PAGE 8 17 SEP 2002 MAN0313-04
2.10.1 General........................................................................................................................44
2.10.2 Caveats of Conversion..................................................................................................44
2.10.3 Configuring Conversion Elements..................................................................................45
2.11 Timer and Counters .............................................................................................................47
2.12 Shift and Rotate Elements....................................................................................................52
2.12.1 General........................................................................................................................52
2.12.2 Configuring Shift and Rotate Elements...........................................................................52
2.12.3 Shift vs. Rotate.............................................................................................................53
2.13 Data Move Elements ...........................................................................................................55
2.13.1 Single Data Moves........................................................................................................55
2.13.2 Multi Data Moves ..........................................................................................................62
2.13.3 Multi Rotate Data Moves ...............................................................................................65
2.14 Set Real Time Clock Element...............................................................................................68
2.15 Network Elements ...............................................................................................................69
2.15.1 Net Get Words..............................................................................................................69
2.15.2 Net Put Words ..............................................................................................................69
2.15.3 Net Get Heartbeat.........................................................................................................70
2.15.4 Net Put Heartbeat .........................................................................................................70
2.16 String Handling Elements.....................................................................................................71
2.16.1 Overview......................................................................................................................71
2.16.2 Special Characters (String)............................................................................................71
2.17 Communication Elements ....................................................................................................73
2.17.1 Configuring Serial Port Elements (Communication).........................................................73
2.18 Special Elements.................................................................................................................80
2.18.1 Overview......................................................................................................................80
2.18.2 Stepper Move Element..................................................................................................80
2.18.3 Stepcalc Motion Profile Calculator..................................................................................82
2.18.4 PID Elements ...............................................................................................................83
2.19 Miscellaneous Elements ......................................................................................................89
2.19.1 Comments....................................................................................................................89
CHAPTER 3: CSCAPE DATA TYPES...............................................................................................91
3.1 Overview ............................................................................................................................91
3.2 Data Formats ......................................................................................................................91
3.3 Storage Order.....................................................................................................................92
CHAPTER 4: AVAILABLE CONTROLLER RESOURCES ..................................................................93
4.1 Overview ............................................................................................................................93
4.2 Tables of Internal Resources................................................................................................93
4.3 Using More than 2048 %R Registers ....................................................................................95
CHAPTER 5: SYSTEM REGISTERS ................................................................................................97
5.1 General...............................................................................................................................97
5.2 System Registers ................................................................................................................97
CHAPTER 6: HARDWARE REFERENCES (WIRING DIAGRAMS, PIN-OUTS, ETC.) ....................... 109
6.1 Hardware References ........................................................................................................109
CHAPTER 7: FLOATING POINT (REAL) NUMBERS ....................................................................... 111
CHAPTER 8: STP100 SMARTSTACK MODULE .............................................................................. 113
8.1 General.............................................................................................................................113
8.2 Command Bits...................................................................................................................113
8.3 Status Bits........................................................................................................................114
8.4 Position Feedback Registers ..............................................................................................114
8.5 Command Data Outputs ....................................................................................................115
8.6 Indexed Moves..................................................................................................................116
8.7 Issuing Commands............................................................................................................117
CHAPTER 9 USING ANALOG VALUES WITH CSCAPE AND THE OCS.......................................... 119
9.1 Overview ..........................................................................................................................119
9.2 Analog Conversion............................................................................................................119
9.3 Resolution.........................................................................................................................119