Global Variable Declarations

Legacy MCode Variables

Kept for compatibility. These are:

• Ve - MCode version. if Ve != DVER, MCode gets uploaded by IOC.
• Pu - Power-up status flag

Pulse Picker Variables

• Wiki Markup
  *Se* \- Pulse Picker mode \[Se\]lect. Refer to Mode List for a complete list of Se modes.

• Sd - Status indicator register. Used for debugging. Refer to Status List for a complete list of statuses.

• Wiki Markup
  *Sw* \- \[Sw\]eep distance. Number of steps/encoder counts to equal 11.25 degrees of motion.

• Wiki Markup
  *Dr* \- Motor-encoder \[Dr\]ift, or the difference between the encoder count and the motor count. Equals C2-P. Added to P0, P1, P2 for robustness in case of slippage.

• P0 - Center (open) position.
• P1 - Positive closed position, nominally P0+Sw. (Repurposed from standard MCode program.)
• P2 - Negative closed position, nominally P0-Sw.
• Ec - Error checking flag. (0=OFF, 1=ON)
• Ns - Pulse Picker MCode version. (Repurposed from standard MCode program.)
• Hb - Heartbeat counter, incremented approx. every 100ms.

Program 1

Initialization

Declare local variables:

• Po - Position counter shadow register (=P or =C1)
• Cs - Encoder counter shadow register

Code:

• If Se<>0, we are likely experiencing a hard reset. In that case:
  • Signal state change to 80 (Hard Reset Initialization)
  • Set EL (Encoder lines) to 4096, giving 4096 lines * 4 steps/line = 16384 steps/rev
  • Set MS (Microsteps) to 82, giving 82 uSteps/step * 200 step/rev = 16400 uSteps/rev
  • Set EE (Encoder enabled) to 0, forcing open-loop step mode. Closed-loop mode is too slow because of a 1kHz loop rate.
  • Set S3 (I/O 3 settings) to 16,1,1. This is used for encoder power - sourcing output, active high.
  • Set O3 (Output 3) to 1, turning the encoder on.
  • Set S4 (I/O 4 settings) to 16,0,0. This is used for fan power - sinking power, active low.
  • Set O4 (Output 4) to 1, turning the fan on.
  • Set S13 (I/O 13 settings) to 60,0,0. This is used for input signaling, and makes it available to the input capture trip (interrupt)
  • Set FC (Filter Capture) to 9. This sets a debounce filter on input 13 with a 12.9usec delay time.
  • Set HT (Hold Time) to 5, setting the hold current delay time to 5ms.
  • Set RC (Run Current) to 100, making 100% of current available for movement.
  • Set HC (Holding Current) to 5.
  • Set NE (Numeric Enable) to 0, to prevent errant communications as being interpreted as movement commands.
  • Set Pu (Power-Up Flag) to 0 to prevent IOC from locking itself.
  • Set Sw (Sweep Distance) to 512 counts.
  • Reset Dr (Drift) to 0.
  • Reset P0 (Open position) to 0.
  • Reset P1 (Positive closed position) to P0+Sw = 512.
  • Reset P2 (Negative closed position) to P0-Sw = -512.
  • Pre-load shadow registers: Po=P, Cs=C2
  • Set Ec=1 to turn error checking on.
• For both hard and soft resets, we do the following
  • Signal state change to 81 (Soft Reset Initialization)
  • Disable any trips (TE=0)
  • Hold for 100ms to let things stabilize.
  • Set Se (Mode Select) to 0
  • Goto Mode Select Loop

Mode Select Loop

• Signal state change to 0 (Mode Select)
• Mode Select Loop START (forever):
  • If Se=1, branch to Mode 1: One-Shot
  • If Se=2, branch to Mode 2: Flip-Flop
  • If Se=3, branch to Mode 3: Burst
  • If Se=4, branch to Mode 4: Fast Open
  • If Se=5, branch to Mode 5: Fast Close
  • Increment heartbeat
  • Hold for 100ms
• Mode Select Loop END

Mode 1: One-Shot

• Signal state change to 10 (One-Shot Init)
• Load One-Shot speeds (V1)
• Calculate target position using drift of current position (X9)
• Specify One-Shot ISR (J1) to run on Input Trip
• Arm Input Trip (TE=TE|4)
• Signal state change to 11 (One-Shot Loop)
• One-Shot Loop START (forever):
  • Increment heartbeat
  • Hold for 100ms
  • If user sets the soft reset (Se=0)
    • Go back to mode select
  • EndIf
  • If movement is complete (Sd=90)
    • Signal state change to 12 (One-Shot Complete)
  • EndIf
• One-Shot Loop END

NOTE: Once in the one-shot loop, you must set Se=0 to get back to Mode Select.

