PMC MultiFlex PCI 1000 Series User manual

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MultiFlexPCI
1000 Series
PCI Motion Controller - User’s Manual
Revision 2.5
Precision MicroControl Corporation
2075-N Corte del Nogal
Carlsbad, CA 92009 * USA
Tel: [phone]
Fax: [phone]
www.pmccorp.com
Information: [email protected]
Technical Support: [email protected]
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Precision MicroControl Corp.
LIMITED WARRANTY
All products manufactured by PRECISION MICROCONTROL CORPORATION are guaranteed to be free
from defects in material and workmanship, for a period of 2 years from the date of shipment. Liability is
limited to FOB Factory repair, or replacement, of the product. Other products supplied as part of the
system carry the warranty of the manufacturer.
PRECISION MICROCONTROL CORPORATION does not assume any liability for improper use or
installation or consequential damage.
© Copyright Precision Micro Control Corporation, 2004-2012. All rights reserved.
Information in this document is subject to change without notice.
Intel is a registered trademark of Intel Corporation.
Microsoft®and Windows®are registered trademarks of Microsoft Corporation.
Acrobat®and Acrobat Reader®are registered trademarks of Adobe Corporation.
Precision MicroControl Corp.
2075-N Corte del Nogal
Carlsbad, CA 92011 • USA
Tel: [phone]
Fax: [phone]
Web: www.pmccorp.com
Email: [email protected]
[e-mail]
[email protected]
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MultiFlex PCI 1000 Series User's Manual
i
Table of Contents
Prologue.......................................................................................................................................................3
Introduction .................................................................................................................................................5
Motion Control Primer..............................................................................................................................11
Axis I/O....................................................................................................................................................15
The Command Set - the heart of the motion controller...........................................................................16
Executing Operations with MCCL ...........................................................................................................17
Closed loop, open loop, and position verification....................................................................................20
Why does a servo need to be tuned?......................................................................................................22
Position Feedback - Quadrature Incremental Encoder...........................................................................24
Servo Amplifiers: Current Mode versus Velocity Mode...........................................................................25
Stepper Motors - Full Step versus Micro Step ........................................................................................26
Homing - Why, When, and How..............................................................................................................27
Software, Programming and Utilities......................................................................................................29
Controller Interface Types.......................................................................................................................30
Building Application Programs using Motion Control API .......................................................................31
MCSpy - application program diagnostic tool..........................................................................................36
PMC Sample Programs...........................................................................................................................37
Motion Control API On-line Help.............................................................................................................38
Motion Integrator .....................................................................................................................................40
PMC Utilities............................................................................................................................................43
Connecting to the Controller ...................................................................................................................47
+/- 10V Analog Servo Command Connections .......................................................................................48
PWM (Pulse Width Modulation) Command Connections........................................................................49
Pulse Command Connections.................................................................................................................51
Amplifier / Driver Enable Connections - Low Active................................................................................52
Driver Disable Connections - Low Active................................................................................................53
Amplifier / Driver Enable Connections - High Active...............................................................................54
Amplifier / Driver Fault Connections........................................................................................................55
Differential Incremental Encoder Connections........................................................................................56
Single Ended Incremental Encoder Connections....................................................................................57
Over-Travel Limit Connections................................................................................................................58
Home Sensor Connections .....................................................................................................................60
TTL Digital Input Connections.................................................................................................................61
TTL Digital Output Connections..............................................................................................................62
A/D Input Connections wiring example ...................................................................................................63
Watchdog Relay Connections.................................................................................................................64
Motion Control...........................................................................................................................................65
Servo (analog command) Axis Setup......................................................................................................65
Tuning the Servo.....................................................................................................................................68
Moving Servo Axes with Motor Mover.....................................................................................................77
Stepper (pulse command) Axis Setup.....................................................................................................78
Moving Stepper Axes with Motor Mover..................................................................................................85
Contour Motion (arcs and lines)..............................................................................................................91
Electronic Gearing.................................................................................................................................100
Jogging..................................................................................................................................................101
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Table of Contents
Precision MicroControl Corp.
