Motion Programming Using MotionPRO Developer User Manual F900H A11229 PRO UM Rev1 (optred)

User Manual: F900H

Open the PDF directly: View PDF .
Page Count: 720

Download
Open PDF In Browser	View PDF

Motion
Programming
using
MotionPRO
Developer

ElectroCraft Document Number
A11229 Rev 1

User Manual

ELECTROCRAFT

Motion Programming
using
MotionPRO
User Manual
ElectroCraft Document No.
A11229

ElectroCraft
4480 Varsity Drive
Suite G
Ann Arbor, MI 48108

Tel.: (734) 662-7771
www.electrocraft.com

Read This First
Whilst ElectroCraft believes that the information and guidance given in this manual is correct, all parties
must rely upon their own skill and judgment when making use of it. ElectroCraft does not assume any
liability to anyone for any loss or damage caused by any error or omission in the work, whether such error
or omission is the result of negligence or any other cause. Any and all such liability is disclaimed.
All rights reserved. No part or parts of this document may be reproduced or transmitted in any form or by
any means, electrical or mechanical including photocopying, recording or by any information-retrieval
system without permission in writing from ElectroCraft.
The information in this document is subject to change without notice.

About This Manual
This book is a technical reference manual for the MotionPRO Developer software.
In order to operate any ElectroCraft drive, you need to pass through 3 steps:
Step 1 Hardware installation
Step 2 Drive setup using ElectroCraft PROconfig or MotionPRO Developer software for drive
commissioning
Step 3 Motion Programming using one of the options:
A CANOpen or EtherCAT master
The drive built-in motion controller executing a ElectroCraft Motion Program Language
(MPL) program developed using ElectroCraft MotionPRO Developer software
A MPL_LIB motion library for PCs (Windows or Linux)
A MPL_LIB motion library for PLCs
A distributed control approach which combines the above options, like for example a host
calling motion functions programmed on the drives in MPL
This manual covers Steps 2 and 3 in detail. For detailed information regarding the first step, refer to the
specific documentation of each drive.

Notational Conventions
This document uses the following conventions:
MPL – ElectroCraft Motion Program Language
Faxx – Firmware versions with A = 0, 1, 2, 3, 4 or 9; Examples: F005K, F120B,F900H
FBxx – Firmware versions with B = 5, 6, 7, 8; Examples: F500B, F600C, F800I
Programmable drive – a drive with an embedded motion controller capable to execute high-level
motion language programs
Programmable motor – a motor with an embedded programmable drive
SI units – International standard units (meter for length, seconds for time, etc.)
IU units – Internal units of the drive

MPD User Manual

Related Documentation
Help of the PROconfig software – describes how to use PROconfig to quickly setup any
ElectroCraft drive for your application using only 2 dialogues. The output of PROconfig is a
set of setup data that can be downloaded into the drive EEPROM or saved on a PC file. At
power-on, the drive is initialized with the setup data read from its EEPROM. With PROconfig
it is also possible to retrieve the complete setup information from a drive previously
programmed. PROconfig includes a firmware programmer with allows you to update your
drive firmware to the latest revision. PROconfig is part of the ElectroCraft Motion PRO
Suite. Motion PRO Suite is available as part of a PRO Series Drive Evaluation Kit. Please
contact ElectroCraft or your local ElectroCraft sales representative for more information on
obtaining MotionPRO Suite or an evaluation kit.
CANopen Programming (Document No. A11226) – explains how to program the ElectroCraft
programmable drives using CANopen protocol.
Describes the associated DS-301
communication profile and CiA-402 device profile.
CANopen over EtherCAT Programming (Document No. A11227) – explains how to program
the ElectroCraft Programmable drives with EtherCAT interface using CANopen over
EtherCAT protocol. Presents the CiA-402 associated drive profile and object dictionary.
Help of the MotionPRO Developer software – describes how to use MotionPRO Developer to
create motion programs using ElectroCraft Motion Program Language (MPL). MotionPRO
Developer platform includes PROconfig for the drive/motor setup, and a Motion Editor for
the motion Programming. The Motion Editor provides a simple way of creating motion
programs and automatically generates all the MPL instructions. With MotionPRO Developer
you can fully benefit from a key advantage of ElectroCraft drives – their capability to execute
complex motions without requiring an external motion controller, thanks to their built-in
motion controller.
PRO Series and LIB v2.0 (Document Number A11230) – explains how to program in C,
C++,C#, Visual Basic or Delphi Pascal a motion application for the ElectroCraft
Programmable drives using ElectroCraft motion control library for PCs. The MPL_lib
includes ready-to-run examples that can be executed on Windows or Linux (x86 and x64).
PRO Series and LabVIEW v2.0 (Document No. A11231) – explains how to program in
LabVIEW a motion application for the ElectroCraft Programmable drives using
MPL_LIB_Labview v2.0 motion control library for PCs. The MPL_Lib_LabVIEW includes
over 40 ready-to-run examples.
PRO Series and LIB_S7 (Document No. A11232 ) – explains how to program, in a PLC
Siemens series S7-300 or S7-400, a motion application for the ElectroCraft Programmable
drives using MPL_LIB_S7 motion control library. The MPL_LIB_S7 library is IEC61131-3
compatible.
PRO Series and CJ1 (Document No. A11233) – explains how to program, in a PLC Omron
series CJ1, a motion application for the ElectroCraft Programmable drives using
MPL_LIB_CJ1 motion control library. The MPL_LIB_CJ1 library is IEC61131-3 compatible.
PRO Series and X20 (Document No. A11234) – explains how to program, in a PLC B&R series
X20, a motion application for the ElectroCraft Programmable drives using MPL_LIB_X20
motion control library. The MPL_LIB_X20 library is IEC61131-3 compatible.
ElectroCAN (Document No. A11235) – presents ElectroCAN protocol – an extension of the
CANopen communication profile used for MPL commands

MPD User Manual

If you Need Assistance …
If you want to …

Contact ElectroCraft at …

Visit ElectroCraft online

World Wide Web: http://www.electrocraft.com/

Receive general information
or assistance (see Note)

World Wide Web: http://www.electrocraft.com/

Ask questions about product
operation or report suspected
problems (see Note)

Email: drivesupport@electrocraft.com
Fax: (41) 32 732 55 04
Email: : drivesupport@electrocraft.com

Make suggestions about,
or report errors in
documentation.
Mail: ElectroCraft
4480 Varsity Drive
Suite G
Ann Arbor, MI 48108
Tel.: (734) 662-7771

III

MPD User Manual

This page is empty

MPD User Manual

Contents
Read This First ..................................................................................................... I
1.

Overview ..................................................................................................... 1
1.1.

Project Management .................................................................................. 9
2.1.

Project File Concept ......................................................................................... 9

2.2.

Memory Setting .............................................................................................. 12

2.3.

Application - Setup ......................................................................................... 14

2.4.

Application - Motion ........................................................................................ 16

2.4.1.
2.4.2.
2.4.3.
2.4.4.
2.4.5.
2.4.6.
2.4.7.
2.4.8.

Homing Modes ........................................................................................................ 19
Homing Modes Edit ................................................................................................. 21
Functions ................................................................................................................. 22
Functions Edit.......................................................................................................... 23
Interrupts ................................................................................................................. 24
Interrupts Edit .......................................................................................................... 25
CAM Tables ............................................................................................................. 26
CAM Tables Edit ..................................................................................................... 28

MotionPRO Developer Workspace ......................................................... 30
3.1.
3.1.1.
3.1.2.
3.1.3.
3.1.4.
3.1.5.
3.1.6.
3.1.7.
3.1.8.
3.1.9.

3.2.
4.

Getting Started with MotionPRO Developer ..................................................... 1

Menu Bar ........................................................................................................ 31
Project Menu ........................................................................................................... 31
Application Menu ..................................................................................................... 32
Application | Setup Menu ........................................................................................ 33
Application | Motion Menu ....................................................................................... 34
Communication Menu ............................................................................................. 35
View Menu............................................................................................................... 36
Logger ..................................................................................................................... 36
Control Panel........................................................................................................... 38
Help ......................................................................................................................... 39

Toolbar ........................................................................................................... 40

Evaluation Tools....................................................................................... 42
4.1.

Data Logger.................................................................................................... 42

MPD User Manual

4.1.1.
4.1.2.
4.1.3.
4.1.4.
4.1.5.
4.1.6.

4.2.

Data Logger............................................................................................................. 42
Data Logger - Start .................................................................................................. 43
Data Logger - Plot Options ...................................................................................... 44
Data Logger - Plot Setup ......................................................................................... 46
Data Logger - Variables .......................................................................................... 48
Data Logger - Other Options ................................................................................... 50

Control Panel.................................................................................................. 52

4.2.1.
4.2.2.
4.2.3.
4.2.4.
4.2.5.
4.2.6.
4.2.7.
4.2.8.
4.2.9.
4.2.10.
4.2.11.
4.2.12.
4.2.13.

Control Panel........................................................................................................... 52
Control Panel - Show Value .................................................................................... 58
Control Panel - Scope ............................................................................................. 60
Control Panel - Double Scope ................................................................................. 62
Control Panel - Y(X) Scope Object .......................................................................... 64
Control Panel - Gauge............................................................................................. 66
Control Panel - Slider .............................................................................................. 68
Control Panel - Input ............................................................................................... 70
Control Panel - Bit Value ......................................................................................... 71
Control Panel - User Defined MPL Sequence Object .......................................... 72
Control Panel - Label ........................................................................................... 73
Control Panel - Output ......................................................................................... 74
Control Panel Properties ...................................................................................... 75

4.3.

Command Interpreter ..................................................................................... 75

4.4.

Binary Code Viewer ........................................................................................ 78

4.5.

Memory View.................................................................................................. 80

Communication ........................................................................................ 81
5.1.
5.1.1.
5.1.2.
5.1.3.
5.1.4.
5.1.5.
5.1.6.
5.1.7.
5.1.8.

5.2.
5.2.1.
5.2.2.
5.2.3.

Communication Setup .................................................................................... 81
RS-232 Communication Setup ................................................................................ 83
RS-232 Communication Troubleshoots .................................................................. 85
CAN-bus Communication Setup ............................................................................. 86
CAN-bus Communication Troubleshoots ................................................................ 89
User implemented serial driver example ................................................................. 90
User Implemented Serial Driver Setup .................................................................... 94
User Implemented Serial Driver Troubleshoots ...................................................... 97
Advanced Communication Setup ............................................................................ 98

Communication Protocols............................................................................. 101
Message Structure. Axis ID and Group ID ............................................................ 103
Serial communication. RS-232 and RS-485 protocols .......................................... 106
CAN-bus communication. ElectroCAN protocol .................................................... 115

MPD User Manual

5.2.4.

CAN-bus communication. MPLCAN protocol ........................................................ 128

Application Programming ..................................................................... 134
6.1.

Motion Programming – drives with built-in Motion Controller........................ 134

6.1.1.
6.1.2.
6.1.3.
6.1.4.
6.1.5.
6.1.6.
6.1.7.
6.1.8.
6.1.9.
6.1.10.
6.1.11.
6.1.12.
6.1.13.
6.1.14.
6.1.15.
6.1.16.
6.1.17.
6.1.18.
6.1.19.
6.1.20.
6.1.21.
6.1.22.
6.1.23.
6.1.24.
6.1.25.

6.2.
6.2.1.
6.2.2.
6.2.3.
6.2.4.
6.2.5.
6.2.6.
6.2.7.

Motion Programming Toolbars .............................................................................. 138
Motion Trapezoidal Profile..................................................................................... 143
Motion S-Curve Profile .......................................................................................... 146
Motion PT .............................................................................................................. 148
Motion PVT............................................................................................................ 151
Motion External ..................................................................................................... 154
Motion Electronic Gearing ..................................................................................... 157
Motion Electronic Camming .................................................................................. 161
Motor Commands .................................................................................................. 166
Motion Position Triggers .................................................................................... 169
Motion Homing ................................................................................................... 170
Motion Contouring .............................................................................................. 172
Motion Test ........................................................................................................ 176
Events Dialogue ................................................................................................. 178
Jumps and Function Calls .................................................................................. 192
I/O General I/O (Firmware FAxx) ....................................................................... 194
I/O General I/O (Firmware FBxx) ....................................................................... 197
Assignment & Data Transfer - Setup 16-bit variable .......................................... 199
Assignment & Data Transfer - Setup 32-bit variable .......................................... 200
Assignment & Data Transfer - Arithmetic Operations ........................................ 203
Assignment & Data Transfer - Data Transfer Between Axes ............................. 205
Send data to host ............................................................................................... 208
Assignment & Data Transfer - Miscellaneous .................................................... 210
MPL Interrupt Settings ....................................................................................... 213
Free text ............................................................................................................. 218

ElectroCraft Motion Language ...................................................................... 219
Basic Concepts ..................................................................................................... 219
MPL Description .................................................................................................... 239
Electronic Gearing - MPL Programming Details .................................................... 274
MPL Instruction set................................................................................................ 365
Instructions descriptions ........................................................................................ 382
MPL Registers ....................................................................................................... 654
Bit 9 SPDLP. Speed loop status............................................................................ 667

6.3.

Internal Units and Scaling Factors ................................................................ 687

6.4.

PRO EEPROM Programmer ........................................................................ 687

VII

MPD User Manual

6.4.1.
6.4.2.

PRO EEPROM Programmer ................................................................................. 687
PRO EEPROM Programmer File Format .............................................................. 691

Appendix A : MPL Instructions List ............................................................... 693
7.

Appendix B : MPL Data List................................................................... 701

VIII

MPD User Manual

1. Overview
1.1.

Getting Started with MotionPRO Developer

MotionPRO Developer is an integrated development environment for the setup and motion programming
of ElectroCraft Programmable drives and motors. The output of MotionPRO Developer is a set of setup
data and a motion program, which can be downloaded to the drive/motor EEPROM or saved on your PC
for later use.
MotionPRO Developer includes a set of evaluation tools like the Data Logger, the Control Panel and the
Command Interpreter which help you to quickly develop, test, measure and analyze your motion
application.
MotionPRO Developer works with projects. A project contains one or several Applications.
Each application describes a motion system for one axis. It has 2 components: the Setup data and the
Motion program and an associated axis number: an integer value between 1 and 255. An application
may be used either to describe:
1. One axis in a multiple-axis system
2. An alternate configuration (set of parameters) for the same axis.
In the first case, each application has a different axis number corresponding to the axis ID of the
drives/motors from the network. All data exchanges are done with the drive/motor having the same
address as the selected application. In the second case, all the applications have the same axis number.
The setup component contains all the information needed to configure and parameterize a ElectroCraft
drive/motor. This information is preserved in the drive/motor EEPROM in the setup table. The setup table
is copied at power-on into the RAM memory of the drive/motor and is used during runtime.
The motion component contains the motion sequences to do. These are described via a MPL
(ElectroCraft Motion Program Language) program, which is executed by the drives/motors built-in motion
controller.

MPD User Manual

Step 1 Crreate a new project
p
MotionPR
RO Developerr starts with an
a empty window from wh
here you can create a new
w project or open a
previously
y created one
e.

When you
u start a new project, MotiionPRO Deve
eloper autom atically create
es a first app
plication. Additional
applications can be added later. You can duplica
ate an applica
ation or insert one defined in another pro
oject.

w button
to open
o
the “New
w Project” dia
alogue. Set th
he axis numb
ber for
Press New
your first application equal
e
with you
ur drive/moto
or axis ID. Th
he initial value
e proposed iss 255 which is the
xis ID of the drives/motors
d
s. Press New
w button and select your d
drive/motor tyype. Depending on
default ax
the product chosen, the selection may
m continue with the moto
or technologyy (for example
e: brushless m
motor,
m
3 phas
se stepper), the
t control mode
m
(for exa
ample open-lo
oop or closed
d-loop) and tyype of
brushed motor,
feedback device (for ex
xample: incre
emental encod
der, SSI enco
oder)

MPD U
User Manual

Validate your
y
selection
n with a mou
use click. MottionPRO Devveloper openss the Project window whe
ere on
the left side you can see the stru
ucture of a project.
p
At be
eginning both
h the new p
project and itss first
he application
n has 2 compo
onents: S Settup and M Mo
otion (program
m).
application are named “Untitled”. Th

MPD U
User Manual

Step 2 Establish communication
If you have a drive/motor connected with your PC, now its time to check the communication. Use menu
command Communication | Setup to check/change your PC communication settings. Press the Help
button of the dialogue opened. Here you can find detailed information about how to setup your
drive/motor and the connections. Power on the drive/motor, then close the Communication | Setup
dialogue with OK. If the communication is established, MotionPRO Developer displays in the status bar
(the bottom line) the text “Online” plus the axis ID of your drive/motor and its firmware version. Otherwise
the text displayed is “Offline” and a communication error message tells you the error type. In this case,
return to the Communication | Setup dialogue, press the Help button and check troubleshoots.
Remark: When first started, MotionPRO Developer tries to communicate with your drive/motor via RS232 and COM1 (default communication settings). If your drive/motor is powered and connected to your
PC port COM1 via an RS-232 cable, the communication can be automatically established.

Step 3 Setup drive/motor
In the project window left side, select “S Setup”, to access the setup data for your application.

Press View/Modify button
. This opens 2 setup dialogues: for Motor Setup and
for Drive setup through which you can configure and parameterize a ElectroCraft drive/motor. In the

MPD User Manual

Motor setup dialogue you can introduce the data of your motor and the associated sensors. Data
introduction is accompanied by a series of tests having as goal to check the connections to the drive
and/or to determine or validate a part of the motor and sensors parameters. In the Drive setup dialogue
you can configure and parameterize the drive for your application. In each dialogue you will find a
Guideline Assistant, which will guide you through the whole process of introducing and/or checking your
data.

to download your setup data in the
Press the Download to Drive/Motor button
drive/motor EEPROM memory in the setup table. From now on, at each power-on, the setup data is
copied into the drive/motor RAM memory which is used during runtime. It is also possible to save the
setup data on your PC and use it in other applications. Note that you can upload the complete setup data
from a drive/motor.
To summarize, you can define or change the setup data of an application in the following ways:
•

create a new setup data by going through the motor and drive dialogues

•

use setup data previously saved in the PC

•

upload setup data from a drive/motor EEPROM memory

Step 4 Program motion
In the project window left side, select “M Motion”, for motion programming.

MPD User Manual

One of the key advantages of the ElectroCraft drives/motors is their capability to execute complex
motions without requiring an external motion controller. This is possible because ElectroCraft
drives/motors include both a state of art digital drive and a powerful motion controller.
Programming motion on a ElectroCraft drive/motor means to create and download a MPL (ElectroCraft
Motion Program Language) program into the drive/motor memory. The MPL allows you to:
•

Set various motion modes (profiles, PVT, PT, electronic gearing or camming, etc.)

•

Change the motion modes and/or the motion parameters

•

Execute homing sequences

•

Control the program flow through:
o

Conditional jumps and calls of MPL functions

MPL interrupts generated on pre-defined or programmable conditions (protections triggered,
transitions on limit switch or capture inputs, etc.)

Waits for programmed events to occur

•

Handle digital I/O and analogue input signals

•

Execute arithmetic and logic operations

•

Perform data transfers between axes

•

Control motion of an axis from another one via motion commands sent between axes

•

Send commands to a group of axes (multicast). This includes the possibility to start
simultaneously motion sequences on all the axes from the group

•

Synchronize all the axes from a network

MPD User Manual

With MPL, you can really distribute the intelligence between the master and the drives/motors in complex
multi-axis applications. Thus, instead of trying to command each step of an axis movement, you can
program the drives/motors using MPL to execute complex tasks and inform the master when these are
done. Thus for each axis the master task may be reduced at: calling MPL functions (with possibility to
abort their execution if needed) and waiting for a message, which confirms the execution. If needed, the
drives/motors may also be programmed to send periodically information messages to the master so it can
monitor a task progress.
In order to help you create a MPL program, MotionPRO Developer includes a Motion Editor. This offers
you the possibility to program all the motion sequences using high level graphical dialogues which
automatically generate the corresponding MPL instructions. With Motion Editor you can develop motion
programs using almost all the MPL instructions without needing to learn them.
The Motion Editor is automatically activated when you select “M Motion” in the project window left side.
When activated, Motion Editor adds a set of toolbar buttons in the project window just below the title.
Each button opens a programming dialogue. When a programming dialogue is closed, the associated
MPL instructions are automatically generated. Note that, the MPL instructions generated are not a simple
text included in a file, but a motion object. Therefore with Motion Editor you define your motion program
as a collection of motion objects.
The major advantage of encapsulating programming instructions in motion objects is that you can very
easily manipulate them. For example, you can:
• Save and reuse a complete motion program or parts of it in other applications
• Add, delete, move, copy, insert, enable or disable one or more motion objects
• Group several motion objects and work with bigger objects that perform more complex functions
As a starting point, push for example the leftmost Motion Editor button – Trapezoidal profiles, and set a
position or speed profile. Then press the Run button. At this point the following operations are done
automatically:
•

A MPL program is created by inserting your motion objects into a predefined template

•

The MPL program is compiled and downloaded to the drive/motor

•

The MPL program execution is started

For learning how to send commands from your host/master, check the Application | Binary Code Viewer.
This tool helps you to quickly find how to send MPL commands using one of the communication channels
and protocols supported by the drives/motors. Using this tool, you can get the exact contents of the
messages to send as well as of those expected to be received as answers.

Step 5 Evaluate motion application performances
MotionPRO Developer includes a set of evaluation tools like the Data Logger, the Control Panel and the
Command Interpreter which help you to quickly measure and analyze your motion application.
Step 6 Create an EEPROM image file for programming in production
Once you have validated your application, you can create with the menu command Application | Create
PRO EEPROM Programmer File a software file (with extension .sw) which contains all the data to write
in the EEPROM of your drive/motor. This includes both the setup data and the motion program. The .sw
file can be programmed into a drive/motor, using the PRO EEPROM Programmer tool, which comes with
MotionPRO Developer but may also be installed separately. The PRO EEPROM Programmer was
specifically designed for repetitive fast and easy setup and programming of ElectroCraft drives/motors in
production.

MPD User Manual

See also:
Memory Map

MPD User Manual

4.4.

Binary Code
C
Viewe
er

The Binary Code View
wer offers yo
ou a quick wa
ay to program
m your host fo
or exchanging
g messages w
with a
aft drive/moto
or. Through this tool, you can find how
w to encapsula
ate a MPL co
ommand for a
all the
ElectroCra
communic
cation types and
a the supp
ported protoco
ols. You get the both the contents of tthe message
es you
have to se
end and the expected
e
answ
wers from the
e drive/motor,, if it is the case.

ct the commu
unication Prottocol betwee
en: serial RS 2
232, serial RS
S 485, CAN-b
bus with MPL
LCAN,
First selec
CAN-bus with ElectroC
CAN or no prrotocol, just th
he binary code
e of the MPL commands a
and answers.
er select the Axis
A
ID of the
e message sender. In the
e case of RS--232, the sender is alwayss your
At Sende
Host, as 2 drives/mottors may nott be connected between them using RS-232. If yo
ou select RS
S-485,
AN, the sende
er can be an Axis/Host (a
another Axis or your Hostt) or None. O
Option
MPLCAN or ElectroCA
eans non-requ
uested messa
ages sent by the drive/mottor, containing a specific M
MPL data. Yo
ou can
None, me
simulate these
t
messa
ages with a ??
? query follo
owed by the returned MP
PL data name
e and by sele
ecting
None. If you
y select MPL, you can find the bina
ary code for M
MPL comman
nds sent from
m both the Ho
ost or
another axis, which in the case of RS-232
R
plays the role of an
n Relay Axis (see Commu
unication Prottocols
s)
for details
Remark: Though theo
oretically poss
sible, activatiion of non-req
quested messsages is nott recommende
ed for
85 where the host must control the com
mmunication to
o avoid confliccts.
the RS-48
At Destination choose
e either an Ax
xis of a Group of axes. In the first case
e, set the axiss ID of the recceiver.
In the sec
cond case, se
elect a group from
f
1 to 8 orr set group nu
umber to 0 forr a broadcastt message.
In the case of query messages asking the driive/motor to return a MP
PL data, you can introducce the
v
in hexa
adecimal form
mat in the Typ
pe here (hexa
a) edit box. T
This helps you
u to quickly id
dentify
returned value
the positio
on of the returned data in the
t message received.

78
8

MPD U
User Manual

You can simulate 2 types of query or Type B messages (see Communication Protocols for details):
•

A “GiveMeData: request, by typing at Source Code a question mark ? followed by a MPL data name
(for example ?apos to read the actual position). In this case the answer is a “TakeData” message

•

A “GiveMeData2” request, by typing at Source Code a double question mark ?? followed by a MPL
data name (for example ??aspd to read the actual speed). In this case the answer is a “TakeData2”
message

On CAN-bus, a “GiveMeData2” request may be sent to a group of drives/motors. For the returned answer
you can Select an axis from the group.
Remarks:
•

If a “GiveMeData2” request is sent to a group, the “TakeData2” answers are prioritized function of the
respondents’ axis ID: the drive/motor with the lowest axis ID has the highest priority.

•

The “GiveMeData” request is intended only for a single axis. If in a CAN-bus network, “GiveMeData” is
sent to a group, all the returned answers have the same CAN identifier and therefore can’t be
differentiated, causing an error.

•

On RS-485, the query messages can’t be sent to group, as the answers will overlap.

For simulating Type A messages, which do not request to return a data, simply type the MPL instruction
at Source code. For example to set a position command CPOS of 2000 encoder counts, type
cpos=2000.
After you have introduced one or more commands, press to arrow button “>” to generate the code.
At Binary code sent you’ll see the binary code (in hexadecimal format), which must be sent by your host.
When RS-232 and RS-485 are selected, the code displayed represents the bytes you have to send via
the serial asynchronous port of your host. When MPLCAN is used, the first 8 hexadecimal numbers
represent the 29-bit identifier of the CAN message (the 3MSB of the 32-bit value are zero) and the
remaining bytes represent, the CAN message data: byte 0, byte 1, etc. When ElectroCAN protocol is
chosen, the first 3 hexadecimal numbers represents the 11-bit identifier of the CAN message (the MSB of
the 12-bit value is zero).
At Binary code received you’ll see the answer sent by the drive/motor.
Remark: On RS-232 and RS-485 each message sent to one axis is confirmed with an acknowledge byte
4Fh. Therefore, in a query message, you’ll see first the 4Fh byte as confirmation for the reception of the
data request, followed by the contents of the answer message. On RS-485, the 4Fh acknowledge byte is
not sent if the command is sent to a group.
See also:
Communication protocols

MPD User Manual

4.5.

Memory
y View

In Memorry window yo
ou can view/modify the co
ontents of th e ElectroCra
aft drive’s/mottor’s memoryy from
where the
e MPL program runs.

ow is opened
d selecting the
e View | Mem
mory menu co
ommand or th
he associated
d toolbar icon
n. You
The windo
can refres
sh the display
yed data by se
electing the menu
m
comman
nd View | Re
efresh button or F12 key.
Remark: As this feature is a very lo
ow level func
ction, it is NO T recommend
ded to modifyy memory con
ntents
edge of the us
se made by the
t ElectroCra
raft drive/moto
or of each me
emory locatio
on you
without a deep knowle
m
intend to modify
See also:
Memory Settings
S

80
0

MPD U
User Manual

5. Com
mmunicattion
5.1.

Commun
nication Se
etup

The comm
munication settings from this dialogue
e define how
w MotionPRO
O Developer is using you
ur PC
serial portt or a commu
unication interrface board. The
T dialogue allows you to
o select the co
ommunication
n type
between your
y
PC and your Electro
oCraft drives//motors. You can choose between: se
erial RS-232, serial
RS-485, CAN-bus orr Ethernet and
a
setup in each case the communication para
ameters. Witth the
S-232, all the other opttions require a specific interface. F
For CAN-buss, the
exception of the RS
cation setting
gs depend on
n the interface
e used. There
efore the Cha
annel Type llist includes a
all the
communic
CAN-bus interfaces supported.

Remark: If your PC is equipped
d with anothe
er CAN-bus iinterface, con
ntact ElectroCraft to checck for
compatibiility with one of
o the interfac
ces supported
d
When sev
veral drives/m
motors are connected
c
in a CAN-bus network you have to spe
ecify the CAN
N-bus
communic
cation protoc
col used. This
s option is also available for serial RS-232 and E
Ethernet, whe
en the
drive/moto
or connected to the host acts
a
as retran
nsmission rel ay (see Com
mmunication P
Protocols). Att CAN
Protocol you can cho
oose either MPLCAN
M
(CA
AN 2.0B, 29-b
bit identifierr) or CANope
en or Electro
oCAN
A, 11-bit iden
ntifier).
(CAN2.0A
Remark: When the CANopen
C
or ElectroCAN
E
(CAN2.0A,
(
11
1-bit identifierr) protocol is selected the
e Axis
e drives/moto
ors and of the PC, are interrpreted as mo
odulo 32.
IDs, of the
Through this
t
dialogue you also specify the Axis IDs for your PC or in the case of RS-2
232 or Ethernet the
Axis ID of
o the drive/m
motor connec
cted with your PC. Each time you clo
ose MotionPR
RO Develope
er, the
communic
cation settings are saved. Next time wh
hen you open
n the MotionP
PRO Develope
er, the last se
ettings
you have set are restored.

81
1

MPD U
User Manual

Important Note:
Only a part of the ElectroCraft products supports all communication types. Make sure you select a
communication type supported by your product!
Remark: If you get a communication error message, select “Communication | Refresh” command or
press the associated button from the toolbar to restore the communication.
Note that when using serial RS-232 or RS-485 communication, MotionPRO Developer automatically sets
the drives/motors with the baud rate selected in this dialogue. If a drive/motor is reset (power supply is
temporary turned off), the serial communication with your PC may no longer work. This happens if the
drive/motor default baud rate after reset (9600 baud) differs from that set in MotionPRO Developer. Use
“Communication | Refresh” command to restore the communication. This starts the automatic baud rate
detection, followed by the baud rate change to the value set in MotionPRO Developer.
See also:
RS-232 Communication Setup
RS-232 Communication Troubleshoots
RS-485 Communication Setup
RS-485 Communication Troubleshoots
CAN-bus Communication Setup
CAN-bus Communication Troubleshoots
Ethernet Communication Setup
Ethernet Communication Troubleshoots
User Implemented Serial Driver Setup
User Implemented Serial Driver Troubleshoots
Advanced Communication Setup

MPD User Manual

5.1.1. RS-23
32 Commun
nication Setup
Steps to
o follow:
1. Setup
p the drive/motor for RS-232 communic
cation
2. Set MotionPRO
M
Developer
D
for communicatio
c
on via RS-232
2 with the drivve/motor
Step 1 Se
etup the driv
ve/motor for RS-232
R
comm
munication
1. Powe
er-Off your drrive/motor
2. In orrder to use the RS-232 communicatio
c
on, you need
d to connect your PC witth the Electro
oCraft
drive/motor throug
gh an RS-232
2 serial cable. If the drive/m
motor is equip
pped with a sstandard 9-pin
n DB9
connector for seriial communic
cation, use a 9-wire stand ard serial ca
able: male-fem
male, non-invverting
he drive/moto
or user manua
al for cable co
onnections.
(e.g. one-to-one), else check th
3. If the
e drive/motor supports als
so RS-485 co
ommunication
n, set the RS
S-232/RS-485 switch (or solderjoint) to the positio
on RS-232.
4. Powe
er-On the driv
ve/motor

Step 2 Se
et MotionPRO
O Developerr for commun
nication via R
RS-232 with the drive/mo
otor
1.

Selec
ct menu comm
mand “Comm
munication | Setup”
S

Selec
ct at “Channe
el Type” RS-2
232 (default).

Selec
ct the “CAN Protocol” between
b
the drives/motorrs connected in the CAN
N-bus networkk, the
drive/motor conne
ected to PC acting
a
as a re
etransmission
n relay (see C
Communicatio
on Protocols)). You
can choose
c
eitherr MPLCAN (C
CAN2.0B, 29
9-bit identifie
er) or CANop
pen or ElectrroCAN (CAN
N2.0A,
11bitt identifier).

Selec
ct at “Port” the
t serial porrt of your PC, where you have conneccted the seria
al cable. By d
default
the selected port is COM1

Selec
ct the desired
d baud rate fro
om “Baud Ra
ate” list

Set th
he “Axis ID of
o the drive/m
motor connec
cted to PC”. The default o
option is auto
odetected ena
abling
Motio
onPRO Developer to detec
ct automatica
ally the axis ID
D of the drive
e connected tto the serial p
port. If
your drive/motor doesn’t
d
suppo
ort this featurre (see remarrk below) sele
ect its axis ID
D from the listt. The
s ID is set at power
p
on usin
ng the followin
ng algorithm:
drives/motors axis
a. With
W the value read from the
e EEPROM setup
s
table co
ontaining all th
he setup data
a
b. If the setup tab
ble is invalid, with
w the last axis
a ID value read from a vvalid setup table

83
3

MPD U
User Manual

If there is no axis ID set by a valid setup table, with the value read from the hardware
switches/jumpers for axis ID setting

Press the OK button

If the communication works properly, you’ll see displayed on the status bar (the bottom line) of the
MotionPRO Developer the text “Online”, the axis ID of the drive/motor and the firmware version read from
the drive/motor.
Remark: If your drive/motor firmware number:
•

Starts with 1 – examples: F100A, F125C, F150G, etc., or

•

Starts with 0 or 9 and has a revision letter below H – examples: F000F, F005D, F900C

you can’t use the axis ID autodetected option.
See also:
RS-232 Communication Troubleshoots
Advanced Communication Setup
Communication Setup

MPD User Manual

5.1.2. RS-232 Communication Troubleshoots
If the serial RS232 communication does not operate properly, MotionPRO Developer will issue an error
message and you’ll see displayed on the status bar (the bottom line) of the MotionPRO Developer the
text “Offline”.
1. If the error message is “Cannot open the selected serial port”, the serial port you have selected
from “Port” does not exist or is used by another device of your PC (mouse, modem, etc.). Click
“Cancel”, reopen Communication | Setup dialogue, select another serial port and try again.
2. If the error message is “Cannot synchronize the computer and drive/motor baud rates” click
“Cancel”, then check the following:
•

Serial cable connections

•

Serial cable type, if you use a standard cable. Make sure that the cable is non-inverting (one-toone)

•

In “Communication | Setup” dialogue, the “Axis ID of the drive/motor connected to PC is”
selection. If you use MotionPRO Developer with a previously bought drive/motor, this may not
support the default option “autodetected”. Select the same axis ID with that of your drive/motor.
The drives/motors axis ID is set at power on using the following algorithm:
a. With the value read from the EEPROM setup table containing all the setup data
b. If the setup table is invalid, with the last axis ID value read from a valid setup table
c.

If there is no axis ID set by a valid setup table, with the value read from the hardware
switches/jumpers for axis ID setting

d. If the drive/motor has no hardware switches/jumpers for axis ID setting, with the default axis
ID value which is 255.
•

Drive hardware settings for RS-232 communication (see RS-232 Setup)

3. If the communication operates usually but gives communication errors from time to time, check the
following:
•

If your PC has an earth connection.

•

If your drive/motor is linked to earth. For the drives/motors without an explicit earth point,
connect the earth to the ground of the supply/supplies.

•

In “Communication | Setup” dialogue click on the Advanced… button and increase the “Read
interval timeout”, “Timeout multiplier” and “Timeout constant” parameters. Note that these
parameters are related to PC serial operation and usually the default values for these
parameters do not need to be modified.

After you fix the problem, execute menu command “Communication | Refresh” to restore the
communication.
See also:
RS-232 Communication Setup
Advanced Communication Setup
Communication Setup

MPD User Manual

5.1.3. CAN-bus Communication Setup
Steps to follow:
1. Setup the drives/motors for CAN-bus communication
2. Mount on/connect to your PC a CAN-bus interface board
3. Install on your PC an CAN-bus software driver
4. Build the CAN-bus network
5. Set MotionPRO Developer for communication via CAN-bus with the drives/motors
Step 1. Setup the drives/motors for CAN-bus communication
1. Power-Off the drive/motor
2. Choose a different axis ID for each drive/motor and also different from the axis ID of PC (which is set
by default at 255). The drives/motors axis ID is set at power on using the following algorithm:
a. With the value read from the EEPROM setup table containing all the setup data
b. If the setup table is invalid, with the last axis ID value read from a valid setup table
c.

If there is no axis ID set by a valid setup table, with the value read from the hardware
switches/jumpers for axis ID setting

d. If the drive/motor has no hardware switches/jumpers for axis ID setting, with the default axis ID
value which is 255.
Remarks:
•

If your drive/motor has no hardware switches/jumpers for axis ID setting, you must program the
desired axis ID in the drive/motor setup table. You can do this operation from MotionPRO
Developer – the setup part of an application, where you can select the axis ID to be saved in the
drive/motor setup table from the EEPROM. Use the RS-232 communication to download the
setup data.

•

When the ElectroCAN communication protocol is used the Axis IDs, of the drives/motors and of
the PC, are interpreted as modulo 32.

Step 2. Mount on your PC a CAN-bus interface board
MotionPRO Developer offers the possibility to choose one of the following PC to CAN-bus interfaces:
•

IxxAT PC to CAN interface

•

Sys Tec USB to CAN interface

•

ESD PC to CAN interface

•

LAWICEL CANUSB interface

•

PEAK System PCAN-PCI interface

•

PEAK System PCAN-ISA

•

PEAK System PC/104

•

PEAK System PCAN-USB

•

PEAK System Dongle interfaces

MPD User Manual

Dongle using SPP/EPP
P protocol

Dongle witth SJA chipse
et using SPP//EPP protocoll

Dongle Pro
o with SJA ch
hipset using SPP/EPP
S
prottocol

Step 3. In
nstall on you
ur PC a CAN-BUS softwarre driver
In order to use a CAN
N-bus interfac
ce you need to
t install on yyour PC the CAN-bus drivver for the ch
hosen
C
interface, the prroducer provvides the drivver as well as the installation
interface. For each CAN-bus
s. You can fin
nd detailed in
nformation reg
garding the a
above interfacces and theirr installation o
on the
guidelines
following web pages: www.ixxat.c
com, www.sy
ystec-electron
nic.de, www..peak-system
m.com, www
w.esdcs.com and ww
ww.canusb.com (Lawicel interface).
i
electronic
Remarks: For the CAN-bus interfa
aces from PEA
AK System yyou must cop
py the DLL intterface provid
ded in
the folderr where Motion
nPRO Develo
oper was insttalled.
B
the CAN
N-bus networrk
Step 4. Build
Each drive
e/motor manu
ual shows how
w to do the co
onnections in
n order to buil d a CAN-buss network.
Step 5. Set MotionPR
RO Developerr for commu
unication via CAN-bus wiith the drives
s/motors

1. Selec
ct menu comm
mand “Comm
munication | Setup”
S
2. Selec
ct at “Channe
el Type” the CAN-bus
C
optiion correspon
nding to yourr interface. Fo
or IXXAT CAN
N-bus
interfa
ace, PEAK PCAN-ISA, PCAN-PC/10
P
04 and PEA K PCAN-Dongle interfacces press “S
Select
Devic
ce…” button to
t choose the hardware mo
odel correspo
onding to your device.
3. Selec
ct the “CAN Protocol”
P
use
ed by the PC to communiccate with the drives/motorrs connected in the
CAN-bus network.. You can ch
hoose either MPLCAN (C AN2.0B, 29--bit identifierr) or CANopen or
N2.0A, 11bit identifier).
ElectroCAN (CAN
4. Depending on the CAN-bus inte
erface used, you
y have mo
ore or less ports available. Select from ““Port”
evice where you
y have conn
nected the CA
AN-bus
the de
Rema
ark: For Sys Tec USB to
o CAN interfface the port number musst be the sam
me with the d
device
numb
ber set with the device conffiguration utiliity.
5. Selec
ct the CAN-bu
us interface ba
aud rate from
m “Baud Rate”” drop list
Rema
ark: The baud
d rate selectio
on refers ONL
LY to the CAN
N-bus interface on the PC
C. It doesn’t ch
hange
the CAN
C
baud ratte on the driives/motors. The default b
baud rate on
n CAN-bus fo
or the Electro
oCraft
drives
s/motors is 50
00kbps.
6. Selec
ct at “Axis ID of PC is” an address for the
t PC. By de
efault the value proposed is 255. Atten
ntion!
Make sure that all the drives/motors from the network ha
ave a different address. W
When the CAN
Nopen

87
7

MPD U
User Manual

or ElectroCAN communication protocol is used the Axis IDs of the drives/motors and of the PC are
interpreted as modulo 32.
7. Press the OK button
If the CAN interface mounted on the PC works properly, you’ll see displayed on the status bar (the bottom
line) of the MotionPRO Developer the text “Online” and the axis ID of the PC.
See also:
CAN-bus Communication Troubleshoots
Advanced Communication Setup
Communication Setup

MPD User Manual

5.1.4. CAN-bus Communication Troubleshoots
If the CAN-bus communication does not operate properly, MotionPRO Developer will issue an error
message and you’ll see displayed on the status bar (the bottom line) of the MotionPRO Developer the
text “Offline”.
1. If the error message is “Cannot find board with selected Axis ID”, click “Cancel” button, then
check the following:
•

CAN Baud rate selected in the Communication | Setup dialogue for the CAN-bus interface. It
should be the same with the drives/motors baud rate, which is set by default at power on at
500kbps.

•

CAN-bus cable connections and the presence of the 120 ohms terminal resistors at the two ends
of the network

•

If the CAN-bus supply is on

•

In MotionPRO Developer project, the “Axis Number” of the selected application. This should
match with the Axis ID of one of the drives from the network. As e general rule, the axis number
of each application must correspond with the axis ID of one drive from the network. Each drive
must have a different axis ID. No drive can have the same axis ID value as that set as Axis ID of
PC.

•

The setup of the CAN-bus interface on your PC

•

Drive/motor hardware settings for CAN-bus communication (see CAN-bus Setup)

2. If the error message is “Cannot load interface with PEAK SYS xxxx devices (PCAN_XXXX.DLL)”,
click “Cancel” button, and then copy the file “PCAN_XXXX.DLL” from the Peak System CD (or other
storage media) in the folder where MotionPRO Developer was installed.
3. If the error message is “Invalid Parameter”, click “Cancel” and check the CAN-bus interface
selected in the Communication | Setup dialogue. This message occurs when the selected interface
is not installed and/or configured on your PC.
4. If the communication operates usually but gives communication errors from time to time, in
“Communication | Setup” click on Advanced… button and increase the Send message timeout
(when present) and Receive message timeout parameters. Note that for these parameters, usually,
the default values do not need to be modified.
After you fix the problem, execute menu command “Communication | Refresh” to restore the
communication.
See also:
CAN-bus Communication Setup
Advanced Communication Setup
Communication Setup

MPD User Manual

5.1.5. User implemented serial driver example
// Defines the entry point for the DLL application.

// Make sure that shdata is a shared section (e.g. for Microsoft linker you
should use: /SECTION:shdata,RWS)
// This way the s_nInstances
applications using this DLL

variable

will

globally

visible

all

#pragma data_seg("shdata")
static int s_nInstances = 0;

#pragma data_seg()

HANDLE g_hSerialPort = INVALID_HANDLE_VALUE;
DWORD g_nBaudRate = 0;

BOOL APIENTRY DllMain( HANDLE /*hModule*/,
DWORD

ul_reason_for_call,

LPVOID /*lpReserved*/
)
{
switch (ul_reason_for_call)

case DLL_PROCESS_ATTACH:
if (s_nInstances == 0)

g_hSerialPort

CreateFile(

"COM1",

GENERIC_READ

GENERIC_WRITE,
0,

// exclusive access

NULL,

// no security attrs

OPEN_EXISTING,
FILE_ATTRIBUTE_NORMAL,
NULL );
if (g_hSerialPort == INVALID_HANDLE_VALUE)
return false;

MPD User Manual

//Initialize serial parameters
DCB dcb;
if (!GetCommState(g_hSerialPort, &dcb))
return false;
dcb.BaudRate = g_nBaudRate = CBR_9600;
dcb.ByteSize = 8;
dcb.Parity = NOPARITY;
dcb.StopBits = TWOSTOPBITS;
// Standard flow control
// setup no hardware flow control
dcb.fOutxDsrFlow = 0;
dcb.fDtrControl = DTR_CONTROL_DISABLE;
dcb.fOutxCtsFlow = 0;
dcb.fRtsControl = RTS_CONTROL_DISABLE;
dcb.fDsrSensitivity = false;

// setup no software flow control
dcb.fInX = dcb.fOutX = 0;
dcb.fBinary = true ;
if (!SetCommState(g_hSerialPort, &dcb))
return false;

//Set

serial

timeouts.

ReadData

and

WriteData

must

return
//in a determined period of time
COMMTIMEOUTS CommTimeOuts;
CommTimeOuts.ReadIntervalTimeout = 1000;
CommTimeOuts.WriteTotalTimeoutMultiplier
CommTimeOuts.ReadTotalTimeoutMultiplier = 700 ;

CommTimeOuts.WriteTotalTimeoutConstant
CommTimeOuts.ReadTotalTimeoutConstant = 500 ;

if(!SetCommTimeouts(g_hSerialPort, &CommTimeOuts))
return false;
}
else

//This

library

does

not

support

connection

sharing

between applications

MPD User Manual

//If you need it, you must duplicate file handler from
one process to another
return false;
}
s_nInstances++;
break;
case DLL_THREAD_ATTACH:
case DLL_THREAD_DETACH:
break;
case DLL_PROCESS_DETACH:
s_nInstances--;
if (s_nInstances == 0)

CloseHandle(g_hSerialPort);
g_hSerialPort = INVALID_HANDLE_VALUE;
}
break;
}
return true;
}

//must have a timeout
bool __stdcall ReadData(BYTE* pData, DWORD dwBufSize, DWORD* pdwBytesRead)

return ReadFile(g_hSerialPort, pData, dwBufSize, pdwBytesRead, NULL) ?
true : false;
}

//must have a timeout
bool
__stdcall
pdwBytesWritten)

WriteData(const

BYTE*

pData,

DWORD

dwBufSize,

DWORD*

return WriteFile(g_hSerialPort, pData, dwBufSize, pdwBytesWritten, NULL)
? true : false;
}

int __stdcall GetBytesCountInQueue() // should be non-blocking, < 0 means
error

COMSTAT comStat;

MPD User Manual

DWORD dwComErrors;
if (!ClearCommError(g_hSerialPort, &dwComErrors, &comStat))
return -1;
return comStat.cbInQue;
}

void __stdcall PurgeQueues()

PurgeComm(g_hSerialPort, PURGE_TXABORT | PURGE_RXABORT | PURGE_TXCLEAR |
PURGE_RXCLEAR );
}

DWORD __stdcall GetCommBaudRate()

return g_nBaudRate;
}

bool __stdcall SetCommBaudRate(DWORD nNewBaudRate)

if(nNewBaudRate != g_nBaudRate)

DCB dcb;
if (!GetCommState(g_hSerialPort, &dcb))
return false;
dcb.BaudRate = g_nBaudRate = nNewBaudRate;
if (!SetCommState(g_hSerialPort, &dcb))
return false;
}
return true;
}

MPD User Manual

5.1.6. User Implemented Serial Driver Setup
Steps to follow:
1. Implement the serial driver accordingly with the MPLcomm.dll interface
2. Setup the drive/motor for RS-232 communication
3. Set MotionPRO Developer for communication via user implemented serial driver with the drive/motor
Step 1 Implement the serial driver
In the main function of the dll initialize the communication channel with the serial settings
implemented on the ElectroCraft drives/motors: 8 data bits, 2 stop bits, no parity, no flow control
and one of the following baud rates: 9600 (default after reset), 19200, 38400, 56600 and 115200.
Implement the functions for interfacing your communication driver with MPLcomm. This functions
are:
bool __stdcall ReadData(BYTE* pData, DWORD dwBufSize, DWORD* pdwBytesRead)
bool __stdcall WriteData(const
pdwBytesWritten)

BYTE*

pData,

DWORD

dwBufSize,

DWORD*

int __stdcall GetBytesCountInQueue()
void __stdcall PurgeQueues()
DWORD __stdcall GetCommBaudRate()
bool __stdcall SetCommBaudRate(DWORD nNewBaudRate)
where:
pData

Pointer to buffer from/to the data is read/wrote

dwBufsize

Parameter specifying the number of bytes to be read/write from/to serial
port

pdwBytesRead

Pointer to the variable that contains the number of bytes read

pdwBytesWritten Pointer to the variable that contains the number of bytes written
Variable that contains the new value for serial baud rate

nNewBaudRate

Export the functions from the communication driver using a module-definition (.DEF) file with
the following content:
LIBRARY

"virtRS232"

DESCRIPTION

'Example of a virtual serial driver for MPLcomm.dll'

EXPORTS
; Explicit exports can go here
ReadData
WriteData

MPD User Manual

GetBy
ytesCountI
InQueue
Purge
eQueues
GetCo
ommBaudRat
te
SetCo
ommBaudRat
te
Step 2 Se
etup the driv
ve/motor for RS-232
R
comm
munication
1. Power-Off your drive/motor
2. In
n order to use
e the RS-232
2 communica
ation, you nee
ed to connecct your PC with the Electro
oCraft
drrive/motor thrrough an RS--232 serial ca
able. If the drrive/motor is equipped with a standard 9-pin
DB9
D
connecto
or for serial co
ommunication
n, use a 9-wiire standard serial cable: male-female,, nonin
nverting (e.g. one-to-one), else check th
he drive/motorr user manua
al for cable co
onnections.
3. If the drive/motor supports
s also RS-485 communiication, set tthe RS-232/R
RS-485 switcch (or
older-joint) to the position RS-232.
so
4. Power-On the drive/motor

Step 3 Se
et MotionPR
RO Develope
er for commu
unication via
a user imple
emented seriial driver witth the
drive/motor
ommunication | Setup”
1. Select menu command “Co
2. Select User im
mplemented se
erial driver at “Channel Ty
ype”.
3. Select the “CA
AN Protocol”
” between the drives/moto
ors connecte
ed in the CAN
N-bus networrk, the
drrive/motor co
onnected to PC
P acting as a retransmisssion relay (ssee Commun
nication Proto
ocols).
You
Y
can choo
ose either MPLCAN (CAN2.0B, 29-biit identifier) or CANope
en or Electro
oCAN
(C
CAN2.0A, 11bit identifier)).
4. Specify at “Po
ort” the comm
munication dll you impleme
ented
5. Select the desired baud rate
e from “Baud
d Rate” list
6. Set the “Axis ID of the drive/motor
d
connected
c
to
o PC”. The d
default option
n is autodete
ected
en
nabling Motio
onPRO Develloper to detec
ct automatica
ally the axis ID of the drive
e connected to the
se
erial port. If your
y
drive/mo
otor doesn’t support
s
this fe
eature (see rremark below
w) select its axxis ID
from the list. The drives/motors axis ID is
s set at powe r on using the
e following alg
gorithm:
om the EEPR
ROM setup tab
ble containing
g all the setup
p data
a. With the value read fro
b. If the setu
up table is inv
valid, with the
e last axis ID vvalue read fro
om a valid settup table
c.

If there is no axis ID
D set by a va
alid setup tab
ble, with the value read ffrom the hard
dware
a ID setting
g
switches//jumpers for axis

95
5

MPD U
User Manual

d. If the drive/motor has no hardware switches/jumpers for axis ID setting, with the default axis
ID value which is 255.
Remark: When the ElectroCAN communication protocol is used the Axis IDs, of the drives/motors
and of the PC, are interpreted as modulo 32.
7. Press the OK button
If the communication works properly, you’ll see displayed on the status bar (the bottom line) of the
MotionPRO Developer the text “Online”, the axis ID of the drive/motor and the firmware version read from
the drive/motor.
Remark: If your drive/motor firmware number:
•

Starts with 1 – examples: F100A, F125C, F150G, etc., or

•

Starts with 0 or 9 and has a revision letter below H – examples: F000F, F005D, F900C

you can’t use the axis ID autodetected option.
See also:
User Implemented Serial Driver Example
User Implemented Serial Driver Troubleshoots
Advanced Communication Setup
Communication Setup

MPD User Manual

5.1.7. User Implemented Serial Driver Troubleshoots
If the serial communication does not operate properly, MotionPRO Developer will issue an error message
and you’ll see displayed on the status bar (the bottom line) of the MotionPRO Developer the text
“Offline”.
1. If the error message is “The specified module could not be found”, the serial driver you have
specified at “Port” does not exist or its path is not properly set. Click “Cancel”, reopen
Communication | Setup dialogue, check your environment variables and try again.
2. If the error message is “Cannot synchronize the computer and drive/motor baud rates” click
“Cancel”, then check the following:
•

Serial cable connections

•

Serial cable type, if you use a standard cable. Make sure that the cable is non-inverting (one-toone)

•

If there is no axis ID set by a valid setup table, with the value read from the hardware
switches/jumpers for axis ID setting

d. If the drive/motor has no hardware switches/jumpers for axis ID setting, with the default axis
ID value which is 255.
•

Drive hardware settings for RS-232 communication (see User Implemented Serial Driver Setup)

3. If the communication operates usually but gives communication errors from time to time, check the
following:
•

If your PC has an earth connection.

•

If your drive/motor is linked to earth. For the drives/motors without an explicit earth point,
connect the earth to the ground of the supply/supplies.

•

After you fix the problem, execute menu command “Communication | Refresh” to restore the
communication.
See also:
User Implemented Serial Driver Setup
Advanced Communication Setup
Communication Setup

MPD User Manual

5.1.8. Advanced Communication Setup
The advanced communication parameters are related to the host/PC operation. Usually, the default
values for these parameters do not need to be modified. You may try to increase these parameters only if
the communication works but gives errors from time to time and you have already eliminated all the other
possible sources of errors.
When RS-232 or RS-485 communication is used, the dialogue displayed is

and the parameters have the following significance:
•

Read Interval Timeout – specifies the maximum time, in milliseconds, allowed to elapse between the
arrival of two characters on the communications line. During a read operation, the time period begins
when the first character is received. If the interval between the arrivals of any two characters exceeds
this amount, the read operation is completed and any buffered data is returned. A value of zero
indicates that interval time-outs are not used.

•

Timeout Multiplier – specifies the multiplier, in milliseconds, used to calculate the total time-out
period for read operations. For each read operation, the requested number of bytes to be read
multiplies this value.

•

Timeout Constant – specifies the constant, in milliseconds, used to calculate the total time-out period
for read operations. For each read operation, this value is added to the product of the Timeout
Multiplier member and the requested number of bytes.
Remark: A value of zero for both the Timeout Multiplier and the Timeout Constant members indicates
that total time-outs are not used for read operations.

•

Wait after RUN – specifies the time interval, in milliseconds, during which the MotionPRO Developer
will not communicate with a drive/motor, after it sends it a Run command from MotionPRO Developer.

The default values are: Read interval timeout – 1000 ms, Timeout multiplier – 700 ms, Timeout
constant – 400 ms, Wait after RUN – 0 ms.
When CAN-bus communication is used, the dialogue displayed is

MPD User Manual

and the parameters have the same significance:
•

Send message timeout – specifies the maximum time interval, in milliseconds allowed to send a
message. If this time interval elapses without sending the message PROconfig/MotionPRO
Developer will issue a communication error message. This parameter is available for IxxAT and ESD
PC to CAN interfaces.

•

Receive message timeout – specifies the maximum time, expressed in milliseconds, allowed for an
expected message to be received. If this interval elapses without receiving the message
PROconfig/MotionPRO Developer will issue a communication error message.

•

Wait after RUN – same as for RS-232/RS-485

The default values are: Send message timeout – 700 ms, Receive message timeout – 700 ms, Wait
after RUN – 0 ms.
When Ethernet communication is used, the dialogue displayed is

and the parameters significance is similar with the serial RS-232 case.
The default values are: Read interval timeout – 700 ms, Wait after RUN – 0 ms.
Additional communication settings can be added directly in the configuration file kernel.cfg, from the
folder where PROconfig/MotionPRO Developer is installed. The following options can be added:
•

SYNCHRONIZATION_SLEEP_MULTIPLIER – this parameter is multiplied with the time interval
required for synchronization character to be received via RS-232/RS-485. Possible values for the
parameter: between 2 and 2000. The Default value is 2.

•

NO_TRIES – specifies how many times PROconfig/MotionPRO Developer will try to establish the
communication with your drive/motor before issuing error messages. The default value is 3.

•

RS485_DTR – determines PROconfig/MotionPRO Developer to enable/disable the Data Terminal
Ready (DTR) line during communications. The Data Terminal Ready signal is sent by the PC to
RS485 communication device to indicate that the PC is ready to accept incoming transmission.
Possible values for the parameter: 0 (disabled) or 1 (enabled). The default value is 1 (enabled)

MPD User Manual

•

RS485_RTS – determines PROconfig/MotionPRO Developer to enable/disable the Request To Send
(RTS) line. The Request To Send signals that request permission to transmit data is sent from PC to
RS485 communication device. Possible values for the parameter: 0 (disabled) or 1 (enabled). The
default value is 1 (enabled).

In order to add this parameters open the configuration file kernel.cfg with any text editor and at the end
of the file add a new section named [MPLCOMM]. Bellow the section definition, add the desired
parameters in the form parameter_name = parameter_value. Save the file and restart
PROconfig/MotionPRO Developer.

100

MPD User Manual

5.2.

Communication Protocols

This section describes the communication protocols supported by the ElectroCraft Programmable drives /
motors. It presents how the MPL instructions are packed into messages, for each type of communication
channel.
This information is particularly useful for those applications where an external device like a host
implements directly one of the ElectroCraft communication protocols. In this case, the host packs the
binary code of each MPL command into a message which is sent, and unpacks each message received
to extract from it the data provided.
Remark: An alternate way to exchange data with the ElectroCraft drives/motors is via the MPL_LIB
libraries. A MPL_LIB library is a collection of high-level functions for motion programming which you can
integrate in the host/master application. If the host is an industrial PC, the MPL_LIB library may be
integrated in C/C++, Delphi Pascal, Visual Basic or LabVIEW applications. If the host is a
programmable logic controller (PLC), a version of the MPL_LIB, compatible with the PLCopen standard
for motion programming, may be integrated in the PLC IEC 61131-3 application (see ElectroCraft web
page www.ElectroCraft.com for details about the MPL_LIB libraries)
Depending on the drive/motor, you can use two types of communication channels:
•

Serial RS-232 or RS-485

•

CAN-bus

The serial RS-232 communication channel can be used to connect a host with one drive/motor. The serial
RS-485 and the CAN-bus communication channels can be used to connect up to 32 drives/motors with a
host.
Remark: The RS-485 and CAN-bus protocols accept up to 255 nodes. The limitation to 32 nodes is
determined by the hardware, using a conservative approach. If your application has more than 32 axes,
contact ElectroCraft. Depending on your drive/motor and network characteristics, we can provide you the
exact maximum number of axes you may use.
When CAN-bus communication is used, any drive/motor from the network may also be connected
through RS-232 or Ethernet with a host. In this case, this drive/motor:
•

Executes the commands received from the host via the RS-232 link

•

Executes the commands received from other ElectroCraft drives via the CAN-bus link

•

Acts like a retransmission relay also called relay axis, which:
•

Receives via RS-232, commands from host for another axis and retransmits them to the
destination via CAN-bus

•

Receives via CAN-bus data requested by host from another axis and retransmits them to the
host via RS-232

101

MPD User Manual

The relay
y axis concep
pt enables a host to com
mmunicate witth all the Ele
ectroCraft drivves/motors frrom a
CAN-bus network, usin
ng a single RS-232
R
or Eth
hernet connecction with one
e drive/motorr. There is no need
erface on the host, for whic
ch the CAN-b
bus protocol iss completely transparent.
to have a CAN-bus inte
Any drive
e/motor acts as
a a relay ax
xis when it is
s connected b
both on RS-2
232 and CAN
N-bus, withou
ut any
particular setup. The only
o
requirem
ment is to settup the addre
ess for the ho
ost equal witth that of the drive
d via RS-232 (see Messag
ge structure. Axis
A ID and G
Group ID for d
details)
connected
IMPORTA
ANT! MotionP
PRO Develop
per includes a Binary Co
ode Viewer, w
which helps yyou to quicklly find
how to se
end MPL com
mmands using
g one of the communicatio
c
on channels a
and protocolss supported b
by the
drives/mo
otors. Using th
his tool, you can
c get the ex
xact contents of the messa
ages to send as well as of those
expected to be receive
ed as answers
s.
See also:
Message structure. Ax
xis ID and Gro
oup ID
Serial com
mmunication. RS-232 and RS-485 proto
ocols
CAN-bus communication. MPLCAN
N protocol
CAN-bus communication. ElectroCA
AN protocol

10
02

MPD U
User Manual

5.2.1. Message Structure. Axis ID and Group ID
The data exchange on any communication bus and protocol is done using messages. Each message
contains one MPL instruction to be executed by the receiver of the message. Apart from the binary code
of the MPL instruction attached, any message includes information about its destination: an axis
(drive/motor) or group of axes. This information is grouped in the Axis/Group ID Code. Depending on
the communication bus and the protocol used, the Axis/Group ID Code and the binary code of the MPL
instruction attached are encapsulated in different ways.
Information included in a communication message

The first word Axis/Group ID Code identifies the destination axis or the group of axes that must receive
the message. The next words represent the codification of the MPL instruction transmitted.
The Axis/Group ID Code is a 16-bit word with the following structure:

Where:
Bit 0 – HOST bit. 0 – relay axis, 1 – host. When a host is connected with a drive using RS-232,
the 2 devices must have the same axis ID (bits ID7-ID0 are identical). The HOST bit makes the difference
between the host and the drive connected to the other end. On RS-485, the host and the drives have
different axis ID, the HOST bit has as no significance and must be set to 0.
Bits 11-4 – ID7-ID0: the 8-bit value of an axis ID or group ID
Bit 12 – GROUP bit: 0 – ID7-ID0 value is an axis ID, 1 – ID7-ID0 value is a group ID
Depending on the communication bus and protocol used, either the entire 16-bit Axis/Group ID code is
included in a message or only a part of it. This part can be the 10 bits with useful information: HOST bit,
ID7 – ID0 bits and the GROUP bit or a subset of those.
Remark: In the following paragraphs, the terminology Axis ID Code or Group ID Code designates the
above 16-bit word. The terminology Axis ID and Group ID designates the 8-bit value of an axis or group
ID i.e. value of bits ID7 – ID0.
The following example describes how the HOST bit is used: Let’s suppose that we have 2 drives with the
axis ID=1 and axis ID=2 (values 1 and 2 represent the value of the bits ID7-ID0) connected between them
via CAN-bus. The host is connected via RS-232 to the drive with axis ID=1 which acts as a relay axis.
The host axis ID (host ID) must also be 1 but with the HOST bit set. The host sends a data request
message to the drive with the axis ID=2. The axis ID code of this request message is 2 e.g. the
destination axis. The message includes the sender axis ID code e.g. where the drive with ID=2 must
send the data requested. The sender axis ID code is the host address (ID=1 and the HOST bit set). The
request message is sent via RS-232 to drive with axis ID=1. This drive observes that the message
destination is another axis (e.g. ID=2) and resends the message via CAN-bus. The drive with the axis
ID=2, will receive the request message and send the answer via CAN-bus to the sender axis (e.g. host).

103

MPD User Manual

As the host has the same address as the relay axis, all the messages sent via CAN-bus and having as
destination the host are received by the relay axis. The relay axis looks at the HOST bit: if the bit is set,
then the message received is sent back via RS-232 to the host. If the HOST bit is not set, then the
message received is executed (it’s destination is the relay axis).
A message can be sent to an axis or to a group of axes. In the first case, the destination is specified via
an Axis ID code. In the second case, the destination is specified via a Group ID code. Each drive/motor
has its own 8-bit Axis ID and Group ID stored in the AAR MPL register. If the destination of a message is
specified via an Axis ID code, the message is received only by the axis with the same 8-bit Axis ID (bits
11-4 from the 16-bit Axis ID code). If the destination of a message is specified via a Group ID code, each
axis compares the 8-bit group ID from the message with its own group ID. If the two group IDs have at
least one group (bit set to 1) in common, the message is accepted. In the group ID, each bit corresponds
to one group:
Definition of the groups

A drive/motor can be programmed to be member of up to 8 groups. It will accept all the messages sent to
any of the groups his is member. For example, if the drive is member of groups 1, 2 and 4, i.e. its 8-bit
Group ID = 11 (00001011b), it will receive all the messages which have in their group ID value at least
one of the bits 0,1 or 3 set to 1.
Remarks:
•

A message with axis ID = 0 and will be accepted independently of the receiver axis ID

•

A broadcast message has the group ID = 0 and will be accepted by all the axes from the network,
independently of their group ID

On each drive/motor, the axis ID is initially set at power on using the following algorithm:
a. With the value read from the EEPROM setup table containing all the setup data.
b. If the setup table is invalid, with the last axis ID value read from a valid setup table
c.

If there is no axis ID set by a valid setup table, with the value read from the hardware
switches/jumpers for axis ID setting

d. If the drive/motor has no hardware switches/jumpers for axis ID setting, with the default axis ID
value which is 255.
Remark: If the axis ID read from a valid setup table is 0 (option H/W), the axis ID is set with the value
read from the hardware switches/jumpers or in their absence with the default value 255

104

MPD User Manual

On each drive/motor, at power on, the group ID is set to 1.
group 1. For each drive/motor you can:

i.e. all drives/motors are members of the

•

Set/change its group ID using the MPL instruction GROUPID

•

Add new groups to its group ID using the MPL instruction ADDGRID

•

Remove groups from its group ID using the MPL instruction REMGRID.

Remark: You can read at any moment the actual values of the axis ID and group ID of a drive/motor
from the Axis Address Register AAR
The MPL instruction code can have 1 to 5 words. All the MPL instructions have at least one word – the
Operation Code. Depending on the type of MPL instruction, the operation code may be followed by 0-4
Data words.
Remark: Use Binary Code Viewer to get the binary code of MPL instructions
See also:
Communication protocols – Overview
Serial communication. RS-232 and RS-485 protocols
CAN-bus communication. MPLCAN protocol
CAN-bus communication. ElectroCAN protocol

105

MPD User Manual

5.2.2. Serial communication. RS-232 and RS-485 protocols
All the ElectroCraft drives/motors can communicate via RS-232. Some of them also accept RS-485 as a
substitute for RS-232. In the following paragraphs, the terminology serial communication refers to the
features common to both RS-232 and RS-485. The terminology RS-232 communication or RS-485
communication is used to features that are specific for one or the other.
The RS-232 communication is point-to point, full duplex, and enables you to link 2 devices. A typical
example is when you connect your PC with a ElectroCraft drive/motor.
Use the RS-232 communication if you want to:
a) Setup and/or program the motion on one drive/motor using a ElectroCraft development platform like
PROconfig or MotionPRO Developer, running on your PC
b) Control a drive/motor, with commands sent via communication from your host
c) Setup and/or program the motion on several drives/motors connected via CAN-bus, where one is
also connected via RS-232 with your PC
d) Control several drives/motors connected via CAN-bus, with commands sent from your host which is
connected via RS-232 with one of them
In cases c) and d), the ElectroCraft drive/motor connected to the host acts as a relay axis (see
Communication protocols overview for details).
The RS-485 communication is multi-point, half duplex, and enables you to link up to 32 drives/motors in a
network. In an RS-485 network, at one moment only one device is allowed to send data. If two devices
start by mistake to transmit in the same time, both transmissions are corrupted. Therefore for a correct
operation, in an RS-485 network it is mandatory to have a master, which controls the transmission. Put in
other words, only the master can initiate a transmission, while all the other devices from the network may
transmit only when the master asks them to provide some data. Normally you should set as master your
host.
Use the RS-485 communication if you want to:
a) Setup and/or program the motion on several drives/motors connected via RS-485 together with your
PC (requires an RS-485 interface or an RS-232/RS-485 adapter on your PC)
b) Control several drives/motors connected via RS-485, with commands sent from your host. The host is
seen as one node of the RS-485 network, and in must act as a master.
Remark: If the absence of a host, you can use any drive as master to control the RS-485 communication.
This is possible due to the powerful set of MPL commands for multiple axes (see Motion – Data Transfer
Between Axes)

Serial communication settings and message encapsulation
The ElectroCraft drives communicate serially using 8 data bits, 2 stop bits, no parity at the following baud
rates: 9600 (default after reset), 19200, 38400, 56600 and 115200. The messages exchanged through
serial communication are encapsulated in the following format:

106

MPD User Manual

Serial message structure – MPL Instruction encapsulation

The message length byte contains the total number of bytes of the message minus 2. Put in other words,
the length byte value is the number of bytes of the: Axis/group ID Code (2bytes), the Operation Code (2
bytes) and the Data words (variable from 0 to 8 bytes). The Checksum byte is the sum modulo 256 of all
the bytes of the message except the checksum byte itself.
Message types on serial communication
The serial communication protocol is based on 3 types of messages imposed by the nature of the MPL
commands encapsulated:
•

Type A: Messages that don’t require an answer (a return message). These messages can be
sent either by a host or by another drive/motor and contain MPL instructions performing
parameter settings, motion programming, motor commands, etc.

•

Type B: Messages that require an answer. These messages are sent by a host and contain one
of the on line MPL commands. These commands ask to return data, for example the value of a
MPL parameter, register, or variable.

•

Type C: Messages sent by a drive/motor to a host without being requested by the host. These
messages may be sent either when a specific condition occurs or following the execution of the
MPL command SEND (see Messages sent to the host for details)

The next paragraphs present an example of each message type.

107

MPD User Manual

Example 1 – Type A Message: A host is connected to a drive/motor via RS-232 and sends the MPL
instruction “KPP = 5” (set proportional part of the position controller with value 5). The axis ID of host and
of the drive/motor are 255 = 0FFh. The Axis ID code and the MPL instruction binary code are:
Axis ID code + Binary code of MPL Instruction KPP = 5 sent to axis 255

Remark: Use Binary Code Viewer to get the binary code of MPL instructions
The host must send a serial message with the following contents:
Serial message: MPL Instruction KPP = 5 sent to axis 255

The drive/motor will return a byte 0x4F as confirmation that the message was received OK. (See below
the RS-232 and RS-485 protocols description for details)
Remarks:
a) If another drive with axis ID=1 is connected via CAN-bus with the drive having axis ID=255 and
the host wants to sent the same MPL instruction “KPP = 5” to axis 1, the Axis ID Code becomes
0010h instead of 0FF0h.
b) If the host is connected via RS-485 with a drive, the 2 devices must have different axis ID values.
For example if the host axis ID = 255 and the drive ID = 1, the message is the same as in remark
a)

108

MPD User Manual

Example 2 – Type B Message:
M
A host is conne
ected to a drivve via RS-23
32 and wants to get the va
alue of
(
oller) parametter from the d
drive. KPP ad
ddress in MPL
L data
the KPP (proportional
term of the position contro
memory is 025Eh. The
T
ID of the host and the drive/mo
otor are 255
5 = 0FFh. T
The host sen
nds a
Data” reques
st and the drive/motor ans
swers with a “TakeData”” message. L
Let’s suppose
“GiveMeD
e that
the KPP value
v
returned
d by the drive
e/motor is 288
8 (120h).
Remark: Use Comma
and Interprete
er to get MPL
L data addressses.
A “GiveM
MeData” request message for a MPL da
ata includes th
he following information:
“GiveMeData
“
a” request forr a MPL data – Message d
description

The “TakeData” answ
wer message includes the following
f
inforrmation:
keData” answ
wer - Messag
ge description
n
“Tak

In the parrticular case of
o this example, the axis ID
D code and th e binary code
e of “GiveMe
eData” are:
Axis ID code
e + Binary cod
de of “GiveM
MeData” requ est for KPP vvalue sent to a
axis 255

The axis ID
I code and the
t binary cod
de of ”TakeD
Data” are:
Axis ID
D Code + Bina
ary code of “TakeData” w
with KPP valu
ue from axis 2
255

10
09

MPD U
User Manual

The host must send a “GiveMeData” request message with the following contents:
Serial message: “GiveMeData” request for KPP value sent to axis 255

The drive/motor will return a byte 0x4F as confirmation that the message was received OK (See below
the RS-232 and RS-485 protocols description for details), then the “TakeData” answer message with the
following contents:
Serial message: “TakeData” with KPP value from axis 255

Remarks:
a) If another drive with axis ID=1 is connected via CAN-bus with the drive having axis ID=255 and the
host wants to get KPP value from axis 1, the Axis ID Code becomes 0010h instead of 0FF0h in the
“GiveMeData” message. The “Take Data” message also will have 0010h in instead of 0FF0h as
Sender Axis ID Code.
b) If the host is connected via RS-485 with a drive, the 2 devices must have different axis ID values. For
example if the host has axis ID = 255 and the drive has axis ID = 1, the modifications compared with
the above examples are:
·

“GiveMeData”: Axis ID Code – 0010h instead of 0FF0h and Sender Axis ID Code – 0FF0
instead of 0FF1h (Host bit = 0);

“TakeData”: Axis ID Code – 0FF0h instead of 0FF1h (Host bit = 0) and Sender Axis ID Code –
0010h instead of 0FF0h;

110

MPD User Manual

Example 3 – Type C Message: A host is connected to a drive via RS-232 and wants to be informed
when the programmed motion is completed. The axis ID of the host and the drive/motor are 255 = 0FFh.
A Type C message is a “TakeData2” message sent without a “GiveMeData2” request. It includes the
following information:
“TakeData2” - Message description

The destination axis is provided by the MPL variable MASTERID, according with formula: MASTERID =
host axis ID * 16 + 1. In this example, the 8-bit host axis ID = 255, hence MASTERID = 16 * 255 + 1 =
4081 (0xFF1). In the case of a Type C message, the “TakeData2” can return:
•

The 32-bit value of the 2 status registers SRL (bits 15-0) and SRH (bits 31-16), if one of their
selected bits changes (the requested data address is the SRL address)

•

The 16-bit value of the error register MER, if one of its selected bits changes

•

The 16-bit value of the PVT/PT status PVTSTS, if PVT/PT buffer status changes

•

The 16-bit or 32-bit MPL data requested to be sent with the MPL command SEND.

Remark: Use Command Interpreter to get the addresses for the above MPL data. Note that the SRL
and SRH status registers may also be accessed as a single 32-bit variable named SR32.
The bit selection is done via 3 masks, one for each register, set in MPL parameters: SRL_MASK,
SRH_MASK, MER_MASK. A bit set in a mask, enables a message transmission when the same bit from
the corresponding register changes. In this example, the motion complete condition is signaled by setting
SRL.10 = 1. To activate automatic sending of a “TakeData2” whenever SRL.10 changes, set
SRL_MASK = 0x0400.
If SRH = 0x201 and SRL = 0x8400, after SRL.10 goes from 0 to 1, the host gets a “TakeData2”
message with the following contents:

111

MPD User Manual

Serial message: “TakeData2” with status registers SRL and SRH from axis 255

Remark: A “TakeData2” message with SRL.10=1 signals that the last programmed motion is completed.
A “TakeData2” message with SRL.10=0 signals that a new motion has started and may be used as a
confirmation for the last motion command.
RS-232 communication protocol
The RS-232 protocol is full duplex, allowing simultaneous transmission in both directions. After each
command (Type A or B) sent by the host, the drive will confirm the reception by sending one
acknowledge-Ok byte. This byte is: ‘O’ (ASCII code of capital letter “o”, 0x4F). If the host receives the ‘O’
byte, this means that the drive has received correctly (checksum verification was passed) the last
message sent, and now is ready to receive the next message.
Remark: If the destination axis for the message is not the axis connected with the host via RS-232 (e.g.
the relay axis), but another axis connected with the relay axis via CAN-bus, the reception of the
acknowledge-Ok byte from the relay axis doesn’t mean that the message was received by the destination
axis, but just by the relay axis. Depending on the CAN-bus baud rate and the amount of traffic on this
bus, the host may need to consider introducing a delay before sending the next message to an axis
connected on the CAN-bus. This delay must provide the relay axis the time necessary to retransmit the
message via CAN-bus.
If any error occurs during the message reception, for example the checksum computed by the drive axis
doesn’t match with the one sent by the host, the drive will not send the acknowledge-Ok byte. If the host
doesn’t receive any acknowledge byte for at least 2ms after the end of the checksum byte transmission,
this means that at some point during the last message transmission, one byte was lost and the
synchronization between the host and the relay axis is gone. In order to restore the synchronization the
host should do the following:
1) Send a SYNC byte having value 0x0d (higher values are also accepted)
2) Wait a programmed timeout (typically 2ms) period for an answer;
3) If the drive sends back a SYNC byte having value 0x0d, the synchronization is restored and the
host can send again the last message, else go to step 1
4) Repeat steps 1 to 3 until the drive answers with a SYNC byte or until 15 SYNC bytes are sent. If
after 15 SYNC bytes the drive/motor still doesn’t answer, then there is a serious communication
problem and the serial link must be checked

112

MPD User Manual

When a host sends a type A message through RS-232 it has to:
a) Send the message (as in Example 1);
b) Wait the acknowledge-OK byte ‘O’ from the drive;
When a host sends a type B message through RS-232 it has to:
a) Send the request message (as in Example 2 in case of a “Give Me Data” command)
b) Wait the acknowledge-OK byte ‘O’ from the drive connected via RS-232 (relay axis);
c) Wait the answer message from the drive/motor (as in Example 2, in case of a “Take Data”
answer)
When the relay axis returns an answer message it doesn’t expect to receive an acknowledge byte from
the host. It is the host task to monitor the communication. If the host gets the response message with a
wrong checksum, it is the host duty to send again the data request.
RS-485 communication protocol
The RS-485 protocol is half duplex. If two devices start by mistake to transmit in the same time, both
transmissions are corrupted. Therefore for a correct operation, in an RS-485 network it is mandatory to
have a master, which controls the transmission. This means that only the master can initiate a
transmission, while all the other devices from the network may transmit only when the master asks them
to provide some data. Usually you should set as master your host.
After each command (Type A or B) sent by the host to one drive, the drive will confirm the reception by
sending one acknowledge-Ok byte. This byte is: ‘O’ (ASCII code of capital letter “o”, 0x4F). If the host
receives the ‘O’ byte, this means that the drive has received correctly (checksum verification was passed)
the last message sent, and now is ready to receive the next message.
The acknowledge-Ok byte is not sent when the host broadcasts a message to a group of drives.
If any error occurs during the message reception, for example if the checksum computed by the drive axis
doesn’t match with the one sent by the host, the drive will not send the acknowledge-Ok byte. If the host
doesn’t receive any acknowledge byte for at least 2ms after the end of the checksum byte transmission,
this means that at some point during the last message transmission, one byte was lost and the
synchronization between the host and the relay axis is gone. In order to restore the synchronization the
host should do the following:
1) Send 15 SYNC bytes having value 0x0d or any other bigger value up to 0xFF
2) Wait a programmed timeout (typically 2ms);
3) Send again the last command and wait for the drive answer
4) If the drive still doesn’t answer, then there is a serious communication problem and the serial link
must be checked
When a host sends a type A message through RS-485 it has to:
a) Send the message (as in Example 1);
b) Wait the acknowledge-OK byte ‘O’ from the drive, only if the message destination was a single
drive;
When a host sends a type B message through RS-485 it has to:
a) Send the request message (as in Example 2 in case of a “Give Me Data” command)

113

MPD User Manual

b) Wait the acknowledge-OK byte ‘O’ from the drive;
c) Wait the answer message from the drive/motor (as in Example 2, in case of a “Take Data”
answer)
Remarks:
•

When using the RS-485 protocol, do not send Type B request messages to a group of axes,
because the answer messages will overlap

•

When using the RS-485 protocol, the Type C messages must be suppressed. Only the
host/master is allowed to initiate a transmission

When a drive returns an answer message it doesn’t expect to receive an acknowledge byte from the host.
It is the host task to monitor the communication. If the host gets the response message with a wrong
checksum, it is the host duty to send again the data request.
See also:
Communication protocols – Overview
CAN-bus communication. MPLCAN protocol
CAN-bus communication. ElectroCAN protocol
Message structure. Axis ID and Group ID

114

MPD User Manual

5.2.3. CAN-b
bus commu
unication. ElectroCAN
E
protocol
ElectroCA
AN is an alte
ernate protoc
col to MPLCA
AN – the deffault CAN-bu
us protocol fo
or the Electro
oCraft
drives/mo
otors without CANopen. ElectroCAN
E
was
w
specifica
ally designed
d to permit connection o
of the
ElectroCra
aft drives/mo
otors without CANopen on
n a CANopen
n network wh
here messages are excha
anged
using CAN
Nopen protoc
col. ElectroCA
AN and CANo
open do not d
disturb each o
other and therefore can co
o-exist
on the sam
me physical bus.
b
On request, the Electro
oCraft drives//motors witho
out CANopen may be delivvered with Ele
ectroCAN pro
otocol.
en the drives/motors with MPLCAN
M
pro
otocol and tho
ose with ElecctroCAN proto
ocol is
The differrence betwee
done only
y through the firmware: all the ElectroC
Craft products equipped with ElectroCA
AN have a firm
mware
number starting
s
with 2 i.e. a firmw
ware code is F2xxY, wherre 2xx is the firmware num
mber and Y is the
firmware revision.
r
ElectroCA
AN is based on CAN2.0A
A using 11 bits for the ide
entifier. It acccepts the following baud rates:
125kb, 25
50kb, 500kb (default afte
er reset), 80
00kb and 1M
Mb. Like MP
PLCAN, ElecttroCAN offerrs the
possibility
y to connect a PC via a serial RS-232 link to any d
drive/motor frrom the CAN
Nopen networrk and
through itt to access all
a the Electro
oCraft drives/motors. In th
his case, this drive/motor connected bo
oth to
CAN-bus and RS-232 becomes a re
elay axis (see
e Communica
ation protocolss – Overview
w for details)
In ElectroCAN the MPL
L instructions are split into 8 categories :
a) Norm
mal – includes
s all the MPL instructions
i
addressed
a
to a single drive
e/motor (axis)
b) TakeD
Data – includes the answe
er “TakeData”” to the reque
est “GiveMeDa
ata”
c) Group – includes all
a the MPL in
nstructions mu
ulticast to a g
group of drives/motors
d) Host – includes the answers to all the other on line MPL ccommands exxcept “TakeD
Data”
e) PVT – includes the
e instruction PVTP
P
(the ins
struction is to long to be se
ent as a normal message)
f)

Synchronization – includes the
e synchroniza
ation message
e for the grou
up 0

g) Broad
dcast – inclu
udes all the MPL instructtions addresssed to the grroup 0 (to the all drives in the
system
m) except the
e request Give
eMeData.
h) TakeD
Data2 – includes the answ
wers “TakeData2” to the re quest “GiveM
MeData2”
Each cate
egory is mapp
ped in the folllowing range of COB-ID (C
Communication Object Ide
entifier – CAN
Nopen
terminolog
gy for a CAN message ide
entifier):

115

MPD U
User Manual

ElectroCA
AN uses only COB-IDs outside of the ra
ange used byy CANopen. Thus, Electro
oCAN protoco
ol and
CANopen
n protocol can
n co-exist and
d communicatte simultaneo
ously on the ssame physical CAN bus, w
without
disturbing
g each other.

The next table
t
shows how
h
ElectroCAN COB-IDs are assigned
d in relation w
with the CANo
open COB-IDss.

116

MPD U
User Manual

CANOpen
C
and
d ElectroCAN
N COB-IDs

Remarks: In comparis
son with MPLC
CAN, TechoC
CAN has the ffollowing resttrictions:
•

The
e maximum number
n
of axe
es is 31: poss
sible Axis ID vvalues: 1 to 3
31

•

The
e maximum number
n
of gro
oups is 5: pos
ssible Group IID values: 1 to
o5

117

MPD U
User Manual

Normal messages encapsulation: COB-ID: 121h – 13Fh

Host messages encapsulation: COB-ID: 141h – 15Fh

Remark: Host messages occur only when a drive/master answers to a data request (other then
“GiveMeData”) where the Sender Axis ID has the HOST bit set to 1. This happens for example when the
host is a PC connected to one of the drives/motors via RS-232 and asks a data from another drive/motor.
The answer will be sent to the relay axis as a Host message. The Host messages do not occur when the
request is sent by a drive or by a host/master connected directly on the CAN bus.

118

MPD User Manual

Take Data messages encapsulation: COB-ID: 161h – 17Fh

Remarks: In the Take Data messages, the 10-byte code of the Take Data MPL instruction is compacted
to 8-bytes. This is done in the following way:
•

From the 16-bit Operation Code, only the first 10LSB are transmitted. The 6MSB are always
constant: 0x2D (101101b) and are not transmitted. The receiver of a Take Data message must
add 0x2D on the 6MSB of the Operation Code received in order to restore the full 16-bit code for
TakeData instruction.

•

The HOST bit is transmitted in bit 2 of byte 1. There is no need to send the GROUP bit because
the GiveMeData request can’t be sent to a group of drives/motors.

•

The first data word of the TakeData MPL instruction is the Sender Axis ID. As the maximum
number of drives is limited to 31, only bits 8-4 are useful and are transmitted.

119

MPD User Manual

Group messages encapsulation: COB-ID: 001h – 01Fh

PVT messages encapsulation: COB-ID: 041h – 05Fh

Remarks: In the PVT messages, the 10-byte code of the PVT MPL instruction is compacted to 8-bytes.
This is done in the following way:
•

The Operation Code is not transmitted. The receiver of a PVT message adds 0x6 on the 9MSB of
the Operation Code received and the Counter value on the 7LSB in order to restore the full 16-bit
code for PVT instruction.

•

The first data word of the PVT instruction contains the 15LSB of the 24 bits Position

•

The second data word of the PVT instruction contains the 8LSB of the 24 bits Speed value and
the 8 MSB of the 24 bits Position value.

•

The third data word of the PVT instruction contains the 16MSB of the 24 bits Speed value.

•

The fourth data word of the PVT instruction contains the 9bits Time value.

120

MPD User Manual

Synchronization messages encapsulation: COB-ID: 020h

Remarks:
•

The message has zero data bytes

•

The Operation Code is 0x1000

•

The synchronization messages are broadcast messages; they are received by every drive
connected to the network

Broadcast messages encapsulation: COB-ID: 200h

121

MPD User Manual

Take Data 2 messages encapsulation: COB-ID: 101h – 11Fh

Remarks:
•

The message will be never receive by one of the ElectroCraft drive, the message is dedicate for
other drives.

•

The COB-ID contains the Expeditor Axis ID for the host to get the answers one by one, prioritized
in the ascending order of the expeditors’ axis ID.

•

The VT bit specifies the data length (VT = 0 for 16bits or VT = 1 for 32 bits) and is transmitted in
the first byte sent.

•

The P bit specifies if the message is TakeData2, in reply to a GiveMeData2 message, or a
PONG, in reply to a PING message. The PING message is a broadcast message that requests
the Axis ID and the firmware version of the drives in the network. For P=0 the message is Take
Data2 and for P = 1 the message is a PONG (the VT bit is automatically reset and it has no
meaning).

Example 1: A host connected on a CANopen network sends to drive/motor with axis ID = 5 the MPL
instruction “KPP = 0x1234” (set proportional part of the position controller with value 0x1234). The Axis
ID Code and the MPL instruction binary code are:
Binary code of MPL instruction KPP =0x1234

Remark: Use Binary Code Viewer to get the binary code of MPL instructions

122

MPD User Manual

The host must send a ElectroCAN message with the following contents:
ElectroCAN message: MPL instruction KPP =0x1234 sent to axis 5

Remark: The last 4 bytes are not used and are not transmitted
Example 2: A host connected on a CANopen network wants to get the value of the position error from
the drive/motor with the axis ID=5. The host axis ID is 3. The position error is the 16-bit MPL variable
named POSERR and its address in the MPL data memory is 0x022A. The host sends to axis 5 a
“GiveMeData” request for the MPL variable POSERR and waits for the “TakeData” answer.
The Axis ID Code and the binary code of “GiveMeData” request for POSERR are:
Binary code of GiveMeData request for POSERR value sent to axis 5

123

MPD User Manual

The host must send a ElectroCAN message with the following contents:
ElectroCAN message: GiveMeData request for POSERR value sent to axis 5

Remark: The last 2 byes are not used and are not transmitted.
Supposing that the drive/motor with Axis ID = 5 returns a position error POSERR = 2, the Axis ID Code
and the binary code of the “TakeData” answer is:
Binary code of TakeData with POSERR value from axis 5

124

MPD User Manual

The host gets a ElectroCAN message with the following contents:
ElectroCAN message: TakeData with POSERR value from axis 5

Remark: The last 2 byes are not used and are not transmitted.
Example 3: A PVT command is sent to the drive with the axis ID 5 like following: pvtp -1000L, -10, 500U,
0 (set the coordinates for the next point the position at -1000 IU = 0,5 rot = FFFC18h, the speed at -10IU
= 300 rpm = FFF600 and the time 500IU = 0,5s = 01F4 ).
Binary code of PVT command sent to axis 5

125

MPD User Manual

The ElectroCAN message sent has the following contents:
ElectroCAN message: PVT command for axis 5

Example 4: If a ElectroCraft drive/motor receives the MPL instruction SETSYNC 20, it becomes the
synchronization master and starts sending every 20ms a synchronization message and its time to the all
drives connected in the CAN bus network.
At a moment the master time has the value 0x246C46F and the code of MPL instruction is the following:
Binary code of Set Master Time command sent to all axes

The ElectroCAN messages are:
•

The synchronization message that when it is received by everybody specifics time variables are
saved.
ElectroCAN message: Synchronization command for all axes

Remark: The last 8 bytes are not used and are not transmitted.
• The master broadcast messages with the command to the slaves to set the master time

126

MPD User Manual

ElectroCAN message: Set Master Time command to all axes

Example 5: If for example the axis 2 encounters a control error, the drive sends a message with the
value of the error register MER (0x0008) with a TakeData2 instruction which has the following content:
Binary code of TakeData 2 with MER register value from axis 2

Remark: The VT bit is set to zero
The ElectroCAN message sent has the following contents:
ElectroCAN message: TakeData2 command from axis 2

Remark: The last 3 byes are not used and are not transmitted.
See also:
Communication protocols – Overview
Message structure. Axis ID and Group ID
Serial communication. RS-232 and RS-485 protocols
CAN-bus communication. MPLCAN protocol

127

MPD User Manual

5.2.4. CAN-bus communication. MPLCAN protocol
Most of the ElectroCraft drives/motors can communicate via CAN-bus. The CAN-bus communication is
multi-point, half duplex, and enables you to link up to 32 drives/motors in a network.
The major advantage of the CAN-bus is its capability to solve automatically the conflicts. On a CAN-bus
network, if two devices start to transmit in the same time, one of them (having the higher priority) always
wins the network access and completes the transmission. The other device, after losing the network
access, commutes from transmission to reception, receives the message with the higher priority, then
tries again to transmit its own message. All this procedure is done automatically by the hardware (CANbus controller) and it is transparent at higher levels. Put in other words, one can work with a CAN-bus
network like being full duplex, knowing that if transmission conflicts occur, these are automatically solved.
ElectroCraft drives/motors have been specifically designed to exploit the CAN-bus benefits. For example,
in multi-axis applications you can really distribute the intelligence between the master and the
drives/motors. Instead of trying to command each step of an axis movement, you can program the
drives/motors using MPL to execute complex tasks and inform the master when these are done. Thus for
each axis the master task may be reduced at: calling MPL functions (with possibility to abort their
execution if needed) and waiting for a message, which confirms the execution. If needed, the
drives/motors may also be programmed to send periodically information messages to the master so it can
monitor a task progress.
Depending on product, ElectroCraft drives/motors are delivered either with MPLCAN protocol or with
CANopen. On request, the MPLCAN protocol, which is based on CAN2.0B, may be replaced with
ElectroCAN protocol which is based on CAN2.0A. ElectroCAN was specifically designed to permit
connection of the ElectroCraft drives/motors without CANopen on a CANopen network where messages
are exchanged using CANopen protocol. ElectroCAN and CANopen do not disturb each other and
therefore can co-exist on the same physical bus.
Message encapsulation in MPLCAN protocol
MPLCAN is based on CAN2.0B using 29 bits for the identifier. It accepts the following baud rates: 125kb,
250kb, 500kb (default after reset), 800kb and 1Mb.
The message destination (an axis or a group of axes) and the MPL instruction binary code are
encapsulated as follows:
CAN message identifier of a message sent to:
Axis

Group

Broadcast

128

MPD User Manual

CAN mes
ssage data by
ytes:

Message types on CA
AN-bus comm
munication
The CAN
N-bus commu
unication is based
b
on 3 types
t
of messsages impossed by the n
nature of the MPL
command
ds encapsulatted:
•

Type
T
A: Mess
sages that do
on’t require an
a answer (a return messsage). These messages ca
an be
sent
s
either by
b a host orr by another drive/motor and contain
n MPL instru
uctions perfo
orming
parameter
p
setttings, motion
n programming, motor com
mmands, etc.

•

Type
T
B: Mess
sages that req
quire an answ
wer. These m
messages are sent by a host and contain one
of
o the on line MPL comma
ands. These commands
c
assk to return d
data, for exam
mple the value of a
MPL
M paramete
er, register, or
o variable.

