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ACSPL Commands Variables Reference Guide

The ACSPL+ Commands & Variables Reference Guide, released in December 2024, provides comprehensive information on commands and variables used in ACS Motion Control systems. The document includes a detailed revision history, conventions for text formatting, and related documents for further reference. It highlights updates and changes made in version 4.00, including new commands, flags, and corrections to existing functionalities.

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0% found this document useful (0 votes)

3 views1,120 pages

ACSPL Commands Variables Reference Guide

Uploaded by

aikawa1981jp

We take content rights seriously. If you suspect this is your content, claim it here.

Available Formats

Download as PDF, TXT or read online on Scribd

ACSPL+ Commands & Variables

Reference Guide
December 2024
Document Revision: 4.00
ACSPL+ Commands & Variables Reference Guide

ACSPL+ Commands & Variables

Release Date: December 2024

© ACS Motion Control Ltd., 2024. All rights reserved.

Changes are periodically made to the information in this document. Changes are published as release notes and later
incorporated into revisions of this document.

No part of this document may be reproduced in any form without prior written permission from ACS Motion Control.

TRADEMARKS

Windows and Intellisense are trademarks of Microsoft Corporation.

EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.

Any other companies and product names mentioned herein may be the trademarks of their respective owners.

PATENTS

Israel Patent No. 235022

US Patent Application No. 14/532,023
Europe Patent application No.15187586.1
Japan Patent Application No.: 2015-193179
Chinese Patent Application No.: 201510639732.X
Taiwan(R.O.C.) Patent Application No. 104132118
Korean Patent Application No. 10-2015-0137612

[Link]

support@[Link]

sales@[Link]

NOTICE

The information in this document is deemed to be correct at the time of publishing. ACS Motion Control reserves the right to
change specifications without notice. ACS Motion Control is not responsible for incidental, consequential, or special damages
of any kind in connection with using this document.

Version 4.00 Copyright © 2014-2024 ACS Motion Control Ltd. i

ACSPL+ Commands & Variables Reference Guide
Revision History

Revision History
Date Revision Description

▪ Updated for the ADK 4.00 release

Added C2TIME, USGCORE, ERRORDEF
Updated:
▪ DISP - supports arrays
▪ INTGR - new switch to reset the integrator value
▪ PFLAGS - support for new bit EXCTIME
▪ READ - new flags to read a string or string array
▪ SPICFG - new switches to support 2 EtherCAT
networks
▪ SPIWRITE - new switches to support 2 EtherCAT
networks
▪ USGTRACE - support for multiple cores
Dec 2024 4.00 ▪ WRITE - new flags to write a string or string array
▪ PRATE was deprecated
▪ Fixed typo in SegmentPulse
▪ Updated the descriptions of SETTLE, BGLOBUSG and
SLCORG
▪ Updated Servo Processor Functions
▪ Updated ERRORMAPA2D
▪ Updated the error codes in SPiiPlus Error Codes and G-
Code Error Codes
▪ Removed functions and variables for LCM, which is no
longer supported
▪ Updated description in AxListAsMask
▪ Updated description in BPTP

Sep 2024 3.14.01d Clarifications to AIN and AINSCALE.

Fixed example in PowerPWMBurst

Aug 2024 3.14.01c Updated text in USAGESP
Specified "milliseconds" for value parameter in SETTLE

Breakpoints in autoroutines
Jul 2024 3.14.01b
Updated description of ECGETSLAVE

Jun 2024 3.14.01a Corrections, remove duplications

May 2024 3.14.01 Release update

Version 4.00 Copyright © 2014-2024 ACS Motion Control Ltd. ii

ACSPL+ Commands & Variables Reference Guide
Revision History

Date Revision Description

AIN range
FVFIL formula correction
Mar 2024 3.14a Cross-reference STR/DSTR
MBRKROUT Corrections
Other changes

New release, new and updated commands and variables

Feb 2024 3.14
EIPSETASM not in BLOCK

Correct DC, ASSIGNPOUTS, Error Code 3218, SLVRAT,

Nov 2023 [Link]
MBRKROUT

Oct 2023 [Link] Correct STEPF

Added text to BLOCK...END command "The BLOCK ... END

Sep 2023 [Link]
code executes in the cycle tick of the previous command"

Add UDMsd next to UDMlc

Minimum 4 points for NURBS, SPATH
Sep 2023 [Link]
S_SETUP.#SINCOSRP
Correct DCOM typo.

Aug 2023 [Link] Correct STEPW range

Remove references to INPUT command

Static Arrays for NURBS and SPATH
Aug 2023 [Link]
3D Error Mapping Function in EM table
Correction to XXMma ASSIGNPOUTS table

Jul 2023 [Link] CrossCoupling example typo, no DHCP, XSEG corrections

Jun 2023 [Link] DSTR correction

Jun 2023 [Link] Autofocus updates, SCTRIGGER corrections

May 2023 [Link] Correct MATRIXINV name

Apr 2023 [Link] PTP correction

Mar 2023 [Link] E2IND documentation

Mar 2023 [Link] Added SCTRIGGER, correction to SYSINFO, FDEF

Mar 2023 [Link] Various corrections

Version 4.00 Copyright © 2014-2024 ACS Motion Control Ltd. iii

ACSPL+ Commands & Variables Reference Guide
Revision History

Date Revision Description

Cross-reference to Programmer's Guide Matrix section

Corrections to MATRIX documentation
Feb 2023 3.13.01
NURBS, SPATH correction
XXMxx support in GETCONF

Nov 2022 3.13 New Release, correct struct type variable definition

Update ASSIGNPOUTS tables and links

Sep 2022 3.12.03
Correct BSEG parameter order

Single-source XSEG Description

Jul 2022 3.12.02
String support

Jun 2022 3.12.01 Added /e switch description to PEG_I

May 2022 3.12 New Release

Dec 2021 [Link] Note minimum version supporting feature

Document /q switch for XSEG, PTP, other motion

Dec 2021 [Link] commands
Local Coordinates function explanations

PEG & MARK Improvements, Addressing Analog I/O

Nov 2021 3.11.01
correction

Add XXMsa table to ASSIGNPOUTS

Jun 2021 3.10.01
% and ++ operators

Mar 2023 3.02 Remove reference to obsolete SPiiPlus PCI device

Jul 2020 3.01 Structures and Functions

Jun 2020 3.00 Enhanced input shaping

Added XRMSD, XRMSM, XRMSTD, and XRMSTM

Added gantry mode commutation support
Jul 2018 2.60
Updated the following BSEG motions commands:
BSEG, ARC1, ARC2, Line

Dec 2017 2.50 Added BSEG

Jun 2017 2.40 Updated #ETHERCAT, COEWRITE. COEREAD

Oct 2016 2.30.01 Changed switch to /f for end_velocity argument in XSEG

Version 4.00 Copyright © 2014-2024 ACS Motion Control Ltd. iv

ACSPL+ Commands & Variables Reference Guide
Revision History

Date Revision Description

Nov 2022 3.13 New release

Update ASSIGNPOUTS tables and links

Add SWITCH explanation
Sep 2022 3.12.05
Explain negative LCI motion
Correct BSEG parameter order

Aug 2022 3.12.04 Update CTIME change instructions

Single-source XSEG Description

Jul 2022 3.12.03 Motion Duration Example
Add missing ECGETREV

Jul 2022 3.12.02 SPTP command

Jun 2022 3.12.01 Added /e switch description to PEG_I, more details in DOUT

May 2022 3.12 New Release, Error mapping, FOE, Modulo, other functions

Feb 2022 [Link] Corrections to ARC1, ARC2, LINE, switches

Feb 2022 [Link] Corrections to PRATE

Jan 2022 [Link] Correction to HOME entry, INTERUPTEX correction

Jan 2022 [Link] Remove SET/GETCONF(29)

Remove AERR
Dec 2021 [Link]
peg_engine instead of axis in PEG_I, PEG_R, etc.

Document /q switch for XSEG, PTP, other motion

commands
Dec 2021 [Link]
Local Coordinates function explanations
XSEG example

PEG & MARK Improvements, MFLAGSX.#SATPROT,

Nov 2021 3.11.01
AIN/AOUT corrections

Sep 2021 3.11 New and updated functions with ADK Release

Jun 2021 3.10.01 Formatting Corrections, ASSIGNPOUTS for XXMsa

SLCRAT, SLVRAT corrections

Note M&S State for MSTIMEA/B/C
Apr 2021 3.10
Document SET/GETCONF(270)
Changes for V3.10

Version 4.00 Copyright © 2014-2024 ACS Motion Control Ltd. v

ACSPL+ Commands & Variables Reference Guide
Revision History

Date Revision Description

Dec 2020 3.03 INSHAPEON example if CTIME<1

Sep 2020 3.02 Remove reference to obsolete SPiiPlus PCI device

Jul 2020 3.01 Fix Error Tables

Jun 2020 3.00 Changes supporting ADK v3.00

Sep 2019 2.70.10 Corrections to XCURV, XCURI and related variables

Jul 2019 2.70.02 SLCPA is obsolete, removed from documentation

Formatting corrections, examples for functions, fixed links

Jun 2019 2.70.01 for system configuration variables, moved stepper loop
variables to servo loop section

GCODE Errors
Apr 2019 2.70 Many new functions, commands, and variables for new
features. See version 2.70 release notes.

Updated AST bits for laser and SLEC module

Added FOLLOW, UNFOLLOW, EXTFAC, FOLLOWCH
Oct 2018 2.60.10
Added error code 5042 to the list of motion termination
errors

Jul 2018 2.60 Updated for SPiiPlus ADK Suite v2.60

Jan 2018 2.50.01 Added laser control commands and functions.

Dec 2017 2.50 Updated for SPiiPlus ADK Suite v2.50

Sep 2017 2.40.01 Updated SETSP function.

Jun 2017 2.40 Updated for SPiiPlus ADK Suite v2.40

Dec 2016 2.30.02 Removed unsupported ServoBoost variables

Added support for Absolute Encoders to SLPROUT,

Oct 2016 2.30.01 SLVROUT, SLCROUT Replaced references to acsc_Write and
acsc_Read with acsc_Transaction

Changed LINE1 to LINE, ARC2 to ARC1, ARC3 to ARC2, and

ARC4 to ARC2
Sep 2016 2.30.10

Updated XSEG, LINE, ARC1, and ARC2 for 6 axes support

Version 4.00 Copyright © 2014-2024 ACS Motion Control Ltd. vi

ACSPL+ Commands & Variables Reference Guide
Revision History

Date Revision Description

Aug 2016 2.30 Updated for SPiiPlus ADK Suite v2.30

Sep 2014 01 First Release

Version 4.00 Copyright © 2014-2024 ACS Motion Control Ltd. vii

ACSPL+ Commands & Variables Reference Guide
Conventions

Conventions
The following conventions are used in the document.
Text Formats

Format Description

Bold Names of GUI objects or commands

BOLD + UPPERCASE ACSPL+ variables and commands

Monospace + grey background Code example

Italics Names of other documents

Blue Hyperlink

[] In commands indicates optional item(s)

| In commands indicates either/or items

Flagged Text

Note - includes additional information or programming tips.

Caution - describes a condition that may result in damage to

equipment.

Warning - describes a condition that may result in serious bodily

injury or death.

Model - highlights a specification, procedure, condition, or

statement that depends on the product model

Advanced - indicates a topic for advanced users.

Version 4.00 Copyright © 2014-2024 ACS Motion Control Ltd. viii

ACSPL+ Commands & Variables Reference Guide
Related Documents

Related Documents
Documents listed in the following table provide additional information related to this document.
The most updated version of the documents can be downloaded by authorized users from ACS
Motion Control Resources under "Downloads".
Online versions for all ACS software manuals are available to authorized users at ACS Motion Control
Knowledge Center.

Document Description

SPiiPlus C Library C++ and Visual Basic® libraries for host PC applications. This guide is
Reference applicable for all the SPiiPlus motion control products.

SPiiPlus COM Library COM Methods, Properties, and Events for Communication with the
Reference C Controller.

SPiiPlus .NET Library .NET Methods, Properties, and Events for Communication with the
Reference Controller.

SPiiPlusMMI
A complete guide for using the SPiiPlus MMI Application Studio and
Application Studio User
associated monitoring tools.
Guide

SPiiPlus Utilities User A guide for using the SPiiPlus User Mode Driver (UMD) for settingup
Guide communication with the SPiiPlus motion controller.

SPiiPlus NT/DC
Technical description of the SPiiPlus NT/DC product line.
Hardware Guide

SPiiPlus PDMnt
Hardware Technical description of the SPiiPlus PDMnt Network Interface.
Guide

SPiiPlus SDMnt Technical description of the SPiiPlus SDMnt Step Motor Drive
Hardware Guide Module.

SPiiPlus UDMnt
Hardware Technical description of the SPiiPlus UDMnt Universal Drive Module.
Guide

MC4U-CS Control
Technical description of the MC4U Control Module integrated
Module Hardware
motion control product line.
Guide

PEG and MARK

Operations Application Provides details on using the PEG commands in SPiiPlus systems.
Notes

Version 4.00 Copyright © 2014-2024 ACS Motion Control Ltd. ix

ACSPL+ Commands & Variables Reference Guide
Related Documents

Table of Contents
Revision History ii
Conventions viii
Related Documents ix
1. Introduction 1
2. ACSPL+ Commands 2
2.1 Axis Management Commands 6
2.1.1 BREAK 7
2.1.2 COMMUT 8
2.1.3 CONNECT 9
2.1.4 CSCREATE 12
2.1.5 CSDESTROY 15
2.1.6 DEPENDS 16
2.1.7 DISABLE/DISABLEALL 17
2.1.8 ENABLE/ENABLE ALL 18
2.1.9 ENCINIT 19
2.1.10 ENCREAD 21
2.1.11 ERRORDEF 22
2.1.12 FCLEAR 23
2.1.13 FOLLOW 24
2.1.14 GO 24
2.1.15 GROUP 25
2.1.16 HALT 25
2.1.17 HOME 26
2.1.18 IMM 29
2.1.19 KILL/KILLALL 30
2.1.20 SAFETYCONF 31
2.1.21 SAFETYGROUP 33
2.1.22 SET 33
2.1.23 SPLIT 34
2.1.24 UNFOLLOW 35
2.2 Predefined Homing Methods 35
2.2.1 Homing Method 1: Homing on the negative limit switch and index pulse 35

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2.2.2 Homing Method 2: Homing on positive limit switch and index pulse 35
2.2.3 Homing Method 17: Homing on Negative Limit Switch 36
2.2.4 Homing Method 18: Homing on Positive Limit Switch 36
2.2.5 Homing Method 33 and 34: Homing on the index pulse 36
2.2.6 Homing Method 37: Homing on current position 36
2.2.7 Homing Method 50: Negative Hard Stop and index pulse (ACS Specific) 36
2.2.8 Homing Method 51: Positive Hard Stop and index pulse (ACS Specific) 37
2.2.9 Homing Method 52: Negative Hard Stop (ACS Specific) 37
2.2.10 Homing Method 53: Positive Hard Stop (ACS Specific) 37
2.3 Interactive Commands 37
2.3.1 DISP 37
2.3.2 INP 42
2.3.3 INTERRUPT 45
2.3.4 INTERRUPTEX 46
2.3.5 SEND 48
2.3.6 TRIGGER 50
2.3.7 OUTP 51
2.4 PEG and MARK Commands 53
2.4.1 ASSIGNMARK 54
2.4.2 ASSIGNPEG 55
2.4.3 ASSIGNPOUTS 57
2.4.4 GETPEGCOUNT 59
2.4.5 PEG_I 60
2.4.6 PEG_R 62
2.4.7 STARTPEG 67
2.4.8 STOPPEG 68
2.4.9 SETPEGDELAY 69
2.5 Miscellaneous Commands 69
2.5.1 AXISDEF 70
2.5.2 DC 72
2.5.3 STOPDC 75
2.5.4 READ 76
2.5.5 SPDC 77
2.5.6 STARTSPDC 80

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2.5.7 STOPSPDC 81
2.5.8 WRITE 82
2.5.9 SPINJECT 83
2.5.10 STARTINJECT 84
2.5.11 STOPINJECT 85
2.5.12 SPICFG 85
[Link] SPIWRITE 87
2.5.13 SPIWRITE 87
2.5.14 SPRT 88
2.5.15 SPRTSTOP 92
2.5.16 USAGESP 92
2.6 Motion Commands 92
2.6.1 ARC1 94
2.6.2 ARC1 95
2.6.3 ARC1 98
2.6.4 ARC2 99
2.6.5 ARC2 100
2.6.6 ARC2 103
2.6.7 BPTP 103
2.6.8 BPTPCalc 106
2.6.9 BSEG...ENDS 107
2.6.10 JOG 108
2.6.11 LINE 109
2.6.12 LINE 110
2.6.13 LINE 113
2.6.14 MASTER 114
2.6.15 MPOINT 115
2.6.16 MPTP...ENDS 120
2.6.17 MSEG...ENDS 123
2.6.18 PATH...ENDS 125
2.6.19 POINT 127
2.6.20 PROJECTION 130
2.6.21 PTP 132
2.6.22 PVSPLINE...ENDS 134

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2.6.23 SLAVE 137

2.6.24 STOPPER 138
2.6.25 TRACK 139
2.6.26 XSEG...ENDS 140
2.6.27 NURBS 150
2.6.28 NPOINT 153
2.6.29 SPATH 156
2.6.30 SEGMENT 158
2.6.31 SMOVE 160
2.6.32 SPTP Command 160
2.6.33 Using ARC1, ARC2 and LINE Switches 161
2.7 Program Flow Commands 163
2.7.1 Assignment Command 163
2.7.2 BLOCK...END 165
2.7.3 CALL 166
2.7.4 GOTO 166
2.7.5 IF, ELSEIF, ELSE...END 167
2.7.6 LOOP...END 169
2.7.7 FASTLOOP...END 170
2.7.8 ON...RET 170
2.7.9 TILL 172
2.7.10 WAIT 172
2.7.11 WHILE...END 173
2.7.12 SWITCH Statement 174
2.8 Program Management Commands 174
2.8.1 DISABLEON 175
2.8.2 ENABLEON 175
2.8.3 PAUSE 175
2.8.4 RESUME 176
2.8.5 START 176
2.8.6 STOP/STOPALL 178
2.9 Ethernet/IP ACSPL+ Support Commands 178
2.9.1 EIPGETATTR 178
2.9.2 EIPGETIND1 180

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2.9.3 EIPGETIND2 181

2.9.4 EIPGETTAG 181
2.9.5 EIPSETASM 182
2.10 Input Shaping Commands 183
2.10.1 INSHAPEON 183
2.10.2 INSHAPEOFF 184
3. ACSPL+ Variables 186
3.1 Axis Configuration Variables 199
3.1.1 AFLAGS 200
3.1.2 ENTIME 201
3.1.3 ESTBITS 202
3.1.4 E2STBITS 203
3.1.5 EMTBITS 204
3.1.6 E2MTBITS 204
3.1.7 MFF 205
3.1.8 MFLAGS 206
3.1.9 MFLAGSX 213
3.1.10 MODULOMD 214
3.1.11 PEGQUE 221
3.1.12 SETTLE 221
3.1.13 SLPMAX 222
3.1.14 SLPMIN 223
3.1.15 STEPF 223
3.1.16 STEPW 224
3.1.17 TARGRAD 225
3.2 Brake Variables 226
3.2.1 BOFFTIME 226
3.2.2 BONTIME 227
3.2.3 MBRKROUT 228
3.2.4 VELBRK 230
3.3 Feedback Variables 230
3.3.1 E_AOFFS 233
3.3.2 E_FREQ 234
3.3.3 E2_AOFFS 235

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3.3.4 E2_FREQ 235

3.3.5 E_FLAGS 236
3.3.6 E2_FLAGS 237
3.3.7 E_PAR_A 238
3.3.8 E2_PAR_A 239
3.3.9 E_PAR_B 240
3.3.10 E2_PAR_B 240
3.3.11 E_PAR_C 241
3.3.12 E2_PAR_C 242
3.3.13 E_PAR_D 243
3.3.14 E2_PAR_D 243
3.3.15 E_PAR_E 244
3.3.16 E2_PAR_E 244
3.3.17 E_SCMUL 245
3.3.18 E2_SCMUL 246
3.3.19 E_TYPE 246
3.3.20 E2_TYPE 249
3.3.21 EFAC 250
3.3.22 E2FAC 251
3.3.23 EOFFS 252
3.3.24 E2OFFS 252
3.3.25 EPOS 253
3.3.26 FVFIL 254
3.3.27 F2ACC 255
3.3.28 HOMEDEF 255
3.3.29 HOMEVELI 256
3.3.30 HOMEVELL 257
3.3.31 RVFIL 258
3.3.32 SCSOFFS 259
3.3.33 SCCOFFS 260
3.3.34 SC2COFFS 261
3.3.35 SC2GAIN 261
3.3.36 SC2PHASE 262
3.3.37 SC2SOFFS 262

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3.3.38 SLEBIASA 263

3.3.39 SLEBIASB 264
3.3.40 SLEBIASC 265
3.3.41 SLEBIASD 266
3.3.42 SLABITS 266
3.3.43 S2LABITS 267
3.3.44 SCGAIN 268
3.3.45 SCPHASE 269
3.4 Axis State Variables 269
3.4.1 AST 270
3.4.2 ASTX 273
3.4.3 IND 274
3.4.4 E2IND 274
3.4.5 IST 275
3.4.6 M2ARK 276
3.4.7 MARK 277
3.4.8 MST 278
3.4.9 RMSM 279
3.4.10 RMSD 280
3.4.11 NST 280
3.4.12 AMEST 282
3.5 Safety Limits Variables 283
3.5.1 CERRA 284
3.5.2 CERRI 285
3.5.3 CERRV 286
3.5.4 DELV 286
3.5.5 DELI 287
3.5.6 E_ERR 288
3.5.7 ERRA 289
3.5.8 ERRI 290
3.5.9 ERRV 290
3.5.10 SLLIMIT 291
3.5.11 SLLROUT 292
3.5.12 SRLIMIT 293

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3.5.13 XACC 294

3.5.14 XCURCDB 294
3.5.15 XCURI 295
3.5.16 XCURK 296
3.5.17 XCURV 297
3.5.18 XRMS 298
3.5.19 XRMSD 299
3.5.20 XRMSM 300
3.5.21 XRMST 301
3.5.22 XRMSTD 301
3.5.23 XRMSTM 302
3.5.24 XSACC 303
3.5.25 XVEL 304
3.6 Data Collection Variables 305
3.6.1 DCN 305
3.6.2 DCP 306
3.6.3 S_DCN 307
3.6.4 S_DCP 307
3.6.5 S_ST 308
3.7 Input and Output Variables 309
3.7.1 AIN 309
3.7.2 AINOFFS 310
3.7.3 AINSCALE 311
3.7.4 AOUT 312
3.7.5 DOUT 313
3.7.6 EXTIN 313
3.7.7 EXTOUT 314
3.7.8 IN 314
3.7.9 OUT 315
3.7.10 SPIRXN 316
3.7.11 SPIST 316
3.8 Monitoring Variables 317
3.8.1 BCODECFG 318
3.8.2 BCODEUSG 319

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3.8.3 BGLOBCFG 320

3.8.4 BGLOBUSG 320
3.8.5 BSRCUSG 321
3.8.6 BSRCCFG 322
3.8.7 BVARUSG 323
3.8.8 BVARCFG 323
3.8.9 JITTER 324
3.8.10 MSSYNC 324
3.8.11 USGBUF 325
3.8.12 USGCORE 325
3.8.13 USGTRACE 326
3.8.14 SOFTIME 326
3.8.15 TIME 327
3.8.16 USAGE 327
3.8.17 USAGESIM 328
3.9 Motion Variables 328
3.9.1 ACC 331
3.9.2 APOS 332
3.9.3 APOSFILT 333
3.9.4 CERRK 333
3.9.5 DAPOS 334
3.9.6 DEC 335
3.9.7 DECOMP 336
3.9.8 DELK 336
3.9.9 FACC 337
3.9.10 FPOS 337
3.9.11 F2POS 338
3.9.12 FVEL 339
3.9.13 F2VEL 339
3.9.14 FEEDRF 339
3.9.15 GACC 340
3.9.16 GJERK 341
3.9.17 GMOT 341
3.9.18 GMQU 342

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3.9.19 GMTYPE 343

3.9.20 GPATH 343
3.9.21 GPHASE 344
3.9.22 GRTIME 345
3.9.23 GSEG 346
3.9.24 GSFREE 347
3.9.25 GSNAP 347
3.9.26 GVEC 347
3.9.27 GVEL 348
3.9.28 JERK 348
3.9.29 KDEC 349
3.9.30 LPOS 350
3.9.31 MPOS 351
3.9.32 MSTIMEA 351
3.9.33 MSTIMEB 352
3.9.34 MSTIMEC 353
3.9.35 NVEL 354
3.9.36 PE 355
3.9.37 PPOS 356
3.9.38 PPOSCOMP 356
3.9.39 PRFLTIME 357
3.9.40 RACC 358
3.9.41 RJERK 358
3.9.42 ROFFS 358
3.9.43 RPOS 359
3.9.44 RPOSCOMP 360
3.9.45 RPOSDEL 360
3.9.46 RSNAP 361
3.9.47 RVEL 361
3.9.48 SETTLEA 362
3.9.49 SETTLEB 362
3.9.50 SETTLEC 363
3.9.51 SLSFF 364
3.9.52 SNAP 368

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3.9.53 STLTIMEA 369

3.9.54 STLTIMEB 370
3.9.55 STLTIMEC 370
3.9.56 TARGRADA 371
3.9.57 TARGRADB 372
3.9.58 TARGRADC 373
3.9.59 TPOS 374
3.9.60 VEL 375
3.10 Program Execution Control Variables 376
3.10.1 ONRATE 377
3.10.2 PCHARS 377
3.10.3 PERL 378
3.10.4 PERR 378
3.10.5 PEXL 379
3.10.6 PFLAGS 379
3.10.7 PLINES 381
3.10.8 PRATE 382
3.10.9 PST 383
3.11 Safety Control Variables 384
3.11.1 E_ERR 385
3.11.2 EC2ERR 386
3.11.3 ECALERR 386
3.11.4 EC2ALERR 387
3.11.5 ECERR 387
3.11.6 ECEXTERR 388
3.11.7 ECEXTST 388
3.11.8 ECST 390
3.11.9 EC2ST 391
3.11.10 ECSYNC 392
3.11.11 EC2SYNC 393
3.11.12 ECNST 393
3.11.13 EC2NST 395
3.11.14 FAULT 396
3.11.15 FAULTSIM 399

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3.11.16 FDEF 403

3.11.17 FMASK 409
3.11.18 HLLROUT 412
3.11.19 HRLROUT 414
3.11.20 MERR 416
3.11.21 SAFIN 416
3.11.22 SAFINI 418
3.11.23 S_ERR 419
3.11.24 S_FAULT 419
3.11.25 S_FDEF 423
3.11.26 S_FMASK 426
3.11.27 S_SAFIN 427
3.11.28 S_SAFINI 428
3.11.29 SS11TIME 429
3.11.30 SS12TIME 429
3.11.31 STODELAY 430
3.11.32 SYNC 431
3.12 Nanomotion Variables 431
3.12.1 SLDZMIN 432
3.12.2 SLDZMAX 433
3.12.3 SLDZTIME 433
3.12.4 SLZFF 434
3.12.5 SLFRC 435
3.12.6 SLFRCN 436
3.12.7 SLHRS 436
3.12.8 SLVKPDCF 437
3.12.9 SLPKPDCF 438
3.12.10 SLVKIDCF 438
3.13 Servo-Loop Variables 439
3.13.1 DCOM 440
3.13.2 Servo-Loop Current Variables 440
[Link] SLBIASA 441
[Link] SLBIASB 442
[Link] SLBIASC 443

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3.16.6 DISPCH 524

3.16.7 GATEWAY 525
3.16.8 SUBNET 526
3.16.9 TCPIP 527
3.16.10 TCPIP2 528
3.16.11 TCPPORT 529
3.16.12 UDPPORT 530
3.17 Miscellaneous 531
3.17.1 AUNITS 531
3.17.2 A2UNITS 532
3.17.3 PDESC 532
3.17.4 PN 533
3.17.5 PNAME 533
3.17.6 SN 534
3.17.7 STATIC 534
3.17.8 VR 534
3.17.9 XARRSIZE 534
4. ACSPL+ Functions 536
4.1 Arithmetical Functions 540
4.1.1 ABS 541
4.1.2 ACOS 542
4.1.3 ASIN 542
4.1.4 ATAN 543
4.1.5 ATAN2 543
4.1.6 CEIL 544
4.1.7 COS 544
4.1.8 EXP 545
4.1.9 FLOOR 546
4.1.10 HYPOT 546
4.1.11 LDEXP 547
4.1.12 LOG 547
4.1.13 LOG10 548
4.1.14 POW 548
4.1.15 SIGN 549

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4.1.16 SIN 549

4.1.17 SQRT 550
4.1.18 TAN 550
4.1.19 ROUND 551
4.2 Matrix Functions 551
4.2.1 Matrix Type 552
[Link] Matrix Initialization in Compilation Time 552
4.2.2 MATRIXADD 553
4.2.3 MATRIXSUB 554
4.2.4 MATRIXMUL 555
4.2.5 MATRIXMULSC 556
4.2.6 MATRIXMULEW 556
4.2.7 MATRIXDIV 557
4.2.8 MATRIXIDENT 558
4.2.9 MATRIXTRANS 558
4.2.10 MATRIXINV 559
4.3 Miscellaneous Functions 560
4.3.1 AxListAsMask 560
4.3.2 BCOPY 561
4.3.3 DSTR 562
4.3.4 STR 563
4.3.5 GETCONF 564
4.3.6 GETVAR 571
4.3.7 MDURATION 572
4.3.8 NUMTOSTR 575
4.3.9 SETCONF 576
4.3.10 SETVAR 589
4.3.11 SS1RESET 589
4.3.12 STRTONUM 590
4.3.13 SYSINFO 591
4.4 Array Processing Functions 592
4.4.1 AVG 593
4.4.2 COPY 593
4.4.3 DSHIFT 595

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4.4.4 FILL 596

4.4.5 MAX 597
4.4.6 MAXI 597
4.4.7 MIN 598
4.4.8 MINI 599
4.4.9 SIZEOF 599
4.5 EtherCAT Functions 600
4.5.1 ECCLOSEPORT 602
4.5.2 ECCLRREG 602
4.5.3 ECEXTIN 603
4.5.4 ECEXTOUT 605
4.5.5 ECGETGRPIND 606
4.5.6 ECGETPID 606
4.5.7 ECGETMAIN 607
4.5.8 ECGETOFFSET 607
4.5.9 ECGETOPTGRP 608
4.5.10 ECGETRED 609
4.5.11 ECGETREG 609
4.5.12 ECGETREV 611
4.5.13 ECGETSLAVE 612
4.5.14 ECGETSLAVES 612
4.5.15 ECGETSN 613
4.5.16 ECGETSTATE 613
4.5.17 ECGETVID 614
4.5.18 ECGRPINFO 614
4.5.19 ECIN 615
4.5.20 ECOUT 617
4.5.21 ECREPAIR 619
4.5.22 ECRESCAN 620
4.5.23 ECRESCUE 621
4.5.24 ECSAVECFG 622
4.5.25 ECSAVEDCNF 622
4.5.26 ECUNMAP 623
4.5.27 ECUNMAPIN 623

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4.5.28 ECUNMAPOUT 624

4.5.29 FOEDOWNLOAD 624
4.5.30 FOEUPLOAD 625
4.5.31 PDOEXT 626
4.6 CoE Functions 627
4.6.1 COEREAD 627
4.6.2 COE2READ 629
4.6.3 COEWRITE 630
4.6.4 COE2WRITE 631
4.6.5 COEGETSIZE 632
4.7 Modbus Functions 633
4.7.1 MBOPEN 634
4.7.2 MBGETHANDLE 636
4.7.3 MBCLOSE 636
4.7.4 MBREADHREG 637
4.7.5 MBREADIREG 641
4.7.6 MBWRITEHREG 645
4.7.7 MBREADCOIL 648
4.7.8 MBWRITECOIL 651
4.7.9 MBREADDIN 654
4.7.10 MBUNMAP 657
4.7.11 MBCLEAR 658
4.7.12 MBERR 659
4.7.13 #MBMAPREP 660
4.8 Servo Processor Functions 661
4.8.1 GETSP 662
4.8.2 GETSPA 663
4.8.3 SETSP 663
4.9 Signal Processing Functions 664
4.9.1 DEADZONE 665
4.9.2 DSIGN 668
4.9.3 EDGE 669
4.9.4 INTGR 670
4.9.5 LAG 671

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4.9.6 Interpolation Functions 673

[Link] Linear interpolation 673
[Link] Spline interpolation 673
[Link] MAP 679
[Link] MAPB 681
[Link] MAPN 683
[Link] MAPNB 685
[Link] MAPNS 687
[Link] MAPS 689
[Link] MAP2 691
[Link] MAP2B 693
[Link] MAP2N 695
[Link] MAP2NB 698
[Link] MAP2NS 700
[Link] MAP2S 703
[Link] MATCH 706
[Link] RAND 707
[Link] ROLL 708
[Link] SAT 709
4.10 Dynamic Error Compensation 711
4.10.1 ERRORMAP1D 713
4.10.2 ERRORMAPN1D 714
4.10.3 ERRORMAPA1D 715
4.10.4 ERRORMAP2D 716
4.10.5 ERRORMAPN2D 718
4.10.6 ERRORMAPA2D 720
4.10.7 ERRORMAP3DA 721
4.10.8 ERRORMAP3D2 724
4.10.9 ERRORMAP3D3 730
4.10.10 ERRORMAPN3D2 734
4.10.11 ERRORMAPN3D3 738
4.10.12 ERRORMAP3D5 742
4.10.13 ERRORMAPN3D5 745
4.10.14 ERRORMAPN3DA 747

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4.10.15 ERRORMAPOFF 750

4.10.16 ERRORMAPON 751
4.10.17 #ERRORMAPREP 751
4.10.18 ERRORUNMAP 751
5. ACSPL+ Standard Structures 753
5.1 LCI Standard Structure 753
5.1.1 LCI Functions 753
[Link] PowerPWMOut 753
[Link] PowerAnalogOut 754
[Link] PowerDigitalOut 755
[Link] FixedDistPulse 756
[Link] DistanceArrPulse 757
[Link] CoordinateArrPulse 758
[Link] Tickle 759
[Link] LaserEnable 760
[Link] LaserDisable 760
[Link] DistanceArrGate 760
[Link] CoordinateArrGate 761
[Link] AddZone 762
[Link] SetZone 762
[Link] SetCondition 763
[Link] GetCondition 766
[Link] SegmentGate 766
[Link] SegmentPulse 766
[Link] SetExtClockSync 767
[Link] PowerPWMBurst 767
[Link] SetSafetyMasks 768
[Link] Stop 768
[Link] SetMechPlatformAxes 769
[Link] SetMotionAxes 769
[Link] SetSystemDelay 770
[Link] GetSystemDelay 770
[Link] SetConfigOut 771
[Link] AssignChannels 772

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5.5.7 ERRF 820

5.5.8 CERRF 821
5.6 Gantry Support 822
5.6.1 CrossCouplingCompensation Struct 822
5.7 PEG Structure 830
5.7.1 PEG Structure Fields 830
5.7.2 PEG Structure Functions 832
[Link] Init 832
[Link] GetPulseCounter 832
[Link] EnablePEG 832
[Link] DisablePEG 833
[Link] AssignEngineByCode 833
[Link] DisplayAvailableAssign 833
[Link] AssignEngines 834
[Link] DisplayCurrentAssign 835
[Link] DisplayAvailablePEGPulseOuts 835
[Link] DisplayAvailablePEGStateOuts 836
[Link] DisplayAvailableAqBOuts 837
[Link] DisplayAvailableGPOUTOuts 838
[Link] AssignPEGOutByCode 838
[Link] AssignOutPEGPulse 839
[Link] AssignOutPEGState 839
[Link] AssignOutAqB 840
[Link] AssignOutGPOUT 841
[Link] SetIncrementalPEG 841
[Link] SetRandomPEG 842
[Link] SetPulseDelay 843
[Link] SetStateDelay 844
[Link] EnableErrorMap1D 844
[Link] EnableErrorMap2D 844
[Link] EnableErrorMap3D 845
[Link] DisableErrorMap 845
6. Terminal Commands 846
6.1 Entering Terminal Commands 846

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6.2 Query Commands 846

6.2.1 Default Query Formats 848
6.2.2 Predefined Query Output Formats 848
6.2.3 User-Defined Query Output Format 850
6.3 Program Management Commands 850
6.3.1 Program Management Command Arguments 850
6.3.2 Program Buffer Commands 852
[Link] Open/Close Buffer (#) 852
[Link] D 853
[Link] F/IF 854
[Link] L 855
[Link] E/EC 857
6.3.3 RESET 857
6.3.4 SCTRIGGER 858
6.3.5 Listing Program Variables 859
[Link] VGR 859
[Link] VSD 860
[Link] VS/VSG 860
[Link] VSF/VSGF 861
[Link] VG/VGF 862
[Link] VL/VLF 862
[Link] V/VF 863
[Link] VSP 863
[Link] VST/VSGT 864
[Link] VSTF/VSGTF/VSDT 864
[Link] VGV 865
[Link] VGS/VGSF 865
6.3.6 Program Handling Commands 866
[Link] C 867
[Link] X 868
[Link] S/SR 868
[Link] P 869
6.3.7 Debug Commands 870
[Link] XS 870

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[Link] XD 871
[Link] BS 871
[Link] BR 872
6.4 System Commands 873
6.4.1 SI 873
6.4.2 SIR 877
6.4.3 MEMORY 889
6.4.4 IR 889
6.4.5 U 891
6.4.6 TD 892
6.4.7 SC 892
6.4.8 ETHERCAT 893
6.4.9 #ETHERCAT2 902
6.4.10 ECMAPREP 903
6.4.11 CC 904
6.4.12 PLC 905
6.4.13 LOG 905
6.4.14 LOG HOST_TICKS 907
6.4.15 LOGP 908
7. SPiiPlus Error Codes 909
7.1 ACSPL+ Syntax Errors 909
7.2 ACSPL+ Compilation Errors 945
7.3 ACSPL+ Runtime Errors 962
7.4 Errors 997
7.5 Encoder Errors 1008
7.6 System Errors 1010
7.7 EtherCAT Errors 1013
7.8 EtherCAT Slave Errors 1015
7.9 MODBUS Errors 1022
8. G-Code Error Codes 1024
8.1 G-Code Syntax Errors 1024
8.2 G-Code Compilation Errors 1028
8.3 G-Code Runtime Errors 1029
Appendix A. PEG And MARK Mapping Tables 1033

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A.1 ASSIGNPEG Mapping 1033

8.3.1 Mapping PEG engines to encoders 1033
8.3.2 General purpose outputs assignment to use as PEG pulse outputs 1042
A.2 ASSIGNPOUTS Mapping 1046
A.3 ASSIGNMARK Mapping 1068

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List of Figures
Figure 4-1. CONNECT Using MAP Function 12
Figure 4-2. DISABLE and Mechanical Brake Output Process- Positive BONTIME 18
Figure 4-3. DISABLE and Mechanical Brake Output Process - Negative BONTIME 18
Figure 4-4. ENABLE and Mechanical Brake Output Process - Positive BOFFTIME 19
Figure 4-5. ARC1 Coordinate Specification 94
Figure 4-6. ARC2 Center Point and Rotation Angle Specification 99
Figure 4-7. SLAVE /pt Illustration 115
Figure 4-8. Single-Axis Motion Using MPTP 122
Figure 4-9. Two-Axis Group Motion Using MPTP/v 123
Figure 4-10. Results of Example MSEG 125
Figure 4-11. PATH...ENDS Diagram 127
Figure 4-12. PROJECTION of the XA Plane 131
Figure 4-13. FPOS - PROJECTION Example 131
Figure 4-14. PROJECTION Example - Final Result 132
Figure 4-15. PVSPLINE Motion Diagram 136
Figure 4-16. Use of STOPPER 139
Figure 4-17. Corner Processing - Exact Path Option 147
Figure 4-18. Corner Processing - Permitted Deviation, Permitted Radius and Corner
Smoothing Options 147
Figure 5-1. FRF measurement of a flexible system 366
Figure 5-2. SPTP motion where SLSFF=0 (no snap feed-forward) 367
Figure 5-3. SPTP motion where SLSFF=70 (snap feed-forward is tuned) 368
Figure 6-1. Illustration of COPY Function 595
Figure 6-2. Example Mapping 641
Figure 6-3. Example Mapping 644
Figure 6-4. Example Mapping 648
Figure 6-5. Example Mapping 651
Figure 6-6. Example Mapping 654
Figure 6-7. Symmetrical Dead Zone Example 667
Figure 6-8. Asymmetrical Dead Zone Example 667
Figure 6-9. DSIGN Function Example 669
Figure 6-10. EDGE Function Example 670

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Figure 6-11. INTGR Function Example 671

Figure 6-12. LAG Function Example 673
Figure 6-13. Spline Definition Range 674
Figure 6-14. Two-Dimensional Spline Definition Range 675
Figure 6-15. 5-Point Catmull-Rom Spline 676
Figure 6-16. B-Spline - Approximation of Points 677
Figure 6-17. Catmull-Ron Spline Beyond the Definition Range 678
Figure 6-18. B-Spline Map 679
Figure 6-19. MAP Example on the Scope 681
Figure 6-20. MAPB Example on the Scope 683
Figure 6-21. MAPN Example on the Scope 685
Figure 6-22. MAPNB Example on the Scope 687
Figure 6-23. MAPNS Example on the Scope 689
Figure 6-24. MAPS Example on the Scope 691
Figure 6-25. MAP2 Example on the Scope 693
Figure 6-26. MAP2B Example on the Scope 695
Figure 6-27. MAP2N Example on the Scope 698
Figure 6-28. MAP2NB Example on the Scope 700
Figure 6-29. MAP2NS Example on the Scope 703
Figure 6-30. MAP2S Example on the Scope 706
Figure 6-31. ROLL Example on the Scope 709
Figure 6-32. SAT Example on the Scope 711
Figure 6-33. 2 Pulses with Pulse Width 120 msec. 780
Figure 6-34. Delays in Gating Mode 780
Figure 6-35. Illustration of one-dimensional Safety Zone 803
Figure 6-36. Illustration of two-dimensional safety zone 804
Figure 6-37. Illustration of three-dimensional Safety Zone 805
Figure 6-38. Illustration of Dual Carriage Safety Zone Gap 806
Figure 6-39. SetMargins Enlarging Safety Zone 807
Figure 6-40. Changing Safety Zone Offsets 808
Figure 7-1. Bitstream Example 811
Figure 7-2. Cross Coupled System Example 827
Figure 7-3. CrossCoupling System with Example Position Values 828
Figure 8-1. Communication Terminal Window 846

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Figure 8-2. Interaction of Program Buffer States 866

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List of Tables
Table 4-1. The ACSPL+ command set 2
Table 4-2. Homing Methods 28
Table 4-3. DISP Command Option Escape Sequences 38
Table 4-4. Type Characters 39
Table 4-5. Channel Designation for TRIGGER 51
Table 4-6. PEG Output Signal Configuration 64
Table 4-7. Mode Values 65
Table 4-8. Commonly Monitored SPDC Variables 79
Table 4-9. Matrix Values 131
Table 4-10. IF Control Structures 167
Table 5-1. Alphabetical Listing of All ACSPL+ Variables 187
Table 5-2. AFLAG Bit Description 201
Table 5-3. MFLAGS Bit Designators 207
Table 5-4. E_FLAGS Bit Description 236
Table 5-5. Multi-Channel Feedback Support 248
Table 5-6. Homing Methods 255
Table 5-7. AST Bit Descriptions 271
Table 5-8. MST Bit Descriptions. 278
Table 5-9. NST Bit Description 281
Table 5-10. PFLAGS Bit Description 1 380
Table 5-11. PST Bit Description 383
Table 5-12. ECST Bits 390
Table 5-13. EC2ST Bits 391
Table 5-14. Axis Fault Bits 396
Table 5-15. FDEF Bit Description 404
Table 5-16. FMASK Bit Description 409
Table 5-17. SAFINI Valid Bits 418
Table 5-18. S_FAULT Fault Bits 420
Table 5-19. S_FDEF Bit Description 424
Table 5-20. S_FMASK Bit Description 426
Table 5-21. SLCROUT Values 479
Table 5-22. SLPROUT Values 482

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Table 5-23. SLVROUT Values 484

Table 5-24. SLCROUT Values 486
Table 5-25. Dual EtherCAT CTIME and C2TIME values 504
Table 5-26. IENA Bit Description 509
Table 5-27. ISENA Bit Description 511
Table 5-28. S_FLAGS Bit Description 513
Table 5-29. S_SETUP Bit Designators 514
Table 5-30. COMMCH Values 519
Table 5-31. COMMFL Bit Descriptions 521
Table 5-32. ECHO Channel Numbers 523
Table 5-33. DISPCH Channel Numbers 524
Table 6-1. GETCONF Return Values 565
Table 6-2. 16-bit Binary value Template 577
Table 6-3. SETCONF Arguments 578
Table 6-4. SYSINFO Return Values 591
Table 6-5. Supported Error Counter Registers 610
Table 6-6. Modbus Error Codes 659
Table 6-7. MAP Array 680
Table 6-8. MAPB Array 682
Table 6-9. MAPN Array 684
Table 6-10. MAPNB Array 686
Table 6-11. MAPNS Array 688
Table 6-12. MAPS Array 690
Table 6-13. MAP2 693
Table 6-14. MAP2B 695
Table 6-15. MAP2B 697
Table 6-16. MAP2NB 700
Table 6-17. MAP2NS 703
Table 6-18. MAP2S 705
Table 6-19. Condition Mask for Register 0 763
Table 6-20. Condition Mask for Register 1 764
Table 6-21. Condition Mask for Register 2 765
Table 6-22. Example of Two-dimensional Safety Zone Definition 800
Table 7-1. Struct Fields 815

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Table 7-2. Struct Functions 817

Table 8-1. Line Designation 851
Table 9-1. ACSPL+ Syntax Errors 909
Table 9-2. ACSPL+ Compilation Errors 945
Table 9-3. ACSPL+ Runtime Errors 962
Table 9-4. ACSPL+ Motion Termination Errors 997
Table 9-5. Encoder Errors 1008
Table 9-6. ACSPL+ System Errors 1010
Table 9-7. ACSPL+ EtherCAT Errors 1013
Table 9-8. EtherCAT Slave Errors 1016
Table 9-9. Modbus Errors 1022
Table A-1. Mapping PEG Engines to Encoders (Servo Processor 0) for SPiiPlusNT / DC-LT / HP
/ LD 1033
Table A-2. Mapping PEG Engines to Encoders (Servo Processor 1) for SPiiPlusNT / DC-LT / HP
/ LD 1034
Table A-3. Mapping PEG Engines to Encoders (Servo Processor 0) for SPiiPlus CMnt / CMhv /
CMba / CMxa / UDMba / UDMhp / UDMxa / UDMhv / UDMnt / UDMpa / UDMpm / UDMpc /
UDMcb 1035
Table A-4. Mapping PEG Engines to Encoders (Servo Processor 0) for UDMlc / UDMsd / UDIlt
/ UDIhp / UDMmc / PDIcl 1036
Table A-5. Mapping PEG Engines to Encoders (Servo Processor 0) for NPMpm / NPMpc 1037
Table A-6. Engine to Encoder Assignment for IDMxx, ECMxx, and UDMxx 1040
Table A-7. General Purpose Outputs Assignment for Use as PEG Pulse Outputs (Servo
Processor 0) for SPiiPlusNT / DC-LT / HP / LD 1042
Table A-8. General Purpose Outputs Assignment for Use as PEG Pulse Outputs (Servo
Processor 1) for SPiiPlusNT / DC-LT / HP / LD 1043
Table A-9. General Purpose Outputs Assignment for Use as PEG Pulse Outputs (Servo
Processor 0) for SPiiPlus CMnt / UDMpm / CMhv / UDMhv- 1043
Table A-10. General Purpose Outputs Assignment for Use as PEG Pulse Outputs (Servo
Processor 0) for UDMnt / UDMpa / UDMcb 1044
Table A-11. Mapping of Engine Outputs to Physical Outputs (Servo Processor 0) for
SPiiPlusNT / DC-LT / HP / LD 1046
Table A-12. SPiiPlusNT / DC-LT / HP / LD Mapping of Engine Outputs to Physical Outputs
(Servo Processor 1) 1047
Table A-13. Mapping of Engine Outputs to Physical Outputs (Servo Processor 0) for CMnt /
UDMpm / UDMpc / CMhv / UDMhv 1048
Table A-14. Mapping of Engine Outputs to Physical Outputs (Servo Processor 0, OUT 0-4) for 1049

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CMba / CMxa / UDMba / UDMhp / UDMxa

Table A-15. Mapping of Engine Outputs to Physical Outputs (Servo Processor 0, OUT_5-9) for
CMba / CMxa / UDMba / UDMhp / UDMxa 1050
Table A-16. Mapping of Engine Outputs to Physical Outputs (Servo Processor 0) for UDMnt /
UDMpa / UDMcb 1051
Table A-17. Mapping of Engine Outputs to Physical Outputs (Servo Processor 0) for UDMlc /
UDMsd / UDMmc / UDIlt / UDIhp / PDIcl 1052
Table A-18. NPMpm / NPMpc Mapping of Engine Outputs to Physical Outputs (Servo
Processor 0) 1053
Table A-19. IDMsm / ECMsm / UDMsm Mapping of Engine Outputs to Physical Outputs (
Servo Processor 0, Outputs 0-5) 1055
Table A-20. IDMsm / ECMsm / UDMsm Mapping of Engine Outputs to Physical Outputs (
Servo Processor 0, Outputs 6-11) 1057
Table A-21. ECMsa / IDMsa / UDMsa Mapping of Engine Outputs to Physical Outputs (Servo
Processor 0) 1059
Table A-22. ECMma / IDMma / UDMma Mapping of Engine Outputs to Physical Outputs
(Servo Processor 0) 1061
Table A-23. ECMdx / IDMdx / UDMdx Mapping of Engine Outputs to Physical Outputs (Servo
Processor 0, Outputs 0-5) 1064
Table A-24. ECMdx / IDMdx / UDMdx Mapping of Engine Outputs to Physical Outputs (Servo
Processor 0, Outputs 6-11) 1066
Table A-25. Mark-1 Inputs to Encoders Mapping for SPiiPlusNT / DC-LT / HP / LD 1068
Table A-26. Mark-2 Inputs to Encoders Mapping for SPiiPlusNT / DC-LT / HP / LD 1070
Table A-27. Mark-1 Inputs to Encoders Mapping for with SPiiPlus CMnt / UDMpm-x / UDMpc /
CMba / CMxa / UDMba / UDMhp / UDMxa / CMhv / UDMhv 1072
Table A-28. Mark-2 Inputs to Encoders Mapping for with SPiiPlus
CMnt/UDMpm/UDMpc/CMba/CMxa/UDMba/UDMhp/UDMxa/CMhv/UDMhv 1073
Table A-29. IDMxx/ECMxx/UDMxx Encoder Mapping 1074

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1. Introduction

1. Introduction
This document details all of the elements making up the SPiiPlus ACSPL+ Programming Language as
well as the command set that may be entered through the SPiiPlus MMI Application Studio
Communication Terminal for use in a SPiiPlus system.
This document is intended for the use of software engineers.

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2. ACSPL+ Commands

2. ACSPL+ Commands
ACSPL+ comes with a complete programming command set. The commands are divided into
following categories:
> Axis Management Commands
> Interactive Commands
> PEG and MARK Commands
> Miscellaneous Commands
> Motion Commands
> Program Flow Commands
> Program Management Commands
Table 4-1. The ACSPL+ command set

Command Description

ARC1 Adds an arc segment to MSEG...ENDS motion.

ARC1 Adds an arc segment to XSEG...ENDS motion

ARC2 Adds an arc segment to MSEG...ENDS motion.

ARC2 Adds an arc segment to XSEG...ENDS motion

ASSIGNMARK Marks inputs-to-encoder assignment

Assigns an encoder to a PEG engine and GP physical output

ASSIGNPEG
connection.

ASSIGNPOUTS Assignment of physical output pins.

AXISDEF Assigns an alias to an axis

BLOCK...END Performs a group of ACSPL+ commands in one controller cycle.

Immediately terminates a motion and provides smooth

BREAK
transition to the next motion in the motion queue.

CALL Calls subroutine.

COMMUT Performs auto commutation for DC brushless (AC servo) motors.

CONNECT Defines a formula for calculating reference position (RPOS).

CSCREATE Creates a new Local Coordinate System.

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Command Description

CSDESTROY Cancels the active Local Coordinate System.

DC Activates data collection.

DEPENDS Specifies a logical dependence between a motor and axes.

Shuts off one or more drives. DISABLE ALL provides DISABLE

DISABLE/DISABLEALL
operation for all axes.

DISABLEON Disables autoroutine activation in a buffer.

Builds a string and sends it to the default communication

DISP
channel.

Returns the system back to the operational state if one or more

ECRESCAN
slaves underwent a reset or power cycle.

ENABLE/ENABLE ALL Activates one or more drives

ENABLEON Enables autoroutine activation in a buffer.

FCLEAR Clears faults.

GO Starts a motion that was created using the /w command option.

GOTO Transfers program execution to another point in the program.

GROUP Defines an axis-group for coordinate multi-axis motion.

Terminates one or more motions using a third-order

HALT deceleration profile (DEC deceleration).
HALTALL provides HALT operation for all axes.

IF, ELSEIF, ELSE...END IF command structure.

IMM Provides on-the-fly change of motion parameters.

INTERRUPT Causes an interrupt that can be intercepted by the host.

INTERRUPTEX Causes an interrupt similar to that of the INTERRUPT command.

JOG Creates a jog motion.

Terminates one or more motions using a second-order

KILL/KILLALL deceleration profile and the KDEC deceleration value.
KILL ALL provides KILL operation for all axes.

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Command Description

LINE Adds a linear segment to MSEG...ENDS motion.

LINE Adds a linear segment to XSEG...ENDS motion.

LOOP...END Loop command structure.

MASTER Defines a formula for calculating MPOS.

Adds a set of points to MPTP...ENDS, PATH...ENDS or

MPOINT
PVSPLINE...ENDS motion.

MPTP...ENDS Creates a multipoint motion.

MSEG...ENDS Creates a segmented motion.

The autoroutine structure. An the autoroutine is automatically

executed when a specific condition is satisfied. The routine
ON...RET interrupts the currently executing program, executes the
commands specified in the autoroutine body, and then returns
control to the interrupted program.

Creates an arbitrary path motion with linear interpolation

PATH...ENDS
between the specified points.

PAUSE Suspends program execution in a buffer.

Defines Incremental PEG parameters. activates the PEG engine.

Defines the Random PEG parameters. activates the PEG engine.

Adds a point to MPTP...ENDS, PATH...ENDS, or PVSPLINE...ENDS

POINT
motion.

An expansion command to the MSEG...ENDS set of commands,

that allows the controller to perform a three dimensional
PROJECTION
segmented motion such as creating arcs and lines on a user-
defined plane.

PTP Creates a point-to-point motion.

Creates an arbitrary path motion with spline interpolation

PVSPLINE...ENDS
between the specified points.

READ Reads an array from a file in the flash memory.

RESUME Resumes program execution in a buffer.

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Command Description

SAFETYCONF Configures fault processing for one or more axes.

Activates the fault response for all axes in the axis_list when
SAFETYGROUP any axis triggers the fault, and manages the axes as a block in
response to KILL/KILLALL and DISABLE/DISABLEALL.

Same as DISP, but also specifies the communication channel or

SEND
channels.

Defines the current value of either feedback (FPOS), reference

SET
(RPOS), or axis (APOS) position.

SLAVE Creates a master-slave motion.

SMOVE Define segment of movement with transition point smoothing

SPDC Activates data collection from a Servo Processor variable.

Activates a real-time data transfer process from the MPU to a

SPRT
given Servo Processor.

Stops an active real-time data transfer process on the given SP

SPRTSTOP
(for cyclic command only).

Initiates the transfer of MPU real-time data to the Servo

SPINJECT
Processor.

SPLIT breaks apart an axis group.

SPLIT
SPLITALL breaks apart all axis groups. See GROUP.

a multi-axis Point-to-Point motion command, using a 4th order

SPTP Command
profile

START Activates program execution in a buffer.

Restarts PEG at the current position if has been issued and the
last_point has not been reached.

STOP/STOPALL Terminates program execution in a buffer.

STOPDC Terminates data collection.

STOPINJECT Stops the transfer of MPU real-time data to the Servo Processor.

Axis Management
Halts the PEG engine for the specified axis.
Commands

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Command Description

STOPPER Adds a segment separator to MSEG...ENDS motion.

Delays program execution until a specified expression produces

TILL
a non-zero (true) result.

TRACK Creates tracking motion.

Specifies a triggering condition. Once the condition is satisfied,

TRIGGER
the controller issues an interrupt to the host computer.

Delays program execution for a specified number of

WAIT
milliseconds.

WHILE...END While command structure.

WRITE Writes an array to a file in the flash memory.

XSEG...ENDS Creates extended segment motion.

2.1 Axis Management Commands

The Axis Management commands are:

Command Description

Immediately terminates a motion and provides smooth

BREAK
transition to the next motion in the motion queue.

COMMUT Performs auto commutation for DC brushless (AC servo) motors.

CONNECT Defines a formula for calculating reference position (RPOS).

CSCREATE Creates a new Local Coordinate System.

CSDESTROY Cancels the active Local Coordinate System.

DEPENDS Specifies a logical dependence between a motor and axes.

Shuts off one or more drives. DISABLE ALL provides DISABLE

DISABLE/DISABLEALL
operation for all axes.

ENABLE/ENABLE ALL Activates one or more drives.

ENCINIT Used for encoder configuration.

ERRORDEF Enables the user to define user errors.

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Command Description

FCLEAR Clears faults.

FOLLOW Switches an axis into slave mode.

GO Starts a motion that was created using the /w command option.

GROUP Defines an axis-group for coordinate multi-axis motion.

Terminates one or more motions using a third-order

HALT deceleration profile (DEC deceleration).
HALTALL provides HALT operation for all axes.

HOME Recives parameters for a predefined set of homing methods.

IMM Provides on the fly change of motion parameters.

Terminates one or more motions using a second-order

KILL/KILLALL deceleration profile and the KDEC deceleration value.
KILLALL provides KILL operation for all axes.

SAFETYCONF Configures fault processing for one or more axes.

Creates a safety axis group. When any axis in the group triggers
SAFETYGROUP
a fault, the fault affects all axes in the group.

Defines the current value of either feedback (FPOS), reference

SET
(RPOS), or axis (APOS) position.

SPLIT breaks apart an axis group - see GROUP.

SPLIT
SPLITALL breaks apart all axis groups.

UNFOLLOW Switches an axis into regular mode.

2.1.1 BREAK
Description
BREAK immediately terminates the currently executed motion of the specified axis without building
a deceleration profile, and initiates the next motion in the axis motion queue, if it exists.
Syntax
BREAK axis_list
Arguments

Axis or list of axes, valid numbers are: 0, 1, 2, ... up to the number of axes in the
axis_list
system minus 1.

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Comments
BREAK executes differently in the following cases:
1. When the next motion waits in the motion queue, BREAK terminates the current motion
and starts the next motion immediately.
2. When there is no next motion in the motion queue BREAK has no immediate effect. The
current motion continues until the next motion appears in the motion queue. At that
moment the controller breaks the current motion and provides a smooth velocity transition
profile from motion to motion. If the current motion finishes before the next motion comes
to the queue, the command has no effect.
COM Library Methods and .NET Library Methods
Break
C Library Functions
acsc_Break
Example

PTP 0, 1E8 !Move to point 1E8

PTP 0, -1E8 !Add another motion to the motion queue
WAIT 10000 !Wait 10 seconds
BREAK 0 !Terminate the first motion (PTP 0, 1E8)
!and immediately start the next motion:
!(PTP 0, -1E8)
STOP !End program

2.1.2 COMMUT
Description
COMMUT performs auto commutation and may be used when the following conditions hold true:
> The motor is DC brushless (AC servo)
> The motor is enabled
> The motor is idle
> The axis is already configured and properly tuned

Versions 2.60 and higher supports COMMUT in GANTRY mode. Commutation of the
primary axis will automatically trigger commutation of the secondary axis.

Syntax
COMMUT axis [,excitation_current][,settle_time][,slope][,gantry_commut_delay]

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Arguments

The affected axis, valid numbers are: 0, 1, 2, ... up to the number of axes in
axis
the system minus 1.

excitation_ Optional - Given as a percentage of the full current command. The default
current value is set to 98% of XRMS.

Optional - Determines settling time for the auto commutation process

initiated by COMMUT. The default value is 500 msec.
settle_time The entire auto commutation process lasts approximately three times
longer, since the command executes the algorithm three times for
verification.

Optional - The slope parameter is optional, and used only in special cases.
If a value is assigned to this parameter then the excitation current
slope command builds up with some slope. The parameter sets the duration of
the current build-up process in milliseconds. It is usually recommended to
omit this parameter, in which case the excitation current is built instantly.

Optional – can be used only in Gantry mode. It defines the delay time in
gantry_ milliseconds after the commutation of the primary axis is completed and
commut_delay before the commutation of the complimentary axis begins. The default
value is 500 msec.

Comments
COMMUT is generally used in auto commutation-based startup programs.
The excitation current, settle time and slope are optional parameters for the auto commutation
process initiated by COMMUT.
Refer to the relevant section in the Setup Guide for a complete description of the commutation
process.
COM Library Methods and .NET Library Methods
Commut, WaitMotorCommutated
C Library Functions
acsc_Commut, acsc_WaitMotorCommutated

COMMUT 0,80,100,30 !Commut 0 axis with an excitation current

!of 80%. Settling time is 100msec, and a
!current build-up slope of 30msec.

2.1.3 CONNECT
Description
CONNECT defines a formula for calculating reference position (RPOS). This formula can include any
other axes variables. DEPENDS must follow CONNECT.

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Syntax
CONNECT axis_RPOS = formula
Comments
Care needs to be taken when using complex non-default connections. Especially with articulated
robots, the non-default connections can involve inverse trigonometric functions, square roots,
division, and other mathematical operations that can cause numerical errors when not properly
posed. While it is recommended that CONNECT command be written to avoid this from occurring, it is
not always possible; therefore proper handling of the numerical errors is necessary.
The following are general guidelines concerning the CONNECT command:
1. The default relation between an axis position (APOS) and its reference (motor) position
(RPOS) is 1:1.
2. Defining a different relation can be very useful for mechanical error corrections, dynamic
error compensation, backlash compensation, inverse kinematics and more.
3. If the CONNECT relation is based on another axis position, it creates a strict link (like a
mechanical connection) between all defined axes for as long as the function is active.
4. The variable MFLAGS<axis>.17 (bit 17) disables or enables a customized (non-default)
CONNECT formula definition. See MFLAGS.
5. After CONNECT it is recommended to initialize ROFFS with the first value in the correction
table (as seen in the following example:

SET RPOS0=MAP(APOS0,ARRAY,100,200)
This forces ROFFS to be zero and prevents the creation of a constant offset to RPOS.
6. ENABLE/ENABLE ALL, DISABLE/DISABLEALL and KILL/KILLALL change the value of ROFFS.
Therefore, if these commands follow CONNECT, then redefine the CONNECT formula, and
RPOS should be initialized to nearest value.
7. To stop motion after using CONNECT, use HALT instead of KILL. HALT does not affect the
ROFFS variable.
If a numerical error occurs when evaluating a non-default connection, the output sent to RPOS is
undefined. As such it is recommended to toggle back to the default connection and then go back to
non-default connection.
When going back to the default connection the simplest way is to set MFLAGS().17. When this
happens RPOS does not change, but APOS will change and be set to RPOS. However, this sudden
change of APOS may also cause a numerical error if APOS is used in a CONNECT function. If this
happens MFLAGS().17 will be set, but the non-default connection will still be active.
A more robust way of handling this change is to first explicitly change the connect function of all
applicable axes to RPOS = APOS. When this happens neither RPOS nor APOS will change
instantaneously, so no numerical error should occur. Then MFLAGS().17 can be set without causing a
numerical error.
Related ACSPL+ Commands
DEPENDS

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Related ACSPL+ Variables

RPOS, APOS, ROFFS

GLOBAL REAL ARRAY(6) !Define ARRAY.

ARRAY(0)=60;ARRAY(1)=40;ARRAY(2)=90;ARRAY(3)=-40;ARRAY(4)=60; ARRAY(5)=10
!Populate Correction point ARRAY for MAP
!function.
MFLAGS(0).17=1 !Set default connection between APOS and
!RPOS (RPOS=APOS).
ENABLE 0 !Enable 0 axis.
MFLAGS(0).17=0 !Set non-default connection between APOS
!and RPOS (RPOS is a function of APOS).
CONNECT RPOS0=APOS0+MAP(APOS0,ARRAY,100,200)
!CONNECT formula between RPOS0 and
!APOS0 using the MAP function with
!correction table ARRAY.
DEPENDS 0,0 !Assign Axis 0 to Motor 0. See DEPENDS.
SET APOS0=0;SET RPOS0=0 !Initialize APOS and RPOS at 0.
PTP 0, MAP(APOS0,ARRAY,100,200)
!Moves axis 0 to the first point in the
!correction ARRAY to avoid a constant
!offset in ROFFS, as explained in Comment 2.
PTP 0, 1300 !Move to 1300. Each point during the motion
!is modified according to the correction
!ARRAY in the MAP function.
STOP !End program

This illustrates the results of the example on the SPiiPlus MMI Application Studio Scope.

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Figure 4-1. CONNECT Using MAP Function

2.1.4 CSCREATE
Description
The CSCREATE command creates the new Local Coordinate System (LCS) relative to the Machine
Coordinate System or the previous LCS, depending on the applied switches.
Syntax
For 2D coordinate system:

CSCREATE[/r] axis_list, x_trans, y_trans[, rot_angle]

For 3D coordinate system:

CSCREATE[/r] axis_list, x_trans, y_trans, z_trans[, rot_axis, rot_angle]

Arguments

The group of 2 or 3 axes. Valid values are: 0, 1, 2 ... up to the number of axes in
axis_list
the system minus 1.

x_trans The new X position of the LCS in user units

y_trans The new Y position of the LCS in user units

The Z position of the LCS in user units. This parameter is included when axis_list
z_trans
includes 3 axes.

(Optional)
rot_axis
The rotation axis: 0 – X, 1 – Y, 2 – Z

(optional)
rot_angle
Rotation angle value: (-3.14159 : +3.14159) in radians

Switches

The new LCS is relative (additive) to the existing LCS (otherwise the new LCS is
/r
relative to the Machine Coordinate System).

Comments
> In function calls which include rotation parameters, the translation parameters are applied
to the system first, and then the rotation parameters.
> The enumeration of axes for the rot_axis parameter is a numbered list of axes in the newly
created coordinate system. This enumeration relates to the virtual axes, not the physical
axes of the system.
> This command is supported in version 3.10 and higher.

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Example 1
This example demonstrates rectangular motion in PTP mode.

!Create LCS with origin (10, 0, 0) and rotated 30 degrees around Z

REAL ang = 30* 3.141592 /180
CSCREATE (X,Y,Z), 10, 0, 0, 2, ang

PTP/ze (X,Y), 0, 0 !go to the beginning position

!Make rectangular motion

PTP/ze (X,Y), 0, 25
PTP/ze (X,Y), 50, 25
PTP/ze (X,Y), 50, 0
PTP/ze (X,Y), 0, 0

CSDESTROY (X,Y,Z) !restore machine coordinate system

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Example 2
This example demonstrates rectangular motion in MPTP mode.

!Create LCS with origin (10, 0, 0) and rotated 30 degrees around Z

REAL ang = 30* 3.141592 /180
CSCREATE (X,Y,Z), 10, 0, 0, 2, ang
PTP/ze (X,Y), 0, 0 !go to the beginning position
MPTP/z (X,Y)
POINT (X,Y), 0, 25
POINT (X,Y), 50, 25
POINT (X,Y), 50, 0
POINT (X,Y), 0, 0
ENDS(X,Y)
TILL GSEG(X) = -1 !Wait until motion complete
CSDESTROY (X,Y,Z) !restore machine coordinate system

Example 3
This example demonstrates round rectangular motion in XSEG mode.

!Create LCS rotated 30 degrees around X

REAL ang = 30* 3.141592 /180
CSCREATE (X,Y,Z), 10, 0, 0, 0, ang
ang = 75* 3.141592 /180
CSCREATE/r (X,Y,Z), 0, 0, 0, 1, ang !Additional rotation 75 deg. Around Y

PTP/ze (X,Y), 0, 0 !go to the beginning position

XSEG/z (X,Y), 0, 0
LINE (X,Y), 100, 0
ARC2 (X,Y), 100, -30, -3.14159
LINE (X,Y), 0, -60
ARC2 (X,Y), 0, -30, -3.14159
ENDS(X,Y)
TILL GSEG(X) = -1 !Wait until motion complete
CSDESTROY (X,Y,Z) !restore machine coordinate system

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2.1.5 CSDESTROY
Description
The CSDESTROY command cancels the active Local Coordinate System and sets the Machine
Coordinate System or previous Local Coordinate System.
Syntax

CSDESTROY axis_list[, restore_flag]

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Arguments

The group of 3 axes. Valid values are: 0, 1, 2 ... up to the number of axes in the
axis_list
system minus 1.

(Optional)
restore_flag Set to 1 to restore the previous LCS, set to 2 to total destroy of LCS and
remove it from memory; 0 or omitted value restores the MCS

Unpredictable and dangerous motion may result if CSDESTROY is called

before the motion involving the coordinate system created by CSCREATE is
complete.

Comments
This command is supported in version 3.10 and higher.
Examples
See CSCREATE.

2.1.6 DEPENDS
Description
DEPENDS is used only following CONNECT.
DEPENDS specifies a logical dependence between a physical axis (motor) and the same or other
logical axes. By default, the physical axis (motor) is assigned to its axis. DEPENDS is necessary
because the controller is generally not capable of deriving dependence information from the
CONNECT formula.
Syntax
DEPENDS physical_axis, axis_list
Arguments

physical_axis Physical axis (motor).

Axis or list of axes, valid numbers are: 0, 1, 2, ... up to the number of axes in
axis_list
the system minus 1.

Comments
> Once a CONNECT command is executed, the controller resets the motor dependence
information to the default-the motor depends only on the corresponding axis.
> If a connection formula actually causes the motor to be dependent on another axis / axes,
the DEPENDS command must follow to specify actual dependence.
Related ACSPL+ Commands
CONNECT

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Example
See the examples from CONNECT.

2.1.7 DISABLE/DISABLEALL
Description
DISABLE deactivates one, several, or using DISABLEALL, all drives. After DISABLE, RPOS = FPOS
which means that no position error exists, or PE<axis> = 0.
Syntax
DISABLE axis_list [,reason]
Arguments

Axis, or list of axes, valid numbers are: 0, 1, 2, ... up to the number of axes in the
axis_list
system minus 1.

reason is an optional parameter. reason must be an integer constant or

expression that equates to an integer and specifies a reason why the motor
reason was disabled. If the parameter is specified, its value is stored in the MERR
variable. If the parameter is omitted, MERR stores zero after the disable
operation.

Related ACSPL+ Commands

ENABLE/ENABLE ALL, FCLEAR, DISABLEALL
Related ACSPL+ Variables
MERR, FPOS, RPOS
COM Library Methods and .NET Library Methods
Disable, DisableM, DisableAll
C Library Functions
acsc_Disable, acsc_DisableM, acsc_DisableAll
The examples illustrate the DISABLE process using positive and negative BONTIME values.
The examples are followed by screens illustrating the results of DISABLE for both positive and
negative BONTIME.
Example1:

DISABLE (0,1) !Disables the 0 and 1 motors. A fault

!notification window will be displayed.

Example 2:

DISABLE (0,1), 6100 !Disable 0 and 1 motors, store 6100 as the

!reason. 6100 specifies a user-defined error
!code which is stored in MERR.

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Example 3:

DISABLE ALL !Disable all motors.

Figure 4-2. DISABLE and Mechanical Brake Output Process- Positive BONTIME

Figure 4-3. DISABLE and Mechanical Brake Output Process - Negative BONTIME

2.1.8 ENABLE/ENABLE ALL

Description
ENABLE activates one or more axes. After ENABLE, the motor starts following the reference position
(RPOS) and axis faults are enabled. ENABLE ALL activates all axes.
Syntax
ENABLE|ENABLE ALL axis_list
Arguments

Axis or list of axes, valid numbers are: 0, 1, 2, ... up to the number of axes in the
axis_list
system minus 1.

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Comments
Motor specification is a single axis like 0 or 13, a string of axes enclosed in parentheses and
separated by commas, for example: (0,1,13), or the keyword: ALL for all axes.
Related ACSPL+ Commands
DISABLE/DISABLEALL
Related ACSPL+ Variables
ENTIME, MFLAGS<axis>.#ENMOD
COM Library Methods and .NET Library Methods
Enable, EnableM, Wait Motor Enabled
C Library Functions
acsc_Enable, acsc_EnableM, acsc_WaitMotorEnabled
Example1:

ENABLE 0 !Enable 0 axis.

Example 2:

ENABLE (0,1) !Enable 0 and 1 axes.

Figure 4-4. ENABLE and Mechanical Brake Output Process - Positive BOFFTIME

2.1.9 ENCINIT
Description
The ENCINIT function is used for encoder configuration. The ENCINIT function, if executed in a buffer,
will wait until initialization is finished.
Syntax

ENCINIT (Axis, E_type, [Primary[,Slabits[, E_par_a[, E_par_b[, E_par_c [,

e_freq[, e_scmul[, E_aoffs[, ESTBITS[, EMTBITS]]]]]]]]]])

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Arguments

The affected axis, valid number are: 0,1,2.. up to the number of axis in
Axis
the system minus 1.

E_type Encoder Type, according to ACSPL+ E_TYPE variable definition.

Optional. Defines the feedback – can be primary or secondary.

Possible values:
Primary
Primary: 1 – default
Secondary: 0

(Optional, Integer) Used for setting the total number of absolute

Slabits position bits for an absolute encoder, according to ACSPL+ SLABITS
variable definition.

(Optional, Double) Used for setting the encoder data transmission

E_par_a
actual frequency in MHZ. According to ACSPL+ E_PAR_A definition.

(Optional, Integer) Used for setting the encoder data control CRC
E_par_b
code. According to ACSPL+ E_PAR_B definition.

(Optional, Integer) Used for setting the interval (in microseconds) of

E_par_c
encoder position reading. According to ACSPL+ E_PAR_C definition.

(Optional, Integer) Used for defining the maximum encoder pulse

E_freq
frequency (in MHZ). According to ACSPL+ E_FREQ definition.

(Optional, Integer) Used for specifying the Sin-Cos multiplication

E_scmul
factor for the encoder. According to ACSPL+ E_SCMUL definition.

(Optional, double) Used for setting user-defined offset for absolute

E_aoffs
encoder. According to ACSPL+ E_AOFFS definition.

(Optional, integer) Used for setting the single turn resolution (number
ESTBITS
of bits).

(Optional, integer) Used for setting the multi turn resolution (number
EMTBITS
of bits).

Return Value
None
Comments
If an optional parameter is specified, the relevant ACSPL+ variable is modified as well. Otherwise, the
initialization of the encoder will use the existing value of the variable.
If the Primary parameter is set to 0, secondary feedback variables are affected or used during
initialization, according to the following table.

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If one of the parameters is out of range, error 3041 “Assigned value is out of range” given. Not
allowed E_TYPE value will trigger error 3194 “Not allowed Encoder Type”.
If ESTBITS or EMTBITS are not 0 and SLABITS is not equal to ESTBITS+EMTBITS, an error is triggered.
This function is supported in version 3.00 and higher.

Primary Feedback ACSPL+ Variable Secondary Feedback ACSPL+ Variable

SLABITS S2LABITS

E_PAR_A E2_PAR_A

E_PAR_B E2_PAR_B

E_PAR_C E2_PAR_C

E_AOFFS E2_AOFFS

E_FREQ E2_FREQ

E_SCMUL E2_SCMUL

ESTBITS E2STBITS

EMTBITS E2MTBITS

Example

ENCINIT (0,10)! triggers initialization of Endat 2.2 for axis 0, primary

!feedback

STOP

2.1.10 ENCREAD
Description
The ENCREAD function is used for reading encoder parameters. The function should be executed in
a buffer, and it will wait till the execution is completed.
Syntax

INT ENCREAD (Axis, E_type, ParamType[, Primary])

Arguments

The affected axis, valid number are: 0,1,2.. up to the number of axes in the
Axis
system minus 1

E_type Encoder Type, according to ACSPL+ E_TYPE variable definition.

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Parameter Type to read.

Supported values are:
ParamType
> 0 – Resolution (total number of bits, single turn + multi turn)
> 1 – Maximum Frequency (in KHz)

Optional. Defines the feedback – can be primary or secondary.

Possible values:
Primary
> Primary: 1 (default)
> Secondary: 0

Return Value
Parameter value according to the requested ParamType.
Comments
Only Endat encoders are supported. For any other E_TYPE, the functions returns error 3196
“Requested Absolute Encoder is not supported”.
E_TYPE value is changed to 10 (Endat) after the function is called.
The function can be called only if the axis is disabled.
The function can be called only from a buffer; if called from the terminal, error 2073 is returned.
This variable is supported in version 3.10 and higher.
Example

I0=encread(0,10,0) ! !Axis 0, Endat encoder, Resolution

I1=encread(0,10,1) !Axis 0, Endat encoder, Max Frequency

This command is supported in the IDMsm/IDMsa/ECMsm/ECMsa/UDMsm/UDMsa

products only, and only for EnDAT encoders.

2.1.11 ERRORDEF
Description
The ERRORDEF command enables the user to define user errors. Once defined, the user can see the
string in the error message instead “Unknown error”.
Syntax

ERRORDEF Error Number “user string”

Arguments

Error Number Positive integer in range [9001-9100]

User string Maximum length is 254.

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Switches
N/A
Error Conditions
???
Comments
ERRORDEF commands must be defined in D-Buffer.
Error Number redefinition is forbidden.

2.1.12 FCLEAR
Description
FCLEAR clears the FAULT variable and the results of the previous fault stored in MERR.
Syntax
FCLEAR axis_list
Arguments

Axis or list of axes, valid numbers are: 0, 1, 2, ... up to the number of axes in the
axis_list
system minus 1.

Comments
> Motor specification is a single axis like 0 or 13, a string of axes enclosed in parentheses and
separated by commas, for example: (0,1,13), or the keyword: ALL for all axes.
> If the axis designation is omitted the command clears the system faults. If an axis is
specified, the command clears the FAULT and MERR components for the specified axes.
However, if the reason for the fault is still active, the controller will immediately set the fault
again following FCLEAR.
> If one of the cleared faults is an encoder error, FCLEAR also resets the feedback position to
zero.
Related ACSPL+ Variables
MERR, FAULT
COM Library Methods and .NET Library Methods
FaultClear, FalutClearM
C Library Functions
acsc_FaultClear, acsc_FaultClearM
Example 1:

FCLEAR (0,1) !Clear FAULT and MERR variables for 0 and 1 axes

Example 2:

FCLEAR ALL !Clear FAULT and MERR variables for all axes

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The [Link] command may cause an increase in USAGE.

2.1.13 FOLLOW
Description
FOLLOW switches an axis into slave mode. The specified axis will follow the profile generated by the
RTC6.
Syntax
FOLLOW(axis)
Arguement

axis Axis, valid numbers are: 0, 1, 2, ... up to the number of axes in the system minus 1.

2.1.14 GO
Description
GO starts a motion that has been created using the /w (wait) switch.
Syntax
GO axis_list
Arguments

Axis or list of axes, valid numbers are: 0, 1, 2, ... up to the number of axes in the
axis_list
system minus 1.

Comments
> Motor specification is a single axis like 0 or 13, a string of axes enclosed in parentheses and
separated by commas, for example: (0,1,13), or the keyword: ALL for all axes.
> Where GO specifies a single axis, that axis may not be included in any group. GO starts the
last created motion for the same axis. If the motion was not created, or has been started
before, the command has no effect.
> Where GO specifies a leading axis in a group, GO starts the last created motion for the same
axis group. If the motion was not created, or has been started before, the command has no
effect.
COM Library Methods and .NET Library Methods
Go, GoM
C Library Functions
acsc_Go, acsc_GoM
Related ACSPL+ Commands
HALT, MSEG...ENDS, JOG, MPTP...ENDS, PATH...ENDS, PTP, PVSPLINE...ENDS, SLAVE, TRACK

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Example

PTP/w (0,1), 1000, 1000 !Create PTP motion, but do not start
PTP/w 3, 8000 !Create PTP motion, but do not start
GO (0,1) !Start both motions at the same time

2.1.15 GROUP
Description
GROUP defines an axis group for coordinate multi-axis motion. The first axis in the axes list is the
leading axis. The motion parameters of the leading axis become the default motion parameters for
all axes in the group. Motion on all axes in a group will start and conclude at the same time.
Syntax
GROUP axis_list
Arguments

Axis or list of axes, valid numbers are: 0, 1, 2, ... up to the number of axes in the
axis_list
system minus 1.

Comments
An axis can belong to only one group at a time. If the application requires restructuring the axes, it
must split the existing group and only then create the new group.
Related ACSPL+ Variables
VEL, ACC, DEC, JERK, KDEC, GVEC, GVEL, GACC, GJERK
Related ACSPL+ Commands
SPLIT
COM Library Methods and .NET Library Methods
Group
C Library Functions
acsc_Group
Example

GROUP (0,1) !Creates an axis group that includes axes 0 and 1.

PTP (0,1), 1000, 10000 !PTP axis 0 to 1000, and axis 1 to 10000.

2.1.16 HALT
Description
In single axis motion, HALT terminates currently executed motion and clears all other motions
waiting in the axis motion queue. The deceleration profile is defined by DEC (deceleration variable).
In group motion, HALT terminates currently executed motion of all group axes, and clears all other
motions waiting in the axes motion queues. The deceleration profile is defined by the DEC
(deceleration) variable of the leading axis.

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Syntax
HALT axis_list[,reason]
Arguments

axis_list List of axes to be halted.

An optional argument, which must be an integer constant or expression that

reason
equates to an integer, and specifies a cause why the axis was halted.

Switches

/e Wait for motion termination before executing the next command.

Comments
HALT ALL terminates the motion of all axes.
Related ACSPL+ Commands and .NET Library Methods
KILL/KILLALL
COM Library Methods
Halt, HaltM
C Library Functions
acsc_Halt, acsc_HaltM
Example 1:

HALT 0 !Terminates 0 axis motion, the deceleration is

! according to DEC(0)

Example 2:

HALT (0,2) !Terminates currently executed motion on axes

!0 and 2.

Example 3:

HALT ALL !Terminates currently executed motion on all axes.

2.1.17 HOME
Description
The predefined HOME command may receive the following parameters: Axis, HomingMethod
(optional), HomingVel (optional), MaxDistance (optional), HomingOffset (optional), HomeCurrLimit
(optional), HardStopThreshold (optional), SetYawToOpen (optional), SkewValue (optional),
LookForTwoLS (optional), LookForTwoIndexes (optional).
If the "/e" switch is used, the optional "Timeout" parameter is also used.

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Syntax
Without the "/e" switch

HOME Axis, [HomingMethod, HomingVel, MaxDistance, HomingOffset,

HomingCurrLimit, HardStopThreshold,SetYawToOpen, SkewValue,LookForTwoLS,
LookForTwoIndexes]

With the "/e" switch

HOME/e Axis, [HomingMethod, HomingVel, MaxDistance, HomingOffset,

HomingCurrLimit, HardStopThreshold,SetYawToOpen, SkewValue,LookForTwoLS,
LookForTwoIndexes, Timeout]

Arguments

axis index, valid numbers are: 0, 1, 2, ... up to the number of axes in

Axis
the system minus 1.

Optional. The number of homing method that should be used for

homing.
HomingMethod
If not specified: the homing method is set according to the value
of the HOMEDEF variable.

Optional. The velocity that will be used for the homing.

HomingVel
If not specified: SLCPRD*EFAC/2

Optional. The Maximum distance that will be used during homing.

MaxDistance
If not specified, endless motion will be used.

Optional. The machine home position is found during homing. If

not specified, 0 is used. If specified, after homing is completed, the
HomingOffset
zero position is offset from the home position by adding the
home offset of the home position.

Optional. Current Limit during the homing process. If not specified:

HomingCurrLimit
min(XCURV,0.5*XRMSM,0.5*XRMSD)

Optional. If specified, Hard Stop will be identified by:

Abs(PE)>min(HardStopThreshold,CERRV*0.75)
HardStopThreshold
If not specified:
Abs(PE)>CERRV*0.75

For Gantry mode only. Optional.

0 – Complementary Axis keeps OPEN LOOP state during homing
SetYawToOpen operation
1- Complementary Axis is set to OPEN LOOP state during homing
operation

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For Gantry mode only. Optional. Used for setting positing for the
SkewValue complementary axis after the homing process is finished. If not
specified, the value is 0.

For Gantry mode only. Optional.

LookForTwoLS 0 (default) - only one limit is detected
1- both limits are detected

Optional parameter.
Timeout The parameter specifies the Timeout for the HOME command, in
milliseconds. By default, there is no limitation.

Table 4-2. Homing Methods

Method Number Explanation

1 Homing Method 1: Homing on the negative limit switch and index pulse

2 Homing Method 2: Homing on positive limit switch and index pulse

17 Homing Method 17: Homing on Negative Limit Switch

18 Homing Method 18: Homing on Positive Limit Switch

33/34 Homing Method 33 and 34: Homing on the index pulse

37 Homing Method 37: Homing on current position

50 Homing Method 50: Negative Hard Stop and index pulse (ACS Specific)

51 Homing Method 51: Positive Hard Stop and index pulse (ACS Specific)

52 Homing Method 52: Negative Hard Stop (ACS Specific)

53 Homing Method 53: Positive Hard Stop (ACS Specific)

Comments
> The HOME command is non-blocking, unless the "/e" switch is used.
> MFLAGS.#HOME bit will be set to 1 after the homing is completed.
> AST.#INHOMING bit is 1 during the homing process • E_TYPE and other encoder initialization
processes will reset the #HOME bit.
> The predefined homing methods are defined according to the DS402 standard, except
methods 50, 51, 52, 53 .

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> If the homing method is not supported, the error 3314 “Requested Homing
Method is not supported” is given.
> The axis is required to be enabled, commutated, and not in motion.
> Disable axis during homing process will cancel the homing process.
> Other motions cannot be executed while the axis is in home process
> The following homing methods are supported in Gantry mode: 1, 2, 50, and 51.

Example

ENABLE 0
COMMUT 0
HOME 0,34 !homing on Positive Index Pulse
TILL MFLAGS0.#HOME=1

STOP

2.1.18 IMM
In single axis motion, IMM provides on-the-fly changes of the following motion parameters:
> VEL (Velocity)
> ACC (Acceleration)
> DEC (Deceleration)
> JERK (Jerk)
IMM affects the motion in progress and all motions waiting in the corresponding motion queue.
In group motion, IMM provides on-the-fly changes for the motion parameters of the leading axis
only.
Syntax
IMM axis_motion parameter=value or formula
Arguments

axis_motion The motion parameter with the specified axis (valid numbers are: 0, 1, 2, ...
parameter up to the number of axes in the system minus 1).

value or
User specified value or formula.
formula

Related ACSPL+ Variables

VEL, ACC, DEC, JERK
COM Library Methods and .NET Library Methods
Set Acceleration Imm, Set Deceleration Imm, Set Jerk Imm, Set Kill Deceleration Imm,
Set Velocity Imm

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C Library Functions
acsc_SetAccelerationImm, acsc_SetDecelerationImm, acsc_SetJerkImm, acsc_
SetKillDecelerationImm, acsc_SetVelocityImm
Example

IMM VEL(0)=5000 !Immediately change the 0 axis velocity to 5000

2.1.19 KILL/KILLALL
Description
Use KILL after a safety event to decelerate and stop an axis faster than during normal deceleration
and stop. KILLALL stops all axes.
In single axis motion, KILL terminates currently executed motion and clears all other motions
waiting in the axis motion queue. The deceleration profile uses a second-order deceleration profile
and the KDEC (kill deceleration) value.
In group motion, KILL terminates currently executed motion only for the specified axes, and clears
all other motions waiting in the axis/axes motion [Link] deceleration profile uses a second-
order deceleration profile and the KDEC (kill deceleration) variable of each axis.
Syntax
KILL axis_list[,reason]
Arguments

List of axes to be killed, valid numbers are: 0, 1, 2, ... up to the number of axes in
axis_list
the system minus 1, or ALL for all axes.

An optional argument, which must be an integer constant or expression that

evaluates to an integer, and specifies a cause why the axis was killed. If the
reason
parameter is specified, its value is stored in the MERR variable. If the
parameter is omitted, MERR stores zero after KILL.

Switches

/e Wait for motion termination before executing the next command.

For systems having more than 15 axes, the use of KILL ALLmay cause Over Usage or
Servo Processor Alarm faults.

Comments
1. KILL ALL terminates the motion of all axes. The deceleration profile is defined by the KDEC
(kill deceleration) variable of each axis.
2. If several sequential KILL operations specify different causes for the same motor, only the
first cause is stored in MERR and all subsequent causes are ignored.
3. A cause stored in MERR is cleared by FCLEAR or ENABLE/ENABLE ALL.

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Related ACSPL+ Commands

HALT, FCLEAR, ENABLE/ENABLE ALL
Related ACSPL+ Variables
MERR, KDEC
COM Library Methods and .NET Library Methods
Kill, Kill All
C Library Functions
acsc_Kill, acsc_KillAll
Example 1:

KILL 1 !Kill axis 1 deceleration is according to KDEC(1)

Example 2:

KILL 0, 5011 !Kill 0 axis, store 5011 as the reason.

!Code 5011 corresponds to left limit error;
!therefore the 0 motor will be reported as
!disabled due to fault involving left limit.

Example 3:

KILL (0,1,2) !Kill 0, 1 and 2 axes according to the KDEC

!of each specified axis.

Example 4:

KILL ALL, 6100 !Kills all axes, and stores the cause in MERR.
!(6100 is the code for a user-defined cause.)

2.1.20 SAFETYCONF
Description
SAFETYCONF configures fault processing for one or more axes, by disabling the default response to
a defined axis FAULT, and performs one of the following responses:
> Ignore the interrupt
> Kill the motion
> Disable the axis
> Kill the motion and then disable the axis
Syntax
SAFETYCONF axis_list, fault_name, “conf_string”

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Arguments

Axis or list of axes, valid numbers are: 0, 1, 2, ... up to the number of axes in the
axis_list
system minus 1.

fault_
Any axis fault name like #LL for left limit.
name

A string enclosed in double quotation marks with one or more of the following
characters determines the action of SAFETYCONF:
> K (KILL/KILLALL)
> D (DISABLE/DISABLEALL)
conf_
string > KD (KILL/KILLALL-DISABLE/DISABLEALL)
> + when a fault occurs in any member of the axis_list, the fault
response applies to all axes of the controller (each axis fault response
can be unique)
> - applies FMASK<axis>.#fault-name = 0 for all axes of the controller

Comments
If an empty string is specified, fault detection is enabled, but the controller has no response to the
fault. However, an autoroutine can intercept the fault and provide a response.
In devices implementing STO, the user may not use SAFETYCONF to change the default response to
an STO fault, which is KILL<axis> + DISABLE<axis>.
Related ACSPL+ Commands
The #SC Communication Terminal command shows the current fault response configuration for all
axes.
Example 1:

SAFETYCONF 0,#PE,"K" !The 0 motion will be killed if the 0

!Position Error fault occurs.

Example 2:

SAFETYCONF (3,5),#LL,"KD" !Changes the response to the Left Limit fault

of
!3 and 5 axes to KILL and then DISABLE.

Example 3:

SAFETYCONF ALL,#DRIVE,"D+" !All axes will be disabled if the Drive

!Alarm fault occurs in any axis.

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Example 4:

SAFETYCONF ALL,#VL,"-" !Velocity Limit fault will be masked for

!all axes.

2.1.21 SAFETYGROUP
Description
SAFETYGROUP activates the fault response for all axes in the axis_list when any axis triggers the
fault, and manages the axes as a block in response to KILL/KILLALL and DISABLE/DISABLEALL.
To cancel the defined SAFETYGROUP, send the command again with only the first axis as the axis_
list.
Syntax
SAFETYGROUP axis_list
Arguments

List of axes, valid numbers are: 0, 1, 2, ... up to the number of axes in the system
axis_list
minus 1.

COM Library Methods and .NET Library Methods

GetSafetyInputPort
C Library Functions
acsc_GetSafetyInputPort
Example 1:

SAFETYGROUP (0,1,5) !Creates safety group for axes 0, 1 and 5.

Example 2:

SAFETYGROUP 0 !Cancels the previously created safety group for

!axes 0, 1 and 5.

2.1.22 SET
Description
SET defines the current value of either feedback (FPOS), reference (RPOS), or axis (APOS) position.
SET can be initiated when the axis is disabled, or on-the-fly. APOS and FPOS are updated
automatically when SET is specified for RPOS,
If a non-default CONNECT is used, assign different values to APOS and RPOS.
Related ACSPL+ Variables
RPOS
Syntax
SET axis_RPOS=value or formula

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Arguments

The reference position of the specified axis, valid numbers are: 0, 1, 2, ... up to
axis_RPOS
the number of axes in the system minus 1.

= The assignment operator

value or
User-defined value or formula
formula

COM Library Methods and .NET Library Methods

SetRPosition, SetFPosition
C Library Functions
acsc_SetRPosition, acsc_SetFPosition
Example

SET RPOS(0)=300 !Axis 0 RPOS = 300

2.1.23 SPLIT
Description
SPLIT breaks down a group created using GROUP by designating any axis in the axis list. SPLIT ALL
breaks down all groups.

If the SPLIT command specifying an axis that is currently in motion is executed within
the buffer, the buffer execution is suspended until the motion is completed. However, if
the SPLIT command is sent from the host or as a Communication Terminal command, it
returns error 3087: "Command cannot be executed while the axis is in motion".

Syntax
SPLIT axis_list
Arguments

Axis or list of axes, valid numbers are: 0, 1, 2, ... up to the number of axes in the
axis_list
system minus 1.

Related ACSPL+ Commands

GROUP
COM Library Methods and .NET Library Methods
Split, SplitAll
C Library Functions
acsc_Split, acsc_SplitAll
Example 1:

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GROUP (0,1,5) !Create an axis group including axes 0, 1 and 5.

GROUP (2,3,7) !Create an axis group including axes 2, 3 and 7.
SPLIT 0 !Breaks down axis group 0, 1 and 5.

Example 2:

GROUP (0,1,5) !Create an axis group including axes 0, 1 and 5.

GROUP (2,3,7) !Create an axis group including axes 2, 3 and 7.
SPLIT ALL !Breaks down axis group 0, 1 and 5
!and group 2, 3 and 7.

2.1.24 UNFOLLOW
Description
UNFOLLOW switches an axis into regular mode. The specified axis will follow the profile generated
by the ACS controller.
Syntax
UNFOLLOW(axis)
Arguement

axis Axis, valid numbers are: 0, 1, 2, ... up to the number of axes in the system minus 1.

2.2 Predefined Homing Methods

2.2.1 Homing Method 1: Homing on the negative limit switch and index pulse
With this homing method the initial direction movement is leftward if negative limit switch is
inactive (shown as low in the figure above). The home position is at the first index pulse right of the
position where the negative limit switch becomes active.

2.2.2 Homing Method 2: Homing on positive limit switch and index pulse
With this homing method the initial direction movement is rightward if the positive limit switch is
inactive (shown as low in the figure above). The home position is at the first index pulse left of the
position where the negative limit switch becomes active.

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2.2.3 Homing Method 17: Homing on Negative Limit Switch

Homing method 17 is similar to method 1, except that it homes on negative limit switch only.
If negative limit switch is ON when the function is called, the homing is aborted (no homing
attained).

2.2.4 Homing Method 18: Homing on Positive Limit Switch

Homing method 18 is similar to method 2, except that it homes on positive limit switch only.
If positive limit switch is ON when the function is called, the homing is aborted (no homing attained).

2.2.5 Homing Method 33 and 34: Homing on the index pulse

Using methods 33 or 34, the direction of homing is negative or positive, respectively. The home
position is at the index pulse found in the selected direction.

2.2.6 Homing Method 37: Homing on current position

In this method, the current position shall be taken to be the home position. FW implements the
following ACSPL+ code:

SET FPOS(<axis>)=HomeOffset.

2.2.7 Homing Method 50: Negative Hard Stop and index pulse (ACS Specific)
With this homing method the initial direction movement is negative, till Hard Stop is found (by using
the Position Error indication). The home position is at the first index pulse right of the position where
the Hard Stop is found.
Position Error is considered as Hard Stop only if the HardStopThreshold condition is met.

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2.2.8 Homing Method 51: Positive Hard Stop and index pulse (ACS Specific)
With this homing method the initial direction movement positive, till Hard Stop is found (by using the
Position Error indication). The home position is at the first index pulse left of the position where the
Hard Stop is found.

2.2.9 Homing Method 52: Negative Hard Stop (ACS Specific)

With this homing method the initial direction movement is negative, till Hard Stop is found (by using
the Position Error indication). After the Hard Stop is found, the axis moves back to where the Hard
Stop was detected, continues threshold (this is the home position), continues additional threshold
multiplied by 2 and halts.
Position Error is considered as Hard Stop only if the HardStopThreshold condition is met.

2.2.10 Homing Method 53: Positive Hard Stop (ACS Specific)

With this homing method the initial direction movement is positive, till Hard Stop is found (by using
the Position Error indication). After the Hard Stop is found, the axis moves back to where the Hard
Stop was detected, continues threshold (this is the home position), continues additional threshold
multiplied by 2 and halts.

2.3 Interactive Commands

The Interactive commands are:

Command Description

DISP Builds a string and sends it to the default communication channel.

INTERRUPT Causes an interrupt that can be intercepted by the host.

INTERRUPTEX Causes an interrupt similar to that of the INTERRUPT command.

Same as DISP, but also specifies the communication channel or

SEND
channels.

Specifies a triggering condition. Once the condition is satisfied, the

TRIGGER
controller issues an interrupt to the host computer.

2.3.1 DISP
Description
DISP builds an ASCII output string and sends it to a communication channel. The ASCII output can
include text segments and variable values defined in various format displays. The output string is
sent to the default communication channel defined by the standard variable DISPCH.
The DISP command has been extended to receive an entire array or a specific row from the array,
depending on the expression argument provided. To display all items in a dimension, the user can
either omit the index or use an index value of -1.
Syntax
DISP argument [, argument. . .]

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Arguments

An expression or string where:

Expression:
ACSPL+ expression as one or more variables
argument
String:
"[text] [escape-sequence] [format-specifier]"
String must be enclosed with double quotation marks.

[, argument. . .] Optional subsequent arguments.

Command Options
An input string can include one or more of the following:
> Text
Escape Sequence - appears in the output string as a non-printing character or other
specified character.
> Formatting Specification - determines how the results of an expression that follows the
input string is formatted in the output string.
Table 4-3. DISP Command Option Escape Sequences

Escape Sequence Added Character to Output String

\r Carriage return - 0x0d

\s Avoid carriage return

\n New line - 0x0a

\t Horizontal tab - 0x09

\xHH Any ASCII character where HH represents the ASCII code of the character.

The output format specification syntax adheres to a restricted version of the C language
syntax.

The format specification syntax is:

% [width] [.precision] type

where:

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Optional specification for the minimum number of characters in the

[width] output. If width is smaller than the number of digits of a displayed number,
the specified width is ignored, and the displayed number includes all digits.

Optional number that specifies the maximum number of characters

[.precision] printed for all or part of the output field, or the minimum number of digits
printed for integer values.

Required character that determines whether the associated argument is

type
interpreted as a character, a string, or a number, as described in Table 4-4.

Table 4-4. Type Characters

Type Output Format

d Signed decimal integer

u Unsigned decimal integer

x Unsigned hexadecimal integer, using "abcdef"

X Unsigned hexadecimal integer, using "ABCDEF"

Signed value having the form [ - ][Link] e [sign]ddd where d is a single decimal
e digit, dddd is one or more decimal digits, ddd is exactly three decimal digits, and
sign is + or -.

E Identical to the e format except that E rather than e introduces the exponent.

Signed value having the form [ - ][Link], where dddd is one or more decimal
digits. The number of digits before the decimal point depends on the magnitude
f
of the number, and the number of digits after the decimal point depends on the
requested precision.

Signed value printed in f or e format, whichever is more compact for the given
value and precision. The e format is used only when the exponent of the value is
g
less than -4 or greater than or equal to the precision argument. Trailing zeros
are truncated, and the decimal point appears only if one or more digits follow it.

Identical to the g format, except that E, rather than e, introduces the exponent
G
(where appropriate).

Comments
1. If an input string argument contains n format specifiers, the specifiers apply to the n
subsequent expression arguments.
2. DISP processes arguments from left to right, as follows:

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> Expressions: The expression is evaluated and the ASCII representation of the result is
placed in the output string. The format of the result is determined by the formatting
specifications (if any) in the input string.
> Input strings: Text is sent as-is to the output string. Escape sequences are replaced by
the ASCII codes that they represent. Formatting specifications are applied to the results
of any expressions that follow the string
3. DISP cannot be used from the SPiiPlus MMI Application Studio Communication Terminal,
only from a program buffer.
4. DISP can only display the value of a single element of an array.
In order to receive unsolicited messages by a host application, perform the following:
1. Set DISPCH to -2.
2. Set bit 4 of COMMFL to 1.
3. Send SETCONF(306,-1,1) from the same communication channel where unsolicited
messages are expected to be received.
In order to stop the receipt of unsolicited messages by a host application: send SETCONF(306,-1,0)
from the same communication channel where there is no need any more to receive unsolicited
messages.
Related ACSPL+ Commands
SEND, SETCONF
Related ACSPL+ Variables
DISPCH, COMMFL
COM Library Methods and .NET Library Methods
OpenMessageBuffer, GetSingleMessage, CloseMessageBuffer
C Library Functions
acsc_OpenMessageBuffer, acsc_GetMessage, acsc_CloseMessageBuffer
Example 1:

DISP "%15.10f",FPOS0 !Display FPOS0 in 15 digits with 10 digits

!following the decimal point.
!Output: 997.2936183303
STOP

Example 2:

DISP "0 FVEL=%15.10f", FVEL0 !Output: 0 FVEL= 997.2936183303

STOP

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Example 3:

DISP "%1i",IN0.2 !Output: the current state of IN0.2 as

!one digit 0 or 1.
STOP

Example 4:

DISP "IN0 as hex: %04X",IN0 !Output: IN0 as hex: 0A1D

STOP

Example 5:

DISP "IN0.0-3 as binary: %1u%1u%1u%1u", IN0.0,IN0.1,IN0.2,IN0.3

!Output: IN0.0-3 as binary: 0110
STOP

Example 6:

DISP "Elapsed time is: ", TIME !Output: Elapsed time is: 4.93258E+006
STOP

Example 7:

DISP "Expression, default formating:", FPOS0*2+FPOS1+5 , FPOS1

!Output: Expression, default formatting: 6.28657
!0.286485
STOP

Example 8:

REAL AXIS_NAME ; AXIS_NAME=0 ;

DISP "Axis",AXIS_NAME," was disabled due to error code", MERR(AXIS_NAME)
!Display the reason of axis disable due to a fault.
!Output: Axis 0 was disabled due to error code 0
STOP

Example 9:

DISP "%5i\r", FPOS0, "%5i", FPOS1

!Standard format, minimum 5 positions, no decimals,
!and a carriage return between the two values.
!Output:
!711
!2024
STOP

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Example 10:

DISP "Hexadecimal format: %08X", MFLAGS(0), " and also %08x", MFLAGS(0)
!Hexadecimal format, minimum 8 positions, capital
!letters or lower case letters.
!Output: Hexadecimal format: 002A2300 and also
!002a2300
STOP

Example 11:

DISP "0 FPOS: %15.3e", FPOS0," and 1 FPOS: %15.3e", FPOS1

!Scientific format, minimum 15 positions, 3 decimals
!of FPOS0 and FPOS1.
!Output:
!0 FPOS: 5.000e-001 and
!1 FPOS: 2.865e-001
STOP

Example 12:

REAL AAA; !Standard or scientific format, small letters or

!capital letters.
AAA=10; !Assigning integer value to AAA
DISP "%g", AAA; !Output: 10
AAA=1e9 !Assigning Hex value to AAA
DISP "%g", AAA !Output: 1e+009
DISP "%G", AAA !Output: 1E+009
STOP

2.3.2 INP
Description
INP reads data values from a specified channel and stores them to an integer array. This function is
useful for creating an interface between the controller and special input devices such as a track-ball,
mouse or various sensors. INP is also used when the controller acts as a master with the MODBUS
protocol communication.
Before using INP, configure the relevant communication channel as a special communication
channel using SETCONF function, key 302.
See also OUTP.
Syntax
int INP[/switches](channel, [array,] [start_index,] [number,] [timeout])

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Arguments

Optional user-defined integer array to which the data will be stored.

variable If variable is omitted, the function purges formerly received characters in the
channel.

Optional
The first received character is assigned to the array element with the
start_index specified index.
If start_index is omitted, the assignment starts from the first element of the
array.

Optional number of characters to be collected to the variable array.

number If number is omitted, the function continues receiving characters until the last
element of the array is assigned, or the carriage return character is received.

Optional
The function waits for input not more than the specified number of
timeout
milliseconds.
If timeout is omitted, the waiting time is not limited.

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Switches

Switch
Description
Name

/1 Interpret the data as chars (8 bits)

/2 Interpret the data as shorts (16 bits)

/4 Interpret the data as ints (32 bits)

/f Interpret the data as floats (32 bits)

/d Interpret the data as doubles (64 bits)

Interpret the data as big-endian (most significant byte is first in the data
/b
stream)

Comments
> When no command options are specified, the data is interpreted as chars (8 bits).
> Up to one type can be specified. Using more causes runtime error 3384 - The specified
suffix combination is invalid.
> When /b is not specified, the data is interpreted as little-endian (least significant byte is first
in the data stream).
> When the array’s type does not match the data type, data is rounded towards zero.
> When there is not enough data to completely interpret the requested type, the partial data
is lost, and the array is not modified.
Return Value
The number of entities that have been stored into the variable, if input successfully read. If a
timeout occurs, the function returns zero.
Error Conditions
None
Example

GLOBAL INT MMM(10) !Defines global user array MMM with ten elements.
SETCONF(302,2,1) !Assigns COM2 as special input.
INP(2) !Purges the input buffer from old values
INP(2,MMM,0,10,1000) !INP(2)- purge the input buffer from old values
!INP(2,MMM,0,10,1000) - store values from COM2 port
!to MMM user variable, from array index 0, total of
!10 values. The data collection process will end
!within 1000 msec or when the 10 values have been
!collected.
STOP !Ends program

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2.3.3 INTERRUPT
Description
INTERRUPT causes an unconditional trigger that is intercepted by the host. Once a program executes
INTERRUPT, the interrupt signal is sent to the host application. This interrupt is detected by the COM
library EnableEvent or C Library acsc_SetCallBack functions which then call interrupt type ACSC_
INTR_ACSPL_PROGRAM.
Syntax

INTERRUPT
Related ACSPL+ Commands
TRIGGER
COM Library Methods
EnableEvent, DisableEvent, SetCallbackMask, SetCallbackPriority, GetCallbackMask
C Library Functions
acsc_InstallCallback, acsc_SetCallbackMask, acsc_SetCallbackPriority, acsc_GetCallbackMask
Example 1:
INTERRUPT used in an ACSPL+ program:

ENABLE 0 !Enable axis 0

SET FPOS0=0 !Set axis 0 feedback position = 0
PTP 0, 1000 !ACSPL+ executes a PTP motion.
TILL MST(0).#MOVE=0 !The motor reaches the destination point
!and stops.
INTERRUPT !INTERRUPT is sent to the host application.
STOP

Example 2:
INTERRUPT used in a Host COM Lib application:

SET ch = New Channel !Initialize ch as a COM library object

CALL [Link](ch.ACSC_INTR_ACSPLPROGRAM)
!Enable INTERRUPT as an event. The host application
!waits for an interrupt from the controller initiated
!by INTERRUPT from within the ACSPL+ program.
Private Sub ch_ACSPLPROGRAM(ByVal Param As Long) MsgBox ("Motion is
Stopped")
!When an interrupt occurs, launch a message box
!displaying “Motion is Stopped”
EndSub

Example 3:
INTERRUPT used in a Host C Lib application:

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int WINAPI CallbackInput (unsigned __int64 Param,void* UserParameter);

// will be defined late
…
int CardIndex;//Some external variable, which contains card index
// set callback function to monitor digital inputs
if (!acsc_InstallCallback(Handle, // communication handle
CallbackInput, // pointer to the user callback function
&CardIndex, // pointer to the index
ACSC_INTR_INPUT // Type of callback
))
{
printf("callback registration error: %d\n", acsc_GetLastError());
}
…
// If callback was installed successfully, the CallbackInput function
will
// be called each time the any digital input has changed from 0 to 1.
// CallbackInput function checks the digital inputs 0 and 1
int WINAPI CallbackInput (unsigned __int64 Param,void* UserParameter)
{
if (Param & ACSC_MASK_INPUT_0 && *UserParameter == 0)
//Treat input 0 only for card with index 0
{
// input 0 has changed from 0 to 1
// doing something here
}
if (Param & ACSC_MASK_INPUT_1 && *UserParameter == 1)
//Treat input 1 only for card with index 1
{
// input 1 has changed from 0 to 1
// doing something here
}
return 0;
}

2.3.4 INTERRUPTEX
Description
The INTERRUPTEX command operates in a manner similar to INTERRUPT but has the following
differences:
> It triggers the dedicated callback ACSC_INTR_ACSPL_PROGRAM_EX (21)
> It accepts two mandatory integer parameters and two optional parameters. Their values
will be passed along with the interrupt to the host instead of the buffer mask passed in the
old INTERRUPT function as a 64-bit integer.
> Adjacent (“glued”) interrupts are processed differently (because parameters are not OR’ed):
> There is an internal queue of 256
> The next interrupt value will be triggered only after C Library delivers the previous one

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> The maximum output rate is 1 interrupt per CTIME

> On queue overflow, the interrupt is lost
Syntax
INTERRUPTEX (32-bit_high_value,32-bit_low_value[,32-bit_high_value_second,32-bit_low_value_
second])
Arguments

32-bit_high_value Most significant value of a combined 64-bit integer

32-bit_low_value Least significant value of a combined 64-bit integer

32-bit_high_value_second Optional. High 32 bits of a combined second 64-bit integer

32-bit_low_value_second Optional. Low 32 bits of a combined second 64-bit integer

Comments
INTERRUPTEX is supported by both by SPiiPlusNT and SPiiPlusSC products. For the SPiiPlusSC-HP
products, the interrupt is passed via Shared Memory, which makes it very fast (100+(Cycle-time)/2
for the round trip on the average). For the SPiiPlusNT and the SPiiPlusSC-LT products, the interrupt is
passed via the communication channel (Ethernet/Serial RS-232).

An application that uses C Library must make sure to empty the queue, register the
callback and wait enough time until the queue is empty.

The parameters are passed to the host as a single 64-bit integer with the first parameter as the 32-
bit most significant value word and the second parameter is the 32-bit least significant word.
COM Library Methods
EnableEvent, DisableEvent, SetCallbackMask, SetCallbackPriority, GetCallbackMask
C Library Functions
acsc_InstallCallback, acsc_SetCallbackMask, acsc_SetCallbackPriority, acsc_GetCallbackMask
Example 1:

Enable 0 ! Enable axis 0

SET FPOS0=0 ! Set axis 0 position to 0
PTP/e 0,1000 ! Move to position 1000
INTERRUPTEX (0x12, 0x34)! interrupt with parameter, host will receive
! 0x0000001200000034
Stop

Example 2:

Global integer interrupt_description (0x100)

Global integer interrupt_queue
interrupt_queue = 0

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interrupt_buff =0 ! No pending interrupts

Enable 0 ! Enable axis 0
SET FPOS0=0 ! Set axis 0 position to 0
interrupt_description(interrupt_queue)= 0x1 ! Setting description to 1
! indicating pre-motion
! state
interrupt_queue = (interrupt_queue+1)&0xff ! One more pending interrupt
INTERRUPTEX (0x00, interrupt_queue) ! Interrupt description in
! interrupt_description (0)
PTP/e 0,1000 ! Move to position 1000
interrupt_description(interrupt_queue) = 0x2 ! Setting description to
2
! indicating post-motion
! state
interrupt_queue = (interrupt_queue+1)&0xff ! One more pending interrupt
INTERRUPTEX (0x00, interrupt_queue) ! Interrupt description in
! interrupt_description (1)
Stop

Example 3:

Enable 0 !Enable axis 0

SET FPOS0=0 !Set axis 0 to position 0
PTP/e 0,1000 !Move to position 1000
INTERRUPTEX (0x12, 0x34, 0x22, 0x54)
!interruptex with parameter, host will receive the following;
! 0x0000001200000034, 0x0000002200000054

2.3.5 SEND
Description
SEND is the same as DISP, but also specifies the communication channel for the output string.
Syntax
SEND channel_number, argument [, argument. . .]

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Arguments

An integer that defines the communication channel to which the message

will be sent, as follows:
-2: All channels
-1: Last used channel
1: Serial Port 1
2: Serial Port 2
6: Ethernet network (TCP)
7: Ethernet network (TCP)
channel-
number 8: Ethernet network (TCP)
9: Ethernet network (TCP)
10: Ethernet point-to-point (UDP)
16: MODBUS Slave
36: Ethernet network (TCP)
37: Ethernet network (TCP)
38: Ethernet network (TCP)
39: Ethernet network (TCP)

An expression or string where:

Expression:
ACSPL+ expression as one or more variables
argument
String:
"[text] [escape-sequence] [format-specifier]"
String must be enclosed with double quotation marks.

[, argument. .
Optional subsequent arguments.
.]

Command Options
For a list of Command Options, relevant Comments, and Examples, see DISP.
Related ACSPL+ Commands
DISP
Related ACSPL+ Variables
DISPCH
COM Library Methods
Send

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C Library Functions
acsc_Send

2.3.6 TRIGGER
Description
TRIGGER specifies a triggering condition. Once the condition is satisfied, the controller issues an
interrupt to the host computer, as follows:
1. Sets AST<axis>.#TRIGGER = 0
2. Examines the triggering condition every MPU cycle
Once the condition is satisfied, the controller performs the following:
1. Sets AST<axis>.#TRIGGER = 1
2. Produces an interrupt to the host application (software interrupt 10, enabled by IENA.26).
The controller continues calculating the TRIGGER expression until another TRIGGER command is
executed in the same channel. Each time the expression changes its value from zero to non-zero,
the controller sets AST<axis>.#TRIGGER = 1 and causes an interrupt.

Full application of the TRIGGER command to channels greater than 7 is not currently
supported.

Syntax
TRIGGER channel, expression[, timeout]
Arguments

An integer number from 0 to 7 that specifies the trigger’s sequential

number. The number defines the AST element where the triggering bit will
channel
be set and defines the bit in the interrupt tag that is automatically sent to
the host application as an interrupt.

Specifies the triggering condition. After TRIGGER is executed, the controller

checks the expression condition each MPU cycle. Triggering occurs when
expression
the expression condition is satisfied. If the argument is omitted, triggering
in the specified channel is disabled.

Specifies triggering timeout in milliseconds. A positive number specifies

the time allowed for the triggering condition to be satisfied. If the timeout
has elapsed and the triggering condition has not been satisfied, the
timeout
controller unconditionally raises the trigger bit. After any triggering, the
controller resets timeout counting to zero. If the argument is omitted,
triggering works without timeout.

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Table 4-5. Channel Designation for TRIGGER

Hexadecimal Interrupt Tag

Channel Triggering Bit
(Software Interrupt 10)

0 AST0.11 0x00000001

1 AST1.11 0x00000002

2 AST2.11 0x00000004

3 AST3.11 0x00000008

4 AST4.11 0x00000010

5 AST5.11 0x00000020

6 AST6.11 0x00000040

7 AST7.11 0x00000080

Related ACSPL+ Commands

INTERRUPT
Related ACSPL+ Variables
IENA, AST
COM Library Methods
GetCallbackMask, SetCallbackMask
C Library Functions
acsc_GetCallbackMask, acsc_SetCallbackMask
Example

TRIGGER 1, MST(0).#MOVE=0, 3000 !1 – once the triggering condition is satisfied,

!the triggering bit AST1.#TRIGGER will be set
!to "1", and the interrupt tag to the host
!application is 0x00000002.
!MST(0).#MOVE=0 – the triggering condition.
!Actuate trigger interrupt when the motor in
!the 0 axis is in position (not moving).
!3000 – check the triggering condition for
!3000 msec. If the triggering condition is not
!satisfied after 3000 msec, then set the
!triggering bit AST(1).TRIGGER to "1".

2.3.7 OUTP
Description
OUTP sends data values from an integer array to a specified channel. This function is useful to create
an interface between the controller and special input devices such as a track-ball, mouse and

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various sensors. OUTP is also used when the controller acts as a master with the MODBUS protocol
communication.
Before using OUTP, configure the relevant communication channel as a special communication
channel using SETCONF function, key 302.
Each ASCII character is represented by its numerical value and is stored in a separate element of the
array.
The user might have to define communication parameters for the special communication channel
with SETCONF function keys 302, 303, 304, 309.
See also INP.
Syntax
int OUTP[/switches] (channel, variable[, start_index, number, timeout])
Arguments

variable User-defined integer or real array from which the data will be sent.

Optional
The index in the array from which to start.
start_index
If start_index and number are omitted, all members of the array are
transmitted.

Optional
number The number of characters to be transmitted from the variable array.
If omitted, all members of the array starting from start_index are transmitted.

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Optional
The function waits for input not more than the specified number of
timeout
milliseconds.
If timeout is omitted, the waiting time is not limited.

Switches

Switch
Description
Name

/1 Interpret the data as chars (8 bits)

/2 Interpret the data as shorts (16 bits)

/4 Interpret the data as ints (32 bits)

/f Interpret the data as floats (32 bits)

/d Interpret the data as doubles (64 bits)

Interpret the data as big-endian (most significant byte is first in the data
/b
stream)

Comments
> When no command options are specified, the data is interpreted as chars (8 bits).
> Up to one type can be specified. Using more causes runtime error 3384 - The specified
suffix combination is invalid.
> When /b is not specified, the data is interpreted as little-endian (least significant byte is first
in the data stream).
> When the array’s type does not match the data type, data is rounded towards zero.
> When there is not enough data to completely interpret the requested type, the partial data
is lost, and the array is not modified.
Return Value
The number of entities that have been transmitted.
Error Conditions
If the function fails, an error is generated.

2.4 PEG and MARK Commands

Command Description

ASSIGNMARK Assigns MARK inputs pins to encoders.

ASSIGNPEG Assigns PEG engines to encoders.

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Command Description

ASSIGNPOUTS Assigns PEG outputs.

GETPEGCOUNT Returns the pulse counter of the required PEG engine

Activates incremental PEG, where pulses are generated at predefined,

PEG_I
fixed position intervals.

Activates random, table-based PEG where predefined pulses are

PEG_R
generated at pre-defined positions.

STARTPEG Starts PEG motion for specified axis.

STOPPEG Terminates PEG motion.

SETPEGDELAY Defines the PEG signal's delay for a specific PEG engine

2.4.1 ASSIGNMARK
Description
The ASSIGNMARK function allows assignment of Mark inputs to encoder. It allows a mapping of
encoder latching to be triggered by using different physical input pins.
Syntax
ASSIGNMARK[/i] axis, mark_type, inputs_to_encoder_bit_code

In newer products the inputs_to_encoder_bit_code parameter is actually a byte code.

See IDMxx/ECMxx/UDMxx Encoder Mapping table.

Arguments

The axis index, valid numbers are: 0, 1, 2, ... up to the number of axes in the
system minus 1.
Axis
The axis parameter determines which node unit is used. Axis parameter can
be any axis number of the same unit.

1 for Mark-1 assignment

mark_type
2 for Mark-2 assignment

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For inputs-to-encoders mapping in new devices, use the hexadecimal code

0xDDCCBBAA that correlates to encoders channel DD-3 CC-2 BB-1 AA-0.
For each value you can assign 00 to ‘MARK input pin 0’, 01 to ‘MARK input pin
1’, 02 to ‘MARK input pin 2’, 03 to ‘MARK input pin 3’.
The default mapping for each of the encoders is 0x03020100 which
corresponds with MARK 3 to encoder 3, MARK 2 to encoder 2, MARK 1 to
encoder 1 and MARK 0 to encoder 0 as shown in this example:

inputs_to_ Bit code for inputs-to-encoders mapping according to the following tables.
encoder_bit_ The bit code determines which physical input pin leads to each encoder
code MARK latching.
Mark-1 Inputs to Encoder mapping for
Mark-1 Inputs to Encoders Mapping for SPiiPlusNT / DC-LT / HP / LD
IDMxx/ECMxx/UDMxx Encoder Mapping
Mark-1 Inputs to Encoders Mapping for with SPiiPlus CMnt / UDMpm-x /
UDMpc / CMba / CMxa / UDMba / UDMhp / UDMxa / CMhv / UDMhv
Mark-2 Inputs to Encoder mapping for
Mark-2 Inputs to Encoders Mapping for SPiiPlusNT / DC-LT / HP / LD
Mark-2 Inputs to Encoders Mapping for with SPiiPlus
CMnt/UDMpm/UDMpc/CMba/CMxa/UDMba/UDMhp/UDMxa/CMhv/UDMhv

Comments
Devices not indicated in the tables linked to the inputs_to_encoder_bit_code parameter have
a MARK output for each encoder. There is no need to configure those devices with the ASSIGNMARK
command.
Latching of Encoder <index> means IST(<index>).#MARK=1, and the MARK(<index>) variable value
stores the feedback position of encoder <index> (FPOS(<index>)).
The Bit Code shown in the tables affects all of the connectors in the row.
If the switch: /i is included, the MARK input signal is inverted.
In IDMxx/ECMxx products, the latching for all encoders happens simultaneously.

2.4.2 ASSIGNPEG
Description
The ASSIGNPEG function is used for engine-to-encoder assignment as well as for the additional
digital outputs assignment for use as PEG pulse outputs. It allows mapping of PEG engines to be
triggered by the feedback of a specific encoder.
Syntax
ASSIGNPEG[/f] axis, engines_to_encoders_code, gp_out_assign_code

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Arguments

The axis index, valid numbers are: 0, 1, 2, ... up to the number of axes in the
system minus 1.
axis
Axis parameter can be any axis number of the same unit.
The axis parameter determines the Servo Processor used.

Bit code for engines-to-encoders mapping according to:

SPiiPlusNT/DC-LT/HP/LD Processor 0
SPiiPlusNT/DC-LT/HP/LD Processor 1
engines_
to_ SPiiPlusCMnt/UDMpm/UDMpc/CMba/CMxa/UDMba/UDMxa/CMhv/UDMhv/UD
encoders_ Mnt/UDMpa/UDMcb
code
UDMlc/UDMsd/UDIlt/UDIhp/UDMmc/PDIcl
NPMpm/NPMpc
IDMsm, ECMsm, and UDMsm

General purpose outputs assignment to use as PEG pulse outputs according

to:
General Purpose Outputs Assignment for Use as PEG Pulse Outputs (Servo
Processor 0) for SPiiPlusNT / DC-LT / HP / LD
gp_out_
General Purpose Outputs Assignment for Use as PEG Pulse Outputs (Servo
assign_
Processor 1) for SPiiPlusNT / DC-LT / HP / LD
code
General Purpose Outputs Assignment for Use as PEG Pulse Outputs (Servo
Processor 0) for SPiiPlus CMnt / UDMpm / CMhv / UDMhv-
General Purpose Outputs Assignment for Use as PEG Pulse Outputs (Servo
Processor 0) for UDMnt / UDMpa / UDMcb

The axis parameter actually serves to determine the Servo Processor used.

Comments
> ASSIGNPEG is a blocking command - the ACSPL+ program moves to the next line or
command only after this command has been fully executed or an error is generated.
> The axis parameter can be any of the axes controlled by the same servo processor, the
result will be the same.
> If the "/f" switch is included, fast loading of Random PEG arrays is activated. This feature
allows definition of state-arrays with more than 1024-members by using Random PEG. The
PEG_R command must be called with the "/d" switch.
> The Bit Code shown in the Mapping PEG Engines to Encoders tables affects all of the
connectors in the row.

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SPRT and SPINJECT commands cannot be used for the same Servo Processor when fast
loading of Random PEG arrays is activated.

Related ACSPL+ Commands

PEG_I, ASSIGNPOUTS, PEG_R, STARTPEG, STOPPEG
COM Library Methods
None
C Library Functions
acsc_AssignPegNT

2.4.3 ASSIGNPOUTS
Description
The ASSIGNPOUTS function is used for assigning PEG engine output signals to physical output pins.
In addition, the function allows assigning Fast General Purpose output pins and mapping between
FGP_OUT signals to the bits of the ACSPL+ OUT(x) variable, where x is the index that has been
assigned to the controller in the network during System Configuration.

The assignments can be obtained by running #SI in the SPiiPlus MMI Appication Studio
Communication Terminal. For example, the following is a fragment from the response
to this command:

Axes Assignment: 8,9,10,11

Inputs/Outputs Assignment:
Digital inputs (IN): 1.0,1.1,1.2,1.3,1.4,1.5,1.6,1.7
Digital outputs (OUT): 1.0,1.1,1.2,1.3,1.4,1.5,1.6,1.7

OUT is an integer array that can be used for reading or writing the current state of the General
Purpose outputs - see SPiiPlus ACSPL+ Command & Variable Reference Guide.
Each PEG engine has 1 PEG pulse output and 4 state outputs for a total of 5 outputs per PEG engine
and a total of 30 outputs for the whole PEG generator. The controller supports 10 physical output
pins that can be assigned to the PEG generator. The user defines which 10 outputs (of the 30) of the
PEG generator are assigned to the 10 available physical output pins.
The tables in Appendix A.2 define how each of the 30 outputs of the 6 PEG engines can be routed to
the 10 physical output pins - 4 PEG out signals, and 3 PEG state signals. Note that some of the signals
cannot be routed to physical pins.

Bit Code: 111 is used for switching the physical output pins to Fast General Purpose
Outputs, see ASSIGNPOUTS.

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Syntax

ASSIGNPOUTS axis, peg_output, bit_code

Arguments

The axis index, valid numbers are: 0, 1, 2, ... up to the number of axes in the
system minus 1.
axis
For controllers with firmware version 2.15 or higher, the axis parameter can be
any axis number of the unit.

peg_ The peg output number according to the Mapping of Engine Outputs to
output Physical Output tables below

Bit code for engine outputs to physical outputs mapping according to:
SPiiPlusNT/DC-LT/HP/LD SP 0
SPiiPlusNT/DC-LT/HP/LD SP 1
CMnt/UDMpm/UDMpc/CMhv/UDMhv
CMba/CMxa/UDMba/UDMhp/UDMxa (OUT0-4)
CMba/CMxa/UDMba/UDMhp/UDMxa (OUT5-9)
UDMnt/UDMpa/UDMcb
UDMlc/UDMmc/UDIlt/UDIhp/PDIcl
NPMpm/NPMpc

bit_code IDMsm / ECMsm / UDMsm Mapping of Engine Outputs to Physical Outputs (

Servo Processor 0, Outputs 0-5)
IDMsm / ECMsm / UDMsm Mapping of Engine Outputs to Physical Outputs (
Servo Processor 0, Outputs 6-11)
ECMsa / IDMsa / UDMsa Mapping of Engine Outputs to Physical Outputs (Servo
Processor 0)
ECMma / IDMma / UDMma Mapping of Engine Outputs to Physical Outputs
(Servo Processor 0)
ECMdx / IDMdx / UDMdx Mapping of Engine Outputs to Physical Outputs
(Servo Processor 0, Outputs 0-5)
ECMdx / IDMdx / UDMdx Mapping of Engine Outputs to Physical Outputs
(Servo Processor 0, Outputs 6-11)

Comments
ASSIGNPOUTS is a blocking command, meaning that the ACSPL+ program moves to the next line or
command only after this command has been fully executed or an error is generated.
A separate ASSIGNPOUTS command should be called for every GP output or PEG output.

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Examples
The following examples illustrate the use of the ASSIGNPOUTS command to use PEG outputs as GP
outputs
Example 1:

ASSIGNPOUTS 0, 2, 0b111

This defines the Z_PEG output as FGP_OUT2 and maps it to the bit 18 of the ACSPL+ OUT variable (see
ASSIGNPOUTS).
If you run, for example:

OUT(x).18=1

Where x is the index assigned to the controller during System Configuration, FGP_OUT2 output will
be activated.
Then if you run:

OUT(x).18=0

FGP_OUT2 will be deactivated.

Example 2:

ASSIGNPOUTS 4, 7, 0b111

This defines the X_STATE2 output as FGP_OUT6 and maps it to the bit 22 of the ACSPL+ OUT variable
(see ASSIGNPOUTS).
Related ACSPL+ Commands
ASSIGNPEG, PEG_I, PEG_R, STARTPEG, STOPPEG
COM Library Methods
None
C Library Functions
acsc_AssignPegOutputsNT

2.4.4 GETPEGCOUNT
Description
The function returns the pulse counter of the specified PEG engine.
Syntax

GetPEGCount(PEG_engine)

Support
> GETPEGCOUNT is supported on firmware versions 3.12 and later

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> GETPEGCOUNT is supported on the following devices:

> ECMsm, ECMsa, ECMma, and ECMdx
> IDMsm, IDMsa, IDMma, and IDMdx
> UDMsm, UDMsa, UDMma, and UMDdx

2.4.5 PEG_I
Description
The PEG_I command is used for setting the parameters for the Incremental PEG mode.
Syntax
PEG_I[/awiecyzo] (peg_engine, width, first_point, interval,last_point [, err_map_static_axis1, static_
axis_coord1, [ err_map_static_axis2, static_axis_coord2], [stable_dir_dist,]] [time_based_pulses, time_
based_period])
Arguments

peg_engine The PEG engine number

width Width of the pulse in milliseconds. Valid range is 26.6 ns to 1.745 ms.

A real scalar value in user units indicating the first point for the PEG
first_point
generation.

interval A real scalar value in user units indicating the distance between PEG events.

A real scalar value in user units indicating the last point for PEG generation.
last_point
Optional if the /e switch is used.

err_map_ The index of the first static axis when error mapping is used with PEG. Use
static_axis1 with the /y or /yz switches.

static_axis_ The predefined location value of the first static axis when error map correction
coord1 compensation is used with PEG. Use with the /y or /yz switches.

err_map_ The index of the second static axis when error mapping is used with PEG. Use
static_axis2 with the /yz switch.

static_axis_ The predefined location value of the second static axis when error map
coord2 correction compensation is used with PEG. Use with the /yz switch.

(Optional) Limit defining actual motion as opposed to jitter. If motion along the
stable_dir_
axis is greater than this value, that motion is used to determine the direction
dist
of motion.

time_ Optional parameter - a real scalar value indicating the number of time-based
based_ pulses generated after each encoder-based pulse, the range is from 0 to
pulses 65,535.

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Optional parameter, a real scalar in milliseconds - period of time-based pulses,

time_ the range is from 0.00005334 to 1.7476.
based_
period The time-based period must be at least pulse width + 26.6667 ns (minimum
distance between two pulses).

PEG is generated only after the first pre-defined start point is reached. If the current
encoder position exceeds pre-defined start point no PEG pulses are fired. It is
recommended to activate the PEG engine before the maximum current position for
movement in the positive direction and the minimum current position for movement in
the negative direction.

Comments
> If the switch: /w is included, the execution of the command is delayed until the execution of
the STARTPEG command.
> If the switch: /i is included, the PEG pulse output signal is inverted.
> If the switch: /a is included, error accumulation is prevented by taking into account the
rounding of the distance between incremental PEG events.
You must use this switch if interval does not match the whole number of encoder counts.
Using this switch is recommended for any application that uses the PEG_I command,
regardless if interval matches the whole number of encoder counts.
> Valid numbers of the peg_engine parameter can be found in the #SI report. In case of
multiple network units, the first axis number of each node indicates the first PEG engine of
the node.
> If the switch /e is included, the last_point parameter is optional and ignored, and the
PEG process continues until the STOPPEG command is issued.
> The /c switch supports 1D dynamic error compensation for Incremental PEG. 1D error
compensation can be defined by the ERRORMAP1D or ERRORMAP1ND functions.
> The /y switch supports 2D dynamic error compensation for Incremental PEG. 2D error
compensation can be defined by ERRORMAP2D, ERRORMAP2ND functions. This switch
requires 2 additional function arguments: static axes index, static axes
coordinates.
> The /z switch supports 3D dynamic error compensation for Incremental PEG. 3D error
compensation can be defined by ERRORMAP3DX functions. This switch must be used in
combination with switch /y (/yz) and requires 4 additional function arguments: static
axes 1 index, static axis 1 coordinate, static axes 2 index, static
axis 2 coordinate.
> The /o switch is used with the stable_dir_dist parameter. The PEG process does not
count motions smaller than this value as motion, for the purpose of determining the next
PEG firing. Only motion greater than this value will be used to determine the direction of
axis motion.

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Product Support
The /c, /e, /y, /yz, and /o switches are supported in the following products:
> IDM/ECM/UDMsm
> IDM/ECM/UDMsa
> IDM/ECM/UDMma
> IDM/ECM/UDMdx
Example
See the Incremental PEG example in the PEG and MARK Operations Application Note.
Error Mapping Example

! PEG engine 4, Pulse width=0.1ms , Start Pos. 500,

! Increment 200, Stop Pos. 1000, Use 1D error mapping
PEG_I/c 4, 0.1, 500, 200, 1000

! PEG engine 0, Pulse width=0.1ms , Start Pos. 500,

! Increment 200, Stop Pos. 1000,
! Use 2D error mapping for axis 1 coordinate = 500.
! Maximum error mapping table size = 1024
PEG_I/y 0, 0.1, 500, 200, 1000, 1, 500, 1024
! PEG engine 0, Pulse width=0.1ms , Start Pos. 500,
! Increment 200, Stop Pos. 1000,
! Use 3D error mapping for axis 1 coordinate = 100,
! for axis 2 coordinate = 200
PEG_I/yz 0, 0.1, 500, 200, 1000, 1, 100, 2, 200

Related ACSPL+ Commands

PEG_R, ASSIGNPEG, ASSIGNPOUTS, STARTPEG, STOPPEG
Related ACSPL+ Variables
AST
COM Library Methods
None
C Library Functions
acsc_PegIncNT, acsc_WaitPegReady

2.4.6 PEG_R
Description
The PEG_R command is used for setting the parameters for the Random PEG mode.
Syntax
PEG_R[/wdyzmo] (peg_engine, width, mode, first_index, last_index,POS_ARRAY, [STATE_ARRAY,] [,
err_map_static_axis1, static_axis_coord1, [ err_map_static_axis2, static_axis_coord2], [err_map_max_
size,]] [time_based_pulses, time_based_period])

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Arguments

peg_engine The PEG engine number

width Width of the pulse in milliseconds. Valid range is 26.6 ns to 1.745 ms.

PEG state output signals configuration according to PEG_R.

See Table 4-7 for details
mode
The most commonly used value is 0x4444 - PEG State Outputs 0-3 are
configured with the ‘State” option (bits 2, 6, 10, 14 are set).

first_index Index of first entry in the array for PEG generation

last_index Index of last entry in the array for PEG generation

The Random Event Positions array, maximum of 256/1024 members. If a

POS_ARRAY
longer array is required, use both PEG_R/d and ASSIGNPEG/f switches.

Optional parameter - the Outputs States array defining the four PEG output
STATE_
states, maximum of 256/1024 members. If a longer array is required, use both
ARRAY
PEG_R/d and ASSIGNPEG/f switches.

err_map_ The index of the first static axis when error mapping is used with PEG. Use with
static_axis1 the /y or /yz switches.

static_axis_ The predefined location value of the first static axis when error map correction
coord1 compensation is used with PEG. Use with the /y or /yz switches.

err_map_ The index of the second static axis when error mapping is used with PEG. Use
static_axis2 with the /yz switch.

static_axis_ The predefined location value of the second static axis when error map
coord2 correction compensation is used with PEG. Use with the /yz switch.

(Optional) Limit defining actual motion as opposed to jitter. If motion along the
stable_dir_
axis is greater than this value, that motion is used to determine the direction
dist
of motion.

time-based- Optional parameter - number of time-based pulses generated after each

pulses encoder-based pulse, the range is from 0 to 65,535.

Optional parameter - period of time-based pulses (milliseconds), the range is

time-based- from 0.00005334 to 1.7476.
period Time-based period must be at least pulse width + 26.6667 nsec (minimum
distance between two pulses).

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Table 4-6. PEG Output Signal Configuration

Default
Bit Signal Description
value

Pulse polarity - 0- Output-0 positive pulse

0 ‘0’
PEG State 0 1- Output-0 negative pulse

State polarity - 0- Output-0 positive state

1 ‘0’
PEG State 0 1- Output-0 negative state

00- Output-0 three state

Output type - 01- Output-0 State

2-3 ‘00’
PEG State 0 10- Output-0 Pulse
11- Output-0 Pulse&State

Pulse polarity - 0- Output-1 positive pulse

4 ‘0’
PEG State 1 1- Output-1 negative pulse

State polarity - 0- Output-1 positive state

5 ‘0’
PEG State 1 1- Output-1 negative state

00- Output-1 three state

Output type - 01- Output-1 State

7-6 ‘00’
PEG State 1 10- Output-1 Pulse
11- Output-1 Pulse&State

Pulse polarity - 0- Output-2 positive pulse

8 ‘0’
PEG State 2 1- Output-2 negative pulse

State polarity - 0- Output-2 positive state

9 ‘0’
PEG State 2 1- Output-2 negative state

00- Output-2 three state

Output type - 01- Output-2 State

11-10 ‘00’
PEG State 2 10- Output-2 Pulse
11- Output-2 Pulse&State

Pulse polarity - 0- Output-3 positive pulse

12 ‘0’
PEG State 3 1- Output-3 negative pulse

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Default
Bit Signal Description
value

State polarity - 0- Output-3 positive state

13 ‘0’
PEG State 3 1- Output-3 negative state

00- Output-3 three state

Output type - 01- Output-3 State

15-14 “00”
PEG State 3 10- Output-3 Pulse
11- Output-3 Pulse&State

Enable Initial
16 1 – Enable
State

PEG Initial If bit 17 is 1, PEG States became the value

17-20
States from these bits, while PEG gets Enable

Table 4-7. Mode Values

PEG state output types:
“Three state” - PEG state output is not in use
“State” - PEG state output will be changed according to the STATE_ARRAY values
“Pulse” - PEG state output will be changed according to PEG pulse value
“Pulse & State” - PEG state output will be changed according to the result of AND operation between
STATE_ARRAY values AND PEG pulse value
Pulse Polarity:
If positive or negative pulse is used as PEG pulse value for the specific “PEG State Output”
State Polarity:
If positive or negative state is used as PEG pulse value for the specific “PEG State Output”
Comments
> If the switch /w is included, the execution of the command is delayed until the execution of
the STARTPEG command.
> If the switch /i is specified, the PEG pulse output signal is inverted.
> If the switch /d is specified, dynamic loading of positions is used. Dynamic loading can only
be implemented on a PEG engine with fast loading (ASSIGNPEG /f). In this case, , it allows
definition of a state-array which has more than 1024-members.
> The /y switch supports 2D dynamic error compensation for Random PEG. 2D error
compensation can be defined by ERRORMAP2D, ERRORMAP2ND functions. This switch
requires 2 optional function arguments: static axes index, static axes
coordinates.

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> The /z switch supports 3D dynamic error compensation for Random PEG. 3D error
compensation can be defined by ERRORMAP3DX functions. This switch must be ised in
combination with switch /y (/yz) and requires 4 optional function arguments: static
axes 1 index, static axis 1 coordinate, static axes 2 index, static
axis 2 coordinate.
> The parameters that can be set by the command differ from those that could be set for
SPiiPlusCM/SPiiPlusSA/SPiiPlus3U controllers with the addition of the new first_index and
last_index parameters.
> When the PEG pulse is activated, the voltage between the two differential PEG outputs (+)
and (-) drops to -5V. When the PEG pulse is de-activated, the voltage between the two
differential PEG outputs is 5V.
> When using a Sin-Cos encoder, PEG is triggered at the zero crossing of the sine-cosine
waves and not at the precise interpolated position.
> The last three arguments are optional. If STATE_ARRAY is omitted, the controller generates
the PEG pulses at each position but does not change the state of any output. If time-based-
pulses and time-based-period are omitted, the controller does not generate time based
pulses.
> The dynamic loading feature is limited by the loading frequency. If a high loading frequency
is required, the loading capacity may not suffice to keep the FIFO loaded.
> If the FIFO is emptied before all data arrays have been loaded, a memory overflow fault will
be thrown.
> Valid numbers of the peg_engine parameter can be found in the #SI report. In case of
multiple network units, the first axis number of each node indicates the first peg engine of
the node.
> The /m switch supports random PEG on a modulo axis. The POS_ARRAY is loaded once and
provides pulses every Modulo cycle. The Position values should be inside the
SLPMIN...SLPMAX range. The PEG engine must be assigned to a Modulo axis by the
ASSIGNPEG command.
> The /o switch allows the definition of a minimum distance for which motion is considered
actual motion as opposed to jitter. The name of the optional parameter is stable_dir_
dist; motion greater than the value of this parameter is used to calculate motion direction.
Product Support
The /m and /o switches and bit 17 in the mode parameter to enable PEG and initialize the states are
supported in the following products:
> IDM/ECM/UDMsm
> IDM/ECM/UDMsa
> IDM/ECM/UDMma
> IDM/ECM/UDMdx

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Loading Frequency Table*

CTIME (ms) Frequency (Hz)

1 200

0.5 400

0.25 800

0.2 1000

*For the XXMsm/sa/ma/dx products the maximum loading frequency is 16 kHz. There is no relation
to the CTIME value.
Example
See the Random PEG example in the PEG and MARK Operations Application Note.
Related ACSPL+ Commands
PEG_I, ASSIGNPEG, ASSIGNPOUTS, STARTPEG, STOPPEG
Related ACSPL+ Variables
AST
COM Library Methods
None
C Library Functions
acsc_PegRandomNT, acsc_WaitPegReady

2.4.7 STARTPEG
Description
The STARTPEG command initiates the PEG process on the specified engine. The command is used in
both the Incremental and Random PEG modes by using /w switch in PEG_I or PEG_R command. If
this switch is included, the execution of the PEG_I and PEG_R commands is delayed until the
execution of the STARTPEG command.
Syntax
STARTPEG peg_engine
Arguments

peg_engine The PEG engine number

Comments
STARTPEG is a blocking command in the sense that the ACSPL+ program moves to the next line or
command only after this command has been fully executed or an error is generated.
If STOPPEG has been issued before the last PEG position, you have to use STARTPEG to resume PEG
engine firings from the current point.

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Valid numbers of the peg_engine parameter can be found in the #SI report. In case of multiple
network units, the first axis number of each node indicates the first peg engine of the node.
Example

PEG_I/W 0, 0.003, 1000, 1000, 3000, 2, 0.01

PTP 0, 3000 !The program initiates synchronous PEG, with PTP
!motion on axis 0.
WAIT 2 !Two milliseconds after motion starts, PEG
!will be initiated by STARTPEG
STARTPEG 0

Related ACSPL+ Commands

ASSIGNPEG, ASSIGNPOUTS, STOPPEG
Related ACSPL+ Variables
AST
COM Library Methods
None
C Library Functions
acsc_StartPegNT

2.4.8 STOPPEG
Description
The STOPPEG command terminates the PEG process immediately on the specified engine. The
command is used in both the Incremental and Random PEG modes.
Syntax
STOPPEG peg_engine
Arguments

peg_engine The PEG engine number

Comments
STOPPEG is a blocking command in the sense that the ACSPL+ program moves to the next line or
command only after this command has been fully executed or an error is generated.
Valid values of the peg_engine parameter can be found in the #SI report. In case of multiple network
units, the first axis number of each node indicates the first peg engine of the node.
Example

PEG_I 0, 0.003, 1000, 1000, 3000, 2, 0.01

PTP 0, 3000 !The program initiates synchronous PEG, with PTP
!motion on axis 0.
WAIT 2 !Two milliseconds after motion starts, PEG
!will be terminated by STOPPEG.
STOPPEG 0

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Related ACSPL+ Commands

ASSIGNPEG, ASSIGNPOUTS, PEG_I, PEG_R, STARTPEG
COM Library Methods
None
C Library Functions
acsc_StopPegNT

2.4.9 SETPEGDELAY
Description
The SETPEGDELAY command defines the PEG signal's delay for a specific PEG engine.
The delay can be set for every available PEG signal:
> PEG pulse
> PEG State raising
> PEG State falling.
Syntax

SETPEGDELAY peg_engine, pulse_delay[, state_on_delay, state_off_delay]

Arguments

peg_engine PEG engine number

pulse_delay PEG pulse signal raising delay in msec

state_on_delay (optional) Random PEG State signal raising delay in msec. The default is 0

state_off_delay (optional) Random PEG State signal failing delay in msec. The default is 0

Comments
The SETPEGDELAY command should be called after PEG definition functions PEG_I or PEG_R.
The PEG_I and PEG_R functions initialize the PEG and set PEG delays to 0. The delay time is specified
in msec.
Support
> SETPEGDELAY is supported on firmware versions 3.13 and later
> SETPEGDELAY is supported on the following devices:
> ECMsm, ECMsa, ECMma, and ECMdx
> IDMsm, IDMsa, IDMma, and IDMdx
> UDMsm, UDMsa, UDMma, and UMDdx

2.5 Miscellaneous Commands

The Miscellaneous commands are:

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Command Description

AXISDEF Establishes an axis alias.

DC Activates data collection.

Returns the system back to the operational state if one or more slaves
SPINJECT
underwent a reset or power cycle.

READ Reads an array from a file in the flash memory.

SPDC Activates data collection from a Servo Processor variable.

STARTSPDC Starts SPDC data collection

SPINJECT Initiates the transfer of MPU real-time data to the Servo Processor.

STOPSPDC Terminate SPDC data collection

STARTINJECT Start transfer of MPU real-time data to the Servo Processor

STOPINJECT Stops the transfer of MPU real-time data to the Servo Processor.

SPICFG Configure SPI Interface

Issues the SPI transaction with the number of SPI words to be sent and
SPIWRITE
received in a single transaction

Starts a real-time data transfer process from the MPU to a given Servo
SPRT
Processor.

Stops an active real-time data transfer process on the given SP (for cyclic
SPRTSTOP
command only).

STOPDC Terminates data collection.

WRITE Writes an array to a file in the flash memory.

2.5.1 AXISDEF
Description
The AXISDEF command enables the user to assign an alias to one or more axes. Once assigned, the
user can use the alias throughout the program in any command requiring an axis argument.
Syntax
AXISDEF axis_alias = axis

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Arguments

Any string with the following restrictions:

> Only one name can be defined for one axis, that is, different names
cannot be used for the same axis.
> The names must be unique, i.e., two axes cannot be defined with the
axis_alias
same name.
> An axis name must not be the same of any other variable name, label,
keyword, etc.
A compilation error occurs if one of the above restrictions is not satisfied.

The axis number, valid numbers are: 0, 1, 2, ... up to the number of axes in
the system minus 1.
axis
Adding (R) to the axis parameter means G-Code run on the axis will ignore the
modality entry of G20.

Comments
The AXISDEF command can be repeated many times to define all required aliases.
The axis name must be defined in the D-Buffer. In any case, the axis definition has global scope (the
definitions of the same axis in a different program must be identical as applies to all global
variables).

Although postfix indexing can be used, it is recommended using explicit indexing and providing
names as symbolic constants.
Related ACSPL+ Commands
None
COM Library Methods
None
C Library Functions
None
Example 1
An axis name can be used in expressions as a symbolic constant. For example, given the program
includes the declaration:

AXISDEF Q=3

the following command

VEL(Q)=1000;

assigns 1000 to the required velocity of axis 3.

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Example 2
As user variables, axis-related standard variables accept explicit indexing. However, axis-related
standard variables also accept postfix indexing. For example, given a program that includes the
declaration:

AXISDEF Q=3, X1=1, X2= 2

Example 3
Adding (R) to the axis parameter means G-Code run on the axis will ignore the modality entry of G20
in order to support axes driving a rotational motion with G-Code commands.

AXISDEF X=0,Y=1,Z=2,A=5(R) ,B = 6(R),C=7

In this example axis 5 and axis 6 will ignore the modality entry of G20.

Explicit Indexing Postfix Indexing

VEL(3) or VEL(Q) VEL3

ACC(1) or ACC(X1) ACC1

SLVKI(2) or SLVKI(X2) SLVKI2

2.5.2 DC
Description
DC (Data Collection) accumulates data of any specified standard or user-defined variable with a
constant sampling rate. DC synchronized with motion (see Command Option /s) is called Axis Data
Collection. DC not synchronized with motion is called System Data Collection.
DC terminates due to:
> STOPDC
> The defined DC array is completed
Syntax (except for DC/s)
DC[/switch] array_name, number of points, time-interval, variable_1, [variable_2...variable_N]
Syntax for DC/s
DC/s axis, global array, number of points, time-interval, variable_1, [variable_2...variable_N]

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Arguments

The name of a global array that stores samples. This is a two-dimensional

array, e.g. (N)(X), where N is the number of sampled variables (number of
global array
rows in variable_1, and X is the number of samples (number of
points parameter)

number of
Define the number of samples
points

time-interval Define the time interval in milliseconds between each sample

Define variable/s to be sampled. The number of rows defined in array_name

variable_1
must match the number of variables to be sampled

Switches
/switch can be one of the following:

Triggers DC with the execution of the next motion command following the call to
/s DC/s. Motions queued before the call to DC/s will not be recorded. DC synchronized
with motion is called Axis Data Collection (See in ACSPL+ Programmer's Guide).

Create the synchronous data collection, but do not start until GO. Command option
/w
/w can only be used with the /s.

/c Cyclic data collection

Comments
DC can include up to 24 sampled variables.
Only one DC (system data collection) process can run at the same time.
Up to eight DC/s (axis data collection) processes can be simultaneously executed where each
process fills a separate array.
DC/c does not self-terminate. STOPDC terminates cyclic data collection.
DC/c uses the collection array as a cyclic buffer and can continue to collect data indefinitely. When
the array is full, each new sample overwrites the oldest sample in the array.
After the cyclic data collection concludes, the controller reorganizes the sample array so that the first
element represents the oldest sample and the last element represents the most recent sample.
Variable S_ST.#DC = 1 when non-synchronized DC is active.
Variable AST<axis>.#DC = 1 when synchronized DC is active.

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To achieve full synchronization the DC/S command should come one line before the motion
command (see the screenshot below).

To stop DC/S data collection STOPDC/S should be used.

See Axis Data Collection in ACSPL Programmers Guide.
Related ACSPL+ Commands
STOPDC, SPDC
Related ACSPL+ Variables
S_ST, AST, S_DCN, S_DCP, DCN, DCP
COM Library Methods and .NET Library Methods
DataCollection, WaitCollectEnd, StopCollect
C Library Functions
acsc_DataCollectionExt, acsc_WaitCollectEnd, acsc_StopCollect
Example 1:
Cyclic Data Collection

GLOBAL REAL ARRAY (2)(1000)

!Define a real type array for two variables

!(rows) and 1000 sampling points (columns).

DC/C ARRAY,1000,3,FPOS0,TIME

!Start cyclic data collection and store 1000

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!samples in ARRAY.

!The time between each sampling point is 3 msec.

!The FPOS0 standard variable samples are stored

!in the first row of ARRAY, and the TIME

!variable values are stored in the second row.

TILL ^S_ST.#DC
!Wait until S_ST.#DC = 0 (DC collection is

!finished).
STOP

2.5.3 STOPDC
Description
Immediately terminates DC and SPDC.
Syntax
STOPDC[/switch]
Switch
/switch can be:

/s Terminate synchronized data collection

Comments
> STOPDC with an argument delays termination of DC.
> STOPDC/s terminates synchronous DC initiated by DC/s.
> Multiple axis specification is not allowed.
Related ACSPL+ Commands
DC, SPDC
Related ACSPL+ Variables
S_ST, AST, S_DCN, S_DCP, DCN, DCP
COM Library Methods and .NET Library Methods
DataCollection, StopCollect, WaitCollectEnd
C Library Functions
acsc_DataCollectionExt, acsc_StopCollect, acsc_WaitCollectEnd

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Example 1

STOPDC 50 !Collect an additional 50 samples and then

!terminate DC.