ii
Defining Motion Limits...........................................................................................................................102
Homing Axes.........................................................................................................................................105
Motion Complete Indicators...................................................................................................................117
On the Fly changes ...............................................................................................................................119
Feed Forward (Velocity, Acceleration, Deceleration)............................................................................120
Save and Restore Axis Configuration Settings.....................................................................................122
Application Solutions.............................................................................................................................123
Backlash Compensation........................................................................................................................123
Emergency Stop....................................................................................................................................125
Encoder Rollover...................................................................................................................................127
Flash Memory Firmware Update...........................................................................................................128
Saving and Restoring Axis Configuration Settings................................................................................129
Learning/Teaching Points......................................................................................................................133
Building MCCL Macro Sequences ........................................................................................................135
MCCL Multi-Tasking..............................................................................................................................137
Position Capture....................................................................................................................................140
Position Compare..................................................................................................................................141
Position Verification of an Open Loop Pulse Axis.................................................................................143
PWM Servo Command..........................................................................................................................147
Record Motion Data...............................................................................................................................150
Resetting the Controller.........................................................................................................................151
Single Stepping MCCL Programs .........................................................................................................152
Torque Mode Output Control.................................................................................................................154
Turning off Integral gain during a move.................................................................................................156
Defining User Units................................................................................................................................159
Watchdog Circuit...................................................................................................................................163
General Purpose I/O................................................................................................................................165
Digital I/O...............................................................................................................................................165
Configuring and Exercising the Digital I/O.............................................................................................167
Using the Digital I/O...............................................................................................................................168
A/D Inputs..............................................................................................................................................170
Specifications..........................................................................................................................................173
Motion Control Board.............................................................................................................................173
Analog Command Axis Specifications...................................................................................................174
Pulse Command Axis Specifications.....................................................................................................175
Connectors, I/O and Schematics...........................................................................................................177
VHDCI Connectors................................................................................................................................178
Controller Status LED Indicators...........................................................................................................179
Controller Potentiometers......................................................................................................................180
Connector Pinout – MultiFlex PCI 1440................................................................................................181
Connector Pinout – MultiFlex PCI 1040................................................................................................185
Signal Descriptions................................................................................................................................190
Motor Command Signals.......................................................................................................................190
Encoder Feedback Signals....................................................................................................................191
Default Axis Inputs.................................................................................................................................191
Default Axis Outputs..............................................................................................................................193
Default Configuration of General Purpose I/O ......................................................................................195
Circuit Schematics.................................................................................................................................197
Troubleshooting......................................................................................................................................201
Controller Error Codes...........................................................................................................................211
Motion Control API Error Codes............................................................................................................212
MCCL Error Codes................................................................................................................................213
Glossary...................................................................................................................................................215
Appendix..................................................................................................................................................219
Default Axis Configuration Settings.......................................................................................................219
Index.........................................................................................................................................................221
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MultiFlex PCI 1000 Series User's Manual
3
Prologue
This document provides configuration, programming and application information for the MultiFlex PCI
1000 Series motion controllers. Documentation for this product line includes the following documents:
MultiFlex PCI 1000 Series Quick Start Guide
MultiFlex PCI 1000 Series User’s Manual (this document)
Motion Control API (Application Programming Interface) Reference Manual
Motion Control Command Language (MCCL) Reference Manual
The latest versions of these documents can be downloaded from the Support section of PMC’s web site
at: www.pmccorp.com/support/mfxpci1000.php.
This user manual applies to all MultiFlex PCI 1000 Series models, which include the following:
Table 1. MultiFlex PCI 1000 Series Models
Model Total Analog Step/Dir or Encoder Analog
Axes and/or CW/CCW Channels Inputs
PWM Axes Pulse Axes (standard / (optional)
(Servo) (Stepper/Servo) optional)
MultiFlex PCI 1040 4 - 4 0 / 4 8
MultiFlex PCI 1400 4 4 - 4 8
MultiFlex PCI 1440 8 4 4 4 / 8 8
MultiFlex PCI 1802 8 8* - 8 8
* PWM onlly
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MultiFlex PCI 1000 Series User's Manual
5
Introduction
Figure 1. MultiFlex PCI 1000 Series Board Layout
The MultiFlex PCI 1000 Series are programmable, board-level, PCI-bus motion controllers designed for
high-performance multi-axis control of servo and stepper motors and I/O. Features offered by models in
this series include:
Plug & play PCI universal (3.3 & 5V) half-length card
64-bit floating-point RISC CPU for high precision and dynamic range
Customizable FPGA-based I/O architecture
Up to 8 total axes
4 axes analog servo control (models MultiFlex PCI 1400, 1440)
8 axes PWM servo control (model MultiFlex PCI 1802)
Up to 4 axes Step/Dir/CW/CCW pulse control (models MultiFlex PCI 1040, 1440)
Coordinated motion - interpolation, contouring, spline, master/slave, gearing
Trapezoidal, S-curve and parabolic velocity profiles
Chapter
1
I/O Connectors
J1 & J3 LED Status Indicator Lights
Analog Adjustment
Potentiometers Watchdog Relay Contacts
Encoder Receivers with
Failure Detection Circuits
I/O Connectors
J2 & J4
Digital I/O
Buffer Circuitry
Universal (3.3 & 5V)
PCI-bus Connector 64-bit Floating Point RISC CPU 16 MB DRAM
FPGA
Analog I/O
Circuitry
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Introduction
Precision MicroControl Corp.
