Language reference table of contents

Language reference introduction  9

! (exclamation point) Pause Program Execution   10

(Single Space Character) Single Space Delimiter and String Terminator  12

Direct Binary Mode Control Binary Trajectory Data Format  13

@PE Real-Time Actual Position Error  16

@V Present Trajectory Velocity  17

a..z 32-Bit Variables  19

aa . . zzz 32-Bit Variables  21

ab[index] 8-bit Array Variables  23

al[index] 32-Bit Array Variables  26

aw[index] 16-bit Array Variables  29

A=expression Set Acceleration  32

ADDR Set Motor Address  34

AIN{address}{input} Analog Input from I/O Device  35

AMPS=expression Set Drive PWM Limit  36

AOUT{address},{value} Analog Output to I/O Device  37

Ba Peak-Over-Current Status Bit  38

Bb Parity Error Status Bit  39

Bc Communications Overflow Status Bit  40

Be Excessive Position Error Status Bit  43

Bf Communications Framing Error Status Bit  44

Bh Overheat/RMS Over-Current Status Bit  45

Bi Index-Position Captured Status Bit  47

Bk User Program Checksum Error Status Bit  49

Bl Historical Left-Limit Status Bit  50

Bm Real-Time Left-Limit Status Bit  52

Bo Motor-Off Status Bit  53

Bp Real-Time Right-Limit Status Bit  54

Br Historical Right-Limit Status Bit  55

Bs Syntax-Error Status Bit  57

Bt Trajectory-In-Progress Status Bit  58

Bu Array Index Error Status Bit  60

Bw Encoder-Wrap-Around Status Bit  61

Bx Real-Time Index Input Status Bit  63

BASE Cam Mode Master Cycle Length  64

BRKC Brake Control Re-Direct to Port C  66

1
 Language reference table of contents (continued)

BRKENG Brake Engage  67

BRKG Brake Control Re-Direct to Port G  68

BRKI Brake Control Re-Direct to Port I  69

BRKRLS Brake Release  70

BRKSRV Brake Engage When Not Servoing  71

BRKTRJ Brake Engage With No Active Trajectory  72

BREAK Program Flow Loop Exit Control  74

C{statement_label_number} Program Subroutine Label  76

CCHN(type,channel) Close Communications Channel  78

CHN Combined Communications Error Flag  79

CHN0 Communications Error Flag (RS-232)  81

CHN1 Communications Error Flag (RS-485)  83

CLK Hardware Clock Variable  85

CMD Accept Command Input RS-232  87

CMD1 Accept Command Input RS-485  89

CTR Second Encoder/Step and Direction Counter  91

D=expression Set R elative Distance  93

DAT Accept Data Input Only (RS-232)  95

DAT1 Accept Data Input Only (RS-485)  97

DEFAULT Switch-Case Structure Element  99

DIN{port}{channel} Input Byte From I/O Device  101

DOUT{port}{channel}{expression} Output Byte to I/O Device  102

E=expression Set Allowable Position Error  103

ECHO Echo Incoming RS-232 Data  104

ECHO_OFF Turn RS-232 Echo Off  105

ECHO1 Echo Incoming RS-485 Data  106

ECHO_OFF1 Turn RS-485 Echo Off  107

ELSE IF-Structure command flow element  108

ELSEIF IF-structure command flow element  110

ENC0 Set/Restore Internal Encoder for Servo  112

ENC1 Select External Encoder for Servo  113

END End Program Code Execution  114

ENDIF End IF Statement  115

ENDS End SWITCH Statement  116

EPTR=expression Set Data EEPROM Pointer  117

2
 Language reference table of contents (continued)

ES400 Set EPROM Read/Write Speed  118

ES1000 Set EPROM Read/Write Speed  120

F Load PID Filter  122

F=expression Motor Function Control  123

G Start Motion (GO)  126

GETCHR Get Character from main RS-232  129

GETCHR1 Get Character From RS-485  130

GOSUB{number} Subroutine Call  131

GOTO{number} Branch Program Flow to a Label  133

I (capital i) Encoder Index Pulse Location  134

IF expression Conditional Program Code Execution  136

KA=expression PID Acceleration Feed Forward  139

KD=expression PID Derivative Compensation  140

KG=expression PID Gravity Compensation   141

KI=expression PID Integral Compensation  142

KL=expression PID Integral Limit  143

KP=expression PID Proportional Compensation  144

KS=expression PID Derivative Term Sample Rate  145

KV=expression PID Velocity Feed Forward  146

LEN Main RS-232 data buffer fill level  147

LEN1 RS-485 data buffer fill level  148

LIMD Enable Directional Travel Limits  149

LIMH Travel Limits Active High  150

LIML Travel Limits Active Low  151

LIMN Enable Non-Directional Travel Limits  152

LOAD Download Compiled User Program to Motor  153

LOCKP Prevent User Program Upload  155

LOOP Return to WHILE Program Flow Control  156

MC Enable Mode-CAM (Electronic Camming)  158

MC2 Mode CAM 2X Multiplier  160

MC4 Mode CAM 4X Multiplier  161

MC8 Mode CAM 8X Multiplier  162

MD50 Enable Direct Analog-Input Drive-Mode  163

MF0 Enable Quadrature-Input Counter Mode  164

MF1 Enable Mode-Follow, Raw Resolution  166

MF2 Enable Mode-Follow Half-Quadrature  167

3
 Language reference table of contents (continued)

MF4 Enable Mode-Follow Full Quadrature  168

MFDIV Set Mode-Follow Divisor  169

MFMUL Set Mode-Follow Multiplier  170

MFR Calculate/Enable Mode-Follow-Ratio  171

MP Enable Position-Mode  173

MS Enable Mode-Step  175

MS0 Enable Step/Direction Counter Mode  177

MT Enable Torque-Mode  180

MTB Enable Mode Torque Brake  182

MV Enable Velocity-Mode  183

O=expression Set Main Position Counter  185

OCHN Open /Set-up Communications Channel  187

OFF Turn Off Drive Stage  188

P=expression Set Commanded Absolute Position  189

PID# P.I.D. Tuning Filter Control  191

PRINT( ) Print to Primary Communications Port  193

PRINT1( ) Print to Secondary Communications Port  195

PRINTA( ) . . . PRINTH( ) Print to External LCD Display  197

Q Report Host-Mode Status   199

Ra . . . Rz Report 32-Bit Variable Data Value  200

Raa . . . Rzz Report 32-Bit Variable Data Value  202

Raaa . . . Rzzz Report 32-Bit Variable Data Value  204

Rab[index] Report 8-Bit Array Data Value  206

Ral[index] Report 32-Bit Array Data Value  208

Ral[index](continued) Report 32-Bit Array Data Value  209

Raw[index] Report 16-Bit Array Data Value  210

RA Report Commanded Acceleration  212

RAIN{port}{input} Report Expanded Analog Input Value  213

RAMPS Report Allowable PWM Limit  214

RBa Report PEAK-Over-current Status Bit  215

RBb Report Communications Parity Error Status Bit  216

RBc Report Communications Overflow Status Bit  217

RBd Report Math Overflow Status Bit  218

RBe Report Position Error Status Bit  219

RBf Report Communications Framing Error Status Bit  220

4
 Language reference table of contents (continued)

RBh Report Over-Heat/RMS Over-Current Status Bit  221

RBi Report Index-Captured Status Bit  222

RBk Report EEPROM Checksum Status Bit  223

RBl Report Real-Time Left-Over-Travel-Limit State  224

RBm Report Historical Left-Over-Travel-Limit Status Bit   225

RBo Report Motor-Off Status Bit  226

RBp Report Historical Right-Over-Travel-Limit Logic State   227

RBr Report Real-Time Right-Over-Travel-Limit State  228

RBs Report Syntax-Error Status Bit  229

RBt Report Busy-Trajectory Status Bit  230

RBu Report Array Index Error Status Bit  231

RBw Report Encoder Wrap Status Bit   232

RBx Report Real-Time Index Pulse Logic State  233

RCHN Report Serial Communications Status Flags  235

RCHN0 Report Primary Serial Port Status  236

RCHN1 Report Secondary Serial Port Status  238

RCS Report Primary Serial Port Checksum  240

RCS1 Report Secondary Serial Port Checksum  241

RCTR Report Secondary Encoder Counter  242

RD Report Commanded Relative Distance Value   243

RDIN{port}{channel} Report Expanded Input Logic Status  244

RE Report Maximum Allowable Position Error  245

RETURN Return-From-Subroutine Program Flow Control  246

RI Report Last-Captured Index Pulse Location  247

RKA Report Acceleration-Feed-Forward Gain Tuning Value  248

RKD Report Derivative-Gain Tuning Value  249

RKG Report Gravitational Compensation Gain Tuning Value  250

RKI Report Integral-Gain Tuning Value  251

RKP Report Proportional-Gain Tuning Value  252

RKS Report Inertial Time Constant Tuning Value  253

RKV Report Velocity-Feed-Forward Tuning Value  254

RP Report Real Time Position  255

RPE Report Real-Time Position Error  256

RS Report 8-Bit System Status Byte  258

RS2 Restore Port G normal control  260

5
 Language reference table of contents (continued)

RS4 Set Port G to RS-485 R/W Control Pin  261

RSP Report CPU speed and Firmware Revision  262

RT Report Commanded Torque Value  263

RUN Start/Re-Start Program Execution  264

RUN? Halt Program Execution until RUN Received  266

RV Report Current Trajectory Velocity  267

RW Report System 16-Bit Status Word  268

S (as command) Stop Motion Quickly  269

S (as status byte) 8-Bit System Status Byte  270

SADDR# Set Motor Address  272

SILENT Silence Primary Port Outgoing Communications  274

SILENT1 Silence Secondary Port Outgoing Communications  275

SIZE=expression Set Number of CAM Table Data Points  276

SLEEP Ignore Incoming Commands on Primary Port  278

SLEEP1 Ignore Incoming Commands on Secondary Port  279

STACK Clear Stack Pointer Register  280

SWITCH expression Selectable Program Flow Control  282

T=expression Set Open Loop Commanded Torque Value  284

TALK Enable Outgoing Messages on Primary Port   286

TEMP Read Motor Temperature  288

TH Set Maximum Allowable Temperature  289

THD Set Overheat Delay Timer  290

TWAIT Pause Program Execution During Active Trajectory  291

UA=expression Set I/O Port A Out t Logi c State  292

UAA Read I/O Port A as Analog Input  293

UAI (as command) Set I/O Port A to Input  294

UAI (as input value) Read I/O Port A Logic State  295

UAO (as command) Set I/O Port A to Output  296

UBexpression Set I/O Port B Output Logic State  297

UBA Read I/O Port B as Analog Input  298

UBI (as command) Set I/O Port B to Input  299

UBI (as input value) Read I/O Port B Logic State  300

UBO (as command) Set I/O Port B to Output  301

UCexpression Set I/O Port C Output Logic State  302

UCA Read I/O Port C as Analog Input  303

UCI (as command) I/O COMMAND  304

6
 Language reference table of contents (continued)

UCI (as input value) Read I/O Port C to Input  305

UCO (as command) Set I/O Port C to Output  306

UCP Set I/O Port C as Positive Over Travel Limit  307

UDexpression Set I/O Port D Output Logic State  308

UDA Read I/O Port D as Analog Input  309

UDI (as command) Set I/O Port D to Input  310

UDI (as input value) Read I/O Port D to Input  311

UDM Set I/O Port D as Negative Over Travel Limit  312

UDO (as command) Set I/O Port D to Output  313

UEexpression Set I/O Port E Output Logic State  314

UEA Read I/O Port E as Analog Input  315

UEI (as command) Set I/O Port E to Input  316

UEI (as input value) Set I/O Port E to Input  317

UEO (as command) Set I/O Port E to Input  318

UFexpression Set I/O Port F Output Logic State  319

UFA Read I/O Port F as Analog Input  320

UFI (as command) Set I/O Port F to Input  321

UFI (as input value) Read I/O Port F Logic State  322

UFO (as command) Set I/O Port F to Output  323

UG Enable/Re-Enable Port G Sync Functionality  324

UGexpression Set I/O Port G Output Logic State  325

UGA (as input value) Read I/O Port G As Analog Input  326

UGI (as input value) Read I/O Port G Logic Level State  327

UGI (as command) Set I/O Port G to Input  328

UGO (as command) Set I/O Port G to Output  329

UP Complied User Program and Header Upload  330

UPLOAD Standard User Program Upload   331

V Commanded Velocity  332

VLD(variable, number) Data EEPROM READ/WRITE COMMAND  333

VST(variable, number) DATA-EEPROM READ/WRITE COMMAND  335

WAIT=expression Pause Program Flow for pre-determined time  337

WAKE Enable Open Communications on Primary Port  338

WAKE1 Enable Open Communications on Secondary Port  339

WHILE expression Conditional Program Loop Flow Control  340

X Decelerate Shaft to a Relative Position  342

Z Total CPU Reset  343

7
 Language reference table of contents (continued)

Za Reset Peak Over Current Flag  344

Zb Reset Comms Parity Error Flag  345

Zc Reset Comms Buffer Overflow Flag  346

Zd Reset Math Overflow Error Flag  347

Ze Reset Position Error Flag  348

Zf Reset Comms Framing Error Flag  349

Zl Reset Historical Left Limit Flag Flag  350

Zr Reset Historical Right Travel Limit Flag  351

Zu Reset Array Index Error state Flag  353

Zw Reset Encoder Wrap Status Flag  354

ZS Global Reset System State Flags  355

Array Variable Memory Map Page 1 of 2  357

Array Variable Memory Map Page 2 of 2  358

8
 Language reference introduction

The Smartmotor™ "Language Reference" lists each Smartmotor command

in alphabetical order. Every command is described in exacting detail and
shown in the context of a real-world example where it applies.
The commands are supplemented with a "Related Commands" section in the
outside column that is designed to guide you to other pertinent commands
and assure that you become aware of every resource the Smartmotor has to
offer to address your specific need.
The examples are printed in a bold in a MORE STRUCTURED FONT to be
quickly and unmistakably identified and interpreted. Comments are included
and separated with a single quotation mark as they would be in your own
programs.
You will almost certainly find the SmartMotor programmability the most pow-
erful of any motion controller you have ever used. Any problem you may be
facing will have many solutions to choose from. The key to successful appli-
cation programming is knowing enough to choose the most elegant solution
available.
Please let us know if you find any errors or omissions in this book so that
we may improve it for future readers. Such notifications should be sent
by e-mail with the words "Language Reference" in the subject line sent to:
info@animatics.com. Thank you in advance for your contribution.

©2001, 2002 Animatics Corporation. All rights reserved

Animatics The SmartMotor Language Reference.
This book is furnished under license and may be used or copied only in
accordance with the terms of such license. The content of this book is furnished
for informational use only, is subject to change without notice and should not be
construed as a commitment by Animatics Corporation. Animatics Corporation
assumes no responsibility or liability for any errors or inaccuracies that may
Contact Us: appear in this book.
Animatics Corporation Except as permitted by such license, no part of this publication may be
3200 Patrick Henry Dr. reproduced, stored in a retrieval system or transmitted, in any form or by any
Santa Clara, CA 95054 means, electronic, mechanical, recording, or otherwise, without the prior written
USA permission of Animatics Corporation.
Tel: 1 (408) 748-8721
Animatics, the Animatics logo, SmartMotor and the SmartMotor logo are all
Fax: 1 (408) 748-8725
trademarks of Animatics Corporation. Windows, Windows 95/98, Windows 2000
www.animatics.com
Windows NT and Windows XP are all trademarks of Microsoft Corporation.

9
 ! (exclamation point)
Pause Program Execution

Related APPLICATION: Program flow control

Commands:
DESCRIPTION: Pauses Program Execution
GETCHR
EXECUTION: Immediate
GETCHR1
CONDITIONAL TO: N/A
LIMITATIONS: Use ENTER key from host terminal
REPORT COMMAND: None
READ/WRITE: N/A
LANGUAGE ACCESS: Use only within a user program
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: N/A
FIRMWARE VERSIONS: All
DETAILED DESCRIPTION:
The command ! suspends the user program until a properly terminated character or
string is received through the SmartMotor™ serial port. As long as the SmartMotor is in
command mode, the character or string received will be interpreted as a command.
The ! command is useful when debugging new programs and stopping output streams
from the motor at runtime. The ! command doesn’t affect the trajectory generator or a
move in progress.
See sample code on next page:

10
 ! (exclamation point) (continued)
Pause Program Execution

Related EXAMPLE: (user debug output page with pause)

Commands:
a=10000000 'program parameter
GETCHR O=a 'set axis origin
MP 'set buffered motion mode to Mode Position
GETCHR1 A=100 'set buffered acceleration
V=4000 'set buffered maximum velocity
P=-a 'set buffered target position
b=50 'loop counter
c=0 'data set counter
GOSUB10 'call debug routine
G
WHILE b 'while b>0
GOSUB10 'emit data set
IF Bt==0 'exit if trajectory done
BREAK
ENDIF
b=b-1 'decrement loop index
LOOP
GOSUB10 'emit final data set
END 'program terminate

C10
c=c+1 'increment data set counter
'NOTE PRINT(#13) sends a carriage return
PRINT(#13,#13,"DATA SET ")
Rc
PRINT(#13,"Value of a ",a)
PRINT(#13,"Value of b ",b)
PRINT(#13,"Position ")
RP
PRINT("Velocity ")
RV
PRINT("Acceleration ")
RA
PRINT("Position Error ")
RPE

! ‘wait for ENTER from SMI terminal

RETURN

11
 (Single Space Character)
Single Space Delimiter and String Terminator

Related APPLICATION: Program flow control

Commands:
DESCRIPTION: Single spaces placed between a series of user
Carriage Return variables or commands
EXECUTION: Immediate
FIRMWARE VERSIONS: All
DETAILED DESCRIPTION:
CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: Serial communications channel data
A single space character may be placed between a series of user commands in a
single ASCII string as delimiter. If sent from a PLC or PC, the same space character
can be used as an string terminating character.
When assigning values to sequential variables, use between assigned value and ter-
minate sequence with an immediately following period.
The space character can also be used in PRINT command strings in like manner.

EXAMPLE as Delimiter for variable initialization:

n 7 2 8 56. '(Note spaces and period)

equivalent:
n=7 o=2 p=8 q=56

t=6
aw[t] 63 44 98. '(Note spaces and period)

equivalent:
aw[6]=63 aw[7]=44 aw[8]=98

EXAMPLE as Delimiter and Null Terminator in PRINT command:

PRINT("a=1 b=2 ")
'note space after b=2 as null terminator

equivalent:
PRINT("a=1 b=2",#13)
'note carriage return as null terminator

Note: When sending commands via serial port from a PC or PLC or other controller, a space
character can be used as both a delimiter and a string terminator. It can be used equally and
interchangeably with a carriage return as a string terminator.
12
 Direct Binary Mode Control
Binary Trajectory Data Format

Related APPLICATION: Direct Mode Position, Velocity, and Acceleration Data

Commands:
DESCRIPTION: Binary Packet Data
P
EXECUTION: Immediate
V
CONDITIONAL TO: Appropriate terminal
A
LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: Serial communications channel data
UNITS: Function byte + 32 bit binary packet
RANGE OF VALUES: 0x80000000 to 0x7FFFFFFF
TYPICAL VALUES: 0x80000000 to 0x7FFFFFFF
DEFAULT VALUE: N/A
FIRMWARE VERSIONS: Version 3.2, firmware version G3 and higher
DETAILED DESCRIPTION:
Direct Mode commands always have the following five byte format: a single command
byte, followed by four data bytes. There are three command bytes presently available
in hex format:
0xFE Commanded Position Header Bit
0xFD Commanded Velocity Header Bit
0xFC Commanded Acceleration Header Bit
Note: Binary strings set Buffered Values!
To have them take effect, they must also be followed by a G command
and a Null Terminator (Carriage Return or Space Character)

EXAMPLE:
Set Buffered target position to 100 (P=100)
0xFE 0x00 0x00 0x00 0x64
Set Buffered target position to -2 (P=-2)
0xFE 0xFF 0xFF 0xFF 0xFE

13
 Direct Binary Mode Control (continued)
Binary Trajectory Data Format

Related
Commands:
Set Buffered target velocity to 10000 (V=10000)
P
0xFD 0x00 0x00 0x27 0x10
V
Set Buffered target velocity to -10000 (V=-10000)
A
0xFE 0xFF 0xFF 0xD8 0xF0
Set Buffered target acceleration to 1024 (A=1024)
0xFD 0x00 0x00 0x04 0x00
Note: A<0 is not valid.

Since a direct mode command is always in a fixed format, it doesn’t require an end of
line character. However, to have the buffered values take effect, the G character may
be directly appended to the end of any direct mode command.
EXAMPLE:
Set Buffered target position to 100 and "Go" (P=100 G)
0xFE 0x00 0x00 0x00 0x64 0x47 0x20

Set Buffered target acceleration to 100 and "Go" (A=100 G)

0xFC 0x00 0x00 0x00 0x64 0x47 0x20

Keep in mind, Proper Mode commands must be set up prior to binary command
strings in order to get predictable results. If Velocity Mode Is required, then first send
MV followed by the associated binary commands.
This would then allow for fast changes in speed once in velocity mode.

14
 @P
Real-Time Actual Position

Related APPLICATION: Monitor trajectory

Commands:
DESCRIPTION: Fetch Real-Time Encoder Position
P
EXECUTION: Next PID sample
RP
CONDITIONAL TO: N/A
@PE
LIMITATIONS: Expression value
@V
REPORT COMMAND: RP
ENC0
READ/WRITE: Read only
ENC1
LANGUAGE ACCESS: Expressions and conditional testing
UNITS: Encoder counts
RANGE OF VALUES: -2147483648 to 2147483647
TYPICAL VALUES: N/A
DEFAULT VALUE: 0 at power reset
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
@P is used to access the value of the primary encoder. This number may be called
the current position or actual position. If the motor shaft moves the value of @P will
be changed by the net number of encoder counts occurring during this shaft motion.
The primary encoder is tracked at all times and is independent of the mode of opera-
tion of the SmartMotor™, or any error condition.
PRINT(@P) and RP would transmit an identical value if It were possible to execute
both commands at the same time.
@P cannot be used to store a new value to a given shaft position; to change the point
of origin for the encoder use the syntax O=expression. To set a desired target posi-
tion use P=expression.
Example:
A=100 'set buffered acceleration
V=40000 'set buffered velocity
MV 'set to Mode Velocity
G 'GO, start motion trajectory
WHILE @P<=5000 'wait until real time position
LOOP 'exceeds 5000 counts
PRINT("Position is above 5000",#13)

Note: @P follows the primary encoder used to close the loop. If you issue ENC1, it
will follow an external encoder. Please see ENC0 and ENC1 for more details.

15
 @PE
Real-Time Actual Position Error

Related APPLICATION: Monitor trajectory

Commands:
DESCRIPTION: Fetch Real-Time Position Error
E
EXECUTION: Next PID sample
@P
CONDITIONAL TO: None
LIMITATIONS: Expression value
REPORT COMMAND: RPE
READ/WRITE: Read only
LANGUAGE ACCESS: Expressions and conditional testing
UNITS: Encoder counts
RANGE OF VALUES: Magnitude limited to user set value of E
TYPICAL VALUES: 0 to 32000
DEFAULT VALUE: 1000
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
Position Error is the difference in encoder counts between the desired trajectory posi-
tion and the measured position. If the absolute value of @PE exceeds the user value
E, the drive stage will turn off immediately setting both the Bo (Motor Off) and Be
(Position Error) status bits will be set to 1, within that PID servo sample. When the
servo is off, @PE reverts to zero since there is no longer a desired position.
PRINT(@PE) and RPE would transmit an identical value if it were possible to execute
both commands at the exactly the same time.
Note: As acceleration, A, is increased, a larger value of E will be required.
E is unsigned but @PE may be positive or negative.
Example:
E=1000 'set maximum position error permitted
A=100 'set buffered acceleration
V=3200000 'set buffered maximum velocity
P=12345678 'set buffered target position
G 'move to target
WHILE Bt 'while trajectory in progress
IF @PE>800
PRINT(#13,"WARNING)
PRINT(#13,"Postion error close to limit")
ENDIF
LOOP

16
 @V
Present Trajectory Velocity

Related APPLICATION: Monitor trajectory

Commands:
DESCRIPTION: Commanded PID Trajectory Velocity
V
EXECUTION: Next PID sample
MV
CONDITIONAL TO: Calculated Trajectory
RV
LIMITATIONS: Expression value
@P
REPORT COMMAND: RV, PRINT(@V)
@PE
READ/WRITE: Hardware read only
PIDn
LANGUAGE ACCESS: Expressions and conditional testing
UNITS: Scaled encoder counts per PID sample
(65536 scaled counts = 1 count)
RANGE OF VALUES: -2147483648 to 2147483647
TYPICAL VALUES: -3000000 to 3000000
DEFAULT VALUE: 0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The function @V returns the present target trajectory velocity. Instead of
returning the actual velocity, it tells you what the velocity is supposed to be.
For the most part, this is the same as the actual velocity, for the simple reason
that, if you are not at the right velocity, you are likely in position error. Similarly,
if you observe the position error is not changing (see @PE), the present
reported velocity is the exact velocity.
Equations for Real world Units:

Velocity (Encoder Counts/Sec) = @V x k

Velocity (RPS) = @V x k / Encoder Resolution
Velocity (RPM) = @V x k / Encoder Resolution x 60

Where: Encoder Resolution = Encoder Counts per Revolution

and k=0.0620876 for all standard SmartMotors™ <=v4.95
When in Position or Velocity Mode, MP or MV, the actual velocity is enforced
by the PID feedback control to match the desired velocity computed by the
trajectory generator.
If the position error (see @PE) is exactly constant, the actual velocity will
exactly match the desired velocity over time, that is, macroscopically with
respect to time.
(Continued on following page)

17
 @V (continued)
Present Trajectory Velocity

Related
Commands:
While Accelerating, the position error may increase as a result of the physical veloc-
V ity being less than the trajectory velocity. During the constant velocity slew phase, if
position error were constant, physical velocity would equal the trajectory velocity on
MV average.
RV Looking at time microscopically, within one PID sample, the limit of encoder measure-
@P ment is one encoder count, a velocity granularity of 65536 scaled counts, per sample.
This is in contrast to the macroscopic velocity, which has a granularity of one scaled
@PE count. In position or velocity mode, the macroscopic trajectory velocity with a granu-
larity of 1 scaled count per sample is returned by @V.
PIDn
In modes that do not generate a trajectory velocity, for example, torque mode, the
velocity must be gleaned from changes in the encoder each Sample, so the micro-
scopic value with a granularity of 65536 scaled counts per sample is returned by
@V.
RV, PRINT(@V), and the sequence a=@V Ra would transmit identical values, if it
were possible to execute all three command sequences simultaneously.
To display the user-specified buffered maximum velocity value V (V=expression),
as opposed to the present velocity, the sequences a=V Ra or equivalently PRINT(V)
would be used.

Example:

A=20 'set buffered acceleration

V=66500 'set buffered velocity
MV 'Set to Velocity Mode
G 'Begin Moving
WHILE @V<V 'wait for acceleration phase to complete
LOOP
PRINT("Target Velocity has ben reached",#13)

18
 a..z
32-Bit Variables

Related APPLICATION: General purpose data control

Commands:
DESCRIPTION: User signed 32 bit variables
aa . . zzz
EXECUTION: Immediate
ab[index]
CONDITIONAL TO: N/A
al[index]
LIMITATIONS: Versions prior to 4.00 only have variables a . . . j
aw[index]
REPORT COMMAND: Ra . . Rz
READ/WRITE: Read Write
LANGUAGE ACCESS: Assignment, expressions and conditional testing
UNITS: Signed 32 bit Integer
RANGE OF VALUES: -2147483648 to 2147483647
TYPICAL VALUES: -2147483648 to 2147483647
DEFAULT VALUE: 0
FIRMWARE VERSIONS: 4.00 and higher
Versions prior to 4.00 have 10 variables, a . . j
DETAILED DESCRIPTION:
The SmartMotor™ has three groups of pre-defined user variables. The first group
consists of the variables a through z. They are general purpose Read/Write 32 bit
signed integer variables that can be reported and used on either side of an equal sign
in an equation.
The variables a thru z are stored in Dynamic RAM, meaning
Their values are lost when power is lost!
The value of any variable a through z variable is reported with the R, PRINT( ) or
PRINT1( ) functions.
EXAMPLE:
Rg 'Report the value of g to the primary serial port
See Appendix C PRINT("g=",g,#13) 'Print to the primary serial port.
To describe the PRINT1("g=",g,#13) 'Print to the secondary serial port.
relationship between
All 32 bit signed integer variables are limited to integer values between -2147483648
user assigned
to 2147483647. Math operations that result in decimal values are truncated, or round-
variables, aa thru
ed down. If you assign or perform an operation that would normally result in a value
zzz, and variable
outside of this range, the variable will "wrap," or take on the corresponding modulo.
arrays, ab[ ], al[ ]
As an example, because of this, 2147483647+1=-2147483648. The result "wrapped
and aw[ ]
around" to the negative extreme.

19
 a . . z (continued
32-Bit Variables

Related
Commands:
The following are other restrictions:
aa . . zzz
• If a+b exceeds 32 signed bits the operation c=a+b
al[index] will produce a wrong result. No error flag is set.
aw[index] • If a-b exceeds 32 signed bits the operation c=a-b
will produce a wrong result. No error flag is set.
ab[index]
• If a*b exceeds 32 signed bits the operation c=a*b
will produce a wrong result. The system flag Bd will bet set.
If one of these variables is used with a variable of another type, it will be appropri-
ately converted. In technical jargon, the variable will be type cast. For example, in the
equation where the variable on the left of the equal sign is a 16 bit one like aw[4],
all variables will be converted to 16 bit values and then operated on. Assigning the
variable aw[27] = y directly stores the 16 least significant bits of y into aw[27]. The
higher bits of the variable y are lost. Similarly, if the right hand variable is an 8 bit one
like ab[167], all variables will be converted to 8 bit values before being operated on.
Conversely, if the left hand value is a 32 bit variable and the right hand side contains
16 bit variables, the 16 bit variables will be temporarily "upgraded" to 32 bits. In the
equation c=ab[4]-aw[7], both ab[4] and aw[7] are converted into 32 bit numbers
before the subtraction occurs.
In the SmartMotor™ language, all user variables are written as lower case letters,
while functions and commands have at least one upper case character. The term a
is a general purpose variable, while A is the Acceleration function. Any user vari-
able can be assigned a value with an equation, as discussed above, but can also be
sequentially loaded by specifying the starting variable and the series of values to be
loaded.
EXAMPLE:
Suppose the following code:
c=123 'assign the value of 123 to "c"
d=345 'assign the value of 345 to "d"
e=-599 'assign the value of -599 to "e"
See Appendix C f=346 'assign the value of 346 to "f"
To describe the g=678678 'assign the value of 678678 to "g"
relationship between
user assigned The Sequential loading method equivalent is as follows:
variables, aa thru c 123 345 -599 346 678678. 'sequentially load data into
zzz, and variable 'variable c thru g
arrays, ab[ ], al[ ] Note: The last number MUST BE followed by a "." period.
and aw[ ] All user variables are initialized to the value of 0 at power up or upon execution of
the system reset command Z. Other than by direct assignment, this is the only way
that the SmartMotor sets all of the user variables to 0. Issuing a RUN command does
not perform this automatic initialization. For this reason, it is usually preferred to test
a program, whether it is auto-execution or not, by power cycling the SmartMotor or
issuing a system reset command Z.

20
 aa . . zzz
32-Bit Variables

Related APPLICATION: General purpose data control

Commands:
DESCRIPTION: User signed 32 variables
a..z
EXECUTION: Immediate
ab[index]
CONDITIONAL TO: N/A
al[index]
LIMITATIONS: This data space is shared with ab[ ], aw[ ], al[ ]
aw[index] arrays, and coordinated motion (see mode MD)
REPORT COMMAND: Raa . . . Rzzz
READ/WRITE: Read Write
LANGUAGE ACCESS: Assignment, expressions and conditional testing
UNITS: Signed 32 bit Integer
RANGE OF VALUES: -2147483648 to 2147483647
TYPICAL VALUES: -2147483648 to 2147483647
DEFAULT VALUE: 0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
The SmartMotor™ has three groups of pre-defined user variables. The second and
third group consists of the variables aa through zz and aaa through zzz. They are
general purpose Read/Write 32 bit signed integer variables that can be reported and
used on either side of an equal sign in an equation.
All variables aa thru zzz are stored in Dynamic RAM, meaning
Their values are lost when power is lost!
The value of any variable aa through zzz variable is reported with the R, PRINT( ) or
PRINT1( ) functions.

See Appendix C EXAMPLE:

To describe the Rgg 'Report the value of gg to the primary serial port
relationship between PRINT("gg=",gg,#13) 'Print to the primary serial port.
PRINT1("gg=",gg,#13) 'Print to the secondary serial port.
user assigned
variables, aa thru Unlike the variables set a through z, the variables aa through zz and aaa through zzz
zzz, and variable are overlaid with the variable arrays ab[ ], aw[ ] and al[ ].
arrays, ab[ ], al[ ]
and aw[ ] As signed 32 bit variables, they are subject to the usual restrictions of signed digital
words and values. The first bit is always a sign bit. They are limited to integer values
between -2147483648 to 2147483647. Math operations that result in decimal values
are truncated, or rounded down. If you assign or perform an operation that would nor-
mally result in a value outside of this range, the variable will "wrap", or take on the cor-
responding modulo. As an example, because of this, 2147483647+1=-2147483648.
The result "wrapped around" to the negative extreme.

21
 aa . . zzz (contined)
32-Bit Variables

Related Bit Overflow Status (Bd System Status bit):

Commands:
• If aa+bb exceeds 32 signed bits the operation cc=aa+bb
a..z will produce a wrong result. No error flag is set.
ab[index] • If aa-bb exceeds 32 signed bits the operation cc=aa-bb
will produce a wrong result. No error flag is set.
aw[index]
• If aa*bb exceeds 32 signed bits the operation cc=aa*bb
al[index] will produce a wrong result. The system flag, Bd, will be set.
If one of these variables is used with a variable of another type, it will be appropriately
converted. In technical jargon, the variable will be type cast. For example, if a 16
bit variable like aw[4] is used, all variables will be converted to 16 bit values and
then operated on. Assigning the variable aw[27]=yy directly stories the 16 least
significant bits of yy to aw[27]. The higher bits of the variable yy are lost. Similarly,
if the left hand variable is an 8 bit one like ab[167], all variables will be converted
to 8 bit values before being operated on. Conversely, if the left hand value is a 32
bit variable and the right hand side contains 16 bit variables, the 16 bit variables
will be temporarily "upgraded" to 32 bits. In the equation cc=ab[4]-aw[7], both
ab[4] and aw[7] are converted into 32 bit numbers before the subtraction occurs.

EXAMPLE:
Suppose the following code:
cc=123 'assign the value of 123 to "cc"
dd=345 'assign the value of 345 to "dd"
ee=-599 'assign the value of -599 to "ee"
ff=346 'assign the value of 346 to "ff"
gg=678678 'assign the value of 678678 to "gg"

The Sequential loading methode equivlent is as follows:

cc 123 345 -599 346 678678. 'sequentially load data into
'variable cc thru gg
Note: The last number MUST BE followed by a "." period.
All user variables are initialized to the value of 0 at power up or upon execution of the
system reset command, Z. Other than by direct assignment, this is the only way the
SmartMotor™ sets all of the user variables to 0. Issuing a RUN command doesn’t
perform this automatic initialization. For this reason, it is usually preferred to test a
program, whether it is auto-execution or not, by power cycling the SmartMotor or issu-
ing a system reset command, Z.

22
 ab[index]
8-bit Array Variables

Related APPLICATION: General purpose data control

Commands:
DESCRIPTION: User signed 8 bit variables
a..z
EXECUTION: Immediate
aa . . zz
CONDITIONAL TO: Index values 0 to 203
aaa . . zzz
LIMITATIONS: Index limited to number or sum or difference of any
aw[index] a..z

al[index] This data space is shared with variables aa . . zz,

aaa . . zzz, arrays aw[ ] and al[ ], and coordinated
VST motion (MD).
VLD REPORT COMMAND: Rab[index]
READ/WRITE: Read write
LANGUAGE ACCESS: Assignment, expressions and conditional testing
UNITS: Signed 8 bit number
RANGE OF VALUES: -128 to 127
TYPICAL VALUES: -128 to 127
DEFAULT VALUE: 0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
The SmartMotor™ has 8, 16 and 32 bit array variable access. The 8 bit array takes
the form of the variables ab[index]. These are general purpose 8 bit signed integer
variables that can be reported, used on either side of an equation, and used with
variables other than 8 bit. Like all user variables, they are always lower case, can be
sequentially loaded, and are automatically initialized to zero at power up or reset. All
arrays share memory space with the variables aa through zz and aaa through zzz.
See Appendix C The syntax of the 8 bit array is ab[index], which stands for array byte, and accepts
To describe the an index value between 0 and 203. This index can be specified explicitly or though
relationship between another variable. For example, ab[4] refers to the fifth element in the 8 bit array, while
user assigned ab[n] refers to the n'th element of the array, where the value of "n" must be between
variables, aa thru 0 and 203.
zzz, and variable
arrays, ab[ ], al[ ] The value of any array variable is reported with the R, PRINT( ) or PRINT1( ) func-
and aw[ ] tions.
EXAMPLE:
Rab[47] 'Report the value of ab[47] to the primary serial port
PRINT("ab[47]=",ab[47],#13) 'Print to the primary serial port.
PRINT1("ab[47]=",ab[47],#13) 'Print to the secondary serial port.

23
 ab[index] (continued)
8-Bit Array Variables
The ab[ ] array is classified as read write, meaning that they can be assigned a value,
Related or can be assigned to some other variable or function. Another way of saying this, is
Commands: these variables can be left or right hand values.
a..z EXAMPLE:
aa . . zz ab[24]=ab[43]+ab[7]
aaa . . zzz The above is a valid equation, combining the contents of ab[43] and ab[7] and send-
ing the total into ab[24].
aw[index]
As signed 8 bit variables, they are subject to the usual restrictions of signed digital
al[index] words and values. The first bit is always a sign bit. They are limited to integer values
VST between -128 and 127. Math operations that result in decimal values are truncated,
or rounded down. If you assign or perform an operation that would normally result in
VLD a value outside of this range, the variable will "wrap," or take on the corresponding
modulo. As an example, because of this, 127+1=-128. The result "wrapped around"
to the negative extreme.
Bit Overflow Status (Bd System Status bit):
• If ab[1]+a exceeds 32 signed bits the operation c=ab[1]+a
will produce a wrong result. No error flag is set.
• If a-ab[1] exceeds 32 signed bits the operation c=a-ab[1]
will produce a wrong result. No error flag is set.
• If a*ab[1] exceeds 32 signed bits the operation c=a*ab[1]
will produce a wrong result. The system flag, Bd, will be set.
If one of these variables is used with a variable of another type, it will be appropriately
converted (the variable will be type cast).
EXAMPLE:
In the equation where the variable on the left of the equal sign is an 8 bit one like ab[4],
all variables will be converted to 8 bit values and then operated on. Assigning the vari-
able ab[27]=al[m] directly stores the 8 least significant bits of al[m] into aw[27]. The
higher bits of the variable al[m] are lost. Conversely, if the left hand value is a 32 bit
variable and the right hand side contains both 8 bit and 16 bit variables, the 8 bit and
16 bit variables will be temporarily "upgraded" to 32 bits. In the equation al[3]=ab[4]-
aw[7], both ab[4] and aw[7] are converted into 32 bit numbers before the subtraction
occurs.
In the SmartMotor™ language, all user variables are written as lower case variables,
while functions and commands have at least one upper case character. The term ab[i]
is a general purpose variable, while A is the acceleration function. Any user variable
can be assigned a value with an equation, but can also be sequentially loaded by
specifying the starting variable and the series of values to be loaded.

(Continued on following page)

24
 ab[index] (continued)
8-Bit Array Variables

Related (Continued from preceding page)

Commands:
a..z EXAMPLE:
aa . . zz ab[6] 123 34 67 34 127.
aaa . . zzz Loads sets ab[6] equal to 123, aw[7] to 34 and so forth, ending with 127 loaded into
aw[index] ab[10]. The command syntax requires a space between the leading variable and
each subsequent value. The function is terminated by a period.
al[index]
All user variables are initialized to the value of 0 at power up or upon execution of the
VST system reset command Z. Other than by direct assignment, this is the only way that
the SmartMotor™ sets all of the user variables to 0. Issuing a RUN command does
VLD not perform this automatic initialization. For this reason, it is usually preferred to test
a program, whether it is auto-execution or not, by power cycling the SmartMotor or
issuing a system reset command Z.
The aa through zz and aaa through zzz variables share the same physical memory as
part of the ab[ ], aw[ ] and al[ ] arrays. That is, if you set aaa=123456, you will find
al[0] has the same value, regardless of what you set it to before. Similarly, the values
of ab[0] through ab[3] and aw[0] and aw[1] will have values that correspond to the
individual 8 bit bytes and 16 bit words that are part of aa.

See Appendix C
To describe the
relationship between
user assigned
variables, aa thru
zzz, and variable
arrays, ab[ ], al[ ]
and aw[ ]

25
 al[index]
32-Bit Array Variables

Related APPLICATION: General purpose data

Commands:
DESCRIPTION: User signed 32 bit variables
a..z
EXECUTION: Immediate
aa . . zz
CONDITIONAL TO: The value of index must be between 0 and 50
aaa . . zzz
LIMITATIONS: This data space is shared with variables aa . . zz,
ab[index] aaa . . zzz, arrays ab[ ] and aw[ ], and coordinated
motion (see MD)
aw[index]
REPORT COMMAND: Ral[index]
VST
READ/WRITE: Read write

LANGUAGE ACCESS: Assignment, expressions and conditional testing

UNITS: Signed 32 bit number
RANGE OF VALUES: -2147483648 to 2147483647

TYPICAL VALUES: -2147483648 to 2147483647

DEFAULT VALUE: 0
FIRMWARE VERSIONS: 4.00 and higher

DETAILED DESCRIPTION:
The SmartMotor™ has 8, 16 and 32 bit arrays. The 32 bit array takes the form
of the variables al[index]. These are general purpose 32 bit signed variables
that can be reported, used on either side of an equation, and used with vari-
ables other than 32 bit. Like all user variables, they are always lower case,
can be sequentially loaded and are automatically initialized at power up or
See Appendix C reset. All arrays share memory space with the variables aa through zz and
To describe aaa through zzz.
the relationship The syntax of the 32 bit array is al[index] (al stands for array long) and
between user accepts an index value between 0 and 49. This index can be specified explic-
assigned variables, itly or though another variable.
aa thru zzz, and
variable arrays, EXAMPLE:
ab[ ], al[ ] and
al[4] refers to the fifth element (count begins with zero) in the 32 bit array.
aw[ ]
The value of any array element al[ ] is reported with the R, PRINT( ) or
PRINT1( ) functions. For example to send the value of variable al[47] out the
primary serial port, u se the command Ral[47] or PRINT(al[47],#13). To send
the value of the variable al[37] out serial port 1, use PRINT1(al[37],#13).
The al[ ] array is classified as read write, meaning that they can be assigned a

26
 al[index] (continued)
32-Bit Array Variables

Related value, or can be assigned to some other variable or function. Another way of saying
Commands: this, though more cryptically technocratic, is that these variables can be left or right
hand values.
a..z
EXAMPLE:
aa . . zz
al[24]=al[43]+al[7]
aaa . . zzz
is a valid equation, combining al[43] and al[7] and sending the total into al[24].
ab[index]
As signed 32 bit variables, they are subject to the usual restrictions of signed digital
aw[index] words and values. The first bit is always a sign bit. They are limited to integer val-
VST ues between -2147483648 to 2147483647. Math operations that result in decimal
values are truncated, or rounded down. If you assign or perform an operation that
would normally result in a value outside of this range, the variable will "wrap," or take
on the corresponding modulo. As an example, because of this, 2147483647+1=-
2147483648. The result "wrapped around" to the negative extreme.
Bit Overflow Status (Bd System Status bit):
• If al[1]+a exceeds 32 signed bits the operation c=al[1]+a
will produce a wrong result. No error flag is set.
• If a-al[1] exceeds 32 signed bits the operation c=a-al[1]
will produce a wrong result. No error flag is set.
• If a*al[1] exceeds 32 signed bits the operation c=a*al[1]
will produce a wrong result. The system flag, Bd, will be set.

If one of these variables is used with a variable of another type, it will be appropriately
converted (the variable will be type cast).
EXAMPLE:
In the equation where the variable on the left of the equal sign is a 16 bit one like
aw[4], all variables will be converted to 16 bit values and then operated on. Assign-
ing the variable aw[27]=al[m] directly stores the 16 least significant bits of al[m] into
aw[27]. The higher bits of the variable al[m] are lost. Similarly, if the left variable is
an 8 bit one like ab[167], all variables will be converted to 8 bit values before being
operated on. Conversely, if the left value is a 32 bit variable and the right side contains
both 8 and 16 bit variables, both 8 and 16 bit variables will be temporarily "upgraded"
to 32 bits. In the equation al[3]=ab[4]-aw[7], both ab[4] and aw[7] are converted into
32 bit numbers before the subtraction occurs.
In the SmartMotor™ language, all user variables are written as lower case variables,
while functions and commands have at least one upper case character. The term
al[i] is a general purpose variable, while A is the Acceleration function. Any user
variable can be assigned a value with an equation, as discussed above, but can also
be sequentially loaded by specifying the starting variable and the series of values to
be loaded. (Continued on following page)

27
 al[index] (continued)
32-Bit Array Variables

Related (Continued from preceding page)

Commands:
a..z EXAMPLE:
aa . . zz al[6] 123 345 567 346 678678.
aaa . . zzz The above loads sets al[6] equal to 123, al[7] to 345 and so forth, ending with 678678
ab[index] loaded into al[10]. The command syntax requires a space between the leading vari-
able and each subsequent value. The function is terminated by a period.
aw[index]
All user variables are initialized to the value of 0 at power up or upon execution of the
VST system reset command Z. Other than by direct assignment, this is the only way that
the SmartMotor™ sets all of the user variables to 0. Issuing a RUN command does
VLD not perform this automatic initialization. For this reason, it is usually preferred to test
a program, whether it is auto-execution or not, by power cycling the SmartMotor or
issuing a system reset command, Z.
The aa through zz and aaa through zzz variables share the same physical memory
as part of the ab[ ], aw[ ] and al[ ] arrays. That is, if you set aaa=123456, you will find
that al[0] has the same value, regardless of what you set it to before. Similarly, the
values of ab[0] through ab[3] and aw[0] and aw[1] will have values that correspond
to the individual 8 bit bytes and 16 bit words that are part of aa.

See Appendix C
To describe the
relationship between
user assigned
variables, aa thru
zzz, and variable
arrays, ab[ ], al[ ]
and aw[ ]

28
 aw[index]
16-bit Array Variables

Related APPLICATION: General purpose data

Commands:
DESCRIPTION: User signed 16 bit data variables
a..z
EXECUTION: Immediate
aa . . zz
CONDITIONAL TO: Index values 0 to 101
aaa . . zzz
LIMITATIONS: This data space is shared with variables aa . . zz,
al[index] aaa . . zzz, arrays ab[ ] and al[ ], and coordinated motion.
ab[index] (see MD).
VST REPORT COMMAND: Raw[index]
VLD READ/WRITE: Read write
LANGUAGE ACCESS: Assignment, expressions and conditional testing
UNITS: Signed 16 bit number
RANGE OF VALUES: -32768 to 32767
TYPICAL VALUES: -32768 to 32767
DEFAULT VALUE: 0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
The SmartMotor™ has 8, 16 and 32 bit arrays. The 16 bit array takes the form of the
variables aw[index]. These are general purpose 16 bit signed variables that can be
reported, used on either side of an equation, and used with variables other than 16
bit. Like all user variables, they are always lower case, can be sequentially loaded
and are automatically initialized at power up or reset. All arrays share memory space
with the variables aa through zz and aaa through zzz.
The syntax of the 16 bit array is aw[index], which stands for array word, and accepts
an index value between 0 and 101. This index can be specified explicitly or though
Appendix C another variable.
(Page ?)
EXAMPLE:
uses tables to
describe the aw[4] refers to the fifth element in the 16 bit array
relationship between aw[i] refers to the (I+I)th element of the array, where the value of i must
user assigned be between 0 and 101.
variables, aa thru
zzz, and variable The value of any array element aw[ ] is reported with the R, PRINT( ) or PRINT1( )
arrays, ab[ ], al[ ] functions. For example to send the value of variable aw[47] out the primary serial
and aw[ ] port, use the command Raw[47] or PRINT(aw[47],#13). To send the value of the
variable aw[37]out serial port 1, use PRINT1(aw[37],#13).The aw[ ] array is classi-
fied as read write, meaning that they can be assigned a value, or can be assigned to

29
 aw[index] (continued)
16-Bit Array Variable

Related some other variable or function. Another way of saying this, though more cryptically
Commands: technocratic, is that these variables can be left or right hand values.
a..z EXAMPLE:
aa . . zz aw[24]=aw[43]+aw[7]
aaa . . zzz The above is a perfectly valid equation, taking aw[43] and aw[7] and stuffing the sum
into aw[24].
al[index]
As signed 16 bit variables, they are subject to the usual restrictions of signed digital
ab[index] words and values. The first bit is always a sign bit. They are limited to integer values
VST between -32768 and 32767. Math operations that result in decimal values are trun-
cated, or rounded down. If you assign or perform an operation that would normally
VLD result in a value outside of this range, the variable will "wrap," or take on the cor-
responding modulo. As an example, because of this, 32767+1=-32768. The result
"wrapped around" to the negative extreme.
Bit Overflow Status (Bd System Status bit):
• If aw[1]+a exceeds 32 signed bits the operation c=aw[1]+a
will produce a wrong result. No error flag is set.
• If a-aw[1] exceeds 32 signed bits the operation c=a-aw[1]
will produce a wrong result. No error flag is set.
• If a*aw[1] exceeds 32 signed bits the operation c=a*aw[1]
will produce a wrong result. The system flag, Bd, will be set.
If one of these variables is used with a variable of another type, it will be appropri-
ately converted. In technical jargon, the variable will be type cast. For example, in
the equation where the variable on the left of the equal sign is an 8 bit one like ab[4],
all variables will be converted to 8 bit values and then operated on. Assigning the
variable aw[27]=al[m] directly stores the 16 least significant bits of al[m] into aw[27].
The higher bits of the variable al[m] are lost. Conversely, if the left value is a 32 bit
variable and the right side contains 16 bit variables, the 16 bit variables will tempo-
rarily revert to 32 bits. In the equation al[3]=ab[4]-aw[7], both ab[4] and aw[7] are
converted into 32 bit numbers before the subtraction occurs.
In the SmartMotor™ language, all user variables are written as lower case variables,
while functions and commands have at least one upper case character. The term
aw[i] is a general purpose variable, while A is the Acceleration function. Any user
variable can be assigned a value with an equation, as discussed above, but can also
be sequentially loaded by specifying the starting variable and the series of values to
be loaded.

(Continued on following page)

30
 aw[index] (continued)
16-Bit Array Variable

Related (Continued from preceding page)

Commands:
a..z EXAMPLE:
aa . . zz aw[6] 123 345 567 346 31868.
aaa . . zzz The above loads sets aw[6] equal to 123, aw[7] to 345 and so forth, ending with
al[index] 31868 loaded into aw[10]. The command syntax requires a space between the lead-
ing variable and each subsequent value. The function is terminated by a period.
ab[index]
All user variables are initialized to the value of 0 at power up or upon execution of the
VST system reset command Z. Other than by direct assignment, this is the only way that
the SmartMotor™ sets all of the user variables to 0. Issuing a RUN command does
VLD not perform this automatic initialization. For this reason, it is usually preferred to test
a program, whether it is auto-execution or not, by power cycling the SmartMotor or
issuing a system reset command Z.
The aa through zz and aaa through zzz variables share the same physical memory
as part of the ab[ ], aw[ ] and al[ ] arrays. That is, if you set aaa=123456, you will find
that al[0] has the same value, regardless of what you set it to before. Similarly, the
values of ab[0] through ab[3] and aw[0] and aw[1] will have values that correspond
to the individual 8 bit bytes and 16 bit words that are part of aa.

Appendix C
(Page ?)
uses tables to
describe the
relationship between
user assigned
variables, aa thru
zzz, and variable
arrays, ab[ ], al[ ]
and aw[ ]

31
 A=expression
Set Acceleration

Related APPLICATION: Trajectory control

Commands:
DESCRIPTION: Set buffered acceleration
D
EXECUTION: Buffered pending G command
E
CONDITIONAL TO: E, G, V, PIDn
G
LIMITATIONS: Must not be negative
MP Effective value is rounded down to next even
number
MV
REPORT COMMAND: RA
PIDn
READ/WRITE: Read write
P
LANGUAGE ACCESS: Assignment, expressions and conditional testing
S
UNITS: Scaled encoder counted/sample2
V
RANGE OF VALUES: 0 to 2147483647
X
TYPICAL VALUES: 0 to 5000
F=1
DEFAULT VALUE: 0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
Setting the buffered A value determines the acceleration that will be used by subse-
quent position or velocity moves to calculate the required trajectory. Changing A dur-
ing a move will not alter the current trajectory unless a new G command is issued.
To set acceleration, take the desired acceleration in Rev/S², multiply it by 7.91 for 500
line encoder motors and 15.82 for 1000 line encoder motors. Then set A equal to it
(the integer portion).
Acceleration is pre-scaled by 65,536 (256*256) and may range from 0 to 2,147,483,648;
the default value is zero. A is buffered by G. It should also be understood that since
A is bit shifted once to the right by the extended PID filter loop, odd values for A will
be reduced by 1 in operation. An A=1 command will have the same effect as A=0,
you won't go anywhere.
Equations for Real world Units:

Acceleration (Encoder Counts/Sec2) = A xk

Acceleration (RPS )
2
= A x k / Encoder Resolution
Acceleration (RPM )
2
= A x k / Encoder Resolution x 60

Where: Encoder Resolution = Encoder Counts per Revolution

and k=252.63236 for all standard SmartMotors™ <=v4.95

32
 A=expression (continued)

Related
Commands:
Example:
D MP 'Set Mode Position
E A=5000 'Set Acceleration
G P=20000 'Set Absolute Position
V=100000 'Set Velocity
MP
G 'Start Motion
MV
Example:
PIDn
A=100 'set buffered acceleration
P V=750 'set buffered velocity
V MV 'set buffered velocity mode
X G 'Start motion
F=1

33
 ADDR
Set Motor Address

Related APPLICATION: Serial communications control

Commands:
DESCRIPTION: Motor address
SADDR
EXECUTION: N/A

CONDITIONAL TO: Firmware >= 4.15, Use "SADDR=" for <4.15

LIMITATIONS: N/A

REPORT COMMAND: PRINT(ADDR), (variable)=ADDR R(variable)

READ/WRITE: Read/Write above version 4.15

LANGUAGE ACCESS: Assignment, expressions and conditional testing

UNITS: Address
RANGE OF VALUES: 0 to 100

TYPICAL VALUES: 1 to 100

DEFAULT VALUE: 0 on power-up until assigned

FIRMWARE VERSIONS: 4.00 and higher

DETAILED DESCRIPTION:

SmartMotors™ are designed to be used as much in multiple axis systems as in

single axis ones. For that reason, they have been afforded the ability to be uniquely
addressed. This is done with the ADDR=expression command (not available in ver-
sions below 4.15. Use the SADDR# command). For example ADDR=5 or SADDR5
both set the motor’s address to be 5. ADDR is a read write function, so it can also
be used to access the address of the current SmartMotor.

Using ADDR within a program permits an identical program stored in different motors
to differentiate between motors and provide individual runtime controls.
SWITCH ADDR
CASE 1 ' motors 1,2 and 3 "GO"
CASE 2
CASE 3 G
BREAK
CASE 4 S ' motor 4 "STOP"
ENDS ' Start motion (or stop)

Note: ADDR=# syntax DOES NOT work with v4.40 SM2315 series motors!
SADDR# syntax must be used to assign the address.

34
 AIN{address}{input}
Analog Input from I/O Device

Related APPLICATION: Input command (use with Anilink device)

Commands:
DESCRIPTION: Fetch 8 bit analog input byte
AOUT
EXECUTION: Immediate AniLink byte read
DIN
CONDITIONAL TO: N/A
DOUT
LIMITATIONS: Port = A .. H and Input = 1, 2, 3, or 4
UAA
REPORT COMMAND: RAIN{address}{input}
READ/WRITE: Read only
LANGUAGE ACCESS: Expressions and conditional testing
UNITS: Numerical value
RANGE OF VALUES: 0 to 255
TYPICAL VALUES: 0 to 255
DEFAULT VALUE: 255 in absence of peripheral device
FIRMWARE VERSIONS: ALL
All seven DETAILED DESCRIPTION:
SmartMotor™ I/O
The SmartMotor™ communicates with optional expansion cards such as the AIO-100
points also serve
and AIO110 AniLink cards through the AIN{address}{input} command, where
as direct Analog
address refers to the address of the Anilnk card and input refers to the input channel
inputs.
of the Anilink card. The address is given as a character between A and H, while the
input is between 1 and 4. See the AIO-100 User Manual for specific details.
The AIN{address}{input} returns an unsigned 8 bit value, ranging from 0 to 255, lin-
early corresponding to the analog voltage on the specified input channel. A return of
0 corresponds to 0 volts and 255 to 5 volts. If the specified card is not present or the
connected is not present, the function will return a value of 255.
The AIN{address}{input} function is read only. It cannot be used on the left side of
an equation, but only on the right.
The value of the AIN{address}{input} function can be reported through the primary
serial port with the PRINT(AIN{address}{input},#13) and AIN{address}{input}
functions. To transmit the value through serial channel 1 use PRINT1(AIN{address}
{input},#13).
Example:
x=AINA1 'Assign analog value of Port A input 1 to "a"

Please refer to the associated Users Manuals for specifics about each optional
Analog I/O card.

35
 AMPS=expression
Set Drive PWM Limit

Related APPLICATION: Amplifier control

Commands:
DESCRIPTION: Sets maximum allowed PWM to motor windings
RAMPS
EXECUTION: Next PID sample
T
CONDITIONAL TO: N/A
MT
LIMITATIONS: Must not be negative
REPORT COMMAND: RAMPS
READ/WRITE: Read write
LANGUAGE ACCESS: Assignment, expressions and conditional testing
UNITS: 1/1023 of maximum PWM permitted
RANGE OF VALUES: 0 to 1023
TYPICAL VALUES: 1000
DEFAULT VALUE: 1000
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:

Referencing The AMPS command effectively limits both the continuous torque and speed of the
against a hard stop SmartMotor™.
this way
To set the SmartMotor to use maximum available PWM, issue the command
can eliminate an
AMPS=1023. Setting AMPS=0 limits PWM to 0 thereby preventing any output torque.
additional switch
To conceptually understand what happens when you use values between 0 and 1023,
and cable.
consider the following torque-speed diagram:
The AMPS function essentially cuts the torque-speed characteristic of the motor
by slicing off the part of the curve to the right of the AMPS line. Note that there are
some values of AMPS that will limit
top speed but not peak torque. The
slope of the line is highly depen-
dent on the voltage of the power
source.
AMPS is often used to limited torque
and speed.
AMPS torque-speed
diagram
AMPS has no effect in torque mode
(MT, T) . In this mode, the value of
T controls the commanded torque
of the motor, without limitation by
AMPS.