Example 2

STOPDC/S 1 !Stop synchronous axis data collection for axis 1

2.5.4 READ
Description
Reads a file from the controller’s nonvolatile (flash) memory to a user defined array, variable, or
struct. The file must exist in the nonvolatile memory by previously writing it using the WRITE
command.
Syntax
READ array[,filename]
READ/s user-variable[, filename]
READ/O user-variable[, filename]
READ/R string[, filename]
READ/SR string[, filename]
Switch

/s Specifies that the user variable is a scalar and not an array

/O Specifies that the user variable is a struct type

Reads a file from the controller’s nonvolatile (flash) memory to a user defined
/R string array.
The string size must be >= the write string size.

Reads a file from the controller’s nonvolatile (flash) memory to a user defined
/SR string.
The string size must be >= the write string size.

Arguments

array User defined array to which the data will be imported

user-variable A scalar variable for use with the /s switch, can be either REAL or INT

string String to store the results of the read

Optional non-volatile memory file name

filename The filename must not include a file name extension
The filename maximum length is 100 chars

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Comments
1. The filename must not include a file name extension.
2. The filename maximum lenth is 100 chars.
3. The user-array name must be declared in the buffer where the command is executed.
4. The variable name may be declared in the buffer where the command is executed, or it
may be declared in the D-buffer.
5. If READ is executed from the Communication Terminal as a command, array must specify
the name of a global array.
6. If READ/s is executed from the Communication Terminal as a command, variable must
specify the name of a global variable.
7. If the optional file name is not supplied, the variable name will be used as the file name.
The following error is supported:
> Error 3333 “File name MAX length is 100 chars”
Related ACSPL+ Commands
WRITE
COM Library Methods
Transaction
C Library Functions
acsc_Transaction
Examples

GLOBAL REAL ARRAY(5) !Define a real global array

READ ARRAY,FILENAME !Read the defined file to the array

GLOBAL INT VAR !Define an integer global variable

READ/s VAR,FILENAME !Reads from file to the variable(scalar)
STOP

2.5.5 SPDC
Description
SPDC (Servo Processor Data Collection) performs fast data collection and accumulates data about
the specified Servo Processor variable with a constant maximum sampling rate of 20kHz. A typical
use for SPDC is for collecting position error (PE) and feedback position (FPOS) data at the fast Servo
Processor rate.
The Servo Processor value is different from the MPU value. The Servo Processor always uses counts
and not units. The Servo Processor position value is not affected by a SET FPOS command. An offset
is added at the MPU level only. The formula (that you can find in our manuals) is:
FPOS = FP*EFAC + EOFFS
where FPOS is the MPU variable and FP is the Servo Processor calculated value.

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SPDC terminates due to:

> STOPSPDC SP_number
> After accumulating the defined number of samples
Syntax
SPDC[/rw] Array, number_of_samples, sampling_period, SP_number, SP_Address1, [SP_Address2]
Arguments

Array name, up to XARRSIZE variable value.

Array By default, Array is assumed to be an integer array, if the /r
switch is added, it defines the array as real.

The number of samples to collect, the maximum value depends

number_of_samples
on the size of the array.

sampling_period The time, in milliseconds, that each sample is taken.

SP_number The index of the Servo Processor to be sampled

The address of the Servo Processor variable in the Servo

SP_Address1
Processor to sample.

As an option, you can add another address of an other Servo

SP_Address2 Processor variable in the Servo Processor to sample. In this case,
the array should be defined as (2)(N)

As an option, you can add another address of an other Servo

SP_Address3 Processor variable in the Servo Processor to sample, In this case,
the array should be defined as (3)(N).

As an option, you can add another address of an other Servo

SP_Address4 Processor variable in the Servo Processor to sample. In this case,
the array should be defined as (4)(N)

Memory addresses may vary between SPiiPlus products and revisions, so definition of a
variable to represent SP_Address as the return value of GETSPA is highly
recommended. SPDC can then use this variable in any SPiiPlus product or revision.

Switches

/r Needed if Array type is real

/w Delays the start of the SPDC command

Related ACSPL+ Commands

STOPDC

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Comments
Only one SPDC command per Servo Processor can run at a given time.
Several SPDC commands may be defined with the /w switch.
If the /w switch is specified, the NST.#SPDC bit is not set till data collection actually starts.
If SDPC/w is redefined for a specific node – no error is given, only the parameters are changed.
If data collection is defined for several dsp units with the same array – error 3400 “The Array is
already used by another DC command” is thrown.
The maximum number of data collection commands with suffix /w depend on the number of DSPs
in the configuration
SPDC/w sets NST.#SPDCWAIT to 1 until data collection starts
Table 4-8. Commonly Monitored SPDC Variables

Variable Axis Servo Processor Variable

Position Error 0,1,2,3 axes[0].PE

Feedback Position 0,1,2,3 axes[0].fpos

Feedback Velocity 0,1,2,3 axes[0].fvel

Sin Analog Input 0,1,2,3 axes[0].sin

Cos Analog Input 0,1,2,3 axes[0].cos

Phase A Current 0,1,2,3 axes[0].is

Phase B Current 0,1,2,3 axes[0].it

Current Command 0,1,2,3 axes[0].command

! ------------ Declare data arrays ----------------------

GLOBAL INT DATA(15000)
!Declare global array of integer of size 15000
REAL PAR_ADDRESS
PAR_ADDRESS=GETSPA(0,"axes[0].PE")
! ------------ Define motion parameters-------------------------------
VEL(0) = 5000
ACC(0) = 100000
DEC(0) = 100000
JERK(0) =2e6
!--------------Run motion and do fast data collection ----------------
SET FPOS(0) = 0
ENABLE 0
SPDC DATA,15000,0.05,0,PAR_ADDRESS
PTP/e 0, 1000
PTP/e 0, -1000

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PTP/e 0, 1000
!Use the following if you need to convert the data to one column to
!export to Excel (otherwise you can collect 30000 points by SPDC above)
!Convert the array data from one row to one column to fit to export to
Excel.
!INT DATA1(15000)(1)
!INT J; J=0
!LOOP 15000;DATA1(J)(0)=DATA(J);J=J+1;END
STOP

Example with /w

! ------------ Declare data arrays ----------------------

GLOBAL INT DATA(15000) !Declare global array of integer of size 15000
GLOBAL INT DATA2(20000)
REAL PAR_ADDRESS
PAR_ADDRESS=GETSPA(0,"axes[0].PE")
!--------------Run motion and do fast data collection ----------------
SET FPOS(0) = 0
ENABLE 0
SPDC/w DATA,15000,0.05,0,PAR_ADDRESS !node 0
SPDC/w DATA2,20000,0.05,25,PAR_ADDRESS !node 25
SPDC/w DATA,15000,0.06,0,PAR_ADDRESS !node 0 – redefined
SPDC/w DATA,20000,0.05,25,PAR_ADDRESS !Error 3400

STOP

SP_number may be set to 2 at most for most ACS products. The following products support sampling
of up to 4 variables:
> IMDsm
> ECMsm
> UDMsm
> IDMsa
> ECMsa
> UDMsa
Related ACSPL+ Commands
STOPDC

2.5.6 STARTSPDC
Description
The STARTSPDC function starts the SP Data Collection of the nodes that are waiting, having been
called by SPDC/w.
Syntax

STARTSPDC (node0,node1,…node127)

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Arguments

Node0..Node127 List of nodes that will start the data collection

Comments
The function initiates SP Data collection for the nodes that are waiting
Sets NST.#SPDC to 1 for all specified nodes
Sets NST.#SPDCWAIT to 0 for all specified nodes
If a node doesn’t have Data Collection waiting, no error is given (this node is ignored).
Example

STARTSPDC (0,25) !triggers data collection of nodes 0,25

2.5.7 STOPSPDC
Description
The STOPSPDC function Immediately terminates the data collection of SPDC (Servo processor data
collection) for the specified servo processor.
Syntax

STOPSPDC SP_number

Arguments

SP_Number The number of the Servo Processor.

Return Value
None
Comments
The following errors are supported:
> 3034 - "Illegal index value"
NST.#SPDC bit is set to off (for the relevant server processor)
This variable is supported in version 3.10 and higher.
Related ACSPL+ Commands
SPDC
Related ACSPL+ Variables
NST.#SPDC
Example

STOPSPDC 1 !Stop Data Collection for Servo Processor 1

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2.5.8 WRITE
Description
Writes an array, scalar or struct (any system or user-defined variable) to a file in the controller’s
nonvolatile (flash) memory.
Syntax
WRITE user-array[, filename]
WRITE/s user-array[, filename]
WRITE/O VarName [,fileName] [,NumOfElements]
WRITE/R user-string[, filename]
WRITE/SR user-string[, filename]
Switch

/s Specifies that the user variable is a scalar and not an array

/O Indicates that the Write operation argument is a struct type

/R Writes a string array to a file in the controller’s nonvolatile (flash) memory.

/SR Writes a string to a file in the controller’s nonvolatile (flash) memory.

Arguments

user-array User defined array from which the data will be imported

user-variable User defined scalar variable, can be either REAL or INT

User defined string. Must be declared in the buffer where the

user-string
command is executed or in a D buffer.

Optional non-volatile memory file name.

If filename does not exist, it is created. If the file already exists, it is
overwritten.
filename The filename must not include a file name extension.
The filename maximum length is 100 chars.
If the optional file name is not supplied, the variable name will be
used as the file name.

The number of elements to be written, currently struct type arrays

NumOfElements
are not supported.

Comments
1. The nonvolatile memory filename must not include an extension.
2. The user-array or user-variable name must be declared in the buffer where the command
is executed or it may be declared in a D buffer.

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3. If WRITE is executed from the Communication Terminal as a command, user-arraymust

specify the name of a global array.
4. If WRITE/s is executed from the Communication Terminal as a command, user-variable
must specify the name of a global scalar variable.
5. If filename does not exist, it is created. If the file already exists, it is overwritten.
6. If the optional file name is not supplied, the variable name will be used as the file name.

The flash memory is rated to support about 100,000 write operations.

ACS recommends against frequent, repeated writing to the flash memory.

The following error is supported:

> Error 3333 “File name MAX length is 100 chars”
Related ACSPL+ Commands
READ
COM Library Methods
Transaction
C Library Functions
acsc_Transaction

2.5.9 SPINJECT
Description
SPINJECT initiates the transfer of MPU real-time data to the Servo Processor.
Syntax
SPINJECT([/switch] Array,Nsamples,Node,Addr1,[Addr2])
Arguments

Array Data source: 1 or 2 dimensional ACSPL+ array (real or integer).

Number of samples from the source Array to inject. If the process

Nsamples is not cyclic, the injection will stop after this number of samples.
The last telegram will be padded by the last element if needed.

The number of the EtherCAT node as in Servo Processor data

Node
collection.

Address inside the Servo Processor, it must correspond to a

SP_Address1
floating or integer variable in Servo Processor program.

Address inside the Servo Processor, it must correspond to a

SP_Address2 floating or integer variable in Servo Processor program. Used
only if Array is 2 dimensional.

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Address inside the Servo Processor, it must correspond to a

SP_Address3 floating or integer variable in Servo Processor program. Used
only if Array is 3 dimensional.

Address inside the Servo Processor, it must correspond to a

SP_Address4 floating or integer variable in Servo Processor program. Used
only if Array is 4 dimensional.

Switches
/switch can be one of the following:

Cyclic: For each MPU cycle the FW fills CTIME*20 values from the source Array. Once
/c
the end is reached, the process continues from the start.

/r Designates a real source.

/w Delays the start of the SPINJECT command

Comments
Several SPINJECT commands may be defined with the /w switch.
If /w switch is specified, the NST.#SPRT bit is not set until the actual data collection starts.
If SPINJECT/w is redefined for a specific node – no error is thrown, only the parameters are changed.
The maximum number of injection commands with the /w suffix depends on the number of DSPs in
the configuration.
SPINJECT/w sets NST.#SPRTWAIT to 1 until data injection starts
Example

! ------------ Declare data arrays ----------------------

STOP

2.5.10 STARTINJECT
Description
STARTINJECT starts the SP Data Injection of the nodes that are waiting (were called by SPDC/w).
Syntax

STARTINJECT (node0,node1,…node127)

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Syntax
STARTINJECT (node0,node1,…node127)
Arguments

Node0..Node127 List of nodes that will start the data collection

Comments
> The function starts SP data injection of the nodes that are waiting
> Sets NST.#SPRT to 1 for all specified nodes
> Sets NST.#SPRTWAIT to 0 for all specified nodes
> If a node doesn’t have Data Injection waiting, no error is given (this node is ignored)
Example

STARTINJECT (0,25) !triggers data injection of nodes 0,25

2.5.11 STOPINJECT
Description
STOPINJECT stops active injection process on the given Servo Processor.
Syntax

STOPINJECT Servo_Processor
Arguments

Servo_ Identifies the Servo Processor upon which the injection process is
Processor operating.

Example

STOPINJECT 1
!Stops the injection process on Servo Processor1

2.5.12 SPICFG
Description
SPICFG configures and initializes the SPI interface.
Syntax
SPICFG[/0][/1](SlaveIndex, Mode, NumberOfWords, Polarity,Size,Frequency
Switch

/0 Specifies the first EtherCAT network

/1 Specifies the second EtherCAT network

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Arguments

Index of the EtherCAT slave in the EtherCAT network, or 0 in case of

SlaveIndex
IDMsm/ECMsm/UDMsm

The mode of the SPI interface. The following modes are supported:
> 0 - Slave
> 1 - Master
Mode
> 2 - SlaveListenOnly
> 3 - Disable
> 4 - Master Single Transaction (Used by ACSPL+ SPIWRITE)

Number of SPI Data Words used by the application (FW to SPI).

NumberOfWords Range: {0,8}
Not relevant in case of Master Single Transaction Mode

Clock Polarity.
Four types are available:
> Rising Edge – 0
Polarity
> Rising Edge with Delay – 1
> Falling Edge – 2
> Falling Edge with Delay - 3

Size Data size in bits, the range is {1-16}.

An integer number which defines the frequency. The range is

Frequency 200KHz-10MHz, limited values are supported (defined in the table
below).

Frequency Values Supported

Value Frequencey (kHz)

2 800

3 1000

4 1500

5 2000

6 2500

7 3000

8 3500

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Value Frequencey (kHz)

9 4000

10 5000

Return Value
None
Comments
When the SPI interface is not required anymore, SPICFG should be called with Mode=3 (disable)
parameter.
Example

[Link] SPIWRITE

2.5.13 SPIWRITE
Description
SPIWRITE is a function that issues the SPI transaction with the number of SPI words to be sent and
received in a single transaction.
The function may be used in two modes: Slave and Single Master Transaction
Syntax
int SPIWRITE[/0][/1](SlaveIndex, NumberOfWords,SPIDataWrite,SPIDataRead,TimeOut )
Switch

/0 Specifies the first EtherCAT network

/1 Specifies the second EtherCAT network

Arguments

Index of the EtherCAT slave in the EtherCAT network, or 0 in case of

SlaveIndex
IDMsm/ECMsm

Number of SPI Data Words to be sent/received in the single

NumberOfWords
transaction. Range: {0,8}

SPIDataWrite INT array. Size must be number of words.

SPIDataRead INT array. Size must be number of words.

(Optional) integer, specifies the timeout in milliseconds. Relevant

Timeout only in case of slave mode.
Default value is 5000.

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Return Value
STATUS value, OK (0) or error.
Comments
Master mode behavior:
The data in the SPIDataWrite arraywritten to the SPI interface.
The SPIDataRead array contains the reply data.
The function blocks until the reply is ready (when number of received words is equal to the
NumberOfWords parameter.
Slave mode behavior:
The data in the SPIDataWrite array is written to the EXTOUT variable (and copied to the SPI
interface). The SPIDataRead array contains the reply data. The function will wait until one of the
following conditions is true:
1. SPIRXN equals to NumberOfWords parameter
2. Timeout is reached
3. Error state is returned The function returns

Example

int SPIDataWrite(8)
int SPIDataRead(8)

int i=0

SPICFG(0,4,8,0,16,6) !Master Single Transaction Mode

loop 8
SPIDataWrite(i)=i+1
i=i+1
end
SPIWRITE(0,8,SPIDataWrite,SPIDataRead)
STOP

2.5.14 SPRT
Description
This function starts a real-time data transfer process from the MPU to a given Servo Processor.
Syntax
SPRT[/c] SP, Value_Array, Addr_Array
Switches

/c [Link] each MPU cycle, the firmware fills values from the source arrays.

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Arguments

SP Number of the Servo Processor to be used for real-time data transfer.

Data source, 1-dimensional ACSPL+ real array

Value_
> up to 20 values for CTIME >= 0.50
Array
> up to 12 values for 0.20 <= CTIME < 0.50

Array of addresses inside that Servo Processor. It must correspond to the float
Addr_Array or integer variable in the Servo Processor's program, as well as to the Value_
Array values order and size.

Comments

The SPRT command cannot be used in parallel with the SPINJECT command for the
same Servo Processor.

The SPRT command can be used for simultaneous and deterministic update of 12-20 Servo
Processor variables at the controller cycle rate.
It is superior to the SETSP command that can only update one Servo Processor variable in each
controller cycle and cannot be used for continuous update (every controller cycle).
For example, assume that the PIV gains (SLPKP, SLVKP, SLIKI) need to be updated simultaneously
and frequently for gain scheduling. Even if the variables are set in the same program line, or with a
block command, the controller still updates one Servo Processor variable every controller cycle. Each
of the parameters SLVKP, SLPKP, SLVKI has three values according to the motion phase (0=motion,
1=idle, 2= settling) and the corresponding idle and settling gains.
If this is not needed, you could simply set the three values equal for each parameter. The update is
completed within several controller cycles, that can influence the system performance.
However, using SPRT, the internal Servo Processor variables can be updated simultaneously within
one cycle.
Note that SPRT affects only Servo Processor variables i.e. corresponding ACSPL+ variables don’t
change.
Example 1

GLOBAL REAL Value(9)

INT Address(9)
INT Axis
GLOBAL REAL SLPKP_value, SLVKP_value, SLVKI_value

Axis = 0
! Finding the relevant addresses can be done as one time operation
! (No need to re-use GETSPA prior to each update).

% Adress of the Servo Processor SLVKP parameter used during motion

Address(0) = getspa(0,"axes[0].params[0].SLVKP")

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% Adress of the Servo Processor SLVKP parameter used in idle state

Address(1) = GETSPA(0,"axes[0].params[1].SLVKP")
% Adress of the Servo Processor SLVKP parameter used during settling
Address(2) = GETSPA(0,"axes[0].params[2].SLVKP")
Address(3) = GETSPA(0,"axes[0].params[0].SLPKP")
Address(4) = GETSPA(0,"axes[0].params[1].SLPKP")
Address(5) = GETSPA(0,"axes[0].params[2].SLPKP")
Address(6) = GETSPA(0,"axes[0].params[0].SLVKI")
Address(7) = GETSPA(0,"axes[0].params[1].SLVKI")
Address(8) = GETSPA(0,"axes[0].params[2].SLVKI")

BLOCK
! SLPKP=SLPK_value, SLVKP=SLVKP_Value, SLVKI=SLVKI_value must be set
! simultaneously.
! The following lines calculate the corresponding dsp variables:

! Desired ACSPL parameters:

! Desired SLVKP value
SLVKP_value = 100
! Desired SLPKP value
SLVKP_value = 50
! Desired SLVKI value
SLVKP_value = 10

! Translate the ACSPL+ variables to the low level Servo Processor

! variables and store them in an array
Value(0) = SLVKP_value /1024/32766*20000*SAT(POW(2,21)/XVEL(Axis)*EFAC
(Axis),0,1)
Value(1) = Value(0)
Value(2) = Value(0)
Value(3) = SLPKP_value /20000
Value(4)= Value(3)
Value(5) = Value(3)
Value(6) = SLVKI_value /POW(2,16)
Value(7)= Value(6)
Value(8) = Value(6)

! The following command performs the update:

SPRTSTOP 0;
SPRT 0, Value, Address
end
Stop

Example 2

! Real-Time MPU-Servo Processor Data Transfer (Cyclic)

REAL Value(2)
INT Address(2)
INT SP;
INT i

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SP = 0;
i = 0;
Value(0) = 0; Value(1) = 19;
Address(0) = GETSPA(SP, "dummy_double[1]");
Address(1) = GETSPA(SP, "dummy_double[2]");

SPRTSTOP SP ! For making sure there is no previously running SPRT

commands for the same SP
SPRT/C SP, Value, Address

while 1
BLOCK
Value(0) = i
Value(1) = (20 - i)
i = i + 1
IF (i = 20)
i = 0
END
END
END
STOP

Example 3

! Real-Time MPU-Servo Processor Data Transfer

REAL Value(2)
INT Address(2)
INT SP;
INT i
SP = 0;
i = 0;
Value(0) = 0; Value(1) = 19;
Address(0) = GETSPA(SP, "dummy_double[1]");
Address(1) = GETSPA(SP, "dummy_double[2]");
SPRTSTOP SP ! For making sure there is no previously running SPRT
commands for the same SP

while 1
BLOCK
Value(0) = i
Value(1) = (20 - i)
i = i + 1
IF (i = 20)
i = 0
END
SPRT SP, Value, Address
END
END

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STOP

2.5.15 SPRTSTOP
Description
SPRTSTOP stops an active real-time data transfer process on the given SP (for cyclic command only).
Syntax
SPRTSTOP SP
Arguments

SP Number of the EtherCAT node as in SP data collection.

2.5.16 USAGESP
Description
USAGESP is an array of type REAL, for each node in the EtherCAT network. The variable is used for
storing the maximum servo processor usage as a percentage during the preceding controller cycle.
Syntax
usage = USAGESP(axis)
Return Value
Maximum usage, up to 100%
Tag
383
Accessibility
Read-only
Comments
USAGESP stores the maximum DSP USAGE value during one MPU cycle.
This variable is supported by the UDMxx, IDMxx and ECMxx products only.

2.6 Motion Commands

The Motion commands are:

Command Description

ARC1 Adds an arc segment to MSEG...ENDS motion.

ARC1 Adds an arc segment to XSEG...ENDS motion.

ARC1 Adds an arc segment to BSEG...ENDS motion

ARC2 Adds an arc segment to MSEG...ENDS motion.

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Command Description

ARC2 Adds an arc segment to BSEG...ENDS motion

ARC2 Adds an arc segment to XSEG...ENDS motion

BPTP Creates a motion boost profile

BSEG...ENDS Creates a blended segmented motion.

JOG Creates a jog motion.

LINE Adds a linear segment to MSEG...ENDS motion.

LINE Adds a linear segment to XSEG...ENDS motion.

LINE Adds an liners segment to BSEG...ENDS motion

MASTER Defines a formula for calculating MPOS.

Adds a set of points to MPTP...ENDS, PATH...ENDS or

MPOINT
PVSPLINE...ENDSmotion.

MPTP...ENDS Creates a multipoint motion.

MSEG...ENDS Creates a segmented motion.

Creates an arbitrary path motion with linear interpolation between

PATH...ENDS
the specified points.

Adds a point to MPTP...ENDS, PATH...ENDS, or PVSPLINE...ENDS

POINT
motion.

An expansion command to the MSEG...ENDS set of commands, that

PROJECTION allows the controller to perform a three dimensional segmented
motion such as creating arcs and lines on a user-defined plane.

PTP Creates a point-to-point motion.

Creates an arbitrary path motion with spline interpolation between

PVSPLINE...ENDS
the specified points.

SLAVE Creates a master-slave motion.

STOPPER Adds a segment separator to MSEG...ENDS motion.

TRACK Creates tracking motion.

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Command Description

XSEG...ENDS Creates an extended segment motion.

NURBS Creates NURBS motion

NPOINT Creates NURBS motion segment

SEGMENT Creates SmoothPath motion segment

SMOVE Define segment of movement with transition point smoothing

SPATH Creates SmoothPath motion

a multi-axis Point-to-Point motion command, using a 4th order

SPTP Command
profile

For systems having more than 15 axes, avoid using motion commands to start the
motion of all axes simultaneously as this may cause Over Usage or Servo Processor
Alarm faults

2.6.1 ARC1
Description
ARC1 must be initialized with MSEG...ENDS. Use ARC1 to specify the center point and final point
coordinates of an arc and the direction of rotation. Direction is designated by a plus sign (+) or (–) for
clockwise or counterclockwise rotation depending on the encoders’ connections.

Figure 4-5. ARC1 Coordinate Specification

Syntax
ARC1 axis_list, center-point, final-point, direction[,user-specified velocity]

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Arguments

List of axes involved, valid numbers are: 0, 1, 2, ... up to the number of axes
in the system minus 1.
The ARC1 axis_list can involve two or more axes, see PROJECTION.
axis_list
A minimum of two axes must be specified.

center-point Center point coordinates.

final point Last point.

Use + for motion in the direction of increasing encoder counts, or - for

direction
motion in the direction decreasing encoder counts.

user-
If MSEG command option /v is used, the user-specified velocity must be the
specified
last parameter in the ARC1 syntax.
velocity

Comments
> ARC1 and ARC2 differ only by the required arguments. ARC1 requires the coordinates of the
center point, final point, and the direction of rotation. ARC2 requires the coordinates of the
center point and the rotation angle in radians. Each command produces the same result, so
selection of either ARC1 or ARC2 depends on the available data.
> A single ARC1 command can not create a complete circle because the start point and end
point of the motion can not be the same. Use two ARC1 commands, or use ARC2.
Related ACSPL+ Commands
MSEG...ENDS, ARC2, LINE, STOPPER, PROJECTION
COM Library Methods
Arc1, ExtArc1
C Library Functions
acsc_Arc1, acsc_ExtArc1
Example
See MSEG...ENDS.

2.6.2 ARC1
Description
Use ARC1 to specify the center point and final point coordinates of an arc and the direction of
rotation. Direction is designated by a plus sign (+) or (–) for clockwise or counterclockwise rotation
depending on the encoders’ connections. When ARC1 is used for Extended Motion, it must be
initialized with XSEG...ENDS.

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Syntax
ARC1 [/switches] (axis_list), center_point_axis1, center_point_axis2, destination_point_axis1,
destination_point_axis2, [destination_point_axis3, … destination_point_axis6,] direction[, velocity]
[,end_velocity][,time][,values, variables[,index [,masks]]][, lci_segment_active]
Arguments

Argument Description

Defines one or two axes, specified as axes numbers separated by

axis_list commas or as axes names separated by commas. The axes should only
be those axes specified in the corresponding XSEG command.

center_point_
Center point position for the first axis
axis1

center_point_
Center point position for the second axis
axis2

destination_
Destination position of the first axis
point_axis1

destination_
Destination position of the second axis
point_axis2

destination_
point_axis3 Mandatory only if AXIS_LIST contains more than 2 axes.
… Destination position of the rest of axes. Number of destination positions
destination_ must correspond to the number of axes in the AXIS_LIST.
point_axis6

Direction is specified as + or -. It defines clockwise or counterclockwise

rotation depending on the encoder connection: “+” for motion in the
direction
direction of increasing encoder counts, or “-” for motion in the direction
decreasing encoder counts.

[Mandatory with /V switch].

velocity Defines required velocity for the current and for all subsequent
segments. See Using ARC1, ARC2 and LINE Switches.

[Mandatory with /F switch].

end_velocity Defines required velocity at the end of the current segment. See Using
ARC1, ARC2 and LINE Switches.

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Argument Description

[Mandatory with /T switch].

time Defines segment processing time. See Using ARC1, ARC2 and LINE
Switches.

[Mandatory with /O switch].

values Defines the values to be written to variables array at the beginning of

the current segment execution. values is a one-dimensional user
defined array of integer or real type with maximum size of 10 elements .

[Mandatory with /O switch].

Defines the user-defined array, which will be written with values data at
variables the beginning of the current segment execution. variables is a one-
dimensional user defined array of the same type and size as the values
array.

[Optional, only used with /O switch]

index Defines the first element (starting from zero) of the variables array, to
which values data will be written. If argument is omitted, values data is
written to the variables array starting from the first element (index 0).

[Optional, only used if values and variables are integer]

Defines the masks that are applied to values before the values are
written to variables array at the beginning of the current segment
execution. masks is a one-dimensional user-defined array of integer
type and the same size as the values array. The masks are only applied
masks for integer values:
variables(n) = (variables(n) AND (NOT mask(n))) OR (values(n) AND mask
(n))
If argument is omitted, all values bits are written to variables.
If values is a real array, the masks argument should be omitted.

[Mandatory with /p switch]

Integer value. Fire LCI State or Pulse at the beginning of current segment.
lci_segment_ The function is available if the LCI segment-based mode was previously
active defined by the SegmentGate or SegmentPulse functions. The value
defines the state value in SegmentGate mode (1 or 0). In SegmentPulse
mode the value equal 1.

For information on optional switches for this command, see Using ARC1, ARC2 and LINE
Switches.

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2.6.3 ARC1
This format of ARC1 is used for blended segment motion and in this form must be initialized with
BSEG...ENDS. The command adds to the motion path an arc segment that starts in the current point
and ends in the destination point with the specified center point.
Syntax
ARC1[/switches] (axis_list),
center_point_axis1,center_point_axis2,
destination_point_axis1,destination_point_axis2, direction
[,segment_time [,acceleration_time [,jerk_time [,dwell_time]]]]
Arguments

Argument Commments

Defines one or two axes, specified as axes numbers separated

by comma or as axes names separated by comma. The axes
axis_list
should only be from those axes specified in the corresponding
BSEG command.

center_point_axis1 Center point position for the first axis

center_point_axis2 Center point position for the second axis

destination_point_axis1 Destination position of the first axis

destination_point_axis2 Destination position of the second axis

Direction is specified as + or -. It defines clockwise or

counterclockwise rotation depending on the encoder
direction connection: “+” for motion in the direction of increasing encoder
counts, or “-” for motion in the direction decreasing encoder
counts.

segment_time Only if switch/m is specified: Segment time (Tm) in milliseconds.

Only if switch/a is specified: Acceleration time (Ta) in

acceleration_time
milliseconds.

jerk_time Only if sufswitchfix /s is specified: Jerk time (Tj) in milliseconds

Only if sufswitchfix /d is specified: Dwell time at the final point of

the segment in milliseconds.
dwell_time
With this switch no blending will be done at the segment final
point.

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2.6.4 ARC2
Description
ARC2 must be initialized with MSEG...ENDS. Use ARC2 to specify the center point and rotation angle
in radians of an arc segment. Designate direction by positive or negative rotation angle, depending
on the encoders’ connections.

Figure 4-6. ARC2 Center Point and Rotation Angle Specification

Syntax
ARC2 axis_list, center-point, rotation-angle and direction [,user-specified velocity]
Arguments

List of axes involved, valid numbers are: 0, 1, 2, ... up to the number of axes
in the system minus 1.
The ARC2 axis_list can involve two or more axes, see PROJECTION.
axis_list

A minimum of two axes must be specified.

center-point center point coordinates

final point last point

rotation
Rotation is in radians. Use + for motion in the direction of increasing encoder
angle and
counts, or - for motion in the direction decreasing encoder counts
direction

user-
If MSEG command option /v is used, the user-specified velocity must be the
specified
last parameter in the ARC2 syntax.
velocity

Comments
ARC1 and ARC2 differ only by the required arguments. ARC1 requires the coordinates of the center
point, final point, and the direction of rotation. ARC2 requires the coordinates of the center point and
the rotation angle. Each command produces the same result, so selection of either ARC1 or ARC2
depends on the available data.
See Using ARC1, ARC2 and LINE Switches for details about function switches.

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Related ACSPL+ Commands

MSEG...ENDS, ARC1, LINE, STOPPER, PROJECTION
COM Library Methods
Arc2, ExtArc2
C Library Functions
acsc_Arc2, acsc_ExtArc2
Example
See MSEG...ENDS.

2.6.5 ARC2
Description
This format of ARC2 is used for extended segment motion and in this form must be initialized with
XSEG...ENDS. Use ARC2 to specify the center point and rotation angle in in radians of an arc segment.
Designate direction by positive or negative rotation angle, depending on the encoders’ connections.
Syntax
ARC2[/switches] (axis_list), center_point_axis1,center_point_axis2, rotation_angle, [,destination_
point_axis3, …
destination_point_axis6][,velocity][,end_velocity][,time][,values, variables[,index[,masks]]]
[,external_loop_type, external_loop_type, maximum_allowed_deviation][, lci_segment_active]
Arguments

List of axes numbers separated by comma or as axes names separated

by comma. The axes should only be those axes specified in the
corresponding XSEG command.

axis_list
A minimum of two axes must be specified.

center_point_
Center point position for the first axis
axis1

center_point_
Center point position for the second axis
axis2

destination_
point_axis3
Mandatory only if axis_list contains more than 2 axes.
… Destination position of the rest of axes. Number of destination positions
must correspond to the number of axes in the axis_list.
destination_
point_axis6

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Defines central angle of the arc, signed according to rotation direction:

rotation_angle
plus for a counter-clock-wise arc, minus for a clock-wise arc.

[Optional, only used with /v switch]

velocity Defines required velocity for the current and for all subsequent
segments. See Switches explanation for details.

[Optional, only used with /f switch]

end_velocity Defines required velocity at the end of the current segment. See
Switches explanation for details.

[Mandatory with /t switch].

time
Defines segment processing time.

[Optional, only used with /o switch]

values Defines the values to be written to variables array at the beginning of

the current segment execution. values is a one-dimensional user
defined array of integer or real type with maximum size of 10 elements .

[Optional, only used with /o switch]

[Optional, only used if values and variables are integer]

variables(n) = (variables(n) AND (NOT mask(n))) OR (values(n) AND mask

(n))

If argument is omitted, all values bits are written to variables.

If values is a real array, the masks argument should be omitted.

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0 - Cancel external loop

external_loop_
1 – Smooth External loop (line-arc-line)
type
2 – Triangle External loop (line-line-line)

minimum_ If the lengths of both segments are more than this value, the skywriting
segment_length algorithm will be applied.

maximum_
The parameter limits the external loop deviation from the defined
allowed_
profile. If the value is negative – no limitation.
deviation

[Mandatory with /p switch]

Integer value. Fire LCI State or Pulse at the beginning of current
lci_segment_ segment. The function is available if the LCI segment-based mode was
active previously defined by the SegmentGate or SegmentPulse functions. The
value defines the state value in SegmentGate mode (1 or 0). In
SegmentPulse mode the value equal 1.

Switches
The following optional /switches may be used singularly or in combination with the ARC2 command:

Specify required velocity.

The switch requires an additional parameter that specifies the required velocity.
/v The switch changes the required velocity for the current segment and for all
subsequent segments.
If the switch is not specified, the required velocity does not change.

Decelerate to the end of segment.

The switch requires an additional parameter that specifies the end velocity. The
controller decelerates to the specified velocity at the end of segment. The specified
value should be less than the required velocity; otherwise the parameter is
/f ignored. The switch affects only one segment.
The switch also disables corner detection and processing at the end of segment.
If the switch is not specified, deceleration is not required. However, in special cases
the deceleration might occur due to corner processing or other velocity control
conditions.

Synchronize user variables with segment execution. The switch requires additional
/o two or three parameters that specify values, user variable and mask. See details in
Arguments for explanation.

Use external loops at corners. The switch requires additional parameters that
/b specify the external loop type, the minimum segment length, and the maximul
allowed deviation from profile.

/p Specifies that the lci_segment_active parameter is required

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2.6.6 ARC2
This format of ARC2 is used for blended segment motion and in this form must be initialized with
BSEG...ENDS. The command adds to the motion path an arc segment that starts in the current point
and specified as the center point and rotation angle.
Syntax
ARC2[/switches] (axis_list),
center_point_axis1,center_point_axis2,
rotation_angle
[,segment_time [,acceleration_time [,jerk_time [,dwell_time]]]]
Arguments

Arguments Comments

Defines one or two axes, specified as axes numbers separated

by comma or as axes names separated by comma. The axes
axis_list
should only be from those axes specified in the corresponding
BSEG command.

center_point_axis1 Center point position for the first axis

center_point_axis2 Center point position for the second axis

Defines central angle of the arc, signed according to rotation

rotation_angle direction: plus on counter-clock-wise arc, minus on clock-wise
arc.

segment_time Only if switch/m is specified: Segment time (Tm) in milliseconds.

Only if switch/a is specified: Acceleration time (Ta) in

acceleration_time
milliseconds.

jerk_time Only if switch/s is specified: Jerk time (Tj) in milliseconds

Only if switch/d is specified: Dwell time at the final point of the

segment in milliseconds.
dwell_time
With this switchno blending will be done at the segment final
point.

2.6.7 BPTP
Description
BPTP defines a motion profile using the MotionBoost Feature.
Syntax
BPTP[/switch] axis_list, destination_point, [value of Vf, value of Tf, motor_motion_delay]

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Switches

Arguments Comments

Travel time will be calculated by the MPU to achieve a the minimum

None
possible time

Minimum travel time in seconds, The calculated travel time will be at least
/t
the specified value. Incompatible with the /d switch.

Travel Time – specifies the exact travel time for the motion in seconds.
All other considerations are ignored, which could cause a safety fault
/d
during motion execution.
Incompatible with the /t switch.

User will enter final, nonzero velocity. In single axis motion the sign of the
/f final velocity parameter has no effect, only the absolute value is
considered.

/e Wait for motion termination before executing next command.

/r Relative motion

/v Use velocity parameter instead of default velocity parameters.

/w Create the motion, but to not start until the GO command is issued.

/z Interpret entered coordinates according to the Local Coordinate System.

Use the motion profile values of the axis group as a whole, rather than
those of the leading axis, without exceeding any of the defined axes
/m
motion VEL, ACC, DEC, JERK values. Not compatible with /2 switch. Range
is 0-25 ms.

Defines actual motor movement delay in microseconds. The delay

resolution is 50 microseconds.
The maximum delay is 100 controller cycles: 100ms for CTIME=1ms or
/q
20ms for CTIME=0.2ms.
Allows delaying actual motor movement start (RPOS) for the specified
delay, while motion profile generation (APOS) starts immediately.

/2 Use 20 kHz motion mode

Use of the /d switch to specify minimum travel time overrides all other parameters
which might limit velocity and requires careful attention to safety considerations.

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BPTP/2 is limited to at most 2 axes in a single function call.

The BPTP/2 command is limited to at most 2 axes per Servo Processor and at most 4
axes per system.

Arguments
axis_list

a Axis a will perform the motion

Axes will perform a synchronized motion to the destination point along to a

(axes) straight line connecting the start to the destination point. Axes may be any
set of distinct numbers in the range 0 to 63.

destination-point

af is a destination point for axis a

(af,bf,cf) bf is a destination point for axis b
cf is a destination point for axis c

Value of Tf

Tf Desired travel time

Value of Vf

Vf Desired final velocity

Motion Delay

motor_ (Optional, used only with /q switch) Delay, in milliseconds, before motor
movement_delay motion actually starts.

GPHASE
Two options are available.
> Four phases (For motion in positive direction; for motion in negative direction reverse the
inequality signs)
1. Acceleration buildup
> RJERK>0, RACC>0
2. Acceleration finishing
> RJERK<0, RACC>0
3. Deceleration buildup
> RJERK<0, RACC<0

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4. Deceleration finishing
> RJERK>0, RACC<0
Comments
This command is supported in ADK versions 2.70 and higher.
Examples

BPTP 0, 100

A simple example that moves axis 0 to position 100.

If the axis is moving when the command is issued, the controller creates the motion and inserts it
into the axis motion queue. The motion waits in the queue until all motions before it finish, and only
then starts.

BPTP/ed (0,1), 100, 200, 0.4

Move axes 0,1 to position 100,200.

Do not execute the next command in the program until the motion is done.
Execute the motion in exactly 0.4 seconds.

// execute a BPTP motion with 20 KHz resolution

// move axes 0,1 to absolute coordinates 1,1

BPTP/2 (0,1),1,1

2.6.8 BPTPCalc
Description
The BPTPCALC function calculates and allows the user to set the motion variables according to a
desired motion time. When the travel time and distance are known in advance, the BPTPCALC
should be used to generate new VEL, ACC and JERK values.
Syntax

BPTPCALC real Motion_duration, real Distance, int index

Arguments

The desired motion time in seconds. The time will be rounded up to a

Motion_duration
whole number of controller cycles.

Distance The travel distance in user units

1 - Velocity
Index 2 - Acceleration
3 - Jerk

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Comments
This command is supported in ADK versions 2.70 and higher.
Example

! Calculate the motion parameter to execute a 10 unit BPTP motion in 3 ms

VEL(0) = bptpcalc(0.003, abs(10), 1)
ACC(0) = bptpcalc(0.003, abs(10), 2)
JERK(0) = bptpcalc(0.003, abs(10), 3)

enable(0)

BPTP/R(0), 10 ! Move axis 0, 10 units, in 3 ms

STOP

2.6.9 BSEG...ENDS
Syntax
BSEG[/switches] (axis_list), initial_position_axis1, initial_position_axis2, [motor_motion_delay,]
segment_time, acceleration_time, jerk_time[, dwell_time]
Arguments

Arguments Comments

Axes involved in BSEG motion, specified as axes numbers

axis_list
separated by comma or as axes names separated by comma

initial_position_axis1 Initial position of the first axis

initial_position_axis2 Initial position of the second axis

(Optional, used only with /q switch) Delay, in milliseconds, before

motor_motion_delay
motor motion actually starts.

Initial segment time (Tm) in milliseconds. The specified segment

segment_time time will be used for all segments until segment_time argument is
specified in segment LINE, ARC1 or ARC2 command.

Initial acceleration time (Ta) in milliseconds. The specified

acceleration_time acceleration time will be used for all segments until acceleration_
time argument is specified in LINE, ARC1 or ARC2 command.

Initial jerk time (Tj) in milliseconds. The specified jerk time will be
jerk_time used for all segments until jerk_time argument is specified in LINE,
ARC1 or ARC2 command.

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Optional] Initial dwell time between segments in milliseconds. If

this argument is specified, no blending will be done for all
dwell_time segments of the motion. That means that the motion will be
stopped at the end of each segment for the specified dwell_time
milliseconds.

Switches

Switch Comments

Do not start until the GO command is executed.

/w If the switch is not specified, the motion starts immediately after the first
motion segment is defined.

Set the initial axis position as origin. Segment commands positions should be
/r
declared relative to the new origin.

/z Interpret entered coordinates according to the Local Coordinate System.

Defines actual motor movement delay in microseconds. The delay resolution is

50 microseconds.
The maximum delay is 100 controller cycles: 100ms for CTIME=1ms or 20ms for
/q
CTIME=0.2ms.
Allows delaying actual motor movement start (RPOS) for the specified delay,
while motion profile generation (APOS) starts immediately.

2.6.10 JOG
Description
JOG creates a motion with constant velocity and no defined end point.
JOG motion terminates by:
> HALT, KILL/KILLALL, BREAK, DISABLE/DISABLEALL
> Execution of any other motion command for the same axis
> Limit switch activation
> Any fault activation that disables the drive or kills the motion
Syntax
JOG[/switch] axis_list [,user-specified-velocity][,user-specified-direction]

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Arguments

List of axes, valid numbers are: 0, 1, 2, ... up to the number of axes in the
axis_list
system minus 1.

user-
specified- Optional parameter used if the /v command option is specified
velocity

user- Optional parameter. Motion direction is designated by a plus sign (+) for
specified- increasing feedback counts or (–) or decreasing feedback counts. If no
direction operator is used, motion is in the direction of increasing encoder counts.

Switches
/switch can be:

/v Use the specified velocity instead of the default velocity (VEL).

/w Create the motion, but do not start until GO.

Related ACSPL+ Commands

GO, HALT, KILL/KILLALL, BREAK, IMM
Related ACSPL+ Variables
AST, MST, MERR, VEL, ACC, JERK, FPOS, RPOS, GPHASE
COM Library Methods and .NET Library Methods
Jog, JogM
C Library Functions
acsc_Jog, acsc_JogM
Examples
Example 1:

JOG/v 0, 500 !Jog 0 axis with VEL 500

Example 2:

JOG (0,1,2), –++ !Jog axes 0, 1, and 2 where axis 0 jogs in the
!negative direction and axes 1 and 2 jog in the
!positive direction.

2.6.11 LINE
Description
LINE must be initialized with MSEG...ENDS. LINE adds a linear segment to a segmented motion.
Syntax
LINE axis_list, final-position1, final-position2[,user-specified velocity]

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Arguments

List of axes, valid numbers are: 0, 1, 2, ... up to the number of axes in the
system minus 1.

axis_list
A minimum of two axes must be specified.

final position1 First coordinate

final position2 Second coordinate

user specified
Optional user-specified velocity if LINE was initiated by MSEG/v.
velocity

Comments
1. ENDS informs the controller that no more segments will be specified. If ENDS is omitted,
motion stops at the last point of the sequence and waits for the next point.
2. If the LINE axis_list involves two or more axes, see PROJECTION.
Related ACSPL+ Commands
MSEG...ENDS, ARC1, ARC2, STOPPER, PROJECTION
COM Library Methods
See "Points and Segments Manipulation Methods" in SPiiPlus COM Library Programmer's Guide.
C Library Functions
See "Points and Segments Manipulation Methods" in SPiiPlus C Library Reference Programmer's
Guide.
Example
See MSEG...ENDS.

2.6.12 LINE
Description
This format of LINE is used for extended segment motion and in this form must be initialized with
XSEG...ENDS. Use LINE to add a linear segment that starts at the current point and ends in the
destination point to the motion path.
Syntax
LINE [/switches] (axis_list), destination_point_axis1, destination_point_axis2
[,destination_point_axis3 … ,destination_point_axis6][,velocity][,end_velocity][,time][,values,
variables[,index[,masks]]] [,external_loop_type, external_loop_type, maximum_allowed_deviation][
,lci_segment_active]

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Arguments

List of axes numbers separated by comma or as axes names separated

by comma. The axes should only be those axes specified in the
corresponding XSEG command.
axis_list

A minimum of two axes must be specified.

destination_
Destination position of the first axis
point_axis1

destination_
Destination position of the second axis
point_axis2

destination_
point_axis3
Mandatory if axis_list contains more than 2 axes.
… Destination position of the rest of axes. Number of destination positions
must correspond to the number of axes in axis_list.
destination_
point_axis6

[Optional, only used with /v switch]

velocity Defines required velocity for the current and for all subsequent
segments. See Switches explanation for details.

[Optional, only used with /f switch]

end_velocity Defines required velocity at the end of the current segment. See
Switches explanation for details.

[Mandatory with /t switch].

time
Defines segment processing time.

[Optional, only used with /o switch]

values Defines the values to be written to variables array at the beginning of

the current segment execution. values is a one-dimensional user
defined array of integer or real type with maximum size of 10 elements .

[Optional, only used with /o switch]

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[Optional, only used with /o switch]

[Optional, only used if values and variables are integer]

variables(n) = (variables(n) AND (NOT mask(n))) OR (values(n) AND mask

(n))

If argument is omitted, all values bits are written to variables.

If values is a real array, the masks argument should be omitted.

0 - Cancel external loop

external_loop_
1 – Smooth External loop (line-arc-line)
type
2 – Triangle External loop (line-line-line)

minimum_ If the lengths of both segments are more than this value, the skywriting
segment_length algorithm will be applied.

maximum_
The parameter limits the external loop deviation from the defined
allowed_
profile. If the value is negative – no limitation.
deviation

[Mandatory with /p switch]

Switches
The following optional /switches may be used singularly or in combination with the LINE command:

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Specify required velocity.

Decelerate to the end of segment.

Synchronize user variables with segment execution. The switch requires additional
/o two or three parameters that specify values, user variable and mask. See details in
Arguments for explanation.

Use external loops at corners. The switch requires additional parameters that
/b specify the external loop type, the minimum segment length, and the maximul
allowed deviation from profile.

/p Specifies that the lci_segment_active parameter is required

2.6.13 LINE
This format of LINE is used for blended segment motion and in this form must be initialized with
BSEG...ENDS. The command adds to the motion path a linear segment that starts in the current point
and ends in the destination point.
Syntax
LINE[/switches] (axis_list),destination_point_axis1,destination_point_axis2
[,segment_time [,acceleration_time [,jerk_time [,dwell_time]]]]
Arguments

Arguments Comments

Defines one or two axes, specified as axes numbers separated by

axis_list comma or as axes names separated by comma. The axes should only be
from those axes specified in the corresponding BSEG command.

destination_
Destination position of the first axis
point_axis1

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destination_
Destination position of the second axis
point_axis2

segment_time Only if the /m switch is specified: Segment time (Tm) in milliseconds.

acceleration_time Only if /a switch is specified: Acceleration time (Ta) in milliseconds.

jerk_time Only if the /s switch is specified: Jerk time (Tj) in millisecond

Only if the /d switch is specified: Dwell time at the final point of the
dwell_time segment in milliseconds.
With this switch no blending will be done at the segment final point.

2.6.14 MASTER
Description
MASTER defines master-slave motion by creating a dependency between an axis position or
velocity to a variable and/or an expression. MASTER always follows the (axis) MPOS variable. SLAVE
initiates the motion defined by MASTER and must follow MASTER.

Velocity Lock is the default state for MASTER. Initiate MASTER with SLAVE/p for position
lock.

The following actions terminate the master-slave dependency, however, these actions do not
necessarily terminate the motion:
> KILL or HALT to the slave axis.
> DISABLE to either axis or both axes.
> Setting the logical dependence between master and slaves axes to zero. For example,
MASTER MPOS(0) = 0.
Syntax
MASTER axis_MPOS=formula
Arguments

axis_MPOS Define master value for axis

= Assignment operator

formula A variable and/or expression

Related ACSPL+ Commands

SLAVE, GO, HALT, KILL/KILLALL, ENABLE/ENABLE ALL, DISABLE/DISABLEALL, MAP
Related ACSPL+ Variables
AST, XSACC, MFF

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COM Library Methods and .NET Library Methods

SetMaster, Slave, SlaveStalled
C Library Functions
acsc_SetMaster, acsc_Slave, acsc_SlaveStalled
Examples
Example 1:

MASTER MPOS(0)=5*RVEL(1)
!Creates a master-slave dependency where
!the 0 axis velocity is slaved to five times

!the 1 axis reference velocity (RVEL)

SLAVE 0 !Initiates the 0 axis motion

Example 2:
Figure 4-7 illustrates SLAVE/pt used in the following syntax example.

MASTER MPOS(0)=FPOS(1)+MARK (1)

!Create a master slave dependency, where
!axis 0 is the slave. The master axis
!is 1, and the FPOS (feedback position)
!expression plus the MARK position
!are the references for the slaved axis 0.
SLAVE/pt 0, -500, 500 !SLAVE command with position lock
!and specified boundary switches,
!for axis 0. -500 is the left
!position boundary, and 500 is the
!right position boundary.

Figure 4-7. SLAVE /pt Illustration

In Figure 4-7, Position 1 is outside of the defined boundary and the master-slave dependency is
stalled. Position 2 is within the defined boundary and the master-slave dependency is active.

2.6.15 MPOINT
Description
MPOINT specifies an array of destination points used by MPTP...ENDS, PATH...ENDS or
PVSPLINE...ENDS motion commands. An MPOINT array must conclude with ENDS.

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Syntax
MPOINT axis_list, array-name (number of rows,number of points)
Arguments

List of axes involved. Axes must be in the same order as defined in

axis_list
MPTP, PATH or PVSPLINE.

The MPOINT array must be defined as Real.

The number of rows is the first element and the number of columns is
the second element. A three-axis, five-point array is defined as follows:
real array (3)(5).
array (number of
rows,number of Each row defines the values for the points for each axes, and depending
points) on command preceding MPOINT, the defined velocities, and the defined
times. The array must contain, at least, the same number of columns
declared in the array as the number of defined points. Extra array
columns are ignored. See Array Structures for a description of various
array configurations.

Related ACSPL+ Commands

MPTP...ENDS, POINT, PATH...ENDS, PVSPLINE...ENDS
COM Library Methods and .NET Library Methods
MultiPoint, MultiPointM, Spline, SplineM, AddPVPoint, AddPVPointM, AddPVTPoint, AddPVTPointM
C Library Functions
acsc_MultiPoint, acsc_MultiPointM, acsc_Spline, acsc_SplineM, acsc_AddPVPoint, acsc_AddPVPointM,
acsc_AddPVTPoint, acsc_AddPVTPointM
Array Structures
There are different point array structures depending on the MPOINT enabling command and
switches. These structures are described below.
1. A five-point, three-axis MPOINT array enabled by MPTP or PATH without switches appears
as follows:

ARRAY (3)(5)

Point 1 Point 2 Point 3 Point 4 Point 5

0 Axis 1000 2000 3000 4000 5000

1 Axis 5000 4000 3000 2000 1000

5 Axis 0 2000 4000 6000 8000

See Example 1, illustrating sample code based on the ARRAY (3)(5) structure.
2. If MPOINT follows MPTP/v, the point array must include an additional row to specify the
transition velocity from the previous point to the current point and appears as follows:

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ARRAY (6)(5)

Point 1 Point 2 Point 3 Point 4 Point 5

1 Axis VEL 2500 2500 2500 2500 2500

5 Axis VEL 3000 3000 3000 3000 3000

5. If MPOINT follows PVSPLINE/t, the array must include an additional column that specifies
the time interval between the previous point and the current point. Time is in milliseconds.
For example:

ARRAY (7)(5)

Point 1 Point 2 Point 3 Point 4 Point 5

0 Axis 1000 2000 3000 4000 5000

1 Axis 5000 4000 3000 2000 1000

5 Axis 0 2000 4000 6000 8000

0 Axis VEL 5000 5000 5000 5000 5000

1 Axis VEL 2500 2500 2500 2500 2500

5 Axis VEL 3000 3000 3000 3000 3000

Time 500 500 500 500 500

See Example 3, illustrating sample code based on the ARRAY (7)(5) structure.
6. If MPTP/r enables MPOINT, the array points are relative.
Examples
Example 1
Illustrating sample code based on the ARRAY (3)(5) structure.

REAL ARRAY(3)(5) !Defines ARRAY with three rows and

!five columns as real.
INT NUMBER_of_POINTS !Defines NUMBER_of _POINTS as an integer variable.
! ------------ Fill the ARRAY array----------------------
ARRAY(0)(0)=1000;ARRAY(0)(1)=2000;ARRAY(0)(2)=3000;ARRAY(0)(3)=4000;
ARRAY (0)(4)=5000;ARRAY(1)(0)=5000;ARRAY(1)(1)=4000;ARRAY(1)(2)=3000;
ARRAY (1)(3)=2000;ARRAY(1)(4)=1000;ARRAY(2)(0)=0;ARRAY(2)(1)=2000;
ARRAY (2)(2)=4000;ARRAY (2)(3)=6000;ARRAY(2)(4)=8000
NUMBER_of_POINTS=5 !Set NUMBER_of_POINTS
ENABLE (0,1,5) !Enable axes 0, 1 and 5
PATH (0,1,5), 1 !PATH initiates simultaneous motion for axes 0, 1,
!and 5. The time interval is one millisecond between

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!each destination point.

MPOINT (0,1,5), ARRAY, NUMBER_of_POINTS
!Define an MPOINT array for axes 0, 1 and 5 where
!ARRAY and NUMBER_of_POINTS are called
ENDS (0,1,5) !Concludes MPOINT
STOP !End program

Example 2
Illustrating sample code based on the ARRAY (4)(5) structure.

REAL ARRAY(4)(5) !Defines ARRAY with four rows and

!five columns as real.
INT NUMBER_of_POINTS !Defines NUMBER_of _POINTS as an integer
!variable.
! ------------ Fill the ARRAY array----------------------
ARRAY(0)(0)=1000;ARRAY(0)(1)=2000;ARRAY(0)(2)=3000;ARRAY(0)(3)=4000;
ARRAY (0)(4)=5000;ARRAY(1)(0)=5000;ARRAY(1)(1)=4000;ARRAY(1)(2)=3000;
ARRAY (1)(3)=2000;ARRAY(1)(4)=1000;ARRAY(2)(0)=0;ARRAY(2)(1)=2000;
ARRAY(2)(2)=4000;ARRAY(2)(3)=6000;ARRAY(2)(4)=8000;ARRAY(3)(0)=6000;
ARRAY(3)(1)=7000;ARRAY(3)(2)=5000;ARRAY(3)(3)=4000;ARRAY(3)(4)=4000
NUMBER_of_POINTS=5 !Set NUMBER_of_POINTS
ENABLE (0,1,5) !Enable axes 0, 1 and 5
PATH (0,1,5), 1
!PATH initiates simultaneous motion for axes
!0, 1 and 5. The time interval is one millisecond
!between each destination point.
MPOINT (0,1,5), ARRAY, NUMBER_of_POINTS
!Define an MPOINT array for axes 0, 1 and 5
!where ARRAY and NUMBER_of_POINTS are called.
ENDS (0,1,5) !Concludes MPOINT
STOP !End program

Example 3
Illustrating sample code based on the ARRAY (7)(5) structure.

REAL ARRAY(7)(5) !Defines ARRAY with seven rows and

!five columns as real.
INT NUMBER_of_POINTS !Defines NUMBER_of _POINTS as an integer variable.
! ------------ Fill the ARRAY array----------------------
ARRAY(0)(0)=1000;ARRAY(0)(1)=2000;ARRAY(0)(2)=3000;ARRAY(0)(3)=4000;
ARRAY (0)(4)=5000;ARRAY(1)(0)=5000;ARRAY(1)(1)=4000;ARRAY(1)(2)=3000;
ARRAY (1)(3)=2000;ARRAY(1)(4)=1000;ARRAY(2)(0)=0;ARRAY(2)(1)=2000;
ARRAY(2)(2)=4000;ARRAY(2)(3)=6000;ARRAY(2)(4)=8000;ARRAY(3)(0)=5000;
ARRAY(3)(1)=5000;ARRAY(3)(2)=5000;ARRAY(3)(3)=5000;ARRAY(3)(4)=5000;
ARRAY(4)(0)=2500;ARRAY(4)(1)=2500;ARRAY(4)(2)=2500;ARRAY(4)(3)=2500;
ARRAY(4)(4)=2500;ARRAY(5)(0)=3000;ARRAY(5)(1)=3000;ARRAY(5)(2)=3000;
ARRAY(5)(3)=3000;ARRAY(5)(4)=3000;ARRAY(6)(0)=500;ARRAY(6)(1)=500;
ARRAY(6)(2)=500;ARRAY(6)(3)=500;ARRAY(6)(4)=500
NUMBER_of_POINTS=5 !Set NUMBER_of_POINTS

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ENABLE (0,1,5) !Enable axes 0, 1 and 5

PVSPLINE/t (0,1,5) !PVSPLINE/t initiates simultaneous motion for axes
!0, 1 and 5 with a user-defined time interval
!between each point.
MPOINT (0,1,5), ARRAY, NUMBER_of_POINTS
!Define an MPOINT array for axes 0, 1 and 5
!where ARRAY and NUMBER_of_POINTS are called.
ENDS (0,1,5) !Concludes MPOINT
STOP !End program

2.6.16 MPTP...ENDS
Description
MPTP initiates multipoint sequential positioning to a set of points. MPTP by itself does not specify
any point, however dwell time at each point can be optionally specified. Points are specified by the
POINT or MPOINT commands that follow MPTP.
In single axis motion, MPTP generates sequential motion between the defined array points, where
at the end of each segment, RVEL = 0, as if each segment was defined by a separate PTP command.
In group motion, where more than one axis is declared, the first axis in the axis_list is the leading
axis. The motion parameters of the leading axis become the default motion parameters for all axes
in the group. Motion on all axes in a group start and conclude at the same time. MPTP generates
sequential motion between the defined array points, where at the end of each set of points, RVEL =
0, as if each motion was defined by a separate PTP command.
Transition to the next motion in the motion queue, if it exists, will not occur until ENDS executes.
MPTP terminates with:
> HALT, KILL/KILLALL, or BREAK
> Any fault activation that disables the drive or kills the motion
> DISABLE/DISABLEALL by the user
Syntax
MPTP[/switch] axis_list[,dwell][,motor_motion_delay]
Arguments

List of axes, valid numbers are: 0, 1, 2, ... up to the number of axes in the
axis_list
system minus 1.

dwell Dwell is an optional argument, expressed in milliseconds.

motor_motion_ (Optional, used only with /q switch) Delay, in milliseconds, before motor
delay motion actually starts.

Switches
/switch can be:

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/w Create the motion, but do not start until the GO command.

/v Use the specified velocity instead of the default velocity (VEL).

/c Use the point sequence as a cyclic array

/r Coordinates of each point are relative to the previous point’s coordinates.

/z Interpret entered coordinates according to the Local Coordinate System.

Defines actual motor movement delay in microseconds. The delay resolution is 50

microseconds.
The maximum delay is 100 controller cycles: 100ms for CTIME=1ms or 20ms for
/q
CTIME=0.2ms.
Allows delaying actual motor movement start (RPOS) for the specified delay, while
motion profile generation (APOS) starts immediately.

Comments
1. MPTP motion starts only after the first point is specified
2. MPTP motion with all of its points is considered as one motion command in the motion
queue.
3. An MPOINT array declaration used in MPTP must be defined as Real.
4. MPTP/c does not end automatically. Use HALT, KILL/KILLALL, or BREAKto stop cyclic motion.
Related ACSPL+ Commands
GO, HALT, KILL/KILLALL, BREAK, IMM, MPOINT, POINT
Related ACSPL+ Variables
ACC, DEC, JERK, VEL
COM Library Methods and .NET Library Methods
ToPoint, ToPointM, ExtToPoint, ExtToPointM
C Library Functions
acsc_ToPoint, acscToPointM, acsc_ExtToPoint, acsc_ExtToPointM
Examples
Example 1:
In the following example, dwell is not required, therefore the comma and the second argument
following 1000 are omitted.

MPTP 0, 1000 !Create a multipoint motion of the 0 axis

!with a dwell of 1000 msec at each point.

Example 2:

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REAL ARRAY1 (4) !Define an array called ARRAY1 with four members
!as REAL
! ------------ Fill the ARRAY1 array----------------------
ARRAY1(0)=0;ARRAY1(1)=1000;ARRAY1(2)=0;ARRAY1(3)=1000
MPTP 0, 500 !MPTP motion for 0 axis, dwell 500 msec at each point
POINT 0, 2000 !First point
MPOINT 0, ARRAY1,3 !Use three points from ARRAY1
POINT 0, 3000 !Second point
POINT 0, 5000 !Third point
ENDS 0 !Ends the point sequence for 0 axis

Figure 4-8 illustrates the above code for a single-axis motion initiated by MPTP. Note that not all of
the members defined in ARRAY1 necessarily need to be used by MPOINT. In this example, only three
of the defined members are called.

Figure 4-8. Single-Axis Motion Using MPTP

Example 3:

MPTP/v XY !Create multipoint motion in group XY with

!user defined velocity and no dwell.
POINT XY,10000,0,5000 !Move to first point at velocity 5000
POINT XY,1000,1000,5000 !Add second point at velocity 5000
POINT XY,2000,1000,5000 !Add third point at velocity 5000
POINT XY,2000,0,100 !Add fourth point at velocity 100
ENDS XY !End the point sequence for XY

Figure 4-9 illustrates the above code for two-axis group motion initiated by MPTP/v.

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Figure 4-9. Two-Axis Group Motion Using MPTP/v

2.6.17 MSEG...ENDS
Description
MSEG initiates two-axis segmented motion. MSEG itself does not specify a line or arc segment.
Motion starts only after the first segment is specified with a motion segment command.
Segmented motion moves axes along a continuous path where the path is defined as a sequence
of line and arc segments on a plane.
Use the following commands to define segmented motion:
> ARC1 - adds an arc segment to a segmented motion and specifies the coordinates of center
point, coordinates of the final point, and the direction of rotation
> ARC2 - Adds an arc segment to a segmented motion and specifies the coordinates of center
point, rotation angle and direction.
> ENDS - terminates the point sequence
> LINE - adds a linear segment to a segmented motion.
> PROJECTION - sets a projection array for a segmented motion.
> STOPPER - provides a smooth transition between two segments of segmented motion.

MSEG motion terminates with:

> HALT, KILL/KILLALL, or BREAK
> Any fault activation that disables the drive or kills the motion
> DISABLE/DISABLEALLby the user
Syntax
MSEG[/switch] axis_list, initial-position-axis1,initial-position-axis2

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Arguments

Axes list, valid numbers are: 0, 1, 2, ... up to the number of axes in the
axis_list
system minus 1.

initial-position
Start coordinate for the first axis
axis1

initial-position-
Start coordinate for the second axis
axis2

Switches
/switch can be:

/w Create the motion, but do not start until GO.

/v Use the specified velocity instead of the default velocity (VEL).

/c Use the MSEG segment sequence as a cyclic array.

Comments
> Use command option /c to create cyclic motion where the final point of the last segment
becomes the first point of the next motion cycle. MSEG/c does not automatically finish. Use
HALT, KILL/KILLALL, or BREAK to end cyclic motion.
> If command option /v is used, specify the user-defined velocity in each instance of LINE,
ARC1, or ARC2.
> The MSEG command uses a motion que buffer of up to 50 segments.
Related ACSPL+ Commands
GO, HALT, KILL/KILLALL, BREAK, IMM
Related ACSPL+ Variables
ACC, DEC, JERK, VEL
COM Library Methods
For MSEG: Segment, Line, ExtLine, Arc1, ExtArc1, Arc2, ExtArc2, Stopper, Projection
For ENDS: FinalPoint
C Library Functions
For MSEG: acsc_Segment, acsc_Line, acsc_Arc1, acsc_Arc2, acsc_ExtLine, acsc_ExtArc1, acsc_ExtArc2,
acsc_Projection, acsc_Stopper
For ENDS: acsc_FinalPoint

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Example

MSEG (0,1), 1000, 1000 !MSEG initiates segmented motion for the 0 and 1
axes
!group with initial coordinates of (1000,1000).
ARC1 (0,1), 1000, 0, 1000, -1000, -
!Add an arc segment with a center point located at
!(1000,0) and the final point located at (1000,-1000)
!with negative movement in terms of the encoder.
LINE (0,1), -1000, -1000
!Add line segment with final point (-1000,-1000).
ARC2 (0,1), -1000, 0, -3.141529
!Add arc segment with center (-1000,0) and a
!rotation angle of -p radians.
LINE (0,1), 1000, 1000
!Add line segment with center (1000,1000).
ENDS (0,1) !Ends the point sequence for the 0 and 1 axes group.
STOP !Ends program

Figure 4-10 illustrates the motion created by the example.

Figure 4-10. Results of Example MSEG

2.6.18 PATH...ENDS
Description
PATH initiates an arbitrary path motion with linear interpolation using POINT, or MPOINT for an array
of points. The arbitrary path sequence must conclude with ENDS.
PATH motion terminates due to:
> Interruption by any new motion command before the current motion concludes terminates
the PATH motion and causes an error.
> Any fault activation that disables the drive or kills the motion

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> User termination by HALT, KILL/KILLALL, or DISABLE/DISABLEALL

Syntax
PATH[/switches] axis_list [,time-interval][ ,motor_motion_delay]
Arguments

Axes list, valid numbers are: 0, 1, 2, ... up to the number of axes in the system
axis_list
minus 1.

Optional time interval specification in milliseconds. PATH specified without \t

time interval must have the time interval specification as the last argument. The argument
defines the time interval between all motion points.

motor_
(Optional, used only with /q switch) Delay, in milliseconds, before motor
motion_
motion actually starts.
delay

Switches

/w Create the motion, but do not start until the GO command.

/t Enables a user-defined time interval in a point array

Use the point sequence as a cyclic array. After arriving at the last point, continue
/c
from the first point.

/r Coordinates of each point are relative to the previous point’s coordinates.

Defines actual motor movement delay in microseconds. The delay resolution is 50

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Figure 4-11. PATH...ENDS Diagram

Comments
Since a time interval and the destination point are specified, variables VEL, ACC, DEC, JERK have no
effect on this motion.
Related ACSPL+ Commands
MPTP...ENDS, POINT, MPOINT, PVSPLINE...ENDS
COM Library Methods and .NET Library Methods
ToPoint, ToPointM, ExtToPoint, ExtToPointM
C Library Functions
acsc_ToPoint, acsc_ToPointM, acsc_ExtToPoint, acsc_ExtToPointM
Example
See Example 2 of MPOINT for a three axis example of MPTP...ENDS motion.

2.6.19 POINT
Description
POINT adds a destination point to multi-point or arbitrary motion paths. A sequence of destination
points can be specified with a sequence of POINT commands. POINT must follow MPTP...ENDS,
PATH...ENDS, orPVSPLINE...ENDS. Refer to each command for a list of available command options.
The sequence of specified points must conclude with ENDS.
Syntax
> POINT syntax depends on the command options used in the initializing commands, as
follows:
> POINT initiated by MPTP:
POINT axis_list, axis_list destination positions

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> POINT initiated by MPTP/v:

POINT axis_list, axis_list destination positions, vector velocity (GVEL)
See Example 1.
> POINT initialized by PATH:
PATH[/command options]axis_list, time-interval
POINT axis_list, axis_list destination positions
See Example 2.
> POINT initialized by PATH/t:
POINT axis_list, axis_list destination positions, time interval in milliseconds
See Example 3.
> POINT initialized by PVSPLINE:
PVSPLINE[command options]axis_list, time-interval
POINT axis_list, axis_list destination positions
See Example 4.
> POINT initialized by PVSPLINE/t:
PVSPLINE[command options]axis_list
POINT axis_list, axis_list destination positions, velocity at destination position, time interval
in milliseconds
See Example 5.
Comments
> POINT axis specifications must follow the same order as the initializing MPTP, PATH or
PVSPLINE commands.
> All arguments following the axis_list must appear as a comma separated list, and must
correspond to the number of axes.
Related ACSPL+ Commands
MPOINT, MPTP...ENDS, PATH...ENDS, PVSPLINE...ENDS
COM Library Methods and .NET Library Methods
MultiPoint, MultiPointM, Spline, SplineM, AddPVPoint, AddPVPointM, AddPVTPoint, AddPVTPointM
C Library Functions
acsc_MultiPoint, acsc_MultiPointM, acsc_Spline, acsc_SplineM, acsc_AddPVPoint, acsc_AddPVPointM,
acsc_AddPVTPoint, acsc_AddPVTPointM
Examples
Example 1

MPTP/v (0,1,5) !Initiates MPTP motion for axes 0, 1 and 5.

!simultaneously with a user-defined velocity(GVEL)
!at each point.
POINT (0,1,5), 1000,4000,6000,7000
!Defines destination points 1000, 4000, and 6000 for
!axes 0, 1, and 5 with a GVEL of 7000 units.
ENDS (0,1,5) !Ends MPTP/v point sequence for axes 0, 1, and 5.
STOP !Ends program

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Example 2

PATH/r (0,1,5),1000 !Initiates PATH motion for axes 0, 1, and 5.

!simultaneously where each destination point is
!relative to the previous point and the time
!interval between each point is one second.
POINT (0,1,5), 1000,2000,3000
!Defines destination points 1000, 2000, and 3000 for
!axes 0, 1, and 5 respectively.
ENDS (0,1,5) !Ends PATH point sequence for axes 0, 1, and 5.
STOP !Ends program

Example 3

PATH/t (0,1,5) !Initiates PATH motion for axes 0, 1, and 5.

!simultaneously with a user-defined time interval
!between points.
POINT (0,1,5), 1000,2000,3000, 500
!Defines destination points 1000, 2000, 3000 for axes
!0, 1, and 5, respectively and a time interval of
!500 msec between points.
ENDS (0,1,5) !Ends PATH point sequence for axes 0, 1, and 5.
STOP !Ends program

Example 4

PVSPLINE (0,1,5), 10 !Initiates PVSPLINE motion for axes 0, 1, and 5.

!Points are given at 10 msec intervals.
POINT (0,1,5), 200, 100, 300, 1000, 2000, 1500
!Defines points for axes 0, 1, and 5 with respective
!values of 200, 100, 300 and velocities at each
!point 1000, 2000, 1500, respectively.
ENDS (0,1,5) !Ends PVSPLINE point sequence.
STOP !Ends program

Example 5

PVSPLINE/t (0,1,5) !Initiates PVSPLINE motion for axes 0, 1, and 5, with

!a user-defined time interval between points.
POINT (0,1,5), 200, 100, 300, 1000, 2000, 1500, 250
!Defines destination points for axes 0, 1, and 5
!with respective values of 200, 100, 300 and
!velocities at each respective point of 1000, 2000,
!1500. The time interval between points is 250 msecs.
ENDS (0,1,5) !Ends PVSPLINE point sequence for axes 0, 1, and 5.
STOP !Ends program

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2.6.20 PROJECTION
Description
PROJECTION is an expansion command to the MSEG...ENDS set of commands, that allows the
controller to perform a three dimensional segmented motion such as creating arcs and lines on a
user-defined plane. The method for this 3D segmented motion is to set a transformation matrix that
defines a new plane for the segmented motion.
Syntax
PROJECTION axes_list, Transformation Matrix
Arguments

List of axes, valid numbers are: 0, 1, 2, ... up to the number of axes in

axes_list
the system minus 1.

Transformation
Defines the new plane
Matrix

Comments
1. MSEG must precede PROJECTION.
2. Prior to using PROJECTION, the related axes must be grouped using GROUP.
3. The motion parameters of the segmented motion with PROJECTION are calculated based
on the leading axis described in the GROUP command. The other involved axes motion
parameters are not relevant. The parameters are calculated to meet a uniform travel time
to all grouped axes.
Related ACSPL+ Commands
MSEG...ENDS, LINE, ARC1, ARC2, GROUP
COM Library Methods and .NET Library Methods
Projection
C Library Functions
acsc_Projection
Example
1. This example program creates a segmented motion on a new plane (in this example - a
circle) on a plane rotated around Axis X by 70° relative to plane AX, as illustrated in Figure 4-
12.
2. ARC2 defines the circle’s center coordinates on plane AX. PROJECTION transforms these
coordinates to the new plane, based on the values in the transformation matrix (Matrix M,
in this example).
3. Populate the transformation matrix with the values from table given below. The first two
rows define the relationship between the X and Y coordinates of the last MSEG...ENDS
motion and their respective axes in the new plane. The third row defines the tangent angle
of the new plane. In this example uses a 70° angle in reference to Axis A, where
tan70=2.74.

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Table 4-9. Matrix Values

Matrix Values
Axis X Coordinate A Coordinate

X 1 0

A 0 1

B 0 2.74

Figure 4-12. PROJECTION of the XA Plane

Figure 4-13 illustrates the reference position of axes 0, 4, and 5 (corresponding to the XAB
coordinates illustrated in Figure 4-12).

Figure 4-13. FPOS - PROJECTION Example

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Figure 4-14 illustrates the circle's trajectory viewed from the XA plane.

Figure 4-14. PROJECTION Example - Final Result

REAL M(3)(2) !Defines Transformation Matrix M as real array

! ------------ Set the transformation matrix values----------------------
M(0)(0)=1;M(0)(1)=0;M(1)(0)=0;M(1)(1)=1;M(2)(0)=0;M(2)(1)=2.74
VEL(0)=1000;ACC(0)=10000;DEC(0)=10000
!Axis motion parameters
ENABLE (0,4,5) !Enable the 0, 4 and 5 axes (required)
!Corresponding to XAB coordinates shown in Figure 15.
GROUP (0,4,5) !Group the 0, 4 and 5 axes (required)
SET FPOS(0)=0;SET FPOS(4)=0;SET FPOS(5)=0
!Sets the FPOS for 0, 4 and 5, respectively, to 0.
MSEG (0,4),0,0 !Define original plane.
PROJECTION (0,4,5),M !PROJECTION of axes XAB by matrix M.
ARC2 (0,4),750,0,6,24 !ARC2 performed on new plane.
ENDS (0,4) !Concludes MSEG.
STOP !End Program

2.6.21 PTP
Description
PTP (point-to-point) generates motion for the specified axis or axes to a specified destination point.
When PTP specifies a single axis, the motion profile is calculated according to VEL, ACC, DEC, JERK
values of the axis.
In group motion, when PTP specifies multiple axes, the group motion profile is based on the leading
axis’ VEL, ACC, DEC, JERK motion values, unless PTP/m is used.
PTP terminates due to:
> Any fault activation that disables the drive or kills the motion
> User termination by HALT, KILL/KILLALL, or BREAK.

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Syntax
PTP[switches]axis_list, destination-point[,value for v, value for f, motor_movement_delay]
Arguments

Single axis or axis group, valid numbers are: 0, 1, 2, ... up to the number of
axis_list
axes in the system minus 1.

destination
Final destination.
point

value for v Optional argument for user-defined velocity.

value for f Optional argument for user-defined velocity at a destination point

motor_
(Optional, used only with /q switch) Delay, in milliseconds, before motor
movement_
motion actually starts.
delay

Switches

/e Wait for motion termination before executing next command.

Specify non-zero velocity at each destination point (or points) in a series of PTP
/f
motions

Use the motion profile values of the axis group as a whole, rather than those of
/m the leading axis, without exceeding any of the defined axes motion VEL, ACC, DEC,
JERK values.

/r The destination point is relative to the start point.

/v Use the specified velocity instead of the default velocity (VEL).

/w Create the motion, but do not start until GO.

/z Interpret entered coordinates according to the Local Coordinate System.

Defines actual motor movement delay in microseconds. The delay resolution is 50

Comments
> Axes destination points, and relative velocity in the PTP command can also be an
expression.

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> PTP can be used for executing point-to-point motion for a group of axes. For example, PTP
(0,1,2) creates motion for axes 0, 1, and 2 as a group.
> In single axis PTP motion, the final velocity (indicated by the /f switch) may be negative. In
this case, the motion terminates at the specified coordinate with a velocity opposite to the
motion direction.
> In single axis PTP motion, if the motion is in the negative direction, GVEL can be negative.
Related ACSPL+ Commands
MPTP...ENDS, POINT
COM Library Methods and .NET Library Methods
ToPoint
C Library Functions
acsc_ToPoint
Examples
Example 1:

PTP/v 1, 2000, 500 !PTP axis 1 to point 2000 with velocity 500

Example 2:

PTP/rw (0,1), 1000, 2000 !PTP axes 0 and 1 where the 0 target point is
!1000 and the 1 target point is 2000.
!The target points are relative to the start
!point. Motion will not commence until GO
!command is issued.

Example 3:

ENABLE 0 !Enables axis 0

VEL(0)=10000 !Sets the default axis 0 velocity to 10000
SET RPOS(0)=0 !Sets the current axis 0 position to 0
PTP/rf 0, 2000, 1000 !Initiates a relative axis 0 motion of 2000 with
!end velocity of 1000 at the destination point
PTP 0, 4000 !Initiates an absolute axis 0 motion to 4000
STOP !Ends program

2.6.22 PVSPLINE...ENDS
Description
PVSPLINE (position-velocity spline) creates an arbitrary motion trajectory where the controller
provides cubic spline interpolation between two points. The user specifies the end point and the
end velocity for each motion segment. ENDS must terminate the point sequence.
PVSPLINE motion terminates due to:
> Interruption by any new motion command
> Any fault activation that disables the drive or kills the motion

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> User termination by HALT, KILL/KILLALL, or DISABLE/DISABLEALL

Syntax
PVSPLINE[switches]axis_list[,time-interval] [,motor_motion_delay]
Arguments

Single axis or axis group, valid numbers are: 0, 1, 2, ... up to the number of
axis_list
axes in the system minus 1.

Optional argument for user-defined time interval, in milliseconds, between

time-interval
points.

motor_ (Optional, used only with /q switch) Delay, in milliseconds, before motor
motion_delay motion actually starts.

Switches

/r The point coordinates are relative to the previous point

/w Create the motion, but wait to start for GO

Non-uniform time interval: time interval is specified for each point along with the
/t
point coordinates

Perform the point sequence as a cyclic array-after the last point, start the motion
/c
again from the first point.

Defines actual motor movement delay in microseconds. The delay resolution is 50

Comments
> Since the time interval and the destination point are defined, variables VEL, ACC, DEC, and
JERK have no effect on PVSPLINE.
> If PVSPLINE motion is ended with HALT, the controller does not follow the motion trajectory
during deceleration.
> PVSPLINE specified with /t must NOT have a time-interval specification. Instead, specify the
time interval for each point as an additional argument for POINT or as an additional array
row in MPOINT, see Example 5.
Related ACSPL+ Commands
POINT, MPOINT
COM Library Methods and .NET Library Methods
Spline, SplineM, AddPVPoint, AddPVPointM, AddPVTPoint, AddPVTPointM

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C Library Functions
acsc_Spline, acsc_SplineM, acsc_AddPVPoint, acsc_AddPVPointM, acsc_AddPVTPoint, acsc_
AddPVTPointM
Example

REAL ARRAY_NAME(4)(5) !Defines a point array of four rows and five

columns
!and a variable that defines the number of array rows
!that are part of the motion.
INT NUMBER_of_POINTS !Defines NUMBER_of _POINTS as an integer variable.
NUMBER_of_POINTS=3 !Assigns 3 to the NUMBER_of_POINTS variable.
PVSPLINE/r (0,1),10 !Initiates PVSPLINE motion for axis 0 and 1 with
!relative destination points and a time interval of
!10 milliseconds between each point.
POINT (0,1),200,100,1000,2000
!Defines values for 0 and 1 axes where:
!200, 100=destination point for the 0 and 1 axes,
!respectively; and 1000, 2000=velocity at specified
!points for the 0 and 1 axes, respectively.
MPOINT (0,1), ARRAY_NAME, NUMBER_of_POINTS
!Defines an MPOINT array for the 0 and 1 axes, where
!ARRAY_NAME is called, and where NUMBER_of_POINTS
!defines the number of array columns involved in the
!motion.
ENDS (0,1) !Ends MPOINT for 0 and 1 axes.
STOP !Ends program.

Figure 4-15 illustrates a typical PVSPLINE motion.

Figure 4-15. PVSPLINE Motion Diagram

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2.6.23 SLAVE
Description
SLAVE initiates a motion based on position lock or velocity lock slaved to a master value or
expression. Only individual axes are allowed. The initiated motion starts immediately if the axis is
idle, otherwise the motion waits in the motion queue until all previously created motions finish.
SLAVE must precede MASTER.
MASTER - SLAVE dependency terminates with:
> Any fault activation that disables the drive or kills the motion
> HALT, KILL/KILLALL, BREAK
> DISABLE/DISABLEALL to the SLAVE axis.
> Setting the logical dependence between master and slave axes to zero. For example
MASTER MPOS(0)=0
Syntax
SLAVE[/switches] axis[,lower boundary, upper boundary]
Arguments

Axis designation, valid numbers are: 0, 1, 2, ... up to the number of axes in

axis
the system minus 1.

lower Optional argument used for setting the lower boundary of master-
boundary dependent SLAVE motion.

upper Optional argument used for setting the upper boundary of master-
boundary dependent SLAVE motion.

Switches

/w Create the motion, but do not start until GO is executed.

/p Master - Slave motion generated by position lock.

/t Create slave motion within specified position boundaries.

Comments
> When /p is used, the controller first initiates velocity lock. Only after the achieving velocity
lock the controller will engage position lock.
> If no command option is specified, the default mode is velocity lock.
Related ACSPL+ Commands
MASTER, GO, HALT, KILL/KILLALL, DISABLE/DISABLEALL
Related ACSPL+ Variables
XSACC, MFF, JERK, ACC, VEL APOS

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COM Library Methods and .NET Library Methods

SetMaster, Slave, SlaveStalled

C Library Functions
acsc_SetMaster, acsc_Slave, acsc_SlaveStalled
Example
See MASTER for an example of MASTER - SLAVE syntax.

2.6.24 STOPPER
Description
STOPPER is used in conjunction with MSEG...ENDS to avoid velocity jumps at segment inflection
points. When STOPPER is specified between two segments, the controller provides smooth
deceleration to zero before STOPPER and a smooth acceleration to the default or specified velocity
after STOPPER.
Syntax
STOPPER axis_list
Arguments

Single axis or axis group, valid numbers are: 0, 1, 2, ... up to the number of axes in
axis_list
the system minus 1.

Related ACSPL+ Commands

MSEG...ENDS, ARC1, ARC2, LINE, PROJECTION
COM Library Methods and .NET Library Methods
Stopper
C Library Functions
acsc_Stopper
Example
Figure 4-16 illustrates the following example. For this illustration the reference position (RPOS) for
axes 0 and 1 was set to (0,0).

MSEG (0,1), 0, 0 !MSEG initiates segmented motion for the 0 and 1 axis
!group with the point on the plane located at (0, 0).
LINE (0,1), 1000, 2500 !Add line segment with final point at (1000,
2500).
STOPPER (0,1) !Slow down to zero.
ARC1 (0,1), 0,2000, -1000,2500, +
!Add arc segment with final point (-1000, 2500) and
!center point (0, 2000).
STOPPER (0,1) !Slow down to zero.
LINE (0,1), 0, 0 !Add line segment with final point (0, 0).
ENDS (0,1) !End MSEG.
LINE (0,1), 1000, 1000 !Add line segment with final point (1000, 1000).

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ENDS (0,1) !Ends the point sequence for the 0 and 1 axis
!group.

Figure 4-16. Use of STOPPER

2.6.25 TRACK
TRACK initiates track motion. In TRACK motion, a new point-to-point move is generated to a new
target position whenever the variable TPOS (target position) changes. TRACK does not terminate
automatically. If TPOS is not assigned a new value, motion stops at the last TPOS and waits. If a new
TPOS value is assigned, motion continues.
TRACK terminates due to:
> Any subsequent motion command (except TRACK) for the motion axis involved in a track
motion, except the case when the next motion is a group motion.
> Any fault activation that disables the drive or kills the motion.
> User termination by HALT, KILL/KILLALL, or DISABLE/DISABLEALL
Syntax
TRACK [/switch] axis, [motor_motion_delay]
Arguments

Axis designation, valid numbers are: 0, 1, 2, ... up to the number of axes in

axis
the system minus 1.

motor_motion_ (Optional, used only with /q switch) Delay, in milliseconds, before motor
delay motion actually starts.

Switch
/switch can be:

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/w Create the motion, but do not start until GO.

Defines actual motor movement delay in microseconds. The delay resolution is 50

[Link] maximum delay is 100 controller cycles: 100ms for CTIME=1ms or
/q
20ms for CTIME=[Link] delaying actual motor movement start (RPOS) for
the specified delay, while motion profile generation (APOS) starts immediately.

Comments
> While PTP code appears shorter and simpler, there are applications where TRACK is
preferable to PTP. For example, TRACK provides an easy way to change the destination
position at any time during the motion by changing the target position (TPOS) variable. The
controller terminates the current motion and proceeds to the next destination point, on-
the-fly.
> TRACK is for single axis motion only.
> TPOS is updated every controller cycle.
Related ACSPL+ Commands
PTP
COM Library Methods and .NET Library Methods
Track
C Library Functions
acsc_Track
Example

TRACK 0 !Initiates TRACK for 0 axis.

TPOS(0) = NewTarget !The controller generates a PTP motion to the point
!designated by NewTarget.

2.6.26 XSEG...ENDS
Description
The XSEG...ENDS (Extended Segmented Motion) command block provides the following:
> Corner detection
> Detection of segments, where required velocity violates axis velocity/acceleration limits
> Velocity limitation at corners and segments where required velocity violates axis velocity,
acceleration and jerk limits
> Building a velocity profile using multi-segment look-ahead algorithm
> Corner rounding using different criteria
> Support of up to 6 axes
> Support for "Skywriting" - external loops at corners
Use the following commands to define the segmented motion:

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> ARC1- adds an arc segment to a segmented motion and specifies the coordinates of center
point, coordinates of the final point, and the direction of rotation
> ARC2 - Adds an arc segment to a segmented motion and specifies the coordinates of
center point, rotation angle and direction.
> LINE - adds a linear segment to a segmented motion.
> ENDS- terminates the point sequence
Syntax
XSEG
[/switches] (axis_list), initial_position_axis1,initial_position_axis2[,initial_position_axis3...,initial_
position_aixs6],
[,velocity][,end_velocity][,junction_velocity][,angle][,curvature_velocity][,deviation][,radius]
[,maximal_length]
[,motor_movement_delay]
[,external_loop_type, minimum_segment_length, maximum_allowed_deviation]
[ ,output_index] [ , bit_number] [ ,polarity] [, starvation_margin] [ ,segments_buffer]
Segment commands (ARC1, ARC2, LINE)
ENDS
Arguments

Axis group (specified as axes numbers separated by a comma), valid

numbers are: 0, 1, 2, ... up to the number of axes in the system minus 1.
axis_list
A minimum of two axes must be specified.

initial_position_
Initial position of the first axis.
axis1

initial_position_
Initial position of the second axis.
axis2

initial_position_
axis3... Mandatory only if axis_list contains more than 2 axes. Number of initial
initial_position_ positions must correspond to the number of axes in axis_list.
axis6

[Optional, only used with /v switch]

velocity Defines required velocity instead of default velocity (VEL). See Using
ARC1, ARC2 and LINE Switches.

[Optional, only used with /f switch]

end_velocity Defines required velocity at the end of each segment. See Using ARC1,
ARC2 and LINE Switches.

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junction_ [Optional, only used with /j switch]

velocity Defines required velocity at the junction.

[Optional, only used with /a switch]

angle The junction will be treated as a corner if actual junction angle is more
than defined.

curvature_ [Optional, only used with switch /d] Defines required velocity at
velocity curvature discontinuity points. See Switches explanation for details.

[Optional, only used with /g switch] Defines maximal allowed trajectory

deviation
deviation from the corner point. See Switches explanation for details.

[Optional, only used with /u switch] Defines maximal allowed rounding

radius
radius of the additional segment. See Switches explanation for details.

[Optional, only used with /h switch] Defines the maximal length of the
segment for smoothing processing. If the length of a segment that
maximal_length
formed a corner exceeds the specified maximal length, the corner will
not be smoothed.

motor_
(Optional, used only with /q switch) Delay, in milliseconds, before motor
movement_
motion actually starts.
delay

[Optional, only used with /b switch]

external_loop_ 0 - Cancel external loop
type 1 – Smooth External loop (line-arc-line)
2 – Triangle External loop (line-line-line)

[Optional, only used with /b switch]

minimum_
If the lengths of both segments are more than this value, the skywriting
segment_length
algorithm will be applied.

maximum_ [Optional, only used with /b switch]

allowed_ The parameter limits the external loop deviation from the defined profile.
deviation If the value is negative – no limitation.

[Optional, only used with /s switch]

output_index
Index of digital output port to assigned to synchronization (read by OUT)

[Optional, only used with /s switch]

bit_number
Bit number (0 - 16) assigned to synchronization

[Optional, only used with /s switch]

polarity
0 or 1 - which value is considered the initial state

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[Optional] Starvation margin in milliseconds. The controller sets the

AST.#NEWSEGM bit starvation_margin millisecond before the starvation
starvation_ condition occurs.
margin
By default, if the argument is not specified, the starvation margin is 500
milliseconds.

[Optional] One-dimensional user defined real array. The controller uses

this array to store adding segments. By default, if the argument is not
specified, the controller allocates internal buffer for storing 50 segments
segments_ only. The argument allows the user application to reallocate the buffer
buffer for storing larger number of segments. The larger number of segments
may be required if the application needs to add many very small
segments in advanced.
This buffer should be defined as static when allocated.

Switches
There are three types of optional switches:
> General
> Velocity look-ahead
> Geometry look-ahead
The controller processes the specified switches in the following order:
1. The controller checks and applies geometry look-ahead options.
2. The controller checks and applies velocity look-ahead options.
Switches from different groups can be applied together. For example, it's possible to specify a
velocity at curvature discontinuity points (switch /d) together with permitted deviation (switch /g).
In this case, the controller first applies corner rounding for the trajectory and then calculates velocity
profile for already processed trajectory.
Optional switches are for use only with the XSEG command:

General

Do not start until the GO command.

/w If the switch is not specified, the motion starts immediately after the first
motion segment is defined.

Specify required velocity.

The switch requires additional parameter that specifies required velocity.
/v
If the switch is not specified, the required velocity is derived from the
leading axis parameters.

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Use maximum velocity under axis limits.

With this switch, no required velocity should be specified.
/m
The required velocity is calculated for each segment individually on the
base of segment geometry and axis velocities (VEL values) of the
involved axes.

Velocity limitation under axis limits.

As opposed to the switch /m, with this switch the required velocity can
be specified either for all motion (switch /v for xseg command) or as
segment velocity (switch /v for line, arc1, arc2 commands). In both cases,
/l the controller tries to achieve the required velocity by taking into account
also velocity limits of all involved axes. If the required velocity cannot be
achieved within the axis velocity limits, the maximal velocity within the
axis velocity limits is used.
This switch cannot be specified together with switch /m.

Interpret entered coordinates according to the Local Coordinate System.

/z With this switch, use 2 axes motion coordinate only (X,Y). Using 3 or more
coordinates causes a runtime error.

Defines actual motor movement delay in microseconds. The delay

Velocity look-ahead

Decelerate to the end of each segment.

The switch requires an additional parameter that specifies end velocity.
The controller decelerates to the specified velocity in the end of each
segment. The specified value should be less than the required velocity;
/f
otherwise the parameter is ignored.
If the switch is not specified, deceleration in each segment is not
required. However, in specific segments deceleration might occur due to
corner processing or other velocity control conditions.

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Decelerate to corner.
The switch requires an additional parameter that specifies corner
velocity. The controller detects corner on the path and decelerates to the
specified velocity before the corner. The specified value should be less
/j than the required velocity; otherwise the parameter is ignored.
If switch j is not specified while switch a is specified, zero value of corner
velocity is assumed.
If switches j, a, d, and y are not specified, the controller provides
automatic calculation of the corner processing.

Do not treat junction as a corner, if junction angle is less than or equal to

the specified value in radians.
The switch requires an additional parameter that specifies negligible
angle in radians.
/a
If switch a is not specified while switch j is specified, the controller
accepts default value of 0.01 radians that is about 0.57 degrees.
If switches j, a, d, and y are not specified, the controller provides
automatic calculation of the corner processing.

Decelerate to curvature discontinuity point. The switch requires an

additional parameter that specifies velocity at curvature discontinuity
points. Curvature discontinuity occurs in linear-to-arc or arc-to-arc
smooth junctions. If the switch is not specified, the controller does not
decelerate to smooth junction disregarding curvature discontinuity in the
junction. If the switch is specified, the controller detects curvature
/d discontinuity points on the path and provides deceleration to the
specified velocity. The specified value should be less than the required
velocity; otherwise the parameter is ignored. The switch can be specified
together with switches j and/or a.
If switches j, a, d, and y are not specified, the controller provides
automatic calculation of the corner processing.

If the switch is specified the controller provides automatic calculations as

/y described in Enhanced automatic corner and curvature discontinuity
points processing (switch /y).

Set the initial axis position as origin. Segment commands positions

/r
should be declared relative to the new origin.

Geometry look-ahead

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Use a corner rounding option with the specified permitted deviation The
switch requires additional parameter that specifies maximal allowed
/g
deviation of motion trajectory from the corner point. The switch cannot
be specified together with switches /u and /h

Use a corner rounding option with the specified permitted curvature The
switch requires additional parameter that specifies maximal allowed
/u
rounding radius of the additional segment The switch cannot be
specified together with switches /g and /h

Use a corner smoothing option. The switch requires additional parameter

that specifies the maximal length of the segment for smoothing
processing. If a length of one of the segments that built a corner exceeds
/h the specified maximal length, the corner will not be smoothed.
Smoothing is only applied to pair of linear segments. If one of the
segments in a pair is arc, the smoothing is not applied for this corner. The
switch cannot be specified together with switches /g and /u.

Use external loops at corners. The switch requires additional parameters

/b that specify the external loop type, the minimum segment length, and
the maximul allowed deviation from profile.

/s Defines output bit to support external loop synchronization.

XSEG without switches does not require any additional parameters except the initial
point coordinates, for example, XSEG (0,1),0,0 creates segmented motion for axes 0 and
1 with initial point (0,0) with required velocity derived from the axis 0.

Comments
For each two adjacent segments, the controller calculates the tangent vector to each segment in
the junction point. If the two vectors are equal, the segments are tangent, and no special processing
is required. If not, the two segments build a corner. In a corner, the controller behavior follows the
corner processing option selected by the user for XSEG motion.
The following options are supported:
Exact path: no deviation from the specified path is permitted. The user specifies two additional
parameters: threshold angle and corner velocity. The controller compares the corner angle and the
threshold angle. If the corner angle is smaller, the controller ignores the corner and tries to move as
if the junction is smooth (the threshold angle cannot be large, otherwise passing the junction at
working velocity can produce mechanical jerk). If the corner angle is greater, the controller executes
deceleration to achieve the junction point with the specified corner velocity (as shown in Figure 4-
17).

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Figure 4-17. Corner Processing - Exact Path Option

Permitted deviation: the user specifies the motion trajectory maximum permitted deviation from
the corner point. The controller inserts an additional segment in the corner so that the resulting path
is smooth and complies with the maximum deviation.
Permitted radius: the user specifies the additional segment maximum permitted rounding radius.
The controller inserts an additional segment in the corner so that the resulting path is smooth and
complies with the maximum permitted radius.
Corner smoothing: the user specifies the smoothing maximum segment length. The controller
applies smoothing if the length of both segments in the pair is less than the maximum segment
length.
Figure 4-18 illustrates the permitted deviation, permitted radius and corner smoothing options.

Figure 4-18. Corner Processing - Permitted Deviation, Permitted Radius and Corner Smoothing
Options

XSEG updates the following motion related parameters:

> Motion and Axis Statuses: AST, MST
> Vector velocity, acceleration and jerk: GVEL, GACC, GJERK
> Axis velocity: GVEC
> Motion queue status and motion type: GMQU, GMTYPE
> Trajectory vector distance from the beginning of the first segment: GPATH
> Current executed segment and segments buffer status: GSEG, GSFREE

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XSEG builds the algorithm upon the following axis motion parameters as axis constraints: VEL, ACC,
and JERK.
In connection with the segments_buffer argument, for most applications the internal buffer size is
enough and should not be enlarged.

The buffer is for the internal use of the controller only and should not be used by the
user application.

The buffer size calculation rule: each segment requires about 750 bytes, so if it is necessary to
allocate a buffer for 200 segments, it should be at least 750 * 200 = 150,000 bytes. The following
declaration defines a 150,000 bytes buffer:

real buf(18750)

See XARRSIZE for details of how to declare a buffer with more than 100000 elements

Examples
Example 1:

XSEG (1,0),0,0 !Segmented motion for axes 1 and 0. Required velocity

!is derived from the axis 1, i.e., VEL(1) value. No
!deviation from the path is permitted. If the path
!contains a corner, and the junction angle is more
!than default value 0.01 radians, the velocity
!decelerates to zero in the corner point.
XSEG/vf !Segmented motion for axes 0 and 1 with initial
(0,1),0,0,100,50 !point (0,0) with required velocity 100 units/sec;
!at the end of each segment, the motion should
!decelerate to 50 units/sec.
XSEG/vja !Segmented motion for axes 1 and 2 with initial
(1,2),1000,1000, !point(1000,1000) and required velocity is 100
!units/sec.
100,20,0.05 !If the path contains a junction, and the junction
!angle is more than 0.05 radians, the velocity
!decelerates to 20 unit/sec in the junction point.

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Example 2:

XSEG (0,1),1000,1000 !Create segment motion in axes XY with initial point

!(1000,1000)
ARC1 (0,1),1000,0,1000,–1000,–!Add arc segment with center (1000,0),
final point(1000,1000), clockwise rotation
LINE (0,1),–1000,-1000!Add line segment with final point ( 1000, 1000)
ARC2 (0,1),–1000,0,–3.141529 !Add arc segment with center ( 1000,0)
!and rotationangle of -π
LINE (0,1),1000,1000 !Add line segment with final point (1000,1000)
ENDS (0,1) !End the segment sequence

The XSEG command creates the segment motion. The motion does not start when processing
reaches the XSEG command. Actual motion starts once the previous motion ends and one or more
segments are added. The four segment commands in example 2 specify the following path:

Example 3:

GLOBAL INT iXaxis, iYaxis

GLOBAL REAL buf(18750) ! For 200 segments ( ARRAY SIZE = (200[SEG]*750
[BYTES/SEG])/8 )
! Make sure that XARRSIZE value is bigger than ARRAY SIZE (if not, change
XARRSIZE on the terminal)

iXaxis = 0
iYaxis = 1

XSEG (iXaxis,iYaxis),0,0,,buf
LINE (iXaxis,iYaxis),1000,1000
LINE (iXaxis,iYaxis),1001,1001
LINE (iXaxis,iYaxis),1002,1002
!..... Add more segments .....
ENDS (iXaxis,iYaxis)

STOP

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The LINE command may specify one axis that actually moves in this segment. Other
axes specified in XSEG hold their positions while the linear segment is in progress.

The ARC1 and ARC2 commands always specify two axes.

The ARC1 and ARC2 commands differ by the required arguments. The ARC1 command specifies the
coordinates of the center point, coordinates of the final point and the direction of rotation (+ for
counter-clockwise, – for clockwise rotation). The ARC2 command specifies the coordinates of the
center point and rotation angle (positive for counter clockwise, negative for clockwise rotation). The
ARC1 and ARC2 commands may produce the same result, so the user may select the one that suits
the available data. If the user knows the coordinates of the center point, coordinates of the final
point and the direction of rotation, ARC1 is preferable. If the user knows the coordinates of the
center point and rotation angle, ARC2 is preferable.
The ENDS command informs the controller that no more segments will be specified for the motion.
See also the section on Extended Segmented Motion in the ACSPL+ Programmer's Guide.

2.6.27 NURBS
Description
Creates NURBS motion.
Syntax
NURBS[/switches] (axis_list)[,velocity][,exc_angle][,exc_length][,segments_buffer][ ,motor_motion_
delay]
Arguments

Axes involved in NURBS motion, specified as axes numbers separated by

axis_list comma or as axis names separated by comma. A minimum of two axes
must be specified.

Optional, only used with suffix /v.

velocity Defines required feed rate. If not specified, the feed rate is derived from
the leading axis parameters.

Optional, only used with suffix /a.

The value defines exceptions from spline interpolation. If for an internal
exc_angle control point directions to the previous and the next control points require
direction change more than the specified angle (by modulo), the control
point is processed as a corner. Actually, such points divide the spline into
two independent splines.

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Optional, only used with suffix /l.

The value defines exceptions from spline interpolation. If a distance
exc_length between two control points appears longer than the specified length, the
trajectory between the points is considered straight. Actually, two
independent splines are built before and after the segment.

[Optional] One-dimensional user-defined real array. The controller uses

this array to store added segments. By default, if the argument is not
specified, the controller allocates internal buffer for storing 50 segments
only. The argument allows the user application to reallocate the buffer for
storing larger number of segments. The larger number of segments may
segments_
be required if the spline is defined with a large number of closely specified
buffer
control points; the case is typical when NURBS is used for processing
minute segments prepared with a CAD system.
The buffer is for the controller's internal use only and should not be used
by the user application.
This buffer should be defined as static when allocated.

motor_motion_ (Optional, used only with /q switch) Delay, in milliseconds, before motor
delay motion actually starts.

Switches

Do not start until the go command.

w If the switch is not specified, the motion starts once the first three spline points are
specified.

Specify required velocity.

v The switch requires an additional parameter that specifies required velocity. If the
switch is not specified, the feed rate is derived from the leading axis' parameters.

Specify exception angle.

The switch requires an additional parameter that specifies the maximum angle in a
control point. The value defines exceptions from spline interpolation. If defined for
a an internal control point, the directions to the previous and the next control points
require direction change more than the specified angle (by modulo) the control
point is processed as a corner. Actually, such a point divides the spline into two
independent splines.

Specify exception length.

The switch requires an additional parameter that specifies the maximum segment
length. The value defines exceptions from spline interpolation. If the distance
l
between two control points appears longer than the specified length, the trajectory
between the points is considered straight. Actually, two independent splines are
built before and after the segment.

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Defines actual motor movement delay in microseconds. The delay resolution is 50

microseconds.
The maximum delay is 100 controller cycles: 100ms for CTIME=1ms or 20ms for
q
CTIME=0.2ms.
Allows delaying actual motor movement start (RPOS) for the specified delay, while
motion profile generation (APOS) starts immediately.

Comments
At least 4 points must be declared for a NURBS command to work.

The first NPOINT command must define the starting point of the
NURBS motion.

Segmented buffers arrays in NURBS should be declared as static arrays.

Return Value
None

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Example 1

NURBS/V(0,1), 100

NPOINT (0,1), 4.0, -6.0 ! the first point must be the motion
! starting position
NPOINT (0,1), -4.0, 1.0
NPOINT (0,1), -1.5, 5.0
NPOINT (0,1), 0.0, 2.0
NPOINT (0,1), 1.5, 5.0
NPOINT (0,1), 4.0, 1.0
NPOINT (0,1), -4.0, -6.0

ENDS (0,1)

Example 2

! Start a NURBS motion from current position

! velocity = 1000, go to exact corner if angle > 1RAD
NURBS/AV(0,1), 1000 , 1

NPOINT (0,1), 0, 0 ! the first point must be the motion starting

position
NPOINT (0,1), 50, 40
NPOINT (0,1), 100, 120
NPOINT/f (0,1), 120, 130 , 500 ! velocity for segment = 500
NPOINT/c (0,1), 180, 130 ! come to an exact stop at this point,
! start a new spline after this point

NPOINT/v (0,1), 200, 120, 2000 ! change motion vel to 2000

NPOINT (0,1), 220, 80 ! will be treated as a corner because of
! angle between points
NPOINT (0,1), 200, 60
NPOINT (0,1), 0, 0

ENDS(0,1)
STOP

2.6.28 NPOINT
Description
Add next control point and knot
Syntax
NPOINT[/switches](axis_list),coordinates,[,velocity][,knot][,weight][,segment_velocity][, lci_
segment_active]

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Arguments

The list of axes must be the same as in the corresponding NURBS

axis_list
command.

The list of coordinate values separated by commas. The list must specify
coordinates one value for each axis in axis_list. The list defines coordinates of one
control point of the spline.

Optional, only used with switch /v. The value changes the required
velocity velocity. The new value is valid for all spline segments after the
corresponding control point.

Optional, only used with switch /k.

The value specifies a delta for the new knot calculation. The delta must
be positive or zero. Each npoint command adds a new knot to the knot
vector. The new knot is calculated as a previous knot plus delta (positive
or zero). If suffix k is not specified, the delta default value is one; a new
knot is calculated as the previous knot plus one. A special case occurs in
knot the very first npoint command, if knots command was not specified, so
that the previous knot does not exist. In this case, the knot parameter
specifies the absolute value of the first knot; if switch /k is omitted, a zero
value is assumed as the first knot. If none of the npoint commands
specifies a /k switch and knots commands are omitted, the controller
builds a uniform spline with evenly spread knots (except for the
duplicated knots at the beginning and end).

Optional, only used with /w switch.

The value specifies control point weight. Only positive weights are
accepted. If a /w switch is not specified, the default value of weight is
Weight one.
If none of the point commands specifies a /w switch, all control points
have the same weight (one); in this case, the spline is actually a non-
rational B spline.

segment_ Optional, only with /f switch

velocity The required velocity for this segment only

[Mandatory with /p switch]

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Switches

Specify new required velocity.

The switch is not compatible with /f.
/v The switch requires an additional parameter that specifies the required velocity.
The value is used as the required velocity for the current and all subsequent
points.

Specify segment velocity.

The switch is not compatible with /v.
/f The switch requires an additional parameter that specifies required velocity.
The value is used as the required velocity for the current point, but does not
change the required velocity for subsequent points.

Specify knot delta.

The switch requires an additional parameter that specifies the knot delta from the
/k
previous knot.
The new knot is calculated as the previous knot plus delta.

Specify control point weight.

/w The switch requires an additional parameter that specifies the weight of the
control point.

Mark the point specification as dummy.

Dummy point specifications can either precede the first control point specification,
/d or follow the last control point specification. Dummy points specification is
required in rare cases where default calculation of starting/trailing knots is not
appropriate.

Mark the current point as a corner.

/c The control point is processed as a corner. Actually, such a point divides the spline
into two independent splines.

This switch works like /p for LINE/ARC1/ARC2 inside the XSEG block. Namely, it
/p changes the LCI gating state at the beginning of segment. This switch is applicable
starting from third segment till third segment from the end.

Return Value
None

The first NPOINT command must define the starting point of the
NURBS motion.

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KNOTS and WEIGHTS parameters should be properly calculated for NURBS.

Using random values can cause unexpected behavior of the NURBS
algorithm.

2.6.29 SPATH
Description
Initiate a path smoothing motion.
Syntax
SPATH [/switches] (axis_list) ), starting_coordinates[,velocity][,exc_angle][,exc_length][,segments_
buffer][ ,motor_motion_delay]
Arguments

Axes involved in the path smoothing motion, specified as axes numbers

axis_list separated by comma or as axes' names separated by comma. A
minimum of two axes must be specified.

A list of coordinate values, separated by commas.

starting_
The list must specify one value for each axis in axis_list. This array
coordinates
specifies the starting position for the SPATH motion.

Optional, only used with /v switch

velocity Defines required feed rate. If not specified, the feed rate is derived from
the leading axis parameters.

Optional, only used with /a switch

The value defines exceptions from spline interpolation. If for an internal
exc_angle control point directions to the previous and the next control points
require direction change more than the specified angle (by modulo), the
control point is processed as a corner. Actually, such point divides the
spline into two independent splines.

Optional, only used with /l switch.

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[Optional] One-dimensional user-defined real array.

The controller uses this array to store added segments. By default, if the
argument is not specified, the controller allocates internal buffer for
storing 50 segments only. The argument allows the user application to
reallocate the buffer for storing a larger number of segments. The larger
number of segments may be required if the spline is defined with a large
segments_
number of closely specified control points; the case is typical when path
buffer
smoothing is used to process minute segment prepared with a CAD
system.
The buffer is for the controller's internal use only and shouldn’t be used
by the user application
This buffer should be defined as static when allocated.

motor_motion_ (Optional, used only with /q switch) Delay, in milliseconds, before motor
delay motion actually starts.

Switches

Do not start until the go command.

w If the switch is not specified, the motion starts once the first three spline points are
specified.

Specify required velocity.

The switch requires an additional parameter that specifies the required velocity. If
v
the switch is not specified, the feed rate is derived from the leading axis
parameters.

Specify exception angle.

The switch requires an additional parameter that specifies maximum angle in a
control point. The value defines exceptions from spline interpolation. If for an
a internal control point, directions to the previous and the next control points require
direction change more than the specified angle (by modulo), the control point is
processed as a corner. Actually, such point divides the spline into two independent
splines.

Specify exception length.

The switch requires an additional parameter that specifies maximum segment
length. The value defines exceptions from spline interpolation. If a distance
l
between two control points appears longer than the specified length, the trajectory
between the points is considered straight. Actually, two independent splines are
built before and after the segment.

Acceleration consideration.
G Allow the motion generator to deviate from the specified axes acceleration
parameter during velocity profile generation.

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Defines actual motor movement delay in microseconds. The delay resolution is 50

Return Value
None
Comments
This command is supported in version 3.10 and higher.
At least 4 segments must be declared for an SPATH command to work.

Segmented buffers arrays in SPATH should be declared as static arrays.

Example

! Start an SPATH motion from current position (0,0),

! velocity = 1000, wait for go command before starting motion
SPATH/VW(0,1), 0, 0, 1000

SEGMENT (0,1), 50, 0

SEGMENT (0,1), 100, 0
SEGMENT/f (0,1), 100, 100 , 500 ! velocity for segment = 500
SEGMENT/c (0,1), 200, 200 ! come to an exact stop at this point,
! start a new spline after this point

SEGMENT/v (0,1), 300, 200, 2000 ! change motion vel to 2000

SEGMENT (0,1), 300, 300
SEGMENT (0,1), 400, 300
SEGMENT (0,1), 400, 400

GO (0,1) !start motion

ENDS(0,1)
STOP

2.6.30 SEGMENT
Description
Add a new control point to the SPATH motion generator
Syntax
SEGMENT[/switches](axis_list),coordinates[,velocity][,segment_velocity][, lci_segment_active]

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Arguments

The list of axes must be the same as in the corresponding

axis_list
SPATH command.

A list of coordinate values, separated by commas/

coordinates The list must specify one value for each axis in axis_list. The list defines
coordinates of the end control point of the spline.

Optional, only used with /v switch.

velocity The value changes required velocity from this point forward. The new
value is valid for all spline segments after the corresponding control
point.

Optional, only with the /f switch

segment_
The required velocity for this segment only. At the end of the segment,
velocity
the velocity reverts to the value previously in use.

[Mandatory with /p switch]

Switches

Specify new velocity.

/v The switch is not compatible with /f. The switch requires an additional parameter
that specifies the velocity value for the current and all subsequent segments.

Specify required segment velocity.

The switch is not compatible with /v. The switch requires an additional parameter
/f that specifies the required segment velocity. The value defines the required
velocity in the current segment, but does not change the required velocity for
subsequent segments.

Mark the current point as a corner.

/c The control point is processed as a corner. Actually, such point divides the spline
into two independent splines.

Return Value
None

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Comments
This command is supported in version 3.10 and higher.

2.6.31 SMOVE
The SMOVE command provides for positioning to specific target. SMOVE commands work in
sequence and the next SMOVE command changes the previous target and provide a smooth
transition from one motion direction to another, based on ACC, DEC and JERK values. The motion
profile is optimized to pass on a rounded path near the breaking point, minimizing changes in speed
and direction that would cause unwanted vibrations in the system.
Syntax

SMOVE[/switch] axis_list, target_point[, velocity]

Arguments

axis_list Motion axes. 2 or 3 Cartesian axes can participate in the motion.

Target_point Destination point coordinates

velocity Optional argument for user-defined velocity

All SMOVE commands in the sequence must have the same axis_list parameter.
Switches

/v Use the specified velocity instead of the default velocity (VEL).

/z Move relative to Local Coordinate System

Example

SMOVE (X,Y,Z), 100, 100, 300

2.6.32 SPTP Command

Description
The SPTP command is a multi-axis Point-to-Point motion defining motion to a specific target point,
using syntax similar to the PTP command. Unlike PTP, SPTP uses a 4th order motion profile.
If the axis is moving when the command is issued, the controller creates the motion and inserts it
into the axis motion queue. The motion waits in the queue until all motions before it finish, and only
then starts.
The SPTP command can act on either a single axis or an axis group.
SPTP responds to KILL /HALT commands according to the same rules as other motion commands.
Syntax

SPTP[/switches] axis_list, target_point[, velocity]

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Arguments

axis_list Motion axes designation.

target_point Target point coordinates

velocity Optional argument for user-defined velocity

Switches

/e Wait for motion termination before executing next command

/v Use the specified velocity instead of the default velocity (VEL).

/w Create the motion, but do not start until the GO command is issued

/z Move relative to Local Coordinate System

Comments
SPTP looks like the PTP command. Unlike PTP, SPTP uses a 4th order motion profile.
The SPTP command can take either a single axis or an axis group as a parameter.
Example

SPTP (X,Y,Z) 100, 100, 300

2.6.33 Using ARC1, ARC2 and LINE Switches

The following optional switches may be used singularly or in combination with ARC1, ARC2 and LINE:

Decelerate to the end of segment.

Specify required velocity.

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Synchronize user variables with segment execution. The switch requires additional
/o
two or three parameters that specify values, user variable and mask.

Specify segment processing time The switch requires an additional parameter that
specifies the segment processing time in milliseconds. Unlike the required velocity
/t specification, the segment processing time defines velocity at the current segment
only, and has no effect on the subsequent segments. The switch cannot be
specified together with /V.

Use external loops at corners. The switch requires additional parameters that
specify the external loop type, the minimum segment length, and the maximum
allowed deviation from profile.
/b The /b switch may be defined with other corner processing options (/u, /g, etc.) .
If the Skywriting algorithm is applied, other corner processing options are skipped.
If Skywriting is skipped, other defined corner options will be applied.
This switched is used for Extended Motion only ( initialized with XSEG...ENDS)

Specifies that the lci_segment_active parameter is required.

/p
This switched is used for Extended Motion only ( initialized with XSEG...ENDS)

For ARC1, ARC2, and LINE some switches require an additional parameter to be specified. If more
than one parameter is required, the parameters should be separated by a comma, and the order of
parameters is fixed in the following order:
1. Required velocity (used with /V)
2. Final velocity (used with /F)
3. Segment processing time (used with /T)
4. /O requires specification of the values, variables, and mask parameters
5. /B requires specification of the External Loop Type, Minimum Segment Length, and
Maximum Allowed Deviation parameters
6. /P requires specification of the lci_segment_active parameter
Examples:

LINE/v (1,0), 1000, - Add line segment with end point (1000, -1000) and segment velocity
1000, 500 500.

arc1/vf (0,1), 0, 0,
Add arc segment with center (0,0), end point (100,100), clockwise
100, 100, +, 500,
direction, segment velocity 500 and end velocity 100
100

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int Value(1)
int Mask(1)
Value(0) = 1; Mask Add arc segment with center (0,0) and 180 degree (π) angle. At the
(0) = 5 beginning of the segment execution, sets bit 0 and reset bit 2 of digital
outputs OUT(2).
ARC2/o (0,1), 0, 0,
3.141529, Value,
OUT, 2, Mask

2.7 Program Flow Commands

Command Description

Assignment
Assigns values
Command

BLOCK...END Executes a group of commands in one MPU cycle

CALL Calls subroutine.

GOTO Transfers program execution to another point in the program.

IF, ELSEIF,
IF command structure.
ELSE...END

LOOP...END Loop command structure.

ON...RET Defines an autoroutine

Delays program execution until a specified expression produces a non-

TILL
zero (true) result.

WAIT Delays program execution for a specified number of milliseconds.

WHILE...END While command structure.

SWITCH
SWITCH statement controlling program flow depending on value
Statement

2.7.1 Assignment Command

Description
The Assignment command (=) is used to assign a value to ACSPL+ standard or user-defined
variables with read/write options.
Syntax
variable_name = value

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Arguments

Can be:
> Name of ACSPL+ standard or user-defined variable
variable_ > An element of an ACSPL+ or user array
name
> One bit of integer variable or integer array element (applicable only
to those variables having specifically named bits, for example,
IMASK)

Can be of integer or real type. The value argument can either be:
value > A specific value
> An expression that during runtime calculates to a value

Comments
Assigning to an ACSPL+ variable is limited by the following rules:
> Assignment to read-only variable (for example, FPOS) is prohibited
> Assignment to a protected variable (for example, ERRI) is allowed in only in the
Configuration mode.
After assignment, the previous value of the variable is replaced by the new value.
User local and global variables must be declared before they can be used in an assignment
command.
> Explicit indexing only is allowed for user array variables.
> If a user variable is scalar, no indexing is required.
> If a user variable is one-dimensional array, it requires one index. Two-dimensional arrays
require two indexes.
A bit can have only two possible values: 0 (false) or 1 (true), while the value result, which defines the
bit value, can be any value. Assignments convert the value as follows:
> If the value is zero, the bit is set to zero
> If the value is non-zero, the bit is set to one
Although bit assignments are applicable to any integer variable or array element, they are mainly
used for changing flag variables and output bits.
The controller executes assignment commands in the following order:
1. Calculate value
2. Convert the type of calculated value to the type of variable_name (if the types differ)
3. Assign the result to variable_name
Examples

VEL(0) = 1000 !Assign 1000 to axis 0 default velocity -

!explicit indexing.
VEL0 = 1000 !Assign 1000 to axis 0 default velocity -

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!postfix indexing.
Var1 = FPOS(0) !Assign value of ACSPL+ variable to user variable.
Var2(0)(5) = 200 !Assign to element of user array.
OUT0.5 = 1 !Assign to digital output 5

2.7.2 BLOCK...END
Description
Commands specified within the BLOCK...END structure are executed in one MPU cycle.
Syntax
BLOCK
command-list
END
Arguments

command-list List of commands, separated by semi-colons.

Comments
> The structure provides an alternative to specifying command-list commands in one line. The
commands within the structure can be specified in several lines. However, the controller
executes all commands in one controller cycle, as if they were written in one line.
> Commands and functions that may cause delay (WAIT, TILL, GETSP, WHILE...END, LOOP...END
etc.) provide delay even if they are used within the BLOCK...END structure.
> The BLOCK ... END code executes in the cycle tick of the previous command
Example

INT XX,YY,ZZ !Defines variables as integers

BLOCK !BLOCK command
XX=TIME !XX is assigned the TIME standard variable
YY=TIME !(controller timer from power-up, in mSec.
!One execution line later, YY is also
!assigned the TIME standard variable.
!Because both lines were written in the
!BLOCK…END block, they are both executed
!during the same controller cycle hence the
!difference between the two values =0
!(ZZ=0).
!If both lines were NOT written within the
!BLOCK structure, the difference would be
!one controller cycle (ZZ=1).
END !End the BLOCK command
ZZ=YY-XX !The result in this example is ZZ=0.

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2.7.3 CALL
Description
CALL calls a subroutine according to a specified label. All subroutines must begin with a label and
conclude with RET.
Syntax
CALL label
…

STOP
label:
…

RET
Arguments

label Unique name identifier.

Related ACSPL+ Commands

GOTO
Comments
> A label specified by CALL must be defined somewhere in the same program buffer. The
subroutine starts after the label and spans all commands up to RET.
> CALL transfers program execution to the start of the subroutine and stores the return point
in the stack. When RET executes, the return point is extracted from the stack and execution
continues from the next command after CALL.
> Subroutines can be nested; a subroutine can call another subroutine, and so on.
> CALL can only call a sub-routine located in the same buffer
Example

! ------------ Start subroutine labeled CHECK_PE ----------------------

CALL CHECK_PE !Call a subroutine named CHECK_PE.
DISABLE 0 !This line will be executed when the
!subroutine is terminated by the RET command.
STOP !Ends program.
CHECK_PE: !Subroutine label name.
WHILE (ABS(PE(0)>20)) !Subroutine command lines.
DISP "PE is :", PE(0)
END !End WHILE loop.
RET !Terminate subroutine and return to main program.

2.7.4 GOTO
Description
GOTO transfers program execution to a particular point in the program specified by a unique label.

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Avoid using GOTO to enter or exit a subroutine. Failure to do so will result in program
termination due to a stack violation error. As an alternative see CALL.

Syntax
GOTO label
Arguments

label A unique label defined in the program buffer.

Comments
> A label specified by GOTO must be defined somewhere in the same program buffer.
> The next executed command is located after the label.
Related ACSPL+ Commands
CALL
Example

GOTO ARR !Go to a label named ARR

2.7.5 IF, ELSEIF, ELSE...END

Description
IF, ELSEIF, ELSE, and END are building blocks used in the IF control structures. These commands
specify a condition which must be met before executing a list of commands. IF control structures
must conclude with END.
If the condition result is none-zero (true), the command list in the corresponding clause executes
and all subsequent conditions are not validated and all other command lists are skipped. After
executing the command list, the program continues from the next line after END.
If a condition result is zero (false), the command list is skipped. The program then checks subsequent
ELSEIF conditions. If no condition result is true, the command list following ELSE executes, if it exists.
The program then continues from the command following END.
Table 4-10 describes the IF control structure syntax using these building blocks.
Table 4-10. IF Control Structures
Syntax

Syntax IF Structure

IF expression command listEND IF-END

IF expression command listELSE command listEND IF-ELSE-END

IF expression command listELSEIF sequenceEND IF-ELSEIF-END

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Syntax IF Structure

IF expression command listELSEIF sequenceELSEcommand listEND IF-ELSEIF-ELSE-END

Comments
> The IF -ELSE -END control structure has two command lists. One follows IF and the second
follows ELSE. Only one command list executes, depending on the result of the expression
following IF.
> The IF-ELSEIF-END, and IF-ELSEIF- ELSE -END forms provide validation of a sequence of
conditions.
> IF control structures may contain any number of ELSEIF clauses. Each ELSEIF clause
specifies its own condition. The conditions are validated in the following order:
> Condition after IF
> Condition after first ELSEIF
> Condition after second ELSEIF
Examples
Example 1:
This example program fragment activates either output 5 or 6 and shuts off the other, depending on
the state of input 3.

IF IN0.3 !Check if the third bit of IN0 is 1.

OUT0.5 = 1 !Set the 5th bit of OUT0 to 1.
OUT0.6 = 0 !Set the 6th bit of OUT0 to 0.
ELSE !Execute the next commands only if the IF
!condition was false
OUT0.5 = 0 !Set the 5th bit of OUT0 to 0.
OUT0.6 = 1 !Set the 6th bit of OUT0 to 1.
END !End of the IF body.
STOP !Ends program

Example 2:
The following program fragment implements a saturation effect by limiting variable V0 to a range
from -256 to +256.

IF V0 < -256 !Check if V0 is less than -256

V0 = -256 !Assign -256 to V0 (low saturation)
ELSEIF V0 > 256 !If V0 is not less than -256, check if it
!is greater than 256
V0 = 256 !Assign 256 to V0 (high saturation)
END !End of the IF body (no saturation if
!V0 is equal to or more than 256)
STOP !Ends program

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2.7.6 LOOP...END
Description
The LOOP command structure provides a fixed number of command list repetitions set by the
definition of an exact value, or any expression. LOOP control structures must conclude with END.
Syntax
LOOP expression
command_list
END
Arguments

expression Defines the number of loops. It can also be a specific integer number.

command_list Any set of commands that are to be repeated.

Comments
> If the expression result is zero or negative, the command list is not executed and the
program continues from the next line after END.
> If the expression result is not an integer the command rounds-off the number to the closest
integer.
Examples
Example 1:

LOOP 10 !Do 10 repetitions.

J=J+1 !J is increased by 1 for each repetition.
END !End LOOP.
STOP !Ends program.

Example 2:

LOOP ARR !Do repetitions equal to value labeled by ARR.

J=J+1 !J is increased by 1 for each repetition.
END !End LOOP.
STOP !Ends program.

Example 3:

LOOP YY*325/TT !Do repetitions equal to the value of the

!expression YY*325/TT
J=J+1 !J is increased by 1 for each repetition.
END !End LOOP.
STOP !Ends program.

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2.7.7 FASTLOOP...END
Description
This command block defines a loop that to be executed in a single cycle. Exceptions to this behavior
that may occur in a BLOCK...END structure may also occur in a FASTLOOP.
The FASTLOOP...END syntax is the same as that of BLOCK...END.
Comments

Careless use of this feature may cause an over-usage fault.

Example

REAL time; !Variable to be assigned with current time

GLOBAL INT Ax(1000),Ay(1000); !Two arrays to be filled with numbers
INT index;

!Normal LOOP array initialization

index=0;
time = TIME
LOOP 1000
Ax(index)=index;

index=index+1;
END
time=TIME-time; !Time difference
DISP ("Time of normal LOOP:"), time;

!FASTLOOP array initialization

index=0;
time = TIME
FASTLOOP 1000
Ay(index)=index;

index=index+1;
END
time=TIME-time; !Time difference
DISP ("Time of FASTLOOP:"), time;

STOP

2.7.8 ON...RET
Description
ON...RET defines an autoroutine. An autoroutine consists of a condition, and a body. Autoroutines
must conclude with RET. The autoroutine condition is checked every MPU cycle. Once the
autoroutine condition is met, the autoroutine interrupts, executes the lines in the body (until RET),
and then transfers execution control back to the interrupted program line.

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The controller should never directly execute ON. If the program execution flow comes to
ON, the controller asserts a runtime error and aborts the program. To avoid this error,
use ON after STOP/STOPALL.

Syntax
ON condition

auto_routine body

RET
Comments
> Once the buffer in which an autoroutine is compiled, that autoroutine is enabled.
> The controller implements edge-detection in autoroutine condition verification. If a
condition becomes true, the controller activates the autoroutine only once. If afterwards
the condition remains true, the controller does not activate the autoroutine again. The
condition must become false and then become true again in order to activate the
autoroutine again.
> Only one autoroutine can be active in a buffer at a time.
Related ACSPL+ Commands
ENABLEON, DISABLEON
Examples
Example 1:
Demonstrates a typical use of an autoroutine for processing controller faults. The autoroutine
provides an error message when a drive alarm on 0 axis occurs.

STOP !STOP must precede the autoroutine.

ON FAULT(0).#DRIVE !Activate autoroutine when bit
!FAULT(0).#DRIVE changes from 0 to 1
DISABLE 0 !Disable drive X
DISP "0 Axis Drive Alarm" !Display message
RET !End of autoroutine

Example 2:
Illustrates how all variables, not only faults, can be used in autoroutine conditions. Assuming that
output OUT0.6 is connected to a LED indicator, the following autoroutine signals the motion state bit
to activate the indicator, and deactivate it when the 0 axis is no longer in motion.

STOP !STOP must precede the autoroutine.

ON MST(0).#MOVE !When MST(0).#MOVE bit changes from 0 to
!1 (signaling that the axis is moving)
OUT0.6 = 1 !Set output 6 to 1 (turn on the LED)
RET !End of autoroutine
ON ^MST(0).#MOVE !When MST(0).#MOVE bit changes from 1 to

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!0 (signaling that the axis is no longer

!moving)
OUT0.6 = 0 !Set output 6 to 0 (turn off the LED)
RET !End of autoroutine

2.7.9 TILL
Description
TILL delays program execution until the result of a specified expression is met, or the return value is
non-zero.
Syntax
TILL expression [,time_out]
Arguments

expression Defines how long to pause the program execution

Used to specify a time-out in milliseconds. Use time_out to limit the time

time_out
that an expression can return zero.

Related ACSPL+ Commands

WAIT
Examples
Example 1:

TILL ^MST(0).#MOVE !Wait for 0 axis termination

Example 2:

TILL IN0.0=1, 2000 !Wait until input #0 =1 or 2000 milliseconds

Example 3

TILL RPOS(0)<>0 !Wait until RPOS(0) is not equal to 0

2.7.10 WAIT
Description
WAIT delays program execution for the specified number of milliseconds.
Syntax
WAIT wait_time
Arguments

Defines how long to delay the program execution. wait_time can also be
wait_time
defined by an expression.

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Related ACSPL+ Commands

TILL
Examples
Example 1:

WAIT 2000 !Wait 2000 milliseconds

Example 2:

WAIT YY=65/TT !Milliseconds defined by an expression

2.7.11 WHILE...END
Description
The WHILE command structure provides repetitive execution of commands list as long as a
condition is satisfied. If the condition was not satisfied when checked for the first time, program
execution continues from the command following END.
WHILE control structures must conclude with END.
Syntax
WHILE condition
command_list
END
Arguments

condition Condition controlling the execution of the WHILE command_list.

command_list List of commands to be executed.

Related ACSPL+ Commands

IF, ELSEIF, ELSE...END, TILL
Examples
Example 1:

WHILE S_ST.#DC !Indicate data collection active.

OUT0.0=^OUT0.0 !Blink LED.
WAIT 200 !Blink period is 200msec.
END

Example 2:

WHILE (ABS(PE(0)>20)) !Do if the 0 axis Position Error is greater

!than 20.
DISP "PE is :", PE(0)

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Display the 0 axis Position Error

END

Example 3:

WHILE 1 !Run forever

PTP/e 0, 1000
PTP/e 0, -1000
END

2.7.12 SWITCH Statement

The SWITCH statement compares the evaluated expression to several case values and
starts execution of CASE code when an equivalent value is found.
If no CASE statement equaling the SWITCH value is found, the DEFAULT case will be
executed, if one exists.
Execution of the selected case code will not end until an END command is reached. If no
such command exists, execution continues with the next CASE or DEFAULT statement.
The switch expression must be of type INT. All CASE values must be CONST expressions of
type INT.
Example

int intVar = 23;

SWITCH (intVar - 2)
CASE 20 :
DISP "CASE 20"
END;
CASE 21: !comment
DISP "CASE 21";
! No break
DEFAULT:
DISP "DEFAULT";
END
END
STOP

2.8 Program Management Commands

The Program Management commands are:

Command Description

DISABLEON Disables autoroutine activation in a buffer.

ENABLEON Enables autoroutine activation in a buffer.

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Command Description

PAUSE Suspends program execution in a buffer.

RESUME Resumes program execution in a buffer.

START Activates program execution in a buffer.

Terminates program execution in a buffer. STOPALL terminates all

STOP/STOPALL
programs.

2.8.1 DISABLEON
Description
DISABLEON disables autoroutine activation in a buffer. The command has the same functionality as
PFLAGS.#NOAUTO=1.
Syntax
DISABLEON [(buffer-number)]
Arguments

buffer- Optional argument, if no buffer number is mentioned, the command disables

number autoroutines in all buffers.

Related ACSPL+ Commands

ON...RET, ENABLEON

2.8.2 ENABLEON
Description
ENABLEON enables autoroutine activation in a buffer. The command has the same functionality as
PFLAGS.#NOAUTO=0.
Syntax
ENABLEON [(buffer-number)]
Arguments

A number between 0 and 63 specifying the buffer in which the autoroutine is

buffer-
to be enabled.. If no buffer number is given, the command enables
number
autoroutines in all buffers.

Related ACSPL+ Commands

ON...RET, DISABLEON

2.8.3 PAUSE
Description
PAUSE suspends program execution in a specific buffer.

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Syntax
PAUSE buffer-number
Arguments

buffer- A number between 0 and 63 specifying the buffer in which the program is to
number be suspended.

Related ACSPL+ Commands

RESUME
Example

PAUSE 5 !Pauses buffer five

2.8.4 RESUME
Description
RESUME resumes the program execution in a specific buffer after the execution was paused.
Syntax
RESUME buffer-number
Arguments

buffer- A number between 0 and 63 specifying the buffer in which the program
number execution that was suspended by the PAUSE command is to resumed.

Related ACSPL+ Commands

PAUSE
Example

RESUME 5 !Resume buffer five

2.8.5 START
Description
START activates program execution at a specified line number, or a specific label in a specified buffer
that is different from the buffer where START is enabled.
Syntax
START[/s] buffer-number, line-number | label
Arguments

buffer-
A number between 0 and 63 specifying the buffer.
number

line-number The line number of the program within the buffer where execution is to
| label begin, or a label identifying the line number.

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Switches

Switch Comments

The "/s" switch causes the program to execute from the beginning in
simulation mode up to the indicated line or label, after which execution
/s continues normally. No motion is executed up to that point, but G-Code
modality changes are registered. Execution continues normally from the
indicated line or label, including motion commands.

Comments
> Unless line #1 is used in the START command, it is recommended to use a label since line
numbers are prone to change if programs lines are deleted or inserted.
> START executes successfully if the target buffer is loaded with a program, compiled, but not
running. Otherwise, START causes a run-time error and aborts the current program.
> The program activated by START executes concurrently with the program containing the
START command, and other active programs.
> If the whole program needs to be run in simulation mode, for early run-time problem
detection for example, the START/s command can be used without specifying a line
number or label argument.
> Simulation mode does not affect ACSPL+ lines, which will run normally.
Related ACSPL+ Commands
STOP/STOPALL, BREAK
Examples
Example 1:

START 8,15 !Start program in buffer 8 line 15

Example 2:

START 8,Start_here !Start program in buffer 8, at the line identified

!by the Start_here label.

Example 3 (simulation mode):

1 !Buffer 0
2 ENABLE(X,Y)
3 N20 G00 X0
4 N30 G01 X20 F2000
5 N40 G01 X10
6 N50 G01 X20
7 !Radius compensation
8 N10 G42 D10
9 RC:
10 N60 G01 X0

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11 N30 G01 X20 F4000

12 N40 G01 X10
13 N50 G01 X20
14 N60 G01 X0
15 N70 M02
!Buffer 1
START/s 0,10 !Execution of buffer 0 in simulation mode until line 10
STOP

2.8.6 STOP/STOPALL
Description
STOP terminates program execution in the specified buffer. STOPALL terminates program execution
in all buffers.
Syntax
STOP buffer-number
Arguments

buffer- A number between 0 and 63 specifying the buffer in which the program
number execution is to be halted.

COM Library Methods and .NET Library Methods

StopBuffer
C Library Functions
acsc_StopBuffer
Example

STOP 5 !Terminate program execution in buffer five.

2.9 Ethernet/IP ACSPL+ Support Commands

The following ACSPL+ functions set assembly configuration and get existing assembly configuration.
For more information refer to SPiiPlus EtherNet/IP User Guide.

2.9.1 EIPGETATTR
Description
EIPGETATTR returns value of a specific attribute. It can be a class attribute or an instance attribute.
Syntax
int eipgetattr(int class, int instance, int attr)

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Arguments

The following classes are supported:

Class Code Class Name

0x01 Identity

0x02 Message Router

0x06 Connection Manager

Class 0xF4 Port

0xF5 TCP/IP Interface

0xF6 Ethernet Link

0x04 Assembly

0x64 ACSPL+ Command

0x65 ACSPL+ Variable

For the class attribute, this parameter should 0. Otherwise, the specific
instance should be specified as follows

Class Code Supported Instances

0x01 1

0x02 1

0x06 1

Instance 0xF4 1,2,3

0xF5 1

0xF6 1

0x04

0x64

0x65

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Specifies the attribute as follows:

Class Code Class Supported Instance Supported

Attributes Attributes

0x01 1 1,2,3,4,5,6

0x02 1 2

0x06 1 1..8
Attr
0xF4 1,2,3 1

0xF5 1 1,2

0xF6 1 1,7,8

0x04 1

0x64 1,100

0x65 1

Return Value
Returns value of a specific attribute.
-1 is returned in case of illegal parameters.

2.9.2 EIPGETIND1
Description
EIPGETIND1returns the first index of the requested ACSPL+ standard or user-defined variable in a
one-dimensional array. The indexes start from 0.
Syntax
int eipgetind1(int instance, int element )
Arguments

Assembly instance. The following instances are supported:

Instance Instance Name
> 0x64 (100) Input Integer Assembly
instance
> 0x65 (101) Output Integer Assembly
> 0x66 (102) Input Real Assembly
> 0x67 (103) Output Real Assembly

The index of element in the corresponding assembly. Only indexes 0 to 123

element
are supported.

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Return Value
0 is returned in case of scalar variable.
-1 is returned in case of illegal index parameter.

2.9.3 EIPGETIND2
Description
EIPGETIND2 returns the first index of the requested ACSPL+ standard or user-defined variable in a
two-dimensional array. The indexes start from 0.
Syntax
int eipgetind2(int instance, int element)
Arguments

Assembly instance. The following instances are supported:

Instance Instance Name
> 0x64 (100) Input Integer Assembly
instance
> 0x65 (101) Output Integer Assembly
> 0x66 (102) Input Real Assembly
> 0x67 (103) Output Real Assembly

The index of element in the corresponding assembly. Only indexes 0 to 123

element
are supported.

Return Value
0 is returned in case of scalar variable or one-dimensional array.
-1 is returned in case of illegal index parameter.

2.9.4 EIPGETTAG
Description
EIPGETTAG returns the tag number of requested ACSPL+ standard or user-friendly variable. User-
friendly variables tags start from index 1000.
Syntax
int eipgettag(int instance, int element)

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Arguments

Assembly instance. The following instances are supported:

Instance Instance Name
> 0x64 (100) Input Integer Assembly
instance
> 0x65 (101) Output Integer Assembly
> 0x66 (102) Input Real Assembly
> 0x67 (103) Output Real Assembly

The index of element in the corresponding assembly. Only indexes 0 to 123

element
are supported.

Return Value
-1 is returned in case of illegal index parameter.

2.9.5 EIPSETASM
Description
EIPSETASM sets the assembly configuration.
Syntax
eipsetasm(int instance, int element,int tag, int first, int second )
Arguments

Assembly instance. The following instances are supported:

Instance Instance Name
> 0x64 (100) Input Integer Assembly
instance
> 0x65 (101) Output Integer Assembly
> 0x66 (102) Input Real Assembly
> 0x67 (103) Output Real Assembly

The index of element in the corresponding assembly. Only indexes 0 to 123

element
are supported.

The tag number of required ACSPL+ standard or user-defined variable. User-

tag
defined variables tags start from index 1000.

The first index of required ACSPL+ standard or user-defined variable. The

first indexes start from 0. Used only if variable is one or two-dimension array.
Should be 0 for scalar variable.

The first index of required ACSPL+ standard or user-defined variable. The

second indexes start from 0. Used only if variable is two-dimensional array. Should
be 0 for scalar variable or one-dimensional array.

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2.10 Input Shaping Commands

The input shaping commands are as follows.

Command Description

INSHAPEON Activate input shapping

INSHAPEOFF Terminate input shaping

2.10.1 INSHAPEON
Description
The INSHAPEON function starts Input Shape algorithm for specified axis. The result is a dynamic
output signal equal to the convolution of the input signal and the convolution pulses.
Syntax
INSHAPEON Axis_Index, T_array, A_array
Arguments

Designates the specific axis, valid numbers are: 0, 1, 2, ... up to

Axis_Index
the number of axes in the system minus 1.

One-dimensional array specifying the times of each

T_array
convolution in milliseconds.

One-dimensional array specifying the amplitudes of each

A_array
convolution pulse

Return Value
None
Comments
Vectors T_array and A_array define characteristics of the convolution pulses. The array sizes should
be identical.
Vector T_array contains real numbers, so fractional numbers may be specified. However, the
position of each pulse is rounded to a multiple of the controller cycle. If the controller cycle is one
millisecond, the numbers in T_array are rounded to integers. The elements of T_array must be
arranged in ascending order.
The sum of A_array entries must equal 1.
See Using the Convolve Web Site in the ACSPL+ Programmers Guide for an explanation of how to
calculate the T_array and A_array parameters.
This function is supported in version 3.00 and higher.

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Examples

global real CnvT(5), CnvA(5), CnvB(420)

VEL(0) = 120
ACC(0) = VEL(0)*10
JERK(0) = ACC(0)*10

CnvT(0)=0; CnvT(1)=64 ; CnvT(2)=68 ;CnvT(3)=72; CnvT(4)=139

CnvA(0)=25345/1e5; CnvA(1)=160/1e5; CnvA(2)=30987/1e5; CnvA(3)=18949/1e5;
CnvA(4)=24559/1e5

enable 0
InShapeOn 0, CnvT, CnvA
ptp/e 0,0
ptp/e 0,50
till ^MST(0).#MOVE
InShapeOff 0
stop

!INPUTSHAPE EXAMPLE: IF CTIME < 1

!In this case we need to multiply CnvT array by CTIME. Here CTIME = 0.5
global real CnvT(5), CnvA(5), CnvB(420)
CnvT(0)=0*CTIME; CnvT(1)=1*CTIME ; CnvT(2)=214*CTIME ;CnvT(3)=253*CTIME;
CnvT(4)=501*CTIME
CnvA(0)=22960/1e5; CnvA(1)=10361/1e5; CnvA(2)=3186/1e5; CnvA
(3)=45767/1e5;
CnvA(4)=17726/1e5
enable 0
InShapeOn 0, CnvT, CnvA
ptp/e 0,0
ptp/e 0,30
till ^MST(0).#MOVE
!InShapeOff 0
stop

2.10.2 INSHAPEOFF
Description
The INSHAPEOFF function stops the Input Shape algorithm for the specified axis.
Syntax
INSHAPEOFF Axis_Index
Arguments

Designates the specific axis, valid numbers are: 0, 1, 2, ... up to

Axis_Index
the number of axes in the system minus 1.

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Comments
This variable is supported in version 3.00 and higher.
Return Value
None

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3. ACSPL+ Variables
ACSPL+ supports data types of integer, real, and matrix. Matrix variables are a two-dimensional
array of real values.
This chapter covers the ASCPL+ variables. ACSPL+ has a complete set of built-in variables for use in
setting values that control ACSPL+ programs. The ACSPL+ variables are divided into the following
categories:
> Axis Configuration Variables
Along with the following subgroups:
> Brake Variables
> Feedback Variables
> Safety Limits Variables
> Axis State Variables
> Data Collection Variables
> Input and Output Variables
> Monitoring Variables
> Motion Variables
> Program Execution Control Variables
> Safety Control Variables
> Nanomotion Variables
> Servo-Loop Variables
Along with the following subgroups:
> Servo-Loop Current Variables
> Servo-Loop Velocity Variables
> Servo-Loop Velocity Notch Filter Variables
> Servo-Loop Velocity Low Pass Filter Variables
> Servo-Loop Velocity Bi-Quad Filter Variables
> Servo-Loop Position Variables
> Servo-Loop Compensations Variables
> Servo-Loop Miscellaneous Variables
> Commutation Variables
> System Configuration Variables
> Communication Variables
> Miscellaneous

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The ACSPL+ programming variables are:

Table 5-1. Alphabetical Listing of All ACSPL+ Variables

Name Description Variable Group

ACC Acceleration Motion

AFLAGS Axis Flags Axis Configuration

AIN Analog Inputs Input and Output

AOUT Analog Outputs Input and Output

APOS Axis Position Motion

AST Axis State Axis State

ASTX Extended Axis State Axis State

BAUD Serial Communication Baud Rate Communication

Axis Configuration -
BOFFTIME Brake Deactivation Time
Brake

Axis Configuration -
BONTIME Brake Activation Time
Brake

Axis Configuration -
CERRA Critical Position Error in Accelerating
Safety Limits

Axis Configuration -
CERRI Critical Position Error in Idle
Safety Limits

Axis Configuration -
CERRV Critical Position Error in Moving
Safety Limits

System
CFG Configuration Mode
Configuration

COMMCH Communication Channel Communication

COMMFL Communication Flags Communication

CONID Controller Identification Communication

System
CTIME Controller Cycle Time
Configuration

DAPOS Delayed Axis Position Motion

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Name Description Variable Group

DCN Axis DC, Number of Samples Data Collection

DCOM Drive Command Servo-Loop

DCP Axis DC, Period Data Collection

DEC Deceleration Motion

Axis Configuration -
DELI Delay on Transition to Idle State
Safety Limits

Axis Configuration -
DELV Delay on Transition to Velocity State
Safety Limits

DISPCH Default Communication Channel Communication

Axis Configuration -
E_AOFFS Sets user-defined offset for absolute encoder.
Feedback

Sets user-defined offset for absolute encoder Axis Configuration -

E2_AOFFS
secondary feedback Feedback

Axis Configuration -
E_FREQ Primary Encoder Frequency
Feedback

Axis Configuration -
E_SCMUL Primary Encoder Sin-Cos Multiplier
Feedback

Axis Configuration -
E_TYPE Primary Encoder Type
Feedback

Axis Configuration -
E2FAC Secondary Encoder Factor
Feedback

Contains configuration bits for secondary Axis Configuration -

E2_FLAGS
feedback absolute encoder. Feedback

Defines the maximum encoder pulse frequency Axis Configuration -

E2_FREQ
(in MHz) for secondary feedback. Feedback

Axis Configuration -
E2OFFS Secondary Encoder Offset
Feedback

Axis Configuration -
E2_PAR_A Sets the encoder data transmission frequency
Feedback

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Name Description Variable Group

Axis Configuration -
E2_PAR_B Sets the encoder data control CRC code
Feedback

Sets the interval (in microseconds) of encoder Axis Configuration -

E2_PAR_C
position reading Feedback

Defines number of status bits (LSB) in the real- Axis Configuration -

E2_PAR_D
time position data Feedback

Axis Configuration -
E2_PAR_E Defines a mask for setting error bits
Feedback

Specifies the Sin-Cos multiplication factor for the Axis Configuration -

E2_SCMUL
secondary feedback encoder Feedback

E2IND Secondary Index Position

ECERR Contains EtherCAT Error Code Safety Control

ECHO Echo Communication Channel Communication

ECST Contains EtherCAT Status Safety Control

Axis Configuration -
EFAC Primary Encoder Factor
Feedback

ENTIME Enable Time Axis Configuration

Axis Configuration -
EOFFS Primary Encoder Offset
Feedback

E_PAR_A Feedback Variables

E_PAR_B Feedback Variables

E_PAR_C Feedback Variables

EPOS Shows the encoder feedback Feedback

Axis Configuration -
ERRA Position Error in Accelerating
Safety Limits

Axis Configuration -
ERRI Position Error in Idle
Safety Limits

ERRV Position Error in Moving Axis Configuration

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Name Description Variable Group

EXTIN Extended Inputs Input and Output

EXTOUT Extended Outputs Input and Output

Defines the feedback acceleration value of the

F2ACC Feedback
axis in secondary feedback.

F2POS Secondary Feedback Position Motion

F2VEL Secondary Feedback Velocity Motion

FACC Primary Feedback Acceleration Motion

Safe
FAULT Faults
ty Control

FDEF Default Response Mask Safety Control

FMASK Fault Mask Safety Control

FPOS Primary Feedback Position Axis State

FVEL Primary Feedback Velocity Motion

Axis Configuration -
FVFIL Primary Feedback Velocity Filter
Feedback

G_01WCS...G_ Used for defining one of the 12 work-piece System

12WCS coordinate systems Configuration

GACC Group Acceleration Motion

GATEWAY Gateway Address for 1st Ethernet Communication

GJERK Group Jerk Motion

GMOT Motion Number Motion

GMQU Motion Queue Motion

GMTYPE Motion Type Motion

GPATH Group Path Motion

System
GPEXL Indicates the GSP program executed block
Configuration

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Name Description Variable Group

GPHASE Motion Phase Motion

GRTIME Remaining Motion Time Motion

GSEG Motion Segment Motion

GSFREE Free Motion Segments Motion

Holds the conversion factor from 'Common System

GUFAC
Physical Units' in [mm] to 'Controller Units' Configuration

GVEC Group Vector Motion

GVEL Group Velocity Motion

System
IENA Interrupt Enable/Disable
Configuration

System
IMASK Interrupt Mask
Configuration

IN Digital Inputs Input and Output

IND Primary Index Position Axis State

System
ISENA Specific Interrupt Enable/Disable
Configuration

IST Index State Axis State

JERK Jerk Motion

Time difference between physical timer interrupt

JITTER SPiiPlusSC
and start of SC real-time task

KDEC Kill Deceleration Motion

M2ARK Secondary Mark Position Axis State

MARK Primary Mark Position Axis State

MERR Motor Error Safety Control

MFF Master Feed Forward Axis Configuration

MFLAGS Motor Flags Axis Configuration

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Name Description Variable Group

MFLAGSX Extended Motor Flags Axis Configuration

MPOS Master Position Motion

MSSYNC Difference between master clock and bus clock SPiiPlusSC

MST Motor State Axis State

Reads the status of EtherCAT Sync and GPRT

NST Axis State
errors for each axis in the system.

NVEL Minimal Velocity Motion

Program Execution
ONRATE Autoroutine Rate
Control

OUT Digital Outputs Input and Output

Program Execution
PCHARS Program Size in Characters
Control

PE Non-Critical Position Error Motion

Program Execution
PERL Program Error Line
Control

Program Execution
PERR Program Error
Control

Program Execution
PEXL Program Executed Line
Control

Program Execution
PFLAGS Program Flags
Control

Program Execution
PLINES Program Size in Lines
Control

Program Execution
PRATE Program Rate
Control

Program Execution
PST Program State
Control

RACC Reference Acceleration Motion

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Name Description Variable Group

RMS current of axis Axis State

ROFFS Reference Offset Axis State

RPOS Reference Position Axis State

RVEL Reference Velocity Motion

Axis Configuration -
RVFIL Reference Velocity Filter
Feedback

S_DCN System DC, Number of Samples Data Collection

S_DCP System DC, Period Data Collection

S_ERR System Error Safety Control

S_FAULT System Faults Safety Control

S_FDEF System Default Response Mask Safety Control

System
S_FLAGS System Flags
Configuration

S_FMASK System Fault Mask Safety Control

S_SAFIN System Safety Inputs Safety Control

S_SAFINI System Safety Inputs Inversion Safety Control

System
S_SETUP Bit mask defining various system settings
Configuration

S_ST State of System Data Collection Data Collection

SAFIN Safety Inputs Safety Control

SAFINI Safety Inputs Inversion Safety Control

Defines the Sin-Cos Sine offset in secondary Axis Configuration -

SC2COFFS
feedback Feedback

Sin-Cos encoder gain compensation variable

used to compensate the Cosine signal for an Axis Configuration -
SC2GAIN
improper amplitude relative to the Sine signal in Feedback
secondary feedback

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Name Description Variable Group

Sin-Cos encoder phase compensation variable

and is used to compensate the Cosine signal for Axis Configuration -
SC2PHASE
an improper phase difference relative to the Sine Feedback
signal in secondary feedback.

