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
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
or
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
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 <XC> <YC> <RX> <RY> <θ0> <dθ> <Z0> <Z1> <a> <b> <c> <d> <tF>
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 is 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.
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.
(XC,YC) - center of circle
(RX,RY) - 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
Z1 - final Z 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 tF,
where t varies from 0 ... tF.
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
<XC> - X center of ellipse, units are position units of x axis
<YC> - Y center of ellipse, units are position units of y axis
<RX> - X radius of ellipse, units are position units of x axis
<RY> - 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
<Z1> - final Z position on path, units are position units of z axis
<a> - parametric equation t3 coefficient
<b> - parametric equation t2 coefficient
<c> - parametric equation t coefficient
<d> - parametric equation constant coefficient
<tF> - time for segment
Example (complete unit circle, centered at 0.5,0.5, no Z 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 0.1 0.0 10.0
ArcHex <XC> <YC> <RX> <RY> <θ0> <dθ> <Z0> <Z1> <a> <b> <c> <d> <tF>
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
Description
Displays:
1 if axis N has completed its motion
0 if axis N has not completed its motion
-1 if the axis is disabled
Parameters
<N>
Selected Axis for command. Valid range 0...7.
Example
CheckDone0
Description
Displays the status of the Coordinated Motion Buffer. KMotion contains a Coordinated Motion Buffer where move segments (linear and arcs) and I/O commands may be downloaded and executed in real time.
Displays:
1 if all coordinated move segments have completed
0 if all coordinated move segments have not completed
-1 if any axis in the defined coordinate system is disabled
Parameters
None
Example
CheckDoneBuf
Description
Displays the status of a data gather operation. KMotion contains a mechanism for capturing data from a variety of sources in real time. This mechanism is utilized when capturing data for Bode plots and Step response plots. It is also available for general purpose use. See the data gathering example.
Displays:
1 if data gather is completed
0 if data gather has not completed
Parameters
None
Example
CheckDoneGather
Description
Displays status of a commanded MoveXYZA command. See also DefineCS.
Displays:
1 if all axes in the defined coordinate system have completed their motion
0 if any axis in the defined coordinate system has not completed its motion
-1 if any axis in the defined coordinate system is disabled
Parameters
None
Example
CheckDoneXYZA
Description
Clears an actual I/O bit or virtual I/O bit. Note that actual IO bits must be previously defined as an output, see SetBitDirection
Parameters
<N>
Bit number specified as a decimal number. Valid range 0...31 for actual hardware I/O bits. Valid range of 32...63 for virtual I/O bits.
Example
ClearBit0
Description
Inserts into the coordinated move buffer a command to clear an IO bit N(0..30) or a Virtual IO bit (32..63) (actual IO bits must be defined as an output, see SetBitDirection)
Parameters
<N>
Bit Number to clear. Valid Range 0...63.
Example
ClearBitBuf0
Description
Prepare to download FLASH firmware image. Sets entire RAM flash image to zero
Parameters
None.
Example
ClearFlashImage
or
CommutationOffset<N>
Description
Get or Set 3 or 4 phase commutation offset. When brushless commutation is performed, the desired Output Magnitude is distributed and applied to the various motor coils as a function of position. The commutation offset shifts the manner in which the Output Magnitude is applied.
For a 3 phase brushless output mode, commutation offset is used in the following manner.
PhaseA = OutputMagnitude * sin((Position+CommutationOffset)*invDistPerCycle*2π)
PhaseB = OutputMagnitude * sin((Position+CommutationOffset)*invDistPerCycle*2π + 2π/3)
PhaseC = OutputMagnitude * sin((Position+CommutationOffset)*invDistPerCycle*2π + 4π/3)
For a 4 phase brushless output mode, commutation offset is used in the following manner.
PhaseA = OutputMagnitude * sin((Position+CommutationOffset)*invDistPerCycle*2π)
PhaseB = OutputMagnitude * cos((Position+CommutationOffset)*invDistPerCycle*2π)
See also invDistPerCycle and Configuration Parameters.
