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The information in this book has been carefully checked and is believed to be accurate; however, no
responsibility is assumed for inaccuracies.

Intelligent Motion Systems, Inc., reserves the right to make changes without further notice to any products
herein to improve reliability, function or design. Intelligent Motion Systems, Inc., does not assume any liability
arising out of the application or use of any product or circuit described herein; neither does it convey any
license under its patent rights of others. Intelligent Motion Systems and

are trademarks of Intelligent

Motion Systems, Inc.

Intelligent Motion Systems, Inc.’s general policy does not recommend the use of its products in life support or
aircraft applications wherein a failure or malfunction of the product may directly threaten life or injury. Per
Intelligent Motion Systems, Inc.’s terms and conditions of sales, the user of Intelligent Motion Systems, Inc.,
products in life support or aircraft applications assumes all risks of such use and indemnifies Intelligent Motion
Systems, Inc., against all damages.

TM

© 2000 Intelligent Motion Systems, Inc.
All Rights Reserved

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Summary of Contents for MicroLYNX

Page 1: ...igent motion systems inc Excellence in Motion 370 N MAIN ST PO BOX 457 MARLBOROUGH CT 06447 PH 860 295 6102 FAX 860 295 6107 Internet www imshome com E Mail info imshome com Hardware Software Applications TM Downloaded from Arrow com ...

Page 2: ...tent rights of others Intelligent Motion Systems and are trademarks of Intelligent Motion Systems Inc Intelligent Motion Systems Inc s general policy does not recommend the use of its products in life support or aircraft applications wherein a failure or malfunction of the product may directly threaten life or injury Per Intelligent Motion Systems Inc s terms and conditions of sales the user of In...

Page 3: ...inal Software 18 Using the LYNX Terminal Software 20 Section 6 Controlling Motor Current 22 Current Control Variables 22 Section 7 Setting The Motor Resolution 23 Setting the Motor Resolution Exercise 23 Section 8 Using The Isolated Digital I O 24 The Isolated Digital I O Defined 24 Setting the Pull up Voltage 25 The Input Output Setup Variable 26 The IO Variable 30 Setting the Digital Filtering f...

Page 4: ...Feed 70 AND OR 72 On The Fly 73 Registration 75 Traverse 78 Appendix A Software Summary 81 Appendix B Troubleshooting 87 Beginning to Troubleshoot 87 Troubleshooting Communications 87 Troubleshooting Software 87 Contacting Application Support 89 Appendix C Error Table 90 Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com ...

Page 5: ...solution Plug on accessory modules allow control system designers to tailor the MicroLYNX System to their needs with minimal cost The MicroLYNX may be field upgraded by simply removing the side cover and adding expan sion modules The MicroLYNX software is upgradeable by using the IMS LYNX Terminal Software Updates are posted on the IMS website and may be downloaded This allows older units the abil...

Page 6: ...rrent Software Programmable MicroLYNX 4 to 4A Peak MicroLYNX 7 to 7A Peak Microstep Resolution of settings 14 Steps per Revolution 1 8 Motor 400 800 1000 1600 2000 3200 5000 6400 10000 12800 25000 25600 50000 51200 Isolated Digital I O See Section 8 Using the Isolated Digital I O for usage instructions Number of I O 6 std expandable to 24 Input Voltage 5 to 24VDC Output Current Sink 350mA per Line...

Page 7: ...ications Dimensions See figure 1 1 of Expansion Modules 3 Cooling Built in fan Recommended Mounting Hardware 2 6 M3 5 machine screws Mounting Screw Torque 5 to 7 lb in 0 60 to 0 80 N m Environmental Specifications Operating Temperature 0 to 50 C Storage Temperature 20 to 70 C Humidity 0 to 90 non condensing Figure 1 1 Dimensional Information Dimensions in Inches mm Downloaded from Arrow com Downlo...

