 0 if not found optional first arg specifies where to start s
200. ting of the partial sum can never happen and will not generate the print statement This allows you to place debugging code in strategic locations in your programs and effectively disable it when shipping a production version and shrink the size of the generated code as well This sort of dead code elimination also applies to functions whose only point of reference lies in code that is eliminated In such cases the functions themselves become dead code too and no code will be generated for their definitions The compiler will not however eliminate the print statement from the following program which is a slight variation of the one above dim DEBUGGING as integer main dim i sum as integer DEBUGGING FALSE for i 1 to 10 sum sum i if DEBUGGING then print partial sum is sum next i end main In this case the print statement will never be executed but the code to implement it is still generated This is because it s possible that the value of the integer DEBUGGING could be changed by the 950 s Integrated Development Environment Debugger at runtime causing the print statement to be executed 1 37 1 10 PACLAN Introduction Configuration 1 38 PACLAN is a local area network LAN which provides high speed 2 5 MBaud inter axis serial communication between Pacific Scientific SC950 single axis programmable position controllers The PACLAN can provide support for up to 255 SC950 controllers Informat
201. ting one of the eight Modbus functions or statements in the interrupt service routine If you do so then you will generate a Runtime Error 36 You should keep in mind the following when configuring an OC950 as a Modbus master the OC950 baud rate must match the slaves See BaudRate variable the OC950 parity must match the slaves See RuntimeParity the OC950 supports 1 start bit 8 data bits and 1 stop bit the OC950 does not require or support hardware handshaking If a slave requires it then it must be defeated on the slave MA950 LR 1 45 Modbus Reference 1 46 Refer to the following items in the reference section for additional information on Modbus Item Used for Master or Slave Operation BaudRate Both MB32WordOrder Both MBErr Master MBFloatWordOrder Both MBInfo Block Slave MBMap16 Slave MBMap32 Slave MBMapBit Slave MBMapFloat Slave MBRead16 Master MBRead32 Master MBReadBit Master MBReadFloat Master MBWritel6 Master MBWrite32 Master MBWriteBit Master MBWriteFloat Master RuntimeParity Both RuntimeProtocol Both MA950 LR 1 12 Allen Bradley DF1 Communications Protocol Note The following functionality applies only to OC950s with Enhanced Firmware Standard OC950s are are not capable of communicating on an Allen Bradley Communications network Definition Allen Bradley DF1 is a communications utility bas
202. tion cube or inside the subroutine increment These same scope rules apply to constant definitions and aliases as well 1 2 Program Sections The major sections of a 9SOBASIC program are e setup parameter definitions e global variables constants and aliases e main program subroutines functions and interrupt handlers Although these sections may appear in any order we recommend that you keep them in the order shown or at least choose a single layout style and use it consistently MA950 LR Program template MA950 LR The program below is an example of the template generated automatically by 950IDE params Parameter Values Header Drive Sc952 Motor R32G Performance Setting Medium Inertia Ratio 0 params start ARFO 150 000000 ARF1 750 000000 Commoff 0 000000 ILmtMinus 100 000000 ILmtPlus 100 000000 ItThresh 60 000000 Kip 144 513255 Kpp 15 000000 Kvi 5 000000 Kvp 0 059626 Polecount 4 BDIOMap1 Fault _Reset_Inp_Lo BDIOMap2 CW_Inhibit_Inp_Lo BDIOMap3 CCW_Inhibit_Inp_Lo BDIOMap4 0 BDIOMap5 Brake Out Hi BDIOMap6 Fault_Out_Hi _ _ _ _ params end end params _ Define dim Global Variables 1 Main Program _ main end main Subroutines and Functions 1 Interrupt Routines These sections are
203. tion data latches Set Reg2HiFlag to zero to arm the latches i e prepare them to capture data at a registration transition This flag will automatically be set to one when the hardware detects a low to high transition on Reg2 J4 11 Reg2HiFlag x none Oor 1 0 RegControl determines what data gets latched on a Reg2 transition RegControl MA950 LR l SESS Reg2HiPosition Pre defined Variable Integer Read Only Purpose Reg2HiPosition contains the latched value of the motor position Position when the Reg2 input J4 11 captured its last low to high registration event Note RegControl must be set to 2 in order for Reg2HiPosition to be latched Syntax x Reg2HiPosition Units resolver counts Range Default none Guidelines Set Reg2HiFlag to 0 to arm the registration latch Related RegControl instructions MA950 LR 3 251 oO OM Reg2LoEncpos Pre defined Variable Integer Read Only Purpose Syntax Units Range Default Guidelines Related instructions 3 252 Reg2LoEncpos contains the latched value of the encoder counter EncPos when the Reg2 input J4 11 captured its last high to low registration event Note RegControl must be set to 1 in order for Reg2LoEncpos to be latched x Reg2LoEncpos encoder counts none Set Reg2LoFlag to 0 to arm the registration latch RegControl MA950 LR O O Reg2LoFlag Pre defined Variable Integer Purpose Syntax Units