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User selectable 2, 4 and 8 kHz servo update rate each axis
16-bit analog servo command outputs
20 mHz encoder inputs for high-speed, high-resolution moves
5 MHz step/direction/CW/CCW outputs for high-speed microstepping
On-the-fly changes in trajectory, direction and PID values
On-board multi-tasking - frees host PC for other tasks
Eight general-purpose 14-bit A/D input channels (optional)
Up to 60 user-assignable digital I/O channels
Encoder-failure detection circuitry for improved machine safety
Sub-microsecond position capture & compare I/O for rapid event triggering & synchronization
Uses widely available, low-noise twisted-pair shielded SCSI cables for all I/O
Programmable in C/C++/C#/.NET, Delphi, LabVIEW, VB and easy-to-use command language
Drivers and example programs with source code for Windows and Linux
Programming API and commands are compatible across all PMC motion controllers
Graphical setup, tuning, diagnostic and example programs
Custom features and performance enhancements are available upon request
Processor
MultiFlex PCI 1000 series motion controllers feature an advanced 64-bit floating-point MIPS CPU core
coupled with PCI interface logic and internal cache memory to provide a powerful processing engine for
high-performance motion control. An embedded multi-tasking real time kernel executes all motion control
operations with 64 bit floating point precision. 16 MB of DRAM and 4 MB of non-volatile FLASH memory
provide on-board memory space for executing both the intrinsic motion control code as well as user
programs. A high-capacity FPGA interfaces directly with I/O such as encoders, analog inputs, control
signals and general-purpose I/O and provides a great amount of flexibility for tailoring the controller to
specific application and performance requirements.
PC computer minimum requirements
MultiFlex PCI 1000 series controllers can communicate with almost any Windows or Linux based
computer equipped with a 32 bit PCI-bus slot. The controller’s CPU executes motion functions
independently of the host PC, so other than the minimum requirements for the selected operating
environment, the controller does not require the use of any additional PC resources.
Programming
Windows and Linux programmers can create flexible and powerful control programs for PMC motion
controllers in two ways:
1. Writing a high-level program (C/C++/C#/VB/Pascal/LabVIEW) that uses the functions supplied as
part of PMC’s Motion Control API (Application Programming Interface)
and/or
2. Using PMC’s embedded multi-tasking Motion Control Command Language (MCCL)
Programmers can use either, or both, programming methods to command and control the motion
controller. For example, a multi-threaded C/C++/C# host application program can control and coordinate
the execution of motion and I/O, while one or more embedded MCCL routines can run simultaneously as
background tasks on the controller board.
PMC’s WinControl terminal emulator utility (a Motion Control API component) provides a low-level
command interface used to send MCCL commands and routines to the controller for immediate
execution, or to download and save MCCL routines (also called “macros”) to the controller for later
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Introduction
MultiFlex PCI 1000 Series User's Manual
7
execution. Any MCCL command or routine can also be downloaded and called from a high-level program
(C/C++/C#/VB etc) via the appropriate Motion Control API function libraries.
For additional information on Motion Control API and MCCL programming, please refer to the Motion
Control API Reference Manual and the Motion Control Command Language (MCCL) Reference
Manual which are both available for download at: www.pmccorp.com/support/mfxpci1000.php.
Motion Control API example
Function prototypes
C/C++ MCMoveAbsolute(HCTRLR hCtlr, WORD axis, double position);
C#/.NET Mcapi.Error Mcapi.MoveAbsolute(Int16 axis, Double position);
Delphi: procedure MCMoveAbsolute( hCtlr: HCTRLR; axis: Word; position: Double ); stdcall;
VB: Sub MCMoveAbsolute(ByVal hCtrlr As Integer, ByVal axis As Integer, ByVal position As Double)
LabVIEW:
//C/C++ Example, Move Axis 1 to position 85000
MCMoveAbsolute( hCtlr, 1, 85000.0 );
MCCL command example
MA Move Absolute
MCCL command :aMAna = Axis number n = integer or real
applies to: Analog Command Axis, Pulse Command Axis
see also: MR,PM
These MCCL command sequences cause the motion controller to execute a move to absolute position n.