Page 8: ...nd Isolated PIN 1 RS 232 RX PIN 2 RS 232 TX PIN 3 RS 485 RX PIN 4 RS 485 RX PIN 5 RS 485 TX PIN 6 Communications Ground PIN 7 RS 485 TX MicroLYNX Connections Communications 7 Position Phoenix I O 10 Pin Header 1 13 2 3 4 5 6 8 7 9 10 11 12 14 15 16 17 18 19 20 21 22 23 24 25 PIN 3 RS 232 Receive Data RX PIN 2 RS 232 Transmit Data TX PIN 7 Communications Ground 25 Pin Serial COM Port 1 6 7 8 9 2 3 ...

Page 9: ...ectly from the terminal to the MicroLYNX Instruction LYNX software component used to direct events inside or outside a program Isolated Digital I O MicroLYNX programmable I O Electrically isolated from motor power ground Label 1 to 8 character alpha numeric name that may be assigned to a program subrou tine or user defined variable or flag MUNITs The munit term is derived from the MUNIT or Motor U...

Page 10: ...eed to purchase in addition to the MicroLYNX System in order to duplicate these exercises An Unregulated Power Supply Section 2 Power Cabling Section 2 AC Line Cord Section 2 Stepping Motor Section 3 Motor Cabling Section 3 Communications Cable Section 4 IBM compatible 486 or higher PC w free COM Port run ning a 32 bit Windows version 95 98 NT 4 0 or 2000 NOTE This is only required if you are goin...

Page 11: ...LYNX ie The MicroLYNX 4 would use an ISP200 4 and a MicroLYNX 7 would use an ISP200 7 See the IMS full line catalog for specifications on these supplies Cabling Shielded twisted pair cabling should be used to make the power supply connec tions to the MicroLYNX The following wire gauges MicroLYNX 4 18 gauge MicroLYNX 7 16 gauge How to Connect Power IMS suggests the use of unregulated properly sized...

Page 12: ...ical noise Figure 2 1 MicroLYNX Power Connection ISP200 4 ISP200 4 MICRO TM M icroLYNX 1 2 3 RX TX CGND V GND 120 VAC IN Ensure that the DC output of the power supply does not exceed the maximum input voltage All power supply wiring should be shielded twisted pair to reduce system noise Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Download...

Page 13: ...0 D M2 2232 S M2 2232 D M2 2240 S M2 2240 D 34 Frame MicroLYNX 7 Single Shaft Double Shaft M2 3424 S M2 3424 D M2 3437 S M2 3437 D M2 3450 S M2 3450 D Enhanced Higher Torque Stepping Motors IMS also carries a new series of 23 frame enhanced stepping motors that are recommended for use with the MicroLYNX System Single Shaft Double Shaft MH 2218 S MH 2218 D MH 2222 S MH 2222 D MH 2231 S MH 2231 D Fo...

Page 14: ...ring versatility to small motors These motors employ a unique multi func tional hollow shaft design By mounting a miniature ball screw to the front shaft face the IOS motor can be converted to a ball screw linear actuator In addition to offering long life and high efficiency ball screw linear actuators may be field retrofitted There is no need to throw the motor away due to wear of the nut or scre...

Page 15: ...ons where higher torque at lower speeds is desired This configuration is also referred to as full copper Use the per phase or unipolar current rating as the peak output current PHASE A NO CONNECTION NO CONNECTION PHASE A PHASE B PHASE B Figure 3 3 6 Lead Motor Full Coil Connection If you need higher torque output at lower speeds connect me in a full coil configuration For higher torque output at h...

Page 16: ...tion of 8 lead motor the torque output will be increased at higher speeds This configuration is also referred to as half copper In setting the driver output current multiply the specified per phase or unipolar current rating by 1 4 to determine the peak output current PHASE A PHASE A PHASE B PHASE B Figure 3 5 4 Lead Motor Connections Downloaded from Arrow com Downloaded from Arrow com Downloaded ...

Page 17: ...ons cable if 7 pin terminal version of the MicroLYNX is used A free COM port on a PC Connecting Communications RS 232 Interface The following diagram and table illustrate the connection of both the RS 232 and the RS 485 interface to the MicroLYNX 4 Align pin 1 of the cable indicated by the red strand with pin 1 of the communications connector indicated by the dot on the MicroLYNX Figure 4 1 MicroL...

