LEGEND-MC User’s Manual

LEGEND-MC
User’s Manual

Upon receipt of the product and prior to initial operation, read these instructions
thoroughly, and retain for future reference
LEGEND-MC User’s Manual
LEGEND-MC User’s Manual

WARNING
YASKAWA manufactures component parts that can be used in a wide
variety of industrial applications. The selection and application of
YASKAWA products remain the responsibility of the equipment
designer or end user. YASKAWA accepts no responsibility for the way
its products may be incorporated into the final system design.

Under no circumstances should any YASKAWA product be incorpo-

rated into any product or design as the exclusive or sole safety control.
Without exception, all controls should be designed to detect faults
dynamically under all circumstances. All products designed to incor-
porate a component part manufactured by YASKAWA must be sup-
plied to the end user with appropriate warnings and instructions as to
that part’s safe use and operation. Any warnings provided by
Yaskawa must be promptly provided to the end user.

YASKAWA offers an express warranty only as to the quality of its prod-

ucts in conforming to standards and specifications published in
YASKAWA’S manual. NO OTHER WARRANTY, EXPRESS OR
IMPLIED, IS OFFERED. YASKAWA assumes no liability for any per-
sonal injury, property damage, losses or claims arising from misappli-
cation of its products.
LEGEND-MC User’s Manual
LEGEND-MC User’s Manual

TABLE OF CONTENTS
1 Introduction ............................................................................................................................... 1
Part Numbers .................................................................................................................... 2
Startup ............................................................................................................................... 3
Mounting the LEGEND-MC to the LEGEND Amplifier ......................................... 3
Mounting Orientation ............................................................................................ 3
Front Panel Description..................................................................................................... 4
Power/Connections Wiring - Single Phase ....................................................................... 5
Power/Connections Wiring - Three Phase ........................................................................ 6
Cable Shielding, Segregation and Noise Immunity ........................................................... 7
I/O Connections (50-pin CN5)........................................................................................... 8
Analog I/O ......................................................................................................................... 9
Analog Input ......................................................................................................... 9
Analog Output .................................................................................................... 10
Digital I/O ........................................................................................................................ 11
Digital Input ........................................................................................................ 11
Digital Output .................................................................................................... 12
Emergency Stop Chain ................................................................................................... 13
Serial Communication ..................................................................................................... 14
External Encoder Specifications ..................................................................................... 15
Dedicated Inputs ............................................................................................................. 16
Physical Specifications .................................................................................................... 17
Hardware Specifications ................................................................................................. 17
Cable Diagram and Dimensional Drawings .................................................................... 18
I/O Cable with Terminal Block JUSP-TA50P ..................................................... 18
2 Theory of Operation ................................................................................................................ 21
Overview ......................................................................................................................... 21
Level ................................................................................................................................ 22
Operation of Closed-Loop Systems ................................................................................ 24
System Modeling ............................................................................................................. 25
Controller ............................................................................................................ 25
Motor-Amplifier ................................................................................................... 25
Current Drive ...................................................................................................... 25
Velocity Loop ...................................................................................................... 26
Encoder .............................................................................................................. 27
DAC .................................................................................................................... 27
Digital Filter ........................................................................................................ 27
ZOH .................................................................................................................... 28
System Analysis ............................................................................................................................ 28
System Design and Compensation ................................................................................. 31
The Analytical Method ........................................................................................ 31
3 Communications ..................................................................................................................... 35
Introduction ..................................................................................................................... 35
Controller Response to Data .............................................................................. 35
RS232 Port ......................................................................................................... 35
Ethernet Configuration .................................................................................................... 36
Communication Protocols .................................................................................. 36
Addressing ......................................................................................................... 37
Ethernet Handles ............................................................................................... 37
Global vs Local Operation .................................................................................. 38
Configuring Operation for Distributed Control .................................................... 39
Operation of Distributed Control ......................................................................... 40
Accessing the I/O of the slaves .......................................................................... 40
Handling Communication Errors ........................................................................ 41
Modbus Support ................................................................................................. 41
LEGEND-MC User’s Manual

Communicating with Multiple Devices ................................................................43

Multicasting .........................................................................................................43
Using Third Party Software .................................................................................43
4 Command Reference ...............................................................................................................45
Command Description .................................................................................................................. 49
AB Abort ...................................................................................................................................... 51
@ABS Absolute Value Function ..................................................................................................52
AC Acceleration .......................................................................................................................... 53
@ACOS Arc Cosine Function...................................................................................................... 54
AD After Distance ........................................................................................................................ 55
AF Analog Feedback .................................................................................................................. 56
AI After Input ............................................................................................................................... 57
AL Arm Latch .............................................................................................................................. 58
AM After Move ............................................................................................................................ 59
@AN Read Analog Input.............................................................................................................. 60
AO Analog Out ............................................................................................................................ 61
AP After Absolute Position .......................................................................................................... 62
AR After Relative Distance ......................................................................................................... 63
AS At Speed ............................................................................................................................... 64
@ASIN Arc Sine Function............................................................................................................ 65
AT At Time .................................................................................................................................. 66
@ATAN Arc Tangent Function ....................................................................................................67
BG Begin..................................................................................................................................... 68
BL Reverse Software Limit .......................................................................................................... 69
BN Burn ...................................................................................................................................... 70
BP Burn Program ........................................................................................................................ 71
BV Burn Variables and Array ...................................................................................................... 72
CB Clear Bit ................................................................................................................................ 73
CD Contour Data ........................................................................................................................ 74
CE Configure Encoder ................................................................................................................ 75
CF Configure Messages ............................................................................................................. 76
CH Connect Handle .................................................................................................................... 77
CM Contouring Mode .................................................................................................................. 79
CN Configure Limit Switches ...................................................................................................... 80
@COM 2’s Complement ..............................................................................................................81
@COS Cosine .............................................................................................................................82
CS Clear Sequence ..................................................................................................................... 83
CW Copyright information / Data Adjustment Bit On/Off ............................................................ 84
DA Deallocate Variables & Arrays .............................................................................................. 85
DC Deceleration .......................................................................................................................... 86
DE Dual (Auxiliary) Encoder Position ......................................................................................... 87
DL Download .............................................................................................................................. 88
DM Dimension ............................................................................................................................ 89
DP Define Position ...................................................................................................................... 90
DT Delta Time ............................................................................................................................. 91
DV Dual Velocity (Dual Loop) ..................................................................................................... 92
EA ECAM master ........................................................................................................................ 93
EB ECAM Enable ........................................................................................................................ 94
EC ECAM Counter ...................................................................................................................... 95
ED Edit ........................................................................................................................................ 96
EG ECAM Engage ...................................................................................................................... 97
ELSE Else Function for use with IF Conditional Statement ....................................................... 98
EM ECam Cycle .......................................................................................................................... 99
EN End ...................................................................................................................................... 100
ENDIF End of IF Conditional Statement ................................................................................... 101
EO Echo .................................................................................................................................... 102
LEGEND-MC User’s Manual

EP Cam Table Intervals and Starting Point ............................................................................. 103

EQ ECAM Quit (disengage) ..................................................................................................... 104
ER Error Limit .......................................................................................................................... 105
ET Electronic Cam Table ......................................................................................................... 106
FA Acceleration Feedforward .................................................................................................. 107
FE Find Edge .......................................................................................................................... 108
FI Find Index ............................................................................................................................ 109
FL Forward Software Limit ....................................................................................................... 110
@FRAC Fraction ....................................................................................................................... 111
FV Velocity Feedforward .......................................................................................................... 112
GA Master Axis for Gearing ..................................................................................................... 113
GR Gear Ratio ......................................................................................................................... 114
HM Home ................................................................................................................................. 115
HX Halt Execution .................................................................................................................... 116
IA IP Address ........................................................................................................................... 117
IF IF conditional statement ....................................................................................................... 118
IH Open Internet Handle .......................................................................................................... 119
II Input Interrupt ........................................................................................................................ 121
IL Integrator Limit ..................................................................................................................... 123
IN Input Variable ...................................................................................................................... 124
@IN Status of Digital Input ....................................................................................................... 125
@INT Integer ............................................................................................................................ 126
IP Increment Position ............................................................................................................... 127
IT Independent Time Constant - Smoothing Function ............................................................. 128
JG Jog ...................................................................................................................................... 129
JP Jump to Program Location .................................................................................................. 130
JS Jump to Subroutine ............................................................................................................. 131
KD Derivative Constant ............................................................................................................ 132
KI Integrator ............................................................................................................................. 133
KP Proportional Constant ........................................................................................................ 134
LA List Arrays ........................................................................................................................... 135
LE Linear Interpolation End ..................................................................................................... 136
_LF* Forward Limit Switch Operand (Keyword) ....................................................................... 137
LI Linear Interpolation Distance ................................................................................................. 138
LL List Labels ........................................................................................................................... 140
LM Linear Interpolation Mode .................................................................................................. 141
LO Lockout ............................................................................................................................... 142
_LR* Reverse Limit Switch Operand (Keyword) ...................................................................... 143
LS List Program ....................................................................................................................... 144
LV List Variables ...................................................................................................................... 145
LZ Inhibit Leading Zeros .......................................................................................................... 146
MB Modbus .............................................................................................................................. 147
MC Motion Complete - "In Position" ......................................................................................... 149
MF Forward Motion to Position ................................................................................................ 150
MG Message ............................................................................................................................ 151
MM Master’s Modulus ................................................................................................................ 152
MO Motor Off ........................................................................................................................... 153
MR Reverse Motion to Position ............................................................................................... 154
MT Motor Type ......................................................................................................................... 155
NA Number of Axes ................................................................................................................... 156
NB Notch Bandwidth ................................................................................................................ 157
NF Notch Frequency ................................................................................................................ 158
NO No Operation ..................................................................................................................... 159
NZ Notch Zero ......................................................................................................................... 160
OB Output Bit ........................................................................................................................... 161
OC Output Compare ................................................................................................................ 162
LEGEND-MC User’s Manual

OE Off on Error ........................................................................................................................ 163

OF Offset .................................................................................................................................. 164
OP Output Port ......................................................................................................................... 165
@OUT Status of Digital Output ..................................................................................................166
PA Position Absolute ................................................................................................................ 167
PF Position Format ................................................................................................................... 168
PR Position Relative ................................................................................................................. 170
QD Download Array ................................................................................................................. 171
QR Data Record ...................................................................................................................... 172
QU Upload Array ...................................................................................................................... 173
QW Slave Record Update Rate ................................................................................................ 174
QZ Return Data Record Information ......................................................................................... 175
RA Record Array ....................................................................................................................... 176
RC Record ................................................................................................................................ 177
RD Record Data ........................................................................................................................ 178
RE Return from Error Routine ................................................................................................... 180
RI Return from Interrupt Routine .............................................................................................. 181
RL Report Latched Position ...................................................................................................... 182
@RND Round ............................................................................................................................183
RS Reset ................................................................................................................................... 184
<control>R<control>S Master Reset ......................................................................................... 185
<control>R<control>V Revision ................................................................................................ 186
SA Send Command .................................................................................................................. 187
SB Set Bit .................................................................................................................................. 188
SC Stop Code ........................................................................................................................... 189
SH Servo Here .......................................................................................................................... 190
@SIN Sin ...................................................................................................................................191
SP Speed .................................................................................................................................. 192
@SQR Square Root ..................................................................................................................193
ST Stop ..................................................................................................................................... 194
TB Tell Status Byte ................................................................................................................... 195
TC Tell Error Code .................................................................................................................... 196
TD Tell Dual Encoder ................................................................................................................ 199
TE Tell Error .............................................................................................................................. 200
TI Tell Inputs ............................................................................................................................. 201
TIME* Time Operand (Keyword) ............................................................................................... 202
TL Torque Limit ......................................................................................................................... 203
TM Time .................................................................................................................................... 204
TP Tell Position ......................................................................................................................... 205
TR Trace ................................................................................................................................... 206
TS Tell Switches ....................................................................................................................... 207
TT Tell Torque .......................................................................................................................... 209
TV Tell Velocity ......................................................................................................................... 210
TW Timeout for IN-Position (MC) .............................................................................................. 211
UL Upload ................................................................................................................................. 212
VA Vector Acceleration ............................................................................................................. 213
VD Vector Deceleration ............................................................................................................ 214
VE Vector Sequence End ......................................................................................................... 215
VF Variable Format ................................................................................................................... 216
VR Vector Speed Ratio ............................................................................................................. 217
VS Vector Speed ...................................................................................................................... 218
VT Vector Time Constant - S curve .......................................................................................... 219
WC Wait for Contour Data ........................................................................................................ 220
WT Wait .................................................................................................................................... 221
XQ Execute Program ................................................................................................................ 222
ZA User Variable ....................................................................................................................... 223
LEGEND-MC User’s Manual

ZB User Variable ....................................................................................................................... 224

ZS Zero Subroutine Stack ........................................................................................................ 225
COMMAND INTERROGATION LIST.......................................................................................... 226
5 Programming Basics ............................................................................................................ 229
Introduction ................................................................................................................... 229
Program Maximums ...................................................................................................... 229
Command Syntax .......................................................................................................... 229
Controller Response to Commands .............................................................................. 231
Command Summary ..................................................................................................... 232
Motion .............................................................................................................. 232
Program Flow ................................................................................................... 234
General Configuration ...................................................................................... 235
Control Filter Settings ....................................................................................... 236
Status ............................................................................................................... 237
Error And Limits ............................................................................................... 237
Arithmetic Functions ......................................................................................... 238
6 Programming Motion ............................................................................................................ 239
Overview ....................................................................................................................... 239
Independent Axis Positioning ........................................................................................ 241
Command Summary - Independent Axis ......................................................... 241
Independent Jogging ..................................................................................................... 243
Command Summary - Jogging ........................................................................ 243
Linear Interpolation Mode ............................................................................................. 244
Specifying Linear Segments ............................................................................ 244
Command Summary - Linear Interpolation ...................................................... 246
Vector Mode: Linear Interpolation Motion ..................................................................... 248
Specifying Vector Segments ............................................................................ 248
Additional Commands ...................................................................................... 248
Command Summary - Coordinated Motion Sequence .................................... 249
Operand Summary - Coordinated Motion Sequence ....................................... 250
Electronic Gearing ......................................................................................................... 251
Command Summary - Electronic Gearing ....................................................... 251
Electronic Cam .............................................................................................................. 252
Contour Mode ............................................................................................................... 256
Specifying Contour Segments .......................................................................... 256
Additional Commands ...................................................................................... 257
Command Summary - Contour Mode .............................................................. 257
General Velocity Profiles.................................................................................. 257
Motion Smoothing ......................................................................................................... 258
Using the IT and VT Commands (S curve profiling)......................................... 258
Homing.......................................................................................................................... 259
High Speed Position Capture (Latch Function) ............................................................. 260
7 Application Programming .................................................................................................... 261
Introduction ................................................................................................................... 261
Program Format ............................................................................................................ 261
Special Labels ............................................................................................................... 262
Executing Programs - Multitasking ................................................................................ 263
Debugging Programs .................................................................................................... 264
Program Flow Commands ............................................................................................ 266
Event Triggers & Trippoints .............................................................................. 267
LEGEND-MC Event Triggers ........................................................................... 267
Event Trigger Examples ................................................................................... 268
Conditional Jumps ............................................................................................ 272
Multiple Conditional Statements ....................................................................... 274
If, Else, and Endif ............................................................................................. 276
Command Format - IF, ELSE and ENDIF ....................................................... 277
LEGEND-MC User’s Manual

Subroutines .......................................................................................................278
Stack Manipulation ............................................................................................278
Auto Start Routine .............................................................................................278
Automatic Subroutines for Monitoring Conditions .............................................279
Mathematical and Functional Expressions ....................................................................282
Variables ........................................................................................................................284
Programmable Variables ..................................................................................284
Internal Variables & Keywords ..........................................................................286
Arrays............................................................................................................................. 288
Defining Arrays ................................................................................................. 288
Assignment of Array Entries .............................................................................288
Automatic Data Capture into Arrays ................................................................. 290
8 Input and Output of Data .......................................................................................................293
Sending Messages ........................................................................................................293
Input of Data ..................................................................................................... 295
Formatting Data ................................................................................................295
User Units ......................................................................................................... 297
9 Programmable I/O ..................................................................................................................299
Digital Outputs ...............................................................................................................299
Digital Inputs ..................................................................................................................300
Input Interrupt Function ..................................................................................................300
Analog Inputs .................................................................................................... 300
10 Example Applications ..........................................................................................................301
Instruction Set Examples ...............................................................................................301
Special Labels ...................................................................................................318
Wire Cutter ........................................................................................................322
Speed Control by Joystick ................................................................................323
Position Control by Joystick ..............................................................................324
Backlash Compensation by Dual-Loop .............................................................325
11 Troubleshooting ...................................................................................................................327
Overview ........................................................................................................................327
Installation ......................................................................................................................327
Communication ..............................................................................................................328
Stability ..........................................................................................................................328
Operation .......................................................................................................................328
LEGEND-MC User’s Manual

Introduction

The LEGEND-MC is a single axis Ethernet motion controller designed for use
exclusively with Yaskawa’s LEGEND Digital Torque Amplifier.

It provides a structured text programming environment and the ability to per-

form many modes of motion including camming, gearing, and contouring. High
speed product registration is also available as a standard feature.

Additionally, point-to-point control and communications over the Ethernet con-

nections are standard features. The Ethernet function allows multiple handles
or devices to communicate with the controller.

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LEGEND-MC User’s Manual

Part Numbers
Description Part Number
SMC3010

a) Motion Controller with Ethernet Interface SMC3010

1.0m 50 Pin I/O Cable JZSP-CKI01-1 (A)

2.0m 50 Pin I/O Cable JZSP-CKI01-2 (A)

I/O

b)
3.0m 50 Pin I/O Cable JZSP-CKI01-3 (A)

1.0m 50 Pin I/O Cable (with terminal block) JUSP-TA50P

Serial

c) 3.0m Port #1 Cable SMCCBL7

Software

d) YTerm Programming Software SMCGUI1

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LEGEND-MC User’s Manual

Startup
Mounting the LEGEND-MC to the LEGEND Amplifier
1. Insert the lower two mounting notches of the LEGEND-MC into the mounting holes at the bottom of the right
side of the LEGEND.
2. Push the LEGEND-MC in the direction indicated by the arrow in the figure below, and insert the upper
mounting notches of the LEGEND-MC into the upper mounting holes on the right side of the LEGEND.

Mounting Orientation
Mount the LEGEND-MC and LEGEND vertically for proper cooling, as shown below. Allow a minimum spacing
of 10mm around the left and right sides and 30mm around the top and bottom of the LEGEND-MC/LEGEND
unit.

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LEGEND-MC User’s Manual

Front Panel Description

No. Name Description
(1) Power A green LED that indicates +5 VDC power is (2) (1)
ON applied properly from the LEGEND-MC
amplifier to the controller.
(2) Alarm/ A red LED that will flash on initially at power
Error up and stay lit for approximately 1-8 seconds.
After power up, the LED will illuminate for the (3)
following reasons:
•The axis has a position error greater than the
error limit. The error limit is set by using the
command ER.
•The reset line on the controller is held low or
is being affected by noise.
•There is a failure in the controller and the
processor is resetting itself.
•There is a failure in the output IC which
drives the error signal.
(3) CN6 9 pin male D-Sub serial port connector
(4) CN5 3M 50 pin high density I/O connector
(5) RST Reset switch. Causes the controller to reboot, (4)
and load the application program and
parameters from flash. If the program contains
an #AUTO label, it will automatically execute.
(6) Ethernet A green LED that is lit when there is an
status Ethernet connection to the controller. This
LED tests only for the physical connection, not
for an active or enabled link.
(7) Ethernet The yellow LED indicates traffic across the
status Ethernet connection. This LED will show both
transmit and receive activity across the (5)
connection. If there is no Ethernet connection
or IP address assigned, the LED will flash at
regular intervals to show that the BOOTP (7) (6)
packets are being broadcast.
(8) CN4 10 BaseT Ethernet RJ485 Connector
(9) FG Frame ground spade terminal. Connect to (8)
ground terminal on LEGEND Amplifier

(9)

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LEGEND-MC User’s Manual

Power/Connections Wiring - Single Phase

R T
1MCCB Control Control
Power Power
Noise Filter
ON OFF 1MC

1MC Servo SUP

Emergency
Servo ON Power
Stop 1MC 2MC
OFF

2MC SUP

YASKAWA

C
N
6

LEGEND01
2MC CHARGE POWER

L1
L2 C
L3 N
5
1
2
1MC

L1C
L2C C R
B1 N S
B2 1 T
B3 C
N
U 4
V C
W F
N
G
2

Notes: The LEGEND-MC receives its power from the LEGEND amplifier through the side interface
connector, however, the digital I/O receives its power from pins 46, 47, 48, and 49 on the I/O connector.

For maximum noise immunity, connect the FG to a ground termnal on the sub panel or to the ground
terminal on the LEGEND.

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LEGEND-MC User’s Manual

Power/Connections Wiring - Three Phase

R S T
1MCCB Control Control
Power Power
Noise Filter
ON OFF 1MC

1MC Servo SUP

Emergency
Servo ON Power
Stop 1MC 2MC
OFF

2MC SUP

YASKAWA

C
N
6

LEGEND01
2MC CHARGE POWER

L1
L2 C
L3 N
1 5

2
1MC

L1C
L2C C
B1 R
N S
B2 1 T
B3 C
N
U 4
V C
W F
N
2 G

Notes: The LEGEND-MC receives its power from the LEGEND amplifier through the side interface
connector, however, the digital I/O receives its power from pins 46, 47, 48, and 49 on the I/O connector.

For maximum noise immunity, connect the FG to a ground termnal on the sub panel or to the ground
terminal on the LEGEND.

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LEGEND-MC User’s Manual

Cable Shielding, Segregation and Noise Immunity

Proper
SMC 3010 Terminal Block Shields tied
Connector Case back at device

a)

PROPER
Shield connected across
terminal block.

Terminal Block Shields tied

back at device
Connector Case

b)
PROPER PROPER
Shield tied back at Shields of field
terminal block. cables grounded at
one point

Wrong

Terminal Block Shields tied

Connector Case back at device

a)

WRONG
Shield grounded at
more than one point.

Terminal Block Shields tied

back at device
Connector Case

b)
WRONG
Shields of field
cables ungrounded

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LEGEND-MC User’s Manual

I/O Connections (50-pin CN5)

CN5
1
1 Analog 1
2 Analog 2
3 +5 Filtered Output power
4 -12 Filtered Output power
5 +12 Filtered Output power
6
7 Output compare
8 External encoder A-
9 External encoder A+
10 External encoder B-
11 External encoder B+
12 Abort Input
13 Reverse limit switch
14 Home Input
15 Forward limit switch
16 Reset Input
17 Digital Input 2
18 Digital Input 1
19 Digital Input 7
20 Digital Input 8
21 Digital Output 4
22 Digital Output 3
23 Digital Output 2
24 Digital Output 1
25 E STOP2
26 Analog Output
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42 Digital Input 6
43 Digital Input 5
44 Digital Input 4
45 Digital Input 3
46 24V GND Input
47 24V Power Input
48 24V GND Input
49 24V Power Input
50 E STOP1

LEGEND-MC Signal Ground

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LEGEND-MC User’s Manual

Analog I/O
Analog Input
Item Specifications
Input Voltage ± 10 V

Input Impedance Approximately 10k Ω

Resolution 12 bits over a ± 10V range or 4.88 mV per bit

Legend-MC I/O
Internal Circuitry Connector CN5 Field Wiring

12V VCC 12V

4 -12V

DG403
MUX

1 Analog 1

2 Analog 2

5 +12V

-12V -12V 28

SMC Signal
Ground

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LEGEND-MC User’s Manual

Analog Output

Item Specifications
D/A Output Resolution 16 bit over a ± 10 V range or 328 µV/bit

Output short circuit duration Infinite

Maximum output current 60 mA

Legend-MC I/O
Internal Circuitry Connector CN5 Field Wiring

TL084CN
Analog External Device
26 Output -10 ~ 10 V

Signal L
28 Ground

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LEGEND-MC User’s Manual

Digital I/O
Digital Input
Item Specifications
Number of Input Points 8
Input Format Sinking
Isolation Optical
Voltage 24 VDC ± 20%
Current Rating (ON) 5.3 mA to activate
Input Impedance 2.2k Ω
Operation Voltage Logic 0 <5V
Logic 1 >15V
OFF Current 0.9 mA or less
Response Time OFF to ON: <0.5 ms
ON to OFF: <1.5 ms
Latch response time Less than 25 µsec
Minimum latch width 9 µsec

Legend-MC I/O
Internal Circuitry Connector CN5 Field Wiring
24VDC
47

2.2k 49

18 Digital Input 1
(Main Latch)
17 Digital Input 2
(External Latch)
45 Digital Input 3

44 Digital Input 4

43 Digital Input 5

42 Digital Input 6

19 Digital Input 7

20 Digital Input 8

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LEGEND-MC User’s Manual

Digital Output
Item Specifications
Number of Output Points 4
Output Format Sinking
Output Classification Transistor Output
Isolation Optical
Load Voltage 24 VDC ± 20%
Load Current 200 mA/Output (600 mA if activated individually)
Response Time OFF to ON <0.25 ms
ON to OFF <0.5 ms
External Common Power 24 VDC ± 20% 15 mA
Common User Fuse Rating 1A
Individual User Fuse Rating 200 mA recommended

Note: The ULN 2803 output chip is capable of 600 mA at a single output, or 800mA for the four outputs simultaneously.

Legend-MC I/O
Internal Circuitry Connector CN5 Field Wiring
24VDC
47 Fuse

49
4.7k

PS2505-4

ULN2803

24 Digital Output 1 L

23 Digital Output 2 L
10k
22 Digital Output 3 L

21 Digital Output 4 L

46
48

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LEGEND-MC User’s Manual

Emergency Stop Chain

Legend-MC I/O
Internal Circuitry Connector CN5 Field Wiring

VCC

U17

50 E STOP1
25 E STOP2

Q1

-EROUT 2N7002
1k

The LEGEND-MC closes the relay contact under normal operating conditions.

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LEGEND-MC User’s Manual

Serial Communication

Item Specifications
Baud Rate 9600 or 19200 settable by jumper JP1, default is 19200

Data Bits 8

Parity None

Stop Bits 1

Legend-MC Serial
Internal Circuitry Port Connector CN6 Field Wiring
U7
VCC
C1+ V+
.1 UF .1 UF
C1-
.1 UF C2+
V-
C2- .1 UF
1 CTS Output
T1IN T1OUT
6 CTS Output

8 CTS Output
T2IN T2OUT
2 Transmit Output

3 Receive Input
A1OUT A1IN
7 RTS Input

4 RTS Input
A2OUT A2IN
MAX232A 9 N/C

5 Signal Ground

Note: Hardware handshaking must be used with the LEGEND-MC. If it is impossible to implement
hardware hndshaking, use a jumper between pins 1 and 4 in the connector.

Note: Do not connect pin 5 to a 24V ground.

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LEGEND-MC User’s Manual

External Encoder Specifications

Item Specifications
Input Format Quadrature
Pulse and Direction

Maximum Frequency 12 MHz

Legend-MC I/O
Internal Circuitry Connector CN5 Field Wiring

VCC

External Encoder
4.7k

4.7k
6.8k

6.8k

+5V or +12V
9 A+phase
3486
8 A-phase
34 0V
Digital 10 B-phase
3486 Ground
11 B+phase
34

Digital Shield
2.4k

2.4k

Ground

Frame
Ground

Standard voltage levels are TTL (0V to 5V), however, voltage levels up to 12V are acceptable. If using differential
12V signals, no modification is required. Single ended 12V signals require a bias voltage applied to the compli-
mentary input, i.e.; use two 10k resistors, one connected to +12V and the other connected to the LEGEND signal
ground to hold the /A phase and /B phase at 6VDC. Do not use a 24VDC encoder.

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LEGEND-MC User’s Manual

Dedicated Inputs
Item Specifications
Number of Input Points Forward limit, Reverse limit, Home, Abort, Reset

Input Format Sinking

Isolation Optical

Voltage 24 VDC ± 20%

Current Rating (ON) 5.3 mA to activate

Input Impedance 2.2k Ω

Operation Voltage Logic 0 <5V

Logic 1 >15V

OFF Current 0.9 mA or less

Limit Switch Response Time OFF to ON: <0.5 ms

ON to OFF: <1.5 ms

Legend-MC I/O
Internal Circuitry Connector CN5 Field Wiring
24VDC
47

External Input Signal

2.2k 49

15 Forward Limit Switch

13 Reverse Limit Switch

14 Home Input

12 Abort Input

16 Reset Input

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LEGEND-MC User’s Manual

Physical Specifications
Description Specifications
Depth: 130mm (5.12 in)

Width: 20 mm (.79 in)

Height: 142 mm (5.6 in)

Weight: .18 kg (.4 lb.)

Vibration: 9.8 msec2 (1.0g)

Ambient temperature: 0 ~ 70° C (32 ~ 158° F)

Humidity: Less than 95%

Noise: IEC Level 3

Hardware Specifications
Description Specifications
CPU: 25 mHz Motorola

Servo update: 1000 µs default, 250 µs minimum

Digital inputs: (8), +24VDC

Dedicated inputs: (5), +24VDC

Digital Outputs: (4), +24VDC

Analog inputs: (2) +/- 10 V 12 bit resolution

Analog outputs: (1) +/- 10 V 16 bit resolution

Serial port: (1) 9600 or 19200 baud

Ethernet: (1) 10-base-T

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LEGEND-MC User’s Manual

Cable Diagram and Dimensional Drawings

I/O Cable with Terminal Block JUSP-TA50P

CN5
+10%
Length of cable supplied: 19.69 (500) -0%

50-pin connector plug

MR-50RMD2
50-pin terminal block
M3.5 screws

1.77 (45)
1 49
2 50
9.74 (247.5)

Connector Terminal Block Converter Unit

JUSP-TA50P* (cable included)

Mounting Hole Diagram

10.01 (254.2)
0.14 (3.5) 0.14 (3.5)
0.61 (15.5)

1.77 (45)
(29.5)
1.16

0.27 (7.0) 0.27 (7.0)

10.28 (261.2)

*Terminal specifications : see I/O connections, page 8

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 LEGEND-MC User’s Manual
MOUNTING CLIPS

LEGEND MOUNTING
CLIP
SIDE PIN CONNECTOR

(O.79)
20
(0.79)
20
(5.12)
130

ND MOUNTING
CLIP STATUS LED'S CLIP ATTACHMENT TO LEGEND AM
C
N
6

SERIAL PORT
(5.59)

C
142

N
5

I/O

MODEL NP
R
S
T RESET
ETHERNET LED'S C
N
4
ETHERNET F
G GROUND

APPROX. MASS: 0.18kg

DIMENSIONS: MM (IN)
19
LEGEND-MC User’s Manual

NOTES:

20
LEGEND-MC User’s Manual

2 Theory of Operation

Overview
The following discussion covers the operation of motion control systems. A typical motion control sys-
tem consists of the elements shown in the following illustration:

COMPUTER CONTROLLER DRIVER

ENCODER MOTOR

Elements of Servo Systems

The operation of such a system can be divided into three levels, as shown in the following illustration
Levels of Control Functions. The levels are:

1. Closing the Loop

2. Motion Profiling
3. Motion Programming
The first level, the closing of the loop, assures that the motor follows the commanded position. Closing
the position loop using a sensor does this. The operation at the basic level of closing the loop involves
the subjects of modeling, analysis, and design. These subjects will be covered in the following discus-
sions.
The motion profiling is the generation of the desired position function. this function, R(t), describes
where the motor should be at every sampling period. Note that the profiling and the closing of the loop
are independent functions. The profiling function determines where the motor should be and the closing
of the loop forces the motor to follow the commanded position
The highest level of control is the motion program. This can be stored in the host computer or in the con-
troller. This program describes the tasks in terms of the motors that need to be controlled, the distances
and the speed.

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LEGEND-MC User’s Manual

Level

LEVEL
MOTION
3 PROGRAMMING

MOTION
2 PROFILING

CLOSED-LOOP
1 CONTROL

Levels of Control Functions

The three levels of control may be viewed as different levels of management. The top manager, the
motion program, may specify the following instruction, for example.

