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User's Manual - Calantec GmbH

1. 76 Ca la ntec GmbH www calantec de CO2200 CO4200 CoO6100 CO6500 CO5400 37 FAULT 5 38 S 5 Outputs CO2200 CO4200 CO6100 CO6500 CO5400 1 101 OUT1 1 101 101 OUT1 1 2 102 OUT2 1 102 102 OUT2 1 3 103 OUTS 1 103 103 OUTS 1 4 104 OUTA 1 104 104 OUTA 1 5 105 OUTS 1 105 105 OUTS 1 6 106 OUTE 1 106 106 OUTE 1 7 107 OUT7 1 107 107 OUT7 1 8 108 OUTS 1 108 108 OUTS 1 9 OUTS 2 OUTS 2 10 OUT10 2 OUT10 2 11 OUT11 2 OUT11 2 12 OUT12 2 OUT12 2 13 OUT13 2 14 OUT14 2 15 OUT15 2 16 OUT16 2 17 18 19 20 21 22 23 24 77 Ca la ntec GmbH www calantec de 6 Appendix D ASCII code table Code Char Key Function Code Char Code Char Code Char 0 Ctrl A 32 SPACE 64 96 1 Ctrl B 33 65 A 97 a 2 Ctrl C 34 li 66 B 98 b 3 Ctrl D STOP BREAK 35 67 C 99 C 4 Ctrl E HALT 36 68 D 100 d 5 Ctri F EDIT 37 69 E 101 e 6 Ctr G START 38 amp 70 F 102 f 7 Ctrl H RUN 39 71 G 103 g 8 Ctri I DEL 40 72 H 104 h 9 Ctrl J TAB 41 73 l 105 i 10 Ctrl J LF 42 74 J 106 j 11 Ctri K 43 75 K 107 k 12 Ctrl L FF 44 i 76 L 108 13 Ctrl M CR 45 77 M 109 m 14 Ctrl N MENU 46 78 N 110 n 15 Ctr O MOVE 47 7
2. A CAN Data 1 candata 6 B CAN Data 2 12 Ca la ntec GmbH www calantec de candata 7 2 C CAN Data 3 candata 14 3 CAN Length candata 15 20 CAN Mode CANWRITE 1 candata 0 Related commands and functions CANBAUD CANERROR CANID CANREAD CASE Command See SELECT CASE CHRS Function Returns a string consisting of one character with ASCII code n Syntax SS CHRS n Example PRINT CHRS 65 Related commands and functions ASC CINT Function Numerical expression a is rounded to an integer Syntax n CINT a Example PRINT CINT 65 6 Related commands and functions ABS FRAC INT FIX CLEAR Command The event processing is switched off if not prevented earlier with CONTEVENTS ON unused variables are discarded open files are closed Used variables are set to default values Syntax CLEAR Related commands and functions CONTEVENTS NEW CLEARBUF Command The input buffer of channel n is cleared Syntax CLEARBUF n Related commands and functions OPEN INPUT CLEARSTACK Command Clears BASIC stack Syntax CLEARSTACK Related commands and functions 13 Ca la ntec GmbH www calantec de POPSTACK CLOSE Command Closes one or more open files Syntax CLOSE n1 n2 Example CLOSE CLOSE 1 2 Related commands and functions OPEN CLS Command with display only The display is cleared the cursor is set to the upper left corner and is switched o
3. Display sign amp Print entire string 33 Ca la ntec GmbH www calantec de Print first character of a string 8 Print following special character e g N Print n characters of a string n number of spaces between NN 2 Syntax PRINT n USING format al s15 Example PRINT USING X SIN PI 3 Related commands and functions PRINT WRITE PROMPT Command Switches the input prompt on or off Syntax PROMPT ON OFF Related commands and functions ECHO SHELL PULSEOUT Command Switches the pulse output n on or off If period and hightime are given the output is switched on Period and hightime are given in milliseconds integer or fix A period value of 0 switches the output off low level Syntax PULSEOUT n period hightime switch on PULSEOUT n 0 switch off Example PULSEOUT 1 20 0 1 5 RANDOMIZE Command Initialises the pseudo random generator with integer n Syntax RANDOMIZE n Related commands and functions RND REM Command The rest of the program line is treated as a remark You can also use the character lt Syntax REM RENEW Command Clears the program listing entered during the execution of the main program The main program must first be protected with NEWLIST Syntax RENEW 34 Ca la ntec GmbH www calantec de Related commands and functions NEW NEWLIST RENUMBER Command Renumbers the lines of a program Start line is n1 st
4. BORDER 1 200 200 130 150 CODE Function Returns the last value of a G code Code sel can have the following values fix A F I J K R S W X Y Z integer G L M N special c Syntax a CODE sel Example F100 5 G02 I 100 J 55 5 PRINT CODE F CODE G CODE I CODE J Related commands and functions ON CTRLCODE GOTO GOSUB CONTINUOUS Command Switches the continuous mode for groups ng1 ng2 on or off If the continuous mode is activated the constant velocity after the acceleration profile is continued as long as movement commands are added e g LINA LINR ARCA ARCR It is 44 Ca la ntec GmbH www calantec de necessary to use the command NOWAIT ON first Syntax CONTINUOUS ngl ng2 ng3 ON OFF Related commands and functions NOWAIT CONTOUR Command Switches contour acquisition mode for group ng1 ng2 on or off A contour consists of one or more linear or circular segments They can be programmed after CONTOUR ON with LINA LINR ARCA and ARCR Start position is the actual position The start position can be moved using the POSA or POSR command During contour acquisition mode no movements are performed After CONTOUR OFF the contour can be used with MOVER or MOVEA Syntax CONTOUR ngl ng2 ng3 ON OFF Example CONTOUR ON LINR 1 0 100 ARCR 1 25 0 180 CONTOUR OFF Related commands and functions ALENGTH CTPOS LENGTH MOVEA MOVER NEWSE
5. DIM sinwave 256 AS FIX DIM coswave 256 AS FIX FOR i 1 TO 256 sinwave i FOR i 1 TO 256 coswave i SET 1 WAVEFORMI sinwave 0 SET 1 WAVEFORM2 coswave 0 SET 1 ISTANDBY 40 SET 1 IMAX 70 BS SIN i 1 2 PI 256 NEXT BS COS i 1 2 PI 256 NEXT More axes can share the same array For precision moves IMAX and ISTANDBY should be the same Programming hints for CO6300 The amplifiers of CO6300 have preprogrammed current profiles sine and cosine 72 Ca la ntec GmbH www calantec de contact factory for other profiles An array is not necessary The resolution is 128 steps per full phase which corresponds to a resolution of 1 32 step Programming example for CO6300 MODE 1 SM STEPDIR 1 SET 1 ISTANDBY 40 SET 1 IMAX 70 Amplifier PW2000 The servo amplifier PW2000 is a PWM amplifier with current monitoring The average maximum current is limited to the value set with SET na IMAX of 10 A For a certain time set with trimmer T the current can be greater than IMAX but is limited to the value set with SET na IPEAK of 20 A Don t use values greater then 90 for IPEAK In case of a short circuit the amplifier is switched off The error mode can be reset by the MOTOR na OFF command followed by MOTOR na ON PWM frequency ca 20 kHz max amplifier voltage 42 V DC max peak motor current 18A max average motor current 10 A Motor supply and controller supply are separated g
6. G02 G09 M72 Wf G91 Jf Kf V YZ pl G02 G09 M72 Wf G91 Kf If ZX pl Example G02 G09 W100 G91 I50 J50 67 Ca la ntec GmbH www calantec de G02 G09 M72 W 20 G91 122 2 J22 2 Polar coordinates relative center relative angle Angle w is the final angle of the circular move relative to the last angle I J and K define the center relative to the last position Syntax G02 G09 M71 Wf G91 If Jf XY Eb G02 G09 M71 Wf G91 Jf Kf YZ Eb G02 G09 M71 Wf G91 Kf If ZX Eb Example G02 G09 M71 W100 G91 I50 J50 G02 G09 M71 W 20 G91 I22 2 J22 2 Related commands and functions FMAX VEL G03 G03 Command Circular movement counterclockwise Coordinates and syntax is like G02 command Related commands and functions FMAX VEL G02 G53 Command Clear all coordinate shifting and rotating Syntax G53 Related commands and functions G54 G55 G56 G54 Command Shifts the coordinate system independently form the SETPOS command Valid only for G codes The actual position is now the position with coordinates x Y and 2 Syntax G54 Xf Yf Zf Related commands and functions G53 G55 G56 G55 Command Shifts and rotates the coordinate system independently from the SETPOS and TRAFO command Valid only for G codes The coordinate system is rotated relatively by the angle w and shifted relatively by x v and 2 Syntax G55 Xf Yf Zf Wf Related commands and functions G53 G54 G56 G56 Command
7. CASE IS cmp expression command block CASE expr TO expr command block CASE ELSE command block END SELECT Example FOR i 1 TO 5 SELECT CASE i CASE 1 PRINT 1 CASE 2 TO 5 PRINT 2 5 CASE IS gt 6 PRINT 6 END SELECT NEXT i Related commands and functions IF THEN SGN Function Returns the sign of a numerical expression Syntax n SGN a Example PRINT SGN 3 PRINT SGN 0 4 Related commands and functions ABS 36 Ca la ntec GmbH www calantec de SHELL Command Switches the command line editor the echo mode and the prompt on or off Syntax SHELL ON OFF Related commands and functions ECHO PROMPT SHIFT Function Shifts a 32 bit integer n1 logically by n2 places Syntax n SHIFT n1 n2 Related commands and functions ROTATE SIN Function Calculates the sine of numerical expression a Syntax a SIN a Example PRINT SIN x PRINT SIN 0 4 Related commands and functions ACOS ASIN COS SLEEP Command Waits n milliseconds The event processing is unaffected Syntax SLEEP n Related commands and functions TIME SPACES Function Create a string containing n spaces Syntax sS SPACES n Related commands and functions STRINGS SOR Function Calculates the square root of numerical expression a Syntax a SQR a STACKSIZE Command Sets the size of the BASIC stack to n bytes This preference has to be written permanently by using the WRITEPREFS 37 Ca
8. DIM array nl n2 n3 AS FIX DIM array nl n2 n3 AS CHAR DIM array nl n2 n3 AS STRING Example DIM xcoord 100 AS FIX D D DO LOOP Command Repeats a block of command as long as a condition is true WHILE a oruntil a condition is true UNTIL a The condition check is performed where WHILE und UNTIL are positioned either at the beginning or at the end of the block 16 Ca la ntec GmbH www calantec de of commands Expression a is TRUE if it is not equal zero it is FALSE if it is zero Syntax DO WHILE UNTIL a block of commands LOOP WHILE UNTIL a Example x 1 DO WHILE x 10 x x 1l PRINT x LOOP Related commands and functions EXIT FOR NEXT DRESTORE Command Restores the display content previously saved in array a 0 Syntax DRESTORE a 0 Related commands and functions CLS DSAVE DSAVE Command The actual display content is saved in array a 0 of char With a display size of 20 x 4 characters the size of a 0 has to be at least 80 Syntax DSAVE a 0 Related commands and functions CLS DRESTORE ECHO Command Switches echo mode of a communication channel on or off Syntax ECHO ON OFF ECHO s ON OFF Example ECHO AUX1 ON Related commands and functions PROMPT SHELL EDIT Command with display only Starts the text editor If a line number n is given the cursor is positioned at the beginning of this line If file name s is missing the editor starts with the FILE
9. Example PRINT TPOS 1 1 TPOS 1 2 TPOS 1 3 Related commands and functions APOS CPOS TP TRACKING Command Switches the tracking mode for groups ng1 ng2 on or off In tracking mode positioning commands are finished early if a new position is given Acceleration and deceleration profiles are used Tracking mode is not possible during linear or circular movements Syntax TRACKING nql ng2 ng3 ON OFF Related commands and functions POSA POSR TRAFO Command Sets the matrix for the coordinate transformation of group ng Transformation for a group of one axis 61 Ca la ntec GmbH www calantec de x x a Transformation for a group of two axes x x axl y ayl y x ax2 y ay2 Transformation for a group of three axes x x axl y ayl y x ax2 y ay2 z z az Syntax 1 TRAFO ng a Syntax 2 TRAFO ng axl ayl ax2 ay2 Syntax 3 TRAFO ng axl ayl ax2 ay2 az VEL Command Sets the deceleration for linear and circular movements in user units s of group ng to value a The command can be executed during a movement and the new value is updated immediately Syntax VEL ng a Related commands and functions ACC DEC HDEC TRAFO WAIT Command Waits until the movements of groups ng1 ng2 are finished Syntax WAIT ngl ng2 ng3 Related commands and functions NOWAIT MOVING 62 Ca la ntec GmbH www calantec de 3 Appendix A G Codes G codes are CNC commands w