204. trChar when a character is received IntrCwot when Position gt CwOt IntrDisable when the drive gets disabled IntrFault when the drive faults IntrI0Hi when Inp0 goes from 0 to 1 IntrI0Lo when Inp0 goes from 1 to 0 IntrI1Hi when Inp1 goes from 0 to 1 IntrI1Lo when Inp1 goes from 1 to 0 IntrI2Hi when Inp2 goes from 0 to 1 IntrI2Lo when Inp2 goes from 1 to 0 IntrI3Hi when Inp3 goes from 0 to 1 IntrI3Lo when Inp3 goes from 1 to 0 3 146 MA950 LR Intr source continued Table cont d IntrI4Hi when Inp4 goes from 0 to 1 IntrI14Lo when Inp4 goes from 1 to 0 IntrISHi when Inp5 goes from 0 to 1 IntrISLo when Inp5 goes from 1 to 0 IntrI6Hi when Inp6 goes from 0 to 1 IntrI6Lo when Inp6 goes from 1 to 0 IntrI7Hi when Inp7 goes from 0 to 1 IntrI7Lo when Inp7 goes from 1 to 0 IntrI8Hi when Inp8 goes from 0 to 1 IntrI8Lo when Inp8 goes from 1 to 0 IntrI9Hi when Inp9 goes from 0 to 1 IntrI9Lo when Inp9 goes from 1 to 0 IntrI10Hi when Inp10 goes from 0 to 1 IntrI110Lo when Inp10 goes from 1 to 0 IntrI11Hi when Inp11 goes from 0 to 1 IntrI11Lo when Inp11 goes from 1 to 0 IntrI12Hi when Inp12 goes from 0 to 1 IntrI112Lo when Inp12 goes from 1 to 0 IntrI13Hi when Inp13 goes from 0 to 1 IntrI113Lo when Inp13 goes from 1 to 0 IntrI14Hi when Inp14 goes from 0 to 1 IntrI14Lo when Inp14 goes from 1 to 0 IntrI15Hi when Inp15 goes from 0 to 1 In
205. trI15Lo when Inp15 goes from 1 to 0 IntrI16Hi when Inp16 goes from 0 to 1 IntrI16Lo when Inp16 goes from 1 to 0 MA950 LR 3 147 Intr source continued Table cont d IntrI17Hi when Inp17 goes from 0 to 1 IntrI17Lo when Inp17 goes from 1 to 0 IntrI18Hi when Inp18 goes from 0 to 1 IntrI18Lo when Inp18 goes from 1 to 0 IntrI19Hi when Inp19 goes from 0 to 1 IntrI19Lo when Inp19 goes from 1 to 0 IntrI20Hi when Inp20 goes from 0 to 1 IntrI20Lo when Inp20 goes from 1 to 0 IntrPACLAN when a PACLAN interrupt is received IntrPosError When a Position Error Fault would have occurred Related Interrupt End Interrupt instructions Example IntrI0Lo 1 while 1 pause 0 5 Out0 0 pause 0 005 toggle I O point 0 Out0 1 wend End Main Interrupt IOLO print Interrupt IntrI0Lo 1 End Interrupt 3 148 MA950 LR U Ipeak Pre defined Variable Float Status Variable Read Only Purpose Ipeak is the drive s maximum 0 peak current rating Syntax x Ipeak Units Amperes Range single value see Default below Default Model Number Ipeak 952 75 953 15 0 954 30 0 955 60 0 MA950 LR 3 149 ItFO Pre defined Variable Float Purpose Syntax Units Range Default Guideline 3 150 ItFO specifies the corner frequency of the low pass filters implementing the I t drive thermal pr
206. ts thereof which prove to Pacific Scientific s satisfaction to be defective as a result of defective materials or workmanship in accordance with Pacific Scientific s stated warranty provided however that written notice of claimed defects shall have been given to Pacific Scientific within two 2 years after the date of the product date code that is affixed to the product and within thirty 30 days from the date any such defect is first discovered The products or parts claimed to be defective must be returned to Pacific Scientific transportation prepaid by Customer with written specifications of the claimed defect Evidence acceptable to Pacific Scientific must be furnished that the claimed defects were not caused by misuse abuse or neglect by anyone other than Pacific Scientific Pacific Scientific also warrants that each of the Pacific Scientific Motion Control Software Programs Program s will when delivered conform to the specifications therefore set forth in Pacific Scientific s specifications manual Customer however acknowledges that these Programs are of such complexity and that the Programs are used in such diverse equipment and operating environments that defects unknown to Pacific Scientific may be discovered only after the Programs have been used by Customer Customer agrees that as Pacific Scientific s sole liability and as Customer s sole remedy Pacific Scientific will correct documented failures of the Pr