36
 AOUT{address},{value}
Analog Output to I/O Device

Related APPLICATION: Output command (use with Anilink device)

Commands:
DESCRIPTION: Output analog byte to Anilink peripheral port
AIN
EXECUTION: Immediate AniLink byte write
DIN
CONDITIONAL TO: N/A
DOUT
LIMITATIONS: N/A
REPORT COMMAND: None
READ/WRITE: Write only
LANGUAGE ACCESS: Unlatched output value, to recall, create shadow
variable
UNITS: Numerical value
RANGE OF VALUES: 0 to 255
TYPICAL VALUES: 0 to 255
DEFAULT VALUE: N/A
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
When using an optional AniLink Analog I/O Card such as AIO-100 or AIO-110, an
8-bit (0-255) output voltage can be specified. Adjustments on the card allow the user
to set the upper and lower limits, and therefore the range, anywhere between zero
and Full scale output voltage. The examples assume the voltage reference inputs
are set to full scale, zero and 5 VDC such as for the AIO-100.
Examples:
AOUTC128 'Output 2.5V Mod: C
Use a comma when using a variable:
a=128 'Set any variable
AOUTC,a 'Output to port
See the appendix for information about the use of the Ani-Link AIO-100 analog I/O
expansion module and associated AniLink chip set.
The syntax of the command is AOUT{address},{value} sends a byte value to the
associated AniLink peripheral card. The "address" of the AIO-100 card is a character
between A and H, and is set on the card by three jumpers. The value is a number
between 0 and 255. If the value is 0, the output voltage is the minimum value. If it is
255, the voltage is maximum.
Please refer to the associated Users Manuals for specifics about each optional
Analog I/O card.

37
 Ba
Peak-Over-Current Status Bit

Related APPLICATION: Monitor Motor status

Commands:
DESCRIPTION: Over current detected state
RW
EXECUTION: Historical, latched by PID sample
RPW
CONDITIONAL TO: Hardware Detection
Z
LIMITATIONS: None
Za
REPORT COMMAND: Rba, RW(bit 14), RPW(bit14)
ZS
READ/WRITE: Read only. To reset , issue Za or ZS
LANGUAGE ACCESS: Expressions and conditional testing
UNITS: Binary bit
RANGE OF VALUES: 0 or 1
TYPICAL VALUES: 0
DEFAULT VALUE: 0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
The SmartMotor™ firmware checks each PID Sample to see whether or not a Peak-
Over current condition exists. The set point is in hardware and depends on the model
motor and drive stage. If the set point is reached, the system flag Ba is to 1. Once an
over-current has been detected, the SmartMotor will shut the amplifier off for several
servo samples in attempt to reduce the peak load and then turn back on to try to com-
plete its commanded motion. If the position error exceeds the allowable following error
E, during the off state, the servo will get a Following Error (Be status Bit) .
The Ba bit is not reset until either a power reset, a Z, ZS, or Za command is issued.
Note: in non-PLS firmware motors, a "G" will reset the Ba bit.
If Ba flag is regularly found to be set there may be a problem. This typically indicated
that the motor is undersized in the peak range. Please verify the motor is correctly
"sized" for the presently assigned task.
IF the Ba bit is set every machine cycle, try lowering acceleration,. If it is still set very
cycle, there could be a large moment of inertia mismatch.
The AMPS command has no effect on the Ba bit. It only effects continuous current, not
peak current.

Example: (sub component of system check routine)

IF Ba 'If Peak over Current is detected
PRINT("OVER CURRENT") 'inform host
Za 'clear over current state latch
ENDIF

38
 Bb
Parity Error Status Bit

Related APPLICATION: Monitor Serial Communications

Commands:
DESCRIPTION: Serial communications parity error detected state
CHN
EXECUTION: Historical, latched by serial communications
CHN0
CONDITIONAL TO: Channel 0 or channel 1 open with Even or Odd
CHN1 parity

OCHN LIMITATIONS: None

Z REPORT COMMAND: RBb, RCHN (bit3), RCHN0 (bit3), RCHN1 (bit3)

Zb READ/WRITE: Read only. To reset to zero issue Zb command

ZS LANGUAGE ACCESS: Expressions and conditional testing

UNITS: Binary bit
RANGE OF VALUES: 0 or 1
TYPICAL VALUES: 0
DEFAULT VALUE: 0 Not applicable to default No parity
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
The firmware checks for and flags any communications parity error event by setting
Bb to 1. If such an error occurs, an error recovery routine can be implemented at the
discretion of the user. In practice, unless the environment is electrically noisy, this error
is unlikely. Any data or syntax error due to noise is potentially dangerous in a motion
control environment; please take appropriate precautions.
Parity only has relevance when the serial protocol includes parity checking. To include
parity checking, the open channel command OCHN parity parameter must specify
either even parity (E) or odd parity (O). The default is no parity (N), in which case there
is no parity bit transmitted over the serial channel to check. If ignore parity (I) is speci-
fied as the parity parameter, there is a parity bit included with every data character, but
it is not checked.
Example: (sub component of system check routine)

OCHN(RS4,1,E,9600,1,8,C) 'open RS485 channel 1

IF Bb
PRINT("SERIAL PARITY ERROR")
Zb 'clear Parity Error status bit
ENDIF

39
 Bc
Communications Overflow Status Bit

Related APPLICATION: Monitor Serial Communications

Commands:
DESCRIPTION: Serial Communications Receive Buffer overflow occurred
CHN EXECUTION: Historical, latched by Buffer Overflow detection
CHN0 CONDITIONAL TO: Serial port buffer overflow
CHN1 LIMITATIONS: None
Z REPORT COMMAND: RBc, RCHN (bit0), RCHN0 (bit0), RCHN1 (bit0)
Zc READ/WRITE: Read only. To reset to zero issue Zc command
ZS LANGUAGE ACCESS: Expressions and conditional testing

OCHN UNITS: Binary bit

RCHN0 RANGE OF VALUES: 0 or 1

RCHN1 TYPICAL VALUES: 0

DEFAULT VALUE: 0
FIRMWARE VERSIONS: 3.00 and higher
DETAILED DESCRIPTION:
Version 4.00 and higher motors have a software serial receive buffer maintained by
the firmware. The buffer length is 16 characters. If a motor receives serial characters
faster than the command interpreter can read them, the buffer will eventually overflow,
and Bc is set to 1. An error routine can be written to recover from such a failure.
In any serial daisy chain link, if characters are transmitted to the motors with no inter-
mission between characters, the motors can get behind, eventually overflowing the
motors’ input buffer. The generally accepted solution is to put a delay between char-
acters, between commands, or between long blocks of characters. In the case of the
SmartMotor™, the above does not normally happen because most applications have
naturally-occuring intervals between commands or groups of commands.
Example: (sub component of system check routine)
IF Bc
PRINT("SERIAL OVERFLOW") 'inform host
Zc 'clear overflow state latch
ENDIF

40
 Bd
Math Overflow Status Bit

Related APPLICATION: Monitor expression evaluation math overflow

Commands:
DESCRIPTION: Math product overflow, value out of range
Zd
EXECUTION: Historical, immediate
ZS
CONDITIONAL TO: Software detects value out of range
RW
LIMITATIONS: None
RPW
REPORT COMMAND: RBd, RW (bit 11), RPW (bit 11)
READ/WRITE: Read only. To reset to zero issue Zd or Zs command
LANGUAGE ACCESS: Expressions and conditional testing
UNITS: Binary bit
RANGE OF VALUES: 0 or 1
TYPICAL VALUES: 0
DEFAULT VALUE: 0
FIRMWARE VERSIONS: 3.00 and higher
DETAILED DESCRIPTION:
Bd is set to 1 by a math multiplication out of range condition (>32Bit signed integer)
or an out of range Mode Follow Ratio result (>256).
The SmartMotor™ employs 32 bit signed integer calculations for all math func-
tions. If, for example, a*b results in a magnitude greater than 31 binary bits, the Bd
system flag is set to 1. You can possibly avoid this by scaling the numbers, perform-
ing calculations in a different order, or using different method of calculation.
Example:
Try this following product on your own hand held calculator and observe the result.
Then try the same calculation using a motor.
Zd 'reset error flag
zz=123456789
aa=987654321
f=aa*zz
Rf <Response to host will be -67153019>
RBd <Response to host will be 1>
Notice that even the sign of the product is incorrect.

41
 Bd (continued)
Math Overflow Status Bit

Related Example:
Commands:
Mode Follow with Ratio permits the shaft to respond with a user defined
Zd scaling gain to the external encoder input. There is a limit to the magnitude
of the gain such that
ZS
-256 < GAIN < 256
RW
The system flag Bd is set if this GAIN restriction is violated.
RPW
The flag is set immediately after executing the MFR command.
Zd 'reset error flag
MFMUL=256 'Multiplier for incoming encoder counts
MFDIV=1 'Divisor for incoming encoder counts
RBd 'Response to host 0
MFR 'Calculate Mode Follow Ratio
RBd 'Response to host 1
The MFMUL parameter cannot exceed 256 * MFDIV.

Note: The Bd bit will only go out of range on multiplication of two numbers,
not addition. In other words, IF you add two numbers and the result exceeds
+/-231 in magnitude, the number will be bit rolled over.

Example:
a=2140000000
ZS
b=a+a
Rb -14967296

Under the above condition even though the value of "b" is not correct, the
Math overflow bit was not set.

42
 Be
Excessive Position Error Status Bit

Related APPLICATION: Monitor trajectory for error

Commands:
DESCRIPTION: Position error declared
Ze
EXECUTION: Historical, immediate
ZS
CONDITIONAL TO: Position error exceeded E value during trajectory
G move
E LIMITATIONS: Torque modes have no position error

RW REPORT COMMAND: RBe, RS (bit 5), RW (bit 5), RPW (bit 5)

RPW READ/WRITE: Read only. Reset to issuing a G command

LANGUAGE ACCESS: Expressions and conditional testing
UNITS: Binary bit
RANGE OF VALUES: 0 or 1
TYPICAL VALUES: 0
DEFAULT VALUE: 0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The Be status bit indicates the detection of a position error. Each and every PID sample,
the magnitude of the measured position error is compared to the allowable following
error (E) value set by the user. If this value is exceeded, the servo will be immediately
turned off, The Bo bit will be set to 1, The Bt bit will be set to 0, and Be will be set to
1 all at the same time. If issued, RMODE will return an "E".
This condition is reset by:
* Issuing a G in non-PLS
* Issuing Ze or ZS (PLS firmware only).
Example: (sub component move monitor routine)
TWAIT 'wait for trajectory in progress
'to complete
IF Be 'unsuccessful, position error?
PRINT("POSITION ERROR") 'inform host
ENDIF
Note: an extended period of peak over current may result in a position error
due to the fact that an over current condition will cause a reduction in power to
the motor thereby causing it to fall behind possibly enough to exceed E (maxi-
mum allowable position error)
If a motor continuously gets a Position Error no matter what, check for loss of
drive power, increased load or locked load.

43
 Bf
Communications Framing Error Status Bit

Related APPLICATION: Monitor serial communications

Commands:
DESCRIPTION: Serial communication framing error detected
CHN
EXECUTION: Historical, latched by serial communication receive
CHN0
CONDITIONAL TO: Hardware detection
CHN1
LIMITATIONS: None
Z
REPORT COMMAND: RBf, RCHN (bit 1), RCHN0 (bit 1), RCHN1 (bit 1)
Zf
READ/WRITE: Read only. Reset to zero using command
ZS
LANGUAGE ACCESS: Expressions and conditional testing
UNITS: Binary bit
RANGE OF VALUES: 0 or 1
TYPICAL VALUES: 0
DEFAULT VALUE: 0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
Bf indicates whether a framing error has been detected. Every serial byte
received by the SmartMotor™ is checked to see if it has the correct start and
stop bits, or "frame." If not, Bf is set to 1. If such an error occurs, the error recov-
ery routine is at the discretion of the user. In practice, unless the environment
is electrically noisy, this error is unlikely. Any data error or syntax error due
to noise is potentially dangerous in a motion control environment; please take
appropriate precautions.
Note: A framing error can occur with slightly mismatched baud rates between two
devices as well. SmartMotors meet the IEEE specification of baud rate +/-10%.
If baud rates exceed that range between two devices, a framing error is likely to
occur.

Example: (sub component of system check routine)

IF Bf
PRINT("SERIAL FRAMING ERROR") 'inform host
Zf 'Reset framing error flag
ENDIF

44
 Bh
Overheat/RMS Over-Current Status Bit

Related APPLICATION: Monitor motor error state

Commands:
DESCRIPTION: Hardware motor overheat state
TEMP
EXECUTION: Real time, set after thermal delay (THD)/reset each PID
TH sample

THD CONDITIONAL TO: Motor temperature, temperature set point (TH),

temperature set point dead band, thermal delay (THD)
Z
LIMITATIONS: None
OFF
REPORT COMMAND: Real time: RBh
RW
Historical: RS (bit 6), RW (bit 6), RPW (bit 6)
RPW
READ/WRITE: Read only
LANGUAGE ACCESS: Expressions and conditional testing
UNITS: Binary bit
RANGE OF VALUES: 0 or 1
TYPICAL VALUES: 0
DEFAULT VALUE: 0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
There are two mechanisms in the SmartMotor™ that can indicate excessive heat.
The first is a temperature sensor, while the second is an RMS current monitor. The
former is a direct measurement of heat, while the latter predicts that an overheat will
occur. In either case, Bh will be set to 1.
With continuous heavy loads all motors will generate heat. If the heat sinking or
ventilation is inadequate, eventually the motor will overheat. If this situation repeatedly
occurs it may mean that the motor does not have enough power for the assigned task
(motor sizing inadequate) or excessive resistance (friction) to motion is occurring. In
this event, please check your overall motion system.
The overheat temperature limit is adjustable by the user by the TH command, but cannot
exceed 70º Celsius (optional 85º). The amount of time that the temperature is allowed
to stay at or above this temperature is set by the THD function. If the temperature stays
at or above the TH value for longer than THD servo samples, the amplifier will turn off,
Bh will be set to 1, the motor off bit Bo set to 1 and the trajectory bit is cleared to 0
ALL at the same time!. If issued, RMODE will return "O" meaning the drive stage is
off. The SmartMotor will reject any command to start motion until the temperature has
fallen 5º Celsius below the trip point.
Note: If power is removed and restored and temperature is <5 degrees below the set
point, the motor will be allowed to move. This however can lead to damage if it is done
repeatedly.

45
 Bh (continued)
Overheat/RMS Over-Current Status Bit

Related The RMS current monitor continuously calculates the equivalent Root-Mean-
Commands: Square current of the amplifier. If the RMS current is too high for longer than
THD servo samples, the amplifier will turn off, Bh will be set to 1, the motor off bit
TEMP Bo set to 1 and the trajectory bit cleared to 0 ALL at the same time!. If issued,
TH RMODE will return "O." The SmartMotor™ will reject any motion commands
for approximately 10 milliseconds. The biggest difference between the two
THD overheat mechanisms described will be that, if the RMS current monitor detects
and overheat, the SmartMotor may not physically feel hot.
Z
Once Bh is set to 1, the historical overheat flag is latched when read by RW,
OFF
RS or accessing S. If the overheat condition no longer exists, Bh will be reset to
RW zero upon reporting (RS, RW) or accessing the S value.

RPW Example: (sub component of system check routine)

IF Bh
IF TEMP>69
PRINT("MOTOR TOO HOT") 'inform host
GOSUB123 'deal with condition
ELSE
PRINT("RMS Over Current Trip")
GOSUB123 'deal with condition
ENDIF
ENDIF

Example:
Test to measure approximate shut down time - not very accurate but illustrates
TH, THD, and TEMP.

PRINT(#13,"Default value of TH = ",TH) 'default=70

PRINT(#13,"Motor Temperature = ",TEMP)
PRINT(#13,"START MOTION")
A=222
V=44444
MV
G
THD=32000 'THD default = 12000 or 3 seconds
' units are PID samples
TH=TEMP-5 'Force an over heat condition
' units are degrees Centigrade
' TH maximum setting is 70
a=CLK
WHILE Bh==0 LOOP
WHILE Bt LOOP
b=CLK
PRINT(#13,"Servo OFF after ",b-a," PID samples")

46
 Bi
Index-Position Captured Status Bit

Related APPLICATION: Monitor Index Latching

Commands:
DESCRIPTION: Hardware index position available state.
Bx
EXECUTION: Set upon hardware index latched
I
CONDITIONAL TO: Hardware index level detected high and prior index
Rl value read, F command and Port G.

F= LIMITATIONS: Latched until index value read

REPORT COMMAND: RBi, RS (bit3), RW (bit3), RPW (bit3)
READ/WRITE: Read only. Reset to zero by reading or assigning
index value
LANGUAGE ACCESS: Expressions and conditional testing
UNITS: Binary bit
RANGE OF VALUES: 0 or 1
TYPICAL VALUES: Any legal encoder value
DEFAULT VALUE: 0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
When enabled, the Bi flag is set to 1 when the internal encoder Z pulse (index mark)
is detected. The value of the primary encoder in the servo sample that the index is
captured is stored in the "I" system register WITHIN 5 microseconds of the time it
was captured!
While Bi is 1, the microprocessor is prohibited from making another index capture. If the
captured value is read or accessed via accessing the I register via RI of <variable>=I,
the Bi flag will be reset to zero and the ability to capture the index is again enabled.
The commands RI and PRINT(I,#13) report the captured index reading through the
primary serial channel. PRINT1(I,#13) reports through the channel 1 serial port. Any of
these command sequences reset the Bi flag to zero. Assignments such as variable=I
likewise assign the captured value and reset the Bi flag to zero. If Bi is zero at the time
the I value is accessed, the previously captured index value is again returned.
Example: (simple homing)
MV 'set buffered velocity mode
A=10 'set buffered acceleration
V=-4000 'set low buffered maximum velocity
G 'start slow motion profile
WHILE Bm==0 'travel until negative limit reached
i=I 'clear and arm index capture
LOOP
X 'decelerate to a stop
P=I 'go back to index
G 'start motion
TWAIT 'wait till end of trajectory
O=0 'set origin at index
47
 Bi (continued)
Index-Position Captured Status Bit

Related Example: (Fast Index Find)

Commands: MP 'set buffered velocity mode
A=1000 'set fast acceleration
Bx V=4000000 'set fast velocity
D=2100 'set relative distance just beyond
I 'one shaft turn
Rl i=I 'clear and arm index capture
O=0 'force change to position register
F= G 'start fast move
TWAIT 'wait till end of trajectory
P=I 'go back to index
G 'start motion
TWAIT 'wait until end of trajectory
O=0 'set origin at index

Index used as High Speed Position Capture:

When enabled via F=1024 (v4.95 or later firmware) the Bi flag is set to 1 when
Port G I/O pin gets driven to zero. This happens within 5 microseconds of Port
G going low. As a result Port G can be used to capture position for high speed
registration applications
Example: (Fast Position Capture)
UGI 'Set Port G as Input Port
'Set F command flags
al[0]=64 'set value to enable C2 interrupt call
'(C2 gets called when Port G grounded)
al[1]=1024 'set value to enable Index Position capture
'to be triggered from Port G
F=al[0]+al[1]
V=100000 'Set Velocity
A=100 'Set Acceleration
MV 'Set to Velocity Mode
G 'Start Moving
END

C2 'This routine gets called automatically when Port G goes low

PRINT("Port G grounded when",#13)
PRINT("position=",@P,#13)
RETURNI

Sample Terminal Screen output from above code:

(Port G repeatedly grounded)
Port G grounded when
position=226076
Port G grounded when
position=257022
Port G grounded when
position=271849
Port G grounded when
position=279430
Port G grounded when
position=295069
48
 Bk
User Program Checksum Error Status Bit

Related APPLICATION: EEPROM data validation

Commands:
DESCRIPTION: EEPROM Checksum Failure State
RCKS
EXECUTION: Historical, set on eeprom data check
RW
CONDITIONAL TO: RCKS, VST( ), or RES calibration data check
RPW
LIMITATIONS: Stored EEPROM program is SMX formatted
LOAD
REPORT COMMAND: RBk, RW (bit 15), RPW (bit 15)
UPLOAD
READ/WRITE: Read only, reset by RCKS
VST and first post reset RES command
LANGUAGE ACCESS: Expressions and conditional testing
UNITS: Binary flag
RANGE OF VALUES: 0 or 1
VALUE BY STATE: 0= valid EEPROM user program checksum
and valid VST( )
1 = Invalid EEPROM user program checksum,
or invalid VST( )
DEFAULT VALUE: 0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
Bk indicates whether a user program checksum write error has been detected. If Bk is
1, either the user program and/or program header has been corrupted. You should not
run the program in the SmartMotor™. This can occur if communications connection
was lost or corrupted during a download of a program. Bk is reset to zero by a power
reset, Z, and a valid (pass) checksum is detected via RCKS.
RCKS scans the entire program including header and returns two 6-bit checksums fol-
lowed by a "P" (pass) or "F" (fail) at the end. If RCKS reports a failure, Bk is set to 1.
RCKS sends its value through the primary serial port.
Example: (commands issued and responses from terminal screen)
RCKS 000049 0025E0 P
RBk 0
The VST( ) command also has the capability to set Bk to 1. VST( ) performs a read
operation after every byte it writes to the User Data EEPROM; if the read byte is not
the same as what was sent, the flag Bk is set to 1.

49
 Bl
Historical Left-Limit Status Bit

Related APPLICATION: Monitor left limit switch

Commands:
DESCRIPTION: Left limit latch
Bm
EXECUTION: Historical, sampled each PID update until latched
Bp
CONDITIONAL TO: LIMH. LIML, UDI, UDO, UDM
Br
LIMITATIONS: None
LIMH
REPORT COMMAND: RBl, RS (bit 2), RW (bit 2), RPW (bit 2)
LIML
READ/WRITE: Read only. Reset by Zl, ZS, RS, RW, RPW,
LIMD assignment or printing of S

LIMN LANGUAGE ACCESS: Expressions and conditional testing

RS UNITS: Binary flag

RPW RANGE OF VALUES: 0 or 1

RW VALUE BY STATE: 0= Left/negative limit has not been active

UCI 1= Left/negative limit has been active

UCP DEFAULT VALUE: 0

UCO FIRMWARE VERSIONS: 4.00 and higher firmware motors

UDI DETAILED DESCRIPTION:

UDM Bl is the historical left limit flag. If the left limit is found to be active during any servo
sample, Bl is set to 1, and remains 1 until reset by the user. In addition, the motion will
UDO stop and the motor will either servo or turn the amplifier OFF, depending on the value
SLE of the F function. The historical left/negative limit flag Bl provides a latched value in
case the limit may have already been reached and overpassed but is not at presently
SLD active.
SLP The real time left/negative limit flag is Bm, which only remains set to 1 while the signal
level on the user pin D is active. Whenever Bm is set to 1, Bl is set to one. The polar-
SLN
ity of the signal that is considered active is determined by commands LIMH (Active
Zl High-To-Stop) and LIML (active Low-To_Stop) in all non-PLS firmware motors. PLS
firmware motors are always Active High asserted.
ZS
If the pin’s function is assigned to being general purpose I/O by use of the UDI or UDO
commands, neither Bm nor Bl will be affected by the pin state. Changing pin states
will not elicit limit behavior from the motor. It will be necessary to issue the UDM com-
mand to assign the pin’s function to being a limit switch, for the pin to again elicit limit
behavior, including the setting of Bl.

(Continued on next page)

50
 Bl (continued)
Historical Left-Limit Status Bit
Related
Commands:
Bm In non-PLS firmware motors, Bl is reset to zero under the following condi-
tions:
Bp
1. When the S status byte is accessed for assignment
Br
2. or reported via RS, PRINT(S,#13) or PRINT1(S,#13)
LIMH
3. or directly reset with Zl and ZS.
LIML
4. or a G command is issued AND the Bm bit is not set.
LIMD
LIMN
In PLS firmware motors, Bl is reset to zero under the following conditions:
RS
By issuing either Zl and ZS.
RPW
RW
Example code:
UCI
IF Bm
UCP PRINT("LEFT LIMIT PRESENTLY ACTIVE")
UCO ELSEIF Bl
PRINT("LEFT LIMIT Previously CONTACTED")
UDI ELSE
PRINT("LEFT LIMIT NEVER REACHED")
UDM ENDIF
UDO
SLE
SLD
SLP
SLN
Zl
ZS

Hardware Travel Limit Overview Status Bits Command to Command to Command to

Clear Historical Bit Disable Enable
Port Pos/Neg Plus/Minus Left/Right Real Time Historical Travel Limit Input Travel Limit Input
Port C Positive PLUS RIGHT Br Bp Zr, or ZS UCI or UCO UCP
Port D Negative MINUS LEFT Bl Bm Zl, or Zs UDI or UDO UDM
51
 Bm
Real-Time Left-Limit Status Bit
Related
Commands: APPLICATION: Monitor left/negative switch

Bl DESCRIPTION: Left limit state

Bp EXECUTION: Real time, sampled each PID update

Br CONDITIONAL TO: LIMH, LIML, UCI, UCO, UCM

LIMH LIMITATIONS: None

LIML REPORT COMMAND: RBm, RW and RPW (bit 10)

LIMD READ/WRITE: Read only, set/reset by pin voltage level

LIMN LANGUAGE ACCESS: Expressions and conditional testing

RS UNITS: Binary bit

RPW RANGE OF VALUES: 0 or 1

RW VALUES BY STATE: 0 = left / negative limit switch not active

or pin not assigned as a limit switch
UCI
1 = left / negative limit switch active
UCP
DEFAULT VALUE: 0
UCO
FIRMWARE VERSIONS: ALL
UDI
DETAILED DESCRIPTION:
UDM
Bm indicates if the Left/Negative pin is presently active. If Bm is set to 1, the histori-
UDO cal Left limit flag Bl is also set to one. In non PLS firmware motors, the polarity of the
SLE signal that is considered active is determined by commands LIMH and LIML. [PLS
firmware has Active High Limits only! ]
SLD
Note on Programmable Software Limits (>=4.76 firmware)
SLP The Active/Real-Time status bit will be set to a one as long real time position is
beyond the programmed software limit position.
SLN
The Left/Negative Hardware Travel Limit may be disabled by being assigned
Zl
as a general purpose Input via UDI command or Output via UDO command.
ZS To Re-Enable the Left/Negative Hardware Travel Limit, issue UDM.
Example:
IF Bm
PRINT("LEFT LIMIT PRESENTLY ACTIVE")
ELSEIF Bl
PRINT("LEFT LIMIT Previously CONTACTED")
ELSE
PRINT("LEFT LIMIT NEVER REACHED")
ENDIF

Hardware Travel Limit Overview Status Bits Command to Command to Command to

Clear Historical Bit Disable Enable
Port Pos/Neg Plus/Minus Left/Right Real Time Historical Travel Limit Input Travel Limit Input
Port C Positive PLUS RIGHT Br Bp Zr, or ZS UCI or UCO UCP
Port D Negative MINUS LEFT Bl Bm Zl, or Zs UDI or UDO UDM
52
 Bo
Motor-Off Status Bit

Related APPLICATION: Monitor Motor Off State

Commands:
DESCRIPTION: Motor OFF state
BRKTRJ
EXECUTION: Sampled each PID sample
G
CONDITIONAL TO: Motor is off
OFF
LIMITATIONS: None
Z
REPORT COMMAND: RBo
READ/WRITE: Read only. Set by G
LANGUAGE ACCESS: Expressions and conditional testing
UNITS: Binary flag
RANGE OF VALUES: 0 or 1
VALUE BY STATE: 1 = Motor is off
0 = Motor is on
DEFAULT VALUE: 1
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
Simply stated Bo=0, drive stage is on, Bo =1 dirve stage is off. The Red Drive LED on
the motor direclty follows the Bo bit and is therfore a direct indication of the Bo bit. If
Bo=1, the Red LED is on. If Bo=0, the Red LED is off.
There are only three reasons that Bo=1.
1. Upon first power-up of a SmartMotor™ and prior to any command that would turn
on the drive stage.
2. Any time the OFF command is issued.
3. Any Motor Fault resulting in the OFF command being issued at firmware level.
a. Position Error (Be=1),
b. Overheat/RMS-Over-Current (Bh=1),
c. Exceeding enabled travel limits (Br or Bl detected even briefly).
A motor reset via the Z command will also have Bo set to one only beacuce it is the
same as a Power-up in #1 above.
If BRKTRJ has been issued, when a trajectory is not in progress (Bt is 0), the brake
is engaged and power is not applied to the motor coils. In this state, Bo will not be 0,
even though the amplifier is actually off. This may seem confusing, but it is because
the brake is holding the the shaft locked in place nd therefor may be applying a force
to the load. BRKTRJ is the only mode that behaves this way.

53
 Bp
Real-Time Right-Limit Status Bit
Related
Commands: APPLICATION: Monitor right limit switch
Bm DESCRIPTION: Right / Positive limit state
Bl EXECUTION: Sampled each PID update
Br CONDITIONAL TO: LIMH, LIML
LIMH LIMITATIONS: None
LIML REPORT COMMAND: RBp
LIMD READ/WRITE: Read only
LIMN LANGUAGE ACCESS: Expressions and conditional testing
RS UNITS: Binary flag
RPW RANGE OF VALUES: 0 or 1
RW VALUES BY STATE: 0= right/positive limit switch not active or pin not
assigned as a limit switch
UCI
1= right/positive limit switch is active
UCP
DEFAULT VALUE: 0
UCO
FIRMWARE VERSIONS: ALL
UDI
DETAILED DESCRIPTION:
UDM
Bp indicates if the right/positive pin is presently active. If Bp is set to 1, the
UDO historical right limit flag Br is also set to one. In non PLS firmware motors, the
SLE polarity of the signal that is considered active is determined by commands LIMH
and LIML. [PLS firmware has Active High Limits only! ]
SLD
Note on Programmable Software Limits (>=4.76 firmware)
SLP The Active/Real-Time status bit will be set to a one as long real time position is
beyond the programmed software limit position.
SLN
The Right/Positive Hardware Travel Limit may be disabled by being assigned
Zl
as a general purpose Input via UCI command or Output via UCO command.
ZS To Re-Enable the Right/Positve Hardware Travel Limit, issue UCP.
Example:
IF Br
PRINT("Right LIMIT PRESENTLY ACTIVE")
ELSEIF Bp
PRINT("Right LIMIT Previously CONTACTED")
ELSE
PRINT("Right LIMIT NEVER REACHED")
ENDIF

Hardware Travel Limit Overview Status Bits Command to Command to Command to

Clear Historical Bit Disable Enable
Port Pos/Neg Plus/Minus Left/Right Real Time Historical Travel Limit Input Travel Limit Input
Port C Positive PLUS RIGHT Br Bp Zr, or ZS UCI or UCO UCP
Port D Negative MINUS LEFT Bl Bm Zl, or Zs UDI or UDO UDM
54
 Br
Historical Right-Limit Status Bit
Related
Commands: APPLICATION: Monitor Right limit switch latch

Bm DESCRIPTION: Right limit latch

Bp EXECUTION: Sampled each PID update until latched

Bl CONDITIONAL TO: LIMH, LIML

LIMH LIMITATIONS: None

LIML REPORT COMMAND: RBr

LIMD READ/WRITE: Read only. Reset by RW, RS, Zr, ZS

LIMN LANGUAGE ACCESS: Expressions and conditional testing

RS UNITS: Binary flag

RPW RANGE OF VALUES: 0 or 1

RW VALUE BY STATE: 0= Right/positive limit has not been active

UCI 1= Right /positive limit has been active

UCP DEFAULT VALUE: 0

UCO FIRMWARE VERSIONS: 4.00 and higher

UDI DETAILED DESCRIPTION:

UDM Br is the historical right limit flag. If the right limit is found to be active during any servo
sample, Br is set to 1, and remains 1 until reset by the user. In addition, the motion will
UDO stop and the motor will either servo or turn the amplifier OFF, depending on the value
SLE of the F function. The historical right/positive limit flag Br provides a latched value in
case the limit may have already been contacted (active) but is not at presently active.
SLD
The real time Right/Positive limit flag is Bp, which only remains set to 1 while the signal
SLP level on the user pin C is active. Whenever Bp is set to 1, Br is set to one. The polar-
ity of the signal that is considered active is determined by commands LIMH (Active
SLN High-To-Stop) and LIML (active Low-To_Stop) in all non-PLS firmware motors. PLS
Zl firmware motors are always Active High asserted.

ZS If the pin’s function is assigned to being general purpose I/O by use of the UCI or UCO
commands, neither Bp nor Br will be affected by the pin state. Changing pin states
will not elicit limit behavior from the motor. It will be necessary to issue the UCP com-
mand to assign the pin’s function to being a limt switch, for the pin to again elicit limit
behavior, including the setting of Br.
(Continued on next page)

55
 Br (continued)
Historical Right-Limit Status Bit
Related
Commands:
Bm
Bp
Bl In non-PLS firmware motors, Br is reset to zero under the following condi-
tions:
LIMH
1. When the S status byte is accessed for assignment
LIML
2. or reported via RS, PRINT(S,#13) or PRINT1(S,#13)
LIMD
3. or directly reset with Zr and ZS.
LIMN
4. or a G command is issued AND the Bp bit is not set.
RS
RPW
In PLS firmware motors, Br is reset to zero under the following conditions:
RW
By issuing either Zr and ZS.
UCI
UCP Example code:
UCO
IF Br
UDI PRINT("Right LIMIT PRESENTLY ACTIVE")
ELSEIF Bp
UDM
PRINT("Right LIMIT Previously CONTACTED")
UDO ELSE
PRINT("Right LIMIT NEVER REACHED")
SLE ENDIF

SLD
SLP
SLN
Zl
ZS

Hardware Travel Limit Overview Status Bits Command to Command to Command to

Clear Historical Bit Disable Enable
Port Pos/Neg Plus/Minus Left/Right Real Time Historical Travel Limit Input Travel Limit Input
Port C Positive PLUS RIGHT Br Bp Zr, or ZS UCI or UCO UCP
Port D Negative MINUS LEFT Bl Bm Zl, or Zs UDI or UDO UDM
56
 Bs
Syntax-Error Status Bit

Related APPLICATION: Monitor Command Syntax Errors

Commands:
DESCRIPTION: Command syntax error occurred state
RCS
EXECUTION: Immediate
RCS1
CONDITIONAL TO: Syntax error found while executing commands
RCKS
LIMITATIONS: None
RBk
REPORT COMMAND: RBs
RUN
READ/WRITE: Read only. Reset to zero using Zs command
Z
LANGUAGE ACCESS: Expressions and conditional testing
ZS
UNITS: Binary flag
RANGE OF VALUES: 0 or 1
VALUE BY STATE: 0= no syntax error occurred
1= syntax error detected
DEFAULT VALUE: 0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
If a syntax error is encountered in either a serial command or user program, the Bs
flag is set to 1. This flag only indicates that a syntax error was encountered. The most
common syntax errors are misspellings of commands, but the improper use of vari-
ables are also flagged. For example, trying to access the array element aw[20000] will
also produce a syntax error. If this is the case, the command that contains the syntax
error is ignored.
Some errors may appear to be valid syntax, and require other means to detect. To
more fully protect against ASCII input stream errors one can use RCKS, RCS, and
RCS1 commands as well as checking for framing and parity errors.
Examples:
Suppose host transmitted A=100 but A=101 is received due to noise.
Bs would not be set, but Bb might be.
Suppose host should have transmitted A=100 but actually
transmitted A=L00.
Bs would be set but Bb would not be.
Note: Responses to requests for values in variables or otherwise may cause the Bs bit to be set
in any downstream motors on an RS-232 bus or any other motor on a parallel RS-485 bus.
The reason for this is because a value (a number) in and of itself is not a valid SmartMotor™
command and as a result, the other motors seeing that response will flag their Bs Bit.
Example:
Issue RP to Motor-1 in a 3 motor system, when Motor-1 responds with it's position in
the form of just an integer number, that number in and of itself is not seen as
valid command syntax. 57
 Bt
Trajectory-In-Progress Status Bit

Related APPLICATION: Monitor Trajectory

Commands:
DESCRIPTION: Trajectory in progress state flag
BRKTRJ
EXECUTION: Updated each PID sample
G
CONDITIONAL TO: Trajectory in progress
OFF
LIMITATIONS: None
S
REPORT COMMAND: RBt
X
READ/WRITE: Read only
LANGUAGE ACCESS: Expressions and conditional testing
UNITS: Binary flag
RANGE OF VALUES: 0 or 1
VALUE BY STATE: 0 = no trajectory in progress
1 = trajectory in progress
DEFAULT VALUE: 0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The flag Bt is set to 1 any time the motor is performing a calculated trajectory path
from one point to another. Once the trajectory generator has requested the final target
position, the Bt flag is reset to zero. At this point, the PID positioning control takes over
the motion, which means that the motor shaft may still be moving due to mechanical
settling.
Torque Mode (MT) will not set the Bt bit to 1 because there is no target trajectory.
Mode Velocity (MV) will maintain the Bt bit to 1 regardless of commanded velocity or
acceleration even they are set to Zero.
Mode Follow and Mode Step will maintain Bt to 1 even if there are no change in incom-
ing counts.
If a relative or absolute move is commanded in position mode (MP), and there is no
(zero) commanded Acceleration or Velocity, the Bt bit will be set to 1 and the motor
shaft will not move.
Example 1:
WHILE Bt 'while trajectory in progress
LOOP
WHILE @V 'while still settling or while velocity not zero
LOOP
OFF 'motor off
BRKENG 'brake engage

58
 Bt (continued)
Trajectory-In-Progress Status Bit

Related Example 2:
Commands: MP 'buffer a position move request
BRKTRJ A=10
G V=440000
P=10000
OFF
G 'start the first buffered move
S WHILE Bt 'wait for first trajectory to be done
X LOOP 'Note: TWAIT could have been used!
A=20 'buffer another move
V=-222000
P=20000
G 'now begin the second move
Example 3:
MV 'Set to Velocity Mode
A=10
V=440000
G 'start moving
WHILE Bt 'Bt will remain 1 until commanded
LOOP 'otherwise or the motor
'errors out for some reason

59
 Bu
Array Index Error Status Bit

Related APPLICATION: Monitor array index error

Commands:
DESCRIPTION: Out of range array index state flag
ZS
EXECUTION: Latched high upon illegal array access attempted
Zu
CONDITIONAL TO: User command attempted to access an array using
an illegal index
LIMITATIONS: None
REPORT COMMAND: RBu
READ/WRITE: Read only. Reset to zero using Zu command
LANGUAGE ACCESS: Expressions and conditional testing
UNITS: Binary bit
RANGE OF VALUES: 0 or 1
VALUE BY STATE: 0 = no illegal array index has occured
DEFAULT VALUE: 0
FIRMWARE VERSIONS: 4.00 or higher
DETAILED DESCRIPTION:
The index for each of the ab[index], aw[index] and al[index] arrays has a valid
range. If you go outside the valid range, the system flag Bu is set to 1. The syntax
error bit Bs will also be set to 1. Bu is more explicit.

Example:
Zu 'reset illegal index flag
t=0
WHILE t<60
al[t]=t 'initialize array members
t=t+1 'to values 0,1,2,3,4….
LOOP
RBu

Response is 1 since al[50] is the legal end of array.

60
 Bw
Encoder-Wrap-Around Status Bit

Related APPLICATION: Monitor Encoder Wrap Around

Commands:
DESCRIPTION: Encoder overflow or underflow occurred
Z
EXECUTION: Updated each PID sample
G
CONDITIONAL TO: Position mode set
Bi
LIMITATIONS: Velocity and Torque Modes are immune to
RBx encoder wrap around, all others are subject to it.
RBi REPORT COMMAND: RBw
I READ/WRITE: Read only. Reset via G or ZS command
LANGUAGE ACCESS: Expressions and conditional testing
UNITS: Binary flag
RANGE OF VALUES: 0 or 1
VALUE OF STATES: 0= No encoder wrap around occurred
1= Encoder wrap around occurred by
position mode move
DEFAULT VALUE: 0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
If Bw is 1, it indicates that the encoder position has exceeded or "wrapped,"
beyond maximum value for the 32 bit position register. Specifically, the position
has gone outside of the range -2147483648 to 2147483647.
This does not at all mean that the SmartMotor™ has lost its position informa-
tion. It is still tracking its position. If the SmartMotor "wraps" while in Absolute
or Relative Position Mode, it will set the Position Error Bit Be to 1, as well.
Velocity mode is designed to survive the wrap around condition and torque
mode does not care about any trajectory updates. Neither of these causes Bw
will set to 1.
Note: Mode Follow (MF_) allows for a means around wrapping condition by
allowing MF0 to be issued on the fly. This will zero out encoder counter regis-
ters without having an effect on the motion profile.
Continued on next page.

61
 Bw (continued)
Encoder-Wrap-Around Status Bit

Related
Commands:
Example to prevent wrap status while in Mode Follow continuously:
Z MF4 'Set to Mode Follow at default 1:1 ratio
WHILE 1
G IF @P>2147480000
MF0
Bi
ENDIF
RBx IF @P<-2147480000
MF0
RBi ENDIF
LOOP
I END

Example to prevent wrap status while continuously indexing :

UGI 'Use Port G as general input
D=20000 'Set relative distance
V=1234567 'Set Velocity
A=123 'Set Acceleration
WHILE 1 'while forever
WHILE UGI LOOP 'wait for Port G to be grounded
G 'Go (start Moving)
TWAIT 'Wait until the move is complete
O=0 'set origin to zero
WHILE UGI==0 LOOP 'prevent double trigger
LOOP
END

62
 Bx
Real-Time Index Input Status Bit

Related APPLICATION: Monitor Hardware Index Capture Input

Commands:
DESCRIPTION: Index input state
Bi
EXECUTION: Updated each PID sample
I
CONDITIONAL TO: N/A
Rl
LIMITATIONS: None
F=
REPORT COMMAND: RBx
READ/WRITE: Read only
LANGUAGE ACCESS: Expressions and conditional testing
UNITS: Binary flag
RANGE OF VALUES: 0 or 1
VALUE OF STATES: 0 = index capture input is not in contact (low)
1 = index capture input is in contact (high)
DEFAULT VALUE: 0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
Bx is the real-time state of the index input level. The Bx bit is set to a 1 ONLY while
the motor is sitting on the index. Be aware that the index marker is only one encoder
count wide, this function is mainly used to verify the exact position of the index. For
most other uses, it is more efficient to use the functions Bi and I.
Example: (Fast Index Find , Report Bx)
MP 'set buffered velocity mode
A=1000 'set fast acceleration
V=4000000 'set fast velocity
D=2100 'set relative distance just beyond
'one shaft turn
i=I 'clear and arm index capture
O=0 'force change to position register
G 'start fast move
TWAIT 'wait till end of trajectory
P=I 'go back to index
G 'start motion
TWAIT 'wait until end of trajectory
O=0 'set origin at index

IF Bx
PRINT("On Index Pulse",#13)
ENDIF

63
 BASE
Cam Mode Master Cycle Length

Related APPLICATION: CAM Mode Control

Commands:
DESCRIPTION: Cycle period of Mode Cam encoder
MC
EXECUTION: Immediate
MC2
CONDITIONAL TO: SIZE, MC_, G being issued
MC4
LIMITATIONS: 2 < BASE < 32767
MC8
REPORT COMMAND: N/A
SIZE
READ/WRITE: Write only
aw[index]
LANGUAGE ACCESS: None
MF1
UNITS: Encoder counts
MF2
RANGE OF VALUES: 2 < BASE < 32767
MF3
TYPICAL VALUES: User determined
MF4
DEFAULT VALUE: User determined
FIRMWARE VERSIONS: 4.12 and higher
DETAILED DESCRIPTION:
CAM Mode requires three items to properly perform a cam profile, a BASE, SIZE
and DATA table. BASE specifies the number of encoder counts that the master turns
through one cycle while the slaved, camming SmartMotor™ moves through the points
in its data table. SIZE is the number of points in the data table.
In the example given below, the camming SmartMotor moves from zero to 120 encoder
counts in the positive direction and then back to the zero for every 2000 counts of
the master encoder. If the master encoder moves at a constant velocity in the posi-
tive direction, this camming profile will continue to repeat for as long as the master
encoder continues to move. Since the profile completes every 2000 counts of the
master encoder, the BASE is 2000.
The Units are actual encoder counts that are seen at the SmartMotors external encoder
input, User ports A and B. This is the same external encoder input that can be read
through the counter function CTR.
BASE is a parameter required to control Cam Mode motion. In Cam Mode, each value
of the external encoder defines a required corresponding SmartMotor position; Cams
typically define a periodic motion profile or trajectory. BASE defines the number of
encoder counts through the external Cam moves before the required position map-
ping, or required motion, is exactly repeated. Suppose BASE=10000 encoder counts,
and the suppose the required Smart position is to be 100 when the external encoder
(CTR) reports a value of 2506, then SmartMotor will be required to be at position 100
whenever CTR= … -27494, -17294, 2506, 12506, 22506, 32506, etc.
The SmartMotor performs a practical cam application by partitioning the required cam
trajectory definition into a number of linearly interpolated segments. The SIZE param-
eter stores the number of segments. The segments are required to partition the BASE

64
 BASE (continued)
Cam Mode Master Cycle Length

Related into a set of equally spaced intervals. Suppose BASE=1000 and SIZE=50. Each seg-
Commands: ment will then be of width BASE/SIZE or 20 counts. The cam motion is then defined
by providing the required SmartMotor™ positions corresponding to CTR= 0, 20, 40,
MC 60 …940, 960 and 980 and 1000. If the motion is truly periodic the required position
MC2 at CTR=0 will identical to the required position at CTR=1000.

MC4 The cam table is loaded into the aw[ ] array, beginning at aw[0] and ending with
aw[SIZE]. It is simplest to define the cam using position at CTR=0 to be encoder posi-
MC8 tion 0 by issuing MF0 and O=0 commands.
SIZE EXAMPLE:
Aw[index] A "saw tooth" cam with periodic motion every 2000 external encoder counts and the
motion interpolation divided into 25 (equal) segments.
MF1
MF2
MF3
MF4

BASE=2000 'Cam period

SIZE=25 'data segments (number of data points in table)
'CTR data interval = BASE/SIZE = 2000/25 = 80
'CAM motor will be at Data position every 80
'Master encoder counts:
'CTR=0, CTR=80, CTR=160,.... CTR=1840, CTR=1920, CTR=2000
'Now assigning data values beginning with aw[0]:
aw[0] 0 10 20 30 40 50 60 70 80 90 100.
aw[20] 110 120 120 110 100 90 80 70 60.
aw[19] 50 40 30 20 10 0.
MF4 'reset external encoder to zero
O=0 'reset internal encoder position
MC 'buffer CAM Mode
G 'start following the external encoder using cam data

The motor will now begin following the External (Master) encoder via the defined CAM
profile above.

65
 BRKC
Brake Control Re-Direct to Port C

Related APPLICATION: Hardware brake control

Commands:
DESCRIPTION: Re-Direct Brake Control to Port C user Output
BRKENG
EXECUTION: Immediate and effective until otherwise
BRKRLS commanded
BRKSRV CONDITIONAL TO: BRKI, BRKG
BRKTRJ LIMITATIONS: None
BRKG REPORT COMMAND: N/A
BRKI READ/WRITE: N/A
UCO LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT STATE: BRKI (Brake Control Default to Internal Bake Pin)
FIRMWARE VERSIONS: 4.15, all PLS firmware. (Not available on 4.40 )
DETAILED DESCRIPTION:
SmartMotors™ may be purchased with optional internal zero backlash brakes used
to hold a load for safety purposes.
They are Fail Safe Magnetic Clutch Disk Brakes. When power is lost the brake engag-
es. The default with power on is to disengage the brake when ever the drive stage is
turned on. The brake takes between 3 and 5 milliseconds to actuate or release.
If an External Brake is used instead of the optional internal brake, the BRKC com-
mand allows automatic and interrupt driven control of the external brake via I/O port
pin C.
BRKC is a re-direction of the same signal that would otherwise control an internal
brake. As a result, Port C will follow the state of the internal brake pin. Port C will be
active low (zero volts) when ever the brake should be engaged and at 5VDC when
ever the brake should be disengaged.
The logic state follows the present Brake control method chosen.
See BRKSRV, BRKTRJ, BRKENG and BRKRLS for more.
Example:
UCO ' Assign Port C to be used as an output pin
BRKC ' re-direct brake control to port C pin
BRKRLS ' will set port C to 0VDC
BRKENG ' will set port C to 5VDC

66
 BRKENG
Brake Engage

Related APPLICATION: Hardware brake control

Commands:
DESCRIPTION: Engages hardware brake immediately
BRKRLS
EXECUTION: Immediate and effective until otherwise
BRKSRV commanded
BRKTRJ CONDITIONAL TO: Hardware BRAKE required
BRKC LIMITATIONS: None
BRKG REPORT COMMAND: N/A
BRKI READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT STATE: Power On: BRKSRV
Power Off: brake is engaged
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:

It is important to SmartMotors™ may be purchased with optional internal zero backlash brakes used
turn the servo off to hold a load for safety purposes.
when the brake
They are Fail Safe Magnetic Clutch Disk Brakes. When power is lost the brake engag-
is engaged, or
es. The default with power on is to disengage the brake when ever the drive stage is
the motor could
turned on. The brake takes between 3 and 5 milliseconds to actuate or release.
be driving against
the brake and When BRKENG is issued, the brake is de-energized allowing the magnetic brake to
overheat. When lock the shaft in place.
the SmartMotor
powers up, or BRKENG terminates the brake control modes BRKSRV, BRKTRJ, and BRKRLS.
comes out of a soft NOTE: BRKENG is a manual over-ride to the BRKSRV and BRKTRJ commands. You
reset, the brake must subsequently issue either BRKSRV, BRKTRJ, or BRKRLS to allow any further
control is set to shaft movement !
BRKSRV by default
to automatically Example:
enforce this safety OFF ' turn motor off
rule. WHILE @V ' wait for zero velocity
LOOP ' before
BRKENG ' applying the brake (shaft locked)

67
 BRKG
Brake Control Re-Direct to Port G

Related APPLICATION: Hardware brake control

Commands:
DESCRIPTION: Re-Direct Brake Control to Port G user Output
BRKENG
EXECUTION: Immediate and effective until otherwise
BRKRLS commanded
BRKSRV CONDITIONAL TO: BRKI, BRKC
BRKTRJ LIMITATIONS: None
BRKC REPORT COMMAND: N/A
BRKI READ/WRITE: N/A
UGO LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT STATE: BRKI (Brake Control Default to Internal Bake Pin)
FIRMWARE VERSIONS: 4.15, all PLS firmware. (Not available on 4.40 )
DETAILED DESCRIPTION:
SmartMotors™ may be purchased with optional internal zero backlash brakes used
to hold a load for safety purposes.
They are Fail Safe Magnetic Clutch Disk Brakes. When power is lost the brake engag-
es. The default with power on is to disengage the brake when ever the drive stage is
turned on. The brake takes between 3 and 5 milliseconds to actuate or release.
If an External Brake is used instead of the optional internal brake, the BRKC com-
mand allows automatic and interrupt driven control of the external brake via I/O port
pin G.
BRKG is a re-direction of the same signal that would otherwise control an internal
brake. As a result, Port G will follow the state of the internal brake pin. Port G will be
active low (zero volts) when ever the brake should be engaged and at 5VDC when
ever the brake should be disengaged.
The logic state follows the present Brake control method chosen.
See BRKSRV, BRKTRJ, BRKENG and BRKRLS for more.
Example:
UGO ' Assign Port G to be used as an output pin
BRKG ' re-direct brake control to port G pin
BRKRLS ' will set port G to 0VDC
BRKENG ' will set port G to 5VDC

68
 BRKI
Brake Control Re-Direct to Port I

Related APPLICATION: Hardware brake control

Commands:
DESCRIPTION: Re-Direct Brake Control to Internal Brake Pin
BRKENG
EXECUTION: Immediate and effective until otherwise
BRKRLS commanded
BRKSRV CONDITIONAL TO: BRKG, BRKC
BRKTRJ LIMITATIONS: None
BRKC REPORT COMMAND: N/A
BRKG READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT STATE: BRKI (Brake Control Default to Internal Bake Pin)
FIRMWARE VERSIONS: 4.15, all PLS firmware. (Not available on 4.40 )
DETAILED DESCRIPTION:
SmartMotors™ may be purchased with optional internal zero backlash brakes used
to hold a load for safety purposes.
They are Fail Safe Magnetic Clutch Disk Brakes. When power is lost the brake engag-
es. The default with power on is to disengage the brake when ever the drive stage is
turned on. The brake takes between 3 and 5 milliseconds to actuate or release.
If an External Brake is used instead of the optional internal brake, the BRKC or BRKG
commands allow automatic and interrupt driven control of the external brake via I/O
port pin C or G respectively.
BRKI allows the control of the internal brake.
The logic state follows the present Brake control method chosen.
See BRKSRV, BRKTRJ, BRKENG and BRKRLS for more.
Example:
UGO ' Assign Port G to be used as an output pin
BRKG ' Direct brake control to port G pin
BRKI ' Re-Direct brake control back to internal brake

69
 BRKRLS
Brake Release

Related APPLICATION: Hardware brake control

Commands:
DESCRIPTION: Release hardware break immediately
BRKENG
EXECUTION: Immediate and effective until otherwise
BRKSRV commanded
BRKTRJ CONDITIONAL TO: Hardware BRAKE required
BRKC LIMITATIONS: None
BRKG REPORT COMMAND: N/A
BRKI READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT STATE: Power on: BRKSRV
Power off: brake engaged
FIRMWARE VERSIONS: 4.00 and higher
It is important DETAILED DESCRIPTION:
to turn the servo
off when the brake SmartMotors™ may be purchased with optional internal zero backlash brakes used
is engaged, or the to hold a load for safety purposes.
motor could be They are Fail Safe Magnetic Clutch Disk Brakes. When power is lost the brake
driving against engages. The default with power on is to disengage the brake when ever the drive
the brake and stage is turned on. The brake takes between 3 and 5 milliseconds to actuate or
overheat. release.
See BRKSRV When BRKRLS is issued, the brake is maintained energized allowing full shaft
command. movement.
BRKRLS terminates BRKSRV mode, BRKTRJ mode, and BRKENG condition.

BRKENG ' Assuming motion has stopped

OFF ' or almost stopped
WAIT=4069
V=0 ' Set buffered velocity
A=0 ' Set buffered acceleration
MP ' Set buffered mode
P=@P ' Set Target position to current position
G ' Begin servo at current position
BRKRLS ' Release, disengage brake

70
 BRKSRV
Brake Engage When Not Servoing

Related APPLICATION: Hardware brake control

Commands:
DESCRIPTION: Release hardware break while motor is on
BRKENG
Engage hardware brake while motor is off
BRKRLS
EXECUTION: Immediate and effective until otherwise
BRKTRJ commanded
BRKC CONDITIONAL TO: Hardware BRAKE required
BRKG LIMITATIONS: None
BRKI REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT STATE: Power On: BRKSRV
Power Off: brake engaged
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:

NOTE: SmartMotors™ may be purchased with optional internal zero backlash brakes used
to hold a load for safety purposes.
A position error
will terminate both They are Fail Safe Magnetic Clutch Disk Brakes. When power is lost the brake engag-
the trajectory in es. The default with power on is to disengage the brake when ever the drive stage is
progress state and turned on. The brake takes between 3 and 5 milliseconds to actuate or release.
servo on state.
It is important to turn the servo off when the brake is engaged, or the motor could be
In this instance,
driving against the break and overheat. The BRKSRV command does this for you by
the brake would
releasing the brake automatically whenever the motor is on and engaging it whenever
then be asserted
the motor turns off for any reason. Another way of looking at this is, the brake will be
automatically.
applied whenever the motor off bit Bo is 1.
BRKSRV terminates the brake control modes BRKENG, BRKTRJ, and BRKRLS.

BRKSRV 'set brake mode assuming it is safe

MP 'set buffered mode
A=100 'set buffered acceleration
V=100000 'set buffered maximum velocity
P=1000 'set target
G 'servo on, brake release, go to target

71
 BRKTRJ
Brake Engage With No Active Trajectory

Related APPLICATION: Hardware brake control

Commands:
DESCRIPTION: Release hardware brake while a trajectory is in progress
BRKENG Engage brake, turn off servo while no trajectory is in
progress
BRKRLS
EXECUTION: Immediate and effective until otherwise
BRKSRV commanded
BRKC CONDITIONAL TO: Hardware BRAKE required
BRKG LIMITATIONS: None
BRKI REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT STATE: Power On: BRKSRV
Power Off: brake engaged
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
SmartMotors™ may be purchased with optional internal zero backlash brakes used
to hold a load for safety purposes.
They are Fail Safe Magnetic Clutch Disk Brakes. When power is lost the brake engag-
es. The default with power on is to disengage the brake when ever the drive stage is
turned on. The brake takes between 3 and 5 milliseconds to actuate or release.
BRKTRJ automatically coordinates movement and brake application. When a trajec-
tory is started by a G command, the brake is released. When the trajectory completes
the brake is engaged and, simultaneously, the servo is turned off. In this mode, and
whenever the motor is not performing a trajectory, the brake is automatically engaged
and the servo turned off for any reason that the Bt (Busy Trajectory Bit) clears.
A consequence of this behavior is that any non-trajectory mode, like torque mode,
will not result in motion, as the brake will be engaged and the servo will be off. This
could be confusing to a user unaware of the nature of BRKTRJ, especially since the
motor-off flag Bo is 0 or false. To understand this, from an operating control mode
point of view, the motor has not changed modes to OFF, which would be coincidental
with Bo set to 1. When running in torque or some other non-trajectory mode, it is
more appropriate to use BRKSRV
BRKTRJ terminates the BRKSRV mode, BRKENG condition, and BRKRLS condi-
tion.

72
 BRKTRJ (continued)
Brake Engage With No Active Trajectory

Related One consequence of BRKTRJ is that the trajectory flag is reset to zero immediately
Commands: when trajectory generator declares the trajectory to be over. At this instant, the
BRKTRJ will engage the brake (de-energize the brake)
BRKENG
BRKRLS BRKTRJ 'set brake mode to follow Bt bit.
MP 'set buffered mode
BRKSRV A=100 'set buffered acceleration
BRKC V=100000 'set buffered maximum velocity
C1 'program statement label
BRKG P=1000 'set buffered target position
G 'servo on, start trajectory
BRKI (The brake will automatically be energized and released)
TWAIT 'wait for trajectory to end
'now brake will be on and servo off
WAIT=4069 'brake on for ~one second
P=0 'set new buffered target position
G 'servo on, brake off, trajectory
WAIT=4069
GOTO1 'effective loop forever
Note: A position error will terminate the trajectory in progress state. In this case, brake
would then be asserted.

Once in BRKTRJ mode, the brake can be audibly hear clicking on at the beginning of
each move and clicking back off at the end of each move.
This is normal and gives assurance of proper operation.