Page 18: ...5 n i P D N G C 6 n i P D N G C 7 n i P D N G C 5 n i P Table 4 1 RS 232 Interface Connection When using the RS 232 interface the MicroLYNX must be within 50 feet of the communications host RS 485 Interface In a system consisting of a single MicroLYNX the RS 485 interface should be used if the MicroLYNX will be more than 50 feet from the host PC Since most PC s do not come with an RS 485 interface...

Page 19: ... X R X T 8 5 X R X T 9 7 D N G C D N G C 5 0 1 6 Table 4 2 RS 485 Interface Connection board in an open slot in your PC or purchase an RS 232 to RS 485 converter such as the CV 3222 sold by IMS The following table and diagram illustrate the connection of the RS 485 interface COMMUNICATIONS PIN 1 PIN 2 PIN 9 PIN 10 Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downlo...

Page 20: ...the MicroLYNX The LYNX Terminal is also necessary to upgrade the software in your MicroLYNX These updates will be posted to the IMS website at www imshome com as they are made available To install the LYNX Terminal to your hard drive insert the CD into your CD ROM Drive The 3 5 CD while smaller than typical compact disks will work in any horizontally mounted tray type CD drive To start the install...

Page 21: ...ER XXXXXXXXX If you can see this sign on message then you are up and running If the sign on banner does not appear try using a software reset hold down the Ctrl key and press C C If the sign on banner still doesn t appear then there may be a problem with either the hardware or software configuration of the MicroLYNX or Host PC See Appendix B Troubleshooting for more informa tion Figure 5 1 LYNX Te...

Page 22: ... Termi nal preferences are adjusted for the new BAUD settings Downloading a Program to the MicroLYNX There are two ways to download programs to the MicroLYNX 1 Directly from the text editor window of the LYNX Terminal 2 From a text file located on a hard drive or removeable disk To download a program from the text editor window click the menu item Trans fer Download The dialog shown in Figure 5 3 ...

Page 23: ...he program will transfer from the MicroLYNX Programs may be uploaded from the MicroLYNX to a text file by selecting Desti nation Type File on the dialog and typing in a drive location file name in the File Name box on the dialog Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from...

Page 24: ... 75 MHC 50 set holding current to 50 VI 10000 set initial velocity to 10000 munits sec ACCL 1000000 set acceleration to 1000000 munits sec2 MOVR 2000000 index relative 2000000 munits HOLD 2 suspend program until motion completes END PGM Acceleration current can be set higher for higher torque output during acceleration allowing the run current to be set to a lower value when the torque isn t neede...

Page 25: ...delay program 1 sec MSEL 8 set resolution to 8 msteps step DELAY 10000 END PGM Transfer the program to the MicroLYNX by clicking the menu item Transfer Download and selecting Edit window as the source Run the program by typing EXEC 200 in the terminal The motor should speed up as it cycles through the resolution setting s g n i t t e S n o i t u l o s e R p e t s o r c i M r e t e m a r a P L E S ...

Page 26: ...LYNX and standard sensors and switches The Pin Configuration of the Isolated I O The following figure illustrates the pinout of I O group 20 The is the voltage of the I O it is HIGH if it is 5 to 24 VDC or LOW if it is 0 VDC The is read as a 1 or a 0 where 1 is considered to be Active ON and 0 is considered to be Inactive OFF as determined by the LEVEL of the I O and how the I O was defined to res...

Page 27: ...lines being pulled up must be placed in the ON position This is not to be used as a 5VDC output only as a pull up voltage if the user doesn t wish to supply an external voltage External 5 to 24VDC Supply If a higher voltage is needed an external supply may be connected The pull up switches will be ON and the V output of the supply connected to pin 1 V PULLUP and the supply return GND would be conn...