207. ulo to master counts cycle PosModulo 400 set PosModulo to slave SC950 counts cycle EncPos 0 clear the counter ActiveCam 1 activate cam 1 End MA950 LR Cwlnh Pre defined Variable Purpose Cwlnh indicates the current state of the CWINH Inhibit Input It can also be used as an interrupt source Syntax x CwInh Range Oorl Units none Default none MA950 LR 3 71 Cwot Pre defined Variable Purpose Cwot sets the clockwise software overtravel limit When the position of the motor becomes more positive than this limit a clockwise overtravel interrupt will occur if that interrupt is active Syntax Cwot x Range 134 217 728 to 134 217 727 resolver counts Units resolver counts Default 0 3 72 MA950 LR E ees DecelGear Pre defined Variable Integer Purpose Syntax Units Range Default Guidelines Related instructions MA950 LR DecelGear sets the maximum deceleration that will be commanded on the follower when Gearing is turned ON or the electronic gearing ratio Ratio or PulsesOut PulsesIn is decreased This maximum acceleration limit remains in effect until Gearlock is achieved Once Gearlock is achieved the follower will follow the master with whatever acceleration or deceleration is required Note DecelGear is independent of AccelGear Each variable must be set independently to the appropriate value for the desired motion DecelGear x rpm sec 1 to
208. units of amperes and Velocity Error has units of radians second Kvp must be adjusted for total load inertia and motor torque constant Note Idealized velocity loop bandwidth rad sec Kt 2 Kyvp 5c insect 9 Amp Maximum recommended idealized bandwidth 2II 400 Rad sec MA950 LR LANFIt Pre defined Array Variable Float Purpose LANFIt n is an array of 32 floating point variables that is globally accessible over PACLAN Each OC950 has its own LANFIt array Syntax LANFIt n y z or z LANFlt n y where n is the array index 1 32 and y is the Axis Address of the OC950 whose LANFIt array we are using Units none Range Default 0 0 for all entries Guidelines The Axis designation can be omitted when reading or writing your own LANFit n variables Related LANInt instructions MA950 LR 3 163 LANint Pre defined Array Variable Integer Purpose LANInt n is an array of 32 integer variables that is globally accessible over PACLAN Each OC950 has its own LANInt array Syntax LANInt n y z or z LANInt n y where n is the array index 1 32 and y is the Axis Address of the OC950 whose LANInt array we are using Units none Range Default 0 for all entries Guidelines The Axis designation can be omitted when reading or writing your own LANFIt n variables Related LANF1t instructions 3 164 MA950 LR LANInterrupt Statement
209. unning a program x Status n where n is the address of the axis that you are interested in Status returns the following values 0 axis is not connected to PACLAN 1 axis is connected but not running a program 3 axis is connected and is running a program You can look at your own status variable without using the axis specifier but why would you This example checks all 255 possible axis addresses and prints out a message for every axis that is connected to the PACLAN main dim x as integer for x 1 to 255 if Status x 1 then print Axis x is connected elseif Status x 3 then print Axis x is running a program endif next end main MA950 LR SS ee Stop Statement Purpose Stops execution of the user program Syntax Stop Guidelines When the user program stops the OC950 goes back to message mode waiting for a command over the communications link Related AbortMotion instructions MA950 LR 3 283 Sir Function Purpose Str returns a string representing the value of a numeric expression Syntax resultS Str x Related Hex Oct instructions Example x 45 2 7 print strs x prints 6 457 3 284 MA950 LR String Function Purpose Syntax Guidelines Related instructions Example MA950 LR String returns a string containing the specified number of occurrences of the specified character x String n a 1 or x
210. ured current flowing in Motor Phase S J2 3 Syntax x IS Units Amps MA950 LR 3 155 gt gt gt gt gt S S S S aDaBAUx AE x _aSSSSSaSaSaSaS FA IT Pre defined Variable Float Status Variable Read Only Purpose I_T is the measured current flowing in Motor Phase T J2 2 Syntax x IT Units Amps 3 156 MA950 LR Kii Pre defined Variable Float Purpose Syntax Units Range Default Guidelines Related instructions MA950 LR Kii sets the integral gain of the current loops Kii x Hertz 0 to 2546 50 Hertz Kii is the current loop s integral gain It defines the frequency where the current loop compensation transitions from predominantly integral characteristics gain decreasing with frequency to predominantly proportional characteristics constant gain with frequency This value should typically be less than 10 of the current loop s bandwidth Kip 3 157 Kip Pre defined Variable Float NV Parameter Purpose Syntax Units Range Default Guidelines 3 158 Kip sets the proportional gain of the current loop Kip x Volts Ampere 0 to 2 15e5 Ipeak Parameter value specified in the Params End Params section of your program The 950 IDE New Program function calculates this value based upon the specified motor and drive Current loop bandwidth in Rad sec is Kip L where L is the motor s line to line inductance in henries Recommended bandwidth is 2I 10