73
 BREAK
Program Flow Loop Exit Control

Related APPLICATION: Program execution flow control

Commands:
DESCRIPTION: Causes immediate exit from a WHILE
CASE
or SWITCH control block
DEFAULT
EXECUTION: Immediate
ENDS
CONDITIONAL TO: N/A
LOOP
LIMITATIONS: Downloaded code only, not via Serial Port !
SWITCH
REPORT COMMAND: N/A
WHILE
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: N/A
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
BREAK is used both by WHILE . . LOOP and SWITCH . . ENDS control flow structure
blocks. In both structures, if BREAK is encountered the program jumps out of that
particular WHILE loop or SWITCH structure. If the control blocks are to be nested,
BREAK only exits the WHILE loop or SWITCH structure that it is currently in.
The most common use of BREAK is to end each CASE of a SWITCH control struc-
ture. Without the BREAK statement, the program would continue to execute into the
next CASE, even if it is not true.
EXAMPLE:
SWITCH a
CASE 1
PRINT("Hiya!",#13)
CASE 2
PRINT("Lo there!",#13)
BREAK
CASE 3
PRINT("Me here!",#13)
BREAK
DEFAULT
PRINT("Urp!",#13)
BREAK

ENDS

If a=2, the SmartMotor™ will print "Lo there!" If a=1, however, the SmartMotor will print
both "Hiya!" and "Lo there!" There is no BREAK statement to stop the program from
running into case 2.
74
 BREAK (continued)
Program Flow Loop Exit Control

Related
Commands:
BREAK could always be replaced by GOTO, and this is how it is actually executed
CASE using the precompiled program location. BREAK has the advantages of not requiring
a statement label to define the program branch location and conforming to structured
DEFAULT programming methodology.
ENDS BREAK is not a valid terminal command, it is only valid from within a user program. If
LOOP you want to be able to "break out of" a control block by remote (terminal) commands
you will need to use GOTO# or GOSUB# and appropriate statement labels. The exam-
SWITCH ple illustrates this concept.
WHILE EXAMPLE:
a=1
WHILE a
PRINT("I am still here …",#13)
WAIT=12000
IF a==100
BREAK 'a=100 could be sent via serial command
ENDIF
LOOP
GOTO20
C10
PRINT("EXITED with a==100",#13)
END
C20
PRINT("EXITED with a<0",#13)
END

75
 C{statement_label_number}
Program Subroutine Label

Related APPLICATION: Program execution flow control

Commands:
DESCRIPTION: Program statement label
GOSUBnnn
EXECUTION: N/A
GOTOnnn
CONDITIONAL TO: N/A
LIMITATIONS: Pre 4.00 firmware only permits labels C0…C9
Firmware 4.00 and higher permits labels
C0…C999
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: N/A
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
C{number} is a statement label, where "number" is a value between 0 and 999.
Statement labels mainly provide the internal addressing required to support the
GOSUB{number} and GOTO{number} language commands. For example GOTO1
directs the program to label C1, while GOSUB37 directs the program to the subrou-
tine that starts at label C37. You can also use labels to simply enhance program clar-
ity. Statement labels may be placed anywhere within a program except in the middle
of an expressions.
The program labels work via a jump table in the header of the compiled program.
The header contains the location of every label from 0 up to the highest label value
used.
EXAMPLES: (consider these two programs)
C0
END
and
C999
END

The first compiled program (C0 . . END) will be much smaller than the second (C999
. . END), even though they behave exactly the same.
The program header is read whenever the SmartMotor™ powers up or is reset. This
means that the SmartMotor knows how to jump to any label location, even if the

76
 C{statement_label_number} (continued)
Program Subroutine Label

Related program has never been run, and start executing the program from there. This is a
Commands: common means of making a single program that contains several routines that can
be invoked on demand from a host.
GOSUBnnn
EXAMPLE:
GOTOnnn
END
C0
PRINT("Routine 0",#13)
END
C1
PRINT("Routine 1",#13)
END
C2
PRINT("Routine 2",#13)
END

To run routine 1, the host simply issues GOTO1 to the SmartMotor™. If the host
issues GOTO3, routine 3 is run. You can use a similar technique to allow the host to
control where the program starts.
Using GOTOnnn to jump to a location within a SWITCH block may be syntacti-
cally valid but yield unexpected runtime program execution when CASE number is
encountered.
It is also possible to use IF, WHILE, and SWITCH to provide such multiple choice
program start points.

EXAMPLES:

IF a==6
C0
G
ENDIF

GOTO5 'valid syntax

SWITCH a
CASE 1 PRINT("1")
C5 CASE 2 PRINT("2") 'at runtime "2" will be
ENDS 'transmitted END

77
 CCHN(type,channel)
Close Communications Channel

Related APPLICATION: Communications control

Commands:
DESCRIPTION: Close a communications channel
OCHN( )
EXECUTION: Immediate
Z CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
PARAMETERS: Type= RS2, RS4
Channel = 0 or 1
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: N/A
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
CCHN(type,channel) closes the specified communications channel, where
"type" is the communications mode, and "channel" is the comm port you want
to close. This command flushes the serial port buffer and any characters still in
the buffer will be lost. The channel 0 comm port can only be RS-232 or RS-485,
while channel 1 can only be RS-485.
Valid CCHN commands:
CCHN(RS2,0) 'Close the channel 0 RS232 port

CCHN(RS4,1) 'Close the channel 1 RS485 port

After power up or Z reset command, channel 0 is opened

as RS232 by default.

78
 CHN
Combined Communications Error Flag

Related APPLICATION: Serial communications control

Commands:
DESCRIPTION: Fetch combined serial communications error
Bb event flags

Bc EXECUTION: Immediate

Bf CONDITIONAL TO: N/A

Bs LIMITATIONS: Cannot assign value of CHN

REPORT COMMAND: RCHN
CHN0
READ/WRITE: Report value only
CHN1
LANGUAGE ACCESS: Report via RCHN only
Zs
UNITS: Set of 4 binary state flags
PARAMETERS: Type= RS2, RS4, or IIC
Channel = 0 or 1
RANGE OF VALUES: 0 to 15
TYPICAL VALUES: 0
DEFAULT VALUE: 0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
The read only function CHN holds binary coded historical error information
about the two serial channels on the SmartMotor™. It gives the 4 bit status of
either serial port channels 0 or 1, broken down as follows:
CHN bit 0= 1 if either receive buffer has overflowed
CHN bit 1= 1 if a framing error occurred on either channel
CHN bit 2= 1 if a scan error occurred on either channel
CHN bit 3= 1 if a parity error occurred on either channel
For example, if RCHN returns a 4, it means that a scan error was detected on
channel 0 or channel 1. You cannot tell, however, whether the syntax error was
on channel 0, 1 or both. If you really must know, you would issue RCHN0 and
RCHN1, which return the 4 bit status of the individual serial ports.
CHN is read only, but cannot be assigned to a variable. It can be reported
through RCHN, PRINT(CHN,#13) and PRINT1(CHN,#13) as well.

79
 CHN (continued)
Combined Communications Error Flag

Related Each of the four bits of CHN correspond to one of the four communica-
Commands: tions system status bytes:
Bb Bc= CHN bit 0

Bc Bf= CHN bit 1

Bf Bs= CHN bit 2 AND User Program Scan Error

Bs
Bb= CHN bit 3

CHN0

CHN1

Zs

80
 CHN0
Communications Error Flag (RS-232)

Related APPLICATION: Serial communications control

Commands:
DESCRIPTION: Fetch serial communications channel 0 error event
CHN flags

CHN1 EXECUTION: Immediate

RCHN CONDITIONAL TO: N/A

RCHN0 LIMITATIONS: N/A

RCHN1 REPORT COMMAND: RCHN0

READ/WRITE: Read only

LANGUAGE ACCESS: Expressions and conditional testing

UNITS: Set of 4 binary state bits

RANGE OF VALUES: 0 to 15

TYPICAL VALUES: 0

DEFAULT VALUE: 0

FIRMWARE VERSIONS: 4.00 and higher

DETAILED DESCRIPTION:

CHN0 holds binary coded historical error information regarding the channel 0 com-
munications channel. It gives the 4 bit status of the primary, or channel 0, serial port,
broken down as follows:

CHN0 bit 0= 1 if the primary receive buffer has overflowed

CHN0 bit 1 = 1 if a framing error occurred on channel 0

CHN0 bit 2= 1 if a scan error occurred on channel 0

CHN0 bit 3= 1 if a parity error occurred on channel 0

If RCHN0 returns a 4, it means that a scan error was detected on channel 0. If CHN0
equals zero, no error has been detected since opening the channel.

CHN0 is read only, but cannot be assigned to a variable. It can be reported through
RCHN0, as already seen, and PRINT(CHN0,#13) and PRINT1(CHN0,#13) as well.

See Examples on follOwing page:

81
 CHN0 (continued)
Communications Error Flag (RS-232)

Related Example:
Commands:
The host transmitted A=100 but the serial port actually received K=100
CHN then tried to execute K=100
PRINT(CHN0) 'responds to host with 4
CHN1
'since K= is invalid
RCHN
Example: (test individual flags)
RCHN0 IF CHN0&4
PRINT("HOST CHANNEL - scan error occurred")
RCHN1 ELSEIF CHN0&1
PRINT("HOST CHANNEL - buffer overflow")
ENDIF

Example: (test all flags)

IF CHN0
PRINT("SERIAL ERROR !!")
ENDIF

82
 CHN1
Communications Error Flag (RS-485)

Related APPLICATION: Serial communications control

Commands:
DESCRIPTION: Fetch serial communications channel 1 error event
CHN flags
CHN0 EXECUTION: Immediate
RCHN CONDITIONAL TO: N/A
RCHN0 LIMITATIONS: N/A
RCHN1 REPORT COMMAND: RCHN1
READ/WRITE: Read only
LANGUAGE ACCESS: Expressions and conditional testing
UNITS: Set of 4 binary state bits
RANGE OF VALUES: 0 to 15
TYPICAL VALUES: 0
DEFAULT VALUE: 0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
CHN1 holds binary coded historical error information regarding the channel 1 com-
munications channel. It gives the 4 bit status of the channel 1 serial port, broken down
as follows:
CHN1 bit 0= 1 if the primary receive buffer has overflow
CHN1 bit 1= 1 if a framing error occurred on channel 0
CHN1 bit 2= 1 if a scan error occurred on channel 0
CHN1 bit 3= 1 if a parity error occurred on channel 0
If RCHN1 returns a 4, it means that a scan error was detected on channel 1. If CHN1
equals zero, no error has been detected since opening the channel.
CHN1 is read only, but cannot be assigned to a variable. It can be reported through
RCHN1, as already seen, and PRINT(CHN1,#13) and PRINT1(CHN1,#13) as well.
See Examples on Following Page

83
 CHN1 (continued)
Communications Error Flag (RS-485)

Related Example:
Commands:
Host transmitted A=100 but the serial port actually received K=100 then tried to
CHN execute K=100
PRINT(CHN1) 'responds to host with 4
CHN0
'since K= is invalid
RCHN
Example: (test individual flags)
RCHN0 IF CHN1&4
PRINT("CHANNEL 1 - scan error occurred")
RCHN1 ELSEIF CHN1&1
PRINT("CHANNEL 1 - buffer overflow")
ENDIF

Example: (test all flags)

IF CHN1
PRINT("CHANNEL 1 SERIAL ERROR !!")
ENDIF

84
 CLK
Hardware Clock Variable

Related APPLICATION: Hardware clock access

Commands:
DESCRIPTION: Value of free running firmware clock
RCLK
EXECUTION: Incremented once each PID sample
WAIT
CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT COMMAND: RCLK
READ/WRITE: Read only
LANGUAGE ACCESS: Expressions and conditional testing
UNITS: Number
RANGE OF VALUES: 0 to 2147483647
TYPICAL VALUES: Sequential
DEFAULT VALUE: 0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
CLK is an independent, free running, read write counter. It is reset to zero upon a
hardware or software reset, and it increments once per PID cycle. The default PID
rate produces ~4069 samples per second, so there are roughly four CLK ticks per
millisecond at PID1. If the PID sample is modified by PID2, PID4 or PID8, the amount
of time associated with one CLK tick will increase by 2x, 4x or 8x, respectively. The
user may also assign a value to this counter at any time. CLK is 31 bits in size and
will roll over (return to zero) at value 2,147,483,647, which corresponds to 4.13 days
at PID1.

Example 1:
The following two examples perform the same function, pause for one second:
WAIT=4069 'Pause for one sec
CLK=0 'Initialize clock
WHILE CLK<4069 'Loop one sec
LOOP

85
 CLK (continued)
Hardware Clock Variable

Related The advantage of the second example is that you could write code within the WHILE
Commands: loop to execute during the pause.
RCLK
Example 2:
WAIT
CLK increments more slowly at PID2 than PID1 etc.
To most easily see the effect, load and run the following code.
PID1
a=5
WHILE a
a=a-1
CLK=20
WHILE CLK<4089 LOOP 'note nested whiles are permitted
PRINT("PID1",#13)
LOOP
a=5
PID2
WHILE a
a=a-1
CLK=20
WHILE CLK<4089 LOOP
PRINT("PID2",#13)
LOOP
PID4
a=5
WHILE a
a=a-1
CLK=20
WHILE CLK<4089 LOOP
PRINT("PID4",#13)
LOOP
PID1 'return to PID1
END

86
 CMD
Accept Command Input RS-232

Related APPLICATION: Serial communications control Parameter

Commands:
DESCRIPTION: Set serial communication channel 0 to receive
CMD1
commands
DAT
EXECUTION: Immediate
DAT1
CONDITIONAL TO: N/A
OCHN
LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT STATE: Command channel
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
By default, anything received over the primary serial port is interpreted as a com-
mand. By configuration, however, both the primary and channel 1 serial ports can
treat incoming information as either commands or data. The CMD function tells the
SmartMotor™ to interpret information coming into the primary port as standard com-
mands.
The alternate to CMD is DAT, which causes the SmartMotor to simply store incoming
bytes in the 16 character serial buffer. The characters are read from the buffer with
the GETCHR command, while the LEN function holds the number of characters in
the buffer.
WARINING !! Issuing DAT at the command line will prevent the motor from
responding to any further commands via Com 0 (RS-232 Port) and will essen-
tially lock you out of the motor !!!
It is a good idea to devise a means of invoking CMD via I/O or specific serial data if
you use data mode.

See next Page for Examples.

87
 CMD (continued)
Accept Command Input RS-232

Related Example: (using the default host channel)

Commands: PRINT(#13,"Default mode is CMD")
PRINT(#13,"Issuing DAT")
CMD1 DAT
PRINT(#13,"Issuing a=GETCHR")
DAT PRINT(#13,"Use SMI to send RP command",#13)
DAT1 a=GETCHR
b=GETCHR
OCHN c=GETCHR
PRINT(#13,"Received ASCII ",a)
PRINT(#13,"Received ASCII ",b)
PRINT(#13,"Received ASCII ",c)
PRINT(#13,"Issuing CMD")
CMD
IF a==82 GOTO10 ENDIF 'validate user command
IF b==80 GOTO10 ENDIF 'sent via SMI
IF c==32 GOTO10 ENDIF
PRINT(#13,"Use SMI to send RP command")
PRINT(#13,"You should see a motor response",#13)
END
C10
PRINT(#13,"PROGRAM DID NOT RECEIVE RP COMMAND")
PRINT(#13,"PROGRAM ABORTING",#13)
END

88
 CMD1
Accept Command Input RS-485

Related APPLICATION: Serial communications control

Commands:
DESCRIPTION: Set serial communication channel 1 to receive
CMD commands

DAT EXECUTION: Immediate

DAT1 CONDITIONAL TO: N/A

OCHN LIMITATIONS: N/A

REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT STATE: Command channel
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
By default, anything received over the secondary serial port is interpreted as a com-
mand. By configuration, however, channel 1 serial port can treat incoming information
as either commands or data. The CMD1 function tells the SmartMotor™ to interpret
information coming into the channel 1 port as commands.
The alternate to CMD1 is DAT1, which causes the SmartMotor to simply store incom-
ing bytes in the 16 character serial buffer. The characters are read from the buffer
with the GETCHR1 command, while the LEN1 function holds the number of charac-
ters in the buffer. For details about the use of data mode, please refer to the DAT1
command.
WARINING !! Issuing DAT1 at the command line will prevent the motor from
responding to any further commands via Com 1 (RS-485 Port) and will essen-
tially lock you out of the motor !!!
It is a good idea to devise a means of invoking CMD1 via I/O or specific serial data if
you use data mode.
See next page for example:

89
 CMD1 (continued)
Accept Command Input RS-485

Related Example: (using the default channel 1)

Commands: PRINT1(#13,"Default mode is CMD")
PRINT1(#13,"Issuing DAT")
CMD DAT
PRINT1(#13,"Issuing a=GETCHR")
DAT PRINT1(#13,"Use SMI to send RP command",#13)
DAT1 a=GETCHR
b=GETCHR
OCHN c=GETCHR
PRINT1(#13,"Received ASCII ",a)
PRINT1(#13,"Received ASCII ",b)
PRINT1(#13,"Received ASCII ",c)
PRINT1(#13,"Issuing CMD")
CMD1
IF a==82 GOTO10 ENDIF 'validate user command
IF b==80 GOTO10 ENDIF 'sent via SMI
IF c==32 GOTO10 ENDIF
PRINT1(#13,"Use SMI to send RP command")
PRINT1(#13,"You should see a motor response",#13)
END
C10
PRINT1(#13,"PROGRAM DID NOT RECEIVE RP COMMAND")
PRINT1(#13,"PROGRAM ABORTING",#13)
END

90
 CTR
Second Encoder/Step and Direction Counter

Related APPLICATION: External Encoder

Commands:
DESCRIPTION: External encoder counter reading
ENC0
EXECUTION: Updated once each PID sample
ENC1
CONDITIONAL TO: External encoder input signal available
MC
ENC0 and ENC1 commands - see example below
MF
LIMITATIONS: None
MF0
REPORT COMMAND: RCTR
MF1
READ/WRITE: Read only
MF2
LANGUAGE ACCESS: Expressions and conditional testing
MF4
UNITS: Encoder counts
MFR
RANGE OF VALUES: -2147483648 to 2147483647
MS
TYPICAL VALUES: 0
MS0
DEFAULT VALUE: 0
MSR
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
By Default, CTR contains the present value for the secondary encoder (or Step and
Direction) signals. ENC0 and ENC1 determine whether the internal or external inputs
are primary or secondary. ENC0 is the default state. This means that the internal
* Some low cost
encoder will be the primary encoder and Ports A and B will be the source for Phase
SmartMotors™ do
A and B (or Step and Direction) of an external source. Under this condition, CTR will
not have second
contain the position or count value for Ports A and B. Unlike using O=expression for
encoder input capa-
the internal encoder counter, CTR cannot be set to any specific value. It can only be
bility.
set to zero
If you issue MS0, MF0, MF1, MF2, or MF4, CTR will be set to zero and Ports A and B
will be set to receive phase A and B of a standard quadrature encoder. If the external
encoder changes position. RCTR will report that value.
If you issue ENC1, CTR will be set to zero and the sources of CTR and @P will swap.
Now CTR will reflect internal encoder position and @P will reflect external encoder
position.
If you issue ENC0, the sources will swap back to default and again CTR will follow
the external encoder.

MF0 and MS0 will both set CTR to Zero without changing the mode of operation.
(Continued on next page)

91
 Second Encoder/Step and Direction Counter

Related
Commands:
EXAMPLE:
ENC0
To better understand the meaning of CTR; try the following with a SmartMotor™.
ENC1 O=1234 'Set origin to zero
Then issue:
MC RP 'response will be 1234
Then issue:
MF ENC1 'make INTERNAL encoder the source of
MF0 CTR
Then issue:
MF1 RP 'response will be zero
RCTR 'response is also zero 0
MF2 'Physically turn the motor shaft and
'Query the position again
MF4 RP 'response should again be that
MFR 'NON ZERO response obtained before
RCTR 'response is another non zero number
MS ENC0 'return internal motor shaft encoder to
'Normal functioning
MS0
If you have an external encoder, attach it to a SmartMotor and repeat the above
MSR sequence or some similar sequence.

If in gear mode (Mode Follow via MF(n)) and you issue MF0 on the fly, CTR will be
set to zero while trajectory continues without any glitch in movement. This serves two
purposes. One, it gives a means to zero the counter while moving. Two, it allows the
user to prevent Wrap status from occurring should CTR exceed +/-2^31.

92
 D=expression
Set R elative Distance

Related
Commands:
APPLICATION: Trajectory control
A
DESCRIPTION: Relative move distance for position mode
G
EXECUTION: Buffered pending a G command
MP
CONDITIONAL TO: Position mode. See MFR command for alternate
MF1 usage.
MFR LIMITATIONS: Encoder wrap around will produce a position error
P REPORT COMMAND: RD
V READ/WRITE: Read write
LANGUAGE ACCESS: Assignment, expressions and conditional testing
UNITS: Encoder counts
RANGE OF VALUES: -2147483648 to 2147483647
TYPICAL VALUES: N/A
DEFAULT VALUE: 0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The D command
can be used D=expression commands a relative distance move from the present position and will
during gearing be repeated every time a G command is issued. It is a signed value allowing a relative
to implement move in either direction.
Dynamic Phase
Adjust If you command a D move while the motor shaft is moving, its starting point will be
the actual shaft position when the G command is executed. In other words, the D
(See MFR). move will be relative to the reception of the G command on-the-fly. This method will
result in accumulating drift.
The D command
can also be sued To avoid drift, If you issue the command D=100 and then enter the G command
in CAM mode to ten times each after the previous move has completed, you will travel a total of
implement a dwell precisely 1000 counts regardless of any following error at the end of the previous
between CAM moves. The D move starts from where you are supposed to be, regardless of the
cycles. present position error, avoiding the problem of position drift or accumulating errors
over several relative moves.
In downloaded code, you would use the TWAIT command prior to the next G com-
mand. In doing so, the next G will not be issued until the previous trajectory has
completed.
Relative Moves are subject to wrap status. If the next relative move causes the coun-
ter to exceed +/- 2^31 counts, the motor will error out. The following code example
will allow continuous indexing without exceeding maximum count.
Continued on next page

93
 D=expression (continued)
Set Relative Distance

Related Example
Commands:
(Continuous Index Moves with no accumulated error or roll over)
P O=0 'reset origin A=100
'Set Acceleration V=100000
A 'Set Velocity D=20000

V 'Set Relative distance
G MP
'Set to Position Mode
MP WHILE 1 'While Forever.......

MF1 G
'Initiate Index Move
MFR TWAIT 'Wait until Move is Completed

O=0 'Reset Position to Zero

LOOP 'loop back to repeat continuously
END

In the above example, the motor counts will continuously increase to 20000
during each move and then be set back to zero at the end of each move. There
will be no accumulating error because the O=(expression) command accounts
for any following error that may be present after the trajectory has completed.

The D command Phase Offset Moves using the D command.

is also used While in gearing (Mode Follow or Step Mode), the motor will follow an external
during gearing to encoder or pulse and direction signal. The D command allows a move within
implement gearing to adjust the shaft position forward or backwards .
Dynamic Phase
Adjust Suppose the motor is set on Mode follow and is following a conveyor at a
continuous speed of 1000RPM. If the shaft needs to be moved forward 2000
(See MFR). counts, you can enter D=2000, V=(speed relative to machine base), and G and
the motor will move forward in it's gearing trajectory by 2000 counts.
This method may be used for printing alignment on electronic line shafts. It may
also be used for tension control between two motors feeding a product through
nip rollers. Phase offset moves allow for anti-backlash where two motors drive
the same gear or load from the same point. It may also be used for adjustment
and alignment of wide gantries where there may be two X or two Y motors.

94
 DAT
Accept Data Input Only (RS-232)

Related APPLICATION: Serial communications control

Commands:
DESCRIPTION: Set serial communication channel 0 to receive data
CMD
EXECUTION: Immediate
CMD1 CONDITIONAL TO: N/A
DAT1 LIMITATIONS: Applies to Com Channel 0 (main RS-232 Port)
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT STATE: Command channel (See CMD)
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
By default, anything received over the primary serial port is interpreted as a com-
mand. By configuration, however, incoming information can be parsed as general
data instead of actual command data. The DAT applies to the primary Com channel
0 port and will simply store incoming bytes in the 16 character serial buffer without
attempting to execute any of that data. The characters are read from the buffer with
the GETCHR command, while the LEN function holds the number of characters in the
buffer. With proper code writing a custom serial command parser can be created.
Warning: The DAT command should only be used within the context of a downloaded
program with proper code to follow that deals with all incoming serial data from that
point on. If DAT is issued via serial port, you will be immediately locked out of the
motor until next power-up. It is highly recommended to write code that will handle any
incoming data and allow a means to issue CMD command within that code to re-open
standard command mode via serial port.
The following code example is written to parse out incoming data. It specifically
looks for the characters R, P, and (space key) one by one. Each incoming character
is stored into 3 consecutive variables. Then they are compared to the proper ASCII
value to insure they match. If the match, the program prints acknowledgment of it.

See next page for code example

95
 DAT (continued)
Accept Data Input Only (RS-232)

Related Example: (using the default host channel)

Commands: PRINT(#13,"Default mode is CMD")
PRINT(#13,"Issuing DAT")
CMD DAT
PRINT(#13,"Issuing a=GETCHR")
CMD1 PRINT(#13,"Use SMI to send RP command",#13)
a=GETCHR
DAT1 b=GETCHR
c=GETCHR
LEN
PRINT(#13,"Received ASCII ",a)
OCHN PRINT(#13,"Received ASCII ",b)
PRINT(#13,"Received ASCII ",c)
PRINT(#13,"Issuing CMD")
CMD
IF a!=82 GOTO10 ENDIF 'check for "R"
IF b!=80 GOTO10 ENDIF 'check for "P"
IF c!=32 GOTO10 ENDIF 'check for space character
PRINT(#13,"Use SMI to send RP command")
PRINT(#13,"You should see a motor response",#13)
END
C10
PRINT(#13,"PROGRAM DID NOT RECEIVE RP COMMAND")
PRINT(#13,"PROGRAM ABORTING",#13)

96
 DAT1
Accept Data Input Only (RS-485)

Related APPLICATION: Serial communications control

Commands:
DESCRIPTION: Set serial communication channel 1 to receive data
CMD EXECUTION: Immediate
CMD1 CONDITIONAL TO: N/A
DAT LIMITATIONS: Applies to Com Channel 1 (Alternate RS-485 Port)
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT STATE: Command channel
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
By default, anything received over the secondary serial port is interpreted as a com-
mand. By configuration, however, incoming information can be parsed as general data
instead of actual command data. The DAT1 applies to the secondary Com channel
1 port and will simply store incoming bytes in the 16 character serial buffer without
attempting to execute any of that data. The characters are read from the buffer with
the GETCHR1 command, while the LEN1 function holds the number of characters
in the buffer. With proper code writing a custom serial command parser can be cre-
ated.
Warning: The DAT1 command should only be used within the context of a down-
loaded program with proper code to follow that deals with all incoming serial data from
that point on. If DAT1 is issued via serial port, you will be immediately locked out of
the motor until next power-up. It is highly recommended to write code that will handle
any incoming data and allow a means to issue CMD1 command within that code to
re-open standard command mode via serial port.
The following code example is written to parse out incoming data. It specifically
looks for the characters R, P, and (space key) one by one. Each incoming character
is stored into 3 consecutive variables. Then they are compared to the proper ASCII
value to insure they match. If the match, the program prints acknowledgment of it.
See next page for code example

97
 DAT1 (continued)
Accept Data Input Only (RS-485)

Related Example: (using the secondary com channel 1)

Commands:

CMD PRINT1(#13,"Default mode is CMD1")

PRINT1(#13,"Issuing DAT1")
CMD1 DAT1
PRINT1(#13,"Issuing a=GETCHR1")
DAT1 PRINT1(#13,"Use SMI to send RP command",#13)
a=GETCHR1
LEN b=GETCHR1
c=GETCHR1
OCHN PRINT1(#13,"Received ASCII ",a)
PRINT1(#13,"Received ASCII ",b)
PRINT1(#13,"Received ASCII ",c)
PRINT1(#13,"Issuing CMD1")
CMD1
IF a!=82 GOTO10 ENDIF 'check for "R"
IF b!=80 GOTO10 ENDIF 'check for "P"
IF c!=32 GOTO10 ENDIF 'check for space character
PRINT1(#13,"Use SMI to send RP command")
PRINT1(#13,"You should see a motor response",#13)
END
C10
PRINT1(#13,"PROGRAM DID NOT RECEIVE RP COMMAND")
PRINT1(#13,"PROGRAM ABORTING",#13)
END

98
 DEFAULT
Switch-Case Structure Element

Related APPLICATION: Program execution control

Commands:
DESCRIPTION: Default for SWITCH program control block
BREAK EXECUTION: Immediate
CASE CONDITIONAL TO: N/A
ENDS LIMITATIONS: Must reside within a SWITCH and ENDS structure
SWITCH REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: N/A
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
DEFAULT allows controlled code execution in a SWITCH structure for non-CASE
evaluated results. In the following example, DEFAULT is used when no VASE can be
executed for the value of "x".
EXAMPLE 1:
SWITCH x
CASE 1
PRINT("x=1",#13)
BREAK
CASE 2
PRINT("x=2",#13)
BREAK
CASE 3
PRINT("x=3",#13)
BREAK
DEFAULT
PRINT("x does not equal 1, 2 or 3,#13)
BREAK

ENDS

The first line, SWITCH x, lets the SmartMotor™ know that it is checking the value of
the variable x. The second line, CASE 1:, begins the section of code that tells the
SmartMotor what to do if x is equal to 1. Similarly, the 8th line, CASE 3:, tells what to
do if x=3. Finally, DEFAULT, tells what to do if none of the CASE's match the value of
the x.

99
 DEFAULT (continued)
Switch-Case Structure Element

Related If no CASE number equals the value of the SWITCH expression and there is no
Commands: DEFAULT case, program execution passes through the SWITCH control block
to the ENDS statement without explicitly performing any commands.
BREAK
There can only be one DEFAULT statement per SWITCH control block.
CASE
DEFAULT is not a valid terminal command, it is only valid within a user pro-
ENDS gram.
SWITCH Example 2:
a=20
WHILE a
SWITCH a-12
CASE -4 PRINT("-4 ") BREAK
CASE -3 PRINT("-3 ") BREAK
CASE -2 PRINT("-2 ") BREAK
CASE -1 PRINT("-1 ") BREAK
CASE 0 BREAK
CASE 1 PRINT("+1 ") BREAK
CASE 2 PRINT("+2 ") BREAK
CASE 3 PRINT("+3 ") BREAK
CASE 4 PRINT("+4 ") BREAK
DEFAULT PRINT("D ")
ENDS
a=a-1

LOOP

The above code example produces the following output:

D D D D +4 +3 +2 +1 -1 -2 -3 -4 D D D D D D D

100
 DIN{port}{channel}
Input Byte From I/O Device

Related APPLICATION: Input control

Commands:
DESCRIPTION: Fetch AniLink digital peripheral input byte
DOUT
EXECUTION: Immediate byte read from IIC link
CONDITIONAL TO: Peripheral input attached to motor
LIMITATIONS: Port= A . . H and Channel= 0 . . 63
REPORT COMMAND: RDIN{Port}{channel}
READ/WRITE: Read only
LANGUAGE ACCESS: Expressions and conditional testing
UNITS: Number
RANGE OF VALUES: 0 to 255
TYPICAL VALUES: 0 to 255
DEFAULT VALUE: 255
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The DIN{Address}{Channel} is used to read the single byte integer value of a
given address and channel from a peripheral I/O device such as the DIO-100
or OPTO-1 digital I/O expansion module. The value is received via the AniLink
communications channel. The "address" parameter must correspond with hard-
ware address jumpers on the peripheral expansion card. The Addresses are
designated as A, B, C, D, E, F, G, or H. The "channel" number, which may be
See Appendix ?
from 0 to 63, is device specific. Typically it is 0 thru 8. See the specific periph-
for greater detail
eral user manual for specific details.
and information
about expanding DIN{address}{channel} returns an unsigned 8 bit value, ranging from 0 to 255.
the SmartMotor™ If the specified card or connection is not present, the function will return a value
I/O using AniLink of 255.
chip sets. Example 1: (reading the first 8 inputs of an OPTO-1 on Address A)
x=DINA0 'Assign first 8 inputs to "x"

Example 2: (reading the second 8 inputs of an OPTO-1 on Address A)

x=DINA1 'Assign second 8 inputs to "x"

Example 3: (reading the third input bit of an OPTO-1 on Address A)

x=DINA0 & 4 'Assign second 8 inputs to "x"

101
 DOUT{port}{channel}{expression}
Output Byte to I/O Device

Related APPLICATION: Input control

Command:
DESCRIPTION: Output byte to Anilink digital peripheral
DIN
EXECUTION: Immediate byte write to IIC link
CONDITIONAL TO: Peripheral output attached to motor
LIMITATIONS: Port = A . . H and Channel = 0 . . 63
REPORT COMMAND: N/A
READ/WRITE: Write only
LANGUAGE ACCESS: Assignment to output peripheral only
UNITS: Number
RANGE OF VALUES: 0 to 255
TYPICAL VALUES: 0 to 255
DEFAULT VALUE: 255
RELATED COMMANDS: DIN
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The DOUT{Address}{channel}, expression command allows eight bits of data to be
NOTE: written to a peripheral I/O device such as the DIO-100 or OPTO-1 digital I/O expan-
8 bit data = sion module. The value is transmitted via the AniLink communications channel. The
Logical AND of "address" parameter must correspond with hardware address jumpers on the periph-
expression with eral expansion card. The Addresses are designated as A, B, C, D, E, F, G, or H. The
255 "channel" number, which may be from 0 to 63, is device specific. Typically it is 0 thru
8. See the specific peripheral user manual for specific details.
DIN{address}{channel} returns an unsigned 8 bit value, ranging from 0 to 255. If the
specified card or connection is not present, the function will return a value of 255.
Example 1: (sending data to the first 8 outputs of an OPTO-1 on Address A)

DOUTA0,255 'Sets first 8 outputs to 1

DOUTA0,0 'Sets first 8 outputs to 0

Example 2: (setting value to specific bit output of an OPTO-1 on Address A)

x=DINA0 'Fist read state of the outputs

DOUTA0,x|4 'Set 3rd bit to 1
DOUTA0,x&251 'Set 3rd bit to 0

102
 E=expression
Set Allowable Position Error

Related Commands
G APPLICATION: Position Error Handling

MP DESCRIPTION: Maximum Allowable Following Error

MV EXECUTION: Immediate. Enforced each PID sample

CONDITIONAL TO: Trajectory in progress
LIMITATIONS: Torque mode has no position error
REPORT COMMAND: RE
READ/WRITE: Read and Write
LANGUAGE ACCESS: Assignment, expressions and conditional testing
UNITS: Encoder counts
RANGE OF VALUES: 0 to 8388607 (23 Bit UNSIGNED Value)
TYPICAL VALUES: 1000
DEFAULT VALUE: 1000
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The E command is used to set the maximum allowable Position Error in encoder
counts. Position Error is the difference between the desired position, at any instant in
time, and the actual position. The SmartMotor™ uses the position error to generate
a torque by means of the PID filter. The more the error or deflection, the more torque
the motor applies in attempt to correct.
E is primarily used as a safety measure, a programmable allowable error beyond
which the motor recognizes it is outside of the domain of control you wish to enforce.
If E=100 is command and a position error of greater than 100 encoder counts occurs,
the motor will be turned off. When the motor is turned off, the Bo (Motor-Off Bit) is
set to 1, and the Be (Position Error Bit) will be set to 1. All closed-loop modes are
bound by this E value. Non-closed loop modes such as Torque Mode, ignore the
value of E.
The amount of Position Error is always proportional to the difference between com-
manded torque and load torque. The higher the commanded speed, the higher the
position error will be. High Accelerations can lead to short duration high spikes in
position error. The value for E should always be high enough to allow for acceleration
and declaration ramps. It may be necessary to increase tuning gains to keep position
error within reasonable limits for good dynamic operation.
Example:
E=1234 'set maximum allowable error to 1234
If the motor dynamically ever exceeds 1234, it fault on Position error immediately.

103
 ECHO
Echo Incoming RS-232 Data

Related APPLICATION: Serial communications control

Commands:
DESCRIPTION: Motor echoes received channel 0 serial
ECHO1
EXECUTION: Immediate
ECHO_OFF
CONDITIONAL TO: N/A
ECHO_OFF1
LIMITATIONS: Applies to Channel 0 (Primary Com Port)
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: Motor defaults to ECHO_OFF (non-echo)
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The ECHO command causes the SmartMotor™ to re-transmit (or echo
out) all serial bytes on the transmit line that were received on the receive
line of the primary comm port. This retransmission occurs when the
SmartMotor reads these bytes from the buffer, regardless of whether
these bytes are command or individual data bytes. ECHO_OFF termi-
nates the echo facility. ECHO can be issued to control a single motor
communicating with a host terminal or any another serial device, as well
as control groups of motors sharing series loop (daisy chain) serial com-
munication lines.
ECHO is required to pass serial bytes though a motor to the next motor
in a multi-drop serial daisy chain setup such as when the Add-A-Motor
cables are used. It is also often used in single motor applications for
transmit verification.

104
 ECHO_OFF
Turn RS-232 Echo Off

Related APPLICATION: Serial communications control

Commands:
DESCRIPTION: Motor does NOT echo received channel 0
ECHO serial characters
ECHO_ON EXECUTION: Immediate
ECHO_OFF1 CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: Motor Defaults to ECHO_OFF (non-echo)
off
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
ECHO_OFF causes the SmartMotor™ channel 0, or primary, comm port
to stop echoing. This is the default power-up state of any SmartMotor. No
incoming channel 0 characters are re-transmitted. The command can
be issued to control a single motor communicating with a host terminal
or any another serial device, as well as control groups of motors sharing
series or parallel serial communication I/O lines.
In order to automatically detect and differentiate between multiple motors
on a serial daisy chain cable, the ECHO state can be alternately turned
on and off to insure addressing is done properly.

Note: It is not possible to maintain communications on a serial chain

without issuing ECHO.

105
 ECHO1
Echo Incoming RS-485 Data

Related APPLICATION: Serial communications control

Commands:
DESCRIPTION: Motor echoes received channel 1 serial
ECHO EXECUTION: Immediate
ECHO_OFF CONDITIONAL TO: N/A

ECHO_OFF1 LIMITATIONS: N/A

REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: ECHO1 is off
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The ECHO1 command causes the SmartMotor™ to re-transmit (or echo out)
all serial bytes on the transmit line that were received on the receive line of the
secondary comm port. This retransmission occurs when the SmartMotor reads
these bytes from the buffer, regardless of whether these bytes are command or
individual data bytes. ECHO_OFF1 terminates the echo facility.
It is important to note that the channel 1 serial port is half-duplex RS485. It
cannot simultaneously send and receive. Thus, when used directly as RS-485,
the ECHO1 command is not recommended.

106
 ECHO_OFF1
Turn RS-485 Echo Off

Related APPLICATION: Serial communications control

Commands:
DESCRIPTION: Motor does NOT echo received serial 1
characters
ECHO
EXECUTION: Immediate
ECHO_OFF
CONDITIONAL TO: N/A
ECHO_OFF1
LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: ECHO is off
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:

ECHO_OFF1 causes the SmartMotor™ channel 1 serial port to stop

echoing. No incoming channel 1 characters are retransmitted. The
command can be issued to control a single motor communicating with
a host terminal or any another serial device, as well as control groups of
motors sharing series or parallel serial communication I/O lines.

107
 ELSE
IF-Structure command flow element

Related APPLICATION: Program execution control

Commands:
DESCRIPTION: Component of IF expression … ELSE ….
ENDIF control block
ELSEIF exp
EXECUTION: Immediate if exercised
ENDIF
CONDITIONAL TO: Value of associated IF expression
IF exp
LIMITATIONS: Must reside with IF expression … ENDIF
program control block
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: N/A
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
An IF expression … ENDIF control block may optionally include an ELSE state-
ment to control execution when none of the test conditions are true. Sup-
pose that you want the SmartMotor™ to do one thing if the variable g=43, and
another if it isn’t.
EXAMPLE:
IF g==43
PRINT("Gee … 43!",#13)
ELSE
PRINT("No 43 for me.",#13)

ENDIF

The first line checks to see if g is equal to 43. If so, the string "Gee … 43!" is
sent out the primary serial port. The ELSE in line 3 tells the SmartMotor what
to do otherwise.
An IF control block can only have, at most, one ELSE. If such an ELSE exists
and the language interpreter evaluates the IF expression to be false (zero) and
there are no ELSEIF statements, then program will branch immediately to the
statement following the ELSE. If there are ELSEIF expression clauses within
the control block, all the ELSEIF clauses must precede the ELSE clause. In
these cases the ELSE clause is only executed in if both the IF expression is
false (zero) and all the ELSEIF expressions are false (zero).

108
 ELSE (continued)
IF-Structure command flow element

Related
Commands:
ELSE is analogous to the DEFAULT case for a SWITCH control block.
ELSEIF exp ELSE is not a valid terminal command, it is only valid within a user
program.
ENDIF
EXAMPLE:
IF exp

a=1 'PRINT("FALSE") is always executed

IF a==2
PRINT("TRUE")
ELSE
PRINT("FALSE")

ENDIF

EXAMPLE:
IF a==1 'only if a is NOT 1, 2, or 3
'will GOSUB5 be executed.
GOSUB2
ELSEIF a==2
GOSUB3
ELSEIF a==3
GOSUB4
ELSE
GOSUB5
ENDIF

109
 ELSEIF
IF-structure command flow element

Related APPLICATION: Program execution control

Commands:
DESCRIPTION: Alternate Evaluation of IF ..ENDIF control block
ELSE EXECUTION: Immediate if exercised
ENDIF CONDITIONAL TO: Value of associated ELSEIF expression

IF exp LIMITATIONS: Must reside with IF expression … ENDIF

program control block
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: N/A
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
An IF expression, ENDIF control block may optionally include any number of
ELSEIF expressions to perform multiple evaluations in a specified order. Sup-
pose that you want the SmartMotor™ to do one thing if the variable g=43,
another if g=43000 and another if g=-2.
EXAMPLE:
IF g==43
PRINT("Gee … 43!",#13)
ELSEIF g==43000
PRINT("43 grand for me."#13)
ELSEIF g==-2
PRINT("2?"#13)

ENDIF

The first line checks to see if g is equal to 43. If so, the string "Gee … 43!" is
sent out the primary serial port and the IF control block terminates. If g is not
43, the program goes on to test if g is 43000. If it is, "43 grand for me." is sent
out the primary serial port and the IF control block terminates. Similarly, if g
is not 43000, the program goes on to test if g is -2. If it is, "-2?" is sent out the
primary serial port and the IF control block terminates.
An IF control block can have multiple ELSEIF statements. If such an ELSEIF
clause exists and the language interpreter evaluates the IF expression to be
false (zero) the program will branch immediately to first ELSEIF expression.

110
 ELSEIF (continued)
IF-structure command flow element

Related If the associated expression is true, then the following clause is exe-
Commands: cuted until an ELSEIF, ELSE or ENDIF is encountered and then execu-
tion branches to the ENDIF of the present IF control block. If the first
ELSE ELSIF clause is not executed, then program execution continues at the
next ELSEIF expression and so on until all the ELSEIF expressions have
ENDIF been tested. In the case all ELSEIFs have false expressions and an
ELSE clause exists that clause will be executed.
IF exp
The ELSEIF statement is similar to the CASE number case for a
SWITCH control block. Note the difference - ELSEIF handles expres-
sions, CASE only handle a fixed number.
ELSEIF is not a valid terminal command, it is only valid within a user
program.
Example:
a=3
IF a==2 'expression will be found false
PRINT("222"
ELSEIF a==3 'expression will be found true
PRINT("333" 'so "3333" will be printed.

ENDIF

Example:
IF a==1 'only if a is NOT 1, 2, or 3
'will GOSUB5 be executed.
GOSUB2
ELSEIF a==2
GOSUB3
ELSEIF a==3
GOSUB4
ELSE
GOSUB5
ENDIF

111
 ENC0
Set/Restore Internal Encoder for Servo

Related APPLICATION: Encoder control

Commands:
DESCRIPTION: Use internal encoder as the primary encoder
CTR
EXECUTION: Immediate
ENC1
CONDITIONAL TO: N/A

LIMITATIONS: N/A

REPORT COMMAND: N/A

READ/WRITE: N/A

LANGUAGE ACCESS: N/A

UNITS: N/A

RANGE OF VALUES: N/A

TYPICAL VALUES: N/A

DEFAULT STATE: ENC0

FIRMWARE VERSIONS: 4.11 and higher

DETAILED DESCRIPTION:

The SmartMotor™ can accept inputs from either the internal integrated encoder or
an external source. ENC0 will cause the SmartMotor to read its position from the
internal encoder, while ENC1 uses the secondary (external) encoder. When ENC0
is active, the external encoder input will be tracked by the CTR variable and @P will
track the internal encoder.

EXAMPLE:
ENC1 'Servo from external encoder
ENC0 'restore default encoder behavior

ENC1 'Servo from external encoder

ENC0 'restore default encoder behavior

112
 ENC1
Select External Encoder for Servo

Related APPLICATION: Encoder selection control

Commands:
DESCRIPTION: Swap internal and external encoder functions.
ENC0
Use external encoder as the primary encoder.

The internal encoder is now associated with CTR

value.

EXECUTION: Immediate

CONDITIONAL TO: External encoder attached to motor

LIMITATIONS: N/A

REPORT COMMAND: N/A

WARNING:
READ/WRITE: N/A
If the ENC1
command is issued LANGUAGE ACCESS: N/A
without an external
encoder connected UNITS: N/A
both electrically to
the A and B inputs RANGE OF VALUES: N/A
and physically to TYPICAL VALUES: N/A
the shaft, and
connected properly, DEFAULT STATE: ENC0
the shaft will run
away with full speed FIRMWARE VERSIONS: 4.11 and higher
and torque. DETAILED DESCRIPTION:
The SmartMotor™ can accept inputs from either the internal integrated
encoder or an external source. The ENC1 command will cause the SmartMotor
to servo from the secondary (external) encoder channel, instead of the internal
encoder. The internal encoder will likewise then be readable by way of the CTR
variable. @P will rack the external encoder. The default mode of operating
from the internal encoder is restored with the ENC0 command.

If the external encoder is not connected or connected wrong, the motor may
run away. If this happens, use the RP command to check the position. If by
rotating the shaft you can change the position, then the encoder is connected,
but the A and B signals likely need to be swapped to reverse the direction
described by the quadrature phasing of the A and B signals.

EXAMPLE:
ENC1 'Servo from external encoder
ENC0 'restore default encoder behavior

113
 END
End Program Code Execution

Related APPLICATION: Program execution control

Commands:
DESCRIPTION: Terminates the user program execution
RCKS
EXECUTION: Immediate
Rv
CONDITIONAL TO: Valid whether issued by host or user program
RUN
LIMITATIONS: N/A
RUN?
REPORT COMMAND: N/A
UP
READ/WRITE: N/A
UPLOAD
LANGUAGE ACCESS: N/A
Z
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: N/A
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
END terminates execution of a user program if running. END may be issued via
serial communications channels or from within the user program itself. Each program
must have a minimum of at least one END statement. The windows interface SMI
scanner will not compile a source file without at least one END present. END only
terminates the user program and internally resets the program pointer to the begin-
ning of the program; no other state, variable, mode, or trajectory is affected.
The SMI program provides a speed bar button to send END. This is especially useful
when something prevents the user from fully typing END at the terminal screen.
Example:
IF Be END ENDIF 'terminate user program
'upon position error

Note: All PLS firmware Motors automatically issue END upon receiving any of the
following error conditions:
Be (Position Error)
Bl (Left Travel Lmit)
Br (Right Travel Limit)
Bh (Over Temperature/RMS Over Current)
Please consult PLS firmware documentation for more details and options around
this.

114
 ENDIF
End IF Statement

Related Command: APPLICATION: Program execution control

IF exp DESCRIPTION: IF expression … ENDIF control block terminator
ELSE EXECUTION: N/A
ELSEIF exp CONDITIONAL TO: There must exist a corresponding IF expression
LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: N/A
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:

Every IF Each control block commencing with IF expression … must have a corresponding
structure must ENDIF block exit statement. The program statement following ENDIF is the common
be terminated with exit point branched to upon processing the IF … ENDIF control block regardless of
an ENDIF the execution path thought the control block at run time. There can only be one ENDIF
statement for each IF statement. The common exit point following ENDIF is branched
to upon the following:
1. Processing a true IF expression clause and encountering ELSEIF,
ELSE, or ENDIF.
2. Processing a true ELSEIF expression and encountering another
ELSEIF, ELSE, or ENDIF.
3. Processing an ELSE expression and encountering ENDIF.
4. If all IF and ELSIF expressions are false and there no ELSE
clause.
ENDIF is not a valid terminal command, it is only valid within a user program.
Example:
IF a==1
PRINT("ok",#13)
ENDIF
PRINT("EXIT",#13)

115
 ENDS
End SWITCH Statement

Related Command: APPLICATION: Program execution control

CASE number DESCRIPTION: SWITCH expression … ENDS control block
terminator
DEFAULT
EXECUTION: N/A
SWITCH exp
CONDITIONAL TO: a corresponding SWITCH expression
LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: N/A
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
Each SWITCH expression must have a corresponding ENDS block exit statement.
Any program statement immediately following ENDS is the common exit point
branched to upon processing the SWITCH . . . ENDS control block regardless of
execution path through the control block at run time. There can only be one ENDS
statement for each SWITCH statement.
The common exit point following ENDS is branched to upon the following:
1. Upon encountering a BREAK
2. Upon encountering ENDS
3. The SWITCH expression value is not equal to any CASE number
value and there is no DEFAULT statement label for the control block.
ENDS is not a valid terminal command, it is only valid within a user program.
EXAMPLE :
SWITCH x
CASE 1 PRINT("x=1",#13) BREAK
CASE 2 PRINT("x=2",#13) BREAK
CASE 3 PRINT("x=3",#13) BREAK
ENDS
'This is the exit point for SWITCH...ENDS code block

116
 EPTR=expression
Set Data EEPROM Pointer

Related APPLICATION: EEPROM Data storage control

Command:
DESCRIPTION: Set user data EEPROM pointer
VST
EXECUTION: Immediate
VLD
CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT COMMAND: None
READ/WRITE: Write only. EPTR auto incriminated as used
LANGUAGE ACCESS: Assignment only
UNITS: EEPROM Address pointer
RANGE OF VALUES: 0 to 7999 <= v4.13, 0-32000 >= v4.15
TYPICAL VALUES: 0 to 32000
DEFAULT VALUE: 0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
EPTR sets the address location (pointer) within the Nonvolatile used data
EEPROM for the data retrieval read VLD(variable, number) function and data
storage write VST(variable, number) function. The EPTR value is write only,
once it is set, EPTR auto-increments by 1, 2, or 4 with each read or write
access to the physical EEPROM device according to the present data type.
Example:
EPTR=4000 'set EPTR = 4000
VST(hh,1) 'store a 32 bit value
'EPTR is now 4004
VST(ab[7]) 'store an 8 bit value
'EPTR is now 4005
VST(aw[7]) 'store a 16 bit value
'EPTR is now 4007
VST(x,3) 'Store 3 consecutive variables, x,y,z
'EPTR is now 4007+(3*4) or 4019
VST(x,4) 'INVALID !!! EPTR remains 4019 !!!
Note: You cannot store consecutive variables past their group range. In other
words, you can store any consecutive variables a-z or aa-zz or aaa-zzz within
their groups only.

VST(aa,26) 'Perfectly Valid !!!

VST(aa,27) 'INVALID !!!

117
 ES400
Set EPROM Read/Write Speed

Related Command: APPLICATION: EEPROM Read write Control

ES1000 DESCRIPTION: Set EEPROM read write rate to 400kz
EXECUTION: Immediate
CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT COMMAND: None
READ/WRITE: None
LANGUAGE ACCESS: N/A
UNITS: Bits per sec
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: 1000
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
ES400 controls the transmit and receive bit rate while communicating between the
EEPROMS and the microprocessor. There are two settings ES400 and ES1000.
ES1000 is the preferable higher data transfer rate for read and writing user programs
and data, and is the default data rate of version 4 and later SmartMotors™ and later.
The ES400 command is used with older EEPROMs. If you have an "older" EEPROMs
and SmartMotors of differing versions, you may wish to consider upgrading the
EEPROMS.
Note: The following applies to units prior to year 2000.
If you get an "F,"or failure, response to the RCKS command (report program check-
sum) following a program download, you may wish to issue an ES400 command from
the terminal and try again. If RCKS now passes, you may have a slow EEPROM.
In some cases you may need to make ES400 the first program statement within a
program, but as the command controls the speed at which the memory is read, the
command really has little value in a program, and you may wish to consider upgrading
the EEPROM.

118
 ES400 (continued)
Set EPROM Read/Write Speed

Related Example:
Command:
The following simple test program may well abort if ES400 is unreliable.
ES1000 PRINT("TEST ES400 & ES1000")
a=1000
WHILE a
a=a-1
ES400 'slower data rate
PRINT(#13,"ES400 ",a)
GOSUB5
ES1000 'faster data rate
PRINT(#13,"ES1000 ",a)
GOSUB5
LOOP
PRINT(#13,"TEST RAN TO COMPLETION")
PRINT(#13,"NO DATA ERROR DETECTED")
END
C5
WAIT=100
c=a
b=a
IF c!=b
PRINT("DATA PROBLEM - ABORT TEST")
ENDIF
RETURN 'add many GOTO10 statements here
GOTO10 'to fill up your program EEPROM
C10
PRINT(#13,"PROGRAM POINTER ERROR - ABORT TEST")
END

119
 ES1000
Set EPROM Read/Write Speed

Related Command: APPLICATION: EEPROM Read write Control

ES400 DESCRIPTION: Set EEPROM read write rate to 1000kz

EXECUTION: Immediate

CONDITIONAL TO: N/A

LIMITATIONS: EEPROM Read Write Capability

REPORT COMMAND: None

READ/WRITE: None

LANGUAGE ACCESS: N/A

UNITS: Bits per sec

RANGE OF VALUES: N/A

TYPICAL VALUES: N/A

DEFAULT VALUE: 1000

FIRMWARE VERSIONS: 4.00 and higher

DETAILED DESCRIPTION:

ES1000 controls the transmit and receive bit rate while communicating between the
EEPROMS and the microprocessor. There are two settings - ES400 and ES1000.
ES1000 is the preferable higher data transfer rate for read and writing user programs
and data, and is the default data rate of version 4 SmartMotors™ and later. The ES400
command is used with older EEPROMs. If you have an "older" EEPROMs and Smart-
Motors of differing versions, you may wish to consider upgrading the EEPROMs.

Note: the following applies to units prior to year 2000:

If you get an "F,"or failure, response to the RCKS command (report program check-
sum) following a program download, you may wish to issue an ES400 command from
the terminal and try again. If RCKS now passes, you may have a slow EEPROM.
In some cases you may need to make ES400 the first program statement within a
program, but as the command controls the speed at which the memory is read, the
command really has little value in a program, and you may wish to consider upgrading
the EEPROM.

120
 ES1000 (continued)
Set EPROM Read/Write Speed

Related
Command:
Example:
ES400
The following simple test program may well abort if ES1000 is unreliable.
PRINT("TEST ES400 & ES1000")
a=1000
WHILE a
a=a-1
ES400 'slower data rate
PRINT(#13,"ES400 ",a)
GOSUB5
ES1000 'faster data rate
PRINT(#13,"ES1000 ",a)
GOSUB5
LOOP
PRINT(#13,"TEST RAN TO COMPLETION")
PRINT(#13,"NO DATA ERROR DETECTED")
END
C5
WAIT=100
c=a
b=a
IF c!=b
PRINT("DATA PROBLEM - ABORT TEST")
ENDIF
RETURN 'add many GOTO10 statements here
GOTO10 'to fill up your program EEPROM
C10
PRINT(#13,"PROGRAM POINTER ERROR - ABORT TEST")
END

121
 F
Load PID Filter

Related APPLICATION: Amplifier control

Command:
DESCRIPTION: Load buffered PID filter values into PID filter
HA
EXECUTION: Next PID sample
KD
CONDITIONAL TO: N/A
KG LIMITATIONS: N/A
KI REPORT COMMAND: N/A
KL READ/WRITE: N/A
KP LANGUAGE ACCESS: N/A
KS UNITS: N/A
KV RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: N/A
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The servo tuning parameters, KA, KD, KG, KI, KL, KP, KS, and KV, are all buffered
parameters. These parameters, once requested, take effect only when the F com-
mand is issued. This allows several parameters to be change at one time, without
intermediate tuning states causing disruptions. Tuning parameters can be changed
during a move profile, although caution is urged.
A default set of tuning parameters is in effect at power up or reset, but are optimized
for an unloaded shaft. Different motor sizes have different optimal PID default gain
values.
EXAMPLE:
KP=100 'initialize KP to a some value
F 'load into present PID filter
G 'start motion
WAIT=40000
KP=KP+10 'increment the present KP gain value`:
F 'change into filter END

122
 F=expression
Motor Function Control

Related Command: APPLICATION: Motor Function control

None DESCRIPTION: Miscellaneous commands

EXECUTION: Immediate
CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT COMMAND: RF
READ/WRITE: Write only
LANGUAGE ACCESS: Assignment only
UNITS: Number
RANGE OF VALUES: 0 to 15
TYPICAL VALUES: 0
DEFAULT VALUE: 0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
F=value sets various functions or operational conditions of the motor. The value is Bit-
weighted meaning that each binary bit is a on or off state for that particular function. As
a result, it is also bit additive meaning that to turn on or off any selected function the
appropriate bits must be set to 1 or 0. F is not assignable or readable. If you wish to
rack it's value a shadow variable may be used.
Example: x=2
F=x
x=2& 8
F=x
This allows you to keep track of the functions that are enabled or disabled via the F
command.
The following page covers a description of each function.

123
 F=expression (continued)
Motor Function Control
F=1 Decelerate to stop on limit switch input (as opposed to just
Related turning off)
Command:
F=2 * Invert Commutation (Changes Shaft rotation)
None

F=4 Any Report commands transmit to Com 1 only. (Use with

Extreme Caution)

F=8 Clear PID integral term at trajectory-end to avoid possible

slow settling

F=16 * Mode Cam positions are relative for each re-entry into CAM
table (from either direction)

F=32 * GOSUB1 is issued under motor fault condition

C1 can not be called again prior to receiving a RETURNF

F=64 * GOSUB2 is issued on user input G transition from high to low

C2 can not be called again prior to receiving a RETURNI

F=128 * Internal Slave Counter = base + dwell modulo while in CAM Mode

F=256 * Set T.O.B. to be active for entire move profile.

F=512 * Suppress T.O.B. until Slew Velocity has been reached

F=1024 * Enables Port G to Index trigger latch function (only in

SM2316D/DT >=4.93 firmware)
* Note: Only Applies to >=v4.77 only……..
Warning: C1 has priority over C2. C1 can be activated when in C2.
The F value can be changed on the fly while in an Interrupt subroutine to change
its effect. An example would be turning off the G interrupt once in C2 to prevent
any subsequent calls.
F Command is Binary Bit flag additive:
Example: F=21 would break down to F=(16+4+1). Motor would run CAM Mode
relative, redirect print statements to port 1, and decelerate on limits.

124
 F=expression (continued)
Motor Function Control

Related Example using F=32 for Interrupt driven Fault routine

Command: F=32 'Enable C1 Fault routine

None MV 'Set to Velocity Mode

V=10000 'Set Speed
A=100 'Set Acceleration
G 'Start moving in Velocity Mode

END

C1 ' Fault Routine (Gets called on any of the following

faults)
IF Be ' Checking for error status bits
PRINT(" Position Error",#13)
ENDIF
IF Bh
PRINT(" Over Temp Error",#13)
ENDIF
IF Bi
PRINT(" Over Current Error",#13)
ENDIF
IF Bl
PRINT(" Left/Positive Travel Limit Error",#13)
ENDIF
IF Br
PRINT(" Right/Negative Travel Limit Error",#13)
ENDIF
WHILE 1 'Wait for Motor Reset
IF r==1 'If host sends r=1 via serial port
ZS 'Reset the motor
ENDIF
IF UAI==0 'If Input A gets rounded
ZS 'Reset the motor
ENDIF
LOOP
RETURNF 'Return form Fault routine

Example using F=64 for Port G, C2 interrupt subroutine call

F=64 'Enable Port G interrupt routine

END
C2 ' Port G interrupt Routine
PRINT(" Port G was grounded",#13)
RETURNI ' Return from Input Trigger

Example using F=64 for C2 subroutine call and F=1024 Index Re-direct for posi-
tion capture

F=64+1024 'Enable Port G interrupt routine and Index Capture

Re-direct
END
C2 ' Port G interrupt Routine
PRINT(" Port G was grounded",#13)
PRINT(" Position captured at:",I,#13)
RETURNI 'Return from Input Trigger

125
 G
Start Motion (GO)

Related APPLICATION: Trajectory control, Parameter Update

Command:
DESCRIPTION: Initiate or change trajectory parameters.
A
EXECUTION: Next PID sample
D
CONDITIONAL TO: Clearing of prior errors (in PLS firmware only)
E
LIMITATIONS: N/A
MC
REPORT COMMAND: N/A
MD
READ/WRITE: N/A
MFR
LANGUAGE ACCESS: N/A
MP
UNITS: N/A
MV
RANGE OF VALUES: N/A
P
TYPICAL VALUES: N/A
UG
DEFAULT VALUE: N/A
UGI
FIRMWARE VERSIONS: ALL
UGO
DETAILED DESCRIPTION:
V
The G command stands for "Go" and is used to start motion or update buffered val-
ues such as Speed or acceleration.

