Script Commands

3PH<N>=<M> <A>

Description

Sets the assigned PWMs of an axis to the specified magnitude and phase angle for a brushless 3 phase motor.

This command is useful for energizing a coil (or effective coil position). This is often required while initial homing or determining the commutation offset for a 3 phase brushless motor. If an effective coil position is energized, the motor rotor will normally align itself to the coil position. This is similar to the manner in which a stepping motor operates. Since the rotor location is then known, the commutation offset may then be determined. Alternately if an index mark is available, the effective coil position may be rotated by changing the phase angle until the index mark is detected.

Parameters

<N>

Selected Axis for command. Valid range 0...7.

<M>

Magnitude of output to apply.

Valid Range is -230 ... +230 PWM units

<A>

Commutation angle to be used.

Units are in Commutation cycles

Only fractional value will be used

Example

3PH0=230 0.5

4PH<N>=<M> <A>

Sets the assigned PWMs of an axis to the specified magnitude and phase angle for a brushless 4 phase motor.

This command is useful for energizing a coil (or effective coil position). This is often required while initial homing or determining the commutation offset for a 4 phase brushless motor. If an effective coil position is energized, the motor rotor will normally align itself to the coil position. This is similar to the manner in which a stepping motor operates. Since the rotor location is then known, the commutation offset may then be determined. Alternately if an index mark is available, the effective coil position may be rotated by changing the phase angle until the index mark is detected.

Parameters

<N>

Selected Axis for command. Valid range 0...7.

<M>

Magnitude of output to apply.

Valid Range is -250 ... +250 PWM units

<A>

Commutation angle to be used.

Units are in Commutation cycles

Only fractional value will be used

Example

4PH0=250 0.5

Accel <N>=<A>

Accel <N>

Description

Get or Set the max acceleration (for independent moves and jogs)

Parameters

<N>

Selected Axis for command. Valid range 0...7.

<A>

The max acceleration. Units are in Position units per sec²

Example

Accel0=1000.0

ADC<N>

Description

Display current ADC (Analog to Digital Converter). Display range -2048 to 2047

Channels 0-3 are ±10V general purpose inputs

Channels 4-7 are Motor Currents

Parameters

<N>

ADC channel

Valid range 0 ... 7

Example

ADC 0

Arc <X_C> <Y_C> <R_X> <R_Y> <θ₀> <dθ> <Z₀> <A₀> <B₀> <C₀> <Z₁> <A₁> <B₁> <C₁> <a> <c> <d> <t_F>

Description

Place circular (also elliptical or helical) interpolated move into the coordinated motion buffer. See also KMotion Coordinated Motion. A path through space is defined where x and y are changing in an elliptical manner and z, a, b, c are changing in a linear manner forming a portion of a helix. A parametric equation is defined which describes which portion of the path as well as how as a function of time the path is to be traversed. This command can consist of up to 6 axis of coordinated motion. X and Y perform an arc while Z, A, B, and C move linearly.

Although the Arc command may be sent directly, the Arc command is normally generated automatically to perform a planned trajectory by the coordinated motion library or GCode.

(X_C,Y_C) - center of circle

(R_X,R_Y) - x radius and y radius

θ₀ - initial angle for the beginning of the path

dθ - amount of angular change for the path

Z₀ - initial Z position of path

A₀ - initial A position of path

B₀ - initial B position of path

C₀ - initial C position of path

Z₁ - final Z position of path

A₁ - final A position of path

B₁ - final B position of path

C₁ - final C position of path

3rd order parametric equation where

p = a t³ + b t² + c t + d

p is the position along the path as a function of time. When p=0 the (x,y,z) position will be at the beginning of the path (θ= θ₀ and z=z₀). When p=1 the (x,y,z) position will be at the end of the path (θ= θ₀+dθ, and z=z₁).

This motion segment will be performed over a time period of t_F, where t varies from 0 ... t_F. Note that it is not necessary that p vary over the entire range of 0 ... 1. This is often the case when there may be an acceleration, constant velocity, and deceleration phase phase over the path. ie: t might vary from 0.0->0.1 where p might vary from 0.3->0.7.

Parameters

<X_C> - X center of ellipse, units are position units of x axis

<Y_C> - Y center of ellipse, units are position units of y axis

<R_X> - X radius of ellipse, units are position units of x axis

<R_Y> - Y radius of ellipse, units are position units of y axis

<θ₀> - initial theta position on ellipse, radians (0 radians points in the +x direction)

<dθ> - change in theta position on ellipse, radians (+ theta causes CCW motion)

<Z₀> - initial Z position on path, units are position units of z axis

<A₀> - initial A position on path, units are position units of a axis

<B₀> - initial B position on path, units are position units of b axis

<C₀> - initial C position on path, units are position units of c axis

<Z₁> - final Z position on path, units are position units of z axis

<A₁> - final A position on path, units are position units of a axis

<B₁> - final B position on path, units are position units of b axis

<C₁> - final C position on path, units are position units of c axis

<a> - parametric equation t³ coefficient

 - parametric equation t² coefficient

<c> - parametric equation t coefficient

<d> - parametric equation constant coefficient

<t_F> - time for segment

Example (complete unit circle, centered at 0.5,0.5, no Z, A, B, or C motion, performed in 10 seconds)

Arc 0.5 0.5 1.0 1.0 0.0 6.28 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.1 0.0 10.0

ArcXZ <X_C> <Z_C> <R_X> <R_Z> <θ₀> <dθ> <Y₀> <A₀> <B₀> <C₀> <Y₁> <A₁> <B₁> <C₁> <a> <c> <d> <t_F>

Description

Place circular (also elliptical or helical) interpolated move into the coordinated motion buffer. Same as Arc Command except circular motion is performed in the XZ plane rather than the XY plane.