•

Type C: Messages sent by
y a drive/moto
or to a host w
without being
g requested b
by the host. T
These
messages
m
may
y be sent eith
her when a specific
s
condittion occurs o
or following th
he execution of the
MPL
M command
d SEND (see Messages sent
s
to the ho
ost for detailss)

p
an exa
ample of each
h message tyype.
The next paragraphs present

12
29

MPD U
User Manual

Example 1 – Type A Message: A host connected on CAN-bus sends to drive/motor with axis ID = 5 the
MPL instruction “KPP = 0x1234” (set proportional part of the position controller with value 0x1234). The
MPL instruction binary code are:
Binary code of MPL instruction KPP =0x1234

Remark: Use Binary Code Viewer to get the binary code of MPL instructions
The CAN message identifier is:
CAN message identifier: MPL instruction KPP =0x1234 sent to axis 5

The host must send a CAN message with the following contents:
CAN message: MPL instruction KPP =0x1234 sent to axis 5

Example 2 – Type B Message: A host wants to get the position error of 2 drives/motors, which are
members of group 1. The host axis ID is 3 and the drives/motors axis ID are 5 and 7. The position error is
the 16-bit MPL variable named POSERR and its address in the MPL data memory is 0x022A. The host
sends to group 1 a “GiveMeData2” request for the MPL variable POSERR and waits for the
“TakeData2” answers.
The Group ID Code and the binary code of “GiveMeData2” request for POSERR are:
Binary code of GiveMeData2 request for POSERR value sent to group 1

The CAN message identifier is:
CAN message identifier: GiveMeData2 request for POSERR value sent to group 1

130

MPD User Manual

The host must send a CAN message with the following contents:
CAN message: GiveMeData2 request for POSERR value sent to group 1

Supposing that the drive/motor with Axis ID = 5 returns a position error POSERR = 2, the binary code of
the “TakeData2” answer is:
Binary code of TakeData2 with POSERR value from axis 5

The CAN message identifier is:
CAN message identifier: TakeData2 with POSERR value from axis 5

The host gets a CAN message with the following contents:
CAN message: TakeData2 with POSERR value from axis 5

Supposing that the drive/motor with Axis ID = 7 returns a position error POSERR = 1, the binary code of
the “TakeData2” answer is:
Binary code of TakeData2 with POSERR value from axis 7

131

MPD User Manual

The CAN message identifier is:
CAN message identifier: TakeData2 with POSERR value from axis 7

The host gets a CAN message with the following contents:
CAN message: TakeData2 with POSERR value from axis 7

Example 3 – Type C Message: A host is connected to a drive via CAN-bus and wants to be informed
when the programmed motion is completed. The host axis ID = 255 and the drive/motor axis ID = 1. A
Type C message is a “TakeData2” message sent without a “GiveMeData2” request. It includes the
following information:
“TakeData2” – Message description

The 32-bit value of the 2 status registers SRL (bits 15-0) and SRH (bits 31-16), if one of their
selected bits changes (the requested data address is the SRL address)

•

The 16-bit value of the error register MER, if one of its selected bits changes

•

The 16-bit value of the PVT/PT status PVTSTS, if PVT/PT buffer status changes

•

The 16-bit or 32-bit MPL data requested to be sent with the MPL command SEND.

132

MPD User Manual

SRL.10 = 1. To activate automatic sending of a “TakeData2” whenever SRL.10 changes, set
SRL_MASK = 0x0400.
Supposing that the drive/motor with Axis ID = 1 returns SRH = 0x201 and SRL = 0x8400, after SRL.10
goes from 0 to 1, the Axis ID Code and the binary code of the “TakeData2” message is:
Axis ID Code + Binary code of TakeData2 with status registers SRL and SRH from axis 1

The CAN message identifier is:
CAN message identifier: TakeData2 with status registers SRL and SRH from axis 1

The host gets a CAN message with the following contents:
CAN message: TakeData2 with status registers SRL and SRH from axis 1

Remark: A “TakeData2” message with SRL.10=1 signals that the last programmed motion is completed.
A “TakeData2” message with SRL.10=0 signals that a new motion has started and may be used as a
confirmation for the last motion command.
See also:
Communication protocols – Overview
CAN-bus communication. ElectroCAN protocol
Message structure. Axis ID and Group ID
Serial communication. RS-232 and RS-485 protocols

133

MPD User Manual

6. Application Programming
6.1.

Motion Programming – drives with built-in Motion Controller

One of the key advantages of the ElectroCraft drives/motors is their capability to execute complex
motions without requiring an external motion controller. This is possible because ElectroCraft drives offer
in a single compact package both a state of art digital drive and a powerful motion controller.
Programming motion on a ElectroCraft drive/motor means to create and download a MPL (ElectroCraft
Motion Program Language) program into the drive/motor memory. The MPL allows you to:
•

Set various motion modes (profiles, PVT, PT, electronic gearing or camming, etc.)

•

Change the motion modes and/or the motion parameters

•

Execute homing sequences

•

Control the program flow through:
o

Conditional jumps and calls of MPL functions

MPL interrupts generated on pre-defined or programmable conditions (protections triggered,
transitions on limit switch or capture inputs, etc.)

Waits for programmed events to occur

•

Handle digital I/O and analogue input signals

•

Execute arithmetic and logic operations

•

Perform data transfers between axes

•

Control motion of an axis from another one via motion commands sent between axes

•

Send commands to a group of axes (multicast). This includes the possibility to start
simultaneously motion sequences on all the axes from the group

•

Synchronize all the axes from a network

134

MPD User Manual

You can select the other components of a MPL program too. Each has 2 types of access views:
•

Definition and/or selection view, with the following purposes:
o Homing modes: select the homing procedure(s) to use from a list of already defined
procedures.
o Functions: create new MPL functions (initially void) and manipulate those defined: delete,
rename, change their order in the program
o Interrupts: choose the MPL interrupt service routines you want to view/change their default
implementation
o Cam Tables: create new cam tables loaded from other applications or imported from text files
and manipulate those defined: select those to be downloaded and their order, delete or
rename.

•

Edit view – for editing the contents. There is one edit view for each homing procedure and cam
table selected, for each function defined and each interrupt chosen for view/edit.

The Motion Editor includes the following programming dialogues:
Motion Programming and control
Trapezoidal Profiles
S-curve Profiles
PT
PVT
External
Electronic Gearing
Electronic Camming
Motor Commands
Position Triggers
Homing
Contouring

135

MPD User Manual

Test

136

MPD User Manual

Events Programming
Event Types
When the actual motion is complete
Function of motor or load position
Function of motor or load speed
After a wait time
Function of reference
Function of inputs status
Function of a variable value
Jumps and Function Calls
I/O Handling
Assignment & Data Transfer
16-bit Integer Data
32-bit Integer Data
Arithmetic Operations
Multiple Axis Data Transfer
Send to Host
Miscellaneous commands
Interrupt Settings
Free Text Editor
See also:
Motion View
Homing Procedures View
Functions View
Interrupts View
Cam Tables View

137

MPD User Manual

6.1.1. Motion Programming Toolbars
The top toolbar contains the buttons associated to motion programming dialogues.
The “Motion – Trapezoidal Profiles“allows you to program a positioning path described through a
series of points. Each point specifies the desired Position and Time, i.e. contains a PT data. Between the
points the built-in reference generator performs a linear interpolation.

The “Motion – S-curve Profiles” allows you to program a position profile with an S-curve shape of
the speed. This shape is due to the jerk limitation, leading to a trapezoidal or triangular profile for the
acceleration and an S-curve profile for the speed.

The “Motion - PT” allows you to program an arbitrary profile whose contour is described by a
succession of linear segments.

The “Motion – PVT” allows you to program a positioning path described through a series of points.
Each point specifies the desired Position, Velocity and Time, i.e. contains a PVT data. Between the points
the built-in reference generator performs a 3rd order interpolation

The “Motion – External” allows you to program the drives/motors to work with external reference
provided by another device.

The “Motion – Electronic Gearing” dialogue allows you to set the drives as master or a slave for
electronic gearing mode.

The “Motion – Electronic Camming” dialogue allows you to set the drives as master or a slave for
electronic camming mode.

The “Motor Commands” allows you to apply one of following commands to the motor:
activate/deactivate the control loops and the power stage PWM output commands (AXISON / AXISOFF),
stop the motor with acceleration/deceleration set, change the value of the motor position and position
reference.

The “Motion – Position Triggers” dialogue allows you to define 4 position trigger points.

The “Motion – Homing” dialogue allows you choose a homing procedure and set its parameters.

138

MPD User Manual

The “Motion - Contouring” allows you to program an arbitrary contour via a series of points.
Between the points, linear interpolation is performed, leading to a contour described by a succession of
linear segments.

The "Test" dialogue allows you to set the drives/motors in a special test configuration.

The “Events” allows you to define an event to be monitored and to perform several actions.

The “Jumps and Function Calls” allows you to control the MPL program flow through unconditional
or conditional jumps and unconditional, conditional or cancelable calls of MPL functions.

The “I/O” allows you program operations with the digital inputs and outputs of the drives/motors.

The “16-bit Integer Data” helps you to program an assignment operation through which you can set
the value of a 16-bit variable or set a memory location with a 16-bit immediate value or the value of a 16bit variable.

The “32-bit Long or Fixed Data” helps you to program an assignment operation through which you
can set the value of a 32-bit variable, set the low part (16LSB) or the high part (16MSB) of a 32-bit
variable with a 16-bit value / variable value, set a memory location with a 32-bit immediate value or the
value of a 32-bit variable.

The “Arithmetic Operations” helps you to program one of the arithmetic operations accepted by the
MPL (ElectroCraft Motion Program Language): addition, subtraction, product or shifting.

The “Data Transfer Between Axis” helps you to program the data transfer operations between
drives that are connected in a network.

The “Send Data to Host” dialogue allows you to choose what information is sent by the drive
automatically. You can send information about status register, error register or variables.

The “Miscellaneous” dialogue allows you to declare new variables, reset FAULT status, insert a
END instruction, insert an NOP instruction, set the baud rates for the Serial Communication Interface
(SCI) used for RS-232 and RS-485, set the baud rates for the CAN communication.

139

MPD User Manual

The “MPL Interrupt Settings” allows you to activate and/or deactivate the MPL (ElectroCraft Motion
Program Language) interrupts

The “Free text” opens a dialogue where you can freely insert comments or MPL instructions in the
current position.
Once the parameters have been entered, a "motion sequence" is created. Such a sequence represents a
macro-instruction to which one or more specific MPL instructions correspond. The MotionPRO Developer
automatically generates the MPL code for these motion sequences.
The right toolbar contains buttons used for the motion sequences management.

Insert. Allows you choose a new motion sequence to be inserted.
-

Motion.
Trapezoidal Profiles. This command allows you to program a position or speed
profile with a trapezoidal shape of the speed, due to a limited acceleration.
S-Curve Profiles. This command allows you to program a positioning with a limited
jerk. In an S-curve mode, the acceleration profile is trapezoidal and the speed profile
is like an S-curve.
PT The command allows to program a positioning with path described through a set
of points, for each point you specify
PVT. This command allows you to program a positioning described through a series
of points, each point includes the desired position, the speed and the time at which
the position is to be reached. The user points are interpolated using third order
polynomials.
External. This command allows you to set the drives working with an external
reference provided by another device.
Electronic Gearing. This command dialogue allows you to set the drives as master
or a slave for electronic gearing mode.
Electronic Camming. This command dialogue allows you to set the drives as master
or a slave for electronic camming mode.
Motor Commands. This command allows you to apply one of following commands
to the motor: activate/deactivate the control loops and the power stage PWM output
commands (AXISON / AXISOFF), stop the motor with acceleration/deceleration set,
change the value of the motor position and position reference
Position Triggers. This command opens the dialogue where you define the
triggering values for each trip point.
Homing
Contouring. This command allows you to program an arbitrary profile whose contour
is described by a succession of linear segments

140

MPD User Manual

Test. This command dialogue allows you to set up the drives in a special test
configuration.
-

Events. This command allows you to define an event (a condition) to be monitored and to
perform several actions.

Jumps and Function Calls. This command allows you program the operations related with
the control of the program flow.

I/O. This command allows you program operations with the digital inputs and outputs of the
drives

Assignment & Data Transfer
16-bit Integer Data. This command helps you to program an assignment operation
through which you can set the value of a 16-bit variable or set a memory location with
a 16-bit immediate value or the value of a 16-bit variable.
32-bit Long or Fixed Data. This command helps you to program an assignment
operation through which you can set the value of a 32-bit variable, set the low part
(16LSB) or the high part (16MSB) of a 32-bit variable with a 16-bit value / variable
value, set a memory location with a 32-bit immediate value or the value of a 32-bit
variable.
Arithmetic Operations. This command helps you to program one of the arithmetic
operations accepted by the MPL (ElectroCraft Motion Program Language): addition,
subtraction, product or shifting.
Data Transfer Between Axes. This command helps you to program the data
transfer operations between drives that are connected in a network.
Send Data to Host. This command allows you to choose what information is sent by
the drive automatically. You can send the status register (low part - SRL and high
part - SRH), error register (MER) or the value of a variable.
Miscellaneous. This command opens the dialogue from where you can declare new
variables and insert FAULTR, END, NOP, SPI and SCI instructions.

Interrupt Settings. This command allows you to activate and/or deactivate the MPL
interrupts.

Free text. This command opens a dialogue where you can freely insert a sequence of MPL
instructions in the current position in the Motion Editor window.

Edit. Pressing this button, the dialogue associated with the selected motion sequence opens,
allowing changing the motion parameters.

Duplicate. Duplicate the selected motion sequence.

Move Down. Moves down the selected motion sequence.

141

MPD User Manual

Move Up. Moves up the selected motion sequence.

Delete. Delete the selected motion sequence.

Group. The button allows you to group the selected motion sequences in a new object containing all
the selected motion objects. You can give a name or title to the grouped object. This embedding process
can be performed in consecutive steps. Any grouped object is displayed with a leading [+] symbol. Click
on the [+] symbol to expand the grouped object content to the next embedding level. The leading [+]
symbol transforms into a leading [-] symbol. Click the [-] symbol to group back the expended object.
Successive embedded levels are accepted.

Ungroup. Use the “Ungroup” command to restore the motion objects list instead of the group object.

Enable. For debugging, you have the possibility to remove motion sequences (one or more motion
objects) from the motion program like commenting lines in a text program. Use the the “Enable” button to
uncomment / enable motion sequences.

Disable. For debugging, you have the possibility to remove motion sequences (one or more motion
objects) from the motion program like commenting lines in a text program. Use the “Disable” button to
comment / disable motion sequences.

Import. Use the “Import” button to load/insert motion objects previously saved in *.msq files. These
are appended below the current position e.g. the immediately after the selected motion object.

Export. You can select a part of your program (one or more motion objects) and save it in a separate
motion file, using the "Export" button. The operation saves the selected motion objects in a file with
extension *.msq.
See also:
Motion programming Toolbars for Multi-axis motion controller

142

MPD User Manual

6.1.2. Motion Trapezoidal Profile
The “Motion – Trapezoidal Profiles” dialogue allows you to program a position or speed profile with a
trapezoidal shape of the speed, due to a limited acceleration.
In the position profile, the load/motor is controlled in position. You specify either a position to reach in
absolute mode or a position increment in relative mode, plus the slew (maximum travel) speed and the
acceleration/deceleration rate. In relative mode, the position to reach can be computed in 2 ways:
standard (default) or additive. In standard relative mode, the position to reach is computed by adding the
position increment to the instantaneous position in the moment when the command is executed. In the
additive relative mode, the position to reach is computed by adding the position increment to the previous
position to reach, independently of the moment when the command was issued. During motion, you can
change on the fly the position command, the slew speed and the acceleration/deceleration rate.
In the speed profile, the load/motor is controlled in speed. You specify the jog speed (speed sign
specifies the direction) and the acceleration/deceleration rate. The load/motor accelerates until the jog
speed is reached. During motion, you can change on the fly the slew speed and the
acceleration/deceleration rate.
You can switch at any moment between position and speed profiles or to any of these from another
motion mode.

IMPORTANT: Some setup configurations foresee a transmission ratio between the motor and the load. In
these cases, the load position and speed are different from the motor position and speed. The motion
parameters refer always to the load trajectory.
Choose Position to program a position profile. Select positioning mode Relative or Absolute. For
relative positioning, check Additive to add the position increment to the position to reach set by the
previous motion command. Set the values of the Acceleration rate and the Slew speed. Select the
measuring units from the lists on the right. In the absolute positioning mode, set the value of the Position
to reach. In the relative positioning, set the value of the Position increment.
Remark: The position profile option is available only if the drive/motor is setup to perform position control.

143

MPD User Manual

Choose Speed to program a speed profile. Set the values of the Acceleration rate and the Jog speed.
Select the measuring units from the lists on the right.
Remark: Speed profile option is active if the drive/motor is setup to perform speed control or position
control with speed loop closed.
Once set, the trapezoidal profile parameters are memorized. If you intend to use the same values as
previously defined for the acceleration rate, the slew or jog speed, the position increment or position to
reach you don’t need to set their values again in the following trapezoidal profiles. Use the checkboxes on
the left to uncheck those parameters that remain unchanged. When a parameter is unchecked, you don’t
need to give it a value.
Remark: The additive mode for relative positioning is not memorized and must be set each time a new
additive relative move is set.
Select Generate new trajectory starting from actual values of position and speed reference if you
want the reference generator to compute the motion profile starting from the actual values of the position
and speed reference. Use this option for example if successive standard relative moves must be
executed and the final target position should represent exactly the sum of the individual commands.
Select Generate new trajectory starting from actual values of load/motor position and speed if you
want the reference generator to compute the motion profile starting from the actual values of the
load/motor position and speed. When this option is used, at the beginning of each new motion profile, the
position and speed reference are updated with the actual values of the load/motor position and speed.
Use this option for example if during a motion an external input triggers a stop on a precise position
relative to the trigger point. Another situation to use this option is at recovery from an error or any other
condition that disables the motor control while the motor is moving. Updating the reference values leads
to a “glitch” free recovery because it eliminates the differences that may occur between the actual
load/motor position/speed and the last computed position/speed reference (before disabling the motor
control).
Remark: In open loop control of steppers, this option is ignored because there is no position and/or
speed feedback.
Choose Execute Immediate to start the programmed motion immediately when the motion sequence is
executed. Check Then wait until motion is completed if you want to postpone the start of the following
motion until this programmed motion is completed.
Remark: Verify the motion complete condition parameters. If these are incorrectly set, you may never
reach the motion complete condition:
• POSOKLIM – the settle band tolerance, expressed in internal position units
• TONPOSOK – the stabilize time, expressed in internal time units
• UPGRADE.11:
1 = uses the above parameters,
0 = sets motion complete when the reference generator has completed the trajectory and has arrived to
the commanded position
If these parameters have not been set previously, check their default value. Reset the drive/motor and
using the command interpreter get their value.
Choose Execute On event to start this new motion when a programmable event occurs. Click Change
Event to select the event type or Edit Event to modify the parameters of the selected event (see Events
for details). Select Setup motion data, but don’t start execution if you want only to set the motion
parameters without starting the execution.

144

MPD User Manual

OK: Close this dialogue and save the motion sequence in your motion sequence list.
Cancel: Close this dialogue without saving the motion sequence in your motion sequence list.
Help: Open this help page.

See also:
Trapezoidal Position Profiles – MPL Programming Details
Trapezoidal Speed Profiles – MPL Programming Details
Trapezoidal Position Profiles – Related MPL Instructions and Data
Trapezoidal Speed Profiles – Related MPL Instructions and Data
Motion Programming
Internal Units and Scaling Factors

145

MPD User Manual

6.1.3. Motion S-Curve Profile
The “Motion – S-curve Profiles” dialogue allows you to program a position profile with an S-curve shape
of the speed. This shape is due to the jerk limitation, leading to a trapezoidal or triangular profile for the
acceleration and an S-curve profile for the speed.
In the S-curve profile, the load/motor is controlled in position. You specify either a position to reach in
absolute mode or a position increment in relative mode, plus the slew (maximum travel) speed, the
maximum acceleration/deceleration rate and the jerk rate.
An S-curve profile must begin when load/motor is not moving. During motion the parameters should not
be changed. Therefore when executing successive S-curve commands, you should wait for the previous
motion to end before setting the new motion parameters and starting next motion. During an S-curve
execution, you can switch at any moment to another motion mode (except PVT and PT interpolated
modes) or stop the motion with a STOP command.

I
IMPORTANT: Some setup configurations foresee a transmission ratio between the motor and the load. In
these cases, the load position and speed are different from the motor position and speed. The motion
parameters refer always to the load trajectory.
Choose the option Relative to program a relative positioning or Absolute for an absolute positioning. Set
the values of the Jerk, Acceleration rate and the Slew speed. Select the measuring units from the lists
on the right. In the absolute positioning mode, set the value of the Position to reach. In the relative
positioning, set the value of the Position increment.
Remarks:
• The reference generator actually uses the jerk time to compute the profile. This is computed as the
ratio between the acceleration rate and the jerk rate you provided and must be a positive integer
number, in internal time units. If the jerk value is too low, the jerk time may be zero. In this case you’ll
get the error message “Jerk parameter must be greater than zero!”
• The S-curve requires the drive/motor to be setup for position control. Otherwise, in the Motion view, the
button opening this dialogue will not occur.

146

MPD User Manual

Select Decelerate at STOP command with a limited jerk if you want a smooth deceleration, using an
S-curve speed profile in case of a STOP command. Select Decelerate at STOP command in shortest
time if you want a faster deceleration, using a trapezoidal speed profile in case of a STOP command.
Choose Execute Immediate to start the programmed motion immediately when the motion sequence is
executed. Check Then wait until motion is completed if you want to postpone the start of the following
motion until this programmed motion is completed. If the next motion is an S-curve too, checking this
option is mandatory.
Remark: Verify the motion complete condition parameters. If these are incorrectly set, you may never
reach the motion complete condition:
• POSOKLIM – the settle band tolerance, expressed in internal position units
• TONPOSOK – the stabilize time, expressed in internal time units
• UPGRADE.11:
1 = uses the above parameters,
0 = sets motion complete when the reference generator has completed the trajectory and has arrived to
the commanded position
If these parameters have not been set previously, check their default value. Reset the drive/motor and
using the command interpreter get their value.
Choose Execute On event to start this new motion when a programmable event occurs. Click Change
Event to select the event type or Edit Event to modify the parameters of the selected event (see Events
for details). Select Setup motion data, but don’t start execution if you want only to set the motion
parameters without starting the execution.
OK: Close this dialogue and save the motion sequence in your motion sequence list.
Cancel: Close this dialogue without saving the motion sequence in your motion sequence list.
Help: Open this help page.
See also:
S-Curve Profiles – MPL Programming Details
S-Curve Profiles – Related MPL Instructions and Data
Motion Programming
Internal Units and Scaling Factors

147

MPD User Manual

6.1.4. Motion PT
The “Motion – PT” dialogue allows you to program a positioning path described through a series of points.
Each point specifies the desired Position and Time, i.e. contains a PT data. Between the points the builtin reference generator performs a linear interpolation.
In the PT mode the load/motor is controlled in position. A PT sequence must begin when load/motor is
not moving.
The PT mode is typically used together with a host, which sends PT points via a communication channel.
Due to the interpolation, the PT mode offers the possibility to describe arbitrary position contours using a
reduced number of points. It is particularly useful when the motion reference is computed on the fly by the
host, like for example, in vision systems. By reducing the number of points, both the computation power
and the communication bandwidth needed are substantially reduced optimizing the costs. When the PT
motion mode is used simultaneously with several drives/motors having the time synchronization
mechanism activated, the result is a very powerful multi-axis system that can execute complex
synchronized moves.
Upon reception, each PT point is stored in a reception buffer. The reference generator empties the buffer
as the PT points are executed. The drive/motor automatically sends warning messages when the buffer is
full, low or empty. The buffer full condition occurs when the number of PT points in the buffer is equal
with the buffer size. The buffer low condition occurs when the number of PT points in the buffer is less or
equal with a programmable value. The buffer empty condition occurs when the buffer is empty and the
execution of the last PT point is over.
Remarks:
• The PT buffer size is programmable and if needed can be substantially increased. By default it is set to
7 PT points.
• The buffer low condition is set by default when the last PT point from the buffer is read and starts to be
executed
• After the execution of the last PT point from a sequence the drive/motor keeps the last reference
position, waiting for the next PT commands.
• The PT mode requires the drive/motor to be setup for position control. Otherwise, in the Motion view,
the button opening this dialogue will not occur.
The “Motion – PT” dialogue was specifically created to help you quickly evaluate, in advance, a PT
sequence of points. The included graphical plot shows you the interpolated trajectory allowing you to
check the results. Moreover, you can execute the whole sequence of PT points and check your
application behavior before implementing the PT handshake on your host.

148

MPD User Manual

You can introduce the PT points in 2 ways:
• One by one, by setting for each point its Position and Time values. Both are relative to the beginning
of the PT motion. Select the measuring units from the list on the right. The graphical tool included, will
automatically update the evolution of the position after each point change. A red spot, indicates the
active point. Use buttons: Remove, Update, Insert, << and >> to navigate between the PT points and
modify them.
• With Import From File to insert a set of PT points previously defined. The file format is a simple text
with 2 columns separated by space or tabs representing from left to right: position and time values. The
number of rows gives the number of PT points
Check Host address and set your PC/host address if the drive/motor is connected via CANbus with your
host. The host address is where the PT messages regarding buffer status are sent.
Remark: By default, the host address is initialized with the same value as the drive/motor address, plus
the host bit set. This causes to send the PT messages via RS-232 link.
Check Clear PT Buffer to erase all the previously stored points from the PT buffer. Use this option each
time when you initiate a new PT motion. Uncheck this option if the execution of the PT points was
interrupted and you want to resume the execution of the remaining points.
Select Generate new trajectory starting from actual values of position and speed reference if you
want the reference generator to compute the PT motion path starting from the actual value of the position

149

MPD User Manual

reference (the speed reference is always considered zero). Select Generate new trajectory starting
from actual values of load/motor position and speed if you want the reference generator to compute
the PVT motion starting from the actual value of the load/motor position. When this option is used, the
position and speed reference are updated with the actual values of the load/motor position and speed.
Use this option for example at recovery from an error or any other condition that disables the motor
control while the motor is moving. Updating the reference values leads to a “glitch” free recovery because
it eliminates the differences that may occur between the actual load/motor position/speed and the last
computed position/speed reference (before disabling the motor control).
Remark: In open loop control of steppers, this option is ignored because there is no position and/or
speed feedback.
Choose Execute Immediate to start the programmed motion immediately when the motion sequence is
executed. Check Then wait until motion is completed if you want to postpone the start of the following
motion until this programmed motion is completed.
Remark: Verify the motion complete condition parameters. If these are incorrectly set, you may never
reach the motion complete condition:
• POSOKLIM – the settle band tolerance, expressed in internal position units
• TONPOSOK – the stabilize time, expressed in internal time units
• UPGRADE.11:
1 = uses the above parameters,
0 = sets motion complete when the reference generator has completed the trajectory and has arrived to
the commanded position
If these parameters have not been set previously, check their default value. Reset the drive/motor and
using the command interpreter get their value.
Choose Execute On event to start this new motion when a programmable event occurs. Click Change
Event to select the event type or Edit Event to modify the parameters of the selected event (see Events
for details).
OK: Close this dialogue and save the motion sequence in your motion sequence list.
Cancel: Close this dialogue without saving the motion sequence in your motion sequence list.
Help: Open this help page.
See also:
PT – MPL Programming Details
PT – Related MPL Instructions and Data
Motion Programming
Internal Units and Scaling Factors

150

MPD User Manual

6.1.5. Motion PVT
The “Motion – PVT” dialogue allows you to program a positioning path described through a series of
points. Each point specifies the desired Position, Velocity and Time, i.e. contains a PVT data. Between
the points the built-in reference generator performs a 3rd order interpolation.
In the PVT mode the load/motor is controlled in position. A PVT sequence must begin when load/motor is
not moving and must end with a last PVT point having velocity zero.
The PVT mode is typically used together with a host, which sends PVT points via a communication
channel. Due to the 3 rd order interpolation, the PVT mode offers the possibility to describe complex
position contours using a reduced number of points. It is particularly useful when the motion reference is
computed on the fly by the host, like for example, in vision systems. By reducing the number of points,
both the computation power and the communication bandwidth needed are substantially reduced
optimizing the costs. When the PVT motion mode is used simultaneously with several drives/motors
having the time synchronization mechanism activated, the result is a very powerful multi-axis system that
can execute complex synchronized moves.
Upon reception, each PVT point is stored in a reception buffer. The reference generator empties the
buffer as the PVT points are executed. The drive/motor automatically sends warning messages when the
buffer is full, low or empty. The buffer full condition occurs when the number of PVT points in the buffer is
equal with the buffer size. The buffer low condition occurs when the number of PVT points in the buffer is
less or equal with a programmable value. The buffer empty condition occurs when the buffer is empty and
the execution of the last PVT point is over.
Remarks:
• The PVT buffer size is programmable and if needed can be substantially increased. By default it is set
to 7 PVT points.
• The buffer low condition is set by default when the last PVT point from the buffer is read and starts to
be executed
• The normal end of a PVT sequence means: buffer empty condition and velocity zero of the last PVT
point executed. If the velocity is not zero, the drive/motor enters in quick stop mode and stops using the
quick stop deceleration rate.
• The PVT mode requires the drive/motor to be setup for position control. Otherwise, in the Motion view,
the button opening this dialogue will not occur.
When PVT mode is used, a key factor for getting a correct positioning path is to set correctly the distance
in time between the points. Typically this is 10-20ms, the shorter the better. If the distance in time
between the PVT points is too big, the 3rd order interpolation may lead to important variations compared
with the desired path.
The “Motion – PVT” dialogue was specifically created to help you quickly evaluate, in advance, the results
of the 3rd order interpolation applied to your data. The included graphical plot shows you the interpolation
results for both position and speed reference allowing to check if with the data provided the results are
correct. Moreover, you can execute the whole sequence of PVT points and check your application
behavior before implementing the PVT handshake on your host.

151

MPD User Manual

You can introduce the PVT points in 2 ways:
• One by one, by setting for each point its Position, Velocity and Time values. Both Position and Time
values are relative to the beginning of the PVT motion. Select the measuring units from the list on the
right. The graphical tool included, will automatically update the evolution of the position and speed after
each point change. A red spot, indicates the active point. Use buttons: Remove, Update, Insert, <<
and >> to navigate between the PVT points and modify them.
• With Import From File to insert a set of PVT points previously defined. The file format is a simple text
with 3 columns separated by space or tabs representing from left to right: position, velocity and time
values. The number of rows gives the number of PVT points
Check Host address and set your PC/host address if the drive/motor is connected via CANbus with your
host. The host address is where the PVT messages regarding buffer status are sent.
Remark: By default, the host address is initialized with the same value as the drive/motor address, plus
the host bit set. This causes to send the PVT messages via RS-232 link.
Check Clear PVT Buffer to erase all the previously stored points from the PVT buffer. Use this option
each time when you initiate a new PVT motion. Uncheck this option if the execution of the PVT points
was interrupted and you want to resume the execution of the remaining points.
Select Generate new trajectory starting from actual values of position and speed reference if you
want the reference generator to compute the PVT motion path starting from the actual value of the

152

MPD User Manual

position reference (the speed reference is always considered zero). Select Generate new trajectory
starting from actual values of load/motor position and speed if you want the reference generator to
compute the PVT motion starting from the actual value of the load/motor position. When this option is
used, the position and speed reference are updated with the actual values of the load/motor position and
speed. Use this option for example at recovery from an error or any other condition that disables the
motor control while the motor is moving. Updating the reference values leads to a “glitch” free recovery
because it eliminates the differences that may occur between the actual load/motor position/speed and
the last computed position/speed reference (before disabling the motor control).
Remark: In open loop control of steppers, this option is ignored because there is no position and/or
speed feedback.
Choose Execute Immediate to start the programmed motion immediately when the motion sequence is
executed. Check Then wait until motion is completed if you want to postpone the start of the following
motion until this programmed motion is completed.
Remark: Verify the motion complete condition parameters. If these are incorrectly set, you may never
reach the motion complete condition:
• POSOKLIM – the settle band tolerance, expressed in internal position units
• TONPOSOK – the stabilize time, expressed in internal time units
• UPGRADE.11
1 = uses the above parameters,
0 = sets motion complete when the reference generator has completed the trajectory and
has arrived to the commanded position
If these parameters have not been set previously, check their default value. Reset the drive/motor and
using the command interpreter get their value.
Choose Execute On event to start this new motion when a programmable event occurs. Click Change
Event to select the event type or Edit Event to modify the parameters of the selected event (see Events
for details). Select Setup motion data, but don’t start execution if you want only to set the motion
parameters without starting the execution.
OK: Close this dialogue and save the motion sequence in your motion sequence list.
Cancel: Close this dialogue without saving the motion sequence in your motion sequence list.
Help: Open this help page.
See also:
PVT – MPL Programming Details
PVT – Related MPL Instructions and Data
Motion Programming
Internal Units and Scaling Factors

153

MPD User Manual

6.1.6. Motion External
The “Motion - External” dialogue allows you to program the drives/motors to work with an external
reference provided by another device. There are 3 types of external references:
• Analogue – read by the drive/motor via a dedicated analogue input (10-bit resolution)
• Digital – computed by the drive/motor from:
Pulse & direction signals
Quadrature signals like A, B signals of an incremental encoder
• Online – received online via a communication channel from a host and saved in a dedicated
MPL variable

Select Analogue if the external reference is an analogue signal. This signal is interpreted as a:
• Position reference, if the drive/motor was setup for position control
• Speed reference, if the drive/motor was setup for speed control
• Current/torque reference, if the drive/motor was setup for torque control
Remark: Check the drive/motor setup for the correspondence between the analogue input voltage and
the reference values.
In position control, check Limit maximum speed at and set a desired value, if you want to avoid
mechanical shocks by limiting the maximum speed at sudden changes of the position reference. In speed

154

MPD User Manual

control, check Limit maximum acceleration at and set a desired value, if you want a smoother transition
at sudden changes of the speed reference. In torque control, check Update torque in fast loop if you
want to read the analogue input at each fast loop sampling period. When unchecked, the analogue input
is read at each slow loop sampling period.
Select Digital if the external reference is provided as pulse & direction or quadrature encoder signals. In
either case, the drive/motor performs a position control with the reference computed from the external
signals. Check Set/Change gear ratio if you want to follow the external position reference with a
different ratio than 1:1. Set the desired Slave / Master ratio.
Remarks:
• A 1:3 ratio means that the actual position reference TPOS is 1/3 of the external reference.
• Due to an automatic compensation procedure, the actual position reference is computed
correctly without cumulating errors, even if the ratio is an irrational number like 1: 3
Select Online if an external device sends the reference via a communication channel. Depending on the
Control Mode chosen, the external reference is saved in one of the MPL variables:
• EREFP, which becomes the position reference if the Control Mode selected is Position
• EREFS, which becomes the speed reference if the Control Mode selected is Speed
• EREFT, which becomes the torque reference if the Control Mode selected is Torque
• EREFV, which becomes voltage reference if the Control Mode selected is Voltage
If the external device starts sending the reference AFTER the external online mode is activated, it may be
necessary to initialize EREFP, EREFS, EREFT or EREFV. Check Set the initial value to set the desired
starting value.
Remarks:
• The external online mode may also be used as a test mode in which you assign in EREFP,
EREFS, EREFT or EREFV the desired reference
• Use external online voltage mode with caution. If the motor is moving, an abrupt reduction of the
voltage reference may lead to a high peak of regenerated energy injected into the DC supply.
Without proper surging capacity, this may cause high over-voltages
Choose Execute Immediate to activate the external reference mode immediately when the motion
sequence is encountered. Choose Execute On Event to activate the external reference when a
programmable event occurs. Click Change Event to select the event type or Edit Event to modify the
parameters of the selected event (see Events for details). Select Setup motion data, but don’t start
execution if you want to set the external reference mode parameters for a later use.
OK: Close this dialogue and save the motion sequence in your motion sequence list.
Cancel: Close this dialogue without saving the motion sequence in your motion sequence list.
Help: Open this help page.
See also:
External –MPL Programming Details
External –MPL Instructions and Data
Motion Programming

155

MPD User Manual

Internal Units and Scaling Factors

156

MPD User Manual

6.1.7. Motion Electronic Gearing
The “Motion – Electronic Gearing” dialogue allows you to set a drive/motor as master or a slave for
electronic gearing mode.
When set as master, a drive/motor sends its position via a multi-axis communication channel, like the
CANbus. The master sends either the load position or the position reference once at each slow loop
sampling time interval.
When set as slave, a drive/motor follows the master position with a programmable ratio. The slaves can
get the master position in two ways:
1. Via a communication channel, from a drive/motor set as master
2. Via an external digital reference of type pulse & direction or quadrature encoder. Both options have
dedicated inputs. The pulse & direction signals are usually provided by an indexer and must be
connected to the pulse & direction inputs of the drive/motor. The quadrature encoder signals are
usually provided by an encoder on the master and must be connected to the 2nd encoder inputs.
Remark: In case 2, you don’t need to program a drive/motor as master in electronic gearing
Select Master tab to set a drive/motor as master in electronic gearing.

157

MPD User Manual

If the master sends its position to a single drive/motor, check the Axis ID and fill the associated field with
the axis ID of the slave. If the master sends its position to more drives, indicate the Group ID of the
slaves. Select one groups of drives (1 to 8) to which the master should send its position.
Remark: You need to specify the Axis ID or the Group ID where master sends its position only the first
time (after power on) when a drive is set as master. If the master mode is later on disabled, then enabled
again, there is no need to set again the Axis ID or the Group ID, as long as they remain unchanged. In
this case, just uncheck both the Axis ID and the Group ID.
Select Feedback, to set the master sending its load position, or Reference, for sending its position
reference.
Remark: The feedback option is disabled if the master operates in open loop. It is meaningless if the
master drive has no position sensor.
Check Synchronization to activate the synchronization procedure between the master and the slave
axes. Select Send synchronization messages and set the time interval between synchronization
messages. Recommended starting value is 20ms. When synchronization procedure is active, the
execution of the control loops on the slaves is synchronized with those of the master within a 10µs time
interval. Due to this powerful feature, drifts between master and slave axes are eliminated. Select Don’t
send synchronization to disable the synchronization procedure.
If the master activation is done AFTER the slaves are set in electronic gearing mode, check Initialize
slave(s) axis with master position. This determines the master to send an initialization message to the
slaves.
Check Enable operation to activate the master mode and start the sending of master position to the
slaves. Check Disable operation to deactivate the master mode and stop sending of master position to
the slaves. Note that enabling or disabling master operation has no effect on the motion executed by the
master.
Choose Execute Immediate to enable the slave operation mode immediately when the motion sequence
is encountered. Choose Execute On Event to start the slave operation mode when a programmable
event occurs. Click Change Event to select the event type or Edit Event to modify the parameters of the
selected event (see Events for details). Select Setup motion data, but don’t start execution if you
want to prepare the slave operation mode for a later execution.

158

MPD User Manual

Select Slave tab to set a drive/motor as slave in electronic gearing.

Check Gear Ratio to set/change the gear ratio with which the slave follows the master position. The gear
ratio is specified as a ratio of 2 integer values: Slave / Master. The slave value is signed, while the
master one is unsigned. The sign indicates the direction of movement: positive – same as the master,
negative – reversed to the master.
Remarks:
• Slave=1 and Master=3, means that slave does 1/3 of master displacement and its speed is 1/3 of
the master speed
• Due to an automatic compensation procedure, the slave reference is computed correctly without
cumulating errors, even if the ratio is an irrational number like 1: 3
Check Master Resolution to specify the number of encoder counts per one revolution of the master
motor. The slaves need the master resolution to compute correctly the master position and speed (i.e.
position increment). Select Full range if master position is not cyclic (e.g. the resolution is equal with the
whole 32-bit range of position). In this case the master resolution is set to value 0x80000001.
Check Enable operation with master position and select how to get the master position: via
communication or via an external reference. Leave unchecked if you want to set the slave parameters
without enabling slave operation mode.

159

MPD User Manual

Check Superposition with other motions and select On or Off to enable or disable the superposition of
the electronic gearing mode with a second motion mode. When this superposed mode activated, the
position reference is computed as the sum of the position references for each of the 2 superposed
motions.
You may enable the superposed mode at any moment, independently of the activation/deactivation of the
electronic gearing slave. If the superposed mode is activated during an electronic gearing motion, any
subsequent motion mode change is treated as a second move to be superposed over the basic electronic
gearing move, instead of replacing it. If the superposed mode is activated during another motion mode, a
second electronic gearing mode will start using the motion parameters previously set. This move is
superposed over the first one. After the first move ends, any other subsequent motion will be added to the
electronic gearing.
When you disable the superposed mode, the electronic gearing slave move is stopped and the
drive/motor executes only the other motion. If you want to remain in the electronic gearing slave mode,
set first the electronic gearing slave move and then disable the superposed mode.
Check Limit maximum acceleration at, to smooth slave coupling with the master, when this operation is
done with master running at high speed. This option limits the slave acceleration during coupling to the
programmed value.
Remark: Bit 12 from the Status Register High is set (SRH.12 = 1), when slave coupling with the master is
complete. The same bit is reset to zero if the slave is decoupled from the master. The bit has no
significance in other motion modes.
Select Generate new trajectory starting from actual values of position and speed reference if you
want the reference generator to compute the slave position starting from the actual values of the position
and speed reference. Select Generate new trajectory starting from actual values of load/motor
position and speed if you want the reference generator to compute the slave position starting from the
actual values of the load/motor position and speed.
Choose Execute Immediate to enable the slave operation mode immediately when the motion sequence
is encountered. Choose Execute On Event to start the slave operation mode when a programmable
event occurs. Click Change Event to select the event type or Edit Event to modify the parameters of the
selected event (see Events for details). Select Setup motion data, but don’t start execution if you
want to prepare the slave operation mode for a later execution.
OK: Close this dialogue and save the motion sequence in your motion sequence list.
Cancel: Close this dialogue without saving the motion sequence in your motion sequence list.
Help: Open this help page
See also:
Electronic Gearing – MPL Programming Details
Electronic Gearing – MPL Instruction and Data
Motion Programming
Internal Units and Scaling Factors

160

MPD User Manual

6.1.8. Motion Electronic Camming
The “Motion – Electronic Camming” dialogue allows you to set a drive/motor as master or slave for
electronic camming mode.
When set as master, a drive/motor sends its position via a multi-axis communication channel, like the
CAN bus. The master sends either the load position or the position reference once at each slow loop
sampling time interval.
When set as slave, a drive/motor executes a cam profile function of the master position. The cam profile
is defined by a cam table – a set of (X, Y) points, where X is cam table input i.e. the master position and Y
is the cam table output i.e. the corresponding slave position. Between the points the drive/motor
performs a linear interpolation. Using Cam Tables Selection selection you can associate cam tables to
your application. These may be visualized and modified using the Cam Tables Edit. You may also import
cam tables. The required format is: text file with 2 columns, one for X, and the other for Y, separated by
space or tab. Data must be in internal units.
The slaves can get the master position in two ways:
1. Via a communication channel, from a drive/motor set as master
2. Via an external digital reference of type pulse & direction or quadrature encoder. Both options have
dedicated inputs. The pulse & direction signals are usually provided by an indexer and must be
connected to the pulse & direction inputs of the drive/motor. The quadrature encoder signals are
usually provided by an encoder on the master and must be connected to the 2nd encoder inputs.
Remark: For 2nd option you don’t need to program a drive/motor as master in electronic camming

161

MPD User Manual

Select Master tab to set a drive/motor as master in electronic camming.

162

MPD User Manual

Check Enable operation to activate the master mode and start the sending of master position to the
slaves. Check Disable operation to deactivate the master mode and stop sending of master position to
the slaves. Note that enabling or disabling master operation has no effect on the motion executed by the
master.
Choose Execute Immediate to enable the slave operation mode immediately when the motion sequence
is encountered. Choose Execute On Event to start the slave operation mode when a programmable
event occurs. Click Change Event to select the event type or Edit Event to modify the parameters of the
selected event (see Events for details). Select Setup motion data, but don’t start execution if you want
to prepare the slave operation mode for a later execution.

Select Slave tab to set a drive/motor as slave in electronic camming.

Select the camming mode:
• In Relative mode, the output of the cam table represents for the slave a position increment, which
is added to its actual position
• In Absolute mode, the output of the cam table represents for the slave the position to reach.

163

MPD User Manual

Remark: The absolute mode may generate abrupt variations on the slave position reference, mainly at
entry in the camming mode. Check Limit maximum speed at to limit the speed of the slave during travel
towards the position to reach.
Check Use CAM table and choose between the selected cam tables which one to use.
Remark: Note that at runtime, all the selected cam tables are loaded into the drive memory. If needed,
you may switch between the cam tables loaded. This operation means just to change the value of the
CAMSTART parameter which points towards the active cam table.
Check Offset from master in IU to shift the cam profile versus the master position, by setting a cam
offset for each slave. The cam table input is computed as the master position minus the cam offset. For
example, if a cam table is defined between angles 100 to 250 degrees, a cam offset of 50 degrees will
make the cam table to execute between master angles 150 and 300 degrees.
Check Multiply table input with to compress/extend a cam table input. Specify the input correction
factor by which the cam table input is multiplied. For example, an input correction factor of 2, combined
with a cam offset of 180 degrees, will make possible to execute a cam table defined for 360 degrees of
the master in the last 180 degrees.
Check Multiply table output with in order to compress/extend a cam table output. Specify the output
correction factor by which the cam table output is multiplied. This feature addresses the applications
where the slaves must execute different position commands at each master cycle, all having the same
profile defined through a cam table. In this case, the drive/motor is programmed with a unique normalized
cam profile and the cam table output is multiplied with the relative position command updated at each
master cycle.
Check Enable operation with master position and select how to get the master position: via
communication or via an external reference. Leave unchecked if you want to set the slave parameters
without enabling slave operation mode.
Check Master Resolution to specify the number of encoder counts per one revolution of the master
motor. The slaves need the master resolution to compute correctly the master position and speed (i.e.
position increment). Select Full range if master position is not cyclic (e.g. the resolution is equal with the
whole 32-bit range of position). In this case the master resolution is set to value 0x80000001.
Select Generate new trajectory starting from actual values of position and speed reference if you
want the reference generator to compute the slave position starting from the actual values of the position
and speed reference. Select Generate new trajectory starting from actual values of load/motor
position and speed if you want the reference generator to compute the slave position starting from the
actual values of the motor position and speed.
Choose Execute Immediate to enable the slave operation mode immediately when the motion sequence
is encountered. Choose Execute On Event to start the slave operation mode when a programmable
event occurs. Click Change Event to select the event type or Edit Event to modify the parameters of the
selected event (see Events for details). Select Setup motion data, but don’t start execution if you want
to prepare the slave operation mode for a later execution.
OK: Close this dialogue and save the motion sequence in your motion sequence list.
Cancel: Close this dialogue without saving the motion sequence in your motion sequence list.
Help: Open this help page
See also:
Cam Tables Selection

164

MPD User Manual

Cam Tables Edit
Electronic Camming – MPL Programming details
Electronic Camming –MPL Instruction and Data
Motion Programming
Internal Units and Scaling Factors

165

MPD User Manual

6.1.9. Motor Commands
The “Motion - Motor Commands” dialogue allows you to apply one of following commands to the motor:
• Activate/deactivate the control loops and the power stage PWM output commands (AXISON /
AXISOFF)
• Stop the motor with deceleration set in MPL parameter CACC
• Change the value of the motor position and position reference
• Set deceleration rate for quick stops

Select Activate the control loops and PWM outputs (AXISON) to restore normal drive operation after
an AXISOFF command. Typically, this situation occurs at recovery from an error, following the fault reset
command FAULTR, or after the drive/motor ENABLE input goes from status disabled to status enabled.
Select Deactivate the control loops and PWM outputs (AXISOFF) when a fault condition is detected,
for example when a protection is triggered. This command disables the motor control (all the control
loops), all the PWM output commands for the power stage (all the switching devices are off) and also the
reference generator.
Fault conditions trigger MPL interrupts. Each drive/motor has a built-in set of MPL interrupt service
routines (ISR) which are automatically activated after power-on. In these routines, the default action for
fault conditions is an AXISOFF command. If needed, you may replace any built-in ISR with your own ISR
and thus, adapt the fault treatment to your needs.
After a fault condition, the actual values of the load position and speed (which continue to be measured
during the AXISOFF condition) may differ quite a lot from the values of the target position and speed as
were last computed by the reference generator before entering in the AXISOFF condition. Therefore, a
correct fault recovery sequence involves the following steps:

166

MPD User Manual

• Set the motion mode, even if it is the same. Motion mode commands, automatically set the target
update mode zero (TUM0), which updates the target position and speed with the actual measured
values of the load position and speed
• Execute update command UPD
• Execute AXISON command
Remark:
• In the Drive Status control panel, SRL.15 shows the AXISON/AXISOFF condition and SRH.15
shows a fault condition
• In MotionPRO Developer, ENDINIT and AXISON commands are automatically included in the MPL
program, just before your first MPL command from the main section. Therefore you don’t need to
include them in your motion program.
Select STOP to stop the motor with the deceleration rate set in MPL parameter CACC. The drive/motor
decelerates following a trapezoidal position or speed profile. If the STOP command is issued during the
execution of an S-curve profile, the deceleration profile may be chosen between a trapezoidal or an Scurve profile (see S-curve dialogue settings). You can detect when the motor has stopped by setting a
motion complete event and waiting until the event occurs. The STOP command can be used only when
the drive/motor is controlled in position or speed.
Remarks:
• In order to restart after a STOP command, you need to set again the motion mode. This operation
disables the stop mode and allows the motor to move
• When STOP command is sent via a communication channel, it will automatically stop any MPL
program execution, to avoid overwriting the STOP command from the MPL program
Choose Immediate Update to generate an update command UPD. When this command is received, the
last motion mode programmed together with the latest motion parameters are taken into consideration.
The immediate update command is available in all the dialogues setting a motion mode and normally it is
called from these dialogues. The immediate update command is useful when the motion mode is set in
advance for a later execution, which is started with a separate update command. In a similar way you
may use Update on event.
You can set / change the referential for position measurement by changing simultaneously the load
position APOS and the target position TPOS values, while keeping the same position error any moment
during motion. Use the edit field from set actual position value to specify the new motor position value.
Remark: In the case of steppers controlled in open loop, this command changes only the target position
TPOS to the desired value.
The deceleration rate for quick stops can be set/change selecting the option Set quick stop
deceleration rates. To assign an immediate value select option value and fill the associated field, if you
want to assign the value of a variable select then variable and in the associated field write the name of
the variable.
OK: Close this dialogue and save the motion sequence in your motion sequence list.
Cancel: Close this dialogue without saving the motion sequence in your motion sequence list.
Help: Open this help page.
See also:

167

MPD User Manual

Motor Commands – MPL Programming Details
Motor Commands – MPL Instructions and Data
Motion Programming
Internal Units and Scaling Factors

168

MPD User Manual

6.1.10. Motion Position Triggers
The “Motion - Position Triggers” dialogue allows you to define 4 position trigger points. A position trigger
is a position value with which the actual position is continuously compared. The compare result is shown
in the Status Register High (SRH). If the actual position is below a position trigger, the corresponding bit
from SRH is set to 0, else it is set to 1. You can change at any moment the value of a position trigger.

The actual position that is compared with the position triggers is:
• The Load position feedback (MPL variable APOS_LD) for configurations with position sensor
• The position reference (MPL variable TPOS – Target position) in the case of steppers controlled in
open-loop
Remark: The position triggers can be used to monitor the motion progress. If this operation is done from
a host, you may program the drive/motor to automatically issue a message towards the host, each time
when the status of a position trigger is changed.
See also:
Position Triggers – MPL Programming Details
Position Triggers – Related MPL Instructions and Data
Motion Programming
Internal Units and Scaling Factors

169

MPD User Manual

6.1.11. Motion Homing
The “Motion – Homing” dialogue allows you choose a homing procedure and set its parameters. The
homing is a sequence of motions, usually executed after power-on, through which the load is positioned
into a well-defined point – the home position. Typically, the home position is the starting point for normal
operation.
The search for the home position can be done in numerous ways. Therefore, a lot of homing procedures
are possible. ElectroCraft provides for each programmable drive/motor a collection of up to 32 homing
procedures. These are predefined MPL functions, which you may call after setting the homing
parameters. You may use these homing procedures as they are, or you may modify them according with
your application needs. From the list with all the defined homing procedures you can choose one or
several to be used in your application. This represents the list of selected homing procedures.

Check Select homing parameters to set the following values:
• Acceleration/deceleration rate for the position or speed profiles done during homing
• Deceleration rate for quick stop when a limit switch is reached
• High/normal speed for the position or speed profiles done during homing
• Low speed for the final approach towards the home position
• New home position set at the end of the homing procedure
Check Execute homing mode and choose a homing procedure from the list of the selected homing
procedures. During the execution of a homing sequence SRL.8 = 1. Hence you can find when a homing
sequence ends, either by monitoring bit 8 from SRL or by programming the drive/motor to send a
message to your host when SRL.8 changes. As long as a homing sequence is in execution, you should
not start another one. If this happens, the last homing is aborted and a warning is generated by setting
SRL.7 = 1.

170

MPD User Manual

Remark: You can abort a homing sequence execution at any moment using MPL command ABORT (see
Decisions).
You can also use this dialogue to read the status of the home input. The home input is one of the
drive/motor inputs, which is used by the homing procedures. The home input is specific for each product
and based on the setup data, MotionPRO Developer automatically generates the MPL code for reading
the correct input. Check Read home input in the variable and fill the associated field with the name of
the variable. After execution, the value of the variable will be 0 if the home input is zero (low) or 1 if the
home input is 1 (high).
Remark: The source of the motion sequence for reading the home input is general and independent. The
particular value of the home input, specific for each product, occurs only in the compiled version of this
motion sequence, in the MPL code generated. Therefore, you can safely import the source code of this
motion sequence into other applications where the target products have different home inputs.
OK: Close this dialogue and save the settings in your motion sequence list.
Cancel: Close this dialogue without saving the settings in your motion sequence list.
Help: Open this help page.
See also:
Homing – MPL Programming Details
Homing – Related MPL Instructions and data
Motion Programming
Internal Units and Scaling Factors

171

MPD User Manual

6.1.12. Motion Contouring
The “Motion - Contouring” dialogue allows you to program an arbitrary contour via a series of points.
Between the points, linear interpolation is performed, leading to a contour described by a succession of
linear segments. The contouring mode may be executed only from a MPL program. You can’t send
contouring points from a host via a communication channel, like in the case of the PT mode. Depending
on the control mode chosen, four options are available:
• Position contouring – the load/motor is controlled in position. The path represents a position
reference
• Speed contouring – the load/motor is controlled in speed. The path represents a speed
reference.
• Torque contouring – the motor is controlled in torque. The path represents a current reference.
• Voltage contouring – the motor is controlled in voltage. The path represents a voltage reference.
Each contour point is defined by 2 values: the reference and the time. The contouring mode has been
foreseen mainly for setup tests. However, you can also use the position contouring and the speed
contouring for normal operation, as part of your motion application. You can switch at any moment to and
from these 2 modes. The torque contouring and the voltage contouring have been foreseen only for setup
tests. The torque contouring may be used, for example, to check the response of the current controllers
to different input signals. Similarly, the voltage contouring may be used, for example, to check the motors
behavior under a constant voltage or any other voltage shape.

172

MPD User Manual

173

MPD User Manual

Choose
Position for a position contouring,
Speed for a speed contouring,
Torque for a torque contouring
Voltage for a voltage contouring.
Remarks:
• Position contouring option is disabled if the drive/motor is not setup for position control
• Speed contouring option is disabled if the drive/motor is not setup for speed control. This
includes the case when position control is performed without closing the speed loop
• Torque contouring option is disabled for stepper drives working in open loop
In the position contouring and the speed contouring the starting point has always the coordinates (0,0)
and corresponds to the moment when the contouring mode is activated. Therefore all the segments
values (time and reference) are relative to the starting point of the contouring. For example, lets
suppose that a position contouring sequence has one segment with coordinates (1s, 10 rot) and the
absolute position is 20 revolutions (initial position when the position contouring is activated). During the
contour segment execution, the motor moves 10 revolutions in 1 second and stops on absolute position
30 revolutions.
In the torque contouring and voltage contouring the starting point has by default the initial value 0.
However, you can also start with a different value, by setting in the first point a non-zero reference at time
= 0.
You can introduce the contouring points in 2 ways:
• One by one, by setting for each point its Time and Reference values. Select the measuring
units from the list on the right. The graphical tool included, will automatically update the contour
as you introduce each point. A red spot, indicates the active point. Use buttons: Remove,
Update, Insert, << and >> to navigate between the points and modify them.
• With Import From File to insert a set of contouring points previously defined. The file format is a
simple text with 2 columns separated by space or tabs representing from left to right: time and
reference values. The number of rows gives the number of points
Select Generate new trajectory starting from actual values of position and speed reference if you
want the reference generator to compute the contour profile starting from the actual values of the position
and speed reference. Select Generate new trajectory starting from actual values of load/motor
position and speed if you want the reference generator to compute the contour profile starting from the
actual values of the load/motor position and speed. When this option is used, at the beginning of each
new contour profile the position and speed reference is updated with the values of the load/motor position
and speed. Use this option for example at recovery from an error or any other condition that disables the
motor control while the motor is moving. Updating the reference values leads to a “glitch” free recovery
because it eliminates the differences that may occur between the actual load/motor position/speed and
the last computed position/speed reference (before disabling the motor control).
Remark: In open loop control of steppers, this option is ignored because there is no position and/or
speed feedback.
Choose Execute Immediate to start the contour profile immediately when the motion sequence is
encountered. Choose Execute On event to start the motion when a programmable event occurs. Click

174

MPD User Manual

Change Event to select the event type or Edit Event to modify the parameters of the selected event (see
Events for details).
OK: Close this dialogue and save the motion sequence in your motion sequence list.
Cancel: Close this dialogue without saving the motion sequence in your motion sequence list.
Help: Open this help page.
See also:
Contouring – MPL Programming details
Contouring – MPL Instructions and Data
Motion Programming
Internal Units and Scaling Factors

175

MPD User Manual

6.1.13. Motion Test
The “Motion – Test” dialogue allows you to set the drives/motors in a special test configuration. This
configuration is not supposed to be used during normal operation, but only during drive/motor setup.
In the test mode, either a voltage or a torque (current) command can be set using a test reference
consisting of a limited ramp. For AC motors (like for example the brushless motors), the test mode offers
also the possibility to rotate a voltage or current reference vector with a programmable speed. As a result,
these motors can be moved in an “open-loop” mode without using the position sensor. The main
advantage of this test mode is the possibility to conduct in a safe way a series of tests, which can offer
important information about the motor parameters, drive status and the integrity of the its connections.

Select Voltage for voltage reference or Torque for torque reference. Insert the appropriate values for
reference amplitude and reference increment in the corresponding fields and select the measurement
unit.
For AC motors, check the option AC motor only. Insert the appropriate values for the reference vector
initial position and the electrical angle increment in the corresponding fields and select the measurement
unit.
Choose Execute Immediate to activate the external reference mode immediately when the motion
sequence is encountered. Choose Execute On Event to activate the external reference when a
programmable event occurs. Click Change Event to select the event type or Edit Event to modify the
parameters of the selected event (see Events for details). Select Setup motion data, but don’t start
execution if you want to prepare the external reference mode for a later use.
OK: Close this dialogue and save the motion sequence in your motion sequence list.
Cancel: Close this dialogue without saving the motion sequence in your motion sequence list.
Help: Open this help page.
See also:

176

MPD User Manual

Motion Test –MPL Programming details
Motion Test – Related MPL Instructions and Data
Motion Programming
Internal Units and Scaling Factors

177

MPD User Manual

6.1.14. Events Dialogue
The “Events” dialogue allows you to define events. An event is a programmable condition, which once
set, is monitored for occurrence. You can do the following actions in relation with an event:
1) Change the motion mode and/or the motion parameters, when the event occurs
2) Stop the motion when the event occurs
3) Wait for the programmed event to occur

Remark: The programmed event is automatically erased if the event is reached, if the timeout for the wait
is reached or if a new event is programmed.

Only a single event can be programmed at a time. This can be:
1) When the actual motion is completed
2) When motor absolute position is equal or under a value or the value of a variable
3) When motor absolute position is equal or over a value or the value of a variable
4) When load absolute position is equal or under a value or the value of a variable
5) When load absolute position is equal or over a value or the value of a variable
6) When load/motor relative position is equal or under a value or the value of a variable
7) When load/motor relative position is equal or over a value or the value of a variable
8) When motor speed is equal or under a value or the value of a variable
9) When motor speed is equal or over a value or the value of a variable
10) When load speed is equal or under a value or the value of a variable
11) When load speed is equal or over a value or the value of a variable
12) After a wait time equal with a value or the value of a variable
13) When position reference is equal or under a value or the value of a variable
14) When position reference is equal or over a value or the value of a variable
15) When speed reference is equal or under a value or the value of a variable

178

MPD User Manual

16) When speed reference is equal or over a value or the value of a variable
17) When torque reference is equal or under a value or the value of a variable
18) When torque reference is equal or over a value or the value of a variable
19) When 1st or 2nd encoder index goes low or high
20) When the positive limit switch goes low or high
21) When the negative limit switch goes low or high
22) When a digital input goes low
23) When a digital input goes high
24) When a 32-bit variable is equal or under a 32-bit value or the value of another 32-bit variable
25) When a 32-bit variable is equal or over a 32-bit value or the value of another 32-bit variable
Remark: The load/motor relative position is computed starting from the beginning of the current
movement.

You can also program events in the following motion dialogues: Trapezoidal Profiles, S-curve Profiles,
PT, PVT, External, Electronic Gearing, Electronic Camming, Contouring, Test. Set events in these
dialogues, if you want to activate the programmed motion mode and/or its motion parameters, when the
programmed event occurs.
The event programming is done in the same way when it is done from a motion dialogue or from this
dialogue. Press Change Event to open the Event Selection dialog which allows you to define the event /
condition to be monitored. If you have already defined an event, use Edit Event button to modify its
parameters or conditions.
When you set an event using one of the motion dialogues, you program the following operations:
• Definition of an event
• Programming of a new motion mode and/or new motion parameters
• Definition of the moment when the new motion mode and/or motion parameters must be updated
(e.g. enabled) as the moment when the programmed event will occur
Remark: After you have programmed a new motion mode and/or new motion parameters with update on
event, you need to introduce a wait until the programmed event occurs. Otherwise, the program will
continue with the next instructions that may override the event monitoring. In order to introduce a wait
until the programmed event occurs, open this dialogue, select as event None and check Wait until the
event occurs.

179

MPD User Manual

In this dialogue, apart from programming an event, you can Stop motion when the event occurs and
Wait until the event occurs by checking these options. You can also define a time limit for an event to
occur. Check Exit from the wait loop after a time equal with and specify the time limit. If the monitored
event doesn’t occur in this time limit, the wait loop is interrupted and the MPL program passes to the next
instruction.
Remarks:
• By default, the option Wait until the event occurs is checked. Typically, you define an event, than
wait for the event to occur.
• If the option Wait until the event occurs is checked without a time limit, and the programmed
event doesn’t occur, the MPL program will remain in a loop. In order to exit from this loop, send via
a communication channel a GOTO command, which moves the program execution outside the loop
OK: Close this dialogue and save the event programming in your motion sequence list.
Cancel: Close this dialogue without saving or updating the event programming in the motion sequence
list.
Help: Open this help page.
See also:
Events – MPL Programming Details
Event Selection
Motion Programming

180

MPD User Manual

6.1.14.1.

Event Type Selection

The “Event Type” dialogue allows you to select an event. An event is a programmable condition, which
once set, is monitored for occurrence.
The “Event Type” dialogue may be opened from:
•

Events dialogue:
Event Type – called from Events dialogue

•

One of the following motion dialogues: Trapezoidal Profiles, S-curve Profiles, PT, PVT, External,
Electronic Gearing, Electronic Camming, Contouring, Test:
Event Type – called from a motion dialogue

The events are grouped into 8 categories:
None/ When a previously defined event occurs. The meaning of this case depends from where the
“Event Type” dialogue was opened:
•

None – appears when the dialogue is opened from the “Events” dialogue. Check this item if
you have already defined an event and now you want to: a) program a stop when the event
occurs and/or b) wait for the programmed event to occur.

•

When a previously defined event occurs – appears when the dialogue is opened from one
of the motion dialogues (see above). Check this item if you have already defined an event (in
a previous motion sequence) and now you want to start the actual motion sequence when
this event occurs.

When actual motion is completed – for programming the event: when the actual motion is completed.

181

MPD User Manual

Function of motor or load position – for programming the events: when the absolute or relative motor or
load position is equal or over/under a value or the value of a variable.
Function of motor or load speed – for programming the events: when the motor or load speed is equal or
over/under a value or the value of a variable.
After a wait time – for programming a time delay, using a time event. The monitored event is: when the
relative time is equal with a value or the value of a variable
Function of reference – for programming the events: when the position or speed or torque reference is
equal or over/under a value or the value of a variable.
Function of inputs status – for programming the events: when capture inputs or limit switch inputs or
general purpose inputs change status: low to high or high to low.
Function of a variable value – for programming the events: when a selected variable is equal or
over/under a value or the value of another variable.
OK: Close this dialogue and save selected event
Cancel: Close this dialogue without saving the selected event
Help: Open this help page.
See also:
Events
Motion Programming

182

MPD User Manual

6.1.14.2.

Event - When the actual motion is completed

This dialogue allows you to set the event: when a motion is completed. You can use, for example, this
event to start the next move only after the actual one is finalized.
The motion complete condition is set in the following conditions:
•

During position control:
With position feedback – when the position reference arrives at the position to reach
(commanded position) and the position error remains inside a settle band for a preset
stabilize time interval
Without position feedback (open-loop systems) – when the position reference arrives at the
position to reach (commanded position)

•

During speed control, when the speed reference arrives at the commanded speed

The motion complete condition is reset when a new motion is started.

In position control, choose In position control when the actual position remains inside a settle band
for the first option. Check Set motion complete parameters if you want to modify the Settle band
tolerance and the Stabilize time values. Select the measuring units from the list on the right. Leave Set
motion complete parameters unchecked if you want to keep the motion complete parameters
unchanged.
Choose In position control when the position arrives at the position to reach or in speed control
when speed command & reference are equal in:

183

MPD User Manual

•

Speed control

•

Position control with open-loop configurations or if you do not want to use first option

OK: Close this dialogue and save the event set
Cancel: Close this dialogue without saving the event set.
Help: Open this help page.

See also:
Events – When actual motion is completed– MPL Programming details
Event Selection
Events
Motion Programming

184

MPD User Manual

6.1.14.3.

Event - Function of motor or load position

This dialogue allows you to program an event function of the motor or load position. The events can be:
when the absolute or relative motor or load position is equal or over/under a value or the value of a
variable
The absolute load or motor position is the measured position of the load or motor. The relative position is
the load displacement from the beginning of the actual movement. For example if a position profile was
started with the absolute load position 50 revolutions, when the absolute load position reaches 60
revolutions, the relative motor position is 10 revolutions.

Select motor or load position, its type: absolute or relative, the event condition: over (or equal) or
under (or equal) and the comparison data: a value or the value of a variable.
OK: Close this dialogue and save the event set
Cancel: Close this dialogue without saving the event set.
Help: Open this help page.
See also:
Event – Function of motor or load position–MPL Programming Details
Event Selection
Motion Programming

185

MPD User Manual

6.1.14.4.

Event - Function of motor or load speed

This dialogue allows you to program an event function of the motor or load speed. The events can be:
when the motor or load speed is equal or over/under a value or the value of a variable.

Select motor or load speed, the event condition: over (or equal) or under (or equal) and the comparison
data: a value or the value of a variable.
OK: Close this dialogue and save the event set
Cancel: Close this dialogue without saving the event set.
Help: Open this help page.
See also:
Event – Function of motor or load speed–MPL Programming Details
Event Selection
Events
Motion Programming

186

MPD User Manual

6.1.14.5.

Event– After a Wait Time

This dialogue allows you to introduce a programmable delay in the motion program execution of the
motion controller/drive, using a time event. When you set this event, the motion controller/drive relative
time is reset and it starts counting from zero and the monitored condition is: when the relative time is
equal with a value or the value of a variable.
Remarks:
•

The event on time can be programmed only for the local axis.

•

In order to effectively execute the time delay, you need to follow this command by a Wait until
the event occurs command e.g. until the programmed relative time has elapsed.

Select the comparison data: a value or the value of a variable.
OK: Close this dialogue and save the event set
Cancel: Close this dialogue without saving the event set.
Help: Open this help page.
See also:
Event– After a Wait Time –MPL Programming Details
Event Selection
Events
Motion Programming

187

MPD User Manual

6.1.14.6.

Event - Function of reference

This dialogue allows you to program an event function of the position or speed or torque reference. The
events can be: when the position/speed/torque reference is equal or over/under a value or the value of a
variable. Use:
•

Position reference events, only when position control is performed

•

Speed reference events, only when speed control is performed

•

Torque reference events, only when torque control is performed

Remark: Setting an event based on the position or speed reference is particularly useful for open loop
operation where feedback position and speed is not available

Select the reference type: position, speed or torque, the event condition: over (or equal) or under (or
equal) and the comparison data: a value or the value of a variable.
OK: Close this dialogue and save the event set
Cancel: Close this dialogue without saving the event set.
Help: Open this help page.
See also:
Event – Function of reference –MPL Programming Details
Event Selection Events
Motion Programming

188

MPD User Manual

6.1.14.7.

Event - Function of inputs status

This dialogue allows you to program one of the following events:
•

When a transition occurs on one of the 2 capture inputs, where are connected the 1st and 2nd
encoder index signals (if available)

•

When a transition occurs on one of the 2 limit switch inputs

•

When a general purpose digital input changes its status

•

When the home input changes its status

The capture inputs and the limit switch inputs can be programmed to sense either a low to high or high to
low transition. When the programmed transition occurs on either of these inputs, the following happens:
•

Motor position is captured and memorized in the MPL variable CAPPOS, except the case of openloop systems, where the reference position is captured instead

•

Master or load position is captured and memorized in the MPL variable CAPPOS2, except the
case of steppers controlled open-loop with an encoder on the load, when load position is captured
in CAPPOS.

Select:
•

encoder index to detect a transition on 1st capture/encoder index input

•

2nd encoder index to detect a transition on 2nd capture/encoder index

•

positive limit switch to detect a transition on limit switch input for positive direction

•

negative limit switch to detect a transition on limit switch input for negative direction

and choose the transition type: low -> high or high -> low
Select digital input to set an event on one of the general-purpose digital input available. The event can
be set when the input goes high or low. Select home input in order to set an event on the general
purpose digital input assigned as home input. The home input is specific for each product and based on
the setup data, MotionPRO Developer automatically generates the MPL code for reading the correct
input.

189

MPD User Manual

OK: Close this dialogue and save the event set
Cancel: Close this dialogue without saving the event set.
Help: Open this help page.
See also:
Events – Function of inputs status–MPL Programming Details
Event Selection
Events
Motion Programming

190

MPD User Manual

6.1.14.8.

Event - Function of a variable value

This dialogue allows you to program an event function of the value of a selected variable. The events can
be: when the selected variable is equal or over/under a value or the value of another variable. You may
select any 32-bit MPL variable or parameter, long or fixed, for this event.

Introduce the variable name, the event condition: over (or equal) or under (or equal) and the comparison
data: a value or the value of a variable.
Remark: If you choose a predefined MPL parameter or variable and as comparison a value, you’ll see on
the right list the measurement units associated with the selected variable.
OK: Close this dialogue and save the event set
Cancel: Close this dialogue without saving the event set.
Help: Open this help page.
See also:
Event – Function of a variable value –MPL Programming Details
Event Type Dialogue
Events
Motion Programming

191

MPD User Manual

6.1.15. Jumps and Function Calls
The “Jumps and Function Calls” dialogue allows you to control the MPL program flow through
unconditional or conditional jumps and unconditional, conditional or cancelable calls of MPL functions.

Select Goto and indicate the jump address in address, label or address set in variable. The jump
address can be set directly as a numerical value (if it is known) or indirectly via:
• A label. Use Insert label name to place the label in the desired location. The label name can be
any string of up to 32 characters, which starts with an alphanumeric character or with underscore.
• A 16-bit MPL variable whose value represents the jump address.
Remark: You may assign a label to a 16-bit integer variable. The variable takes the value of the label i.e.
the address of the next instruction after label. Example: user_var = jump_label;
Leave if variable unchecked to execute an unconditional jump. Check if variable to execute a
conditional jump and specify a test variable and a condition. The test variable is always compared with
zero. The possible conditions are: < 0, <= 0, >0, >=0, =0, ≠ 0. If the condition is true the jump is
executed, else the next MPL command is carried out.
Select Call and indicate the name of a MPL function in address, label or address set in variable. A
MPL function starts with a label and ends with the RET instruction. The label gives the MPL function
address and name. You can create, rename or delete MPL functions using the Functions View.
Remark: The MPL functions are placed after the end of the main program
Similarly with the jump address, the MPL function address can be set directly, as a numerical value (if it is
known), or indirectly via:
• The MPL function starting label (i.e. the function name)
• A 16-bit MPL variable whose value represents the MPL function address.
Leave if variable unchecked to execute an unconditional call. Check if variable to execute a conditional
call and specify a test variable and a condition. The test variable is always compared with zero. The
possible conditions are: < 0, <= 0, >0, >=0, =0, ≠ 0. If the condition is true the call is executed, else the
next MPL command is carried out.

192

MPD User Manual

Choose Cancelable Call and indicate the MPL function address if the exit from the called function
depends on conditions that may not be reached. In this case, using Abort cancelable call you can
terminate the function execution and return to the next instruction after the call.
Select RETurn from function to insert the RET instruction, which ends a MPL function. When RET
instruction is executed, the MPL program returns to the next instruction (motion sequence) after the MPL
function call.
Select RETurn from interrupt to insert the RETI instruction, which ends a MPL interrupt. When RETI
instruction is executed, the MPL program returns to the point where it was before the MPL interrupt
occurrence.
OK: Close this dialogue and save the motion sequence in your motion sequence list.
Cancel: Close this dialogue without saving the motion sequence in your motion sequence list.
Help: Open this help page.
See also:
Jumps and Function Calls – MPL Programming Details
Functions View.
Motion Programming

193

MPD User Manual

6.1.16. I/O General I/O (Firmware FAxx)
The “I/O” dialogue allows you to program the following operations with the digital inputs and outputs:
• Read and save the status of a digital input into a variable
• Set low or high a digital output
• Read and save the status of multiple digital inputs into a variable
• Set multiple digital outputs according with the value of variable
The digital inputs and outputs are numbered: #0 to #39. Each programmable drive/motor has a specific
number of inputs and outputs, therefore only a part of the 40 I/Os is used. The I/O numbering is common
for all the products; hence each product has its own list of available I/Os. This is not an ordered list. For
example, a product with 4 inputs and 4 outputs can use the inputs: #36, #37, #38 and #39 and the
outputs #28, #29, #30 and #31.

If you want to read the status of an input:
1. Select Single I/O, Read input line, choose the desired input from the list of available inputs and
provide the name of an integer variable where to save the input status
2. Check Set as input if the input selected may also be used as an output (i.e. the input line
number occurs in the outputs list too). Do this operation only once, first time when you use the
input. Omit this check if the drive/motor has the inputs separated from the outputs (i.e. all have
different line numbers)
3. Press OK

194

MPD User Manual

When this MPL command is executed, the variable where the input line status is saved, becomes:
• Zero if the input line was low
• Non-zero if the input line was high
Remark: Check the drive/motor user manual to find if the input line you are reading is directly connected
or is inverted inside the drive/motor. If an input line is inverted, the variable where the input line is saved
is inverted too: zero if the input is high (at connectors level), non-zero if the input is low (at connectors
level).
If you want to set an output low or high:
1. Select Single I/O, choose Set output line, select the desired output from the list of available
outputs and choose the output level: low or high
2. Check Set as output if the output selected may also be used as an input (i.e. the output line
number occurs in the inputs list too). Do this operation only once, first time when you use the
output. Omit this check if the drive/motor has the inputs separated from the outputs (i.e. all have
different line numbers)
3. Press OK
Remark: The MPL code generated takes into account the possibility to have outputs inverted inside the
drive/motor. This information, provided by the setup data, is used to inverse the output command logic:
getting the output high (at connectors level) means setting the output low and to getting the output low (at
connectors level) means setting the output high
Check Read inputs in variable to read simultaneously more inputs and specify the name of an integer
variable where to save their status. The inputs are:
• Enable input – saved in bit 15
• Limit switch input for negative direction (LSN) - saved in bit 14
• Limit switch input for positive direction (LSP) - saved in bit 13
• General-purpose inputs #39, #38, #37 and #36 – save din bits 3, 2, 1 and 0
The bits corresponding to these inputs are set as follows: 0 if the input is low and 1 if the input is high.
The other bits of the variable are set to 0.
Remark: If one of these inputs is inverted inside the drive/motor, the corresponding bit from the variable
is inverted too. Hence, these bits always show the inputs status at connectors level ( 0 if input is low and
1 if input is high) even when the inputs are inverted.
Check Set multiple outputs to a value of variable to set simultaneously more outputs with the value of
the specified variable. The outputs are:
• Ready output – set by bit 15
• Error output – set by bit 14
• General-purpose outputs: #31, #30, #29, #28 – set by bits 3, 2, 1, and 0
The outputs are set as follows: low if the corresponding bit in the variable is 0 and high if the
corresponding bit in the variable is 1. The other bits of the variable are not used.
Remark: If one of these outputs is inverted inside the drive/motor, its command is inverted too. Hence,
the outputs are always set at connectors level according with the bits values (low if bit is 0 and high if bit
is 1) even when the outputs are inverted.

195

MPD User Manual

CAUTION: Do not use Set multiple outputs to a value of variable if any of the 6 outputs mentioned is
not on the list of available outputs of your drive/motor. There are products that use some of these outputs
internally for other purposes. Attempting to change these lines status may harm your product.
OK: Close this dialogue and save the motion sequence in your motion sequence list.
Cancel: Close this dialogue without saving anything in your motion sequence list.
Help: Open this help page.
See also:
General-purpose I/O – MPL Programming Details
Motion Programming

196

MPD User Manual

6.1.17. I/O General I/O (Firmware FBxx)
The “I/O” dialogue allows you to program the following operations with the digital inputs and outputs:
• Read and save the status of a digital input into a variable
• Set low or high a digital output
• Read and save the status of multiple digital inputs into a variable
• Set multiple digital outputs according with an immediate value or the value of 16-bit variable
The digital inputs and outputs are numbered: 0 to 15. Each programmable drive/motor has a specific
number of inputs and outputs, therefore only a part of the 16 inputs or outputs is used. The I/O numbering
is common for all the products; hence each product has its own list of available I/Os. This is an ordered
list. For example, a product with 4 inputs and 4 outputs can use the inputs: IN0, IN1, IN2 and IN3 and the
outputs OUT0, OUT1, OUT2 and OUT3.

If you want to read the status of an input:
1. Select Single I/O, Read input line, choose the desired input from the list of available inputs and
provide the name of an integer variable where to save the input status
2. Check Set as input if the input selected may also be used as an output. Do this operation only
once, first time when you use the input. Omit this check if the drive/motor has the inputs
separated from the outputs (i.e. all have different line numbers)
3. Press OK

197

MPD User Manual

When this MPL command is executed, the variable where the input line status is saved, becomes:
• Zero if the input line was low
• Non-zero if the input line was high
Remark: Check the drive/motor user manual to find if the input line you are reading is directly connected
or is inverted inside the drive/motor. If an input line is inverted, the variable where the input line is saved
is inverted too: zero if the input is high (at connectors’ level), non-zero if the input is low (at connectors’
level).
If you want to set an output low or high:
1. Select Single I/O, choose Set output line, select the desired output from the list of available
outputs and choose the output level: low or high
2. Check Set as output if the output selected may also be used as an input. Do this operation only
once, first time when you use the output. Omit this check if the drive/motor has the inputs
separated from the outputs.
3. Press OK
Remark: The MPL code generated takes into account the possibility to have outputs inverted inside the
drive/motor. This information, provided by the setup data, is used to inverse the output command logic:
getting the output high (at connectors’ level) means setting the output low and to getting the output low (at
connectors’ level) means setting the output high
Check Read inputs in variable to read simultaneously more inputs and specify the name of an integer
variable where to save their status. The bits corresponding to these inputs are set as follows: 0 if the input
is low and 1 if the input is high. The other bits of the variable are set to 0.
Remark: If one of these inputs is inverted inside the drive/motor, the corresponding bit from the variable
is inverted too. Hence, these bits always show the inputs status at connectors level (0 if input is low and 1
if input is high) even when the inputs are inverted.
Check Set outputs to set simultaneously more outputs with the value of 16-bit mask or variable. Select
the outputs you want to command and specify how they are set:
• with the mask generated after setting as High or Low each of the selected outputs
• with the value of the specified 16-bit variable.
The outputs are set as follows: low if the corresponding bit in the mask or variable is 0 and high if the
corresponding bit in the mask or variable is 1. The other bits of the mask or variable are not used.
Remark: If one of these outputs is inverted inside the drive/motor, its command is inverted too. Hence,
the outputs are always set at connectors level according with the bits values (low if bit is 0 and high if bit
is 1) even when the outputs are inverted.
OK: Close this dialogue and save the motion sequence in your motion sequence list.
Cancel: Close this dialogue without saving anything in your motion sequence list.
Help: Open this help page.
See also:
General-purpose I/O – MPL Programming Details
Motion Programming

198

MPD User Manual

6.1.18. Assignment & Data Transfer - Setup 16-bit variable
The “Assignment and Data Transfer – 16 bit Integer Data” dialogue helps you to:
1. Assign a value to a 16-bit integer MPL parameter/variable
2. Transfer in a memory location, a 16-bit value or the value of a 16-bit integer MPL parameter or
variable

Select Set 16-bit variable to assign a value to a 16-bit integer MPL parameter or variable. Introduce its
name and choose one of the possible sources:
• With value / 16 bit variable / label: A 16-bit value or the value of a 16-bit variable or the value
of a label. Introduce in the associated field the value or the variable/label name.
• With data / program / E2ROM memory contents located at address set in pointer
variable: The value of a memory location whose address is set in another 16-bit (pointer)
variable. Introduce in the associated field the pointer variable name. Check then increment
the pointer variable to automatically increment by one the pointer value, after the assignment
is done. This option is particularly useful for repetitive assign operations where source is placed
in successive memory locations. The memory type is split into 3 categories: data – for the RAM
area for MPL data, program – for the RAM area for MPL programs and E2ROM – for the
EEPROM area for MPL programs.
Remark: The data memory may be used to extend the number of user-defined variables. By
data exchanges with MPL variables, the data memory locations may be used as a temporary

199

MPD User Manual

buffer. Work for example for these operations with the RAM locations reserved but not used by
the cam tables.
• With low / high part of a 32-bit variable: The low or high 16-bit part of a 32-bit MPL
parameter or variable. Introduce in the associated field the variable name.
• With inverse (-) of variable: The inverse (negate) value of a 16-bit MPL parameter or variable.
Introduce in the associated field the variable name
• Using AND mask…and OR mask …: The result of a logical operations:
AND between the selected variable and the AND mask value
OR between the above result and the OR mask value
• With checksum of data located in data / program / E2ROM memory between address … and …:
The result of a checksum performed with all the locations situated between the 2 specified memory
addresses. The memory type is split into 3 categories like in the case of indirect addressing: data – for
the RAM area for MPL data, program – for the RAM area for MPL programs and E2ROM – for the
EEPROM area for MPL programs.
Remark: The checksum is the sum modulo 65536 of all the memory values, including those from
the limits. The address limits are hexadecimal values.
Select Set data / program / E2ROM memory contents located at address set in the pointer variable
to transfer in a memory location, a 16-bit value or the value of a 16-bit integer MPL parameter or variable.
The memory location address is provided by another 16-bit (pointer) variable. Introduce in the associated
fields the pointer variable name and the 16-bit value or the variable name. Check then increment the
pointer variable to automatically increment by one the pointer value, after the assignment is done. This
option is particularly useful for repetitive assign operations where destination is placed in successive
memory locations. The memory type is split into 3 categories: data – for the RAM area for MPL data,
program – for the RAM area for MPL programs and E2ROM – for the EEPROM area for MPL programs.
OK: Close this dialogue and save the assignment or data transfer in your motion sequence list.
Cancel: Close this dialogue without anything in your motion sequence list.
Help: Open this help page.
See also:
Assignment and Data Transfer: 16-bit data – MPL Programming Details
Motion Programming

6.1.19. Assignment & Data Transfer - Setup 32-bit variable
The “Assignment and Data Transfer – 32-bit Long or Fixed Data” dialogue helps you:
1. Assign a value to a 32-bit long or fixed MPL parameter/variable
2. Assign a value to the high (16MSB) or low (16LSB) part of a 32-bit long or fixed data
3. Transfer in 2 consecutive memory locations, a 32-bit value or the value of a 32-bit long or fixed
MPL parameter or variable

200

MPD User Manual

Select Set 32-bit variable to assign a value to a 32-bit long or fixed MPL parameter or variable. Introduce
its name and choose one of the possible sources:
• With value / 32 bit variable: A 32-bit value or the value of a 32-bit variable. Introduce in the
associated field the value or the variable name.
• With data / program / E2ROM memory contents located at address set in pointer
variable: The value of 2 consecutive memory locations. The first memory address (the lowest)
is provided by another 16-bit (pointer) variable. Introduce in the associated field the pointer
variable name. Check then increment the pointer variable to automatically increment by two
the pointer value, after the assignment is done. This option is particularly useful for repetitive
assign operations where source is placed in successive memory locations. The memory type is
split into 3 categories: data – for the RAM area for MPL data, program – for the RAM area for
MPL programs and E2ROM – for the EEPROM area for MPL programs.
Remark: The data memory may be used to extend the number of user-defined variables. By data
exchanges with MPL variables, the data memory locations may be used as a temporary buffer. Work for
example for these operations with the RAM locations reserved but not used by the cam tables.
• With inverse (-) of variable: The inverse (negate) value of a 32-bit MPL parameter or variable.
Introduce in the associated field the variable name
• With 16-bit value of variable…left shifted with: The value of a 16-bit MPL data, left shifted with 0 to
16 bits. Introduce in the associated fields the variable name and the shift value.
Select Set low / high part of 32-bit variable… with value/16-bit variable…to copy a 16-bit data into the
higher or lower 16-bits or a 32-bit MPL data. The 16-bit data can be either an immediate value or a 16-bit
MPL data. Choose low or high part and introduce in the associated field the value or the variable name.

201

MPD User Manual

Remarks:
• The left shift operation is done with sign extension. If you intend to copy the value of an integer MPL
data into a long MPL data preserving the sign use this operation with left shift 0
• If you intend to copy the value of a 16-bit unsigned data into a 32-bit long variable, assign the 16-bit
data in low part of the long variable and set the high part with zero.
Select Set data / program / E2ROM memory contents located at address set in the pointer variable
to transfer in 2 consecutive memory locations, a 32-bit value or the value of a 32-bit integer MPL
parameter or variable. The first memory address (the lowest) is provided by another 16-bit (pointer)
variable. Introduce in the associated field the pointer variable name and the 16-bit value or the variable
name. Check then increment the pointer variable to automatically increment by two the pointer value,
after the assignment is done. This option is particularly useful for repetitive assign operations where
destination is placed in successive memory locations. The memory type is split into 3 categories: data –
for the RAM area for MPL data, program – for the RAM area for MPL programs and E2ROM – for the
EEPROM area for MPL programs.
Remark: When this operation is performed having as source an immediate value, the MPL compiler
checks the type and the dimension of the immediate value and based on this generates the binary code
for a 16-bit or a 32-bit data transfer. Therefore if the immediate value has a decimal point, it is
automatically considered as a fixed value. If the immediate value is outside the 16-bit integer range (32768 to +32767), it is automatically considered as a long value. However, if the immediate value is
inside the integer range, in order to execute a 32-bit data transfer it is necessary to add the suffix L after
the value, for example: 200L or –1L.
OK: Close this dialogue and save the assignment or data transfer in your motion sequence list.
Cancel: Close this dialogue without anything in your motion sequence list.
Help: Open this help page.
See also:
Assignment and Data Transfer: 32-bit data – MPL Programming Details
Motion Programming

202

MPD User Manual

6.1.20. Assignment & Data Transfer - Arithmetic Operations
The “Arithmetic Operations” dialogue allows you to program the following arithmetic operations: addition,
subtraction, multiplication and division, plus the left and right shifting. All these operations are signed i.e.
the operands are treated as signed numbers. Except the multiplication, the result is saved in the left
operand. For multiplication, the result is saved in the dedicated product register.

Select Add to variable and introduce the name of the left operand to perform an addition. Indicate the
right operand in the value/variable field. The left operand may be a 16-bit or 32-bit MPL data. The right
operand may be an immediate value or another MPL data, of the same type as the left operand.
Remark: When the left operand is a 32-bit long or fixed MPL data and the right operand is a 16-bit
integer value, it is treated as follows:
• Sign extended to a 32-bit long value, if the left operand is a 32-bit long
• Set as the integer part of a fixed value, if the left operand is a 32-bit fixed
Select Subtract from variable and introduce the name of the left operand to perform a subtraction.
Indicate the right operand in the value/variable field. The left operand may be a 16-bit or 32-bit MPL
data. The right operand may be an immediate value or another MPL data, of the same type as the left
operand.
Remark: When the left operand is a 32-bit long or fixed MPL data and the right operand is a 16-bit
integer value, it is treated as follows:
• Sign extended to a 32-bit long value, if the left operand is a 32-bit long
• Set as the integer part of a fixed value, if the left operand is a 32-bit fixed
Select Set PROD register with the product of variable and introduce the name of the first operand to
perform a multiplication. Indicate the second operand in with value / 16 bit variable field. The first

203

MPD User Manual

operand may be a 16-bit or 32-bit MPL data. The second operand may be a 16-bit value or a 16-bit MPL
data. The multiplication result is saved left or right shifted in a dedicated 48-bit product register. Choose
the shift type Left or Right and number of shift bits: 0 to 15. Use 0 to perform no shift.
Remark: The result is placed in the product register function of the left operand. When shift is 0:
• In the 32 least significant bits, when the left operand is a 16-bit integer. The result is a 32-bit long
integer
• In all the 48 bits, when the left operand is a 32-bit fixed. The result has the integer part in the 32
most significant bits and the fractional part in the 16 least significant bits
• In all the 48 bits, when the left operand is a 32-bit long. The result is a 48-bit integer
The MPL variable PRODH contains the 32 most significant bits of the product register. The MPL variable
PROD contains the 32 least significant bits of the product register.
Select Divide variable and introduce the name of the left operand: the dividend, to perform a division.
Indicate the right operand: the divisor, in the by the value of variable field. The dividend is a 32-bit MPL
data. The divisor is 16-bit MPL data.
Remark: The result, saved in first operand, is a fixed value with the integer part in the 16 most significant
bits and the fractional part in the 16 least significant bits.
Choose Shift Left / Right and introduce the name of the MPL data to be shifted left or right in the
variable field, followed by the number of shift bits: 0 to 15. The MPL data can be any 16-bit or 32-bit MPL
data.
Choose Shift Left / Right product register by and introduce the number of shift bits: 0 to 15, to perform
a left or right shift of the 48-bit product register.
Remark: At right shifts, high order bits are sign-extended and the low order bits are lost. At left shifts,
high order bits are lost and the low order bits are zeroed.
OK: Close this dialogue and save the arithmetic or logic operation in your motion sequence list.
Cancel: Close this dialogue without anything in your motion sequence list.
Help: Open this help page.
See also:
Arithmetic and logic operations. MPL Programming Details
Motion Programming

204

MPD User Manual

6.1.21. Assig
gnment & Data
D
Transfe
er - Data Tra
ansfer Betw
ween Axes
The “Data
a Transfer Between
B
Axes” dialog allo
ows you to program data
a transfer op
perations bettween
drives/mo
otors connectted in a nettwork. From this dialog, you can alsso change th
he axis ID – the
drive/moto
or network address,
a
and
d the groups
s it belongs for multicasst transmissio
ons as well as to
activate/deactivate the synchronizattion between axes.

Check Se
et axis ID if yo
ou want to ch
hange the axis ID and set a new value. The axis ID is a value bettween
1 and 255
5. It is initially set at power on using the following alg orithm:
a. With th
he value read from the EEPROM setup
p table contain
ning all the setup data. If this value is 0, the
axis ID
D is set with the
t value read from the hardware swittches/jumperss or in their a
absence acco
ording
with d)
b. If the se
etup table is invalid, with th
he last axis ID
D value read ffrom a valid ssetup table
c. If there is no axis ID
D set by a valid
d setup table, with the valu
ue read from the hardware
e switches/jum
mpers
s ID setting
for axis
d. If the drive/motor
d
ha
as no hardwa
are switches/jumpers for a
axis ID setting
g, with the de
efault axis ID value
which is 255.
e axis ID is ke
ept constant during
d
operatition at the vallue establishe
ed during the setup
Remark: Typically, the
phase. Ho
owever, if ne
eeded, you can change th
he axis ID to
o any of the 255 possible
e values, usin
ng the
above com
mmand
In MotionPRO Develop
per, each app
plication has associated a
an Axis Numb
ber, set in Ap
pplication Ge
eneral
n application is selected, all
a the data e
exchange ope
erations are p
performed with the
Information. When an
or having the
e same axis ID as the ap
pplication Ax is Number. A
An axis ID ch
hange may ccreate
drive/moto
communic
cation problems, if this is performed du
uring operatio
on i.e. if the d
drive/motor starts with one
e axis
ID and latter on switche
es to another axis ID.