A "G" command is required in each of the following cases:

1. Initiate an Absolute Move in Mode Position (MP)

V=10000 A=100 P=1234 MP G

2. Initiate a Relative Move in Mode Position (MP)

V=10000 A=100 D=4000 MP G

3. Initiate a Velocity in Mode Velocity (MV)

V=10000 A=100 MV G

4. Change to a new Velocity in Mode Position (MP) or Mode Velocity (MV)

V=10000 A=100 MV G WAIT=1000 V=V*2 G

5. Change to a new Acceleration in Mode Position (MP) or Mode Velocity (MV)

V=10000 A=100 MV G WAIT=1000 A=A*2 G

6 Initiate/Change an Electronic Gear Ratio in Mode Follow with Ratio (MFR),

MF0 MFMUL=1 MFDIV=10 MFR G

7 Initiate/Change an Electronic Gear Ratio in Mode Step with Ratio (MSR),

MF0 MFMUL=1 MFDIV=10 MSR G

8. Initiate Cam Mode (MC) :

MF0 MC1 G 126
 G (continued)
Start Motion (GO)

Related 9. Begin Host Mode (MD).motion prior to filling all buffered data slots.
Command:
(See Users Guide for Host Mode)
A
10. Initiate a phase Offset Move while in Electronic Gear Ratio in either Mode-
D Follow or Mode-Step
E MF0 MFMUL=1 MFDIV=10 MFR G WAIT=2000 D=2000 V=100 G
MC On Power-Up, the Motor defaults to the Off state with MP (Mode Position buffered
MD in with no Velocity or Acceleration values. As a result, if G is issued the motor will
immediately servo in place.
MFR Mode Follow (MS1, MF1, MF2 and MF4), Mode Step (MS), Mode Torque (MT),
MP and Amplifier Mode (MD50) are immediately active, they do not wait for any G com-
mand.
MV
If a G command is transmitted and no motion results, any of the following may be
P the cause:
UG
• E=0 or too small
UGI
• A=0 or 1
UGO
• V=0 or so small motion is not visible to naked eye
V • Target position equals present position
• D=0
• Bh=1 the motor is hotter than max permitted temperature TH
• AMPS=0 or too small
• T=0 or too small
• Motor is in Torque Mode
• LIMD is in effect and the "wrong" limit input switch is active
• Issued MF0 or MS0 instead of MFn or MS
• External encoder signal not present or not changing (in follow modes)
• Motor is part of a daisy chain that hasn't been properly set up
• Serial communications are good but target motor is not addressed
• Serial communications at incorrect baud rate
• Serial communications cable not attached or poorly connected
• Motor has no drive power
• Motor has a prior fault that needs to be cleared first (PLS firmware)
• Motor has no connections to limit switch inputs on boot-up and therefor has
travel limit fault (PLS firmware)

127
 G (continued)
Start Motion (GO)

Related Command:
A
D
E
MC Example:
MD A=100 'Set buffered Acceleration
V=10000 'Set buffered Velocity
MFR P=1000 'Set buffered Position
MP 'Set buffered Position Mode
MP
G 'load buffered move, Start Motion
MV
To servo in place:
P P=@P 'Set buffered position equal to actual position
G 'Servo in place
UG
The execution time for G command varies with the computational burden of the mode
UGI or on the fly move. In the some cases, the G command computation may take longer
UGO than expected, and may result in motion profiles of poor quality or erroneous move-
ment. This can happen in very tight loops that don't allow the G command to fully
V process with each cycle, such as the following:
Example:
C10 'Place a label
P=CTR 'Set position equal to CTR
G 'Issue GO command
GOTO10 'Loop back to label

This type of code practice is not recommended because it forces a re-calculation over
and over again and will cause abrupt jerks or small glitches in the move profile.

128
 GETCHR
Get Character from main RS-232

Related APPLICATION: Serial communications control

Command:
DESCRIPTION: Fetch next character in channel 0 serial
GETCHR1 input buffer
LEN EXECUTION: Immediate

LEN1 CONDITIONAL TO: Requires that a character is in the buffer

OCHN LIMITATIONS: Must check if LEN>0 before using

REPORT COMMAND: N/A
READ/WRITE: Read only
LANGUAGE ACCESS: Expressions and conditional testing
UNITS: N/A
WARNING:
RANGE OF VALUES: N/A
The OCHN
command will TYPICAL VALUES: N/A
cause the
DEFAULT VALUE: N/A
SmartMotor to
ignore incomming FIRMWARE VERSIONS: ALL
commands and can
lock you out. It is DETAILED DESCRIPTION:
a good idea to use GETCHR reads and removes the next available character in the channel
the RUN? 0 serial receive buffer. It is absolutely necessary to check that LEN>0
command during before issuing the GETCHR command.
development. If
you get locked out, Normally, the SmartMotor™ interprets incoming RS-232 data as com-
you can recover by mands. Sometimes, it is useful to prevent that from happening and
sending two capitol instead, write a custom command interpreter. This is accomplished by
E's during the first re-opening the input channel in data mode with the OCHN command.
1/2 second after
power up. This will
Example:
C20 'Place a label
cause the motor to IF LEN>0 'Check to see that LEN>0
abort its program c=GETCHR 'Get character from buffer
and give you a IF c==69 'Check to see if it is an E
chance to download END 'End the program
a better one. The ENDIF
terminal software ENDIF
has utilites to do GOTO20 'Loop back to C20
this.

129
 GETCHR1
Get Character From RS-485

Related Command: APPLICATION: Serial communications control

GETCHR DESCRIPTION: Fetch next character in channel 1 serial input buffer
LEN EXECUTION: Immediate
LEN1 CONDITIONAL TO: Requires that a character is in the buffer
OCHN1 LIMITATIONS: Must check if LEN1>0 before using
REPORT COMMAND: N/A
READ/WRITE: Read only
LANGUAGE ACCESS: Expressions and conditional test
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: N/A
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
GETCHR1 reads and removes the next available character in the channel 1
serial receive buffer. It is absolutely necessary to check that LEN1>0 before
issuing the GETCHR1 command.
Sometimes, it is useful to be able to accept special commands and/or data
over the RS-485 port such as might come from a light curtain or a bar code
reader. This is accomplished by opening the input channel in data mode with
the OCHN1 command.

Example:

C20 'Place a label

IF LEN1>0 'Check to see that LEN>0
c=GETCHR1 'Get character from buffer
IF c==69 'Check to see if it is an E
END 'End the program
ENDIF
ENDIF
GOTO20 'Loop back to C20

130
 GOSUB{number}
Subroutine Call

Related Command: APPLICATION: Program execution control

C{number} DESCRIPTION: Perform subroutine beginning at Cnumber
GOTO{number} EXECUTION: Immediate
STACK CONDITIONAL TO: C number previously defined
LIMITATIONS: GOSUB0 to GOSUB999
nesting msut be <=6 levels deep !!!
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: N/A
FIRMWARE VERSIONS: ALL

DETAILED DESCRIPTION:

The GOSUB{number} command redirects program execution to a subroutine of the

program marked with a label C{number}. The end of every subroutine is marked
by the RETURN statement, which causes execution to return to the line following
the corresponding GOSUB{number} command. Subroutines may call further sub-
routines; this is called nesting. There may be as many as a thousand GOSUBs but
they may be nested only up to six deep. A subroutine may call itself, which is called
recursion but is highly discouraged because it can lead to a stack overflow or nest-
ing limit. A counter, conditional test or some other scheme can prevent exceeding
the nesting limit.

The STACK control flow command explicitly and deliberately destroys the RETURN
Subroutines address history. Thus, if you issue STACK, take care that the program execution
present a great does not encounter a RETURN before the next GOSUB.
opportunity to
The GOSUB command is valid from both the serial channels and within the a user
partition and
organize your program. Do not, however, issue GOSUB{number} unless the corresponding
code. C{number} label exists within the stored program. Otherwise you willg et a memory
pointing error.

Note: If an attempt to issue a nonexistent GOSUB call is done via serial port, the
motor will respond with "+/-" which basically means a memory error.

131
 GOSUB{number} (continued)
Subroutine Call

Related Example:
Command: GOSUB20 'run subroutine 20
GOSUB21 'run subroutine 20
C{number} a=3
GOSUB25 'run subroutine 20
GOTO{number} END 'End code execution
STACK
C20 'nested subroutine
GOSUB30
PRINT("20",#13)
RETURN
C21 'nested subroutine
GOSUB30
PRINT("21",#13)
RETURN
C25 'recursive subroutine
PRINT(" 25:",a)
a=a-1
IF a==0
RETURN
ENDIF
GOSUB25
RETURN
C30 'normal subroutine
PRINT(#13,"Subroutine Call ")
RETURN

The output will be as follows:

Subroutine Call 20

Subroutine Call 21

25:3 25:2 25:1

In the above program example you can issue GOSUB20, GOSUB21,

GOSUB25 or GOSUB30 from the terminal as well.

132
 GOTO{number}
Branch Program Flow to a Label

Related Command: APPLICATION: Program execution control

BREAK DESCRIPTION: Branch program execution to statement
C{number}
C{number}
ELSE EXECUTION: Immediate

DEFAULT CONDITIONAL TO: C{number} previously defined

GOSUB{number} LIMITATIONS: GOTO0 to GOTO999

REPORT COMMAND: N/A

READ/WRITE: N/A

LANGUAGE ACCESS: N/A

NOTE:
UNITS: N/A
Extensive use of
IF statements and RANGE OF VALUES: N/A
GOTOs can quickly
TYPICAL VALUES: N/A
make your programs
impossible to read or DEFAULT VALUE: N/A
debug.
FIRMWARE VERSIONS: ALL
Learn to organize your
code with one main DETAILED DESCRIPTION:
loop using a GOTO
and write the rest The GOTO{Number} command unconditionally redirects program execution control
of the program with to another part of the program marked by the label C{Number}.
subroutines.
The GOTO{Number} command is valid from both the serial channels and within a
user program. Take care, however, not to issue a GOTO{Number} command unless
the corresponding C{Number} label exists witihn the stored program.

Novice programmers use IF statements and GOTOs to create elaborate and sophis-
ticated programs that quickly become impossible to read or debug. Force yourself to
use GOSUBs for program control. You'll be glad you did.

Example: (download the following program)

C0 'Place main label
IF UAI==0
PRINT("Input A Low",#13)
ENDIF
GOTO0 'GOTO allows program to run forever
END

133
 I (capital i)
Encoder Index Pulse Location

Related APPLICATION: Hardware Index Capture

Commands:
DESCRIPTION: Encoder value latched by hardware index capture
Bi
EXECUTION: Immediate
Bx
CONDITIONAL TO: Index previously captured
RBi
LIMITATIONS: High velocity at time of capture will create a
RBx systematic offset error
REPORT COMMAND: RI
READ/WRITE: Read only
LANGUAGE ACCESS: Expressions and conditional testing
UNITS: Encoder counts
RANGE OF VALUES: -2147483648 to 2147483647
TYPICAL VALUES: -2147483648 to 2147483647
DEFAULT VALUE: 0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
I (capital i) is the function that stores the last hardware latched encoder index posi-
tion. It can be read from a host with the RI command, or it can be read by the
program with a line such as a=I. Only after it is read by either of these means, will
the SmartMotor™ be looking for the next Index event. The host or the program can
monitor for the event by reading the flag, Bi. Bi will read as zero until an index is
latched, at which time Bi will be set to one. Bi is set to zero when the index position
is read or accessed.
The commands RI and PRINT(I,#13) report the captured index value through the
primary serial channel. PRINT1(I,#13) reports through the channel 1 serial port.
All three commands reset the Bi flag to zero. Assignments such as variable=I also
assign the captured value and reset the Bi flag to zero. If Bi is zero at the time the I
value is accessed, the previously captured index value is returned again.
The index is a physical reference mark on the encoder. It is also referred to as a Z
pulse, marker pulse, and sometimes combinations of all three names. Its most widely
used in homing sequences requiring a high degree of repeatability.

134
 I (continued)
Encoder Index Pulse Location

Related Example: (homing against a hard stop with Index reference)

Commands: AMPS=100 'Current limit 10%
Bi O=0 'Declare this home
MP 'Set Mode Position
Bx A=100 'Set Acceleration
V=100000 'Set Velocity
RBi P=-1000000 'Move negative
G 'Start Motion
RBx WHILE Bt 'Wait for motion fault
IF Bi 'If Index Pulse Seen
a=I 'Record Index Position
ENDIF
LOOP 'Loop back to wait
O=-a 'Last Index is Home
P=0 'Move to New Home
G 'Start Motion
AMPS=1023 'Restore power

Note: >=v4.95 has the ability to redirect Port G to the Index register input trig-
ger allowing high speed position capture via Port G this capture time occurs at
CMOS level and is typically around 3 to 5 microseconds.
All the same rules apply to arming and clearing the index as stated above.
The Re-Direct to Port G is accomplished with the F command. See F= in this
programmers guide for more detail.

135
 IF expression
Conditional Program Code Execution

Related APPLICATION: Program execution control

Commands:
DESCRIPTION: Conditional run time program execution
ELSE
EXECUTION: Test expression and take action as coded
ELSEIF
CONDITIONAL TO: Program execution branch if expression is zero or
ENDIF false
LIMITATIONS: Requires corresponding ENDIF
Can be executed only from within user program
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: N/A
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The IF statement is the basic means by which an executing program can make a
choice between alternative execution paths at runtime. In its simplest form the IF
control block consists of:
IF (expression) evaluates as non-zero
Run the code below the "IF" command
ENDIF

Every "IF" struc- Expression is a test condition, Both mathematical comparisons and boolean logic
ture must be bit wise comparisons can be used. Each must evaluate to be true.
terminated with an
IF a==b (If a equals b) IF a!=b (If a does not equal b)
"ENDIF".
IF a<b (If a is less than b) IF a<=b (If a is less than or equal to b)
IF a>b (If a is greater than b) IF a>=b (If a is greater than or equal to b)
IF a&b (If a AND b, bit-wise) IF a|b (If a OR b, bit wise comparison)
IF a (If a does not equal zero, common shortcut to IF a==1)
All above examples must be True to allow code beginning below the IF command
to run. If they are not true, the code execution will jump down to the nearest ELSE,
ELSEIF or ENDIF and continue from there.

136
 IF expression (continued)
Conditional Program Code Execution

Related
Commands:
Example 1: Simple case of: IF true, run some code.
ELSE
IF @P>12345 'If Position is above 12345
ELSEIF
PRINT("position is greater than 12345",#13)
ENDIF ENDIF
'This is the next line of code to be executed
'whether it is true or not.

Example 2: If true, run some code, ELSE if false run some other code...
IF @P>12345 'If Position is above 12345
PRINT("position is greater than 12345",#13)
ELSE 'If it is no true
PRINT("position is not greater than 12345",#13)
ENDIF
'This is the next line of code to be executed

Example 3: If true, run some code, else if something else is true......

IF @P>12345 'If Position is above 12345
PRINT("position is greater than 12345",#13)
ELSEIF @P==0 'If Position equals zero
PRINT("position is at zero",#13)
ENDIF
'This is the next line of code to be executed
'even if position is not at zero and
'not greater than 12345.

Example 4: Test for two conditions and default to another line of code:
IF @P>100 'If Position is above 100
PRINT("position is greater than 100",#13)
ELSEIF @P<=0 'If it less than or equal to zero
PRINT("position is <= to zero",#13)
ELSE
PRINT("position is between zero and 100",#13)
ENDIF

(Continued on next page)

137
 IF expression (continued)
Conditional Program Code Execution

Related
Commands:
Example 5: Binary Bit Mask Comparison:
ELSE
a=10 'binary 1010
ELSEIF b=5 'binary 0101
c=7 'binary 0111
ENDIF d=1 'binary 0001
e=0 'binary 0000

IF a&2 'Compare "a" and 2 as binary numbers bit for it.

PRINT("This is true because 2 is 0010",#13)
ENDIF
IF a&d 'Are any bits in common with a AND d?
PRINT("This will never PRINT",#13)
ENDIF
IF a|b 'Are there any bits that are 1 in either number?
PRINT("This will print",#13)
ENDIF
IF d|e 'even though e is zero, d is non-zero:
PRINT("This will print",#13)
ENDIF
IF b&c
PRINT("This is true",#13)
ENDIF
END

Every "IF" struc-

ture must be
terminated with an
"ENDIF".

138
 KA=expression
PID Acceleration Feed Forward

Related APPLICATION: PID filter control

Commands:
DESCRIPTION: Acceleration feed forward gain
F
EXECUTION: Buffered pending an F command
RKA
CONDITIONAL TO: N/A
KD
LIMITATIONS: Must be positive
KG
REPORT COMMAND: RKA
KI
READ/WRITE: Read write
KL
LANGUAGE ACCESS: Expressions and conditional testing
KP
UNITS: N/A
KS
RANGE OF VALUES: 0 to 65535
KV
TYPICAL VALUES: 0 to 3000
DEFAULT VALUE: 0
FIRMWARE VERSIONS: ALL

DETAILED DESCRIPTION:

KA sets the buffered acceleration feed forward gain. The acceleration feed forward
term helps the PID filter to cope with the predictable effects of acceleration and
inertia.

The KA gain factor is only applied in position (MP) and velocity (MV) moves. Issuing
a new KA parameter is not effective until it is loaded into the present PID filter by
the F command. The default value for KA is 0, and acceptable values range from 0
to 65,535.

It is difficult or impossible to tune KA in low inertia systems. Even in high inertia

systems it can be a challenge to observe the benefit during very short acceleration
periods. It is best to rely on the host tuning utility for assistance if it is thought that
KA could be useful.

PRINT(KA,#13) and RKA both report the value of KA through the primary serial
port, while PRINT1(KA, #13) sends it out channel 1. KA is valid with any expres-
sion, and can be treated as if it were any read-write variable. The motion or servo
characteristics are unaffected until KA is applied by the F function.

Example:
KA=200 'set buffered acceleration feed forward
F 'update PID filter

139
 KD=expression
PID Derivative Compensation

Related APPLICATION: PID filter control

Commands:
DESCRIPTION: Derivative gain
KA
EXECUTION: Buffered pending an F command
KG
CONDITIONAL TO: N/A
KI
LIMITATIONS: Must be positive
KL
REPORT COMMAND: RKD
KP
READ/WRITE: Read write
KS
LANGUAGE ACCESS: Assignment, expressions and conditional testing
KV
UNITS: N/A
RANGE OF VALUES: 0 to 65535
TYPICAL VALUES: 400 to 2000
DEFAULT VALUE: Motor size dependent
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
KD sets the value of the derivative gain of the PID filter. If the PID filter gives stable
performance, KD is usually the vibration absorbing, or damping, term.
For any stable KP value there is an optimum KD value, prior to and beyond which the
motor will be unstable. An effective way to tune the filter, therefore, is to repetitively
raise the KP value and then run the KD term up and down to find the local optimum.
The point at which the KD term cannot stabilize the servo is the point where KP has
gone too far. To test each setting twist the shaft of the motor and let it go while looking
for abrupt and resolute response. The host level tuning utility can be useful in finding
the optimum. The F command must be issued for a new buffered KD parameter to take
effect. Typically a KD of ~10x KP is a good starting point for any given KP<300.
PRINT(KD,#13) and RKD both report the value of KD through the primary serial port,
while PRINT1(KD, #13) sends it out channel 1. KD is valid with any expression, and
can be treated as if it were any read-write variable. The motion and servo character-
istics are unaffected until KD is applied by the F function.
Example:
KD=2000 'set buffered derivative gain
F 'update PID filter

140
 KG=expression
PID Gravity Compensation

Related APPLICATION: PID filter control

Commands:
DESCRIPTION: Gravitational gain
KA
EXECUTION: Buffered pending an F command
KD
CONDITIONAL TO: N/A
KI
LIMITATIONS: N/A
KL
REPORT COMMAND: RKG
KP
READ/WRITE: Read write
KS
LANGUAGE ACCESS: Assignment, expressions and conditional testing
KV
UNITS: N/A
RANGE OF VALUES: -8388608 to 8388607
TYPICAL VALUES: 0
DEFAULT VALUE: 0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
KG sets the gravity compensation term of the PID filter.
Simple PID filters are ill equipped where a constant force is asserted on the
system. An example of such a constant force is that induced by gravity acting
on a vertically moving axis. The KG term exists to offset the PID filter output in
a way that removes the effect of such constant forces.
The best way to set KG is to turn KP and KI to zero and servo in place. The
load will want to fall, but hold it in place. Issue increasingly positive or increas-
ingly negative KG parameters until the load barely holds. Record that value and
continue increasing the parameter until the load starts to go up. Now record this
value. The optimum KG value is the average of these two.
Valid values for KG are integers from -8388608 to 8388607. As a result, you
may not see much of an effect until KG is greater than one million in magnitude.
However, extremely higher magnitudes values risks rapid pulse width modula-
tion (PWM) saturation (uncontrollable servo behavior). The default value is 0.
PRINT(KG,#13) and RKG both report the value of KG through the primary
serial port, while PRINT1(KG, #13) sends it out channel 1. KG is valid with any
expression, and can be treated as if it were any read-write variable. The motion
and servo characteristics are unaffected until KG is applied by the F function.
Example :
KG=10000000 'Set buffered Gravity Term
F 'Update Filter

141
 KI=expression
PID Integral Compensation

Related APPLICATION: PID filter control

Commands:
DESCRIPTION: Integral gain
KL
EXECUTION: Buffered pending an F command
KA
CONDITIONAL TO: N/A
KD
LIMITATIONS: Must be positive, total integral limited by KL
KG
REPORT COMMAND: RKI
KP
READ/WRITE: Read write
KS
LANGUAGE ACCESS: Assignment, expressions and conditional testing
KV
UNITS: N/A
RANGE OF VALUES: 0 to 32767
TYPICAL VALUES: 0 to equal that of present KP
DEFAULT VALUE: Motor size dependent
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The KI term sets the integral gain of the PID filter. The integral compensator is not for
stability. Raising it too far will cause the motor to become unstable. The KI command
is designed to compensate for friction in the system. Since the amount of power sent
to the motor is proportional to the distance it is from its target position, there comes
a time, close to the target, where the small position error is creating too small of a
torque for the motor to reach the final target.
The integral term of the PID filter is generated by taking the sum of the position
error of every sample and then multiplying by KI. As such, it creates a force that is a
function of error and time. As time passes (a few milliseconds) and the control sees
that a correction is not being made, it boosts the signal. This boost occurs at a rate
set by the KI parameter. While you are tuning your motor for stability, it is probably
a good idea to set KI to zero, and then later bring it up until you see that it reliably
compensates for the friction of your system. The F command must be issued for a
new buffered KI parameter to take effect and KL, the protective upper limit, must be
high enough to allow KI to do its job.
PRINT(KI,#13) and RKI both report the value of KI through the primary serial port,
while PRINT1(KI, #13) sends it out channel 1. KI is valid with any expression, and
can be treated as if it were any read-write variable. The motion and servo character-
istics are unaffected until KI is applied by the F function.
Example:
KI=250 'Set buffered integral gain
F 'Update Filter

142
 KL=expression
PID Integral Limit

Related APPLICATION: PID filter control

Command:
DESCRIPTION: Integral limit
KA
EXECUTION: Buffered pending an F command
KD
CONDITIONAL TO: N/A
KG
LIMITATIONS: Must be positive
KI
REPORT COMMAND: RKL
KP
READ/WRITE: Read write
KS
LANGUAGE ACCESS: Assignment, expressions and conditional testing
KV
UNITS: N/A
RANGE OF VALUES: 0 to 32767
TYPICAL VALUES: 5 to 200
DEFAULT VALUE: Motor size dependent
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The KL term sets a limit on the effects of the KI term. Since the KI integrates the
position error over time, it can ultimately dominate the PID equation. KL sets an upper
limit on what the KI term can be.
Physically speaking, the KI term will raise the power to the servo as a function of time.
If there is something other than friction blocking the servo and it is unable to move,
the amount of torque given to the motor over time can quickly become unreasonably
large. It is therefor a good idea to keep KL as low as possible while still allowing the
KI term to effectively contend with friction. The F command must be issued for a new
buffered KL parameter to take effect.
PRINT(KL,#13) and RKL both report the value of KL through the primary serial port,
while PRINT1(KL, #13) sends it out channel 1. KL is valid with any expression, and
can be treated as if it were any read-write variable. The motion and servo character-
istics are unaffected until KL is applied by the F function.
Example:
KL=1500 'Set buffered integral limit
F 'Update Filter

143
 KP=expression
PID Proportional Compensation

Related APPLICATION: PID filter control

Command:
DESCRIPTION: Proportional gain
KA
EXECUTION: Buffered pending an F command
KD
CONDITIONAL TO: N/A
KG
LIMITATIONS: Must be positive
KI
REPORT COMMAND: RKP
KL
READ/WRITE: Read write
KS
LANGUAGE ACCESS: Assignment, expressions and conditional testing
KV
UNITS: N/A
RANGE OF VALUES: 0 to 32767
TYPICAL VALUES: 40 to 300
DEFAULT VALUE: Motor size dependant
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The KP command is used to set the gain of the proportional parameter of the PID
filter. Any new value of KP is held in a buffer until an F command is issued.
The higher the KP the stiffer the motor will be. At some point the added stiffness will
cause the motor to become unstable. If moving the KD value up and down cannot
stabilize the servo, then the KP value is too high and must be reduced.
PRINT(KP,#13) and RKP both report the value of KP through the primary serial
port, while PRINT1(KP, #13) sends it out channel 1. KP is valid with any expres-
sion, and can be treated as if it were any read-write variable. The motion and servo
characteristics are unaffected until KP is applied by the F function.
Example:
KP=250 'Set buffered proportional gain
F 'Update Filter

144
 KS=expression
PID Derivative Term Sample Rate

Related APPLICATION: PID filter control

Command:
DESCRIPTION: Inertial load gain
KA
EXECUTION: Buffered pending an F command
KD
CONDITIONAL TO: N/A
KG
LIMITATIONS: Must be positive
KI
REPORT COMMAND: RKS
KL
READ/WRITE: Read write
KP
LANGUAGE ACCESS: Assignment, expressions and conditional testing
KV
UNITS: N/A
RANGE OF VALUES: 0 to 255
TYPICAL VALUES: 1
DEFAULT VALUE: 1
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The KS term of the extended PID filter will sometimes allow the SmartMotor™ to
handle inertial ratios in excess of the traditional 5:1 or 10:1. This reflected load to rotor
inertia ratio is often sighted as a traditional limit for dependable servo motor applica-
tion. The KS term represents the number of sample periods used to form the integra-
tion of the KD term. By raising the KS value beyond one, a latency is developed within
the response vector of the PID equation’s differential element. Since this reduces the
rate at which the current error switches sign, it allows the motor to apply its available
torque more decisively. This is also useful in situations where the mechanical time
constant of the motor/load system is longer than the PID period by several orders of
magnitude. Such systems can be very difficult to stabilize with a traditional PID filter.
If your application has an inertial ratio of greater than 5:1, experiment with raising
KS above 1. Your ear will provide a good method of judgment; listen for a range KS
values which provide relaxed but decisive motor response across the velocity and
acceleration regions required by your application.
PRINT(KS,#13) and RKS both report the value of KS through the primary serial port,
while PRINT1(KS, #13) sends it out channel 1. KS is valid with any expression, and
can be treated as if it were any read-write variable. The motion and servo character-
istics are unaffected until KS is applied by the F function.
Example :
KS=5 'Set buffered differential sample rate
F 'Update Filter

145
 KV=expression
PID Velocity Feed Forward

Related APPLICATION: PID filter control

Command:
DESCRIPTION: Velocity feed forward gain
KA
EXECUTION: Buffered pending an F command
KD
CONDITIONAL TO: N/A
KG
LIMITATIONS: Must be positive
KI
REPORT COMMAND: RKV
KL
READ/WRITE: Read write
KP
LANGUAGE ACCESS: Assignment, expressions and conditional testing
KS
UNITS: N/A
RANGE OF VALUES: 0 to 32767
TYPICAL VALUES: 0 to 400
DEFAULT VALUE: 0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
KV sets the gain for the velocity feed forward element of the extended PID filter.
The velocity feed forward element can be thought of as a dynamically proportional
adjustment to the PID filter required by the latency of the digital filter with respect to
time. A zero value for KV disables the term within the filter.
If you put the SmartMotor™ into at a relatively high speed velocity move and moni-
tor the position error with the Status Monitor, you will see a constant position error.
Issue a series of successively larger KV parameters followed by F commands and
watch the error reduce to zero.
The default value for KV is zero, acceptable values range from 0 to 65,535. Typically
useful values range from 0 to 2000. Current values can be read back with RKV.
PRINT(KV,#13) and RKV both report the value of KV through the primary serial port,
while PRINT1(KV, #13) sends it out channel 1. KV is valid with any expression, and
can be treated as if it were any read-write variable. The motion and servo character-
istics are unaffected until KV is applied by the F function.

Example :
KV=1000 'Set buffered velocity feed forward
F 'Update Filter

146
 LEN
Main RS-232 data buffer fill level

Related Command: APPLICATION: Communication control

GETCHAR DESCRIPTION: Number of characters in serial host (channel 0)
receive buffer
GETCHAR1
EXECUTION: Immediate
LEN1
CONDITIONAL TO: Host communication channel open
LIMITATIONS: Maximum buffer length is 16 characters
REPORT COMMAND: None
READ/WRITE: Read only
LANGUAGE ACCESS: Expressions and conditional testing
UNITS: Number of available characters
RANGE OF VALUES: 0 to 16
TYPICAL VALUES: 0 to 16
DEFAULT VALUE: 0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
LEN returns the number of characters placed in the serial communications channel 0
receive buffer which are still awaiting to be processed. A serial channel in COMMAND
mode will typically return LEN as 0, but a serial channel in DATA mode may well return
a non zero value. Testing the value of LEN is a good way to see if there is any char-
acter for GETCHR to fetch.

Example:

DAT 'Set serial channel 0 to DATA mode

i=0
IF LEN 'any data received?
GOSUB5 'if so process data
ENDIF
END
C5
ab[i]=GETCHR 'read and store in data
'process incoming data
i=i+1 'maintain reference index
RETURN

From the above example, "i" will be equal to LEN.

147
 LEN1
RS-485 data buffer fill level

Related APPLICATION: Communication control

Command:
DESCRIPTION: Number of characters in channel 1 serial
GETCHAR receive buffer
GETCHAR1 EXECUTION: Immediate
LEN CONDITIONAL TO: Host communication channel open
LIMITATIONS: Maximum buffer length is 16 characters
REPORT COMMAND: None
READ/WRITE: Read only
LANGUAGE ACCESS: Expressions and conditional testing
UNITS: Number of available characters
RANGE OF VALUES: 0 to 16
TYPICAL VALUES: 0 to 16
DEFAULT VALUE: 0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
LEN1 returns the number of characters placed in the serial communications
channel 1 receive buffer which are still awaiting to be processed. A serial
channel in COMMAND mode will typically return LEN1 as 0, but a serial chan-
nel in DATA mode may well return a non zero value. Testing the value of LEN1
is a good way to see if there is any character for GETCHR to fetch.

Example:

DAT1 'make serial channel 1 DATA mode

i=0
IF LEN1 'any data received ?
GOSUB5 'if so process data
ENDIF
END
C5
ab[i]=GETCHR1 'read and store in data
'process incoming data
i=i+1 'maintain reference index
RETURN

From the above example, "i" will be equal to LEN.

148
 LIMD
Enable Directional Travel Limits

Related Command: APPLICATION: Travel Limit switch controL

LIMH DESCRIPTION: Limit switches have directional property
LIML EXECUTION: Immediate
LIMN CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT PROPERTY: Limits are non directional
FIRMWARE VERSIONS: 4.15 and 4.40 (non-PLS firmware only)
DETAILED DESCRIPTION:
LIMD (Limit Directional) specifies the way the SmartMotor™ responds to a G com-
mand while any limit input is active.
LIMD prevents motion further into or past the detected limit. LIMD can be cancelled
by LIMN (Limit non-directional), which allows movement further into the limit. Neither
of these commands change the response of the motor when it encounters a limit after
already in motion.
Basic Effects of LIMD are as follows:
If the Positive Limit is active and the motor is commanded in the positive direction,
it will fail to move.
If the negative limit is active and the motor is commanded in the negative direction,
the motor will fail to move.
In both cases above, LIMD has prevented further motion beyond the detected travel
limit.
In contrast, if the negative limit is active and motion is commanded in the positive
direction, motion will be allowed.
If the positive limit is active and motion is commanded in the negative direction, motion
will be allowed.
Note: LIMD behavior is applicable to all modes of operation.

149
 LIMH
Travel Limits Active High

Related Command:
APPLICATION: Travel Limit Switch Control
LIMD
DESCRIPTION: Limits are active high to stop motion
LIML
EXECUTION: Immediate
LIMN
CONDITIONAL TO: N/A
UCP
LIMITATIONS: N/A
UDM
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT PROPERTY: Limits are active low
FIRMWARE VERSIONS: 4.15 and 4.40. (not available in PLS firmware)
DETAILED DESCRIPTION:
The limit switches are associated with the I/O C and I/O D pins. Following a power up
or reset (the Z command), the limit inputs are active LOW by default. This means if
the logic state goes low, the motor will stop.
LIMH defines the limit inputs to be active HIGH. This means if the logic state level
goes high, the motor will stop.
NOTE: The limit input pins have 5K Ohm pull-ups meaning they are seen as logic high
when there is no connection to them.
LIML defines them back to active low.
Associated with the limit switches are the system flags:
Command Command to Command to
Hardware Travel Limit Overview Status Bits
to Clear Disable Enable
Port Pos/Neg Plus/Minus Left/Right Real Time Historical Historical Bit Travel Limit Input Travel Limit Input
Port C Positive PLUS RIGHT Br Bp Zr, or ZS UCI or UCO UCP

Port D Negative MINUS LEFT Bl Bm Zl, or Zs UDI or UDO UDM

Note: PLS firmware defaults to LIMH with no option to change it.

Please consult PLS firmware documentation for more information.

150
 LIML
Travel Limits Active Low

Related Command: APPLICATION: Limit switch control

LIMD DESCRIPTION: Limit switches are active low
LIMH EXECUTION: Immediate
LIMN CONDITIONAL TO: N//A
UCP LIMITATIONS: N/A
UDM REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT PROPERTY: Limit switches are active low
FIRMWARE VERSIONS: 4.15 and 4.40
DETAILED DESCRIPTION:
The limit switches are associated with the I/O C and I/O D pins. Following a power up
or reset (the Z command), the limit inputs are active LOW by default. This means if
the logic state goes low, the motor will stop.
LIML defines the limit inputs to be active Low. This means if the logic state level goes
low, the motor will stop.
NOTE: The limit input pins have 5K Ohm pull-ups meaning they are seen as logic high
when there is no connection to them.
LIMH defines them to active High.
Associated with the limit switches are the system flags:
Command Command to Command to
Hardware Travel Limit Overview Status Bits
to Clear Disable Enable
Port Pos/Neg Plus/Minus Left/Right Real Time Historical Historical Bit Travel Limit Input Travel Limit Input
Port C Positive PLUS RIGHT Br Bp Zr, or ZS UCI or UCO UCP

Port D Negative MINUS LEFT Bl Bm Zl, or Zs UDI or UDO UDM

Note: PLS firmware defaults to LIMH with no option to change it.

Please consult PLS firmware documentation for more information.

151
 LIMN
Enable Non-Directional Travel Limits

Related Command: APPLICATION: Limit switch control

LIMD DESCRIPTION: Limit switches non directional
LIML EXECUTION: Immediate
LIMH CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT PROPERTY: Limit switches are non directional
FIRMWARE VERSIONS: 4.15 and 4.40 (not available in PLS firmware)
DETAILED DESCRIPTION:
LIMN (Limit NON-Directional) specifies the way the SmartMotor™ responds to a G
command while any limit input is active.
LIMN means that if you are on a limit switch (if it is active at the time). The motor will
still be allowed to move in the same direction upon receiving another G (go) com-
mand.
Basic Effects of LIMN are as follows:
If the Positive Limit is active and the motor is commanded in the positive direction,
it will still be able to move
If the negative limit is active and the motor is commanded in the negative direction, it
will still be able to move.
Note: LIMN behavior is applicable to all modes of operation.

152
 LOAD
Download Compiled User Program to Motor

Related APPLICATION: User program EEPROM control

Command:
DESCRIPTION: Receive and store SmartMotor™ executable program
LOCKP
EXECUTION: Immediate
LOCKPROM
CONDITIONAL TO: User program EEPROM present
RCKS
LIMITATIONS: EPPROM capacity is limited to 8k, 16k, or 32k
RUN
REPORT COMMAND: UP, UPLOAD, RCKS
RUN?
READ/WRITE: EEPROM is read write unless "locked"
UP
LANGUAGE ACCESS: N/A
UPLOAD
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: N/A
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
LOAD is used by a terminal to download a compiled program file and store it within
the USER PROGRAM EEPROM of the SmartMotor. The LOAD command causes
a SmartMotor to load all incoming host communications into program memory up to
This command the first occurrence of the ASCII character 255. Program sizes can be as great as
is intended to be 32k. This command is mainly used by host utilities, which also compiles the program
used in custom before download.
terminal software
LOAD does not terminate the present motion mode or trajectory, change motion
parameters such as E, A, V, KP etc, or alter the present value of the user variables.
If the motor does not receive the ASCII 255 byte sometime after the LOAD com-
mand, the motor will continue to store incoming serial bytes directly to the Program
EEPROM; During this time you are likely to be confused by the motor’s apparent lack
of response to your commands. The only way to terminate this condition is to transmit
ASCII 255s or to reset the power.
Note: The SMI (SmartMotor Interface) software package is adjusted to take care of
this automatically.
By using the "LOAD" command you can download from any controller/HMI/PLC or
PC based program capable of storing an ASCI text file. For any given motor that is
actively addressed, (i.e. you are talking to it and it responds) If you issue the LOAD
command to the motor, it immediately goes into a memory-write mode while checking
all incoming data. Every ASCII character that is received after the LOAD command
is issued goes directly onto the Program EPROM. To terminate the LOAD command,
the last characters to send are 2(two) hexFF characters. The hexFF characters tell
the motor that it is the end of the file and to drop back into regular command mode.

153
 LOAD (continued)
Download Compiled User Program to Motor

Related Details on the downloadable file:

Command:
When you compile an SMS file with the SMI software, it creates an SMX file
LOCKP extension with the same name in the same directory. This is the file you need
to download to the motor.
RCKS
So basically here is what you should do:
RUN
Do an initial download of your program to the motor from SMI on some other
RUN? machine. Issue the "RCKS" command. This is the "Report Checksum" com-
UP mand. It will respond with a string in the form of:

UPLOAD RCKS 000000 0000EB P

where the 000000 0000EB will be different than shown and represent a unique
2-byte checksum to any given program. The P at the end will be either a P
(passed) or F (failed). Keep this number in your own program/PLC that will do
the downloading.
1. Store the SMX file for downloading.
2. Store the string received from the RCKS command above as well.
3. Establish serial communications with the motor.
4. Issue RCKS command
5. If it does not match the stored checksum number: Open the smx file. Issue
the LOAD command. Start sending down all characters in the smx file from
beginning to end. When the last character is read from the file and sent to the
motor then send2(two) hexFF characters to the motor.
6. Issue RCKS command again If it comas back with the stored string
(with the "P" at the end) then the download was successful.
7. Issue "RUN" to see if it works as expected.
Reasons for unsuccessful download:
a. Noise on serial port
b. Loss of connection during download.
c. Failure to send the two hexFF's before power-down.
d. The SMX file as SMI compiled it was altered in some way.

Note: If you were to open an SMX file in NotePad to look at it and then save
it, Notepad will automatically add carriage return characters at the end of each
line it sees. The resultant file will not work. Each carriage return would have to
be stripped back out prior to download. So do not alter the smx file in any way
from how SMI generated it.

154
 LOCKP
Prevent User Program Upload

Related Command: APPLICATION: User program execution control

UP DESCRIPTION: Prevents effects of UP and UPLOAD
UPLOAD EXECUTION: N/A
CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: N/A
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:

NOTE: LOCKP modifies the contents of the header file portion of the downloaded Program
in the motor's EEPROM to prevent the contents from being uploaded. That is, the
(For motors commands UP and UPLOAD will not actually be able to upload the program body or
with a plug-in contents. This does not prevent the downloading of another program.
Memory Module)
It is suggested that the LOCKP command is used after program development and
Once LOCKP has testing is complete.
been invoked the
Memory Module LOCKP is intended as a serial command only. It should be issued from the terminal
EEPROM cannot screen.
be unlocked and
It should not be in the actual downloaded code.
the module must be
replaced to return to Once LOCKP is issued, issuing UP or UPLOAD will no longer produce results.
an unlocked
condition.

155
 LOOP
Return to WHILE Program Flow Control

Related Command: APPLICATION: Program execution control

BREAK DESCRIPTION: Terminator for WHILE expression
WHILE EXECUTION: Immediate
CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: N/A
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
LOOP is the statement terminator for the WHILE control block. Each WHILE must
have one and only one corresponding LOOP. Each time LOOP is encountered, pro-
gram execution branches back to re-evaluate the WHILE expression.
The WHILE (expression) . . LOOP control block creates a program loop that repeat-
edly executes for as long as the expression value is true or non zero. The expression
is evaluated at the time WHILE is first encountered, and each time program execution
is sent back to the WHILE by the corresponding terminating LOOP statement. If the
expression value is zero or false, program execution continues on the line of code
just below the LOOP command.
For version 4.00 and higher the SMI compiler encodes the LOOP (corresponding)
WHILE program address location within the executable file. No WHILE/GOSUB
return stack is used to carry out the proper execution of the LOOP statement. Thus
LOOP executes the function equivalent of a GOTO without the need for declaring a
program statement label. Simply restated: WHILE expression .. LOOP is function-
ally encoded as Cx WHILE expression . . GOTOx. This means that it is legal to jump
into a WHILE control loop directly from an external program location.
LOOP is not a valid terminal command. It is only valid within a user program.
(Continued on next page.)

156
 LOOP (continued)
Return to WHILE Program Flow Control

Related Example:
Command:
BREAK b=1
WHILE WHILE b<5
PRINT(#13,"b=",b)
b=b+1
LOOP
PRINT(#13,"Exit Loop")
END

Output will be:

b=1
b=2
b=3
b=4
b=5
Exit Loop

157
 MC
Enable Mode-CAM (Electronic Camming)

Related Command: APPLICATION: Motion mode control

BASE DESCRIPTION: Request CAM mode

CTR EXECUTION: Buffered pending a G

G CONDITIONAL TO: BASE=expression and SIZE=expression

MC2 LIMITATIONS: Requires external encoder signal source

MC4 REPORT COMMAND: RMODE

MF1 READ/WRITE: N/A

MF2 LANGUAGE ACCESS: N/A

MF4 UNITS: N/A

MS RANGE OF VALUES: N/A

SIZE TYPICAL VALUES: N/A

DEFAULT MODE: MP
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
MC puts the SmartMotor™ into CAM Mode, which causes the SmartMotor to follow
a predetermined profile in accordance with an external encoder source. To set up a
cam operation, you must also specify BASE, SIZE, aw[0]..aw[SIZE] position data
and initialize to the external encoder counter. Start the camming motion by issuing a G
command. The example below is a complete command sequence.
In Cam Mode, each value of the external encoder defines a required corresponding
SmartMotor position; cams typically define a periodic motion profile or trajectory.
BASE defines the number of encoder counts through which the external Cam moves
before the required position mapping, or required motion, is exactly repeated.
EXAMPLE:
This is a "saw tooth" CAM with periodic motion of BASE=2000 external encoder
counts and the motion interpolation divided into 25 (equal) segments:

(Continued on next page) 158

 MC (continued)
Enable Mode-CAM (Electronic Camming)

Related 'Example CAM MODE Setup:

Command: BASE=2000 'Cam period
SIZE=25 'data segments (number of data points in table)
BASE 'CTR data interval = BASE/SIZE = 2000/25 = 80
'CAM motor will be at Data position every 80
CTR 'Master encoder counts:
'CTR=0, CTR=80, CTR=160,.... CTR=1840, CTR=1920, CTR=2000
G
'Now assigning data values beginning with aw[0]:
LOAD aw[0] 0 10 20 30 40 50 60 70 80 90 100.
aw[20] 110 120 120 110 100 90 80 70 60.
MC2 aw[19] 50 40 30 20 10 0.
MF4 'reset external encoder to zero
MC4 O=0 'reset internal encoder position
MC 'buffer CAM Mode
MC8
G 'start following the external encoder using cam data
MF1
MF2
MF4 The motor will now begin following the External (Master) encoder via the defined
MS CAM profile above. The SmartMotor™ performs a practical cam application
by partitioning the required cam trajectory definition into a number of linearly
SIZE interpolated segments. The variable SIZE stores the number of segments.
The segments are required to partition the BASE into a set of equally spaced
intervals.
The set of required positions must always use the 16-Bit array values beginning
at aw[0] and ending with aw[SIZE]. (aw[0 thru 99]). While this appears to limit
the size of the cam table to 100 entries no larger than +32678, this is not the
case. You can continually load new values into the aw[ ] array as the values get
used - be sure you load the new values into aw[ ] array elements only after they
have been used. The actual cam target positions can be increased by 2x, 4x or
8x with the MC2, MC4 or MC8 statements.
In other words, suppose aw[20]=100. If you use MC2, the effective value will be
200, with MC4, it will be 400, and with MC8 it will be 800.
So MC2, MC4 or MC8 change the amplitude by a factor of 2X, 4X, or 8X
respectively.

The Cam Mode, like any other position mode, is subject to the error band defined
by the E value, and subject to limit switch inputs. While in motion during Cam
Mode, flag Bo will be 0, flag Bt will be 1 and flag Be will be 0.

Note: PLS version Firmware allow the ability to run a relative CAM mode vice
Absolute. Please consult the Firmware addendum documents for more detail.

159
 MC2
Mode CAM 2X Multiplier

Related Command: APPLICATION: Motion mode control

BASE DESCRIPTION: Request MODE CAM with x2 multiplier
CTR EXECUTION: Buffered pending a G
G CONDITIONAL TO: BASE=expression and SIZE=expression
MC LIMITATIONS: Requires external encoder signal source
MC4 REPORT COMMAND: RMODE
MC8 READ/WRITE: N/A
MF1 LANGUAGE ACCESS: N/A
MF2 UNITS: N/A
MF4 RANGE OF VALUES: N/A
MS TYPICAL VALUES: N/A
SIZE DEFAULT MODE: MP
FIRMWARE VERSIONS: Version 4.10 and higher
DETAILED DESCRIPTION: Same as mode MC in all regards with exception that all
data points int he CAM table are multiplied by 2.
Suppose the following CAM table:
aw[0] 0 10 20 30 40 50 40 30 20 10 0.
The CAM motor would normally move through points 0, 10, 20, 30, etc....
But if MC is replaced with MC2, the CAM motor would instead mover though points
0, 20, 40, 60, 80, 100, 80, 60, 40, 20, and back to zero.
See the MC command for full details on CAM mode.

160
 MC4
Mode CAM 4X Multiplier

Related Command: APPLICATION: Motion mode control

BASE DESCRIPTION: Request MODE CAM with x4 multiplier
CTR EXECUTION: Buffered pending a G
G CONDITIONAL TO: BASE=expression and SIZE=expression
MC LIMITATIONS: Requires external encoder signal source
MC2 REPORT COMMAND: RMODE
MC8 READ/WRITE: N/A
MF1 LANGUAGE ACCESS: N/A
MF2 UNITS: N/A
MF4 RANGE OF VALUES: N/A
MS TYPICAL VALUES: N/A
SIZE DEFAULT MODE: MP
FIRMWARE VERSIONS: Version 4.10 and higher
DETAILED DESCRIPTION: Same as mode MC in all regards with exception that all
data points in the CAM table are multiplied by 2.
Suppose the following CAM table:
aw[0] 0 10 20 30 40 50 40 30 20 10 0.
The CAM motor would normally move through points 0, 10, 20, 30, etc....
But if MC is replaced with MC4, the CAM motor would instead mover though points
0, 40, 80, 160, 340, 680, 340, 160, 80, 40, and back to zero.
See the MC command for full details on CAM mode.

161
 MC8
Mode CAM 8X Multiplier

Related Command: APPLICATION: Motion mode control

BASE DESCRIPTION: Request MODE CAM with x8 multiplier
CTR EXECUTION: Buffered pending a G
G CONDITIONAL TO: BASE=expression and SIZE=expression
MC LIMITATIONS: Requires external encoder signal source
MC2 REPORT COMMAND: RMODE
MC4 READ/WRITE: N/A
MF1 LANGUAGE ACCESS: N/A
MF2 UNITS: N/A
MF4 RANGE OF VALUES: N/A
MS TYPICAL VALUES: N/A
SIZE DEFAULT MODE: MP
FIRMWARE VERSIONS: Version 4.10 and higher
DETAILED DESCRIPTION: Same as mode MC in all regards with exception that all
data points in the CAM table are multiplied by 8.
Suppose the following CAM table:
aw[0] 0 10 20 30 40 50 40 30 20 10 0.
The CAM motor would normally move through points 0, 10, 20, 30, etc....
But if MC is replaced with MC8, the CAM motor would instead mover though points
0, 80, 160, 240, 320, 400, 320, 240, 160, 80, and back to zero.
See the MC command for full details on CAM mode.

162
 MD50
Enable Direct Analog-Input Drive-Mode

Related Command: APPLICATION: Motion mode control

N/A DESCRIPTION: Request MODE ANALOG AMPLIFIER
EXECUTION: Immediate
CONDITIONAL TO: Analog signal input available
LIMITATIONS: N/A
REPORT COMMAND: RMODE
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT MODE: MP
FIRMWARE VERSIONS: 4.15 and 4.40 series only
DETAILED DESCRIPTION:
MD50 converts the SmartMotor™ into a simple analog amplifier with motor. It accepts
a 0 to 5V analog signal from I/O Port A pin with a 10-Bit A/D resolution. It is center
weighted such that 2.5VDC gives zero PWM, 5VDC gives full positive PWM and 0VDC
gives full negative PWM. Since Port A has a 5K pull-up resistor, if MD50 is initiated
with no connection to Port A, the motor will immediately be commanded to full positive
PWM.
In operation, MD50 is similar to Mode Torque - there is no trajectory calculation,
so there is no position error associated with the resultant motion. Flags Bo, Bt and Be
will all be zero. Motion is not affected by the E value. A motor in MD50 mode responds
to RMODE with W. MD50 motion is conditional to limit switch input activity, (see LIMD
, LIMN, LIMH and LIML), and MD50 can be terminated with OFF, S, and X.
MD50, like MT, is immediate, and if the signal input at PIN A is a logical high or low,
then full output will be requested instantly. If you assign Port A as an output, then set
Port A to logic 1 or zero via UA=1 or UA=0 respectively, the motor will be commanded
to full PWM in either positive or negative direction respectively.
MD50 performs an analog read on the I/O A pin signal every PID sample. A to D
conversions are one of the most lengthy processes, so you may wish to use the
PID2 command if you are also running a user program that takes additional analog
readings.
MD50 is closely tied to MT. When invoked, any prior value in the "T" parameter gets
over written. To change from MD50 to MT, be sure to first issue OFF and then T=value
before issuing the MT command.

163
 MF0
Enable Quadrature-Input Counter Mode

Related Command: APPLICATION: External encoder control

RCTR DESCRIPTION: Reset external encoder to zero
CTR EXECUTION: Immediate
MF1 CONDITIONAL TO: External encoder inputs available
MF2 LIMITATIONS: N/A
MF4 REPORT COMMAND: RCTR
READ/WRITE: References read only external encoder CTR
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: Resets CTR to zero
FIRMWARE VERSIONS: All except 4.40 series
DETAILED DESCRIPTION:
The command MF0 allows the user to zero the second encoder register (see the CTR
command) without changing the present motion mode of the SmartMotor™.
Following MF0, a secondary encoder signal, whether coming from an external source
through the I/O A and B pins, will be continuously tracked and made available in
the form of the CTR function; no gearing relationship is active, unless you write one
yourself.
If the Mode Follow with Ratio (MFR) or the CAM Mode does not meet your require-
ment you can write your own loop and define a unique relationship between the
incoming secondary encoder signal and the motor’s position.
In addition, it may be that you do not want there to be any such relationship to motion.
A common use of MF0 is to take input from a quadrature output selector switch,
especially in the context of a user interface, often including an LCD readout like the
Animatics LCD2X20 and LCD4X20.
If the you are running in MF, MFR, MC or other encoder follow modes, be careful
issuing MF0 as the value of CTR is immediately zeroed. The SmartMotor will interpret
this to be a sudden change in the master encoder input from its prior value to 0.

Continued on next page

164
 MF0 (continued)
Enable Quadrature-Input Counter Mode

Related
Command:
EXAMPLE: (This example will print to the main channel)
RCTR
CTR b=4 'b high for initial print
C1 'Switch watch routine
MF1 a=CTR&3 'a will recycle 0-3
IF a!=b 'See if new a
MF2 PRINT("SELECT: ",a,#13)
b=a 'Update b, no re-prnt.
MF4 ENDIF
IF UGI==0 'Look for button
GOSUB20 'Sub. to use a
ENDIF
GOTO1 'Infinite loop

165
 MF1
Enable Mode-Follow, Raw Resolution

Related APPLICATION: Motion mode control

Command:
DESCRIPTION: Mode Follow 4 external counts per 1 count of shaft
CTR motion
MC EXECUTION: Immediate
MC2 CONDITIONAL TO: External encoder inputs present
MC4 LIMITATIONS: Do not issue MF0 while in mode MF1
MC8 REPORT COMMAND: RMODE
MF0 READ/WRITE: Associated external encoder is read only
MF2 LANGUAGE ACCESS: N/A
MF4 UNITS: N/A
MS RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT MODE: MP
FIRMWARE VERSIONS: All except 4.40 series
DETAILED DESCRIPTION:
MF1 causes the SmartMotor™ to instantly and precisely follow a second, external,
encoder signal from input pins A and B, resetting the external encoder CTR value
to zero. For each 4 external encoder counts (in the same direction) received by the
SmartMotor, the motor shaft will be requested to follow, moving 1 internal encoder
count in the same direction. Velocity and acceleration feed-forward gains are not
computed during this mode. Issuing any other mode such as MT or MP followed by
G will take the SmartMotor™ out of this following behavior.
MF1 instantly turns on the servo and resets any position error. The servo off flag Bo
For other ratios is set to 0, the trajectory flag Bt is set to 1, and the position error flag Be is reset to 0.
and fractional The motion is restricted by the present E value. Issuing E=0 will immediately cause
relationships see a position error after 4 encoder counts, in the same direction, are received from the
Mode Follow with external encoder. The motion is also subject to the currently defined activity of the
Ratio (MFR) limit switches.
Example:

MF1 'Reset CTR and Set follow mode

RMODE 'RESPONSE is "F"
WAIT=100000 'Follow for a while
MP 'Revert to position mode
P=0 'Set destination for home
A=100 'Set acceleration
V=537*1000 'Set velocity
G 'Terminate following start position move
RMODE 'RESPONSE is "P"

166
 MF2
Enable Mode-Follow Half-Quadrature

Related Command: APPLICATION: Motion mode control

CTR DESCRIPTION: Mode Follow 2 external counts per 1 count of
shaft motion
MC
EXECUTION: Immediate
MC2
CONDITIONAL TO: External encoder inputs present
MC4
LIMITATIONS: Do not issue MF0 while in mode MF2
MC8
REPORT COMMAND: RMODE
MF0
READ/WRITE: Associated external encoder is read only
MF1
LANGUAGE ACCESS: N/A
MF4
UNITS: N/A
MS
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT MODE: MP
FIRMWARE VERSIONS: All except 4.40 series
DETAILED DESCRIPTION:
MF2 causes the SmartMotor™ to instantly and precisely follow a second, external,
encoder signal from input pins A and B, resetting the external encoder CTR value
to zero. For each 4 external encoder counts (in the same direction) received by the
SmartMotor, the motor shaft will be requested to follow, moving 1 internal encoder
count in the same direction. Velocity and acceleration feed-forward gains are not
computed during this mode. Issuing any other mode such as MT or MP followed by G
will take the SmartMotor™ out of this following behavior.
MF2 instantly turns on the servo and resets any position error. The servo off flag Bo
For other ratios is set to 0, the trajectory flag Bt is set to 1, and the position error flag Be is reset to
and fractional 0. The motion is restricted by the present E value. Issuing E=0 will immediately cause
relationships see a position error after 4 encoder counts, in the same direction, are received from the
Mode Follow with external encoder. The motion is also subject to the currently defined activity of the
Ratio (MFR) limit switches
Example:

MF2 'Reset CTR and Set follow mode

RMODE 'RESPONSE is "F"
WAIT=100000 'Follow for a while
MP 'Revert to position mode
P=0 'Set destination for home
G 'Terminate following start position move
RMODE 'RESPONSE is "P"

167
 MF4
Enable Mode Follow Full Quadrature
Related Command: APPLICATION: Motion mode control
CTR DESCRIPTION: Mode Follow 1 external counts per 1 count of shaft
motion.
MC
EXECUTION: Immediate
MC2
CONDITIONAL TO: External encoder inputs present
MC4
LIMITATIONS: Do not issue MF0 while in mode MF4
MC8
REPORT COMMAND: RMODE
MF0
READ/WRITE: Associated external encoder is read only
MF1
LANGUAGE ACCESS: N/A
MF2
UNITS: N/A
MS
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT MODE: MP
FIRMWARE VERSIONS: All except 4.40 series
DETAILED DESCRIPTION:
MF4 causes the SmartMotor™ to instantly and precisely follow a second, external,
encoder signal from input pins A and B, resetting the external encoder CTR value
to zero. For each 4 external encoder counts (in the same direction) received by the
SmartMotor, the motor shaft will be requested to follow, moving 1 internal encoder
count in the same direction. Velocity and acceleration feed-forward gains are not
computed during this mode. Issuing any other mode such as MT or MP followed by G
will take the SmartMotor™ out of this following behavior.
MF4 instantly turns on the servo and resets any position error. The servo off flag Bo
is set to 0, the trajectory flag Bt is set to 1, and the position error flag Be is reset to
0. The motion is restricted by the present E value. Issuing E=0 will immediately cause
a position error after 4 encoder counts, in the same direction, are received from the
external encoder. The motion is also subject to the currently defined activity of the
limit switches.
Example:
MF4 'Reset CTR and Set follow mode
RMODE 'RESPONSE is "F"
WAIT=100000 'Follow for a while
MP 'Revert to position mode
A=100 'Set acceleration
V=537*1000 'Set velocity
P=0 'Set destination for home
G 'Terminate following start position move
RMODE 'RESPONSE is "P"

168
 MFDIV
Set Mode-Follow Divisor

Related Command: APPLICATION: Mode follow control

Bd DESCRIPTION: Mode follow external encoder with ratio
MFMUL/MFDIV
CTR
EXECUTION: Buffered pending a G
D
CONDITIONAL TO: D, MFMUL, MF1, MF2, MF4, V
G
LIMITATIONS: Magnitude of ratio MFMUL/MFDIV must be less
MF1 than 256
MF2 REPORT COMMAND: N/A
MF4 READ/WRITE: Write only
MFR LANGUAGE ACCESS: Assignment, expressions and conditional testing
MFMUL UNITS: Number
V RANGE OF VALUES: -32768 to 332767
TYPICAL VALUES: -5 < (MFMUL/MFDIV) < 5
DEFAULT VALUE: N/A
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
The ratio MFMUL/MFDIV specifies the gain for Mode Follow with Ratio (MRF). To
use MFR, you will need to define the specific relationship (ratio) of the encoder count
input to outgoing requested encoder counts of motion. The command MFR must
be issued after both MFMUL and MFDIV have been set. Both MFMUL and MFDIV
may positive or negative; use this fact to control the direction of shaft motion. Overly
large ratio gains are flagged by the firmware setting the system flag Bd, and may be
unstable. The error flag Bd will be set by MFR if the magnitude of MFMUL/MFDIV is
256 or greater. MFR does NOT reset Bd if already set by a prior procedure.
Example:
Zd 'reset Bd system flag
MF0 'reset CTR
MFDIV=-10 'Denominator = -10
MFMUL=21 'Numerator = 21
MFR 'Calculate Ratio, input 21 external counts
'resulting motion -10 counts
D=0 'No phase shift
IF Bd GOTO12
ENDIF 'gain too large
G 'Start Following
'Implementing Phase Adjust:
D=500 'Set Relative Distance
V=5000 'Set Relative Velocity
G 'Start Phase Adjust
END
C12
S 'Stop Motion
END 169
 MFMUL
Set Mode-Follow Multiplier

Related Command: APPLICATION: Mode follow control

Bd DESCRIPTION: Mode follow external encoder with ratio
MFMUL/MFDIV
CTR
EXECUTION: Buffered pending a G
D
CONDITIONAL TO: D, MFMUL, MF1, MF2, MF4, V
G
LIMITATIONS: Magnitude of ratio MFMUL/MFDIV must be less
MF1 than 256
MF2 REPORT COMMAND: N/A
MF4 READ/WRITE: Write only
MFDIV LANGUAGE ACCESS: Assignment, expressions and conditional testing
MFR UNITS: Number
V RANGE OF VALUES: -32768 to 332767
TYPICAL VALUES: -5 < (MFMUL/MFDIV) < 5
DEFAULT VALUE: N/A
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
The ratio MFMUL/MFDIV specifies the gain for Mode Follow with Ratio (MRF). To
use MFR, you will need to define the specific relationship (ratio) of the encoder count
input to outgoing requested encoder counts of motion. The command MFR must
be issued after both MFMUL and MFDIV have been set. Both MFMUL and MFDIV
may positive or negative; use this fact to control the direction of shaft motion. Overly
large ratio gains are flagged by the firmware setting the system flag Bd, and may be
unstable. The error flag Bd will be set by MFR if the magnitude of MFMUL/MFDIV is
256 or greater. MFR does NOT reset Bd if already set by a prior procedure.
Example:
Zd 'reset Bd system flag
MF0 'reset CTR
MFDIV=-10 'Denominator = -10
MFMUL=21 'Numerator = 21
MFR 'Calculate Ratio, input 21 external counts
'resulting motion -10 counts
D=0 'No phase shift
IF Bd GOTO12
ENDIF 'gain too large
G 'Start Following
'Implementing Phase Adjust:
D=500 'Set Relative Distance
V=5000 'Set Relative Velocity
G 'Start Phase Adjust
END
C12
S
END 170
 MFR
Calculate/Enable Mode-Follow-Ratio

Related APPLICATION: Motion mode control

Command:
DESCRIPTION: Request MODE FOLLOW WITH RATIO
CTR
EXECUTION: Buffered pending a G
D
CONDITIONAL TO: Ratio MFMUL/MFDIV, D, and V
G
LIMITATIONS: Magnitude of ratio MFMUL/MFDIV must be less than
MF1 256
MF2 REPORT COMMAND: Ratio Cannot be reported
MF4 READ/WRITE: N/A
MFDIV LANGUAGE ACCESS: N/A
MFMUL UNITS: N/A
V RANGE OF VALUES: N/A
TYPICAL VALUES: -5 < MFMUL/MFDIV < 5 (non-reportable)
DEFAULT MODE: MP
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
The command MFR is used to implement a fractional relationship between an
incoming secondary encoder signal and the SmartMotor™ internal shaft posi-
tion, represented by the primary internal encoder count. The fractional relation-
ship is defined the user set ratio of MFMUL to MFDIV.
To use MFR, you will need to define the specific desired relationship (ratio) of
the external encoder input to shaft position, represented by the primary internal
encoder count. The command MFR must be issued after both MFMUL and
MFMUL have been specified. Both MFMUL and MFDIV may positive or nega-
tive; use this fact to control the resulting direction of shaft motion. Overly large
ratio gains are flagged by the firmware setting the system flag Bd, and may
be unstable. The error flag Bd will be set by MFR if the magnitude of MFMUL/
MFDIV is 256 or greater. MFR does NOT reset Bd if already set by a prior pro-
cedure.
MFR followed by G will immediately turn on the servo and reset any position
error. The servo off flag Bo is set to 0, the trajectory flag Bt is set to 1, and
the position error flag Be is reset to 0. The motion is restricted by the present
E value. Issuing E=0 would immediately cause a position error upon a single
count of output motion being requested. The motion is also subject to the cur-
rently defined activity of the limit switches.
The fractional ratio is accurate to 23 binary places, this means that if the exter-
nal encoder displacement during the motion exceeds 256*256*64 or 4,000,000
counts the G command should be reissued. Within this limitation, the calculated
requested trajectory position is to within one count of mathematical precision.