Page 28: ...configurations of the IOS IOS X X X X X To configure an entire I O Group enter the Group 20 30 40 or 50 here To configure an individual I O Line enter the Line 21 26 31 36 41 46 or 51 56 here Enter I O Line Type Here 0 General Purpose 9 Start Input 10 Stop Input 11 Pause Input 12 Home Input 13 Lim it Plus Input 14 Lim it M inus Input 15 Status Output 16 Jog Plus Input 17 Jog Minus Input 18 Moving ...

Page 29: ...ucts the MicroLYNX to set I O line 22 to be a dedicated Soft Stop input Since it is an input the second parameter is set to 0 The third parameter is set 0 or active LOW as the switch will pull the input down to ground Now we test the configuration by entering SLEW 200000 into the terminal the LED should turn off Press the switch The motor should stop and the LED illuminate When setting a dedicated...

Page 30: ...GM 200 start program at address 200 LBL IO_TEST name program IO_TEST MOVR 51200 index to relative position 51200 HOLD 2 hold program execution until motion completes IO 21 1 set I O line 21 active DELAY 2000 wait 2 seconds IO 21 0 set I O line 21 inactive BR IO_TEST loop to beginning of program END PGM When completed download the program to your MicroLYNX by clicking the menu item Transfer Down lo...

Page 31: ...n HOLD 2 suspend program until motion completes IO 21 1 set I O line 21 active DELAY 500 wait 0 5 seconds IO 21 0 set I O line 21 inactive BR ON_IN IO 22 1 loop to ON_IN while I O line 22 is active RET return from subroutine END PGM Download the program to your MicroLYNX Test its operation by entering EXEC 200 or IO_TEST2 in the terminal window The motor and LED should operate as it did in the pre...

Page 32: ... This would branch to address 200 when I O line 22 is inactive Writing to an output is accomplished by entering the following into a terminal or program IO 21 1 IO 21 0 This would change the state of I O line 21 Read Write an I O Group When using the IO variable to read the state of a group of inputs outputs or write to a group of outputs you would first want to configure the entire I O group to b...

Page 33: ...e illuminated and 25 24 and 23 should be off Enter this next IO 20 7 Now I O 21 22 and 23 should be illuminated IO 20 49 I O 26 25 and 21 are illuminated 9V Battery V PULL I O 21 I O 22 I O 23 I O 24 I O 25 I O 26 I O GND Figure 8 6 IO Variable Exercise Setup 1 1 1 0 0 0 BINARY STATE OF I O GROUP 20 IO 20 35 I O 21 LSB I O 26 M SB I O 22 I O 23 I O 24 I O 25 32 2 1 16 8 4 BIT WEIGHT DISTRIBUTION T...

Page 34: ...the Digital Filtering for the I O IOF User definable digital filtering makes the MicroLYNX well suited for noisy industrial environments The IOF variable allows the user to software select filter settings ranging from 215 Hz to 27 5 kHz The IOF variable has 1 param eter with a range of 1 to 7 These are shown in table 8 2 O I d e t a l o s I e s o p r u P l a r e n e G e h t r o f s g n i t t e S r...

Page 35: ...able slot The IMS Part for this item is MX AJ100 000 Terminal Block or MX AJ200 000 Pin Header Choosing the Expansion Modules for Your Application A powerful feature of the MicroLYNX is the versatility offered by its wide range of configurations available through the expansion modules The expansion modules listed above may be used singly or in combination to customize your MicroLYNX System to the ...

Page 36: ...u p n I g o l a n A l o r t n o C k c i t s y o J X 1 T O L S X 2 T O L S X 3 T O L S r o t u p n I g o l a n A l o r t n o C k c i t s y o J k c a b d e e F r e d o c n E 1 T O L S X 2 T O L S X 3 T O L S l a n o i t i d d A 6 O I d e t a l o s I r o t u p n I g o l a n A l o r t n o C k c i t s y o J k c a b d e e F r e d o c n E X 1 T O L S X 2 T O L S X 3 T O L S Table 9 1 MicroLYNX Expansion ...