20
05

MPD U
User Manual

Check Set group if you want set the groups to which a drive/motor belongs. A group is way to identify a
number of drives, for a multicast transmission. Each drive can be programmed to be member of one or
several of the 8 possible groups (up to all). A drive will accept all the messages sent to any of the groups
it belongs. Push the buttons for the groups the drive/motor will belong. Use Add groups or Remove
groups to add or remove your drive/motor from one or several groups.
Remark: A message can be:
• Sent to an axis defined by an Axis ID
• Multicast to one group of axes defined by a Group ID. The Group ID is an 8-bit value, where each bit
set represents a group. For example, a multicast to Group ID = 4 (100b) will be received by all drives
from group 3.
• Broadcast to all nodes, if the Group ID = 0.
Check Synchronization group to activate/deactivate the synchronization procedure. This procedure
requires activating one axis as a synchronization master. The other axes are deactivated and are
synchronization slaves. Select Send synchronization messages every… and set the time interval
between synchronization messages, to activate the synchronization master. Recommended starting
value for the time interval is 20ms. When synchronization procedure is active, the execution of the control
loops on the slaves is synchronized with those of the master within a 10µs time interval. Due to this
powerful feature, drifts between master and slave axes are eliminated. Deactivate the synchronization
procedure by choosing Stop sending synchronization messages. This will disable the synchronization
master and set the axis as a synchronization slave. In the absence of a master, the synchronization
process is stopped.
The data transfer operations may be split into three categories:
1. Read data from a remote axis. A variable or a memory location from the remote axis is saved into a
local variable
2. Write data to a remote axis or group of axes. A variable or a memory location of a remote axis or group
of axes is written with the value of a local variable
3. Send MPL commands from local drive to a remote drive or group of drives
Check data transfer commands, and select From axis to read from the remote axis specified, the value
of a variable or the data / program / E2ROM memory contents located at an address set in a pointer
variable. The data is saved in the local MPL variable indicated in to local variable field. The local
variable can be either a 16-bit or a 32-bit MPL data. Its type, dictates the data transfer size. Check then
increment the pointer variable to automatically increment the pointer by one or two function of the local
variable type, after the transfer is performed. The memory type is split into 3 categories: data – for the
RAM area for MPL data, program – for the RAM area for MPL programs and E2ROM – for the EEPROM
area for MPL programs.
Select Send the local variable to copy on a remote axis or group of axes, the value of the local variable
specified. The data is saved either in an external/remote variable or in the data / program / E2ROM
memory location(s) from address set in the pointer variable indicated. The local variable can be either
a 16-bit or a 32-bit MPL data. Its type, dictates the data transfer size. Check then increment the pointer
variable to automatically increment the pointer by one or two function of the local variable type, after the
transfer is performed. The memory type is split into 3 categories: data – for the RAM area for MPL data,
program – for the RAM area for MPL programs and E2ROM – for the EEPROM area for MPL programs.
The destination specified at axis/group can be:
• An axis ID set with a number between 1 and 255
• A group set with letter G followed by a number between 1 and 8. Examples: G1, G7
• A broadcast to all axes set with letter B

206

MPD User Manual

Select Send MPL command to program the local axis to transmit the MPL command(s) you type in the
associated field towards the destination specified in the axis/group field. The transmission is done when
the command is executed.
Remarks:
• This command offers a very powerful tool through which one drive/motor may control other
drives/motors from the network. For example it can start or stop the other drives motion or check their
status
• You may type multiple MPL commands separated by semicolon (;). These will be sent one by one in
the order of occurrence in the edit.
• Via this type of messages, you can send all the MPL instructions having an instruction code of
maximum 4 words. In this category enter most of the MPL commands (see MPL Instruction Coding and
the detailed description of the MPL Instructions).
OK: Close this dialogue and save the operations selected in your motion sequence list.
Cancel: Close this dialogue without saving anything in your motion sequence list.
Help: Open this help page.
See also:
Axis Identification
Data Transfer Between Axes – MPL Programming Details
Remote Control
Motion Programming

207

MPD User Manual

6.1.22. Send data to host
The “Send Data to Host” dialogue allows you to program when the drive/motor will send messages to
your host. The message transmission can be triggered by:
• Conditions which change the status or error registers
• The execution of a dedicated MPL command from your MPL program. Through this command you can
send to your host the contents of any MPL data
In the first case, you can select the status or the error register bits, which will trigger a message when are
changed. The selection is done via masks, one for each register, where for each bit you can choose if to
trigger or not a transmission when it is changed.
When the transmission is triggered by a bit change in a status register SRH (high part) or SRL (low part),
the message sent contains these 2 registers grouped together as a single 32-bit register/data. When the
transmission is triggered by a bit change in the error register MER, the message sent contains this
register.

In the Host address write the axis ID of the host.
Check Status Register to enable transmission on status register bit changes. From the right list, select a
bit whose change you want to trigger a message transmission and press the [ < ] button. The selected bit
will appear on the left list. Repeat the operation for the other bits. Use the button [<<] to select all the bits.
Choose a bit from the left list and press the [ > ] button to move it back to the right list. Use the [>>]
button to remove all the bits from the left list.

208

MPD User Manual

Check Error Register to enable transmission on error register bit changes. From the right list, select a bit
whose change you want to trigger a message transmission and press the [ < ] button. The selected bit
will appear on the left list. Repeat the operation for the other bits. Use the button [<<] to select all the bits.
Choose a bit from the left list and press the [ > ] button to move it back to the right list. Use the [>>]
button to remove all the bits from the left list.
Remark: After power on, the 2 masks are empty i.e. none of the status or error bits is selected to trigger
a transmission on change.
Check Send contents of variable and indicate the name of the MPL data to be sent when this MPL
command is executed. The MPL data can be any 16-bit or 32-bit data: MPL registers, parameters,
variable or user variables.
Remark: By default, at power on, the host address is set equal with the drive/motor axis ID. Therefore,
the messages will be sent via RS-232 serial communication. If the host address is different from the
drive/motor axis ID, the messages are sent via the other communication channels: CAN bus, RS485, etc.
See also:
Messages sent to the host – MPL Programming Details
Motion Programming

209

MPD User Manual

6.1.23. Assignment & Data Transfer - Miscellaneous
The “Miscellaneous” dialogue allows you to:
• Declare user variables
• Reset/exit the drive/motor from the FAULT status
• Execute less frequently used MPL commands like: END, NOP, ENDINIT
• Change the CAN bus and serial RS232 / RS485 communication settings
• Save actual setup data from RAM into the EEPROM in the setup table

Select Define variable named if you want to define a new variable. Specify the variable name in the next
field and choose the variable type from the list. The options are: int, fixed or long. A variable of type int
is a 16-bit signed integer. A variable of type long is a 32-bit signed integer. A variable of type fixed is 32bit wide and is used for signed fixed-point representations with 16MSB the integer part and 16LSB the
factionary part.
Select Reset FAULT status to exit a drive/motor from the FAULT status in which it has entered due to an
error. After a fault reset command, most of the bits from error register MER are cleared (set to 0), ready
output is set to ready level, error output is set to no error level and drive/motor returns to normal
operation.
Remarks:
• The FAULT reset command does not change the status of MER.15 (enable input on disabled
level), MER.7 (negative limit switch input active), MER.6 (positive limit switch input active) and
MER.2 (invalid setup table)
• The drive/motor will return to FAULT status if there are errors when the FAULTR command is
executed

210

MPD User Manual

Select Insert END instruction to introduce in your MPL program the instruction END. When END is
executed, the MPL program execution is stopped.
Remark: It is mandatory to end the main section of a MPL program with an END command. All the MPL
functions and the MPL interrupt service routines must follow after the END command. MotionPRO
Developer automatically handles these requirements, when it generates the MPL program to be compiled
and downloaded into the drive.
Select Insert NOP instruction to introduce a NOP (No operation) instruction. It can be used as a delay
between two motion sequences / instructions.
In the Serial communication section, choose Change baudrate to if you want to change the drive baud
rate for RS-232 and RS-485 communication. Choose from the drop list one of the available baud rates:
9600, 19200, 38400, 56000 and 115200.
Remarks:
1. The drives/motors default serial baud rate after power on is 9600 baud, unless another value
was saved in the setup table. When you start MotionPRO Developer, the drives/motors serial
baud rate is automatically adjusted to the last value selected at Communication | Setup in the
Baud Rate field.
2. Use this command when a drive/motor operates in AUTORUN (after power on starts to execute
the MPL program from the EEPROM) and it must communicate with a host at a baud rate
different from the default value. In this case, the MPL program must start with a serial baud rate
change.
3. An alternate solution to the above case is to set via MotionPRO Developer the desired baud rate
and then to save it the EEPROM, with command SAVE. After a reset, the drive/motor starts
directly with the new baud rate, if the setup table was valid. Once set, the new default baud rate
is preserved, even if the setup table is later on disabled, because the default serial baud rate is
stored in a separate area of the EEPROM.
In the CAN communication section, choose Select Set CAN baudrate to if you want to change the
baud rate for CAN-bus communication. Choose from the drop list one of the available CAN baud rates:
125kb, 250kb, 500kb, 800kb, 1Mb.
Remarks:
1. The drives/motors default CAN baud rate after power on is 500kb, unless another value was
saved in the setup table. In MotionPRO Developer, at Communication | Setup, in the Baud
Rate field, you must choose the same value as the default CAN baud rate of the drives/motors
value. This selection refers ONLY to the CAN bus interface of your PC
2. Use this command when a drive/motor operates in AUTORUN (after power on starts to execute
the MPL program from the EEPROM) and it must communicate with a host at a baud rate
different from the default value. In this case, the MPL program must start with a CAN baud rate
change.
3. An alternate solution to the above case is to set via MPL command CANBR the desired CAN
baud rate and then to save it the EEPROM, with command SAVE. After a reset, the drive/motor
starts directly with the new CAN baud rate, if the setup table was valid. Once set, the new default
CAN baud rate is preserved, even if the setup table is later on disabled, because the default
CAN baud rate is stored in a separate area of the EEPROM.
Select Insert ENDINIT instruction to introduce an ENDINT (end of initialization) instruction. This
command uses the available setup data to perform key initializations, but does not activate the controllers
or the PWM outputs. These are activated with the AXISON command
Remarks:

211

MPD User Manual

1. After power on, the ENDINIT command may be executed only once. Subsequent ENDINIT
commands are ignored.
2. The AXISON command must be executed after the ENDINIT command
3. Typically, the ENDINIT command is executed at the beginning of a MPL program and may be
followed by the AXISON command even if no motion mode was set. In the absence of any
programmed motion, the drive applies zero voltage to the motor.
4. In MotionPRO Developer, ENDINIT and AXISON commands are automatically included when a
MPL program is generated. Hence you can start directly with the motion programming
Select Save actual setup data in the EEPROM to insert a SAVE instruction in the MPL program. When
SAVE instruction is executed, the actual values of the MPL parameters are copied from the RAM memory
into the EEPROM memory, in the setup table. Through this command, you can save all the setup
modifications done, after power on initialization.
OK: Close this dialogue and save the MPL commands in your motion sequence list.
Cancel: Close this dialogue without saving anything in your motion sequence list.
Help: Open this help page
See also:
Miscellaneous commands – MPL Programming Details
Motion Programming

212

MPD User Manual

6.1.24. MPL Interrupt Se
ettings
The “Interrrupt Settings
s” dialogue allows you to activate and//or deactivate
e the MPL (E
ElectroCraft M
Motion
Program Language) in
nterrupts. Wh
hen a MPL interrupt occu
urs, the norm
mal MPL program executtion is
ed to execute a MPL functiion associate
ed with the intterrupt, called
d Interrupt Se
ervice Routine (in
suspende
short ISR). The MPL in
nterrupt mech
hanism is the following:
• Th
he drive conttinuously monitors 12 con
nditions that may genera
ate MPL inte
errupts. In ca
ase of
mo
otion controlle
er applications there is a 13th condition related to sla
ave error status.
• Th
he motion controller has an
a additional condition tha
at triggered interrupt whe
en an error o
on the
sla
aves occurs
• When an interru
upt condition occurs, a flag
g (bit) is set in
n the ISR (Inte
errupt Status Register)
• If the interrupt is unmasked
d e.g. the same bit (as p
position) is se
et in the ICR
R (Interrupt C
Control
Re
egister) and also if the in
nterrupts are globally ena
abled (EINT instruction w
was executed
d), the
intterrupt conditiion is qualified
d and it generates a MPL interrupt
• Th
he interrupt causes a jump
p to the asso
ociated interru
upt service ro
outine. On en
ntry in this ro
outine,
the
e MPL interru
upts are globa
ally disabled (DINT) and th
he interrupt fla
ag is reset
• Th
he interrupt service
s
routine
e must end with
w the MPL
L instruction RETI, which returns to n
normal
pro
ogram executtion and in the same time globally enab
bles the MPL interrupts.

Interrrupt settings dialog
d
for driv
ve/motor

213

MPD U
User Manual

The 12 conditions are:
1. Int0 – Enable input has changed: either transition sets the interrupt flag
2. Int1 – Short-circuit: when the drive/motor hardware protection for short-circuit is triggered
3. Int2 – Software protections: when any of the following protections is triggered:
a) Over current
b) I2t motor
c) I2t drive
d) Over temperature motor
e) Over temperature drive
f) Over voltage
g) Under voltage
4. Int3 – Control error: when the control error protection is triggered
5. Int4 – Communication error: when a communication error occurs
6. Int5 – Wrap around: when the target position computed by the reference generator wraps around
because it bypasses the limit of the 32-bit long integer representation
7. Int6 – LSP programmed transition detected: when the programmed transition is detected on the
limit switch input for positive direction (LSP)
8. Int7 – LSN programmed transition detected: when the programmed transition is detected on the
limit switch input for negative direction (LSN)
9. Int8 – Capture input transition detected: when the programmed transition is detected on the 1st
capture/encoder index input or on the 2nd capture/encoder index input
10. Int9 – Motion is completed: in position control, when motion complete condition is set and in
speed control when target speed reaches zero.
11.

Int10 – Time period has elapsed: periodic time interrupt with a programmable time period

12.

Int11 – Event set has occurred: when last defined event has been occurred

After power-on, the MPL interrupts are globally enabled together with the first 4 interrupts: Int 0 to Int 3.
For Int 2, all the protections are activated, except over temperature motor, which depends on the
presence or not of a temperature sensor on the motor; hence this protection may or may not be activated.
For each of these 4 interrupts there is a default ISR which is executed when the corresponding interrupt
occurs. You can view the contents of the default ISR in the MPL Interrupt Service Routines view. From
this view you may also modify the default ISR for these interrupts and/or define ISR for the other MPL
interrupts.
Before using other MPL interrupts, you need to enable them from this dialogue. Keep in mind that the
interrupt flags are set independently of the activation or not of the MPL interrupts. Therefore, as a general
rule, before enabling an interrupt, reset the corresponding flag. This operation will avoid triggering an
interrupt immediately after activation, due to an interrupt flag set in the past.
Remarks:
• On entry in an ISR, the MPL interrupts are globally disabled. If you want to enable during the ISR
execution ant of the other interrupts, set accordingly the interrupt mask in the ICR register and
insert the EINT instruction that globally enables the interrupts

214

MPD User Manual

• The interrupt service routines are similar with the MPL functions, except for the return instruction:
RETI (RETurn from Interrupt) instead of RET (RETurn from subroutine). Like the MPL functions,
the MPL interrupt service routines must be positioned after the end of the main program.
MotionPRO Developer handles automatically this aspect.
Check Globally Enable MPL interrupts to globally enable the MPL interrupts. Check Globally Disable
MPL interrupts to globally disable the MPL interrupts. At Enable/Disable MPL interrupt choose one or
several interrupts and select either Enable or Disable to activate or deactivate them. The status of the
other interrupts remains unchanged. For the interrupts enables, check also Reset previous MPL
interrupt request to reset the corresponding interrupt flag(s) set in the past.
For Int2 – Software protections, select Enable and press Details to modify the status (enabled or
disabled) of the protections triggering this interrupt.

215

MPD User Manual

For Int 6 - LSP programmed transition detected and Int 7 - LSN programmed transition detected
select Enable and press Details to select the monitored transition: high to low or low to high.

For Int8 – Capture input transition detected select Enable and press Details to select the monitored
transition: high to low or low to high and the capture/encoder input to use: 1st or 2nd

216

MPD User Manual

For Int10 – Time period has elapsed select Enable and press Details to set the time period.

Remark: Some of the drive/motor protections may not work properly if the MPL Interrupts are handled
incorrectly. In order to avoid this situation keep in mind the following rules:
• The MPL interrupts must be kept globally enabled to allow execution of the ISR for those MPL
interrupts triggered by protections. As during a MPL interrupt execution, the MPL interrupts are
globally disabled, you should keep the ISR as short as possible, without waiting loops. If this is not
possible, you must globally enable the interrupts with EINT command during your ISR execution.
• If you modify the interrupt service routines for Int 0 to Int 4, make sure that you keep the original
MPL commands from the default ISR. Put in other words, you may add your own commands, but
these should not interfere with the original MPL commands. Moreover, the original MPL
commands must be present in all the ISR execution paths.
OK: Close this dialogue and save the interrupt settings in your motion sequence list.
Cancel: Close this dialogue without saving anything in your motion sequence list.
Help: Open this help page.
See also:
MPL Interrupts – MPL Programming Details
MPL Interrupt Service Routines
Motion Programming

217

MPD User Manual

6.1.25. Free text
The “Free Text” dialogue allows you to add comments to your MPL programs in order to improve their
readability and therefore make them easier to understand and debug. A comment can include any
characters. A multi line comment must start with “ /* ” and finish with “ */ “. A single line comment can be
preceded by “ // ”.
Through this dialogue you can also insert directly MPL commands, if you know their syntax. Note that all
the MPL commands must ended with a semicolon “;”. Labels must start from the first column of a new
line and end with a colon “:”. For readability, leave at least one space before starting a MPL command in
a new line. This way you can quickly distinguish them from the labels.

Remark: The motion dialogues cover all the MPL commands you typically need in an application. There
is however a small number of MPL instructions that can’t be generated from the motion dialogues and
which may be used in some special cases. If ever needed, you can set these MPL commands via this
dialogue.
OK: Close this dialogue and add the comments / MPL commands in your motion sequence list.
Cancel: Close this dialogue without saving anything.
Help: Open this help page.
See also:
Motion Programming

218

MPD User Manual

6.2.

ElectroCraft Motion Language

6.2.1. Basic Concepts
6.2.1.1. Overview
The ElectroCraft Motion Program Language (MPL) is a high-level language allowing you to:
•

Setup a ElectroCraft Programmable drive/motor for a given application

•

Program and execute motion sequences

The setup part consists in assigning the right values for the MPL registers and parameters. Through this
process you can:
•

Describe your application configuration (as motor and sensors type)

•

Select specific operation settings (as motor start mode, PWM mode, sampling rates, etc.)

•

Setup the controllers’ parameters (current, speed, position), etc.

The output of the setup process is a set of values – the setup data – to be written in the MPL registers
and parameters. The setup data can be:
a) Stored in the drive/motor non-volatile EEPROM, from where it is automatically loaded into the
MPL registers and parameters at power-on, if the data integrity check is passed
b) Included at the beginning of a MPL program as a set of assignment instructions through which
the MPL registers and parameters are initialized with the desired values
Remark: PROconfig – the latest generation setup tool for ElectroCraft Programmable drives/motors –
handles the setup process according with option a).
The motion programming part allows you to:
•

Set various motion modes (profiles, PVT, PT, electronic gearing or camming, etc.)

•

Change the motion modes and/or the motion parameters

•

Execute homing sequences

•

Control the program flow through:
o

Conditional jumps and calls of MPL functions

MPL interrupts generated on pre-defined or programmable conditions (protections triggered,
transitions on limit switch or capture inputs, etc.)

Waits for programmed events to occur

•

Handle digital I/O and analogue input signals

•

Execute arithmetic and logic operations

•

Perform data transfers between axes

•

Control motion of an axis from another one via motion commands sent between axes

219

MPD User Manual

•

Send commands to a group of axes (multicast). This includes the possibility to start
simultaneously motion sequences on all the axes from the group

•

Synchronize all the axes from a network

Due to a powerful instruction set, the motion programming in MPL is quick and easy even for complex
motion applications. The result is a high-level motor-independent program which once conceived may be
used in other applications too.
Basic Concepts next topics:
MPL Environment
Program Execution
MPL Program Structure
MPL Instruction Coding
MPL Data
Memory Map – Firmware version FAxx
Memory Map – Firmware version FBxx
AUTORUN mode
See also:
MPL Description

220

MPD User Manual

6.2.1.2.

MPL Environment

The MPL environment includes three basic components:
1. “MPL processor”
2. Trajectory generator
3. Motor control kernel
The software-implemented “MPL processor” represents the core of the MPL environment. It decodes and
executes the MPL commands. Like any processor, it includes specific elements as program counter,
stack, ALU, interrupt management and registers.
The trajectory generator computes the position, speed, torque or voltage reference at each sampling
step, depending on the selected motion mode.
The motor-control kernel implements the control loops including: the acquisition of the feedback sensors,
the controllers, the PWM commands, the protections, etc.
When the “motion processor” executes a motion command, it translates them into actions upon the
trajectory generator and/or the motor control kernel.
Basic Concepts next topics:
Program Execution
MPL Program Structure
MPL Instruction Coding
MPL Data
Memory Map– Firmware FAxx
Memory Map – Firmware FBxx
AUTORUN mode
See also:
Basic Concepts
MPL Description

221

MPD User Manual

6.2.1.3.

Program Execution

The MPL programs are executed sequentially, one
o instructio
on after the otther. A 16-bit instruction p
pointer
ols the progra
am flow. As th
he binary cod
de of a MPL in
nstruction ma
ay have up to 5 words, during its
(IP) contro
execution the IP is inc
creased accorrdingly. When
n the executio
on of a MPL instruction ends, the IP a
always
t next MPL instruction, or
o more exacttly to the first word of its binary code.
points to the
The seque
ential execution may be interrupted by one of the fol lowing cause
es:
•

A MPL comma
and received through
t
a com
mmunication channel (on-lline command
ds);

•

A branch to the
e interrupt service routine (ISR) when a MPL interrup
pt occurs;

•

The need to se
end the maste
er position to the slave axe
es when the current axis is set as mastter for
ellectronic gearring or camming

•

A GOTO, CAL
LL or CALL
LS instruction;

•

A return from a MPL functio
on – RET or fro
om a MPL intterrupt – RET
TI;

•

During
D
the exe
ecution of the
e instructions: WAIT! (waitt event), SEG
G (new contou
ur segment), PVTP
orr PT (new PVT
P
or PT point)
p
if the buffer
b
is full, and data trransfers betw
ween axes off type
lo
ocal_varia
able = [x]r
remote_var
riable, whicch all keep the
e IP unchanged (i.e. loop o
on the
sa
ame instructio
on) until a spe
ecific conditio
on is achieved
d

•

After
A
execution
n of the END instruction.

The on-lin
ne command
ds have the highest
h
prioritty and act likke interrupts:: when an on
n-line comma
and is
received through
t
any communicatio
c
on channel, itt starts to be executed imm
mediately afte
er the currentt MPL
instruction
n is completed
d.
If an on-line command is received during
d
a wait loop, the waitt loop is temp
porary suspen
nded, to perm
mit the
e command.
execution of the on-line
mmands, prese
ented in table
e below.
The MPL works with 3 types of com

ediate comma
ands may be sent via a co
ommunication
n channel, orr can reside in a MPL program.
The imme
These commands don
n’t require any
y wait loops to
t complete. Their executtion is straigh
htforward and
d can’t
ands.
be interrupted by otherr MPL comma
ands require a wait loop to
o complete i. e. will not pe
ermit the IP to
o advance un
ntil the
The sequential comma
s true. In this category entter commandss like:
wait condition becomes
AIT!; // Wait a programme
ed event to oc
ccur
WA
SE
EG

Time, Increment;
;

// Set a contour
c
segm ent with para
ameters Time and
//Increm
ment to be exe
ecuted when the previous one ends

lo
ocal_variable = [x]r
remote_vari
iable;

22
22

ue of remote_
_variable from
m
// Get valu

MPD U
User Manual

//axis x and put it in local_variable
The sequential commands can reside only in a MPL program saved in the local memory.
Remark: If a sequential command is sent via a communication channel, it is immediately executed as if
the wait loop condition is always true.
The on-line commands may be sent only via a communication channel. These commands can’t be
included in a MPL program. The on-line commands do not have an associated mnemonic and syntax
rules as they are do not need to be recognized by the MPL compiler. Their code is known only by the
“MPL processor”.
Remark: Some of the on-line commands are implemented in debugging tools like the Command
Interpreter, which was specifically designed to allow sending commands via a communication channel.
These commands are presented with a “mnemonic” like that used in the Command Interpreter. The
Command Interpreter is a component present in all the ElectroCraft applications for drives/motors setup
and MPL Programming: PROconfig, MotionPRO Developer.
Basic Concepts next topics:
MPL Program Structure
MPL Instruction Coding
MPL Data
Memory Map – Firmware version FAxx
Memory Map – Firmware version FBxx
AUTORUN mode
See also:
Basic Concepts
MPL Description

223

MPD User Manual

6.2.1.4.

MPL Program Structure

The main section of a MPL program starts with the instruction BEGIN and ends with the instruction END.
It is divided into two parts:
•
•

Setup part
Motion programming part

The setup part starts after BEGIN and lasts until the ENDINIT instruction, meaning “END of
INITitialization”. This part of the MPL program consists mainly of assignment instructions, which shall set
the MPL registers and the MPL parameters in accordance with your application data. When the ENDINIT
command is executed, key features of the MPL environment are initialized according with the setup data.
After the ENDINIT execution, the basic configuration involving the motor and sensors types or the
sampling rates cannot be changed unless a reset is performed.
Remark: The setup part can be void when setup data is saved in the EEPROM. In this case, the setup
data is automatically loaded into the MPL registers and parameters, at power-on. However, even in this
case in some situations it may still be necessary to perform some setup operations like:
•

Copy of cam tables from the drive/motor EEPROM into the working RAM memory

•

Copy of the whole MPL program into the RAM in special cases where the EEPROM memory
can’t be used during run time

The motion programming part starts after the ENDINIT instruction until the END instruction. All the MPL
programs (the main section) should end with the MPL instruction END. When END instruction is
encountered, the sequential execution of a MPL program is stopped.
Apart from the main section, a MPL program also includes the MPL interrupt vectors table, the interrupt
service routines (ISRs) for the MPL interrupts and the MPL functions. A typical structure for a MPL
program is presented in figure below.

224

MPD User Manual

Typical stru
ucture of a MP
PL Program

Basic Con
ncepts next to
opics:
MPL Instrruction Coding
g
MPL Data
a
Memory Map
M – Firmwa
are version FA
Axx
Memory Map
M – Firmwa
are version FB
Bxx
AUTORUN mode
See also:
ncepts
Basic Con
MPL Desc
cription

22
25

MPD User Manual

6.2.1.5.

MPL Instruction Coding

The MPL instruction code consists of 1 to 5, 16-bit words. The first word is the operation code. The rest of
words (if present) represent the instruction data words. The operation code is divided into two fields: Bits
15-9 represent the code for the operation category.
For example all MPL instructions that perform addition of two integer variables share the same operation
category code. The remaining bits 8-0 represent the operand ID that is specific for each instruction.

Basic Concepts next topics:
MPL Data
Memory Map – Firmware version FAxx
Memory Map – Firmware version FBxx
AUTORUN mode
See also:
Basic Concepts
MPL Description

226

MPD User Manual

6.2.1.6.

MPL Data

The MPL works with the following categories of data:
•

MPL Registers

•

MPL Parameters

•

MPL Variables

•

User Variables

All MPL data are identified by their name. The names of the MPL registers, parameters or variables are
predefined and do not require to be declared. The names of the user variables are at your choice. You
need to declare the user variables before using them.
The MPL uses the following data types:
•

int

16-bit signed integer

•

uint

16-bit unsigned integer

•

fixed
32-bit fixed-point data with the 16MSB for the integer part and the 16LSB for the
factionary part.

•

long

32-bit signed integer

•

ulong

32-bit unsigned integer

The data type uint or ulong are reserved for the MPL predefined data. The user-defined variables are
always signed. Hence you may declare them of type: int, fixed or long.
Remark: An unsigned MPL data means that in the firmware its value is interpreted as unsigned. Typical
examples: register values, time-related variables, protection limits for signals that may have only positive
values like temperature or supply voltage, etc. However, the same data will interpreted as signed if it is
used in a MPL instruction whose operands are treated as signed values.

Each MPL data has an associated address. This represents the address of the data memory location
where the MPL data exists. Address ranges for MPL registers, variables and parameters are from 0x0200
to 0x03AF and from 0x0800 to 0x09FF. For user-defined variables the address range is between 0x03B0
and 0x03FF. In MPL the data components may be addressed in several ways:
•

direct, using their name in the MPL instruction mnemonic

Example:
CPOS = 2000; // write 2000 in CPOS parameter (command position)
•

indirect, using a pointer variable. The pointer value is the address of the data component to work
with

Example:
user_var = 0x29E;

// write hexadecimal value 0x29E representing CPOS address in
// the user-defined pointer variable user_var

(user_var),dm = 2000;

// write 2000 in the data memory address pointed by
// user_var i.e. in the CPOS parameter

227

MPD User Manual

•

direct with extended address, using the MPL data name

Example:
CPOS,dm = 2000; // write 2000 in CPOS using direct mode with extended address
In the MPL instructions the operands (variables) are grouped into 2 categories:
•

V16. In this category enter all the 16-bit data from all the categories: MPL registers, MPL
parameters, MPL variables, and user parameters. From the execution point of view, the MPL
makes no difference between them.

•

V32. In this category enter all the 32-bit data either long or fixed from all the categories: MPL
registers, MPL parameters, MPL variables, and user parameters. From the execution point of
view, the MPL makes no difference between them.

Remarks:
•

It is possible to address only the high or low part of a 32-bit data, using the suffix (H) or (L) after
the variable name.

Examples:
CPOS(L) = 0x4321; // write hexadecimal value 0x4321 in low part of CPOS
CPOS(H) = 0x8765; // write hexadecimal value 0x8765 in high part of CPOS
// following the last 2 commands, CPOS = 0x87654321
•

The MPL compiler always checks the data type. It returns an error if an operand has an
incompatible data type or if the operands are not of the same type

•

A write operation using indirect addressing is performed on one or two words function of the data
type. If the data is a 16-bit integer, the write is done at the specified address. If the data is fixed or
long the write is performed at the specified address and the next one. A fixed data is recognized
by the presence of the dot, for example: 2. or 1.5. A long variable is automatically recognized
when its size is outside the 16-bit integer range or in case of smaller values by the presence of
the suffix L, for example: 200L or –1L.

Examples:
user_var = 0x29E;

// write CPOS address in pointer variable user_var

(user_var),dm = 1000000;// write 1000000 (0xF4240) in the CPOS parameter i.e.
// 0x4240 at address 0x29E and 0xF at next address
0x29F
(user_var),dm = -1;// write -1 (0xFFFF) in CPOS(L). CPOS(H) remains unchanged
(user_var),dm = -1L;// write –1 seen as a long variable (0xFFFFFFFF) in CPOS i.e.
// CPOS(L) = 0xFFFF and CPOS(H) = 0xFFFF
user_var = 0x2A0; // write CSPD address in pointer variable user_var
(user_var),dm = 1.5; // write 1.5 (0x18000) in the CSPD parameter i.e.
// 0x8000 at address 0x2A0 and 0x1 at next address 0x2A1
•

In an indirect addressing, if the pointer variable if followed by + sign, it is automatically
incremented by 1 or 2 depending on the data type: 1 for integer, 2 for fixed or long data.

228

MPD User Manual

Examples:
user_var = 0x29E; // write CPOS address in pointer variable user_var
(user_var+),dm = 1000L; // write 1000 seen as long in CPOS, then increment
// user_var by 2
(user_var+),dm = 1000; // write 1000 seen as int at address 0x29A (0x29E+2) ,
// then increment user_var by 1
MPL Data categories:
MPL Registers
MPL Parameters
MPL Variables
User Variables
Basic Concepts next topics:
Memory Map – Firmware version FAxx
Memory Map – Firmware version FBxx
AUTORUN mode
See also:
Basic Concepts
MPL Description

229

MPD User Manual

6.2.1.6.1.

MPL Registers

There are 3 categories of MPL registers:
•

Configuration registers

•

Command registers

•

Status registers

The configuration registers contain essential configuration information like motor and sensors type, or
basic operation settings like PWM mode, motor start method, etc. The configuration registers must be set
up during the setup part before the ENDINIT instruction
The command registers hold configuration settings that may be changed during motion. These settings
refer to the activation/deactivation of software protections, to the use of MPL interrupts and to
communication options.
The status registers provide information about drive/motor condition: errors and protections triggered,
communication, active motion mode and control loops, MPL interrupts. The status registers can be used
to detect events and to make decisions in a MPL program.
Configuration registers (R/W):
ACR – Auxiliary Control Register. Defines extra settings like: the configuration for automatic start and the
external reference, operation options for the S-curve and the electronic camming modes.
OSR – Operating Settings Register. Defines some specific operating settings regarding motor control and
data acquisition
SCR – System Configuration Register. Defines the basic application configuration regarding the motor
type and the feedback sensors used
UPGRADE – Upgrade Register. Defines new options and extended features which are activated when
their corresponding bits are set to 1
Command registers (R/W):
CCR – Communication Control Register. Contains settings for the SPI link with the EEPROM
ICR – Interrupt Control Register. Enables/disables MPL interrupts
MCR – Motion Command Register. Configures the motion modes: reference mode, active control loops,
positioning type - absolute or relative, etc.
PCR.7-0 – Protections Control Register. Activates different drive/motor protections like: over-current, I2t
drive and motor, over- and under-voltage and over-temperature.
Status registers (RO):
AAR – Axis Address Register. Contains the Axis ID and the group ID of the drive/motor.
CBR – CAN Baud rate Register. Contains the current settings for CANbus baud-rate.
CER – Communication Error Register. Contains error flags for the communication channels.
CSR – Communication Status Register. Contains status flags for the communication channels.
ISR – Interrupt Status Register. Contains interrupt flags set by the MPL interrupt conditions.

230

MPD User Manual

MER – Motion Error Register. Groups all the errors conditions.
MSR – Motion Status Register. Gives indications about the motion status and some specific events like:
control error condition, position wrap-around, limit switches and captures triggered by programmed
transitions, etc.
PCR.14-8 – Protections Control Register. Contains flags set by the protections set in PCR.7-0.
SRL – Status Register Low. Low part of a 32-bit register grouping together all the key status information
concerning the drive/motor
SRH – Status Register High. High part of a 32-bit register grouping together all the key status information
concerning the drive/motor
SSR – Slave Status Register. Groups initialization information related to slave axes commanded by the
motion controller
The MPL registers are treated like any other MPL parameter or variable in the MPL program. The
configuration and command registers may be read or written. The status registers may only be read.
Remark: The setup tools set automatically the configuration and command registers. The most important
status information is grouped in 2 registers: MER - the Motion Error Register and SRL, SRH – the Status
Register Low and High part. They have been specifically designed to provide you all the key information
about the drive/motor status.
See also:
MPL Data
MPL Parameters
MPL Variables
User Variables

231

MPD User Manual

6.2.1.6.2.

MPL Parameters

The MPL parameters allow you to setup the parameters of the MPL environment according with your
application data. Though most of the MPL parameters have their own address, there are some that share
the same memory address. They are used in application configurations that exclude each other, and thus
are not needed at the same time.
Some MPL parameters must be setup during the initialization phase. They are used to define the realtime kernel, including the PWM frequency and the control loops sampling periods, and should not be
changed after the execution of the ENDINIT command. The other parameters can be initialized, used and
changed any time, before or after the ENDINIT command.
See also:
MPL Data
MPL Registers
MPL Variables
User Variables

6.2.1.6.3.

MPL Variables

The MPL variables provide you status information about the MPL environment like the motor position,
speed and current, the position, speed and current commands, etc. These values may be used to take
decisions in the motion program or for analysis and debug.
The MPL variables are read-only (RO). Modifying their value during motion execution may cause an
improper operation of the drive/motor. There are however, specific situations when some MPL variables
may also be written (R/W variables).
Most of the MPL variables are internally initialized after power-on, or during the setup phase up to the
execution of the ENDINIT command.
Activating the on-chip logger module, real-time data tracking can also be implemented for any of these
variables.
See also:
MPL Data
MPL Registers
MPL Parameters
User Variables

232

MPD User Manual

6.2
2.1.6.4.

MPL User Variables

Besides the MPL pre-d
defined variables, you can
n also define your own usser variables. You can use
e your
nstruction acc
cepting variab
bles of the sa me type.
variables in any MPL in
e can be: inte
eger, fixed (po
oint) or long (iinteger) (see table below)..
The user variables type

ess of the us
ser variables is automatically set in the
e order of de
eclaration sta
arting with 0x03B0.
The addre
First integ
ger variable takes
t
addres
ss 0x3B0, next one 0x3B1
1, etc. An in
nt variable takes one me
emory
location. A long or fixed
f
variab
ble takes 2 consecutive
c
m
memory locattions. In this case the va
ariable
address is
s the lowest one.
o
Example::
in
nt user_va
ar1;
lo
ong user_v
var2;

// user_v
var1 address iis 0x3B0
// us
ser_var2 address is 0x3B1
1

fi
ixed user_
_var3; // us
ser_var3 address is 0c3B3
3
in
nt user_va
ar4;

// user_v
var4 address iis 0x3B5

Remark: you have to declare
d
a use
er variable beffore using it fifirst time.
See also:
MPL Data
a
MPL Registers
MPL Para
ameters
MPL Varia
ables

23
33

MPD U
User Manual

6.2.1.7.

Memory Map - Firmware FAxx

ElectroCraft drives/motors work with 2 separate address spaces: one for MPL programs and the other for
data. Each space accommodates a total of 64K 16-bit word.
The first 16K of the MPL program space (0 to 3FFFh) is reserved and can’t be used. The next 16K, from
4000h to 7FFFh are mapped to a serial SPI-connected EEPROM with the maximum size 32K bytes (seen
as 16K 16-bit words). The exact amount of EEPROM memory is specific for each drive/motor. This space
is used to store MPL programs, cam tables, the setup data and the product ID.
The recommended way to use the EEPROM memory space is:
•

MPL programs from the beginning of the EEPROM, starting with first address 4000h

•

Cam tables, after the MPL program, until the beginning of the setup data

•

Setup data and product ID. Other data until the end of the EEPROM

Remarks:
•

The space needed for the setup data and the product ID is automatically computed by PROconfig

•

The overall dimension of a MPL program includes apart from the main section, the MPL interrupt
vectors table, the interrupt service routines (ISRs) for the MPL interrupts and the MPL functions

For most of the ElectroCraft drives/motors, the next 2K of the MPL program space from 8000h to 87FFh
represent the drive/motor internal RAM memory. From it, the first 270h, from 8000h to 826Fh are
reserved for the internal use. The rest from 8270h to 87FFh may be used to temporary store MPL
programs. The remaining MPL program space from 8800h to FFFFh is invalid. Some ElectroCraft drives
have an extended internal RAM going from 8000h to FFFFh. From it, the first 270h are reserved for the
internal use. In this case, the MPL programs space goes from 8270h to FFFFh.
The data memory space is used to store the MPL data (registers, parameters, variables), the cam tables
during runtime (after being copied from the EEPROM memory) and for data acquisitions. The MPL data
are stored in a reserved area, while the others are using the same internal RAM memory used for MPL
programs. Though physically the RAM memory is the same for both, the MPL programs and data, the first
2K are mapped at different address ranges: The MPL program space from 8000h to 87FFh is seen in the
data space from 800h to 9FFh. As the first 270h from it are reserved, the effective data memory space
goes from A70h to FFFh. Apart from this space, the drives with extended internal RAM have another 32k
of data memory, from 0x8000 to 0xFFFF.
Remark: As the same RAM memory is used both for MPL programs and for data, it is the user
responsibility to decide how to split these spaces in order to avoid their overlap.
The recommended way to use the RAM memory (both for MPL programs and data) is:
•

MPL programs from the beginning of the SRAM memory

•

Data acquisitions, after the MPL programs

•

Cam tables, after data acquisitions, until the end of the RAM

In the case of the drives/motors with normal RAM memory, you should start by checking if or how much
space you need to reserve for cam tables, and use the rest of the SRAM for data acquisitions. As
concerns the MPL programs, it is highly preferable to store them in the EEPROM.
Remark: In configurations with feedback devices like the SSI or EnDat encoders, the MPL programs
must execute from SRAM memory. This is because these feedback devices are using the same SPI
interface to read the feedback position like the EEPROM, which is disabled after the execution of

234

MPD User Manual

ENDINIT command. Therefore,
T
at power-on, th
he MPL progrram needs to
o be copied ffrom the EEP
PROM
R
where it is
i executed
into the RAM

Basic Con
ncepts next to
opics:
AUTORUN mode
See also:
Basic Con
ncepts
MPL Desc
cription

23
35

MPD U
User Manual

6.2.1.8.

Memory Map - Firmware FBxx

MPL programs from the beginning of the EEPROM, starting with first address 4000h

•

Cam tables, after the MPL program, until the beginning of the setup data

•

Setup data and product ID. Other data until the end of the EEPROM

Remarks:
•

The space needed for the setup data and the product ID is automatically computed by
MotionPRO Developer

•

The overall dimension of a MPL program includes apart from the main section, the MPL interrupt
vectors table, the interrupt service routines (ISRs) for the MPL interrupts and the MPL functions

For most of the ElectroCraft drives/motors, the next 4K of the MPL program space, from 9000h to 9FFFh,
represents the drive/motor internal RAM memory. The memory space may be used to temporary store
MPL programs.
The data memory space is used to store the PVT buffer, the cam tables during runtime (after being
copied from the EEPROM memory) and for data acquisitions. The MPL data are stored in a reserved
area, while the others are using the same internal RAM memory used for MPL programs.
Remark: As the same RAM memory is used both for MPL programs and for data, it is the user
responsibility to decide how to split these spaces in order to avoid their overlap.
The recommended way to use the RAM memory (both for MPL programs and data) is:
•

MPL programs from the beginning of the SRAM memory

•

Data acquisitions, after the MPL programs

•

Cam tables, after data acquisitions, until the end of the RAM

You should start by checking if or how much space you need to reserve for cam tables, and use the rest
of the SRAM for data acquisitions. As concerns the MPL programs, it is highly preferable to store them in
the EEPROM.
Remark: In configurations with feedback devices like the SSI or EnDat encoders, the MPL programs
must execute from SRAM memory. This is because these feedback devices are using the same SPI
interface to read the feedback position like the EEPROM, which is disabled after the execution of
ENDINIT command. Therefore, at power-on, the MPL program needs to be copied from the EEPROM
into the RAM where it is executed

236

MPD User Manual

Basic Con
ncepts next to
opics:
AUTORUN mode
See also:
Basic Con
ncepts
MPL Desc
cription

23
37

MPD User Manual

6.2.1.9.

AUTORUN Mode

The ElectroCraft drives/motors have 2 startup modes, at power on: AUTORUN and slave
In the AUTO(matic) RUN(ning) mode, the drive/motor reads the first EEPROM memory location at
address 0x4000 and checks if the binary code is 0x649C corresponding to the MPL instruction BEGIN. If
this condition is true, the MPL program saved in the EEPROM memory is executed starting with the next
instruction after BEGIN. If the condition is false, the drive/motor enters in the slave mode and waits to
receive commands from a host via a communication channel. The AUTORUN mode, offers the possibility
to execute automatically after power-on a MPL program saved into the drive/motor EEPROM memory.
In the slave mode, even if there is a valid MPL program in the EEPROM, this is not executed, because
the drive/motor forces the execution of the END command which stops the MPL program execution.
Some of the ElectroCraft drives/motors are automatically set in the AUTORUN mode. Others have a
dedicated switch or jumper through which you can set either the AUTORUN mode or the slave mode.
During a MPL program execution, a drive/motor can enter in the slave mode and stop the MPL program
execution in the following cases:
•

After the execution of the END command

•

After receiving a STOP command from an external device, via a communication channel

•

After an entering in FAULT status, due to a protection triggered

Remark: When a drive/motor is set in AUTORUN mode, to change the MPL program you have to do to
the following operations:
Send via a communication channel the MPL command END, to stop the current program
execution, followed by AXISOFF to disable the drive power stage
Download the new MPL program
Reset the drive. The new MPL program will start to execute.
See also:
Basic Concepts
MPL Description

238

MPD User Manual

6.2.2. MPL Description
6.2.2.1.

Overview

The MPL provides instructions for the following categories of operations:
•

Motion programming and control. These instructions allow you to program ElectroCraft motion
controllers or programmable drives/motors in order to set different motion modes and trajectories.
These are divided into 2 categories function of how the motion reference is generated:
•

Motion modes with reference provided by an external device via an analog input, pulse &
direction signals, a master encoder or via a communication channel

•

Motion modes with reference computed by the internal reference generator. In this
category enter all the other motion modes

You can program one of the following motion modes:
•

Trapezoidal Position Profile

•

Trapezoidal Speed Profile

•

S-Curve Profile

•

Position-Time (PT) Interpolated

•

Position-Velocity-Time (PVT) Interpolated

•

External

•

Electronic Gearing (alone or superposed with another motion mode)

•

Electronic Camming

•

Homing

•

Contouring

•

Test

•

Linear Interpolation

•

Vector Mode

and control their execution via a set of Motor Commands.
Remark: The Linear Interpolation and Vector Mode are coordinated motion modes available in
applications developed for ElectroCraft Motion Controller.
•

•

Program flow control. In the MPL you can control the program execution in 3 ways:
•

By setting an event to be monitored and waiting the event occurrence

•

Through jumps and MPL function calls

•

Through the MPL interrupts which can be triggered in certain conditions

I/O handling

239

MPD User Manual

Firmware FAxx
•

General-purpose I/O

•

Special I/O: enable, capture and limit switch inputs

Firmware FBxx

•

General-purpose I/O

•

Special I/O MC3: enable, capture and limit switch inputs

Assignment and data transfer
•

Setup 16 bit variable

•

Setup 32 bit variable

•

Arithmetic and logic manipulation

•

Multi axis control

•

Axis identification

•

Axis synchronization

•

Data transfer between axes

•

Remote control

Monitoring. You can check the motion progress as well as the drive/motor status via
•

Position Triggers

•

Status Register

•

Error Register

•

Messages sent to the host

Slaves Management. From the motion controller application you can perform:
•

Slaves Initialization

•

Program events on slave axes and wait for their occurrence

•

Homing and Function Calls from slave axes

•

Slave Error Handling

Miscellaneous including:
•

Declare user variable

•

Reset FAULT status

240

MPD User Manual

•

Save actual setup data from RAM into EEPROM in the setup table

•

Change the CAN bus and serial RS232 / RS485 communication settings

See also:
Basic Concepts

241

MPD User Manual

6.2.2.2.

Motion programming – drives with built-in Motion Controller

6.2.2.2.1.

Trapezoidal Position Profiles - MPL Programming Details

In the trapezoidal position profile, the load/motor is controlled in position. The built-in reference generator
computes a position profile with a trapezoidal shape of the speed, due to a limited acceleration. You
specify either a position to reach in absolute mode or a position increment in relative mode, plus the slew
(maximum travel) speed and the acceleration/deceleration rate. In relative mode, the position to reach
can be computed in 2 ways: standard (default) or additive. In standard relative mode, the position to
reach is computed by adding the position increment to the instantaneous position in the moment when
the command is executed. In the additive relative mode, the position to reach is computed by adding the
position increment to the previous position to reach, independently of the moment when the command
was issued. The additive relative mode is activated by setting ACR.11 = 1.
Remarks:
•

The motion mode and its parameters become effective after the execution of the update
command UPD

•

The additive relative mode is automatically disabled after an the update command UPD, which
sets ACR.11 = 0 restoring the standard relative mode

You can switch at any moment, including during motion, from another motion mode to the trapezoidal
position profile. This operation is possible due to the target update mode 0 TUM0 which is automatically
activated when a new motion mode is set.
During motion, you can change on the fly the position command, the slew speed and the
acceleration/deceleration rate. These changes become effective at next update command UPD.

Position profile with trapezoidal shape of the speed

Once set, the motion parameters are memorized. If you intend to use the same values as previously
defined for the acceleration rate, the slew speed, the position increment or the position to reach, you don’t
need to set their values again in the following trapezoidal profiles.
Remark: The additive mode for relative positioning is not memorized and must be set each time a new
additive relative move is set.

242

MPD User Manual

See also:
Trapezoidal Position Profiles – Related MPL Instruction and Data
Trapezoidal Position Profiles – On the fly change of the motion parameters
Trapezoidal Position Profiles – Automatic elimination of round-off errors
MPL Description

243

MPD User Manual

6.2.2.2.2.
Trapezoidal Position Profiles - Related MPL Instructions
and Data
Parameters
CPOS Command position – desired position (absolute or relative) for the load. Measured in position
units.
CSPD Command speed – desired slew speed for the load. The command speed can have only positive
values. Measured in speed units.
CACC Command acceleration – desired acceleration / deceleration for the load. The command
acceleration can have only positive values. Measured in acceleration units
ACR

Auxiliary Control Register – includes several MPL Programming options

Variables
TPOS

Target load position – position reference computed by the reference generator at each
slow loop sampling period. Measured in position units

TSPD

Target load speed – speed reference computed by the reference generator at each slow
loop sampling period. Measured in speed units

TACC

Target load acceleration – acceleration/deceleration reference computed by the
reference generator at each slow loop sampling period. Measured in acceleration units

APOS_LD

Actual load position. Measured in position units. Alternate name: APOS

ASPD_LD

Actual load speed – measured in speed units

APOS_MT

Actual motor position. Measured in motor position units

ASPD_MT

Actual motor speed. Measured in motor speed units Alternate name: ASPD

Instructions
CPR

Command position is relative

CPA

Command position is absolute

MODE PP

Set position profile mode

TUM1

Target Update Mode 1 (TUM1). Generates new trajectory starting from the actual
values of position and speed reference (i.e. don’t update the reference values with
load/motor position and speed)

TUM0

Target Update Mode 0 (TUM0). Generates new trajectory starting from the actual
values of load/motor position and speed (i.e. update the reference values with load/motor
position and speed)

UPD

Update motion parameters and start new motion mode

STOP

Stop the motion

SRB

Set/reset bits from a MPL data

244

MPD User Manual

Remarks:
•

CSPD and CACC must be positive. Negative values are taken in modulus

•

The difference between CPOS and TPOS values in modulus must be maximum 231-1.

•

The sum between CSPD and CACC values must be maximum 32767.99998 (0x7FFF.FFFF) i.e.
the maximum value for fixed number

•

Once a position profile is started, you can find when the motion is completed, by setting an event
on motion complete and waiting until this event occurs.

•

In order to activate the TUM1 mode, execute the MPL instruction TUM1 AFTER the MODE PP
command and BEFORE the UPD command. When MODE PP is executed, it automatically sets
TUM0 mode. However, as the new motion mode becomes effective only after the UPD
command, a TUM1 command will overwrite the TUM0 mode

•

Under TUM0 mode, at the UPD command TPOS=APOS_LD and TSPD=ASPD_LD. In open loop
control of steppers, TUM0 is ignored as there is no position and/or speed feedback

•

In setup configurations where there is no transmission ratio between the motor and the load, it is
supposed that these are directly connected. In these cases: APOS_MT=APOS_LD and
ASPD_MT=ASPD_LD

Programming Example
// Position profile. Position feedback: 500 lines incremental
// encoder (2000 counts/rev)
CACC = 0.3183;

//acceleration rate = 1000[rad/s^2]

CSPD = 33.3333;

//slew speed = 1000[rpm]

CPOS = 6000;

//position command = 3[rot]

CPR;

//position command is relative

SRB ACR 0xFFFF, 0x800; // and additive
MODE PP; // set trapezoidal position profile mode
TUM1; //set Target Update Mode 1
UPD;

//execute immediate

!MC; WAIT!; //wait for completion
See also:
Trapezoidal Position Profiles – MPL Programming Details
Trapezoidal Position Profiles – On the fly change of the motion parameters
Trapezoidal Position Profiles – Automatic elimination of round-off errors
MPL Description

245

MPD User Manual

6.2.2.2.3.
Trapezoidal Position Profiles - On the fly change of the
motion parameters
In the trapezoidal position profile mode, the motion parameters CPOS, CSPD, CACC can be changed
any time during motion. The reference generator automatically re-computes the position trajectory in
order to reach the new commanded position, using the new values for slew speed and acceleration.
The figure below shows an example where slew speed and acceleration rate are changed, while the
commanded position is kept the same.

172

CSP D = 8
CACC = 2
UPD

CPO S = 172
CSP D = 4
CACC = 1
UPD

Trapezoidal position profile. On-the-fly change of motion parameters

Programming Example
// Position profile already set. CACC and CSPD
// are changed during motion
CACC = 2; //acceleration rate = 2 [internal units]
CSPD = 8; //slew speed = 8 [internal units]
UPD;

//execute immediate

If the trapezoidal position profile is already set and you intend to change only the motion parameters, you
don’t need to set again neither the motion mode with MPL instruction MODE PP, nor the target update
mode 1 (when required) with MPL instruction TUM1.
If during motion, a new position command is issued that requires reversing the motor movement, the
reference generator does automatically the following operations:
•

stops the motor with the programmed deceleration rate

•

accelerates the motor in the opposite direction till the slew speed is reached, or till the motor has
to decelerate

•

stops the motor on the commanded position

See also:
Trapezoidal Position Profiles – MPL Programming Details
Trapezoidal Position Profiles – Related MPL Instruction and Data
Trapezoidal Position Profiles – Automatic elimination of round-off errors

246

MPD User Manual

MPL Description

247

MPD User Manual

6.2.2.2.4.
Trapezoidal Position Profiles - Automatic elimination of
round-off errors
In trapezoidal position profile mode, the reference generator automatically eliminates the round-off errors,
which may occur when the commanded position cannot be reached with the programmed slew speed
and acceleration/deceleration rate. This situation is illustrated by the example below, where the position
feedback is an incremental encoder. Therefore, the internal units for position are [encoder counts], for
speed are [encoder counts / slow loop sampling], for acceleration are [encoder counts / square of slow
loop sampling]
Example:
The commanded position is 258 counts, with the slew speed 18 counts/sampling and the acceleration
rate 4 counts/sampling2. To reach the slew speed, two options are available:
•

Accelerate to 16 in 4 steps, then from 16 to 18 in a 5th step. Acceleration space is 49 counts

•

Accelerate from 0 to 2 in 1st step, then from 2 to 18 in 4 steps. Acceleration space is 41 counts

For the deceleration phase, the options and spaces are the same. But, no matter which option is used for
the acceleration and deceleration phases, the space that remains to be done at constant speed is not a
multiple of 18, i.e. the position increment at each step.
So, when to start the deceleration phase? Table below presents the possible options, and the expected
errors.

MPL comes with a different approach. It monitors the round-off errors and automatically eliminates them
by introducing, during deceleration phase, short periods where the target speed is kept constant. Hence,
the target position is always reached precisely, without any errors.

248

MPD User Manual

CPO S=258
CSP D=18
CACC=4

Trapezoidal Position profile. Automatic elimination of round-off errors

The figure above shows the target speed generated by MPL for the above example. During the
deceleration phase, the target speed:
•

decelerates from 18 to 6 in 3 steps (target position advances by 36 counts)

•

is kept constant for 1 step (target position advances by 6 counts)

•

decelerates from 6 to 2 in one step (target position advances by 4 counts)

•

decelerates from 2 to 0 in the last step (target position advances by 1 count)

Hence the deceleration space is 47 counts, which, added to 49 counts for acceleration phase and to the
162 counts for constant speed, gives exactly the 258-count commanded position.
See also:
Trapezoidal Position Profiles – MPL Programming Details
Trapezoidal Position Profiles – Related MPL Instruction and Data
Trapezoidal Position Profiles – On the fly change of the motion parameters
MPL Description

249

MPD User Manual

6.2.2.2.5.

Trapezoidal Speed Profiles - MPL Programming Details

In the speed profile, the load/motor is controlled in speed. The built-in reference generator computes a
speed profile with a trapezoidal shape, due to a limited acceleration. You specify the jog speed (speed
sign specifies the direction) and the acceleration/deceleration rate. The load/motor accelerates until the
jog speed is reached. During motion, you can change on the fly the slew speed and/or the
acceleration/deceleration rate. The motion will continue until a STOP command. An alternate way to stop
motion is to set the jog speed to zero.

Speed profile with trapezoidal shape

Remark: The motion mode and its parameters become effective after the execution of the update
command UPD. Changes of the slew speed and/or acceleration/deceleration rate also become effective
at next update command.
You can switch at any moment, including during motion, from another motion mode to the trapezoidal
speed profile. This operation is possible due to the target update mode 0 TUM0 which is automatically
activated when a new motion mode is set.
Once set, the motion parameters are memorized. If you intend to use the same values as previously
defined for the acceleration rate and the jog speed, you don’t need to set their values again in the
following trapezoidal profiles.
See also:
Trapezoidal Speed Profiles – Related MPL Instructions and Data
MPL Description

250

MPD User Manual

6.2.2.2.6.
Trapezoidal Speed Profiles - Related MPL Instructions and
Data
Parameters
CSPD Command speed – desired slew speed for the load. The sign specifies the direction. Measured in
speed units
CACC Command acceleration – desired acceleration / deceleration for the load. The command
acceleration can have only positive values. Measured in acceleration units.
Variables
TPOS Target load position – position reference computed by the reference generator at each slow loop
sampling period. TPOS is computed by integrating the target speed TSPD.Measured in position units
TSPD Target load speed – speed reference computed by the reference generator at each slow loop
sampling period. Measured in speed units
TACC Target load acceleration – acceleration/deceleration reference computed by the reference
generator at each slow loop sampling period. Measured in acceleration units
APOS_LD

Actual load position. Measured in position units. Alternate name: APOS.

ASPD_LD

Actual load speed – measured in speed units.

APOS_MT

Actual motor position. Measured in motor position units.

ASPD_MT

Actual motor speed. Measured in motor speed units. Alternate name: ASPD

Instructions
MODE SP

Set speed profile mode

TUM1 Target Update Mode 1 (TUM1). Generates new trajectory starting from the actual values of
position and speed reference (i.e. don’t update the reference values with load/motor position and speed)
TUM0 Target Update Mode 0 (TUM0). Generates new trajectory starting from the actual values of
load/motor position and speed (i.e. update the reference values with load/motor position and speed)
UPD

Update motion parameters and start new motion mode

STOP STOP the motion.
Remarks:
•

The sum between CSPD and CACC values must be maximum 32767.99998 (0x7FFF.FFFF) i.e.
the maximum value for fixed number.

•

After a STOP command or after setting jog speed command to zero, you can find when the
motion is completed, by setting an event on motion complete and waiting until this event occurs.

•

In order to activate the TUM1 mode, execute the MPL instruction TUM1 AFTER the MODE SP
command and BEFORE the UPD command. When MODE SP is executed, it automatically sets
TUM0 mode. However, as the new motion mode becomes effective only after the UPD
command, a TUM1 command will overwrite the TUM0 mode

251

MPD User Manual

•

Under TUM0 mode, at the UPD command TPOS=APOS_LD and TSPD=ASPD_LD. In open loop
control of steppers, TUM0 is ignored as there is no position and/or speed feedback

•

In setup configurations where there is no transmission ratio between the motor and the load, it is
supposed that these are directly connected. In these cases: APOS_MT=APOS_LD and
ASPD_MT=ASPD_LD

Programming Example
// Speed profile with position feedback on motor: 500 lines
// incremental encoder (2000 counts/rev)
CACC = 0.1591;//acceleration rate = 500[rad/s^2]
CSPD = 40;//jog speed = 1200[rpm]
MODE SP; // set trapezoidal speed profile mode
TUM1; //set Target Update Mode 1
UPD; //execute immediate
See also:
Trapezoidal Speed Profiles – MPL Programming Details
MPL Description

252

MPD User Manual

6.2.2.2.7.

S-curve Profiles - MPL Programming Details

In the S-curve profile, the load/motor is controlled in position. The built-in reference generator computes a
position profile with an S-curve shape of the speed. This shape is due to the jerk limitation, leading to a
trapezoidal or triangular profile for the acceleration and an S-curve profile for the speed. You specify
either a position to reach in absolute mode or a position increment in relative mode, plus the slew
(maximum travel) speed, the maximum acceleration/deceleration rate and the jerk rate. The jerk rate is
set indirectly via the jerk time, which represents the time needed to reach the maximum acceleration
starting from zero.
Remarks:
•

The motion mode and its parameters become effective after the execution of the update
command UPD

•

The jerk rate results by dividing the maximum acceleration rate to the jerk time.

An S-curve profile must begin when load/motor is not moving. During motion the parameters should not
be changed. Therefore when executing successive S-curve commands, you should wait for the previous
motion to end before setting the new motion parameters and starting next motion. During an S-curve
execution, you can switch at any moment to another motion mode (except PVT and PT interpolated
modes) or stop the motion with a STOP command.
Following a STOP command, the deceleration phase can be done in 2 ways:
•

Smooth, using an S-curve speed profile, when ACR.1 = 0 (default), or

•

Fast using a trapezoidal speed profile, when ACR.1 = 1

Position profile with S-curve shape of the speed

253

MPD User Manual

Once set, the motion parameters are memorized. If you intend to use the same values as previously
defined for the acceleration rate, the slew speed, the position increment or the position to reach, you don’t
need to set their values again in the following trapezoidal profiles.
See also:
S Curve Profile – Related MPL Instructions and Data
MPL Description

254

MPD User Manual

6.2.2.2.8.

S Curve Profile - Related MPL Instructions and Data

Parameters
CPOS Command position – desired position (absolute or relative) for the load. Measured in position
units
CSPD Command speed – desired slew speed for the load. Measured in speed units
CACC Command acceleration – maximum desired acceleration / deceleration for the load. Measured in
acceleration units
CDEC Command deceleration for quick stop mode. Measured in acceleration units
TJERK Jerk time needed to accelerate from zero up to the CACC value. Measured in time units
ACR

Auxiliary Control Register – includes several MPL Programming options

Variables
TPOS

Target load position – position reference computed by the reference generator at each slow
loop sampling period. Measured in position units

TSPD

Target load speed – speed reference computed by the reference generator at each slow loop
sampling period. Measured in speed units

TACC

Target load acceleration – acceleration/deceleration reference computed by the reference
generator at each slow loop sampling period. Measured in acceleration units

APOS_LD

Actual load position. Measured in position units. Alternate name: APOS

ASPD_LD

Actual load speed – measured in speed units

APOS_MT

Actual motor position. Measured in motor position units.

ASPD_MT

Actual motor speed. Measured in motor speed units. Alternate name: ASPD

Instructions
CPR

Command position is relative

CPA

Command position is absolute

MODE PSC

Set S-curve mode.

UPD

Update motion parameters and start new motion mode

STOP

Stop the motion

SRB

Set/reset bits from a MPL data

Remarks:
•

CSPD, CACC and TJERK must be positive

•

The difference between CPOS and TPOS values in modulus must be maximum 231-1.

•

The sum between CSPD and CACC values must be maximum 32767.99998 (0x7FFF.FFFF) i.e.
the maximum value for fixed number

255

MPD User Manual

•

Once a position profile is started, you can find when the motion is completed, by setting an event
on motion complete and waiting until this event occurs.

•

The S-curve profile uses always TUM1 mode, i.e. preserves the values of TPOS and TSPD. If
these values don’t match with the actual feedback values, precede the S-curve command with
another motion command accepting TUM0 to update TPOS and TSPD. This command may be
for example a trapezoidal profile that keeps position unchanged

•

In setup configurations where there is no transmission ratio between the motor and the load, it is
supposed that these are directly connected. In these cases: APOS_MT=APOS_LD and
ASPD_MT=ASPD_LD

Programming Example
// S-curve profile. Position feedback: 500 lines incremental
// encoder (2000 counts/rev)
TJERK = 50;//jerk = 2e+004[rad/s^3]
CACC = 0.3183;//acceleration rate = 1000[rad/s^2]
CSPD = 33.3333;//slew speed = 1000[rpm]
CPOS = 20000;//position command = 10[rot]
CPR; //position command is relative
MODE PSC; // set S-curve profile mode
SRB ACR, 0xFFFE, 0x0000; //Stop using an S-curve profile
UPD; //execute immediate
!MC; WAIT!; //wait for completion

See also:
S Curve Profile – MPL Programming Details
MPL Description

256

MPD User Manual

6.2.2.2.9.
Position-Time (PT) Interpolated - MPL Programming
Details
In the PT motion mode the load/motor is controlled in position. The built-in reference generator computes
a positioning path using a series of points. Each point specifies the desired Position, and Time, i.e.
contains a PT data. Between the PT points the reference generator performs a linear interpolation.
The PT Interpolated mode is typically used together with a host, which sends PT points via a
communication channel. Due to the interpolation, the PT mode offers the possibility to describe an
arbitrary position contour using a reduced number of points. It is particularly useful when the motion
reference is computed on the fly by the host like for example in vision systems. By reducing the number
of points, both the computation power and the communication bandwidth needed are substantially
reduced optimizing the costs. When the PT motion mode is used simultaneously with several
drives/motors having the time synchronization mechanism activated, the result is a very powerful multiaxis system that can execute complex synchronized moves.
The PT motion mode can be started only when the previous motion is complete. However, you can switch
at any moment to another motion mode. The PT mode can be relative (following a CPR command) or
absolute (following a CPA command). In the absolute mode, each PT point specifies the position to
reach. The initial position may be either the current position reference TPOS or a preset value read from
the MPL parameter PVTPOS0. In the relative mode, each PT point specifies the position increment
relative to the previous point. In both cases, the time is relative to the previous point i.e. represents the
duration of a PT segment. For the first PT point, the time is measured from the starting of the PT mode.
Each time when a new PT point is read from a MPL program or received via a communication channel, it
is saved into the PT buffer. The reference generator empties the buffer as the PT points are executed.
The PT buffer is of type FIFO (first in, first out). The default length of the PT buffer is 7 PT points. The
drive/motor automatically sends messages to the host when the buffer is full, low or empty. The
messages contain the PT status (MPL variable PVTSTS). The host address is taken from the MPL
parameter MASTERID. The buffer full condition occurs when the number of PT points in the buffer is
equal with the buffer size. The buffer low condition occurs when the number of PT points in the buffer is
less or equal with a programmable value – the low level. The buffer empty condition occurs when the
buffer is empty and the execution of the last PT point is over. When the PT buffer becomes empty the
drive/motor keeps the position reference unchanged.
Remarks:
• The PVT and PT modes share the same buffer. Therefore the MPL parameters and variables
associated with the buffer management are the same.
• Before activating the PT mode, you must place at least one PT point in the buffer
• The buffer low condition is set by default when the last PT point from the buffer is read and starts to be
executed
• Both the PT buffer size and its start address are programmable via MPL parameters PVTBUFBEGIN
and PVTBUFLEN. Therefore if needed, the PT buffer size can be substantially increased.

Each PT point also includes a 7-bit integrity counter. The integrity counter value must be incremented by
the host by one, each time a new PT point is sent to the drive/motor. If the integrity counter error checking
is activated, the drive compares its internally computed integrity counter value with the one sent with the
PT point (i.e. with the PTP command). This comparison is done every time a PTP instruction is received.
If the values of the two integrity counters do not match, the integrity check error is triggered, the
drive/motor sends the PVTSTS to the host with PVTSTS.12 =1 and the received PT point is discarded.
Each time a PT point is accepted (the integrity counters match or the integrity counter error checking is
disabled), the drive automatically increments its internal integrity counter. The default value of the internal

257

MPD User Manual

integrity counter after power up is 0. Its current value can be read from the MPL variable PVTSTS (bits
6..0). The integrity counter can also be set to any value using MPL command SETPT.
See also:
PT – Related MPL Instructions and Data
MPL Description

258

MPD User Manual

6.2.2.2.10.
Position-Velocity-Time(PVT)
Programming Details

Interpolated

MPL

In the PVT motion mode the load/motor is controlled in position. The built-in reference generator
computes a positioning path using a series of points. Each point specifies the desired Position, Velocity
and Time, i.e. contains a PVT data. Between the PVT points the reference generator performs a 3rd
order interpolation.
The PVT Interpolated mode is typically used together with a host, which sends PVT points via a
communication channel. Due to the 3rd order interpolation, the PVT mode offers the possibility to
describe complex position contours using a reduced number of points. It is particularly useful when the
motion reference is computed on the fly by the host like for example in vision systems. By reducing the
number of points, both the computation power and the communication bandwidth needed are
substantially reduced optimizing the costs. When the PVT motion mode is used simultaneously with
several drives/motors having the time synchronization mechanism activated, the result is a very powerful
multi-axis system that can execute complex synchronized moves.
A key factor for getting a correct positioning path in PVT mode is to set correctly the distance in time
between the points. Typically this is 10-20ms, the shorter the better. If the distance in time between the
PVT points is too big, the 3rd order interpolation may lead to important variations compared with the
desired path.
The PVT motion mode can be started only when the previous motion is complete. However, you can
switch at any moment to another motion mode. The PVT mode can be relative (following a CPR
command) or absolute (following a CPA command). In the absolute mode, each PVT point specifies the
position to reach. The initial position may be either the current position reference TPOS or a preset value
read from the MPL parameter PVTPOS0. In the relative mode, each PVT point specifies the position
increment relative to the previous point. In both cases, the time is relative to the previous point i.e.
represents the duration of a PVT segment. For the first PVT point, the time is measured from the starting
of the PVT mode.
Each time when a new PVT point is read from a MPL program or received via a communication channel,
it is saved into the PVT buffer. The reference generator empties the buffer as the PVT points are
executed. The PVT buffer is of type FIFO (first in, first out). The default length of the PVT buffer is 7 PVT
points. Each entry in the buffer is made up of 9 words, so the default length of the PVT buffer in terms of
how much memory space is reserved is 63 (3Fh) words. The drive/motor automatically sends messages
to the host when the buffer is full, low or empty. The messages contain the PVT status (MPL variable
PVTSTS). The host address is taken from the MPL parameter MASTERID. The buffer full condition
occurs when the number of PVT points in the buffer is equal with the buffer size. The buffer low condition
occurs when the number of PVT points in the buffer is less or equal with a programmable value – the low
level. The buffer empty condition occurs when the buffer is empty and the execution of the last PVT point
is over. When the PVT buffer becomes empty the drive/motor:
•

Remains in PVT mode if the velocity of last PVT point executed is zero and waits for new points
to receive

•

Enters in quick stop mode if the velocity of last PVT point executed is not zero

Therefore, a correct PVT sequence must always end with a last PVT point having velocity zero.
Remarks:
• The PVT and PT modes share the same buffer. Therefore the MPL parameters and variables
associated with the buffer management are the same.
• Before activating the PVT mode, you must place at least one PVT point in the buffer

259

MPD User Manual

• The buffer low condition is set by default when the last PVT point from the buffer is read and starts to
be executed
• Both the PVT buffer size and its start address are programmable via MPL parameters PVTBUFBEGIN
and PVTBUFLEN. Therefore if needed, the PVT buffer size can be substantially increased.

Each PVT point also includes a 7-bit integrity counter. The integrity counter value must be incremented
by the host by one, each time a new PVT point is sent to the drive/motor. If the integrity counter error
checking is activated, the drive compares its internally computed integrity counter value with the one sent
with the PVT point (i.e. with the PVTP command). This comparison is done every time a PVTP instruction
is received. If the values of the two integrity counters do not match, the integrity check error is triggered,
the drive/motor sends the PVTSTS to the host with PVTSTS.12 =1 and the received PVT point is
discarded. Each time a PVT point is accepted (the integrity counters match or the integrity counter error
checking is disabled), the drive automatically increments its internal integrity counter. The default value of
the internal integrity counter after power up is 0. Its current value can be read from the MPL variable
PVTSTS (bits 6..0). The integrity counter can also be set to any value using MPL command SETPVT.
See also:
PVT – Related MPL Instructions and Data
MPL Description

6.2.2.2.11.

Motion PT - MPL Instructions and Data

Parameters
MASTERID
Contains the axis ID of the host/master where the drive/motor must send the PT
messages. It must be set before starting the PT mode. The MASTERID value must be set as: host ID <<
4 + 1, where host ID is a number between 1 and 255 representing the host ID. By default, after power-on
the host ID is set equal with the drive address causing all the PT messages to be sent via RS-232
PVTBUFBEGIN

Specifies the start address of the PT buffer

PVTBUFLEN

Specifies the PT buffer length expressed in PT points

PVTPOS0
Specifies for absolute mode, the initial position from which to start computing the distance
to move up to the first PT point. An alternate option is to consider TPOS as initial position. Selection
between these 2 options is done at PT initialization via MPL command SETPT. The default value of
PVTPOS0 is 0.
PVTSENDOFF When set to 1, disables transmission of messages during PT mode. By default is set to 0
and the transmission is enabled
Variables
PVTSTS

Contains the PT motion mode status.

260

MPD User Manual

PVTSTS bit description

PVTMODE

PVT operation mode as was set with the SETPT command

TPOS

Target load position – position reference computed by the reference generator at each
slow loop sampling period. Measured in position units

TSPD

Target load speed – speed reference computed by the reference generator at each slow
loop sampling period. Measured in speed units

TACC

Target load acceleration – acceleration/deceleration reference computed by the
reference generator at each slow loop sampling period. Measured in acceleration units

APOS_LD

Actual load position. Measured in position units. Alternate name: APOS

ASPD_LD

Actual load speed – measured in speed units

APOS_MT

Actual motor position. Measured in motor position units.

ASPD_MT

Actual motor speed. Measured in motor speed units. Alternate name: ASPD

261

MPD User Manual

Instructio
ons
SETPT va
alue Set PT
T operation as
s specified by
y value:
PT
P operation mode
m
(a copy
y of value is saved
s
in the M
MPL variable PVTMODE)

CPR

PT mode is relative

CPA

PT mode is absolute
e

MODE PT
T

Set PT
T motion mode
e.

TUM1

Target Upda
ate Mode 1 (T
TUM1). Gene
erates new ttrajectory starting from the actual valu
ues of
position and speed refere
ence (i.e. don
n’t update the
oad/motor po
osition
e reference vvalues with lo
and speed)

TUM0

ate Mode 0 (T
TUM0). Gene
erates new ttrajectory starting from the actual valu
ues of
Target Upda
load/motor position and speed
s
(i.e. up
pdate the refference value
es with load/m
motor position
n and
speed)

PTP Posiition, Time, Counter
C
Deffines a PT poiint, where:
Position – is the PT poin
nt position, measured
m
in p
position unitts. In absolu
ute mode, it is the
osition to rea
ach. In relativ
ve mode, it is the position increment frrom the previious PT pointt. The
po
po
osition value is a 32-bit lon
ng integer.
Time – is the PT
P point time measured in time units. T
The time valu
ue is a 16-bit u
unsigned inte
eger
Counter
C
– is the
t PVT pointt integrity cou
unter. It is a 7
7-bit unsigned
d integer with
h values betw
ween 0
an
nd 127.
UPD

Update motion
n parameters and start new
w motion mod
de

STOP Sttop motion

26
62

MPD U
User Manual

Remarks:
•

When a PT sequence of points is executed from a MPL program, the first PTP commands are
processed one after the other, until the PT buffer fills up. At this point the MPL program stops
until the PT buffer starts to empty. Therefore, the next PTP commands are processed in the
cadence of the PT points execution. At the end of the sequence, the PT buffer starts to empty
and next MPL instructions start to execute. This may lead to incorrect operation if for example a
new motion mode is set while there are still points in the PT buffer waiting to be executed. In
order to avoid this situation, it is mandatory to end the PVT sequence with an event on motion
complete and wait until this event occurs.

•

In order to activate the TUM1 mode, execute the MPL instruction TUM1 AFTER the MODE PT
command and BEFORE the UPD command. When MODE PT is executed, it automatically sets
TUM0 mode. However, as the new motion mode becomes effective only after the UPD
command, a TUM1 command will overwrite the TUM0 mode

•

Under TUM0 mode, at the UPD command TPOS=APOS_LD and TSPD=ASPD_LD. In open loop
control of steppers, TUM0 is ignored as there is no position and/or speed feedback

•

In setup configurations where there is no transmission ratio between the motor and the load, it is
supposed that these are directly connected. In these cases: APOS_MT=APOS_LD and
ASPD_MT=ASPD_LD

Programming Example
// PT sequence. Position feedback: 500 lines incremental
// encoder (2000 counts/rev)
SETPVT 0xC000; //Clear PT buffer, disable counter check
//Don’t change counter & buffer low condition
MODE PT; // Set PT Mode
TUM1;//Start from actual value of position reference
CPR;
PTP 2000L, 100U, 0; //PT(1[rot], 0.1[s])
UPD; //Execute immediate
PTP 0L, 100U, 0; //PT(1[rot],0.2[s])
PTP -2000L, 100U, 0; //PT(0[rot],0.3[s])
!MC; WAIT!; //wait for completion
See also:
PT – MPL Programming Details
MPL Description

263

MPD User Manual

6.2.2.2.12.

Mode PVT - Related MPL Instructions and Data

Parameters
MASTERID
Contains the axis ID of the host/master where the drive/motor must send the PVT
messages. It must be set before starting the PVT mode. The MASTERID value must be set as:
host ID << 4 + 1, where host ID is a number between 1 and 255 representing the host ID. By
default, after power-on the host ID is set equal with the drive address causing all the PVT
messages to be sent via RS-232
PVTBUFBEGIN

Specifies the start address of the PVT buffer

PVTBUFLEN

Specifies the PVT buffer length expressed in PVT points

PVTPOS0
Specifies for absolute mode, the initial position from which to start computing the distance
to move up to the first PVT point. An alternate option is to consider TPOS as initial position.
Selection between these 2 options is done at PVT initialization via MPL command SETPVT. The
default value of PVTPOS0 is 0.
PVTSENDOFF When set to 1, disables transmission of messages during PVT mode. By default is set to
0 and the transmission is enabled

264

MPD User Manual

Variables
PVTSTS

Contains the PVT motion mode status.

PVTSTS bit description

PVTMODE

PVT operation mode as was set with the SETPVT command

TPOS

Target load position – position reference computed by the reference generator at each slow
loop sampling period. Measured in position units

TSPD

Target load speed – speed reference computed by the reference generator at each slow loop
sampling period. Measured in speed units

TACC

Target load acceleration – acceleration/deceleration reference computed by the reference
generator at each slow loop sampling period. Measured in acceleration units

APOS_LD

Actual load position. Measured in position units. Alternate name: APOS

ASPD_LD

Actual load speed – measured in speed units

APOS_MT

Actual motor position. Measured in motor position units.

ASPD_MT

Actual motor speed. Measured in motor speed units. Alternate name: ASPD

265

MPD User Manual

Instructio
ons
SETPVT

value Set PVT operation as specified by vallue:

PVT
P
operation
n mode (a cop
py of value is
s saved in the
e MPL variablle PVTMODE
E)

CPR

PV
VT mode is re
elative

CPA

PV
VT mode is absolute
a

MODE PV
VT

Set PV
VT motion mode.

TUM1

TUM0

PVTP Pos
sition, Veloc
city, Time, Co
ounter

Defines
D
a PVT
T point, wherre:

Position – is
s the PVT po
oint position, measured in position un
nits. In absolute mode, it is the
position to re
each. In relativ
ve mode, it is
s the position increment fro
om the previo
ous PVT point. The
position valu
ue is a signe
ed long integer limited to 24 bits, i.e. in the range
e – 8388608
8 to +
8388607. Values outside this
t
range are
e truncated ca
ausing unpred
dictable results.
Velocity – is the PVT poin
nt velocity, measured in sp
peed units. T
The velocity is a fixed valu
ue like
command sp
peed CSPD an
nd target speed TSPD
Time – is the
e PVT point time measured
d in time uni ts The time vvalue is a 9-b
bit unsigned in
nteger
having values
s between 1 and
a 511.
Counter – is the PVT poin
nt integrity co
ounter. It is a 7
7-bit unsigned
d integer with
h values betw
ween 0
and 127.
UPD

Update motion
n parameters and start new
w motion mod
de

26
66

MPD U
User Manual

STOP Stop the motion
Remarks:
•

When a PVT sequence of points is executed from a MPL program, the first PVTP commands are
processed one after the other, until the PVT buffer fills up. At this point the MPL program stops
until the PVT buffer starts to empty. Therefore, the next PVTP commands are processed in the
cadence of the PVT points execution. At the end of the sequence, the PVT buffer starts to empty
and next MPL instructions start to execute. This may lead to incorrect operation if for example a
new motion mode is set while there are still points in the PVT buffer waiting to be executed. In
order to avoid this situation, it is mandatory to end the PVT sequence with an event on motion
complete and wait until this event occurs.

•

In order to activate the TUM1 mode, execute the MPL instruction TUM1 AFTER the MODE PVT
command and BEFORE the UPD command. When MODE PVT is executed, it automatically sets
TUM0 mode. However, as the new motion mode becomes effective only after the UPD
command, a TUM1 command will overwrite the TUM0 mode

•

Under TUM0 mode, at the UPD command TPOS=APOS_LD and TSPD=ASPD_LD. In open loop
control of steppers, TUM0 is ignored as there is no position and/or speed feedback

•

In setup configurations where there is no transmission ratio between the motor and the load, it is
supposed that these are directly connected. In these cases: APOS_MT=APOS_LD and
ASPD_MT=ASPD_LD

Programming Example
// PVT sequence. Position feedback: 500 lines incremental
// encoder (2000 counts/rev)
MASTERID = 4081; // Set host address to 255 (255<<4+1)
SETPVT 0xC000;

//Clear PVT buffer, disable counter check
//Don’t change counter & buffer low condition

MODE PVT; // Set PVT Mode
TUM1;//Start from actual value of position reference
CPR; // Relative mode
PVTP 400L, 60, 10U, 0;//PVT(0.2[rot], 1800[rpm], 0.01[s])
UPD; //Execute immediate
PVTP 400L, 0, 10U, 0;//PVT(0.4[rot], 0[rpm], 0.02[s])
!MC; WAIT!; //wait for completion
See also:
PVT – MPL Programming Details
MPL Description

267

MPD User Manual

6.2.2.2.13.

External - MPL Programming Details

In the external modes, you program the drives/motors to work with an external reference provided by
another device. There are 3 types of external references:
•

Analogue – read by the drive/motor via a dedicated analogue input (10-bit resolution)

•

Digital – computed by the drive/motor from:
•

Pulse & direction signals

•

Quadrature signals like A, B signals of an incremental encoder

•

Online – received online via a communication channel from a host and saved in a dedicated
MPL variable

When the reference is analogue or online, you can set a:
•

Position external mode, where the motor is controlled in position and the external reference is
interpreted as a position reference

•

Speed external mode, where the motor is controlled in speed and the external reference is
interpreted as a speed reference

•

Torque external mode, where the motor is controlled in torque and the external reference is
interpreted as a current reference.

•

Voltage external mode, where the motor is controlled in voltage and the external reference is
interpreted as a voltage reference.

When the external reference is digital, the option for the input signals: pulse & direction or quadrature
encoder is established during the drive/motor setup. The drive/motor performs only position control
having as goal to follow the position reference computed from the input signals with a preset gear ratio. In
this case, the drive/motor actually works in electronic gearing mode, where you can find further details.
In position external mode with analogue or online reference, you can limit the maximum speed at sudden
changes of the position reference and thus to reduce the mechanical shocks. This feature is activated by
setting UPGRADE.2=1 and the maximum speed value in CSPD.
In speed external mode with analogue or online reference, you can limit the maximum acceleration at
sudden changes of the speed reference and thus to get a smoother transition. This feature is activated by
setting UPGRADE.2=1 and the maximum acceleration value in CACC.
In torque or voltage external mode with analogue reference, you can choose how often to read the
analogue input: at each slow loop sampling period or at each fast loop sampling period.
When using the analogue reference, during the setup phase, you specify the reference values
corresponding to the upper and lower limits of the analogue input. Depending on the control mode
selected, these values may be position or speed or torque or voltage references. You may also select a
dead-band symmetrical interval and it’s center point inside the analogue input range. While the analogue
signal is inside the dead-band interval, the output reference is kept constant and equal with value
corresponding to the dead-band center point. This option is especially useful when you need to set a
precise reference, which doesn’t change in the presence of some noise on the analogue input signal. If
dead-band width is set to zero, the dead-band is disabled.
Remark: Setup tools like PROconfig, automatically compute the value of the MPL parameters needed to
convert the analogue input range into the desired reference range.

268

MPD User Manual

See also:
External – Related MPL Instructions and Data
MPL Description

269

MPD User Manual

6.2.2.2.14.

External - MPL Instructions and Data

Parameters
CADIN

Half of the reference range expressed in internal units, divided by 2SFTADIN. The
division result should lead to a value less than 32767. Depending on control mode selected, the
reference range can be a:
•

Position range expressed in position units

•

Speed range expressed in speed units

•

Torque range expressed in current units

•

Voltage range expressed in voltage command units

SFTADIN

The smallest power of 2 for which:
(Half of the reference range in internal units) / 2STFADIN < 32767

AD5OFF Reference value expressed in internal units, corresponding to the lower limit of the analogue
input. Depending on control mode selected, the reference value can be a:
•

Position value expressed in position units

•

Speed value expressed in speed units

•

Torque value expressed in current units

•

Voltage value expressed in voltage command units

FILTER1 Cutoff frequency for the low-pass filter on analogue input, computed with:
FILTER1 = 32767 * (1 - exp(-fc*T)),
where

fc is the cutoff frequency in radians/s
T is the slow loop sampling period in seconds.
Remark: For the external torque mode with analogue input read in fast loop, T is the fast loop
sampling period in seconds.

LEVEL_AD5

Dead-band point in internal units computed with:
LEVEL_AD5=(DB_Point–InputLow)*65472/InputRange

where

DB_Point – is the dead band point expressed in V
InputLowLimit – is the low limit of the drive/motor analogue input expressed in V
InputRange – s the drive/motor analogue input range expressed in V.

E_LEVEL_AD5

Dead-band range in internal units computed with formula:
E_LEVEL_AD5 = DB_Range * 65472 / InputRange,

where

DB_Range – is the desired dead-band range expressed in V
InputRange – is the drive/motor analogue input range expressed in V.

UPGRADE

MPL register. When UPGRADE.2=1, a speed limitation may be set in position external
mode and an acceleration limitation in speed external mode. When UPGRADE.2=0,
speed or acceleration limitation is disabled

270

MPD User Manual

CSPD Maximum speed in position external when UPGRADE.2=1
CACC Maximum acceleration in speed external when UPGRADE.2=1
Variables
AD5

16-bit unsigned integer value representing the value read from the analogue input. The
output of the 10-bit A/D converter is set in the 10 MSB (most significant bits) of the AD5

EREFP MPL variable where an external device writes the position reference in external mode on-line.
Measured in position units
EREFS MPL variable where an external device writes the speed reference in external mode on-line.
Measured in speed units
EREFT MPL variable where an external device writes the torque reference in external mode on-line.
Measured in current units
EREFV MPL variable where an external device writes the voltage reference in external mode on-line.
Measured in voltage command units
TPOS

Target load position – position reference computed by the reference generator at each
slow loop sampling period, when position external mode is performed. TPOS is set
function of the analogue input value, with analogue reference or with the EREFP value
with online reference. Measured in position units

TSPD

Target load speed – speed reference computed by the reference generator at each slow
loop sampling period, when position or speed external mode is performed. In speed
control, TSPD is set function of the analogue input value, with analogue reference or with
the EREFS value with online reference. Measured in speed units In position control,
TSPD is computed as the position variation over a slow loop sampling period. Measured
in speed units

TACC

Target load acceleration – acceleration/deceleration reference computed by the
reference generator at each slow loop sampling period, when position or speed external
mode is performed. Measured in acceleration units

IQREF

Current reference – updated at each fast or slow loop function of the analogue input
value or set with EREFT value, when torque external mode is performed. Measured in
current units

UQREF

Voltage reference – updated at each fast or slow loop function of the analogue input
value or set with EREFV value, when voltage external mode is performed. Measured in
voltage command units

APOS_LD

Actual load position. Measured in position units. Alternate name: APOS

ASPD_LD

Actual load speed – measured in speed units

APOS_MT

Actual motor position. Measured in motor position units.

ASPD_MT

Actual motor speed. Measured in motor speed units. Alternate name: ASPD

Motor current – measured in current units

Instructions
MODE PE

Set position external mode

271

MPD User Manual

MODE GS

Set position external mode with digital reference

MODE SE

Set speed external mode

MODE TES

Set torque external mode with reference read in slow loop

MODE TEF

Set torque external mode with reference read in fast loop

MODE VES

Set voltage external mode with reference read in slow loop

EXTREF 0

Set external reference type on-line

EXTREF 1

Set external reference type analogue

EXTREF 2

Set external reference type digital

UPD

Update motion parameters and start new motion mode

STOP

Stop motion

Remarks:
•

In the absence of an external device, EREFP, EREFS, EREFT, EREFV may also be used as
MPL parameters through which you can set a position, speed, torque or voltage reference in the
external mode online. This is a simple way to impose step references

•

The MPL variables EREFP, EREFS, EREFT, EREFV are alternate ways to address the MPL
variable EREF in which the external devices must place the reference. The new mnemonics have
been added to clearly differentiate how EREF is interpreted function of control mode selected:
o

Position control: EREFP = EREF. EREFP is a 32-bit long integer

Speed control: EREFS=EREF. EREF is a 32-bit fixed

Torque control: EREFT = EREF(H). EREFT is a 16-bit integer

Voltage control: EREFV = EREF(H). EREFV is a 16-bit integer

•

CSPD and CACC must be positive

•

The sum between CSPD and CACC values must be maximum 32767.99998 (0x7FFF.FFFF) i.e.
the maximum value for fixed number

•

In setup configurations where there is no transmission ratio between the motor and the load, it is
supposed that these are directly connected. In these cases: APOS_MT=APOS_LD and
ASPD_MT=ASPD_LD

272

MPD User Manual

Programming Example 1
// External mode. Read position reference from the analogue input
// Position feedback: 500 lines incremental
// encoder (2000 counts/rev)
MODE PE; //External position
CSPD = 100;// Limit = 3000[rpm]
SRB UPGRADE, 0xFFFF, 0x0004; //UPGRADE.2 = 1
UPD; //execute immediate

Programming Example 2
// External mode online. Read speed reference from variable EREFS
// Position feedback: 500 lines incremental
// encoder (2000 counts/rev)
EREFS = 33.3333;// EREFS initial = 1000[rpm]
EXTREF 0;
MODE SE; //External speed
CACC = 0.3183;// Limit = 1000[rad/s^2]
SRB UPGRADE, 0xFFFF, 0x0004; //UPGRADE.2 = 1
UPD; //execute immediate
See also:
External – MPL Programming Details
MPL Description

273

MPD User Manual

6.2.3. Electronic Gearing - MPL Programming Details
In the electronic gearing a drive/motor may operate as master or as slave.
When set as master, the drive/motor sends its position via a multi-axis communication channel, like the
CANbus. When set as slave, the drive/motor follows the master position with a programmable gear ratio.
Master operation
The master operation can be enabled with the MPL command SGM followed by an UPD (update) and
can be disabled by the MPL command RGM followed by an UPD. In both cases, these operations have
no effect on the motion executed by the master.
Once at each slow loop sampling time interval, the master sends either its load position APOS (if OSR.15
= 0) or its position reference TPOS (if OSR.15 = 1) to the axis or the group of axes specified in the MPL
parameter SLAVEID. The SLAVEID contains either the axis ID of one slave or the value of a group
ID+256 i.e. the group of slaves to which the master should send its data.
Remark: The group ID is an 8-bit unsigned value. Each bit set to 1 represents a group: bit 0 – group 1, bit
1 – group 2, etc. In total there are 8 groups. For example, if the master sends its position to group 3, the
group ID = 4 (00000100b) and the SLAVEID is 4+256 = 260.
The master operation can be synchronized with that of the slaves. The synchronization process is
performed in two steps. First, the master sends a synchronization message to all axes, including to itself.
When this message is received, all the axes read their own internal time. Next, the master sends its
internal time to all the slaves, which compare it with their own internal time. If there are differences, the
slaves correct slightly their sampling periods in order to keep them synchronized with those of the master.
As effect, when synchronization procedure is active, the execution of the control loops on the slaves is
synchronized with those of the master within a 10μs time interval. Due to this powerful feature, drifts
between master and slave axes are eliminated. The synchronization procedure is activated with the MPL
command SETSYNC value where value represents the time interval in internal units between the
synchronization messages sent by the master. Recommended value is 20ms.
If the master is going to be activated with slaves already set in electronic gearing, an initialization is
necessary before enabling the master operation: the master must set the MPL parameter MPOS0 on all
the slaves with a non-zero value, for example 1.
Slave operation
The slaves can get the master position in two ways:
1. Via a communication channel, from a drive/motor set as master
2. Via an external digital reference of type pulse & direction (if ACR.2=1) or quadrature encoder (if
ACR.2 = 0). Both options have dedicated inputs. The pulse & direction signals are usually
provided by an indexer and must be connected to the pulse & direction inputs of the drive/motor.
The quadrature encoder signals are usually provided by an encoder on the master and must be
connected to the 2nd encoder inputs.
You can activate the first option with the MPL command: EXTREF 0 and the second option with the MPL
command EXTREF 2. Both become effective at the next UPD command.
In slave mode the drive/motor performs a position control. At each slow loop sampling period, the slave
computes the master position increment and multiplies it with its programmed gear ratio. The result is the
slave position reference increment, which added to the previous slave position reference gives the new
slave position reference.
Remark: The slave executes a relative move, which starts from its actual position

274

MPD User Manual

The gear ratio is specified via 3 MPL parameters: GEAR, GEARSLAVE and GEARMASTER.
GEARSLAVE and GEARMASTER represent the numerator and denominator of the Slave / Master ratio.
GEARSLAVE is a signed integer, while GEARMASTER is an unsigned integer. GEARSLAVE sign
indicates the direction of movement: positive – same as the master, negative – reversed to the master.
GEAR is a fixed value containing the result of the ratio i.e. the result of the division GEARSLAVE /
GEARMASTER. GEAR is used to compute the slave reference increment, while GEARSLAVE and
GEARMASTER are used by an automatic compensation procedure which eliminates the round off errors
which occur when the gear ratio is an irrational number like: 1/3 (Slave = 1, Master = 3).
The MPL parameter MASTERRES provides the master resolution which is needed to compute correctly
the master position and speed (i.e. the position increment). MASTERRES is a 32-bit long integer value,
expressed in the master position units. If master position is not cyclic (i.e. the resolution is equal with the
whole 32-bit range of position), set master resolution to 0x80000001.
When master position is provided via the external digital interface, the slave computes the master
position by counting the pulse & direction or quadrature encoder signals. The initial value of the master
position is set by default to 0. It may be changed to a different value by writing the desired value in the
MPL variable APOS2.
MPL commands REG_ON/REG_OFF enable/disable the superposition of the electronic gearing mode
with a second motion mode. When this superposed mode activated, the position reference is computed
as the sum of the position references for each of the 2 superposed motions.
You may enable the superposed mode at any moment, independently of the activation/deactivation of the
electronic gearing slave. If the superposed mode is activated during an electronic gearing motion, any
subsequent motion mode change is treated as a second move to be superposed over the basic electronic
gearing move, instead of replacing it. If the superposed mode is activated during another motion mode, a
second electronic gearing mode will start using the motion parameters previously set. This move is
superposed over the first one. After the first move ends, any other subsequent motion will be added to the
electronic gearing.
When you disable the superposed mode, the electronic gearing slave move is stopped and the
drive/motor executes only the other motion. If you want to remain in the electronic gearing slave mode,
set first the electronic gearing slave move and then disable the superposed mode.
You can smooth the slave coupling with the master, by limiting the maximum acceleration on the slave.
This is particularly useful when the slave is must couple with a master running at high speed. The feature
is activated by setting UPGRADE.2=1 and the maximum acceleration value in CACC.
Remark: When slave coupling with the master is complete SRH.12 = 1. The same bit is reset to zero if
the slave is decoupled from the master. The bit has no significance in other motion modes.
See also:
Electronic Gearing – Related MPL Instructions and Data
MPL Description

275

MPD User Manual

6.2.3.1.1.