PR 6000,4000

SP 20000,20000

AC 200000,300000

BG X

AD 2000

BG Y

EN

This program corresponds to the velocity profiles shown in the following illustration - Velocity and Position
Profiles. Note that the profiled positions show where the motors must be at any instant of time.
Finally, it remains up to the servo system to verify that the motor follows the profiled position by closing
the servo loop.
The operation of the servo system is done in two manners. First, it is explained qualitatively, in the fol-
lowing section. Later, the explanation is repeated using analytical tools for those who are more theoreti-
cally inclined.

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LEGEND-MC User’s Manual

X VELOCITY

Y VELOCITY

X POSITION

Y POSITION

TIME

Velocity and Position Profiles

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LEGEND-MC User’s Manual

Operation of Closed-Loop Systems

To understand the operation of a servo system, we may compare it to a familiar closed-loop operation,
adjusting the water temperature in the shower. One control objective is to keep the temperature at a com-
fortable level, say 90 degrees F. To achieve that, our skin serves as a temperature sensor and reports to the
brain (controller). The brain compares the actual temperature, which is called the feedback signal, with
the desired level of 90 degrees F. The difference between the two levels is called the error signal. If the
feedback temperature is too low, the error is positive, and it triggers an action which raises the water tem-
perature until the temperature error is reduced sufficiently.
The closing of the servo loop is very similar. Suppose that we want the motor position to be at 90 degrees.
A position sensor, often an encoder, measures the motor position and the position feedback is sent to the
controller. Like the brain, the controller determines the position error, which is the difference between the
commanded position of 90 degrees and the position feedback. The controller then outputs a signal that is
proportional to the position error. This signal produces a proportional current in the motor, which causes a
motion until the error is reduced. Once the error becomes small, the resulting current will be too small to
overcome the friction, causing the motor to stop.
The analogy between adjusting the water temperature and closing the position loop carries further. We
have all learned that the hot water faucet should be turned at the "right" rate. If you turn it too slowly, the
temperature response will be slow, causing discomfort. Such a slow reaction is called overdamped
response.
The results may be worse if we turn the faucet too fast. The overreaction results in temperature oscilla-
tions. When the response of the system oscillates, we say that the system is unstable. Clearly, unstable
responses are bad when we want a constant level.
What causes the oscillations? The basic cause for the instability is a combination of delayed reaction and
high gain. In the case of the temperature control, the delay is due to the water flowing in the pipes. When
the human reaction is too strong, the response becomes unstable.
Servo systems also become unstable if their gain is too high. The delay in servo systems is between the
application of the current and its effect on the position. Note that the current must be applied long enough
to cause a significant effect on the velocity, and the velocity change must last long enough to cause a posi-
tion change. This delay, when coupled with high gain, causes instability.
This motion controller includes a special filter that is designed to help the stability and accuracy. Typi-
cally, such a filter produces, in addition to the proportional gain, damping and integrator. The combination
of the three functions is referred to as a PID filter.
The filter parameters are represented by the three constants KP, KI and KD, which correspond to the pro-
portional, integral and derivative term respectively.
The damping element of the filter acts as a predictor, thereby reducing the delay associated with the motor
response.
The integrator function, represented by the parameter KI, improves the system accuracy. With the KI
parameter, the motor does not stop until it reaches the desired position exactly, regardless of the level of
friction or opposing torque.
The integrator also reduces the system stability. Therefore, it can be used only when the loop is stable and
has a high gain.
The output of the filter is applied to a digital-to-analog converter (DAC). The resulting output signal in
the range between +10 and -10 Volts is then applied to the amplifier and the motor.
The motor position, whether rotary or linear is measured by a sensor. The resulting signal, called position
feedback, is returned to the controller for closing the loop.
The following section describes the operation in a detailed mathematical form, including modeling, analy-
sis and design.

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LEGEND-MC User’s Manual

System Modeling
The elements of a servo system include the motor, driver, encoder and the controller. These elements are
shown in the following illustration. The mathematical model of the various components is given below:

Controller

CONTROLLER

R X DIGITAL Y V E
Σ FILTER
ZOH DAC AMP MOTOR

C
P

ENCODER

Functional Elements of a Motion Control System

Motor-Amplifier
The motor amplifier may be configured in two modes:

1. Current Drive
2. Velocity Loop

The operation and modeling in the two modes is as follows:

Current Drive
The current drive generates a current I, which is proportional to the input voltage, V, with a gain of Ka, a
torque constant of Kt, and inertia J. The resulting transfer function in this case is:

P/V = Ka Kt / Js2
For example, a current amplifier with Ka = 2 A/V with the motor described by the previous example will
have the transfer function:

P/V = 1000/s2 [rad/V]

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LEGEND-MC User’s Manual

Velocity Loop
The motor driver system may include a velocity loop where the motor velocity is sensed by a tachometer
and is fed back to the amplifier. Such a system is shown in the following illustration. Note that the trans-
fer function between the input voltage V and the velocity ω is:

ω /V = [Ka Kt/Js]/[1+Ka Kt Kg/Js] = 1/[Kg(sT1+1)]

where the velocity time constant, T1, equals:
T1 = J/Ka Kt Kg
This leads to the transfer function:
P/V = 1/[Kg s(sT1+1)]

V
Σ Ka Kt/Js

Kg

Elements of velocity loops

The functions derived above are shown in the following block diagram :

CURRENT SOURCE

V I W P
Kt 1
Ka
JS S

VELOCITY LOOP

V W P
1 1
Kg(ST 1+1) S

Mathematical model of the motor and amplifier in two operational modes

26
LEGEND-MC User’s Manual

Encoder
The encoder generates N pulses per revolution. It outputs two signals, Channel A and B, which are in
quadrature. Due to the quadrature relationship between the encoder channels, the position resolution is
increased to 4N quadrature counts/rev.
The model of the encoder can be represented by a gain of:

Kf = 4N/2π [count/rad]
For example, a 1000 lines/rev encoder is modeled as:
Kf = 638

DAC
The DAC or D-to-A converter converts a 14-bit number to an analog voltage. The input range of the
numbers is 16384 and the output voltage range is +/-10V or 20V. Therefore, the effective gain of the
DAC is:

K= 20/16384 = 0.0012 [V/count]

Digital Filter
The digital filter has a transfer function of D(z) = K(z-A)/z + Cz/z-1 and a sampling time of T.

The filter parameters, K, A and C are selected by the instructions KP, KD, KI or by GN, ZR and KI,
respectively. The relationship between the filter coefficients and the instructions are:

K = KP + KD or K = GN
A = KD/(KP + KD) or A = ZR
C = KI/8

This filter includes a lead compensation and an integrator. It is equivalent to a continuous PID filter with
a transfer function G(s).

G(s) = P + sD + I/s
P = K(1-A) = KP
D = T.K.A = T.KD
I = C/T = KI/8T
For example, if the filter parameters are KP = 4:

KD = 36
KI = 2
T = 0.001 s
the digital filter coefficients are:

K = 40
A = 0.9
C = 0.25
and the equivalent continuous filter, G(s), is:
G(s) = 4 + 0.036s + 250/s
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LEGEND-MC User’s Manual

ZOH
The ZOH, or zero-order-hold, represents the effect of the sampling process, where the motor command is
updated once per sampling period. The effect of the ZOH can be modeled by the transfer function

H(s) = 1/(1+sT/2)
If the sampling period is T = 0.001, for example, H(s) becomes:
H(s) = 2000/(s+2000)
However, in most applications, H(s) may be approximated as one.
This completes the modeling of the system elements. Next, we discuss the system analysis.

System Analysis
To analyze the system, we start with a block diagram model of the system elements. The analysis proce-
dure is illustrated in terms of the following example.
Consider a position control system with the LEGEND-MC controller and the following parameters:

Kt = 0.1 Nm/A Torque constant

J = 2.10-4 kg.m2 System moment of inertia

R=2 Ω Motor resistance

Ka = 4 Amp/Volt Current amplifier gain

KP = 12.5 Digital filter gain

KD = 245 Digital filter zero

KI = 0 No integrator

N = 500 Counts/rev Encoder line density

T=1 ms Sample period

The transfer function of the system elements are:

Motor:

M(s) = P/I = Kt/Js2 = 500/s2 [rad/A]

Amp:
Ka = 4 [Amp/V]

DAC:
Kd = 0.0012 [V/count]

Encoder:

Kf = 4N/2π = 318 [count/rad]

ZOH:
2000/(s+2000)
Digital Filter:
KP = 12.5, KD = 245, T = 0.001

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LEGEND-MC User’s Manual

Therefore,:
D(z) = 12.5 + 245 (1-z-1)
Accordingly, the coefficients of the continuous filter are:

P = 12.5
D = 0.245
The filter equation may be written in the continuous equivalent form:
G(s) = 12.5 + 0.245s = 0.245(s+51)

The system elements are shown in the following illustration:

FILTER ZOH DAC AMP MOTOR

2000 500
Σ 0.245(S+51) 0.0012 4
S+2000 S2

ENCODER

318

Mathematical model of the control system

The open loop transfer function, A(s), is the product of all the elements in the loop:

A = 390,000 (s+51)/[s2(s+2000)]

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LEGEND-MC User’s Manual

To analyze the system stability, determine the crossover frequency, ωc at which A(j ωc) equals one. This
can be done by the Bode plot of A(j ωc), as shown in the following illustration:

Magnitude

1
50 200 2000 W (rad/s)

0.1

Bode plot of the open loop transfer function

For the given example, the crossover frequency was computed numerically resulting in 200 rad/s.
Next, we determine the phase of A(s) at the crossover frequency:

A(j200) = 390,000 (j200+51)/[(j200)2 . (j200 + 2000)]

α = Arg[A(j200)] = tan-1(200/51)-180° -tan-1(200/2000)

α = 76° - 180° - 6° = -110°
Finally, the phase margin, PM, equals:

PM = 180° + α = 70°
As long as PM is positive, the system is stable. However, for a well damped system, PM should be
between 30 degrees and 45 degrees. The phase margin of 70 degrees given above indicated overdamped
response.
Next, we discuss the design of control systems.

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LEGEND-MC User’s Manual

System Design and Compensation

The closed-loop control system can be stabilized by a digital filter, which is preprogrammed in the LEG-
END-MC controller. The filter parameters can be selected by the user for the best compensation. The
following discussion presents an analytical design method.

The Analytical Method

The analytical design method is aimed at closing the loop at a crossover frequency, ωc, with a phase mar-
gin PM. The system parameters are assumed known. The design procedure is illustrated by a design
example.
Consider a system with the following parameters:

Kt Nm/A Torque constant

J = 2.10-4 kg.m2 System moment of inertia

R=2 Ω Motor resistance

Ka = 2 Amp/Volt Current amplifier gain

N = 1000 Counts/rev Encoder line density

The DAC of the LEGEND-MC outputs +/-10V for a 14-bit command of +/-8192 counts.
The design objective is to select the filter parameters in order to close a position loop with a crossover
frequency of ωc = 500 rad/s and a phase margin of 45 degrees.
The first step is to develop a mathematical model of the system, as discussed in the previous system.
Motor:

M(s) = P/I = Kt/Js2 = 1000/s2

Amp:

Ka = 2 [Amp/V]
DAC

Kd = 10/8192:
Encoder:

Kf = 4N/2π = 636
ZOH:

H(s) = 2000/(s+2000)
Compensation Filter:

G(s) = P + sD
The next step is to combine all the system elements, with the exception of G(s), into one function, L(s):

SL(s) = M(s) Ka Kd Kf H(s) = 1.27*107/[s2(s+2000)]

Then the open loop transfer function, A(s), is:

A(s) = L(s) G(s)

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LEGEND-MC User’s Manual

Now, determine the magnitude and phase of L(s) at the frequency ωc = 500:

L(j500) = 1.27*107/[(j500)2 (j500+2000)]

This function has a magnitude of:

|L(j500)| = 0.025
and a phase:

Arg[L(j500)] = -180° - tan-1(500/2000) = -194°

G(s) is selected so that A(s) has a crossover frequency of 500 rad/s and a phase margin of 45 degrees. This
requires that:

|A(j500)| = 1
Arg [A(j500)] = -135°
However, since:
A(s) = L(s) G(s)
then it follows that G(s) must have magnitude of:

|G(j500)| = |A(j500)/L(j500)| = 40
and a phase:

arg [G(j500)] = arg [A(j500)] - arg [L(j500)] = -135° + 194° = 59°

In other words, we need to select a filter function G(s) of the form:
G(s) = P + sD
so that at the frequency ωc =500, the function would have a magnitude of 40 and a phase lead of 59
degrees.
These requirements may be expressed as:

|G(j500)| = |P + (j500D)| = 40
and:

arg [G(j500)] = tan-1[500D/P] = 59°

The solution of these equations leads to:

P = 40cos 59° = 20.6

500D = 40sin 59° = 34.3

Therefore:
D = 0.0686
and:

G = 20.6 + 0.0686s
The function G is equivalent to a digital filter of the form:

D(z) = KP + KD(1-z-1)
where:

KP = P
and:

KD = D/T
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LEGEND-MC User’s Manual

Assuming a sampling period of T=1ms, the parameters of the digital filter are:

KP = 20.6
KD = 68.6
The LEGEND-MC can be programmed with the instruction:

KP 20.6
KD 68.6
In a similar manner, other filters can be programmed. The procedure is simplified by the following table,
which summarizes the relationship between the various filters.

Digital D(z) = K(z-A/z) + Cz/z-1

Digital D(z) = KP + KD(1-z-1) + KI/8(1-z-1)

KP, KD, KI K = KP + KD
A = KD/(KP+KD)
C = KI/8

Digital D(z) = GN(z-ZR)/z + KI z/8(z-1)

GN, ZR, KI K = GN
A = ZR
C = KI/8

Continuous G(s) = P + Ds + I/s

PID, T P = K(1-A) = KP
D = K.A.T = T.KD
I = C/T = KI/8T

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LEGEND-MC User’s Manual

NOTES:

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LEGEND-MC User’s Manual

3 Communications

Introduction
The LEGEND-MC has one RS232 port and one Ethernet port. The RS-232 port is the data set. The RS-
232 is a standard serial link with communication baud rates up to 19.2kbaud. The Ethernet port is a
10Base-T link.

Controller Response to Data

Most LEGEND-MC instructions are represented by two characters followed by the appropriate parame-
ters. Each instruction must be terminated by a carriage return or semicolon.
Instructions are sent in ASCII, and the LEGEND-MC decodes each ASCII character (one byte) one at a
time. It takes approximately .5 msec for the controller to decode each command.
After the instruction is decoded, the LEGEND-MC returns a colon (:) if the instruction was valid or a
question mark (?) if the instruction was not valid or was not recognized.
For instructions requiring data, such at Tell Position (TP), the LEGEND-MC will return the data fol-
lowed by a carriage return, line feed and : .
It is good practice to check for : after each command is sent to prevent errors. An echo function is pro-
vided to enable associating the LEGEND-MC response with the data sent. The echo is enabled by send-
ing the command EO 1 to the controller.

RS232 Port
The LEGEND-MC has a single RS232 connection for sending and receiving commands from a PC or
other terminal. The pin connections for the RS232 connection are as follows.

Port 1 DATATERM

1 CTS – output 6 CTS – output

2 Transmit Data - output 7 RTS – input

3 Receive Data - input 8 CTS – output

4 RTS – input 9 No connection (Can connect to +5V, 30mA)

5 Ground

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LEGEND-MC User’s Manual

Configuration
Although Yaskawa’s YTerm software automatically configures the port you may need to manually config-
ure the PC’s serial port if using third party software.
Configure your PC for 8-bit data, one start-bit, one stop-bit, full duplex and no parity. The baud rate for
the RS232 communication can be chosen by selecting the proper jumper configuration on the LEGEND-
MC according to the table below.

JP1-LOCATION “96” (JUMPER ATTACHED) 9600

JP1-LOCATION “96” (JUMPER UNATTACHED) 19200

Handshaking Modes
The RS232 port is configured for hardware handshaking. In this mode, the RTS and CTS lines are used.
The CTS line will go high whenever the LEGEND-MC is not ready to receive additional characters. The
RTS line will inhibit the LEGEND-MC from sending additional characters.

Note: The RTS line goes high for inhibit. This handshake procedure ensures proper communication espe-
cially at higher baud rates.

If a device that is used in conjunction with the LEGEND-MC does not support hardware handshaking, sol-
der a jumper across the CTS and RTS lines. Remember that doing so may degrade communication reli-
ability.

Ethernet Configuration
Communication Protocols
The Ethernet is a local area network through which information is transferred in units known as packets.
Communication protocols are necessary to dictate how these packets are sent and received. The LEG-
END-MC supports two industry standard protocols, TCP/IP and UDP/IP. The controller will automati-
cally respond in the format in which it is contacted.
TCP/IP is a "connection" protocol. The master must be connected to the slave in order to begin communi-
cating. Each packet sent is acknowledged when received. If no acknowledgement is received, the infor-
mation is assumed lost and is resent.
Unlike TCP/IP, UDP/IP does not require a connection. This protocol is similar to communicating via
RS232. If information is lost, the controller does not return a colon or question mark. Because the proto-
col does not provide for lost information, the sender must re-send the packet.
Although UDP/IP is more efficient and simple, Yaskawa recommends using the TCP/IP protocol. TCP/IP
insures that if a packet is lost or destroyed while in transit, it will be resent.
Ethernet communication transfers information in ‘packets’. The packets must be limited to 470 data bytes
or less. Larger packets could cause the controller to lose communication.

NOTE: To avoid losing information in transit, Yaskawa recommends that the user wait for an acknowledge-
ment of receipt of a packet before sending the next packet.

NOTE: A command sent over an Ethernet Telnet session must reside in one packet. This means that a Telnet
emulator must not send a command such as MG_TPX<CR> until the carriage return is present; i.e., do not
send one character at a time as the user enters them.

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LEGEND-MC User’s Manual

Addressing
There are three levels of addresses defining Ethernet devices. The first is the Ethernet or hardware
address- a unique and permanent 6 byte number, or MAC address. No other device has the same Ethernet
address. The LEGEND-MC Ethernet address is set by the factory and the last two bytes of the address are
the serial number of the controller.
The second level of addressing is the IP address. This is a 32-bit (or 4 byte) number. The IP address is
constrained by each local network and must be assigned locally. Assigning an IP address to the controller
can be done in a number of ways.
The first method is to use the BOOT-P utility via the Etherrnet connection (the LEGEND-MC must be
connected to the network and powered). For an explanation of BOOT-P see Third Party Software.

CAUTION: Be sure there is only one BOOT-P server running. If your network has DHCP or
BOOT-P running, it may automatically assign an IP address to the controller upon linking it to
the network. To ensure that the IP address is correct, please contact your system
administrator before connecting the controller to the Ethernet network.

PIC REQUIRED

The second method for setting an IP address is to send the IA command through the LEGEND-MC main
RS-232 port. The IP address you want to assign may be entered as a 4 byte number delimited by commas
(industry standard uses periods) or a signed 32 bit number. (Ex. IA 124,51,29,31 or IA 2083724575)
Type in BN to save the IP address to the controller's non-volatile memory.

NOTE: Yaskawa recommends that the IP address selected is not one that can be accessed across the Gate-
way. The Gateway is an application that controls communication between an internal network and the out-
side world.

The third level of Ethernet addressing is the UDP or TCP port number. The Yaskawa controller does not
require a specific port number. The port number is established by the master each time it connects to the
controller.

Ethernet Handles
An Ethernet handle is a communication resource within a device. The LEGEND-MC can have a maxi-
mum of 8 Ethernet handles open at any time. When using TCP/IP, each connection to a device; i.e., the
host computer, requires an individual Ethernet handle. In UDP/IP, one handle may be used for all the
masters, but each slave uses one. Pings and ARPS do not occupy handles. If all 8 handles are in use and
a 9th master tries to connect, it will be sent a “reset packet” that generates the appropriate error in its
native application.

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LEGEND-MC User’s Manual

Global vs Local Operation

Each LEGEND-MC controls one axis of motion, referred to as A or X. The host computer can communi-
cate directly with any LEGEND-MC via an Ethernet or RS-232 connection. When the host computer is
directly communicating with any LEGEND-MC, all commands refer to the first axis as A or X. Direct
communication with the LEGEND-MC is known as “local operation”. The concept of Local and Global
Operation also applies to application programming.
Local Operation

Ethernet or RS 232

Host Computer

LEGEND-MC LEGEND-MC
X Axis LEGEND-MC LEGEND-MC X Axis
X Axis X Axis

The LEGEND-MC supports Yaskawa’s control system. This allows up to four LEGEND-MC controllers
to be connected together as a single virtual axis controller. In this system, one of the controllers is desig-
nated as the master. The master can receive commands from the host computer that apply to all of the axes
in the system.
Here is a simple way to view Local and Global Operation; when the host communicates with a slave con-
troller, it considers the slave as a 1 axis controller. When the host communicates with a master, it considers
the master as a multi-axis controller. Similarly, an application program residing in a slave controller deals
only with 1 motor as A or X. An application program in a master deals with all motors referenced A
through H.
Global Operation

Host Computer

LEGEND-MC
X Axis

Ethernet

LEGEND-MC LEGEND-MC LEGEND-MC

Y Axis Z Axis W Axis

The controllers may operate under both Local and Global Mode. In general, operating in Global Mode
simplifies controlling the entire system. However, Local Mode operation is necessary in some situations;
using Local Mode for setup and testing is useful since this isolates the controller. Specific modes of
motion require operation in Local Mode. Also, each controller can have a program including the slave
controllers. When a slave controller has a program, this program would always operate in Local Mode.

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LEGEND-MC User’s Manual

Configuring Operation for Distributed Control

Each LEGEND-MC must be assigned an IP address. This can be done with the BOOT-P procedure or the
IA command can be used to assign the IP address through the serial port. Once the IP address has been
assigned, a BN command should be issued to save this value in the controller’s non-volatile memory.
Upon power-up or reset, the master LEGEND-MC will establish each slave connection. The following
steps must be taken while connected to the master LEGEND-MC:
1. Using the IH command, open two handles for each slave. Each slave controller must have 2
open handles, one for commands from the master, the other for data returned from the slave. The
second internet handle for each slave controller must contain a specific port value. The value must
be an even number greater than 502. The command for opening the communication handle is:
IHh=ipo,ip1,ip2,ip3<p>2 h is the handle. ip is the slave IP address. <p specifies port number. >2
specifies TCP/IP.
2. Set the total number of axes in the system with the NA command. For example, assume there
are two LEGEND-MC slaves, therefore there will be three axes and the command would be NA3.
3. Connect each slave handle to the master. This is accomplished with the CH command. The for-
mat of this command is:
CHa=h1,h2 where a is the first axis designator of the slave controller, h1 is the handle for com-
mands and h2 is the handle for slave status.
4. For the master controller to make decisions based on the status of the slave controllers, it is
necessary for the slaves to generate data records giving their current status. The record is sent at a
rate set by the QW command. The QW command must be executed by the master before the slave
can issue a record under any method. The format of the command is:
QWh=n where h is the handle. n is a number between 4 and 16000.
n sets the number of samples (msec with default TM1000).
n equal to 0 disables the mode.

The data contained in the record is as follows:

• (RP) reference position
• (TP) encoder position
• (TE) position error
• (TV) velocity
• (TT) torque
• (TS) limit and home switches
• (TS) axis status (in motion, motor of, at speed, stopcode)
• (TI) uncommitted inputs
• (OP) uncommitted outputs
• (ZA) user defined variables

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Operation of Distributed Control

For most commands it is unnecessary to be conscious of whether an axis is local or remote. For example,
to set the KP value for the X and Y axes, the command for the master would be:
KP 10,,20
Similarly, the interrogation commands can also be issued. For example, the position error for all axes
would be TE. The position operand for the F axis would be _TPF.
Some commands are inherently sent to all controllers. These include commands such as AB (Abort), CN
and TM.
Certain commands need to be launched specifically. For this purpose there is the SA command. In its sim-
plest form the SA command is:
SAh=”command string”
Here “command string” will be sent to handle h. For example, the SA command is the means for sending
an XQ command to a slave. A more flexible form of the command is:
SAh=field1,field2,field3,field4...field8 Where each field can be a string in quotes or a variable.
For example, to send the command KI,,5,10; assume var1=5 and var2=10 and send the command:
SAF=”KI”,var1,var2
When the master sends an SA command to a slave, it is possible for the master to determine the status of
the command. The response _IHh4 will return the number 1 to 4. One means waiting for the acknowledge-
ment from the slave. Two means a colon (command accepted) has been received. Three means a question
mark (command rejected) has been received. Four means the command timed out.
If a command generates responses (such as the TE command), the values will be stored in _SAh0 through
_SAh7. If a field is unused its _SA value will be -2^31.

Accessing the I/O of the slaves

The I/O of the slaves are settable and readable from the master. The bit numbers are adjusted by the handle
number of the data record. Each handle adds 100 to the bit number. Handle A is 100 and Handle F is 600.

Example
Bit 2 on the slave using handle E for the data record would be 502. The arguments for SB, CB, and OB use
this format as does the @IN[ ] function.
For byte and word-wide I/O, use the SA command such as: SAC=”OP6” to set the output port of handle C.
SAC=”TI” will return the input port on handle C and the operand, _SAC0 will contain the response from
the TI command.

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Handling Communication Errors

If a controller has an application program running and the TCP communication is lost, the #TCPERR
routine will automatically execute. See the Special Label Example program in the Example Applications
section.

Example
Assume a system with one master and 2 slave LEGEND-MC controllers:

Instruction Interpretation
#SETUP Begin Program

IHF=160,50,10,1>2 Set handle F (for commands) to slave 1’s IP

IHE=160,50,10,1<510>2 Open handle E for 1’s data record

IHD=160,50,10,2>2 Set the handle D (for commands) to slave 2’s IP

IHC=160,50,10,2<512>2 Open handle E for 2’s data record

NA3 3 axis total

CHY=F,E Axis Y assigned to slave 1

CHZ=D,C Axis Z assigned to slave 2

QWE=20 Handle E sends record every 20 msec

QWC=20

EN

Modbus Support
The Modbus protocol supports communication between masters and slaves. The masters may be multiple
PC’s that send commands to the controller. The slaves are typically peripheral I/O devices that receive
commands from the controller.
Note: There are numerous ways to reset the controller; hardware reset (push reset button or power-down
controller) and software resets (through Ethernet or RS232 by entering RS). The only reset that will not
cause the controller to disconnect is a software reset via the Ethernet or RS232.
When the Yaskawa controller acts as the master, the IH command is used to assign handles and connect
to its slaves. The IP address may be entered as a 4 byte number separated with commas (industry standard
uses periods) or as a 32 bit number. A port may also be specified, but if not, it will default to 502. The
protocol (TCP/IP or UDP/IP) to use must also be designated at this time, otherwise, the controller will
not connect to the slave. (Ex. IHB=151,25,255,9<179>2 This will open handle #2 and connect to the I/P
address 151.25.255.9, port 179, using TCP/IP).
An additional protocol layer is available for speaking to I/O devices. Modbus is an RS-485 protocol that
packages information in binary packets that are sent as part of a TCP/IP packet. In this protocol, each
slave has a 1 byte slave address.The LEGEND-MC can use a specific slave address or default to the han-
dle number.

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Modbus protocol has commands called function codes. The LEGEND-MC supports 10 major function
codes:

Function Code Definition

01 Read Coil Status (Read Bits)

02 Read Input Status (Read Bits)

03 Read Holding Registers (Read Words)

04 Read Input Registers (Read Words)

05 Force Single Coil (Write One Bit)

06 Preset Single Register (Write One Word)

07 Read Exception Status (Read Error Code)

15 Force Multiple Coils (Write Multiple Bits)

16 Preset Multiple Registers (Write Words)

17 Report Slave ID

The LEGEND-MC provides three levels of Modbus communication. The first level allows the user to cre-
ate a raw packet and receive raw data. It uses the MBh command with a function code of -1. The com-
mand format is:
MBh=-1,len, array[ ] where len is the number of bytes
array [ ] is the array with the data
The second level incorporates the Modbus structure. This is necessary for sending configuration and spe-
cial commands to an I/O device. The formats vary depending on the function code that is called. For more
information, refer to Command Reference
The third level of Modbus communication uses standard Yaskawa commands. Once the slave has been
configured, the commands that may be used are @IN[ ], @AN[ ], SB, CB, OB, and AO. For example, AO
2020,8.2 would tell I/O number 2020 to output 8.2 volts.
If a specific slave address is not necessary, the I/O number to be used can be calculated with the following:
I/O Number= (HandleNum*1000)+((Module-1)*4)+(BitNum)
Where HandleNum is the handle number from 1 (A) to 8 (H). Module is the position of the module in the
rack from 1 to 16. BitNum is the I/O point in the module from 1 to 4.
If an explicit slave address is to be used, the equation becomes:
I/O Number=(SlaveAddress*1000)+(HandleNum*1000)+((Module-1)*4)+(Bitnum-1)
Which devices receive what information from the controller depends on a number of things. If a device
queries the controller, it will receive the response unless it explicitly tells the controller to send it to
another device. If the command that generates a response is part of a downloaded program, the response
will route to whichever port is specified as the default (unless explicitly told to go to another port). To des-
ignate a specific destination for the information, add {Eh} to the end of the command. (Ex.
MG{EC}"Hello" will send the message "Hello" to handle #3. TP,,?{EF} will send the z axis position to
handle #6.)

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Communicating with Multiple Devices

The LEGEND-MC is capable of supporting multiple masters and slaves. The masters may be multiple
PC's that send commands to the controller. The slaves are typically peripheral I/O devices that receive
commands from the controller.
An Ethernet handle is a communication resource within a device. The LEGEND-MC can have a maxi-
mum of 8 Ethernet handles open at any time. When using TCP/IP, each master or slave uses an individ-
ual Ethernet handle. In UDP/IP, one handle may be used for all the masters, but each slave uses one.
(Pings and ARP's do not occupy handles.) If all 8 handles are in use and a 9th master tries to connect, it
will be sent a "reset packet" that generates the appropriate error in its native application.

Multicasting
A multicast is only used in UDP/IP and is similar to a broadcast (everyone on the network gets the infor-
mation) but specific to a group. As such, all devices within a specified group will receive information
sent in a multicast. The many multicast groups on a network are differentiated by their multicast IP
address. To communicate with all devices in a specific multicast group, information can be sent to the
multicast IP address rather than to each device IP address. All LEGEND-MC controllers belong to a
default multicast address of 239.255.19.56. The controller's multicast IP address can be changed by using
the IA> u command.

Using Third Party Software

Yaskawa supports ARP, BOOT-P, and Ping, which are utilities for establishing Ethernet connections.
ARP is an application that determines the MAC address of a device at a specific IP address. BOOT-P is
an application that determines which devices on the network do not have an IP address and assigns the IP
address you have chosen to it. Ping is used to check the communication between the device at a specific
IP address and the host computer.
The LEGEND-MC can communicate with a host computer through any application that can send TCP/IP
or UDP/IP packets. A good example of this is Telnet, a utility that comes with most Windows systems.
NOTE: A command sent over an Ethernet Telnet session must reside in one packet. This means that a Tel-
net emulator must not send a command such as MG_TPX<CR> until the carriage return is present; i.e., do
not send one character at a time as the user enters them.