Defines the Sin-Cos Sine offset in secondary Axis Configuration -

SC2SOFFS
feedback. Feedback

Axis Configuration -
SCCOFFS Sin-Cos Offset (Cosine)
Feedback

Axis Configuration -
SCGAIN Cosine gain compensation
Feedback

Axis Configuration -
SCPHASE Cosine phase compensation
Feedback

Axis Configuration -
SCSOFFS Sin-Cos Offset (Sine)
Feedback

SETTLE Settling Time Axis Configuration

Used for setting the total number of absolute

Axis Configuration -
S2LABITS position bits for an absolute encoder connected
Feedback
to a secondary feedback

Axis Configuration -
SLABITS Absolute Position Bits
Feedback

Servo-Loop -
SLAFF Acceleration Feed Forward
Compensations

Servo-Loop -
SLBIASA Current Phase A Bias
Current

Servo-Loop -
SLBIASB Current Phase B Bias
Current

SLCHALL Hall Shift Commutation

SLCNP Number of Motor Poles Commutation

SLCOFFS Commutation Offset Commutation

SLCORG Commutation Origin Commutation

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Name Description Variable Group

SLCPRD Commutation Period Commutation

Servo-Loop -
SLCROUT Commutation Feedback
Miscellaneous

Servo-Loop -
SLDRAIF DRA frequency
Position

Servo-Loop -
SLDRAIF Provides an Idle Factor to the SLDRA variable.
Position

Servo-Loop -
SLDRX Maximum DRA correction
Position

Servo-Loop -
SLDZMAX Maximum Dead Zone position
Nanomotion

Servo-Loop -
SLDZMIN Minimum Dead Zone position
Nanomotion

Axis Configuration -
SLEBIASA Defines encoder hardware Sine offset
Feedback

Axis Configuration -
SLEBIASB Defines encoder hardware Cosine offset
Feedback

Defines the Sin-Cos encoder’s hardware

Axis Configuration -
SLEBIASC compensation for the Sine offset in secondary
Feedback
feedback

Defines the Sin-Cos encoder’s hardware

Axis Configuration -
SLEBIASD compensation for the Cosine offset in secondary
Feedback
feedback

Servo-Loop -
SLFRC Static Friction
Compensations

Servo-Loop -
SLFRCD Dynamic Friction
Compensations

SLHROUT Sets the Hall state routing Commutation

Servo-Loop -
SLIFILT Internal Current filter
Current

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Name Description Variable Group

Servo-Loop -
SLIKI Integrator Gain
Current

Servo-Loop -
SLIKP Integrator Proportional Gain
Current

Servo-Loop -
SLIFILT Internal Current filter
Current

Servo-Loop -
SLILI Determines output voltage
Current

Servo-Loop -
SLIOFFS Current Command Offset
Current

SLLIMIT Soft Left Limit Safety Limits

SLLROUT Sets the HW limits routing for the specified axis Commutation

Sets the feedback routing of the secondary Servo Loop -

SLP2ROUT
feedback position for the specified axis Miscellaneous

Servo-Loop -
SLPKITF Increases position loop integrator coefficient
Position

Servo-Loop -
SLPKP Proportional Position Gain
Position

Servo-Loop -
SLPKPIF Provides an Idle Factor to the SLPKP variable
Position

Servo-Loop -
SLPKPSF Provides a Settling Factor to the SLPKP variable
Position

Servo-Loop -
SLPKPTF Increases position loop proportional coefficient
Position

SLPMAX Modulo Axis Upper Limit Axis Configuration

SLPMIN Modulo Axis Lower Limit Axis Configuration

Servo-Loop -
SLPROUT Position Feedback Routing
Miscellaneous

SLSTHALL The hall state of each axis Commutation

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Name Description Variable Group

Determines distance to target at which position

Servo-Loop -
SLTFWID and velocity loops gains increase by 50% Servo-
Miscellaneous
Loop - Miscellaneous SLVB0DD Bi-Quad filter

SLVB0DD Bi-Quad filter damping ratio denominator Servo-Loop - Filter

SLVB0DF Bi-Quad filter algorithm denominator Servo-Loop - Filter

SLVB0ND Bi-Quad filter damping ratio numerator Servo-Loop - Filter

SLVB0NF Bi-Quad filter algorithm numerator Servo-Loop - Filter

Servo-Loop -
SLVKI Velocity Integrator Coefficient
Velocity

Servo-Loop -
SLVKIIF Provides an Idle Factor to SLVKI variable
Velocity

Servo-Loop -
SLVKISF Provides a Settle Factor to the SLVKI variable
Velocity

Servo-Loop -
SLVKITF Increases velocity loop integrator coefficient
Velocity

Servo-Loop -
SLVKP Proportional Velocity Gain
Velocity

Servo-Loop -
SLVKPIF Provides an Idle Factor to the SLVKP variable
Velocity

Servo-Loop -
SLVKPSF Provides a Settle Factor to the SLVKP variable
Velocity

Increases the velocity loop proportional Servo-Loop -

SLVKPTF
coefficient Velocity

Servo-Loop -
SLVLI Integrator Velocity Limit
Velocity

SLVNATT Notch Filter Attenuation Servo-Loop - Filter

SLVNFRQ Notch Filter Frequency Servo-Loop - Filter

SLVNWID Notch Filter Width Servo-Loop - Filter

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Name Description Variable Group

Servo-Loop -
SLVRAT Velocity Feed Forward Ratio
Velocity

SLVSOF Low-Pass Filter Bandwidth Servo-Loop - Filter

SLVSOFD Low-Pass Filter Damping Servo-Loop - Filter

Servo-Loop -
SLZFF Defines zero velocity feed forward position
Nanomotion

SRLIMIT Soft Right Limit Safety Limits

STEPF Stepper Factor Axis Configuration

STEPW Stepper Pulse Width Axis Configuration

Configures the delay time between the STO fault

STODELAY indication and the default response (disable) to Safety Control
the fault

SUBNET Subnet Mask for 1st Ethernet Communication

SYNC Slave Sync counter Safety Control

TARGRAD Target Radius Axis Configuration

TCPIP IP Address for 1st Ethernet Communication

TCPIP2 IP Address for 2nd Ethernet Communication

TCPPORT TCP Port Number Communication

TIME Elapsed Time Monitoring

TPOS Target Position Motion

UDPPORT UDP Port Number Communication

USAGE MPU Usage Monitoring

VEL Velocity Motion

Axis Configuration -
VELBRK Brake Velocity
Brake

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Name Description Variable Group

Axis Configuration -
XACC Maximum Acceleration
Safety Limits

XARRSIZE Maximum Array Size Miscellaneous

Axis Configuration -
XCURI Maximum Current in Idle
Safety Limits

Axis Configuration -
XCURCDB Threshold of the current vector peak
Safety Limits

Axis Configuration -
XCURV Maximum Current in Moving
Safety Limits

Axis Configuration -
XRMS RMS Current Limit
Safety Limits

Axis Configuration -
XRMST RMS Current Time Constant
Safety Limits

Axis Configuration -
XSACC Maximum Slave Acceleration
Safety Limits

Axis Configuration -
XVEL Maximum Velocity
Safety Limits

3.1 Axis Configuration Variables

The Axis Configuration variables are:

Name Description

AFLAGS Axis Flags

ENTIME Enable Time

ESTBITS represents the single turn resolution

ESTBITS
(number of bits) of the absolute encoder.

E2STBITS represents the single turn resolution (number

E2STBITS of bits) of the absolute encoder for the secondary
feedback

EMTBITS represents the multi-turn resolution (number of

EMTBITS
bits) of the absolute encoder.

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Name Description

E2MTBITS represents the multi-turn resolution (number

E2MTBITS of bits) of the absolute encoder for the secondary
feedback

MFF Master Feed forward

MFLAGS Motor Flags

MFLAGSX Extended Motor Flags

Time elapsed from start of motion up to first entering the

MSTIMEA
settled zone

Time elapsed from start of motion up to first entering the

MSTIMEB
settled zone

Time elapsed from start of motion up to first entering the

MSTIMEC
settled zone

PEGQUE Count of PEG FIFO, one entry per axis

SETTLE Axis Settling Time Parameter

SLPMAX Specifies the upper limit of modulo axis

SLPMIN Specifies the lower limit of modulo axis

STEPF Stepper Factor

STEPW Stepper Pulse Width

TARGRAD Axis settling target envelope parameter

3.1.1 AFLAGS
Description
AFLAGS is an integer array, with one element for each axis in the system, each element of which
contains a set of 4 bits.
Syntax
AFLAGSaxis_index.bit_designator = 1|0

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Arguments

Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number
axis_index
of axes in the system minus 1.

The meanings of bit_designator are given in [Link] of bit_

bit_designator
designator

Table 5-2. AFLAG Bit Description

Bit Name No. Description

#NOS 0 No S-Profile

#SEMIS 1 Semi-S-Profile

#AUX 2 Auxiliary Axis

#NOGROUP 3 Disable Group

Tag
3
Comments
Currently, only AFLAGS(axis_index).#NOGROUP can be set in the variable. AFLAGS(axis_
index).#NOGROUP disables the axis in a group, so that any group or motion command that includes
the axis in a group will fail.
Other bits are reserved for future use, and must be set to zero.
Accessibility
Read-Write

AFLAGS values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection.

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

3.1.2 ENTIME
Description
ENTIME is a real array, with one element for each axis in the system, and is used for controlling the
execution of ENABLE/ENABLE ALL.
Syntax
ENTIME(axis_index) = value

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Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value ranges from 2.22507e-308 to 1.79769e+308, Default = 50.

Tag
37
Comments
Since the drive enable process is relatively long, (50 - 100msec) ENTIME defines a time duration in
msec between ENABLE/ENABLE ALL and the moment the controller considers the drive as enabled
and all faults as FAULT(axis_index).#PE, FAULT(axis_index).#CPE, FAULT(axis_index).#DRIVE are
triggered.
Exact usage of the variable depends on the flag bit MFLAGS(axis_index).#ENMODE (bit 19). See
MFLAGS.
Accessibility
Read-Write

ENTIME values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Commands

ENABLE/ENABLE ALL
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.1.3 ESTBITS
Description
ESTBITS is an integer array with one element for each axis. It represents the single turn resolution
(number of bits) of the absolute encoder.
Syntax
ESTBITS(axis_index)
Arguments

Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index
axes in the system minus 1.

value Value ranges from 0 to 64.

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Tag
387
Comments
The ESTBITS variable can only be set by the ENCINIT() function.
Related ACSPL+ Variables
EMTBITS, SLABITS
Accessibility
Read-only

SLABITS compatibility is ensured.

If EMTBITS and ESTBITS are 0, SLABITS is still a Read-Write variable.
If ESTBITS is not 0 or EMTBITS is not 0 (in other words, it was changed by a call to
ENCINIT() ),SLABITS cannot be assigned a new value, and the firmware will return an
error if an assignment is attempted.

3.1.4 E2STBITS
Description
E2STBITS is an integer array with one element for each axis. It represents the single turn resolution
(number of bits) of the absolute encoder for the secondary feedback.
Syntax
E2STBITS(axis_index)
Arguments

Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index
axes in the system minus 1.

value Value ranges from 0 to 64.

Tag
389
Comments
The E2STBITS variable can only be set by the ENCINIT() function.
Related ACSPL+ Variables
E2MTBITS, SLABITS
Accessibility
Read-only

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3.1.5 EMTBITS
Description
EMTBITS is an integer array with one element for each axis. It represents the multi-turn resolution
(number of bits) of the absolute encoder.
Syntax
EMTBITS(axis_index)
Arguments

Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index
axes in the system minus 1.

value Value ranges from 0 to 64.

Tag
388
Comments
The EMTBITS variable can only be set by the ENCINIT() function.
Related ACSPL+ Variables
ESTBITS, SLABITS
Accessibility
Read-only

SLABITS compatibility is ensured.

3.1.6 E2MTBITS
Description
E2MTBITS is an integer array with one element for each axis. It represents the multi-turn resolution
(number of bits) of the absolute encoder for the secondary feedback.
Syntax
E2MTBITS(axis_index)
Arguments

Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index
axes in the system minus 1.

value Value ranges from 0 to 64.

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Tag
390
Comments
The E2MTBITS variable can only be set by the ENCINIT() function.
Related ACSPL+ Variables
E2STBITS, SLABITS
Accessibility
Read-only

3.1.7 MFF
Description
MFF is a real array, with one element for each axis in the system, and is used for specifying the feed
forward time, in milliseconds, for MPOS calculations.
Syntax
MFF(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value Value ranges from 0 to 10. Default = 2.

Tag
87
Comments
The controller calculates the MPOS value according to a formula supplied by the MASTER command.
A non-zero MFF value provides additional extrapolation of the calculated value to the predicted
value at the current time plus MFF. The purpose is to compensate delay introduced by the controller
and the external circuits.
The default value of MFF depends on the controller model so that it compensates the delay
introduced by the controller itself. Increase the MFF value if you want to compensate additional
delay introduced by sensor or other circuits.
Accessibility
Read-Write

MFF values cannot be modified if protection is applied to this variable through SPiiPlus
MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Commands

MASTER

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Related ACSPL+ Variables

ENTIME
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.1.8 MFLAGS
Description
MFLAGS is an integer array, with one element for each axis in the system, each element of which
contains a set of bits used for configuring the motor.
Syntax
MFLAGS(axis_index).bit_designator = 0|1
Arguments

Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number
axis_index
of axes in the system minus 1.

bit_designator The MFLAGS bit designators are given in MFLAGS Bit Designators.

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Table 5-3. MFLAGS Bit Designators

Name No. Description

0 (default) = The axis is defined as non-dummy.

1 = The axis is defined as dummy. A
dummy axis is an inactive axis which is
not connected to a drive and a motor.
When an axis is defined as a dummy the
following apply:
> In SPiiPlus controllers, excluding Control
#DUMMY 0
Modules, the two analog outputs of the
axis can be used as General Purpose
outputs.
> In all SPiiPlus products: all faults of the
axis are disabled.
> In all SPiiPlus products ENABLE/ENABLE
ALL is disabled.

0 (default): Closed-loop control - for servo motors

only.
#OPEN 1 1: Open-loop control. In open loop control the user
defines the value of the command/s to the drive
with variable DCOM.

0 (default): If MFLAGS.#PHASE2 = 1 – motor

operated in full step mode.
If MFLAGS.#PHASE2 = 0 – bit is ignored
#MICRO 2 1: If MFLAGS.#PHASE2 = 1 – motor operated in
micro step mode.
If MFLAGS.#PHASE2 = 0 – #MICRO bit should be
cleared

0 (default): Axis homing procedure not done.

1: Axis homing procedure done.
This bit is changed by the ACSPL+ HOME command
#HOME 3 after a successful homing process.
E_TYPE and other encoder initialization processes
will reset the bit.
The controller clears the bit during power-up.

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Name No. Description

#STEPPER is applicable only for PDMnt products.

0 (default): Axis is defined as a servo motor.
#STEPPER 4
1: Axis is defined as a pulse-direction stepper
motor in open loop.

#ENCLOOP is not applicable for NT products.

0 (default): Stepper feedback loop is not active.
1: The axis provides a stepper feedback loop. In
this case the FPOS(axis_index) variable will
#ENCLOOP 5
indicate the number of pulses that were sent to
the pulse-direction stepper drive and not the
encoder counts - if an encoder is connected and
#STEPENC (bit 6 = 1). #ENCLOOP is effective only if
#STEPPER (bit 4) = 1.

0 (default): Stepper encoder feedback loop is not

active.
1: The controller provides an encoder feedback to
the pulse-direction stepper. In this case, the FPOS
(axis_index) variable will indicate the quadrature
#STEPENC 6 encoder counts, and not the stepper pulse-
direction pulses if #ENCLOOP (bit 5 = 1).
#STEPENC is effective only if #STEPPER (bit 4) = 1.
The encoder feedback is used for monitoring the
axis position by a user application, and does not
affect the open loop control of the stepper motor.

#NANO is applicable only for UDMnt-x (new

revision) and UDIhp-x products.
0 (default): Defines the axis as a servo or stepper
#NANO 7
motor.
1: Defines the axis as a Nanomotion piezo ceramic
motor.

0 (default): The motor is a non-DC brushless type

or the amplifier provides commutation itself and
uses one ±10V input from the controller.
#BRUSHL 8 1: The controller provides commutation for the DC
brushless motor. The bit must be set only if the
controller is connected to a three-phase amplifier
with two-phase input commands.

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Name No. Description

#BRUSHOK is applicable only for DC Brushless

motors when #BRUSHL(bit 8)=1.
0 (default): DC brushless motor is not
commutated.
#BRUSHOK 9
1: DC brushless motor is commutated. After
power-up the controller clears the bit. The
controller automatically sets this bit =1 only after a
successful commutation or auto-commutation
processes.

0 (default): Two phase motor is not selected.

#PHASE2 10
1: Two phase motor is selected.

0 (default): Dynamic brake is disabled

1: The controller will apply dynamic braking to stop
#DBRAKE 11 the motor when the axis is disabled and the
feedback velocity is less than the predefined value
of VELBRK. See the SPiiPlus Setup Guide, Dynamic
Brake for a complete explanation.

0 (default): Encoder counting is non-inverted.

#INVENC 12 1: The controller inverts the direction of encoder

counting. This does not affect the motion
direction.

0 (default): Drive output command/s are not

inverted.
#INVDOUT 13 1: The controller inverts the drive output
command/s. This effectively inverts the direction
of the motion and the sign of the feedback.

0 (default): Notch filter is disabled.

#NOTCH 14
1: Notch filter is active

0 (default): The control algorithm includes a

second-order filter specified by bandwidth
#NOFILT 15 SLVSOF.
1: The control algorithm by-passes the second-
order filter.

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Name No. Description

0 (default): First BiQuad Filter is disabled.

#BI_QUAD 16
1: First BiQuad Filter is active.

0: CONNECT is allowed. See CONNECT.

1 (default): The controller applies the default
connection between APOS and RPOS (RPOS).
#DEFCON 17 While #DEFCON = 1, the controller does not accept
CONNECT for the axis.
The bit is reset to 1 every time the controller is
restarted.

0 (default): not available

1: For working with 5mHz SIN-COS encoders

#FASTSC 18
Bit must be set to 1 in the middle of
quadrant.

0: Enable time is defined by ENTIME, or when the

drive switches its drive alarm signal to the inactive
state - whichever comes first. If the signal remains
#ENMOD 19 active more than ENTIME milliseconds,
ENABLE/ENABLE ALL fails.
1 (default): The value of ENTIME defines the enable
time.

0 (default): The control algorithm implements a

regular single-loop scheme.
1: The control algorithm implements a dual-loop
#DUALLOOP 20
scheme.
See SPiiPlus Setup Guide, Appendix B for further
details.

0 (default): The axis is defined as rotary.

#LINEAR 21
1: The axis is defined as linear.

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Name No. Description

0 (default): Controller doesn’t automatically

retrieve the commutation phase according to the
absolute encoder after powerup.
#ABSCOMM 22
1: The axis is using absolute encoder feedback for
commutation and the controller automatically
retrieves the commutation phase after powerup.

0 (default): The controller does not provide

mechanical brake control.
1: The brake is deactivated when the motor is
#BRAKE 23 enabled and activated when the motor is disabled.
For detailed description, see commands
ENABLE/ENABLE ALL and DISABLE/DISABLEALL,
and variables BOFFTIME, BONTIME variables.

24 N/A

0 (defaults): standard (SISO) PIV control scheme.

#GANTRY 25
1: gantry control (MIMO) scheme.

(default): Second BiQuad Filter is disabled.

#BI_QUAD1 26
1: Second BiQuad Filter is active.

#HALL applies only to DC brushless

motors when #BRUSHL (bit 8) =1.
#HALL 27
0 (default): Commutation is not based on Hall
signals.
1: Commutation is based on Hall signals.

#INVHALL applies only for DC

brushless motors when #BRUSHL (bit
8) =1.
#INVHALL 28

0 (default): Motor Hall signals counting direction is

not inverted.
1: Motor Hall signals counting direction is inverted.

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Name No. Description

0 (default): Axis is defined as non-modulo.

1: Axis is defined as MODULO. In MODULO mode,
physically, the motion of the axis is not limited, but
each time RPOS goes out of the defined
#MODULO 29
SLPMIN...SLPMAX range, the controller brings
RPOS into range by changing the internal offset
EOFFS.
See SLPMAX and SLPMIN.

The functionality of this bit can be defined by the

user.
#USER1 30
0 (default): Functionality not defined
1: User defined functionality

The functionality of this bit can be defined by the

user.
#USER2 31
0 (default): Functionality not defined
1: User defined functionality

Tag
88
Comments
MFLAGS is typically configured using the SPiiPlus MMI Application Studio g Toolbox g Setup g
Adjuster when setting the Dynamic Brake.
Use direct bit assignment for on-the-fly changes, for example, from closed-loop operation to the
open-loop and vice versa.
Accessibility
Read-Write

MFLAGS values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Commands

CONNECT, ENABLE/ENABLE ALL, GETCONF
Related ACSPL+ Variables
SLPROUT, APOS, RPOS
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable

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C Library Functions
acsc_ReadInteger, acsc_WriteInteger

3.1.9 MFLAGSX
Description
MFLAGSX is an integer array with one element for each axis in the system, each element of which
contains a set of bits used for configuring the motor. It is an extension of the MFLAGS variable.
Syntax

MFLAGSX(Axis_Index).bit_designator = 0|1

Arguments

Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number
Axis_Index
of axes in the system minus 1.

Bit_designator An MFLAGSX bit designator as described below

MFLAGSX Bit Designators

Bit Name No. Description

0 (default): Do not use position correction for Stepper

motors working under closed loop.
1: Activate Full mode of the stepper closed loop position
#STCLFULL 0
correction mechanism .
This bit is mutually exclusive to #STCLEND and #STCLSP, as
such only one of them may be 1 at a time.

0 (default): Do not use position correction for Stepper

motors working under closed loop
1: Activate End mode of the stepper closed loop position
#STCLEND 1
correction mechanism
This bit is mutually exclusive to #STCLFULL and #STCLSP, as
such only one of them may be 1 at a time.

0 (default): Do not use servo processor closed-loop stepper

algorithm
#STCLSP 2
1: Use servo processor closed-loop stepper algorithm
Mutually exclusive to #STCLFULL,#STCLEND.

0: Use current mode for control

#VOLTMODE 3 1: Use voltage mode instead of current mode to
compensate for low resolution

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Bit Name No. Description

0: Left/Right limit signal swapping is disabled

#HLIMSWAP 4
1: Left/Right limit signal swapping is enabled

1: Saturation Protection enabled (default)

#SATPROT 5
0: Saturation Protection disabled

Tag
357
Comments
When saturation protection (MFLAGSX.#SATPROT=1) is currently available for the following
products: NPMpm, UDMxx, IDMxx.
This variable is supported in ADK versions 2.70 and higher.
Related ACSPL+ Variables
SLSKI, SLSKP, SLSDZ
Accessibility
Read-Write

MFLAGSX values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio→Toolbox→Application Development→ Protection

.NET Library Method

ReadVariable(), WriteVariable()
C Library Function
acsc_ReadInteger(), acsc_WriteInteger()

3.1.10 MODULOMD
Description
MODULOMD is an integer array, with one element for each axis in the system, the elements of which
are used for storing the mode of a modulo axis.
Syntax

MODULOMD(axis_index) = mode

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Arguments

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axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

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Valid values are:

> 0(default) – The axis feedback changes between the specified minimal
(SLPMIN) and maximal(SLPMAX) positions. The reference
position RPOS of the modulo axis changes in the range
from SLPMIN to SLPMAX inclusively. Physically, the motion of
the modulo axis is not limited, but each time when the RPOS comes
out from range SLPMIN…SLPMAX, the controller brings RPOS into the
range by changing the internal offset EOFFS. In the case of a default
connection, the modulo operation also affects the APOS value
(APOS=RPOS).
> 1 (No-Pass-Through-Rollover) - Every Motion from will avoid moving
through the Rollover point (where SLPMIN and SLPMAX are
topologically united). This also applies to Motion Commands that
exceed the Modulo range as set by SLPMAX($) and SLPMIN($).
Example:
Assume SLPMIN(axis_index)=0 and SLPMAX(axis_index)=360, FPOS
(axis_index) is reported as 30, and a Relative point-to-point command
is issued:

PTP/r axis_index, 570

mode Internal calculations will determine that the target position is (30 + 570)
% 360 = 240, motion will be in positive direction passing through 180
point to 240.

> 2 (Positive motion only) - Every Motion Command (excluding Jog) will
cause the Axis to move in the positive Direction to the modulo of the
Target Position. This also applies to motion commands that exceed the
range set by SLPMAX(axis_index) and SLPMIN(axis_index).
Example 1:
Assume SLPMIN(axis_index)=0 and SLPMAX(axis_index)=360, FPOS
(axis_index) is reported as 30, and a relative point to point command is
issued:

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PTP/r axis_index, 540

Internal calculations will determine that the target position is (30 +

540) % 360 = 210, motion will be in positive direction passing through
180 to 210.

Example 2:
Assume SLPMIN(axis_index)=0 and SLPMAX(axis_index)=360, FPOS
(axis_index) is reported as 30, and a point-to-point command is issued:

PTP axis_index, 20

Internal calculations determine that the target position is 20 % 360 =

20, the motion will be in positive direction passing through 180 and
360 point to 20 point.

> 3 (Negative motion only) - Every Motion Command (excluding Jog) will
cause the Axis to move in the negative direction to the modulo of the
target position. This also applies to motion commands that exceed the
Modulo range as set by SLPMAX(axis_index) and SLPMIN(axis_index).
Example:
Assume SLPMIN(axis_index)=0 and SLPMAX(axis_index)=360, FPOS
(axis_index) is reported as 30, and a Relative point-to-point command

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is issued:

PTP/r axis_index, 540

Internal calculations will determine that the target position is (30 +

540) % 360 = 210, motion will be in negative direction passing through
0 and 270 point to 210.

> 4 (Shortest-Path) - Each motion command will be analyzed to

determine the shortest rotational distance between current position
and target position, possibly moving through the Roll-Over point. This
also applies to motion Commands that exceed the modulo range as
set by SLPMAX(axis_index) and SLPMIN(axis_index).
Example 1:
Assume SLPMIN(axis_index)=0 and SLPMAX(axis_index)=360, FPOS
(axis_index) is reported as 30, and a relative point-to-point command
is issued:

PTP/r axis_index, 510

Internal calculations determine that the target position is (30 + 510) %

360 = 180, motion will be in positive direction passing through 120
point to 180.

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Example 2:
Assume SLPMIN(axis_index)=0 and SLPMAX(axis_index)=360, FPOS
(axis_index) is reported as 30, and a point-to-point command is issued:

PTP axis_index, 0

Internal calculations determine that the target position is 0 % 360 = 0,

motion will be in negative direction passing through 15 point to 0.

Tag
417
Comments
The MFLAGS(axis).#MODULO bit needs to be set(1) for the axis to operate as a modulo axis.
All motion commands are calculated such that the resulting motion spans less than the Modulo
range (SLPMAX(axis) – SLPMIN(axis)).
Axis modulo mode will not change the EPOS value as it does for RPOS and FPOS.
If an axis modulo mode has been turned off (MFLAGS(axis).#MODULO=0), then, EPOS is updated
with the current FPOS value (by definition, EPOS = FPOS in a non-modulo mode).
Related ACSPL+ Variables
SLPMIN, SLPMAX, MFLAGS.#MODULO
Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable(), WriteVariable()
C Library Function
acsc_ReadInteger(), acsc_WriteInteger()

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3.1.11 PEGQUE
Description
PEGQUE is an integer array with one element for each PEG engine in the system, the elements of
which store the current state of PEG FIFO for that engine (the items count in the FIFO) . The
parameter is updated as long as its value is different from 0.
Syntax
PEGQUE
Arguments
Tag
371
Comments
This variable is supported in version 3.00 and higher.
Accessibility
Read-Only
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger

3.1.12 SETTLE
Description
SETTLE is a real array, with one element for each axis in the system, and is used for setting the
Settling Time. SETTLE and TARGRAD affect the state of MST(axis_index).#INPOS.
Syntax
SETTLE(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value Value in milliseconds, ranges from 0 to 1.79769e+308. Default = 0.

Tag
123
Comments
When the motor is not moving, the controller compares the position error (PE value) and the target
envelope (TARGRAD value) every MPU cycle. #INPOS is raised when PE drops to within the range (-
TARGRAD, +TARGRAD) and remains within the range for a period of time equal or greater than
SETTLE.
If the motor starts to move or PE goes out of the range, MST(axis_index).#INPOS is cleared.

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Accessibility
Read-Write

SETTLE values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Variables

TARGRAD, MST, PE
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.1.13 SLPMAX
Description
SLPMAX is a real array, with one element for each axis in the system, the elements of which are
used for storing the maximum range of a modulo axis.
Syntax
SLPMAX(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value Value ranges from -1.79769e+308 to 1.79769e+308. Default = 8000.

Tag
194
Comments
SLPMAX stores the maximum range of a modulo axis, see MFLAGS. #MODULO (bit 29). SLPMAX can
be changed only when the motor is disabled.
Accessibility
Read-Write

SLPMAX values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Variables

SLPMIN, EOFFS

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COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.1.14 SLPMIN
Description
SLPMIN is a real array, with one element for each axis in the system, the elements of which are used
for storing the minimum range of a modulo axis.
Syntax
SLPMIN(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value Value ranges from -1.79769e+308 to 1.79769e+308. Default = 0.

Tag
195
Comments
SLPMIN stores the minimum range of a modulo axis, see MFLAGS. #MODULO (bit 29). SLPMIN can be
changed only when the motor is disabled.
Accessibility
Read-Write

SLPMIN values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Variables

SLPMAX, EOFFS
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.1.15 STEPF
Description
STEPF is a real array, with one element for each axis in the system, and is used for defining the ratio
between user units and one stepper pulse. See the SPiiPlus Setup Guide , Stepper Drive section for

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more information.
Syntax
STEPF(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value ranges from 1e-015 to 1e+015, Default = 1.

Tag
129
Comments
STEPF = 1 (default) means that motion is performed in motor steps. For example,

PTP/R 0,320
will move the motor by 320 steps from the current position.
If another unit is required for motion programming, the user must configure an appropriate value
for STEPF. For example, a controlled plant provides a gear ratio of 500 motor pulses per inch. If the
motion programming unit must be provided in inches, the configured STEPF value must be 0.002
(1/500).
Accessibility
Read-Write

STEPF values cannot be modified if protection is applied to this variable through SPiiPlus
MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.1.16 STEPW
Description
STEPW is a real array, with one element for each axis in the system, and is used for defining the
pulse width, in milliseconds, for the stepper motor. See the SPiiPlus Setup Guide , Stepper Drive
section for more information.
Syntax
STEPW(axis_index) = value

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Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value Value ranges from 0.00012 to 0.08. Default = 0.001.

Tag
130
Comments
The value defines the width of the pulses generated on the pulse output for stepper control.
Accessibility
Read-Write

STEPW values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.1.17 TARGRAD
Description
TARGRAD is a real array, with one element for each axis in the system, and is used for defining the
parameters for MST(axis_index).#INPOS.
Syntax
TARGRAD(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value Value ranges from 2.22507e-308, 1.79769e+308. Default = 1.

Tag
132
Comments
When the motor is enabled but in a standstill position, the controller compares PE to the target
envelope (TARGRAD) each MPU cycle. #INPOS = 1 when PE moves into the defined range (-
TARGRAD, +TARGRAD) and remains within that range for a period of time equal or greater than
defined by SETTLE.

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If the motor starts to move or goes out of range, #INPOS is cleared.

Accessibility
Read-Write

TARGRAD values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Variables

SETTLE, MST(axis_index).#INPOS, PE
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.2 Brake Variables

The Brake variables are:

Name Description

BOFFTIME Brake Deactivation Time

BONTIME Brake Activation Time

Set the supplier for the mechanical break output signal of an axis as a
MBRKROUT
specified digital output bit

VELBRK Braking Velocity

3.2.1 BOFFTIME
Description
BOFFTIME is a real array, with one element for each axis in the system, and is used for specifying the
brake release time in milliseconds.
Syntax
BOFFTIME(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value Value ranges from -1.79769e+308 to 1.79769e+308. Default = 50.

Tag
9

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Accessibility
Read-Write

BOFFTIME values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

Comments
See the ACSPL+ Programmer's Guide for information about using a mechanical brake on system
startup.
Related ACSPL+ Commands
ENABLE/ENABLE ALL - The brake is deactivated automatically when the ENABLE command is
executed.
Related ACSPL+ Variables
MFLAGS
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.2.2 BONTIME
Description
BONTIME is a real array, with one element for each axis in the system, and is used for specifying the
brake engagement time in milliseconds.
Syntax
BONTIME(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value Value ranges from -1.79769e+308 to 1.79769e+308. Default = 50.

Tag
10
Accessibility
Read-Write

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BONTIME values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

Comments
See the ACSPL+ Programmer's Guide for information about using a mechanical brake on system
startup.
Related ACSPL+ Commands
DISABLE/DISABLEALL, FCLEAR, DISABLEALL

The brake is activated automatically when the DISABLE command is executed.

Related ACSPL+ Variables

MERR, FPOS, RPOS
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.2.3 MBRKROUT
Description
MBRKROUT is an integer array, with one element for each axis in the system, and is used for setting
the supplier for the mechanical brake output signal of an axis as a specified digital output bit(ACSPL+
OUT).
Syntax
MBRKROUT(Axis_Index) = value
Arguments

Designates the specific axis. Valid numbers are: 0, 1, 2, ... up to the number of
Axis
axes in the system minus 1.

Value is a 4-digit number (decimal): <NNOO> where:

> NN - digital output index (00-99)
> OO – specified output bit (00-31)
Value
The default value is -1, in which case the mechanical brake default assignment
will be used.
If Value is set to -2, the assignment for the axis is canceled and the output
reverts to standard digital output behavior

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Tag
381
Comments
This variable can be saved to flash memory. In other words, the mapping of a mechanical brake
output using this variable will automatically occur on controller boot without the need to
reconfigure it .
The following errors are supported:
> Error 3330: “Invalid value, digital output index should range between 0-99 and bit index
should range between 0-31”
> Error 3332: “This output is already mapped as a mechanical brake to a different axis”
> The ACSPL+ variable bit MFLAGS(Axis_Index). #BRAKE should be set to 1 in order to enable
the mechanical brake for the specified axis.
If a mechanical brake is already defined for a specific axis (meaning that MBRKROUT(axis) is not -1 or
-2), and the user wants to set a different brake for the axis (meaning to change MBRKROUT(axis)
value): the user must first revert the output to standard digital output (MBRKROUT(axis)=-2), and
then define the new brake routing (MBRKROUT(axis)=output_value).
This variable is supported in V3.03 and higher.
Examples
Suppose the UDMmc driver is used as Node 0 on the network. There are 4 brakes in this driver.

MBRKROUT(0) = -2 ! Cancels assignment for axis 0. In other words,

! the output reverts to general purpose digital output
! and is controlled by the commands: OUT0.8 = 1 or OUT0.8=0

MBRKROUT(1) = -2 ! Cancels assignment for axis 1. In other words,

! the output reverts to general purpose digital output
and is controlled by the commands: OUT0.9 = 1 or OUT0.9=0

MBRKROUT(2) = -2 ! Cancels assignment for axis 2. In other words,

! the output reverts to general purpose digital output
! and is controlled by the commands: OUT0.10 = 1 or OUT0.10=0

MBRKROUT(3) = -2 ! Cancels assignment for axis 3. In other words,

! the output reverts to general purpose digital output
! and is controlled by the commands: OUT0.11 = 1 or OUT0.11=0

Non-Default Mechanical Brake assignment example:

MBRKROUT(0) = 1000 ! OUT(10).0 - bit 0 of output index 10

! is defined as mechanical brake signal for axis 0.

Related ACSPL+ Variables

MFLAGS

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Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.2.4 VELBRK
Description
VELBRK is a real array, with one element for each axis in the system, and is used for defining
dynamic braking.
Syntax
VELBRK(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value Value ranges from 0 to 1.79769e+308. Default = 0.

Tag
140
Comments
If MFLAGS(axis_index).#DBRAKE is = 1, the controller will apply dynamic braking to stop the motor
when the axis is disabled and the feedback velocity is less than the predefined value of VELBRK.
Accessibility
Read-Write

VELBRK values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Variables

MFLAGS(axis_index).#DBRAKE
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.3 Feedback Variables

The Feedback variables are:

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Name Description

E_AOFFS Sets user-defined offset for absolute encoder

E_FLAGS Configuration bits for absolute encoder.

Sets user-defined offset for absolute encoder

E2_AOFFS
secondary feedback

E2_FLAGS Defines the Encoder Direction Inverse

E_FREQ Encoder frequency

Defines the maximum encoder pulse

E2_FREQ
frequency (in MHz) for secondary feedback.

E_PAR_A Data transmission actual frequency.

Sets the encoder data transmission frequency

E2_PAR_A
in MHz

E_PAR_B Data control CRC code.

E2_PAR_B Sets the encoder data control CRC code

The interval (in microseconds) of encoder

E_PAR_C
position reading.

Sets the interval (in microseconds) of encoder

E2_PAR_C
position reading.

Number of status bits (LSB) in the real-time

E_PAR_D
position data (SLABITS).

Defines the number of status bits (LSB) in the

E2_PAR_D
real-time position data

E_PAR_E MASK for setting error bits.

E2_PAR_E Defines a mask for setting error bits.

E_SCMUL Encoder Sin-Cos Multiplier

Specifies the Sin-Cos multiplication factor for

E2_SCMUL
the encoder

E_TYPE Encoder Type

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Name Description

Defines the encoder type for the secondary

E2_TYPE
feedback

EFAC Encoder Factor

E2FAC Secondary Encoder Factor

EOFFS Axis Encoder Offset

E2OFFS Axis Encoder Offset for Secondary Encoder

EPOS Shows the encoder feedback

Integer array defining homing method for each

HOMEDEF
axis

Array of doubles defining the default homing

HOMEVELI velocity used by each axes for index search
during ACPSL+ HOME command

Array of doubles defining the default homing

HOMEVELL velocity used for limit search during ACPSL+
HOME command

FVFIL Primary Feedback Velocity Filter

Defines the feedback acceleration value of the

F2ACC
axis

RVFIL Reference Velocity Filter

SCSOFFS Defines the sine offset.

SCCOFFS Defines the cosine offset.

SC2COFFS Defines the Sin-Cos Cosine offset

A Sin-Cos encoder gain compensation variable

SC2GAIN used to compensate the Cosine signal for an
improper amplitude relative to the Sine signal

A Sin-Cos encoder phase compensation

variable and is used to compensate the Cosine
SC2PHASE
signal for an improper phase difference relative
to the Sine signal

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Name Description

SC2SOFFS Defines Sin-Cos Sine offset

SLEBIASA Defines firmware sine offset.

SLEBIASB Defines hardware cosine offset.

Defines the Sin-Cos encoder’s hardware

SLEBIASC
compensation for the Sine offset

Defines the Sin-Cos encoder’s hardware

SLEBIASD
compensation for the Cosine offset

Total number of absolute position bits for an

SLABITS
absolute encoder

Sets the total number of absolute position bits

S2LABITS for an absolute encoder connected to a
secondary feedback

SCGAIN Feedback gain compensation variable

SCPHASE Feedback phase compensation variable

3.3.1 E_AOFFS
Description
E_AOFFS is an integer array, with one element for each axis in the system, and is used for setting
user-defined offset for absolute encoder.
Comments
Modifying E_AOFFS causes absolute encoder initialization.
The EOFFS variable is being modified according to E_AOFFS’ value:
EOFFS=EOFFS-E_AOFFS.
Tag
300
Accessibility
Read-Write
Com Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

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3.3.2 E_FREQ
Description
E_FREQ is an integer array, with one element for each axis in the system, and is used for defining the
maximum encoder pulse frequency (in MHz).
Syntax
E_FREQ(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

Value of each member can be one of:

> 2 (shown as 2MHz but practically is 2.5MHz, default for an analog Sin-
value Cos encoder)
> 20 (default for a digital encoder)
> 60

Tag
27
Comments
The encoder is represented in the controller as a synchronous state machine that is activated by a
clock, with programmable frequency in the SPiiPlus processor.
E_FREQ provides three optional clock rates that define the maximum encoder pulse frequency (in
MHz) measured after an internal 4x multiplication.
In general, using a higher E_FREQ enables to read a higher rate of encoder input. However, the
electrical noise immunity is reduced and Encoder Error FAULT might occur. Per case, it is
recommended to use the lowest possible E_FREQ that does not generate an Encoder Error FAULT. In
case of an Encoder Error, do FCLEAR (axis_index) and try a higher E_FREQ value.
For more information, see the "Encoder Input Clock" section in the SPiiPlus Setup Guide.
Accessibility
Read-Write

E_FREQ values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

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3.3.3 E2_AOFFS
Description
E2_AOFFS is an integer array, with one element for each axis in the system, and is used for setting
user-defined offset for absolute encoders for the secondary feedback.
Comments
Modifying E2_AOFFS causes absolute encoder initialization.
The E2OFFS variable is modified according to E2_AOFFS’ value:
E2OFFS=EOFFS-E2_AOFFS.
Tag
377
Accessibility
Read-Write
Com Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

3.3.4 E2_FREQ
Description
E2_FREQ is an integer array, with one element for each axis in the system, and is used for defining
the maximum encoder pulse frequency (in MHz) for secondary feedback.
Syntax
E2_FREQ(axis_index)=value
Arguments

axis_ Designates the specific axis, valid numbers are: 0,1,2,… up to the number of
index axes in the system minus 1.

Value of each member can be one of the following:

> 2 (shown as 2MHz but practically is 2.5 MHz, default for an analog Sin-
value Cos encoder)
> 20 (default for a digital encoder)
> 60

Tag
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Comments
The encoder is represented in the controller as a synchronous machine that is activated by a clock,
with programmable frequency in the SPiiPlus processor.

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E2_FREQ provides three optional clock rates that define the maximum encoder pulse frequency (in
MHz) measured after an internal 4x multiplication.
In general, using a higher E2_FREQ enables to read a higher rate of encoder input. However, the
electrical noise immunity is reduced and Encoder Error FAULT might occur. Per case, it is
recommended to use the lowest possible E2_FREQ that does not generate an Encoder Error FAULT.
In case of an Encoder Error, FCLEAR(axis_index) command should be executed and a higher E2_FREQ
value should be set.
For more information, see the "Encoder Input Clock" section in the SPiiPlus Setup Guide.
Accessibility
Read-Write
Com Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

3.3.5 E_FLAGS
Description
E_FLAGS is an integer array, with one element for each axis in the system. Each element contains
different configuration bits for absolute encoder.
Syntax
E_FLAGS(axis_index) = value Arguments
Arguments

Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number
axis_index
of axes in the system minus 1.

bit_designator The meanings of bit_designator are given in Table 5-4.

Table 5-4. E_FLAGS Bit Description

Bit Name No. Description

#ERRLOGIC 0 Encoder Error Logics

#UNSIGND 1 Unsigned Mode

#INVERSE 2 Encoder Direction Inverse

0: continuous commutation correction is disabled

#HALLCORR 3
1: continuous commutation is enabled

0: Gray Code mode is disabled

#GRAYCODE 4
1: Gray Code mode is enabled

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Comments
#ERRLOGIC defines the status bits logic (0 or 1). The default value is 0. The Encoder 1 Error (#ENC) bit
of the ACSPL+ FAULTS variable is triggered if the error is latched (based on the error bit logics).
If E_PAR_E is not set (0), #ERRLOGIC’s value has no meaning.
#UNSIGNED defines the Absolute Encoder Position mode. It can be unsigned (1) or signed (0). The
default mode is signed for backward compatibility.
#INVERSE
When the bit is ON, the DSP is being notified and sends the position inverted. FW inverts the EOFFS
variable as well.
The bits applies for all types of encoders.
The bit change event causes the FW to reinitialize the absolute encoder.
The bit cannot be changed if the axis is enabled.
Changing this bit may require changing the drive polarity (MFLAGS bit 13) or repeat commutation.
In case of a brushless motor, after the bit is changed the commutation will no longer be correct and
the user should repeat the Adjuster commutation.
In case of a brush motor, the user should re-verify the drive polarity in the Adjuster by running Open
Loop Verification.

Failure to repeat the Adjuster Commutation and Open Loop Verification may result
critical position error, over current faults and in certain cases motor run away.

Tag
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Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteg

3.3.6 E2_FLAGS
Description
E2_FLAGS is an integer array, with one element for each axis in the system. Used for the secondary
feedback. Each element contains different configuration bits for absolute encoder, in current version
it includes 3 bits.

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E2_FLAGS Bit Description

Bit Name Number Description

#ERLOGIC 0 Encoder Error Logics

#UNSIGND 1 Unsigned Mode

#INVERSE 2 Encoder Direction Inverse

#ERRLOGIC defines the logics of the status bits – can be 0 or 1. If E2_PAR_E is not set (value equals to
0), ERRLOGIC value has no meaning. The default value is 0. Encoder 1 Error (#ENC) bit of the ACSPL+
FAULTS variable is triggered if error is latched (based on the error bit logics).
#UNSIGNED defines the Absolute Encoder Position mode – can be unsigned (1) or signed (0). The
default mode is signed for backwards compatibility.
#INVERSE defines if the position is inverted on the DSP level. If the bit is set, the DSP sends the
position inverted. FW inverts EOFFS variable.
Arguments

The specific axis index. Valid numbers are: 0,1… up to the number of axes
axis
in the system, minus 1.

bit_designator The meanings of bit_designator are defined in the table above.

Tag
309
Comments
The bits applies for all types of encoders.
The bit change event causes the FW to reinitialize the absolute encoder.
Accessibility
Read-Write
Com Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

3.3.7 E_PAR_A
Description
E_PAR_A is used for setting the encoder data transmission actual frequency in MHz. It is a double
array, with one element for each axis in the system.
Syntax
E_PAR_A(axis) = value

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Arguments

The specific axis index. Valid numbers are: 0, 1... up to the number of axes in the
axis
system, minus 1.

value The encoder data transmission actual frequency in MHz ranging from 1.25 to 10.

For the IDMsm/ECMsm/UDMsm products using the EnDAT encoder, only the following
values are allowed for the value parameter: 0.1, 0.2, 1, 2, 4, 8, 16.

This variable is supported only for BiSS encoders (in all products) and EnDAT encoders
(IDMsm/ECMsm/UDMsm products only).

Tag
248
Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.3.8 E2_PAR_A
Description
E2_PAR_A is used for setting the encoder data transmission actual frequency in MHz. it is a double
array, with one element for each axis in the system. Used for Secondary Feedback.
Syntax
E2_PAR_A (axis_index)=value
Arguments

Designates the specific axis, valid numbers are: 0,1,2,… up to the number of
axis
axes in the system minus 1.

value The encoder data transmission actual frequency in MHz ranging from 1.25 to 10.

For the IDMsm/ECMsm/UDMsm products using the EnDAT encoder, only the following
values are allowed for the value parameter: 0.1, 0.2, 1, 2, 4, 8, 16.

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This variable is supported only for BiSS encoders (in all products) and EnDAT encoders
(IDMsm/ECMsm/UDMsm products only).

Tag
304
Accessibility
Read-Write
Com Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

3.3.9 E_PAR_B
Description
E_PAR_B is used for setting the encoder data control CRC code. It is an integer array, with one
element for each axis in the system.
Syntax
E_PAR_B(axis) = value
Arguments

The specific axis index. Valid numbers are: 0, 1... up to the number of axes in the
axis
system, minus 1.

value The encoder data control CRC code ranging from 0 to 255.

Tag
267
Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

3.3.10 E2_PAR_B
Description
E2_PAR_B is used for setting the encoder data control CRC code. it is an integer array, with one
element for each axis in the system. Used for Secondary Feedback.

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Syntax
E2_PAR_B (axis_index)=value
Arguments

Designates the specific axis, valid numbers are: 0,1,2,… up to the number of
axis
axes in the system minus 1.

value The encoder data control CRC ranging from 0 to 255.

Tag
305
Accessibility
Read-Write
Com Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

3.3.11 E_PAR_C
Description
E_PAR_C is used for setting the interval (in microseconds) of encoder position reading. It is an
integer array, with one element for each axis in the system. The default value is 0 which means 50
microseconds.
Syntax
E_PAR_C(axis) = value
Arguments

The specific axis index. Valid numbers are: 0, 1... up to the number of axes in the
axis
system, minus 1.

value The interval of encoder position reading in microseconds, valid range [0,..3]

Valid Values

0 50 microseconds

1 100 microseconds

2 200 microseconds

3 400 microseconds

Tag
258

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Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

3.3.12 E2_PAR_C
Description
E2_PAR_C is used for setting the interval (in microseconds) of encoder position reading. it is an
integer array, with one element for each axis in the system. Used for Secondary Feedback. The
default value is 0 which means 50 microseconds.
Syntax
E2_PAR_C (axis_index)=value
Arguments

Designates the specific axis, valid numbers are: 0,1,2,… up to the number of
axis
axes in the system minus 1.

value The interval of encoder position reading in microseconds valid range [0,..3]

Valid Values

0 50 microseconds (default)

1 100 microseconds

2 200 microseconds

3 400 microseconds

Tag
306
Accessibility
Read-Write
Com Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

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3.3.13 E_PAR_D
Description
E_PAR_D defines number of status bits (LSB) in the real-time position data (SLABITS). The status bits
include warning and error bits. These bits are not part of the real-time position.
E_PAR_D is represented as an integer array with the size of maximum axes; each element for each
axis in the system. The default value is 0 which means no status bits at all. Maximum value is 16.
Syntax
E_PAR_D(axis) = value
Arguments

The specific axis index. Valid numbers are: 0, 1... up to the number of axes in the
axis
system, minus 1.

value Number of status bits; the range is [0, 16].

Tag
266
Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

3.3.14 E2_PAR_D
Description
E2_PAR_D defines number of status bits (LSB) in the real-time position data. The status bits include
warning and error bits. These bits are not part of the real-time position. it is an integer array, with
one element for each axis in the system. Used for Secondary Feedback. The default value is 0 which
means no status bits at all. Maximum value is 16.
Syntax
E2_PAR_D (axis_index)=value
Arguments

Designates the specific axis, valid numbers are: 0,1,2,… up to the number of
axis
axes in the system minus 1.

value Number of status bits; the range is [0,16].

Tag
307

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Accessibility
Read-Write
Com Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

3.3.15 E_PAR_E
Description
E_PAR_E defines a mask for setting error bits. It is an integer array, with one element for each axis in
the system. The default value is 0, which means no error bit is set. All bits that are not defined in the
mask but covered by E_PAR_D are considered as warning bits.
Syntax
E_PAR_E(axis) = value
Arguments

The specific axis index. Valid numbers are: 0, 1... up to the number of axes in the
axis
system, minus 1.

Error bits MASK; minimum value is 0 (default – no error bits). The range is [0,2E_
value PAE_D-1]

Tag
267
Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

3.3.16 E2_PAR_E
Description
E2_PAR_E defines a mask for setting error bits. It is an integer array, with one element for each axis
in the system. Used for the secondary [Link] default value is 0, which means no encoder
error will be triggered. All bits that are not set in the mask but covered by E2_PAR_D are defined as
warning bits.
Syntax
E2_PAR_E (axis_index)=value

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Arguments

Designates the specific axis, valid numbers are: 0,1,2,… up to the number of
axis
axes in the system minus 1.

Error bits MASK; minimum value is 0 (default – no error bits). The range is
value
[0,2E2_PAR_D-1]

Tag
308
Accessibility
Read-Write
Com Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

3.3.17 E_SCMUL
Description
E_SCMUL is an integer array, with one element for each axis in the system, and is used for specifying
the SinCos multiplication factor for the encoder. The value specifies the multiplication factor as a
power of 2. The maximum value of 16 indicates a multiplication factor of 65536 = 216; the minimum
value of 2 indicates a multiplication factor of 4 = 22.
Syntax
E_SCMUL(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value Value ranges from 2 to 16. Default = 10.

Tag
28
Comments
E_SCMUL specifies the Sin-Cos multiplication factor as a power of 2. The maximum value of 16
corresponds to a multiplication of 65536 = 216. The minimum value of 2 corresponds to a
multiplication of 4 = 22.
Accessibility
Read-Write

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E_SCMUL values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

3.3.18 E2_SCMUL
Description
E2_SCMUL is an integer array, with one element for each axis in the system, and is used for
specifying the SinCos multiplication factor for the encoder. Used for secondary feedback. The value
specifies the multiplication factor as a power of 2. The maximum value of 16 indicates a
multiplication of 65536 = 216; the minimum value of 2 indicates a multiplication factor of 4 = 22.
Syntax
E2_SCMUL (axis_index)=value
Arguments

axis_ Designates the specific axis, valid numbers are: 0,1,2,… up to the number of
index axes in the system minus 1.

value Value ranges from 2 to 16, default=10.

Tag
30
Comments
E2_SCMUL specifies the Sin-Cos multiplication factor as a power of 2. The maximum value of 16
corresponds to a multiplication of 65536 = 216. The minimum value of 2 corresponds to a
multiplication of 4 = 22.
Accessibility
Read-Write
Com Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

3.3.19 E_TYPE
Description
E_TYPE is an integer array, with one element for each axis in the system, and is used for defining the
encoder type.

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Syntax
E_TYPE(axis_index) = value
Arguments

Designates the specific axis, valid numbers are: 0,1,2,… up to the number of
axis
axes in the system minus 1.

value of each member can be one of the following:

> 0 – not defined
> 1 - Clock direction counter
> 2 - Quadrature single-ended encoder
> 3 - Quadrature encoder (Default)
> 4 - 250 KHz / 500 KHz Sin-Cos encoder multiplier
> 9 - Resolver
value > 10 - EnDat 2.2
> 11 - Smart-Abs
> 12 - Panasonic
> 13 - BiSS-C
> 14 – Hiperface
> 15 - BiSS-B
> 17 - SSI
> 18 - 10 MHz Sin-Cos encoder multiplier
> 19 – Sanyo Denki

Tag
29
Comments
The most common encoder type is quadrature, which corresponds to the default value 3.
A value of 2 is supported by the following products:
> UDMlc-x-048 (where x is either 2 or 4)
> UDIlt-x / UDIhp-x (where x is either 2 or 4)
A value of 9 is supported only by the following products:
> SPiiPlus CMnt-x-320 (where x is either 1 or 2)
> UDMpm-x-320 (where x is either 1 or 2)
A value of 18 is supported by the following products:
> UDMnt-x (where x is either 1 or 2)
> UDIhp-x (where x is either 2 or 4)
As a configuration variable, the variable can be changed only if the controller is in configuration
mode.
The following table summarizes various combinations of E_TYPE and E2_TYPE values and whether
they are compatible with Mult-Channel Feedback support

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E_TYPE – Type of Encoder E2_TYPE – Type of Encoder Allowed?

3 - Quadrature 4 - SinCos ✓

3 - Quadrature 18 - Fast SinCos ✓

4 - SinCos 3 - Quadrature ✓

18 - Fast SinCos 3 - Quadrature ✓

3 - Quadrature 3 - Quadrature ✓1

4 - SinCos 4 - SinCos X

4 - SinCos 18 - Fast SinCos X

18 - Fast SinCos 4 - SinCos X

{10,11,12,13,15,17,19} - Absolute 3 - Quadrature X

3 - Quadrature {10,11,12,13,15,17,19} - Absolute X

{10,11,12,13,15,17,19} - Absolute 4 - SinCos/18 - Fast SinCos ✓

4 - SinCos {10,11,12,13,15,17,19} - Absolute X

{10,11,12,13,15,17,19} - Absolute {10,11,12,13,15,17,19} - Absolute X

Table 5-5. Multi-Channel Feedback Support

If the device is configured with an incompatible combination of encoders the firmware returns error
code 3194, meaning "Not allowed Encoder Type".
Accessibility
Read-Write

E_TYPE values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Variables

None
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable

1This is a dummy configuration. It may not be applied to a driver but it is an allowed state during
transition between allowable multi-channel configurations.

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C Library Functions
acsc_ReadInteger, acsc_WriteInteger

3.3.20 E2_TYPE
Description
E2_TYPE is an integer array, with one element for each axis in the system, and is used for defining
the encoder type for the secondary feedback on multi-channel connections.
Syntax
E2_TYPE(axis_index)=value
Arguments

Designates the specific axis, valid numbers are: 0,1,2,… up to the number of
axis
axes in the system minus 1.

value of each member can be one of the following:

Tag
31
Comments
See E_TYPE for Multi-channel feedback support details.
Accessibility
Read-Write
Com Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

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3.3.21 EFAC
Description
EFAC is a real array, with one element for each axis in the system, and is the factor used to convert
the raw primary feedback in encoder counts to user units.
The value ranges between 1-15 to 1+15 (the default value is 1).
Syntax
EFAC(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value Value of each member ranges between 1e-15 to 1e+15. Default = 1.

Tag
36
Comments
When reading the feedback position from the SP, the controller executes feedback transform
according to the formula:
FPOS = FP*EFAC + EOFFS
where FPOS is the controller feedback position in user units, FP is an SP-calculated feedback position
in encoder counts, EFAC is a user-defined value of the corresponding EFAC factor, and EOFFS
represents an offset.
As a configuration variable, the EFAC value is normally defined by SPiiPlus MMI Application Studio g
Toolbox g Setup g Adjuster during the setup procedure of the system.
Accessibility
Read-Write

EFAC values cannot be modified if protection is applied to this variable through SPiiPlus
MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Variables

All standard variables that are based on position units.
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

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3.3.22 E2FAC
Description
E2FAC is a real array, with one element for each axis in the system, and is the factor used to convert
the raw secondary feedback in encoder counts to user units.
The value ranges between 1-15 to 1+15 (the default value is 1).
Syntax
E2FAC(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value Value of each member ranges between 1e-15 to 1e+15. Default = 1.

Tag
32
Comments
When reading the secondary feedback position from the SP, the controller executes feedback
transform according to the formula:
F2POS = FP2*E2FAC + E2OFFS
where F2POS is the secondary controller feedback position in user units, FP2 is an SP-calculated
secondary feedback position in encoder counts, E2FAC is a user-defined value of the corresponding
E2FAC factor, and E2OFFS represents an offset.
As a configuration variable, the E2FAC value is normally defined by SPiiPlus MMI Application Studio
g Toolbox g Setup g Adjuster during the setup procedure of the system.
Accessibility
Read-Write

E2FAC values cannot be modified if protection is applied to this variable through SPiiPlus
MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Variables

F2POS, EOFFS
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

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3.3.23 EOFFS
Description
EOFFS is a real array, with one element for each axis in the system, and is used for defining the
offset between the raw feedback from the encoder counts and the FPOS value calculated by the
controller.
Syntax
EOFFS(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value can be any integer.

Tag
38
Comments
EOFFS provides the offset between the raw feedback in encoder counts and the FPOS value
calculated by the controller. The value of EOFFS changes when the set command defines a new
origin for an axis.
When reading the feedback position from the SP, the controller executes feedback transform
according to the formula:
FPOS = FP*EFAC + EOFFS
where FPOS is the controller feedback position in user units, FP is an SP-calculated feedback position
in encoder counts, EFAC is a user-defined value of the corresponding EFAC factor, and EOFFS
represents an offset.
Accessibility
Read-Only
Related ACSPL+ Variables
EFAC, FPOS
COM Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadReal

3.3.24 E2OFFS
Description
E2OFFS is a real array, with one element for each axis in the system, and is used for defining the
offset between the raw feedback from the secondary encoder counts and the FPOS value calculated
by the controller.

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Syntax
E2OFFS(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value can be any integer.

Tag
34
Comments
E2OFFS provides the offset between the raw feedback from the secondary encoder (in encoder
counts) and the F2POS value calculated by the controller. The value of E2OFFS changes when the set
command defines a new origin for the axis's secondary feedback.
When reading the secondary feedback position from the SP, the controller executes feedback
transform according to the formula:
F2POS = FP2*E2FAC + E2OFFS
where F2POS is the secondary controller feedback position in user units, FP2 is an SP-calculated
secondary feedback position in encoder counts, E2FAC is a user-defined value of the corresponding
E2FAC factor, and E2OFFS represents an offset.
Accessibility
Read-Only
Related ACSPL+ Variables
E2FAC, F2POS
COM Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadReal

3.3.25 EPOS
Description
EPOS is a real array, one element for each feedback, and is used for showing the encoder feedback.
Not affected by Gantry mode.
Comments
EPOS value is affected by ACSPL+ SET command only when applied to FPOS variable with the same
index (a relevant offset is being added to EPOS value).
EPOS variable can be useful for displaying the encoder position in Gantry mode.
Tag
299

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Accessibility
Read only
Com Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadInteger

3.3.26 FVFIL
Description
FVFIL is a real array, with one element for each axis in the system, and is used for setting the
intensity (in %) of the filter that the controller uses when calculating FVEL.
Syntax
FVFIL(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value Value ranges from 0 to 100. Default = 30.

Tag
54
Comments
FVFIL = 0 corresponds to no filtering. In this case the controller calculates FVEL as the derivative of
the FPOS variable:
∆ = (FPOSn - FPOSn-1)*K
FVELn = ∆
where K is a scaling factor that reduces FVEL to user units per second.
As the FPOS value is supplied by a discrete physical sensor, the FVEL value calculated without
filtering contains a considerable amount of noise.
Non-zero value of FVFIL provides additional filtering in the FVEL calculation according to the
formula:
FVELn = ∆*((100 - FVFIL)/100) + FVELn-1*(FVFIL/100)
Accessibility
Read-Write

FVFIL values cannot be modified if protection is applied to this variable through SPiiPlus
MMI Application Studio g Toolbox g Application Development g Protection

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Related ACSPL+ Variables

FVEL
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.3.27 F2ACC
Description
F2ACC is a real array, with one element for each axis in the system, and is used for defining the
feedback acceleration value of the axis. Used for secondary feedback.
Tag
317
Accessibility
Read-Only
Com Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadReal

3.3.28 HOMEDEF
Description
HOMEDEF is an integer array with one element for each axis in the system, and defines the default
homing method for an axis used by the ACPSL+ HOME command.
Default value is 0, and should be set to a valid homing method number.
Syntax

HOMEDEF(Axis_Index) = Value

Arguments

Axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
Index axes in the system minus 1.

Table 5-6. Homing Methods

Method Number Explanation

1 Homing Method 1: Homing on the negative limit switch and index pulse

2 Homing Method 2: Homing on positive limit switch and index pulse

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Method Number Explanation

17 Homing Method 17: Homing on Negative Limit Switch

18 Homing Method 18: Homing on Positive Limit Switch

33/34 Homing Method 33 and 34: Homing on the index pulse

37 Homing Method 37: Homing on current position

50 Homing Method 50: Negative Hard Stop and index pulse (ACS Specific)

51 Homing Method 51: Positive Hard Stop and index pulse (ACS Specific)

52 Homing Method 52: Negative Hard Stop (ACS Specific)

53 Homing Method 53: Positive Hard Stop (ACS Specific)

TAG
358
Comments
HOMEDEF should be used with the HOME command. HOME(<axis>) will use the homing method
based on HOMEDEF variable.\
Related ACSPL+ Commands
HOME
Accessibility
Read-Write
.NET Library Method
ReadVariable(), WriteVariable()
C Library Function
acsc_ReadInteger(), acsc_WriteInteger()

3.3.29 HOMEVELI
Description
HOMEVELI is a double array with one element for each axis in the system, and defines the default
homing velocity used for index search during ACPSL+ HOME command.
Default value is 0. If the value is 0, the velocity is calculated based on the HomingVel parameter.
Syntax

HOMEVELI(Axis_Index) = Value

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Arguments

Axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
Index axes in the system minus 1.

Value Value ranges from 0 to 1e100.

Tag
360
Comments
HOMEVELL should be used with the HOME command. The following homing methods are affected
by this parameter: 17,18,33,34,50,51
This variable is supported in version 3.00 and higher.
Related ACSPL+ Commands and Variables
HOME, HOMEDEF, HOMEVELL
Accessibility
Read-Write
.NET Library Method
ReadVariable(), WriteVariable()
C Library Function
acsc_ReadInteger(), acsc_WriteInteger()

3.3.30 HOMEVELL
Description
HOMEVELL is a double array with one element for each axis in the system, and defines the default
homing velocity used for limit search during ACPSL+ HOME command. Default value is 0.
If the value is 0, the velocity is calculated based on the HomingVel parameter.
Syntax

HOMEVELL(Axis_Index) = Value

Arguments

Axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
Index axes in the system minus 1.

Value Value ranges from 0 to 1e100.

Tag
366

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Comments
HOMEVELL should be used with the HOME command. The following homing methods are affected
by this parameter: 1,2,17,18
This variable is supported in version 3.00 and higher.
Related ACSPL+ Commands and Variables
HOME, HOMEDEF, HOMEVELI
Accessibility
Read-Write
.NET Library Method
ReadVariable(), WriteVariable()
C Library Function
acsc_ReadInteger(), acsc_WriteInteger()

3.3.31 RVFIL
Description
RVFIL is a real array, with one element for each axis in the system, and is used for specifying the
power of the filter that the controller uses to calculate RVEL.
Syntax
RVFIL(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value Value is a percent ranging from 0 to 100. Default = 0.

Tag
110
Comments
The value is specified as a percent where 0 means no filtering. In this case the controller calculates
RVEL as the first difference of RPOS as follows:
∆ = (RPOS - RPOSn-1) * K
RVELn = ∆
where K is a scaling factor that translates RVEL to position units per second.
A non-zero value for RVFIL provides additional filtering in the RVEL calculation according to the
formula:
RVELn = ∆ * (1- (RVFIL/100)) + (RVELn-1 * (RVFIL/100))

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The default value of RVFIL is zero. No filtering is required as long as the axis motion is not a MASTER-
SLAVE motion. In this case RPOS is a calculated value and the first difference provides a smooth
approximation of velocity.
If an axis is involved in a MASTER-SLAVE motion, RPOS usually contains a signal from a discrete
physical sensor that causes a certain amount of noise in the first difference. Increase the value of
RVFIL if a smoother approximation is required.
Accessibility
Read-Write

RVFIL values cannot be modified if protection is applied to this variable through SPiiPlus
MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Commands

MASTER
Related ACSPL+ Variables
RVEL
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.3.32 SCSOFFS
Description
SCSOFFS is a real array, with one element for each axis in the system, and is used for defining a Sin-
Cos encoder’s software compensation for the Sine offset.
Syntax
SCSOFFS(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value Value designates the offset ranging from -32766 to 32766.

Tag
202
Comments
The digital range corresponds to ±0.5 Volts. This number is used to modify the offset of the Sin-Cos
encoder signal related to the axis. The ratio between this number and the offset is 9.6.

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Accessibility
Read-Write

SCSOFFS values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.3.33 SCCOFFS
Description
SCCSOFFSis a real array, with one element for each axis in the system, and is used for defining a Sin-
Cos encoder’s software compensation for the Cosine offset.
Syntax
SCCOFFS(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value Value designates the offset ranging from -32766 to 32766.

Tag
203
Comments
The digital range corresponds to ±0.5 Volts. This number is used to modify the offset of the Sin-Cos
encoder signal related to the axis. The ratio between this number and the offset is 9.6.
Accessibility
Read-Write

SCCOFFS values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

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3.3.34 SC2COFFS
Description
SC2COFFS is a real array, with one element for each axis in the system, and is used for defining the
Sin-Cos Cosine offset. Used for secondary feedback.
Syntax
SC2COFFS (axis_index)=value
Arguments

axis_ Designates the specific axis, valid numbers are: 0,1,2,… up to the number of
index axes in the system minus 1.

value value designates the offset ranging from -32766 to 32766.

Tag
311
Comments
The digital range corresponds to ±0.5 Volts. This number is used to modify the offset of the Sin-Cos
encoder signal related to the axis. The ratio between this number and the offset is 9.6.
Accessibility
Read-Write
Com Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.3.35 SC2GAIN
Description
SC2GAIN is a real array, with one element for each axis in the system, and is a Sin-Cos encoder gain
compensation variable used to compensate the Cosine signal for an improper amplitude relative to
the Sine signal. Used for secondary feedback.
Syntax
SC2GAIN (axis_index)=value
Arguments

axis_ Designates the specific axis, valid numbers are: 0,1,2,… up to the number of
index axes in the system minus 1.

value value ranges between 0.5 and 1.5; Default: 1.

Tag
312

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Accessibility
Read-Write
Com Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.3.36 SC2PHASE
Description
SC2PHASE is a real array, with one element for each axis in the system, and is a Sin-Cos encoder
phase compensation variable and is used to compensate the Cosine signal for an improper phase
difference relative to the Sine signal. Used for Secondary Feedback.
Syntax
SC2PHASE (axis_index)=value
Arguments

axis_ Designates the specific axis, valid numbers are: 0,1,2,… up to the number of
index axes in the system minus 1.

value value in degrees, the value ranges between -15 and 15; default is 0.

Tag
313
Accessibility
Read-Write
Com Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.3.37 SC2SOFFS
Description
SC2SOFFS is a real array, with one element for each axis in the system, and is used for defining the
Sin-Cos Sine offset. Used for secondary feedback.
Syntax
SC2SOFFS (axis_index)=value

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Arguments

axis_ Designates the specific axis, valid numbers are: 0,1,2,… up to the number of
index axes in the system minus 1.

value value designates the offset ranging from -32766 to 32766.

Tag
314
Comments
The digital range corresponds to ±0.5 Volts. This number is used to modify the offset of the Sin-Cos
encoder signal related to the axis. The ratio between this number and the offset is 9.6.
Accessibility
Read-Write
Com Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.3.38 SLEBIASA
SLEBIASA is a real array, with one element for each axis in the system, and is used for defining a Sin-
Cos encoder’s hardware compensation for the Sine offset.
Syntax
SLEBIASA(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value designates the offset ranging from -50 to 50; Default: 0.

Tag
164

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Comments

SLEBIASA performs the same function as SCSOFFS with the difference beng that it
corresponds to hardware offset compensation of encoder signals. Only certain SPiiPlus
products: SPiiPlusNT-HP, CMnt, and UDMpc have an option for hardware offset
compensation. Hardware compensation has some advantages over software
compensation, such as, the possibility to get analog signals out of saturation, and
making hardware based features like PEG more accurate.

SLEBIASA is normally set as part of the SPiiPlus MMI Application Studio Sin-Cos Encoder
Analyzer tool routine. The tool first calculates the software compensation variable
(SCSOFFS), and then writes the final value to the hardware variable SLEBIASA and resets
the software one. Then during verification phase new value for SCSOFFS is found and
stored along with previously found SLEBIASA.

Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.3.39 SLEBIASB
SLEBIASB is a real array, with one element for each axis in the system, and is used for defining a Sin-
Cos encoder’s hardware compensation for the Cosine offset.
Syntax
SLEBIASB(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value designates the offset ranging from -50 to 50; Default: 0.

Tag
165

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Comments

SLEBIASB performs the same function as SCCOFFS with the difference beng that it
corresponds to hardware offset compensation of encoder signals. Only certain SPiiPlus
products: SPiiPlusNT-HP, CMnt, and UDMpc have an option for hardware offset
compensation. Hardware compensation has some advantages over software
compensation, such as, the possibility to get analog signals out of saturation, and
making hardware based features like PEG more accurate.

SLEBIASB is normally set as part of the SPiiPlus MMI Application Studio Sin-Cos encoder
analyzer tool routine. The tool first calculates the software compensation variable
(SCCOFFS), and then writes the final value to the hardware variable SLEBIASB and resets
the software one. Then during verification phase new value for SCCOFFS is found and
stored along with previously found SLEBIASB.

Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.3.40 SLEBIASC
Description
SLEBIASC is a real array, with one element for each axis in the system, and is used for defining the
Sin-Cos encoder’s hardware compensation for the Sine offset. Used for secondary feedback.
Syntax
SLEBIASC (axis_index)=value
Arguments

axis_ Designates the specific axis, valid numbers are: 0,1,2,… up to the number of
index axes in the system minus 1.

value value designates the offset ranging from -50 to 50; default: 0.

Tag
315
Accessibility
Read-Write
Com Library Methods and .NET Library Methods
ReadVariable, WriteVariable

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C Library Functions
acsc_ReadReal, acsc_WriteReal

3.3.41 SLEBIASD
Description
SLEBIASD is a real array, with one element for each axis in the system, and is used for defining the
Sin-Cos encoder’s hardware compensation for the Cosine offset. Used for secondary feedback.
Syntax
SLEBIASD (axis_index)=value
Arguments

axis_ Designates the specific axis, valid numbers are: 0,1,2,… up to the number of
index axes in the system minus 1.

value value designates the offset ranging from -50 to 50; default: 0.

Tag
316
Accessibility
Read-Write
Com Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.3.42 SLABITS
Description
SLABITS is an integer array, with one element for each axis in the system, and is used for setting the
total number of absolute position bits for an absolute encoder.
Syntax
SLABITS(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value ranges between 16 to 50, Default = 49.

Tag
220

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Comments
SLABITS is used for setting the total number of absolute position bits for an absolute encoder. This is
the sum of the multi-turn resolution bits, the turn resolution bits, and the number of status bits.
Absolute encoders typically include two status bits (Warning and Error), which should be taken into
account.
Examples:
Rotary encoder with 17 bits turn resolution and 16 bits multi-turn resolution:
SLABITS = 17+16 = 33
Rotary encoder with 17 bits turn resolution, 16 bits multi-turn resolution, and 2 status bits:
SLABITS = 17+16+2 = 35
Linear Encoder with 32 bits absolute resolution and 2 status bits:
SLABITS = 32+2 = 34
The number of status bits may vary for different encoders, so the user should take care to add the
correct number of status bits for the specific encoder in use.
Accessibility
Read-Write

SLABITS values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Variables

E_TYPE
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

3.3.43 S2LABITS
Description
S2LABITS is an integer array, with one element for each axis in the system, and is used for setting
the total number of absolute position bits for an absolute encoder connected to a secondary
feedback.
Syntax
S2LABITS(axis_index)=value

axis_index Specific axis, range: 0 up to number of axis in the system minus 1.

value Value ranges between 16 to 50, default is 49.

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Comments
S2LABITS is used for setting the total number of absolute position bits for an absolute encoder. This
is the sum of the multi-turn resolution bits, the turn resolution bits, and the number of status bits.
Absolute encoders typically include two status bits (Warning and Error), which should be taken into
account.
Examples:
Rotary encoder with 17 bits turn resolution and 16 bits multi-turn resolution:
S2LABITS = 17+16 = 33
Rotary encoder with 17 bits turn resolution, 16 bits multi-turn resolution, and 2 status bits:
S2LABITS = 17+16+2 = 35
Linear Encoder with 32 bits absolute resolution and 2 status bits:
S2LABITS = 32+2 = 34
The number of status bits may vary for different encoders, so the user should take care to add the
correct number of status bits for the specific encoder in use.
Tag
310
Accessibility
Read-Write
Com Library Methods and .NET Library Methods
ReadVariable, Write Variable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

3.3.44 SCGAIN
SCGAIN is a real array, with one element for each axis in the system, and is a Sin-Cos encoder gain
compensation variable used to compensate the Cosine signal for an improper amplitude relative to
the Sine signal.
Syntax
SCGAIN(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value Value ranges between 0.5 and 1.5. Default = 1.

Tag
204

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Comments
The value of SCGAIN is normally set by the SPiiPlus MMI Application Studio Sin Cos Encoder Analyzer
tool routine when calculating the optimum encoder compensation.
Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

3.3.45 SCPHASE
SCPHASE is a real array, with one element for each axis in the system, and is a Sin-Cos encoder
phase compensation variable and is used to compensate the Cosine signal for an improper phase
difference relative to the Sine signal.
Syntax
SCPHASE(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value in degrees, the value of which ranges between -15 and 15; Default: 0.

Tag
205
Comments
The value of SCPHASE is normally set by the SPiiPlus MMI Application Studio Sin Cos Encoder
Analyzer tool routine when calculating the optimum encoder compensation.
Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

3.4 Axis State Variables

The Axis State variables are:

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Name Description

AST Axis State

ASTX Extended Axis State

IND Index Position

E2IND Secondary Index Position

IST Index State

AFLAGS Mark Position

MARK Secondary Mark Position

MST Motor State

NST Status of EtherCAT Sync and GPRT errors for each axis in the system.

RMS current

ROFFS Reads the offset calculated by the controller in the connect formula.

3.4.1 AST
Description
AST is an integer array, with one element for each axis in the system, the elements of which contain
a set of bits used for displaying the current axis state.
Syntax
[command] AST(axis_index).bit_designator
Arguments

command Typical commands are DISP and the like.

Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number
of axes in the system minus 1.
axis_index
In the case of bit 2 (#PEGREADY) this parameter designates the PEG
engine, not the axis.

bit_designator A description of the AST bit designators is given in Table 5-7.

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Table 5-7. AST Bit Descriptions

Bit Name No. Description

#LEAD 0 1 = axis is leading in a group

#DC 3 1 = Axis data collection is in progress

1 = all values are loaded and the Incremental/Random PEG

is ready to respond to movement
#PEGREADY 4
When referring to this bit, axis_index designates the
PEG engine rather than the axis.

#MOVE 5 1 = Axis is involved in a motion

#ACC 6 1 = Axis in accelerating motion state

#BUILDUP 7 1 = Segments build-up

1 = Slave is synchronized to master in velocity lock mode -

#VELLOCK 8
slave velocity strictly follows the master velocity.

1 = Slave is synchronized to master in position lock mode -

#POSLOCK 9
slave position strictly follows the master position.

1 = Produces an interrupt to the host application,

#TRIGGER 11
enabled by IENA.26

The controller sets the bit to inform that a new segment is

required to be provided by the application. The bit is set
#NEWSEGM 16
starvation_margin ms before the starvation condition
occurs. The starvation condition is indicated by #STARV bit.

The controller sets the bit to indicate starvation condition.

The starvation condition means that there are not enough
further segments to continue the motion with required
velocity. In this case, the controller starts decelerating the
motion with ½ JERK in order to prevent motion
#STARV 17 discontinuity and avoid mechanical jerks. Once the
application begins supplying segments at a sufficient rate,
the controller returns the motion back to normal condition.
Note, that often the starvation condition causes inefficient
velocity generation and increases the time required for
completing the required motion path.

Indicates if there is an encoder warning. Cleared by the

#ENCWARN 18
ACSPL+ FCLEAR command.

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Bit Name No. Description

Indicates if there is an secondary encoder warning. Cleared

#ENC2WARN 19
by the ACSPL+ FCLEAR command.

#INRANGE 20 Laser In Range

0: tickle mode is off

#LCTICKLE 21
1: tickle mode is active

0: modulation is off
#LCMODUL 22
1: modulation is active

0: Axis in regular mode

#FOLLOWED 23 1: Axis in slave mode and follows the profile generated by
RTC6

0: hold is off
#HOLD 24
1: hold is in progress

0: homing is not in process

#INHOMING 25
1: homing is in process

0: dynamic error compensation is switched off

1: dynamic error compensation is switched on
The bit is set to 0 in the following cases:
> Calling ERRORMAPOFF function
> Calling ERRORUNMAP function (in case there are
no other active dynamic error compensation
zones of the specified axis)
#DECOMPON 26
> During homing process initiated by HOME
command (switched ON back at the end of the
process
> Encoder Error / Encoder Not Connected faults
> Changing one of the encoder-related parameters
(E_TYPE, E_FREQ, E_SCMUL, SLPBITS, E_AOFSS)
> Changing encoder routing (SLPROUT)

0: Input Shaping not Active

#INSHAPE 27
1: Input Shaping Active

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Bit Name No. Description

0: Encoder Initialization not in process

#ENCPROC 29
1: Encoder Initialization in process

Tag
7
Accessibility
Read-Only
Related ACSPL+ Commands
MASTER, SLAVE
Related ACSPL+ Variables
MST
COM Library Methods and .NET Library Methods
ReadVariable, GetAxisState
C Library Functions
acsc_ReadInteger, acsc_GetAxisState

3.4.2 ASTX
Description
ASTX is an extension of the AST variable. It is an integer array, with one element for each axis in the
system, the elements of which contain a set of bits used for displaying the current axis state.
Syntax

[command]ASTX(axis_index).bit_designator

ASTX Bit Descriptions

Bit Name No Description

Indicates if Gantry Cross Axis Coupling Compensation is in

#GCACOMP 0
process for the specified axis

#AFACTIVE 1 Autofocus is activated for the axis

Autofocus feature is in_range – position control is now

#AF_RANGE 2
executed by the DSP

Autofocus feature is in focus – focus has been achieved (

#AF_FOCUS 3
Control signal < Threshold)

Tag
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Accessibility
Read-only

3.4.3 IND
Description
IND is a real array, with one element for each axis in the system, the elements of which store the
position of the last encountered encoder index in user-defined [Link] variable operates in
connection with IST(axis_index).#IND.
Tag
72
Comments
After power-up, IST(axis_index).#IND is reset and the value of IND is undefined because an index
capture has not yet occurred. When the motor encounters an encoder index, IST(axis_index).#IND is
raised and the current FPOS position is latched to IND.
Subsequent index values are ignored as long as #IND remains raised.
To resume the latching logic IST(axis_index).#IND must be explicitly cleared by the command IST
(axis_index).#IND=0.
Accessibility
Read-Only

IND values cannot be modified if protection is applied to this variable through SPiiPlus
MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Variables

IST, FPOS
COM Library Methods and .NET Library Methods
ReadVariable, GetIndexState, ResetIndexState
C Library Functions
acsc_ReadReal, acsc_GetIndexState, acsc_ResetIndexState

3.4.4 E2IND
Description
E2IND is a real array, with one element for each axis in the system, the elements of which store the
position of the last encountered secondary encoder index in user-defined units. The variable
operates in connection with IST(axis_index).#IND2.
Tag
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Comments
After power-up, IST(axis_index).#IND2 is reset and the value of E2IND is undefined because an
index capture has not yet occurred. When the motor encounters an encoder index, IST(axis_
index).#IND2 is raised and the current FPOS position is latched to E2IND.
Subsequent index values are ignored as long as #IND2 remains raised.
To resume the latching logic IST(axis_index).#IND2 must be explicitly cleared by the command IST
(axis_index).#IND=0.
Accessibility
Read-Only

E2IND values cannot be modified if protection is applied to this variable through SPiiPlus
MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Variables

IST, FPOS
COM Library Methods and .NET Library Methods
ReadVariable, GetIndexState, ResetIndexState
C Library Functions
acsc_ReadReal, acsc_GetIndexState, acsc_ResetIndexState

3.4.5 IST
Description
IST is an integer array, with one element for each axis in the system, the elements of which contain
a set of bits that indicate the state of the IND and the MARK variables for the given axis.
Syntax
IST(axis_index).bit_designator = value
Arguments

Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number
axis_index
of axes in the system minus 1.

The IST has four bit designators:

> #IND (bit 0) - Primary encoder index
bit_designator > #IND2 (bit 1) - Secondary encoder index
> #MARK (bit 2) - Mark 1
> #MARK2 (bit 3) - Mark 2

value value can be zero or non-zero.

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Tag
79
Comments
The controller processes Index/Mark signals as follows: when an Index/Mark signal is encountered
for the first time, the controller latches FPOS or F2POS to one of the variables IND, MARK, M2ARK and
sets the corresponding IST bit = 1.
When finding an Index for the first time, the correct procedure is:
1. Start by setting the index flag to 1: IST(axis).#IND=1.
Then reset the flag to 0: IST(axis).#IND=0.
This puts the system in the correct mode for finding the Index.
As long as an IST bit is raised, the controller does not latch another value to the corresponding
variable. To resume the latching logic, the user application must explicitly reset the corresponding
IST bit to 0.
Accessibility
Read-Write
Related ACSPL+ Variables
FPOS, F2POS, IND, MARK, M2ARK
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable, GetIndexState, ResetIndexState
C Library Functions
acsc_ReadInteger, acsc_WriteInteger, acsc_GetIndexState, acsc_ResetIndexState

3.4.6 M2ARK
Description
M2ARK is a real array, with one element for each axis in the system, the elements of which store the
position of the last encountered MARK2 signal in IST(axis_index).#MARK2.
Tag
84
Comments
After power-up IST(axis_index).#MARK2 is reset and the value of M2ARK is undefined. When the
motor encounters a MARK2 signal, the bit is raised and the current F2POS position is latched to IST
(axis_index). #MARK2.
If the motion continues and the motor encounters another M2ARK signal, the new value is ignored
as long as IST(axis_index). #MARK2 = 1.
To resume the latching logic, IST(axis_index). #MARK2 must be explicitly cleared with the command
IST(axis_index). #MARK2=0.

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Example

ON IST(Axis).#MARK2 ! When axis MARK is tripped

DISP "MARK Position:",M2ARK(Axis) ! Display the MARK position
IST(Axis).#MARK2=0 ! Reset MARK flag
RET

Accessibility
Read-Only
Related ACSPL+ Variables
IST, FPOS,F2POS, MARK
IST, FPOS, F2POS, MARK
COM Library Methods and .NET Library Methods
ReadVariable, GetIndexState,
C Library Functions
acsc_ReadReal, acsc_GetIndexState

3.4.7 MARK
Description
MARK is a real array, with one element for each axis in the system, the elements of which store the
position of the last encountered MARK1 signal in IST(axis_index).#MARK.
Tag
85
Comments
After power-up, IST(axis_index).#MARK is reset and the value of MARK is undefined. When the
motor encounters a MARK1 signal, the bit is raised and the current FPOS position is latched to IST
(axis_index).#MARK.
If the motion continues and the motor encounters another MARK1 signal, the new value is ignored
as long as IST(axis_index).#MARK= 1.
To resume the latching logic, IST(axis_index).#MARK must be explicitly cleared with the command
IST(axis_index).#MARK=0.

MARK values cannot be modified if protection is applied to this variable through SPiiPlus
MMI Application Studio g Toolbox g Application Development g Protection.

Example

ON IST(Axis).#MARK ! When axis MARK is tripped

DISP "MARK Position:",MARK(Axis) ! Display the MARK position
IST(Axis).#MARK=0 ! Reset MARK flag
RET

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Accessibility
Read-Only
Related ACSPL+ Variables
IST, FPOS, F2POS, IND, M2ARK, IENA
COM Library Methods and .NET Library Methods
ReadVariable, GetIndexState
C Library Functions
acsc_ReadReal, acsc_GetIndexState

3.4.8 MST
Description
MST is an integer array, with one element for each axis in the system. The elements of which contain
a set of bits that display the current motor state, as given in Table 5-8, for the given axis.
Syntax
MST(node_index).bit_designator = 1|0
Arguments

Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number
axis_index
of axes in the system minus 1.

bit_designator The meanings of bit_designator are given in 3.4.8.

Table 5-8. MST Bit Descriptions.

Bit Name No Description

0: motor is disabled
#ENABLED 0
1: motor is enabled.

0: motor is operating with closed loop control

#OPEN 1
1: motor is operating with open loop control.

0: Motor is moving or is out of range

#INPOS 4 1: Motor is not moving and has reached the target position
(see variables TARGRAD and SETTLE

0: = Axis is not involved in a motion

#MOVE 5
1 = Axis is involved in a motion

0 = Motor is not accelerating

#ACC 6
1 = Motor is accelerating.

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Bit Name No Description

0 = No motion has settled in Target Radius A

#INTARGA 25
1 = Motion has settled in Target Radius A

0 = No motion has settled in Target Radius B

#INTARGB 26
1 = Motion has settled in Target Radius B

0 = No motion has settled in Target Radius C

#INTARGC 27
1 = Motion has settled in Target Radius C

Tag
90
Accessibility
Read-Only
Related ACSPL+ Commands
All motion commands.
Related ACSPL+ Variables
FPOS, F2POS, APOS, RPOS
COM Library Methods and .NET Library Methods
ReadVariable, GetMotorState
C Library Functions
acsc_ReadInteger, acsc_GetMotorState
Example

WHILE MST(0).#MOVE
WAIT 300

3.4.9 RMSM
Description
RMSM is a real array with one element for each axis in the system, the elements of which store the
motor RMS current for an axis (in % of drive peak). The value ranges between 0 and 100.
Tag
363
Comments
This variable is supported in ADK versions 2.70 and higher.
Accessibility
Read-Only

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ACSPL+ Variables
XRMSM, XRMSTM
COM Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadReal

3.4.10 RMSD
Description
RMSD is a real array, with one element for each axis in the system, the elements of which store the
drive RMS current for an axis (in % of drive peak). The value ranges between 0 and 100.
Tag
362
Comments
This variable is supported in ADK versions 2.70 and higher.
Accessibility
Read-Only
Related ACSPL+ Variables
XRMSD, XRMSTD
COM Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadReal

3.4.11 NST
Description
NST is an integer array, with one element for each EtherCAT node in the system, each element of
which contains a set of 2 bits. The variable enables users to differentiate between different causes
of servo processor alarm faults.

An axis not associated to a physical drive will have a high Servo Processor Alarm fault.

Syntax
NST(node_index).bit_designator = 1|0

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Arguments

Designates the specific node, valid numbers are: 0, 1, 2, ... up to the number
node_index
of nodes in the system minus 1.

bit_designator The meanings of bit_designator are given in Table 5-9.

Table 5-9. NST Bit Description

Bit Name Bit No. Description

#SYNC 0 Sync error

#GPRT 1 GPRT error

#MISSING 2 EtherCAT Node Missing

0: SPDC data collection not active

#SPDC 3
1: SPDC data collection active

#FSYNC 4 FPGA Sync Fault

0: Real-time data transfer process from the MPU to a

corresponding Servo Processor is not active
#SPRT 5
1: Real-time data transfer process from the MPU to a
corresponding Servo Processor is active

0: SPDC is not waiting

#SPDCWAIT 6
1: SPDC is waiting

0: SPRT is not waiting

#SPRTWAIT 7
1: SPRT is waiting

#LCI 10 LCI Fault

Tag
229
Comments
If the #SYNC or #GPRT error bit is set in NST, there will be a network error in all axes, and servo
processor alarm in all the axes related to the node related to the NST. These faults indicate a
problem in the interface between the firmware and the node.
The setting of the #SYNC error bit means that one or more slaves are out of synchronization with
the master.
The setting of the #GPRT error bit means that the queue (the size, of which, is 400) for the GPRT
commands (commands that are sent by request) was full and some commands to be sent were lost.
For example, for the SPiiPlusDC-LT-4 controller 8 such commands can be sent every cycle, these

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commands can be found in a reserved place in the EtherCAT telegram for the
command1,…,command8.
The following commands will cause the NST.#SPRT bit to be 1:
> SPINJECT
> SPRT
> ASSIGNPEG/f
> BPTP/2 (20 kHz motion profile)
> FOLLOW (in case of customized servo algorithm for 20 kHz motion profile)
SPINJECT, SPRT, ASSIGNPEG/f, BPTP/2 and FOLLOW are mutually exclusive, meaning only one of the
features can be active at the given time. So the NST.#SPRT bit should be checked before using any
of these commands.
FCLEAR for any axis associated with the node axis will reset all bits of the NST variable of that node.
#SPDCWAIT is set to 1 if SPDC/w command for relevant node is sent.
#SPDCWAIT is set back to 0 when STARTSPDC for the relevant node is sent, or if STOPDC for relevant
node is sent.
#SPRTWAIT is set to 1 if SPINJECT/w command for relevant node is sent.
#SPRTWAIT is set back to 0 when STARTINJECT for the relevant node is sent, or if STOPINJECT for
relevant node is sent.
Accessibility
Read-Only
COM Library Methods and .NET Library Methods
ReadInteger
C Library Functions
acsc_ReadInteger

3.4.12 AMEST
Description
AMEST is an integer array with an element for each axis in the system. It is updated after each
READ or WRITE to an AME device, and contains the device status word.
If the READ/WRITE operation is successful, the status word should contain the value 0x2 (POWER bit
on).
Status Word

Bit 0 Bit 1 Bit 2 Bits 8-15

Err PWR CONFIG MODE Error Code

Tag
386
Accessibility
Read-Only

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.NET Library Method

ReadVariable()
C Library Function
acsc_ReadInteger()

3.5 Safety Limits Variables

The Safety Limits variables are:

Name Description

CERRA Critical Position Error (Accelerating)

CERRI Critical Position Error (Idle)

CERRV Critical Position Error (Velocity)

DELI Delay on Transition to Idle State

DELV Delay on Transition to Velocity State

ERRA Tolerable Error (Accelerating)

ERRI Tolerable Error (Idle)

ERRV Tolerable Error (Velocity)

SLLIMIT Software Left Limit-feedback count down limit

SLLROUT Sets the HW limits routing for the specified axis

SRLIMIT Software Right Limit-feedback count up limit

XACC Over Acceleration fault parameter

XCURCDB Threshold of the current vector peak

XCURI Maximum idle motor current

XCURK Current limit during kill operation

XCURV Maximum drive current during motion

XRMS Drive RMS over current fault parameter

XRMSD Drive RMS over current fault parameter

XRMSM Motor RMS over current fault parameter

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Name Description

XRMST Drive RMS Current Time Constant

XRMSTD Drive RMS Current Time Constant

XRMSTM Motor RMS Current Time Constant

XSACC Maximum slave axis acceleration

XVEL Over Velocity fault parameter

3.5.1 CERRA
Description
CERRA is a real array, with one element for each axis in the system, and is used for defining the
Position Error criterion for acceleration/deceleration states.
Syntax
CERRA(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value of each member ranges between 2.22507e-308 and 1.79769e+308,

value
Default = 1000.

Tag
11
Comments
CERRA defines critical position error fault (FAULT(axis_index).#CPE) criterion when the motor is in
acceleration or deceleration motion states.
As a configuration variable, the CERRA value is normally defined by SPiiPlus MMI Application Studio
g Toolbox g Setup g Adjuster during the setup procedure of the system.
Accessibility
Read-Write

CERRA values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Variables

FAULT(axis_index).#CPE
CERRI, CERRV, DELI, DELV

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COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.5.2 CERRI
Description
CERRI is a real array, with one element for each axis in the system, and is used for defining the
critical Position Error when the motor is idle.
Syntax
CERRI(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value of each member ranges between 2.22507e-308 and 1.79769e+308,

value
Default = 1000.

Tag
12
Comments
As a configuration variable, the CERRI value is normally defined by SPiiPlus MMI Application Studio
g Toolbox g Setup g Adjuster during the setup procedure of the system.
Accessibility
Read-Write

CERRI values cannot be modified if protection is applied to this variable through SPiiPlus
MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Variables

FAULT(axis_index).#CPE
CERRA, CERRV, DELI, DELV
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

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3.5.3 CERRV
Description
CERRV is a real array, with one element for each axis in the system, and is used for defining the
critical Position Error when the motor is moving with constant velocity.
Syntax
CERRV(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value of each member ranges between 2.22507e-308 and 1.79769e+308,

value
Default = 1000.

Tag
13
Comments
As a configuration variable, the CERRV value is normally defined by SPiiPlus MMI Application Studio
g Toolbox g Setup g Adjuster during the setup procedure of the system.
Accessibility
Read-Write

CERRV values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Variables

FAULT(axis_index).#CPE
CERRA, CERRI, DELI, DELV
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.5.4 DELV
Description
DELV is a real array, with one element for each axis in the system, and is used for defining the delay
of transition to the Constant Velocity state.
Syntax
DELV(axis_index) = value

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Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value of each member ranges between 2.22507e-308 and 1.79769e+308,

value
Default = 50.

Tag
24
Comments
DELV is defined in msecs and applies a delay when the motion state changes to a constant velocity
state (GPHASE(axis_index) = 4).
DELV affects the following faults:
> FAULT(axis_index).#PE
> FAULT(axis_index).#CPE
Accessibility
Read-Write

DELV values cannot be modified if protection is applied to this variable through SPiiPlus
MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Variables

ERRA, ERRI, ERRV, DELI, FAULT.#CPE, FAULT.#PE
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.5.5 DELI
Description
DELI is a real array, with one element for each axis in the system, and is used for defining the delay
of transition to the Idle state.
Syntax
DELI(axis_index) = value

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Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value of each member ranges between 2.22507e-308 and 1.79769e+308,

value
Default = 50.

Tag
23
Comments
DELI is defined in milliseconds and applies a delay when the motion state changes from any motion
state to idle (GPHASE(axis_index) = 0 or 12).
DELI affects the following faults and current limits:
> FAULT(axis_index).#PE
> FAULT(axis_index).#CPE
> XCURI(axis_index)
> XCURV(axis_index)
Accessibility
Read-Write

DELI values cannot be modified if protection is applied to this variable through SPiiPlus
MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Variables

ERRA, ERRI, ERRV, DELV, FAULT(axis_index).#CPE, FAULT(axis_index).#PE
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.5.6 E_ERR
Description
E_ERR is an integer array for each axis. It contains the encoder error code that was identified during
the encoder initialization process.
The encoder errors range from 5121 to 5128 and are latched in the E_ERR variable. The error codes
are specified in Table 9-5 in the Error Codes section.
Comments
This variable is supported in version 3.00 and higher.

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Accessibility
Read-Only
.NET Library Method
ReadVariable()
C Library Function
acsc_ReadInteger()

3.5.7 ERRA
Description
ERRA is a real array, with one element for each axis in the system, and is used for defining the
Position Error criterion for Acceleration/Deceleration states.
Syntax
ERRA(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value ranges from 2.22507e-308 to 1.79769e+308, Default = 100.

Tag
39
Comments
ERRA defines the maximum tolerable position error (FAULT(axis_index).#PE) when the motor is
moving with acceleration.
As a configuration variable, the ERRA value is normally defined by SPiiPlus MMI Application Studio g
Toolbox g Setup g Adjuster during the setup procedure of the system.
Accessibility
Read-Write

ERRA values cannot be modified if protection is applied to this variable through SPiiPlus
MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Variables

FAULT(axis_index).#PE, FDEF
ERRI, ERRV, DELI, DELV
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable,

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C Library Functions
acsc_ReadReal, acsc_WriteReal

3.5.8 ERRI
Description
ERRI is a real array, with one element for each axis in the system, and is used for defining the
maximum tolerable Position Error (FAULT(axis_index).#PE) when the motor is idle.
Syntax
ERRI(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value ranges from 2.22507e-308 to 1.79769e+308, Default = 100.

Tag
40
Comments
As a configuration variable, the ERRI value is normally defined by SPiiPlus MMI Application Studio g
Toolbox g Setup g Adjuster during the setup procedure of the system.
Accessibility
Read-Write

ERRI values cannot be modified if protection is applied to this variable through SPiiPlus
MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Variables

FAULT(axis_index).#PE
ERRA, ERRV, DELI, DELV
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.5.9 ERRV
Description
ERRV is a real array, with one element for each axis in the system, and is used for defining the
maximum tolerable Position Error (FAULT(axis_index).#PE) when the axis is moving with constant
velocity.

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Syntax
ERRV(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value ranges from 2.22507e-308 to 1.79769e+308, Default = 100.

Tag
41
Comments
As a configuration variable, the ERRV value is normally defined by SPiiPlus MMI Application Studio g
Toolbox g Setup g Adjuster during the setup procedure of the system.
Accessibility
Read-Write

ERRV values cannot be modified if protection is applied to this variable through SPiiPlus
MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Variables

FAULT(axis_index).#PE
ERRA, ERRI, DELI, DELV
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.5.10 SLLIMIT
Description
SLLIMIT is a real array, with one element for each axis in the system, and is used for defining the
minimum allowed Left position for the motor.
Syntax
SLLIMIT(axis_index) = value
Arguments

axis_ Designates the spe"../../Resourcescific axis, valid numbers are: 0, 1, 2, ... up to

index the number of axes in the system minus 1.

value value ranges from -1.79769e+308 to 1.79769e+308, Default = 2e+014.

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Tag
124
Comments
If reference position RPOS is less than this value, a software Left Limit fault results and bit FAULT
(axis_index).#SLL is = 1.
Accessibility
Read-Write

SLLIMIT values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Variables

RPOS, FAULT(axis_index).#SLL, SRLIMIT
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable, GetFault
C Library Functions
acsc_ReadReal, acsc_WriteReal, acsc_GetFault

3.5.11 SLLROUT
HW Limits Routing is available using ACSPL+ variable: SLLROUT
Description
SLLROUT is an integer array, with one element for each axis in the system, and is used for setting
the HW limits routing for the specified axis.
Syntax
SLLROUT(<axis>)=value
Arguments

Value HW Limits

0 According to SLPROUT

001 From channel 0

101 From channel 1

201 From channel 2

301 From channel 3

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Comments
If SLLROUT(<axis>)=0, the routing is being done according to SLPROUT. In particular, if SLPROUT
(<axis>)=0, the HW limits are being taken from the axis itself.
Tag
318
Accessibility
Read-Write
Com Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

3.5.12 SRLIMIT
Description
SRLIMIT is a real array, with one element for each axis in the system, and is used for defining the
minimum allowed Right position for the motor.
Syntax
SRLIMIT(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value ranges from -1.79769e+308 to 1.79769e+308, Default = 2e+014.

Tag
128
Comments
If reference position RPOS is greater than this value, a software Right Limit fault results and FAULT
(axis_index).#SRL is = 1.
Accessibility
Read-Write

SRLIMIT values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection.

Related ACSPL+ Variables

RPOS, FAULT(axis_index).#SRL, SLLIMIT

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COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable, GetFault
C Library Functions
acsc_ReadReal, acsc_WriteReal, acsc_GetFault

3.5.13 XACC
Description
XACC is a real array, with one element for each axis in the system, and is used for defining the
maximum allowed acceleration for the motor.
Syntax
XACC(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value ranges from 2.22507e-308 to 1.79769e+308, Default = 1e+007.

Tag
141
Comments
If the reference acceleration RACC exceeds this value, the Acceleration Limit fault is activated and bit
#AL is set in variable FAULT.
Accessibility
Read-Write

XACC values cannot be modified if protection is applied to this variable through SPiiPlus
MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Variables

FAULT(axis_index).#AL, RACC
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable, GetFault
C Library Functions
acsc_ReadReal, acsc_WriteReal, acsc_GetFault

3.5.14 XCURCDB
Description
XCURCDB is a real array, the size of which is determined by the total number of axes in the system. It
is used for defining the threshold of the current vector peak.

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Syntax

XCURCDB(index) = value

Arguments

index A number between 0 up to a maximum number of axes in the system minus 1.

value range is [0,100] (as a percentage of the maximum peak output)

Default value: 0.
value
If the value is 0, the actual value will the be minimum of ACSPL+ variables
XRMSM and XRMSD.

Comments
The parameter is relevant only if the Controlled Current Dynamic Brake Mode is active.
This variable is supported in version 3.10 and higher.
Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.5.15 XCURI
Description
XCURI is a real array, with one element for each axis in the system, and is used for limiting the drive
output when the motor is enabled but in standstill position. XCURI is defined as a percentage of the
maximum peak output. For products that incorporate the Drive Power Electronics (UDMnt, etc…),
this value directly limits the Output Current. For products that output Voltage Signals to external
Amplifiers (universal analog drive controllers such as the UDI), this value limits the Output Signal to
percentage of ±10V.
Syntax
XCURI(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value ranges from 0 to 100, Default = 50.

Tag
142

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Comments
XCURI is defined as a percentage of the maximum peak output. For drive command products, the
command scales the voltage output range. For example, in the UDMnt-10/20, the maximum output
voltage is ±20V. Setting XCURI to 50 will limit the drive output to ±10V when the motor is idle. For
other products setting XCURI will scale the peak current output.
Accessibility
Read-Write

XCURI values cannot be modified if protection is applied to this variable through SPiiPlus
MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Variables

FAULT(axis_index).#CL, XRMS, XCURV
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable, GetFault
C Library Functions
acsc_ReadReal, acsc_WriteReal, acsc_GetFault

3.5.16 XCURK
Description
XCURK is a double array with one element for each axis in the system. It sets the current limit (in
percentage) for the axis to be applied during a KILL MOTION operation.
Syntax

XCURK(Axis_Index) = Value

Arguments

Axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number
Index of axes in the system minus 1.

Value Value ranges from 0 to 100. Default value is 10.

Tag
375
Comments
The value transferred to the DSP is:

This variable is supported in version 3.00 and higher.

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Related ACSPL+ Commands and Variables

XCURV
Accessibility
Read-Write
.NET Library Method
ReadVariable(), WriteVariable()
C Library Function
acsc_ReadDouble(), acsc_WriteDouble()

3.5.17 XCURV
Description
XCURV is a real array, with one element for each axis in the system, and is used for limiting the drive
output when the motor is moving. XCURV is defined as a percentage of the maximum peak output.
For products that incorporate the Drive Power Electronics (UDMnt, etc…), this value directly limits the
Output Current. For products that output Voltage Signals to external Amplifiers (universal analog
drive controllers such as the UDI), this value limits the Output Signal to percentage of ±10V.
Syntax
XCURV(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value ranges from 0 to 100, Default = 50.

Tag
143
Comments
XCURV is defined as a percentage of the maximum peak output. For drive command products, the
command scales the voltage output range. For example, in the UDMnt-10/20, the maximum output
voltage is ±20V. Setting XCURV to 50 will limit the drive output to ±10V when the motor is idle. For
other products setting XCURV will scale the peak current output.
Accessibility
Read-Write

XCURV values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection.

Related ACSPL+ Variables

FAULT(axis_index).#CL, XRMS, XCURI

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COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable, GetFault
C Library Functions
acsc_ReadReal, acsc_WriteReal, acsc_GetFault

3.5.18 XRMS
Description
XRMS is a real array, with one element for each axis in the system, and is used for setting the
maximum allowable rms current for the motor. XRMS is defined as a percentage of the maximum
peak output. For products that incorporate the Drive Power Electronics (UDMnt, etc…), this value
directly limits the Output Current. For products that output Voltage Signals to external Amplifiers
(universal analog drive controllers such as the UDI), this value limits the Output Signal to percentage
of ±10V.
Syntax
XRMS(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value Value ranges from 0 to 100. Default = 50.

Tag
144
Comments
The SP program calculates RMS of the corresponding motor. If the calculated value exceeds the
XRMS value, an overcurrent fault occurs. XRMS is defined as a percentage of the maximum output
voltage.
Accessibility
Read-Write

XRMS values cannot be modified if protection is applied to this variable through SPiiPlus
MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Variables

FAULT(axis_index).#CL, XCURI, XCURV
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable, GetFault
C Library Functions
acsc_ReadReal, acsc_WriteReal, acsc_GetFault

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3.5.19 XRMSD
Description
XRMSD is a real array, with one element for each axis in the system, and is used for setting the
maximum allowable RMS current on the drive, as opposed to XRMSM which sets the maximum
allowed RMS current for the motor. XRMSD is defined as a percentage of the maximum peak output.
For products that incorporate the Drive Power Electronics (UDMnt, etc…), this value directly limits the
Output Current. For products that output Voltage Signals to external Amplifiers (universal analog
drive controllers such as the UDI), this value limits the Output Signal to percentage of ±10V.
Syntax

XRMSD(Axis_Index) = Value

Arguments

Axes_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
Index axes in the system minus 1.

Value Value ranges from 0 to 100, Default = 50.

Tag
345
Comments
XRMSD is used to define the desired maximum current for the drive.
The SP program calculates RMS of the corresponding controller drive output. If the calculated value
exceeds the XRMSD value, an overcurrent fault occurs. XRMSD is defined as a percentage of the
maximum output current.
Related ACSPL+ Variables
XRMSTD, FAULT(Axis_Index).#CL, XCURI, XCURV
Accessibility
Read-Write

XRMSD values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio > Toolbox > Application Development > Protection.

.NET Library Method

ReadVariable(), WriteVariable(), GetFault
C Library Function
acsc_ReadReal(), acsc_WriteReal(), acsc_GetFault

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3.5.20 XRMSM
Description
XRMSM is a real array, with one element for each axis in the system, and is used for setting the
maximum allowable RMS current on the motor, as opposed to XRMSD which sets the maximum
allowed RMS current for the drive. XRMSM is defined as a percentage of the maximum peak output.
For products that incorporate the Drive Power Electronics (UDMnt, etc…), this value directly limits the
Output Current. For products that output Voltage Signals to external Amplifiers (universal analog
drive controllers such as the UDI), this value limits the Output Signal to percentage of ±10V.
Syntax

XRMSM(Axis_Index) = Value

Arguments

Axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
Index axes in the system minus 1.

Value Value ranges from 0 to 100, Default = 100.

Tag
351
Comments
The SP program calculates RMS of the corresponding controller drive output. If the calculated value
exceeds the XRMSM value, an overcurrent fault occurs. XRMSM is defined as a percentage of the
maximum output current.
XRMSM is used to define the desired maximum current for the motor.
Related ACSPL+ Variables
XRMSTM, FAULT(Axis_Index).#CL, XCURI, XCURV
Accessibility
Read-Write

XRMSM values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio→Toolbox→Application Development→ Protection.

.NET Library Method

ReadVariable(), WriteVariable(), GetFault
C Library Function
acsc_ReadReal(), acsc_WriteReal(), acsc_GetFault

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3.5.21 XRMST
Description
XRMST is a real array, with one element for each axis in the system, and is used for setting the time
constant in milliseconds for the XRMS to activate the overcurrent protection. For calculation of XRMS
activation time, see SPiiPlus Setup Guide .
Syntax
XRMST(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value ranges from 200 to 3260, Default = 3230.

Tag
145
Accessibility
Read-Write

XRMST values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Variables

FAULT(axis_index).#CL, XCURI, XCURV, XRMS
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable, GetFault
C Library Functions
acsc_ReadReal, acsc_WriteReal, acsc_GetFault

3.5.22 XRMSTD
Description
XRMSTD is a real array, with one element for each axis in the system, and is used for setting the time
constant in milliseconds for XRMSD to activate the overcurrent protection for the drive. For
calculation of XRMSD activation time, see SPiiPlus Setup Guide .
Syntax

XRMSTD(Axis_Index) = Value

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Arguments

Axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
Index axes in the system minus 1.

Value Value ranges from 200 to 60,000, Default = 3230.

Tag
346
Related ACSPL+ Variables
XRMSD, FAULT(Axis_Index).#CL, XCURI, XCURV
Accessibility
Read-Write

XRMSTM values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio >Toolbox > Application Development > Protection.

.NET Library Method

ReadVariable(), WriteVariable(), GetFault
C Library Function
acsc_ReadReal(), acsc_WriteReal(), acsc_GetFault

If Drive XRMS protection is triggered, the error 5049 “Drive Overcurrent” is given.

3.5.23 XRMSTM
Description
XRMSTM is a real array, with one element for each axis in the system, and is used for setting the
time constant in milliseconds for XRMSM to activate the overcurrent protection for the motor. For
calculation of XRMSM activation time, see SPiiPlus Setup Guide.
Syntax

XRMSTM(Axis_Index) = Value

Arguments

Axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
Index axes in the system minus 1.

Value Value ranges from 200 to 600,000, Default = 20,000.

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Tag
352
Related ACSPL+ Variables
XRMSM, FAULT(Axis_Index).#CL, XCURI, XCURV
Accessibility
Read-Write

XRMSTM values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio > Toolbox > Application Development > Protection.

.NET Library Method

ReadVariable(), WriteVariable(), GetFault
C Library Function
acsc_ReadReal(), acsc_WriteReal(), acsc_GetFault

If Motor XRMS protection is triggered, the error 5048 “Motor Overcurrent” is given.

3.5.24 XSACC
Description
XSACC is a real array, with one element for each axis in the system, and is used for defining the
maximum allowed slave acceleration in MASTER - SLAVE motion.
Syntax
XSACC(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value ranges from 2.22507e-308 to 1.79769e+308, Default = 1e+007.

Tag
146
Comments
When a slave is synchronized to a master, the controller verifies the slave acceleration against the
XSACC value each MPU cycle. If the slave acceleration exceeds XSACC, the motion falls out of
synchronization. The controller tries to regain synchronism by having the slave pursue the master
with the maximum allowed motion parameters.

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Accessibility
Read-Write

XSACC values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Commands

MASTER, SLAVE
COM Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.5.25 XVEL
Description
XVEL is a real array, with one element for each axis in the system, and is used for defining the
maximum allowed velocity for the axis.
Syntax
XVEL(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value ranges from 2.22507e-308 to 1.79769e+308, Default = 2e+006.

Tag
147
Comments
If RVEL reference velocity exceeds XVEL, FAULT(axis_index).#VL = 1.

Trying to adjust the position and velocity loops when XVEL is not correctly set will
produce poor results. Verify that XVEL is correctly defined to fit the application and other
requirements before adjusting the loops.

Accessibility
Read-Write

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XVEL values cannot be modified if protection is applied to this variable through SPiiPlus
MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Variables

FAULT(axis_index).#VL, RVEL, FVEL
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.6 Data Collection Variables

The Data Collection variables are:

Name Description

DCN Axis Data Collection, Number of Samples

DCP Axis Data Collection, Period

S_DCN System Data Collection, Number of Samples

S_DCP System Data Collection, Period

S_ST State of System Data Collection

3.6.1 DCN
Description
DCN is an integer array, with one element for each axis in the system, the elements of which store
the number of data collection samples per given axis.
Tag
19
Comments
DCN stores a defined number of axis data collection samples, as follows:
1. While an axis data collection is in progress DCN displays the index of the array element that
stores the next sample.
2. When an axis data collection terminates for the corresponding axis, DCN stores the number
of actually collected samples. If the data collection terminates automatically, the variable is
always equal to the requested number of samples specified in DC. If STOPDC terminates
data collection, DCN may contain less than the specified number of samples.

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If an axis data collection is in progress, DCN increments each time the next sample is stored. When
the data collection terminates, the DCN holds the last value, until the next data collection starts for
the same axis.
Accessibility
Read-Only
Related ACSPL+ Commands
DC, STOPDC
Related ACSPL+ Variables
AST, DCP
COM Library Methods and .NET Library Methods
ReadVariable, DataCollection, StopCollect, WaitCollectEnd
C Library Functions
acsc_ReadInteger, acsc_DataCollectionExt, acsc_StopCollect, acsc_WaitCollectEnd

3.6.2 DCP
Description
DCP is a real array, with one element for each axis in the system, the elements of which store the
axis data collection samples based on a specified sampling period. When an axis data collection
terminates, DCP stores the sampling period.
Tag
21
Comments
DCP is generally equal to the specified period, however because period is rounded to an integer
number of controller cycles, the actual period may differ from the period specified in the DC
command.
If DC/t (temporal data collection) was executed, DCP may be greater than the requested minimal
period.
When a system data collection starts, DCP is assigned a real data collection period.
Accessibility
Read-Only
Related ACSPL+ Commands
DC, STOPDC
Related ACSPL+ Variables
AST, DCN
COM Library Methods and .NET Library Methods
ReadVariable, DataCollection, StopCollect, WaitCollectEnd
C Library Functions
acsc_ReadReal, acsc_DataCollectionExt, acsc_StopCollect, acsc_WaitCollectEnd

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3.6.3 S_DCN
Description
S_DCN is a scalar integer that stores a defined number of system data collection samples.
Tag
111
Comments
S_DCN stores a defined number of system data collection samples, as follows:
1. While a system data collection is in progress S_DCN displays the index of the array element
that stores the next sample.
2. When a system data collection terminates, the variable stores the number of actually
collected samples. If the data collection terminates automatically, the variable is always
equal to the requested number of samples specified in the dc command. If the data
collection terminates due to the STOPDC command, the variable may be less than the
requested number of samples.
For cyclic data collection S_DCN displays the current number of collected samples and changes as
follows:
1. At the start of data collection, S_DCN is assigned with zero.
2. With each sampling, S_DCN is incremented until it reaches the specified size of the sample
array
3. S_DCN remains unchanged - the newest sample overwrites the oldest, so the total number
of samples remains the same.
As long as cyclic data collection is in progress, the application cannot use the sample array. After the
cyclic data collection finishes, the controller repacks the sample array so that the first element
represents the oldest sample and the last element represents the most recent sample.
Accessibility
Read-Only
Related ACSPL+ Commands
DC, STOPDC
Related ACSPL+ Variables
S_ST, S_DCP
COM Library Methods and .NET Library Methods
ReadVariable, DataCollection, StopCollect, WaitCollectEnd
C Library Functions
acsc_ReadInteger, acsc_DataCollectionExt, acsc_StopCollect, acsc_WaitCollectEnd

3.6.4 S_DCP
Description
S_DCP is real variable that stores the period of system data collection sampling.

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Tag
112
Comments
When a system data collection terminates, the S_DCP stores the sampling period. Unless a temporal
data collection was executed, the variable is always equal to the requested period specified in the
DC command.

S_DCP is generally equal to the specified period, however because the period is
rounded to an integer number of controller cycles, the actual period may differ from the
period specified in the DC command.

Accessibility
Read-Only
Related ACSPL+ Commands
DC, STOPDC
Related ACSPL+ Variables
S_ST, S_DCN
COM Library Methods and .NET Library Methods
ReadVariable, DataCollection, StopCollect, WaitCollectEnd
C Library Functions
acsc_ReadReal, acsc_DataCollectionExt, acsc_StopCollect, acsc_WaitCollectEnd

3.6.5 S_ST
Description
S_ST is a scalar integer variable that provides the state of System Data Collection.
Tag
120
Comments
S_ST provides a bit that indicates if system data collection is currently in progress.
Bit 3:
0 - System data collection off
1 - System data in progress.
Accessibility
Read-Only
Related ACSPL+ Commands
DC, STOPDC

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Related ACSPL+ Variables

S_DCN, S_DCP
COM Library Methods and .NET Library Methods
ReadVariable, DataCollection, StopCollect, WaitCollectEnd
C Library Functions
acsc_ReadInteger, acsc_DataCollectionExt, acsc_StopCollect

3.7 Input and Output Variables

The Input and Output variables are:

Name Description

AIN Analog Inputs

AINOFFS Percent offset of analog signal from external source

AINSCALE Define scale of analog input signal

AOUT Analog Outputs

COMMCH Returns the last activated communication channel.

DCOM Drive command - in open loop

DOUT Drive output.

EXTIN Extended digital inputs

EXTOUT Extended digital outputs

IN General Purpose Digital Inputs

OUT General Purpose Digital Outputs

SPIRXN Number of words transmitted from SPI interface

Integer array with one element for each EtherCAT node in the system. It
SPIST
shows the current state of the SPI communication channel.

3.7.1 AIN
Description
AIN is a real array, the size of which is determined by the total number of analog input signals in the
system, and is used for defining the level of an analog signal from an external source such as a
sensor or a potentiometer.

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Syntax

value = AIN(index)

Arguments

A number between 0 up to the maximum number of analog input signals

index
minus one.

value is the scaling, by percent, of the signal and ranges from -200 to +200,
value
Default = 0.

Tag
4
Comments
AIN represents a percentage of the sensor input range and assumes that the range is ± 10V. Some
sensors have different ranges; for example, if a sensor with a range of ± 5V detects its maximum
input, AIN would return ±50% by default. AINSCALE is used to normalize the value returned by AIN.
In this example, setting AINSCALE to 2 would cause AIN to return 100%.
Accessibility
Read-Only
COM Library Methods and .NET Library Methods
ReadVariable, GetAnalogInput
C Library Functions
acsc_ReadReal, acsc_GetAnalogInput

3.7.2 AINOFFS
Description
AINOFFS is a real array, the size of which is determined by the total number of analog input signals
in the system and is used for defining the percent offset of an analog signal from an external source
such as a sensor or a potentiometer.
Syntax

AINOFFS(index) = value

A number between 0 up to the maximum number of analog inputs signals

index
minus one.

value Value is the offset, by percent, ranges from -100 to +100, Default = 0.

Tag
378

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Comments
> If used in combination with the analog input scaling feature(AINSCALE) then, the order of
operations will be first offset and then scaling.
> The AIN variable range is now between -200 to +200.
This variable is supported in version 3.10 and higher.
Related ACSPL+ Variables
AIN, AINSCALE
Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable(), WriteVariable()
C Library Functions
acsc_ReadReal(), acsc_WriteReal()

3.7.3 AINSCALE
Description
AINSCALE is a real array, the size of which is determined by the total number of analog input signals
in the system and is used for defining the scaling of an analog signal from an external source such
as a sensor or a potentiometer.
Syntax

AINSCALE(index) = value

Arguments

A number between 0 up to the maximum number of analog inputs signals

index
minus one.

value Value is the scaling factor, ranges from -2 to +2, Default = 1.

Tag
391
Comments
If combined with the analog input offset feature(AINOFFS) then the order of operations will be
offset and then scaling.
The AIN variable range is between -200 to +200.
AIN represents a percentage of the sensor input range and assumes that the range is ± 10V. Some
sensors have different ranges; for example, if a sensor with a range of ± 5V detects its maximum
input, AIN would return ±50% by default. AINSCALE is used to normalize the value returned by AIN.
In this example, setting AINSCALE to 2 would cause AIN to return 100%.
This variable is supported in version 3.10 and higher.

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Related ACSPL+ Variables

AIN, AINOFFS
Accessibility
Read-Write

3.7.4 AOUT
Description
AOUT is a real array, the size of which is determined by the total number of analog output signals in
the system, and is used for defining the level of a general purpose analog signal that is sent to an
external device.
Syntax

AOUT(index) = value

Arguments

A number between 0 up to the maximum number of analog output signals

index
minus one.

value is the scaling, by percent, of the signal and ranges from -100 to +100,
value
Default = 0.

Tag
5
Comments
1. Some aspects of AOUT are model-dependent, including the number of analog outputs and
type of analog inputs (differential or single-ended).
2. In SPiiPlus controllers (not CM) AOUT can be used only when the axis is defined as Dummy -
see MFLAGS.
To define the analog output command to a drive (connected to a motor) in open loop, refer
to DCOM.
Accessibility
Read-Write
Related ACSPL+ Variables
MFLAGS
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable, GetAnalogOutput, SetAnalogOutput
C Library Functions
acsc_ReadReal, acsc_WriteReal, acsc_GetAnalogOutput, acsc_SetAnalogOutput

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3.7.5 DOUT
Description
DOUT is an integer array that stores the drive command (velocity loop output) for each axis.
Tag
26
Comments
DOUT values range from -32767 to 32767, which corresponds to the range of +/-100% command.
In open loop loop mode (MFLAGS.1=1), DOUT is determined by the DCOM variable.
In closed loop mode (MFLAGS.1=0), DOUT is determined by DCOM plus the velocity loop output.
In gantry mode (MFLAGS.25=1) DOUT of the primary axis indicates the longitudinal (force) command
and DOUT of the secondary axis indicates the rotational (torque) command.
DOUT is updated at the MPU rate (CTIME) in most products, see note below.

The following ACS products only support lower rate update (once per 100msec) of DOUT:
> UDMpc
> CMnt
> UDMpm
> MC4U with SPiiPlus NT-HP/LT/LD
> MC4U with SPiiPlus DC-HP/LT/LD
> SPiiPus SAnt

Accessibility
Read-Only, ReadVariable
COM Library Methods and .NET Library Methods
ReadVariable, C Library Functions, acsc_ReadInteger

3.7.6 EXTIN
Description
EXTIN is an integer array, the size of which is determined by the total number of SPI input signals in
the system, and reads the current state of the inputs. The number of inputs depends on the number
of SPI modules in the system.
Comments
The SPIRXN variable is updated every cycle with the number of active elements.
Tag
42
Accessibility
Read-Only

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Related ACSPL+ Variables

EXTOUT, IN
COM Library Methods and .NET Library Methods
ReadVariable, GetExtInput, GetExtInputPort
C Library Functions
acsc_ReadInteger, acsc_GetExtInput, acsc_GetExtInputPort

3.7.7 EXTOUT
Description
EXTOUT is an integer array, the size of which is determined by the total number of SPI output signals
in the system, which can be used for reading or setting the current state of the outputs. The number
of outputs depends on the number of SPI inputs in the system.
Syntax
EXTOUT(index) = value
Arguments

index A number between 0 and 511.

value value ranges from -2147483648, 2147483647, Default = 0.

Comments
When used with an SPI interface in master mode, the EXOUT function should be used.
The SPICFG function sets the number of elements which contain data.
Tag
43
Accessibility
Read-Write
Related ACSPL+ Variables
EXTIN, OUT
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable, GetExtOutput, SetExtOutput, GetExtOutputPort, SetExtOutputPort
C Library Functions
acsc_ReadInteger, acsc_WriteInteger, acsc_GetExtOutput, acsc_SetExtOutput, acsc_
GetExtOutputPort, acsc_SetExtOutputPort

3.7.8 IN
Description
IN is an integer array, the size of which is determined by the total number of digital input signals in
the system, and stores the current state of the General Purpose digital inputs.

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Syntax
IN(port).bit
Arguments

port A number between 0 and the total number of ports in the system minus one.

bit bit can be 0-31.

Tag
71
Comments
General Purpose inputs are represented by bits 0..31 of IN(port). Each bit reports the state of one
General Purpose input.
For example, entering the query command ?IN(0).0 in the SPiiPlus MMI Application Studio
Communication Terminal will return "0" if inputs #0 is non-active or "1" when active.

In some SPiiPlus controllers and drives, the digital input pins can also be used as MARK.

Accessibility
Read-Only
Related ACSPL+ Variables
OUT, EXTOUT
COM Library Methods and .NET Library Methods
ReadVariable, GetInput, GetInputPort
C Library Functions
acsc_ReadInteger, acsc_GetInput, acsc_GetInputPort

3.7.9 OUT
Description
OUT is an integer array, the size of which is determined by the total number of digital output signals
in the system, and can be used for reading or writing the current state of the General Purpose digital
outputs.
Syntax
OUT(port).bit
Arguments

port A number between 0 the total number of ports in the system minus one.

bit bit can be 0-31.

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Tag
94
Comments
General purpose outputs are represented by bits 0..31 of OUT(port). Each bit reports the state of one
general purpose output for the given port.
For example, the query command ?OUT(23).0 = 1 through the SPiiPlus MMI Application Studio
Communication Terminal will activate the outputs #0 of port 23.

In some SPiiPlus controllers the digital output pins can also be used as PEG - see .

Accessibility
Read-Write
Related ACSPL+ Variables
IN, EXTIN
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable, SetOutput, GetOutput, SetOutputPort, GetOutputPort
C Library Functions
acsc_ReadInteger, acsc_WriteInteger, acsc_SetOutput, acsc_GetOutput, acsc_SetOutputPort, acsc_
GetOutputPort

3.7.10 SPIRXN
Description
SPIRXN is a variable that shows the number of actual words that contain data transmitted from the
SPI external interface. The range is from 0 to 8.
Accessibility
Read-only
Tag
384
Comments
SPIRXN value is 0 if the SPI is disabled. This variable is supported by the UDMxx, IDMxx and ECMxx
products only.

3.7.11 SPIST
Description
SPIST is an integer array with one element for each EtherCAT node in the system. It shows the
current state of the SPI communication channel.
Bit Field
The contents of each entry are interpreted according to the following table

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Bit Name Description

1 - more than 16 SPI words received

0 SPI RX Overflow
0 - No Event

1 - Attempt to add another SPI word for transmission

1 SPI TX Full while the SPI TX FIFO is full. The FIFO depth is 16.
0 - No Event

2-15 Reserved

Comments
If a specific element has the value 0, then there are no errors in that node
TAG
385
Accessibility
Read-only

3.8 Monitoring Variables

The Monitoring variables are:

Name Description

An integer array, with one element for each buffer in the system. It shows
BCODEUSG
the actual memory allocated by a program code in KB, for each buffer.

An integer array, with one element for each buffer in the system. It is used
BCODECFG for configuration of the amount of memory in KB that is pre-allocated for
program code for each buffer.

Sets the amount of memory pre-allocated for global variables in the D-

BGLOBCFG
Buffer.

A scalar that shows the amount of memory used by the global variables
BGLOBUSG
defined in the D-Buffer.

An integer array with one element for each buffer in the system. It is used
BSRCCFG for configuration of the amount of memory in KB that is pre-allocated for a
program source for each buffer.

An integer array, with one element for each buffer in the system. It shows,
BSRCUSG
in KB, the actual memory allocated by a program source for each buffer.

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Name Description

An integer array with one element for each buffer in the system. It shows,
BVARUSG in KB, the actual memory allocated by a program local variables for each
buffer.

An integer array with one element for each buffer in the system. It is used
BVARCFG for configuration of the amount of memory that is pre-allocated for local
variables in KB, for each buffer.

Elapsed time between the physical timer interrupt and the SC real-time
JITTER
task starts working.

MSSYNC Time difference between the master clock and the bus clock.

Stores the amount of MPU usage as a percentage of the specific ACSPL+

USGBUF
buffer in the controller cycle during the execution of real-time tasks.

Stores the amount of MPU usage as a percentage of the specific real-time

USGTRACE
task in the controller cycle during the execution of real-time tasks.

Parameter which specifies the EtherCAT frame delivery time in

SOFTIME
microseconds.

TIME Elapsed Time

USAGE MPU Usage

3.8.1 BCODECFG
Description
BCODECFG is an integer array, with one element for each buffer in the system. It is used for
configuration of the amount of memory in KB that is pre-allocated for program code for each buffer.
Syntax

BCODECFG(Buffer_Index) = value

Arguments

Buffer_Index Buffer index.

Tag
409
Comments
The values are in KB.
The default value is 128KB.
BCODEUSG can be useful for setting the value of the BCODECFG variable.

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A new value takes affect only after controller reboot.

Related ACSPL+ Variables
BCODEUSG
Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

3.8.2 BCODEUSG
Description
BCODEUSG is an integer array, with one element for each buffer in the system. It shows the actual
memory allocated by a program code in KB, for each buffer.
Syntax

[command]BCODEUSG(Buffer_Index)

Arguments

Buffer_Index Buffer index.

Tag
410
Comments
> The values are in KB.
> For empty buffer, the value is 0.
> BCODEUSG can be useful for setting the value of the BCODECFG variable.
Related ACSPL+ Variables
BCODECFG
Accessibility
Read-Only
COM Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadInteger

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3.8.3 BGLOBCFG
Description
BGLOBCFG is a scalar. It sets the amount of memory pre-allocated for global variables in the D-
Buffer.
Syntax

BGLOBCFG = value

Arguments
NONE
Tag
413
Comments
> The value is in KB.
> The default value is 1024KB.
> BGLOBUSG can be useful for setting the value of the BGLOBCFG variable.
> Setting the BGLOBCFG variable changes the value of BGLOBCFG only if the S_
SETUP.#VRMEMVAR bit is ON
> The BGLOBCFG variable applies only for global variables defined in the D-Buffer.
> A new value takes effect only after controller reboot.
Related ACSPL+ Variables
BGLOBUSG
Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable, Write Variable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

3.8.4 BGLOBUSG
Description
BGLOBUSG is a scalar that shows the amount of memory used by all ACSPL+ global variables.
Syntax

value = BGLOBUSG

Arguments
NONE

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Tag
414
Comments
> The value is in KB.
> BGLOBUSG can be useful for setting the value of the BGLOBCFG variable.
> The BGLOBUSG variable has a valid value only if S_SETUP.#VRMEMVAR bit is ON
> The BGLOBUSG variable applies only for global variables
Related ACSPL+ Variables
BGLOBCFG
Accessibility
Read-only
COM Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadInteger

3.8.5 BSRCUSG
Description
BSRCUSG is an integer array, with one element for each buffer in the system. It shows, in KB, the
actual memory allocated by a program source for each buffer.
Syntax

value = BSRCUSG(Buffer_Index)

Arguments

Buffer_Index Buffer index.

Tag
412
Comments
> The values are in KB
> For empty buffers the value is 0
> BSRCUSG can be useful for setting the value of the BSRCCFG variable
> The value should equal the size of the source code
Related ACSPL+ Variables
BSRCCFG

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Accessibility
Read-only
COM Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadInteger

3.8.6 BSRCCFG
Description
BSRCCFG is an integer array with one element for each buffer in the system. It is used for
configuration of the amount of memory in KB that is pre-allocated for a program source for each
buffer.
Syntax

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Tag
415
Comments
> The values are in KB.
> The default value is 10KB.
> BVARUSG can be useful for setting the value of the BVARCFG variable.
> The BVARCFG variable takes effect only if S_SETUP.#VRMEMVAR bit is ON.
> A new value takes effect only after controller rebooted.
Related ACSPL+ Variables
BVARCFG
Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

3.8.9 JITTER
Description
JITTER is a real variable that contains the time, in microseconds, that elapsed from the physical timer
interrupt until the SC real-time task starts working. This parameter shows the influence of overall
hosting PC load on real-time endurance of SC.
Tag
224
Accessibility
Read-Only
COM Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadReal

3.8.10 MSSYNC
Description
MSSYNC is a real variable that contains the difference, in microseconds, between clocks of the
master and the [Link] parameter shows how close the synchronization is between the two clocks.
Tag
225

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Accessibility
Read-Only
COM Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadReal

3.8.11 USGBUF
Description
USGBUF array stores the amount of MPU usage as a percentage of the specific ACSPL+ buffer in the
controller cycle during the execution of real-time tasks.
USGBUF is a real array with one element for each ACSPL+ buffer as follows:
> USGBUF(0) - Buffer 0
> USGBUF(63) - Buffer 63
> USGBUF(64) - D-Buffer
> USGBUF(65) - Buffer for immediate commands execution (C / COM libraries, communication
terminal, etc.)
> USGBUF(66) - Buffer for MACRO execution
Tag
246
Comments
The real-time tasks always have the greatest priority. If the usage reaches 80% or more, the
response time of the controller deteriorates. In addition, it is dangerous and may cause jerks in the
motion profile.
The USGBUF variable should be used for debugging purposes only and should not be used in real
production applications. In order to use a tracing mechanism, bit 1 of S_SETUP variable should be set
to 1.

3.8.12 USGCORE
Description
USGCORE is a real array of four that shows the amount of CPU usage as a percentage of the real-
time tasks in the controller cycle of the relevant CPU during the execution of real-time tasks.
Tag
439
Comments
USGCORE(0) should be equal to ACSPL+ USAGE.

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3.8.13 USGTRACE
Description
USGTRACE array is used for storing the amount of MPU usage as a percentage of the specific real-
time task in the controller cycle during the execution of real-time tasks.
USGTRACE is a real array with one element for each real-time task according to the following list,
with 10 elements reserved for each EtherCAT instance:
> EtherCAT instance 0:
> USGTRACE(0) - EtherCAT instance 0 communication (including communication jitter)
> USGTRACE(1) - reading inputs, prerequisite operations for motion generator
> USGTRACE(2) - motion generator and real-time objects
> USGTRACE(3) - operations on axes and Servo Processor interfaces
> USGTRACE(4) - execution of ACSPL+ buffers
> USGTRACE(5) - writing outputs, house keeping operations
> USGTRACE(6..9) - not used and reserved for future needs
> EtherCAT instance 1:
> USGTRACE(10) - EtherCAT instance 1 communication (including communication jitter)
> USGTRACE(11) - reading inputs, prerequisite operations for motion generator
> USGTRACE(12) - motion generator and real-time objects
> USGTRACE(13) - operations on axes and Servo Processor interfaces
> USGTRACE(14) - execution of ACSPL+ buffers
> USGTRACE(15) - writing outputs, house keeping operations
> USGTRACE(16..19) - not used and reserved for future needs
Tag
245
Comments
The real-time tasks always have the greatest priority. If the usage reaches 80% or more, the
response time of the controller deteriorates. In addition, it is dangerous and may cause jerks in the
motion profile.
The USGTRACE variable should be used for debugging purposes only and should not be used in real
production applications. In order to use a tracing mechanism, bit 1 of S_SETUP variable should be set
to 1.

3.8.14 SOFTIME
Description
SOFTIME is a read-only real array, with one element for each EtherCAT node in the system, which
specifies the EtherCAT frame delivery time in microseconds.

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Tag
255
Accessibility
Read Only
COM Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadReal
Comments
A Bit 2 (#SOFTIME) setting enables measuring the EtherCAT frame delivery time. Currently this
feature is supported by the following products only:
> "IOMnt (rev.B2 and higher)
> "PDMnt (rev. B3 and higher)
> "SDMnt (rev. B2 and higher)

3.8.15 TIME
Description
TIME is a real variable that provides the defines the elapsed time (in milliseconds) from the controller
power-up.
Tag
134
Accessibility
Read-Only
COM Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadReal

3.8.16 USAGE
Description
USAGE is a real variable used for storing the amount of MPU usage as a percentage of the real-time
tasks in the controller cycle during the execution of real-time tasks.
Tag
137
Comments
The real-time tasks always have the greatest priority. If the usage reaches 80% or more, the
response time of the controller deteriorates, in addition, it is dangerous and may cause jerks in the
motion profile.

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The USAGE variable value can be used in autoroutines for halting the application should usage
exceed a certain value.
Values may be any positive number up to 100.
Accessibility
Read-Only
COM Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadReal

3.8.17 USAGESIM
Description
USAGESIM is a real variable used for storing MPU usage as a percentage of the real-time tasks in the
controller cycle during the execution of real-time tasks in the simulator.
Tag
376
Comments
The USAGESIM variable should be used for debugging purposes only and should not be used in real
production applications.
Since the simulator runs in a non-real-time OS, USAGESIM can frequently be above 100% .
This variable is supported in version 3.00 and higher.
Accessibility
Read-only
Related ACSPL+ Variables
USAGE
COM Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadReal

3.9 Motion Variables

The Motion variables are:

Name Description

ACC Default Acceleration

APOS Axis Position

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Name Description

Integer array storing the current desired motor position, including the
APOSFILT
filtering operation result

CERRK Critical Position Error criterion for the KILL state

DEC Default Deceleration

DECOMP Error Correction

Defines the time delay after a kill process when CERRK is used to indicate
DELK
a critical position error.

DAPOS Delayed Axis Position

FACC Feedback Acceleration

FEEDRF Feedrate Override

FPOS Feedback Position

F2POS Secondary Feedback Position

FVEL Feedback Velocity

F2VEL Secondary Feedback Velocity

GACC Group Acceleration

GJERK Group Jerk

GMOT Motion Number

GMQU Motion Queue

GMTYPE Motion Type

GPATH Group Path

GPHASE Motion Phase

GRTIME Remaining Motion Time

GSEG Motion Segment

GSFREE Free Motion Segments

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Name Description

A real array, with one element for each axis in the system, and is used for
GSNAP
defining the current calculated snap vector snap of group motion.

GVEC Group Vector

GVEL Group Velocity

JERK Default jerk

KDEC Default kill deceleration

LPOS Axis position in LCS

NVEL Sets a non-zero axis velocity in stepper motor applications

SETTLEA Sets the time to wait inside the target radius before triggering

SETTLEB Sets the time to wait inside the target radius before triggering

SETTLEC Sets the time to wait inside the target radius before triggering

SLSFF A SNAP feed forward parameter.

A real array with one element for each axis in the system, and is used for
SNAP defining the snap (jerk derivative) of the motion profile in user-defined
units.

STLTIMEA Last settling time of axis, according to SETTLEA and TARGRADA criteria

STLTIMEB Last settling time of axis, according to SETTLEB and TARGRADB criteria

STLTIMEC Last settling time of axis, according to SETTLEC and TARGRADC criteria

SETTLEC Sets the time to wait inside the target radius before triggering

TARGRADA Sets the target radius around which you wish the motion to settle.

TARGRADB Sets the target radius around which you wish the motion to settle.

TARGRADC Sets the target radius around which you wish the motion to settle.

TPOS Target position for track motion

PE Position Error

RACC Reference Acceleration

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Name Description

PPOS Reference Position, 20kHz

Holds the time(In milliseconds) passed from the moment that the move
PRFLTIME
starts until the motion profile ends

PPOSCOMP Reference Jerk

RJERK Reference Position

RPOSCOMP Reference Position

RPOSDEL Actual motor motion delay

A real array, with one element for each axis in the system, and is used for
RSNAP defining the current calculated reference snap (jerk derivation) in user-
defined units.

RVEL Reference Velocity

VEL Velocity

3.9.1 ACC
Description
ACC is a real array, with one element for each axis in the system, and is used for defining the motion
profile acceleration.
Syntax
ACC(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value ranges from 2.22507e-308 to 1.79769e+308, Default = 100000.

Tag
1
Comments
For single-axis motion, ACC defines the axis acceleration. If the axis is a leading axis in a group, ACC
defines the vector acceleration of the common motion.
If ACC is changed when a motion is in progress, the change does not affect currently executing
motions, or motions that were created before the change.
Accessibility
Read-Write

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ACC values cannot be modified if protection is applied to this variable through SPiiPlus
MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Commands

IMM, SLAVE, and all motion commands where the profile is generated by the controller.
Related ACSPL+ Variables
DEC, JERK, KDEC, VEL
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable, SetAcceleration. GetAcceleration, SetAccelerationImm
C Library Functions
acsc_ReadReal, acsc_WriteReal, acsc_SetAcceleration. acsc_GetAcceleration, acsc_
SetAccelerationImm

3.9.2 APOS
Description
APOS is a real array, with one element for each axis in the system, and is used for defining the
current reference value for the axis in user-defined units.
Syntax
See SET
Tag
6
Comments
APOS is updated each MPU cycle if a motion that involves the axis is in progress.
If the corresponding motor has a default connection (MFLAGS(axis_index).#DEFCON =1), APOS =
RPOS.
Accessibility
Read-Only - Can be changed using SET.
Related ACSPL+ Commands
MASTER, SLAVE
Related ACSPL+ Variables
MPOS
COM Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadReal

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3.9.3 APOSFILT
Description
APOSFILT is real array with one element for each axis in the system. The array elements store the
current desired motor position, including the filtering operation result, such as input shaping.

APOSFILT updates on every controller cycle according to the filtering algorithm. When
the filtering algorithm is not configured, APOSFILT = APOS.

TAG
368
Comments
This variable is supported in version 3.00 and higher.
ACCESSIBILITY
Read-Only
RELATED ACSPL+ COMMANDS
All motion commands
RELATED ACSPL+ VARIABLES
FPOS, RPOS, APOS,
.NET LIBRARY METHODS
ReadVariable(), WriteVariable()
C LIBRARY FUNCTIONS
acsc_ReadReal(), acsc_WriteReal()

3.9.4 CERRK
Description
CERRK is a real array, with one element for each axis in the system, and is used for defining the
Critical Position Error criterion for the KILL state.
Syntax

CERRK(Axis_Index) = Value

Arguments

Designates the specific axis, valid numbers are: 0, 1,

Axis_Index
2, ... up to the number of axes in the system minus 1.

Value ranges from 2.22507e-308 to 1.79769e+308.

Value
Default: 1000

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Tag
347
Comments
CERRK defines the maximum tolerable critical position error (FAULT(axis_index).#PE) during the kill
operation.
The value of CERRK is always equal or higher than that of CERRA.
If CERRK is assigned a new value which is lower than CERRA, CERRK is set to CERRA automatically.
If CERRA is assigned a new value which is higher than CERRK, CERRK is set to CERRA automatically.
Related ACSPL+ Variables
FAULT(Axis_Index).#PE, FDEF
Accessibility
Read-Write

CERRK values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio > Toolbox > Application Development > Protection.

.NET Library Method

ReadVariable(), WriteVariable()
C Library Function
acsc_ReadReal(), acsc_WriteReal()

3.9.5 DAPOS
Description
DAPOS is a real array, with one element for each axis in the system. DAPOS reads the delayed Axis
Position value which is synchronized with RPOS and FPOS.
Syntax
DAPOS is activated as part of the SPiiPlus MMI Application Studio Scope.
Tag
18
Comments
Use DAPOS only to view the axis position in the Scope when comparing the axis position to the
RPOS.
In the SPiiPlus, APOS (axis position) is not synchronized with RPOS and FPOS and are characterized
by a few msec delay.
When implementing a non-default CONNECT, it may be necessary to monitor APOS versus RPOS
with the Scope.
Accessibility
Read-Only

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Related ACSPL+ Commands

CONNECT
Related ACSPL+ Variables
APOS, RPOS
COM Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadReal

3.9.6 DEC
Description
DEC is a real array, with one element for each axis in the system and is used for specifying the
motion profile deceleration in milliseconds.
Syntax
DEC(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value ranges from 2.22507e-308 to 1.79769e+308, Default = 100000.

Tag
22
Comments
For single-axis motion, DEC defines axis deceleration. If the axis is a leading axis in a group, DEC
defines the vector deceleration of the common motion.
If DEC is changed when a motion is in progress, the change does not affect currently executing
motions or motions that were created before the change.
Accessibility
Read-Write

DEC values cannot be modified if protection is applied to this variable through SPiiPlus
MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Commands

HALT, IMM, SLAVE
Related ACSPL+ Variables
ACC, JERK, KDEC, VEL

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3. ACSPL+ Variables

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable, SetDeceleration. GetDeceleration, SetDecelerationImm
C Library Functions
acsc_ReadReal, acsc_WriteReal, acsc_SetDeceleration. acsc_GetDeceleration, acsc_
SetDecelerationImm

3.9.7 DECOMP
Description
DECOMP is a real array, with one element for each axis in the system, and is used for displaying the
error correction for the mechanical error compensation that was applied to the axis. DECOMP
displays the difference between RPOS and RPOSCOMP.
Tag
344
Accessibility
Read-Only
Related ACSPL+ Commands
All motion commands
Related ACSPL+ Variables
FPOS, RPOS, RPOSCOMP, APOS, PE .
NET Library Method
ReadVariable(), WriteVariable()
C Library Function
acsc_ReadReal(), acsc_WriteReal()

3.9.8 DELK
Description
DELK is a real array, with one element for each axis in the system, and is used for defining the time
delay after a kill process in which we still use CERRK to indicate a critical position error.
Syntax

DELK(Axis_Index) = Value

Arguments

Designates the specific axis, valid numbers are: 0, 1,

Axis_Index
2, ... up to the number of axes in the system minus 1.

Value Value ranges from 0 to 1000.

Tag
350

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Comments
CERRK defines the maximum tolerable critical position error (FAULT(axis_index).#CPE) during the kill
operation. After the kill operation in order to ensure a smooth transition, we still use CERRK to
define the maximal tolerable position error, for DELK time.
Related ACSPL+ Variables
FAULT(Axis_Index).#CPE, CERRK
Accessibility
Read-Write

DELK values cannot be modified if protection is applied to this variable through SPiiPlus
MMI Application Studio > Toolbox > Application Development > Protection.

.NET Library Method

ReadVariable(), WriteVariable()
C Library Function
acsc_ReadReal(), acsc_WriteReal()

3.9.9 FACC
Description
FACC is a real array, with one element for each axis in the system, and is used for defining the
feedback acceleration value of the axis.
Tag
46
Accessibility
Read-Only
Related ACSPL+ Variables
FVEL
COM Library Methods and .NET Library Methods
ReadVariable, GetAcceleration
C Library Functions
acsc_ReadReal, acsc_GetAcceleration

3.9.10 FPOS
Description
FPOS is a real array, with one element for each axis in the system, and is used for defining the
current feedback position for the motor.
Tag
52

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Comments
The user can shift the origin of feedback position using SET.
The user can select the units of feedback position by setting the EFAC variable.
Accessibility
Read-Only
Related ACSPL+ Commands
SET
Related ACSPL+ Variables
APOS, RPOS, SLPROUT
COM Library Methods and .NET Library Methods
ReadVariable, GetFPosition, SetFPosition
C Library Functions
acsc_ReadReal, acsc_GetFPosition, acsc_SetFPosition

3.9.11 F2POS
Description
F2POS is a real array, with one element for each axis in the system, and is used for defining the
current secondary feedback value for the motor in user-defined units.
Tag
44
Comments
The user can shift the origin of secondary feedback position using SET.
The user can select the units of secondary feedback position by setting the E2FAC variable.
The application needs to explicitly clear IST(axis_index).#IND2 in order to resume the latching logic.
Accessibility
Read-Only - Can be changed by SET.
Related ACSPL+ Commands
SET, SLP2ROUT
Related ACSPL+ Variables
IST
COM Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadReal

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3.9.12 FVEL
Description
FVEL is a real array, with one element for each axis in the system, the elements of which store the
measured velocity.
Tag
53
Accessibility
Read-Only
Related ACSPL+ Variables
FVFIL, RVEL, XVEL
COM Library Methods and .NET Library Methods
ReadVariable, GetFVelocity
C Library Functions
acsc_ReadReal, acsc_GetFVelocity

3.9.13 F2VEL
Description
F2VEL is a real array, with one element for each axis in the system, the elements of which store the
measured secondary velocity.
Tag
45
Accessibility
Read-Only
Related ACSPL+ Variables
FVFIL, RVEL, XVEL, FVEL
COM Library Methods and .NET Library Methods
ReadVariable, GetFVelocity
C Library Functions
acsc_ReadReal, acsc_GetFVelocity

3.9.14 FEEDRF
Description
FEEDRF is real array, with one element for each axis in the system, the elements of which store the
feedrate factor. The feedrate factor modifies the calculation of motion velocity for all relevant
motion profiles.
Examples

FEEDRF(2) = 1.23

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IMM FEEDRF(0) = 0.5

Tag
362
Comments
This variable may be updated immediately using the “IMM” qualifier.
The allowed range is 0.1 to 2.0.
Acceleration and Jerk are NOT affected, which actually changes the trajectory characteristics (may
result in Triangular instead of Trapezoidal Trajectory).
It takes effect on the next Trajectory calculation, according to the specified velocity of that trajectory;
situation varies according to PTP Switches.
In case of group motion, the FEEDRF of the leading Axis will be in effect.
Motion Modes in which FEEDRF is supported: PTP, JOG, TRACK, MPTP, XSEG
Accessibility
Read-Write
Related ACSPL+ Commands
IMM, PTP, JOG, TRACK, MPTP, XSEG
Related ACSPL+ Variables
VEL

3.9.15 GACC
Description
GACC is a real array, with one element for each axis in the system, and is used for deriving the vector
acceleration of a group motion.
For example when the three axes 0, 1 and 2 are moving as a group, the GACC is calculated by:

GPATH, GVEL, GACC, GPHASE, GJERK, and GRTIME Variables are updated while the
motion is in progress.

Tag
55
Accessibility
Read-Only
Related ACSPL+ Commands
GROUP

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Related ACSPL+ Variables

GVEL, GJERK, GPATH, GPHASE, GRTIME
COM Library Methods and .NET Library Methods
ReadVariable, GetAcceleration
C Library Functions
acsc_ReadReal, acsc_GetAcceleration

3.9.16 GJERK
Description
GJERK is a real array, with one element for each axis in the system, and is used for deriving the
vector acceleration of a group motion.
For example when the three axes 0, 1 and 2 are moving as a group, the GJERK is calculated by:

GPATH, GVEL, GACC, GJERK, GPHASE, and GRTIME variables are updated while the
motion is in progress.

Tag
57
Accessibility
Read-Only
COM Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadReal

3.9.17 GMOT
Description
GMOT is an integer array, with one element for each axis in the system, and defines the ordinal
number of the current motion.
Tag
58
Comments
The GMOT value is valid only if one of the following is true:
> Single-axis motion in progress
> The axis is a leading axis in a group and motion in the group is in progress

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After power-up, GMOT is zero and increments each time a motion of the corresponding axis/axis
group terminates.
GMOT resets to zero each time the axis group is created or split.
Accessibility
Read-Only.
Related ACSPL+ Commands
GROUP, SPLIT
COM Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadInteger

3.9.18 GMQU
Description
GMQU is an integer array, with one element for each axis in the system, and defines the total
number of motions in the motion queue including the currently executing motion. The maximum
motion queue per axis is 5.
Tag
59
Comments
GMQU is valid only if one of the following is true:
> Single-axis motion in progress
> The axis is a leading axis in a group and motion in the group is in progress
After power-up GMQU is zero. The variable is incremented by one each time a new motion of the
corresponding axis/axis group is issued. It is decremented by one each time a motion of the
corresponding axis/axis group terminates.
GMQU resets to zero each time an axis is regrouped, i.e., a group that contains the axis is created or
split-up.
Accessibility
Read-Only
COM Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadInteger

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3.9.19 GMTYPE
Description
GMTYPE is an integer array, with one element for each axis in the system. The MPU updates GMTYPE
each time a motion involving the corresponding axis or axis group starts or terminates.
Tag
60
Comments
GMTYPE is updated according to the type of the motion as follows:
0 - no motion
1 - PTP motion
2 - MPTP...ENDS motion
3 - TRACK motion
4 - MSEG...ENDS motion
5 - JOG motion
6 - SLAVE motion
7 - PATH...ENDS motion
8 - PVSPLINE...ENDS motion
10 - XSEG...ENDS motion
11 - BPTP motion
12 - BSEG...ENDS motion
43 - BPTP/2 motion using 20 kHz control
Accessibility
Read-Only
COM Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadInteger

3.9.20 GPATH
Description
GPATH is a real array, with one element for each axis in the system. GPATH defines the current path
value, defined as the distance from the motion origin to the current motion point, or in the case of
Extended Segmented Motion, the distance from the beginning of the first segment.
Tag
61

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Comments
GPATH updates each MPU cycle if one of the following is true:
> Single-axis motion in progress
> The axis is a leading axis in a group and motion in the group is in progress
If either of these conditions is not true, GPATH retains its previous value.
For single-axis motion, GPATH defines a positive distance from the initial point of the motion.
If the axis is a leading axis, GPATH defines a vector distance along the trajectory from the motion
origin.

GPATH, GVEL, GACC, GJERK, GPHASE, and GRTIME variables are updated while the
motion is in progress.

Accessibility
Read-Only
COM Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadReal

3.9.21 GPHASE
Description
GPHASE is an integer array, with one element for each axis in the system. GPHASE defines the
current phase of a motion.
Tag
62
Comments
GPHASE can have the following values:
0 - no motion
1 - acceleration buildup
2 - constant acceleration
3 - acceleration finishing
4 - constant velocity
5 - deceleration buildup
6 - constant deceleration
7 - deceleration finishing
8 - kill deceleration

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9 - asynchronous phase of master-slave motion

10 - synchronous phase of master-slave motion
11 - stalled phase of master-slave motion.
13 - dwell phase in JOG or MPTP...ENDS motions, or no defined target point in PATH...ENDS,
PVSPLINE...ENDS or MPTP...ENDS motions.
31 – Jerk buildup when acceleration buildup
32 – Jerk finishing when acceleration buildup
33 – Jerk buildup when acceleration finishing
34 – Jerk finishing when acceleration finishing
35 – Jerk buildup when deceleration buildup
36 – Jerk finishing when deceleration buildup
37 – Jerk buildup when deceleration finishing
38 – Jerk finishing when deceleration finishing

GPATH, GVEL, GACC, GJERK, GPHASE, and GRTIME variables are updated while the
motion is in progress.