Electronic Gearing - Related MPL Instructions and Data

Parameters
CACC

Maximum acceleration in slave mode when UPGRADE.2=1

SLAVEID

The axis or group ID to which the master sends its position. When group ID is used, the
SLAVEID is set with group ID value + 256.

GEAR

Slave(s) gear ratio value. Negative values means opposite direction compared
with the master

GEARMASTER

Denominator of gear ratio

GEARSLAVE Numerator of gear ratio. Negative values means opposite direction compared with the
master
MASTERRES Master resolution used by slave(s) Measured in master position units
MPOS0

Initialization parameter. Must be set by the master with a non-zero value before enabling
the master mode, if the slaves are already set in electronic gearing.

OSR

MPL register. When OSR.15=1, the master sends the position reference. When
OSR.15=0, the master sends the actual load position

UPGRADE
ACR

MPL register. When UPGRADE.2=1, an acceleration limitation may be set on slave.
When UPGRADE.2=0, the acceleration limitation is disabled

Auxiliary Control Register – includes several MPL Programming options. When ACR.2 =
0, the external reference is quadrature encoder. When ACR.2 = 1, the external reference is pulse
& direction

Variables
MREF

Master position received or computed by the slave(s). Measured in master position
units

MSPD

Master speed computed by the slaves. Measured in master speed units

APOS2

Master position computed by the slaves from pulse & direction or quadrature encoder
inputs. At power-on it is set to 0. May be set to a different value, before starting the
master. Measured in master position units

TPOS

Target position – position reference computed by the reference generator at each slow
loop sampling period. Measured in position units

TSPD

Target speed – speed reference computed by the reference generator at each slow loop
sampling period. Measured in speed units

TACC

Target acceleration – acceleration/deceleration reference computed by the reference
generator at each slow loop sampling period. Measured in acceleration units

APOS_LD

Actual load position. Measured in position units. Alternate name: APOS

ASPD_LD

Actual load speed – measured in speed units

APOS_MT

Actual motor position. Measured in motor position units.

ASPD_MT

Actual motor speed. Measured in motor speed units. Alternate name: ASPD

276

MPD User Manual

Instructions
EXTREF 0

Get master position via a communication channel

EXTREF 2

Compute master position from pulse & direction or quadrature encoder signals

MODE GS

Set electronic gear slave mode

SGM

Set electronic gear master mode

RGM

Reset electronic gear master mode

REG_ON

Enable superposed mode

REG_OFF

Disable superposed mode

SETSYNC value
Send synchronization messages at the time interval indicated by the 16-bit value.
Measured in time units
TUM1 Target Update Mode 1 (TUM1). Generates new trajectory starting from the actual values of
position and speed reference (i.e. don’t update the reference values with load/motor position and speed)
TUM0
Target Update Mode 0 (TUM0). Generates new trajectory starting from the actual values
of load/motor position and speed (i.e. updates the reference values with load/motor position and speed)
UPD

Update motion parameters and start new motion mode

STOP Stop the motion
SRB

Set/reset bits from a MPL data

Remarks:
•

Do not change GEAR, GEARSLAVE and GEARMASTER during slave operation

•

CACC must be positive

•

In order to activate the TUM1 mode, execute the MPL instruction TUM1 AFTER the MODE GS
command and BEFORE the UPD command. When MODE GS is executed, it automatically sets
TUM0 mode. However, as the new motion mode becomes effective only after the UPD
command, a TUM1 command will overwrite the TUM0 mode

•

Under TUM0 mode, at the UPD command TPOS=APOS_LD and TSPD=ASPD_LD. In open loop
control of steppers, TUM0 is ignored as there is no position and/or speed feedback

•

In setup configurations where there is no transmission ratio between the motor and the load, it is
supposed that these are directly connected. In these cases: APOS_MT=APOS_LD and
ASPD_MT=ASPD_LD

277

MPD User Manual

Programming Example
//Electronic gearing. Master position is received via //communication
channel inputs.
//Master resolution: 2000 counts/rev

// On slave axis (Axis ID = 1):
GEAR = 0.3333; // gear ratio
GEARMASTER = 3; //gear ratio denominator
GEARSLAVE = 1; //gear ratio numerator
EXTREF 0; // master position got via communication channel
MASTERRES = 2000; // master resolution
REG_ON; //Enable superposition
MODE GS; //Set as slave, position mode
TUM1; //Set Target Update Mode 1
SRB UPGRADE, 0xFFFF, 0x0004; //UPGRADE.2 = 1
CACC = 0.9549; //Limit maximum acceleration at 3000[rad/s^2]
UPD; //execute immediate

// On master axis:
SLAVEID = 1;
SGM; //Enable Master in Electronic Gearing mode
SRB OSR, 0xFFFF, 0x8000; // OSR.15=1 -> Send Position Reference
[1]MPOS0 = TPOS;
UPD; //execute immediate
SETSYNC 20; //Send synchronization messages every 20[ms]
See also:
Electronic Gearing – MPL Programming Details
MPL Description

278

MPD User Manual

6.2.3.1.2.

Electronic Camming - MPL Programming Details

In the electronic camming a drive/motor may operate as master or as slave.
When set as master, the drive/motor sends its position via a multi-axis communication channel, like the
CAN bus. When set as slave, the drive/motor executes a cam profile function of the master position. The
cam profile is defined by a cam table – a set of (X, Y) points, where X is cam table input i.e. the master
position and Y is the cam table output i.e. the corresponding slave position. Between the points the
drive/motor performs a linear interpolation.
Master operation
The master operation can be enabled with the MPL command SGM followed by an UPD (update) and
can be disabled by the MPL command RGM followed by an UPD. In both cases, these operations have
no effect on the motion executed by the master.
Once at each slow loop sampling time interval, the master sends either its load position APOS (if OSR.15
= 0) or its position reference TPOS (if OSR.15 = 1) to the axis or the group of axes specified in the MPL
parameter SLAVEID. The SLAVEID contains the axis ID of one slave or the value of a group ID+256 i.e.
the group of slaves to which the master should send its data.
Remark: The group ID is an 8-bit unsigned value. Each bit set to 1 represents a group: bit 0 – group 1, bit
1 – group 2, etc. In total there are 8 groups. For example, if the master sends its position to group 3, the
group ID = 4 (00000100b) and the SLAVEID is 4+256 = 260.
The master operation can be synchronized with that of the slaves. The synchronization process is
performed in two steps. First, the master sends a synchronization message to all axes, including to itself.
When this message is received, all the axes read their own internal time. Next, the master sends its
internal time to all the slaves, which compare it with their own internal time. If there are differences, the
slaves correct slightly their sampling periods in order to keep them synchronized with those of the master.
As effect, when synchronization procedure is active, the execution of the control loops on the slaves is
synchronized with those of the master within a 10μs time interval. Due to this powerful feature, drifts
between master and slave axes are eliminated. The synchronization procedure is activated with the MPL
command SETSYNC value where value represents the time interval in internal units between the
synchronization messages sent by the master. Recommended value is 20ms.
Slave operation
The slaves can get the master position in two ways:
1. Via a communication channel, from a drive/motor set as master
2. Via an external digital reference of type pulse & direction (if ACR.2=1) or quadrature encoder (if
ACR.2 = 0). Both options have dedicated inputs. The pulse & direction signals are usually
provided by an indexer and must be connected to the pulse & direction inputs of the drive/motor.
The quadrature encoder signals are usually provided by an encoder on the master and must be
connected to the 2nd encoder inputs.
You can activate the first option with the MPL command: EXTREF 0 and the second option with the MPL
command EXTREF 2. Both become effective at the next UPD command.
The MPL parameter MASTERRES provides the master resolution which is needed to compute correctly
the master position and speed (i.e. the position increment). MASTERRES is a 32-bit long integer value,
expressed in the master position units. If master position is not cyclic (i.e. the resolution is equal with the
whole 32-bit range of position), set master resolution to 0x80000001.
When master position is provided via the external digital interface, the slave computes the master
position by counting the pulse & direction or quadrature encoder signals. The initial value of the master

279

MPD User Manual

position is set by default to 0. It may be changed to a different value by writing the desired value in the
MPL variable APOS2.
Through the MPL parameter CAMOFF you can shift the cam profile versus the master position, by setting
an offset for each slave. The cam table input is computed as the master position minus the cam offset.
For example, if a cam table is defined between angles 100 to 250 degrees, a cam offset of 50 degrees
will make the cam table to execute between master angles 150 and 300 degrees.
In slave mode the drive/motor performs a position control. Based on the master position X, it calculates
the cam table output Y = f(X). It is not mandatory to define the cam table for 360 degrees of the master.
You may also define shorter cam tables, with a start angle Xmin > 0 and an end angle Xmax < 360
degrees. In this case, the cam table output remains unchanged outside the active area of the cam, being
computed as follows:
•

Y = Ymin = f(Xmin), if 0 < X < Xmin

•

Y = f(X), if Xmin ≤ X ≤ Xmax

•

Y = Ymax = f(Xmax), if Xmax < X < 360

The electronic camming can be: relative (if ACR.12 = 0) or absolute (if ACR.12 = 1).
In the relative mode, the output of the cam table is added to the slave actual position. At each slow loop
sampling period the slave computes a position increment dY = Y – Yold. This is the difference between
the actual cam table output Y and the previous one Yold. The position increment dY is added to the old
target position to get a new target position: TPOS = TPOS + dY. The slave detects when the master
position rolls over, from 360 degrees to 0 or vice-versa and automatically compensates in dY the
difference between Ymax and Ymin. Therefore, in relative mode, you can continuously run the master in
one direction and the slaves will execute the cam profile once at each 360 degrees with a glitch free
transition when the cam profile is restarted.
When electronic camming is activated in relative mode, the slave initializes Yold with the first cam output
computed: Yold = Y = f(X). The slave will keep its position until the master starts to move and then it will
execute the remaining part of the cam. For example if the master moves from X to Xmax, the slave
moves with Ymax – Y.
In the absolute mode, the output of the cam table Y is the target position to reach: TPOS = Y.
Remark: The absolute mode must be used with great care because it may generate abrupt variations on
the slave target position if:
•

Slave position is different from Y at entry in the camming model

•

Master rolls over and Ymax ≠ Ymin

In the absolute mode, you can introduce a maximum speed limit to protect against accidental sudden
changes of the positions to reach. The feature is activated by setting UPGRADE.2=1 and the maximum
speed value in CSPD.
Remark: When the slave can’t reach the target position corresponding to the cam profile due to the
speed limitation, SRH.14 = 1. The same bit is reset to zero when the slave returns to normal operation
following the cam profile with a speed below the maximum limit. The bit has no significance in other
motion modes.
One way to avoid abrupt variations at activation of absolute mode is to move the slave(s) in the position
corresponding to the master actual value, before enabling the camming slave mode. This approach
requires finding the cam table output before entering in the camming mode. You can get this information
in the following way:

280

MPD User Manual

1. Set the slave(s) in trapezoidal position profile mode, for example to keep its actual position
2. Set MPL parameter GEAR (also used as gear ratio in electronic gearing) at 0.
3. Introduce an wait of 1ms (more exactly one slow-loop sampling period)
4. Read the cam table output for the actual master position from MPL variable EREF
Remark: Before executing point 2, make sure that the cam table is present in the RAM memory and
CAMSTART is initialized accordingly (see below for details).
The cam tables are arrays of X, Y points, where X is the cam input i.e. the master position and Y is the
cam output i.e. the slave position. The X points are expressed in the master internal position units, while
the Y points are expressed in the slave internal position units. Both X and Y points 32-bit long integer
values. The X points must be positive (including 0) and equally spaced at: 1, 2, 4, 8, 16, 32, 64 or 128 i.e.
having the interpolation step a power of 2 between 0 and 7. The maximum number of points for one cam
table is 8192.
As cam table X points are equally spaced, they are completely defined by two data: the Master start
value or the first X point and the Interpolation step providing the distance between the X points. This
offers the possibility to minimize the cam size, which is saved in the drive/motor in the following format:
•

1st word (1 word = 16-bit data):
Bits 15-13 – the power of 2 of the interpolation step. For example, if these bits have the
binary
value
010
(2),
the
interpolation
step
is
The link ed image cannot be display ed. The file may hav e been mov ed, renamed, or deleted. Verify that the link points to the correct file and location.

= 4, hence the master X values are spaced

2
from 4 to 4: 0, 4, 8, 12, etc.

Bits 12-0 – the length -1 of the table. The length represents the number of points
•

2nd and 3rd words: the Master start value (long), expressed in master position units. 2nd
word contains the low part, 3rd word the high part

•

4th and 5th words: Reserved. Must be set to 0

•

Next pairs of 2 words: the slave Y positions (long), expressed in position units. The 1st word
from the pair contains the low part and the 2nd word from the pair the high part

•

Last word: the cam table checksum, representing the sum modulo 65536 of all the cam table
data except the checksum word itself

281

MPD User Manual

Before enabling electronic camming slave mode, the cam table must be downloaded into the drive/motor
RAM memory and the MPL variable CAMSTART must be set with the value of the cam start address. It is
possible to download more than one cam table in the drive/motor RAM memory and through CAMSTART
to select which one to use at one moment.
Typically, the cam tables are first downloaded into the EEPROM memory of the drive, together with the
rest of the MPL program. Then using the MPL command (included in the MPL program):
INITCAM LoadAddress, RunAddress
the cam tables are copied from the EEPROM memory into the drive/motor RAM memory. The
LoadAddress is the EEPROM memory address where the cam table was loaded and RunAddress is
the RAM memory address where to copy the cam table. After the execution of this command the MPL
variable CAMSTART takes the value of the RunAddress.
Remarks:
•

Motion programming tool MotionPRO Developer automatically computes the start addresses in
RAM and EEPROM of the selected cam tables and for each cam generates an INITCAM
command. The INITCAM commands are included in the MPL application before ENDINIT.
Therefore when this command is executed, all the selected cams are already copied from the
EEPROM into the RAM.

•

During electronic camming slave mode, only one cam table can be active at time

You can compress/extend the cam table input. Specify through MPL parameter CAMX, an input
correction factor by which the cam table input is multiplied. For example, an input correction factor of 2,
combined with a cam offset of 180 degrees, will make possible to execute a cam table defined for 360
degrees of the master in the last 180 degrees.
You can also compress/extend the cam table output. Specify through the MPL parameter CAMY, an
output correction factor by which the cam table output is multiplied. This feature addresses the
applications where the slaves must execute different position commands at each master cycle, all having
the same profile defined through a cam table. In this case, the drive/motor is programmed with a unique
normalized cam profile and the cam table output is multiplied with the relative position command updated
at each master cycle.
See also:
Electronic Camming – Related MPL Instructions and Data
MPL Description

282

MPD User Manual

6.2.3.1.3.

Electronic Camming - Related MPL Instructions and Data

Parameters
CSPD

Maximum speed in slave mode when UPGRADE.2=1

CAMOFF

Cam offset. The input in the cam table before applying the scaling MPOS0 is
computed by subtracting cam offset from the master position. Measured in
master position units

CAMSTART

Pointer to cam table start address in RAM memory. When several cam tables are
loaded in RAM, CAMSTART indicates which one is used. You can switch
between cam tables by setting CAMSTART to the start address of another cam
table. CAMSTART is automatically set by the INITCAM command, which copies
the cam table from the EEPROM to the RAM memory

CAMX

Cam input correction factor. Cam input X (MPL variable CAMINPUT) is:
X = CAMINPUT = MPOS0 * CAMX

where MPOS0 = MREF - CAMOFF
CAMY

Cam output correction factor. Cam table output Y is:
Y = f(X) * CAMY

MASTERRES

Master resolution used by slave(s) (long) Measured in master position units.

SLAVEID

The axis or group ID to which the master sends its position. When group ID is used, the
SLAVEID is set with group ID value + 256.

OSR

MPL register. When OSR.15=1, the master sends the position reference.
When OSR.15=0, the master sends the actual load position

UPGRADE

MPL register. When UPGRADE.2=1, a speed limitation may be set on slave. When
UPGRADE.2=0, the speed limitation is disabled

ACR
Auxiliary Control Register – includes several MPL Programming options. When ACR.12 =
0, the camming is relative. When ACR.12 = 1, the camming is absolute. When ACR.2 = 0, the external
reference is quadrature encoder. When ACR.2 = 1, the external reference is pulse & direction
Variables
MREF

Master position received or computed by the slave(s). Measured in master position
units

MSPD

Master speed computed by the slaves. Measured in master speed units

MPOS0

Master position on the slave(s) after subtracting cam offset CAMOFF. Measured in
master position units

CAMINPUT

Cam table input

APOS2

TPOS

Target position – position reference computed by the reference generator at each slow
loop sampling period. Measured in position units

283

MPD User Manual

TSPD

Target speed – speed reference computed by the reference generator at each slow loop
sampling period. Measured in speed units

TACC

Target acceleration – acceleration/deceleration reference computed by the reference
generator at each slow loop sampling period. Measured in acceleration units

APOS_LD

Actual load position. Measured in position units. Alternate name: APOS

ASPD_LD

Actual load speed – measured in speed units

APOS_MT

Actual motor position. Measured in motor position units.

ASPD_MT

Actual motor speed. Measured in motor speed units. Alternate name: ASPD

Instructions
EXTREF 0

Get master position via a communication channel

EXTREF 2

Compute master position from pulse & direction or quadrature encoder signals

MODE CS

Set electronic camming slave mode

SGM

Set electronic gearing/camming master mode

RGM

Reset electronic gearing/camming master mode

SETSYNC value
Send synchronization messages at the time interval indicated by the 16-bit value.
Measured in time units
INITCAM LoadAddress, RunAddress Copy a cam table from EEPROM starting with LoadAddress to
RAM starting with RunAddress. Both values are unsigned integers
TUM1
Target Update Mode 1 (TUM1). Generates new trajectory starting from the actual values
of position and speed reference (i.e. don’t update the reference values with load/motor position and
speed)
TUM0
Target Update Mode 0 (TUM0). Generates new trajectory starting from the actual values
of load/motor position and speed (i.e. updates the reference values with load/motor position and speed)
UPD

Update motion parameters and start new motion mode

STOP

Stop the motion

SRB

Set/reset bits from a MPL data

Remarks:
•

CSPD must be positive

•

In order to activate the TUM1 mode, execute the MPL instruction TUM1 AFTER the MODE CS
command and BEFORE the UPD command. When MODE CS is executed, it automatically sets
TUM0 mode. However, as the new motion mode becomes effective only after the UPD
command, a TUM1 command will overwrite the TUM0 mode

•

Under TUM0 mode, at the UPD command TPOS=APOS_LD and TSPD=ASPD_LD. In open loop
control of steppers, TUM0 is ignored as there is no position and/or speed feedback

•

In setup configurations where there is no transmission ratio between the motor and the load, it is
supposed that these are directly connected. In these cases: APOS_MT=APOS_LD and
ASPD_MT=ASPD_LD

284

MPD User Manual

Programming Example
// Electronic camming slave. Master position is read from 2nd
// encoder inputs. Master resolution : 2000 counts/rev

CAMSTART = 0xF000; //Initialize CAM table start address
EXTREF 2; // master position read from P&D or 2nd encoder
CAMOFF = 200; //Cam offset from master
CAMX = 0.5; //Cam input correction factor
CAMY = 1.5; //Cam output correction factor
MASTERRES = 2000; // master resolution
MODE CS; //Set electronic camming slave mode
TUM1; //Set Target Update Mode 1
SRB ACR, 0xEFFF, 0x0000; //Camming mode: Relative
UPD; //execute immediate
See also:
Electronic Camming – MPL Programming Details
MPL Description

6.2.3.1.4.

Homing and Function Calls

ElectroCraft Motion Controller is able to start the execution of homing routines and MPL functions stored
in the slaves’ non-volatile memory. A maximum of 10 homing/functions can be called access from Motion
Controller
Once the homing/function execution starts the Motion Controller application can be halted by using an
event on function complete. The Motion complete resumes the application execution when the event
occurs or it time outs.
See also:
MPL Description

285

MPD User Manual

6.2.3.1.5.

Homing - MPL Programming Details

The homing is a sequence of motions, usually executed after power-on, through which the load is
positioned into a well-defined point – the home position. Typically, the home position is the starting point
for normal operation.
The search for the home position can be done in numerous ways. In order to offer maximum flexibility,
the MPL does not impose the homing procedures but lets you define your own, according with your
application needs.
Basically a homing procedure is a MPL function and by calling it you start executing the homing
procedure. The call must be done using the MPL command CALLS – a cancelable call. This command
offers the possibility to abort at any moment the homing sequence execution (with MPL command
ABORT) and return to the point where the call was initiated. Therefore, if the homing procedure can’t find
the home position, you have the option to cancel it.
During the execution of a homing procedure SRL.8 = 1. Hence you can find when a homing sequence
ends, either by monitoring bit 8 from SRL or by programming the drive/motor to send a message to your
host when SRL.8 changes. As long as a homing sequence is in execution, you should not start another
one. If this happens, the last homing is aborted and a warning is generated by setting SRL.7 = 1.
Remark: In motion programming tools like MotionPRO Developer, ElectroCraft provides for each
programmable drive/motor a collection of up to 32 homing procedures. These are predefined MPL
functions, which you may call after setting the homing parameters. You may use any of these homing
procedures as they are, or use them as a starting point for your own homing routines.
Typically a homing function requires setting the following parameters before calling it:
•

CACC – acceleration/deceleration rate for the position / speed profiles during homing

•

CDEC – deceleration rate for quick stop when a limit switch is reached

•

CSPD – High/normal speed for the position / speed profiles done during homing

•

HOMESPD – Low speed for the final approach towards the home position

•

HOMEPOS – New home position set at the end of the homing procedure

See also:
Homing – Related MPL Instructions and Data
MPL Description

286

MPD User Manual

6.2.3.1.6.

Homing - Related MPL Instructions and Data

Parameters
CACC
Acceleration/deceleration command for the position / speed profiles during homing.
Measured in acceleration units
CDEC

Deceleration rate during quick stop. Measured in acceleration units

CSPD
speed units

High/normal speed command for the position / speed profiles during homing. Measured in

HOMEPOS

New home position set at the end of the homing procedure. Measured in position units

HOMESPD
speed units

Low speed command for the final approach towards the home position. Measured in

Instructions
CALLS

Cancelable call of a MPL function

ABORT

Abort execution of a function called with CALLS

SAP V32
Set actual position equal with the value or a 32-bit long variable V32. The
value is measured in position units

Programming Example
// Position feedback: 500 lines incremental
// encoder (2000 counts/rev)
//Select homing parameters
CACC = 0.3183;//Acceleration rate = 1000[rad/s^2]
CDEC = 0.3183;//Deceleration rate = 1000[rad/s^2]
CSPD = 33.3333;//High speed = 1000[rpm]
HOMESPD = 3;//Low speed = 90[rpm]
HOMEPOS = 0;//Home position = 0[rot]
//Execute homing mode 1
CALLS HomeMode1; // call HomeMode1 function
WaitHomingEnd:
user_var = SRL;
SRB user_var, 0x100, 0; // isolate SRL.8
GOTO WaitHomingEnd, user_var, NEQ; // wait as long as SRL.8=1
HomingEnded:
...

287

MPD User Manual

HomeMode1:

// this function implements the homing procedure

...
SAP HOMEPOS; // Set home position = HOMEPOS value
RET;
See also:
Homing – MPL Programming Details
MPL Description

288

MPD User Manual

6.2.3.1.7.

Contouring

In the contouring mode, you can program an arbitrary path via a series of points. Between the points,
linear interpolation is performed, leading to a contour described by a succession of linear segments. The
contouring mode may be executed only from a MPL program. You can’t send contouring points from a
host via a communication channel, like in the case of the PT mode. Depending on the control mode
chosen, four options are available:
•

Position contouring – the load/motor is controlled in position. The path represents a position
reference

•

Speed contouring – the load/motor is controlled in speed. The path represents a speed
reference.

•

Torque contouring – the motor is controlled in torque. The path represents a current reference.

•

Voltage contouring – the motor is controlled in voltage. The path represents a voltage reference.

A contouring segment is described via the MPL command SEG, which has 2 parameters: time and
reference increment. The time represents the segment duration expressed in time units i.e. in number
of slow loop sampling periods. The reference increment represents the amount of reference variation per
time unit i.e. per slow loop sampling period.
The contouring mode has been foreseen mainly for setup tests. However, you can also use the position
contouring and the speed contouring for normal operation, as part of your motion application. You can
switch at any moment to and from these 2 modes. The torque contouring and the voltage contouring have
been foreseen only for setup tests. The torque contouring may be used, for example, to check the
response of the current controllers to different input signals. Similarly, the voltage contouring may be
used, for example, to check the motors behavior under a constant voltage or any other voltage shape.
24
20
16
12
8
4
0
0

Reference generation in contouring modes

In position contouring or speed contouring, the starting point is either the current value of the target
position/speed (if TUM1 command is set between the motion mode setting and the UPD command), or
the actual value of the load position/speed (if TUM1 is omitted). Therefore the contour is relative to the
starting point.
In torque/voltage contouring, the starting point may be set by the user in REF0(H). After reset, the default
value of REF0(H) is zero.
In the MPL program, first the contouring mode must be set, followed by the first point. Then the
contouring mode can be activated with the UPD command, followed by the next points. The sequence of
points must end with a final point having the time interval 0.

289

MPD User Manual

Remarks:
•

When the last segment execution ends, the reference is kept constant at the last computed
value.

•

When a contouring sequence ends without having time value set to 0 on the last segment, the
drive/motor remains in contouring mode waiting for new points. When the last segment has time
value set to 0, the drive gets out from contouring mode. In order to execute other segments, the
contouring mode must be set again.

When a sequence of contour points is executed, the MPL instruction pointer IP advances as the
segments described by the points are executed. When the reference generator starts working with a new
segment, at MPL program level the IP advances to the execution of the SEG instruction. The execution of
a MPL instruction for a contour segment means to copy the segment data into a local buffer and then wait
(i.e. loop on the same instruction) until the previous segment, currently under execution at reference
generator level will end. This procedure permits to immediately start the execution of the next contour
segment when the current one ends because the next segment data are already available in a local
buffer. Each time the reference generator starts to execute a new segment, the IP advances to the next
contour segment and its data are transferred into the local buffer.
See also:
Contouring – Related MPL Instructions and Data
MPL Description

290

MPD User Manual

6.2.3.1.8.

Contouring - MPL Instructions and Data

Parameters
REF0(H)
Starting value for torque or voltage contouring. Measured in current units or voltage
command units
Variables
TPOS

Target load position – position reference computed by the reference generator at
each slow loop sampling period in position or speed contouring. In speed contouring,
TPOS is computed by integrating the target speed TSPD.Measured in position units

TSPD

Target load speed – speed reference computed by the reference generator at
each slow loop sampling period in position or speed contouring. Measured in speed
units

TACC

Target load acceleration – acceleration/deceleration reference computed by the
reference generator at each slow loop sampling period in position and speed contouring.

Measured in
acceleration units
IQREF

Current reference – computed by the reference generator at each slow loop sampling
period in torque contouring. Measured in current units

UQREF

Voltage reference – computed by the reference generator at each slow loop sampling
period in voltage contouring. Measured in voltage command units

APOS_LD

Actual load position. Measured in position units. Alternate name: APOS.

ASPD_LD

Actual load speed – measured in speed units

APOS_MT

Actual motor position. Measured in motor position units.

ASPD_MT

Actual motor speed. Measured in motor speed units. Alternate name: ASPD

Motor current. Measured in current units

Instructions
MODE PC

Set position contouring mode

MODE SC

Set speed contouring mode

MODE TC

Set torque contouring mode

MODE VC

Set voltage contouring.

SEG Time, Increment

Set a contour segment where:

Time – is the segment time. It is an unsigned integer measured in time units
Increment – is the segment reference increment per time unit. It is 32-bit fixed value measured
in:

291

MPD User Manual

speed units for position contouring
acceleration units for speed contouring
current units / time units for torque contouring
voltage units / time units for voltage contouring
TUM1
Target Update Mode 1 (TUM1). Generates new trajectory starting from the actual values
of position and speed reference (i.e. don’t update the reference values with load/motor position and
speed)
TUM0
Target Update Mode 0 (TUM0). Generates new trajectory starting from the actual values
of load/motor position and speed (i.e. updates the reference values with
load/motor position and speed)
UPD

Update motion parameters and start new motion mode

STOP

Stop the motion.

Remarks:
•

In order to activate the TUM1 mode, execute the MPL instruction TUM1 AFTER setting one of the
contouring modes and BEFORE the UPD command. When the MPL command setting a
contouring mode is executed, it automatically sets TUM0 mode. However, as the new motion
mode becomes effective only after the UPD command, a TUM1 command will overwrite the
TUM0 mode

•

Under TUM0 mode, at the UPD command TPOS=APOS_LD and TSPD=ASPD_LD. In open loop
control of steppers, TUM0 is ignored as there is no position and/or speed feedback

•

In setup configurations where there is no transmission ratio between the motor and the load, it is
supposed that these are directly connected. In these cases: APOS_MT=APOS_LD and
ASPD_MT=ASPD_LD

Programming Example
// Position contouring with position feedback on motor: 500 lines
// incremental encoder (2000 counts/rev)
MODE PC;//Set Position Contouring
TUM1;//Start from actual value of position reference
SEG 100U, 20.00000;// 1st point
UPD; //Execute immediate
SEG 100U, 0.00000; // 2nd point
SEG 0, 0.0; //End of contouring
See also:
Contouring – MPL Programming Details
MPL Description

292

MPD User Manual

6.2.3.1.9.

Test Mode - MPL Programming Details

The torque and voltage test modes have been designed to facilitate the testing during the setup phase. In
these test modes, either a voltage or a torque (current) command can be set using a test reference
consisting of a limited ramp (see figure below).

Reference profile in test modes

For AC motors (like for example the brushless motors), the test mode offers also the possibility to rotate a
voltage or current reference vector with a programmable speed. As a result, these motors can be moved
in an “open-loop” mode without using the position sensor. The main advantage of this test mode is the
possibility to conduct in a safe way a series of tests, which can offer important information about the
motor parameters, drive status and the integrity of the its connections.

Electrical angle setup in test modes with brushless AC motors

Remark: The Motion test is a special test mode to be used only in some special cases for drives setup.
The Motion Test mode is not supposed to be used during normal operation
See also:
Test Mode – Related MPL Instructions and Data
MPL Description

293

MPD User Manual

6.2.3.1.10.

Test Mode - MPL Instructions and Data

Parameters
REFTST_V

Maximum voltage reference. Measured in voltage units

REFTST_A

Maximum current reference. Measured in current units

RINCTST_V Voltage reference increment at each slow-loop sampling period. Measured in voltage
units / time units
RINCTST_A Current reference increment at each slow-loop sampling period. Measured in current
units / time units
THTST

Initial value for the electrical angle. Measured in electrical angle units

TINCTST
Electrical angle increment at each fast-loop sampling period. Measured in electrical
angle increments units.
Instructions
MODE VT

Set voltage test mode

MODE TT

Set torque test mode

UPD

Update motion mode and parameters. Start motion

Programming Example
//Torque test mode, brushless AC motor. Drive IDM640-8EI
//with peak current 16.5A -> 32736 internal current units
//360° electric angle -> 65536 internal units
// fast loop sampling period = 0.1ms. Motor has 2 pole pairs
MODE TT; //Torque Test Mode
REFTST_A = 1984;//Reference saturation = 1[A]
RINCTST_A = 20;//Reference increment = 10[A/s]
THTST = 0;//Electric angle = 0[deg]
TINCTST = 7;//Electric angle increment ~= 2e+002[deg/s]
UPD; //update immediate
See also:
Test Mode – MPL Programming Details
MPL Description

294

MPD User Manual

6.2.3.1.11.

Motor Commands

You can apply one of following commands to the motor:
•

Activate/deactivate the control loops and the power stage PWM output commands (AXISON /
AXISOFF)

•

Stop the motor with deceleration set in MPL parameter CACC

•

Issue an update command, immediate (UPD) or when a previously programmed event occurs
(UPD!)

•

Change the value of the motor position and position reference

The AXISON command activates the control loops and the PWM output commands. After power on, the
AXISON command has to be executed after the ENDINIT (end of initialization) command.
Remark: You may set the first motion mode either before or after the AXISON command. If the first
AXISON is executed before setting the motion mode, the drive/motor enters in the default motion mode:
voltage external online with voltage reference zero. Therefore, the drive gets zero voltage commands,
until you’ll set a new motion mode. If you first set a motion mode, followed by update UPD and then
activate control with AXISON, the drive/motor enters directly in the desired motion mode.
The AXISON command may be used to restore the normal drive operation following an AXISOFF
command. Typically, this situation occurs at recovery from an error, following the fault reset command
FAULTR, or after the drive/motor ENABLE input goes from status disabled to status enabled.
When AXISON is set after an AXISOFF command, the reference generator resumes its calculations from
the same conditions left when the AXISOFF command was executed. As consequence, the values of the
target position and speed provided by the reference generator may differ quite a lot from the actual
values of the load position and speed which continue to be measured during the AXISOFF condition. In
order to eliminate these differences:
•

Set the motion mode, even if it is the same. The motion mode commands, automatically set the
target update mode zero (TUM0), which updates the target position and speed with the actual
measured values of the load position and speed

•

Execute update command UPD

•

Execute AXISON command

Example: A motor controlled in speed with a trapezoidal profile, was stopped with an AXISOFF
command. In order to resume the normal operation, with the same parameters, the MPL program can be:
// Resume speed profile operation from AXISOFF
MODE SP;

// set speed profile mode

UPD;

// update immediate

AXISON;

// motion starts.
//The initial value for target speed is 0 because was
//updated with the actual motor speed which is 0
//because the motor is still

The AXISOFF command deactivates the control loops, the reference generator and the PWM output
commands (all the switching devices are off). However, all the measurements remain active and
therefore the motor currents, speed, position as well as the supply voltage continue to be updated and
monitored. If the AXISOFF command is applied during motion, it leaves the motor free running. Typically,

295

MPD User Manual

the AXISOFF command is used when a fault condition is detected, for example when a protection is
triggered.
Fault conditions trigger MPL interrupts. Each drive/motor has a built-in set of MPL interrupt service
routines (ISR), which are automatically activated after power-on. In these routines, the default action for
fault conditions is an AXISOFF command. If needed, you may replace any built-in ISR with your own ISR
and thus, adapt the fault treatment to your needs.
Remark: The AXISOFF command is automatically generated when the Enable input goes from enabled
to disabled status. If the Enable input returns to the enabled status, the AXISON command is
automatically generated if
•

ACR.3 =1, or

•

ACR.1 = 1 i.e. the drive/motor is set to start automatically after power-on with an external

Remark: SRL.15 shows the AXISON/AXISOFF condition and SRH.15 shows a fault condition
The STOP command stops the motor with the deceleration rate set in MPL parameter CACC. The
drive/motor decelerates following a trapezoidal position or speed profile. If the STOP command is issued
during the execution of an S-curve profile, the deceleration profile may be chosen between a trapezoidal
or an S-curve profile (see S-curve dialogue settings). You can detect when the motor has stopped by
setting a motion complete event ( !MC )and waiting until the event occurs ( WAIT! ). The STOP command
can be used only when the drive/motor is controlled in position or speed.
Remarks:
•

In order to restart after a STOP command, you need to set again the motion mode. This operation
disables the stop mode and allows the motor to move

•

When STOP command is sent via a communication channel, it will automatically stop any MPL
program execution, to avoid overwriting the STOP command from the MPL program

If an error requiring the immediate stop of the motion occurs (like triggering a limit switch or following a
command error), the drive/motor enters automatically in the quick stop mode. This mode stops the
motor with a trapezoidal profile, using the deceleration rate set in the MPL parameter CDEC.
When an immediate update command UPD is executed, the last motion mode programmed together with
the latest motion parameters are taken into consideration. During motion execution, you can freely
change the motion mode and/or its parameters. These changes will have no effect until an update
command is executed.
If you intend to perform an update when a specific condition occurs, you can set an event which monitors
the condition, followed by an update on event command UPD!. When the monitored condition occurs, the
update will be automatically performed. Once you have set an update on event UPD!, you can either wait
for the monitored event to occur, or perform other operations.
The MPL command SAP offers you the possibility to set / change the referential for position
measurement by changing simultaneously the load position APOS and the target position TPOS values,
while keeping the same position error.

296

MPD User Manual

You can specify the new position either as an immediate value or via a 32-bit long variable. SAP
command can be executed at any moment during motion. When SAP command is executed, the
following operations are performed:
•

Under TUM1, i.e. if TUM1 command has been executed after the last motion mode setting and
before the last UPD, the target/reference position TPOS is set equal with the new position value
and the actual motor position APOS is set equal with the new position reference minus the
position error (POSERR)
TPOS = new_value;
APOS = TPOS – POSERR;

•

Under TUM0, i.e. if TUM1 command has not been executed after the last motion mode setting
and before the last UPD, the actual load position APOS is set equal with the new position value
and the target/reference position TPOS is set equal with the new position plus the position error
(POSERR)
APOS = new_value;
TPOS = APOS + POSERR;

The MPL command STA sets the target position equal with the actual position: TPOS = APOS.
See also:
Motor Commands – Related MPL Instructions and Data
MPL Description

6.2.3.1.12.

Motor Commands - Related MPL Instructions and Data

Parameters
CACC

Deceleration rate following a STOP command

CDEC

Deceleration rate during quick stop

MPL Variables
APOS_LD

Actual load position. Measured in position units. Alternate name: APOS

TPOS

Target position – position reference computed by the reference generator at each slow
loop sampling period. Measured in position units

POSERR

Represents the value of load position error, computed as the difference between the
target position and the measured position of the load

Instructions
AXISON

Set axis ON. Activate control loops and PWM commands

AXISOFF

Set axis OFF. Deactivate control loops and PWM commands

STOP

Stop motion with the acceleration/deceleration set in CACC

297

MPD User Manual

UPD

Update immediate motion mode and parameters. Start motion

UPD!

Update the motion mode and parameters when the programmed
event occurs

SAP V32

Set V32 in the actual or target position. V32 is either a 32-bit immediate
value or a long MPL data (user variable) containing the value to set

STA

Set target position TPOS equal with the actual position APOS

Programming Example
// Position profile. Position feedback: 500 lines incremental
// encoder (2000 counts/rev)
CACC = 0.3183;//acceleration rate = 1000[rad/s^2]
CSPD = 33.3333;//slew speed = 1000[rpm]
CPOS = 6000;//position command = 3[rot]
CPR; //position command is relative
MODE PP;
TUM1; //set Target Update Mode 1
UPD; //execute immediate
...
STOP; // stop motion before reaching the final position
//Define event: When actual position remains inside
//a settle band around the position to reach
SRB UPGRADE, 0xFFFF, 0x0800;
!MC;
WAIT!;//Wait until the event occurs i.e. motor stops
SAP 0; // Set actual position value to 0[rot]
...
MODE PP;
UPD; //execute immediate – restart motion after a STOP command
See also:
Motor Commands – MPL Programming Details
MPL Description

298

MPD User Manual

6.2.3.2.

Program flow control

6.2.3.2.1.

Events on drives with built-in Motion Controller

6.2.3.2.1.1.

List of Events

An event is a programmable condition, which once set, is monitored for occurrence. You can do the
following actions in relation with an event:
A) Change the motion mode and/or the motion parameters, when the event occurs
B) Stop the motion when the event occurs
C) Wait for the programmed event to occur
Remark: The programmed event is automatically erased if the event is reached, if the timeout for the wait
is reached or if a new event is programmed.
Only a single event can be programmed at a time. The Table below presents all the events with their
mnemonic and a short description.

299

MPD User Manual

If you want to change the motion mode and/or the motion parameters when an event occurs, you must do
the following:
•

Program/define one of the above events

•

Set the new motion mode and/or the motion parameters

300

MPD User Manual

•

Set one of the MPL commands: UPD! (Update on event) or STOP! (Stop on event), which will
become effective when the programmed event occurs

Remark: After you have programmed a new motion mode and/or new motion parameters with update on
event, you need to wait until the programmed event occurs, using the MPL command WAIT!. Otherwise,
the program will continue with the next instructions that may override the event monitoring.
The instruction WAIT!, stops the MPL program further execution, until the programmed event occurs.
During this period, only the MPL commands received via a communication channel are processed. You
may also specify the time limit for the wait, by adding a time value after the WAIT! command: WAIT!
time_limit. If the monitored event doesn’t occur in the time limit set, the wait loop is interrupted, the event
checking is reset and the MPL program passes to the next instruction.
See also:
Events – When the actual motion is completed. Related MPL Instructions and Data
Events – Function of motor or load position Related MPL Instructions and Data
Events – Function of motor or load speed Related MPL Instructions and Data
Events – After a wait time Related MPL Instructions and Data
Events – Function of reference Related MPL Instructions and Data
Events – Function of inputs status Related MPL Instructions and Data
Events – Function of 32-bit variable value Related MPL Instructions and Data

6.2.3.2.1.2.

When the actual motion is completed

Setting this event allows you to detect when a motion is completed. You can use, for example, this event
to start your next move only after the actual move is finalized.
The motion complete condition is set in the following conditions:
•

During position control:
If UPGRADE.11=1, when the position reference arrives at the position to reach (commanded
position) and the position error remains inside a settle band for a preset stabilize time interval
If UPGRADE.11=0, when the position reference arrives at the position to reach (commanded
position)

•

During speed control, when the speed reference arrives at the commanded speed

The motion complete condition is reset when a new motion is started i.e. when the update command –
UPD is executed.
Remark: In case of steppers controlled open-loop, the motion complete condition for positioning is
always set when the position reference arrives at the position to reach independently of the
UPGRADE.11 status.
Parameters
POSOKLIM

Specifies the settle band when UPGRADE.11=1. Measured in position units

TONPOSOK

Specifies the stabilize time UPGRADE.11=1. Measured in time units

301

MPD User Manual

UPGRADE

MPL register. When UPGRADE.11=1, the motion complete is set when
commanded/target position is reached and the position error is inside a settle band for a
preset stabilize time. When UPGRADE.11=0, the motion complete is set when
commanded/target position speed is reached

Instructions
!MC

Set event when the actual position is completed

UPD!

Update the motion mode and/or the motion parameters when the programmed event
occurs

STOP!

Stop motion with the acceleration/deceleration set in CACC, when the programmed
event occurs

WAIT! value16 Wait until the programmed event occurs. If the command is followed by value16, the wait
ends after the time interval specified in this 16-bit integer value. Value16 is measured in
time units
Programming Example 1
//Execute successive position profiles
//Position feedback: 500 lines encoder (2000 counts/rev)
CACC = 0.3183;//acceleration rate = 1000[rad/s^2]
CSPD = 100;//slew speed = 3000[rpm]
CPOS = 20000;//position command = 10[rot]
CPR; //position command is relative
MODE PP;
TUM1; //set Target Update Mode 1
UPD; //execute immediate
!MC; WAIT!; // set event and wait for motion complete
// start here next move
Programming Example 2
//Execute successive position profiles
// Position feedback: 500 lines encoder (2000 counts/rev)
// First move
CACC = 0.3183;//acceleration rate = 1000[rad/s^2]
CSPD = 100;//slew speed = 3000[rpm]
CPOS = 20000;//position command = 10[rot]
CPR; //position command is relative
MODE PP;
TUM1; //set Target Update Mode 1
UPD; //start first move

302

MPD User Manual

// set motion complete parameters
POSOKLIM = 20; //Set settle band to 0.01[rot]
TONPOSOK = 10; //Set stabilize time to 10[ms]
SRB UPGRADE, 0xFFFF, 0x0800;

!MC; // set event when motion is complete
// Prepare data for second move
CPOS = 10000;//new position command = 5[rot]
CPR; //position command is relative
MODE PP;
TUM1; //set Target Update Mode 1
UPD!; //execute on event
WAIT!;//Wait until the event occurs. When the event
// occurs the second move will start
See also:
Events – Function of motor or load position. Related MPL Instructions and Data
Events – Function of motor or load speed. Related MPL Instructions and Data
Events – After a wait time. Related MPL Instructions and Data
Events – Function of reference. Related MPL Instructions and Data
Events – Function of inputs status. Related MPL Instructions and Data
Events – Function of 32-bit variable value. Related MPL Instructions and Data
Events – MPL Programming Details

303

MPD User Manual

6.2.3.2.1.3.

Function of motor or load position

Setting any of these events allows you to detect when the load or motor absolute or the relative position
is equal or over/under a value or the value of a variable.
The absolute load or motor position is the measured position of the load or motor. The relative position is
the load displacement from the beginning of the actual movement. For example if a position profile was
started with the absolute load position 50 revolutions, when the absolute load position reaches 60
revolutions, the relative motor position is 10 revolutions.
Remark: The origin for the relative position measurement (MPL variable POS0) is set function of the
target update mode. Under TUM1, POS0 = TPOS. Under TUM0, POS0=APOS_LD.

Variables
POS0

Origin for the relative position measurement for the position events. Measured in
position units

RPOS

Relative load position for the position events. It is computed with formula: RPOS
= APOS_LD – POS0. Measured in position units

TPOS

Target position – position reference computed by the reference generator at
each slow loop sampling period. Measured in position units

APOS_LD

Actual load position. Measured in position units. Alternate name: APOS

APOS_MT

Actual motor position. Measured in motor position units.

Instructions
!AMPOvalue32 Set event when motor absolute position is equal or over value32. Value32 is a long
integer. Measured in motor position units
!AMPOvar32 Set event when motor absolute position is equal or over var32. Var32 is a long integer
MPL parameter or variable. Measured in motor position units
!ALPOvalue32 Set event when load absolute position is equal or over
integer. Measured in position units

value32. Value32 is a long

!ALPOvar32 Set event when load absolute position is equal or over var32. Var32 is a long integer MPL
parameter or variable. Measured in position units
!AMPUvalue32 Set event when motor absolute position is equal or under value32. Value32 is a long
integer. Measured in motor position units
!AMPUvar32 Set event when motor absolute position is equal or under var32. Var32 is a long integer
MPL parameter or variable. Measured in motor position units
!ALPUvalue32

Set event when load absolute position is equal or under value32. Value32 is a
long integer. Measured in position units

!ALPUvar32

Set event when load absolute position is equal or under var32. Var32 is a long
integer MPL parameter or variable. Measured in position units

304

MPD User Manual

!RPOvalue32

Set event when load relative position is equal or over value32. Value32 is a long
integer. Measured in position units

!RPOvar32

Set event when load relative position is equal or over var32. Var32 is a long
integer MPL parameter or variable. Measured in position units

!RPUvalue32

Set event when load relative position is equal or under value32. Value32 is a
long integer. Measured in position units

!RPUvar32

Set event when load relative position is equal or under var32. Var32 is a long
integer MPL parameter or variable. Measured in position units

UPD!

Update the motion mode and/or the motion parameters when the programmed
event occurs

STOP!

Stop motion with the acceleration/deceleration set in CACC, when the
programmed event occurs

WAIT! value16

Wait until the programmed event occurs. If the command is followed by value16,
the wait ends after the time interval specified in this 16-bit integer value. Value16
is measured in time units

Programming Example
//Stop motion when motor position > 3 rev
//Position feedback: 500 lines encoder (2000 counts/rev)
!AMPO 6000; //Set event: when motor absolute position is >= 3 rev
STOP!;//Stop the motion when the event occurs
WAIT!;//Wait until the event occurs

See also:
Events – When the actual motion is completed. Related MPL Instructions and Data
Events – Function of motor or load speed Related MPL Instructions and Data
Events – After a wait time Related MPL Instructions and Data
Events – Function of reference Related MPL Instructions and Data
Events – Function of inputs status Related MPL Instructions and Data
Events – Function of 32-bit variable value Related MPL Instructions and Data
Events – MPL Programming Details

305

MPD User Manual

6.2.3.2.1.4.

Function of motor or load speed

Setting any of these events allows you to detect when the load or motor speed is equal or over/under a
value or the value of a variable.

Variables
ASPD_LD

Actual load speed – measured in speed units

APOS_MT

Actual motor position. Measured in motor position units.

ASPD_MT

Actual motor speed. Measured in motor speed units. Alternate name: ASPD

Instructions
!MSOvalue32 Set event when motor speed is equal or over value32. Value32 is a fixed value.
Measured in motor speed units
!MSOvar32

Set event when motor speed is equal or over var2. Var32 is a fixed MPL parameter or
variable. Measured in motor speed units

!LSOvalue32

Set event when load speed is equal or over value32. Value32 is a fixed value. Measured
in speed units

!LSOvar32

Set event when load speed is equal or over var2. Var32 is a fixed MPL parameter or
variable. Measured in speed units

!MSUvalue32 Set event when motor speed is equal or under value32. Value32 is a fixed value.
Measured in motor speed units
!MSUvar32

Set event when motor speed is equal or under var2. Var32 is a fixed MPL parameter or
variable. Measured in motor speed units

!LSUvalue32

Set event when load speed is equal or under value32. Value32 is a fixed value.
Measured in speed units

!LSUvar32

Set event when load speed is equal or under var2. Var32 is a fixed MPL parameter or
variable. Measured in speed units

UPD!

Update the motion mode and/or the motion parameters when the programmed event
occurs

STOP!

Stop motion with the acceleration/deceleration set in CACC, when the programmed
event occurs

306

MPD User Manual

Programming Example
//Motor is decelerating. Start a position profile when motor
//speed <= 600 rpm
//Position feedback: 500 lines encoder (2000 counts/rev)
!MSU 20; //Set event: when motor speed is <= 600 rpm
// prepare new motion mode
CACC = 0.3183;//acceleration rate = 1000[rad/s^2]
CSPD = 100;//slew speed = 3000[rpm]
CPOS = 20000;//position command = 10[rot]
CPR; //position command is relative
MODE PP;
TUM1; //set Target Update Mode 1
UPD!; //execute on event
WAIT!;//Wait until the event occurs
See also:
Events – When the actual motion is completed. Related MPL Instructions and Data
Events – Function of motor or load position Related MPL Instructions and Data
Events – After a wait time Related MPL Instructions and Data
Events – Function of reference Related MPL Instructions and Data
Events – Function of inputs status Related MPL Instructions and Data
Events – Function of 32-bit variable value Related MPL Instructions and Data
Events – MPL Programming Details

6.2.3.2.1.5.

After a wait time

Setting this event allows you to introduce a delay in the execution of the MPL program.
The monitored event is: when relative time (MPL variable RTIME) is equal or over a value or the value of
a variable. The relative time RTIME is computed with formula:
RTIME = ATIME – TIME0,
where ATIME is a 32-bit absolute time counter, incremented by 1 at each slow loop sampling period and
TIME0 is the ATIME value when the wait event was set. After power on, TIME0 is set to 0. RTIME is
updated together with ATIME, at each slow loop sampling period.
Remark:
•

ATIME and RTIME start ONLY after the execution of the ENDINIT (end of initialization)
command. Therefore you should not set wait events before executing this command

•

After setting a wait time event, in order to effectively execute the time delay, you need to wait for
the event to occur, using WAIT!

307

MPD User Manual

Variables
ATIME

Absolute time counter. Incremented at each slow loop sampling period. Starts
after execution of ENDINIT command. Measured in time units

RTIME

Relative time. RTIME = ATIME – TIME0. Measured in time units

TIME0

Absolute time when last wait event was set. Measured in time units

Instructions
!RT value32 Introduce a time delay equal with value32. Value32 is a 32-bit long
number. Measured in time units

integer

!RT var32
Introduce a time delay equal with value of var32. Var32 is a 32-bit long integer MPL
variable or parameter. Measured in time units
UPD!
occurs

Update the motion mode and/or the motion parameters when the programmed event

STOP!
occurs

Stop motion with the acceleration/deceleration set in CACC, when the programmed event

// set event: After a wait of 100 slow-loop periods
// 1 slow-loop period = 1ms

WAIT!;

// wait the event to occur

See also:
Events – When the actual motion is completed. Related MPL Instructions and Data
Events – Function of motor or load position Related MPL Instructions and Data
Events – Function of motor or load speed Related MPL Instructions and Data
Events – Function of reference Related MPL Instructions and Data
Events – Function of inputs status Related MPL Instructions and Data
Events – Function of 32-bit variable value Related MPL Instructions and Data
Events – MPL Programming Details

308

MPD User Manual

6.2.3.2.1.6.

Function of reference

Setting any of these events allows you to detect when the position or speed or torque reference is equal
or over/under a value or the value of a variable. Use:
•

Position reference events, only when position control is performed

•

Speed reference events, only when speed control is performed

•

Torque reference events, only when torque control is performed

Remark: Setting an event based on the position or speed reference is particularly useful for open loop
operation where motor position and speed is not available
Variables
TPOS

Target load position – position reference computed by the reference generator at each
slow loop sampling period, when position or speed control is performed. Measured in
position units

TSPD

Target load speed – speed reference computed by the reference generator at each slow
loop sampling period, when position or speed control is performed. Measured in speed
units

IQREF

Current reference – Measured in current units

TREF Target reference. It is a:
Position reference, when position control is performed
Speed reference, when speed control is performed
Current/torque reference, when torque control is performed
Voltage reference, when voltage control is performed
Function of the control mode, it is measured in position units or speed units or current units or
voltage command units

Instructions
!PROvalue32

Set event if position reference is equal or over value32. Value32 is a long integer value.
Measured in position units

!PROvar32

Set event if position reference is equal or over var32. Var32 is a long integer MPL
parameter or variable. Measured in position units

!PRUvalue32

Set event if position reference is equal or under value32. Value32 is a long integer value.
Measured in position units

!PRUvar32

Set event if position reference is equal or under var32. Var32 is a long integer MPL
parameter or variable. Measured in position units

!SROvalue32

Set event when speed reference is equal or over value32. Value32 is a fixed value.
Measured in speed units

!SROvar32

Set event when speed reference is equal or over var32. Var32 is a fixed MPL parameter
or variable. Measured in speed units

309

MPD User Manual

!SRUvalue32

Set event when speed reference is equal or under value32. Value32 is a fixed value.
Measured in speed units

!SRUvar32

Set event when torque reference is equal or under var32. Var32 is a fixed MPL
parameter or variable. Measured in speed units

!TROvalue32

Set event when torque reference is equal or over value32. Value32 is a fixed value.
Measured in current units

!TROvar32

Set event when speed reference is equal or over var32. Var32 is a fixed MPL parameter
or variable. Measured in current units

!TRUvalue32

Set event when torque reference is equal or under value32. Value32 is a fixed value.
Measured in current units

!TRUvar32

Set event when speed reference is equal or under var32. Var32 is a fixed MPL parameter
or variable. Measured in current units

UPD!

Update the motion mode and/or the motion parameters when the programmed event
occurs

STOP!

Stop motion with the acceleration/deceleration set in CACC, when the programmed
event occurs

Programming Example
// Motor will reach a hard stop. Disable control when torque
// reference > 1 A = 1984 internal current units
!TRO 1984.0; // set event when torque reference > 1 A
WAIT!;//Wait until the event occurs
AXISOFF; // disable control
See also:
Events – When the actual motion is completed. Related MPL Instructions and Data
Events – Function of motor or load position Related MPL Instructions and Data
Events – Function of motor or load speed Related MPL Instructions and Data
Events – After a wait time Related MPL Instructions and Data
Events – Function of inputs status Related MPL Instructions and Data
Events – Function of 32-bit variable value Related MPL Instructions and Data
Events – MPL Programming Details

310

MPD User Manual

6.2.3.2.1.7.

Function of inputs status

Setting any of these events allows you to detect when:
•

A transition occurs on one of the 2 capture inputs. On these inputs, are usually connected the 1st
and 2nd encoder index signals

•

A transition occurs on one of the 2 limit switch inputs

•

A general purpose digital input changes its status

Capture and limit switch inputs events
The capture inputs and the limit switch inputs can be programmed to sense either a low to high or high to
low transition. When the programmed transition occurs on either of these inputs, the following happens:
•

Motor position APOS_MT is captured and memorized in the MPL variable CAPPOS, except the
case of open-loop systems, where reference position TPOS is captured instead

•

Master position APOS2 or load position APOS_LD is captured and memorized in the MPL
variable CAPPOS2, except the case of steppers controlled open loop with an encoder on the
load, when load position is captured in CAPPOS.

If both capture inputs are activated in the same time, the capture event is set by the capture input
that is triggered first. The capture event makes no difference between the two capture inputs.

•

If the drive/motor accepts CANopen protocol, the home input is the same with the 2nd encoder
index. Therefore, the home input can be programmed like a capture input to sense transitions
and to memorize the load and master position when the transition occurs.

In order to set an event on a capture input, you need to:
1) Enable the capture input for the detection of a low->high or a high-> low transition, using one
of the MPL instructions: ENCAPI0, ENCAPI1, EN2CAPI0, EN2CAPI1
2) Set a capture event, with the MPL instruction: !CAP
3) Wait for the event to occur, with the MPL instruction: WAIT!
Remarks:
•

When the programmed transition is detected, the capture input is automatically disabled. In order
to use it again, you need to enable it again for the desired transition

•

You may also disable a capture input (i.e. its capability to detect a programmed transition)
previously enabled, using the MPL commands: DISCAPI, DIS2CAPI

In order to set an event on a limit switch input, you need to:
1) Enable the limit switch input for the detection of a low->high or a high-> low transition, using
one of the MPL instructions: ENLSP0, ENLSP1, ENLSN0, ENLSNI1

311

MPD User Manual

2) Set a limit switch event with one of the MPL instructions: !LSP, !LSN
3) Wait for the event to occur, with the MPL instruction: WAIT!
Remarks:
•

When the programmed transition is detected, the limit switch input is automatically disabled (for
sensing transitions). In order to use it again, you need to enable it again for the desired transition

•

You may also disable a limit switch input (i.e. its capability to detect a programmed transition)
previously enabled, using the MPL commands: DISLSP, DISLSN

Variables
CAPPOS

Position captured when programmed transition occurs on 1st capture/encoder index
input. Measured in motor position units, except the case of stepper motors, when it is
measured in position units

CAPPOS2

Position captured when programmed transition occurs on 2nd capture/encoder index
input. Measured in position units when load position is captured, or in master position
units when master position is captured

APOS2

Master position computed by the slaves from pulse & direction or quadrature encoder
inputs. Measured in master position units

TPOS

Target position – position reference computed by the reference generator at each slow
loop sampling period. Measured in position units

APOS_LD

Actual load position. Measured in position units. Alternate name: APOS

APOS_MT

Actual motor position. Measured in motor position units.

Instructions:
!CAP

Set event on capture inputs

ENCAPI0

Enable 1st capture/encoder index input to detect a high to low transition

EN2CAPI0

Enable 2nd capture/encoder index input to detect a high to low transition

ENCAPI1

Enable 1st capture/encoder index input to detect a low to high transition

EN2CAPI1

Enable 2nd capture/encoder index input to detect a low to high transition

!LSN

Set event on negative limit switch input

!LSP

Set event on positive limit switch input

ENLSP0

Enable positive limit switch input to detect a high to low transition

ENLSN0

Enable negative limit switch input to detect a high to low transition

ENLSP1

Enable positive limit switch input to detect a low to high transition

ENLSN1

Enable negative limit switch input to detect a low to high transition

DISCAPI

Disable 1st capture/encoder index input to detect transitions

DIS2CAPI

Disable 2nd capture/encoder index input to detect transitions

312

MPD User Manual

DISLSP

Disable positive limit switch input to detect transitions

DISLSN

Disable negative limit switch input to detect transitions

UPD!

Update the motion mode and/or the motion parameters when the programmed
event occurs

STOP!

Stop motion with the acceleration/deceleration set in CACC, when the
programmed event occurs

Programming Example
//Stop motion on next encoder index
ENCAPI1; //Set event: When the encoder index goes low->high
!CAP;
STOP!;//Stop the motion when event occurs
WAIT!;//Wait until the event occurs
// now load/motor is in deceleration
CPOS = CAPPOS; // new command position = captured position
CPA; //position command is absolute
MODE PP;
TUM1; //set Target Update Mode 1
UPD; //execute immediate
!MC; WAIT!; //wait for completion

General purpose digital inputs events
You can program an event on any general-purpose digital input. The event can be set when the input is
high (after a low to high transition) or low (after a high to low transition).
A general purpose input event is checked at each slow loop sampling period, when the status of the
selected input is compared with the one set in the event. A match triggers the event.
Instructions
!IN#n 1

Set event when the Input #n is high

!IN#n 0

Set event when input #n is low

UPD!

Update the motion mode and/or the motion parameters when the programmed
event occurs

STOP!

Stop motion with the acceleration/deceleration set in CACC, when the
programmed event occurs

313

MPD User Manual

WAIT! value16 Wait until the programmed event occurs. If the command is followed by value16, the wait
ends after the time interval specified in this 16-bit integer value. Value16 is measured in
time units
Programming Example
// Start motion when digital input #36 is high
!IN#36 1; // set event when input #36 is high
//Position profile. Position feedback: 500-lines encoder
CACC = 0.3183;//acceleration rate = 1000[rad/s^2]
CSPD = 100;//slew speed = 3000[rpm]
CPOS = 20000;//position command = 10[rot]
CPA; //position command is absolute
MODE PP;
TUM1; //set Target Update Mode 1
UPD!; //execute on event
WAIT!;//Wait until the event occurs
See also:
Events – When the actual motion is completed. Related MPL Instructions and Data
Events – Function of motor or load position Related MPL Instructions and Data
Events – Function of motor or load speed Related MPL Instructions and Data
Events – After a wait time Related MPL Instructions and Data
Events – Function of reference Related MPL Instructions and Data
Events – Function of 32-bit variable value Related MPL Instructions and Data
Events – MPL Programming Details
Special I/O – MPL Programming Details

314

MPD User Manual

6.2.3.2.1.8.

Function of variable value

Setting any of these events allows you to detect when a selected variable is equal or over/under a value
or the value of a variable. The selected variable can be any 32-bit MPL variable, long or fixed.
Instructions
!VO var32, value32
Set event when 32-bit MPL parameter or variable var32 is equal or over value32.
Value32 is either a long or a fixed, depending on var32 type.
!VO var32, var32c
Set event when 32-bit MPL parameter or variable var32 is equal or over var32c.
Var32c is a 32-bit MPL parameter of variable of the same type like var32.
!VU var32, value32
Set event when 32-bit MPL parameter or variable var32 is equal or under
value32. Value32 is either a long or a fixed, depending on var32 type.
!VU var32, var32c
Set event when 32-bit MPL parameter or variable var32 is equal or under var32c.
Var32c is a 32-bit MPL parameter of variable of the same type like var32.
UPD!

Update the motion mode and/or the motion parameters when the programmed
event occurs

STOP!

Stop motion with the acceleration/deceleration set in CACC, when the
programmed event occurs

WAIT! value16

Wait until the programmed event occurs. If the command is followed by value16,
the wait ends after the time interval specified in this 16-bit integer value. Value16
is measured in time units

Programming Example
//Wait until master position MREF > 500 counts, then activate
//electronic gearing slave mode
!VO MREF, 500; //Set event when variable MREF is <= 500
GEAR = 1; // gear ratio
GEARMASTER = 1; // Gear ratio denominator
GEARSLAVE = 1; // Gear ratio numerator
EXTREF 2; // read master from 2nd encoder or pulse & dir
MASTERRES = 2000; // master resolution
MODE GS; //Set as slave, position mode
TUM1; //Set Target Update Mode 1
SRB UPGRADE, 0xFFFF, 0x0004;//UPGRADE.2=1 enables CACC limitation
CACC = 0.3183; //Limit maximum acceleration at 1000[rad/s^2]
UPD!; //execute on event
See also:
Events – When the actual motion is completed. Related MPL Instructions and Data
Events – Function of motor or load position Related MPL Instructions and Data
Events – Function of motor or load speed Related MPL Instructions and Data

315

MPD User Manual

Events – After a wait time Related MPL Instructions and Data
Events – Function of reference Related MPL Instructions and Data
Events – Function of inputs status Related MPL Instructions and Data
Events – MPL Programming Details

6.2.3.2.2.

Jumps and Function Calls

The MPL offers the possibility to make unconditional or conditional jumps and calls of functions.
The jumps are executed with MPL command GOTO, followed by a jump address. The jump address may
be specified with an immediate value, through a label or via 16-bit MPL variable containing it. A label can
be any user-defined string of up to 32 characters starting with an alphanumeric character or with
underscore. A label starts from the first column of a text line and ends with a colon (:). It contains the
MPL program address of the next MPL instruction. Using an assignment instruction of type: user_var =
label; you can set a jump address in an integer MPL variable.
In a conditional jump, a condition is tested. If the condition is true the jump is executed, else the next MPL
command is carried out. The condition is specified by a test variable and a test condition both added after
the jump address. The test variable is always compared with zero. The possible test conditions are: < 0,
<= 0, >0, >=0, =0, ≠ 0.
The calls are executed with MPL command CALL, followed by a MPL function address. A MPL function
is a set of MPL commands which starts with a label and ends with the RET instruction. The label gives
the MPL function address and name. Like the jump address, the MPL function address may be specified
with an immediate value, through a label or via 16-bit MPL variable containing it.
In a conditional call, a condition is tested. If the condition is true the MPL function is executed, else the
next MPL command is carried out. The condition is specified by a test variable and a test condition added
after the MPL function address. The test variable is always compared with zero. The possible test
conditions are: < 0, <= 0, >0, >=0, =0, ≠ 0.
Using MPL command CALLS, you can do a cancelable call. Use this command if the exit from the called
function depends on conditions that may not be reached. In this case, using MPL command ABORT you
can terminate the function execution and return to the next instruction after the call.
See also:
Jumps and Function Calls – Related MPL Instructions and Data
MPL Description

316

MPD User Manual

6.2.3.2.3.
Jumps and Function Calls - Related MPL Instructions and
Data
Instructions
GOTO label

Unconditional jump to the address indicated by the label.

GOTO value16

Unconditional jump to the address set in value16. Value16 is a 16-bit unsigned
integer.

GOTO var16

Unconditional jump to the address indicated by var16. Var16 is a 16-bit MPL
variable whose value is the jump address

GOTO label, var, cond Conditional jump to the address indicated by the label. Var is a 16 or 32-bit MPL
variable compared with 0. Test condition is: EQ, NEQ, GT, GEQ, LT, LEQ
GOTO value16, var, cond
Conditional jump to the address set in value16. Var is a 16 or 32-bit MPL
variable compared with 0. Test condition is: EQ, NEQ, GT, GEQ, LT, LEQ
GOTO var16, var, cond
Conditional jump to the address indicated by var16. Var is a 16 or 32-bit
MPL variable compared with 0. Test condition is: EQ, NEQ, GT, GEQ, LT, LEQ
CALL label

Unconditional call from the address indicated by the function starting
label (i.e. function name)

CALL value16

Unconditional call from the address set in value16. Value16 is a 16-bit unsigned
integer.

CALL var16

Unconditional call from the address indicated by var16. Var16 is a 16-bit MPL
variable whose value is the MPL function address

CALL label, var, cond Conditional call from the address indicated by the function starting label. Var is a
16 or 32-bit MPL variable compared with 0. Test condition is: EQ, NEQ, GT,
GEQ, LT, LEQ
CALL value16, var, cond
Conditional call from the address set in value16. Var is a 16 or 32-bit MPL
variable compared with 0. Test condition is: EQ, NEQ, GT, GEQ, LT, LEQ
CALL var16, var, cond Conditional call from the address indicated by var16. Var is a 16 or 32-bit MPL
variable compared with 0. Test condition is: EQ, NEQ, GT, GEQ, LT, LEQ
CALLS label

Cancelable call from the address indicated by the function starting label.

CALLS value16

Cancelable call from the address set in value16. Value16 is a 16-bit unsigned
integer.

CALLS var16

Cancelable call from the address indicated by var16. Var16 is a 16-bit MPL
variable whose value is the MPL function address

ABORT

Abort the execution of a MPL function called with CALLS

RET

Return from a MPL function

Remarks:
•

All labels mentioned in the GOTO or CALL instructions must exist i.e. must be defined
somewhere in the MPL program.

•

The label values are assigned after MPL program compilation

317

MPD User Manual

•

When you call a MPL function, the return address pointed by the IP (instruction pointer) is saved
into the MPL stack. When RET is executed, the IP is set with the last value from the MPL stack,
hence the MPL program execution continues with the next instruction after the call. The MPL
stack dimension is 12 words. Each function call and MPL interrupt service routine call uses one
word of the MPL stack

•

The body of the MPL subroutines must be placed outside the main MPL program, for example,
after the END instruction.

Programming Examples
GOTO label1, var1, LT; // jump to label1 if var1 < 0
GOTO label2, var1, LEQ; // jump to label2 if var1 <= 0
GOTO label3, var1, GT; // jump to label3 if var1 > 0
GOTO label4;
CALL fct1, var2, GEQ;
CALL fct1, var2, EQ;

// unconditional jump to label4
// call function fct1, if var2 >= 0
// call function fct1, if var2 = 0

CALL fct1, var2, NEQ;

// call function fct1, if var2 != 0

CALL fct1;

// unconditional call of function fct1

CALLS fct2;

// unconditional cancelable call of fct1

...
END;

// end of main program

fct1:
...
...
RET;
fct2:
...
ABORT;

// abort function, return to next MPL
// command after the CALLS

RET;
See also:
Jumps and Function Calls - MPL Programming Details
MPL Description

318

MPD User Manual

6.2.3.2.4.

MPL Interrupts

In MPL, you can monitor simultaneously up to 13 conditions. Each condition triggers a MPL interrupt.
When a MPL interrupt occurs, the normal MPL program execution is suspended to execute a MPL
function associated with the interrupt, called the interrupt service routine (in short ISR). The MPL
interrupt mechanism is the following:
•

The programmable drive continuously monitors 12 conditions that may generate MPL interrupts.
The motion controller has an additional condition that triggers the MPL interrupt Int12 when an
error on the slaves occurs

•

When an interrupt condition occurs, a flag (bit) is set in the ISR (Interrupt Status Register)

•

If the interrupt is enabled e.g. the same bit (as position) is set in the ICR (Interrupt Control
Register) and also if the interrupts are globally enabled (EINT instruction was executed), the
interrupt condition is qualified and it generates a MPL interrupt

•

The interrupt causes a jump to the associated interrupt service routine. On entry in this routine,
the MPL interrupts are globally disabled (DINT) and the interrupt flag is reset

•

The interrupt service routine must end with the MPL instruction RETI, which returns to normal
program execution and in the same time globally enables the MPL interrupts

The 13 monitored conditions are:
1.

Int0 – Enable input has changed: either transition of the Enable input sets the interrupt flag

Int1 – Short-circuit: when the drive/motor hardware protection for short-circuit is triggered

Int2 – Software protections: when any of the following protections is triggered:
a.

Over current

I2t motor

I2t drive

Over temperature motor

Over temperature drive

Over voltage

Under voltage

Int3 – Control error: when the control error protection is triggered

Int4 – Communication error: when a communication error occurs

Int5 – Wrap around: when the target position computed by the reference generator wraps around
because it bypasses the limit of the 32-bit long integer representation

Int6 – LSP programmed transition detected: when the programmed transition (low to high or
high to low) is detected on the limit switch input for positive direction (LSP)

Int7 – LSN programmed transition detected: when the programmed transition (low to high or
high to low) is detected on the limit switch input for negative direction (LSN)

Int8 – Capture input transition detected: when the programmed transition (low to high or high to
low) is detected on the 1st capture / encoder index input or on the 2nd capture / encoder index
input

319

MPD User Manual

10.

Int9 – Motion is completed: in position control, when motion complete condition is set and in
speed control when target speed reaches zero.

11.

Int10 – Time period has elapsed: periodic time interrupt with a programmable time period set in
the MPL parameter TMLINTPER

12.

Int11 – Event set has occurred: when last defined event has been occurred

13.

Int12 – Error on slave occurred: when a slave reports an error.

The interrupt service routines (ISR) of the MPL interrupts are similar with the MPL functions: the starting
point is a label and the ending point is the MPL instruction RETI (return from interrupt). When a MPL
interrupt occurs, the MPL instruction pointer (IP) jumps to the start address of the associated ISR. This
information is read from an interrupt table, which contains the values of the starting labels for all the ISR.
The beginning of the interrupt table is pointed by the MPL parameter INTTABLE. Like the MPL functions,
the interrupt table and the interrupt service routines must be positioned outside the main section of the
MPL program (see the programming example below).
At power-on, each drive/motor starts with a built-in interrupt table and a set of default ISR. The MPL
interrupts are globally enabled together with the first 4 interrupts: Int 0 to Int 3. For Int 2, all the
protections are activated, except over temperature motor, which depends on the presence or not of a
temperature sensor on the motor; hence this protection may or may not be activated. For each of these 4
interrupts there is a default ISR which is executed when the corresponding interrupt occurs.
Remark: A basic description of these defaults ISR is presented below. Their exact content is product
dependent and can be seen using MPL development platforms like MotionPRO Developer which include
the possibility to view and/or modify the contents of the default ISR for each type of drive/motor.
If you intend to enable other MPL interrupts or to modify the default ISR for the first 4 MPL interrupts, you
need to create another MPL interrupt table which will point towards your own ISR. In this new interrupt
table, put the starting labels for your ISR and use the global symbols: default_intx (x=0 to 11) as labels
for those ISR you don’t want to change. These global symbols contain the start addresses of the default
ISR.
Remark: Some of the drive/motor protections may not work properly if the MPL Interrupts are handled
incorrectly. In order to avoid this situation keep in mind the following rules:
•

•

The interrupt flags are set independently of the activation or not of the MPL interrupts. Therefore, as a
general rule, before enabling an interrupt, reset the corresponding flag. This operation will avoid triggering
an interrupt immediately after activation, due to an interrupt flag set in the past.
To summarize, in order to work with a MPL interrupt, you need to:
•

Edit your own ISR or decide to use the default ISR.

•

Create your own interrupt table, and set the MPL parameter INTTABLE equal with your interrupt
table start address. Exception: if you use only default ISR

•

Reset the interrupt flag to avoid entering in an interrupt due to a flag set in the past

320

MPD User Manual

•

Enable the MPL interrupt. As the MPL interrupts must be globally enabled, the MPL interrupt is
now activated and your ISR will execute when the interrupt flag will be set.

Default ISR Description
ISR for Int0 – Enable input has changed: When enable input goes from disable to enable status,
executes AXISON if ACR.1 = 1 (i.e. the drive/motor is set to start automatically after power-on with an
external reference) or if ACR.3 = 1 (i.e. specific request to execute AXISON at recover from disable
status). Before executing AXISON, if the drive/motor is set in electronic gearing slave mode, the motion
mode is set again (followed by an update command – UPD) to force a re-initialization for smooth
recoupling with the master.
ISR for Int1 – Short-circuit: Set Ready output (if present) to not ready status and turn off the green led
(if present). Set Error output (if present) to error status and turn on the red led (if present). Execute
AXISOFF and set SRL.3 =1 to set the drive/motor into the FAULT condition.
ISR for Int2 – Software protections: Same as ISR for Int1
ISR for Int3 – Control error: Same as ISR for Int1
See also:
MPL Interrupts – Related MPL Instructions and Data
MPL Description

6.2.3.2.5.

MPL Interrupts - Related MPL Instructions and Data

Parameters
INTTABLE

Pointer to the start address of the interrupt table

TMLINTPER

Time period for the periodic time interrupt Int10. Measured in time_units

Instructions
EINT

Globally enables the MPL interrupts. Sets ICR.15 = 1

DINT

Globally disables the MPL interrupts. Sets ICR.15 = 0

SRB ICR, ANDm, ORm

Individually enable/disable MPL interrupts, by setting/resetting bits from
ICR register according with AND mask ANDm and OR mask ORm

SRB ISR, ANDm, 0;

Reset interrupt flags in the ISR register according with AND mask ANDm

RETI

Return from a MPL interrupt service routine

Programming Example
Set MPL Int10 to generate a time interrupt at each 0.5s. In the ISR, switch the status of output #25/Ready
to signal that the drive/motor is in standby. Leave the other MPL interrupts with their default ISR.
BEGIN;

// MPL program start

INTTABLE = InterruptTable;

ENDINIT;

// set start address for the new interrupt table

// end of initialization

...

321

MPD User Manual

int Ready_status; // Define integer variable Ready_status
Ready_status = 0; // initialize Ready_status
TMLINTPER = 500; //Set a time interrupt at every 0.5[s]
SRB ICR, 0x8FFF, 0x0400; // Set ICR.10 to enable Int10
...
END;

InterruptTable:

// end of the main section
// start of the interrupt table

@default_int0;
@default_int1;
@default_int2;
@default_int3;
@default_int4;
@default_int5;
@default_int6;
@default_int7;
@default_int8;
@default_int9;
@int10;
@default_int11;
int10:
GOTO Turn_on, Ready_status, EQ; // Branch to Turn_on if Ready_status == 0
SOUT#25;

//Set Low to I/O line #25

Ready_status = 0;

// set Ready_status = 0

RETI;

// return from interrupt

Turn_on:

//Define label Turn_on

ROUT#25;

//Set High to I/O line #25

Ready_status = 1;

// set Ready_status = 1

RETI;
See also:
MPL Interrupts – Related MPL Instructions and Data
MPL Description

322

MPD User Manual

6.2.3.3.

I/O Programming

6.2.3.3.1.

General I/O (Firmware FAxx)

In MPL you can access up to 40 digital I/O lines, numbered: #0 to #39. Each programmable drive/motor
has a specific number of inputs and outputs, therefore only a part of the 40 I/Os is used. The I/O
numbering is common for all the products; hence each product has its own list of available I/Os. This is
not an ordered list. For example, a product with 4 inputs and 4 outputs can use the inputs: #36, #37, #38
and #39 and the outputs #28, #29, #30 and #31.
Remark: Read carefully the drive/motor user manual to find which I/O lines are available. Do not attempt
to use the other I/Os. This may harm your drive/motor.
Some drives/motors include I/O lines that may be used either as inputs or as outputs. In these cases, the
same I/O number occurs both in the list of available inputs and in the list of available outputs. Before
using these lines, you need to specify how you want to use them, with the MPL commands:
SETIO#n OUT;

//Set the I/O line #n as an output

SETIO#n IN;

//Set the I/O line #n as an input

Remarks:
•

Check the drive/motor user manual to find how are set, after power-on, the I/O lines that may be
used either as inputs or as outputs

•

You need to set an I/O line as input or output, only once, after power on

You can read and save the status of an input with the MPL command:
user_var = IN#n;

// read input #n in the user variable user_var

where user_var is a 16-bit integer variable and n is the input number. If the input line is low (0 logic),
user_var is set to 0, else user_var is set to a non-zero value.
You can set an output high (1 logic) or low (0 logic) with the following commands:
ROUT#n;

// Set low the output line #n

SOUT#n;

// Set high the output line #n

Enable input (#16/ENABLE) – saved in bit 15

•

Limit switch input for negative direction (#24/LSN) - saved in bit 14

•

Limit switch input for positive direction (#2/LSP) - saved in bit 13

•

General-purpose inputs #39, #38, #37 and #36 – save din bits 3, 2, 1 and 0

The bits corresponding to these inputs are set as follows: 0 if the input is low and 1 if the input is high.
The other bits of the variable are set to 0.

323

MPD User Manual

Remark: Each drive/motor contains in the MPL parameter DIGIN_INVERSION_MASK an inversion mask
for these inputs. A bit set to 1 in this mask, means that the corresponding input is inverted. The value set
in user_var is obtained after a logical XOR between the inputs status and the inversion mask. As result,
the bits in user_var always show correctly the inputs status at connectors level (0 if the input is low and 1
if the input is high) even when the inputs are inverted.
Using MPL command:
OUTPORT user_var;

// Send variable user_var to external output port

you can set simultaneously with the command value specified by a 16-bit integer variable, the following
outputs:
•

Ready output (#25/READY) – set by bit 15

•

Error output (#12/ERROR) – set by bit 14

•

General-purpose outputs: #31, #30, #29, #28 – set by bits 3, 2, 1, and 0

The outputs are set as follows: low if the corresponding bit in the variable is 0 and high if the
corresponding bit in the variable is 1. The other bits of the variable are not used.
Remark: Each drive/motor contains in the MPL parameter DIGOUT_INVERSION_MASK an inversion
mask for these outputs. A bit set to 1 in this mask, means that the corresponding output is inverted. The
commands effectively sent to the outputs are obtained after a logical XOR between the user_var value
and the inversion mask. As result, the outputs at connectors level always correspond to the user_var
command values (low if the bit is 0 and high if the bit is 1), even when the outputs are inverted.
General-purpose I/O – Related MPL Instructions and Data
MPL Description

324

MPD User Manual

6.2.3.3.2.
General I/O (Firmware FAxx) - Related MPL Instructions
and Data
Parameters
DIGIN_INVERSION_MASK

Inversion mask for the following digital inputs:

•

Enable input (#16/ENABLE) – bit 15

•

Limit switch input for negative direction (#24/LSN) - bit 14

•

Limit switch input for positive direction (#2/LSP) - bit 13

•

General-purpose inputs #39, #38, #37 and #36 – bits 3, 2, 1 and 0

A bit set signals that the corresponding input is inverted. The MPL variable INSTATUS as well as the
MPL command INPORT are considering this inversion mask to switch the status of inverted inputs. As
result, in INSTATUS and in the MPL variable set by INPORT, the above bits always show correctly the
inputs status at connectors level (0 if the input is low and 1 if the input is high) even when the inputs are
inverted
DIGOUT_INVERSION_MASK Inversion mask for the following digital outputs:
•

Ready output (#25/READY) – set by bit 15

•

Error output (#12/ERROR) – set by bit 14

•

General-purpose outputs: #31, #30, #29, #28 – set by bits 3, 2, 1, and 0

A bit set signals that the corresponding output is inverted. The MPL command OUTPORT uses this
inversion mask to switch the command for the inverted outputs. As result, the outputs at connectors level
are always set as specified by the above bits in the MPL variable of the OUTPORT command (low if the
bit is 0 and high if the bit is 1), even when the outputs are inverted.
Variables
INSTATUS

Provides status of the following digital inputs:

•

Enable input (#16/ENABLE) – in bit 15

•

Limit switch input for negative direction (#24/LSN) - in bit 14

•

Limit switch input for positive direction (#2/LSP) - in bit 13

•

General-purpose inputs #39, #38, #37 and #36 – in bits 3, 2, 1 and 0

The above bits are set to 0 if the input is low (at connectors level) and 1 if the input is high (at connectors
level). The information is automatically corrected in the case of inverted inputs. The other bits INSTATUS
have no significance.
Instructions
user_var = IN#n

Read input #n in the user variable user_var

OUTPORTvalue16

Set simultaneously the output lines as specified by value16

ROUT#n

Set low the output line #n

SOUT#n

Set high the output line #n

SETIO#n OUT;

Set the I/O line #n as an input

325

MPD User Manual

SETIO #n IN;

Set the I/O line #n as an output

Programming Example
user_var = IN#36;

// read input #36 in user_var

GOTO label1, user_var, NEQ;

// go to label1 if input #36 is 1

// input #36 is 0
user_var = IN#39;

// read input #39 in user_var

GOTO label2, user_var, EQ;

// go to label2 if input #39 is 0

// input #39 is 1
...
Label1:

// input #36 is 1

...
Label2:

// input #39 is 0

...
See also:
General-purpose I/O – MPL Programming Details
MPL Description

326

MPD User Manual

6.2.3.3.3.

Special I/O (Firmware FAxx)

In MPL, there are 5 inputs and 2 outputs that have dedicated functions. These are:
•

Enable input: #16/ENABLE

•

2 limit switch inputs: #2/LSP and #24/LSN

•

2 capture inputs: #5/CAPI and #34/2CAPI

•

Ready output: #25/READY

•

Error output: #12/ERROR

Remark: On some drives/motors only a part if these special I/O is available. When present, the capture
and limit switch inputs and always connected to the same I/O numbers. However, the Enable input as
well as the Ready and Error outputs may be assigned to other I/O lines. Their I/O number allocation is
specific for each product.
The enable input is a safety input, and can be: active or inactive. On the active level, it enables normal
operation. On the inactive level it disables the drive/motor similarly with the AXISOFF command. When
the enable input goes from inactive to active level and AXISON command is automatically performed if
ACR.1 = 1 or ACR.3 = 1.
The active level is programmable: low or high via MPL parameter DIGIN_ACTIVE_LEVEL as follows:
•

If DIGIN_ACTIVE_LEVEL.15 = 1, #16/ENABLE is active when the input is high

•

If DIGIN_ACTIVE_LEVEL.15 = 0, #16/ENABLE is active when the input is low

Remark: The enable input high/low refers to the input level at drive/motor connector. After power on, the
active level is set to enable normal operation with nothing connected on the input
The limit switch inputs main goal is to protect against accidental moves outside a defined working area.
The protection involves connecting limit switches to:
•

#2/LSP to stop movement in positive direction

•

#24/LSN to stop movement in negative direction

A limit switch input can be: active or inactive. The active level is programmable: low or high via MPL
parameter DIGIN_ACTIVE_LEVEL as follows:
•

If DIGIN_ACTIVE_LEVEL.14 = 1, #24/LSN is active when the input is high

•

If DIGIN_ACTIVE_LEVEL.14 = 0, #24/LSN is active when the input is low

•

If DIGIN_ACTIVE_LEVEL.13 = 1, #2/LSP is active when the input is high

•

If DIGIN_ACTIVE_LEVEL.13 = 0, #2/LSP is active when the input is low

Remark: The limit switch inputs high/low refers to the inputs level at drive/motor connector. After power
on, the active level is set to have both limit switches inactive with nothing connected on these inputs
When positive limit switch #2/LSP input is active, movement is possible only in the negative direction. Any
attempt to move in the positive direction will set the drive/motor in quick stop mode, and this will stop the
move with the deceleration rate set in MPL parameters CDEC.
When negative limit switch #24/LSN input is active, movement is possible only in the positive direction.
Any attempt to move in the negative direction will set the drive/motor in quick stop mode, and this will stop
the move with the deceleration rate set in MPL parameters CDEC.

327

MPD User Manual

Remark: The drive/motor exits from quick stop mode only by setting a new motion mode.
The limit switch inputs may also be used as capture inputs due to their capability to sense low to high or
high to low transitions and to capture the motor, load or master position when these transitions occur. The
limit switch inputs capturing behavior is identical with that of the capture inputs #5/CAPI and #34/2CAPI
and therefore is presented below together with the capture inputs.
You can set either an event or a MPL interrupt, for each limit switch input, to detect when a programmed
transition has occurred. In both cases you need to:
1. Enable limit switch input capability to detect a low->high or a high-> low transition with one of the
following MPL instructions:
ENLSP0;

//Enable #2/LSP to detect a high->low transition

ENLSP1;

//Enable #2/LSP to detect a low->high transition

ENLSN0;

//Enable #24/LSN to detect a high->low transition

ENLSN1;

//Enable #24/LSN to detect a low->high transition

2. Set:
•

A limit switch event with !LSP or !LSN, then wait until the event occurs with WAIT!;, or

•

Enable the LSP or LSN MPL interrupt with the MPL commands:

SRB ICR 0xFFFF,0x0040;// Set ICR.6 = 1 to enable LSP interrupt
SRB ICR 0xFFFF,0x0080;// Set ICR.7 = 1 to enable LSN interrupt
Remarks:
•

The main task of the limit switches i.e. to protect against accidental moves outside the working
area is performed independently of the fact that limit switches may be enabled or not to detect
transitions

•

A limit switch input capability to detect transitions is automatically disabled, after the programmed
transition was detected. In order to reuse it, you need to enable it again.

•

You may also disable a limit switch input capability to detect transitions, using the MPL
commands: DISLSP, DISLSN

You can also use the limit switch inputs as general-purpose inputs by disabling their capability to protect
against accidental moves outside a defined working area. For this you need to set MPL parameter
LSACTIVE = 1. This command, doesn’t affect the limit switch inputs capability to detect transitions.
Remark: After power on, LSACTIVE = 0 and the limit switches are active.
You can read the limit switches inputs, at any moment, independently of LSACTIVE value, like any other
inputs using the MPL instructions:
var = IN#2;

// read status of the positive limit switch input

var = IN#24;

// read status of the negative limit switch input

The capture inputs are special inputs that can be programmed to sense either a low to high or high to
low transition and capture the motor, load or master position with very high accuracy when these
transitions occur.
Typically, the 1st encoder index is connected to the 1st capture input – #5/CAPI, and the 2nd encoder
index is connected to the 2nd capture input – #34/2CAPI.

328

MPD User Manual

When an incremental encoder provides the motor position, its signals are always connected to the 1st
encoder interface. When an incremental encoder provides the master position, its signals are always
connected to the 2nd encoder interface. When an incremental encoder provides the load position, its
signals are connected to:
•

2nd encoder interface, if there is another sensor on the motor (for example DC motor with
encoder on load and tachometer on the motor)

•

1st encoder interface, if there is no other sensor on the motor (for example steppers controlled
open-loop with an encoder on the load)

When the programmed transition occurs on any capture or limit switch input, the following happens:
•

Motor position APOS_MT is captured and memorized in the MPL variable CAPPOS, except the
case of open-loop systems, where reference position TPOS is captured instead

•

Master position APOS2 or load position APOS_LD is captured and memorized in the MPL variable
CAPPOS2, except the case of steppers controlled open loop with an encoder on the load, when
load position is captured in CAPPOS.

