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Servostar M-SS-005-03
User Manual
204 pgs1.85 Mb0

Kollmorgen Servostar M-SS-005-03, Servostar MC M-SS-005-03 User Manual

KOLLMORGEN
www.DanaherMotion.com
SERVOSTAR® MC
M-SS-005-03
Revision E
Firmware Version 5.0.0
Record of Manual Revisions Revision Date Description of Revision
0 3/1/1999 Preliminary issue for review 1 5/14/1999 Initial release 2 6/5/2000 New PCI and stand-alone models, new firmware features
3 8/31/2001 New firmware features D 5/11/2005 Update examples E 6/20/2005 Updated firmware version and dates
©1999 – 2005 Danaher Motion. All rights reserved. Printed in the USA.
DANAHER MOTION® is a registered trademark of Danaher Corporation. Danaher Motion makes every attempt to ensure accuracy and reliability of the specifications in this publication. Specifications are subject to change without notice. Danaher Motion provides this information "AS IS" and disclaims all warranties, express or implied, including, but not limited to, implied warranties of merchantability and fitness for a particular purpose. It is the responsibility of the product user to determine the suitability of this product for a specific application.
SERVOSTAR, GOLDLINE Motors, MOTIONLINK, Motioneering, BASIC Moves Development Studio, Kollmorgen API and MC-BASIC are trademarks of the Kollmorgen Corporation.
VxWorks is a trademark of Wind River. Visual Basic, Visual C++, Windows, Windows 95, Windows NT are trademarks of Microsoft
Corporation.
Safety-alert symbols used in this document are:
WARNING
Warnings alert users to potential physical danger or harm. Failure to follow warning notices could result in personal injury or death.
CAUTION
Cautions direct attention to general precautions, which if not followed, could result in personal injury and/or equipment damage.
NOTE
Notes highlight information critical to your understanding or use of the product.
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Table of Contents
1. OVERVIEW ................................................................................................................................ 1
1. 1 SYSTEM HARDWARE ......................................................................................................... 2
1. 2 OPERATING SYSTEM......................................................................................................... 2
1. 3 MC-BASIC LANGUAGE COMPILER................................................................................. 2
1. 4 I/O......................................................................................................................................... 3
1. 5 SERCOS ............................................................................................................................... 3
1. 6 API........................................................................................................................................ 4
1. 7 MULTI-TASKING ................................................................................................................ 4
1. 8 USER COMMUNICATION.................................................................................................. 4
1.8.1. SERIAL COMMUNICATION .................................................................................. 5
1.8.2. TCP/IP COMMUNICATION.................................................................................. 6
1.8.3. SEND /RECEIVE DATA ........................................................................................ 8
2. BASIC MOVES DEVELOPMENT STUDIO........................................................................ 11
2. 1 COMMUNICATION .......................................................................................................... 11
2. 2 MC-BASIC.......................................................................................................................... 11
2.2.1. INSTRUCTIONS.................................................................................................. 12
2.2.2. TYPE ................................................................................................................. 12
2.2.3. CONSTANTS AND VARIABLES .......................................................................... 14
2.2.4. DATA TYPES..................................................................................................... 16
2.2.5. SYSTEM ELEMENTS ..........................................................................................19
2.2.6. UNITS................................................................................................................ 20
2.2.7. EXPRESSIONS.................................................................................................... 20
2.2.8. AUTOMATIC CONVERSION OF DATA TYPES .................................................... 20
2.2.9. MATH FUNCTIONS............................................................................................ 23
2.2.10. STRING FUNCTIONS.......................................................................................... 24
2.2.11. SYSTEM COMMANDS........................................................................................ 25
2.2.12. PRINTING ..........................................................................................................28
2.2.13. FLOW CONTROL ............................................................................................... 30
2. 3 PROGRAM DECLARATIONS ........................................................................................... 36
2.3.1. PROGRAM ......................................................................................................... 36
2.3.2. SUBROUTINE..................................................................................................... 36
2.3.3. USER-DEFINED FUNCTIONS ............................................................................. 37
2. 4 LIBRARIES......................................................................................................................... 38
2.4.1. GLOBAL LIBRARIES.......................................................................................... 40
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2. 5 C-FUNCTIONS...................................................................................................................40
2.5.1. OBJECT FILES ....................................................................................................40
2.5.2. PROTOTYPE FILE ...............................................................................................41
2.5.3. SPECIAL CONSIDERATIONS ...............................................................................44
2. 6 SEMAPHORES ...................................................................................................................45
2.6.1. MUTUAL EXCLUSION SEMAPHORES .................................................................45
2.6.2. SYNCHRONIZATION SEMAPHORES ....................................................................46
2. 7 VIRTUAL ENTRY STATION...............................................................................................46
2. 8 OUTPUT REDIRECTION ..................................................................................................47
2. 9 FILE OPERATIONS ...........................................................................................................47
2.9.1. OPEN ...............................................................................................................47
2.9.2. OPEN #, INPUT #, CLOSE, LOC ................................................................48
2.9.3. TELL................................................................................................................48
2.9.4. SEEK................................................................................................................48
3. PROJECT...................................................................................................................................49
3. 1 PROJECT STRUCTURE ....................................................................................................49
3. 2 TASKS .................................................................................................................................49
3.2.1. GENERAL PURPOSE TASKS ...............................................................................49
3.2.2. CONFIGURATION TASK .....................................................................................51
3.2.3. AUTOEXEC TASK ..............................................................................................51
3. 3 PROGRAM DECLARATIONS............................................................................................52
3.3.1. ARRAYS.............................................................................................................53
3. 4 MULTI-TASKING...............................................................................................................55
3.4.1. LOADING THE PROGRAM...................................................................................57
3.4.2. PREEMPTIVE MULTI-TASKING & PRIORITY LEVELS ........................................57
3.4.3. INTER-TASK COMMUNICATIONS AND CONTROL..............................................57
3.4.4. MONITORING TASKS FROM THE TERMINAL .....................................................59
3.4.5. RELINQUISHING RESOURCES ............................................................................59
3. 5 EVENT HANDLER .............................................................................................................60
3.5.1. ONEVENT ..........................................................................................................60
3.5.2. EVENTON ..........................................................................................................61
3.5.3. EVENTOFF.........................................................................................................61
3.5.4. EVENTLIST ........................................................................................................61
3.5.5. EVENTDELETE...................................................................................................61
3.5.6. EVENTS AT START-UP .......................................................................................61
3.5.7. PROGRAM FLOW AND ONEVENT .....................................................................61
3. 6 SETTING UP AXES............................................................................................................62
3.6.1. AXIS DEFINITION...............................................................................................62
3.6.2. AXIS NAME .......................................................................................................62
3.6.3. DRIVE ADDRESS................................................................................................63
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3.6.4. STARTING POSITION ......................................................................................... 63
3.6.5. BASIC MOVES AUTO SETUP PROGRAM.......................................................... 63
3.6.6. USER UNITS...................................................................................................... 64
3.6.7. POSITION UNITS ............................................................................................... 64
3.6.8. VELOCITY UNITS.............................................................................................. 65
3.6.9. ACCELERATION UNITS ..................................................................................... 65
3.6.10. JERK UNITS....................................................................................................... 66
3. 7 ACCELERATION PROFILE ............................................................................................. 66
3. 8 POSITION AND VELOCITY ............................................................................................. 67
3. 9 LIMITS ............................................................................................................................... 69
3.9.1. POSITION LIMITS .............................................................................................. 70
3.9.2. AXIS VELOCITY LIMITS .................................................................................... 73
3. 10 VELOCITY, ACCELERATION AND JERK RATE PARAMETERS .................................. 73
3. 11 VERIFY SETTINGS............................................................................................................ 74
3.11.1. ENABLING......................................................................................................... 74
3.11.2. MOTION FLAGS ................................................................................................ 74
3.11.3. MOVE................................................................................................................ 74
3. 12 SERCOS ............................................................................................................................. 75
3.12.1. COMMUNICATION PHASES ............................................................................... 76
3.12.2. TELEGRAMS...................................................................................................... 76
3.12.3. TELEGRAM TYPES ............................................................................................ 77