Page 37: ... u l l u p 4 3 3 O I 3 4 O I 3 5 O I 3 3 O I 3 4 O I 3 5 O I 5 4 3 O I 4 4 O I 4 5 O I C N C N C N 6 5 3 O I 5 4 O I 5 5 O I 4 3 O I 4 4 O I 4 5 O I 7 6 3 O I 6 4 O I 6 5 O I C N C N C N 8 D N G O I D N G O I D N G O I 5 3 O I 5 4 O I 5 5 O I 9 D N G O I D N G O I D N G O I 0 1 6 3 O I 6 4 O I 6 5 O I Table 9 2 Isolated Digital I O Group and Line Locations by Connector Option and Slot Downloaded f...

Page 38: ...ur supply on each module Figure 9 2 The Isolated Digital I O Module Bottom View Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Download...

Page 39: ...i t a c i f i c e p S y c n e u q e r F k c o l C x a M z H M 5 g n i r e t l i F t u p n I l a t i g i D z H M 5 o t z H k 9 3 r e w o P r e d o c n E t u p t u O C D V 5 d e n i b m o C s t u p t u O l l A t i m i L t n e r r u C A m 0 5 1 n o i t i s o P t o l S 3 r o 2 s e l u d o M e l b a s U x a M 2 Table 9 3 Electrical Characteristics Figure 9 3 Powering Multiple Isolated Digital I O Modul...

Page 40: ... Expansion Module Tightening Torque Specification For A 4 to 5 lb in 0 45 to 0 56 N m Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Do...

Page 41: ... in accordance with Figure 9 1 6 Affix labels as shown Use a highlighter or marker pen to highlight slot s used The Four Clocks Explained The MicroLYNX has four clock pairs that are used by the high speed I O One of these clock pair 11 and 12 is fixed as an output and is used internally to provide step clock and direction pulses to the driver section of the MicroLYNX The step clock output incremen...

Page 42: ...gh Speed Differential I O IOS X X X X X X X X Enter the Channel 13 18 here Enter I O Line Type Here 1 C lock 1A 2 3 4 5 6 7 8 C lock 1B C lock 2A C lock 2B C lock 3A C lock 3B C lock 4A C lock 4B D efine Line or Group A s Input or O utput 0 Input 1 O utput D efine the C lock Type 0 Not A Clock 1 Q uadrature 2 S tep D irection 3 Up D ow n S et the state of the Line or Group 0 Active Low 1 Active Hi...

Page 43: ...ion so you would want your expansion module inserted into expansion slot 2 Connect your encoder as shown in the following figure and table MICRO TM MicroLYNX 1 2 3 G ND 5V DC Channel B Channel A Channel B Channel A Differential Encoder Stepping Motor Connection Showing 8 Position Phoenix Terminal Connection Showing 10 Pin Header G ND G ND 5V DC 5V DC Channel B 14 Channel A 13 Channel B 14 Channel ...

Page 44: ... by entering the following into your terminal MOVR 10 the motor moves 10 revolutions we hope PRINT POS we read the POS variable it should say 10 000 PRINT CTR2 we read CTR2 it should read 10 X EUNIT or 20000 Introducing The EUNIT Encoder UNITS Variable During open loop operation the MicroLYNX takes the number of clock pulses registered on CTR1 scales that number using the MUNIT variable and then w...

Page 45: ...5 hold current to 25 PROGRAM PGM 200 CTR2 0 POS 0 MOVR 1 HOLD 2 DELAY 250 PRINT rEncoder Count CTR2 Position Count POS e K MOVR 10 HOLD 2 DELAY 250 PRINT rEncoder Count CTR2 Position Count POS e K MOVR 11 HOLD 2 DELAY 250 PRINT rEncoder Count CTR2 Position Count POS e K BR 200 END PGM Execute the program by entering EXEC 200 into the terminal Downloaded from Arrow com Downloaded from Arrow com Dow...