ArcYZ <Y_C> <Z_C> <R_Y> <R_Z> <θ₀> <dθ> <X₀> <A₀> <B₀> <C₀> <X₁> <A₁> <B₁> <C₁> <a> <c> <d> <t_F>

Description

Place circular (also elliptical or helical) interpolated move into the coordinated motion buffer. Same as Arc Command except circular motion is performed in the YZ plane rather than the XY plane.

ArcHex <X_C> <Y_C> <R_X> <R_Y> <θ₀> <dθ> <Z₀> <A₀> <B₀> <C₀> <Z₁> <A₁> <B₁> <C₁> <a> <c> <d> <t_F>

Description

Place circular (also elliptical or helical) interpolated move into the coordinated motion buffer. This command is exactly the same as the Arc command above, except all 13 parameters are specified as 32-bit hexadecimal values which are the binary images of 32-bit floating point values. When generated by a program this is often faster, simpler, and more precise than decimal values. See also KMotion Coordinated Motion.

Parameters

See above.

Example (complete unit circle, centered at 0.5,0.5, no Z motion, performed in 10 seconds)

Arc 3f000000 3f000000 3f800000 3f800000 0 40c8f5c3 0 0 0 0 40c8f5c3 0 41800000

ArcHexXZ <X_C> <Z_C> <R_X> <R_Z> <θ₀> <dθ> <Y₀> <A₀> <B₀> <C₀> <Y₁> <A₁> <B₁> <C₁> <a> <c> <d> <t_F>

Description

Place circular (also elliptical or helical) interpolated move into the coordinated motion buffer. Same as ArcHex Command except circular motion is performed in the XZ plane rather than the XY plane.

ArcHexYZ <Y_C> <Z_C> <R_Y> <R_Z> <θ₀> <dθ> <X₀> <A₀> <B₀> <C₀> <X₁> <A₁> <B₁> <C₁> <a> <c> <d> <t_F>

Description

Place circular (also elliptical or helical) interpolated move into the coordinated motion buffer. Same as ArcHex Command except circular motion is performed in the YZ plane rather than the XY plane.

BacklashAmount<N>=<A>

BacklashAmount<N>

Description

Sets or gets the amount of Backlash Compensation Offset to be applied.

See also Configuration Screen.

Parameters

<N>

Selected Axis for command. Valid range 0...7.

<H>

32-bit hexadecimal value:

Bit 0 1=Stop Motor on Neg Limit, 0=Ignore Neg limit

Bit 1 1=Stop Motor on Pos Limit, 0=Ignore Pos limit

Bit 2 Neg Limit Polarity 0=stop on high, 1=stop on low

Bit 3 Pos Limit Polarity 0=stop on high, 1=stop on low

Bits 4-7 Action - 0 Kill Motor Drive

1 Disallow drive in direction of limit

2 Stop movement

Bits 16-23 Neg Limit Bit number

Bits 24-31 Pos Limit Bit number

Example

LimitSwitch2 0C0D0003

Linear <X₀> <Y₀> <Z₀> <A₀> <B₀> <C₀> <X₁> <Y₁> <Z₁> <A₁> <B₁> <C₁> <a> <c> <d> <t_F>

Description

Place linear (in 6 dimensions) interpolated move into the coordinated motion buffer. See also KMotion Coordinated Motion. A path through space is defined where x, y, z, a, b, and c are changing in a linear manner. A parametric equation is defined which describes which portion of the path as well as how as a function of time the path is to be traversed.

Although the Linear command may be sent directly, the Linear command is normally generated automatically to perform a planned trajectory by the coordinated motion library or GCode.

(X₀,Y₀,Z₀,A₀,B₀,C₀) - beginning of path

(X₁,Y₁,Z₁,A₁,B₁,C₁) - end of path

3rd order parametric equation where

p = a t³ + b t² + c t + d

p is the position along the path as a function of time. When p=0 the (x,y,z,A) position will be at the beginning of the path. When p=1 the (x,y,z,A) position will be at the end of the path.

This motion segment will be performed over a time period of t_F, where t varies from 0 ... t_F. Note that it is not necessary that p vary over the entire range of 0 ... 1. This is often the case when there may be an acceleration, constant velocity, and deceleration phase over the path. ie: t might vary from 0.0->0.1 where p might vary from 0.3->0.7.

Parameters

<X₀> - X begin point

<Y₀> - Y begin point

<Z₀> - Z begin point

<A₀> - A begin point

<B₀> - B begin point

<C₀> - C begin point

<X₁> - X end point

<Y₁> - Y end point

<Z₁> - Z end point

<A₁> - A end point

<B₁> - B end point

<C₁> - C end point

<a> - parametric equation t³ coefficient

 - parametric equation t² coefficient

<c> - parametric equation t coefficient

<d> - parametric equation constant coefficient

<t_F> - time for segment

Example

Linear 0.0 0.0 0.0 0.0 0.0 0.0 1.0 1.0 1.0 1.0 1.0 1.0 0.0 0.0 1.0 0.0 1.0

LinearEx <X₀> <Y₀> <Z₀> <A₀> <B₀> <C₀> <U₀> <V₀> <X₁> <Y₁> <Z₁> <A₁> <B₁> <C₁> <U₁> <V₁> <a> <c> <d> <t_F>

Description

Place linear (in 8 dimensions) interpolated move into the coordinated motion buffer. See also KMotion Coordinated Motion. A path through space is defined where x, y, z, a, b, c, u and v are changing in a linear manner. A parametric equation is defined which describes which portion of the path as well as how as a function of time the path is to be traversed.