3.12.4. CYCLIC VS. NON-CYCLIC COMMUNICATION................................................... 78
3.12.5. IDNS................................................................................................................. 78
3.12.6. POSITION AND VELOCITY COMMANDS............................................................ 79
3.12.7. SERCOS SUPPORT........................................................................................... 79
3. 13 LOOPS ............................................................................................................................... 81
3.13.1. STANDARD POSITION LOOP.............................................................................. 82
3.13.2. DUAL-FEEDBACK POSITION LOOP ................................................................... 82
3.13.3. VELOCITY LOOP............................................................................................... 83
3. 14 SIMULATED AXES............................................................................................................ 83
4. SINGLE-AXIS MOTION......................................................................................................... 85
4. 1 MOTION GENERATOR .................................................................................................... 85
4.1.1. MOTION CONDITIONS....................................................................................... 85
4.1.2. MOTION BUFFERING......................................................................................... 87
4.1.3. OVERRIDE VERSUS PERMANENT ......................................................................87
4.1.4. ACCELERATION PROFILE.................................................................................. 88
4.1.5. JOG.................................................................................................................... 88
4.1.6. STOP ................................................................................................................. 89
4.1.7. PROCEED........................................................................................................... 89
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4.1.8. MOVE ................................................................................................................90
4.1.9. VELOCITY OVERRIDE........................................................................................98
4. 2 MOTION EXAMPLES ........................................................................................................98
4.2.1. POSITION CAPTURE ...........................................................................................98
4.2.2. HOMING.............................................................................................................99
4.2.3. REGISTRATION ................................................................................................101
4.2.4. GATING............................................................................................................102
4.2.5. CLAMPING.......................................................................................................102
4.2.6. PIPEMODE ....................................................................................................103
5. MASTER-SLAVE....................................................................................................................105
5. 1 MASTER SOURCES .........................................................................................................105
5. 2 GEARING..........................................................................................................................106
5.2.1. ENABLE GEARING ...........................................................................................106
5.2.2. DISABLE GEARING ..........................................................................................106
5.2.3. INCREMENTAL MOVES....................................................................................107
5. 3 CAMMING........................................................................................................................108
5.3.1. KEY FEATURES................................................................................................108
5.3.2. GEARRATIO................................................................................................109
5.3.3. INCREMENTAL MOVES....................................................................................109
5.3.4. CAM TABLES...................................................................................................109
5.3.5. CAM CYCLES...................................................................................................111
5.3.6. CREATE CAM TABLES.....................................................................................113
5.3.7. OPERATING CAMS...........................................................................................115
5. 4 SIMULATED AND MASTER-SLAVE AXES ....................................................................119
5.4.1. FIXED-SPEED MASTERS ..................................................................................119
5.4.2. MONITOR PHYSICAL AXES .............................................................................119
5.4.3. SYNCHRONIZE SLAVE AXES ...........................................................................119
6. GROUPS...................................................................................................................................121
6. 1 SET UP..............................................................................................................................121
6. 2 DELETEGROUP ..............................................................................................................121
6. 3 ACCELERATION PROFILES ..........................................................................................121
6.3.1. ACCELERATION AND DECELERATION.............................................................121
6. 4 POSITION.........................................................................................................................122
6.4.1. VECTOR...........................................................................................................122
6.4.2. SCALAR ...........................................................................................................122
6. 5 VELOCITY ........................................................................................................................123
6. 6 LIMITS ..............................................................................................................................123
6.6.1. GENERATOR ....................................................................................................123
6.6.2. REALTIME........................................................................................................123
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6.6.3. POSITION......................................................................................................... 123
6.6.4. VELOCITY....................................................................................................... 124
6. 7 ACCELERATION............................................................................................................. 124
6. 8 VELOCITY, ACCELERATION, DECELERATION AND JERK RATES......................... 124
6. 9 MOTION........................................................................................................................... 125
6.9.1. ATTACH TASK AND AXIS ............................................................................... 125
6.9.2. ENABLE........................................................................................................ 125
6.9.3. MOTION FLAGS .............................................................................................. 126
6.9.4. STOP ............................................................................................................. 126
6.9.5. PROCEED....................................................................................................127
6.9.6. MOVE ........................................................................................................... 127
6.9.7. CIRCLE........................................................................................................128
6.9.8. CHAIN COMMANDS ........................................................................................ 129
6.9.9. BLENDING....................................................................................................... 129
6. 10 MOVE CONTROL............................................................................................................ 131
6.10.1. SETTLING TIME .............................................................................................. 132
6.10.2. START MOVES ................................................................................................132
6.10.3. CHAIN MOVES................................................................................................ 133
6.10.4. MULTI-STEP MOVES ...................................................................................... 133
6.10.5. SYNCHRONIZE MULTIPLE AXES..................................................................... 134
6.10.6. CLEAR A PENDING MOVE.............................................................................. 135
6. 11 VELOCITY OVERRIDE................................................................................................... 135
7. COMPENSATION TABLES.................................................................................................137
7.1.1. SPECIFICATION ............................................................................................... 137
7.1.2. ACCESS DATA ................................................................................................ 138
7.1.3. DEFINE............................................................................................................ 138
7.1.4. LOAD/SAVE FROM A FILE .............................................................................. 139
7.1.5. SET AND QUERY VALUES............................................................................... 139
7.1.6. ACTIVATE....................................................................................................... 139
7.1.7. QUERY ACTUAL POSITIONS ........................................................................... 139
7.1.8. MULTI-DIMENSIONAL CORRECTION.............................................................. 139
8. PHASER...................................................................................................................................141
8.1.1. PROFILER........................................................................................................ 141
8.1.2. EXECUTE ........................................................................................................ 142
8.1.3. CANCEL .......................................................................................................... 142
8.1.4. SERIAL PHASER........................................................................................... 142
9. GENERIC ELEMENTS......................................................................................................... 143
9. 1 ELEMENTID.................................................................................................................... 143
9.1.1. DECLARATION................................................................................................ 144
9.1.2. ASSIGNMENT .................................................................................................. 144
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9.1.3. LIMITATIONS ...................................................................................................145
9.1.4. FUNCTIONS......................................................................................................146
9. 2 WITH.................................................................................................................................148
10. INPUT/OUTPUT .....................................................................................................................149
10. 1 STANDARD I/O................................................................................................................149
10. 2 SOFTWARE I/O................................................................................................................149
10.2.1. BIT-ORIENTED SOFTWARE I/O........................................................................149
10.2.2. LONG-WORD-ORIENTED SOFTWARE I/O........................................................150
10. 3 PLS (PROGRAMMABLE LIMIT SWITCH) .....................................................................150
10.3.1. ENABLE AND DISABLE ....................................................................................150
10.3.2. SWITCH POSITIONS..........................................................................................151
10.3.3. REPETITION INTERVAL....................................................................................152
10.3.4. POLARITY........................................................................................................152