;Example:
1MA1000 ;Axis 1 move to position 1000
2MA-25000 ;Axis 2 move to position -25000
The following example illustrates MCCL multi-tasking. This example shows how a user would monitor the
state of a digital input while an axis is moving in order to ‘automatically’ stop the axis as soon as the input
is activated:
;Example:
AL0,AR10 ;define user register 10 as input #4 active
AL0,AR100 ;define user register #100 as background task
MD100,IN4,MJ101,NO,1JR-3 ;jump to macro 101 when digital input #4 turns on
MD101,1ST,1WS.05 ; macro 101 defined, stop axis #1.
AL1,AR10,ET@100 ;terminate background task
i
There is not necessarily a one-to-one relationship between each Motion Control
API function and eacn MCCL command. Although any MCCL command can be
called directly using the Motion Control API’s pmccmdex() function, most Motion
Control API functions ease the task of programming by encapsulating additional
functionality within each function.
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Introduction
Precision MicroControl Corp.
8
Programming Tools
PMC’s Motion Control API provides programmers with a comprehensive function library.
Develop application programs with Visual
C/C++/.NET Comprehensive on-line help provides detailed function descriptions and program samples
Sample programs with full source code are
supplied with the MCAPI. These C++, Visual
Basic, and Delphi sample programs allow the
user to; move an axis (servo or stepper),
monitor position (actual, target, and optimal),
monitor axis status & I/O (Limits +/-, Home,
Index, an Amplifier Enable), define or change
move parameters (Maximum velocity,
acceleration/deceleration), Define or change
the servo PID parameters
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Introduction
MultiFlex PCI 1000 Series User's Manual
9
Software Tools & Utilities
PMC’s Motor Mover allows users to: move any or
all motors, change velocities on the fly, define
cycling routines, monitor position and status
PMC’s Motion Integrator's Setup Wizards
walk the user through the integration
process with external components (motors,
encoders, sensors)
The Servo Tuning Utility includes on-line help assisting
with both using the program and explaining the
fundamentals of servo tuning. A complete Servo Tuning
tutorial is also available on the Motion CD
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10
I/O Configuration Panel
PMC's I/O Configuration Panel (accessible from Windows Control Panel) allows users to re-configure
the channel numbers and logical functions of the digital I/O. The flexibility provided by this unique feature
allows more efficient use of I/O resources and eases the task of connecting the controller to external
devices.
Figure 2. Digital I/O Configuration Panel
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MultiFlex PCI 1000 Series User's Manual
11
Motion Control Primer
Motion Control Architecture
A typical PC-based multi-axis motion control system is comprised of :
A programmable motion controller
A user interface from which to program, command and monitor the motion controller
Two or more servo or stepper motors
An amplifier/driver for each motor
A position feedback device for servo motors or closed-loop stepper motors
End of travel sensors (or limit switches) for axes with linear travel
A mechanical stage and load. In this illustration, a stage is mounted on bearings and a lead screw
is coupled to the motor shaft. When the motor shaft rotates, the stage moves along the lead
screw.
Figure 3: Typical PC-based Motion Control System
Chapter
2
PC computer
Motion Control card
Motor - servo or stepper
Lead screw
Encoder
(stepper optional)
Stage
Positive Limit
sensor
Negative Limit
sensor
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Motion Control Primer
Precision MicroControl Corp.
12
Motion Controller Functional Block Diagram
PC Computer
Servo
Amplifier
Servo
Motor
Quadrature
Encoder
PCI Interface
General Purpose Digital I/O
(PLC type event
sequencing)
PID Filter
Axis 1
Axis 2
Axis 3
... etc.
Encoder
Decode
DAC
(+/- 10V)
Pulse
Axis
Axis I/O
(home, limits,
amp enable..)
Stepper
Driver Stepper
Motor
Digital inputs
Digital outputs
Windows
Device Driver
Application
Programming
Interface
A/D
inputs
(optional)
Analog inputs
+2V to +24V
+2V to +24V
Timer
Interrupts
High-speed encoder capture inputs
High-speed encoder compare outputs
Non-Volatile
User-Program
Storage
Trajectory Generator
(velocity profiles)
Axis 1
Axis 2
Axis 3
... etc.