The selection between master and load position is done as follows: load position is saved in CAPPOS2
only for the setup configurations which use different sensors for load and motor and foresee a
transmission ratio between them. For all the other setup configurations, the master position is saved in
CAPPOS2. The master position is automatically computed when pulse and direction signals or
quadrature encoder signals are connected to their dedicated inputs.
When an incremental encoder is connected to the 1st encoder interface and 1st capture/encoder index
detects the programmed transition, the position captured in CAPPOS is very accurate, being read in less
than 200 ns after the input transition. The position captured in CAPPOS2 is also accurate being read with
a maximum delay of 5μs.
When an incremental encoder is connected to the 2nd encoder interface or when master position is set
via pulse & direction signals and 2nd capture/encoder index detects the programmed transition, the
position captured in CAPPOS2 is very accurate, being read in less than 200 ns, after the input transition.
The position captured in CAPPOS2 is read with a maximum delay of 5μs.
When any of the 2 limit switch inputs detects the programmed transition, the positions captured in
CAPPOS and CAPPOS2 are accurate, both being read with a maximum delay of 5μs.
You can set either an event or a MPL interrupt on a capture input. In both cases you need to:
1. Enable the capture input for the detection of a low->high or a high-> low transition with one of the
following MPL instructions:
ENCAPI0;

//Enable #5/CAPI to detect a high->low transition

ENCAPI1;

//Enable #5/CAPI to detect a low->high transition

EN2CAPI0;

//Enable #34/2CAPI to detect a high->low transition

EN2CAPI1;

//Enable #34/2CAPI to detect a low->high transition

2. Set:
•

A capture event with !CAP, then wait until the event occurs with WAIT!;, or

•

Enable the MPL capture interrupt with the MPL command:

SRB ICR 0xFFFF,0x0100;

//Set ICR.8 = 1

Remarks:

329

MPD User Manual

•

If both capture inputs are activated in the same time, the capture event and the MPL capture
interrupt flag is set by the capture input that is triggered first. The capture event or the MPL
capture interrupt makes no difference between the two capture inputs.

•

When the programmed transition is detected, the capture input is automatically disabled. In order
to reuse it, you need to enable it again for the desired transition

•

You may also disable a capture input (i.e. its capability to detect a programmed transition)
previously enabled, using the MPL commands: DISCAPI, DIS2CAPI

See also:
Special I/O – Related MPL Instructions and Data
MPL Description

6.2.3.3.4.
Special I/O (Firmware FAxx) - Related MPL Instructions
and Data

Parameters
DIGIN_ACTIVE_LEVEL

Sets active levels for enable and limit switch inputs as follows:

•

Enable input (#16/ENABLE) – bit 15: 0 – low, 1 – high

•

Limit switch input for negative direction (#24/LSN) - on bit 14: 0 – low, 1 – high

•

Limit switch input for positive direction (#2/LSP) - on bit 13: 0 – low, 1 – high

Command deceleration for quick stop mode. Measured in acceleration units

ICR
Interrupt Control Register. The MPL interrupts can be enabled or disabled by setting or resetting
the corresponding bits from this register
ACR Auxiliary Control Register. If ACR.1 = 1 the drive/motor is set to start automatically after power-on
with an external reference. If ACR.3 = 1 there is a specific request to execute AXISON at recover from
disable status. In both cases, an AXISON is executed when enable input goes from inactive to active
status.
Variables
CAPPOS

Position captured when programmed transition occurs on 1st capture/encoder index
input. Measured in motor position units, except the case of stepper motors, when it is
measured in position units

CAPPOS2

APOS2

Master position computed by the slaves from pulse & direction or quadrature encoder
inputs. Measured in master position units

330

MPD User Manual

TPOS

Target position – position reference computed by the reference generator at each slow
loop sampling period. Measured in position units

APOS_LD

Actual load position. Measured in position units. Alternate name: APOS

APOS_MT

Actual motor position. Measured in motor position units.

Instructions
!CAP

Set event on capture inputs

ENCAPI0

Enable 1st capture/encoder index input to detect a high to low transition

EN2CAPI0

Enable 2nd capture/encoder index input to detect a high to low transition

ENCAPI1

Enable 1st capture/encoder index input to detect a low to high transition

EN2CAPI1

Enable 2nd capture/encoder index input to detect a low to high transition

!LSN

Set event on negative limit switch input

!LSP

Set event on positive limit switch input

ENLSP0

Enable positive limit switch input to detect a high to low transition

ENLSN0

Enable negative limit switch input to detect a high to low transition

ENLSP1

Enable positive limit switch input to detect a low to high transition

ENLSN1

Enable negative limit switch input to detect a low to high transition

DISCAPI

Disable 1st capture/encoder index input to detect transitions

DIS2CAPI

Disable 2nd capture/encoder index input to detect transitions

DISLSP

Disable positive limit switch input to detect transitions

DISLSN

Disable negative limit switch input to detect transitions

UPD!

Update the motion mode and/or the motion parameters when the programmed event
occurs

STOP!

Stop motion with the acceleration/deceleration set in CACC, when the programmed
event occurs

Set/reset bits from a MPL data

331

MPD User Manual

Programming Example
//Stop motion on next encoder index
ENCAPI1; //Set event: When the encoder index goes low->high
!CAP;
STOP!;//Stop the motion when event occurs
WAIT!;//Wait until the event occurs
CPOS = CAPPOS; // new command position = captured position
CPA; //position command is absolute
MODE PP;
TUM1; //set Target Update Mode 1
UPD; //execute immediate
!MC; WAIT!; //wait for completion
See also:
Special I/O – MPL Programming Details
MPL Description

6.2.3.3.5.

General-purpose I/O (Firmware FBxx)

In MPL you can access up to 16 digital input and 16 digital output lines, numbered: 0 to 15. Each
programmable drive/motor has a specific number of inputs and outputs, therefore only a part of the 16
inputs or 16 outputs is used. The I/O numbering is common for all the products; hence each product has
its own list of available I/Os. This is an ordered list. For example, a product with 4 inputs and 4 outputs
can use the inputs: 0, 1, 2 and 3 and the outputs 0, 1, 2 and 3.
Remark: Read carefully the drive/motor user manual to find which I/O lines are available. Do not attempt
to use the other I/Os. This may harm your drive/motor.
Some drives/motors include I/O lines that may be used either as inputs or as outputs. Before using these
lines, you need to specify how you want to use them, with the MPL commands:
SetAsInput(n);

//Set the IO line n as an input

SetAsOutput(n);

//Set the IO line n as an output

Remarks:
•

Check the drive/motor user manual to find how are set, after power-on, the I/O lines that may be
used either as inputs or as outputs

•

You need to set an I/O line as input or output, only once, after power on

You can read and save the status of an input with the MPL command:
user_var = IN(n); //Read IO line n data into variable user_var
where user_var is a 16-bit integer variable and n is the input number. If the input line is low (0 logic),
user_var is set to 0, else user_var is set to a non-zero value.

332

MPD User Manual

You can set an output high (1 logic) or low (0 logic) with the following commands:
OUT(n)=value16;
//
corresponding bit from value16

Set

line

according

with

its

Remark: Check the drive/motor user manual to find if the I/O lines you are using are passed directly or
are inverted inside the drive/motor. If an I/O line is inverted, you need to switch high with low in the
examples above, which refer to the I/O line status at the drive/motor connector level.
Using MPL command:
user_var = IN(n1,n2,n3,…); // Set corresponding bits from a according
with selected inputs status
you can read simultaneously and save in a 16-bit integer variable the status of the selected inputs.
The bits corresponding to these inputs are set as follows: 0 if the input is low and 1 if the input is high.
The other bits of the variable are set to 0.
Remark: Each drive/motor contains in the MPL parameter DIGIN_INVERSION_MASK an inversion mask
for these inputs. A bit set to 1 in this mask, means that the corresponding input is inverted. The value set
in user_var is obtained after a logical XOR between the inputs status and the inversion mask. As result,
the bits in user_var always show correctly the inputs status at connectors level (0 if the input is low and 1
if the input is high) even when the inputs are inverted.
Using MPL command:
OUT(n1, n2, n3,…) = value16; //
with corresponding bits from value16

Set

outputs

n1, n2, n3, … according

you can set simultaneously with the command value specified by a 16-bit integer variable, the selected
outputs.
The outputs are set as follows: low if the corresponding bit in the variable is 0 and high if the
corresponding bit in the variable is 1. The other bits of the variable are not used.
Remark: Each drive/motor contains in the MPL parameter DIGOUT_INVERSION_MASK an inversion
mask for these outputs. A bit set to 1 in this mask, means that the corresponding output is inverted. The
commands effectively sent to the outputs are obtained after a logical XOR between the immediate or
user_var value and the inversion mask. As result, the outputs at connectors level always correspond to
the immediate or user_var command values (low if the bit is 0 and high if the bit is 1), even when the
outputs are inverted.
General-purpose I/O – Related MPL Instructions and Data
MPL Description

333

MPD User Manual

6.2.3.3.6.
General-purpose I/O – Related MPL Instructions and Data
(Firmware FBxx)
Variables
INSTATUS

Provides status of the following digital inputs:

Read input n in the user variable user_var

user_var = IN(n1, n2, n3, …) Read inputs n1, n2, n3,… in the user variable user_var
OUT(n) =value16

Set the output line as specified by value16

OUT(n1, n2, n3, …) =value16 Set the output lines n1 n2, n3 as specified by value16
SetAsInput(n);

Set the I/O line #n as an input

SetAsOutput(n);

Set the I/O line #n as an output

Programming Example
user_var = IN#36;

// read input #36 in user_var

GOTO label1, user_var, NEQ;

// go to label1 if input #36 is 1

// input #36 is 0
user_var = IN#39;

// read input #39 in user_var

GOTO label2, user_var, EQ;

// go to label2 if input #39 is 0

// input #39 is 1
...
Label1:

// input #36 is 1

...
Label2:

// input #39 is 0

...
See also:
General-purpose I/O – MPL Programming Details
MPL Description

334

MPD User Manual

6.2.3.3.7.

Special I/O - MPL Programming Details (Firmware FBxx)

In MPL, there are 5 inputs and 2 outputs that have dedicated functions. These are:
•

Enable input

•

2 limit switch inputs

•

2 capture inputs

•

Ready output

•

Error output

If DIGIN_ACTIVE_LEVEL.15 = 1, Enable is active when the input is high

•

If DIGIN_ACTIVE_LEVEL.15 = 0, Enable is active when the input is low

LSP input to stop movement in positive direction

•

LSN input to stop movement in negative direction

A limit switch input can be: active or inactive. The active level is programmable: low or high via MPL
parameter DIGIN_ACTIVE_LEVEL as follows:
•

If DIGIN_ACTIVE_LEVEL.14 = 1, Limit Switch Negative is active when the input is high

•

If DIGIN_ACTIVE_LEVEL.14 = 0, Limit Switch Negative is active when the input is low

•

If DIGIN_ACTIVE_LEVEL.13 = 1, Limit Switch Positive is active when the input is high

•

If DIGIN_ACTIVE_LEVEL.13 = 1, Limit Switch Positive is active when the input is low

Remark: The limit switch inputs high/low refers to the inputs level at drive/motor connector. After power
on, the active level is set to have both limit switches inactive with nothing connected on these inputs
When positive limit switch input is active, movement is possible only in the negative direction. Any attempt
to move in the positive direction will set the drive/motor in quick stop mode, and this will stop the move
with the deceleration rate set in MPL parameters CDEC.
When negative limit switch input is active, movement is possible only in the positive direction. Any attempt
to move in the negative direction will set the drive/motor in quick stop mode, and this will stop the move
with the deceleration rate set in MPL parameters CDEC.

335

MPD User Manual

Remark: The drive/motor exits from quick stop mode only by setting a new motion mode.
The limit switch inputs may also be used as capture inputs due to their capability to sense low to high or
high to low transitions and to capture the motor, load or master position when these transitions occur. The
limit switch inputs capturing behavior is identical with that of the capture inputs and therefore is presented
below together with the capture inputs.
You can set either an event or a MPL interrupt, for each limit switch input, to detect when a programmed
transition has occurred. In both cases you need to:
1. Enable limit switch input capability to detect a low->high or a high-> low transition with one of the
following MPL instructions:
ENLSP0;
transition

//Enable

Positive

Limit

Switch

detect

high->low

ENLSP1;
transition

//Enable

Positive

Limit

Switch

detect

low->high

ENLSN0;
transition

//Enable

Negative

Limit

Switch

detect

high->low

ENLSN1;
transition

//Enable

Negative

Limit

Switch

detect

low->high

2. Set:
•

A limit switch event with !LSP or !LSN, then wait until the event occurs with WAIT!;, or

•

Enable the LSP or LSN MPL interrupt with the MPL commands:

SRB ICR 0xFFFF,0x0040; //Set/Reset Bits of Interrupt Control Register
SRB ICR 0xFFFF,0x0080; //Set/Reset Bits of Interrupt Control Register
Remarks:
•

•

A limit switch input capability to detect transitions is automatically disabled, after the programmed
transition was detected. In order to reuse it, you need to enable it again.

•

You may also disable a limit switch input capability to detect transitions, using the MPL
commands: DISLSP, DISLSN

// read status of the positive limit switch input

var = IN#24;

// read status of the negative limit switch input

336

MPD User Manual

Typically, the 1st encoder index is connected to the 1st capture input – #5/CAPI, and the 2nd encoder
index is connected to the 2nd capture input – #34/2CAPI.
When an incremental encoder provides the motor position, its signals are always connected to the 1st
encoder interface. When an incremental encoder provides the master position, its signals are always
connected to the 2nd encoder interface. When an incremental encoder provides the load position, its
signals are connected to:
•

2nd encoder interface, if there is another sensor on the motor (for example DC motor with
encoder on load and tachometer on the motor)

•

1st encoder interface, if there is no other sensor on the motor (for example steppers controlled
open-loop with an encoder on the load)

When the programmed transition occurs on any capture or limit switch input, the following happens:
•

Motor position APOS_MT is captured and memorized in the MPL variable CAPPOS, except the
case of open-loop systems, where reference position TPOS is captured instead

•

Master position APOS2 or load position APOS_LD is captured and memorized in the MPL variable
CAPPOS2, except the case of steppers controlled open loop with an encoder on the load, when
load position is captured in CAPPOS.

//Activate CAPI input to trigger a rising transitions

ENCAPI1;

//Activate CAPI input to trigger a falling transitions

EN2CAPI0;

//Activate CAPI input to trigger a rising transitions

EN2CAPI1;

//Activate CAPI input to trigger a falling transitions

2. Set:
•

A capture event with !CAP, then wait until the event occurs with WAIT!;, or

•

Enable the MPL capture interrupt with the MPL command:

SRB ICR 0xFFFF,0x0100; //Set/Reset Bits of Interrupt Control Register

337

MPD User Manual

Remarks:
•

•

When the programmed transition is detected, the capture input is automatically disabled. In order
to reuse it, you need to enable it again for the desired transition

•

You may also disable a capture input (i.e. its capability to detect a programmed transition)
previously enabled, using the MPL commands: DISCAPI, DIS2CAPI

See also:
Special I/O – Related MPL Instructions and Data
MPL Description

6.2.3.3.8.
Special I/O - Related MPL Instructions and Data (Firmware
FBxx)
Parameters
DIGIN_ACTIVE_LEVEL

Sets active levels for enable and limit switch inputs as follows:

•

Enable input – on bit 15: 0 – low, 1 – high

•

Limit switch input for negative direction – on bit 14: 0 – low, 1 – high

•

Limit switch input for positive direction – on bit 13: 0 – low, 1 – high

LSACTIVE
When set to a non-zero value, disables limit switch inputs capability to protect against
accidental moves outside a defined working area. In this case, the limit switch inputs are treated like 2
extra general-purpose inputs
CDEC Command deceleration for quick stop mode. Measured in acceleration units
ICR
Interrupt Control Register. The MPL interrupts can be enabled or disabled by setting or resetting
the corresponding bits from this register
ACR Auxiliary Control Register. If ACR.1 = 1 the drive/motor is set to start automatically after power-on
with an external reference. If ACR.3 = 1 there is a specific request to execute AXISON at recover from
disable status. In both cases, an AXISON is executed when enable input goes from inactive to active
status.
Variables
CAPPOS

Position captured when programmed transition occurs on 1st capture/encoder index
input. Measured in motor position units, except the case of stepper motors, when it is
measured in position units

CAPPOS2

APOS2

Master position computed by the slaves from pulse & direction or quadrature encoder
inputs. Measured in master position units

338

MPD User Manual

TPOS

Target position – position reference computed by the reference generator at each slow
loop sampling period. Measured in position units

APOS_LD

Actual load position. Measured in position units. Alternate name: APOS

APOS_MT

Actual motor position. Measured in motor position units.

Instructions
!CAP

Set event on capture inputs

ENCAPI0

Enable 1st capture/encoder index input to detect a high to low transition

EN2CAPI0

Enable 2nd capture/encoder index input to detect a high to low transition

ENCAPI1

Enable 1st capture/encoder index input to detect a low to high transition

EN2CAPI1

Enable 2nd capture/encoder index input to detect a low to high transition

!LSN

Set event on negative limit switch input

!LSP

Set event on positive limit switch input

ENLSP0

Enable positive limit switch input to detect a high to low transition

ENLSN0

Enable negative limit switch input to detect a high to low transition

ENLSP1

Enable positive limit switch input to detect a low to high transition

ENLSN1

Enable negative limit switch input to detect a low to high transition

DISCAPI

Disable 1st capture/encoder index input to detect transitions

DIS2CAPI

Disable 2nd capture/encoder index input to detect transitions

DISLSP

Disable positive limit switch input to detect transitions

DISLSN

Disable negative limit switch input to detect transitions

UPD!

Update the motion mode and/or the motion parameters when the programmed event
occurs

STOP!

Stop motion with the acceleration/deceleration set in CACC, when the programmed
event occurs

Set/reset bits from a MPL data

339

MPD User Manual

Programming Example
//Stop motion on next encoder index
ENCAPI1; //Set event: When the encoder index goes low->high
!CAP;
STOP!;//Stop the motion when event occurs
WAIT!;//Wait until the event occurs
CPOS = CAPPOS; // new command position = captured position
CPA; //position command is absolute
MODE PP;
TUM1; //set Target Update Mode 1
UPD; //execute immediate
!MC; WAIT!; //wait for completion
See also:
Special I/O – MPL Programming Details
MPL Description

6.2.3.4.

Assignment and Data Transfer

6.2.3.4.1.

Setup 16-bit variable

The MPL instructions presented in this paragraph show you the options you have to:
1. Assign a value to a 16-bit integer MPL data
2. Transfer in a memory location, a 16-bit value or the value of a 16-bit integer MPL data
In the first case, the destination is a 16-bit MPL data: MPL register, MPL parameter or user variable and
the source can be:
•

A 16-bit immediate value or a label

•

A 16-bit MPL data: MPL register, parameter, variable or user variable (direct or negated)

•

The high or low part of a 32-bit MPL data: MPL parameter, variable or user variable

•

A memory location indicated through a pointer variable

•

The result of the checksum performed with all locations situated between 2 memory addresses
specified either as immediate values or via 2 pointer variables.

In the second case and the destination is a memory location indicated through a pointer variable and the
source can be:
•

A 16-bit immediate value

•

A 16-bit MPL data: MPL register, parameter, variable or user variable

Programming Examples

340

MPD User Manual

1) Source: 16-bit immediate value, Destination: 16-bit MPL data. The immediate value can be decimal or
hexadecimal
user_var = 100;

// set user variable user_var with value 100

user_var = 0x100; // set user variable user_var with value 0x100 (256)
label1:
user_var = label; // set user variable user_var with label1 value
2) Source: 16-bit MPL data, Destination: 16-bit MPL data.
var_dest = var_source; // copy value of var_source in var_dest
var_dest = -var_source; // copy negate value of var_source in var_dest
3) Source: high or low part of a 32-bit MPL data, Destination: 16-bit MPL data. The 32-bit MPL data can
be either long or fixed
int_var = long_var(L); // copy low part of long_var in int_var
int_var = fixed_var(H); // copy high part of fixed_var in int_var
4) Source: a memory location indicated through a pointer variable, Destination: 16-bit MPL data. The
memory location can be of 3 types: RAM for data (dm), RAM for MPL programs (pm), EEPROM SPIconnected for MPL programs (spi). If the pointer variable is followed by a + sign, after the assignment, the
pointer variable is incremented by 1
p_var = 0x4500;

// set 0x4500 in pointer variable p_var

var1 = (p_var),spi;

// var1 = value of the EEPROM memory location 0x4500

var1 = (p_var+),spi;

// var1 = value of the EEPROM memory location 0x4500
// p_var = 0x4501

p_var = 0x8200;

// set 0x8200 in pointer variable p_var

var1 = (p_var),pm;

// var1 = value of the RAM memory location 0x8200 for
//MPL programs

var1 = (p_var+),pm;

// var1 = value of the RAM memory location 0x8200 fior
//MPL programs, then set p_var = 0x8201

p_var = 0xA00;

// set 0xA00 in pointer variable p_var

var1 = (p_var),dm;

// var1 = value of the RAM memory location 0xA00 for
//MPL data

var1 = (p_var+),dm;

// var1 = value of the RAM memory location 0xA00 for
//MPL data, then set p_var = 0xA01

5) Source: the result of the checksum. Destination: 16-bit MPL data. The checksum is performed with all
locations situated between 2 memory addresses. These are specified either as immediate values or via 2
pointer variables. The memory can be of 3 types: RAM for data (dm), RAM for MPL programs (pm),
EEPROM SPI-connected for MPL programs (spi).
checksum, spi 0x4000, 0x4500, var1; // var1=checksum value computed
// between EEPROM memory addresses 0x4000 and 0x4500

341

MPD User Manual

start = 0x9000;

// set start address = 0x9000

end = 0x9100;

// set end address = 0x9100

checksum, pm start, stop, var1;

// var1=checksum value computed

// between RAM (for MPL programs) addresses 0x9000 and 0x9100 pointed by the MPL
// variables start and stop
6) Source: 16-bit immediate value (decimal or hexadecimal) or 16-bit MPL data. Destination: a memory
location indicated through a pointer variable. The memory location can be of 3 types: RAM for data (dm),
RAM for MPL programs (pm), EEPROM SPI-connected for MPL programs (spi). If the pointer variable is
followed by a + sign, after the assignment, the pointer variable is incremented by 1
p_var = 0x4500;

// set 0x4500 in pointer variable p_var

(p_var),spi = -5;

// write value –5 in the EEPROM memory location
// 0x4500

(p_var+),spi = var1;

// write var1 value in the EEPROM memory location
// 0x4500, then set p_var = 0x4501

p_var = 0x8200;
(p_var),pm = 0x10;

// set 0x8200 in pointer variable p_var
// write value 0x10 in RAM memory location 0x8200 for

// MPL programs
(p_var+),pm = var1;

// write var1 value in RAM memory location 0x8200 for
// MPL programs, then set p_var = 0x8201

p_var = 0xA00;

// set 0xA00 in pointer variable p_var

(p_var),dm = 50;

// write value 50 in the RAM memory location 0xA00 for
// MPL data

(p_var+),dm = var1;

// write var1 value in the RAM memory location 0xA00
// for MPL data, then set p_var = 0xA01

Remark: The MPL assignment instructions with source an immediate value or a MPL data and
destination a MPL data, use a short address format for the destination. The short address format
requires a destination address between 0x200 and 0x3FF or between 0x800 and 0x9FF. This restriction
is respected now by all the predefined or user-defined MPL data, hence you can use the above
assignment instructions without checking the variables addresses.
However, considering possible future developments, the MPL also includes assignment instructions using
a full address format where the destination address can be any 16-bit value. The following commands
support full addressing:
int_var,dm = 100;

// set int_var = 100 using full addressing

int_var,dm = 0x100;

// set int_var = 0x100(256) using full addressing

var_dest,dm = var_source; // copy value of var_source in var_dest using
// full addressing
See also:
Assignment and Data Transfer. 32-bit data – MPL Programming Details
MPL Description

342

MPD User Manual

6.2.3.4.2.

Setup 32-bit variable

The MPL instructions presented in this paragraph show you the options you have to:
1. Assign a value to a 32-bit long or fixed MPL data
2. Assign a value to the high (16MSB) or low (16LSB) part of a 32-bit long or fixed data
3. Transfer in 2 consecutive memory locations, a 32-bit value or the value of a 32-bit long or fixed
MPL data
In the first case, the destination is a 32-bit MPL data: MPL parameter or user variable and the source can
be:
•

A 32-bit immediate value

•

A 32-bit MPL data: MPL register, parameter, variable or user variable (direct or negated)

•

A 16-bit MPL data left shifted by 0 to 16

•

2 consecutive memory locations, indicated through a pointer variable

In the second case, the destination is the high or low part of a 32-bit MPL data: MPL parameter or user
variable and the source can be:
•

A 16-bit immediate value

•

A 16-bit MPL data: MPL register, parameter, variable or user variable

In the third case, the destination is 2 consecutive memory locations, indicated through a pointer variable
and the source can be:
•

A 32-bit immediate value

•

A 32-bit MPL data: MPL parameter, variable or user variable

ProgrammingProgrammable Examples
1) Source: 32-bit immediate value, Destination: 32-bit MPL data. The immediate value can be decimal or
hexadecimal. The destination can be either a long or a fixed variable
long_var = 100000;

// set user variable long_var with value 100000

long_var = 0x100000;

// set user variable long_var with value 0x100000

fixed_var = 1.5;

// set user variable fixed_var with value 1.5 (0x18000)

fixed_var = 0x14000;

// set user variable fixed_var with value 1.25 (0x14000)

2) Source: 32-bit MPL data, Destination: 32-bit MPL data.
var_dest = var_source; // copy value of var_source in var_dest
var_dest = -var_source; // copy negate value of var_source in var_dest
Remark: source and destination must be of the same type i.e. both long or both fixed
3) Source: 16-bit immediate value (decimal or hexadecimal) or 16-bit MPL data, Destination: high or low
part of a 32-bit MPL data. The 32-bit MPL data can be either long or fixed
long_var(L) = -1;

// write value –1 (0xFFFF) into low part of long_var

fixed_var(H) = 0x2000; // write value 0x2000 into high part of fixed_var

343

MPD User Manual

long_var(L) = int_var; // copy int_var into low part of long_var
fixed_var(H) = int_var; // copy int_var into high part of fixed_var
4) Source: 16-bit MPL data left shifted 0 to 16. Destination: 32-bit MPL data. The 32-bit MPL data can be
either long or fixed
long_var = int_var << 0;

// copy int_var left shifted by 0 into long_var

fixed_var = int_var << 16;

// copy int_var left shifted by 16 fixed_var

Remarks:
•

The left shift operation is done with sign extension. If you intend to copy the value of an integer
MPL data into a long MPL data preserving the sign use this operation with left shift 0

•

If you intend to copy the value of a 16-bit unsigned data into a 32-bit long variable, assign the 16bit data in low part of the long variable and set the high part with zero.

Examples:
var = 0xFFFF;

// As integer, var = 1, as unsigned integer var = 65535

lvar = var << 0;

// lvar = -1 (0xFFFFFFFF), the 16MSB of lvar are all set to 1 the
// sign bit of var

lvar(L) = var;

// lvar(L) = 0xFFFF

lvar(H) = 0;

// lvar(H) = 0. lvar = 65535 (0x0000FFFF)

5) Source: 2 consecutive memory locations, indicated through a pointer variable, Destination: 32-bit MPL
data. The memory locations can be of 3 types: RAM for data (dm), RAM for MPL programs (pm),
EEPROM SPI-connected for MPL programs (spi). The pointer variable indicates first of the 2 memory
locations. If the pointer variable is followed by a + sign, after the assignment, it is incremented by 2. The
destination can be either a long or a fixed MPL data
p_var = 0x4500;
var1 = (p_var),spi;

// set 0x4500 in pointer variable p_var
// var1 = value of the EEPROM memory location 0x4500

var1 = (p_var+),spi; // var1 = value of the EEPROM memory location 0x4500,
// then set p_var = 0x4502
p_var = 0x8200;
var1 = (p_var),pm;

// set 0x8200 in pointer variable p_var
// var1 = value of the RAM memory location 0x8200 for MPL
// programs

var1 = (p_var+),pm;

// var1 = value of the RAM memory location 0x8200 for MPL
// programs, then set p_var = 0x8202

p_var = 0xA00;
var1 = (p_var),dm;

// set 0xA00 in pointer variable p_var
// var1 = value of the RAM memory location 0xA00 for MPL
// data

var1 = (p_var+),dm;

// var1 = value of the RAM memory location 0xA00 for MPL
// data, then set p_var = 0xA02

344

MPD User Manual

6) Source: 32-bit immediate value (decimal or hexadecimal) or a 32-bit MPL data. Destination: 2
consecutive memory locations indicated through a pointer variable. The memory locations can be of 3
types: RAM for data (dm), RAM for MPL programs (pm), EEPROM SPI-connected for MPL programs
(spi). The pointer variable indicates first of the 2 memory locations. If the pointer variable is followed by a
+ sign, after the assignment, it is incremented by 2. The source can be either a long or a fixed MPL data.
p_var = 0x4500;

// set 0x4500 in pointer variable p_var

(p_var),spi = 200000;

// write 200000 in the EEPROM memory location 0x4500

(p_var+),spi = var1;

// write var1 value in the EEPROM memory location
// 0x4500, then set p_var = 0x4502

p_var = 0x8200;

// set 0x8200 in pointer variable p_var

(p_var),pm = 3.5;

// write value 3.5 in RAM memory location 0x8200 for
// MPL programs

(p_var+),pm = var1;

// write var1 value in RAM memory location 0x8200 for
// MPL programs, then set p_var = 0x8202

p_var = 0xA00;

// set 0xA00 in pointer variable p_var

(p_var),dm = -1L;

// write –1 (0xFFFFFFFF) in the RAM memory location
// 0xA00

(p_var+),dm = var1;

// write var1 value in the RAM data memory location
// 0xA00, then set p_var = 0xA02

When this operation is performed having as source an immediate value, the MPL compiler checks the
type and the dimension of the immediate value and based on this generates the binary code for a 16-bit
or a 32-bit data transfer. Therefore if the immediate value has a decimal point, it is automatically
considered as a fixed value. If the immediate value is outside the 16-bit integer range (-32768 to +32767),
it is automatically considered as a long value. However, if the immediate value is inside the integer range,
in order to execute a 32-bit data transfer it is necessary to add the suffix L after the value, for example:
200L or –1L.
Examples:
user_var = 0x29E;

// write CPOS address in pointer variable user_var

(user_var),dm = 1000000;

// write 1000000 (0xF4240) in the CPOS parameter i.e
// 0x4240 at address 0x29E and 0xF at address 0x29F

(user_var+),dm = -1;

// write -1 (0xFFFF) in CPOS(L). CPOS(H) remains
// unchanged. CPOS is (0xFFFFF) i.e. 1048575,
// and user_var is incremented by 2

user_var = 0x29E;

// write CPOS address in pointer variable user_var

(user_var+),dm = -1L;

// write –1L long value (0xFFFFFFFF) in CPOS i.e.
// CPOS(L) = 0xFFFF and CPOS(H) = 0xFFFF,
// user_var is incremented by 2

user_var = 0x2A0;

// write CSPD address in pointer variable user_var

(user_var),dm = 1.5;

// write 1.5 (0x18000) in the CSPD parameter i.e

345

MPD User Manual

// 0x8000 at address 0x2A0 and 0x1 at address 0x2A1
Remark: The MPL assignment instructions with source an immediate value or a MPL data and
destination a MPL data, use a short address format for the destination. The short address format
requires a destination address between 0x200 and 0x3FF or between 0x800 and 0x9FF. This restriction
is respected now by all the predefined or user-defined MPL data, hence you can use the above
assignment instructions without checking the variables addresses.
However, considering possible future developments, the MPL also includes assignment instructions using
a full address format where the destination address can be any 32-bit value. The following commands
support full addressing:
long_var,dm = 100000;

// set long_var = 100000 in using full addressing

long_var,dm = 0x100000; // set long_var = 0x100000 using full addressing
var_dest,dm = var_source; // copy value of var_source in var_dest using
// full addressing
See also:
Assignment and Data Transfer. 16-bit data – MPL Programming Details
MPL Description

6.2.3.5.

Arithmetic and logic manipulation

The MPL offers the possibility to perform the following operations with the MPL data:
•

Addition

•

Subtraction

•

Multiplication

•

Division

•

Left and right shift

•

logic AND / OR

Except the multiplication, the result of these operations is saved in the left operand. For the multiplication,
the result is saved in the dedicated product register. The operands are always treated as signed numbers
and the right shift is performed with sign-extension.
Addition: The right-side operand is added to the left-side operand
The left side operand can be:
•

A 16-bit MPL data: MPL parameter or user variable

•

A 32-bit MPL data: MPL parameter or user variable

The right side operand can be:
•

A 16-bit immediate value

•

A 16-bit MPL data: MPL parameter, variable or user variable

•

A 32-bit immediate value, if the left side operand is a 32-bit MPL data

346

MPD User Manual

•

A 32-bit MPL data: MPL parameter, variable or user variable, if the left side operand is a 32-bit
data too

Programming Examples
int_var += 10;

// int_var1 = int_var1 + 10

int_var += int_var2;

// int_var = int_var + int_var2

long_var += -100; // long_var = long_var + (-100) = long_var – 100
long_var += long_var2; // long_var = long_var + long_var2
fixed_var += 10.; // fixed_var = fixed_var + 10.0
fixed_var += fixed_var2; // fixed_var = fixed_var + fixed_var2
Subtraction: The right-side operand is subtracted from the left-side operand
The left side operand can be:
•

A 16-bit MPL data: MPL parameter or user variable

•

A 32-bit MPL data: MPL parameter or user variable

The right side operand can be:
•

A 16-bit immediate value

•

A 16-bit MPL data: MPL parameter, variable or user variable

•

A 32-bit immediate value, if the left side operand is a 32-bit MPL data

•

A 32-bit MPL data: MPL parameter, variable or user variable, if the left side operand is a 32-bit
data too

Programming Examples
int_var -= 10;

// int_var1 = int_var1 - 10

int_var -= int_var2;

// int_var = int_var - int_var2

long_var -= -100; // long_var = long_var - (-100) = long_var + 100
long_var -= long_var2; // long_var = long_var - long_var2
fixed_var -= 10.; // fixed_var = fixed_var - 10.0
fixed_var -= fixed_var2; // fixed_var = fixed_var - fixed_var2
Remark: At addition and subtraction, when the left operand is a 32-bit long or fixed MPL data and the
right operand is a 16-bit integer value, it is treated as follows:
•

Sign extended to a 32-bit long value, if the left operand is a 32-bit long

•

Set as the integer part of a fixed value, if the left operand is a 32-bit fixed

Multiplication: The 2 operands are multiplied and the result is saved in a dedicated 48-bit product
register (PREG). This can be accessed via the MPL variables: PRODH – the 32 most significant bits, and
PROD – the 32 least significant bits of the product register. The result of the multiplication can be left or
right-shifted with 0 to 15 bits, before being stored in the product register. At right shifts, high order bits are
sign-extended and the low order bits are lost. At left shifts, high order bits are lost and the low order bits
are zeroed. The result is preserved in the product register until the next multiplication.

347

MPD User Manual

The first (left) operand can be:
•

A 16-bit MPL data: MPL parameter, variable or user variable

•

A 32-bit MPL data: MPL parameter, variable or user variable

The second (right) operand can be:
•

A 16-bit immediate value

•

A 16-bit MPL data: MPL parameter, variable or user variable

Remark: The result is placed in the product register function of the left operand. When shift is 0:
•

In the 32 least significant bits, when the left operand is a 16-bit integer. The result is a 32-bit long
integer

•

In all the 48 bits, when the left operand is a 32-bit fixed. The result has the integer part in the 32
most significant bits and the fractional part in the 16 least significant bits

•

In all the 48 bits, when the left operand is a 32-bit long. The result is a 48-bit integer

Programming Examples
long_var * -200 << 0;

// PROD = long_var * (-200)

fixed_var * 10 << 5;

// PROD = fixed_var * 10 * 25 i.e. fixed_var *320

int_var1 * int_var2 >> 1; // PROD = (int_var1 * int_var2) / 2
long_var * int_var >> 2;

// PROD = (long_var * int_var) / 4

long_var = PROD;

// save 32LSB of PROD in long_var

long_var = PROD(H);

// save 32MSB of PROD in long_var i.e. bits 47-15

Division: The left operand – the dividend, is divided by the right operand – the divisor, and the result is
saved in the left operand..
The first (left) operand is a 32-bit MPL data: MPL parameter or user variable.
The second (right) operand is a 16-bit MPL data: MPL parameter, variable or user variable
The result, saved in the first operand is a fixed value with the integer part in the 16 most significant bits
and the fractional part in the 16 least significant bits.
Programming Examples
long_var /= int_var;

// long_var = long_var / int_var

fixed_var /= int_var;

// fixed_var = fixed_var / int_var

Left and right shift: The operand is left or right shifted with 0 to 15. The result is saved in the same
operand. At right shifts, high order bits are sign-extended and the low order bits are lost. At left shifts,
high order bits are lost and the low order bits are zeroed.
The operand can be:
•

A 16-bit MPL data: MPL parameter, variable or user variable

•

A 32-bit MPL data: MPL parameter, variable or user variable

348

MPD User Manual

•

The 48-bit product register with the result of the last multiplication

349

MPD User Manual

Programming Examples
long_var << 3;

// long_var = long_var * 8

int_var = -16;

// int_var = -16 (0xFFF0)

int_var >> 3;

// int_var = int_var / 8 = -2 (0xFFFE)

PROD << 1;

// PREG = PREG * 2

Remark: The shifts instructions having PROD as operand are performed on all the 48-bits of the product
register.
Logic AND / OR: A logic AND is performed between the operand and a 16-bit data (the AND mask),
followed by a logic OR between the result and another 16-bit data (the OR mask).
The operand is a 16-bit MPL data: MPL register, MPL parameter or user variable
The AND and OR masks are 16-bit immediate values, decimal or hexadecimal.
Programming Examples
int_var = 13;

// int_var = 13 (0xD)

SRB int_var, 0xFFFE, 0x2;// set int_var bit 0 = 0 and bit 1 = 1
// int_var = 12 (0xC)
The SRB instruction allows you to set/reset bits in a MPL data in a safe way avoiding the interference
with the other concurrent processes wanting to change the same MPL data. This is particularly useful for
the MPL registers, which have bits that can be manipulated by both the drive/motor and the user at MPL
level.
Remark: The SRB instruction, use a short address format for the operand. The short address format
requires an operand address between 0x200 and 0x3FF or between 0x800 and 0x9FF. This restriction is
respected now by all the predefined or user-defined MPL data, hence you can use the above assignment
instructions without checking the variables addresses.
However, considering possible future developments, the MPL also includes a similar instruction SRBL
using a full address format where the operand address can be any 16-bit value. The SRBL command
has the following mnemonic:
SRBL MPLvar, 0xFFFE, 0x2;

// set bit 0 = 0 and bit 1 = 1 in MPLvar with
// using full addressing

See also:
MPL Description

350

MPD User Manual

6.2.3.6.

Multi-axis control

6.2.3.6.1.

Axis identification

In multiple-axis configurations, each axis (drive/motor) needs to be identified through a unique number –
the axis ID. This is a value between 1 and 255. If the destination of a message is specified via an axis ID,
the message is received only by the axis with the same axis ID. The axis ID is initially set at power on
using the following algorithm:
a. With the value read from the EEPROM setup table containing all the setup data.
b. If the setup table is invalid, with the last axis ID value read from a valid setup table
c.

If there is no axis ID set by a valid setup table, with the value read from the hardware
switches/jumpers for axis ID setting

d. If the drive/motor has no hardware switches/jumpers for axis ID setting, with the default axis ID
value which is 255.
Remark: If the axis ID read from a valid setup table is 0, the axis ID is set with the value read from the
hardware switches/jumpers or in their absence according with d)
Typically, the axis ID is kept constant during operation at the value established during the setup phase.
However, if needed, you can change the axis ID to any of the 255 possible values, using the MPL
instruction AXISID, followed by an integer value between 1 and 255.
Apart from the axis ID, each drive has also a group ID. The group ID represents a filter for multicast
messages. The destination of a multicast message is specified via a group ID. When a multicast
message is received, each axis compares the group ID from the message with its own group ID. If the
axis group ID has a bit in common with the group ID from the message, the message is accepted. The
group ID is an 8-bit integer value. Each bit corresponds to one group: bit 0 – group 1, bit 1 – group 2… bit
7 – group 8. Hence a drive/motor can be programmed to be member of up to 8 groups. When a MPL
command is sent to a group, all the axes members of this group will receive the command. For example,
if a drive/motor has the group ID = 11 (1011b), it is member of groups 1, 2 and 4 and will receive the
messages sent any of these groups.
For each drive/motor you can:
•

Set its group ID using the MPL instruction GROUPID

•

Add new groups to its group ID using the MPL instruction ADDGRID

•

Remove groups from its group ID using the MPL instruction REMGRID.

Remarks:
•

You can read at any moment the actual values of the axis ID and group ID of a drive/motor from
the Axis Address Register AAR

•

By default all the drives are set as members of group 1.

•

A broadcast to all the axes means to send a message with the destination group ID = 0

Variables
AAR

MPL register (Axis Address Register). Contains the Group ID in the 8MSB and
the Axis ID in the 8LSB

351

MPD User Manual

Instructions
AXISID value

Set axis ID = value. Value is an 8-bit integer between 1 and 255

GROUPID (1,3,5,..)

Set group ID = value. Value is an 8-bit integer, where:
•

Bit 0 is set to 1, if (group) 1 occurs in the parenthesis, else it is set to 0

•

Bit 1 is set to 1, if (group) 2 occurs in the parenthesis, else it is set to 0

•

…

•

Bit 7 is set to 1, if (group) 8 occurs in the parenthesis, else it is set to 0

ADDGRID (2,4,6…)

Add the groups from parenthesis to the Group ID. The corresponding bits from
Group ID will be set to 1

REMGRID (2,5…)

Remove the groups from parenthesis from the Group ID. The corresponding bits
from Group ID will be set to 0

Programming Example
AXISID 10;

// set axis ID = 10

GROUPID (2,3);

// set group ID = 6 (110b) i.e. bits 1, 2 = 1

ADDGRID (4);

// add group 4. Group ID = 14 (1110b) i.e. bits 1, 2, 3 = 1

REMGRID (2,4);

// remove groups 2 and 4. Group ID = 4 (100b) i.e. bit 2 = 1
// AAR = 40Ah i.e. group ID = 4 and axis ID = 10 (Ah)

See also:
Communication Protocols – RS232 & RS485
Communication Protocols – CAN
MPL Description

6.2.3.6.2.

Data transfers between axes

There are 2 categories of data transfer operations between axes:
1. Read data from a remote axis. A variable or a memory location from the remote axis is saved into
a local variable
2. Write data to a remote axis or group of axes. A variable or a memory location of a remote axis or
group of axes is written with the value of a local variable
In a read data from a remote axis operation:
•

The source is placed on a remote axis and can be:
A 16-bit MPL data: MPL register, parameter, variable or user variable
A memory location indicated through a pointer variable

•

The destination is placed on the local axis and can be:
A 16-bit MPL data: MPL register, parameter or user variable

352

MPD User Manual

Programming Examples
1) Source: remote 16-bit MPL data, Destination: local 16-bit MPL data.
// set local_var with value of remote_var from axis 2

local_var = [2]remote_var;

Remark: If remote_var is a user variable, it has to be declared in the local axis too. Moreover, for correct
operation, remote_var must have the same address in both axes, which means that it must be declared
on each axis on the same position. Typically, when working with data transfers between axes, it is
advisable to establish a block of user variables that may be the source, destination or pointer of data
transfers, and to declare these data on all the axes as the first user variables. This way you can be sure
that these variables have the same address on all the axes.
2) Source: remote memory location pointed by a remote pointer variable, Destination: 16-bit MPL data.
The remote memory location can be of 3 types: RAM memory for MPL data (dm), RAM memory for MPL
programs (pm), EEPROM SPI-connected memory for MPL programs (spi). If the pointer variable is
followed by a + sign, after the assignment, the pointer variable is incremented by 1 if the destination is a
16-bit integer or by 2 if the destination is a 32-bit long or fixed
local_var = [2](p_var),spi;

// local_var = value of EEPROM program memory
// location from axis 2, pointed by p_var from axis 2

long_var = [3](p_var+),dm;

// local long_var = value of RAM data memory
// locations from axis 3, pointed by p_var from axis 3
// p_var is incremented by 2

int_var = [4](p_var+),pm;

// local int_var = value of RAM program memory
// location from axis 4, pointed by p_var from axis 4;
// p_var is incremented by 1

Remark: The MPL instructions for data transfers between axes use a short address format for the
remote source when this is a MPL data. The short address format requires a source address between
0x200 and 0x3FF or between 0x800 and 0x9FF. This restriction is respected now by all the predefined or
user-defined MPL data, hence you can use the above assignment instructions without checking the
variables addresses.
However, considering possible future developments, the MPL also includes data transfers using a full
address format where the source address can be any 16-bit value. The following command supports full
addressing:
local_var = [2]remote_var,dm;

// set local_var with value of remote_var
// from axis 2 using extended addressing

In a write data to a remote axis or group of axes operation:
•

The source is placed on the local drive and can be:
A 16-bit MPL data: MPL register, parameter, variable or user variable

•

The destination is placed on the remote axis or group of axes and can be:
A 16-bit MPL data: MPL register, parameter or user variable
A memory location indicated through a pointer variable

Programming Examples

353

MPD User Manual

1) Source: local 16-bit MPL data, Destination: remote 16-bit MPL data.
[2]remote_var = local_var;

// set remote_var from axis 2 with local_var value

[G2]remote_var = local_var; // set remote_var from group 2 with local_var value
[B]remote_var = local_var;

// set remote_var from all axes with local_var value
// broadcast with group ID = 0 -> got by everyone

2) Source: 16-bit MPL data, Destination: remote memory location pointed by a remote pointer variable.
The remote memory location can be of 3 types: RAM memory (dm), RAM memory for MPL programs
(pm), EEPROM SPI-connected memory for MPL programs (spi). If the pointer variable is followed by a +
sign, after the assignment, the pointer variable is incremented by 1 if the source is a 16-bit integer or by 2
if the source is a 32-bit long or fixed
[2](p_var),spi = local_var; // set local_var value in EEPROM program memory
// location from axis 2, pointed by p_var from axis 2
[G3](p_var+),dm = long_var; // set local long_var value in RAM data memory
// location from group 3 of axes, each location being
// pointed its own p_var, which is incremented by 2
[4](p_var+),pm = int_var;

// set local int_var value in RAM program memory
// location from axis 4, pointed by p_var from axis 4;
// p_var is incremented by 1

Remark: The MPL instructions for data transfers between axes use a short address format for the
remote destination when this is a MPL data. The short address format requires a destination address
between 0x200 and 0x3FF or between 0x800 and 0x9FF. This restriction is respected now by all the
predefined or user-defined MPL data, hence you can use the above assignment instructions without
checking the variables addresses.
However, considering possible future developments, the MPL also includes data transfers using a full
address format where the destination address can be any 16-bit value. The following command supports
full addressing:
[G2]remote_var,dm = local_var; // set remote_var from group 2 with
// local_var value, using extended addressing
See also:
MPL Description

354

MPD User Manual

6.2.3.6.3.

Remote control

The MPL includes powerful instructions through which you can program a drive to issue MPL commands
to another drive or group of drives. You can include these instructions in the MPL program of a drive,
which can act like a host and can effectively control the operation of the other drives from the network.
These MPL instructions are:
[axis]{MPL command1; MPL command2;…};
[group]{MPL command1; MPL command2;…};
[broadcast]{MPL command1; MPL command2;…};
where MPL command1, MPL command2, etc. can be any single axis MPL instructions. A single axis MPL
instruction is defined as an instruction that does not transfer data or sends MPL commands to other axes.
If you include multiple MPL commands separated by semicolon (;), these will be sent one by one in order
from left to right i.e. first MPL command1, then MPL command2, etc.
Remark: Most of the MPL instructions enter in the category of those that can be sent by a drive/motor to
another one using the above MPL commands.
Programming Examples
[G1]{CPOS=2000;}; // send a new CPOS command to all axes from group 1
[G1]{UPD};

// send an update command to all the axes from group 1
// all axes from group 1 will start to move simultaneously

[B]{STOP;};

// broadcast a STOP command to all axes from the network

See also:
MPL Description

355

MPD User Manual

6.2.3.6.4.

Axis Synchronization

The MPL provides a synchronization procedure between the ElectroCraft drives/motors connected in a
CAN network. When the synchronization procedure is active, the execution of the control loops is
synchronized within a 10 time interval. Due to this powerful feature, drifts between the drives/motors are
eliminated.
The synchronization process is performed in two steps. First, the synchronization master sends a
synchronization message to all axes, including to itself. When this message is received, all the axes read
their own internal time. Next, the master sends its internal time to all the synchronization slaves, which
compare it with their own internal time. If there are differences, the slaves correct slightly their sampling
periods in order to keep them synchronized with those of the master.
A drive/motor becomes the synchronization master when it receives the MPL command SETSYNC value
where value represents the time interval in internal units between the synchronization messages sent by
the synchronization master. Recommended value is 20ms.

6.2.3.7.

Monitoring

6.2.3.7.1.

Position Triggers

A position trigger is a position value with which the actual position is continuously compared. The
compare result is shown in the Status Register High (SRH). If the actual position is below a position
trigger, the corresponding bit from SRH is set to 0, else it is set to 1.
In total there are 4 position triggers. Their status is shown in SRH bits 4 to 1. The position triggers are set
in the following MPL parameters:
POSTRIGG1 – for Position Trigger 1
POSTRIGG2 – for Position Trigger 1
POSTRIGG3 – for Position Trigger 1
POSTRIGG4 – for Position Trigger 1
You can change at any moment the value of a position trigger.

356

MPD User Manual

Remark: The position triggers can be used to monitor the motion progress. If this operation is done from
a host, you may program the drive/motor to automatically issue a message towards the host, each time
when the status of a position trigger is changed.
See also:
Position Triggers – Related MPL Instructions and Data
MPL Description

357

MPD User Manual

6.2.3.7.2.

Position Triggers - Related MPL Instructions and Data

Parameters
POSTRIGG1

Position trigger 1. Measured in position units.

POSTRIGG2

Position trigger 2. Measured in position units.

POSTRIGG3

Position trigger 3. Measured in position units.

POSTRIGG4

Position trigger 4. Measured in position units.

Variables
APOS_LD

Actual load position. Measured in position units. Alternate name: APOS

TPOS

Target position – position reference computed by the reference generator at each
slow loop sampling period. Measured in position units

Programming Example
// Position feedback: 500 lines incremental
// encoder (2000 counts/rev)
POSTRIGG1 = 2000;//Set First Position Trigger = 1[rot]
See also:
Position Triggers – MPL Programming Details
MPL Description

6.2.3.7.3.

Status Register

The drive/motor status condition is described in registers SRH and SRL.
See also:
Status register low part – SRL
Status register high part – SRH
MPL Description

358

MPD User Manual

6.2.3.7.4.

FAULT Status

A drive/motor enters in the FAULT status, when an error occurs. In the FAULT status:
•

The drive/motor is in AXISOFF with the control loops and the power stage deactivated

•

The MPL program execution is stopped

•

The error register MER shows the type of errors detected and the status register SRH.15 signals
the fault condition

•

Ready and error outputs (if present) are set to the not ready level, respectively to the error active
level. When available, ready green led is turned off and error red led is turned on

Remark: The following conditions signaled in MER do not set the drive/motor in fault status:
•

Drive /motor disabled due to the enable input set on the disable level

•

Command error

•

Negative limit switch input on active level

•

Positive limit switch input on active level

•

Position wraparound

•

Serial and CAN bus communication errors

You can modify this default behavior by changing the MPL interrupt service routines
The drive/motor can be got out from the FAULT status, with the MPL command FAULTR – fault reset.
This command clears most of the error bits from MER, sets the ready output (if available) to the ready
level, and sets the error output (if available) to the no error level.
Remarks:
•

The FAULTR command does not change the status of MER.15 (enable input on disabled level),
MER.7 (negative limit switch input active), MER.6 (positive limit switch input active) and MER.2
(invalid setup table)

•

The drive/motor will return to FAULT status if there are errors when the FAULTR command is
executed

See also:
MPL Description

359

MPD User Manual

6.2.3.7.5.

Messages sent to the host

You can program a drive/motor to send messages to your host. The messages are all of type “Take Data
2” (see Communication Protocols: RS232 & RS485 or CAN) i.e. return the value of a MPL data, like if the
drive/motor would have had received a “Give Me Data 2” request from the host to return that MPL data.
The message transmission can be triggered by:
•

Conditions which change the status registers SRL, SRH or the error register MER

•

The execution of the MPL command SEND from your MPL program. Through this command you can
send to your host the contents of any MPL data

In the first case, you can select the registers bits, which will trigger a message when are changed. The
selection is done via 3 masks, one for each register, set in MPL parameters: SRL_MASK, SRH_MASK,
MER_MASK. A bit set in a mask, enables a message transmission when the same bit from the
corresponding register changes.
When the transmission is triggered by a bit change in SRH (high part) or SRL (low part), the message
sent contains these 2 registers grouped together as a single 32-bit register/data, with SRH on bits 31-16.
When the transmission is triggered by a bit change in MER, the message sent contains this register.
The host ID is specified via the MPL parameter MASTERID. This contains the host ID (an integer value
between 1 and 255), multiplied by 16, plus 1. For example, if the host ID is 1, the value of MASTERID
must be 1 *16 + 1 = 17.
Remark: By default, at power on, the MASTERID is set for a host ID equal with the drive/motor axis ID.
Therefore, the messages will be sent via RS-232 serial communication. If the host ID is set different from
the drive/motor axis ID, the messages are sent via the other communication channels: CAN bus, RS485,
etc
Parameters
MASTERID

Provides the host ID (address), according with formula:
MASTERID = host ID * 16 + 1

SRL_MASK
Mask for SRL register. A bit set to 1, enables to send SRH and SRL when the
same bit from SRL changes
SRH_MASK
Mask for SRH register. A bit set to 1, enables to send SRH and SRL when the
same bit from SRH changes
MER_MASK
from MER changes

Mask for MER register. A bit set to 1, enables to send MER when the same bit

Variables
SRL
MPL register. Low part of the 32-bit status register grouping key information about the drive/motor
status
SRH MPL register. High part of the 32-bit status register grouping key information concerning the
drive/motor status
MER

MPL register. Groups all the errors conditions

360

MPD User Manual

Instructions
SEND var
Sends a “Take Data 2” message with var contents. Var can be any 16-bit or 32-bit MPL
data: register, parameter or variable
Programming Examples
MASTERID = 33; // Set host ID / address = 2
//Send SRH & SRL if motion complete or pos. trigger 1 bits change
SRH_MASK = 0x0002;
SRL_MASK = 0x0400;
MER_MASK = 0xFFFF; // send MER on any bit change
SEND CAPPOS; // Send to host contents of variable CAPPOS
See also:
Communication Protocols – RS232 & RS485
Communication Protocols – CAN
MPL Description

361

MPD User Manual

6.2.3.8.

Miscellaneous

This categ
gory includes the following
g MPL instructtions:
FAULTR

Fault reset. Gets out th
he drive/moto
or from the FAULT status in which it e
enters
e
occurs. After a FAUL
LTR comman
nd, most of tthe error bitss from
when an error
MER are cleared (set to
o 0), the Rea
ady output (if present) is sset to “ready” level,
the Error ou
utput (if prese
ent) is set to ““no error” leve
el.
Remarks:
•

AULT reset co
ommand doe s not change
e the status o
of MER.15 (e
enable
The FA
input on
o disabled le
evel), MER.7
7 (negative lim
mit switch inp
put active), M
MER.6
(positiv
ve limit switch
h input active) and MER.2 ((invalid setup
p table)

•

The drrive/motor willl return to F
FAULT statuss if there are
e errors whe
en the
FAULT
TR command is executed

SAVE Saves the acttual values of
o the MPL parameters ffrom the RA
AM memory iinto the EEP
PROM
memory,
m
in the setup table
e. Through th
his command
d, you can sa
ave all the ssetup modifica
ations
do
one, after the
e power on initialization.
SCIBR va
alue16

he serial comm
munication in
nterface (SCI)) baud rate. S
SCI is used in
n data
Changes th

ex
xchanges on RS232 or RS
S485
The serial baud
b
rate is set
s at power o
on using the fo
ollowing algorithm:
a. With the value read from the EEP
PROM setup ttable
b. If the setup
s
table is
s invalid, with
h the last bau
ud rate read from a valid setup
table
c.

If there is no baud ra
ate set by a vvalid setup tab
ble, with 9600
0.

Remarks:

•

Use thiis command when a drive
e/motor opera
ates in AUTO
ORUN (after p
power
on starrts to executte the MPL program from
m the EEPR
ROM) and it must
commu
unicate with a host at a ba
aud rate diffe
erent from th
he default vallue. In
this cas
se, the MPL program
p
mustt start with a sserial baud ra
ate change.

•

An alte
ernate solution to the abo
ove case is to
o set via SCIIBR comman
nd the
desired
d baud rate an
nd then to sa
ave it in the EE
EEPROM, with
h command S
SAVE.
After a reset, the drive/motor
d
sttarts directly with the new
w baud rate, if the
able was valid
d. Once set, tthe new defau
ult baud rate is preserved,, even
setup ta
if the se
etup table is later on disab
bled, because the default serial baud rrate is
stored in
i a separate area of the E
EEPROM.

36
62

MPD U
User Manual

CANBR value16

Changes the CAN bus baud rate as follows:

The CAN baud rate is set at power on using the following algorithm:
d. With the value read from the EEPROM setup table
e. If the setup table is invalid, with the last baud rate read from a valid setup
table
f.

If there is no baud rate set by a valid setup table, with 500kb.

Remarks:
•

Use this command when a drive/motor operates in AUTORUN (after power
on starts to execute the MPL program from the EEPROM) and it must
communicate with a host at a baud rate different from the default value. In
this case, the MPL program must start with a CAN baud rate change.

•

An alternate solution to the above case is to set via CANBR command the
desired baud rate and then to save it the EEPROM, with command SAVE.
After a reset, the drive/motor starts directly with the new baud rate, if the
setup table was valid. Once set, the new default baud rate is preserved,
even if the setup table is later on disabled, because the default CAN baud
rate is stored in a separate area of the EEPROM

LOCKEEPROM value16 Locks or unlocks the EEPROM write protection. When the EEPROM is writeprotected, it is not possible to write data into the EEPROM, with the
exception of the MPL command SAVE. This command temporary unlocks
the EEPROM, saves the setup data and then locks back the EEPROM.
Value16 may have the following values:
0 – Disables EEPROM write protection
1 – Enables write protection for the last quarter of the EEPROM
2 – Enables write protection for the last half of the EEPROM
3 – Enables write protection for the entire EEPROM
Example: An EEPROM has 8Kwords. In the MPL program space occupies the address range: 40005FFFh. LOCKEEPROM 1 protects the address range: 5800-5FFFh, LOCKEEPROM 2 protects the
address range: 5000-5FFFh and LOCKEEPROM 3 protects the entire address range: 4000-5FFFh.
ENEEPROM Enables EEPROM usage after it was disabled by the initialization of feedback devices
like SSI or EnDat encoders using the same SPI link as the EEPROM
NOP

No operation

BEGIN First instruction of a MPL program.

363

MPD User Manual

END

Last instruction of the main section of a MPL program. When END instruction is
executed, the MPL program execution is stopped.
Remark: It is mandatory to end the main section of a MPL program with an END
command. All the MPL functions and the MPL interrupt service routines must
follow after the END command.

ENDINIT

END of the INITialization part of the MPL program. This command uses the
available setup data to perform key initializations, but does not activate the
controllers or the PWM outputs. These are activated with the AXISON command
Remarks:
•

After power on, the ENDINIT command may be executed only once.
Subsequent ENDINIT commands are ignored.

•

The first AXISON command must be executed only after the ENDINIT
command

•

Typically, the ENDINIT command is executed at the beginning of a MPL
program and may be followed by the AXISON command even if no motion
mode was set. In the absence of any programmed motion, the drive applies
zero voltage to the motor. Alternately, after ENDINIT you can set a first
motion and then execute AXISON

See also:
MPL Description

364

MPD User Manual

6.2.4. MPL Instruction set
6.2.4.1.

MPL Instructions

This section describes the complete set of MPL instructions, grouped by functionality. In each group, the
instructions are ordered alphabetically. The groups are:
•

•

Motion programming and control, including
o

Motion configuration

Motor commands

Program flow (decision) group
o

Events

Motion Controller Events

Jumps and function calls

MPL interrupts

•

I/O handling (firmware FAxx)

•

I/O handling (firmware FBxx)

•

Assignment and data transfer

•

Arithmetic and logic operations

•

Multi axis control and monitoring

•

Miscellaneous

•

On-line commands

The presentation also lists the Obsolete instructions together with their equivalents.
The description of each MPL instruction includes:
•

Syntax

•

Operands

•

Binary code

•

Description

•

Example(s)

All the notational conventions used are grouped in the symbols section.

365

MPD User Manual

6.2.4.2.

Symbols used in instructions descriptions

Symbol

Description

&Label

Value of a MPL program label i.e. a MPL program address

&V16

Address of a 16-bit integer variable

&V32

Address of a 32-bit long or fixed variable

(V16)

Contents of memory location from address equal with V16 value

(fa)

Full full addressing. Source/destination operand provided with 16-bit address.
Some MPL instructions using 9-bit short addressing are doubled with their long
addressing equivalent

9LSB(&V16) The 9 LSB (less significant bits) of the address of a 16-bit integer
9LSB(&V32) The 9 LSB (less significant bits) of the address of a 32-bit long or fixed
A

Message destination is an axis indicated via its Axis ID

A/G

Message destination can be an axis indicated via an Axis ID or a group of axes
indicated by a Group ID

ANDdis

16-bit AND mask. See Table MCRx & AND/OR masks for DISIO#n and
Table MCRx & PxDIR addresses

ANDen

16-bit AND mask. See Table MCRx & AND/OR masks for ENIO#n and
Table MCRx & PxDIR addresses

ANDin

16-bit AND mask. See Table AND/OR masks for SETIO#n IN

ANDm

16-bit user-defined AND mask

ANDout

16-bit AND mask. See Table AND/OR masks for SETIO#n OUT

ANDrst

16-bit AND mask. See Table AND/OR masks for ROUT#n

ANDset

16-bit AND mask. See Table AND/OR masks for SOUT#n

Bit_mask

16-bit AND mask. See Tables PxDIR & Bit_mask for V16=IN#n and
table MCRx & PxDIR addresses

D_ref

32-bit fixed value

D_time

16-bit value

Flag

Condition Flag for GOTO/CALL

LengthMLI

Length of a MPL instruction code in words – 1

MCRx

See Tables MCRx & AND/OR masks for ENIO#n / DISIO#n and
Table MCRx & PxDIR addresses

ORdis

16-bit OR mask. See Table MCRx & AND/OR masks for DISIO#n and
Table MCRx & PxDIR addresses

ORen

16-bit OR mask. See Table MCRx & AND/OR masks for ENIO#n and
Table MCRx & PxDIR addresses

ORin

16-bit OR mask.. See Table AND/OR masks for SETIO#n IN

ORm

16-bit user-defined OR mask

ORout

16-bit OR mask. See Table AND/OR masks for SETIO#n OUT

ORrst

16-bit OR mask. See Table AND/OR masks for ROUT#n

366

MPD User Manual

ORset

16-bit OR mask. See Table AND/OR masks for SOUT#n

PxDIR

See Table PxDIR & Bit_msk for V16=IN#n and Table MCRx & PxDIR addresses

RAM memory for MPL data

RAM memory for MPL programs

SPI

E2ROM memory for MPL programs

Type of memory. When used in syntax TM should be replaced by DM or PM or
SPI. When used in code, see Table TM values.

VAR

Any 16/32 –bit MPL data i.e.: register, parameter, variable, user-variable

VAR16

Any 16-bit integer MPL data

VAR16D

A 16-bit integer MPL parameter or user-variable, used as destination:

VAR16S

Any 16-bit integer MPL data used as source

VAR32

Any 32-bit long or fixed MPL data i.e.: parameter, variable, user-variable

VAR32(L)

16LSB of a 32-bit long or fixed variable (seen as a 16-bit integer)

VAR32(H)

16MSB of a 32-bit long or fixed variable (seen as a 16-bit integer)

VAR32D

A 32-bit long or fixed MPL parameter of user variable, used as destination

VAR32S

Any 32-bit long or fixed MPL data

value16

16-bit integer value

value32

32-bit long or fixed value

value32(L)

16LSB of a 32-bit long or fixed value

value32(H)

16MSB of a 32-bit long or fixed value

367

MPD User Manual

6.2.4.3.

Instructions Categories

6.2.4.3.1.

Motion configuration

Syntax

Description

CIRCLE

Define circular segment for vector mode

CPA

Command Position is Absolute

CPR

Command Position is Relative

EXTREF

Set external reference type

INITCAM addrS, addrD

Copy CAM table from EEPROM (addrS address) to RAM (addrD address)

LPLANE

Define coordinate system for linear interpolation mode

MODE CS

Set MODE Cam Slave

MODE GS

Set MODE Gear Slave

MODE LI

Set MODE Linear Interpolation

MODE PC

Set MODE Position Contouring

MODE PE

Set MODE Position External

MODE PP

Set MODE Position Profile

MODE PSC

Set MODE Position S-Curve

MODE PT

Set MODE PT

MODE PVT

Set MODE PVT

MODE SC

Set MODE Speed Contouring

MODE SE

Set MODE Speed External

MODE SP

Set MODE Speed Profile

MODE TC

Set MODE Torque Contouring

MODE TEF

Set MODE Torque External Fast

MODE TES

Set MODE Torque External Slow

MODE TT

Set MODE Torque Test

MODE VC

Set MODE Voltage Contouring

MODE VEF

Set MODE Voltage External Fast

MODE VES

Set MODE Voltage External Slow

MODE VM

Set MODE Vector Mode

MODE VT

Set MODE Voltage Test

PTP

Define a PT point

PVTP

Define a PVT point

368

MPD User Manual

REG_OFF

Disable superposed mode

REG_ON

Enable superposed mode

RGM

Reset electronic gearing/camming master mode

SEG

Define a contouring segment

SETPT

Setup PT mode operation

SETPVT

Setup PVT mod operation

SGM

Set electronic gearing/camming master mode

TUM0

Target update mode 0

TUM1

Target update mode 1

VPLANE

Define coordinate system for Vector Mode

VSEG

Define linear segment for vector mode

369

MPD User Manual

6.2.4.3.2.

Motor commands

Syntax

Description

AXISOFF

AXIS is OFF (deactivate control)

AXISON

AXIS is ON (activate control)

ENDINIT

END of Initialization

RESET

RESET drive / motor

SAP

Set Actual Position

STA

Set Target position = Actual position

STOP

STOP motion

STOP!

STOP motion when the programmed event occurs

UPD

Update motion mode and parameters. Start motion

UPD!

Update motion mode and parameters when the programmed event occurs

370

MPD User Manual

6.2.4.3.3.

Events

Syntax

Description

!ALPO

Set event when absolute load position is over a value

!ALPU

Set event when absolute load position is under a value

!AMPO

Set event when absolute motor position over a value

!AMPU

Set event when absolute motor position under a value

!CAP

Set event when a capture input goes low or high

!IN#n

Set event when digital input #n goes low or high

!LSN

Set event when the negative limit switch (LSN) goes low or high

!LSP

Set event when positive limit switch (LSP) goes low or high

!LSO

Set event when load speed is over a value

!LSU

Set event when load speed is under a value

!MC

Set event when the actual motion is completed

!MSO

Set event when motor speed is over a value

!MSU

Set event when motor speed is under a value

!PRO

Set event when position reference is over a value

!PRU

Set event when position reference is under a value

!RPO

Set event when relative load position is over a value

!RPU

Set event when relative load position is under a value

!RT

Set event after a wait time

!SRO

Set event if speed reference is over a value

!SRU

Set event if speed reference is under a value

!TRO

Set event if torque reference is over a value

!TRU

Set event if torque reference is under a value

!VO

Set event if a long/fixed variable is over a value

!VU

Set event if a long/fixed variable is under a value

WAIT!

Wait until the programmed event occurs

371

MPD User Manual

6.2.4.3.4.

Jumps and function calls

Syntax

Description

ABORT

Abort the execution of a function called with CALLS

CALL

Call a MPL function

CALLS

Cancelable CALL of a MPL function

GOTO

Jump

RET

Return from a MPL function

6.2.4.3.5.

MPL interrupts

Syntax

Description

DINT

Disable globally all MPL interrupts

EINT

Enable globally all MPL interrupts

RETI

Return from a MPL Interrupt Service Routine

372

MPD User Manual

6.2.4.3.6.

I/O handling (Firmware FAxx)

Syntax

Description

DISCAPI

Disable 1st capture/encoder index input to detect transitions

DIS2CAPI

Disable 2nd capture/encoder index input to detect transitions

DISLSN

Disable negative limit switch (LSN) input to detect transitions

DISLSP

Disable positive limit switch (LSP) input to detect transitions

EN2CAPI0

Enable 2nd capture/encoder index input to detect a high to low transition

EN2CAPI1

Enable 2nd capture/encoder index input to detect a low to high transition

ENCAPI0

Enable 1st capture/encoder index input to detect a high to low transition

ENCAPI1

Enable 1st capture/encoder index input to detect a low to high transition

ENLSN0

Enable negative limit switch (LSN) input to detect a high to low transition

ENLSN1

Enable negative limit switch (LSN) input to detect a low to high transition

ENLSP0

Enable positive limit switch (LSP) input to detect a low to high transition

ENLSP1

Enable positive limit switch (LSP) input to detect a high to low transition

OUTPORT

Set Enable, LSP, LSN and general purpose outputs OUT#28-31

ROUT#n

Set low the output line #n

SETIO#n

Set IO line #n as input or as output

SOUT#n

Set high the output line #n

V16D = IN#n

Read input #n. V16D = input #n status

V16D = INPUT1, ANDm

V16D = logical AND between inputs IN#25 to IN#32 status and ANDm mask

V16D = INPUT2, ANDm

V16D = logical AND between inputs IN#33 to IN#39 status and ANDm mask

V16D = INPORT, ANDm

V16D = status of inputs Enable, LSP, LSN plus IN#36 to IN#39

373

MPD User Manual

6.2.4.3.7.

I/O handling (firmware FBxx)

Syntax

Description

!CAP

Set event on capture inputs

!LSN

Set event on negative limit switch input

!LSP

Set event on positive limit switch input

DISCAPI

Disable 1st capture/encoder index input to detect transitions

DIS2CAPI

Disable 2nd capture/encoder index input to detect transitions

DISLSN

Disable negative limit switch (LSN) input to detect transitions

DISLSP

Disable positive limit switch (LSP) input to detect transitions

EN2CAPI0

Enable 2nd capture/encoder index input to detect a high to low transition

EN2CAPI1

Enable 2nd capture/encoder index input to detect a low to high transition

ENCAPI0

Enable 1st capture/encoder index input to detect a high to low transition

ENCAPI1

Enable 1st capture/encoder index input to detect a low to high transition

ENLSN0

Enable negative limit switch (LSN) input to detect a high to low transition

ENLSN1

Enable negative limit switch (LSN) input to detect a low to high transition

ENLSP0

Enable positive limit switch (LSP) input to detect a low to high transition

ENLSP1

Enable positive limit switch (LSP) input to detect a high to low transition

user_var = IN(n)

Read input n in the user variable user_var

user_var = IN(n1, n2, n3, …)

Read inputs n1, n2, n3,… in the user variable user_var

OUT(n) =value16

Set the output line as specified by value16

OUT(n1, n2, n3, …) =value16

Set the output lines n1 n2, n3 as specified by value16

SetAsInput(n)

Set the I/O line #n as an input

SetAsOutput(n)

Set the I/O line #n as an output

SRB

Set/reset bits from a MPL data

STOP!

Stop motion with the acceleration/deceleration set in CACC, when the
programmed event occurs

UPD!

Update the motion mode and/or the motion parameters when the
programmed event occurs

WAIT!

Wait until the programmed event occurs. If the command is followed by
value16, the wait ends after the time interval specified in this 16-bit integer
value. Value16 is measured in time units

374

MPD User Manual

6.2.4.3.8.

Assignment and data transfer

Syntax

Description

V16 = label

V16 = &label

V16D = V16S

V16 = val16

V16D = V32S(H)

V16D = V32S(L)

V16D, dm = V16S

V16D = V16S (fa)

V16D, dm = val16

V16D = val16 (fa)

V16D = (V16S), TM

V16D = (V16S) from TM memory

V16D = (V16S+), TM

V16D = (V16S) from TM memory, then V16S += 1

(V16D), TM = V16S

(V16D) from TM memory = V16S

(V16D), TM = val16

(V16D) from TM memory = val16

(V16D+), TM = V16S

(V16D) from TM memory = V16S, then V16D += 1

(V16D+), TM = val16

(V16D) from TM memory = val16, then V16D += 1

V32(H) = val16

V32(L) = val16

V32(H) = val16

V32D(H) = V16S

V32D(H) = V16

V32D(L) = V16S

V32D(L) = V16

V16D = -V16S

V32D = V32S

V32 = val32

V32D =V16S << N

V32D = V16S left-shifted by N

V32D, dm = V32S

V32D from dm = V32S (fa)

V32D, dm = val32

V32 from dm = val32 (fa)

V32D = (V16S), TM

V32D = (V16S) from TM memory

V32D = (V16S+), TM

V32D = (V16S) from TM memory, then V16S += 2

(V16D), TM = V32S

(V16D) from TM memory = V32S

(V16D), TM = val32

(V16D) from TM memory = val32

(V16D+), TM = V32S

(V16D) from TM memory = V32S, then V16D += 2

(V16D+), TM = val32

(V16D) from TM memory = val32, then V16D += 2

V32D = -V32S

375

MPD User Manual

6.2.4.3.9.

Arithmetic and logic operations

Syntax

Description

V16 += val16

V16 = V16 + val16

V16D += V16S

V16D = V16D + V16S

V32 += val32

V32 = V32 + val32

V32D += V32S

V32D = V32D + V32S

V16 -= val16

V16 = V16 - val16

V16D -= V16S

V16D = V16D - V16S

V32 -= val32

V32 = V32 - val32

V32D -= V32S

V32D = V32D - V32S

V16 * val16 << N

48-bit product register = (V16 * val16) >> N

V16 * val16 >> N

48-bit product register = (V16 * val16) >> N

V16A * V16B << N

48-bit product register = (V16A * V16B) << N

V16A * V16B >> N

48-bit product register = (V16A * V16B) >> N

V32 * V16 << N

48-bit product register = (V32 * V16) << N

V32 * V16 >> N

48-bit product register = (V32 * V16) >> N

V32 * val16 << N

48-bit product register = (V32 * val16) << N

V32 * val16 >> N

48-bit product register = (V32 * val16) >> N

V32=/V16

Divide V32 to V16

PROD <<= N

Left shift 48-bit product register by N

V16 <<= N

Left shift V16 by N

V32 <<= N

Left shift V32 by N

PROD >>= N

Right shift 48-bit product register by N

V16 >>= N

Right shift V16 by N

V32 >>= N

Right shift V32 by N

SRB V16, ANDm, ORm

Set / Reset Bits from V16

SRBL V16, ANDm, ORm

Set / Reset Bits from V16 (fa)

6.2.4.3.10.

Multiple axis control and monitoring

Syntax

Description

[A/G] { MPL Instr}

Send MPL instruction to [A/G]

[A/G] V16D = V16S

[A/G] V16D = local V16S

376

MPD User Manual

[A/G] V16D, dm = V16S

[A/G] V16D = local V16S (fa)

[A/G] (V16D), TM = V16S

[A/G] (V16D), TM = local V16S

[A/G] (V16D+), TM = V16S

[A/G] (V16D), TM = local V16S, then V16D += 1

[A/G] V32D = V32S

[A/G] V32D = local V32S

[A/G] V32D, dm = V32S

[A/G] V32D = local V32S (fa)

[A/G] (V16D), TM = V32S

[A/G] (V16D), TM = local V32S

[A/G] (V16D+), TM = V32S

[A/G] (V16D), TM = local V32S, then V16D += 2

V16D = [A] V16S

Local V16D = [A] V16S

V16D = [A] V16S, dm

Local V16D = [A] V16S, dm (fa)

V16D = [A] (V16S), TM

Local V16D = [A] (V16S), dm

V16D = [A] (V16S+), TM

Local V16D = [A] (V16S), dm, then V16S += 1

V32D = [A] V32S

Local V32D = [A] V32S

V32D = [A] V32S, dm

Local V32D = [A] V32S, dm (fa)

V32D = [A] (V16S), TM

Local V32D = [A] (V16S), TM

V32D = [A] (V16S+), TM

Local V32D = [A] (V16S), TM, then V16S += 2

ADDGRID (value16_1, value16_2,…)

Add groups to the Group ID

AXISID

Set Axis ID

GROUPID (value16_1, value16_2,…)

Set GROUP ID

SETSYNC

Enable/disable synchronization between axes

SEND

Send to host the contents of a MPL variable

REMGRID (value16_1, value16_2,…)

Remove groups from the Group ID

377

MPD User Manual

6.2.4.3.11.

Miscellaneous

Syntax

Description

BEGIN

BEGIN of a MPL program

CANBR val16

Set CAN bus baud rate

CHECKSUM, TM Start, Stop, V16D

V16D=Checksum between Start and Stop addresses from TM

ENEEPROM

Enables EEPROM usage after it was disabled by the
initialization of SSI or ENDat encoders

END

END of a MPL program

ENDINIT

END of INITialization part of the MPL program

FAULTR

Reset FAULT status. Return to normal operation

LOCKEEPROM

Locks or unlocks the EEPROM write protection

NOP

No Operation

SAVE

Save setup data in the EEPROM memory

SCIBR V16

Set RS-232/Rs485 serial communication interface (SCI) baud
rate

STARTLOG V16

Start the data acquisition

STOPLOG

Stop the data acquisition

378

MPD User Manual

6.2.4.3.12.

On line commands

Syntax

Description

(?)GiveMeData

Ask one axis to return a 16/32 bit data from memory

TakeData

Answer to GiveMeData request

(??)GiveMeData2

Ask a group of axes to return each a 16/32 bit data from memory

TakeData2

Answer to GiveMeData2 request

GetMPLData

Ask one axis to return a MPL data

TakeData

Answer to Get MPL Data request

GetVersion

Ask one axis the firmware version

TakeVersion

Answer to Get version request

Get checksum

Ask one axis to return the checksum between 2 addresses from its MPL memory

Take checksum

Answer to Get checksum request

PING

Ask a group of axes to return their axis ID

PONG

Answer to a PING request

GETERROR

Get last error reported by slaves

SAVEERROR

Save slave error in EEPROM

Remark: The online instructions are intended only for host/master usage and cannot reside in a MPL
program. Therefore their syntax is fictive, its only goal being to identify these commands.
In the Binary Code Viewer you can “emulate” a GiveMeData request for a MPL variable using syntax
?name and a GiveMeData2 request using syntax ??name. In both cases, name is the MPL variable
name.
In the Command interpreter, you can check the value of any MPL data, by sending a GiveMeData
request using the syntax ?name, where name is the MPL data name. The value returned with the
TakeData answer is displayed. Through the command interpreter you may also send a Get checksum
request using the syntax: CHECKSUM Start_address, Stop_address. The value returned with Take
checksum is displayed.

379

MPD User Manual

6.2.4.3.13.

Obsolete Instructions

The obsolete instructions listed below have been replaced with or included as functionality in other MPL
commands. The obsolete instructions may still be used with their syntax (except the ADDGRID,
GROUPID and REMGRID commands), but in this case you can’t benefit from the extended functionalities
of their equivalents.
Obsolete syntax

Replace syntax

Remarks

ADDGRID value16

ADDGRID (value_1, value_2,…)

The binary code is identical; the syntax was changed to
allow setting adding more than one group. The old syntax
is no more supported

DISIO#n

–

Not required anymore. All the I/O pins are already set

ENIO#n

–

Not required anymore. All the I/O pins are already set

GROUPID value16

GROUPID (value_1, value_2,…)

The binary code is identical; the syntax was changed to
allow setting adding more than one group. The old syntax
is no more supported

MODE CS0
MODE CS1
MODE CS2

MODE CS

MODE CS3
MODE GS0
MODE GS1
MODE GS2

MODE GS

MODE GS3
MODE PC0
MODE PC1
MODE PC2

MODE PC

MODE PC3
MODE PE0
MODE PE1
MODE PE2

MODE PE

MODE PE3
MODE PP0
MODE PP1
MODE PP2

MODE PP

MODE PP3
MODE PPD0

–

It is seen as a particular case of electronic gearing

380

MPD User Manual

MODE PPD1
MODE PPD2
MODE PPD3
MODE SC0
MODE SC1
MODE SE0
MODE SE1
MODE SP0
MODE SP1
MODE SPD0
MODE SPD1

MODE SC

–

MODE SE

–

MODE SP

–

RAOU

–

Handled automatically

REMGRID value16

REMGRID(value_1, value_2,…)

The binary code is identical; the syntax was changed to
allow setting adding more than one group. The old syntax
is no more supported

SAOU

–

Handled automatically

SPIBR V16

–

Handled automatically

STOP

–

STOP!

–

STOP0
STOP1
STOP2
STOP3
STOP1!
STOP2!
STOP3!
STOP3!

381

MPD User Manual

6.2.5. Instru
uctions desc
criptions
6.2
2.5.1.1.

en absolute load position >
!ALPO Sett event whe

Syntax
!ALPO va
alue32

! if Ab
bsoluteLoadP
PositionOver value32

!ALPO VA
AR32

! if Ab
bsoluteLoadP
PositionOver VAR32

Operands
s

VAR32
2: long variab
ble
value3
32: 32-bit long
g immediate value
v

Binary co
ode

Description

Sets th
he event con
ndition when the load abso
olute position
n is equal or over the spe
ecified
value or the value of the speciffied variable. After you ha
ave programm
med an event, you
o the following
g actions:
can do
•

Ch
hange the motion
m
mode and/or the parameters when the e
event occurs,, with
co
ommand UPD
D!

•

Stop the motion
n when the ev
vent occurs, w
with command
d STOP!

•

Wait for the pro
ogrammed event to occur, with comman
nd WAIT!

The prrogrammed event
e
is autom
matically erassed when the
e event occurrs or if the tim
meout
for the WAIT! comm
mand expires.
u need to wa
ait until the p
programmed event
Remarrk: After settting UPD! orr STOP! you
occurs
s using WAIT
T!, otherwise, the program
m will continue
e with the ne
ext instruction
ns that
may ov
verride the ev
vent monitorin
ng.
Execution

Activattes the mon
nitoring of th
he event, w
when load a
absolute position >= vallue32,
respec
ctively VAR32
2. This operration erasess a previouss programme
ed event tha
at has
occurred.

38
82

MPD U
User Manual

Example
//Stop motion when load position >= 3 rev
//Position feedback: 500 lines encoder (2000 counts/rev)
!ALPO 6000; //Set event: when load absolute position is >= 3 rev
STOP!;//Stop the motion when the event occurs
WAIT!;//Wait until the event occurs

383

MPD User Manual

6.2
2.5.1.2.

!ALPU Sett event whe
en absolute load position <

Syntax
!ALPU va
alue32

! if Ab
bsoluteLoadP
PositionUnder value32

!ALPU VA
AR32

! if Ab
bsoluteLoadP
PositionUnder VAR32

Operands
s

VAR32
2: long variab
ble
value3
32: 32-bit long
g immediate value
v

Binary co
ode

Description

Sets th
he event condition when the
t load abso
olute position is equal or u
under the spe
ecified
value or the value of the speciffied variable. After you ha
ave programm
med an event, you
o the following
g actions:
can do
•

Ch
hange the motion
m
mode and/or the parameters when the e
event occurs,, with
co
ommand UPD
D!

•

Stop the motion
n when the ev
vent occurs, w
with command
d STOP!

•

Wait for the pro
ogrammed event to occur, with comman
nd WAIT!

Activattes the mon
nitoring of th
he event, w
when load a
absolute position <= vallue32,
respec
ctively VAR32
2. This operration erasess a previouss programme
ed event tha
at has
occurred.

Example
//
/Change sp
peed comman
nd when lo
oad absolut
te positio
on is <= 10
0 rev

38
84

MPD U
User Manual

//Position feedback: 500 lines encoder (2000 counts/rev)
!ALPU 20000;//Set event: when load absolute position is <= 10 rev
CSPD = 13.3333;//new slew speed command = 500[rpm]
UPD!; //execute on event
WAIT!;//Wait until the event occurs

385

MPD User Manual

6.2
2.5.1.3.

!AMPO Se
et event whe
en absolute
e motor pos
sition >

Syntax
!AMPO value32
v

! if Ab
bsoluteMotorrPositionOverr value32

!AMPO VAR32
V

! if Ab
bsoluteMotorrPositionOverr VAR32

Operands
s

VAR32
2: long variab
ble
value3
32: 32-bit long
g immediate value
v

Binary co
ode

Description

Sets th
he event condition when the
t motor abssolute positio
on is equal or over the spe
ecified
value or the value of the speciffied variable. After you ha
ave programm
med an event, you
o the following
g actions:
can do
•

Ch
hange the motion
m
mode and/or the parameters when the e
event occurs,, with
co
ommand UPD
D!

•

Stop the motion
n when the ev
vent occurs, w
with command
d STOP!

•

Wait for the pro
ogrammed event to occur, with comman
nd WAIT!

The prrogrammed event
e
is autom
matically erassed when the
e event occurrs or if the tim
meout
for the WAIT! comm
mand expires.
u need to wa
ait until the p
programmed event
Remarrk: After settting UPD! orr STOP! you
occurs
s using WAIT
T!, otherwise, the program
m will continue
e with the next instruction
ns that
may ov
verride the ev
vent monitorin
ng.
Execution

Activattes the mon
nitoring of th
he event, wh
hen motor a
absolute possition >= vallue32,
respec
ctively VAR32
2. This operration erasess a previouss programme
ed event tha
at has
occurred.

Example

38
86

MPD U
User Manual

//Reverse when motor position >= 1rev
//Position feedback: 500 lines encoder (2000 counts/rev)
CACC = 0.1591;

//acceleration rate = 500[rad/s^2]

CSPD = 40;

//jog speed = 1200[rpm]

MODE SP;

// set trapezoidal speed profile mode

UPD;

//execute immediate

CSPD = -40;

//jog speed = -1200[rpm]

!AMPO 2000; // Set event: when motor absolute position >= 1 rot
WAIT!;

//Wait until the event occurs

UPD;

//Update. Speed command is reversed

Remark: You can activate a new motion on a programmed event in 2 ways:
•

Set UPD! command then wait the event with WAIT!. This will activate the new motion
immediately when the event occurs

•

Wait the event with WAIT!, then update the motion with UPD. This will activate the
new motion with a slight delay compared with the first option

387

MPD User Manual

6.2
2.5.1.4.

!AMPU Set event whe
en absolute
e load position <=

Syntax
!AMPU va
alue32

! if Ab
bsoluteMotorrPositionUnde
er value32

!AMPU VAR32
V

! if Ab
bsoluteMotorrPositionUnde
er VAR32

Operands
s

VAR32
2: long variab
ble
value3
32: 32-bit long
g immediate value
v

Binary co
ode

Description

Sets th
he event cond
dition when th
he motor abs olute position
n is equal or u
under the spe
ecified
value or the value of the speciffied variable. After you ha
ave programm
med an event, you
o the following
g actions:
can do
•

Ch
hange the motion
m
mode and/or the parameters when the e
event occurs,, with
co
ommand UPD
D!

•

Stop the motion
n when the ev
vent occurs, w
with command
d STOP!

•

Wait for the pro
ogrammed event to occur, with comman
nd WAIT!

Activattes the mon
nitoring of th
he event, wh
hen motor a
absolute possition <= vallue32,
respec
ctively VAR32
2. This operration erasess a previouss programme
ed event tha
at has
occurred.

Example

38
88

MPD U
User Manual

//Stop when motor position <= -3 rev
//Position feedback: 500 lines encoder (2000 counts/rev)
CACC = 0.1591;

//acceleration rate = 500[rad/s^2]

CSPD =-40;

//jog speed = 1200[rpm]

MODE SP;
UPD;

//execute immediate

!AMPU -6000;// Set event: when motor position is < -3rev
STOP!;

//Stop when the event occurs

WAIT!;

//Wait until the event occurs

389

MPD User Manual

6.2
2.5.1.5.

!CAP Set event
e
when
n function of capture in
nput

Syntax
!CAP

! if CA
APture triggerred

Operands
s

–

Binary co
ode

Description

Sets th
he event cond
dition when th
he programm
med transition occurs on on
ne of the 2 ca
apture
inputs. Typically, on
o the capture
e inputs are connected th
he 1st and 2nd encoder iindex.
med transition
n occurs on e
either of these
e inputs, the ffollowing happ
pens:
When the programm
•

otor position APOS_MT
A
is captured and
d memorized
d in the MPL vvariable CAP
PPOS,
Mo
exc
cept the case
e of open-loo
op systems, w
where referen
nce position TPOS is cap
ptured
instead

•

Ma
aster position APOS2 or lo
oad position A
APOS_LD is captured and
d memorized in the
MP
PL variable CAPPOS2,
C
ex
xcept the casse of stepperrs controlled open loop with an
enc
coder on the load, when lo
oad position iss captured in CAPPOS.

The se
election betwe
een master and load posittion is done as follows: loa
ad position is ssaved
in CAP
PPOS2 only for the setup
p configuration
e different sensors for load and
ns which use
motor and foresee a transmission ratio between the
em. For all the other setup
urations, the master positio
on is saved in
n CAPPOS2
configu
After you
y have prog
grammed an event,
e
you ca
an do the follo
owing actions:
•

Ch
hange the motion
m
mode and/or the parameters when the e
event occurs,, with
co
ommand UPD
D!

•

Stop the motion
n when the ev
vent occurs, w
with command
d STOP!

•

Wait for the pro
ogrammed event to occur, with comman
nd WAIT!

Activattes the monittoring of the event, when
n the program
mmed transition (low to hiigh or
high to
o low) occurrs on the sellected capturre input. Thiss operation e
erases a pre
evious
progra
ammed event that has occu
urred.

Example
//
/Stop moti
ion on next
t encoder index

39
90

MPD U
User Manual

ENCAPI1; //Enable 1st capture input for low->high transitions
!CAP; // Set event on 1st capture (low->high transition)
STOP!;//Stop the motion when event occurs
WAIT!;//Wait until the event occurs
CPOS = CAPPOS; // new command position = captured position
CPA; //position command is absolute
MODE PP;
TUM1; //set Target Update Mode 1
UPD; //execute immediate
!MC; WAIT!; //wait for completion

391

MPD User Manual

6.2
2.5.1.6.

!IN Set eve
ent when fu
unction of d
digital input

Syntax
!IN#n 0

! if Inp
put#n is 0

!IN#n 1

! if Inp
put#n is 1

Operands
s

n: inpu
ut line numberr (0<=n<=39))

Binary co
ode

Description

Sets the
t
event co
ondition when
n the digital input #n be
ecomes 0, re
espectively 1. The
conditiion of the inp
put #n is tes
sted at each slow loop sa
ampling perio
od. After you have
progra
ammed an eve
ent, you can do
d the followiing actions:
•

Ch
hange the motion
m
mode and/or the parameters when the e
event occurs,, with
co
ommand UPD
D!

•

Stop the motion
n when the ev
vent occurs, w
with command
d STOP!

•

Wait for the pro
ogrammed event to occur, with comman
nd WAIT!

Activattes monitorin
ng of the ev
vent when th
he digital inp
put #n beco
omes 0 (!IN#
#n 0),
respec
ctively 1 (!IN#
#n 1). This operation erasses a previou
us programm
med event tha
at has
occurred.

Example
//
/ Start mo
otion when digital input
i
#36 i
is high
!I
IN#36 1; //
/ set even
nt when in
nput #36 is
s high
//
/Position profile. Position
P
feedback:
f
5
500-lines encoder

39
92

MPD U
User Manual

CACC = 0.3183;//acceleration rate = 1000[rad/s^2]
CSPD = 100;//slew speed = 3000[rpm]
CPOS = 20000;//position command = 10[rot]
CPA; //position command is absolute
MODE PP;
TUM1; //set Target Update Mode 1
UPD!; //execute on event
WAIT!;//Wait until the event occurs

393

MPD User Manual

6.2
2.5.1.7.

!LSN Set event
e
when function off LSN inputt

Syntax
!LSN

! if Lim
mitSwitchNeg
gative active

Operands
s

–

Binary co
ode

Description

Sets the event con
ndition when the program
mmed transitio
on occurs at the negative
e limit
y have prog
grammed an e
event, you ca
an do the follo
owing actionss:
switch input. After you
•

hange the motion
m
mode and/or the parameters when the e
event occurs,, with
Ch
co
ommand UPD
D!

•

Stop the motion
n when the ev
vent occurs, w
with command
d STOP!

•

Wait for the pro
ogrammed event to occur, with comman
nd WAIT!

Activattes monitoring
g of the even
nt when the p rogrammed ttransition occurs at the neg
gative
limit sw
witch input. Th
his operation erases a pre
evious program
mmed event tthat has occu
urred.