10.3.5. HYSTERESIS.....................................................................................................152
10.3.6. ENABLE AND DISABLE ....................................................................................152
10.3.7. PLS OUTPUT STATE........................................................................................153
10.3.8. SET UP.............................................................................................................153
10. 4 EXTERNAL ENCODERS..................................................................................................154
10. 5 PC104................................................................................................................................155
10.5.1. CONFIGURING PC104 CARDS .........................................................................155
10.5.2. INSTALLATION.................................................................................................155
10.5.3. COMMANDS.....................................................................................................156
11. ERROR HANDLING..............................................................................................................157
11. 1 CONTEXT.........................................................................................................................157
11.1.1. TASK CONTEXT...............................................................................................157
11.1.2. SYSTEM CONTEXT...........................................................................................159
11.1.3. TERMINAL CONTEXT.......................................................................................160
11. 2 WATCHDOG ....................................................................................................................160
11.2.1. WATCHDOG SETUP.........................................................................................161
11.2.2. CYCLE THE WATCHDOG.................................................................................161
11.2.3. RESET THE WATCHDOG..................................................................................161
11. 3 UEA (USER ERROR ASSERTION)..................................................................................162
11. 4 EXCEPTIONS...................................................................................................................162
11.4.1. DECLARATION.................................................................................................162
11.4.2. DELETION........................................................................................................163
11.4.3. ASSERTION ......................................................................................................163
11.4.4. LOG .................................................................................................................164
11.4.5. QUERY.............................................................................................................164
11.4.6. PRINT...............................................................................................................164
11.4.7. LIMITATIONS ...................................................................................................164
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APPENDIX A ...................................................................................................................................165
SAMPLE NESTING PROGRAM............................................................................................... 165
SUBROUTINE EXAMPLE........................................................................................................ 166
SAMPLE AUTOSETUP PROGRAM ........................................................................................ 167
APPENDIX B....................................................................................................................................171
NON-HOMOGENOUS GROUPS............................................................................................. 171
KINEMATICS ..................................................................................................................... 171
COUPLING............................................................................................................................... 173
JOINTS............................................................................................................................... 174
ROBOT MODELS ............................................................................................................... 175
INTERPOLATION................................................................................................................ 176
CARTESIAN PROFILE......................................................................................................... 179
WORKING ENVELOPE ....................................................................................................... 180
ROBOT CONFIGURATIONS ................................................................................................ 181
POINTS ..................................................................................................................................... 181
DECLARATION ..................................................................................................................182
VARIABLES .......................................................................................................................182
CONSTANT POINTS ........................................................................................................... 182
VECTORS........................................................................................................................... 183
PROPERTIES ...................................................................................................................... 183
POINT DIMENSION............................................................................................................ 183
POINT ASSIGNMENT ......................................................................................................... 184
SINGLE COORDINATE POINT ASSIGNMENT...................................................................... 184
POINT QUERY ................................................................................................................... 184
SINGLE COORDINATE POINT QUERY................................................................................ 184
OPERATORS ...................................................................................................................... 184
POINTS IN FUNCTIONS ...................................................................................................... 186
MOTION COMMANDS........................................................................................................ 187
ANALOG BEHAVIOR ......................................................................................................... 187
POINT AS AN EXPRESSION ...............................................................................................187
GROUP POINT PROPERTIES............................................................................................... 188
IN FUNCTIONS................................................................................................................... 188
QUERY .............................................................................................................................. 189
OPERATORS ...................................................................................................................... 189
PASS STRUCTURE ............................................................................................................. 189
LIMITATIONS .................................................................................................................... 190
CONVEYER TRACKING .......................................................................................................... 190
WINDOW DECLARATION ..................................................................................................191
TRACKING......................................................................................................................... 191
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MOVING FRAME ................................................................................................................191
TRACKING PROCESS..........................................................................................................192
CUSTOMER SUPPORT ............................................................................................................194
Danaher Motion 06/2005 Overview
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1. OVERVIEW
This manual describes how to use the SERVOSTAR MC (Multi-axis Controller) product. To execute the examples described in this manual, you
must at least have a SERVOSTAR MC and BASIC Moves Development Studio
installed on your host computer. Some examples further require that you have a drive installed and connected to the MC using the SERCOS Interface
TM
cables. The SERVOSTAR MC Installation Manual describes the
procedures for all the necessary installations. Version 5.0.0 of the firmware incorporates many new commands, functions,
and properties, and, in some instances, the behavior of functions, commands, and properties found in previous versions of the firmware have been changed. This edition of the SERVOSTAR
MC User's Manual applies to version 5.0.0 firmware, and is not necessarily backward compatible with previous versions of the firmware. If you have used previous versions of the MC, you may find that some functions, commands, or properties which you are familiar with, now have different behavior, or may no longer exist. Refer to the SERVOSTAR
MC Reference Manual for additional information, as it
covers all versions of the firmware. When you complete this manual you should feel comfortable using all the
features available in the SERVOSTAR MC. Related manuals:
SERVOSTAR
MC Installation Manual
SERVOSTAR
MC BASIC Moves Development Studio Manual
SERVOSTAR
SC/MC API Reference Manual
SERVOSTAR
MC InstallationManual
The SERVOSTAR MC is Danaher Motion’s multi-axis controller. The MC has the features and performance required of today’s multi-axis controllers, and is designed for easy integration into motion control systems and for simplicity of use. The key benefits of the product are:
Motion Components Guaranteed to Work Together Danaher Motion can provide a complete motion control system,including controller, drives, and motors. All the components are supplied by DanaherMotion, and are tested and guaranteed to work together.
Complete Digital System at an Affordable Price The MC is fully digital, including communication with the drives. The analog interface is eliminated, but the price is competitive with analog systems.
Local Field Bus for Simple Set up, Less Wiring, More Flexibility The MC communicates via fiber-optic cables using an industrial field bus called SERCOS. SERCOS greatly simplifies system set-up and wiring, while improving system flexibility and reliability compared to its analog counterparts.
Windows
-Based Software Supports Microsoft Visual Basic™, Visual
C++™, and other Popular Languages
The MC product family includes Danaher Motion's Kollmorgen API, which allows Windows NT
application integration with the MC controller.
Communication uses dual-port RAM, so the process is fast and reliable.
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1. 1 SYSTEM HARDWARE
The MC hardware is available in two types of implementation: a plug-in circuit board for a host computer, and a stand-alone model.
The PCI plug-in board hardware installs in a host computer (typically a PC), running the Windows NT 4.0, Windows 2000/XP operating systems. The MC contains a fully-independent computer system., so it does not compete with the host processor system for resources. The MC uses Pentium 233 MHz or faster microprocessor to provide the power your system needs today, and the x86 upgrade path allows for future enhancement. The MC includes large on-board memory with ample capacity for your programs and enough space for expansion. There is also an onboard Flashdisk for storage of your programs.
The stand-alone model of the MC is designed for installation as a component part in industrial equipment. It consists of the PCI version plug-in board and a power supply in an enclosure. The stand-alone model does not have a host CPU to provide a Windows operating system and environment, so it can not directly provide an operator interface. For interactive operation of the stand­alone MC, you will need a host computer running BASIC Moves Development Studio software and communicating with the MC via Ethernet or serial communications with Windows NT, Windows 2000/XP operating system. For additional information concerning communications configuration refer to the SERVOSTAR
MC Installation Manual.
All implementation models of the SERVOSTAR MC are functionally equivalent for servo motion control
1. 2 OPERATING SYSTEM
The SERVOSTAR MC is based on the VxWorks RealTime Operating System (RTOS), providing a stable platform for the SERVOSTAR's software.
VxWorks is produced by Wind River Systems, Incorporated. VxWorks is continuously evolving, providing a clear path for future upgrades to the MC.
