Download Advanced Servo Library Reference Guide

sl.pcocfg
Library Routine
Calling Sequence
CALL sl.pcocfg (mot.num, pco.state, pco.pos, delta, equ,
frm.servo[], error)
Function
This program configures the Position Compare feature in the servo code. Full
support is available only on VMI-based motion systems. There is reduced
functionality on the VJI belt encoder channels 7 and 8. It is NOT supported on
MI-6 or MI-3 motion boards.
Input Parameters
84
mot.num
Motor number
pco.st
Initial PCO State (VMI ONLY)
< 0 - No change
= 0 - Clear PCO
> 0 - Set PCO
pco.pos
Initial compare position, in encoder counts
delta
New compare delta, in encoder counts
equ
New EQUal signal configuration. Bit mask as follows (“xx” means
“don’t care”):
Binary
Bitmask
Hex
Bitmask
00xx
^H0
Nothing. PCO controllable with
pco.st. (VMI ONLY)
0100
^H4
PCO pulses when motor position
matches the PCO position pco.pos
0101
^H5
PCO toggles when motor position
matches the PCO position pco.pos
0110
^H6
PCO is deasserted when motor
position matches the PCO position
pco.pos
0111
^H7
PCO is asserted when motor position
matches the PCO position pco.pos
PCO Operation
Advanced Servo Library Reference Guide, Rev. A