Page 46: ...pulses will register to CTR3 I O channels 17 and 18 can be used for this also only there is no registration of clock pulses IOS 13 3 0 1 0 1 1 I O 13 quad input ratio mode IOS 14 4 0 1 0 1 1 I O 14 quad input ratio mode HAE 1 Enable half axis scaling mode HAS 5 Half axis scaling variable to 5 1 output pulse on the pri axis for 2 input pulses With this configuration one 1 step clock pulse will outp...

Page 47: ... l o V m u m i x a M e t u l o s b A s t l o v 4 2 e g a t l o V e c n e r e f e R k c i t s y o J s t l o v 5 e c n e r e f e R n o i t a r b i l a C n o i s i c e r P e g a t l o V s t l o v 6 9 0 4 2 0 e c n a r e l o T e g a t l o V e c n e r e f e R n o i t a r b i l a C 2 q e r F f f o t u C r e t l i F t u p n I g o l a n A z H 8 5 6 n o i t i s o P t o l S 3 r o 2 1 e l b a s U m u m i x a...

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Page 49: ...will be in psi Note that the full scale output of the transducer does not have to equal the Analog Module full scale This setup would be expressed thus ADS 1 50 5 1 Example 2 A 1 8 degree per full step motor connected to a lead screw with a lead of 1 inches rev The step motor drive is set for 32 usteps per full step A joystick is connected to channel 1 To program speed and motion in inches set mun...

Page 50: ...S IO N B O A R D S G N D AIN 1 1k Potentiometer Ω M otor Power and Comm unications Connections not shown Figure 9 10 Analog Input Module Exercise Connection Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloade...

Page 51: ...turn from subroutine LBL BTEST declare subroutine BTEST VM 5 max velocity 5 munits sec MOVA 22 index to abs pos 22 HOLD 2 suspend prog until motion completes RET return from subroutine Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloa...

Page 52: ...e factory defined variables are avail able in the instruction set summary in Appendix A of this document In the case where a variable has been covered in depth earlier in this document A Variable is a component of the LYNX instruction set that allows you to store read and manipulate numeric data They can also be used to effect events inside a program Downloaded from Arrow com Downloaded from Arrow...

Page 53: ...microsteps Since 0 25 X 4 is 1 00 204 800 1 00 204 800 You would enter M UNIT 204 800 This would set the scaling factor to inches in this exam ple By entering M O VR 3 316 The m otor would m ove 3 136 inches M UNIT 204800 4 Revolutions Inch Leadscrew M otor Drive LYNX M UNIT SE TTING Step Revolution 200 Steps 256 m icrosteps X X SETTING THE MUNIT VARIABLE Figure 10 1 Setting the MUNIT Variable Dow...

Page 54: ...from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow...

Page 55: ...ze Parameters This instruction uses the keywords ALL VARS FLAGS and IOS to selectively or completely restore factory defined variables flags and I O lines to their default state If the IP instruction is not followed by a keyword the MicroLYNX will initialize all factory defined VARS FLGS IOS Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Dow...

Page 56: ...ecified absolute position relative to zero 0 There are 2 modes that may be used with it 1 Mode 0 will decelerate to position and stop 2 Mode 1 will not decelerate See the following figure and program example for illustration of MOVA modes Enter the following program in the text editor window The test condition for this demo was a MicroLYNX 4 and an IMS M2 2220 23 frame motor You may Downloaded fro...

Page 57: ... SLEW 200000 1 slew the motor at 200 000 munits sec no accel Use of Mode 1 may cause the axis to stall depending on the motor load and maximum velocity Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded fro...

Page 58: ...ns for a user defined flag are the same as for labels declared with the LBL instruction These flags can be either global declared in immediate mode or local declared within a program Local flags are erased and re declared again when a program is executed Usage Example Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com D...

Page 59: ... differs from DELAY in that it suspends program execution until a specified motion velocity change or position change com pletes Typically a HOLD 2 will be issued following a MOVA or MOVR This instructs the MicroLYNX to suspend the program until the previously instructed motion is complete Global Flags and Variables are declared outside of a program Local Flags and Variables are declared within a ...

Page 60: ... location within that subroutine A subroutine invoked using the CALL instruction have a return statement RET at the end of the subroutine MUST Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow c...