Example
//
/Reverse when
w
negati
ive limit switch is reached
//
/Position feedback: 500 lines
s encoder (
(2000 coun
nts/rev)
CA
ACC = 0.06
637;

//a
acceleratio
on rate = 200[rad/s^
^2]

CS
SPD = -16.
.6667; //j
jog speed = -500[rpm
m]
MO
ODE SP;
UP
PD;

//e
execute imm
mediate

EN
NLSN1;//En
nable negat
tive limit
t switch fo
or low->hi
igh transit
tions
!L
LSN;

//Se
et event on
n negative
e limit swi
itch(low->
>high trans
sition)

WA
AIT!;//Wai
it until th
he event occurs
o
!M
MC;

// li
imit switch
h is activ
ve -> quick
k stop mod
de active

WA
AIT!;// wa
ait until the
t
motor stops beca
ause only then the n
new
// mo
otion comma
ands are accepted
a

39
94

MPD U
User Manual

CSPD = 40;

//jog speed = 1200[rpm]

MODE SP;

//after quick stop set again the motion mode

UPD;

//execute immediate

395

MPD User Manual

6.2
2.5.1.8.

!LSP Set event
e
when function off LSP input

Syntax
!LSP

! if Lim
mitSwitchPossitive active

Operands
s

–

Binary co
ode

Description

Sets the event con
ndition when the program
mmed transitiion occurs at the positive
e limit
switch input. After you
y have prog
grammed an e
event, you ca
an do the follo
owing actionss:
•

hange the motion
m
mode and/or the parameters when the e
event occurs,, with
Ch
co
ommand UPD
D!

•

Stop the motion
n when the ev
vent occurs, w
with command
d STOP!

•

Wait for the pro
ogrammed event to occur, with comman
nd WAIT!

Activattes monitoring of the even
nt when the p
programmed ttransition occcurs at the po
ositive
limit sw
witch input. Th
his operation erases a pre
evious program
mmed event tthat has occu
urred.

Example
//
/Reverse when
w
positi
ive limit switch is reached
//
/Position feedback: 500 lines
s encoder (
(2000 coun
nts/rev)
CA
ACC = 0.06
637;

//a
acceleratio
on rate = 200[rad/s^
^2]

CS
SPD = 16.6
6667;

//j
jog speed = 500[rpm]

MO
ODE SP;
UP
PD;

//e
execute imm
mediate

EN
NLSP1;//En
nable posit
tive limit
t switch fo
or low->hi
igh transit
tions
!L
LSP;

//Se
et event on
n positive
e limit swi
itch(low->
>high trans
sition)

WA
AIT!;//Wai
it until th
he event occurs
o
!M
MC;

// li
imit switch
h is activ
ve -> quick
k stop mod
de active

WA
AIT!;// wa
ait until the
t
motor stops beca
ause only then the n
new
// mo
otion comma
ands are accepted
a

39
96

MPD U
User Manual

CSPD = -40;

//jog speed = -1200[rpm]

MODE SP;

//after quick stop set again the motion mode

UPD;

//execute immediate

397

MPD User Manual

6.2
2.5.1.9.

!MC Set ev
vent when m
motion com
mplete

Syntax
!MC

!(set event)
e
if Motio
onComplete

Operands
s

–

Binary co
ode

Description

Sets th
he event con
ndition when the actual m otion is comp
pleted. The m
motion compllete is
set in the
t following conditions:
•

Du
uring position control:
If UPGRAD
DE.11=1, whe
en the positio
on reference arrives at the
e position to reach
(commande
ed position) and
a the positio
on error rema
ains inside a ssettle band de
efined
by POSOK
KLIM, for a pre
eset stabilize time interval defined by TO
ONPOSOK
If UPGRAD
DE.11=0, whe
en the positio
on reference arrives at the
e position to reach
(commande
ed position)

•

Du
uring speed control,
c
when the speed refference arrive
es at the com
mmanded spee
ed

The motion
m
complete condition
n is reset wh
hen a new m
motion is started i.e. whe
en the
update
e command – UPD is exec
cuted.
Remarrk: In case of
o steppers controlled
c
op
pen-loop, the motion comp
plete conditio
on for
positio
oning is alway
ys set when the position
n reference a
arrives at the
e position to reach
indepe
endently of the
e UPGRADE
E.11 status.
Execution

Activate
es monitoring
g of the even
nt when the actual motion is complete
ed. This ope
eration
erases a previous prrogrammed event
e
that hass occurred.

Example
//
/Execute successive
s
position profiles
//
/ Position
n feedback:
: 500 line
es encoder (2000 cou
unts/rev)
PO
OSOKLIM = 10; //Set settle ba
and to 0.00
05[rot]
TO
ONPOSOK = 10; //Set stabilize
e time to 0
0.01[s]
SR
RB UPGRADE
E, 0xFFFF, 0x0800; //
/ motion c
complete w
with settle
e band
CA
ACC = 0.31
183;//accel
leration rate
r
= 1000
0[rad/s^2]
CS
SPD = 100;
;//slew spe
eed = 3000
0[rpm]
CP
POS = 2000
00;//positi
ion comman
nd = 10[rot
t]
CP
PR; //posi
ition comma
and is rel
lative

39
98

MPD U
User Manual

MODE PP;
TUM1; //set Target Update Mode 1
UPD; //execute immediate
!MC; WAIT!; // set event and wait for motion complete
...

// start here next move

399

MPD User Manual

6.2
2.5.1.10.

!PRO Set event
e
when
n position re
eference >

Syntax
!PRO valu
ue32

! if Po
ositionReferen
nceOver valu
ue32

!PRO VAR32

! if Po
ositionReferen
nceOver VAR
R32

Operands
s

VAR32
2: long variab
ble
value3
32: 32-bit long
g immediate value
v

Binary co
ode

Description

Sets th
he event cond
dition when the position re
eference is eq
qual or over tthe specified value
or the value of the specified varriable. After yyou have prog
grammed an event, you can do
the following actions:
•

hange the motion
m
mode and/or the parameters when the e
event occurs,, with
Ch
co
ommand UPD
D!

•

Stop the motion
n when the ev
vent occurs, w
with command
d STOP!

•

Wait for the pro
ogrammed event to occur, with comman
nd WAIT!

The prrogrammed event
e
is autom
matically erassed when the
e event occurrs or if the tim
meout
for the WAIT! comm
mand expires.
u need to wa
ait until the p
programmed event
Remarrk: After settting UPD! orr STOP! you
occurs
s using WAIT
T!, otherwise, the program
m will continue
e with the next instruction
ns that
may ov
verride the ev
vent monitorin
ng.
Execution

Activattes the monittoring of the event, when position refe
erence >= vallue32, respecctively
VAR32
2. This operattion erases a previous pro grammed eve
ent that has o
occurred.

Example::
//
/Stop moti
ion when po
osition re
eference >=
= 3 rev

40
00

MPD U
User Manual

//Position feedback: 500 lines encoder (2000 counts/rev)
!PRO 6000; //Set event: when motor position reference is >= 3 rev
STOP!;//Stop the motion when the event occurs
WAIT!;//Wait until the event occurs

401

MPD User Manual

6.2
2.5.1.11.

!PRU Set event
e
when
n position re
eference <

Syntax
!PRU valu
ue32

! if PositionR
ReferenceUnd
der value32

!PRU VAR
R32

der VAR32
! if PositionR
ReferenceUnd

Operands
s

VAR32
2: long variab
ble
value3
32: 32-bit long
g immediate value
v

Binary co
ode

Description

Sets th
he event cond
dition when th
he position re ference is eq
qual or under the specified value
or the value of the specified varriable. After yyou have prog
grammed an event, you can do
the following actions:
•

hange the motion
m
mode and/or the parameters when the e
event occurs,, with
Ch
co
ommand UPD
D!

•

Stop the motion
n when the ev
vent occurs, w
with command
d STOP!

•

Wait for the pro
ogrammed event to occur, with comman
nd WAIT!

The prrogrammed event
e
is autom
matically erassed when the
e event occurrs or if the tim
meout
for the WAIT! comm
mand expires.
u need to wa
ait until the p
programmed event
Remarrk: After settting UPD! orr STOP! you
occurs
s using WAIT
T!, otherwise, the program
m will continue
e with the next instruction
ns that
may ov
verride the ev
vent monitorin
ng.
Execution

Activattes the monittoring of the event, when position refe
erence <= vallue32, respecctively
VAR32
2. This operattion erases a previous pro grammed eve
ent that has o
occurred.

Example::
//
/Stop moti
ion when po
osition re
eference >=
= 3 rev

40
02

MPD U
User Manual

//Position feedback: 500 lines encoder (2000 counts/rev)
!PRU 6000; //Set event: when position reference is >= 3 rev
STOP!;//Stop the motion when the event occurs
WAIT!;//Wait until the event occurs

403

MPD User Manual

6.2
2.5.1.12.

!SRO Set event
e
when
n speed refe
erence >

Syntax
!SRO valu
ue32

! if Sp
peedReferencceOver value32

!SRO VAR32

! if Sp
peedReferencceOver VAR3
32

Operands
s

VAR32
2: fixed variab
ble
value3
32: 32-bit fixed
d immediate value
v

Binary co
ode

Description

Sets th
he event cond
dition when th
he speed refe
erence is equal or over the
e specified va
alue or
the value of the spe
ecified variab
ble. After you have program
mmed an eve
ent, you can d
do the
following actions:
•

hange the motion
m
mode and/or the parameters when the e
event occurs,, with
Ch
co
ommand UPD
D!

•

Stop the motion
n when the ev
vent occurs, w
with command
d STOP!

•

Wait for the pro
ogrammed event to occur, with comman
nd WAIT!

The prrogrammed event
e
is autom
matically erassed when the
e event occurrs or if the tim
meout
for the WAIT! comm
mand expires.
u need to wa
ait until the p
programmed event
Remarrk: After settting UPD! orr STOP! you
occurs
s using WAIT
T!, otherwise, the program
m will continue
e with the next instruction
ns that
may ov
verride the ev
vent monitorin
ng.
Execution

Activattes the monittoring of the event, when
n speed referrence >= value32, respecctively
VAR32
2. This operattion erases a previous pro grammed eve
ent that has o
occurred.

Example::
//
/Stop moti
ion when sp
peed refer
rence >= 31
15 rpm

40
04

MPD U
User Manual

//Position feedback: 500 lines encoder (2000 counts/rev)
!SRO 10.5; //Set event: when speed reference is >= 315 rpm
STOP!;//Stop the motion when the event occurs
WAIT!;//Wait until the event occurs

405

MPD User Manual

6.2
2.5.1.13.

!SRU Set event
e
when
n speed refe
erence <=

Syntax
!SRU valu
ue32

! if Sp
peedReferencceUnder valu
ue32

!SRU VAR
R32

! if Sp
peedReferencceUnder VAR
R32

Operands
s

VAR32
2: fixed variab
ble
value3
32: 32-bit fixed
d immediate value
v

Binary co
ode

Description

Sets th
he event condition when the speed refe
ference is equ
ual or under tthe specified value
or the value of the specified varriable. After yyou have prog
grammed an event, you can do
the following actions:
•

hange the motion
m
mode and/or the parameters when the e
event occurs,, with
Ch
co
ommand UPD
D!

•

Stop the motion
n when the ev
vent occurs, w
with command
d STOP!

•

Wait for the pro
ogrammed event to occur, with comman
nd WAIT!

The prrogrammed event
e
is autom
matically erassed when the
e event occurrs or if the tim
meout
for the WAIT! comm
mand expires.
u need to wa
ait until the p
programmed event
Remarrk: After settting UPD! orr STOP! you
occurs
s using WAIT
T!, otherwise, the program
m will continue
e with the next instruction
ns that
may ov
verride the ev
vent monitorin
ng.
Execution

Activattes the monittoring of the event, when
n speed referrence <= value32, respecctively
VAR32
2. This operattion erases a previous pro grammed eve
ent that has o
occurred.

Example::
//
/Motor is decelerati
ing. Start
t a positio
on profile
e when spee
ed

40
06

MPD U
User Manual

//reference < 600 rpm
//Position feedback: 500 lines encoder (2000 counts/rev)
!SRU 20; //Set event: when position reference is <= 3 rev
// prepare new motion mode
CACC = 0.3183;//acceleration rate = 1000[rad/s^2]
CSPD = 100;//slew speed = 3000[rpm]
CPOS = 20000;//position command = 10[rot]
CPR; //position command is relative
MODE PP;
TUM1; //set Target Update Mode 1
UPD!; //execute on event
WAIT!;//Wait until the event occurs

407

MPD User Manual

6.2
2.5.1.14.

!TRO Set event
e
when
n torque refe
erence >=

Syntax
!TRO valu
ue32

! if To
orqueReferen
nceOver value
e32

!TRO VAR
R32

32
! if To
orqueReferen
nceOver VAR3

Operands
s

VAR32
2: fixed variab
ble
value3
32: 32-bit fixed
d immediate value
v

Binary co
ode

Description

Sets th
he event cond
dition when th
he current/torrque referencce is equal orr over the spe
ecified
value or the value of the speciffied variable. After you ha
ave programm
med an event, you
o the following
g actions:
can do
•

Ch
hange the motion
m
mode and/or the parameters when the e
event occurs,, with
co
ommand UPD
D!

•

Stop the motion
n when the ev
vent occurs, w
with command
d STOP!

•

Wait for the pro
ogrammed event to occur, with comman
nd WAIT!

Activattes the mon
nitoring of th
he event, wh
hen current/ttorque refere
ence >= vallue32,
respec
ctively VAR32
2. This operration erasess a previouss programme
ed event tha
at has
occurred.

Example::

40
08

MPD U
User Manual

// Motor will reach a hard stop. Disable control when torque
// reference > 1 A = 1984 internal current units
!TRO 1984.0; // set event when torque reference > 1 A
WAIT!;//Wait until the event occurs
AXISOFF; // disable control

409

MPD User Manual

6.2
2.5.1.15.

!TRU Set event
e
when torque refe
erence <=

Syntax
!TRU valu
ue32

! if To
orqueReferen
nceUnder valu
ue32

!TRU VAR
R32

! if To
orqueReferen
nceUnder VAR
R32

Operands
s

VAR32
2: fixed variab
ble
value3
32: 32-bit fixed
d immediate value
v

Binary co
ode

Description

Sets the
t
event co
ondition when the curren
nt/torque refe
erence is eq
qual or unde
er the
specifiied value or the value of the specified
d variable. A
After you havve programme
ed an
event, you can do the following actions:
a
•

hange the motion
m
mode and/or the parameters when the e
event occurs,, with
Ch
co
ommand UPD
D!

•

Stop the motion
n when the ev
vent occurs, w
with command
d STOP!

•

Wait for the pro
ogrammed event to occur, with comman
nd WAIT!

Activattes the mon
nitoring of th
he event, wh
hen current/ttorque refere
ence <= vallue32,
respec
ctively VAR32
2. This operration erasess a previouss programme
ed event tha
at has
occurred.

Example

410

MPD U
User Manual

// Disable control when torque reference > 1 A = 1984 IU
!TRO 1984.0; // set event when torque reference > 1 A
WAIT!;//Wait until the event occurs
AXISOFF; // disable control

411

MPD User Manual

6.2
2.5.1.16.

!RPO Set event
e
when
n relative loa
ad/motor po
osition >

Syntax
!RPO valu
ue32

! if Re
elativePositio
onOver value3
32

!RPO VAR32

! if Re
elativePositio
onOver VAR3
32

Operands
s

VAR32
2: long variab
ble
value3
32: 32-bit long
g immediate value
v

Binary co
ode

Description

Sets the event con
ndition when the load rela
ative position
n is equal or over the spe
ecified
o the value of
o the specifie
ed variable. T
The relative po
ement
value or
osition is the load displace
from th
he beginning of the actual movement.
Remark: The orig
gin for the rellative position
n measureme
ent (MPL vari
riable POS0) is set
on of the target update mode. Unde
der TUM1, P
POS0 = TPO
OS. Under T
TUM0,
functio
POS0=
=APOS_LD.
After you
y have prog
grammed an event,
e
you ca
an do the follo
owing actions:
•

Ch
hange the motion
m
mode and/or the parameters when the e
event occurs,, with
co
ommand UPD
D!

•

Stop the motion
n when the ev
vent occurs, w
with command
d STOP!

•

Wait for the pro
ogrammed event to occur, with comman
nd WAIT!

Activattes the monito
oring of the event, when lo
oad relative position >= value32, respecctively
VAR32
2. This operattion erases a previous pro grammed eve
ent that has o
occurred.

412

MPD U
User Manual

Example
//Stop motion when after moving 3 rev
//Position feedback: 500 lines encoder (2000 counts/rev)
!RPO 6000; //Set event: when load relative position is >= 3 rev
STOP!;//Stop the motion when the event occurs
WAIT!;//Wait until the event occurs

413

MPD User Manual

6.2
2.5.1.17.

!RPU Set event
e
when
n relative loa
ad/motor po
osition <

Syntax
!RPU valu
ue32

! if Re
elativePosition
nUnder value
e32

!RPU VAR
R32

! if Re
elativePosition
nUnder VAR3
32

Operands
s

VAR32
2: long variab
ble
value3
32: 32-bit long
g immediate value
v

Binary co
ode

Description

Sets th
he event con
ndition when the
t load relattive position is equal or u
under the spe
ecified
value or
o the value of
o the specifie
ed variable. T
The relative po
osition is the load displace
ement
from th
he beginning of the actual movement.
Remark: The orig
gin for the rellative position
n measureme
ent (MPL vari
riable POS0) is set
on of the target update mode. Unde
der TUM1, P
POS0 = TPO
OS. Under T
TUM0,
functio
POS0=
=APOS_LD.
After you
y have prog
grammed an event,
e
you ca
an do the follo
owing actions:
•

Ch
hange the motion
m
mode and/or the parameters when the e
event occurs,, with
co
ommand UPD
D!

•

Stop the motion
n when the ev
vent occurs, w
with command
d STOP!

•

Wait for the pro
ogrammed event to occur, with comman
nd WAIT!

Activattes the monito
oring of the event, when lo
oad relative position <= value32, respecctively
VAR32
2. This operattion erases a previous pro grammed eve
ent that has o
occurred.

414

MPD U
User Manual

Example
//Move negative and change speed command after 10 rev
//Position feedback: 500 lines encoder (2000 counts/rev)
!RPU 20000;//Set event: when load relative position is <= 10 rev
CSPD = 13.3333;//new slew speed command = 500[rpm]
UPD!; //execute on event
WAIT!;//Wait until the event occurs

415

MPD User Manual

6.2
2.5.1.18.

!RT Set ev
vent after a wait time

Syntax
!RT value
e32

! if Re
elativeTime > = value32

!RT VAR3
32

! if Re
elativeTime > = VAR32

Operands
s

VAR32
2: long variab
ble
value3
32: 32-bit long
g immediate value
v

Binary co
ode

Description

Sets th
he event cond
dition when th
he relative tim
me is equal orr greater than the 32-bit va
alue or
the va
alue of the specified
s
long
g variable. T
The relative ttime RTIME is computed
d with
formula: RTIME = ATIME – TIIME0, where ATIME is a 32-bit abso
olute time counter,
mented by 1 at each slow lo
oop sampling
g period and
increm
TIME0
0 is the ATIME value when
n the wait eve
ent was set. A
After power o
on, TIME0 is set to
0. RTIME is update
ed together wiith ATIME, att each slow lo
oop sampling period.
a
RTIME start
s
ONLY a
after the execcution of the ENDINIT (e
end of
Remark: ATIME and
zation) comm
mand. Therefo
ore you shoulld not set wa
ait events beffore executin
ng this
initializ
comma
and
After you
y have prog
grammed an event monito
oring you nee
ed to wait unttil the program
mmed
event occurs,
o
using
g the MPL com
mmand WAIT
T!. Otherwise
e, the program
m will continue
e with
the nex
xt instructions
s that may ov
verride the eve
ent monitoring.

Execution

Activattes the monitoring of the event
e
when s ystem relativve time >= value32, respecctively
VAR32
2. This operattion erases a previous pro grammed eve
ent that has o
occurred.

Example
//
/Introduce a 100 ms delay

416

MPD U
User Manual

!RT 100;

// set event: After a wait of 100 slow-loop periods
// 1 slow-loop period = 1ms

WAIT!;

// wait the event to occur

417

MPD User Manual

6.2
2.5.1.19.

!MSO Set event when
n motor spe
eed >=

Syntax
!MSO vallue32

! if Mo
otorSpeedOvver value32

!MSO VA
AR32

! if Mo
otorSpeedOvver VAR32

Operands
s

VAR32
2: fixed variab
ble
value3
32: 32-bit fixed
d immediate value
v

Binary co
ode

Description

Sets th
he event con
ndition when the
t motor sp eed is equal or over the 32-bit value o
or the
value of the specifiied fixed variable. After yo
ou have prog
grammed an event, you can do
the following actions:
•

hange the motion
m
mode and/or the parameters when the e
event occurs,, with
Ch
co
ommand UPD
D!

•

Stop the motion
n when the ev
vent occurs, w
with command
d STOP!

•

Wait for the pro
ogrammed event to occur, with comman
nd WAIT!

Activattes the monito
oring of the event
e
when m
motor speed >= value32, re
espectively VA
AR32.
This op
peration erases a previous
s programmed
has occurred..
d event that h

Example
//
/Motor is accelerati
ing. Stop motion whe
en motor

418

MPD U
User Manual

//speed > 600 rpm
//Position feedback: 500 lines encoder (2000 counts/rev)
!MSO 20; //Set event: when motor speed is > 600 rpm
STOP!;//Stop the motion when the event occurs
WAIT!;//Wait until the event occurs

419

MPD User Manual

6.2
2.5.1.20.

!MSU Set event
e
when
n motor spe
eed <=

Syntax
!MSU vallue32

! if Mo
otorSpeedUn
nder value32

!MSU VAR32

! if Mo
otorSpeedUn
nder VAR32

Operands
s

VAR32
2: fixed variab
ble
value3
32: 32-bit fixed
d immediate value
v

Binary co
ode

Description

Sets th
he event condition when the
t motor spe
eed is equal o
or under the 32-bit value o
or the
value of the specifiied fixed variable. After yo
ou have prog
grammed an event, you can do
the following actions:
•

hange the motion
m
mode and/or the parameters when the e
event occurs,, with
Ch
co
ommand UPD
D!

•

Stop the motion
n when the ev
vent occurs, w
with command
d STOP!

•

Wait for the pro
ogrammed event to occur, with comman
nd WAIT!

Activattes the monito
oring of the event
e
when m
motor speed <= value32, re
espectively VA
AR32.
This op
peration erases a previous
s programmed
has occurred..
d event that h

Example
//
/Motor is decelerati
ing. Start
t a positio
on profile
e when moto
or
//
/speed < 600
6
rpm

42
20

MPD U
User Manual

//Position feedback: 500 lines encoder (2000 counts/rev)
!MSU 20; //Set event: when motor speed is < 600 rpm
// prepare new motion mode
CACC = 0.3183;//acceleration rate = 1000[rad/s^2]
CSPD = 100;//slew speed = 3000[rpm]
CPOS = 20000;//position command = 10[rot]
CPR; //position command is relative
MODE PP;
TUM1; //set Target Update Mode 1
UPD!; //execute on event
WAIT!;//Wait until the event occurs

421

MPD User Manual

6.2
2.5.1.21.

!LSO Set event
e
when load speed
d>

Syntax
!LSO valu
ue32

! if Lo
oadSpeedOve
er value32

!LSO VAR
R32

! if Lo
oadSpeedOve
er VAR32

Operands
s

VAR32
2: fixed variab
ble
value3
32: 32-bit fixed
d immediate value
v

Binary co
ode

Description

Sets the event con
ndition when the load spe
eed is equal or over the 3
32-bit value o
or the
ou have prog
grammed an event, you can do
value of the specifiied fixed variable. After yo
the following actions:
•

hange the motion
m
mode and/or the parameters when the e
event occurs,, with
Ch
co
ommand UPD
D!

•

Stop the motion
n when the ev
vent occurs, w
with command
d STOP!

•

Wait for the pro
ogrammed event to occur, with comman
nd WAIT!

Activattes the monittoring of the event
e
when lo
oad speed >=
= value32, re
espectively VA
AR32.
This op
peration erases a previous
s programmed
d event that h
has occurred..

Example
//
/Stop moti
ion when lo
oad speed > 600 rpm

42
22

MPD U
User Manual

//Load Position feedback: 500 lines encoder (2000 counts/rev)
!LSO 20; //Set event: when load speed is > 600 rpm
STOP!;//Stop the motion when the event occurs
WAIT!;//Wait until the event occurs

423

MPD User Manual

6.2
2.5.1.22.

!LSU Set event
e
when load speed
d<

Syntax
!LSU valu
ue32

! if Lo
oadSpeedUnd
der value32

!LSU VAR
R32

! if Lo
oadSpeedUnd
der VAR32

Operands
s

VAR32
2: fixed variab
ble
value3
32: 32-bit fixed
d immediate value
v

Binary co
ode

Description

Sets th
he event con
ndition when the
t load spee
ed is equal o
or under the 32-bit value o
or the
value of the specifiied fixed variable. After yo
ou have prog
grammed an event, you can do
the following actions:
•

hange the motion
m
mode and/or the parameters when the e
event occurs,, with
Ch
co
ommand UPD
D!

•

Stop the motion
n when the ev
vent occurs, w
with command
d STOP!

•

Wait for the pro
ogrammed event to occur, with comman
nd WAIT!

Activattes the monittoring of the event
e
when lo
oad speed <=
= value32, re
espectively VA
AR32.
This op
peration erases a previous
s programmed
d event that h
has occurred..

Example
//
/ Start a position profile
p
wh
hen load sp
peed < 600
0 rpm
//
/ Load Pos
sition feed
dback: 500
0 lines enc
coder (200
00 counts/r
rev)

42
24

MPD U
User Manual

!LSU 20; //Set event: when motor speed is < 600 rpm
// prepare new motion mode
CACC = 0.3183;//acceleration rate = 1000[rad/s^2]
CSPD = 100;//slew speed = 3000[rpm]
CPOS = 20000;//position command = 10[rot]
CPR; //position command is relative
MODE PP;
TUM1; //set Target Update Mode 1
UPD!; //execute on event
WAIT!;//Wait until the event occurs

425

MPD User Manual

6.2
2.5.1.23.

!VO Set ev
vent when v
variable >=

Syntax
!VO VAR32A, value32
2

! if Va
ar32AOver va
alue32

!VO VAR32A, VAR32B
B

! if Va
ar32AOver VA
AR32B

Operands
s

VAR32
2A: fixed or lo
ong variable
VAR32
2B: fixed or lo
ong variable
value3
32: 32-bit fixed
d or long imm
mediate value

Binary co
ode

Description

Sets th
he event cond
dition when th
he selected v ariable (any 3
32-bit fixed orr long MPL da
ata) is
equal or over the specified
s
valu
ue or the valu
ue of anotherr 32-bit variab
ble. After you have
ammed an eve
ent, you can do
d the followiing actions:
progra
•

Ch
hange the motion
m
mode and/or the parameters when the e
event occurs,, with
co
ommand UPD
D!

•

Stop the motion
n when the ev
vent occurs, w
with command
d STOP!

•

Wait for the pro
ogrammed event to occur, with comman
nd WAIT!

Activattes the monito
oring of the event
e
when th
he selected va
ariable >= value32, respecctively
VAR32
2. This operattion erases a previous pro grammed eve
ent that has o
occurred.

Example

42
26

MPD U
User Manual

//Wait until master position MREF > 500 counts, then activate
//electronic gearing slave mode
!VO MREF, 500; //Set event when variable MREF is >= 500
GEAR = 1; // gear ratio
GEARMASTER = 1; // Gear ratio denominator
GEARSLAVE = 1; // Gear ratio numerator
EXTREF 2; // read master from 2nd encoder or pulse & dir
MASTERRES = 2000; // master resolution
MODE GS; //Set as slave, position mode
TUM1; //Set Target Update Mode 1
SRB UPGRADE, 0xFFFF, 0x0004;//UPGRADE.2=1 enables CACC limitation
CACC = 0.3183; //Limit maximum acceleration at 1000[rad/s^2]
UPD!; //execute on event

427

MPD User Manual

6.2
2.5.1.24.

!VU Set ev
vent when v
variable <=

Syntax
!VU VAR3
32A, value32
2

! if Va
ar32AUnder vvalue32

!VU VAR3
32A, VAR32B
B

! if Va
ar32AUnder V
VAR32B

Operands
s

VAR32
2A: fixed or lo
ong variable
VAR32
2B: fixed or lo
ong variable
value3
32: 32-bit fixed
d or long imm
mediate value

Binary co
ode

Description

Sets th
he event cond
dition when th
he selected v ariable (any 3
32-bit fixed orr long MPL da
ata) is
equal or under the specified value or the valu
ue of anotherr 32-bit variab
ble. After you
u have
ammed an eve
ent, you can do
d the followiing actions:
progra
•

Ch
hange the motion
m
mode and/or the parameters when the e
event occurs,, with
co
ommand UPD
D!

•

Stop the motion
n when the ev
vent occurs, w
with command
d STOP!

•

Wait for the pro
ogrammed event to occur, with comman
nd WAIT!

Activattes the monito
oring of the event
e
when th
he selected va
ariable <= value32, respecctively
VAR32
2. This operattion erases a previous pro grammed eve
ent that has o
occurred.

Example

42
28

MPD U
User Manual

//Wait until master position MREF < 500 counts, then activate
//electronic gearing slave mode
!VU MREF, 500; //Set event when variable MREF is <= 500
GEAR = 1; // gear ratio
GEARMASTER = 1; // Gear ratio denominator
GEARSLAVE = 1; // Gear ratio numerator
EXTREF 2; // read master from 2nd encoder or pulse & dir
MASTERRES = 2000; // master resolution
MODE GS; //Set as slave, position mode
TUM1; //Set Target Update Mode 1
SRB UPGRADE, 0xFFFF, 0x0004;//UPGRADE.2=1 enables CACC limitation
CACC = 0.3183; //Limit maximum acceleration at 1000[rad/s^2]
UPD!; //execute on event

429

MPD User Manual

6.2
2.5.1.25.

GiveMeDa
ata/TakeData
a

Syntax
VAR
?V
–
Operands
s

Ask
k one axis to return a 16/3
32 bit value fro
om memory
Ans
swer to GiveM
MeData reque
est

VAR: 16/32-bit
1
MPL
L data: registe
er, parameterr, variable or u
user variable

Remark: The onlin
ne instruction
ns are intend
ded only for h
host/master usage and ccannot
ogram. There
efore their syn
yntax is fictive
e, the only go
oal being to id
dentify
reside in a MPL pro
these commands.
nterpreter, yo
ou can checkk the value o
of any MPL d
data, by send
ding a
In the Command in
MeData reque
est with synta
ax ?VAR. The
e value return
ned with the TakeData an
nswer,
GiveM
is disp
played. The same
s
syntax may be used
d in the Bina
ary Code View
wer to “emula
ate” a
GiveM
MeData reque
est and a Take
eData answe
er
Binary co
ode

Description

Throug
gh GiveMeD
Data comma
and an exte rnal device can requesst data from
m one
drive/m
motor. The requested data can be:
•

AM memory ffor data (dm)
A MPL datta from the RA

•

A memory location from
m the RAM me
emory for MP
PL programs ((pm)

•

A memory location from
m the EEPRO M SPI-conne
ected memoryy (spi)

The dimension of th
he requested data is speccified in the biinary code through the VT
T bit: 0
– 16-b
bit, 1 – 32-bit. The data is id
dentified by itts memory ad
ddress and typ
pe:

In the expeditor add
dress, bit H – the host bit – must be se
et to 1 only if the host send
ds the
MeData reque
est via seria
al RS-232 lin
nk. For deta
ails, see seriial communiccation
GiveM
protoc
col description
n.
The an
nswer to a GiiveMeData command is a TakeData m
message inclu
uding the exp
peditor
Axis ID
D, the address of the data returned and its value.
Remark: The Giv
veMeData an
nd TakeData
a commands must be ussed only forr data
nges betwee
en 2 devices
s. In a multii-axis CAN b
bus network, the GiveMe
eData
exchan
command must be sent to a sing
gle axis. If thiis command is sent to a g
group of drive
es, the

43
30

MPD U
User Manual

TakeData answers from different drives will have all the same identifier and therefore
can’t be correctly identified.

431

MPD User Manual

6.2
2.5.1.26.

GiveMeDa
ata2/TakeDa
ata2

Syntax
??VAR
R

An
nswer to GiveMeData2 req
quest

–
Operands
s

As
sk a group of axes
a
to return
n each a 16/3
32 bit data from memory

VAR: 16/32-bit
1
MPL
L data: registe
er, parameterr, variable or u
user variable

Remark: The onlin
ne instruction
ns are intend
ded only for h
host/master usage and ccannot
ogram. There
efore their syn
yntax is fictive
e, the only go
oal being to id
dentify
reside in a MPL pro
these commands.
e Binary Cod
de Viewer you
y
can to ““emulate” a GiveMeData
a2 request a
and a
In the
TakeD
Data2 answerr with syntax ??VAR.
?
Binary co
ode

Description

Throug
gh GiveMeDa
ata2 comman
nd an extern al device can
n request datta from a gro
oup of
drives//motors, using
g a multicast or broadcast message. Th
he requested data can be:
•

A MPL datta from the RA
AM memory ffor data (dm)

•

A memory location from
m the RAM me
emory for MP
PL programs ((pm)

•

A memory location from
m the EEPRO M SPI-conne
ected memoryy (spi)

The dimension of th
he requested data is speccified in the biinary code through the VT
T bit: 0
– 16-b
bit, 1 – 32-bit. The data is id
dentified by itts memory ad
ddress and typ
pe:

The answer
a
to a GiveMeData
a2 command
d is a TakeData2 message including the
expeditor Axis ID, th
he address off the data retu
urned and its value.

43
32

MPD U
User Manual

Remark: The GiveMeData2 and command can be sent simultaneously to a group of
drives/motors from a CAN bus network. Even if all the axes answer in the same time, the
host will get the TakeData2 answers one by one, prioritized in the ascending order of the
expeditors’ axis ID: axis 1 – highest priority, axis 255 – lowest priority. Hence these
commands allow optimizing bus traffic, by sending for the same data, a single request to
all the drives involved.

433

MPD User Manual

6.2
2.5.1.27.

GetMPLDa
ata/TakeMP
PLData

Syntax

Operands
s

–

As
sk one axis to return a MPL
L data

–

An
nswer to GetM
MPLData requ
uest

–

Descrription Thro
ough GetMPLData comm
mand an external device ccan request a MPL
data frrom one drive
e/motor. The dimension
d
of the requeste
ed data is spe
ecified in the b
binary
code through
t
the VT
V bit: 0 – 16--bit, 1 – 32-biit. The MPL d
data is identiffied by its add
dress.
GetMP
PLData instru
uction uses a 9-bit shorrt address fo
for the MPL data. Bit va
alue X
specifiies the addres
ss range:

In the expeditor add
dress, bit H – the host bit – must be se
et to 1 only if the host send
ds the
PLData requ
uest via seria
al RS-232 lin
nk. For deta
ails, see serial communiccation
GetMP
protoc
col description
n.
The answer to a GetMPLData
G
a command iis a TakeMP
PLData messsage includin
ng the
he address off the MPL datta returned an
nd its value.
expeditor Axis ID, th
a TakeMPL
LData comma
ands are optimized for req
quests of MPL
L data
The GetMPLData and
es). For this ttype of data exchanges, GetMPLData
a and
(registters, parametters, variable
TakeM
MPLData pro
ovide shorter messages a
and occupy lless commun
nication band
dwidth
compa
ared with Give
eMeData and
d TakeData.

43
34

MPD U
User Manual

Remark: The GetMPLData and TakeMPLData commands must be used only for data
exchanges between 2 devices. In a multi-axis CAN bus network, the GetMPLData
command must be sent to a single axis. If this command is sent to a group of drives, the
TakeMPLData answers from different drives will have all the same identifier and
therefore can’t be correctly identified.

435

MPD User Manual

6.2
2.5.1.28.

GetVersion/TakeVers
sion

Syntax

Operands
s

–

As
sk one axis to return the firm
mware versio
on

–

An
nswer to GetV
Version reque
est

–

Description

Throug
gh GetVersio
on command an external d
device can req
quest the firm
mware version
n from
one drrive/motor. In the expedito
or address, b it H – the host bit – must be set to 1 o
only if
the ho
ost sends the
e GetVersion
n request via
a serial RS-2
232 link. For details, see serial
communication protocol descripttion.
The firrmware versio
on has the fo
orm: FxyzA, w
where xyz is the firmware
e number (3 d
digits)
and A is the firmwa
are revision. The
T answer to
o a GetVersio
on command
d is a TakeVe
ersion
age including the expeditor Axis ID and
d the ASCII co
ode of 4 charracters: 3 dig
gits for
messa
the firm
mware numbe
er + 1 letter fo
or the firmwarre revision.
Remark: The GetV
Version and TakeVersion
n commandss must be use
ed only betw
ween 2
es. In a multi-axis CAN bus
s network, th e GetMPLDa
ata command
d must be sen
nt to a
device
single axis. If this command
c
is sent
s
to a grou
up of drives, tthe TakeVers
sion answerss from
s
identifie
er and therefo
ore can’t be co
orrectly identiified.
different drives will have all the same

6.2
2.5.1.29.

GetChecks
sum/TakeC
Checksum

Syntax
Checksum Start, End

Ask one axis to retu
urn the checkssum between
n Start and Sttop addresses
s MPL memorry
from its
Answerr to GetChec
cksum requesst

Operands
s

Start: 16-bit
1
unsigne
ed integer value representting the checkksum start address

43
36

MPD U
User Manual

End: 16-bit unsigne
ed integer valu
ue representi ng the checkksum end add
dress

Remark: The onlin
ne instruction
ns are intend
ded only for h
host/master usage and ccannot
reside in a MPL pro
ogram. There
efore their syn
yntax is fictive
e, the only go
oal being to id
dentify
these commands.
e Command interpreter, you can ge
et a checksu
um between 2 MPL pro
ogram
In the
addres
sses by sendiing a GetChe
ecksum requ
uest with the ssyntax:
Checksum
m Start, End
Where
e, Start, End
d represent th
he start and e
end addresse
es for the che
ecksum. The value
returne
ed with the Ta
akeChecksu
um answer, is displayed.

Description

Throug
gh GetCheck
ksum comma
and an extern
nal device can
n check the in
ntegrity of the
e data
saved in a drive/m
motor EEPR
ROM or RAM
M memory. T
The memoryy type is sellected
d addresses.
automatically function of the starrt and the end
dress, bit H – the host bit – must be se
et to 1 only if the host send
ds the
In the expeditor add
MeData reque
est via seria
al RS-232 lin
nk. For deta
ails, see seriial communiccation
GiveM
protoc
col description
n.
The answer
a
to a GetChecksu
um command
d is a TakeC
Checksum, which return
ns the
expeditor axis ID, and
a the check
ksum result i..e. the sum m
modulo 65536
6 of all the me
emory
ons between the
t start and the
t end addre
esses.
locatio

6.2
2.5.1.30.
= Assign a 16-bit va
alue to a M
MPL variablle or a mem
mory
locatiion
Syntax
VAR16D
V
= lab
bel

se
et VAR16D to value of a lab
bel

VAR16D
V
= va
alue16

se
et VAR16D to value16

VAR16D
V
= VA
AR16S

se
et VAR16D to VAR16S value

VAR16D
V
= VA
AR32S(L)

se
et VAR16D to VAR32S(L) vvalue

VAR16D
V
= VA
AR32S(H)

se
et VAR16D to VAR32S(H) value

VAR16D,
V
dm = value16

se
et VAR16D fro
om dm to valu
ue16

43
37

MPD U
User Manual

VAR16D,
V
dm = VAR16S

se
et VAR16D fro
om dm to VAR
R16S

VAR16D
V
= (V
VAR16S), Typ
peMem

se
et VAR16D to &(VAR16S) from TM

VAR16D
V
= (V
VAR16S+), Ty
ypeMem

se
et VAR16D to &(VAR16S) from T
TM, then
VA
AR16S += 1

(VAR16D),
(
Ty
ypeMem = va
alue16

se
et &( VAR16D
D) from TM to value16

(VAR16D),
(
Ty
ypeMem = VA
AR16S

se
et &( VAR16D
D) from TM to VAR16S

(VAR16D+),
(
TypeMem
T
= value16
v

se
et &( VAR1 6D) from T
TM to value
e16, then
VA
AR16D += 1

(VAR16D+),
(
TypeMem
T
= VAR16S
V

se
et &( VAR16
6D) from TM to VAR16S, then
VA
AR16D += 1

VAR32D(L)
V
= value16

se
et VAR32D low
w word to vallue16

VAR32D(L)
V
= VAR16S

se
et VAR32D (L
L) to VAR16 vvalue

VAR32D(H)
V
= value16

se
et VAR32D hig
gh word to va
alue16

VAR32D(H)
V
= VAR16S

se
et VAR32D (H
H) to VAR16 vvalue

Legend
d: D (destinattion), S (sourc
ce).

Operands
s

label: 16-bit
1
address
s of a MPL instruction labe
el
value1
16: 16-bit integer immediatte value
VAR16
6x: integer va
ariable VAR16
6x
VAR32
2x(L): the low
w word of VAR
R32x long varriable
VAR32
2x(H): the hig
gh word of VA
AR32x long va
ariable
Dm: da
ata memory operand
o
TypeM
Mem: memory
y operand.
esenting a 16
(VAR1
16x): contents
s of variable VAR16x,
V
repre
6-bit address of a variable

ode
Binary co

43
38

MPD U
User Manual

439

MPD User Manual

Description

Assigns a 16-bit value to a MPL variable or a memory location. The options are:
The destination is 16-bit MPL variable and the source is: a 16-bit immediate value, a
label, 16-bit MPL variable, high or low part of a 32-bit MPL variable or the contents of a
memory location whose address is indicated by a 16-bit MPL variable (a pointer).
The destination is a memory location whose address is indicated by a 16-bit MPL
variable (a pointer) and the source is: a 16-bit immediate value or a 16-bit MPL variable.
The destination is the high or low part of a 32-bit MPL variable and the source is: a 16-bit
immediate value or a 16-bit MPL variable.
If the pointer variable is followed by a + sign, after the assignment, it is incremented by 1.
The memory location can be of 3 types: RAM for data (dm), RAM for MPL programs
(pm), EEPROM SPI-connected for MPL programs (spi).

440

MPD User Manual

Some instructions use
u a 9-bit sh
hort address for the destin
nation variable. Bit
value X specifies th
he destination
n address rang
ge:

All pre
edefined or user-defined MPL
M
data are
e inside these
e address ran
nges, hence these
instruc
ctions can be used withoutt checking the
e variables ad
ddresses. How
wever, consid
dering
future developmentts, the MPL also includes a
assignment in
nstructions ussing a full add
dress
on address can be any 16
6-bit value. In this case desstination varia
able is
where the destinatio
ed by “,dm”.
followe

Execution

s a 16-bit valu
ue from the so
ource to the d
destination
Copies

Example1
1
ar1;
int Va
La
abel1:

1 = MPL pro
ogram addr
ress
// Label1

...
Var1 = Label1;

Before in
nstruction

After instruction

Label1

0x1234

Label1

0x1234

Var1

0x1234

Example2
2
ar1;
int Va
...
Var1 = 26438;

Before in
nstruction
Var1

After instruction
Var1

44
41

26438

MPD U
User Manual

Example3
int Var1, Var2;
...
Var2 = Var1;

Before instruction

After instruction

Var2

0x56AB

Var2

0x56AB

Var1

0x56AB

Example4
int Var1;
long Var3;
...
Var1 = Var3(L);

Before instruction

After instruction

Var3

0x56ABCD98

Var3

0x56ABCD98

Var1

0xCD98

Example5
int Var1;
long Var3;
....
Var1 = Var3(H);

Before instruction

After instruction

Var3

0x56ABCD98

Var3

0x56ABCD98

Var1

0x56AB

442

MPD User Manual

Example6
int Var1;
...
Var1, dm = 3321;

Before instruction

After instruction

Var1

3321

Example7
int Var1, Var2;
...
Var1, dm = Var2;

Before instruction

After instruction

Var1

0x0A01

Var1

0x0A01

Var2

0x0A01

Example8
int Var1, pVar2;
...
Var1 = (pVar2), dm;

Before instruction

After instruction

pVar2

0x0A01

Data memory

0x0A01

Data memory

0x0A01

0x1234

0x0A01

0x1234

Var1

0x1234

443

MPD User Manual

Example9
int Var1, pVar2;
...
Var1 = (pVar2+), dm;

Before instruction

After instruction

pVar2

0x0A01

Data memory

0x0A02

Data memory

0x0A01

0x1234

0x0A02

0x0014

Var1

0x0014

Example10
int pVar1;
...
(pVar1), spi = 0x5422;

Before instruction
pVar1

After instruction
0x5100

SPI data memory
0x1100

pVar1

0x5100

SPI data memory
x

0x1100

0x5422

(SPI memory offset is 0x4000,
i.e. SPI addr = var.addr –
0x4000)

444

MPD User Manual

Example11
int pVar1;
...
(pVar1+), spi = 0x5422;

Before instruction
pVar1

After instruction
0x5100

SPI data memory
0x1100

pVar1

0x5101

SPI data memory
x

0x1100

0x5422

(SPI memory offset is 0x4000,
i.e. SPI addr = var.addr –
0x4000)

Example12
int pVar1, Var2;
...
(pVar1), pm = Var2;

Before instruction

After instruction

pVar1

0x8200

pVar1

0x8200

Var2

0xA987

Var2

0xA987

pm
memory
0x8200

data

pm
memory
x

0x8200

445

data
0xA987

MPD User Manual

Example13
int pVar1, Var2;
...
(pVar1+), pm = Var2;

Before instruction

After instruction

pVar1

0x8200

pVar1

0x8201

Var2

0xA987

Var2

0xA987

pm
memory
0x8200

data

pm
memory
x

0x8200

data
0xA987

Example14
long Var5;
...
Var5(H) = 0xAA55 ;

Before instruction

After instruction

Var5

0x12344321

0xAA554321

Example15
long Var5;
...
Var5(L) = 0xAA55;

Before instruction

After instruction

Var5

0x12344321

446

0x1234AA55

MPD User Manual

Example16
int Var1;
long Var5;
...
Var5(H) = Var1;

Before instruction

After instruction

Var1

0x7711

Var1

0x7711

Var5

0x12344321

Var5

0x77114321

Example17
int Var1;
long Var5;
...
Var5(L) = Var1;

Before instruction

After instruction

Var1

0x7711

Var1

0x7711

Var5

0x12344321

Var5

0x12347711

447

MPD User Manual

6.2
2.5.1.31.
= Read diigital input((s) and ass
sign a 16-b
bit MPL varriable
t
value (Firmware
(
v
version FAx
xx)
with their
Syntax
VAR16D = IN#n

read input #n
# into VAR1 6D

VAR16D = INPUT1, AN
NDm

read inputs
s IN#25 to IN#32 into V
VAR16D with
h
ANDm

VAR16D = INPUT2, AN
NDm

read input IN#33 to I N#39 into V
VAR16D with
h
ANDm

VAR16D = INPORT, ANDm
A

read Enablle, LSP, LSN
N and IN#36 to IN#39 into
o
VAR16D with
w ANDm

Operands
s
Var16D
D: integer varriable
IN#n : the source is
s input n (0=>
>N

PRO
OD = (VAR16**value16) >> N

VAR16 * VALUE16 <<
>
>N

PRO
OD = (VAR16A
A*VAR16B) >
>> N

VAR16A * VAR16B <<
>
>N

PRO
OD = (VAR32**value16) >> N

VAR32 * VALUE16 <<
> N

PRO
OD = (VAR32**VAR16) >> N

VAR32 * VAR16 << N

PRO
OD = (VAR32**VAR16) << N

Operands
s

VAR16
6D: destinatio
on integer varriable
VAR16
6S: source intteger variable
e
VAR32
2D: destinatio
on long/fixed variable
v
VAR32
2S: source lon
ng/fixed varia
able
value16: 16-bit imm
mediate intege
er value
value3
32: 32-bit imm
mediate long value
v
N: resu
ult shift factor

48
86

MPD U
User Manual

Binary code

Description

Multiplies 2 operands. The first operand (left one) can be a 16-bit or 32-bit MPL variable.
The second operand (right one) can be a 16-bit immediate value or another 16-bit MPL
variable. The result is saved in a dedicated 48-bit product register left or right shifted by
0 to 15 bits. The MPL long variables PROD and PRODH show the 32LSB respectively
the 32 MSB of the product register.

487

MPD User Manual

Execution

Product register = (first operand * second operand) shifted to left or right with the
specified number of bits

Example1
int Var1;
long var2;
...
Var1 * 0x125;
Var2 = PROD;
Before instruction

After instruction

Var1

0x1256

Var1

0x1256

Product register

0x00000014FC6E

Var2

0x0014FC6E

Example2
int Var1;
long Var2;
...
Var1 *

0x125 << 12;

Var2 = PRODH;
Before instruction

After instruction

Var1

0x1256

Var1

0x1256

Product register

0x00014FC6E000

Var2

0x00014FC6

Example3
int Var2, Var3;
long Var4;
...
Var2 *

Var3 >> 4;

Var4 = PROD;

Before instruction

After instruction

Var2

0x1256

488

MPD User Manual

Var3

0x125

Var3

0x125

Product register

0x000000014FC6

Var4

0x00014FC6

Example4
int Var2, Var3;
long Var7;
...
Var2 * Var3 << 8;
Var7 = PROD(H);

Before instruction

After instruction

Var2

0x1256

Var2

0x1256

Var3

0x125

Var3

0x125

Product register

0x000014FC6E00

Var7

0x000014FC

Example5
long Var1, Var2;
...
Var1 * 0x125;
Var2 = PROD;

Before instruction

After instruction

Var1

0x001256AB

Var1

0x1256

Product register

0x000014FD31B7

Var2

0x14FD31B7

Example6
long Var1, Var2;
...

489

MPD User Manual

Var1 * 0x125 << 12;
Var2 = PROD(H);

Before instruction

After instruction

Var1

0x001256AB

Var1

0x1256

Product register

0x014FD31B7000

Var2

0x014FD31B

490

MPD User Manual

Example7
long Var2, Var9;
int Var3;
...
Var2 * Var3 >> 4;
Var9 = PROD(H);

Before instruction

After instruction

Var2

0x001256AB

Var2

0x001256AB

Var3

0x125

Var3

0x125

Product register

0x0000014FD31B

Var9

0x0000014F

Example8
long Var2, Var9;
int Var3;
...
Var2 *

Var3 << 8;

Var9 = PROD;

Before instruction

After instruction

Var2

0x001256AB

Var2

0x001256AB

Var3

0x125

Var3

0x125

Product register

0x0014FD31B700

Var9

0xFD31B700

6.2.5.1.43.

Syntax
VAR32 /= VAR16
Operands

divide VAR32 with VAR16

VAR16: the divisor, integer variable

491

MPD User Manual

VAR32
2: the dividend
d, fixed variab
ble

Binary co
ode

Description

The le
eft operand – the dividend
d is divided b
by the right o
operand – th
he divisor, an
nd the
result is saved in th
he left operan
nd. The divid
dend / quotien
nt is a 32-bit fixed variable and
visor a 16-bit integer
i
variab
ble.
the div

Execution

Left op
perand = left operand
o
/ righ
ht operand

Example
d var1; // Define fi
ixed variab
ble user_1
1
fixed
int var2;
v
// De
efine inte
eger variab
ble user_2
2
var1 = 11.0;
var2 = 3;
var1 /= var2;

Before in
nstruction

After in
nstruction

Var1

11.0 (0x
xB0000)

Var1

3.6666 (0
0x3AAAA)

Var2

6.2
2.5.1.44.

Syntax
VAR16 >>
>= N

shift VAR16
V
right b
by N

VAR32 >>
>= N

shift VAR32
V
right b
by N

PROD >>
>= N

shift PROD
P
(produ
uct reg.) right by N

Operands
s

VAR16
6: integer variiable
VAR32
2: long or fixed variable
PROD: 48-bit produ
uct register
N: shiftt factor

49
92

MPD U
User Manual

Binary co
ode

Description

The op
perand is righ
ht shifted with the specified
d number of b
bits (N). High o
order bits are
e signextend
ded and the lo
ow order bits are lost. If the
e operand is PROD, the en
ntire 48-bit prroduct
registe
er is right shiftted.

Execution

Variab
ble = Value of variable shiftted to right wiith N bits

Example1
1

int Var1;
V
...
Var1 >>= 4;

nstruction
Before in
0x
x1256

Var1

Example2
2

Afterr instruction
Var1

0x0125

long Var1;
...
Var1 >>= 12;

nstruction
Before in
Var1

Example3
3

Afterr instruction
0x
x1256ABAB

Var1

0x0001256
6A

PROD >>= 4;

49
93

MPD U
User Manual

Before instruction
Product register

After instruction
0x12560000ABCD

Product register

494

0x0012560000ABC

MPD User Manual

6.2
2.5.1.45.

Syntax
VAR16 <<
<= N

shift VAR16
V
left byy N

VAR32 <<
<= N

shift VAR32
V
left byy N

PROD <<
<= N

shift PROD
P
(produ
uct reg.) right by N

Operands
s

VAR16
6: integer variiable
VAR32
2: long variable
PROD: product regiister
N: shiftt factor

Binary co
ode

Description

The op
perand is left shifted with the specified number of b
bits (N). High order bits arre lost
and th
he low order bits are zero
oed. If the o
operand is PR
ROD, the en
ntire 48-bit prroduct
registe
er is left shifte
ed.

Execution

Variab
ble = Value of variable shiftted to left with
h N bits

Example1
1
ar1;
int Va
...
<
4;
Var1 <<=

49
95

MPD U
User Manual

Before instruction
Var1

After instruction
0x1256

Var1

0x2560

Example2
long Var1;
...
Var1 <<= 12;

Before instruction
Var1

After instruction
0x1256ABAB

Var1

0x6AABAB000

Example3
PROD <<= 4;

Before instruction
PROD

After instruction
0x12560000ABCD

PROD

496

0x2560000ABCD0

MPD User Manual

6.2
2.5.1.46.

ABORT

Syntax
Abort cance
elable MPL fu nction

ABORT
Operands
s

–

Binary co
ode

Description

ABORT
T command cancels the
e execution of a MPL function called using CA
ALLS
instructtion. After the
e execution of ABORT, the MPL pro
ogram contin
nues with the
e next
instructtion after the cancelable
c
ca
all of the funcction.

Example
..
...
CA
ALLS First_function;
;

//Cance
elable cal
ll of First
t_function
n

ST
TOP;

//Stop the motio
on

..
...
EN
ND;

//End of
o MPL pro
ogram

irst_Function: //def
finition of
f First_Fu
unction
Fi
..
...
CA
ALL Second
d_Function;
;

//Call function Second_Fun
nction

MO
ODE PP;
....
RE
ET;

//R
Return from
m First_Fu
unction

Se
econd_Function: //de
efinition of
o First_F
Function
..
...
GO
OTO user_l
label, user
r_var,EQ;/
//Branch to
o user_lab
belif
//user
r_var ==0
ABORT;
; //Cancel the execut
tion of Fi
irst_Functi
ion
ext MPL ins
struction executed i
is STOP;
//Ne
user_l
label:
....
RE
ET;

//R
Return from
m Second_f
function

49
97

MPD U
User Manual

6.2
2.5.1.47.

ADDGRID

Syntax
ADDGRID
D (value_1, value_2,…)
v
Operands
s

Add the spe
ecified groupss to GROUP IID

value_
_1, value_2: specify
s
a grou
up number be tween 1 and 8

Binary co
ode

Description

The co
ommand adds
s more group
ps to the grou
up ID. On eacch axis, the group ID repre
esents
a filterr for a multicast transmiss
sion. When a multicast m
message is re
eceived, each
h axis
compa
ares the mess
sage group ID
D with its own
n group ID. If the two group
p IDs have att least
one grroup in comm
mon, the mes
ssage is acce
epted. For exxample, if an axis is memb
ber of
group 1 and group 3, it will receiive all the me
essages sent with a group ID including group
g
ID is an
n 8-bit intege
er value. Each
h bit correspo
onds to one g
group:
1 or grroup 3. The group
bit 0 – group 1, bit 1 – group 2… bit 7 – group
p 8.
After th
he execution of this command, the grou
up ID value iss modified as follows:
•

p) 1 occurs in the parenthe
esis
Bit 0 is set to 1, if (group

•

Bit 1 is set to 1, if (group
p) 2 occurs in the parenthe
esis

•

…

•

Bit 7 is set to 1, if (group
p) 8 occurs in the parenthe
esis.

Example
//
/local axis has grou
up ID = 1 ->
- belongs
s to group 1
AD
DDGRID (2, 4);

//l
local axis belongs a
also to gro
oups 2 and
d 4
//ne
ew group ID
D = 11 (00
0001011b)

..
...
[G
G4] {STOP;}

//s
send stop motion
m
to all axes f
from group
p 4
//lo
ocal axis will
w
stop too as mem
mber of gr
roup 4

49
98

MPD U
User Manual

6.2
2.5.1.48.

AXISID

Syntax
AXISID value16
v

Set AXIS ID
D address

AXISID VAR16
V

Set AXIS ID
D with value o
of VAR16

Operands
s

value1
16: immediate
e value between 1 and 255
5
VAR16
6: integer variiable

Binary co
ode

Description

The co
ommand chan
nges the axis
s ID. In multip
ple-axis config
gurations, eacch axis is iden
ntified
through a unique number betw
ween 1 and 255 – the a
axis ID. If the
e destination
n of a
age is an axis ID, the mess
sage is receivved only by the axis with th
he same axis ID.
messa
After th
he execution of this comm
mand, the axiss ID is set with
h the immedia
ecified
ate value spe
or the value of the 16-bit
1
variable
e.

Example
AX
XISID 10;

//f
from now on
n, the loc
cal axis ID
D is 10

..
...
[1
10] {AXISID 9;}

//c
change the ID of axi
is 10 to 9 (this
//in
nstruction is send a
and execute
ed on
//th
he actual axis
a
10)

..
...
[9
9] {CSPD = 30;} //Se
end CPOS = 30 to axi
is 9 (previ
ious axis 10)

49
99

MPD U
User Manual

6.2
2.5.1.49.

AXISOFF

Syntax
AXISOFF
F
Operands
s

AXIIS is OFF (de
eactivate control)
–

Binary co
ode

Description

The co
ommand deac
ctivates the drive
d
control lo
oops, the refe
erence generrator and the PWM
output commands for the pow
wer stage (a
all the switch
hing devicess are off). A
All the
urements rem
main active and therefore th
he motor currrents, speed, position as w
well as
measu
the supply voltage continue to be updated a
and monitore
ed. The AXIS
SOFF comma
and is
atically generated when a protection iis triggered o
or when the drive Enable input
automa
goes frrom status en
nabled to status disabled.

Example
//
/ Execute repetitive
e moves. After
A
each one, set AXISOFF.
//
/ Motor ma
ay move fre
eely. Rest
tart after 20s. Posi
ition
//
/ feedback
k: 500 line
es increme
ental encod
der (2000 counts/rev
v)
CA
ACC = 0.3183;//accel
leration ra
ate = 1000
0[rad/s^2]
CS
SPD = 33.3333;//slew
w speed = 1000[rpm]
1
CP
POS = 6000;//positio
on command = 3[rot]
CP
PA; //position comma
and is abso
olute
Loop: MO
ODE PP; //
/ position profile
CP
POS += 600
00; set new
w position
n command
UP
PD; //execute immedi
iate
AX
XISON;

//Activat
te the cont
trol loops
s and PWM o
outputs

!M
MC; // set event on motion com
mplete
WA
AIT!;//Wait until th
he event oc
ccurs i.e.
. the motor
r stops
AXISOFF;
A
//
/Deactivate
e the cont
trol loops and PWM o
outputs
!RT 20000; //set a 20s
2
delay (1s
(
= 1000
0 slow loop
p sampling
gs)
AIT!; //Wai
it until th
he event occurs (to pass the 20s)
WA
GO
OTO Loop;

//Restart
t the motio
on

50
00

MPD U
User Manual

6.2
2.5.1.50.

AXISON

Syntax
AXISON
Operands
s

AXIS is ON (activate co
ontrol)
–

Binary co
ode

Description

The co
ommand activ
vates the driv
ve control loo
ops, the referrence genera
ator and the PWM
output commands for
f the powe
er stage. Th e AXISON ccommand restores the n
normal
on after an AXISOFF.
A
It is
s typically use
ed following a fault reset co
ommand FAU
ULTR,
operatio
or afterr the drive/mo
otor Enable input goes from
m status disab
bled to statuss enabled.
When AXISON
A
is set after an AXISOFF
A
com
mmand, the re
eference gen
nerator resum
mes its
calculations for last programme
ed motion m
mode from th
he same poiint left beforre the
d/motor has moved
m
during
g AXISOFF, itts actual values for positio
on and
AXISOFF. If the load
uite a lot from
m the values o
of the target p
position and speed provided by
speed may differ qu
erence genera
ator. In order update the re
eference generator:
the refe
•

Set again the mo
otion mode, even
e
if it rema
ains the same
e. The motion mode comm
mands,
omatically se
et the target update mod
de zero (TUM
M0), which u
updates the target
auto
position and spee
ed with the ac
ctual measure
ed values of tthe load posittion and spee
ed

•

Exe
ecute update command
c
UP
PD

•

Exe
ecute AXISON
N

If first AXISON
A
is iss
sued after power on before
e setting any motion mode
e, the drive applies
zero vo
oltages to the
e motor.

50
01

MPD U
User Manual

AXISON;

//Activate the control loops and PWM outputs

!MC; // set event on motion complete
WAIT!;//Wait until the event occurs i.e. the motor stops
AXISOFF; //Deactivate the control loops and PWM outputs
!RT 20000; //set a 20s delay (1s = 1000 slow loop samplings)
WAIT!; //Wait until the event occurs (to pass the 20s)
GOTO Loop;

//Restart the motion

502

MPD User Manual

6.2
2.5.1.51.

BEGIN

Syntax
BEGIN

Beginning
g of a MPL pro
ogram

Operands
s

–

Binary co
ode

Description

This command
c
mu
ust be the first in a MP
PL program. In the AUTORUN mode
e, the
drive/m
motor reads the
t first EEPR
ROM memory
ry location at address 0x4
4000 and che
ecks if
the bin
nary code is 0x649C
0
corre
esponding to the MPL insttruction BEGIIN. If this con
ndition
is true, the MPL prrogram from the
t EEPROM
M memory is executed sta
arting with the
e next
ction after BE
EGIN. If the
e condition iss false, the d
drive/motor e
enters in the slave
instruc
mode and
a waits to receive
r
comm
mands from a host via a co
ommunication
n channel.

Example
BE
EGIN;

// Starti
ing point of
o a MPL p
program

..
..
EN
NDINIT;

//E
End of init
tializatio
on

...
ND;
EN

//e
end of main
n section of a MPL p
program

50
03

MPD U
User Manual

6.2
2.5.1.52.

CALL

Syntax
CALL Lab
bel

Unconditiona
U
l CALL

CALL vallue16

l CALL
Unconditiona
U

CALL VA
AR16

l CALL
Unconditiona
U

CALL Lab
bel, VAR, Fla
ag

CALL
C
if VAR
R Flag 0

CALL vallue16, VAR, Flag
F

CALL
C
if VAR
R Flag 0

CALL VA
AR16, VAR, Flag
F

CALL
C
if VAR
R Flag 0

Operands
s

Label: a label provid
ding the 16-bit value of a M
MPL function address
Value1
16: immediate
e 16-bit of a MPL
M function address
VAR16
6: integer variiable containing the MPL ffunction addre
ess
VAR: 16
1 or 32-bit MPL
M test varia
able compared
d with 0
Flag: one
o of the con
nditions: EQ, NEQ, LT, LE Q, GT, GEQ

50
04

MPD U
User Manual

Binary code

Description

Calls a MPL function (subroutine). A MPL function is a set of MPL commands which starts
with a label and ends with the RET instruction. The label gives the MPL function address
and name. MPL function address may also be specified by an immediate value or by the
value of a 16-bit MPL variable. The call can be unconditional or unconditional. In a
conditional call, a condition is tested. If the condition is true the MPL function is executed,
else the next MPL command is carried out. The condition is specified by a 16-bit or 32-bit
test variable (VT=0 for 16-bit variable and VT = 1 for 32-bit variable) and a test condition
added after the label with the MPL function address. The test variable is always compared
with zero. The possible test conditions are:

505

if VAR = 0

NEQ

if VAR ≠ 0

if VAR < 0

LEQ

if VAR ≤ 0

if VAR > 0

GEQ

if VAR ≥ 0

MPD User Manual

Example
CALL Function1, var1, GEQ;

//call Function1 if i_var1 >= 0

CALL Function1, var1, EQ;

//call Function1, if i_var1 = 0

CALL Function1, var1, NEQ;

//call Function1, if i_var1 != 0

CALL Function1;

//call Function1 unconditionally

...
END;

// end of MPL program main section

Function1:
...
RET;

506

MPD User Manual

6.2
2.5.1.53.

CALLS

CALLS Cancelable calll of a MPL function
Syntax
CALLS Label

Cancelable
C
CALL
C
of a MP
PL function

CALLS VAR16
V

Cancelable
C
CALL
C
with add
dress set in V
VAR16

Operands
s

Label: 16-bit progra
am memory address
VAR16
6: integer variiable

Binary co
ode

Description

Calls a MPL functio
on (subroutine
e) with possib
bility to interru
upt the functio
on execution using
ABOR
RT command. This is a can
ncelable call. A MPL functtion is a set o
of MPL comm
mands
which starts with a label and ends
e
with the
e RET instrucction. The lab
bel gives the
e MPL
on address and
a
name. MPL
M
function
n address m
may also be
e specified b
by an
functio
immed
diate value or by the value of a 16-bit M PL variable.
Only one
o function may
m be called with a cance
elable call at a time. A can
ncelable call isssued
while another
a
one is still active
e (the called function is iin execution)) is ignored a
and a
comma
and error is set in error register
r
MER
R.14. Also sta
atus register low SRL.7 is set.
While a cancelable call is active, SRL.8 = 1.

Example
..
..
CC
CALL fct1;
;

//c
cancelable call of F
Function1

ST
TOP;
..
..
EN
ND;
Function
n1:

// Function1 definitio
on

...
ABORT;

// if this co
ommand is encountere
ed or

50
07

MPD U
User Manual

// got via a communication channel
...

// next instruction executed is STOP

RET;

508

MPD User Manual

6.2
2.5.1.54.

CANBR

Syntax
CANBR value16
v

Set CA
AN-bus Baud Rate to value
e16

CANBR VAR16
V

Set CA
AN-bus Baud Rate to VAR
R16

Operands
s

value1
16: 16-bit unsiigned integer immediate va
alue
VAR16
6: 16-bit integ
ger variable

Binary co
ode

Description

Sets the baud rate and
a bit sampling timing fo r the CAN-bu
us communica
ation channel. The
aud settings can
c be provide
ed either as a
an immediate
e value or by tthe value of a MPL
new ba
variable
e. In both cas
ses, the possible values arre:

The cu
urrent CAN-bus settings are
a saved in tthe MPL regiister CBR, an
nd may be re
ead at
any mo
oment. The CA
AN-bus baud rate is set att power on ussing the follow
wing algorithm
m:
a. With the value read
r
from the EEPROM se
etup table
b. If th
he setup table
e is invalid, with
w the last ba
aud rate read
d from a valid setup table
c.

If th
here is no baud rate set by
y a valid setu p table, with 5
500kb

Remarrks:
•

Us
se this comma
and when a drive/motor
d
op
perates in AU
UTORUN (aftter power on starts
to execute
e
the MPL
M program
m from the EEP
PROM) and iit must communicate with a host
at a CAN baud
d rate differen
nt from the de
efault value. In this case, the MPL pro
ogram
ust start with a CAN baud rate
r
change.
mu

50
09

MPD U
User Manual

•

An alternate solution to the above case is to set via CANBR command the desired
baud rate and then to save it in the EEPROM, with the command SAVE. After a reset,
the drive/motor starts directly with the new baud rate, if the setup table was valid.
Once set, the new default baud rate is preserved, even if the setup table is later on
disabled, because the default CAN baud rate is stored in a separate area of the
EEPROM.

Example
CANBR 0x1273; // set CAN-bus for 1Mb

510

MPD User Manual

6.2
2.5.1.55.

CHECKSU
UM

Syntax
CHECKS
SUM, TM Val_
_S, Val_E, VA
ARD

Checksum betwee
en addresses Val_S and V
Val_E

en addresse
es set in varriables
CHECKS
SUM, TM VAR
R_S, VAR_E, VARD Checksum betwee
_S and VAR_
_E
VAR_
Operands
s

Val_S: 16-bit unsign
ned integer va
alue represen
nting the checcksum start address
Val_E: 16-bit unsigned integer va
alue representting the checksum end address
VAR_S
S: 16-bit variab
ble containing
g the checksu
um start addre
ess
VAR_E
E: 16-bit variab
ble containing
g the checksu
um end addre
ess
VARD: 16-bit variablle containing the checksum
m result
TM: Memory type (s
see TypeMem
m table below
w)

Binary co
ode

Description

Compu
utes the sum module 6553
36 of all the memory loca
ations betwee
en a start ad
ddress
and an end address
s. The start address
a
and tthe end addrress may be specified as 16-bit
ed immediate
e values or via
a 2 16-bit MP L variables. T
The checksum
m result is savved in
unsigne
a 16-bit destination variable. The
e memory loccation can be of 3 types: R
RAM for data (dm),
or MPL progra
ams (pm), EE
EPROM SPI-cconnected forr MPL program
ms (spi).
RAM fo

Example
//
/ compute checksum between
b
EEP
PROM addre
esses 0x500
00 and 0x5
5007
in
nt user_var;
..
...

511

MPD U
User Manual

CHECKSUM, spi 0x5000, 0x5007, user_var; // user_var = checksum value

Before instruction

After instruction

user_var
EEPROM
0x5000

x
start

address 0xB004

user_var
EEPROM
0x5000

0xD467
start

address 0xB004

EEPROM address 0x5001

0x0FF1

EEPROM address 0x5001

0x0FF1

EEPROM address 0x5002

0x0366

EEPROM address 0x5002

0x0366

EEPROM address 0x5003

0x0404

EEPROM address 0x5003

0x0404

EEPROM address 0x5004

0x0C09

EEPROM address 0x5004

0x0C09

EEPROM address 0x5005

0x0010

EEPROM address 0x5005

0x0010

EEPROM address 0x5006

0x00E7

EEPROM address 0x5006

0x00E7

EEPROM address 0x5007

0x0008

EEPROM address 0x5007

0x0008

512

MPD User Manual

6.2
2.5.1.56.

CIRCLE

Only available on multii-axis Motion Controller
Syntax
CIRCLE1 Radius, The
eta_inc
CIRCLE2
2 Radius, The
eta_start
Operands
s

Vector CIRCLE
C
segm
ment

Radius
s – circle radius
Theta_
_start – start angle
a
for circu
ular segment
Theta_inc – angle in
ncrement for circular
c
segm
ment

Binary co
ode

Description

CIRCLE
E1 and CIRC
CLE2 define a circular se gment for 2D
D trajectory e
executed in V
Vector
Mode. Positive values for Theta_
_inc mean C CW moveme
ent while negative values mean
ovement.
CW mo
Based on Radius, Theta_inc and Theta_sstart the MP
PL compiler from Motion
nPRO
s the actual parameters
p
u sed by the m
motion controller to generate the
Developer computes
oints for slave
e axes.
PVT po
If the po
oints are sent from a host then the follo
owing relation
ns must be ussed to compute the
actual parameters
p
of the circular segment:

513

MPD U
User Manual

Example
// Vector mode – circle with radius 3.14mm. Position feedbacks: 500
// lines incremental encoder

SETMODE 0xCF00; //Clear buffer
VPLANE (A, B, C); //Define coordinate system and tangent axis
RESRATIOX=0u;
RESRATIOY=0u;
NLINESTAN=2000;
MODE VM; // Set Vector Mode
// Circular segment of radius 3.14159[mm], with initial angle 0[deg] and
angle increment 360[deg])
CIRCLE1 1L, 360.; CIRCLE2 1L, 0.;
UPD; //Execute immediate
// Insert End Segment
VSEG1 0L, 0L; VSEG2 0L, 0L;

514

MPD User Manual

6.2
2.5.1.57.

CPA

Syntax
CPA

Command
C
Po
osition is Abso
olute

Operands
s

–

Binary co
ode

Description

After the
t
executio
on of this in
nstruction, al l subsequen
nt position ccommands w
will be
considered as abs
solute in the following m
motion modess: trapezoidal profiles, S--curve
profiles
s, PVT and PT.
P This setting remains un
ntil the executtion of a CPR
R command.

Example
//
/Position profile
//
/Position feedback: 500 lines increment
tal
//
/ encoder (2000 coun
nts/rev)
CA
ACC = 0.3183;//accel
leration ra
ate = 1000
0[rad/s^2]
CS
SPD = 16.6667;//slew
w speed = 500[rpm]
5
CP
POS = 12000;//positi
ion command
d = 6[rot]
]
CP
PA; //position comma
and is abso
olute
MO
ODE PP;
TU
UM1; //set Target Up
pdate Mode 1
UP
PD; //execute immedi
iate

515

MPD U
User Manual

6.2
2.5.1.58.

CPR

Syntax
CPR

Command
C
Po
osition is Rela
ative

Operands
s

–

Binary co
ode

Description

After the
t
executio
on of this in
nstruction, al l subsequen
nt position ccommands w
will be
considered as rela
ative in the following mo
otion modes: trapezoidall profiles, S--curve
profiles
s, PVT and PT.
P This settin
ng remains un
ntil the execu
ution of a CPA
A command. In the
trapezo
oidal profile mode, the position to rea
ach can be ccomputed in 2 ways: standard
(default) or additive
e. In standarrd relative m ode, the possition to reacch is compute
ed by
g the position
n increment to
t the instan
ntaneous possition in the m
moment whe
en the
adding
comma
and is executted. In the additive relative
e mode, the p
position to rea
ach is computted by
adding
g the position
n increment to
t the previo
ous position tto reach, ind
dependently o
of the
moment when the command
c
was
s issued.
ve mode is activated byy setting ACR
R.11 = 1 an
nd is automa
atically
The additive relativ
ed after an update comma
and UPD, wh
hich sets ACR
R.11 = 0 resttoring the standard
disable
relative
e mode.

Example
//
/Position profile
//
/Position feedback: 500 lines increment
tal
//
/ encoder (2000 coun
nts/rev)
CA
ACC = 0.3183;//accel
leration ra
ate = 1000
0[rad/s^2]
CS
SPD = 16.6667;//slew
w speed = 500[rpm]
5
CP
POS = 7000;//positio
on command = 3.5[rot
t]
CP
PR; //position comma
and is rela
ative
MO
ODE PP;
TU
UM1; //set Target Up
pdate Mode 1
UP
PD; //execute immedi
iate
!M
MC; WAIT!; //wait fo
or completi
ion

6.2
2.5.1.59.

DINT

Syntax

516

MPD U
User Manual

DINT

Disable
D
MPL INTerrupts

s
Operands

–

Binary co
ode

Description

After the
t
execution
n of this ins
struction, all the MPL in
nterrupts are globally dissabled
indepe
endently of the
eir status in th
he interrupt ccontrol registe
er ICR. Use th
he EINT instru
uction
to glob
bally enable MPL
M interrupts
s.
After power
p
on, the
e MPL interrup
pts are globa
ally enabled to
ogether with the MPL interrupts
Int0, Int1, Int2 and
d Int3. These
e interrupts h
handle the d
drive/motor prrotections an
nd the
u
a defau
ult set of interrrupt service ro
outines (ISR)).
transitiions on the Enable input, using
Remarrk: Some of the
t drive/moto
or protectionss may not worrk properly if the MPL Interrupts
are not handled corrrectly. In orde
er to avoid thiis situation ke
eep in mind th
he following rrules:
•

The MPL interrup
pts must be kept globallyy enabled to allow executtion of the IS
SR for
e MPL interru
upts triggered
d by protection
g a MPL interrrupt executio
on, the
those
ns. As during
MPL
L interrupts arre globally diisabled, you should keep
p the ISR as short as posssible,
witho
out waiting loo
ops. If this is not possible, you must glo
obally enable
e the interruptts with
EINT
T command during
d
your IS
SR execution.

•

If you modify the interrupt serrvice routines for Int 0 to IInt 4, make ssure that you
u keep
o
MPL commands
c
fro
om the defau
ult ISR. Put in other words, you may add
d your
the original
own commands, but these should
s
not in
nterfere with the original MPL comm
mands.
eover, the orig
ginal MPL com
mmands musst be present in all the ISR
R execution pa
aths.
More

Example
DI
INT; //globally disa
able all MP
PL interru
upts

517

MPD U
User Manual

6.2
2.5.1.60.

DIS2CAPI

Syntax
DIS2CAP
PI
Operands
s

DISable
D
2nd CAPture
C
Inde
ex
–

Binary co
ode

Description

After the execution
n of this instru
uction the 2n
nd capture/en
ncoder index input capabiility to
detect transitions is disabled.
he EN2CAPI0
0 or EN2CAP
PI1 instructio
ons to enable
e this input ccapability to d
detect
Use th
high-lo
ow or low-high
h transitions.

Example
DI
IS2CAPI; //disable 2nd
2
capture
e/encoder index inpu
ut

6.2
2.5.1.61.

DISCAPI

Syntax
DISCAPI
s
Operands

DISable
D
CAP
Pture Index
–

Binary co
ode

Description

After the execution
n of this instrruction the 1sst capture/en
ncoder index input capabiility to
detect transitions is disabled.
he ENCAPI0 or
o ENCAPI1 instructions tto enable thiss input capab
bility to detectt highUse th
low or low-high tran
nsitions.

Example
DI
ISCAPI; //disable 1s
st capture/
/encoder i
index input
t

518

MPD U
User Manual

6.2
2.5.1.62.

DISLSN

Syntax
DISLSN
Operands
s

DISable
D
Limitt Switch Nega
ative
–

Binary co
ode
Firmware
e version FAx
xx

Firmware
e version FBx
xx

Description

After the execution of this instru
uction, the ne
egative limit sswitch input ccapability to d
detect
ed.
transitiions is disable
Use th
he ENLSN0 or
o ENLSN1 in
nstructions to
o enable this input capabiility to detect highlow or low-high tran
nsitions.
puts i.e. to prrotect againstt accidental m
moves
Remarrk: The main task of the liimit switch inp
outside
e the working
g area is perfo
ormed indepe
endently of the
e fact that the
e limit switch iinputs
are enabled or not to
t detect transitions

Example
DI
ISLSN; //disable LSN
N input cap
pability t
to detect t
transition
ns

519

MPD U
User Manual

6.2
2.5.1.63.

DISLSP

Syntax
DISLSP
Operands
s

DISable
D
Limitt Switch Posittive
–

Binary co
ode
Firmware
e version FAx
xx

Firmware
e version FBx
xx

Description

After the execution of this instru
uction, the po
ositive limit sswitch input ccapability to d
detect
ed.
transitiions is disable
Use th
he ENLSP0 orr ENLSP1 ins
structions to e
enable this input capabilityy to detect hig
gh-low
or low--high transitio
ons.
Remarrk: The main task of the liimit switch inp
puts i.e. to prrotect againstt accidental m
moves
outside
e the working
g area is perfo
ormed indepe
endently of the
e fact that the
e limit switch iinputs
are enabled or not to
t detect transitions

Execution

o detect trans itions
Disable positive limit switch input capability to

Example
DI
ISLSN; //disable LSN
N input cap
pability t
to detect t
transition
ns

52
20

MPD U
User Manual

6.2
2.5.1.64.

EINT

Syntax
EINT

Enable
E
MPL INTerrupts
I

Operands
s

–

Binary co
ode

Description

After the
t
execution
n of this insttruction, the MPL interrup
pts are globa
ally enabled. If an
interrupt flag is set and the interrupt is enab
bled in the intterrupt contro
ol register ICR
R, the
nd the associiated interrup
pt service rou
utine is called
d. The
interrupt request is accepted an
nterrupts can be globally disabled using
g the DINT insstruction.
MPL in

Example
EI
INT; //globally enab
ble all MPL
L interrup
pts

6.2
2.5.1.65.

EN2CAPI0
0

Syntax
EN2CAPII0
Operands
s

Enable
E
2ndCA
APture Indexx 1->0
–

Binary co
ode

Description

Enable
es 2nd capturre/encoder in
ndex input ca pability to de
etect a transition from 1(hig
gh) to
0(low). When the firrst transition occurs:
o
•

he input capa
ability to dete
ect transitionss is disabled
d. It must be enabled aga
ain to
Th
de
etect another transition
t

•

Mo
otor position APOS_MT
A
is
s captured an d memorized
d in the MPL vvariable CAP
PPOS,
exc
cept the case
e of open-loo
op systems, w
where referen
nce position TPOS is cap
ptured
insttead

•

52
21

MPD U
User Manual

The se
election betwe
een master and load posit ion is done as follows: load position is ssaved
in CAP
PPOS2 only for the setup
p configuration
ns which use
e different sensors for load and
motor and foresee a transmission ratio between the
em. For all the other setup
urations, the master
m
positio
on is saved in
n CAPPOS2.
configu
Example
//
/Stop moti
ion on next
t 2nd enco
oder index
EN
N2CAPI0; //Set
/
event
t: When th
he 2nd enco
oder index
x goes high
h->low
!C
CAP;
ST
TOP!;//Sto
op the moti
ion when event
e
occur
rs
WA
AIT!;//Wai
it until th
he event occurs
o
CP
POS = CAPP
POS; // new
w command position = captured
d position
CP
PA; //posi
ition comma
and is abs
solute
MO
ODE PP;
TU
UM1; //set
t Target Up
pdate Mode
e 1
UP
PD; //exec
cute immedi
iate
!M
MC; WAIT!; //wait fo
or completi
ion

6.2
2.5.1.66.

EN2CAPI1

Syntax
EN2CAPII1
Operands
s

Enable
E
2ndCA
APture Indexx 0->1
–

ode
Binary co

Description

Enable
es 2nd capture/encoder in
ndex input ca
apability to de
etect a transittion from 0(lo
ow) to
1(high). When the first transition occurs:
•

he input capa
ability to dete
ect transitionss is disabled
d. It must be enabled aga
ain to
Th
de
etect another transition
t

•

Mo
otor position APOS_MT
A
is
s captured an d memorized
d in the MPL vvariable CAP
PPOS,
exc
cept the case
e of open-loo
op systems, w
where referen
nce position TPOS is cap
ptured
insttead

52
22

MPD U
User Manual

•

Example
//
/Stop moti
ion on next
t 2nd enco
oder index
EN
N2CAPI1; //Set
/
event
t: When th
he 2nd enco
oder index
x goes low->high
!C
CAP;
ST
TOP!;//Sto
op the moti
ion when event
e
occur
rs
WA
AIT!;//Wai
it until th
he event occurs
o
CP
POS = CAPP
POS; // new
w command position = captured
d position
CP
PA; //posi
ition comma
and is abs
solute
MO
ODE PP;
TU
UM1; //set
t Target Up
pdate Mode
e 1
UP
PD; //exec
cute immedi
iate
!M
MC; WAIT!; //wait fo
or completi
ion

6.2
2.5.1.67.

ENCAPI0

Syntax
ENCAPI0
0
Operands
s

Enable
E
CAPture Index 1->
>0
–

ode
Binary co

Description

Enable
es 1st capture/encoder ind
dex input cap
pability to dettect a transitiion from 1(hig
gh) to
0(low). When the firrst transition occurs:
o
•

he input capa
ability to dete
ect transitionss is disabled
d. It must be enabled aga
ain to
Th
de
etect another transition
t

52
23

MPD U
User Manual

•

Motor position APOS_MT is captured and memorized in the MPL variable CAPPOS,
except the case of open-loop systems, where reference position TPOS is captured
instead

•

Master position APOS2 or load position APOS_LD is captured and memorized in the
MPL variable CAPPOS2, except the case of steppers controlled open loop with an
encoder on the load, when load position is captured in CAPPOS.

524

MPD User Manual

6.2
2.5.1.68.

ENCAPI1

Syntax
ENCAPI1
1
Operands
s

Enable
E
CAPture Index 0->
>1
–

Binary co
ode

Description

Enable
es 1st capturre/encoder ind
dex input cap
pability to de
etect a transittion from 0(lo
ow) to
1(high). When the first transition occurs:
•

he input capa
ability to dete
ect transitionss is disabled
d. It must be enabled aga
ain to
Th
de
etect another transition
t

•

Mo
otor position APOS_MT
A
is
s captured an d memorized
d in the MPL vvariable CAP
PPOS,
exc
cept the case
e of open-loo
op systems, w
where referen
nce position TPOS is cap
ptured
insttead

•

The se
election betwe
een master and load posit ion is done as follows: load position is ssaved
in CAP
PPOS2 only for the setup
p configuration
ns which use
e different sensors for load and
motor and foresee a transmission ratio between the
em. For all the other setup
urations, the master
m
positio
on is saved in
n CAPPOS2.
configu
Example
//
/Stop moti
ion on next
t 1st enco
oder index
EN
NCAPI1; //
/Set event:
: When the
e 1st encod
der index goes low->
>high
!C
CAP;
ST
TOP!;//Sto
op the moti
ion when event
e
occur
rs
WA
AIT!;//Wai
it until th
he event occurs
o
CP
POS = CAPP
POS; // new
w command position = captured
d position
CP
PA; //posi
ition comma
and is abs
solute
MO
ODE PP;
TU
UM1; //set
t Target Up
pdate Mode
e 1
UP
PD; //exec
cute immedi
iate
!M
MC; WAIT!; //wait fo
or completi
ion

52
25

MPD U
User Manual

6.2
2.5.1.69.

END

Syntax
END

END
E
of a MPL program

Operands
s

–

Binary co
ode

Description

The END
E
comman
nd indicates the end of a MPL prog
gram main ssection. Next MPL
instruc
ctions (if pres
sent) are not executed. Affter this comm
mand the MP
PL program sshould
contain
n MPL functio
ons and MPL
L interrupt se
ervice routiness as well as other data likke the
cam ta
ables. The EN
ND command
d effectively sstops the exe
ecution a MP
PL program p
putting
the driv
ve/motor in a wait loop for MPL comma
ands received
d via a commu
unication cha
annel.
Remarrk: The END instruction does
d
not mod
dify the contrrol loops. Use
e MPL comm
mands
AXISON / AXISOFF
F to enable / disable
d
the co
ontrol loops, tthe reference
e generator an
nd the
o
PWM outputs.

Example
// Starti
ing point of
o a MPL p
program

BE
EGIN;
..
..
EN
NDINIT;

//E
End of init
tializatio
on

...
//e
end of main
n section of a MPL p
program

ND;
EN

6.2
2.5.1.70.

ENDINIT

Syntax
END
E
of INITia
alization

ENDINIT
s
Operands

–

Binary co
ode

52
26

MPD U
User Manual

Description

The ENDINIT instru
uction marks the END of the INITializa
ation part of the MPL program.
ommand use
es the availab
ble setup data
a to perform key initializattions, but doe
es not
This co
activatte the contro
ollers or the PWM outpu ts. These arre activated with the AX
XISON
comma
and. After power
p
on, th
he ENDINIT command m
may be exe
ecuted only once.
Subsequent ENDIN
NIT commands are ignorred. The first AXISON ccommand mu
ust be
T command.
executted only after the ENDINIT

Example
BE
EGIN;

// Starti
ing point of
o a MPL p
program

..
..
EN
NDINIT;

//E
End of init
tializatio
on

...
//e
end of main
n section of a MPL p
program

ND;
EN

6.2
2.5.1.71.

ENEEPRO
OM

Syntax
ENEEPROM
s
Operands

ENnable
e communicattion with the E
EEPROM
–

Binary co
ode

Description

Enables the SPI-ba
ased commu
unication with
h the drive/m
motor EEPRO
OM after thiss was
eedback deviices like SSI or EnDat encoders, whicch use
disabled by the initialization of fe
the sam
me SPI link as the EEP
PROM. This initialization is done during the ENDINIT
comma
and.
The EN
NEEPROM co
ommand is in
ntended for th
he hosts workking with ElecctroCraft drive
es set
in conffigurations with
w
SSI or EnDat encod
ders as possition feedbacck. Following
g this
comma
and, the intern
nal SPI-link with
w the SSI o
or EnDat enccoders is disa
abled and the
e SPIlink witth the EEPR
ROM is enabled. This o
offers accesss to the drivve EEPROM after
execution of the END
DINIT comma
and, without rresetting the d
drives.
EEPROM co
ommand musst be execu
uted only AF
FTER issuing
g the
Remarrk: The ENE
comma
ands AXISOF
FF and END which
w
stop the
e motor contro
ol and MPL p
program execution

Example
NEEPROM; // enable EEPROM
E
EN

52
27

MPD U
User Manual

6.2
2.5.1.72.

ENIO

6.2
2.5.1.73.

ENLSN0

Syntax
ENIO
Operands
s

–

Binary co
ode

Description

Example
EN
NIO;

Syntax
Enable
E
Limit Switch Negattive 1->0

ENLSN0
s
Operands

–

Binary co
ode
Firmware
e version FAx
xx

52
28

MPD User Manual

Firmware version FBxx

Description

Enables negative limit switch input capability to detect a transition from 1(high) to 0(low).
When the first transition occurs:
•

The input capability to detect transitions is disabled. It must be enabled again to
detect another transition

•

Motor position APOS_MT is captured and memorized in the MPL variable CAPPOS,
except the case of open-loop systems, where reference position TPOS is captured
instead

•

Master position APOS2 or load position APOS_LD is captured and memorized in the
MPL variable CAPPOS2, except the case of steppers controlled open loop with an
encoder on the load, when load position is captured in CAPPOS.

//acceleration rate = 200[rad/s^2]

CSPD = -16.6667; //jog speed = -500[rpm]
MODE SP;
UPD;

//execute immediate

ENLSN0;//Enable negative limit switch for high->low transitions
!LSN;

//Set event on negative limit switch(high->low transition)

WAIT!;//Wait until the event occurs
!MC;

// limit switch is active -> quick stop mode active

WAIT!;// wait until the motor stops because only then the new
// motion commands are accepted
CSPD = 40;

//jog speed = 1200[rpm]

MODE SP;

//after quick stop set again the motion mode

UPD;

//execute immediate

6.2.5.1.74.

ENLSN1

Syntax
ENLSN1

Enable Limit Switch Negative 0->1

529

MPD User Manual

Operands
s

–

Binary co
ode
Firmware
e version FAx
xx

Firmware
e version FBx
xx

Description

Enable
es negative limit switch inp
put capability to detect a transition from
m 0(low) to 1((high).
When the first trans
sition occurs:
•

he input capa
ability to dete
ect transitionss is disabled
d. It must be enabled aga
ain to
Th
de
etect another transition
t

•

Mo
otor position APOS_MT
A
is
s captured an d memorized
d in the MPL vvariable CAP
PPOS,
exc
cept the case
e of open-loo
op systems, w
where referen
nce position TPOS is cap
ptured
insttead

•

Example
//
/Reverse when
w
the ac
ctive high
h negative limit swi
itch is rea
ached
//
/Position feedback: 500 lines
s encoder (
(2000 coun
nts/rev)
CA
ACC = 0.06
637;

//a
acceleratio
on rate = 200[rad/s^
^2]

CS
SPD = -16.
.6667; //j
jog speed = -500[rpm
m]
MO
ODE SP;
UP
PD;

//e
execute imm
mediate

EN
NLSN1;//En
nable negat
tive limit
t switch fo
or low->hi
igh transit
tions
!L
LSN;

//Se
et event on
n negative
e limit swi
itch(low->
>high trans
sition)

53
30

MPD U
User Manual

WAIT!;//Wait until the event occurs
!MC;

// limit switch is active -> quick stop mode active

WAIT!;// wait until the motor stops because only then the new
// motion commands are accepted
CSPD = 40;

//jog speed = 1200[rpm]

MODE SP;

//after quick stop set again the motion mode

UPD;

//execute immediate

531

MPD User Manual

6.2
2.5.1.75.

ENLSP0

Syntax
ENLSP0
Operands
s

Enable
E
Limit Switch Positivve 1->0
–

Binary co
ode
Firmware
e version FAx
xx

Firmware
e version FBx
xx

Description

Enable
es positive lim
mit switch inp
put capability to detect a trransition from
m 1(high) to 0
0(low).
When the first trans
sition occurs:
•

he input capa
ability to dete
ect transitionss is disabled
d. It must be enabled aga
ain to
Th
de
etect another transition
t

•

Mo
otor position APOS_MT
A
is
s captured an d memorized
d in the MPL vvariable CAP
PPOS,
exc
cept the case
e of open-loo
op systems, w
where referen
nce position TPOS is cap
ptured
insttead

•

Example
//
/Reverse when
w
the ac
ctive low positive l
limit swit
tch is reac
ched
//
/Position feedback: 500 lines
s encoder (
(2000 coun
nts/rev)
CA
ACC = 0.06
637;

//a
acceleratio
on rate = 200[rad/s^
^2]

CS
SPD = -16.
.6667; //j
jog speed = -500[rpm
m]

53
32

MPD U
User Manual

MODE SP;
UPD;

//execute immediate

ENLSP0;//Enable positive limit switch for high->low transitions
!LSP;

//Set event on positive limit switch(high->low transition)

WAIT!;//Wait until the event occurs
!MC;

// limit switch is active -> quick stop mode active

WAIT!;// wait until the motor stops because only then the new
// motion commands are accepted
CSPD = 40;

//jog speed = 1200[rpm]

MODE SP;

//after quick stop set again the motion mode

UPD;

//execute immediate

533

MPD User Manual

6.2
2.5.1.76.