Parameters
<N>
Selected Axis for command. Valid range 0...7.
<X>
Offset in units of Position.
Example
CommutationOffset0=100.0
or
D<N>
Description
Get or Set PID derivative Gain.
Parameters
<N>
Selected Axis for command. Valid range 0...7.
<M>
Derivative Gain value. The units of the derivative gain are in Output Units/Position Units x Servo Sample Time.
Example
D0=10.0
Description
DAC to value. DACs 0...3 have ±10 Volt ranges, DACs 4...7 have 0...4 Volt ranges. See also Analog Status Screen.
Parameters
<N>
DAC channel to set. Valid Range 0...7.
<M>
DAC value to set in counts. Valid Range -2048...2047.
Example
DAC0=2000
Description
Get or Set gain while error is within the deadband range. See DeadBand Description. See Servo Flow Diagram.
Parameters
<N>
Selected Axis for command. Valid range 0...7.
<M>
Gain to be applied. A value of 1.0 will have normal gain while within the deadband. A value less than 1.0 will have reduced gain within the deadband.
Example
DeadBandGain0=0.5
or
DeadBandRange<N>
Description
Get or Set range where deadband gain is to be applied. See DeadBand Description. See Servo Flow Diagram.
Parameters
<N>
Selected Axis for command. Valid range 0...7.
<M>
±Range in Position units,
Example
DeadBandRange0=1.0
or
DefineCS
Description
Set or get the defined X Y Z A coordinate system axis assignments. Unused axis are assigned an axis channel of -1.
See also Coordinated Motion.
Parameters
<X>
Assigned Axis channel number for X. Valid range -1 ... 3.
Use -1 if axis is not defined.
<Y>
Assigned Axis channel number for Y. Valid range -1 ... 3.
Use -1 if axis is not defined.
<Z>
Assigned Axis channel number for Z. Valid range -1 ... 3.
Use -1 if axis is not defined.
<A>
Assigned Axis channel number for A. Valid range -1 ... 3.
Use -1 if axis is not defined.
Example
DefineCS 0 1 -1 -1
or
Dest<N>
Description
Set or get the last commanded destination for an axis. The Dest (destination) is normally set (or continuously updated) as the result of a motion command (Move, Jog, or Coordinated motion) , but may also be set with this command if no motion is in progress.
Parameters
<N>
Selected Axis for command. Valid range 0...7.
<M>
Value to set in Position units. Valid range - any.
Example
Dest0=100
or
Dest0
Description
Kill any motion and disable motor. Any associated output PWM channels for the axis will be set to 0R mode.
Parameters
<N>
Selected Axis for command. Valid range 0...7.
Example
DisableAxis0
Description
Echo character string back to the Console Screen.
Parameters
<S>
Any character string < 80 characters
Example
Echo Hello
Description
Set an Axis' destination to the Current Measured Position and enable the axis. See also EnableAxisDest to explicitly set the desired destination for the axis. Note for a MicroStepper Axis (which normally has no measured position) this command will leave the Axis' destination unchanged. .
Parameters
<N>
Selected Axis for command. Valid range 0...7.
Example
Enable0
Description
Set an Axis' destination to the specified position and enable the axis. See also EnableAxis to set the desired destination to the current measured position.
<N>
Selected Axis for command. Valid range 0...7.
<M>
Destination for the axis. Position units. Valid range - any.
Example
EnableAxisDest0 1000.0
Description
Display whether the specified axis is enabled, 1 - if currently enabled, 0 - if not enabled.
Note: to enable an axis use EnableAxis or EnableAxisDest.
Parameters
<N>
Selected Axis for command. Valid range 0...7.
Example
Enabled0
Description
Set execution start address of user thread to specified address. This operation if normally performed automatically when downloading a user program.
Parameters
<N>
User Thread number to set. Decimal number. Valid range 1...7.