Page 61: ... status flags Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow ...

Page 62: ... re entered to edit or debug LYNX Programming 11 Using all UPPERCASE characters for commands and lowercase characters for comments make for easier program editing and debugging Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from...

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Page 64: ...ut at 10 revs IO 21 0 RET PGM Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downlo...

Page 65: ... subroutine to capture an error location 4 BREAK Instruction allows the user to set break points within a program These and other program debugging tools are explained in greater detail in Appendix B Troubleshooting Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Do...

Page 66: ...nd prog until motion completes INC COUNT increment COUNT PRINT COUNT COUNT display value of COUNT BR IN_CNT uncond branch to IN_CNT END PGM Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com ...

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Page 78: ...m Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow co...

Page 79: ...aded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from ...

Page 80: ...com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downlo...

Page 81: ... Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com...

Page 82: ...from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow...

Page 83: ...D 0 d e l b a n E 1 1 R T C e l b a i r a V r e t n u o C 1 k c o l C l a u n a M e e S U M 0 0 0 0 0 0 7 4 1 2 S T I N 2 R T C e l b a i r a V r e t n u o C 2 k c o l C l a u n a M e e S U E 0 0 0 0 0 0 7 4 1 2 S T I N Asterisk indicates default Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow c...

Page 84: ...d e l b a n E 1 S O I F n o i t c u r t s n I h c t i w S O I d n i F l a u n a M e e S S G A L F d r o w y e K s g a l F e v e i r t e R T E G S G A L F T N I R P S G A L F P I S G A L F G L F n o i t c u r t s n I g a l F r e s U e n i f e D l e b a l G L F T E G s g a l F d n a s e l b a i r a V e v e i r t e R n o i t c u r t s n I S G A L F T E G S R A V T E G L L A T E G Downloaded from Arro...

Page 85: ...T L C D L 4 0 L C E D L e l b a i r a V n o i t a r e l e c e D t i m i L m u n L C E D L c e s S T I N U M 2 P T S M I L g a l F p o t S i t m i L 1 0 P T S M I L g o r P p o t S t n o D 0 g o r P p o t S 1 T S I L e c a p S m a r g o r P d e r o t S t s i L n o i t c u r t s n I e d o m r d d a l b l T S I L 1 o t t s i L 0 t s D N E l l a t s i L 1 O G O L e l b a s i D e l b a n E r e n n a B ...

Page 86: ... i s o P s i x A n o i t i s o p S O P S O P T N I R P s t i n u m P A C S O P p i r T f o e m i T t a n o i t i s o P s i x A e l b a i r a V P A C S O P T N I R P T N I R P n o i t c u r t s n I T N I R P l a u n a M e e S 1 T N I R P n o i t c u r t s n I 1 M M O C X N Y L o t T N I R P l a u n a M e e S 2 T N I R P n o i t c u r t s n I 1 M M O C X N Y L o t T N I R P l a u n a M e e S Downloa...

Page 87: ...i t i s o P n o p i r T s g a l F 1 0 x E P T d e l b a s i D 0 d e l b a n E 1 4 T T 1 T T s e l b a i r a V r e m i T n o p i r T l a u n a M e e S 4 E T T 1 E T T s g a l F e l b a s i D e l b a n E r e m i T n o p i r T 1 0 x E T T d e l b a s i D 0 d e l b a n E 1 4 R T T 1 R T T g a l F d a o l e R r e m i T n o p i r T 1 0 x R T T t a e p e R t n o D 0 t a e p e R 1 Downloaded from Arrow co...

Page 88: ...rom Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow ...

Page 89: ... or mistakes in wiring Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded fr...

Page 90: ...row com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Do...

Page 91: ...Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com ...

Page 92: ...wnloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded f...

Page 93: ...Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded...

Page 94: ... Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloade...

Page 95: ...nloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded fr...

Page 96: ...ownloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded ...

Page 97: ...om Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow c...

Page 98: ...oaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from Arrow com Downloaded from...

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