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NOTES:

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4 Command Reference

AB (ABORT)
@ABS (ABSOLUTE VALUE)
AC (ACCELERATION)
@ACOS (ARC COSINE)
AD (AFTER DISTANCE)
AF (ANALOG FEEDBACK)
AI (AFTER INPUT)
AL (ARM LATCH)
AM (AFTER MOTION)
@AN (READ ANALOG)
AO (ANALOG OUTPUT)
AP (AFTER ABSOLUTE POSITION)
AR (AFTER RELATIVE DISTANCE)
AS (AT SPEED)
@ASIN (ARC SINE)
AT (AT TIME)
@ATAN (ARC TANGENT)
BG (BEGIN MOTION)
BL (REVERSE SOFTWARE LIMIT)
BN (BURN)
BP (BURN PROGRAM)
BV (BURN VARIABLES)
CB (CLEAR BIT)
CD (CONTOUR DATA)
CE (CONFIGURE ENCODER)
CF (CONFIGURE MESSAGES)
CH (CONNECT HANDLE)
CI (COMMUNICATION INTERRUPT)
CM (CONTOUR MODE)
CN (CONFIGURE LIMIT SWITCHES)
@COM (2’S COMPLEMENT)
@COS (COSINE)
CS (CLEAR SEQUENCE)
CW (COPYRIGHT INFORMATION / DATA ADJUSTMENT BIT ON/OFF)
DA (DE-ALLOCATE THE VARIABLES & ARRAYS)
DC (DECELERATION)
DE (DUAL (AUXILIARY) ENCODER POSITION)
DL (DOWNLOAD)
DM (DIMENSION)
DP (DEFINE POSITION)
DT (DELTA TIME)
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DV (DUAL VELOCITY (DUAL LOOP))

EA (ECAM MASTER AXIS)
EB (ENABLE ECAM MODE)
EC (ECAM COUNTER)
ED (EDIT)
EG (ECAM ENGAGE)
ELSE (ELSE FUNCTION FOR USE WITH IF CONDITIONAL STATEMENT)
EM (ECAM CYCLE)
EN (END)
ENDIF (END OF IF CONDITIONAL STATEMENT)
EO (ECHO)
EP (CAM TABLE INTERVALS AND STARTING POINT)
EQ (ECAM QUIT (DISENGAGE))
ER (ERROR LIMIT)
ET (ELECTRIC CAM TABLE)
FA (ACCELERATION FEED FORWARD)
FE (FIND EDGE)
FI (FIND INDEX)
FL (FORWARD SOFTWARE LIMIT)
@FRAC (FRACTION)
FV (VELOCITY FEED FORWARD)
GA (MASTER AXIS FOR GEARING)
GR (GEAR RATIO)
HM (HOME)
HX (HALT EXECUTION)
IA (IP ADDRESS)
IF (IF CONDITIONAL STATEMENT)
IH OPEN INTERNET HANDLE)
II (INPUT INTERRUPT)
IL (INTEGRATOR LIMIT)
IN (INPUT VARIABLE)
@IN (STATUS OF DIGITAL INPUT)
@INT (INTEGER)
IP (INCREMENT POSITION)
IT (INDEPENDENT TIME CONSTANT - SMOOTHING FUNCTION)
JG (JOG)
JP (JUMP TO PROGRAM LOCATION)
JS (JUMP TO SUBROUTINE)
KD (DERIVATIVE CONSTANT)
KI (INTEGRATOR)
KP (PROPORTIONAL CONSTANT)
LA (LIST ARRAYS)
LE [BINARY 5] (LINEAR INTERPOLATION END)
LF (FORWARD LIMIT)
LI [BINARY 1] (LINEAR INTERPOLATION DISTANCE)
LL (LIST LABELS)
LM (LINEAR INTERPOLATION MODE)

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LO (LOCKOUT)
LR (REVERSE LIMIT)
LS (LIST PROGRAM)
LV (LIST VARIABLES)
LZ (LEADING ZERO)
MB (MODBUS)
MC (MOTION COMPLETE - “IN POSITION”)
MF (FORWARD MOTION TO POSITION)
MG (MESSAGE)
MM (MASTER MODULUS)
MO (MOTOR OFF)
MR (REVERSE MOTION TO POSITION)
MT (MOTOR TYPE)
NA (NUMBER OF AXES)
NB (NOTCH BANDWIDTH)
NF (NOTCH FREQUENCY)
NO (NO OPERATION)
NZ (NOTCH ZERO)
OB (OUTPUT BIT)
OC (OUTPUT COMPARE)
OE (OFF ON ERROR)
OF (OFFSET)
OP (OUTPUT PORT)
@OUT (STATUS OF DIGITAL OUTPUT)
PA (POSITION ABSOLUTE)
PF (POSITION FORMAT)
PR (POSITION RELATIVE)
QD (DOWNLOAD ARRAY)
QR (DATA RECORD)
QU (UPLOAD ARRAY)
QW (SLAVE RECORD UPDATE RATE)
QZ (RETURN DATA RECORD INFORMATION)
RA (RECORD ARRAY)
RC (RECORD)
RD (RECORD DATA)
RE (RETURN FROM ERROR ROUTINE)
RI (RETURN FROM INTERRUPT ROUTINE)
RL (REPORT LATCHED POSITION)
@RND (ROUND)
RS (RESET)
<CONTROL>R <CONTROL>S (MASTER RESET)
<CONTROL>R <CONTROL>V (REVISION INFORMATION)
SA (SEND COMMAND)
SB (SET BIT)
SC (STOP CODE)
SH (SERVO HERE)
@SIN (SIN)

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SP (SPEED)
@SQR (SQUARE ROOT)
ST (STOP)
TB (TELL STATUS BYTE)
TC (TELL ERROR CODE)
TD (TELL DUAL ENCODER)
TE (TELL ERROR)
TI (TELL INPUTS)
TIME (TIME OPERAND KEYWORD))
TL (TORQUE LIMIT)
TM (TIME COMMAND)
TP (TELL POSITION)
TR (TRACE)
TS (TELL SWITCHES)
TT (TELL TORQUE)
TV (TELL VELOCITY)
TW (TIMEOUT FOR IN POSITION (MC))
UL (UPLOAD)
VA (VECTOR ACCELERATION)
VD (VECTOR DECELERATION)
VE (VECTOR SEQUENCE END)
VF (VARIABLE FORMAT)
VR (VECTOR SPEED RATIO)
VS (VECTOR SPEED)
VT (VECTOR TIME CONSTANT)
WC (WAIT FOR CONTOUR DATA)
WT (WAIT)
XQ (EXECUTE PROGRAM)
ZA (USER VARIABLES)
ZB (USER VARIABLES)
ZS (ZERO SUBROUTINE STACK)

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Command Description
Each executable instruction is listed in the following section in alphabetical order.
The two letter op-code for each instruction is placed in the upper left corner. Below the op-code is a
description of the command and required arguments. As arguments, some commands require actual val-
ues to be specified following the instruction. These commands are followed by lower case x, y, z, and w.
Values may be specified for any axis separately or any combination of axes. Axis values are separated by
commas. Examples of valid x ,y, z, w syntax are listed below. For the SMC-3010, the axis designators
a,b,c,d,e,f,g,h are used where x,y,z,w can be used interchangeably with a,b,c,d.

Valid x,y,z,w syntax

AC x Specify x only

AC x,y Specify x and y only

AC x,,z Specify x and z only

AC x,y,z,w Specify x,y,z,w

AC ,y Specify y only

AC ,y,z Specify y and z

AC ,,z Specify z only

AC ,,,w Specify w only

AC x,,,w Specify x and w only

AC a,,,d,,f Specify a,d and f only

Where x, y, z and w are replaced by actual values.

A ? returns the specified value for that axis. For example, AC ?,?,?,?, returns the acceleration of the
X,Y,Z and W axes.
Other commands require action on the X,Y,Z or W axis to be specified. These commands are followed by
uppercase X,Y,Z or W. Action for a particular axis or any combination is specified by writing X,Y,Z or
W. No commas are needed. Valid XYZW syntax is listed below. The SMC-3010 uses ABCDEFGH axis
designators where XYZW can be used interchangeably with ABCD.

Valid XYZW syntax

SH X Servo Here, X only

SH XYW Servo Here, X,Y and W axes

SH XZW Servo Here, X,Z and W axes

SH XYZW Servo Here, X,Y,Z and W axes

SH Y Servo Here, Y only

SH YZW Servo Here, Y,Z and W axes

SH Z Servo Here, Z only

SH Servo Here, all axes

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SH W Servo Here, W only

SH ZW Servo Here, Z and W axes

SH ABFG Servo Here, A,B,F,G axes

Where X,Y,Z and W specify axes.

The usage “Description:” specifies the restrictions on allowable execution. “While Moving” states
whether or not the command is valid while the controller is performing a previously defined motion. “In a
program” states whether the command may be used as part of a user-defined program. “Command Line”
states whether the command may be used from the serial port.
“Can be Interrogated” states whether or not the command can be interrogated by using ? to return the
specified value. “Used as an Operand” states whether a command can be used to generate a value for
another command or variable (i.e. V=_TTX). “Default Format” defines the format of the value with num-
ber of digits before and after the decimal point. Finally, “Default Value” defines the values the instruc-
tion’s parameters will have after a Master Reset.

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AB
FUNCTION:Abort [Motion]
DESCRIPTION:
AB (Abort) stops motion instantly without controlled deceleration by freezing the profiler. If there is a pro-
gram executing, AB also aborts the program unless a 1 argument is specified. The command, AB, will shut
off the motors (disable the amplifier) for any axis in which the off-on-error function is enabled (see com-
mand "OE"). AB aborts motion on all axes in motion and cannot stop individual axes. If a multi-axis sys-
tem is configured (distributed control) the AB command will abort all axes if issued to the master.
ARGUMENTS: AB n where
n = 0 aborts motion and program
n = 1 aborts motion without aborting program
USAGE:
While Moving Yes Default Value n/a
In a Program Yes Default Format n/a
Command Line Yes

Can be Interrogated Yes

Used as an Operand Yes

OPERAND USAGE:
_AB returns the state of the Abort Input

RELATED COMMANDS:
"SH" Turns servos back on if they were shut-off by
Abort and OE1.
EXAMPLES:
OE 0,0,0,0 Disable OFF/ON error for all axes
AB Aborts motion unconditionally, motors remain
enabled
OE 1,1,1,1 Enable off-on-error
AB Shuts off amplifier enable and aborts motion
#A Label - Start of program
JG 20000 Specify jog speed on X-axis
BGX Begin jog on X-axis
WT 5000 Wait 5000 msec
AB1 Abort motion without aborting program
WT 5000 Wait 5000 milliseconds
SH Servo Here
JP #A Jump to Label A
EN End of the routine

Hint: Use parameter 1 following AB if you want the motion to be aborted or application program will be aborted.

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@ABS
FUNCTION: Absolute Value Function

DESCRIPTION:
@ABS returns the absolute value of a number or variable given in square brackets. Note that the @ABS
command is a function, which means that it does not follow the convention of the commands, and does not
require the underscore when used as an operand.

ARGUMENTS: @ABS [n] where

n is a number
USAGE:
While Moving Yes Minimum n value -2147483647.9999
In a Program Yes Maximum n value 2147483647.9999
Not in a program Yes Default Value ---
Can be Interrogated No Default Format ---
Used as an Operand Yes

EXAMPLES:
OE 0,0,0,0 Program TEST
VAR1=45.6 Set a variable equal to -45.6
MG @ABS[VAR1] Display the absolute value of VAR1
VAR2=@ABS[VAR1]+100.404 Perform calculation
EN End of program

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AC
FUNCTION: Acceleration [Motion]
DESCRIPTION:
The Acceleration (AC) command sets the linear acceleration rate for independent moves, such as PR, PA
and JG moves. The parameters input will be rounded down to the nearest factor of 1024. The units of the
parameters are counts per second squared. The acceleration rate may be changed during motion. The DC
command is used to specify the deceleration rate.
ARGUMENTS: AC x, y, z, w or ACX=x or AC a ,b, c, d, e, f, g, h where
x, y z, w, or a, b, c, d, e, f, g, h are unsigned integers
“?” returns the acceleration value
USAGE:
While Moving Yes Minimum Value 1024

In a Program Yes Maximum Value 67107840

Command Line Yes Default Value 256000

Can be Interrogated Yes Default Format 8.0

Used as an Operand Yes

OPERAND USAGE:

_ACn contains the value of acceleration in counts/sec2 where n is an axis letter

RELATED COMMANDS:
"DC" Specifies deceleration rate.

"FA" Feedforward Acceleration.

"IT" Smoothing constant - S-curve

EXAMPLES:
AC 150000 Set acceleration to 150000 counts/sec2

AC ? Request the current acceleration setting

0149504 Returned Acceleration (resolution, 1024)

V=_ACX Assigns the current acceleration setting to the

variable V

HINTS: Specify realistic acceleration rates based on your physical system such as motor torque rating, loads, and amplifier
current rating. Specifying an excessive acceleration will cause large following error during acceleration and the motor will
not follow the commanded profile. The acceleration feedforward command FA will help minimize error during accelera-
tion.

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@ACOS
FUNCTION: Arc Cosine Function
DESCRIPTION:
@ACOS returns the arc cosine, in degrees, of a number or variable which is inserted in square brackets.
Note that the @ACOS command is a function, which means that it does not follow the convention of
other commands and does not require the underscore when used as an operand.
ARGUMENTS: @ACOS [n] where
n is a number
USAGE:
While Moving Yes Minimum n value -1
In a Program Yes Maximum n value 1
Not in a program Yes Default Value ---
Can be Interrogated No Default Format ---
Used as an Operand Yes

EXAMPLES:
#TEST Program TEST
VAR1=.707 Set a variable equal to .707
MG @ACOS[VAR1] Display the absolute value of VAR1
VAR2=@ACOS[VAR1]+100.404 Perform calculation
EN End of program

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AD
FUNCTION: After Distance [Trippoint]
DESCRIPTION:
The After Distance (AD) command is a trippoint used to control the timing of events. This command will
hold up the execution of the following command until one of the following conditions have been met:
1. The commanded motor position crosses the specified relative distance from the start of the
move.
2. The motion profiling on the axis is complete.
3. The commanded motion is in the direction which moves away from the specified position.
The units of the command are quadrature counts. The motion profiler must be on or the trippoint will auto-
matically be satisfied.

Note: AD will be affected when motion smoothing time constant, IT, is not 1. See IT command for more
information.

ARGUMENTS: ADx, y, z, w or ADX=x or AD a ,b, c, d, e, f, g, h where

x, y z, w, or a, b, c, d, e, f, g, h are unsigned integers
USAGE:
While Moving Yes Minimum Value 0

In a Program Yes Maximum Value 2147483647

Command Line Yes Default Value ---

Can be Interrogated No Default Format ---

Used as an Operand No

RELATED COMMANDS:
"AR" After relative distance for sequential triggering

EXAMPLES:
#A;DP0 Begin Program
PR 10000 Specify position

BG Begin motion
AD 5000 Wait until profiler passes 5000 units from start
of move.
MG "Halfway" ;TP Send message
EN End Program

Hint: The AD command is accurate to the number of counts that occur in 2 msec. Multiply speed by 2 msec to obtain the
maximum position error in counts. Remember AD measures incremental distance from start of move on one axis.

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AF
FUNCTION: Analog Feedback [Configuration]
DESCRIPTION:
The Analog Feedback (AF) command is used to set an axis with analog feedback instead of digital feedback
(quadrature/pulse dir). As the analog feedback is decoded by a 12-bit A/D converter, an input voltage of 10
volts is decoded as a position of 2047 counts and a voltage of -10 volts corresponds to a position of -2048
counts.
ARGUMENTS: AF x,y,z,w or AFX=x or AF a,b,c,d,e,f,g,h where
x,y,z,w or a, b, c, d, e, f, g, h
1 = Enables analog feedback
0 = Disables analog feedback and switches to digital feedback
"?" returns a 0 or 1 which states whether analog feedback is enabled for the specified axes.
USAGE:
While Moving No Minimum Value 0

In a Program Yes Maximum Value 1

Command Line Yes Default Value 0

Can be Interrogated Yes Default Format -

Used as an Operand Yes

OPERAND USAGE:
_AFn returns the current feedback setting where n is an axis letter

RELATED COMMANDS:
"CE" Configure Encoder

EXAMPLES:
AF 1,0,0,1 Analog feedback on X and W axis

V1 = _AFX Assign feedback type to variable

AF ?,?,? Interrogate feedback type of X, Y, Z

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AI
FUNCTION: After Input [Trippoint]
DESCRIPTION:
The AI command is used in motion programs to wait until after the specified input condition has occurred.
If n is positive, it waits for the input to go high. If n is negative, it waits for n to go low. To wait for a tran-
sition from high to low or low to high, put two AI commands together. AI is only available for local inputs.
ARGUMENTS: AI +/-n where
n is a signed integer
USAGE:
While Moving Yes Minimum Value 1

In a Program Yes Maximum Value 8

Command Line Yes Default Value ---

Can be Interrogated No Default Format ---

Used as an Operand No

RELATED COMMANDS:
@IN[n] Function to read digital input 1 through 8

"II" Input interrupt

#ININT Special label for input interrupt

EXAMPLES:
#A Begin Program

AI 7 Wait until input 7 is high

SP 10000 Speed is 10000 counts/sec

AC 20000 Acceleration is 20000 counts/sec2

PR 400 Specify position

BG Begin motion

AI+ 7; AI- 7 Wait for falling edge on input 7

EN End Program

HINT: The AI command actually halts execution until specified input is at desired logic level. Use the conditional Jump
command (JP) or input interrupt (II) if you do not want the program sequence to halt.

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AL
FUNCTION: Arm Latch [Setting]
DESCRIPTION:
The AL command enables the latching function (high speed position capture) of the controller. When the
AL command is used to arm the position latch, the encoder position of the main encoder input will be cap-
tured upon a low going signal on Input 1. When interrogated or used in an operand the AL command will
return a 1 if the latch is armed or a zero after the latch has occurred. The command RL returns the captured
position value. The CN command will change the polarity of the latch.
ARGUMENTS: ALn where
n = XYZW or ABCDEFGH for the main encoder latch and
n = SX, SY, SZ, SW or SA, SB, SC, SD, SE, SF, SG, SH for the auxiliary encoder latch
USAGE:
While Moving Yes Minimum Value n/a

In a Program Yes Maximum Value n/a

Command Line Yes Default Value n/a

Can be Interrogated No Default Format n/a

Used as an Operand Yes

OPERAND USAGE:
_ALn or _ALSn contains the state of the latch where n is an axis letter. 0 = not armed, 1 = armed.

RELATED COMMANDS:
"RL" Report Latch

"CN" Configure

EXAMPLES:
#START Start program

ALX Arm latch on X axis

JG 50000 Set up jog at 50000 counts/sec

BG Begin the move

#LOOP Loop until latch has occurred

JP #LOOP,_ALX=1

RL Transmit the latched position

EN End of program

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AM
FUNCTION: After Move [Trippoint]
DESCRIPTION:
The AM command is a trippoint used to control timing of events. This command holds up execution of the
following commands until the current move on the specified axis or axes is completed. AM occurs when
the profiler is finished generating the last position command. However, the servo motor may not be in
final position. Use TE to verify position error for servos or use the MC trippoint to wait until final position
is reached by the servo.
ARGUMENTS: AM XYZWS or ABCDEFGH where
X, Y, Z, W or A, B, C, D, E, F, G, H are axis designators. S indicates an interpolation sequence. No argu-
ment specifies that motion on all axes is complete.

USAGE:
While Moving Yes Minimum Value n/a

In a Program Yes Maximum Value n/a

Command Line Yes Default Value ---

Can be Interrogated No Default Format ---

Used as an Operand No

RELATED COMMANDS:
"BG" _BG returns a 0 if motion complete
“MC” Actual Motion Complete

EXAMPLES:
#MOVE Start of program
PR 5000 Position relative move

BG Begin motion
AM Wait until motion is complete

EN End of Program

#F;DP 0 Program F
PR 5000 Position relative move

BG Begin motion
AM Wait until motion is complete

MG "DONE";TP Print message

EN End of Program

HINT: AM command controls the timing between multiple move sequences. If the motor is in the middle of a position rela-
tive move (PR), a position absolute move (PA, BG) cannot be made until the first move is complete. Use AM to pause the
program sequences until the first motion is complete. AM tests for profile completion. Another testing method is to query
the operand, _BG. This is equal to 1 during motion, and 0 when motion profiling is complete.

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@AN
FUNCTION: Read Analog Input
DESCRIPTION:
@AN returns the value of an analog input as a voltage (+/-10V). Note that the @AN command is a func-
tion, which means that it does not follow the convention of other commands, and does not require the
underscore when used as an operand. The resolution is 14 bit, or 1.2mV per bit. To read analog inputs
from a slave controller, use the SA command.
ARGUMENTS: @AN [n] where
n is an unsigned integer
USAGE:
While Moving Yes Minimum n Value 1
In a Program Yes Maximum n Value 2
Not in a Program Yes Default n Value n/a
Can be Interrogated No Default Format 10.4
Used as an Operand Yes

EXAMPLES:
#TEST Program TEST
MG @AN[2] Display the value of analog input #2 as a volt-
age
JGX=@AN[2]*10000 Set jog speed according to analog input
SAA=”MG”,”@AN”,”[2]” Sends command MG @AN[2] to slave on han-
dle A
Analog3=_SAA Returns slave response to SA command
BGX Begin Move
EN End of program

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AO
FUNCTION: Analog Out [I/O]
DESCRIPTION:
The AO command sets the analog output voltage of the local analog output or ModBus devices connected
via Ethernet.
ARGUMENTS:AO m, n where
m is either the local analog output voltage ranging from 9.9982 to -9.9982 or the I/O number calculated
using the following equations:
m = (SlaveAddress*1000) + (HandleNum*1000) + (Module-1)*4) + (Bitnum-1)
Slave Adrress is used when the ModBus device has slave devices connected to it and specified as
Addresses 0 to 225. Please note that the uses for ModBus are very rare and this number will usually be 0.
HandleNum is the handle specifier from A to H (1 - 8).
Module is the position of the module in the rack from 1 to 16.
BitNum is the I/O point in the module from 1 to 4.
n = the voltage which ranges from 9.9982 to –9.9982. If m is < 1000, n is omitted.
USAGE:
While Moving Yes Minimum n Value -9.9982

In a Program Yes Maximum n Value 9.9982

Command Line Yes Default Value n/a

Can be Interrogated No Default Format ---

Used as Operand Yes, local only

OPERAND USAGE: _AO returns the value of the local analog output in volts.

RELATED COMMANDS:
"SB" Set Bit

"CB" Clear Bit

"MB" Modbus

EXAMPLES:
AO -3.4 Sets local analog output to -3.4V
AO 6016, 8.2 Sets analog output on modbus device on han-
dle F to 8.2V
SAA=”AO”,2.7 Set analog output of slave on handle A to 2.7V
SAA=”MG”,”_AO” Send command MG_AO to slave controller on
handle A
VAR1=_SAA Store the returned value to VAR1

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AP
FUNCTION: After Absolute Position [Trippoint]
DESCRIPTION:
The After Position (AP) command is a trippoint used to control the timing of events. This command will
hold up the execution of the following command until one of the following conditions have been met:
1. The commanded motor position crosses the specified absolute position.
2. The motion profiling on the axis is complete.
3. The commanded motion is moving away from the specified position.
The units of the command are quadrature counts. The motion profiler must be active or the trippoint will
automatically be satisfied.
ARGUMENTS: AP x, y, z, w or APX=x or AP a ,b, c, d, e, f, g, h where
x, y z, w, or a, b, c, d, e, f, g, h are unsigned integers

USAGE:
While Moving Yes Minimum Value -2147483648
In a Program Yes Maximum Value 2147483647

Command Line Yes Default Value ---

Can be Interrogated No Default Format ---

Used as an Operand No

RELATED COMMANDS:
"AR" Trippoint for relative distances

"MF" Trippoint for forward motion

EXAMPLES:
#TEST Program B

DP0 Define position as zero

JG 1000 Set jog with speed of 1000 counts/sec

BG Begin move
AP 2000 After passing position 2000

V1=_TP Assign V1 the Xaxis X position

MG "Position is", V1 Print Message

ST Stop axis

EN End of Program

HINT: The accuracy of the AP command is the number of counts that occur in 2 msec. Multiply the speed by 2 msec to
obtain the maximum error. AP tests for absolute position. Use the AD command to measure incremental distances.

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AR
FUNCTION: After Relative Distance [Trippoint]
DESCRIPTION:
The After Relative (AR) command is a trippoint used to control the timing of events. This command will
hold up the execution of the following command until one of the following conditions have been met:
1. The commanded motor position crosses the specified relative distance from either the start of
the move or the last AR or AD command.
2. The motion profiling on the axis is complete.
3. The commanded motion is in the direction which moves away from the specified position.
The units of the command are quadrature counts. The motion profiler must be active or the trippoint will
automatically be satisfied.
ARGUMENTS: AR x, y, z, w or ARX=x or AR a ,b, c, d, e, f, g, h where
x, y z, w, or a, b, c, d, e, f, g, h are unsigned integers

USAGE:
While Moving Yes Minimum Value 0

In a Program Yes Maximum Value 2147483647

Command Line Yes Default Value ---

Can be Interrogated No Default Format ---

Used as an Operand No

RELATED COMMANDS:
"AP" Trippoint for after absolute position

EXAMPLES:
#A;DP 0 Begin Program

JG 50000 Specify jog speed

BG Begin motion

#B Label

AR 5000 After passing 5000 counts of relative distance

on X-axis from the last trippoint

MG "Passed_X";TP Send message

JP #B Jump to Label #B

EN End Program

HINT: AR is used to specify incremental distance from last AR or AD command. Use AR if multiple position trippoints are
needed in a single motion sequence.

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AS
FUNCTION: At Speed [Trippoint]
DESCRIPTION:
The AS command is a trippoint that occurs when the generated motion profile has reached the specified
speed. This command will hold up execution of the following command until the speed is reached. The AS
command will operate after either accelerating or decelerating. If the commanded speed is not reached, the
trippoint will be triggered after the motion is stopped (after deceleration).
ARGUMENTS: AS XYZWS or ABCDEFGH where
X, Y, Z, W or A, B, C, D, E, F, G, H are axis designators. S indicates an interpolation sequence. No argument
specifies that motion on all axes is complete.
USAGE:
While Moving Yes Minimum Value n/a

In a Program Yes Maximum Value n/a

Command Line Yes Default Value ---

Can be Interrogated No Default Format ---

Used as an Operand No

EXAMPLES:
#SPEED Program A

PR 100000 Specify relative position

SP 10000 Specify speed

BG Begin motion

AS Wait until after commanded speed is reached

MG "At Speed" Print Message

EN End of Program

WARNING: The AS command applies to a trapezoidal velocity profile only with linear acceleration. AS used with S-curve
profiling may be inaccurate.

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@ASIN
FUNCTION: Arc Sine Function
DESCRIPTION:
@ASIN returns the arc sine, in degrees, of a number or variable which is inserted in square brackets.
Note that the @ASIN command is a function, which means that it does not follow the convention of
other commands, and does not require the underscore when used as an operand.
ARGUMENTS: @ASIN [n] where
n is an unsigned integer
USAGE:
While Moving Yes Minimum n value -1
In a Program Yes Maximum n value 1
Not in a program Yes Default Value ---
Can be Interrogated No Default Format ---
Used as an Operand Yes

EXAMPLES:
#TEST Program TEST
MG @ASIN[VAR1] Set variable
VAR1=.707 Display the arc sine of .707
VAR2=@ASIN[VAR1]+5 Perform calculation
EN End of program

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AT
FUNCTION: At Time [Trippoint]
DESCRIPTION:
The AT command is a trippoint which is used to hold up execution of the next command until after the spec-
ified time has elapsed. The time is measured with respect to a defined reference time. AT 0 establishes the
initial reference. AT n specifies n msec from the reference. AT -n specifies n msec from the reference and
establishes a new reference after the elapsed time period. This command is useful for waiting an accurate
amount of time duration while still being able to perform some other operations as long as they require less
time than the AT time.
ARGUMENTS: AT n where
n is a signed integer
n = 0 defines a reference time at current time
positive n waits n msec from reference
negative n waits n msec from reference and sets new reference after elapsed time period
(AT -n is equivalent to AT n; AT 0)
USAGE:
While Moving Yes Minimum Value -2147483647

In a Program Yes Maximum Value 2147483647

Command Line Yes Default Value ---

Can be Interrogated No Default Format ---

Used as an Operand No

EXAMPLES:
The following commands are sent sequentially:
AT 0 Establishes reference time 0 as current time

AT 50 Waits 50 msec from reference 0

AT 100 Waits 100 msec from reference 0

AT -150 Waits 150 msec from reference 0 and sets new

reference at 150

AT 80 Waits 80 msec from new reference (total

elapsed time is 230 msec)

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@ATAN
FUNCTION: Arc Tangent Function
DESCRIPTION:
@TAN returns the arc tangent, in degrees, of a number or variable which is inserted in square brackets.
Note that the @ATAN command is a function, which means that it does not follow the convention of
other commands, and does not require the underscore when used as an operand.
ARGUMENTS: @ATAN [n] where
n is an unsigned integer
USAGE:
While Moving Yes Minimum n value -1
In a Program Yes Maximum n value 1
Not in a program Yes Default Value ---
Can be Interrogated No Default Format ---
Used as an Operand Yes

EXAMPLES:
#TEST Program TEST
MG @ATAN[VAR1] Set variable
VAR1=.707 Display the arc sine of .707
VAR2=@ATAN[VAR1]+5 Perform calculation
EN End of program

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BG
FUNCTION: Begin [Motion]
DESCRIPTION:
The BG command starts motion. When used as an operand, the BG command will return a 1 if there is a
commanded motion in progress, a 0 otherwise. The BG command will result in a command error if a move
is already in progress, the servo is not enabled or a limit switch is preventing motion.
ARGUMENTS: BG XYZWS or ABCDEFGH where
X, Y, Z, W, S or A, B, C, D, E, F, G, H specify the axis or sequence. No argument specifies that motion on all
axes is complete.
USAGE:
While Moving Yes Default Value ---

In a Program Yes Default Format ---

Command Line Yes

Can be Interrogated No

Used as an Operand Yes

OPERAND USAGE:
_BGn contains a ‘0’ if motion complete on the axis, otherwise contains a ‘1’ where n is an axis letter.

RELATED COMMANDS:
"AM" After motion complete

"ST" Stop motion

EXAMPLES:
PR 2000 Set up for a relative move

BG Begin motion

AM Wait until motion is complete

HM Issue homing command

BG Begin motion

AM Wait until motion is complete

JG 1000 Issue jog command

BG Begin motion

STATE=_BGX Assign a 1 to STATE if the axis is performing

a move

HINT: You cannot give another BG command until current BG motion has been completed. Use the AM trippoint to wait
for motion complete between moves. Another method for checking motion complete is to test for _BG being equal to 0.

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BL
FUNCTION: Reverse Software Limit [Setting]
DESCRIPTION:
The BL command sets the reverse software limit. If this limit is exceeded during a commanded motion, the
motion will decelerate to a stop. Reverse motion beyond this limit is not permitted. The reverse limit is
activated at position n-1 count. To disable the reverse limit, set n to -2147483648. The units are in quadra-
ture counts.
ARGUMENTS: BLx, y, z, w or BLX=x or BL a ,b, c, d, e, f, g, h where
x, y z, w, or a, b, c, d, e, f, g, h are signed integers
“?” returns the reverse software limit value
-2147483648 turns off the reverse limit.
USAGE:
While Moving Yes Minimum Value -2147483648

In a Program Yes Maximum Value 2147483647

Command Line Yes Default Value -2147483648

Can be Interrogated Yes Default Format Position format

Used as an Operand Yes

OPERAND USAGE:
_BLn contains the value of the reverse software limit where n is an axis letter.

RELATED COMMANDS:
EXAMPLES:
"FL" Forward Limit

"PF" Position Formatting

#TEST Test Program

AC 1000000 Set Acceleration Rate

DC 1000000 Set Deceleration Rate

BL -15000 Set Reverse Limit

JG -5000 Jog Reverse

BG Begin Motion
AM After Motion (soft limit occurred)

TP Tell Position
EN End Program

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BN
FUNCTION: Burn [General]
DESCRIPTION:
The BN command saves certain controller parameters in non-volatile EEPROM memory. This command
takes approximately one second to execute and must not be interrupted. If the burn is disrupted by power
failure, a memory checksum error will result. The controller returns a <:> when the Burn is complete.