RAM Memory
Command Processor
Motion Controller
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Motion Control Primer
MultiFlex PCI 1000 Series User's Manual
13
Motion Controller Tasks
The MultiFlex PCI 1000 Series motion controllers feature a 64-bit floating-point CPU, FPGA, I/O buffering
circuitry, a real time kernel and proprietary motion control firmware which work in combination to control
the position, velocity, or torque of as many as twelve axes. The primary operations performed by the
motion controller are:
Trajectory generation (Trapezoidal, S curve, and Parabolic)
PID filter (servo loop)
I/O and error handling
Host communication
On a periodic basis (every 250 microseconds to 1 millisecond, depending on the selected Trajectory
update rate), the controller’s CPU receives an internal interrupt that automatically triggers the execution of
the controller’s trajectory generator. Based on user commanded motion, the trajectory generator then
calculates a new desired positions and velocity values for all axes.
+/- 10 Volt Analog Servo Control
The target positions calculated by the trajectory generator are passed to each respective PID filter for
generation of a +/- 10V analog servo command signal for each axis. In addition to the trajectory
generator, every millisecond, the controller performs housekeeping and error checking (over travel limits
& following error exceeded) tasks.
PID Filter
The position feedback loop or PID (Proportional-Integral-Derivative) filter is executed every 1000, 500 or
250 microseconds (1, 2 or 4 kHz), depending on the servo loop update rate (Low, Medium or High)
chosen by the user. Each PID filter execution results in the writing of a value to the DAC (Digital to Analog
Converter) which is proportional to:
Position error (the difference between the optimal (desired) position and the current position)
Plus the integral of the error
Plus the derivative of the error
The following discrete-time equation illustrates the control performed by the servo controller:
u(n) = Kp*E(n) + Ki sum E(n) + Kd[E(n') - E(n' - 1)]
where u(n) is the analog command output level at sample time n, E(n) is the position error at sample time
n, n' indicates sampling at the derivative sampling rate, and kp, ki, and kd are the discrete-time filter
parameters loaded by the users. The first term, the proportional term, provides a restoring force
proportional to the position error. The second term, the integration term, provides a restoring force that
grows with time. The third term, the derivative term, provides a force proportional to the rate of change of
position error. It provides damping in the feedback loop. The sampling interval associated with the
derivative term is user-selectable; this capability enables the servo controller to control a wider range of
inertial loads.
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Motion Control Primer
Precision MicroControl Corp.
14
Position Feedback via Incremental Encoder
The motion controller monitors the position of a servo via an incremental encoder. Both differential (A+, A-
, B+, B-, Z+, Z-) and single ended (A, B, Z) incremental encoders are supported. The maximum encoder
frequency is 20 MHz (@ 50% duty cycle). The two quadrature signals from the encoder are used to keep
track of the position of the motor. Each time a logic transition occurs at one of the quadrature inputs, the
controller’s position counter is incremented or decremented accordingly. This provides four times the
resolution over the number of lines provided by the encoder. The encoder interface is buffered by a
differential line receiver that includes error detection circuitry that will indicate an encoder fault for the
following conditions:
Open circuit condition
Short circuit condition
Low differential voltage signal
Common mode range violation
Note: For encoder fault detection of a single ended encoder the A-, B-, and Z+/Z- inputs must be
terminated to the 1.5V Encoder Reference signal.
Pulse (Step/Dir/CW/CCW) Command for Stepper or Pulsed Servo Systems
The controller supports the following type of pulse-command axes.
Open Loop Stepper
Open Loop Stepper with encoder feedback for position verification
Closed Loop Stepper
Closed Loop Servo (position loop closed by the servo amplifier)
The default format of the pulse command signal pair is Step/Direction but it can be configured by the user
for Clockwise/Counter Clockwise operation. The step-rate range for a pulse command axis is from a
minimum of 0.1 pulses per second to a maximum of 5 million pulses per second.
Position Feedback via Incremental Encoder
For Pulse Command applications that require position feedback the controller supports both differential
(A+, A-, B+, B-, Z+, Z-) and single ended (A, B, Z) incremental encoders. The maximum encoder
frequency is 20 MHz (@ 50% duty cycle). The two quadrature signals from the encoder are used to keep
track of the position of the motor. Each time a logic transition occurs at one of the quadrature inputs, the
controller encoder position counter is incremented or decremented accordingly. This provides four times
the resolution over the number of lines provided by the encoder. The encoder interface is buffered by a
differential line receiver that includes error detection circuitry for differential encoders that indicates an
encoder fault for the following conditions:
Open circuit condition
Short circuit condition
Low differential voltage signal
Common mode range violation
Note: For encoder fault detection of a single ended encoder the A_, B_, and Z+/Z- inputs must be
terminated to the 1.5V Encoder Reference signal.