Accessibility
Read-Only
COM Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadInteger

3.9.22 GRTIME
Description
GRTIME is a real array, with one element for each axis in the system. GRTIME defines an estimated
value of time (in milliseconds) remaining until the end of the current motion.
Tag
63
Comments
GRTIME updates each MPU cycle if one of the following is true:
> Single-axis motion in progress
> The axis is a leading axis in a group and motion in the group is in progress
GRTIME does not update if the motion is JOG or MASTER SLAVE. If GRTIME does not update, it retains
its previous value.

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Normally, 1-2 msec after motion starts, GRTIME accepts the correct value. In rare cases, the GRTIME
value remains high during motion phases 1 and 2, and accepts correct value at the beginning of
phase 3.

GPATH, GVEL, GACC, GJERK, GPHASE, and GRTIME variables are updated while the
motion is in progress.

Accessibility
Read-Only
COM Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadReal

3.9.23 GSEG
Description
GSEG is an integer array, with one element for each axis in the system. GSEG defines the ordinal
number of the currently executing segment.
Tag
64
Comments
GSEG updates only under one of the following conditions:
> Single-axis motion in progress, or
> The axis is a leading axis in a group and motion in the group is in progress
If either of these conditions is not true, GSEG retains its previous value.
GSEG updates as follows:
> If the current motion in the axis/axis group is not MSEG...ENDS, the GSEG value is -1.
> The value resets to zero when a multi segment motion starts
> The value increments each time when the motion passes from one segment to the next.
> The value decrements each time the motion passes from one segment to the previous
(possible only in master-slave motion).
> Because the motion returns to the start point in cyclic motion, GSEG may appear greater
than the number of a segment in the motion, if the motion overruns the segment
sequence in positive direction.
> For master-slave cyclic motion, GSEG may appear negative, if the motion overruns the
segment sequence in a negative direction.
Accessibility
Read-Only

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COM Library Methods and .NET Library Methods

ReadVariable
C Library Functions
acsc_ReadInteger

3.9.24 GSFREE
Description
GSFREE is an integer array, with one element for each axis in the system. GSFREE is updated for the
leading axis with the number of free cells in the segment queue.
Tag
65
Comments
If GSFREE is zero, the segment queue is full and the next coming POINT or MPOINT command will be
delayed until the required number of cells are freed.
Accessibility
Read-Only
Related ACSPL+ Variable
GSEG
COM Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadInteger

3.9.25 GSNAP
Description
GSNAP is a real array, with one element for each axis in the system, and is used for defining the
current calculated snap vector snap of group motion.
Tag
407
Accessibility
Read-write

3.9.26 GVEC
Description
GVEC is a real array, with one element for each axis in the system. GVEC is updated each MPU cycle, if
a motion involving the axis is in progress. If the motion is not in progress, GVEC retains its previous
value.
Tag
66

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Comments
In single-axis motion, GVEC = 1 or -1, depending on the motion direction.
In multi-axis group motion, GVEC values for all axes in the group are updated each MPU cycle and
together build up a tangent vector for the motion trajectory.
GVEC can also be used for retrieving a tangent vector.
Accessibility
Read-Only
COM Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadReal

3.9.27 GVEL
Description
GVEL is a real array, with one element for each axis in the system, and is used for deriving the vector
velocity of a group motion.
For example when the three axes 0, 1 and 2 are moving as a group, the GVEL is calculated by:

GPATH, GVEL, GACC, GJERK, GPHASE, and GRTIME variables are updated while the
motion is in progress

Tag
67
Accessibility
Read-Only
COM Library Methods and .NET Library Methods
ReadVariable
C Lisbrary Functions
acsc_ReadReal

3.9.28 JERK
Description
JERK is a real array, with one element for each axis in the system, and is used for defining the jerk of
the motion profile.
Syntax
JERK(axis_index) = value

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Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value ranges from 2.22507e-308 to 1.79769e+308, Default = 2e+007.

Tag
80
Comments
For single-axis motion, JERK defines the axis jerk. If the axis is a leading axis in a group, JERK defines
vector jerk of the common motion.
If JERK is changed when a motion is in progress, the change does not affect currently executing
motions, or motions that were created before the change.
Accessibility
Read-Write

JERK values cannot be modified if protection is applied to this variable through SPiiPlus
MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Commands

IMM, and all motion commands where the profile is generated by the controller.
Related ACSPL+ Variables
ACC, DEC, KDEC, VEL
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable, GetJerk, SetJerk, SetJerkImm
C Library Functions
acsc_ReadReal, acsc_WriteReal, acsc_GetJerk, SetJerk, acsc_SetJerkImm

3.9.29 KDEC
Description
KDEC is a real array, with one element for each axis in the system, and is used for defining
deceleration when a motion is killed by the user or fails due to a fault.
Syntax
KDEC(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value ranges from 2.22507e-308 to 1.79769e+308, Default = 100000.

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Tag
81
Comments
For single-axis motion, the value defines axis deceleration. If the axis is a leading axis in a group,
KDEC defines the vector deceleration when the common motion is killed or fails.
If KDEC is changed when a motion is in progress, the change does not affect currently executing or
motions that were created before the change.
Accessibility
Read-Write

KDEC values cannot be modified if protection is applied to this variable through SPiiPlus
MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Variables

ACC, DEC, JERK, VEL
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable, SetKillDeceleration, GetKillDeceleration, SetKillDecelerationImm
C Library Functions
acsc_ReadReal, acsc_WriteReal, acsc_SetKillDeceleration, acsc_GetKillDeceleration, acsc_
SetKillDecelerationImm

3.9.30 LPOS
Description
LPOS is a real array, with one element for each axis in the system, the elements of which store the
axis position in the Local Coordinate System.
Syntax
LPOS(axis_index) = value
Arguments

axis_ Designates the specific axis, valid values are: 0, 1, 2, ... up to the number of axes
index in the system minus 1.

value value ranges from 2.22507e-308 to 1.79769e+308; default = 50.

Tag
372
Accessibility
Read-Only
Related ACSPL+ Variables
FPOS, RPOS, APOS

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.NET Library Methods

.NET Library Method

ReadVariable()
C Library Function
acsc_ReadReal()

3.9.35 NVEL
Description
NVEL is a real array, with one element for each axis in the system, and is used for specifying the start
and the end velocities for an axis in stepper motor applications.
Syntax
NVEL(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value ranges from 0 to 1.79769e+308, Default = 0.

Tag
91

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Comments
1. An NVEL element affects the motion of the corresponding axis and the multi-axis motions if
the axis is a leading axis in the group.
2. If an element is zero, the normal motion profile starts from zero velocity and finishes at
zero velocity.
If an element is non-zero, at the beginning of motion the velocity immediately jumps to the
NVEL value and then continues the regular motion profile. At the end of the motion, the
motion approaches the final point at the velocity specified by NVEL, and then immediately
drops to zero. For example, KILL/KILLALL and HALT slow the velocity to the value specified
in NVEL, and then the velocity drops to zero.
Accessibility
Read-Write

NVEL values cannot be modified if protection is applied to this variable through SPiiPlus
MMI Application Studio g Toolbox g Application Development g Protection.

Related ACSPL+ Commands

IMM, and all motion commands where the profile is generated by the controller.
Related ACSPL+ Variables
VEL
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.9.36 PE
Description
PE is a real array, with one element for each axis in the system, and is used for displaying the
difference between RPOS and FPOS (the current position error) denoting a noncritical position error.

The PE value is valid only if the motor is enabled.

Tag
98
Accessibility
Read-Only
Related ACSPL+ Commands
All motion commands.

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Related ACSPL+ Variables

FPOS, RPOS, FAULT
COM Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadReal

3.9.37 PPOS
Description
PPOS is real array, with one element for each axis in the system, the elements of which store the
current desired motor reference position. Unlike RPOS, this holds the current value, rather than a
value taking into account the delay for reading the actual current position from the encoder.
Tag
364
Comments
When the motor is disabled, RPOS = FPOS.
This variable is supported in ADK versions 2.70 and higher.
Accessibility
Read-Only
Related ACSPL+ Commands
SET, CONNECT, and all motion commands.
Related ACSPL+ Variables
FPOS, RVEL, RACC
COM Library Methods and .NET Library Methods
ReadVariable, GetRPosition, SetRPosition
C Library Functions
acsc_ReadReal, acsc_GetRPosition, acsc_SetRPosition

3.9.38 PPOSCOMP
Description
PPOSCOMP is real array, with one element for each axis in the system, the elements of which store
the current desired motor reference position including dynamic error compensation. Unlike
RPOSCOMP, this holds the current value, rather than a value taking into account the delay for
reading the actual current position from the encoder.
Tag
365
Comments
This variable is supported in ADK versions 2.70 and higher.

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Accessibility
Read-Only
Related ACSPL+ Commands
All motion commands.
Related ACSPL+ Variables
PPOS, FPOS, RPOS, APOS, PE, DECOMP
.NET Library Method
ReadVariable(), WriteVariable()
C Library Function
acsc_ReadReal(), acsc_WriteReal()

3.9.39 PRFLTIME
Description
PRFLTIME is a real array, the size of which is determined by the total number of axes in the system.
It holds the time(In milliseconds) passed from the moment that the move starts until the motion
profile ends.
Syntax

value = PRFLTIME(index)

Arguments

Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index
axes in the system minus 1.

Tag
405
Comments
> The PRFLTIME variable is updated with the latest profile time for the relevant axes.
> If we have multi-axes move, the profile time for all the involved axes is the same and will
be updated once the profile has ended for all the axes.
> A kill/error event is regarded as profile end.
> If the profile starts and ends in the same cycle (for example, move from the current axis
position to the same position), the profile time will be 0.
Related ACSPL+ Variables
Accessibility
Read-Only
COM Library Methods and .NET Library Methods
ReadVariable()

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C Library Functions
acsc_ReadReal()

3.9.40 RACC
Description
RACC is a real array, with one element for each axis in the system, and defines the current reference
acceleration value for the motor in user-defined units.
Tag
106
Comments
RACC updates each controller cycle, and is calculated by digital differentiation of RVEL.
Accessibility
Read-Only
Related ACSPL+ Commands
All motion related commands.
Related ACSPL+ Variables
RVEL, RPOS
COM Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadReal
Real

3.9.41 RJERK
Description
RJERK is a real array, with one element for each axis in the system, and defines the current
calculated reference jerk value for the motor in user-defined units.
RJERK is updated each controller cycle and is calculated as digital differentiation of RACC.
Tag
259
Accessibility
Read-Only

3.9.42 ROFFS
Description
ROFFS is a real array, with one element for each axis in the system, the elements of which store the
Reference Offset.

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Tag
107
Comments
As long as the motor is in the default connection (MFLAGS(axis).#DEFCON = 1), offset ROFFS is zero.
Once a user specifies connect formula such as:
CONNECT RPOS(0) = F(…)
the controller calculates offset ROFFS(0) to prevent a sudden change in RPOS(0) that may cause the
motor to jump. The controller then calculates:

RPOS(0) = F(…) + ROFFS(0)

each controller cycle.
The controller recalculates ROFFS to prevent motor jump when the commands CONNECT, SET,
ENABLE/ENABLE ALL, DISABLE/DISABLEALL, KILL are executed. ROFFS reads the current value of the
offset.

Watching the ROFFS value facilitates development and debugging of applications with
complex kinematics.

Accessibility
Read-Only
Related ACSPL+ Commands
CONNECT, SET, ENABLE/ENABLE ALL, DISABLE/DISABLEALL, KILL/KILLALL
Related ACSPL+ Variables
MFLAGS(axis_index).#DEFCON (bit 17 = Default Connection)
COM Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadReal

3.9.43 RPOS
Description
RPOS is real array, with one element for each axis in the system, the elements of which store the
current desired motor reference position.
Tag
108
Comments
RPOS updates each MPU cycle according to the connection specified for the motor, see CONNECT.
When the motor is disabled, RPOS = FPOS.

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Accessibility
Read-Only
Related ACSPL+ Commands
SET, CONNECT, and all motion commands.
Related ACSPL+ Variables
FPOS, RVEL, RACC
COM Library Methods and .NET Library Methods
ReadVariable, GetRPosition, SetRPosition
C Library Functions
acsc_ReadReal, acsc_GetRPosition, acsc_SetRPosition

3.9.44 RPOSCOMP
Description
RPOSCOMP is real array, with one element for each axis in the system, the elements of which store
the current desired motor reference position including dynamic error compensation.

RPOSCOMP updates every controller cycle according to the configured dynamic error
compensation, see ERRORMAP1D, ERRORMAPN1D, ERRORMAP2D, ERRORMAPN2D.
When the dynamic error compensation is not configured, RPOSCOMP = RPOS.

Tag
348
Accessibility
Read-Only
Related ACSPL+ Commands
All motion commands.
Related ACSPL+ Variables
FPOS, RPOS, APOS, PE, DECOMP
.NET Library Method
ReadVariable(), WriteVariable()
C Library Function
acsc_ReadReal(), acsc_WriteReal()

3.9.45 RPOSDEL
Description
RPOSDEL shows the actual delay time that is currently set. The delay value is rounded (ceiling
function) to 50 µsec. At the beginning of the motion, which is delayed, the parameter indicates the
specified delay. At the end of the motion, the delay is gradually reduced to zero.

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Syntax

INT val = RPOSDEL

Tag
329
Accessibility
Read-Only
.NET Library Method
ReadVariable()
C Library Function
acsc_ReadInteger()

3.9.46 RSNAP
Description
RSNAP is a real array, with one element for each axis in the system, and is used for defining the
current calculated reference snap (jerk derivation) in user-defined units.
Tag
408

3.9.47 RVEL
Description
RVEL is a real array, with one element for each axis in the system, the elements of which store the
current motor reference velocity in user-defined units.
Tag
109
Accessibility
Read-Only
Related ACSPL+ Commands
All motion commands.
Related ACSPL+ Variables
RPOS, RACC, FVEL
COM Library Methods and .NET Library Methods
ReadVariable, GetRVelocity
C Library Functions
acsc_ReadReal, acsc_GetRVelocity

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3.9.48 SETTLEA
Description
SETTLEA allows you to set the time to wait inside the TARGRADA before triggering MST.#INTARGA.
Syntax

SETTLEA(Axis_Index) = Value

Arguments

Axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number
Index of axes in the system minus 1.

Value in milliseconds, ranges from 2.22507e-308, 1.79769e+308. Default =

Value
0.

Tag
338
Comments
We compare the distance between current position and target position to the given target radii,
represented by TARGRADA. This indicates if we the motor is in the target zone, if it stays in the
target zone for at least SETTLEA time - bit MST.#INTARGA is raised, respectively, and depending on
the operating mode – further inspection will be stopped or continued.
The time from the beginning of motion until first entering the settled zone is represented by
MSTIMEA and is only valid when the #INTARGA bit is on.
Related ACSPL+ Variables
TARGRADA, MST(axis_index).#INTARGA, MSTIMEA
Accessibility
Read-Write

SETTLEA values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio > Toolbox > Application Development > Protection .

.NET Library Method

ReadVariable(), WriteVariable()
C Library Function
acsc_ReadReal(), acsc_WriteReal()

3.9.49 SETTLEB
Description
SETTLEB allows you to set the time to wait inside the TARGRADB before triggering MST.#INTARGB.

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Syntax

SETTLEB(Axis_Index) = Value

Arguments

Axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number
Index of axes in the system minus 1.

Value in milliseconds, ranges from 2.22507e-308, 1.79769e+308. Default =

Value
0.

Tag
339
Comments
We compare the distance between current position and target position to the given target radii,
represented by TARGRADB. This indicates if we the motor is in the target zone, if it stays in the
target zone for at least SETTLEB time - bit MST.#INTARGB is raised, respectively, and depending on
the operating mode – further inspection will be stopped or continued.
The time from the beginning of motion until first entering the settled zone is represented by
MSTIMEB and is only valid when the #INTARGB bit is on.
Related ACSPL+ Variables
TARGRADB, MST(axis_index).#INTARGB, MSTIMEB
Accessibility
Read-Write

SETTLEB values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio > Toolbox > Application Development > Protection .

.NET Library Method

ReadVariable(), WriteVariable()
C Library Function
acsc_ReadReal(), acsc_WriteReal()

3.9.50 SETTLEC
Description
SETTLEC allows you to set the time to wait inside the TARGRADC before triggering MST.#INTARGC.
Syntax

SETTLEC(Axis_Index) = Value

Arguments

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Axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number
Index of axes in the system minus 1.

Value in milliseconds, ranges from 2.22507e-308, 1.79769e+308. Default =

Value
0.

Tag
340
Comments
We compare the distance between current position and target position to the given target radii,
represented by TARGRADC. This indicates if we the motor is in the target zone, if it stays in the target
zone for at least SETTLEC time - bit MST.#INTARGC is raised, respectively, and depending on the
operating mode – further inspection will be stopped or continued.
The time from the beginning of motion until first entering the settled zone is represented by
MSTIMEC and is only valid when the #INTARGC bit is on.
Related ACSPL+ Variables
TARGRADC, MST(axis_index).#INTARGC, MSTIMEC
Accessibility
Read-Write

SETTLEC values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio > Toolbox > Application Development > Protection .

.NET Library Method

ReadVariable(), WriteVariable()
C Library Function
acsc_ReadReal(), acsc_WriteReal()

3.9.51 SLSFF
Description
SLSFF is a snap feed forward parameter.
Syntax

SLAFF(Axis_index) = Value

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Arguments

Axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

Resonance frequency (Hz) of a non-collocated system.

Value
Value ranges from 0 to 20000; Default: 0.

Tag
418
Comments
Flexible systems consist of a non-collocated feedback sensor, which is mounted away from the
motor or the load. Those systems can suffer from vibration and dynamic performance due to
mechanical resonance, which is caused by compliance between two or more components in the
mechanical transmission, mostly between motor and load. The snap feed-forward reduces the
resonance frequency oscillations and improves the high-speed and large acceleration of jerk
profiles.
The SLSFF value is the resonance frequency in Hz.
The SLAFF (acceleration feedforward) must be tuned before activating the SLSFF.
SLSFF can be used with SPTP or BPTP motions.
SLSFF is not supported in the 20KHz motion mode (BPTP/2).

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Example
Figure 5-1 shows an FRF measurement of the velocity and position loop of a flexible system,
including a motor and encoder on opposite sides. The resonance frequency of the system is 70 Hz.

Figure 5-1. FRF measurement of a flexible system

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The resonance frequency is excited during a short and aggressive movement. Figure 5-2 describes a
short SPTP motion without snap feed-forward (SLSFF=0).

Figure 5-2. SPTP motion where SLSFF=0 (no snap feed-forward)

Snap feedforward is a form of control that accounts for the flexibility of a system and significantly
improves performance and reduces resonance vibrations.

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Figure 5-3 shows the same SPTP motion where setting the SLSFF motion as the resonance
frequency of the system (SLSFF=70):

Figure 5-3. SPTP motion where SLSFF=70 (snap feed-forward is tuned)

first entering the settled zone, using SETTLEC and TARGRADC to determine the time and radius
required for settling.
Syntax

value = STLTIMEC(axis_index)

SPiiPlus MMI Application Studio > Toolbox > Application Development > Protection.

.NET Library Method

ReadVariable(), WriteVariable()
C Library Function
acsc_ReadReal(), acsc_WriteReal()

3.9.59 TPOS
Description
TPOS is a real array, with one element for each axis in the system, and is used for defining or
updating the target position in TRACK motion.
Syntax
TPOS(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value ranges from -1.79769e+308 to 1.79769e+308, Default = 0.

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Tag
135
Comments
The controller update occurs as follows:
> When the controller executes PTP motion, the axes’ target coordinates are stored in the
TPOS elements.
> During MPTP...ENDS motion, the controller updates the target coordinates each time motion
to the next point starts.
> When the controller executes TRACK motion, the axes’ target coordinates are stored in the
TPOS elements.
Accessibility
Read-Write

TPOS values cannot be modified if protection is applied to this variable through SPiiPlus
MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Commands

TRACK
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable, Track
C Library Functions
acsc_ReadReal, acsc_WriteReal, acsc_Track

3.9.60 VEL
Description
VEL is a real array, with one element for each axis in the system, and is used for defining the default
velocity of the motion profile. If a motion command does not specify a specific velocity, the default
value is used.
Syntax
VEL(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value ranges from -1.79769e+308 to 1.79769e+308, Default = 10000.

Tag
139

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Comments
For single-axis motion, the value defines axis velocity. If the axis is a leading axis in a group, its value
defines a vector velocity of common motion.
If VEL is changed when a motion is in progress, the change does not affect currently executing
motions or motions that were created before the change.
Accessibility
Read-Write

VEL values cannot be modified if protection is applied to this variable through SPiiPlus
MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Commands

IMM, and all motion commands where the profile is generated by the controller.
Related ACSPL+ Variables
ACC, DEC, JERK, KDEC,
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable, SetVelocity, GetVelocity, SetVelocityImm
C Library Functions
acsc_ReadReal, acsc_WriteReal, acsc_SetVelocity, acsc_GetVelocity, acsc_SetVelocityImm

3.10 Program Execution Control Variables

The Program Execution Control variables are:

Name Description

ONRATE Autoroutine Rate

PCHARS Program Size in Characters

PERL Program Error Line

PERR Program Error

PEXL Executed Line

PFLAGS Program Flags

PLINES Number of Lines

PRATE Program Rate

PST Program State

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3.10.1 ONRATE
Description
ONRATE is an integer array with one element for each program buffer plus one for the D-Buffer and
is used for controlling the autoroutine execution rate.
Syntax
ONRATE(buffer_index) = value
Arguments

buffer index - a number between 0 and the total

buffer_index number of buffers minus one (the highest number is
that of the D-Buffer).

value value ranges from 1 to 10, Default = 1.

Tag
93
Comments
ONRATE is set through SPiiPlus MMI Application Studio g Toolbox g Application Development g
Program Manager g Program Buffer Parameters.
When an autoroutine executes in the program buffer, the execution rate is ONRATE lines per each
MPU cycle. The normal rate of program execution (when no autoroutine is activated) is defined by
PRATE.
Accessibility
Read-Write

ONRATE values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

3.10.2 PCHARS
Description
PCHARS is an integer array with one element for each program buffer plus one for the D-Buffer that
stores the total number of characters stored in the buffer.
Tag
95

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Accessibility
Read-Only
COM Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadInteger

3.10.3 PERL
Description
PERL is an integer array with one element for each program buffer plus one for the D-Buffer that
stores the line number where the error occurred.
Tag
99
Comments
If an error occurs during ACSPL+ program execution, the controller stores the line number where the
error occurred in the corresponding element of the PERL array.
Accessibility
Read-Only
Related ACSPL+ Variables
PERR
COM Library Methods and .NET Library Methods
ReadVariable, GetProgramError
C Library Functions
acsc_ReadInteger, acsc_GetProgramError

3.10.4 PERR
Description
PERR is an integer array with one element for each program buffer plus one for the D-Buffer that
stores an error code.
Error codes are found in Table 9-2 and Table 9-3.
Tag
100
Comments
If an error occurs during ACSPL+ program execution, the controller stores the error code in the
corresponding element of the PERR array.
Accessibility
Read-Only

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Related ACSPL+ Variables

PERL
COM Library Methods and .NET Library Methods
ReadVariable, GetProgramError
C Library Functions
acsc_ReadInteger, acsc_GetProgramError

3.10.5 PEXL
Description
PEXL is an integer array with one element for each program buffer plus one for the D-Buffer that
stores the number of the currently executed line.
Tag
101
Comments
PEXL stores the number of the currently executed line in the buffer. If the program has not
executed, the variable reads zero.
Accessibility
Read-Only
Related ACSPL+ Variables
PERL, PERR
COM Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadInteger

PEXL does not support D-Buffer.

3.10.6 PFLAGS
Description
PFLAGS is an integer array with one element for each program buffer plus one for the D-Buffer, each
element of which contains a set of bits that defines the behavior of the program buffer.
When the #JIT(Just In Time) bit is ON the controller waits for a file loading operation (via MMI or host
application program) and can start executing the commands in the buffer immediately after the
loading process is completed.
The Just in Time buffer acts as a FIFO for the ACSPL+ commands which are read from the file. After
the file is loaded, the buffer can be executed any number of times.

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The #JIT bit can be set to ON only if the buffer is empty. Error 3204 “JIT and Dynamic
modes require the buffer to be empty” is returned if the buffer is not empty.

Syntax
PFLAGS(buffer_index).(bit) = 0|1
Arguments

buffer_index buffer index - a number between 0 and 64 (64 being the D-Buffer).

bit Table 5-10

Table 5-10. PFLAGS Bit Description 1

Bit Name No. Description

0 (default): Autoroutines (if exist in the buffer) are enabled.

#NOAUTO 0
1: Autoroutines (if exist in the buffer) are disabled.

0 (default): User program can be viewed and edited.

1: User program can be viewed but cannot be edited.

#NOEDIT 1 Supported after applying protection, see

Protection Wizard in the MMI Application Studio
User Guide.

0 (default): Buffer works in normal order.

#DYNAMIC 2
1: Buffer works in Dynamic mode.

0 (default): Buffers works in normal order.

#JIT 3
1: Buffer works in JIT mode.

0 (default): Buffer works in normal order.

1: Sets the buffer as privileged which means that the program
in the buffer can change the values of protected variables,
#PRIVLG 4
start and stop other ACSPL+ programs, and execute any
other action that in a regular buffer would cause a protection
violation.

0 (default): Buffer works in normal order.

#DEBUG 5
1: Not applicable (obsolete option)

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Bit Name No. Description

0 (default): The program is visible in the buffer.

1: The program in the buffer hidden from being viewed.

#NOVIEW 6
Supported after applying protection, see
Protection Wizard in the MMI Application Studio
User Guide.

0: Buffer runs on the regular core.

#EXCTIME 7 1: Buffer runs on the fast core.
The default is 0.

Comments
The bit cannot be applied for the D-Buffer. Attempt to setting the bit for the D-Buffer will result in
error 3200 “JIT is not allowed for D-Buffer”.
Tag
102
Accessibility
Read-Write

PFLAGS values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger
Example

PFLAGS(0) #JIT=1

3.10.7 PLINES
Description
PLINES is an integer array with one element for each program buffer plus one for the D-Buffer each
element of which contains the total number of lines stored in the associated buffer.
Tag
103

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Accessibility
Read-Only
Related ACSPL+ Variables
PCHARS
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger

3.10.8 PRATE
Description
PRATE is an integer array with one element for each program buffer, each element of which is used
for defining the program execution rate for that buffer.
Syntax
PRATE(buffer_index) = value
Arguments

buffer_ buffer index - a number between 0 and N, N being the number of buffers in
index the product or system.

value value ranges from 1 to 10, Default = 1.

Tag
104
Comments
PRATE is set through SPiiPlus MMI Application Studio g Toolbox g Application Development g
Program Manager g Program Buffer Parameters.
PRATE defines the program execution rate. The execution rate is PRATE lines per each MPU cycle.
PRATE is used only if no autoroutine is activated in the buffer. While an autoroutine is executed,
ONRATE defines execution rate.
For example, if the controller is configured so that PRATE(2) is 1, but ONRATE(2) is 4, the program in
Buffer 2 will be executed one line per one controller cycle, and any autoroutine specified in Buffer 2
that interrupts the program will be executed four lines per one controller cycle. When the RET
command that terminates the autoroutine is executed, the controller switches back to the rate of
one line per one cycle.
Accessibility
Read-Write

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PRATE values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Variables

ONRATE
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

3.10.9 PST
Description
PST is an integer array with one element for each program buffer plus one for the D-Buffer each
element of which contains a set of bits that display the current state of the given program buffer.
The PST bits are detailed in Table 5-11.
Table 5-11. PST Bit Description

Bit Name No. Description

0: Program in buffer is not compiled

#COMPILED 0
1: Program in buffer is compiled

0: Program is not running.

#RUN 1
1: Program is running.

0: Program in buffer is not suspended.

#SUSPEND 2 1: Program is suspended after STEP or due to a breakpoint in
debug mode.

0: Buffer works in normal order (default).

#DEBUG 5
1: Not applicable (obsolete option)

0: Autoroutine is not running

#AUTO 7
1: Autoroutine is running.

Tag
105
Accessibility
Read-Only
COM Library Methods and .NET Library Methods
ReadVariable, GetProgramState

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C Library Functions
acsc_ReadInteger, acsc_GetProgramState

3.11 Safety Control Variables

The Safety Control variables are:

Name Description

CERRA Critical Position Error (Accelerating)

CERRI Critical Position Error (Idle)

CERRV Critical Position Error (Velocity)

DELI Delay on Transition to Idle State

DELV Delay on Transition to Velocity State

An integer array for each axis containing the encoder error code identified
E_ERR
during the encoder initialization process

ECEXTST EtherCAT state of the SPiiPlusES slave

ECEXTERR SPiiPlusES EtherCAT error code (based on Application Level Error Code).

FAULT Faults

FAULTSIM Fault Simulation

ECST Contains EtherCAT status

EC2ST EtherCAT status in dual EC configuration

ECERR Contains EtherCAT error code

ECALERR Contains EtherCAT slave error code

Contains EtherCAT slave error code for second network in dual

EC2ALERR
EC configuration

EC2ERR EC error code for second network in dual EC configuration

ECSYNC Indicates synchronization between controller and node

Indicates synchronization between controller and node in second

EC2SYNC
EC network

ECNST Provides information EC process information

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Name Description

EC2NST Provides information EC process information for the second EC network

FDEF Default Response Mask

FMASK Fault Mask

Integer array used for mapping between an axis hardware left limit to a
HLLROUT
specified digital input bit

Integer array used for mapping between an axis hardware rigthlimit to a

HRLROUT
specified digital input bit

MERR Motor Error

SAFIN Safety Inputs

SAFINI Safety Inputs Inversion

S_ERR System Error

S_FAULT System Faults

S_FDEF System Default Response Mask

S_FMASK System Fault Mask

S_SAFIN System Safety Inputs

S_SAFINI System Safety Inputs Inversion

Store SS1-t channel A time between emergency stop request and drive
SS11TIME
switching to torque off mode

Store SS1-t channel B time between emergency stop request and drive
SS12TIME
switching to torque off mode

Configures the delay time between the STO fault indication and the default
STODELAY
response (disable) to the fault

SYNC Slave synchronization indicator

3.11.1 E_ERR
Description
E_ERR is an integer array for each axis. It contains the encoder error code that was identified during
the encoder initialization process.

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The encoder errors range from 5121 to 5128 and are latched in the E_ERR variable. The error codes
are specified in Table 9-5 in the Error Codes section.
Comments
This variable is supported in version 3.00 and higher.
Accessibility
Read-Only
.NET Library Method
ReadVariable()
C Library Function
acsc_ReadInteger()

3.11.2 EC2ERR
Description
EC2ERR is a scalar variable containing an EtherCAT error code referring to the second
EtherCAT network in a Dual EtherCAT system. The EtherCAT error codes are given in Table 9-7.
Syntax
EC2ERR
Arguments
None
Tag
420
Comments
Any EtherCAT error sets EC2ST.#OP to false and the error code is latched in EC2ERR.
Accessibility
Read-Only
COM Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadInteger

3.11.3 ECALERR
Description
ECALERR is an integer array for each EtherCAT slave in the configuration (ENI file). It contains the AL
Status Code error of the slave, when the value “0” indicates no error.
Tag
328

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Accessibility
Read-Only
.NET Library Method
ReadVariable()
C Library Function
acsc_ReadInteger()
The error codes are defined according to AL Status Code (ETG 1020).
The error codes are listed in Table 9-8.

3.11.4 EC2ALERR
Description
EC2ALERR is an integer array for each EtherCAT slave in the configuration (ENI file) of the second
EtherCAT network in a Dual EtherCAT configuration. It contains the AL Status Code error of the slave,
when the value “0” indicates no error.
Tag
421
Accessibility
Read-Only
.NET Library Method
ReadVariable()
C Library Function
acsc_ReadInteger()
The error codes are defined according to AL Status Code (ETG 1020).
The error codes are listed in Table 9-8.

3.11.5 ECERR
Description
ECERR is a scalar variable containing an EtherCAT error code. The EtherCAT error codes are given in
Table 9-7.
Syntax
ECERR
Arguments
None
Tag
239
Comments
Any EtherCAT error sets ECST.#OP to false and the error code is latched in ECERR.

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Accessibility
Read-Only
COM Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadInteger

3.11.6 ECEXTERR
Description
ECEXTER is a scalar (INT) variable representing the EtherCAT error code of the SPiiPlusES (based on
Application Level Error Code). The error code range is 7000-7999. The error codes are specified in
Table 9-8.

Can be used only by SPiiPlusES.

Syntax
ECEXTERR
Arguments
None
Comments
If the controller is not SPiiPlusES, the value is always 0.
Tag
323
Accessibility
Read-Only
Com Library Methods and .NET Library Methods
ReadVariable
C Library Functions
Acsc_ReadInteger

3.11.7 ECEXTST
Description
ECEXTST is a scalar (INT) variable representing the EtherCAT state of the slave. The state is reflected
in the relevant bits.

Can be used only by SPiiPlusES, MP4U, or an IDM device.

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Bit Designator Description

0 #INIT Device is in INIT state

1 #BOOT Device is in BOOT state (currently not supported)

2 #PREOP Device is in PREOP state

3 #SAFEOP Device is in SAFEOP state

4 #ES_OP Device is in OP state

5 #ES_DC Distributed Clocks are ON

6 #WATCHDOG PDI Watchdog status. 0: expired, 1: reloaded

7 #LNKPORTA Physical Link Port A

8 #LNKPORTB Physical Link Port B

9 #EXTSYNC Synchronized to External Clock

Syntax
ECEXTST
Arguments
None
Comments
Comments
If the controller is not SPiiPlusES, , MP4U, or an IDM device, all bits are 0. If external EtherCAT master
is not connected, the slave is in the INIT state.
Bit 9 #EXTSYNC is relevant for IDMsm only.
Tag
322
Accessibility
Read-Only
Com Library Methods and .NET Library Methods
ReadVariable
C Library Functions
Acsc_ReadInteger

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3.11.8 ECST
Description
ECST is a scalar variable affecting the EtherCAT state. The EtherCAT state is reflected in the first six
bits , as shown in Table 5-12.
Table 5-12. ECST Bits

Bit Designator Description

The scan process was performed successfully, that is, the

0 #SCAN Master was able to detect what devices are connected to
it.

There is no deviation between XML and actual setup. The

1 #CONFIG Master succeeded to initialize the network by steps
described in configuration file.

All bus devices are successfully set to INIT state. The Master
2 #INITOK
started all devices to the initial state.

Indicates valid Ethernet cable connection to the master.

3 #CONNECTED
The physical link of EtherCAT cable is OK on the Master side.

If DCM is used, indicates synchronization between the

4 #INSYNC
Master and the bus.

The EtherCAT bus is operational. The Master successfully

5 #OP turned each Slave into full operational mode and the bus is
ready for full operation.

6 #DCSYNC Distributed clocks are synchronized.

7 #RINGMODE Ring topology mode is selected.

8 #RINGCOMM Ring Communication is active.

9 #EXTCONN External clock is connected

10 #DCXSYNC External clock/slaves are synchronized

Syntax
ECST.bit_designator = 1|0
Arguments
None
Tag
238

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Comments
All bits (except #INSYNC in some cases) should be true for proper bus functioning.
For monitoring the bus state, checking bit #OP is sufficient. Any bus error will reset the #OP bit.
Accessibility
Read-Only
COM Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadInteger

3.11.9 EC2ST
Description
EC2ST is a scalar variable reflecting the EtherCAT state of the second EtherCAT network in a Dual
EtherCAT configuration. The EtherCAT state is reflected in the first six bits , as shown in Table 5-13.
Table 5-13. EC2ST Bits

Bit Designator Description

The scan process was performed successfully, that is, the

0 #SCAN Master was able to detect what devices are connected to
it.

There is no deviation between XML and actual setup. The

1 #CONFIG Master succeeded to initialize the network by steps
described in configuration file.

All bus devices are successfully set to INIT state. The Master
2 #INITOK
started all devices to the initial state.

Indicates valid Ethernet cable connection to the master.

3 #CONNECTED
The physical link of EtherCAT cable is OK on the Master side.

If DCM is used, indicates synchronization between the

4 #INSYNC
Master and the bus.

The EtherCAT bus is operational. The Master successfully

5 #OP turned each Slave into full operational mode and the bus is
ready for full operation.

6 #DCSYNC Distributed clocks are synchronized.

7 #RINGMODE Ring topology mode is selected.

8 #RINGCOMM Ring Communication is active.

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Bit Designator Description

9 #EXTCONN External clock is connected

10 #DCXSYNC External clock/slaves are synchronized

Syntax
EC2ST.bit_designator = 1|0
Arguments
None
Tag
419
Comments
EC2ST reflects the EtherCAT state of the second EtherCAT network, if it’s not supported all bits are
OFF.
All bits (except #INSYNC in some cases) should be true for proper bus functioning.
For monitoring the bus state, checking bit #OP is sufficient. Any bus error will reset the #OP bit.
Accessibility
Read-Only
COM Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadInteger

3.11.10 ECSYNC
Description
ECSYNC is an integer array with an element for each ACS EtherCAT node in the first EtherCAT
network. The value represents synchronization between the controller and the node.
Syntax

ECSYNC(index)

Arguments
EtherCAT node index
Tag
429
Comments
ECSYNC’s values depend on CTIME and on the product type.

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Accessibility
Read-only
.NET Library Methods
ReadVariable
C Library Functions
acsc_ReadInteger

3.11.11 EC2SYNC
EC2SYNC is an integer array with an element for each ACS EtherCAT node in the second EtherCAT
network in a Dual EtherCAT setup. The value represents synchronization between the controller and
the node.
Syntax

EC2SYNC(index)

Arguments
EtherCAT node index
Tag
422
Comments
EC2SYNC values depend on CTIME and on the product type.
Accessibility
Read-only
.NET Library Methods
ReadVariable
C Library Functions
acsc_ReadInteger

3.11.12 ECNST
Description
ECNST is an integer array, each element for ACS EtherCAT node in the first EtherCAT network. The
variable provides information regarding different processes such as GPRT, Data collection and fault
indication.
Syntax

ECNST(index).bit_designator=1|0

Arguments
EtherCAT node index

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Bit Name Bit No. Description

#SYNC 0 Sync Error

#GPRT 1 GPRT error

#MISSING 2 EtherCAT Node is missing

0: SPDC data collection not active

#SPDC 3
1: SPDC data collection active

#FSYNC 4 FPGA Sync Fault

0: Real-time data transfer process from the MPU to a

corresponding Servo Processor is not active
#SPRT 5
1: Real-time data transfer process from the MPU to a
corresponding Servo Processor is active

#LCI 10 LCI Fault

Tag
430
Comments
If the #SYNC or #GPRT error bit is set in ECNST, there will be a network error in all axes in the first
EtherCAT network, and servo processor alarm in all the axes controlled by the node. These faults
indicate a problem in the interface between the firmware and the node.
The setting of the #SYNC error bit means that the node is out of synchronization with the master.
The setting of the #GPRT error bit means the queue (which has the size of 400) for the GPRT
commands (which are being sent by request) was full and some commands were lost.
The following commands will set the ECNST.#SPRT bit to 1:
> SPINJECT
> SPRT
> ASSIGNPEG/f
> BPTP/2 (20 kHz motion profile)
> FOLLOW (in case of customized servo algorithm for 20 kHz motion profile)
SPINJECT, SPRT, ASSIGNPEG/f, BPTP/2 and FOLLOW are mutually exclusive, meaning only one of
those features can be active at a given time. So the NST.#SPRT bit should be checked before using
any of these commands. FCLEAR for any axis associated with the node will reset all bits of the NST
variable of that node.
Accessibility
Read-only

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.NET Library Methods

ReadVariable
C Library Functions
acsc_ReadInteger

3.11.13 EC2NST
Description
EC2NST is an integer array, with an element for each ACS EtherCAT node in the second EtherCAT
network.
The variable provides information regarding different processes such as GPRT, data collection and
fault indication.
Syntax

EC2NST(index).bit_designator=1|0

Arguments
EtherCAT node index

Bit Name Bit No. Description

#SYNC 0 Sync Error

#GPRT 1 GPRT error

#MISSING 2 EtherCAT Node is missing

0: SPDC data collection not active

#SPDC 3
1:SPDC data collection active

#FSYNC 4 FPGA Sync Fault

0: Real-time data transfer process from the MPU to a

corresponding Servo Processor is not active
#SPRT 5
1:Real-time data transfer process from the MPU to a
corresponding Servo Processor is active

#LCI 10 LCI Fault

Tag
423
Comments
If the #SYNC or #GPRT error bit is set in EC2NST, there will be a network error in all axes in the second
EtherCAT network, and servo processor alarm in all the axes controlled by the node. These faults
indicate a problem in the interface between the firmware and the node.

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The setting of the #SYNC error bit means that the node is out of synchronization with the master.
The setting of the #GPRT error bit means the queue (which has the size of 400) for the GPRT
commands (which are being sent by request) was full and some commands were lost.
The following commands will set the EC2NST.#SPRT bit to 1:
> SPINJECT
> SPRT
> ASSIGNPEG/f
> BPTP/2 (20 kHz motion profile)
> FOLLOW (in case of customized servo algorithm for 20 kHz motion profile)
SPINJECT, SPRT, ASSIGNPEG/f, BPTP/2 and FOLLOW are mutually exclusive, meaning only one of the
features can be active at the given time. So the NST/#SPRT bit should be checked before using any
of these commands.
FCLEAR for any axis associated with the node will reset all bits of the NST variable of that node.
Accessibility
Read-only
.NET Library Methods
ReadVariable
C Library Functions
acsc_ReadInteger

3.11.14 FAULT
Description
FAULT is an integer array, with one element for each axis in the systems, the elements of which
contain a set of bits that stores axis-related fault bits.
The fault bits are detailed in Table 5-14.
Table 5-14. Axis Fault Bits

Bit Fault Fault Description

Hardware Right Limit.

0 #RL
1 = Right limit switch is activated.

Hardware Left Limit.

1 #LL
1 = Left limit switch is activated.

Network Error.
2 #NT
1 = EtherCAT network error is activated.

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Bit Fault Fault Description

Motor Overheat.
4 #HOT
1 = Motor's temperature sensor indicates overheat.

5 #SRL Software Right Limit.

Software Left Limit.

6 #SLL 1 = Axis reference position (RPOS) is less than the software left
limit margin (SLLIMIT).

Encoder Not Connected.

7 #ENCNC 1 = Primary encoder (for digital encoder type only) is not
connected.

Encoder 2 Not Connected.

8 #ENC2NC 1 = Secondary encoder (for digital encoder type only) is not
connected.

Drive Alarm.
9 #DRIVE
1 = Signal from the drive reports a failure.

Encoder Error.
10 #ENC
1 = Primary encoder miscounts.

Encoder 2 Error.
11 #ENC2
1 = Secondary encoder miscounts.

Position Error.
1 = Position error (PE) has occurred.

PE is defined by the following variables:

12 #PE
> ERRI - Maximum position error while the axis is idle
> ERRV - Maximum position error while the axis is
moving with constant velocity
> ERRA - Maximum position error while the axis is
accelerating or decelerating

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Bit Fault Fault Description

>Critical Position Error.

1 = Position error (#PE) exceeds the value of the critical limit.
#CPE errors occur outside normal range of operation and #CPE
> #PE.
The critical limit depends on the axis state and is defined by the
following variables:
13 #CPE
> CERRI if the axis is idle (not moving)
> CERRV if the axis is moving with constant velocity
> CERRA if the axis is accelerating or decelerating
> DELI - Delay on transition from ERRA to CERRI
> DELV - Delay on transition from ERRA to CERRV

Velocity Limit.
14 #VL 1 = Absolute value of the reference velocity (RVEL) exceeds the
limit defined by the XVEL parameter.

15 #AL Acceleration Limit.

16 #CL Current Limit.

Servo Processor Alarm.

17 #SP 1 = Axis Servo Processor loses its synchronization with the
MPU. The fault indicates a fatal problem in the controller.

Safe Torque Off

18 #STO
1 = STO is active

20 N/A

Tag
47
Comments
FAULT indicates axis related fault bits as detected by the safety mechanism. When each of the faults
is active (such as Left Limit), the corresponding fault bit becomes = 1 while the fault is active, and
automatically reverts to 0 when the fault is no longer active.
> Each fault can be masked by FMASK.
> The logic of some faults can be inverted by SAFINI.
> The default response of each fault can be disabled by FDEF. In this case, any customized
default response can be implemented by autoroutines - see ON...RET.
For a list of S_FAULT related system fault bits see S_FAULT Fault Bits

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Accessibility
Read-Only

FAULT values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Variables

S_FAULT, FDEF, S_FDEF, FMASK, S_FMASK, SAFIN, S_SAFIN, SAFINI, S_SAFINI
COM Library Methods and .NET Library Methods
ReadVariable, GetFault
C Library Functions
acsc_ReadInteger, acsc_GetFault

3.11.15 FAULTSIM
Description
FAULTSIM is an integer array, with one element for each axis in the system. Each such element
consists of bits representing the errors in the axis or the system itself. This variable is used to
simulate these faults and raising a certain bit will trigger the fault the axis/system thereby raising
FAULT and S_FAULT.
The fault bits are indicated in the following table:

Bit Fault Fault Description

Axis Faults

Hardware Right Limit

0 #RL
1 = Right limit switch is activated

Hardware Left Limit

1 #LL
1 = Left limit switch is activated.

Network Error
2 #NT
1 = EtherCAT network error is activated

Motor Overheat
4 #HOT
1 = Motor's temperature sensore indicates overheating

Software Left Limit

5 #SRL 1 = Axis reference postion (RPOS) is greater than the
software right limit margin (SRLIMIT).

Software Left Limit

6 #SLL 1 = Axis reference position (RPOS) is less than the software
left limit margin (SLLIMIT).

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Bit Fault Fault Description

Axis Faults

Encoder Not Connected

7 #ENCNC 1 = Primary encoder (for digital encoder type only) is not
connected.

Encoder 2 Not Connected

8 #ENC2NC 1 = Secondary encoder (for digital encoder type only) is not
connected.

Drive Fault
9 #DRIVE
1 = Signal from the drive reports a failure

Encoder Error
10 #ENC
1 = Primary encoder miscounts.

Encoder 2 Error
11 #ENC2
1 = Secondary encoder miscounts.

1 = Position error (PE) has occurred.

PE is defined by the following variables:
> ERRI- Maximum position error while the axis is idle
> ERRV - Maximum position error while the axis is
12 #PE moving with constant velocity
> ERRA - Maximum position error while the axis is
accelerating or decelerating
> DELI- Delay on transition from ERRA to ERRI
> DELV - Delay on transition from ERRA to ERRV

Critical Position Error

1 = Position error (#PE) exceeds the value of the critical limit.

#CPE errors occur outside normal range of operation and

#CPE > #PE.
The critical limit depends on the axis state and is defined by
the following variables:
13 #CPE
> CERRI if the axis is idle (not moving)
> CERRV if the axis is moving with constant velocity
> CERRA if the axis is accelerating or decelerating
> DELI- Delay on transition from ERRA to CERRI
> DELV - Delay on transition from ERRA to CERRV

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Bit Fault Fault Description

Axis Faults

Velocity Limit
14 #VL 1 = Absolute value of the reference velocity (RVEL) exceeds
the limit defined by the XVEL parameter.

Acceleration Limit
15 #AL 1 = Absolute value of the reference acceleration (RACC)
exceeds the limit defined by the XACC parameter.

Current Limit
16 #CL 1 = RMS current calculated in the Servo Processor exceeds
the limit value defined by the XRMS parameter.

Servo Processor
17 #SP 1 = Axis Servo Processor loses its synchronization with the
MPU. The fault indicates a fatal problem in the controller.

System Faults

23 #EXTNT External Network Error

MPU Overheat Fault

Activated at CPU temperature > 90°C or System
24 #TEMP
temperature > 70°C
Default response - none

Program Fault
25 #PROG 1 = Run time error occurs in one of the executing ACSPL+
programs.

Memory Overflow
26 #MEM
1 = User application requires too much memory.

MPU Overuse
27 #TIME 1 = User application consumes too much time in the
controller cycle.

Hardware Emergency Stop

28 #ES
1 = ES signal is activated.

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System Faults

Servo Interrupt

29 #INT 1 = The servo interrupt that defines the controller cycle is

not generated. The fault indicates a fatal controller
problem.

File Integrity
1 = The integrity of the user application in controller RAM is
30 #INTGR checked by the controller at power-up and whenever an
#IR
Terminal command is issued.

Component Failure

31 #FAILURE 1 = An MC4U hardware component other than the drive,

such as the Power Supply, I/O card, or encoder card, has
failed.

Axis Faults

When the bus voltage is not supplied to the MC4U, a component failure
fault is reported. The fault is system wide and prevents all axes from
operating unless the fault is masked or bus voltage is supplied to the
power supply.
When a component failure is reported, the affected power supply is
identified by its address. To determine the faulty unit, use the MMI
System Viewer and Diagnostics

Tag
332
Comments
This variable allows you to simulate Axis & System faults, by raising a certain bit on a given axis –
you effectively set the fault and the appropriate response will be triggered.

In order to reset some faults you must use FCLEAR command, setting the FAULTSIM bit
to 0 might not be enough.

FAULTSIM variable is not saved to flash and will be reset upon controller restart.
FAULTSIM variable does not interact with SAFINI/SAFIN variables and therefore does not affect the
variables.

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Accessibility
Read/Write
Related ACSPL+ Variables
FAULT, S_FAULT, SAFINI, S_SAFINI, FMASK, S_FMASK

3.11.16 FDEF
Description
FDEF is an integer array, with one element for each axis in the system, the elements of which
contain a set of bits used for setting a default response to an axis fault.
Syntax
FDEF(axis_index)[.bit_designator] = value
Arguments

Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number
axis_index
of axes in the system minus 1.

bit_designator The FDEF bit designators are given in FDEF Bit Description.

value value ranges from -2147483648 to 2147483647, Default = -1.

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Table 5-15. FDEF Bit Description

Bit Fault Fault Description Default Response

The controller kills the violating

axis.

Hardware Right Limit As long as the fault is active, the

0 #RL controller kills any motion that
1 = Right limit switch is
tries to move the axis in the
activated.
direction of the limit; however,
motion within the permissible
range is allowed.

Hardware Left Limit

1 #LL 1 = Left limit switch is Analogous to #RL.
activated.

Network Error Halts all program buffers and

waits for receipt of network
2 #NT 1 = EtherCAT network sync signal. All axes are
error detected. disabled.

>Motor Overheat

4 #HOT 1 = Motor's temperature None.

sensor indicates
overheat.

The controller kills the violating

Software Right Limit axis. As long as the fault is
1 = Axis reference active, the controller kills any
5 #SRL position (RPOS) is greater motion that tries to move the
than the software right axis in the direction of the limit.
limit margin (SRLIMIT). Motion in the direction out of
the limit is allowed.

Software Left Limit

1 = Axis reference
6 #SLL position (RPOS) is less Same as #SRL.
than the software left
limit margin (SLLIMIT).

Encoder Not Connected

1 = Primary encoder (for The controller disables the
7 #ENCNC
digital encoder type only) violating axis.
is not connected.

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Bit Fault Fault Description Default Response

Encoder 2 Not Connected

8 #ENC2NC 1 = Secondary encoder No default response.

(for digital encoder type
only) is not connected.

The controller disables the

violating axis.
Drive Fault
9 #DRIVE This fault is only detected when
1 = Signal from the drive
the axis is enabled. To catch this
reports a failure.
fault in an ACSPL+ program,
write an autoroutine.

The controller disables the

Encoder Error violating axis. The faults remain
10 #ENC 1 = Primary encoder active until the user resolves
miscounts. the problems and enables the
axis again or executes FCLEAR.

Encoder 2 Error
11 #ENC2 1 = Secondary encoder Same as #ENC.
miscounts.

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Bit Fault Fault Description Default Response

Position Error.
1 = Position error (PE) has
occurred.

PE is defined by the
following variables:
> ERRI - Maximum
position error
while the axis is
idle
12 #PE > ERRB - None.
Maximum
position error
while the axis is
moving with
constant velocity
> DELI - Delay on
transition from
ERRA to ERRI
> DELV - Delay on
transition from
ERRA to ERRV

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Bit Fault Fault Description Default Response

Critical Position Error

1 = Position error (#PE)
exceeds the value of the
critical limit.

#CPE errors occur outside

normal range of
operation and #CPE >
#PE.
The critical limit depends
on the axis state and is
defined by the following
variables:
> CERRI if the axis The controller disables the
13 #CPE
is idle (not violating axis.
moving)
> CERRV if the axis
is moving with
constant velocity
> CERRA if the axis
is accelerating or
decelerating
> DELI - Delay on
transition from
ERRA to CERRI
> DELV - Delay on
transition from
CERRA to ERRV

>Velocity Limit
1 = Absolute value of the The controller kills the violating
14 #VL reference velocity (RVEL) axis.
exceeds the limit defined
by the XVEL parameter.

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Bit Fault Fault Description Default Response

>Acceleration Limit
1 = Absolute value of the
reference acceleration The controller kills the violating
15 #AL
(RACC) exceeds the limit axis.
defined by the XACC
parameter.

Current Limit
1 = RMS current
calculated in the Servo The controller disables the
16 #CL
Processor exceeds the violating axis.
limit value defined by the
XRMS XpRarameter.

Servo Processor Alarm

1 = Axis Servo Processor The controller disables the
17 #SP loses its synchronization violating axis and kills the
with the MPU. The fault motion that involves the axis.
indicates a fatal problem
in the controller.

Safe Torque Off Blocks the PWM signals to the

18 #STO
1 = STO is activated power stage of the drive

20 N/A

Tag
48
Comments
When an FDEF bit = 1, the controller executes the default response when the corresponding fault
occurs. If the FDEF bit = 0, the default response is disabled.
Not every fault has a default response. For a fault that has no default response, the corresponding
FDEF bit is inoperative.
Accessibility
Read-Write

FDEF values cannot be modified if protection is applied to this variable through SPiiPlus
MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Variables

FAULT, S_FAULT, SFDEF, FMASK, S_FMASK, SAFIN, S_SAFIN, SAFINI, S_SAFINI

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COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable, GetResponseMask, SetResponseMask, GetFaultMask, SetFaultMask
C Library Functions
acsc_ReadInteger, acsc_WriteInteger, acsc_GetResponseMask, acsc_SetResponseMask, acsc_
GetFaultMask, acsc_SetFaultMask

3.11.17 FMASK
Description
FMASK is an integer array, with one element for each axis in the system, the elements of which
contain a set of bits used for enabling or disabling each axis fault bit.
Syntax
FMASK(axis_index)[.bit_designator] = value
Arguments

Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number
axis_index
of axes in the system minus 1.

bit_designator The FDEF bit designators are given in FMASK Bit Description.

value value ranges from -2147483648 to 2147483647, Default=1040414435.

Table 5-16. FMASK Bit Description

Bit Fault Fault Description

Hardware Right Limit

0 #RL
1 = Right limit switch is activated.

Hardware Left Limit

1 #LL
1 = Left limit switch is activated.

Network Error
2 #NT
1 = EtherCAT network error detected.

Motor Overheat
4 #HOT
1 = Motor's temperature sensor indicates overheat.

Software Right Limit

5 #SRL 1 = Axis reference position (RPOS) is greater than the software
right limit margin (SRLIMIT).

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Bit Fault Fault Description

Software Left Limit

6 #SLL 1 = Axis reference position (RPOS) is less than the software left
limit margin (SLLIMIT).

Encoder Not Connected

7 #ENCNC 1 = Primary encoder (for digital encoder type only) is not
connected.

Encoder 2 Not Connected

8 #ENC2NC 1 = Secondary encoder (for digital encoder type only) is not
connected.

Drive Fault
9 #DRIVE
1 = Signal from the drive reports a failure.

Encoder Error
10 #ENC
1 = Primary encoder miscounts.

Encoder 2 Error
11 #ENC2
1 = Secondary encoder miscounts.

Position Error
1 = Position error (PE) has occurred.

PE is defined by the following variables:

> ERRI - Maximum position error while the axis is idle
12 #PE
> ERRV - Maximum position error while the axis is
moving with constant velocity
> ERRA - Maximum position error while the axis is
accelerating or decelerating
> DELI - Delay on transition from to ERRI
> DELV - Delay on transition from ERRA to ERRV

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Bit Fault Fault Description

Critical Position Error

1 = Position error (#PE) exceeds the value of the critical limit.

#CPE errors occur outside normal range of operation and #CPE

> #PE.
The critical limit depends on the axis state and is defined by the
13 #CPE following variables:
> CERRI if the axis is idle (not moving)
> CERRV if the axis is moving with constant velocity
> CERRA if the axis is accelerating or decelerating
> DELI - Delay on transition from ERRA to CERRI
> DELV - Delay on transition from CERRA to ERRV

Velocity Limit
14 #VL 1 = Absolute value of the reference velocity (RVEL) exceeds the
limit defined by the XVEL parameter.

15 #AL Acceleration Limit

Current Limit
16 #CL 1 = RMS current calculated in the Servo Processor exceeds the
limit value defined by the XRMS parameter.

Servo Processor Alarm

17 #SP 1 = Axis Servo Processor loses its synchronization with the
MPU. The fault indicates a fatal problem in the controller.

Safe Torque Off

An error code= 5027, "Motor Failed: Servo Processor Alarm" fault is activated when an
axes does not have a physical drive associated to it.

The MERR return values are listed in Table 9-4

Tag
86
Comments
MERR is updated every time the axis motion is terminated. MERR stores the last termination code
until either FCLEAR or ENABLE/ENABLE ALL is executed.
Accessibility
Read-Only
Related ACSPL+ Commands
FCLEAR
Related ACSPL+ Variables
PERR
COM Library Methods and .NET Library Methods
ReadVariable, GetMotorError
C Library Functions
acsc_ReadInteger, acsc_GetMotorError

3.11.21 SAFIN
Description
SAFIN is an integer array, with one element for each axis in the system, the elements of which
contain a set of bits that indicates the raw state, before processing, of the axis safety inputs.
SAFIN(<axis>).17 (#STO1) and SAFIN(<axis>).18 (#STO2) present the status of the emergency stop
request (24V switched off).

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For the products that supports SS1-t:

SAFIN(<axis>).19 (#SS11) and SAFIN(<axis>).20 (#SS12) present the status of switching in the torque
off mode (5V switched off).
SAFIN(<axis>).16 (#SS1TERR) presents the status of SS1-t timing error.
The value of each element in the array ranges from -2147483648 to 2147483647, Default=0.
Tag
121
Comments
1. The SAFIN uses the same bit numbers as in S_SAFIN and as the corresponding faults in
FAULT and S_FAULT.
2. SAFIN is normally read-only. However, when working with the Simulator, read/write is
permitted to simulate safety inputs.
3. Only the SAFIN bits below are valid.

Bit Name No. Description

#RL 0 Hardware Right Limit

#LL 1 Hardware Left Limit

#HOT 4 Motor Overheat

#DRIVE 9 Drive Fault

#SS1TERR 16 Status of SS1-t timing error

#STO1 17 Status of the emergency stop request (24V switched off)

#STO2 18 Status of the emergency stop request (24V switched off)

#SS11 19 Status of switching in the torque off mode (5V switched off)

#SS12 20 Status of switching in the torque off mode (5V switched off)

Hardware Emergency Stop

#ES 28
1 = ES signal is activated

#COMP 31 Component Failure

Accessibility
Read-Only

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SAFIN can be written to when working with the SPiiPlus Simulator.

Related ACSPL+ Variables

FAULT, S_FAULT, FDEF, S_FDEF, FMASK, S_FMASK, S_SAFIN, SAFINI, S_SAFINI
COM Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadInteger

3.11.22 SAFINI
Description
SAFINI is an integer array, with one element for each axis in the system, the elements of which
contain a set of bits defining the active state of the axis safety input variable (SAFIN) specifying
inversion of the signal input logic, if required.
Syntax
SAFINI(axis_index)[.bit_designator] = value
Arguments

axis_index designates the specific axis: 0, 1, 2, .. up to the number of axes

axis_index
in the system minus 1.

bit_designator The valid SAFINI bits are given in Table 5-17.

value value ranges from -2147483648 to 2147483647, Default=0.

Table 5-17. SAFINI Valid Bits

Bit Name No. Description

#RL 0 Hardware Right Limit

#LL 1 Hardware Left Limit

#HOT 4 Motor Overheat

#DRIVE 9 Drive Fault

Hardware Emergency Stop

#ES 28
1 = ES signal is activated

Tag
122

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Comments
1. When a SAFINI bit=0, the corresponding signal is not inverted and the high voltage state is
considered active.
2. When a SAFINI bit=1, the bit is inverted and the low voltage state is considered active.
Accessibility
Read-Write

SAFINI values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection.

Related ACSPL+ Variables

FAULT, S_FAULT, FDEF, S_FDEF, FMASK, S_FMASK, SAFIN, S_SAFIN, S_SAFINI
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable, SetSafetyInputPortInv, GetSafetyInputPortInv
C Library Functions
acsc_ReadInteger, acsc_WriteInteger, acsc_SetSafetyInputPortInv, acsc_GetSafetyInputPortInv

3.11.23 S_ERR
Description
S_ERR is a scalar integer that contains the code of the initialization error set during powerup.
The error codes are specified in Table 9-6.
Tag
113
Accessibility
Read-Only
Related ACSPL+ Variables
None
COM Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadInteger

3.11.24 S_FAULT
Description
S_FAULT is a scalar integer variable consisting of a set of bits equating to the occurrence of faults. S_
FAULT has two categories of bits, Axis Faults and System Faults (faults that are not related to any
specific axis).
The S_FAULT bits are described in Table 5-18.

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Table 5-18. S_FAULT Fault Bits

Bit Fault Fault Description

Axis Faults

Hardware Right Limit

0 #RL
1 = Right limit switch is activated.

Hardware Left Limit

1 #LL
1 = Left limit switch is activated.

Network Error.
2 #NT
1 = EtherCAT network error is activated.

Motor Overheat
4 #HOT
1 = Motor's temperature sensor indicates overheat.

Software Right Limit

5 #SRL 1 = Axis reference position (RPOS) is greater than the software
right limit margin (SRLIMIT).

Software Left Limit

6 #SLL 1 = Axis reference position (RPOS) is less than the software left
limit margin (SLLIMIT).

Encoder Not Connected

7 #ENCNC 1 = Primary encoder (for digital or SinCos encoder types) is not
connected.

Encoder 2 Not Connected

8 #ENC2NC 1 = Secondary encoder (for digital or SinCos encoder types) is
not connected.

Drive Fault
9 #DRIVE
1 = Signal from the drive reports a failure.

Encoder Error
10 #ENC
1 = Primary encoder miscounts.

Encoder 2 Error
11 #ENC2
1 = Secondary encoder miscounts.

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Bit Fault Fault Description

Position Error
1 = Position error (PE) has occurred.

PE is defined by the following variables:

> ERRI - Maximum position error while the axis is idle
12 #PE
> ERRV - Maximum position error while the axis is
moving with constant velocity
> ERRA - Maximum position error while the axis is
accelerating or decelerating
> DELI - Delay on transition from ERRA to ERRI
> DELV - Delay on transition from ERRA to ERRV

Critical Position Error

1 = Position error (#PE) exceeds the value of the critical limit.

#CPE errors occur outside normal range of operation and #CPE

Velocity Limit.
14 #VL 1 = Absolute value of the reference velocity (RVEL) exceeds the
limit defined by the XVEL parameter.

Acceleration Limit
15 #AL 1 = Absolute value of the reference acceleration (RACC)
exceeds the limit defined by the XACC parameter.

Current Limit
16 #CL 1 = RMS current calculated in the Servo Processor exceeds the
limit value defined by the XRMS parameter.

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Bit Fault Fault Description

Servo Processor Alarm

17 #SP 1 = Axis Servo Processor loses its synchronization with the
MPU. The fault indicates a fatal problem in the controller.

Safe Torque Off

18 #STO
1 = STO is active

System Faults

23 #EXTNT External Network Error

MPU Overheat Fault

24 #TEMP Activated at CPU temperature > 90°C or System temperature >

70°C
Default response - none.

Program Fault
25 #PROG 1 = Run time error occurs in one of the executing ACSPL+
programs.

Memory Overflow
26 #MEM
1 = User application requires too much memory.

MPU Overuse
27 #TIME 1 = User application consumes too much time in the controller
cycle.

Hardware Emergency Stop

28 #ES
1 = ES signal is activated.

Servo Interrupt
29 #INT 1 = The servo interrupt that defines the controller cycle is not
generated. The fault indicates a fatal controller problem.

File Integrity

30 #INTGR 1 = The integrity of the user application in controller RAM is

checked by the controller at power-up and whenever an #IR
Terminal command is issued.

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Bit Fault Fault Description

Component Failure
1 = An MC4U hardware component other than the drive, such
as the Power Supply, I/O card, or encoder card, has failed.
When the bus voltage is not supplied to the MC4U, a
31 #FAILURE component failure fault is reported. The fault is system wide
and prevents all axes from operating unless the fault is
masked or bus voltage is supplied to the power supply.
When a component failure is reported, the affected power
supply is identified by its address. To determine the faulty unit,
use the MMI System Viewer and Diagnostics

Tag
114
Comments
An S_FAULT bit, such as Left Limit, will be = 1 whenever one or more Left Limit fault bits are = 1. In
this manner, S_FAULT provides an indication of the aggregate state of each FAULT bit.
Accessibility
Read-Only

S_FAULT values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Variables

FAULT, FDEF, S_FDEF, FMASK, S_FMASK, SAFIN, S_SAFIN, SAFINI, S_SAFINI
COM Library Methods and .NET Library Methods
ReadVariable, GetFault
C Library Functions
acsc_ReadInteger, acsc_GetFault

3.11.25 S_FDEF
Description
S_FDEF is a scalar integer variable consisting of a set of bits for defining the default response for the
system faults contained in S_FAULT. S_FDEF is connected to S_FAULT in the same way that FDEF is
connected with FAULT.
Syntax
S_FDEF[.bit_designator] = value

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Arguments

bit_designator The S_FDEF bits and associated responses are given in Table 5-19.

value value ranges from -2147483648 to 2147483647, Default = 1.

Table 5-19. S_FDEF Bit Description

Bit Fault Fault Description Default Response (S_FDEF)

23 #EXTNT External Network Error The controller disables all axes.

S_SETUP.#USGTEMP = 0: No
response
24 #TEMP MPU Overheat
S_SETUP.#USGTEMP=1: Default
response is to disable all axes

Program Fault

25 #PROG 1 = Run time error occurs The controller kills all axes.
in one of the executing
ACSPL+ programs.

Memory Overflow

26 #MEM 1 = User application The controller kills all axes.

requires too much
memory.

MPU Overuse
1 = User application
27 #TIME consumes too much No default response.
time in the controller
cycle.

The controller disables all axes,

and sets the offset of each axis
Hardware Emergency to 0.
28 #ES Stop
1 = ES signal is activated. It does not stop the
program buffers.

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Bit Fault Fault Description Default Response (S_FDEF)

Servo Interrupt
1 = The servo interrupt
that defines the
29 #INT controller cycle is not The controller disables all axes.
generated. The fault
indicates a fatal
controller problem.

File Integrity
1 = The integrity of the
user application in
controller RAM is
30 #INTGR checked by the No default response
controller at power-up
and whenever an #IR
Terminal command is
issued.

Component Failure
1 = An MC4U hardware
No default response
component other than
31 #FAILURE the drive, such as the The user has to supply a user-
Power Supply, I/O card, defined fault response.
or encoder card, has
failed.

Tag
115
Comments
The default value for all S_FDEF bits is 1, which enables the default response. If an S_FDEF bit = 0, the
default response is disabled.
Accessibility
Read-Write

S_FDEF values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Variables

FAULT, S_FAULT, FDEF, FMASK, S_FMASK, SAFIN, S_SAFIN, SAFINI, S_SAFINI
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable, GetResponseMask, SetResponseMask, GetFaultMask, SetFaultMask

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C Library Functions
acsc_ReadInteger, acsc_WriteInteger, acsc_GetResponseMask, acsc_SetResponseMask, acsc_
GetFaultMask, acsc_SetFaultMask

3.11.26 S_FMASK
Description
S_FMASK is scalar integer variable consisting of a set of bits for enabling or disabling the system
faults contained in S_FAULT. S_FMASK is connected to S_FAULT in the same way that FMASK is
connected with FAULT.
Syntax
S_FMASK[.bit_designator] = value
Arguments

bit_designator The S_FMASK bits and associated responses are given in Table 5-20.

value value ranges from -2147483648 to 2147483647, Default=0.

Table 5-20. S_FMASK Bit Description

Bit Fault Fault Description

23 #EXTNT External Network Error

24 #TEMP MPU Overheat

Program Fault
25 #PROG 1 = Run time error occurs in one of the executing ACSPL+
programs.

Memory Overflow
26 #MEM
1 = User application requires too much memory.

MPU Overuse
27 #TIME 1 = User application consumes too much time in the controller
cycle.

Hardware Emergency Stop

28 #ES
1 = ES signal is activated.

Servo Interrupt
29 #INT 1 = The servo interrupt that defines the controller cycle is not
generated. The fault indicates a fatal controller problem.

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Bit Fault Fault Description

File Integrity

30 #INTGR 1 = The integrity of the user application in controller RAM is

checked by the controller at power-up and whenever a #IR
immediate command is issued.

Component Failure
31 #FAILURE 1 = An MC4U hardware component other than the drive, such
as the Power Supply, I/O card, or encoder card, has failed.

Tag
117
Comments
The S_FMASK default value = 1 and causes the controller to check for the fault associated with that
bit, as follows:
0: The corresponding FAULT bit is disabled
1: The corresponding FAULT is enabled and examined each MPU cycle.
Accessibility
Read-Write

S_FMASK values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Variables

FAULT, S_FAULT, FDEF, S_FDEF, FMASK, SAFIN, S_SAFIN, SAFINI, S_SAFINI
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable, GetFaultMask, SetFaultMask
C Library Functions
acsc_ReadInteger, acsc_WriteInteger, acsc_GetFaultMask, acsc_SetFaultMask

3.11.27 S_SAFIN
Description
S_SAFIN is a scalar integer variable that indicates the raw state of the #ES bit (Emergency Stop) input
stored in the SAFIN variable and indicates the #FAILURE bit (system fault) stored in the S_FAULT
variable.
The value ranges from -2147483648 to 2147483647, Default=0.
Tag
118

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Comments
S_SAFIN uses the same bit numbers as in SAFIN and as the corresponding faults in FAULT and S_
FAULT, but only the #ES bit is meaningful.

S_SAFIN can be written to when working with the SPiiPlus Simulator.

Accessibility
Read-Only
Related ACSPL+ Variables
FAULT, S_FAULT, FDEF, S_FDEF, FMASK, S_FMASK, SAFIN, SAFINI, S_SAFINI
COM Library Methods and .NET Library Methods
ReadVariable, GetSafetyInputPort
C Library Functions
acsc_ReadInteger, acsc_GetSafetyInputPort

3.11.28 S_SAFINI
Description
S_SAFINI is a scalar integer variable used for defining the active state of the system safety input
variable (S_SAFIN) specifying inversion of the signal input logic, if required.
Tag
119
Comments
1. When a S_SAFINI bit=0, the corresponding signal is not inverted and the high voltage state
is considered active.
2. When a S_SAFINI bit=1, the bit is inverted and the low voltage state is considered active.
Accessibility
Read-Write

S_SAFINI values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Variables

FAULT, S_FAULT, FDEF, S_FDEF, FMASK, S_FMASK, SAFIN, S_SAFIN, SAFINI
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable, SetSafetyInputPortInv, GetSafetyInputPortInv

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C Library Functions
acsc_ReadInteger, acsc_WriteInteger, acsc_SetSafetyInputPortInv, acsc_GetSafetyInputPortInv

3.11.29 SS11TIME
Description
SS11TIME is a integer array with one element for each EtherCAT node in the system, the elements of
which store the last SS1-t channel A time between the emergency stop request (24V switched off)
and the point in time when the drive in fact switched the torque off mode (5V switched off). The
value ranges between 0 and 500. The user can read this value in order to determine whether the
system stops motion within the time required by the system functional safety requirements.

SS11TIME should be used for SS1-t diagnostics only

Tag
373
Comments
This variable is supported in version 3.00 and higher
Accessibility
Read-Only
Related ACSPL+ Variables
SS12TIME
COM Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadReal

3.11.30 SS12TIME
Description
SS12TIME is a integer array with one element for each EtherCAT node in the system, the elements of
which store the last SS1-t channel B time between the emergency stop request (24V switched off)
and the point in time when the drive in fact switched the torque off mode (5V switched off). The
value ranges between 0 and 500. The user can read this value in order to determine whether the
system stops motion within the time required by the system functional safety requirements.

SS12TIME should be used for SS1-t diagnostics only

Tag
374

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Comments
This variable is supported in version 3.00 and higher
Accessibility
Read-Only
Related ACSPL+ Variables
SS11TIME
COM Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadReal

3.11.31 STODELAY
Description
STODELAY is a real array, with one element for each axis in the system. It is used to configure the
delay time between the STO fault indication and the default response (disable) to the fault. During
this time the user can activate his own response (auto-routine) to kill the motion.
Syntax
STODELAY(axis) = value
Arguments

The specific axis index. Valid numbers are: 0,1… up to the

axis
number of axes in the system, minus 1.

The value is the delay time between the STO fault

indication and the default response (disable) to the fault.
value
value can range between 0 (minimum) to 200 (maximum).
The default is 50.

Tag
319
Comments
In devices supporting STO, but not SS1-t, the bridges are cut off after STODELAY has elapsed. During
that interval KILL or DECEL commands may be sent.
Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

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3.11.32 SYNC
Description
SYNC is an integer array (one element per each slave node) the elements of which contain a slave
synchronization indicator for the node.
Tag
222
Accessibility
Read-Only
COM Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadInteger

3.12 Nanomotion Variables

The UDIhp-x / UDMnt-x (new revision) products' control algorithm supports Nanomotion motors,
based on Nanomotion servo algorithm. Each UDIhp-x / UDMnt-x (new revision) products can
support up to four Nanomotion axes using AB1 amplifier or two Nanomotion axes using AB2
amplifier (with automatic DC/AC mode switching).

AB2 amplifiers are not supported by SPiiPlus ADK Suite 2.40 or later. If AB2 amplifiers are
used and there is not a need to upgrade the FW, it is recommended to continue using
FW 2.30.03.
If an upgrade is needed, consult ACS Applications and the relevant DSP will be provided.

To activate the Nanomotion algorithm set the seventh bit of MFLAGS variable to 1
> MFLAGS(<axis>).7= 1, or alternatively MFLAGS(<axis>).#NANO = 1
The following variables should be used in support of Nanomotion piezo-ceramic motor motion:

Name Description

Parameter which specifies the minimum position of the Dead Zone (when
SLDZMIN
the servo is turned off)

Parameter which specifies the maximum position of the Dead Zone (when
SLDZMAX
the servo is turned on).

Parameter which specifies the duration (in msec) required for settling after
SLDZTIME
entering the SLDZMIN.

Parameter which specifies the distance from target to stop the velocity
SLZFF
Feed Forward.

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Name Description

Parameter which specifies the initial non-zero command to overcome the

SLFRC
static friction in positive direction.

Parameter which specifies the initial non-zero command to overcome the

SLFRCN
static friction in negative direction.

SLHRS Parameter which specifies the modulation ratio of the drive command.

Parameter which specifies the multiplication factor of the velocity loop gain
SLVKPDCF
(SLVKP) in DC mode.

Parameter which specifies the multiplication factor of the position loop gain
SLPKPDCF
(SLPKP) in DC mode.

Parameter which specifies the multiplication factor of the velocity loop

SLVKIDCF
integrator (SLVKI) in DC mode.

3.12.1 SLDZMIN
Description
SLDZMIN is a real array, with one element for each axis in the system, and is used for defining the
minimum position of the Dead Zone (when Servo is turned off).
Syntax
SLDZMIN(axis_index) = value
Arguments

axis_index axis_index designates the specific axis: 0 - X, 1 - Y, etc.

value value ranges between 0 to 1.79769e+308, Default = 1.

Tag
162
Comments
The Dead Zone mechanism stops the motor when the position approaches the target within the
value of SLDZMIN. The value depends on the system specifications; usually SLDZMIN is between 1.0
to 2.0 counts (with an equivilant value in user units).
Accessibility
Read-Write

SLDZMIN values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

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COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.12.2 SLDZMAX
Description
SLDZMAX is a real array, with one element for each axis in the system, and is used for defining the
maximum position of the Dead Zone.
Syntax
SLDZMIN(axis_index) = value
Arguments

axis_index axis_index designates the specific axis: 0 - X, 1 - Y, etc.

value value ranges between 0 to 1.79769e+308, Default = 10.

Tag
163
Comments
The Dead Zone mechanism starts the motor again when the error radius increases above the value
SLDZMAX. The value depends on the system specifications; usually SLDZMAX is between 4.0 to 10.0
counts (with an equivilant value in user units).
Accessibility
Read-Write

SLDZMAX values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.12.3 SLDZTIME
Description
SLDZTIME is a real array, with one element for each axis in the system, which defines the duration
(in msec) required for settling after entering the SLDZMIN. Only after this duration the controller
starts monitoring the position error and returns the servo if |PE| exceeds SLDZMAX.
Syntax
SLDZTIME(axis_index) = value

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Arguments

axis_index axis_index designates the specific axis: 0 - X, 1 - Y, etc.

value value ranges between 0.1 to 1.79769e+308, Default = 20.

Tag
251
Accessibility
Read-Write

SLDZMAX values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.12.4 SLZFF
Description
SLZFF is a real array, with one element for each axis in the system, and is used for defining the
distance from target to stop the velocity Feed Forward.
Syntax
SLZFF(axis_index) = value
Arguments

axis_index axis_index designates the specific axis: 0 - X, 1 - Y, etc.

value value ranges between 0 to 1.79769e+308, Default = 300.

Tag
189
Comments
Using SLZFF improves settling time by stopping the feed forward velocity when the axis is getting
close to the target position. The distance from the target is defined by SLZFF (in user units). The
proper value of SLZFF depends on the total moving mass and the resolution of the [Link]:
> For an HR1 motor with encoder resolution of 0.1µM, set SLZFF to 100 - 300 counts (with an
equivilant value in user units).
> For an HR8 motor with encoder resolution of 0.1µM, set SLZFF to 300 - 400 counts (with an
equivilant value in user units).

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Accessibility
Read-Write

SLZFF values cannot be modified if protection is applied to this variable through SPiiPlus
MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.12.5 SLFRC
Description
SLFRC is a real array, with one element for each axis in the system, which defines initial non-zero
command to overcome the static friction in a positive direction.
Syntax
SLFRC(axis_index) = value
Arguments

axis_index axis_index designates the specific axis: 0 - X, 1 - Y, etc.

value value ranges between 0 to 50, Default = 0.

Tag
167
Comments
SLFRC is expressed as a percentage of the maximum output.
Accessibility
Read-Write

SLFRC values cannot be modified if protection is applied to this variable through SPiiPlus
MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

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3.12.6 SLFRCN
Description
SLFRCN is a real array, with one element for each axis in the system, which defines initial non-zero
command to overcome the static friction in a negative direction.
Syntax
SLFRCN(axis_index) = value
Arguments

axis_index axis_index designates the specific axis: 0 - X, 1 - Y, etc.

value value ranges between 0 to 50, Default = 0.

Tag
250
Comments
SLFRCN is expressed as a percentage of the maximum output.
Accessibility
Read-Write

SLFRCN values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.12.7 SLHRS
Description:
SLHRS is a real array, with one element for each axis in the system, which defines the modulation
ratio of the drive command.
Syntax:
SLHRS(axis_index) = value
Arguments

axis_index axis_index designates the specific axis: 0 - X, 1 - Y, etc.

value value ranges from 0 to 100, Default = 100.

Tag:
169

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Accessibility
Read-Write

DCOM values cannot be modified if protection is applied to this variable through SPiiPlus
MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, Write Variable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.12.8 SLVKPDCF
Description
SLVKPDCF is a real array, with one element for each axis in the system, which defines multiplication
factor of the velocity loop gain (SLVKP) in DC mode. The normal gain is increased by setting a
SLVKPDCF value larger than 1.
Syntax
SLPKPDCF axis_index = value
Arguments

axis_index axis_index designates the specific axis: 0 - X, 1 - Y, etc.

value value ranges between -1.79769e+308 to 1.79769e+308, Default = 1.

Tag
252
Accessibility
Read-Write

SLVKPDCF values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

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3.12.9 SLPKPDCF
Description
SLPKPDCF is a real array, with one element for each axis in the system, which defines multiplication
factor of the position loop gain (SLPKP) in DC mode. The normal gain is increased by setting the
SLPKPDCF to a value larger than 1.
Syntax
SLPKPDCF axis_index = value
Arguments

axis_index axis_index designates the specific axis: 0 - X, 1 - Y, etc.

value value ranges between 0 to 1.79769e+308, Default = 1.

Tag
253
Accessibility
Read-Write

SLPKPDCF values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.12.10 SLVKIDCF
Description
SLVKIDCF is a real array, with one element for each axis in the system, which defines multiplication
factor of the velocity loop integrator (SLVKI) in DC mode. The normal gain is increased by setting the
SLVKIDCF to a value larger than 1.
Syntax
SLVKIDCF axis_index = value
Arguments

axis_index axis_index designates the specific axis: 0 - X, 1 - Y, etc.

value value ranges between 0 to 1.79769e+308, Default = 1.

Tag
254

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Accessibility
Read-Write

SLVKIDCF values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.13 Servo-Loop Variables

Servo-Loop variables are fully accessible at the ACSPL+ level. While ACSPL+ programs
generally do not refer to servo-loop variables at run time, an advanced program could
change a servo-loop variable on-the-fly to provide adaptive control

The servo-loop variables are used for configuration and adjustment, and are set through SPiiPlus
MMI Application Studio g Setup g Adjuster.
The Servo-Loop variable is:

Name Description

DCOM Drive Command

Additional servo-loop variables are grouped as follows:

> Servo-Loop Current Variables
> Servo-Loop Velocity Variables
> Servo-Loop Velocity Notch Filter Variables
> Servo-Loop Velocity Low Pass Filter Variables
> Servo-Loop Velocity Bi-Quad Filter Variables
> Servo-Loop Position Variables
> Servo-Loop Compensations Variables
> Servo Loop Stepper Variables
> Servo-Loop Miscellaneous Variables
> Non-Linear Control Variables

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3.13.1 DCOM
Description
DCOM is a real array, with one element for each axis in the system. It is used for defining the
commanded current as a percentage of the maximum drive command..
Syntax
DCOM(axis_index) = value
Arguments

axis_index axis_index designates the specific axis: 0 - X, 1 - Y, etc.

value value ranges from -100 to 100, Default = 0.

Tag
20
Comments
When operating in the open loop mode (MFLAGS.1=1), DCOM supplies this current directly to the
motor windings.
DCOM defines a percentage of the maximum drive command, for example, the UDI provides
differential drive output from -10 to +10V. Therefore, assigning 100 to DCOM provides +10V on the
drive output, -100 corresponds to -10V and 0 to 0V.
When operating in the closed loop mode (MFLAGS.1=0), DCOM offsets the normal commanded
output current from the drive..
Accessibility
Read-Write

DCOM values cannot be modified if protection is applied to this variable through SPiiPlus
MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Commands

MFLAGS
COM Library Methods and .NET Library Methods
ReadVariable, Write Variable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.13.2 Servo-Loop Current Variables

The Servo-Loop Current variables are:

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Name Description

SLBIASA Current phase A bias

SLBIASB Current phase B bias

SLBIASC Current phase C bias

SLIKI Integrator gain

SLIKP Integrator proportional gain

SLIFILT Internal current filter

SLIOFFS Offset to be added to the result of the current loop control

SLILI Used to limit the drive’s output voltage

[Link] SLBIASA
Description
SLBIASA is a real array, with one element for each axis in the system, and is used for defining offset
of the current in phase "S" or offset in command of phase "S".
Syntax
SLBIASA(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value ranges between -10 to 10, Default = 0.

Tag
149
Comments
SLBIASA is expressed as a percentage of the maximum controller voltage output.
1. For integrated models: SLBIASA is read-only and displays the measured value of the
current input bias.
2. For non-integrated models: SLBIASA is read-write and specifies the bias of the drive output.
The controller uses the value only for brushless motors commutated by the controller.
Accessibility
Read-Only (integrated models)
Read-Write (nonintegrated models)

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SLBIASA values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection
Wizard

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

[Link] SLBIASB
Description
SLBIASB is a real array, with one element for each axis in the system, and is used for defining offset
of the current in phase "T" or offset in command of phase "T".
Syntax
SLBIASB(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value ranges between -10 to 10, Default = 0.

Tag
150
Comments
SLBIASB is expressed as a percentage.
1. For integrated models: SLBIASB is read-only and displays the measured value of the
current input bias.
2. For nonintegrated models: SLBIASB is read-write and specifies the bias of the drive output.
The controller uses the value only for brushless motors commutated by the controller.
Accessibility
Read-Only (integrated models)
Read-Write (nonintegrated models)

SLBIASB values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable

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3. ACSPL+ Variables

C Library Functions
acsc_ReadReal, acsc_WriteReal

[Link] SLBIASC
Description
SLBIASC is a real array, with one element for each axis in the system, and is used for defining offset
of the current in phase "R" or offset in command of phase "R".
Syntax

SLBIASC(axis_index)=value

Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value ranges between -10 to 10, Default = 0.

Tag
404
Comments
SLBIASC is expressed as a percentage of the maximum controller voltage output.
1. For integrated models: SLBIASC is read-only and displays the measured value of the current
input bias.
2. For non-integrated models: SLBIASC is read-write and specifies the bias of the drive output.
The controller uses the value only for brushless motors commutated by the controller.
Related ACSPL+ Variables
SLBIASA, SLBIASB
Accessibility
Read-Only (integrated models)
Read-Write (nonintegrated models)

SLBIASC values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio -> Toolbox -> Application Development -> Protection
Wizard

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

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[Link] SLIKI
Description
SLIKI is a real array, with one element for each axis in the system, and is used for specifying the
current loop.
Syntax
SLIKI(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value ranges between 0 - 65000.

Tag
170
Comments
SLIKI is active only in integrated models.
Accessibility
Read-Write

SLIKI values cannot be modified if protection is applied to this variable through SPiiPlus
MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

[Link] SLIKP
Description
SLIKP is a real array, with one element for each axis in the system, and is used for specifying the
current loop proportional coefficient.
Syntax
SLIKP(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value ranges between 0 - 256000, Default = 1000.

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Tag
171
Comments
SLIKP is active only in integrated models.
Accessibility
Read-Write

SLIKP values cannot be modified if protection is applied to this variable through SPiiPlus
MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

[Link] SLIFILT
Description
SLIFILT is a real array, with one element for each axis in the system, and is used for defining the UDM
current filter frequency.
Syntax
SLIFILT(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value ranges between 0-5000.

Tag
226
Accessibility
Read-Write

SLIFILT values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Variables and .NET Library Methods

SLIKI, SLIKP

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COM Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

[Link] SLIOFFS
Description
SLIOFFS is a real array, with one element for each axis in the system, and is used for offset to be
added to the result of the current loop control.
Syntax
SLIOFFS(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value ranges between -50 to 50, Default = 0.

Tag
172
Comments
The variable contains value in percents of maximal drive output.
The primary goal of the variable is to compensate for an active component of the motor load. For
example, in a vertical axis the weight of the carriage can be compensated.
The variable is valid for DC brush and brushless motors.
Normally, the variable is changed in the process of adjustment (use SPiiPlus MMI Application Studio
g Toolbox g Setup g Adjuster Wizard).
Accessibility
Read-Write

SLIOFFS values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

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[Link] SLILI
Description
SLILI is a real array, with one element for each axis in the system, and is used to limit the drive’s
output voltage. If raised, a higher speed can be achieved for the given drive (higher output voltage).
Syntax
SLILI(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value is a precentage of the maximal drive output, and consequently ranges

value
between 0 to 100; Default: 88.

Tag
221
Comments

It is recommended to set value SLILI(axis)=97 to get a higher speed only for SPiiPlus
CMnt, SPiiPlus UDMpm and SPiiPlus UDMpc

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.13.3 Servo-Loop Velocity Variables

The Servo-Loop Velocity variables are:

Name Description

Defines gear ratio between velocity feedback resolution and commutation

SLCRAT
feedback resolution

SLVKI Sets velocity integrator coefficient

SLVKIIF Provides an Idle Factor to the SLVKI variable

SLVKISF Provides a Settle Factor to the SLVKI variable

SLVKP Sets the proportional velocity gain.

SLVKPIF Provides an Idle Factor to the SLVKP variable

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Name Description

SLVKPSF Provides a Settle Factor to the SLVKP variable

SLVLI Integrator velocity limit

SLVRAT Velocity feed forward ratio

[Link] SLCRAT
Description
SLCRAT is a real array, with one element for each axis in the system defining the ratio between the
velocity feedback resolution and the commutation feedback resolution. It is used during the
commutation phase.
Syntax
SLCRAT(axis_index)
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value ranges between -8.38861e+006 to 8.38861e+006, Default = 1.

Tag
154
Accessibility
Read-Write

SLCRAT values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

[Link] SLVKI
Description
SLVKI is a real array, with one element for each axis in the system, and is used for specifying the
velocity loop integrator coefficient.
Syntax
SLVKI(axis_index) = value

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Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value ranges between 0 to 20000; Default = 200.

Tag
179
Accessibility
Read-Write

SLVKI values cannot be modified if protection is applied to this variable through SPiiPlus
MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

[Link] SLVKIIF
Description
SLVKIIF is a real array with one element for each axis in the system. It is used for providing an Idle
Factor to theSLVKI (Integrator Gain - Velocity) variable.
Syntax
SLVKIIF axis_index = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value A real value ranging between 0.0 and 100.0.

Tag
233
Accessibility
Read-Write

SLVKIIF values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

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COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

[Link] SLVKISF
Description
SLVKISF is a real array with one element for each axis in the system. It is used for providing a Settle
Factor to the SLVKI variable.
Syntax
SLVKISF axis_index = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value A real value ranging between 0.0 and 100.0.

Tag
234
Accessibility
Read-Write

SLVKISF values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

[Link] SLVKITF
Description
SLVKITF increases the velocity loop integrator coefficient when the axis is close to the target
position. It is a real array with one element for each axis in the system.
Syntax
SLVKITF axis_index = value

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Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value A real value ranging between 1.0 and 100.0. Default = 1.

Tag
271
Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

[Link] SLVKP
Description
SLVKP is a real array, with one element for each axis in the system, and is used for specifying the
velocity loop proportional coefficient.
Syntax
SLVKP(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value ranges between 0 to 16777215, Default = 100.

Tag
180
Accessibility
Read-Write

SLVKP values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

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[Link] SLVKPIF
Description
SLVKPIF is a real array with one element for each axis in the system. It is used for providing an Idle
Factor to the SLVKP (Proportional Gain - Velocity) variable.
Syntax
SLVKPIF axis_index = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value A real value ranging between 0.0 and 100.0.

Tag
235
Accessibility
Read-Write

SLVKPIF values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

[Link] SLVKPSF
Description
SLVKPSF is a real array with one element for each axis in the system. It is used for providing a Settle
Factor to the SLVKP variable.
Syntax
SLVKPSF axis_index = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value A real value ranging between 0.0 and 100.0.

Tag
236

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Accessibility
Read-Write

SLVKPSF values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

[Link] SLVKPTF
Description
SLVKPTF increases the velocity loop proportional coefficient when the axis is close to the target
position. It is a real array with one element for each axis in the system.

SLVKPTF is supported for the NanoPWM drives only.

Syntax
SLVKPTF axis_index = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value A real value ranging between 1.0 and 100.0. Default = 1.

Tag
272
Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

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[Link] SLVLI
Description
SLVLI is a real array, with one element for each axis in the system, and is used for providing an
integrator limit for the velocity of the specified axis.
Syntax
SLVLI(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value ranges between 0 to 100, Default = 50.

Tag
181
Comments
SLVLI is expressed as a percentage of the maximum value.
Accessibility
Read-Write

SLVLI values cannot be modified if protection is applied to this variable through SPiiPlus
MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

[Link] SLVRAT
Description
SLVRAT is a real array, with one element for each axis in the system. SLVRAT is used for defining the
velocity feed forward ratio. In the Servo Processor Stepper Algorithm it is used to define the ratio
between the encoder pulses and the number of motor steps,
In dual loop systems it is used for the ratio between the position resolution and the velocity
resolution.

Syntax
SLVRAT(axis_index)

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Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value ranges between -8.38861e+006 to 8.38861e+006, Default = 1.

Tag
187
Comments
Velocity feed forward compensates for the velocity feedback, achieving zero position error at
constant velocity.
Accessibility
Read-Write

SLVRAT values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.13.4 Servo-Loop Velocity Notch Filter Variables

Notch Filter variables serve for notching the velocity servo-loop. The Servo-Loop Velocity Notch
Filter variables are:

Name Description

SLVNFRQ Notch filter frequency.

SLVNWID Notch filter width.

SLVNATT Notch filter attenuation.

[Link] SLVNFRQ
Description
SLVNFRQ is a real array, with one element for each axis in the system, and is used for providing a
notch filter frequency.
Syntax
SLVNFRQ(axis_index) = value

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Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value ranges between 0.1 to 4000, Default = 300.

Tag
182
Comments
SLVNFRQ is expressed in Hz.
Accessibility
Read-Write

SLVNFRQ values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

[Link] SLVNWID
Description
SLVNWID is a real array, with one element for each axis in the system, and is used for providing a
notch filter width.
Syntax
SLVNWID(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value ranges between 0.1 to 4000, Default = 30.

Tag
183
Comments
SLVNWID is expressed in Hz.
Accessibility
Read-Write

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SLVNWID values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

[Link] SLVNATT
Description
SLVNATT is a real array, with one element for each axis in the system, and is used for providing the
attenuation of the notch frequency at frequency specified by SLVNFRQ.
Syntax
SLVNATT(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value ranges between 0.05 to 20; Default = 5.

Tag
184
Accessibility
Read-Write

SLVNATT values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.13.5 Servo-Loop Velocity Low Pass Filter Variables

Low Pass Filter variables serve for setting the velocity low pass filtering parameters. The Servo-Loop
Velocity Low Pass Filter variables are:

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Name Description

SLVSOF Sets filter bandwidth

SLVSOFD Sets filter damping

[Link] SLVSOF
Description
SLVSOF is a real array, with one element for each axis in the system, and is used for providing a
second order filter bandwidth for the velocity of the specified axis.
Syntax
SLVSOF(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value ranges between 0.1 to 4000, Default = 700.

Tag
185
Comments
SLVSOF is expressed in Hz.
Accessibility
Read-Write

SLVSOF values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

[Link] SLVSOFD
Description
SLVSOFD is a real array, with one element for each axis in the system, and is used for providing a
second order filter damping factor for the velocity of the specified axis.
Syntax
SLVSOFD(axis_index) = value

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Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value ranges between 0.3 to 1, Default = 0.707.

Tag
186
Accessibility
Read-Write

SLVSOFD values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.13.6 Servo-Loop Velocity Bi-Quad Filter Variables

Bi-Quad Filter variables serve for setting the velocity bi-quad filtering parameters. The Servo-Loop
Velocity Bi-Quad Filter variables are:

Name Description

SLVB0DD Sets the damping ratio denominator for a Bi-Quad filter.

SLVB0DF Sets the denominator value of the Bi-Quad filter.

SLVB0ND Sets the damping ratio numerator for a Bi-Quad filter.

SLVB0NF Sets the numerator value of the Bi-Quad filter.

[Link] SLVB0DD
Description
SLVB0DD is a real array, with one element for each axis in the system, and is used for setting the
damping ratio denominator for a Bi-Quad filter to the velocity loop control in addition to the existing
2nd order Low-pass and Notch filters for the given axis.
Syntax
SLVB0DD(axis_index) = value

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Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value designates denominator value of the Bi-Quad damping ratio ranging

value
from 0.1 to 1. See SPiiPlus ACSPL+ Programmer Guide.

Tag
208
Comments
The Bi-Quad filter is the most general 2nd order filter. It has two poles and two zeros. It can be
thought of as a high-pass filter in series with a low-pass filter.
Accessibility
Read-Write

SLVB0DD values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

[Link] SLVB0DF
Description
SLVB0DF is a real array, with one element for each axis in the system, and is used for setting the
denominator natural frequency value of the Bi-Quad filter algorithm applied to the velocity loop
control in addition to the existing 2nd order Low-pass and Notch filters for the given axis.
Syntax
SLVB0DF(axis_index) = value
Arguments

Designates the specific axis, valid numbers are: 0, 1, 2, ...

axis_index
up to the number of axes in the system minus 1.

value designates denominator value of the Bi-Quad

value filter algorithm ranging from 0.1 to 4000 [Hz]. See
SPiiPlus ACSPL+ Programmer Guide.

Tag
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Comments
The Bi-Quad filter is the most general 2nd order filter. It has two poles and two zeros. It can be
thought of as a high-pass filter in series with a low-pass filter.
Accessibility
Read-Write

SLVB0DF values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functionss
acsc_ReadReal, acsc_WriteReal

[Link] SLVB0ND
Description
SLVB0ND is a real array, with one element for each axis in the system, and is used for setting the
damping ratio numerator for a Bi-Quad filter to the velocity loop control in addition to the existing
2nd order Low-pass and Notch filters for the given axis.
Syntax
SLVB0ND(axis_index) = value
Arguments

Designates the specific axis, valid numbers are: 0, 1, 2, ... up

axis_index
to the number of axes in the system minus 1.

value designates numerator value of the Bi-Quad damping

value ratio ranging from 0.1 to 1. See SPiiPlus ACSPL+ Programmer
Guide.

Tag
210
Comments
The Bi-Quad filter is the most general 2nd order filter. It has two poles and two zeros. It can be
thought of as a high-pass filter in series with a low-pass filter.
Accessibility
Read-Write

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SLVB0ND values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

[Link] SLVB0NF
Description
SLVB0NF is a real array, with one element for each axis in the system, and is used for setting the
numerator natural frequency value of the Bi-Quad filter algorithm applied to the velocity loop
control in addition to the existing 2nd order Low-pass and Notch filters for the given axis.
Syntax
SLVB0NF(axis_index) = value
Arguments

Designates the specific axis, valid numbers are: 0, 1, 2, ... up to

axis_index
the number of axes in the system minus 1.

value designates numerator value of the Bi-Quad filter

value algorithm ranging from 0.1 to 4000 [Hz]. See SPiiPlus ACSPL+
Programmer Guide.

Tag
211
Comments
The Bi-Quad filter is the most general 2nd order filter. It has two poles and two zeros. It can be
thought of as a high-pass filter in series with a low-pass filter.
Accessibility
Read-Write

SLVB0NF values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

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3.13.7 Servo-Loop Position Variables

The Servo-Loop Position variables are:

Name Description

SLDRA Defines disturbance rejection.

SLDRAIF Provides an Idle Factor to the SLDRA.

SLDRX Defines the maximum DRA correction for a given axis.

SLPKI Specifies the position loop integrator coefficient

SLPKIIF Provides the Idle Factor to the SLPKI (Integrator Gain - Position) variable

SLPKISF Provides the Settle Factor to the SLPKI (Integrator Gain - Position) variable

SLPLI Defines the limit for the position of the specified axis

SLPKP Sets the proportional coefficient of the position for the specified axis.

SLPKPIF Provides an Idle Factor to the SLPKP variable.

SLPKPSF Provides an Settle Factor to the SLPKP variable.

[Link] SLDRA
Description
SLDRA is a real array, with one element for each axis in the system, and is used for defining the DRA
frequency for the given axis.
The ACS proprietary Disturbance Rejection Algorithm (DRA) is used to improve the disturbance
rejection response of the servo, and helps to minimize the position error during the settling phase
and shorten the settling time.
Syntax
SLDRA(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value designates the DRA frequency ranging from 0 to 1500 [Hz].

Tag
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Comments
The most common use of DRA is to improve the settling of systems mounted on passive isolation
platforms. Passive isolation is typically used to isolate systems from disturbances transmitted from
the floor. They employ a seismic mass supported on a soft spring made of rubber, metal, or air. The
spring’s damping action absorbs vibrations above the spring’s resonance. For this reason, passive
isolation manufacturers usually try to lower spring resonant frequency to increase the effective
isolation range. When a servo force is applied to generate motion, it also acts on the isolated
stationary base, causing it to vibrate. Because the frequency is low (usually below 1 Hz, to 10 Hz) and
damping is very light, the isolation system continues vibrating long after the motion profile has
ended. This vibration acts as disturbance to the servo system, introduces position error, and extends
the settling time.
The DRA is used to minimize the latter effect and improve the position error during settling.
Accessibility
Read-Write

SLDRA values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

[Link] SLDRAIF
Description
SLDRAIF is a real array with one element for each axis in the system. It is used for providing an Idle
Factor to the SLDRA variable.
Syntax
SLDRAIF axis_index = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value A real value ranging between 0.0 and 100.0.

Tag
230
Accessibility
Read-Write

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SLDRAIF values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

[Link] SLDRX
Description
SLDRX is a real array, with one element for each axis in the system, and is used for defining the
maximum DRA correction for the given axis.

The ACS proprietary Disturbance Rejection Algorithm (DRA) is used to improve the disturbance
rejection response of the servo, and helps to minimize the position error during the settling phase
and shorten the settling time.
Syntax
SLDRX (axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value designates the DRA correction ranging from 0 to 223.

Tag
207
Comments
The most common use of DRA is to improve the settling of systems mounted on passive isolation
platforms. Passive isolation is typically used to isolate systems from disturbances transmitted from
the floor. They employ a seismic mass supported on a soft spring made of rubber, metal, or air. The
spring’s damping action absorbs vibrations above the spring’s resonance. For this reason, passive
isolation manufacturers usually try to lower spring resonant frequency to increase the effective
isolation range. When a servo force is applied to generate motion, it also acts on the isolated
stationary base, causing it to vibrate. Because the frequency is low (usually below 1 Hz, to 10 Hz) and
damping is very light, the isolation system continues vibrating long after the motion profile has
ended. This vibration acts as disturbance to the servo system, introduces position error, and extends
the settling time.
The DRA is used to minimize the latter effect and improve the position error during settling.
Accessibility
Read-Write

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SLDRX values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

[Link] SLPKI
Description
SLPKI is a real array, with one element for each axis in the system, and is used for specifying the
position loop integrator coefficient.
Syntax
SLPKI(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value A real value ranging between 0 to 20000; Default = 0.

Tag
174
Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

[Link] SLPKIIF
Description
SLPKIIF is a real array with one element for each axis in the system. It is used for providing an Idle
Factor to the SLPKI (Integrator Gain - Position) variable.
Syntax
SLPKIIF(axis_index) = value

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Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value A real value ranging between 0.0 to 100.0; Default = 1.

Tag
260
Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal
acsc_ReadReal, acsc_WriteReal

[Link] SLPKISF
Description
SLPKISF is a real array with one element for each axis in the system. It is used for providing a Settle
Factor to the SLPKI (Integrator Gain - Position) variable.
Syntax
SLPKISF(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value A real value ranging between 0.0 to 100.0; Default = 1.

Tag
261
Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

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[Link] SLPKITF
Description
SLPKITF increases the velocity loop proportional coefficient when the axis is close to the target
position. It is a real array with one element for each axis in the system.

SLPKITF is supported for the NanoPWM drives only.

Syntax
SLPKITF(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value A real value ranging between 0.0 to 100.0; Default = 1.

Tag
269
Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

[Link] SLPLI
Description
SLPLI is a real array, with one element for each axis in the system, and is used for providing an
integrator limit for the position of the specified axis.
Syntax
SLPLI(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value A real value ranging between 0 to 100; Default = 0.

Tag
176

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Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

[Link] SLPKP
Description
SLPKP is a real array, with one element for each axis in the system, and is used for setting the
proportional coefficient of the position for the specified axis.
Syntax
SLPKP(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value ranges between 0 to 16777215, Default = 0.

Tag
175
Comments
Motor movement during commutation largely depends on the servo-loop parameters.
COMMUT will not operate properly if SLPKP is set to zero, or the integrator is very low.
Accessibility
Read-Write

SLPKP values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

Related ACSPL+ Commands

COMMUT
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

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[Link] SLPKPIF
Description
SLPKPIF is a real array with one element for each axis in the system. It is used for providing an Idle
Factor to the SLPKP variable.
Syntax
SLPKPIF axis_index = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value A real value ranging between 0.0 and 100.0.

Tag
231
Accessibility
Read-Write

SLPKPIF values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

[Link] SLPKPSF
Description
SLPKPSF is a real array with one element for each axis in the system. It is used for providing a Settle
Factor to the SLPKP variable.
Syntax
SLPKPSF axis_index = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value A real value ranging between 0.0 and 100.0.

Tag
232

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Accessibility
Read-Write

SLPKPSF values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

[Link] SLPKPTF
Description
SLPKPTF increases the position loop proportional coefficient when the axis is close to the target
position. It is a real array with one element for each axis in the system.

SLPKPTF is supported for the NanoPWM drives only.

Syntax
SLPKPTF axis_index = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value A real value ranging between 1.0 and 100.0. Default = 1.

Tag
270
Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.13.8 Servo-Loop Compensations Variables

Servo-Loop Compensations variables are used to set various parameters that provide
compensation to overcome certain motion problems. The Servo-Loop Compensation variables are:

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Name Description

SLAFF Defines acceleration feed forward for a given axis

SLFRCD Compensation for dynamic friction

[Link] SLAFF
Description
SLAFF is a real array, with one element for each axis in the system, and is used for specifying the
acceleration feed forward of the specified axis.
Syntax
SLAFF(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value ranges from 0 to 16777215; Default: 0.

Tag
148
Accessibility
Read-Write

SLAFF values cannot be modified if protection is applied to this variable through SPiiPlus
MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

[Link] SLFRCD
Description
SLFRCD is a real array, with one element for each axis in the system, and is used for providing
dynamic friction compensation at the maximum velocity.
Syntax
SLFRCD(axis_index) = value

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Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value ranges between 0% to 5% of maximum command.

Tag
168
Comments
SLFRCD provides dynamic compensation at the maximum velocity XVEL. For lower velocities, the
compensation is reduced proportionally with the velocity. The value of SLFRCD is given as a
percentage (range is 0 to 50%) of the maximum command.
Accessibility
Read-Write

SLFRCD values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.13.9 Servo Loop Stepper Variables

This section contains a collection of variables employed for calculation of the position correction for
stepper motors.

Name Description

MFLAGSX Extended Motor Flags

SLSDZ Array of dead zone values for position correction

SLSKI Array of integral gain values for position correction

SLSKP Array of proportional gain values for position correction

SLSMC Array of maximum allowed stepper correction values

SLSOUT Returns calculated stepper correction for given axis

SLSRL Array of rate limiter values for position correction

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[Link] SLSDZ
Description
SLSDZ is a real array with one element for each axis in the system, used for the closed loop
operation of steppers and representing the dead zone of the position correction. This value takes
effect only if MFLAGSX bits 0 or 1 are set to 1.
Syntax

SLSDZ(Axis_Index) = Value

Arguments

Axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
Index axes in the system minus 1.

Tag
356
Comments
Dead zone [user units]. Inside this zone (|PE| < SLSDZ) algorithm is inactive.
This variable is supported in ADK versions 2.70 and higher.
Related ACSPL+ Variables
SLSKI, SLSKP, SLSRL, MFLAGSX
Accessibility
Read-Write

SLSDZ values cannot be modified if protection is applied to this variable through SPiiPlus
MMI Application Studio→Toolbox→Application Development→ Protection

.NET Library Method

ReadVariable(), WriteVariable()
C Library Function
acsc_ReadInteger(), acsc_WriteInteger()

[Link] SLSKI
Description
SLSKI is a real array with one element for each axis in the system, it is used for the closed loop
operation of steppers and represents the integral gain[rad/sec] of the position correction. This value
takes effect only if MFLAGSX bits 0 or 1 are set to 1.
Syntax

SLSKI(Axis_Index) = Value

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Arguments

Axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
Index axes in the system minus 1.

Tag
353
Comments
This variable is supported in ADK versions 2.70 and higher.
Related ACSPL+ Variables
SLSKP, SLSRL, SLSDZ
Accessibility
Read-Write

SLSKI values cannot be modified if protection is applied to this variable through SPiiPlus
MMI Application Studio→Toolbox→Application Development→ Protection

.NET Library Method

ReadVariable(), WriteVariable()
C Library Function
acsc_ReadInteger(), acsc_WriteInteger()

[Link] SLSKP
Description
SLSKP is a real array with one element for each axis in the system, it is used for the closed loop
operation of steppers and represents proportional gain of the position [Link] value takes
effect only if MFLAGSX bits 0 or 1 are set to 1.
Syntax

SLSKP(Axis_Index) = Value

Arguments

Axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
Index axes in the system minus 1.

Tag
354
Comments
Proportional gain is unitless.
This variable is supported in ADK versions 2.70 and higher.

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Related ACSPL+ Variables

SLSKI, SLSRL, SLSDZ, MFLAGSX
Accessibility
Read-Write

SLSKP values cannot be modified if protection is applied to this variable through SPiiPlus
MMI Application Studio→Toolbox→Application Development→ Protection

.NET Library Method

ReadVariable(), WriteVariable()
C Library Function
acsc_ReadInteger(), acsc_WriteInteger()

[Link] SLSMC
Description
SLSMC is a real array with one element for each axis in the system, it is used for the closed loop
operation of steppers and represents the maximum allowed stepper correction. This value takes
effect only if MFLAGSX bits 0 or 1 are set to 1.
Syntax

SLSMC(Axis_Index) = Value

Arguments

Axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
Index axes in the system minus 1.

Tag
360
Comments
Maximum correction value [user units]. If this value is reached FAULT.#PE is set.
This variable is supported in ADK versions 2.70 and higher.
Related ACSPL+ Variables
SLSKI, SLSKP, SLSRL, SLSOUT, MFLAGSX
Accessibility
Read-Write

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If the accumulated correction of a closed-loop algorithm reaches the maximum limit as

defined by SLSMC, a non-critical Position Fault error is raised (error 5022).

.NET Library Method

ReadVariable(), WriteVariable()
C Library Function
acsc_ReadInteger(), acsc_WriteInteger()

[Link] SLSOUT
Description
SLSOUT is a real array with one element for each axis in the system, it is used for the closed loop
operation of steppers and represents the calculated stepper correction. This value takes effect only
if MFLAGSX bits 0 or 1 are set to 1.
Syntax

SLSOUT(Axis_Index)

Arguments

Axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
Index axes in the system minus 1.

Tag
359
Comments
Output of the PI loop [user units].
This variable is supported in ADK versions 2.70 and higher.
SLSOUT is reset upon disabling of an axis, or upon setting RPOS using the set command.
Related ACSPL+ Variables
SLSKI, SLSKP, SLSRL, MFLAGSX
Accessibility
Read only
.NET Library Method
ReadVariable()
C Library Function
acsc_ReadInteger()

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[Link] SLSRL
Description
SLSRL is a real array with one element for each axis in the system, it is used for the closed loop
operation of steppers and represents the rate limiter of the position correction. This value takes
effect only if MFLAGSX bits 0, 1 or 2 are set to 1.
Syntax

SLSRL(Axis_Index) = Value

Arguments

Axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
Index axes in the system minus 1.

Tag
355
Comments
Rate limiter of the PI output [user unit/sec].
This variable is supported in ADK versions 2.70 and higher.
Related ACSPL+ Variables
SLSKI, SLSKP, SLSDZ
Accessibility
Read-Write

SLSRL values cannot be modified if protection is applied to this variable through SPiiPlus
MMI Application Studio→Toolbox→Application Development→ Protection

.NET Library Method

ReadVariable(), WriteVariable()
C Library Function
acsc_ReadInteger(), acsc_WriteInteger()

3.13.10 Servo-Loop Miscellaneous Variables

This section contains a collection of miscellaneous variables employed for specific servo-loop
purposes. The Servo-Loop Miscellaneous variables are:

Name Description

SLCROUT Commutation feedback routing , see Commutation Variables

SLGCAXN Specifies the complementary gantry axis

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Name Description

SLPROUT Position feedback routing

SLP2ROUT Sets the feedback routing of the secondary feedback position

[Link] SLCROUT
Description
SLCROUT is an integer array, with one element for each axis in the system, and is used for setting
the feedback routing of the velocity commutation for the specified axis.
Syntax
SLCROUT(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

The value values and the feedback sources associated with them are given in
value
Table 5-21. Default = 0.

Table 5-21. SLCROUT Values

SLCROUT FACC (SPonly)

0 According to E_TYPE velocity

001 From channel 0 quadrature velocity or Absolute Encoder velocity

002 From channel 0 SINCOS velocity

003 N/A

004 From analog input 0

005 From channel 0 resolver velocity

006 Velocity commutation disabled (constant value) for channel 0

101 From channel 1 quadrature velocity Absolute Encoder velocity

102 From channel 1 SINCOS velocity

103 N/A

104 From analog input 1

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SLCROUT FACC (SPonly)

105 From channel 1 resolver velocity

106 Velocity commutation disabled (constant value) for channel 1

201 From channel 2 quadrature velocity Absolute Encoder velocity

202 From channel 2 SINCOS velocity

203 N/A

204 From analog input 2

205 From channel 2 resolver velocity

206 Velocity commutation disabled (constant value) for channel 2

301 From channel 3 quadrature velocity Absolute Encoder velocity

302 From channel 3 SINCOS velocity

303 N/A

304 From analog input 3

305 From channel 3 resolver velocity

306 Velocity commutation disabled (constant value) for channel 3

Tag
159
Accessibility
Read-Write

SLCROUT values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

Comments
The values [n06] are available only for products that support disabling of velocity commutation.
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

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[Link] SLGCAXN
Description
SLGCAXN is a read-only integer array, with one element for each axis in the system, which specifies
the complementary gantry axis. The value can be viewed SPiiPlus MMI Application Studio
Communication Terminal window or its value can be assigned to another variable, for example:
Var = SLGCAXN(axis_index).

To change gantry axis allocation, the SETCONF(267) command should be used.

Syntax
SLGCAXN(axis_index)
Arguments

axis_index axis_index designates the specific axis: 0 - X, 1 - Y, etc.

Tag
256
Accessibility
Read Only
COM Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadInteger

[Link] SLPROUT
Description
SLPROUT is a real array, with one element for each axis in the system, and is used for setting the
feedback routing of the position for the specified axis.
Syntax
SLPROUT(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

The value values and the feedback sources associated with them are given in
value
Table 5-22. Default = 0.

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Table 5-22. SLPROUT Values

SLPROUT FPOS

0 According to E_TYPE position

001 From channel 0 quadrature position Absolute Encoder position

002 From channel 0 SINCOS position

003 N/A

004 From analog input 0

005 From channel 0 resolver position

006 Position feedback disabled (constant value)

101 From channel 1 quadrature position Absolute Encoder position

102 From channel 1 SINCOS position

103 N/A

104 From analog input 1

105 From channel 1 resolver position

106 Position feedback disabled (constant value)

201 From channel 2 quadrature position Absolute Encoder position

202 From channel 2 SINCOS position

203 N/A

204 From analog input 2

205 From channel 2 resolver position

206 Position feedback disabled (constant value)

301 From channel 3 quadrature position Absolute Encoder position

302 From channel 3 SINCOS position

303 N/A

304 From analog input 3

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SLPROUT FPOS

305 From channel 3 resolver position

306 Position feedback disabled (constant value)

Tag
177
Comments
The controller supports a standard control loop configuration where 0 feedback position (FPOS) is
obtained from the 0 encoder, FPOS(1) from the 1 encoder, etc.
SLPROUT ¹ 0 indicates FPOS is from an alternative sensor, for example, if SLPROUT(0) is 0104, FPOS is
obtained from an analog input 0 rather than from the encoder. In this case, the feedback source
could be a potentiometer or any other device that produces analog voltage proportional to the
motor position.
The meaning of the routing value depends on the axis and the controller model. For example, a
value of 1 specified for the 0 or 2 axis selects the 0 encoder, the same value for the 1 or 2 axis selects
the 1 encoder.
The values [n06] are available only for products that support disabling of position feedback.
Accessibility
Read-Write

SLPROUT values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

[Link] SLVROUT
Description
SLVROUT is a real array, with one element for each axis in the system, and is used for setting the
feedback routing of the velocity for the specified axis.
Syntax
SLVROUT(axis_index) = value

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Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

The value values and the feedback sources associated with them are given in
value
Table 5-23. Default = 0.

Table 5-23. SLVROUT Values

SLVROUT FVEL (SP only)

0 According to E_TYPE velocity

001 From channel 0 quadrature velocity Absolute Encoder velocity

002 From channel 0 SinCos velocity

003 N/A

004 From analog input 0

005 From channel 0 resolver velocity

006 Velocity feedback disabled (constant value)

101 From channel 1 quadrature velocity Absolute Encoder velocity

102 From channel 1 SinCos velocity

103 N/A

104 From analog input 1

105 From channel 1 resolver velocity

106 Velocity feedback disabled (constant value)

201 From channel 2 quadrature velocity Absolute Encoder velocity

202 From channel 2 SinCos velocity

203 N/A

204 From analog input 2

205 From channel 2 resolver velocity

206 Velocity feedback disabled (constant value)

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SLVROUT FVEL (SP only)

301 From channel 3 quadrature velocity Absolute Encoder velocity

302 From channel 3 SinCos velocity

303 N/A

304 From analog input 3

305 From channel 3 resolver velocity

306 Velocity feedback disabled (constant value)

Tag
188
Accessibility
Read-Write

SLVROUT values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

Comments
The values [n06] are available only for products that support disabling of velocity feedback.
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

The value values and the feedback sources associated with them are given in
value
Table 5-24. Default = 0.

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Table 5-24. SLCROUT Values

SLCROUT FACC (SPonly)

0 According to E_TYPE velocity

001 From channel 0 quadrature velocity or Absolute Encoder velocity

002 From channel 0 SINCOS velocity

003 N/A

004 From analog input 0

005 From channel 0 resolver velocity

006 Velocity commutation disabled (constant value) for channel 0

101 From channel 1 quadrature velocity Absolute Encoder velocity

102 From channel 1 SINCOS velocity

103 N/A

104 From analog input 1

105 From channel 1 resolver velocity

106 Velocity commutation disabled (constant value) for channel 1

201 From channel 2 quadrature velocity Absolute Encoder velocity

202 From channel 2 SINCOS velocity

203 N/A

204 From analog input 2

205 From channel 2 resolver velocity

206 Velocity commutation disabled (constant value) for channel 2

301 From channel 3 quadrature velocity Absolute Encoder velocity

302 From channel 3 SINCOS velocity

303 N/A

304 From analog input 3

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SLCROUT FACC (SPonly)

305 From channel 3 resolver velocity

306 Velocity commutation disabled (constant value) for channel 3

Tag
159
Accessibility
Read-Write

SLCROUT values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

[Link] SLP2ROUT
SPL2ROUT is variable for setting the feedback routing of the secondary feedback position, which can
be monitored using F2POS.
Description
SLP2ROUT is an integer array, one element for each axis in the system, and is used for setting the
feedback routing of the secondary feedback position for the specified axis.
Syntax
SLP2ROUT(<axis>)=value
Arguments
The value values and the feedback sources associated with them are given below. The default value
is 0.

Value F2POS

0 Secondary Feedback is not used

001 From channel 0 quadrature position or Absolute Encoder position

002 From channel 0 SINCOS position

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Value F2POS

003 N/A

004 From analog input 0

005 From channel 0 resolver position

101 From channel 1 quadrature position or Absolute Encoder position

102 From channel 1 SINCOS position

103 N/A

104 From analog input 1

105 From channel 1 resolver position

201 From channel 2 quadrature position or Absolute Encoder position

202 From channel 2 SINCOS position

203 N/A

204 From analog input 2

205 From channel 2 resolver position

301 From channel 3 quadrature position or Absolute Encoder position

302 From channel 3 SINCOS position

303 N/A

304 From analog input 3

305 From channel 3 resolver position

Comments
SLP2ROUT variable can be used for routing when applied on secondary feedback only.
In a system configured for Multi-Channel Feedback, SLP2ROUT is used in a different way.
Example

E_TYPE(0)=3 ! AqB
E2_TYPE(0) = 4 ! SinCos
SLP2ROUT(0) = 002 ! Routed to match the secondary encoder

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Tag
301
Accessibility
Read-Write
Com Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

[Link] SLTFWID
Description
SLTFWID determines the distance to the target at which the position and velocity loops gains will be
increased by 50%. It is a real array with one element for each axis in the system.

SLTFWID is supported for the NanoPWM drives only.

Syntax
SLTFWID(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value A real value ranging between 0.0 and 4294967295. Default = 0.

Tag
273
Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.13.11 Non-Linear Control Variables

See Non-Linear Control Application Note for more information about use of non-linear control
variables.
The following variables are used to implement non-linear control.

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Name Description

SLPAP Holds the exponent (α) of the Position-Loop Proportional Non-Linear Control

SLPDP The Linear Range (δ) of the Position-Loop Proportional Non-Linear Control

SLPAI The exponent (α) of the Position-Loop Integral Non-Linear Control

SLPDI The Linear Range (δ) of the Position-Loop Integral Non-Linear Control

SLVAP The exponent (α) of the Velocity-Loop Proportional Non-Linear Control

SLVDP The Linear Range (δ) of the Velocity-Loop Proportional Non-Linear Control

SLVAI The exponent (α) of the Velocity-Loop Integral Non-Linear Control

SLVDI he Linear Range (δ) of the Velocity-Loop Integral Non-Linear Control

[Link] SLPAP
Description
SLPAP is a real array, the size of which is determined by the total number of axes in the system.
SLPAP holds the exponent (α) of the Position-Loop Proportional Non-Linear Control.
Syntax
SLPAP(index) = value
Tag
395
Comments
This variable is supported in version 3.10 and higher.
Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable(), WriteVariable()
C Library Functions
acsc_ReadReal(), acsc_WriteReal()

[Link] SLPDP
Description
SLPDP is a real array, the size of which is determined by the total number of axes in the system. This
is the Linear Range (δ) of the Position-Loop Proportional Non-Linear Control.
Syntax
SLPDP(index) = value

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Arguments

index Axis index, from 0 to number of axes in the system-1

value Default value is 1. The range is [0,1]

Tag
Comments
A value of 1 sets the Linear range of the Non-Linear Gain curve to the Position-Error Limit.
If the value is not default and the required license for this feature is missing, error 3300 “Non Linear
Control License is required” is given.
This variable is supported in version 3.10 and higher.
Related ACSPL+ Variables
SLPAP, SLPAI, SLPDI, SLVAP, SLVDP, SLVAI, SLVDI
Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable(), WriteVariable()
C Library Functions
acsc_ReadReal(), acsc_WriteReal()

[Link] SLPAI
Description
SLPAI is a real array, the size of which is determined by the total number of axes in the system. This
is the exponent (α) of the Position-Loop Integral Non-Linear Control.
Syntax
SLPAI(index) = value
Arguments

Axis:
index
0, 1, 2, ..., up to total number of axes in system minus 1

value Default value is 1. The range is [0,100]

Tag
Comments
A value of 1 sets the Linear Range of the Non-Linear Gain curve to the Position-Error Limit.
If the value is not default and the required license for this feature is missing, error 3300 “Non Linear
Control License is required” is given.
This variable is supported in version 3.10 and higher.

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Related ACSPL+ Variables

SLPAP, SLPDP, SLPAI, SLVAP, SLVDP, SLVAI, SLVDI
Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable(), WriteVariable()
C Library Functions
acsc_ReadReal(), acsc_WriteReal()

[Link] SLPDI
Description
SLPDI is a real array, the size of which is determined by the total number of axes in the system. This
is the Linear Range (δ) of the Position-Loop Integral Non-Linear Control.
Syntax
SLPDI(index) = value
Arguments

Axis:
index
0, 1, 2, ..., up to total number of axes in system minus 1

value Default value is 1. The range is [0,1]

Tag
398
Comments
A value of 1 sets the Linear Range of the Non-Linear Gain curve to the Position-Error Limit.
If the value is not default and the required license for this feature is missing, error 3300 “Non Linear
Control License is required” is given.
This variable is supported in version 3.10 and higher.
Related ACSPL+ Variables
SLPAP, SLPDP, SLPAI, SLVAP, SLVDP, SLVAI, SLVDI
Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable(), WriteVariable()
C Library Functions
acsc_ReadReal(), acsc_WriteReal()

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[Link] SLVAP
Description
SLVAP is a real array, the size of which is determined by the total number of axes in the system. This
is the exponent (α) of the Velocity-Loop Proportional Non-Linear Control.
Syntax
SLVAP(index) = value
Arguments

Axis:
index
0, 1, 2, ..., up to total number of axes in system minus 1

value Default value is 1. The range is [0,1]

Tag
Comments
A value of 1 sets the Velocity-Loop Proportional Gain to Linear.
If the value is not default and the required license for this feature is missing, error 3300 “Non Linear
Control License is required” is given.
This variable is supported in version 3.10 and higher.
Related ACSPL+ Variables
SLPAP, SLPDP, SLPAI, SLPDI, SLVDP, SLVAI, SLVDI
Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable(), WriteVariable()
C Library Functions
acsc_ReadReal(), acsc_WriteReal()

[Link] SLVDP
Description
SLVDP is a real array, the size of which is determined by the total number of axes in the system. This
is the Linear Range (δ) of the Velocity-Loop Proportional Non-Linear Control.
Syntax
SLVDP(index) = value
Arguments

Axis:
index
0, 1, 2, ..., up to total number of axes in system minus 1

value

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Switches
Return Value
None
Tag
400
Comments
This variable is supported in version 3.10 and higher.
Example

[Link] SLVAI
Description
SLVAI is a real array, the size of which is determined by the total number of axes in the system. This
is the exponent (α) of the Velocity-Loop Integral Non-Linear Control.
Syntax
SLVAI(index) = value
Arguments

Axis:
index
0, 1, 2, ..., up to total number of axes in system minus 1

value Default value is 1. The range is [0,1]

Tag
401
Comments
A value of 1 sets the Velocity-Loop Integral Gain to Linear.
If the value is not default and the required license for this feature is missing, error 3300 “Non Linear
Control License is required” is given.
This variable is supported in version 3.10 and higher.
Related ACSPL+ Variables
SLPAP, SLPDP, SLPAI, SLPDI, SLVDP, SLVAI, SLVDI
Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable(), WriteVariable()
C Library Functions
acsc_ReadReal(), acsc_WriteReal()

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[Link] SLVDI
Description
SLVDI is a real array, the size of which is determined by the total number of axes in the system. This
is the Linear Range (δ) of the Velocity-Loop Integral Non-Linear Control.
Syntax

SLVDI(index) = value

Arguments

Axis:
index
0, 1, 2, ..., up to total number of axes in system minus 1

value Default value is 1. The range is [0,1]

Tag
402
Comments
A value of 1 sets the Linear Range of the Non-Linear Gain curve to the Maximum Current Command.
If the value is not default and the required license for this feature is missing, error 3300 “Non Linear
Control License is required” is given.
This variable is supported in version 3.10 and higher.
Related ACSPL+ Variables
SLPAP, SLPDP, SLPAI, SLPDI, SLVDP, SLVAI, SLVDI
Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable(), WriteVariable()
C Library Functions
acsc_ReadReal(), acsc_WriteReal()

3.14 Commutation Variables

The Servo-Loop Commutation variables are:

Name Description

SLCHALL Hall Shift

SLCNP Number of Poles

SLCOFFS Commutation Offset

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Name Description

SLCORG Commutation Origin

SLCPRD Commutation Period

SLHROUT Setting Hall State Routing

SLSTHALL Getting Hall State

The low-level variables in this section are normally not used by the user.
Generally, these variables are defined during the axis adjustment using SPiiPlus MMI
Application Studio g Toolbox g Setup g Adjuster or the COMMUT command.

3.14.1 SLCHALL
Description
SLCHALL is an integer array, with one element for each axis in the system, and serves for storing the
Hall shift.
Tag
192
Comments
The Adjuster commutation program calculates this parameter and saves it.

Do not change this parameter manually.

Accessibility
Read-Write

SLCHALL values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

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3.14.2 SLCNP
Description
SLCNP is an integer array, with one element for each axis in the system, and defines the number of
poles for a rotary motor.
Syntax
SLCNP(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value ranges from 2 to 1000, Default = 4.

Tag
152
Comments
For linear motors, set SLCNP=2.
Accessibility
Read-Write

SLCNP values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger
This is a snippet

3.14.3 SLCOFFS
Description
SLCOFFS is a real array, with one element for each axis in the system, and defines a commutation
offset in electrical degrees to be added to the commutation phase.
Syntax
SLCOFFS(axis_index) = value

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Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value ranges from -60 to 60, Default=0.

Tag
153
Comments
SLCOFFS defines SLCOFFS is valid only if a brushless motor is specified (MFLAGS(axis_
index).#BRUSHL = 1).
Assignment to SLCOFFS immediately changes the commutation phase. Use SLCOFFS to introduce a
small correction to the commutation phase.
Accessibility
Read-Write

SLCOFFS values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.14.4 SLCORG
Description
SLCORG is a real array, with one element for each axis in the system, that defines the commutation
phase of absolute encoders in electrical degrees at the point of origin which is usually at the index
point.
Syntax
SLCORG(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value ranges from:

value > -60 to 60, Default=0
> 0 to 360, Default=0

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Tag
156
Comments
SLCORG is valid only if a brushless motor has been specified, i.e., MFLAGS(axis_index).#BRUSHL = 1.
Accessibility
Read-Write

SLCORG values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.14.5 SLCPRD
Description
SLCPRD is a real array, with one element for each axis in the system, that defines the servo-loop
commutation period. In stepper motor algorithms its value defines the number of microsteps.
Syntax
SLCPRD(axis_index) = value
Arguments

axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value value ranges from 256 to 16777215, Default=8000.

Tag
158
Comments
SLCPRD defines the feedback counts per revolution for rotary motors and the feedback counts per
two magnetic pitches for linear motors.
Accessibility
Read-Write

SLCPRD values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

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COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.14.6 SLHROUT
Hall Routing is available using ACSPL+ variable: SLHROUT
Description
SLHROUT is an integer array, with one element for each axis in the system, and is used for setting
the Hall state routing for the specified axis.
Syntax
SLHROUT(<axis>)=value

Value SLSTHALL

0 Default

001 From channel 0

101 From channel 1

201 From channel 2

301 From channel 3

Comments
Hall state is an integer number within the range [0,5]. Getconf(262,<index>) returns Hall state of axis
with index <index>. If SLHROUT(<index>) is not 0, Getconf(262,<index>) returns the hall state of the
channel based on the table defined above.
Tag
302
Accessibility
Read-Write
Com Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

3.14.7 SLSTHALL
Description
SLSTHALL is an integer array, with one element for each axis in the system, and is used for getting
the Hall state of each axis.

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The value is an integer number, in range of {-1,5}. -1 means invalid Hall state.
Comments
The SLSTHALL variable’s value is being updated every cycle.
Tag
196
Accessibility
Read only
Com Library Methods and .NET Library Methods
ReadVariable

3.15 System Configuration Variables

The System Configuration variables are:

Name Description

CFG Configuration Mode

CTIME Controller Cycle Time

Conversion factor between

the SL2-100 protocol
EXTFAC
transferred units (microns
[μm] ) and ACS user units.

Maps an axis to a data

FOLLOWCH
channel of a SLEC module

Defines one of the 12 work-

piece coordinate systems a
G_01WCS...G_12WCS
user can set as part of the
CNC setup/configuration

Indicates the GSP program

GPEXL
executed block

Indicates the line in a

GSPEXL running buffer that called a
subroutine

Holds the value a

conversion factor, from
GUFAC
'Common Physical Units' in
[mm] to 'Controller Units'

IENA Interrupt Enable/Disable

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Name Description

IMASK Interrupt Mask

Interrupt-Specific
ISENA
Enable/Disable

S_FLAGS System Flags

S_SETUP System Settings

XSEGAMAX Maximal processing angles

XSEGAMIN Minimal processing angles

Maximal arc radius

XSEGRMAX
difference

XSEGRMIN Minimal arc radius

3.15.1 CFG
Description
CFG is an integer variable that indicates the application protection configuration mode.
Syntax
CFG = value
Arguments

value can be one of the following:

value 0: Controller is in protected mode
1: Controller is in normal mode

Tag
14
Comments
An attempt to assign a value to a protected variable when CFG = 0 causes an error.
Accessibility
Read-Only
COM Library Methods and .NET Library Methods
ReadVariable
C Library Commands
acsc_ReadInteger

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3.15.2 CTIME
CTIME is a real variable that defines the controller cycle time.
Syntax
CTIME = value
Arguments

value can be 0.1, 0.2, 0.25, 0.5, or 1.0 milliseconds (depending on the controller
value
model).

Tag
17
Comments
Many operations in the controller are synchronized to the controller cycle. For example, profile
generation is executed each controller cycle.

After setting CTIME to a new value, the configuration should be saved to flash memory.
Then run the MMI System Setup procedure.

For more information about valid CTIME values, see the EtherCAT Cycle Rate section in the
Installation Guide for the relevant controller.
Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

3.15.3 C2TIME
C2TIME is a real variable that defines the controller cycle time for the second network in a dual
EtherCAT configuration.
C2TIME must adhere to the following restrictions:

1. C2TIME must be a multiple of CTIME.

2. C2TIME must be greater than or equal to CTIME.

The following table shows the possible values for both CTIME and C2TIME.

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Table 5-25. Dual EtherCAT CTIME and C2TIME values

Syntax
C2TIME = value
Arguments

value Can be 0.2, 0.25, 0.5, or 1.0 milliseconds (depending on the controller model).

Tag
438
Comments
Many operations in the controller are synchronized to the controller cycle. For example, profile
generation is executed each controller cycle.

After setting C2TIME to a new value, the configuration should be saved to flash
memory. Then run the MMI System Setup procedure.

For more information about valid C2TIME values, see the EtherCAT Cycle Rate section in the
Installation Guide for the relevant controller.
Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

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3.15.4 EXTFAC
Description
EXTFAC is a real array, with one element for each axis in the system. It is used as a conversion factor
between the SL2-100 protocol transferred units (microns [μm] ) and ACS user units.
Syntax
EXTFAC(axis)
Argument

axis Axis, valid numbers are: 0, 1, 2, ... up to the number of axes in the system minus 1.

Tag
326

3.15.5 FOLLOWCH
Description
FOLLOWCH is an integer array, with one element for each axis in the system, the elements of which
maps an axis to a data channel of a SLEC EtherCAT node.
Syntax
FOLLOWCH(axis)xbit
Arguement

axis Axis, valid numbers are: 0, 1, 2, ... up to the number of axes in the system minus 1.

bit A description of the AST bit designators is:

bit Description

0-15 Data channel of SLEC

16-31 EtherCAT slave unit ID of the SLEC EtherCAT node

Tag
237
Example 1
For an EtherCAT system that includes the following devices:
> SPiiPlusEC motion controller and EtherCAT master
> SPiiPlusCMHV EtherCAT control module
> SLEC. EtherCAT node
SLEC node number 1:
> Axis 0 will follow channel 0
> Axis 2 will follow channel 1

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FOLLOWCH(0) = 0x00010000
FOLLOWCH(2) = 0x00010001

Example 2
For an EtherCAT system that includes the following devices:
> SpiiPlusEC motion controller and EtherCAT master
> SLEC EtherCAT node
> MC4U(8 axes)
> MC4U(8 axes)
> [Link] node

Each MC4U includes 2 drives with 4 axes each for a total of 16 total axes..

SLEC node number 0:

> Axes 0 will follow channel 0
> Axes 1 will follow channel 1.
SLEC node number 3:
> Axes 8 will follow channel 0
> Axes 9 will follow channel 1.

FOLLOWCH(0) = 0x00000000
FOLLOWCH(1) = 0x00000001
FOLLOWCH(8) = 0x00050000
FOLLOWCH(9) = 0x00050001

3.15.6 G_01WCS...G_12WCS
Description
G_01WCS to G_012WCS are each a real array, with one element for each axis in the system (up to 9
axes). Each is used for defining one of the 12 work-piece coordinate systems a user can set as part of
the CNC setup/configuration. During the execution of a GSP program, a user can select one of them
to work. If user choses going back to work in the Machine Coordinate System, he can then chose to
clear it.
Syntax
N/A
Arguments
N/A
Tag
284…295

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Accessibility
Read Only
COM Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadReal

3.15.7 GPEXL
Description
GPEXL is an integer array, with one element for each program buffer in the system. It indicates the
GSP program executed block. If block executes motion then GPEXL will indicate this line till this
motion completion.
If a buffer is not running, GPEXL equals 0.
Syntax
N/A
Arguments
N/A
Tag
296
Accessibility
Read Only
COM Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadInteger

3.15.8 GSPEXL
Description
GSPEXL is an integer array, with one element for each program buffer in the system. It indicates the
line in a running buffer that called a subroutine.
If a buffer is not running, GSPEXL equals 0.
Syntax
N/A
Arguments
N/A
Tag
347

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Accessibility
Read Only
COM Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadInteger

3.15.9 GUFAC
Description
GUFAC is a real array, with one element for each program buffer in the system. Each entry in the
array holds the value a conversion factor, from 'Common Physical Units' in [mm] to 'Controller Units'
(In the world of ACSPL+, those 'Controller Units' are sometimes related to as 'User Units'). As part of
GSP modality data, default value of GUFAC is 1.0 for all buffers.
Syntax
N/A
Arguments
N/A
Tag
298
Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadReal

3.15.10 IENA
Description
IENA is a 23-bit mask variable used for enabling or disabling software and hardware interrupts from
a specific source.
Syntax
IENA.bit_designator = 1|0
Arguments

bit_designator The meanings of bit_designator are given in Table 5-26.

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Table 5-26. IENA Bit Description

Bit Interrupt

7 Enable MARK1 0 interrupt

8 Enable MARK2 0 interrupt

9 Enable MARK1 2 interrupt

10 Enable M2ARK2 2 interrupt

11 Enable MARK1 4 interrupt

12 Enable M2ARK2 4 interrupt

13 Enable MARK1 5 interrupt

14 Enable M2ARK2 5 interrupt

15 Enable Emergency Stop interrupt

16 Enable Physical motion end interrupt

17 Enable Logical motion end interrupt

18 Enable Motion failure (Motion interruption due to a fault) interrupt

19 Enable Motor failure (Motor disable due to a fault) interrupt

20 Enable Program termination interrupt

21 Enable Dynamic buffer interrupt

22 Enable ACSPL+ interrupt by INTERRUPT command

23 Enable Digital input interrupt

24 Enable Motion start interrupt

25 Enable Motion phase interrupt

26 Enable ACSPL+ interrupt by TRIGGER command

Tag
69
Accessibility
Read-Write

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COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

3.15.11 IMASK
Description
IMASK is an integer array, with one element for each axis in the system, the elements of which
contain a set of bits that define which motor index and mark signals are processed.
Syntax
IMASK(axis_index).bit_designator = value
Arguments

Designates the specific axis, valid numbers

axis_index are: 0, 1, 2, ... up to the number of axes in
the system minus 1.

IMASK has four bit designators:

> #IND (bit 0) - Primary encoder
index
bit_designator > #IND2 (bit 1) - Secondary encoder
index
> #MARK (bit 2) - Mark1
> #MARK2 (bit 3) - Mark2

value ranges from -2147483648 to

value
2147483647, Default = 13

Tag
70
Comments
If a bit is zero, the controller neither analyzes or latches the corresponding INDEX or MARK signal.
Every axis does not provide all INDEX and MARK signals. The secondary encoder index is available
only if a secondary encoder is used. MARK signals are only available for axes 0, 1, 4, and 5.
Accessibility
Read-Write

IMASK values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

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COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable, GetIndexState, ResetIndexState
C Library Functions
acsc_ReadInteger, acsc_WriteInteger, acsc_GetIndexState, acsc_ResetIndexState

3.15.12 ISENA
Description
ISENA is an integer array, with one element for each axis in the system, the elements of which
contain a set of 8 bits used for enabling or disabling software interrupts within a specific interrupt
status bit for a specific axis or buffer. Each element corresponds to one software interrupt status bit
and specifies which axis, buffers or inputs are enabled to cause interrupt.
Syntax
ISENAarray_index.bit_designator = 1|0
Arguments

Designates the specific axis, valid numbers are: 0, 1, 2,

array_index
... up to the number of axes in the system minus 1.

The meanings of bit_designator are given in Table 5-

bit_designator
27.

Table 5-27. ISENA Bit Description

Bit Interrupt

0 Controls Physical Motion End interrupt.

1 Controls Logical Motion End interrupt.

2 Controls Motion Failure interrupt.

3 Controls Motor Failure interrupt.

4 Controls Program Termination interrupt.

5 Controls Command Execution interrupt (dynamic buffer only).

6 Controls ACSPL+ interrupt (by INTERRUPT command).

7 Controls Digital Input interrupt.

If the Physical Motion is PEG-related, then bit 0 is not supported in NT 1.0.

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Tag
78
Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

3.15.13 S_FLAGS
Description
S_FLAGS is an integer variable containing a set of bits that define different settings for the controller.
Syntax
S_FLAGS.bit_designator = 1|0
Arguments

bit_designator The meanings of bit_designator are given in Table 5-28.

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Table 5-28. S_FLAGS Bit Description

Bit Name No. Description Remarks

S_FLAGS.1 controls
whether the controller
allots a controller cycle
to processing non-
executable lines such
as comments, empty
lines and labels.
Changes to S_FLAGS.1 take effect
#S_FLAGS 1 only after a program is
0: Comments, empty
recompiled.
lines, labels are skipped
during execution and
not allotted a controller
cycle. (Default)
1: These lines are each
allotted a controller
cycle.

In the regular mode the next

motion command simply clears
the reason for the previous
KILL/KILLALL.
In the strict mode, the next
0: Sets the controller to motion command cannot
regular mode. (Default) activate the motion and fails.
#FCLEAR 2
1: Sets the controller to Motion cannot be activated as
strict mode long as the reason for the
previous KILL is non-zero for any
involved motor.
Motion can continue only after
clearing the MERR variable with
ENABLE/ENABLE ALL or FCLEAR.

Tag
116
Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

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3.15.14 S_SETUP
Description
An integer variable containing a bit mask for defining various settings for the system.
Syntax
S_SETUP.bit_designator = 1|0
Arguments

bit_designator The S_SETUP bit designators are given in Table 5-29.

Table 5-29. S_SETUP Bit Designators

Name No. Description

0 (default) - Usage tracing is disabled

#USGTRACE 1
1 - Enables usage tracing (for debugging purposes only)

0 (default) - EtherCAT frame delivery time measurement is

disabled
#SOFTIME 2
1 - Enables EtherCAT frame delivery time measurement (for
debugging purposes only)

0 (default) - single EtherCAT frame loss is not allowed.

Every frame loss causes an EtherCAT error.
1 - single EtherCAT frame loss is allowed without causing an
EtherCAT error.

#FRMLOSS 3
A single EtherCAT frame loss mode can affect
the performance of ACS units, if this mode is in
use, then the ACS units MUST be connected
before non-ACS units in the network.

0 - backward compatible application protection.

#ENHPROT 4
1 (default) - allow enhanced application protection.

0 (default) - prevent system reconfiguration In Protected

#CONFPROT 5 Mode.
1 - allow system reconfiguration In Protected Mode.

0 - backward compatible gantry mode for PEG, MARK,

#GMODE 6 INDEX. 1 (default) - enable enhanced gantry mode for PEG,
MARK, INDEX.

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Name No. Description

0 - backward compatibility for FPOS/RPOS synchronization

#POSSYNC 7
1 (default) - enable FPOS/RPOS synchronization

#ESDBMODE 8 SPiiPlusES Debug Mode

0 - IOMNT units are not mapped to ACSPL+ IN and OUT

variables
#IOMNTMAP 9
1 (default) - IOMNT units are mapped to ACPSL+ IN and OUT
variables

0 (default) - RMS Protection is separated between Motor

#IRMSLEG* 10 and Drive
1 - Legacy RMS protection only, using XRMS+XRMST

0: Do not use default response for Motor Overheat, MPU

Overheat or MPU Overuse
#USGTEMP 11
1: Exception default response for Motor Overheat, MPU
Overheat or MPU Overuse is ‘DISABLE’.

#HOME402 13 CiA402 Homing Methods Enabled

#COMM402 14 CiA402 Drive uses ACSPL+ COMMUT Command

#FASTPWUP 15 Optimized power-up time

When the bit is ON, products that support Controlled

Current Dynamic Brake will operate in the new mode. If the
#CTDBRAKE 19 bit is OFF, Dynamic Brake is applied.
Default value is ON.

When the bit is ON, the mechanism compensation for any

quadrature misalignment between the Analog counter and
#SINCOSRP 20 the quadrature counter during initialization is applied.
The bit is ON by default.

0 (default) single EtherCAT frame loss in the second

EtherCAT network is not allowed. Every frame loss causes
an EtherCAT error.
1 – single EtherCAT frame loss in the second EtherCAT
#FRM2LOSS 22
network is allowed without causing an EtherCAT error.
A single EtherCAT frame loss mode can affect the
performance of ACS units. If this mode is in use, then the
ACS units MUST be connected in the first EtherCAT network.

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*Starting from version 2.60, after changing the RMSLEG bit, the system should be
reconfigured using the System Setup component

Tag
240
Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

3.15.15 XSEGAMAX
Description
A real variable that defines the maximal angle required when configuring look-ahead processing
angles.
Syntax
XSEGAMAX= value
Tag
262
Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

3.15.16 XSEGAMIN
Description
A real variable that defines the minimal angle required when configuring look-ahead processing
angles.
Syntax
XSEGAMIN= value
Tag
263
Accessibility
Read-Write

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COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

3.15.17 XSEGRMAX
Description
A real variable that defines the maximal radius difference required when configuring arcs.
Syntax
XSEGRMAX= value
Tag
264
Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

3.15.18 XSEGRMIN
Description
A real variable that defines the minimal arc radius required when configuring arcs.
Syntax
XSEGRMIN= value
Tag
265
Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

3.16 Communication Variables

Communication variables are used for establishing various communication parameters.
The Communication variables are:

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Name Description

BAUD Serial Communication Baud Rate

COMMCH Communication Channel

COMMFL Communication Flags

CONID Controller Identification

DISPCH Default Communication Channel

ECHO Echo Communication Channel

Contains the address of a network router that serves accessing another

GATEWAY
network segments.

SUBNET Used to determine to what subnet an IP address belongs.

TCPIP IP Address for 1st Ethernet

TCPIP2 IP Address for 2nd Ethernet

TCPPORT TCP port identifier

UDPPORT UDP port identifier

3.16.1 BAUD
Description
BAUD is an integer variable that defines the serial communication rate, given in bits per second.
Syntax
BAUD = value
Arguments

value can be one of the following:

> 300
> 1200
> 4800
value
> 9600
> 19200
> 57600
> 115200

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Tag
8
Comments
Changes to BAUD take effect only after controller restart.
Accessibility
Read-Write

BAUD values cannot be modified if protection is applied to this variable through SPiiPlus
MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable, OpenComSerial
C Library Commands
acsc_ReadInteger, acsc_WriteInteger, acsc_OpenComSerial

3.16.2 COMMCH
Description
COMMCH is an integer that stores a number representing the last activated communication channel.
Table 5-30. COMMCH Values

Value Description

1 Serial port 1

2 Serial port 2

6 Ethernet network (TCP)

7 Ethernet network (TCP)

8 Ethernet network (TCP)

9 Ethernet network (TCP)

10 Ethernet Point-to-Point (UDP)

12 PCI bus

16 MODBUS Slave

36 Ethernet network (TCP)

37 Ethernet network (TCP)

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Value Description

38 Ethernet network (TCP)

39 Ethernet network (TCP)

Tag
15
Comments
When queried through a communication channel, COMMCH reads the number of the current
communication channel.
COMMCH can be used in SEND, or assigned to DISPCH.
Accessibility
Read-Only.
COM Library Methods and .NET Library Methods
ReadVariable
C Library Functions
acsc_ReadInteger

3.16.3 COMMFL

This variable is for advanced users. Changing the default values of these bits is not
recommended!

Description
COMMFL is a scalar variable containing a set of bits that affect controller communication.
Syntax
COMMFL.bit_designator = 1|0
Arguments

bit_designator The COMMFL bits and the meanings of their values are given in Table 5-31.

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Table 5-31. COMMFL Bit Descriptions

Bit Name Bit No. Description

Controls error message form.

0 = The controller provides the error number only
#VERBOSE 0 to the C Library function or COM method, when an
error occurs.
1 = The controller provides an extended message

1 1 = Enable motor messages

2 1 = Enable Axis messages

3 1 = Enable Program messages

1 = Controller sends unsolicited messages in Safe

#SAFEMSG 4
communication format

1 = A checksum is included in unsolicited messages.

#CSUMMSG 6
Normally the user does not need to change this bit.

Controls the communication in protected mode.

1 = The controller ignores any command received via
#NOCOMM 7 communication channels except the queries that start from
'?' character. The bit is not effective if the controller is in
configuration mode. The default value is 0.

Controls the communication in protected mode.

#NOQUERY 8 1 = The controller ignores any query received via

communication channels. The bit is not effective if the
controller is in configuration mode. The default value is 0.

Tag
16
Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Commands
acsc_ReadInteger, acsc_WriteInteger

3.16.4 CONID
Description
CONID is an integer variable that contains the controller identification.

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Syntax
CONID = value
Arguments

value An integer ranging between 0 and 65536.

Tag
193
Comments
The controller identification can be used for many different purposes like Modbus Slave ID, CAN
Slave ID or user-defined unique ID within the user network.

According to the Modbus specification, the controller must have an individual address
from 1 to 247.
In order to specify the Modbus Slave address, CONID should be initialized to the Modbus
Slave address value.

By default, the variable has zero value.

Accessibility
Read-Write

CONID values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Commands
acsc_ReadInteger, acsc_WriteInteger

3.16.5 ECHO
Description
ECHO is a 10-member mask integer variable that defines an echo communication channel.
Syntax
ECHO = channel_number
Arguments

channel_ The values of channel_number and their meanings are given in Table 5-
number 32.

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Table 5-32. ECHO Channel Numbers

Channel Number Channel Name

-1 Echo NOT active

-2 All channels

1 Serial port 1

2 Serial port 2

6 Ethernet network (TCP)

7 Ethernet network (TCP)

8 Ethernet network (TCP)

9 Ethernet network (TCP)

10 Ethernet Point-to-Point (UDP)

12 PCI bus

16 MODBUS Slave

36 Ethernet network (TCP)

37 Ethernet network (TCP)

38 Ethernet network (TCP)

39 Ethernet network (TCP)

Tag
35
Comments
If ECHO specifies a valid communication channel, the controller sends an echo of each command
received from any communication channel to the specified channel. Address each channel as
follows:
The default value for ECHO is -1, in order to select an echo channel, the user needs to select a
channel number.
ECHO cannot be saved to flash. After power-up the value is set to -1.
Use DISPCH to configure the communication channels related to the controller. Use COMMCH to
retrieve the current controller channel’s physical connection (only the channel that is connected to
the terminal on which the query is sent).

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Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

3.16.6 DISPCH
Description
DISPCH is a scalar integer variable that defines a communication channel between the controller
and a host application, SPiiPlus MMI Application Studio or any device connected to the controller's
communication ports.
Syntax
DISPCH = channel_number
Arguments

channel_ The values of channel_number and their meanings are given in Table 5-
number 33.

Table 5-33. DISPCH Channel Numbers

Channel
Description
Number

-2 All channels

No default channel is specified, the command uses the last channel

-1
activated by the host.

1 Serial port 1

2 Serial port 2

6 Ethernet network (TCP)

7 Ethernet network (TCP)

8 Ethernet network (TCP)

9 Ethernet network (TCP)

10 Ethernet Point-to-Point (UDP)

12 PCI bus

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Channel
Description
Number

16 MODBUS Slave

36 Ethernet network (TCP)

37 Ethernet network (TCP)

38 Ethernet network (TCP)

39 Ethernet network (TCP)

Tag
25
Comments
DISPCH is relevant only to messages sent with DISP and SEND (described also as “Unsolicited
Messages”).
In order to view unsolicited messages in the SPiiPlus MMI Application Studio Communication
Terminal window, select the check box in the lower right corner of the Terminal window to enable
Show Unsolicited Messages.
If DISPCH specifies a valid communication channel, all unsolicited messages (messages that are sent
with DISP and SEND from the program buffers) are sent to this channel irrespective of the channel
used for immediate commands.
Accessibility
Read-Write
COM Library Methods and .NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

3.16.7 GATEWAY
Description
GATEWAY is an integer variable used for setting the address of a network router that serves for
accessing another network segment.

The configuration is only available for the first Ethernet port.

Syntax
GATEWAY = value

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Arguments

value value an hexadecimal number - format: 0xAABBCCDD.

Tag
227
Comments
The GATEWAY address value consists of 4 individual bytes, each byte containing a decimal number
ranging from 0 to 255. The bytes, when read, include a dot between each byte, with the least
significant byte of the value representing the first decimal number. For example, the value
0x0100000A is the address: [Link].
Accessibility
Read-Write

GATEWAY values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

3.16.8 SUBNET
Description
SUBNET is an integer variable used to determine to what subnet an IP address belongs.

The configuration is only available for the first Ethernet port.