Although the LinearEx command may be sent directly, the LinearEx command is normally generated automatically to perform a planned trajectory by the coordinated motion library or GCode, however currently the GCode Interpreters available only support 6 axes of simultaneous motion.

(X₀,Y₀,Z₀,A₀,B₀,C_0,U₀,V₀) - beginning of path

(X₁,Y₁,Z₁,A₁,B₁,C₁,U₁,V₁) - end of path

This motion segment will be performed over a time period of t_F, where t varies from 0 ... t_F. Note that it is not necessary that p vary over the entire range of 0 ... 1. This is often the case when there may be an acceleration, constant velocity, and deceleration phase over the path. ie: t might vary from 0.0->0.1 where p might vary from 0.3->0.7.

Parameters

<X₀> - X begin point

<Y₀> - Y begin point

<Z₀> - Z begin point

<A₀> - A begin point

<B₀> - B begin point

<C₀> - C begin point

<U₀> - U begin point

<V₀> - V begin point

<X₁> - X end point

<Y₁> - Y end point

<Z₁> - Z end point

<A₁> - A end point

<B₁> - B end point

<C₁> - C end point

<U₁> - U end point

<V₁> - V end point

<a> - parametric equation t³ coefficient

 - parametric equation t² coefficient

<c> - parametric equation t coefficient

<d> - parametric equation constant coefficient

<t_F> - time for segment

Example

LinearEx 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 0.0 0.0 1.0 0.0 1.0

LinearHex <X₀> <Y₀> <Z₀> <A₀> <B₀> <C₀> <X₁> <Y₁> <Z₁> <A₁> <B₁> <C₁> <a> <c> <d> <t_F>

Description

Place linear (in 6 dimensions) interpolated move into the coordinated motion buffer. This command is exactly the same as the Linear command above, except all 17 parameters are specified as 32-bit hexadecimal values which are the binary images of 32-bit floating point values. When generated by a program this is often faster, simpler, and more precise than decimal values. See also KMotion Coordinated Motion.

Parameters

See above.

Example

LinearHex 0 0 0 0 0 0 3F800000 3F800000 3F800000 3F800000 3F800000 3F800000 0 0 3F800000 0 3F800000

LinearHexEx <X₀> <Y₀> <Z₀> <A₀> <B₀> <C₀> <U₀> <V₀> <X₁> <Y₁> <Z₁> <A₁> <B₁> <C₁> <U₁> <V₁> <a> <c> <d> <t_F>

Description

Place linear (in 8 dimensions) interpolated move into the coordinated motion buffer. This command is exactly the same as the LinearEx command above, except all 21 parameters are specified as 32-bit hexadecimal values which are the binary images of 32-bit floating point values. When generated by a program this is often faster, simpler, and more precise than decimal values. See also KMotion Coordinated Motion.

Parameters

See above.

Example

LinearHexEx 0 0 0 0 0 0 0 0 3F800000 3F800000 3F800000 3F800000 3F800000 3F800000 3F800000 3F800000 0 0 3F800000 0 3F800000

LinHex1 <X₁> <Y₁> <Z₁> <A₁> <B₁> <C₁> <a> <c> <d> <t_F>

Description

Place linear (in 6 dimensions) interpolated move into the coordinated motion buffer. This command is exactly the same as the LinearHex command above, except the beginning point is not specified and is assumed to be the endpoint of the previous LinearHex or LinHex1 command. See also KMotion Coordinated Motion.

Parameters

See above.

Example

LinHex1 3F800000 3F800000 3F800000 3F800000 3F800000 3F800000 0 0 3F800000 0 3F800000

LinHex2 <a> <c> <d> <t_F>

Description

Place linear (in 6 or 8 dimensions) interpolated move into the coordinated motion buffer. This command is exactly the same as the LinearHex or LinearHexEx command above, except neither the beginning or ending point is specified and is assumed to be the same as the most recent LinearHex, LinearHexEx, LinHex1, or LinHex2, command. This command can be used when there are more than one phases (ie Jerk, acceleration, constant velocity, etc. that occur along a single linear segment). See also KMotion Coordinated Motion.

Parameters

See above.

Example

LinHex2 0 0 3F800000 0 3F800000

LinHexEx1 <X₁> <Y₁> <Z₁> <A₁> <B₁> <C₁> <U₁> <V₁> <a> <c> <d> <t_F>

Description

Place linear (in 8 dimensions) interpolated move into the coordinated motion buffer. This command is exactly the same as the LinearHexEx command above, except the beginning point is not specified and is assumed to be the endpoint of the previous LinearHexEx or LinHexEx1 command. See also KMotion Coordinated Motion.

Parameters

See above.

Example

LinHexEx1 3F800000 3F800000 3F800000 3F800000 3F800000 3F800000 3F800000 3F800000 0 0 3F800000 0 3F800000

LoadData <H> <N>

 ...

Description

Store data bytes into memory beginning at specified address for N bytes. The data must follow with up to N_BYTES_PER_LINE (64) bytes per line. This command is normally only used by the COFF loader. Since this command spans several lines, it may only be used programatically in conjunction with a KMotionLock or WaitToken command so that it is not interrupted.