10. NS eects EE 77 6 Appendix D ASCII code table U 78 T Appe dix E d E 79 8 Appendix F Pin description 81 Ca la ntec GmbH www calantec de 1 Start Up The voltage of the power supply must be 24V 10 DC Depending on the connected peripherals the current can be up to 2 A amplifier current not included The motor controller should be connected to a terminal or a computer with a terminal program running Default serial communication parameters are 19200 baud no parity 8 bits 1 stop bit no handshake These values can be altered with the MODE command see command reference If the motor controller is equipped with a RS232 compatible interface see label you can use a standard cable if it is equipped with a RS422 interface you have to use the converter IN232 422 or a similar RS422 RS232 converter Axis configuration The motor controller should be configured immediately after power on The best way is to include the appropriate commands in a file named CONFIG SYS For configuration the MODE and SET commands are used Each of the three axes is defined either as stepper or servomotor axis and the power amplifier type is determined Use option PwMs for amplifier PWM1660 and PATTERN for amplifier SM0435 and SM0860 Example configuration MODE 1 PID INC 1 PWMS 1 MODE 2 PID INC 2 PWMS 2 MODE 3 SM PATTERN 3 Axis 1 and axis 2 are defined as servo motors
11. analogue output 0 5V amplifier current control DA B analogue output 0 5V amplifier current control EIN1 EIN2 internal EIN relay emergency stop circuit EN amplifier enable output OV Off 5V On ERR error input convention OV OK 5V ERROR GND ground IN REF 24 V input ca 4 mA input current IO 24 V input output output current max 350 mA source driver if used as input set pin to O PINOUT n 0 NOTAUS1 External emergency stop circuit NOTAUS2 OUTn 24 V output output current max 350 mA source driver PA Stepper motor controller phase A resp direction PB Stepper motor controller phase B resp step PC Stepper motor controller phase C resp standby max PD Stepper motor controller phase D PWM PWM output 5V RTS RS232 Ready To Send RTS RTS RS422 Ready To Send differential outputs RXD RS232 receive data RXD RXD RS422 receive data differential inputs 1200 termination SCHUTZ Emergency stop circuit sense input SIGN SIGN output 5V TXD RS232 transmit data TXD TXD RS422 transmit data differential outputs 81
12. axis 3 as stepper motor Now use SET commands to set necessary parameters like maximum current IMAX for stepper motors additionally standby current ISTANDBY The PID algorithm for servo motor control needs the parameters POL DIFF PROP and INT To determine the value of POL and while testing the reference movements is it advised to limit the controllers output by setting the MAXFORCE parameter Some microstepping controllers have to be programmed with the desired current profile WAVEFORM1 WAVEFORM2 PID parameters To achieve maximum velocity and accuracy PID parameter have to be set up carefully To do this efficiently create a text file containing all basic configuration commands MODE 1 PID INC 1 PWMS 1 SET 1 IMAX 10 ET 1 PEAK 10 ET 1 PWMPOL TRUE ET 1 POL TRUE ET 1 MAXFORCE 10 ET 1 PROP 100 ET 1 INT O SET 1 DIFF 200 nnnn nn For more axes add the appropriate commands Start with a limited controller output SET 1 MAXFORCE 10 or less and limit if possible the amplifier current SET 4 Ca la ntec GmbH www calantec de 1 MAXFORCE 10 Now switch on the controller with MOTOR 1 ON If the motor axis is now moved it will either move back to the former position which is right or run continuously in one direction In the latter case change either SET 1 POL TRUE to SET 1 POL FALSE resp FALSE to TRUE change the polarity of the motor cables or exchange incremental inputs A and B If the control polar
13. is NONE RTSCTS or XONXOFF Syntax 1 MODE COMn baudrate parity bits stop handshake Syntax 2 MODE COMn Example MODE COM1 19200 NONE 8 1 XONXOFF NETMASTER Command NETMASTER ON puts the controller in the network master mode In that mode it is possible to switch to the command line of a different controller in the network The other controllers can be conntected via a serial interface or CAN interface see CONNECT command The current controller can be recognized by the number or letter preceeding the prompt The character M implies that commands go to the master controller Communication with slaves can be recognized by the character S or the slave number if the slave controller is already switched to slave mode see NETSLAVE command The current controller can be selected with a command line beginning with the character followed by the controller number All other characters or commands in this line are ignored The master controller has number 0 all slaves the numbers assigned with the CONNECT command The master mode is switched off using the NETMASTER OFF command Example gt NETMASTER ON M gt CONNECT 2 COM1 M gt 2 S Syntax NETMASTER ON OFF 28 Ca la ntec GmbH www calantec de Related commands and functions CONNECT NETSLAVE NETSLAVE Command NETSLAVE ON puts the controller in the network slave mode s is the communication interface serial or CAN the optional parameter n is the slave number If omm
14. la ntec GmbH www calantec de command and is used after the next reset or power up Syntax STACKSIZE n Related commands and functions WRITEPREFS STR Function Returns the string representation of numerical expression a Syntax sS STRS a Related commands and functions VAL STRINGS Function Returns a string containing n1 characters with ASCII code n2 repectively the first character of string sS Syntax SS STRING n1 n2 s Related commands and functions SPACES SYNC Command Synchronizes the program execution with the system timer The execution is interrupted until the system timer reaches a value which is divisible by n During this time no events are monitored For that reason this command should only be used in special cases Different synchronization delays can occur if the system timer runs over after about 1 000 000 000 milliseconds The standard system frequency is 1024 Hz Syntax SYNC n Related commands and functions SLEEP SYSTIMER SYSTIMER Command m versions only Sets the interval of the system timer to a milliseconds This command is only implemented in special BIOS versions The time resolution is about 200 ns If the system timer is changed all time related computations and functions deliver wrong results except SLEEP and TIME This command should only be used in special cases Depending on the controller model and load a should not be less than 0 8 ms and especially when using servo motors not gr
15. of a terminal program Save file with MENU SAVE and update the FLASH disk with the UPDATE command Commands without a line number are executed directly during power up Commands with a line number are loaded into program memory but not executed They can be executed with the RUN command Example NOTAUS INTERN MODE 1 SM PATTERN 1 MODE 2 SM PATTERN 2 SET 1 IMAX 30 SET 2 IMAX 30 SET 1 ISTANDBY 20 SET 2 ISTANDBY 20 G T ROUP 1 1 2 RAFO 1 534 0 0 534 EXEC PROGRAMM SYS Ca la ntec GmbH www calantec de RUN Properties of the FLASH and EEPROM disc Controllers with model names COxxxx have two internal silicon disks The first is FLASH based and called SIDO the second is EEPROM based and called SIDI SIDO is mainly for program storage and needs the UPDATE command after modification Note that all amplifiers are switched off during update The size of SIDO is 256 kbytes The built in EEPROM disc SID1 has a capacity of 256 kbytes It is possible to save up to 128 different files Use the FORMAT command to initialize To see the directory use command FILES Files with extension SYS are not displayed You can force their appearance with FILES 1 BASIC interpreter After power up the controller sends the character prompt via device STD reading keyboard and COMI writing display and COMI if there is no autostart program as described above Now you can type in commands which are e
16. optional If the channel is a communication device e g STD and the input was wrong an error message is displayed and the user can start again If the channel is not a communication device e g SID1 the program terminates with an error in case of a wrong input Syntax 23 Ca la ntec GmbH www calantec de INPUT Text varl var2 var3 INPUT n varl var2 var3 Related commands and functions LINE INPUT INPUTS TINPUT TINPUTC TINPUTL INPUTS Function Reads n1 characters from a file or a device If no channel number n2 is given STD keyboard and COM1 is used as default Syntax s INPUTS nl n2 Related commands and functions INPUT LINE INPUT TINPUT TINPUTC TINPUTL INPUTF Command Reads a list of variables The channel number n is optional Integer variable 1ag returns an error code if an input error occured or 0 if the input was successful Syntax INPUTF flag Text varl var2 INPUTF n flag varl var2 var3 Related commands and functions LINE INPUT INPUT INPUTS TINPUT TINPUTC TINPUTL INSTR Function Returns the position of the first occurrence of string s2 in string s1 The search is started at position n2 n2 is optional s2 can also be replaced by a ASCII Code Syntax nl INSTR n2 s1 s2 nl INSTR n2 s1 n n21 255 Related commands and functions INPUT LINE INPUT INT Function Returns the largest integer w
17. to be used if group contains 3 axes Command Sets the acceleration for linear and circular movements in user units s of group ng to value a The command can be executed during a movement and the new value is updated immediately Syntax ACC ng a Related commands and functions DEC HDEC VEL TRAFO Function Returns the current contour position of group ng Syntax a ALENGTH ng Example PRINT ALENGTH 1 Related commands and functions CONTOUR LENGTH Command Switches the event processing for amplifier errors on or off AMPERROR HIGH causes an event if the amplifier error line is logical high AMPERROR LOW if it is logical low Syntax AMPERROR HIGH LOW OFF Related commands and functions MAXDIFF MAXFORCE MOTOR Function Returns the actual position of the nth axis of group ng If axis n 42 Ca la ntec GmbH www calantec de is a servo motor the back transformed current position of the incremental encoder is returned not the calculated desired position see TPOS Syntax a APOS ng n Example PRINT APOS 1 1 APOS 1 2 APOS 1 3 Related commands and functions CPOS TP TPOS ARCA Command Performs a circular movement with angle aw starting at the current position around the absolute center point ax ay az The mode parameter nm determines whether the circuler movement is in the XY plane nm 0 in the YZ plane nm 1 or in the nm 2 plane Syntax 2 ARCA ng ax ay aw Syntax 3 ARC
18. 1 to 3 A logic 1 corresponds to a 24 V output level a logic 0 to a 0 V level Syntax PORTOUT n1 n2 Example PORTOUT 1 amp b10011100 Related commands and functions PORTIN PORT PRINT Command Prints strings or string representations of numerical expressions to the standard output channel or to a given file n Expressions separated by semicola are printed without spaces expressions separated by commata are printed with tabulators ASCII code 9 between them The output is terminated with CR LF ASCII codes 13 and 10 if the PRINT command doesn t end with a comma or semicolon Syntax PRINT n al slS Example PRINT HALLO CHRS 33 PRINT 100 0 20 PRINT 1 TEST Related commands and functions PRINT USING WRITE PRINT USING Command Prints formatted strings or formatted string representations of numerical expressions to the standard input and output channel or to a given file 4n Expressions separated by semicola are printed without spaces expressions separated by commata are printed with tabulators ASCII code 9 between them The output is terminated with CR LF ASCII codes 13 and 10 if the PRINT command doesn t end with a comma or semicolon Some characters in the formatting string format have special functions Number of figures before and after the decimal point Leading zeros are replaced by spaces St Unlimited figures before the decimal point S Display leading zeros
