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OUTPUT MISCELLANEOUS COMMAND
Syntax: a OUT n c <ENTER>
Operands: a = X or Y or Z or W axis name
n = 1 or 2 or 3
c = ON, OFF, BR, RS, ER
Operation: Outputs OUT1 or OUT2 or OUT3
Dependence: None
Type: The command value is local.
Description: Turns a hardware output ON or OFF
Examples:
X OUT 3 ON <ENTER>
X means the X axis is selected.
OUT is the output command.
3 is the hardware output number 3.
ON means turn this output ON.
<ENTER> means the command entry is complete.
Y OUT 1 BR <ENTER>
BR is Busy/Ready status.
Output1 of Y axis is set to reflect Busy/Ready status.
Z OUT 2 RS <ENTER>
RS is the R/S status.
Output2 of Z axis is set to reflect R/S status.
W OUT 3 ER <ENTER>
ER is the Error status.
Output3 of W axis is set to reflect ER status.
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COMPARE MISCELLANEOUS COMMAND
Syntax: a COMPARE VALUE n <ENTER>
Operands: a = X or Y or Z or W axis name
0 =< n <= 16,777,215
Operation: Stores the value n to the COMPARE register
Dependence: None
Type: The command value is global.
Description: This command is used in conjunction with the IF-THEN-ELSE command when a variable has to be compared against a stored COMPARE value
Example:
X COMPARE VALUE 32767 <ENTER>
X means the X axis is selected.
COMPARE VALUE is the COMPARE command.
32767 is the value to be stored in the COMPARE register.
<ENTER> means the command entry is complete.
EXAMPLE CODE:
EXAMPLE0: MOVE A MOTOR
x configure: 1 amps, idle at 50% after 1 seconds
x limit cw 100000
x offset 1000
analog inputs to {0} ; NO AXIS USING ANALOG
vector axis are {0} ; NO AXIS USING VECTOR
x acceleration 64 ; RUN ACCELERATION
x velocity 200 ; RUN VELOCITY
motion:
x+1000
x-1000
goto motion ; REPEAT. INFINITE LOOP
EXAMPLE1: BASIC POINT TO POINT MOTION
x_config:
x configure: 1 amps, idle at 71% after 2.5 seconds
x limit cw 12000000
x offset 1000
y_config:
y configure: 1.5 amps, idle at 71% after 2.5 seconds
y limit cw 12000000
y offset 1000
start:
x acceleration 512 ; GO HOME ACCELERATION
x velocity 1000 ; GO HOME VELOCITY
y acceleration 512
y velocity 1000
home x, y ; X & Y GO HOME SIMULTANEOUSLY
analog inputs to {0} ; NO AXIS USING ANALOG
vector axis are {0} ; NO AXIS USING VECTOR
x acceleration 128 ; RUN ACCELERATION
x velocity 8000 ; RUN VELOCITY
y acceleration 128
y velocity 8000
motion1:
x+10000, y+10000
x-10000, y-10000
goto motion1 ; REPEAT. INFINITE LOOP
EXAMPLE2: BASIC VECTOR MOTION
x_config:
x configure: 1 amps, idle at 71% after 2.5 seconds
x limit cw 12000000
x offset 1000
y_config:
y configure: 1.5 amps, idle at 71% after 2.5 seconds
y limit cw 12000000
y offset 1000
start:
x acceleration 512 ; GO HOME ACCELERATION
x velocity 1000 ; GO HOME VELOCITY
y acceleration 512
y velocity 1000
home x, y ; X & Y GO HOME SIMULTANEOUSLY
vector axis are x, y ; X & Y AXIS VECTOR MOTION