Parameters

<H>

32-bit hexadecimal address

<N>

Number of bytes to follow and to be stored

 ...

Bytes to store. 2 hexadecimal digits per byte, separated with a space.

Example

LoadData 80030000 4

FF FF FF FF

LoadFlash<H> <N>

 ...

Description

Store data into FLASH image. Only by KMotion for downloading a new firmware version. Store data bytes into memory beginning at specified address for N bytes. The data must follow with up to N_BYTES_PER_LINE (64) bytes per line. This command is normally only used by the COFF loader. Since this command spans several lines, it may only be used programmatically in conjunction with a KMotionLock or WaitToken command so that it is not interrupted.

Parameters

<H>

32-bit hexadecimal address

<N>

Number of bytes to follow and to be stored

 ...

Bytes to store. 2 hexadecimal digits per byte, separated with a space.

Example

LoadFlash FF00 4

FF FF FF FF

MasterAxis<N>=<M>

MasterAxis<N>

Description

Sets or gets the axis <M> to which the current axis <N> is to be slaved. The current axis becomes a slave and will follow the motion of the specified Master Axis. More than one axis can be slaved to a single master axis if desired. When slaved, changes in the commanded destination of the master axis will be mirrored as changes in the slaved axis's destination however scaled by the SlaveGain (as specified in the Slave Axis). The SlaveGain my be negative if opposing motion is desired.

Setting the Master Axis value to -1 disables the Slave mode.

Parameters

<N>

Selected Axis for command. Valid range 0 ... 7.

<M>

Master Axis or -1 to disable. Valid range -1 ... 7.

Example (set axis 1 to follow axis 0)

MasterAxis1=0

MasterAxis

MaxErr<N>=<M>

MaxErr<N>

Description

Set or get Maximum Error for axis (Limits magnitude of error entering PID).

See Servo Flow Diagram and Step Response Screen for more information.

Parameters

<N>

Selected Axis for command. Valid range 0...7.

<M>

Maximum Error. Valid range - any positive value. Set to a large value to disable.

Example

MaxErr0=100.0

MaxErr0

MaxFollowingError<N>=<M>

MaxFollowingError<N>

Description

Set or get the maximum allowed following error before disabling the axis.

Parameters

<N>

Selected Axis for command. Valid range 0...7.

<M>

Maximum Following Error. Valid range - any positive value. Set to a large value to disable.

Example

MaxFollowingError0=100.0

MaxFollowingError0

MaxI<N> <M>

Description

Set or get Maximum Integrator "wind up" for axis. Integrator saturates at the specified value.

See also Servo Flow Diagram and Step Response Screen for further information.

Parameters

<N>

Selected Axis for command. Valid range 0...7.

<M>

Maximum Integrator value. Valid range - any positive value. Set to a large value to disable.

Example

MaxI0=100.0

MaxI0

MaxOutput<N>=<M>

MaxOutput<N>

Description

Set or get Maximum Output for an axis. Limits magnitude of servo output. Output saturates at the specified value.

See also Servo Flow Diagram and Step Response Screen for further information.

Parameters

<N>

Selected Axis for command. Valid range 0...7.

<M>

Maximum output value. Valid range - any positive value. Set to a large value to disable.

Example

MaxOutput0=100.0

MaxOutput

Move<N>=<M>

Description

Move axis to absolute position. Axis should be already enabled. Uses Vel, Accel and Jerk parameters for the axis to profile a motion from the current state to the specified position.

Parameters

<N>

Selected Axis for command. Valid range 0...7.

<M>

new position in position units. Valid range - any.

Example

Move0=100.1

MoveAtVel<N>=<M> <V>

Description

Move axis to absolute position at the specified Velocity. Axis should be already enabled. Uses Accel and Jerk parameters for the axis to profile a motion from the current state to the specified position.

Parameters

<N>

Selected Axis for command. Valid range 0...7.

<M>

new position in position units. Valid range - any.

<V>

Desired Velocity for the Motion. Valid range - any.

Example

MoveAtVel0=100.1 30.0

MoveExp<N>=<D> <T>

Description

Moves axis in an exponential manner toward the Destination using Time Constant T. The velocity of motion will be proportional to the distance from the Destination. The distance to the Destination will be reduced by 63% (1/e) every Time Constant, T. The Axis should be already enabled. Honors the Vel and Accel axis parameters.

Parameters

<N>

Selected Axis for command. Valid range 0...7.

<D>

Destination in position units. Valid range - any.

<T>

Time Constant Tau in seconde. Valid range - any positive number.

Example

MoveExp0=1000 0.1

MoveRel<N>=<M>

Description

Move axis relative to current destination. Same as Move command except specified motion is relative to current destination.

Axis should be already enabled. Uses Vel, Accel and Jerk parameters for the axis to profile a motion from the current state to the specified position.

Parameters

<N>

Selected Axis for command. Valid range 0...7.

<M>

Distance to move in position units. Valid range - any.

Example

MoveRel0=100.1

MoveRelAtVel<N>=<M> <V>

Description

Move axis relative to current destination at the specified Velocity. Same as MoveAtVel command except specified motion is relative to current destination. Axis should be already enabled. Uses Accel and Jerk parameters for the axis to profile a motion from the current state to the specified position.

Parameters

<N>

Selected Axis for command. Valid range 0...7.

<M>

new position in position units. Valid range - any.