19. 2 Zf Xf G90 Kf If ZX plane Example G02 X10 Y10 I50 J50 G02 X 30 Y2U G90 122 2 922 2 cartesian coordinates relative center X Y and z define the target position in absolute coordinates 1 J and K define the center relative to the last position Syntax G02 Xf Yf G91 If Jf XY plane G02 Y Zf G91 Jf Kf YZ plane G02 Zf Xf G91 Kf If ZX plane Example G02 X10 Y10 G91 I 40 J50 G02 X 30 Y20 G91 I22 2 J22 2 Polar coordinates absolute center absolute angle Angle w is the final angle of the circular move given as an absolute value I J and K define the center in absolute coordinates Syntax G02 G09 M72 W G90 If Jf XY pl G02 G09 M72 Wf G90 Jf Kf Y YZ pl G02 G09 M72 Wf G90 Kf If ZX pl Example G02 G09 W100 I50 J50 G02 G09 M72 W 20 G90 122 2 222 2 Polar coordinates absolute center relative angle Angle w is the final angle of the circular move relative to the last angle I J and K define the center in absolute coordinates Syntax G02 G09 M71 Wf G90 If Jf XY pl G02 G09 M71 Wf G90 Jf Kf Y YZ Pla G02 G09 M71 Wf G90 Kf If ZX pl Example G02 G09 M71 W100 I50 J50 G02 G09 M71 W 20 G90 122 2 J22 2 Polar coordinates relative center absolute angle Angle w is the final angle of the circular move given as an absolute value I J and K define the center relative to the last position Syntax G02 G09 M72 Wf G91 If Jf XY pl
20. 20 wheelpos INC 1 wheelscale 20030 wheeldiff wheelpos lastwheelpos 20040 IF wheeldiff 0 THEN GOTO 20120 END IF 20050 wheeldiff CINT wheeldiff 0 010 20060 IF wheeldiff 0 THEN GOTO 20200 END IF 20070 lastwheelpos wheelpos 20080 FOR i 1 TO wheeldiff 20090 PRINT 2 CHRS 27 CHRS 91 CHRS 65 20100 NEXT i 20110 GOTO 20200 20120 wheeldiff CINT ABS wheeldiff 0 010 20130 IF wheeldiff 0 THEN GOTO 20200 END IF 20140 lastwheelpos wheelpos 20150 FOR i 1 TO wheeldiff 20160 PRINT 2 CHRS 27 CHRS 91 CHRS 66 20170 NEXT i 20200 other timer subroutines 20210 20900 RETURN 75 Ca la ntec GmbH www calantec de 5 Appendix C Inputs and outputs Inputs CO2200 CO4200 CO6100 CO6500 CO5400 1 IN1 IN1 1 101 101 IN1 1 2 IN2 IN2 1 102 102 IN2 1 3 IN3 IN3 1 103 103 IN3 1 4 INA 1 1 5 IN5 1 1 6 ING 1 1 7 IN7 1 1 8 IN8 1 1 9 IN9 2 REF1 2 10 IN10 2 REF2 2 11 IN11 2 REF3 2 12 IN12 2 REF4 2 13 IN13 2 S 2 14 IN14 2 FAULT1 2 15 IN15 2 FAULT2 2 16 IO8 IN16 2 EXT 2 17 PI0 IN17 3 INDEX1 3 18 P IN18 3 INDEX 3 19 PI2 IN19 3 INDEX3 3 20 PI3 IN20 3 21 ERROR1 ERROR1 22 ERROR2 ERROR2 23 ERROR3 ERROR3 24 St ERROR4 25 INDEX1 4 26 INDEX2 4 27 INDEX3 4 28 INDEX4 4 29 30 31 32 33 34 35 36
21. 24 Hz the actual position of axis na into array array 0 until the array is filled The actual position is the incremental encoder position as obtained by GETV na RAPOS Array type can be char or integer Syntax SCOPE na array 0 Example DIM testarray 1000 AS INTEGER SCOPE 1 testarray 0 SLEEP 50 JUMP 1 100 SLEEP 950 FOR i 1 to 1000 PRINT testarray i NEXT Related commands and functions JUMP 57 Ca la ntec GmbH www calantec de SEGMODE Command Selects the default segmentation mode during contour mode With SEGMODE ON the movement stops between every segment with SEGMODE OFF the movement continues with constant velocity The mode can changed individually for every segment using the NEWSEG or CONTSEG command Syntax SEGMODE ngl ng2 ng3 ON OFF Siehe auch ALENGTH CONTSEG CTPOS LENGTH MOVEA MOVER NEWSEG SETCPOS SET Command Sets one of several axis controller parameters Syntax SET na mode a Mode DEADBAND Sets the dead band of the PID controller This is the difference between desired and current position up to which the PID controller output stays zero DIFF Sets the differential value of the PID controller The range is 0 0 to 32767 0 FACTOR Sets the scale factor between inputi and input2 in the PIDD mode FACTOR Res input2yRes input1 Res n is the encoder resolution in inkrements length unit FEEDFWD Not yet supported IMAX Sets the value of the maximum average current depending on th
22. 72 Af Wf G91 If Jf VY XY qul GOO G09 M72 Af Wf G91 Jf Kf YA ple G00 G09 M72 Af Wf G91 Kf If ZX pl Example GOO G09 A50 W75 G91 110 J10 GOO G09 M72 A25 5 W33 34 G91 I 20 3 JO Polar coordinates absolute center relative angle I J and K are the absolute center coordinates W is the angle relative to the last angle Syntax GOO G09 M71 Af Wf G90 If Jf XY pl GOO G09 M71 Af Wf G90 Jf Kf XZ pl GOO G09 M71 Af Wf G90 Kf If ZX pl Example GOO G09 M71 A50 W15 110 J10 GOO G09 M71 A25 5 W33 34 G90 I 20 3 JO Polar coordinates relative center relative angle I J and K are the coordinates of the center relative to the last position w is the angle relative to the last angle Syntax GOO G09 M71 Af Wf G91 If Jf x UN ora GOO G09 M71 Af Wf G91 Jf Kf YZ pl GOO G09 M71 Af Wf G91 Kf If Y ZX pl Example GOO G09 M71 A50 W15 G91 I10 J10 GOO G09 M71 A25 5 W33 34 G91 I 20 3 JO Related commands and functions POSACC POSDEC POSVEL G01 G01 Command Linear move to the given coordinates Acceleration and deceleration are according to the values given with ACC and DEC The velocity is set with the F Code A maximum value must be set with the FMAX command The coordinate options are the same as for the G00 command 65 Ca la ntec GmbH www calantec de Related commands and functions ACC DEC VEL FMAX Ff G00 G02 Command Circular move clockwise to the given target coordina
23. 9 O 111 o 16 Ctri P STEP 48 0 80 P 112 p 17 Ctr Q XON 49 1 81 Q 113 q 18 Ctri R REF 50 2 82 R 114 r 19 Otrl S XOFF 51 3 83 S 115 S 20 Ctrl T TEACH 52 4 84 T 116 t 21 Ctrl U 53 5 85 U 117 u 22 Ctrl V 54 6 86 V 118 V 23 Ctri W 55 7 87 W 119 W 24 Ctrl X 56 8 88 X 120 x 25 Ctrl Y 57 9 89 Y 121 y 26 Ctrl Z 58 90 Z 122 Zz 27 ESC ESC 59 91 123 28 60 lt 92 124 29 61 93 125 30 62 gt 94 126 31 63 2 95 _ 127 78 WWwW calantec de L E E o L2 al n E di Q inouts P 7 Appendix E Ab XNI ONG IHD gdHO VHO AS NI AND IHO 8HO VHO AS QN9 WMd NOSIS Vd Hd Od Ad Na aaa QN9V LNOV NIV v vd avd AS kat RL 0XL AXL Slq SLM SL9 SLO ON ON AG AS HOLOIN Avc ON Abt Av ANI XNI ONS ONS ONS gHO GHO vuo 899 VHO Ge VHO AG AG LY ASVHd VERTIT ZY 3SvHd ZY ASWHd L 3SVHd pans za ASWHd m ONS Are EN SNI AFZ P EN SNI ZNI amp Lno Sr LINO T OLLNO un ZNI LLLNO ENI LN zino ZLLNO YNI INI sino ELLNO EINI SNI 91n0 YLLNO 9NI YINI Ano SLLNO N INI 9LLNO 81o QNI 9INI Lemon LANI APZ AVC ZSNYLON SUN ASA WAN INI3 6LNI QNO QNS ZNI3 OZNI ano UND zinHoOS HO LOIN ANI ON IHO 8HO TVHO AG Ab NI3 LNI3 N NO LN LOI LNI CO NI CO CN vol YNI sol 901 B 9NI ZOI ZNI 80l 8NI LSNYLON cSNVLON nn Abt LINIA ONG CN
24. A ng 0 ax ay aw ARCA ng 1l ay az aw ARCA ng 2 ax az aw Example ARCA 1 100 0 50 0 180 Related commands and functions ARCR ARCR Command Performs a circular movement with angle aw starting at the current position around the relative center point ax ay az The mode parameter nm determines whether the circuler movement is in the XY plane nm 0 in the YZ plane nm 1 or in the nm 2 plane Syntax 2 ARCR ng ax ay aw Syntax 3 ARCR ng 0 ax ay aw ARCR ng 1l ay az aw ARCR ng 2 ax az aw Example ARCR 1 50 0 50 0 180 Related commands and functions ARCA AUTOVEL Command If the AUTOVEL mode is switched on the speed during circular movements is reduced so that neither acceleration nor deceleration are exceeded Syntax 43 Ca la ntec GmbH www calantec de AUTOVEL ngl ng2 ON OFF Example AUTOVEL ON Related commands and functions DEC ACC MAXSEGMENTS RSEGMENTS AVEL Function Returns the current velocity of group ng respectively of axis n of group ng n 1 x axis n 2 y axis n 3 z axis Syntax 1 liner or circular move a AVEL ng Syntax 2 position move a AVEL ng n Related commands and functions VEL BORDER Command Limits the movement of the axes to a lower a1 and an upper a2 value If a limit is reached the movement is stopped immediately without a deceleration profile Syntax 1 BORDER ng alx a2x Syntax 2 BORDER ng alx a2x aly a2y Syntax 3 BORDER ng alx a2x aly a2y alz a2z Example
25. Calantec GmbH WWwW calantec de Motorcontroller CO Series User s Manual Version 1 28e Calantec GmbH Automatisierungstechnik Industrieelektronik Aufgang B HelmholtzstraBe 2 9 Telefon 030 453 01 519 Gesch ftsf hrer Hartmut Schafer 10587 Berlin Telefax 030 453 01 531 Handelsregister Amtsgericht Charlottenburg HRB 92065 http www calantec de email info calantec de USt ID DE232787423 Ca la ntec GmbH www calantec de valid for software version 016 031 and higher Controller CO2200 CO4200 CO4300 CO6100 CO6150 CO6300 CO6500 CO5400 CO5500 H Sch fer 2006 12 18 Ca la ntec GmbH www calantec de Table of Contents je c EU EE 4 PRIS COMMAMRAMON metre 4 PID Parameler eek 4 Braup COM UNO EE 5 LONEIS SYS see ee ee 5 Properties of the FLASH and EEPROM diec ar rr 6 BASIC EN le 6 Program example E 6 BIOS pdaler geegent ee ee ee ee ne eee eee HE 7 2 Command Reference aa nennen 8 BASIE Commands and Funelions esse un 8 Motor control comimanilsssss Deere 42 3 Appendix A G Codes EN 63 Ee EE 63 4 Appendix B Programming hints for special hardware 72 Programming of microstepping Copntrollere 72 Programming hints for COG BOO E 72 Amplifier PW2000 222 73 Jogdial OO AINA EN 74 5 Appendix C Inputs and outputs U u 76 INPUIS 76 URN
26. D ONG ZL HOS MN N 33 ON Av o O2 O1 SCHUTZ GND 24V NOTAUS2 NOTAUS1 Stecker Buchse O MOTOR MOTOR 79 WWwW calantec de I ra E 9 Q9 4 c i Q U0LON DU PO ZLNHIS ZNI3 SNYLON INI3 ZSNYLON ISNYLON d 124 o 0 Som 8 8 RW OH 9 O O Q O O O Os O O On x EI O O O O O O x o 319434 ZAUYUNIUI NH3INI SNYLON gt a 21QH9S a ZNI3 NI3 INI ZSNULON is TSNW LON o 8 ez O SNYLON o 2 ei O o 9 gi O nez o 8 49 o 91 o a1 o z med o I 3719434 TAdUHIdd NH31X3 SNYLON 002 209 SIJUMSNVLON 80 Ca la ntec GmbH www calantec de 8 Appendix F Pin description Name Function 24V 24 VDC power supply 5V 5 VDC power output to supply amplifiers and incremental encoders AGND analogue ground AIN analogue input 10V AOUT analogue ouput 10V CANH CANL CAN bus external termination C GND CAN ground CHA CHA differential inputs 120Q termination incremental encoder channel A CHB CHB differential inputs 120Q termination incremental encoder channel B CHI CHI differential inputs 120Q termination incremental encoder channel Index CTS RS232 Clear To Send CTS CTS RS422 Clear To Send differential inputs 120Q termination DA A
27. EEP Command Variant 1 Switches keyboard signal on or off Syntax BEEP ON OFF Variante 2 The beep signal is switched on for n milliseconds Syntax BEEP n Example BEEP 500 BINS Function Returns a string which is n2 characters long containing the binary representation of integer expression n1 Syntax s BINS n1 n2 Example PRINT BINS 123 8 Related commands and functions OCT HEXS BREAK Command Switches the possibility to terminate a running program by pressing Ctrl C ACSII code 3 or the STOP key on or off Syntax BREAK ON OFF CALIBRATE Command Calibrates zero of analog output n1 with value n2 If the output is not used as an amplifier control output the calibration value is updated only at the next AOUT command The calibration values can be written permanently with command WRITEPREFS and are then reloaded at power on Syntax CALIBRATE n1 n2 Example CALIBRATE 1 3 Related commands and functions AOUT WRITEPREFS CAN Command only with CAN hardware Switches the event processing for CAN channel n n 1 4 on or off 10 Ca la ntec GmbH www calantec de Syntax CAN n ON OFF Related commands and functions ON xx GOTO GOSUB CANBAUD Command only with CAN hardware Sets the CAN baudrate of CAN interface n1 to the value n2 Syntax CANBAUD n1 n2 Example CANBAUD 1 125000 Related commands and functions CANID CANERROR CANREAD CANWRITE CANERROR Function only with CAN hardw
28. ET GROUP Command Combines one or more axes to a group Only within a group linear and circular movements are possible The order determines which axes are X Y and Z Syntax GROUP ng nal na2 na3 Related commands and functions HDEC POSHDEC STOP HALT Command The movements of groups ng1 ng2 are terminated using the deceleration set with HDEC or POSHDEC respectively Syntax HALT ngl ng2 ng3 Related commands and functions HDEC POSHDEC STOP HDEC Command Sets the deceleration which is used if the HALT command is executed during a linear or circular move to the value a in user units s The command can be executed during a movement and the new value is updated immediately Syntax HDEC ng a Example HDEC 1 1000 Related commands and functions ACC DEC VEL TRAFO HALT INC Function Returns the actual value of incremental decoder n Syntax a INC n Example PRINT INC 1 Related commands and functions INCFILTER 49 Ca la ntec GmbH www calantec de INCFILTER Command Sets an input filter for incremental decoder n1 The filter parameter n2 sets the minimum change of position This filter may increase control loop stability but reduces accuracy Syntax INCFILTER n1 n2 Example INCFILTER 1 1 Related commands and functions INC INDEX Command Switches the event processing for index input events on or off INDEX RISING detects a rising edge INDEX FALLING detects a fa