PARAMETERS SAVED DURING BURN:

AC EO KD PF
AF EP KI SB
BL ER KP SP
CB ET LZ TL
CE FA MM TM
CN FL MO (MOTOR OFF or ON) TR
CW GA MT VA
DC GR NA VD
DV IA OE VF
EA IL OF VS
EM IT OP VT

ARGUMENTS: None

USAGE:
While Moving Yes Default Value ---

In a Program Yes Default Format ---

Command Line Yes

Can be Interrogated No

Used as an Operand No

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BP
FUNCTION: Burn Program [General]
DESCRIPTION:
The BP command saves the application program in non-volatile EEPROM memory. This command typi-
cally takes up to 10 seconds to execute and must not be interrupted. If the burn is disrupted by power fail-
ure, a memory checksum error will result. The controller returns a <: >when the Burn is complete.
ARGUMENTS: None
USAGE:
While Moving No Default Value ---

In a Program No

Command Line Yes

Can be Interrogated No

Used as an Operand No

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BV
FUNCTION: Burn Variables and Array [General]
DESCRIPTION:
The BV command saves the defined variables and arrays in non-volatile EEPROM memory. This command
typically takes up to 2 seconds to execute and must not be interrupted. If the burn is disrupted by power fail-
ure, a memory checksum error will result. The controller returns a <:> when the Burn variables are com-
plete.
ARGUMENTS: None
USAGE:
While Moving No Default Value ---

In a Program No

Command Line Yes

Can be Interrogated No

Used as an Operand Yes

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CB
FUNCTION: Clear Bit [I/O]
DESCRIPTION:
The CB command clears a bit on the output port by setting it to logic zero. Slave controller or Modbus out-
puts can be cleared also.
ARGUMENTS: CB n where
n is an integer corresponding to a specific output on the controller to be cleared (set to 0). The first output
on the controller is denoted as output 1. A LEGEND-MC controller has 4 digital outputs plus applicable I/
O connected by Modbus.
DISTRIBUTED CONTROL:

Handle Command Handle Command

A CB101 ~ CB104 E CB501 ~ CB504
B CB201 ~ CB204 F CB601 ~ CB604
C CB301 ~ CB304 G CB701 ~ CB704
D CB401 ~ CB404 H CB801 ~ CB804

MODBUS:

Note: When using Modbus devices, the I/O points of the modbus devices are calculated
using the following formula:
n = (SlaveAddress*1000) + (HandleNum*1000) + ((Module-1)*4) + (Bitnum-1)
Slave Address is used when the ModBus device has slave devices connected to it and specified as
Addresses 0 to 255. The use of slave devices for modbus are very rare and this number will usually be 0.
HandleNum is the handle specifier from A to H (1 - 8).
Module is the position of the module in the rack from 1 to 16.
BitNum is the I/O point in the module from 1 to 4.

USAGE:
While Moving Yes Default Value ---
In a Program Yes Default Format ---
Command Line Yes

Can be Interrogated No

Used as an Operand No

RELATED COMMANDS:
"SB" Set Bit
"OP" Define all outputs

EXAMPLES:
CB 1 Clear output bit 1
CB 2 Clear output bit 2
CB 3 Clear output bit 3
CB 602 Clear output 2 on slave controller on handle F

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CD
FUNCTION: Contour Data [Motion]
DESCRIPTION:
The CD command specifies the incremental position for an arbitrary motion profile. The units of the com-
mand are in quadrature counts. This command is only applicable in the Contour Mode (CM).
ARGUMENTS: CD x, y, z, w or CDX=x or CD a ,b, c, d, e, f, g, h where
x, y z, w, or a, b, c, d, e, f, g, h are signed integers
USAGE:
While Moving Yes Minimum Value -32767

In a Program Yes Maximum Value +32767

Command Line Yes Default Value 0

Can be Interrogated No Default Format ---

Used as an Operand No

RELATED COMMANDS:
"CM" Contour Mode

"WC" Wait for Contour

"DT" Time Increment

EXAMPLES:
CM Specify Contour Mode

DT 4 Specify time increment for contour mode

CD 200 Specify incremental positions of 200 counts

WC Wait for complete

CD 100 New position data

WC Wait for complete

DT0 Stop Contour

CD 0 Exit Mode

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CE
FUNCTION: Configure Encoder [Configuration]
DESCRIPTION:
The CE command configures the encoder inputs to the quadrature type or the pulse and direction type. It
also allows inverting the polarity. The configuration applies independently to the main axis encoder and the
auxiliary encoder inputs.
ARGUMENTS: CE x, y, z, w or CEX=x or CE a ,b, c, d, e, f, g, h where
x, y z, w, or a, b, c, d, e, f, g, h are unsigned integers
Each integer is the sum of two integers r and s which configure the main and the auxiliary encoders accord-
ing to the chart below.
“?” returns the encoder inputs

R= MAIN ENCODER TYPE S= AUXILIARY ENCODER TYPE

0 Normal quadrature 0 Normal quadrature
4 Normal pulse and direction
2 Reversed quadrature 8 Reversed quadrature
12 Reverse pulse and direction

For example: CEX = 10 implies r = 2 and s = 8, both encoders are reversed quadrature.

USAGE:
While Moving Yes Minimum Value 0
In a Program Yes Maximum Value 10

Command Line Yes Default Value 0

Can be Interrogated Yes Default Format 2.0

Used as an Operand Yes

OPERAND USAGE:
_CEn contains the value of encoder type for the main and auxiliary encoder where n is an axis letter.

RELATED COMMMANDS:
"MT" Specify motor type

EXAMPLES:
CE 0 Configure encoders

CE ? Interrogate configuration
V = _CE Assign configuration to a variable

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CF
FUNCTION: Configure Messages [Configuration]
DESCRIPTION:
Sets the controller’s default port for unsolicited messages. By default, the LEGEND-MC controller will
send unsolicited responses to the RS-232 serial port . An unsolicited message is one generated in the con-
troller, i.e.; a program fault message or a message resulting from the MG command with no port designation
specified.
ARGUMENTS: CF n where
n is A thru H for Ethernet handles 1 thru 8, S for serial port.
USAGE:
While Moving Yes Default Value 83 (“S”)

In a Program Yes Default Format Decimal representa-

tion

Command Line Yes

OPERAND USAGE:
_CF will return the current port selected for unsolicited responses from the controller. The _CF will return a
decimal value of the ASCII code.

EXAMPLES:
CFA Select Ethernet handle A to return unsolicited
responses.

MG_CF Interrogate configuration

:65.000 Response from _CF showing handle A as

default port. 65 is the ASCII value for “A”.

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CH
FUNCTION: Connect Handle [General]

DESCRIPTION:
The CH command is used to associate master and slave controllers in a distributed control system. The
master controller must associate one Ethernet handle for sending commands to each slave, and one Ether-
net handle for receiving status information from each slave. Note that these handles must first be opened
before assigning them with this command, see the command IH.

ARGUMENTS: CHx=h1,h2 where

x is X, Y, Z, W or A, B, C, D, E, F, G, H.
h1 is the handle (character) to be used to send commands to the slave controller.
h2 is the handle (character) to be used for receiving status from the slave controller.
USAGE:
While Moving Yes Default Value -

In a Program Yes Default Format -

Command Line Yes

RELATED COMMANDS:

“IH” Set Internet Handles

“NA” Set Number of Axes for Distributed Control System

“QW” Set Slave Data record Update Rate

EXAMPLE:
CHY=A,B Using one LEGEND-MC as a master and one LEGEND-MC as a slave
under TCP/IP. This command assigns a slave, identified by the Y axis
designator, with Handle A for commands and Handle B for status
returned from the slave.

An example subroutine demonstrating how to release handles:

#RELEASE Release handles

MG "Releasing..." Diagnostic message
IHE=>-2 Release handle E
#WAIT; JP #WAIT,_IHE2<>0 Wait until handle is released
IHF=>-2 Release handle
#WAIT1; JP #WAIT1,_IHF2<>0 Wait until handle is released
EN End subroutine

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An example subroutine demonstrating how to assign handles:

#ASSIGN Assign handles

MG "Assigning..." Diagnostic message
IHE=192,168,3,104>2 Must let first IH command succeed before setting another IH
#WAITA; JP #WAITA,_IHE2<>-2 Wait until handle is connected
IHF=192,168,3,104<504>2 Assign response handle to slave
#WAITB; JP #WAITB,_IHF2<>-2 Wait until handle is connected
EN End subroutine

An example subroutine demonstrating how to connect handles:

#CONNECT Connect to slave

MG "Connecting..." Diagnostic message
NA2 Set two axis configuration
CHY=E,F Connect the handles
QWF=4 Set slave response update (don’t need to set QW for com-
mands on handle A)
EN End subroutine

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CM
FUNCTION: Contouring Mode [Setting]
DESCRIPTION:
The Contour Mode is initiated by the instruction CM. This mode allows the generation of an arbitrary
motion trajectory. The CD command specifies the position increment, and the DT command specifies the
time interval.
The CM? or _CM commands can be used to check the status of the Contour Buffer. A value of 1 returned
indicates that the Contour Buffer is full. A value of 0 indicates that the Contour Buffer is empty.
ARGUMENTS: CM XYZW or ABCDEFGH
CM? Returns a 1 if the contour buffer is full, and 0 if the contour buffer is empty.
USAGE:
While Moving No Default Value ---

In a Program No Default Format 1.0

Command Line Yes

Can be Interrogated No

Used as an Operand Yes

OPERAND USAGE:
_CM contains a ‘0’ if the contour buffer is empty, otherwise contains a ‘1’ meaning the buffer is
full.

RELATED COMMANDS:
"CD" Contour Data

"WC" Wait for Contour

"DT" Time Increment

EXAMPLES:
V=_CM;V= Return Contour Buffer Status

1 Contour Buffer is full

CM Specify Contour Mode

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CN
FUNCTION: Configure Limit Switches [Configuration]
DESCRIPTION:
The CN command configures the polarity of the limit switches, the home switch and the latch input.
ARGUMENTS: CN m,n,o where
m, n, o are integers .

m= 1 Limit switches active high

-1 Limit switches active low

n= 1 Home switch configured to drive motor in forward direction when input is high
upon initial HM execution. See HM and FE commands

-1 Home switch configured to drive motor in reverse direction when input is high
upon initial HM execution. See HM and FE commands

o= 1* Latch input is active high

-1 Latch input is active low

*
Note: The latch function will occur within 25usec only when used in active low mode, the opto iso
lator requires more time if active high .

USAGE:
While Moving Yes Default Value -1.-1.-1

In a Program Yes Default Format 2.0

Command Line Yes

Can be Interrogated No

Used as an Operand Yes

OPERAND USAGE:
_CN0 Contains the limit switch configuration.
_CN1 Contains the home switch configuration.
_CN2 Contains the latch input configuration.

RELATED COMMANDS:
"MT" Motor Type

EXAMPLES:
CN 1,1 Sets limit and home switches to active high

CN, -1 Sets input latch active low

MG_CN1 Returns Home input configuration

MG_CN2 Returns Latch input configuration

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@COM
FUNCTION: 2’s Complement
DESCRIPTION:
@COM returns the complement of a number or variable which is inserted in square brackets. Note that
the @COM command is a function, which means that it does not follow the convention of other com-
mands, and does not require the underscore when used as an operand.
ARGUMENTS: @COM [n] where
n is a number
USAGE:
While Moving Yes Minimum n value -2147483647.9999
In a Program Yes Maximum n value 2147483647.9999
Not in a program Yes Default Value ---
Can be Interrogated No Default Format ---
Used as an Operand Yes

EXAMPLES:
#TEST Program TEST
VAR1=1234 Set variable
MG @COM[VAR1] Display the complement of 1234
VAR2=@COM[VAR1]+99 Perform calculation
EN End of program

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@COS
FUNCTION: Cosine
DESCRIPTION:
@COS returns the cosine of a number or variable given in square brackets using units of degrees. Note
that the @COS command is a function, which means that it does not follow the convention of the com-
mands, and does not require the underscore when used as an operand.
ARGUMENTS: @COS [n] where
n is a number
USAGE:
While Moving Yes Minimum n value -32768
In a Program Yes Maximum n value 32768
Not in a program Yes Default Value ---
Can be Interrogated No Default Format ---
Used as an Operand Yes

EXAMPLES:
#TEST Program TEST
VAR1=60 Set variable
MG @COS[VAR1] Display the value of the sine of VAR1
VAR2=@COS[VAR1]+9 Perform calculation
EN End of program

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CS
FUNCTION: Clear Sequence [General]
DESCRIPTION:
The CS command will remove VP or LI commands stored in a motion sequence. Please note that after a
sequence has been run, the CS command is not necessary to enter a new sequence. This command is use-
ful if you have correctly specified VP or LI commands.
When used as an operand, _CS returns the number of the segment in the sequence, starting at zero. The
instruction _CS is valid in the Linear Mode, LM, Vector Mode, VM and Contour Mode, CM .
ARGUMENTS: none
USAGE:
While Moving No Default Value ---
In a Program Yes Default Format ---
Not in a program Yes

Can be Interrogated No

Used as an Operand Yes

EXAMPLES:
#CLEAR Label
VP 1000,2000 Vector position
VP 4000,8000 Vector position
CS Clear vectors
VP 1000,5000 New vector
VP 8000,9000 New vector
VE End sequence
BGS Begin motion sequence
EN End of program

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CW
FUNCTION: Copyright information / Data Adjustment Bit On/Off [General]
DESCRIPTION:
The CW command has a dual usage. The CW command will return the copyright information when the
argument, n is 0. Otherwise, the CW command is used as a communications enhancement. When CW = 1,
the communication enhancement sets the MSB of unsolicited, returned ASCII characters to 1. Unsolicited
ASCII characters are those characters which are returned from the controller without being directly queried
from an external source. This is the case when a program has a command that requires the controller to
return a value or string. The benefit of this is that two-way unsolicited messages can be filtered by an exter-
nal source to retrieve answers to strings that were sent by the external source.
ARGUMENTS: CW n,m where
n is a number, either 0,1 or 2:
0 Causes the controller to return the copyright information
1 Causes the controller to set the MSB of unsolicited returned characters to 1
2 Causes the controller to not set the MSB of unsolicited characters.
“?” returns the copyright information for the controller
m is 0 or 1 (optional)
0 Causes the controller to pause program execution when output FIFO is full until FIFO
no longer full.
1 Causes the controller to continue program execution when output FIFO is full - output
characters after FIFO is full will be lost.

USAGE:
While Moving Yes* Default Value n/a

In a Program Yes Default Format n/a

Command Line Yes

Can be Interrogated No

Used as an Operand Yes

OPERAND USAGE:
_CW contains the value of the data adjustment bit. 1 =on, 2 = off

*Note: The CW command can cause garbled characters to be returned by the controller. The
default state of the controller is to disable the CW command, however, the Yaskawa Y-Term soft-
ware may sometimes enable the CW command for internal usage. If the controller is reset while the
Yaskawa software is running, the CW command could be reset to the default value which would cre-
ate difficulty for the software. It may be necessary to re-enable the CW command. The CW com-
mand status can be stored in EEPROM.

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DA
FUNCTION: Deallocate Variables & Arrays [General]
DESCRIPTION:
The DA command frees array and/or variable memory space. With this command, more than one array or
variable can be specified for memory de-allocation. Different arrays and variables are separated by comma
when specified in one command. The * argument de-allocates all variables, and *[0] de-allocates all
arrays.
ARGUMENTS: DA c[0],d,etc. where
c[0] - Defined array name
d - Defined variable name
* - De-allocates all the variables
*[0] - De-allocates all the arrays
DA? Returns the number of arrays available on the controller.

USAGE:
While Moving Yes Default Value ---

In a Program Yes Default Format ---

Command Line Yes

Can be Interrogated Yes

Used as an Operand Yes

OPERAND USAGE:
_DA contains the total number of arrays available. For example, before any arrays have been defined, the
operand _DA is 14. If one array is defined, the operand _DA will return 13.

RELATED COMMANDS:
"DM" Dimension Array

EXAMPLES:
‘Cars’ and ‘Salesmen’ are arrays and ‘Total’ is a variable.
Cars[400],Salesmen[50] Dimension 2 arrays

Total=70 Assign 70 to the variable Total

DA Cars[0],Salesmen[0],Total De-allocate the 2 arrays & variables

DA*[0] De-allocate all arrays

DA *,*[0] De-allocate all variables and all arrays

NOTE: Since this command de-allocates the spaces and compacts the array spaces in the memory,
it is possible that execution of this command may take longer time than 2 ms.

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DC
FUNCTION: Deceleration [Motion]
DESCRIPTION:
The Deceleration command (DC) sets the linear deceleration rate for independent moves such as PR, PA and
JG moves. The parameters will be rounded down to the nearest factor of 1024 and have units of counts per
second squared.
ARGUMENTS: DC x, y, z, w or DCX=x or DC a ,b, c, d, e, f, g, h where
x, y z, w, or a, b, c, d, e, f, g, h are unsigned integers
“?” returns the deceleration value
USAGE:
While Moving Yes* Minimum Value 1024

In a Program Yes Maximum Value 67107840

Command Line Yes Default Value 256000

Can be Interrogated Yes Default Format 8.0

Used as an Operand Yes

OPERAND USAGE:

_DCn contains the deceleration rate in counts/sec2 where n is an axis letter.

RELATED COMMANDS:
"AC" Acceleration
"PR" Position Relative

"SP" Speed

"JG" Jog
"BG" Begin

"IT" Smoothing constant - S-curve

EXAMPLES:
PR 10000 Specify relative position

AC 2000000 Specify acceleration rate

DC 1000000 Specify deceleration rate

SP 5000 Specify slew speed

BG Begin motion

*NOTE: The DC command may be changed during the move in JG move, but not in PR or PA
move. For controlled deceleration in abort conditions, use the ST command.The deceleration rate
can be changed after ST.

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DE
FUNCTION: Dual (Auxiliary) Encoder Position [Motion]
DESCRIPTION:
The DE command defines the position of the auxiliary encoder.

ARGUMENTS: DE x, y, z, w or DEX=x or DE a ,b, c, d, e, f, g, h where

x, y z, w, or a, b, c, d, e, f, g, h are signed integers
“?” returns the position of the auxiliary encoder

USAGE:
While Moving Yes Minimum Value -2147483647

In a Program Yes Maximum Value 2147483648

Command Line Yes Default Value n/a

Can be Interrogated Yes Default Format Position Format

Used as an Operand Yes

OPERAND USAGE:
_DEn returns the current position of the specified auxiliary encoder where n is an axis letter.

EXAMPLES:
:DE 0 Set the auxiliary encoder position to 0

:DE? Return auxiliary encoder positions

:DUALX=_DE Assign auxiliary encoder position of X-axis to

the variable DUALX

HINT: Dual encoders are useful when you need an encoder on the motor and on the load. The encoder on the load is typi-
cally the auxiliary encoder and is used to verify the true load position. Any error in load position is used to correct the
motor position.

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DL
FUNCTION: Download [General]
DESCRIPTION:
The DL command prepares a controller to accept a data file from the host computer. Instructions in the file
will be accepted as a data stream without line numbers. The file is terminated using <control> Z, <control>
Q, <control> D, or \.
If no parameter is specified, downloading a data file will clear any programs in the LEGEND-MC RAM.
The data is entered beginning at line 0. If there are too many lines or too many characters per line, the LEG-
END-MC will return a “?”. To download a program after a label, specify the label name following DL. The
# argument may be used with DL to append a file at the end of the LEGEND-MC program in RAM.
ARGUMENTS: DL n
n = no argument Downloads program beginning at line 0 and erases programs in RAM.
n = #Label Begins download at line following #Label where label may be any valid program label.
n = #Begins download at end of program in RAM.
USAGE:
While Moving Yes Default Value ---

In a Program No Default Format ---

Command Line Yes

Can be Interrogated No

Used as an Operand Yes

OPERAND USAGE:
When used as an operand, _DL gives the number of available labels. The total number of labels is 126.

RELATED COMMANDS:
"UL" Upload

EXAMPLES (from the terminal):

DL; Begin download (no colon returned)

#A;PR 4000;BG Data

AM;MG DONE Data

EN Data

<control> Z End download (colon returned)

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DM
FUNCTION: Dimension [General]
DESCRIPTION:
The DM command defines a single dimensional array with a name and total elements. The first element of
the defined array starts with element number 0 and the last element is at n-1.
ARGUMENTS: DM c[n] where
c is a name of up to eight alphanumeric characters, starting with an uppercase alphabetic character.
n is the number of entries from 1 to 8000.
DM? Returns the number of array elements available.
USAGE:
While Moving Yes Default Value ---

In a Program Yes Default Format ---

Command Line Yes

Can be Interrogated Yes

Used as an Operand Yes

OPERAND USAGE:
_DM contains the available array space. For example, before any arrays have been defined, the operand
_DM will return 8000. If an array of 100 elements is defined, the operand _DM will return 7900.

RELATED COMMANDS:
"DA" Deallocate Array

EXAMPLES:
DM Pets[5],Dogs[2],Cats[3] Define dimension of arrays, pets with 5 ele-
ments; Dogs with 2 elements; Cats with 3 ele-
ments

DM Tests[1000] Define dimension of array called Tests with

1000 elements

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DP
FUNCTION: Define Position [Setting]
DESCRIPTION:
The DP command sets the current motor position and current command positions to a user specified value.
The units are in quadrature counts. This command will set both the TP and RP values.

ARGUMENTS: DP x, y, z, w or DPX=x or DP a ,b, c, d, e, f, g, h where

x, y z, w, or a, b, c, d, e, f, g, h are signed integers
“?” returns the current position of the motor
USAGE:
While Moving No Minimum Value -2147483648

In a Program Yes Maximum Value +2147483647

Command Line Yes Default Value n/a

Can be Interrogated Yes Default Format Position Format

Used as an Operand Yes

OPERAND USAGE:
_DPn reports the current position where n is an axis letter.

EXAMPLES:
:DP 0 Sets the current position of the X axis to 0

:DP -50000 Sets the current position to -50000.

:DP ?

-0050000 Returns the motor position

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DT
FUNCTION: Delta Time [Motion]
DESCRIPTION:
The DT command sets the time interval for Contouring Mode. Sending the DT command once will set the
time interval for all following contour data until a new DT command is sent. 2n samples is the time inter-
val. Sending DT0 followed by CD0 command terminates the Contour Mode.
ARGUMENTS: DT n where
n is an integer. 0 terminates the Contour Mode.

n=1 thru 8 specifies the time interval of 2n samples. By default the sample period is 1 msec (set by TM
command); with n=1, the time interval would be 2 msec.
DT? Returns the value for the time interval for contour mode.
USAGE:
While Moving Yes Minimum Value 0

In a Program Yes Maximum Value 8

Command Line Yes Default Value 0

Can be Interrogated Yes Default Format 1.0

Used as an Operand Yes

OPERAND USAGE:
_DT contains the value for the time interval for Contour Mode

RELATED COMMANDS:
"CM" Contour Mode

"CD" Contour Data

"WC" Wait for next data

EXAMPLES:
DT 4 Specifies time interval to be 16 msec

DT 7 Specifies time interval to be 128 msec

#CONTOUR Begin

CM Enter Contour Mode

DT 4 Set time interval

CD 1000 Specify data

WC Wait for contour

CD 2000 New data

WC Wait

DT0 Stop contour

CD0 Exit Contour Mode

EN End

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DV
FUNCTION: Dual Velocity (Dual Loop) [Setting]
DESCRIPTION:
The DV function changes the operation of the PID servo loop. It causes the KD (derivative) term to operate
on the dual encoder instead of the main encoder. This results in improved stability in the cases where there
is a backlash between the motor and the main encoder, and where the dual encoder is mounted on the motor.
See the example section.
ARGUMENTS: DV x, y, z, w or DVX=x or DV a ,b, c, d, e, f, g, h where
x, y z, w, or a, b, c, d, e, f, g, h are unsigned integers
n may be 0 or 1. 0 disables the function. 1 enables the dual loop.
“?” returns a 0 if dual velocity mode is disabled and 1 if enabled for the specified axis.
USAGE:
While Moving Yes Minimum Value 0

In a Program Yes Maximum Value 1

Command Line Yes Default Value 0

Can be Interrogated Yes Default Format 1

Used as an Operand Yes

OPERAND USAGE:
_DVn contains the state of dual velocity mode where n is an axis letter and 0 = disabled, 1 = enabled.

RELATED COMMANDS:
"KD" Damping constant

"FV" Velocity feedforward

EXAMPLES:
DV 1 Enables dual loop PID

DV 0 Disables DV

HINT: The DV command is useful in backlash and resonance compensation.

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EA
FUNCTION: ECAM master [Setting]
DESCRIPTION:
The EA command selects the master axis for the electronic cam mode.

ARGUMENTS: EA x where
X or SX
USAGE:
While Moving Yes Default Value n/a

In a Program Yes Default Format n/a

Command Line Yes

RELATED COMMANDS:
"EB" Enable ECAM

"EC Set ECAM table index

"EG" Engage ECAM

“EM” Specify ECAM cycle

"EP" Specify ECAM table intervals & staring point

“EQ” Disengage ECAM

"ET" ECAM table

EXAMPLES:
EASX Select auxiliary encoder as the master for ECAM

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EB

FUNCTION: ECAM Enable [Setting]

DESCRIPTION:
The EB function enables or disables the cam mode. In this mode, the master axis is modularized within the
cycle. This command does not initiate camming but it readies the controller for cam mode.
ARGUMENTS: EB n where
n = 1 starts cam mode and n = 0 stops cam mode.
EB? Returns a 0 if ECAM is disabled and 1 if enabled.
USAGE:
While Moving Yes Default Value 0

In a Program Yes Default Format n/a

Command Line Yes

Can be Interrogated Yes

Used as an Operand Yes

OPERAND USAGE:
_EB contains the state of Ecam mode. 0 = disabled, 1 = enabled

RELATED COMMANDS:
”EM“ Specify Ecam Cycle

”EP“ CAM table intervals & starting point

“MM” Master’s Modulus

EXAMPLES:
EB1 Starts ECAM mode

EB0 Stops ECAM mode

B = _EB Return status of cam mode

Note: See the example section for more detailed cam examples.

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EC
FUNCTION: ECAM Counter [Setting]
DESCRIPTION:
The EC function sets the index into the ECAM table. This command is only useful when entering ECAM
table values without index values and is most useful when sending commands in binary. See the com-
mand, ET.
ARGUMENTS: EC n where
n is an integer between 0 and 256.
n = ? Returns the current value of the index into the ECAM table.
USAGE:
While Moving Yes Default Value ---

In a Program Yes Default Format ---

Command Line Yes

OPERAND USAGE:
_EC contains the current value of the index into the ECAM table.

RELATED COMMANDS:
"EA" Choose ECAM master

"EB Enable ECAM

"EG Engage ECAM

“EM” Specify ECAM cycle

"EP" Specify ECAM table intervals & staring point

“EQ” Disengage ECAM

"ET” ECAM table

EXAMPLES:
EC0 Set ECAM index to 0

ET 200,400 Set first ECAM table entries to 200,400

ET 400,800 Set second ECAM table entries to 400,800

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ED
FUNCTION: Edit [General]
DESCRIPTION:
Using Yaskawa YTerm Software or any other terminal emulator: The ED command puts the controller into
the Edit subsystem. In the Edit subsystem, programs can be created, changed or destroyed. The commands
in the Edit subsystem are:
<cntrl>D Deletes a line
<cntrl>I Inserts a line before the current one
<cntrl>P Displays the previous line
<cntrl>Q Exits the Edit subsystem
<return> Saves a line

ARGUMENTS: ED n where
n specifies the line number to begin editing. The default line number is the last line of program space with
commands.
USAGE:
While Moving No Default Value n/a

In a Program No Default Format n/a

Command Line Yes

Can be Interrogated No

Used as an Operand Yes

OPERAND USAGE:
_ED contains the line number of the last line to have an error. Very useful in tracing problems in the field.

EXAMPLES:
000 #START

001 PR 2000

002 BG

003 SLKJ Bad line

004 EN

005 #CMDERR Routine which occurs upon a command error

006 V=_ED

007 MG "An error has occurred" {n}

008 MG "In line", V{F3.0}

009 ST

010 ZS0

011 EN

HINT: Remember to quit the Edit Mode prior to executing or listing a program.
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EG
FUNCTION:ECAM Engage [Motion]
DESCRIPTION:
The EG command engages an ECAM operation at a specified position of the master encoder. If a value is
specified outside of the master’s range, the slave will engage immediately. Once a slave motor is engaged,
its position is redefined to fit within the cycle.
ARGUMENTS: EG n where
n is the master position at which the slave axis must be engaged.
“?” returns 1 if specified axis is engaged and 0 if disengaged
USAGE:
While Moving Yes Minimum value -2147483648

In a Program Yes Maximum value 2147483647

Command Line Yes Default Value n/a

Can be Interrogated No Default Format n/a

Used as an Operand Yes

OPERAND USAGE:
_EGn contains ECAM status where n is an axis letter. 0 = axis is not engaged, 1 = axis is engaged.

RELATED COMMANDS:
“EB” Enable Ecam

”EQ” Ecam quit

EXAMPLES:
EG 700 Engages slave at master position 700.

B = _EP Return the status of the axis, 1 if engaged

NOTE: This command is not a trippoint. This command will not hold the execution of the pro-
gram flow. If the execution needs to be held until master position is reached, use MF or MR com-
mand.

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ELSE
FUNCTION: Else Function for use with IF Conditional Statement [Program Flow]
DESCRIPTION:
The ELSE command is an optional part of an IF conditional statement. The ELSE command must occur
after an IF command and it has no arguments. It allows for the execution of a command only when the argu-
ment of the IF command evaluates False. If the argument of the IF command evaluates false, the controller
will skip commands until the ELSE command. If the argument for the IF command evaluates true, the con-
troller will execute the commands between the IF and ELSE command.
ARGUMENTS: none
USAGE:
While Moving Yes Default Value ---

In a Program Yes Default Format ---

Command Line No

RELATED COMMANDS:
"ENDIF" End of IF conditional Statement

EXAMPLES:
IF (@IN[1]=0) IF conditional statement based on input 1

IF (@IN[2]=0) 2nd IF conditional statement executed if 1st IF

conditional true

MG "INPUT 1 AND INPUT 2 ARE Message to be executed if 2nd IF conditional is

ACTIVE" true

ELSE ELSE command for 2nd IF conditional state-

ment

MG "ONLY INPUT 1 IS ACTIVE Message to be executed if 2nd IF conditional is

false

ENDIF End of 2nd conditional statement

ELSE ELSE command for 1st IF conditional state-

ment

MG"ONLY INPUT 2 IS ACTIVE" Message to be executed if 1st IF conditional

statement

ENDIF End of 1st conditional statement

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EM
FUNCTION: ECam Cycle [Setting]
DESCRIPTION:
The EM command is part of the ECAM mode. It is used to define the change in position over one com-
plete cycle of the slave. If a slave will return to its original position at the end of the cycle, the change is
zero. If the change is negative, specify the absolute value.
ARGUMENTS: EM n where
n is the net change in the slave axis.
USAGE:
While Moving Yes Minimum n parameter -2147483648

In a Program Yes Maximum n parameter 2147483647

Command Line Yes Default Value 0

Can be Interrogated No Default Format ---

Used as an Operand Yes

OPERAND USAGE:
_EMn contains the cam cycle of the slave where n is an axis letter.

RELATED COMMANDS:
"EP" CAM table intervals & starting point

"ET" Electronic CAM table

"EB" Enable Ecam

EXAMPLES:
EM 2000 Define the net change in the slave to be 2000.

V = _EM Return slave’s cam cycle distance

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EN
FUNCTION: End [Program Flow]
DESCRIPTION:
The EN command is used to designate the end of a program or subroutine. If a subroutine was called by the
JS command, the EN command ends the subroutine and returns program flow to the point just after the JS
command.
The EN command is also used to end the automatic subroutines #MCTIME and #CMDERR.
ARGUMENTS: none

Note: Use the RE command to return from the interrupt handling subroutines #LIMSWI and
#POSERR. Use the RI command to return from the #ININT subroutine.

USAGE:
While Moving Yes Default Value n/a

In a Program Yes Default Format n/a

Command Line No

Can be Interrogated No

Used as an Operand No

RELATED COMMANDS:
"RE" Return from error subroutine

"RI" Return from interrupt subroutine

EXAMPLES:
#A Program A

PR 500 Move X axis forward 500 counts

BGX Move X axis forward 1000 counts

AMX Pause the program until the X axis completes the motion

PR 1000 Set another Position Relative move

BGX Begin motion

EN End of Program

Note: Instead of EN, use the RE command to end the error subroutine and limit subroutine. Use
the RI command to end the input interrupt) subroutine.