<H>
Start address. 32 bit Hex number.
Example
Entrypoint1 80030000
Description
Execute the contents of the coordinated motion buffer. Use CheckDoneBuf to determine when the buffer has been fully executed. See also Coordinated Motion.
Parameters
None
Example
ExecBuf
Description
Displays the amount of the Coordinated Motion Buffer that has been already executed in terms of Time. KMotion contains a Coordinated Motion Buffer where move segments (linear and arcs) and I/O commands may be downloaded and executed in real time. This command is useful for determining how long before the Coordinated Motion Buffer will complete. For example, if a number of segments have been downloaded where their total execution time is 10 seconds, and they are currently in progress of being executed, and the ExecTime command reports that 8 seconds worth of segments have been executed, then the remaining time before the queue completes (or starves for data) would be 2 seconds. This command is useful for applications where it is important not to download data too far ahead so changes to the Trajectory may be made. The value returned is a floating point decimal value in Seconds with 3 decimal places. If the Coordinated Motion has already completed the amount of time will be a negative value whose magnitude is the total time that was executed. See also Coordinated Motion.
Displays:
Executed time in seconds as a floating point decimal number with 3 decimal places
ie. 10.123
If the buffer has already completed the value will be negative
ie. -10.123
Parameters
None
Example
ExecTime
Description
Begin execution of thread. Execution begins at the previously specified thread entry point.
See also C Program Screen.
Parameters
<N>
Thread number to begin execution. Decimal number. Valid range 1...7.
Example
Execute1
or
FFAccel<N>
Description
Set or get Acceleration feed forward for axis.
See also feed forward tuning.
Parameters
<N>
Selected Axis for command. Valid range 0...7.
<M>
Feed forward value. units are in Output units per Input Units per sec2.
Example
FFAccel0=100.0
or
FFAccel0
or
FFVel<N>
Description
Set or get Velocity feed forward for axis.
See also feed forward tuning.
Parameters
<N>
Selected Axis for command. Valid range 0...7.
<M>
Feed forward value. units are in Output units per Input Units per sec.
Example
FFVel0=100.0
or
FFVel0
Description
Flash current user programs, persistent memory area, all axes configurations, tuning, and filter parameters to non-volatile memory. The entire state of the KMotion is saved to FLASH memory. Any active user programs will be paused during the flash operation
Parameters
None
Example
Flash
Description
Performs a profiled move on an axis of the specified distance while gathering the specified number of points of data. This command is used while gathering data for the Step Response Screen plots.
Parameters
<N>
Selected Axis for command. Valid range 0...7.
<M>
Distance to move. Units are Position Units. Valid Range - any.
<L>
Number of servo samples to gather. Valid Range - 1...40000
Example
GatherMove0 1000.0 2000
Description
Performs a step on an axis of the specified distance while gathering the specified number of points of data. This command is used while gathering data for the Step Response Screen plots.
Parameters
<N>
Selected Axis for command. Valid range 0...7.
<M>
Distance to step. Units are Position Units. Valid Range - any.
<L>
Number of servo samples to gather. Valid Range - 1...40000
Example
GatherStep0 1000.0 2000
Description
Displays whether an IO bit N (0..30) is defined as input (0) or output (1)
Parameters
<N>
I/O bit number. Valid range 0...30
Example
GetBitDirection0
Description
Upload N data points from previous GatherMove or GatherStep command. Captured commanded destination, measured position, and output are uploaded as hex values (that represent binary images of 32-bit floating point values). Eight samples (24 values) per line.
Parameters
<N>
Number of points to upload. Valid range 1...40000.
Example
GetGather 1000
Description
Reads a single word from the Gather Buffer at the specified offset. A single 32-bit value displayed as a signed decimal integer number will be displayed.