Syntax
SUBNET = value
Arguments

value value an hexadecimal number - format: 0xAABBCCDD.

Tag
228
Comments
The SUBNET value consists of 4 individual bytes, each byte containing a decimal number ranging
from 0 to 255. The bytes, when read, include a dot between each byte, with the least significant byte
of the value representing the first decimal number. For example, the value 0x00FFFFFF represents
mask [Link].

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Accessibility
Read-Write

SUBNET values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

3.16.9 TCPIP
Description
TCPIP is an integer variable used for setting the TCP/IP for the Ethernet port N1.
Syntax
TCPIP = value
Arguments

value value an hexadecimal number - format: 0xAABBCCDD.

Tag
133
Comments
If TCPIP has a non-zero value, the controller uses the value as its TCP/IP address. In this case, other
configuration parameters receive the following default values:
> Subnet mask - [Link]
> Gateway address - no gateway, i.e., no routing is supported
The TCPIP variable value must be written in hexadecimal format, for example:

TCPIP=0x6400000a

assigns a TCP/IP address of: [Link]. Note that the address is calculated starting from the least
significant byte of the value.
To retrieve the assigned address in an ACSPL+ program, use the GETCONF function with key 310.
Accessibility
Read-Write

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TCPIP values cannot be modified if protection is applied to this variable through SPiiPlus
MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Commands
acsc_ReadInteger, acsc_WriteInteger, acsc_GetEthernetCards (to find all SPiiPlus controllers in the
network segment)

3.16.10 TCPIP2
Description
TCPIP2 is an integer variable used for setting the TCP/IP for a second Ethernet port: N2.
Syntax
TCPIP2 = value
Arguments

value value an hexadecimal number - format: 0xAABBCCDD.

Tag
198
Comments
The default address for second Ethernet port is [Link].
The TCPIP2 variable value has to be in hex: 0xAABBCCDD, for example:

TCPIP=0x6400000a

TCPIP2 values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable

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C Library Commands
acsc_ReadInteger, acsc_WriteInteger, acsc_GetEthernetCards (to find all SPiiPlus controllers in the
network segment)

3.16.11 TCPPORT
Description
TCPPORT is a scalar integer that stores a number representing a TCP port.
Syntax
TCPPORT = Port_number
Arguments

Port_number An integer ranging between 0 and 65536.

Tag
200
Comments
TCPPORT defines Ethernet ports in the controller for TCP. By default, this variable is set to 701. In
order to establish communication with the controller through a port different from default port
numbers, the following should be done:
1. Set TCPPORT to a value other than 701.

Some of the ports are used by the controller firmware and cannot be used. It is
recommended to use ports starting from 1024.

2. Save system parameters to the flash.

3. Restart the controller.
4. Try to establish communication using new ports by providing them in client user
application. If communication isn't established, try to set other values.

This new port value is used by the client user application only. The SPiiPlus Tools and
SPiiPlus C/COM Library continue to use the default ports.

Accessibility
Read-Write

TCPPORT values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable

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C Library Functions
acsc_ReadInteger, acsc_WriteInteger

3.16.12 UDPPORT
Description
UDPPORT is a scalar integer that stores a number representing a UDP port.
Syntax
UDPPORT = Port_number
Arguments

Port_number An integer ranging between 0 and 65536.

Tag
201
Comments

UDPPORT defines Ethernet ports in the controller for UDP. By default, it is set to 700. In order to
establish communication with the controller through different from default port numbers, the
following should be done:
1. Set UDPPORT to a value other than 700.

Some of the ports are used by the controller firmware and cannot be used. It is
recommended to use ports starting from 1024.

2. Save system parameters to the flash.

3. Restart the controller.
4. Try to establish communication using new ports by providing them in client user
application. If communication isn't established, try to set other values.

This new port value is used by the client user application only. The SPiiPlus Tools and
SPiiPlus C/COM Library continue to use the default ports.

Accessibility
Read-Write

UDPPORT values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable

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C Library Functions
acsc_ReadInteger, acsc_WriteInteger

3.17 Miscellaneous
The Miscellaneous variables are:

Name Description

Secondary user unit name

AUNITS User unit name

PDESC Buffer description

PN Controller part number

PNAME Buffer name

SN Controller serial number

STATIC Tag used to define a global variable as STATIC

VR Controller FW version

XARRSIZE Maximum Array Size

3.17.1 AUNITS
Description
AUNITS is an array of strings, with one string for each axis in the system. Each string may be at most
19 characters in length.
AUNITS is read-only, but the value can be set during the adjusting process in the MMI.
The value of the string will be saved as part of the Par<Axis>.$$$ file, and may be restored from that
file.
Syntax

DISP AUNITS(1)

Arguments
None
Tag
431
Comments
Units' names can only be assigned during the adjusting process in the MMI.

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Related ACSPL+ Variables

EFAC
Accessibility
Read-Only

3.17.2 A2UNITS
Description
A2UNITS is an array of strings, with one string for each axis in the system. Each string may be at
most 19 characters in length.
A2UNITS is read-only, but the value can be set during the adjusting process in the MMI.
The value of the string will be saved as part of the Par<Axis>.$$$ file, and may be restored from that
file.
Syntax

DISP
A2UNITS(1)

Arguments
None
Tag
432
Comments
Units' names can only be assigned during the adjusting process in the MMI.
Related ACSPL+ Variables
E2FAC
Accessibility
Read-Only

3.17.3 PDESC
Description
PDESC is a string type array holding the description given to buffer programs by the user. The
maximum length of each string is 249. The variables will be part of the system information variables
and should be saved to flash (and later retrieved) upon command.
Syntax

PDESC(1) = "A buffer used to calibrate axes 0-4"

Arguments
None

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Tag
425
Related ACSPL+ Variables
PNAME
Accessibility
Read-Write

3.17.4 PN
Description
PN is a string variable containing the controller part number.
Syntax

DISP PN

Arguments
None
Tag
427
Accessibility
Read-only

3.17.5 PNAME
Description
PNAME is a string type array that holds the names given to buffer programs by the user. The
maximum length of each string is 49 characters. The variables will be part of the system information
variables and should be saved to flash (and later retrieved) upon command.
Syntax

PNAME(1) = "Calibration buffer"

Arguments
None
Tag
424
Related ACSPL+ Variables
PDESC
Accessibility
Read-Write

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3.17.6 SN
Description
SN is a string type variable that contains the controller serial number.
Example

DISP SN

Tag
426
Accessibility
Read-only

3.17.7 STATIC
Description
A new tag can be used to define a global variable as STATIC.
STATIC variables can only be defined in the D-buffer and once defined can only be freed using the
#VGV command, that is: removing the definition from the D-buffer does not remove the variable.
Use the #VGS/#VGSF command to list all static variables in the system.
Syntax

GLOBAL INT/REAL STATIC Var

3.17.8 VR
Description
VR String type variable that contains the controller FW version.
Syntax

DISP VR

Tag
428
Accessibility
Read-only

3.17.9 XARRSIZE
Description
XARRSIZE is a scalar integer that stores maximum size of an array.
Syntax
XARRSIZE = value

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Arguments

value value ranges from 10,000 to 10,000,000 (elements); Default = 100,000

Tag
219
Comments
By default the maximum size for a user array is 100,000 elements; if, however, an application
requires larger arrays, the user may change this value to accommodate a larger array size. However
the following should be taken into consideration:
1. Defining large arrays may use too much memory and may cause an out of memory fault. To
avoid this, the RAM size available for user data in the specific controller model should be
checked. One element in an array requires 8 bytes of RAM, 131,072 elements require 1 MB.
2. The processing time required for operations on large arrays in ACSPL+ may cause an over
usage fault. Therefore, arrays should be defined only with the size actually required for the
application.

It strongly recommended that users change the XARRSIZE variable only if necessary,
and that such changes be tested under safe conditions.

Accessibility
Read-Write

XARRSIZE values cannot be modified if protection is applied to this variable through

SPiiPlus MMI Application Studio g Toolbox g Application Development g Protection

COM Library Methods and .NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

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4. ACSPL+ Functions
ACSPL+ functions are divided into the following categories:
> Arithmetical Functions
> Matrix Functions
> Miscellaneous Functions
> EtherCAT Functions
> CoE Functions
> Modbus Functions
> Servo Processor Functions
> Signal Processing Functions
> Dynamic Error Compensation
This chapter covers the ACSPL+ functions.
The ACSPL+ Functions, in alphabetical order, are:

Function Description

ABS Calculates the absolute value.

ACOS Calculates the arc cosine.

AINOFFS Percent offset of analog signal from external source.

AINSCALE Define scale of analog input signal.

ASIN Calculates the arc sine.

ATAN Calculates the arctangent.

ATAN2 Calculates the arctangent of X/Y.

AxListAsMask Mask for defining axes.

AVG Finds the average of all values in an array.

Copies a given number of bytes from a source array into a target

BCOPY
array.

CEIL Calculates the ceiling of a value.

COPY The function copies one array to another.

COEREAD Read CoE slave Object Directory entry.

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Function Description

COS Calculates the cosine.

COEWRITE Write into CoE slave Object Directory.

DEADZONE Implements dead-zone routine.

DSIGN Implements a dynamic version of the standard SIGN function.

DSTR Converts a string to an integer array.

ECIN Copy EtherCAT offset data into ACSPL+ variable.

Returns an array that contains optional groups’ indexes that are part
ECGETGRPIND
of the current configuration.

Returns number of actually connected optional groups, not including

ECGETOPTGRP
the mandatory group.

ECGETREV Returns EtherCAT Revision ID of the node.

Returns the location of the Nth occurrence of an EtherCAT node

ECGETSLAVE
identified by VendorID and ProductID.

ECGETSLAVES Returns the number of EtherCAT slaves in the network.

ECGETSN Returns Serial Number of the node.

> Fills array with nodes’ indexes which are members of a

ECGRPINFO given optional group.
> Returns the number of members in the group.

ECOUT Copy data of ACSPL+ variable into EtherCAT offset.

ECRESCUE Triggers execution of a rescue scan of the EtherCAT network.

Saves to flash an array of optional groups based on current

ECSAVECFG
configuration, based on ecgetgrpind() function.

Returns array that contains optional groups’ indexes that are part of
ECSAVEDCNF
the last saved configuration.

ECUNMAP Undoes any results from running ECIN and ECOUT.

ECUNMAPIN Undoes any results from running ECIN to a specific offset.

ECUNMAPOUT Undoes any results from running ECOUT to a specific offset.

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Function Description

EDGE Returns 1 on positive edge of x.

ENCREAD Read encoder parameters.

Configures and activates 1D error correction for the mechanical error

ERRORMAP1D
compensation for the specified zone.

Configures and activates 2D error correction for the mechanical error

ERRORMAP2D
compensation of the ‘axis0’ command for the specified zone.

Configures and activates 1D error correction for the mechanical error

ERRORMAPN1D
compensation for the specified zone.

Configures and activates 2D error correction for the mechanical error

ERRORMAPN2D
compensation of the ‘axis0’ command for the specified zone.

Deactivates error mapping correction for the mechanical error

ERRORMAPOFF
compensation for the specified zone.

Activates error correction for the mechanical error compensation for

ERRORMAPON
the specified zone.

Generates a report of all activated zones of error mapping for all

#ERRORMAPREP
axes in the system.

Deactivates error correction for the mechanical error compensation

ERRORUNMAP
for the specified zone.

EXP Calculates the exponent.

FLOOR Calculates the floor of a value.

GETCONF Reads hardware and firmware parameters.

GETSP Reads a value from the specified SP address.

GETSPA Retrieves address of the SP variable specified by name.

HYPOT Calculates the hypotenuse.

Reads data characters from the specified channel and stores them
INP
into integer array.

INTGR Implements an integrator with DEADZONE and SAT.

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Function Description

Provides delayed switching on argument change (anti-bouncing

LAG
effect).

LDEXP Calculates a value of x*2exp.

LOG Calculates the natural logarithm.

LOG10 Calculates the base-10 logarithm.

MAP Implements a table-defined function with constant step.

MAPB One-dimensional uniform b-spline.

One-dimensional non-uniform linear interpolation (replaces

MAPN
obsolete MAPBY1 and MAPBY2).

MAPNB One-dimensional non-uniform B-spline.

MAPNS One-dimensional non-uniform Catmull-Rom spline.

MAPS One-dimensional uniform Catmull-Rom spline.

Implements a table-defined function with two arguments and

MAP2
constant step along each argument.

MAP2B Two-dimensional uniform B-spline.

Two-dimensional non-uniform linear interpolation (replaces

MAP2N
obsolete MAP2FREE).

MAP2NB Two-dimensional non-uniform B-spline.

MAP2NS Two-dimensional non-uniform Catmull-Rom spline.

MAP2S Two-dimensional uniform Catmull-Rom spline.

Calculates axis position that matches current reference position of

MATCH
the same axis with zero offset.

MAX Finds the maximum value in an array.

Finds the element with maximum value in an array or in a section of

MAXI
an array and returns its index.

MIN Finds the minimum value in an array.

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Function Description

Finds the element with minimum value in an array or in a section of

MINI
an array and returns its index.

NUMTOSTR Converts a number to an ASCII string.

POW Calculates x raised to the power of y.

RAND Implements a random number generator.

ROLL Calculates a result rolled-over to within one pitch.

SAT Implements a saturation characteristic.

SETCONF Writes hardware and firmware parameters.

SETSP Sets a value for the specified SP address.

Writes a value to a system or user variable, scalar or array, that was

SETVAR
declared as a Tag number.

SIGN Returns -1, 0 or 1 depending on the sign of x.

SIN Calculates the sine.

SQRT Calculates the square root.

STR Converts an integer array to a string.

Converts an ASCII string representing a number to the number it

STRTONUM
represents.

Returns certain system information based on the argument that is

SYSINFO
specified.

TAN Calculates the tangent.

4.1 Arithmetical Functions

The Arithmetical functions are:

Function Description

ABS Calculates the absolute value

ACOS Calculates the arc cosine

ASIN Calculates the arc sine

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Function Description

ATAN Calculates the arctangent

ATAN2 Calculates the arctangent of Y/X

CEIL Calculates the ceiling of a value

COS Calculates the cosine

EXP Calculates the exponent

FLOOR Calculates the floor of a value

HYPOT Calculates the hypotenuse

LDEXP Calculates a value of x*2exp

LOG Calculates the natural logarithm

LOG10 Calculates the base 10 logarithm

POW Calculates x raised to the power of y

SIGN Returns -1, 0 or 1 depending on the sign of x

SIN Calculates the sine

SQRT Calculates the square root

TAN Calculates the tangent

ROUND Rounds REAL to INTEGER

4.1.1 ABS
Description
ABS calculates the absolute value
Syntax
ABS(input)
Arguments

input input can be a real number or an expression.

Return Value
Real number - returns the absolute value of the input.
Error Conditions
None

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Comments
This function may be called inside a FASTCALL function.
Example

XX = ABS(-3.14)
DISP XX !Output = 3.14

4.1.2 ACOS
Description
ACOS calculates arc cosine.
Syntax
ACOS(input)
Arguments

input input can be a real number or an expression.

Return Value
Real number - returns the arc cosine of the argument in the range from 0 toπradians.
Error Conditions
The value of input must be between –1 to 1, otherwise the function returns Error 3045, Numerical
Error in Standard Function.
Comments
This function may be called inside a FASTCALL function.
Example

XX = ACOS(-1)
DISP XX !Output = 3.141592654

4.1.3 ASIN
Description
ASIN calculates the arc sine.
Syntax
ASIN(input)
Arguments

input input can be a real number or an expression.

Return Value
Real number - returns the arc sine of XX in the range –p/2 to p/2.

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Error Conditions
The value of inputmust be between –1 to 1, otherwise the function returns Error 3045, Numerical
Error in Standard Function.
Comments
This function may be called inside a FASTCALL function.
Example

XX = ASIN(-1)
DISP XX !Output = -1.570796327

4.1.4 ATAN
Description
ATAN calculates the arctangent.
Syntax
ATAN(input)
Arguments

input input can be a real number or an expression.

Return Value
Real number - returns the arctangent of the input in the range –p/2 to p/2 radians.
Error Conditions
None
Comments
This function may be called inside a FASTCALL function.
Example

XX = ATAN(-1)
DISP XX !Output = –0.7853981634

4.1.5 ATAN2
Description
ATAN2 calculates the arctangent of X/Y.
Syntax
ATAN2(X_input,Y_input).
Arguments

X_input X_input can be a real number or an expression.

Y_input Y_input can be a real number or an expression.

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Return Value
Real number - returns the arctangent value of X_input, Y_input. ATAN2 calculates a value in the
range of -p to p radians using the signs of both parameters to determine the quadrant of the return
value. If both parameters are 0, the function returns 0. ATAN2 is well defined even if Y equals 0.
Error Conditions
None
Comments
This function may be called inside a FASTCALL function.
Example

X_input = -1; Y_input = 0

XX=ATAN2(X_input,Y_input)
DISP XX !Output = -1.5708

4.1.6 CEIL
Description
CEIL calculates the ceiling of a value.
Syntax
CEIL(input)
Arguments

input input can be a real number or an expression.

Return Value
Integer number - returns a value that represents the smallest integer that is ³ input.
Error Conditions
None
Comments
This function may be called inside a FASTCALL function.
Example

XX=CEIL(3)
YY=CEIL(-3)
ZZ=CEIL(2.1)
TT=CEIL(–2.1)
DISP XX, YY, ZZ, TT !Output = 3 -3 3 -2

4.1.7 COS
Description
COS calculates the cosine.

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Syntax
COS(input)
Arguments

input can be a real number or an expression (which is treated as radians by the

input
function).

Return Value
Real number - returns the cosine of X in the range of -1 to 1.
Error Conditions
None
Comments
This function may be called inside a FASTCALL function.
Example

XX = COS(-3.141592654)
DISP XX !Output = -1

4.1.8 EXP
Description
EXP calculates the e^ input
Syntax
EXP(input)
Arguments

input input can be a real number or an expression.

Return Value
Real number - returns the exponential value of input. On overflow, the function returns the largest
real number.
Error Conditions
None
Comments
This function may be called inside a FASTCALL function.
Example

XX = EXP(1)
DISP XX !Output = 2.718281828

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4.1.9 FLOOR
Description
FLOOR calculates the floor of a value.
Syntax
FLOOR(input)
Arguments

input input can be a real number or an expression.

Return Value
Integer number - returns a value representing the largest integer that is < to input.
Error Conditions
None
Comments
This function may be called inside a FASTCALL function.
Example

XX=FLOOR(3)
YY=FLOOR(-3)
ZZ=FLOOR (2.1)
TT=FLOOR(-2.1)
DISP XX,YY,ZZ,TT !Output = 3 -3 2 -3

4.1.10 HYPOT
Description
HYPOT calculates the hypotenuse of a right triangle
Syntax
HYPOT(X_input, Y_input)
Arguments

X_input X_input can be a real number or an expression.

Y_input Y_input can be a real number or an expression.

Return Value
Real number - calculates the length of the hypotenuse of a right triangle, given the length of the
two sides X_input and Y_input. HYPOT is equivalent to the square root of X2 + Y2.
Error Conditions
None
Comments
This function may be called inside a FASTCALL function.

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Example

XX=HYPOT(3,4)
DISP XX !Output = 5

4.1.11 LDEXP
Description
LDEXP calculates the value of x*2^exp.
Syntax
LDEXP(X_input, Y_input)
Arguments

X_input X_input can be a real number or an expression.

Y_input Y_input can be a real number or an expression.

Return Value
Real number - returns the value of X_input*2Y_input. On overflow LDEXP returns the largest real
number with a sign, depending on the sign of X_input
Error Conditions
None
Comments
This function may be called inside a FASTCALL function.
Example

XX= LDEXP(1,2)
DISP XX !Output = 4

4.1.12 LOG
Description
LOG calculates the natural logarithm.
Syntax
LOG(input)
Arguments

input input can be a real number or an expression.

Return Value
Real number - returns the natural logarithm of input.
Error Conditions
input must be > 0, otherwise the function returns Error 3045, Numerical Error in Standard Function.

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Comments
This function may be called inside a FASTCALL function.
Example

XX=LOG(2.718281829)
DISP XX !Output = 1

4.1.13 LOG10
Description
LOG10 calculates the base 10 logarithm.
Syntax
LOG10(input)
Arguments

input input can be a real number or an expression.

Return Value
Real number - returns the base 10 logarithm of input.
Error Conditions
input must be >0, otherwise the function returns Error 3045, Numerical Error in Standard Function.
Comments
This function may be called inside a FASTCALL function.
Example

XX=LOG10(10)
DISP XX !Output = 1

4.1.14 POW
Description
POW calculates X raised to the power of Y.
Syntax
POW(X_input, Y_input)
Arguments

X_input X_input can be a real number or an expression.

Y_input Y_input can be a real number or an expression.

Return Value
Real number - returns the value of (X_input)Y_input.

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Error Conditions
None
Comments
This function may be called inside a FASTCALL function.
Example

XX=POW(2,3)
DISP XX !Output = 8

4.1.15 SIGN
Description
SIGN returns –1, 0 or 1 depending if the input is negative, zero or positive.
Syntax
SIGN(input)
Arguments

input input can be a real number or an expression.

Return Value
Real number - returns:
–1 if input <0;
0 if input = 0;
1 if input >0
Error Conditions
None
Comments
This function may be called inside a FASTCALL function.
Example

XX=SIGN(-5), SIGN(0),SIGN(5)
DISP XX !Output = -1 0 1

4.1.16 SIN
Description
SIN calculates the sine.
Syntax
SIN(input)

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Arguments

input can be a real number or an expression (which is treated as radians by the

input
function).

Return Value
Real number - returns the sine value of input in the range of –1 to 1.
Error Conditions
None
Comments
This function may be called inside a FASTCALL function.
Example

XX=SIN(1.570796327)
DISP XX !Output = 1

4.1.17 SQRT
Description
SQRT calculates the square root.
Syntax
SQRT(input)
Arguments

input input can be a real number or an expression.

Return Value
Real number - returns the square root of input.
Error Conditions
input must be ≥0, otherwise the function returns Error 3045, Numerical Error in Standard Function.
Comments
This function may be called inside a FASTCALL function.
Example

XX=SQRT(4)
DISP XX !Output = 2

4.1.18 TAN
Description
TAN calculates the tangent.

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Syntax
TAN(input)
Arguments

input can be a real number or an expression (which treated as radians by the

input
function).

Return Value
Real number - returns the tangent value of input.
Error Conditions
None
Comments
This function may be called inside a FASTCALL function.
Example

REAL PI
PI = 3.141592654
DISP TAN(PI/4) !Output = 1

4.1.19 ROUND
Description
Round a REAL number to closest integer value
Syntax
ROUND(input)
Arguments
Input - Arbitrary real number
Return Value
Closest integer value
Comments
ROUND calculates the closest integer number according to arithmetical rules.
This command is supported in ADK versions 2.70 and higher.
Examples:

DISP(ROUND(1.5)) !Output = 2
DISP(ROUND(1.4)) !Output = 1
DISP(ROUND(-1.5)) !Output = -2
DISP(ROUND(-1.4)) !Output = -1

4.2 Matrix Functions

ACSPL+ supports a MATRIX type starting with version 3.10.

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A MATRIX is defined as 2-dimensional REAL array.

Syntax
> MATRIX A(N)(N) – A is square matrix of size NxN where N is a positive constant.
> MATRIX B(N)(M) – B is NxM matrix having N rows and M columns, where N and M are
positive constants.
The matrix functions are:

Function Overloaded Operator Description

MATRIXADD + Add matrices

MATRIXSUB - Subtract matrices

MATRIXMUL * Multiply matrices

MATRIXMULSC * Multiply matrix by scalar

MATRIXMULEW .* Element-wise matrix multiplication

MATRIXDIV / Matrix division

MATRIXIDENT Identity matrix

MATRIXTRANS Transpose matrix

MATRIXINV Invert matrix

For details about programming considerations in ACSPL+ using MATRIX type variables, see the
MATRIX Type chapter in the ACSPL+ Programmer's Guide.

4.2.1 Matrix Type

ACSPL+ supports a MATRIX type starting with version 3.10.
A MATRIX is defined as 2-dimensional REAL array.
Syntax
> MATRIX A(N)(N) – A is square matrix of size NxN where N is a positive constant.
> MATRIX B(N)(M) – B is NxM matrix having N rows and M columns, where N and M are
positive constants.
Example

MATRIX A(2)(2) !Defines a square matrix of 2x2 size

[Link] Matrix Initialization in Compilation Time

1. Regular Initialization (similar to 2D arrays initialization):
MATRIX A(M)(N) can be initialized by a 2D array (array of M rows, each of N size)

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a. Preconditions:
i. Number of rows of initialization values = matrix first dimension
ii. Number of columns of initialization values = matrix second dimension
b. Error conditions:
i. If preconditions are violated, then a compilation error will occur.
c. Example:

!///Compilation-time initializations///!
MATRIX A(2)(2)=((1,2),(3,4)) !Regular initialization of a 2x2 matrix

2. Default Initialization:
A matrix which not initialized by the user on definition is automatically initialized with zeros.
Example:

!///Compile-time initializations///!
MATRIX C(2)(2) !Default initialization, filled by zeros

For details about MATRIX type functions and operators see Matrix Functions in the ACSPL+
Commands & Variables Reference Guide.

4.2.2 MATRIXADD
Description
Add two matrices.
Syntax

MATRIXADD([in] MATRIX A, [in] MATRIX B, [out] MATRIX C)

Arguments

MATRIX A First operand matrix

MATRIX B Second operand matrix

MATRIX C Result Matrix

Return Value
None
Comments
1. All argument matrices must be of the same size.
2. If preconditions are violated, then a compilation error will occur.
3. This function is supported in versions 3.11 and higher

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Example

MATRIX A(2)(2)=((1,2),(3,4))
MATRIX B(2)(2)=((5,6),(7,8))
MATRIX C(2)(2)
MATRIXADD(A,B,C)

Example With Overloaded Operator

MATRIX A(2)(2)=((1,2),(3,4))
MATRIX B(2)(2)=((5,6),(7,8))
MATRIX C(2)(2)
C=A+B
STOP

4.2.3 MATRIXSUB
Description
Subtract two matrices.
Syntax
MATRIXSUB([in] MATRIX A, [in] MATRIX B, [out] MATRIX C)
Arguments

MATRIX A First operand matrix

MATRIX B Second operand matrix

MATRIX C Result Matrix

MATRIX A(2)(2)=((1,2),(3,4))
MATRIX B(2)(2)=((5,6),(7,8))
MATRIX C(2)(2)
MATRIXSUB(B,A,C)

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Example With Overloaded Operator

MATRIX A(2)(2)=((1,2),(3,4))
MATRIX B(2)(2)=((5,6),(7,8))
MATRIX C(2)(2)
C=B-A
STOP

4.2.4 MATRIXMUL
Description
Multiply matrices
Syntax
MATRIXMUL([in] MATRIX A, [in] MATRIX B, [out] MATRIX C)
Arguments

MATRIX A First operand matrix

MATRIX B Second operand matrix

MATRIX C Result Matrix

Return Value
None
Comments
1. Matrix A's column dimension must equal Matrix B's row dimension.
2. The dimension of Matrix C's rows are equal to the row dimension of Matrix A
3. The dimension of Matrix C's columns are equal to the column dimension of Matrix B
4. If preconditions are violated, then a compilation error will occur.
5. This function is supported in versions 3.11 and higher
Example

MATRIX A(3)(2)=((1,2),(3,4),(5,6))
MATRIX B(2)(2)=((7,8),(9,10))
MATRIX C(3)(2)
MATRIXMUL(A,B,C)

Example With Overloaded Operator

MATRIX A(3)(2)=((1,2),(3,4),(5,6))
MATRIX B(2)(2)=((7,8),(9,10))

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MATRIX C(3)(2)
C=A*B

4.2.5 MATRIXMULSC
Description
Multiply matrix by scalar value.
Syntax
MATRIXMULSC([in] MATRIX A, [in] REAL S, [out] MATRIX C)
Arguments

MATRIX A First operand matrix

REAL S Scalar operand

MATRIX C Result Matrix

Return Value
None
Comments
1. The result matrix is of the same size as operand matrix.
2. If preconditions are violated, then a compilation error will occur.
3. This function is supported in versions 3.11 and higher
Example

MATRIX A(3)(2)=((1,2),(3,4),(5,6))
REAL r=7
MATRIX C(3)(2)
MATRIXMULSC(A,r,C)
MATRIXMULSC(A,5.5,C)
STOP

4.2.6 MATRIXMULEW
Description
Element-wise matrix multiplication
Syntax
MATRIXMULEW([in] MATRIX A, [in] REAL S, [out] MATRIX C)
Arguments

MATRIX A First operand matrix

REAL S Scalar operand

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MATRIX C Result Matrix

Return Value
None
Comments
1. All parameter matrices must be of the same size.
2. If preconditions are violated, then a compilation error will occur.
3. This function is supported in versions 3.11 and higher
Example

MATRIX A(2)(2)=((1,2),(3,4))
MATRIX B(2)(2)=((5,6),(7,8))
MATRIX C(2)(2)
MATRIXMULEW(A,B,C)

Example With Overloaded Operator

MATRIX A(2)(2)=((1,2),(3,4))
MATRIX B(2)(2)=((5,6),(7,8))
MATRIX C(2)(2)
C=A.*B
STOP

4.2.7 MATRIXDIV
Description
Matrix division
Syntax
MATRIXDIV([in] MATRIX A, [in] MATRIX B, [out] MATRIX C)
Arguments

MATRIX A Dividend matrix

MATRIX B Divisor matrix

MATRIX C Result Matrix

Return Value
None
Comments
1. Matrix B is a square matrix.
2. The dimension of Matrix A's columns are equal to the order of Matrix A
3. C dimension = (A’s rows, B’s order) = A dimension

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4. If preconditions are violated, then a compilation error will occur.

5. If Matrix B is not convertible (determinant(B) == 0) a run-time error will occur.
6. This function is supported in versions 3.11 and higher
Example

MATRIX A(2)(3)=((1,2,3),(4,5,6))
MATRIX B(3)(3)=((1,2,3),(4,5,6),(7,8,1))
MATRIX C(2)(3)
MATRIXDIV(A,B,C)

Example With Overloaded Operator

MATRIX A(2)(3)=((1,2,3),(4,5,6))
MATRIX B(3)(3)=((1,2,3),(4,5,6),(7,8,1))
MATRIX C(2)(3)
C=A/B

4.2.8 MATRIXIDENT
Description
Generate identity matrix, a matrix filled with values of 1 on the main diagonal and all other elements
are 0.
Syntax
MATRIXIDENT([in out] MATRIX A)
Arguments

MATRIX A Square Matrix

Return Value
Identity matrix of dimension matching the input matrix.
Comments
1. The result matrix must be square.
2. If preconditions are violated, then a compilation error will occur.
3. This function is supported in versions 3.11 and higher
Example

MATRIX A(3)(3)
MATRIXIDENT(A)

4.2.9 MATRIXTRANS
Description
Transpose a matrix.

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Syntax
MATRIXTRANS([in]MATRIX A, [out] MATRIX B)
Arguments

MATRIX A Input matrix to be transposed

MATRIX B Output, transposed version of MATRIX A

Return Value
None
Comments
1. The target matrix should be defined so that its row number is equal to the target matrix
column number, and its column number is equal to target matrix row number.
2. If preconditions are violated, then a compilation error will occur.
3. This function is supported in versions 3.11 and higher
Example

MATRIX A(2)(3)=((1,2,3),(4,5,6))
MATRIX B(3)(2)
MATRIXTRANS (A,B)

4.2.10 MATRIXINV
Description
Invert a matrix.
Syntax
MATRIXINV([in] MATRIX A, [out] MATRIX B)
Arguments

MATRIX A Input matrix to be inverted

MATRIX B Output, inverted version of MATRIX A

Return Value
None
Comments
1. The argument matrix must be square.
2. The result matrix should be of the same size as the argument matrix.
3. If preconditions are violated, then a compilation error will occur.
4. This function is supported in versions 3.11 and higher

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Example

MATRIX A(3)(3)=((1,2,3),(4,5,6),(7,8,1))
MATRIX B(3)(3)
MATRIXINV(A,B)

4.3 Miscellaneous Functions

The Miscellaneous functions are:

Function Description

AxListAsMask Mask for defining axes.

BCOPY Copies bytes from a source array to a target array.

Converts a string to an integer array based on an ASCII transformation

DSTR
code.

STR Converts an integer array to a string.

GETCONF Reads hardware and firmware parameters.

GETVAR Reads the current value of the variable and returns it as a real number.

MDURATION Calculates time of certain motion profile phase.

NUMTOSTR Converts a number to an ASCII string.

SETCONF Writes hardware and firmware parameters.

Provide write access to all ACSPL+ variables and to user variables

SETVAR
declared with tag.

SS1RESET Resets the values of the last SS1-t channel A and channel B times.

Converts an ASCII string representation of a number to the number it

STRTONUM
represents.

Returns certain system information based on the argument that is

SYSINFO
specified.

4.3.1 AxListAsMask
In some functions an argument requires a mask to define the axes. The mask specification is
defined with AxListAsMask.
Syntax
AxListAsMask (axis_list)

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Arguements

Arguments Comments

axis_list List of the axes, separated by comma: 0, 2, 4

Return value
The function returns the integer value that represents the axis list as a mask.
Example

int AxisMask
AxisMask = AxListAsMask(0,2,4) ! AxisMask gets value 0x15 (0b00010101)
scription in the manual.

4.3.2 BCOPY
Description
This function can be used to copy bytes from the source array to the target array.
Syntax
int BCOPY(Source_array, Target_array, CopyBytes, S_SkipBytes, T_SkipBytes, From, N)
Arguments

Source_array Array containing input data

Target_array Array containing output data

CopyBytes Number specifying how many bytes will each copy operation

Number specifying how many bytes will be skipped in the source array
S_SkipBytes
following each copy operation

Number specifying how many bytes will be skipped in the target array
T_SkipBytes
following each copy operation

From Index of the first element in the source array that may be used

N The number of elements in the source that may be used

Return Value
The number of elements (in the source) used.
Comments
The function copies CopyBytes from the source array to the target array, skip S_SkipBytes in the
source and skip T_SkipBytes in the target, and then copy CopyBytes again. The operation starts from
the From element in source and is applied to a maximum of N elements. This means no bytes from
any element other than the specified N elements will be affected. Elements less than N can be
affected if the target array is too short to complete the whole operation.

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The difference between elements and bytes throughout this function should be noted.
Examples
In the examples that follow use is made of:
bcopy(source,target,1,3,0) - Copy every 4 byte element from source to a 1 byte element in target
bcopy(source,target,2,2,0) - Copy every 4 byte element from source to a 2 byte element in target
bcopy(source,target,1,0,3) - Copy every 1 byte element from source to a 4 byte element in target
bcopy(source,target,2,0,2) - Copy every 2 byte element from source to a 4 byte element in target
1. Unpacking a single element in source to 1, 2, or 4 elements in target

int source(1)
int target(4)
int j
source(0) = 0x01020304;
j = bcopy(source,target,4,0,0,0,1) => target = 1020304,0,0,0 num elements
= 1
j = bcopy(source,target,2,0,2,0,1) => target = 304,102,0,0 num elements =
1
j = bcopy(source,target,1,0,3,0,1) => target = 4,3,2,1 num elements = 1

stop

2. Packing multiple elements in source to 1 element in target.

int source(4)
int target(1)
int i
int j
target(0) = 0;
i = 0
loop 4
source(i) = 1;
i=i+1;
end
j = bcopy(source,target,4,0,0,0,4) => target(0) = 1 j = 1
j = bcopy(source,target,2,2,0,0,4) => target(0) = 10001 j = 2
j = bcopy(source,target,1,3,0,0,4) => target(0) = 1010101 j = 4
stop

4.3.3 DSTR
Description
DSTR converts a string to an integer array based on an ASCII transformation code. The function
decomposes a string to characters and assigns the characters to the sequential elements of the
variable array. If the string has more characters than the target array, the extra characters are
silently discarded.

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Each ASCII character is represented as its numerical value and stored in a separate element of the
array.
Syntax
int DSTR(string, array_name, [start_index,] [number])
Arguments

string String of characters enclosed in double quotation marks.

array_name User-defined integer array.

Index in the array from where the transformed numbers will be placed.
start_index If start_index is omitted, the assignment starts from the first element of the
array.

Number of characters from the string to be transformed.

number If number is omitted, the function assigns all characters of the string. If
number is specified, the function assigns the specified number of characters.
In both cases the assignment stops when the last array element is reached.

Return Value
The number of actually transformed characters.
Comments
See also STR.
Example
In the example below DSTR transforms each of "ACS-Motion_Control" characters to its
corresponding numeric value and assigns then to a user defined array "BIBI" (each character to a
separate array member. BIBI content is as follows:
65 67 83 45 84 69 67 72 56 48

GLOBAL INT ASCII_STR(10)

DSTR("ACS-Motion_Control",ASCII_STR)
STOP

4.3.4 STR
Description
STR converts an integer array to a characters. Each element of the array is interpreted as an ASCII
character.
Syntax
string STR(array_name,[start_index,] [number])

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Arguments

array_name Name of user-defined integer array.

start_index Index in the array from which to start converting.

number Number of characters to convert.

Comments
If an element value is in the range from 0 to 255, it is directly converted to the corresponding ASCII
character. Otherwise, the value will be cyclic, based on 256.
If start_index is omitted, the assignment starts from the first element of the array.
If neither start_index nor number is specified, the conversion takes all elements of the array. If only
start_index is specified, the conversion takes all characters from the specified index until the end of
the array. number limits the number of characters in the resulting string.
See also DSTR.
Return Value
An integer representing the number of characters the function converted.
Example

GLOBAL INT BIBI(3)

BIBI(0)=65
BIBI(1)=67
BIBI(2)=83
DISP STR(BIBI)
STOP

The function transforms each of the array members of BIBI to ASCII code characters. When DISP is
applied, the displayed value will be: “ACS”

4.3.5 GETCONF

GETCONF should be used only by advanced users.

Description
GETCONF retrieves system configuration data that was configured byGETCONF.

Some keys relate to data that is set by the system and not by SETCONF, for keys set by
SETCONF see SETCONF Arguments.

Syntax
GETCONF(key,index)

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Arguments

key Specifies the configured feature.

index Specifies the axis, buffer, or type of information requested.

Return Value
GETCONF return values are described in Table 6-1 according to key.
Table 6-1. GETCONF Return Values

Key Value - Bit and Explanation

Returns the mask that determines, for each digital input, whether the leading or
trailing signal edge triggers an interrupt.
The mask contains a bit for each available input signal. The location of bits in the
mask corresponds to the location of bits in variable IN0.

26 For each bit:

1: The controller generates an interrupt on the falling edge of the corresponding
input signal.
0: Controller generates an interrupt on the rising edge of the corresponding input
signal.
After power-up, all bits in the mask = 0.

Returns the mask that determine whether a digital input triggers on a single
edge, or on both edges. If value = 0, the trigger edge is determined by key 26.
The location of bits in the mask corresponds to the location of bits in variable IN0.
37
1: The controller generates an interrupt on both edges.
0: The controller generates an interrupt on one edge.
After power-up the mask contains 0 in all bits.

Used to view the actual assignment of digital outputs to PEG states and PEG
pulses outputs.
71
Returns the bit code according to or for SPiiPlusNT/DC-LT/HP/LD-x, or for SPiiPlus
CMnt-x-320/UDMpm-x-320, depending on the axis.

Used to view the actual encoder PEG engine assignment.

72 Returns the bit code according to or for SPiiPlusNT/DC-LT/HP/LD-x, or for SPiiPlus
CMnt-x-320/UDMpm-x-320, depending on the axis.

Used to view the actual output pins assignment for PEG engines.
73 Returns the bit code according to or ,for SPiiPlusNT/DC-LT/HP/LD-x, or or for
SPiiPlus CMnt-x-320/UDMpm-x-320, depending on the axis.

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Key Value - Bit and Explanation

Returns the saved EtherCAT topology configuration

Index = 1 : EtherCAT topology mode that is saved on the controller's non-volatile
memory:
0: line topology mode
1: ring topology mode
74
2: two lines topology mode
Index =2 : Number of nodes connected to the EtherCAT master's main line that is
saved on the controller's non-volatile memory
Index =3 : Number of nodes connected to the EtherCAT master's redundant line
that is saved on the controller's non-volatile memory.

Returns the the System or MPU temperature (in degrees °C):

0: Current System temperature
76
1: Current temperature in controller's CPU/MPU
2: Current DSP temperature (IDMsm/sa, ECMsm/sa, UDMsa)

Returns the status if fast loading of Random PEG arrays for the relevant Servo
Processor is activated or deactivated:
0: fast loading of Random PEG arrays is deactivated
1: fast loading of Random PEG arrays is activated.
78

Index is the axis of the relevant Servo Processor: 0, 1, 2, ..., up to total

number of axes in system minus 1.

Returns the maximum USAGE value since power-up or since last call to the
79
SETCONF(79) command.

Returns the UnitID of the network unit that the specified digital input is assigned
80 to.
Index = 0, 1, 2... up to total number of digital inputs in the system minus 1.

Returns the UnitID of the network unit that the specified digital output is assigned
81 to.
Index = 0, 1, 2... up to total number of digital outputs in the system minus 1.

Returns the UnitID of the network unit that the specified analog input is assigned
82 to.
Index = 0, 1, 2... up to total number of analog inputs in the system minus 1.

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Key Value - Bit and Explanation

Returns the UnitID of the network unit that the specified analog output is
83 assigned to.
Index = 0, 1, 2... up to total number of analog outputs in the system minus 1.

86 Returns the number of allowed single EtherCAT frames that were actually lost.

Index = 0:
Returns number of regular ACSPL+ program buffers.
Index = 7:
99
Returns total number of axes to which the controller is configured.
Index = 8:Key
Returns the maximum number of data bytes in the SAFE format message.

Returns the value of MFLAGS.1 (Open Loop)

203 1: Open loop
0: Not open loop

Returns the value of MFLAGS.9 (Commutation OK).

204 1: Commutation OK)
0: Commutation not OK)

Only valid for brushless motors (MFLAGS.8 = 1).

214
Returns the commutation phase (degrees) at the current point.

Only valid for brushless motors (MFLAGS.8 = 1).

Returns the commutation state (MFLAGS.9):
216
0: Commutation is not OK (not initialized)
1: Commutation is OK.

Returns the mechanical brake output:

229 1: Mechanical brake is inactive
0: Mechanical brake is active

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Key Value - Bit and Explanation

Upon receipt of a Drive Alarm signal, the controller stores a general Drive Alarm
code (5019) in the MERR variable. The extended Drive Fault status code can be
obtained by executing GETCONF(246, Axis).
The following extended Drive Fault statuses are supported (the MERR code
appears in brackets) by the DDM3U Motor Drive:
> Drive Alarm (5060)
> Drive Alarm: Short circuit (5061)
> Drive Alarm: External Protection Activated (5062)
> Drive Alarm: Power Supply Too Low (5063)
> Drive Alarm: Power supply too high (5064)
> Drive Alarm: Temperature too high (5065)
> Drive Alarm: Power Supply 24VF1 (5066)
> Drive Alarm: Power Supply 24VF2 (5067)
> Drive Alarm: Emergency Stop (5068)
246
> Drive Alarm: Power down (5069)
> Drive Alarm: Phase lost. (5070)
> Drive Alarm: Drive not ready (5071)
> Drive Alarm: Over current (5072)
> Not in use (reserved) (5073)
> Drive Alarm: Damper is not ok (5074)
> Drive Alarm: Digital Drive Interface not Connected (5075)
Using the GETCONF function, the faults 5064, 5065, 5069, 5071 can be read
before the ENABLE command is executed.

The GETCONF function provides a delay until the extended

Drive Fault is received. This behavior differs from the implementation
in the SPiiPlus CM, where the extended Drive Fault status is stored in
MERR immediately upon receipt of the Drive Alarm signal.

Returns the state of the STO signals for the axis selected by index
253 bit 0: STO1
bit 1: STO2

Read "Servo Processor Number" (range 0-127) in the network, based on the axis
260
number in the Firmware (range 0-127)

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Key Value - Bit and Explanation

Read "Axis Number in the Servo Processor Axes List" (range 0-3) based on the
261
axis number in the Firmware (range 0-127)

Returns the current Hall state, which can be 0, 1, 2, 3, 4, or 5, of the axis given by
262 axis_def (a number: 0, 1, 2, ... up to the number of axes in the system minus 1). It
returns -1 for invalid states.

When a SIN-COS encoder is used, there are rare cases in which a homing
repeatability error of 1 quadrant (quarter of a sine-period) may occur. This key is
used for supporting SIN-COS repeatability. For example:

!!!Original homing procedure here

...
265 TILL IST(AXIS).#IND; !Index was found
! Move to a middle of a quadrant, close to the index location
PTP(AXIS), IND(AXIS) + POW(2,(E_SCMUL(AXIS)-3))*EFAC(AXIS)
TILL ^MST(AXIS).#MOVE
WAIT 1000
! Repeatability correction
SET FPOS(AXIS) = FPOS(AXIS) - IND(AXIS) - GETCONF(265,AXIS)
PTP(AXIS), 0 ! 0 = index location

If an axis is enabled while moving, the motor back-EMF may generate high
currents during the ENABLE process which can potentially damage the drive or
the motor.
To avoid such damage the controller should check the motor velocity during the
ENABLE process and triggers a fault (error 5104 – “motor is moving”) if it is above
a threshold. The threshold is proportional to SLCPRD (commutation period) for a
brushless motor(MFLAGS().8=1). It is proportional to XVEL(maximal velocity) for a
DC-brush motor (MFLAGS().8=0)
Usually the user should not modify the factor, but in special specific cases it may
need to be increased. A typical example where modification might be needed is a
dual loop system with high resolution encoder on the load and low resolution
270 encoder at the motor (used for commutation). The threshold may be multiplied by
a factor using a special SETCONF command.
> SETCONF(270, <axis>, <value>) The value is – 1.0 by default.
> GETCONF(270, <axis>) returns the current value of the factor.
The SETCONF command should be executed after each controller powerup.

Because of the potential damage to the drive and the

motor, the user is advised to set this value only after
consulting the factory. Contact
support@[Link] .

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Key Value - Bit and Explanation

Returns the size of the segment queue in segmented motions (MPTP...ENDS,

301
MSEG...ENDS, PATH...ENDS, PVSPLINE...ENDS).

Returns the value of the Modbus slave IP address, as calculated when using
308
SETCONF(308)

Returns the configuration for reading Modbus interface registers, as set by

SETCONF(309)
309
0: High word will be first, then low word (default configuration)
1: Low word will be first, then high word

Returns an integer value that contains the TCP/IP address currently assigned to
the controller. The index argument has to be zero, for example,
310
GETCONF(310, 0)
If a TCP/IP protocol is not configured, or not supported, the return value is zero.

Returns the RAM load in percentage, the amount of total physical memory, or the
amount of free physical memory as:

312 0 – memory load in percentage

1 – amount of total physical memory
2 – amount of free physical memory

Returns the current mode of operation of move & settle:

0 – Feature is off, no sampling of settling times around radius
318
1 – Single mode, measure settling time up to first successful settle
2 – Auto mode, keep measuring even after first successful settle

?B/GETCONF(229,0)

Returns the following mask:

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00000000,00000000,00000000,00000001
Reports the actual state of the mechanical brake for the given axis. The output is presented in binary
base (/B).
Example 2:

?X/GETCONF(229,0)

Output:
00000001
Reports the actual state of the output pins of the mechanical brake for the given axis in hexidecimal
format.
Example 3:

?X/GETCONF(310,0)

Output:
6e00000a
The address of a controller whose TCP/IP address is [Link]

4.3.6 GETVAR
Description
GETVAR retrieves a value from a variable (ACSPL+ or user-defined variable, scalar or array) that was
declared as a Tag number.
Syntax
GETVAR( Tag, [Index1, Index2])
Arguments

Tag The variable Tag number (positive integer)

If the variable is an array, the indexes point to the specific location in the
Index1, array.
Index2
If the variable is scalar, omit the indexes.

Return Value
Returns the value of the variable specified by the Tag.
Example

GLOBAL REAL TAG 1001 EE(2)(2)

!Defines user variable array EE as Tag 1001.
SETVAR (15,1001,1,1) !Sets value 15 to user variable array

!described in Tag 1001 cell (1)(1).

DISP GETVAR (1001,1,1) !Display the value in user variable array

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!designated by Tag 1001 cell (1)(1).

STOP !Ends program

The controller displays the return value of the GETVAR function which is = 15.

4.3.7 MDURATION
Description
The MDURATION function calculates time of certain motion profile phase. The function can be
executed in buffer or terminal, and it will wait till the execution is completed.
Syntax

REAL MDURATION(MotionType, Distance, Vel, Acc, Dec, Jerk, phaseNumber

(optional), EncoderFactor(optional))

Arguments

An integer number representing the motion type.

MotionType 0: PTP motion
Currently only PTP motion is supported.

A real number representing the distance of motion. The distance is in

Distance
[user-units].

A real number representing the desired velocity. The velocity is in

Vel
[user-units/sec]. Velocity ranges from -1.79769e+308 to 1.79769e+308.

A real number representing the desired acceleration. The acceleration

Acc is in [user-units/sec2]. Acceleration ranges from 2.22507e-308 to
1.79769e+308.

A real number representing the desired deceleration. The deceleration

Dec is in [user-units/sec2]. Deceleration ranges from 2.22507e-308 to
1.79769e+308.

A real number representing the desired jerk. The jerk is in [user-

Jerk
units/sec3]. Jerk ranges from 2.22507e-308 to 1.79769e+308.

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(Optional, Integer) Determines which motion profile component will be

returned.
0: t – Motion overall time [sec] – default
1: t1 – Acceleration buildup [sec]
2: t2 – Constant Acceleration [sec]
phaseNumber
3: t3 – Acceleration finishing [sec]
4: t4 – Constant velocity [sec]
5: t5 – Deceleration buildup [sec]
6: t6 – Constant deceleration [sec]
7: t7 – Deceleration finishing [sec]

A real representing the factor between the raw feedback in encoder

EncoderFactor counts and the FPOS value calculated by the controller. EncoderFactor
ranges between 1e-15 to 1e+15, Default = 1.

Return Value
Returns motion profile time according to phaseNumber.
Comments
Assume that the motion will start and complete when velocity and acceleration are 0.
Input Shaping is not supported
phaseNumber options corresponds to a third order point-to-point profile:

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Assume that the motion will start and complete when velocity and acceleration are 0.
Input Shaping is not supported.
Error Conditions
The function detects the following error conditions.
> 3207 - phaseNumber parameter is not between 0 to 7
> 3412 - The MotionType parameter is intended to be one of supported motion types.
Currently only PTP motion is supported.
> 3045 - At least one of struct members is infinite.
> 3041 - Vel, Acc, Dec, Jerk, or EncoderFactor is out of range.
Examples

! Example 1
! MotionType = 0 – PTP
! Distance = 20000, Vel= 10000, Acc = 100000, Dec = 100000, Jerk =
20000000

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! phaseNumber = default = 0 - Motion overall time in seconds

! EncoderFactor = default = 1
V0 = MDURATION(0, 20000, 10000, 100000, 100000, 20000000)
! Return value: Motion overall time V0 = 2.105[sec]
STOP

! Example 2
! MotionType = 0 – PTP
! Distance = 20000, Vel= 10000, Acc = 100000, Dec = 100000, Jerk =
20000000
! phaseNumber = 4 - Constant velocity
! EncoderFactor = default = 1
V0 = MDURATION(0, 20000, 10000, 100000, 100000, 20000000, 4)
! Return value: Constant velocity V0 = 1.895[sec]
STOP

! Example 3
! MotionType = 0 – PTP
! Distance = 20000, Vel= 10000, Acc = 100000, Dec = 100000, Jerk =
20000000
! phaseNumber = 4 - Constant velocity
! EncoderFactor = 2
V0 = MDURATION(0, 20000, 10000, 100000, 100000, 20000000, 4, 2)
! Return value: Constant velocity V0 = 1.895[sec]
STOP

4.3.8 NUMTOSTR
Description
This function converts a number to a string of elements where each element is an ASCII encoded
value.
Syntax
int NUMTOSTR(Number, Target, Type, From, N)
Arguments

Number The number to be converted

Target An integer array used in which to put the results

Designates the format of the number to be converted, it can be:

> 0 - decimal
Type
> 1- hex
> 2 - floating point

From Index of the first element in the array that may contain the number

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N The number of elements in target that may be used

Return Value
The number of elements used.
Example

real number
int target(12);
int i;
int j;
number = 12.2
i=0; loop 12 target(i) = 0; i = i+1; end;
j = numtostr(number,target,0,0,12)
disp "target = %X,%X,%X,%X,%X num elements = %d", target(0),target
(1),target(2),target(3),target(4), j
i=0; loop 12 target(i) = 0; i = i+1; end;
j = numtostr(number,target,1,0,12)
disp "target = %X,%X,%X,%X,%X num elements = %d", target(0),target
(1),target(2),target(3),target(4), j
i=0; loop 12 target(i) = 0; i = i+1; end;
j = numtostr(number,target,2,0,12)
disp "target = %X,%X,%X,%X,%X num elements = %d", target(0),target
(1),target(2),target(3),target(4), j
stop
! output:
! target = 31,32,0,0,0 num elements = 2
! target = 63,0,0,0,0 num elements = 1
! target = 31,32,2E,32,30 num elements = 9

4.3.9 SETCONF

SETCONF should be used only by advanced users.

Description
SETCONF defines system configuration data.
All the keys that can be set by SETCONF listed in SETCONF Arguments can also be retrieved by
GETCONF.
Syntax
SETCONF(key,index,value)
Arguments

key Specifies the configured feature.

index Specifies axis or buffer number.

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The set of bit states for the defined key. value is set up according to a 16-bit
binary template, illustrated in 16-bit Binary value Template. The controller strips
all leading zeros. The controller understands value in binary, hexidecimal, or
decimal format.
value The following prefixes determine value format:
0B - binary
0H - hexidecimal
A decimal value does not require any prefix.

Table 6-2. 16-bit Binary value Template

3 3 2 2 2 ..
Bit 6 5 4 3 2 1 0
1 0 9 8 7 .

Pre
fix
[0
B] | ..
0 0 0 0 0 0 0 0 0 0 0 0
[0 .
H]
val
ue

SETCONF arguments are detailed in Table 6-3.

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Table 6-3. SETCONF Arguments

Key Index Value - Bit and Explanation

Sets the mask that determines, for each digital

input, whether the leading or trailing signal edge
triggers an interrupt.
The mask contains a bit for each available input
signal. The location of bits in the mask corresponds
to the location of bits in variable IN0.
26 Don’t Care
For each bit -
1: The controller generates an interrupt on the
falling edge of the corresponding input signal.
0: Controller generates an interrupt on the rising
edge of the corresponding input signal.
After power-up, all bits in the mask = 0.

Sets the mask that determine whether a digital

input triggers on a single edge, or on both edges. If
value = 0, the trigger edge is determined by key 26.
The location of bits in the mask corresponds to the
location of bits in variable IN0.
37
1: The controller generates an interrupt on
both edges.
0: The controller generates an interrupt on
one edge.
After power-up the mask contains 0 in all bits.

Clears the stored maximum usage value. This value

79 is the maximum system usage since power-up or a
previous call to SETCONF(79). See GETCONF(79).

Resets the counter of allowed single EtherCAT

86
frames that were actually lost

Axis: Sets the value of MFLAGS.1 (Open Loop)

203 0, 1, 2, ..., up to total 1: Open loop
number of axes in
system minus 1 0: Not open loop

Axis: Sets the value of MFLAGS.9 (Commutation OK).

204 0, 1, 2, ..., up to total 1: Commutation OK
number of axes in
system minus 1 0: Commutation not OK

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Key Index Value - Bit and Explanation

Valid only for brushless motors (MFLAGS.8 = 1).

SETCONF with the 214 key sets the commutation
offset at the current position to the specified value
(in degrees).
There are, however, two cases that have to be
considered when using SETCONF:
> Motor Not Commutated (MFLAGS.9=0)
If the motor has not yet been commutated,
SETCONF sets the commutation offset at
the current position to the value specified
by the value argument.
Axis: > Motor Commutated (MFLAGS.9=1)
The behavior of SETCONF for commutated
214 0, 1, 2, ..., up to total
motors in SPiiPlus NT controllers is
number of axes in
different fromthat in non-NT SPiiPlus
system minus 1
controllers. For NT controllers once a motor
is commutated, the commutation phase
has an additional 90o. SETCONF modifies
the commutation phase prior to this 90o
addition. Therefore, to change the
commutation phase of a commutated
motor, it is recommended that the user
enter ?GETCONF(214,axis) in the
Communication Terminal and subtract 90
from the returned value. From this the user
can calculate what the value of the value
argument should be to get the proper
phase.

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Key Index Value - Bit and Explanation

Valid only for brushless motors (MFLAGS.8 = 1).

If value = 1:
> MFLAGS.9=0 (Commutation is not OK)
> MFLAGS bits 1, 4, 5, 6 are set to zero
> MFLAGS.8 is set to 1
Axis:
> DCOM is reset to zero
216 0, 1, 2, ..., up to total
number of axes in > Sets RPOS = FPOS
system minus 1
If value = 0:
> MFLAGS.9=0 (Commutation is not OK)
> MFLAGS bits 1, 4, 5, 6 are set to zero
> MFLAGS.8 is set to 10
> Variable DCOM is reset to zero.

Valid only for brushless motors (MFLAGS.8 = 1)

where the encoder has encountered the index and
IND contains a valid value.
value: Not Relevant.
> Adjusts the commutation offset so that the
Axis:
commutation phase at the last index point
0, 1, 2, ..., up to total
217 is equal to the specified value in degrees.
number of axes in
system minus 1 > MFLAGS.9=0 (Commutation is not OK)
> MFLAGS bits 1, 4, 5, 6 are set to zero
> MFLAGS.8 is set to 1
> DCOM is reset to zero
> Sets RPOS = FPOS

Axis: Mechanical brake output:

0, 1, 2, ..., up to total 1: Deactivates mechanical brake output.
229
number of axes in 0: Activates mechanical brake output. The motor
system minus 1 must be disabled to execute this setting.

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Key Index Value - Bit and Explanation

SETCONF(246, Axis, 0) is used to clear the fault

status on all axes that relate to the DDM3U Motor
Axis: Drive that handles the specified axis.
0, 1, 2, ..., up to total
246
number of axes in The FCLEAR command does not clear
system minus 1 the fault status in the MC4U, SETCONF
(246, Axis, 0) has to be used instead.

There are situations where automatic current bias

measurement (in ACS control modules) can lead to
problems. For example, when running an air
Axis:
bearing stage, the automatic current offset
Axis: measurement may be inconsistent with every
249 0, 1, 2, ..., up to total enable due to air bearing stage movement or drift
number of axes in during enable. Thus any small offset can create a
system minus 1 relatively large oscillation during constant velocity.
SETCONF(249, Axis, 0) disables the automatic
current bias measurement for the given axis.

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Key Index Value - Bit and Explanation

Changes the gantry pair's allocation to all axes

within the Servo Processor that the specified axis
belongs to.
Gantry pair's allocation is done according to the
following:
0: for pairs (0,1) and (2,3)
1: for pairs (0,2) and (1,3)

For example:
4 axes MC4U system
Command for setting pairs (0,1) and (2,3) -
SETCONF(267,0,0)
Command for setting pairs (0,2) and (1,3) -
SETCONF(267,0,1)

8-axes MC4U system

Command for setting pairs (0,1) and (2,3) -
0, 1, 2, ..., up to total SETCONF(267,0,0)
267 number of axes in
Command for setting pairs (0,2) and (1,3) -
system minus 1
SETCONF(267,0,1)
Command for setting pairs (4,5) and (6,7) -
SETCONF(267,4,0)
Command for setting pairs (4,6) and (5,7) -
SETCONF(267,4,1)

Two 8-axes MC4U systems connected in the

network
Command for setting pairs (0,1) and (2,3) -
SETCONF(267,0,0)
Command for setting pairs (0,2) and (1,3) -
SETCONF(267,0,1)
Command for setting pairs (4,5) and (6,7) -
SETCONF(267,4,0)
Command for setting pairs (4,6) and (5,7) -
SETCONF(267,4,1)
Command for setting pairs (8,9) and (10,11) -
SETCONF(267,8,0)

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Key Index Value - Bit and Explanation

Command for setting pairs (8,10) and (9,11) -

SETCONF(267,8,1)
Command for setting pairs (12,13) and
(14,15) - SETCONF(267,12,0)
Command for setting pairs (12,14) and
(13,15) - SETCONF(267,12,1)

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Key Index Value - Bit and Explanation

If an axis is enabled while moving, the motor back-

EMF may generate high currents during the ENABLE
process which can potentially damage the drive or
the motor.
To avoid such damage the controller should check
the motor velocity during the ENABLE process and
triggers a fault (error 5104 – “motor is moving”) if it
is above a threshold. The threshold is proportional
to SLCPRD (commutation period) for a brushless
motor(MFLAGS().8=1). It is proportional to XVEL
(maximal velocity) for a DC-brush motor (MFLAGS
().8=0)
Usually the user should not modify the factor, but in
special specific cases it may need to be increased. A
typical example where modification might be
needed is a dual loop system with high resolution
encoder on the load and low resolution encoder at
Axis: the motor (used for commutation). The threshold
0, 1, 2, ..., up to total may be multiplied by a factor using a special
270
number of axes in SETCONF command.
system minus 1
> SETCONF(270, <axis>, <value>) The value
is – 1.0 by default.
> GETCONF(270, <axis>) returns the current
value of the factor.
The SETCONF command should be executed after
each controller powerup.

Because of the potential

damage to the drive and the
motor, the user is advised to
set this value only after
consulting the factory.
Contact
support@acsmotioncontrol.c
om .

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Key Index Value - Bit and Explanation

The following decimal values specify a

communication channel for special input:
3: Set the channel to Modbus Master mode.
2: Set the channel to Modbus Slave mode
1: Assigns the channel for special input.
2
302 0: Set the channel to regular command
1 processing mode (default channel mode).
If a channel is assigned for special input, the
controller does not process commands from this
channel. Output to the channel is provided by
regular DISP and SEND commands.
index specifies the channel.

The value sets the baud rate for the specified serial
channel, where the baud rate is the decimal value.
2
303 115200 (default), 57600, 19200, 9600, 4800, 2400,
1 1200, 600, 300.
index specifies the channel.

Sets communication options:

Bit 2 -
1: extended stop bit
0: normal stop bit
Bit 3 -
2
304 1: check parity
1
0: no parity
Bit 4 -
1: even parity
0: odd parity
index specifies the channel.

In order to be able to receive messages, use

specific channels (SEND and DISP commands)
306 -1
1 - Enable receiving messages on a specific channel
0 - Stop receiving messages from a host application

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Key Index Value - Bit and Explanation

When the controller acts as a Modbus Master, the

function establishes or closes the Modbus TCP
connection with the Slave device using the
specified slaveIP. Up to three slaves can be
connected to the master controller (17, 18 or 19).
Value=SlaveIP.
The slaveIP value specifies the Modbus Slave
19
device IP address. The slaveIP address is calculated
308 18 as follows: If the Slave has the following address:
[Link], the slaveIP parameter should be
17
10*2^24 + 1*2^16 + 168*2^8 + 192 = 167880896
(0x0A01A8C0).
If the specified channel is already open, the function
closes the opened channel and then opens new
one.
If slaveIP is zero, the function closes the TCP
connection.

Defines the sequence for the two 16-bit Modbus

interface registers -
309 Don’t Care 1: Low word will be first, then high word
0: High word will be first, then low word (default
configuration)

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Key Index Value - Bit and Explanation

Used for providing access to the controller TCP/IP

address. Where:
Value = TCP/IP Address, which is a 32-bit (four
bytes) integer, each byte of which contains one part
of the TCP/IP address, for example, 0x6400000a
assigns address [Link] (the number is read from
right to left and fills in the address left to right).
After power-up, the controller is initialized with the
TCP/IP address set in the TCPIP variable.
There are several limitations when using SETCONF
310 0 (310):
> SETCONF(310) must be used only with non-
zero address arguments.
> SETCONF(310) has a long execution time.
During this time, communication with the
controller is impossible using any
communication channel. Use SETCONF(310)
only within the controller initialization
sequence. Avoid attempts to communicate
with the controller and the motor ENABLE
command or motion commands while
SETCONF(310) is in progress.

Move & Settle:

0 – Feature is off, no sampling of settling times
Axis: 0, 1, 2, ..., up to total around radius
318 number of axis in system 1 – Single mode, measure settling time up to first
minus 1 successful settle
2 – Auto mode, keep measuring even after first
successful settle.

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Key Index Value - Bit and Explanation

> TCP Server Opens TCP client socket for a case when the
Communication controller should serve as a TCP Client.
Port
The value is the TCP Server IP Address.
> Communication
The IP address is calculated as follows: If the TCP
Channel
Server has the following address: [Link], the IP
(channels 26-29
parameter should be 10*2^24 + 1*2^16 + 168*2^8 +
are reserved for
322 192 = 167880896 (0x0A01A8C0).
this task, no
other channels If the specified channel is already open, the function
may be used) closes the opened channel and then opens new
one.
Index value calculated as
follows: If an IP is zero, the function closes the TCP
connection.
Index =
Port*100+Channel

Range of Values: 0-400

> 0 – Matrix related operations will not be
performed in real-time.
325 0 > 400 - Operations on matrices with up to
400 elements (e.g., 20x20) will be
performed in real-time. Operations on
matrices larger than 400 are not allowed
to run in real-time due to critical impact on
MPU usage.

Return Value
None
COM Library Methods
SetConf
C Library Functions
acsc_SetConf
Example
The following example illustrates setting the value of MFLAGS.1 to 1, configuring axis 2 to open loop
control:

SETCONF(203, 1, 1)

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4.3.10 SETVAR
Description
SETVAR writes a value to an ACSPL+ or user variable, scalar or array, that was declared as a Tag
number.
Syntax
SETVAR(value, Tag, [Index1, Index2])
Arguments

value A real or integer value assigned to the variable.

Tag The variable Tag number (positive integer).

If the variable is an array, the indexes point to the specific location in the
Index1, array.
Index2
If the variable is scalar, omit the indexes.

Return Value
None
Error Conditions
None
Example

GLOBAL REAL TAG 1001 EE(2)(2) !Defines user variable array EE as Tag 1001
SETVAR (15,1001,1,1) !Sets value 15 to user variable array
!described in Tag 1001 cell (1)(1).
DISP GETVAR (1001,1,1) !Retrieves the value in user variable array
!described in Tag 1001 cell (1)(1).
STOP !Ends program

The controller displays the GETVAR return value which is = 15.

4.3.11 SS1RESET
Description
Resets the values of the last SS1-t channel A and channel B times.

This function should be used for SS1-t diagnostics only.

Syntax
SS1RESET [/f] axis

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Arguments

The axis index, valid numbers are: 0, 1, 2, ... up to the number of axes in the
axis system minus 1.
Axis parameter can be any axis number of the same unit.

Comments
This variable is supported in version 3.00 and higher
Return Value
None

4.3.12 STRTONUM
Description
This function converts ASCII encoded element string to a number.
Syntax
double STRTONUM(Source, Type, From, N)
Arguments

Source An integer array

Designates the format of the converted number, it can be:

> 0 - decimal
Type
> 1- hex
> 2 - floating point

From Index of the first element in the array that may contain the number

N The number of elements in source that may be used

Return Value
The number converted from the ASCII string

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Example

real number
int string(4);
number = 0
string(0) = 49; !1
string(1) = 50; !2
string(2) = 46; !.
string(3) = 50; !2
number = strtonum(string, 0, 0, 4);
disp"number = %f", number;
number = strtonum(string, 1, 0, 4);
disp"number = %f", number;
number = strtonum(string, 2, 0, 4);
disp"number = %f", number;
stop
! output:
! number = 12.000000
! number = 18.000000
! number = 12.200000

4.3.13 SYSINFO
Description
SYSINFO retrieves a value related to the SPiiPlus controller system based on the argument that is
specified.
Syntax
SYSINFO(Int)
Arguments

Int A positive integer ranging between 1 to 16.

Return Value

Returns a value based on the specified Int.

The possible values of Int and the associated return values are given in Table 6-4.
Table 6-4. SYSINFO Return Values

Int Value Returned

The SPiiPlus model number

For all EtherCAT products, returns 60.
1
A returned value of < 0 means that the connection is to the Simulator.
Note: To get the product ID, use the function ECGETPID.

2 The SPiiPlus version number

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Int Value Returned

3 The current buffer number

10 Number of regular ACSPL+ program buffers.

11 D-Buffer index

Total number of axes in the current configuration, whether a single SPiiPlus

13
controller or an EtherCAT network

14 Number of EtherCAT nodes

15 Number of data collection channels per DSP

EtherCAT support:
16 1 - Yes
0 - No

COM Library Methods

None
C Library Functions
acsc_SysInfo

4.4 Array Processing Functions

The Array Processing functions are:

Function Description

AVG Finds the average of all values in an array.

COPY Copies data from one user array to another.

DSHIFT Shifts all of the elements of the array to one position left.

FILL Fills an array or a section of array with the specified value.

MAX Finds the maximum value in an array

Finds the maximum value in an array or in a section of array and returns its
MAXI
index.

MIN Finds the minimum value in an array.

Finds the element with minimum value in an array or in a section of an array

MINI
and returns its index.

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Function Description

SIZEOF Returns number of columns or number or rows of the given array

4.4.1 AVG
Description
AVG finds the average of all values in an array.
Syntax
AVG(array_name)
Arguments

array_name The name of an array that has been declared in the program.

Return Value
Real number - returns the average of all elements in array_name.
Example

REAL Ar(3)
Ar(0) = 1; Ar(1)=0.5; Ar(2)=3;
DISP AVG(Ar)
!Output = 1.5

4.4.2 COPY
Description
COPY copies data from one user array to another.
Syntax
COPY(source, destination, from_source_row, to_source_row, from_source_col, to_source_col, from_
destination_row, to_destination_row ,from_destination_col, to_destination_col)
Arguments

The name of an array that has been declared in the program from which
source
the data is to be copied.

The name of an array that has been declared in the program to which
destination
the data is to be copied.

from_source_
The index of the first row of the source to begin copying.
row

to_source_row The index of the last row of the source to end copying.

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The index of the first column of the source to begin copying.

from_source_col
Used only for matrix type arrays, otherwise it can be omitted.

The index of the last column of the source to end copying.

to_source_col
Used only for matrix type arrays, otherwise it can be omitted.

from_
The index of the first row of the destination to begin copying into.
destination_row

to_destination_
The index of the last row of the destination to end copying into.
row

from_ The index of the first column of the destination to begin copying into.
destination_col Used only for matrix type arrays, otherwise it can be omitted.

to_destination_ The index of the last column of the destination to begin copying into.
col Used only for matrix type arrays, otherwise it can be omitted.

Comments
If the matrix indexes are omitted, the entire source matrix will be copied to the destination matrix.
If the destination matrix has different dimensions than the source matrix then the destination
matrix will use the source matrix values to fill each row completely and move to the next row.
Return Value
None
Error Conditions
Error 3034, Illegal index value - the destination matrix is smaller than the source matrix.
Example

INT GLOBAL SOURCE(3)(3), DESTINATION(3)(3) !Define source and destination

!matrices
!-------------------- Assign values to SOURCE matrix --------------------
-
SOURCE(0)(0)=1;SOURCE(0)(1)=2;SOURCE(0)(2)=3;SOURCE(1)(0)=4;SOURCE(1)
(1)=5;
SOURCE(1)(2)=6;SOURCE(2)(0)=7;SOURCE(2)(1)=8;SOURCE(2)(2)=9
!------------------ Assign values to DESTINATION matrix -----------------
----
COPY(SOURCE,DESTINATION,0,1,0,2,1,2,0,2) !COPY command -
!The program copies the first
!two rows from the source
!matrix to the destination
!matrix second two rows. The
!matrices are as follows:
!Source:
!1 2 3

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!4 5 6
!7 8 9
!Destination:
!0 0 0
!1 2 3
!4 5 6
STOP !Ends program

Figure 6-1. Illustration of COPY Function

4.4.3 DSHIFT
Description
DSHIFT shifts all elements of the array to one position left.
Syntax
real DSHIFT(array, value, index)
Arguments

array An array of real with the maximal size of 10,000 elements

The real value to be inserted to the array.

value
The Value is inserted to position of the element with the index Index.

The position of the element the Value is inserted to.

index
The Index should be equal or less than declared size of the array

Return Value
The first element (element with index 0) of the array.
Comments
Each time the function is called the first element of the array (element with the index 0) is returned.
All of the other elements of the array shift one position to the left (element with index 1 to 0,
element with index 2 to 1, etc.). The Value parameter is inserted to the element with the index Index.

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This function only works with arrays with up to 10,000 elements.

The function is useful when it is necessary to delay data for a number of the controller cycles.
Example
The example shows how to delay the result of the motion trajectory generator.

global real Array(20) ! Array for delay

global int Axis ! Axis index
Axis=0\
fill(APOS(Axis), Array) ! FILL array with initial APOS value
MFLAGS(Axis).#DEFCON=0 ! Motion trajectory delay is implemented
! using CONNECT function
! Motion trajectory is delayed for 10 controller cycles
CONNECT RPOS(Axis) = dshift(Array, APOS(Axis),8)
DEPENDS Axis, Axis
stop

4.4.4 FILL
Description
FILL fills an array or a section of array with a specified value.
Syntax
FILL (real value, destination, from_array_row, to_array_row, from_array_column, to_array_ column)
Arguments

real value Any real number.

The name of an array that has been declared in the program to which the
destination
value is to be copied.

from_array_row The index of the first row of the destination array to begin filling.

to_array_row The index of the last row of the destination array to end filling.

from_array_ The index of the first column of the destination array to begin filling.
column Used only for matrix type arrays, otherwise it can be omitted.

to_array_ The index of the last column of the destination array to end filling.
column Used only for matrix type arrays, otherwise it can be omitted.

Comments
If the matrix indexes are omitted, the entire matrix will be filled with the requested value.
Example

GLOBAL ARR(6)(3)
FILL(3,ARR,0,4,1,2)

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STOP

!The program fills ARR with the value 3, from row 0 to row 4,
!and from column 1 to column 2. After executing the program,
!the resulting ARR values are:
!0 3 3
!0 3 3
!0 3 3
!0 3 3
!0 3 3
!0 0 0

4.4.5 MAX
Description
MAX finds the maximum value in an array or in a section of an array.
Syntax
MAX(array_name, From1, To1, From2, To2)
Arguments

array_name The name of an array that has been declared in the program.

From1 The initial element

To1 The final element

From2 The initial element

To2 The final element

Return Value
Real number - returns the maximum element in the array.
Example

REAL AR(3)
AR(0) = 1; AR(1)=0.5; AR(2)=3;
DISP MAX(AR) !Output = 3

4.4.6 MAXI
Description
MAXI finds the maximum value in an array or in a section of array and returns its index.
Syntax
MAXI(array_name, From1, To1, From2, To2)

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Arguments

array_name The name of an array that has been declared in the program.

From1 The initial element

To1 The final element

From2 The initial element

To2 The final element

Return Value
Integer - MAXI returns the index of maximum element in the array, or in the specified section of the
array. In case of a two-dimensional array only the column index is returned.
Error Conditions
None
Example

REAL AR(3)
AR(0)= 1; AR(1)= 0.5; AR(2)= 3
DISP MAXI(AR) !Output = 2

4.4.7 MIN
Description
MIN finds the minimum value in an array or in a section of an array.
Syntax
MIN(array_name, From1, To1, From2, To2)
Arguments

array_name The name of an array that has been declared in the program.

Return Value
Real number - returns the minimum element in the array.
Error Conditions
None
Example

REAL Ar(3)
Ar(0) = 1; AR(1)=0.5; Ar(2)=3;
DISP MIN(Ar) !Output = 0.5

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4.4.8 MINI
Description
MINI finds the element with the minimum value in an array or in a section of an array and returns its
index.
Syntax
MINI(array_name, From1, To1, From2, To2)
Arguments

array_name The name of an array that has been declared in the program.

From1 The initial element

To1 The final element

From2 The initial element

To2 The final element

Return Value
Integer - MINI returns the index of the minimum element in array X, or in the specified section of
array x. In case of a two-dimensional array, only the column index is returned.
Example

REAL AR(3)
AR(0)= 1; AR(1)= 0.5; AR(2)= 3
DISP MINI(AR) !Output = 1

4.4.9 SIZEOF
Description
The function returns number of columns or number or rows of the given array (can be user-defined
or ACSPL+). If the array is one-dimension, number of rows is always one and the number of columns
represents the number of elements.
Syntax

sizeof(Array, index(optional) )

Arguments

Array The array name, can be local or global

Optional parameter. If specified, can be 1

Index
or 2

Return Value
> No index is specified: total number of elements in the array

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> Index parameter equals to 1: number of columns for two-dimensional array, or number of
elements for one-dimensional array
> Index parameter equals to 2: number of rows for two-dimensional array, or 1 for one-
dimensional array.
Comments
In case of wrong parameters, the corresponding runtime error will be generated. The function is
intended to be used for arrays only, meaning that an error is generated if a scalar is given as a
parameter.
Example

I0=sizeof(NST)

4.5 EtherCAT Functions

EtherCAT functions include:

Returns the size, in bits, of a specific entry in the object dictionary of a

COEGETSIZE
specific slave.

ECCLOSEPORT The function closes the specified port of specified EtherCAT node.

ECCLRREG Clears the contents of error counters registers.

Used for mapping input variables (TxPDO) to non-ACS EtherCAT

ECEXTIN
network.

Used for mapping output variables (RxPDO) from non-ACS EtherCAT

ECEXTOUT
network to the SPiiPlusES.

The function returns an array that contains optional groups’ indexes

ECGETGRPIND that are part of the current configuration (including mandatory group,
which is 0).

ECGETPID Returns product ID of the node.

The function returns the number of EtherCAT slaves connected to the

ECGETMAIN
main EtherCAT line.

The function returns offset of the specified variable of the specific

ECGETOFFSET
EtherCAT node.

The function returns number of actually connected optional groups,

ECGETOPTGRP
not including the mandatory group.

The function returns the number of EtherCAT slaves connected to the

ECGETRED
redundant EtherCAT line.

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ECGETREV Returns EtherCAT Revision ID of the node

ECGETREG Gets the contents of ESCs error counters registers.

Returns the location of the Nth occurrence of an EtherCAT node

ECGETSLAVE
identified by VendorID and ProductID.

ECGETSLAVES Returns the number of slaves in an EtherCAT network.

ECGETSN Returns Serial Number of the node.

ECGETSTATE Returns the state of the node.

ECGETVID Returns vendor ID of the node.

The function fills array with nodes’ indexes which are members of a
ECGRPINFO given optional group. In addition, it returns the number of members
in the group.

ECIN Copies the EtherCAT network input variable to an ACSPL+ variable.

ECOUT Copies ACSPL+ variable to EtherCAT network output variable.

Triggers the system to rescan the EtherCAT network after a slave has
ECRESCAN been removed or been added in order to refresh the network
composition data.

ECRESCUE Triggers execution of a rescue scan of the EtherCAT network

Returns the system back to the operational state if one or more

ECREPAIR
slaves underwent a reset or power cycle.

Saves the current network topology configuration into the non-

ECSAVECFG
volatile memory.

The function returns array that contains optional groups’ indexes that
ECSAVEDCNF are part of the last saved configuration (including mandatory group,
which is 0).

ECUNMAP Resets mapping of ECIN and ECOUT.

ECUNMAPIN Resets mapping of ECIN of a specified offset.

ECUNMAPOUT Resets mapping of ECOUT of a specified offset.

FOEDOWNLOAD Downloads a file over EtherCAT from the controller’s flash to slave

Upload file over EtherCAT and saves it to the controller's flash

FOEUPLOAD
memory

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PDOEXT Prints the PDO configuration defined by master (SPiiPlusES only)

4.5.1 ECCLOSEPORT
Description
The function closes the specified port of specified EtherCAT node.
Syntax
Int ECCLOSEPORT(name, index)
Arguments

Index EtherCAT node index.

Port EtherCAT port index (0 - EtherCAT IN port, 1 - EtherCAT OUT port)

Return Value
None
Comments
This function can only be used if ring topology is configured and ring communication is active. In
case there is a cable / port failure on a specific EtherCAT node, it is recommended (as long as the
erroneous situation exists) that the machine should start up directly in the line topology mode. This
is very useful, because it prevent a manual stop of the machine with a suspicious communication
link / device).
Example

ECCLOSEPORT(<slave index>, <port index>)

FCLEAR ALL
ECSAVECFG
STOP

In this example of the AUTOEXEC program that should run on power-up in this case:
The first parameter is the slave index in the network and the second parameter is the port index of
the slave that should be closed.
After “fclear All”, two Lines Are Stored Into The Controller's Non-volatile Memory.

4.5.2 ECCLRREG
Description
ESC Error Counters Registers Clear. The ECCLRREG function clears the contents of the error counters
registers.
Syntax

void ECCLRREG[0 /1](index,offset)

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Arguments

Index EtherCAT slave index.

Offset Register offset in the Beckhoff memory.

Switches

/0 First EtherCAT network. Equivalent to no switch

/1 Second EtherCAT network

Return Value
None
Comments
When the Offset value is -1, all error counters in all slaves are cleared. Otherwise, only the specific
register at the specified Offset is cleared.
After executing the ECCLRRG function, we recommend to execute the FCLEAR function without
parameters before running ECGETREG.
Example
Run the following code example in a Program Buffer.

ECCLRREG(0,0x310)
FCLEAR
STOP

You can also enter this code in the SPiiPlus MMI Application Studio Connection Terminal: ECCLRREG
(0,-1).
4.5.3 ECEXTIN
Description
The ECEXTIN function is used for mapping input variables (TxPDO) to non-ACS EtherCAT network.

Can be used only by SPiiPlusES.

Syntax

ECEXTIN (int PDOIndex, int Index, int Subindex, string Varname)

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Arguments

PDOIndex One of the TxPDO indexes defined by external master’s configuration.

Index Index of the variable mapped to the TxPDO

Subindex Sub-Index of the variable mapped to the TxPDO

Varname Valid name of a global ACSPL+ variable.

Return Value
None
Comments
Once the function is called successfully, the Firmware copies the value of the network input variable
into the ACSPL+ variable every controller cycle. The input is from the external EtherCAT master (e.g.
TwinCAT) point of view (a value provided by SPiiPlusES to the external master).
There is no restriction on number of the mapped network variables.
The mapping is allowed only when the SPiiPlusES is in OP state.
All types supported by the SPiiPlusES are also supported by the ECEXTIN function.

Error 3309 “Function is supported only by SPiiPlusES” is returned when called on a

controller which is not SPiiPlusES.
If SPiiPlusES is not in OP state, error 3310 “SPiiPlusES is not in OP state. PDO is not
enabled” error is given.

The mapping is rested by the ECUNMAP command.

COM Library Methods
None
C Library Functions
None
Example

D-Buffer:
GLOBAL INT ActualPositionTwinCAT

Regular Buffer:
ecextin (0x1A01,0x6064,0, ActualPositionTwinCAT)

STOP

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4.5.4 ECEXTOUT
Description
The ECEXTOUT function is used for mapping output variables (RxPDO) from non-ACS EtherCAT
network to the SPiiPlusES.

Can be used only by SPiiPlusES.

Syntax

ECEXTOUT (int PDOIndex, int Index, int Subindex, string Varname)

Arguments

PDOIndex One of the RxPDO indexes defined by external master’s configuration.

Index Index of the variable mapped to the TxPDO

Subindex Sub-Index of the variable mapped to the TxPDO

Varname Valid name of a global ACSPL+ variable.

Return Value
None
Comments
Once the function is called successfully, the Firmware copies the value of the network output
variable into the ACSPL+ variable every controller cycle. The output is from the external EtherCAT
master (e.g. TwinCAT) point of view (a value provided to SPiiPlusES by the external master).
There is no restriction on number of the mapped network variables.
Error 3309 “Function is supported only by SPiiPlusES” is returned when called on a controller which is
not SPiiPlusES.
If SPiiPlusES is not in OP state, error 3310 “SPiiPlusES is not in OP state. PDO is not enabled” error is
given.

The mapping is allowed only when the SPiiPlusES is in OP state.

All types supported by the SPiiPlusES are also supported by the ECEXTOUT function.

The mapping is rested by the ECUNMAP command.

COM Library Methods
None

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C Library Functions
None
Example

D-Buffer:
GLOBAL INT TargetPositionTwinCAT

Regular Buffer:
ecextout (0x1601,0x607A,0, TargetPositionTwinCAT)

STOP

4.5.5 ECGETGRPIND
Description
The function returns an array that contains optional groups’ indexes that are part of the current
configuration (including mandatory group, which is 0). The array ends with {-1}.
Syntax
ECGETGRPIND[/0][/1](groups_array)
Arguments

groups_array Array of type INT, filled with groups’ indexes. {-1} marks the end.

Switches

/0 First EtherCAT network (equivalent to no switch)

/1 Second EtherCAT network

Return Value
None.
Example:

int groups(5)
ecgetgrpind(groups) ! groups array is filled with: {0,1,-1,0,0},
!meaning that there is one optional group (with index 1) defined in the
actual system.

4.5.6 ECGETPID
Description
ECGETPID returns product ID of the node.
Syntax

ECGETPID[/0 /1] ( index)

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Arguments

Index EtherCAT slave index, starting from 0.

Switches

/0 First EtherCAT network (equivalent to no switch)

/1 Second EtherCAT network

Return Value
Product ID of the node.

4.5.7 ECGETMAIN
Description
The function returns the number of EtherCAT slaves connected to the main EtherCAT line.
Syntax
ECGETMAIN()
Return Value
The number of EtherCAT slaves connected to the main EtherCAT line

4.5.8 ECGETOFFSET
Description
The function returns offset of the specified variable of the specific EtherCAT node. The "/b" switch is
used to retrieve the offset on the variable in bits.
Syntax
Int ECGETOFFSET[/b /0 /1]](name, index, InOut(optional), occurrence(optional))
Arguments

Name Name of variable as shown in System Setup of #ETHERCAT command.

Index EtherCAT node index.

InOut Can be Output (=0) or Input (=1). By default, the variable is being searched
(optional) in Inputs and, if not found, in Outputs.

Occurence
By default the value is 0.
(optional)

Switches

/b Returns the bit offset of the variable

/0 First EtherCAT network, equivalent to no switch

/1 Second EtherCAT network

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Comments
The offset in bits can be calculated by following method:
Offset in Bytes as provided by #ETHERCAT report.
The return value of the ECGETOFFSET/B will be equal to:
<Offset in Bytes>*8+<Offset in Bits>
Return Value
Offset of the specified variable.
Example

GLOBAL INT IN0_OFFSET

! Assuming that IOMnt is the first EtherCAT node in the network
IN0_OFFSET = ECGETOFFSET("Digital Inputs 0", 0)
! Assuming that WAGO is the first EtherCAT node in the network.
! Returns offset of network variable (PDO) "Channel 1 Data", slave 0,
Output, first occurrence
I0=ECGETOFFSET("Channel 1 Data",0)
!Returns offset of network variable (PDO) "Channel 1 Data", slave 0,
Input, first occurrence
I1=ECGETOFFSET("Channel 1 Data",0,1,1)
!Returns offset of network variable (PDO) "Channel 1 Data", slave 0,
Input, second occurrence

Example

WAGO_Offset_Bit, WAGO_Offset_Byte
WAGO_Offset_Bit =ECGETOFFSET/b (“Input(s).Channel 2, Word 1”,0)
WAGO_Offset_Byte = ECGETOFFSET (“Input(s).Channel 2, Word 1”,0)

Example

I0=ecgetoffset/1 ("Digital Inputs 0",1) !Second EtherCAT network, offset

in !bytes
I1=ecgetoffset/1b ("Digital Inputs 0",1) !Second EtherCAT network, offset
!in bits

STOP

4.5.9 ECGETOPTGRP
Description
The function returns number of actually connected optional groups, not including the mandatory
group.
Syntax
ECGETOPTGRP [/0][/1] ()

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Arguments
None.
Switches

/0 First EtherCAT network (equivalent to no switch)

/1 Second EtherCAT network

Return Value
Returns number of actually connected optional groups, not including the mandatory group.
Example:

?ecgetoptgrp()
2

4.5.10 ECGETRED
Description
The function returns the number of EtherCAT slaves connected to the redundant EtherCAT line.
Syntax
ECGETRED()
Return Value
The number of EtherCAT slaves connected to the redundant EtherCAT line.

4.5.11 ECGETREG
Description
ESC Error Counters Registers (Beckhoff Memory). The ESCs have numerous error counters that help
you detect and locate errors. The ECGETREG function enables you to view the contents of these
registers.
Syntax

int ECGETREG[/0/1](index,offset)

Arguments

Index EtherCAT slave index.

Offset Register offset in the Beckhoff memory.

Switches

/0 First EtherCAT network. Equivalent to no switch

/1 Second EtherCAT network

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Return Value
None
Comments
The following table lists supported error counter registers.
Table 6-5. Supported Error Counter Registers

Offset Name Description

Error Counted at the Auto-Forwarded (per port).

Each register contains two counters:
Port Error Counter
0x300
(CRC A) > Invalid Frame Counter: 0x300/2/4/6
> RX Error Counter: 0x301/3/5/7

Port Error Counter

0x302
(CRC B)

Port Error Counter

0x304
(CRC C)

Port Error Counter

0x306
(CRC D)

Forwarded RX Error Invalid frame with marking from previous ESC

0x308
Counter (CRC A/B) detected (per port).

Forwarded RX Error
0x309
Counter

Forwarded RX Error
0x30A
Counter (CRC C/D)

Forwarded RX Error
0x30B
Counter

ECAT Processing Unit Invalid frame passing the EtherCAT Processing Unit
0x30C
Error Counter (additional checks by processing unit).

0x30D PDI Error Counter Physical Errors detected by the PDI.

Lost Link Counter,

0x310 Link Lost events (per port).
Port A (IN)

Lost Link Counter,

0x311
Port B (OUT)

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Offset Name Description

Lost Link Counter,

0x312
Port C

Lost Link Counter,

0x313
Port D

If a cable is unplugged, we recommend using the FCLEAR command before using

ECGETREG.
The mapping is allowed only when stack is operational.

Example
Run the following code example in a Program Buffer.

I0=ECGETREG(0,0x310)
STOP

You can also enter this code in the SPiiPlus MMI Application Studio Connection Terminal:

?ECGETREG(0,0x310)

4.5.12 ECGETREV
Description
The function returns EtherCAT Revision ID of the node.
Syntax

ECGETREV()

Arguments

Index EtherCAT node index, starting from 0.

Switches

/0 First EtherCAT network (equivalent to no switch)

/1 Second EtherCAT network

Return Value
The EtherCAT Revision ID of the node

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4.5.13 ECGETSLAVE
Description
This function returns the location of the Nth occurrence of an EtherCAT node identified by VendorID
and ProductID.
Syntax

INT ECGETSLAVE [/0] [/1] (VendorID, ProductID, N)

Arguments

VendorID Scalar representing EtherCAT Vendor ID of the desired slave.

ProductID Scalar representing EtherCAT Product ID of the desired slave.

N Occurrence of the EtherCAT node to return.

Switches

/0 First EtherCAT network (equivalent to no switch).

/1 Second EtherCAT network.

Example
Given the following System Information:

Using the command in the MMI terminal gives the following results.

?ECGETSLAVE(0x000000540, 0x02030000, 0)
1
:
?ECGETSLAVE(0x000000540, 0x02050000, 0)
-1
:

4.5.14 ECGETSLAVES
Description
This function is used to retrieve the number of slaves in an EtherCAT network.
Syntax

ECGETSLAVES [/0][/1]()

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Arguments
None
Switches

/0 First EtherCAT network (equivalent to no switch)

/1 Second EtherCAT network

Return Value
Number of EtherCAT slaves in the network.
Comments
If a slave was added or removed, the ECRESCAN command should be used before using
ECGETSLAVES again.

4.5.15 ECGETSN
Description
ECGETSN returns the EtherCAT Serial Number of the node.
Syntax

ECGETSN[/0/1](index)

Arguments

Index EtherCAT node index, starting from 0.

Switches

/0 First EtherCAT network (equivalent to no switch)

/1 Second EtherCAT network

Return Value
Serial Number of the node.

4.5.16 ECGETSTATE
Description
ECGETSTATE returns the state of the node.
Syntax

ECGETSTATE[/0/1](index)

Arguments

Index EtherCAT slave index, starting from 0.

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Switches

/0 First EtherCAT network (equivalent to no switch)

/1 Second EtherCAT network

Return Value
The State of the node.

State Returned Value

INIT 1

PREOP 2

SAFEOP 4

OP 8

4.5.17 ECGETVID
Description
ECGETVID returns the vendor ID of the node.
Syntax

ECGETVID [/0][/1] (index)

Arguments

Index EtherCAT slave index, starting from 0.

Switches

/0 First EtherCAT network (equivalent to no switch)

/1 Second EtherCAT network

Return Value
The ACS vendor ID of the node.

4.5.18 ECGRPINFO
Description
The function fills array with nodes’ indexes which are members of a given optional group. In
addition, it returns the number of members in the group.
Syntax
ECGRPINFO[/0][/1](group_index, nodes_array)

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Arguments

group_index Optional Group Index, starting from 0 (0 is the mandatory group)

nodes_array Array of type INT, filled with nodes’ indexes. {-1} marks the end.

Switches

/0 First EtherCAT network (equivalent to no switch)

/1 Second EtherCAT network

Return Value
Returns the number of the members in the specified optional group.
Example:

int nodes(5)
I0=ecgrpinfo(1,nodes) ! returns number of nodes in optional group 1
! nodes array is filled with: {0,-1,0,0,0}

4.5.19 ECIN
Description
This function is used to copy the EtherCAT network input variable at the corresponding EtherCAT
offset into the specified ACSPL+ variable.
Syntax
ECIN[/b /0 /1](int offset, Varname)
Arguments

Internal EtherCAT offset (in bytes or in bits) of network variable derived from
the SPiiPlus MMI Application Studio Communication Terminal ETHERCAT
command.
offset
> No switch: EtherCAT offset in bytes
> "/b" switch: the offset is in bits

Varname Valid name of ACSPL+ variable, global or standard.

Switches

/b Offset is in bits, not bytes

/0 First EtherCAT network. Equivalent to no switch

/1 Second EtherCAT network

Return Value
None

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Comments
Once the function is called successfully, the Firmware copies the value of the network input variable
at the corresponding EtherCAT offset into the specified ACSPL+ variable, every controller cycle.
There is no restriction on number of mapped network variables.

The mapping is allowed only when stack is operational.

In the event of wrong parameters or stack state, the function will produce a corresponding runtime
error.

It is recommended to use the ECGETOFFSET function to retrieve the offset, in bytes or in

bits.

COM Library Methods

None
C Library Functions
acsc_MapEtherCATInput
Example

D-Buffer:
GLOBAL INT IOMNT_IN(4)
GLOBAL INT IOMNT_OUT(4)

Regular Buffer:
AUTOEXEC:

INT IN0_OFFSET
INT IN1_OFFSET
INT IN2_OFFSET
INT IN3_OFFSET

INT OUT0_OFFSET
INT OUT1_OFFSET
INT OUT2_OFFSET
INT OUT3_OFFSET

! Assuming that IOMnt is the first EtherCAT node in the network

IN0_OFFSET = ECGETOFFSET("Digital Inputs 0", 0)
IN1_OFFSET = ECGETOFFSET("Digital Inputs 1", 0)
IN2_OFFSET = ECGETOFFSET("Digital Inputs 2", 0)
IN3_OFFSET = ECGETOFFSET("Digital Inputs 3", 0)

OUT0_OFFSET = ECGETOFFSET("Digital Outputs 0", 0)

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OUT1_OFFSET = ECGETOFFSET("Digital Outputs 1", 0)

OUT2_OFFSET = ECGETOFFSET("Digital Outputs 2", 0)
OUT3_OFFSET = ECGETOFFSET("Digital Outputs 3", 0)

ECIN(IN0_OFFSET, IOMNT_IN(0))
ECIN(IN1_OFFSET, IOMNT_IN(1))
ECIN(IN2_OFFSET, IOMNT_IN(2))
ECIN(IN3_OFFSET, IOMNT_IN(3))

ECOUT(OUT0_OFFSET, IOMNT_OUT(0))
ECOUT(OUT1_OFFSET, IOMNT_OUT(1))
ECOUT(OUT2_OFFSET, IOMNT_OUT(2))
ECOUT(OUT3_OFFSET, IOMNT_OUT(3))

STOP

4.5.20 ECOUT
Description
This function is used to copy the value of ACSPL+ variable into the network output variable at the
corresponding EtherCAT offset.
Syntax
ECOUT[/b /0 /1][/r] (int offset, Varname)
Arguments

Varname Valid name of ACSPL+ variable, global or standard.

Switches

Copies the EtherCAT network output (RxPDO) variable at the corresponding

/r
EtherCAT offset into the specified ACSPL+ variable.

/b Offset is in bits, not bytes

/0 First EtherCAT network. Equivalent to no switch

/1 Second EtherCAT network

Return Value
None

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Comments
Once the function is called successfully, the Firmware copies the value of the specified ACSPL+
variable network input variable into the given EtherCAT offset, every controller cycle.
There is no restriction on number of mapped network variables.

Mapping is allowed only when stack is operational. ACS recommends retrieving the
offset using ACSPL+ ECGETOFFSET().

In the event of wrong parameters or stack state, the function will produce corresponding runtime
error.
COM Library Methods
None
C Library Functions
acsc_MapEtherCATOutput

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Example 1

D-Buffer:
GLOBAL INT IOMNT_IN(4)
GLOBAL INT IOMNT_OUT(4)
Regular Buffer:
AUTOEXEC:
INT IN0_OFFSET
INT IN1_OFFSET
INT IN2_OFFSET
INT IN3_OFFSET
INT OUT0_OFFSET
INT OUT1_OFFSET
INT OUT2_OFFSET
INT OUT3_OFFSET
! Assuming that IOMnt is the first EtherCAT node in the network
IN0_OFFSET = ECGETOFFSET("Digital Inputs 0", 0)
IN1_OFFSET = ECGETOFFSET("Digital Inputs 1", 0)
IN2_OFFSET = ECGETOFFSET("Digital Inputs 2", 0)
IN3_OFFSET = ECGETOFFSET("Digital Inputs 3", 0)
OUT0_OFFSET = ECGETOFFSET("Digital Outputs 0", 0)
OUT1_OFFSET = ECGETOFFSET("Digital Outputs 1", 0)
OUT2_OFFSET = ECGETOFFSET("Digital Outputs 2", 0)
OUT3_OFFSET = ECGETOFFSET("Digital Outputs 3", 0)
ECIN(IN0_OFFSET, IOMNT_IN(0))
ECIN(IN1_OFFSET, IOMNT_IN(1))
ECIN(IN2_OFFSET, IOMNT_IN(2))
ECIN(IN3_OFFSET, IOMNT_IN(3))
ECOUT(OUT0_OFFSET, IOMNT_OUT(0))
ECOUT(OUT1_OFFSET, IOMNT_OUT(1))
ECOUT(OUT2_OFFSET, IOMNT_OUT(2))
ECOUT(OUT3_OFFSET, IOMNT_OUT(3))
STOP

Example 2

D-Buffer:
GLOBAL INT TargetPosition
Regular Buffer:
!Assuming the first EtherCAT node in the network has "Target Position"
network variable
ecout/r ( ECGETOFFSET("Target Position",0),TargetPosition)
STOP

4.5.21 ECREPAIR
Description
ECREPAIR serves to return the system back to the operational state if one or more slaves
underwent a reset or power cycle. It provides an ability to recover EtherCAT network when there is a

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need to replace unit for maintenance without the need to perform commutation, homing, etc., to all
other units within the EtherCAT network.
Syntax
ECREPAIR[/0][/1]
Switches

/0 First EtherCAT network (equivalent to no switch)

/1 Second EtherCAT network

Comments
ECREPAIR performs the following steps:
1. Detects which nodes are not communicating
2. Brings all slaves to the EtherCAT OP state
3. Establishes inter-slaves and master-slaves synchronization
4. Downloads Servo Processor programs to repaired nodes only
5. Restores all Servo Processor variable values accordingly
ECREPAIR can take a long time to complete; therefore it is recommended calling ECREPAIR from a
Program Buffer. It is possible to execute the ECREPAIR command from the SPiiPlus MMI Application
Studio Communication Terminal; however, in this case the communication timeout should be
configured to be longer.

It is strongly recommended not to take any other actions until ECREPAIR completes.

Once the process is complete, the system state can be evaluated through:
> ECST
> SYNC values
> Servo Processor Alarm indication on all axes
> The View System Configuration task of the System Configuration Wizard
If all of these indicators show normal operation status, the ECREPAIR operation was successful.
EtherCAT slaves that were operational before ECREPAIR activation will keep their feedback and
commutation valid.

4.5.22 ECRESCAN
Description
ECRESCAN triggers the system to rescan the EtherCAT network after a slave has been removed or
been added in order to refresh the network composition data.
Syntax

ECRESCAN[/0][/1]

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Arguments
None
Switches

/0 First EtherCAT network (equivalent to no switch)

/1 Second EtherCAT network

Comments
The command can be entered either through a Program Buffer or via the SPiiPlus MMI Application
Studio Communication Terminal.
During controller power-up, the controller automatically detects the EtherCAT network change and
informs the user, making a call to ERESCAN unnecessary.

4.5.23 ECRESCUE
Description
ECRESCUE triggers execution of a rescue scan of the EtherCAT network. The scan will detect the
failure location preventing return of EtherCAT frames to the EtherCAT master.
Syntax

ECRESCUE[/0 /1]

Arguments
None
Switches

/0 First EtherCAT network (equivalent to no switch)

/1 Second EtherCAT network

Comments
The command can be entered through a Program Buffer in the SPiiPlus MMI Application Studio.
Procedure when using an application developed by the user:
1. Issue the ECRESCUE command to execute EtherCAT network rescue scan
2. Check ECERR value
3. In case of ECERR = 6024, Issue the ?ECGETMAIN() and ?ECGETRED() commands to identify
the location of the failure
4. The controller must be rebooted after running the command ECREPAIR
In most cases the ECRESCUE command shouldn't be explicitly executed by the user. During the
controller power up, the controller automatically detects the EtherCAT network failure and informs
the user.

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4.5.24 ECSAVECFG
Description
The command saves to flash an array of optional groups based on current configuration, based on
ecgetgrpind() function. For example, actual configuration that contains 1 optional group will be
represented as: {0,1,-1}. This array will be read upon power-up of the controller. Actual configuration
will be checked against the approved configuration. If not identical, error 6016, “The actual network
configuration doesn’t match the last approved configuration.”, is displayed.
Syntax
ECSAVECFG
Arguments
None
Return Value
None.
Comments

The flash memory is rated to support about 100,000 write operations.

ACS recommends against frequent, repeated writing to the flash memory.

Example:

ecsavecfg

4.5.25 ECSAVEDCNF
Description
The function returns array that contains optional groups’ indexes that are part of the last saved
configuration (including mandatory group, which is 0). The array ends with {-1}.
Syntax
ECSAVEDCNF[/0][/1](groups_array)
Arguments

groups_array Array of type INT, filled with groups’ indexes. {-1} marks the end.

Switches

/0 First EtherCAT network (equivalent to no switch)

/1 Second EtherCAT network

Return Value
None.

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Example:

int groups(5)
ecsavedcnf(groups) ! groups array is filled with: {0,1,-1,0,0},
>!meaning that there is one optional group (with index 1) in the last
saved configuration.

4.5.26 ECUNMAP
Description
This function is used to reset all previous mapping defined by ECIN and ECOUT.
Syntax
ECUNMAP [/0 /1]
Arguments
None
Switches

/0 First EtherCAT network. Equivalent to no switch

4.5.27 ECUNMAPIN
Description
This function is used to reset all previous mapping defined by ECIN to a specfic offset.
Syntax
ECUNMAPIN [/0 /1](ECOffset)
Arguments

ECOffset An integer providing the offset to which a variable was mapped using ECIN.

Return Value
None

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Switches

/0 First EtherCAT network. Equivalent to no switch

/1 Second EtherCAT network

Comments
The mapping is allowed only when stack is operational.
Example
Given the previous execution of ECIN(48,I0), ECUNMAPIN(48) will unmap only I0.

4.5.28 ECUNMAPOUT
Description
This function is used to reset all previous mapping defined by ECOUT to a specfic offset.
Syntax
ECUNMAPOUT [/0 /1] (ECOffset)
Arguments

An integer providing the offset to which a variable has been mapped by

ECOffset
ECOUT.

Return Value
None
Switches

/0 First EtherCAT network. Equivalent to no switch

/1 Second EtherCAT network

Example
Assuming previous execution of ECOUT(48,I0) and ECOUT(50,I1), executing ECUNMAPOUT(48) will
unmap only I0.

4.5.29 FOEDOWNLOAD
Description
The function downloads a file over EtherCAT from the controller’s flash memory to a slave device.
Syntax

FOEDOWNLOAD [/0][/1] [/b]( string LocalPath, string TargetFileName, int

SlaveIndex)

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Arguments

LocalPath The path of the file in ACS controller’s flash

TargetFileName The name of the file to be transferred to the slave

SlaveIndex Index of the slave in the EtherCAT network

Switches

/0 First EtherCAT network. Equivalent to no switch.

/1 Second EtherCAT network

With switch “b”, the FW will attempt to set the slave to BOOTSTRAP mode before
/b
the FoE transfer operation.

Comments
Switch /b: even if the slave doesn’t support BOOTSTRAP, the firmware will attempt to set it back to
OP state without executing the FoE operation.
The function blocks the ACSPL+ buffer until completion.
It cannot be called from the terminal.
The following errors are supported in case of a failure:
> Error 3317 “FoE Error: Access Denied”
> Error 3308 “The disk is full or the file is too big”
> Error 3307 “FoE Protocol is not support by Slave”
> Error 3040 “Unable to open file”
This function is supported in version 3.00 and higher.

This function is intended for use with EtherCAT slaves that support the FoE protocol.

Example

FOEDOWNLOAD/b (“C:\[Link]”,”Test”,0)

4.5.30 FOEUPLOAD
Description
The function reads a file over EtherCAT from a slave and saves it to the controller’s flash memory.
Syntax

FOEUPLOAD [/0][/1] ( string LocalPath, string TargetFileName, int

MaxFileSize, int SlaveIndex)

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Arguments

The path of the file as it will be saved to the ACS controller’s flash
LocalPath
memory

TargetFileName The name of the file on the slave

MaxFileSize The maximum size of the file (in bytes)

SlaveIndex Index of the slave in the EtherCAT network

Switches

/0 First EtherCAT network. Equivalent to no switch.

/1 Second EtherCAT network

Comments
> The function blocks the ACSPL+ buffer processing until completion. It cannot be called from
the terminal. For complete list of errors, see the FoE Errors table.
> The function is intended for use with EtherCAT slaves that support the FoE protocol.

The flash memory is rated to support about 100,000 write operations.

ACS recommends against frequent, repeated writing to the flash memory.

Example

! Reads file “FileToRead” from slave 0, saves it as “[Link]”

! Maximum size is 10MB
FOEUPLOAD(“[Link]”,”FileToRead”,10000000,0)
STOP

4.5.31 PDOEXT
The PDOEXT command may be used with ACS DS402 products. The command prints the PDO
configuration defined by the master that controls the device.
Example

In/Out ObjectIndex SubIndex Size PdoIndex

In 0x6041 0x00 16 0x1a02

In 0x606c 0x00 32 0x1a02

In 0x6841 0x00 16 0x1a11

In 0x6864 0x00 32 0x1a11

Out 0x6040 0x00 16 0x1602

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Out 0x60ff 0x00 32 0x1602

Out 0x6840 0x00 16 0x1611

Out 0x687a 0x00 32 0x1611

4.6 CoE Functions

CoE functions are required for SDO transfers in CoE. SDO are part of the cyclic EtherCAT data transfer.
It is impossible to define a generic function for any kind of mailbox transfer, as protocols like EoE,
FoE and VoE have their own definitions. So CoE is supported first.

The SPiiPlus MMI Application Studio Communication Terminal ETHERCATcommand

reports for every slave if it has Mailbox support.

CoE functions cannot be used with ACS EtherCAT slaves since the CoE protocol is not
supported.

The CoE functions are:

Function Description

COEREAD Read CoE slave Object Directory entry.

COE2READ Read CoE slave Object Directory entry in second EtherCAT network.

COEWRITE Write into CoE slave Object Directory.

COE2WRITE Write into CoE slave Object Directory in second EtherCAT network.

Returns the size, in bits, of a specific entry in the object dictionary of a

COEGETSIZE
specific slave.

4.6.1 COEREAD
Description
This function is used to read Object Dictionary entry from CoE slave.
This function with the “/d” switch provides the capability of reading a double type (64 bit).
In addition, parameter slave with the “-1” value means SPiiPlusES’ Object Dictionary. The following
objects can be read from the SPiiPlusES’ Object Dictionary:
> CiA402 objects, range: 0x6000-0x9FFF
This function with the “/l” (non-capital L) switch is an extension to the existing COEREAD function,
and enables reading of objects bigger than 64 bits, e.g. strings.
Syntax
COEREAD/d[/size] (int slave,int Index,int Subindex)

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COEREAD/l (int Slave, int Index, int Subindex, int Len, int Array[])
Arguments

1/2/4 number of bytes in the Object Dictionary

size /f for floating (32 bit) or
/d for double (64 bit)

Slave number (which can be obtained by running the SPiiPlus MMI

slave Application Studio Communication Terminal ETHERCAT command).
-1 means "SPiiPlusES"

Index Index in the Object Dictionary.

Subindex Sub-index in the Object Dictionary.

Len Number of bytes to read if “l” switch is used. The maximum value is 100.

A user-defined one-dimensional integer ACSPL+ array that will store the

Array result value. Each element is treated as a single byte, so size of Array should
be at least “Len”.

Return Value
COEREAD/d returns the value stored in the variable in the specified Index of the Object Dictionary.
COEREAD/l has no return value, the result is found in the Array parameter
Comments
If the object doesn’t exist, error 3303 “Error SDO: Object doesn’t exist in the Object Dictionary” is
returned. In case of wrong parameters, the corresponding runtime error will be generated. The
function cannot be used in the Communication Terminal. The function delays the buffer execution
on its line until it is successful or fails the whole buffer with timeout or other error.
COM Library Methods
None
C Library Functions
None
Example 1

COEREAD/4 (0,0x6040,0)

This reads 4 bytes from slave 0, at Index 0x6040, Subindex 0 and returns the value that is stored in
the variable at this Index.

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Example 2

V0=Coeread/d (0,0x2801,1)

STOP

In the example above, 8 bytes are read from slave 0, index 0x2801, subindex 1. The returned value is
being stored in the V0 global REAL variable.
Example 3

4.6.2 COE2READ
Description
This function is used to read an Object Dictionary entry from a slave via the CoE protocol, in the
second EtherCAT network of a Dual EtherCAT configuration. It is equivalent in meaning and syntax to
the COEREAD command, which reads data from the first network.
Syntax

COE2READ/[/size][/f][/d] (int Slave, int Index, int Subindex))

COE2READ/l (int Slave, int Index, int SubIndex, int Len, int Array[])

Arguments

1/2/4 number of bytes in the Object Dictionary, /f for floating (32 bit), /d for
Size suffix
double (64 bit) and /l for an array

Slave number in the second EtherCAT network, can be obtained by running

Slave the SPiiPlus MMI Application Studio Communication Terminal ETHERCAT2
command).

Index Index in the Object Dictionary

Subindex Sub-index in the Object Dictionary

Len Number of bytes to read if “l” suffix is used. The maximum value is 100.

A user-defined one-dimensional integer ACSPL+ array that will store the

Array result value. Each element is treated as a single byte, so size of Array should
be at least “Len”. Used only if “l” suffix is used.

Return Value
COE2READ/[/size] returns the value stored in the specified entry in the Object Dictionary of the
slave.
COE2READ/l has no return value, the result is stored in the Array parameter.

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Comments
If the object doesn’t exist, error 3303 “Error SDO: Object doesn’t exist in the Object Dictionary” is
returned. In case of wrong parameters, the corresponding runtime error will be generated. The
function should not be used in the Communication Terminal. The function delays the buffer
execution on its line until it’s successful or fails. In case of failure, buffer execution will stop with a
timeout or other error.
Com Library Methods
None
C Library Functions
None
Example

int arr(20)
coe2read/l (0,0x1008,0,20,arr) !object 0x1008 is the Device Name
STOP

4.6.3 COEWRITE
Description
This function is used to write a value into the CoE slave Object Dictionary.
This function with the “/d” switch is an extension to the existing coeread function, and provides the
capability of reading a double type (64 bit).
This function with the “/l” (non-capital L) switch is an extension to the existing COEREAD function,
and enables reading of objects bigger than 64 bits, e.g. strings.
Syntax
COEWRITE/d[/size] (int slave,int Index,int Subindex,double Value)
COEREAD/l (int Slave, int Index, int Subindex, int Len, int Array[])
Arguments

1, 2 or 4 - the number of bytes in the Object Dictionary

size /f for floating.(32 bit) or
/d for double (64 bit)

Slave number (which can be obtained by running the SPiiPlus MMI

slave
Application Studio Communication Terminal ETHERCAT command)

Index Index in the Object Dictionary.

Subindex Sub-index in the Object Dictionary.

Value The value to be written.

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Len Number of bytes to read if “l” switch is used. The maximum value is 100.

A user-defined one-dimensional integer ACSPL+ array that will store the

Array result value. Each element is treated as a single byte, so size of Array should
be at least “Len”.

Return Value
None
Comments
If the object doesn’t exist, error 3303 “Error SDO: Object doesn’t exist in the Object Dictionary” is
returned. In case of wrong parameters, the corresponding runtime error will be generated. The
function cannot be used in the Communication Terminal. The function delays the buffer execution
on its line until it is successful or fails the whole buffer with timeout or other error.
COM Library Methods
None
C Library Functions
None
Example 1

COEWRITE/4 (0,0x6041,0,0x0)

This writes the Value 0 (4 bytes) into slave 0, at Index 0x6041, Subindex 0.
Example 2

Coewrite/d (0,0x2801,1,555.666)

STOP

In the example above, the value “555.666” is being written to slave 0, index 0x2801, subindex 1.
Example 3

4.6.4 COE2WRITE
Description
The COE2WRITE function writes a value to an Object Dictionary entry of a slave via the CoE protocol,
in the second EtherCAT network of a Dual EtherCAT configuration. It is equivalent in meaning and
syntax to the COEWRITE command, which writes data to the first network.

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Syntax

COE2WRITE[/size](int Slave, int Index, int SubIndex, double Value)

COE2WRITE/l (int Slave, int Index, int SubIndex, int Len, int Array[])

Arguments

1/2/4 number of bytes in the Object Dictionary, /f for floating (32 bit), /d for
Size suffix
double (64 bit) and /l for an array

Slave number (which can be obtained by running the SPiiPlus MMI

Slave
Application Studio Communication Terminal ETHERCAT2 command).

Index Index in the Object Dictionary

Subindex Sub-index in the Object Dictionary

Len Number of bytes to write if “l” suffix is used. The maximum value is 100.

A user-defined one-dimensional integer ACSPL+ array that stores the data

Array to be written. Each element is treated as a single byte, so size of Array
should be at least “Len”. Used only if “l” suffix is used.

Return Value
None.
Comments
If the object doesn’t exist, error 3303 “Error SDO: Object doesn’t exist in the Object Dictionary” is
returned. In case of wrong parameters, the corresponding runtime error will be generated. The
function should not be used in the Communication Terminal. The function delays the buffer
execution on its line until it’s successful or fails. In case of failure, buffer execution will stop with a
timeout or other error.
Com Library Methods
None
C Library Functions
None
Example

int arr(5)
arr(0)=0; arr(1)=1; arr(2)=2; arr(3)=3;arr(4)=4;
coe2write/l (0,0x2022,0,5,arr) !writing to object 0x2022:0
STOP

4.6.5 COEGETSIZE
Description
COEGETSIZE returns the size, in bits, of a specific entry in the object dictionary of a specific slave.

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Syntax
int COEGETSIZE [/0 /1](Slave, Index, Subindex)
Arguments

Slave An integer representing slave number, starting from 0

Index An integer representing index in the object dictionary

Subindex An integer representing sub-index in the object dictionary

Return Value
Size in bits of the entry in the object dictionary.
Switches

/0 First EtherCAT network. Equivalent to no switch.

/1 Second EtherCAT network

Example

I0=coegetsize(0,0x1000,0)

!Return value: 32 bits. Object 0x1000 usually means the device type.

Comments:
The function returns the received value or fails with runtime error. The function cannot be used in
the SPiiPlus MMI Application Studio Communication Terminal. The function delays the buffer
execution on its line until it's successful of fails the whole buffer with timeout or other error.

4.7 Modbus Functions

Function Description

Establishes a Modbus TCP connection with a Modbus server device

MBOPEN
using the server's IP address

Returns the server's communication handle if a connection has been

MBGETHANDLE
established using the specified IP address

Closes an open Modbus TCP connection using the server's

MBCLOSE
communication handle or IP address

Maps a Modbus server's holding register to a specified

MBREADHREG ACSPL+ variable. The value in the register is then read to the variable,
either once or at a specified interval.

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Function Description

Used to map a Modbus Server’s input register to a specified ACSPL+

MBREADIREG variable. The value in the register is then read to the variable, either
once or at a specified interval.

The function is used to map a client's ACSPL+ variable to a Modbus

MBWRITEHREG server's register. The value in the client variable is then written to the
server's register, either once or at a defined interval.

The function is used to map a Modbus server coil to a specified

MBREADCOIL
ACSPL+ variable and read the state of the coil

The function is used to map a Modbus server coil to a specified

MBWRITECOIL
ACSPL+ variable and write the variable's value to the coil.

The function maps a Modbus server discrete input to an

MBREADDIN
ACSPL+ variable

MBUNMAP Unmaps a specific request using the request ID

Clears the error codes from the Modbus requests error array (MBERR)
MBCLEAR
and reactivates the requests that experienced the error condition

Holds the most recent Modbus error code that occurred for the
MBERR
request during the communication process

Displays a report of all the active Modbus connections and mapped

#MBMAPREP
variables

4.7.1 MBOPEN
Description
MBOPEN establishes a Modbus TCP connection with a Modbus server device using the server's
IP address.
Syntax
int MBOPEN[/switches] (server_ip[, server_id, word_order])
Arguments

server_ip The server IP address as a string. For example, “[Link]”.

(Optional)
server_id
Modbus server ID (1 to 247), the default value is 1

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(Optional)
Specifies the order or sequence in which words (registers) are received or
sent. To transfer 32-bit (4 byte) or 64-bit (8 byte) values using the Modbus
protocol, you must define the order in which the registers are received. (Most
word_order vendors choose to map the least significant word onto the lower address of
the register pair).
> big-endian (0)
> little-endian (1) (default)

Return Value
On success: A positive integer value that is used as a communication handle for the server
On failure: A runtime error will occur
Comments
> Up to three servers can be connected to the client controller at any given time.
> A runtime error will occur if the client fails to open a connection with the server.
> If a connection with the specified IP address is already open, the function will return the
communication handle for the server.
> To communicate with an ACS server device, a valid server_id must be specified (the ACS
server device has a CONID variable that specifies the server’s ID).
> Some I/O devices might have a Modbus connection timeout; after a period of inactivity in
the channel, the connection is closed (this behavior and the timeout period are usually
user-defined).
See Section 7.3, ACSPL+ Runtime Errors for supported error codes
Example 1
This example demonstrates how to open a connection to a Modbus server on controller power-up
by using the AUTOEXEC label.

AUTOEXEC:
GLOBAL INT server_handle
!Opens a Modbus TCP connection with a server device
server_handle = MBOPEN(“[Link]”)
STOP

Example 2
This example demonstrates how to open a connection to a Modbus server by specifying the server_
id and word_order optional arguments.

GLOBAL INT server_handle, server_id, word_order

server_id= 10
word_order = 0 !big-endian
!Opens a Modbus TCP connection with a server device
server_handle = MBOPEN(“[Link]”, server_id, word_order)
STOP

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Related ACSPL+ Commands

MBCLOSE, MBGETHANDLE

4.7.2 MBGETHANDLE
Description
MBGETHANDLE returns the server's communication handle if a connection has been established
using the specified IP address.
Syntax
int MBGETHANDLE(IP_address)
Arguments

IP_address IP address, as a string

Return Value
On success: Server’s communication handle
On failure: -1
Example
This example shows how to verify the existence of a connection to a Modbus server device.

GLOBAL INT server_handle

!Checks if a connection with the specified IP has been established
server_handle = MBGETHANDLE(“[Link]”)
IF server_handle <> -1
DISP “There is an open connection with the specified IP”
END
STOP

Related ACSPL+ Commands

MBOPEN, MBCLOSE

4.7.3 MBCLOSE
Description
Closes an open Modbus TCP connection using the server's communication handle or IP address.
Syntax
int MBCLOSE[/switches ](server_communication_handle|server_ip_address)
Arguments

The server's communication handle, as received from the

server_communication_ MBOPEN function
handle or
The server's IP address (when used with the /s switch)

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Switches

Using the function with the /s switch specifies that the server IP address is
/s
provided, rather than the handle

Return Value
On success: 0
On failure: A runtime error will occur
Comments

Closing a connection will stop all the active Modbus mapping requests.

See Section 7.3, ACSPL+ Runtime Errors for supported error codes
Example 1
This example demonstrates how to open and close a connection to a Modbus server device using
the device handle.

GLOBAL INT server_handle

!Opens a Modbus TCP connection with a server device
server_handle = MBOPEN(“[Link]”)
MBCLOSE(server_handle) !Closes the connection
STOP

Example 2
This example demonstrates how to open and close a connection to a Modbus server device using
the IP address.

GLOBAL INT server_handle

!Opens a Modbus TCP connection with a server device
server_handle = MBOPEN(“[Link]”)
MBCLOSE/s(“[Link]”) !Closes the connection
STOP

Related ACSPL+ Commands

MBOPEN, MBGETHANDLE

4.7.4 MBREADHREG
Description
The MBREADHREG function maps a Modbus server's holding register to a specified ACSPL+ variable.
The value in the register is then read to the variable, either once or at a specified interval.
Syntax
For Scalar variables
MBREADHREG[/switches] server_handle, mapped_scalar, starting_address[, request_frequency]

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For Arrays
MBREADHREG/a server_handle, mapped_array, array_index, starting_address[, number_of_
elements, request_frequency]
Arguments

The server’s communication handle (received from the MBOPEN

server_handle
function)

mapped_
A valid ACSPL+ variable name (can be either static or standard, and
scalar/mapped_
scalar or array)
array

array_index (if /a
Starting index for the mapping
switch is used)

The starting address of the register to be mapped to the specified

starting_address
ACSPL+ variable.

(Optional)
The number of elements that will be mapped (sequentially from the
number_of_ starting address). Element type depends on the switch that has been
elements used. For example, the /f switch specifies that each element is
regarded as a single-precision floating-point number (32 bits, 2
registers).

(Optional)
Specifies the Modbus request frequency (in milliseconds). The
request is sent every “request_frequency” period.
request_frequency
Default value: 10 milliseconds
Minimum value: 5 milliseconds

Switches

Switch
Description
Name

Indicates a one-time read (as opposed to reading the value from the client at
/s the requested frequency). The function copies the value from the server’s
register to the mapped variable.

/2 The data read should be regarded as integer type (16 bit).

/f The data read should be regarded as float type (32 bit).

/d The data read should be regarded as double type (64 bit).

/a The mapped variable is an array.

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Return Value
On success: A unique request ID
On failure: A runtime error will occur
Comments
> If the mapping request tries to read a location that does not exist on the server, a runtime
error will occur (the user will know if they tried to access an invalid address), and the
request will not be created.
> If an error occurs during the Modbus mapping process, the mapping will stop, and the
MBERR(request_id) will hold the error code. Also, the request will become inactive. To
remove or restore a Modbus request, see the MBUNMAP and MBCLEAR functions.
> The request ID can be used to check if an error has occurred for the request using the
MBERR(request_id). Also, it can be used to unmap a specific request. (The request ID is
unique per request).
> If no switch is specified, the data to be mapped is regarded as 32-bit (2 registers) integer
value.
> Each element is converted to the format of the user’s mapped variable type. For example, if
the user mapped an Integer variable using the /f suffix (each element from the server
device is regarded as a single-precision floating-point value), the value of the element is
converted into a two’s-complement integer representation before it is stored.
> Loss of precision can occur when converting different data types. For example, reading a
real (floating point) value to an integer element will result in truncation, which may cause a
loss of precision.
> A runtime error will occur if the specified mapped_variable length is incompatible with the
specified number_of_elements.
> The maximum number of registers that can be mapped is 32. (32 shorts, 16 integers, 16
floats, or 8 doubles).
> The maximum number of mapping requests is 32 per server device.
> If repeated timeout errors occur during the mapping process, it is recommended to use a
single-time mapping. Such errors may indicate that the server device is having problems
keeping up with the request rate. (This might be required for Festo AG & Co. KG and
Beckhoff I/O devices.)
See Section 7.3, ACSPL+ Runtime Errors for supported error codes
Example 1
This example demonstrates the mapping of 2 holding registers to the client’s ACSPL+ global scalar
variable, where the value read is treated as an integer number.

D-Buffer:
GLOBAL STATIC INT mapped_scalar
Buffer 1:
INT server_handle, starting_address, request_id
starting_address = 0 !First holding register address

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server_handle = MBOPEN(“[Link]”) !Opens a Modbus connection

request_id = MBREADHREG server_handle, mapped_scalar, starting_address
STOP

Example 2
This example demonstrates the mapping of 2 holding registers to the client’s ACSPL+ global scalar
variable, where the value read is treated as a single-precision floating-point number.

D-Buffer:
GLOBAL STATIC REAL mapped_scalar
Buffer 1:
INT server_handle, starting address, request_id
starting_address = 0 !First holding register address
server_handle = MBOPEN(“[Link]”) !Opens a Modbus connection
request_id = MBREADHREG/f server_handle, mapped_scalar, starting_
address
STOP

Example 3
This example demonstrates the mapping of 10 holding registers to the client’s ACSPL+ global array,
where each element, is treated as a single-precision floating-point number (2 registers).

D-Buffer:
GLOBAL STATIC REAL mapped_array(20)
Buffer 1:
INT server_handle, starting_address, starting_index, number_of_
elements, request_id
starting_index = 10
starting_address = 0 !First holding register address
number_of_elements = 5
server_handle = MBOPEN(“[Link]”) !Opens a Modbus connection
request_id = MBREADHREG/fa server_handle, mapped_array, starting_
index, starting_address, number_of_elements
STOP

Example 4
This example demonstrates a one-time mapping of 2 holding registers to the client’s ACSPL+ global
scalar variable, where the value read is treated as a single-precision floating-point number.

D-Buffer:
GLOBAL STATIC REAL mapped_scalarBuffer 1:
INT server_handle, starting_address, request_id
starting_address = 0 !First holding register address
server_handle = MBOPEN(“[Link]”) !Opens a Modbus connection
request_id = MBREADHREG/fs server_handle, mapped_scalar, starting_
address
STOP

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Figure 6-2 illustrates the mapping of two Modbus device registers to a 32-bit little-endian variable.

Figure 6-2. Example Mapping

Related ACSPL+ Commands

MBOPEN, MBCLOSE, MBWRITEREG, MBWRITECOIL

4.7.5 MBREADIREG
Description
The MBREADIREG function is used to map a Modbus server’s input register to a specified ACSPL+
variable. The value in the register is then read to the variable, either once or at a specified interval.
Syntax
MBREADIREG[/switches] server_handle, mapped_scalar, starting_address[, request_frequency]
MBREADIREG/a server_handle, mapped_array, array_index, starting_address[, number_of_
elements, request_frequency]
Arguments

server_handle The server’s communication handle (received from the MBOPEN function)

mapped_
A valid ACSPL+ variable name (can be either static or standard, and scalar
scalar /
or array)
mapped_array

array_index (if
the /a switch is Starting index for the mapping
used)

starting_ The starting address of the register to be mapped to the specified ACSPL+
address variable.

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(Optional)
The number of elements that will be mapped (sequentially from the
number_of_
starting address). The element type depends on the switch that is used. For
elements
example, the /f switch specifies that each element is regarded as a single-
precision floating-point number (32 bits, 2 registers).

(Optional)
The Modbus request frequency (in milliseconds). The request is sent every
request_ “request_frequency” period.
frequency
Default value: 10 milliseconds
Minimum value: 5 milliseconds

Switches

Name Description

Indicates a one-time read. The function copies the value from the server’s
/s
register to the mapped variable.

/2 The data read should be interpreted as integer type (16 bit).

/f The data read should be interpreted as float type (32 bit).

/d The data read should be interpreted as double type (64 bit).

/a The mapped variable is an array.

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device is regarded as a single-precision floating-point value), the value of the element is

converted into a two’s-complement integer representation before it is stored.
> Loss of precision can occur when converting different data types. For example, reading a
real (floating point) value to an integer element will result in truncation, which may cause a
loss of precision.
> A runtime error will occur if the specified mapped_variable length is incompatible with the
specified number_of_elements.
> The maximum number of registers that can be mapped is 32. (32 shorts, 16 integers, 16
floats, or 8 doubles).
> The maximum number of mapping requests is 32 per server device.
> If repeated timeout errors occur during the mapping process, it is recommended to use a
single-time mapping. Such errors may indicate that the server device is having problems
keeping up with the request rate. (This might be required for Festo AG & Co. KG and
Beckhoff I/O devices.)
See Section 7.3, ACSPL+ Runtime Errors for supported error codes
Example 1
This example demonstrates the mapping of 2 input registers to the client’s ACSPL+ global scalar
variable, where the value read is interpreted as an integer number.

D-Buffer:
GLOBAL STATIC INT mapped_scalar
Buffer 1:
INT server_handle, starting_address
starting_address = 0 !First input register address
server_handle = MBOPEN(“[Link]”) !Opens a Modbus connection
request_id = MBREADIREG server_handle, mapped_scalar, starting_address
STOP

Example 2
This example demonstrates the mapping of 2 input registers to the client’s ACSPL+ global scalar
variable, where the value read is interpreted as a single-precision floating-point number.

D-Buffer:
GLOBAL STATIC REAL mapped_scalar
Buffer 1:
INT server_handle, starting_address, request_id
starting_address = 0 !First input register address
server_handle = MBOPEN(“[Link]”) !Opens a Modbus connection
request_id = MBREADIREG/f server_handle, mapped_scalar, starting_
address
STOP

Example 3
This example demonstrates the mapping of 10 input registers to the client’s ACSPL+ global array,
where each element is interpreted as a single-precision floating-point number (2 registers).

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D-Buffer:
GLOBAL STATIC REAL mapped_array(20)
Buffer 1:
INT server_handle, starting_address, starting_index, number_of_
elements, request_id
starting_index = 10
starting_address = 0 !First input register address
number_of_elements = 5
server_handle = MBOPEN(“[Link]”) !Opens a Modbus connection
request_id = MBREADIREG/fa server_handle, mapped_array, starting_
index, starting_address, number_of_elements
STOP

Example 4
This example demonstrates a one-time mapping of 2 input registers to the client’s ACSPL+ global
scalar variable, where the value read is interpreted as a single-precision floating-point number.

D-Buffer:
GLOBAL STATIC REAL mapped_scalar
Buffer 1:
INT server_handle, starting_address, request_id
starting_address = 0 !First input register address
server_handle = MBOPEN(“[Link]”) !Opens a Modbus connection
request_id = MBREADIREG/fs server_handle, mapped_scalar, starting_
address
STOP

Figure 6-3 illustrates the mapping of two Modbus device registers to a 32-bit little-endian variable.

Figure 6-3. Example Mapping

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4.7.6 MBWRITEHREG
Description
The MBREADIREG function is used to map a client's ACSPL+ variable to a Modbus server's register.
The value in the client variable is then written to the server's register, either once or at a defined
interval.
Syntax
MBWRITEHREG[/switches] server_handle, mapped_scalar, starting_address[, request_frequency]
MBWRITEHREG/a server_handle, mapped_array, array_index, starting_address[, number_of_
elements, request_frequency]
Arguments

server_handle The server’s communication handle (received from the MBOPEN function).

mapped_
A valid ACSPL+ variable name (may be either static or standard, and scalar
scalar /
or array).
mapped_array

array_index(if
the /a switch is The array index from which mapping will begin.
used)

starting_ The starting address of the register to be mapped to the specified ACSPL+
address variable.

(Optional)
The number of elements to be mapped (sequentially from the starting
number_of_
address). The element type depends on the switch used. For example, the
elements
/f suffix specifies that each element is interpreted as a single-precision
floating-point number (32 bits, 2 registers).

The Modbus request frequency (in milliseconds). The request is sent every
"request_frequency" period.
request_
frequency Default value: 10 milliseconds
Minimum value: 5 milliseconds

Switches

/s Generates a single write request

/2 The data should be written as a 16-bit integer type

/f The data should be written as a 32-bit float type

/d The data should be written as a 64-bit double type

/a The mapped variable is an array

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Return Value
On success: A unique request ID
On failure: A runtime error will occur
Comments
> If the mapping request tries to write a location that does not exist on the server, a runtime
error will occur (the user will know if they tried to access an invalid address), and the
request will not be created.
> If an error occurs during the Modbus mapping process, the mapping will stop, and the
MBERR(request_id) will hold the error code. Also, the request will become inactive. To
remove or restore a Modbus request, see the MBUNMAP and MBCLEAR functions.
> The request ID can be used to check if an error has occurred for the request using the
MBERR(request_id). Also, it can be used to unmap a specific request. (The request ID is
unique per request).
> If no switch is specified, the data to be mapped is regarded as 32-bit (2 registers) integer
value.
> Each element is converted to the format of the user’s mapped variable type. For example, if
the user mapped an Integer variable using the /f suffix (each element from the server
device is regarded as a single-precision floating-point value), the value of the element is
converted into a two’s-complement integer representation before it is stored.
> Loss of precision can occur when converting different data types. For example, reading a
real (floating point) value to an integer element will result in truncation, which may cause a
loss of precision.
> A runtime error will occur if the specified mapped_variable length is incompatible with the
specified number_of_elements.
> The maximum number of registers that can be mapped is 32. (32 shorts, 16 integers, 16
floats, or 8 doubles).
> The maximum number of mapping requests is 32 per server device.
> If repeated timeout errors occur during the mapping process, it is recommended to use a
single-time mapping. Such errors may indicate that the server device is having problems
keeping up with the request rate. (This might be required for Festo AG & Co. KG and
Beckhoff I/O devices.)
See Section 7.3, ACSPL+ Runtime Errors for supported error codes
Example 1
This example demonstrates the mapping of 2 input registers to the client’s ACSPL+ global scalar
variable, where the mapped variable value is interpreted as an integer value.

D-Buffer:
GLOBAL STATIC INT mapped_scalar
Buffer 1:
INT server_handle, starting_address, request_id
mapped_scalar = 100

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starting_address = 0 !First input register address

server_handle = MBOPEN(“[Link]”) !Opens a Modbus connection
request_id = MBWRITEHREG server_handle, mapped_scalar, starting_
address
STOP

Example 2
This example demonstrates the mapping of 2 input registers to the client’s ACSPL+ global scalar
variable, where the mapped variable value is interpreted as a single-precision floating-point
number.

D-Buffer:
GLOBAL STATIC REAL mapped_scalar
Buffer 1:
INT server_handle, starting_address, request_id
mapped_scalar = 100.25
starting_address = 0 !First input register address
server_handle = MBOPEN(“[Link]”) !Opens a Modbus connection
request_id = MBWRITEHREG/f server_handle, mapped_scalar, starting_
address
STOP

D-Buffer:
GLOBAL STATIC REAL mapped_array(20)
Buffer 1:
INT server_handle, starting_address, starting_index, number_of_
elements, request_id
starting_index = 10
starting_address = 0 !First input register address
number_of_elements = 5
server_handle = MBOPEN(“[Link]”) !Opens a Modbus connection
request_id = MBWRITEHREG/fa server_handle, mapped_array, starting_
index, starting_address, number_of_elements
STOP

Example 4
This example demonstrates a one-time mapping of 2 input registers to the client’s ACSPL+ global
scalar variable, where the mapped variable value is interpreted as a single-precision floating-point
number.

D-Buffer:
GLOBAL STATIC REAL mapped_scalar
Buffer 1:

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INT server_handle, starting_address, request_id

mapped_scalar = 1.1
starting_address = 0 !First input register address
server_handle = MBOPEN(“[Link]”) !Opens a Modbus connection
request_id = MBWRITEHREG/fs server_handle, mapped_scalar, starting_
address
STOP

Figure 6-4 illustrates the mapping of a 32-bit little-endian variable to two Modbus device registers.

Figure 6-4. Example Mapping

4.7.7 MBREADCOIL
Description
The MBREADCOIL function is used to map a Modbus server coil to a specified ACSPL+ variable and
read the state of the coil.
Syntax
MBREADCOIL[/switches] server_handle, mapped_scalar, starting_address[, number_of_coils,
request_frequency]
MBREADCOIL/a server_handle, mapped_array, array_index, starting_address[, number_of_coils,
request_frequency]
Arguments

The server’s communication handle (received from the MBOPEN

server_handle
function)

mapped_scalar / A valid ACSPL+ variable name (may be either static or standard, and
mapped_array scalar or array)

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array_index (if the /a

The array index from which mapping will begin.
switch is used)

The starting address of the coils to be mapped to the specified

starting_address
ACSPL+ variable.

(Optional)
number_of_coils
The number of coils to map (sequentially from starting_address)

(Optional)
The Modbus request frequency (in milliseconds). The request is
sent every “request_frequency” period.
request_frequency
Default value: 10 milliseconds
Minimum value: 5 milliseconds

Switches

/s A one-time read. Copies the value from specified coils to mapped_scalar.

/a The mapped variable is an array

Bitwise mapping. Coils are mapped to bits of the specified variable rather than to
/b
successive elements of an array.

Return Value
On success: A unique request ID
On failure: A runtime error will occur
Comments
> If the mapping request tries to read to or write from a location that does not exist on the
server, a runtime error will occur (the user will know if they tried to access an invalid
address), and the request will not be created.
> If an error occurs during the Modbus mapping process, the mapping will stop and MBERR
(request_id) will hold the error code. Also, the request will become inactive. To remove or
restore a Modbus request, see the MBUNMAP and MBCLEAR functions.
> The request ID can be used to check if an error has occurred for the request using MBERR
(request_id). The request ID can also be used for unmapping a specific request. (The request
ID is unique per request.)
> A runtime error will occur if the specified mapped_scalar length is incompatible with the
specified number_of_coils.
> The maximum number of coils that can be mapped is 32.
> The maximum number of mapping requests is 32 per server device.
> If repeated timeout errors occur during the mapping process, it is recommended to use a
single-time mapping. Such errors may indicate that the Server device is having problems

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keeping up with the request rate. (This might be required for Festo AG & Co. KG and
Beckhoff I/O devices.)
See Section 7.3, ACSPL+ Runtime Errors for supported error codes
Example 1
This example demonstrates mapping a server coil to the client’s ACSPL+ global variable.

D-Buffer:
GLOBAL STATIC INT mapped_scalar
Buffer 1:
INT server_handle, starting_address, request_id
starting_address = 1 !First Coil address
server_handle = MBOPEN(“[Link]”) !Opens a Modbus connection
request_id = MBREADCOIL server_handle, mapped_scalar, starting_address
STOP

Example 2
This example demonstrates mapping three server coils to the client’s ACSPL+ global array.

D-Buffer:
GLOBAL STATIC INT mapped_array(5)
Buffer 1:
INT server_handle, starting_address, number_of_coils
INT array_index, request_id
array_index = 2
number_of_coils = 3
starting_address = 1 !First Coil address
server_handle = MBOPEN(“[Link]”) !Opens a Modbus connection
request_id = MBREADCOIL/a server_handle, mapped_array, array_index,
starting_address, number_of_coils
STOP

Example 3
This example demonstrates bitwise mapping of 20 server coils to the client’s ACSPL+ global variable.

D-Buffer:
GLOBAL STATIC INT mapped_scalar
Buffer 1:
INT server_handle, starting_address, number_of_coils, request_id
number_of_coils = 20
starting_address = 1 !First Coil address
server_handle = MBOPEN(“[Link]”) !Opens a Modbus connection
request_id = MBREADCOIL/b server_handle, mapped_scalar, starting_
address, number_of_coils
STOP

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Example 4
This example demonstrates a one-time mapping from a server coil to the client’s ACSPL+ global
variable.

D-Buffer:
GLOBAL STATIC INT mapped_scalar
Buffer 1:
INT server_handle, starting_address, request_id
starting_address = 1 !First Coil address
server_handle = MBOPEN(“[Link]”) !Opens a Modbus connection
request_id = MBREADCOIL/s server_handle, mapped_scalar, starting_
address
STOP

Figure 6-5 illustrates the mapping of a server coil to an integer variable.

Figure 6-5. Example Mapping

4.7.8 MBWRITECOIL
Description
The MBWRITECOIL function is used to map a Modbus server coil to a specified ACSPL+ variable and
write the variable's value to the coil.
Syntax
MBWRITECOIL[/switches] server_handle, mapped_scalar, starting_address[, number_of_coils,
request_frequency]
MBWRITECOIL/a server_handle, mapped_array, array_index, starting_address[, number_of_coils,
request_frequency]

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Arguments

The server’s communication handle (received from the MBOPEN

server_handle
function)

mapped_scalar / A valid ACSPL+ variable name (can be either static or standard, and
mapped_array scalar or array)

array_index(if the /a
The array index from which mapping will begin.
switch is used)

The starting address of the coils to be mapped to the specified

starting_address
ACSPL+ variable.

(Optional)
number_of_coils
The number of coils to map (sequentially from starting_address)

(Optional)
The Modbus request frequency (in milliseconds). The request is sent
every “request_frequency” period.
request_frequency
Default value: 10 milliseconds
Minimum value: 5 milliseconds

Switches

/s A one-time write. Copies the value from specified coils to mapped_scalar.

/a The mapped variable is an array

Bitwise mapping. Coils are mapped to bits of the specified variable rather than to
/b
successive elements of an array.

Return Value
On success: A unique request ID
On failure: A runtime error will occur
Comments
> If the mapping request tries to read from or write to a location that does not exist on the
server, a runtime error will occur (the user will know if they tried to access an invalid
address), and the request will not be created.
> If an error has occurred during the mapping process, the mapping for the request will stop
and MBERR(request_id) will hold the error code that occurred. Also, the request will become
inactive. To remove or restore a Modbus request, see the MBUNMAP and MBCLEAR
functions.
> The request ID can be used to check if an error has occurred for the request using MBERR
(request_id). Also, it can be used for unmapping a specific request. (The request ID is unique
per request.)

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> A runtime error will occur if the specified mapped_scalar length is incompatible with the
specified number_of_coils.
> The maximum number of coils that can be mapped is 32.
> The maximum number of mapping requests is 32 per server device.
> If repeated timeout errors occur during the mapping process, it is recommended to use a
single-time mapping. Such errors may indicate that the Server device is having problems
keeping up with the request rate. (This might be required for Festo AG & Co. KG and
Beckhoff I/O devices.)
See Section 7.3, ACSPL+ Runtime Errors for supported error codes
Example 1
This example demonstrates mapping a server coil to the client’s ACSPL+ global variable.

D-Buffer:
GLOBAL STATIC INT mapped_scalar
Buffer 1:
INT server_handle, starting_address, request_id
mapped_scalar = 1
starting_address = 1 !First Coil address
server_handle = MBOPEN(“[Link]”) !Opens a Modbus connection
request_id = MBWRITECOIL server_handle, mapped_scalar, starting_
address
STOP

Example 2
This example demonstrates mapping three server coils to the client’s ACSPL+ global array.

D-Buffer:
GLOBAL STATIC INT mapped_array(5)
Buffer 1:
INT server_handle, starting_address, number_of_coils
INT array_index, request_id
number_of_coils = 3
array_index = 2
starting_address = 1 !First Coil address
server_handle = MBOPEN(“[Link]”) !Opens a Modbus connection
request_id = MBWRITECOIL/a server_handle, mapped_array, array_index,
starting_address, number_of_coils
STOP

Example 3
This example demonstrates bitwise mapping of 20 server coils to the client’s ACSPL+ global variable.

D-Buffer:
GLOBAL STATIC INT mapped_scalar
Buffer 1:

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INT server_handle, starting_address, number_of_coils, request_id

number_of_coils = 20
starting_address = 1 !First Coil address
server_handle = MBOPEN(“[Link]”) !Opens a Modbus connection
request_id = MBWRITECOIL/b server_handle, mapped_scalar, starting_
address, number_of_coils
STOP

Example 4
This example demonstrates a one-time mapping from a server coil to the client’s ACSPL+ global
variable.

D-Buffer:
GLOBAL STATIC INT mapped_scalar
Buffer 1:
INT server_handle, starting_address, request_id
starting_address = 1 !First Coil address
server_handle = MBOPEN(“[Link]”) !Opens a Modbus connection
request_id = MBWRITECOIL/s server_handle, mapped_scalar, starting_
address
STOP

Figure 6-6 illustrates the mapping of an integer variable to a server coil.

Figure 6-6. Example Mapping

4.7.9 MBREADDIN
Description
The MBREADDIN function maps a Modbus server discrete input to an ACSPL+ variable.

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Syntax
MBREADDIN[/switches] server_handle, mapped_scalar, starting_address[, number_of_discrete_
inputs, request_frequency]
MBREADDIN/a server_handle, mapped_array, array_index, starting_address[, number_of_discrete_
inputs, request_frequency]
Arguments

The server’s communication handle (received from the MBOPEN

server_handle
function)

mapped_scalar / A valid ACSPL+ variable name (can be either static or standard, and
mapped_array scalar or array)

array_index (if the /a

The array index from which mapping will begin.
switch is used)

The starting address of the discrete inputs to be mapped to the

starting_address
specified ACSPL+ variable.

(Optional)
number_of_discrete_
The number of discrete inputs to map (sequentially from starting_
inputs
address)

(Optional)
The Modbus request frequency (in milliseconds). The request is
sent every “request_frequency” period.
request_frequency
Default value: 10 milliseconds
Minimum value: 5 milliseconds

Switches

A one-time read. Copies the value from the specified discrete input to mapped_
/s
scalar.

/a The mapped variable is an array

Bitwise mapping. Discrete inputs are mapped to bits of the specified variable rather
/b
than to successive elements of an array.

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> If an error has occurred during the mapping process, the mapping for the request will stop,
and MBERR(request_id) will hold the error code that occurred. Also, the request will become
inactive. To remove or restore a Modbus request, see the MBUNMAP and MBCLEAR
functions.
> The request ID can be used to check if an error has occurred for the request using MBERR
(request_id). Also, it can be used for unmapping a specific request. (The request ID is unique
per request.)
> A runtime error will occur if the specified mapped_scalar length is incompatible with the
specified number_of_discrete_inputs.
> The maximum number of discrete inputs that can be mapped is 32.
> The maximum number of mapping requests is 32 per server device.
> If repeated timeout errors occur during the mapping process, it is recommended to use a
single-time mapping. Such errors may indicate that the Server device is having problems
keeping up with the request rate. (This might be required for Festo AG & Co. KG and
Beckhoff I/O devices.)
See Section 7.3, ACSPL+ Runtime Errors for supported error codes
Example 1
This example demonstrates mapping a server’s discrete input to the client’s ACSPL+ global variable.

D-Buffer:
GLOBAL STATIC INT mapped_scalar
Buffer 1:
INT server_handle, starting_address, request_id
starting_address = 1 !First discrete input address
server_handle = MBOPEN(“[Link]”) !Opens a Modbus connection
request_id = MBREADDIN server_handle, mapped_scalar, starting_address
STOP

Example 2
This example demonstrates mapping three of the server’s discrete inputs to the client’s ACSPL+
global array.

D-Buffer:
GLOBAL STATIC INT mapped_array(5)
Buffer 1:
INT server_handle, starting_address, number_of_coils
INT array_index, request_id
array_index = 2
number_of_discrete_inputs = 3
starting_address = 1 !First discrete input address
server_handle = MBOPEN(“[Link]”) !Opens a Modbus connection
request_id = MBREADDIN/a server_handle, mapped_array, array_index,
starting_address, number_of_discrete_inputs
STOP

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Example 3:
This example demonstrates bitwise mapping of 20 of the server’s discrete inputs to the client’s
ACSPL+ global variable.

D-Buffer:
GLOBAL STATIC INT mapped_scalar
Buffer 1:
INT server_handle, starting_address, number_of_discrete_inputs,
request_id
number_of_discrete_inputs = 20
starting_address = 1 !First discrete input address
server_handle = MBOPEN(“[Link]”) !Opens a Modbus connection
request_id = MBREADDIN/b server_handle, mapped_scalar, starting_
address, number_of_discrete_inputs
STOP

Example 4
This example demonstrates a one-time mapping from a server’s discrete input to the client’s
ACSPL+ global variable.

D-Buffer:
GLOBAL STATIC INT mapped_scalar
Buffer 1:
INT server_handle, starting_address, request_id
starting_address = 1 !First discrete input address
server_handle = MBOPEN(“[Link]”) !Opens a Modbus connection
request_id = MBREADDIN/s server_handle, mapped_scalar, starting_
address
STOP

4.7.10 MBUNMAP
Description
The MBUNMAP function unmaps a specific request using the request ID.
Syntax
MBUNMAP [request_id]
Arguments

(Optional)
request_id
A request ID received from the MBREAD or MBWRITE function

Return Value
The number of requests that have been unmapped (0 or 1).
Comments
> Unmapping a request will also clear its error code(if such exists) from the MBERR array.
> If no request ID is specified, all active Modbus requests will be removed.

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See Section 7.3, ACSPL+ Runtime Errors for supported error codes
Example 1
This example demonstrates the unmapping of a specific Modbus request using the request ID.

MBUNMAP request_id
STOP

Example 2
This example demonstrates the unmapping of all active Modbus requests.

MBUNMAP
STOP

4.7.11 MBCLEAR
Description
The MBCLEAR function clears the error codes from the Modbus requests error array (MBERR) and
reactivates the requests that experienced the error condition.
Syntax
MBCLEAR [request_id]
Arguments

(Optional)
request_id
A request ID received from the MBREAD or MBWRITE function.

Return Value
None
Comments
If request_id is not specified, the entire Modbus requests error array(MBERR) will be cleared (set to
0) and all request that experienced errors will be reactivated.
See Section 7.3, ACSPL+ Runtime Errors for supported error codes
Example 1
This example demonstrates how to clear a Modbus error and reactivate the relevant request.

MBCLEAR request_id
STOP

Example 2
This example demonstrates how to clear all Modbus errors and reactivate all Modbus requests.

MBCLEAR
STOP

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4.7.12 MBERR
Description
MBERR is an integer array with one element for each possible Modbus request ID (between 0 - 95).
It holds the most recent Modbus error code that occurred for the request during the communication
process.
Table 6-6. Modbus Error Codes

Error
Description
Code

0 No Error

Illegal Function - Function code received in the query is not recognized or

8001
allowed by the server.

Illegal Data Address - Data addresses of some or all the required entities are not
8002
allowed or do not exist in the server.

Illegal Data Value - A value contained in the query data field is not an allowable
8003
value for the server.

Server Device Failure - An unrecoverable error occurred while the server was
8004
attempting to perform the requested action.

Acknowledge - Server has accepted the request and is processing it, but a long
8005 duration of time is required. This response is returned to prevent a timeout
error from occurring in the client.

Server Device Busy - Server is engaged in processing a long-duration

8006
command. The client should retry later.

Transaction Identifier Mismatch – The received response transaction identifier

8012
did not match the expected value.

Response Length Mismatch - The received response length did not match the
8013
expected length.

Response Out of Bounds – The received response value is invalid. This may be
8014 due to the value being out of the allowed range, an attempt to write to a
protected variable, etc.

Timeout – No response has been received from the server device for the
8015 timeout period(5 seconds). The connection with the server device has been
terminated.

8016 Connection Closed - The connection with the server device has been closed.

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Comments
MBERR can be cleared by unmapping the erroneous request using the MBUNMAP function or by
activating the erroneous request using the MBCLEAR function.
Example
This example demonstrates monitoring the error state of a Modbus mapping request.

D-buffer:
GLOBAL INT request_id
Buffer 1:
request_id = MBWRITEHREG server_handle, mapped_scalar, starting_
address

ON MBERR(request_id)
DISP “An error has occurred for the request, request ID=”,request_id
!Here we decide how we would like to handle this error, un-mapping
!the request, closing the communication channel, or clearing the
!fault and restore the request to an active state
.
.
.
MBCLEAR request_id !For example, clearing the error of the request,
!and restoring it to an active state
RET
STOP

Tag
403
Accessibility
Read-Only

4.7.13 #MBMAPREP
Description
The #MBMAPREP command displays a report of all the active Modbus connections and mapped
variables.
Syntax

#MBMAPREP

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Example

4.8 Servo Processor Functions

SPiiPlus™, a proprietary ACS Motion Control Servo Processor (SP), executes the real-time tasks such
as implementation of the real time control algorithms. Each SPiiPlus can control from 1-4 axes
(depending on the product). The SPiiPlus includes all the necessary peripherals that are needed for a

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high performance axis control, such as encoder counters, Digital-to-Analog interface, smart inputs
and outputs.
Servo Processor functions are used to read and monitor SP values.