29. EY keyboard SID1 EEPROM disc SIDO FLASH disc see UPDATF command STD standard input COM1 and KEY and output COM1 and DIS AUX1 auxiliary device see ASSIGN command AUX2 auxiliary device see ASSIGN command AUX3 auxiliary device see ASSIGN command AUXA auxiliary device see ASSIGN command CAN1 CAN Bus The CAN bus can be used like a serial connection between a master and multiple slaves For that purpose the CAN identifier has to be set using the CANID 0 command The communication can use 31 logical channels each assigned normally to one slave The channel number is given like a file name following the colon e g CAN1 21 Syntax OPEN nameS FOR mode AS nl FLAG n2 Example OPEN COM1 FOR RANDOM AS 1 OPEN SIDO CONFIG SYS FOR OUTPUT AS 2 OPEN TEST TXT FOR INPUT AS 3 OPEN CAN1 7 FOR RANDOM AS 44 Related commands and functions CANID CLOSE MODE OPENSTR UPDATE OPENSTR Command Opens string s as a file Syntax OPENSTR s AS n Related commands and functions CLOSE OPEN PARITY Function Calculates the parity of integer n 0 is returned for even parity 1 for odd Syntax n PARITY n PI Function Returns 7 as fix value Syntax a PI 31 Ca la ntec GmbH www calantec de PININ Function Returns the level of input pin n see appendix A logical 1 TRUE resp 1 corresponds to a 24V input level a logical 0 FALSE resp 0 to OV Syntax n PININ
30. G SETCPOS CONTSEG Command Used in contour mode to connect two segments with constant velocity even if segmented mode is selected SEGMODE ON Syntax NEWSEG ng Related commands and functions CONTOUR SEGMODE CONTSEG CPOS Function Returns the last calculated position of the nth axis of group ng Syntax a CPOS ng n Example NOWAIT ON EINA 1 100 200 300 PRINT CPOS 1 1 CPOS 1 2 CPOS 1 3 Related commands and functions APOS TP TPOS CTPOS Function Returns the position of axis n of group ng at contour position 1 Syntax a CTPOS ng n 1 45 Ca la ntec GmbH www calantec de Example CONTOUR ON LINR 1 100 150 CONTOUR OFF PRINT CTPOS 1 1 50 CTPOS 1 2 50 Related commands and functions CONTOUR SETCPOS LENGTH ALENGTH CVEL Function Returns the current maximum velocity programmed with VEL respectively POSVEL of group ng respectively axis n of group ng n 1 x axis n 2 y axis n 3 z axis Syntax 1 VEL a CVEL ng Syntax 2 POSVEL a CVEL ng n Related commands and functions AVEL VEL POSVEL DEC Command Sets the deceleration for linear and circular movements in user units s of group ng to value a The command can be executed during a movement and the new value is updated immediately Syntax DEC ng a Example DEC 1 200 Related commands and functions ACC HDEC VEL TRAFO DEFAULTCODE Command If a line contains G code coordinates but no G code G01 is automatically ex
31. ILOAD menu If a format string is given instead of a name only the matching files are listed Syntax EDIT sS n Example 17 Ca la ntec GmbH www calantec de EDIT TEST1 BAS EDIT nameS errorline EDIT BAS Related commands and functions END Command Terminates a program END or a block END IF END SELECT When terminating a program all open files are closed Syntax END END IF END SELECT Related commands and functions IF THEN ELSE SELECT CASE EOF Function Returns 1 TRUE if the end of file n is reached and 0 FALSE if not Syntax a EOF n Example OPEN TEST TXT FOR INPUT AS 1 DO PRINT INPUT 1 1 LOOP UNTIL EOF 1 Related commands and functions OPEN EOLCHAR Command Sets the character which is used as the end of line character during an INPUT or LINE INPUT command Default value is carriage return ASCII code 13 Syntax EOLCHAR n EOLCHAR s Example EOLCHAR 10 EOLCHAR Related commands and functions INPUT LINE INPUT ERL Function Returns the line number where the last error occured Syntax a ERL Related commands and functions ERR ERRS 18 Ca la ntec GmbH www calantec de ERR Function Returns the error code of the last error Syntax a ERR Related commands and functions ERL ERRS ERRS Function Returns a string containing the description of error code n Syntax sS ERRS n Example PRINT ERR ERR Related commands
32. Related commands and functions MENU GOSUB RETURN Command Jumps to the subroutine in line n Command RETURN allows to jump back immediately after the GOSUB command A subroutine should always be exited with RETURN otherwise a stack overflow error may occur Syntax GOSUB n Example 100 GOSUB 1000 110 END 1000 PRINT Hallo 1010 RETURN Related commands and functions GOTO GOTO Command The program is continued in line n Syntax 22 Ca la ntec GmbH www calantec de GOTO n Related commands and functions GOSUB RETURN HEX Function Returns a string which is n2 characters long containing the hexadecimal representation of integer expression n1 Syntax SS HEXS n1 n2 Example 100 PRINT HEXS 10000 4 Related commands and functions BINS OCT IF THEN ELSE END IF Command Calculates the value of boolean expression nb and executes the command block after THEN if the expression is TRUE If the expression is FALSE the command block after ELSE is executed The ELSE branch can be omitted Syntax IF nb THEN command block 1 ELSE command block 2 END IF Example IF atb lt gt 125 THEN PRINT 1 ELSE PRINT 2 END IF Related commands and functions GOTO INDENT Command Switches the automatic formatting of the program listing on or off Syntax INDENT ON OFF Related commands and functions LIST INPUT Command Reads a list of variables The channel number n is
33. S SLAVE nal Example SLAVE 3 2 APOS Command Without option the EIN relay is switched on for the programmed time see KEYREPEAT This is the same as pressing the START key The EIN relay must be enabled with START ENABLE first The options ON and OFF switch the START event processing on or off Syntax START ON OFF ENABLE DISABLE Related commands and functions KEYREPEAT NOTAUS Function Returns the actual state of AMPERROR MAXDIFF Or MAXFORCE With MAXDIFF and MAXFORCE the return value TRUE means that the values preset with SET are exceeded Used with parameter MOTOR the function returns the actual state of the axis controller TRUE motor control is on Syntax n STATUS na modus Example PRINT STATUS 1 MAXDIFF Related commands and functions SET 60 Ca la ntec GmbH www calantec de STOP Command The movement of groups ng1 ng2 is stopped immediately without a deceleration profile Syntax STOP nol ng2 ng3 Related commands and functions HALT TOOL Command Switches the event processing for TOOLON and TOOLOFF events on or off See ON xx GOTO GOSUB command Syntax TOOL ON OFF Related commands and functions ON GOTO GOSUB TP Command Lists the actual positions of all axes in all groups Syntax TP Related commands and functions APOS CPOS GROUP TPOS TPOS Function Returns the desired i e calculated position of the nth axis of group ng Syntax a TPOS ng n
34. Shifts and rotates the coordinate system independently from 68 Ca la ntec GmbH www calantec de the SETPOS and TRAFO command Valid only for G codes The coordinate system is rotated absolutely to the angle w and shifted absolutely to the coordinates x v and 2 Syntax G56 Xf Yf Zf Wf Related commands and functions G53 G54 G55 M71 Command The angle in this line is a relative angle Syntax M71 Related commands and functions G00 G01 GO2 G03 M72 Command The angle in this line is an absolute angle Syntax M72 Related commands and functions G00 G01 G02 G03 M80 Command Clears all mirror functions Syntax M80 Related commands and functions G53 G54 G55 G56 M81 M82 M83 M84 M81 Command Sets the mirror function for Y axis resp changes sign of the X and I coordinates Syntax M81 Related commands and functions G53 G54 G55 G56 M80 M82 M83 M84 M82 Command Sets the mirror function for x axis resp changes sign of the v and J coordinates Syntax M82 Related commands and functions G53 G54 G55 G56 M80 M81 M83 M84 M83 Command Sets the mirror function for xv plane resp changes sign of the z and K coordinates 69 Ca la ntec GmbH www calantec de Syntax M83 Related commands and functions G53 G54 G55 G56 M80 M81 M82 M84 M84 Command Changes signs of the X and I coordinates and the y and J coordinates Syntax M84 Related commands and fu
35. Syntax NOWAIT ng1 ng2 ng3 ON OFF Related commands and functions MOVING WAIT ON Command Sets the program line to which is jumped if the event event occurs Use only GOSUB for the events AMPERROR MAXDIFF und MAXFORCE If a GOTO branch is desired use GOSUB and clear the stack element with POPSTACK after the source of the events has been cleared e g with MOTOR OFF event can be one of the following AMPERROR na The amplifier error signal has the programmed level see AMPERROR na CODE sel This event occurs if a G code with character sel G E end of line D M T is interpreted INDEX na The programmed edge on index input na was detected MAXDIFF na This event occurs if the difference between desired and current position is greater than the programmed value MAXFORCE na This event occurs if the PID controller output is greater than the 54 Ca la ntec GmbH www calantec de POSA POSACC POSDEC programmed value NOTAUS The NOTAUS detection signal S has changed its level from 24 V to 0 V START The NOTAUS detection signal S has changed its level from 0 V to 24 V TOOLOFF This event occurs if a G01 G02 or G03 command is followed by a G00 command TOOLON This event occurs if a G00 command is followed by a G01 G02 or G03 command Syntax ON event GOTO GOSUB n Related commands and functions AMPERROR G Codes INDEX MAXDIFF MAXFORCE SET NOTAUS START TOOLOFF TOOLON C
36. XT i FOR x 100 5 TO 13 2 STEP 50 4 PRINT x NEXT Related commands and functions DO LOOP EXIT FORMAT Command Formats a device A device name must be given e g SID1 All data is erased FLASH devices have to be updated with the UPDATE command Syntax FORMAT s Example FORMAT SID1 Related commands and functions FILES LOAD SAVE EXEC FRAC Function Returns the fractional part of a fix expression as integer Syntax n FRAC a 21 Ca la ntec GmbH www calantec de Example PRINT FRAC 65 75 Related commands and functions ABS CINT FIX INT FRE Function Returns information about the available memory FRE 0 returns the total available memory FRE 1 the largest block and FRE 2 the available stack size Syntax nl FRE n2 Related commands and functions MEM STACKSIZE WRITEPREFS GETFILENAMES Function with display only Reads a file name String titles is used as a title e g LOAD FILE String se1 is used to select the files only matching file names are displayed Flag variable n allows to determine whether the line NEW LINE is added n 0 or not n 1 If this option is used a custom file name can be edited whereas string default is used as a default Files with extension SYS are not shown Syntax nameS GETFILENAMES titleS sel n DEFAULTS Example nameS GETFILENAMES Load File BAS 0 nS GETFILENAMES SAVE TXT 1 NONAME TXT
37. acter was received via serial interface n CTRLCODE A function key e g MENU ESC TEACH was pressed or the corresponding ASCII character was read via the serial interface ERROR A run time error occurred e g division by zero KEY A key on the front panel was pressed PORT n The programmed edge see command PORT n was detected on input n TIMER n This event occurs every n milliseconds Syntax ON event GOTO GOSUB n Related commands and functions COM CTRLCODE ERROR KEY PORT TIMER OPEN Command Opens a file Device and file name are given in string names If the device name is omitted SID1 is used as default File names are not supported on devices without a file system e g COMI mode can be one of the following INPUT File is read only OUTPUT File is write only An existing file with same name is overwritten RANDOM File can be read and written An existing file with same name is overwritten APPEND File can be read and written If a file with same name exists the write pointer is set to the end of the file If the optional parameter FLAG exists the program is not terminated is case of an error e g invalid file name but the error code is stored in variable n2 The following devices are supported equipment dependent COMI serial interface COM2 serial interface 30 Ca la ntec GmbH www calantec de COM3 serial interface COM4 serial interface COM5 serial interface DIS display K