<V>

Desired Velocity for the Motion. Valid range - any.

Example

MoveRelAtVel0=100.1 30.0

MoveXYZABC <X> <Y> <Z> <A>  <C>

Description

Move the 4 axes defined to be x,y,z,A (each axis moves independently). The defined coordinate system determines which axes channels are commanded to move.

Parameters

<X>

Position to move x axis. Valid range - any.

<Y>

Position to move y axis. Valid range - any.

<Z>

Position to move z axis. Valid range - any.

<A>

Position to move a axis. Valid range - any.

Position to move b axis. Valid range - any.

<C>

Position to move c axis. Valid range - any.

Example

MoveXYZABC 100.1 200.2 300.3 400.4 500.5 600.6

OpenBuf

Description

Clear and open the buffer for coordinated motion.

Parameters

None

Example

OpenBuf

OutputChan<M> <N>=<C>

OutputChan<M> <N>

Description

Get or Set the first or second Output Channel of an axis. For Step/Dir and CL Step/Dir Output Mode Types the Pin Drive Mode is also encoded in this value. For example adding 8 to the device channel number will drive in TTL mode instead of Open Collector mode. See description of this parameter on the Configuration Screen and for Step/Dir and CL Step/Dir Output Mode see here.

Parameters

<M>

Selected input channel. Valid range 0...1.

<N>

Selected Axis for command. Valid range 0...7.

<C>

Channel number to assign. Valid range depends on Output Mode Type. Max Range for all Types 0...63.

Example (set first output channel of axis 3 to 3)

OutputChan03=3

OutputGain<N>=<G>

OutputGain<N>

Description

Get or Set the Output Gain of an axis. For Axes of Step/Dir, CL Step Dir, or MicroStep output mode, the output motion can be scaled or reversed. Normally there is no need to use a value other than -1.0 or +1.0. For DAC Servo output mode the output signal (DAC) can be scaled or reversed. Again, normally there is no need to use a value other than -1.0 or +1.0. In other output modes the OutputGain value will have no effect.

Parameters

<N>

Selected Axis for command. Valid range 0...7.

<G>

Gain value. Valid range any floating point value.

Example

OutputGain0=-1.0

OutputGain0

OutputOffset<N>=<O>

OutputOffset<N>

Description

Get or Set the Output Offset of an axis. For DAC Servo output mode the output (DAC) signal can be offset. The Output Offset is applied after any Output Gain value. The Output Offset can be used to reduce any DAC output offset or Amplifier input offset that may cause motor axis drift occurs when the DAC is commanded to zero (disabled). In other output modes the OutputGain value will have no effect.

Parameters

<N>

Selected Axis for command. Valid range 0...7.

<G>

Gain value. Valid range any floating point value.

Example

OutputGain0=-1.0

OutputGain0

OutputMode<N>=<M>

OutputMode<N>

Description

Set or get the position output mode for an axis. See description of this parameter on the Configuration Screen.

Valid modes are (from PC_DSP.h):

#define NO_OUTPUT_MODE 0

#define MICROSTEP_MODE 1

#define DC_SERVO_MODE 2

#define BRUSHLESS_3PH_MODE 3

#define BRUSHLESS_4PH_MODE 4

#define DAC_SERVO_MODE 5

#define STEP_DIR_MODE 6

#define CL_STEP_DIR_MODE 7

#define CL_MICROSTEP_MODE 8

Parameters

<N>

Selected Axis for command. Valid range 0...7.

<M>

Mode. Valid range 1...4

Example

SetOutputMode0=1

P<N>=<M>

P<N>

Description

Get or Set PID Proportional Gain.

Parameters

<N>

Selected Axis for command. Valid range 0...7.

<M>

Proportional Gain value. The units of the derivative gain are in Output Units/Position Units.

Example

P0=10.0

Pos<N>=

Pos<N>

Description

Set or get the measured position of an axis. Note setting the current position may effect the commutation of any motors based on the position (an adjustment in the commutation offset may be required).

Parameters

<N>

Selected Axis for command. Valid range 0...7.

value to be stored into the current position. units are position units. Valid range - any.

Example

Pos0=100.0

ProgFlashImage

Description

Program entire FLASH image, downloaded using LoadFlash commands, to FLASH Memory.

Parameters

None

Example

ProgFlashImage

PWM<N>=<M>

Description

Set PWM channel to locked anti-phase mode and to specified value.

See PWM Description and Analog Status Screen.

Parameters

<N>

PWM channel number. Valid range 0...7

<M>

PWM value. Valid range -255...255.

Example

PWM0=-99

PWMC<N>=<M>

Description

Set PWM channel to Current Mode and to specified value. PWM Channel will operate in closed loop current mode.

See Analog Status Screen.

Parameters

<N>

PWM channel number. Valid range 0...7

<M>

PWM value. Valid range -1000...1000. 1 count = 35 Amps/1024 = 34.2ma

Example

PWM0=-99

PWMR<N>=<M>

Description

Set PWM channel to recirculate mode and to specified value.

See PWM Description and Analog Status Screen.

Parameters

<N>

PWM channel number. Valid range 0...7

<M>

PWM value. Valid range -511...511.

Example

PWMR0=-99

ReadBit<N>

Description

Displays whether an actual hardware I/O bit N (0...30) or Virtual IO bit (32...63) is high (1) or low (0) . A bit defined as an output (See SetBitDirection) may also be read back.