The number of Servo Processors is model-dependent. Check the controller Hardware

Guide for the specific SPiiPlus model.

The Servo Processor functions are:

Function Description

GETSP Reads a value from the specified SP address

GETSPA Retrieves address of the SP variable specified by name.

SETSP Sets a value for the specified SP address

4.8.1 GETSP
Description
GETSP reads a value from the specified SP address.
It is a non-real-time function with a minimum response time of 3 controller cycles. The response
time may be increased depending on controller tasks and the drive model.
Syntax
GETSP [/0][/1] (int SP, int Address)
Arguments

The SP number in the system. Use getconf(260, axis), where axis is axis in the
SP
system to get the SP number.

Address within the SP.

Address
Get the address by using getspa(SPnumber, varname) command.

For Address, use the memory address as obtained by GETSPA.

Switches

/0 First EtherCAT network (equivalent to no switch)

/1 Second EtherCAT network

Return Value
Value read from the specified SP address.

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Error Conditions
The function causes an error if an SP number is specified other than 0–127, or if an illegal address is
specified.
Example

REAL PAR_ADDRESS
PAR_ADDRESS=GETSPA(0,"PE(0)") ! Get the memory address of PE(0) in SP#0
GETSP(0, PAR_ADDRESS) ! The return value is the PE(0) in SP#0

4.8.2 GETSPA
Description
GETSPA reads a value from the address of the variable in the SP memory range.
It is a non-real-time function with a minimum response time of 3 controller cycles. The response
time may be increased depending on controller tasks and the drive model.
Syntax

GETSPA [/0][/1](int SP, string SP_variable)

Arguments

SP The SP number in the system.

String representing the name of an SP variable. In order to avoid unexpected

SP_variable
results, place SP_variable in quotes.

Switches

/0 First EtherCAT network (equivalent to no switch)

/1 Second EtherCAT network

Return Value
Address of the variable in the SP memory, or -1 if the variable does not exist. The return value can be
used in GETSP and SETSP.
Example

XX= GETSPA(0,”axes[0].PE”) ! Retrieve the address Position error

! variable of axis 0 in SP 0.

4.8.3 SETSP

The SETSP function is for advanced users only. Misuse of this function may damage the
drive.

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Description
SETSP writes a value to the specified SP address.
Syntax
SETSP [/0][/1] (int SP_number, int Address, int|float value)
Arguments

SP_number The SP number in the system.

Address within the SP.

Address
Look up addresses by using getspa function

value The value to write to the address.

Switches

/0 First EtherCAT network (equivalent to no switch)

/1 Second EtherCAT network

Error Conditions
Error 3126, Illegal SP number.
Example

INT PAR_ADDRESS
PAR_ADDRESS=GETSPA(0,"axes[0].user_custom_parameter1") !Gets the memory
address of axes[0].user_custom_parameter1
SETSP(0, PAR_ADDRESS, 1.5) !Changes the value of the axes[0].user_custom_
parameter1 in SP 0 to 1.5.

4.9 Signal Processing Functions

The Signal Processing functions are:

Function Description

COPY The function copies one array to another.

DEADZONE Implements dead-zone routine

DSIGN Implements a dynamic version of the standard SIGN function.

DSTR Converts a string to an integer array.

EDGE Returns 1 on positive edge of x

Reads data characters from the specified channel and stores them into
INP
integer array

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Function Description

INTGR Implements an integrator with DEADZONE and SAT.

LAG Provides delayed switching on argument change (anti-bouncing effect)

MAP Implements a table-defined function with constant step

MAPB Implements a one-dimensional uniform B-spline interpolation

One-dimensional non-uniform linear interpolation (replaces the obsolete

MAPN
MAPBY1 and MAPBY2 functions)

MAPNB One-dimensional non-uniform b-spline

MAPNS One-dimensional non-uniform Catmull-Rom spline

MAPS One-dimensional uniform Catmull-Rom spline

Implements a table-defined function with two arguments and constant

MAP2
step along each argument.

MAP2B Two-dimensional uniform b-spline

Two-dimensional non-uniform linear interpolation (replaces the obsolete

MAP2N
MAP2FREE function)

MAP2NB Two-dimensional non-uniform b-spline

MAP2NS Two-dimensional non-uniform Catmull-Rom spline

MAP2S Two-dimensional uniform Catmull-Rom spline

Calculates axis position that matches current reference position of the

MATCH
same axis with zero offset.

RAND Implements a random number generator.

ROLL Calculates a result rolled-over to within one pitch.

SAT Implements a saturation characteristic

4.9.1 DEADZONE
Description
DEADZONE returns values based on a defined analog or other input signal with a defined
symmetrical or asymmetrical dead zone around zero.

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DEADZONE is useful for anti-bouncing effect.

Syntax
DEADZONE (input_signal, zone1[,zone2])
Arguments

input_
Any real number or integer expression
signal

Any real number or integer expression for a symmetrical deadzone. See

zone1
Example 1.

Any real number or integer expression, required for an asymmetrical

zone2
deadzone requires two values. See Example 2.

Return Value
DEADZONE returns a real number as follows:
If - zone < input_signal < zone, return value = 0
If input_signal < -zone, return value = input_signal + zone
If: input_signal > zone, return value = input_signal - zone
Error Conditions
A negative zone range returns Error 3045, Numerical Error in Standard Function.
Comments
This function may be called inside a FASTCALL function.
Examples
Example 1
Symmetrical Dead Zone
In this example, illustrated in Figure 6-7, input_signal ranges from -20: +20, and creates a
symmetrical dead zone from -10: +10.

return_value = DEADZONE(input_signal,10)

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Figure 6-7. Symmetrical Dead Zone Example

Example 2
Asymmetrical Dead Zone
In this example, illustrated in Figure 6-8, input_signal ranges from -20: +20, and creates an
asymmetrical dead zone from -5 – +15.

return_value = DEADZONE(input_signal,-5,10)

Figure 6-8. Asymmetrical Dead Zone Example

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4.9.2 DSIGN
Description
DSIGN returns values between -1 to 1 based on a defined input variable with defined delay time and
ramp time.
Syntax
real DSIGN(X, Delay_Time, Ramp_Time)
Arguments

X Input variable name declared as real or real expression.

Real number that determines on zero crossing of X,

Delay_Time continues the previous return value for defined delay
time in msec.

Real number that controls the rate of the returned value

Ramp_Time change between -1 to 1 (and vice versa), defined in
msec.

Return Values
0: when the input variable is < zero while Ramp Time = 0.
1: when the input variable is > zero while Ramp Time= 0.
-1 to 1: when the input variable changes between positive to negative (or vice versa), while Ramp_
Time is > 0.
Error Conditions
Delay time and ramp time should be positive. If any of them becomes negative, Error 3045,
Numerical Error in Standard Function appears.
Example

REAL XX,YY
YY = DSIGN(XX,50,100)
STOP

Figure 6-9 illustrates the DSIGN function.

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Figure 6-9. DSIGN Function Example

4.9.3 EDGE
Description
EDGE returns 0 or 1, based on a defined input variable. EDGE is mainly useful in PLC implementation
when an action must be taken once a condition becomes true.
Syntax
real EDGE(X)
Arguments

X Input real variable name or real expression.

Return Value
EDGE returns 1 when the input variable changes from 0 to (+1) or from 0 to (-1) until the input
variable changes to other values. The function returns 0 in all other cases.
Error Conditions
None
Example

GLOBAL REAL XX,XI,YY !Declares three local variables

XX=-5 ; XI=1 !Assigns values to the variables XX and XI.
WHILE 1 !Run the following routine forever
XX=XX+XI
YY = EDGE(XX)
IF (XX>5) | (XX<-5) XI=-XI !Keeps XX between -5 to 5.
END !Ends IF END !Ends WHILE
STOP !Ends program

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Figure 6-10 illustrates the EDGE function.

Figure 6-10. EDGE Function Example

4.9.4 INTGR
Description
INTGR returns an integrator with optional deadzone and saturation limits.
Syntax
real INTGR[switches](X, Deadzone, Min, Max[,Initial_Value])
Switch

/r Resets the integrator value for each buffer run without needing to recompile.

Arguments

X Real variable name or real expression.

A real number. When the Deadzone value falls into the range of -
Deadzone
Deadzone to +Deadzone, INTGR retains its previous value as if X = 0.

Min A real number representing the low integrator saturation limit.

Max A real number representing the high integrator saturation limit.

Initial_Value A real number setting the initial value of the return value. (optional)

Return Value
INTGR returns a value in the range from Min to Max.

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Error Conditions
None
Example
Input variable XX is changing between -20 to +20.

GLOBAL REAL YY, XX !Defines global real variables.

REAL ZZ !Defines increment variable as real
MARK: !Set GOTO line
ZZ=0.1; XX=-20 !Set variable values
WHILE XX<=20 !Set upper limit for XX
XX=XX+ZZ !Set increment for XX
YY=INTGR(XX,5,-10,10,20)
END !End WHILE
WHILE XX>=-20 !Set lower limit for XX
XX=XX-ZZ !Set increment for XX
YY=INTGR(XX,5,-10,10,20)
END !End WHILE
GOTO MARK !GOTO MARK to create a program loop
STOP !End program

Figure 6-11 illustrates the INTGR function.

Figure 6-11. INTGR Function Example

4.9.5 LAG
Description
LAG returns values based on a defined input signal with defined up delay or down delay. This
function is useful for an anti-bouncing effect.

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Syntax
LAG(X, up_delay, down_delay)
Arguments

Real variable name or real expression.

Although LAG accepts any real or integer argument for X, the typical use
X implies a logical X argument, for example, an integer variable or expression
that supplies only 0 or 1. If X supplies values other than 0 or 1, LAG treats any
non-zero value as 1.

p_delay A real number representing the delay on the positive edge in msec.

down_
A real number representing the delay on the negative edge in msec.
delay

Return Value
1: when X remains non-zero for at least up_delay msec.
0: when X remains zero for at least down_delay msec.
Error Conditions
None
Example
The example here demonstrates LAG by generating a reference signal XX that changes from 0 to 1
every 100 msec, and based on XX and YY, implements a lag of 50msec and 20msec.

INT XX,YY,XT !Define three integers

XT=TIME; XX=0 !XT equals the time elapsed from
!startup. XX equal zero.
WHILE 1 !Run an infinite routine
IF TIME-XT>100; XX=^XX; XT=TIME; END !Switch the value of XX - from ON
to
!OFF
YY=LAG(XX,20,50) !YY is a returned value that is delayed
!20msec after the transfer of XX from
!0 to 1 and delayed 50msec after the
!transfer of XX from 1 to 0
END !Ends WHILE
STOP !Ends program

Figure 6-12 illustrates the LAG function.

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Figure 6-12. LAG Function Example

4.9.6 Interpolation Functions

There are a number of interpolation methods between points among them are Linear and Spline.

[Link] Linear interpolation

Linear interpolation of function y(x) between distant points a and b are calculated as follows:

[Link] Spline interpolation

A spline is a special function defined piecewise by polynomials. The spline is a piecewise polynomial
function spread over an interval [a,b] consists of polynomial pieces, such that:

a = t0 < t1 < t2 < ...< tk-2 < tk-1 = b

The points:ti are called knots. The vector is called a knot vector for the spline. If the knots are
equidistantly distributed in the interval [a,b], we say the spline is uniform, otherwise we say it is non-
uniform.
In many cases functional dependence between two or more values cannot be expressed as an
analytic formula. The most common presentation of those functions is a table of function values in
specific points.
For example, a machine axis was graduated with an external laser interferometer. The result of
graduation is a table like the following:

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Commande
d position 100 200 300 400 500 600 700 …
(x)

Actual
103 199 294 402 500 598 705 …
position (p)

The table defines a functional dependence p=f(x) that cannot be expressed analytically.
The argument values for x in the definition table are knots, and the function values for p are control
points.
A 3rd order polynomial spline provides an approximation of the table-driven function that can
provide the function value not only in the knots, but at any point. Between each two knots the
spline is expressed as:

where coefficients a0, a1, a2, a3 have different values at different intervals.
The SPiiPlus controller also supports two-dimensional splines. In this case, the definition table is a
two-dimensional matrix. Knot points are defined for two arguments x and y, and the matrix
contains corresponding p values. Knot values divide the XY plane into rectangular cells. The matrix
defines the function values in the cell vertices. Within each cell, the interpolating spline is expressed
as:

Many different spline approximations can be provided for one definition table. The SPiiPlus
controller supports two kinds of splines: Catmull-Rom and B-Splines (see description below).
If the distance between the knots in the table is constant, the spline is called uniform. On the
contrary, a non-uniform spline corresponds to a table that contains function values in arbitrary
points. However, the definition table always arranges the knot values in ascending order, so that xi
< xi+1.
All knot points constitute the definition range of the spline. Figure 6-13 illustrates definition range of
a function defined with six non-uniform knots:

Figure 6-13. Spline Definition Range

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In a two-dimensional case, definition range is a rectangular area, as illustrated in Figure 6-14:

Figure 6-14. Two-Dimensional Spline Definition Range

One-Dimensional Catmull-Rom Spline

Assume a definition table provides N control points p0, p1, p2… pN-1 in knots x0, x1, x2… xN-1.
The Catmull-Rom construction process is described as follows:
> At each internal knot xi (1 < i < N-2) calculate the derivative:
vi = (pi+1 - pi-1)/(xi+1 - xi-1)
> At the first and last knots assume zero derivative: v0 = vN-1 = 0.
> In interval i (1 < i < N-2), build a 3rd order polynomial p=f(x) that satisfies four bound
conditions pi, vi, pi+1, vi+1.
> Beyond the definition range the spline is defined as follows:
p = p0 if x < x0
p = pN-1 if x > xN-1
Figure 6-15 illustrates a Catmull-Rom spline that interpolates a 5-component definition table.

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Figure 6-15. 5-Point Catmull-Rom Spline

Features of the Catmull-Rom spline:

> The spline is C1-continuous, meaning the curve and its first derivative are continuous
functions. The second derivative has discontinuities in the knot points.
> The curve interpolates all control points; meaning that the curve goes through each control
point.
> At internal control point number i, the first derivative vector is parallel to the line connecting
control points i-1 and i+1.
> At the first and the last control points, the first derivative is zero.
> The spline yields a constant value equal to p0 on the interval from - to x0.

> The spline yields constant value equal to pN-1 on the interval from xN-1 to + .
One-Dimensional B-spline
Assume a definition table provides N control points p0, p1, p2… pN-1 in knots x0, x1, x2… xN-1.
Unlike the Catmull-Rom spline, a B-Spline does not go through the control points. Actually, it
approximates the control points as illustrated in Figure 6-16.

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Figure 6-16. B-Spline - Approximation of Points

Compared to a Catmull-Rom spline, a B-Spline generates a smoother curve. Used in the controller, a
B-spline provides continuous velocity and acceleration; where Catmull-Rom spline provides
continuous velocity only, and acceleration may change by jumping at the control points.
Features of the B-Spline:
> The spline is C2-continuous, meaning the curve, its first and second derivatives are all
continuous functions.
> The curve approximates the control points; and does not go through each control point.
> The spline yields changing value in the interval from x0 – (x1 – x0) to xN-1+(xN-1 – xN-2).
> The spline yields constant value equal to p0 in the interval from- to x0 – (x1 – x0).

> The spline yields constant value equal to pN-1 in the interval from xN-1+ (xN-1 – xN-2) to + .
Not-passing the control points is not always a drawback. If values p0, p1, p2… pN-1 are obtained from
some measuring process, the values include measuring error that has a stochastic component.
B-Spline tends to filter out the stochastic error, thereby improving overall accuracy.
Two-Dimensional Splines
The SPiiPlus NT controllers support two-dimensional Catmull-Rom and B-Splines.
A two-dimensional spline approximates a definition table that provides NxM control points p00, p01,
…p0,M-1, p10, p11,… pN-1,M-1 on the grid defined by knots x0, x1, x2… xM-1 and y0, y1, y2… yN-1.
A two-dimensional spline is defined as tensor product of two one-dimensional splines. Two-
dimensional splines share many features with the corresponding one-dimensional splines, for
example:

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Catmull-Rom Spline Surface B-Spline Surface

C1-continuous C2-continuous

Interpolates control points Approximates control points

A section of a two-dimensional spline surface along any direction provides a curve, which is a
corresponding one-dimensional file. For example, a two-dimensional Catmull-Rom spline is cut on
the grid line that corresponds to knot y2. The section is a one-dimensional Catmull-Rom spline built
upon control points p20, p21, p22, … p2,M-1.
The behavior of a two-dimensional spline beyond the definition range is more complex than in the
case of a one-dimensional spline. Figure 6-17 illustrates the Catmull-Rom spline beyond the
definition range:

Figure 6-17. Catmull-Ron Spline Beyond the Definition Range

The behavior of Catmull-Rom depends on the area as follows:

> Within definition range: function of two arguments p(x, y).
> Southeast to definition range: constant value equal to control point p00.
> Northeast to definition range: constant value equal to control point pN-1,0.
> Northwest to definition range: constant value equal to control point pN-1,M-1.
> Southwest to definition range: constant value equal to control point p0,M-1.
> South to definition range: function of x, ps(x) = p(x, y0)
> North to definition range: function of x, pn(x) = p(x, yN-1)
> West to definition range: function of y, pw(y) = p(x0, y)
> East to definition range: function of y, pe(y) = p(xM-1, y)

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Similar to one-dimensional B-spline, two-dimensional B-spline has an extended range of result

change. To specify the extended range, let us define four artificial knot points:
x-1= x0 – (x1 – x0)
xM = xM-1 + (xM-1 – xM-2)
y-1 = y0 – (y1 – y0)
xN = xN-1 + (xN-1 – xN-2)
Then, the extended range spans from x-1 to xM and from y-1 to yN.
Area map of a B-spline is similar to the Catmull-Rom spline, but the extended range takes place of
the definition range:

Figure 6-18. B-Spline Map

[Link] MAP
Description
MAP returns a value from an array of points per input variable value, base value of the variable and
fixed defined intervals of the variable. The return values between the array points are linearly
interpolated. MAP is useful for creating a correction table for mechanical error compensation.
Syntax
MAP(X, array, base, step)
Arguments

X Real variable name or real expression.

array The name of a real one-dimensional array that specifies points

A real number representing the value of XX that corresponds to the first point in
base
array.

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A real number representing the value of XX that defines fixed intervals

step
between the array points.

Return Value
MAP returns a linearly interpolated value from the array for each value of XX.
Error Conditions
The function detects the following error conditions:
> Error 2044, Index is out of range, when the defined array size is less than the defined
number of array points.
> Error 3113, The step in the table is zero or negative, when the step argument is zero or
negative.
Example

REAL ARRAY(5);REAL XX; REAL YY; REAL XI

!Defines array ARRAY, and variables XX, YY,and XI.
!-------------------- Assign values to ARRAY array ---------------------
ARRAY(0)= -10; ARRAY(1)=3; ARRAY(2)=5; ARRAY(3)=14; ARRAY(4)=12
!Assign values to ARRAY
XX=-20; XI=0.1 !Assign values to XX and XI
WHILE XX<20 !Set conditions
XX=XX+XI
YY=MAP(XX,ARRAY,-10,5) !MAP command where:
!XX is a variable name
!ARRAY is a one-dimensional point array
!-10 is the value of XX that corresponds to base
!point!5 is the value of XX that defines fixed intervals
!between the ARRAY points.
END !Ends mapping
STOP !Ends program

Table 6-7 shows the XX and YY values.

Table 6-7. MAP Array

XX -20 -10 -7 -5 0 5 10 15 20

ARRAY N/A -10 N/A 3 5 14 12 N/A N/A

YY -10 -10 -2.2 3 5 14 12 12 12

Figure 6-19 illustratesIllustration of this MAP example on the Scope.

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Figure 6-19. MAP Example on the Scope

[Link] MAPB
Description
MAPB returns a value from an array of points according to an input variable value, base value of the
variable and fixed defined intervals of the variable. The return values between the array points are
interpolated by a third order B-spline. MAPB is useful for creating a correction table for mechanical
error compensation.
Syntax
MAPB(XX, array, base, step)
Arguments

XX Real variable name or real expression.

array The name of a real one-dimensional array that specifies points

A real number representing the value of XX that corresponds to the first point in
base
array.

A real number representing the value of XX that defines fixed intervals

step
between the array points.

Return Value
MAPB returns the third order B spline interpolated value from the array according to the value of
variable XX.
Error Conditions
The function detects the following error conditions:

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> Error 2044, Index is out of range, when the defined array size is less than the defined
number of array points.
> Error 3113, The step in the table is zero or negative, when the step argument is zero or
negative.
Example

REAL ARRAY(5);REAL XX; REAL YY; REAL XI

!Defines array ARRAY, and variables XX,YY, and XI
!------------------ Assign point values to ARRAY array ------------------
---
ARRAY(0)= -10; ARRAY(1)=3; ARRAY(2)=5; ARRAY(3)=14; ARRAY(4)=12
XX=-20; XI=0.1 !Assign values to XX and XI
WHILE XX<20 !Set conditions
XX=XX+XIYY=MAPB(XX,ARRAY,-10,5) !MAPB command where:!XX is a variable
name
!ARRAY is a one-dimensional point array
!-10 is the value of XX that corresponds to base
!point
!5 is the value of XX that defines fixed
intervals
!between the ARRAY points.
END !Ends mapping
STOP !Ends program

Table 6-8 shows the XX and YY values.

Table 6-8. MAPB Array

XX -20 -10 -7 -5 0 5 10 15 20

ARRA
N/A -10 N/A 3 5 14 12 N/A N/A
Y

- -
YY -10 1.16 6.16 12.33 12.33 12 12
7.83 2.45

Figure 6-20 illustrates this MAPB example on the Scope.

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Figure 6-20. MAPB Example on the Scope

[Link] MAPN
Description
MAPN returns a value from an array of points according to the value of an input variable, and a look-
up array. The return values between the array points are linearly interpolated. MAPN is useful for
creating a correction table for mechanical error compensation.
Syntax
MAPN(XX, X_table, Y_table)
Arguments

XX Real variable name or real expression.

The name of a real one-dimensional array that specifies the values of XX that
X_table
correspond to the point array.

Y_table The name of a real one-dimensional array that specifies points.

Return Value
MAPN returns a linearly interpolated value from the array according to the value variable XX.

> To obtain a valid return value from the MAPN function after the Y_table array is
changed, the buffer must be recompiled before calling the MAPN function.
> If a MAPN function is called without recompiling the buffer, then the return
value is calculated according to the values from the Y_table array that was
provided to the function after the last compilation.

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Error Conditions
The function detects the following error conditions:
> The Xtable or Ytable argument has the wrong dimension
> The arguments in Xtable are not arranged in ascending order.
Example

REAL Xtable(5);REAL Ytable(5);REAL XX; REAL YY; REAL XI!Defines arrays

Xtable, Ytable, and variables XX,
!YY, and XI.
!-------------------- Assign values to Xtable array ---------------------
Xtable(0)= -10;Xtable(1)=-3;Xtable(2)=6;Xtable(3)=12;Xtable(4)=14
!-------------------- Assign values to Ytable array ---------------------
Ytable(0)= -10;Ytable(1)=3;Ytable(2)=5;Ytable(3)=14;Ytable(4)=4
XX=-20; XI=0.1 !Assigns values to XX and XI.
WHILE XX<20 !Set conditions.
XX=XX+XI
YY=MAPN(XX,Xtable,Ytable)!MAPN where: !XX is the defined variable.
!Xtable is a one-dimensional point array that
!specifies the values of XX corresponding to the
!point array.
!Ytable is a one-dimensional array that specifies
!points.
END !Ends mapping
STOP !Ends program

Table 6-9 shows the XX and YY values.

Table 6-9. MAPN Array

XX -20 -10 -7 -3 6 12 14 15 20

ARRAY N/A -10 N/A -3 6 12 12 N/A N/A

YY -10 -10 -4.42 -3 6 12 14 14 14

Figure 6-21 illustrates this MAPN example on the Scope.

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Figure 6-21. MAPN Example on the Scope

[Link] MAPNB
Description
MAPNB returns a value from a pre-defined control point array based on a defined variable and a
look-up table. The return values between the table intervals are interpolated according to a third
order B-spline. MAPNB is useful for creating a correction table for mechanical error compensation.
Syntax
MAPNB(XX, X_table, Y_table)
Arguments

XX Real variable name or real expression.

The name of a real one-dimensional array that specifies the values of XX that
X_table
correspond to the point array.

Y_table The name of a real one-dimensional array that specifies points.

Return Value
MAPNB returns the third order B spline interpolated value from the Y_table per variable XXvalue.

> To obtain a valid return value from the MAPNB function after the Y_table array
is changed, the buffer must be recompiled before calling the MAPNB function.
> If a MAPNB function is called without recompiling the buffer, then the return
value is calculated according to the values from the Y_table array that was
provided to the function after the last compilation.

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Error Conditions
The function detects the following error conditions:
> The X_table or Y_table argument has the wrong dimension
> The arguments in X_table are not arranged in ascending order sequence.
Example

REAL Xtable(5);REAL Ytable(5);REAL XX; REAL YY; REAL XI

!Defines arrays Xtable, Ytable, and variables XX,
!YY, and XI.
!-------------------- Assign values to Xtable array ---------------------
Xtable(0)= -10; Xtable(1)=-3; Xtable(2)=6; Xtable(3)=12; Xtable(4)=14
!-------------------- Assign values to Ytable array ---------------------
Ytable(0)= -10; Ytable(1)=3; Ytable(2)=5; Ytable(3)=14; Ytable(4)=4
XX=-20; XI=0.1 !Assigns values to XX and XI.
WHILE XX<20 !Set conditions.
XX=XX+XI
YY=MAPNB(XX,Xtable,Ytable)!MAPNB where:
!XX is the defined variable.
!Xtable is a point array that specifies the values
!of XX corresponding to the point array.
!Ytable is an array that specifies Y points.
END !Ends mapping
STOP !Ends program

Table 6-10 shows the XX and YY values.

Table 6-10. MAPNB Array

XX -20 -10 -7 -3 6 12 14 15 20

ARRA
N/A -10 N/A -3 6 12 12 N/A N/A
Y

- - -
YY -10 7.64 9.23 5 4.124 4
8.02 4.65 0.41

Figure 6-22 illustrates this MAPNB example on the Scope.

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Figure 6-22. MAPNB Example on the Scope

[Link] MAPNS
Description
MAPNS returns a value from an array of points according to the value of an input variable, and a
look-up array. The return values between the array points are interpolated according to a third order
Catmull-Rom spline. MAPNS is useful for creating a correction table for mechanical error
compensation.
Syntax
MAPNS(XX, X_table, Y_table)
Arguments

XX Real variable name or real expression.

The name of a real one-dimensional array that specifies the values of XX that
X_table
correspond to the point array.

Y_table The name of a real one-dimensional array that specifies points.

Return Value
MAPNS returns the third order Catmull-Rom spline interpolated value from the X_table per variable
XX value.

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> To obtain a valid return value from the MAPNS function after the Y_table array
is changed, the buffer must be recompiled before calling the MAPNS function.
> If a MAPNS function is called without recompiling the buffer, then the return
value is calculated according to the values from the Y_table array that was
provided to the function after the last compilation.

REAL Xtable(5);REAL Ytable(5);REAL XX; REAL YY; REAL XI

!Defines arrays Xtable, Ytable, and variables XX,
!YY, and XI
!-------------------- Assign values to Xtable array ---------------------
Xtable(0)= -10; Xtable(1)=-3; Xtable(2)=6; Xtable(3)=12; Xtable(4)=14
!-------------------- Assign values to Ytable array ---------------------
Ytable(0)= -10; Ytable(1)=3; Ytable(2)=5; Ytable(3)=14; Ytable(4)=4
XX=-20; XI=0.1 !Assigns values to XX and XI.
WHILE XX<20 !Set conditions.
XX=XX+XI
YY=MAPNS(XX,Xtable,Ytable) !MAPNS command where:
!XX is the defined variable.
!Xtable is a one-dimensional point array that
!specifies the values of XX corresponding to the
!point array.
!Ytable is a one-dimensional array that specifies
!points.
END !Ends mapping
STOP !Ends program

Table 6-11 shows the XX and YY values.

Table 6-11. MAPNS Array

XX -20 -10 -7 -3 6 12 14 15 20

ARRAY N/A -10 N/A -3 6 12 12 N/A N/A

YY -10 -10 -4.42 -3 6 12 14 14 14

Figure 6-23 illustrates this MAPNS example on the Scope.

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Figure 6-23. MAPNS Example on the Scope

[Link] MAPS
Description
MAPS returns a value from an array of points according to the value of an input variable, the base
value of the variable, and the fixed defined intervals. The return values between the array-points
are interpolated according to a third order Catmull-Rom spline. MAPS is useful for creating a
correction table for mechanical error compensation.
Syntax
MAPS(XX, array, base, step)
Arguments

XX Real variable name or real expression.

array The name of a real one-dimensional array that specifies points

A real number representing the value of XX that corresponds to the first point in
base
array.

A real number representing the value of XX that defines fixed intervals

step
between the array points.

Return Value
MAPS returns the third order Catmull-Rom spline interpolated value from the array according to the
value of XX.
Error Conditions
The function detects the following error conditions:

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REAL ARRAY(5);REAL XX; REAL YY; REAL XI

!Defines ARRAY a 5 element array, XX, YY, and XI
!-------------------- Assign values to ARRAY array ---------------------
ARRAY(0)= -10; ARRAY(1)=3; ARRAY(2)=5; ARRAY(3)=14; ARRAY(4)=12
XX=-20; XI=0.1 !Assigns values to XX and XI.
WHILE XX<20 !Set conditions.
XX=XX+XI
YY=MAPS(XX,ARRAY,-10,5) !MAPS command where:
!XX is the defined variable.
!ARRAY is a one-dimensional point array.
!-10 is the value of XX that corresponds to
!base point.
!5 is the value of XX that defines fixed
!intervals between the ARRAY points.
END !Ends mapping
STOP !Ends program

Table 6-12 shows the XX and YY values.

Table 6-12. MAPS Array

XX -20 -10 -7 -5 0 5 10 15 20

ARRAY N/A -10 N/A 3 5 14 12 N/A N/A

YY -10 -10 -2.65 3 5 14 12 12 12

Figure 6-24 illustrates this MAPS example on the Scope.

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Figure 6-24. MAPS Example on the Scope

[Link] MAP2
Description
MAP2 returns a value from a two dimensional point array for each set of two input variable values,
the base values of the input variables, and a fixed, defined interval for the variables. The return
values between the array-points are linearly interpolated. MAP2 is useful for dynamic error
compensation.
Syntax
MAP2(XX, ZZ, table, baseX, stepX, baseY, stepY)
Arguments

XX Real variable name or real expression.

ZZ Real variable name or real expression.

table The name of a real two-dimensional array that specifies points

A real number representing the value of XX that corresponds to the first point
baseX
in the array.

A real number representing the value of XX that defines fixed intervals

stepX
between the array points.

A real number representing the value of ZZ that corresponds to the first point
baseY
in the array.

A real number representing the value of ZZ that defines fixed intervals

stepY
between the array points.

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Return Value
MAP2 returns a linearly interpolated value from the array according to the value of variables XX and
ZZ.
Error Conditions
The function detects the following error conditions:
> Error 3072, Wrong array size, if table has only one dimension.
> Error 3113, The step in the table is zero or negative, when the stepX or stepY arguments are
zero or negative.
Example

GLOBAL REAL XI,XX,YY,ZZ,TABLE(5)(5)

!Defines real variables and 5x5 matrix.
XX=-20;ZZ=10;XI=0.1!Assigns values to the variable.
!-------------------- Assign values to TABLE matrix ---------------------
TABLE(0)(0)=2; TABLE(0)(1)=22; TABLE(0)(2)=6; TABLE(0)(3)=8; TABLE(0)
(4)=10;
TABLE(1)(0)=12; TABLE(1)(1)=-44; TABLE(1)(2)=16; TABLE(1)(3)=18;
TABLE(1)(4)=20; TABLE(2)(0)=22; TABLE(2)(1)=24; TABLE(2)(2)=26;
TABLE(2)(3)=68; TABLE(2)(4)=30; TABLE(3)(0)=12; TABLE(3)(1)=34;
TABLE(3)(2)=59; TABLE(3)(3)=-38; TABLE(3)(4)=40; TABLE(4)(0)=92;
TABLE(4)(1)=44; TABLE(4)(2)=46; TABLE(4)(3)=10; TABLE(4)(4)=90
WHILE ZZ<70
XX=XX+XI !Set conditions
ZZ=ZZ+XI
YY=MAP2(XX,ZZ,TABLE,-10,5,20,10)!MAP2 command where:
!XX and ZZ are variables.
!TABLE is a 2x2 matrix that specifies points.
!-10 is the first XX point in the matrix.
!5 defines the fixed intervals between the XX
points.
!20 is the first ZZ point in the matrix.
!10 defines the fixed intervals between the ZZ
!points.
DISP XX,ZZ,YY !Displays values of XX, ZZ and YY.
END !Ends MAP2.
STOP !Ends program

Table 6-13 shows the YY values as a function of XX and ZZ arguments.

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Table 6-13. MAP2

Figure 6-25 illustratesthis MAP2 example on the Scope.

Figure 6-25. MAP2 Example on the Scope

[Link] MAP2B
Description
MAP2B returns a value from a two dimensional array of points according to the value of two input
variables, where the base values of the input variables are fixed and the intervals of the input
variables are defined. The return values between the array-points are interpolated according to a
third order B-spline. MAP2B is useful for dynamic error compensation.
Syntax
MAP2B(XX,ZZ, table, baseX, stepX, baseY, stepY)

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Arguments

XX Real variable name or real expression.

ZZ Real variable name or real expression.

table The name of a real two-dimensional array that specifies points

A real number representing the value of XX that corresponds to the first point
baseX
in the array.

A real number representing the value of XX that defines fixed intervals

stepX
between the array points.

A real number representing the value of ZZ that corresponds to the first point
baseY
in the array.

A real number representing the value of ZZ that defines fixed intervals

stepY
between the array points.

Return Value
MAP2B returns the third order B-spline interpolated value from the array according to the value of
variables XX and ZZ.
The function detects the following error conditions:
> Error 3072, Wrong array size, if table has only one dimension.
> Error 3113, The step in the table is zero or negative, when the stepX or stepY arguments are
zero or negative.
Example

GLOBAL REAL XI,XX,YY,ZZ,T(5)(5)

!Defines real variables and 5x5 matrix.
XX=-20;ZZ=10;XI=0.1!Assigns values to the variables.
!---------------------- Assign values to T matrix ---------------------
T(0)(0)=2;T(0)(1)=22;T(0)(2)=6;T(0)(3)=8;T(0)(4)=10; T(1)(0)=12;
T(1)(1)=-44;T(1)(2)=16;T(1)(3)=18; T(1)(4)=20;T(2)(0)=22;T(2)(1)=24;
T(2)(2)=26; T(2)(3)=68;T(2)(4)=30;T(3)(0)=12;T(3)(1)=34; T(3)(2)=59;
T(3)(3)=-38;T(3)(4)=40;T(4)(0)=92; T(4)(1)=44;T(4)(2)=46;T(4)(3)=10;
T(4)(4)=90
WHILE ZZ<70
XX=XX+XI !Set conditions
ZZ=ZZ+XI
YY=MAP2B(XX,ZZ,T,-10,5,20,10!MAP2B command where:
!XX and ZZ are variables.
!T is a 2x2 matrix that specifies points.
!-10 is the first XX point in the matrix.
!5 defines the fixed intervals between the XX points.
!20 is the first ZZ point in the matrix.
!10 defines the fixed intervals between the ZZ

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!points.
DISP XX,ZZ,YY !Displays values of XX, ZZ and YY.
END !Ends MAP2B.
STOP !Ends program

Table 6-14 shows the YY values as a function of XX and ZZ arguements.

Table 6-14. MAP2B

Figure 6-26 illustrates this MAP2B example on the Scope.

Figure 6-26. MAP2B Example on the Scope

[Link] MAP2N
Description
MAP2N returns a value from a two dimensional array of points according to the value of two input
variables, with look-up arrays for each of the variables. The return values between the array-points
are linearly interpolated. MAP2N is useful for dynamic error compensation.
Syntax
MAP2N(XX,ZZ, table, X_table, Y_table)

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Arguments

XX Real variable name or real expression.

ZZ Real variable name or real expression.

table The name of a real two-dimensional array that specifies points

A one-dimensional real array that specifies the values of XX that corresponds

X_table
the point array.

A one-dimensional real array that specifies the values of ZZ that corresponds

Y_table
the point array.

Return Value
MAP2N returns the linearly interpolated value from the array according to the value of the variables
XX and ZZ.

> To obtain a valid return value from the MAP2N function after the Y_table array
is changed, the buffer must be recompiled before calling the MAP2N function.
> If a MAP2N function is called without recompiling the buffer, then the return
value is calculated according to the values from the Y_table array that was
provided to the function after the last compilation.

Error Conditions
The function detects the following error conditions:
> Error 3072, Wrong array size, when table has only one dimension or X_table or Y_table
have the wrong dimension. X_table must contain M elements and Y_table must contain N
elements.
> The values in X_table or Y_table are not sequenced in ascending order.
Example

GLOBAL REAL XI,XX,YY,ZZ,XTABLE(5),YTABLE(5),TABLE(5)(5)

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TABLE(1)(4)=20; TABLE(2)(0)=22; TABLE(2)(1)=24; TABLE(2)(2)=26;

TABLE(2)(3)=68; TABLE(2)(4)=30; TABLE(3)(0)=12; TABLE(3)(1)=34;
TABLE(3)(2)=59; TABLE(3)(3)=-38; TABLE(3)(4)=40; TABLE(4)(0)=92;
TABLE(4)(1)=44; TABLE(4)(2)=46; TABLE(4)(3)=10; TABLE(4)(4)=90
WHILE ZZ<200
XX=XX+XI!Set conditions
ZZ=ZZ+XI
YY=MAP2N(XX,ZZ,TABLE,XTABLE,YTABLE)!MAP2N command where:
!XX and ZZ are variables.
!TABLE is a 5x5 matrix specifying mapping points.
!XTABLE is an array specifying XX points.
!YTABLE is an array specifying ZZ points.
DISP XX,ZZ,YY !Displays values of XX, ZZ and YY.
END !Ends MAP2N.
STOP !Ends program

Table 6-15 shows the YY values as a function of XX and ZZ arguments.

Table 6-15. MAP2B

Figure 6-27 illustrates this MAP2N example on the Scope.

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Figure 6-27. MAP2N Example on the Scope

[Link] MAP2NB
Description
MAP2NB returns a value from a two-dimensional array of points based on the input values of two
variables, with a separate look-up array for one variable, and a separate look-up array for the other
variable. The return values between the array-points are interpolated according to a third-order B-
spline. MAP2NB is useful for dynamic error compensation.
Syntax
MAP2NB(XX,ZZ, Table, X_Table, Y_Table)
Arguments

XX Real variable name or real expression.

ZZ Real variable name or real expression.

table The name of a real two-dimensional array that specifies points

A one-dimensional real array that specifies the values of XX that corresponds

X_table
the point array.

A one-dimensional real array that specifies the values of ZZ that corresponds

Y_table
the point array.

Return Value
MAP2NB returns the third-order B-spline interpolated value from the array according to the value of
the variables XX and ZZ.

> To obtain a valid return value from the MAP2NB function after the Y_table array
is changed, the buffer must be recompiled before calling the MAP2NB function.
> If a MAP2NB function is called without recompiling the buffer, then the return
value is calculated according to the values from the Y_table array that was
provided to the function after the last compilation.

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Example

GLOBAL REAL XI,XX,YY,ZZ,XTABLE(5),YTABLE(5),TABLE(5)(5)

!Defines real variables, two arrays and a 5x5 matrix.
XX=-90;ZZ=0;XI=0.1 !Assigns values to the variables.
!---------------------- Assign values to XTABLE array -------------------
--
XTABLE(0)=-13; XTABLE(1)=-8; XTABLE(2)=0; XTABLE(3)=12; XTABLE(4)=51
!---------------------- Assign values to YTABLE array -------------------
--
YTABLE(0)=16; YTABLE(1)=21; YTABLE(2)=80; YTABLE(3)=82; YTABLE(4)=113
!---------------------- Assign values to TABLE matrix -------------------
--
TABLE(0)(0)=2; TABLE(0)(1)=22; TABLE(0)(2)=6; TABLE(0)(3)=8; TABLE(0)
(4)=10;
TABLE(1)(0)=12; TABLE(1)(1)=-44; TABLE(1)(2)=16; TABLE(1)(3)=18;
TABLE(1)(4)=20; TABLE(2)(0)=22; TABLE(2)(1)=24; TABLE(2)(2)=26;
TABLE(2)(3)=68; TABLE(2)(4)=30; TABLE(3)(0)=12; TABLE(3)(1)=34;
TABLE(3)(2)=59; TABLE(3)(3)=-38; TABLE(3)(4)=40; TABLE(4)(0)=92;
TABLE(4)(1)=44; TABLE(4)(2)=46; TABLE(4)(3)=10; TABLE(4)(4)=90
WHILE ZZ<200
XX=XX+XI !Set conditions
ZZ=ZZ+XI
YY=MAP2NB(XX,ZZ,TABLE,XTABLE,YTABLE)
!MAP2NB command where:
!XX and ZZ are variables.
!TABLE is a 5x5 matrix specifying mapping points.
!XTABLE is an array specifying XX points.
!YTABLE is an array specifying ZZ points.
DISP XX,ZZ,YY !Displays values of XX, ZZ and YY.
END !Ends MAP2N.
STOP !Ends program

Table 6-16 shows the YY values as a function of XX and ZZ arguments.

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Table 6-16. MAP2NB

MAP2B illustrates this MAP2NB example on the Scope.

Figure 6-28. MAP2NB Example on the Scope

[Link] MAP2NS
Description
MAP2NS returns a value from a two-dimensional array of points based on the input values of two
variables, with a separate look-up array for one variable, and a separate look-up array for the other
variable. The return values between the array-points are interpolated according to a third-order
Catmull-Rom spline. The MAP2NS function is useful for dynamic error compensation
Syntax
MAP2NS(XX,ZZ, table, X_table, Y_table)
Arguments

XX Real variable name or real expression.

ZZ Real variable name or real expression.

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table The name of a real two-dimensional array that specifies points

A one-dimensional real array that specifies the values of XX that corresponds

X_table
the point array.

A one-dimensional real array that specifies the values of ZZ that corresponds

Y_table
the point array.

Return Value
MAP2NS returns the third-order Catmull-Rom interpolated value from the array according to the
value of the variables XX and ZZ.

> To obtain a valid return value from the MAP2NS function after the Y_table array
is changed, the buffer must be recompiled before calling the MAP2NS function.
> If a MAP2NS function is called without recompiling the buffer, then the return
value is calculated according to the values from the Y_table array that was
provided to the function after the last compilation.

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Example

GLOBAL REAL XI,XX,YY,ZZ,XTABLE(5),YTABLE(5),TABLE(5)(5)

!Defines real variables, two arrays and a 5x5 matrix.
XX=-90;ZZ=0;XI=0.1 !Assigns values to the variables.
!---------------------- Assign values to XTABLE array -------------------
--
XTABLE(0)=13; XTABLE(1)=-8; XTABLE(2)=0; XTABLE(3)=12; XTABLE(4)=51
!---------------------- Assign values to YTABLE array -------------------
--
YTABLE(0)=16; YTABLE(1)=21; YTABLE(2)=80; YTABLE(3)=82; YTABLE(4)=113
!---------------------- Assign values to TABLE matrix -------------------
--
TABLE(0)(0)=2; TABLE(0)(1)=22; TABLE(0)(2)=6; TABLE(0)(3)=8; TABLE(0)
(4)=10;
TABLE(1)(0)=12; TABLE(1)(1)=-44; TABLE(1)(2)=16; TABLE(1)(3)=18;
TABLE(1)(4)=20; TABLE(2)(0)=22; TABLE(2)(1)=24; TABLE(2)(2)=26;
TABLE(2)(3)=68; TABLE(2)(4)=30; TABLE(3)(0)=12; TABLE(3)(1)=34;
TABLE(3)(2)=59; TABLE(3)(3)=-38; TABLE(3)(4)=40; TABLE(4)(0)=92;
TABLE(4)(1)=44; TABLE(4)(2)=46; TABLE(4)(3)=10; TABLE(4)(4)=90
WHILE ZZ<200
XX=XX+XI !Set conditions
ZZ=ZZ+XI
YY=MAP2NS(XX,ZZ,TABLE,XTABLE,YTABLE)
!MAP2NS command where:
!XX and ZZ are variables.
!TABLE is a 5x5 matrix specifying mapping points.
!XTABLE is an array specifying XX points.
!YTABLE is an array specifying ZZ points.
DISP XX,ZZ,YY !Displays values of XX, ZZ and YY.
END !Ends MAP2N.
STOP !Ends program

Table 6-17 shows the YY values as a function of XX and ZZ arguments.

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Table 6-17. MAP2NS

Figure 6-29 illustrates this MAP2NS example on the Scope.

Figure 6-29. MAP2NS Example on the Scope

[Link] MAP2S
Description
MAP2S returns a value from a two-dimensional array of points based on the input values of two
variables, the base values of the two variables, and the fixed defined intervals of the two variables.
The return values between the array-points are interpolated according to a third order Catmull-Rom
spline. The MAP2S function is useful for dynamic error compensation.
Syntax
MAP2S(XX,ZZ, table, baseX, stepX, baseY, stepY)

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Arguments

XX Real variable name or real expression.

ZZ Real variable name or real expression.

table The name of a real two-dimensional array that specifies points

A real number representing the value of XX that corresponds to the first point
baseX
in the array.

A real number representing the value of XX that defines the fixed intervals
stepX
between the array points.

A real number representing the value of ZZ that corresponds to the first point
baseY
in the array.

A real number representing the value of ZZ that defines the fixed intervals
stepY
between the array points.

Return Value
MAP2S returns the third order Catmull-Rom spline interpolated value from the array according to the
value of variables XX and ZZ.
Error Conditions
The function detects the following error conditions:
> Error 3072, Wrong array size, when table has only one dimension.
> Error 3113, The step in the table is zero or negative, when the stepX or stepY arguments are
zero or negative.

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Example

GLOBAL REAL XI,XX,YY,ZZ,TABLE(5)(5)

!Defines real variables and 5x5 matrix.
XX=-20;ZZ=10;XI=0.1 !Assigns values to the variable.
!-------------------- Assign values to TABLE matrix ---------------------
TABLE(0)(0)=2; TABLE(0)(1)=22; TABLE(0)(2)=6; TABLE(0)(3)=8; TABLE(0)
(4)=10;
TABLE(1)(0)=12; TABLE(1)(1)=-44; TABLE(1)(2)=16; TABLE(1)(3)=18;
TABLE(1)(4)=20; TABLE(2)(0)=22; TABLE(2)(1)=24; TABLE(2)(2)=26;
TABLE(2)(3)=68; TABLE(2)(4)=30; TABLE(3)(0)=12; TABLE(3)(1)=34;
TABLE(3)(2)=59; TABLE(3)(3)=-38; TABLE(3)(4)=40; TABLE(4)(0)=92;
TABLE(4)(1)=44; TABLE(4)(2)=46; TABLE(4)(3)=10; TABLE(4)(4)=90
WHILE ZZ<70
XX=XX+XI !Set conditions
ZZ=ZZ+XI
YY=MAP2S(XX,ZZ,TABLE,-10,5,20,10)!MAP2S where:
!XX and ZZ are variables.
!TABLE is a 2x2 matrix that specifies points.
!-10 is the first XX point in the matrix.
!5 defines the fixed intervals between the XX points.
!20 is the first ZZ point in the matrix.
!10 defines the fixed intervals between the ZZ
!points.
DISP XX,ZZ,YY !Displays values of XX, ZZ and YY.
END !Ends MAP2S.
STOP !Ends program

Table 6-18 shows the YY values as a function of XX and ZZ arguments.

Table 6-18. MAP2S

Figure 6-30 illustrates this MAP2S example on the Scope.

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Figure 6-30. MAP2S Example on the Scope

[Link] MATCH
Description
MATCH calculates axis position (APOS) that matches the current reference position (RPOS), based on
CONNECT between APOS and RPOS of the same axis. If there is no CONNECT command, the function
returns the value of RPOS.
Syntax
real MATCH (axis, from, to)
Arguments

axis The axis upon which to apply the MATCH function.

from The start point to begin searching for matching values of APOS.

to The end point to stop searching for matching values of APOS.

Comments
The function is useful only in the case of non-default connections.
The connection must be on the same axis.
The function succeeds if the unique root exists in the specified range. If there are several roots in the
range, the function returns one of them. If the root does not exist, the function results an error.
Return Value
APOS that matches the current RPOS of the same axis.
Error Conditions
Error 3158 - The function cannot find a matching value. The CONNECT formula has no root or the root
is not single.

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Example

GLOBAL REAL ARRAY(6), XX

!-------------------- Assign values to ARRAY array ---------------------
ARRAY(0)= 60; ARRAY(1)=40; ARRAY(2)=90; ARRAY(3)=-40; ARRAY(4)=60;
ARRAY(5)=10
VEL(0)=800 !Set VEL(0)
MFLAGS(0).17=1
CONNECT RPOS(0)=APOS(0)+MAP(APOS(0),ARRAY,100,200)
!The program executes a CONNECT between RPOS and APOS
!for axis X. Where RPOS(0) receives the value of
!APOS(0) added to the value of a MAP function.
DEPENDS X,X
SET APOS(0)=0
SET RPOS(0)=MAP(APOS(0),ARRAY,100,200)
PTP X, 1300 !A PTP command sends the motor to 1300 counts,
!while the motor is in motion a MATCH function is
!calculated and displayed along with RPOS(0) and
!APOS(0).
WHILE MST(0).#MOVE
WAIT 300
XX=MATCH(X,0,1300) !The MATCH function calculates the root of the
!current RPOS(0) based on the CONNECT formula.
DISP RPOS(0), APOS(0), XX
END
STOP !Ends program

The output of the program displays the following RPOS(0), APOS(0) values, and the value of MATCH.
Notice that MATCH values are very close to APOS(0) values:

RPOS(0) APOS(0) MATCH

273.76 228 226.4

554 472.8 471.2

684 717.6 716

1005.6 962.4 960.8

1215.6 1207.2 1205.6

1310 1300 1300

[Link] RAND
Description
RAND generates a random number

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Syntax
real RAND([min, max,seed])
Arguments

(optional) Lower boundary of the interval from which randomized number will
min
be selected. Default value is 0.

(optional) Upper boundary of the interval from which randomized number will
max
be selected. Default value is 0x7fff.

(optional) Sets the random sequence generator. The number range is limited
seed only by the controller register size - 32bit.
If omitted, the controller uses ACSPL+ TIME variable as the seed.

Comments
RAND can generate only one random number per seed number (per interval). For generating a
series of random numbers use TIME as the seed. In this case the series of random numbers will be in
ascending order.
Return Value
The randomized generated number.
Error Conditions
None
Comments
This function may be called inside a FASTCALL function.
Example

RAND (-45,45,TIME)

[Link] ROLL
Description
The ROLL function returns a result rolled-over to within a defined Pitch (range), as illustrated below.

Syntax
ROLL(X, Pitch)

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Arguments

X Variable name declared as real or a real expression.

A range from 0 to Pitch (positive real value) where the return value will be
Pitch
rolled-over.

Return Value
X - if X falls within the range from 0 to Pitch.
or
|X|/Pitch - FLOOR(|X|/Pitch)*Pitch, if X is less than or greater than Pitch.
Error Conditions
None
Example:

YY=ROLL(XX,10) !Input variable XX is changing between -

!20 to 20.

Figure 6-31 illustrates this ROLL example on the Scope.

Figure 6-31. ROLL Example on the Scope

[Link] SAT
Description
SAT returns a result of defined saturation range
Syntax
real SAT(X, Min, Max)

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Arguments

X Variable name declared as real or a real expression.

Min Low saturation value. Must be a real number.

Max High saturation value. Must be a real number.

Return Value
X - if the X value falls inside the SAT range.
Min - if X value is less than the SAT range.
Max - if X value is greater than SAT range.
Error Conditions
None
Comments
This function may be called inside a FASTCALL function.
Example

GLOBAL REAL YY,ZZ,XX

EYAL:
ZZ=-20;XX=0.1
WHILE ZZ<=20
ZZ=ZZ+XX
YY=SAT(ZZ,-5,15)
END
ZZ=20;XX=0.1
WHILE ZZ>=-20
ZZ=ZZ-XX
YY=SAT(ZZ,-5,15)
END
GOTO EYAL
STOP

Figure 6-32 illustrates this SAT example on the Scope.

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Figure 6-32. SAT Example on the Scope

4.10 Dynamic Error Compensation

The Dynamic Error Compensation functions are:

Function Description

Configures and activates 1D error correction for the mechanical error

ERRORMAP1D
compensation for the specified zone.

Configures and activates 1D error correction for the mechanical error

compensation for the specified zone. The compensated reference
ERRORMAPA1D position will be calculated by multiplying the scaling factor by the
desired position so that the actual value will be closer to the desired
value.

Configures and activates 1D error correction for the mechanical error

ERRORMAPN1D
compensation for the specified zone

Configures and activates 2D error correction for the mechanical

ERRORMAP2D
error compensation of the ‘axis0’ command for the specified zone.

Configures and activates 2D error correction for the mechanical

ERRORMAPN2D
error compensation of the ‘axis0’ command for the specified zone.

Configures and activates 2D error correction for the mechanical

error compensation of the specified axis for the specified zone. The
ERRORMAPA2D compensated reference position will be calculated by taking into
account the angle for the orthogonality correction so that the actual
value will be closer to the desired value.

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Function Description

Configures and activates 3D error correction for the mechanical

ERRORMAPN3DA error compensation of ‘axis0’, ‘axis1’, and 'axis2' for the specified
zone, linear by default.

Configures and activates 3D error correction for the mechanical

error compensation of the ‘axis0’ command, ‘axis1’ command, and
'axis2' command for the specified zone. The compensated reference
ERRORMAPN3D2
position will be calculated by adding the linearly (by default)
interpolated error from the desired position so that the actual value
will be closer to the desired value.

Configures and activates 3D error correction for the mechanical

error compensation of the ‘axis0’ command, ‘axis1’ command, and
'axis2' command for the specified zone. The compensated reference
ERRORMAPN3D3
position will be calculated by adding the interpolated error from the
desired position so that the actual value will be closer to the desired
value.

Configures and activates 3D error correction for the mechanical

error compensation of the ‘axis0’ command, ‘axis1’ command, and
'axis2' command for the specified zone. The compensated reference
ERRORMAP3D5
position will be calculated by adding the interpolated error from the
desired position so that the actual value will be closer to the desired
value.

Configures and activates 3D error correction for the mechanical

error compensation of the ‘axis0’ command, ‘axis1’ command, and
'axis2' command for the specified zone. The compensated reference
ERRORMAPN3D5
position will be calculated by adding the interpolated error from the
desired position so that the actual value will be closer to the desired
value.

Configures and activates 3D error correction for the mechanical

error compensation of the ‘axis0’ command, ‘axis1’ command, and
'axis2' command for the specified zone. The compensated reference
ERRORMAPN3DA
position will be calculated by adding the interpolated error from the
desired position so that the actual value will be closer to the desired
value.

Deactivates error mapping correction for the mechanical error

ERRORMAPOFF
compensation for the specified zone.

Activates error correction for the mechanical error compensation for

ERRORMAPON
the specified zone.

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Function Description

Generates a report of all activated zones of error mapping for all

#ERRORMAPREP
axes in the system.

Deactivates error correction for the mechanical error compensation

ERRORUNMAP
for the specified zone.

4.10.1 ERRORMAP1D
Description
The ERRORMAP1D function configures and activates 1D error correction for the mechanical error
compensation for the specified zone, so that the compensated reference position will be calculated
by subtracting the linearly (by default) interpolated error from the desired position so that the actual
value will be closer to the desired value.
The calculation assumes fixed Intervals between points inside the zone.
Syntax

ERRORMAP1D[switches] axis, zone, base, step, correction_map, [referenced_

axis_or_analog_input]

Arguments

The index of the axis that the mechanical error compensation will be
axis applied to, valid numbers are: 0, 1, 2, ... up to the number of axes in the
system minus 1.

The zone index of the mechanical error compensation, valid numbers

zone
are: 0, 1, 2, ... up to the maximum number of zones minus 1.

A real number representing the axis command that corresponds to the

base
first point in correction table for mechanical error compensation.

A real number representing the fixed interval distance between the two
step
adjacent axis commands.

The name of a real one-dimensional array that specifies correction table

correction_map for mechanical error compensation.
The array type should be GLOBAL REAL STATIC (defined in D-Buffer).

referenced_
[Optional] The index of the axis, or the index of the analog input that the
axis_or_analog_
mechanical error compensation will be calculated based on its feedback.
input

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Switches

/p Prevent applying dynamic error compensation on INDEX, MARK, and PEG values

Specifies that the mechanical error compensation will be calculated based on the
/a
feedback from the axis specified by the optional parameter.

Specifies that the mechanical error compensation will be calculated based on the
/i
feedback from the analog input indicated by the optional parameter.

Error Conditions
The function detects the following error conditions:
> Error 2044, Index is out of range, when the defined array size is less than the defined
number of array points.
> Error 3113, The step in the table is zero or negative, when the step argument is zero or
negative.
Comments
If erroneous parameters are passed to the function, the corresponding runtime error will be
generated. The function is intended to be used with arrays only, meaning that an error is generated
if a scalar is passed as a parameter.

4.10.2 ERRORMAPN1D
Description
The ERRORMAPN1D function configures and activates 1D error correction for the mechanical error
compensation for the specified zone, so that the compensated reference position will be calculated
by subtracting the linearly (by default) interpolated error from the desired position so that the actual
value will be closer to the desired value.
The calculation is based on an arbitrary network of points inside the zone.

Syntax

ERRORMAPN1D[switches] axis, zone, axis_command, correction_map,

[referenced_axis_or_analog_input]

Arguments

The index of the axis that the mechanical error compensation will be
axis applied to, valid numbers are: 0, 1, 2, ... up to the number of axes in the
system minus 1.

The zone index of the mechanical error compensation, valid numbers

zone
are: 0, 1, 2, ... up to the maximum number of zones minus 1.

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The name of a real one-dimensional array that specifies axis command

axis_command values used for correction table of mechanical error compensation.
The array type should be GLOBAL REAL STATIC (defined in D-Buffer).

The name of a real one-dimensional array that specifies correction table

correction_map for mechanical error compensation. The array type should be GLOBAL
REAL STATIC (defined in D-Buffer).

referenced_
[Optional] The index of the axis or the index of the analog input to be
axis_or_analog_
used for the calculation of the mechanical error compensation.
input

Switches

/p Prevent applying dynamic error compensation on INDEX, MARK, and PEG values

Specifies that the mechanical error compensation will be calculated based on the
/a
feedback from the axis specified by the optional parameter.

Specifies that the mechanical error compensation will be calculated based on the
/i
feedback from the analog input indicated by the optional parameter.

Error Conditions
The function detects the following error conditions:
> Error 2044, Index is out of range, when the defined array size is less than the defined
number of array points.
> Error 3113, The step in the table is zero or negative, when the step argument is zero or
negative.
Comments
In case of erroneous parameters, the relevant runtime error will be generated. The function is
intended for use with arrays, meaning that an error is generated if a scalar is given as a parameter.

4.10.3 ERRORMAPA1D
Description
The ERRORMAPA1D function configures and activates 1D error correction for the mechanical error
compensation for the specified zone, so that the compensated reference position will be calculated
by multiplying the scaling factor by the desired position so that the actual value will be closer to the
desired value.
Syntax

ERRORMAPA1D[switches] axis, zone, scaling_factor, offset

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Arguments

The index of the axis that the mechanical error compensation will be applied
axis to, valid numbers are: 0, 1, 2, ... up to the number of axes in the system minus
1.

The zone index of the mechanical error compensation, valid numbers are: 0,
zone
1, 2, ... up to the maximum number of zones minus 1.

scaling_ The scaling factor for the linear alignment that will be used for mechanical
factor error compensation. The allowed range for the scaling factor is (0, 2.0).

The offset for the linear alignment that will be used for mechanical error
offset compensation. The offset is actually the mechanical error compensation for
the 0-point location.

Switches

/p Prevent applying dynamic error compensation on INDEX, MARK, and PEG values

Error Conditions
The function detects the following error conditions:
> Error 2044, Index is out of range, when the defined array size is less than the defined
number of array points.
> Error 3113, The step in the table is zero or negative, when the step argument is zero or
negative.
Comments
In case of erroneous parameters, the corresponding runtime error will be generated. The function is
intended to be used for arrays only, meaning that an error is generated if a scalar is given as a
parameter.
This command is supported in ADK versions 2.70 and higher.

4.10.4 ERRORMAP2D
Description
The ERRORMAP2D function configures and activates 2D error correction for the mechanical error
compensation of the ‘axis0’ or 'axis1' command (depending on the switch used) for the specified
zone, so that the compensated reference position will be calculated by subtracting the linearly (by
default) interpolated error from the desired position so that the actual value will be closer to the
desired value.

Syntax

ERRORMAP2D[switches] (axis0, axis1), zone, base0, step0, base1, step1,

correction_map, [reference_axis_or_analog_input0, referenced_axis_or_
analog_input1]

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Arguments

The index of the first axis that the mechanical error compensation
axis0 will be applied to. Valid numbers are: 0, 1, 2, ... up to the number of
axes in the system minus 1.

The index of the second axis participating in 2D mechanical error

axis1 compensation. Valid numbers are: 0, 1, 2, ... up to the number of
axes in the system minus 1.

The zone index of the mechanical error compensation, valid

zone numbers are: 0, 1, 2, ... up to the number of axes in the system
minus 1.

A real number representing the ‘axis0’ command that corresponds

base0 to the first point in correction table for mechanical error
compensation.

A real number representing the fixed interval distance between the

step0
two adjacent ‘axis0’ commands.

A real number representing the ‘axis1’ command that corresponds

base1 to the first point in correction table for mechanical error
compensation.

A real number representing the fixed interval distance between the

step1
two adjacent ‘axis1’ commands.

The name of a real two-dimensional array or MATRIX type that

specifies a correction table for mechanical error compensation. The
correction_map
array or MATRIX type should be a GLOBAL REAL STATIC defined in
the D-Buffer.

[Optional] The index of the first axis, or the index of the first analog
referenced_axis_or_
input whose feedback will be used to calculate the mechanical error
analog_input0
compensation.

[Optional] The index of the second axis, or the index of the second
referenced_axis_or_
analog input whose feedback will be used to calculate the
analog_input1
mechanical error compensation.

Switches

/0 The mechanical error compensation will be applied to ‘axis0’ (default)

/1 The mechanical error compensation will be applied to ‘axis1’

Specifies that the mechanical error compensation will be calculated based on

/a
the feedback from the axis specified by the optional parameter.

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Specifies that the mechanical error compensation will be calculated based on

/i
the feedback from the analog input indicated by the optional parameter.

Specifies that the first optional parameter will be treated as an analog input
/aj
index.

Specifies that the second optional parameter will be treated as an analog input
/ak
index.

Error Conditions
The function detects the following error conditions:
> Error 2044, Index is out of range, when the defined array size is less than the defined
number of array points.
> Error 3113, The step in the table is zero or negative, when the step argument is zero or
negative.
Comments
If incorrect parameters are passed to the function the corresponding error will be generated. The
function is intended to be used for arrays only, meaning that an error is generated if a scalar is given
as a parameter.

4.10.5 ERRORMAPN2D
Description
The ERRORMAPN2D function configures and activates 2D error correction for the mechanical error
compensation of the ‘axis0’ or 'axis1' command (depending on the switch used) for the specified
zone, so that the compensated reference position will be calculated by subtracting the linearly (by
default) interpolated error from the desired position so that the actual value will be closer to the
desired value.

Syntax

ERRORMAPN2D[switches] (axis0, axis1), zone, axis0_command, axis1_command,

correction_map,[reference_axis_or_analog_input0,
referenced_axis_or_analog_input1]

Arguments

The index of the axis that the mechanical error compensation will be
axis0 applied to, valid numbers are: 0, 1, 2, ... up to the number of axes in the
system minus 1.

The index of the second axis participating in 2D mechanical error

axis1 compensation, valid numbers are: 0, 1, 2, ... up to the number of axes in
the system minus 1.

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The zone index of the mechanical error compensation, valid numbers

zone
are: 0, 1, 2, ... up to the maximum number of zones minus 1.

The name of a real one-dimensional array that specifies ‘axis0’ command

axis0_command values used for correction table of mechanical error compensation. The
array type should be GLOBAL REAL STATIC (defined in D-Buffer).

The name of a real one-dimensional array that specifies ‘axis1’ command

axis1_command values used for correction table of mechanical error compensation.
The array type should be GLOBAL REAL STATIC (defined in D-Buffer).

The name of a real two-dimensional array that specifies correction table

correction_map for mechanical error compensation.
The array should be a GLOBAL REAL STATIC defined in the D-Buffer.

referenced_ [Optional] The index of the first axis or the index of the first analog input
axis_or_analog_ providing the feedback used for calculation of the mechanical error
input0 compensation.

referenced_ [Optional] The index of the second axis or the index of the second analog
axis_or_analog_ input providing the feedback used for calculation of the mechanical error
input1 compensation.

Switches

/0 The mechanical error compensation will be applied to ‘axis0’ (default).

/1 The mechanical error compensation will be applied to ‘axis1’.

Specifies that the mechanical error compensation will be calculated based on the
/a
feedback from the axis specified by the optional parameter.

Specifies that the mechanical error compensation will be calculated based on the
/i
feedback from the analog input indicated by the optional parameter.

/aj Specifies that the first optional parameter will be treated as an analog input index.

Specifies that the second optional parameter will be treated as an analog input
/ak
index.

Error Conditions
The function detects the following error conditions:
> Error 2044, index is out of range, when the defined array size is less than the defined
number of array points.
> Error 3113, the step in the table is zero or negative, when the step argument is zero or
negative.

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Comments
If incorrect parameters are passed to the function the relevant error will be generated. The function
is intended to be used for arrays only, meaning that an error is generated if a scalar is given as a
parameter.

4.10.6 ERRORMAPA2D
Description
The ERRORMAPA2D function configures and activates 2D error correction for the mechanical error
compensation of the specified axis for the specified zone. The compensated reference position will
be calculated by taking into account the angle for the orthogonality correction so that the actual
value will be closer to the desired value.
Syntax

ERRORMAPA2D[switches] (axis0, axis1), zone, angle

Arguments

The index of the axis that the mechanical error compensation will be applied to,
axis0
valid numbers are: 0, 1, 2, ... up to the number of axes in the system minus 1.

The index of the second axis participating in 2D mechanical error compensation,

axis1
valid numbers are: 0, 1, 2, ... up to the number of axes in the system minus 1.

The zone index of the mechanical error compensation, valid numbers are: 0, 1,
zone
2, ... up to the number of axes in the system minus 1.

The angle for the orthogonality correction that will be used for mechanical error
angle compensation. The value is specified in radians. The allowed range for the angle
is [-π/4, π/4].

Switches

/0 The mechanical error compensation will be applied to ‘axis0’ (default)

/1 The mechanical error compensation will be applied to ‘axis1’

INT X=0, Y=1, ZONE=0

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real angle_rad = 1
ERRORMAPA2D/0 (X,Y),ZONE,angle_rad
ERRORMAPA2D/1 (X,Y),ZONE,angle_rad
ERRORMAPON X,ZONE
ERRORMAPON Y,ZONE

Comments
In case of wrong parameters, the corresponding runtime error will be generated. The function is
intended to be used for arrays only, meaning that an error is generated if a scalar is given as a
parameter.
The correction is applied as follows:

Orthogonal Alignment: For the two stages to travel precisely along the X and Y axes, the line of
travel for the Y-axis must be orthogonal to the line of travel of the X-axis. If the two travel lines are
not orthogonal, Y-axis travel creates a position error in the X direction. The maximum value of this
error can be determined by multiplying the travel length of the stage by the sine of the angular
error.
For example:
Orthogonality Error = 5 arc sec (0.0014°)
Travel Length (L) = 400 mm (16 in)
Error = L∙sin α = 400 mm∙sin (0.0014°) = 9.8 μm
This command is supported in ADK versions 2.70 and higher.

4.10.7 ERRORMAP3DA
Description
The ERRORMAP3DA function configures and activates 3D error correction for the mechanical error
compensation of ‘axis0’, ‘axis1’, and 'axis2' for the specified zone, so that the compensated
reference position will be calculated by adding the interpolated error from the desired position so
that the actual value will be closer to the desired value. Interpolation is linear by default, other
options are available.
The ERRORMAP3DA function receives the indices of three axes, the zone index, the base value of
the ‘axis0’ command, the fixed defined interval of the ‘axis0’ command, the base value of the ‘axis1’
command, a fixed defined interval for the ‘axis1’ command, the base value of the 'axis2' command,
the fixed defined interval of the 'axis2' command, and 10 2D correction tables correlated to the
specified 'axis2' coordinates for mechanical error compensation.
Syntax

ERRORMAP3DA[command options] (axis0, axis1, axis2), zone, base1, step1,

base2, step2, base3, step3, correction_map0, correction_map1, correction_
map2, correction_map3 , correction_map4, correction_map5, correction_

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map6, correction_map7, correction_map8, correction_map9[, reference_axis_

or_analog_input0, referenced _axis_or_analog_input1, referenced _axis_or_
analog_input2]

Arguments

The index of the axis that the mechanical error compensation will be
axis0 applied to, valid numbers are: 0, 1, 2, ... up to the number of axes in the
system minus 1.

The index of the second axis participating in 3D mechanical error

axis1 compensation, valid numbers are: 0, 1, 2, ... up to the number of axes in
the system minus 1.

The index of the second axis participating in 3D mechanical error

axis2 compensation, valid numbers are: 0, 1, 2, ... up to the number of axes in
the system minus 1.

The zone index of the mechanical error compensation, valid numbers

zone
are: 0, 1, 2, ... up to the maximum number of zones minus 1.

A real number representing the ‘axis0’ command that corresponds to the

base0
first point in correction table for mechanical error compensation.

A real number representing the fixed interval distance between the two
step0
adjacent ‘axis0’ commands.

A real number representing the ‘axis1’ command that corresponds to the

base1
first point in correction table for mechanical error compensation.

A real number representing the fixed interval distance between the two
step1
adjacent ‘axis1’ commands.

A real number representing the ‘axis2’ command that corresponds to the

base2
first point in correction table for mechanical error compensation.

A real number representing the fixed interval distance between the two
step2
adjacent ‘axis2’ commands.

The name of a real two-dimensional array or MATRIX type that specifies

correction_ correction table for mechanical error compensation in relation to axis 2
map0 step ‘0’ coordinate. The array or MATRIX type should be GLOBAL REAL
STATIC (defined in D-Buffer).

The name of a real two-dimensional array or MATRIX type that specifies

correction_ correction table for mechanical error compensation in relation to axis 2
map1 step ‘1’ coordinate. The array or MATRIX type should be GLOBAL REAL
STATIC (defined in D-Buffer).

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The name of a real two-dimensional array or MATRIX type that specifies

correction_ correction table for mechanical error compensation in relation to axis 2
map2 step ‘2’ coordinate. The array or MATRIX type should be GLOBAL REAL
STATIC (defined in D-Buffer).

The name of a real two-dimensional array or MATRIX type that specifies

correction_ correction table for mechanical error compensation in relation to axis 2
map3 step ‘3’ coordinate. The array or MATRIX type should be GLOBAL REAL
STATIC (defined in D-Buffer).

The name of a real two-dimensional array or MATRIX type that specifies

correction_ correction table for mechanical error compensation in relation to axis 2
map4 step ‘4’ coordinate. The array or MATRIX type should be GLOBAL REAL
STATIC (defined in D-Buffer).

The name of a real two-dimensional array or MATRIX type that specifies

correction_ correction table for mechanical error compensation in relation to axis 2
map5 step ‘5’ coordinate. The array or MATRIX type should be GLOBAL REAL
STATIC (defined in D-Buffer).

The name of a real two-dimensional array or MATRIX type that specifies

correction_ correction table for mechanical error compensation in relation to axis 2
map6 step ‘6’ coordinate. The array or MATRIX type should be GLOBAL REAL
STATIC (defined in D-Buffer).

The name of a real two-dimensional array or MATRIX type that specifies

correction_ correction table for mechanical error compensation in relation to axis 2
map7 step ‘7’ coordinate. The array or MATRIX type should be GLOBAL REAL
STATIC (defined in D-Buffer).

The name of a real two-dimensional array or MATRIX type that specifies

correction_ correction table for mechanical error compensation in relation to axis 2
map8 step ‘8’ coordinate. The array or MATRIX type should be GLOBAL REAL
STATIC (defined in D-Buffer).

The name of a real two-dimensional array or MATRIX type that specifies

correction_ correction table for mechanical error compensation in relation to axis 2
map9 step ‘9’ coordinate. The array or MATRIX type should be GLOBAL REAL
STATIC (defined in D-Buffer).

referenced_ [Optional] The index of the first axis, or the index of the first analog input
axis_or_analog_ whose feedback will be used to calculate the mechanical error
input0 compensation.

referenced_ [Optional] The index of the second axis, or the index of the second analog
axis_or_analog_ input whose feedback will be used to calculate the mechanical error
input1 compensation.

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referenced_ [Optional] The index of the second axis, or the index of the third analog
axis_or_analog_ input whose feedback will be used to calculate the mechanical error
input2 compensation.

Switches

/0 The mechanical error compensation will be applied to ‘axis0’ (default)

/1 The mechanical error compensation will be applied to ‘axis1’

/2 The mechanical error compensation will be applied to ‘axis2’

Specified that the mechanical error compensation will be calculated be on the

/a
feedback from the axis specified by the optional parameter.

/aj Specifies that the first optional parameter to be treated as an analog input index.

Specifies that the second optional parameter to be treated as an analog input

/ak
index.

/al Specifies that the third optional parameter to be treated as an analog input index.

Error Conditions
The function detects the following error conditions.
> 2044 - Index is out of range, when the defined array size is less than the defined number of
array points.
> 3113 - The step in the table is zero or negative, when the step argument is zero or negative.
> 3384 - The specified suffix combination is invalid. Please see the documentation for more
details.
> 3413 - The supplied correction maps (2-dimensional arrays or MATRIX types) should have
the same dimensions. Please see the documentation for more details.
> 3414 - The Specified referenced axes/analog inputs are invalid. Please see the
documentation for more details.
Comments
If incorrect parameters are passed to the function the corresponding runtime error is generated. The
function is intended to be used only with arrays; thus, an error is generated if a scalar is given as a
parameter.

4.10.8 ERRORMAP3D2
Description
The ERRORMAP3D2 function configures and activates 3D error correction for the mechanical error
compensation of the ‘axis0’ command, ‘axis1’ command, and 'axis2' command for the specified
zone, so that the compensated reference position will be calculated by adding the interpolated error
from the desired position so that the actual value will be closer to the desired value. Interpolation is
linear by default; other options are available.

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The ERRORMAP3D2 function receives indexes of three axes, zone index, base value of the ‘axis0’
command, fixed defined interval of the ‘axis0’ command, base value of the ‘axis1’ command, fixed
defined interval of the ‘axis1’ command, base value of the ‘axis2’ command, fixed defined interval of
the ‘axis2’ command, and two 2D correction tables (in correlation to the specified ‘axis2’ coordinates)
for mechanical error compensation.
Syntax

ERRORMAP3D2[command options] (axis0, axis1, axis2), zone, base0, step0,

base1, step1, base2, step2, correction_map0, correction_map1[, reference_
axis_or_analog_input0, referenced _axis_or_analog_input1, referenced _
axis_or_analog_input2]

Arguments

The index of the axis that the mechanical error compensation will be
axis0 applied to, valid numbers are: 0, 1, 2, ... up to the number of axes in the
system minus 1.

The index of the second axis participating in 3D mechanical error

axis1 compensation, valid numbers are: 0, 1, 2, ... up to the number of axes in
the system minus 1.

The index of the second axis participating in 3D mechanical error

axis2 compensation, valid numbers are: 0, 1, 2, ... up to the number of axes in
the system minus 1.

The zone index of the mechanical error compensation, valid numbers

zone
are: 0, 1, 2, ... up to the maximum number of zones minus 1.

A real number representing the ‘axis0’ command that corresponds to the

base0
first point in correction table for mechanical error compensation.

A real number representing the fixed interval distance between the two
step0
adjacent ‘axis0’ commands.

A real number representing the ‘axis1’ command that corresponds to the

base1
first point in correction table for mechanical error compensation.

A real number representing the fixed interval distance between the two
step1
adjacent ‘axis1’ commands.

A real number representing the ‘axis2’ command that corresponds to the

base2
first point in correction table for mechanical error compensation.

A real number representing the fixed interval distance between the two
step2
adjacent ‘axis2’ commands.

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The name of a real two-dimensional array or MATRIX type that specifies

correction_ correction table for mechanical error compensation in relation to axis 2
map0 step ‘0’ coordinate. The array or MATRIX type should be GLOBAL REAL
STATIC (defined in D-Buffer).

The name of a real two-dimensional array or MATRIX type that specifies

correction_ correction table for mechanical error compensation in relation to axis 2
map1 step ‘1’ coordinate. The array or MATRIX type should be GLOBAL REAL
STATIC (defined in D-Buffer).

referenced_ [Optional] The index of the first axis, or the index of the first analog input
axis_or_analog_ whose feedback will be used to calculate the mechanical error
input0 compensation.

referenced_ [Optional] The index of the second axis, or the index of the second analog
axis_or_analog_ input whose feedback will be used to calculate the mechanical error
input1 compensation.

referenced_ [Optional] The index of the second axis, or the index of the third analog
axis_or_analog_ input whose feedback will be used to calculate the mechanical error
input2 compensation.

Switches

/0 The mechanical error compensation will be applied to ‘axis0’ (default)

/1 The mechanical error compensation will be applied to ‘axis1’

/2 The mechanical error compensation will be applied to ‘axis2’

Specified that the mechanical error compensation will be calculated be on the

/a
feedback from the axis specified by the optional parameter.

Specifies that the first optional parameter will be regarded as an analog input
/aj
index.

Specifies that the second optional parameter will be regarded as an analog input
/ak
index.

Specifies that the third optional parameter will be regarded as an analog input
/al
index.

Specifies that the extrapolation will be used for Z values that are beyond the
original observation range. That is, we are assuming that existing trends will
/e continue (by using the nearest correction table to estimate the correction). This
method is subject to greater uncertainty and a higher risk of producing
meaningless results than interpolation.

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Comments
> When incorrect parameters are specified, the relevant compile-time or run-time error is
generated. See ACSPL+ Runtime Errors for explanation of error 2044 and ACSPL+
Compilation Errors for explanations of errors 3113, 3384, 3413, 3414. The function is intended
for use with arrays only; an error is generated if a scalar is given as a parameter.
Examples
Example 1
This example uses two 2-dimensional arrays to create 2-dimensional correction maps that are used
for the 3D Dynamic error compensation. Each map represents a different value (height) of the Z axis.
An XYZ cuboid (rectangular prism) zone starts at coordinate -100 for X, 30 for Y, and 30 for Z. It has a
fixed interval of 10 mm for each axis. The user units are represented in mm.

D-Buffer:
global real static X_Correction1(3)(10)
global real static X_Correction2(3)(10)

Buffer:
local int X_axis
local int Y_axis
local int Z_axis
local int zone
local int X_base
local int X_step
local int Y_base
local int Y_step

local int Z_baselocal int Z_step

X_axis=0 ! First moving axis

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X_Correction2(0)(0)=0; X_Correction2(0)(1)=0.23; X_Correction2(0)(2)=-0.12;

X_Correction2(0)(3)=-0.3; X_Correction2(0)(4)=-0.2
X_Correction2(0)(5)=0.26; X_Correction2(0)(6)=0.15; X_Correction2(0)(7)=0.02;
X_Correction2(0)(8)=-0.15;
X_Correction2(0)(9)=0
X_Correction2(1)(0)=0; X_Correction2(1)(1)=0.24; X_Correction2(1)(2)=-0.14;
X_Correction2(1)(3)=-0.34;
X_Correction2(1)(4)=-0.2
X_Correction2(1)(5)=0.14; X_Correction2(1)(6)=-0.23; X_Correction2(1)(7)=-0.32; X_
Correction2(1)(8)=-0.13; X_Correction2(1)(9)=0
X_Correction2(2)(0)=0; X_Correction2(2)(1)=-0.1; X_Correction2(2)(2)=-0.32;
X_Correction2(2)(3)=-0.4; X_Correction2(2)(4)=0.15
X_Correction2(2)(5)=0.36; X_Correction2(2)(6)=0.44; X_Correction2(2)(7)=0.23;X_Correction2
(2)(8)=-0.11;
X_Correction2(2)(9)=0
! X axis error mapping function configuration
ERRORMAP3D2/0 (X_axis, Y_axis, Z_axis), zone, X_base, X_step, Y_base, Y_step, Z_base, Z_
step, X_Correction1, X_Correction2
! Enable error mapping
ERRORMAPON X_axis, zone
STOP

Example 2
This example uses two 2-dimensional arrays to create 2-dimensional correction maps, that are used
for the 3D Dynamic error compensation. Each map represents a different analog input value. An XYZ
cuboid (rectangular prism) zone starts at coordinate -100 for X, 30 for Y, and 30% for the Z specified
analog input. It has a fixed interval of 10 mm for each axis, and 10 percent for the Z analog input. The
user units are represented in mm.

D-Buffer:
global real static X_Correction1(3)(10)
global real static X_Correction2(3)(10)
Buffer:
local int X_axis
local int Y_axis
local int Z_axis
local int zone
local int X_base
local int X_step
local int Y_base
local int Y_step

local int Z_base

local int Z_step
local int Z_referenced_analog_input

X_axis=0 ! First moving axis

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X_step=10 ! X interval in error map table

Y_step=10 ! Y interval in error map table
Z_base=30 ! Z staring percentage of analog input
Z_step=10 ! Z interval
Z_referenced_analog_input = 1 ! AIN(1)!Correction table for Error Mapping
for X axis of the first Z value - declared in D-Buffer
X_Correction1(0)(0)=0; X_Correction1(0)(1)=0.3; X_Correction1(0)(2)=-0.4;
X_Correction1(0)(3)=-0.7; X_Correction1(0)(4)=-0.1;
X_Correction1(0)(5)=0.22; X_Correction1(0)(6)=0.55;
X_Correction1(0)(7)=0.2; X_Correction1(0)(8)=-0.3;
X_Correction1(0)(9)=0;
X_Correction1(1)(0)=0; X_Correction1(1)(1)=0.4; X_Correction1(1)(2)=-0.4;
X_Correction1(1)(3)=-0.5; X_Correction1(1)(4)=-0.2;
X_Correction1(1)(5)=0.24; X_Correction1(1)(6)=0.3; X_Correction1(1)
(7)=0.32; X_Correction1(1)(8)=-0.13;
X_Correction1(1)(9)=0;
X_Correction1(2)(0)=0; X_Correction1(2)(1)=0.1; X_Correction1(2)(2)=-0.2;
X_Correction1(2)(3)=-0.4; X_Correction1(2)(5)=0.3;
X_Correction1(2)(6)=0.4; X_Correction1(2)(7)=0.33; X_Correction1(2)(8)=-
0.1; X_Correction1(2)(9)=0
! Correction table for Error Mapping for X axis of the second Z value -
declared in D-Buffer
X_Correction2(0)(0)=0; X_Correction2(0)(1)=0.23;
X_Correction2(0)(2)=-0.12; X_Correction2(0)(3)=-0.3;
X_Correction2(0)(4)=-0.2
X_Correction2(0)(5)=0.26; X_Correction2(0)(6)=0.15;
X_Correction2(0)(7)=0.02; X_Correction2(0)(8)=-0.15;
X_Correction2(0)(9)=0
X_Correction2(1)(0)=0; X_Correction2(1)(1)=0.24;
X_Correction2(1)(2)=-0.14; X_Correction2(1)(3)=-0.34;
X_Correction2(1)(4)=-0.2
X_Correction2(1)(5)=0.14;
X_Correction2(1)(6)=-0.23; X_Correction2(1)(7)=-0.32;
X_Correction2(1)(8)=-0.13; X_Correction2(1)(9)=0
X_Correction2(2)(0)=0; X_Correction2(2)(1)=-0.1;
X_Correction2(2)(2)=-0.32; X_Correction2(2)(3)=-0.4;
X_Correction2(2)(4)=0.15
X_Correction2(2)(5)=0.36; X_Correction2(2)(6)=0.44;
X_Correction2(2)(7)=0.23; X_Correction2(2)(8)=-0.11;
X_Correction2(2)(9)=0
! X axis error mapping function configuration
ERRORMAP3D2/0al (X_axis, Y_axis, Z_axis), zone, X_base, X_step, Y_base,
Y_step, Z_base, Z_step, X_Correction1, X_Correction2, X_axis, Y_axis, Z_
referenced_analog_input
! Enable error mapping
ERRORMAPON X_axis, zone
STOP

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4.10.9 ERRORMAP3D3
Description
The ERRORMAP3D3 function configures and activates 3D error correction for the mechanical error
compensation of the ‘axis0’ command, ‘axis1’ command, and 'axis2' command for the specified
zone, so that the compensated reference position will be calculated by adding the interpolated error
from the desired position so that the actual value will be closer to the desired value. Interpolation is
linear by default; other options are available.
ERRORMAP3D3 function receives indexes of three axes, zone index, base value of the ‘axis0’
command, fixed defined interval of the ‘axis0’ command, base value of the ‘axis1’ command, fixed
defined interval of the ‘axis1’ command, base value of the ‘axis2’ command, fixed defined interval of
the ‘axis2’ command, and three 2D correction tables (in correlation to the specified ‘axis2’
coordinates) for mechanical error compensation.
Syntax

ERRORMAP3D3[command options] (axis0, axis1, axis2), zone, base0, step0,

base1, step1, base2, step2, correction_map0, correction_map1, correction_
map2[, reference_axis_or_analog_input0, referenced _axis_or_analog_
input1, referenced _axis_or_analog_input2]

Arguments

The index of the axis that the mechanical error compensation will be
axis0 applied to, valid numbers are: 0, 1, 2, ... up to the number of axes in the
system minus 1.

The index of the second axis participating in 3D mechanical error

axis1 compensation, valid numbers are: 0, 1, 2, ... up to the number of axes in
the system minus 1.

The index of the second axis participating in 3D mechanical error

axis2 compensation, valid numbers are: 0, 1, 2, ... up to the number of axes in
the system minus 1.

The zone index of the mechanical error compensation, valid numbers

zone
are: 0, 1, 2, ... up to the maximum number of zones minus 1.

A real number representing the ‘axis0’ command that corresponds to the

base0
first point in correction table for mechanical error compensation.

A real number representing the fixed interval distance between the two
step0
adjacent ‘axis0’ commands.

A real number representing the ‘axis1’ command that corresponds to the

base1
first point in correction table for mechanical error compensation.

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A real number representing the fixed interval distance between the two
step1
adjacent ‘axis1’ commands.

A real number representing the ‘axis2’ command that corresponds to the

base2
first point in correction table for mechanical error compensation.

A real number representing the fixed interval distance between the two
step2
adjacent ‘axis2’ commands.

The name of a real two-dimensional array or MATRIX type that specifies

correction table for mechanical error compensation in relation to axis 2
correction_
step ‘0’ coordinate.
map0
The array or MATRIX type should be GLOBAL REAL STATIC (defined in D-
Buffer).

The name of a real two-dimensional array or MATRIX type that specifies

correction table for mechanical error compensation in relation to axis 2
correction_
step ‘1’ coordinate.
map1
The array or MATRIX type should be GLOBAL REAL STATIC (defined in D-
Buffer).

The name of a real two-dimensional array or MATRIX type that specifies

correction table for mechanical error compensation in relation to axis 2
correction_
step ‘2’ coordinate.
map2
The array or MATRIX type should be GLOBAL REAL STATIC (defined in D-
Buffer).

referenced_ [Optional] The index of the first axis, or the index of the first analog input
axis_or_analog_ whose feedback will be used to calculate the mechanical error
input0 compensation.

referenced_ [Optional] The index of the second axis, or the index of the second analog
axis_or_analog_ input whose feedback will be used to calculate the mechanical error
input1 compensation.

referenced_ [Optional] The index of the second axis, or the index of the third analog
axis_or_analog_ input whose feedback will be used to calculate the mechanical error
input2 compensation.

Switches

/0 The mechanical error compensation will be applied to ‘axis0’ (default)

/1 The mechanical error compensation will be applied to ‘axis1’

/2 The mechanical error compensation will be applied to ‘axis2’

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Specified that the mechanical error compensation will be calculated be on the

/a
feedback from the axis specified by the optional parameter.

Specifies that the first optional parameter will be regarded as an analog input
/aj
index.

Specifies that the second optional parameter will be regarded as an analog input
/ak
index.

Specifies that the third optional parameter will be regarded as an analog input
/al
index.

Comments
> When incorrect parameters are specified, the relevant compile-time or run-time error is
generated. See ACSPL+ Runtime Errors for explanation of error 2044 and ACSPL+
Compilation Errors for explanations of errors 3113, 3384, 3413, 3414. The function is intended
for use with arrays only; an error is generated if a scalar is given as a parameter.
Example
This example uses three 2-dimensional arrays to create 2-dimensional correction maps, that are
used for the 3D Dynamic error compensation. Each map represents a different value(height) of the Z
axis. The zone starts at coordinate -100 for X, 30 for Y, and 30 for Z. It has a fixed interval of 10 mm
for each axis. The user units are represented in mm.

D-Buffer:
global real static X_Correction1(3)(10)
global real static X_Correction2(3)(10)
global real static X_Correction3(3)(10)

Buffer:
local int X_axis
local int Y_axis
local int Z_axis
local int zone
local int X_base
local int X_step
local int Y_base
local int Y_step

local int Z_base

local int Z_step

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X_axis=0 ! First moving axis

Y_axis=1 ! Second moving axis
Z_axis=2 ! Third moving axis
zone =0 ! Index of error mapping zone in use
X_base=-100 ! X staring coordinate of error mapping zone
Y_base=30 ! Y staring coordinate of error mapping zone
X_step=10 ! X interval in error map table
Y_step=10 ! Y interval in error map table
Z_base=30 ! Z staring coordinate of error mapping zone
Z_step=10 ! Z interval in error map table!Correction table for Error
Mapping for X axis of the first Z height - declared in D-Buffer
X_Correction1(0)(0)=0; X_Correction1(0)(1)=0.3; X_Correction1(0)(2)=-0.4;
X_Correction1(0)(3)=-0.7; X_Correction1(0)(4)=-0.1;
X_Correction1(0)(5)=0.22; X_Correction1(0)(6)=0.55;
X_Correction1(0)(7)=0.2; X_Correction1(0)(8)=-0.3;
X_Correction1(0)(9)=0;
X_Correction1(1)(0)=0; X_Correction1(1)(1)=0.4; X_Correction1(1)(2)=-0.4;
X_Correction1(1)(3)=-0.5; X_Correction1(1)(4)=-0.2;
X_Correction1(1)(5)=0.24; X_Correction1(1)(6)=0.3;
X_Correction1(1)(7)=0.32; X_Correction1(1)(8)=-0.13;
X_Correction1(1)(9)=0;
X_Correction1(2)(0)=0; X_Correction1(2)(1)=0.1; X_Correction1(2)(2)=-0.2;
X_Correction1(2)(3)=-0.4; X_Correction1(2)(5)=0.3;
X_Correction1(2)(6)=0.4; X_Correction1(2)(7)=0.33;
X_Correction1(2)(8)=-0.1; X_Correction1(2)(9)=0
! Correction table for Error Mapping for X axis of the second Z height -
declared in D-Buffer
X_Correction2(0)(0)=0; X_Correction2(0)(1)=0.23;
X_Correction2(0)(2)=-0.12; X_Correction2(0)(3)=-0.3;
X_Correction2(0)(4)=-0.2
X_Correction2(0)(5)=0.26; X_Correction2(0)(6)=0.15;
X_Correction2(0)(7)=0.02; X_Correction2(0)(8)=-0.15;
X_Correction2(0)(9)=0
X_Correction2(1)(0)=0; X_Correction2(1)(1)=0.24;
X_Correction2(1)(2)=-0.14; X_Correction2(1)(3)=-0.34;
X_Correction2(1)(4)=-0.2
X_Correction2(1)(5)=0.14; X_Correction2(1)(6)=-0.23;
X_Correction2(1)(7)=-0.32; X_Correction2(1)(8)=-0.13;
X_Correction2(1)(9)=0
X_Correction2(2)(0)=0; X_Correction2(2)(1)=-0.1;
X_Correction2(2)(2)=-0.32; X_Correction2(2)(3)=-0.4;
X_Correction2(2)(4)=0.15
X_Correction2(2)(5)=0.36; X_Correction2(2)(6)=0.44;
X_Correction2(2)(7)=0.23; X_Correction2(2)(8)=-0.11;
X_Correction2(2)(9)=0
! Correction table for Error Mapping for X axis of the third Z height -
declared in D-Buffer
X_Correction3(0)(0)=0; X_Correction3(0)(1)=0.23;
X_Correction3(0)(2)=-0.12; X_Correction3(0)(3)=-0.3;

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X_Correction3(0)(4)=-0.2
X_Correction3(0)(5)=0.26; X_Correction3(0)(6)=0.15;
X_Correction3(0)(7)=0.02; X_Correction3(0)(8)=-0.15;
X_Correction3(0)(9)=0
X_Correction3(1)(0)=0; X_Correction3(1)(1)=0.24;
X_Correction3(1)(2)=-0.14; X_Correction3(1)(3)=-0.34;
X_Correction3(1)(4)=-0.2
X_Correction3(1)(5)=0.14; X_Correction3(1)(6)=-0.23;
X_Correction3(1)(7)=-0.32; X_Correction3(1)(8)=-0.13;
X_Correction3(1)(9)=0
X_Correction3(2)(0)=0; X_Correction3(2)(1)=-0.1;
X_Correction3(2)(2)=-0.32; X_Correction3(2)(3)=-0.4;
X_Correction3(2)(4)=0.15
X_Correction3(2)(5)=0.36; X_Correction3(2)(6)=0.44;
X_Correction3(2)(7)=0.23; X_Correction3(2)(8)=-0.11;
X_Correction3(2)(9)=0

! X axis error mapping function configuration

ERRORMAP3D3/0 (X_axis, Y_axis, Z_axis), zone, X_base, X_step, Y_base, Y_
step, Z_base, Z_step, X_Correction1, X_Correction2, X_Correction3
! Enable error mapping
ERRORMAPON X_axis, zone

4.10.10 ERRORMAPN3D2
Description
The ERRORMAPN3D2 function configures and activates 3D error correction for the mechanical error
compensation of the ‘axis0’ command, ‘axis1’ command, and 'axis2' command for the specified
zone, so that the compensated reference position will be calculated by adding the linearly (by
default) interpolated error from the desired position so that the actual value will be closer to the
desired value.
ERRORMAPN3D2 function receives indexes of three axes, zone index, ‘axis0’ command table, ‘axis1’
command table, ‘axis2’ command table, and two 2D correction tables (in correlation to the specified
‘axis2’ coordinates) for mechanical error compensation.
Syntax

ERRORMAPN3D2[command options] (axis0, axis1, axis2), zone, axis0_command,

axis1_command, axis2_command, correction_map0, correction_map1[,
reference_axis_or_analog_input0, referenced _axis_or_analog_input1,
referenced _axis_or_analog_input2]

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Arguments

The index of the axis that the mechanical error compensation will be
axis0 applied to, valid numbers are: 0, 1, 2, ... up to the number of axes in the
system minus 1.

The index of the second axis participating in 3D mechanical error

axis1 compensation, valid numbers are: 0, 1, 2, ... up to the number of axes in
the system minus 1.

The index of the second axis participating in 3D mechanical error

axis2 compensation, valid numbers are: 0, 1, 2, ... up to the number of axes in
the system minus 1.

The zone index of the mechanical error compensation, valid numbers

zone
are: 0, 1, 2, ... up to the maximum number of zones minus 1.

axis0_ The name of a real one-dimensional array that specifies ‘axis0’ command
values used for correction table of mechanical error compensation. The
command array type should be GLOBAL REAL STATIC (defined in D-Buffer).

axis1_ The name of a real one-dimensional array that specifies ‘axis1’ command
values used for correction table of mechanical error compensation. The
command array type should be GLOBAL REAL STATIC (defined in D-Buffer).

axis2_ The name of a real one-dimensional array that specifies ‘axis2’ command
values used for correction table of mechanical error compensation. The
command array type should be GLOBAL REAL STATIC (defined in D-Buffer).

The name of a real two-dimensional array or MATRIX type that specifies a

correction_ correction table for mechanical error compensation in relation to axis 2’s
map0 first specified coordinate. The array or MATRIX type should be GLOBAL
REAL STATIC (defined in D-Buffer).

The name of a real two-dimensional array or MATRIX type that specifies a

correction_ correction table for mechanical error compensation in relation to axis 2’s
map1 second specified coordinate. The array or MATRIX type should be GLOBAL
REAL STATIC (defined in D-Buffer).

referenced_ [Optional] The index of the first axis, or the index of the first analog input
axis_or_analog_ whose feedback will be used to calculate the mechanical error
input0 compensation.

referenced_ [Optional] The index of the second axis, or the index of the second analog
axis_or_analog_ input whose feedback will be used to calculate the mechanical error
input1 compensation.

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referenced_ [Optional] The index of the second axis, or the index of the third analog
axis_or_analog_ input whose feedback will be used to calculate the mechanical error
input2 compensation.

Switches

/0 The mechanical error compensation will be applied to ‘axis0’ (default)

/1 The mechanical error compensation will be applied to ‘axis1’

/2 The mechanical error compensation will be applied to ‘axis2’

Specified that the mechanical error compensation will be calculated be on the

/a
feedback from the axis specified by the optional parameter.

Specifies that the first optional parameter will be regarded as an analog input
/aj
index.

Specifies that the second optional parameter will be regarded as an analog input
/ak
index.

Specifies that the third optional parameter will be regarded as an analog input
/al
index.

D-Buffer:
global real static X_Correction1(3)(10)
global real static X_Correction2(3)(10)
global real static X_Axis_Coordinates(10)
global real static Y_Axis_Coordinates(3)
global real static Z_Axis_Coordinates(3)

Buffer:
local int X_axis
local int Y_axis
local int Z_axis
int Zone

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X_axis = 0 ! First moving axis

Y_axis = 1 ! Second moving axis
Z_axis = 2 ! third moving axis
Zone=0 ! Index of error mapping zone in use
! Error map zone definition for X axis
X_Axis_Coordinates(0)=-100; X_Axis_Coordinates(1)=-90;
X_Axis_Coordinates(2)=-80;
X_Axis_Coordinates(3)=-70; X_Axis_Coordinates(4)=-60;
X_Axis_Coordinates(5)=-50;
X_Axis_Coordinates(6)=-40; X_Axis_Coordinates(7)=-30;
X_Axis_Coordinates(8)=-20;
X_Axis_Coordinates(9)=-10
! Error map zone definition for Y axis
Y_Axis_Coordinates(0)=30; Y_Axis_Coordinates(1)=40;
Y_Axis_Coordinates(2)=50
! Error map zone definition for Z axis
Z_Axis_Coordinates(0)=30; Z_Axis_Coordinates(1)=32;
! Correction table for Error Mapping for X axis of the first Z height -
declared in D-Buffer
X_Correction1(0)(0)=0; X_Correction1(0)(1)=0.3;
X_Correction1(0)(2)=-0.4; X_Correction1(0)(3)=-0.7;
X_Correction1(0)(4)=-0.1; X_Correction1(0)(5)=0.22;
X_Correction1(0)(6)=0.55; X_Correction1(0)(7)=0.2;
X_Correction1(0)(8)=-0.3; X_Correction1(0)(9)=0
X_Correction1(1)(0)=0; X_Correction1(1)(1)=0.4;
X_Correction1(1)(2)=-0.4; X_Correction1(1)(3)=-0.5;
X_Correction1(1)(4)=-0.2; X_Correction1(1)(5)=0.24;
X_Correction1(1)(6)=0.3; X_Correction1(1)(7)=0.32;
X_Correction1(1)(8)=-0.13; X_Correction1(1)(9)=0
X_Correction1(2)(0)=0; X_Correction1(2)(1)=0.1;
X_Correction1(2)(2)=-0.2; X_Correction1(2)(3)=-0.4;
X_Correction1(2)(4)=0.1; X_Correction1(2)(5)=0.3;
X_Correction1(2)(6)=0.4; X_Correction1(2)(7)=0.33;
X_Correction1(2)(8)=-0.1; X_Correction1(2)(9)=0
! Correction table for Error Mapping for X axis of the second Z height -
declared in D-Buffer
X_Correction2(0)(0)=0; X_Correction2(0)(1)=0.23;
X_Correction2(0)(2)=-0.12; X_Correction2(0)(3)=-0.3;
X_Correction2(0)(4)=-0.2; X_Correction2(0)(5)=0.26;
X_Correction2(0)(6)=0.15; X_Correction2(0)(7)=0.02;
X_Correction2(0)(8)=-0.15; X_Correction2(0)(9)=0
X_Correction2(1)(0)=0; X_Correction2(1)(1)=0.24;
X_Correction2(1)(2)=-0.14; X_Correction2(1)(3)=-0.34;
X_Correction2(1)(4)=-0.2; X_Correction2(1)(5)=0.14;
X_Correction2(1)(6)=-0.23; X_Correction2(1)(7)=-0.32;
X_Correction2(1)(8)=-0.13; X_Correction2(1)(9)=0
X_Correction2(2)(0)=0; X_Correction2(2)(1)=-0.1;
X_Correction2(2)(2)=-0.32; X_Correction2(2)(3)=-0.4;

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X_Correction2(2)(4)=0.15; X_Correction2(2)(5)=0.36;
X_Correction2(2)(6)=0.44; X_Correction2(2)(7)=0.23;
X_Correction2(2)(8)=-0.11; X_Correction2(2)(9)=0

! X axis error mapping function configuration

ERRORMAPN3D2/0 (X_axis, Y_axis, Z_axis), Zone, X_Axis_Coordinates, Y_
Axis_Coordinates, Z_Axis_Coordinates, X_Correction1, X_Correction2

! Enable Error Mapping

ERRORMAPON X_axis, Zone
STOP

4.10.11 ERRORMAPN3D3
Description
The ERRORMAPN3D3 function configures and activates 3D error correction for the mechanical error
compensation of the ‘axis0’ command, ‘axis1’ command, and 'axis2' command for the specified
zone, so that the compensated reference position will be calculated by adding the linearly (by
default) interpolated error from the desired position so that the actual value will be closer to the
desired value.
ERRORMAPN3D3 function receives indexes of three axes, zone index, ‘axis0’ command table, ‘axis1’
command table, ‘axis2’ command table, and three 2D correction tables (in correlation to the
specified ‘axis2’ coordinates) for mechanical error compensation.
Syntax

ERRORMAPN3D3[command options] (axis0, axis1, axis2), zone, axis0_command,

axis1_command, axis2_command, correction_map0, correction_map1,
correction_map2[, reference_axis_or_analog_input0, referenced _axis_or_
analog_input1, referenced _axis_or_analog_input2]

Arguments

The index of the axis that the mechanical error compensation will be
axis0 applied to, valid numbers are: 0, 1, 2, ... up to the number of axes in the
system minus 1.

The index of the second axis participating in 3D mechanical error

axis1 compensation, valid numbers are: 0, 1, 2, ... up to the number of axes in
the system minus 1.

The index of the second axis participating in 3D mechanical error

axis2 compensation, valid numbers are: 0, 1, 2, ... up to the number of axes in
the system minus 1.

The zone index of the mechanical error compensation, valid numbers

zone
are: 0, 1, 2, ... up to the maximum number of zones minus 1.

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The name of a real two-dimensional array or MATRIX type that specifies a

correction_ correction table for mechanical error compensation in relation to axis 2’s
map0 first specified coordinate. The array or MATRIX type should be GLOBAL
REAL STATIC (defined in D-Buffer).

The name of a real two-dimensional array or MATRIX type that specifies a

correction_ correction table for mechanical error compensation in relation to axis 2’s
map1 second specified coordinate. The array or MATRIX type should be GLOBAL
REAL STATIC (defined in D-Buffer).

The name of a real two-dimensional array or MATRIX type that specifies a

correction_ correction table for mechanical error compensation in relation to axis 2’s
map2 third specified coordinate. The array or MATRIX type should be GLOBAL
REAL STATIC (defined in D-Buffer).

referenced_ [Optional] The index of the first axis, or the index of the first analog input
axis_or_analog_ whose feedback will be used to calculate the mechanical error
input0 compensation.

referenced_ [Optional] The index of the second axis, or the index of the second analog
axis_or_analog_ input whose feedback will be used to calculate the mechanical error
input1 compensation.

referenced_ [Optional] The index of the second axis, or the index of the third analog
axis_or_analog_ input whose feedback will be used to calculate the mechanical error
input2 compensation.

Switches

The mechanical error compensation will be applied to ‘axis0’

/0
(default)

/1 The mechanical error compensation will be applied to ‘axis1’

/2 The mechanical error compensation will be applied to ‘axis2’

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Specified that the mechanical error compensation will be

/a calculated be on the feedback from the axis specified by the
optional parameter.

Specifies that the first optional parameter will be regarded

/aj
as an analog input index.

Specifies that the second optional parameter will be

/ak
regarded as an analog input index.

Specifies that the third optional parameter will be regarded

/al
as an analog input index.

Specifies that the extrapolation will be used for Z values that

are beyond the original observation range. That is, we are
assuming that existing trends will continue (by using the
/e
nearest correction table to estimate the correction). This
method is subject to greater uncertainty and a higher risk of
producing meaningless results than interpolation.

D-Buffer:
global real static X_Correction1(3)(10)
global real static X_Correction2(3)(10)
global real static X_Correction3(3)(10)
global real static X_Axis_Coordinates(10)
global real static Y_Axis_Coordinates(3)
global real static Z_Axis_Coordinates(3)

Buffer:
local int X_axis
local int Y_axis
local int Z_axis
int Zone

X_axis = 0 ! First moving axis

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X_Axis_Coordinates(3)=-70; X_Axis_Coordinates(4)=-60; X_Axis_Coordinates

(5)=-50;
X_Axis_Coordinates(6)=-40; X_Axis_Coordinates(7)=-30; X_Axis_Coordinates
(8)=-20;
X_Axis_Coordinates(9)=-10
! Error map zone definition for Y axis
Y_Axis_Coordinates(0)=30; Y_Axis_Coordinates(1)=40; Y_Axis_Coordinates
(2)=50
! Error map zone definition for Z axis
Z_Axis_Coordinates(0)=30; Z_Axis_Coordinates(1)=32; Z_Axis_Coordinates
(1)=34;
! Correction table for Error Mapping for X axis of the first Z height -
declared in D-Buffer
X_Correction1(0)(0)=0; X_Correction1(0)(1)=0.3; X_Correction1(0)(2)=-0.4;
X_Correction1(0)(3)=-0.7;
X_Correction1(0)(4)=-0.1; X_Correction1(0)(5)=0.22; X_Correction1(0)
(6)=0.55; X_Correction1(0)(7)=0.2;
X_Correction1(0)(8)=-0.3; X_Correction1(0)(9)=0
X_Correction1(1)(0)=0; X_Correction1(1)(1)=0.4; X_Correction1(1)(2)=-0.4;
X_Correction1(1)(3)=-0.5;
X_Correction1(1)(4)=-0.2; X_Correction1(1)(5)=0.24; X_Correction1(1)
(6)=0.3; X_Correction1(1)(7)=0.32;
X_Correction1(1)(8)=-0.13; X_Correction1(1)(9)=0
X_Correction1(2)(0)=0; X_Correction1(2)(1)=0.1; X_Correction1(2)(2)=-0.2;
X_Correction1(2)(3)=-0.4;
X_Correction1(2)(4)=0.1; X_Correction1(2)(5)=0.3; X_Correction1(2)
(6)=0.4; X_Correction1(2)(7)=0.33;
X_Correction1(2)(8)=-0.1; X_Correction1(2)(9)=0
! Correction table for Error Mapping for X axis of the second Z height -
declared in D-Buffer
X_Correction2(0)(0)=0; X_Correction2(0)(1)=0.23; X_Correction2(0)(2)=-
0.12; X_Correction2(0)(3)=-0.3;
X_Correction2(0)(4)=-0.2; X_Correction2(0)(5)=0.26; X_Correction2(0)
(6)=0.15; X_Correction2(0)(7)=0.02;
X_Correction2(0)(8)=-0.15; X_Correction2(0)(9)=0
X_Correction2(1)(0)=0; X_Correction2(1)(1)=0.24; X_Correction2(1)(2)=-
0.14; X_Correction2(1)(3)=-0.34;
X_Correction2(1)(4)=-0.2; X_Correction2(1)(5)=0.14; X_Correction2(1)(6)=-
0.23; X_Correction2(1)(7)=-0.32;
X_Correction2(1)(8)=-0.13; X_Correction2(1)(9)=0
X_Correction2(2)(0)=0; X_Correction2(2)(1)=-0.1; X_Correction2(2)(2)=-
0.32; X_Correction2(2)(3)=-0.4;
X_Correction2(2)(4)=0.15; X_Correction2(2)(5)=0.36; X_Correction2(2)
(6)=0.44; X_Correction2(2)(7)=0.23;
X_Correction2(2)(8)=-0.11; X_Correction2(2)(9)=0
! Correction table for Error Mapping for X axis of the third Z height -
declared in D-Buffer
X_Correction3(0)(0)=0; X_Correction3(0)(1)=0.23; X_Correction3(0)(2)=-
0.12; X_Correction3(0)(3)=-0.3; X_Correction3(0)(4)=-0.2

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X_Correction3(0)(5)=0.26; X_Correction3(0)(6)=0.15; X_Correction3(0)

(7)=0.02; X_Correction3(0)(8)=-0.15;
X_Correction3(0)(9)=0
X_Correction3(1)(0)=0; X_Correction3(1)(1)=0.24; X_Correction3(1)(2)=-
0.14; X_Correction3(1)(3)=-0.34;
X_Correction3(1)(4)=-0.2
X_Correction3(1)(5)=0.14; X_Correction3(1)(6)=-0.23; X_Correction3(1)
(7)=-0.32; X_Correction3(1)(8)=-0.13; X_Correction3(1)(9)=0
X_Correction3(2)(0)=0; X_Correction3(2)(1)=-0.1; X_Correction3(2)(2)=-
0.32; X_Correction3(2)(3)=-0.4; X_Correction3(2)(4)=0.15
X_Correction3(2)(5)=0.36; X_Correction3(2)(6)=0.44; X_Correction3(2)
(7)=0.23; X_Correction3(2)(8)=-0.11;
X_Correction3(2)(9)=0

! X axis error mapping function configuration

ERRORMAPN3D3/0 (X_axis, Y_axis, Z_axis), Zone, X_Axis_Coordinates, Y_
Axis_Coordinates, Z_Axis_Coordinates, X_Correction1, X_Correction2, X_
Correction3

! Enable Error Mapping

ERRORMAPON X_axis, Zone
STOP

4.10.12 ERRORMAP3D5
Description
The ERRORMAP3D5 function configures and activates 3D error correction for the mechanical error
compensation of the ‘axis0’ command, ‘axis1’ command, and 'axis2' command for the specified
zone, so that the compensated reference position will be calculated by adding the interpolated error
from the desired position so that the actual value will be closer to the desired value. Interpolation is
linear by default; other options are available.
The ERRORMAP3D5 function receives indices of three axes, zone index, the base value of the ‘axis0’
command, a fixed defined interval of the ‘axis0’ command, the base value of the ‘axis1’ command, a
fixed defined interval of the ‘axis1’ command, the base value of the 'axis2' command, a fixed defined
interval of the 'axis2' command, and five 2D correction tables (in correlation to the specified ‘axis2’
coordinates) for mechanical error compensation.
Syntax

ERRORMAP3D5[command options] (axis0, axis1, axis2), zone, base1, step1,

base2, step2, base3, step3, correction_map0, correction_map1, correction_
map2, correction_map3, correction_map4[, reference_axis_or_analog_input0,
referenced _axis_or_analog_input1, referenced _axis_or_analog_input2]

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Arguments

The index of the axis to which the mechanical error compensation will be
axis0 applied, valid numbers are: 0, 1, 2, ... up to the number of axes in the
system minus 1.

The index of the second axis participating in 3D mechanical error

axis1 compensation, valid numbers are: 0, 1, 2, ... up to the number of axes in
the system minus 1.

The index of the second axis participating in 3D mechanical error

axis2 compensation, valid numbers are: 0, 1, 2, ... up to the number of axes in
the system minus 1.

The zone index of the mechanical error compensation, valid numbers

zone
are: 0, 1, 2, ... up to the maximum number of zones minus 1.

A real number representing the ‘axis0’ command that corresponds to the

base0
first point in correction table for mechanical error compensation.

A real number representing the fixed interval distance between the two
step0
adjacent ‘axis0’ commands.

A real number representing the ‘axis1’ command that corresponds to the

base1
first point in correction table for mechanical error compensation.

A real number representing the fixed interval distance between the two
step1
adjacent ‘axis1’ commands.

A real number representing the ‘axis2’ command that corresponds to the

base2
first point in correction table for mechanical error compensation.

A real number representing the fixed interval distance between the two
step2
adjacent ‘axis2’ commands.

The name of a real two-dimensional array or MATRIX type that specifies

correction_ correction table for mechanical error compensation in relation to axis 2
map0 step ‘0’ coordinate. The array or MATRIX type should be GLOBAL REAL
STATIC (defined in D-Buffer).

The name of a real two-dimensional array or MATRIX type that specifies

correction_ correction table for mechanical error compensation in relation to axis 2
map1 step ‘1’ coordinate. The array or MATRIX type should be GLOBAL REAL
STATIC (defined in D-Buffer).

The name of a real two-dimensional array or MATRIX type that specifies

correction_ correction table for mechanical error compensation in relation to axis 2
map2 step ‘2’ coordinate. The array or MATRIX type should be GLOBAL REAL
STATIC (defined in D-Buffer).

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The name of a real two-dimensional array or MATRIX type that specifies

correction_ correction table for mechanical error compensation in relation to axis 2
map3 step ‘3’ coordinate. The array or MATRIX type should be GLOBAL REAL
STATIC (defined in D-Buffer).

The name of a real two-dimensional array or MATRIX type that specifies

correction_ correction table for mechanical error compensation in relation to axis 2
map4 step ‘4’ coordinate. The array type should be GLOBAL REAL STATIC
(defined in D-Buffer).

referenced_ [Optional] The index of the first axis, or the index of the first analog input
axis_or_analog_ whose feedback will be used to calculate the mechanical error
input0 compensation.

referenced_ [Optional] The index of the second axis, or the index of the second analog
axis_or_analog_ input whose feedback will be used to calculate the mechanical error
input1 compensation.

referenced_ [Optional] The index of the second axis, or the index of the third analog
axis_or_analog_ input whose feedback will be used to calculate the mechanical error
input2 compensation.

Switches

/0 The mechanical error compensation will be applied to ‘axis0’ (default)

/1 The mechanical error compensation will be applied to ‘axis1’

/2 The mechanical error compensation will be applied to ‘axis2’

Specified that the mechanical error compensation will be calculated be on the

/a
feedback from the axis specified by the optional parameter.

/aj Specifies that the first optional parameter to be treated as an analog input index.

Specifies that the second optional parameter to be treated as an analog input

/ak
index.

/al Specifies that the third optional parameter to be treated as an analog input index.

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> 3413 - The supplied correction maps (2-dimensional arrays or MATRIX types) should have
the same dimensions. Please see the documentation for more details.
> 3414 - The Specified referenced axes/analog inputs are invalid. Please see the
documentation for more details.
Comments
If incorrect parameters are passed to the function the corresponding runtime error is generated. The
function is intended to be used only with arrays; thus, an error is generated if a scalar is given as a
parameter.

4.10.13 ERRORMAPN3D5
Description
The ERRORMAPN3D5 function configures and activates 3D error correction for the mechanical error
compensation of the ‘axis0’ command, ‘axis1’ command, and 'axis2' command for the specified
zone, so that the compensated reference position will be calculated by adding the interpolated error
from the desired position so that the actual value will be closer to the desired value. Interpolation is
linear by default; other options are available.
ERRORMAPN3D5 function receives indices of three axes, zone index, ‘axis0’ command table, ‘axis1’
command table, 'axis2' command table, and 5 2D correction tables correlated to the specified 'axis2'
coordinates for mechanical error compensation.
Syntax

ERRORMAPN3D5[command options] (axis0, axis1, axis2), zone, axis0_command,

axis1_command, axis2_command, correction_map0, correction_map1,
correction_map2, correction_map3, correction_map4[, reference_axis_or_
analog_input0, referenced _axis_or_analog_input1, referenced _axis_or_
analog_input2]

Arguments

The index of the axis that the mechanical error compensation will be
axis0 applied to, valid numbers are: 0, 1, 2, ... up to the number of axes in the
system minus 1.

The index of the second axis participating in 3D mechanical error

axis1 compensation, valid numbers are: 0, 1, 2, ... up to the number of axes in
the system minus 1.

The index of the second axis participating in 3D mechanical error

axis2 compensation, valid numbers are: 0, 1, 2, ... up to the number of axes in
the system minus 1.

The zone index of the mechanical error compensation, valid numbers

zone
are: 0, 1, 2, ... up to the maximum number of zones minus 1.

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The name of a real two-dimensional array or MATRIX type that specifies a

correction_ correction table for mechanical error compensation in relation to the first
map0 specified coordinate of the Z-axis. The array or MATRIX type should be
GLOBAL REAL STATIC (defined in D-Buffer).

The name of a real two-dimensional array or MATRIX type that specifies a

correction_ correction table for mechanical error compensation in relation to the
map1 second specified coordinate of the Z-axis. The array or MATRIX type
should be GLOBAL REAL STATIC (defined in D-Buffer).

The name of a real two-dimensional array or MATRIX type that specifies a

correction_ correction table for mechanical error compensation in relation to the third
map2 specified coordinate of the Z-axis. The array or MATRIX type should be
GLOBAL REAL STATIC (defined in D-Buffer).

The name of a real two-dimensional array or MATRIX type that specifies a

correction_ correction table for mechanical error compensation in relation to the
map3 fourth specified coordinate of the Z-axis. The array or MATRIX type
should be GLOBAL REAL STATIC (defined in D-Buffer).

The name of a real two-dimensional array or MATRIX type that specifies a

correction_ correction table for mechanical error compensation in relation to the fifth
map4 specified coordinate of the Z-axis. The array or MATRIX type should be
GLOBAL REAL STATIC (defined in D-Buffer).

referenced_ [Optional] The index of the first axis, or the index of the first analog input
axis_or_analog_ whose feedback will be used to calculate the mechanical error
input0 compensation.

referenced_ [Optional] The index of the second axis, or the index of the second analog
axis_or_analog_ input whose feedback will be used to calculate the mechanical error
input1 compensation.

referenced_ [Optional] The index of the second axis, or the index of the third analog
axis_or_analog_ input whose feedback will be used to calculate the mechanical error
input2 compensation.

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Switches

/0 The mechanical error compensation will be applied to ‘axis0’ (default)

/1 The mechanical error compensation will be applied to ‘axis1’

/2 The mechanical error compensation will be applied to ‘axis2’

Specified that the mechanical error compensation will be calculated be on the

/a
feedback from the axis specified by the optional parameter.

Specifies that the first optional parameter will be regarded as an analog input
/aj
index.

Specifies that the second optional parameter will be regarded as an analog input
/ak
index.

Specifies that the third optional parameter will be regarded as an analog input
/al
index.

Error Conditions
The function detects the following error conditions.
> 2044 - Index is out of range, when the defined array size is less than the defined number of
array points.
> 3384 - The specified suffix combination is invalid. Please see the documentation for more
details.
> 3413 - The supplied correction maps (2-dimensional arrays or MATRIX types) should have
the same dimensions. Please see the documentation for more details.
> 3414 - The Specified referenced axes/analog inputs are invalid. Please see the
documentation for more details.
Comments
If incorrect parameters are passed to the function the corresponding runtime error is generated. The
function is intended to be used only with arrays; thus, an error is generated if a scalar is given as a
parameter.

4.10.14 ERRORMAPN3DA
Description
The ERRORMAPN3DAfunction configures and activates 3D error correction for the mechanical error
compensation of the ‘axis0’ command, ‘axis1’ command, and 'axis2' command for the specified
zone, so that the compensated reference position will be calculated by adding the interpolated error
from the desired position so that the actual value will be closer to the desired value. Interpolation is
linear by default; other options are available.
ERRORMAPN3DA function receives indexes of three axes, zone index, ‘axis0’ command table, ‘axis1’
command table, ‘axis2’ command table, and 10 2D correction tables (correlated to the specified
‘axis2’ coordinates) for mechanical error compensation.

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Syntax

ERRORMAPN3DA[command options] (axis0, axis1, axis2), zone, axis0_command,

axis1_command, axis2_command, correction_map0, correction_map1,
correction_map2, correction_map3, correction_map4, correction_map5,
correction_map6, correction_map7, correction_map8, correction_map9[,
reference_axis_or_analog_input0, referenced _axis_or_analog_input1,
referenced _axis_or_analog_input2]

Arguments

The index of the axis that the mechanical error compensation will be
axis0 applied to, valid numbers are: 0, 1, 2, ... up to the number of axes in the
system minus 1.

The index of the second axis participating in 3D mechanical error

axis1 compensation, valid numbers are: 0, 1, 2, ... up to the number of axes in
the system minus 1.

The index of the second axis participating in 3D mechanical error

axis2 compensation, valid numbers are: 0, 1, 2, ... up to the number of axes in
the system minus 1.

The zone index of the mechanical error compensation, valid numbers

zone
are: 0, 1, 2, ... up to the maximum number of zones minus 1.

The name of a real two-dimensional array or MATRIX type that specifies a

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The name of a real two-dimensional array or MATRIX type that specifies a

correction_ correction table for mechanical error compensation in relation to the
map5 sixth specified coordinate of the Z-axis. The array or MATRIX type should
be GLOBAL REAL STATIC (defined in D-Buffer).

The name of a real two-dimensional array or MATRIX type that specifies a

correction_ correction table for mechanical error compensation in relation to the
map6 seventh specified coordinate of the Z-axis. The array or MATRIX type
should be GLOBAL REAL STATIC (defined in D-Buffer).

The name of a real two-dimensional array or MATRIX type that specifies a

correction_ correction table for mechanical error compensation in relation to the
map7 eighth specified coordinate of the Z-axis. The array or MATRIX type
should be GLOBAL REAL STATIC (defined in D-Buffer).

The name of a real two-dimensional array or MATRIX type that specifies a

correction_ correction table for mechanical error compensation in relation to the
map8 ninth specified coordinate of the Z-axis. The array or MATRIX type should
be GLOBAL REAL STATIC (defined in D-Buffer).

The name of a real two-dimensional array or MATRIX type that specifies a

correction_ correction table for mechanical error compensation in relation to the
map9 tenth specified coordinate of the Z-axis. The array or MATRIX type should
be GLOBAL REAL STATIC (defined in D-Buffer).

referenced_ [Optional] The index of the first axis, or the index of the first analog input
axis_or_analog_ whose feedback will be used to calculate the mechanical error
input0 compensation.

referenced_ [Optional] The index of the second axis, or the index of the second analog
axis_or_analog_ input whose feedback will be used to calculate the mechanical error
input1 compensation.

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referenced_ [Optional] The index of the second axis, or the index of the third analog
axis_or_analog_ input whose feedback will be used to calculate the mechanical error
input2 compensation.

Switches

/0 The mechanical error compensation will be applied to ‘axis0’ (default)

/1 The mechanical error compensation will be applied to ‘axis1’

/2 The mechanical error compensation will be applied to ‘axis2’

Specified that the mechanical error compensation will be calculated be on the

/a
feedback from the axis specified by the optional parameter.

Specifies that the first optional parameter will be regarded as an analog input
/aj
index.

Specifies that the second optional parameter will be regarded as an analog input
/ak
index.

Specifies that the third optional parameter will be regarded as an analog input
/al
index.

Error Conditions
The function detects the following error conditions.
> 2044 - Index is out of range, when the defined array size is less than the defined number of
array points.
> 3384 - The specified suffix combination is invalid. Please see the documentation for more
details.
> 3413 - The supplied correction maps (2-dimensional arraysor MATRIX) should have the
same dimensions. Please see the documentation for more details.
> 3414 - The Specified referenced axes/analog inputs are invalid. Please see the
documentation for more details.
Comments
If incorrect parameters are passed to the function the corresponding runtime error is generated. The
function is intended to be used only with arrays; thus, an error is generated if a scalar is given as a
parameter.

4.10.15 ERRORMAPOFF
Description
ERRORMAPOFF function receives axis index and zone index. The ERRORMAPOFF function
deactivates error mapping correction for the mechanical error compensation for the specified zone.

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Syntax

ERRORMAPOFF axis, zone

Arguments

The axis index, valid numbers are: 0, 1, 2, ... up to the number of axes in the
axis
system minus 1.

The zone index, valid numbers are: 0, 1, 2, ... up to the maximum number of
zone
zones minus 1. If ‘-1’ is specified, all zones of specified axis will be affected.

4.10.16 ERRORMAPON
ERRORMAPON function receives axis index and zone index. The ERRORMAPON function activates
error correction for the mechanical error compensation for the specified zone.
Syntax

ERRORMAPON axis, zone

Arguments

The axis index, valid numbers are: 0, 1, 2, ... up to the number of axes in the
axis
system minus 1.

The zone index, valid numbers are: 0, 1, 2, ... up to the maximum number of
zone
zones minus 1. If ‘-1’ is specified, all zones of specified axis will be affected.

4.10.17 #ERRORMAPREP
Description
#ERRORMAPREP function generates a report of all activated zones of error mapping for all axes in
the system.
Syntax

#ERRORMAPREP

4.10.18 ERRORUNMAP
Description
ERRORUNMAP function receives axis index and zone index. The ERRORUNMAP function deactivates
error correction for the mechanical error compensation for the specified zone.
Syntax

ERRORUNMAP axis, zone

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Arguments

The axis index, valid numbers are: 0, 1, 2, ... up to the number of axes in the
axis
system minus 1.

The zone index, valid numbers are: 0, 1, 2, ... up to the maximum number of
zone
zones minus 1. If ‘-1’ is specified, all zones of specified axis will be affected.

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5. ACSPL+ Standard Structures

5.1 LCI Standard Structure
The LCI structure is supported in versions 3.10 and higher.

5.1.1 LCI Functions

[Link] PowerPWMOut
Description
This function initializes Pulse Modulation mode .
Syntax

PowerPWMOut (Mode, Freq, Width, DutyCycle, [MinValue, MaxValue,

MinVelocity, MaxVelocity])

Arguments

Modulation mode:
0 – Fixed parameters mode
1 - Fixed Frequency
Mode 2 - Fixed Pulse Width
3 - Fixed duty cycle
Modes 0 – 3 are incompatible modes, i.e. setting any of these modes
automatically disables the previously set mode.

Pulse modulation frequency in Hz, range from 0.035Hz to 1MHz.

Freq In mode = 1, the frequency is fixed and is not changed during the process.
In mode = 2 or 3, the function only sets the initial frequency.

Width Pulse Width in milliseconds, range for 6.67 nsec to 28.60 sec.

Duty cycle in percentage, range from 0% to 100%.

When mode = 0, DutyCycle value is not applicable
When mode = 1, the function only sets the initial duty cycle.
DutyCycle When mode = 2, the argument has no effect, as duty cycle is
automatically calculated by the unit as function of frequency.
When mode = 3, the duty cycle is fixed and is not changed during the
process

[Optional] Minimum value of volatile parameter (depends on mode) , if

MinValue
calculated vector velocity is less than or equal to MinVel

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[Optional] Maxium value of volatile parameter (depends on mode) , if

MaxValue
calculated vector velocity is greater than or equal toMaxVel

[Optional] Minimum velocity for parameter calculation.

Below the minimum value, the parameter will be limited by MinValue or
MinVel
default, if MinValue is not specified
By default, minimum velocity is zero.`

[Optional] Maximum velocity for parameter calculation.

Above the maximum value, the parameter will be limited by MaxValue or
MaxVel
default, if MaxValue is not specified.
By default, maximum velocity is defined by XVEL parameter

[Link] PowerAnalogOut
Description
The function defines the range of Analog Output value depending on the actual velocity
Syntax

PowerAnalogOut (AnalogOutInd, [MinValue, MaxValue, MinVelocity,

MaxVelocity] )

Arguments

AnalogOutInd Analog output index (0 or 1)

[Optional] Minimum value of volatile parameter if calculated vector

MinValue
velocity equals or below MinVel, default is 0.

[Optional] Maximum of volatile parameter if calculated vector velocity

MaxValue
equals or above MaxVel, default is 100 (%)

[Optional] Minimum velocity for parameter calculation.

Below the minimum value, parameter will be limited by
MinVel
MinValue or default, if MinValue is not specified
By default, Minimum velocity is zero.

[Optional] Maximum velocity for parameter calculation.

Above the maximum value, parameter will be limited by
MaxVel
MaxValue or default, if MaxValue is not specified.
By default, Maximum velocity is defined by XVEL parameter

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!D-buffer declaration
LCI lc

!Program buffer
[Link] = AxListAsMask(X,Y)
!Define laser power control by analog output
! Output value is 0 Volt for velocity < 10 and 10 Volt for velocity > VEL
(X)*2
! Use Analog output - 1
[Link](1, 0, 10, 10, VEL(X)*2)

[Link]()

[Link] PowerDigitalOut
Description
The function defines the range of Digital Output value depending on the actual velocity.
SYNTAX

PowerDigitalOut (SynchPulseWidth, [MinValue, MaxValue, MinVelocity,

MaxVelocity] )

Arguments

The width of the synchronization pulse in msec. The pulse fires

SynchPulseWidth every time when all Digital Outputs are updated and user can read
the Power value

[Optional] Minimum value of volatile parameter (depends on mode)

MinValue
, if calculated vector velocity equals or below MinVel. Default is 0

[Optional] Maximum of volatile parameter (depends on mode) , if

MaxValue
calculated vector velocity equals or above MaxVel. Default is 255

[Optional] Minimum velocity for parameter calculation. Below the

minimum value, parameter will be limited by MinValue or by the
MinVel
default value if MinValue is not specified. By default, minimum
velocity is zero.

[Optional] Maximum velocity for parameter calculation. Above the

maximum value, the parameter will be limited by MaxValue or by
MaxVel
the default value if MaxValue is not specified. By default, maximum
velocity is defined by the XVEL parameter.

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[Link] FixedDistPulse
Description
The function initializes the fixed distance pulse firing mode. This mode is useful if a laser be should
be activated at specified fixed intervals between activations along an actual motion trajectory. The
AxesUsed field defines which axes are used for multi-axis trajectory generation.
Syntax

int FixedDistPulse (PulseWidth, Interval[, StartPos, EndPos, InitialPos,

MinValue, MaxValue, MinVelocity, MaxVelocity])

Return Type
Occupied channel index as integer value
Arguments

PulseWidth Pulse Width in milliseconds (40ns – 161ms)

Specifies an interval in user units between pulses along the multi-axis

Interval
motion trajectory.

[Optional] Specifies a start position in user units along the multi-axis

StartPos motion trajectory. The pulses start generating after reaching this
position. The value is 0 by default.

[Optional] Specifies a last position in user units along the multi-axis

EndPos motion trajectory. The pulses stop generating after reaching this position.
If the parameter is omitted , then there is no limitation.

[Optional] Specifies an initial position offset relative to the user origin. By

InitialPos default InitialPos is zero. For a multi-axes-trajectory, the InitialPos should
be omitted or set to zero.

[Optional] Minimum value of volatile parameter (depends on mode) , if

MinValue
calculated vector velocityis greater than or equal to MinVel

[Optional] Maximum of volatile parameter (depends on mode) , if

MaxValue
calculated vector velocity less than or equal toMaxVel

[Optional] Minimum velocity for parameter calculation.

Below the minimum value, parameter will be limited by MinValue or
MinVelocity
default, if MinValue is not specified
By default, minimum velocity is zero.`

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[Optional] Maximum velocity for parameter calculation.

Above the maximum value, parameter will be limited by MaxValue or
MaxVelocity
default, if MaxValue is not specified.
By default, maximum velocity is defined by XVEL parameter

Comments
The ExtraPulses and ExtraPeriod fields define the extra pulses generation. If at least one of
parameters is 0, no extra pulses are generated.
The PiercePulsesNum and PiercePulseWidth fields define the pierce pulse generation. If at least one
of parameters is 0, no pierce pulses are generated.
The MotionAxes axes mask field is used for trajectory calculation.
The PulseResolution field is used for operation pulse resolution. If the default PulseResolution is 0,
the pulse resolution should be calculated according to the XVEL parameter and Maximum LCI
Frequency.
When the motion occurs in the negative direction, it is not sufficient to specify a negative interval;
StartPos and EndPos must also be specified. See example below.
Example

int AxX = 0 ! Actual moving X axis

real PulseWidth = 0.1 ! Generated pulse width 0.1 mS

real Interval = -1 ! interval between pulses = -1mm

! to move in negative direction

[Link](AxX) ! Axes 0,1 used for vector velocity calculation

! optional Parameters StartPos = 0 and EndPos = -30 need to be specified
[Link](PulseWidth, Interval,0,-30)

! Initialization of Fixed Interval function

[Link]() ! LCI ready to genarate pulses in motion

ptp/e (AxX), -30! motion command

stop

[Link] DistanceArrPulse
Description
The function initializes either array-based pulse firing mode.
Syntax

int DistanceArrPulse (arrPos, arWidth, ArraySize)

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Return Type
Occupied channel index as integer value
Arguments

Array of points. Each element in the array defines the point where a pulse
arPos
should be fired.

Pulse Width value or Pulse Width array in milliseconds. Each width in the
array corresponds to a point in the Position array. The size of array should
arWidth
be equals to size of Position array. If the parameter is a real value, pulse
width is applied for all elements in the Position array.

ArraySize The size of Points and Width arrays.

Comments
The ExtraPulses and ExtraPeriod fields define the extra pulses generation. If at least one of
parameters is 0, no extra pulses are generated.
The MotionAxes axes mask field is used for trajectory calculation.
The PulseResolution field is used for operation pulse resolution. In case of the default
PulseResolution is 0, the pulse resolution should be calculated according to the Comments
The ExtraPulses and ExtraPeriod fields define the extra pulses generating. If at least one of
parameters is 0, no extra pulses are generated.
The MotionAxes axes mask field is used for trajectory calculation.
The PulseResolution field is used for operation pulse resolution. In case of the default
PulseResolution is 0, the pulse resolution should calculate according to XVEL parameter and
Maximum LCI Frequency.
Command requires “Array and Segment Based Modes” LCI ordering option to use.
Example

[Link] CoordinateArrPulse
Description
The function initializes either array-based pulse firing mode based on multiple axis position.
Syntax

int CoordinateArrPulse (ArraySize, WidthArr[, XPosArr, YPosArr , ZPosArr,

APosArr, BPosArr, CPosArr])

Return Type
Occupied first channel index as integer value

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Arguments

ArraySize The size of Points and Width arrays.

Pulse Width value or Pulse Width array in milliseconds. Each width in the
WidthArr array corresponds to a point in the Positions arrays. If the parameter is a
real value, pulse width is applied for all items of Positions arrays.

(optional) Array of X axis positions. Each element of the array defines the
XPosArr
point where a pulse should be fired.

(optional) Array of Y axis positions. Each element of the array defines the
YPosArr
point where a pulse should be fired.

(optional)Array of Z axis positions. Each element of the array defines the

ZPosArr
point where a pulse should be fired.

(optional)Array of A axis [Link] element of the array defines the

APosArr
point where a pulse should be fired.

(optional)Array of B axis positions. Each element of the array defines the

BPosArr
point where a pulse should be fired.

(optional)Array of C axis positions. Each element of the array defines the

CPosArr
point where a pulse should be fired.

Comments
Function occupies several channels, depending on the MotionAxes field.
If the parameter is 0, no extra pulses are generated.
The MotionAxes axes mask field is used for trajectory calculation.
The PulseResolution field is used for operation pulse resolution. In case of the default
PulseResolution is 0, the pulse resolution should calculate according to XVEL parameter and
Maximum LCI Frequency.
Command requires “Array and Segment Based Modes” LCI ordering option to use.
Example

[Link] Tickle
Description
The function initializes the Tickle mode. In this mode the laser control unit generates a signal at
constant frequency and with constant width. Usually this mode is used for those types of lasers that
require gas ionization during the time period when laser processing is off. By setting this mode the
laser will respond faster and more predictably when laser processing resumes. Once this mode is
initialized, the laser control unit constantly generates pulses without regard to any other operational
modes.

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Syntax

Tickle (Freq, Width)

Return Type
None
Arguments

Tickle frequency in Hz.

Minimum frequency is 1149Hz, maximum frequency is 100,000Hz
Freq
Not all frequencies can be configured, so the function automatically rounds the
specified frequency to the nearest supported value.

Pulse Width in milliseconds

Minimal width is 0.000107msec (107nsec), maximal width is 0.0273msec
Width (27.3µsec)
Not all width values are supported, so the function automatically rounds the
specified width to the nearest supported value.

[Link] LaserEnable
Description
The function enables laser pulse generation.
Syntax

LaserEnable ()

[Link] LaserDisable
Description
The function disables laser pulse generation.
Syntax

LaserDisable ()

[Link] DistanceArrGate
Description
The function adds the gating mode to the system. In this mode laser is to be switched on or off at a
predefined position. The position is defined by distance position.
Syntax

int DistanceArrGate (arPos, arStates,Size)

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Return Type
None
Arguments

Array of points. Each element of the array defines the point where a state
arPos
signal should be changed.

Array of states. Each element of the array defines the state value in the
arStates corresponding point from arPos array. The array size should be equal to
points array (arPos)

Size Size of the two arrays used for gating definition.

Comments
The MotionAxes axes mask field is used for trajectory calculation. The PulseResolution field is used
for operation pulse resolution. If the default PulseResolution is 0, the pulse resolution should be
calculated according to the XVEL parameter and Maximum LCI Frequency.
Command requires “Array and Segment Based Modes” LCI ordering option to use.

[Link] CoordinateArrGate
Description
The function adds the gating mode to the system. In this mode laser is to be switched on or off at a
predefined position. The position defined by axes coordinates.
Syntax

int CoordinateArrGate (PointsNum, StatesArr[, XPosArr, YPosArr, ZPosArr,

APosArr, BPosArr, CPosArr ])

Return Type
First occupied channel index as integer value
Arguments

PointsNum The actual points number

StatesArr States array of integers

(optional)Array of X axis positions. Each element of the array defines the

XPosArr
point where a pulse should be fired.

(optional)Array of Y axis [Link] element of the array defines the

YPosArr
point where a pulse should be fired.

(optional)Array of Z axis [Link] element of the array defines the

ZPosArr
point where a pulse should be fired.

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(optional)Array of A axis [Link] element of the array defines the

APosArr
point where a pulse should be fired.

(optional)Array of B axis positions. Each element of the array defines the

BPosArr
point where a pulse should be fired.

(optional)Array of C axis [Link] element of the array defines the

CPosArr
point where a pulse should be fired.

Comments
The trajectory calculation is built according to defined Position arrays.
The PulseResolution field is used for operation pulse resolution. If PulseResolution is 0, the pulse
resolution should be calculated according to the XVEL parameter and Maximum LCI Frequency.
This command is available when the “Array and Segment Based Modes” LCI ordering option is
purchased.

[Link] AddZone
Description
Add the laser activation zone. If the zone is defined, the laser can be activated only in the specified
zone.
Syntax

int AddZone (MinPos, MaxPos[, MotionAxes] )

Return Type
Occupied channel index as integer value
Arguments

Specifies a minimum position of the operation zone along the motion

MinPos
trajectory. The laser pulses start outputting after reaching this position

Specifies a maximum position of the operation zone along the motion

MaxPos
trajectory. The laser pulses stop outputting after reaching this position.

[Optional] Mask that defines the axes, which are used for generating
MotionAxes pulses along the multi-axis motion trajectory. If parameter is 0 or
omitted, the default axes mask is taken from MotionAxes.

Example

[Link] SetZone
Description
Change the laser activation zone for specified channel. If zone is defined, the laser can be activated
only in the specified zone

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Syntax

int SetZone (Channel, MinPos, MaxPos)

Return Type
None
Arguments

Channel Channel or Operation ID where the zone was defined

Specifies a minimal position of the operation zone along the motion

MinPos
trajectory. The laser pulses start outputting after reaching this position

Specifies a maximal position of the operation zone along the motion

MaxPos
trajectory. The laser pulses stop outputting after reaching this position.

Example

[Link] SetCondition
Description
Define laser activation condition in one of the 3 condition registers by a bitwise mask.
Syntax

[Link] (ConditionReg, SetBitMask [,ClearBitMask])

Return Type
None
Arguments

ConditionReg Register index (0,1,2)

SetBitMask Bitwise condition mask to set

ClearBitMask (optional) Bitwise condition mask to clear

Comments
Table 6-19. Condition Mask for Register 0

Bit # Signal

0 PWM

1 Tickle

2-17 For internal usage

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Bit # Signal

18 In Range 0

19 In Range 1

20 In Range 2

21 In Range 3

22 In Range 4

23 In Range 5

24 In Range 6

25 In Range 7

Table 6-20. Condition Mask for Register 1

Bit # Signal

0 PEG Pulse 0

1 PEG Pulse 1

2 PEG Pulse 2

3 PEG Pulse 3

4 PEG Pulse 4

5 PEG Pulse 5

6 PEG Active 0

7 PEG Active 1

8 PEG Active 2

9 PEG Active 3

10 PEG Active 4

11 PEG Active 5

12 PEG State of PEG 0

13 PEG State of PEG 1

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Bit # Signal

14 PEG State of PEG 2

15 PEG State of PEG 3

16 PEG State of PEG 4

17 PEG State of PEG 5

Table 6-21. Condition Mask for Register 2

Bit #

0 General Purpose Input 0

1 General Purpose Input 1

2 General Purpose Input 2

3 General Purpose Input 3

4 General Purpose Input 4

5 General Purpose Input 5

6 General Purpose Input 6

7 General Purpose Input 7

8 General Purpose Output 0

9 General Purpose Output 1

10 General Purpose Output 2

11 General Purpose Output 3

12 General Purpose Output 4

13 General Purpose Output 5

14 General Purpose Output 6

15 General Purpose Output 7

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Example

!Set bit 0 and clear bit 1 in register 1

SetCondition (1, 0x1 , 0x2)

[Link] GetCondition
Description
Return the current laser activation condition mask from the specified register.
Syntax

INT GetCondition (ConditionReg)

Return Type
Condition mask. See tables in SetCondition description.
Arguments

ConditionReg Register index (0,1,2)

Comments
Example

[Link] SegmentGate
Description
Activate automatic gating for segment motion.
Syntax

int SegmentGate ([InitialState)

Arguments

(optional)The gating initial state: 1 or 0 (default). The gating state is set to

InitialState
requested value immediately after function call

Return Type
Channel ID allocated for this operation. Return -1 if failed.

[Link] SegmentPulse
Description
Activate automatic pulse firing for segment motion.
Syntax

int SegmentPulse (Mode, PulseWidth)

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Return Type
Channel ID allocated for this operation. Return -1 if failed.
Arguments

This parameter defines the type and occurrence of the synchronization

signal:
2 – Pulse on demand. The LINE/ARC1/ARC2 special switch (/p) defines a
Mode segment at the beginning of which the pulse occurs.
3 – Pulse is generated automatically at the beginning of every segment
(starting from the second segment)

PulseWidth Pulse width (msec)

[Link] SetExtClockSync
Description
Enable or Disable External Laser Clock synchronization.
Syntax

SetExtClockSync(Enable [,Polarity, Delay] )

Enable or Disable External Laser Clock synchronization mode (1 – Enable, 0 -

Enable
Disable)

Optional
1 or 0
Polarity
1 – Synchronization on rising edge(default)
0 – Synchronization on falling edge

Optional
Delay
Delay relative to External Laser Clock edge in μsec. The default is 0.

[Link] PowerPWMBurst
Description
The function initializes pulse modulation mode with specified number of pulses
Syntax

PowerPWMBurst (Freq, Width, PulseNum, [SynchFlag])

Arguments

Freq Pulse modulation frequency in Hz, range from 0.035Hz to 1MHz.

Width Pulse Width in milliseconds. Range from 6.67nsec to 28.60sec

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PulseNum The number of outgoing PWM pulses

(Optional). If parameter is non-zero, the function works synchronously i.e.,

SynchFlag waits till the pulse sequence finished, otherwise initializes the pulse
sequence without waiting. The default is 1 (works synchronously)

Comments
The LaserEnable function should be called ahead beforehand to enable the sequence of pulses. If
the function works asynchronously, the program should check the PWMBurstReady field to ensure
that the pulse sequence is finished.
Example

[Link]()

!Initialize the 10 pulses with frequency 1 kHz

[Link](1000, 0.5, 10, 0)

!wait till pulse sequence finished

till [Link] = 1

[Link] SetSafetyMasks
Description
Enable or disable Safety and Fault inputs.
Syntax

SetSafetyMasks(SafetyInput, FaultInput )

Arguments

SafetyInput The 1 value masks the Safety Input and the system ignores Safety errors

FaultInput The 1 value masks the Fault Input and the system ignores the Faults

[Link] Stop
Description
Cancel laser mode or state for specified channel.
Syntax

Stop (Channel)

Return Type
None

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Arguments

Channel Channel or Operation ID. If omitted or negative, cancel all active operations.

[Link] SetMechPlatformAxes
Description
Define the axes configuration for the mechanical platform.
Syntax

SetMechPlatformAxes (X_Ax, [Y_Ax, Z_Ax , A_Ax, B_Ax, C_Ax])

Return Type
None
Arguments

X_Ax Axis index corresponds to X axis of mechanical platform

Y_Ax (optional) Axis index corresponds to Y axis of mechanical platform

Z_Ax (optional) Axis index corresponds to Z axis of mechanical platform

A_Ax (optional) Axis index corresponds to A axis of mechanical platform

B_Ax (optional) Axis index corresponds to B axis of mechanical platform

C_Ax (optional) Axis index corresponds to C axis of mechanical platform

Comments
If parameter omitted or -1, axis is not available in the current mechanical platform configuration.

[Link] SetMotionAxes
Description
Define the axes used for subsequent laser operations.
Syntax

SetMotionAxes (Axes_list)

Arguments

Axes_list Single axis or axis group, valid numbers are: 0…5

Return Value
None
Comments
The function defines the mechanical platform to use. Valid values for axis designation are as follows:

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Axis Code

X 0

Y 1

Z 2

A 3

B 4

C 5

Example

!Set platform axes X and Y for subsequent operations.

[Link] (0,1)

[Link] SetSystemDelay
Description
Change the internal pulse generation delay.
Syntax

SetSystemDelay (Channel, TimeDelay[,Relative] )

Arguments

Channel Channel ID

TimeDelay A new system delay in µsec

If 1, the TimeDelay value is added to the current delay, otherwise the

Relative
TimeDelay value is used as a new value for system delay

Return Value
None

[Link] GetSystemDelay
Description
Return the current system delay in µsec for the specified channel.
Syntax

GetSystemDelay (Channel)

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Arguments

Channel Channel ID. If omitted or negative cancel defined operation for all channels

Return Value
None

[Link] SetConfigOut
Description
Configure the Digital Output signal
Syntax

SetConfigOut (OutInd, Channel, Code)

Arguments

OutInd Index of Configurable Output (0…7) or 10 for LPC output

Channel Channel index (0…7) whose signal routed to output

Code Enumerator defines the signal routed to the output. See table below.

Return Value
None
Comments

Code Signal Description

0 Cancel Routing

2 P/D Pulse

3 P/D Direction

4 A signal of AqB

5 B signal of AqB

6 InRange

7 PEG Pulse

8 PEG State

9 PEG Active

If output index equals 10 (LPC output), channel parameter is irrelevant and the code parameter can
accept the following values:

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Code Signal Description

0 No signal via LPC

1 Output PWM via LPC

2 LPC output use as synchronization pulse signal for 8 bit digital port

3 Reserved

Example

! Output 2 is configured as the PEG State of channel 1:

[Link](2, 1, 8)

[Link] AssignChannels
Description
Dedicate channel for a specific operation.
Syntax

AssignChannels (OperationsArray)

Arguments

Operation enumeration array, each member contains the operation

OperationsArray
type dedicated for specific channel

Return Value
None
Comments
Operation Enumeration

100 Fixed Distance Pulse

101 Distance Array Pulse

102 Coordinate Array pulse

103 Distance Array Gating

104 Segment-based

105 Coordinate Array Gating

Zone (In Range). InRange code can be combined using an OR operator with
0x10000
another operation code

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Example

[Link] SetCustomPosCalc
Description
Define the user function intended for position calculation. The firmware calls this function every
controller cycle. The function returns the calculated value as a real variable.
Syntax

SetCustomPosCalc (Channel, FuncRef)

Arguments

Channel Channel or Operation ID

Reference to the function, which calculates the new position value. The
FuncRef
function must match this pattern: real fastcall FuncName()

Return Value
None

[Link] SetCustomVelCalc
Description
Define the user function intended for custom velocity-based calculation. The firmware calls this
function every controller cycle. The function returns the calculated value as a real variable.
Syntax

SetCustomVelCalc (Operation, FuncRef)

Arguments

Operation Operation ID (Modulation, Analog Power etc.)

Reference to the function, which calculates the new value. The function
FuncRef
must match this pattern: real fastcall FuncName()

[Link] SetCustomVelVar
Description
Define the user custom position calculation variable. Every controller cycle the firmware takes the
variable as a new calculated value.
Syntax

SetCustomVelVar (Operation, VarRef)

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Arguments

Operation Operation ID (Modulation, Analog Power etc.)

VarRef Reference to the global ACSPL+ variable

Return Value
None

[Link] GetPulseCounts
Description
The GetPulseCounts function returns the number of pulses fired on specified channel.
Syntax

GetPulseCounts (Channel)

Arguments

Channel The index of channel (0,1,2,3,4,5)

Comments
The function returns the value of internal pulse counter. The counter is set to 0 when a new
operation is defined or by the functions [Link]() or [Link]().
Example

int ch

ch = [Link](PulseWidth, Interval) !Reset counter

[Link]()

!Move axes …

int N
N=[Link](ch)!Get number of fired pulses

5.1.2 LCI Structure Fields

Field Name Type Accessibility Description

Default axes mask used by

MotionAxes int R/W
LCI functions

Default Pulse Resolution

PosResolution real R/W
used by LCI functions

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Field Name Type Accessibility Description

Contains the actual Pulse

Internal PosResolution Resolution used by LCI
real R/W
(8) functions, one element per
channel

Current laser duty cycle as

PWMDutyCycle real R
percent

PWMFrequency real R Current laser frequency in Hz

PWMPulseWidth real R PWM pulse width in ms

TickleFrequency real R Tickle frequency in Hz

TicklePulseWidth real R

Boolean, 1 if modulation
PWMActive in T
mode is active

Boolean, 1 if Tickle mode is

TickleActive int R
active

InRange int R Boolean 1/0

LaserEnabled int R Boolean 1/0

Operation mode specified for

OperationMode(8) int R
channel

Positions(8) int R FPOS for specific channel

Current Channel Position in

UserPos real R
user units

Comparison window width

MultiAxWinSize real R/W for coordinate-based
operations

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Field Name Type Accessibility Description

The number of additional

pulses generated with
ExtraPulsesPeriod after each
pulse at each firing position.
The parameter is applicable
ExtraPulsesQty int R/W
for pulses generated by the
following functions:
FixedDistPulse,
DistanceArrPulse,
CoordinateArrPulse.

The period in milliseconds for

ExtraPulses additional pulses
to be generated after each
pulse at each firing position.
The parameter is applicable
ExtraPulsesPeriod real R/W
for pulses generated by the
following functions:
FixedDistPulse,
DistanceArrPulse,
CoordinateArrPulse

Number of pierce pulses at

PiercePulsesNum int R/W
the beginning

PiercePulsesWidth real R/W ms

Stat on delay in ms in gating

GateOnDelay real R/W
mode

State off delay in ms in

GateOffDelay real R/W
gating mode

Laser firing pulse delay in

PulseDelay real R
Distance Array Pulse modes

PowerAOutVal real R Analog Output value in %

PowerDigOutVal int R Digital Output value

[Link] MotionAxes
Description
MotionAxes is a R/W integer field and contains the default axes mask used by LCI functions.