38. alvanically Configuration parameters PWM polarity SET na PWMPOL TRUE max average current SET na IMAX a a 0 100 100 corrensponds to 10 A max peak current SET na ISTANDBY a a 0 90 90 corrensponds to 18 A 73 Ca la ntec GmbH www calantec de shield M GND amplifier power OK error i MVCC supply curren max 42 V DC O O limit amplifier supply overcurrent ti tant ime constan MOTOR MOTOR Jogdial programming The jogdial is connected to an incremental decoder The position is read in during a timer routine and cursor up and cursor down character sequences are generated The character sequence for cursor up is ESC A and for cursor down ESC B The keyboard device can be opened for writing and characters written to the devices can immediately read back form the device e g while using the GETFILENAMES function The following program generates one cursor up resp one cursor down sequence every four increments Initializing 950 OPEN KEY FOR OUTPUT AS 2 960 wheelscale 4 970 wheelpos INC 1 wheelscale 980 lastwheelpos INC 1 wheelscale 990 wheelflag 0 1000 ON TIMER 50 GOSUB 20000 TIMER ON 1010 74 Ca la ntec GmbH www calantec de Activate for a menu selection 3000 wheelflag 1 3010 menselect MENU CONFIG menlist 0 3020 wheelflag 0 Timer subroutine 20000 TIMER 2 2 20010 IF wheelflag 0 THEN GOTO 20200 END IF 200
39. and check the terminal properties and the cable The program above can be checked with LIST and started with RUN The program prints 100 times the word HELLO with a delay of 200 milliseconds Press ctrl C ASCII code 3 to abort the program check terminal 6 Ca la ntec GmbH www calantec de properties if this doesn t work Save the program with gt SAVE TEST BAS The default device is EEPROM disk STD1 You can get the list of files with SFILES SID1 or simply gt FILES If you want this program to start automatically after power up an appropriate CONFIG SYS has to be created on FLASH disk SIDO Because the commands in the CONFIG SYS should be executed immediately no line numbers are necessary For that reason the program cannot be created with the command line processor but with the editor Call the editor program with SEDIT SIDO CONFIG SYS Now type in the the startup commands EXEC TEST BAS RUN The first line loads the program the second starts execution Use the text file upload function of your terminal program to transfer larger programs Save program with MENU SAVE and leave the editor with MENU EXIT Unlike SID1 the FLASH disk SIDO has to be updated with the UPDATE command gt UPDATE SIDO This can take several seconds All amplifiers are switched off during this time The program starts now automatically at the next power up You can get the directory of SIDO with gt FILES SID0 1 BIOS u
40. and functions ERL ERR ERROR Command Switches event processing in the case of an error on or off Syntax ERROR ON OFF Related commands and functions ON xx GOTO GOSUB EXEC Command Executes commands in a file If commands with line numbers are included they are added to the current program but not executed immediately Execution can be stopped with command EXIT Syntax EXEC s Example EXEC TEST BAS Related commands and functions LOAD SAVE EXIT EXECERRORS Command If during a file execution with EXEC an error occurs the execution is normally terminated You can prevent this with the command EXECERRORS OFF This is useful if in a program a file is executed which may contain e g syntax errors Syntax EXECERRORS ON OFF Related commands and functions EXEC FERL FERR EXECSTR Command Executes commands in a string If the string contains lines with a line number these lines are added to the program listing 19 Ca la ntec GmbH www calantec de EXIT FERL FERR FILES This command is useful to execute G Codes with variables Only a string variable can be used a string constant e g EXECSTR GOO X0 is not possible Syntax EXECSTR s Example EXECSTR GO01 X 2 xofs Related commands and functions EXEC Command Terminates a DO LOOP or FOR NEXT or with EXEC started execution early Hint If you don t terminate a DO LOOP or FOR NEXT execution with EXIT but just jump ou
41. are Returns the last Error Code of CAN interface n Syntax n CANERROR n Example PRINT CANERROR n Related commands and functions CANBAUD CANID CANREAD CANWRITE CANID Command only with CAN hardware Sets the identifiers for the CAN communication Channel 0 is used for a serial communication via CAN between one master and multiple slaves The master slave direction uses a set of 32 identifiers base is IDSource identifiers are IDSource up to IDSource 31 The slavemaster direction uses another set of 32 identifiers base is IDTarget identifiers are IDTarget up to IDTarget 31 IDSource and IDTarget must be multiples of 32 IDSource of the master and IDTarget ofthe slave must have identical values as well as IDTarget of the master and 1 DSource of the slave For channels 1 to 4 the parameter ID is the CAN identifier for incoming CAN messages Channel 1 has an optional identifier mask where zero bits are don t cares while comparing the incoming ID with the programmed ID With parameter mode 0 the standard identifier format 10 bit is used with node 1 the extended format 29 bit Syntax CANID 0 mode IDSource IDTarget CANID n mode ID mask Example CANID 0 0 64 128 CANID 1 0 121 amp hfffffff0 CANID 2 0 34 Related commands and functions CANBAUD CANERROR CANREAD CANWRITE 11 Ca la ntec GmbH www calantec de CANREAD Command only with CAN hardware Copies a received CAN messa
42. ates can be used e g I and J J and K K and I 63 Ca la ntec GmbH www calantec de A GOO G09 A25 W170 1100 J40 W A 40 I we J gt 100 Definitions Xf X coordinate Yf Y coordinate Zf Z coordinate Af radius wt angle If X coordinate of the center using polar coordinates or for circular movements Jf Y coordinate of the center using polar coordinates or for circular movements Kf Z coordinate of the center using polar coordinates or for circular movements Kass optional parameter Absolute cartesian coordinates X Y and Z are the absolute target coordinates Syntax GOO G90 Xf Yf Z Example GOO X100 Z 50 GOO Y 14 5 GOO G90 X10 5 Relative cartesian coordinates X Y and Z are the coordinates of the target position relative to the last position Syntax GOO G91 Xf Yf Z Example GOO G91 X100 Z 50 GOO G91 Y 14 5 Polar coordinates absolute center absolute angle I J and K are the absolute center coordinates W is the 64 Ca la ntec GmbH www calantec de absolute angle Syntax GOO G09 M72 Af Wf G90 If Jf XY pl GOO G09 M72 Af Wf G90 Jf Kf Y YZ pl GOO G09 M72 Af Wf G90 Kf If ZX pl Example GOO G09 A50 W75 I50 J50 GOO G09 M72 A25 5 W33 34 I 20 K 10 Polar coordinates relative center absolute angle I J and K are the coordinates of the center relative to the last position W is the absolute angle Syntax GOO G09 M
43. automatically switched off if parameter AUTO is used This automatic mode is switched off with parameter MANUAL Syntax MAXDIFF ON OFF MAXDIFF AUTO MANUAL Related commands and functions SET ON xx GOTO GOSUB MAXFORCE Command Switches the event processing for the supervision of the maximum PID controller output on or off The maximum value can be set with the command SET na MAXFORCE a Syntax MAXFORCE ON OFF Related commands and functions SET ON xx GOTO GOSUB MAXSEGMENTS Command Sets the number of segments which are checked by the AUTOVEL function Syntax MAXSEGMENTS ng n Related commands and functions AUTOVEL RSEGMENTS 51 Ca la ntec GmbH www calantec de MODE Command Sets motor and amplifier parameters There are two syntax versions for stepper and for servo motors Syntax for servo motors MODE na PID input output input can be one of the following INC 1 2 3 incremental counter 1 2 3 ADIN n analog input depending on equipment output can be PWMS 1 2 3 PWM output with sign PwMD 1 2 3 differential PWM DAOUT n analog output depending on equipment UDAOUT n unipolar analog output sign depending on equipment Syntax for servo motors with 2 encoders MODE na PIDD inputl input2 output In this mode proportional and integral part of the PID algorithm are computed with input2 e g linear encoder the differential part is computed with input1 e g rotary encoder The scal
44. c de M72 absolute angle Vn wait n ms GETV Function Returns the actual value of an axis parameter Syntax a GETV na mode Mode DEADBAND Returns the dead band of the PID controller DIFF Returns the differential value of the PID controller FACTOR Returns the scale factor between input1 and input2 in the PIDD mode FEEDFWD Not yet supported FORCE Returns the current controller output value between 100 and 100 IMAX Returns the value of the maximum average current of the amplifier INT Returns the integral value of the PID controller IPEAK Returns the value of the peak current of the amplifier if na is a servo axis ISTANDBY Returns the value of the standby current if na is a stepper axis ITIME Returns the value of the peak current time limit MAXFORCE Returns the value of the maximum PID controller output MAXDIFF Returns the maximum difference between current and desired position MOTOR Returns the actual controller state OFFSET Returns the offset of the PID controller output POL Returns the counting direction of the incremental encoder inputs PROP Returns the proportional value of the PID controller 48 Ca la ntec GmbH www calantec de PWMOFFSET Returns the PWM offset value PWMPOL Returns the PWM output polarity RAPOS Returns the actual position of the incremental encoder RTPOS Returns the desired position of the axis raw value in quadcounts Related commands and functions S
45. d Writes several preferences permanently Syntax WRITEPREFS Related commands and functions CALIBRATE CONTRAST KEYREPEAT STACKSIZE XPRINT Command Writes a list of strings or numerical expressions into channel n Expressions separated by semicola are printed without spaces expressions separated by commata are printed with tabulators ASCII code 9 between them The output is terminated with CR LF ASCII codes 13 and 10 if the PRINT command doesn t end with a comma or semicolon If n 0 the standard output channel is used Syntax XPRINT n al ls1 S Example XPRINT outchan HALLO CHRS 33 XPRINT 2 100 0 20 Related commands and functions PRINT PRINT USING WRITE 41 Ca la ntec GmbH www calantec de Motor control commands Conventions a ax ay az aw na ng sS Syntax 1 Syntax 2 Syntax 3 ACC ALENGTH AMPERROR APOS numerical expression integer or fix numerical expression used as X coordinate numerical expression used as Y coordinate numerical expression used as Z coordinate numerical expression used as an angle degrees zero is the positive x axis positive values counterclockwise negative values clockwise integer integer used as axis number na 1 3 Integer used as group number ng 1 8 single ASCII encoded character string optional parameter syntax to be used if group contains 1 axis syntax to be used if group contains 2 axes syntax
46. d position starts Syntax MOVER ng l Example MOVER 1 120 0 Related commands and functions CONTOUR MOVEA MOVING Function Returns TRUE if group ng is moving FALSE if not Syntax a MOVING ng Related commands and functions NOWAIT WAIT NEWCODE Function Returns TRUE if a new value was set with G code sel Code sel can be fix A F I J K R S W X Y Z integer G L M N Syntax a NEWCODE sel Related commands and functions CODE G Codes RESETCODEFLAGS NEWSEG Command Causes a stop after the last contour segment during contour move Syntax 53 Ca la ntec GmbH www calantec de NEWSEG ng Related commands and functions CONTOUR CONTSEG SEGMODE NOTAUS Command Switches the event processing in case of a emergency stop NOTAUS on or off sets the mode of control or causes an emergency stop In the internal mode a power relay is switched on by the START command or by pressing the START key It is switched off by the NOTAUS command or by pressing the STOP key In the external mode the external relay controller is supervised The START and STOP keys can be used if they are connected Syntax NOTAUS INTERN EXTERN mode NOTAUS cause emerg stop NOTAUS ON OFF event proc on off Related commands and functions KEYTIME START NOWAIT Command Determines whether the interpreter waits until amovement is finished NOWAIT OFF or whether following commands can be executed NOWAIT ON