x acceleration 128
y acceleration 128
x velocity 8000 ; SET DIFFERENT VELOCITY FOR TESTING
y velocity 4000
motion1:
x+10000, y+10000
x-10000, y-10000
goto motion1 ; INFINITE LOOP
EXAMPLE3: POINT TO POINT MOTION, SPEED CONTROLLED BY TRIM POT(ANALOG)
x_config:
x configure: 1 amps, idle at 71% after 2.5 seconds
x limit cw 12000000
x offset 1000
y_config:
y configure: 1.5 amps, idle at 71% after 2.5 seconds
y limit cw 12000000
y offset 1000
start:
x acceleration 512 ; GO HOME ACCELERATION
x velocity 1000 ; GO HOME VELOCITY
y acceleration 512
y velocity 1000
home x, y ; X & Y GO HOME SIMULTANEOUSLY
analog inputs to x, y ; X & Y AXIS USING ANALOG CONTROL
vector axis are {0} ; NO AXIS USING VECTOR
motion1:
x+10000, y+10000 ;
x-10000, y-10000
goto motion1 ; INFINITE LOOP
EXAMPLE4: RUN MOTION UNDER ABSOLUTE POSITION SYSTEM
x_config:
x configure: 1 amps, idle at 71% after 2.5 seconds
x limit cw 12000000
x offset 1000
y_config:
y configure: 1.5 amps, idle at 71% after 2.5 seconds
y limit cw 12000000
y offset 1000
start:
x acceleration 512 ; GO HOME ACCELERATION
x velocity 1000 ; GO HOME VELOCITY
y acceleration 512
y velocity 1000
home x, y ; X & Y GO HOME SIMULTANEOUSLY
vector axis are x, y ; X & Y AXIS VECTOR MOTION
x acceleration 128 ; RUN ACCELERATION
y acceleration 128
x velocity 8000 ; RUN VELOCITY
y velocity 8000
motion1:
x 2000, y 2000 ; ABS POSITION. USEFUL FOR DRAWING, CUTTING, ETC.
x 1500, y 2500
x 2500, y 1500
x 2000, y 2000
x 0, y 0
goto motion1 ; INFINITE LOOP
EXAMPLE5: USING JOG COMMAND
x_config:
x configure: 1 amps, idle at 71% after 2.5 seconds
x limit cw 12000000
x offset 1000
start:
x acceleration 512 ; GO HOME ACCELERATION
x velocity 1000 ; GO HOME VELOCITY
home x ; X AXIS GO HOME
x acceleration 128 ; RUN ACCELERATION
x velocity 8000 ; RUN VELOCITY
jog x ; JOG MODE. NEED HARDWARE LOGIC TO EXIT
goto start ; INFINITE LOOP
EXAMPLE 6: USING SPD CONTROL COMMAND
x configure: 1 amps, idle at 71% after 2.5 seconds
x limit cw 12000000
x offset 1000
x acceleration 128
x velocity 8000
x speed control +1000 ; SPEED CONTROL MODE. NEED HARDWARE LOGIC TO EXIT
end:
goto end ; INFINITE LOOP
EXAMPLE 7: USING SPD CONTROL COMMAND (ANALOG)
x configure: 1 amps, idle at 71% after 2.5 seconds
x limit cw 12000000
x offset 1000
x acceleration 128
x velocity 8000
analog inputs to x ; X AXIS ANALOG. TRIM4 &TRIM5 CAN CHANGE SPD
x speed control +1000 ; SPEED CONTROL MODE. NEED HARDWARE LOGIC TO EXIT
end:
goto end ; INFINITE LOOP
EXAMPLE8: USING POSITION ADJUST COMMAND
x_config:
x configure: 1 amps, idle at 71% after 2.5 seconds
x limit cw 12000000
x offset 1000
start:
x acceleration 512 ; GO HOME ACCELERATION
x velocity 1000 ; GO HOME VELOCITY
home x ; X AXIS GO HOME
x acceleration 128 ; RUN ACCELERATION
x velocity 8000 ; RUN VELOCITY
x+3000
x position adjust +/-2000 ; TRIM5 CAN CHANGE MOTOR POSITION
end:
goto end ; INFINITE LOOP