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ENDIF
FUNCTION: End of IF Conditional Statement [Program Flow]
DESCRIPTION:
The ENDIF command is used to designate the end of an IF conditional statement. An IF conditional state-
ment is formed by the combination of an IF and ENDIF command. An ENDIF command must always be
executed for every IF command that has been executed. It is recommended that the user not include jump
commands inside IF conditional statements since this causes re-direction of command execution. In this
case, the command interpreter may not execute an ENDIF command.
ARGUMENTS: ENDIF
USAGE:
While Moving Yes Default Value n/a

In a Program Yes Default Format n/a

Command Line No

RELATED COMMANDS:
"ELSE" Optional command to be used only after IF command

"JP Jump command

"JS" Jump to subroutine command

EXAMPLES:
IF (@IN[1]=0) IF conditional statement based on input 1

"MG " INPUT 1 IS ACTIVE Message to be executed if “IF” conditional is true

ENDIF End of conditional statement

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EO
FUNCTION: Echo [Setting]
DESCRIPTION:
The EO command turns the echo on or off. If the echo is off, characters input to the serial port or Ethernet
will not be echoed back.
ARGUMENTS: EO n where
n=0 or 1. 0 turns echo off, 1 turns echo on.
USAGE:
While Moving Yes Default Value 1

In a Program Yes Default Format 1

Command Line Yes

Can be Interrogated No

Used as an Operand No

EXAMPLES:
EO 0 Turns echo off

EO 1 Turns echo on

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EP
FUNCTION: Cam Table Intervals and Starting Point [Setting]
DESCRIPTION:
The EP command defines the ECAM table intervals and offset. The offset is the master position where the
first ECAM table entry will synchronize. The interval is the difference of the master position between any
two consecutive table entries. This command effectively defines the size of the ECAM table. The param-
eter m is the interval and n is the starting point. Up to 257 points may be specified using the ET command.
ARGUMENTS: EP m,n where
m, n are signed integers
USAGE:
While Moving Yes Minimum m value 1

In a Program Yes Minimum m value 32767

Command Line Yes Minimum n value -2147483648

Can be Interrogated Yes Minimum n value 2147483647

Used as an Operand Yes (m only)

OPERAND USAGE:
_EP contains the value of the interval m.

RELATED COMMANDS:
"EB" Enable Ecam

"EG" Engage Ecam

"EM" Specify Ecam Cycle

"EQ" Ecam quit

"ET" Electronic CAM table

EXAMPLES:
EP 20,100 Sets the cam master points to 100,120,140 . . .

D = _EP Returns interval (m)

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EQ
FUNCTION:ECAM Quit (disengage) [Motion]
DESCRIPTION:
The EQ command disengages an electronic cam slave axis at the specified master position. If a value is
specified outside of the master’s range, the slave will disengage immediately.
ARGUMENTS: EQ n where
n is the master position at which the axis is to be disengaged.
“?” contains a 1 if engage command issued and slave is waiting to engage, 2 if disengage command issued
and slave is waiting to disengage, and 0 if ECAM engaged or disengaged.
USAGE:
While Moving Yes Minimum value -2147483647

In a Program Yes Maximum value 2147483648

Command Line Yes Default Value --

Can be Interrogated Yes Default Format --

Used as an Operand Yes

OPERAND USAGE:
_EQn contains 1 if engage command is issued and slave is waiting to engage, 2 if disengage command is
issued and slave is waiting to disengage, and 0 if ECAM engaged or disengaged.

RELATED COMMANDS:
"EB" Enable Ecam

"EG" Engage Ecam

"EM" Specify Ecam Cycle

"EP" CAM table intervals & starting point

"ET" Electronic CAM table

EXAMPLES:
EQ 300 Disengages the motor at master position 300.

NOTE: This command is not a trippoint. This command will not hold the execution of the program
flow. If the execution needs to be held until master position is reached, use MF or MR command.

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ER
FUNCTION: Error Limit [Setting]
DESCRIPTION:
The ER command sets the magnitude of the position error that will trigger an error condition. When the
limit is exceeded, the Error LED will illuminate. If the Off-On-Error (OE1) command is active, the ampli-
fier will be disabled. The units of ER are quadrature counts.
ARGUMENTS: ER x, y, z, w or ERX=x or ER a ,b, c, d, e, f, g, h where
x, y z, w, or a, b, c, d, e, f, g, h are unsigned integers
“?” returns the value of the Error limit.
USAGE:
While Moving Yes Minimum Value 1

In a Program Yes Maximum Value 32767

Command Line Yes Default Value 16384

Can be Interrogated Yes Default Format Position Format

Used as an Operand Yes

OPERAND USAGE:
_ERn contains the value of the Error limit where n is an axis letter.

RELATED COMMANDS:
#POSERR Automatic Error Subroutine

EXAMPLES:
ER 200 Set the error limit to 200

ER ? Return value

00200

V1=_ER Assigns V1 value of ER

V1= Returns V1

00200

HINT: The error limit specified by ER should be high enough as not to be reached during normal operation. Examples of
exceeding the error limit would be a mechanical jam, or a fault in a system component such as encoder or amplifier.

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ET
FUNCTION:Electronic Cam Table [Setting]
DESCRIPTION:
The ET command sets the ECAM table entries for the slave axis. The values of the master are not required.
The slave entry (n) is the position of the slave when the master is at the point (n ∗ i) + o, where i is the inter-
val and o is the offset as determined by the EP command.
ARGUMENTS: ET [n] = m where
n is an integer.
m is an integer.
USAGE:
While Moving Yes Minimum n Value 0

In a Program Yes Maximum n Value 256

Command Line Yes Default n Value n/a

Can be Interrogated No Minimum m Value -2147438648

Used as an Operand No Maximum m Value 2147438647

Default m Value n/a

RELATED COMMANDS:
"EB" Enable Ecam

"EG" Engage Ecam

"EM" Specify Ecam Cycle

"EP" Specify Ecam intervals and starting point

"EQ" Ecam quit

EXAMPLES:
ET [7] = 1000 Specifies the position of the slave that must be
synchronized with the eighth increment of the
master.

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FA
FUNCTION: Acceleration Feedforward [Setting]
DESCRIPTION:
The FA command sets the acceleration feedforward coefficient, or returns the previously set value. This
coefficient, when scaled by the acceleration, adds a torque bias voltage during the acceleration phase and
subtracts the bias during the deceleration phase of a motion.

Acceleration Feedforward Bias = FA ⋅ AC ⋅ 1.5 ⋅ 10-7

Deceleration Feedforward Bias = FA ⋅ DC ⋅ 1.5 ⋅ 10-7

The Feedforward Bias product is limited to 10 Volts. FA will only be operational during independent
moves, not gearing, camming or interpolation.
ARGUMENTS: FA x, y, z, w or FAX=x or FA a ,b, c, d, e, f, g, h where
x, y z, w, or a, b, c, d, e, f, g, h are unsigned numbers
“?” returns the value of the feedforward acceleration coefficient.
FA has a resolution of .25
USAGE:
While Moving Yes Minimum Value 0

In a Program Yes Maximum Value 8191

Command Line Yes Default Value 0

Can be Interrogated Yes Default Format 4.0

Used as an Operand Yes

OPERAND USAGE:
_FAn contains the value of the feedforward acceleration coefficient where n is an axis letter.

RELATED COMMANDS:
"FV" Velocity feedforward

EXAMPLES:
AC 500000 Set acceleration

FA 10 Set feedforward coefficient to 10

FA ? The effective bias will be 0.75V (10 * 500000 * 1.5 * 10-7)

010 Return value

NOTE: If the feedforward coefficient is changed during a move, then the change will not take
effect until the next move.

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FE
FUNCTION: Find Edge [Motion]
DESCRIPTION:
The FE command moves a motor until a transition is seen on the homing input for the associated axis. The
direction of motion depends on the initial state of the homing input (use the CN command to configure the
polarity of the home input). Once the transition is detected, the motor decelerates to a stop.
This command is useful for creating your own homing sequences. See the example section.
ARGUMENTS: FE XYZW or ABCDEFGH

USAGE:
While Moving No Default Value ---

In a Program Yes Default Format ---

Command Line Yes

Can be Interrogated No

Used as an Operand No

RELATED COMMANDS:
"FI" Find Index

"HM" Home

"BG" Begin

"AC" Acceleration Rate

"DC" Deceleration Rate

"SP" Speed for search

EXAMPLES:
FE Set find edge mode

BG Begin

HINT: Find Edge only searches for a change in state on the Home Input. Use FI (Find Index) to search for the encoder
“C” channel. Remember to specify BG after each of these commands. Use HM (Home) to search for both the Home input
and the Index.

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FI
FUNCTION: Find Index [Motion]
DESCRIPTION:
The FI and BG commands move the motor until an encoder index pulse, or “C” channel, is detected. The
controller looks for a transition from low to high. When the transition is detected, motion stops and the
position is defined as zero. To improve accuracy, the speed during the search should be specified as 1000
counts/s or less. The FI command is useful in custom homing sequences. The direction of motion is spec-
ified by the sign of the JG command.
ARGUMENTS: FI XYZW or ABCDEFGH
USAGE:
While Moving No Default Value ---

In a Program Yes Default Format ---

Command Line Yes

Can be Interrogated No

Used as an Operand No

RELATED COMMANDS:
"FE" Find Edge

"HM" Home

"BG" Begin

"AC" Acceleration Rate

"DC" Deceleration Rate

"JG" Speed for search

EXAMPLES:
#HOME Home Routine
JG 500 Set speed and forward direction

FI Find index

BG Begin motion
AM After motion

MG "FOUND INDEX"

EN

HINT: Find Index only searches for a change in state on the Index. Use FE to search for the Home input. Use HM
(Home) to search for both the Home input and the Index. Remember to specify BG after each of these commands.

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FL
FUNCTION: Forward Software Limit [Setting]
DESCRIPTION:
The FL command sets the forward software position limit. If this limit is exceeded during commanded
motion, the motor will decelerate to a stop. Forward motion beyond this limit is not permitted. The forward
limit is activated at position n + 1. The forward limit is disabled at position 2147483647. The units are in
counts.
When the reverse software limit is activated, the automatic subroutine #LIMSWI will be executed if it is
included in the program and the program is executing. See section on Automatic Subroutines.
ARGUMENTS: FL x, y, z, w or FLX=x or FL a ,b, c, d, e, f, g, h where
x, y z, w, or a, b, c, d, e, f, g, h are unsigned numbers
“?” returns the value of the forward limit switch
USAGE:
While Moving Yes Minimum Value -2147483648
In a Program Yes Maximum Value +2147483647

Command Line Yes Default Value 2147483647

Can be Interrogated Yes Default Format Position Format

Used as an Operand Yes

OPERAND USAGE:
_FLn contains the value of the forward software limit where n is an axis letter.

RELATED COMMANDS:
"BL" Reverse Limit

EXAMPLES:
#TEST Test Program
AC 1000000 Acceleration Rate

DC 1000000 Deceleration Rate

FL 15000 Forward Limit

JG 5000 Jog Forward

BGX Begin
AMX After Motion

TPX Tell Position

EN End

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@FRAC
FUNCTION: Fraction
DESCRIPTION:
@FRAC returns only the fractional portion of a number or variable given in square brackets. Note that
the @FRAC command is a function, which means that it does not follow the convention of the com-
mands, and does not require the underscore when used as an operand.
ARGUMENTS: @FRAC [n] where
n is a number
USAGE:
While Moving Yes Minimum n value -2147483647.9999
In a Program Yes Maximum n value 2147483647.9999
Not in a program Yes Default Value ---
Can be Interrogated No Default Format ---
Used as an Operand Yes

EXAMPLES:
#TEST Program TEST
VAR1=123.456 Set variable
MG @FRAC[VAR1] Display only the fractional portion of VAR1
VAR2=@FRAC[VAR1]+.5 Perform calculation
EN End of program

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FV
FUNCTION: Velocity Feedforward [Setting]
DESCRIPTION:
The FV command sets the velocity feedforward coefficient, or returns the previously set value. This coeffi-
cient generates an output bias signal in proportion to the commanded velocity.

Velocity feedforward bias = 1.22 ⋅ 10-6 ⋅ FV ⋅ Velocity [in ct/s].

For example, if FV=10 and the velocity is 200,000 count/s, the velocity feedforward bias equals 2.44 volts.
ARGUMENTS: FV x, y, z, w or FVx=x or FV a ,b, c, d, e, f, g, h where
x, y, z, w, or a ,b, c, d, e, f, g, h are unsigned numbers
“?” returns the feedforward velocity for the specified axis.
USAGE:
While Moving Yes Minimum Value 0

In a Program Yes Maximum Value 8192

Command Line Yes Default Value 0

Can be Interrogated Yes Default Format n/a

Used as an Operand Yes

OPERAND USAGE:
_FV contains the velocity feedforward coefficient where n is an axis letter.

RELATED COMMANDS:

"FA" Acceleration feedforward

EXAMPLES:
FV 10 Set feedforward coefficients to 10

JG 30000 This speed produces 0.366 volts of torque off-

set (1.22 X 10-6 X 10 X 30000).

FV ? Return the value

010

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GA
FUNCTION: Master Axis for Gearing [Setting]
DESCRIPTION:
The GA command specifies the master axis for electronic gearing.
The master axis is the auxiliary encoder on the LEGEND-MC. The slave ratio is specified with the GR
command and gearing is turned off by the command GR0.
ARGUMENTS: GADX
USAGE:
While Moving No Default Value ---

In a Program Yes Default Format ---

Command Line Yes

RELATED COMMANDS:
"GR" Gear Ratio

EXAMPLES:
#GEAR Gear program

GADX Specify auxiliary encoder axis as master

GR -2.5 Specify X ratio

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GR
FUNCTION: Gear Ratio [Motion]
DESCRIPTION:
GR specifies the Gear Ratio for the slave axis in electronic gearing mode. The master axis for the LEG-
END-MC is specified with the GA command. Gear ratio may range between +/-127.9999. The slave axis
will be geared to the actual position of the master. The master can go in both directions. GR 0 disables
gearing. If a limit switch is hit during gearing, then gearing is automatically disabled.
ARGUMENTS: GR n where
n is a signed number.
0 disables gearing
“?” returns the value of the gear ratio
USAGE:
While Moving Yes Minimum Value -127.9999

In a Program Yes Maximum Value 127.9999

Command Line Yes Default Value 0

Can be Interrogated Yes Default Format 3.4

Used as an Operand Yes

OPERAND USAGE:
_GRn contains the value of the gear ratio where n is an axis letter.

EXAMPLES:
#GEAR

GR .25 Specify gear ratio

EN End program

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HM
FUNCTION: Home [Motion]
DESCRIPTION:
The HM command performs a three-stage homing sequence.
The first stage is the motor moving at the user programmed speed until detecting a transition on the Home
input. The direction for this first stage is determined by the initial state of the Home input. Once the Home
input changes, the motor decelerates to a stop. The state of the Home input can be configured using the CN
command.
The second stage consists of the motor changing directions and slowly approaching the transition again.
When the transition is detected, the motor is stopped instantaneously.
The third stage consists of the motor slowly moving forward until it detects an index pulse from the
encoder. It stops at this point and defines it as position 0.

ARGUMENTS: HM XYZW or ABCDEFGH

USAGE:
While Moving No Default Value ---

In a Program Yes Default Format ---

Command Line Yes

Can be Interrogated No

Used as an Operand Yes

OPERAND USAGE:
_HMn contains the state of the Home input. Regardless of the limit switch polarity, where n is an axis let-
ter, 0 always means the home input is active, 1 means inactive.

RELATED COMMANDS:

"CN" Configure Home

"FI" Find Index Only

"FE" Find Home Only

EXAMPLES:
HM Set Homing Mode
BG Begin Homing

HINT: You can customize homing sequence by using the FE (Find Home Sensor only) and FI (Find Index only) com-
mands.

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HX
FUNCTION: Halt Execution [Program Flow]
DESCRIPTION:
The HX command halts the execution of any of the programs that may be running independently via multi-
tasking. The parameter n specifies the program to be halted.
ARGUMENTS: HX n where
n is 0 or 1 to indicate the task number
USAGE:
While Moving Yes Default Value n/a

In a Program Yes Default Format n/a

Command Line Yes

Can be Interrogated No

Used as an Operand Yes

OPERAND USAGE:
When used as an operand, _HX n contains the running status of thread n with:
0 Thread not running
1 Thread is running
2 Thread has stopped at trippoint

RELATED COMMANDS:

"XQ" Execute program

EXAMPLES: (assuming the file contains the label #A and # B)

XQ #A Execute program #A, thread zero

XQ #B,1 Execute program #B, thread one

HX0 Halt thread zero

HX1 Halt thread one

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IA
FUNCTION: IP Address [Setting]
DESCRIPTION:
The IA command assigns the controller an IP address.
The IA command may also be used to specify the time out value. This is only applicable when using the
TCP/IP protocol.
The IA command can only be used via RS-232. Since it assigns an IP address to the controller, communi-
cation with the controller via internet cannot be accomplished until after the address has been assigned.
ARGUMENTS: IA ip0 ,ip1, ip2, ip3 or IA n or IA<t where
ip0, ip1, ip2, ip3 are 1 byte numbers separated by commas and represent the individual fields of the IP
address.
n is the IP address for the controller which is specified as an integer representing the signed 32 bit number
(two’s complement).
<t specifies the time in update samples between TCP retries.
>u specifies the multicast IP address where u is an integer between 0 and 63.
IA? will return the IP address of the controller
USAGE:
While Moving No Default Value n = 0, t=250

In a Program Yes Default Format ---

Command Line Yes

OPERAND USAGE:
_IA0contains the IP address representing a 32 bit signed number (Two’s complement)
_IA1contains the value for t (retry time)
_IA2contains the number of available handles
_IA3contains the number of the handle using this operand where the number is 0 to 7. 0 represents handle
A, 1 handle B, etc.

RELATED COMMANDS:
IH Internet Handle

EXAMPLES:
IA 151, 12, 53, 89 Assigns the controller with the address
151.12.53.89

IA 2534159705 Assigns the controller with the address

151.12.53.89

IA < 500 Sets the timeout value to 500msec

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IF
FUNCTION: IF conditional statement [Program Flow]
DESCRIPTION:
The IF command is used in conjunction with an ENDIF command to form an IF conditional statement. The
arguments are one or more conditional statements. If the conditional statement(s) evaluates true, the com-
mand interpreter will continue executing commands which follow the IF command. If the conditional state-
ment evaluates false, the controller will ignore commands until the associated ENDIF command OR an
ELSE command occurs in the program. The conditional statements MUST be enclosed on parentheses for
the expression to be evaluated correctly. See the example below.
ARGUMENTS: IF condition where
Conditions are tested with the following logical operators:

< less than >= greater than or equal to

> greater than <> not equal
= equal to | logical OR (pipe symbol)
<= less than or equal to & logical AND

USAGE:
While Moving Yes Default Value ---

In a Program Yes Default Format ---

Command Line No

RELATED COMMANDS:
"ELSE" Optional command used only after IF command

"ENDIF" End of IF conditional Statement

EXAMPLES:
IF (_TEX<1000) IF conditional statement based on X motor position

MG "Motor within 1000 counts of zero" Message to be executed if “IF” conditional state-
ment

ENDIF End of IF conditional statement

IF ((TEMP=126) | (TEMP=123))

JS # RELEASE

JS # ASSIGN

JS # CONNECT

ENDIF

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IH
FUNCTION: Open Internet Handle [Setting]
DESCRIPTION:
The IH command is used when the LEGEND-MC is operated as a network master. This command opens a
handle and connects to a slave.
Each controller may have 8 handles open at any given time. They are designated by the letters A through
H. To open a handle, the user must specify:
The IP address of the slave
The type of session: TCP/IP or UDP/IP
The port number of the slave. This number isn’t necessary if the slave device doesn’t
require a specific port value. If not specified, the controller specifies the port value as
502.
ARGUMENTS: IHh= ip0, ip1, ip2, ip3 <p > q or IHh=n <p > q orIHh= >r where

Argument Minimum Maximum Note

h A H Internet handle

ip0 - ip3 0 255 Four bytes of IP address separated by

commas

n -2147483648 2147483647 32 bit address alternative to ip0 - ip3

S=>C -1 (UDP) -2 (TCP) Close the handle that sent the command

T=>C -1 (UDP) -2 (TCP) Close handles except the one sending the
command

<p 0 65535 Specifies the port number of the slave,

not required for opening a handle

>q 0 2 Set connection type; 0=none; 1=UDP;

2=TCP

>r -1 (UDP) -2 (TCP) Terminate connection, and handle to be

freed

? Returns the IP address as four 1 byte

numbers

OPERAND USAGE:
_IHh0 contains the IP address as a 32 bit number
_IHh1 contains the slave port number
_IHh2 contains a 0 if the handle is free
contains a 1 if it is for a UDP slave
contains a 2 if it is for a TCP slave
contains a -1 if it is for a UDP master
contains a -2 if it is for a TCP master
contains a -5 if attempting to connect by UDP
contains a -6 if attempting to connect by TCP
_IHh3 contains a 0 if the ARP was successful
contains a 1 if it has failed or is still in progress.

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_IHh4 contains a 1 if the SA command is waiting for acknowledgement from a slave

contains a 2 if the SA command received a colon
contains a 3 if the SA command received a question mark
contains a 4 if the SA command timed out

USAGE:
While Moving Yes Default Value ----

In a Program Yes Default Format

Command Line Yes

RELATED COMMANDS:
"IA" Internet Address

EXAMPLES:
IHA=251,29,51,1 Open handle A at IP address 251.29.51.1

IHA= -2095238399 Open handle A at IP address 251.29.51.1

Note: When the IH command is given, the controller initializes an ARP on the slave device before
opening a handle. This operation can cause a small time delay before the controller responds.

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II
FUNCTION: Input Interrupt [Configuration]
DESCRIPTION:
The II command enables the interrupt function for the specified inputs. This function triggers when the
controller sees a logic change from high to low on a specified input.
If the #ININT special label is included in the program and any of the specified inputs go low during pro-
gram execution, the program will jump to the subroutine with label #ININT. Any trippoints set by the pro-
gram will be cleared but can be re-enabled by the proper termination of the interrupt subroutine using RI.
To avoid returning to the main program on an interrupt, use the ZS command to zero the subroutine stack
and use the II command to re-enable the interrupt.
ARGUMENTS: II m,n,o,p are integers where

Argument Min Max Note Example Meaning

m 0 7 Zero disables the interrupts. The value of II 3 Input #3 will cause an interrupt
“m” specifies the lowest input number to when it goes low.
be used for the input interrupt.

n 2 7 Optional argument used with “m” to spec- II 2, 4 Input #2, Input #3, and Input #4
ify a range of inputs. When the “n” argu- are enabled for interrupt.
ment is omitted, only the input specified
by the “m” parameter will be enabled.

o 1 127 This argument is an alternative to specify- II,, 15 Equivalent to binary 00001111,

ing a range of inputs. Specify the inputs inputs #1 through #4 will be
that are enabled for interrupt in a binary enabled for interrupt.
format. (If “m” and “n” are specified, “o”
will be ignored.)

p 1 127 Specifies interrupts that should activate II 1, 4,, 2 “p”equivalent is 00000010, so

with logic one. Specify the inputs that are only Input #2 (of #1 through #4)
logic one in a binary format.This argu- will interrupt active high.
ment logically ANDs with inputs already
specified in the above arguments.

USAGE:
While Moving Yes Default Value n/a

In a Program Yes Default Format 3.0 (mask only)

Command Line No

Can be Interrogated Yes

Used as an Operand Yes

RELATED COMMANDS:
"RI" Return from Interrupt

#ININT Interrupt Subroutine Special label

"AI" Trippoint for input

EXAMPLES:
#A Program A

II 1 Specify interrupt on input 1

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JG 5000 Specify jog speed

BG Begin motion

#LOOP;JP #LOOP Loop

EN End Program

#ININT Interrupt subroutine

ST;MG "INTERRUPT" Stop X, print message

AM After stopped

#CLEAR;JP#CLEAR,@IN[1]=0 Check for interrupt clear

BG Begin motion

RI Return to main program

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IL
FUNCTION: Integrator Limit [Tuning]
DESCRIPTION:
The IL command limits the effect of the integrator function in the filter to a certain voltage. For example,
IL 2 limits the output of the integrator to the +/-2 Volt range. This is very effective in allowing higher KI
values without adding instability.
A negative parameter also freezes the effect of the integrator during a move. For example, IL -3 limits the
integrator output to +/-3V. If, at the start of motion, the integrator output is 1.6 Volts, that level will be
maintained through the move. Note, however, that the KD and KP terms remain active in any case.
ARGUMENTS: IL x, y, z, w or ILX=x or IL a ,b, c, d, e, f, g, h where
x, y z, w, or a, b, c, d, e, f, g, h are unsigned integers
“?” returns the value of the integrator limit
USAGE:
While Moving Yes Minimum Value -10

In a Program Yes Maximum Value 10

Command Line Yes Default Value 10 (disabled)

Can be Interrogated Yes Default Format 1.4

Used as an Operand Yes

OPERAND USAGE:
_ILn contains the value of the integrator limit in volts where n is an axis letter.

RELATED COMMANDS:
"KI" Integrator

EXAMPLES:

KI 2 Integrator constants

IL 3 Integrator limits

IL ? Returns the limit

3.0000

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IN
FUNCTION: Input Variable [General]
DESCRIPTION:
The IN command allows a variable to be input from the serial port or Ethernet. An optional prompt message
can be displayed. The variable value must be followed by a carriage return. The entered value is assigned
to the specified variable name.
The IN command holds up execution of following commands in the program thread until a carriage return or
semicolon is entered. If no value is given prior to a semicolon or carriage return, the previous variable value
is kept. Input Interrupts, Error Interrupts and Limit Switch Interrupts will still be active.
ARGUMENTS: IN{P1} ”m” , n {So} where
"m" is the prompt message. May be letters, numbers, or symbols up to maximum line length and must be
placed in quotations.
n is the name of variable to store the new value in.
{P1} specifies the port, if omitted, the default port is assumed.
{So} specifies string data where o is the number of characters from 1 to 6

Note 1: The IN command defaults to {P1}.

Note 2: IN command can only be used in thread 0.

USAGE:
While Moving Yes Default Value

In a Program Yes Default Format Position Format

Command Line No

Can be Interrogated No

Used as an Operand No

EXAMPLES: Operator specifies material length in inches and speed in inches/sec (2 pitch lead screw, 2000 counts/rev
encoder).
#A Program A

CI -1 Clear Input Buffer*

IN "Enter Speed (in/sec)",V1 Prompt operator for speed

IN "Enter Length(in)",V2 Prompt for length

V3=V1*4000 Convert units to counts/sec

V4=V2*4000 Convert units to counts

SP V3 Speed command

PR V4 Position command

BGX;AMX Begin motion; Wait for motion complete

MG "MOVE DONE" Print Message

EN End Program

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@IN
FUNCTION: Status of Digital Input [I/O]
DESCRIPTION:
@IN returns the status of the digital input number or variable given in square brackets. Note that the @IN
command is a function, which means that it does not follow the convention of the commands, and does
not require the underscore when used as an operand.
ARGUMENTS: @IN [n] where
n is an integer corresponding to a specific output on the controller to be cleared (set to 0). The first output
on the controller is denoted as output 1. A LEGEND-MC controller has 4 digital outputs plus applicable
I/O connected by Modbus.

DISTRIBUTED CONTROL:

Handle Command Handle Command

A @IN[101] ~ @IN[104] E @IN[501] ~ @IN[504]
B @IN[201] ~ @IN[204] F @IN[601] ~ @IN[604]
C @IN[301] ~ @IN[304] G @IN[701] ~ @IN[704]
D @IN[401] ~ @IN[404] H @IN[801] ~ @IN[804]

MODBUS:
Note: With Modbus devices, I/O points of the devices are calculated usingthe following formula:
n = (SlaveAddress*1000) + (HandleNum*1000) + ((Module-1)*4) + (Bitnum-1)
Slave Address is used when ModBus device has slave devices connected to it and specified as Addresses
0 to 255. Note that the use of slave devices for modbus are very rare and this number will usually be 0.
HandleNum is the handle specifier from A to H (1 - 8).
Module is the position of the module in the rack from 1 to 16.
BitNum is the I/O point in the module from 1 to 4.

USAGE:
While Moving Yes Minimum n value 1
In a Program Yes Maximum n value 8
Not in a program Yes Default Value ---
Can be Interrogated No Default Format ---
Used as an Operand Yes

EXAMPLES:
#TEST Program TEST
VAR1=2 Set variable
MG @IN[VAR1] Display the status of digital input 2
VAR2=@IN[VAR1]+1 Perform calculation
EN End of program
IF(@IN[604])
MG”Slave input 4 is ON”
ELSE
MG”Slave input 4 is OFF”
ENDIF

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@INT
FUNCTION: Integer
DESCRIPTION:
@INT returns only the whole number part of a number or variable given in square brackets. Note that the
@INT command is a function, which means that it does not follow the convention of the commands, and
does not require the underscore when used as an operand.
ARGUMENTS: @INT [n] where
n is a number
USAGE:
While Moving Yes Minimum n value -2147483648.9999
In a Program Yes Maximum n value 2147483648.9999
Not in a program Yes Default Value ---
Can be Interrogated No Default Format ---
Used as an Operand Yes

EXAMPLES:
#TEST Program TEST
VAR1=123.456 Set variable
MG @INT[VAR1] Display only the whole nimber portion of
VAR1
VAR2=@INT[VAR1]+25 Perform calculation
EN End of program

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IP
FUNCTION: Increment Position [Motion]
DESCRIPTION:
The IP command allows for an update in the commanded position while the motor is moving. This com-
mand does not require a BG. The command has three effects depending on the motion being executed.
The units of this command are quadrature counts.
Case 1: Motor is standing still
An IP n command is equivalent to a PR n and BG command. The motor will move to the specified position
at the requested slew speed and acceleration.
Case 2: Motor is moving towards specified position
An IP n command will cause the motor to move to a new position target, which is the old target plus n. n
must be in the same direction as the existing motion (final target cannot be closer).
Case 3: Motor is in Jog Mode
An IP n command will cause the motor to instantly try to servo to a position n from the present instanta-
neous position. The SP and AC parameters have no effect. This command is useful for making small cor-
rections when synchronizing 2 axes in which one of the axis' speed is indeterminate due to a variable
diameter pulley.

WARNING: When the motor is in jog mode, an IP will create an instantaneous position error. In this
mode, the IP should only be used to make small incremental position movements.

ARGUMENTS: IP x, y, z, w or IPX=x or IP a ,b, c, d, e, f, g, h where

x, y z, w, or a, b, c, d, e, f, g, h are unsigned integers
“?” returns the current position
USAGE:
While Moving Yes Minimum Value -2147483648

In a Program Yes Maximum Value 2147483647

Command Line Yes Default Value n/a

Can be Interrogated Yes Default Format 10.0

Used as an Operand No

EXAMPLES:
:IP 50 50 counts with set acceleration and speed
#CORRECT Label

AC 100000 Set acceleration

JG 10000;BG Jog at 10000 counts/sec rate

WT 1000 Wait 1000 msec

IP 10 Move the motor 10 counts instantaneously

ST Stop Motion

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IT
FUNCTION: Independent Time Constant - Smoothing Function [Motion]
DESCRIPTION:
The IT command filters the acceleration and deceleration functions in independent moves of JG, PR, PA
type to produce a smooth velocity profile. The resulting profile, known as an S-curve, has continuous accel-
eration and results in reduced mechanical vibrations. IT sets the bandwidth of the filter where 1 means no
filtering and 0.004 means maximum filtering. Note that the filtering results in longer motion time.
The use of IT will not effect the trippoints AR and AD. The trippoints AR and AD monitor the profile prior
to the IT filter and therefore can be satisfied before the actual distance has been reached if IT is NOT 1.
ARGUMENTS: IT x, y, z, w or ITX=x or IT a ,b, c, d, e, f, g, h where
n is a positive number with a resolution of 1/256
“?” returns the value of the independent time constant.
USAGE:
While Moving Yes Minimum Value 0.004

In a Program Yes Maximum Value 1.000

Command Line Yes Default Value 1.0

Can be Interrogated Yes Default Format 1.4

Used as an Operand Yes

OPERAND USAGE:
_ITn will return the value of the independent time constant where n is an axis letter.

EXAMPLES:
IT 0.8 Set independent time constants

IT ? Return independent time constant

0.8

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JG
FUNCTION: Jog [Motion]
DESCRIPTION:
The JG command sets a speed in jog mode. The parameters following the JG set the slew speed and direc-
tion of motion. Use of the question mark returns the previously entered value or default value. The units
of this are counts/second. The AC (acceleration) and DC (deceleration) commands work in this mode.
ARGUMENTS: JG x, y, z, w or JGX=x or JG a ,b, c, d, e, f, g, h where
x, y z, w, or a, b, c, d, e, f, g, h are signed integers
“?” returns the absolute value of the jog speed.
USAGE:
While Moving Yes Minimum Value -12,000,000

In a Program Yes Maximum Value 12,000,000

Command Line Yes Default Value 25000

Can be Interrogated Yes Default Format Position Format

Used as an Operand Yes

OPERAND USAGE:
_JGn will return the absolute value of the jog speed in counts per second where n is an axis letter.