171
 MFR (continued)
Calculate/Enable Mode-Follow-Ratio

Related Phase Offset Adjust:

Command:
In some applications, it may be necessary to introduce a phase shift to achieve
CTR proper alignment during MFR following.
D To perform this shift, parameters D and V are employed to superimpose the
corrective phase. During a phase shift RD will report the remaining phase dif-
G ference.
MF1
MF2 Example:
MF4
Zd 'reset Bd system flag
MFDIV MF0 'reset CTR
MFMUL MFDIV=-10 'Denominator = -10
MFMUL=21 'Numerator = 21
V MFR 'Calculate Ratio
'input 21 external counts
'resulting motion -10 counts
D=0 'No phase shift
IF Bd GOTO12
ENDIF 'gain too large
G 'Start Following
'Implementing Phase Adjust:
D=500 'Set Relative Distance
V=5000 'Set Relative Velocity
G 'Start Phase Adjust
RMODE 'Response is "X"
END
C12
S 'Stop Motion
END

172
 MP
Enable Position-Mode

Related APPLICATION: Motion mode control

Command:
DESCRIPTION: Request MODE POSITION

A EXECUTION: Buffered pending a G

D CONDITIONAL TO: A, D, E, G, P,V, PID loop

E LIMITATIONS: Motor power sufficient to deliver acceleration A

and velocity V
G
REPORT COMMAND: RMODE
MV
READ/WRITE: N/A
P
LANGUAGE ACCESS: N/A
V
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT MODE: Default motion mode at power up
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The position mode is the default mode of the motor. If you ever change modes, you can
return to position mode by issuing the MP command. The mode request is buffered
until a G command is issued.
For a standard position mode move, the SmartMotor™ requires, at a minimum,
a position, non-zero trajectory velocity V and an non-zero positive acceleration A.
Position mode calculates the trajectory to the target position at the time the G command
is issued. The preceding P=expression or D=expression determines if the move is
For a standard to be absolute (destination target set equal to buffered P value) or relative (destination
position mode target set equal to current trajectory position plus the buffered D offset value). The G
move, the command may be issued at any time and may be repeated, particularly in the case of
SmartMotor™ relative modes with D=offset.
requires, at a
MP followed by G will immediately turn on the servo and reset any position error.
minimum,
The servo off flag Bo is set to 0, the trajectory flag Bt is set to 1, and the position
a Position,
error flag Be is reset to 0. The motion is restricted by the present E value. Issuing
Velocity and an E=0 would immediately cause a position error upon a single count of output motion
Acceleration. being required. The motion is also subject to the currently defined activity of the limit
switches. RMODE will respond with a "P".
The SmartMotor performs trapezoidal and triangular velocity profiles by default, but
because position, velocity and acceleration are all changeable "on the fly" (during a
move), more elaborate profiles can be implemented through programming.
Continued on next page:

173
 MP (continued)
Enable Position-Mode

Related
Command:
Due to integer math truncation, A is effectively rounded down to the next even number.
A A value of 1 or 0, therefore, produce a net acceleration of ZERO. In these instances,
requests to change the current velocity produce no change in velocity until A>=2 is
D requested and a new G command issued.
E Example:
G
MV 'Velocity Mode
MV
A=1000 'Set Acceleration
P V=50000 'Set Velocity
G 'Start Motion
V WAIT=6000 'Wait 6000 samples
MP 'Position Mode
A=50 'Set Acceleration
V=40000 'Set Velocity
P=1000 'Set Position
G 'Start (change) Motion
WAIT=200 'Wait 200 samples
V=45000 'Change Velocity
P=0 'Update Position
G 'Start Motion

174
 MS
Enable Mode-Step

Related Command: APPLICATION: Motion mode control

CTR DESCRIPTION: Request MODE STEP AND DIRECTION
RCTR EXECUTION: Immediate
RMODE CONDITIONAL TO: N/A
MFDIV LIMITATIONS: Step and direction input available
MFMUL REPORT COMMAND: RMODE
MSR READ/WRITE: Associated step and direction counter CTR is read
only
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: MS resets CTR to zero
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The MS command enables mode step and direction. In the step and direction mode
the SmartMotor™ emulates a 2,000 or 4000, depending on model, step per revo-
Opto-isolaton lution stepping motor and driver package, where I/O pins "A" and "B" are used to
modules are receive the step and direction inputs, respectively. In Step and Direction mode the
suggested when SmartMotor is still operating in a closed loop fashion with the PID loop executing the
using Step and servo functions, so tuning is still important.
Direction to assure
reliable operation. The MS command is immediate and concurrently resets the external encoder CTR
value to zero. For each external step pulse received by the SmartMotor, the motor
will be requested to move one internal encoder count in the same direction as the
direction input. For other ratios and fractional relationships see Mode Follow with
Ratio (MSR). Velocity and acceleration parameters have no meaning in this mode.
Issuing any other mode such as MT or MP, followed by G, will take the SmartMotor
out of this following behavior.
Under MS, a logic level high on the DIRECTION input causes motion in the posi-
tive direction. That is, the shaft will move such that the internal encoder value will
increase. The STEP input is enabled on the rising edge of the I/O A input signal and
active while the signal is high. The actually motion of the step occurs on the signal
falling edge. In accordance with standard rules, do not change the DIRECTION
signal while the STEP signal is active (logic high). If you do, you can cause that step
move to go the wrong direction.

175
 MS (continued)
Enable Mode-Step

Related MS will immediately turn on the servo and reset any position error. The servo off Bo
Command: is set to 0, the trajectory flag Bt is set to 1, and the position error flag Be is reset to 0.
The motion is restricted by the present E value. Issuing E=0 would immediately cause
CTR
a position error upon any encoder pulse being received from the external encoder.
RCTR The motion is also subject to the currently defined activity of the limit switches.
RMODE As with most stepping systems, opto-isolation modules are suggested when using
Step and Direction to assure robust operation.
MFDIV
Example 1: Immediate Mode Step, 1:1
MFMUL
MS 'Reset CTR and step and direction mode
MSR 'Motor will immediately start following pulses at 1:1
RMODE 'RESPONSE is "S"
WAIT=100000 'Follow for a while
MP 'Revert to position mode
P=0 'Set destination for home
A=100 'Set acceleration
V=50000 'Set velocity
G 'Terminate following start position move
RMODE 'RESPONSE is "P"

Example 2: Buffered Mode Step with ratio of 1:10

MS0 'Reset CTR to Zero, no motion will result
'This also sets up Port A and B
'for step and direction input mode
RMODE 'RESPONSE will be from previous mode!
MFMUL=10 'Multiply incoming pulses by 10
MFDIV=100 'Divide incoming pulses by 100
MSR 'Calculate Mode Step Ratio
G 'motor will now begin following a 1:10
RMODE 'RESPONSE is "X"

176
 MS0
Enable Step/Direction Counter Mode

Related Command: APPLICATION: Counter mode control

CTR DESCRIPTION: Request step and direction counter mode
RCTR EXECUTION: Immediate
MS CONDITIONAL TO: N/A
MSR LIMITATIONS: Step and direction input available
MFMUL REPORT COMMAND: RCTR
MFDIV READ/WRITE: step and direction counter CTR is read only
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: MS0 resets CTR to zero
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The command MS0 (Mode Step Zero) allows the user to zero the second encoder
register (CTR) without changing the mode status of the SmartMotor™. Following
MS0, incoming step and direction signals, using I/O pins A and B, will be fully decoded
and presented in the form of the CTR variable; no gearing relationship is active,
unless you write one yourself.
If the you are running in MS MF, MSR, MFR, MC or other encoder follow modes, be
careful issuing MS0 as the value of CTR is immediately zeroed. The SmartMotor will
interpret this to be a sudden change in the master encoder input from its prior value
to 0.
As with most stepping systems, opto-isolation modules are suggested when using
Step and Direction to assure robust operation.
Example:
MS0 'reset CTR to zero
'CTR value follows step and direction inputs
Example:
It may be useful to monitor the quantity or frequency of incoming pulses.
a=CTR 'Read CTR at start
WAIT=4069 'Wait one second
a=CTR-a 'Read the difference
PRINT("Rate=",a," Pulses/Sec")

177
 MSR
Calculate/Enable Mode-Step-Ratio

Related APPLICATION: Motion mode control

Command:
DESCRIPTION: Request MODE STEP WITH RATIO
Bd
EXECUTION: Buffered pending a G
CTR
CONDITIONAL TO: Ratio MFMUL/MFDIV, D, and V
D
LIMITATIONS: Magnitude of ratio MFMUL/MFDIV must be less than 256
G
REPORT COMMAND: RMODE
MF1
READ/WRITE: N/A
MF2
LANGUAGE ACCESS: N/A
MF4
MFDIV UNITS: N/A

MFMUL RANGE OF VALUES: N/A

V TYPICAL VALUES: -5 < MFMUL/MFDIV < 5

DEFAULT MODE: MP

FIRMWARE VERSIONS: 4.00 and higher

DETAILED DESCRIPTION:

MSR is used to implement a fractional relationship between an incoming secondary

encoder signal and the SmartMotor™ internal shaft position, represented by the pri-
mary internal encoder count. The fractional relationship is defined the user set ratio
of MFMUL to MFDIV.

To use MSR, you will need to define the specific relationship (ratio) of the external
encoder input to shaft position, represented by the primary internal encoder count.
The command MSR must be issued after both MFMUL and MFDIV have been speci-
fied. Both MFMUL and MFDIV may be positive or negative; use this fact to control the
resulting direction of shaft motion. Overly large ratio gains are flagged by the firmware
setting the system flag Bd, and may be unstable. The error flag Bd will be set by
MFR if the magnitude of MFMUL/MFDIV is 256 or greater. MFR does NOT reset Bd
if already set by a prior procedure.

MSR followed by G will immediately turn on the servo and reset any position error.
The servo off Bo is set to 0, the trajectory flag Bt is set to 1, and the position error
flag Be is reset to 0. The motion is restricted by the present E value. Issuing E=0
would immediately cause a position error upon a single count of output motion
being required. The motion is also subject to the currently defined activity of the limit
switches.

The fractional ratio is accurate to 23 binary places, this means that if the external
encoder displacement during the motion exceeds 256*256*64 or 4,000,000 counts
the G command should be reissued. Within this limitation, the calculated requested
trajectory position is to within one count of mathematical precision.

178
In some applications, it may be necessary to introduce a phase shift to achieve proper
 MSR (continued)
Calculate/Enable Mode-Step-Ratio

Related alignment during MFR following. To perform this shift, parameters D and V are
Command: employed to superimpose the corrective phase. During a phase shift RD will
report the remaining phase difference.
Bd
CTR As with most stepping systems, opto-isolation modules are suggested when
using Step and Direction to assure robust operation.
D
Example:
G Zd 'reset Bd system flag
MFDIV=-10 'Numerator = 21
MF1 MFMUL=21 'Numerator = 21
MSR 'Calculate Ratio
MF2
'input 21 external counts
MF4 'resulting motion -10 counts
D=0 'No phase shift
MFDIV IF Bd GOTO5 ENDIF 'gain too large

MFMUL G 'Start Following

Implementing Phase Adjust:
V D=500 'Set Relative Distance
V=5000 'Set Relative Velocity
G 'Start Phase Adjust
RMODE 'RESPONSE is "X"
C5
END

179
 MT
Enable Torque-Mode

Related Command: APPLICATION: Motion mode control

T=exp DESCRIPTION: Request MODE TORQUE
EXECUTION: Immediate
CONDITIONAL TO: -1023 < T < 1023
LIMITATIONS: None
REPORT COMMAND: RMODE, RT
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT MODE: MP
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
MT enables torque mode. In this mode, the motor is commanded to develop a spe-
cific power level, set by T=expression. T is in units of tenths of percent of the full
capacity of the subject motor.
T=1023 results 100% PWM full torque in the positive direction.
T=-1023 results 100% PWM full torque in the negative direction.
The encoder still tracks position and can still be read with the @P variable, but the
PID loop is off and the motor is not servoing or running a trajectory.
For any given torque and no applied load, there will be a velocity at which the back
EMF of the motor will cause the acceleration to stop and the velocity to hold more
or less constant. Under the no load condition, therefore, the T command will control
velocity. As the delivered torque increases, the velocity decreases.
Note that this means that MT does not regulate torque. Instead, it delivers a fixed
amount of power to the motor coils. As motor power is the product of torque and
RPM, velocity decreases as the delivered torque increases and vice versa.
MT will immediately turn on the servo and reset any position error. The servo off flag
Bo is set to 0, the trajectory flag Bt is reset to 0, and the position error flag Be is reset
to 0. The motion is not restricted by the present E value. Issuing E=0 would have no
effect upon the present motion. The motion is subject to the currently defined activity
of the limit switches.

180
 MT (continued)
Enable Torque-Mode

Related Amplifier mode MD50 effects the internal value of T.

Command:
The Reported value of T will not reflect the effect if switching from MD50 to
T=exp MT mode. To change from mode MD50 to mode MT, issue the sequence OFF
T=value MT.

Torque Mode Example:

UAI 'Set I/O A as Input
T=0 'Initialize T=0
MT 'Enter Mode Torque
C1 'Loop Forever
a=UAA-512 '2.5V = 0 Torque
'UAA will range from 0 to 1023 over
'an input voltage of 0 to 5VDC
T=2*a
GOTO1
END

The above example will track an incoming analog signal from 0 to 5 Volts
UAA= 0 to 1023

Note: Do not attempt to regulate speed with Torque Mode. It is not designed
for that and will give poor results. In like manner, it is difficult at best to attempt
to place a speed limit on Torque mode. If the load decreases, the motor shaft
speed will increase to a new equilibrium with th lighter load because Power
must remain the same.

181
 MTB
Enable Mode Torque Brake

Related Command: APPLICATION: Motion mode control

CTR DESCRIPTION: Dynamically brakes the motor
D EXECUTION: Immediate
G CONDITIONAL TO: N/A
MF1 LIMITATIONS: N/A
MF2 REPORT COMMAND: N/A
MF4
READ/WRITE: N/A
MFDIV
LANGUAGE ACCESS: N/A
MFMUL
UNITS: N/A
MT
RANGE OF VALUES: N/A
T
TYPICAL VALUES: N/A
V
DEFAULT MODE: N/A

FIRMWARE VERSIONS: >=4.76

DETAILED DESCRIPTION:

MTB places the SmartMotor™ into dynamic brake mode. In this mode, the motor
coils are shorted together. Any motion of the shaft would normally produce Back EMF
somewhat proportional to speed. Bt having the windings shorted out causes this Back
EMF to be dissipated immediately. he result is a magnetic damping counter force to
any attempted motion of the shaft for an external source.

IF MTB is issued while moving at a given speed, the shaft will come to a gradual stop
at a rate proportional to the Back-EMF that was being generated at the time of issu-
ing the MTB command. The shaft doesn’t stop at any predetermined or commanded
position and its trajectory is uncontrolled.

While in MTB, the motor will not produce any external DC bus voltage rise if the shaft
is rotated because all windings are shorted back to themselves. As a result, the DC
bus is protected against bus over voltage to within the drive stage current limits.

MTB is the default mode of operation for all motors with >=4.765 firmware. MTB is
automatically issued any time the motor faults on over temp, position errors or travel
limit crash.

The only mean to prevent this automatic action is to issue BRKRLS and OFF in that
sequence,.

To Re-enable the automatic MTB function, issue BRKSRV (brake Servo)

182
 MV
Enable Velocity-Mode

Related APPLICATION: Motion mode control

Command:
DESCRIPTION: Request MODE VELOCITY
A
EXECUTION: Buffered pending a G
D
CONDITIONAL TO: A, D, E, G, P, V, PID loop
E
LIMITATIONS: Motor power sufficient to deliver Acceleration, A,
G and Velocity, V
MV
REPORT COMMAND: RMODE
P
READ/WRITE: N/A
V
LANGUAGE ACCESS: N/A
PID loop
UNITS: N/A

RANGE OF VALUES: N/A

TYPICAL VALUES: N/A

DEFAULT MODE: MP

FIRMWARE VERSIONS: ALL

DETAILED DESCRIPTION:

The MV command enables velocity mode. In velocity mode, the value of V, the tar-
get velocity, can be negative or positive. In contrast, position mode only uses the
magnitude of the velocity parameter. Acceleration and velocity can be changed at
any time, even during motion. The G command will initiate "on the fly" changes to
any of the parameters.

If the actual velocity is greater that the value defined by V, then, upon reception of
the next G command, the motor shaft will decelerate at the rate set by A until the
excess velocity is removed. Conversely, if the actual velocity is less than V when
the G command is entered, then the motor shaft motion will accelerate at the rate
set by A until the requested velocity is attained. Similarly, if the actual velocity is in
the opposite direction of V when the G command is entered, then the motor shaft
motion will decelerate and then accelerate at the rate set by A until the requested
velocity is attained.

Once the commanded velocity V is attained, motion continues at this rate, i.e. uni-
form velocity, indefinitely until the commanded velocity is changed or the mode is
otherwise terminated. The encoder may wrap around during this mode, but no posi-
tion error will be declared during the wrap.

In all firmware pror to 4.76, MV followed by G will immediately turn on the servo and
reset any position error. The servo off Bo is set to 0, the trajectory flag Bt is set to
1, and the position error flag Be is reset to 0. The motion is restricted by the present

183
 MV (continued)
Enable Velocity-Mode

Related E value. Issuing E=0 would immediately cause a position error upon a single
Command: count of output motion being required The motion is subject to the currently
defined activity of the limit switches. RMODE will respond with a V.
A
D In firmware ==4.76 if ay prior errors exist, Zs r th appropriate command must
be used to clear the associated error status bit flag.
E
Due to arcane digital math, A is effectively rounded down to the next even
G number. A values of 1 and 0 therefor produce a net acceleration of zero. In
MV these instances, requests to change the current velocity produce no change in
velocity until A>=2 is requested and a new G command issued.
P
Example:
V MV 'buffer velocity mode request
A=2 'set the minimum possible buffered acceleration
PID loop V=44444 'set buffered velocity
G 'apply buffered motion parameter and mode
WAIT=V 'do not use TWAIT since move is forever
RMODE 'response is "V"
V=-V 'prepare to reverse velocity direction
A=2*A 'with double the present acceleration
G 'reverse direction
V=V/4 'prepare to slow to one quarter
'of original velocity
WAIT=V*V 'this is a valid expression
G 'slow to one quarter original velocity
WAIT=4096*10 'Wait 10 seconds
'(4069 servo samples = 1 second)
X 'decelerate to stop at acceleration set by "A"
END

184
 O=expression
Set Main Position Counter

Related APPLICATION: Reset SmartMotor’s™ encoder origin

Command:
DESCRIPTION: Request SmartMotor’s encoder origin change
RP
EXECUTION: Immediate
MS0
CONDITIONAL TO: Present encoder count
MF0
LIMITATIONS: SmartMotor’s axis must be at rest
REPORT COMMAND: RP
READ/WRITE: Write only
LANGUAGE ACCESS: Assignment
UNITS: Encoder counts
RANGE OF VALUES: -2147483648 to 2147483647
TYPICAL VALUES: -2147483648 to 2147483647
DEFAULT VALUE: 0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The O=expression allows the current position to be set to any value desired.
You may declare the current position to be zero by entering O=0
(the letter "O" the number zero). Similarly, you may declare the current position to
be 1234 by entering O=1234. Using the O=expression does not modify previously
entered P and D registers.
The O=expression avoids position drift and accumulated error by changing the
SmartMotor’s commanded position for the sample in which the command is executed,
regardless of the real time position error and whether or not the shaft is moving. This
command is useful in homing routines to set an origin or "home" position.
In firmware versions 4.12, 4.40 and later, The SmartMotor explicitly performs the
O=expression operation before checking for excessive position error.
O=0 is often used to avert a 32 bit roll-over condition.

Continued on next page

185
 O=expression (continued)
Set Main Position Counter

Related Example: (reassigning origin does not destroy P and P buffered values)
Command: A=20
V=100000
RP P=5000
MP
MS0 O=-1000 'present position set to negative 10000
MF0 GOSUB5
O=12345 'present position set to 12345
GOSUB5
D=5000
O=3000 'present position set to 3000
GOSUB5
END
C5
PRINT(#13,"Move origin is ",@P)
G
WHILE Bt LOOP
WAIT=4000
PRINT(#13,"Position is ")
RP
RETURN

Program output is:

Move origin is -1000’
Position is 5000
Move origin is 12345
Position is 5000
Move origin is 3000
Position is 8000

186
 OCHN
Open /Set-up Communications Channel

Related Command: APPLICATION: Communication control

CCHN DESCRIPTION: Open a communications channel
RCHN EXECUTION: Immediate
RCHN0 CONDITIONAL TO: External communication i/o connections
RCHN1 LIMITATIONS: Hardware capabilities
REPORT COMMAND: RCHN, RCHN0, RCHN1 report status conditions
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: See detailed description
TYPICAL VALUES: See detailed description
DEFAULT VALUE: OCHN (RS2, 0, N, 9600, 1, 8, C)
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
OCHN(TYPE,CHANNEL,PARITY,RATE,STOP BITS,DATA BITS, SPECIFICATION)
opens a serial channel with the following specifications:
TYPE: RS2, RS4, or IIC
CHANNEL: 0 ( for host), 1
PARITY: O=odd, E=even, N=none, I=ignore
Serial baud RATE: 2400, 4800, 9600, 19200, 38400 bps
AniLink bit RATE: 100 khz, 400 khz
STOP BITS: 1
DATA BITS: 8
Serial SPECIFICATION: C=cmd, D=data
AniLink SPECIFICATION M=master, S=slave.
Opening channel 0 as a RS485 port dedicates I/O G to the RS485 control function,
which is required for use with Animatics RS232 to RS485 converters like the RS485
and RS485-ISO. When using one of these adapters, you must ensure that the I/O
G pin is configured as a TTL output with the UGO command before the channel is
opened.
Example:
OCHN(RS2,0,N,9600,1,8,C) 'performed at reset

187
 OFF
Turn Off Drive Stage

Related APPLICATION: Motor control

Command:
DESCRIPTION: Turn servo off
G
EXECUTION: Next PID sample update
MD50
CONDITIONAL TO: N/A
MF1
LIMITATIONS: N/A
MF2
REPORT COMMANDS: RS and RBo
MF4
READ/WRITE: Read only associated status flag, Bo
MS
LANGUAGE ACCESS: N/A
MT
UNITS: N/A
MTB
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: OFF
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
OFF turns the power to the motor coils off and terminates the activity of the current
motion mode. The system flag for Motor Off, Bo, will be set to 1. The shaft will be free
to coast to a stop, or to be rotated by other external means. The response to RMODE
is O for off. The system flag, Bt, for trajectory in progress will be set to zero. The
system position error flag, Be, to zero. The motor will still track any shaft movement
and continue to update the present encoder position.

Note: In all firmware -4.76, the OFF command may result in switching to: MTB (Mode
Torque Brake) depending on settings. If the otor is in default settings, MTB would be
the default "Off-State mode when OFF is issued.
Please see MTB command for more details

188
 P=expression
Set Commanded Absolute Position

Related APPLICATION: Trajectory control

Command:
DESCRIPTION: Set trajectory target position
@P
EXECUTION: Buffered pending a G command
@PE
CONDITIONAL TO: A, E, G, MP, and V
A LIMITATIONS: A, V, and E all non zero for real time position
D to change

E REPORT COMMAND: RP

G READ/WRITE: Read write

LANGUAGE ACCESS: Assignment, expressions, and conditional testing
MP
UNITS: Encoder counts
V
RANGE OF VALUES: -2147483648 to 2147483647
TYPICAL VALUES: -2147483648 to 2147483647
DEFAULT VALUE: 0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
To specify an absolute target position to the SmartMotor’s™ positional origin, set
P=target position, positive or negative, and then follow with a G command.
P=expression sets the target position in Position Mode.
Unless a subsequent D=expression is issued, and as long as the appropriate tra-
jectory parameters A and V, the motor will move to position specified by the last
requested P value when the G command is issued.
The Mode of operation will be Absolute Positon Mode. The RMODE command will
respond with "P"
RP will report the actual position, but if you set a variable equal to P such as "a=P",
that variable will be loaded with the last entered target position rather than the actual
position. If you want to use the actual position in your program then use the @P vari-
able such as a=@P.
Continued on next page:

189
 P=expression (continued)
Set Commanded Absolute Position

Related
Command:
Example:
@P MP 'Change to position mode (default power-up mode)
@PE P=1000 'Set buffered position to 1000 encoder counts
A=100 'Set acceleration
A V=32212*50 'Set velocity
G 'Start Motion
D TWAIT 'Wait for move to be performed
P=2000 'set a new buffered absolute target position
E G
G TWAIT
P=-2000 'Set a new (negative) buffered target position.
MP G
TWAIT
V P=-1000
G
TWAIT
P=0
G

190
 PID#
P.I.D. Tuning Filter Control

Related Command: APPLICATION: PID sample rate control

A DESCRIPTION: Set PID sample rate to basic rate
V EXECUTION: Next PID update
WAIT CONDITIONAL TO: N/A
CLK LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: PID Modulo samples
RANGE OF VALUES: 1, 2, 4, and 8 only.
TYPICAL VALUES: N/A
DEFAULT RATE: PID1
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
The PID parameter sets the PID sample rate.
Valid values are: PID1, PID2, PID4, and PID8.
PID1 is the default. See the RSP, Report Sample Period, detailed description for
determining the actual default sample rate frequency of your SmartMotor™. The
default rate is close to 4000 samples/second.
Each PID sample period, the motor firmware scans and updates encoder position,
trajectory generator, I/O, serial communications ports, and uses position error to
perform the PID calculation to control the servo drive stage. The user program code, if
any, is executed at any time the microprocessor is not involved in these activities.
The WAIT command is controlled by the system CLK (clock) The PID value
changes the reported values to CLK and the effects of WAIT as well.
Both Velocity and Acceleration are impacted the same way the WAIt command is.
The values of 1, 2 4 and 8 mean the PID filter will react upon and update on position
error to correct dive power every 1 2 4 or 8 PID samples. This does not change how
code is executed but does change how much time is given to that execution. As a
result, a program run at PID8 will typically run faster than a program run at PID1.
However, since the frequency of PID updates to the drive stage are changed and
samples of position error are done at different intervals, PID8 will result in a more
course or abrasive motion than PID1. Special care should be taken when using the
PID command due to this fact. Improper usage could result in very sporadic motion.

The next page show a comparison of the different PID values

191
 PID# (Continued)
P.I.D. Tuning Filter Control

Related
Command:
A
V
Example:
WAIT
CLK 'For a 2000 count encoder SmartMotor™:
'Using three fixed values under each of the PID settings
v=128504 'use to Set commanded Velocity
a=3167 'use to Set commanded Acceleration
w=32552 'use to set Wait time

PID1 'Default PID updates every servo sample

WAIT=w 'Wait time = 8 seconds
V=v 'Velocity = 2400 RPM
A=a 'Acceleration = 400 RPS^2

PID2 'PID updates every 2 servo samples

WAIT=w 'Wait time = 4 seconds
V=v 'Velocity = 1200 RPM
A=a 'Acceleration = 200 RPS^2

PID4 'PID updates every 4 servo samples

WAIT=w 'Wait time = 2 seconds
V=v 'Velocity = 600 RPM
A=a 'Acceleration = 100 RPS^2

PID8 'PID updates every 8 servo samples

WAIT=w 'Wait time = 1 second
V=v 'Velocity = 300 RPM
A=a 'Acceleration = 50 RPS^2

'
PID1 'Return to Default PID
WAIT=w 'Wait time = 8 seconds

END

As can be seen above, although the values used for Velocity, Acceleration, and Wait
times remained the same, their effect was changed by a factor for the PID setting.
As a result, much care should be taken if changes are made in the middle of a
program.
The PID parameter can be changed from PID1 to PID8 while the motor is sitting still
to increase I/O scanning efficiency or other code execution and then returned to
PID1 just prior to the next move. This is a technique used to increase response time
for input triggers or mathematical calculations while there is no trajectory in progress.

192
 PRINT( )
Print to Primary Communications Port

Related Command: APPLICATION: Communications output control

BAUD DESCRIPTION: Serial communications channel 0 PRINT function
CCHN EXECUTION: Immediate, at present baud rate
CMD CONDITIONAL TO: Host or channel 0 serial port open
DAT LIMITATIONS: Output is not buffered, each character transmitted
must wait for previous character to be finished.
F=4 Next command not executed until entire PRINT
OHCN function is done.

PRINT1 REPORT COMMAND: N/A

PRINTA . . READ/WRITE: N/A

. . PRINTH LANGUAGE ACCESS: N/A

UNITS: N/A
RANGE OF VALUES: Values passed to PRINT string must be
in the range of -2147483648 to 2147483647
TYPICAL VALUES: Any of the ASCII character set
DEFAULT VALUE: N/A
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION: PRINT ("ASCII string", #ascii_code, expression)
The PRINT( ) command is used to transmit (output) data to the serial communica-
tions channel 0, RS232 TX and RS232 RX pins, otherwise known as the primary
WARNING: host channel. PRINT( ) commands may be used to send output to a terminal for
display, communicate with third party devices, or used to send commands to other
DO NOT USE
motors.
A COMMENT
MARKER (‘) All items to be printed reside within the parentheses and are separated by commas.
WITHIN PRINT( ). ASCII Text strings must be within double quotation marks. Variables are referenced
by name and their ASCII string vales are printed. Simple math expressions are
IT WILL CAUSE A
allowed.
COMPILER ERROR
Raw ASCII code values are prefixed by the # sign. The SPACE character is #32,
TAB is #9, CARRIAGE RETURN is #13, and LINE FEED is #10.
PRINT( ) commands pause other code execution until the last character has been
transmitted. No language commands, whether from the host or user program, are
executed until the last character has been placed in the hardware transmit port.
What does this mean in practice? To put it more simply, there is a practical difference
between PRINT(a,b,c) and the sequence PRINT(a) PRINT(b) PRINT(c). Executing
from within a program PRINT(a,b,c) will output the values of a, b, and c without the
possibility of another command from the terminal interfering. Executing PRINT(a)
PRINT(b) PRINT(c) from within a program while the host terminal is transmitting
GOSUB5 to the motor could lead to the execution sequence GOSUB5

193
 PRINT( ) (continued)
Print to Primary Communications Port

Related Example:
Command: OFF
KP=100 'Set Proportional Gain
BAUD O=1234 'Set origin to 1234
a=1 b=2
PRINT("Demonstration:",#13)
CCHN PRINT("a=",a)
PRINT(" and b=",b,#13)
CMD PRINT("a+b=",a+b,#13)
PRINT("Position:",@P,#13)
DAT WAIT=10 'Allow time for serial buffer processing
PRINT("KP=",KP,#13)
F=4 PRINT("Hello World",#13,#13)
PRINT("Run Subroutines",#13)
OHCN WAIT=10
PRINT(#128,"GOSUB5 ",#13) 'tell all motors to run subroutine 5
PRINT1 WAIT=10
PRINT(#129,"GOSUB10",#13) 'Tell Motor-1 to run subroutine 10
PRINTA.. WAIT=10
PRINT(#130,"GOSUB20",#13) 'Tell Motor-2 to run subroutine 20
..PRINTH WAIT=10
PRINT(#131,"GOSUB30",#13) 'Tell Motor-3 to run subroutine 30
x=123
PRINT(#132,"GOSUB",x,#13) 'Tell Motor-4 to run subroutine 123
v=100000
a=100
p=2000
PRINT(#130,"A=",a," V=",v,#13) 'Set speed and accel in motor 2
WAIT=10
PRINT(#130,"MP P=",p, " G",#13) 'Command Motor-2 to position
2000
WAIT=10
PRINT(#13,#13,"End of Demonstration.",#13)
END
----------------------------------------------------
Output:
Demonstration:
a=1 and b=2
a+b=3
Position:1234
KP=100
Hello World

Run Subroutines
GOSUB5
GOSUB10
GOSUB20
GOSUB30
GOSUB123
A=100 V=100000
MP P=2000 G

End of Demonstration.

194
 PRINT1( )
Print to Secondary Communications Port

Related Command: APPLICATION: Communications output control

BAUD DESCRIPTION: Serial communications channel 1 PRINT function
CCHN EXECUTION: Immediate, at present baud rate
CMD CONDITIONAL TO: Channel 1 serial port open
DAT LIMITATIONS: Output is not buffered. Each character transmitted
must wait for previous character to be finished.
OCHN Next command not executed until entire PRINT
PRINT function is done.

PRINTA . . REPORT COMMAND: N/A

. . PRINTH READ/WRITE: N/A

LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: Values passed to PRINT string must be
in the range of -2147483648 to 2147483647
TYPICAL VALUES: Any of ASCII character set
DEFAULT VALUE: N/A
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The PRINT1( ) command is used to transmit (output) data to the serial communications
channel 1, I/O pin E and F, otherwise known as the secondary serial channel.
Note: Proper OCHN command is required prior to use of PRINT1 !!
All items to be printed reside within the parentheses and are separated by commas.
ASCII Text strings must be within double quotation marks. Variables are referenced
by name and their ASCII string vales are printed. Simple math expressions are
allowed.
Raw ASCII code values are prefixed by the # sign. The SPACE character is #32,
TAB is #9, CARRIAGE RETURN is #13, and LINE FEED is #10.
PRINT1( ) commands pause other code execution until the last character has been
transmitted. No language commands, whether from the host or user program, are
executed until the last character has been placed in the hardware transmit port.
What does this mean in practice? To put it more simply, there is a practical differ-
ence between PRINT1(a,b,c) and the sequence PRINT1(a) PRINT(b) PRINT(c).
Executing from within a program PRINT1(a,b,c) will output the values of a, b, and c
without the possibility of another command from the terminal interfering. Executing
PRINT1(a) PRINT1(b) PRINT1(c) from within a program while the host terminal is
transmitting GOSUB5 to the motor could lead to the execution sequence GOSUB5

195
 PRINT1( ) (continued)
Print to Secondary Communications Port
Example:
Related OFF
KP=100 'Set Proportional Gain
Command: O=1234 'Set origin to 1234
a=1 b=2
BAUD PRINT1("Demonstration:",#13)
PRINT1("a=",a)
CCHN PRINT1(" and b=",b,#13)
PRINT1("a+b=",a+b,#13)
CMD PRINT1("Position:",@P,#13)
WAIT=10 'Allow time for serial buffer
DAT processing
PRINT1("KP=",KP,#13)
OCHN PRINT1("Hello World",#13,#13)
PRINT1("Run Subroutines",#13)
PRINT WAIT=10
PRINT1(#128,"GOSUB5 ",#13) 'tell all motors to run
PRINTA . . subroutine 5
WAIT=10
. . PRINTH PRINT1(#129,"GOSUB10",#13) 'Tell Motor-1 to run subroutine
10
WAIT=10
PRINT1(#130,"GOSUB20",#13) 'Tell Motor-2 to run subroutine
20
WAIT=10
PRINT1(#131,"GOSUB30",#13) 'Tell Motor-3 to run subroutine
30
x=123
PRINT1(#132,"GOSUB",x,#13) 'Tell Motor-4 to run subroutine
123
v=100000
a=100
p=2000
PRINT1(#130,"A=",a," V=",v,#13) 'Set speed and accel in
motor 2
WAIT=10
PRINT1(#130,"MP P=",p, " G",#13) 'Command Motor-2 to
position 2000
WAIT=10
PRINT1(#13,#13,"End of Demonstration.",#13)
END
----------------------------------------------------
Output:
Demonstration:
a=1 and b=2
a+b=3
Position:1234
KP=100
Hello World

Run Subroutines
GOSUB5
GOSUB10
GOSUB20
GOSUB30
GOSUB123
A=100 V=100000
MP P=2000 G

End of Demonstration.

196
 PRINTA( ) . . . PRINTH( )
Print to External LCD Display

Related Command: APPLICATION: Anilink communications output control

BAUD DESCRIPTION: Anilink communications PRINT function

CCHN EXECUTION: Immediate, at present baudrate

CMD CONDITIONAL TO: Anilink LCD required for display

DAT LIMITATIONS: Output is not buffered. Each character transmitted

must wait for previous character to be finished. Next command not executed
OCHN until entire PRINT function is done.
PRINT REPORT COMMAND: N/A
PRINT1 READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: Expressions limited to -2147483648 to 2147483647
TYPICAL VALUES: Any of ASCII character set
DEFAULT VALUE: N/A
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The PRINTA( ) through PRINTH( ) print to an LCD on the AniLink port or to a DIO-100
card. The command actually employs DOUTA1 as the export mechanism. PRINTA( )
outputs to an LCD that is addressed A, PRINTB( ) to an LCD addressed B and so
forth. As in the case with all AniLink expansion cards, the LCD address is selectable
via jumpers
All items to be printed reside within the parentheses and are separated by commas.
ASCII Text strings must be within double quotation marks. Variables are referenced
by name and their ASCII string vales are printed. Simple math expressions are
allowed.
Raw ASCII code values are prefixed by the # sign. The SPACE character is #32, TAB
is #9, CARRIAGE RETURN is #13, and LINE FEED is #10.
There is a practical difference between PRINTA(a,b,c) and the sequence PRINTA(a)
PRINTA(b) PRINTA(c). Executing from within a program PRINTA(a,b,c) will be output
the values of a, b, and c without the possibility of another command from the terminal
interfering. Executing PRINTA(a) PRINTA(b) PRINTA(c) from within a program while
the host terminal is transmitting GOSUB5 to the motor could lead to the execution
sequence GOSUB5 PRINT(a) PRINTA(b) PRINTA(c), or PRINTA(a) GOSUB5
PRINTA(b) PRINTA(c) etc., depending upon the exact timing. The resulting output
may or may not be the identical.

197
 PRINTA( ) . . . PRINTH( ) (continued)
Print to External LCD Display

Related
Command:
In SMI, the character " ‘ " is a comment delimiter. As such, if you put a " ‘ " inside
BAUD of the PRINT statement, the SMI debugger will think that are commenting out
the rest of the PRINT statement and flag it as an error. The SmartMotor™,
CCHN however, doesn’t use comments, and will transmit the " ‘ " as a character. The
CMD easiest thing to do is simply not use " ‘ " within a print string.

DAT Please consult manual for LCD display products for more
on the following example.
OCHN
Example: (printing output to an AniLink LCD with port address A)
PRINT
PRINTA(#56,#14,#6,#1) '#56 initialize LCD,
PRINT1 #14 turns on cursor
#6 sets cursor
direction
#1 clears LCD and
resets position to
first character of
first line
PRINTA(#128,"I AM LCD ADDRESS A") 'Print stating
from character block
128, far left character
of first line
PRINTA(#192,"2nd. TEXT LINE") 'Print starting from
character block 192, far
left character of second
line of LCD
PRINTA(#148,"3rd. TEXT LINE") 'Print starting from
character block 148, 1st
character 3rd line. Four
line LCD4X20 only)
PRINTA(#212,"4th. TEXT LINE") 'Print starting from
character block 212, 1st
character fourth line.
Four line LCDX20 only

198
 Q
Report Host-Mode Status

Related Command: APPLICATION: Report command

MD DESCRIPTION: Request HOST MODE status packet
EXECUTION: Immediate
CONDITIONAL TO: MD host mode
LIMITATIONS:
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: Data packet - see detailed description
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: N/A
FIRMWARE VERSIONS: 4.15 and later. ??
DETAILED DESCRIPTION:
SEE SMI DOCUMENTATION FOR HOST UTILITY
Host Position Status Request Command Q Returns BINARY data only!
To track host positioning mode progress, the Q command returns status, clock, and
space available in the dedicated circular buffer. The response to Q takes two forms,
one while the mode not running and another while a trajectory is progress and no error
has occurred. Both response conform to the overall byte format of 0xF9 + byte1 +
byte2 + byte3 + byte 4 in binary. See diagram below:

Identifier Status Byte 24 Bit Clock Data

1 1 1 1 1 0 0 1
F 9 0 = 1 if: In MD Mode (prior to filling buffers (slot) or G received)
1 = 1 if: In MD Mode and Running, Either G received or = 16 slots were filled
2 = 1 if: Invalid Time Delta 16 bit value received
3 = 1 if: Invalid Position Delta 23 Bit value received
4 = 1 if: Internal Program Data space error
5 = 1 if: Buffer Overflow (to much data received)
6 = 1 if: Buffer Underflow (to little data received)
7 = 1 if: If in Host Mode, =0 if not in Host Mode

A trajectory terminates if an unacceptable position error occurs, if invalid data received.

if data overflow, or if data underflow. The host should send data pairs only when at
least 3 empty data slots are available. MD responds to limit switches, trajectory will
be aborted. MD mode uses KV feed forward for improved performance.

199
 Ra . . . Rz
Report 32-Bit Variable Data Value

Related APPLICATION: Report command

Command:
DESCRIPTION: Report user variable a . . . z
PRINT( )
EXECUTION: Immediate
CONDITIONAL TO: N/A
LIMITATIONS: Pre 4.00 only variables defined
are a, b, c, d, e, f, g and h
REPORT VALUE: a through z
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: Number
RANGE OF VALUES: -2147483648 to 2147483647
TYPICAL VALUES: -2147483648 to 2147483647
DEFAULT VALUE: 0
RELATED COMMANDS: N/A
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:

It is recommended Ra reports the signed value of the variable a to the primary serial channel. A minus
that you use sign will precede negative values, no leading zeros are transmitted, and an ASCII
the alternative carriage return terminates the transmitted data value. The equivalent PRINT( )
"PRINT( )" command is PRINT(a,#13). Use similar PRINT commands for Rb, Rc, through Rx,
command when Ry, Rz.
printing from In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
your embedded current active serial channel and not just the primary port. That is, if Ra is received
programs because through channel 0, the response is sent through channel 0. If Ra is received
of its greater through channel 1, the response goes out channel 1.
completeness
and versitility. In SmartMotors so equipped, if F=4 has been commanded, this report is redi-
rected to serial channel 1 and the reported value is not be "seen" output the
primary or currently active serial channel. Following F=4, the equivalent to Ra is
PRINT1(a,#13). F=0 resets report commands to again be sent out the primary or
currently active serial port.

200
 Ra . . . Rz (continued)
Report 32-Bit Variable Data Value

Related Example:
Command:
F=0 'use HOST channel
PRINT( ) PRINT(#13,"F=0 ")
GOSUB5
F=4 'redirect report output
PRINT(#13,"F=4 ")
GOSUB5
F=0 'reset to default
END
C5
a=123
b=456
c=789
PRINT(a,b,c)
Ra
Rb
Rc
END

Host terminal only "sees" the following program output, Take note of the carriage
returns (not explicitly shown here)
F=0 123456789123
456
789

201
 Raa . . . Rzz
Report 32-Bit Variable Data Value

Related Command: APPLICATION: Report command

DESCRIPTION: Report user variable aa

N/A
EXECUTION: Immediate

CONDITIONAL TO: N/A

LIMITATIONS: Not valid for pre 4.00 firmware

REPORT VALUE: aa

READ/WRITE: N/A

LANGUAGE ACCESS: N/A

UNITS: Number

RANGE OF VALUES: -2147483648 to 2147483647

TYPICAL VALUES: -2147483648 to 2147483647

DEFAULT VALUE: 0

FIRMWARE VERSIONS: 4.00 and higher

DETAILED DESCRIPTION:

Raa reports the signed value of the variable aa to the primary serial channel. A minus
sign will precede negative values, no leading zeros are transmitted, and an ASCII
carriage return terminates the transmitted data value. The equivalent PRINT( ) com-
mand is PRINT(aa,#13). Use similar PRINT commands for Rbb, Rcc, through Rxx,
Ryy, Rzz.

In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if Raa is received
through channel 0, the response is sent through channel 0. If Raa is received through
channel 1, the response goes out channel 1.

In SmartMotors™ so equipped, if F=4 has been commanded, this report is redirected

to serial channel 1 and the reported value is not be "seen" output the primary or cur-
rently active serial channel. Following F=4, the equivalent to Raa is PRINT1(aa,#13).
F=0 resets report commands to again be sent out the primary or currently active
serial port.

202
 Raa . . . Rzz (continued)
Report 32-Bit Variable Data Value

Related Example:
Command:
F=0 'use HOST channel
PRINT(#13,"F=0 ")
N/A GOSUB5
F=4 'redirect report output
PRINT(#13,"F=4 ")
GOSUB5
F=0 'reset to default
END
C5
rr=123
ss=456
tt=789
PRINT(rr,ss,tt)
Rrr
Rss
Rtt
END

Host terminal only "sees" the following program output. Take note of the carriage
returns (not explicitly shown here).

F=0 123456789123
456
789

203
 Raaa . . . Rzzz
Report 32-Bit Variable Data Value

Related Command: APPLICATION: Report command

DESCRIPTION: Report user variable aaa
N/A
EXECUTION: Immediate
CONDITIONAL TO: N/A
LIMITATIONS: Not valid for pre 4.00 firmware
REPORT VALUE: aaa
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: Number
RANGE OF VALUES: -2147483648 to 2147483647
TYPICAL VALUES: -2147483648 to 2147483647
DEFAULT VALUE: 0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
Raaa reports the signed value of the variable aaa to the primary serial channel. A
minus sign will precede negative values, no leading zeros are transmitted, and an
ASCII carriage return terminates the transmitted data value. The equivalent PRINT( )
command is PRINT(aaa,#13). Use similar PRINT commands for Rbbb, Rcccc, through
Rxxx, Ryyy, Rzzz.
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if Raaa is received
through channel 0, the response is sent through channel 0. If Raaa is received through
channel 1, the response goes out channel 1.
In SmartMotors™ so equipped, if F=4 has been commanded, this report is redirected to
serial channel 1 and the reported value is not be "seen" output the primary or currently
active serial channel. Following F=4, the equivalent to Raaa is PRINT1(a,#13). F=0
resets report commands to again be sent out the primary or currently active serial
port.

204
 Raaa . . . Rzzz (continued)
Report 32-Bit Variable Data Value

Related Example:
Command:
F=0 'use HOST channel
PRINT(#13,"F=0 ")
N/A GOSUB5
F=4 'redirect report output
PRINT(#13,"F=4 ")
GOSUB5
F=0 'reset to default
END
C5
iii=123
jjj=456
kkk=789
PRINT(iii,jjj,kkk)
Rii
Rjj
Rkk
END

Host terminal only "sees" the following program output. Note the carriage returns
(not explicitly shown here).
F=0 123456789123
456
789

205
 Rab[index]
Report 8-Bit Array Data Value

Related Command: APPLICATION: Report command

DESCRIPTION: Report user variable ab[index]
N/A
EXECUTION: Immediate
CONDITIONAL TO: N/A
LIMITATIONS: Index range from 0 to 50
REPORT VALUE: ab[index]
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: Number
RANGE OF VALUES: -128 to 127
TYPICAL VALUES: -128 to 127
DEFAULT VALUE: 0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
Rab[index] reports the signed value of the variable ab[index] to the primary serial
channel. A minus sign will precede negative values, no leading zeros are transmitted,
and an ASCII carriage return terminates the transmitted data value. The equivalent
PRINT( ) command is PRINT(ab[index],#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if Rab[23] is
received through channel 0, the response is sent through channel 0. If Rab[23] is
received through channel 1, the response goes out channel 1.
The valid range of values of "index" is 0 to 200. Index may be expressed directly as
a number, a variable a . . z, the sum of two a . . z variables, or difference of two a .
. z variables. There are no other combinations. See Example 1 for clarification; the
example illustrates all legal index formats; thus Rab[-6], Rab[t-6], and Rab[-g] do not
represent valid index references. If you attempt to use a legal valid syntax, but the
actual index value is out of range, system state flag Bs set to 1 and a syntax error
message may be reported. See Examples 3 and 4.
The ab[0] to ab[200] variables represent signed 8 bit values; assignment of larger
values is handled by truncating any extra leading data bits. The most significant bit
is always considered to be a sign bit. See Example 2 for results when ab[index] is
assigned a value larger than 255.

206
 Rab[index] (continued)
Report 8-Bit Array Data Value

Related Example 1:
Command: a=0 'assign test values
WHILE a<=6
ab[a]=a
N/A
a=a+1
LOOP
p=2 q=3 u=1 v=5
PRINT(ab[0]," ") Rab[0] 'report ab[0]
PRINT(ab[1]," ") Rab[1] 'report ab[1]
PRINT(ab[2]," ") Rab[p] 'report ab[2]
PRINT(ab[3]," ") Rab[q] 'report ab[3]
PRINT(ab[4]," ") Rab[v-u] 'report ab[4]
PRINT(ab[5]," ") Rab[v] 'report ab[5]
PRINT(ab[6]," ") Rab[v+u] 'report ab[6]
END

Example 2:
a=254 'assign test values
WHILE a<=258
i=a-252
ab[i]=a 'assignment truncated to only 8 bits
Rab[i] 'reported values are -2 -1 0 1 and 2
a=a+1
LOOP
END

Example 3:
Rab[201] 'sets Bs
'fails to report a value but instead
'emits a syntax error message
'if syntax reports active

Example 4:
v=605

Rab[v] 'sets Bs
'fails to report a value but instead
'emits a syntax error message

'if syntax reports active

207
 Ral[index]
Report 32-Bit Array Data Value

Related Command: APPLICATION: Report command

DESCRIPTION: Report user variable al[index]
N/A
EXECUTION: Immediate
CONDITIONAL TO: N/A
LIMITATIONS: Index range from 0 to 200
REPORT VALUE: al[index]
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: Number
RANGE OF VALUES: -2147483648 to 2147483647
TYPICAL VALUES: -2147483648 to 2147483647
DEFAULT VALUE: 0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
Ral[index] reports the signed value of the variable al[index] to the primary serial
channel. A minus sign will precede negative values, no leading zeros are transmitted,
and an ASCII carriage return terminates the transmitted data value. The equivalent
PRINT( ) command is PRINT(al[index],#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if Ral[23] is received
through channel 0, the response is sent through channel 0. If Ral[23] is received
through channel 1, the response goes out channel 1.
The valid range for the value of "index" is 0 to 50. Index may be expressed directly
as a number, a variable a . . z, the sum of two a . . z variables, or difference of two a
. . z variables.
See Example 1 for clarification; the example illustrates ALL legal index formats; thus
Rab[-6],
Rab[t-6], and Rab[-g] do not represent valid index references. If you attempt to
use a legal valid syntax, but the actual index value is out of range, system state
flag Bs set to 1 and a syntax error message may be reported See Examples 2 and
3.
The al[0] to al[50] variables represent signed 32 bit values; assignment of larger
values is handled by truncating any extra leading data bits. The most significant bit, is
always considered to be a sign bit.

208
 Ral[index](continued)
Report 32-Bit Array Data Value

Related Example 1:
Command: a=0 'assign test values
WHILE a<=6
al[a]=a
N/A
a=a+1
LOOP
p=2 q=3 u=1 v=5
PRINT(al[0]," ") Ral[0] 'report al[0]
PRINT(al[1]," ") Ral[1] 'report al[1]
PRINT(al[2]," ") Ral[p] 'report al[2]
PRINT(al[3]," ") Ral[q] 'report al[3]
PRINT(al[4]," ") Ral[v-u] 'report al[4]
PRINT(al[5]," ") Ral[v] 'report al[5]
PRINT(al[6]," ") Ral[v+u] 'report al[6]

END

Example 2:
Ral[51] 'sets Bs
'fails to report a value but instead
'emits a syntax error message
'if syntax reports active

Example 3:
H=222
al[h] 'sets Bs
'fails to report a value but instead
'emits a syntax error message
'if syntax reports active

209
 Raw[index]
Report 16-Bit Array Data Value

Related Command: APPLICATION: Report command

DESCRIPTION: Report user variable aw[index]
N/A
EXECUTION: Immediate
CONDITIONAL TO: N/A
LIMITATIONS: Index range from 0 to 100
REPORT VALUE: aw[index]
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: Number
RANGE OF VALUES: -32768 to 32767
TYPICAL VALUES: -32768 to 32767
DEFAULT VALUE: 0
RELATED COMMANDS: N/A
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
Raw[index] reports the signed value of the variable aw[index] to the primary serial
channel. A minus sign will precede negative values, no leading zeros are transmitted,
and an ASCII carriage return terminates the transmitted data value. The equivalent
PRINT( ) command is PRINT(aw[index],#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if Raw[23] is
received through channel 0, the response is sent through channel 0. If Raw[23] is
received through channel 1, the response goes out channel 1.
The valid range for the value of "index" is 0 to 100. Index may be expressed directly
as a number, a variable a . . z, the sum of two a . . z variables, or difference of two
a . . z variables.
See Example 1 for clarification; the example illustrates ALL legal index formats; thus
Raw[-6], Raw[t-6] and Raw[-g] do not represent valid index references. If you attempt
to use a legal valid syntax, but the actual index value is out of range, system state flag
Bs set to 1 and a syntax error message may be reported See Examples 3 and 4.
The aw[0] to aw[100] variables represent signed 16 bit values; assignment of larger
values is handled by truncating any extra leading data bits. The most significant bit,
is always considered to be a sign bit. See Example 2 for results when aw[index] is
assigned a value larger than 256*256 or 65536.