Parameters
<N>
Offset into gather buffer, specified as a decimal offset of 32 bit words. Valid range 0...1999999
Example
GetGatherDec 1000
Description
Reads multiple words from the Gather Buffer beginning at the specified offset. Hexadecimal values will be displayed that will represent binary images of the contents of the gather buffer as 32 bit words.
Parameters
<N>
Offset into gather buffer, specified as a decimal offset of 32 bit words. Valid range 0...1999999
<M>
Number of 32 bit words to display. Decimal integer. Valid range 1...2000000
Example
GetGatherHex 0 100
Description
Display results of signal injection and gathering. Bode Plot measurement involves injecting a signal and measuring the response for each of N_CPLX (2048) samples. This command gets the result from the injection. 3 values per sample are uploaded. Injection value, position response (relative to destination), and servo output. All 3 values are printed as hexadecimal values which represent the image of a 32-bit floating point value. 8 samples (24 hex values) are printed per line.
Parameters
None
Example
GetInject
Description
Read a single word from the Persist Array at the specified offset a single 32-bit value displayed as a signed decimal number. The persist array is a general purpose array of N_USER_DATA_VARS (100) 32-bit values that is accessible to the host as well as KMotion C Programs. It may be used to share parameters, commands, or information between programs.
C Programs may access this array as the integer array:
persist.UserData[n];
It also resides in the KMotion Persist memory structure so that if memory is flashed, the value will be present at power up.
See also GetPersistHex, SetPersistDec, SetPersistHex
Parameters
<N>
Offset into the integer array. Valid range 0...99.
Example
GetPersistDec 10
Description
Read a single word from the Persist Array at the specified offset a single 32-bit value displayed as an unsigned hexadecimal number. The persist array is a general purpose array of N_USER_DATA_VARS (100) 32-bit values that is accessible to the host as well as KMotion C Programs. It may be used to share parameters, commands, or information between programs.
C Programs may access this array as the integer array:
persist.UserData[n];
It also resides in the KMotion Persist memory structure so that if memory is flashed, the value will be present at power up.
See also GetPersistDec, SetPersistDec, SetPersistHex
Parameters
<N>
Offset into the integer array. Valid range 0...99.
Example
GetPersistHex 10
Description
Upload Main Status record in hex format. KMotion provides a means of quickly uploading the most commonly used status. This information is defined in the PC-DSP.h header file as the MAIN_STATUS structure. The entire stucture is uploaded as a binary image represented as 32-bit hexadecimal values.
Parameters
None
Example
GetStatus
or
I<N>
Description
Get or Set PID Integral Gain.
Parameters
<N>
Selected Axis for command. Valid range 0...7.
<M>
Integral Gain value. The units of the derivative gain are in Output Units x Position Units x Servo Sample Time.
Example
I0=10.0
or
I0
IIR<N> <M>=<A1> <A2> <B0> <B1> <B2>
or
IIR<N> <M>
Description
Set or get IIR Z domain servo filter.
See also IIR Filter Screen
Parameters
<N>
Selected Axis for command. Valid range 0...7.
<M>
Filter number for axis. Valid range 0...2.
<A1> <A2> <B0> <B1> <B2>
Filter coefficients represented as floating point decimal values.
Example
IIR0 0=1.5 2.5 -3.5 4.5 5.5
or
IIR0 0
Description
A Inject random stimulus into an axis with the specified cutoff frequency and amplitude. Useful for generating Bode plots.
Parameters
<N>
Selected Axis for command. Valid range 0...7.
<F>
Cuttoff Frequency in Hz. Valid range - any.
<A>
Amplitude in position units. Valid range - any.
Example
Inject0 100.0 20.0
or
InputChan<M> <N>
Description
Get or Set the first or second Input Channel of an axis. See description of this parameter on the Configuration Screen.
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 0...7.
Example (set first input channel of axis 3 to 3)
InputChan0 3=3
or
InputChan0 3
or
InputGain<M> <N>
Description
Set or get first or second Input Gain of an axis. See description of this parameter on the Configuration Screen.