1. 3 MC-BASIC LANGUAGE COMPILER
The MC uses a language interpreter that semi-compiles commands so they typically execute in less than 5 microseconds. MC-BASIC
is true BASIC. It
has familiar commands such as FOR…NEXT, IF…THEN, PRINTUSING,
PEEK and POKE as well as common string functions such as CHR$, INSTR, MID$, and STRING$. It allows arrays (up to 10 dimensions) with full
support for double precision floating-point math. MC-BASIC is extended to provide support for functions required for motion systems control, (e.g., point to point moves, circular and linear interpolation, camming, and gearing). In addition, there is support for multi-tasking and event-driven programs.
Gearing and camming have the versatility required for motion control. You can slave any axis to any master. You can enable and disable gearing at any time. The gear ratio is expressed as a double-precision value. The MC also supports simulated axes, which can be master or slave in gearing and camming applications and incremental moves run by any axis, master or slave, at any time.
Danaher Motion 06/2005 Overview
Camming links master and slave axes by a cam table. Camming has all the features of gearing, plus the cam table can have any number of points. The cam points are in x-y format so spacing can be provided independently. Multiple tables can be linked together, allowing you to build complex cam profiles from simpler tables. There is a cycle counter that lets you specify how many cycles to run a cam before ending.
The MC supports multi-tasking with up to 256 tasks, running at up to 16 different priority levels. Each task can generate OnEvent(s), for code that you want executed when events occur such as switches tripping, a motor crossing a position, or just about any combination of factors.
1. 4 I/O
The MC provides 23 optically-isolated inputs and 20 optically-isolated outputs as standard features, in addition to limit switches and other drive I/O points that are connected directly to the drives and transferred to the MC via SERCOS. Additionally, each SERVOSTAR drive provides hardware for six I/O points: three digital inputs, one digital output, a 14-bit analog input, and a 12-bit analog output. An auxiliary encoder can also be connected to any SERVOSTAR drive.
If you need more I/O, the MC includes a PC104 bus. Each MC can accommodate as many as two PC104 cards. You can also add I/O to your PC bus or other field buses such as DeviceNet and ProfiBus, and your application controls it all. The figure below shows the various possible I/O options.
SERVOSTAR MC
Standard I/O
Field Bus
Field I/O
SERCOS
SERVOSTAR
Auxillary I/O
PC-104
I/O Cards
PC-104 Mezzanine Bus
PC Field
Bus Cards
PC I/O Cards
Host CPU
PCI Bus
1. 5 SERCOS
The SERCOS interface™ (developed in the mid-1980’s) provides an alternative to the analog interface for communicating between motion controllers and drives. In 1995, SERCOS became an internationally accepted standard as IEC 1491 and later was continued to standard IEC
61491. The popularity of SERCOS has been steadily growing. All signals are transmitted between controller and drives on two fiber optic cables. This eliminates grounding noise and other types of Electro-Mechanical Conductance (EMC) and Electro-Mechanical Interference (EMI).
M-SS-005-03 Rev E 3
Overview 06/2005 Danaher Motion
Because SERCOS is digital, it can transmit signals such as velocity and position commands with high resolution. The SERVOSTAR
®
MC and accompanying drives ( SERVOSTAR CD series), support 32-bit velocity commands. This provides a much higher resolution than can be achieved with the analog interface. The most common SERCOS functions are provided in such a way that you do not have to be an expert to gain the benefits.
1. 6 API
DanaherMotion's Kollmorgen API is a software package that allows you to communicate with the SERVOSTAR MC from popular programming languages, such as Visual Basic. The API provides complete access to all the elements of your system across dual-port ram. See the SERVOSTAR
SC/MC API Reference Manual for more information.
1. 7 MULTI-TASKING
The SERVOSTAR MC is a fully multi-tasking system (see figure below ) in which you can create multiple tasks and multiple elements (e.g., axes) that operate independently of one another. Also, because the API supports multiple applications communicating concurrently, you can write one or more applications that have access to all of the tasks and elements.
3rd Party Soft PLC
Visual C
Visual BASIC
Task 3
Task 2
Task 1
Axis 3
Axis 2
Axis 1
Dual Port RAM
Kollmorgen API
Host CPU
SERVOSTAR MC
1. 8 USER COMMUNICATION
The ETHERNET and Serial ports of the MC are used for ASCII data transfer. Non-printable characters are sent using CHR$. Data access is stream­oriented. There is no data framing. MC Basic applications gain access to either raw serial port or TCP socket. The TCP socket guaranties error free data transfer, while the serial port does not offer error recovery. The transmitted data does not have any meaning in terms of directly controlling the MC.
User communication provides the basic features of serial and TCP/IP data communication, which is not limited to a specific communication protocol, enabling the usage of any protocol over serial or TCP/IP through an MC application.
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1.8.1. Serial Communication
The MC has two RS-232 ports, which can be used for user communication. When COM1 is used for communication with BASIC Moves over API, tasks cannot access it to eliminate interference with BMDS communications. Use DIPswitch bit #8 to configure this port:
DIP Switch bit #8 state
ON (default) COM1 is reserved for communication with the host and cannot
be used by any other application
OFF COM1 is available for user communication
When DIPswitch bit # 8 is ON, the MC's firmware prints boot status messages from COM1 using the following serial communication parameters:
Baudrate 9600 bps
Parity none Stopbits 1 Databits 8
NOTE
State ON of DIPswitch read as 0. For example:
Switches 6 & 8 are OFF. All others are ON.
-->?sys.dipswitch bin 0b10100000
-->
1.8.1.1. WITH HOST
When DIPswitch #8 is ON, the MC can communicate with the host via serial port. This mode of communication requires Virtual Miniport driver, which is installed during setup of BMDS. The driver simulates Ethernet connection over serial interface using following fixed parameters:
Baudrate 115200 bps
Parity None Stopbits 1 Databits 8
IP address 192.1.1.101
Subnet mask 255.255.255.0
All the parameters are fixed and cannot be modified. If the driver is installed correctly and BMDS is running, it appears in the list of
Ethernet adapters as shown below:
C:\>ipconfig /all Ethernet adapter Local Area Connection 5:
Connection-specific DNS Suffix . . . . :
Description . . . . . . . . . . . . . . : Giant Steps Virtual miniport
Physical Address. . . . . . . . . . . . : 00-02-1B-D1-A5-FC
DHCP Enabled. . . . . . . . . . . . . . : No
IP Address. . . . . . . . . . . . . . . : 192.1.1.1
Subnet Mask . . . . . . . . . . . . . . : 255.255.255.0
Default Gateway . . . . . . . . . . . . :
DNS Servers . . . . . . . . . . . . . . :
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1.8.1.2. OPEN SERIAL PORT
Configurate the serial port with OPEN. Set the following port properties:
BaudRate - baud rate of the device set to a specified value. Parity – enable/disable parity detection. When enabled, parity is odd or even. DataBits - number of data bits. StopBit - number of stop bits. Xonoff – sets raw mode or ^S/^Q flow contro l protocol mode (optional parameter
disabled by default).
For example:
OPEN COM2 BUADRATE=9600 PARITY=0 DATABITS=8 STOPBIT=1 AS #1
Opens COM2 at 9600 bps baud-rate, No parity, 8-bit data, 1 stop bit. OPEN assigns a device handle to the communication port. Any further
references to the communication port uses the device handle number. The device handle range is 1…255. To change the communication parameters, close the serial port and reopen it using the new parameters. For more information, see PRINT # and INPUT$.
1.8.2. TCP/IP Communication
Use TCP/IP communication with other computers and intelligent I/O devices over the Ethernet network. MC-BASIC uses TCP/IP API (sockets).