RELATED COMMANDS:

"BG" Begin

"ST" Stop

"AC" Acceleration

"DC" Deceleration

"IP" Increment Position

"TV" Tell Velocity

EXAMPLES:
JG 100 Set for jog mode with a slew speed of 100
counts/sec

BG Begin Motion

JG -2000 Change speed and direction.

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JP
FUNCTION: Jump to Program Location [Program Flow]
DESCRIPTION:
The JP command causes a jump to a program location on a specified condition (optional). The program
location may be any label. The condition is a conditional statement which uses a logical operator such as
equal to or less than. A jump is executed if the specified condition is true.
Multiple conditions can be used in a single jump statement. Conditional statements are combined in pairs
using operands “&” and “|”. The “&” operand between two conditions requires both statements to be true
for the combined statement to be true. The ”|” operand between two conditions requires that one statement
be true for the combined statement to be true.

Note: Each condition must be in parenthesis for controller evaluation as a boolean expression.

ARGUMENTS: JP location, condition where

location is a program label
condition is a conditional statement using a logical operator

The logical operators are:

< less than >= greater than or equal to

> greater than <> not equal
= equal to | logical OR (pipe symbol)
<= less than or equal to & logical AND

USAGE:
While Moving Yes Default Value n/a

In a Program Yes Default Format n/a

Command Line No

Can be Interrogated No

Used as an Operand No

EXAMPLES:
JP #POS1,V1<5 Jump to label #POS1 if variable V1 is less than 5

JP #A,V7*V8=0 Jump to #A if V7 times V8 equals 0

JP #B Jump to #B (no condition)

HINT: JP is similar to an IF, THEN command. Text to the right of the comma is the condition that must be met for a jump
to occur. The destination is the specified label before the comma.

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JS
FUNCTION: Jump to Subroutine [Program Flow]
DESCRIPTION:
The JS command will change the sequential order of execution of commands in a program. If the jump is
executed, the program will continue at the label specified by the destination parameter. The line number of
the JS command is saved and after the next EN command is encountered (End of subroutine), program exe-
cution will continue with the instruction following the JS command. The JS command can be nested 16
deep.
Multiple conditions can be used in a single jump subroutine statement. The conditional statements are
combined in pairs using the operands “&” and “|”. The “&” operand between any two conditions requires
that both statements must be true for the combined statement to be true. The “|” operand between any two
conditions requires that only one statement be true for the combined statement to be true.

Note: Each condition must be placed in parenthesis for proper evaluation by the controller as a
boolean expression. Subroutines can be nested 16 deep in the standard controller.

ARGUMENTS: JS destination,condition where

destination is a line number or label
condition is a conditional statement using a logical operator

The logical operators are:

< less than >= greater than or equal to

> greater than <> not equal
= equal to | logical OR (pipe symbol)
<= less than or equal to & logical AND

USAGE:
While Moving Yes Default Value ---
In a Program Yes Default Format ---

Command Line No

Can be Interrogated No

Used as an Operand No

RELATED COMMANDS:
"EN" End

EXAMPLES:
JS #SQUARE,V1<5 Jump to subroutine #SQUARE if V1 is less than 5
JS #LOOP,V1<>0 Jump to #LOOP if V1 is not equal to 0

JS #A Jump to subroutine #A (no condition)

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KD
FUNCTION: Derivative Constant [Tuning]
DESCRIPTION:
KD designates the derivative constant in the controller filter. The filter transfer function is

⋅ ⋅
D(z) = 4 KP + 4 KD(z-1)/z + KIz/2 (z-1)
For further details on the filter see the section Theory of Operation.
ARGUMENTS: KD x, y, z, w or KDX=x or KD a ,b, c, d, e, f, g, h where
x, y z, w, or a, b, c, d, e, f, g, h are unsigned integers
“?” returns the value of the derivative constant
USAGE:
While Moving Yes Minimum Value 0

In a Program Yes Maximum Value 4095.875

Command Line Yes Default Value 10

Can be Interrogated Yes Default Format 4.2

Used as an Operand Yes

OPERAND USAGE:
_KDn contains the value of the derivative constant where n is an axis letter.

RELATED COMMANDS:
"KP" Proportional Constant

"KI" Integral

EXAMPLES
KD 100 Specify KD

KD ? Return KD

0100.00

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KI
FUNCTION: Integrator [Tuning]
DESCRIPTION:
The KI command sets the integral gain of the control loop. It fits in the control equation as follows:

D(z) = 4 ⋅ KP + 4 ⋅ KD(z-1)/z + KI z/2(z-1)

The integrator term will reduce the position error at rest to zero.
ARGUMENTS: KI x, y, z, w or KIX=x or KI a ,b, c, d, e, f, g, h where
x, y z, w, or a, b, c, d, e, f, g, h are unsigned integers
“?” returns the value of the integrator
USAGE:
While Moving Yes Minimum Value 0

In a Program Yes Maximum Value 2047.875

Command Line Yes Default Value 0

Can be Interrogated Yes Default Format 4.0

Used as an Operand Yes

OPERAND USAGE:
_KIn contains the value of the integrator where n is an axis letter.

RELATED COMMANDS:
"KP" Proportional Gain

"KD" Derivative

"IL" Integrator Limit

EXAMPLES:
KI 12 Specify integral

KI ? Return value

0012

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KP
FUNCTION: Proportional Constant [Tuning]
DESCRIPTION:
KP designates the proportional constant in the controller filter. The filter transfer function is

⋅ ⋅
D(z) = 4 KP + 4 KD(z-1)/z + KI z/2(z-1)
For further details see the section Theory of Operation.
ARGUMENTS: KP x, y, z, w or KPX=x or KP a ,b, c, d, e, f, g, h where
x, y z, w, or a, b, c, d, e, f, g, h are unsigned integers
“?” returns the value of the proportional constant
USAGE:
While Moving Yes Minimum Value 0

In a Program Yes Maximum Value 1023.875

Command Line Yes Default Value 1

Can be Interrogated Yes Default Format 4.2

Used as an Operand Yes

OPERAND USAGE:
_KPn contains the value of the proportional constant where n is an axis letter.

RELATED COMMANDS:
"KP" Proportional Gain

"KI" Integral constant

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LA
FUNCTION: List Arrays [General]
DESCRIPTION:
The LA command returns a list of all arrays in memory. The listing will be in alphabetical order. The size
of each array will be included next to each array name in square brackets.
ARGUMENTS: None
USAGE:
While Moving Yes Default Value -

In a Program Yes Default Format -

Command Line Yes

RELATED COMMANDS:
"LL" List Labels

"LS" List Program

"LV" List Variable

EXAMPLES:
: LA

CA [10]

LA [5]

NY [25]

VA [17]

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LE
FUNCTION: Linear Interpolation End [Motion]
DESCRIPTION: LE
Signifies the end of a linear interpolation sequence. It follow the last LI specification in a linear sequence.
The LE command signifies the controller issues commands to decelerate the motor to a stop.
ARGUMENTS:
n=? Returns the total vector move length in encoder counts for the coordinate system.
USAGE:
While Moving Yes Default Value ---

In a Program Yes Default Format ---

Command Line Yes

Used as an Operand Yes

Can be Interrogated Yes

OPERAND USAGE:
_LE contains the total vector move length in encoder counts.

RELATED COMMANDS:
"LI" Linear Distance

"BGS" BGS - Begin Sequence

"LM" Linear Interpolation Mode

"VS" Vector Speed

"VA" Vector Acceleration

"VD" Vector Deceleration

"PF" Position Formatting

EXAMPLES:
LM XY Specify linear interpolation mode for X and Y
axes

LI 100, 200 Specify linear distance

LE End linear move

BGS Begin sequence

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_LF*
FUNCTION: Forward Limit Switch Operand (Keyword) [Status]
DESCRIPTION: _LF XYZW or LF ABCDEFGH
The _LF operand contains the state of the forward limit switch. A value of zero always indicates that the
limit is active, no matter what configuration the CN command is set to.

Note: This is not a command.

EXAMPLES:
MG _LFX Display the status of the forward limit switch

JP#A,_LFX=0 Jump to label, #A, forward limit switch is acti-

vated

*This is an Operand - Not a command.

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LI
FUNCTION: Linear Interpolation Distance [Motion]
DESCRIPTION:
The LI x, y command specifies the incremental distance of travel for each axis in the Linear Interpolation
(LM) mode. LI parameter are relative distances given with respect to the current axis positions. Up to 511
LI specifications may be given ahead of the Begin Sequence (BGS) command. Additional LI commands
may be sent during motion when the controller sequence buffer frees additional spaces for new vector seg-
ments. The Linear End (LE) command must be given after the last LI specification in a sequence. This com-
mand tells the controller to decelerate to a stop at the last LI command. It is the responsibility of the user to
keep enough LI segments in the controller’ sequence buffer to ensure continuous motion.
LM? returns the available spaces for LI segments that can be sent to the buffer. 511 returned means the
buffer is empty and 511 LI segments can be sent. A zero means the buffer is full and no additional segments
can be sent. It should be noted that the controller computes the vector speed based on the axes specified in
the LM mode. For example, LM XY designates linear interpolation for the X and Y axes. The speed of these
axes will be computed from VS2 =XS2+YS2 where XS and YS are the speed of the X and Y axes. The con-
troller always uses the axis specifications from LM, not LI, to compute the speed .The parameters o and p
are optional and can be used to define the vector speed that is attached to the motion segment.
Linear Interpolation is useful for making blended move profiles.

ARGUMENTS: LI, n, n <o> p or LIX=n where

Argument Min Max Note Example Meaning

n -8388607 8388607 The incremental move dis- LI 500 500 encoder count move on the
tance. X axis.

o 0 12000000 Vector speed to be taken into LI 500 <40000 500 encoder count move on the
effect at the execution of this X axis. Change to a vector speed
segment. of 40000 counts per second.

p 0 12000000 Vector speed to be taken into LI 500 >40000 500 encoder count move on the
effect at the end of this seg- X axis. Change to a vector speed
ment. of 40000 counts per second at
the end of the segment.

USAGE:
While Moving Yes Default Value -

In a Program Yes Default Format -

Command Line Yes

RELATED COMMANDS:
"LE" Linear End

"BGS" BGS - Begin Sequence

"LM" Linear Interpolation Mode

"CS" Clear Sequence

"VS" Vector Speed

"VA" Vector Acceleration

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"VD" Vector Deceleration

EXAMPLES:
LM XY Specify linear interpolation mode for X and Y
axes

LI 1000, 2000 Specify linear distance

LE End linear move

BGS Begin sequence

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LL
FUNCTION: List Labels [General]
DESCRIPTION:
The LL command returns a listing of all of the program labels in memory. The listing will be in alphabetical
order.
ARGUMENTS: None
USAGE:
While Moving Yes Default Value ---

In a Program Yes Default Format ---

Command Line Yes

Can be Interrogated Yes

Used as an Operand Yes

RELATED COMMANDS:
"LV" List Variables

EXAMPLES:
: LL

# FIVE

# FOUR

# ONE

# THREE

# TWO

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LM
FUNCTION: Linear Interpolation Mode [Setting]
DESCRIPTION:
The LM command specifies the linear interpolation mode and specifies the axes for linear interpolation. LI
commands are used to specify the travel distances for linear interpolation. The LE command specifies the
end of the linear interpolation sequence. Several LI commands may be given as long as the controller
sequence buffer has room for additional segments. Once the LM command has been given, it does not
need to be given again unless the VM command has been used.
It should be noted that the controller computes the vector speed based on the axes specified in the LM
mode. For example, LM XY designates linear interpolation for the X and Y axes. The speed of these axes
will be computed from VS2=XS2+YS2, where XS and YS are the speed of the X and Y axes. The control-
ler always uses the axis specifications from LM, not LI, to compute the speed.
ARGUMENTS: LM XYZW or ABCDEFGH
USAGE:

While Moving Yes Default Value ---

In a Program Yes Default Format ---

Command Line Yes

Used as an Operand Yes

Can be Interrogated Yes

OPERAND USAGE:
_LMx contains the number of spaces available in the sequence buffer for the coordinate system.
RELATED COMMANDS:

"LE" Linear end

"LI" Linear Distance

"VA" Vector acceleration

"VS" Vector Speed

"VD" Vector deceleration

"CS" _CS - Sequence counter

EXAMPLES:
LM XY Specify linear interpolation mode
VS 10000; VA 100000;VD 1000000 Specify vector speed, acceleration and deceleration

LI 100,200 Specify linear distance

LI 200,300 Specify linear distance

LE; BGS Last vector, then begin motion

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LO
FUNCTION: Lockout [Configuration]
DESCRIPTION:
The LO command is used to lock-out a particular handle or serial port with the master controller on a dis-
tributed control system. This function ignores all data received to the master on the specified communica-
tion channel.

ARGUMENTS: LO h,n where

h is the handle, A thru F, or the letter S for the serial port. This identifies the communication channel to be
locked out.
n = 1 or no argument to enable the lockout
n = -1 to remove the lockout
USAGE:

While Moving Yes Default Value n/a

In a Program Yes Default Format n/a

Command Line Yes Default n value 1

OPERAND USAGE:
_LOh contains the state of the lockout for handle A - F or S.
RELATED COMMANDS:

"CH" Connect to Internet Handles for slaves

"IH" Set Internet Handles
"NA" Set number of axes for distributed control system

"QW" Set slave data record update rate

"SA" Send command to slave

EXAMPLES:
LOS Lockout information received from the serial port

WT10000 Wait 10 seconds

LOS,-1 Re-enable the serial port

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_LR*
FUNCTION: Reverse Limit Switch Operand (Keyword) [Status]
DESCRIPTION: _LR XYZW or ABCDEFGH
*The _LR operand contains the state of the reverse limit switch. A value of zero always indicates that the
limit is active no matter what the configuration of the CN command is.

Note: This is not a command.

EXAMPLES:
MG _LRX Display the status of the reverse limit switch

JP#A,_LRX=0 Jump to label, #A, when reverse limit switch is

activated

*This is an Operand - Not a command.

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LS
FUNCTION: List Program [General]
DESCRIPTION:
The LS command sends a listing of the program memory out of the port that issued the command. The list-
ing will start with the line pointed to by the first parameter, which can be either a line number or a label. If
no parameter is specified, it will start with line 0. The listing will end with the line pointed to by the second
parameter--again either a line number or label. If no parameter is specified, the listing will go to the last line
of the program.
ARGUMENTS: LS n,m where
n,m are valid numbers from 0 to 500, or labels. n is the first line to be listed, m is the last.
USAGE:
While Moving Yes Default Value 0,Last Line

In a Program No Default Format ---

Command Line Yes

Can be Interrogated No

Used as an Operand No

EXAMPLES:
:LS #A,6 List program starting at #A through line 6

002 #A

003 PR 500

004 BG

005 AM

006 WT 200

HINT: Remember to quit the Edit Mode <cntrl> Q prior to giving the LS command.

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LV
FUNCTION: List Variables [General]
DESCRIPTION:
The LV command returns a listing of all of the program labels in memory. The listing will be in alphabeti-
cal order.
ARGUMENTS: None

USAGE:
While Moving Yes Default Value n/a

In a Program Yes Default Format n/a

Command Line Yes

Can be Interrogated Yes

Used as an Operand No

RELATED COMMANDS:
"LL" List Labels

EXAMPLES:
: LV

APPLE = 60.0000

BOY = 25.0000

ZEBRA = 37.0000

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LZ
FUNCTION: Inhibit Leading Zeros [Setting]
DESCRIPTION:
The LZ command is used for formatting the values returned from interrogation commands or interrogation
of variables and arrays. By enabling the LZ function, all leading zeros of returned values will be removed.
This will reduce transmission time and potentially ease formatting issues on connected devices.
ARGUMENTS: LZ n where
1 to remove leading zeros
0 to disable the leading zero removal
LZ? Returns the state of the LZ function.
USAGE:
While Moving Yes Default Value 0

In a Program Yes Default Format n/a

Command Line Yes

Can be Interrogated Yes

Used as an Operand Yes

EXAMPLES:
TE Tell error

0004

LZ 1 Inhibit leading zeros

TE Tell error

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MB
FUNCTION: Modbus [I/O]
DESCRIPTION:
The MB command is used to communicate with I/O devices using the first two levels of the Modbus proto-
col.
The format of the command varies depending on each function code. The function code, -1, designates
that the first level of Modbus is used (creates raw packets and receives raw data). The other codes are the
10 major function codes of the second level that the LEGEND-MC supports.

Note: For those command formats that have “addr”, this is the slave address. The slave address
may be designated or defaulted to the device handle number.

Note: All formats contain an h parameter. This designates connection handle number (A thru H).

ARGUMENTS:
Function Meaning Example
-1 Raw Packets MBh = -1, y, array [ ]

1 Read Coil Status MBh = a, 1, t, b, array [ ]

2 Read Input Status MBh = a, 2 , t, b, array [ ]

3 Read Holding Registers MBh = a, 3, e, r, array [ ]

4 Read Input Registers MBh = a, 4, e, r, array [ ]

5 Write Single Coil MBh = a, 5, t, c

6 Write Single Register MBh = a, 6,g, s

7 Read Exception Status MBh = a, 7, array [ ]

15 Write Multiple Coils MBh = a, 15, t, b, array [ ]

16 Write Multiple Registers MBh = a, 16, e, r, array [ ]

17 Report Slave ID MBh = a, 17, array [ ]

Argument Description Argument Description

a Slave address h Connection handle number

array [ ] Name of array containing data r Number of registers

b Number of bits s 16 bit value

c 0 or 1 (to turn coil OFF or ON) t Starting bit number

e Starting register y Number of bytes

g Register number

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USAGE:
While Moving Yes Default Value ---

In a Program Yes Default Format ---

Command Line Yes

EXAMPLES:
IHF=>-2 Disconnect handle

IHF=192,168,3,11<502>2 Connect handle

MBF=6,16,632+(MODULE*8),NUMOFIO*2,A[ ] Send Modbus configuration command

MBF=6,6,1025,1 Modbus command to burn parameters in

OPTO-22 Ethernet module

MBF=6,2,0,1,A[ ] Read single digital input into array A

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MC
FUNCTION: Motion Complete - "In Position" [Trippoint]
DESCRIPTION:
The MC command is a trippoint used to control the timing of events. This command will hold up execu-
tion of the following commands until the current move is completed and the encoder reaches or passes the
specified target position. TW sets the timeout to declare an error if the encoder is not in position within a
specified time. If a timeout occurs, the trippoint will clear and the stopcode (SC command) will be set to
99. The application program will jump to the special label #MCTIME, if included in your program.

ARGUMENTS: MC XYZWS or ACDEFGH where

X, Y, Z, W, S specify the X, Y, Z, or W axis or sequence. No argument specifies that motion on all axes is
complete.
USAGE:
While Moving Yes Default Value n/a

In a Program Yes Default Format n/a

Command Line Yes

Can be Interrogated No

Used as an Operand No

RELATED COMMANDS:
"BG" Begin
"AM" After Move

"TW" Timeout

EXAMPLES:
#MOVE Program MOVE

PR 5000 Position relative moves

BG Start the axis

MC After the move is complete

SB1 Set output 1 to logic 1

EN End of Program

Hint: MC can be used to verify that the actual motion has been completed. In certain applications, that have very little KI
(integration), it is possible that the axis does not get to the exact position specified. This means the MC command will wait
the entire time of the TW command. Set the TW command to a realistic value.

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MF
FUNCTION: Forward Motion to Position [Trippoint]
DESCRIPTION:
The MF command is a trippoint used to control the timing of events. This command will hold up the exe-
cution of the following command until the specified motor moves forward and crosses the position speci-
fied. The units of the command are in quadrature counts. The MF command can also be used when the
encoder is the master and not under servo control, because the actual position is monitored.
ARGUMENTS: MFx, y, z, w or MFX=x or MFa ,b, c, d, e, f, g, h where
x, y z, w, or a, b, c, d, e, f, g, h are signed integers
USAGE:
While Moving Yes Minimum Value -2147483648

In a Program Yes Maximum Value 2147483647

Command Line Yes Default Value ---

Can be Interrogated No Default Format ---

Used as an Operand No

RELATED COMMANDS:
"AR" Trippoint for after Relative Distance

"MR" Reverse motion to position

"AP" After Absolute Position

EXAMPLES:

#TEST Program B

DP0 Define zero

JG 1000 Jog mode (speed of 1000 counts/sec)
BG Begin move

MF 2000 After passing the position 2000

V1=_TP Assign V1 position

MG "Position is", V1= ST Print Message Stop

EN End of Program

HINT: The accuracy of the MF command is the number of counts that occur in 2 msec. Multiply the speed by 2 msec to
obtain the maximum error. MF tests for absolute position. The MF command can also be used when the specified motor is
driven independently by an external device.

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MG
FUNCTION: Message [General]
DESCRIPTION:
The MG command sends data out the specified port. This can be used to alert an operator, send instruc-
tions or return a variable value.
ARGUMENTS: MG {Ex} "m", {^n}, V {Fm.n or $m,n} {N} {Sn}
"m" is a text message including letters, numbers, symbols or <ctrl>G. Make sure that maximum line length
is not exceeded.
{^n} is an ASCII character specified by the value n in decimal.
V is a variable name or array element where the following specifiers can be used for formatting:
{Fm.n} Display variable in decimal format with m digits to left of decimal, and n to the right.
{$m,n} Display variable in hexadecimal format with m digits to left of decimal, and n to the right.
{Sn} Display variable as a string of length n where n is 1 thru 6
{N} Suppress carriage return line feed.
{Ex}For Ethernet and ‘x’ specifies the Ethernet handle (A,B,C,D,E,F or H).

Note: Multiple text, variables, and ASCII characters may be used, each must be separated by a
comma.

Note: The order of arguments is not important.

USAGE:
While Moving Yes Default Value -

In a Program Yes Default Format Variable Format

Command Line Yes

Can be Interrogated No

Used as an Operand No

EXAMPLES:
Case 1: Message command displays ASCII strings
MG "Good Morning" Displays the string
Case 2: Message command displays variables or arrays
MG "The Answer is", Total {F4.2} Displays the string with the content of variable TOTAL in local format
of 4 digits before and 2 digits after the decimal point.
Case 3: Message command sends any ASCII characters to the port.
MG {^13}, {^30}, {^37}, {N} Sends carriage return, characters 0 and 7 followed by no carriage return
line feed command to the port.

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MM
FUNCTION: Master’s Modulus [Setting]
DESCRIPTION:
The MM command is part of the ECAM mode. The MM command replaces the master modulus setting of
the EM command. This allows camming with the auxiliary encoder as the master.

Note: This command does not work if enterd as MMX=nnnn

ARGUMENTS: MMx where

where x is the value of the master modulus in encoder counts.
USAGE:
While Moving No Minimum value 1

In a Program Yes Maximum value 2147483647

Not In a Program Yes Default Value n/a

Can be Interrogated No Default Format 8.0

Used as an Operand Yes

OPERAND USAGE:
_MMx contains the master modulus
RELATED COMMANDS:
"EA" Select master cam axis

"EP" Define cam table intervals and start point

"ET" Cam table entries for the slave axis

"EB" Enable ECAM mode

EXAMPLES:
EADX Select Auxiliary X axis as Ecam master

MM 30500 Set master modulus

EM 20000 Set main X axis slave modulus

MG_MM Return master modulus

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MO
FUNCTION: Motor Off [Setting]
DESCRIPTION:
The MO command shuts off the PID control algorithm and the servo enable signal. The controller will
continue to monitor the motor position. To turn the motor back on use the Servo Here command (SH). This
command is not allowed while the servo is commanded in motion. Use the ST command first in that case.
ARGUMENTS: MO XYZW or ABCDEFGH
“?” returns the state of the motor for the specified axis.
USAGE:
While Moving No Default Value 1

In a Program Yes Default Format 1.0

Command Line Yes

Can be Interrogated Yes

Used as an Operand Yes

OPERAND USAGE:
_MOn will return the state of the motor where n is an axis letter, 0 = servo loop on and 1 = servo loop off.

RELATED COMMANDS:
"SH" Servo Here

EXAMPLES:
MO Turn off motor

SH Turn motor on

Bob=_MO Sets Bob equal to the servo status

Bob= Return value of Bob. If 1, in motor off mode,

If 0, in servo mode

HINT: The MO command is useful for positioning the motors by hand. Turn them back on with the SH command.

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MR
FUNCTION: Reverse Motion to Position [Trippoint]
DESCRIPTION:
The MR command is a trippoint used to control the timing of events. This command will hold up the exe-
cution of the following command until the specified motor moves backward and crosses the position speci-
fied. The units of the command are in quadrature counts. The MR command can also be used when the
encoder is the master and not under servo control.
ARGUMENTS: MR x, y, z, w or MRX=x or MR a ,b, c, d, e, f, g, h where
x, y z, w, or a, b, c, d, e, f, g, h are signed integers
USAGE:
While Moving Yes Minimum Value -2147483648

In a Program Yes Maximum Value 2147483647

Command Line Yes Default Value ---

Can be Interrogated No Default Format ---

Used as an Operand No

RELATED COMMANDS:
"AR" Trippoint for after Relative Distance

"MF" Forward motion to position

"AP" Trippoint After absolute position

EXAMPLES:
#TEST Program B
DP0 Define zero

JG 1000 Jog mode (speed of 1000 counts/sec)

BG Begin move
MR -3000 After passing the position -3000
V1=_TP Assign current position to variable V1.

MG "Position is", V1 Print Message

ST Stop
EN End of Program

HINT: MR command accuracy is the number of counts that occur in 2 msec. Multiply speed by 2 msec to obtain maximum
error. MR tests for absolute position. The MR command can also be used when the specified motor is driven externally.

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MT
FUNCTION: Motor Type [Configuration]
DESCRIPTION:
The MT command selects the type of the motor and the polarity of the drive signal. Motor types include
standard servo motors which require a voltage in the range of +/- 10 Volts. The polarity reversal inverts the
analog signals.
ARGUMENTS: MT x, y, z, w or MTX=x or MT a ,b, c, d, e, f, g, h where
x, y z, w, or a, b, c, d, e, f, g, h have one of the following values
1 Servo motor (rotary motor moves counterclockwise when viewing shaft end of motor)
-1 Servo motor reversed polarity
“?” returns the value of the motor type
USAGE:
While Moving Yes Default Value 1

In a Program Yes Default Format 1.0

Command Line Yes

Can be Interrogated Yes

Used as an Operand Yes

OPERAND USAGE:
_MTn contains the value of the motor type where n is an axis letter.

EXAMPLES:
MT 1 Configure x as servo

MT ? Interrogate motor type

V=_MT Assign motor type to variable

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NA
FUNCTION: Number of Axes [Configuration]
DESCRIPTION:
NA defines the total number of axes used in a distributed network control system. This command is used on
the master controller. For example; using 3 LEGEND-MC controllers. The command NA3 would be given
to the master controller.
ARGUMENTS: NA n where
n is an integer. this number represents the number of axes in a distributed control system.
USAGE:
While Moving Yes Minimum Value 1
In a Program Yes Maximum Value 5

Command Line Yes Default Format ---

Can be Interrogated Yes
Used as an Operand Yes

OPERAND USAGE:
_NA contains the contains the number of axes.

RELATED COMMANDS:
"CH" Connect to the internet handles for slave operation

"IH" Set internet handles

"QW" Set Slave Data Record Update Rate

EXAMPLES:
NA2 Command given to an LEGEND-MC acting as
a multi-axis network master with one slave.

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NB
FUNCTION: Notch Bandwidth [Tuning]
DESCRIPTION:
The NB command sets real part of the notch poles
ARGUMENTS: NB x, y, z, w or NBX=x or NB a ,b, c, d, e, f, g, h where
x, y z, w, or a, b, c, d, e, f, g, h are unsigned integers
USAGE:
While Moving Yes Minimum value 0

In a Program Yes Maximum value _TM/16

Command Line Yes Default Value 0.5

Used as an Operand Yes Default Format

Can be Interrogated Yes

OPERAND USAGE:
_NBn contains the contains the value of the notch bandwidth where n is an axis letter.

RELATED COMMANDS:
"NF" Notch Filter

"NZ" Notch Zeros

EXAMPLES:
NBX = 10 Sets the real part of the notch pole to 10/2 Hz

NOTCH = _NBX Sets the variable "NOTCH" equal to the notch

bandwidth value for the X axis

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NF
FUNCTION: Notch Frequency [Tuning]
DESCRIPTION:
The NF command sets the frequency of the notch filter, which is placed in series with the PID compensa-
tion.
ARGUMENTS: NF x, y, z, w or NFX=x or NF a ,b, c, d, e, f, g, h where
x, y z, w, or a, b, c, d, e, f, g, h are unsigned integers
“?” returns the value of the Notch filter for the specified axis.
USAGE:
While Moving Yes Minimum value 0

In a Program Yes Maximum value _TM/4

Command Line Yes Default Value 0

Can be Interrogated Yes Default Format

Used as an Operand Yes

OPERAND USAGE:
_NFn contains the value of notch filter for the specified axis where n is an axis letter.

RELATED COMMANDS:
"NB" Notch bandwidth

"NZ" Notch Zero

EXAMPLES:
NF, 20 Sets the notch frequency of Y axis to 20 Hz

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NO
FUNCTION: No Operation [General]
DESCRIPTION:
The NO command performs no action in a sequence, but can be used as a comment in a program. After the
NO, characters can be given to form a program comment up to the maximum line length. This helps to
document a program.
An apostrophe (‘ )may also be used instead of the NO to document a program.
ARGUMENTS: NO m where
m is any group of letters, numbers, symbols or <cntrl>G
USAGE:
While Moving Yes Default Value ---

In a Program Yes Default Format ---

Command Line Yes

Can be Interrogated No

Used as an Operand No

EXAMPLES:
#A Program A

NO No Operation

NO This Program No Operation

NO Does Absolutely No Operation

NO Nothing No Operation

EN End of Program

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NZ
FUNCTION: Notch Zero [Tuning]
DESCRIPTION:
The NZ command sets the real part of the notch zero.
ARGUMENTS: NZ x, y, z, w or NZX=x or NZ a ,b, c, d, e, f, g, h where
x, y z, w, or a, b, c, d, e, f, g, h are unsigned integers
“?” returns the value of the Notch filter zero for the specified axis.
USAGE:
While Moving Yes Minimum value 0

In a Program Yes Maximum value _TM/16

Command Line Yes Default Value 0.5

Default Format

OPERAND USAGE:
_NZn contains the value of the Notch filter zero for the specified axis where n is an axis letter.

RELATED COMMANDS
"NB" Notch Bandwidth

"NF" Notch Filter

EXAMPLES:
NZX = 10 Sets the real part of the notch pole to 10 Hz

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OB
FUNCTION: Output Bit [I/O]
DESCRIPTION:
The OB n, logical expression command defines output bit n = 1 through 4 as either 0 or 1 depending on the
result from the logical expression. Any non-zero value of the expression results in a one on the output.
ARGUMENTS: OB n, expression where
n is 1 through 4 denoting output bit
expression is any valid logical expression, variable or array element.
USAGE:
While Moving Yes Default Value ---

In a Program Yes Default Format ---

Command Line Yes

Can be Interrogated No

Used as an Operand No

EXAMPLES:
OB 1, POS 1 If POS 1 is non-zero, Bit 1 is high.

If POS 1 is zero, Bit 1 is low

OB 2, @IN[1]&@IN[2] If Input 1 and Input 2 are both high, then Output 2 is set high

OB 3, COUNT[1] If the element 1 in the array is zero, clear bit 3, otherwise set bit 3

OB N, COUNT[1] If element 1 in the array is zero, clear bit N

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OC
FUNCTION: Output Compare [I/O]
DESCRIPTION:
The OC command allows the generation of output pulses based on the main encoder positions. The output
is a low-going pulse with a duration of approximately 600 nanoseconds and is available at the output com-
pare signal.
The auxiliary encoder cannot be used while using this function.