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Syntax

[Link] = AxListAsMask(X,Y)

[Link] PosResolution
Description
PosResolution is a R/W real field and contains the default Pulse Resolution used by LCI functions. If
the default Pulse Resolution is 0, the pulse resolution should be calculated according to XVEL
parameter and Maximum LCI Frequency.

[Link] InternalPosResolution
Description
InternalPosResolution is a Read-only real array with one element for each LCI channel and
containing the actual Pulse Resolution used by LCI functions.

[Link] PWMDutyCycle
Description
PWMDutyCycle is a Read-Only real field. It presents the current laser duty cycle (%)
Syntax

DISP [Link]

[Link] PWMFrequency
Description
PWMFrequency is a Read-Only real field. It presents the current laser frequency (Hz)
Syntax

DISP [Link]

[Link] PWMPulseWidth
Description
PWMPulseWidth is a Read-Only real field. It presents the current PWM pulse width (ms)
Syntax

DISP [Link]

[Link] TickleFrequency
Description
TickleFrequency is a Read-Only real field. It presents the current Tickle frequency (Hz)

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Syntax

DISP [Link]

[Link] TicklePulseWidth
Description
TicklePulseWidth is a Read-Only real field. It returns the current Tickle pulse width in ms.
Syntax

DISP [Link]

[Link] PWMActive
Description
PWMActive is a Read-Only integer field. It returns a Boolean value: 1 if modulation mode is switched
on, otherwise 0.

[Link] TickleActive
Description
TickeActive is a Read-Only integer field. It returns a Boolean value: 1 if Tickle mode is switched on,
otherwise 0.

[Link] InRange
Description
InRange is a Read-Only integer field. It returns a Boolean value: 1 if the unit is inside of defined
range, otherwise 0.

[Link] LaserEnabled
Description
Laser Enabled is a Read-Only integer field. It returns a Boolean value: 1 if the laser is enabled,
otherwise 0.

[Link] OperationMode
Description
OperationMode is an integer array with one element for each LCI channel. It returns the operation
mode defined for a specific channel.

[Link] Positions
Description
Positions is an integer array with one element for each LCI channel. It returns the pulse counter
value for a specific channel.

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[Link] UserPos
Description
UserPos is an array of real, with one element for each LCI channel. Each element returns the current
channel position in user units. UserPos is calculated as follows:
UserPos = Positions*InternalPosResolution

[Link] MultiAxWinSize
Description
MultiAxWinSize returns a real value defining the window size in coordinate based mode. The value
defines the range (Δ ) inside which the pulse and gate signals should be fired. The field is applicable
for the CoordinateArrPulse and CoordinateArrGate functions. The parameter is in user units. The
default is 1 resolution count. Δ indicates the window in the following diagram.

[Link] ExtraPulsesQty
Description
ExtraPulsesQty returns the number of additional pulses generated with ExtraPulsesPeriod after the
initial pulse at each firing position. The parameter is applicable for pulses generated by the following
functions: FixedDistPulse, DistanceArrPulse, CoordinateArrPulse. The value 0 means no extra
pulses are generated (default).

[Link] ExtraPulsesPeriod
Description
The period in milliseconds for additional pulses defined in ExtraPulses to be generated after each
pulse at each firing position. The parameter is applicable for pulses generated by the following
functions: FixedDistPulse, DistanceArrPulse, CoordinateArrPulse. The value 0 means no extra
pulses are generated (default).

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[Link] PiercePulsesNum
Description
The number of pierce pulses generated during a pierce pulse cycle. The parameter is applicable for
pulses generated by FixedDistPulse function. The value 0 means no pierce pulses are generated
(default).

[Link] PiercePulsesWidth
Description
The width of pierce pulses in milliseconds . The parameter is applicable for pulses generated by
FixedDistPulse function. The 0-value means, no pierce pulses are generated (default).

Figure 6-33. 2 Pulses with Pulse Width 120 µsec.

[Link] GateOnDelay
Description
Returns state on delay in milliseconds when in Gating Mode. Default is 0. See Figure 6-34

[Link] GateOffDelay
Description
Returns state off delay in milliseconds when in Gating Mode. Default is 0.
Figure 6-34. Delays in Gating Mode

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[Link] PulseDelay
Description
Laser firing pulse delay in Distance Array Pulse modes. The default is 0.

[Link] PowerAOutVal
Description
PowerAOutVal is a Real Read-Only real field. It returns the current analog output value. The range is
0 to 100%. The field is updated if the Power Control via Analog Output mode is activated.

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[Link] Faults
Description
Faults is a Read-only Integer Field. It contains a set of bits representing the current LCI error state,
according to the following table:

Bit # Description

0 Laser Fault, fault input is On

1 Laser safety, safety input is Off

Velocity limit fault, motion axes velocity exceeds the maximum frequency
2
supported by LCI

[Link] PWMBurstReady
Description
PWMBurstReady is a read-only Integer field. It is interpreted as a boolean flag: 1 means that the
system is ready to perform the next PWM burst.

[Link] PathCalcMethod
PathCalcMethod is an integer field defining the method of calculating the traveled distance. The
field accepts the following values:
> 0 – (default). Calculate the path by finite linear segment approximation
> 1 – Calculate the path analytically, depending on motion mode.
This method is applicable for the following motion modes: PTP, XSEG, BSEG, SPATH, NURBS, SPTP,
SMOVE.

5.2 Diagnostics and Preventive Maintenance (DPM)

The DPM related STRUCTs and functions answer the need to monitor system performance
degradation. The user can implement the required measurements and diagnostics with a minimal
effort.
The DPM feature allows the user to identify:
1. Performance degradation
> Increase of following error
> Increase in settling time
> Increase in velocity ripple during constant velocity
2. System degradation (changes that indicate some mechanical or electrical deterioration)
> Increase of current consumption
> Increase of temperature
3. Part failure (root cause of deterioration)
> Coupling break

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> Cable break / partial break

> Motor deterioration due to over temperature
4. Maintenance based on smart measurement
> Bearing life measurement for preventive maintenance (like the warning that the car
generates about the time for periodic maintenance.)
> Moving cable cycles measurement for preventive maintenance
> Drive life shortening due to repeated short circuits
This object is supported in version 3.10 and higher.

5.2.1 DPM_Measurement
Description
DPM_Measurement is an ACSPL+ composite data type(STRUCT) with different fields of data types
and functions that are used to configure and store the results of the MeasureProcess()/
MeasurePeriodically() functions. It is part of the DPM(Diagnostics and Preventive Maintenance)
feature. To declare an instance of the DPM_Measurement STRUCT the user will use the reserved
word DPM_Measurement followed by the desired struct name.
Syntax

DPM_Measurement Struct_name

See the ACSPL+ Commands & Variables Reference Guide for details about specific commands,
functions, and variables.

[Link] DPM_Measurement Fields

Variable Type and

Description
Name

It holds the raw instant measured value of the variable specified by

the user. This variable is updated every MPU cycle once the
measurement is initiated. Default = 0.
Types of variables that can be monitored:
real variable_value
> Any ACSPL+ standard variable.
> User variables that are defined in the D-Buffer as global and
static.(Including Structs variables if the Struct is defined as
global and static)

real variable_abs_ It holds the absolute value of the variable_value. This variable is
value updated every MPU cycle once the measurement is initiated.

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Variable Type and

Description
Name

Each MPU cycle this variable is set (or updated) to

real measured_ variable_abs_value * when_to_measure
abs_value
This variable holds the absolute value of the variable_value when
when_to_measure is 1, and 0 otherwise.

Holds the latest sample of measured_abs_value.

real sampled_value
See definition of a sample under sampling_type

Holds the current status of the DPM_measurement structure

int measurement_ 0 – measurement is NOT ACTIVE

status 1 – measurement is PAUSED
2 – measurement is ACTIVE

Specifies the current measurement type.

int measurement_ 0 – None

type 1 – Process measurement
2 – Periodical measurement

Specifies the size of the set of adjacent samples to be used for the
int sample_set_ calculation of the moving_average_value, std_dev_value, and the
size rms_value.
Values: Ranges between 1 and 512.

when_to_measure defines the event slots during which the variable_

abs_value is measured and assigned to measured_abs_value.
Values : 0 or 1.
For example: Motor Current during the acceleration phase of a
moving axis. For measurements related to motion, the DPM_Motion_
int when_to_ Status struct can be used.
measure
Types of variables that can be used:
> Any ACSPL+ integer standard variable.
> Any user variable that is defined in the D-Buffer as integer
global and static (Including Struct variables if the Struct is
defined as global and static).

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Variable Type and

Description
Name

sampling _time defines the sampling period in milliseconds when

using the MeasurePeriodically() function.
Minimum value: MPU cycle time.
Maximum value: 100,000,000 msec (>24h).
real sampling_time
MeasurePeriodically() sample will be taken first on the positive edge
of when_to_measure, and then every sample_time period (as long as
when_to_measure is 1(True)).
The resolution of sampling_time is the MPU cycle time.

The sampling_type is used by the MeasureProcess() function, and

defines the nature of a sample:
> When to sample
> What is a sample and how it is calculated
0 – The measured_abs_value is sampled upon the positive edge of
when_to_measure, and the sampled_value is set to this value. As an
example, it may be used to measure the settling time of moves.
int sampling_type 1 – The measured_abs_values are summed up every MPU cycle, and
the sampled_value is set to the average value of the summation
upon the negative edge of when_to_measure.
For example, it may be used to measure current during acceleration.
sampled_value presents the average of the absolute current during
the acceleration period.
This variable is ignored when using MeasurePeriodically(). In a
periodic measurement, the sampling_time variable is used. See
sampling_time definition for more information.

Specifies the number of samples that have been collected since the
real sample_ beginning of the measurement process.
counter
See definition of a sample at sampling_type

Holds the highest value of a sample that has been taken since the
real peak_value beginning of the measurement.
It can be set to 0 by the user by calling ClearPeak().

Holds the average value of the samples in the set. The number of
real moving_ samples in the set is specified by sample_set_size.
average_value
See definition of a sample at sampling_type

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Variable Type and

Description
Name

Holds the standard deviation of the samples in the set. The number of
real std_dev_value
samples in the set is specified by sample_set_size.

Holds the RMS (Root mean square) of the samples in the set. The
real rms_value
number of samples in the set is specified by the sample_set_size.

Version 4.00 Copyright © 2014-2024 ACS Motion Control Ltd. 786

ACSPL+ Commands & Variables Reference Guide
5. ACSPL+ Standard Structures

[Link] DPM_Measurement Functions

Version 4.00 Copyright © 2014-2024 ACS Motion Control Ltd. 787

ACSPL+ Commands & Variables Reference Guide
5. ACSPL+ Standard Structures

Function Name Arguments Description

real/Int monitored_
variable – A variable to be
monitored. (see monitored_
variable field definition for
more details)
int when_to_measure – A
variable that acts as a flag. This function is used to initiate
when the value of the monitoring and
variable is different than 0, measurements of variables
MeasureProcess a measurement will take that are related to processes
(monitored_variable, place. (see when_to_ and especially motion
when_to_measure, measure field definition for processes that are generated
sample_set_size, more details) by atomic motion commands
sampling_type) (PTP, BPTP, JOG).
int sample_set_size –
Defines the samples set Example: The average current
size. (see sample_set_size during the acceleration phase
field definition for more of a moving axis.
details)
int sampling_type –
Defines the sampling
behavior(see sampling_
type definition for more
details)

Version 4.00 Copyright © 2014-2024 ACS Motion Control Ltd. 788

ACSPL+ Commands & Variables Reference Guide
5. ACSPL+ Standard Structures

Function Name Arguments Description

real/Int monitored_
variable – A variable to be
monitored. (see monitored_
variable definition for more
details)
int when_to_measure – A
variable that acts as a flag. This function is used to initiate
When the value of the the monitoring and
variable is different than 0, measurements of the supplied
a measurement will take variable over time.
MeasurePeriodically
(monitored_variable, place. (see when_to_ Example 1: measurement of
when_to_measure, measure field definition for temperature that is monitored
sample_set_size, more details) by a sensor that is connected
sampling_time) int sample_set_size – to an analog input
Defines the samples set Example 2: 2D position error
size. (see sample_set_size during one “long” arbitrary XY
field definition for more move
details)
real sampling _time –
Defines the period between
samples(see sampling _
time definition for more
details)

Stops the measurement if it is

active or paused. It does not
Stop() None
affect the measurement if it is
not active.

Pauses the measurement if it

Pause() None is active. It does not affect the
measurement if it is not active.

Resume previously paused

measurement. Does not affect
Resume() None
the measurement if it is not
paused.

ACSPL+ Commands & Variables Reference Guide
5. ACSPL+ Standard Structures

Function Name Arguments Description

Sets variable_value, variable_

abs_value, measured_abs_
value, sampled_value,
ClearAll() None sample_counter, peak_value,
moving_average_value, std_
dev_value, rms_value and
when_to_measure to 0.

ClearPeak() None Sets peak_value to 0.

5.2.2 DPM_Motion_Status
Description
DPM_Motion_Status is an ACSPL+ composite data type (STRUCT), with different fields of data types
and functions that are used to configure and to provide an indication on the phase of the motion for
a user-selected axis. It is part of the DPM (Diagnostics and Preventive Maintenance) feature. To
declare an instance of the DPM_Motion_Status STRUCT the user uses the reserved word DPM_
Motion_Status followed by the desired struct name.
Syntax

DPM_Motion_Status struct_name

ACSPL+ Commands & Variables Reference Guide
5. ACSPL+ Standard Structures

[Link] DPM_Motion_Status Fields

Variable
Description
Name

int during_ The variable is set to true (=1) once the motion profile starts and is set
motion automatically to false (=0) once the motion profile is completed.

int during_ The variable is set to true (=1) once the motion profile reaches the
accel acceleration phase(can be constant acceleration or during jerk) and is set
automatically to false (=0) once the acceleration phase is completed.

The variable is set to true (=1) once the motion profile reaches the
int during_
deceleration(can be constant deceleration or during jerk) and is set
decel
automatically to false (=0) once the deceleration phase is completed.

The variable is set to true (=1) once the motion profile reaches the Constant
int during_cv
Velocity (CV) phase and is set to false (=0) once deceleration has started.

int selected_
axis The variable specifies the selected axis for which its motion phases are
monitored.

When 1, the motion phases are monitored. When 0, the phases are not
int on_off
monitored.

ACSPL+ Commands & Variables Reference Guide
5. ACSPL+ Standard Structures

[Link] DPM_Motion_Status Functions

Function Arguments Description

Axis - Valid values

are: 0, 1, 2, ... up to
the number of axes Axis - Specifies the axis is monitored once
SelectAxis in the system minus MonitorOn() is called.
(Axis) 1. *Can only be used if the on_off variable is OFF
(=0)(monitoring is not active).

Provides the user the ability to activate

monitoring of the selected_axis.

MonitorOn() None Once the MonitorOn() has been called, the

motion phase and settling status of move
commands related to the Selected_Axis will be
indicated by the STRUCT variables.

Provides the user the ability to deactivate

monitoring of the selected_axis.
MonitorOff() None
Move commands that are issued after callling
MonitorOff() will not be monitored.

Sets during_motion, during_accel, during_

ClearAll() None
decel, and during_cv to 0

5.2.3 DPM Example - Adding current measurement during acceleration phase to an

existing application
This example demonstrates how measurements can be added to existing applications without
modifying existing code. In this example, the current during acceleration of every move of the Y-axis
is measured.
To implement the measurement for an existing application:
1. Add code to an AUTOEXEC routine that initiates the measurement.
2. Add a condition monitoring (ON) routine that raises a flag when a threshold is exceeded.
The setting and resetting of motion_status_Y.MonitorOn() /MonitorOff() provides a mechanism to
control which moves are monitored and measured.

D-Buffer:
axisdef Y=1
Global static DPM_Measurement actual_current_during_accel_Y
Global static DPM_Motion_Status motion_status_Y
Global static REAL Y_Accel_Peak_Current_Threshold, Y_Accel_Moving_
Average_Current_Threshold, CURRENT_Y_AMP
Global INT Samplesample_set_size_Y, DRIVE_PEAK_CURRENT_AMP, ADC_RANGE

ACSPL+ Commands & Variables Reference Guide
5. ACSPL+ Standard Structures

Global static INT measure_continuously

Buffer 0:
AUTOEXEC:
Y_Accel_Peak_Current_Threshold = 5
Y_Accel_Moving_Average_Current_Threshold = 2.5
measure_continuously = 1
sample_set_size_Y = 20
DRIVE_PEAK_CURRENT_AMP = 10
ADC_RANGE = 32767 ! Current is sampled with a 16 bit ADC

motion_status_Y.SelectAxis(1) ! Set axis 1 as the axis that provides the

motion phases to the the motion_status_Y STRUCT once the motion_status_
[Link]() function is called
motion_status_Y.MonitorOn() !Monitoring is activated. The STRUCT will be
updated for each move that follows, and measurement will be made
accordingly

actual_current_during_accel_Y.Stop() !Stops the measurement if it is

active
!Measurement activation
actual_current_during_accel_Y.MeasureProcess(CURRENT_Y_AMP, motion_
status_Y.during_accel, sample_set_size_Y, measure_continuously)

WHILE(1) !Run every MPU cycle

CURRENT_Y_AMP = DOUT(1) * (DRIVE_PEAK_CURRENT_AMP /ADC_RANGE)!converts
DOUT units to Amperes
END
STOP

Buffer 1:
ENABLE 1
LOOP 10
PTP 1,1000
BPTP 1,3000
PTP 1,4000
PTP 1,0
.
.
.
END
STOP
!acceleration phase peak threshold has been exceeded
ON actual_current_during_accel_Y.peak_value > Y_Accel_Peak_Current_
Threshold
DISP “Y peak current threshold is exceeded”
actual_current_during_accel_Y.ClearPeak()
RET
!acceleration phase moving average threshold has been exceeded
ON actual_current_during_accel_Y.moving_average_value > Y_Accel_Moving_

ACSPL+ Commands & Variables Reference Guide
5. ACSPL+ Standard Structures

Average_Current_Threshold
DISP “Y moving average current threshold is exceeded”
RET

5.3 Motion Duration

5.3.1 MotionDuration Struct
The MotionDuration struct can be used to calculate motion duration according to motion type and
motion parameters.
The MotionDuration struct calculation functions calculate motion duration in seconds. Functions of
the struct can be executed in buffer only, and it will wait till the execution is completed.
Struct Fields

Field Name Type Accessibility Range Comments

Distance real R/W user units

from -
1.79769e+30
Default =
Velocity real R/W 8 to
10000
1.79769e+30
8

from
2.22507e-308
Default =
Acceleration real R/W to
100000
1.79769e+30
8

from
2.22507e-308
Default =
Deceleration real R/W to
100000
1.79769e+30
8

from
2.22507e-308
Default =
Jerk real R/W to
2E7
1.79769e+30
8

ACSPL+ Commands & Variables Reference Guide
5. ACSPL+ Standard Structures

Field Name Type Accessibility Range Comments

from
2.22507e-308
Deafault =
Snap real R/W to
100E7
1.79769e+30
8

InitialVelocity real R/W Default = 0

InitialAcceleration real R/W Default = 0

FinalVelocity real R/W Default = 0

FinalAcceleration real R/W Default = 0

from 1e-15 to
EncoderFactor real R/W Default = 1
1e+15

T_MotionOverallTime real R

T31_
JerkBuildupAccelerationBuild real R
up

T1_
ConstantJerkAccelerationBuil real R
dup

T32_
JerkFinishAccelerationBuildu real R
p

T2_ConstantAcceleration real R

T33_
JerkBuildupAccelerationFinis real R
h

T3_
real R
ConstantJerkAccelerationFinish

T34_
real R
JerkFinishAccelerationFinish

T4_ConstantVelocity real R

ACSPL+ Commands & Variables Reference Guide
5. ACSPL+ Standard Structures

Field Name Type Accessibility Range Comments

T35_
JerkBuildupDecelerationBuil real R
dup

T5_
ConstantJerkDecelerationBui real R
ldup

T36_
JerkFinishDecelerationBuildu real R
p

T6_ConstantDeceleration real R

T37_
JerkBuildupDecelerationFinis real R
h

T7_
ConstantJerkDecelerationFin real R
ish

T38_
real R
JerkFinishDecelerationFinish

Struct Functions

Read Velocity, Acceleration, Deceleration, Jerk, Snap and

ReadFrom(int AxisNum) EncoderFactor from specified axis and write them to
appropriate fields in struct.

Calculates PTP (3rd order motion profile) motion duration and

duration of each motion phase using struct parameters
Relevant output members:
T_MotionOverallTime,
T1_ConstantJerkAccelerationBuildup,

CalculatePTPDuration() T2_ConstantAcceleration,
T3_ConstantJerkAccelerationFinish,
T4_ConstantVelocity,
T5_ConstantJerkDecelerationBuildup,
T6_ConstantDeceleration,
T7_ConstantJerkDecelerationFinish

ACSPL+ Commands & Variables Reference Guide
5. ACSPL+ Standard Structures

Calculates BPTP motion duration using struct parameters

CalculateBPTPDuration() Relevant output member:
T_MotionOverallTime

Calculates SPTP (4th order motion profile) motion duration and

duration of each motion phase using struct parameters
Output members:
T_MotionOverallTime,
T31_JerkBuildupAccelerationBuildup,
T1_ConstantJerkAccelerationBuildup,
T32_JerkFinishAccelerationBuildup,
T2_ConstantAcceleration,
T33_JerkBuildupAccelerationFinish,

CalculateSPTPDuration() T3_ConstantJerkAccelerationFinish,
T34_JerkFinishAccelerationFinish,
T4_ConstantVelocity,
T35_JerkBuildupDecelerationBuildup,
T5_ConstantJerkDecelerationBuildup,
T36_JerkFinishDecelerationBuildup,
T6_ConstantDeceleration,
T37_JerkBuildupDecelerationFinish,
T7_ConstantJerkDecelerationFinish,
T38_JerkFinishDecelerationFinish

Comments
> Two options exist for initialization of the editable fields of the MotionDuration struct:
a. Initialize each writeable field manually, one by one.
b. Use the ReadFrom function to read the Velocity, Acceleration, Deceleration, Jerk, Snap
and EncoderFactor fields from a specified axis. The Distance field will still need to be
initialized manually.
Struct members: InitialVelocity, InitialAcceleration, FinalVelocity and FinalAcceleration will
not be affected by calling the ReadFrom function.
> Zero value in fields Velocity, Acceleration, Deceleration, Jerk, Snap and EncoderFactor will
implicitly be replaced by the default value.
> There may be calculated results that are not relevant for all types of motion; they will be
initialized to their default value.

ACSPL+ Commands & Variables Reference Guide
5. ACSPL+ Standard Structures

Example

#D-Buffer:
global static MotionDuration motion_duration

#Buffer 0:
motion_duration.ReadFrom(0)
motion_duration.Distance=1
motion_duration.InitialVelocity=0
motion_duration.InitialAcceleration=0
motion_duration.FinalVelocity=0
motion_duration.FinalAcceleration=0
motion_duration.CalculatePTPDuration()

Terminal output:

?motion_duration
Struct type : MotionDuration
real Distance
1
real Velocity
10
real Acceleration
1000
real Deceleration
1000
real Jerk
100000
real Snap
1E+007
real InitialVelocity
0
real InitialAcceleration
0
real FinalVelocity
0
real FinalAcceleration
0
real EncoderFactor
1
READONLY real T_MotionOverallTime
0.12
READONLY real T31_JerkBuildupAccelerationBuildup
0
READONLY real T1_ConstantJerkAccelerationBuildup
0.01
READONLY real T32_JerkFinishAccelerationBuildup
0

ACSPL+ Commands & Variables Reference Guide
5. ACSPL+ Standard Structures

READONLY real T2_ConstantAcceleration

0
READONLY real T33_JerkBuildupAccelerationFinish
0
READONLY real T3_ConstantJerkAccelerationFinish
0.01
READONLY real T34_JerkFinishAccelerationFinish
0
READONLY real T4_ConstantVelocity
0.08
READONLY real T35_JerkBuildupDecelerationBuildup
0
READONLY real T5_ConstantJerkDecelerationBuildup
0.01
READONLY real T36_JerkFinishDecelerationBuildup
0
READONLY real T6_ConstantDeceleration
0
READONLY real T37_JerkBuildupDecelerationFinish
0
READONLY real T7_ConstantJerkDecelerationFinish
0.01
READONLY real T38_JerkFinishDecelerationFinish
0

5.4 Safety Zones

The SafetyZone structure allows the user to restrict movement to a defined range ("No Exit") or
prevent movement into a defined range or set of ranges ("No Entry"). These ranges may be defined
in one, two, or three dimensions.

ACSPL+ Commands & Variables Reference Guide
5. ACSPL+ Standard Structures

Table 6-22. Example of Two-dimensional Safety Zone Definition

In this example, the "No Exit" zone is defined as the rectangle from (100, 100) to (2200, 1300). Any
motion bringing the load outsize of this zone will cause an exception and the system will execute
the Kill command, stopping all motion. Two "No Enter" Zones are also defined; any attempt to enter
these zones will also cause an exception and execution of the Kill command. Each zone is defined
by a separate SafetyZone structure.

5.4.1 SafetyZone Structure and ACSPL+ Global Functions

The SafetyZone structure includes the following fields.

Name Description

0 - No Enter Zone
ConditionType
1 - No Exit Zone

0 - Zone not enabled

Enabled
1 - Zone Enabled

The Read Only integer flag. A non-zero value means that the motion
Faults
has been stopped by a safety zone condition.

ACSPL+ Commands & Variables Reference Guide
5. ACSPL+ Standard Structures

The SafetyZone structure includes the following functions.

Name Description

SetAxes Defines the Safety Zone physical axes indexes

Enable Enables the Safety Zone

Disable Disables the Safety Zone

SetZone1D Defines a one-dimensional Safety Zone

SetZone2D Defines a two-dimensional Safety Zone

SetZone3D Defines a three-dimensional Safety Zone

SetZoneDualCarriage Defines a dual carriage Safety Zone

SetMargins Sets Safety Zone margins dynamically

AddOffset Adds offsets to Safety Zones dynamically

Defines a custom user function to validate positions related

SetCustomPosValidFunc
to Safety Zone.

[Link] SZonesEn
Description
The function enables all previously disabled Safety Zones.
Syntax

SZonesEn

[Link] SZonesDis
Description
The function disables all previously enabled Safety Zones and removes them from system list.
Syntax
SZonesDis

5.4.2 SetAxes
Description
The function defines the Safety Zone physical axes indexes.

ACSPL+ Commands & Variables Reference Guide
5. ACSPL+ Standard Structures

Syntax

SetAxes (X_Index, [Y_Index, [Z_Index]])

Arguments

X_Index Controller axis index used to implement Safety Zone X axis

Y_Index Controller axis index used to implement Safety Zone Y axis

Z_Index Controller axis index used to implement Safety Zone Z axis

Comments
For 1D Safety zone only X_Index parameter is relevant, for 2D Zone only X_Index and Y_Index are
relevant. The default system settings are:
X_Index=0, Y_Index=1, Z_Index=2
Example

global SafetyZone sz1, sz2

!Define axis 20 as X axis of sz1 Safety Zone, 21 as Y and 22 as Z
[Link](20,21,22)
!Define axis 20 as X axis of Safety Zone sz2, 22 as Y
[Link](20,22)

5.4.3 Enable
Description
This function enables a Safety Zone.
Syntax

Enable ()

Comments
The function enables the Safety Zone and adds it to available zones list. The Safety Zone should be
defined previously by one of these functions: SetZone1D, SetZone2D, SetZone3D, SetCustomZone,
or SetZoneDualCarriage.

5.4.4 Disable
Description
This function disables a Safety Zone.
Syntax

Disable()

ACSPL+ Commands & Variables Reference Guide
5. ACSPL+ Standard Structures

5.4.5 SetZone1D
Description
The function defines a one-dimensional Safety Zone.
Syntax

SetZone1D (LeftLimit, RightLimit)

Arguments

LeftLimit Safety Zone left limit

RightLimit Safety Zone right limit

Comments

Figure 6-35. Illustration of one-dimensional Safety Zone

5.4.6 SetZone2D
Description
This function defines the parameters of a two-dimensional Safety Zone.
Syntax

SetZone2D (LeftLimitX, RightLimitX, LeftLimitY, RightLimitY)

Arguments

LeftLimitX Safety Zone left limit on X Axis

RightLimitX Safety Zone right limit on X Axis

LeftLimitY Safety Zone left limit on Y Axis

RightLimitY Safety Zone right limit on Y Axis

ACSPL+ Commands & Variables Reference Guide
5. ACSPL+ Standard Structures

Comments

Figure 6-36. Illustration of two-dimensional safety zone

5.4.7 SetZone3D
Description
The function defines the parameters of a three-dimensional Safety Zone .
Syntax

SetZone3D (LeftLimitX, RightLimitX, LeftLimitY, RightLimitY,LeftLimitZ,

RightLimitZ)

Arguments

LeftLimitX Safety Zone left limit on X Axis

RightLimitX Safety Zone right limit on X Axis

LeftLimitY Safety Zone left limit on Y Axis

RightLimitY Safety Zone right limit on Y Axis

LeftLimitZ Safety Zone left limit on Z Axis

RightLimitZ Safety Zone right limit on Z Axis

ACSPL+ Commands & Variables Reference Guide
5. ACSPL+ Standard Structures

Comments

Figure 6-37. Illustration of three-dimensional Safety Zone

5.4.8 SetCustomZone
Description
The function defines the custom Safety Zone. The user ACSPL+ fastcall function is using for motion
validation .
Syntax

SetCustomZone(ValidationFunc)

Arguments

The name of a FASTCALL ACSPL+ function.

ValidationFunc
The function format is: int FASTCALL FuncName()

Comments
Define the user function intended for position validation calculation. The firmware calls this function
every controller cycle. If the function returns zero value, Safety Zone exception occurred. The motion
limits are determined solely by the User Custom Function.
Example
See TBD Example

5.4.9 SetZoneDualCarriage
Description
The function defines the gap between the two elements of a dual carriage configuration. In a dual
carriage configuration, two loads move independently along a single axis. The purpose of this Safety
Zone is to ensure a minimum distance between the two loads , independent of their absolute
positions.

ACSPL+ Commands & Variables Reference Guide
5. ACSPL+ Standard Structures

Syntax

SetZoneDualCarriage (Gap)

Comments
The Dual Carriage system has two linear stages on one track (see picture below). Two stages have
coaxial and co-directional axes. The goal of Safety Zone is to prevent the two stages from colliding.
The minimal possible distance between the stages defined by Gap parameter. When the distance is
going to be less than Gap, kill motion process starts.

Figure 6-38. Illustration of Dual Carriage Safety Zone Gap

Example

global SafetyZone sz1

!Program buffer
int Ax1 = 0
int Ax2 = 1
SET FPOS(Ax1)=0
SET FPOS(Ax2)=200

[Link](Ax1,Ax2)
[Link](50)
[Link]()

enable(Ax1,Ax2)
ptp (Ax1), 200
ptp (Ax2), 0

stop

5.4.10 SetMargins
Description
This function sets Safety Zone margins. It may be called dynamically, changing Safety Zone
dimensions during motion.

ACSPL+ Commands & Variables Reference Guide
5. ACSPL+ Standard Structures

Syntax

SetMargins (X_Margin[, Y_Margin][, Z_Margin])

Arguments

X_Margin Margin on X Axis

Y_Margin (optional) Margin on Y Axis

Z_Margin (optional) Margin on Z Axis

Comments
The margins enlarge the Safety Zone if the value is positive. If the value is negative the Safety Zone
becomes smaller. Margins change the Zone validation area, but don’t change the Zone limits. For a
1D Safety zone only the X_Margin parameter is relevant, for a 2D Zone only X_ Margin and Y_
Margin are relevant.

Figure 6-39. SetMargins Enlarging Safety Zone

5.4.11 AddOffset
Description
This function sets Safety Zone Offsets. The offset or offsets are relative to the current offset values
and may be changed dynamically.
Syntax

AddOffset (X_Offset[, Y_Offset][, Z_Offset])

ACSPL+ Commands & Variables Reference Guide
5. ACSPL+ Standard Structures

Arguments

X_Offset Offset on X Axis

Y_Offset (Optional) Offset on Y Axis

Z_Offset (Optional) Offset on Z Axis

Comments
The zone moves additively, according to the specified values.
Example

Figure 6-40. Changing Safety Zone Offsets

!D-buffer declaration
global SafetyZone sz1
global int const NO_ENTER_ZONE = 0
global int const NO_EXIT_ZONE = 1

!Program buffer
sz1.SetZone2D(100, 700, 100, 400)
[Link] = NO_ENTER_ZONE
[Link]()
[Link](500, -50)

5.4.12 GetLeftLimit
Description
The function returns the left limit value for the specified axis .
Syntax

real GetLeftLimit (Axis)

ACSPL+ Commands & Variables Reference Guide
5. ACSPL+ Standard Structures

Arguments

Axis Queried axis: X – 0, Y – 1, Z - 2

5.4.13 GetRightLimit
Description
The function returns the right limit value for the specified axis .
Syntax

real GetRightLimit(Axis)

Arguments

Axis Queried axis: X - 0, Y - 1, Z - 2

5.4.14 GetMargin
Description
The function returns the Margin value for the specified axis.
Syntax

real GetMargin (Axis)

Arguments

Axis Queried axis: X - 0, Y - 1, Z - 2

5.4.15 Customized Safety Zone Definition

In this example the code declares a customized function to trigger a Safety Zone exception, and
installs it after calling SetZone2D.

!D-buffer declaration
global SafetyZone sz1
global int const NO_ENTER_ZONE = 0
global int const NO_EXIT_ZONE = 1

int fastcall IsValidPos()

{!Enable motion while Analog Input is less than 20%
ret (AIN(0) < 20)
}
!Program buffer

[Link](IsValidPos)
[Link]()

ACSPL+ Commands & Variables Reference Guide

5.5 Autofocus Mode

Autofocus is a mode in which the standard control operation of the Servo Processor is switched
from maintaining the desired position and velocity as specified by the controller, to executing a
control algorithm that receives up to 2 local input signals (directly by the Servo Processor) and
maintains a desired value for this input.
The inputs used in this mode are
> Control input – the input used for the control algorithm
> Quality input – input used to determine if the signal quality is sufficient to execute the
control algorithm
The source of the inputs can be signals received from a distance sensor, light sensors, pressure
sensor, and the like.
Signals may be digital or analog and more specific data is necessary to determine how to retrieve
the input information from these signals.
The new feature relies on a standard implementation of Servo Processor and supports flexible
configuration for the signals source and how to retrieve the control inputs from them.
This feature is available for the IDMxx/ECMxx/UDMxx products.
Usage
1. The user defines (with an AutoFocusDefinition struct) signals A,B in the Servo Processor.
This is done by setting the parameters in the signalA, SignalB fields of the struct. For
instance, signalsA is defined as an SPI signal and signalB refers to a Servo Processor
variable.
2. Based on the defined signalA and signalB, the user now defines the quality and control
signals.
3. The user assigns these definitions to the desired axis.
4. The user activates the feature for the axis using the activation function; this sets ASTX
(Axis). #AFACTIVE.
5. When the quality signal, as defined by the user passes a threshold, as defined in the quality
signal parameter, the ASTX(Axis).#AF_RANGE is set and the feature engages.
6. When the focus range is entered (abs(focus signal) < threshold) the ASTX(Axis).#AF_FOCUS
is set.
7. If the focus signal exceeds the range(abs(focus signal) > saturation_threshold), the focus
signal is no longer valid, and both ASTX(Axis).#AF_RANGE & ASTX(Axis).#AF_FOCUS bits are
reset.
8. To deactivate the feature at any stage, the user executes the deactivation function.

5.5.1 Autofocus Signal Source Struct

Description
The AutoFocusSource struct selects what sources will be used for the autofocus control. Two such
sources are defined, and may be later combined to generate the Control and Quality signals
(depending on the exact HW configuration). Alternatively, a single source (the Control source) may

ACSPL+ Commands & Variables Reference Guide

be defined; in such case that source is the Control source, and Quality conditions are met by suitable
settings of the threshold and factor parameters.
The control source is used as the feedback of the direction and the distance of the AutoFocus axis
from the optimal focus, and the Quality conditions, threshold and factor parameters define the area
where the focus operates.
The AutoFocusSource struct represents a signal source and allows the user to define the two
sources, A and B, that are used by the AutoFocus feature. The signals can be retrieved from either
SPI or a variable.
The AutoFocusSource struct cannot be independently instantiated and is only used as a field of the
AutoFocusDefinition struct.

Figure 7-1. Bitstream Example

When using SPI data, the AutoFocusSource parameters are used to define the content of the
bitstream. The bitstream may contain two separate values (Signals A and B), and some additional
bits to signify that the values are valid and have been updated. The parameters define what
position (starting bit, length) within the bitstream the data items (A and B values, A and B valid
symbols) are found, and masks that are used to extract the various data items.
For example, Signal A and its valid symbol may start at Bit 0, and occupy 16 bits; The first three bits
(bit 0 through bit 2) constitute the valid symbol, and the last 12 bits constitute the value of signal A. In
addition, the valid value is 0b101 (depending on the autofocus source configuration). It will also be
assumed that no reversal of any bit is required, so the Xor mask will not be utilized. In such case, the
relevant parameters would be set as follows:

[Link]=0;
[Link]=0;
[Link]=0xE;
[Link]=0xA;
[Link]=0x0FFF;

ACSPL+ Commands & Variables Reference Guide

Struct Fields

Default
Field Name Type Accessibility Range Comments
Value

Only
SPINumofWord Int Read-only 0 relevant for
SPI signal

Only
SPIOffset Int Read-only 0 0-7 relevant for
SPI signal

Only
SPIValidOffset Int Read-only -1 1-4 relevant for
SPI signal

Only
SPIValidMask Int R/W 0 relevant for
SPI signal

Only
SPIValidCmp Int R/W 0 relevant for
SPI signal

Only
SPIIsMsb Int R/W 0 relevant for
SPI signal

Relevant for
Mask Int R/W 0
both signals

Relevant for
both SPI and
XorMask Int R/W 0
Analog
signals

Relevant for
both SPI and
ShiftRight Int R/W 0
Analog
signals

Relevant for
both SPI and
ShiftLeft Int R/W 0
Analog
signals

ACSPL+ Commands & Variables Reference Guide

Default
Field Name Type Accessibility Range Comments
Value

Relevant for
(Analog) SP
DspVarAddress Int R/W -1
Variables
only

Struct Functions

Function Signature Description

Checks that the signal has been set to SPI/ Address and
IsValid()
checks for validity of field values

IsAddress() Was the signal set to Address?

IsSPI() Was the signal set to SPI?

Set parameters for Direct address signal – the user must set
SetAddress(INT address) the address directly (retrieved using the GETSPA function)
Parameter address – the address

Set parameters for SPI signal

SetSPI(INT SPINumOfWord, spiNumOfWord – number of SPI words
INT SPIOffset, INT
SPIValidOffset) spiOffset – SPI offset
spiValidOffset – SPI validation daa offset

ACSPL+ Commands & Variables Reference Guide

5.5.2 Autofocus Definition Struct

Description
The AutoFocusDefinition struct defines the Servo Processor parameters needed by the Autofocus
feature. The struct is only used for definition and does not reflect real-time execution information.
The struct uses the two Signals, A and B, that are defined as two of its fields to define the
quality/control signals. Signals A and B are AutoFocusSource struct types themselves and can only
be accessed by referring to the fields.

This struct must be defined in the D-buffer; defining this struct as a GLOBAL in any other
buffer will result in a compilation error.

! D-Buffer, to be used as needed

GLOBAL AutoFocusDefinition autoFocusDef;

ACSPL+ Commands & Variables Reference Guide

Table 7-1. Struct Fields

Default
Field Name Type Accessibility Range Comments
Value

Is updated after
AppliedAxis Int Read-only -1 (Illegal) >= 0
application

How to use A,B to

derive the signal.
One of several allowed
options:
QualitySignalSourceOption Int Read-only 0 0-4 > 0 – NONE
> 1 – A+B
> 2 – A-B
> 3–A
> 4–B
> 6-31 reserved

QualitySignalFactor Real Read-only 0 Source factor

QualitySignalOffset Real Read-only 0 Source offset

QualitySignalThreshold Real Read-only 0 Source threshold

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Default
Field Name Type Accessibility Range Comments
Value

How to use A and B to

derive the signal.
One of several allowed
options:

ControlSignalSourceOption Int Read-only 0 (Illegal) 1-5 > 1 – A+B

> 2 – A-B
> 3–A
> 4–B
> 5–
> 6-31 reserved

ControlSignalFactor Real Read-only 0 Source factor

ControlSignalOffset Real Read-only 0 Source offset

ControlSignalThreshold Real Read-only 0 Source threshold

Control Saturation
ControlSignalSaturationThreshold Real Read-only 0
Threshold

Default
signalA AutoFocusSource R/W
values

Default
signalB AutoFocusSource R/W
values

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Table 7-2. Struct Functions

Function Signature Description

IsValid() Are the set parameters valid and ready to be applied to an axis?

Apply Autofocus parameters to a specified axis. This does not activate the feature (see Activation function). If the
ApplyToAxis(Int Axis)
operation fails, an error will be presented. If the operation succeeds, the AppliedAxis field is updated

DisableForAxis(Int Axis) Disable the feature by setting the Autofocus parameters for the specified axis to NULL.

SetQualityParameters(Int Set parameters for quality signal. If source is invalid, an error is presented and the operation fails
SrcOption, Real Factor, Parameter SrcOption – quality signal source Parameter Factor – quality signal source Parameter offset – quality signal
Real offset, Real offset Parameter threshold – quality signal threshold. The valid ranges for the parameters are described above in
threshold) QualitySignalSourceOption, QualitySignalFactor, QualitySignalOffset, and QualitySignalThreshold, respectively.

Set parameters for Control signal, if source is Illegal, an error is presented, and the operation fails
> SrcOption – Control signal source
SetControlParameters (Int > Factor – Control signal source
SrcOption, Real Factor, > offset – Control signal offset
Real offset, Real > threshold – Control signal threshold
threshold) > saturationth – Control signal saturation threshold
The valid ranges of the parameters are described above in ControlSignalSourceOption, ControlSignalFactor,
ControlSignalOffset, ControlSignalThreshold, and ControlSignalSaturationThreshold, respectively.

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5.5.3 ACTIVATEAF - Activation Functiion

Description
The Autofocus feature is inactive even after setting Autofocus parameters to an axis. To activate it
the user must use this ACSPL activation method.
The direct effect of the function is setting ASTX(Axis).#AFACTIVE bit to 1.
The function is license protected and will fail if there is no license for the feature.
Syntax

Void ACTIVATEAF(Int Axis)

Arguments

Axis index, valid numbers are: 0,1,2,…. Up to the number of the axes in the
Axis
system minus 1.

Example

ACTIVATEAF(1) !Activate AF feature for axis 1

STOP

Please note that ACTIVATEAF(Axis) is a blocking function, which is to say that it waits for the ASTX
(Axis).#AF_RANGE to be set before the communication channel through which it was called is freed
for other communication tasks. Accordingly, this function should be called from a buffer only.

Do not activate ACTIVATEAF from the terminal, call it only from a buffer!

5.5.4 DEACTIVATEAF - Deactivation Function

Description
Deactivate the AutoFocus feature for a specific axis, disable automatic switching between the
control modes, and enable only position feedback for the control loop.
The direct effect of the function is reset the ASTX(Axis).#AFACTIVE bit to 0.
The function is license protected and will fail if there is no license for the feature.
Syntax

Void DEACTIVATEAF(Int Axis)

Comments
Please note that DEACTIVATEAF(Axis) is a blocking function, which is to say that it waits for the ASTX
(Axis).#AF_RANGE to be set before the communication channel through which it was called is freed
for other communication tasks. Accordingly, this function should be called from a buffer only.

ACSPL+ Commands & Variables Reference Guide

Arguments

DEACTIVATEAF(1) !Deactivate AF feature for axis 1

STOP

5.5.5 ASTX - Execution Status

Description
This variable communicates the Autofocus status to the user.
See ASTX for bit specification.
Autofocus Example

AutoFocusDefinition autoFocusDef

!set Signal A to SPI

[Link]=0;
[Link]= 0xfff;
[Link](2,2,3);
[Link]= 0xc0;
[Link]= 0xe0;

!set signal B to be a DSP variable with a specific address

ptrA=getspa(0,"axes[2].sin");
[Link](ptrA)

[Link](2, 0.2 ,0 ,150,4500); !option=A-B

[Link](1, 1, 0, 4000);

!set AXIS
[Link](1)
activateaf(1) !Feature activation

TILL ASTX(1).#AF_RANGE
DISP "IN REANGE"

TILL ASTX(1).#AF_FOCUS
DISP "INFOCUS"
STOP

Response to KILL
As a response to a KILL command, the ASTX(axis).#AFACTIVE bit is reset, and the feature needs to
be activated again.

5.5.6 FE
Description
FE is a real array, with one element for each axis in the system, and is used for displaying the error in
Autofocus mode. FE measurement begins when the AutoFocus mode is activated.
FE displays the AutoFocus error in user units.

ACSPL+ Commands & Variables Reference Guide

FE is calculated according to the following formula:

Tag
436
Accessibility
Read-Only
.NET Library Methods
ReadVariable
C Library Functions
acsc_ReadReal

5.5.7 ERRF
Description
ERRF is a real array, with one element for each axis in the system, and is used for defining the non-
critical Position Error criterion for Autofocus mode.
Syntax

ERRF(axis_index) = value

Arguments

Axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

Value of each member ranges between 2.22507e-308 and 1.79769e+308,

value
Default = 100.

Tag
434
Comments
ERRF defines the non-critical position error fault (FAULT(axis_index).#PE) criterion when the motor is
in focus mode.
As a configuration variable, the ERRF value is normally defined by SPiiPlus MMI Application Studio -
>Toolbox -> Setup -> Adjuster Wizard during the setup procedure of the system.
Accessibility
Read-Write
Related ACSPL+ Variables
FAULT(axis_index).#PE
FE, CERRF

ACSPL+ Commands & Variables Reference Guide

.NET Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

5.5.8 CERRF
Description
CERRF is a real array with one element for each axis in the system, and is used for defining the
critical Position Error criterion for Autofocus mode.
Syntax

CERRF(axis_index) = value

Arguments

Axis_ Designates the specific axis, valid numbers are: 0, 1, 2, ... up to the number of
index axes in the system minus 1.

value of each member ranges between 2.22507e-308 and 1.79769e+308,

value
Default = 1000.

Tag
435
Comments
CERRF defines critical position error fault (FAULT(axis_index).#CPE) criterion when the motor is in
focus mode.
As a configuration variable, the CERRF value is normally defined by SPiiPlus MMI Application Studio -
>Toolbox -> Setup -> Adjuster Wizard during the setup procedure of the system.
Accessibility
Read-Write
Related ACSPL+ Variables
FAULT(axis_index).#CPE
FE, ERRF
.NET Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

ACSPL+ Commands & Variables Reference Guide

5.6 Gantry Support

5.6.1 CrossCouplingCompensation Struct
Description
The CrossCouplingCompensation struct activates the cross axis compensation algorithm. The application controls initiation and stopping of the
compensation.
Struct Fields
CrossAxis in the fields’ name refers to the load or loads carried on the cross beam. These values define the coordinate system relative to the cross beam.

Default
Field Name Type Accessibility Range Comments
Value

The Index
of the first 0 to number of
YawAxisIndex Int R/W valid Yaw axes in the The index of the yaw axis
Axis in the system-1
system

1 to minimum(10,
Number of elements in Cross Axis
NumberOfCrossAxes Int R/W 1 number of axes
related arrays
-2)

0 to number of
The indices of the cross axes (cannot be
CrossAxisIndex* Int array R/W 0 axes in the
Yaw or Longitudinal indexes)
system

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Default
Field Name Type Accessibility Range Comments
Value

Determines the motion direction of the

CrossAxis.
1: The motion direction is from the yaw
axis index towards the primary axis
CrossAxisPolarity* Int array R/W -1 -1 or 1
index.
-1: The motion direction is from the
primary axis index towards the yaw
axis index .

Represents the maximum value on the

Real
CrossAxisMaxPosition* R/W 0 -1e302:1e302 cross beam in the coordinate system of
array
the CrossAxis.

Represents the minimum value on the

Real
CrossAxisMinPosition* R/W 0 -1e302:1e302 cross beam in the coordinate system of
array
the CrossAxis.

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Default
Field Name Type Accessibility Range Comments
Value

Mass ratio of the coming and non-

moving parts of the cross axis Mass
ratio of the CrossAxis to the total mass,
including cross beam and the mass of
the CrossAxis. If there is more than one
CrossAxis, all the CrossAxis masses are
added to the dominator.
Real
CrossAxisMassRatio* R/W 0 0:1 If, for example, there is a single
array
CrossAxis, the CrossAxisMassRatio is

.
In case of several CrossAxis,
CrossAxisMassRatio of cross (i) is

Represents the force ratio

compensation.
CrossAxisForceRatio Real R/W 0 -100:100 Can be automatically calculated (if
IsUserDefined is 0), or user-defined (if
IsUserDefined is 1).

TRUE or FALSE (0 Represents whether the compensation

IsActive INT R 0(FALSE)
or 1) is active or not

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Default
Field Name Type Accessibility Range Comments
Value

0: The CrossAxisForceRatio is
automatically calculated based on the
TRUE or FALSE (0 CrossAxis parameters.
IsUserDefined INT R/W 0(FALSE)
or 1) 1: The algorithm is controlled by user.
The user should define the
CrossAxisForceRatio value.

InitialForceRatio Real R/W 3 (0..100] The initial Force Ratio value

Struct Functions

Name Description

StartCompensation() Starts the calculation of the CrossAxisForceRatio. Once it is called, the IsActive flag is set to 1

StopCompensation() Stops the compensation; IsActive flag is set to 0

Comments
> The cross-axis compensation algorithm is supported in the following products:
> CMxa
> ECMsm / UDMsm / IDMsm
> ECMma / UDMma / IDMma
> ECMdx / UDMdx / IDMdx
> To start the compensation process, the following conditions must be met:

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> Gantry axes are enabled, commutated, and homed.

> The cross axes are homed.
> DCOM(YawAxisIndex) is 0.
> Learning Boost is not active for the specified YawAxisIndex.
> To prevent any damage to the system, the cross axes must be located symmetrically around the center of mass.
> The following conditions force the compensation process to stop:
> StopCompensation() function is called.
> Gantry axes are disabled.
> If the cross axes are not homed the compensation process cannot begin. An error message will appear if the user attempts to start the process
while the axes are not homed.
> The struct parameters cannot be changed during an active compensation process. Any assignment of new values to these parameters will take
effect after stopping and restarting the compensation process.
> During the compensation process, it is not possible to change DCOM(YawAxisIndex) value.
> All the cross axes parameters should be expressed in the same user-units.
> CrossAxisMaxPosition and CrossAxisMinPosition represent the maximum and minimum values on the cross beam in the coordinate system of the
CrossAxis (see Figure 7-2). Therefore, the difference between the CrossAxisMaxPosition and the CrossAxisMinPosition of all the cross axes should
be identical.

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Figure 7-2. Cross Coupled System Example

Example
The following example shows a gantry system with 2 cross axes, where the cross masses are , , and the non-moving gantry
mass is . The gantry motors are connected to axes 0,2. CrossAxis(1) is connected to axis 1, and CrossAxis(2) is connected to axis 3. The length of
the cross beam is 100 mm. Each cross axis has its own coordinate system:
> CrossAxis(1): Position “0” is located 20 mm from axis 2. The motion direction is from axis 0 to axis 2.
> CrossAxis(2): Position “0” is located 90 mm from axis 2. The motion direction is from axis 2 to axis 0.

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Figure 7-3. CrossCoupling System with Example Position Values

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D-Buffer:
global static CrossCouplingCompensation Cross

#-Buffer:
real m_cross_beam = 15; ! Non-moving mass (kg)
real m_cross1 = 3; ! CrossAxis(1) mass (kg)
real m_cross2 = 2; ! CrossAxis(2) mass (kg)

[Link] = 2; ! YAW axis index is 2

[Link] = 2; ! 2 Cross axes
[Link] = 0; ! The CrossAxisForceRatio value is automatically calculated
! based on the CrossAxis parameters.
! CrossAxis(1) parameters
[Link](0) = 1;
[Link](0) = -1; ! Motion direction: 0->2
[Link](0) = -80;
[Link](0) = 20;
[Link](0) = m_cross1/( m_cross_beam + m_cross1 + m_cross2);

! CrossAxis(2) parameters
[Link](1) = 3;
[Link](1) = 1; ! Motion direction: 2->0
[Link](1) = -10;
[Link](1) = 90;
[Link](1) = m_cross2/(m_cross_beam + m_cross1 + m_cross2);

[Link]();
STOP

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5.7 PEG Structure

The following information is relevant from controller firmware version 3.14, and applies only to the following devices:
> IDMsm/ECMsm/UDMsm
> IDMsa/ECMsa/UDMsa
> IDMma/ECMma/UDMma
> IDMdx/ECMdx/UDMdx

5.7.1 PEG Structure Fields

Field Name Type Accessibility Description

TimeBasedPulseNum int R/W Time-based pulses number

real, range from

Default time-based pulses period in msec. Must be at least Pulse Width +
TimeBasedPulsePeriod 0.00005334 to R/W
26.6667 nsec (minimum distance between two pulses).
1.7476.

int, range 26.6

PulseWidth R/W Default pulse width in msec
ns to 1.745 ms.

Nonzero means that PEG definition operations (SetIncrementalPEG,

AsynchMode bool R/O SetRandomPEG) are realized asynchronously. The Completion field
indicates operation completion.

Nonzero means that PEG operation (SetIncrementalPEG,

Completion bool R/O
SetRandomPEG) completed.

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ACSPL+ Commands & Variables Reference Guide

Field Name Type Accessibility Description

Nonzero means that SetRandomPEG function defines the Random PEG

ModuloMode bool R/W in the Modulo Mode. The Modulo Mode definition requires assignment
PEG engine to Modulo axis.

Nonzero means that that PEG definition operations (SetIncrementalPEG,

Suspend bool R/W SetRandomPEG) don’t start the PEG operation immediately. Users
should call EnablePEG function for activation.

The bit mask defines the Random PEG State Output behavior (identical
OutputMode int R/W
to the PEG_R OutputMode argument). The default is 0x4444.

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5.7.2 PEG Structure Functions

[Link] Init
Description
The Init function links the PEG structure to the driver node, loads appropriate data(assign table,
pinouts etc.) and sets PEG engines to default state if required.
Syntax

[Link] (node,[Reset])

Arguments

Node Node index

Reset Optional. If nonzero, all PEG engines are set to default state. The default is 1.

Example

!D-buffer definition
global PEG peg1

!Working buffer.
[Link](0) !Initialize PEG engines on node 0, set to default.

[Link] GetPulseCounter
Description
Returns the number of fired pulses.
Syntax

[Link] (Engine)

Arguments

Engine PEG engine

Comments
Returns the accumulated number of fired pulses. The FW sets the counter to 0 when a PEG
definition function is called (SetIncrementalPEGor SetRandomPEG).

[Link] EnablePEG
Description
Enable the PEG engine.
Syntax

[Link] (Engine)

ACSPL+ Commands & Variables Reference Guide

Arguments

Engine PEG engine

Comments
Activates previously defined PEG engine. Call EnablePEG if PEG was initially defined as suspended.

[Link] DisablePEG
Description
Disable the PEG engine.
Syntax

[Link] (Engine)

Arguments

Engine PEG engine

Comments
Disables previously enabled PEG engine.

[Link] AssignEngineByCode
Description
Set PEG engines to axes assignment by code, like ASSIGNPEG function
Syntax

[Link] (Code)

Arguments

Code Assignment code

Example

!D-buffer definition
global PEG peg1
!Working buffer.
[Link](1) !Initialize PEG engines on node 1 (UDMsm), set to
default.
[Link](0x03020100) !Assign engines

[Link] DisplayAvailableAssign
Description
Display in the communication terminal window all possible assignments for a specified axis. Can be
run only from a buffer.

ACSPL+ Commands & Variables Reference Guide

Syntax

[Link] (Axis)

Arguments

Axis Axis index

Example

!D-buffer definition
global PEG peg1
!Working buffer.
[Link](1) !Initialize PEG engines on node 1 (UDMsm), set to
default.
[Link](4) !Display available assignments for axis 0

Output

[Link] AssignEngines
Description
Assign PEG engines to controller axes.
Syntax

[Link] (Axis1, Eng1[,Axis2, Eng2] [,Axis3, Eng3] [,Axis4,

Eng4] )

Arguments

Axis1 Axis index assigned to Eng1

Eng1 Engine index assigned to Axis1

Axis2 (optional) Axis index assigned to Eng2

Eng2 (optional) Engine index assigned to Axis2

Axis3 (optional) Axis index assigned to Eng3

Eng3 (optional) Engine index assigned to Axis4

Axis4 (optional) Axis index assigned to Eng4

Eng4 (optional) Engine index assigned to Axis4

ACSPL+ Commands & Variables Reference Guide

Comments
If requested assignment not available, run time error occurred.
Example

!D-buffer definition
global PEG peg1
!Working buffer.
[Link](1) !Initialize PEG engines on node 0 (UDMsm), set to
default.
[Link](4, 3) !Axis 4 assigned to Engine 3
[Link](4, 0, 5, 1) !Axis 4 assigned to Engine 0, axis 5 to
Engine 1

[Link] DisplayCurrentAssign
Description
Display current Engine to Axis assignment for node. Can only be run from a buffer.
Syntax

[Link] ()

Example

!D-buffer definition
global PEG peg1

!Working buffer.
[Link](1) !Initialize PEG engines on node 0 (UdMsm), set to
default.
[Link]() !Display assignments for node 1

Output:

[Link] DisplayAvailablePEGPulseOuts
Description
Display available outputs for PEG Pulse signal for the specified engine.

ACSPL+ Commands & Variables Reference Guide

Syntax

[Link] (PEGEngine)

Arguments

PEGEngine PEG engine index

Example

!D-buffer definition
global PEG peg1
global int const PEG_PULSE=0
global int const PEG_STATE0 =1
global int const PEG_STATE1 =2

!Working buffer.
[Link](1) !Initialize PEG engines on node 1 (UDMsm), set to
default.
[Link](0) !Disp available Outputs for PEG
pulse engine 0

Output

[Link] DisplayAvailablePEGStateOuts
Description
Display available outputs for PEG STATE signal for specified engine.
Syntax

DisplayAvailablePEGStateOuts (PEGEngine, StateInd)

Arguments

PEGEngine PEG engine index

StateInd State Index

ACSPL+ Commands & Variables Reference Guide

Example

!D-buffer definition
global PEG peg1
global int const PEG_PULSE=0
global int const PEG_STATE0 =1
global int const PEG_STATE1 =2

!Working buffer.
[Link](1) !Initialize PEG engines on node 1 (UDMsm), set to default.
[Link] (0, 1) !Disp available Outputs for PEG
State 1, engine 0

Output:

[Link] DisplayAvailableAqBOuts
Description
Display available outputs for AqB (A or B) encoder signal .
Syntax

[Link] (Encoder, AB)

Arguments

Encoder Encoder index

AB Flag is 0 for A signal and 1 for B signal

Example

!D-buffer definition
global PEG peg1
global int const PEG_PULSE=0
global int const PEG_STATE0 =1
global int const PEG_STATE1 =2

!Working buffer.
[Link](0) !Initialize PEG engines on node 1 (UDMsm), set to
default.
[Link](1, 0) ! Disp available Outputs for AqB phase
A encoder 1

Output

ACSPL+ Commands & Variables Reference Guide

[Link] DisplayAvailableGPOUTOuts
Description
Display available outputs for General Purpose output.
Syntax

[Link] (Output)

Arguments

Output Output index

Example

!D-buffer definition
global PEG peg1
global int const PEG_PULSE=0
global int const PEG_STATE0 =1
global int const PEG_STATE1 =2

!Working buffer.
[Link](1) !Initialize PEG engines on node 1 (UDMsm), set to
default.
peg1. DisplayAvailableGPOUTOuts ( 1) !Disp available Outputs for GP
Output 1

Output

[Link] AssignPEGOutByCode
Description
Route PEG pulse signal to General Propose Outputs. Like last parameter in ASSIGNPEG function
Syntax

[Link] (OutInd, Code)

ACSPL+ Commands & Variables Reference Guide

Arguments

OutInd Output index

Code Assignment code

Example

!D-buffer definition
global PEG peg1

!Working buffer.
[Link](1) !Initialize PEG engines on node 1 (UDMsm), set to
default.
[Link](1, 9) !Assign Output 1 to PEG1 Pulse signal

[Link] AssignOutPEGPulse
Description
Route the PEG Pulse signal of the specified engine to the defined Output.
Syntax

[Link] (Output, PEGEngine)

Arguments

Output Output Index

PEGEngine PEG Engine index

Example

Example

!D-buffer definition
global PEG peg1

!Working buffer.
[Link](1) !Initialize PEG engines on node 1 (UDMsm), set to
default.
[Link] (1, 1) !Output 1 to GPOUT 1

[Link] SetIncrementalPEG
Description
The function defines the incremental PEG on specified engine
Syntax

[Link] (Engine, PulseWidth, StartPos, Inc[, StopPos ])

Arguments

Engine Peg Engine

PulseWidth Width of the pulse in milliseconds. Valid range is 26.6 ns to 1.745 ms.

StartPos Start Position in user units

Inc Increment in user units

StopPos (optional)Stop PEG position. If not specified endless PEG implies

ACSPL+ Commands & Variables Reference Guide

Example

!D-buffer definition
global PEG peg1

!Working buffer.
real Width = 0.1
real StartPos = 10
real Inc = 1
real StopPos = 100
[Link](1) !Initialize PEG engines on node 1 (UDMsm), set to
default.

[Link](1, Width, StartPos, Inc ) ! Endless inc. PEG for

on engine 1
[Link](0, Width , StartPos, Inc, StopPos) ! inc. PEG for
on engine 0

[Link]=2
[Link]=0.2
! incremental PEG for on engine 2 with time-based pulses
[Link](2, Width , StartPos, Inc, StopPos)

[Link] SetRandomPEG
Description
The function defines the Random PEG on specified engine.
Syntax

[Link] (Engine, StartIndex, StopIndex, PosArray,

[,PulseWidth] [,StatesArray ])

Arguments

Engine Peg Engine

StartIndex The first arrays index

StopIntex The last arrays index

PosArray Positions array

(optional)Pulse width variable or width array in msec. If omitted, default

PulseWidth
pulse width used

StatesArray (optional)States array

ACSPL+ Commands & Variables Reference Guide

Example

!D-buffer definition
global PEG peg1

!Working buffer.
global real Pos(3000)
global int St(3000)
real StartPos, EndPos, PulseWidth
PulseWidth = 0.1
int Step = 10
int AxInd = 4
int PEGEng = 0
int PointsNum = 2500
[Link](1) !Initialize PEG engines on node 1 (UDMsm), set to
default.
StartPos = RPOS (AxInd) + Step/2
int i = 0
loop PointsNum !Set number of pulses each mentioned step, example use
only
block
Pos (i) = StartPos + i * Step
if (i & 1) = 0
St(i) = 0
else
St(i) = 0xF
end
i++
end
end
[Link](PEGEng, 0, PointsNum-1, Pos, PulseWidth, St)

[Link] SetPulseDelay
Description
The function defines the PEG Pulse signal delay for specified PEG engine.
Syntax

[Link](Engine, Delay)

Arguments

Engine Peg Engine

Delay PEG Pulse signal delay in usec

ACSPL+ Commands & Variables Reference Guide

[Link] SetStateDelay
Description
The function defines the PEG State signal delay for specified PEG engine.
Syntax

[Link](Engine, StateOnDelay, StateOffDelay)

Arguments

Engine Peg Engine

StateOnDelay PEG State On signal delay in usec

StateOffDelay PEG State Off signal delay in usec

[Link] EnableErrorMap1D
Description
The function defines the incremental PEG on specified engine
Syntax

peg1.EnableErrorMap1D(Engine)

Arguments

Engine Peg Engine

[Link] EnableErrorMap2D
Description
The function enables 2D error support on specified PEG engine
Syntax

peg1.EnableErrorMap2D(Engine, StaticAxisIndex, StaticAxisPos)

Arguments

Engine Peg Engine

StaticAxisIndex Index of second (not moved) axis

StaticAxisPos Static position of the second axis

Example

!D-buffer definition
global PEG peg1

ACSPL+ Commands & Variables Reference Guide

!Working buffer.
real StartPos = 10
real Inc = 1
real StopPos = 100
real Width = 0.1
[Link](1) !Initialize PEG engines on node 1 (UDMsm), set to
default.
[Link](4, 0, 5, 1) !Axis 4 assigned to Engine 0, axis 5 to
Engine 1
peg1.EnableErrMap2D(0, 5, 101) !Enable 2D error map. Axis 4 is dynamic,
5 static Pos=101
[Link](0, Width, StartPos, Inc ) ! Endless incremental
PEG for on engine 0

[Link] EnableErrorMap3D
Description
The function enables 3D error support on specified PEG engine.
Syntax

peg1.EnableErrorMap3D(Engine, StaticAxisIndex2, StaticAxisPos2,

StaticAxisIndex3, StaticAxisPos3,)

Arguments

Engine Peg Engine

StaticAxisIndex2 Index of second (not moved) axis

StaticAxisPos2 Static position of the second axis

StaticAxisIndex3 Index of third (not moved) axis

StaticAxisPos3 Static position of the third axis

[Link] DisableErrorMap
Description
The function cancels error mapping support on specified PEG engine
Syntax

[Link](Engine)

Arguments

Engine Peg Engine

ACSPL+ Commands & Variables Reference Guide
6. Terminal Commands

6. Terminal Commands
Terminal commands are those commands that are specific to the SPiiPlus MMI Application Studio
Communication Terminal utility and are not part of the ACSPL+, nor can they be incorporated into
ASCPL+ programming. As soon as the command is received through one of the communication
channels, it is executed.
This chapter covers all of the available Terminal commands.

6.1 Entering Terminal Commands

Terminal commands are entered in the Communication Terminal (the general structure of which is
shown in Figure 8-1).

Figure 8-1. Communication Terminal Window

The Communication Terminal window is described in the SPiiPlus MMI Application Studio User Guide.

Terminal commands are case sensitive.

Terminal commands are divided into:

> Query Commands
> Program Management Commands
> System Commands

6.2 Query Commands

Query commands are designated by the question mark (?) and are entered through the
Communication Terminal.

ACSPL+ Commands & Variables Reference Guide
6. Terminal Commands

Command &
Description Example
Syntax

?[ACSPL+ Returns the current value of a ?TCPIP – Returns the TCP/IP for the
variable] standard variable . Ethernet port N1.

?[ACSPL+
?TCPIP, TCPPORT – Returns the
variable Returns the current value of
TCP/IP for the Ethernet port N1 and
ACSPL+ listed standard variables.
the TCP port number.
variable]...

?[buffer
Returns the current values of a ?1:MY_VAR – Returns the values of a
number]: [local
local user variable or array local user-defined variable named
user-defined
defined in a program buffer. MY_VAR.
variable]

Returns the current value of a ?FPOS(0) – Returns the feedback

?[array_ position of 0 axis.
specific element in the given
variable
array. The brackets enclosing ?FPOS0: Returns the feedback
(index)]
the index are optional. position of 0 axis.

?ARRAY1 – Returns the values of a

global user-defined array variable
Returns the current values of a
?[global user named ARRAY1.
global user variable or array.
array_variable ?ARRAY1(3) – Returns the value of
[(index)]] Or the value of an element in
the fourth element of a global user-
the array if index is included.
defined array variable named
ARRAY1.

?MATRIX – Returns all of the values

(in tabular format) of the two-
dimensional array named MATRIX.
Returns the current value(s) of ?MATRIX(1)(0) – Returns the value of
?[matrix_ an element in a two the second element in the first
variable (row_ dimensional matrix. column of MATRIX.
index) (col_ The indices may be entered as a ?MATRIX(0) – Returns all the values
index)] range, e.g., (0,4) is the first of the first row of MATRIX.
through fifth, inclusively.
?MATRIX(0,2)(0,1) – Returns a range
of values, those of the first through
third rows in the first and second
columns of MATRIX.

Returns the current status and

?[buffer ?0 – Returns the current status and
information about a program
number] information about program buffer 0.
buffer

ACSPL+ Commands & Variables Reference Guide
6. Terminal Commands

Command &
Description Example
Syntax

Returns the current status of all

?#
program buffers.

?$[axis Returns the current status of ?$16 – Returns the current status of
number] the motor for the specified axis. the axis 16 motor.

Returns the current status of all

?$
motors.

?VR Returns the firmware version

Returns the controller serial

?SN number and hardware version -
indicated by a letter.

Returns the error code number.

If the error code is included in ??3260: Returns “Motor cannot start
??[error_code]
the query, returns error because the motor is disabled”
description.

??[variable_ Returns a brief description of ??CERRA - Returns “Critical Position

name] the variable. Error In Accelerating”

6.2.1 Default Query Formats

All the queries described above produce a variable report in a default format depending on the
queried variable. In some cases the default format produces unsatisfactory results. For very large or
small real values the output may appear misleading because very large or small values may require
more positions than allocated by the default.
The default format for all real variables is similar to the C “%10G” format, where each real value is
represented by 10 digits. The controller automatically chooses the position of decimal point and the
number of digits right to the decimal point. If required, the controller uses an exponential format, like
3.14E-13.
The default format for all user integer variables and for all standard integer variables, except State
flags, and I/O variables, is similar to the C “%10i” format that specifies 10 digits for each integer
number.
State and Flag variables are reported in special format. Each State and Flag variable is a collection of
bits. Each bit within the variable has its own function. The variable is reported in a format that
displays the state of each bit with a short explanation.
The standard I/O arrays IN and OUT are reported in binary format.

6.2.2 Predefined Query Output Formats

The controller provides several predefined formats that can be used instead of the default format
for querying variables:

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6. Terminal Commands

Format Description

Decimal format.
This format is identical to the default format for integer variables. When
?D/ applied to a state variable, the format displays the decimal presentation of the
variable.
C-equivalent: %10i.

Hexadecimal format.
When applied to an integer variable, this format displays the hexadecimal
?X/
presentation of the variable.
C-equivalent: %08X

Binary format.

?B/ This format is identical to the default format for the IN and OUT variables.
When applied to an integer variable, the format displays the binary
presentation of the variable.

Extended format.
This format is useful for very large or small real values, when the default
format produces ambiguous results because the default does not provide
?E/
enough positions to display very large or very small numbers. When applied to
a real variable, the format displays each value in 20 positions.
C-equivalent: %20G

Examples
Display the motor state in decimal format:

?D/ MST
3 15 15 3 0 0 0 0
X/Y_MST
0 0 0 0 0 0 0 0

Display the state of motor x in binary format

?B/ MST
00000000,00000000,00000000,00000011

Display the status of variable UserReal in extended format

?E/UserReal
1.00000000000001

ACSPL+ Commands & Variables Reference Guide
6. Terminal Commands

6.2.3 User-Defined Query Output Format

If the default format or any other predefined format is not suitable for the user needs, the user may
specify a format using C notation. The specification is placed just before the variable name in curled
brackets. The specification applies only to the value of the name that is specified in the command. If
an array is queried, the specification applies to each element of the array.
C notation provides an unlimited number of possible formats.
Examples

Format Description

The motor feedback values for all axes are displayed in 12 digits, fixed
?{%12.3f}FPOS decimal point, 3 digits after the point. The same format applies to all 8
values.

?{%8.0f}X_FPOS 8 digits, no decimal point, no fraction digits.

?{XFPOS =
The response will look like XFPOS = 1234.
%8.0f}X_FPOS

?{%08X} X_MST 8 digits, hexadecimal format with leading zeros

6.3 Program Management Commands

Program Management commands are used for:
> Controlling program execution
> Viewing and editing program content
The Program Management commands are designated by the pound (#) character.

6.3.1 Program Management Command Arguments

Program Management commands can take two types of arguments:
Buffer Designation
Buffer designation can be specified in two forms:
> An integer number, between 0 and 16, that addresses a specific buffer (16 addresses the D-
buffer)
> The pound character, #, that addresses all program buffers in one command
Only the following commands can address all buffers:
> L – List
> C – Compile
> S, SR – Stop, Stop and Reset
> P – Pause
> F, FI – Find
> BR – Reset Breakpoints

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6. Terminal Commands

All other commands operate with one buffer only, and must specify the buffer number.
Line Designation
A line designation can appear in one of three forms, as shown in the following table:
Table 8-1. Line Designation

Line Qualifier Type Description

Single number Specifies only one line.

Specifies a range of lines. If the second number is larger than a

Two numbers separated by
total number of lines in the program, the list range spans the
comma
last program line.

Label preceded by a slash Specifies the line by a designated label (the text following the
(/) character slash).

Label preceded by a slash

Specifies a range of lines starting from the line with a
(/) character, then a comma
designated label.
and number

Examples
The following are examples of using the L command.
List line 4 in buffer 3.
#3L4

4: till ^MST(0).#MOVE

List lines from 1 to 3 inclusively in buffer 5.

#5L1,3

1: movePTP:
2: VEL(0) = 20000
3: ptp 0, 4000

List the line that contains the label MovePTP in buffer 5.

#5L/MovePTP

1: movePTP:

List 3 lines, starting from the label movePTP in buffer 5.

#5L/MovePTP, 3

1: movePTP:
2: VEL(0) = 20000
3: ptp 0, 4000

ACSPL+ Commands & Variables Reference Guide
6. Terminal Commands

6.3.2 Program Buffer Commands

[Link] Open/Close Buffer (#)
Description
The # (Open/Close Buffer) command is used to open and close a buffer for the purpose of entering
code.
Syntax
#buffer_number[I][line_number]
Arguments

buffer_ buffer_number qualifier in the command specifies the buffer, a number

number between 0 and 16.

I Optional, if included, opens the buffer for insertion of code.

Optional, if included, the command opens the buffer specified by buffer_

line_
number and sets the insert line before the line specified by line_number. line_
number
number can be specified in any of the three forms listed in.

Comments
The # command opens the buffer and sets the insert line as follows:
> If the buffer is empty, the insert line is 1.
> If the buffer already contains a program, the insert line is set after the last line of the
program.
Only one buffer can be opened at a time.
To close the buffer, # is entered without the buffer number (since only one buffer is open, the
controller knows which buffer to close.
Examples
The following are examples of opening and closing buffers.

#0 Open buffer 0
0:00001> Buffer 0 is empty
#3 Open buffer 3
3:00006> This indicates that buffer 3 contains 5 lines. The insert
line is set to 6.
#3 Open buffer 3 for insertion
3:00006> The command does not specifies a line qualifier. It is
identical to the command #3.
#3I2 Open buffer 3 and set insertion point prior to line 2.
3:00002> Insert line is set before line 2
# Close the buffer
: The prompt indicates that all buffers are closed

ACSPL+ Commands & Variables Reference Guide
6. Terminal Commands

When a program buffer is open, ACSPL+ commands are stored in the buffer (and are not executed
immediately). The controller checks the syntax of inserted ACSPL+ lines and immediately reports any
errors detected.
The following is an example of an editing session:

#0 Open buffer 0
0:00001> Buffer 0 is empty
>VEL(0) = 20000 Enter the program lines sequentially. After each
line, the insert line number is increased by 1.
0:00002>
ptp X, 4000
0:00003>
till ^MST(0).#MOVE
0:00004>

stop
0:00005>
#0L List the program
1: VEL(0) = 20000
2: ptp 0, 4000
3: till ^MST
(0).#MOVE
4: stop
0:0005> The buffer remains open
#0I1 Change the insert line number to 1
0:0001> Insert line is set before the first line
MovePTP: Insert label
0:0002>
#0L List the program
1: MovePTP:
2: VEL(0) = 20000
3: ptp 0, 4000
4: till ^MST(0).#MOVE
5: stop
0:0002> The buffer remains open
# Close the buffer

[Link] D
Description
The D (Delete) command deletes the specified lines in the buffer.
Syntax
#buffer_numberDline_number[,line_number]

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6. Terminal Commands

Arguments

buffer_ buffer_number qualifier in the command specifies the buffer, a number

number between 0 and 16.

line_number in the D command is obligatory. line_number can be:

> A single number, specifying one specific line, or
line_
number > Two numbers separated by comma that specify a range of lines. If
the second number is larger than a total number of lines in the
program, the delete range includes the last program line.

Comments
If a buffer is open, the D command that addresses the buffer shifts the insert line to before the first
undeleted line.
Example

#0L Open buffer 0

0:00001> Buffer 0 is empty
#3 Open buffer 3
3:00006> Buffer 3 contains 5 lines. The insert line is set to 6.
#3I
3:00006> The command does not specifies a line qualifier. It is
identical to the command #3
#3I2
3:00002> Insert line is set before line 2
#0D3 Delete line 3 in buffer 0
# Close the buffer
: The prompt indicates that all buffers are closed

[Link] F/IF
Description
The F/FI (Find/Find Case-sensitive) commands are used to search for a specific text in a specified
buffer or in all buffers.
Syntax
#buffer_number{F|FI}/search_string [,line_number]
Arguments

buffer_ buffer_number qualifier in the command specifies the buffer, a number

number between 0 and 16.

search_
The text being sought.
string

line_ Optional, if included, line_number defines the start line for the search.
number Otherwise, the search starts from the first line.

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6. Terminal Commands

Comments
search_string must be specified as a label, that is, it must be preceded by a slash (/), or as a label and
number separated by comma. search_string can be any text, such as, a variable name, ACSPL+
command, constant, label or keyword.
The search terminates when the first entry of the specified text is found, or the buffer end is
reached. The command reports the line that contains the text, or an error message if the text was
not found.
To find the next entry, the user must execute the command again, specifying the new start line
number of the reported line plus one.
If the # character is specified instead of the buffer number, the search command addresses all
buffers. In this case the command finds the first entry in each buffer.
Examples
The following are examples of using the F command.

#0F/X Find “X” in buffer 0

0002 Response: found entry in line 2
#0F/X,3 Find the next entry, starting from line 3
0003 Response: found entry in line 3
#0F/X,5 Find the next entry, starting from line 5
?1078 Response: No more entries
##F/stop Find stop in all buffers
Buffer #0: no matches
Buffer #1: 4: stop Entry is found in line 4 of Buffer 1
Buffer #2: no matches
Buffer #3: 4: stop Entry is found in line 4 of Buffer 3
Buffer #4: 1: stop Entry is found in line 1 of Buffer 4
Buffer #5: no matches
Buffer #6: no matches
Buffer #7: no matches Entry is found in line 238 of Buffer 8
Buffer #8: 238: stop
Buffer #9: no matches
Buffer #10: no matches

[Link] L
Description
The L (List) command is used for displaying a program listing.
Syntax
#buffer_numberL[line_number]

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6. Terminal Commands

Arguments

buffer_ buffer_number specifies the buffer, a number between 0 and 16; or you can
number use the pound (#) to designate all buffers.

Optional, if included, line_number defines a specific line to be listed.

line_
Otherwise, the search starts from the first line. line_number can be specified
number
in any of the three forms listed in Line Designation.

Comments
The listing contains all program lines preceded by line numbers. Each line appears exactly as it was
inserted. No automatic formatting is provided.
To address all buffers the # character is used instead of the buffer number, for example, the
command ##L provides a listing of all programs in all buffers. If line_number is included and a buffer
does not contain the specified line number, only the buffer number is listed.
If the buffer is empty, the list includes the buffer designation followed by the first line (0) which is
blank.

It is recommended that you place a remark with a short program description in the first
line of each program. This enables using the command ##L1 to get quick information
about all loaded programs.

Examples
The following are examples of the L command.
Example 1:
Provide a program listing for buffer #3:
#3L

1: MovePTP:
2: VEL(0) = 20000
3: ptp X, 4000
4: till ^MST(0).#MOVE
5: stop

Example 2:
Provide a program listing for the first line in all buffers:

##L1 List the contents of line 1 in all buffers.

Buffer 0 Response
0:
Buffer 1
1: ! Homing of all axes
Buffer 2
1: ! Registration motion
Buffer 3

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6. Terminal Commands

1: MovePTP:
Buffer 4
1: ! PLC program
Buffer 5 Buffer 5 is empty
0:
Buffer 6 Buffer 6 is empty
0:
Buffer 7 Buffer 7 is empty
0:
Buffer 8 Buffer 8 is empty
0:
Buffer 9 Buffer 9 is empty
0:

[Link] E/EC
Description
The E (Edit) command adds text to a buffer, optionally clearing the buffer.
Syntax
#buffer_numberE[C]%Text
Arguments

buffer_ buffer_number specifies the buffer, a number between 0 and 16; or you can
number use the pound (#) to designate all buffers.

C Optional, if included, the buffer is cleared before writing the text

%Text Text to write to buffer

Example
Clear buffer 8, and fill it with the line- DISP"bbb";STOP

#8EC%DISP"bbb";STOP

Resulting buffer:

6.3.3 RESET
Description
The RESET command is used to reset the controller to factory default state.

ACSPL+ Commands & Variables Reference Guide
6. Terminal Commands

Syntax
#RESET
Comments
The RESET command can be issued even if the application is in the Protected mode in which case
the password, if included, is not needed.

6.3.4 SCTRIGGER
Description
SCTRIGGER sets conditions to start data collection for display in the MMI scope. When data colleciton
is triggered, AST[Channel] will also be triggered.
Syntax
SCTRIGGER/([0-7]T) Action [,Variable] [,BitMask] [,Level] [,Negative] [,Timeout]
Arguments

1 - Use all specified parameters. The scope will only be Triggered when the
variable condition is met.
Action
2 - Ignore all other parameters (variable, bitmask, etc.). The scope will be
triggered without using a trigger variable.

Variable (Optional) Variable to test for triggering

Bitmask (Optional) Mask to select bits of integer variables for testing

Level (Optional) Triggering level

(Optional) - Select raising/falling edge (start collection when variable is

Negative
lower/higher than Level)

(Optional) If specified, collection will start automatically after the timeout (in
Timeout
milliseconds) has passed.

Switches

/0-/7 Use data collection channel 0-7 respectively

/T Null action, no effect

Return Value
None
Example 1

!Start collection on data channel 2 when variable a has passed the value
of 100
GLOBAL INT a=10
SCTRIGGER/2 1, a, 0xFFFFFFFF, 100, 0

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6. Terminal Commands

Example 2

!Start collection on channel 2, when FPOS(0) is lower than 5

!If condition is not met within 100 ms, start collection
SCTRIGGER/2 1,FPOS(0), 0, 5, 1,100

Example 2
Start collection on channel 2, when FPOS(0) is less than 1. If condition is not met within 100
milliseconds, start collection regardless.

SCTRIGGER/2 1,FPOS(0), 0, 5, 1,100

6.3.5 Listing Program Variables

There are three types of variables:
> ACSPL+ Variables – variables contained in the ACSPL+ language set
> SP Variables – variables incorporated in the controller
> User-Defined Variables – variables that have been declared by the user
For each type of variable there is a Communication Terminal command for listing them.

[Link] VGR
Description
The VGR command lists the categories within which the ACSPL+ variables are grouped. The
categories of the ASCPL+ variables are:
> Axis_State
> Monitoring
> Motion
> Safety_Control
> Inputs_Outputs
> Program_Execution_Control
> System_Configuration
> Axis_Configuration
> Communication
> Commutation
> Data_Collection
> Servo_Loop
> Miscellaneous
> Obsolete
Syntax
#VGR [group_name]

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6. Terminal Commands

Arguments

group_name One of the ACSPL+ variable categories.

Comments
If group_name is omitted, the command lists only the categories. If group_name is included, the
command lists the ACSPL+ sub-categories within the category.

The category must be entered in exactly the same format as given in the list above.

[Link] VSD
Description
The VSD command lists all ACSPL+ variables with a short description.
Syntax
#VSD [group_name]
Arguments

group_name One of the ACSPL+ variable categories (see VGR).

Comments
When group_name is included in the VSD command, the ACSPL+ variables within the specified
category and a brief description of each variable is listed.

[Link] VS/VSG
Description
The VS/VSG commands are used to list the variables that are incorporated in the ACSPL+ language
set.
Syntax
#VS
#VSG [group_name]
Arguments

group_name One of the ACSPL+ variable categories (see VGR).

Comments
When group_name is included in the VSG command, the names of the ACSPL+ variables within the
specified category are listed.
Example
The following is an example of the VS command.

ACSPL+ Commands & Variables Reference Guide
6. Terminal Commands

#VS List ACSPL+ variable names

Response
ACC
AFLAGS
AIN
AOUT
APOS
AST
BAUD
BOFFTIME
BONTIME
MASK
FPOS
FVEL
FVFIL
GACC
GJERK
GMOT
GMQU
GMTYPE

For brevity, only a portion of the response is shown here.

[Link] VSF/VSGF
Description
Both the VSF and VSGF commands, in addition to the global variable names, display the variable
type, the number of elements (for arrays only), address of the variable in the controller memory and
the step between array elements (for arrays only).
Syntax
#VSF
#VSGF [group_name]
Arguments

group_name One of the ACSPL+ variable categories (see VGR).

Comments
When group_name is included in the VSGF command, the names of the ACSPL+ standard variables
within the specified category and their details are listed.

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6. Terminal Commands

[Link] VG/VGF
Description
The VG command lists all global variable names in the system.
The VGF command, in addition to the global variable names, lists the variable type, the number of
elements (for arrays only), address of the variable in the controller memory and the step between
array elements (for arrays only).
Syntax
#[buffer_no]VG
#[buffer_no]VGF [variable_name]
Arguments

buffer_no A number ranging from 0 to 16, representing a specific buffer.

variable_name A specific ACSPL+ variable.

Comments
If buffer_no is included, VG and VGF list all the global variables in the specified buffer.
If variable_name specifying an ACSPL+ variable is included, VGF lists the details just for the specified
variable

[Link] VL/VLF
Description
The VL command lists all local variable names in the system.
The VLF command, in addition to the local variable names, lists the variable type, the number of
elements (for arrays only), address of the variable in the controller memory and the step between
array elements (for arrays only).
Syntax
#[buffer_no]VL
#[buffer_no]VLF [variable_name]
Arguments

buffer_no A number ranging from 0 to 16, representing a specific buffer.

variable_name A specific ACSPL+ variable.

Comments
If buffer_no is included, VL and VLF list all the local variables in the specified buffer.
If variable_name specifying an ACSPL+ variable is included, VGF lists the details just for the specified
variable.

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6. Terminal Commands

[Link] V/VF
Description
The V/VF (List User-Defined Variable Names only/List User-Defined Variables with Description)
commands are used to list the user-defined variables that are found in compiled programs.
Syntax
#[buffer_number]V
#[buffer_number]VF
Arguments

buffer_no A number ranging from 0 to 16, representing a specific buffer.

Comments
If buffer_no is not specified, the list includes the user-defined variables in all compiled buffers. The V
command only displays the names of the user-defined variables. The VF, on the other hand, in
addition to the variable names, it displays the variable type, the number of elements (for arrays
only), address of the variable in the controller memory and the step between array elements (for
arrays only).
The list can be saved to a file by clicking Save in the Communication Terminal window.
Examples
The following are examples of the V and VF commands.

#9V Provide a list of user variables

in buffer 9

Response
ITIME Global
TS_AMP1 Local
TS_AMP0 Global
#9VF Provide a list of user variables
in buffer 9 with additional information

Response
ITIME Global real@00DA0C50
TS_AMP1 Local int@00DA1A30
TS_AMP0 Global int@00DA0C80

[Link] VSP
Description
The VSP (List Servo Processor Variables) command provides a list of the SP variables that are
defined in the program in the specified SP.
Syntax
#VSPservo_number

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Arguments

servo_number servo_number is number of the Servo Processor.

Comments
Each variable name in the list is accompanied by an SP address of the variable.
The list can be saved to a file by clicking Save in the Terminal window.
Example:

#VSP0 List the variables in SP 0

Response
_RMS_SUM @088
A_RMS_SUM @089
X_NOTCH_OUT_PR_H @08A
X_NOTCH_OUT_PR2_H @08B
X_NOTCH_IN_PR @08C
X_NOTCH_IN_PR2 @08D
X_NOTCH_FRC @08E
X_NOTCH_FRC_L @08F
A_NOTCH_OUT_PR_H @091
A_NOTCH_IN_PR @092

[Link] VST/VSGT
Description
Both the VST and VSGT commands display a list of ACSPL+ variables to which PROTECT can be
applied.
Syntax
#VST
#VSGT [group_name]
Arguments

group_name One of the ACSPL+ variable categories (see VGR).

Comments
When group_name is included with the VSGT command, the ACSPL+ variables within the specified
category are listed.

[Link] VSTF/VSGTF/VSDT
Description
The VSTF, VSGTF, and VSDT commands all list the variable names, the variable type, the number of
elements (for arrays only), address of the variable in the controller memory and the step between
array elements (for arrays only) of those ACSPL+ variables to which protection can be applied.
Syntax
#VSTF

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#VSGTF [group_name]
#VSDT [group_name]
Arguments

group_name One of the ACSPL+ variable categories (see VGR).

Comments
When group_name is included with the VSGTF or VSDT command, the ACSPL+ variables within the
specified category are listed.

[Link] VGV
Description
The #VGV command is used to remove global variables that have been set via Communication
Terminal or STATIC variables defined in the D-Buffer.
Syntax
#VGV [global_var]
Arguments

global_var Name of a global variable

Comments
If the global_var parameter is included, VGV removes only this variable; otherwise it removes all
global variables.
The #VGV command deletes STATIC variables but does not free their memory. If, after using the
command, the user encounter memory shortage issues, a controller reboot is needed to reset the
memory.

[Link] VGS/VGSF
Description
The VGS command is used to list all STATIC variables currently defined.
The VGSF command, in addition to STATIC variable names, also lists the type, number of elements
(arrays only) and address of the variable in the controller memory.
Syntax

#VGS [Static_Var]
#VGSF [Static_Var]

Arguments

Optional parameter, check if Static_Var is a STATIC variable that is currently

Static_Var defined.
Leave empty to list all variables.

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6. Terminal Commands

6.3.6 Program Handling Commands

These commands are used for compiling, executing, pausing and halting the program.
The commands in this set are:
> C - Compile Program
> X - Execute Program
> S/SR - Stop/Stop & Reset Program
> P - Pause Program
The following diagram shows the program buffer states and the Communication Terminal
commands that affect the buffer states:

#X
Run Suspended

#X
#X #S
#SR

#SR

Not Compiled
#C
compiled

#SR

Figure 8-2. Interaction of Program Buffer States

The program buffer enters the Not Compiled state:

> After any change in the program text.
> Following execution of the #S (Stop) or #R (Reset) command.
The program buffer enters the Compiled state:
> Following execution of the #C (Compile) command the program buffer is transferred from
the Not Compiled to the Compiled state.
> The #S (Stop) command transfers the program buffer from the Run or Suspended state to
Compiled state.
> Following program termination with an ACSPL+ STOP/STOPALL command (or RET if an
autoroutine was executed).
> When the program fails due to an error.
The program buffer enters the Run state:
> When the #X (Execute) command is issued.

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> When another program executes a STOP/STOPALL command, or autoroutine condition is

satisfied.

[Link] C
Description
The C (Compile) command compiles a program in the buffer or all programs in all buffers, depending
on the buffer qualifier.
The C command must not include a line qualifier and is prohibited when the buffer is in the Run or
Suspended states.
Syntax
#buffer_numberC
Arguments

buffer_ buffer_number specifies the buffer, a number between 0 and 16; or you can
number use the pound (#) to designate all buffers.

Comments
The C command is not obligatory in order to execute a program. When the X (Execute) command is
issued, the controller automatically compiles the program if it was not previously compiled.
However, a separate compilation step is required in the following cases:
> To check the program correctness without executing it.
> The program is not intended for direct starting, but contains autoroutines. The autoroutines
are ready for execution only after compilation.
> The program is intended for starting from another program by the START command. The
program started by the START command must be compiled before the START command can
be executed.
If the program is successfully compiled, the controller prints a short report of how many lines were
compiled. If an error was encountered, the controller reports the error code and the line number in
which the error was found.
Examples
The following are examples of the C command.

#0C Compile the program in buffer 0

5 lines compiled Response, the program was compiled successfully
#9C Compile the program in buffer 9
?2026 in line 16 Response, Error 2026 was found in line 16
??2026 Explain error 2026.
Undefined variable name Response
##C Compile the programs in all buffers
Response
Buffer 0: 5 lines compiled The program was compiled successfully
Buffer 1: 18 lines compiled The program was compiled successfully
Buffer 2: empty The buffer is empty
Buffer 3: 5 lines compiled The program was compiled successfully

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Buffer 4: empty The buffer is empty

Buffer 5: empty The buffer is empty
Buffer 6: empty The buffer is empty
Buffer 7: empty The buffer is empty
Buffer 8: empty The buffer is empty
Buffer 9: ?2026 in line 16 Error 2026 was found in line 16

[Link] X
Description
The X (Execute) command starts a program in a specific buffer, and can be executed in any program
state except the Run state.
Syntax
#buffer_numberX[line_number]
Arguments

buffer_ buffer_number qualifier in the command specifies the

number buffer, a number between 0 and 16.

Optional, line_number can be a line number or a label.

line_number Execution starts from the specified line. If line_number is
omitted, the program starts from the first line.

Comments
buffer_number must specify one buffer only.
If the state of the program is Not Compiled, the controller first compiles the program and then starts
it. If an error is encountered during compilation, the program does not start.
If the state of the program is Suspended, the X command resumes the program execution. In this
case the command must not contain line_number because upon execution the program resumes
from the point where the it was suspended.
Example

#1X Execute the program in buffer 1

?1 Query status of buffer 1
Buffer 1: 18 lines, running at line 7 Response

[Link] S/SR
Description
The S/SR Commands are used for terminating program execution:
> S - Stop
The S command terminates program execution in a buffer or the execution of all programs
in all buffers.
> SR - Stop and Reset
The SR (Stop and Reset) command terminates program execution in a buffer or the

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execution of all programs in all buffers, and resets the buffer or all buffers to the Not
Compiled state. The command provides the de-compile function, which is useful if the
program contains autoroutines that are ready to start when the buffer is in the Compiled
state.
Syntax
#buffer_number{S|SR}
Arguments

buffer_ buffer_number specifies the buffer, a number between 0 and 16; or you can
number use the pound (#) to designate all buffers.

Comments
If buffer_number is omitted, this will stop, or stop and reset all programs in all buffers, or you can
use the # character as the buffer_number, for example, ##S, which will do the same.
Program termination commands must not include line_numbers.
The S command can be issued in any program state.

The issuance of the SR command effectively prevents the activation of autoroutines.

Example

#1S Terminate the program in buffer 1

?1 Query status of buffer 1
Buffer 1: 18 lines, terminated in line 7 Response
#1SR Reset the program in buffer 1
?1 Query status of buffer 1
Buffer 1: 18 lines, not compiled Response
##SR Reset all programs in all buffers

[Link] P
Description
The P (Pause) command suspends program execution in a buffer.
Syntax
#buffer_numberP
Arguments

buffer_ buffer_number specifies the buffer, a number between 0 and 16; or you can
number use the pound character, #, to designate all buffers.

Comments
Generally buffer_number refers to one buffer only. The # character may be used instead of a buffer
number, for example, ##P, in which case the execution of all programs in all buffers is suspended.

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Pause commands must not include line_numbers.

Pause commands are allowed in any program state, but in all states other than Run the command
has no effect.
If the program is in the Suspended state, the X command resumes execution. The S/SR command
transfers the buffer to the Compiled state. The S/SR command transfers the buffer to the Not
Compiled state.
Example

#1P Suspend the program in buffer 1

?1 Query status of buffer 1
Buffer 1: 18 lines, suspended in line 7 Response
#1SR Reset the program in buffer 1
?1 Query status of buffer 1
Buffer 1: 18 lines, not compiled Response
##P Suspend all programs in all buffers

6.3.7 Debug Commands

The following debug commands are supported:
> XS - Execute one program line
> XD - Execute program in debug mode
> BS - Set breakpoint at specified line
> BR - Reset breakpoint

[Link] XS
Description
The XS (Execute one step) command executes one program line.
Syntax
#buffer_numberXSline_number
Arguments

buffer_
buffer_number specifies the buffer, a number between 0 and 16.
number

line_number gives the line to be executed, it can be a line number or a

line_number
label.

Comments
The buffer_number qualifier in the command must specify one buffer only.
After executing the specified line_number, the buffer automatically enters the Suspended state.

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[Link] XD
Description
The XD (Execute in Debug mode) command executes the program up to the next breakpoint (see
BS).
Syntax
#buffer_numberXD
Arguments

buffer_number buffer_number specifies the buffer, a number between 0 and 16.

Comments
The buffer_number qualifier in the command must specify one buffer only.
The command is similar to the X command. The difference is that the X command ignores
breakpoints in the program. If the program is started by the XD command, it will stop when it
reaches a breakpoint. At the breakpoint the program transfers to the Suspended state and can be
started again by the X, XS, or XD commands.

[Link] BS
Description
The BS (Set Breakpoint) command sets a breakpoint at the specified line.
Syntax
#buffer_numberBSline_number
Arguments

buffer_
buffer_number specifies the buffer, a number between 0 and 16.
number

line_ line_number specifies the line at which to set the breakpoint, it can be a line
number number or a label.

Comments
The buffer_number qualifier in the command must specify one buffer only.
Any number of breakpoints can be set in a program. For breakpoints to be active, the program must
be started with the XD command.
A breakpoint will break the execution inside an autoroutine only if the program in the buffer is
running at the same time (PST.#RUN is ON), inside a "while" loop, for example. In general,
breakpoints do not work inside autoroutines.

In a program listing, the lines with breakpoints are indicated by an asterisk.

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[Link] BR
Description
The BR (Reset Breakpoint) command resets the breakpoint at the specified line or all breakpoints.
Syntax
#buffer_numberBR[line_number]
Arguments

buffer_ buffer_number specifies the buffer, a number between 0 and 16; or you can
number use the pound (#) to designate all buffers.

line_ Optional, if included, the command resets one breakpoint at this line. line_
number number can be a line number or a label.

Comments
The buffer_number qualifier in the command must specify one buffer only.
If line_number is omitted, the command resets all breakpoints in the buffer.
If the buffer qualifier is specified as #, for example, ##BR, and line_number is omitted, the command
resets all breakpoints in all buffers.
Example

#0L List buffer 0

1: MovePTP: Resonse
2: VEL(0) = 20000
3: ptp X, 4000
4: till ^MST(0).#MOVE
5: stop
#0BS3 Set breakpoint at line 3
#0L List buffer 0 (note the
asterisk indicating the
breakpoint)
1: MovePTP: Response
2: VEL(0) = 20000
3: *ptp X, 4000
4: till ^MST(0).#MOVE
5: stop
#0XD Execute the program in
debug mode in buffer 0
?0 Query buffer 0 state
Buffer 0: 5 lines, suspended in line 3 Response
#0XS Execute line 3 of buffer 0
?0 Query buffer 0 state
Buffer 0: 5 lines, suspended in line 4 Response
#0XD Execute the rest of the
program in buffer 0
?0 Query buffer 0 state
Buffer 0: 5 lines, terminated in line 5 Response

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6.4 System Commands

System commands provide you with information contained in the system.

6.4.1 SI
Description
The SI (System Information) command returns System Information about the SPiiPlus controller
including serial number, firmware version, configuration, name and SP programs.
Syntax
#SI
Arguments
None

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Example

#SI
Network System Name: 140
Controller Firmware Version: [Link]
Controller Serial Number: NTM00000A
Controller Part Number: SP+NTM-08000001NNN
Hardware:
MPU board: Nexcom EBC220 500MHz
MPU board ID: 5
MPU number: DOM4F00010462
EtherCAT Master: N/A
Master Shift: Enabled
Ethernet Adapter: RealTek RTL8139
ID: 3
IP Address: [Link]
MAC Address: 00 10 F3 0D B2 23
EtherCAT Adapter: RealTek RTL8139
ID: 3
MAC Address: 00 50 C2 88 91 4A
Axes:
Dummy: none
DC Brush: 0,1,2,3,4,5,6,7
DC Brushless: 0,1,2,3,4,5,6,7
P/D Stepper: 8,9,10,11,12,13,14,15
Linear drives: none
PWM drives: 4,5,6,7
Digital Current Loop: 4,5,6,7
Integrated drives: 4,5,6,7
Axis (4): 4.0A continuous/5.0A peak
Axis (5): 4.0A continuous/5.0A peak
Axis (6): 4.0A continuous/5.0A peak
Axis (7): 4.0A continuous/5.0A peak
Dual loop: 0,1,2,3,4,5,6,7
Position Event Generation (PEG):
PEG pulse: 0,1,2,4,5,6
PEG states: 0,1,2,4,5,6
Options:
Total Number of Axes: 0
SIN-COS Encoders: 0
Input Shaping: No
SPiiPlus PLC: No
Axes with Customized Servo Algorithms: 0
Customized Servo Algorithms Mask: 0x0000
Non-ACS Servo Axes: 0
Non-ACS Stepper Axes: 0
Non-ACS I/O Nodes: 0
Network Unit 0:
ID: 0
DIP: 0
Part Number: NT-LT-8

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Vendor ID: 0x00000540

Product ID: 0x01020000
Revision: 1
Serial Number: 16
HW ID: 0x00000064
FPGA version: 0x0000001A
Options:
SIN-COS Encoders: 0
Motor Type Limitations: None
Axes Assignment: 0,1,2,3,4,5,6,7
Inputs/Outputs Assignment:
Digital inputs (IN): 0.0,0.1,0.2,0.3,0.4,0.5,0.6,0.7
Digital outputs (OUT): 0.0,0.1,0.2,0.3,0.4,0.5,0.6,0.7
Analog inputs (AIN): 0,1,2,3
Analog outputs (AOUT): 0,1,2,3
Ext. inputs (EXTIN): 0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15
Ext. outputs (EXTOUT): 0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15
Integrated Component “SPiiPlus DC-LT-8”:
Type: Controller (11)
Address: 0x007
Subsystems: 2
Production date: 04/04/11
HW revision: A
S/N: 3N000016
Integrated Component “PSM3U-48V-0.7kW”:
Type: Power supply (7)
Address: 0x005
Subsystems: 1
Voltage: 48V - 48V
Power: 700W
Production date: 08/12/10
HW revision: 6
S/N: 66
Integrated Component “DDM3U-4-60V-4/5A”:
Type: PWM drive (5)
Address: 0x002
Subsystems: 4
Axes: 4,5,6,7
Drive 0: Axis 4
Drive 2: Axis 5
Drive 1: Axis 6
Drive 3: Axis 7
Voltage: 60V - 60V
Nominal current: 4.000000A
Peak current: 5.000000A
RMS protection Time: 3476.000000
Production date: 27/10/10
HW revision: 10
S/N: 27
Network Unit 1:

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ID: 2
DIP: 63
Part Number: PDMnt-4-08-08-00-00
Vendor ID: 0x00000540
Product ID: 0x02040000
Revision: 0
Serial Number: 0
Options:
SIN-COS Encoders: 0
Motor Type Limitations: None
Axes Assignment: 8,9,10,11
Inputs/Outputs Assignment:
Digital inputs (IN): 1.0,1.1,1.2,1.3,1.4,1.5,1.6,1.7
Digital outputs (OUT): 1.0,1.1,1.2,1.3,1.4,1.5,1.6,1.7
Analog inputs (AIN): none
Analog outputs (AOUT): none
Integrated Component “PDM-4-8-8”:
Type: Single-Slot Unit (14)
Address: 0x207
Subsystems: 1
Axes: 8,9,10,11
Drive 0: Axis 8
Drive 1: Axis 9
Drive 2: Axis 10
Drive 3: Axis 11
Production date: 01/01/10
HW revision: 0
S/N: 0
Network Unit 2:
ID: 3
DIP: 7
Vendor ID: 0x00000540
Product ID: 0x02040000
Revision: 0
Serial Number: 0
Options:
SIN-COS Encoders: 0
Motor Type Limitations: None
Axes Assignment: 12,13,14,15
Inputs/Outputs Assignment:
Digital inputs (IN): 2.0,2.1,2.2,2.3,2.4,2.5,2.6,2.7
Digital outputs (OUT): 2.0,2.1,2.2,2.3,2.4,2.5,2.6,2.7
Analog inputs (AIN): none
Analog outputs (AOUT): none
Integrated Component “PDM-4-8-8”:
Type: Single-Slot Unit (14)
Address: 0x307
Subsystems: 1
Axes: 12,13,14,15
Drive 0: Axis 12

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Drive 1: Axis 13
Drive 2: Axis 14
Drive 3: Axis 15
Production date: 01/01/10
HW revision: 0
S/N: 0
SP0 Program Info:
Monitor version:1
Creation Date: Sun Apr 03 08:26:19 2011
Saving Tool: SPiiPlus NT Servo Application File Generator v.[Link]
SPiiPlus NT Servo Processor Program.
Date= June 14th 2010
Version= 1.0
Firmware= 1.0
ACS Motion Control Ltd.,
Control and Applications Development,
Copyright (c) 2010. All Rights Reserved.
SP1 Program Info:
Monitor version:1
Creation Date: Sun Apr 03 08:26:19 2011
Saving Tool: SPiiPlus NT Servo Application File Generator v.[Link]
SPiiPlus NT Servo Processor Program.
Date= June 14th 2010
Version= 1.0
Firmware= 1.0
ACS Motion Control Ltd.,
Control and Applications Development,
Copyright (c) 2010. All Rights Reserved.
SP2 Program Info:
Monitor version:ffffffff
Default Servo Processor Info.
SP3 Program Info:
Monitor version:ffffffff
Default Servo Processor Info.

6.4.2 SIR
Description
The SIR (System Information Report) command provides information about the controller.
Syntax
#SIR/Section|ALL/Key|ALL/
Arguments
There are, as a minimum, six Sections:
> Hardware
This section contains information about the controller’s hardware. It has the following keys:
> Model
The Model ID for the controller card (hardware prefix). It is a three digit number that can

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be:
001 SPiiPlus DDM-4
020 SPiiPlus CM
030 SPiiPlus SA
040 SPiiPlus 3U-4
041 SPiiPlus 3U-8
042 SPiiPlus 3U-DDM
043 SPiiPlus M
044 SPiiPlus M(A)
050 SPiiPlus-LF
060 SPiiPlus NT
> FM
The Firmware version number.
> Platform
The controller card type ID, (first two numbers of hardware prefix).
> SN
The controller serial number.
> PN
The controller part number.
> MPU
A number identifying the controller MPU, which can be:
0) Unknown
1) RTD 686GX-233MHz
2) Sensoray 301-133MHz
3) Netcom CM589/CM585-300MHz
4) Kontron MOPS6-266MHz
5) Nexcom EBC220-500MHz
> MPUN
The MPU serial number.
> PAL
The controller PAL version.
> Controller_Version
Card version for the controller.
> SP
Number of Servo-Processor units in the controller.
> Master_Shift
Enabled - master shift is disabled
Disabled - master shift is enabled
> Options
This section contains information about the controller’s options. It has the following keys:
> Total NumberOf Axes
Maximum number of allowed axes.

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> Sin Cos Encoders

Maximum number of allowed SIN-COS encoders.
> Input Shaping
Indicates if Input Shaping is allowed or not:
Yes - Input Shaping is allowed
No - Input Shaping is not allowed
> Sin Cos Encoders
Maximum number of allowed SIN-COS encoders.
> Axes With Customized Servo Algorithms
Maximum number of allowed axes to be used with customized servo algorithms.
> Customized Servo Algorithms Mask
A 4 hexadecimal digits (starts with 0x) that serves as a mask of allowed customized
servo algorithms.
> Non ACS Servo Axes
Maximum number of allowed Non-ACS Servo axes that can be used.
> Non ACS Stepper Axes
Maximum number of allowed Non-ACS Stepper axes that can be used.
> Non ACS IO Nodes
Maximum number of allowed Non-ACS I/O Nodes that can be used.
> Network
This section contains information about the controller’s Ethernet channels. It contains the
following keys:
> NIC1
Code for the type of the first network adapter (the same codes are used for the second
NIC if one exists, see NIC2 below) which can be:
000> Not present
001> NE2000 compatible Ethernet card
002> Intel 82559 PCI Ethernet card
003> RealTek RTL8139 PCI Ethernet card
> NIC1_IP
Number for the first NIC IP address.
> NIC1_MAC
12 hexadecimal digits providing the MAC address for the first NIC

This number is fictitious in the Simulator.

> NIC2
Code for the type of the second network adapter if it exists. Values are the same as
those for NIC1, otherwise it is zero.
> NIC2_IP
Number for the second NIC IP address, if the second network adapter exists, otherwise
it is zero.

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> NIC2_MAC
12 hexadecimal digits providing the MAC address for the second NIC if it exists,
otherwise it is zero. As for NIC1_MAC, this information is fictitious in Simulator.
> Axes_support
This section contains information about the features that each axis has. It has the following
keys:
> Dummy
A list of dummy axes numbers, separated by commas.
> DC_Brush
All axes that support DC brush motors.
> DC_ Brushless
All axes that support DC Brushless motors.
> PD_Stepper
All axes that support P/D Stepper motors.
> LDM3U
All axes that are controlled by an internal LDM3U drive.
> Digital_Current_Loop
All axes that support a drive with digital current loop.
> PWM
All axes controlled by an internal PWM drive.
> Integrated
All axes controlled by an Integrated drive (PWM or LDM).
> Dual_Loop
All axes that support Dual Loop control.
> PEG_Pulse
All axes that support the PEG Pulse feature.
> PEG_State
All axes that support the PEG State feature.
> UNIT#
There is a UNIT section for each unit in the system, they are numbered from 0 up to the
number of units minus 1, for example, UNIT0 is the first unit in the system. Each UNIT section
contains information about the unit. The keys are as follows:
> ID
The ID of the unit.
> DIP
The DIP switch of the unit.
> Network Axes
The axes indices, separated by commas, of all axes allocated to the unit.
> Digital Inputs
All digital input variable indices, separated by commas, that are allocated to the unit.

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> Digital Outputs

All digital output variable indices, separated by commas, that are allocated to the unit.
> Analog Inputs
All analog input variable indices, separated by commas, that are allocated to the unit.
> AnalogOutputs
All analog output variable indices, separated by commas, that are allocated to the unit.
> AXIS#
There is an AXIS section for each axis in the system, they are numbered from 0 up to the
total number of axes in the system minus 1, for example, AXIS0 is the first axis in the
system. Each AXIS section contains information about the axis. The keys are as follows:
> Current Nominal
The nominal current, in amperes, of the axis.
> Current Peak
The peak current, in amperes, of the axis.
> XRM Smax
Maximum nominal current, in % of peak, of the axis.
> XRMST max
Maximum time constant for RMS protection.
> Drive Interface.
Interface numbers for the drive are:

1. PWM
2. External +10
3. LDM3U
4. ED2
5. Network
6. Digital LDM3U

> Max Command Current

Maximum command for the drive.
> Serial Number
Serial number for the axis drive. If the drive has no serial number, nothing is displayed.
Example 1

#SIR/Options/LearningBoost/
[Options]
LearningBoost = Yes

Example 2

#SIR/Hardware/FW/
[Hardware]

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FW = [Link]

Example 3

#SIR/ALL/ALL/
[Hardware]
Model = 60
FW = [Link]
SN = 3N000021A
PN = SP+NT
MPU = 5
MPUN = DOMA400088768
SP = 3
Master_Shift = Disabled
[Network]
NIC1 = 3
NIC1_IP = -2097151990
NIC1_MAC = 0010F31A09E3
NIC2 = 0
NIC2_IP = 0
NIC2_MAC = 000000000000
[Options]
TotalNumberOfAxes = 32
SinCosEncoders = 32
InputShaping = Yes
AxesWithCustomizedServoAlgorithms = 0
CustomizedServoAlgorithmsMask = 0x0000
NonACSServoAxes = 32
NonACSStepperAxes = 32
NonACSIONodes = 32
[Axes_support]
Dummy = 0
DC_Brush = 18446744069414584575
DC_Brushless = 18446744069414584575
PD_Stepper = 18446744069414584320
LDM3U = 0
Digital_Current_Loop = 0
PWM = 0
Integrated = 0
Dual_Loop = 18446744069414584575
PEG_Pulse = 18446744069414584439
PEG_State = 18446744069414584439
[UNIT0]
ID = 0
DIP = 0
NetworkAxes = 0,1,2,3,4,5,6,7
DigitalInputs = 0
DigitalOutputs = 0
AnalogInputs = 0,1,2,3

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AnalogOutputs = 0,1,2,3
[UNIT1]
ID = 2
DIP = 0
NetworkAxes = none
DigitalInputs = none
DigitalOutputs = none
AnalogInputs = none
AnalogOutputs = none
[AXIS0]
CurrentNominal = 0.000000
CurrentPeak = 0.000000
XRMSmax = 50.000000
XRMSTmax = 3230.000000
Voltage = 0
DriveInterface = 2
MaxCommandCurrent = 5242
SerialNumber =
[AXIS1]
CurrentNominal = 0.000000
CurrentPeak = 0.000000
XRMSmax = 50.000000
XRMSTmax = 3230.000000
Voltage = 0
DriveInterface = 2
MaxCommandCurrent = 5242
SerialNumber =
[AXIS2]
CurrentNominal = 0.000000
CurrentPeak = 0.000000
XRMSmax = 50.000000
XRMSTmax = 3230.000000
Voltage = 0
DriveInterface = 2
MaxCommandCurrent = 5242
SerialNumber =
[AXIS3]
CurrentNominal = 0.000000
CurrentPeak = 0.000000
XRMSmax = 50.000000
XRMSTmax = 3230.000000
Voltage = 0
DriveInterface = 2
MaxCommandCurrent = 5242
SerialNumber =
[AXIS4]
CurrentNominal = 0.000000
CurrentPeak = 0.000000
XRMSmax = 50.000000

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XRMSTmax = 3230.000000
Voltage = 0
DriveInterface = 2
MaxCommandCurrent = 5242
SerialNumber =
[AXIS5]
CurrentNominal = 0.000000
CurrentPeak = 0.000000
XRMSmax = 50.000000
XRMSTmax = 3230.000000
Voltage = 0
DriveInterface = 2
MaxCommandCurrent = 5242
SerialNumber =
[AXIS6]
CurrentNominal = 0.000000
CurrentPeak = 0.000000
XRMSmax = 50.000000
XRMSTmax = 3230.000000
Voltage = 0
DriveInterface = 2
MaxCommandCurrent = 5242
SerialNumber =
[AXIS7]
CurrentNominal = 0.000000
CurrentPeak = 0.000000
XRMSmax = 50.000000
XRMSTmax = 3230.000000
Voltage = 0
DriveInterface = 2
MaxCommandCurrent = 5242
SerialNumber =
[AXIS8]
CurrentNominal = 0.000000
CurrentPeak = 0.000000
XRMSmax = 50.000000
XRMSTmax = 3230.000000
Voltage = 0
DriveInterface = 2
MaxCommandCurrent = 5242
SerialNumber =
[AXIS9]
CurrentNominal = 0.000000
CurrentPeak = 0.000000
XRMSmax = 50.000000
XRMSTmax = 3230.000000
Voltage = 0
DriveInterface = 2
MaxCommandCurrent = 5242

ACSPL+ Commands & Variables Reference Guide
6. Terminal Commands

SerialNumber =
[AXIS10]
CurrentNominal = 0.000000
CurrentPeak = 0.000000
XRMSmax = 50.000000
XRMSTmax = 3230.000000
Voltage = 0
DriveInterface = 2
MaxCommandCurrent = 5242
SerialNumber =
[AXIS11]
CurrentNominal = 0.000000
CurrentPeak = 0.000000
XRMSmax = 50.000000
XRMSTmax = 3230.000000
Voltage = 0
DriveInterface = 2
MaxCommandCurrent = 5242
SerialNumber =
[AXIS12]
CurrentNominal = 0.000000
CurrentPeak = 0.000000
XRMSmax = 50.000000
XRMSTmax = 3230.000000
Voltage = 0
DriveInterface = 2
MaxCommandCurrent = 5242
SerialNumber =
[AXIS13]
CurrentNominal = 0.000000
CurrentPeak = 0.000000
XRMSmax = 50.000000
XRMSTmax = 3230.000000
Voltage = 0
DriveInterface = 2
MaxCommandCurrent = 5242
SerialNumber =
[AXIS14]
CurrentNominal = 0.000000
CurrentPeak = 0.000000
XRMSmax = 50.000000
XRMSTmax = 3230.000000
Voltage = 0
DriveInterface = 2
MaxCommandCurrent = 5242
SerialNumber =
[AXIS15]
CurrentNominal = 0.000000
CurrentPeak = 0.000000

ACSPL+ Commands & Variables Reference Guide
6. Terminal Commands

XRMSmax = 50.000000
XRMSTmax = 3230.000000
Voltage = 0
DriveInterface = 2
MaxCommandCurrent = 5242
SerialNumber =
[AXIS16]
CurrentNominal = 0.000000
CurrentPeak = 0.000000
XRMSmax = 50.000000
XRMSTmax = 3230.000000
Voltage = 0
DriveInterface = 2
MaxCommandCurrent = 5242
SerialNumber =
[AXIS17]
CurrentNominal = 0.000000
CurrentPeak = 0.000000
XRMSmax = 50.000000
XRMSTmax = 3230.000000
Voltage = 0
DriveInterface = 2
MaxCommandCurrent = 5242
SerialNumber =
[AXIS18]
CurrentNominal = 0.000000
CurrentPeak = 0.000000
XRMSmax = 50.000000
XRMSTmax = 3230.000000
Voltage = 0
DriveInterface = 2
MaxCommandCurrent = 5242
SerialNumber =
[AXIS19]
CurrentNominal = 0.000000
CurrentPeak = 0.000000
XRMSmax = 50.000000
XRMSTmax = 3230.000000
Voltage = 0
DriveInterface = 2
MaxCommandCurrent = 5242
SerialNumber =
[AXIS20]
CurrentNominal = 0.000000
CurrentPeak = 0.000000
XRMSmax = 50.000000
XRMSTmax = 3230.000000
Voltage = 0
DriveInterface = 2

ACSPL+ Commands & Variables Reference Guide
6. Terminal Commands

MaxCommandCurrent = 5242
SerialNumber =
[AXIS21]
CurrentNominal = 0.000000
CurrentPeak = 0.000000
XRMSmax = 50.000000
XRMSTmax = 3230.000000
Voltage = 0
DriveInterface = 2
MaxCommandCurrent = 5242
SerialNumber =
[AXIS22]
CurrentNominal = 0.000000
CurrentPeak = 0.000000
XRMSmax = 50.000000
XRMSTmax = 3230.000000
Voltage = 0
DriveInterface = 2
MaxCommandCurrent = 5242
SerialNumber =
[AXIS23]
CurrentNominal = 0.000000
CurrentPeak = 0.000000
XRMSmax = 50.000000
XRMSTmax = 3230.000000
Voltage = 0
DriveInterface = 2
MaxCommandCurrent = 5242
SerialNumber =
[AXIS24]
CurrentNominal = 0.000000
CurrentPeak = 0.000000
XRMSmax = 50.000000
XRMSTmax = 3230.000000
Voltage = 0
DriveInterface = 2
MaxCommandCurrent = 5242
SerialNumber =
[AXIS25]
CurrentNominal = 0.000000
CurrentPeak = 0.000000
XRMSmax = 50.000000
XRMSTmax = 3230.000000
Voltage = 0
DriveInterface = 2
MaxCommandCurrent = 5242
SerialNumber =
[AXIS26]
CurrentNominal = 0.000000

ACSPL+ Commands & Variables Reference Guide
6. Terminal Commands

CurrentPeak = 0.000000
XRMSmax = 50.000000
XRMSTmax = 3230.000000
Voltage = 0
DriveInterface = 2
MaxCommandCurrent = 5242
SerialNumber =
[AXIS27]
CurrentNominal = 0.000000
CurrentPeak = 0.000000
XRMSmax = 50.000000
XRMSTmax = 3230.000000
Voltage = 0
DriveInterface = 2
MaxCommandCurrent = 5242
SerialNumber =
[AXIS28]
CurrentNominal = 0.000000
CurrentPeak = 0.000000
XRMSmax = 50.000000
XRMSTmax = 3230.000000
Voltage = 0
DriveInterface = 2
MaxCommandCurrent = 5242
SerialNumber =
[AXIS29]
CurrentNominal = 0.000000
CurrentPeak = 0.000000
XRMSmax = 50.000000
XRMSTmax = 3230.000000
Voltage = 0
DriveInterface = 2
MaxCommandCurrent = 5242
SerialNumber =
[AXIS30]
CurrentNominal = 0.000000
CurrentPeak = 0.000000
XRMSmax = 50.000000
XRMSTmax = 3230.000000
Voltage = 0
DriveInterface = 2
MaxCommandCurrent = 5242
SerialNumber =
[AXIS31]
CurrentNominal = 0.000000
CurrentPeak = 0.000000
XRMSmax = 50.000000
XRMSTmax = 3230.000000
Voltage = 0

ACSPL+ Commands & Variables Reference Guide
6. Terminal Commands

DriveInterface = 2
MaxCommandCurrent = 5242
SerialNumber =
:

6.4.3 MEMORY
Description
Retrieves RAM availability.
Syntax
#MEMORY
Arguments
None.
Return Value
Available RAM.
Example
Up to Version 3.11

#MEMORY
There is 15 percent(s) of memory in use.
There are 114.83 total MBytes of physical memory.
There are 96.91 free MBytes of physical memory.

From Version 3.12

#MEMORY
Memory Allocation for buffers:
for all buffers code: 14832 kB
for all buffers source: 6416 kB
for all buffers local variables: 8704 kB
for global variables: 1024 kB

6.4.4 IR
Description
The IR (Integrity Report) command activates integrity validation and provides a report of current
integrity state. The report displays a list of files. Each list entry displays a file name, expected file size
and checksum of the file and actual file size and checksum.

ACSPL+ Commands & Variables Reference Guide
6. Terminal Commands

It takes some time to compile the Integrity Report, in order to avoid a Timeout error:
1. Right-click the controller in the Workspace Tree and select Properties.
2. Increase the Connection Timeout to 10,000 ms.
3. Click Connect.

Syntax
#IR
Arguments
None
Comments
If any integrity problem is detected, the command raises fault bit S_FAULT.#INTGR.
Example

#IR
Size Checksum
Registered Actual Registered Actual
c:\
[Link] 001E2870 001E2870 03672ED6 03672ED6
[Link] 0000812A 0000812A DDC2E529 DDC2E529
c:\sb4\dsp\
dsp.### 0004FF18 0004FF18 61F6BA11 61F6BA11
dsp.##1 0003E11B 0003E11B 783AE65B 783AE65B
adj0.$$$ 0000122B 0000122B 69003B3B 69003B3B
adj1.$$$ 00001A99 00001A99 055D4E11 055D4E11
adj2.$$$ 000019DA 000019DA BC928A33 BC928A33
adj3.$$$ 00001A9B 00001A9B 4403628F 4403628F
adj4.$$$ 0000197E 0000197E DE12BDD7 DE12BDD7
adj5.$$$ 00001229 00001229 A974E209 A974E209
adj6.$$$ 00001229 00001229 A977E20C A977E20C
adj7.$$$ 0000122B 0000122B 61EE382F 61EE382F
c:\sb4\startup\
par.$$$ 000001C9 000001C9 D8A0220A D8A0220A
par0.$$$ 00000A16 00000A16 B2783961 B2783961
par1.$$$ 00000A13 00000A13 5E2EAD92 5E2EAD92
par2.$$$ 00000A14 00000A14 5A972E6D 5A972E6D
par3.$$$ 00000A13 00000A13 B25EDAD0 B25EDAD0
par4.$$$ 00000A13 00000A13 CD6E01E2 CD6E01E2
par5.$$$ 00000A13 00000A13 F6873205 F6873205
par6.$$$ 00000A15 00000A15 39E27520 39E27520
par7.$$$ 00000A15 00000A15 77CA503D 77CA503D
par8.$$$ 00000A13 00000A13 43A67043 43A67043
par9.$$$ 00000A13 00000A13 67BC915E 67BC915E
par10.$$$ 00000A89 00000A89 454F04F9 454F04F9
par11.$$$ 00000A89 00000A89 5A67281F 5A67281F

ACSPL+ Commands & Variables Reference Guide
6. Terminal Commands

par12.$$$ 00000A89 00000A89 6F7F4B45 6F7F4B45

par13.$$$ 00000A89 00000A89 84976E6B 84976E6B
par14.$$$ 00000A89 00000A89 99AF9191 99AF9191
par15.$$$ 00000A89 00000A89 AEC7B4B7 AEC7B4B7
par16.$$$ 00000A89 00000A89 C3DFD7DD C3DFD7DD
par17.$$$ 00000A89 00000A89 D8F7FB03 D8F7FB03
par18.$$$ 00000A89 00000A89 EE101E29 EE101E29
par19.$$$ 00000A89 00000A89 0328414F 0328414F
par20.$$$ 00000A89 00000A89 6B641D1C 6B641D1C
par21.$$$ 00000A89 00000A89 807C4042 807C4042
par22.$$$ 00000A89 00000A89 95946368 95946368
par23.$$$ 00000A89 00000A89 AAAC868E AAAC868E
par24.$$$ 00000DF1 00000DF1 26E26061 26E26061
par25.$$$ 00000DF1 00000DF1 4B01777C 4B01777C
par26.$$$ 00000DF1 00000DF1 6F208E97 6F208E97
par27.$$$ 00000DF1 00000DF1 933FA5B2 933FA5B2
par28.$$$ 00000DF1 00000DF1 B75EBCCD B75EBCCD
par29.$$$ 00000DF1 00000DF1 DB7DD3E8 DB7DD3E8
par30.$$$ 00000DF1 00000DF1 B18A230C B18A230C
par31.$$$ 00000DF1 00000DF1 D5A93A27 D5A93A27
c:\sb4\user\
I 000001A0 000001A0 414453BB 414453BB
V 00000330 00000330 414453BC 414453BC
X_FILE 00000070 00000070 82665362 82665362
PMAP 00000340 00000340 F29BADD0 F29BADD0
ONE 00000FC0 00000FC0 4144573F 4144573F
TWO 00002F00 00002F00 414453A7 414453A7
X_ERR 00000040 00000040 42A2135C 42A2135C
System Integrity is OK

6.4.5 U
Description
The U (Usage) command is used for monitoring MPU usage. It returns the maximum, average, and
minimum values as a percent.
Syntax
#U
Arguments
None
Comments
The controller continuously measures the time taken by real-time tasks. When the U command is
received, the controller analyzes the measured times during the last 50 controller cycles and
calculates minimal, maximal and average time. The results are reported in percents.

ACSPL+ Commands & Variables Reference Guide
6. Terminal Commands

6.4.6 TD
Description
The TD command returns the names of all user-defined variables and arrays that are in the
controller flash memory.
Syntax
#TD
Arguments
None

6.4.7 SC
Description
The SC (Safety Control) command reports the current safety system configuration.
The controller response includes the following:
> active safety groups
> the configuration of each fault for each motor
Syntax
#SC
Arguments
None
Example
25 #PROG Program Error K K K K K K K K K K K K K K K K
26 #MEM Memory Overflow K K K K K K K K K K K K K K K K
27 #TIME MPU Overuse
28 #ES Hardware Emergency Stop D D D D D D D D D D D D D D D D
29 #INT Servo Interrupt D D D D D D D D D D D D D D D D
30 #INTGR File Integrity
31 #FAILURE Component Failure D D D D D D D D D D D D D D D D
Legend:
- Fault Detection Disabled
Blank No Default Response
K Kill Motion Response
D Disable Axis Response
KD Kill Motion Followed by Disable Axis Response
+ Generalized Fault
Bit Name Fault Description 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47
0 #RL Hardware Right Limit K K K K K K K K K K K K K K K K
1 #LL Hardware Left Limit K K K K K K K K K K K K K K K K
2 #NT Network Error D D D D D D D D D D D D D D D D
4 #HOT Motor Overheat - - - - - - - - - - - - - - - -
5 #SRL Software Right Limit K K K K K K K K K K K K K K K K
6 #SLL Software Left Limit K K K K K K K K K K K K K K K K
7 #ENCNC Encoder Not Connected D D D D D D D D D D D D D D D D
8 #ENC2NC Encoder 2 Not Connected - - - - - - - - - - - - - - - -
9 #DRIVE Drive Fault D D D D D D D D D D D D D D D D
10 #ENC Encoder Error D D D D D D D D D D D D D D D D
11 #ENC2 Encoder 2 Error - - - - - - - - - - - - - - - -
12 #PE Position Error
13 #CPE Critical Position Error D D D D D D D D D D D D D D D D
14 #VL Velocity Limit K K K K K K K K K K K K K K K K
15 #AL Acceleration Limit - - - - - - - - - - - - - - - -
16 #CL Overcurrent D D D D D D D D D D D D D D D D
17 #SP Servo Processor Alarm D D D D D D D D D D D D D D D D
25 #PROG Program Error K K K K K K K K K K K K K K K K
26 #MEM Memory Overflow K K K K K K K K K K K K K K K K
27 #TIME MPU Overuse

ACSPL+ Commands & Variables Reference Guide
6. Terminal Commands

28 #ES Hardware Emergency Stop D D D D D D D D D D D D D D D D

29 #INT Servo Interrupt D D D D D D D D D D D D D D D D
30 #INTGR File Integrity
31 #FAILURE Component Failure D D D D D D D D D D D D D D D D
Legend:
- Fault Detection Disabled
Blank No Default Response
K Kill Motion Response
D Disable Axis Response
KD Kill Motion Followed by Disable Axis Response
+ Generalized Fault
Bit Name Fault Description 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63
0 #RL Hardware Right Limit K K K K K K K K K K K K K K K K
1 #LL Hardware Left Limit K K K K K K K K K K K K K K K K
2 #NT Network Error D D D D D D D D D D D D D D D D
4 #HOT Motor Overheat - - - - - - - - - - - - - - - -
5 #SRL Software Right Limit K K K K K K K K K K K K K K K K
6 #SLL Software Left Limit K K K K K K K K K K K K K K K K
7 #ENCNC Encoder Not Connected D D D D D D D D D D D D D D D D
8 #ENC2NC Encoder 2 Not Connected - - - - - - - - - - - - - - - -
9 #DRIVE Drive Fault D D D D D D D D D D D D D D D D
10 #ENC Encoder Error D D D D D D D D D D D D D D D D
11 #ENC2 Encoder 2 Error - - - - - - - - - - - - - - - -
12 #PE Position Error
13 #CPE Critical Position Error D D D D D D D D D D D D D D D D
14 #VL Velocity Limit K K K K K K K K K K K K K K K K
15 #AL Acceleration Limit - - - - - - - - - - - - - - - -
16 #CL Overcurrent D D D D D D D D D D D D D D D D
17 #SP Servo Processor Alarm D D D D D D D D D D D D D D D D
25 #PROG Program Error K K K K K K K K K K K K K K K K
26 #MEM Memory Overflow K K K K K K K K K K K K K K K K
27 #TIME MPU Overuse
28 #ES Hardware Emergency Stop D D D D D D D D D D D D D D D D
29 #INT Servo Interrupt D D D D D D D D D D D D D D D D
30 #INTGR File Integrity
31 #FAILURE Component Failure D D D D D D D D D D D D D D D D
Legend:
- Fault Detection Disabled
Blank No Default Response
K Kill Motion Response
D Disable Axis Response
KD Kill Motion Followed by Disable Axis Response
+ Generalized Fault

6.4.8 ETHERCAT
Description
The ETHERCAT command is used for obtaining complete information about the connected EtherCAT
slaves.
The information it displays is:
> Slave number
> Vendor ID
> Product ID
> Revision
> Serial number
> EtherCAT physical address
> DC support
> Mailbox support
> PdoIndex
Afterwards the list of network variables is listed. Each variable is described with:

ACSPL+ Commands & Variables Reference Guide
6. Terminal Commands

> Name (as in XML)

> Offset inside the telegram (magic number that is used for mapping)
> IN or OUT description
> Data size
Syntax
#ETHERCAT
Arguments
None
Example 1

#ETHERCAT
EtherCAT bus scan found 4 nodes:
Node 0:
========
Name: Device 1 (SPiiPlus NT-LT-8-New)
Vendor ID: 0x00000540 Product ID: 0x01020000
PHYS ADDR: 0x03E9 Alias: 0x0000
PD IN: Offset 26.0 Size 118
PD OUT: Offset 26.0 Size 136
STATE: OP
Node 1:
========
Name: Device 2 (SPiiPlus NT-LT-8-New)
Vendor ID: 0x00000540 Product ID: 0x01020000
PHYS ADDR: 0x03EA Alias: 0x0000
PD IN: Offset 162.0 Size 118
PD OUT: Offset 162.0 Size 136
STATE: OP
Node 2:
========
Name: Device 3 (SPiiPlus PDMnt-4-08-08-00-00-0)
Vendor ID: 0x00000540 Product ID: 0x02040000
PHYS ADDR: 0x03EB Alias: 0x0000
PD IN: Offset 298.0 Size 5
PD OUT: Offset 298.0 Size 56
STATE: OP
Node 3:
========
Name: Device 4 (SPiiPlus PDMnt-4-08-08-00-00-0)
Vendor ID: 0x00000540 Product ID: 0x02040000
PHYS ADDR: 0x03EC Alias: 0x0000
PD IN: Offset 354.0 Size 5
PD OUT: Offset 354.0 Size 56
STATE: OP

Network variables:
==================

ACSPL+ Commands & Variables Reference Guide
6. Terminal Commands

Offset Size Dir Name

26 32 In Command response1
30 32 In Command response2
34 32 In Command response3
38 32 In Command response4
42 32 In Command response5
46 32 In Command response6
50 32 In Command response7
54 32 In Command response8
58 32 In Feedback Position1
62 32 In Reference Position1
66 32 In Drive status1
70 32 In GP data 1
74 32 In Feedback Position2
78 32 In Reference Position2
82 32 In Drive status2
86 32 In GP data 2
90 32 In Feedback Position3
94 32 In Reference Position3
98 32 In Drive status3
102 32 In GP data 3
106 32 In Feedback Position4
110 32 In Reference Position4
114 32 In Drive status4
118 32 In GP data 4
122 16 In Digital inputs
124 16 In FPGA status

142 16 In Sync Counter

162 32 In Command response1
166 32 In Command response2
170 32 In Command response3
174 32 In Command response4
178 32 In Command response5
182 32 In Command response6
186 32 In Command response7
190 32 In Command response8
194 32 In Feedback Position1
198 32 In Reference Position1
202 32 In Drive status1
206 32 In GP data 1
210 32 In Feedback Position2
214 32 In Reference Position2
218 32 In Drive status2
222 32 In GP data 2
226 32 In Feedback Position3
230 32 In Reference Position3
234 32 In Drive status3
238 32 In GP data 3
242 32 In Feedback Position4

ACSPL+ Commands & Variables Reference Guide
6. Terminal Commands

246 32 In Reference Position4

250 32 In Drive status4
254 32 In GP data 4
258 16 In Digital inputs
260 16 In FPGA status
278 16 In Sync Counter
298 8 In LIMITS
299 8 In DIGITAL_INPUTS
300 8 In FAULTS
301 8 In NODE_NUM
302 8 In WD_COUNTER
354 8 In LIMITS
355 8 In DIGITAL_INPUTS
356 8 In FAULTS
357 8 In NODE_NUM
358 8 In WD_COUNTER
422 32 In DC1
426 32 In DC2
430 32 In DC3
434 32 In DC4
438 32 In DC5
442 32 In DC6
446 32 In DC7
450 32 In DC8
454 32 In DC9
458 32 In DC10
462 32 In DC11
466 32 In DC12
470 32 In DC13
474 32 In DC14
478 32 In DC15
482 32 In DC16
486 32 In DC17
490 32 In DC18
494 32 In DC19
498 32 In DC20
502 32 In DC21
506 32 In DC22
510 32 In DC23
514 32 In DC24
518 32 In DC25
522 32 In DC26
526 32 In DC27
530 32 In DC28
534 32 In DC29
538 32 In DC30
542 32 In DC31
546 32 In DC32
550 32 In DC33
554 32 In DC34

ACSPL+ Commands & Variables Reference Guide
6. Terminal Commands

558 32 In DC35
562 32 In DC36
566 32 In DC37
570 32 In DC38
574 32 In DC39
578 32 In DC40
594 32 In DC1
598 32 In DC2
602 32 In DC3
606 32 In DC4
610 32 In DC5
614 32 In DC6
618 32 In DC7
622 32 In DC8
626 32 In DC9
630 32 In DC10
634 32 In DC11
638 32 In DC12
642 32 In DC13
646 32 In DC14
650 32 In DC15
654 32 In DC16
658 32 In DC17
662 32 In DC18
666 32 In DC19
670 32 In DC20
674 32 In DC21
678 32 In DC22
682 32 In DC23
686 32 In DC24
690 32 In DC25
694 32 In DC26
698 32 In DC27
702 32 In DC28
706 32 In DC29
710 32 In DC30
714 32 In DC31
718 32 In DC32
722 32 In DC33
726 32 In DC34
730 32 In DC35
734 32 In DC36
738 32 In DC37
742 32 In DC38
746 32 In DC39
750 32 In DC40
26 16 Out Command1
28 16 Out Command2
30 16 Out Command3
32 16 Out Command4

ACSPL+ Commands & Variables Reference Guide
6. Terminal Commands

34 16 Out Command5
36 16 Out Command6
38 16 Out Command7
40 16 Out Command8
42 32 Out Command Arg1
46 32 Out Command Arg2
50 32 Out Command Arg3
54 32 Out Command Arg4
58 32 Out Command Arg5
62 32 Out Command Arg6
66 32 Out Command Arg7
70 32 Out Command Arg8
74 32 Out Direct Command1
78 32 Out Reference Acceleration1
82 32 Out Reference Velocity1
86 32 Out Reference Position1
90 32 Out Controller status1
94 32 Out Direct Command2
98 32 Out Reference Acceleration2
102 32 Out Reference Velocity2
106 32 Out Reference Position2
110 32 Out Controller status2
114 32 Out Direct Command3
118 32 Out Reference Acceleration3
122 32 Out Reference Velocity3
126 32 Out Reference Position3
130 32 Out Controller status3
134 32 Out Direct Command4
138 32 Out Reference Acceleration4
142 32 Out Reference Velocity4
146 32 Out Reference Position4
150 32 Out Controller status4
154 16 Out analog output1
156 16 Out analog output2
158 16 Out digital output
160 16 Out Sync Counter
162 16 Out Command1
164 16 Out Command2
166 16 Out Command3
168 16 Out Command4
170 16 Out Command5
172 16 Out Command6
174 16 Out Command7
176 16 Out Command8
178 32 Out Command Arg1
182 32 Out Command Arg2
186 32 Out Command Arg3
190 32 Out Command Arg4
194 32 Out Command Arg5
198 32 Out Command Arg6

ACSPL+ Commands & Variables Reference Guide
6. Terminal Commands

202 32 Out Command Arg7

206 32 Out Command Arg8
210 32 Out Direct Command1
214 32 Out Reference Acceleration1
218 32 Out Reference Velocity1
222 32 Out Reference Position1
226 32 Out Controller status1
230 32 Out Direct Command2
234 32 Out Reference Acceleration2
238 32 Out Reference Velocity2
242 32 Out Reference Position2
246 32 Out Controller status2
250 32 Out Direct Command3
254 32 Out Reference Acceleration3
258 32 Out Reference Velocity3
262 32 Out Reference Position3
266 32 Out Controller status3
270 32 Out Direct Command4
274 32 Out Reference Acceleration4
278 32 Out Reference Velocity4
282 32 Out Reference Position4
286 32 Out Controller status4
290 16 Out analog output1
292 16 Out analog output2
294 16 Out digital output
296 16 Out Sync Counter
298 16 Out PULSE_WIDTH
300 16 Out INTERVAL1_1
302 16 Out INTERVAL1_2
304 16 Out INTERVAL1_3
306 16 Out INTERVAL2_1
308 16 Out INTERVAL2_2
310 16 Out INTERVAL2_3
312 16 Out INTERVAL3_1
314 16 Out INTERVAL3_2
316 16 Out INTERVAL3_3
318 16 Out INTERVAL4_1
320 16 Out INTERVAL4_2
322 16 Out INTERVAL4_3
324 16 Out PULSE_QTY1_1
326 16 Out PULSE_QTY1_2
328 16 Out PULSE_QTY1_3
330 16 Out PULSE_QTY2_1
332 16 Out PULSE_QTY2_2
334 16 Out PULSE_QTY2_3
336 16 Out PULSE_QTY3_1
338 16 Out PULSE_QTY3_2
340 16 Out PULSE_QTY3_3
342 16 Out PULSE_QTY4_1
344 16 Out PULSE_QTY4_2

ACSPL+ Commands & Variables Reference Guide
6. Terminal Commands

346 16 Out PULSE_QTY4_3

348 8 Out ENABLE
349 8 Out DIGITAL_OUTPUT
350 8 Out WD_COUNTER
351 16 Out SEVEN_SEG
353 8 Out SPARE
354 16 Out PULSE_WIDTH
356 16 Out INTERVAL1_1
358 16 Out INTERVAL1_2
360 16 Out INTERVAL1_3
362 16 Out INTERVAL2_1
364 16 Out INTERVAL2_2
366 16 Out INTERVAL2_3
368 16 Out INTERVAL3_1
370 16 Out INTERVAL3_2
372 16 Out INTERVAL3_3
374 16 Out INTERVAL4_1
376 16 Out INTERVAL4_2
378 16 Out INTERVAL4_3
380 16 Out PULSE_QTY1_1
382 16 Out PULSE_QTY1_2
384 16 Out PULSE_QTY1_3
386 16 Out PULSE_QTY2_1
388 16 Out PULSE_QTY2_2
390 16 Out PULSE_QTY2_3
392 16 Out PULSE_QTY3_1
394 16 Out PULSE_QTY3_2
396 16 Out PULSE_QTY3_3
398 16 Out PULSE_QTY4_1
400 16 Out PULSE_QTY4_2
402 16 Out PULSE_QTY4_3
404 8 Out ENABLE
405 8 Out DIGITAL_OUTPUT
406 8 Out WD_COUNTER
407 16 Out SEVEN_SEG
409 8 Out SPARE
422 32 Out REV_DC1
426 32 Out REV_DC2
430 32 Out REV_DC4
434 32 Out REV_DC4
438 32 Out REV_DC5
442 32 Out REV_DC6
446 32 Out REV_DC7
450 32 Out REV_DC8
454 32 Out REV_DC9
458 32 Out REV_DC10
462 32 Out REV_DC11
466 32 Out REV_DC12
470 32 Out REV_DC13
474 32 Out REV_DC14

ACSPL+ Commands & Variables Reference Guide
6. Terminal Commands

478 32 Out REV_DC15

482 32 Out REV_DC16
486 32 Out REV_DC17
490 32 Out REV_DC18
494 32 Out REV_DC19
498 32 Out REV_DC20
502 32 Out REV_DC21
506 32 Out REV_DC22
510 32 Out REV_DC23
514 32 Out REV_DC24
518 32 Out REV_DC25
522 32 Out REV_DC26
526 32 Out REV_DC27
530 32 Out REV_DC28
534 32 Out REV_DC29
538 32 Out REV_DC30
542 32 Out REV_DC31
546 32 Out REV_DC32
550 32 Out REV_DC33
554 32 Out REV_DC34
558 32 Out REV_DC35
562 32 Out REV_DC36
566 32 Out REV_DC37
570 32 Out REV_DC38
574 32 Out REV_DC39
578 32 Out REV_DC40
594 32 Out REV_DC1
598 32 Out REV_DC2
602 32 Out REV_DC4
606 32 Out REV_DC4
610 32 Out REV_DC5
614 32 Out REV_DC6
618 32 Out REV_DC7
622 32 Out REV_DC8
626 32 Out REV_DC9
630 32 Out REV_DC10
634 32 Out REV_DC11
638 32 Out REV_DC12
642 32 Out REV_DC13
646 32 Out REV_DC14
650 32 Out REV_DC15
654 32 Out REV_DC16
658 32 Out REV_DC17
662 32 Out REV_DC18
666 32 Out REV_DC19
670 32 Out REV_DC20
674 32 Out REV_DC21
678 32 Out REV_DC22
682 32 Out REV_DC23
686 32 Out REV_DC24

ACSPL+ Commands & Variables Reference Guide
6. Terminal Commands

690 32 Out REV_DC25

694 32 Out REV_DC26
698 32 Out REV_DC27
702 32 Out REV_DC28
706 32 Out REV_DC29
710 32 Out REV_DC30
714 32 Out REV_DC31
718 32 Out REV_DC32
722 32 Out REV_DC33
726 32 Out REV_DC34
730 32 Out REV_DC35
734 32 Out REV_DC36
738 32 Out REV_DC37
742 32 Out REV_DC38
746 32 Out REV_DC39
750 32 Out REV_DC40

Example 2 from a SPiiPlusES

Network variables:
==================
Offset Size Dir PdoIndex Name
72 32 In 0x1600 Command response1
76 32 In 0x1600 Command response2
80 32 In 0x1600 Command response3
84 32 In 0x1600 Command response4
88 32 In 0x1600 Feedback Position1
92 32 In 0x1600 Reference Position1
96 32 In 0x1600 Drive status1
100 32 In 0x1600 GP data 1A
104 32 In 0x1600 Feedback Position2
108 32 In 0x1600 Reference Position2
112 32 In 0x1600 Drive status2
116 32 In 0x1600 GP data 2A
120 16 In 0x1600 Drive Output1
122 16 In 0x1600 Drive Output2
124 16 In 0x1600 Digital inputs
126 16 In 0x1600 FPGA status

6.4.9 #ETHERCAT2
The #ETHERCAT2 command can be used for gaining complete information about the connected
EtherCAT nodes on the Secondary EtherCAT network.
Example:

#ETHERCAT2
EtherCAT Master is in OP state.

ACSPL+ Commands & Variables Reference Guide
6. Terminal Commands

EtherCAT Bus Scan Found 1 Nodes:

Node 0:
========
Name: Device 0 (IOMnt-32-32-00-00-01)
Vendor ID: 0x00000540 Product ID: 0x05040000 Revision:
0x00000001
ESC Type: ET1100 ESC Revision: 0 ESC Build: 2

Phys. Addr: 0x03E9 Alias: 0x0001

Ports: A(MII/RMII) - ON B(MII/RMII) - OFF
Type: Mandatory
PD IN: Offset 72.0 Size 7.0
PD OUT: Offset 72.0 Size 6.0
State: OP

Network variables:
==================
Offset Size Dir ObjectIndex SubIndex PdoIndex Name
72.0 8 In 0x6000 0x01 0x1600 Digital Inputs 0
73.0 8 In 0x6000 0x02 0x1600 Digital Inputs 1
74.0 8 In 0x6000 0x03 0x1600 Digital Inputs 2
75.0 8 In 0x6000 0x04 0x1600 Digital Inputs 3
76.0 8 In 0x6000 0x05 0x1600 WD_COUNTER
77.0 8 In 0x6000 0x06 0x1600 SYSTEM
72.0 8 Out 0x7000 0x01 0x1A00 Digital Outputs 0
73.0 8 Out 0x7000 0x02 0x1A00 Digital Outputs 1
74.0 8 Out 0x7000 0x03 0x1A00 Digital Outputs 2
75.0 8 Out 0x7000 0x04 0x1A00 Digital Outputs 3
76.0 8 Out 0x7000 0x05 0x1A00 WD_COUNTER
77.0 8 Out 0x7000 0x06 0x1A00 System

6.4.10 ECMAPREP
Description
The ECMAPREP command displays a report of all variables mapped using the ECIN , ECOUT, ECEXTIN,
and ECEXTOUT functions. Bit notation is available for all variables..
Syntax
#ECMAPREP [/0 /1]

/0 First EtherCAT network. Equivalent to no switch

/1 Second EtherCAT network

Example

Example
#ECMAPREP

ACSPL+ Commands & Variables Reference Guide
6. Terminal Commands

EtherCAT Network 0:
========
Input 1:
========
Variable I0, at 0x856E0A24 (integer)
Array Length 0
Data Length 2
EC Offset 204.0
Limits 0
Read Only = false

EtherCAT Network 1:
========
Input 2:
========
Variable I2, at 0x856E0A44 (integer)
Array Length 0
Data Length 1
EC Offset 210.0
Limits 0
Read Only = false

6.4.11 CC
Description
The CC command returns data on the existing communication channels.
Syntax
#CC
Example

#CC
Channel Type Mode
1 Serial Command Rate:115200 0N 1
2 Serial Command Rate:115200 0N 1
6 TCP/IP ( 701) Peer:None
7 TCP/IP ( 701) Peer:[Link]
8 TCP/IP ( 701) Peer:[Link]
9 TCP/IP ( 701) Peer:[Link]
10 UDP ( 700) Peer:N/A
36 TCP/IP ( 701) Peer:None
37 TCP/IP ( 701) Peer:None
38 TCP/IP ( 701) Peer:None
39 TCP/IP ( 701) Peer:None
12 PCI bus Command
16 TCP/IP MODBUS Slave Connection:network Peer:None

ACSPL+ Commands & Variables Reference Guide
6. Terminal Commands

6.4.12 PLC
Description

This command is valid only if SPiiPlus PLC is running in the system.

The PLC command provides some very important information about the SpiiPlus PLC co-existence
inside the SpiiPlus firmware.
The information it displays is:
> PLC cycle (in ms):
PLC cycle means what is the frequency that PLC program is executed is. If Maximum is equal
to CTIME, the PLC cycle is always identical to Motion Controller realtime tick. The data that is
shown is:
> Avg:
> Min:
> Max:
> PLC Usage consumption (when active):
How much of the controller usage does the PLC execution take when it is running arranged
by:
> Avg:
> Min:
> Max:
Where the values shown are percentages.
> PLC program: (Program status)
The status can be:
> Running
> Stopped
> Not valid
Syntax
#PLC

6.4.13 LOG
Description
The controller supplies a log of important events to the user.
> The log can keep the last 500 events in memory.
> There is a command to set the time stamp for the log (setting current time).
> There is a command to display the log entries (similar to the Communication Terminal #SI
command), the user can use a host program to save these.

ACSPL+ Commands & Variables Reference Guide
6. Terminal Commands

Initially the log includes:

> Motor errors
> Change in an axis FAULT variable
> System Errors.
> Program errors (ACSPL+ buffer termination error).
> Reported I2C drive errors.
> Reported I2C component errors.
> EtherCAT errors
The LOG report has the following format

Error Type Format

Motor Errors TIME axis error, MERR(AXIS) = ERROR,

TIME FAULTS(AXIS): PREVIOUS_VALUE --> CURRENT_

Change in an axis FAULT variable
VALUE

System Errors TIME system error, S_ERR = ERROR

Program errors (ACSPL+ buffer TIME program error, PERR(BUFFER) = ERROR, PERL
termination error) (BUFFER) = LINE

TIME driver alarm extended error, address:ADDRESS,

Reported I2C drive errors
axis:AXIS, error:ERROR

TIME component fault extended error,

Reported I2C component errors
address:ADDRESS, error:ERROR

EtherCAT errors TIME network error, ECERR = ERROR

Syntax
#LOG

ACSPL+ Commands & Variables Reference Guide
6. Terminal Commands

Example

[2011/03/28] [11:15:17.140] FAULTS(57): 0x0 --> 0x20000

[2011/03/28] [11:15:17.140] FAULTS(58): 0x0 --> 0x20000
[2011/03/28] [11:15:17.140] FAULTS(59): 0x0 --> 0x20000
[2011/03/28] [11:15:17.140] FAULTS(60): 0x0 --> 0x20000
[2011/03/28] [11:15:17.140] FAULTS(61): 0x0 --> 0x20000
[2011/03/28] [11:15:17.140] FAULTS(62): 0x0 --> 0x20000
[2011/03/28] [11:15:17.140] FAULTS(63): 0x0 --> 0x20000
[2011/03/28] [11:15:17.403] system error, S_ERR = 5151
[2011/03/28] [11:15:25.502] FAULTS(0): 0x20000 --> 0x20080
[2011/03/28] [11:15:26.526] FAULTS(1): 0x20000 --> 0x20080
[2011/03/28] [11:15:26.527] FAULTS(2): 0x20000 --> 0x20080
[2011/03/28] [11:15:26.527] FAULTS(3): 0x20000 --> 0x20080
[2011/03/28] [11:15:26.527] FAULTS(4): 0x20000 --> 0x20080
[2011/03/28] [11:15:26.527] FAULTS(5): 0x20000 --> 0x20080
[2011/03/28] [11:15:26.527] FAULTS(6): 0x20000 --> 0x20080
[2011/03/28] [11:15:26.527] FAULTS(7): 0x20000 --> 0x20080
[2011/03/28] [11:15:34.352] FAULTS(0): 0x20080 --> 0x80
[2011/03/28] [11:15:34.352] FAULTS(1): 0x20080 --> 0x80
[2011/03/28] [11:15:34.352] FAULTS(2): 0x20080 --> 0x80
[2011/03/28] [11:15:34.352] FAULTS(3): 0x20080 --> 0x80
[2011/03/28] [11:15:34.352] FAULTS(4): 0x20080 --> 0x80
[2011/03/28] [11:15:34.352] FAULTS(5): 0x20080 --> 0x80
[2011/03/28] [11:15:34.352] FAULTS(6): 0x20080 --> 0x80
[2011/03/28] [11:15:34.352] FAULTS(7): 0x20080 --> 0x80
[2011/03/28] [11:17:09.270] program error, PERR(33) = 3232, PERL(33) = 0
[2011/03/28] [11:17:48.000] program error, PERR(33) = 3232, PERL(33) = 0
[2011/03/28] [11:17:57.958] axis error, MERR(3) = 5017

6.4.14 LOG HOST_TICKS

Description
LOG HOST_TICKS adds a time offset to the controller’s system time when reporting events, so that
the time of reported events will match the host millisecond counter.
The controller adds the difference between HOST_TICKS (in milliseconds) and controller’s time to
event time when reporting events. The controller considers its own power-up time as: 1970/1/1
00:00:00.
If the HOST_TICKS supplied is the correct number of milliseconds since that date, the controller
displays the correct date and time for the GMT time-zone. A time before 1970/1/1 00:00:00
(controller power-up) is displayed as negative milliseconds before this date.
Syntax
#LOG HOST_TICKS
Example

const unsigned __int64 SEC_IN_MIN = 60;

const unsigned __int64 MSEC_IN_SEC = 1000;

ACSPL+ Commands & Variables Reference Guide
6. Terminal Commands

char SETLOGTIME[100] = "#LOG ";

int SETLOGTIMELENGTH = (int)strlen(SETLOGTIME);
struct __timeb64 timebuffer;
double CurrentTime;
// Set time zone from TZ environment variable. If TZ is not set,
// the operating system is queried to obtain the default value
// for the variable.
_tzset();
// GET CURRENT LOCAL TIME
_ftime64_s(&timebuffer);
CurrentTime = (((double)[Link])
- (((double)[Link]) * SEC_IN_MIN)) * MSEC_IN_SEC
+ [Link];
SETLOGTIMELENGTH = sprintf_s(SETLOGTIME, 100, "#LOG %f\r", CurrentTime);
if (!acsc_Command(( Handle, // communication handle
SETLOGTIME, // pointer to the buffer that contains
// executed controller’s command
SETLOGTIMELENGTH, // size of this buffer
NULL// waiting call
))
{
printf("transaction error: %d\n", acsc_GetLastError());
}

6.4.15 LOGP
Description
Presents G-code run-time errors detected during running the program in simulation mode (using
START/s command).
Syntax

#LOGP buffer_number

Arguments

buffer_ The number of buffer that was ran in simulation mode using START/s
number command.