47. e factor between inputi and input2 is set with command SET na FACTOR a input can be one of the following INC 1 2 3 incremental counter 1 2 3 ADIN n analog input depending on equipment output can be PWMS 1 2 3 PWM output with sign PWMD 1 2 3 differential PWM DAOUT n analog output depending on equipment UDAOUT n unipolar analog output sign depending on equipment Syntax for stepper motors MODE na SM output output can be STEPDIR 1 2 3 step and direction output 1 2 3 PATTERN 1 2 3 pattern generator 1 2 3 Motor and amplifier parameters can be set only once after reset or power up Example MODE 1 PID INC 1 DAOUT 1 MODE 2 PID INC 2 PWMS 2 MODE 3 SM PATTERN 1 Related commands and functions SET MOTOR Command Switches the amplifiers and the position controlling on or off 52 Ca la ntec GmbH www calantec de Syntax MOTOR nal na2 na3 ON OFF Related commands and functions SET ON xx GOTO GOSUB MOVEA Command Starts a contour move to absolute contour position 1 First a position move to the actual contour position is performed then the contour move to the desired position starts Syntax MOVEA ng l Example MOVEA 1 120 0 Related commands and functions CONTOUR MOVER MOVER Command Starts a contour move to relative contour position 1 First a position move to the actual contour position is performed then the contour move to the desire
48. e amplifier The range is 0 to 100 INT Sets the integral value of the PID controller The range is 0 0 to 32767 0 IPEAK Sets the peak current with amplifier model PW2000 The function is identical to ISTANDBY ISTANDBY Sets the value of the standby current if na is a stepper axis The range is 0 to 100 ITIME Sets the value of the peak current time limit The range is 0 to 100 MAXFORCE Sets the value of the maximum PID controller output The range is 0 to 100 MAXDIFF 58 Ca la ntec GmbH www calantec de SETPOS Sets the maximum difference between current and desired position The range is 0 to 32767 in quadcounts MOTOR Switches amplifier of axis na on or off Parameter a can be ON or OFF OFFSET Sets the offset of the PID controller output The range is 100 to 100 This can e g be used for gravity compensation PHASEA PHASEB PHASEC PHASED Sets the 16 bit patterns for the pattern generator Axis na has to be a stepper motor POL Sets the counting direction of the incremental encoder inputs a can be TRUE or FALSE PROP Sets the proportional value of the PID controller The range is 0 0 to 32767 0 PWMOFFSET Sets PWM offset This is useful to compensate the offset of PWM amplifiers The range is 100 to 100 PWMPOL Sets the polarity of the PWM output a can be TRUE or FALSE RAPOS Sets the actual position of the incremental encoder This should be used for diagnosics only RTPOS Sets t
49. eater than 2 ms Syntax SYSTIMER a Related commands and functions SLEEP SYNC TIME Function 38 Ca la ntec GmbH www calantec de Returns the time since the last reset or power up in milliseconds After 1 000 000 000 milliseconds the counter will start at 0 again Syntax n TIME Related commands and functions SLEEP TIMER Command Switches the event processing for timer events on or off Syntax TIMER ON OFF STOP Related commands and functions ON xx GOTO GOSUB TINPUT Command Reads a list of variables via channel n If n 0 the standard input channel is used Parameter timeout is the maximum time in milliseconds to complete the command timeout 0 switches timeout off 1ag is O if the input was successful 1 if not TINPUT 2 iflag 2000 a b TINPUT kanal iflag 0 a Related commands and functions LINE INPUT INPUTS INPUT TINPUTL TINPUTC TINPUTC Command Reads a string of length count into variable strings form channel n If n 0 the standard input channel is used Parameter timeout is the maximum time in milliseconds to complete the command timeout 0 switches timeout off flag is 0 if the input was successful 1 if not Syntax TINPUTC n flag timeout count string Example TINPUTC 2 iflag 2000 10 b TINPUTC kanal iflag 0 laenge aS Related commands and functions LINE INPUT INPUTS INPUT TINPUTL TINPUT TINPUTL Command 39 Ca la ntec GmbH www ca
50. ecuted if DEFAULTCODE ON was used Otherwise only the flags are set but no command is executed Syntax DEFAULTCODE ON OFF Related commands and functions G Codes FMAX Command Sets the maximum value in user unit s which can be set by the Fa code Syntax FMAX a Example FMAX 200 Related commands and functions G Codes 46 Ca la ntec GmbH www calantec de G Codes Command preliminary G code are CNC commands which have a special syntax They are partly implemented in this controller but all can be emulated using event processing and BASIC commands A G code consists of a character and a number variables are not allowed For certain G codes only integers n are allowed the other can handle fix values Syntax GOO Xf Yf Zf position move GOl Xf Yf Zf linear move G02 G9n If Jf G02 Xf Yf G9n If Jf G02 Xf Zf G9n If Kf G02 Yf Zf G9n Jf Kf circular move clockwise G03 G9n If Jf G03 Xf Yf G9n If Jf G03 Xf Zf G9n If Kf G03 Yf Zf G9n Jf Kf circular move counter clockwise G09 Af Wf polar coordinates G52 Xf Yf Zf move to reference position G53 reset coordinate transformation G54 Xf Yf Zf move coordinate system G55 Xf Yf Zf Wf If Jf move and rotate coordinate system relative G56 Xf Yf Zf Wf If Jf move and rotate coordinate system absolute G90 absolute coordinates G91 relative coordinates M71 relative angle 47 Ca la ntec GmbH www calante
51. ep is n2 Syntax RENUMBER n1 n2 RESET Command Executes a hardware reset Syntax RESET RIGHTS Function Returns a string containing the last n characters of string s Syntax SS RIGHTS s n Related commands and functions LEN LEFT MID RND Function Returns a 32 bit pseudo random integer Syntax n RND Related commands and functions RANDOMIZE ROTATE Function Rotates 32 bit integer n1 by n2 places Syntax n ROTATE n1 n2 Related commands and functions ASHIFT SHIFT RTRIMS Function Deletes all spaces tabs and control characters at the end of string s Syntax s RTRIMS s Related commands and functions LTRIM RUN Command Starts execution of a program Start line n is optional Syntax RUN n Related commands and functions END 35 Ca la ntec GmbH www calantec de SAVE Command Saves a program with name names If no device name is given SID1 is used as default FLASH devices must be updated using the UPDATE command Syntax SAVE name Related commands and functions EXEC FORMAT LOAD OPEN UPDATE SEEK Command Sets read write pointer of file n1 to position n2 Syntax SEEK 4 n1 n2 Related commands and functions OPEN SELECT CASE Command Executes one of several possible command blocks according to the value of a given test expression As compare operator cmp Can gt lt gt lt Or lt gt be used Syntax SELECT CASE test CASE expression command block
52. ge into array 0 nis the channel number 1 to 4 The array must be a one dimensional array of char witha size of at least 16 The entries are used as decribed below CANWRITE they don t have to be initialized Entry 16 is set to amp n if a new message was received and set to 0 if not Syntax CANREAD n array 0 Example DIM candata 16 AS CHAR CANREAD 1 candata 0 Related commands and functions CANBAUD CANERROR CANID CANWRITE CANWRITE Command only with CAN hardware Sends a CAN message defined in array 0 via CAN interface n The array must be a one dimensional array of char with a size of at least 16 The entries have to be initialized as follows array 1 Identifier most significant byte array 2 Identifier second most significant byte array 3 Identifier third most significant byte array 4 Identifier least significant byte array 5 data byte 0 array 6 data byte 1 array 7 data byte 2 array 8 data byte 3 array 9 data byte 4 array 10 data byte 5 array 11 data byte 6 array 12 data byte 7 array 13 reserved array 14 number of data bytes array 15 mode O standard 1 extended array 16 reserved The standard mode mode 0 uses 10 bit identifiers the extended mode mode 1 uses 29 bit identifiers Syntax CANWRITE n array 0 Example DIM candata 16 AS CHAR candata 1 0 ID MSB candata 2 0 G candata 3 0 candata 4 20 ID LSB candata 5
53. general a sine and cosine profile is used Two arrays of fix values and a length of 256 are filled with the appropriate values of a full cycle 4 full steps A resolution of 1 64 step can be obtained The current values have to be between 1 and 1 for CO6100 and CO6500 and between 0 and 1 for CO6150 The profile for phase 1 is programmed with SET na WAVEFORM1 sinarray 0 for phase two with SET na WAVEFORM2 cosarray 0 The current polarity is programmable unrestrictedly for CO6100 and CO6500 but predefined for CO6150 With CO6150 waveform is positive from 1 to 128 and negative from 129 to 256 sine waveform2 is positive from 1 to 64 and from 193 to 256 and negative from 65 to 192 cosine The phase current can be calculated from the programmed array value multiplied with the maximum amplifier current multiplied with the percentage given by SET na IMAX a und SET na ISTANDBY a Maximum current for CO6100 and CO6500 is 4 A Maximum current for CO6150 can be set with a potentiometer from 1 2 A to 4 8 A For thermal reasons 3 A should not be exceeded in the long run Example for CO6100 and CO6500 MODE 1 SM STEPDIR 1 DIM sinwave 256 AS FIX DIM coswave 256 AS FIX FOR i 1 TO 256 sinwave i SIN i 1 2 PI 256 NEXT FOR i 1 TO 256 coswave i COS i 1 2 PI 256 NEXT SET 1 WAVEFORMI sinwave 0 SET 1 WAVEFORM2 coswave 0 SET 1 ISTANDBY 40 SET 1 IMAX 70 Example for CO6150 MODE 1 SM STEPDIR 1
54. he desired position of the PID controller This should be used for diagnosics only SLFACTOR Sets the scale factor between master and slave axis Slave position Master position FACTOR This command should only be used after all axes involved are set to the zero position using SETPOS WAVEFORM1 Sets the current waveform of phase one of motorcontrollers with micro step amplifiers CO6100 und CO6500 Parameter a is an one dimensional array with size 256 of FIX The range of the arrray values is 1 to 1 WAVEFORM2 Sets the current waveform of phase two of motorcontrollers with micro step amplifiers CO6100 und CO6500 Parameter a is an one dimensional array with size 256 of FIX The range of the arrray values is 1 to 1 Related commands and functions GETV Command Sets the position actual and desired of group ng Syntax 1 59 Ca la ntec GmbH www calantec de SETCPOS SLAVE START STATUS SETPOS ng ax Syntax 2 SETPOS ng ax ay Syntax 3 SETPOS ng ax ay az Related commands and functions APOS TPOS CPOS TP TRAFO Command Sets the current contour position of group ng to position 1 Syntax SETPOS ng l Related commands and functions CONTOUR CTPOS MOVEA MOVER Command Couples one axis to another Depending on parameter APOS or TPOS axis nal uses the actual position APOS or target position TPOS of axis na2 If only nal is given the coupling is solved Syntax SLAVE nal na2 APOS TPO
55. hich is greater than or equal to numerical expression a Syntax n INT a Related commands and functions ABS CINT FIX FRAC KEY Command Switches the event processing for keyboard events on or off Syntax KEY ON OFF Related commands and functions ON xx GOTO GOSUB 24 Ca la ntec GmbH www calantec de KEYTIME Function Returns the time how long the currently pressed key is already pressed in 1 1024 seconds Syntax n KEYTIME Related commands and functions KEY KEYREPEAT KEYREPEAT Command Sets parameters of the repetition function for the keyboard a1 is the time in seconds until the first repetition a2 is the time between the following repetitions a3 is the time between the following repetitions in fast mode After n characters the fast mode is switched on If the START or STOP key is pressed or the START or NOTAUS command is used the relays are switched on respectively switched off for at least a4 seconds These values can be written permanently with command WRITEPREFS and are then reloaded at power on Syntax KEYREPEAT al a2 a3 n a4 Related commands and functions KEY KEYTIME START NOTAUS LCASES Function Converts all characters in a string to lower case Syntax sS LCASES s Related commands and functions UCASES LED Command Switches the LEDs on the keyboard on off or in blink mode n key 1 REF 2 TEACH 3 EDIT 4 STEP All other LEDs are switched automatically Syntax LED n1 n2