Note: The OC function requires that the main encoder and auxiliary encoders be configured
exactly the same (see the command, CE). For example: CE 0, CE 10.
The output on pin 7 of the 5 CN connector is a TTL signal and requires JP3 to be installed.
ARGUMENTS: OCX = m, n where

m = Absolute position for first pulse. Integer between -2⋅ 109 and 2 ⋅ 109
n = Incremental distance between pulses. Integer between -65535 and 65535.
OCx = 0 will disable the Output Compare function.
The sign of the parameter, n, will designate the expected direction of motion for the output compare func-
tion. When moving in the opposite direction, output compare pulses will occur at the incremental distance
of 65536-|n| where |n| is the absolute value of n.
USAGE:
While Moving Yes Default Value -

In a Program Yes Default Format -

Command Line Yes

Can be Interrogated No

Used as an Operand Yes

OPERAND USAGE:
_OCx contains the state of the OC function
_OCx = 0 : OC function has been enabled but not generated any pulses.
_OCx = 1: OC function not enabled or has generated the first output pulse.

EXAMPLES:
OCX=300,100 Select X encoder as position sensor. First
pulse at 300. Following pulses at 400, 500…

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OE
FUNCTION: Off on Error [Setting]
DESCRIPTION:
The OE command causes the controller to shut off the motor command if the position error exceeds the
limit specified by the ER command or an abort occurs from either the abort input or an AB command.

ARGUMENTS: OE x, y, z, w or OEX=x or OE a ,b, c, d, e, f, g, h where

x, y z, w, or a, b, c, d, e, f, g, h are unsigned integers
“?” returns the state of the off-on-error function
USAGE:
While Moving Yes Default Value 0

In a Program Yes Default Format 1.0

Command Line Yes

Can be Interrogated Yes

Used as an Operand Yes

OPERAND USAGE:
_OEn contains the status of the off-on-error function where n is an axis letter.

RELATED COMMANDS:
"ER" Error limit

"SH" Servo Here

#POSERR Error Subroutine

EXAMPLES:
OE 1 Enable OE

OE 0 Disable OE

HINT: The OE command is useful for preventing system damage on excessive error.

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OF
FUNCTION: Offset [Tuning]
DESCRIPTION:
The OF command sets a bias voltage in the motor command output or returns a previously set value. This
can be used to counteract gravity or an offset in an amplifier. If the PID values are zero, then the output
voltage will be the OF value.
ARGUMENTS: OF x, y, z, w or OFX=x or OF a ,b, c, d, e, f, g, h where
x, y z, w, or a, b, c, d, e, f, g, h are signed integers
“?” returns the offset
USAGE:
While Moving Yes Minimum Value -9.9988

In a Program Yes Maximum Value 9.9988

Command Line Yes Default Value 0

Can be Interrogated Yes Default Format 1.4

Used as an Operand Yes

OPERAND USAGE:
_OFn contains the offset in volts where n is an axis letter.

EXAMPLES:
OF 1 Set offset to 1 volt

OF ? Return offset

1.0000

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OP
FUNCTION: Output Port [I/O]
DESCRIPTION:
The OP command sets 4 bits of data on the output port of the controller simultaneously.
The n parameter is used to specify the number of bits affected starting with the LSB. The other bits are
masked. For example, if n=2, only outputs 1 and 2 will be changed by OP m. If the n parameter is not
specified, all bits will be changed.
To set or read outputs on a slave controller use the SA command.
ARGUMENTS: OP m where
m is an integer
USAGE:
While Moving Yes Minimum m Value 0

In a Program Yes Maximum m Value 15

Command Line Yes Default m Value 0

Can be Interrogated Yes Default Format 3.0

Used as an Operand Yes

OPERAND USAGE:
_OP contains the status of the outputs.

RELATED COMMANDS:
"SB" Set output bit

"CB" Clear output bit

EXAMPLES:
OP 0 Clear Output Port -- all bits

OP 3 Set outputs 1 and 2; clear the others

OP 7 Set outputs 1, 2 and 3.

MG_OP Message out the status of the outputs

SAA=”MG”,”_OP” Send command MG_OP to slave controller on

handle A

SlaveOut=_SAA Store the returned value to variable

SAA=”OP”,$OF Set all four outputs ON in slave controller on

handle A

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@OUT
FUNCTION: Status of Digital Output
DESCRIPTION:
@OUT returns the status of the digital output number or variable given in square brackets. Note that the
@OUT command is a function, which means that it does not follow the convention of the commands, and
does not require the underscore when used as an operand.
ARGUMENTS: @OUT [n] where
n is an integer corresponding to a specific output on the controller. The first output on the controller is
denoted as output 1. A LEGEND-MC controller has 4 digital outputs plus applicable I/O connected by
Modbus.

Note: When using Modbus devices, the I/O points of the modbus devices are calculated using the
following formula:
n = (SlaveAddress*1000) + (HandleNum*1000) + ((Module-1)*4) + (Bitnum-1)
Slave Address is used when the ModBus device has slave devices connected to it and specified as
Addresses 0 to 255. Please note that the use of slave devices for modbus are very rare and this number will
usually be 0.
HandleNum is the handle specifier from A to H (1 - 8).
Module is the position of the module in the rack from 1 to 16.
BitNum is the I/O point in the module from 1 to 4.

USAGE:
While Moving Yes Minimum n value 1
In a Program Yes Maximum n value 8
Not in a program Yes Default Value ---
Can be Interrogated No Default Format ---
Used as an Operand Yes

EXAMPLES:
#TEST Program TEST
VAR1=3 Set variable
MG @OUT[VAR1] Display only the whole number portion of
VAR1
EN End of program

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PA
FUNCTION: Position Absolute [Motion]
DESCRIPTION:
The PA command will set the absolute destination of the next move. The position is referenced to absolute
zero. If a ? is used, then the current destination (current commanded position if not moving, destination if
in a move) is returned. For each single move, the largest position move possible is +/- 2147483647. Units
are in quadrature counts.
ARGUMENTS: PA x, y, z, w or PAX=x or PA a ,b, c, d, e, f, g, h where
x, y z, w, or a, b, c, d, e, f, g, h are signed integers
USAGE:
While Moving No Minimum Value -2147483647

In a Program Yes Maximum Value 2147483648

Command Line Yes Default Value ---

Can be Interrogated Yes Default Format Position Format

Used as an Operand Yes

OPERAND USAGE:
_PAn contains current command position if not moving, start position if given during motion where n is an
axis letter.

RELATED COMMANDS:
"PR" Position relative

"SP" Speed

"AC" Acceleration

"DC" Deceleration

"BG" Begin

EXAMPLES:
:PA 400 X-axis will go to 400 counts

:PA ? Returns the current commanded position

0000000

:BG Start the move

:PA 700 X-axis will go to 700 on the next move

:BG

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PF
FUNCTION: Position Format [Setting]
DESCRIPTION:
The PF command allows the user to format the position numbers such as those returned by TP. The number
of digits of integers and the number of digits of fractions can be selected with this command. An extra digit
for sign and a digit for decimal point will be added to the total number of digits. If PF is minus, the format
will be hexadecimal and a dollar sign will precede the characters. Hex numbers are displayed as 2's comple-
ment with the first bit used to signify the sign.
If a number exceeds the format, the number will be displayed as the maximum possible positive or negative
number (i.e. 999.99, -999, $8000 or $7FF).
The PF command can be used to format values returned from the following commands:

BL ? PA ?

DE ? PR ?

DP ? TE

FL ?

IP ?

TP

ARGUMENTS: PF m.n where

m is an integer. The negative sign for m specifies hexadecimal representation.
n is an integer
PF? Returns the value of m. n
USAGE:
While Moving Yes Minimum m Value -8

In a Program Yes Maximum m Value 10

Command Line Yes Default m Value 10.0

Can be Interrogated Yes Minimum n Value 0

Used as an Operand Yes Maximum n Value 4

Default n Value 0

Default Format 10.0

OPERAND USAGE:
_PF contains the value of position format parameter.

EXAMPLES:
:TP Tell position

0000000021 Default format

:PF 5.2 Change format to 5 digits of integers and 2 of

fractions

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:TP Tell Position

00021.00

PF-5.2 New format Change format to hexadecimal*

:TP Tell Position

$00015.00 Report in hex

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PR
FUNCTION: Position Relative [Motion]
DESCRIPTION:
The PR command sets the incremental distance and direction of the next move. The move is referenced
with respect to the current position. If a ? is used, then the current incremental distance is returned (even if
it was set by a PA command). Units are in quadrature counts.
ARGUMENTS: PR x, y, z, w or PRX=x or PR a ,b, c, d, e, f, g, h where
x, y z, w, or a, b, c, d, e, f, g, h are signed integers
“?” returns the current incremental distance
USAGE:
While Moving No Minimum n Value -2147483648

In a Program Yes Maximum n Value 2147483647

Command Line Yes Default Value 0

Can be Interrogated Yes Default Format Position Format set-

ting

Used as an Operand Yes

OPERAND USAGE:
_PRn will return the current incremental distance where n is an axis letter.

RELATED COMMANDS:
"BG" Begin

"AC" Acceleration
"DC" Deceleration

"SP" Speed
"IP" Increment Position

EXAMPLES:
:PR 100 On the next move the X-axis will go 100
counts,

:BG

:PR ? Return relative distances

0000000100

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QD
FUNCTION: Download Array [General]
DESCRIPTION:
The QD command transfers array data from the host computer to the LEGEND-MC. QD array[ ],start,end
requires that the array name be specified along with the first element of the array and last element of the
array. The array elements can be separated by a comma (,) or by <CR><LF>. The downloaded array is
terminated by a <control>Z, <control>Q, <control>D or \.
ARGUMENTS: QD array[ ], start, end where
“array[ ]” is a valid array name
“start” is the first element of the array (default=0)
“end” is the last element of the array (default=last element)
USAGE:
While Moving No Default Value 0

In a Program Yes Default Format Position Format

Command Line Yes

Can be Interrogated No

Used as an Operand No

RELATED COMMANDS:
"UL" Upload array

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QR
FUNCTION: Data Record [General]
DESCRIPTION:
The QR command causes the controller to return a record of information regarding controller status. This
status information includes 4 bytes of header information and specific blocks of information as specified by
the command arguments. The details of the status information is described in the communication chapter of
the user’s manual. This command is not designed to be used in the application program, it is designed for
data exchange with a computer.
ARGUMENTS: QR xx where
x is X,Y,Z,W,A,B,C,D,E,F,G,H or I or any combination to specify the axis, axes, or I/O status
I represents the status of the I/O
The Communication chapter of the users manual provides the definition of the data record information.
USAGE:
While Moving Yes Default Value -

In a Program Yes Default Format -

Command Line Yes

RELATED COMMANDS:
"QZ" Return DMA / Data Record information

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QU
FUNCTION: Upload Array [General]
DESCRIPTION:
The QU command transfers array data from the LEGEND-MC to a host computer. QU requires that the
array name be specified along with the first element of the array and last element of the array. The
uploaded array will be followed by a <control>Z as an end of text marker.
ARGUMENTS: QU array[], start, end, delim where
“array[ ]” is a valid array name
“start” is the first element of the array (default=0)
“end” is the last element of the array (default=last element)
“delim” specifies the character used to delimit the array elements. If delim is 1, then the array elements
will be separated by a comma. Otherwise, the elements will be separated by a carriage return.
USAGE:
While Moving No Default Value 0

In a Program Yes Default Format Position Format

Command Line Yes

Can be Interrogated No

Used as an Operand No

RELATED COMMANDS:
"DL" Download array

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QW
FUNCTION: Slave Record Update Rate [Motion]
DESCRIPTION:
The PR command is given to the master controller of a distributed system. The value establishes the update
rate for data records to be sent from the slave controllers to the master controller. This command is executed
on the master controller.
ARGUMENTS: QWh=n where
h is the handle being used to send commands to the slave controller.
n = an even integer between 4 and 16000. this sets the period at which the slave controller updates the mas-
ter controller. the value of n represents the number of servo update cycles (default update cycle is 1 msec,
see the TM command). The slave controller will always wait for this period after a data record has been sent
before generating a new record.
USAGE:
While Moving Yes Default Value ---

In a Program Yes Default Format ---

Command Line Yes

RELATED COMMANDS:
"CH"
"NA"

"SR"

EXAMPLES:
CHC=A,B Using one LEGEND-MC as a master and one
LEGEND-MC as a slave. This command
assigns the slave, identified by the C axis des-
ignator, with Handle A for commands and
Handle B for status returned from the slave.
QWB=20 Sets the update rate for the slave controller to
20 msec (TM=1000).

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QZ
FUNCTION: Return Data Record Information [General]
DESCRIPTION:
The QZ command is an interrogation command that returns information regarding the Data Record. The
controller’s response to this command will be the return of 4 integers separated by commas. The four
fields represent the following:
First field returns the number of axes.
Second field returns the number of bytes to be transferred for general status
Third field returns the number bytes to be transferred for coordinated move status
Fourth field returns the number of bytes to be transferred for axis specific information
ARGUMENTS: QZ

USAGE:
While Moving Yes Default Value ---

In a Program Yes Default Format

Command Line Yes

RELATED COMMANDS:
“DR” DMA update rate

“QR” Data Record

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RA
FUNCTION: Record Array [General]
DESCRIPTION:
The RA command selects up to four arrays for automatic data capture. The selected arrays must have been
dimensioned by the DM command. The data to be captured is specified by the RD command and time inter-
val by the RC command.
ARGUMENTS: RA n [ ],m [ ] where
n,m are dimensioned arrays as defined by DM command. The [ ] contain nothing.
USAGE:
While Moving Yes Default Value ---

In a Program Yes Default Format ---

Command Line Yes

Can be Interrogated No

Used as an Operand No

RELATED COMMANDS:
"DM" Dimension Array

"RD" Record Data

"RC" Record Interval

EXAMPLES:
#Record Label

DM POS[100] Define array

RA POS[] Specify Record Mode

RD _TP Specify data type for record

RC 1 Begin recording at 2 msec intervals

PR 1000;BG Start motion

EN End

HINT: The record array mode is useful for recording the real-time motor position during motion. The data is automatically
captured in the background and does not interrupt the program sequencer. The record mode can also be used for a teach or
learn of a motion path.

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RC
FUNCTION: Record [General]
DESCRIPTION:
The RC command begins recording for the Automatic Record Array Mode (RA). RC 0 stops recording.
ARGUMENTS: RC n,m where

n is an integer 1 thru 8 and specifies 2n samples between records. RC 0 stops recording.

m is optional and specifies the number of records to be recorded. If m is not specified, the DM number will
be used. A negative number for m causes circular recording over array addresses 0 to m-1. The address for
the array element for the next recording can be interrogated with _RD.
RC? returns status of recording. ‘1’ if recording, ‘0’ if not recording.
USAGE:
While Moving Yes Minimum n Value 1

In a Program Yes Maximum n Value 8

Command Line Yes Default n Value ---

Can be Interrogated Yes Minimum m Value -1

Used as an Operand Yes Maximum m Value 8000

Default m Value ---

Default Format ---

OPERAND USAGE:
_RC contains status of recording '1' if recording, '0' if not recording.

RELATED COMMANDS:
"DM" Dimension Array
"RD" Record Data

"RA" Record Array Mode

EXAMPLES:
#RECORD Record

DM Torque[1000] Define Array

RA Torque[] Specify Record Mode

RD _TT Specify Data Type

RC 2 Begin recording, set 4 msec between records

JG 1000;BG Begin motion

#A;JP #A,_RC=1 Loop until done

MG "DONE RECORDING" Print message

EN End program

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RD
FUNCTION: Record Data [General]
DESCRIPTION:
The RD command specifies the data type to be captured for the Record Array (RA) mode. The data types
include:

DATA TYPE MEANING

_DE 2nd encoder

_TP Position

_TE Position error

_SH Commanded position

_RL Latched position

_TI Inputs

_OP Outputs

_TS Switches, only 0-4 bits valid

_SC Stop code

_TT Tell torque

ARGUMENTS: RD m1, m2, m3, m4 where

the arguments are the data type to be captured using the record array feature. The order is important. Each
of the four data types corresponds with the array specified in the RA command.
USAGE:
While Moving Yes Default Value ---

In a Program Yes Default Format ---

Command Line Yes

Can be Interrogated No

Used as an Operand Yes

OPERAND USAGE:
_RD contains the address for the next array element for recording.

RELATED COMMANDS:
"RA" Record Array

"RC" Record Interval

"DM" Dimension Array

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EXAMPLES:
DM ERRORX[50] Define array

RA ERRORX[] Specify record mode

RD _TE Specify data type

RC1 Begin record

JG 1000;BG Begin motion

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RE
FUNCTION: Return from Error Routine [Program Flow]
DESCRIPTION:
The RE command is used to end a position error handling subroutine or limit switch handling subroutine.
The error handling subroutine begins with the #POSERR label. The limit switch handling subroutine begins
with the #LIMSWI. An RE at the end of these routines causes a return to the main program. Care should be
taken to be sure the error or limit switch conditions no longer occur to avoid re-entering the subroutines. If
the program sequencer was waiting for a trippoint to occur, prior to the error interrupt, the trippoint condi-
tion is preserved on the return to the program if RE1 is used. RE0 clears the trippoint. To avoid returning to
the main program on an interrupt, use the ZS command to zero the subroutine stack. No RE is needed after
ZS. After using ZS, use a JP command to return to a key location in the main program.
ARGUMENTS: RE n where
0 clears the interrupted trippoint
1 restores state of trippoint
USAGE:
While Moving No Minimum n Value 0

In a Program Yes Maximum n Value 1

Command Line No Default Value 0

Can be Interrogated No Default Format ---

Used as an Operand No

RELATED COMMANDS:
#POSERR Excessive Position Error Special Label

#LIMSWI Limit Switch Special Label

EXAMPLES:
#A;JP #A;EN Label for main program

#POSERR Begin Error Handling Subroutine

MG "ERROR" Print message

SB1 Set output bit 1

RE Return to main program and clear trippoint

Note: An application program must be executing for the #LIMSWI and #POSERR subroutines to
function.

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RI
FUNCTION: Return from Interrupt Routine [Program Flow]
DESCRIPTION:
The RI command is used to end the interrupt subroutine beginning with the label #ININT. An RI at the end
of this routine causes a return to the main program. The RI command also re-enables input interrupts. If
the program sequencer was interrupted while waiting for a trippoint, such as WT, RI1 restores the trippoint
upon return to the program. RI0 clears a trippoint. To avoid returning after an interrupt, use the ZS com-
mand to zero the subroutine stack. Check the example section for more details about using interrupts.
ARGUMENTS: RI n where
n = 0 or 1
0 clears interrupt trippoint
1 restores trippoint
USAGE:
While Moving No Minimum n Value 0

In a Program Yes Maximum n Value 1

Command Line Yes Default Value ---

Can be Interrogated No Default Format ---

Used as an Operand No

RELATED COMMANDS:
#ININT Input interrupt subroutine

"II" Enable input interrupts

EXAMPLES:
#A;II1;JP #A;EN Program label

#ININT Begin interrupt subroutine

MG "INPUT INTERRUPT" Print Message

SB 1 Set output line 1

RI 1 Return to the main program and restore trip-

point

Note: An applications program must be executing for the #ININT subroutine to function.

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RL
FUNCTION: Report Latched Position [General]
DESCRIPTION:
The RL command will return the last position captured by the latch. The latch must first be armed by the
AL command. The armed state of the latch can be configured using the CN command.
ARGUMENTS: RLn where
n = XYZW or ABCDEFGH for the main encoder latch and
n = SX, SY, SZ, SW or SA, SB, SC, SD, SE, SF, SG, SH for the auxiliary encoder latch

USAGE:
While Moving Yes Default Value n/a

In a Program Yes Default Format Position Format

Command Line Yes

Can be Interrogated No

Used as an Operand Yes

OPERAND USAGE:
_RLn or Sn contains the latched position where n is an axis letter.
RELATED COMMAND:
"AL" Arm Latch

EXAMPLES:
JG 5000 Set up to jog

BG Begin jog

AL Arm the latch; assume that after about 2 sec-

onds, input goes low

RL Report the latch

10000

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@RND
FUNCTION: Round
DESCRIPTION:
@RND rounds a number or variable given in square brackets. Note that the @RND command is a func-
tion, which means that it does not follow the convention of the commands, and does not require the
underscore when used as an operand.
ARGUMENTS: @RND [n] where
n is a number
USAGE:
While Moving Yes Minimum n value -2147483648.9999
In a Program Yes Maximum n value 2147483648.9999
Not in a program Yes Default Value ---
Can be Interrogated No Default Format ---
Used as an Operand Yes

EXAMPLES:
#TEST Program TEST
VAR1=123.456 Set variable
MG @RND[VAR1] Display the value of VAR1 rounded to the
nearest integer
VAR2=@RND[VAR1]+25 Perform calculation
EN End of program

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RS
FUNCTION: Reset [General]
DESCRIPTION:
The RS command resets the processor to its power-on condition. The previously saved (burned) state of the
controller, along with parameter values, and saved sequences are restored.
ARGUMENTS: RSn where
0 (or no parameter) restores burned parameters and clears application program
1 restores burned parameters only
2 clears application programs only
USAGE:

While Moving Yes Default Value 0

In a Program No Default Format ---

Command Line Yes

Can be Interrogated No

Used as an Operand No

EXAMPLES:
RS Reset the controller

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<control>R<control>S
FUNCTION: Master Reset [General]
DESCRIPTION:
The Master Reset command resets the LEGEND-MC to factory default settings and erases the EEPROM.
A master reset can also be performed by installing a jumper on the LEGEND-MC at the location labeled
JP1/MR. The controller must be removed from the amplifier to access the jumper. The controller must be
reattached to the amplifier and powered ON to perform the master reset. Remove the jumper after this pro-
cedure.
USAGE:
While Moving Yes Default Value ---

In a Program No Default Format ---

Command Line Yes

Can be Interrogated No

Used as an Operand No

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<control>R<control>V
FUNCTION: Revision [General]
DESCRIPTION:
The Revision command causes the controller to return the firmware revision information.
USAGE:
While Moving Yes Default Value -

In a Program No Default Format -

Command Line Yes

Can be Interrogated No

Used as an Operand No

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SA
FUNCTION: Send Command [General]
DESCRIPTION:
SA sends a command from the master to the slave controller of a distributed control system. Any com-
mand can be sent to a slave controller and will be interpreted by the slave as a “local” command. Some
commands are only “local” commands and must be sent with the SA command. Refer to the discussion of
local vs global commands in this manual.
ARGUMENTS: SAh=arg or SAh= arg, arg, arg, arg, arg, arg, arg, arg where
h is the handle being used to send commands to the slave controller.
arg is a number, controller operand, variable, mathematical function, or string; the range for numeric values
is 4 bytes of integer (231) followed by two bytes of fraction (+/- 2,147,483,647.9999). The maximum num-
ber of characters for a string is 6. Strings are identified by quotations.
Typical usage would have the first argument as a string such as “KI” and the subsequent arguments as the
arguments to the command: Example SAF= “KI”,1,2 would send the command
USAGE:
While Moving Yes Default Value ---

In a Program Yes Default Format ---

Command Line Yes

OPERAND USAGE:
_SAhn gives the value of the response to the command sent with an SA command. The h value represents
the handle A thru F and the n value represents the specific field returned from the controller (1-8). If the
specific field is not used, the operand will be -2^31.
RELATED COMMAND:
"CH" Connect to Internet Handles for slaves

"IH" Set Internet handles

"LO" Lock out communication channels

"NA" Set number of Axes for Distributed Control System

"QW" Set Slave Data Record Update Rate

EXAMPLES:
CHY=A,B Use one LEGEND-MC as a master and one LEGEND-MC as a slave.
This command assigns the slave, identified by the Y axis designator, with
Handle A for commands and Handle B for status returned from the slave.

SAA=”KI”,1,2 Sends the command to Handle A (slave controller): KI 1,2

SAA=”TE” Sends the command to Handle A (slave controller): TE

MG_SAA : 132 Display the content of the operand _SAA (first response to TE command

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SB
FUNCTION: Set Bit [I/O]
DESCRIPTION:
The SB command sets one of four bits on the output port, slave controller, or Modbus I/O.
ARGUMENTS: SB n where
n is an integer in the range 1 to 4 decimal or Modbus address. See chart below for setting outputs on slave
controllers.

DISTRIBUTED CONTROL:

Handle Command Handle Command

A SB101 ~ SB104 E SB501 ~ SB504
B SB201 ~ SB204 F SB601 ~ SB604
C SB301 ~ SB304 G SB701 ~ SB704
D SB401 ~ SB404 H SB801 ~ SB804

MODBUS:

Note: When using Modbus devices, the I/O points of the modbus devices are calculated using the
following formula:
n = (SlaveAddress*1000) + (HandleNum*1000) + ((Module-1)*4) + (Bitnum-1)
Slave Address is used when the ModBus device has slave devices connected to it and specified as
Addresses 0 to 255. Please note that the use of slave devices for modbus are very rare and this number will
usually be 0.
HandleNum is the handle specifier from A to H (1 - 8).
Module is the position of the module in the rack from 1 to 16.
BitNum is the I/O point in the module from 1 to 4.
USAGE:
While Moving Yes Default Value ---

In a Program Yes Default Format ---

Command Line Yes

Can be Interrogated No

Used as an Operand No

RELATED COMMAND:
"CB" Clear Bit

EXAMPLES:
SB 3 Set output line 3

SB 1 Set output line 1

SB 602 Set output 2 on slave controller on handle F

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SC
FUNCTION: Stop Code [Status]
DESCRIPTION:
The SC command allows the user to determine why a motor stops. The controller responds with the stop
code as follows:

CODE MEANING CODE MEANING

0 Motors are running, independent 9 Stopped after Finding Edge

mode (FE)

1 Motors stopped at commanded inde- 10 Stopped after Homing (HM)

pendent position

2 Decelerating or stopped by FWD 11 Stopped by selective Abort

limit switch or software limit, FL Input

3 Decelerating or stopped by REV 50 Contour running

limit switch or software limit, BL

4 Decelerating or stopped by Stop 51 Contour Stop

Command (ST)

6 Stopped by Abort input 99 MC timeout

7 Stopped by Abort command (AB) 100 Motors are running, vector

sequence

8 Decelerating or stopped by Off-on- 101 Motors stopped at com-

Error (OE1) manded vector

ARGUMENTS: SC XYZW or ABCDEFGH

USAGE:
While Moving Yes Default Value ---

In a Program Yes Default Format 3.0

Command Line Yes

Can be Interrogated No

Used as an Operand Yes

OPERAND USAGE:
_SCn contains the value of the stop code where n is an axis letter.

EXAMPLES:
Tom=_SCX Assign the Stop Code to variable Tom

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SH
FUNCTION: Servo Here [General]
DESCRIPTION:
The SH command tells the controller to use the current motor position as the commanded position and to
enable servo control here. PID control starts when this command is issued.
This command can be useful when the position of a motor has been manually adjusted following a motor off
(MO) command.
The SH command is integrated with the RUN output of the LEGEND amplifier. If the RUN output does not
come ON within 100 msec, the controller returns to MO status and issues a command error. If this occurs,
check the power on L1, L2, and L3.
ARGUMENTS: SH XYZW or ABCDEFGH
USAGE:
While Moving No Default Value ---

In a Program Yes Default Format ---

Command Line Yes

Can be Interrogated No

Used as an Operand No

RELATED COMMANDS:
"MO" Motor-off

EXAMPLES:
SH Servo motor

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@SIN
FUNCTION: Sin
DESCRIPTION:
@SIN returns the sin of a number or variable given in square brackets using units of degrees. Note that
the @SIN command is a function, which means that it does not follow the convention of the commands,
and does not require the underscore when used as an operand.
ARGUMENTS: @SIN [n] where
n is a number
USAGE:
While Moving Yes Minimum n value -32768
In a Program Yes Maximum n value 32768
Not in a program Yes Default Value ---
Can be Interrogated No Default Format ---
Used as an Operand Yes

EXAMPLES:
#TEST Program TEST
VAR1=60 Set variable
MG @SIN[VAR1] Display the value of the sine of VAR1
VAR2=@SIN[VAR1]+9 Perform calculation
EN End of program

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SP
FUNCTION: Speed [Motion]
DESCRIPTION:
This command sets the slew speed for independent moves. The parameters input will be rounded down to
the nearest factor of 2 and the units of the parameter are in counts per second.

Note: Negative values will be interpreted as the absolute value.

ARGUMENTS: SP x, y, z, w or SPX=x or SP a ,b, c, d, e, f, g, h where

x, y z, w, or a, b, c, d, e, f, g, h are unsigned integers
“?” returns the speed
USAGE:
While Moving Yes Minimum n Value 0
In a Program Yes Maximum n Value 12,000,000

Command Line Yes Default Value 25000

Can be Interrogated Yes Default Format Position Format

Used as an Operand Yes

OPERAND USAGE:
_SPn contains the current speed setting where n is an axis letter.

RELATED COMMANDS:
"AC" Acceleration
"DC" Deceleration

"PR" Position Relation

"BG" Begin

EXAMPLES:
PR 2000 Specify position relative move
SP 5000 Specify speeds

BG Begin motion of all axes

AM After motion is complete

Note: SP is not a "mode" of motion like JOG (JG).

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@SQR
FUNCTION: Square Root
DESCRIPTION:
@SQR returns the square root of a number or variable given in square brackets. Note that the @SQR command is a
function, which means that it does not follow the convention of the commands, and does not require the underscore
when used as an operand. This function will treat negative numbers as positive numbers.
ARGUMENTS: @SIN [n] where
n is a number
USAGE:
While Moving Yes Minimum n value 0
In a Program Yes Maximum n value 2147483647.9999
Not in a program Yes Default Value ---
Can be Interrogated No Default Format ---
Used as an Operand Yes

EXAMPLES:
#TEST Program TEST
VAR1=60 Set variable
MG @SIN[VAR1] Display the value of the sine of VAR1
VAR2=@SIN[VAR1]+9 Perform calculation
EN End of program

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ST
FUNCTION: Stop [Motion]
DESCRIPTION:
The ST command stops commanded motion. The motor will come to a decelerated stop.
ARGUMENTS: ST XYZWS or ABCDEFGH where
XYZW or ABCDEFGH are axis designators. S indicates an interpolation sequence. No argument specifies
that motion on all axes is complete.
USAGE:
While Moving Yes Default Value ---

In a Program Yes Default Format ---

Command Line Yes

Can be Interrogated No

Used as an Operand No

RELATED COMMANDS:
"BG" Begin Motion

"MC" Wait for motion to complete

"DC" Deceleration rate

EXAMPLES:
ST Stop motion

HINT: Use the after motion complete command, AM, to wait for motion to be stopped.

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TB
FUNCTION: Tell Status Byte [Status]
DESCRIPTION:
The TB command returns status information from the controller as a decimal number. Each bit of the sta-
tus byte denotes the following condition when the bit is set (high):

BIT STATUS

Bit 7 Controller addressed

Bit 6 Executing program

Bit 5 Contouring

Bit 4 Executing error or limit switch routine

Bit 3 Input interrupt enabled

Bit 2 Executing input interrupt routine

Bit 1 0 (Reserved)

Bit 0 Echo on

ARGUMENTS: None
USAGE:
While Moving Yes Default Value ---

In a Program Yes Default Format 1.0

Command Line Yes

Can be Interrogated Yes

Used as an Operand Yes

OPERAND USAGE:
_TB contains the status byte.

EXAMPLES:
TB Tell status information from the controller

65 Executing program and echo on (26 + 20 = 64 + 1 = 65)

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TC
FUNCTION: Tell Error Code [Status]
DESCRIPTION:
The TC command returns a number between 1 and 255. This number is a code that reflects why a command
was not accepted by the controller. This command is useful when the controller halts execution of a program
at a command or when the response to a command is a question mark. Entering the TC command will pro-
vide the user with a code as to the reason. After TC has been read, it is set to zero. TC 1 returns the text
message as well as the numeric code.

Note:_ED returns the line number that last had an error.