ENLSP1

Syntax
ENLSP1
Operands
s

Enable
E
Limit Switch Positivve 0->1
–

Binary co
ode
Firmware
e version FAx
xx

Firmware
e version FBx
xx

Description

Enable
es positive lim
mit switch inp
put capability to detect a trransition from
m 0(low) to 1((high).
When the first trans
sition occurs:
•

he input capa
ability to dete
ect transitionss is disabled
d. It must be enabled aga
ain to
Th
de
etect another transition
t

•

Mo
otor position APOS_MT
A
is
s captured an d memorized
d in the MPL vvariable CAP
PPOS,
exc
cept the case
e of open-loo
op systems, w
where referen
nce position TPOS is cap
ptured
insttead

•

Example
//
/Reverse when
w
the ac
ctive high
h positive limit swi
itch is rea
ached
//
/Position feedback: 500 lines
s encoder (
(2000 coun
nts/rev)
CA
ACC = 0.06
637;

//a
acceleratio
on rate = 200[rad/s^
^2]

CS
SPD = -16.
.6667; //j
jog speed = -500[rpm
m]

53
34

MPD U
User Manual

MODE SP;
UPD;

//execute immediate

ENLSP1;//Enable positive limit switch for low->high transitions
!LSP;

//Set event on positive limit switch(low->high transition)

WAIT!;//Wait until the event occurs
!MC;

// limit switch is active -> quick stop mode active

WAIT!;// wait until the motor stops because only then the new
// motion commands are accepted
CSPD = 40;

//jog speed = 1200[rpm]

MODE SP;

//after quick stop set again the motion mode

UPD;

//execute immediate

535

MPD User Manual

6.2
2.5.1.77.

EXTREF

Syntax
EXTREF value
Operands
s

Set
S EXTernal REFerence ttype
value: type of refere
ence 0, 1 or 2

Binary co
ode

Description

Sets th
he external re
eference type depending o n the parame
eter value:
•

value = 0: online – the referrence is sent via a commu
unication cha
annel in one of the
varriables EREFP
P, EREFS, EREFT, EREF
FV function off the control m
mode

•

value = 1: analo
ogue – the refe
erence is rea
ad from a dedicated analog
gue input

•

value = 2: digital – the refe
erence is pro
ovided as pullse & directio
on or encode
er like
signals

Example
EX
XTREF 1;

// the ex
xternal ref
ference is
s read from
m the anal
logue
// input dedicated
d
for this p
purpose

53
36

MPD U
User Manual

6.2
2.5.1.78.

FAULTR

Syntax
FAULTR

FAULT
F
Reset

Operands
s

–

Binary co
ode

Description

Gets ou
ut the drive/m
motor from the
e FAULT sta tus in which it enters whe
en an error occcurs.
After a FAULTR co
ommand, mos
st of the erro
or bits from M
MER are clea
ared (set to 0
0), the
esent) is set to ready leve
el, the Error output (if pre
esent) is set to no
Ready output (if pre
evel.
error le
Remarrks:
•

The
e FAULT rese
et command does not cha
ange the statu
us of MER.15
5 (enable inp
put on
disa
abled level), MER.7
M
(nega
ative limit swittch input activve), MER.6 (p
positive limit sswitch
inpu
ut active) and
d MER.2 (inva
alid setup tablle)

•

The
e drive/motorr will return to
t FAULT sta
atus if there are errors w
when the FAULTR
com
mmand is exe
ecuted

Example
FA
AULTR;

// reset fault stat
tus

6.2
2.5.1.79.

GOTO

Syntax
GOTO La
abel

Unconditiona
U
abel
l GOTO to La

GOTO Va
alue16

Unconditiona
U
l GOTO to Va
alue16

GOTO VA
AR16

Unconditiona
U
l GOTO to ad
ddress stored
d in VAR16Ad
ddr

GOTO La
abel, VAR, Fla
ag

GOTO
G
Label if VAR Flag 0

GOTO Va
alue16, VAR, Flag

GOTO
G
Value16 if VAR Fla
ag 0

GOTO VA
AR16, VAR, Flag
F

GOTO
G
address set in Var1
16Addr if VAR
R16 Flag 0

Operands
s

Label: a label provid
ding the 16-bit value of a ju
ump address
Value1
16: immediate
e 16-bit jump address
VAR16
6: integer variiable containing the jump a
address
VAR: 16
1 or 32-bit MPL
M test varia
able compared
d with 0

53
37

MPD U
User Manual

Flag: one
o of the con
nditions: EQ, NEQ, LT, LE Q, GT, GEQ

Binary co
ode

Description

Execute
es a jump to the MPL pro
ogram positio
on specified vvia the jump a
address. The
e jump
address
s is provided
d via a label, an immedia
ate value or by the value
e of a 16-bitt MPL
variable
e. The jump
p can be unconditional o
or unconditio
onal. In a co
onditional jum
mp, a
conditio
on is tested. If the condition is true the jump is executed, e
else the next MPL
comma
and is carried out. The con
ndition is speccified by a 16
6-bit or 32-bit test variable and a
test condition added
d after the la
abel with the jump addresss. The test variable is a
always
e test conditio
ons are:
comparred with zero.. The possible

53
38

if VAR = 0

NEQ

if VAR ≠ 0

if VAR < 0

LEQ

if VAR ≤ 0

if VAR > 0

GEQ

if VAR ≥ 0

MPD U
User Manual

Example
GOTO label1, var1, LT; // jump to label1 if var1 < 0
GOTO label2, var1, LEQ;

// jump to label2 if var1 <= 0

GOTO label3, var1, GT; // jump to label3 if var1 > 0
GOTO label4;
GOTO var_address;

// unconditional jump to label4
// unconditional jump to jumps address
// provided by var_address value

539

MPD User Manual

6.2
2.5.1.80.

GROUPID

Syntax
GROUPID
D (value_1, value_2,…) Se
et GROUP ID
D address
Operands
s

value_
_1, value_2: specify
s
a grou
up number be tween 1 and 8

Binary co
ode

Description

The co
ommand sets
s the group ID. On each axis, the gro
oup ID represents a filterr for a
multica
ast transmiss
sion. When a multicast me
essage is recceived, each axis compare
es the
messa
age group ID with its own group
g
ID. If th
he two group
p IDs have at least one gro
oup in
commo
on, the mess
sage is accep
pted. For exa
ample, if an a
axis is memb
ber of group 1 and
group 3, it will receive all the messages sent w
with a group ID including g
group 1 or gro
oup 3.
v
Each b
bit correspond
ds to one group: bit 0 – gro
oup 1,
The grroup ID is an 8-bit integer value.
bit 1 – group 2… bitt 7 – group 8.
After th
he execution of this command, the grou
up ID value iss set as follow
ws:
•

p) 1 occurs in the parenthe
esis, else it is set to 0
Bit 0 is set to 1, if (group

•

Bit 1 is set to 1, if (group
p) 2 occurs in the parenthe
esis, else it is set to 0

•

…

•

Bit 7 is set to 1, if (group
p) 8 occurs in the parenthe
esis, else it is set to 0.

Example
GR
ROUPID (1, 3);

//l
local axis belongs t
to groups 1 and 3

..
..
[G
G3] {STOP;}

//s
send stop command
c
to
o all axes from grou
up 3
//the co
ommand is executed b
by local axis too

54
40

MPD U
User Manual

6.2
2.5.1.81.

INITCAM

Syntax
m table from E
EEPROM to R
RAM
INITCAM LoadAddress, RunAddres
ss Copy cam
Operands
s

LoadAddress: 16-bit unsigned integer - cam ta
able start add
dress in the E
EEPROM
RunAdd
dress: 16-bit unsigned
u
inte
eger - cam tab
ble start addre
ess in the RA
AM

Binary co
ode

Description

Prepare
es a cam tab
ble for use. The
T
cam tab les are first d
downloaded into the EEP
PROM
memory of the driv
ve/motor, tog
gether with t he rest of th
he MPL prog
gram. Then using
INITCA
AM command a cam table is copied from
m the EEPRO
OM memory in
nto the drive//motor
RAM memory.
m
The LoadAddress
s is the start a
address in the EEPROM m
memory where the
cam tab
ble was down
nloaded and the
t RunAddre
ress is the sta
art address in
n the RAM me
emory
where to copy the cam table. After
A
the exe
ecution of thiis command the MPL va
ariable
TART takes the value of th
he RunAddresss
CAMST

Example
IN
NITCAM 18864,2560;

//Copy CAM table
e from EEPR
ROM memory
y
ess 0x49B0)
) to RAM m
memory
//(addre
//(addre
ess 0xA00)

54
41

MPD U
User Manual

6.2
2.5.1.82.

LOCKEEP
PROM

Syntax
LOCKEEPROM value16 LOCK/unlock EEPRO
OM
Operands
s

value1
16: integer vallue between 0 and 3

Binary co
ode

Description

Locks or
o unlocks the
e EEPROM write
w
protectio
on. When the
e EEPROM iss write-proteccted, it
is not possible
p
to write data into the EEPROM
M, with the e
exception of the MPL com
mmand
SAVE. Value16 may
y have the following valuess:
0 – Disables EEPROM wrrite protection
n
1 – Enables write protection for the lasst quarter of th
he EEPROM
2 – Enables write protection for the lasst half of the E
EEPROM
3 – Enables write protection for the enttire EEPROM
M

Example
/An EEPROM
M has 8Kwor
rds. In the
e MPL prog
gram space occupies the
//
//
/address range: 4000
0-5FFFh.
LO
OCKEEPROM 0; // disa
able EEPROM
M write pr
rotection
LO
OCKEEPROM 1; // prot
tect the ad
ddress ran
nge: 5800-5
5FFFh,
LO
OCKEEPROM 2; // prot
tect the ad
ddress ran
nge: 5000-5
5FFFh
LO
OCKEEPROM 3; // prot
tect the en
ntire addr
ress range:
: 4000-5FF
FFh

54
42

MPD U
User Manual

6.2
2.5.1.83.

LPLANE

Only available on multii-axis Motion Controller
Syntax
LPLANE (X_axis, Y_a
axis, Z_axis)
Operands
s

Linear interpolation P LANE

X_axis
s, Y_axis, Z_a
axis: slave ax
xes defining th
he coordinate
e system

Binary co
ode

Description

Sets th
he 2D/3D co
oordinate sys
stem for Lin
near Interpola
ation Mode using slave axes
specifie
ed with X_axis
s, Y_axis and
d Z_axis.

Example
// 2D linear in
nterpolated
d profile. Position feedbacks
s: 500 line
es
remental encoder
e
//incr

DE 0xCF00;
; //Clear buffer
b
SETMOD
LPLANE
E (A, C); //Slaves A and C de
efine the coordinate
e system
MODE LI;
L
// Set
t Linear In
nterpolati
ion Mode
// Inc
crement po
osition wit
th (X, Y) = (0.5[rot
t], 0.05[r
rot])
LPOS1 1000L, 10
00L; LPOS2 1000L, 10
00L;
/
UPD; //Execute
immediate
// Inc
crement po
osition wit
th (X, Y) = (0.05[ro
ot], 0.5[r
rot])
LPOS1 100L, 100
00L; LPOS2 100L, 100
00L;
crement po
osition wit
th (X, Y) = (0.5[rot
t], 0.1[ro
ot])
// Inc
LPOS1 1000L, 20
00L; LPOS2 1000L, 20
00L;
crement po
osition wit
th (X, Y) = (0.5[rot
t], 0.5[ro
ot])
// Inc
LPOS1 1000L, 10
000L; LPOS2
2 1000L, 1000L;
1

54
43

MPD U
User Manual

6.2
2.5.1.84.

LPOS

Only available on multii-axis Motion Controller
Syntax
LPOS1 Pos_X,
P
Pos_Y
Y, Pos_Z
LPOS2 Pos_X,
P
Pos_Y
Y, Pos_Z
LPOS1 Pos_X,
P
Pos_Y
Y
LPOS2 Pos_X,
P
Pos_Y
Y
Operands
s

3D Linea
ar interpolatio
on POS segm
ment

2D Linea
ar interpolatio
on POS segm
ment

Pos_X
X: X axis posittion incremen
nt for 2D/3D trrajectory
Pos_Y
Y: Y axis posittion incremen
nt for 2D/3D trrajectory
Pos_Z
Z : Z axis posittion incremen
nt for 3D traje
ectory

Binary co
ode

54
44

MPD U
User Manual

Description

LPOS1 and LPOS2 define a segment for 2D/3D trajectory executed in Linear Interpolation
mode. Based on Pos_X, Pos_Y and Pos_Z the MPL compiler from MotionPRO Developer
computes the actual parameters used by the motion controller to generate the PVT points
for slave axes.
If the points are sent from a host then the following relations must be used to compute the
actual parameters of the segment:

Example
// 2D linear interpolated profile. Position feedbacks: 500 lines

545

MPD User Manual

//incremental encoder

SETMODE 0xCF00; //Clear buffer
LPLANE (A, C); //Slaves A and C define the coordinate system
MODE LI; // Set Linear Interpolation Mode
// Increment position with (X, Y) = (0.5[rot], 0.05[rot])
LPOS1 1000L, 100L; LPOS2 1000L, 100L;
UPD; //Execute immediate
// Increment position with (X, Y) = (0.05[rot], 0.5[rot])
LPOS1 100L, 1000L; LPOS2 100L, 1000L;
// Increment position with (X, Y) = (0.5[rot], 0.1[rot])
LPOS1 1000L, 200L; LPOS2 1000L, 200L;
// Increment position with (X, Y) = (0.5[rot], 0.5[rot])
LPOS1 1000L, 1000L; LPOS2 1000L, 1000L;

546

MPD User Manual

6.2
2.5.1.85.

MODE CS

Syntax
MODE CS
S
Operands
s

Set
S axis in MO
ODE Cammin
ng Slave
–

Binary co
ode

Description

Sets th
he drive/moto
or to operate in the electro
onic camming
g slave mode
e. In this mode, the
drive/m
motor perform
ms a position control
c
with rreference set by a cam pro
ofile function of the
masterr position. The cam profile
e is defined byy a cam table
e – a set of (X
X, Y) points, w
where
X is cam
c
table inp
put i.e. the master
m
positio
on and Y is the cam tab
ble output i.e
e. the
corresponding slav
ve position. Between the
e points the drive/motor performs a linear
olation.
interpo
The ne
ew motion mo
ode becomes effective at th
ate command UPD.
he next upda

Example
//
/ Electron
nic camming
g slave. Master
M
posi
ition is r
read from 2
2nd
//
/ encoder inputs. Ma
aster resol
lution: 20
000 counts/
/rev
CA
AMSTART = 0xF000; //
/Initialize
e CAM tabl
le start ad
ddress
EX
XTREF 2; // master position
p
re
ead from P
P&D or 2nd encoder
CA
AMOFF = 200; //Cam offset
o
from
m master
CA
AMX = 0.5; //Cam inp
put correct
tion facto
or
CA
AMY = 1.5; //Cam out
tput correc
ction fact
tor
MA
ASTERRES = 2000; // master res
solution
MO
ODE CS; //Set electr
ronic cammi
ing slave mode
TU
UM1; //Set Target Up
pdate Mode 1
SR
RB ACR, 0xEFFF, 0x00
000; //Camm
ming mode:
: Relative
UP
PD; //execute immedi
iate

54
47

MPD U
User Manual

6.2
2.5.1.86.

MODE GS

Syntax
MODE GS
S
Operands
s

Set
S axis in MO
ODE Gear Sl ave

–

Binary co
ode

Description

Sets th
he drive/moto
or to operate in the elect ronic gearing
g slave mode
e. The drive//motor
perform
ms a position control and follows the master posittion with a prrogrammable
e gear
ratio. At
A each slow
w loop samp
pling period, the slave ccomputes the
e master po
osition
increme
ent and multiplies it with itts programme
ed gear ratio. The result iss the slave po
osition
reference incrementt, which adde
ed to the prevvious slave po
osition refere
ence gives the
e new
ence.
slave position refere
The new
w motion mod
de becomes effective
e
at th
he next updatte command U
UPD.

Example
//
/Electroni
ic gearing
g. Master position is receiv
ved via //
/communica
ation
ch
hannel inp
puts. Maste
er resolut
tion: 2000 counts/re
ev
//
/ On slave
e axis (Axi
is ID = 1):
GE
EAR = 0.3333; // gea
ar ratio
GE
EARMASTER = 3; //gea
ar ratio de
enominator
r
GE
EARSLAVE = 1; //gear
r ratio num
merator
EX
XTREF 0; // master position
p
go
ot via com
mmunication
n channel
MA
ASTERRES = 2000; // master res
solution
RE
EG_ON; //Enable supe
erposition
MO
ODE GS; //Set as sla
ave, positi
ion mode
TU
UM1; //Set Target Up
pdate Mode 1
SR
RB UPGRADE, 0xFFFF, 0x0004; //
/UPGRADE.2
2 = 1
CA
ACC = 0.9549; //Limi
it maximum accelerat
tion at 300
00[rad/s^2
2]
UP
PD; //execute immedi
iate

54
48

MPD U
User Manual

6.2
2.5.1.87.

MODE LI

Only available on multii-axis Motion Controller
Syntax
MODE LI
Operands
s

MODE Linear Interpo lation mode

–

Binary co
ode

Description

Sets the motion con
ntroller to operate in linear interpolation mode. In thiss mode the m
motion
s a 2D/3D tra
ajectory base
ed on linear ssegments. Th
he motion mo
ode is
controlller generates
configu
ured with SET
TMODE comm
mand.
The pa
ath segments can be store
ed in the non
n-volatile mem
mory of the m
motion controller or
receive
ed via a comm
munication cha
annel from a host.
Each segment
s
is split
s
in PVT points and ssent to the sslaves which
h, using 3rd order
interpolation, rebuild
d the trajecto
ory. The seg
gments seque
ence must fiinish with the
e end
nt. If the sequ
uence doesn’’t have an en
nd segment th
hen the motio
on controller e
enters
segmen
in Quickstop mode and
a the stops the slaves.

Example
// 2D linear in
nterpolated
d profile. Position feedbacks
s: 500 line
es
//incr
remental encoder
e

54
49

MPD U
User Manual

// Increment position with (X, Y) = (0.5[rot], 0.1[rot])
LPOS1 1000L, 200L; LPOS2 1000L, 200L;
// Increment position with (X, Y) = (0.5[rot], 0.5[rot])
LPOS1 1000L, 1000L; LPOS2 1000L, 1000L;

550

MPD User Manual

6.2
2.5.1.88.

MODE PC

Syntax
MODE PC
C

s
Operands

MODE
M
Positio
on Contouring
g

–

Binary co
ode

Description

Sets th
he drive/moto
or to operate in the position
n contouring m
mode. In the contouring m
modes,
an arb
bitrary path is described
d via a seriies of pointss. Between the points, linear
interpo
olation is perrformed, lead
ding to a co ntour describ
bed by a succession of linear
segme
ents. In the po
osition contou
uring, the drivve/motor perfforms a positiion control an
nd the
path re
epresents a position
p
refere
ence.
The ne
ew motion mo
ode becomes effective at th
he next upda
ate command UPD.

Example
e
//
/ Position contourin
ng with pos
sition fee
edback on m
motor: 500
0 lines
//
/ incremen
ntal encode
er (2000 counts/rev)
c
)
MO
ODE PC;//S
Set Positio
on Contour
ring
TU
UM1;//Star
rt from act
tual value
e of positi
ion refere
ence
SE
EG 100U, 20.00000;//
2
/ 1st poin
nt
UP
PD; //Exec
cute immedi
iate
SE
EG 100U, 0.00000;
0
//
/ 2nd poin
nt
SE
EG 0, 0.0;
; //End of contourin
ng

6.2
2.5.1.89.

MODE PE
E

Syntax
MODE PE
E
Operands
s

MODE
M
Positio
on External

–

55
51

MPD U
User Manual

Binary co
ode

Description

Sets th
he drive/mottor to operatte in the po
osition extern
nal mode. In this mode
e, the
drive/m
motor performs a position control with the position reference prrovided by an
nother
device. There are 2 types of external
e
referrences (selecctable via the MPL instru
uction
EF):
EXTRE
•

Ana
alogue – read
d from a dedic
cated analogu
ue input (MPL
L variable AD
D5)
•

Online – rec
ceived online via a comm unication cha
annel from a host and savved in
the MPL varriable EREFP
P

an limit the maximum spee
ed at sudden changes of tthe position rreference and
d thus
You ca
to reduce the mecha
anical shocks
s. This feature
e is activated
d by setting UPGRADE.2=1 and
ximum speed
d value in CSP
PD.
the max
The new
w motion mod
de becomes effective
e
at th
he next updatte command U
UPD.
Example
e
d position
n command from
f
the a nalogue re
eference input
//Read
EXTREF
F 1;
MODE PE;
P
//External posit
tion
CSPD = 100;// Limit
L
= 300
00[rpm]
SRB UP
PGRADE, 0x
xFFFF, 0x00
004; //UPG
GRADE.2 = 1
UPD; //execute
/
immediate

6.2
2.5.1.90.

MODE PP

Syntax
MODE PP
P
Operands
s

MODE
M
Positio
on Profile
–

Binary co
ode

55
52

MPD U
User Manual

Description

Sets th
he drive/moto
or to operate in the trapezo
oidal position profile mode
e. In this mode, the
drive/m
motor perform
ms a position
n control. Th
he built-in refference gene
erator compu
utes a
positio
on profile with
h a trapezoida
al shape of th
he speed, due to a limited
d acceleration
n. You
specify
y either a po
osition to reac
ch in absolutte mode or a position inccrement in re
elative
mode, plus the slew
w (maximum travel)
t
speed and the acce
eleration/dece
eleration rate..
The ne
ew motion mo
ode becomes effective at th
he next upda
ate command UPD.

Example
e
//
/ Position
n profile. Position feedback: 500 lines
s increment
tal
//
/ encoder (2000 coun
nts/rev)
CA
ACC = 0.31
183;

//a
acceleratio
on rate = 1000[rad/s
s^2]

CS
SPD = 33.3
3333;

//s
slew speed = 1000[rp
pm]

CP
POS = 6000
0;

//p
position co
ommand = 3
3[rot]

CP
PR;

//position comm
mand is relative

SR
RB ACR 0xF
FFFF, 0x800
0; // and additive
MO
ODE PP; //
/ set trape
ezoidal po
osition pro
ofile mode
e
TU
UM1; //set
t Target Up
pdate Mode 1
UP
PD;

//exe
ecute immed
diate

!M
MC; WAIT!; //wait fo
or completi
ion

6.2
2.5.1.91.

MODE PSC
C

Syntax
MODE PS
SC
Operands
s

MODE
M
Positio
on S-curve
–

Binary co
ode

Description

Sets th
he drive/moto
or to operate in
i the S-curve
e profile mode. In this mod
de, the drive//motor
perform
ms a position
n control. The
e built-in referrence genera
ator computess a position p
profile
with an
n S-curve sha
ape of the sp
peed. This sha
ape is due to
o the jerk limittation, leading to a
trapezo
oidal or triang
gular profile for
f the accele
eration and an S-curve pro
ofile for the sspeed.
You sp
pecify either a position to reach
r
in abso
olute mode orr a position increment in re
elative
mode, plus the sle
ew (maximum
m travel) spe ed, the maxiimum accele
eration/decele
eration
nd the jerk ratte. The jerk ra
ate is set indiirectly via the
e jerk time, wh
hich represen
nts the
rate an
time ne
eeded to reac
ch the maximum accelerattion starting frrom zero

55
53

MPD U
User Manual

The ne
ew motion mo
ode becomes effective at th
he next upda
ate command UPD.
Example
e
//
/ S-curve profile. Position
P
feedback:
f
5
500 lines incrementa
al
//
/ encoder (2000 coun
nts/rev)
TJ
JERK = 50;
;//jerk = 2e+004[rad
2
d/s^3]
CA
ACC = 0.31
183;//accel
leration rate
r
= 1000
0[rad/s^2]
CS
SPD = 33.3
3333;//slew
w speed = 1000[rpm]
CP
POS = 2000
00;//positi
ion comman
nd = 10[rot
t]
CP
PR; //posi
ition comma
and is rel
lative
MO
ODE PSC; //
/ set S-cu
urve profi
ile mode
SR
RB ACR, 0x
xFFFE, 0x00
000; //Sto
op using an
n S-curve profile
UP
PD; //exec
cute immedi
iate
!M
MC; WAIT!; //wait fo
or completi
ion

6.2
2.5.1.92.

MODE PT

Syntax
T
MODE PT
Operands
s

MODE
M
Positio
on Time
–

Binary co
ode

Description

Sets th
he drive/moto
or to operate in the PVT m
mode. In this m
mode, the driive/motor perrforms
a posittion control. The
T built-in re
eference gen
nerator computes a positio
oning path ussing a
series of points. Ea
ach point spe
ecifies the dessired Position
n, and Time, i.e. contains a PT
B
the PT
P points the reference ge
enerator perfo
orms a linear interpolation.
data. Between
The ne
ew motion mo
ode becomes effective at th
he next upda
ate command UPD.

55
54

MPD U
User Manual

Example
// PT sequence. Position feedback: 500 lines incremental
// encoder (2000 counts/rev)
SETPVT 0xC000;

//Clear PT buffer, disable counter check
//Don’t change counter & buffer low condition

MODE PT; // Set PT Mode
TUM1;//Start from actual value of position reference
CPR;
PTP 2000L, 100U, 0; //PT(1[rot], 0.1[s])
UPD; //Execute immediate
PTP 0L, 100U, 0; //PT(1[rot],0.2[s])
PTP -2000L, 100U, 0; //PT(0[rot],0.3[s])
!MC; WAIT!; //wait for completion

555

MPD User Manual

6.2
2.5.1.93.

MODE PVT
T

Syntax
MODE PV
VT

s
Operands

MODE
M
Positio
on Velocity Tiime

–

Binary co
ode

Description

Sets th
he drive/moto
or to operate in the PVT m
mode. In this m
mode, the driive/motor perrforms
a posittion control. The
T built-in re
eference gen
nerator computes a positio
oning path ussing a
series of points. Each
E
point specifies
s
the desired Possition, Velocity and Time
e, i.e.
ns a PVT da
ata. Between the PVT poi nts the refere
ence generattor performs a 3rd
contain
order interpolation.
The ne
ew motion mo
ode becomes effective at th
he next upda
ate command UPD.

Example
e
//
/ PVT sequ
uence. Posi
ition feed
dback: 500 lines inc
cremental
//
/ encoder (2000 coun
nts/rev)
MA
ASTERID = 4081; // Set
S
host address
a
to 255 (255<
<<4+1)
SE
ETPVT 0xC0
000;

//C
Clear PVT buffer,
b
di
isable coun
nter check
k
//Do
on’t change counter & buffer low condit
tion

MO
ODE PVT; //
/ Set PVT Mode
TU
UM1;//Star
rt from act
tual value
e of positi
ion refere
ence
CP
PR; // Rel
lative mode
e
PV
VTP 400L, 60, 10U, 0;//PVT(0.
0
2[rot], 18
800[rpm], 0.01[s])
UP
PD; //Exec
cute immedi
iate
PV
VTP 400L, 0, 10U, 0;
;//PVT(0.4
4[rot], 0[r
rpm], 0.02
2[s])
!M
MC; WAIT!; //wait fo
or completi
ion

55
56

MPD U
User Manual

6.2
2.5.1.94.

MODE SC

Syntax
MODE SC
C
Operands
s

MODE
M
Speed
d Contouring
–

Binary co
ode

Description

Sets th
he drive/moto
or to operate in speed con
ntouring mode
e. In the conto
ouring modess, you
can program an arbitrary
a
path
h via a ser ies of pointss. Between the points, linear
olation is perrformed, lead
ding to a co ntour describ
bed by a succession of linear
interpo
segme
ents. In the speed
s
contou
uring, the drivve/motor perfforms a spee
ed control an
nd the
path re
epresents a speed reference.
The new
w motion mod
de becomes effective
e
at th
he next updatte command U
UPD.

Example
//
/ Speed contouring with
w
positi
ion feedba
ack on moto
or: 500 li
ines
//
/ incremen
ntal encode
er (2000 counts/rev)
c
)
MO
ODE SC;//S
Set Speed Contouring
C
g
TU
UM1;//Star
rt from act
tual value
e of positi
ion refere
ence
SE
EG 100U, 20.00000;//
2
/ 1st poin
nt
UP
PD; //Exec
cute immedi
iate
SE
EG 100U, 0.00000;
0
//
/ 2nd poin
nt
SE
EG 0, 0.0;
; //End of contourin
ng

55
57

MPD U
User Manual

6.2
2.5.1.95.

MODE SE

Syntax
MODE SE
E
Operands
s

MODE
M
Speed
d External
–

Binary co
ode

Description

Sets the drive/motorr to operate in
n the speed e
external mode. In this mod
de, the drive//motor
ms a speed co
ontrol with the
e speed referrence provide
ed by anotherr device. Therre are
perform
2 types
s of external re
eferences (se
electable via tthe MPL instrruction EXTREF):
•

Ana
alogue – read
d from a dedic
cated analogu
ue input (MPL
L variable AD
D5)
•

Online – rec
ceived online via a comm unication cha
annel from a host and savved in
the MPL varriable EREFS
S

an limit the maximum acce
eleration at s udden chang
ges of the spe
eed reference and
You ca
thus to reduce the mechanical
m
sh
hocks. This fe
eature is activvated by settin
ng UPGRADE.2=1
e maximum ac
cceleration va
alue in CSPD
D.
and the
The new
w motion mod
de becomes effective
e
at th
he next updatte command U
UPD.
Example
//
/ External
l mode onli
ine. Read speed refe
erence fro
om variable
e EREFS
//
/ Position
n feedback:
: 500 line
es incremen
ntal
//
/ encoder (2000 coun
nts/rev)
ER
REFS = 33.
.3333;// ER
REFS initi
ial = 1000[
[rpm]
EX
XTREF 0;
MO
ODE SE; //
/External speed
s
CA
ACC = 0.31
183;// Limi
it = 1000[
[rad/s^2]
SR
RB UPGRADE
E, 0xFFFF, 0x0004; //UPGRADE.2
/
2 = 1
UP
PD; //execute immedi
iate

55
58

MPD U
User Manual

6.2
2.5.1.96.

MODE SP

Syntax
MODE SP
P
Operands
s

MODE
M
Speed
d Profile
–

Binary co
ode

Description

Sets the drive/moto
or to operate
e in trapezoi dal speed profile mode. In this mode
e, the
motor perform
ms a speed co
ontrol. The bu
uilt-in referencce generator computes a sspeed
drive/m
profile with a trapez
zoidal shape, due to a limitted acceleration
The ne
ew motion mo
ode becomes effective at th
ate command UPD.
he next upda

Example::
//
/ Position
n feedback:
: 500 line
es incremen
ntal
//
/ encoder (2000 coun
nts/rev)
CACC
C
= 0.3183;

//a
acceleratio
on rate = 1000[rad/s
s^2]

CSPD
C
= 6.6667;

//j
jog speed = 200[rpm]

MODE
M
SP;

// set speed profile m
mode

UPD;
U

execute imm
mediate
//e

55
59

MPD U
User Manual

6.2
2.5.1.97.

MODE TC

Syntax
MODE TC
C
Operands
s

MODE
M
Torque Contouring
g
–

Binary co
ode

Description

Sets th
he drive/moto
or to operate in torque con
ntouring mode
e. In the contouring modess, you
can program an arbitrary
a
path
h via a ser ies of pointss. Between the points, linear
olation is perrformed, lead
ding to a co ntour describ
bed by a succession of linear
interpo
segme
ents. In the to
orque contou
uring, the drivve/motor perfforms a torqu
ue control an
nd the
path re
epresents a current
c
referen
nce.
Remarrk: The torqu
ue contouring
g mode has b
been foresee
en for testing
g during the setup
phase
The new
w motion mod
de becomes effective
e
at th
he next updatte command U
UPD.

Example
/ current scaling: 1A
1 = 1984 IU
I
//
MO
ODE TC;

//S
Set Torque Contourin
ng

RE
EF0 = 992;

//I
Initial ref
ference se
et to 0.5[A
A]

SE
EG 2999U, 0.06601;
UP
PD;

Execute imm
mediate
//E

SE
EG 1U, 0.03745;
SE
EG 1999U, 0.29800;
SE
EG 1U, 0.28970;
SE
EG 2999U, -0.26468;
SE
EG 1U, -0.22781;
SE
EG 0, 0.0;

End of cont
touring
//E

56
60

MPD U
User Manual

6.2
2.5.1.98.

MODE TEF
F

Syntax
MODE TE
EF

MODE
M
Torque External Fa
ast

MODE TE
ES

MODE
M
Torque External Sl ow

Operands
s

–

Binary co
ode

Description

Sets the drive/motorr to operate in
n the torque e
external mode. In this mod
de, the drive//motor
ms a torque control with a current refere
ed by anotherr device. Therre are
perform
ence provide
2 types
s of external re
eferences (se
electable via tthe MPL instrruction EXTREF):
•

Ana
alogue – read
d from a dedic
cated analogu
ue input (MPL
L variable AD
D5)
•

Online – rec
ceived online via a comm unication cha
annel from a host and savved in
the MPL varriable EREFT
T

t current re
eference is read from the a
analogue inpu
ut, the referen
nce update ccan be
When the
done in
n 2 ways:
•

MO
ODE TES – att each slow lo
oop sampling period

•

MO
ODE TEF – att each fast loo
op sampling p
period

When the
t current re
eference is re
eceived onlin
ne via a comm
munication ch
hannel only o
option
MODE TES is possible.
The new
w motion mod
de becomes effective
e
at th
he next updatte command U
UPD.
Example
//
/Set torque mode wit
th referenc
ce read fr
rom an anal
logue inpu
ut
EX
XTREF 1;

// external type:
t
anal
logue input
t

MO
ODE TEF;

External to
orque, upd
date in fas
st loop
//E

UP
PD;

//e
execute imm
mediate

56
61

MPD U
User Manual

6.2
2.5.1.99.

MODE TT

Syntax
T
MODE TT
Operands
s

MODE
M
Torque Test
–

Binary co
ode

Description

Sets the drive/motorr to operate in
n torque test mode. In thiss mode a currrent comman
nd can
c
off a limited ra
amp. For AC
C motors (likke for
be set using a test reference consisting
ess motors), the
t test mode
e offers also the possibilityy to rotate a current
examplle the brushle
reference vector with
h a programm
mable speed. As result, the
ese motors can be moved
d in an
w
using
g the position
n sensor. Th
he main adva
antage of thiss test
“open-loop” mode without
s the possibility to conductt in a safe wa
ay a series of tests, which ccan offer important
mode is
informa
ation about the motor parameters,
p
ntegrity of th
he its
drive status and the in
connec
ctions.
Remarrk: The torque
e test mode has
h been fore
eseen to facilittate the testin
ng during the setup
phase. It is not inten
nded for norm
mal operation
The new
w motion mod
de becomes effective
e
at th
he next updatte command U
UPD.

Example
//
/Torque te
est mode, brushless
b
AC motor. The drive
e has
//
/peak curr
rent 16.5A -> 32736 IU (intern
nal curren
nt units)
//
/360° electric angle
e -> 65536 internal units
//
/ fast loo
op sampling
g period = 0.1ms. Mo
otor has 2 pole pair
rs
MO
ODE TT; //
/Torque Tes
st Mode
RE
EFTST_A = 1984;//Ref
ference sa
aturation = 1[A]
RI
INCTST_A = 20;//Refe
erence inc
crement = 1
10[A/s]
TH
HTST = 0;/
//Electric angle = 0[deg]
0
TI
INCTST = 7;//Electri
7
ic angle increment
i
~
~= 2e+002[
[deg/s]
UP
PD; //update immedia
ate

56
62

MPD U
User Manual

6.2
2.5.1.100.

MODE VC

Syntax
MODE VC
C
Operands
s

MODE
M
Voltag
ge Contouring
g

–

Binary co
ode

Description

Sets th
he drive/moto
or to operate in voltage con
ntouring mode
e. In the conttouring modess, you
can program an arbitrary
a
path
h via a ser ies of pointss. Between the points, linear
olation is perrformed, lead
ding to a co ntour describ
bed by a succession of linear
interpo
segme
ents. In the vo
oltage contou
uring, the drivve/motor perfforms a voltage control an
nd the
path re
epresents a voltage
v
referen
nce.
Remarrk: The voltag
ge contouring
g mode has been foresee
en for testing
g during the setup
phase
The new
w motion mod
de becomes effective
e
at th
he next updatte command U
UPD.

Example
MODE VC;

//Set
/
Volt
tage Contou
uring

REF0 = 7744;

//Initial
/
reference set to 3[V]

4
-0.5
51620;
SEG 4999U,
immediate
//Execute
/

UPD;
1
-0.4920
03;
SEG 1U,
SEG 1999U,
1
1.93
3600;
SEG 1U,
1
1.92673
3;
SEG 2000U,
2
0.00
0000;
SEG 999U,
9
-9.03
3500;
SEG 1U,
1
-9.0313
34;
SEG 0,
0 0.0;

6.2
2.5.1.101.

//End of
o contour
ring

MODE VES
S

Syntax
ES
MODE VE

MODE
M
Voltag
ge External S low

MODE VE
EF

MODE
M
Voltag
ge External Fa
ast

56
63

MPD U
User Manual

Operands
s

–

Binary co
ode

Description

Sets the drive/motorr to operate in
n the voltage external mod
de. In this mod
de, the drive//motor
ms a voltage control
c
with a voltage referrence provide
ed by anotherr device. There are
perform
2 types
s of external re
eferences (se
electable via tthe MPL instrruction EXTREF):
•

Ana
alogue – read
d from a dedic
cated analogu
ue input (MPL
L variable AD
D5)
•

Online – rec
ceived online via a comm unication cha
annel from a host and savved in
the MPL varriable EREFT
T

t voltage re
eference is re
ead from the a
analogue inpu
ut, the reference update ccan be
When the
done in
n 2 ways:
•

MO
ODE VES – att each slow lo
oop sampling period

•

MO
ODE VEF – att each fast loo
op sampling p
period

When the
t voltage re
eference is re
eceived onlin
ne via a comm
munication channel only o
option
MODE TES is possible.
ge contouring
g mode has been foresee
en for testing
g during the setup
Remarrk: The voltag
phase
The new
w motion mod
de becomes effective
e
at th
he next updatte command U
UPD.
Example
//
/Read voltage refere
ence from variable
v
E
EREFV
ER
REFV = 30;// EREFV initial
i
= 30[IU]
3
EX
XTREF 0;
MO
ODE VES; //External voltage
UP
PD; //execute immedi
iate

56
64

MPD U
User Manual

6.2
2.5.1.102.

MODE VT

Syntax
MODE VT
T
Operands
s

MODE
M
Voltag
ge Test
–

Binary co
ode

Description

Sets the drive/motorr to operate in
n voltage test mode. In thiss mode a volttage comman
nd can
c
off a limited ra
amp. For AC
C motors (likke for
be set using a test reference consisting
ess motors), the test mode
e offers also th
he possibility to rotate a vo
oltage
examplle the brushle
reference vector with
h a programm
mable speed. As result, the
ese motors can be moved
d in an
w
using
g the position
n sensor. Th
he main adva
antage of thiss test
“open-loop” mode without
s the possibility to conductt in a safe wa
ay a series of tests, which ccan offer important
mode is
informa
ation about the motor parameters,
p
ntegrity of th
he its
drive status and the in
connec
ctions.
Remarrk: The voltag
ge test mode
e has been fforeseen to ffacilitate the testing durin
ng the
setup phase.
p
It is no
ot intended forr normal operration
The new
w motion mod
de becomes effective
e
at th
he next updatte command U
UPD.

Example
MO
ODE VT;

//V
Voltage Tes
st Mode

RE
EFTST_V = 5022;

//R
Reference saturation
s
n value = 1
1[V]

RI
INCTST_V = 4;

//R
Reference increment
i
value = 1[
[V/s]

UP
PD;

//U
Update imme
ediate

56
65

MPD U
User Manual

6.2
2.5.1.103.

MODE VM

Only available on multii-axis Motion Controller
Syntax
MODE VM
M
Operands
s

MODE Vector
V
Mode

–

Binary co
ode

Description

Sets th
he motion con
ntroller to ope
erate in vecto
or mode. In tthis mode the
e motion con
ntroller
generates a 2D tra
ajectory usin
ng circular an
nd linear se
egments. The
e motion mo
ode is
ured with SET
TMODE comm
mand.
configu
The pa
ath segments can be store
ed in the non
n-volatile mem
mory of the m
motion controller or
receive
ed via a comm
munication cha
annel from a host.
Each segment
s
is split
s
in PVT points and ssent to the sslaves which
h, using 3rd order
interpolation, rebuild
d the trajecto
ory. The seg
gments seque
ence must fiinish with the
e end
nt. If the sequ
uence doesn’’t have an en
nd segment th
hen the motio
on controller e
enters
segmen
in Quickstop mode and
a the stops the slaves.

Example
// 2D linear in
nterpolated
d profile. Position feedbacks
s: 500 line
es
remental encoder
e
//incr

DE 0xCF00;
; //Clear buffer
b
SETMOD
VPLANE
E (A, B, C);
C
MODE VM;
V
// Set
t Vector Mo
ode
// Inc
crement po
osition wit
th (X, Y) = (0.1[rot
t], 0.1[ro
ot])
VSEG1 200L, 200
0L; VSEG2 200L,
2
200L
L;
/
immediate
UPD; //Execute
// Cir
rcular seg
gment of ra
adius 3.14
4159[mm], w
with initi
ial angle 2
20[deg]
// and
d angle in
ncrement 50
0[deg])
CIRCLE
E1 1L, 50.
.; CIRCLE2 1L, 20.;
// Inc
crement po
osition wit
th (X, Y) = (0.5[rot
t], 1[rot])
VSEG1 1000L, 20
000L; VSEG2
2 1000L, 2000L;
2
rcular seg
gment of ra
adius 6.28
8319[mm], w
with initi
ial angle 1
10[deg]
// Cir

56
66

MPD U
User Manual

// and
d angle in
ncrement 90
0[deg])
CIRCLE
E1 2L, 90.
.; CIRCLE2 2L, 10.;
// Ins
sert End Segment
S
VSEG1 0L, 0L; VSEG2
V
0L, 0L;
0
A, B, C); // wait fo
or motion completion
n
WMC (A

6.2
2.5.1.104.

NOP

Syntax
No
N Operation
n

NOP
s
Operands

–

Binary co
ode

Description

No ope
eration is exe
ecuted. The MPL
M
program
m will continue
e with the ne
ext instruction
n. The
NOP in
nstruction ma
ay be used to introduce a d
delay between
n two instructtions.

Example
Va
ar1=100;
LOOP:

// execute a 100 times
s a loop
ar1-=1;
Va

// decrement Var1 by 1

NO
OP;

ion
// no operati

GO
OTO LOOP, Var1, GEQ;
; // stay in
i loop if
f Var1 >= 0

56
67

MPD U
User Manual

6.2
2.5.1.105.

OUT

Syntax
OUT(n1, n2, …) = valu
ue16

OUTput
O
value
e16 to I/O n1,, n2, …

OUT(n1, n2, …) = VAR
R16

OUTput
O
VAR16 value to n 1, n2, …

Operands
s

n1, n2: IO line numb
ber
value16
6: 16-bit integ
ger immediate
e value
VAR16
6: 16-bit intege
er variable

Binary co
ode

Description

The ins
struction sets one or seve
eral output lin es simultaneously with the immediate value
or the value
v
of the sp
pecified varia
able.
Each bit from the the output line has associatted through its number id
dentifier assocciated
an conttrol bit identified If the abo
ove bits from V
VAR are set to 1, the corrresponding ou
utputs
are set high (1), else
e the outputs are set low (0
0).
L the output lines are numbered from 0 to 15. Each product has a specific nu
umber
In MPL
of outpu
uts, therefore
e only a part of
o the 15 outp
put lines is use
ed.
Warnin
ng! Check ca
arefully your drive/motor for the availlable outputss. Do not use this
comma
and if any of th
he above outp
tputs is not avvailable. You can always sset separatelyy each
of the outputs
o
using the OUT com
mmand
This instruction use
es a 9-bit short address for the desttination variable. Bit 9 va
alue X
es the destina
ation address range:
specifie

56
68

MPD U
User Manual

Example
int user_var;
user_var = 0x800A;// setup user_var variable
OUTPORT user_var;//Send variable address to external output port
// The command sets high the outputs: #25/Ready, #31 and #29
// and low the outputs: #12/Error, #30 and #28

569

MPD User Manual

6.2
2.5.1.106.

OUTPO
ORT

Syntax
OUTPOR
RT VAR16
Operands
s

OUTput
O
VAR16 value to IO
OPORT

VAR16
6: 16-bit integ
ger variable

Binary co
ode

Description

The ins
struction sets simultaneous
sly the followi ng drive/moto
or output liness:
•

Rea
ady output (#25/READY) – set by bit 15
5 from VAR16
6

•

Erro
or output (#12
2/ERROR) – set by bit 14 from VAR16

•

Gen
neral-purpose
e outputs: #31, #30, #29, #
#28 – set by b
bits 3, 2, 1, an
nd 0 from VAR16

If the above
a
bits fro
om VAR are set
s to 1, the ccorrespondin
ng outputs are
e set high (1)), else
the outtputs are set low (0).
In MPL
L the I/O line
es are numbe
ered: #0 to #
#39. Each pro
oduct has a sspecific numb
ber of
inputs and outputs, therefore only a part of th
he 40 I/O lines is used. The I/O numberring is
nce each prod
duct has its o
own list of ava
ailable I/Os.
common for all the products; hen
ng! Check carefully
c
yourr drive/motor for the avaiilable outputss. Do not use this
Warnin
command if any off the above outputs
o
is no
ot available. Y
You can alwa
ays set sepa
arately
o the outputs
s using the OU
UT command
d
each of
This in
nstruction use
es a 9-bit sh
hort address
s for the desttination varia
able. Bit 9 va
alue X
specifiies the destination address
s range:

Example
in
nt user_var;
us
ser_var = 0x800A;// setup user
r_var vari
iable
OU
UTPORT user_var;//Se
end variabl
le address
s to extern
nal output
t port
//
/ The comm
mand sets high
h
the ou
utputs: #2
25/Ready, #
#31 and #2
29
//
/ and low the output
ts: #12/Err
ror, #30 a
and #28

57
70

MPD U
User Manual

6.2
2.5.1.107.

PING/PON
NG

Syntax
G value16
PING
–
Operands
s

Re
equest the axiis ID and firm
mware version
n from a group
p of axes
An
nswer to PING
G

value1
16: 16 bit imm
mediate value,, used to com
mpute each axxis answer de
elay

Remark: The onlin
ne instruction
ns are intende
ed only for h
host/master communication
n and
m. Therefore their syntax iis fictive, the only goal be
eing to
cannot reside in a MPL program
fy these comm
mands.
identify
In the Command in
nterpreter, yo
ou can checkk which drivess/motors are connected in
n your
g a PING requ
uest with synttax PING valu
ue16. The PO
ONG answerss from
networrk by sending
all the axes are disp
played in the output windo
ow.
Binary co
ode

Description

By bro
oadcasting a PING comm
mand, the ho
ost/master can find the axis ID of a
all the
drives//motors prese
ent in the nettwork. When tthe PING req
quest is sent via an RS-23
32 link
the ho
ost bit (H) fro
om the expeditor addresss must be se
et to 1. For details, see serial
communication protocol descripttion.
The op
perand of PIN
NG, value16,, represents a time interva
al measured in µs. This tiime is
multipllied with the axis ID of ea
ach axis to p
provide a time
e delay for ssending the P
PONG
answe
er. For exam
mple if value1
16 is 2000 th
hen the drive
e/motor with axis ID = 10
00 will
answe
er after a dela
ay of 100 x 20
000µs = 0.2s. The time delay is necesssary only if the
e host
is conn
nected via an
n RS-232 link with one of th
he drives/mottors from a CAN-bus netw
work. If
the host is directly connected
c
on
n the CAN-buss network, va
alue16 can be
e 0.
NG command
d is sent from
m the Comma
and Interprete
er without ope
erand,
Remark: If the PIN
alue16 is set by
b default at 2000. This vvalue corresponds to the h
highest seriall baud
the va
rate off 115200. Forr smaller baud
d rates the va
alue16 must b
be increased p
proportionallyy.

57
71

MPD U
User Manual

Each axis will answer to a PING command with a PONG message, which provides the
Axis ID and the firmware version of the expeditor. The firmware version has the form:
FxyzA, where xyz is the firmware number (3 digits) and A is the firmware revision. The
PING message will include the ASCII code of 4 characters: 3 digits for the firmware
number + 1 letter for the firmware revision.

572

MPD User Manual

6.2
2.5.1.108.

PTP

Syntax
alue, T_value
e, C_value
PTP P_va

Deffine a PT poin
nt via immedia
ate values

PTP P_va
ar, T_var, C_value

Deffine a PT poin
nt via MPL va
ariables

Operands
s

P_valu
ue – 32-bit lon
ng integer imm
mediate value
e: PT point po
osition
T_valu
ue – 16-bit uns
signed intege
er immediate vvalue: PT poiint time
C_valu
ue – 7-bit integer immediatte value, PVT
T point integritty counter
P_var – long variable, contains th
he PT point p
position
T_var – integer variable, contains
s the PVT po
oint time

Binary co
ode

Description

Defines
s a PT point. The PT position and time values may b
be provided e
either as imme
ediate
values or via the values of 2 MPL
L variables.
A PT point
p
also inc
cludes a 7-bitt integrity cou
unter. The ho
ost must incrrement by on
ne the
integrity
y counter each time when
n it sends a new PT poin
nt. If the inte
egrity counterr error
checkin
ng is activate
ed, every tim
me when the
e drive/motorr receives a new PT po
oint, it
comparres its interna
ally computed
d integrity co
ounter value w
with the one sent with the
e PTP
comma
and. The PT point
p
is accep
pted only if th
he two valuess are equal. IIf the values of the
two inte
egrity counterrs do not mattch, the integ
grity check errror is triggere
ed, the drive//motor
sends the PVTSTS
S to the hos
st with PVTS
STS.12 =1 a
and the PT point receivved is
ded. Each time a PT point is accepted, the drive/mo
otor automaticcally incremen
nts its
discard
internal integrity cou
unter.

57
73

MPD U
User Manual

Example
SETPT 0xCF00;

//Clear PT buffer

MODE PT;

// Set PT Mode

TUM1;

//Start from actual value of position reference

CPR;
PTP 2000L, 2000U, 0;

//PT(1[rot], 2[s])

UPD;

//Execute immediate

PTP 6000L, 500U, 0;

//PT(4[rot],2.5[s])

PTP -2000L, 500U, 0;

//PT(3[rot],3[s])

!MC; WAIT!;

//wait for completion

574

MPD User Manual

6.2
2.5.1.109.

PVTP

Syntax
Define a PVT po
oint via immed
diate values
ue, T_value, C_value
C
PVTP P_value, V_valu
T_
C_value
e
PVTP P_var, V_var, T_var,
Operands
s

Define a PVT po
oint via MPL vvariables

P_valu
ue – 24-bit lon
ng integer imm
mediate value
e: PVT point p
position
V_valu
ue – 24-bit fix
xed immediatte value (16M
MSB integer part and 8LS
SB fractional part):
PVT po
oint velocity
T_valu
ue – 9-bit integ
ger immediate
e value: PVT point time
C_valu
ue – 7-bit integer immediatte value, PVT
T point integritty counter
P_var – long variable, contains th
he PVT point position
V_var – fixed variab
ble, contains the
t PVT pointt velocity
T_var – integer variable, contains
s the PVT po
oint time

Binary co
ode

Description

Defines
s a PVT point. The PVT position,
p
veloccity and time values may be provided either
as imm
mediate values
s or via the va
alues of 3 MP
PL variables.
A PVT point also in
ncludes a 7-bit integrity co
ounter. The h
host must incrrement by on
ne the
y counter eac
ch time when
n it sends a n
new PVT point. If the inte
egrity counterr error
integrity
checkin
ng is activate
ed, every tim
me when the drive/motor receives a new PVT po
oint, it
comparres it’s interna
ally computed
d integrity cou
with the one ssent with the PVTP
unter value w
comma
and. The PVT
T point is acce
epted only if tthe two value
es are equal. If the values of the
two inte
egrity counterrs do not mattch, the integ
grity check errror is triggere
ed, the drive//motor
sends the PVTSTS
S to the hos
st with PVTS
STS.12 =1 and the PVT point receivved is
ded. Each tim
me a PVT point is accepte
ed, the drive/m
motor automa
atically increm
ments
discard
its interrnal integrity counter.
c

57
75

MPD U
User Manual

Example
SETPVT 0xCF00;

//Clear PVT buffer

MODE PVT;

// Set PVT Mode

TUM1;

//Start from actual value of position reference

CPR;
PVTP 12000L, 0.04, 300U, 0;//PVT(6[rot], 1.199[rpm], 0.3[s])
UPD; //Execute immediate
PVTP -8000L, 0, 200U, 0;//PVT(2[rot], 0[rpm], 0.5[s])
!MC; WAIT!; //wait for completion

576

MPD User Manual

6.2
2.5.1.110.

REG OFF

Syntax
REG_OFF
Operands
s

REGistration
R
OFF
–

Binary co
ode

Description

Disables the superposition of th
he electronic gearing mod
de with a seccond motion m
mode.
sed mode, th e electronic g
gearing slave
e mode is sto
opped
When you disable the superpos
he drive/moto
or executes only the oth
her motion. If you want to remain in the
and th
electro
onic gearing slave mode,, set first the
e electronic gearing slavve move and
d then
disable
e the superpo
osed mode.

Example
RE
EG_OFF; //Disable su
uperpositio
on
MO
ODE GS; //Set as sla
ave, positi
ion mode
UP
PD; //execute immedi
iate
//
/ drive/motor remain
ns in gear slave mod
de without superposi
ition

57
77

MPD U
User Manual

6.2
2.5.1.111.

REG ON

Syntax
REG_ON
Operands
s

REGistration
R
ON
–

Binary co
ode

Description

The instruction ena
ables the sup
perposition of the electronic gearing mo
ode with a se
econd
n mode. When this supe
erposed mod
de is activatted, the possition referen
nce is
motion
compu
uted as the su
um of the position referencces for each o
of the 2 superrposed motion
ns.
You may
m
enable the superp
posed mode at any moment, inde
ependently o
of the
activattion/deactivation of the electronic
e
ge
earing slave.. If the sup
perposed mo
ode is
activatted during an
n electronic gearing
g
motio
on, any subse
equent motion mode chan
nge is
treated
d as a secon
nd move to be
b superpose
ed over the b
basic electronic gearing m
move,
instead
d of replacing
g it. If the sup
perposed mod
de is activate
ed during ano
other motion m
mode,
a seco
ond electronic
c gearing mode will start u
using the mo
otion parametters previouslly set.
This move
m
is superposed ove
er the first o
one. After the first move
e ends, any other
subseq
quent motion will be added
d to the electrronic gearing..

Example
//
/Set elec
ctronic ge
earing sla
ave more
//
/Master re
esolution: 2000 coun
nts/rev

with

sup
perposed

m
mode

enab
bled.

EAR = 0.3333; // gea
ar ratio
GE
GE
EARMASTER = 3; //gea
ar ratio de
enominator
r
GE
EARSLAVE = 1; //gear
r ratio num
merator
EX
XTREF 0; // master position
p
go
ot via com
mmunication
n channel
MA
ASTERRES = 2000; // master res
solution
RE
EG_ON; //Enable supe
erposition
MO
ODE GS; //Set as sla
ave, positi
ion mode
TU
UM1; //Set Target Up
pdate Mode 1
SR
RB UPGRADE, 0xFFFF, 0x0004; //
/UPGRADE.2
2 = 1
CA
ACC = 0.9549; //Limi
it maximum accelerat
tion at 300
00[rad/s^2
2]
UP
PD; //execute immedi
iate

57
78

MPD U
User Manual

6.2
2.5.1.112.

REMGRID

Syntax
REMGRID
D (value_1, value_2,
v
…) REMove
R
spec
cified groups from GRoup ID
Operands
s

value_
_1, value_2: specify
s
a grou
up number be tween 1 and 8

Binary co
ode

Description

The command
c
rem
moves group
ps from the group ID. On each axxis, the grou
up ID
represents a filter for
f a multicas
st transmissio
on. When a multicast message is rece
eived,
a
compare
es the message group ID with its own group ID. If the two grou
up IDs
each axis
have at
a least one group
g
in comm
mon, the messsage is acce
epted. For exa
ample, if an a
axis is
membe
er of group 1 and group 3, it will rece
eive all the m
messages sen
nt with a gro
oup ID
including group 1 or group 3. The group ID is an 8-bit integ
ger value. Ea
ach bit corresp
ponds
… bit 7 – grou
up 8.
to one group: bit 0 – group 1, bit 1 – group 2…
After th
he execution of this command, the grou
up ID value iss modified as follows:
•

p) 1 occurs in the parenthe
esis
Bit 0 is set to 0, if (group

•

Bit 1 is set to 0, if (group
p) 2 occurs in the parenthe
esis

•

…

•

Bit 7 is set to 0, if (group
p) 8 occurs in the parenthe
esis.

Example
GR
ROUPID (8);//local axis
a
belong
gs to grou
ups 8
AD
DDGRID (2, 5);//loca
al axis bel
longs to g
groups 2, 5 and 8
..
..
RE
EMGRID (5, 8);//loca
al axis bel
longs only
y to group 2

57
79

MPD U
User Manual

6.2
2.5.1.113.

RESET

Syntax
RESET
Operands
s

Reset
R
DSP prrocessor
–

Binary co
ode

Description

Resets the drive/mo
otor. The com
mmand may b
be used by a
an external de
evice to reinitialize
ve/motor afterr downloading
g new setup d
data.
the driv
Remarrk: The drive//motor key in
nitializations are done at ENDINIT command, usin
ng the
availab
ble setup data
a. This proces
ss is irreversib
ble. If later on
n the setup da
ata is changed, it is
not pos
ssible to exec
cute again the ENDINIT ccommand. It iis necessary to reset the drive,
and the
en to execute ENDINIT com
mmand

58
80

MPD U
User Manual

6.2
2.5.1.114.

RET

Syntax
RET

RETurn
n from a MPL
L function

Operands
s

–

Binary co
ode

Description

Ends th
he execution of a MPL fun
nction and perrforms the retturn to the ne
ext MPL instru
uction
after the function call.

Example
..
..
CA
ALL Function1;

// Call Funct
tion1

UP
PD;

mediate is
s next inst
truction
// Update imm
e
af
fter RET
// executed

..
..
Function
n1:
..
..
RE
ET;

//E
Exit from Function1
F

58
81

MPD U
User Manual

6.2
2.5.1.115.

RETI

Syntax
RETI

RETurn
n from a MPL
L Interrupt fun
nction

Operands
s

–

Binary co
ode

Description

Ends th
he execution of a MPL ISR
R and returns to the MPL ccommand whose execution was
postpon
ned by the MPL
M
interruptt. RETI globa
ally enables tthe MPL inte
errupts which were
globally
y disabled wh
hen the MPL interrupt was accepted and
d the ISR wass called.

Example
In
nt5_WrapAround:

//
/ Int5 ISR:
: position
n wraparoun
nd

FF;
AXISOF
RETI;

/ return fr
rom MPL IS
SR
//

58
82

MPD U
User Manual

6.2
2.5.1.116.

RGM

Syntax
RGM

Reset
R
axis as
s Gear/Cam M
Master

Operands
s

–

Binary co
ode

Description

Resets the drive/mo
otor from the electronic
e
gea
aring / cammiing master op
peration. Whe
en set
ster, the drive/motor send
ds either the load position
n APOS (if O
OSR.15 = 0) o
or the
as mas
position
n reference TPOS
T
(if OSR
R.15 = 1) to th
he axis or the
e group of axxes specified in the
MPL parameter
p
SL
LAVEID. Folllowing a RG
GM command
d, the maste
er transmissiion is
disabled. The instruc
ction become
es effective att the next upd
date command
d UPD.
Remarrk: Setting / resetting the master operration does n
not change th
he motion mo
ode of
the ma
aster

Example
RG
GM;

//
/ exit from
m master mode;
m

UP
PD;

//
/ update

6.2
2.5.1.117.

ROUT

Syntax
Reset
R
OUT#n
n to low state (0)

ROUT#n
Operands
s

n: outp
put line numbe
er (0<=n<=39
9)

ode
Binary co

58
83

MPD U
User Manual

Description

ROUT#n instruction sets low (0 logic) the output line number n. In MPL the I/O lines are
numbered: #0 to #39. Each product has a specific number of inputs and outputs, therefore
only a part of the 40 I/O lines is used. The I/O numbering is common for all the products;
hence each product has its own list of available I/Os.

Example
ROUT#28;

//Reset output line #28 to 0 (set low)

584

MPD User Manual

6.2
2.5.1.118.

SAP

Syntax
SAP valu
ue32

Set Actual
A
Position
n to value32

SAP VAR
R32

Set Actual
A
Position
n to VAR32

Operands
s

value3
32: 32-bit long
g immediate value
v
VAR32
2: long variab
ble

Binary co
ode

Description

Sets/ch
hanges the re
eferential for position mea
asurement b
by changing ssimultaneously the
load po
osition APOS and the targe
et position TP
POS values, w
while keeping
g the same po
osition
error POSERR. You
u can specify
y the new possition either a
as an immediate value orr via a
32-bit long variable.. SAP comma
and can be e
executed at a
any moment during motion and
e following efffect:
has the
•

If last
l
motion mode
m
setting was
w done with
h TUM1:
TP
POS = new_v
value;
AP
POS = TPOS – POSERR;

•

If last
l
motion mode
m
setting was
w done with
hout TUM1, i.e
0:
e. with TUM0
AP
POS = new_v
value;
TP
POS = APOS + POSERR;

Remarrk: In case of steppers controlled o
open loop wiith no positio
on feedback, SAP
comma
and sets the new
n
position value only in TPOS.
This in
nstruction use
es a 9-bit sh
hort address
s for the desttination varia
able. Bit 9 va
alue X
specifiies the destination address
s range:

58
85

MPD U
User Manual

Example
// Position profile. Position feedback: 500 lines incremental
// encoder (2000 counts/rev)
CACC = 0.3183;//acceleration rate = 1000[rad/s^2]
CSPD = 33.3333;//slew speed = 1000[rpm]
CPOS = 6000;//position command = 3[rot]
CPR; //position command is relative
MODE PP;
TUM1; //set Target Update Mode 1
UPD; //execute immediate
!MC; // set event when motion is completed
WAIT!;//Wait until the event occurs i.e. the motor stops
// At this point TPOS=6000, APOS = 6000-POSERR
SAP 2000; // Set actual position 1[rot]
// Now, TPOS=2000, APOS=2000-POSERR

586

MPD User Manual

6.2
2.5.1.119.

SAVE

Syntax
Sav
ve setup data in the EEPRO
OM

SAVE
Operands
s

–

Binary co
ode

Description

Saves the actual va
alues of all th
he MPL param
meters with ssetup data fro
om the active
e data
m
into the
t EEPROM
M memory, in tthe setup tab
ble. Through tthis command
d, you
RAM memory
can sa
ave all the settup modificatio
ons done, aftter the power on initializatio
on.

Example
SA
AVE; // Sa
ave setup data
d
in th
he EEPROM s
setup tabl
le

58
87

MPD U
User Manual

6.2
2.5.1.120.

SCIBR

Syntax
SCIBR va
alue16

Set
S Serial Co
ommunication Interface Ba
aud Rate to va
alue16

SCIBR VA
AR16

Set
S Serial Co
ommunication Interface Ba
aud Rate to VA
VAR16

Operands
s

value1
16: 16-bit integ
ger immediate value betwe
een 0 and 4
VAR16
6: integer variiable

Binary co
ode

Description

Sets th
he baud rate on the RS23
32/RS485 serrial communiccation interface (SCI). The
e new
baud rate
r
can be provided eith
her as an im
mmediate vallue or by the
e value of a MPL
variablle. In both cas
ses, the poss
sible values arre:

The se
erial baud rate
e is set at pow
wer on using tthe following algorithm:
a. With the value read
r
from the EEPROM se
etup table
b. If th
he setup table
e is invalid, with
w the last ba
aud rate read
d from a valid setup table
c.

If th
here is no baud rate set by
y a valid setu p table, with 9
9600.

Remarrks:
•

Us
se this comma
and when a drive/motor
d
op
perates in AU
UTORUN (aftter power on starts
to execute
e
the MPL
M program
m from the EEP
PROM) and iit must communicate with a host
at a baud rate different from
m the default value. In thiss case, the M
MPL program
m must
art with a seria
al baud rate change.
c
sta

58
88

MPD U
User Manual

•

An alternate solution to the above case is to set via SCIBR command the desired
baud rate and then to save it in the EEPROM, with the command SAVE. After a reset,
the drive/motor starts directly with the new baud rate, if the setup table was valid.
Once set, the new default baud rate is preserved, even if the setup table is later on
disabled, because the default serial baud rate is stored in a separate area of the
EEPROM.

Example
SCIBR 4;

// sets the SCI baud rate to 115200 baud

589

MPD User Manual

6.2
2.5.1.121.

SEG

Syntax
SEG D_tiime, D_ref

Define a contouring segm
ment via imm ediate valuess

SEG VAR
R16, VAR32

Define a contouring segm
ment via MPL
L variables

Operands
s

D_time
e –16-bit unsigned integer value: segme
ent time
D_ref: 32-bit
3
fixed im
mmediate valu
ue: segment rreference incrrement per tim
me unit
VAR16 – 16-bit integ
ger variable: segment
s
time
e
VAR32 – 32-bit fixed
d variable: seg
gment referen
nce incremen
nt per time un
nit

Binary co
ode

Description

Define
es a contourin
ng segment. The
T time and
d the referencce incrementt per time uniit may
be pro
ovided either as immediate
e values or vvia the valuess of 2 MPL variables. The
e time
represents the seg
gment duratio
on expressed
d in time uniits i.e. in num
mber of slow
w loop
T reference
e increment rrepresents the amount of reference varriation
sampling periods. The
per tim
me unit i.e. per slow loop sa
ampling perio
od.
SEG VAR16,
V
VAR3
32 uses a 9-bit short addrress for the operand. Bit 9, value X, spe
ecifies
the des
stination addrress range:

59
90

MPD U
User Manual

Example
// Position contouring with position feedback on motor: 500 lines
// incremental encoder (2000 counts/rev)
MODE PC;//Set Position Contouring
TUM1;//Start from actual value of position reference
SEG 100U, 20.00000; //1st segment. At its end, TPOS increases with
// 20*100 = 2000 counts (i.e. 1 rev)
UPD; //Execute immediate
SEG 100U, 0.00000; // 2nd segment. At its end TPOS remains the same
0, 0.0; //End of contouring

591

MPD User Manual

SEG

6.2
2.5.1.122.

SEND

Syntax
SEND VA
AR16

SEND
D the content of VAR16

SEND VA
AR32

SEND
D the content of VAR32

Operands
s

VAR16
6: integer variiable
VAR32
2: long/fixed variable
v

Binary co
ode

Description

When the instructio
on is encounttered, the co
ontent of VAR
R16/VAR32 iss sent using “Take
2 message type.
t
The ins
struction usess a 9-bit sho
ort address for the destin
nation
Data 2”
variable. Bit value X specifies the
e destination address rang
ge:

Execution

alue of VAR16
6/VAR32 is se
ent using “Ta ke Data 2” message.
The va

Example
MA
ASTERID = 33; // Set
t host ID / address = 2
//
/Send SRH & SRL if motion
m
com
mplete or p
pos. trigg
ger 1 bits change
SR
RH_MASK = 0x0002;
SR
RL_MASK = 0x0400;
ME
ER_MASK = 0xFFFF; //
/ send MER
R on any bi
it change
SE
END CAPPOS
S; // Send to host contents
c
of
f variable
e CAPPOS

6.2
2.5.1.123.

SetAsInpu
ut

Syntax
SetAsInp
put(n1, n2, n3
3,…)
Operands
s

SetAsInput the I/O lines nu
umbers n1, n2
2, n3

n1, n2, n3: IO line number.
n
It specifies the po
osition of the control bit asssociated to th
he I/O
k.
line in the IO_mask

59
92

MPD U
User Manual

Binary co
ode

Description

Some drives/motors
d
s include I/O lines that m
may be used either as inp
puts or as ou
utputs.
Before using these lines as inpu
uts you have
e to use the S
SetAsInput ccommand witth the
e input numbe
ers identifies the correspo
onding bit from the
input numbers as argument. The
sk, i.e. input number
n
2 has
s associated bit 2 in the IO
O_mask. In M
MPL the inputt lines
IO_mas
are num
mbered from 0 to 15.
Remarrks:
•

Che
eck the drive//motor user manual
m
to find
d how are se
et, after powe
er-on, the I/O
O lines
thatt may be used
d either as inp
puts or as outtputs. Each p
product has a specific num
mber of
inpu
uts, therefore only a part off the 15 inputt lines is used
d.

•

You
u need to set an
a I/O line as
s input, only o
once, after power on

Example
e
Se
etAsInput(2,5);

//S
Set IO line
e 2 and 5 as inputs

v1
1 = IN(2); //Read I/
/O line 2 data
d
into variable v
v1

6.2
2.5.1.124.

SetAsOutp
put

Syntax
SetAsOu
utput(n1, n2, n3,…)
Operands
s

SetAsOutput I/O lines num
mbered n1, n2
2, n3

n1, n2, n3: IO line number.
n
It specifies the po
osition of the control bit asssociated to th
he I/O
k.
line in the IO_mask

Binary co
ode

59
93

MPD U
User Manual

Description

Some drives/motors
d
s include I/O lines that m
may be used either as inp
puts or as ou
utputs.
Before using these lines as outp
puts you have
e to use the S
SetAsOutputt command h
having
ument the outtput lines num
mbers. The o
output lines nu
umbers identtifies the conttrol bit
as argu
from the IO_mask, i.e. output number 7 has a
associated bit 7 in the IO_
_mask, setting
g to 1
e IO line will be
b used as ou
utput. In MPL
L the output lin
nes are numb
bered from 0 tto 15.
bit 7 the
Remark
ks:
•

Che
eck the drive//motor user manual
m
to find
d how are se
et, after powe
er-on, the I/O
O lines
thatt may be used
d either as inp
puts or as outtputs. Each p
product has a specific num
mber of
inpu
uts and outpu
uts, therefore only a part off the 15 outpu
ut lines is used.

•

You
u need to set an
a I/O line as
s output, only once, after p
power on

Example
e
Se
erAsOutput(7);

//S
Set IO line
e 7 as out
tput

Ou
ut(4,7)=0x0090;

//S
Set I/O lin
nes 4 and 7 to High.
.

6.2
2.5.1.125.

SETIO

Syntax
SETIO#n IN

SETIO#n
S
as Input
I
port

SETIO#n OUT

SETIO#n
S
as OUTput
O
port

Operands
s

n: I/O number
n
0<=n
n<=39)

Binary co
ode

59
94

MPD U
User Manual

Description

Some drives/motors include I/O lines that may be used either as inputs or as outputs.
Before using these lines, you need to specify how you want to use them, with the SETIO
commands:
SETIO#n OUT;

//Set the I/O line #n as an input

SETIO#n IN; //Set the I/O line #n as an output
Remarks:
•

Check the drive/motor user manual to find how are set, after power-on, the I/O lines
that may be used either as inputs or as outputs

•

You need to set an I/O line as input or output, only once, after power on

In MPL the I/O lines are numbered: #0 to #39. Each product has a specific number of
inputs and outputs, therefore only a part of the 40 I/O lines is used. The I/O numbering is
common for all the products; hence each product has its own list of available I/Os.
Example
SETIO#12 OUT;

//Set IO line 12 as output

ROUT#12;

//Reset IO line 12 level low (0 logic)

SETIO#12 IN;

//Set IO line 12 as input

v1 = IN#12; //Read I/O line 12 data into variable v1

595

MPD User Manual

596

MPD User Manual

6.2
2.5.1.126.

SETMODE
E

Only available on multii-axis Motion Controller
Syntax
SETMOD
DE value16
Operands
s

SET 2D//3D motion MODE

value1
16: 16-bit integ
ger immediate value

Binary co
ode

Description

Sets th
he Vector or Linear Interp
polation Mode
e as specified
d by value16
6. Value16 ha
as the
followin
ng significance:

Remarrk: after SET
TMODE execu
ution, a copyy of value16
6 is saved in the MPL va
ariable
MACOM
MMAND.

59
97

MPD U
User Manual

Example
// 3D linear interpolated profile. Position feedbacks: 500 lines
//incremental encoder

SETMODE 0xCF00; //Clear buffer
LPLANE (A, B, C);
MODE LI; // Set Linear Interpolation Mode
//Increment position with (X, Y, Z) = (0.5[rot], 0.05[rot], 0.05[rot])
LPOS1 1000L, 100L, 100L; LPOS2 1000L, 100L, 100L;
UPD; //Execute immediate
//Increment position with (X, Y, Z) = (0.05[rot], 0.5[rot], 0.05[rot])
LPOS1 100L, 1000L, 100L; LPOS2 100L, 1000L, 100L;
//Increment position with (X, Y, Z) = (0.5[rot], 0.1[rot], 0.25[rot])
LPOS1 1000L, 200L, 500L; LPOS2 1000L, 200L, 500L;
//Increment position with (X, Y, Z) = (0.5[rot], 0.5[rot], 0.5[rot])
LPOS1 1000L, 1000L, 1000L; LPOS2 1000L, 1000L, 1000L;

598

MPD User Manual

6.2
2.5.1.127.

SETPT

Syntax
SETPT va
alue16
Operands
s

SETup
S
PT mo
ode operation
n
value1
16: 16-bit integ
ger immediate value

Binary co
ode

Description

Sets the PT mode
e operation as
a specified b
by the value
e16. Value16 has the follo
owing
cance:
signific

Remarrk: after SETPT executio
on, a copy of value16 iis saved in the MPL va
ariable
PVTMODE.

59
99

MPD U
User Manual

Example
SETPT 0xE02F;

//Leave PT buffer intact; Change integrity
//counter value to 17

MODE PVT;

// Set PVT Mode

TUM1;//Start from actual value of position reference
CPR;
PVTP 2000L, 0.0667, 500U, 17;//PVT(1[rot], 1.9[rpm], 0.5[s])
UPD;

//Execute immediate

PVTP 0L, 0.0667, 500U, 18;//PVT(1[rot], 1.99997[rpm], 1[s])
PVTP 6000L, 0, 500U, 19;//PVT(4[rot], 0[rpm], 1.5[s])

600

MPD User Manual

6.2
2.5.1.128.

SETPVT

Syntax
SETPVT value16
Operands
s

SETup
S
PVT mode
m
operatio
on

value1
16: 16-bit integ
ger immediate value

Binary co
ode

Description

Sets th
he PVT mod
de operation as specified by the value
e16. Value16
6 has the follo
owing
signific
cance:

Remarrk: after SET
TPVT executtion, a copy of value16 is saved in the MPL va
ariable
PVTMODE.

60
01

MPD U
User Manual

Example
// PVT sequence. Position feedback: 500 lines incremental
// encoder (2000 counts/rev)
MASTERID = 4081; // Set host address to 255 (255<<4+1)
SETPVT 0xC000;

//Clear PVT buffer, disable counter check
//Don’t change counter & buffer low condition

602

MPD User Manual

6.2
2.5.1.129.

SETSYNC

Syntax
SETSYNC
C value16
Operands
s

SET
S
SYNChrronization valu
ue16

value1
16: 16-bit integ
ger immediate value

Binary co
ode

Description

Enables/disables the transmissio
on of synchro
onization messages. The drive/motor, were
m
are
e enabled, is master
m
for the
e synchroniza
ation process. This is perfo
ormed
these messages
in two steps.
s
First, the
t master se
ends a synch
hronization me
essage to all axes, including to
itself. When
W
this me
essage is rece
eived, all the axes read th
heir own interrnal time. Nexxt, the
master sends its intternal time to
o all the slave
es, which com
mpare it with their own in
nternal
e slaves corre
ect slightly the
eir sampling periods in ord
der to
time. If there are diffferences, the
hem synchro
onized with those
t
of the
e master. Ass effect, whe
en synchronizzation
keep th
procedure is active, the executio
on of the conttrol loops on tthe slaves is synchronized
d with
those of
o the maste
er within a 10μs
1
time intterval. Due tto this powe
erful feature, drifts
betwee
en master and slave axes
s are elimina
ated. The MP
PL command SETSYNC value
activate
es the synchrronization pro
ocedure if vallue is differen
nt from 0. Va
alue represents the
time intterval in interrnal units betw
ween the syn
nchronization messages ssent by the m
master.
Recommended valu
ue is 20ms. Setting value
e to 0 stops the master transmissionss and
vates the sync
chronization procedure.
p
deactiv
Remarrk: The mastter for synch
hronization prrocedure can
n be any driive/motor from
m the
network
k or a host. The master for this proce
ess may or m
may not be the same witth the
overall motion applic
cation masterr (if present).

Example
SE
ETSYNC 20; //Send sy
ynchronizat
tion messa
ages every 20[ms]

60
03

MPD U
User Manual

6.2
2.5.1.130.

SGM

Syntax
SGM

Set
S axis as Gear/Cam
G
Masster

Operands
s

–

Binary co
ode

Description

Sets the drive/motorr in the electrronic gearing
g / camming m
master opera
ation. When sset as
masterr, the drive/m
motor sends either the lo
oad position A
APOS (if OS
SR.15 = 0) o
or the
position
n reference TPOS
T
(if OSR
R.15 = 1) to th
he axis or the
e group of axxes specified in the
MPL parameter
p
SL
LAVEID. Folllowing a SG
GM command
d, the maste
er transmissiion is
enabled
d. The instruc
ction becomes
s effective at the next upda
ate command
d UPD.
Remarrk: Setting / resetting the master operration does n
not change th
he motion mo
ode of
the ma
aster

Example
//
/ On master axis:
SL
LAVEID = 31;
3

// send to ax
xis 31

SG
GM; //Enab
ble Master in Electr
ronic Geari
ing mode
SR
RB OSR, 0x
xFFFF, 0x80
000; // OS
SR.15=1 -> Send Posi
ition Refer
rence
UP
PD; //exec
cute immedi
iate

60
04

MPD U
User Manual

6.2
2.5.1.131.

SOUT

Syntax
SOUT#n
Operands
s

Set
S OUT#n to
o high state (1
1)
n: outp
put line numbe
er (0<=n<=39
9)

Binary co
ode

Description

SOUT#
#n instruction sets high (1 logic) the ou
utput line num
mber n. In MP
PL the I/O line
es are
numbered: #0 to #39
9. Each produ
uct has a spe
ecific number of inputs and
d outputs, therefore
p of the 40
0 I/O lines is used. The I/O
O numbering is common fo
or all the prod
ducts;
only a part
hence each
e
product has its own list of availablle I/Os.

Example
OUT#12;
SO

Set output line #12 to 1 (set high)
//S

60
05

MPD U
User Manual

6.2
2.5.1.132.

SRB/SRBL
L

Syntax
SRB VAR
R16, ANDmas
sk, ORmask

Set/Re
eset Bits of VA
AR16 (short a
addressing)

SRBL VA
AR16, ANDma
ask, ORmask
k

Set/Re
eset Bits of VA
AR16 (full add
dressing)

Operands
s

VAR16
6: integer variiable
ANDma
ask: 16-bit ma
ask for AND operation
o
ORmas
sk: 16-bit mas
sk for OR ope
eration

Binary co
ode

Description

Perform
ms a logic AND
A
between
n VAR16 and
d the AND m
mask, followe
ed by a logic OR
betwee
en the result and
a the OR mask. The re
esult is saved
d in VAR16. These instrucctions
may be
e used to set/reset individu
ual bits from a register or a MPL variable without affe
ecting
the other ones. SRB
B performs th
hese operatio
ons in a safe
e way avoidin
ng the interfe
erence
current proce
esses wantin g to change
e the same M
MPL data. T
This is
with the other conc
or the MPL re
egisters, which
h have bits th
hat can be manipulated byy both
particullarly useful fo
drive/m
motor and user at MPL leve
el.
SRB us
ses a 9-bit sh
hort address
s for the operrand. Bit 9 va
alue X speciffies the destin
nation
address
s range:

All pre
edefined or user-defined
u
MPL
M
data arre inside thesse address rranges, hence this
instruc
ction can be used
u
without checking the
e variables ad
ddresses. How
wever, consid
dering
future developmentts, the MPL also includes S
SRBL instrucction using a 1
16-bit full add
dress
for the operand.

60
06

MPD U
User Manual

Example
in
nt var1;
..
...
SR
RB var1, 0xFF0F, 0x0
0003;

//Reset
/
bi ts 4 to 7,
, set bits 0
//
/and 1 of v
var1

6.2
2.5.1.133.

STARTLOG

Syntax
STARTLO
OG value
Operands
s

START LOGGER

value: integer value
e 1 or 2

Binary co
ode

Description

Starts the
t acquisitio
on of the varia
ables selecte
ed in the Setu
up Logger V
Variables diallogue.
Value may
m have the following values:
1 – acq
quire data at each
e
current loop sampling
g or from n to
o n current loo
op samplings
2 – acq
quire data at each position
n/speed samp
pling loop or ffrom n to n p
position/speed
d loop
samplin
ngs
Where n is the numb
ber of samplin
ngs between two consecutive data acquisitions.
he data acqu
uisition simulta
aneously on all the axes for multi-axiss data
Remarrk: To start th
logging
g send a broadcast messag
ge with the S TARTLOG co
ommand.

Example
//
/ In the Setup Logge
er Variable
es, the nu
umber of sa
amplings b
between
//
/ data acquisitions is set to 1
ST
TARTLOG 1;

rrent loop sampling
// Save data every cur

ST
TARTLOG 2;

sition/spee
ed loop sa
ampling
// Save data every pos

[b
b]{STARTLOG 1;} // Start
S
multi
i-axis log
gging. The data is s
saved at
// every
e
curre
ent loop s
sampling

60
07

MPD U
User Manual

6.2
2.5.1.134.

STOPLOG
G

Syntax
STOPLOG
Operands
s

STOP LO
OGGER

–

Binary co
ode

Description

Stops the
t
data acq
quisition of th
he variables selected in the Setup L
Logger Variables
dialogu
ue. To upload
d and plot th
he data save
ed in the drivve’s acquisitiion buffer usse the
Loggerr | Upload Da
ata menu com
mmand.

e axes for mu
ulti-axis loggin
ng, send a broadcast messsage
Remark: To stop the data acquisittion on all the
e STOPLOG command.
with the
Example
TOPLOG;
ST

// Stop the
t
data ac
cquisition
n on the cu
urrent axi
is

[b
b]{STOPLOG;}

// Stop the data
d
acqui
isition on all the a
axes.

60
08

MPD U
User Manual

6.2
2.5.1.135.

STA

Syntax
STA

Set
S Target po
osition = Actu al position

Operands
s

–

Binary co
ode

Description

Sets th
he value of the target posittion (the posittion reference
e) to the value
e of the actua
al load
positio
on i.e. TPOS = APOS_LD
D. The comm
mand may be
e used in clo
osed loop sysstems
when the
t load/moto
or is still follo
owing a hard stop, to repo
osition the tarrget position to the
actual load position.
next motion m
mode is set w
without
Remarrk: The STA command is automaticallyy done if the n
TUM1 (i.e. using th
he default targ
get update m
mode TUM0). In this case the target po
osition
peed are both
h updated witth the actual values of the
e load positio
on and respecctively
and sp
load sp
peed: TPOS = APOS_LD and TSPD = ASPD_LD.

Example
MO
ODE PC;

//S
Set Positio
on Contour
ring Mode 2

TU
UM1;

//Set target
t
upd
date mode 1

SE
EG 100U, 5.00000;

//Set 1st
1
motion
n segment. Increment
t
//positi
ion refere nce with 5 counts for
//the ne
ext 100 sa mpling per
riods

UP
PD;

//Updat
te immedia
ate

SE
EG 100U, 5.00000;

//Set 2st
2
motion
n segment.

SE
EG 100U, -20.00000;

//Set 3st
3
motion
n segment.

SE
EG 100U, 10.00000;

//Set 4st
4
motion
n segment.

SE
EG 0, 0.;

//End of
o contour
ring mode

ST
TA;

rget posit
tion value
e (TPOS) equal to //the ac
ctual
//Set tar
posi
ition value
e (APOS_LD
D)

60
09

MPD U
User Manual

6.2
2.5.1.136.

STOP

Syntax
STOP!

STOP
S
motion
n on event

Operands
s

–

Binary co
ode

Description

Executtes a STOP command
c
whe
en a program
mmed event occurs.

Example::
//
/ Move at constant speed
s
and stop when input 36 goes low.
//
/ Position
n feedback:
: 500 line
es encoder (2000 cou
unts/rev)
CA
ACC = 0.3183; //acce
eleration rate
r
= 100
00[rad/s^2]
]
CS
SPD = 33.3333;//jog speed = 10
000[rpm]
MO
ODE SP;
TU
UM1; //set Target Up
pdate Mode 1
UP
PD;

//exe
ecute immed
diate

!I
IN#36 0; // Set even
nt: when in
nput #36 g
goes low
ST
TOP!; //Stop the mot
tion when event
e
occu
urs
WA
AIT!; //Wait until the
t
event occurs
o

610

MPD U
User Manual

6.2
2.5.1.137.

TUM

Syntax
TUM0

Set
S Target Up
pdate Mode 0

TUM1

Set
S Target Up
pdate Mode 1

Operands
s

–

Binary co
ode

Description

Sets th
he target update mode 0 or
o 1. The TUM
M0 and TUM1
1 instructions offer 2 choicces for
starting a new motio
on mode.
After a TUM1 com
mmand, the reference ge
enerator com
mputes the n
new motion mode
trajectory starting frrom the actua
al values of po
osition and sp
peed referencce.
After a TUM0 com
mmand, the re
eference gen
nerator first updates the p
position and sspeed
referen
nces with the
e actual value
es of the load
d position and
d speed (TPO
OS=APOS_LD
D and
TSPD=
=ASPD_LD) and then starrts to compute
e the new mo
otion mode tra
ajectory.
der to
By deffault, each co
ommand setting a motion mode activattes the TUM0
0 mode. In ord
activatte the TUM1 mode, exec
cute the MP
PL instruction TUM1 AFT
TER the com
mmand
setting
g the motion mode
m
and BEFORE the UP
PD command
d.
As a general
g
rule, TUM1
T
mode is recommen
nded for norm
mal operation. Use TUM0 in the
following situations:
•

FF command
d, where sign
nificant differe
ences
Recovery from an error settting AXISOF
ay occur betw
ween the las
st target possition and sp
peed values computed b
by the
ma
refe
erence generator before the AXISOF F and the a
actual values of the load//motor
pos
sition and spe
eed

•

Pre
ecise relative positioning frrom the pointt where the lo
oad/motor has hit a marke
er – to
elim
minate the following error

•

Wh
hen you start / stop your motor
m
using on
nly AXISON / AXISOFF commands

•

If you
y
switch fro
om a torque control mode
e (where targ
get position a
and speed arre not
com
mputed by the
e reference generator)
g
to a motion mod
de performing
g position or sspeed
con
ntrol

611

MPD U
User Manual

Remark: In open loop control of steppers, TUM0 is ignored as there is no position and/or
speed feedback
The instructions become effective at the next update command UPD.
Example1:
// Start a position profile with TUM1. Position feedback:
// 500 lines incremental encoder (2000 counts/rev)
CACC = 0.3183;

//acceleration rate = 1000[rad/s^2]

CSPD = 33.3333;

//slew speed = 1000[rpm]

CPOS = 6000;

//position command = 3[rot]

CPR;

//position command is relative

SRB ACR 0xFFFF, 0x800; // and additive
MODE PP; // set trapezoidal position profile mode
TUM1; //set Target Update Mode 1
UPD;

//execute immediate

Example2:
// Start a position profile with TUM0. Position feedback:
// 500 lines incremental encoder (2000 counts/rev)
CACC = 0.3183;

//acceleration rate = 1000[rad/s^2]

CSPD = 33.3333;

//slew speed = 1000[rpm]

CPOS = 6000;

//position command = 3[rot]

CPR;

//position command is relative

SRB ACR 0xFFFF, 0x800; // and additive
MODE PP; // set trapezoidal position profile mode
// No need to set TUM0 before UPD as MODE PP does it automatically
UPD;

//execute immediate

612

MPD User Manual

6.2
2.5.1.138.

UPD

Syntax
UPD!

UPDate
U
motio
on on event !

Operands
s

–

Binary co
ode

Description

Executtes an UPD command
c
whe
en a program
mmed event occcurs.

Example
//
/ Start a speed prof
file and ch
hange spee
ed after 3 seconds.
//
/ Position feedback:
: 500 lines
s encoder (2000 coun
nts/rev)
CA
ACC = 0.1591;//accel
leration ra
ate = 500[
[rad/s^2]
CS
SPD = 40;//jog speed
d = 1200[rp
pm]
MO
ODE SP;
TU
UM1;//set Target Upd
date Mode 1
UP
PD;//execute immedia
ate
!R
RT 3000; // set even
nt after a wait time
e of 3s
CS
SPD = 20;//jog speed
d = 600[rpm
m]
UP
PD!;//Update on even
nt
WA
AIT!; //Wait until the
t
event occurs
o

613

MPD U
User Manual

6.2
2.5.1.139.

VPLANE

Only available on multii-axis Motion Controller
Syntax
VPLANE (X_axis, Y_a
axis, Tangent_
_axis) Vecto
or PLANE
Operands
s

X_axis
s, Y_axis, Tan
ngent_axis: sllave axes deffining the coo
ordinate syste
em

Binary co
ode

Description

Sets th
he 2D coordiinate system
m for Vector Mode using the slave axxes specified
d with
X_axis,, Y_axis. and
d Tangent_ax
xis.

Example
// 2D linear in
nterpolated
d profile. Position feedbacks
s: 500 line
es
remental encoder
e
//incr

DE 0xCF00;
; //Clear buffer
b
SETMOD
VPLANE
E (A, B, C);//
C
X_axi
is = A, Y_
_axis = B a
and Tangen
nt_axis = C
RESRAT
TIOX=0u;
RESRAT
TIOY=0u;
NLINES
STAN=2000;
;
MODE VM;
V
// Set
t Vector Mo
ode
// Ci
ircular se
egment of radius 3.14159[mm],
, with in
nitial angle 0[deg] and
angle in
ncrement 360[deg])
3
CIRCLE
E1 1L, 360
0.; CIRCLE2
2 1L, 0.;
UPD; //Execute
/
immediate
// Ins
sert End Segment
S
VSEG1 0L, 0L; VSEG2
V
0L, 0L;
0
A, B, C); // wait fo
or motion completion
n
WMC (A

614

MPD U
User Manual

6.2
2.5.1.140.

VSEG

Only available on multii-axis Motion Controller
Syntax
VSEG1 Pos_X,
P
Pos_Y
Y
VSEG2 Pos_X,
P
Pos_Y
Y
Operands
s

Vector linear SEGme
ent

Pos_X
X: X axis posittion incremen
nt for 2D trajecctory
Pos_Y
Y: Y axis posittion incremen
nt for 2D trajecctory

ode
Binary co

Description

VSEG1
1 and VSEG2 define a linear segment fo
or 2D trajecto
ory executed in Vector Mod
de.
Based on Radius, Theta_inc and
a
Theta_sttart the MPL
L compiler ffrom
the a
actual
eters used by the motion controller to ge
enerate the P
PVT points forr slave axes.
parame
If the po
oints are sent from a host then the follo
owing relation
ns must be ussed to compute the
actual parameters
p
of a path segm
ment:

615

MPD U
User Manual

Example
// 2D linear interpolated profile. Position feedbacks: 500 lines
//incremental encoder

616

MPD User Manual

6.2
2.5.1.141.

WAIT!

Syntax
WAIT!

WAIT motion event !

WAIT! va
alue32

WAIT motion event ! but exit if time
e > value32

Operands
s

value3
32: 32-bit long
g immediate value
v
– wait lo
oop timeout limit

Binary co
ode

Description

Stops the MPL program executio
on, until the prrogrammed e
event occurs. During this p
period,
only the
e MPL comm
mands receive
ed via a comm
munication ch
hannel are pro
ocessed. You
u may
also sp
pecify the tim
meout limit for
f the wait, by adding a time value
e after the W
WAIT!
comma
and: value32. If the monito
ored event do
oesn’t occur in
n the time limit set, the waiit loop
is interrrupted; the ev
vent checking
g is reset and
d the MPL prrogram passe
es to the nextt MPL
instructtion. The time
eout is measu
ured in interna
al time units i..e. slow loop sampling perriods.