Parameters

<N>

Bit number to read. Valid range - 0...63

Example

ReadBit0

Reboot!

Description

Causes complete power up reset and re-boot from flash memory.

Parameters

None

Example

Reboot!

SetBit<N>

Description

Sets an actual hardware I/O bit N or Virtual IO bit to high (1) .

Parameters

<N>

Bit number to set. Valid range 0...2047

Example

SetBit0

SetBitBuf<N>

Description

Inserts into the coordinated move buffer a command to set an IO bit (actual IO bits must be defined as an output, see SetBitDirection).

Parameters

<N>

Bit number to set. Valid range 0...2047

Example

SetBitBuf0

SetBitDirection<N>=<M>

Description

Defines the direction of an I/O bit to be an input or output.

See also Digital I/O Screen.

Parameters

<N>

Bit number to assign. Valid range 0...255

<M>

Direction 0 = input, 1 = output

Example

SetBitDirection0=1

SetFRO <F>

Description

A negative FRO value will cause the Coordinated Motion Buffer to execute in reverse up until the beginning or until the point where Coordinated Motion Buffer data has been lost due to buffer wrapping (MAX_SEGMENTS is currently ~35,000 segments). When approaching the point where previous data was lost, the FRO will be automatically reduced to zero in order to avoid an abrupt stop. This will not occur (and should not be necessary) when approaching the actual beginning of the buffer because normal acceleration from a stop should exist. In this case Time will stop abruptly when the beginning of the buffer is reached.

In order to avoid an instantaneous change in velocity the FRO will be ramped from the current rate to the specified rate. This command uses a default ramp rate that has been determined based on the Max Allowed Velocities, Accelerations, and Jerks of all the currently defined Coordinate Motion System Axes Channels. In order to specify a different rate the SetFROwRate command may be used.

This command will not alter the rate of execution if the FeedHold mechanism is currently in effect. See StopImmediate. However the specified speed will be saved so that if FeedHold is eventually released, the rate will resume to this specified speed. To change the FRO while in FeedHold use the SetFROTemp or SetFROwRateTemp commands instead. Those commands were intended to be used while in Feed Hold and will not alter the rate that will be resumed after Feed Hold is released.

Parameters

<F>

Desired FRO Value. 1.0 corresponds to normal Real Time, 0.0 corresponds to fully stopped, negative values drive time in reverse. Valid range -100...+100

Example

SetFRO 1.2

SetFROTemp <F>

Description

This command is intended for temporary FRO changes while in Feed Hold.

See SetFRO for additional Information.

Parameters

<F>

Desired FRO Value. 1.0 corresponds to normal Real Time, 0.0 corresponds to fully stopped, negative values drive time in reverse. Valid range -100...+100

Example

SetFROTemp -0.2

SetFROwRate <F> <R>

Description

Sets Hardware FRO (Feed Rate Override) in KFLOP which is the rate that the Coordinated Motion Buffer is executed. A value of 1.0 = Normal Feed Rate = real time = an advance of 90us of time every 90us Servo Sample Period. This command functions the same as the command SetFRO with the exception that the rate at which the FRO will be ramped to the new FRO may be controlled. The ramp rate (rate-of-change-of-rate-of-time) to be used is determined from a user supplied Time Parameter. The Time to ramp from FRO=0. to FRO=1.0. See SetFRO for more information.

Parameters

<F>

Desired FRO Value. 1.0 corresponds to normal Real Time, 0.0 corresponds to fully stopped, negative values drive time in reverse. Valid range -100...+100

<R>

Time to ramp from FRO=0.0 to FRO=1.0 Valid range any positive number.

Example

SetFROwRate 1.2 0.5

SetFROwRateTemp <F> <R>

Description

Sets Hardware FRO (Feed Rate Override) in KFLOP which is the rate that the Coordinated Motion Buffer is executed. A value of 1.0 = Normal Feed Rate = real time = an advance of 90us of time every 90us Servo Sample Period. This command functions the same as the command SetFROTemp with the exception that the rate at which the FRO will be ramped to the new FRO may be controlled. The ramp rate (rate-of-change-of-rate-of-time) to be used is determined from a user supplied Time Parameter. The Time to ramp from FRO=0. to FRO=1.0.

This command is intended for temporary FRO changes while in Feed Hold.

See SetFRO for additional Information.

Parameters

<F>

Desired FRO Value. 1.0 corresponds to normal Real Time, 0.0 corresponds to fully stopped, negative values drive time in reverse. Valid range -100...+100

<R>

Time to ramp from FRO=0.0 to FRO=1.0 Valid range any positive number.

Example

SetFROwRateTemp -0.2 0.5

SetGatherDec <N> <M>

Description

Writes a single word to the Gather Buffer at the specified offset. A single 32-bit value specified as a signed decimal integer number will be stored.

The corresponding value may be accessed by a KMotion user program using the pointer : gather_buffer. This pointer should be cast as an integer pointer in order to reference values as integers and to use the same index.

Parameters

<N>

Offset into gather buffer, specified as a decimal offset of 32 bit words. Valid range 0...1999999

<M>

Value to be stored. Valid range -2147483648...2147483647

Example

SetGatherDec 1000 32767

SetGatherHex<N> <M>

<H> <H> <H> . . .

Description

Writes a multiple words to the Gather Buffer beginning at the specified offset. 32-bit values specified as a unsigned hexadecimal numbers must follow with 8 words per line separated with spaces. Since this command spans several lines, it may only be used programmatically in conjunction with a KMotionLock or WaitToken command so that it is not interrupted.