One-Shot ISR (J1)

• Copy current position to shadow variables
• If currently in the positive closed position P1
  • Move (MA) to negative closed position P2
  • Calculate new drift based on stored shadow variables
  • Calculate new positive closed position P1 based on drift
• Else (any other position but P1)
  • Move (MA) to positive closed position P1
  • Calculate new drift based on stored shadow variables
  • Calculate new negative closed position P2 based on drift
• EndIf
• Hold until movement complete
• Signal state change to 90 (Toggle movement complete)
• Return

Mode 2: Flip-Flop

• Signal state change to 20 (Flip-Flop Init)
• Load Flip-Flop speeds (V2)
• Calculate target position using drift of current position (X9)
• Specify Flip-Flop ISR (J2) to run on Input Trip
• Arm Input Trip (TE=TE|4)
• Signal state change to 21 (Flip-Flop Loop)
• Flip-Flop Loop START (forever):
  • Increment heartbeat
  • Hold for 100ms
  • If user sets the soft reset (Se=0)
    • Go back to mode select
  • EndIf
  • If at least one movement is complete (Sd=90)
    • Signal state change to 22 (Flip-Flop Loop Active)
  • EndIf
• Flip-Flop Loop END

NOTE: Once in the flip-flop loop, you must set Se=0 to get back to Mode Select.

Flip-Flop ISR (J2)

This ISR is identical to the One-Shot ISR (J1), with the exception that it re-arms the Input Trip (TE=TE|4) every time it runs.

Mode 3: Burst

• Signal state change to 30 (Burst Mode Init)
• Load Burst speeds (V3)
• Calculate target position using drift of current position (X9)
• Specify Burst Open ISR (J3) to run on Input Trip
• Arm Input Trip (TE=TE|4)
• Signal state change to 31 (Burst Loop)
• Burst Loop START (forever):
  • Increment heartbeat
  • Hold for 100ms
  • If user sets the soft reset (Se=0)
    • Go back to mode select
  • EndIf
  • If the close movement is complete (Sd=92), then
    • Signal state change to 39 (Burst complete)
  • EndIf
• Burst Loop END

NOTE: Once in the burst loop, you must set Se=0 to get back to Mode Select.

Burst Open ISR (J3)

• Signal state change to 32 (Burst open signal received)
• Store current position in shadow variables
• Move (MA) to open position (P0)
• Calculate drift based on shadow variables
• Use new drift to update closed positions P1 and P2
• Hold until movement complete
• Signal state change to 94 (Move to open position complete)
• Specify Burst Close ISR (J4) to run on Input Trip
• Re-arm input trip (TE=TE|4)
• Return

Burst Close ISR (J4)

• Signal state change to 33 (Burst close signal received)
• Store current position in shadow variables
• Move (MA) to positive closed position (P1)
• Calculate drift based on shadow variables
• Use new drift to update open position P0 and closed position P2
• Hold until movement complete
• Signal state change to 91 (Move to positive closed position complete)
• Return

Mode 4: Fast Open

• Signal state change to 40 (Fast Open Init)
• Load fast open speeds
• Calculate target position using drift of current position (X9)
• Move (MA) to the open position (P0)
• Hold until movement complete
• Signal state change to 41 (Fast open complete)
• Goto mode select

Mode 5: Fast Close

• Signal state change to 50 (Fast close init)
• Load fast close speeds
• Calculate target position using drift of current position (X9)
• If neither at position P1 (positive closed) nor at position P2 (negative closed), then
  • Move (MA) to the positive closed position (P1)
  • Hold until movement complete
• EndIf
• Signal state change to 51 (Fast close complete)
• Goto mode select

Mode/State Tables

Se - Mode Select

Sd - Status Indicator