Example1
1
//
/ Unconditional wait
t for a mot
tion compl
lete event
//
/ Position profile. Position feedback:
f
tal
500 lines increment
//
/ encoder (2000 coun
nts/rev)
CS
SPD = 10;//slew spee
ed = 300[rp
pm]
CP
POS = 4000;//positio
on command = 2[rot]
CP
PR;//position comman
nd is relat
tive
MO
ODE PP;
UP
PD;//execute immedia
ate
!M
MC; // set motion co
omplete eve
ent
WA
AIT!; //wait for the
e programme
ed event t
to occur
//
/ if the final posit
tion is not
t reached or the mot
tion compl
lete is
//
/ not set because th
he settle band
b
and t
time condit
tions are not met
//
/ the MPL program wi
ill remain at this p
point

617

MPD U
User Manual

Example2
//Conditional wait for a limit switch event
// Speed profile. Position feedback: 500 lines incremental
// encoder (2000 counts/rev)
CACC = 0.1591;//acceleration rate = 500[rad/s^2]
CSPD = 40;

//jog speed = 1200[rpm]

MODE SP;
TUM1; //set Target Update Mode 1
UPD;//execute immediate
ENLSP1; // activate LSP input to detect low->high transitions
!LSP; // set event of LSP transition
WAIT! 5000; //Wait until the event occurs but no more than 5[s]
STOP; // stop motion

618

MPD User Manual

6.2
2.5.1.142.

WAMPU

Syntax
WAMPU (Slave), value
e32

Wait for slave’s Ab
bsolute Motorr Position Und
der value32

WAMPU (Slave), VAR
R32

der VAR32
Wait for slave’s Ab
bsolute Motorr Position Und

Operands
s

Slave: slave axis monitored for event
e
occurre nce
VAR32
2: long variab
ble
value3
32: 32-bit long
g immediate value
v

Binary co
ode

Description

Sets the
t
event co
ondition and halts the exxecution of th
he MPL prog
gram from m
motion
controller until the slave’s
s
motorr absolute po sition becomes equal or u
under the spe
ecified
ave programm
med an event, you
value or the value of the speciffied variable. After you ha
o the following
g actions:
can do
•

Ch
hange the motion
m
mode and/or the parameters when the e
event occurs,, with
co
ommand UPD
D!

•

Stop the motion
n of slave axe
es when the e
event occurs, with comman
nd STOP.

e
is autom
matically erassed when the
e event occurrs or if the tim
meout
The prrogrammed event
for waiit expires.

Execution

on <=
Activattes the monitoring of the event
e
on the sslave axis, w
when motor ab
bsolute positio
value3
32, respective
ely VAR32. Th
he motion con
ntroller appliccation remainss in a loop un
ntil the
event on the slav
ve axis occu
urs or it tim
meouts. This operation e
erases a pre
evious
ammed event that has occu
urred.
progra

619

MPD U
User Manual

Example
//Stop slave B and C when the motor position <= -3 rev on slave A
//Position feedback: 500 lines encoder (2000 counts/rev)
// Wait for event : When axis A motor absolute position is
// equal or under value -3 rot
WAMPU (A), -6000L;
(B,C) {
STOP; // Stop motion with acceleration / deceleration set
}

620

MPD User Manual

6.2
2.5.1.143.

WAMPO

Syntax
WAMPO (Slave) value
e32 Wait for slave’s Absolute Motor Po
osition Over vvalue32
WAMPO (Slave) VAR3
32
Operands
s

Wait for slave’s Absolute Motor Po
osition Over V
VAR32

Slave: slave axis monitored for event
e
occurre nce
VAR32
2: long variab
ble
value3
32: 32-bit long
g immediate value
v

Binary co
ode

Description

Sets the
t
event co
ondition and halts the exxecution of th
he MPL prog
gram from m
motion
controller until the slave’s motor absolute po
osition becom
mes equal or over the spe
ecified
ave programm
med an event, you
value or the value of the speciffied variable. After you ha
o the following
g actions:
can do
•

Ch
hange the motion
m
mode and/or the parameters when the e
event occurs,, with
co
ommand UPD
D!

•

Stop the motion
n of slave axe
es when the e
event occurs, with comman
nd STOP.

e
is autom
matically erassed when the
e event occurrs or if the tim
meout
The prrogrammed event
for the wait expires..

Execution

Activattes the monitoring of the event
on >=
e
on the sslave axis, w
when motor ab
bsolute positio
value3
32, respective
ely VAR32. Th
he motion con
ntroller appliccation remainss in a loop un
ntil the
event on the slav
ve axis occu
urs or it tim
meouts. This operation e
erases a pre
evious
ammed event that has occu
urred.
progra

62
21

MPD U
User Manual

Example
//Reverse motion on B slave when motor position >= 1rev on C slave
//Position feedback: 500 lines encoder (2000 counts/rev)
(B) {
//Speed profile on B slave
CACC = 0.3183;//acceleration rate = 1000[rad/s^2]
CSPD = 3.3333;//jog speed = 100[rpm]
MODE SP;
TUM1; //set Target Update Mode 1
UPD; // execute immediate
}
CSPD = -40;

//jog speed = -1200[rpm]

(B)CSPD = CSPD; //Send the local variable CSPD to variable CSPD of
// slaves (B)
// Wait for event : When axis C motor absolute position is equal
// or over value 1 rot
WAMPO (C), 2000L;
(B) {
UPD; // Update immediate. Speed command is reversed
}

Remark: You can activate a new motion on a programmed event in 2 ways:
•

Set UPD! command then wait for event occurrence. This will activate the new motion
immediately when the event occurs

•

Wait the event then update the motion with UPD. This will activate the new motion
with a slight delay compared with the first option

622

MPD User Manual

6.2
2.5.1.144.

WALPU

Syntax
WALPU (Slave)
(
value3
32 Wait for slave’s
s
Absolute Load Possition Under vvalue32
WALPU (Slave)
(
VAR3
32
Operands
s

Wait for slave’s
s
Absolute Load Possition Under V
VAR32

Slave: slave axis monitored for event
e
occurre nce
VAR32
2: long variab
ble
value3
32: 32-bit long
g immediate value
v

Binary co
ode

Description

Sets the
t
event co
ondition and halts the exxecution of th
he MPL prog
gram from m
motion
controller until the slave’s load absolute possition become
es equal or u
under the spe
ecified
ave programm
med an event, you
value or the value of the speciffied variable. After you ha
o the following
g actions:
can do
•

Ch
hange the motion
m
mode and/or the parameters when the e
event occurs,, with
co
ommand UPD
D!

•

Stop the motion
n of slave axe
es when the e
event occurs, with comman
nd STOP.

e
is autom
matically erassed when the
e event occurrs or if the tim
meout
The prrogrammed event
for the
e wait expires.
Execution

Activattes the monittoring of the event on the slave axis, w
when load ab
bsolute positio
on <=
value3
32, respective
ely VAR32. Th
he motion con
ntroller appliccation remainss in a loop un
ntil the
event on the slav
ve axis occu
urs or it tim
meouts. This operation e
erases a pre
evious
ammed event that has occu
urred.
progra

62
23

MPD U
User Manual

Example
//Set the speed command when load absolute position is <= 10 rev
//Position feedback: 500 lines encoder (2000 counts/rev)
// Wait for event : When axis B load absolute position is equal
// or under value 10 rot
CSPD = 13.3333;//new slew speed command = 500[rpm]
WALPU (B), 20000L;
(C)CSPD = CSPD; //Send the local variable CSPD to variable CSPD
// of slaves (C)

624

MPD User Manual

6.2
2.5.1.145.

WALPO

Syntax
WALPO (Slave),
(
value
e32 Wait slav
ve’s Absolute
e Load Positio
on Over value
e32
WALPO (Slave),
(
VAR3
32
Operands
s

Wait slav
ve’s Absolute
e Load Positio
on Over VAR
R32

Slave: slave axis monitored for event
e
occurre nce
VAR32
2: long variab
ble
value3
32: 32-bit long
g immediate value
v

Binary co
ode

Description

Sets the
t
event co
ondition and halts the exxecution of th
he MPL prog
gram from m
motion
controller until the slave’s load absolute possition becom
mes equal or over the spe
ecified
ave programm
med an event, you
value or the value of the speciffied variable. After you ha
o the following
g actions:
can do
•

Ch
hange the motion
m
mode and/or the parameters when the e
event occurs,, with
co
ommand UPD
D!

•

Stop the motion
n of slave axe
es when the e
event occurs, with comman
nd STOP.

e
is autom
matically erassed when the
e event occurrs or if the tim
meout
The prrogrammed event
for the wait expires..
Execution

Activattes the monittoring of the event on the slave axis, w
when load ab
bsolute positio
on >=
value3
32, respective
ely VAR32. Th
he motion con
ntroller appliccation remainss in a loop un
ntil the
event on the slav
ve axis occu
urs or it tim
meouts. This operation e
erases a pre
evious
ammed event that has occu
urred.
progra

62
25

MPD U
User Manual

Example
//Stop all slaves when load position on slave B >= 3 rev
//Position feedback: 500 lines encoder (2000 counts/rev)
TIMEOUT 1000L; // Set wait timeout to 1[s]
// Wait for event : When axis B motor absolute position is equal
// or over value 1 rot
WAMPO (B), 6000L;
STOP; // Stop the motion

626

MPD User Manual

6.2
2.5.1.146.

SAVEERR
ROR

Syntax
SAVEERROR VAR32
Operands
s

GET oldest ERROR ffrom RAM

VAR32
2: 32-bit long variable conttaining the sla
ave error

ode
Binary co

Description

Saves the
t slave erro
or from VAR3
32 in a circula
ar buffer locatted in EEPRO
OM. The buffe
er can
hold up
p to 8 error co
odes. If the bu
uffer is full an
nd a new erro
or is saved then the oldestt error
is overw
written. The content of VA
AR32 must b
be initialized using the GE
ETERROR V
VAR32
comma
and.

Example
trieve old
dest 3 erro
ors and sa
ave them in
n the EEPR
ROM
// Ret
LONG error_code
e
e; //define
e variable
e error_cod
de
GETERR
ROR error_
_code; //Re
ead oldest
t error fro
om motion controller
r RAM
SAVEER
RROR error
r_code; // Save the error in t
the motion
n controlle
er EEPROM
GETERR
ROR error_
_code; //Re
ead second
d error fro
om motion controller
r RAM
SAVEER
RROR error
r_code; // Save the error in t
the motion
n controlle
er EEPROM
GETERR
ROR error_
_code; //Re
ead third error from
m motion c
controller RAM
SAVEER
RROR error
r_code; // Save the error in t
the EEPROM
M
SEND error_code
e
e; // Send third err
ror code to
o the host
t

62
27

MPD U
User Manual

6.2
2.5.1.147.

GETERRO
OR

Syntax
GETERR
ROR VAR32

GET oldest ERROR ffrom RAM

GETERR
ROR n,VAR32
2

GET n-th
h ERROR fro
om EEPROM

Operands
s

VAR32
2: 32-bit long variable to sttore the error
n : erro
or position in the circular buffer

ode
Binary co

Description

The mo
otion controlle
er uses a circ
cular buffer in
n RAM to storre the slaves’’ errors. The buffer
can holld up to 8 erro
or codes. If an
n error is rece
eived and the
e buffer is full then the new
w error
will ove
erwrite the old
dest one. The
e buffer is rea
ad with GETERROR VAR3
32 command which
retrieve
es the oldestt error from the
t
motion ccontroller RAM
M. The errorr code is savved in
VAR32. Once it was
s read the bu
uffer entry is released. GE
ETERROR VA
AR32 returnss zero
he buffer is em
mpty.
when th
The GE
ETERROR n,, VAR32 retriieves n-th errror stored in the non-volatile memory of the
drive. The
T errors arre stored in a circular bufffer that can h
hold up to 8 error codes, n = 0
oldest entry
e
and n = 7 newest entry.
e
The errrors can be ssaved in the EEPROM witth the
comma
and SAVEERR
ROR command.

Example
trieve old
dest 3 erro
ors and sa
ave them in
n the EEPR
ROM
// Ret
LONG error_code
e
e; //define
e variable
e error_cod
de
GETERR
ROR error_
_code; //Re
ead oldest
t error fro
om motion controller
r RAM
SAVEER
RROR error
r_code; // Save the error in t
the motion
n controlle
er EEPROM
GETERR
ROR error_
_code; //Re
ead second
d error fro
om motion controller
r RAM
SAVEER
RROR error
r_code; // Save the error in t
the motion
n controlle
er EEPROM
GETERR
ROR error_
_code; //Re
ead third error from
m motion c
controller RAM
SAVEER
RROR error
r_code; // Save the error in t
the EEPROM
M
GETERR
ROR 1, err
ror_code; //
/ Retriev
ve second e
error from
m the EEPRO
OM
SEND error_code
e
e; // Send third err
ror code to
o the host
t

62
28

MPD U
User Manual

6.2
2.5.1.148.

WVDU

Syntax
WVDU va
alue32

Wait Vecto
or Distance Under
U
value32
2

WVDU VA
AR32

Wait Vecto
or Distance Under
U
VAR32

Operands
s

VAR32
2: long variab
ble
value3
32: 32-bit long
g immediate value
v

Binary co
ode

Description

Sets the
t
event co
ondition and halts the exxecution of th
he MPL prog
gram from m
motion
controller until the vector
v
distanc
ce is equal or under the sp
pecified value or the value of 32ou have progrrammed an e
event, you can
n do the follow
wing actions:
bit variable. After yo
•

hange the motion
m
mode and/or the parameters when the e
event occurs,, with
Ch
co
ommand UPD
D!

•

Stop the motion
n when the ev
vent occurs, w
with command
d STOP.

e
is autom
matically erassed when the
e event occurrs or if the tim
meout
The prrogrammed event
for waiit expires.
Execution

Activattes the moniitoring of the
e event when
n vector disttance <= value32, respecctively
VAR32
2. The motion
n controller application
a
re
emains in a lo
oop until the event occurss or it
timeou
uts. This operation erases a previous prrogrammed event that has occurred.

62
29

MPD U
User Manual

6.2
2.5.1.149.

WCAP

Syntax
WCAP1 (Slave)
(

Wait
W for slave’s
s 1st CAPture
e input transittion 0 to 1

WCAP0 (Slave)
(

Wait
W for slave’s
s 1st CAPture
e input transittion 1 to 0

Operands
s

Slave: slave axis monitored for event
e
occurre nce

Binary co
ode

Description

Sets the
t
event co
ondition and halts the exxecution of th
he MPL prog
gram from m
motion
controller until the transition
t
occ
curs on the 1sst capture/enccoder index inputs on the slave
W
the prog
grammed tran
nsition occurss the following
g happens on
n the slave axxis:
axis. When
•

The
e input capa
ability to dete
ect transitionss is disabled. It must be enabled aga
ain to
dettect another transition

•

Mo
otor position APOS_MT
A
is captured and
d memorized
d in the MPL vvariable CAP
PPOS,
exc
cept the case
e of open-loo
op systems, w
where referen
nce position TPOS is cap
ptured
instead

•

The se
election betwe
een master and load posittion is done as follows: loa
ad position is ssaved
in CAP
PPOS2 only for
f setup conffigurations wh
hich use diffe
erent sensors for load and motor
and foresee a trans
smission ratio
o between the
em. For all the
e other setup configuration
ns, the
s
in CAPPOS2
master position is saved
After you
y have prog
grammed an event,
e
you ca
an do the follo
owing actions:
•

Ch
hange the motion
m
mode and/or the parameters when the e
event occurs,, with
co
ommand UPD
D!

•

Stop the motion
n when the ev
vent occurs, w
with command
d STOP.

e
is autom
matically erassed when the
e event occurrs or if the tim
meout
The prrogrammed event
for the wait expires..

63
30

MPD U
User Manual

Execution

Activates the monitoring of the event, when the programmed transition (low to high or
high to low) occurs on the 1st capture/encoder index input. The motion controller
application remains in a loop until the event on the slave axis occurs or it timeouts. This
operation erases a previous programmed event that has occurred.

Example
//Stop motion on all slaves on next encoder index
// Wait for event : When axis A encoder index goes low->high
WCAP1 (A);
STOP; //Stop the motion
(A) { // Command slave A to move on captured position
CPOS = CAPPOS; // new command position = captured position
CPA; //position command is absolute
MODE PP;
TUM1; //set Target Update Mode 1
UPD; //execute immediate
}
WMC (A); //wait for completion

631

MPD User Manual

6.2
2.5.1.150.

WVDO

Syntax
WVDO va
alue32

Wait Vecto
or Distance Under
U
value32
2

WVDO VA
AR32

Wait Vecto
or Distance Under
U
VAR32

Operands
s

VAR32
2: long variab
ble
value3
32: 32-bit long
g immediate value
v

Binary co
ode

Description

Sets the
t
event co
ondition and halts the exxecution of th
he MPL prog
gram from m
motion
controller until the vector
v
distanc
ce is equal orr over the spe
ecified value or the value of 32ou have progrrammed an e
event, you can
n do the follow
wing actions:
bit variable. After yo
•

hange the motion
m
mode and/or the parameters when the e
event occurs,, with
Ch
co
ommand UPD
D!

•

Stop the motion
n when the ev
vent occurs, w
with command
d STOP.

e
is autom
matically erassed when the
e event occurrs or if the tim
meout
The prrogrammed event
for waiit expires.
Execution

Activattes the moniitoring of the
e event when
n vector disttance >= value32, respecctively
VAR32
2. The motion
n controller application
a
re
emains in a lo
oop until the event occurss or it
timeou
uts. This operation erases a previous prrogrammed event that has occurred.

63
32

MPD U
User Manual

6.2
2.5.1.151.

WTR

Syntax
WTR (Sla
ave)
Operands
s

Wait Targe
et Reached
Slave: slave axis monitored for event
e
occurre nce

Binary co
ode

Description

Sets the
t
event co
ondition and halts the exxecution of th
he MPL prog
gram from m
motion
controller until the slave
s
axis rea
aches the targ
get position. After you havve programmed an
a
event, you can do the following actions:
•

hange the motion
m
mode and/or the parameters when the e
event occurs,, with
Ch
co
ommand UPD
D!

•

Stop the motion
n when the ev
vent occurs, w
with command
d STOP.

e
is autom
matically erassed when the
e event occurrs or if the tim
meout
The prrogrammed event
for waiit expires.
Execution

Activattes the mon
nitoring of th
he event wh en target re
eached. The motion con
ntroller
applica
ation remains
s in a loop unttil the event o
occurs or it tim
meouts. This o
operation era
ases a
previou
us programm
med event thatt has occurred
d.

63
33

MPD U
User Manual

6.2
2.5.1.152.

WPRU

Syntax
WPRU (S
Slave), value3
32

Wait fo
or slave’s Position
P
Re ference Und
der
value32

WPRU (S
Slave), VAR32
2

Wait for slave’s Posittion Referencce Under VAR
R32

Operands
s

Slave: slave axis monitored for event
e
occurre nce
VAR32
2: long variab
ble
value3
32: 32-bit long
g immediate value
v

ode
Binary co

Description

Sets the
t
event co
ondition and halts the exxecution of th
he MPL prog
gram from m
motion
controller until the when the position referen
nce is equal o
or under the specified value or
ecified variab
ble. After you have program
mmed an eve
ent, you can d
do the
the value of the spe
following actions:
•

hange the motion
m
mode and/or the parameters when the e
event occurs,, with
Ch
co
ommand UPD
D!

•

Stop the motion
n when the ev
vent occurs, w
with command
d STOP.

e
is autom
matically erassed when the
e event occurrs or if the tim
meout
The prrogrammed event
for the WAIT! comm
mand expires.
u need to wa
ait until the p
programmed event
Remarrk: After settting UPD! orr STOP! you
occurs
s using WAIT
T!, otherwise, the program
m will continue
e with the next instruction
ns that
may ov
verride the ev
vent monitorin
ng.
Execution

Activattes the monittoring of the event, when position refe
erence <= vallue32, respecctively
VAR32
2. The motion
n controller application
a
rem
mains in a lo
oop until the e
event on the slave
axis oc
ccurs or it tim
meouts. This operation
o
era
ases a previo
ous programm
med event tha
at has
occurred.

63
34

MPD U
User Manual

Example:
//Stop motion when position reference >= 3 rev
//Position feedback: 500 lines encoder (2000 counts/rev)
WPRU 6000; //Set event: when position reference is >= 3 rev
STOP;//Stop the motion when the event occurs

635

MPD User Manual

6.2
2.5.1.153.

WPRO

Syntax
WPRO (S
Slave), value3
32

Wait for slave’s Position
P
Referrence Over va
alue32

WPRO (S
Slave), VAR32
2

Wait for slave’s Po
osition Refere
ence Over VA
AR32

Operands
s

Slave: slave axis monitored for event
e
occurre nce
VAR32
2: long variab
ble
value3
32: 32-bit long
g immediate value
v

Binary co
ode

Description

Sets the
t
event co
ondition and halts the exxecution of th
he MPL prog
gram from m
motion
controller until the slave’s positiion reference
e is equal or over the spe
ecified value o
or the
ave programm
med an even
nt, you can d
do the
value of the speciffied variable. After you ha
following actions:
•

hange the motion
m
mode and/or the parameters when the e
event occurs,, with
Ch
co
ommand UPD
D!

•

Stop the motion
n when the ev
vent occurs, w
with command
d STOP.

e
is autom
matically erassed when the
e event occurrs or if the tim
meout
The prrogrammed event
for waiit expires.
Execution

Activattes the monittoring of the event, when position refe
erence >= vallue32, respecctively
VAR32
2. The motion
n controller application
a
rem
mains in a lo
oop until the e
event on the slave
axis oc
ccurs or it tim
meouts. This operation
o
era
ases a previo
ous programm
med event tha
at has
occurred.

63
36

MPD U
User Manual

Example:
//Stop motion on all slaves when position reference on slave C >=
// 3 rev. Position feedback: 500 lines encoder (2000 counts/rev)
// Wait for event : When position reference on axis C is equal or
// over value 3rot
WPRO (C), 6000L;
STOP; //Stop the motion

637

MPD User Manual

6.2
2.5.1.154.

WMSU

Syntax
WMSU (S
Slave), value3
32

Wait for slave’s M
Motor Speed
d
Under value32

WMSU (S
Slave), VAR32
2

Motor Speed
d
Wait for slave’s M
Under VAR32

Operands
s

Slave: slave axis monitored for event
e
occurre nce
VAR32
2: fixed variab
ble
value3
32: 32-bit fixed
d immediate value
v

Binary co
ode

Description

Sets th
he event con
ndition halts th
he execution of the MPL program from
m motion con
ntroller
until th
he motor spee
ed is equal orr under the 32
d fixed
2-bit value orr the value of the specified
variable. After you have
h
program
mmed an even
nt, you can do
o the following actions:
•

hange the motion
m
mode and/or the parameters when the e
event occurs,, with
Ch
co
ommand UPD
D!

•

Stop the motion
n when the ev
vent occurs, w
with command
d STOP.

e
is autom
matically erassed when the
e event occurrs or if the tim
meout
The prrogrammed event
for waiit expires.
Execution

Activattes the monito
oring of the event
e
when m
motor speed <= value32, re
espectively VA
AR32.
The motion
m
controller applicatio
on remains in
e axis
n a loop unttil the event on the slave
occurs
s or it timeou
uts. This ope
eration erase
es a previouss programme
ed event tha
at has
occurred.

63
38

MPD U
User Manual

Example
//Motor on slave A is decelerating. Start a new position profile
// on slave A when

motor speed < 600 rpm

//Position feedback: 500 lines encoder (2000 counts/rev)
WMSU (A) 20; //Set event: when motor speed is < 600 rpm
// prepare new motion mode
(A) {

CACC = 0.3183;//acceleration rate = 1000[rad/s^2]
CSPD = 100;//slew speed = 3000[rpm]
CPOS = 20000;//position command = 10[rot]
CPR; //position command is relative
MODE PP;
TUM1; //set Target Update Mode 1
UPD
};

639

MPD User Manual

6.2
2.5.1.155.

WMSO

Syntax
WMSO (S
Slave), value3
32

Wait fo
or slave’s Motor Speed Ove
er value32

WMSO (S
Slave), VAR32

Wait fo
or slave’s Motor Speed Ove
er VAR32

Operands
s

Slave: slave axis monitored for event
e
occurre nce
VAR32
2: fixed variab
ble
value3
32: 32-bit fixed
d immediate value
v

Binary co
ode

Description

Sets the
t
event co
ondition and halts the exxecution of th
he MPL prog
gram from m
motion
controller until when the motor speed
s
is equa
al or over the 32-bit value or the value of the
able. After yo
ou have prog rammed an e
event, you ca
an do the follo
owing
specifiied fixed varia
actions
s:
•

Ch
hange the motion
m
mode and/or the parameters when the e
event occurs,, with
co
ommand UPD
D!

•

Stop the motion
n when the ev
vent occurs, w
with command
d STOP.

e
is autom
matically erassed when the
e event occurrs or if the tim
meout
The prrogrammed event
for the wait expires..
Execution

Activattes the monittoring of the event on the slave axis, w
when motor sspeed >= vallue32,
respec
ctively VAR32
2. The motion controller ap
pplication rem
mains in a loop
p until the eve
ent on
the sla
ave axis occurs or it timeouts. This ope
eration erasess a previous p
programmed event
that ha
as occurred.

64
40

MPD U
User Manual

Example
//Motor is accelerating. Stop motion on all axes when motor
//speed > 600 rpm
//Position feedback: 500 lines encoder (2000 counts/rev)
WMSO (D) 20; //Set event: when motor speed is > 600 rpm
STOP;//Stop the motion when the event occurs

641

MPD User Manual

6.2
2.5.1.156.

WLSP

Syntax
WLSP1

Wait for slav
ve’s Limit Sw
witch Positive g
goes from 0 tto 1

WLSP0

Wait for slav
ve’s Limit Sw
witch Positive g
goes from 1 tto 0

Operands
s

–

Binary co
ode

Description

Sets the event con
ndition when the program
mmed transitiion occurs at the positive
e limit
switch input. After you
y have prog
grammed an e
event, you ca
an do the follo
owing actionss:
•

hange the motion
m
mode and/or the parameters when the e
event occurs,, with
Ch
co
ommand UPD
D!

•

Stop the motion
n when the ev
vent occurs, w
with command
d STOP.

e
is autom
matically erassed when the
e event occurrs or if the tim
meout
The prrogrammed event
for the wait expires..
Execution

Activattes monitoring of the even
nt when the p
programmed ttransition occcurs at the po
ositive
limit sw
witch input. Th
his operation erases a pre
evious program
mmed event tthat has occu
urred.

64
42

MPD U
User Manual

Example
//Reverse slave C when positive limit switch is reached
//Position feedback: 500 lines encoder (2000 counts/rev)
(C) {
CACC = 0.0637;

//acceleration rate = 200[rad/s^2]

CSPD = 16.6667;

//jog speed = 500[rpm]

MODE SP;
UPD;

//execute immediate

}
// Wait for event : When axis C positive limit switch goes low->high
WLSP1 (C);
// Wait for event : When motion is completed on axis (C)
WMC (C); //limit switch is active -> quick stop mode active
// wait until the motor stops because only then the
// new motion commands are accepted
(C) {
CSPD = -40;

//jog speed = -1200[rpm]

MODE SP;

//after quick stop set again the motion mode

UPD;

//execute immediate

}

643

MPD User Manual

6.2
2.5.1.157.

WLSO

Syntax
WLSO (S
Slave), value3
32

Wait fo
or slave’s Loa
ad Speed Ove
er value32

WLSO (S
Slave,) VAR32
2

Wait fo
or slave’s Loa
ad Speed Ove
er VAR32

Operands
s

Slave: slave axis monitored for event
e
occurre nce
VAR32
2: fixed variab
ble
value3
32: 32-bit fixed
d immediate value
v

Binary co
ode

Description

Sets the
t
event co
ondition and halts the exxecution of th
he MPL prog
gram from m
motion
controller until the load speed is equal or over the 32
2-bit value orr the value o
of the
able. After yo
ou have prog rammed an e
event, you ca
an do the follo
owing
specifiied fixed varia
actions
s:
•

Ch
hange the motion
m
mode and/or the parameters when the e
event occurs,, with
co
ommand UPD
D!

•

Stop the motion
n when the ev
vent occurs, w
with command
d STOP.

e
is autom
matically erassed when the
e event occurrs or if the tim
meout
The prrogrammed event
for waiit expires.
Execution

Activattes the monittoring of the event
e
when lo
oad speed >=
= value32, re
espectively VA
AR32.
The motion
m
controller applicatio
on remains in
n a loop unttil the event on the slave
e axis
occurs
s or it timeou
uts. This ope
eration erase
es a previouss programme
ed event tha
at has
occurred.

64
44

MPD U
User Manual

Example
//Stop motion when load speed > 600 rpm
//Load Position feedback: 500 lines encoder (2000 counts/rev)
WLSO (A) 20; //Set event: when load speed is > 600 rpm
STOP;//Stop motion on all axes

645

MPD User Manual

6.2
2.5.1.158.

WLSN

Syntax
WLSN1

Wait
W for slave’s
s Limit Switch
h Negative go
oes from 0 to 1

WLSN0

Wait
W for slave’s
s Limit Switch
h Negative go
oes from 1 to 0

Operands
s

–

Binary co
ode

Description

Sets the
t
event co
ondition and halts the exxecution of th
he MPL prog
gram from m
motion
controller until the programmed transition occcurs at the n
negative limit switch input.. After
ave programm
med an event, you can do tthe following actions:
you ha
•

Ch
hange the motion
m
mode and/or the parameters when the e
event occurs,, with
co
ommand UPD
D!

•

Stop the motion
n when the ev
vent occurs, w
with command
d STOP.

e
is autom
matically erassed when the
e event occurrs or if the tim
meout
The prrogrammed event
for the wait expires..
Execution

Activattes monitorin
ng of the eve
ent on the sllave axis, wh
hen the prog
grammed tran
nsition
occurs
s at the nega
ative limit swittch input. The
e motion con
ntroller appliccation remainss in a
loop until
u
the even
nt on the sla
ave axis occu
urs or it time
eouts. This o
operation erasses a
previou
us programm
med event thatt has occurred
d.

64
46

MPD U
User Manual

Example
//Reverse slave C when negative limit switch is reached
//Position feedback: 500 lines encoder (2000 counts/rev)
(C) {
CACC = 0.0637;

//acceleration rate = 200[rad/s^2]

CSPD = -16.6667; //jog speed = -500[rpm]
MODE SP;
UPD;

//execute immediate

}
// Wait for event : When axis C negative limit switch goes low->high
WLSN1 (C);
CSPD = 40;

//jog speed = 1200[rpm]

MODE SP;

//after quick stop set again the motion mode

UPD;

//execute immediate

647

MPD User Manual

6.2
2.5.1.159.

WLSU

Syntax
WLSU (S
Slave), value3
32

Wait for slave’s Load Speed Unde
er value32

WLSU (S
Slave), VAR32
2

Wait for slave’s Load Speed Unde
er VAR32

Operands
s

Slave: slave axis monitored for event
e
occurre nce
VAR32
2: fixed variab
ble
value3
32: 32-bit fixed
d immediate value
v

Binary co
ode

Description

Sets the
t
event co
ondition and halts the exxecution of th
he MPL prog
gram from m
motion
controller until the slave’s
s
load speed is equa
al or under the
e 32-bit value or the value of the
able. After yo
ou have prog rammed an e
event, you ca
an do the follo
owing
specifiied fixed varia
actions
s:
•

Ch
hange the motion
m
mode and/or the parameters when the e
event occurs,, with
co
ommand UPD
D!

•

Stop the motion
n when the ev
vent occurs, w
with command
d STOP.

e
is autom
matically erassed when the
e event occurrs or if the tim
meout
The prrogrammed event
for waiit expires.

Execution

Activattes the monittoring of the event
e
when lo
oad speed <=
= value32, re
espectively VA
AR32.
The motion
m
controller applicatio
on remains in
n a loop unttil the event on the slave
e axis
occurs
s or it timeou
uts. This ope
eration erase
es a previouss programme
ed event tha
at has
occurred.

64
48

MPD U
User Manual

Example
// Start a position profile when load speed < 600 rpm
// Load Position feedback: 500 lines encoder (2000 counts/rev)
WLSU (A) 20; //Set event: when motor speed is < 600 rpm
// prepare new motion mode
(A) {
CACC = 0.3183;//acceleration rate = 1000[rad/s^2]
CSPD = 100;//slew speed = 3000[rpm]
CPOS = 20000;//position command = 10[rot]
CPR; //position command is relative
MODE PP;
TUM1; //set Target Update Mode 1
UPD;
}

649

MPD User Manual

6.2
2.5.1.160.

WIN

Syntax
WIN#n (S
Slave), 0

Wait for
f slave’s Inp
put#n is 0

WIN#n (S
Slave), 1

Wait for
f slave’s Inp
put#n is 1

Operands
s

Slave: slave axis monitored for event
e
occurre nce
n: inpu
ut line numberr (0<=n<=39))

Binary co
ode

Description

Sets the
t
event co
ondition and halts the exxecution of th
he MPL prog
gram from m
motion
controller until the slave’s digita
al input #n be
ecomes 0, respectively 1. The slave checks
e input #n is tested
t
at each
u have
the condition of the
h slow loop ssampling period. After you
ammed an eve
ent, you can do
d the followiing actions:
progra
•

Ch
hange the motion
m
mode and/or the parameters when the e
event occurs,, with
co
ommand UPD
D!

•

Stop the motion
n when the ev
vent occurs, w
with command
d STOP.

e
is autom
matically erassed when the
e event occurrs or if the tim
meout
The prrogrammed event
for the wait expires..
Execution

Activattes monitoring
g of the even
nt on the slavve axis, when
n the digital in
nput #n becom
mes 0
(!IN#n 0), respectiv
vely 1 (!IN#n 1). The mottion controllerr application remains in a loop
he event on the slave axis
s occurs or it timeouts. Th
his operation erases a pre
evious
until th
progra
ammed event that has occu
urred.

65
50

MPD U
User Manual

Example
// Start motion on slave A when digital input #36 from slave C is high
// Wait for event: When axis C digital input 36/IN36 is high
WIN#36 (C), 1;
(A) {
//Position profile
CACC = 0.3183;//acceleration rate = 1000[rad/s^2]
CSPD = 40.;//slew speed = 1200[rpm]
CPOS = 12000L;//position command = 6[rot]
CPR; //position command is relative
MODE PP;
TUM1; //set Target Update Mode 1
UPD; // execute immediate
}
WMC (A); // wait for motion completion

651

MPD User Manual

6.2
2.5.1.161.

W2CAP

Syntax
W2CAP1 (Slave)

Wait for slave’s 2nd CA
APture input ttransition 0 to
o1

W2CAP0 (Slave)

Wait for slave’s 2nd CA
APture input ttransition 1 to
o0

Operands
s

Slave: slave axis monitored for event
e
occurre nce

Binary co
ode

Description

Sets the
t
event co
ondition and halts the exxecution of th
he MPL prog
gram from m
motion
controller until the transition
t
occurs on the 2n
nd capture/en
ncoder index iinputs on the slave
W
the prog
grammed tran
nsition occurss the following
g happens on
n the slave axxis:
axis. When
•

The
e input capa
ability to dete
ect transitionss is disabled. It must be enabled aga
ain to
dettect another transition

•

Mo
otor position APOS_MT
A
is captured and
d memorized
d in the MPL vvariable CAP
PPOS,
exc
cept the case
e of open-loo
op systems, w
where referen
nce position TPOS is cap
ptured
instead

•

Ch
hange the motion
m
mode and/or the parameters when the e
event occurs,, with
co
ommand UPD
D!

•

Stop the motion
n when the ev
vent occurs, w
with command
d STOP.

e
is autom
matically erassed when the
e event occurrs or if the tim
meout
The prrogrammed event
for the wait expires..

65
52

MPD U
User Manual

Execution

Activates the monitoring of the event, when the programmed transition (low to high or
high to low) occurs on the selected capture input. This operation erases a previous
programmed event that has occurred.

Example
//Stop motion on all slaves on next 2nd encoder index
// Wait for event : When axis A 2nd encoder index / home input
//goes low->high
W2CAP1 (A);
STOP; // Stop the motion
(A) { // Command slave A to move on captured position
CPOS = CAPPOS; // new command position = captured position
CPA; //position command is absolute
MODE PP;
TUM1; //set Target Update Mode 1
UPD; //execute immediate
}
WMC (A); //wait for completion

653

MPD User Manual

6.2.6. MPL Registers
6.2.6.1.

AAR - Axis Addresses Register (status, RO)

Purpose: AAR is a 16-bit status register, containing information that defines the individual and group
addresses of the motion axis.
MPL Address: 0x030C
Contents. AAR information is structured as follows:

Bits 15-8 GRn. Group n selection
0=

The motion axis does not belong to group n

The motion axis belongs to group n

Bits 7-0 AXISID. Axis address
value = Individual identification address for the motion axis
Remark: The AxisID is initially set at power on using the following algorithm:
1 With the value read from the EEPROM setup table containing all the setup data.
2 If the setup table is invalid, with the last axis ID value read from a valid setup table
3 If there is no axis ID set by a valid setup table, with the value read from the hardware switches/jumpers
for axis ID setting
4 If the drive/motor has no hardware switches/jumpers for axis ID setting, with the default axis ID value
which is 255.

654

MPD User Manual

6.2.6.2.

ACR - Auxiliary Command Register (status, R/W)

Purpose: ACR is a 16-bit status register. It defines extra settings like: the configuration for automatic
start and the external reference, operation options for the S-curve and the electronic camming modes.
MPL Address: 0x0912

Contents. ACR information is structured as follows:

Bits 15-14 Reserved
Bit 13 SOLCTR. Control type for stepper open loop
0=

Position control with automatic external reference analogue

Speed control with automatic external reference analogue

Bit 12 CAMTYPE. Electronic camming type
0=

Relative

Absolute

Bit 11 RPOSTYPE. Relative positioning type
0=

Standard

Additive

Bit 10 POSCTR. Position control
0=

Disable

Enable

Bit 9 SPDCTR. Speed control
0=

Disable

Enable

Bit 8 TCTR. Torque control
0=

Disable

Enable

Bit 7 DIGREF. Digital external reference
0=

Disable

655

MPD User Manual

Enable

Bit 6 AREF. Analogue external reference
0=

Disable

Enable

Bits 5 RDAREF. Read analogue external reference for torque mode when “Automatically activated
after Power On” is enabled
0=

In slow loop

In fast loop

Bit 4 Reserved
Bit 3 AXISEN. Behavior at ENABLE input transitions from low to high
0=

Don’t execute AXISON

Execute AXISON

Bit 2 DIGTYPE. Digital external reference type
0=

2nd encoder

Pulse & Direction

Bit 1 ASTART. Start automatically after power on
0=

Disable

Enable

Bit 0 STPSC. Stop profile for S-curve motion mode
0=

An S-curve profile

A trapezoidal profile

656

MPD User Manual

6.2.6.3.

CBR - CAN baud rate Register (status, R/W)

CBR is a 16-bit status register, containing information to setup the communication baud rate parameters
for CAN controller.
MPL Address: 0x030D
Contents. CBR information is structured as follows:

Bit 15-8 CANBTR1. CAN bus Timing Register 1 (BTR1)
xx =

CAN controller bus timing register 1

Bit 7-0 CANBTR0. CAN bus Timing Register 0 (BTR0)
xx =

CAN controller bus timing register 0

6.2.6.4.

CCR - Communication Control Register (command, R/W)

CCR is a 16-bit status register, containing settings for the SPI link with the EEPROM memory.
MPL Address: 0x030A
Contents. CCR information is structured as follows:

Bit 15-2 Reserved
Bit 1

Reserved

Bit 0 SPIMEM. EEPROM memory
0=

Not installed

Installed

657

MPD User Manual

6.2.6.5.

CER - Communication Error Register (status, RO)

CER is a 16-bit status register, containing status information about communication errors on CAN, SPI
and SCI communication channels.
MPL Address: 0x0301
Contents. CER information is structured as follows:

Bit 15-12 Reserved
Bit 11 OFWRER.EnDat encoder offset write error
0=

No SPI timeout

SPI timeout

Bit 10 OFRDER. EnDat encoder offset read error
0=

No SPI timeout

SPI timeout

Bit 9 ALRSER. EnDat encoder alarm reset error
0=

No SPI timeout

SPI timeout

Bit 8 ALRDER. EnDat encoder alarm read error
0=

No SPI timeout

SPI timeout

Bit 7 SPITTO. SPI timeout on write operation
0=

No SPI timeout

SPI timeout

Bit 6 CANBER. CAN bus off error
0=

No CAN bus off error

Error

Bit 5 CANTER. CAN Tx overrun error
0=

No CAN transmission overrun error

658

MPD User Manual

CAN transmission overrun error

Bit 4 CANRER. CAN Rx overrun error
0=

No CAN reception overrun error

CAN reception overrun error

Bit 3 Reserved
Bit 2 SCIRTO. SCI Rx timeout error
0=

No SCI reception timeout error

SCI reception timeout error

Bit 1 SCITTO. SCI Tx timeout error
0=

No SCI transmission timeout error

SCI transmission timeout error

Bit 0 SCIRER. SCI Rx error
0=

No SCI reception error

SCI reception error

659

MPD User Manual

6.2.6.6.

CSR - Communication Status Register (status, RO)

CSR is a 16-bit status register, containing status information about the communication channels of the
system.
MPL Address: 0x030B
Contents. CSR information is structured as follows:

Bit 15 ELGEAR. Electronic gearing/camming master flag
0=

No data to send

Data to send

Bit 14 AXISDSTP. Axis ID setup flag
0=

Initial Axis ID set by software

Initial Axis ID set by hardware

Bit 13-11 SCIBD. SCI baud rate
000 = 9600
001 = 19200
010 = 38400
011 = 56600
100 = 115200
101 = Reserved
110 = Reserved
111 = Reserved
Bit 10 Reserved

660

MPD User Manual

Bit 9-8 SPIBD. SPI baud rate
00 =

1 MHz

01 =

2 MHz

10 =

5 MHz

11 =

Reserved

Bit 7-1 Reserved
Bit 0 SCITYPE. Serial communication driver type
0=

RS-232

RS485

661

MPD User Manual

6.2.6.7.

ICR - Interrupts Control Register (command, R/W)

ICR is a 16-bit command register, enabling/disabling the MPL interrupts. All the unmasked bits of this
register will allow the generation of a MPL interrupt at the occurrence of the associated specific situation.
MPL Address: 0x0304
Contents. ICR information is structured as follows:

Bit 15 GIM. Globally enable/disable MPL interrupts
0=

Disable

Enable

Bit 14-12 Reserved
Bit 11 EVNIM. Enable/disable interrupt 11 – “Event set has occurred”
0=

Disable

Enable

Bit 10 TPIM. Enable/disable interrupt 10 – “Time period has elapsed”
0=

Disable

Enable

Bit 9 MOTIM. Enable/disable interrupt 9 – “Motion is complete”
0=

Disable

Enable

662

MPD User Manual

Bit 8 PCAPIM. Enable/disable interrupt 8 – “Capture input transition detected”
0=

Disable

Enable

Bit 7 LSWNIM. Enable/disable interrupt 7 – “LSN programmed transition detected”
0=

Disable

Enable

Bit 6 LSWPIM. Enable/disable interrupt 6 – “LSP programmed transition detected”
0=

Disable

Enable

Bit 5 WRPIM. Enable/disable interrupt 5 – “Position wrap around”
0=

Disable

Enable

Bit 4 CMERIM. Enable/disable interrupt 4 – “Communication error”
0=

Disable

Enable

Bit 3 CTRERIM. Enable/disable interrupt 3 – “Control error”
0=

Disable

Enable

Bit 2 SWPRIM. Enable/disable interrupt 2 – “Software protection”
0=

Disable

Enable

Bit 1 PDPIM. Enable/disable interrupt 1 –“Short-circuit”
0=

Disable

Enable

Bit 0 DLSBIM. Enable/disable interrupt 0 – “Enable input has changed”
0=

Disable

Enable

663

MPD User Manual

6.2.6.8.

ISR - Interrupts Status Register (status, RO)

ISR is a 16-bit status register, containing the interrupt flags for MPL interrupts. Only unmasked MPL
interrupts (see Interrupt Control Register - ICR) will generate a MPL interrupt request.
MPL Address: 0x0306
Contents. ISR information is structured as follows:

Bit 15-12 Reserved
Bit 11 EVNIF. Flag for interrupt 11 – “Event set has occurred”
0=

Not triggered

Triggered

Bit 10 TPIF. Flag for interrupt 10 – “Time period has elapsed”
0=

Not triggered

Triggered

Bit 9 MOTIF. Flag for interrupt 9 – “Motion is complete”
0=

Not triggered

Triggered

Bit 8 PCAPIF. Flag for interrupt 8 – “Capture input transition detected”
0=

Not triggered

Triggered

Bit 7 LSWNIF. Flag for interrupt 7 – “LSN programmed transition detected”
0=

Not triggered

Triggered

Bit 6 LSWPIF. Flag for interrupt 6 – “LSP programmed transition detected”
0=

Not triggered

Triggered

Bit 5 WRPIF. Flag for interrupt 5 – “Position wraparound”
0=

Not triggered

664

MPD User Manual

Triggered

Bit 4 CMERIF. Flag for interrupt 4 – “Communication error”
0=

Not triggered

Triggered

Bit 3 CTRERIF. Flag for interrupt 3 – “Control error”
0=

Not triggered

Triggered

Bit 2 SWPRIF. Flag for interrupt 2 – “Software protections”
0=

Not triggered

Triggered

Bit 1 PDPIF. Flag for interrupt 1 – “Short-circuit”
0=

Not triggered

Triggered

Bit 0 DSLBIF. Flag for interrupt 0 – “Enable input has changed”
0=

Not triggered

Triggered

665

MPD User Manual

6.2.6.9.

MCR - Motion Command Register (status, RO)

MCR is a 16-bit status register containing information about the motion modes, reference mode, active
control loops, positioning type - absolute or relative, etc.

MPL Address: 0x0309

Contents. MCR information is structured as follows:

Bit 15 MMODE. Motion mode
0=

Same motion mode

New motion mode

Bit 14 MODECHG. When motion mode is changed
0=

Update the reference

Keep the reference

Bit 13 POSTYPE. Positioning type
0=

Relative

Absolute

Bit 12 REGMODE. Motion superposition
0=

Disable the superposition of the electronic gearing mode with a second motion mode

Enable the superposition of the electronic gearing mode with a second motion mode

Bit 11 ELGEAR. Electronic gearing master
0=

Disable the axis as master

Enable the axis as master

Bit 10 POSLP. Position loop status
0=

Disabled

Enabled

666

MPD User Manual

6.2.7. Bit 9 SPDLP. Speed loop status
0=

Disabled

Enabled

Bit 8 CRTLP. Current loop status
0=

Disabled

Enabled

Bit 7-6 EXTREF. External reference type
00 =

On-line reference

01 =

Analogue reference

10 =

Digital reference

11 =

Reserved

Bit 5 REFLOC. Analogue external reference for torque/voltage mode update
0=

Update in slow control loop

Update in fast control loop

Bit 4-0 REFTYPE. Reference type
00000 = External reference
00001 = Trapezoidal reference
00010 = Contouring position/speed
00011 = Contouring torque/voltage
00100 = Pulse & direction
00101 = Electronic gearing slave
00110 = Electronic camming slave
00111 = S-curve reference
01000 = Test mode
01001 = PVT
01010 = PT
10000 = Stop 0/1/2
10001 = Stop using trapezoidal profile
10100 = Stop using S-curve profile
10101 = Quickstop

667

MPD User Manual

6.2.7.1.

MER - Motion Error Register (status, RO)

Purpose: MER is a 16-bit status register. It groups together all the errors conditions. Most of the error
conditions trigger the FAULT status.
MPL Address: 0x08FC
Contents. MER information is structured as follows:

Bit 15 ENST. Enable status of drive/motor
0=

Enabled

Disabled

Bit 14 CMDER. Command error
0=

No command error

Command error. The bit is set in 2 cases:

Bit 13 UVER. Under voltage error
0=

No under voltage error

Under voltage error

Bit 12 OVER. Over voltage error
0=

No over voltage error

Over voltage error

Bit 11 OTERD. Drive over temperature error
0=

No drive over temperature error

Drive over temperature error

Bit 10 OTERM. Motor over temperature error
0=

No motor over temperature error

Motor temperature error

668

MPD User Manual

Bit 9 I2TER. I2T protection error
0=

No drive or motor I2T error

Drive or motor I2T error

Bit 8 OCER. Over-current error
0=

No over-current error

Over-current error

Bit 7 LSNST. Negative limit switch status
0=

LSN in not active

LSN is active

Bit 6 LSPST. Positive limit switch status
0=

LSP is not active

LSP is active

Bit 5 WRPSER. Hall sensor missing /Resolver error /BiSS error /Position wrap around error
0=

No error

Error

Bit 4 SCIER. Communication error
0=

No serial or internal communication error

Serial or internal communication error

Bit 3 CTRER. Control error
0=

No control error

Control error

Bit 2 STPTBL. Setup table status
0=

The drive/motor has a valid setup table

The drive/motor has an invalid setup table

Bit 1 SCER. Short-circuit protection status
0=

No short-circuit error

Short-circuit error

Bit 0 CANBER. CAN bus status
0=

No CAN bus error

CAN bus error

669

MPD User Manual

6.2.7.2.

MSR - Motion Status Register (status, RO)

MSR is a 16-bit status register, containing information about motion system status and some specific
events like: control error condition, position wrap-around, limit switches and captures triggered by
programmed transitions, etc.
MPL Address: 0x0308
Contents. MSR information is structured as follows:

Bit 15 UPDATE. Update the motion mode
0=

No update

Update

Bit 14 EVNRS. Event status
0=

Reset after update

Set of update

Bit 13 AXISST. Axis status
0=

Axis Off

Axis On

Bit 12 Reserved
Bit 11 EVNS. Events
0=

No event set, or programmed event not occurred yet

Last event reached

Bit 10 CNTSGS. Contour segment
0=

Don’t update

Update

670

MPD User Manual

Bit 9 MOTS. Motion status
0=

In motion

Motion complete

Bit 8 PCAPS. Position capture
0=

Not triggered

Triggered

Bit 7 LSWNS. Negative limit switch
0=

Not triggered

Triggered

Bit 6 LSWPS. Positive limit switch
0=

Not triggered

Triggered

Bit 5 WRPS. Position wrap around
0=

Not triggered

Triggered

Bit 4 Reserved
Bit 3 CTRERS. Control error status
0=

Not triggered

Triggered

Bit 2 SWPRS. Software protections status
0=

Not triggered

Triggered

Bit 1 SCUPD. S-Curve update status
0=

S-curve updated successfully

S-curve update denied (UPD instruction received when motion was not
complete)

Bit 0 ENDINIT. Drive/motor initialization status
0=

Not performed

Performed

671

MPD User Manual

6.2.7.3.

OSR - Operating Settings Register (configuration, R/W)

OSR is a 16-bit configuration register, defines some specific operating settings regarding motor control
and data acquisition
MPL Address: 0x0302
Contents. OSR information is structured as follows:

Bit 15 ELGMD. Electronic gearing master mode
0=

Send actual position to slave axes

Send target position to slave axes

Bit 14-13 Reserved
Bit 12 PSPLC. Position sensor mounting place
0=

Position sensor on motor

Position sensor on load

Bit 11 LOGGER. PMSM start logging
0=

No data logging during PMSM motor start

Data logging during PMSM motor start

Bit 10 STEPCTRL. Stepper motor control type
0=

Open loop

Closed loop

Bit 9 BKCMD. Brake command
0=

Disabled

Enabled

Bit 8 UDQSAT. Ud,q command saturation method
0=

Use independently saturated commands on d and q axes

Compute Uq from Ud. Uq = f(Ud)

672

MPD User Manual

Bit 7-6 PWM. PWM command method
00 =

Standard symmetric PWM

01 =

Dead-time and Vdc compensation

10 =

Dead-time, Vdc compensation and third harmonic injection

11 =

Reserved

Bit 5 Reserved
Bit 4-2 PMSMST. PMSM motor start method
000 = Reserved
001 = a/b, voltage mode, incremental encoder
010 = Start using digital Hall sensors
011 = Reserved
100 = Reserved
101 = Motionless start (encoder only) *
110 = Reserved
111 = Direct start using absolute encoder
Bit 1-0 CRTOFF. Current offset detection
00 =

No current offset detection

01 =

Detection without PWM activated

10 =

Detection with PWM activated

11 =

Reserved

*On select firmware versions only

673

MPD User Manual

6.2.7.4.

PCR - Motion Status Register (command/status, R/W)

PCR is a 16-bit command and status register, containing both masks and status information for MPL
protections.
MPL Address: 0x0303
Contents. PCR information is structured as follows:

Bit 15 I2TDPRS. Status of drive i2t protection
0=

Not triggered

Triggered

Bit 14 Reserved
Bit 13 UVPRS. Status of under voltage protection
0=

Not triggered

Triggered

Bit 12 OVPRS. Status of over voltage protection
0=

Not triggered

Triggered

Bit 11 OT2PRS. Status of drive over temperature protection
0=

Not triggered

Triggered

Bit 10 OT1PRS. Status of motor over temperature protection
0=

Not triggered

Triggered

Bit 9 I2TMPRS. Status of motor i2t protection
0=

Not triggered

Triggered

Bit 8 IMAXP. Status of over current protection
0=

Not triggered

674

MPD User Manual

Triggered

Bit 7 I2TDPRM. Mask for drive I2t protection
0=

Disable

Enable

Bit 6 Reserved
Bit 5 UVPRM. Mask for under voltage protection
0=

Disable

Enable

Bit 4 OVPRM. Mask for over voltage protection
0=

Disable

Enable

Bit 3 OT2PRM. Mask for drive over temperature protection
0=

Disable

Enable

Bit 2 OT1PRM. Mask for motor over temperature protection
0=

Disable

Enable

Bit 1 I2TPRM. Mask for motor I2t protection
0=

Disable

Enable

Bit 0 IMXPRM. Mask for maximum current protection
0=

Disable

Enable

675

MPD User Manual

6.2.7.5.

SCR - System Configuration Register (configuration, R/W)

SCR is a 16-bit configuration register, defines the basic application configuration regarding the motor type
and the feedback sensors used
MPL Address: 0x0300
Contents. SCR information is structured as follows:

Bit 15 Reserved
Bit 14-12 MOTOR. Motor type
000 = Brushless DC
001 = Brushed DC
010 = Brushless AC
011 = Reserved
100 = Stepper
101 = Tri-phases stepper
110 = Reserved
111 = Reserved
Bit 11-9 Reserved
Bit 8 TSNS2. Drive temperature sensor
0=

Disabled

Enabled

Bit 7 TSNS1. Motor temperature sensor
0=

Disabled

Enabled

Bit 6 Reserved

676

MPD User Manual

Bit 5-3 SSNS. Speed sensor
000 = Position difference
001 = Tachogenerator
010 = Pulse length from Hall sensor
011 = Reserved
100 = Reserved
101 = Reserved
110 = Reserved
111 = None
Bit 2-0 PSNS. Position sensor
000 = Quadrature encoder
001 = Resolver
010 = Sin-cos with/without EnDat
011 = SSI
100 = Linear Hall
101 = BiSS encoder
110 = Reserved
111 = None

677

MPD User Manual

6.2.7.6.

SRH - Status Register High part (status, RO)

Purpose: SRH is the high part of a the status register grouping together all the key status information
concerning the drive/motor
MPL Address: 0x090F
Contents. SRH information is structured as follows:

Bit 15 FAULT. Fault status
0=

No fault

Drive/motor in fault status

Bit 14 INCAM. Reference position in absolute electronic camming mode
0=

Not reached

Reached

Bit 13 Reserved
Bit 12 INGEAR Gear ratio in electronic gearing mode
0=

Not reached

Reached

Bit 11 I2TWRGD. Drive I2T protection warning
0=

Drive I2T warning limit not reached

Drive I2T warning limit reached

Bit 10 I2TWRGM. Motor I2T protection warning
0=

Motor I2T warning limit not reached

Motor I2T warning limit reached

Bit 9 TRGR. Target command
0=

Not reached

Reached

Bit 8 PCAPS. Capture event/interrupt
0=

Not triggered

Triggered

678

MPD User Manual

Bit 7 LSWNS. Limit switch negative event/interrupt
0=

Not triggered

Triggered

Bit 6 LSWPS. Limit switch positive event/interrupt
0=

Not triggered

Triggered

Bit 5 AUTORUN. AUTORUN mode status
0=

Disabled

Enabled

Bit 4 PTRG4. Position trigger 4
0=

Not reached

Reached

Bit 3 PTRG3. Position trigger 3
0=

Not reached

Reached

Bit 2 PTRG2. Position Trigger 2
0=

Not reached

Reached

Bit 1 PTRG1. Position Trigger 1
0=

Not triggered

Triggered

Bit 0 ENDINIT. Drive/motor initialization status
0=

Not performed

Performed

See also:
Status register low part – SRL

679

MPD User Manual

6.2.7.7.

SRL - Status Register Low part (status, RO)

Purpose: SRL is the low part of a status register grouping together all the key status information
concerning the drive/motor
MPL Address: 0x090E
Contents. SRL information is structured as follows:

Bit 15 AXISST. Axis status
0=

Axis Off

Axis On

Bit 14 EVNS. Events
0=

No event set, or programmed event not occurred yet

Last programmed event reached

Bits 13-11 Reserved.
Bit 10 MOTS. Motion status
0=

In motion

Motion complete

Bit 9 Reserved.
Bit 8 CALLSST. Cancelable call status
0=

No function in execution following a cancelable call

A function in execution following a cancelable call

Bit 7 CALLWRG. Cancelable call warning
0=

No warning

Warning – a cancelable call is issued while another cancelable function is in execution

Bits 6-0 Reserved
See also:
Status register high part – SRH

680

MPD User Manual

6.2.7.8.

SSR - Slave Status Register (status, RO)

SSR is a 32-bit status register containing information about slave axes initialization status, setup table
status, firmware compatibility and slave presence in the CAN network.
MPL Address: 0x07F2
Contents. SSR information is structured as follows:

Bit 31 HIERR. H slave initialization status
0=

Initialization successful

Initialization error

Bit 30 HIFW. H slave firmware compatibility with motion controller
0=

Firmware compatible

Firmware incompatible

Bit 29 HISTP. H slave invalid setup table
0=

Setup table valid

Invalid setup table

Bit 28 HDET. H slave detection
0=

Detected successfully

Not detected

Bit 27 GIERR. G slave initialization status
0=

Initialization successful

Initialization error

Bit 26 GIFW. G slave firmware compatibility with motion controller
0=

Firmware compatible

Firmware incompatible

681

MPD User Manual

Bit 25 GISTP. G slave invalid setup table
0=

Setup table valid

Invalid setup table

Bit 24 GDET. G slave detection
0=

Detected successfully

Not detected

Bit 23 FIERR. F slave initialization status
0=

Initialization successful

Initialization error

Bit 22 FIFW. F slave firmware compatibility with motion controller
0=

Firmware compatible

Firmware incompatible

Bit 21 FISTP. F slave invalid setup table
0=

Setup table valid

Invalid setup table

Bit 20 FDET. F slave detection
0=

Detected successfully

Not detected

Bit 19 EIERR. E slave initialization status
0=

Initialization successful

Initialization error

Bit 18 EIFW. E slave firmware compatibility with motion controller
0=

Firmware compatible

Firmware incompatible

Bit 17 EISTP. E slave invalid setup table
0=

Setup table valid

Invalid setup table

Bit 16 EDET. E slave detection
0=

Detected successfully

Not detected

Bit 15 DIERR. D slave initialization status
0=

Initialization successful

Initialization error

682

MPD User Manual

Bit 14 DIFW. D slave firmware compatibility with motion controller
0=

Firmware compatible

Firmware incompatible

Bit 13 DISTP. D slave invalid setup table
0=

Setup table valid

Invalid setup table

Bit 12 DDET. D slave detection
0=

Detected successfully

Not detected

Bit 11 CIERR. C slave initialization status
0=

Initialization successful

Initialization error

Bit 10 CIFW. C slave firmware compatibility with motion controller
0=

Firmware compatible

Firmware incompatible

Bit 9 CISTP. C slave invalid setup table
0=

Setup table valid

Invalid setup table

Bit 8 CDET. C slave detection
0=

Detected successfully

Not detected

Bit 7 BIERR. B slave initialization status
0=

Initialization successful

Initialization error

Bit 6 BIFW. B slave firmware compatibility with motion controller
0=

Firmware compatible

Firmware incompatible

Bit 5 BISTP. B slave invalid setup table
0=

Setup table valid

Invalid setup table

Bit 4 BDET. B slave detection
0=

Detected successfully

Not detected

683

MPD User Manual

Bit 3 AIERR. A slave initialization status
0=

Initialization successful

Initialization error

Bit 2 AIFW. A slave firmware compatibility with motion controller
0=

Firmware compatible

Firmware incompatible

Bit 1 AISTP. A slave invalid setup table
0=

Setup table valid

Invalid setup table

Bit 0 ADET. A slave detection
0=

Detected successfully

Not detected

684

MPD User Manual

6.2.7.9.

UPGRADE - Upgrade Register (configuration, R/W)

UPGRADE is a 16-bit status register, defining new options and extended features that are activated when
their corresponding bits are set.
MPL Address: 0x0857
Contents. UPGRADE information is structured as follows:

Bit 15 STPTBL. Setup table
0=

Valid setup table is not required

Valid setup table is required

Bit 14 Reserved
Bit 13 TXBUFF. CAN-bus transmit buffer length
0=

The length of CAN-bus transmit buffer is 1 messages

The length of CAN-bus transmit buffer is 5 messages

Bit 12 TINTQSTP. MPL time interrupt/quickstop
0=

Disable

Enable MPL time interrupt and quickstop mode when a limit switch is reached

Bit 11 MCM. Motion complete mode
0=

Motion complete set when the position reference arrives at the commanded position

Motion complete set when the position feedback arrives at the commanded position
and remains in a settle band for a preset stabilize time interval

Bit 10 I2TPRT. I2T protection
0=

One I2T protection common for drive and motor

Two I2T protections, one for drive and the other for the motor

Bit 9 IPOS. Initial positioning mode
0=

Standard – wait time per phase up to 1s

Extended – wait time per phase up to 635s

685

MPD User Manual

Bit 8 IORW. I/O lines read/write
0=

Simultaneous read /write of 4 general purpose inputs/outputs

Simultaneous read 4 general-purpose inputs and 3 dedicated inputs: Enable, LSP and LSN.
Simultaneous set 4 general-purpose outputs and 2 dedicated outputs: Ready and Error.

Bit 7 ATIME. Absolute time start
0=

After instruction ENDINIT

After power on

Bit 6 FSTSLW. Position/speed control mode
0=

Position/speed control in slow loop

Position/speed control in fast loop

Bit 5 STBCRT. Standby current for step motors
0=

Disable

Enable

Bit 4 SPDCTR. Speed control error protection
0=

Common with position control error protection

Separate control error protection for position and speed

Bit 3 REG. Registration mode
0=

Disabled

Enabled

Bit 2 LMTSPDACC. Maximal speed/acceleration in motion modes: external, electronic gearing and
electronic camming
0=

Unlimited

Limited

Bit 1 STPMD. Stop mode for steppers
0=

Disabled

Enabled

Bit 0 AREFLMT. Analogue reference
0=

Symmetrical, only positive or only negative

Separately programmable upper and lower limits

686

MPD User Manual

6.3.

Internal Units and Scaling Factors

ElectroCraft drives/motors work with parameters and variables represented in internal units (IU). The
parameters and variables may represent various signals: position, speed, current, voltage, etc. Each type
of signal has its own internal representation in IU and a specific scaling factor. In order to easily identify
each type of IU, these have been named after the associated signals. For example the position units
are the internal units for position, the speed units are the internal units for speed, etc.
The scaling factor of each internal unit shows the correspondence with the international standard units
(SI). The scaling factors are dependent on the product, motor and sensor type. Put in other words, the
scaling factors depend on the setup configuration.
In order to find the internal units and the scaling factors for a specific case, select the application in the
project window and then execute menu command Help | Application Programming | Internal Units
and Scaling Factors.
Important: The Help | Application Programming | Internal Units and Scaling Factors command
provides customized information function of the application setup. If you change the drive, the motor
technology or the feedback device, check again the scaling factors with this command. It may show you
other relations!

6.4.

PRO EEPROM Programmer

6.4.1. PRO EEPROM Programmer
All ElectroCraft drives/motors include a non-volatile EEPROM memory. Its role is to:
•

Keep the setup data in a dedicated area named setup table together with a user programmable
application ID, which helps you quickly identify the setup data uploaded from a drive/motor.

•

Store the MPL motion programs and their associated data like the cam tables needed for electronic
camming applications.

•

Keep the product ID of each drive/motor and the required firmware ID for the programmed
application.

Remark: The required firmware ID indicates that the actual drive/motor firmware ID must have the same
number and a revision letter equal or higher. For example if the required firmware ID is: F000H, the actual
drive/motor firmware ID must be F000H or F000I, or F000J, etc.
The Drive/Motor PRO EEPROM Programmer is a tool specifically designed for production, through which
you can:
•

Program fast and easy the EEPROM memory of any ElectroCraft drive/motor with all the data needed
to run a specific application. These data are grouped into a unique file named software file (with
extension .sw)

•

Check EEPROM data integrity by comparing the information read from the drive/motor memory with
that read from a .sw software file

•

Write protect a part or the entire EEPROM memory.

•

Get information about the drive/motor configuration ID including the product ID, the firmware ID and
the application ID

687

MPD User Manual

The Drive/Motor PRO EEPROM Programmer is included in both the PROconfig and MotionPRO
Developer installation packages and is automatically installed with them. However, it may also be
installed separately. To launch the Drive/Motor EEPROM from Windows Start menu execute: “Start |
Programs | PROconfig | Drive/Motor PRO EEPROM Programmer” or “Start | Programs | MotionPRO
Developer| Drive/Motor PRO EEPROM Programmer” depending on which installation package you have
used. You can also start the Drive/Motor PRO EEPROM Programmer from the main folder of the
PROconfig / MotionPRO Developer by executing “PRO EEPROMprog.exe”.
The Drive/Motor PRO EEPROM Programmer has 3 tabs: Application, Configuration ID and
Communication Settings
In the Application tab you select a .sw software file. Use the Download button to program it into the
drive/motor EEPROM memory. Use the Verify button to check if the information stored in the drive/motor
EEPROM is identical with that from the selected .sw file. Press the Checksum button to compute the
sum modulo 65536 of all the data from a .sw file. The checksum result may be used by a master during
the application initialization to validate that data from a drive/motor EEPROM memory is correct and
complete. For example, the host can ask a drive/motor to return the checksum for each block of
continuous data from the EEPROM, according with the .sw file. By adding the results returned by the
drive/motor, the host obtains a global checksum which must match with the value got when the
Checksum button is pressed. Use the Read… button to save the contents of the whole EEPROM
memory in a .sw file.

The Drive/Motor PRO EEPROM Programmer signals with an OK inside a green disk that the:
•

Download operation is correctly executed

•

Verify operation, gives a match between the .sw file and the drive/motor EEPROM contents

•

Read operation is successfully ended and the .sw file is created

Otherwise, an ERROR inside a red disk is displayed together with a message explaining the error type.

688

MPD User Manual

In the Configuration ID tab, by pressing the Get Info button, you get the drive/motor configuration ID
including the product ID, the firmware ID, the EEPROM size and the application ID.

The product ID uniquely identifies the drive/motor execution. This information is written by ElectroCraft in
the last EEPROM memory locations in especially reserved locations. In these locations ElectroCraft also
puts the product EEPROM size in 16-bit Kwords and the required firmware ID. The main goal of this
information is to protect against accidental wrong programming of the EEPROM memory or in the case of
very big MPL programs against bypassing the EEPROM capacity. Both PROconfig and MotionPRO
Developer perform the following verifications every time a setup data or a motion application has to be
downloaded.
1) The product ID of the application/setup data to download matches with the product ID stored in
the drive/motor EEPROM, or is set as being compatible
2) The required firmware of the application/setup data to download has the same number as the
drive/motor actual firmware and either the same or a lower revision
The download is performed only if both conditions are true. The application ID is a space reserved for a
text of up to 40 characters which you can program. Its main goal is to help you quickly identify the setup
data uploaded from a drive/motor. In order to program an application ID, edit your text in the Application
ID field and press the Download button.
The configuration ID tab may also be used to reprogram the product ID, the required firmware ID and the
EEPROM size, if by mistake, the area reserved for this information in the EEPROM memory is erased. In
this case, select the product name from the list, add your application ID (if it is the case) and press the
Download button.
In the Communication Settings tab, you can set the communication type and parameters as well as the
EEPROM write protection degree. When you launch the PRO EEPROM Programmer, it tries to
communicate with your drive/motor using your last communication settings. If the communication attempt
fails, the PRO EEPROM Programmer opens automatically the Communication Settings tab, where you
can setup the communication parameters(HELP_COMMUNICATION_SETUP@PROconfig.hlp). Each
time when you’ll try to switch to the other tabs, the communication is checked and the other tabs are
opened ONLY if the communication is established.

689

MPD User Manual

If your application does not require storing data in the drive/motor EEPROM at runtime and you don’t
intend to change the setup parameters from your host and then to save the changes in the drive/motor
EEPROM, you can write protect the entire EEPROM after you download the .sw file. This is an extra
protection against accidental wrong commands that may modify EEPROM locations. If your application
requires to store data at runtime but you don’t and you don’t intend to change the setup parameters and
maybe cam tables (if present) you can write protect only the last quarter or last half of the EEPROM and
allow the write operation for the rest.
See also:
Software Files Creation and Format
Communication Setup

690

MPD User Manual

6.4.2. PRO EEPROM Programmer File Format
The .sw software files can be generated either from PROconfig or from MotionPRO Developer.
In PROconfig you create a .sw file with the command Setup | PRO EEPROM Programmer File…

The software file generated, includes the setup data and the drive/motor configuration ID with the user
programmable application ID. Typically, this type of .sw file is used in applications where the motion
programming is done from the host using for example one of the MPL_LIB motion libraries offered by
ElectroCraft for: PC applications (written in C/C++, Visual Basic, Delphi Pascal, Labview) or for PLCs
according with the PLCOpen standard.

691

MPD User Manual

In MotionPRO Develop
per you creatte a .sw file with
w one of th
he commandss: Application
n | PRO EEP
PROM
mer File | Mo
otion and Se
etup or Setup
p Only. The o
option Motio
on and Setup
p creates a .s
sw file
Programm
with com
mplete information including setup da
ata, MPL pro
ograms, cam
m tables (if present) and the
drive/moto
or configuration ID. The option
o
Setup Only produce
es a .sw file identical with
h that producced by
PROconfig i.e. having only the setup data and the configuratio
on ID.

Software File Format
A software file (with ex
xtension .sw) is a text file that
t
can be re
ead with any text editor. It contains bloccks of
arated by an empty
e
row. Each
E
block of data starts w
with the block start addresss, followed byy data
data sepa
values to place in asce
ending order at
a consecutiv
ve addresses:: first data – tto write at start address, se
econd
o write at sta
art address + 1, etc. All the data are
e hexadecimal 16- bit va
alues (maxim
mum 4
data – to
hexadecim
mal digits). Each
E
raw con
ntains a single data value
e. When less then 4 hexa
adecimal digitts are
shown, the value must be right justiffied. For exam
mple 92 repre
esent 0x0092
2.
See also:
Drive/Mottor PRO EEPROM Program
mmer

69
92

MPD U
User Manual

Appendix A : MPL Instructions List
[A/G] { MPL Instr}

Send MPL instruction to [A/G]

[A/G] V16D = V16S

[A/G] V16D = local V16S

[A/G] V16D, dm = V16S

[A/G] V16D = local V16S (fa)

[A/G] (V16D), TM = V16S

[A/G] (V16D), TM = local V16S

[A/G] (V16D+), TM = V16S

[A/G] (V16D), TM = local V16S, then V16D += 1

[A/G] V32D = V32S

[A/G] V32D = local V32S

[A/G] V32D, dm = V32S

[A/G] V32D = local V32S (fa)

[A/G] (V16D), TM = V32S

[A/G] (V16D), TM = local V32S

[A/G] (V16D+), TM = V32S

[A/G] (V16D), TM = local V32S, then V16D += 2

(?)GiveMeData

Ask one axis to return a 16/32 bit data from memory

(??)GiveMeData2

Ask a group of axes to return each a 16/32 bit data from memory

!ALPO

Set event when absolute load position is over a value

!ALPU

Set event when absolute load position is under a value

!AMPO

Set event when absolute motor position over a value

!AMPU

Set event when absolute motor position under a value

!CAP

Set event when a capture input goes low or high

!IN#n

Set event when digital input #n goes low or high

!LSN

Set event when the negative limit switch (LSN) goes low or high

!LSP

Set event when positive limit switch (LSP) goes low or high

!LSO

Set event when load speed is over a value

!LSU

Set event when load speed is under a value

!MC

Set event when the actual motion is completed

!MSO

Set event when motor speed is over a value

!MSU

Set event when motor speed is under a value

!PRO

Set event when position reference is over a value

!PRU

Set event when position reference is under a value

!RPO

Set event when relative load position is over a value

693

MPD User Manual

!RPU

Set event when relative load position is under a value

!RT

Set event after a wait time

!SRO

Set event if speed reference is over a value

!SRU

Set event if speed reference is under a value

!TRO

Set event if torque reference is over a value

!TRU

Set event if torque reference is under a value

!VO

Set event if a long/fixed variable is over a value

!VU

Set event if a long/fixed variable is under a value

ABORT

Abort the execution of a function called with CALLS

ADDGRID (value16_1, value16_2,…)

Add groups to the Group ID

AXISID

Set Axis ID

AXISOFF

AXIS is OFF (deactivate control)

AXISON

AXIS is ON (activate control)

BEGIN

BEGIN of a MPL program

CALL

Call a MPL function

CALLS

Cancelable CALL of a MPL function

CANBR val16

Set CAN bus baud rate

CHECKSUM, TM Start, Stop, V16D

V16D=Checksum between Start and Stop addresses from TM

CIRCLE

Define circular segment for vector mode

CPA

Command Position is Absolute

CPR

Command Position is Relative

DINT

Disable globally all MPL interrupts

DISCAPI

Disable 1st capture/encoder index input to detect transitions

DIS2CAPI

Disable 2nd capture/encoder index input to detect transitions

DISLSN

Disable negative limit switch (LSN) input to detect transitions

DISLSP

Disable positive limit switch (LSP) input to detect transitions

EINT

Enable globally all MPL interrupts

EN2CAPI0

Enable 2nd capture/encoder index input to detect a high to low transition

EN2CAPI1

Enable 2nd capture/encoder index input to detect a low to high transition

ENCAPI0

Enable 1st capture/encoder index input to detect a high to low transition

ENCAPI1

Enable 1st capture/encoder index input to detect a low to high transition

694

MPD User Manual

END

END of a MPL program

ENDINIT

END of Initialization

ENEEPROM

Enables EEPROM usage after it was disabled by the initialization of SSI or
ENDat encoders

ENLSN0

Enable negative limit switch (LSN) input to detect a high to low transition

ENLSN1

Enable negative limit switch (LSN) input to detect a low to high transition

ENLSP0

Enable positive limit switch (LSP) input to detect a low to high transition

ENLSP1

Enable positive limit switch (LSP) input to detect a high to low transition

EXTREF

Set external reference type

FAULTR

Reset FAULT status. Return to normal operation

Get checksum

Ask one axis to return the checksum between 2 addresses from its MPL
memory

GETERROR

Get last error reported by slaves

GetMPLData

Ask one axis to return a MPL data

GetVersion

Ask one axis the firmware version

GOTO

Jump

GROUPID (value16_1, value16_2,…)

Set GROUP ID

V16D = IN#n

Read input #n. V16D = input #n status

INITCAM addrS, addrD

Copy CAM table from EEPROM (addrS address) to RAM (addrD address)

V16D = INPUT1, ANDm

V16D = logical AND between inputs IN#25 to IN#32 status and ANDm mask

V16D = INPUT2, ANDm

V16D = logical AND between inputs IN#33 to IN#39 status and ANDm mask

V16D = INPORT, ANDm

V16D = status of inputs Enable, LSP, LSN plus IN#36 to IN#39

LOCKEEPROM

Locks or unlocks the EEPROM write protection

LPLANE

Define coordinate system for linear interpolation mode

MODE CS

Set MODE Cam Slave

MODE GS

Set MODE Gear Slave

MODE LI

Set MODE Linear Interpolation

MODE PC

Set MODE Position Contouring

MODE PE

Set MODE Position External

MODE PP

Set MODE Position Profile

MODE PSC

Set MODE Position S-Curve

MODE PT

Set MODE PT

MODE PVT

Set MODE PVT

MODE SC

Set MODE Speed Contouring

695

MPD User Manual

MODE SE

Set MODE Speed External

MODE SP

Set MODE Speed Profile

MODE TC

Set MODE Torque Contouring

MODE TEF

Set MODE Torque External Fast

MODE TES

Set MODE Torque External Slow

MODE TT

Set MODE Torque Test

MODE VC

Set MODE Voltage Contouring

MODE VEF

Set MODE Voltage External Fast

MODE VES

Set MODE Voltage External Slow

MODE VM

Set MODE Vector Mode

MODE VT

Set MODE Voltage Test

NOP

No Operation

OUT(n) =value16

Set the output line as specified by value16

OUT(n1, n2, n3, …) =value16

Set the output lines n1 n2, n3 as specified by value16

OUTPORT

Set Enable, LSP, LSN and general purpose outputs OUT#28-31

PING

Ask a group of axes to return their axis ID

PONG

Answer to a PING request

PROD <<= N

Left shift 48-bit product register by N

PROD >>= N

Right shift 48-bit product register by N

PTP

Define a PT point

PVTP

Define a PVT point

REG_OFF

Disable superposed mode

REG_ON

Enable superposed mode

REMGRID (value16_1, value16_2,…)

Remove groups from the Group ID

RESET

RESET drive / motor

RET

Return from a MPL function

RETI

Return from a MPL Interrupt Service Routine

RGM

Reset electronic gearing/camming master mode

ROUT#n

Set low the output line #n

SAP

Set Actual Position

SAVE

Save setup data in the EEPROM memory

SAVEERROR

Save slave error in EEPROM

SCIBR V16

Set RS-232/Rs485 serial communication interface (SCI) baud rate

696

MPD User Manual

SEG

Define a contouring segment

SEND

Send to host the contents of a MPL variable

SetAsInput(n)

Set the I/O line #n as an input

SetAsOutput(n)

Set the I/O line #n as an output

SETIO#n

Set IO line #n as input or as output

SETPT

Setup PT mode operation

SETPVT

Setup PVT mod operation

SETSYNC

Enable/disable synchronization between axes

SGM

Set electronic gearing/camming master mode

SOUT#n

Set high the output line #n

SRB V16, ANDm, ORm

Set / Reset Bits from V16

SRBL V16, ANDm, ORm

Set / Reset Bits from V16 (fa)

STA

Set Target position = Actual position

STARTLOG V16

Start the data acquisition

STOP

STOP motion

STOP!

STOP motion when the programmed event occurs

STOPLOG

Stop the data acquisition

Take checksum

Answer to Get checksum request

TakeData

Answer to GiveMeData request

TakeData

Answer to Get MPL Data request

TakeData2

Answer to GiveMeData2 request

TakeVersion

Answer to Get version request

TUM0

Target update mode 0

TUM1

Target update mode 1

UPD

Update motion mode and parameters. Start motion

UPD!

Update motion mode and parameters when the programmed event occurs

VPLANE

Define coordinate system for Vector Mode

V16D = [A] V16S

Local V16D = [A] V16S

V16D = [A] V16S, dm

Local V16D = [A] V16S, dm (fa)

V16D = [A] (V16S), TM

Local V16D = [A] (V16S), dm

V16D = [A] (V16S+), TM

Local V16D = [A] (V16S), dm, then V16S += 1

V32D = [A] V32S

Local V32D = [A] V32S

V32D = [A] V32S, dm

Local V32D = [A] V32S, dm (fa)

697

MPD User Manual

V32D = [A] (V16S), TM

Local V32D = [A] (V16S), TM

V32D = [A] (V16S+), TM

Local V32D = [A] (V16S), TM, then V16S += 2

V16 = label

V16 = &label

V16D = V16S

V16 = val16

V16D = V32S(H)

V16D = V32S(L)

V16D, dm = V16S

V16D = V16S (fa)

V16D, dm = val16

V16D = val16 (fa)

V16D = (V16S), TM

V16D = (V16S) from TM memory

V16D = (V16S+), TM

V16D = (V16S) from TM memory, then V16S += 1

(V16D), TM = V16S

(V16D) from TM memory = V16S

(V16D), TM = val16

(V16D) from TM memory = val16

(V16D+), TM = V16S

(V16D) from TM memory = V16S, then V16D += 1

(V16D+), TM = val16

(V16D) from TM memory = val16, then V16D += 1

V32(H) = val16

V32(L) = val16

V32(H) = val16

V32D(H) = V16S

V32D(H) = V16

V32D(L) = V16S

V32D(L) = V16

V16D = -V16S

V32D = V32S

V32 = val32

V32D =V16S << N

V32D = V16S left-shifted by N

V32D, dm = V32S

V32D from dm = V32S (fa)

V32D, dm = val32

V32 from dm = val32 (fa)

V32D = (V16S), TM

V32D = (V16S) from TM memory

V32D = (V16S+), TM

V32D = (V16S) from TM memory, then V16S += 2

(V16D), TM = V32S

(V16D) from TM memory = V32S

(V16D), TM = val32

(V16D) from TM memory = val32

(V16D+), TM = V32S

(V16D) from TM memory = V32S, then V16D += 2

(V16D+), TM = val32

(V16D) from TM memory = val32, then V16D += 2

V32D = -V32S

V16 += val16

V16 = V16 + val16

698

MPD User Manual

V16D += V16S

V16D = V16D + V16S

V32 += val32

V32 = V32 + val32

V32D += V32S

V32D = V32D + V32S

V16 -= val16

V16 = V16 - val16

V16D -= V16S

V16D = V16D - V16S

V32 -= val32

V32 = V32 - val32

V32D -= V32S

V32D = V32D - V32S

V16 * val16 << N

48-bit product register = (V16 * val16) >> N

V16 * val16 >> N

48-bit product register = (V16 * val16) >> N

V16A * V16B << N

48-bit product register = (V16A * V16B) << N

V16A * V16B >> N

48-bit product register = (V16A * V16B) >> N

V32 * V16 << N

48-bit product register = (V32 * V16) << N

V32 * V16 >> N

48-bit product register = (V32 * V16) >> N

V32 * val16 << N

48-bit product register = (V32 * val16) << N

V32 * val16 >> N

48-bit product register = (V32 * val16) >> N

V32=/V16

Divide V32 to V16

V16 <<= N

Left shift V16 by N

V32 <<= N

Left shift V32 by N

V16 >>= N

Right shift V16 by N

V32 >>= N

Right shift V32 by N

VSEG

Define linear segment for vector mode

WAIT!

Wait until the programmed event occurs

WALPO

Set and wait event when slave’s absolute load position is over a value

WALPU

Set and wait event when slave’s absolute load position is under a value

WAMPO

Set and wait event when slave’s absolute motor position over a value

WAMPU

Set and wait event when absolute motor position under a value

WCAP

Set and wait event when slave’s 1st capture/encoder index input goes low or
high

W2CAP

Set and wait event when slave’s 2nd capture/encoder index input goes low or
high

WIN#n

Set and wait event when slave’s digital input #n goes low or high

WLSN

Set event when slave’s negative limit switch (LSN) goes low or high

WLSP

Set event when slave’s positive limit switch (LSP) goes low or high

WLSO

Set event when slave’s load speed is over a value

699

MPD User Manual

WLSU

Set event when slave’s load speed is under a value

WMC

Set and wait event when the actual motion is completed on one or more slave
axes

WMSO

Set and wait event when slave’s motor speed is over a value

WMSU

Set and wait event when slave’s motor speed is under a value

WPRO

Set and wait event when slave’s position reference is over a value

WPRU

Set and wait event when slave’s position reference is under a value

WRPO

Set and wait event when slave’s relative load position is over a value

WRPU

Set and wait event when slave’s relative load position is under a value

WRT

Set event after a wait time

WVDU

Set and wait event when the vector distance is under a value

WVDO

Set and wait event when the vector distance is over a value

WTR

Set and wait event when the slave’s target is reached

700

MPD User Manual

7. Appendix B : MPL Data List
AAR
ACR
AD5
AD5 OFF
APOS
APOS_MT
APOS2
ASPD
ASPD_LD
ASPD_MT
ATIME
BRAKELIM
CACC
CADIN
CAMINPUT
CAMOFF

Type:

UINT

Address:

0x030C

Type:

UINT

Address:

0x0912

Type:

UINT

Address

0x0241

Type:

INT

Address:

0x0249

Type:

LONG

Address:

0x0228

Type:

LONG

Address:

0x0988

Type:

LONG

Address:

0x081C

Type:

FIXED

Address:

0x022C

Type:

FIXED

Address:

0x098A

Type:

FIXED

Address:

0x098A

Type:

LONG

Address:

0x02C0

Type:

UINT

Address:

0x028A

Type:

FIXED

Address:

0x02A2

Type:

INT

Address

0x025C

Type:

LONG

Address:

0x0901

Type:

LONG

Address:

0x03AD

701

MPD User Manual

CAMSTART
CAMX
CAMY
CAPPOS
CAPPOS2
CDEC
CLPER
CPOS
CSPD
DBT
DIGIN_ACTIVE_LEVEL
DIGIN_INVERSION_MASK
DIGOUT_INVERSION_MASK
E_LEVEL_AD5
ELRESL
ENC2THL
EREFP
EREFS

Type:

INT

Address:

0x03AC

Type:

FIXED

Address:

0x0903

Type:

FIXED

Address:

0x0905

Type:

LONG

Address:

0x02BC

Type:

LONG

Address:

0x081E

Type:

FIXED

Address:

0x0859

Type:

INT

Address:

0x0250

Type:

LONG

Address:

0x029E

Type:

FIXED

Address:

0x02A0

Type:

UINT

Address:

0x0253

Type:

UINT

Address:

0x090C

Type:

UINT

Address:

0x090A

Type:

UINT

Address:

0x090B

Type:

INT

Address:

0x0870

Type:

LONG

Address:

0x0875

Type:

LONG

Address:

0x024C

Type:

LONG

Address:

0x02A8

Type:

FIXED

Address:

0x02A8

702

MPD User Manual

EREFT
EREFV
ERRMAX
FILTER1
FILTERQ
GEAR
GEARMASTER
GEARSLAVE
HALL30
HALLCASE
HOMEPOS
HOMESPD
I2TINTLIM_D
I2TINTLIM_M
I2TWARLIM_M
ICR
INSTATUS
INTTABLE

Type:

INT

Address:

0x02A9

Type:

INT

Address:

0x02A9

Type:

INT

Address:

0x02C5

Type:

INT

Address:

0x029D

Type:

INT

Address:

0x0982

Type:

FIXED

Address:

0x02AC

Type:

INT

Address:

0x0255

Type:

INT

Address:

0x0256

Type:

INT

Address:

0x0877

Type:

INT

Address:

0x0259

Type:

LONG

Address:

0x0992

Type:

FIXED

Address:

0x0994

Type:

ULONG

Address:

0x0980

Type:

ULONG

Address:

0x0815

Type:

ULONG

Address:

x097E

Type:

UINT

Address:

0x0304

Type:

UINT

Address:

0x0908

Type:

INT

Address:

0x0307

703

MPD User Manual

IQ
IQREF
KFFA
KII
KISPDEST
KPI
KPSPDEST
LEVEL_AD5
LS_ACTIVE
MACOMMAND
MASTERID
MASTERRES
MECRESL
MER
MER_MASK
MPOS0
MREF
MSPD

Type:

INT

Address:

0x0230

Type:

INT

Address:

0x022F

Type:

INT

Address:

0x026E

Type:

INT

Address:

0x0273

Type:

INT

Address:

0x095B

Type:

INT

Address:

0x0271

Type:

INT

Address:

0x095C

Type:

INT

Address:

0x086F

Type:

INT

Address:

0x0832

Type:

ULONG

Address:

0x02F2

Type:

INT

Address:

0x0927

Type:

LONG

Address:

0x081A

Type:

LONG

Address:

0x024E

Type:

UINT

Address:

0x08FC

Type:

UINT

Address:

0x0965

Type:

LONG

Address:

0x025E

Type:

LONG

Address:

0x02AA

Type:

INT

Address:

0x0820

704

MPD User Manual

MTSTYPE
NLINES
NLINESTAN
OSR
PCR
PHASEADV
POS0
POSERR
POSINIT
POSOKLIM
POSTRIGG1
POSTRIGG2
POSTRIGG3
POSTRIGG4
PVTBUFBEGIN
PVTBUFLEN
PVTMODE
PVTPOS0

Type:

INT

Address:

0x028C

Type:

ULONG

Address:

0x0984

Type:

ULONG

Address:

0x0984

Type:

UINT

Address:

0x0302

Type:

UINT

Address:

0x0303

Type:

INT

Address:

0x0257

Type:

LONG

Address:

0x02B8

Type:

INT

Address:

0x022A

Type:

ULONG

Address:

0x02F2

Type:

UINT

Address:

0x036A

Type:

LONG

Address:

0x091A

Type:

LONG

Address:

0x091C

Type:

LONG

Address:

0x091E

Type:

LONG

Address:

0x0920

Type:

INT

Address:

0x0864

Type:

INT

Address:

0x0865

Type:

UINT

Address:

0x086B

Type:

LONG

Address:

0x0869

705

MPD User Manual

PVTSENDOFF
PVTSTS
PWMPER
REFTST
REFTST_A
REFTST_V
RESRATIOX
RESRATIOY
RESRATIOZ
RINCTST
RINCTST_A
RINSTST_V
RPOS
RTIME
SATPWM
SCR
SEGBUFBEGIN
SEGBUFLEN

Type:

INT

Address:

0x092B

Type:

INT

Address:

0x0863

Type:

UINT

Address:

0x0252

Type:

INT

Address:

0x0281

Type:

INT

Address:

0x0281

Type:

INT

Address:

0x0281

Type:

ULONG

Address:

0x0880

Type:

ULONG

Address:

0x0882

Type:

ULONG

Address:

0x0884

Type:

INT

Address:

0x0280

Type:

INT

Address:

0x0280

Type:

INT

Address:

0x0280

Type:

FIXED

Address:

0x02BA

Type:

LONG

Address:

0x02C2

Type:

INT

Address:

0x0254

Type:

UINT

Address:

0x0300

Type:

ULONG

Address:

0x0864

Type:

ULONG

Address:

0x0865

706

MPD User Manual

SEGBUFSTS
SERRMAX
SFI2T_D
SFI2T_M
SFTADIN
SFTKII
SFTKPI
SLAVEID
SLPER
SRH
SRHMASK
SRL
SRL_MASK
T1MAXPROT
T1ONA
T1ONB
T2MAXPROT
TACC

Type:

ULONG

Address:

0x0711

Type:

INT

Address:

0x0879

Type:

INT

Address:

0x098C

Type:

INT

Address:

0x0819

Type:

INT

Address:

0x025D

Type:

INT

Address:

0x0274

Type:

INT

Address:

0x0272

Type:

INT

Address:

0x0311

Type:

INT

Address:

0x0251

Type:

UINT

Address:

0x090F

Type:

UINT

Address:

0x0963

Type:

UINT

Address:

0x090E

Type:

UINT

Address:

0x0962

Type:

UINT

Address:

0x0298

Type:

UINT

Address:

0x0284

Type:

UINT

Address:

0x0285

Type:

UINT

Address:

0x0299

Type:

FIXED

Address:

0x02B6

707

MPD User Manual

TERRMAX
THTST
TIMAXPROT
TIME0
TINCTST
TJERK
TMLINPER
TONPOSOK
TPOS
TREF
TSERRMAX
TSPD
UMSXPORT
IMINPROT
UPGRADE
UQREF

Type:

UINT

Address

0x02C6

Type:

INT

Address:

0x0282

Type:

UINT

Address:

0x02C4

Type:

LONG

Address:

0x02BE

Type:

INT

Address:

0x0283

Type:

LONG

Address:

0x08D1

Type:

UINT

Address:

0x0983

Type:

UINT

Address:

0x036B

Type:

LONG

Address:

0x02B2

Type:

LONG

Address:

0x02AE

Type:

UINT

Address:

0x087A

Type:

FIXED

Address:

0x02B4

Type:

UINT

Address:

0x029A

Type:

UINT

Address:

0x029B

Type:

UINT

Address:

0x0857

Type:

INT

Address:

0x0232

708

MPD User Manual

Source Exif Data:

File Type                       : PDF
File Type Extension             : pdf
MIME Type                       : application/pdf
PDF Version                     : 1.7
Linearized                      : Yes
Author                          : Electrocraft
Create Date                     : 2014:06:25 11:46:50+01:00
Modify Date                     : 2014:09:26 15:53:26-04:00
XMP Toolkit                     : Adobe XMP Core 5.2-c001 63.139439, 2010/09/27-13:37:26
Metadata Date                   : 2014:09:26 15:53:26-04:00
Format                          : application/pdf
Title                           : Motion Programming using MotionPRO Developer - User Manual
Creator                         : Electrocraft
Document ID                     : uuid:61052652-06e8-6542-b561-3bafd703905f
Instance ID                     : uuid:96336036-6fbb-4d48-bb21-4bd6d507c954
Page Count                      : 720

EXIF Metadata provided by EXIF.tools

Motion Programming Using MotionPRO Developer User Manual F900H A11229 PRO UM Rev1 (optred)

Navigation menu

Versions of this User Manual:

Views

Navigation