210
 Raw[index] (continued)
Report 16-Bit Array Data Value

Related Example 1:
Command: a=0 'assign test values
WHILE a<=6
aw[a]=a
N/A
a=a+1
LOOP
p=2 q=3 u=1 v=5
PRINT(aw[0]," ") Raw[0] 'report aw[0]
PRINT(aw[1]," ") Raw[1] 'report aw[1]
PRINT(aw[2]," ") Raw[p] 'report aw[2]
PRINT(aw[3]," ") Raw[q] 'report aw[3]
PRINT(aw[4]," ") Raw[v-u] 'report aw[4]
PRINT(aw[5]," ") Raw[v] 'report aw[5]
PRINT(aw[6]," ") Raw[v+u] 'report aw[6]
END

Example 2:
a=65534 'assign test values
WHILE a<=65538
i=a-65534
aw[i]=a 'assignment truncated to only 16 bits
Rwb[i] 'reported values are -2 -1 0 1 and 2
a=a+1
LOOP
END

Example 3:
Raw[101] 'sets Bs
'fails to report a value but instead
'emits a syntax error message
'if syntax reports active
Example 4:
v=-605
aw[v] 'sets Bs
'fails to report a value but instead
'emits a syntax error message
'if syntax reports active

211
 RA
Report Commanded Acceleration

Related Command: APPLICATION: Report command

DESCRIPTION: Report buffered acceleration
N/A
EXECUTION: Immediate
CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT VALUE: A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: Scaled encounter counts/PID sample/PID sample
RANGE OF VALUES: -2147483648 to 2147483647
TYPICAL VALUES: -2147483648 to 2147483647
DEFAULT VALUE: 0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
RA reports the signed value of the buffered acceleration to the primary serial channel.
A minus sign will precede negative values, no leading zeros are transmitted, and an
ASCII carriage return terminates the transmitted data value. The equivalent PRINT( )
command is PRINT(A,[index],#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. Thus, if RA is received
through channel 0, the response is transmitted through channel 0. If RA is received
through channel 1, the response is transmitted through channel 1.
Example:
V=3333
A=33
MV
G 'use acceleration value 333
A=444
RA 'returns the value 444

212
 RAIN{port}{input}
Report Expanded Analog Input Value

Related APPLICATION: Report command

Command:
DESCRIPTION: Fetch and report Anilink peripheral analog input
AOUT byte
DIN EXECUTION: Immediate IIC byte read, followed by transmit
character
DOUT
CONDITIONAL TO: Port and input must exist
LIMITATIONS: Port = A .. H and Input = 1, 2, 3, or 4
REPORT VALUE: AIN{port}{input}
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: Unsigned numerical value
RANGE OF VALUES: 0 to 255
TYPICAL VALUES: 0 to 255
DEFAULT VALUE: If requested input does not exist, the value 255 is
returned
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
RAIN{address}{channel} fetches the unsigned 8 bit data value from the
AIO-100 AniLink and reports it to the primary serial channel. The parameters
address and channel refer to address and input channel, respectively, of the
expansion card. No leading zeros are transmitted, and an ASCII carriage return
terminates the transmitted data value. The equivalent PRINT( ) command is
PRINT(AIN{address}{channel},#13).
Address may be A, B, C, D, E, F, G, or H, which is defined by jumper settings on
the corresponding peripheral. The range of valid channels is 1 through 4.
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through
the current active serial channel and not just the primary port. Thus, if the report
command is received through channel 0, the response is transmitted through
channel 0. If the report command is received through channel 1, the response
is transmitted through channel 1.
Examples:
RAINC3 'valid port and channel
RAINA1 'valid port and channel
RAINW4 'invalid port, syntax error created
RAINB0 'invalid channel, syntax error created

213
 RAMPS
Report Allowable PWM Limit

Related Command: APPLICATION: Report command

AMPS DESCRIPTION: Report maximum allowed current to motor windings
T EXECUTION: Immediate
MT CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT VALUE: AMPS
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: 1/1023 of maximum current permitted
RANGE OF VALUES: 0 to 1023
TYPICAL VALUES: 1023
DEFAULT VALUE: 1023
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
RAMPS reports the unsigned value of AMPS, the maximum power setting, to the
primary serial channel. No leading zeros are transmitted, and an ASCII carriage
return terminates the transmitted data value. The equivalent PRINT( ) command is
PRINT(AMPS,#13)
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. Thus, if the report command
is received through channel 0, the response is transmitted through channel 0. If the
report command is received through channel 1, the response is transmitted through
channel 1.
Example:
AMPS=333
RAMPS 'response is 333
AMPS=2000 'too large, entry auto corrected for safety
RAMPS 'response is 1023

214
 RBa
Report PEAK-Over-current Status Bit

Related APPLICATION: Report command

Command:
DESCRIPTION: Report system state over current latch
Z
EXECUTION: Immediate
Za
CONDITIONAL TO: N/A
ZS
LIMITATIONS: N/A
REPORT VALUE: Ba
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: Binary state
RANGE OF VALUES: 0 to 1
STATE VALUE 1: Over current event occurred
STATE VALUE 0: Over current has not occurred
FIRMWARE VERSIONS: Versions 4.xx excluding HIRES Version 4.20
DETAILED DESCRIPTION:
RBa reports the value of the system over-current flag, Ba. It returns a 1 if an over-
current has been detected and a 0 if not. It is followed by an ASCII carriage return. The
equivalent PRINT( ) command is PRINT(Ba,#13)
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. Thus, if the report command
is received through channel 0, the response is transmitted through channel 0. If the
report command is received through channel 1, the response is transmitted through
channel 1.
Example:
PID1 'sample rate 4069 / second
WHILE Bt 'report trajectory status about each second
WAIT=4000
PRINT(#13,"OVERCURRENT STATE ")
RBa
PRINT(#13,"OVERHEAT STATE ")
RBh
PRINT(#13,"POSITION ERROR STATE ")
RBe
LOOP
PRINT(#13,"TRAJECTORY TERMINATED",#13)

END

215
 RBb
Report Communications Parity Error Status Bit

Related Command: APPLICATION: Report command

RCHN DESCRIPTION: Report system state flag communication parity
error latched
RCHN0
EXECUTION: Immediate
RCHN1
CONDITIONAL TO: N/A
Zb
LIMITATIONS: N/A
Z
REPORT VALUE: Bb
ZS
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: Binary state
RANGE OF VALUES: 0 to 1
STATE VALUE 1: Parity error event has occurred
STATE VALUE 0: Parity error event has not occurred
FIRMWARE VERSIONS: Versions 4.xx excluding HIRES Version 4.20
DETAILED DESCRIPTION:
RBb reports the value of the communications parity error flag, Bb. It returns a 1 if any
parity error has been detected and a 0 if not. It is followed by an ASCII carriage return.
The equivalent PRINT( ) command is PRINT(Bb,#13)
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. Thus, if the report command
is received through channel 0, the response is transmitted through channel 0. If the
report command is received through channel 1, the response is transmitted through
Note: channel 1.
A syntax error from
the terminal causes Example:
RCHN to respond C10 'communication status check subroutine
with value 4 but 'check both serial channel simultaneously
the value CHN0 or IF CHN0 'return immediately if no errors found
PRINT("PARITY ERROR STATE ") RBb
CHN1, assigned to
PRINT("BUFFER OVERFLOW STATE ") RBc
an expression is still
PRINT("FRAMING ERROR STATE ") RBf
zero. PRINT("SYNTAX ERROR STATE ") RBs
ENDIF
RETURN

216
 RBc
Report Communications Overflow Status Bit

Related APPLICATION: Report command

Command:
DESCRIPTION: Report system state flag communication buffer
RCHN overflow event latch
RCHN0 EXECUTION: Immediate
RCHN1 CONDITIONAL TO: N/A
Z LIMITATIONS: N/A
Zc REPORT VALUE: Bc
ZS READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: Binary state
RANGE OF VALUES: 0 to 1
STATE VALUE 1: Communication buffer overflow event occurred
STATE VALUE 0: Communications buffer overflow has not occured
FIRMWARE VERSIONS: Versions 4.xx excluding HIRES Version 4.20
DETAILED DESCRIPTION:
RBc reports the state of the serial communications overflow error flag, Bc. It
returns a 1 if any overflow error has been detected and a 0 if not. It is followed by
an ASCII carriage return. The equivalent PRINT() command is PRINT(Bc,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through
the current active serial channel and not just the primary port. Thus, if the report
command is received through channel 0, the response is transmitted through
channel 0. If the report command is received through channel 1, the response
Note: is transmitted through channel 1.
A syntax error from
the terminal causes Example:
RCHN to respond C10 'communication status check subroutine
with value 4 but 'check both serial channel simultaneously
the value CHN IF CHN0 'return immediately if no errors found
PRINT("PARITY ERROR STATE ") RBb
assigned to an
PRINT("BUFFER OVERFLOW STATE ") RBc
expression is still PRINT("FRAMING ERROR STATE ") RBf
zero. PRINT("SYNTAX ERROR STATE ") RBs
ENDIF
RETURN

217
 RBd
Report Math Overflow Status Bit

Related Command: APPLICATION: Report command

Z DESCRIPTION: Report system state flag math overflow event latch
Zd EXECUTION: Immediate
ZS CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT VALUE: Bd
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: Binary state
RANGE OF VALUES: 0 to 1
STATE VALUE 1: Math overflow during product calculation
or MFMUL/MFDIV division, has occurred
STATE VALUE 0: No math overflow has occurred
FIRMWARE VERSIONS: Versions 4.xx excluding HIRES Version 4.20
DETAILED DESCRIPTION:
RBd reports the value of the MFMUL/MFDIV math overflow error flag, Bd. It returns
a 1 if any math overflow error was detected and a 0 if not. It is followed by an ASCII
carriage return. The equivalent PRINT( ) command is PRINT(Bd,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. Thus, if the report command
is received through channel 0, the response is transmitted through channel 0. If the
report command is received through channel 1, the response is transmitted through
channel 1.
Example 1:
Zd
RBd 'returns 0
a=1111111
b=2222222
c=a*b
Rc 'returns -470886558
RBd 'returns 1

Example 2:
Zd 'reset Bd
MFMUL=257 'initialize Mode Follow with Ratio
MFDIV=1
MFR
RBd 'returns 1 => MFR gain too large

If a standard 32 bit hand held calculator, in decimal mode, is used, it would also report
an error.
218
 RBe
Report Position Error Status Bit

Related Command: APPLICATION: Report command

G DESCRIPTION: Report system state flag position error occurred
latch
RS
EXECUTION: Immediate
RW
CONDITIONAL TO: N/A
RPW
LIMITATIONS: N/A
Z
REPORT VALUE: Be
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: Binary state
RANGE OF VALUES: 0 to 1
STATE VALUE 1: Position error during trajectory motion occurred
STATE VALUE 0: No position error during trajectory has occurred
FIRMWARE VERSIONS: Versions 4.xx excluding HIRES Version 4.20
DETAILED DESCRIPTION:
RBe reports the value of the position error flag, Be. It returns a 1 if a position error
was detected and a 0 if not. It is followed by an ASCII carriage return. The equivalent
PRINT( ) command is PRINT(Be,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. Thus, if the report command
is received through channel 0, the response is transmitted through channel 0. If the
report command is received through channel 1, the response is transmitted through
channel 1.
Example:
O=0 'Set current position to zero
A=100 'Set acceleration
V=50000 'Set velocity
P=100000000 'Set target position
E=1000 'default position error limit
MP 'Set to position mode
G 'Go and begin buffered move
WAIT=40000 'Wait abut 10 seconds
E=0 'Force a position error by setting
'allowable limit to zero
WAIT=10 'Wait ten servo samples
RBe 'response is 1
T=111
MT 'position error reset by mode change
RPE 'report position error limit,
response is 0
RBe 'report position error bit,
response is 0
219
 RBf
Report Communications Framing Error Status Bit

Related Command: APPLICATION: Report command

OCHN DESCRIPTION: Report system state flag communications framing
error event latch
RCHN
EXECUTION: Immediate
RCHN0
CONDITIONAL TO: N/A
RCHN1
LIMITATIONS: N/A
Z
REPORT VALUE: Bf
Zf
READ/WRITE: N/A
ZS
LANGUAGE ACCESS: N/A
UNITS: Binary state
RANGE OF VALUES: 0 to 1
STATE VALUE 1: Parity error event occurred on either channel 0 or
channel 1
STATE VALUE 0: No communication parity error event has occurred
FIRMWARE VERSIONS: Versions 4.xx excluding HIRES Version 4.20
DETAILED DESCRIPTION:
RBf reports the value of the serial communications framing error flag, Bf. It returns a 1
if any framing error has been detected and a 0 if not. It is followed by an ASCII carriage
return. The equivalent PRINT( ) command is PRINT(Bf,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.
Example:
C10 'communication status check subroutine
'check both serial channels simultaneously
IF CHN0 'return immediately if no error found
Note a syntax error PRINT("PARITY ERROR STATE ") RBb
from the terminal PRINT("BUFFER OVERFLOW STATE ") RBc
causes RCHN to PRINT("FRAMING ERROR STATE ") RBf
respond with value PRINT("SYNTAX ERROR STATE ") RBs
4 but the value ENDIF
CHN assigned to RETURN
an expression is still
zero.

220
 RBh
Report Over-Heat/RMS Over-Current Status Bit

Related APPLICATION: Report command

Command:
DESCRIPTION: Report real time system state motor overheat
TEMP condition
TH EXECUTION: Updated each PID sample
THD CONDITIONAL TO: N/A
Z LIMITATIONS: N/A
REPORT VALUE: Bh
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: Binary state
RANGE OF VALUES: 0 to 1
STATE VALUE 1: Motor in overheat condition
STATE VALUE 0: Motor not is overheat condition
FIRMWARE VERSIONS: Versions 4.xx excluding HIRES Version 4.20
DETAILED DESCRIPTION:
RBh reports the value of the overheat flag, Bh. It returns a 1 if an overheat was
detected and a 0 if not. It is followed by an ASCII carriage return. The equivalent
PRINT( ) command is PRINT(Bh,#13)
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through
the current active serial channel and not just the primary port. That is, if the
report command is received through channel 0, the response is sent through
channel 0. If the report command is received through channel 1, the response
goes out channel 1.
Example:
WHILE Bt 'report trajectory status
WAIT=4000 'about once a second
PRINT("OVER CURRENT STATE ")
RBa
PRINT("OVER HEAT STATE ")
RBh
PRINT("POSITION ERROR STATE ")
RBe
LOOP
PRINT(#13,"TRAJECTORY TERMINATED",#13)

221
 RBi
Report Index-Captured Status Bit

Related Command: APPLICATION: Report command

Bx DESCRIPTION: Report system state flag index position latched
I EXECUTION: Latch updated at PID sample if index event observed
RI CONDITIONAL TO: N/A
Z LIMITATIONS: N/A
REPORT VALUE: Bi
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: Binary state
RANGE OF VALUES: 0 to 1
STATE VALUE 1: Latched index encoder count reading available
STATE VALUE 0: No new latched index position available
FIRMWARE VERSIONS: Versions 4.xx excluding HIRES Version 4.20
DETAILED DESCRIPTION:
RBi reports the value of the index available flag, Bi. It returns a 1 if a new index value
was latched and a 0 if not. It is followed by an ASCII carriage return. The equivalent
PRINT( ) command is PRINT(Bi,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.
Example: (Notice PRINT outputs from the following program)
A=10 'buffer a slow velocity mode move
V=4000
MV
E=100 'small error band
G 'go
WHILE Bt
RBi
IF Bi
PRINT("NEW INDEX VALUE ")
ELSE
PRINT("OLD INDEX VALUE ")
ENDIF
RI
WAIT=400
LOOP
END

222
 RBk
Report EEPROM Checksum Status Bit

Related Command: APPLICATION: Report command

RCKS DESCRIPTION: Report EEPROM state flag I/O error event latch
RW EXECUTION: Immediate
Z CONDITIONAL TO: RCKS
LIMITATIONS: N/A
REPORT VALUE: Bk
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: Binary state
RANGE OF VALUES: 0 to 1
STATE VALUE 1: RCKS reported Program EEPROM checksum
error
VST( ) reported Write Data EEPROM error
STATE VALUE 0: RCKS reported Program EEPROM checksum
error
FIRMWARE VERSIONS: Versions 4.xx excluding HIRES Version 4.20
DETAILED DESCRIPTION:
RBk reports the state of the checksum error flag, Bk. It returns a 1 if a checksum
was detected and a 0 if not. It is followed by an ASCII carriage return. The
equivalent PRINT( ) command is PRINT(Bk,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through
the current active serial channel and not just the primary port. That is, if the
report command is received through channel 0, the response is sent through
channel 0. If the report command is received through channel 1, the response
goes out channel 1.
Example:
RCKS
RBk 'reporting value, If 1 then the stored program is bad

223
 RBl
Report Real-Time Left-Over-Travel-Limit State

Related APPLICATION: Report command

Command:
DESCRIPTION: Report Left Limit State Latch
Bm
EXECUTION: Updated each PID sample
RS
CONDITIONAL TO: LIML, LIMH, UDM
RW
LIMITATIONS: N/A
S
REPORT VALUE: Bl
Z
READ/WRITE: N/A
ZS
LANGUAGE ACCESS: N/A
UNITS: Binary state
RANGE OF VALUES: 0 to 1
STATE VALUE 1: Left limit switch has been active
STATE VALUE 0: Left limit switch has not been active
FIRMWARE VERSIONS: Versions 4.xx excluding HIRES Version 4.20
DETAILED DESCRIPTION:
RBl reports the value of the historical left limit flag, Bl. It returns a 1 if an active left
limit input was detected and a 0 if not. It is followed by an ASCII carriage return. The
equivalent PRINT( ) command is PRINT(Bl,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.

224
 RBm
Report Historical Left-Over-Travel-Limit Status Bit

Related Command: APPLICATION: Report command

Bl DESCRIPTION: Report Historical Left Limit State
Z EXECUTION: Updated each PID sample
CONDITIONAL TO: LINH, LIML, UDI, UDO
LIMITATIONS: N/A
REPORT VALUE: Bm
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: Binary state
RANGE OF VALUES: 0 to 1
STATE VALUE 1: Left limit switch active
STATE VALUE 0: Left limit switch not active
FIRMWARE VERSIONS: Versions 4.xx excluding HIRES Version 4.20
DETAILED DESCRIPTION:
RBm reports the value of the Historical left limit flag, Bm. It returns a 1 if an active left
limit input was detected and a 0 if not. It is followed by an ASCII carriage return. The
equivalent PRINT( ) command is PRINT(Bm,#13)
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.

225
 RBo
Report Motor-Off Status Bit

Related APPLICATION: Report command

Command:
DESCRIPTION: Report real time system state motor off
G
EXECUTION: Immediate
Z
CONDITIONAL TO: N/A
ZS
LIMITATIONS: N/A
REPORT VALUE: Bo
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: Binary state
RANGE OF VALUES: 0 to 1
STATE VALUE 1: Motor PWM signal is off
STATE VALUE 0: Motor PWM signal is on, motor coils are powered.
FIRMWARE VERSIONS: Versions 4.xx excluding HIRES Version 4.20
DETAILED DESCRIPTION:
RBo reports the state of the motor off flag, Bo. It returns a 1 if an active left
limit input was detected and a 0 if not. It is followed by an ASCII carriage
return. The equivalent PRINT( ) command is PRINT(Bo,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through
the current active serial channel and not just the primary port. That is, if the
report command is received through channel 0, the response is sent through
channel 0. If the report command is received through channel 1, the response
goes out channel 1.
Example:
OFF
RBo 'motor responds with a 1
T=100
MT 'servo on, no PID loop
RBo 'motor responds with a 0
MP
G 'change mode, servo on with PID loop

RBo 'motor still responds with a 0

OFF
RBo 'motor responds with a 1
END

226
 RBp
Report Historical Right-Over-Travel-Limit Logic State

Related Command: APPLICATION: Report command

Z DESCRIPTION: Report Historical Right Limit State
EXECUTION: Updated each PID sample
CONDITIONAL TO: LIMH, LIML, UCI, UCP, UCO
LIMITATIONS: N/A
REPORT VALUE: Bp
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: Binary state
RANGE OF VALUES: 0 to 1
STATE VALUE 1: Right limit switch active
STATE VALUE 0: Right limit switch not active
FIRMWARE VERSIONS: Versions 4.xx excluding HIRES Version 4.20
DETAILED DESCRIPTION:
RBp reports the value of the Historical right limit flag, Bp. It returns a 1 if an active left
limit input was detected and a 0 if not. It is followed by an ASCII carriage return. The
equivalent PRINT( ) command is PRINT(Bp,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.

227
 RBr
Report Real-Time Right-Over-Travel-Limit State

Related APPLICATION: Report command

Command:
DESCRIPTION: Report Right Limit Active State Latch
Z
EXECUTION: Updated each PID sample
EXECUTION: Updated each PID sample
CONDITIONAL TO: LIMH, LIMH, UCP
LIMITATIONS: N/A
REPORT VALUE: Br
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: Binary state
RANGE OF VALUES: 0 to 1
STATE VALUE 1: Right limit switch active
STATE VALUE 0: Right limit switch not active
FIRMWARE VERSIONS: Versions 4.xx excluding HIRES Version 4.20
DETAILED DESCRIPTION:
RBr reports the value of the real time right limit flag, Br. It returns a 1 if an active
left limit input was detected and a 0 if not. It is followed by an ASCII carriage
return. The equivalent PRINT( ) command is PRINT(Br,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through
the current active serial channel and not just the primary port. That is, if the
report command is received through channel 0, the response is sent through
channel 0. If the report command is received through channel 1, the response
goes out channel 1.

228
 RBs
Report Syntax-Error Status Bit

Related Command: APPLICATION: Report command

Z DESCRIPTION: Report system state flag scanning error event latch
Zs EXECUTION: Immediate
ZS CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT VALUE: Bs
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: Binary state
RANGE OF VALUES: 0 to 1
STATE VALUE 1: Command scan error has occurred since Bs reset
STATE VALUE 0: Command scan error has not occurred since Bs
reset
FIRMWARE VERSIONS: Versions 4.xx excluding HIRES Version 4.20
DETAILED DESCRIPTION:
RBs reports the value of the real time right limit flag, Bs. It returns a 1 if an active left
limit input was detected and a 0 if not. It is followed by an ASCII carriage return. The
equivalent PRINT( ) command is PRINT(Bs,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. Thus, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.
Scan errors result from malformed command and data syntax. An illegal array read/
write access index also sets the scan error flag. Scan errors can occur from commands
within program execution or received via either serial channel. A program encountering
an illegal array access or syntax error should be carefully debugged. These programs
may not execute accurately following the error.
Bs is reset by ZS and Zs.
Note: Downstream motors in a serial daisy chain will get their Bs bit set when
upstream motors respond to report commands This is common and can be ignored.
Example:
Zs 'reset any prior scan error state
j=88 'for use as array index
zzz=3333
al[j]=zzz 'value assigned is OK
'but the index value is not, max
Array al[index] is location al[50]

RBs 'responds with 1

229
 RBt
Report Busy-Trajectory Status Bit

Related Command: APPLICATION: Report command

G DESCRIPTION: Report real time system trajectory in progress state
Z EXECUTION: Immediate
CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT VALUE: Bt
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: Binary state
RANGE OF VALUES: 0 to 1
STATE VALUE 1: Trajectory in progress
STATE VALUE 0: No trajectory in progress
FIRMWARE VERSIONS: Versions 4.xx excluding HIRES Version 4.20
DETAILED DESCRIPTION:
RBt reports the state of the trajectory in progress flag, Bt. It returns a 1 if a a trajectory
is in progress and a 0 if not. It is followed by an ASCII carriage return. The equivalent
PRINT( ) command is PRINT(Bt,#13)
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.
Example:
OFF 'free shaft, no trajectory calculation
RBt 'motor responds with 0
A=555
V=777777
MV 'Set to Mode Velocity
G 'Start trajectory calculation
RBt 'motor responds with 1
WAIT=8000
T=7
MT 'Set to Mode Torque (no trajectory)
RBt 'motor responds with 0
WAIT=8000
OFF
WAIT=8000
MF4 'Mode Follow starts trajectory calculation
RBt 'motor responds with 1
END

230
 RBu
Report Array Index Error Status Bit

Related Command: APPLICATION: Report command

Z DESCRIPTION: Report write array access error latch
Zu EXECUTION: Immediate
ZS CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT VALUE: Bu
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: Binary state
RANGE OF VALUES: 0 to 1
STATE VALUE 1: Illegal report array value event occurred
STATE VALUE 0: Illegal report array value event has not occurred
FIRMWARE VERSIONS: Versions 4.xx excluding HIRES Version 4.20
DETAILED DESCRIPTION:
RBu reports the state of the array index error flag, Bu. It returns a 1 if there was
any attempt to use an invalid index for an array variable and a 0 if not. It is followed
by an ASCII carriage return. The equivalent PRINT( ) command is PRINT(Bu,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through
the current active serial channel and not just the primary port. That is, if the report
command is received through channel 0, the response is sent through channel 0. If
the report command is received through channel 1, the response goes out channel 1.
Bu is reset by Z, ZS, and Zu. Note, illegal array indexes always set Bs flag.
Example: (if the following is executed by a user program)
ZS
m=44444
Raw[m]
PRINT(#13,"Issued Raw[illegal]",#13)
PRINT("Bu") Rbu 'Bu=1. array index range error occurred
PRINT("Bs") RBs 'Bs is 1, syntax occurred
PRINT(#13,"Issue ZS ",#13)
ZS
PRINT("Bu") RBu
PRINT("Bs",Bs) RBs
n=44444
s=aw[n] 'Illegal assignment behaves differently
PRINT(#13,"Assigned aw[illegal]",#13)
'expression value is simply not assigned
PRINT("Bu") Rbu 'Bu is 0
PRINT("Bs") RBs 'Bs is 1
END
231
 RBw
Report Encoder Wrap Status Bit

Related Command: APPLICATION: Report command

G DESCRIPTION: Report system state flag
Z EXECUTION: Immediate
CONDITIONAL TO: Current motion mode
LIMITATIONS: N/A
REPORT VALUE: Bw
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: Binary state
RANGE OF VALUES: 0 to 1
STATE VALUE 1: Encoder wrap around occurred during a position
move
STATE VALUE 0: Encoder wrap around event not recorded
FIRMWARE VERSIONS: Versions 4.xx excluding HIRES Version 4.20
DETAILED DESCRIPTION:
RBw reports the state of the position wrap around flag, Bw. In any motion mode
other than MV, MT or MD50, it returns a 1 if the encoder position wrapped and a 0 if
not. It is followed by an ASCII carriage return. The equivalent PRINT( ) command is
PRINT(Bw,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.
Example: (try the follow Bw test program, at no instance is Bw set)
ZS
O=2147480000 'place close to wrap around at 2147483647
T=33
MT
PRINT(#13,"VALUE OF @ = ") RP
PRINT(#13,"VALUE OF Bw = ") RBw
WAIT=20000
IF @P<0
PRINT(#13,"VALUE OF @ = ") RP
ENDIF
IF Bt
PRINT(#13,"STILL GOING OK!")
ENDIF
PRINT(#13,"VALUE OF Bw = ") RBw
END

232
 RBx
Report Real-Time Index Pulse Logic State

Related Command: APPLICATION: Report command

Bi DESCRIPTION: Report real time index input state
Z EXECUTION: Immediate
CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT VALUE: Bx
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: Binary state
RANGE OF VALUES: 0 to 1
STATE VALUE 1: Index input presently contacted
STATE VALUE 0: Index input not presently contacted
FIRMWARE VERSIONS: Versions 4.xx excluding HIRES Version 4.20
DETAILED DESCRIPTION:
RBx reports the state of the real time index flag, Bx. It returns a 1 if the current
position is coincident with the encoder index 0 if not. It is followed by an ASCII
carriage return. The equivalent PRINT( ) command is PRINT(Bx,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through
the current active serial channel and not just the primary port. That is, if the report
command is received through channel 0, the response is sent through channel 0. If
the report command is received through channel 1, the response goes out channel
1.
Example: (Fast Index Find , Report Bx)
MP 'set buffered velocity mode
A=1000 'set fast acceleration
V=4000000 'set fast velocity
D=2100 'set relative distance just beyond
'one shaft turn
i=I 'clear and arm index capture
O=0 'force change to position register
G 'start fast move
TWAIT 'wait till end of trajectory
P=I 'go back to index
G 'start motion
TWAIT 'wait until end of trajectory
O=0 'set origin at index

RBx
Output will be 1

233
 RBy
Report Step/Direction Change Over-Run Status

Related Command: APPLICATION: Report command

N/A DESCRIPTION: Report system state step direction change overrun
event latch
EXECUTION: Immediate
CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT VALUE: By
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: Binary state
RANGE OF VALUES: 0 to 1
STATE VALUE 1: Step direction overrun event occurred
STATE VALUE 0: Step direction overrun event has not occurred
FIRMWARE VERSIONS: 4.40 only!
DETAILED DESCRIPTION:
RBy reports the state of the step and direction overrun flag, By. It returns a 1 if the
SmartMotor™ detected an invalid step, most likely due to an improper direction
change, and a 0 if not. It is followed by an ASCII carriage return. The equivalent
PRINT( ) command is PRINT(By,#13).

Note: IEEE standard states that the Direction bit should be looked at while the stp bit
is low. If th direction bit transitions at the exact same time as the stp bit the By bit will
be set.

234
 RCHN
Report Serial Communications Status Flags

Related APPLICATION: Report command

Command:
DESCRIPTION: Report serial communications status flags
CCHN
EXECUTION: Immediate
OCHN
CONDITIONAL TO: N/A
RCHN0
LIMITATIONS: N/A
RCHN1
REPORT VALUE: Logical OR of CHN0 with CHN1
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: Binary states
RANGE OF VALUES: 0 to 15
TYPICAL VALUES: 0 to 15
DEFAULT VALUE: 0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
RCHN returns the value of the historical communications function CHN. The
read only function CHN holds binary coded historical error information about the
two serial channels on the Smartmotor™. It gives the 4 bit status of either serial
port channels 0 or 1, broken down as follows:
CHN bit 0 = 1 if either receive buffer has overflowed
CHN bit 1 = 1 if a framing error occurred on either channel
CHN bit 2 = 1 if a scan error occurred on either channel
CHN bit 3 = 1 if a parity error occurred on either channel
No leading zeros are transmitted, and it is followed by an ASCII carriage return.
It is followed by an ASCII carriage return. The equivalent PRINT( ) command is
PRINT(CHN,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through
the current active serial channel and not just the primary port. That is, if the
report command is received through channel 0, the response is sent through
channel 0. If the report command is received through channel 1, the response
goes out channel 1.
Example:
RCHN 'test all command input combined error flags
'error occurred in value return is non zero

235
 RCHN0
Report Primary Serial Port Status

Related Command: APPLICATION: Report command

CCHN DESCRIPTION: Report serial communications channel 0 status
flags
OCHN
EXECUTION: Immediate
RCHN
CONDITIONAL TO: N/A
RCHN1
LIMITATIONS: N/A
REPORT VALUE: CHN0
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: Binary states
RANGE OF VALUES: 0 to 15
TYPICAL VALUES: 0 to 15
DEFAULT VALUE: 0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
RCHN0 returns the value of the historical communications function CHN0. The read
only function CHN0 holds binary coded historical error information about the two serial
channels on the SmartMotor™. It gives the 4 bit status of either serial port channels
0 or 1, broken down as follows:
CHN0 bit 0 = 1 if either receive buffer has overflowed
CHN0 bit 1 = 1 if a framing error occurred on either channel
CHN0 bit 2 = 1 if a scan error occurred on either channel
CHN0 bit 3 = 1 if a parity error occurred on either channel
No leading zeros are transmitted, and it is followed by an ASCII carriage return.
It is followed by an ASCII carriage return. The equivalent PRINT( ) command is
PRINT(CHN0,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.

236
 RCHN0 (continued)
Report Primary Serial Port Status

Related Example: (download and run the following)

Command: END
C5 'test individual flags
CCHN IF CHN0&4
PRINT("CHANNEL 0 - scan error occurred")
OCHN ELSEIF CHN0&1
RCHN PRINT("CHANNEL 0 - buffer overflow")
ENDIF
RCHN1 PRINT(#13)
RETURN
C10 'test all flags
IF CHN0
PRINT("CHANNEL 0 SERIAL ERROR !!")
ENDIF
PRINT(#13)
RETURN

Then from terminal type RKK GOSUB5.

237
 RCHN1
Report Secondary Serial Port Status

Related Command: APPLICATION: Report command

CCHN DESCRIPTION: Report serial communications channel 1 status
flags
OCHN
EXECUTION: Immediate
RCHN0
CONDITIONAL TO: N/A
RCHN1
LIMITATIONS: N/A
REPORT VALUE: CHN1
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: Binary states
RANGE OF VALUES: 0 to 15
TYPICAL VALUES: 0 to 15
DEFAULT VALUE: 0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
RCHN1 returns the value of the historical communications function CHN1. The read
only function CHN1 holds binary coded historical error information about the two serial
channels on the SmartMotor™. It gives the 4 bit status of either serial port channels
0 or 1, broken down as follows:
CHN1 bit 0 = 1 if either receive buffer has overflowed
CHN1 bit 1 = 1 if a framing error occurred on either channel
CHN1 bit 2 = 1 if a scan error occurred on either channel
CHN1 bit 3 = 1 if a parity error occurred on either channel
No leading zeros are transmitted, and it is followed by an ASCII carriage return.
It is followed by an ASCII carriage return. The equivalent PRINT( ) command is
PRINT(CHN1,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.

238
 RCHN1 (continued)
Report Secondary Serial Port Status

Related Example: (download and run the following)

Command: END
C5 'test individual flags
CCHN IF CHN1&4
PRINT1("CHANNEL 1 - scan error occurred")
OCHN ELSEIF CHN1&1
RCHN0 PRINT1("CHANNEL 1 - buffer overflow")
ENDIF
RCHN1 PRINT1(#13)
RETURN
C10 'test all flags
IF CHN1
PRINT1("CHANNEL 1 SERIAL ERROR !!")
ENDIF
PRINT1(#13)
RETURN

Then from terminal type RKK GOSUB5

239
 RCS
Report Primary Serial Port Checksum

Related Command: APPLICATION: Report command

RCS1 DESCRIPTION: Report channel 0 serial receive checksum
EXECUTION: Immediate
CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT VALUE: Checksum for channel 0 since prior RCS
LANGUAGE ACCESS: N/A
READ/WRITE: N/A
UNITS: ASCII checksum number
RANGE OF VALUES: 0 to 255
TYPICAL VALUES: 0 to 255
DEFAULT VALUE: Non zero
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
RCS reports the accumulated channel 0 checksum value to the primary serial channel.
No leading zeros are transmitted, and it is followed by an ASCII carriage return. It is
followed by an ASCII carriage return. There is no equivalent PRINT( ) command.
The RCS checksum value is the simple 8 bit sum of all the ASCII bytes received by
channel 0 serial channel. RCS resets the channel 0 checksum to zero after reporting
the current value. See the ASCII Table in the appendix to map character to ASCII value.
There is no CS command or function. It cannot be printed or assign to a variable.
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.
Example: (using the SMI terminal screen)
First noting ASCII Space = 32 ASCII A = 65
ASCII 1 = 49 ASCII C = 67
ASCII 2 = 50 ASCII R = 82
ASCII 3 = 51 ASCII S = 83
ASCII "=" is 61 and SMI issues a space following a command
Z
RCS 'response is 8 = Mod 8
'[82+67+83+32]=264-256=8
A=112
RCS 'response is 58 = Mod 8
'[65+61+49+49+50+32+82+67+83+32]=570-512= 58
A=113
RCS 'response is 59, which is as expected,
'one more than before. 240
 RCS1
Report Secondary Serial Port Checksum

Related Command: APPLICATION: Report command

RCS DESCRIPTION: Report channel 1 serial receive checksum
EXECUTION: Immediate
CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT VALUE: Checksum for channel 0 since prior RCS1
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: Number
RANGE OF VALUES: 0 to 255
TYPICAL VALUES: 0 to 255
DEFAULT VALUE: Non zero
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
RCS1 reports the accumulated channel 1 checksum value to the primary serial channel.
No leading zeros are transmitted, and it is followed by an ASCII carriage return. It is
followed by an ASCII carriage return. There is no equivalent PRINT( ) command.
There is no CS1 command or function. You cannot print or assign a variable to CS1.
The RCS1 checksum value is the simple 8 bit sum of all the ASCII bytes received
by the channel 1 serial channel. RCS1 resets the channel 1 checksum to zero after
reporting the current value. See the ASCII Table appendice to map character to ASCII
value.
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.
Example: (see example RCS for additional explanation)
Z
RCS1 'response is 8 = Mod 8
'[82+67+83+32]=264-256=8
A=112
RCS 'response is 58 = Mod 8
'[65+61+49+49+50+32+82+67+83+32]=570-512= 58
A=113
RCS1 'response is 59, which is as expected,
'one more than before.

241
 RCTR
Report Secondary Encoder Counter

Related Command: APPLICATION: Report command

CTR DESCRIPTION: Report external encoder counter value
ENC0 EXECUTION: Updated each PID sample
ENC1 CONDITIONAL TO: External encoder signal available
MC LIMITATIONS: N/A
MF0 REPORT VALUE: CTR
MFR READ/WRITE: N/A
MS0 LANGUAGE ACCESS: N/A
MSR UNITS: Encoder counts or step pulses
RANGE OF VALUES: -2147483648 to 2147483647
TYPICAL VALUES: -2147483648 to 2147483647
DEFAULT VALUE: 0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
RCTR reports the signed 32 bit value of the secondary encoder counter
CTR. No leading zeros are transmitted and it is followed by an ASCII
carriage return. The equivalent PRINT( ) command is PRINT(CTR,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through
the current active serial channel and not just the primary port. That is, if the report
command is received through channel 0, the response is sent through channel 0. If
the report command is received through channel 1, the response goes out channel 1.
Example:

MF0
RCTR 'responds with 0

Now provide external encoder input change.

RCTR 'response is non zero

MF4
RCTR 'CTR reset to zero
'response is 0

242
 RD
Report Commanded Relative Distance Value

Related APPLICATION: Report command

Command:
DESCRIPTION: Report buffered relative move distance
A
EXECUTION: Immediate
E
CONDITIONAL TO: N/A
G
LIMITATIONS: N/A
P
REPORT VALUE: D
MFR
READ/WRITE: N/A
MP
LANGUAGE ACCESS: N/A
UNITS: Encoder counts
RANGE OF VALUES: -2147483648 to 2147483647
TYPICAL VALUES: -2147483648 to 2147483647
DEFAULT VALUE: 0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
RD reports the value of the buffered relative move distance D. No leading zeroes
are transmitted and it is followed by an ASCII carriage return. It is followed by an
ASCII carriage return. The equivalent PRINT( ) command is PRINT(D,#13)
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through
the current active serial channel and not just the primary port. That is, if the
report command is received through channel 0, the response is sent through
channel 0. If the report command is received through channel 1, the response
goes out channel 1.
Example:

O=0 'set up a move

MP
A=222
V=44444
D=-7777 'first buffered D value to be used

G
D=2266 'buffered D value
RD 'response is 2266

243
 RDIN{port}{channel}
Report Expanded Input Logic Status

Related Command: APPLICATION: Report command

DOUT DESCRIPTION: Fetch and report Anilink digital peripheral input
byte
EXECUTION: Immediate byte read from IIC link
CONDITIONAL TO: Peripheral input attached to motor
LIMITATIONS: Returns 255 if port and channel does not exist
REPORT VALUE: DIN{port}{channel}
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: Number
RANGE OF VALUES: 0 to 255
TYPICAL VALUES: 0 to 255
DEFAULT VALUE: 255
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
RDIN{address}{channel} Report the unsigned 8 bit data value from the specified
Anilink digital peripheral and reports it to the primary channel. The parameters address
and channel refer to address and input channel, respectively, of the expansion card.
No leading zeros are transmitted, and an ASCII carriage return terminates the
transmitted data value. The equivalent PRINT( ) command is PRINT(DIN{address}
{channel},#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.
The command is most commonly used with an Animatics DIO-100 digital I/O module
or an AniLink thumb wheel module.
Address may be A, B, C, D, E, F, G, or H, which is defined by jumper settings on
the corresponding peripheral. The range of valid channels is 0 through 63, and is
determined by the hardware.
Example:
PRINT("DISPLAY THUMBWHEEL C INPUTS",#13,#13)
RDINC0 'report wheel C, digit 0
RDINC1 'report wheel C, digit 1
RDINC2 'report wheel C, digit 2

Example:
RDINK0 'invalid port
RDINA66 'invalid channel
RDINC 244
 RE
Report Maximum Allowable Position Error

Related Command: APPLICATION: Report command

A DESCRIPTION: Report maximum allowable position error
E EXECUTION: Immediate
G CONDITIONAL TO: N/A
P LIMITATIONS: N/A
MP REPORT VALUE: E
MV READ/WRITE: N/A
V LANGUAGE ACCESS: N/A
UNITS: Encoder counts
RANGE OF VALUES: -32768 to 32767
TYPICAL VALUES: -32768 to 32767
DEFAULT VALUE: 1000
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
RE reports the value of the allowable following error E. No leading zeros are transmitted
and it is followed by an ASCII carriage return. The equivalent PRINT( ) command is
PRINT(E,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.
For normal operation E is greater than or equal to zero. If E is assigned a negative
value a position error is immediately generated.
Example:
A=554 'set up a buffered velocity move
V=666666
MV
E=300
G 'go
WAIT=4000
RE 'response is 1000
E=-E
RE 'response is NOT -1000
I

245
 RETURN
Return-From-Subroutine Program Flow Control

Related APPLICATION: Program execution control

Command:
DESCRIPTION: Return subroutine execution to next program
C statement following present subroutine call
END EXECUTION: Immediate
GOSUB CONDITIONAL TO: A prior program statement GOSUBn was
performed
RUN
LIMITATIONS: Prior to version 4.00 only total of 6 WHILE and
RUN? GOSUB permitted at any one time. Version 4.00
supports up to 6 GOSUBS permitted at any one
time.
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: N/A
FIRMWARE VERSIONS: ALL

DETAILED DESCRIPTION:

The RETURN command is used to terminate a subroutine within a user program.

Subroutines Upon execution of the RETURN, program execution takes up immediately after the
present a great GOSUB that invoked the subroutine call. RETURN is normally executed from within
opportunity to the user program, but with care, the HOST terminal may also be used to issue a
partition and RETURN instruction.
organize your
code. The RETURN program locations are stored in memory called a stack. The stack
depth is 6. Do not use more than 6 nested subroutines; if the the stack overflows,
the program may will crash.

Example:
PRINT("WAIT FOR HOST TERMINAL COMMANDS",#13)
GOSUB10 'start of subroutine 10
PRINT("PROGRAM RECEIVED EXTERNAL RETURN")
END
C10 'start of subroutine 10
WHILE 1 'wait for terminal commands
WAIT=100 'report terminal errors
IF Bs
PRINT(#13,"SCAN ERROR",#13)
Zs
ENDIF
LOOP
RETURN 'return to line just below GOSUB10 command 246
 RI
Report Last-Captured Index Pulse Location

Related Command: APPLICATION: Report command

Bi DESCRIPTION: Report latched index position
Bx EXECUTION: Immediate
I CONDITIONAL TO: Index capture
Rbi LIMITATIONS: N/A
RBx REPORT VALUE: I
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: Encoder counts
RANGE OF VALUES: -2147483648 to 2147483647
TYPICAL VALUES: -2147483648 to 2147483647
DEFAULT VALUE: 0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
RI reports the signed value of the latest captured index. No leading zeros are
transmitted and it is followed by an ASCII carriage return. The equivalent PRINT( )
command is PRINT(I,#13).
If system flag Bi is 1 a "new" Index value is available. Issuing RI will reset Bi to zero.
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.
Example: (Notice PRINT outputs from the following program)
A=10 'buffer a slow velocity mode move
V=4000
MV
E=100 'small error band
G 'go
WHILE Bt
RBi
IF Bi
PRINT("NEW INDEX VALUE ")
ELSE
PRINT("OLD INDEX VALUE ")
ENDIF
RI
WAIT=400
LOOP
END

247
 RKA
Report Acceleration-Feed-Forward Gain Tuning Value

Related Command: APPLICATION: Report command

F DESCRIPTION: Report buffered acceleration feed forward gain
KA EXECUTION: Immediate
KV CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT VALUE: KA
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: PID coefficient
RANGE OF VALUES: 0 to 32767
TYPICAL VALUES: 0
DEFAULT VALUE: 0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
RKA reports the signed value of the buffered PID acceleration feed forward gain value
KA. No leading zeros are transmitted, and it is followed by an ASCII carriage return.
The equivalent PRINT( ) command is PRINT(KA,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.
The KA gain factor is only applied in position (MP) and velocity (MV) moves. Unlike the
KV gain, the effectiveness of KA is difficult to verify. Future implementation will most
likely be modified. The buffered KA value is not effective until a load filter command
F is issued.

RKA 'Report present buffered KA

248
 RKD
Report Derivative-Gain Tuning Value

Related Command: APPLICATION: Report command

F DESCRIPTION: Report buffered differential gain
KI EXECUTION: Immediate
KL CONDITIONAL TO: N/A
KP LIMITATIONS: N/A
REPORT VALUE: KD
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: PID coefficient
RANGE OF VALUES: 0 to 32767
TYPICAL VALUES: 0
DEFAULT VALUE: 0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
RKD reports the signed value of the buffered PID derivative gain value KD. No leading
zeros are transmitted, and it is followed by an ASCII carriage return. The equivalent
PRINT( ) command is PRINT(KD,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.

RKD 'Report present buffered KD

249
 RKG
Report Gravitational Compensation Gain Tuning Value

Related Command: APPLICATION: Report command

F DESCRIPTION: Report buffered gravitational gain
KGON EXECUTION: Immediate
KGOFF CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT VALUE: KD
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: PID coefficient
RANGE OF VALUES: -8388608 to 8388607
TYPICAL VALUES: 0
DEFAULT VALUE: 0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
RKG reports the signed value of the buffered PID gravity constant KG. No leading
zeros are transmitted, and it is followed by an ASCII carriage return. The equivalent
PRINT( ) command is PRINT(KG,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.

RKG 'Report present buffered KG

250
 RKI
Report Integral-Gain Tuning Value

Related Command: APPLICATION: Report command

F DESCRIPTION: Report buffered integral gain
KD EXECUTION: Immediate
KI CONDITIONAL TO: Integral limited by KL term
KL LIMITATIONS: N/A
KP REPORT VALUE: KI
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: PID coefficient
RANGE OF VALUES: 0 to 32767
TYPICAL VALUES: 0 to 20
DEFAULT VALUE: Motor size dependant
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
RKI reports the signed value of the buffered PID integral gain value KI. No leading
zeros are transmitted, and it is followed by an ASCII carriage return. The equivalent
PRINT( ) command is PRINT(KI,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.

RKI 'Report present buffered KI

251
 RKP
Report Proportional-Gain Tuning Value

Related Command: APPLICATION: Report command

F DESCRIPTION: Report buffered proportional gain
KD EXECUTION: Immediate
KI CONDITIONAL TO: N/A
KL LIMITATIONS: N/A
KP REPORT VALUE: KP
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: PID coefficient
RANGE OF VALUES: 0 to 32767
TYPICAL VALUES: 40 to 400
DEFAULT VALUE: Motor size dependent
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
RKP reports the signed value of the buffered PID proportional gain value KP. No
leading zeros are transmitted, and it is followed by an ASCII carriage return. The
equivalent PRINT( ) command is PRINT(KP,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.

RKP 'Report present buffered KP

252
 RKS
Report Inertial Time Constant Tuning Value

Related Command: APPLICATION: Report command

F DESCRIPTION: Report buffered inertial constant
KD EXECUTION: Immediate
KI CONDITIONAL TO: N/A
KL LIMITATIONS: N/A
KP REPORT VALUE: KS
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: PID coefficient
RANGE OF VALUES: 0 to 255
TYPICAL VALUES: 1
DEFAULT VALUE: 1
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
RKS reports the signed value of the buffered PID sample rate modifier KS. No leading
zeros are transmitted, and it is followed by an ASCII carriage return. The equivalent
PRINT( ) command is PRINT(KS,#13). A value of KS=0 is functionally equivalent to
a KS=1.
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.

RKS 'Report present buffered KS

253
 RKV
Report Velocity-Feed-Forward Tuning Value

Related Command: APPLICATION: Report command

F DESCRIPTION: Report buffered velocity feed forward gain
KA EXECUTION: Immediate
KV CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT VALUE: KV
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: PID coefficient
RANGE OF VALUES: 0 to 32767
TYPICAL VALUES: 0 to 400
DEFAULT VALUE: 0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
RKV reports the signed value of the buffered PID velocity feed forward value KV.
No leading zeros are transmitted, and it is followed by an ASCII carriage return. The
equivalent PRINT( ) command is PRINT(KV,#13)
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.
KV is very useful to fine tune long constant velocity trajectory profiles. Changes in KV
are not updated until the load PID filter F command is issued.

RKV 'Report present buffered KV

254
 RP
Report Real Time Position

Related Command: APPLICATION: Report command

@P DESCRIPTION: Report current position
@E EXECUTION: Next PID sample
P CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT VALUE: @P
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: Encoder counts
RANGE OF VALUES: -2147483648 to 2147483647
TYPICAL VALUES: -2147483648 to 2147483647
DEFAULT VALUE: 0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
RP is the fundamental command to position data. RP reports the real time value of the
primary encoder counter @P. No leading zeros are transmitted and it is followed by
an ASCII carriage return. The equivalent PRINT( ) command is PRINT(@P,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.
Do not confuse RP with PRINT(P). RP returns the present position, whereas PRINT(P)
returns the latest P=expression buffered requested absolute target position value.
Notice also, ENC1 changes the encoder position signal source from the default internal
encoder to the external encoder inputs.
RP 'Report present shaft position

255
 RPE
Report Real-Time Position Error

Related Command: APPLICATION: Report command

E DESCRIPTION: Report position error
G EXECUTION: Next PID sample
@PE CONDITIONAL TO: Servo active
LIMITATIONS: Torque mode has zero position error
REPORT VALUE: @PE
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: Encoder counts
RANGE OF VALUES: -E to E
TYPICAL VALUES: -E to E
DEFAULT VALUE: 0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
RPE reports the signed value of the instantaneous position error @PE. No leading
zeros are transmitted and it is followed by an ASCII carriage return. The equivalent
PRINT( ) command is PRINT(@PE,#13).
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.

256
 RPE (continued)
Report Real-Time Position Error

Related Example: (measure motion settling time)

Command:
O=0 'set current shaft position as origin
E P=20000 'set target position
V=1000000 'set velocity
G A=100 'set acceleration
G 'Go/start motion
@PE WHILE Bt
LOOP 'wait for trajectory complete
a=CLK 'read the clock into variable
'"a". Clock measured in servo
'samples 4069 servo samples =1second.
GOSUB5 'observe settling motion
END
C5 'subroutine label 5
IF @PE GOTO10 ENDIF 'de-bounce position error
IF @PE GOTO10 ENDIF
IF @PE GOTO10 ENDIF
IF @PE GOTO10 ENDIF
t=CLK-a 'Store clock into variable t
'measure settling time
PRINT(#13,"DECLARED AS SETTLED")
PRINT(#13,"SETTLING TIME ")
GOSUB20 PRINT(".")
GOSUB20 PRINT(" seconds")
RETURN
C10 'subroutine label 10
PRINT(#13,"POSITION ERROR ")
RPE 'report position error
GOTO5
C20 'Subroutine label 20.
'perform long divide
s=t/4069
PRINT(s)
p=s*4069
r=t-p
t=10*r
RETURN

END

257
 RS
Report 8-Bit System Status Byte

Related Command: APPLICATION: Report command

RPW DESCRIPTION: Report motor status bits
RW EXECUTION: Immediate
CONDITIONAL TO: N//A
LIMITATIONS: N/A
REPORT VALUE: S
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: 8 motor status bits
RANGE OF VALUES: 0 to 255
TYPICAL VALUES: 0 to 255
DEFAULT VALUE: 128 =- Motor OFF
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
RS reports the unsigned value of the present SmartMotor™ status byte S. No leading
zeros are transmitted and it is followed by an ASCII carriage return. The equivalent
PRINT( ) command is PRINT(S,#13). As does RW, RS resets the Bh, Bl, and Br flag
values to zero.
A summary of S, the motor status byte, is:
Bo Motor OFF Status flag 7
Bh Excessive temperature Status flag 6 reset by RS, RW
Be Excessive position error Status flag 5
Bw Encoder wrap around Status flag 4
Bi Index report available Status flag 3 reset by RI
Bl Historical negative limit Status flag 2 reset by RW, RS
Br Historical positive limit Status flag 1 reset by RW, RS
Bt Trajectory in progress Status flag 0
In versions 4.15, 4.75, 4.41 and later, this has been changed to report through the
current active serial channel and not just the primary port. That is, if the report command
is received through channel 0, the response is sent through channel 0. If the report
command is received through channel 1, the response goes out channel 1.

258
 RS (continued)
Report 8-Bit System Status Byte

Related Example:
Command: O=10000 'Set current shaft position
'as position 10000, set up move
RPW P=0
A=222
RW V=33333
MP
G 'go
WHILE Bt
GOSUB5 'monitor for status change
LOOP
PRINT(#13,"FINAL REPORT",#13)
GOSUB5 'final report
END
C5 'subroutine 5
PRINT(#13,"STATUS BYTE VALUE ") RS
IF S&32 'logical AND status byte "S"
'and position error status bit (0010 0000)
PRINT(#13,"POSITION ERROR !!!")
ENDIF
IF S&16 'logical AND status byte "S"
'and wraparound status bit (0001 0000)
PRINT(#13,"WRAP AROUND !!!")
ENDIF
IF S&1 'logical AND status byte "S"
'and trajectory error status bit (0000 0001)
PRINT(#13,"TRAJECTORY IN PROGRESS")
ENDIF
RETURN

259
 RS2
Restore Port G normal control

Related Command: APPLICATION: I/O Control

CCHN DESCRIPTION: Restore PIN G I/O to default
OCCHN EXECUTION: Immediate
RS4 CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT MODE: RS-232
FIRMWARE VERSIONS: 3.4x and higher
DETAILED DESCRIPTION:
The RS2 puts the SmartMotor™ primary serial port into its default operating mode,
RS232. The command is commonly used to put the primary serial port into RS232
mode after being previously put into RS485 mode with RS4. Among other things, RS4
dedicates the I/O pin G to make the primary full-duplex RS232 channel a half-duplex
RS485 channel. RS2 frees the I/O G pin for general purpose use.
RS2 is also an argument in the OCHN command, used to put the target serial port in
RS232 mode.

260
 RS4
Set Port G to RS-485 R/W Control Pin

Related APPLICATION: I/O Control

Command:
DESCRIPTION: PIN G is set to support RS485
CCHN
EXECUTION: Immediate
ECHO
CONDITIONAL TO: N/A
ECHO_OFF
LIMITATIONS: ECHO_OFF
OCCHN
REPORT COMMAND: N/A
RS2
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT MODE: RS232
FIRMWARE VERSIONS: 3.4x and higher
DETAILED DESCRIPTION:
The RS4 command puts the primary serial port into RS485 mode. This allows
you to use a RS232 to RS485 adapter, like the Animatics RS485 or RS485-ISO,
on the primary serial port. As RS485 is half duplex and RS232 is full duplex,
RS4 dedicates the I/O pin G to control the direction of RS485 data. This is
required for use with Animatics RS232 to RS485 converters like the RS485 and
RS485-ISO. When using one of these adapters, you must ensure that the I/O
G pin is configured as a TTL output with the UGO command before the channel
is opened.
Note: RS4 should only be used when the RS485ISO
communications adapter is being used.

261
 RSP
Report CPU speed and Firmware Revision

Related Command: APPLICATION: Report command

PID1 DESCRIPTION: Report PID sample period and Firmware Revision
PID2 EXECUTION: Immediate
PID4 CONDITIONAL TO: N/A
PID8 LIMITATIONS: N/A
REPORT STRING: ASCII alphanumeric string
READ/WRITE: Read only
LANGUAGE ACCESS: N/A
UNITS: ASCII string
RANGE OF VALUES: Firmware version dependant
TYPICAL VALUES: N/A
DEFAULT VALUE: N/A
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The report command RSP returns a five digit value of the PID sample period,
followed by an ASCII string code representing firmware version. For versions
4.0 and higher, this basic sample rate is associated with the command PID1. The
following is a table of firmware releases and RSP responses at the time of this
printing:
The PID sample period, in microseconds, is the five digit number/100.
All version 4XX series motors respond in t form of:
24576/(firmware revision)
Example when sent to anSM2315D with 4.40c firmware.:

RSP 24576/440C

262
 RT
Report Commanded Torque Value

Related Command: APPLICATION: Report command

MT DESCRIPTION: Report torque request
EXECUTION: Immediate
CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT VALUE: T
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: Encoder counts
RANGE OF VALUES: -1023 to 1023
TYPICAL VALUES: -1000 to 1000
DEFAULT VALUE: 1000
FIRMWARE VERSIONS: <v4.95
DETAILED DESCRIPTION:
RT reports the value of the mode torque output value T. No leading zeros are
transmitted and it is followed by an ASCII carriage return. The equivalent PRINT( )
command is PRINT(T,#13).

Example: (this demonstrates the Severe Warning label in the margin)

T=33 'Test only with open shaft,
'setting torque value
MT 'set torque mode
WAIT=4000 'wait about 1 second
SEVERE PRINT("TORQE VALUE ")
WARNING: RT 'report torque requested
MD50 'use analog voltage input to control torque
If MT follows 'control mode. Potentiometer placed on I/O pin A.
MD50, issue OFF 'Voltage of 0V equates to t=-1023
and T=expression 'and 5 V equates to T=1023
before the MT WAIT=4000
command. PRINT("TORQE VALUE ") RT
WAIT=4000
MT 'Effect: torque request of 33
'has been destroyed
PRINT("ISSUED MT")
WAIT=4000
T=33

263
 RUN
Start/Re-Start Program Execution

Related Command: APPLICATION: Program execution control

END DESCRIPTION: Execute user EPPROM program beginning at
initial command
RUN?
EXECUTION: Immediate

CONDITIONAL TO: No effect if no EEPROM program exists

LIMITATIONS: Valid EEPROM stored program commands

REPORT COMMAND: UP and UPLOAD

READ/WRITE: EEPROM source

LANGUAGE ACCESS: N/A

UNITS: N/A

RANGE OF VALUES: N/A

TYPICAL VALUES: N/A

DEFAULT: RUN at power recycle, or software reset

FIRMWARE VERSIONS: ALL

DETAILED DESCRIPTION:

The RUN command will start a stored (downloaded) user EEPROM program.

Issuing a RUN command does not reset any motion, variable or I/O states.
It does reset the program execution pointer (Stack Pointer) to zero, and resets the
internal GOSUB stack.

To test your program with a truly "fresh" start use the Z command to completely reset
the motor as if it were newly powered up.

If a program exists within the SmartMotor™ user EEPROM it will automatically be

run every time the motor is turned on.

To prevent this, make RUN? the first program statement of your user program, or if
you wish, place RUN? anywhere in your program. Upon encountering a RUN? the
program interpreter, execution machine, recalls whether or not the RUN command
was previously issued, and if RUN was not issued, program execution ceases. This
is similar to to encountering an END statement, except that a subsequent RUN com-
mand causes the program to take up after the RUN? statement.