56. ited only a S is displayed preceeding the prompt else the slave number is shown The slave number should be the same as the number given in the CONNECT command NETSLAVE OFF puts the controller back to the normal mode Syntax NETSLAVE OFF NETSLAVE s n Example NETSLAVE COM1 12 NETSLAVE CAN1 10 10 Related commands and functions CONNECT NETMASTER NEW Command The event processing is switched off if not prevented earlier with CONTEVENTS ON the program and variable memory is cleared open files are closed Syntax NEW Related commands and functions CLEAR CONTEVENTS NEWLIST Command An existing program listing is locked and hidden a new program can be typed in The old program is still be used for event processing if no new ON xx GOTO GOSUB commands are used Thus it is possible to write a user application e g using G codes while hardware dependent events are unafflicted Syntax NEWLIST Related commands and functions CLEAR CONTEVENTS NEW ON xx GOTO GOSUB OCT Function Returns a string which is n2 characters long containing the octal representation of integer expression n1 Syntax s OCTS n1 n2 Example 100 PRINT OCT 10000 8 Related commands and functions 29 Ca la ntec GmbH www calantec de BINS HEXS ON Command Sets the program line to which is jumped if the event event occurs event can be one of the following CAN n A CAN Frame was received on channel n COM n A char
57. ith a special syntax The basic commands are implemented extended commands can be emulated with BASIC subroutines A G code consists of a character immediately followed by a number Some G codes accept only integer numbers n some fix numbers f too G codes use group 1 see GROUP command for movements Group 1 must consist of 2 or 3 axes In each line only one code of the types G00 G01 G02 G03 or G5n is allowed another command even separated by a colon is not possible Numerical expressions or variables are not allowed as parameters only simple integer or fix numbers Related commands and functions ON CODE sel GOTO GOSUB FMAX CODE sel RESETCODEFLAGS NEWCODE sel DEFAULTCODE ON TOOLON GOTO GOSUB ON TOOLOFF GOTO GOSUB TOOL Standard G Codes Ff Command Sets the velocity for G01 G02 and G03 similar to the VEL command A maximum value can be set with FMAX Syntax Ff Example F50 G02 X20 Y50 F20 Similar FMAX VEL G00 Command Position move to the given coordinates while using the parameters set by POSVEL POSACC und POSDEC Relative G91 and absolute G90 coordinates are possible as well as cartesian and polar coordinates G09 Angles are given in degrees and angle 0 is the positive x axis Positive angles are counterclockwise negative angles clockwise If group 1 consists of 3 axes the plane for the polar coordinates is defined by the given parameters that means that only 2 of 3 possible coordin
58. ity is correct increase MAXFORCE IMAX and IPEAK Now increase step by step the PROP parameter until the motor axis starts vibrating Provoke the start of vibrating by hand or by using the JUMP command Parameter PROP should be so high that the vibration stops after a while Now increase parameter DIFF until the motor axis reaches the desired position with minimum overshoot The INT parameter can lead to low frequency vibrating and should only be used carefully Group configuration One two or three axes can be combined in a group by using the GROUP command Linear and circular interpolation is only possible within a group All commands for movements refer to a group Example GROUP 1 1 2 3 Group 1 consists of axes 1 2 and 3 The order of the axis numbers in the GROUP command determines which axis is used as X first position Y second position and Z third position axis Using the TRAFO command user coordinates for example millimeters can be transformed into machine coordinates i e so called quadcounts if you are using servo motors It is also possible to correct angle errors CONFIG SYS The commands in the file named CONFIG SyYS on SIDO are executed immediately after power up same execution as with EXEC command This can be prohibited by pressing the ESC key during power up To create a CONFIG SYS file start the editor with EDIT SIDO CONFIG SYS and type in the commands or transmit them using the ASCll transfer function
59. l spaces tabs and control characters at the beginning of string s Syntax s LTRIMS s Related commands and functions RTRIM MEM Command Displays information about the memory usage Syntax MEM Related commands and functions FRE MENU Function with display only Returns the number of a selected menu item in a predefined menu men 0 If the selection is aborted with ESC O is returned titel is used as menu header Syntax n MENU titel men 0 Example DIM men1 3 AS STRING menl 1 LOAD menl 2 SAVE menl 3 EXIT Sel MENU FILE menl 0 Related commands and functions DIM MESSAGE MESSAGE Command with display only Displays a string or an error message and waits for a pressed key Syntax 1 MESSAGE n error code Syntax 2 MESSAGE s ST string Related commands and functions MENU 27 Ca la Dec GmbH www calantec de MID Function Returns n2 characters of string s starting at position n1 If n2 is omitted the rest of string s is returned Syntax s MIDS s n1 n2 Related commands and functions LEFT LEN RIGHTS MODE Command Sets or displays parameters of the serial interface Maximum Baudrate and exact values depend on the equipment Small deviations from the desired value can occur but generally don t affect the data transmission As parity the modes NONE EVEN ODD MARK and SPACE are supported The bit count can be 5 to 8 the stop bits 1 or 2 The handshake mode
60. lantec de Reads a line finished with CR respectively the character definded with EOLCHAR into variable string form channel n If n 0 the standard input channel is used Parameter timeout is the maximum time in milliseconds to complete the command timeout 0 switches timeout off 1ag is O if the input was successful 1 if not Syntax TINPUTL n flag timeout a xample INPUTL 2 iflag 2000 a INPUTL kanal iflag 0 a elated commands and functions INE INPUT INPUT INPUT TINPUTL TINPUTL adam ZJ Ei UCASES Function Converts all characters in a string to upper case Syntax sS UCASES s Related commands and functions LCASES UPDATE Command Updates a FLASH device standard SIDO after a SAVE or FORMAT command or a similar file command Syntax UPDATE s Example UPDATE SIDO Related commands and functions FILES LOAD SAVE EXEC FORMAT VAL Function Converts a string to a fix or integer value Syntax a VAL s Related commands and functions STRS VERSIONS Function Returns the software version as string Syntax s VERSIONS WRITE Command WRITE prints unlike PRINT the list of expressions in a format which can be read by the INPUT command For that purpose the expressions are separated by commata and strings are enclosed in Syntax 40 Ca la ntec GmbH www calantec de WRITE n alls1 a2 s2S Related commands and functions PRINT WRITEPREFS Comman
61. lling edge Index events are available only on some controllers Syntax INDEX RISING FALLING OFF Related commands and functions ON xx GOTO GOSUB JUMP Command Sets a new command position n for axis na This command should only be used in special cases New positions can be set with less than 512 Hz for stepper motors and less than 1024 Hz for servo motors Syntax JUMP na n Example JUMP 1 50 LENGTH Function Returns the total length of the contour of group ng Syntax a LENGTH ng Example PRINT LENGTH 1 Related commands and functions ALENGTH CONTOUR LINA Command Performs a linear movement starting at the current position to the absolute coordinates ax ay az Syntax 1 LINA ng ax Syntax 2 LINA ng ax ay Syntax 3 LINA ng ax ay az 50 Ca la ntec GmbH www calantec de Example LINA 1 100 0 50 0 100 0 Related commands and functions LINR LINR Command Performs a linear movement starting at the current position to the relative coordinates ax ay az Syntax 1 LINR ng ax Syntax 2 LINR ng ax lay Syntax 3 LINR ng ax ay az Example LINR 1 100 0 50 0 100 0 Related commands and functions LINA MAXDIFF Command Switches the event processing for the supervision of the maximum difference between current and desired position on or off The maximum value can be set with the command SET na MAXDIFF a Controlling and amplifier of axis na are
62. lue is 100 0 minimum value ist 100 0 Syntax a AIN n Example PRINT AIN 2 Related commands and functions CALIBRATE AOUT Ca la ntec GmbH www calantec de AOUT Command Sets analog output n to level a The maximum value is 100 0 minimum value ist 100 0 Syntax AOUT n a Example AOUT 1 15 Related commands and functions CALIBRATE AIN ASC Function Returns the ASCII code of a character or of the first character of a string Syntax n ASC c n ASC s Example PRINT ASC Hallo Related commands and functions CHRS ASHIFT Function Returns the integer value n1 arithmetically shifted by n2 positions Syntax n ASHIFT n1 n2 Related commands and functions ROTATE SHIFT ASIN Function Calculates the arcussine of numerical expression a Syntax a ASIN a Example PRINT ASIN x PRINT ASIN 0 4 Related commands and functions SIN COS ACOS ASSIGN Command Assigns an input or output device to an auxiliary device STD AUX1 4 Device s1 is assign to auxiliary device s2 as input parameter INPUT or output parameter OUTPUT device With option APPEND the device is added to existing assignments without APPEND existing assignments are replaced Syntax ASSIGN s1 s2 1INPUT OUTPUT APPEND 9 Ca la ntec GmbH www calantec de Example ASSIGN DIS N SAUX1 3 OUTPUT ASSIGN KEY AUX1 INPUT ECHO AUX1 ON Related commands and functions OPEN CLOSE PRINT B
63. n Example PRINT PININ 12 Related commands and functions PINOUT PORTIN PORTOUT PORT PINOUT Command Sets output pin n1 to level n2 A logical 1 corresponds to a 24V input level a logical 0 to OV Syntax PINOUT n1 n2 Example PINOUT 1 1 Related commands and functions PININ PORTIN PORTOUT PORT POPSTACK Command Removes the top element of the basic stack A stack element is created e g by a DO a FOR or a GOSUB command If the element is not removed by the corresponding commands LOOP NEXT RETURN you have to do this using POPSTACK otherwise a stack overflow may occur Syntax POPSTACK Related commands and functions CLEARSTACK FRE STACKSIZE PORT Command Switches the event processing for input edge detection on or off PORT n RISING detects a rising edge PORT n FALLING a falling edge The edge detection is only possible with inputs 1 to 8 depending on the controler model up to 16 Syntax PORT n RISING FALLING OFF Related commands and functions ON xx GOTO GOSUB PORTIN Function Returns the input levels of 8 bit input port n Depending on the equipment n may be 1 to 4 A logic 1 corresponds to a 24 V input level a logic 0 to a 0 V level Syntax n PORTIN n 32 Ca la ntec GmbH www calantec de Example PRINT BINS PORTIN 1 8 Related commands and functions PORTOUT PORT PORTOUT Command Sets the outputs of 8 bit output port to the value n2 Depending on the equipment n may be
64. n Syntax CLS Related commands and functions LOCATE CURSOR CODE C Function Returns the ASCII code of the last pressed function key Syntax a CODE C Example PRINT CODE C Related commands and functions CTRLCODE ON xx GOTO GOSUB COM Command The event processing for serial interface n is switched on or off The option COM n STOP stops event processing but all appearing events are processed after switching event processing on Syntax COM n ON OFF STOP Related commands and functions ON xx GOTO GOSUB CONNECT Command Connects a slave controller to a master controller via the given communication interface The communication interface is assigned the number n which is used to change the slave controller see NETMASTER command n can be between 1 and 31 Syntax CONNECT n s Example CONNECT 1 COM1 14 Ca la ntec GmbH www calantec de CONNECT 2 CAN1 3 Related commands and functions NETMASTER NETSLAVE CONTEVENTS Command Switches event processing after finishing a program on or off If itis switched on events like TIMER COM and CAN are still processed i e the interpreter jumps in the given program line even if the main program is finished If the program is altered the system may crash so it is strongly advised to use the NEWLIST command Syntax CONTEVENTS ON OFF Related commands and functions CLEAR NEW ON xx GOTO GOSUB CONTRAST Command with display only Adjusts LCD contrast Values be