Comments
> If the program contains calls to sub-routines residing in the D-Buffer, then all run-time
errors occurred inside sub-routine will be addressed by the sub-routine calling line number.
> Buffer recompilation or rerun clears the list of run-time erors detected during the last
running process.

Motion generator related run-time errors are not detected, since the simulation takes
place only on G-code level.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

7. SPiiPlus Error Codes

This chapter contains explanations of the Error Codes that may appear.
The chapter contains only those Error Codes returned by the controller and does not include errors
associated with the C Library. Errors that are detected by the C Library are never returned by the
controller. A host application that calls a C Library function can receive these codes if a function call
failed. For explanations of the C Library errors see the SPiiPlus C Library Reference Guide.
The ACSPL+ Error Codes range 1000 to 7099 and are assigned as follows:
ACSPL+ Syntax Errors – numbers 1000 to 1999
ACSPL+ Compilation Errors – numbers 2000 to 2999
ACSPL+ Runtime Errors – numbers 3000 to 3999
Errors – numbers 5000 to 5150
System Errors - numbers 5151 to 5999
EtherCAT Errors - numbers 6000 to 6999
EtherCAT Slave Errors - numbers 7001-7099
G-Code Error Codes - numbers 2000 to 4000, not related to ACSPL+ error codes

Error code values of 7100 through 8999 are reserved for future use and are currently
not used.
Error code values of 9000 and above are reserved for user-defined error codes.

7.1 ACSPL+ Syntax Errors

These appear in response to syntax errors that the controller detects when a program is entered
into the buffer and are reported immediately in the prompt that is displayed in response to the
command.
The error code values range between 1000 and 1999.
Table 9-1. ACSPL+ Syntax Errors

Error Code Error Message Remarks

The program is being run in the

1001 The program is suspended Step mode, and has been
suspended at the current step.

The program was terminated by The program has reached a user-

1002
user set breakpoint.

FPGA Upgrade Failed: No SYNC

1016
word in FPGA bitstream file

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

FPGA Upgrade Failed: FPGA

1017
image in flash contains CRC error

Initialization problem: Axes

1018 allocation does not match.
System should be reconfigured

A subroutine command that is not

1020 Illegal subcommand
recognized has been entered.

SP command requires axis The required axis designation is

1021
specification missing.

A program command that is not

1022 Illegal command
recognized has been entered.

The command specifies

Read-only variable cannot be
1023 assignment to a read-only
assigned
variable.

1024 Set variable cannot be reported

The compiler recognizes that a

follow-on command has not
Time interval between two arrived within 2 seconds. The error
1025 characters in command is more is relevant when an application is
than 2 seconds using a call to a SPiiPlus C Library
routine, and usually indicates a
communication problem.

An attempt was made to

Serial Number, Part Number, or
respecify the controller’s serial
1026 Software Options were already
number, part number, or software
specified
options.

An ACSPL+ variable missing the

Variable requires axis
1027 required axis specification was
specification
used.

Scalar variable cannot accept axis A scalar variable was used with an
1028
specification axis specification.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

A command has been entered

Extra characters after the with extraneous characters or
1029
command parameters that are not
recognized.

The entry contains too many

1030 Too many parameters
parameters.

The array in the command either

Illegal array in the array does not exist, or its size does not
1031
command match the requirements of the
command.

The array contains data in a

1032 Illegal data in array format that does not match
requirements.

The edit command that has been

1033 Illegal edit command
entered cannot be executed.

The command includes numerical

1034 Illegal index value index specification, but the
specified index is not a number.

The error is caused by one the

following:
> The specified index value
is more than the number
of elements in the array
1035 Index is out of range > The specified index value
is negative
> The specified index
values are incompatible
(first value in the range
greater than last).

An internal error has been

1036 Internal error
detected..

The command requires

specification of an ACSPL+
1037 Illegal variable name variable name, but the specified
name is not that of an ACSPL+
variable.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

The command contains checksum,

and the checksum value is wrong.
Wrong checksum in the The error is relevant when an
1038
command application includes SPiiPlus C
Library routines, and indicates
communication problems.

An attempt was made to setup

Only one motion per axis can be
1039 more than one motion for a
planned in advance
specified axis.

The command specifies an

1040 Unable to open file internal file in the flash memory
that does not exist.

The command attempts to assign

an ACSPL+ variable with a value
1041 Assigned value is out of range
that is out of the range allowed
for this variable.

Operation failed because of

1042
exception

The command attempts to start

an un-compiled ACSPL+ program.
To compile a program, in the
SPiiPlus MMI Application Studio:
> In the Program Manager,
Program cannot start because
1043 right-click the buffer and
the buffer was not compiled
select Compile Buffer, or
> Use the #nC command in
the Communication
Terminal, where n is the
buffer number.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

The command attempts to affect

a running ACSPL+ program. Stop
the program before executing the
command. To stop a program, in
the SPiiPlus MMI Application
Studio:
Command cannot be executed
1044 > In the Program Manager,
while the program is running
right-click the buffer and
select Stop Buffer, or
> Use the #nS command in
the Communication
Terminal, where n is the
buffer number.

The command includes an ACSPL+

function that caused a numerical
Numerical error in standard
1045 error. Check if the arguments of
function
the function fall into the allowed
range.

The command has caused writing

to the flash memory that failed.
1046 Write file error Possible reason is a flash memory
overflow because of too many
stored user files.

The command has caused reading

from the flash memory that failed.
1047 Read file error A reoccurring error points to a
serious problem in the controller
hardware or firmware.

The POINTcommand specifies

More axes than were defined in more axes than were specified in
1048
the motion the motion that the command
refers to.

An attempt was made to assign

an axis to a group when it has
1049 Axis already belongs to a group
already been assigned to another
group.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

The command is incompatible

with a user-defined axis group
that was defined before. The axes
Conflict with user-defined axis specified in the command must
1050
group either all belong to one user-
defined axis group, or not to
intersect with any user-defined
axis group.

The command specifies a line

1051 Line number is out of range number that does not exist in the
specified program buffer.

The command specifies illegal

buffer number. The controller
1052 Buffer number is out of range contains 16 program buffers
numbered from 0 to 15, plus the D
buffer.

The command addresses an

ACSPL+ variable and the type of
the variable is different from the
type specified in the command.
1053 Wrong type
The error is relevant when an
application includes a SPiiPlus C
Library routine. The error indicates
problems in communication.

An attempt was made to send a

This type of motion is valid for
1054 single-axis motion to more than
single axis only
one axis.

The command is missing a

Command requires line number
1055 required line number
specification
specification.

The parameter specifying the

Parameter defining Master has
1056 master has an illegal value (see
illegal value
MASTER).

Previous superimposed motion is

1057
in progress

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

The slave controller has not been

Slave is not synchronized to
1058 synchronized with the master
master
controller.

Command PTP/V must specify The PTP/v command was issued

1059
velocity value without a value for velocity.

The memory management

1060 Illegal memory command command is improperly
formatted.

The command contains a non-

1061 ')' wasn't found
paired left bracket.

Command exceeds maximum

1062 Command is too long
permitted length

The command addresses a

Variable is not defined in the variable that is not declared in the
1063
buffer specified buffer, or the specified
buffer is not compiled.

The command addresses a global

variable that is not declared in any
buffer, or the buffer that contains
1064 Undefined global variable the declaration is not compiled.
Variable name must be in upper
case.

The command is in conflict with

The command cannot be
one or more of the currently
1065 executed while the current
executed motions. To kill a motion
motion is in progress
use KILL/KILLALL or KILLALL.

Attempt to compile or start

1066
empty buffer

The controller has no motions

1067 GO command failed
waiting for the GO command.

Referenced axis does not The command refers to a motion,

1068 execute a motion (motion was but the specified axis is not
terminated?) involved in any motion.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

Commands POINT and MPOINT

This command can only be used
are compatible only with the
1069 with MPTP, PATH or PVSPLINE
MPTP...ENDS, PATH...ENDS, or
motion
PVSPLINE...ENDS motions.

The command attempts to add a

segment or a point to the motion
Attempt to add segment after that was closed before with an
1070
ENDS command ENDS of the MPTP...ENDS,
PATH...ENDS, or PVSPLINE...ENDS
commands.

The command must specify a

1071 File name was expected name of internal file in the flash
memory.

The command specifies an array,

but the motion to which the
1072 Wrong array size command refers, or other
command arguments require an
array of another size.

The command must specify a text

1073 Text for search is not specified
for search operation.

The command requires an ASCPL+

Only standard or SP variable is
1074 or SP variable name to be
allowed in the command
specified.

The specified variable name is not

Name is not a standard or user
1075 an ACSPL+ or user-defined
variable
variable name.

The command requires a label

specification. The program that
1076 Undefined label contains the label specified in the
command must be compiled in a
buffer.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

The command attempts to assign

a protected variable when the
controller is in Protected mode.
The controller must be put in the
Not Protected mode before
1077 Protection violation
protected variables can be
assigned. To do this, use the
SPiiPlus MMI Application Studio
Protection Wizard in
Development Tools.

The command attempts to assign

a value to a variable that can be
changed only if the motor is
Variable can be changed only
1078 disabled. A DISABLE/DISABLEALL
while the motor is disabled
command must be put in before
the value can be assigned to the
variable.

Motor(s) are in motion and have

to be disabled before the motion
Motion cannot start because one can be initiated. A
1079
or more motors are disabled DISABLE/DISABLEALL command
must be put in prior to initiating
motion.

Default Connection flag is set for

1080
the motor

The command includes command

1081 Incompatible suffixes options that cannot be used
together.

A GO or KILL/KILLALL command
Commands BEGIN, END, KILL, GO
1082 has been entered without an axis
require axis specification
specification.

An array requiring an axis

1083 Array requires axis specification specification has been entered
without an axis specification.

Either the array does not exist, or

1084 Illegal array command
it is not in a compiled buffer.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

The command specifies a

1085 Extra number after the command
superfluous numerical argument.

The command requires a variable

1086 Variable name must be specified
name specification.

The command specifies one or

more axes that are involved in a
Command cannot be executed
1087 motion. The command can be
while the axis is moving
executed only after the motion
finishes.

The command attempts to query

Variable can be queried only in
1088 a variable in a buffer that was not
compiled buffer
compiled.

The command attempts to

Label can be referenced only in
1089 reference a label in a buffer that
compiled buffer
was not compiled.

The slave or track command

specifies an axis that was included
This type of motion is not allowed in a user-defined group.
1090
for grouped axis
Only a single axis can be specified
in the slave or track command.

The motion command specifies

1091 Less arguments than required fewer coordinate values than
required by the axis specification.

The motion command specifies

1092 More arguments than required more coordinate values than
required by the axis specification.

The expression specified in the bit

Bit selector value is greater than
1093 selector yields a value greater
31 or less than 0
than 31 or less than 0.

The range of lines specified refers

1094 Empty line range is specified
to empty lines.

The command addresses master-

No master-slave motion is in
1095 slave motion that has not yet
progress
started.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

The command includes a non-

1096 '}' was not found
paired left curly bracket.

The command attempts to start a

Previous data collection is in data collection while the previous
1097
progress data collection for the same axis is
still in progress.

The motion command, which

Stalled motion requires limits includes a command option of
1098
specification stalled motion, requires
specification of the motion limits.

Extra numbers after the The motion command includes

1099
command superfluous numerical arguments.

The command does not contain

Received command has no
1100 the ID of the message to which it
message ID
refers.

The command attempts to start a

program from a specified line
when the program is in
suspended state.
A program in suspended state can
The program is suspended, the be only resumed from the next
1101
start line number is not allowed line. The line specification is not
allowed.
The only way to start a suspended
program from arbitrary line is to
stop the program, and to start it
again from the desired line.

The an illegal divide by zero is

1102 Zero divide
attempted by the command.

The command contains an invalid

1103 Invalid reference
reference.

The command is attempting to

No ACSPL program is waiting for
1104 send input, but no program is
input
open for receipt.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

The command is incorrectly

1105 Format error
formatted.

The function that accesses SP

memory cannot be executed.
1106 SP function failed Check the address specified in the
function call. The address must fall
into the range of 0 to 511.

Current empty space in the

The D-Buffer is full and no further
1107 dynamic buffer is not enough for
items can be entered.
the command

The command includes

specification of a real number that
1108 Invalid real number
cannot be interpreted as a valid
real.

Safe communication mode is a

The command is not allowed in host communication format
1109
SAFE mode based on block-by-block transfer
of data with delivery confirmation.

Data collection was attempted

At least one variable must be
1110 without specifying at least one
specified for data collection
variable.

The time of the reply request

1111 Too long reply requested
parameter is too long.

The search command did not find

1112 No matches were found
any match.

The command reference to a

The step in the table is zero or
1113 table element is either zero or
negative
negative.

The program that runs in a buffer

The program finished without a executed the last command and
1114
STOP command this was not a STOP/STOPALL
command.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

The program that runs in a buffer

caused stack underflow.
Stack underflow (RET without This occurs if the program
1115
CALL) executes the RET command that
without the paired CALL
command.

The program that runs in a buffer

caused stack overflow.
This occurs if the program
Stack overflow (too many nested executes too many nested CALL
1116
CALLs) commands. Check that the
program does not specify infinite
recursion (subroutine calls itself
infinitely).

The program that runs in a buffer

comes to the ON command (see
Attempt to enter autoroutine ON...RET).
1117
directly
ON must never be executed in the
normal program flow.

The command specifies an axis by

number or expression, and the
resulting value is not a legal axis
1118 Illegal axis number number.
Valid axis numbers range
between 0 and the number of
axes in the system minus one.

1119 Integer overflow The integer value is too large.

The segmented motion must

always involve two axes. If a
The motion must involve the first user-defined group contains more
1120
two axes from the group than two axes, the segmented
motion must involve the first two
axes in the group.

The command specifies an

1121 Unknown #-constant
unknown symbolic constant.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

Bit selector cannot be applied to

1122 Bit selection is not applicable
real value.

Value of bit selector must fall in

1123 Illegal bit selector
the range of 0 to 31.

The enable command failed.

Additional information can be
1124 Attempt to enable motor failed obtained from the corresponding
element of the MERR variable
(motor disable code).

The command caused

unsuccessful loading of an SP
1125 Error in SP program
program. The file with the SP
program contains an error.

The command specifies an illegal

1126 Illegal SP number SP number. Valid SP numbers are
0, 1, 2, and 3.

The command attempts to open

the buffer for editing or to change
the program in a Protected buffer.

1127 Editing of this buffer is disabled Editing a buffer is disabled if the

controller is in the Protected
mode and bit 1 of the
corresponding element of PFLAGS
is set to 1.

The program has changed the

configuration. The configuration
has to be saved to the controller
Configuration changed. flash and the controller restarted.
1128 Commands SAVE and HWRES
must be executed. Select the controller in the
Workspace Tree and click the Save
to Flash button. Then right-click
the controller and select Reboot.

The command syntax requires a

In binary command the name
1129 name to be followed by the /
specification must end with /
(slash) character.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

Commands MPTP...ENDS,
MSEG...ENDS, PATH...ENDS,
Segment sequence for the
PVSPLINE...ENDS are followed by a
1130 previous motion was not
sequence of points or segments.
terminated with ENDS command
The sequence must terminate
with ENDS.

SP program is incompatible with SP program interface is

1131
one or more products unrecognized.

1132 The file is not a legal user data file The file designator is not valid.

Error detected in array types

Discrepancy in types of the saved
1133 when comparing the saved and
and restored arrays
restored versions.

Error detected in array size when

Discrepancy in sizes of the saved
1134 comparing the saved and
and restored arrays
restored versions.

Error occurs when there is either a

Operation failed because of fault in the communication, or too
1135
communication overload much communication is being
conducted.

Wrong relation between first Usually caused by the first point

1136
point, last point and interval being greater than the last point.

The command contains an illegal

1137 Illegal analog output number
analog output number.

Conflict between analog output

Incompatible SP and analog
1138 value in the command and that
output
contained in the SP.

The controller tries to interpret the

inserted string as a response to
1139 Illegal input the executed input command, but
the string does not follow the
required format.

An attempt was made to use a

1140 The function is not supported function that is not supported in
SPiiPlus.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

Communication timeout has

occurred. This can be corrected by
right-clicking the controller in the
1141 Timeout
Workspace Tree, selecting
Properties, and increasing the
Connection Timeout value.

Conflict with the command

1142 Arguments are inconsistent
arguments and their values.

1143 Memory overflow Usually caused by infinite loops.

Simulator does not support this The command cannot be

1144
command executed by Simulator.

SPiiPlus does not contain a dual-

The specified DPR address is less
1145 port RAM; therefore this is not
than 128 or exceeds the DPR size
relevant.

SPiiPlus does not contain a dual-

Collision with other variable in
1146 port RAM; therefore this is not
DPR
relevant.

Incomplete command (intrusion The command is not correctly

1147
of other process?) formulated.

Requested more SINCOS encoder The user tried to select more Sin-
1148
multipliers than installed Cos multipliers than allowed.

1149 Illegal SP address Valid SP numbers are 0, 1, 2, and 3.

SPiiPlus does not contain a dual-

port RAM. If the program has been
imported from an older non-NT
Only even numbers are allowed
1150 version and this error appears,
as DPR address
delete any DPR command (such
as COPYFROMDPR or
COPYTODPR).

The demo version of the

This is a DEMO version of
Simulator has a limited session
1151 Simulator. 5 minutes of work
length. The Simulator is going to
remains.
stop after 5 minutes.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

The demo version of the

The DEMO version of Simulator Simulator has a limited session
1152
has terminated length. The session time has
elapsed.

The controller cannot recognize

1153 Illegal query command
the query command.

The command was incorrectly

The command can be only used
1154 used - it can only be used with
with MSEG motion
MSEG...ENDS.

Motion cannot start because the

To start the motion enter the
1155 previous motion failed. Use
FCLEAR command.
FCLEAR command.

Profile key must be specified as

1156
/SECTION/KEY/

Illegal configuration string. Use Illegal characters were used in the

1157
only characters K,D,+,-. configuration string.

Cannot find matching value. The

1158 formula has no root or the root is
not single.

Axis number is specified more The axis designation parameter is

1159
than once repeated in the command.

The specified axis has been

The axis cannot be used in a
1160 flagged as not to be grouped
group (see AFLAGS)
using AFLAGS.

An invalid communication channel

1161 Illegal communication channel
has been specified.

The command Tag parameter

1162 Illegal tag value does not match the intended
command.

Invalid system configuration

1163 Illegal configuration parameters
parameters have been entered.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

The password that has been

1164 Illegal password entered does not match the
required password.

Attempt to execute optional

1165
function which is not installed

Flash file operation failed

1166
(overlapped file operations?)

1167 Wrong start position is specified

1168 File not opened

An attempt was made to make

D-Buffer cannot be changed changes to the D-Buffer while
1169
while any other buffer is compiled other buffers were being
compiled.

The number of axes in

1171 coordinated motion is restricted
to 4

1172 Illegal category name

1173 EtherCAT offset is out of range

Can't find EtherCAT network

1174
variable

1175 EtherCAT Master is not ready

1176 Data size should be specified

1177 This slave has no mailbox support

1178 Invalid CoE SDO parameter

EtherCAT slave is in invalid state

1179
for this operation

1180 General EtherCAT error

1181 EtherCAT Timeout error

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

An axes group that was not

Can't split non-existing axes
1182 previously defined was specified
group
for splitting.

Attempt to split group with active Cannot split an axis group while in
1183
motion on motion.

Mapped variable must be defined

1184
in D-Buffer

Number of connected EtherCAT

1185 devices is not covered by SW
options

1186 Can't initialize SP injection

There is an active injection on this

1187
SP

Can't enable motor, DIP switch

1188
settings are incorrect.

The command can only be used

1189
with XSEG motion

PLC option on this device is not

1190
enabled

1191 PLC is already running

1192 General PLC error

1193 Wrong array size or type

1194 Not allowed Encoder Type

Requested more absolute

1195
encoder multipliers than installed

Requested absolute encoder is

1196
not supported

The slave is incompatible with

1197
current controller configuration

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

See ACSPL+ variable E_TYPE(axis)

1198 Invalid encoder type in the Command and Variable
Reference Guide

See ACSPL+ variable E_TYPE(axis)

Invalid absolute encoder
1199 in the Command and Variable
parameter type
Reference Guide

JIT and Dynamic modes are not

1200
allowed for D-Buffer

End-of-Sequence is illegal for this

1201
motion

JIT and Dynamic modes are not

1202
allowed at the same time

DEBUG mode is not allowed for

1203
JIT and Dynamic buffers

JIT and Dynamic modes require

1204
the buffer to be empty

1205 Illegal zone number

Cannot change a constant

1206
variable

One or more arguments are out

1207
of range

Function ended without return

1208
statement

Entered a function not by calling,

1209 STOP statement might be missing

1210 Incompatible matrix size

1211 Too many segments See MSEG...ENDS.

1212 ARC arguments are inconsistent See MSEG...ENDS, ARC1 and ARC2.

Stopper is prohibited for master-

1213 See STOPPER.
slave motion

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

1214 Adjacent stoppers are prohibited See STOPPER.

In cyclic path the first and the last

1215
points must coincide

Velocity argument can be

Velocity is specified, but the
specified in POINT, LINE, ARC1 or
1216 motion command had no V
ARC2 only if the corresponding
command option
motion command specifies /v.

1217 Segment of zero length

1218 ARC radius is too small

Specified motion delay is out of

1219
range

Command is incompatible with

1220
connect

See SPiiPlus ADK Suite Release

20 KHz motion generation
Notes section "Controller Cycle
1221 incompatible with CTIME or
Time (CTIME) Support" for
number of axes
Controller CTIME Limitations

1222 20 KHz motion limitation reached

Time specified is not possible

1223 under current motion safety
limitations

1224 Offset doesn't exist

1225 Microblaze monitor is not ready

1226 Address couldn't be found

Maximum number of Registers

1227
was already added

1228 Firmware is not properly installed

SLABITS does not match Single

1229 Turn and Multi Turn number of
bits

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

Non Linear Control Feature is not

1230
supported

An invalid Key argument has been

1231 Illegal key entered in either the GETCONF or
SETCONF function.

An invalid Index argument has

1232 Illegal index been entered in either the
GETCONF or SETCONF function.

The Value argument of the

SETCONF command specifies a
1233 Illegal value
value that is not compatible with
the Key argument.

1234 Value in SETCONF must be 0 or 1 See SETCONF.

1235 SETCONF function is disabled

SETCONF cannot be executed

1236
while the motor is enabled

The operation can be executed

1238 only when the HSSI channel is in
command mode

HSSI channel cannot switch to

command mode because it
1239 affects one or more remote
drivers. Reset corresponding
MFLAGS.#HSSI bits before.

1240 Operation is temporarily disabled

1241 Operation failed

1242 The feature is not supported

Max number of 20 KHz moving

1243
axes reached

Illegal number of coordinates

1244
specified

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

The specified channel is already

being used. Please use the
1245
MBCLOSE function to close the
connection

1251 Operation is temporarily disabled

Motor cannot be enabled while a

1252
motion is in termination process

The command cannot be

Unable to work with Dummy executed for a dummy motor.
1253
motor Check flag MFLAGS.#DUMMY (see
MFLAGS).

The operation requires the motor The ENABLE/ENABLE ALL

1254
to be enabled command has to be run.

The operation requires the motor The DISABLE/DISABLEALL

1255
to be disabled command has to be run.

The operation is valid only for

1256 brushless motor without Hall
sensor

Refer to the chapter on the

The operation failed because the
Adjuster Wizard in the SPiiPlus
1257 brushless motor is not
MMI Application Studio User Guide
commutated
for details on commutation.

The operation failed because the

1258
motor is in open-loop mode

Motion cannot start because the

1259
motor is defined as dummy

Motion cannot start because the The ENABLE/ENABLE ALL

1260
motor is disabled command has to be run.

Refer to the chapter on the

Motion cannot start because the
Adjuster Wizard in the SPiiPlus
1261 brushless motor is not
MMI Application Studio User Guide
commutated
for details on commutation.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

Motion cannot start because the

1262
motor is in open-loop mode

Motion cannot start because the

To start the motion enter the
1263 previous motion failed. Use
FCLEAR command.
FCLEAR command.

SP program does not support this

1265
operation

1266 Invalid PEG pulse width Pulse width set in or is incorrect.

Maximal number of time-based

1267 Not relevant to PEG operations.
PEG pulses is 65,535

Invalid period of time-based PEG

1268 Not relevant to PEG operations.
pulses

PEG pulse width must be less

1269 Not relevant to operations.
than time-based pulse period

PEG is not supported for the

1270 See .
specified axis

Step does not agree with

1271
start/end points

Incremental PEG step must

The PEG step in encoder counts
correspond to encoder counts
1272 must be in the range of -231 to 231-
within the (-2^31, 2^31-1) range,
1.
zero is excluded

Refers to controllers that support

The specified axis does not exist
1273 4 axes only, and the specified axis
in this controller model
is above this.

The specified axis is defined as

1274
dummy only

Only stepper motor is supported

1275
for the specified axis

The brushless motor is not

1276
supported for the specified axis

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

Dual loop control is not supported

1277
for the specified axis

Remote HSSI driver is not

1278
supported for the specified axis

PEG states are not supported for

1279
the specified axis

The stepper motor is not

1280
supported for the specified axis

No Hall support for 2-Phase

1281
motors

1282 Value out of range

Number of points for Random

1283
PEG exceeds the limit

Axis is not connected to PEG

1284
engine

NanoMotion Piezoceramic Motor

1285 is not supported for the specified
axis

Fast Sin-Cos Encoder is not

1286
supported for the specified axis

Laser Modes are not supported

1287
for the specified axis

Time-based PEG is not supported

1288
for the specified axis

This function is not supported for

1289
the specified axis

SPINJECT/SPRT and Fast GPRT

1290
cannot be used in parallel

P/D interface is required for this

1291
function

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

Secondary Feedback is not

1292
supported

SLABITS does not match Single

1293 Turn and Multi Turn number of
bits

Motion cannot start because the

1294 Gantry Complementary brushless
motor is not commutated

Commut is not allowed when

1295 cross axis compensation is in
process

1298 Array name requires indexing

Secondary protection must be

1299
removed

Non Linear Control License is

1300
required

Another EtherCAT port is already

1301
closed

Not possible to save network

1302 topology configuration when
more than one line break exists

ERROR SDO: Object does not exist

1303
in the object dictionary.

The value is too high (check E_

1304
PAR_D value)

The network variable is already

1305
mapped to ACSPL+ variable

1306 Invalid axis list

FoE Protocol is not supproted by

1307
Slave

1308 The Disk is full or the file is too big

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

Function supported only by

1309
CiA402 Drive

CiA402 Drive is not in OP State.

1310
PDO is not enabled.

1311 Cannot convert REAL type to INT

More than one hold command is

1312
not allowed

Continue command is already in

1313
process

Requested Homing Method is not

1314
supported

Not enough memory - too many

1315
function calls

Homing in Gantry mode requires

1316
additional parameters

1317 FoE Error: Access denied

1318 Matrix is not invertible

1319 PI AME interface is not initialized

1320 PI AME interface is busy

The gantry axes must be

1321 commutated to start the cross-
axis compensation

Homing of the cross-axes and the

gantry axes is required for
1322
starting the cross-axis
compensation

1323 DCOM is not 0

1324 Parameters are not consistent

Main FPGA file downloading is in

1325
progress

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

Operation aborted, PEG is in

1326
process

1327 FPGA versions do not match

FPGA version is the same. FPGA

1328
Upgrade aborted.

Invalid value, digital input index

should range between 0-99 and
1329
bit index should range between
0-31

Invalid value, digital output index

should range between 0-99 and
1330
bit index should range between
0-31

This output is already mapped as

1331 a mechanical brake to a different
axis

Hardware limit swapping

1332 (MFLAGSX.#HLIMSWAP) and limit
routing are mutually exclusive

1333 File name MAX length is 100 chars

Operation failed because

1334
Learning Boost is active

1335 Illegal SPATH specification

1336 Nurbs motion was not initiated

Illegal NURBS/SPATH parameter

1337
value

Profile has ended or last knots

1338
already added

1339 Invalid number of axes

Dummy point must also specify a

1340
Knot value

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

Illegal dummy point, two points

1341 are allowed before coordinates
and two after

The measurement you are trying

to activate is already active. (see
1342
DPM_Measurement Stop()
function for more details)

An invalid sample type has been

specified. Type can either be 0 or
1343
1. (see DPM_Measurement
sample type for more details)

The sampling time specified is

invalid, the minimum value is the
1344 controller cycle time(?CTIME) and
the maximum value is:
100000000msec

The sample-set size specified is

1345 invalid. Minimum size: 1.
Maximum size: 512.

The specified "when_to_

measure" flag is invalid. (see
1346
DPM_Measurement
documentation for more details)

The measurement you are trying

to activate is paused. (see DPM_
1347
Measurement Stop()/Resume()
functions for more details)

Cannot change the selected axis

while monitoring is ON. (see
1348 DPM_Motion_Status SelectAxis
()/MonitorOff() functions for more
details)

The specified "monitored_

variable" is invalid. (see DPM_
1349
Measurement documentation for
more details)

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

1350 Illegal attempt to copy STRING

Illegal String operation - value too

1351
long

DCOM value cannot be changed

1352 during Gantry Cross Axis
Compensation

Cross Axis Force Ratio parameter

1353
is out of range

Number Of Cross Axes parameter

1354
is out of range

Cross Axis Index parameter is

1355
invalid

Cross Axis Polarity parameter is

1356
out of range

Cross Axis Mass Ratio parameter

1357
is out of range, should be [0..1]

Cross Axis Max Position and Cross

1358 Axis Min Position are not
consistent

Yaw Axis Index parameter is

1359
invalid

1360 LCI unit initialization failed

1361 Unable to start the LCI operation

1362 Trajectory axes are not defined

1363 LCI Safety input is off

1364 LCI laser fault input is on

LCI supported velocity limit

1365
exceeded

1366 LCI unit not found

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

LCI. Unable to allocate channel for

1367
specified operation

1368 LCI function timeout

Cross-Axis compensation is
1370
already active

Enabling the gantry axes is

1371 required for starting the cross-
axis compensation

1372 Gantry Mode is required

Compensation for the specified

1373
axis is already in process

The force ratio is too [Link]

1374 the cross masses symmetrically
around the center of gravity

The specified IP address is invalid.

1375 Please see MBOPEN
documentation for more details.

The specified server ID is invalid

(valid values are between [1 -
1376
247]). Please see MBOPEN
documentation for more details.

The specified word-order is

invalid. (valid values are 0 for big-
1377 endian and 1 for little-endian)
Please see MBOPEN
documentation for more details.

Unable to open more than 3

Modbus connections at any given
1378
time. Please see MBOPEN
documentation for more details.

The specified communication

1379
handle is invalid.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

A connection with the specified IP

1380
was not found.

1381 The specified address is invalid.

The specified request frequency

is invalid. The minimum value is 5
1382
milliseconds. Please see the
documentation for more details.

The specified variable length and

the specified number of elements
1383
do not match. Please see the
documentation for more details.

The specified suffix combination

1384 is invalid. Please see the
documentation for more details.

Read-Only variables cannot be

1385
written.

1386 The specified request ID is invalid.

The specified variable(or part of it)

is already being written to by
1387
another Modbus request. Use
#MBMAPREP for more details.

The specified server address is

already being written to by
1388
another Modbus request. Use
#MBMAPREP for more details.

The specified number of

elements is greater than the
1389 specified variable length. Please
see the documentation for more
details.

The maximum number of integer

values that can be "mapped" in a
1390 single request is 16. Please see
the documentation for more
details.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

The maximum number of short

values that can be "mapped" in a
1391 single request is 32. Please see
the documentation for more
details.

The maximum number of single-

precision floating-point values
1392 that can be "mapped" in a single
request is 16. Please see the
documentation for more details.

The maximum number of double-

precision floating-point values
1393 that can be "mapped" in a single
request is 8. Please see the
documentation for more details.

The maximum number of coil

values that can be "mapped" in a
1394 single request is 32. Please see
the documentation for more
details.

The maximum number of discrete

input values that can be
1395 "mapped" in a single request is
32. Please see the
documentation for more details.

Failed to establish a connection

1396
with the specified server device.

The maximum number of

mapping requests per server is
1397
32. Please see the
documentation for more details.

A connection with the specified IP

is already open and with different
configuration parameters. To
1398
change the connection
parameters, close and open a
new connection.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

The Array is already used by

1400
another DC command

All axes must be executed on the

1401
same core

The minimum value can not be

greater than the maximum value.
1410
Please see the documentation for
more details.

G-code: Run-time errors were

detected during the program
execution in simulation mode.
1411
Use the #LOGP <buffer number>
command to present the
detected errors.

1412 This motion type is not supported

The supplied correction maps (2-

dimensional arrays) should have
1413 the same dimensions. Please see
the documentation for more
details.

The Specified referenced

axes/analog inputs are invalid.
1414
Please see the documentation for
more details.

1415 Internal Error

1416 Stage model dll is not loaded

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

Stage model dll's name does not

1417 match the stage model
implemented by the dll

1418 Invalid number of virtual axes

1419 Invalid number of physical axes

1420 Virtual axis index is out of range

1421 Physical axis index is out of range

1422 Virtual and machine axes conflict

1423 Tool length index is out of range

Fixture offset index is out of

1424
range

Sync positions array must be set

1425 when feedback transform is not
supported

Custom virtual axes must be set

1426
in this FW version

Custom virtual axes must be set

1427
for 128 axes systems

1428 Not implemented feature

1429 Physical axes must be set

1430 Kinematics object is not defined

Tool Center Point (TCP) control

1431
license required

1432 Stage Model Library is invalid

Another Kinematics object

1433
already defined

The data structure stored in file

1436
does not conform to read type

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

1437 Not valid node index

1438 Not valid PEG engine index

1439 PEG structure is not initialed

TW29 interpolator for requested

1446
axis is not connected

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

7.2 ACSPL+ Compilation Errors

The error codes in ACSPL+ compilation errors range between 2000 and 2999.
ACSPL+ compilation errors are reported either immediately when the erroneous line is inserted, or
subsequently, when the controller attempts to compile an ACSPL+ program. If a program in a buffer
undergoes compilation and an error is detected, the error code is stored in the corresponding
element of the PERL array and the erroneous line number is stored in the corresponding element of
the PERL array.
Table 9-2. ACSPL+ Compilation Errors

Error Code Error Message Remarks

The program line contains a sequence

that is not recognized as a legal
command.
If the line starts from a standard
variable name, check the following:
l All letters are uppercase
l Spelling is correct
2002 Unrecognized command
If the line starts from a user variable
name, check the following:
l The variable is defined before
use
l The letter case matches the
definition
l Spelling is correct

Unexpected delimiter, incomplete A command contained in the line is

2003
command incomplete.

Separation is required after a

2005
statement

The END command is specified

2006 Unexpected END without a paired IF, LOOP or WHILE
command.

Two binary operator are specified in

2007 Two adjacent operators the expression without an operand
between.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

Left bracket was not found in a

position where it is expected.
2008 Left bracket was expected Possible reasons for this error are
array name without index or function
call without arguments.

The expression or sub-expression has

2009 Right bracket was expected
an unpaired left bracket.

Comma character was not found in a

position where it is expected.
Possible reasons for this error are:
l Missing comma between the
2010 Comma was expected arguments of the command or
function
l The command or function call
has less arguments than
required.

2011 Equals sign was expected Equal sign in assignment is missing.

2012 Direct command was expected

2013 DO or LOOP without END

The declaration of array contains a

Integer positive constant is
2015 size definition other than positive
expected
integer constant.

The start command can contain the

Only label or line number is start line definition. The start line
2016
allowed as start point definition can appear only as a label or
a positive line number.

The command contains a scalar

Scalar variable cannot be indexed variable followed by index
2018
or used with axis specification specification or prefixed by axis
specification.

2019 Write-only variable cannot be read

Read-only variable cannot be The command attempts to assign a

2020
assigned read-only variable.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

GOTO or CALL must specify a label

2021 Label was expected
name.

The command or function requires an

2022 Array name was expected array name as one of its arguments.
The array name must not be indexed.

The declaration specifies an illegal

variable name.
A variable name must begin with a
letter or underscore and can include
letters, digits and underscores.
2023 Variable name was expected A variable name must not include any
of the following:
l Keywords (IF, WAIT, SIN, etc.) or
standard variable names (FPOS,
MST, etc.)
l Standard label (AUTOEXEC).

GOTO or CALLspecify a label name that

2024 Undefined label
was not defined in the program.

The program contains two identical

2025 Duplicated label
labels.

The command contains a variable

2026 Undefined variable name name that was not declared in the
program.

The program declares two variables

2027 Duplicated variable name
with identical names.

The value of the XARRSIZE parameter

is limited to a maximum of 30,000
elements.

Number user array elements can The limitation applies also to two-
2030 not exceed the XARRSIZE dimensional arrays. The total number
parameter of elements in a two-dimensional
array is equal to the product of its
sizes by each dimension. The total
number of elements must not exceed
30,000.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

The program declares a global

Global of different type/dimension variable with the name that was
2031
was defined in other buffer already declared in other buffer with
different type or dimension.

The command or function call contains

2033 Mandatory argument is omitted
fewer arguments than required.

The command or function call contains

2034 More arguments than required
more arguments than required.

The command or function call contains

2035 Wrong argument type
an argument of incorrect type.

Function that does not return a

The expression cannot include a
2036 value cannot be used in
function that has no return value.
expression

This error refers to a logical check.

The command must specify an axis.
Axis specification can appear: as an
2037 Axis specification was expected
integer designation, like 0, 1, 32, or as
an expression that evaluates to an
integer within the range of 0 and the
number of axes in the system minus 1.

This error refers to a physical check.

The command must specify an axis
that physically exists.

2038 Axis specification was expected Axis specification can appear: as an

integer designation, like 0, 1, 32, or as
an expression that evaluates to an
integer within the range of 0 and the
number of axes in the system minus 1.

Array index must be a non-

2042
negative integer constant

2043 Internal error

The constant index value is greater

2044 Index is out of range than the array size minus one, or is
negative.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

The axis value specified by a

numerical constant is greater than the
2045 Illegal axis value
number of axes in system minus one,
or is negative.

The command requires a direction

Argument must be specified as +
2048 specification that must be presented
or - sign
by character + or -.

The command specifies a command

2049 Illegal suffix for this command option, which is illegal for this
command.

The command requires an argument

Name of standard variable was
2050 that specifies one of the ACSPL+
expected
variables.

The SET command must specify

assignment to one element of one of
Only APOS, RPOS, FPOS and F2POS the following variables: APOS, RPOS,
2051
are allowed in SET command FPOS, F2POS.
The variables must be in upper case.

The command requires an argument

that specifies a scalar variable or an
2052 Variable name was expected element of array.
A general expression or a constant is
not allowed for this argument.

The command requires an argument

2053 Constant argument was expected
that specifies a numerical constant.

The command must specify a constant

2054 Illegal buffer number buffer number. The constant must fall
in the range of from 0 to 15.

The command attempts to assign a

2055 Assigned value is out of range variable with a value that falls out of
the range allowed for the variable.

The command attempts to divide by

2056 Zero divide
zero.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

IMM must specify assignment to one

Only VEL, ACC, DEC, JERK, KDEC are
2057 element of one of the following
allowed in IMM command
variables: VEL, ACC, DEC, JERK, KDEC.

Bit selection cannot be applied to The bit selector is specified for a real
2058
real variable variable.

ELSE is specified without

2059 ELSE without IF corresponding IF (see IF, ELSEIF,
ELSE...END).

ELSEIF is specified without

2060 ELSEIF without IF corresponding IF (see IF, ELSEIF,
ELSE...END).

LOOP has no corresponding END (see

2061 LOOP without END
LOOP...END).

2062 DO without END

IF has no corresponding END (see IF,

2063 IF without END
ELSEIF, ELSE...END).

The application requires too much

memory.

2064 Memory overflow Reduce the number and size of the

local and global variables used in the
application, or use a more powerful
model of the controller.

The command must include an axis

Axis constant or axis expression in specification in parentheses, for
2065
brackets expected example: FMASK(4).16, where 4 is the
axis specification.

The axis specification includes too

2066 Too many axis specifiers
many axis specifiers.

An axis is specified more than The axis specification includes two

2067
once identical axis specifiers.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

The command must include a sign

specification. Each sign in the
specification defines a direction of one
involved axis.

Sign constant or sign expression in Sign specification can appear:

2068
brackets expected l As a sequence of sign
characters, like +, +-+, -+-+
l As a list of expressions
enclosed in brackets where (0,
1, 0) is equivalent to +-+.

The sign specification includes too

2069 Too many sign specifiers
many sign specifiers.

The command includes an unknown

2070 Unknown #-constant
symbolic constant.

The command does not allow the use

Local variable is not allowed in this of local variables. Only ACSPL+
2071
command variables and user global variables
that have been declared can be used.

WHILE has no corresponding END (see

2072 WHILE without END
WHILE...END).

WAIT, TILL, GOTO, CALL, RET, LOOP,

The specified commands cannot be
WHILE, ON, INPUT, AXISDEF,
entered through the SPiiPlus MMI
2073 ENCREAD, ACTIVATEAF,
Application Studio Communication
DEACTIVATEAF are not allowed in
Terminal.
immediate command

CONNECT must specify assignment to

Only RPOS variable is allowed after
2074 one element of one of the RPOS
CONNECT
variables.

MASTER must specify assignment to

Only MPOS variable is allowed
2075 one element of one of the MPOS
after MASTER
variables.

The command includes a constant bit

Constant bit selector is greater
2076 selector. The value of bit selector must
than 31 or less than 0
fall into the range from 0 to 31.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

The array name must be followed by

an index specification.
2077 Array name requires indexing
For a two-dimensional array, two
index specifiers are required.

The dynamic buffer contains too many

Current empty space in the commands queued for execution.
2078 dynamic buffer is not enough for The application must wait for the
the command controller to execute and remove one
or more commands from the buffer.

GOTO, CALL, RET, LOOP, WHILE, IF, Commands GOTO, CALL, LOOP...END,
2079 ON are not allowed in dynamic or WAIT, IF, ELSEIF, ELSE...END, ON...RET
JIT buffer cannot be used in the dynamic buffer.

Local variables cannot be used in a

Local variable declaration is not
2080 SPiiPlus MMI Application Studio
allowed in immediate command
Communication Terminal command.

Variable declaration is not allowed Variable declaration cannot be

2081
in dynamic or JIT buffer executed in a dynamic buffer.

The command requires file name

2082 Illegal string argument
specification.

The result of constant integer

expression is more than 2147483647
or less than -2147483648.
2083 Integer overflow Consider using real constants instead
of integer. To change constant type to
real, add decimal point to the end of
the constant.

Consider using real constants instead

Integer constants are allowed in
of integer. To change constant type to
2084 the range from -2147483648 to
real, add decimal point to the end of
+2147483647
the constant.

The controller is in the Protected

2085 Protection violation mode and the command violates one
of the protection rules.

Protection attribute cannot be

2086
changed for this parameter

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

Only constant 0 or 1 is allowed at The command allows only 0 or 1 to the

2087
the right side right of the equals sign.

SPiiPlus does not contain a dual-port

RAM. If the program has been
imported from an older non-NT
2088 No dual-port RAM in this controller
version and this error appears, delete
any DPR command (such as
COPYFROMDPR or COPYTODPR).

SPiiPlus does not contain a dual-port

RAM. If the program has been
Bit selection is not available for imported from an older non-NT
2089
DPR variable version and this error appears, delete
any DPR command (such as
COPYFROMDPR or COPYTODPR).

SPiiPlus does not contain a dual-port

RAM. If the program has been
Only global variables can be imported from an older non-NT
2090
defined in DPR version and this error appears, delete
any DPR command (such as
COPYFROMDPR or COPYTODPR).

SPiiPlus does not contain a dual-port

RAM. If the program has been
imported from an older non-NT
2091 DPR address must be specified
version and this error appears, delete
any DPR command (such as
COPYFROMDPR or COPYTODPR).

SPiiPlus does not contain a dual-port

RAM. If the program has been
Only even numbers from 128 to imported from an older non-NT
2092
504 are allowed as DPR address version and this error appears, delete
any DPR command (such as
COPYFROMDPR or COPYTODPR).

SPiiPlus does not contain a dual-port

RAM. If the program has been
imported from an older non-NT
2093 Collision with other variable in DPR
version and this error appears, delete
any DPR command (such as
COPYFROMDPR or COPYTODPR).

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

SPiiPlus does not contain a dual-port

RAM. If the program has been
DPR variable is not allowed in this imported from an older non-NT
2094
command version and this error appears, delete
any DPR command (such as
COPYFROMDPR or COPYTODPR).

The specified line number must be a

2095 Illegal line number
positive non-zero integer.

SPiiPlus does not contain a dual-port

RAM. If the program has been
Only even numbers from 128 to imported from an older non-NT
2096
1016 are allowed as DPR address version and this error appears, delete
any DPR command (such as
COPYFROMDPR or COPYTODPR).

2097 Illegal SP number Valid SP numbers are 0, 1, 2, and 3.

2098 Illegal SP variable specification Invalid SP variable was entered.

2099 Undefined SP variable Non-SP variable was entered.

2100 User-defined array was expected

2101 Illegal character constant

2102 Illegal tag

Tag can be specified only for global

2103
variables

2104 BLOCK cannot be nested See BLOCK...END.

2105 BLOCK without END See BLOCK...END.

2106 Illegal declaration

2107 Axis redefinition

2108 Assignment to constant Value has to be assigned to a variable.

ALL cannot be used in this

2109
command

2110 Ambiguous axis specification

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

2111 Illegal format of real constant

This function cannot be used as

argument of CONNECT, TRIGGER See CONNECT, TRIGGER or ON...RET (for
2112
functions, or in Autoroutine the autoroutine structure).
condition

Shared memory variables must be

2113
global

Shared memory variables can be

2114
declared only in the D-Buffer

Bit selector must be integer scalar

2115
or constant

No shared memory support in this

2116
controller

G-code programs execution

2117
requires option

CALL, CONNECT, MASTER are not

2118
allowed in D-buffer

Static/Constant variables can only

2119
be declared in the D-Buffer

2120 Static variable must be global

Static varaible of a different

type/dimension was already
2121
defined. Use #VGV command to
deallocate.

A Static variable of the same name

2122
is already defined

2123 A Static variable was expected

Dimension mismatch on array

2124
initilization.

Array Initialization is possible in D-

2125
Buffer only

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

Axes X, Y, Z cannot be defined as

2126
Rotary axes

2127 Closing curly bracket not expected

2128 Curly bracket expected

It is illegal to define a function

2129
inside another function

Function parameter definition

2130
expected

2131 Wrong function arguments

2132 Action not supported

Function signature does not

2133
conform to previous declaration

A parameter by the same name

2134
already exists

A function by that name already

2135
exists

A Function was defined but never

2136
implemented

A void/Composite type function is

2137
not applicable

A Function should not be defined

2138
as Static/Local/Global/Const

2139 Array dimensions mismatch

Array dimensions must be positive

2140
and known at compilation time

A variable by that name already

2141
exists

Function call is not allowed in a

2142
DISP statement

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

Only user defined primitive

2143 variables can be passed by
reference

Constant Parameters are not

2144
allowed

First array dimension should not

2145
be specified

A function was defined without a

2146
return statement

2147 Functions variable type expected

Structs can only be defined in D-

2148
Buffer

2149 Struct name was expected

Structs can only contain fields and

2150
functions

Structs can only be defined as

2151 global in D_buffer or local
otherwise

2152 Field is not recognised

2153 Field selection expected

2154 Global/Static not allowed

Struct Functions can only accept

2155
primitive types

Struct already has a property by

2156
that name

2157 Void type cannot be defined

Illegal definition of struct inside

2158
struct

All struct fields must be defined

2159
before functions

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

2160 Illegal array type

2161 Name Is Taken

2162 Illegal Field/Function defintion

2163 Illegal variable qualification

A Struct by that name already

2164
exists

2165 A return value was expected

The Type selected was not

2166
properly defined

Maximum number of structs

2167
reached

2168 Function name was expected

The function has already been

2169
implemented

Fastcall functions do not allow

2170 DISP/TILL/WAIT/Function Call/G-
Code operations

It is illegal for a name to start with

2171
{N/n}{0-9}

Only a D-Buffer FASTCALL function

2172 can be passed as parameter, all
parameters must be INT/REAL

2173 Trying to assign to read-only field

Trying to send a read-only field by

2174
reference

2175 The function does not conform

Default Value for function

2176
parameter missing

2177 Array default parameter must be 0

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

Default values can only be defined

2178
for INT/REAL/MATRIX/Arrays

Default parameters must be

2179
specified in declaration only

The increment operator can only

2180 be applied to an Integer type
variable

Dimension mismatch on matrix

2181
initialization.

2182 Illegal matrix operation.

The argument matrix must be

2183
square.

The second argument matrix must

2184
be square.

The matrices are not of the same

2185
size.

The first argument matrix columns

number does not match the
2186
second argument matrix rows
number.

2187 The result matrix size mismatch.

2188 Matrix was expected.

Operators concatenation is not

2189
allowed.

2190 Matrix type requires 2 dimensions.

Only ACSPL+ Standard Structs can

2191
be defined as static.

This Struct type must only define

2192
static variables

2193 Struct fields cannot be initialized

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

Some ACSPL commands cannot be

2194 used as function name, i.e. "DISP"
and "CONNECT"

Connect/Trigger expressions do
2195
not support user defined functions

Some parameters must have a

2196 fixed memory - Static user varaible
or standard ACSPL variable

Real time C function library

2197
requires option

Real time C function library can

2198
only be declared in D-Buffer

Real time C function library

2199
declarations not allowed in a struct

2200 Failed to load library

Real time C function library must

2201
be FASTCALL

Real time C function arguments

2202
cannot be structs

Real time C function cannot have

2203
ACSPL+ body

2204 Failed to load function

Only FASTCALL functions are

2205
applicable in this context

Number of real time C function

2206
libraries exceeds the limit

2207 No return value is expected

2208 Illegal SWITCH syntax used

2209 Illegal String syntax used

2210 Illegal String operation

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

2211 Illegal String definition

Function variables definition inside

2212 a syntactical structure is not
allowed

2213 Non Default CTor is not available

Illegal String operation - value too

2214
long

2215 Creating an instance is not allowed

Instances of this type must be

2216
defined as GLOBAL

Tool Center Point (TCP) control

2217
license required

Another Kinematics object already

2218
defined

User errors must be defined in D-

2219
Buffer only

User error number can not be

2220
redefined

User error number must be

2221
defined in the range [9001-9100]

2222 Array definition is not allowed

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

7.3 ACSPL+ Runtime Errors

The ACSPL+ runtime error code values range between 3000 and 3999.

Codes from 3000 to 3019, however, do not indicate an error. For example, code 3001
reports that the program is suspended and code 3002 reports that the user has
terminated the program.
Codes from 3020 to 3999 indicate run-time errors.

If an error occurs in immediate execution of ACSPL+ command, the error is indicated immediately in
the prompt. If an error occurs when an ACSPL+ program is executed in a buffer, no immediate
indication is provided. Instead, the error code and the line number are stored in the corresponding
elements of the PERL and PERL arrays.
Table 9-3. ACSPL+ Runtime Errors

Error
Error Message Remarks
Code

3001 The program is suspended

3002 The program was terminated by user

FPGA Upgrade Failed: No SYNC word in

3016
FPGA bitstream file

FPGA Upgrade Failed: FPGA image in flash

3017
contains CRC error

Initialization problem: Axes allocation does

3018
not match. System should be reconfigured

3020 Illegal subcommand

3021 SP command requires axis specification

3022 Illegal command

A command specifies an
3023 Read-only variable cannot be assigned assignment to a read-only
variable.

3024 Set variable cannot be reported

Time interval between two characters in

3025
command is more than 2 seconds

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error
Error Message Remarks
Code

Serial Number, Part Number, or Software

3026
Options were already specified

3027 Variable requires axis specification

A scalar variable cannot be

Scalar variable cannot accept axis
3028 prefixed with an axis
specification
specification.

3029 Extra characters after the command

3030 Too many parameters

3031 Illegal array in the array command

3032 Illegal data in array

3033 Illegal edit command

The command specifies an

3034 Illegal index value assignment to a read-only
variable.

The reason of the error is one

the following:
> The specified index
value is more or equal
to the number of
elements in the array
3035 Index is out of range > The specified index
value is negative
> The specified index
values are
incompatible (first
value in the range
greater than last).

3036 Internal error

The command requires

specification of a standard
3037 Illegal variable name variable name, but the
specified name is not a name
of an ACSPL+ variable.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error
Error Message Remarks
Code

3038 Wrong checksum in the command

Only one motion per axis can be planned in

3039
advance

The command specifies a file in

3040 Unable to open file the flash memory that does
not exist.

The command attempts to

assign the standard variable
3041 Assigned value is out of range
with a value that is out of the
range allowed for this variable.

3042 Operation failed because of exception

The command attempts to

start an ACSPL+ program that
has not been compiled. To
compile a program, in the
SPiiPlus MMI Application
Studio:
Program cannot start because the buffer > In the Program
3043
was not compiled Manager, right-click
the buffer and select
Compile Buffer, or
> Use the #nC command
in the Communication
Terminal, where n is
the buffer number.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error
Error Message Remarks
Code

The command attempts to

affect a running ACSPL+
program. Stop the program
before executing the
command. To stop a program,
in the SPiiPlus MMI Application
Studio:
Command cannot be executed while the
3044 > In the Program
program is running
Manager, right-click
the buffer and select
Stop Buffer, or
> Use the #nS command
in the Communication
Terminal, where n is
the buffer number.

The command includes an

ACSPL+ function that caused a
3045 Numerical error in standard function numerical error. Check if the
arguments of the function fall
into the allowed range.

The command caused a failed

write to flash memory. A re-
occurring error of this type
3046 Write file error
indicates a serious problem in
the controller hardware or
firmware.

The command caused a failed

read from flash memory. A re-
occurring error of this type
3047 Read file error
points to a serious problem in
the controller hardware or
firmware.

The POINT command specifies

more axes than were specified
3048 More axes than were defined in the motion
in the motion that the
command refers to.

3049 Axis already belongs to a group

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error
Error Message Remarks
Code

The command is incompatible

with a previously defined user-
defined axis group. The axes
specified in the command may
3050 Conflict with user-defined axis group
either belong to one user-
defined axis group, or may not
intersect with a user-defined
axis group.

The command specifies a line

3051 Line number is out of range number that does not exist in
the specified program buffer.

The command specifies an

illegal buffer number. The
3052 Buffer number is out of range controller has program buffers
numbered 0 to 15, where 15 is
the D Buffer..

The command addresses a

standard variable of a different
type from the variable
specified in the command.
This error never occurs when
the user communicates with
the controller through a
3053 Wrong type
communication terminal.
The error occurs only when an
application communicates with
the controller using the
SPiiPlus C Library. The error
indicates a communication
problem.

This type of motion is valid for single axis

3054
only

Command requires line number The command must contain a

3055
specification line number specification.

Parameter defining Master has illegal value

3056

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error
Error Message Remarks
Code

Previous superimposed motion is in

3057
progress

3058 Slave is not synchronized to master

Command PTP/V must specify velocity

3059
value

The memory management

3060 Illegal memory command command is improperly
formatted.

The command contains a non-

3061 ')' wasn't found
paired left bracket.

3062 Command is too long

The command addresses a

variable that is not declared in
3063 Variable is not defined in the buffer the specified buffer, or the
specified buffer is not
compiled.

The command addresses a

global variable that is not
3064 Undefined global variable declared in any buffer, or the
buffer that contains the
declaration is not compiled.

The command is in conflict

The command cannot be executed while with one or more of the
3065
the current motion is in progress currently executed motions. To
kill a motion use KILL/KILLALL.

3066 Attempt to compile or start empty buffer

3075 Name is not a standard or user variable

The motion command specifies

less coordinate values than
3091 Less arguments than required
required by the axis
specification.

The motion command specifies

more coordinate values than
3092 More arguments than required
required by the axis
specification.

The expression specified in the

Bit selector value is greater than 31 or less
3093 bit selector yields a value
than 0
greater than 31 or less than 0.

3094 Empty line range is specified

3095 No master-slave motion is in progress

The command includes a non-

3096 '}' was not found
paired left curly bracket.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error
Error Message Remarks
Code

The command attempts to

start a data collection while the
3097 Previous data collection is in progress
previous data collection for the
same axis is still in progress.

The motion command, which

includes a command option of
3098 Stalled motion requires limits specification stalled motion, requires
specification of the motion
limits.

The motion command includes

3099 Extra numbers after the command superfluous numerical
arguments.

3100 Received command has no message ID

The command attempts to

start a program from a
specified line when the
program is in suspended state.
A program in suspended state
can be only resumed from the
The program is suspended, the start line
3101 next line. The line specification
number is not allowed
is not allowed.
The only way to start a
suspended program from a
specific line is to stop the
program, and to start it again
from the desired line.

3102 Zero divide

3103 Invalid reference

3104 No ACSPL program is waiting for input

The command is incorrectly

3105 Format error
formatted.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error
Error Message Remarks
Code

The function that accesses SP

memory cannot be executed.

3106 SP function failed Check the address specified in

the function call. The address
must fall in the range of 0 to
511.

Current empty space in the dynamic buffer

3107
is not enough for the command

The command includes

specification of a real number
3108 Invalid real number
that cannot be interpreted as a
valid real number.

3109 The command is not allowed in SAFE mode

At least one variable must be specified for

3110
data collection

3111 Too long reply requested

The search command did not

3112 No matches were found
find any matches.

3113 The step in the table is zero or negative

3119 Integer overflow

The segmented motion must

always involve two axes. If a
user-defined group contains
The motion must involve the first two axes
3120 more than two axes, the
from the group
segmented motion must
involve the first two axes in
the group.

The command specifies an

3121 Unknown #-constant
unknown symbolic constant.

Bit selector cannot be applied

3122 Bit selection is not applicable
to a real value.

Value of bit selector must fall

3123 Illegal bit selector
into the range 0..32.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error
Error Message Remarks
Code

ENABLE/ENABLE ALL failed.

Additional information can be
3124 Attempt to enable motor failed obtained from the
corresponding element of the
MERR variable (motor disable
code).

The command caused

unsuccessful loading of an SP
3125 Error in SP program
program. The file with the SP
program contains an error.

The command specifies an

3126 Illegal SP number illegal SP number. Legal SP
numbers are from 0 to 3.

The command attempts to

open the buffer for editing or
to change the program in the
3127 Editing of this buffer is disabled buffer.
Editing of a buffer is disabled if
bit 1 of the corresponding
element of PFLAGS = 1.

Configuration changed. Commands SAVE

3128
and HWRES must be executed.

The command syntax requires

In binary command the name specification
3129 a name to be followed by the /
must end with /
(slash) character.

MPTP, MSEG, PATH are

followed by a number of the
point or segment commands -
Segment sequence for the previous
segment definition sequence.
3130 motion was not terminated with ENDS
The segment definition
command
sequence must be closed with
ENDS. See MPTP...ENDS,
MSEG...ENDS, and PATH...ENDS.

SP program is incompatible with one or

3131
more products

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error
Error Message Remarks
Code

READ specifies a file in the

flash memory that is not a
3132 The file is not a legal user data file legal user data file.
Only files created with WRITE
are legal user data files.

The array and the user data file

specified by READ contain data
of different types.
READ must specify an array of
the same type and dimension
as the array that was specified
Discrepancy in types of the saved and
3133 by the WRITE command that
restored arrays
created the file.
For example, the error occurs if
a real array was saved in the
file by WRITE, but READ tries to
load the file into an integer
array.

The array and the user data file

specified by READ are different
sizes.
Discrepancy in sizes of the saved and READ must specify an array of
3134
restored arrays the same type and dimension
as the array that was specified
by the WRITE command that
created the file.

Operation failed because of

3135
communication overload

The interval value specified by

or does not correspond to the
start and final points.
Wrong relation between first point, last
3136 For example, the error occurs if
point and interval
the final point is less than the
start point, but the step is
positive.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error
Error Message Remarks
Code

The command specifies a

number of analog outputs
3137 Illegal analog output number
which is not available in the
controller.

The command specifies an

analog output number that
3138 Incompatible SP and analog output
cannot be accessed in the
specified SP.

The controller tries to interpret

the string as a response to the
3139 Illegal input executed input command but
the string does not follow the
required format.

3140 The function is not supported

3141 Timeout

Check arguments against the

3142 Arguments are inconsistent specifications for the or
commands.

3143 Memory overflow

The command cannot be

3144 Simulator does not support this command
executed by the simulator.

SPiiPlus does not contain a

dual-port RAM. If the program
has been imported from an
The specified DPR address is less than 128 older non-NT version and this
3145
or exceeds the DPR size error appears, delete any DPR
command (such as
COPYFROMDPR or
COPYTODPR).

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error
Error Message Remarks
Code

SPiiPlus does not contain a

dual-port RAM. If the program
has been imported from an
older non-NT version and this
3146 Collision with other variable in DPR
error appears, delete any DPR
command (such as
COPYFROMDPR or
COPYTODPR).

Incomplete command (intrusion of other

3147
process?)

Requested more SINCOS encoder

3148
multipliers than installed

The SP address must fall in the

3149 Illegal SP address
range of from 0 to 512.

SPiiPlus does not contain a

dual-port RAM. If the program
has been imported from an
Only even numbers are allowed as DPR older non-NT version and this
3150
address error appears, delete any DPR
command (such as
COPYFROMDPR or
COPYTODPR).

The demo version of the

This is a DEMO version of Simulator. 5 Simulator has a limited session
3151
minutes of work remains. time. The simulator is going to
stop after five minutes.

The demo version of the

The DEMO version of Simulator has Simulator has a limited session
3152
terminated time. The session time has
elapsed.

3153 Illegal query command

Only PROJECTION, LINE, ARC1,

The command can be only used with MSEG ARC2, and STOPPER
3154
motion commands apply to
MSEG...ENDS.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error
Error Message Remarks
Code

In the Strict mode (S_

FLAGS.#FCLEAR = 1) the motion
Motion cannot start because the previous cannot start after a fault has
3155 occurred.
motion failed. Use FCLEAR command.
Use the command FCLEAR to
clear the result of the fault.

Profile key must be specified as

3156
/SECTION/KEY/

Illegal configuration string. Use only

3157
characters K,D,+,-.

Cannot find matching value. The formula

3158
has no root or the root is not single.

3159 Axis number is specified more than once

The axis cannot be used in a group (see

3160
AFLAGS)

3161 Illegal communication channel

3162 Illegal tag value

3163 Illegal configuration parameters

3164 Illegal password

Attempt to execute optional function

3165
which is not installed

Flash file operation failed (overlapped file

3166
operations?)

3167 Wrong start position is specified

3168 File not opened

D-Buffer cannot be changed while any

3169
other buffer is compiled

The number of axes in coordinated motion

3171
is restricted to 4

3172 Illegal category name

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error
Error Message Remarks
Code

3173 EtherCAT offset is out of range

3174 Can't find EtherCAT network variable

3175 EtherCAT Master is not ready

3176 Data size should be specified

3177 This slave has no mailbox support

3178 Invalid CoE SDO parameter

EtherCAT slave is in invalid state for this

3179
operation

3180 General EtherCAT error

3181 EtherCAT Timeout error

3182 Can't split non-existing axes group

Attempt to split group with active motion

3183
on

Mapped variable must be defined in D-

3184
Buffer

Number of connected EtherCAT devices is

3185
not covered by SW options

3186 Can't initialize SP injection

3187 There is an active injection on this SP

Can't enable motor, DIP switch settings are

3188
incorrect.

The command can only be used with XSEG

3189
motion

3190 PLC option on this device is not enabled

3191 PLC is already running

3192 General PLC error

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error
Error Message Remarks
Code

3193 Wrong array size or type

3194 Not allowed Encoder Type

Requested more absolute encoder

3195
multipliers than installed

Requested absolute encoder is not

3196
supported

The slave is incompatible with current

3197
controller configuration

3198 Invalid encoder type

3199 Invalid absolute encoder parameter type

JIT and Dynamic modes are not allowed for JIT and Dynamic modes are not
3200
D-buffer allowed for D-buffer

The ends command cannot be

3201 End-of-Sequence is illegal for this motion specified for this type of
motion.

JIT and Dynamic modes are not allowed at

3202
the same time

DEBUG mode is not allowed for JIT and

3203
Dynamic buffers

JIT and Dynamic modes require the buffer

3204
to be empty

3205 Illegal zone number

3206 Cannot change a constant variable

3207 One or more arguments are out of range

3208 Function ended without return statement

Entered a function not by calling, STOP

3209
statement might be missing

3210 Incompatible matrix size

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error
Error Message Remarks
Code

3211 Too many segments

ARC1 or ARC2 specify

inconsistent arguments. The
3212 ARC arguments are inconsistent
desired arc cannot be
calculated.

STOPPER cannot be used with

Stopper is prohibited for master-slave
3213 segmented MASTER - SLAVE
motion
motion.

Two adjacent STOPPER

3214 Adjacent stoppers are prohibited
commands are not allowed.

In a cyclic segmented motion,

the first point of the first
In cyclic path the first and the last points
3215 segment must coincide with
must coincide
the last point of the last
segment.

Velocity argument can be

specified in POINT, LINE, ARC1
Velocity is specified, but the motion
3216 or ARC2 only if the
command had no V command option
corresponding motion
command specifies /v.

Segments of zero length are

3217 Segment of zero length
not allowed.

The radius is less than

3218 ARC radius is too small
XSEGRMIN

3219 Specified motion delay is out of range

3220 Command is incompatible with connect

20 KHz motion generation incompatible

3221
with CTIME or number of axes

3222 20 KHz motion limitation reached

Time specified is not possible under current

3223
motion safety limitations

3224 Offset doesn't exist

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error
Error Message Remarks
Code

3225 Microblaze monitor is not ready

3226 Address couldn't be found

Maximum number of Registers was

3227
already added

3228 Firmware is not properly installed

SLABITS does not match Single Turn and

3229
Multi Turn number of bits

Non Linear Control Feature is not

3230
supported

The Key argument of the

GETCONF or SETCONF
3231 Illegal key command specifies a value
that is not supported in this
controller.

The Index argument of the

GETCONF or SETCONF
3232 Illegal index command specifies a value
that is not supported in this
controller.

The Value argument of the

SETCONF command specifies a
3233 Illegal value
value that is not compatible
with the Key argument.

For the specified Key only 0 or

3234 Value in SETCONF must be 0 or 1 1 are legal in the Value
argument. of SETCONF

The specified SETCONF

3235 SETCONF function is disabled function is disabled in the
current controller mode.

The specified SETCONF

SETCONF cannot be executed while the
3236 function cannot be executed
motor is enabled
while the motor is enabled.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error
Error Message Remarks
Code

The operation can be executed only when

3238
the HSSI channel is in command mode

HSSI channel cannot switch to command

mode because it affects one or more
3239
remote drivers. Reset corresponding
MFLAGS.#HSSI bits before.

3240 Operation is temporarily disabled

3241 Operation failed

3242 The feature is not supported

Max number of 20 KHz moving axes

3243
reached

3244 Illegal number of coordinates specified

The specified channel is already being

3245 used. Please use the MBCLOSE function to
close the connection

3251 Operation is temporarily disabled

3266 Invalid PEG pulse width

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error
Error Message Remarks
Code

Maximal number of time-based PEG pulses

3267
is 65,535

3268 Invalid period of time-based PEG pulses

PEG pulse width must be less than time-

3269
based pulse period

3270 PEG is not supported for the specified axis

3271 Step does not agree with start/end points

Incremental PEG step must correspond to

3272 encoder counts within the (-2^31, 2^31-1)
range, zero is excluded

The specified axis does not exist in this

3273
controller model

The specified axis is defined as dummy

3274
only

Only stepper motor is supported for the

3275
specified axis

The brushless motor is not supported for

3276
the specified axis

Dual loop control is not supported for the

3277
specified axis

Remote HSSI driver is not supported for the

3278
specified axis

PEG states are not supported for the

3279
specified axis

The stepper motor is not supported for the

3280
specified axis

3281 No Hall support for 2-Phase motors

3282 Value out of range

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error
Error Message Remarks
Code

Number of points for Random PEG exceeds

3283
the limit

3284 Axis is not connected to PEG engine

NanoMotion Piezoceramic Motor is not

3285
supported for the specified axis

Fast Sin-Cos Encoder is not supported for

3286
the specified axis

Laser Modes are not supported for the

3287
specified axis

Time-based PEG is not supported for the

3288
specified axis

This function is not supported for the

3289
specified axis

SPINJECT/SPRT and Fast GPRT cannot be

3290
used in parallel

3291 P/D interface is required for this function

3292 Secondary Feedback is not supported

SLABITS does not match Single Turn and

3293
Multi Turn number of bits

Motion cannot start because the Gantry

3294 Complementary brushless motor is not
commutated

Commut is not allowed when cross axis

3295
compensation is in process

3298 Array name requires indexing

3299 Secondary protection must be removed

3300 Non Linear Control License is required

3301 Another EtherCAT port is already closed

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error
Error Message Remarks
Code

Not possible to save network topology

3302 configuration when more than one line
break exists

ERROR SDO: Object does not exist in the

3303
object dictionary.

The value is too high (check E_PAR_D

3304
value)

The network variable is already mapped to

3305
ACSPL+ variable

3306 Invalid axis list

3307 FoE Protocol is not supproted by Slave

3308 The Disk is full or the file is too big

3309 Function supported only by CiA402 Drive

CiA402 Drive is not in OP State. PDO is not

3310
enabled.

3311 Cannot convert REAL type to INT

More than one hold command is not

3312
allowed

3313 Continue command is already in process

Requested Homing Method is not

3314
supported

Not enough memory - too many function

3315
calls

Homing in Gantry mode requires additional

3316
parameters

3317 FoE Error: Access denied

3318 Matrix is not invertible

3319 PI AME interface is not initialized

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error
Error Message Remarks
Code

3320 PI AME interface is busy

The gantry axes must be commutated to

3321
start the cross-axis compensation

Homing of the cross-axes and the gantry

3322 axes is required for starting the cross-axis
compensation

3323 DCOM is not 0

3324 Parameters are not consistent

3325 Main FPGA file downloading is in progress

3326 Operation aborted, PEG is in process

3327 FPGA versions do not match

FPGA version is the same. FPGA Upgrade

3328
aborted.

Invalid value, digital input index should

3329 range between 0-99 and bit index should
range between 0-31

Invalid value, digital output index should

3330 range between 0-99 and bit index should
range between 0-31

This output is already mapped as a

3331
mechanical brake to a different axis

Hardware limit swapping

3332 (MFLAGSX.#HLIMSWAP) and limit routing
are mutually exclusive

3333 File name MAX length is 100 chars

Operation failed because Learning Boost is

3334
active

3335 Illegal SPATH specification

3336 Nurbs motion was not initiated

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error
Error Message Remarks
Code

3337 Illegal NURBS/SPATH parameter value

Profile has ended or last knots already

3338
added

3339 Invalid number of axes

Dummy point must also specify a Knot

3340
value

Illegal dummy point, two points are

3341
allowed before coordinates and two after

The measurement you are trying to

activate is already active. (see DPM_
3342
Measurement Stop() function for more
details)

An invalid sample type has been specified.

Type can either be 0 or 1. (see DPM_
3343
Measurement sample type for more
details)

The sampling time specified is invalid, the

minimum value is the controller cycle time
3344
(?CTIME) and the maximum value is:
100000000msec

The sample-set size specified is invalid.

3345
Minimum size: 1. Maximum size: 512.

The specified "when_to_measure" flag is

3346 invalid. (see DPM_Measurement
documentation for more details)

The measurement you are trying to

activate is paused. (see DPM_
3347
Measurement Stop()/Resume() functions
for more details)

Cannot change the selected axis while

monitoring is ON. (see DPM_Motion_Status
3348
SelectAxis()/MonitorOff() functions for
more details)

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error
Error Message Remarks
Code

The specified "monitored_variable" is

3349 invalid. (see DPM_Measurement
documentation for more details)

3350 Illegal attempt to copy STRING

3351 Illegal String operation - value too long

DCOM value cannot be changed during

3352
Gantry Cross Axis Compensation

Cross Axis Force Ratio parameter is out of

3353
range

Number Of Cross Axes parameter is out of

3354
range

3355 Cross Axis Index parameter is invalid

Cross Axis Polarity parameter is out of

3356
range

Cross Axis Mass Ratio parameter is out of

3357
range, should be [0..1]

Cross Axis Max Position and Cross Axis Min

3358
Position are not consistent

3359 Yaw Axis Index parameter is invalid

3360 LCI unit initialization failed

3361 Unable to start the LCI operation

3362 Trajectory axes are not defined

3363 LCI Safety input is off

3364 LCI laser fault input is on

3365 LCI supported velocity limit exceeded

3366 LCI unit not found

LCI. Unable to allocate channel for specified

3367
operation

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error
Error Message Remarks
Code

3368 LCI function timeout

3370 Cross-Axis compensation is already active

Enabling the gantry axes is required for

3371
starting the cross-axis compensation

3372 Gantry Mode is required

Compensation for the specified axis is

3373
already in process

The force ratio is too [Link] the cross

3374 masses symmetrically around the center of
gravity

The specified IP address is invalid. Please

3375 see MBOPEN documentation for more
details.

The specified server ID is invalid (valid

3376 values are between [1 - 247]). Please see
MBOPEN documentation for more details.

The specified word-order is invalid. (valid

values are 0 for big-endian and 1 for little-
3377
endian) Please see MBOPEN
documentation for more details.

Unable to open more than 3 Modbus

3378 connections at any given time. Please see
MBOPEN documentation for more details.

The specified communication handle is

3379
invalid.

A connection with the specified IP was not

3380
found.

3381 The specified address is invalid.

The specified request frequency is invalid.

the minimum value is 5 milliseconds.
3382
Please see the documentation for more
details.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error
Error Message Remarks
Code

The specified variable length and the

specified number of elements do not
3383
match. Please see the documentation for
more details.

The specified suffix combination is invalid.

3384 Please see the documentation for more
details.

3385 Read-Only variables cannot be written.

3386 The specified request ID is invalid.

The specified variable(or part of it) is

already being written to by another
3387
Modbus request. Use #MBMAPREP for
more details.

The specified server address is already

3388 being written to by another Modbus
request. Use #MBMAPREP for more details.

The specified number of elements is

greater than the specified variable length.
3389
Please see the documentation for more
details.

The maximum number of integer values

that can be "mapped" in a single request is
3390
16. Please see the documentation for more
details.

The maximum number of short values that

can be "mapped" in a single request is 32.
3391
Please see the documentation for more
details.

The maximum number of single-precision

floating-point values that can be "mapped"
3392
in a single request is 16. Please see the
documentation for more details.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error
Error Message Remarks
Code

The maximum number of double-precision

floating-point values that can be "mapped"
3393
in a single request is 8. Please see the
documentation for more details.

The maximum number of coil values that

can be "mapped" in a single request is 32.
3394
Please see the documentation for more
details.

The maximum number of discrete input

values that can be "mapped" in a single
3395
request is 32. Please see the
documentation for more details.

Failed to establish a connection with the

3396
specified server device.

The maximum number of mapping

3397 requests per server is 32. Please see the
documentation for more details.

A connection with the specified IP is

already open and with different
3398 configuration parameters. To change the
connection parameters, close and open a
new connection.

The specified Modbus channel operates in

sequential mode. This mode does not
support user-defined request frequency.
Each request is sent after a response for
3399
the previous one has arrived, but no less
than 10 milliseconds from the last time it
has been sent. Please see the
documentation for more details.

The Array is already used by another DC

3400
command

All axes must be executed on the same

3401
core

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error
Error Message Remarks
Code

The minimum value can not be greater

3410 than the maximum value. Please see the
documentation for more details.

G-code: Run-time errors were detected

during the program execution in simulation
3411
mode. Use the #LOGP <buffer number>
command to present the detected errors.

3412 This motion type is not supported

The supplied correction maps (2-

dimensional arrays) should have the same
3413
dimensions. Please see the documentation
for more details.

The Specified referenced axes/analog

3414 inputs are invalid. Please see the
documentation for more details.

3415 Internal error

3416 Stage model dll is not loaded

Stage model dll's name does not match the

3417
stage model implemented by the dll

3418 Invalid number of virtual axes

3419 Invalid number of physical axes

3420 Virtual axis index is out of range

3421 Physical axis index is out of range

3422 Virtual and machine axes conflict

3423 Tool length index is out of range

3424 Fixture offset index is out of range

Sync positions array must be set when

3425
feedback transform is not supported

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error
Error Message Remarks
Code

Custom virtual axes must be set in this FW

3426
version

Custom virtual axes must be set for 128

3427
axes systems

3428 Not implemented feature

3429 Physical axes must be set

3430 Kinematics object is not defined

Tool Center Point (TCP) control license

3431
required

3432 Stage Model Library is invalid

3433 Another Kinematics object already defined

The data structure stored in file does not

3436
conform to read type

3437 Not valid node index

3438 Not valid PEG engine index

3439 PEG structure is not initialed

TW29 interpolator for requested axis is not

3446
connected

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

7.4 Errors
Motion Termination error code values range between 5000 and 5150.

Codes from 5000 to 5008, however, do not indicate an error. They report normal
motion termination.

Codes from 5009 and higher appear when a motion is terminated or a motor is disabled
due to a fault detected by the controller.

When a motion terminates abnormally, or a motor is disabled, the error code is stored in the MERR
variable. If there is an initialization fault during startup, the error code is stored in the S_ERR variable.
Table 9-4. ACSPL+ Motion Termination Errors

Error
Error Message Remarks
Code

Motion has not

5000 Motion was terminated before reaching final point.
finished

Motion generation The motion came to the final point and was
5001
finished successfully completed.

Motion was killed by

5002
user

Motion was The motion was terminated by HALT before the

5003
terminated by user final point was reached

Motor was disabled by

5004 The motion was disabled by DISABLE/DISABLEALL.
user

Motion was
5005 terminated because a The motion was disabled by DISABLE/DISABLEALL.
motor was disabled

The motion was terminated by KILL/KILLALL before

5006 Motion was killed
the final point was reached

Motor was disabled If a fault occurs in an axis disabling the motor

5007 due to another motor thereby disabling other motors, code 5007 is stored
becoming disabled in the MERR variable for all affected axes.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error
Error Message Remarks
Code

If a fault occurs in an axis killing the motion of a

Motion was killed due
motor thereby killing the motion other motors,
5008 to another motion
code 5008 is stored in the MERR variable for all
being killed
affected axes.

Common motion failed

5009

5010 Hardware Right Limit The motion was killed because of a right limit fault.

5011 Hardware Left Limit The motion was killed because of a left limit fault.

Check EtherCAT Cables for conituity, check ECERR

variable, make sure no loose connections, Run
5012 Network Error System Viewer and Diagnostics and check Error
Registers for possible CRC errors on specific
network nodes to identify failure point.

The motor was disabled or the motion failed

5014 Motor Overheat
because of an overheat fault.

The motion is killed because of a software right

5015 Software Right Limit
limit fault.

The motion is killed because of a software left limit

5016 Software Left Limit
fault..

The motor was disabled because of an encoder not

connected fault. Note how error is caught in
Encoder 1 Not
5017 hardware. Difference between A,A- or B,B-
Connected
differential signal. If A=A- Error is thown. Check
continuity of cable pinouts.

The motor was disabled because of an encoder 2

not connected fault. Note how error is caught in
Encoder 2 Not
5018 hardware. Difference between A,A- or B,B-
Connected
differential signal. If A=A- Error is thown. Check
continuity of cable pinouts.

The motor was disabled because of a drive alarm

5019 Drive Fault
fault.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error
Error Message Remarks
Code

The motor was disabled or the motion failed

because of an encoder error fault. For Quadrature
and SinCos encoders the signal monitors the logical
state transition between A,B signals. For contiuous
motion the transition should be {[1,0],[1,1],[0,1],[0,0]}.
5020 Encoder 1 Error
If the transition ever skips states it indicates count
loss. For Absolute encoders check configuration
parameters. Problem could stem from signal
contiuity or induced noise. Ensure head alignment
and tape is clean.

The motor was disabled or the motion failed

because of an encoder 2 error fault. For Quadrature
and SinCos encoders the signal monitors the logical
state transition between A,B signals. For contiuous
motion the transition should be {[1,0],[1,1],[0,1],[0,0]}.
5021 Encoder 2 Error
If the transition ever skips states it indicates count
loss. For Absolute encoders check configuration
parameters. Problem could stem from signal
contiuity or induced noise. Ensure head alignment
and tape is clean.

The motor was disabled or the motion failed

5022 Non-Critical Pos. Error
because of a position error fault.

The motor was disabled or the motion failed

5023 Critical Position Error
because of a critical position error fault.

The motor was disabled or the motion failed

5024 Velocity Limit because of a velocity limit fault. See ACSPL+
variable XVEL(axis)

The motor was disabled or the motion failed

5025 Acceleration Limit because of an acceleration limit fault. See ACSPL+
variable XACC(axis)

The motor was disabled or the motion failed

because of an overcurrent fault. Ensure stability of
system. User can monitor servo processor
Drive/Motor variables: SP#(dsp#) Current Command axis axis _
5026
Overcurrent number, or SP#(dsp#) Phase q current axis_number
in the scope to establish when current ramps up.
Error is triggered exceeding XCURI, XCURV, XRMSM,
XRMSD values.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error
Error Message Remarks
Code

The motor was disabled or the motion failed

because of a servo processor alarm fault.

5027 Servo Processor Alarm

Activated when an axes does not have
a physical drive associated to it.

The motor was disabled because STO not

5028 Safe Torque Off
connected.

5030 HSSI Not Connected

5031 Broken Wire

Attempt of motion
5032
while a fault is active

The motion is killed because of an attempt to move

to left direction when the Left Limit or Left
Attempt of motion in Software Limit fault is On, or move to right direction
5033
disabled direction when the Right Limit or Right Software Limit fault is
On. User can verify proper encoder count direction
in "Verification" page in the Adjuster Wizard.

See GETCONF(76,index) in Command and Variable

5034 MPU Overheat
Reference Guide

The motor was disabled or the motion failed

5035 Program Error
because of a program error fault.

The motor was disabled or the motion failed

5036 Memory Overflow
because of a memory overuse fault.

The motor was disabled or the motion failed

because of a time overuse fault. For case of XSEG
use user should ensure each segment does not
execute in less than minimum time given in the
5037 MPU Overuse SpiiPlus Release notes section: "Controller Cycle
Time (CTIME) Support" for the given controller. User
can also monitor Usage related variables given in
the SpiiPlus Command and Variable reference
guide.

Hardware Emergency The motor was disabled because of an emergency

5038
Stop stop fault.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error
Error Message Remarks
Code

The motor was disabled or the motion failed

5039 Servo Interrupt
because of a servo interrupt fault.

The motor was disabled or the motion failed

5041 Component Failure because of power supply failure or not supplied
bus voltage

Motor was disabled due to hall error. User can

monitor ACSPL variable SLSTHALL or use the hall
Motor was disabled
5042 monitor in "Verification" portion of the Adjuster
due to hall error
Wizard to ensure all hall states are read. Check
continuity of cable.

Motion was killed due

5043 to external profile
error

5044 External Network Error External network error

Motor was disabled

5045 Motor was disabled due to SYNC loss
due to SYNC loss

Motion was disabled

5046 Motor was disabled due to GPRT overflow
due to GPRT overflow

The axis remains in

5047
HOLD state.

Ensure stability of system. User can monitor servo

processor variables SP#(dsp#) Current Command
axis axis _number, or SP#(dsp#) Phase q current
5048 Motor Overcurrent
axis_number in the scope to establish when
current ramps up. Error is triggered exceeding
XCURI, XCURV, XRMSM, XRMSD values.

User can monitor servo processor variables: SP#

(dsp#) Current Command axis axis _number, or SP#
5049 Drive Overcurrent (dsp#) Phase q current axis_number in the scope to
establish when current ramps up. Error is triggered
exceeding XRMSD value.

5050 Safe Torque Off STO Error

Safe Torque Off: STO_1

5051 STO1 24V source disconnected
24V

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error
Error Message Remarks
Code

Safe Torque Off: STO_2

5052 STO2 24V source disconnected
24V

Safe Torque Off: STO_1

5053 STO1 and STO2 24V sources disconnected
24V and STO_2 24V

Safe Torque Off: SS1_1

5054 SS1-1 5V source disconnected
5V

Safe Torque Off: SS1_2

5055 SS1-2 5V source disconnected
5V

Safe Torque Off: SS1_1

5056 SS1-1 and SS1-2 5V sources disconnected
5V and SS1_2 5V

Safe Torque Off: SS1 See Timing Error section in STO Application Note for
5057
Timing Error more details.

5060 Driver Alarm Drive alarm: No fault

The motor was disabled or the motion failed

because of a short circuit condition in the drive.
Driver Alarm: Short Measure resistance of motor phases to ensure no
5061
circuit physical short in motor or cable. Error is triggered
by rapid increase in SP#(dsp#) Phase q current axis
axis_number

The motor was disabled or the motion failed

Driver Alarm: External
5062 because of an external protection condition in the
protection activated
drive.

The motor was disabled or the motion failed

Driver Alarm: Power
5063 because of a power supply too low condition in the
supply too low
drive.

The motor was disabled or the motion failed

Driver Alarm: Power
5064 because of a power supply too high condition in
supply too high
the drive.

The motor was disabled or the motion failed

Driver Alarm:
5065 because of a power supply too high condition in
Temperature too high
the drive.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error
Error Message Remarks
Code

The motor was disabled or the motion failed

Driver Alarm: Power
5066 because of a power supply 24VF1 condition in the
supply 24VF1
drive.

The motor was disabled or the motion failed

Driver Alarm: Power
5067 because of a power supply 24VF2 condition in the
supply 24VF2
drive.

The motor was disabled or the motion failed

Driver Alarm:
5068 because of an emergency stop condition in the
Emergency stop
drive.

Driver Alarm: Power The motor was disabled or the motion failed
5069
Down because of a power-down condition in the drive.

Driver Alarm: Phase

5070
Loss

Driver Alarm: Drive not

5071
ready

Driver Alarm:
5072
Overcurrent

5073 Driver Alarm: Reserved

Driver Alarm: Dumper

5074
fault

The motor was disabled or the motion failed

Driver Alarm: Digital
because of a Digital Drive Interface Not Connected
5075 Drive Interface not
condition in the drive. Check the cable connections
connected
to the drive.

Driver Alarm: Drive

5076
Saturation

Driver Alarm:
5077 Regeneration module
fault

Driver Alarm: Internal

5078
module fault

5080 Component Failure

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error
Error Message Remarks
Code

Component Failure:
5081
Power supply 0 fault

Component Failure:
5082
Power supply 1 fault

Component Failure:
5083 Regeneration module
fault

The motor was disabled due to excessive high

voltage of the Power Supply. To correct this, either
Component Failure:
5084 reduce the motor speed. Or, in the case of PSM3U 8
Power supply too high
Kw or 10 Kw being installed, connect an External
Regeneration (see MC4U Hardware Guide).

The motor was disabled, the Power Supply

temperature is too high. Check that the unit cooling
Component Failure:
5085 fans are working, if not, replace the cooling fans.
Temperature too high
Make sure that the air flow around the unit is clear
of any obstructions.

Component Failure:
5086
Unknown error

Component Failure:
5087
Unknown error

Component Failure:
5088
Unknown error

Indicates missing 3 phase 230VAC servo supply

Component Failure:
5089 voltage. Check that the AC input voltage is
Power down
connected correctly.

This applies only to 3-phase AC input power. In the

event that one of the AC input supply phases is lost
or one of the AC input fuses is blown all axis drivers
which are supplied by this power supply are
Component Failure: disabled.
5090
Drive supply phase lost

Make sure that the JP6 jumper is installed in

thePSM3U-320V-XXkW board if a three- phase
input supply is used.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error
Error Message Remarks
Code

Component Failure:
This is caused by the inrush power protection
Power supply not
detector. It temporarily suspends the power input.
5091 ready. Try to enable
Wait for a few seconds for the power to normalize
axis again within 10
before starting.
seconds

Component Failure:
5092
Unknown error

Component Failure:
5093
Unknown error

Component Failure: There is a failure in the damper circuit in the Power

5094 Power supply damper Supply. There may be a short in the External
not OK Regeneration, or Internal Regeneration.

Component Failure:
5095
Unknown error

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error
Error Message Remarks
Code

At the beginning of the enable process the

controller measures the current and calculates an
average bias (offset). If the result is greater than
the predefined maximum value (2% of maximum
output), the controller generates the error and axis
remains disabled. 1. The first thing to check is if the
drive has STO. If 24V is not connected to STO inputs,
the drive will always measure offsets of 100% (in
case of our high voltage units). This is because the
bootstrap mechanism needed to charge the
current loop measurement circuits doesn’t work (it
requires transistors to be ON). This is the most
common case of such fault.
2. If that’s not the case - Check if motor was moving
during the enable process
Try to disconnect the motor and see if the results
Current bias measured
5100 are different
is out of range
3. Check the value of SLBIASA, SLBIASB. If non of
the above, and it’s more than 5% it usually
indicates a problem. Usually it’s much less. If you
see very big values (>50%) and surely indicates a
problem with the drive.
If offsets are smaller than 10%, there is still a way to
increase the threshold of the protection.
SETCONF(207, axis, threshold in %) will allow you to
increase the threshold of the “current bias out of
range protection”. Not recommended to use if
offsets are too big,
4. Don’t disable the automatic measurement in this
case. A very big offset indicates that something is
wrong with the drive and better not try to work like
that.

Error occurs if COMMUT fails. The error indicates

wrong phase sequencing, or incorrect
commutation parameters. To avoid this error it is
Autocommutation recommended that the initial commutation be
5101
failure (phase error) performed from the Adjuster. The Adjuster
commutation program verifies the phase sequence
and commutation parameters. This must be done
before COMMUT is executed.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error
Error Message Remarks
Code

Error occurs if COMMUT fails. The error indicates bad

or marginal servo tuning, or incorrect commutation
Autocommutation
5102 parameters. To prevent this error make sure that
failure (position error)
the axis is properly tuned - use the Adjuster Wizard
or FRF Analyzer.

ENABLE is prohibited
5103 while Constant Current
is ON

ENABLE failed because ENABLE cannot be executed whenever the motor

5104
the motor is moving is in motion (see ENABLE/ENABLE ALL).

5105 Unknown error

5106 EtherCAT node failure

The axis uses a

5107 licensed servo feature
that is not allowed

Number of axes that

use licensed servo
5108
feature exceeds the
number allowed

Current bias
measurements
5109
process was not
completed

Command failed due

5110
to transaction timeout

ENABLE failed because

5111 the system need to be
reconfigured

Encoder Error: CRC

5121
Error

5122 Encoder Error: Busy

Encoder Error: Encoder

5123
Not Ready

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error
Error Message Remarks
Code

Encoder Error: Timeout

5124

Encoder Error: FPGA

5125
File not found

Encoder Error: Error

5126
Flag

Encoder Error: An
internal incompatibility
5127 was detected. Full
system upgrade is
required.

Encoder Error:
5128
Watchdog

5130 Safety Zone Fault

7.5 Encoder Errors

Table 9-5. Encoder Errors

Error Code Error Message Remarks

Encoder Error: CRC Result of CRC check of the received

5121
Error value

Indicates that encoder is busy -

5122 Encoder Error: Busy
specifics depend on encoder brand

Endat: The status register is not

Encoder Error: completely updated. Not All checks
5123
Encoder Not Ready have been performed. Data
transmission is not yet completed.

Encoder Error:
5124
Timeout

FPGA file is missing, therefore, the

Encoder Error: FPGA
5125 Absolute Encoder for the required
File not found
axis cannot be operated.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error Code Error Message Remarks

Encoder Error: Error

5126 Error
Flag

Encoder Error: An
internal
5127 incompatibility was
detected. Full system
upgrade is required.

Encoder error:
5128
Watchdog

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

7.6 System Errors

System Errors error code values range between 5151 and 5999. They are generally caused by
problems with the firmware of the servo processor (SP) program.
Table 9-6. ACSPL+ System Errors

Error
Error Message
Code

5151 Integrity of the firmware or user application is broken

5152 Initialization problem: Main Interrupt is not detected

5154 Initialization problem: Main Interrupt period is wrong

5156 Initialization problem: Main Interrupt Event cannot be created

5158 Initialization problem: SP initialization failed

5160 Initialization problem: SP program activation failed

5162 Initialization problem: SP and MP are not synchronous

5163 Initialization problem: EthernetIP initialization failed.

5164 Initialization problem: Improper controller card is detected

5165 Initialization problem: Improper configuration file is detected

5166 Initialization problem: SP is not detected by hardware

Initialization problem: Number of drive modules does not meet the

5167
configuration

5168 Initialization problem: Drive Interface is not connected

Initialization problem: One or more parameters are out of range for the current
5169
controller configuration (See #LOG for details). Default values are assigned

Initialization problem: One or more EEPROM parameters are different from the
5170
current controller configuration. Values from EEPROM are assigned

5171 Initialization problem: One axis attached to two drives in configuration file

Initialization problem: Nominal current parameter in configuration file is

5172 different from the current controller configuration. Value from EEPROM is
assigned

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error
Error Message
Code

Initialization problem: Peak current parameter in configuration file is different

5173
from the current controller configuration. Value from EEPROM is assigned

Initialization problem: Power parameter in configuration file is different from the

5174
current controller configuration. Value from EEPROM is assigned

Initialization problem: Voltage (min or max) parameter in configuration file is

5175 different from the current controller configuration. Value from EEPROM is
assigned

Initialization problem: Type parameter in configuration file is different from the

5176
current controller configuration. Value from EEPROM is assigned

Initialization problem: Number of subsystems parameter in configuration file is

5177 different from the current controller configuration. Value from EEPROM is
assigned

Initialization problem: Component was detected by I2C but was not found in
5178
configuration file

Initialization problem: Slave address parameter in configuration file is different

5179
from the current controller configuration. Value from EEPROM is assigned

Initialization problem: Drive number parameter in configuration file is different

5180
from the current controller configuration. Value from EEPROM is assigned

Initialization problem: RMS protection time constant parameter in configuration

5181 file is different from the current controller configuration. Value from EEPROM is
assigned

Initialization problem: Number of axes parameter in configuration file is

5183 different from the current controller configuration. Value from EEPROM is
assigned

Initialization problem: One of digital inputs parameters in configuration file is

5184 different from the current controller configuration. Value from EEPROM is
assigned

Initialization problem: One of digital outputs parameters in configuration file is

5185 different from the current controller configuration. Value from EEPROM is
assigned

Initialization problem: One of analog inputs parameters in configuration file is

5186 different from the current controller configuration. Value from EEPROM is
assigned

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error
Error Message
Code

Initialization problem: One of analog outputs parameters in configuration file is

5187 different from the current controller configuration. Value from EEPROM is
assigned

Initialization problem: Number of HSSI channels parameter in configuration file is

5188 different from the current controller configuration. Value from EEPROM is
assigned

5189 Initialization problem: Unit ID is wrong. The unit definition is ignored

5190 Initialization problem: Number of nodes does not meet the configuration

5191 Initialization problem: Number of axes does not meet controller options

5192 Initialization problem: Incorrect DIP switch settings

5193 Initialization problem: Firmware is not properly installed

Initialization problem: One or more EtherCAT nodes are incompatible with

5194
current controller configuration

Initialization problem: One or more EtherCAT nodes are incompatible with

5195
current controller cycle time (CTIME)

Initialization problem: One or more EtherCAT nodes are incompatible with Ring
5196
Topology

Initialization problem: Cycle time of one or more EtherCAT nodes is different

5197
from the controller cycle time (CTIME). System should be reconfigured

Initialization problem: One or more EtherCAT nodes are incompatible with ENI.
5198
System should be reconfigured

Initialization problem: One or more Gantry pairs were changed. Controller reboot
5199
is required

Initialization problem: Axes allocation does not match. System should be

5200
reconfigured

Initialization problem: Wrong range of input parameters. Servo Processor

5201
program activation failed

5202 Initialization problem: File not found. Servo Processor program activation failed

5203 Initialization problem: Read file error. Servo Processor program activation failed

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error
Error Message
Code

Initialization problem: Memory allocation error. Servo Processor program

5204
activation failed

Initialization problem: Checksum error. Servo Processor program activation

5205
failed

5206 Initialization problem: EtherCAT error. Servo Processor program activation failed

Initialization problem: EtherCAT timeout. Servo Processor program activation

5207
failed

Initialization problem: Servo Processor program is incompatible with one or

5208
more products

7.7 EtherCAT Errors

EtherCAT errors range from 6000 to 6999 and are latched in the ECERR variable.
Table 9-7. ACSPL+ EtherCAT Errors

Error
Error Message Remarks
Code

General EtherCAT Error.

General EtherCAT Error. Check #LOG output for
6000 Check #LOG output for
more details.
more details.

EtherCAT cable not Check that the EtherCAT connections are firmly
6001
connected seated.

On start up all slaves did not succeed to initialize

EtherCAT master is in
6002 to full OP state. Can be caused by wrong
incorrect state
configuration or a problem in a Slave

The Master has detected that at least one frame

Not all EtherCAT frames
6003 that was sent has not returned. This implies a
can be processed
hardware problem in the cables or Slaves.

Slave did not behave according to EtherCAT

6004 EtherCAT Slave Error
state machine – internal Slave failure.

The EtherCAT-related hardware in the Master

EtherCAT initialization
6005 could not be initialized. Check the EtherCAT
failure
hardware.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error
Error Message Remarks
Code

The bus scan could not be completed. This

EtherCAT cannot
6006 implies hardware level problems in the
complete the operation
EtherCAT network.

Every Slave increments the working counter in

the telegram. If this error is triggered, it means
EtherCAT work count
6007 that a Slave has failed. Possible root cause:
error
cable interruption, Slave reset, Slave hardware
failure,

One or more of the Slaves has changed its state

Not all EtherCAT slaves to other than OP, or it may be due to a Slave
6008
are in OP state restart or internal fault that internally forces the
Slave to go to PREOP or SAFEOP.

The Master has detected that the Slave does

EtherCAT protocol not behave as expected for too long, and
6009
timeout reports timeout. Implies a Slave hardware
problem. Try power down, and system restart.

The Master cannot initialize a Slave by the

configuration file. It can be caused by either
6010 Slave initialization failed
wrong configuration, or a hardware problem in
the Slave.

Bus configuration The bus topology differs from that in

6011
mismatch configuration file.

A Slave with CoE support has reported an

6012 CoE emergency
emergency message.

EtherCAT Master won't Hardware fault, for example DHD with broken
6013
enter INIT state (logic) supply.

EtherCAT ring topology

System should be reconfigured to use the
6014 requires network
NetworkBoost feature.
reconfiguration

One or more EtherCAT cables are not

One or more EtherCAT
6015 connected; can happen only when using the
cables are not connected
NetworkBoost feature.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error
Error Message Remarks
Code

The actual network

configuration doesn't
6016
match the last approved
configuration.

Change in configuration
was detected. Optional
6017
Group was added. It
should be approved.

EtherCAT Master won't EtherCAT Master is in INIT state and won’t enter
6018
enter PREOP state the PREOP state.

EtherCAT Master won't EtherCAT Master is in PREOP state and won’t

6019
enter SAFEOP state enter the SAFEOP state.

EtherCAT Master won't EtherCAT Master is in SAFEOP state and won’t

6020
enter OP state enter the OP state.

Group ID mismatch
between configuration
6021
file and actual
configuration

Change in configuration
was detected. Optional
6022
Group was removed. It
should be approved.

EtherCAT cable(s) are

crossed. Check proper
6023
cables connection from
OUT port to IN port.

One or more EtherCAT

slaves causes frames to
6024 be lost. Check proper
cables connection from
OUT port to IN port.

7.8 EtherCAT Slave Errors

EtherCAT Slave errors range from 7000 to 7999 and are latched in the ECALERR variable.
The error codes are defined according to AL Status Code (ETG 1020).

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Table 9-8. EtherCAT Slave Errors

ACS Error
Error Message Remarks
Code

General Error which is not defined in the following

7001 General Error
list

Local Application runs out of memory (e.g. dynamic

7002 Mailbox No Memory
memory allocation for emergency messages)

7003 Invalid device setup

If the salve checks if the SII/EEPROM content

matches the firmware, e.g. process data
7004 Unknown error
description or revision number, and detects a
mismatch

Firmware and EEPROM

do not match. Slave
7006
needs BOOT-INIT
transition

Firmware update not

7007 successful. Old Error occurred during firmware update
firmware still running

License Error (HW/SW

license invalid or
7014 HW/SW license invalid or evaluation period expired
evaluation period
expired)

Invalid requested state

7017 Requested state change is invalid
change

Unknown requested
7018 Requested state change is unknown
state

Bootstrap state is not

7019
supported by the slave

7020 No valid firmware

Invalid Mailbox The mailbox SyncManager configuration is not

7021
Configuration in Boot valid in Bootstrap state

Invalid Mailbox The mailbox SyncManager configuration is not

7022
Configuration in PREOP valid in PREOP state

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

ACS Error
Error Message Remarks
Code

Invalid Sync Manager Invalid sync manager configuration. Possible

7023
Configuration reason can be invalid PDO size configuration

No valid inputs
7024 Slave application cannot provide valid inputs
available

No valid outputs
7025 Slave application cannot provide valid outputs
available

Multiple synchronization errors. Device is not

7026 Synchronization error
synchronized any more

Sync Manager No process data received yet or not received

7027
Watchdog within a specified timeout value

Invalid Sync Manager

7028
Types

Invalid Sync Manager SyncManager configuration for output process

7029
Output Configuration data is invalid (check ENI)

Invalid Sync Manager SyncManager configuration for input process data

7030
Input Configuration is invalid (check ENI)

Watchdog Settings are invalid (e.g. SyncManger

7031 Invalid Watchdog watchdog trigger is enabled but no watchdog
timeout is defined)

7032 Slave needs cold start Slave device requires a power off – power on reset

7033 Slave needs INIT Slave application requests INIT state

7034 Slave needs PREOP Slave application requests PREOP state

7035 Slave needs SAFEOP Slave application requests SAFEOP state

Input process data mapping do not match to

7036 Invalid Input Mapping
expected mapping

Invalid Output Output process data mapping do not match to

7037
Mapping expected mapping

7038 Inconsistent Settings General settings mismatch

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

ACS Error
Error Message Remarks
Code

Free Run Mode is Not

7039 Slave doesn’t support Free Run Mode
Supported

SyncMode Not
7040 Slave doesn’t support SYNC mode
Supported

Free Run Needs 3- FreeRun Mode, sync manager has to run in 3Buffer
7041
Buffer Mode Mode

7042 Background watchdog

No Valid Inputs and

7043
Outputs

Fatal Sync Error: Sync0 or Sync1 are not received

7044 Fatal Sync Error
any more

Sync not received: In SAFEOP the slave waits for

the first Sync0/Sync1 events before switching to
OP, if these events were not received during the
7045 No Sync Error SAFEOP to OP-Timeout time the slave should
refuse the state transition to OP with this AL Status
Code (SystemTimeOffset too big, no DC event
received)

EtherCAT cycle time

smaller than the
7046
minimum cycle time
supported by the slave

Invalid DC SYNC Distributed Clocks configuration is invalid due to

7048
Configuration application requirements

Invalid DC Latch DC Latch configuration is invalid due to application

7049
Configuration requirements

Master not synchronized, at least one DC event

7050 DC PLL Sync Error
received

Multiple synchronization errors. IO is not

7051 Invalid DC IO Error
synchronized any more

Invalid DC Timeout Multiple synchronization errors. Too much SM

7052
Error Events missed

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

ACS Error
Error Message Remarks
Code

DC Invalid Sync Cycle

7053
Time

DC Sync0 Cycle time does not fit to application

7054 DC Sync0 Cycle Time
requirements

DC Sync1 Cycle time does not fit to application

7055 DC Sync1 Cycle Time
requirements

7066 Mailbox EoE

7067 Mailbox CoE

7068 Mailbox FoE

7080 EEPROM No Access EEPROM not assigned to PDI

7081 EEPROM Error EEPROM access error

FoE Error: Vendor

7200
specific FoE error

7201 FoE Error: Not found

FoE Error: Access

7202
denied

7203 FoE Error: Disk full

7204 FoE Error: Illegal access

FoE Error: Wrong

7205
packet number

FoE Error: Already

7206
exists

7207 FoE Error: No user

FoE Error: Bootstrap

7208
state only

FoE Error: Not valid in

7209
Bootstrap state

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

ACS Error
Error Message Remarks
Code

7210 FoE Error: No rights

FoE Error: Program

7211
error

FoE Error: Wrong

7212
checksum

FoE Error: Firmware is

7213 incompatible with
Hardware

FoE Error: No file to

7214
read

FoE Error: File header

7215
does not exist

FoE Error: Flash

7216
problem

FoE Error: File

7217
incompatible

FoE Error: slave does

7218 not support FoE in
Bootstrap

FoE Error: File is bigger

7219
than max file size

Function code received

in the query is not
8001
recognized or allowed
by server.

Data address of some

or all the required
8002 entities are not
allowed or do not exist
in server.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

ACS Error
Error Message Remarks
Code

A value contained in
the query data field is
8003
not an allowable value
for the server.

An unrecoverable
error occurred while
8004 the server was
attempting to perform
the requested action.

Server has accepted

request and is
8005 processing it, but a
long duration of time is
required.

Server is engaged in
processing a long-
8006 duration command.
Client should retry
later.

The received response

transaction identifier
8012
did not match the
expected value.

The received response

8013 length did not match
the expected length.

The received response

value is invalid. This
may be due to the
value being out of the
8014
allowed range, an
attempt to write to a
protected variable, etc.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

ACS Error
Error Message Remarks
Code

No response has been

received from the
server device for the
timeout period(5
8015
seconds). The
connection with the
server device has been
terminated.

The connection with

8016 the server device has
been closed.

7.9 MODBUS Errors

Table 9-9. Modbus Errors

Error
Error Message Remarks
Code

Function code received in the query is not recognized or

8001
allowed by server.

Data address of some or all the required entities are not

8002
allowed or do not exist in server.

A value contained in the query data field is not an allowable

8003
value for the server.

An unrecoverable error occurred while the server was

8004
attempting to perform the requested action.

Server has accepted request and is processing it, but a long

8005
duration of time is required.

Server is engaged in processing a long-duration command.

8006
Client should retry later.

The received response transaction identifier did not match

8012
the expected value.

The received response length did not match the expected

8013
length.

ACSPL+ Commands & Variables Reference Guide
7. SPiiPlus Error Codes

Error
Error Message Remarks
Code

The received response value is invalid. This may be due to

8014 the value being out of the allowed range, an attempt to
write to a protected variable, etc.

No response has been received from the server device for

8015 the timeout period(5 seconds). The connection with the
server device has been terminated.

8016 The connection with the server device has been closed.

ACSPL+ Commands & Variables Reference Guide
8. G-Code Error Codes

8. G-Code Error Codes

This chapter contains explanations of the Error Codes that may appear.
> G-Code Syntax Errors
> G-Code Compilation Errors
> G-Code Runtime Errors

8.1 G-Code Syntax Errors

Code Meaning

1500 G-code: General G-Code runtime error

G-code: Incompatible G commands in one

1501
statement

1502 G-code: The value should be positive

G-code: G2/G3 can be specified in the main

1503
plane only

G-code: An illegal arc with the current radius

1504
compensation parameters

G-code: Segments of radius compensation

1505
should be separated by G0 or G1 segment

G-code: Impossible case in radius

1506
compensation

1507 G-code: Too many S or R addresses

G-code: Wrong digital output specification in

1508
S or R address

1509 G-code: Unsupported G function

1510 G-code: Unsupported M function

G-code: I,J,K, or R specified outside arc

1511 definition -or- R specified outside cylindrical
interpolation definition(G207)

G-code: I,J,K and R cannot be specified

1512
together

1513 G-code: Wrong parameters in arc definition

ACSPL+ Commands & Variables Reference Guide
8. G-Code Error Codes

Code Meaning

1514 G-code: Internal error

G-code: Wrong index in

1515
gParamAddr/gParamValue

G-code: gParamAddr/gParamValue used out

1516
of subroutine

G-code: XSEG address specified outside XSEG

1517
Motion Parameterization (No G200)

G-code: XSEG address specified outside XSEG

1518 Segment Parameterization (No G01, G02 or
G03)

G-code: XSEG address specified outside XSEG

1519 Motion/Segment Parameterization (No
G200/No G01, G02 or G03)

G-code: XSEG addresses - Cannot use (,Y)

1520
together with addresses (,J), (,A) & (,D)

G-code: XSEG comma-addresses (,g), (,u) and

1521
(,h) cannot be specified together

G-code: Cannot use XSEG motion parameters

1522
command G200 with any of G01, G02 or G03

G-code: XSEG addresses - Cannot use

1523
M61/M62 with addresses (,O1) to (,O4)

G-code: XSEG addresses - At least both (,O1)

1524 and (,O2) addresses must be used on the
same line

G-code: XSEG addresses - Cannot use (,M)

1525
together with (,F) or (F)

G-code: XSEG addresses - Cannot use (,M)

1526
together with (,L)

G-code: Incompatible G with custom G208 in

1527
one statement

ACSPL+ Commands & Variables Reference Guide
8. G-Code Error Codes

Code Meaning

G-code: G208 should define at least two

1528 primary axes, according to active trajectory
plane (G17/G18/G19)

G-code: G208 should define minimum of 2

1529
XSEG axes and maximum of 6 XSEG axes

G-code: Segment processing time (T) option

1530 should be specified only with in-plane
G01/G02/G03

G-code: Cannot use (T) option - Segment

1531
processing time, together with (,F) or (F)

G-code: The value should be above a

1532
minimum value (see GSP Reference Guide)

G-code: Incompatible G with custom

1533
G207/G205 in one statement

G-code: G207 should define one linear axis

followed by one rotational axis or only one
1534
rotational axis, and cylinder radius or
diameter in one statement

G-code: G54 should define a WCS number

1535
between 1 to 12

G-code: GUFAC is out of range (1e-15, 1e15) or

1536
zero

1537 G-code: Radius should be positive

G-code: Blended motion should not specify

1538
feedrate and segment time together

G-code: Illegal parameter for Blended motion

1539

G-code: Mandatory parameter for BSEG not

1540
specified

G-code: Bseg parameter must be greater

1541
than 0

ACSPL+ Commands & Variables Reference Guide
8. G-Code Error Codes

Code Meaning

G-code: G84 only allows rotation angle and

1542
center parameters to be specifed

1543 G-code: Wrong M-code comand use

1544 G-code: Unmapped axis name used

G-code: Tool height compensation is not

1545 allowed as second segment of Radius
Compensation

G-code: Incompatible mode to activate Local

1546
Coordinate System (G68)

1547 G-code: Too many G68 parameters

G-code: Incompatible G code when Local

1548
Coordinate System is active

G-code: Illegal case of segment

1549
synchronization

G-code: Illegal NURBS based motion

1550
specification

G-code: An incompatible address with

1551
NURBS/Path_Smoothing was specified

G-code: An Illegal number of NURBS/Path_

1552
Smoothing main axes was specified

G-code: Path Smoothing motion was not

1553
initiated

1554 G-code: Illegal Address for Path Smoothing

G-code: Buffer is in Path Smoothing mode,

1555
please switch mode to use G06 command

1556 G-code: The address must contain a value

G-code: The address must not contain a

1557
value

1558 G-code: SPath arc specification missing

ACSPL+ Commands & Variables Reference Guide
8. G-Code Error Codes

Code Meaning

G-code: G54 and G54.4 are not allowed in the

1559
same line

1560 G-code: Illegal Address specified in the line

G-code: Another tool length compensation is

1561
active, use G49 command to end it first

G-code: TCP mode requires tool length

1562
selection using H address

1563 G-code: Incompatible parameters

1564 G-code: Incompatible with NURBS/SPATH

G-code: Missing XSEG parameter, please refer

1565
to the guide

8.2 G-Code Compilation Errors

Code Meaning

2500 G-code: General G-Code compilation error

2501 G-code: Unknown G-Code command

2502 G-code: Value was expected

2503 G-code: Illegal syntax used

2504 G-code: Illegal value

2505 G-code: Address should not have a value

2506 G-code: Address value should be global or standard variable

2507 G-code: The output range specified is too big

2508 G-code: Wrong digital output specification in S or R address

2509 G-code: Comment lacks right parenthesis

2510 G-code: Illegal G specified

2511 G-code: Illegal M specified

ACSPL+ Commands & Variables Reference Guide
8. G-Code Error Codes

Code Meaning

2512 G-code: ']' expected

2513 G-code: '[' is not expected

2514 G-code: Address value should be a global variable

2515 G-code: All comments must start with '!'

2516 G-code: Addresses that are not allowed together were specified

2517 G-code: Illegal Synchronized code specification

8.3 G-Code Runtime Errors

3500 G-code: General G-Code runtime error

3501 G-code: Incompatible G commands in one statement

3502 G-code: The value should be positive

3503 G-code: G2/G3 can be specified in the main plane only

3504 G-code: An illegal arc with the current radius compensation parameters

G-code: Segments of radius compensation should be separated by G0 or G1

3505
segment

3506 G-code: Impossible case in radius compensation

3507 G-code: Too many S or R addresses

3508 G-code: Wrong digital output specification in S or R address

3509 G-code: Unsupported G function

3510 G-code: Unsupported M function

G-code: I,J,K, or R specified outside arc definition -or- R specified outside

3511
cylindrical interpolation definition(G207)

3512 G-code: I,J,K and R cannot be specified together

3513 G-code: Wrong parameters in arc definition

ACSPL+ Commands & Variables Reference Guide
8. G-Code Error Codes

3514 G-code: Internal error

3515 G-code: Wrong index in gParamAddr/gParamValue

3516 G-code: gParamAddr/gParamValue used out of subroutine

G-code: XSEG address specified outside XSEG Motion Parameterization (No

3517
G200)

G-code: XSEG address specified outside XSEG Segment Parameterization (No

3518
G01, G02 or G03)

G-code: XSEG address specified outside XSEG Motion/Segment

3519
Parameterization (No G200/No G01, G02 or G03)

3520 G-code: XSEG addresses - Cannot use (,Y) together with addresses (,J), (,A) & (,D)

3521 G-code: XSEG comma-addresses (,g), (,u) and (,h) cannot be specified together

G-code: Cannot use XSEG motion parameters command G200 with any of G01,
3522
G02 or G03

3523 G-code: XSEG addresses - Cannot use M61/M62 with addresses (,O1) to (,O4)

G-code: XSEG addresses - At least both (,O1) and (,O2) addresses must be used
3524
on the same line

3525 G-code: XSEG addresses - Cannot use (,M) together with (,F) or (F)

3526 G-code: XSEG addresses - Cannot use (,M) together with (,L)

3527 G-code: Incompatible G with custom G208 in one statement

G-code: G208 should define at least two primary axes, according to active
3528
trajectory plane (G17/G18/G19)

G-code: G208 should define minimum of 2 XSEG axes and maximum of 6 XSEG
3529
axes

G-code: Segment processing time (T) option should be specified only with in-
3530
plane G01/G02/G03

G-code: Cannot use (T) option - Segment processing time, together with (,F) or
3531
(F)

3532 G-code: The value should be above a minimum value (see GSP Reference Guide)

ACSPL+ Commands & Variables Reference Guide
8. G-Code Error Codes

3533 G-code: Incompatible G with custom G207/G205 in one statement

G-code: G207 should define one linear axis followed by one rotational axis or
3534
only one rotational axis, and cylinder radius or diameter in one statement

3535 G-code: G54 should define a WCS number between 1 to 12

3536 G-code: GUFAC is out of range (1e-15, 1e15) or zero

3537 G-code: Radius should be positive

G-code: Blended motion should not specify feedrate and segment time
3538
together

3539 G-code: Illegal parameter for Blended motion

3540 G-code: Mandatory parameter for BSEG not specified

3541 G-code: Bseg parameter must be greater than 0

3542 G-code: G84 only allows rotation angle and center parameters to be specifed

3543 G-code: Wrong M-code comand use

3544 G-code: Unmapped axis name used

G-code: Tool height compensation is not allowed as second segment of Radius

3545
Compensation

3546 G-code: Incompatible mode to activate Local Coordinate System (G68)

3547 G-code: Too many G68 parameters

3548 G-code: Incompatible G code when Local Coordinate System is active

3549 G-code: Illegal case of segment synchronization

3550 G-code: Illegal NURBS based motion specification

3551 G-code: An incompatible address with NURBS/Path_Smoothing was specified

3552 G-code: An Illegal number of NURBS/Path_Smoothing main axes was specified

3553 G-code: Path Smoothing motion was not initiated

3554 G-code: Illegal Address for Path Smoothing

ACSPL+ Commands & Variables Reference Guide
8. G-Code Error Codes

G-code: Buffer is in Path Smoothing mode, please switch mode to use G06
3555
command

3556 G-code: The address must contain a value

3557 G-code: The address must not contain a value

3558 G-code: SPath arc specification missing

3559 G-code: G54 and G54.4 are not allowed in the same line

3560 G-code: Illegal Address specified in the line

G-code: Another tool length compensation is active, use G49 command to end it
3561
first

3562 G-code: TCP mode requires tool length selection using H address

3563 G-code: Incompatible parameters

3564 G-code: Incompatible with NURBS/SPATH

3565 G-code: Missing XSEG parameter, please refer to the guide

ACSPL+ Commands & Variables Reference Guide
Appendix A. PEG And MARK Mapping Tables

Appendix A. PEG And MARK Mapping Tables

A.1 ASSIGNPEG Mapping
8.3.1 Mapping PEG engines to encoders
Table A-1. Mapping PEG Engines to Encoders (Servo Processor 0) for SPiiPlusNT / DC-LT / HP / LD

Bit Code Encoder 0(X) Encoder 1(Y) Encoder 2(A) Encoder 3(B)

000 (default) PEG0 PEG1 PEG2 no

001 PEG0 PEG1 no PEG2

PEG0
010 PEG1 no no
PEG2

PEG1
011 PEG0 no no
PEG2

PEG0
100 PEG1 no no no
PEG2

PEG0
101 no PEG1 no no
PEG2

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Appendix A. PEG And MARK Mapping Tables

Table A-2. Mapping PEG Engines to Encoders (Servo Processor 1) for SPiiPlusNT / DC-LT / HP / LD

Bit Code Encoder 4(Z) Encoder 5(T) Encoder 6(C) Encoder 7(D)

000 (default) PEG4 PEG5 PEG6 no

001 PEG4 PEG5 no PEG6

PEG4
010 PEG5 no no
PEG6

PEG5
011 PEG4 no no
PEG6

PEG4
100 PEG5 no no no
PEG6

PEG4
101 no PEG5 no no
PEG6

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Appendix A. PEG And MARK Mapping Tables

Table A-3. Mapping PEG Engines to Encoders (Servo Processor 0) for SPiiPlus CMnt / CMhv / CMba / CMxa / UDMba / UDMhp / UDMxa / UDMhv /
UDMnt / UDMpa / UDMpm / UDMpc / UDMcb

Bit Code Encoder 0(X) Encoder 1(Y) Encoder 2(A) Encoder 3(B)

000 (default) PEG0 PEG1 PEG22

001 PEG0 PEG1 no PEG21, 2

PEG0
010 PEG1 no
PEG22

PEG1
011 PEG0 no
PEG22

PEG0
100 PEG1 no no
PEG22

PEG0
101 no PEG1 no
PEG22

PEG01, 2
110 PEG11, 2
PEG21, 2

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Appendix A. PEG And MARK Mapping Tables

Bit Code Encoder 0(X) Encoder 1(Y) Encoder 2(A) Encoder 3(B)

PEG01, 2
111 PEG11, 2
PEG21, 2

1 These combinations are not supported by UDMpc-x.

2These combinations are not supported by UDMnt-x.

Table A-4. Mapping PEG Engines to Encoders (Servo Processor 0) for UDMlc / UDMsd / UDIlt / UDIhp / UDMmc / PDIcl

Bit Code Encoder 0 Encoder 1 Encoder 2 Encoder 3

000 (default) PEG0 no no no

001 no PEG0 no no

010 no no PEG0 no

011 no no no PEG0

100 no no no no

101 no no no no

110 no no no no

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Appendix A. PEG And MARK Mapping Tables

Table A-5. Mapping PEG Engines to Encoders (Servo Processor 0) for NPMpm / NPMpc

Bit Code Encoder 0 Encoder 1 Encoder 2 Encoder 3

000 (default) PEG0 PEG1 no no

001 PEG1 PEG0 no no

PEG0
010 no no no
PEG1

PEG0
011 no no no
PEG1

100 no PEG1 PEG0 no

101 no PEG1 no PEG0

110 PEG0 no PEG1 no

111 PEG0 no no PEG1

Bit Code assignment example

Assume the system includes two Servo Processors:
> Servo Processor (node) 0: CMba with 4 encoders (0,1,2,3) and 3 PEG engines (0,1,2).
> Servo Processor (node) 1: NPMpm with 4 encoders (4,5,6) and 2 PEG engines (4,5).
The bit code 001 for an axis associated with Servo Processor 0 (CMba) performs the following assignment:
> PEG 0 engine is triggered by Encoder 0.

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Appendix A. PEG And MARK Mapping Tables

> PEG 1 engine is triggered by Encoder 1.

> PEG 2 engine is triggered by Encoder 3.
The bit code 001 for an axis associated with Servo Processor 1 (NPMpm) performs the following assignment:
> PEG 4 engine is triggered by Encoder 5.
> PEG 5 engine is triggered by Encoder 4.

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Appendix A. PEG And MARK Mapping Tables

Version 4.00 1039

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Appendix A. PEG And MARK Mapping Tables

Table A-6. Engine to Encoder Assignment for IDMxx, ECMxx, and UDMxx

PEG
Bits HEX Code Encoder 0 Encoder 1 Encoder 2 Encoder 3
Engine

00 (default) PEG0

0..7 01 PEG0
0
02 PEG0

03 PEG0

00 PEG1

8..15 01 (default) PEG1

11
02 PEG1

03 PEG1

00 PEG2

16..23 01 PEG2
21
02 (default) PEG2

03 PEG2

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Appendix A. PEG And MARK Mapping Tables

PEG
Bits HEX Code Encoder 0 Encoder 1 Encoder 2 Encoder 3
Engine

00 PEG3

01 PEG3
1
3 24..31
02 PEG3

03 PEG3

1
This row applies to XXMsm, XXMma, and XXMdx
2
These rows apply only to XXMsm and XXMma

Instructions: the above table is used to build a hexadecimal value for the engines_to_encoders_ code argument. Byte x determines that PEG engine x will
be triggered by a specific encoder.
Example for IDMsm/ECMsm

ASSIGNPEG 0, 0x03020100

This code configures the default mapping:

> PEG engine 0 is triggered by Encoder 0.
> PEG1 engine 1 is triggered by Encoder 1.
> PEG engine 2 is triggered by Encoder 2.
> PEG engine 3 is triggered by Encoder 3.

ASSIGNPEG 0, 0x02010203

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Appendix A. PEG And MARK Mapping Tables

This code configures the following mapping:

> PEG engine 0 is triggered by Encoder 3.
> PEG engine 1 is triggered by Encoder 2.
> PEG engine 2 is triggered by Encoder 1.
> PEG engine 3 is triggered by Encoder 2.

8.3.2 General purpose outputs assignment to use as PEG pulse outputs

Table A-7. General Purpose Outputs Assignment for Use as PEG Pulse Outputs (Servo Processor 0) for SPiiPlusNT / DC-LT / HP / LD

Bit Code GP Out 0 GP Out 1 GP Out 2 GP Out 3

0000 (default) GP Out 0 GP Out 1 GP Out 2 GP Out 3

0001 PEG0_PULSE GP Out 1 GP Out 2 GP Out 3

0010 GP Out 0 PEG2_PULSE GP Out 2 GP Out 3

0011 GP Out 0 GP Out 1 PEG1_PULSE GP Out 3

0100 GP Out 0 GP Out 1 GP Out 2 Reserved

0101 GP Out 0 PEG2_PULSE GP Out 2 Reserved

0110 PEG0_PULSE GP Out 1 PEG1_PULSE GP Out 3

0111 PEG0_PULSE PEG2_PULSE PEG1_PULSE Reserved

1000 - 1111 Reserved Reserved Reserved Reserved

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Appendix A. PEG And MARK Mapping Tables

Table A-8. General Purpose Outputs Assignment for Use as PEG Pulse Outputs (Servo Processor 1) for SPiiPlusNT / DC-LT / HP / LD

Bit Code GP Out 4 GP Out 5 GP Out 6 GP Out 7

0000 (default) GP Out 4 GP Out 5 GP Out 6 GP Out 7

0001 PEG4_PULSE GP Out 5 GP Out 6 GP Out 7

0010 GP Out 4 PEG6_PULSE GP Out 6 GP Out 7

0011 GP Out 4 GP Out 5 PEG5_PULSE GP Out 7

0100 GP Out 4 GP Out 5 GP Out 6 Reserved

0101 GP Out 4 PEG6_PULSE GP Out 6 Reserved

0110 PEG4_PULSE GP Out 5 PEG5_PULSE GP Out 7

0111 PEG4_PULSE PEG6_PULSE PEG5_PULSE Reserved

1000 - 1111 Reserved Reserved Reserved Reserved

Table A-9. General Purpose Outputs Assignment for Use as PEG Pulse Outputs (Servo Processor 0) for SPiiPlus CMnt / UDMpm / CMhv / UDMhv-

Bit Code GP Out 0 GP Out 1 GP Out 2 GP Out 3

0000 (default) GP Out 0 GP Out 1 GP Out 2 GP Out 3

0001 PEG0_PULSE GP Out 1 GP Out 2 GP Out 3

0010 GP Out 0 PEG1_PULSE GP Out 2 GP Out 3

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Appendix A. PEG And MARK Mapping Tables

Bit Code GP Out 0 GP Out 1 GP Out 2 GP Out 3

0011 GP Out 0 GP Out 1 PEG2_PULSE GP Out 3

0100 GP Out 0 GP Out 1 GP Out 2 GP Out 3

0101 GP Out 0 PEG1_PULSE GP Out 2 GP Out 3

0110 PEG0_PULSE GP Out 1 PEG2_PULSE GP Out 3

0111 PEG0_PULSE PEG1_PULSE PEG2_PULSE GP Out 3

1000 - 1111 Reserved Reserved Reserved Reserved

Table A-10. General Purpose Outputs Assignment for Use as PEG Pulse Outputs (Servo Processor 0) for UDMnt / UDMpa / UDMcb

Bit Code GP Out 0 GP Out 1

0000 (default) GP Out 0 GP Out 1

0001 PEG0_PULSE GP Out 1

0010 GP Out 0 PEG1_PULSE

0011 PEG1_PULSE GP Out 1

0100 GP Out 0 PEG0_PULSE

0101 PEG0_PULSE PEG1_PULSE

0110 - 1111 Reserved Reserved

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Appendix A. PEG And MARK Mapping Tables

Bit Code assignment example

For example, for an axis associated with Servo Processor 0 (SPiiPlusNT / DC-LT / HP / LD), 0110 switches GP Out 0 to PEG0_PULSE and GP Out 2 to PEG1_
PULSE.
The same Bit Code applied to an axis associated with Servo Processor 1 switches GP Out 4 to PEG4_PULSE and GP Out 6 to PEG5_PULSE.
All other GP Out assignments are unchanged.

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Appendix A. PEG And MARK Mapping Tables

A.2 ASSIGNPOUTS Mapping

Mapping of PEG engine outputs to physical outputs
Table A-11. Mapping of Engine Outputs to Physical Outputs (Servo Processor 0) for SPiiPlusNT / DC-LT / HP / LD

PEG OUTPUT 0 1 2 3 4
PIN NAME X_PEG Y_PEG Z_PEG T_PEG H_DO_1 (HSSI)
Bit Code

000 (default) PEG0_PULSE PEG1_PULSE PEG4_PULSE PEG5_PULSE HSSI1_DO

001 PEG4_STATE0 PEG1_STATE0 PEG2_PULSE PEG0_STATE0 PEG0_STATE1

010 Reserved Reserved PEG1_STATE1 PEG2_STATE0 PEG2_STATE1

011 Reserved Reserved Reserved Reserved Reserved

100 Reserved Reserved Reserved Reserved Reserved

111 FGP_OUT0 FGP_OUT1 FGP_OUT2 FGP_OUT3 Reserved

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Appendix A. PEG And MARK Mapping Tables

Table A-12. SPiiPlusNT / DC-LT / HP / LD Mapping of Engine Outputs to Physical Outputs (Servo Processor 1)

PEG OUTPUT 5 6 7 8 9
PIN NAME X_STATE0 X_STATE1 X_STATE2 H_DO_0 (HSSI) H_CON_0 (HSSI)
Bit Code

000 (default) PEG0_STATE0 PEG0_STATE1 PEG0_STATE2 HSSI0_DO HSSI0_CON

001 PEG1_STATE0 PEG1_STATE1 PEG2_STATE0 PEG0_STATE2 PEG0_STATE0

010 PEG4_PULSE PEG5_PULSE PEG6_PULSE PEG5_STATE0 PEG2_STATE1

011 Reserved PEG4_STATE0 PEG4_STATE1 Reserved PEG6_STATE1

100 Reserved Reserved Reserved Reserved Reserved

111 FGP_OUT4 FGP_OUT5 FGP_OUT6 Reserved Reserved

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Appendix A. PEG And MARK Mapping Tables

Table A-13. Mapping of Engine Outputs to Physical Outputs (Servo Processor 0) for CMnt / UDMpm / UDMpc / CMhv / UDMhv

PEG OUTPUT 0 1 5 6
PIN NAME PEG0 PEG1 STATE0 STATE1
Bit Code

000 (default) PEG0_PULSE PEG1_PULSE PEG0_OUT0 PEG0_OUT1

Encoder X
001 Encoder X Phase B PEG1_OUT0 PEG1_OUT1
Phase A

Encoder Y
010 Encoder Y Phase B PEG2_OUT0 PEG2_OUT1
Phase A

011 Reserved Reserved Encoder X Phase A Encoder X Phase B

100 Reserved Reserved Encoder Y Phase A Encoder Y Phase B

101 Reserved Reserved Encoder X INDEX Encoder X INDEX

110 Reserved Reserved Reserved Encoder Y INDEX

111 FGP_OUT0 FGP_OUT1 Reserved Reserved

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Appendix A. PEG And MARK Mapping Tables

Table A-14. Mapping of Engine Outputs to Physical Outputs (Servo Processor 0, OUT 0-4) for CMba / CMxa / UDMba / UDMhp / UDMxa

PEG OUTPUT 0 1 2 3 4
PIN NAME (0)_PEG_PULSE (1)_PEG_PULSE (1)_STATE0 (1)_STATE1 (1)_STATE2
Bit Code

000 (default) PEG0_PULSE PEG1_PULSE PEG1_STATE0 PEG1_STATE1 PEG1_STATE2

Encoder X
001 Encoder X Phase B PEG0_STATE0 PEG0_STATE1 PEG0_STATE2
Phase A

Encoder Y
010 Encoder Y Phase B PEG2_STATE0 PEG2_STATE1 PEG2_STATE2
Phase A

Encoder A Encoder A Encoder A Encoder A

011 Encoder A Phase B
Phase A Phase A Phase B INDEX

100 Reserved PEG2_PULSE Reserved Reserved Reserved

101 PEG0_PULSE or PEG2_PULSE PEG2_PULSE or PEG1_PULSE Reserved Reserved Reserved

PEG0_PULSE or PEG1_PULSE or PEG0_PULSE or PEG1_PULSE or

110 Reserved Reserved Reserved
PEG2_PULSE PEG2_PULSE

111 FGP_OUT0 FGP_OUT1 FGP_OUT2 Reserved Reserved

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Table A-15. Mapping of Engine Outputs to Physical Outputs (Servo Processor 0, OUT_5-9) for CMba / CMxa / UDMba / UDMhp / UDMxa

PEG OUTPUT 5 6 7 8 9
PIN NAME (0)_STATE0 (0)_STATE1 (0)_STATE2 (0)_STATE3 (1)_STATE3
Bit Code

000 (default) PEG0_STATE0 PEG0_STATE1 PEG0_STATE2 PEG0_STATE3 PEG1_STATE3

001 PEG1_STATE0 PEG1_STATE1 PEG1_STATE2 PEG1_STATE3 PEG0_STATE3

010 PEG2_STATE0 PEG2_STATE1 PEG2_STATE2 PEG2_STATE3 PEG2_STATE3

Encoder X Encoder Y
011 Encoder X Phase B Encoder Y Phase A PEG2_STATE0
Phase A Phase B

Encoder Y EncoderY
100 Reserved Encoder Y INDEX PEG2_STATE1
Phase A Phase B

101 Encoder X INDEX Encoder X INDEX Reserved Reserved Reserved

110 PEG2_PULSE Encoder Y INDEX PEG2_PULSE PEG2_PULSE Reserved

111 Reserved Reserved Reserved Reserved Reserved

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Table A-16. Mapping of Engine Outputs to Physical Outputs (Servo Processor 0) for UDMnt / UDMpa / UDMcb

PEG OUTPUT 0 1
PIN NAME PEG0 PEG1
Bit Code

000 (default) PEG0_PULSE PEG1_PULSE

001 Encoder X Phase A Encoder X Phase B

010 Encoder Y Phase A Encoder Y Phase B

011 PEG1_ STATE0 PEG0_ STATE0

100 PEG0_ STATE0 PEG1_ STATE0

101 Reserved Reserved

110 Reserved Reserved

111 FGP_OUT0 FGP_OUT1

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Table A-17. Mapping of Engine Outputs to Physical Outputs (Servo Processor 0) for UDMlc / UDMsd / UDMmc / UDIlt / UDIhp / PDIcl

PEG OUTPUT 0
PIN NAME PEG0
Bit Code

000 (default) PEG0_PULSE

001 Reserved

010 Reserved

011 Reserved

100 Reserved

101 Reserved

110 Reserved

111 FGP_OUT0

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Table A-18. NPMpm / NPMpc Mapping of Engine Outputs to Physical Outputs (Servo Processor 0)

PEG OUTPUT 0 1
PIN NAME PEG0 PEG1
Bit Code

000 (default) PEG0_PULSE PEG1_PULSE

001 PEG0_STATE0 PEG1_STATE0

010 PEG1_STATE0 PEG0_STATE0

011 PEG0_STATE1 PEG1_STATE1

100 PEG1_STATE1 PEG0_STATE1

101 Reserved Reserved

110 Reserved Reserved

111 FGP_OUT0 FGP_OUT1

Bit Code: 111

The Bit Code: 111, both for Servo Processor 0 and Servo Processor 1, is used for switching the physical output pins to Fast General Purpose Outputs: FGP_
OUT0 to FGP_OUT6. The state of the Fast General Purpose Outputs can be read or changed using the ACSPL+ OUT(x) variable. The Fast General Purpose
Outputs are mapped as follows:
FGP_OUT0 is mapped to bit 16 of the ACSPL+ OUT(x) variable
FGP_OUT1 is mapped to bit 17 of the ACSPL+ OUT(x) variable
FGP_OUT2 is mapped to bit 18 of the ACSPL+ OUT(x) variable

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FGP_OUT3 is mapped to bit 19 of the ACSPL+ OUT(x) variable

FGP_OUT4 is mapped to bit 20 of the ACSPL+ OUT(x) variable
FGP_OUT5 is mapped to bit 21 of the ACSPL+ OUT(x) variable
FGP_OUT6 is mapped to bit 22 of the ACSPL+ OUT(x) variable

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Table A-19. IDMsm / ECMsm / UDMsm Mapping of Engine Outputs to Physical Outputs ( Servo Processor 0, Outputs 0-5)

PEG OUTPUT 0 1 2 3 4 5
PIN NAME OUT_CNFG_0 OUT_CNFG_1 OUT_CNFG_2 OUT_CNFG_3 OUT_CNFG_4 OUT_CNFG_5
Bit Code

J11-I/O: J11-I/O: J11-I/O: 40 J11-I/O: 25 J10-LIMITS: 9 J10-LIMITS: 10

Connectors/pinouts
36(+),37(-) 38(+),39(-) (+),41(-) (+),10(-) (+),22(-) (+),23 (-)

0000 PEG0_State0 PEG0_State1 PEG0_State2 PEG0_State3 Encoder 0 Index Encoder 0 Index

0001 PEG1_State0 PEG1_State1 PEG1_State2 PEG1_State3 Encoder 1 Index Encoder 1 Index

0010 PEG2_State0 PEG2_State1 PEG2_State2 PEG2_State3 Encoder 2 Index Encoder 2 Index

0011 PEG3_State0 PEG3_State1 PEG3_State2 PEG3_State3 Encoder 3 Index Encoder 3 Index

0100 Reserved Reserved Reserved Reserved Reserved Reserved

0101 Reserved Reserved Reserved Reserved Reserved Reserved

0110 Reserved Reserved Reserved Reserved Reserved Reserved

GP_OUT0 GP_OUT1 GP_OUT2 GP_OUT3 GP_OUT4 GP_OUT5

0111
(Default) (Default) (Default) (Default) (Default) (Default)

Encoder 0 Encoder 0
1000 PEG0_Pulse PEG0_Pulse PEG0_Pulse PEG0_Pulse
Phase A Phase A

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PEG OUTPUT 0 1 2 3 4 5
PIN NAME OUT_CNFG_0 OUT_CNFG_1 OUT_CNFG_2 OUT_CNFG_3 OUT_CNFG_4 OUT_CNFG_5
Bit Code

J11-I/O: J11-I/O: J11-I/O: 40 J11-I/O: 25 J10-LIMITS: 9 J10-LIMITS: 10

Connectors/pinouts
36(+),37(-) 38(+),39(-) (+),41(-) (+),10(-) (+),22(-) (+),23 (-)

Encoder 1 Encoder 1
1001 PEG1_Pulse PEG1_Pulse PEG1_Pulse PEG1_Pulse
Phase A Phase A

Encoder 2 Encoder 2
1010 PEG2_Pulse PEG2_Pulse PEG2_Pulse PEG2_Pulse
Phase A Phase A

Encoder 3 Encoder 3 Phase

1011 PEG3_Pulse PEG3_Pulse PEG3_Pulse PEG3_Pulse
Phase A A

Encoder 0 Encoder 0
1100 Reserved Reserved Reserved Reserved
Phase B Phase B

Encoder 1 Encoder 1
1101 Reserved Reserved Reserved Reserved
Phase B Phase B

Encoder 2 Encoder 2
1110 Reserved Reserved Reserved Reserved
Phase B Phase B

Encoder 3 Encoder 3
1111 Reserved Reserved Reserved Reserved
Phase B Phase B

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Table A-20. IDMsm / ECMsm / UDMsm Mapping of Engine Outputs to Physical Outputs ( Servo Processor 0, Outputs 6-11)

PEG OUTPUT 6 7 8 9 10 11
PIN NAME OUT_CNFG_6 OUT_CNFG_7 PEG0 PEG1 PEG2 PEG3
Bit Code

J10-LIMITS: 11 J10-LIMITS: 12 J11-I/O: 21(+),6 J11-I/O: 22(+),7 J11-I/O: 23 J11-I/O: 24

Connectors/pinouts
(+),24 (-) (+),25 (-) (-) (-) (+),8(-) (+),9(-)

PEG0_Pulse PEG1_Pulse PEG2_Pulse PEG3_Pulse

0000 Encoder 0 Index Encoder 0 Index
(Default) (Default) (Default) (Default)

0001 Encoder 1 Index Encoder 1 Index PEG0_State0 PEG0_State1 PEG0_State2 PEG0_State3

0010 Encoder 2 Index Encoder 2 Index PEG1_State0 PEG1_State1 PEG1_State2 PEG1_State3

0011 Encoder 3 Index Encoder 3 Index PEG2_State0 PEG2_State1 PEG2_State2 PEG2_State3

0100 Reserved Reserved PEG3_State0 PEG3_State1 PEG3_State2 PEG3_State3

0101 Reserved Reserved Reserved Reserved Reserved Reserved

0110 Reserved Reserved Reserved Reserved Reserved Reserved

GP_OUT6 GP_OUT7
0111 GP_OUT8 GP_OUT9 GP_OUT10 GP_OUT11
(Default) (Default)

Encoder 0 Encoder 0
1000 PEG0_Pulse PEG0_Pulse PEG0_Pulse PEG0_Pulse
Phase A Phase A

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PEG OUTPUT 6 7 8 9 10 11
PIN NAME OUT_CNFG_6 OUT_CNFG_7 PEG0 PEG1 PEG2 PEG3
Bit Code

J10-LIMITS: 11 J10-LIMITS: 12 J11-I/O: 21(+),6 J11-I/O: 22(+),7 J11-I/O: 23 J11-I/O: 24

Connectors/pinouts
(+),24 (-) (+),25 (-) (-) (-) (+),8(-) (+),9(-)

Encoder 1 Encoder 1
1001 PEG1_Pulse PEG1_Pulse PEG1_Pulse PEG1_Pulse
Phase A Phase A

Encoder 2 Encoder 2
1010 PEG2_Pulse PEG2_Pulse PEG2_Pulse PEG2_Pulse
Phase A Phase A

Encoder 3 Encoder 3
1011 PEG3_Pulse PEG3_Pulse PEG3_Pulse PEG3_Pulse
Phase A Phase A

Encoder 0 Encoder 0
1100 Reserved Reserved Reserved Reserved
Phase B Phase B

Encoder 1 Encoder 1
1101 Reserved Reserved Reserved Reserved
Phase B Phase B

Encoder 2 Encoder 2
1110 Reserved Reserved Reserved Reserved
Phase B Phase B

Encoder 3 Encoder 3
1111 Reserved Reserved Reserved Reserved
Phase B Phase B

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Table A-21. ECMsa / IDMsa / UDMsa Mapping of Engine Outputs to Physical Outputs (Servo Processor 0)

PEG OUTPUT 8 9
PIN NAME PEG0 PEG1

Bit Code

Connectors/pinouts J7-I/O: 1(+), 9(-) J7-I/O: 2(+),10(-)

0000 PEG0_Pulse(Default) PEG1_Pulse(Default)

0001 PEG0_State0 PEG0_State1

0010 PEG1_State0 PEG1_State1

0011 PEG2_State0 PEG2_State1

0100 PEG3_State0 PEG3_State1

0101 Reserved Reserved

0110 Reserved Reserved

0111 GP_OUT8 GP_OUT9

1000 PEG0_Pulse PEG0_Pulse

1001 PEG1_Pulse PEG1_Pulse

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PEG OUTPUT 8 9
PIN NAME PEG0 PEG1

Bit Code

Connectors/pinouts J7-I/O: 1(+), 9(-) J7-I/O: 2(+),10(-)

1010 PEG2_Pulse PEG2_Pulse

1011 PEG3_Pulse PEG3_Pulse

1100 Reserved Reserved

1101 Reserved Reserved

1110 Reserved Reserved

1111 Reserved Reserved

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Table A-22. ECMma / IDMma / UDMma Mapping of Engine Outputs to Physical Outputs (Servo Processor 0)

PEG OUTPUT
PIN NAME 0 1 2 3 8 9 10 11
OUT0 OUT1 OUT2 OUT3 PEG0 PEG1 PEG2 PEG3
Bit Code

Connectors/ J9-I/O: J9-I/O: J9-I/O: J9-I/O:

J9-I/O: 36 J9-I/O: 37 J9-I/O: 38 J9-I/O: 39
pinouts 21 22(+),7(-) 23(+),8(-) 24(+),9(-)

PEG0_ PEG2_
PEG0_ PEG0_ PEG0_ PEG0_ PEG1_Pulse PEG3_Pulse
0000 Pulse Pulse
State0 State1 State2 State3 (Default) (Default)
(Default) (Default)

PEG1_ PEG1_ PEG1_ PEG1_ PEG0_ PEG0_ PEG0_ PEG0_

0001
State0 State1 State2 State3 State0 State1 State2 State3

PEG2_ PEG2_ PEG2_ PEG2_ PEG1_ PEG1_ PEG1_ PEG1_

0010
State0 State1 State2 State3 State0 State1 State2 State3

PEG3_ PEG3_ PEG3_ PEG3_ PEG2_ PEG2_ PEG2_ PEG2_

0011
State0 State1 State2 State3 State0 State1 State2 State3

PEG3_ PEG3_ PEG3_ PEG3_

0100 Reserved Reserved Reserved Reserved
State0 State1 State2 State3

0101 Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved

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PEG OUTPUT
PIN NAME 0 1 2 3 8 9 10 11
OUT0 OUT1 OUT2 OUT3 PEG0 PEG1 PEG2 PEG3
Bit Code

Connectors/ J9-I/O: J9-I/O: J9-I/O: J9-I/O:

J9-I/O: 36 J9-I/O: 37 J9-I/O: 38 J9-I/O: 39
pinouts 21 22(+),7(-) 23(+),8(-) 24(+),9(-)

0110 Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved

GP_OUT0 GP_OUT1 GP_OUT2 GP_OUT3

0111 GP_OUT4 GP_OUT5 GP_OUT6 GP_OUT7
(Default) (Default) (Default) (Default)

PEG0_ PEG0_ PEG0_ PEG0_ PEG0_ PEG0_ PEG0_ PEG0_

1000
Pulse Pulse Pulse Pulse Pulse Pulse Pulse Pulse

1001 PEG1_Pulse PEG1_Pulse PEG1_Pulse PEG1_Pulse PEG1_Pulse PEG1_Pulse PEG1_Pulse PEG1_Pulse

PEG2_ PEG2_ PEG2_ PEG2_ PEG2_ PEG2_ PEG2_

1010 PEG2_Pulse
Pulse Pulse Pulse Pulse Pulse Pulse Pulse

PEG3_ PEG3_ PEG3_ PEG3_ PEG3_ PEG3_ PEG3_

1011 PEG3_Pulse
Pulse Pulse Pulse Pulse Pulse Pulse Pulse

1100 Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved

1101 Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved

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PEG OUTPUT
PIN NAME 0 1 2 3 8 9 10 11
OUT0 OUT1 OUT2 OUT3 PEG0 PEG1 PEG2 PEG3
Bit Code

Connectors/ J9-I/O: J9-I/O: J9-I/O: J9-I/O:

J9-I/O: 36 J9-I/O: 37 J9-I/O: 38 J9-I/O: 39
pinouts 21 22(+),7(-) 23(+),8(-) 24(+),9(-)

1110 Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved

1111 Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved

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Table A-23. ECMdx / IDMdx / UDMdx Mapping of Engine Outputs to Physical Outputs (Servo Processor 0, Outputs 0-5)

PEG OUTPUT 0 1 2 3 4 5
PIN NAME OUT0 OUT1 OUT2 OUT3 OUT4 OUT5

Bit Code

Connectors/pinouts J9-I/O: 33 J9-I/O: 34 J9-I/O: 35 J9-I/O: 3 J9-I/O: 36 J9-I/O: 37

0000 PEG0_State0 PEG0_State1 PEG0_State2 PEG0_State3 Reserved Reserved

0001 PEG1_State0 PEG1_State1 PEG1_State2 PEG1_State3 Reserved Reserved

0010 PEG2_State0 PEG2_State1 PEG2_State2 PEG2_State3 Reserved Reserved

0011 PEG3_State0 PEG3_State1 PEG3_State2 PEG3_State3 Reserved Reserved

0100 Reserved Reserved Reserved Reserved Reserved Reserved

0101 Reserved Reserved Reserved Reserved Reserved Reserved

0110 Reserved Reserved Reserved Reserved Reserved Reserved

GP_OUT0 GP_OUT1 GP_OUT2 GP_OUT3 GP_OUT4 GP_OUT5

0111
(Default) (Default) (Default) (Default) (Default) (Default)

Encoder 0 Phase Encoder 0 Phase

1000 PEG0_Pulse PEG0_Pulse PEG0_Pulse PEG0_Pulse
A A

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PEG OUTPUT 0 1 2 3 4 5
PIN NAME OUT0 OUT1 OUT2 OUT3 OUT4 OUT5

Bit Code

Connectors/pinouts J9-I/O: 33 J9-I/O: 34 J9-I/O: 35 J9-I/O: 3 J9-I/O: 36 J9-I/O: 37

1001 PEG1_Pulse PEG1_Pulse PEG1_Pulse PEG1_Pulse Encoder 1 Phase A Encoder 1 Phase A

Encoder 2 Phase Encoder 2 Phase

1010 PEG2_Pulse PEG2_Pulse PEG2_Pulse PEG2_Pulse
A A

Encoder 3 Phase Encoder 3 Phase

1011 PEG3_Pulse PEG3_Pulse PEG3_Pulse PEG3_Pulse
A A

Encoder 0 Phase Encoder 0 Phase

1100 Reserved Reserved Reserved Reserved
B B

1101 Reserved Reserved Reserved Reserved Encoder 1 Phase B Encoder 1 Phase B

Encoder 2 Phase Encoder 2 Phase

1110 Reserved Reserved Reserved Reserved
B B

Encoder 3 Phase Encoder 3 Phase

1111 Reserved Reserved Reserved Reserved
B B

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Table A-24. ECMdx / IDMdx / UDMdx Mapping of Engine Outputs to Physical Outputs (Servo Processor 0, Outputs 6-11)

PEG OUTPUT 6 7 8 9 10 11
PIN NAME OUT6 OUT7 PEG0 PEG1 PEG2 PEG3

Bit Code

J9-I/O: J9-I/O: J9-I/O: J9-I/O:

Connectors/pinouts J9-I/O: 38 J9-I/O: 4
21(+), 6(-) 22(+),7(-) 23(+), 8(-) 24(+),9(-)

PEG0_Pulse PEG1_Pulse PEG2_Pulse PEG3_Pulse

0000 Reserved Reserved
(Default) (Default) (Default) (Default)

0001 Reserved Reserved PEG0_State0 PEG0_State1 PEG0_State2 PEG0_State3

0010 Reserved Reserved PEG1_State0 PEG1_State1 PEG1_State2 PEG1_State3

0011 Reserved Reserved PEG2_State0 PEG2_State1 PEG2_State2 PEG2_State3

0100 Reserved Reserved PEG3_State0 PEG3_State1 PEG3_State2 PEG3_State3

0101 Reserved Reserved Reserved Reserved Reserved Reserved

0110 Reserved Reserved Reserved Reserved Reserved Reserved

0111 GP_OUT6 GP_OUT7 GP_OUT8 GP_OUT9 GP_OUT10 GP_OUT11

Encoder 0 Encoder 0
1000 PEG0_Pulse PEG0_Pulse PEG0_Pulse PEG0_Pulse
Phase A Phase A

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