Version 4 SmartMotors provide an abort facility to prevent auto-execution of stored

program. In version 4.0, 4.10 through 4.13 and 4.2 SmartMotors, the stored program
is aborted if any recognizable serial character is received during the first 500 mil-

264
 RUN (continued)
Start/Re-Start Program Execution

Related liseconds after power up or reset. In versions 4.15, 4.75 and onwards, the
Command: stored program is aborted if the serial character string "EE", or subset "EE"
of "EEEEEEEEEEEE …." during the first 500 milliseconds after power up or
END
reset.
RUN?
Example: (user program with possible halt)
PRINT(" LOADING TRAJECTORY")
A=100
V=1000000
P=1000000
MP
PRINT(" Type RUN to start",#13 'Prompt user for
"RUN" command
RUN? 'Run command requested. Stop program
'execution until "RUN" command is received.
PRINT(" EXECUTING TRAJECTORY")
G
END

265
 RUN?
Halt Program Execution until RUN Received

Related APPLICATION: Program execution control

Command:
DESCRIPTION: Halt execution of user program commenced without
END RUN
RUN EXECUTION: Immediate
CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: Valid via serial communication or program read
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT: Halts programs automatically started at power up
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
If a program exists within the SmartMotor™ user EEPROM it will automatically run
every time the motor is turned on. To prevent this make RUN? the first program
statement of the user program, or place RUN? anywhere in the program. When
RUN? is encountered the program interpreter, execution machine, recalls whether or
not the RUN command was previously issued, and if RUN was not issued, program
execution ceases. This is similar to to encountering an END statement, except that
a subsequent RUN command causes the program to take up after the RUN? state-
ment.
The program will
only begin when RUN? does not terminate the present motion mode or trajectory, change motion
explicitly told to parameters such as E, A, V, and KP, or alter the present value of the user vari-
run by a "RUN" ables.
command sent by
RUN? may be issued externally through the serial channel. It can distinguish motors
a host.
which have suffered a power reset or software reset Z from those motors in a daisy
chain which have not performed a reset..
Example:
GOSUB1 'always execute subroutine 1 upon any reset
GOSUB2 'always execute subroutine 2 upon any reset

PRINT("Type RUN to start",#13) 'Prompt user for

'RUN command

RUN? 'Halt program execution until

'RUN command is received

GOSUB3 'conditionally execute subroutine 3

END 266
 RV
Report Current Trajectory Velocity

Related APPLICATION: Report command

Command:
DESCRIPTION: Report current velocity
@V
EXECUTION: Next PID sample
V
CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT VALUE: @V
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: Scaled encoder counts/sample
RANGE OF VALUES: -2147483648 to 2147483647
TYPICAL VALUES: -3200000 to 3200000
DEFAULT VALUE: 0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
RV reports the signed 32 bit value of the current trajectory velocity @V. It is not the
actual velocity, but what the velocity is supposed to be at the time the RV command
was executed. No leading zeros are transmitted and it is followed by an ASCII car-
riage return. The equivalent PRINT( ) command is PRINT(@V,#13).
Example: (monitor acceleration ramp)
O=0 'set up a velocity move
E=4000
A=10
v=4000000
V=v
MV
G
WHILE @V<v 'monitor velocity while
IF Be 'accelerating
BREAK 'exit if position error
ENDIF
GOSUB5 'report trajectory velocity
LOOP
GOSUB5 'final report
END
C5
PRINT(" VELOCITY ")
RV 'report trajectory
WAIT=4000 'commanded velocity request
RETURN

267
 RW
Report System 16-Bit Status Word

Related Command: APPLICATION: Report command

RPW DESCRIPTION: Report extended motor status flags
RW EXECUTION: Immediate
CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT VALUE: N/A
READ/WRITE: Report only
LANGUAGE ACCESS: None
UNITS: 16 motor status bits
Whoops, some
more of those pesky RANGE OF VALUES: **
asterisks that don't TYPICAL VALUES: **
seem
to go anywhere DEFAULT VALUE: 128 = Motor OFF
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
RW reports the unsigned value of the present SmartMotor™ status word W. No leading
zeros are transmitted and it is followed by an ASCII carriage return. The equivalent
PRINT( ) command is PRINT(W,#13). As does RS, RW resets the Bh, Bl, and Br flag
values to zero.
A summary of W, the motor status word, is:
Bk EEPROM checksum failure bit 15
Ba AMPS over current latch bit 14
Bs Syntax error bit 13
Bu Array index range error bit 12
Bd Math overflow error bit 11
Bm Real time negative limit active bit 10
Bp Real time positive limit active bit 9
Bx Real time index report bit 8
Bo Motor OFF bit 7
Bh Excessive temperature bit 6 reset by RPW, RW, RS
Be Excessive Position error bit 5
Bw Position wrap around bit 4
Bi Historical index report latched bit 3 reset by RI, bit 3
Bl Historical negative limit bit 2 reset by RPW, RW, RS
Br Historical positive limit bit 1 reset by RPW, RW, RS
Bt Trajectory in progress bit 0

If RW is reported the historical limit and overheat flags are immediately reset after
the request command operation is completed. The value W cannot be assigned to a
variable.
268
 S (as command)
Stop Motion Quickly

Related Command: APPLICATION: Motion mode control

A DESCRIPTION: Abruptly stop motor motion
D EXECUTION: Immediate
E CONDITIONAL TO: E value
G LIMITATIONS: If position error exceeds E, motor will shut off and
coast to a stop
MP
REPORT COMMAND: N/A
MV
READ/WRITE: N/A
P
LANGUAGE ACCESS: N/A
X
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: N/A
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The S command causes an emergency stop. It does not turn the motor off, rather it
sets the target position at the current position. The resulting commanded motion will
Caution be very abrupt. In some cases it will be so abrupt that the amplifier can over current
or the servo error can exceed the maximum allowable error set by the E command.
Careful use of This will, in turn, cause the motor to be turned off and coast. Consequently, careful
the S command use of the S command is vital. Following S, the motion mode is position mode, unless
is vital. a position error is created, regardless of the mode it was in before. The response to
RMODE will be "R." If the motion that was stopped was a Mode Position move, the
previous target P or D values are still retained.
Example:

A=100
V=1000000
P=5000000
G
WHILE Bt
IF UAI 'E-stop if PIN A high
S 'Stop Abruptly
PRINT("Emergency Stop")
ENDIF
LOOP

269
 S (as status byte)
8-Bit System Status Byte

Related Command: APPLICATION: Program execution control

RPW DESCRIPTION: Fetch primary motor status flags
RS EXECUTION: Immediate
RW CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT COMMAND: RS
READ/WRITE: Read only
LANGUAGE ACCESS: Expressions and conditional testing
UNITS: Status byte
RANGE OF VALUES: 0 to 255
TYPICAL VALUES: 0 to 255
DEFAULT VALUE: 128= Motor OFF
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
S is the value of the primary motor status byte, composed of 8 system flags states.
The individual meaning of each flag is as follows:
Bo Motor OFF bit 7
Bh Excessive temperature bit 6 reset by access S
Be Excessive position error bit 5
Bw Encoder wrap around bit 4
Bi Index report available bit 3 reset by access I
Bl Historical negative limit bit 2 reset by access S
Br Historical positive limit bit 1 reset by access S
Bt Trajectory in progress bit 0
If S is reported, accessed or assigned, the historical bits, Bl and Br, are reset after
the requested operation is completed. S may be monitored or periodically tested to
check for unexpected conditions. If you are going to test S for various flag values,
read S into a variable to avoid losing historical data and states. Since S reflects sys-
tem states it is read only; S=expression is invalid; it will be ignored but it will cause
a syntax error and set the extended system flag Bs.

270
 S (as status byte) (continued)
8-Bit System Status Byte

Related Example:
Command: O=10000 'set up move
P=0
RPW A=222
V=33333
RS MP
RW G 'go
WHILE Bt
GOSUB5 'monitor for status change
LOOP
PRINT(#13," FINAL REPORT",#13)
GOSUB5 'final report
END
C5
ss=S 'READ VALUE ONCE
'to record historical latches
'before reset !
PRINT(#13," STATUS BYTE VALUE ", ss)
IF ss&32
PRINT(#13," POSITION ERROR !!!")
ENDIF
IF ss&16
PRINT(#13," WRAP AROUND !!!")
ENDIF
IF ss&1
PRINT(#13," TRAJECTORY IN PROGRESS")
ENDIF
RETURN

271
 SADDR#
Set Motor Address

Related APPLICATION: Serial communication control

Command:
DESCRIPTION: Set motor address
ADDR
EXECUTION: Immediate
CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: Expression and conditional testing via ADDR
UNITS: Number
RANGE OF VALUES: 1 to 120
TYPICAL VALUES: 1 to 4
DEFAULT VALUE: 0= global address
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The SADDR{value} command is used to set the unit address of a SmartMotor™,
where "value" is an integer between 0 and 100. Separate addresses allow multiple
SmartMotors to share a common communication channel and still differentiate them-
selves.
The SADDR command is typically one of the first commands in a downloaded pro-
gram. In an RS-485 network, where all communications go over the same two parallel
wires, the SADDR command must be in the program, whereas in an RS-232 network,
where communications travel from one motor to the next, addressing can be accom-
plished from a host, or master motor.
The address can be from 0 to 100. If it is zero, the motor will have no unique address.
Address 0 is the global address; it is used to talk to all motors on a network at once.
Example:
SADDR1 'Set address to 1

When given a non-zero address, a SmartMotor begins to listen to commands after it

receives its own unique address or the global address byte from the network. There
is no need to repeat the address byte with subsequent commands intended for the
same motor. The particular SmartMotor will continue to listen to commands until it
receives a different address byte, after which commands are ignored. The echo func-
tion of the SmartMotor is not affected by the addressed state. That is, if told to echo, a
SmartMotor will continue to echo, regardless of whether it is listening to commands.
Continued n next page:

272
 SADDR# (continued)
Set Motor Address

Related EXAMPLE:
Command: 'Example Auto Addressing for 4 SmartMotors™ via SADDR command
'on an RS-232 Daisy chain
ADDR 'This program code would be run at the same time
'in all motors on the chain at power-up.

ECHO ' Enable ECHO mode

a=1 ' User variable "a" to set
address.
WAIT=2000 ' Wait about 1/2 second to allow
power-up to each motor
PRINT(#128,"a=a+1 ",#13) 'Print downstream to each motor
WAIT=2000 ' Wait about 1/2 second for each motor
to ECHO
' through the same string to the
next motor

'Note: At this point, each motor will have run the exact same code
'causing successive motors downstream to receive the same command
string
'from the number of motors upstream.

SWITCH a ' Check he value of "a"

CASE 1
SADDR1 ' Set Address to 1
GOSUB10
BREAK
CASE 2
SADDR2 ' Set Address to 2
GOSUB20
BREAK

CASE 3
SADDR3 ' Set Address to 3
GOSUB30
BREAK

CASE 4
SADDR4 ' Set Address to 4
GOSUB40
BREAK
ENDS

END

C10 'MOTOR 1 CODE

RETURN
C20 'MOTOR 2 CODE

RETURN
C30 'MOTOR 3 CODE

RETURN
C40 'MOTOR 4 CODE

RETURN

273
 SILENT
Silence Primary Port Outgoing Communications

Related APPLICATION: Serial communication control

Command:
DESCRIPTION: Motor prevented from sending channel 0
TALK responses to commands
TALK1 EXECUTION: Immediate
SILENT1 CONDITIONAL TO: N/A

LIMITATIONS: N/A

REPORT COMMAND: N/A

READ/WRITE: N/A

LANGUAGE ACCESS: N/A

UNITS: N/A

RANGE OF VALUES: N/A

TYPICAL VALUES: N/A

DEFAULT VALUE: TALK0 state

FIRMWARE VERSIONS: ALL

DETAILED DESCRIPTION:
These commands
are almost always The SILENT command causes the SmartMotor™ to suppress all internally originating
sent from a host, serial communication messages intended for the channel 0 primary port. It does
rather than existing not prevent the SmartMotor from sending messages in response to incoming serial
within a program. report commands from the host, and it does not interfere with ECHOing received
serial communication over channel 0.

This command is most commonly used when sending a new program to an individual
SmartMotor mounted in a networked system. In order to guarantee that the program
arrives as sent, it is required that all other motors in the array be silent during
download.

The TALK command negates the effect of SILENT and restores the motor's primary
port to it's default state of operation.

274
 SILENT1
Silence Secondary Port Outgoing Communications

Related APPLICATION: Serial communication control

Command:
DESCRIPTION: Motor prevented from sending channel 1
TALK responses to commands
TALK1 EXECUTION: Immediate
SILENT CONDITIONAL TO: N/A

LIMITATIONS: N/A

REPORT COMMAND: N/A

READ/WRITE: N/A

LANGUAGE ACCESS: N/A

UNITS: N/A

RANGE OF VALUES: N/A

TYPICAL VALUES: N/A

DEFAULT VALUE: TALK1 state

FIRMWARE VERSIONS: 4.0 and later

DETAILED DESCRIPTION:

The SILENT1 command causes the SmartMotor™ to suppress all internally originating
serial communication messages intended for the channel 1 secondary port. It does
not prevent the SmartMotor from sending messages in response to incoming serial
report commands from the host..

This command is most commonly used when sending a new program to an individual
SmartMotor mounted in a networked system. In order to guarantee that the program
arrives as sent, it is required that all other motors in the array be silent during
download.

The TALK1 command negates the effect of SILENT1 and restores the motor's
secondary port to it's default state of operation.

275
 SIZE=expression
Set Number of CAM Table Data Points

Related Command: APPLICATION: Mode CAM control

BASE DESCRIPTION: Number a data entries for CAM Mode
G EXECUTION: Buffered pending MC and G commands
MC CONDITIONAL TO: N/A
LIMITATIONS: SIZE < BASE
REPORT COMMAND: None
READ/WRITE: Write only
LANGUAGE ACCESS: Assignment only
UNITS: Encoder counts
RANGE OF VALUES: 0 to 32767
TYPICAL VALUES: 0 to 100
DEFAULT VALUE: 0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
The SmartMotor™ performs a practical cam application by partitioning the required
cam trajectory definition into a number of linearly interpolated segments. The vari-
able SIZE stores the number of segments.
The segments are required to partition the BASE into a set of equally spaced
intervals. For example; if BASE=1000 and SIZE=50, each segment will then be 20
counts wide (BASE/SIZE).
The cam motion is then defined by providing the required SmartMotor positions
corresponding to CTR=0, 20, 40, 60, . . . 940, 960, 980 and 1000. If the motion is
truly periodic the required position at CTR=0 will be identical to the required position
at CTR=1000. The set of required positions are to be entered into the aw[ ] array,
beginning at aw[0] and ending with aw[SIZE]. It is simplest to define the cam using
position at CTR=0 to be encoder position 0 by issuing MF0 and O=0 commands.

276
 SIZE=expression (continued)
Set Number of CAM Table Data Point

Related
Command:
Example:
BASE
A "saw tooth" cam with periodic motion every 2000 external encoder counts
G and the motion interpolation divided into 25 (equal) segments.
MC

BASE=2000 'Cam period

SIZE=25 'data segments (number of data points in table)
'CTR data interval = BASE/SIZE = 2000/25 = 80
'CAM motor will be at Data position every 80
'Master encoder counts:
'CTR=0, CTR=80, CTR=160,.... CTR=1840, CTR=1920, CTR=2000
'Now assigning data values beginning with aw[0]:
aw[0] 0 10 20 30 40 50 60 70 80 90 100.
aw[20] 110 120 120 110 100 90 80 70 60.
aw[19] 50 40 30 20 10 0.
MF4 'reset external encoder to zero
O=0 'reset internal encoder position
MC 'buffer CAM Mode
G 'start following the external encoder using cam data

The motor will now begin following the External (Master) encoder via the defined
CAM profile above.

277
 SLEEP
Ignore Incoming Commands on Primary Port

Related Command: APPLICATION: Serial communication control

SLEEP1 DESCRIPTION: Motor prevented from executing channel 0
commands
WAKE
WAKE1 EXECUTION: Immediate

CONDITIONAL TO: N/A

LIMITATIONS: Illegal with a user program

REPORT COMMAND: N/A

READ/WRITE: N/A

LANGUAGE ACCESS: N/A

UNITS: N/A

RANGE OF VALUES: N/A

TYPICAL VALUES: N/A

DEFAULT VALUE: WAKE state

FIRMWARE VERSIONS: ALL

DETAILED DESCRIPTION:

The SLEEP command is used to put a SmartMotor™ into Sleep Mode with respect
The SLEEP and to channel 0 serial commands. While in Sleep Mode, a SmartMotor will continue to
WAKE commands echo (if in ECHO mode) all characters received over the network, but will ignore all
are only sent from commands other than a WAKE command. A sleeping SmartMotor will also ignore
a host, never part a G-line input "go" request, but will be responsive to other input’s dedicated func-
of a SmartMotor™ tions.
program.
The most common use of the SLEEP command is to keep daisy-chained SmartMotors
from responding to commands in a program which is being downloaded to another
SmartMotor™ in the same chain.

If a program is running when a SmartMotor receives the SLEEP command, the pro-
gram will continue to run. Messages originating from within the running program of a
sleeping SmartMotor will be transmitted unless the motor is also in SILENT mode.

SLEEP may be issued from the terminal or within a user program. SLEEP mode is
terminated by the WAKE command.

278
 SLEEP1
Ignore Incoming Commands on Secondary Port

Related Command: APPLICATION: Serial communication control

SLEEP DESCRIPTION: Motor prevented from executing channel 1
commands
WAKE
EXECUTION: Immediate
WAKE1
CONDITIONAL TO: N/A
LIMITATIONS: Illegal with a user program
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: WAKE1 state
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
The SLEEP1 command is used to put a SmartMotor™ into Sleep Mode with respect
to channel 1 serial commands. When in Sleep Mode, a SmartMotor will continue to
echo (if in ECHO1 mode) all characters received over the network, but will ignore all
commands other than a WAKE1 command. A sleeping SmartMotor will also ignore a
G-line input "go" request, but will be responsive to other input’s dedicated functions.
The most common use of the SLEEP1 command is to keep SmartMotors in a
daisy-chain from responding to commands imbedded in a program which is being
downloaded to another SmartMotor in the same chain.
If a program is running when a SmartMotor™ receives the SLEEP1 command, the
program will continue to run. Messages originating from within the running program
of a sleeping SmartMotor will be transmitted unless the motor is also in SILENT1
mode.
SLEEP1 may be issued from the terminal or within a user program. SLEEP1 mode
is terminated by the WAKE1 command.

279
 STACK
Clear Stack Pointer Register

Related Command: APPLICATION: Program execution control

END DESCRIPTION: Reset user program subroutine return stack
GOSUB EXECUTION: Immediate
RUN CONDITIONAL TO: N/A
RUN? LIMITATIONS: Prior to version 4.00 a total of 6 WHILE and GOSUB
statements are permitted at one time.
Version 4.00 supports up to 6 GOSUB statements
at one time.
Are there any
WHILE statements REPORT COMMAND: N/A
in version 4.00? READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: Return STACK empty
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
STACK empties the queue of pending (GOSUB) RETURN addresses.
In order to execute the RETURN program statement, the processor needs to be able
to recall the program address point to which it should return. These addresses are
stored within a region called a "stack".
A maximum of six address locations can be stored within the stack. This means
that if a seventh GOSUB is called prior to any intervening RETURN statements, the
stack will overflow and the program execution may fail. The stack region is managed
using a pointer to the presently effective return address storage location. The STACK
command directly resets this pointer to its initial condition. So the STACK command
clears all RETURN addresses in the stack queue.
Note: Since Issuing STACK will cause any RETURN command to follow to be ignored
, proper program flow via GOTO commands or otherwise should be used to prevent a
memory mapping error. Care should be taken when the STACK command is used.
Since GOSUB command may be issued serially to the Smartmotor, it may be possible
to overflow the stack regardless of the downloaded program code. The STACK
can be issued via serial communications as well to permit the program execution to
continue without concern for "how did we get here?". However, it is not recommended
since full knowledge of what lin of code the motor may be running at the time wuuld
not be known.

280
 STACK (continued)
Clear Stack Pointer Register

Related
Command:
Example:
END
GOSUB C0
GOTO1
RUN
C7
RUN? PRINT(#13, "NO PROGRAM CRASH")
RETURN

END
GOSUB1
C1 GOSUB2
C2 GOSUB3
C3 GOSUB4
C4 GOSUB5
C5 GOSUB6 'sixth GOSUB without return
C6
STACK 'reset internal stack
GOSUB7 'allowing a seventh GOSUB
PRINT(#13,"RETURN FROM GOSUB7 OK")
END

The example above is not a good way to write code. It is just a means to
explain where the STACK command would be used to prevent program
crashes.
Often times, the STACK command is used after an error or motor protection
fault is detected. Then immediately after the STACK command, either RUN,
END or GOTO(location near top of program) is issued to recover.

281
 SWITCH expression
Selectable Program Flow Control

Related Command: APPLICATION: Program execution control

BREAK DESCRIPTION: Multiple choice branch for program execution
CASE number EXECUTION: Immediate
DEFAULT CONDITIONAL TO: N/A
ENDS LIMITATIONS: Can only be executed from within user program
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: N/A
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
The SWITCH command allows program flow control based on specific integer values
of an expression or specific parameter or variable..
At execution runtime the program interpreter evaluates the SWITCH expression value
and then tests the CASE numbers for a equal value in the order written in the program.
If the expression value does not equal the CASE number, the next CASE statement is
evaluated. If the expression value does equal the CASE number, program execution
continues with the command immediately after. The execution time is similar to the
equivalent IF expression control block. This means placing the most likely CASE
values at the top of the CASE list will yield the faster average program execution time.
The DEFAULT entry point is used if no CASE number is equals the expression value;
it is executed last. If no CASE number equals the value of the SWITCH expression
and there is no DEFAULT case, program execution passes through the SWITCH to
the ENDs without performing any commands.
If a BREAK is encountered, program execution branches to the instruction or label
following the ENDs of the SWITCH control block. BREAK can be used to isolate
CASEs. Without BREAK, the CASE number syntax is transparent and program
execution continues at the next instruction. That is, you will run into the next CASE
number code sequence.
Each SWITCH control block must have at least one CASE number defined plus one,
and only one, ENDS statement. SWITCH is not a valid terminal command, it is only
valid within a user program.

282
 SWITCH expression (continued)
Selectable Program Flow Control

Related Consider the following code fragment:

Command: SWITCH v
CASE 1
BREAK PRINT(" v = 1 ",#13)
BREAK
CASE number CASE 2
DEFAULT PRINT(" v = 2 ",#13)
BREAK
ENDS CASE -23
PRINT(" v = -23 ",#13)
BREAK
DEFAULT
PRINT("v IS NOT 1,2 OR -23",#13)
BREAK
ENDS

The first line, SWITCH v, lets the SmartMotor™ know that it is checking the
value of the variable v. Each following CASE begins the section of code that
tells the SmartMotor what to do if v is equal to that "case".
Example:
a=-3 'test value
WHILE a<4
PRINT(#13,"a=",a," ")
SWITCH a 'test expression
CASE 3
PRINT("MAX VALUE",#13)
BREAK
CASE -1 'negative test values are valid
CASE -2 'note no BREAK here
CASE -3
PRINT("NEGATIVE")
BREAK 'note use of BREAK

CASE 0 'zero test value is valid

PRINT("ZERO") 'note order is random

DEFAULT 'the default case

PRINT("NO MATCH VALUE")
BREAK
ENDS 'need not be numerical
a=a+1
LOOP
END
The output is
a=-3 NEGATIVE
a=-2 NEGATIVE
a=-1 NEGATIVE
a=0 ZERO
a=1 NO MATCH VALUE
a=2 NO MATCH VALUE
a=3 MAX VALUE
283
 T=expression
Set Open Loop Commanded Torque Value

Related APPLICATION: Motion mode control

Command:
DESCRIPTION: Torque value for MODE TORQUE
MT
EXECUTION: Immediate
RT
CONDITIONAL TO: MT issued
LIMITATIONS: N/A
REPORT COMMAND: RT
READ/WRITE: Read write
LANGUAGE ACCESS: Assignment, expressions and conditional testing
UNITS: Fraction of available torque
RANGE OF VALUES: -1023 to 1023
TYPICAL VALUES: -1000 and 1000
DEFAULT VALUE: 0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
Command MT enables torque mode. In this mode, the motor is commanded to
develop a specific power level, set by T=expression. T is in units of Tenths of
Percent of the full capacity of the subject motor and takes values between -1023
and 1023. T=-1023 results in full torque in the negative direction. The encoder still
tracks position and can still be read with the @P variable, but the PID loop is off
and the motor is not servoing or running a trajectory.
MT sets the PWM signal to the drive to a fixed percentage, which means that the
amplifier tries to deliver a fixed amount of power to the motor coils. For any given
torque and no applied load, there will be a velocity at which the back EMF of the
motor will cause the acceleration to stop and the velocity to hold more or less
constant. Under the no load or static load conditions, the T command will control
velocity. As the load torque increases, the velocity decreases.
Note: This means that MT does not regulate torque. Instead, it delivers a fixed
amount of power to the motor coils. As motor power is the product of torque and
RPM, velocity decreases as the delivered torque increases and vice versa.
In all firmware 4.76, MT will immediately turn on the servo and reset any position
error. The servo-off flag Bo is set to 0, the trajectory flag Bt is reset to 0, and the
position error flag Be is reset to 0. The motion is not restricted by the present E
value. Issuing E=0 would have no effect upon the present motion. The drive stage
is still subject to the currently defined activity of the limit switches.
In all firmware >=476, any prior faults must be cleared prior to accepting the MT
command.
Continued on next page:

284
 T=expression (continued)
Set Open Loop Commanded Torque Value

Related Amplifier mode MD50 DOES EFFECT the value of T. To change from mode
Command: MD50 to mode MT, issue the sequence OFF T=value MT.
MT
RT Example:
UAI 'Set I/O A as Input
T=0 'Initialize T=0
MT 'Enter Mode Torque
C1 'Label 1, Loop Forever
a=UAA-512 'Read User defined I/O pin
'10 bit analog reading range
'is 0 to 1023 from 0 to 5VDC
'[ 2.5 V = 0 Torque ]
T=2*a
' Result: -1023 to +1023 values from 0 to 5VDC

GOTO1 'GOTO LABEL 1

END
The above example will track an incoming analog signal from 0 to 5 Volts
(UAA=0 to 1023) and assign it to the T torque value of -1023 to 1023.

285
 TALK
Enable Outgoing Messages on Primary Port

Related APPLICATION: Serial communication control

Command:
DESCRIPTION: Normal channel 0 communications mode
SILENT
EXECUTION: Immediate
SILENT1
CONDITIONAL TO: N/A
TALK1
LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: TALK state
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
These commands TALK restores the motor’s ability to print messages to the serial communication
are almost always channel 0 if that ability was previously suppressed with the SILENT command.
sent from a host, This command is most commonly used following the download a user program to
rather than existing a SmartMotor™ within a daisy chain. It could also be used to "un-silence" a debug
within a program. routine.
TALK may be issued from the terminal or within a user program.

286
 TALK1
Enable Outgoing Messages on Secondary Port

Related APPLICATION: Serial communication control

Command:
DESCRIPTION: Normal channel 1 communications mode
SILENT
EXECUTION: Immediate
SILENT1
CONDITIONAL TO: N/A
TALK
LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: TALK1 state
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
TALK1 restores the motor’s ability to print messages to the serial communication
channel 1 if that ability was previously suppressed with the SILENT1 command.
This command is most commonly used following the download a user program
to a SmartMotor™ within a daisy chain. It could also be used to "un-silence" a
debug routine.
TALK1 may be issued from the terminal or within a user program.

287
 TEMP
Read Motor Temperature

Related Command: APPLICATION: Temperature control

BH DESCRIPTION: Read motor temperature
RBh EXECUTION: Immediate
TH CONDITIONAL TO: N/A
THD LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: Read Only
LANGUAGE ACCESS: N/A
UNITS: Degrees Centigrade
RANGE OF VALUES: -128 to 127
TYPICAL VALUES: 20 to 60
DEFAULT VALUE: Room temperature
FIRMWARE VERSIONS: 4.11 and higher
DETAILED DESCRIPTION:
The present temperature of the motor can be determined by assigning TEMP to a user
variable or issuing PRINT(TEMP). The units are degrees Centigrade. Example:
t=TEMP
Rt 'response 30

PRINT(TEMP) 'response 31 - the motor is warming up

Motors with version 4.11 and higher permit the user to set the overheat temperature
trip point with the command TH=expression, and to set the time (THD=expression)
for which the overheat condition must exist before the servo is shut off. A motor in the
overheat condition will not turn on the servo even if commanded to do so.
If the motor were operating in Torque Mode at TEMP>TH for 4 seconds, the motor
would shut off. It would not restart until both the condition TH-TEMP>5 were true and
then MT command reissued.
a=-5
WHILE a<=10
TH=TEMP+a
WAIT=4000
G
WAIT=4000
IF Bt
BREAK
ENDIF
a=a+1
LOOP
PRINT("MOTOR RESTARTED WHEN TH-TEMP=",a)
END

Restart announced at TH - TEMP = 6.

288
 TH
Set Maximum Allowable Temperature

Related Command: APPLICATION: Temperature control

Bh DESCRIPTION: Set maximum allowable temperature limit
RBh EXECUTION: Immediate
TEMP CONDITIONAL TO: N/A
THD LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: Read write
LANGUAGE ACCESS: N/A
UNITS: Degrees Centigrade
RANGE OF VALUES: 0 to 70
TYPICAL VALUES: 20 to 60
DEFAULT VALUE: 70 or 85 (model number dependant)
FIRMWARE VERSIONS: 4.11 and higher
DETAILED DESCRIPTION:
TH=expression sets the maximum allowable temperature at which the SmartMotor™
is permitted to continually servo. The amount of time that the SmartMotor can still
servo at or above this temperature is set by the THD function. If the temperature stays
at or above the TH value for longer than THD servo samples, the amplifier will turn
off, Bh will be set to 1, the motor off bit Bo set to 1 and the trajectory bit cleared to 0.
If issued, RMODE will return "O." The SmartMotor will reject any command to start
motion until the temperature has fallen 5º Celsius.
There is no direct report command for TH, but variable=TH and PRINT(TH) are both
valid.
Example: (demonstrates relationship between TEMP, TH, and Bh)
GOSUB10 'report TEMP, TH, and Bh

a=5
WHILE a>-5 'vary TH about the present TEMP
TH=TEMP-a
WAIT=2000
GOSUB10 'observe Bh flag change from o to 1
a=a-1 'as TH is reduced to TEMP value and
less
LOOP

END

C10
PRINT(#13,"Read the temperature ",TEMP)
PRINT(#13,"Read TH overheat value ",TH)
PRINT(#13,"Read Bh overheat flag ",Bh)
RETURN
289
 THD
Set Overheat Delay Timer

Related Command: APPLICATION: Temperature control

Bh DESCRIPTION: Set overheat delay time
RBh EXECUTION: Immediate
TEMP CONDITIONAL TO: N/A
TH LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: Write only
LANGUAGE ACCESS: N/A
UNITS: PID samples
RANGE OF VALUES: 0 to 65536
TYPICAL VALUES: 12000
DEFAULT VALUE: 12000 samples, approximately 3 seconds
FIRMWARE VERSIONS: 4.11 and higher
DETAILED DESCRIPTION:
The THD command permits the user to set to set the time for which the overheat condition
may exist before the servo is shut off. THD=16000 means that the SmartMotor ™ will
allows an overheat condition for 16000 servo samples or approximately 4 seconds
before shutting down. The maximum value for THD is 20000, in 4.4x series firmware
and 64000 in all others. One Servo Sample is ~ 250useconds.
If an overheat condition exists for more than THD samples, the amplifier will turn off,
Bh will be set to 1, the motor off bit Bo set to 1 and the trajectory bit cleared to 0.
If issued, RMODE will return "O." The SmartMotor will reject any command to start
motion until the temperature has fallen 5º Celsius.
Example: (test to measure approximate shut down time - not very accurate but
illustrates TH, THD, and TEMP)
PRINT(#13,"Default value of TH = ",TH)
PRINT(#13,"Motor Temperature = ",TEMP)
PRINT(#13,"START MOTION")
A=222
V=44444
MV
G
THD=32000 'THD default = 12000 PID samples or 3 seconds
TH=TEMP-5 'Force an over heat condition
'Units are degrees Centigrade
a=CLK
WHILE Bh==0 LOOP
WHILE Bt LOOP
b=CLK
PRINT(#13,"Servo OFF after ",b-a," PID samples")
END
290
 TWAIT
Pause Program Execution During Active Trajectory

Related Command: APPLICATION: Program execution control

WAIT=exp DESCRIPTION: Suspend command execution while in trajectory
EXECUTION: Immediate
CONDITIONAL TO: Bt state
LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: N/A
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The TWAIT command will pause program execution until the Busy Trajectory status
bit clears. Normally, program execution and trajectory generation are completely inde-
pendent. Regardless of what the motion is doing, the processor executed ode form
the top down. If there were three consecutive motion commands they would all exe-
cute sequentially. Before the motor could even start to move, last motion command
would dominate. Using the TWAIT command, however, allows the move commands
to occur and complete end to end. An alternative to TWAIT is WHILE Bt . . . LOOP.
Both TWAIT and the WHILE Bt construction terminate when the trajectory ends,
regardless of the cause. Depending on the application, you may wish to perform error
checking to ensure that the move was properly completed.
Example:
C100 'Motion Subroutine
MP 'Mode Position
A=100 'Set acceleration
V=10000 'Set velocity
P=2000 'Set first position
G 'Start Motion
TWAIT 'wait till trajectory is done
P=-4000 'Set next position
G 'Start Motion
WHILE Bt 'While moving (similar to TWAIT)
IF UA==0
GOSUB200
ENDIF
LOOP 'wait till trajectory is done
RETURN 'Return to GOSUB

291
 UA=expression
Set I/O Port A Out t Logi c State

Related APPLICATION: I/O control

Command:
DESCRIPTION: Set Pin A output latch
UAA
EXECUTION: Immediate
UAI
CONDITIONAL TO: N/A
UAO
LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: Write only
LANGUAGE ACCESS: Assignment only
UNITS: Binary bit
RANGE OF VALUES: 0 or 1
TYPICAL VALUES: 0 or 1
DEFAULT VALUE: 0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
User I/O line A can function as a TTL output. The pin defaults to be a general purpose
With this function TTL (0 - 5 volt) input. To use PIN A as an output, set the value of the pin A output latch
you could actu- UA to either 0 or 1. Issue the command UAO if this has not already been issued.
ally check if your
I/O pin A will be a logic high voltage if UA=1 and a logic low voltage if UA=0.
output is shorted.
Regardless of whether the I/O pin is being used as an input or output, a 10 bit analog
reading of that I/O pin is always available through the UAA function.
Example:
UAO 'set PIN A to function as a digital output
UA=0 'set PIN A to logic 0 (zero volts)
UA=1 'set PIN A to logic 1 (+5 volts)

Note: The I/O state can be set prior to assigning as an output.

UA=0 'Pre-set PIN A to logic 0 (zero volts)

UAO 'set PIN A as an output pre-initialized to zero

292
 UAA
Read I/O Port A as Analog Input

Related Command: APPLICATION: I/O control

UA DESCRIPTION: Read PIN A analog input
UAI EXECUTION: Immediate
UAO CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT COMMAND: PRINT(UAA)
READ/WRITE: Read only
LANGUAGE ACCESS: Expression and conditional testing
UNITS: Number
RANGE OF VALUES: 0 to 1023
TYPICAL VALUES: 0 to 1023
DEFAULT VALUE: I/O dependent
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:

User I/O line A can serve as a 10 bit analog to digital input. The A to D reference is
5VDC and the returned data is between 0 and 1023. A value of 0 corresponds to
0 volts and 1023 to 5 volts. UAA is read only, and can be accessed with the state-
ment variable=UAA, PRINT(UAA,#13) or WHILE UAA>200 . . . LOOP. The analog
read occurs once at the time the UAA command is executed. Assigning the variable
a=UAA will perform the analog read once and store it into the variable a.
All user I/O pins have in internal 5K pull-up resistor, as well as current limiting and
other protection mechanisms. Any analog voltage source, then, should be rated to
adequately drive a 5K ohm input impedance.
The analog to digital conversion is always available on its corresponding I/O pin. That
is, regardless of whether the pin is being used as an input, output or other function, a
10 bit analog reading of I/O that pin is always available.
Example:
PRINT(#13,"PRINT UAA = ",UAA)
b=UAA
PRINT(#13,"REPORT UAA = ")
Rb

RUAA 'Directly Report Port A Analog Value (>=4.76 firmware only)

293
 UAI (as command)
Set I/O Port A to Input

Related Command: APPLICATION: I/O control

UA DESCRIPTION: Set Pin A to be an input
UAA EXECUTION: Immediate
UAO CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: Input
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
User I/O line A serves many functions. It can be a TTL (0 to 5V) input, TTL output, 10
bit analog input, secondary encoder input A or the step input in Step and Direction
Mode. While, user I/O line A defaults to being a general purpose TTL input, it can be
explicitly set up as a digital input with the UAI command.
If I/O line A has been set to an output with the command UAO, it can be reset to be an
input with the command UAI.
EXAMPLE:
UAI 'Initialize (U)ser defined I/O pin (A) as (I)nput
PRINT(#13,"PIN A Input ",UAI)
n=UAI 'Store state of I/O pin A
'as digital input into variable name "n"
PRINT(#13,"REPORT PIN A Input ") Rn
END

294
 UAI (as input value)
Read I/O Port A Logic State

Related APPLICATION: I/O input

Command:
DESCRIPTION: Input at Pin A
UA
EXECUTION: Immediate
UAA
CONDITIONAL TO: N/A
UAO
LIMITATIONS: N/A
REPORT COMMAND: PRINT(UAI)
READ/WRITE: Read only
LANGUAGE ACCESS: Expression and conditional testing
UNITS: Binary bit
RANGE OF VALUES: 0 or 1
TYPICAL VALUES: 0 or 1
DEFAULT VALUE: I/O dependent
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
User I/O line A serves many functions. It can be a TTL (0 to 5V) input, TTL output, 10 bit
analog input, secondary encoder input A or the step input in Step and Direction Mode.
User I/O line A defaults to being a general purpose TTL input. It can be accessed with
the statement variable=UAI, PRINT(UAI,#13) or WHILE UAI ... LOOP. The digital
read occurs once at the time the UAI command is executed. Assigning the variable
a=UAI will perform the digital read once and store it into the variable a.
If I/O line A has been set to an output with the command UAO, it can be reset to be
an input with the command UAI.
EXAMPLE:
UAI 'Initialize (U)ser defined I/O pin (A) as (I)nput
PRINT(#13,"PIN A Input ",UAI)
n=UAI 'Store state of I/O pin A
'as digital input into variable name "n"
PRINT(#13,"REPORT PIN A Input ") Rn
END

RUA 'Directly Report Port A logic State (>=4.76 firmware only)

n=U&1 'Bitmask Port A to the variable n, (>=4.76 firmware only)

Rn 'Report Result

295
 UAO (as command)
Set I/O Port A to Output

Related Command: APPLICATION: I/O control

UA DESCRIPTION: Set Pin A to be an output
UAA EXECUTION: Immediate
UAI CONDITIONAL TO: UA=0 or UA=1
LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: Input
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
User I/O line A can function as a TTL output. The pin defaults to be a general purpose
TTL (0 - 5 volt) input. The command UAO specifies the I/O pin A as an output, while
UA=value sets the voltage. I/O pin A will be a logic high voltage if UA=1 and a logic
low voltage if UA=0. Regardless of whether the I/O pin is being used as an input or
output, a 10 bit analog reading of that I/O pin is always available through the UAA
function.
In order for the output voltage to reflect the state of UA, both UAO and UA=value
have to be issued. Suppose the I/O pin is functioning as a digital input. If you want to
output a logic low signal, the pin will not sink current until both UAO and UA=0 have
been issued. You only have to issue UAO once; the I/O pin stays configured as an
output for some other configuration specification is issued.
EXAMPLE:

UAO 'define PIN A output

UA=1 'set output latch value
PRINT(UAO) 'recall the latch value.
'response is 1
UA=0 'set output latch value
PRINT(UAO) 'recall the latch value
'response is 0

296
 UBexpression
Set I/O Port B Output Logic State

Related APPLICATION: I/O control

UBA DESCRIPTION: Set Pin B output latch
UBI EXECUTION: Immediate
UBO CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: Write only
LANGUAGE ACCESS: Assignment only
UNITS: Binary bit
RANGE OF VALUES: 0 or 1
TYPICAL VALUES: 0 or 1
DEFAULT VALUE: 0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
User I/O line B can function as a TTL output. The pin defaults to be a general purpose
TTL (0 - 5 volt) input. To use PIN B as an output, set the value of the pin B output latch
UB to either 0 or 1. Issue the command UBO if this has not already been issued.
I/O pin A will be a logic high voltage if UB=1 and a logic low voltage if UB=0.
Regardless of whether the I/O pin is being used as an input or output, a 10 bit analog
reading of that I/O pin is always available through the UBA function.
Example:
UBO 'set PIN B to function as a digital output
UB=0 'set PIN B to logic 0 (zero volts)
UB=1 'set PIN B to logic 1 (+5 volts)

Note: The I/O state can be set prior to assigning as an output.

UB=0 'Pre-set PIN B to logic 0 (zero volts)

UBO 'set PIN B as an output pre-initialized to zero

297
 UBA
Read I/O Port B as Analog Input

Related Command: APPLICATION: I/O input

UB DESCRIPTION: Read Pin B analog input
UBI EXECUTION: Immediate
UBO CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT COMMAND: PRINT(UBA)
READ/WRITE: Read only
LANGUAGE ACCESS: Expression and conditional testing
UNITS: Number
RANGE OF VALUES: 0 or 1023
TYPICAL VALUES: 0 or 1023
DEFAULT VALUE: I/O dependent
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
User I/O line B can serve as a 10 bit analog to digital input. The A to D reference
is 5VDC and the returned data is between 0 and 1023. A value of 0 corresponds to
0 volts and 1023 to 5 volts. UBA is read only, and can be accessed with the state-
ment variable=UBA, PRINT(UBA,#13) or WHILE UBA>200 . . . LOOP. The analog
read occurs once at the time the UBA command is executed. Assigning the variable
a=UBA will perform the analog read once and store it into the variable a.
All user I/O pins have in internal 5K pull-up resistor, as well as current limiting and
other protection mechanisms. Any analog voltage source, then, should be rated to
adequately drive a 5K ohm input impedance.
The analog to digital conversion is always available on its corresponding I/O pin. That
is, regardless of whether the pin is being used as an input, output or other function, a
10 bit analog reading of I/O that pin is always available.
Example:
PRINT(#13,"PRINT UBA = ",UBA)
b=UBA
PRINT(#13,"REPORT UBA = ")
Rb

RUBA 'Directly Report Port B Analog Value (>=4.76 firmware only)

298
 UBI (as command)
Set I/O Port B to Input

Related Command: APPLICATION: I/O control

UB DESCRIPTION: Set Pin B to be an input
UBA EXECUTION: Immediate
UBO CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: Input
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
User I/O line B serves many functions. It can be a TTL (0 to 5V) input, TTL output,
10 bit analog input, secondary encoder input B or the direction input in Step and
Direction Mode. While user I/O line B defaults to being a general purpose TTL input,
it can be explicitly set up as a digital input with the UBI command.
If I/O line B has been set to an output with the command UBO, it can be reset to be
an input with the command UBI.
Example:
UBI 'Initialize (U)ser defined I/O pin (B) as (I)nput
PRINT(#13,"PIN B Input ",UBI)
n=UBI 'Store state of I/O pin B
'as digital input into variable name "n"
PRINT(#13,"REPORT PIN B Input ") Rn
END

299
 UBI (as input value)
Read I/O Port B Logic State

Related APPLICATION: I/O input

Command:
DESCRIPTION: Input at Pin B
UB
EXECUTION: Immediate
UBA
CONDITIONAL TO: N/A
UBO
LIMITATIONS: N/A
REPORT COMMAND: PRINT(UBI)
READ/WRITE: Read only
LANGUAGE ACCESS: Expression and conditional testing
UNITS: Binary bit
RANGE OF VALUES: 0 or 1
TYPICAL VALUES: 0 or 1
DEFAULT VALUE: I/O dependent
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
User I/O line B serves many functions. It can be a TTL (0 to 5V) input, TTL output,
10 bit analog input, secondary encoder input B or the direction input in Step and
Direction Mode. User I/O line B defaults to being a general purpose TTL input. It
can be accessed with the statement variable=UBI, PRINT(UBI,#13) or WHILE UBI
. . . LOOP. The digital read occurs once at the time the UBI command is executed.
Assigning the variable a=UBI will perform the digital read once and store it into the
variable a.
If I/O line B has been set to an output with the command UBO, it can be reset to be an
input with the command UBI.
Example:
UBI 'Initialize (U)ser defined I/O pin (B) as (I)nput
PRINT(#13,"PIN B Input ",UBI)
n=UBI 'Store state of I/O pin B
'as digital input into variable name "n"
PRINT(#13,"REPORT PIN B Input ") Rn
END

RUB 'Directly Report Port B logic State (>=4.76 firmware only)

n=U&2 'Bitmask Port B to the variable n, (>=4.76 firmware only)

Rn 'Report Result

300
 UBO (as command)
Set I/O Port B to Output

Related Command: APPLICATION: I/O control

UB DESCRIPTION: Set Pin B to be an output
UBA EXECUTION: Immediate
UBI CONDITIONAL TO: UB=0 or UB=1
LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: Input
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
User I/O line B can function as a TTL output. The pin defaults to be a general purpose
TTL (0 - 5 volt) input. The command UBO specifies the I/O pin B as an output, while
UB=value sets the voltage. I/O pin B will be a logic high voltage if UB=1 and a logic
low voltage if UB=0. Regardless of whether the I/O pin is being used as an input or
output, a 10 bit analog reading of that I/O pin is always available through the UBA
function.
In order for the output voltage to reflect the state of UB, both UBO and UB=value
have to be issued. Suppose the I/O pin is functioning as a digital input. If you want to
output a logic low signal, the pin will not sink current until both UBO and UB=0 have
been issued. You only have to issue UBO once; the I/O pin stays configured as an
output for some other configuration specification is issued.
EXAMPLE:

UBO 'define PIN B output

UB=1 'set output latch value
PRINT(UBO) 'recall the latch value.
'response is 1
UB=0 'set output latch value
PRINT(UBO) 'recall the latch value
'response is 0

301
 UCexpression
Set I/O Port C Output Logic State

Related Command: APPLICATION: I/O control

UCA DESCRIPTION: Set Pin C output latch
UCI EXECUTION: Immediate
UCO CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: Write only
LANGUAGE ACCESS: Assignment only
UNITS: Binary bit
RANGE OF VALUES: 0 or 1
TYPICAL VALUES: 0 or 1
DEFAULT VALUE: 0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
User I/O line C can function as a TTL output. The pin defaults to be a general purpose
TTL (0 - 5 volt) input. To use PIN C as an output, set the value of the pin C output latch
UC to either 0 or 1. Issue the command UCO if this has not already been issued.
I/O pin C will be a logic high voltage if UC=1 and a logic low voltage if UC=0.
Regardless of whether the I/O pin is being used as an input or output, a 10 bit analog
reading of that I/O pin is always available through the UCA function.
Example:
UCO 'set PIN C to function as a digital output
UC=0 'set PIN C to logic 0 (zero volts)
UC=1 'set PIN C to logic 1 (+5 volts)

Note: The I/O state can be set prior to assigning as an output.

UC=0 'Pre-set PIN C to logic 0 (zero volts)

UCO 'set PIN C as an output pre-initialized to zero

302
 UCA
Read I/O Port C as Analog Input

Related Command: APPLICATION: I/O control

UC DESCRIPTION: Read Pin C analog input
UCI EXECUTION: Immediate
UCO CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT COMMAND: PRINT(UCA)
READ/WRITE: Read only
LANGUAGE ACCESS: Expression and conditional testing
UNITS: Number
RANGE OF VALUES: 0 or 1023
TYPICAL VALUES: 0 or 1023
DEFAULT VALUE: I/O dependent
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
User I/O line C can serve as a 10 bit analog to digital input. The A to D reference
is 5VDC and the returned data is between 0 and 1023. A value of 0 corresponds to
0 volts and 1023 to 5 volts. UCA is read only, and can be accessed with the state-
ment variable=UCA, PRINT(UCA,#13) or WHILE UCA>200 . . . LOOP. The analog
read occurs once at the time the UCA command is executed. Assigning the variable
a=UCA will perform the analog read once and store it into the variable a.
All user I/O pins have in internal 5K pull-up resistor, as well as current limiting and
other protection mechanisms. Any analog voltage source, then, should be rated to
adequately drive a 5K ohm input impedance.
The analog to digital conversion is always available on its corresponding I/O pin. That
is, regardless of whether the pin is being used as an input, output or other function, a
10 bit analog reading of I/O that pin is always available.
Example:
PRINT(#13,"PRINT UCA = ",UCA)
b=UCA
PRINT(#13,"REPORT UCA = ")
Rb

RUCA 'Directly Report Port C Analog Value (>=4.76 firmware only)

303
 UCI (as command)
I/O COMMAND

Related Command: APPLICATION: I/O control

UC DESCRIPTION: Set Pin C to be an input
UCA EXECUTION: Immediate
UCO CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: Input
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
User I/O line C serves many functions. It can be a TTL (0 to 5V) input, TTL output,
10 bit analog input and the positive travel limit input. While user I/O line C defaults
to being the positive limit input, it can be explicitly set up as a digital input with the
UCI command.
If I/O line C has been set to an output with the command UCO, it can be reset to be
an input with the command UCI.
EXAMPLE:
UCI 'Initialize (U)ser defined I/O pin (C) as (I)nput
PRINT(#13,"PIN C Input ",UCI)
n=UCI 'Store state of I/O pin C
'as digital input into variable name "n"
PRINT(#13,"REPORT PIN C Input ") Rn
END

304
 UCI (as input value)
Read I/O Port C to Input

Related APPLICATION: I/O input

Command:
DESCRIPTION: Input at Pin C
UC
EXECUTION: Immediate
UCA
CONDITIONAL TO: N/A
UCO
LIMITATIONS: N/A
REPORT COMMAND: PRINT(UCI)
READ/WRITE: Read only
LANGUAGE ACCESS: Expression and conditional testing
UNITS: Binary bit
RANGE OF VALUES: 0 or 1
TYPICAL VALUES: 0 or 1
DEFAULT VALUE: I/O dependent
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
User I/O line C serves many functions. It can be a TTL (0 to 5V) input, TTL output, 10
bit analog input, and Defaults to the positive travel limit input. It can be accessed with
the statement variable=UCI, PRINT(UCI,#13) or WHILE UCI . . . LOOP. The digital
read occurs once at the time the UCI command is executed. Assigning the variable
a=UCI will perform the digital read once and store it into the variable a.
EXAMPLE:
UCI 'Initialize (U)ser defined I/O pin (C) as (I)nput
PRINT(#13,"PIN C Input ",UCI)
n=UCI 'Store state of I/O pin C
'as digital input into variable name "n"
PRINT(#13,"REPORT PIN C Input ") Rn
END

RUC 'Directly Report Port C logic State (>=4.76 firmware only)

n=U&4 'Bitmask Port C to the variable n, (>=4.76 firmware only)

Rn 'Report Result

305
 UCO (as command)
Set I/O Port C to Output

Related Command: APPLICATION: I/O control

UC DESCRIPTION: Set Pin C to be an output
UCA EXECUTION: Immediate
UCI CONDITIONAL TO: UC=0 or UC=1
LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: Input
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
Although its default function is to be the right limit input, user I/O line C can function as
a TTL output. The command UCO specifies the I/O pin C as an output, while UC=value
sets the voltage. I/O pin C will be a logic high voltage if UC=1 and a logic low voltage if
UC=0. Regardless of whether the I/O pin is being used as an input or output, a 10 bit
analog reading of that I/O pin is always available through the UCA function.
In order for the output voltage to reflect the state of UC, both UCO and UC=value
have to be issued. Suppose the I/O pin is functioning as a digital input. If you want to
output a logic low signal, the pin will not sink current until both UCO and UC=0 have
been issued. You only have to issue UCO once; the I/O pin stays configured as an
output for some other configuration specification is issued.
EXAMPLE:

UCO 'define PIN C output

UC=1 'set output latch value
PRINT(UCO) 'recall the latch value.
'response is 1
UC=0 'set output latch value
PRINT(UCO) 'recall the latch value
'response is 0

306
 UCP
Set I/O Port C as Positive Over Travel Limit

Related Command: APPLICATION: I/O control

LIMD DESCRIPTION: Set PIN C to be right / positive limit input
LIMH EXECUTION: Immediate
LIML CONDITIONAL TO: UC=0 or UC=1
LIMN LIMITATIONS: N/A
UC REPORT COMMAND: N/A
UCA READ/WRITE: N/A
UCI LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: Limit switch
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
User I/O line C can be a TTL (0 to 5V) input, TTL output, 10 bit input, or act as the
positive limit input, which is the default state. UCP explicitly defines I/O pin C to be
the positive limit, while commands UCI and UCO make it into a TTL input or output,
respectively, disabling the limit behavior.
Example:
UCI 'use PIN C as a general purpose input
'suppress limit behavior
a=UCI 'read the input value as digital input
Ra 'report input value
UCP 'restore default positive limit behavior to PIN C

307
 UDexpression
Set I/O Port D Output Logic State

Related Command: APPLICATION: I/O control

UDA DESCRIPTION: Set Pin D output latch
UDI EXECUTION: Immediate
UDO CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: Write only
LANGUAGE ACCESS: Assignment only
UNITS: Binary bit
RANGE OF VALUES: 0 or 1
TYPICAL VALUES: 0 or 1
DEFAULT VALUE: 0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
User I/O line D can function as a TTL output. The pin defaults to be a general purpose
TTL (0 - 5 volt) input. To use PIN D as an output, set the value of the pin D output
latch UD to either 0 or 1. Issue the command UDO if this has not already been issued.
I/O pin D will be a logic high voltage if UD=1 and a logic low voltage if UD=0.
Regardless of whether the I/O pin is being used as an input or output, a 10 bit
analog reading of that I/O pin is always available through the UDA function.
Example:
UDO 'set PIN D to function as a digital output
UD=0 'set PIN D to logic 0 (zero volts)
UD=1 'set PIN D to logic 1 (+5 volts)

Note: The I/O state can be set prior to assigning as an output.

UD=0 'Pre-set PIN D to logic 0 (zero volts)

UDO 'set PIN D as an output pre-initialized to zero

308
 UDA
Read I/O Port D as Analog Input

Related Command: APPLICATION: I/O control

UD DESCRIPTION: Read Pin D analog input
UDI EXECUTION: Immediate
UDO CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT COMMAND: PRINT(UDA)
READ/WRITE: Read only
LANGUAGE ACCESS: Expressions and conditional testing
UNITS: Number
RANGE OF VALUES: 0 or 1023
TYPICAL VALUES: 0 or 1023
DEFAULT VALUE: I/O dependent
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
User I/O line D can serve as a 10 bit analog to digital input. The A to D reference
is 5VDC and the returned data is between 0 and 1023. A value of 0 corresponds to
0 volts and 1023 to 5 volts. UDA is read only, and can be accessed with the state-
ment variable=UDA, PRINT(UDA,#13) or WHILE UDA>200 . . . LOOP. The analog
read occurs once at the time the UDA command is executed. Assigning the variable
a=UDA will perform the analog read once and store it into the variable a.
All user I/O pins have in internal 5K pull-up resistor, as well as current limiting and
other protection mechanisms. Any analog voltage source, then, should be rated to
adequately drive a 5K ohm input impedance.
The analog to digital conversion is always available on its corresponding I/O pin. That
is, regardless of whether the pin is being used as an input, output or other function, a
10 bit analog reading of I/O that pin is always available.
Example:
PRINT(#13,"PRINT UDA = ",UDA)
b=UDA
PRINT(#13,"REPORT UDA = ")
Rb

RUDA 'Directly Report Port D Analog Value (>=4.76 firmware only)

309
 UDI (as command)
Set I/O Port D to Input

Related Command: APPLICATION: I/O control

UD DESCRIPTION: Set Pin D to be an input
UDA EXECUTION: Immediate
UDM CONDITIONAL TO: N/A
UDO LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: Input
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
User I/O line D serves many functions. It can be a TTL (0 to 5V) input, TTL output, 10
bit analog input and the negative travel limit input. While user I/O line D defaults to
being the negative limit input, it can be explicitly set up as a digital input with the UDI
command.
If I/O line D has been set to an output with the command UDO, it can be reset to be
an input with the command UDI.
EXAMPLE:
UDI 'Initialize (U)ser defined I/O pin (D) as (I)nput
PRINT(#13,"PIN D Input ",UDI)
n=UDI 'Store state of I/O pin D
'as digital input into variable name "n"
PRINT(#13,"REPORT PIN D Input ") Rn
END

310
 UDI (as input value)
Read I/O Port D to Input

Related APPLICATION: I/O input

Command:
DESCRIPTION: Input at Pin D
UD
EXECUTION: Immediate
UDA
CONDITIONAL TO: N/A
UDM
LIMITATIONS: N/A
UDO
REPORT COMMAND: PRINT(UDI) [ RUDI >-v4.76 ]
READ/WRITE: Read only
LANGUAGE ACCESS: Expression and conditional testing
UNITS: Binary bit
RANGE OF VALUES: 0 or 1
TYPICAL VALUES: 0 or 1
DEFAULT VALUE: I/O dependent
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
User I/O line D serves many functions. It can be a TTL (0 to 5V) input, TTL output, 10
bit analog input, and Defaults to being the negative travel limit input. It can be accessed
with the statement variable=UDI, PRINT(UDI,#13) or WHILE UDI . . . LOOP. The
digital read occurs once at the time the UDI command is executed. Assigning the
variable a=UDI will perform the digital read once and store it into the variable a.
EXAMPLE:
UDI 'Initialize (U)ser defined I/O pin (D) as (I)nput
PRINT(#13,"PIN D Input ",UDI)
n=UDI 'Store state of I/O pin D
'as digital input into variable name "n"
PRINT(#13,"REPORT PIN D Input ") Rn
END

RUD 'Directly Report Port D logic State (>=4.76 firmware only)

n=U&8 'Bitmask Port D to the variable n, (>=4.76 firmware only)

Rn 'Report Result

311
 UDM
Set I/O Port D as Negative Over Travel Limit

Related Command: APPLICATION: I/O control

LIMH DESCRIPTION: Set Pin D to be left/negative limit input
LIML EXECUTION: Immediate
LIMN CONDITIONAL TO: N/A
UD LIMITATIONS: N/A
UDA REPORT COMMAND: N/A
UDI READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT STATE: Limit switch
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
User I/O line D can be a TTL (0 to 5V) input, TTL output, 10 bit input, or act as the
negative limit input, which is the default state. UDM explicitly defines I/O pin D to be
the negative limit, while commands UDI and UDO make it into a TTL input or output,
respectively, disabling the limit behavior.
EXAMPLE:
UDI 'Initialize PIN D as a general purpose input
'suppress limit behavior
a=UDI 'read the input value as a digital value
Ra 'report input value
UDM 'restore default negative limit behavior to PIN D

312
 UDO (as command)
Set I/O Port D to Output

Related Command: APPLICATION: I/O control

UD DESCRIPTION: Set Pin D to be an output
UDA EXECUTION: Immediate
UDI CONDITIONAL TO: UD=0 or UD=1
LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: Input
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
Although its default function is to be the left limit input, user I/O line D can function as a
TTL output. The command UDO specifies the I/O pin D as an output, while UD=value
sets the voltage. I/O pin D will be a logic high voltage if UD=1 and a logic low voltage if
UD=0. Regardless of whether the I/O pin is being used as an input or output, a 10 bit
analog reading of that I/O pin is always available through the UDA function.
In order for the output voltage to reflect the state of UD, both UDO and UD=value
have to be issued. Suppose the I/O pin is functioning as a digital input. If you want to
output a logic low signal, the pin will not sink current until both UDO and UD=0 have
been issued. You only have to issue UDO once; the I/O pin stays configured as an
output for some other configuration specification is issued.
EXAMPLE:

UDO 'define PIN D output

UD=1 'set output latch value
PRINT(UDO) 'recall the latch value.
'response is 1
UD=0 'set output latch value
PRINT(UDO) 'recall the latch value
'response is 0

313
 UEexpression
Set I/O Port E Output Logic State

Related Command: APPLICATION: I/O control

UEA DESCRIPTION: Set Pin E output latch
UEI EXECUTION: Immediate
UEO CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: Write only
LANGUAGE ACCESS: Assignment only
UNITS: Binary bit
RANGE OF VALUES: 0 or 1
TYPICAL VALUES: 0 or 1
DEFAULT VALUE: 0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
User I/O line E can function as a TTL output. The pin defaults to be a general purpose
TTL (0 - 5 volt) input. To use PIN E as an output, set the value of the pin E output
latch UE to either 0 or 1. Issue the command UEO if this has not already been issued.
I/O pin E will be a logic high voltage if UE=1 and a logic low voltage if UE=0.
Regardless of whether the I/O pin is being used as an input or output, a 10 bit
analog reading of that I/O pin is always available through the UEA function.
Example:
UEO 'set PIN E to function as a digital output
UE=0 'set PIN E to logic 0 (zero volts)
UE=1 'set PIN E to logic 1 (+5 volts)

Note: The I/O state can be set prior to assigning as an output.