65. n3 ON OFF BLINK LEFTS Function Returns a string containing the first n characters of string s Syntax sS LEFTS s n Related commands and functions LEN MIDS RIGHTS 25 Ca la ntec GmbH www calantec de LEN Function Returns the length of string s Syntax n LEN s Related commands and functions LEFTS MIDS RIGHTS LET Command Assigns value value to variabe varname This command is not necessary and it is not displayed in a listing Syntax LET varname value equal to varname value LINE INPUT Command Reads a line Channel number n is optional LINE INPUT Text ss LINE INPUT n s Related commands and functions INPUT INPUTS TINPUT TINPUTC TINPUTL LIST Command Displays a program listing The start line n1 and the end line n2 are optional Syntax LIST n1 n2 Related commands and functions IDENT LOAD Command In the current version equal to EXEC Syntax LOAD s Related commands and functions EXEC LOC Function Returns the current read write position within file n Syntax n LOC n Related commands and functions CLOSE LOF OPEN SEEK LOCATE Command with display only Sets cursor at position n1 n2 Syntax LOCATE n1l n2 26 Ca la ntec GmbH www calantec de Related commands and functions CURSOR LOF Function Returns the file size of file n Syntax n LOF n Related commands and functions CLOSE LOC OPEN SEEK LTRIMS Function Deletes al
66. nctions G53 G54 G55 G56 M80 M81 M82 M83 ON CODE Command Sets the program line to which is jumped if the event CODE sel occurs This event is caused by a G Code with character sel G E end of line D M T CODE G A G Code is processed CODE E The end of the command line is reached CODE D A D Code D is processed CODE M A M Code is processed CODE T A T Code is processed Syntax ON CODE sel GOTO GOSUB n Example oa Init 53110 ON CODE G GOSUB 72000 53120 ON CODE E GOSUB 73000 main program 2 Event Subroutines 72000 G Code 72010 uv_sel CODE g 72020 SELECT CASE uv sel 72030 CASE 40 LED 1 ON direkte Ausf 72040 CASE 41 G4lflag 1 indir Ausf 72100 END SELECT 72999 RETURN 73000 EOL 73010 IF G4lflag 1 THEN GOTO 74000 END IF 70 Ca la ntec GmbH www calantec de 73999 RETURN 74000 G41 74010 IF NEWCODE Z THEN POSA 2 CODE Z END IF 74020 RESETCODEFLAGS 74999 RETURN Related commands and functions ON TOOLOFF TOOLON Vn Command Waits n seconds Syntax Vn 71 Ca la ntec GmbH www calantec de 4 Appendix B Programming hints for special hardware Programming of microstepping controllers The microstepping amplifiers in the controller models CO6100 CO6500 and CO6150 have to be programmed with the desired current profile In
67. ommand Performs a position move of group ng to the given absolute coordinates Syntax POSA ng ax lay az Example POSA 1 100 5 25 Related commands and functions POSACC POSDEC POSHDEC POSR POSVEL Command Sets the positioning acceleration in user units s of the axes of group ng The command can be executed during a movement and the new value is updated immediately Syntax 1 POSACC ng ax Syntax 2 POSACC ng ax ay Syntax 3 POSACC ng ax ay az Example POSACC 1 1000 1000 100 Related commands and functions POSA POSDEC POSHDEC POSR POSVEL Command Sets the positioning deceleration in user units s of the axes of group ng The command can be executed during a movement and the new value is updated immediately Syntax 1 55 Ca la ntec GmbH www calantec de POSDEC ng ax Syntax 2 POSDEC ng ax ay Syntax 3 POSDEC ng ax ay az Example POSDEC 1 1000 1000 100 Related commands and functions POSA POSACC POSHDEC POSR POSVEL POSHDEC Command Sets the deceleration which is used if the HALT command is executed during a position move to the value a in user units s The command can be executed during a movement and the new value is updated immediately Syntax 1 POSHDEC ng ax Syntax 2 POSHDEC ng ax ay Syntax 3 POSHDEC ng ax ay az Example POSHDEC 1 5000 5000 2000 Related commands and f
68. pdate The controllers BIOS can be replaced by new versions The actual version is shown with gt PRINT VERSIONS Start BIOS update with gt UPDATE 12345 The controller acknowledges this with the numbers 1 and 2 init phase and waits for the update file Upload this file with the text file upload function of the terminal program After the complete transfer the FLASH is cleared and rewritten phases 3 4 and 5 and the controller resets Never interrupt the power supply during the last phases An abort during upload is possible Ca la ntec GmbH www calantec de 2 Command Reference Variable types FIX 64 bit fixpoint 32 32 format INTEGER 32 bit integer STRING string of arbitrary length CHAR single 8 bit character BASIC Commands and Functions Conventions a numerical expression integer or fix n integer nb boolean expression e single character ASCII s string a n array Las optional parameter ABS Function Calculates the absolute value of numerical expression a If a is a fixpoint value the result is fixpoint if a is integer the result is integer Syntax a ABS a Example PRINT ABS x PRINT ABS 100 4 Related commands and functions INT FRAC ACOS Function Calculates the arcuscosine of numerical expression a Syntax a ACOS a Example PRINT ACOS x PRINT ACOS 0 4 Related commands and functions SIN COS ASIN AIN Function Returns the input level of analog input n The maximum va
69. t of the loop a stack overflow error may occur Syntax EXIT DO EXIT FOR EXIT Related commands and functions DO LOOP FOR NEXT EXEC Function Returns the file line in which an error during an exectution with EXEC occured Syntax a FERL Example PRINT FERL Related commands and functions EXEC EXECERRORS FERR Function Returns the error code of last error during a file execution with EXEC Syntax a FERR Example PRINT FERR Related commands and functions EXEC EXECERRORS FERL Command Shows the directory of a device If no device name is given SID1 is used as default If option 1 is used all files even those with SYS as extension are shown You can use wildcarts in the file name Syntax FILES s 1 20 Ca la ntec GmbH www calantec de Example FILES FILES BAS FILES e 3 Related commands and functions FORMAT LOAD SAVE EXEC FIX Function Converts numerical expression a to an integer by setting the fractional part to zero Syntax n FIX a Example PRINT FIX 65 6 Related commands and functions ABS CINT FRAC INT FOR NEXT Command Repeats a block of commands until counter variable a starting at astart is equal or greater than teminal value aend The optional increment or decrement value is given by astep default is 1 Syntax FOR a astart TO aend STEP astep Commandsblock NEXT a Example FOR i 1 TO 100 PRINT i NE
70. tes Acceleration and deceleration are according to the values given with ACC and DEC The velocity is set with the F Code If group 1 has 3 axes the selected coordinates define the plane in which the circular movement is performed so only 2 of 3 coordinates can be used e g I and J J and K K and 1 resp X and v Y and z Z and x Definitions KE X coordinate Yf Y coordinate Zi Z coordinate Af radius Wf angle If X coordinate of the center using polar coordinates or for circular movements Jf Y coordinate of the center using polar coordinates or for circular movements K Z coordinate of the center using polar coordinates or for circular movements Leas optional parameter absolute center full circle I J and K define the center in absolute coordinates Syntax G02 G90 If Jf XY plane G02 G90 Jf Kf YZ plane G02 G90 Kf If ZX plane Example G02 I 50 J50 G02 G90 122 2 J22 2 relative center full circle I J and K define the center relative to the last position Syntax G02 G91 If Jf XY plane G02 G91 Jf Kf YZ plane G02 G91 Kf If ZX plane Example G02 G91 I 50 J50 G02 G91 I22 2 J22 2 cartesian coordinates absolute center X Y and Z define the target position in absolute coordinates 1 J and K define the center in absolute coordinates Syntax 66 Ca la ntec GmbH www calantec de G02 Xf Yf G90 If Jf XY plane GO2 Yf Zf G90 Jf Kf YZ plane G0
71. tween 10 and 10 change contrast relatively values larger then 10 set the contrast absolute Maximum value is 100 The contrast value can be written permanently with command WRITEPREFS and is then reloaded at power on Syntax CONTRAST n Example CONTRAST 2 CONTRAST 70 Related commands and functions WRITEPREFS COS Function Calculates the cosine of numerical expression a Syntax a COS a Example PRINT COS x PRINT COS 0 4 Related commands and functions ACOS ASIN SIN CTRLCODE Command with keyboard only Switches event processing for function keys on or off The ASCII code of the last pressed function code can be read with function CODE C Key ASCII code STOP 3 HALT 4 EDIT 5 15 Ca la ntec GmbH www calantec de START 6 RUN 7 MENU 14 MOVE 15 STEP 16 REF 18 TEACH 20 ESC 27 Syntax CTRLCODE ON OFF Related commands and functions ON xx GOTO GOSUB CODE CURSOR Command with display only Switches cursor on or off Syntax CURSOR ON OFF Related commands and functions CLS LOCATE DELETE Command Deletes a file named s Syntax DELETE s Example DELETE TEST1 BAS Related commands and functions OPEN FORMAT DIM Command Declares and sets the size of an array The indices n1 n2 and n3 are the sizes of the array Allowed variable types are INTEGER FIX CHAR and STRING IM menl 5 AS STRING IM data 64 64 64 AS FIX Syntax DIM array nl n2 n3 AS INTEGER
72. unctions POSA POSACC POSDEC POSR POSVEL POSR Command Performs a position move of group ng to the given relative coordinates Syntax POSA ng ax ay az Example POSA 1 100 5 25 Related commands and functions POSA POSACC POSDEC POSHDEC POSVEL POSVEL Command Sets the positioning velocity in user units s of the axes of group ng The command can be executed during a movement and the new value is updated immediately Syntax 1 POSVEL ng ax Syntax 2 POSVEL ng ax ay Syntax 3 POSVEL ng ax ay az Example POSVEL 1 100 100 20 Related commands and functions POSACC POSDEC POSHDEC 56 Ca la ntec GmbH www calantec de POWERON Function Returns the status of the emergency stop circuit The return value is TRUE if the START LED is green amplifier power on and FALSE if it is red amplifier power off Syntax a POWERON Example PRINT POWERON Related commands and functions START NOTAUS RESETCODEFLAGS Command Resets all G code flags Syntax RESETCODEFLAGS Related commands and functions G Codes CODE NEWCODE RLENGTH Function Returns the remaining length while in continuous mode Syntax a RLENGTH ng Related commands and functions CONTINUOUS RSEGMENTS RSEGMENTS Function Returns the number of segments while in continuous mode Syntax a RSEGMENTS ng Related commands and functions AUTOVEL CONTINUOUS MAXSEGMENTS RLENGTH SCOPE Command Puts every 0 977 ms 10
73. xecuted immediately after the end of line CR or CR LF Incoming characters are echoed to STD Corrections can be made by using the backspace key These properties can be changed with PROMPT ECHO and SHELL A program is created by typing or dowloading commands with line numbers You can check the current program with LIST and save it with SAVE A saved program can be loaded again with LOAD It is advised to save the basic configuration baudrate axes transformation etc in file CONFIG SYS and to save the user program in a second file for example called AUTOEXEC BAS which is executed in file CONFIG SYS Larger programs should be written with a text editor program running on a PC and then transferred to the motor controller via serial interface clear memory with NEW first You can use the ASCII transfer function of your terminal program for this purpose and then save the program with SAVE Files without line numbers e g CONFIG SYS can be copied into the EEPROM disc by first starting the controllers editor e g EDIT SIDO CONFIG SYS then transferring the file via ASCII transfer and saving it with MENU SAVE If the file exists clear it first with MENU NEW Program example A simple BASIC program can be written saved and executed as follows After power up type in the following lines 2 2100 FOR i 1 to 100 2110 PRINT HELLO 2120 SLEEP 200 2130 NEXT gt If no prompt appears try pressing the ESC key during power up

User's Manual - Calantec GmbH

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