Intelligent Motion Systems 17 manual Set Counter 2 Encoder Counts Motion Variable

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MNEMONIC	FUNCTION			TYPE
C2	Set Counter 2 (Encoder Counts)			Motion Variable
DESCRIPTION
This variable contains the raw count representation of the integral 512 line encoder.

USAGE	UNITS	RANGE		DEFAULT
C2=<counts>	Encoder Counts	-2147483648 to 2147483647		0

EXAMPLE:
C2=512	‘Set Counter 2 to 512 encoder counts
PR C2	‘Print the value of C2 to the terminal screen

RELATED COMMANDS: C1, EE, P

MNEMONIC	FUNCTION		TYPE
CL	Call Subroutine		Program Instruction

DESCRIPTION

This function can be used to invoke a subroutine within a program. This allows the user to segment code and call a subroutine from a number of places rather than repeating code within a program.

There are two parameters to the CL instruction. The first specifies the program address or label of the subroutine to be invoked if the second parameter, the condition, is true. If the second parameter is not specified, the subroutine specified by the first parameter is always invoked. The condition parameter can include flags as well as logical functions that are to be evaluated.

The subroutine should end with a RT (RET) instruction. The RT instruction will cause program execution to return to the line following the CL instruction.

USAGE

CL <addr/label, cond>

EXAMPLE:
CL 256, I1=1	‘Call subroutine at program line 256 if Input 1 is TRUE
CL JK	‘Call subroutine labeled JK

RELATED COMMANDS: RT

MNEMONIC	FUNCTION	TYPE
CP	Clear Program	Program Instruction

DESCRIPTION

This instruction will clear the program space in the EEPROM as specified by the instruction parameter. Programs are stored directly to the EEPROM and executed from there.

USAGE

CP <addr/label>

EXAMPLE:

CP 256 ‘Clear program space beginning at line 256 to the end of program space

CP	‘Clear all of program space

RELATED COMMANDS: —

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Contents Operating Instructions Intelligent Motion Systems, Inc All Rights Reserved Table of Contents List of Figures Part 1 General Information and Hardware Specifications Intentionally Left Blank A t u r e S u m m a r y Standard Rotary Motor Lmax T a r y M o t o r Specification sC t i o n O v e r v i e w Control Knob LMAX2N e a r M o t o r Specification s MDI1715MDI1719 MDI17 Linear Actuator E e d F o r c e C u r v e 2 4 V D CE e d F o r c e C u r v e 4 5 V D C N e r a l Specification s R i v e 1 7 M o t i o n C o n t r o l a C M E S c r e wMDI17 Acme Screws E r m a l Specification s W e r S u p p l y R e q u i r e m e n t sC o m m e n d e d I M S P o w e r S u p p l i e s A t u r e S u m m a r y MDrive23 Motion Control Specifications MDI2218MDI2222 MDI2231MDI23 Linear Actuator Refer to .10 for screw pitch informationR i v e 2 3 M o t i o n C o n t r o l a C M E S c r e w MDI23 Acme ScrewsIP404MDI23 Page Intentionally Left Blank N C o n f i g u r a t i o n a n d D e s c r i p t i o n s Connector P1Y o u t a n d I n t e r f a c e G u i d e l i n e s C o m m e n d e d W i r i n gT e r f a c i n g R S 4 8 5 C o m m u n i c a t i o n s Connector P2 10 Pin HeaderT e r f a c i n g P o w e r N g l e M D r i v eRS-485 Interface, Multiple MDrive Motion Control System T e r f a c i n g I n p u t s T e r f a c i n g t h e D i g i t a l I / OE s o f t h e D i g i t a l I / O Input FunctionsTTL Interface to Input Group Truth Table I/O Used as a GroupT e r f a c i n g O u t p u t s T e r f a c i n g a S i n g l e O u t p u t E x a m p l e sT e r f a c i n g t h e a n a l o g I n p u t M p l e U s a g eInstall i n g a n d U s i n g I M S Te r m i n a l InstallationS t e m R e q u i r e m e n t s I n g t h e I M S Te r m i n a l S o f t w a r e 13 IMS Terminal Upgrader Window S t r u c t i o n s R i v e M o t i o n C o n t r o l P r o g r a m m i n gE r a t i o n a l M o d e s R i a b l e sA g s Y w o r d sT h F u n c t i o n s T i o n C o m m a n d sRead IO1 Setup PR S1 Read IO2 Setup PR S2 C o m m a n d sPlease Note Any program labeled SU will execute on power-up VAR CT Mnemonic Function Unit Range Syntax Example BaudI n s t r u c t i o n s , Va r i a b l e s a n d F l a g s Symbol Function T h e m a t i c a l F u n c t i o n sBaud Rate Setup Variable Acceleration Motion VariableRetrieve All Parameters Variable Branch Program Instruction Busy Flag Read Only Motion FlagSet Counter 2 Encoder Counts Motion Variable Call Subroutine Program InstructionClear Program Program Instruction Set Encoder Deadband Setup Variable D1-D5 Digital Input Filtering VariableDeceleration Motion Variable Drive Enable Flag Setup Flag Device Name Setup VariableEnd Program Execution Program Instruction Encoder Enable Flag Setup Flag Echo Mode Flag Setup FlagRead-Only Error Flag Status Flag Error Number Variable Status Variable Execute Program Program InstructionHome to Index Mark Variable Setup Variable Hold Current Setup VariableHold Program Execution Program Instruction Home to Home Switch Variable Setup Variable Hold Current Delay Time Setup VariableRead Input Variable Read Analog Input Variable Read Encoder Index Mark VariableIncrement Variable Program Instruction Joystick Enable Flag Setup Flag Read Inputs 1-4 As 1 Value VariableInitialize Parameters Instruction Lock User Program Setup Flag List Program Space InstructionLabel Program/Subroutine Instruction Motion Instruction Move To Relative Position Motion InstructionMicrostep Resolution Motion Variable PR MSMotor Settling Delay Time Motion Variable On Error Handler InstructionO1 O4 Set/Print Output Logic State Variable Set Ouputs 1-4 As 1 Value Variable Set/Print Position Counter InstructionPostition Maintenance Enable Setup Flag Enter/Exit Program Mode Program InstructionPrint Selected Data/Text Instruction Party Mode Enable Flag Setup Flag Pause Program InstructionRun Current Setup Variable R1 R4 User Registers User VariableResume Program Instruction Return From Subroutine InstructionSave to EEProm Instruction S1 S4 Set/Print I/O Point Type/Active State Instruction Set/Print I/O Point InstructionStall Detection Mode Variable Encoder Variable Encoder VariableTrip Enable Flag Setup Flag Read Only Stall Flag Encoder FlagTrip on Input Variable Upgrade Firmware Instruction Trip on Position VariableRead User Variables Read Only Velocity Variable Motion Variable Create User Variable Name InstructionRead Only Firmware Version Factory Variable Appendix a Data Errors Error Code FaultErrors Program ErrorsTWENTY-FOUR Month Limited Warranty Western Region