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Motion Control Primer
MultiFlex PCI 1000 Series User's Manual
15
Axis I/O
Digital I/O
Dedicated and uncommitted Digital I/O are available on all MultiFlex motion controllers. The motion
controller provides a total of 32 digital inputs and 28 digital outputs. 16 of the digital inputs are bi-
directional optically isolated (+3V to +25 V) and 16 are TTL level. For MultiFlex PCI 1000 series model
1440, four of the bi-directional optically isolated inputs (Limit +, Limit -, Encoder Coarse Home, and
Amplifier Fault) are shared between an analog command axis and a pulse command axis. 12 of the digital
outputs are open-collector drivers and 16 are TTL level. By default each analog command axis includes
an open collect Amplifier Enable output that is capable of sinking 100 mA. By using the I/O Configuration
Panel described on pages 10 and 165, the user can associate any other digital output with the Amplifier
On/Off function.
High-speed I/O
High-speed capture and compare signals are also functions provided via the TTL I/O. Position capture
inputs are provided with up to 1 KHz trigger rate and a minimum pulse duration of less than 100
nanoseconds. High-speed TTL position compare outputs are provided with programmable trigger rates of
greater than 1 MHz and a maximum latency of less than 100 nanoseconds. Position compare
programmable modes of operation include: Strobe (trigger and repeat - up to 1 MHz repeat rate), Static,
Toggle, and One-shot. The Strobe mode of operation is especially useful for triggering line-scan cameras
for high-resolution inspection applications.
For maximum convenience and ease of wiring, the user can re-assign the default functions of the digital
inputs and outputs using the I/O Configuration Panel described on page 10.
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Motion Control Primer
Precision MicroControl Corp.
16
The Command Set - the heart of the motion controller
The motion controller is much more than an I/O card with DAC outputs and encoder inputs. The primary
task of the motion controller is to off load control and monitoring duties from the PC processor. This
requires a powerful and efficient low-level command set. Everything that a motion control card can do
depends on the command set. The command set of a high-performance motion controller should include
the ability to:
Move one, some, or all motors simultaneously
Calculate the trajectories and execute synchronized motion (linear interpolation, circular
contouring, helical motion)
Set trajectory parameters (maximum velocity, acceleration, deceleration)
Set PID filter parameters (proportional gain, derivative gain, derivative sampling period, integral
gain, integral limit, allowable following error, and feed forward)
Report the axis / controller status, current position, target position, and many other parameters
Provide data or interrupt the host PC based on user defined events
Home an axis
The controller’s command set for is called MCCL (Motion Control Command Language) and it supports
more than 200 individual operations. For a complete listing and description of the controller’s command
set please refer to the separate Motion Control Command Language (MCCL) Reference Manual
which is available on PMC’s Motion CD and online at: www.pmccorp.com/support/support.php.
For quick application prototyping and troubleshooting, PMC’s WinControl utility allows the user to issue
MCCL commands directly to the controller. From the keyboard, MCCL commands can be entered one
command at a time and executed as soon as the user hits the ‘Return’ key. From the File menu, the user
can also download an entire MCCL text file to the controller.
Figure 4. WinControl allows the user to issue MCCL commands to the controller
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Motion Control Primer
MultiFlex PCI 1000 Series User's Manual
17
Executing Operations with MCCL
MCCL commands are two character alphanumeric mnemonics built with two key characters from the
description of the operation (eg. "MR" for Move Relative). When an MCCL command (followed by a
carriage return) is received by the controller it will be executed immediately. The following graphic shows
the result of executing the “VE” command. This command causes the controller to report firmware version
and installed memory size.
All axis-related MCCL commands will be preceded by an axis specifier, identifying for which axis the
operation is intended. The following graphic shows the result of issuing the Tell Position (aTP) command
to axis number one.
Note that each character typed at the keyboard should be echoed to the WinControl display. If you enter
an illegal character or an illegal series of valid characters, the controller will echo a question mark
character, followed by an error code. The MCCL Error Code listing can be found on page 213 of this
manual. On receiving this response, you should re-enter the entire command/command string. If you
make a mistake in typing, the backspace can be used to correct it, the controller will not begin to execute
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