Parameters
<M>
Selected input channel. Valid range 0...1.
<N>
Selected Axis for command. Valid range 0...7.
<C>
Input Gain. Valid range - any.
Example
InputGain0 3=1.0
or
InputMode<N>
Description
Set or get the position input mode for an axis. See description of this parameter on the Configuration Screen.
Valid modes are:
ENCODER_MODE 1
ADC_MODE 2
RESOLVER_MODE 3
USER_INPUT_MODE 4
Parameters
<N>
Selected Axis for command. Valid range 0...7.
<M>
Mode. Valid range 1...4
Example
SetInputMode0=1
or
InputOffset<M> <N>
Description
Set or get first or second Input Offset of an axis. See description of this parameter on the Configuration Screen.
Parameters
<M>
Selected input channel. Valid range 0...1.
<N>
Selected Axis for command. Valid range 0...7.
<O>
Input Offset. Valid range - any.
Example
InputOffset0 3=0.0
Description
Get or Set distance per cycle (specified as an inverse) of an axis. May specify the cycle of either a Stepper of Brushless Motor.
See description of this parameter on the Configuration Screen.
Parameters
<N>
Selected Axis for command. Valid range 0...7.
<X>
Inverse (reciprocal) of distance for a complete cycle. Inverse position units. Should be specified exactly or with very high precision (double precision accuracy ~ 15 digits). Valid range - any.
Example
InvDistPerCycle0=0.05
or
Jerk<N>
Description
Get or Set the max jerk (for independent moves and jogs)
Parameters
<N>
Selected Axis for command. Valid range 0...7.
<J>
The max Jerk. Units are in Position units per sec3
Example
Jerk0=10000.0
Description
Move at constant velocity. Uses Accel and Jerk parameters for the axis to accelerate from the current velocity to the specified velocity. Axis should be already enabled. Specify zero velocity to decelerate to a stop.
Parameters
<N>
Selected Axis for command. Valid range 0...7.
<V>
new Velocity in position units/second. Valid range - any.
Example
Jog0=-200.5
Description
Stop execution of a user thread.
Parameters
<N>
Thread to halt. Valid range 1..7
Example
Kill0
or
Lead<N>
Description
Set or get Lead Compensation for an axis. Lead Compensation is used to compensate for lag caused by motor inductance.
Parameters
<N>
Selected Axis for command. Valid range 0...7.
<M>
Lead Compensation. Valid range - any.
Example
Lead0=10.0
or
Lead0
Description
Configures Limit Switch Options. Specify Hex value where:
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> <X1> <Y1> <Z1> <A1> <a> <b> <c> <d> <tF>
Description
Place linear (in 4 dimensions) interpolated move into the coordinated motion buffer. See also KMotion Coordinated Motion. A path through space is defined where x, y, z, and A 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) - beginning of path
(X1,Y1,Z1,A1) - 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 tF,
where t varies from 0 ... tF.
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
<X0> - X end point
<Y1> - Y end point
<Z1> - Z end point
<A1> - A end point
<θ1> - initial theta position on ellipse, radians (0 radians points in the +x direction)
<a> - parametric equation t3 coefficient
<b> - parametric equation t2 coefficient
<c> - parametric equation t coefficient
<d> - parametric equation constant coefficient
<tF> - time for segment
Example
Linear 0.0 0.0 0.0 0.0 1.0 1.0 1.0 1.0 0.0 0.0 1.0 0.0 1.0
LinearHex <X0> <Y0> <Z0> <A0> <X1> <Y1> <Z1> <A1> <a> <b> <c> <d> <tF>
Description
Place linear (in 4 dimensions) interpolated move into the coordinated motion buffer. This command is exactly the same as the Linear 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
LinearHex 0 0 0 0 3F800000 3F800000 3F800000 3F800000 0 0 3F800000 0 3F800000
<B> <B> <B> <B> <B> ...
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
<B> <B> <B> <B> <B> ...