TCP/IP provides multi-thread communications. The same physical link (Ethernet) is shared between several applications. This way, the MC can connect to BASIC Moves and one or more intelligent I/O devices.
The MC supports both client and server roles for TCP/IP communications. The TCP/IP client connects to a remote system, which waits for a connection while the TCP/IP server accepts a connection from a remote system. Usually, the MC serves as client while interfacing to an intelligent I/O connected to the LAN, and as a server when working toward remote host like a software PLC. The MC uses Realtek RTL8019AS Ethernet NIC at a bit rate of 10 M bps.
1.8.2.1. SETUP
TCP communication starts by opening a socket either to connect to a remote computer (remote host) or accept a connection from a remote host. Use
CONNECT or ACCEPT, depending on the MC functionality (client or server). OPENSOCKET creates a TCP socket and assigns the socket descriptor to
the specified device handle. The socket is created with OPTIONS NO_DELAY (send data immediately= 1). Otherwise, the data is buffered in the protocol stack until the buffer is full or a time-out is reached. This improves responsiveness when small amounts of data are sent. This option is recommended for interactive applications with relatively small data transfer. Otherwise, OPTIONS = 0.
OPENSOCKET OPTIONS=1 AS #1
OPENSOCKET assigns a device handle to the communication port (as OPEN). Any further reference to the communication port uses the device
handle number. The device handle range is 1…255.
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There are several ways to set the IP address of the controller. By default, the MC boots without a valid IP address. The following options are available to set the IP address of the controller:
Static IP address setting
Use SYS.IPADDRESSMASK in the Config.prg file to assign the IP address and Subnet mask:
SYS.IPADDRESSMASK=”212.25.84.109:255.255.255.128”
Dynamic address setting by Windows API
API assigns an IP address to the MC when it establishes TCP communication with the controller. The IP address and Subnet mask are taken out of a pre-defined address pool. BASIC Moves uses this address assigning method. Refer to the BASIC Moves Development
Studio
®
User Manual and SERVOSTAR® MC Reference Manual for
detailed information.
DHCP
IP address is assigned by the DHCP server. If your network does not support DHCP, the controller tries to get the address from the DHCP server and times out after few minutes. During that time, communication with the controller is not possible.
SYS.IPADDRESSMASK=”dhcp”
If DHCP is used, select Automatic connection method as shown below:
Get the controller’s IP address
Use SYS.IPADDRESSMASK to query the IP address and Subnet mask of the MC.
-->?SYS.IPADDRESSMASK
172.30.3.11:255.255.0.0
NOTE
The MC has several IP interfaces: Ethernet, IP over serial and IP over DPRAM. However SYS.IPADDRESSMASK is only valid for Ethernet interfaces. Others have fixed IP addresses, which cannot be changed.
PING tests that a remote host is reachable. The remote host must support ICMP echo request.
?PING(”212.25.84.109”)
1.8.2.2. MC AS TCP CLIENT
When acting as a client, the MC tries to connect to a remote server until a time out value expires or the connection is rejected. Use CONNECT when the MC acts as a client.
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The MC requests a connection from a remote host, according to a specific IP address and port. CONNECT blocks task execution until the connection is established or until the command fails. To unblock a task waiting in CONNECT, close the corresponding socket using CLOSE. In addition, killing a task (KILLTASK) blocked by CONNECT closes the socket to release the task. CONNECT may fail due to the following reasons:
1. Invalid socket descriptor
2. Remote host has no application attached to specified port.
3. Destination address is not reachable
The following example illustrates a typical procedure of establishing a connection to a remote host, and sending and receiving data:
OPENSOCKET OPTIONS=0 AS #1 CONNECT (#1,”212.25.84.100”,6002) PRINT #1,”HELLO” ?INPUT$(LOC(1),#1) CLOSE #1
1.8.2.3. MC AS TCP SERVER
When acting as a server. the MC endlessly waits for a connection from the remote host. Use ACCEPT when the MC acts as server. ACCEPT binds a socket to a specified port and waits for a connection. Simultaneous ACCEPTs on the same port are not allowed. ACCEPT blocks the execution of the calling task until a connection is established. To unblock the task waiting in ACCEPT, close the corresponding socket with CLOSE. In addition, killing a task (KILLTASK) blocked in ACCEPT closes the socket and releases the task. The following example illustrates a typical procedure of waiting for a connection from a remote host, and sending and receiving data:
OPENSOCKET OPTIONS=0 AS #1 ACCEPT (#1,20000) PRINT #1,”HELLO” ?INPUT$(LOC(1),#1) CLOSE #1
1.8.3. Send /Receive Data
Serial and TCP communication use the same commands to send and receive data. After establishing communication over TCP or after configuring the serial port communication parameters, send and receive data regardless the communication type. Data flow differences are communication speed and the size of the input and output buffers. TCP/IP communication uses larger communication buffers.
1.8.3.1. RECEIVE DATA
The input-buffer of the serial ports is a fixed512 bytes size. User communication allows receiving strings using INPUT$. To check if data is ready at the input buffer, use LOC. The following example checks the number of bytes available at the input buffers and reads all the available data:
-->?LOC(1) 11
-->STRING_VAR = INPUT$(11, #1)
-->?STRING_VAR Hello World
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If INPUT$ requests reading a data length larger than available data, the command returns only the available data:
-->?LOC(1) 11
-->STRING_VAR = INPUT$(20, #1)
-->?STRING_VAR Hello World
LOC can be used within the INPUT$:
STRING_VAR = INPUT$(LOC(1), #1)
A partial read of the input buffer is allowed. This way, several calls to INPUT$ empty the input-buffer:
-->?LOC(1) 11
-->STRING_VAR = INPUT$(3, #1)
-->?STRING_VAR Hel
-->?LOC(1) 8
-->STRING_VAR = INPUT$(8, #1)
-->?STRING_VAR lo World
When calling INPUT$, the system does not wait for data. If the input-buffer is empty, the command returns without any return value:
-->?LOC(1) 0
-->STRING_VAR = INPUT$(10, #1)
-->?len(STRING_VAR) 0
1.8.3.2. SEND DATA
PRINT # and PRINTUSING # send data over the serial port. Both commands use the same formatting as PRINT and PRINTUSING.
NOTE
PRINT # and PRINTUSING # appends a carriage-return (ASCII value 13) and line-feed (ASCII value 10) characters at the end of each message. To print a message without the terminating carriage-return and line-feed characters use a semicolon at the end of the command.
For example, the following uses PRINT # to send data:
-->STRING_MESSAGE = "ERROR"
-->PRINT #1, STRING_MESSAGE,"A1.PCMD=";A1.PCMD;
The output is:
ERROR A1.PCMD=0.000000000000000e+00
The values of the following variables are sent one after the other. The output is (hexadecimal) 0x37 0x28:
I1=55 I2=40 PRINT #1, I1;I2
The output is:
5540
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1.8.3.3. SEND DATA BLOCK
PRINTTOBUFF # and PRINTUSINGTOBUFF # allows buffering of data before actually being sent. This eliminates inter-character delays.
printtobuff #handle,chr$(0); chr$(message_length); chr$(0);send=false printtobuff #handle,chr$(request[ii]);send=false printtobuff #handle,chr$(request[ii]);send=true
1.8.3.4. SEND/RECEIVE NULL CHARACTER
When using a specific protocol over Serial or TCP/IP ModBus RTU or ModBus TCP), the NULL character is part of the message. The message block cannot be saved in a STRING type variable since the NULL character terminates the string.