The corresponding values may be accessed by a KMotion user program using the pointer : gather_buffer. This pointer should be cast as an integer pointer in order to reference values as integers and to use the same index.

Parameters

<N>

Offset into gather buffer, specified as a decimal offset of 32 bit words. Valid range 0...1999999

<M>

Number of value to be stored, specified as a decimal number. Valid range 0...19999999

<H> <H> <H> . . .

Values to be stored. Specified as unsigned Hexadecimal values. Valid range 0...FFFFFFFF.

Example

SetGatherHex 0 3

FFFFFFFF FFFFFFFF FFFFFFFF

SetPersistDec <O> <D>

Description

Write a single word into the Persistent UserData Array. Persistent UserData Array is a general purpose array of 200 32-bit words that may be used as commands, parameters, or flags between any host applications or KMotion user programs. The array resides in a persistent memory area, so that if a value is set as a parameter and the User Programs are flashed, the value will persist permanently.

The corresponding value may be accessed by a KMotion user program as the integer variable : persist.UserData[offset].

Parameters

<O>

Offset into the user data array specified as a decimal number. Valid Range 0 ... 199.

<D>

Value to be written to the array. Specified a signed decimal number. Valid Range -2147483648 ... 2147483647

Example

SetPersistDec 10 32767

SetPersistHex <O> <H>

Description

The corresponding value may be accessed by a KMotion user program as the integer variable : persist.UserData[offset].

Parameters

<O>

Offset into the user data array specified as a decimal number. Valid range 0 ... 199.

<H>

Value to be written to the array. Specified an unsigned hexadecimal number. Valid range 0...FFFFFFFF

Example

SetPersistHex 10 FFFFFFFF

SetRapidFRO <F>

Description

Note: KFLOP Maintain separate Rate Overides for Rapid motion vs normal Feed Motion. Commands (BegRapidBuf and EndRapidBuf) inserted into the Coordinated Motion Buffer determine what type of motion is currently in progress and which Override is to be used.

A negative RFRO value will cause the Coordinated Motion Buffer to execute in reverse up until the beginning or until the point where Coordinated Motion Buffer data has been lost due to buffer wrapping (MAX_SEGMENTS is currently ~35,000 segments). When approaching the point where previous data was lost, the RFRO will be automatically reduced to zero in order to avoid an abrupt stop. This will not occur (and should not be necessary) when approaching the actual beginning of the buffer because normal acceleration from a stop should exist. In this case Time will stop abruptly when the beginning of the buffer is reached.

In order to avoid an instantaneous change in velocity the RFRO will be ramped from the current rate to the specified rate. This command uses a default ramp rate that has been determined based on the Max Allowed Velocities, Accelerations, and Jerks of all the currently defined Coordinate Motion System Axes Channels. In order to specify a different rate the SetRapidFROwRate command may be used.

Parameters

<F>

Desired RFRO Value. 1.0 corresponds to normal Real Time, 0.0 corresponds to fully stopped, negative values drive time in reverse. Valid range -100...+100

Example

SetRapidFRO 1.2

SetRapidFROwRate <F> <R>

Description

Sets Hardware RFRO (Rapid Feed Rate Override) in KFLOP which is the rate that the Coordinated Motion Buffer is executed. A value of 1.0 = Normal Feed Rate = real time = an advance of 90us of time every 90us Servo Sample Period. This command functions the same as the command SetRapidFRO with the exception that the rate at which the RFRO will be ramped to the new RFRO may be controlled. The ramp rate (rate-of-change-of-rate-of-time) to be used is determined from a user supplied Time Parameter. The Time to ramp from FRO=0. to FRO=1.0. See SetRapidFRO for more information.

Note: KFLOP Maintain separate Rate Overrides for Rapid motion vs normal Feed Motion. Commands (BegRapidBuf and EndRapidBuf) inserted into the Coordinated Motion Buffer determine what type of motion is currently in progress and which Override is to be used.

Parameters

<F>

Desired RFRO Value. 1.0 corresponds to normal Real Time, 0.0 corresponds to fully stopped, negative values drive time in reverse. Valid range -100...+100

<R>

Time to ramp from RFRO=0.0 to RFRO=1.0 Valid range any positive number.

Example

SetRapidFROwRate 1.2 0.5

SetStartupThread<N> <M>

Description

Defines whether a user thread is to be launched on power up.

Parameters

<N>

Selected User Thread. Valid range 1...7

<M>

Mode : 1=start on boot, 0=do not start on boot.

Example

SetStartupThread0 1

SetStateBit<N>=<M>

Description

Sets the state of an actual hardware I/O bit N or Virtual IO bit to either low (0) or high (1) . Actual I/O bits must be defined as an output, see SetBitDirection.

Parameters

<N>

Bit number to set. Valid range 0...2047

<M>

State. Valid range 0...1

Example

SetStateBit0=1

SetStateBitBuf<N>=<M>

Description

Inserts into the coordinated move buffer a command to set the state of an I/O bit (actual IO bits must be defined as an output, see SetBitDirection).

Parameters

<N>

Bit number to set. Valid range 0...2047

<M>

State. Valid range 0...1

Example

SetBitBuf0

SetStateBitBuf0=1

SlaveGain<N>=<S>

SlaveGain<N>

Description

Sets or gets the Slave Gain for the axis. See also MasterAxis for more information

Parameters

<N>

Selected Axis for command. Valid range 0 ... 7.