Bytes to store. 2 hexadecimal digits per byte, separated with a space.
Example
LoadData 80030000 4
FF FF FF FF
<B> <B> <B> <B> <B> ...
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
<B> <B> <B> <B> <B> ...
Bytes to store. 2 hexadecimal digits per byte, separated with a space.
Example
LoadFlash FF00 4
FF FF FF FF
or
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
or
MaxErr0
or
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
or
MaxFollowingError0
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
or
MaxI0
or
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
or
MaxOutput
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
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
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
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
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 x axis. Valid range - any.
<Z>
Position to move x axis. Valid range - any.
<A>
Position to move x axis. Valid range - any.
Example
MoveXYZA 100.1 200.2 300.3 400.4
Description
Clear and open the buffer for coordinated motion.
Parameters
None
Example
OpenBuf
or
OutputChan<M> <N>
Description
Get or Set the first or second Output Channel of an axis. See description of this parameter on the Configuration Screen.
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 0...7.
Example (set first output channel of axis 3 to 3)
OutputChan03=3
or
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:
MICROSTEP_MODE 1
DC_SERVO_MODE 2
BRUSHLESS_SERVO_MODE 3
DAC_SERVO_MODE 4
Parameters
<N>
Selected Axis for command. Valid range 0...7.
<M>
Mode. Valid range 1...4
Example
SetOutputMode0=1
or
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
or
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.
<P>
value to be stored into the current position. units are position units. Valid range - any.
Example
Pos0=100.0
Description
Program entire FLASH image, downloaded using LoadFlash commands, to FLASH Memory.
Parameters
None
Example
ProgFlashImage
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
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
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
Description
Causes complete power up reset and re-boot from flash memory.
Parameters
None
Example
Reboot!
Description
Sets an actual hardware I/O bit N (0...30) or Virtual IO bit (32...63) to high (1) .
Parameters
<N>
Bit number to set. Valid range 0...63
Example
SetBit0
Description
Inserts into the coordinated move buffer a command to set an I/O bit N(0...30) or Virtual IO bits (32...63) (actual IO bits must be defined as an output, see SetBitDirection)
Parameters
<N>
Bit number to set. Valid range 0...63
Example
SetBitBuf0
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...30
<M>
Direction 0 = input, 1 = output
Example
SetBitDirection0=1
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.
See also GetGatherDec, GetGatherHex, SetGatherHex
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
<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.
See also GetGatherDec, GetGatherHex, SetGatherDec
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
Description
Write a single word into the Persistent UserData Array. Persistent UserData Array is a general purpose array of 100 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].
See also GetPersistDec, GetPersistHex, SetPersistHex
Parameters
<O>
Offset into the user data array specified as a decimal number. Valid Range 0 ... 99.
<D>
Value to be written to the array. Specified a signed decimal number. Valid Range -2147483648 ... 2147483647
Example
SetPersistDec 10 32767
Description
Write a single word into the Persistent UserData Array. Persistent UserData Array is a general purpose array of 100 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].
See also GetPersistDec, GetPersistHex, SetPersistDec.
Parameters
<O>
Offset into the user data array specified as a decimal number. Valid range 0 ... 99.
<H>
Value to be written to the array. Specified an unsigned hexadecimal number. Valid range 0...FFFFFFFF
Example
SetPersistHex 10 FFFFFFFF
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
Description
Sets the state of an actual hardware I/O bit N (0...30) or Virtual IO bit (32...63) 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...63
<M>
State. Valid range 0...1
Example
SetStateBit0=1
Description
Inserts into the coordinated move buffer a command to set the state of an I/O bit N(0...30) or Virtual IO bits (32...63) (actual IO bits must be defined as an output, see SetBitDirection)
Parameters
<N>
Bit number to set. Valid range 0...63
<M>
State. Valid range 0...1
Example
SetBitBuf0
SetStateBitBuf0=1
or
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
or
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
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
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