To send a NULL character in a message, send the data as single bytes instead of a string type message:
COMMON SHARED X[10] AS LONG X[1]=0x10 X[2]=0 X[3]=0x10 PRINT #1, CHR$(X[1]);CHR$(X[2]);CHR$(X[3]);
The output is the following stream of bytes:
0x10, 0x0, 0x10
When the received data contains a NULL character, read the data from the input buffer as single bytes instead of reading it into a string type variable. Convert the incoming data to a numeric value to get its ASCII value:
DIM SHARED TEMP[10] AS DOUBLE FOR IDX = 1 TO LOC(1) TEMP[IDX] = ASC(INPUT$(1,#1)) NEXT IDX
The figure below gives a general description of the TCP/IP communication for both the client and host.
Open Socket
Client
Server
Close TCP connection (close socket)
Accept
Connect to specific port and specific IP address
Read
Write
Close
Listen to specific port and accept connection
Read
Write
Connect
Read
Write
Read
Write
Open TCP connection (open socket)
1.8.3.5. CLOSE CONNECTION
CLOSE closes the connection and releases the device handle:
-->CLOSE #1
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2. BASIC MOVES DEVELOPMENT STUDIO
BASIC Moves Development Studio (BMDS) provides Windows-based
project control for each application. BASIC Moves Development Studio supports development for multi-tasking and also provides numerous tools and wizards to simplify programming the MC.
BASIC Moves also provides modern debugging features such as allowing task control by visually setting breakpoints, watch variables, and single stepping. BASIC Moves automatically displays the data recorded on the MC during operation. BASIC Moves provides all the tools you need for developing and debugging your application. When you start Basic Moves, your first action is to select a method for communicating with your MC.
If you are using either a PCI or ISA model MC, choose ISA/PCI Bus. If you are using a Stand-alone model MC, select either Serial Port or Ethernet (communication method configured for your system). For more information concerning communication with the stand-alone MC, refer to the Software Installation section of the SERVOSTAR
MC Installation Manual.
2. 1 COMMUNICATION
Communicating with a stand-alone MC is not as automatic as is comunicating with a PCI or ISA plug-in MC. Assuming you have properly configured the communication method during installation of the BASIC Moves Development Studio on your host computer, there are still some operating procedures you may need to perform.
Ethernet
If you configured Ethernet communications, subsequent communication with the MC is automatically enabled and no further intervention is needed unless you change the Ethernet network environment. If your netw ork environment changes, you may need to edit the IP address file. Refer to the SERVOSTAR
MC Installation Manual for additional information.
Serial
The installation package includes the Virtual NIC device driver, which is started automatically by Basic Moves Development Studio. No special configuration is required. Refer to the SERVOSTAR
MC Installation
Manual for additional information.
2. 2 MC-BASIC
The MC is programmed in MC-BASIC
® (
Motion Control BASIC), a version of the BASIC programming language enhanced for multi-tasking motion control. If you are familiar with BASIC, you already know much of MC-BASIC. For detailed information on any of the commands (including examples) used in MC-BASIC, refer to the SERVOSTAR
MC Reference Manual.
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To develop your application on the MC, you must install BASIC Moves Development Studio. Refer to the software installation section of the
SERVOSTAR
MC Installation Manual for detailed instructions.
2.2.1. Instructions
Instructions are the building blocks of BASIC. Instructions set variables, call functions, control program flow, and start processes such as events and motion. In this manual we will use the terms instruction and command interchangeably. For detailed information on any of the instructions (including examples), refer to the SERVOSTAR
MC Reference Manual.
Syntax is the set of rules that must be observed to construct a legal command (that is, a command the MC can recognize).
MC-BASIC is line-oriented. The end of the line indicates the end of the instruction. Whitespace (i. e., spaces and tabs within the statement line and blank lines), is ignored by the Basic interpreter. You can freely use indentation to delineate block structures in your program code for easier readability. The maximum allowed length of a line is 80 characters.
MC-BASIC is case insensitive. Commands, variable names, filenames, and task names may be written using either upper case or lower case letters. The only exception is that when printing strings with the “Print” and “PrintUsing” commands, upper and lower case characters can be specified.
Syntax uses the following notation: [ ] indicates the contents are required { } indicates the contents are optional for the command
Example lines of text are shown in Courier type font and with a border:
X = 1
2.2.2. Type
There are many types of instructions: comments, assignments, memory allocation, flow control, task control, and motion. For detailed information on any of the commands (including examples), refer to the SERVOSTAR
MC
Reference Manual.
Comments allow you to document your program. Indicate a comment with either the Rem command or a single apostrophe ('). You can add comments to the end of an instruction with either Rem or an apostrophe.
Rem This is a comment ' This is a comment too. X = 1 'This comment is added to the line X = 1 X = 1 REM This is a comment too
Use comments generously throughout your program. They are an asset when you need support from others and they avoid confusing code.
Declarations allocate MC memory for variables and system elements (groups, cam tables, etc.). This might be a simple type as an integer, or a complex structure as a cam table.
Assignments Assignment instructions assign a new value to a variable. The syntax of an assignment is
[Lvalue] [=] [expression] For example:
X = Y + 1
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The term, Lvalue, is a shorthand notation, which indicates the value to the left of the equals sign. Valid Lvalues are variables or writable properties, which can be assigned. Expressions can be variables, constants, properties and function calls, as well as various combinations of them in arithmetic and logical statements . An exception to this rule is generic elements’ assignment, at which the right side of the equal sign is not an expression, but an axis or a group (either real or generic), and Lvalue is a generic elements. If you assign a Double (floating point) value (expression, variable or constant) to a Long variable, the fractional portion of the double value is truncated, and the integer portion is assigned to the long variable. To query a variable or expression from the BASIC Moves terminal window, use the PRINT or ? command:
PRINT 1/100 ? X1
MC-BASIC also provides the standard PRINTUSING (PrintU) command for formatted printing.
Commands for flow control change the way your program is executed. Without flow control, program execution is limited to processing the line immediately following the current command. Examples of flow control include GOTO, FOR…NEXT, and IF…THEN.
MC-BASIC is a multi-tasking language in which many tasks can run concurrently. Generally, tasks run independently of each other. However, tasks can control each other using inter-task control instructions. One task can start, idle, or terminate another task.
Most commands are started and finished immediately. For example:
x = 1 ' this line is executed completely… y = 2 ' …before this line is started
For general programming, one command is usually finished before the next command starts. Effects of these commands do not persist beyond the time required to execute them. However, the effects of many other commands persist long after the execution of the command. In general programming, for example, the effects of opening a file or allocating memory persist indefinitely. In real-time systems, persistence is more complicated because the duration of persistence is less predictable.
Consider a command that specifies a 1,000,000 counts move on an axis named, A2:
Move A2 1000000.0 Y = 2
The MC does not wait for the 1,000,000 move to be complete before executing Y=2. Instead, the first command starts the motion and then the MC continues with the next line (Y = 2). The move continues well after the move command has been executed.
Persistence can affect programs. For example, you may not want to start one move until the previous move is complete. In general, you need access to persistent processes if you are to control your program according to their state of execution. As you will see later, MC-BASIC provides this access.
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2.2.3. Constants and Variables
All constant, variable and system element names must start with an alphabetical character (a-z, A-Z) and may be followed with up to 31 alphabetical characters, numbers (0-9) and underscores (“_”). Keywords may not be used as names. For detailed information on any of the constants and variables (including examples), refer to the SERVOSTAR
MC
Reference Manual.
2.2.3.1. CONSTANTS
Constants are numbers, which are written as ordinary text characters; for example, 161. Constants can be written in decimal or in hexadecimal (HEX). To write a constant in hex, precede it by a 0x; for example, 0xF is the hex representation of 15 decimal.