<S>

Slave Gain. Any floating point value positive or negative.

Example

SlaveGain0=-1.0

SlaveGain0

SoftLimitNeg<N>=<M>

SoftLimitPos<N>

Description

Command to set or display the Negative Software Limit of Travel. Soft Limits will prevent motion in the same manner as a Hardware Limit with the Stop Movement Action Selected. This occurs regardless of the Action Type Selected for the Hardware Limit Switches. To disable Soft Limits set them to a huge range which could never occur. Soft Limits prevent motion within KFLOP when Jogging, moving and so forth. They also are are uploaded by Applications such as KMotionCNC and used to prevent motion during Trajectory Planning. The Negative Soft Limit is used to prevent motion beyond a limit in the negative direction. The Negative Soft Limit does not necessarily need to be negative. See also SoftLimPos.

Parameters

<N>

Selected Axis for command. Valid range 0...7.

<M>

Maximum Negative Limit. Valid range - any value. Set to a large value to disable.

Example

SoftLimNeg0=-1000000.0

SoftLimNeg0

SoftLimitPos<N>=<M>

SoftLimitPos<N>

Description

Command to set or display the Positive Software Limit of Travel. Soft Limits will prevent motion in the same manner as a Hardware Limit with the Stop Movement Action Selected. This occurs regardless of the Action Type Selected for the Hardware Limit Switches. To disable Soft Limits set them to a huge range which could never occur. Soft Limits prevent motion within KFLOP when Jogging, moving and so forth. They also are are uploaded by Applications such as KMotionCNC and used to prevent motion during Trajectory Planning. The Positive Soft Limit is used to prevent motion beyond a limit in the positive direction. The Positive Soft Limit does not necessarily need to be positive. See also SoftLimitNeg.

Parameters

<N>

Selected Axis for command. Valid range 0...7.

<M>

Maximum Positive Limit. Valid range - any value. Set to a large value to disable.

Example

SoftLimPos0=1000000.0

SoftLimPos0

StepperAmplitude<N>=<M>

StepperAmplitude<N>

Description

Set or get the nominal output magnitude used for axis if in MicroStepping Output Mode to the specified value. This will be the output amplitude when stopped or moving slowly. If Lead Compensation is used, the amplitude while moving may be higher.

Parameters

<N>

Selected Axis for command. Valid range 0...7.

<M>

PWM Stepper Amplitude. Valid range 0...255

Example

StepperAmplitude0=250

StopImmediate<M>

Description

Controls the Feedhold Mechanism for the set of coordinated motion Axes. This command can be used to feedhold (bring to an immediate stop) the set of axes, Resume from a feedhold, or clear the feedhold state. This command can stop the set of axes regardless of whether the current motion in progress is due to coordinated motion (Interpolated Linear or Arc) or independent axes motions (Rapids). The current state can be obtained using the GetStopState command.

Parameters

<M>

Mode

0 - Stops the axes motion (equivalent to User C Program function StopCoordinatedMotion)

1 - Resumes the axes motion (equivalent to User C Program function ResumeCoordinatedMotion)

2 - Clears the Feed hold state (equivalent to User C Program function ClearStopImmediately)

Example

StopImmediate0

TrigThread <S>

Description

Triggers a coordinated motion threading operation. The coordinated motion path in the coordinated motion buffer begins execution synchronized with the Spindle motion. The Speed specified will be used as the baseline speed such that if the actual spindle speed is equal to the base speed, then Pseudo Time will progress the same as real time. Otherwise Pseudo time will be adjusted to match the spindle motion

See also: ConfigSpindle and GetSpindleRPS

Parameters

<S>

Base Spindle Speed in revs per second. Range: Any floating point value.

Example

TrigThread 10.0

Vel<N>=<V>

Vel <N>

Description

Get or Set the max velocity for independent moves.

Parameters

<N>

Selected Axis for command. Valid range 0...7.

<V>

The max velocity. Units are in Position units per sec

Example

Vel0=100.0

Version

Description

Display DSP Firmware Version and Build date in the form:.

KMotion 2.22 Build 22:26:57 Feb 16 2005

Note it is important that when C Programs are compiled and linked, they are linked to a firmware file, DSP_KMotion.out, that matches the firmware in the KMotion where they will execute.

Parameters

None

Example

Version

WaitBitBuf<N>

Description

Inserts into the coordinated move buffer a command to wait for an IO bit to be at a high level. Buffered IO bits are currently limited to the first 255 IO bits. This command is useful for synchronizing motion to external events without any PC delays.

This command can be inserted into the Coordinated motion buffer from KMotionCNC GCode using the special comment command format of:

(BUF,WaitBitBuf46)

Parameters

<N>

Bit number to wait to be high. Valid range 0...255

Example

WaitBitBuf46

WaitNotBitBuf<N>

Description

Inserts into the coordinated move buffer a command to wait for an IO bit to be at a low level. This command is useful for synchronizing motion to external events without any PC delays.

This command can be inserted into the Coordinated motion buffer from KMotionCNC GCode using the special comment command format of:

(BUF,WaitNotBitBuf46)

Parameters

<N>

Bit number to wait to be low. Valid range 0...2047

Example

WaitNotBitBuf46

Zero<N>

Description

Clear the measured position of axis. Note for an axis that uses the Position to perform brushless motor commutation, the commutation offset may be required to be adjusted whenever the position measurement is changed.

Parameters

<N>

Selected Axis for command. Valid range 0...7.

Example

Zero0