UE=0 'Pre-set PIN E to logic 0 (zero volts)

UEO 'set PIN E as an output pre-initialized to zero

314
 UEA
Read I/O Port E as Analog Input

Related Command: APPLICATION: I/O control

UE DESCRIPTION: Read Pin E analog input
UEI EXECUTION: Immediate
UEO CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT COMMAND: PRINT(UEA)
READ/WRITE: Read only
LANGUAGE ACCESS: Expressions and conditional testing
UNITS: Number
RANGE OF VALUES: 0 or 1023
TYPICAL VALUES: 0 or 1023
DEFAULT VALUE: I/O dependent
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
User I/O line E can serve as a 10 bit analog to digital input. The A to D reference
is 5VDC and the returned data is between 0 and 1023. A value of 0 corresponds to
0 volts and 1023 to 5 volts. UEA is read only, and can be accessed with the state-
ment variable=UCE, PRINT(UEA,#13) or WHILE UEA>200 . . . LOOP. The analog
read occurs once at the time the UEA command is executed. Assigning the variable
a=UEA will perform the analog read once and store it into the variable a.
All user I/O pins have in internal 5K pull-up resistor, as well as current limiting and
other protection mechanisms. Any analog voltage source, then, should be rated to
adequately drive a 5K ohm input impedance.
The analog to digital conversion is always available on its corresponding I/O pin. That
is, regardless of whether the pin is being used as an input, output or other function, a
10 bit analog reading of I/O that pin is always available.
Example:
PRINT(#13,"PRINT UEA = ",UEA)
b=UEA
PRINT(#13,"REPORT UEA = ")
Rb

RUEA 'Directly Report Port E Analog Value (>=4.76 firmware only)

315
 UEI (as command)
Set I/O Port E to Input

Related Command: APPLICATION: I/O control

UE DESCRIPTION: Set Pin E to be an input
UEA EXECUTION: Immediate
UEO CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: Input
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
User I/O line E serves many functions. It can be a TTL (0 to 5V) input, TTL output, 10
bit analog input, the AniLink data line and the RS485 A signal. While user I/O line E
defaults to being the AniLink data line, it can be explicitly set up as a digital input with
the UEI command.
If I/O line E has been set to an output with the command UEO, it can be reset to be
an input with the command UEI.
Example:
UEI 'Initialize (U)ser defined I/O pin (E) as (I)nput
PRINT(#13,"PIN E Input ",UEI)
n=UEI 'Store state of I/O pin E
'as digital input into variable name "n"
PRINT(#13,"REPORT PIN E Input ") Rn
END

RUE 'Directly Report Port E logic State (>=4.76 firmware only)

n=U&16 'Bitmask Port E to the variable n, (>=4.76 firmware only)

Rn 'Report Result

316
 UEI (as input value)
Set I/O Port E to Input

Related APPLICATION: I/O input

Command::
DESCRIPTION: Input at Pin E
UE
EXECUTION: Immediate
UEA
CONDITIONAL TO: N/A
UEO
LIMITATIONS: N/A
REPORT COMMAND: PRINT(UEI)
READ/WRITE: Read only
LANGUAGE ACCESS: Expression and conditional testing
UNITS: Binary bit
RANGE OF VALUES: 0 or 1
TYPICAL VALUES: 0 or 1
DEFAULT VALUE: I/O dependent
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
User I/O line E serves many functions. It can be a TTL (0 to 5V) input, TTL output, 10
bit analog input, the AniLink data line and the RS485 A signal. While user I/O line E
defaults to being the AniLink data line, it can be explicitly set up as a digital input with
the UEI command.
If I/O line E has been set to an output with the command UEO, it can be reset to be an
input with the command UEI.
Example:
UEI 'Initialize (U)ser defined I/O pin (E) as (I)nput
PRINT(#13,"PIN E Input ",UEI)
n=UEI 'Store state of I/O pin E
'as digital input into variable name "n"
PRINT(#13,"REPORT PIN E Input ") Rn
END

RUE 'Directly Report Port E logic State (>=4.76 firmware only)

n=U&16 'Bitmask Port E to the variable n, (>=4.76 firmware only)

Rn 'Report Result

317
 UEO (as command)
Set I/O Port E to Input

Related Command: APPLICATION: I/O control

UE DESCRIPTION: Set Pin E to be an output
UEA EXECUTION: Immediate
UEI CONDITIONAL TO: UE=0 or UE=1
LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: Input
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
Although its default function is to be the AniLink data line, user I/O line E can function as
a TTL output. The command UEO specifies the I/O pin E as an output, while UE=value
sets the voltage. I/O pin E will be a logic high voltage if UE=1 and a logic low voltage if
UE=0. Regardless of whether the I/O pin is being used as an input or output, a 10 bit
analog reading of that I/O pin is always available through the UEA function.
In order for the output voltage to reflect the state of UE, both UEO and UE=value have
to be issued. Suppose the I/O pin is functioning as a digital input. If you want to output
a logic low signal, the pin will not sink current until both UEO and UE=0 have been
issued. You only have to issue UEO once; the I/O pin stays configured as an output
for some other configuration specification is issued.
Example: (set PIN E as output and recall output latch value)

UEO 'define PIN E output

UE=1 'set output latch value
PRINT(UEO) 'recall the latch value.
'response is 1
UE=0 'set output latch value
PRINT(UEO) 'recall the latch value
'response is 0

318
 UFexpression
Set I/O Port F Output Logic State

Related APPLICATION: I/O control

Command:
DESCRIPTION: Set Pin F output latch
UFA
EXECUTION: Immediate
UFI
CONDITIONAL TO: N/A
UFO
LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: Write only
LANGUAGE ACCESS: Assignment only
UNITS: Binary bit
RANGE OF VALUES: 0 or 1
TYPICAL VALUES: 0 or 1
DEFAULT VALUE: 0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
User I/O line F can function as a TTL output. The pin defaults to be a general purpose
TTL (0 - 5 volt) input. To use PIN F as an output, set the value of the pin F output
latch UF to either 0 or 1. Issue the command UFO if this has not already been issued.
I/O pin F will be a logic high voltage if UF=1 and a logic low voltage if UF=0.
Regardless of whether the I/O pin is being used as an input or output, a 10 bit
analog reading of that I/O pin is always available through the UFA function.
Fxample:
UFO 'set PIN F to function as a digital output
UF=0 'set PIN F to logic 0 (zero volts)
UF=1 'set PIN F to logic 1 (+5 volts)

Note: The I/O state can be set prior to assigning as an output.

UF=0 'Pre-set PIN F to logic 0 (zero volts)

UFO 'set PIN F as an output pre-initialized to zero

319
 UFA
Read I/O Port F as Analog Input

Related APPLICATION: I/O control

Command::
DESCRIPTION: Read Pin F analog input
UF
EXECUTION: Immediate
UFI
CONDITIONAL TO: N/A
UFO
LIMITATIONS: N/A
REPORT COMMAND: PRINT(UFA)
READ/WRITE: Read only
LANGUAGE ACCESS: Expressions and conditional testing
UNITS: Number
RANGE OF VALUES: 0 or 1023
TYPICAL VALUES: 0 or 1023
DEFAULT VALUE: I/O dependent
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
User I/O line F can serve as a 10 bit analog to digital input. The A to D reference is
5VDC and the returned data is between 0 and 1023. A value of 0 corresponds to 0
volts and 1023 to 5 volts. UFA is read only, and can be accessed with the statement
variable=UFA, PRINT(UFA,#13) or WHILE UFA>200 . . . LOOP. The analog read
occurs once at the time the UFA command is executed. Assigning the variable a=UFA
will perform the analog read once and store it into the variable a.
All user I/O pins have in internal 5K pull-up resistor, as well as current limiting and
other protection mechanisms. Any analog voltage source, then, should be rated to
adequately drive a 5K ohm input impedance.
The analog to digital conversion is always available on its corresponding I/O pin. That
is, regardless of whether the pin is being used as an input, output or other function, a
10 bit analog reading of I/O that pin is always available.
Example:
PRINT(#13,"PRINT UCA = ",UFA)
b=UFA
PRINT(#13,"REPORT UFA = ")
Rb

RUFA 'Directly Report Port F Analog Value (>=4.76 firmware only)

320
 UFI (as command)
Set I/O Port F to Input

Related Command: APPLICATION: I/O control

UF DESCRIPTION: Set Pin F to be an input
UFA EXECUTION: Immediate
UFO CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: Input
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
User I/O line F serves many functions. It can be a TTL (0 to 5V) input, TTL output, 10
bit analog input, the AniLink clock line and the RS485 B signal. While user I/O line
F defaults to being the AniLink clock line, it can be explicitly set up as a digital input
with the UFI command.
If I/O line F has been set to an output with the command UFO, it can be reset to be
an input with the command UFI.
Example:
UFI 'Initialize (U)ser defined I/O pin (F) as (I)nput
PRINT(#13,"PIN F Input ",UFI)
n=UFI 'Store state of I/O pin F
'as digital input into variable name "n"
PRINT(#13,"REPORT PIN F Input ") Rn
END

RUF 'Directly Report Port F logic State (>=4.76 firmware only)

n=U&32 'Bitmask Port F to the variable n, (>=4.76 firmware only)

Rn 'Report Result

321
 UFI (as input value)
Read I/O Port F Logic State

Related APPLICATION: I/O input

Command::
DESCRIPTION: Input at Pin F
UF
EXECUTION: Immediate
UFA
CONDITIONAL TO: N/A
UFO
LIMITATIONS: N/A
REPORT COMMAND: PRINT(UFI)
READ/WRITE: Read only
LANGUAGE ACCESS: Expression and conditional testing
UNITS: Binary bit
RANGE OF VALUES: 0 or 1
TYPICAL VALUES: 0 or 1
DEFAULT VALUE: I/O dependent
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
User I/O line F serves many functions. It can be a TTL (0 to 5V) input, TTL output, 10
bit analog input, the AniLink clock line and the RS485 B signal. While user I/O line F
defaults to being the AniLink clock line, it can be explicitly set up as a digital input with
the UFI command.
If I/O line F has been set to an output with the command UFO, it can be reset to be an
input with the command UFI.
Example:
UFI 'Initialize (U)ser defined I/O pin (F) as (I)nput
PRINT(#13,"PIN E Input ",UFI)
n=UFI 'Store state of I/O pin F
'as digital input into variable name "n"
PRINT(#13,"REPORT PIN F Input ") Rn
END

RUF 'Directly Report Port F logic State (>=4.76 firmware only)

n=U&32 'Bitmask Port F to the variable n, (>=4.76 firmware only)

Rn 'Report Result

322
 UFO (as command)
Set I/O Port F to Output

Related Command: APPLICATION: I/O control

UF DESCRIPTION: Set Pin F to be an output
UFA EXECUTION: Immediate
UFI CONDITIONAL TO: UF=0 or UF=1
LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: Input
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
Although its default function is to be the AniLink clock line, user I/O line F can function as
a TTL output. The command UFO specifies the I/O pin F as an output, while UF=value
sets the voltage. I/O pin F will be a logic high voltage if UF=1 and a logic low voltage if
UF=0. Regardless of whether the I/O pin is being used as an input or output, a 10 bit
analog reading of that I/O pin is always available through the UFA function.
In order for the output voltage to reflect the state of UF, both UFO and UF=value have
to be issued. Suppose the I/O pin is functioning as a digital input. If you want to output
a logic low signal, the pin will not sink current until both UFO and UF=0 have been
issued. You only have to issue UFO once; the I/O pin stays configured as an output
for some other configuration specification is issued.
Example: (set PIN F as output and recall output latch value)

UFO 'define PIN F output

UF=1 'set output latch value
PRINT(UFO) 'recall the latch value.
'response is 1
UF=0 'set output latch value
PRINT(UFO) 'recall the latch value
'response is 0

323
 UG
Enable/Re-Enable Port G Sync Functionality

Related Command: APPLICATION: I/O control

UGA DESCRIPTION: Set Pin G to Act as "G" command when grounded
UGI EXECUTION: Immediate
UGO CONDITIONAL TO: N/A
RS4 LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: Assignment only
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: N/A
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
User I/O line G can function as the "GO" or G command when grounded. It
does so by default. If at any time UGI or UGO commands are used, this func-
tionality is disabled. To Re-enable the "sync-function" just issue UG by itself.
The reason it is called the "sync function" is because it allows multiple motors to trig-
ger Go commands via hardware at the exact same time thereby synchronizing them.

324
 UGexpression
Set I/O Port G Output Logic State

Related Command: APPLICATION: I/O control

UGA DESCRIPTION: Set Pin G output latch
UGI EXECUTION: Immediate
UGO CONDITIONAL TO: N/A
RS4 LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: Write only
LANGUAGE ACCESS: Assignment only
UNITS: Binary bit
RANGE OF VALUES: 0 or 1
TYPICAL VALUES: 0 or 1
DEFAULT VALUE: 0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
User I/O line G can function as a TTL output. The pin defaults to be a general purpose
TTL (0 - 5 volt) input. To use PIN G as an output, set the value of the pin G output
latch UG to either 0 or 1. Issue the command UGO if this has not already been issued.
I/O pin G will be a logic high voltage if UG=1 and a logic low voltage if UG=0.
Regardless of whether the I/O pin is being used as an input or output, a 10 bit
analog reading of that I/O pin is always available through the UGA function.
Gxample:
UGO 'set PIN G to function as a digital output
UG=0 'set PIN G to logic 0 (zero volts)
UG=1 'set PIN G to logic 1 (+5 volts)

Note: The I/O state can be set prior to assigning as an output.

UG=0 'Pre-set PIN G to logic 0 (zero volts)

UGO 'set PIN G as an output pre-initialized to zero

325
 UGA (as input value)
Read I/O Port G As Analog Input

Related Command: APPLICATION: I/O control

UG DESCRIPTION: Read Pin G analog input
UGI EXECUTION: Immediate
UGO CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT COMMAND: PRINT(UGA)
READ/WRITE: Read only
LANGUAGE ACCESS: Expressions and conditional testing
UNITS: Number
RANGE OF VALUES: 0 or 1023
TYPICAL VALUES: 0 or 1023
DEFAULT VALUE: I/O dependent
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
User I/O line G can serve as a 10 bit analog to digital input. The A to D reference
is 5VDC and the returned data is between 0 and 1023. A value of 0 corresponds to
0 volts and 1023 to 5 volts. UGA is read only, and can be accessed with the state-
ment variable=UGA, PRINT(UGA,#13) or WHILE UGA>200 . . . LOOP. The analog
read occurs once at the time the UGA command is executed. Assigning the variable
a=UGA will perform the analog read once and store it into the variable a.
All user I/O pins have in internal 5K pull-up resistor, as well as current limiting and
other protection mechanisms. Any analog voltage source, then, should be rated to
adequately drive a 5K ohm input impedance.
The analog to digital conversion is always available on its corresponding I/O pin. That
is, regardless of whether the pin is being used as an input, output or other function, a
10 bit analog reading of I/O that pin is always available.
Example:
PRINT(#13,"PRINT UGA = ",UGA)
b=UGA
PRINT(#13,"REPORT UGA = ")
Rb

RUGA 'Directly Report Port G Analog Value (>=4.76 firmware only)

326
 UGI (as input value)
Read I/O Port G Logic Level State

Related Command: APPLICATION: I/O control

UG DESCRIPTION: Read Pin G Logicinput
UGI EXECUTION: Immediate
UGO CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT COMMAND: PRINT(UGI)
READ/WRITE: Read only
LANGUAGE ACCESS: Expressions and conditional testing
UNITS: Number
RANGE OF VALUES: 0 or 1023
TYPICAL VALUES: 0 or 1023
DEFAULT VALUE: I/O dependent
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
User I/O line G serves many functions. It can be a TTL (0 to 5V) input, TTL output, 10 bit analog
input, the hardware "go" line, and the primary port RS485 control line. While user I/O line G
defaults to being the active low hardware "go," it can be explicitly set up as a digital input with
the UGI command.
If I/O line G has been set to an output with the command UGO, it can be reset to be an input
with the command UGI.
Example:
UGI 'Initialize (U)ser defined I/O pin (G) as (I)nput
PRINT(#13,"PIN E Input ",UGI)
n=UGI 'Store state of I/O pin G
'as digital input into variable name "n"
PRINT(#13,"REPORT PIN G Input ") Rn
END

RUG 'Directly Report Port G logic State (>=4.76 firmware only)

n=U&64 'Bitmask Port G to the variable n, (>=4.76 firmware only)

Rn 'Report Result

327
 UGI (as command)
Set I/O Port G to Input

Related Command: APPLICATION: I/O control

UG DESCRIPTION: Set PIN G to be an input
UGA EXECUTION: Immediate
UGO CONDITIONAL TO: N/A
RS4 LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT STATE: Input
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
User I/O line G serves many functions. It can be a TTL (0 to 5V) input, TTL output, 10 bit analog
input, the hardware "go" line, and the primary port RS485 control line. While user I/O line G
defaults to being the active low hardware "go," it can be explicitly set up as a digital input with
the UGI command.
If I/O line G has been set to an output with the command UGO, it can be reset to be an input
with the command UGI.
Example:
UGI 'Initialize (U)ser defined I/O pin (G) as (I)nput
PRINT(#13,"PIN G Input ",UGI)
n=UGI 'Store state of I/O pin G
'as digital input into variable name "n"
PRINT(#13,"REPORT PIN G Input ") Rn
END

RUG 'Directly Report Port G logic State (>=4.76 firmware only)

n=U&64 'Bitmask Port G to the variable n, (>=4.76 firmware only)

Rn 'Report Result

328
 UGO (as command)
Set I/O Port G to Output

Related Command: APPLICATION: I/O control

UG DESCRIPTION: Set Pin G to be an output
UGA EXECUTION: Immediate
UGI CONDITIONAL TO: UG=0 or UG=1
RS4 LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: Input
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
Although its default function is the hardware "go" line, user I/O line G can function as a
TTL output. The command UGO specifies the I/O pin G as an output, while UG=value
sets the voltage. I/O pin G will be a logic high voltage if UG=1 and a logic low voltage
if UG=0. Regardless of whether the I/O pin is being used as an input or output, a 10
bit analog reading of the I/O pin is always available through the UGA function.
In order for the output voltage to reflect the state of UG, both UGO and UG=value
have to be issued. Suppose the I/O pin is functioning as a digital input. If you want
to output a logic low signal, the pin will not sink current until both UGO and UG=0
have been issued. Just issue UGO once, the I/O pin stays configured until another
configuration specification is issued.
When you open channel 0 as an RS485 port dedicates I/O G to the RS485 control
function, which is required for use with Animatics RS232 to RS485 converters like the
RS485 and RS485-ISO. When using one of these adapters, you must ensure that the
I/O G pin is configured as a TTL output with the UGO command before the channel
is opened.
EXAMPLE:

UGO 'define PIN G output

UG=1 'set output latch value
PRINT(UGO) 'recall the latch value.
'response is 1
UG=0 'set output latch value
PRINT(UGO) 'recall the latch value
'response is 0

329
 UP
Complied User Program and Header Upload

Related APPLICATION: User program verification

Command::
DESCRIPTION: Upload user EEPROM through serial communications
UPLOAD
EXECUTION: Immediate
CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: ASCII Characters
RANGE OF VALUES: Alpha numeric
TYPICAL VALUES: Alpha numeric
DEFAULT VALUE: N/A
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
The UP command will cause the SmartMotor™ compiled user program runtime code
WARNING to be sent out the primary serial port. In contrast, the UPLOAD command returns the
user program in readable text. The output from the UP command will include a header
Do not use the containing binary information and special codes, created by the compiler to make the
UP program run faster, interspersed with the program text.
command within
a user program. UP immediately terminates any running user program. The program counter is lost. UP
does not terminate the present motion mode or trajectory, change motion parameters
It will terminate such as E, A, V, or KP, or alter the present value of the user variables.
the program.
The comments in your original source code do not appear when you UP or UPLOAD
a program. Comments are removed by the compiler, which is normal for any compiled
computer program.
When uploading a program from a SmartMotor in a daisy chain, prevent the other
SmartMotors in the chain from issuing unexpected characters by using the SILENCE
and SLEEP commands. After the upload is complete, you can re-enable normal
communications with WAKE and TALK.

330
 UPLOAD
Standard User Program Upload

Related APPLICATION: User program verification

Command::
DESCRIPTION: Upload user EEPROM through serial
UP communications
EXECUTION: Immediate
CONDITIONAL TO: N/A
LIMITATIONS: UPLOAD terminates user program execution
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: ASCII Characters
RANGE OF VALUES: Alpha numeric
TYPICAL VALUES: Alpha numeric
DEFAULT VALUE: N/A
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:

WARNING The UPLOAD command will upload only the text portion of the SmartMotor’s™
program as it appeared in your original source file. In contrast, the UP command
Do not use the will upload the text along with all of the binary information created by the
UPLOAD compiler that allows the program to run faster.
command within
a user program. UPLOAD immediately terminates any running user program. The program
counter is lost. UPLOAD does not terminate the present motion mode or
It will terminate trajectory, or change motion parameters such as E, A, V, KP, etc., or alter the
the program. present value of the users variables.
When communicating over a terminal use the UPLOAD command to verify the
program is the expected one. The comments in your original source code do not
appear when you UP or UPLOAD a program. The comments were removed by
the compiler, as is usual for any compiled computer program.
When uploading a program from a SmartMotor in a daisy chain, prevent the
other SmartMotors in the chain from issuing unexpected characters by using
the SILENCE and SLEEP commands. After the upload is complete, you can
re-enable normal communications with WAKE and TALK.
Example: (try the following program, down load it and then RUN)
PRINT(" PERFORM UPLOAD CMD")
UPLOAD
PRINT(" ANY MORE ?")
END

Output is "PERFORM UPLOAD CMD"

331
 V
Commanded Velocity

Related APPLICATION: Trajectory control

Command:
DESCRIPTION: Maximum velocity
@P
EXECUTION: Buffered
@PE
CONDITIONAL TO: MP, MV
@V
LIMITATIONS: N/A
A
REPORT COMMAND: PRINT(V)
D
READ/WRITE: Read write
E
LANGUAGE ACCESS: Assignment, expressions, and conditional testing
G
UNITS: Scaled encoder counts
MP
RANGE OF VALUES: -2147483648 to 2147483647
MV
TYPICAL VALUES: -23200000 to 3200000
V
DEFAULT VALUE: 0
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
Use the V=expression to set the slew rate used by the velocity and position mode
moves. In the SmartMotor™, a point to point move is determined by P=expression,
the target position, V=expression, the target travelling velocity, and A=expression,
the acceleration at which to reach the target velocity. In a velocity mode move, you
only need V=expression, the target travelling velocity, and A=expression, the accel-
eration at which to reach the target velocity. V is always positive in position mode but
can be positive or negative in velocity mode.
The value of V defaults to zero so it must be given a value before any motion can take
place. The new value does not take effect until the next G command is executed.
MP 'Set Position Mode
P=10000 'Set Position
V=10000 'Set Velocity
A=1000 'Set Acceleration
G 'Start Motion
TWAIT 'pause program execution during move
P=0 'Set new position
G 'Start Motion again

Velocity is held to 32 bits, 16 bits integer and 16 bits fractional. The units are counts
per sample period, shifted by the 16 bits (65,536).
32,212= (2,000counts/revolution)(65,536)
(4,069samples/second)

332
 VLD(variable, number)
Data EEPROM READ/WRITE COMMAND

Related Command: APPLICATION: User data recovery

Bk DESCRIPTION: Sequentially load user variables from data EPROM
EPTR EXECUTION: Immediate
RBk CONDITIONAL TO: EPTR= variable
VST LIMITATIONS: EPTR set from 0 to 32000
REPORT COMMAND: N/A
READ/WRITE: Sequential read
LANGUAGE ACCESS: N/A
UNITS: 1 byte, 2 byte, or 4 byte reads
RANGE OF VALUES: -2147483648 to 2147483647
TYPICAL VALUES: -2147483648 to 2147483647
DEFAULT VALUE: User stored values
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
VST( ) or VLD( ) commands are used to store and load data from internal nonvolatile
RAM, (EEPROM). To read or write into this memory space a memory address location
must first be specified with the EPTR=expression command, where expression takes
a value between 0 and 32000, and then use the VST( ) or VLD( ) commands to store
or retrieve data.
To Read in a series of values and assign these values to a sequence of user variables
use the VLD(variable, number) command.
The first parameter (variable) specifies the name of the first user variable of a
sequence of variables that you wish to load.
The second parameter (number) specifies the number of variables in the sequence
of variables that you wish to store.
The command interpreter will automatically note the size of variable you define,
either 1, 2, or 4 bytes long.
When using the data EEPROM, it is important to note that the only the data values are
stored or loaded. The association of these values to any variable is not retained. The
only way to retrieve this data is by keeping track of the EPTR value.
If the data memory access is out of range, the scan error flag Bs will be set.
Examples:
Storing and retrieving a single 32 bit standard variable:
a=123456778 'assign a value to the variable "a"
EPTR=100 'Set EPROM pointer to 100
VST(a,1) 'Store into EPROM (EPTR incremental to 104 automatically)
EPTR=100 'Set Eprom to 100 again
VLD(b,1) 'Load from location 100 into the variable "b"
Rb 'Report result will be: 123456789
333
 VLD(variable, number) (continued)
data EEPROM READ/WRITE COMMAND

Related Storing and retrieving a single 16 bit standard variable:

Command: aw[0]=32000 'assign a value to the 16 bit "array word"(0)
EPTR=100 'Set Eprom pointer to 100
Bk VST(aw[0],1) 'Store into EPROM (EPTR incremental to 102 automatically)
EPTR=100 'Set Eprom to 100 again
EPTR VLD(x,1) 'Load from location 100 into the variable "x"
RBk Rx 'Report result will be: 32000

VST Storing and retrieving a single 8 bit standard variable:

ab[0]=126 'assign a value to the 8 bit "array byte"(0)
EPTR=100 'Set Eprom pointer to 100
VST(aw[0],1) 'Store into EPROM EPTR incremental to 101 automatically)
EPTR=100 'Set Eprom to 100 again
VLD(x,1) 'Load from location 100 into the variable "x"
Rx 'Report result will be: 126

Storing and retrieving a 5 consecutive 32 bit standard variables:

a 10 11 12 13 14. 'assign values to the variables "a" thru "f"
EPTR=100 'Set Eprom pointer to 100
VST(a,5) 'EPTR will increment to 100+(4*5)=120
'(4 bytes x 5 stored)
EPTR=100 'Set Eprom to 100 again
VLD(v,5) 'Load from location 100 into the variable "b"
Rv 'will report 10
Rw 'will report 11
Rx 'will report 12
Ry 'will report 13
Rz 'will report 14

Storing 7 16-bit numbers into EEPROM:

i=10 'Using the variable "i" as index to an array variable
I've left the
j=7 'Using the variable "j" as the number of sequential
strikethroughs
'variables you wish to store
intact. I assume
there'll be Example 16-bit array data Data :
something to aw[i] 1111 2222 3333 4444 -1111 -2222 -3333.
replace them or EPTR=3200 'Set EPROM memory pointer location to 3200
they'll go away VST(aw[i],j) 'Store "j" or 7 sequential variables
eventually 'beginning with aw[i]
'into EPROM starting at address 3200.
. . . Ernie Note: The EEPROM value will automatically increment for each value stored.
EPTR value after above execution will be set to
3200+(7 variable * 2 bytes each) or 3214

Retrieving Same data into other variables for later use:

EPTR=3200
i=10 'Using the variable "i" as index to an array variable
j=7 'Using the variable "j" as the number of sequential
'variables you wish to store
VLD(aw[r],s)
WHILE t<5
PRINT(#13,aw[t+r]," ")
t=t+1
LOOP
END 'output is 111 222 333 444 -1111 334
 VST(variable, number)
DATA-EEPROM READ/WRITE COMMAND

Related Command: APPLICATION: User data storage

Bk DESCRIPTION: Sequentially store user variables to data EPROM
EPTR EXECUTION: Immediate
RBk CONDITIONAL TO: EPTR= variable
VST LIMITATIONS: EPTR set from 0 to 7999
REPORT COMMAND: N/A
READ/WRITE: Sequential write
LANGUAGE ACCESS: N/A
UNITS: 1 byte, 2 byte, or 4 byte reads
RANGE OF VALUES: -2147483648 to 2147483647
TYPICAL VALUES: -2147483648 to 2147483647
DEFAULT VALUE: User determined values
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
VST( ) command is used to store data into internal nonvolatile RAM, (EEPROM).
To write into this memory space a memory address location must first be specified
with the EPTR=expression command, where expression takes a value between 0
and 32000, use the VST(variable, number) command. The first parameter (variable)
specifies the name of the first user variable of a sequence of variables that you wish
to write from. The second parameter (number) specifies the number of variables in
the sequence of variables that you wish to store.
The command interpreter will automatically note the size of variable you define,
either 1, 2, or 4 bytes long.
When using the data EEPROM, it is important to note that the only the data values
are stored. The association of these values to any variable is not retained. The only
way to retrieve this data is by keeping track of the EPTR value.
As each byte is written to the EEPROM, is immediately verified by reading the
EEPROM device. If the byte read does not match the byte write the system bit Bk
will be set to 1. If the data memory access is out of range, the scan error flag Bs will
be set.
Examples:
Storing and retrieving a single 32 bit standard variable:
a=123456778 'assign a value to the variable "a"
EPTR=100 'Set EPROM pointer to 100
VST(a,1) 'Store into EPROM (EPTR incremental to 104 automatically)
EPTR=100 'Set Eprom to 100 again
VLD(b,1) 'Load from location 100 into the variable "b"
Rb 'Report result will be: 123456789

335
 VST(variable, number) (continued)
DATA-EEPROM READ/WRITE COMMAND

Related Storing and retrieving a single 16 bit standard variable:

Command: aw[0]=32000 'assign a value to the 16 bit "array word"(0)
EPTR=100 'Set Eprom pointer to 100
Bk VST(aw[0],1) 'Store into EPROM (EPTR incremental to 102 automatically)
EPTR=100 'Set Eprom to 100 again
EPTR VLD(x,1) 'Load from location 100 into the variable "x"
RBk Rx 'Report result will be: 32000

VST Storing and retrieving a single 8 bit standard variable:

ab[0]=126 'assign a value to the 8 bit "array byte"(0)
EPTR=100 'Set Eprom pointer to 100
VST(aw[0],1) 'Store into EPROM EPTR incremental to 101 automatically)
EPTR=100 'Set Eprom to 100 again
VLD(x,1) 'Load from location 100 into the variable "x"
Rx 'Report result will be: 126

Storing and retrieving a 5 consecutive 32 bit standard variables:

a 10 11 12 13 14. 'assign values to the variables "a" thru "f"
EPTR=100 'Set Eprom pointer to 100
VST(a,5) 'EPTR will increment to 100+(4*5)=120
'(4 bytes x 5 stored)
EPTR=100 'Set Eprom to 100 again
VLD(v,5) 'Load from location 100 into the variable "b"
Rv 'will report 10
Rw 'will report 11
Rx 'will report 12
Ry 'will report 13
Rz 'will report 14

Storing 7 16-bit numbers into EEPROM:

i=10 'Using the variable "i" as index to an array variable
j=7 'Using the variable "j" as the number of sequential
'variables you wish to store

Example 16-bit array data Data :

aw[i] 1111 2222 3333 4444 -1111 -2222 -3333.
EPTR=3200 'Set EPROM memory pointer location to 3200
VST(aw[i],j) 'Store "j" or 7 sequential variables
'beginning with aw[i]
'into EPROM starting at address 3200.
Note: The EEPROM value will automatically increment for each value stored.
EPTR value after above execution will be set to
3200+(7 variable * 2 bytes each) or 3214

Retrieving Same data into other variables for later use:

EPTR=3200
i=10 'Using the variable "i" as index to an array variable
j=7 'Using the variable "j" as the number of sequential
'variables you wish to store
VLD(aw[r],s)
WHILE t<5
PRINT(#13,aw[t+r]," ")
t=t+1
LOOP
END 'output is 111 222 333 444 -1111 336
 WAIT=expression
Pause Program Flow for pre-determined time

Related APPLICATION: Program execution control

Command:
DESCRIPTION: Suspends command execution for defined number
TWAIT of PID samples
CLK EXECUTION: Immediate
PID# CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: PID samples
RANGE OF VALUES: 0 to 2147483647
TYPICAL VALUES: 0 to 4000
DEFAULT VALUE: N/A
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The WAIT=expression will pause program execution for a specified amount of time.
Time is measured in PID sample periods of which there are 4,069 per second by
default. Some firmware versions may have a different of PID rate - please refer to
the RSP command for details on how to query your SmartMotor™ for its PID sample
period. The number of PID sample periods per second can be changed with the PID#
commands for motors with version 4.00 or later firmware.
EXAMPLE: (pause program execution for a given period)

w=32552 'use to set Wait time

PID1 'Default PID updates every servo sample

WAIT=w 'Wait time = 8 seconds

PID2 'PID updates every 2 servo samples

WAIT=w 'Wait time = 4 seconds

PID4 'PID updates every 4 servo samples

WAIT=w 'Wait time = 2 seconds

PID8 'PID updates every 8 servo samples

WAIT=w 'Wait time = 1 second

'
PID1 'Return to Default PID
WAIT=w 'Wait time = 8 seconds

337
 WAKE
Enable Open Communications on Primary Port

Related APPLICATION: Serial communication control

Command:
DESCRIPTION: Motor to execute all communications channel 0
SLEEP commands
SLEEP1 EXECUTION: Immediate
WAKE1 CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: WAKE state
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
WAKE clears the SLEEP condition of a SmartMotor™. A SmartMotor that has been
put to SLEEP rejects all commands received through the primary port but WAKE.
The SLEEP and
WAKE commands WAKE is intended to be used from the host terminal while programs are being down-
are only sent from loaded to other motors, but is is perfectly valid from within a user program.
a host, never part
of a SmartMotor™
program.

338
 WAKE1
Enable Open Communications on Secondary Port

Related APPLICATION: Serial communication control

Command:
DESCRIPTION: Motor to execute all communications channel 1
commands
SLEEP
EXECUTION: Immediate
SLEEP1
CONDITIONAL TO: N/A
WAKE1
LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: WAKE1 state
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
WAKE1 clears the SLEEP1 condition of a SmartMotor™. A SmartMotor that has been
put to SLEEP1 rejects all commands received through the channel 1 serial port but
WAKE1.
WAKE1 is intended to be used from the host terminal while programs are being
downloaded to other motors, but is is perfectly valid from within a user program.

339
 WHILE expression
Conditional Program Loop Flow Control

Related Command: APPLICATION: Program execution control

BREAK DESCRIPTION: Defines block of code repeatable while expression
is true
LOOP
EXECUTION: Immediate
IF
CONDITIONAL TO: Value of expression
SWITCH
LIMITATIONS: 6 Deep WHILE loop nesting <v4.0 firmware
No limit >=v4.0 firmware
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: expression values -2147483648 to 2147483647
TYPICAL VALUES: expression values -2147483648 to 2147483647
DEFAULT VALUE: N/A
FIRMWARE VERSIONS: ALL

DETAILED DESCRIPTION:

The WHILE loop creates a program loop that repeatedly executes as long as a cer-
tain condition is true or non zero.

EXAMPLE:

WHILE {expression is true}

execute program command here

LOOP

The "expression" is evaluated the first time WHILE is encountered, and each time
program execution is sent back to the WHILE by its corresponding LOOP statement.
If the "expression" value is zero or false, program execution re-directs to the code
just below the LOOP command. Any valid standard Animatics expression can be
used. In particular, WHILE 1 . . . LOOP is a standard loop forever control block.

Each WHILE expression control block must be terminated with a corresponding

LOOP exit statement. WHILE control blocks may be nested.

If BREAK is encountered while executing a WHILE control block, program execution

unconditionally takes up after the LOOP statement.

WHILE is not a valid terminal command, it is only valid within a user program.

See examples on next page

340
 WHILE expression (continued)
program flow structures

Related Example:
Command: WHILE Bt 'While trajectory still in progress
'More efficient than Bt==1
BREAK UB=1 'Set output high
UB=0 'Set output low
LOOP LOOP 'Loop back to While
IF
Example:
SWITCH
a=0
WHILE a<7
b=a<3 'this is valid syntax !

IF b
PRINT("T ") 'true !
ELSE
PRINT("F ") 'false !
ENDIF
a=a+1 'increment loop index
LOOP
END
'output is "T T T F F F F "

Example of nested WHILE Loops:

D=20000 'Set Relative Move Distance

A=100 'Set Acceleration
V=1000000 'Set Velocity
MP 'Set to Position Mode

WHILE 1 'While Forever

WHILE UAI==1 LOOP

'wait for Port A to be grounded

G 'Start Relative Move

WHILE Bt 'While Moving

IF UBI==0 'If Port B is grounded
X 'Stop motion
ENDIF
LOOP

WHILE UAI==0 LOOP

'wait for Port A to reset.
IF UCI==0 'If Port C was grounded
BREAK 'exit the WHILE 1 LOOP
ENDIF

LOOP
PRINT("Port C was grounded"),#13)

END 341
 X
Decelerate Shaft to a Relative Position

Related APPLICATION: Trajectory control

Command:
DESCRIPTION: Slow motor motion to stop
G
EXECUTION: Immediate
S
CONDITIONAL TO: A non zero
LIMITATIONS: N/A
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: N/A
RELATED COMMANDS: G, S
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The X command immediately abandons the current trajectory mode and causes the
motor to slow to a stop using the current acceleration value A. This is different from
the S command, which stops the motor a soon as possible without regard to the cur-
rent acceleration. Regardless of the motion mode prior to the command, X leaves the
motor position mode. The response to RMODE will be an "R".
Example:
MP 'Select Position Mode
A=200 'Set Acceleration
V=50000 'Set Velocity
P=1000000 'Set Position
G 'Start Motion
WHILE Bt 'Loop while Trajectory
IF UAI 'If input goes high
X 'Decelerate now
ENDIF
RMODE 'response is "R"
LOOP

342
 Z
Total CPU Reset

Related APPLICATION: Reset motor

Command:
DESCRIPTION: Software reset motor to power up condition
RUN
EXECUTION: Immediate
RUN?
CONDITIONAL TO: Serial character transmit completion
LIMITATIONS: None
REPORT COMMAND: N/A
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: N/A
FIRMWARE VERSIONS: ALL
DETAILED DESCRIPTION:
The Z command will totally reset the SmartMotor™ just as if power were taken away
and later restored. Consequently, if there is a stored program, it will be run from the
beginning. All modes of operation, variables and status bits will be restored back to
their defaults. Subsequent to a power up or reset, the SmartMotor will
This command 1. initialize the motion mode, status bits and variables,
should not be
2. hold the serial port closed for approximately ¼ second
used in a stored
SmartMotor™ 3. open and initialize the serial port
program.
4. delay for ½ second. At the end of this time, the SmartMotor will examine
the communications buffer. In versions 4.0 through 4.12, if any character
is in the buffer, the stored program will not be executed. In versions 4.15
and later, the stored program will be aborted only if the specific characters
"EE" are found.
5. The stored program will now run, unless aborted as described above.
After a program download, using the Z command is a very good way to evaluate how
your SmartMotor™ will operate when powered on. The RUN command will execute
the stored program, but it will not clear the motor to its default condition, so the sub-
sequent operation will not necessarily mimic what would happen at power up.

WARNING! The Z command should not be used at or near the top of program
code. In doing so, it may cause a continuous and repetitive resetting of the CPU and
lock out the motor. IF this does happen, the Communications Lockup recovery tool
may be used to regain access to the motor.
343
 Za
Reset Peak Over Current Flag

Related Command: APPLICATION: Program execution control

Ba DESCRIPTION: Reset current limit violation latch
RBa EXECUTION: Immediate
CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT COMMAND: RBa
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
RESET VALUE: 0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
Za resets the overcurrent error flag Ba to zero. If the current violation still exists Ba
will be set to 1 again.
In early firmware versions, Ba was vallid only after being enabled by a Za or ZS com-
mand after the motion had started. This proved cumbersome to users, so enabling
is not required in versions 4.15, 4.41, 4.75 and later. If Ba flag is regularly found to
be set there may be a problem. Please verify the motor is correctly "sized" for the
presently assigned task.
Example:

IF Ba 'Test flag
PRINT("Over Current")
Za 'Reset flag
ENDIF
WAIT=4000
IF Ba 'Retest flag
PRINT("Over Current still in effect")
ENDIF

344
 Zb
Reset Comms Parity Error Flag

Related APPLICATION: Program execution control

Command:
DESCRIPTION: Reset serial data parity violation latch
Bb
EXECUTION: Immediate
RBb
CONDITIONAL TO: N/A
CHN0
LIMITATIONS: N/A
CHN1
REPORT COMMAND: RBb
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
RESET VALUE: 0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
Zb resets system flag Bb, the parity error violation latch, to zero. A parity error indi-
cates that the communications has failed at a fundamental level. For safe operation,
it is vital to find and eliminate the cause if this error flag is ever set.
EXAMPLE:

IF Bb 'Test flag
PRINT(" Parity Error ")
Zb 'Reset flag
ENDIF

345
 Zc
Reset Comms Buffer Overflow Flag

Related Command: APPLICATION: Program execution control

Bc DESCRIPTION: Reset communications buffer overflow latch
RBc EXECUTION: Immediate
CONDITIONAL TO: N/A
LANGUAGE ACCESS: N/A
LIMITATIONS: N/A
REPORT COMMAND: RBc
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
RESET VALUE: 0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
Zc resets system flag Bc, the serial communication receive buffer overflow violation
latch, to zero. If the communication buffer overflows, the SmartMotor™ may receive
a garbled or partial data byte. For safe operation, it is vital to find and eliminate the
cause if this error flag is ever set.
EXAMPLE:
\
IF Bc 'Test flag
PRINT("Buffer Overflow")
Zc 'Reset flag
ENDIF

346
 Zd
Reset Math Overflow Error Flag

Related APPLICATION: Program execution control

Command:
DESCRIPTION: Reset math overflow violation latch
Bd
EXECUTION: Immediate
RBd
CONDITIONAL TO: N/A
LANGUAGE ACCESS: N/A
LIMITATIONS: N/A
REPORT COMMAND: RBd
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
RESET VALUE: 0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
Zd resets the math overflow violation flag Bd to zero. For safe operation, it is
vital to find and eliminate the cause if this error flag is ever set.
EXAMPLE:

IF Bd 'Test flag
PRINT("Math Overflow")
Zd 'Reset flag
ENDIF

347
 Ze
Reset Position Error Flag

Related APPLICATION: Program execution control

Command:
DESCRIPTION: Reset Position Error Status Bit "Be"
Bd
EXECUTION: Immediate
RBd
CONDITIONAL TO: N/A
LANGUAGE ACCESS: N/A
LIMITATIONS: N/A
REPORT COMMAND: RBd
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
RESET VALUE: 0
FIRMWARE VERSIONS: 4.46 and higher
DETAILED DESCRIPTION:
Ze resets the Be Following error or position error flag to zero. This only works
with PLS. PS2 and =4.76 firmware
EXAMPLE:

IF Be 'Test flag
PRINT("Following Error")
Ze 'Reset flag
ENDIF

348
 Zf
Reset Comms Framing Error Flag

Related Command: APPLICATION: Program execution control

Bf DESCRIPTION: Reset serial communication framing error latch
RBf EXECUTION: Immediate
CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT COMMAND: RBf
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
RESET VALUE: 0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
Zf resets system flag Bf, the serial communications framing error violation latch, to
zero. A framing error means that the serial communications has failed at a fundamen-
tal level. For safe operation, it is vital to find and eliminate the cause if this error flag
is ever set.
EXAMPLE:

IF Bf 'Test flag
PRINT("Framing Error")
Zf 'Reset flag
ENDIF

349
 Zl
Reset Historical Left Limit Flag Flag

Related APPLICATION: Program execution control

Command:
DESCRIPTION: Reset historical left limit latch
Bl
EXECUTION: Immediate
RBl
CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT COMMAND: RBl
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
RESET VALUE: 0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
Zl resets system flag Bl, the left limit latch, to zero. If you use Bl to detect
the activation of the left limit, take care to reset it with Zl before scanning
for the bit again.
EXAMPLE:

IF Bl 'Test flag
PRINT("Left Limit Latched ")
Zl 'Reset flag
ENDIF

350
 Zr
Reset Historical Right Travel Limit Flag

Related Command: APPLICATION: Program execution control

Br DESCRIPTION: Reset historical right limit latch
RBr EXECUTION: Immediate
CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT COMMAND: RBr
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
RESET VALUE: 0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
Zr resets system flag Br, the right limit latch, to zero. If you use Br to detect the activa-
tion of the right limit, be sure to reset it with Zr before scanning for the bit again.
EXAMPLE:

IF Br 'Test flag
PRINT("Right Limit Latched")
Zr 'Reset flag
ENDIF

351
 Zs
Reset Command Syntax Error Flag

Related APPLICATION: Program execution control

Command:
DESCRIPTION: Reset command scan error latch
Bs
EXECUTION: Immediate
RBs
CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT COMMAND: RBs
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
RESET VALUE: 0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
Zs resets system flag Bs, the syntax or index access error latch, to zero. The RBs
report and ZS commands may assist in discovering whether or not the present firm-
ware version recognizes what appears to be a perfectly valid command and data
packet.
EXAMPLE:

IF Bs 'Test flag
PRINT("Syntax Error")
Zs 'Reset flag
ENDIF

352
 Zu
Reset Array Index Error state Flag

Related Command: APPLICATION: Program execution control

Bu DESCRIPTION: Reset user array index read access error latch
RBu EXECUTION: Immediate
CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT COMMAND: RBu
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
RESET VALUE: 0
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
Zu resets system flag Bu, the index read access violation latch, to zero. If the Bu
flag is set, it means that you are improperly using an array and you may be writing
data to an unspecified location. For safe operation, it is vital to find and eliminate the
cause if this error flag is ever set.
EXAMPLE:

IF Bu 'Test flag
PRINT("Array Error")
Zu 'Reset flag
ENDIF

353
 Zw
Reset Encoder Wrap Status Flag

Related APPLICATION: Program execution control

Command:
DESCRIPTION: Reset encoder wrap around event latch
Bw
EXECUTION: Immediate
RBw
CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT COMMAND: RBw
READ/WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
RESET VALUE: 0
RELATED COMMANDS: Bw, RBw
FIRMWARE VERSIONS: 4.00 and higher
DETAILED DESCRIPTION:
Zw resets system flag Bw, the encoder wrap around violation latch, to zero. The
SmartMotor™ tracks its position as 32 bit data, so a valid position is between
-2147483648 and +2147483648. If the motor moves out of this range, the position
will overflow or "wrap around". It is therefore advisable to not operate any following
mode, cam mode, absolute position move, or relative position move such that wrap
around may occur. Reset the origin to avoid operating in this region.
EXAMPLE:

IF Bw 'Test flag
PRINT("Wraparound Occurred")
Zw 'Reset flag
ENDIF

354
 ZS
Global Reset System State Flags

Related Command: APPLICATION: Program execution control

Za DESCRIPTION: Reset software system latches to power up state
Zb EXECUTION: Immediate
Zc CONDITIONAL TO: N/A
Zd LIMITATIONS: None
Zf REPORT COMMAND: N/A
Zl READ/WRITE: N/A
Zr LANGUAGE ACCESS: N/A
Zs UNITS: N/A
Zu RANGE OF VALUES: N/A
Zw TYPICAL VALUES: N/A
RESET VALUES: N/A
FIRMWARE VERSIONS: 4.00 and higher, 4.76 and higher, see below
DETAILED DESCRIPTION:
Almost any event that occurs within a SmartMotor™ gets recorded in system flags.
These flags can be read as part of a program or a host inquiry. Once read, it is nec-
essary to reset the flag that records the particular event in order to record the next
occurrence. ZS resets all of the latched bits in the S status byte and the W status
word, as well as the three communication status bits: Ba, Bb, Bc, Bd, Be, Bf, Bl, Br,
Bs, Bu and Bw.
ZS performs the following flag resets:
Za Reset hardware current limit violation
Zb Reset serial data parity error
Zc Reset communications buffer overflow
Zd Reset user math overflow
Ze Reset Position Error (In >=4.76 firmware only.)
Zf Reset communications framing error
Zl Reset historical left limit
Zr Reset historical right limit
Zs Reset user command syntax error
Zu Reset user read array indexing out of range
Zw Reset wraparound

Continued on next page

355
 ZS (cont)
Reset System state Flag

Related Example:
Command: ZS 'reset all error and limit flag latches
'useful for debugging new programs
Za 'but not satisfactory for real time control
'consider the following
Zb C900 'Error Report Subroutine
Zc IF Ba 'Test flag
PRINT("Over Current")
Zd ENDIF
IF Bb 'Test flag
Zf PRINT("Parity Error")
ENDIF
Zl IF Bc 'Test flag
Zr PRINT("Buffer Overflow")
ENDIF
Zs IF Bd 'Test flag
PRINT("Math Overflow")
Zu ENDIF
IF Bf 'Test flag
Zw PRINT("Framing Error")
ENDIF
IF Bl 'Test flag
PRINT("Left Limit")
ENDIF
IF Br 'Test flag
PRINT("Right Limit")
ENDIF
IF Bs 'Test flag
PRINT("Syntax Error")
ENDIF
IF Bu 'Test flag
PRINT("Array Error")
ENDIF
IF Bw 'Test flag
PRINT("Wraparound Occurred")
ENDIF
ZS 'Reset all tested flags. Faulty !!!

END 'By the time ZS is executed it is possible,

'some previously tested zero flags may now be set.

356
 Array Variable Memory Map
Page 1 of 2
MSB MSB MSB MSB MSB MSB MSB MSB MSB MSB MSB MSB
ab[0] ab[28] ab[56] ab[84]
aw[0] LSB aw[14] LSB aw[28] LSB aw[42] LSB
MSB MSB MSB MSB
ab[1] ab[29] ab[57] ab[85]
aa al[0] LSB LSB hh al[7] LSB LSB oo al[14] LSB LSB vv al[21] LSB LSB
MSB MSB MSB MSB MSB MSB MSB MSB
ab[2] ab[30] ab[58] ab[86]
aw[1] LSB aw[15] LSB aw[29] LSB aw[43] LSB
MSB MSB MSB MSB
ab[3] ab[31] ab[59] ab[87]
LSB LSB LSB LSB LSB LSB LSB LSB LSB LSB LSB LSB
MSB MSB MSB MSB MSB MSB MSB MSB MSB MSB MSB MSB
ab[4] ab[32] ab[60] ab[88]
aw[2] LSB aw[16] LSB aw[30] LSB aw[44] LSB
MSB MSB MSB MSB
ab[5] ab[33] ab[61] ab[89]
bb al[1] LSB LSB ii al[8] LSB LSB pp al[15] LSB LSB ww al[22] LSB LSB
MSB MSB MSB MSB MSB MSB MSB MSB
ab[6] ab[34] ab[62] ab[90]
aw[3] LSB aw[17] LSB aw[31] LSB aw[45] LSB
MSB MSB MSB MSB
ab[7] ab[35] ab[63] ab[91]
LSB LSB LSB LSB LSB LSB LSB LSB LSB LSB LSB LSB
MSB MSB MSB MSB MSB MSB MSB MSB MSB MSB MSB MSB
ab[8] ab[36] ab[64] ab[92]
aw[4] LSB aw[18] LSB aw[32] LSB aw[46] LSB
MSB MSB MSB MSB
ab[9] ab[37] ab[65] ab[93]
cc al[2] LSB LSB jj al[9] LSB LSB qq al[16] LSB LSB xx al[23] LSB LSB
MSB MSB MSB MSB MSB MSB MSB MSB
ab[10] ab[38] ab[66] ab[94]
aw[5] LSB aw[19] LSB aw[33] LSB aw[47] LSB
MSB MSB MSB MSB
ab[11] ab[39] ab[67] ab[95]
LSB LSB LSB LSB LSB LSB LSB LSB LSB LSB LSB LSB
MSB MSB MSB MSB MSB MSB MSB MSB MSB MSB MSB MSB
ab[12] ab[40] ab[68] ab[96]
aw[6] LSB aw[20] LSB aw[34] LSB aw[48] LSB
MSB MSB MSB MSB
ab[13] ab[41] ab[69] ab[97]
dd al[3] LSB LSB kk al[10] LSB LSB rr al[17] LSB LSB yy al[24] LSB LSB
MSB MSB MSB MSB MSB MSB MSB MSB
ab[14] ab[42] ab[70] ab[98]
aw[7] LSB aw[21] LSB aw[35] LSB aw[49] LSB
MSB MSB MSB MSB
ab[15] ab[43] ab[71] ab[99]
LSB LSB LSB LSB LSB LSB LSB LSB LSB LSB LSB LSB
MSB MSB MSB MSB MSB MSB MSB MSB MSB MSB MSB MSB
ab[16] ab[44] ab[72] ab[100]
aw[8] LSB aw[22] LSB aw[36] LSB aw[50] LSB
MSB MSB MSB MSB
ab[17] ab[45] ab[73] ab[101]
ee al[4] LSB LSB ll al[11] LSB LSB ss al[18] LSB LSB zz al[25] LSB LSB
MSB MSB MSB MSB MSB MSB MSB MSB
ab[18] ab[46] ab[74] ab[102]
aw[9] LSB aw[23] LSB aw[37] LSB aw[51] LSB
MSB MSB MSB MSB
ab[19] ab[47] ab[75] ab[103]
LSB LSB LSB LSB LSB LSB LSB LSB LSB LSB LSB LSB
MSB MSB MSB MSB MSB MSB MSB MSB MSB MSB MSB MSB
ab[20] ab[48] ab[76] ab[104]
aw[10] LSB aw[24] LSB aw[38] LSB aw[52] LSB
MSB MSB MSB MSB
ab[21] ab[49] ab[77] ab[105]
ff al[5] LSB LSB mm al[12] LSB LSB tt al[19] LSB LSB aaa al[26] LSB LSB
MSB MSB MSB MSB MSB MSB MSB MSB
ab[22] ab[50] ab[78] ab[106]
aw[11] LSB aw[25] LSB aw[39] LSB aw[53] LSB
MSB MSB MSB MSB
ab[23] ab[51] ab[79] ab[107]
LSB LSB LSB LSB LSB LSB LSB LSB LSB LSB LSB LSB
MSB MSB MSB MSB MSB MSB MSB MSB MSB MSB MSB MSB
ab[24] ab[52] ab[80] ab[108]
aw[12] LSB aw[26] LSB aw[40] LSB aw[54] LSB
MSB MSB MSB MSB
ab[25] ab[53] ab[81] ab[109]
gg al[6] LSB LSB nn al[13] LSB LSB uu al[20] LSB LSB bbb al[27] LSB LSB
MSB MSB MSB MSB MSB MSB MSB MSB
ab[26] ab[54] ab[82] ab[110]
aw[13] LSB aw[27] LSB aw[41] LSB aw[55] LSB
MSB MSB MSB MSB
ab[27] ab[55] ab[83] ab[111]
LSB LSB LSB LSB LSB LSB LSB LSB LSB LSB LSB LSB

357
 Array Variable Memory Map
Page 2 of 2
MSB MSB MSB MSB MSB MSB MSB MSB MSB MSB MSB MSB
ab[112] ab[140] ab[168] ab[196]
aw[56] LSB aw[70] LSB aw[84] LSB aw[98] LSB
MSB MSB MSB MSB
ab[113] ab[141] ab[169] ab[197]
ccc al[28] LSB LSB jjj al[35] LSB LSB qqq al[42] LSB LSB xxx al[49] LSB LSB
MSB MSB MSB MSB MSB MSB MSB MSB
ab[114] ab[142] ab[170] ab[198]
aw[57] LSB aw[71] LSB aw[85] LSB aw[99] LSB
MSB MSB MSB MSB
ab[115] ab[143] ab[171] ab[199]
LSB LSB LSB LSB LSB LSB LSB LSB LSB LSB LSB LSB
MSB MSB MSB MSB MSB MSB MSB MSB MSB MSB MSB MSB
ab[116] ab[144] ab[172] ab[200]
aw[58] LSB aw[72] LSB aw[86] LSB aw[100] LSB
MSB MSB MSB MSB
ab[117] ab[145] ab[173] ab[201]
ddd al[29] LSB LSB kkk al[36] LSB LSB rrr al[43] LSB LSB yyy al[50] LSB LSB
MSB MSB MSB MSB MSB MSB MSB MSB
ab[118] ab[146] ab[174] ab[202]
aw[59] LSB aw[73] LSB aw[87] LSB aw[101] LSB
MSB MSB MSB MSB
ab[119] ab[147] ab[175] ab[203]
LSB LSB LSB LSB LSB LSB LSB LSB LSB LSB LSB LSB
MSB MSB MSB MSB MSB MSB MSB MSB MSB
ab[120] ab[148] ab[176]
aw[60] LSB aw[74] LSB aw[88] LSB
Note:
MSB MSB MSB
ab[121] ab[149] ab[177] The "zzz" memory location
eee al[30] LSB LSB lll al[37] LSB LSB sss al[44] LSB LSB zzz is used for SWITCH-CASE
MSB MSB MSB MSB MSB MSB calculations.
ab[122] ab[150] ab[178] Do not use it if the
aw[61] LSB aw[75] LSB aw[89] LSB SWITCH command is
MSB MSB MSB being used in user code.
ab[123] ab[151] ab[179]
LSB LSB LSB LSB LSB LSB LSB LSB LSB
MSB MSB MSB MSB MSB MSB MSB MSB MSB
ab[124] ab[152] ab[180]
aw[62] LSB aw[76] LSB aw[90] LSB
MSB MSB MSB
ab[125] ab[153] ab[181]
fff al[31] LSB LSB mmm al[38] LSB LSB ttt al[45] LSB LSB
MSB MSB MSB MSB MSB MSB
ab[126] ab[154] ab[182]
aw[63] LSB aw[77] LSB aw[91] LSB
MSB MSB MSB
ab[127] ab[155] ab[183]
LSB LSB LSB LSB LSB LSB LSB LSB LSB
MSB MSB MSB MSB MSB MSB MSB MSB MSB
ab[128] ab[156] ab[184]
aw[64] LSB aw[78] LSB aw[92] LSB
MSB MSB MSB
ab[129] ab[157] ab[185]
ggg al[32] LSB LSB nnn al[39] LSB LSB uuu al[46] LSB LSB
MSB MSB MSB MSB MSB MSB
ab[130] ab[158] ab[186]
aw[65] LSB aw[79] LSB aw[93] LSB
MSB MSB MSB
ab[131] ab[159] ab[187]
LSB LSB LSB LSB LSB LSB LSB LSB LSB
MSB MSB MSB MSB MSB MSB MSB MSB MSB
ab[132] ab[160] ab[188]
aw[66] LSB aw[80] LSB aw[94] LSB
MSB MSB MSB
ab[133] ab[161] ab[189]
hhh al[33] LSB LSB ooo al[40] LSB LSB vvv al[47] LSB LSB
MSB MSB MSB MSB MSB MSB
ab[134] ab[162] ab[190]
aw[67] LSB aw[81] LSB aw[95] LSB
MSB MSB MSB
ab[135] ab[163] ab[191]
LSB LSB LSB LSB LSB LSB LSB LSB LSB
MSB MSB MSB MSB MSB MSB MSB MSB MSB
ab[136] ab[164] ab[192]
aw[68] LSB aw[82] LSB aw[96] LSB
MSB MSB MSB
ab[137] ab[165] ab[193]
iii al[34] LSB LSB ppp al[41] LSB LSB www al[48] LSB LSB
MSB MSB MSB MSB MSB MSB
ab[138] ab[166] ab[194]
aw[69] LSB aw[83] LSB aw[97] LSB
MSB MSB MSB
ab[139] ab[167] ab[195]
LSB LSB LSB LSB LSB LSB LSB LSB LSB

358