The MC provides numerous literal constants (reserved words with a fixed value). You can use these constants anywhere in your program to make your code more intuitive and easier to read. For example:
A1.Motion = ON
turns on the A1 property Motion. This is more intuitive to read than:
A1.Motion = 1
although the effect is identical.
2.2.3.1.1 Literal Constants Table
ABORT = 4 NEGATIVE = -1 ABOVE = 2 NEXTMOTION or NMOT = 2 BELOW = 1 NOFLIP = 1 CAM = 2 NOOVERLAP = 0 CAPTURING = 16 NOTELEVEL = 3 CLEARMOTION or CMOT = 3 OFF = 0 CLOSE = 0 ON = 1 CONTINUE or CONT = 1 ONPATH = 2 ENDMOTION or EMOT = 3 OPEN = 1 ERRORLEVEL = 2 OVERLAP = 1 EXTERNAL = 1 PI = 3.14159265359 FALL = 2 POSITIVE = 1 FALSE = 0 RESTART = 1 FAULTLEVEL = 1 RIGHTY = 2 FLIP = 2 RISE = 1 GEAR = 1 SILENTLEVEL = 0 GENERATORCOMPLETED or GCOM = 3 SUPERIMMEDIATE or SIMM = 5 HALT = 0 SYNC = 4 HOMING = 10 TASK_ERROR = 4 IDN_CAPTURE1ENABLE = 405 TASK_IGNORE = -1 IDN_CAPTURE1POSITIVELATCHED = 409 TASK_INCORRECT = 9 IDN_CAPTURE1NEGATIVELATCHED = 410 TASK_INTERRUPTED = 0x200 IMMEDIATE or IMMED = 1 TASK_KILLED = 10 INPOSITION or INPOS = 2 TASK_LOCKED = 0x100 LEFTY = 1 TASK_READY = 7 MAXDOUBLE = 1.797693134862311e+308 TASK_RUNNING = 1 MAXLONG = 2147483647 TASK_STOPPED = 2 MINDOUBLE = -1.797693134862311e+308 TRACK = 3 MINLONG = -2147483648 TRUE = 1 MULTIPLE = 1
2.2.3.2. VARIABLES
You must declare a variable in MC-BASIC before you can it. In the declaration, you define variable name, scope and variable type. MC-BASIC supports Long for integer values, Double for floating point values, and String for ASCII character strings.
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Besides these basic types, MC-BASIC also supports Structure-like variables and some MC-BASIC specific types, such as points (Joints and Locations), generic motion elements (Axes and Groups) and UEAs (user error assertions-Errors and Notes).
DeleteVar deletes a global variable. Since variable name can include wildcards, a single DELETEVAR can be used to delete more than one variable.
DeleteVar int1 DeleteVar int* ' Deletes all variables starting with int
Current values of global variables (both scalar and arrays) can be stored in a Prg file, in assignment format, within an automatically executable Program Continue…Terminate Program block. Obligatory parameters of SAVE are the name of storage file, and type of stored variables (could be all types). Optional parameters are robot type (for point variables), variable name (which may include wildcards) and mode of writing to storage file (overwriting or appending). Variable types available for storage through SAVE are longs, doubles, strings, joints and locations, but not structures, user-defined exceptions nor generic motion elements.
Save File = “IntFile.Prg” Type = All VariableName = “int*” ‘ Save all variables starting with int in IntFile.Prg (overwrite file) Save File = “Points.Prg” Type = Joint RobotType = XYZR Mode = Append ‘ Append all joint-type points with XYZR robot-type to Points.Prg file
Scope defines how widely a variable can be accessed. The broadest scope is global. A global variable can be read from any part of the system software. Other scopes are more restrictive, limiting access of variables to certain sections of code. MC-BASIC supports three scopes: global, task, and local. Task variables can be read from or written to anywhere within the task where it is defined, but not from outside the task. Local variables can only be used within their declaration block, i.e. program, subroutine or function blocks. The scope of a variable is implicitly defined when a variable is declared using the keywords: Common, Shared, and Dim.
Global variables can be defined within the system configuration task, Config.Prg, within a task files (Prg files), before the program block, within library files (Lib files), before the first subroutine or function block, or from the terminal window of BASIC Moves. To declare a variable of global scope use the Common Shared instruction.
Task variables are defined within a task or a library. To declare a variable of task scope use the Dim Shared instruction.
NOTE
All Dim Shared commands must appear above the Program statement in task files. In library files, all Dim Shared commands must appear above the first block of subroutine or function. The values of variables declared with Dim Shared persist as long as the task is loaded, which is usually the entire time the unit is operational. This is commonly referred to as being static.
Local variables are defined and used within a program, a subroutine, or a function. To declare a local variable, use the Dim instruction. The Dim command for local variables must be entered immediately below the Program, Sub, or Function statement. Local variables cannot be declared within event blocks, and events cannot use local variables declared within the program.
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2.2.4. Data Types
MC-BASIC has two numeric data types: Long and Double. Long is the only integer form supported by MC-BASIC. Long and Double are MC-BASIC's primitive data types.
Type Description Range Long 32 bit signed integer -2,147,483,648 (MinInteger)to
2,147,483,647 (MaxInteger)
Double Double precision floating point
(about 16 places of accuracy)
±1.79769313486223157 E+308
MC-BASIC provides the string data type which consists of a string of ASCII­coded characters. MC-Basic strings are dynamic. Reallocation of memory for new strings is preformed through a simple assignment of the string variable, and there is no need to specify the length of the new string. A full complement of string functions is provided to create and modify strings.
Type Description Range String ASCII character string (no string length limit) 0 to 255 (ASCII code)
MC-BASIC has two point data types: JOINT and LOCATION. A point variable is related to a robot type. Robot type examples: XY – two axes XY table, XYZ – three axes XYZ system, XYZR – three cartesian axes + roll, etc.
Type Description Range Joint A set of 2-10 double precision
floating point joint (motor) coordinates
±1.79769313486223157 E+308 for each coordinate
Location A set of 2-10 double precision
floating point cartesian coordinates
±1.79769313486223157 E+308 for each coordinate
MC-Basic enables definition of structure-like data types, composed of a limited number of long, double, string and point (joint and/or location) scalar and array elements. Array elements can have only a single dimension. Name of structure type and composition of elements are defined by the user within configuration file (Config.Prg).
Type Description Range 0-100 longs
32 bit signed integer -2,147,483,648 (MinInteger) to
2,147,483,647 (MaxInteger)
0-100 doubles Double precision floating point
(about 16 places of accuracy)
±1.79769313486223157 E+308
0-100 strings ASCII character string (no
practical limit to string length)
0 to 255 (ASCII code)
0-100 points (joints and/or locations)
A set of 2-10 double precision floating point coordinates
±1.79769313486223157 E+308 for each coordinate
0-10 long arrays
1-32,767 32 bit signed integers -2,147,483,648 (MinInteger) to
2,147,483,647 (MaxInteger) 0-10 double arrays
1-32,767 double precision floating point elements
±1.79769313486223157 E+308 0-4 string
arrays
1-32,767 ASCII character strings
0 to 255 (ASCII code) 1-2 point
(joints and/or locations) arrays
1-32,767 sets of 2-10 Double precision floating point coordinates
±1.79769313486223157 E+308
for each coordinate
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MC-Basic has two UEA (user error assertion) data types (severities): Error and Note. Each UEA is defined with a string-type error message given by the user and a unique exception number, which might be determined either by the user or by the system. The SERVOSTAR
MC handles UEAs similar to
internal exceptions.