211. velocity move vm UpdMove updates move parameters on move in progress vmStopMotion stops motion vmEncpos gives the value of the internal counter vm Moving indicates whether a move is in progress The virtual encoder can be used as the input to the cam either alone as a virtual master or in combination with the actual encoder Encpos to add an offset to the master position This functionality is controlled by the variable CamMaster MA950 LR 2 Quick Reference Introduction This section contains functions parameters statements and variables for 9SOBASIC Below is a summary table of the list of instructions Note The default value for parameters designates the value of the instruction at power on and at program start A numeric value designates the power on program start default value of a parameter Default values designated by set up are initialized to the value in the PARAMS section of the program Parameters may also be modified during program execution but will always retain their power on value at the start of program execution Name Type Default Value Page ABCrc Pre defined Variable Integer 3 2 ABErr Pre defined Variable Integer 3 3 ABInfo End 3 4 ABMapFloat Statement 3 6 ABMapInteger Statement 3 7 AbortMotion Statement 3 8 Abs Function 3 9 AccelGear Pre defined Variable Integer 16 000 000 rpm sec 3 10 AccelRate
212. wise or counter clockwise and position variables direction as follows 0 clockwise is positive ccw is negative 1 clockwise is negative ccw is positive After you change PosPolarity all commanded motion will be reversed from what it was PosPolarity x none 0 or 1 0 The drive must be disabled Enabled 0 to change PosPolarity When the drive is enabled Enabled 1 PosPolarity is read only PosPolarity is used for reversing direction for an entire program PosModulo 3 221 PosPolarity continued Example Enable 0 PosPolarity 1 Enable 1 IndexDist 4096 goes ccw GoIncr while Moving wend pause 1 Dir 0 GoVel goes ccw 3 222 MA950 LR Print Statement Purpose Print displays formatted output through the serial port while the program is running Syntax Print expressionl expression2 Guidelines 950BASIC defines zones of 13 characters which can be used to produce output in columns If a list of expressions is separated by commas then each subsequent expression is printed in the next zone If a list of expressions is separated by semi colons then the zones are ignored and consecutive expressions are printed in the next available character space If a PRINT statement ends in a comma or semi colon then carriage return line feed at the end of serial output is suppressed Example Print Hello Goodbye Print Hello Goodbye
213. y Purpose Syntax Units Range Default Guidelines Related instructions Example MA950 LR Enabled indicates whether or not power can flow to the motor i e whether or not the drive is enabled x Enabled none Oor1 none Before power can flow to the motor the following must all be true 1 Drive is not faulted 2 Enable input J4 6 is connected to I O RTN 3 Enable pre defined variable is set to 1 Enable If Enabled 1 then print Drive is Enabled else print Drive is NOT Enabled end if EnablePLSO EnablePLS7 Pre defined Variable Integer Purpose Syntax Units Range Default Guidelines Related instructions Example There are eight EnablePLS pre defined variables one for each of the eight Programmable Limit Switches PLS They are used to enable or disable the programmable limit switch that is associated with the appropriate Output point EnablePLSX x none Oor1 0 Use EnablePLSx 1 to enable a Programmable Limit Switch Use ConfigPLS to configure the Programmable Limit Switch ConfigPLS The statements below will configure PLSO such that Out0 will be set to 1 when Position is between 4096 and 4196 Out0O will be set to 0 at all other times ConfigPLS 0 4096 100 1 EnablePLSO 1 MA950 LR G EncFreq Pre defined Variable Float Status Variable Read Only Purpose Syntax Units Range Calculation Guidelines

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