Type Description Range Error An ASCII message string and a
unique integer exception number
20001-20499 for user determined exception number 20500-20999 for system determined exception number
Note An ASCII message string and a
unique integer exception number
20001-20499 for user determined exception number 20500-20999 for system determined exception number
MC-Basic provides generic element data types designed to serve as a reference to real axes and groups. Through a simple assignment statement, the generic element gets the element identifier (see below) of a real motion element, thus acquiring all its properties. Afterwards, all activities preformed on the generic element identically affect the real element. The referenced element can be changed, through recurring assignments, as many times as the user wishes.
Type Description Range Generic Axis An integer element
identifier
0 (before first assignment) 1 to number of axes in system (up to 32)
Generic Group An integer element
identifier
0 (before first assignment) 33 to number of groups in system (up to 64)
Each real motion element gets a unique element identifier from the system during its declaration. Axes get successive element identifiers ranging from 1 to 32 according to axis number. Groups get successive identifiers ranging from 33 to 64 according to declaration order. Value of element identifier can be queried directly through ELEMENTID.
SYS.NUMBERAXES = 2 Common Shared G2 As Group AxNm = A1 AxNm = A2 Common Shared G1 As Group AxNm = A1 AxNm = A2
? A1.ELEMENTID 1 ? A2.ELEMENTID 2 ? G2.ELEMENTID 33 ? G1.ELEMENTID 34
MC-BASIC uses integers to support Boolean (logical) operations. Logical variables have one of two values: true or false. MC-BASIC uses type Long to support logical expressions. The value 0 is equivalent to false. Usually, 1 is equivalent to true, although any non-zero value is taken to be true. Boolean expressions are used in conditional statements such as If…Then, and with Boolean operators like And, Or, and Not.
Arrays can be any data type. Arrays may have from 1 to 10 dimensions. The maximum number of elements in any dimension is 32,767. Array dimensions always start at 1.
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2.2.4.1. STRUCTURES
A structure is a new data type used for storing a list of variables of different type in one variable.
2.2.4.1.1 Definition
Since a structure is a user-defined data type; it must first be defined. Structure type definition can be done only in the Config.prg file (before the PROGRAM block, at the declaration level), using the following syntax:
TYPE <structure_type_name> <element_name>{[]} AS <element_type> {OF <robot_type>} … END TYPE
This block defines the name of the structure type and the names, types and array sizes of the various structure elements (fields). Data types supported as structure elements are: long, double, string, and points (JOINT and LOCATION). Array elements can only have a single dimension. The maximum structure block can include: 100 longs, 100 doubles, 100 strings, 100 points JOINTs and/or LOCATIONs), 10 long-type arrays, 10 double-type arrays, 4 string-type arrays and 2 point-type arrays JOINTs and/or LOCATIONs). The total size of the MC-Basic structure is limited. The maximum number of each type of element is fixed. Trying to define more structure elements than allowed results in a translation error. An array of structures may have up to 10 dimensions.
2.2.4.1.2 Declare
You must declare a structure before you can use it. If you want to declare a structure variable, you must first declare a structure data type and then use this data type structure to declare the variable. The structure data type definition can be done in the Config.prg file only with the following syntax (before the PROGRAM token, at the declaration level):
TYPE <variable_name> <variable_name> as <type> <variable_name> as <type> {<of> <robot_type>} … END TYPE
This block defines the new element names of the structure type. The different types supported for the structure are: long, double, string, and points. The maximum structure block is defined as:
100 longs 100 doubles 100 strings 100 points
2.2.4.1.3 Syntax
(COMMON SHARED|DIM {SHARED}) <variable_name> AS <variable_name>
or
(COMMON SHARED|DIM {SHARED}) <variable_name>[<index>] AS <variable_name>(arrays of structure)
where the second variable name = the structure type
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For example:
In config file -> Type X Type as Long Length as Long End Type
In application file -> Dim shared s1 as X Program ?s1->Type End program
Do not define the size of the structure data type. The size of the structure is constant. If you declare more structure elements than allowed, a translation error is generated.
2.2.4.1.4 Assignment
The assignment of a structure uses the following syntax:
<variable_name> = <expression> where <expression> is of structure type
Whole structure assignment is allowed only if both structures are of the same structure type. For example:
Dim STa1 As Type_1 Dim STb1 As Type_1 Dim STa2 As Type_2 STa1 = STb1 -> Structure types match STa2 = STa1 -> Error - structure type mismatch
2.2.4.1.5 Elements
A structure element is addressed through the structure’s name and the arrow sign. For example:
<structure_name>{[]…}-><element_name>{[]}
Structure elements are handled almost like regular variables. Structure elements are printed, assigned, participate in mathematical operations, and string-type elements are concatenated to other strings. They can also serve as arguments of system functions (SIN, UCASE$, etc.), used in logic statements and as conditions of flow control statements and event definitions. For example:
Common Shared ST As STRUCT
PRINT ST->LongElm1 ST->LongElm2 = 21.2 * ST->LongArrElm[1] ? UCASE$(“String Element Is: “ + ST->StringElm) IF ST->LongElm1 > 0 THEN SELECT CASE ST->LongElm2
2.2.5. System Elements
There are several system elements: axes, groups, cam tables, PLSs, conveyers and compensation tables. These are not regular data types, but are more like user interfaces of the system's internal memory or internal function calls. You cannot handle them as a whole in expressions.
Each
system element has a set of properties, which is accessed through syntax resembling data elements of a structure, using the point character.
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Despite the syntax, properties are not data elements, since a system element and its properties are not located on a continuous block of memory. All properties return a value, so they can be printed, combined in expressions and passed by value to functions and subroutines. Many properties are also writable and can be assigned like variables.
Unlike variables, properties do not have a fixed address in memory and cannot be passed by reference. Data types of properties are Long, Double, String, Joint and Location. For axis A1 and cam table Cam1, and a long type variable named Var1:
? A1.Enable ‘ Query A1.Enable = 1 ‘ Set (read-write property) ? A1.PositionCommand ‘ Query A1.PositionCommand = 0 ‘ Syntax Error (read-only property)
Var1 = Cam1.Cycle ‘ Query Cam1.Cycle = -1 ‘ Set (read-write property) Var1 = Cam1.Inuse ‘ Query Cam1.Inuse = 1 ‘ Syntax Error (read-only property)
2.2.6. Units
Many variables have associated units. This include variables, which contain quantities of position, velocity, acceleration, and time. Some units are fixed. For example, time is always in milliseconds. MC-BASIC allows you to define units of position, velocity and acceleration independently. In the next chapter, we will discuss how to set up units.
2.2.7. Expressions
Expressions are combinations of operators and value-returning entities, such as variables, constants, function calls, which are all calculated into a value. In MC-Basic, expressions can also contain unique entities like element properties (see above) and system properties (see below). Operators (like + and -) specify how to combine the variables and constants. Expressions are used in almost all commands.
An expression has one of two syntax forms
[operand] [binary operator] [operand] [unary operator] [operand]
An operand can be a constant (123.4), variable name (X), or another expression. Most operators are binary (they take two operands), but some are unary (taking only one operand). So, -5.5 is a valid expression. It has the unary minus (also called negation) and a single operand.
There are two types of expressions: algebraic and logical (or Boolean). Algebraic expressions are combinations of data and algebraic operators.
The results of all algebraic operations are converted to double precision floating-point after executing the expression.
2.2.8. Automatic Conversion of Data Types
If the assignment of an expression is an integer, the expression is still evaluated in double precision. For example:
Common Shared I as Long I = 6.33 * 2.79
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