ARGUMENTS: TC n
n=0 returns code only
n=1 returns code and message

CODE EXPLANATION
1 Unrecognized command

2 Command only valid from program

3 Command not valid in program

4 Operand error

5 Input buffer full

6 Number out of range

7 Command not valid while running

8 Command not valid when not running

9 Variable error

10 Empty program line or undefined label

11 Invalid label or line number

12 Subroutine more than 16 deep

13 JG only valid when running in jog mode

14 EEPROM check sum error

15 EEPROM write error

16 IP incorrect sign during position move or IP given during forced deceleration

17 ED, BN and DL not valid while program running

18 Command not valid when contouring

19 Application strand already executing

20 Begin not valid with motor off

21 Begin not valid while running

22 Begin not possible due to Limit Switch

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24 Begin not valid because no sequence defined

25 Variable not given in IN command

28 S operand not valid

29 Not valid during coordinated move

30 Sequence segment too short

31 Total move distance in a sequence > 2 billion

32 More than 511 segments in a sequence

33 VP or CR commands cannot be mixed with LI commands

41 Contouring record range error

42 Contour data being sent too slowly

46 Gear axis both master and follower

50 Not enough fields

51 Question mark not valid

52 Missing " or string too long

53 Error in {}

54 Question mark part of string

55 Missing [ or []

56 Array index invalid or out of range

57 Bad function or array

58 Not a valid Command Operand (i.e._GNX)

59 Mismatched parentheses

60 Download error - line too long or too many lines

61 Duplicate or bad label

62 Too many labels

63 IF statement without ENDIF

65 IN command must have a comma

66 Array space full

67 Too many arrays or variables

71 IN only valid in task #0

80 Record mode already running

81 No array or source specified

82 Undefined Array

83 Not a valid number

84 Too many elements

90 Only X Y Z W valid operand

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91 Amplifier not in run status

97 Bad binary command format

98 Binary Commands not valid in application program

99 Bad binary command number

100 Not valid when running ECAM

101 Improper index into ET (must be 0-256)

102 No master axis defined for ECAM

103 Master axis modulus greater than 256∗EP value

104 Not valid when axis performing ECAM

105 EB1 command must be given first

120 Bad Ethernet transmit

121 Bad Ethernet packet received

122 Ethernet input buffer overrun

123 TCP lost sync

124 Ethernet handle already in use

125 No ARP response from IP address

USAGE:
While Moving Yes Default Value ---

In a Program Yes Default Format 3.0

Command Line Yes

Can be Interrogated Yes

Used as an Operand Yes

OPERAND USAGE:
_TC contains the value of the error code.

EXAMPLES:
:GF32 Bad command

?TC Tell error code

001 Unrecognized command

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TD
FUNCTION: Tell Dual Encoder [Motion]
DESCRIPTION:
This command returns the current position of the dual (auxiliary) encoder.

ARGUMENTS: TD XYZW or ABCDEFGH

USAGE:
While Moving Yes Default Value 0

In a Program Yes Default Format Position Format

Command Line Yes

Can be Interrogated No

Used as an Operand Yes

OPERAND USAGE:
_TDn contains the dual encoder position where n is an axis letter.

RELATED COMMANDS:
"DE" Dual Encoder

EXAMPLES:
:PF 7 Position format of 7

:TD Return Dual encoder

0000200

DUAL=_TDX Assign the variable, DUAL, the value of TD

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TE
FUNCTION: Tell Error [Status]
DESCRIPTION:
This command returns the current position error of the motor. It is up-dated every servo cycle.
ARGUMENTS: TE XYZW or ABCDEFGH
USAGE:
While Moving Yes Minimum Value -2147483648

In a Program Yes Maximum Value 2147483647

Command Line Yes Default Value 0

Can be Interrogated No Default Format Position Format

Used as an Operand Yes

OPERAND USAGE:
_TEn contains the value of the position error where n is an axis letter.

RELATED COMMANDS:
"ER" Error Limit

#POSERR Excessive Position Error Special Label

EXAMPLES:
TE Return position error

00005

Error=_TEX Sets the variable, Error, with the position error

HINT: Under normal operating conditions with servo control, the position error should be small. The position error is typi-
cally largest during acceleration.

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TI
FUNCTION: Tell Inputs [I/O]
DESCRIPTION:
This command returns the state of all 8 of the general digital inputs. Response is a decimal number which
when converted to binary represents the status of all 8 digital inputs.

BIT TI PIN
Bit 7 Input 8 20
Bit 6 Input 7 19
Bit 5 Input 6 42
Bit 4 Input 5 43
Bit 3 Input 4 44
Bit 2 Input 3 45
Bit 1 Input 2 17
Bit 0 Input 1 18

DISTRIBUTED CONTROL:

Handle Command Handle Command

A TI 100 E TI 500
B TI 200 F TI 600
C TI 300 G TI 700
D TI 400 H TI 800

ARGUMENTS: TI
USAGE:
While Moving Yes Default Value ---
In a Program Yes Default Format 3.0
Command Line Yes

Can be Interrogated Yes

Used as an Operand Yes

OPERAND USAGE:
_TI contains the status byte of the input block. This can be masked to return only specified bit information.

EXAMPLES:
TI

08 Input 4 is high, others low (0000 1000)

TI

00 All inputs low (0000 0000)

Input =_TI Sets the variable, Input, with the TI value
TI

255 All inputs high (1111 1111)

SAC=”TI” Send TI command to controller on handle C
VAR=_SAC Store the returned value to a variable

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TIME*
FUNCTION: Time Operand (Keyword) [General]
DESCRIPTION:
The TIME operand contains the value of the internal free running, real time clock. The returned value rep-
resents the number of servo loop updates and is based on the TM command. The default value for the TM
command is 1000. With this update rate, the operand TIME will increase by 1 count every update of
approximately 1000usec. Note that a value of 1000 for the update rate (TM command) will actually set an
update rate of 1/1024 seconds. Thus the value returned by the TIME operand will be off by 2.4% of the
actual time.
The clock is reset to 0 with a standard reset or a master reset.
The keyword, TIME, does not require an underscore (_) as with the other operands.
USAGE:
Used as an Operand Yes (without underscore) Minimum value 0

Can be Interrogated No Maximum value 2147483647

Format TIME

EXAMPLES:
MG TIME Display the value of the internal clock

Myvar = TIME Assign TIME to Myvar

# Loop Loop label

X=X+1 Increment counter

JP # Loop, X, <500 Check if counter is less than 500

MG “Duration =”, TIME - Myvar Print message

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TL
FUNCTION: Torque Limit [Setting]
DESCRIPTION:
The TL command sets the limit on the motor command output. For example, TL of 5 limits the motor
command output to 5 volts. Maximum output of the motor command is 9.998 volts.
ARGUMENTS: TL x, y, z, w or TLX=x or TL a ,b, c, d, e, f, g, h where
x, y z, w, or a, b, c, d, e, f, g, h are unsigned integers
“?” returns the limit value
USAGE:
While Moving Yes Minimum n Value 0

In a Program Yes Maximum n Value 9.9988

Command Line Yes Default Value 9.9988

Can be Interrogated Yes Default Format 1.4

Used as an Operand Yes

OPERAND USAGE:
_TLn contains the value of the torque limit where n is an axis letter.

EXAMPLES:
TL 1 Limit X-axis torque to 1volt

TL ? Return torque limit

1.0000

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TM
FUNCTION: Time [Configuration]
DESCRIPTION:
The TM command sets the sampling period of the control loop. Changing the sampling period will uncali-
brate the speed and acceleration parameters. A negative number turns off the internal clock allowing for an
external source to be used as the time base. The units of this command are µsec. If a multi-axis system is
configured the TM value is set in all controllers if set in the master.
ARGUMENTS: TM n where
n is an integer in microseconds with a resolution of 125 microseconds.
“?” returns the value of the sample clock
USAGE:
While Moving Yes Minimum n Value 250

In a Program Yes Maximum n Value 20,000

Command Line Yes Default Value 1000

Can be Interrogated Yes Default Format 5.0

Used as an Operand Yes

OPERAND USAGE:
_TM contains the value of the sample time.

EXAMPLES:
TM 250 Set sample rate to 250 µsec (This will multiply all
speeds by four and all acceleration by eight)

TM 1000 Return to default sample rate

Note: Although this manual refers to times in msec, think in terms of servo cycles. This includes
everything from a WT command to SP commands.

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TP
FUNCTION: Tell Position [Status]
DESCRIPTION:
This command returns the current position of the motor in quadrature counts.This value is up-dated every
servo cycle.
ARGUMENTS: TP XYZW or ABCDEFGH
USAGE:
While Moving Yes Default Value n/a

In a Program Yes Default Format Position Format

Command Line Yes

Can be Interrogated No

Used as an Operand Yes

OPERAND USAGE:
_TPn contains the current position value where n is an axis letter.

EXAMPLES:
:PF 7 Position format of 7

:TP Return position

0000200

PF-6.0 Change to hex format

TP Return in hex

$0000C8

Position=_TPX Assign the variable, Position, the value of TP

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TR
FUNCTION: Trace [Debug]
DESCRIPTION:
The TR command causes each instruction in a program to be sent out the communications port prior to exe-
cution. TR1 enables this function and TR0 disables it. The trace command is useful in debugging pro-
grams. It is not recommended to leave the TR command on for long durations (over 30 seconds) because it
takes much longer to output the data from the controller than to execute it, hence, program execution will be
affected. If no program lines are coming from the controller, issue “MG_XQn” or “MG_HXn” to see what
line the controller is on. If the controller is at a trippoint, no lines will be output. Another way to take advan-
tage of this command is to insert it in your program at a location previous to a suspected trouble spot (TR1)
and just after the trouble spot (TR0). This way the trace will only show program lines that pertain to the
debugging process.
ARGUMENTS: TR n where
n=0 or 1
0 disables function
1 enables function
USAGE:
While Moving Yes Default Value 0

In a Program Yes Default Format ---

Command Line Yes

Can be Interrogated No

Used as an Operand Yes

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TS
FUNCTION: Tell Switches [Status]
DESCRIPTION:
TS returns the state of the Home switch, Forward and Reverse Limit switch, error conditions, motion con-
dition and motor state. The value returned by this command is decimal and represents an 8 bit value (deci-
mal value ranges from 0 to 255). Each bit represents the following status information.

Bit Status
Bit 7 Axis in motion if high

Bit 6 Error limit exceeded if high

Bit 5 Motor off if high

Bit 4 Undefined

Bit 3 Forward Limit inactive if high

Bit 2 Reverse Limit inactive if high

Bit 1 State of home switch

Bit 0 Latch not armed if high

Note: The value for bits 1, 2 and 3 depend on the limit switch and home switch configuration (see
CN command). For active low configuration (default), these bits are ‘1’ when the switch is inactive
and ‘0’ when active. For active high configuration, these bits are ‘0’ when the switch is inactive and
‘1’ when active.

ARGUMENTS: TS XYZW or ABCDEFGH

USAGE:
While Moving Yes Default Value ---

In a Program Yes Default Format 3.0

Command Line Yes

Can be Interrogated Yes

Used as an Operand Yes

OPERAND USAGE:
_TSX contains the current status of the switches.

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EXAMPLES:
Assigns value of TS to the variable V1
V1=

015 (returned value)

Decimal value corresponding to bit pattern 00001111

X axis not in motion (bit 7 has value of 0)

X axis error limit not exceeded (bit 6 has value of 0)

X axis motor is on (bit 5 has value of 0)

X axis forward limit is inactive (bit 3 has value of 1)

X axis reverse limit is inactive (bit 2 has value of 1)

X axis home switch is high (bit 1 has value of 1)

X axis latch is not armed (bit 0 has value of 1)

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TT
FUNCTION: Tell Torque [Status]
DESCRIPTION:
The TT command reports the value of the analog servo command output signal, which is a number
between -9.998 and 9.998 volts. This value is up-dated every servo cycle.
ARGUMENTS: TT XYZW or ABCDEFGH
USAGE:
While Moving Yes Minimum Value -9.9988

In a Program Yes Maximum Value 9.9988

Command Line Yes Default Value n/a

Can be Interrogated No Default Format 1.4

Used as an Operand Yes

OPERAND USAGE:
_TTn contains the value of the torque where n is an axis letter.

RELATED COMMANDS:
"TL" Torque Limit

EXAMPLES:
V1=_TT Assigns value of TT to variable, V1

TT Report torque

-0.2843 Torque is -.2843 volts

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TV
FUNCTION: Tell Velocity [Status]
DESCRIPTION:
The TV command returns the actual velocity in units of quadrature count/s. The value returned includes the
sign. This value is averaged over 256 servo cycles.
ARGUMENTS: TV XYZW or ABCDEFGH
USAGE:
While Moving Yes Minimum Value -12,000,000

In a Program Yes Minimum Value 12,000,000

Command Line Yes Default Value n/a

Can be Interrogated No Default Format 8.0

Used as an Operand Yes

OPERAND USAGE:
_TVn contains the value for the velocity where n is an axis letter.

EXAMPLES:
VELX=_TV Assigns value of velocity to the variable VELX

TV Returns the velocity

0003420

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TW
FUNCTION: Timeout for IN-Position (MC) [Setting]
DESCRIPTION:
The TW n command sets the timeout in msec to declare an error if the MC command is active and the
motor is not at or beyond the actual position within n msec after the completion of the motion profile. If a
timeout occurs, then the MC trippoint will clear and the stopcode will be set to 99. An application pro-
gram will jump to the special label #MCTIME. If included, the RE command should be used to return
from the #MCTIME subroutine.
ARGUMENTS: TW x, y, z, w or TWX=x or TW a ,b, c, d, e, f, g, h where
x, y z, w, or a, b, c, d, e, f, g, h are signed integers
n specifies timeout in msec, -1 disables the timeout
“?” returns the timeout in msec for the MC command
USAGE:
While Moving Yes Minimum n Value -1

In a Program Yes Maximum n Value 32766

Command Line Yes Default Value 32766

Can be Interrogated Yes Default Format

Used as an Operand Yes

OPERAND USAGE:
_TW contains the timeout in msec for the MC command .

RELATED COMMANDS:
"MC" Motion Complete - "In Position"

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UL
FUNCTION: Upload [General]
DESCRIPTION:
The UL command transfers data from the LEGEND-MC to a host computer. Programs are sent without line
numbers. The Uploaded program will be followed by a <control>Z or a \ as an end of Text marker.
ARGUMENTS: None
USAGE:
While Moving Yes Default Value n/a

In a Program No Default Format n/a

Command Line Yes

Can be Interrogated No

Used as an Operand Yes

OPERAND USAGE:
When used as an operand, _UL gives the number of available variables. The total number of variables is
126.

RELATED COMMAND:
"DL" Download

EXAMPLES:
UL; Begin upload

#A Line 0

NO This is an Example Line 1

NO Program Line 2

EN Line 3

<cntrl>Z Terminator

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VA
FUNCTION: Vector Acceleration [Motion]

DESCRIPTION:
This command sets the acceleration rate of the vector in a coordinated motion sequence.
ARGUMENTS: VA n where
n is an unsigned integer. The parameter input will be rounded down to the nearest factor of 1024. The
units of the parameter is counts per second squared.
n = ? Returns the value of the vector acceleration for the coordinate plane.
USAGE:
While Moving Yes Minimum n Value 1024

In a Program Yes Maximum n Value 67107840

Command Line Yes Default Value 256000

Can be Interrogated Yes Default Format Position Format

Used as an Operand Yes

OPERAND USAGE:
_VA contains the value of the vector acceleration.

RELATED COMMANDS:
"VS" Vector Speed

"VP" Vector Position

"VE" End Vector

"VM" Vector Mode

"BGS" Begin Sequence

"VD" Vector Deceleration

"VS" Vector smoothing constant - S-curve

EXAMPLES:
VA 1024 Set vector acceleration to 1024 counts/sec2
VA ? Return vector acceleration
00001024

VA 20000 Set vector acceleration

VA ?

0019456 Return vector acceleration

ACCEL=_VA Assign variable, ACCEL, the value of VA

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VD
FUNCTION: Vector Deceleration [Motion]

DESCRIPTION:
This command sets the deceleration rate of the vector in a coordinated motion sequence.
ARGUMENTS: VD n where
n is an unsigned integer. The parameter input will be rounded down to the nearest factor of 1024. The units
of the parameter is counts per second squared.
n = ? Returns the value of the vector deceleration for the coordinate plane.

USAGE:
While Moving Yes Minimum n Value 1024
In a Program Yes Maximum n Value 67107840
Command Line Yes Default Value 256000
Can be Interrogated Yes Default Format Position Format
Used as an Operand Yes

OPERAND USAGE:
_VD contains the value of the vector deceleration.

RELATED COMMANDS:
"VA" Vector Acceleration
"VS" Vector Speed
"VP" Vector Position
"VE" Vector End
"VM" Vector Mode
"BGS" Begin Sequence
"VT" Smoothing constant - S-curve

EXAMPLES:

#VECTOR Vector Program Label

VMXY Specify plane of motion

VA1000000 Vector Acceleration

VD 5000000 Vector Deceleration

VS 2000 Vector Speed

VP 10000, 20000 Vector Position

VE End Vector

BGS Begin Sequence

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VE
FUNCTION: Vector Sequence End [Motion]

DESCRIPTION:
VE is required to specify the end segment of a coordinated move sequence. VE follows the final VP or CR
command in a sequence. VE is equivalent to the LE command. If a VE command is not issued before the
controller runs all the linear segments, motion will stop instantaneously.
ARGUMENTS: VE
n = ? Returns the length of the vector in counts.
USAGE:
While Moving Yes Default Value -

In a Program Yes Default Format -

Command Line Yes

OPERAND USAGE:
_VE contains the length of the vector in counts.

RELATED COMMANDS:
"VM" Vector Mode

"VS" Vector Speed

"VA" Vector Acceleration

"VD" Vector Deceleration

"VP" Vector Position

"BGS" Begin Sequence

"CS" Clear Sequence

EXAMPLES:
VM XY Vector move in XY

VP 1000,2000 Linear segment

VP 0,0 Linear segment

VE End sequence

BGS Begin motion

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VF
FUNCTION: Variable Format [General]
DESCRIPTION:
The VF command allows the variables and arrays to be formatted for number of digits before and after the
decimal point. When displayed, the value m represents the number of digits before the decimal point, and
the value n represents the number of digits after the decimal point. When in hexadecimal, the string will be
preceded by a $. Hex numbers are displayed as 2's complement with the first bit used to signify the sign.
If a number exceeds the format, the number will be displayed as the maximum possible positive or negative
number (i.e. 999.99, -999, $8000 or $7FF).
ARGUMENTS: VF m.n where
m and n are unsigned numbers. A negative m specifies hexadecimal format.
VF? returns the value of the format for variables and arrays.
USAGE:
While Moving Yes Minimum m Value -8

In a Program Yes Maximum m Value 10

Command Line Yes Default m Value 10

Can be Interrogated Yes Minimum n Value 0

Used as an Operand Yes Maximum n Value 4

Default n Value 4

Default Format 2.1

OPERAND USAGE:
_VF contains the value of the format for variables and arrays.

EXAMPLES:
VF 5.3 Sets 5 digits of integers and 3 digits after the
decimal point

VF 8.0 Sets 8 digits of integers and no fractions

VF -4.0 Specify hexadecimal format with 4 bytes to

the left of the decimal

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VR
FUNCTION: Vector Speed Ratio [Motion]
DESCRIPTION:
The VR sets a ratio to be used as a multiplier of the current vector speed. The vector speed can be set by
the command VS or the operators < and > used with CR, VP and LI commands. VR takes effect immedi-
ately and will ratio all the following vector speed commands. VR doesn't ratio acceleration or decelera-
tion, but the change in speed is accomplished by accelerating or decelerating at the rate specified by VA
and VD.
ARGUMENTS: VR n where
n is an integer with a resolution of .0001.
n = ? Returns the value of the vector speed ratio.
USAGE:
While Moving Yes Minimum n Value 0.0001

In a Program Yes Maximum n Value 10

Command Line Yes Default Value 1

Default Format -

OPERAND USAGE:
_VR contains the vector speed ratio.

RELATED COMMANDS:
"VS" on page Vector Speed

EXAMPLES:
#A Vector Program
VMXY Vector Mode

VP 1000,2000 Vector Position

VE End Sequence
VS 2000 Vector Speed

BGS Begin Sequence

AMS After Motion

JP#A Repeat Move

#SPEED Speed Override

VR@AN[1]*.1 Read analog input compute ratio

JP#SPEED Loop
XQ#A,0; XQ#SPEED,1 Execute task 0 and 1 simultaneously

Note: UseVR for feedrate override, when specifying the speed of individual segments using the
operator ‘<’.

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VS
FUNCTION: Vector Speed [Motion]
DESCRIPTION:
The VS command specifies the speed of the vector in a coordinated motion sequence in either the LM or
VM modes. VS may be changed during motion.
Vector Speed can be calculated by taking the square root of the sum of the squared values of speed for each
axis specified for vector or linear interpolated motion.
ARGUMENTS: VS n where
n is an unsigned even number. The units are counts per second.
n = ? Returns the value of the vector speed.
USAGE:
While Moving Yes Minimum n Value 2

In a Program Yes Maximum n Value 12,000,000

Command Line Yes Default Value 25000

Default Format ---

OPERAND USAGE:
_VS contains the vector speed.

RELATED COMMANDS:
"VA" Vector Acceleration

"VP" Vector Position

"LM" Linear Interpolation

"VM" Vector Mode

"BGS" Begin Sequence

"VE" Vector End

EXAMPLES:
VS 2000 Define vector speed

VS ? Return vector speed

002000

Hint: Vector speed can be attached to individual vector segments. For more information, see description of VP, CR, and LI
commands.

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VT
FUNCTION: Vector Time Constant - S curve [Motion]
DESCRIPTION:
The VT command filters the acceleration and deceleration functions in vector moves of VM, LM type to
produce a smooth velocity profile. The resulting profile, known as Smoothing, has continuous acceleration
and results in reduced mechanical vibrations. VT sets the bandwidth of the filter, where 1 means no filter-
ing and 0.004 means maximum filtering. Note that the filtering results in longer motion time.
ARGUMENTS: VT n where
n is an unsigned number with a resolution of 1/256.
n = ? Returns the value of the vector time constant.
USAGE:
While Moving Yes Minimum n Value 0.004

In a Program Yes Maximum n Value 1.000

Command Line Yes Default Value 1.0

Default Format 1.4

OPERAND USAGE:
_VT contains the vector time constant.

RELATED COMMANDS:
"IT" Independent Time Constant for smoothing
independent moves

EXAMPLES:
VT 0.8 Set vector time constant

VT ? Return vector time constant

0.8

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WC
FUNCTION: Wait for Contour Data [Program Flow]
DESCRIPTION:
The WC command acts as a flag in the Contour Mode. After this command is executed, the controller does
not receive any new data until the internal contour data buffer is ready to accept new commands. This com-
mand prevents the contour data from overwriting itself in the contour data buffer.
USAGE:
While Moving Yes Default Value ---

In a Program Yes Default Format ---

Command Line Yes

Can be Interrogated No

Used as an Operand No

RELATED COMMANDS:
"CM" Contour Mode

"CD" Contour Data

"DT" Contour Time

EXAMPLES:
CM Specify contour mode

DT 4 Specify time increment for contour

CD 200 Specify incremental position

WC Wait for contour data to complete

CD 100

WC Wait for contour data to complete

DT 0 Stop contour

CD 0 Exit mode

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WT
FUNCTION: Wait [Trippoint]
DESCRIPTION:
The WT command is a trippoint used to time events. After this command is executed, the controller will
wait for the number of samples specified before executing the next command. If the TM command has not
been used to change the sample rate from 1 msec, then the units of the Wait command are milliseconds.
ARGUMENTS: WT n where
n is an integer
USAGE:
While Moving Yes Minimum Value 0

In a Program Yes Maximum Value 2147483647

Command Line Yes Default Value ---

Can be Interrogated No Default Format ---

Used as an Operand No

EXAMPLES:
Assume that 10 seconds after a move is over a relay must be closed.
#A Program A

PR 50000 Position relative move

BG Begin the move

AM After the move is over

WT 10000 Wait 10 seconds

SB 1 Turn on relay

EN End Program

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XQ
FUNCTION: Execute Program [General]
DESCRIPTION:
The XQ command begins execution of a program residing in the program memory of the controller. Execu-
tion will start at the label or line number specified. Two programs may be executed simultaneously to per-
form multitasking.
ARGUMENTS: XQ #A,n XQm,n where
A is a program label of up to seven characters
m is a line number
n is the thread number 0 or 1

NOTE: The arguments for the command, XQ, are optional. If no arguments are given, the first
program in memory will be executed as thread 0.

USAGE:
While Moving Yes Default Value n=0

In a Program Yes Default Format ---

Command Line Yes

Can be Interrogated No

Used as an Operand Yes

OPERAND USAGE:
_XQ contains the current line number of execution for thread n, and -1 if thread n is not running.

RELATED COMMANDS:
"HX" on page Halt execution

EXAMPLES:
XQ #Apple,0 Start execution at label Apple, thread zero

XQ #data,1 Start execution at label data, thread one

XQ 0 Start execution at line 0

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ZA
FUNCTION: User Variable [Configuration]
DESCRIPTION:
ZA sets the first user variable for use with a distributed control system. The user variable is automatically
sent as part of the status record from the slave controller to the master controller. This variable provides a
method for specific slave information to be passed to the master automatically.
ARGUMENTS: ZA n, n, n, n, n, n, n or ZAA=n where
n can be a number, controller operand, variable, mathematical function, or string. The range for numeric
values is 4 bytes of integer 2147483647 (231). The maximum number of characters for a string is 4 charac-
ters. Strings are identified by quotations.
USAGE:
While Moving Yes Default Value ---

In a Program Yes Default Format ---

Command Line Yes

OPERAND USAGE:
_ZAa contains the user variable defined by the axis, a, set with a ZA command. a is any axis designator A,
B, C, D, ,E ,F ,G, and H.

RELATED COMMANDS:
"ZB" Set second variable

EXAMPLES:
CHB=A, B Use one LEGEND-MC as a master and one
LEGEND-MC as a slave. This command
assigns the slave, identified by the S axis des-
ignator, with handle A for commands and han-
dle B for status returned from the slave.

QWB=20 Sets the update rate for the slave controller to

20msec (TM=1000).

ZA 2343.43 Sets the first user variable to a umber (2343).

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ZB
FUNCTION: User Variable, ZB [Configuration]
DESCRIPTION:
ZA sets the “B” user variable for use with a distributed control system. The user variable is automatically
sent as part of the status record from the slave controller to the master controller. This variable provides a
method for specific slave information to be passed to the master automatically.
ARGUMENTS: ZB n, n, n, n, n, n, n or ZBA=n where
n can be a number, controller operand, variable, mathematical function, or string. The range for numeric val-
ues is 4 bytes of integer 2147483647 (231). The maximum number of characters for a string is 4 characters.
Strings are identified by quotations.
USAGE:
While Moving Yes Default Value ---

In a Program Yes Default Format ---

Command Line Yes

OPERAND USAGE:
_ZBa contains the user variable defined by the axis, a, set with a ZB command. a is any axis designator A,
B, C, D, ,E ,F ,G, and H.

RELATED COMMANDS:
"ZA" Set first variable

EXAMPLES:
CHB=A, B Use one LEGEND-MC as a master and one
LEGEND-MC as a slave. This command
assigns the slave, identified by the S axis des-
ignator, with handle A for commands and han-
dle B for status returned from the slave.

QWB=20 Sets the update rate for the slave controller to

20msec (TM=1000).

ZB “DOG” Sets the first user variable to the string

“DOG”.

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ZS
FUNCTION: Zero Subroutine Stack [Program Flow]
DESCRIPTION:
The ZS command is only valid from within an application program and is used to avoid returning from an
interrupt (either input or error). ZS alone returns the stack to its original condition. ZS1 adjusts the stack
to eliminate one return. This turns the jump to subroutine into a jump.
ARGUMENTS: ZS n where
0 returns stack to original condition
1 eliminates one return on stack
USAGE:
While Moving Yes Minimum value 0

In a Program Yes Maximum value 16

Command Line No Default Value n/a

Can be Interrogated Yes Default Format n/a

Used as an Operand Yes

OPERAND USAGE:
_ZSn contains the stack level for the specified thread where n = 0 or 1. The response, an integer between
zero and seven, indicates zero for beginning condition and 15 for the deepest value.

EXAMPLES:
II1 Input Interrupt on 1

#A;JP #A;EN Main program

#ININT Input Interrupt

MG "INTERRUPT" Print message

S=_ZS Interrogate stack

S= Print stack

ZS Zero stack

S=_ZS Interrogate stack

S= Print stack

EN End

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COMMAND INTERROGATION LIST

Command Definition Units Minimum Maximum Default
_AB Status of abort input status 0=Aborted 1=OK n/a
_ACx Axis acceleration rate counts/sec 2 1024 67107840 256000
_AFx Analog or digital feedback? status 0=DIGITAL 1=ANALOG 0
_ALx High speed position capture status status 0=TRIPPED 1=NOT YET 0
_AV Distance from the start of vector sequence counts 0 2147483647 0
_BGx Is axis in motion? status 0=NO 1=YES 0=NO
_BLx Reverse softw are limit counts -2147483648 2147483647 -2147483648
_BN Serial number of the SMC3010 n/a 1 65535 n/a
_CEx Type of encoder selected configuration 0 15 0
Returns the default port that unsolicited
_CF 65 = 'A' 83 = 'S' 83 = 'S'
messages are directed to (ASCII) configuration
_CM Is the contour mode buffer full? status 0=NO 1=YES 0=NO
_CN Returns the configuration of the limit sw itches configuration -1 = Active Low 1 = Active High -1 = Active Low
_CN1 Returns the configuration of the home input configuration -1 = Active Low 1 = Active High -1 = Active Low
_CN2 Returns the configuration of the latch input configuration -1 = Active Low 1 = Active High -1 = Active Low
_CS Current segment number for Vector Mode segment 0 511 0
Port #1 data adjustment (MG from prog,
_CW 1=SET 2=OFF 2=OFF
chars have bit 8 set) status
_DA Number of availible arrays quantity 0 14 14
_DCx Axis deceleration rate counts/sec 2 1024 67107840 256000
_DEx Encoder position of the auxiliary encoder counts -2147483648 2147483647 n/a
_DL Number of available labels quantity 0 126 126
_DM Number of available array locations quantity 0 8000 8000
_DPx Current encoder position of axis counts -2147483648 2147483647 n/a
_DT Time interval for contour mode N
2 mSec 0 8 0
_DVx Is the axis using dual loop PID? status 0=NO 1=YES 0=NO
_EB Is CAM mode enabled? status 0=NO 1=YES 0=NO
_EC returns the current index into the cam table pointer 0 359 0
_ED The last line that caused a CMDERR line number 0 499 n/a
_EGx Is CAMMING axis engaged? status 0=NO 1=YES 0=NO
_EMx Cam cycle for camming (master or slave) counts 0 2147483647 0
_EO Is echo mode on? status 0=NO 1=YES 0=NO
_EP CAMMING interval (resolution) counts 1 32767 256
_EQx Status of ECAM slave status 0 3 0
_ERx Axis follow ing error limit counts 0 32767 16384
_FAx Axis acceleration feedforw ard constant 0 8191 0
_FLx Forw ard softw are limit counts -2147483648 2147483647 2147483647
_FVx Axis velocity feedforw ard constant 0 8191 0
_GRx Gear ratio of the axis constant -127.9999 127.9999 0
_HMx State of the home sw itch status 0=ACTIVE 1=INACTIVE n/a

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Command Definition Units Minimum Maximum Default

_HXx Thread info 0=NOT RUNNING 1=RUNNING 2=AT TRIPPOINT n/a
Returns the IP address as a 32 bit signed
_IA 0 2147483647 0
number address
_IA1 Returns the ethernet retry time mSec 0 2147483647 250
_IA2 Returns the numner of available handles handles 0 8 8
Returns the number of the handle using this
_IA3 0 5 n/a
operand handle
Returns the IP address as a 32 bit signed
_IHh0 -2147483648 2147483647 0
number ("h" is handle "A" - "H") address
_IHh1 Returns the slave port number number 0 65535 0
Returns the handle status (See IH command
_IHh2 -2 2 0
description) status
_IHh3 Returns ARP status status 0 = Successful 1 = Failed n/a
Returns the bitmask of all inputs that are
_II 0 127 0
selected as interrupts configuration
_ILx Integrator limit of the axis voltage -9.9988 9.9988 9.9988
_IPX Current encoder position of axis counts -2147483648 2147483647 n/a
_ITx S curve smoothing function value constant 0.004 1 1
_JGx Jog speed for that axis counts/sec 0 8000000 25000
_KDx Derivative Constant for PID loop constant 0 4095.875 64
_KIx Integrator for PID loop constant 0 2047.875 0
_KPx Proportional Constant for PID loop constant 0 1023.875 6
_LE Length of the vector counts 0 2147483647 0
_LFx Forw ard Limit Sw itch status 0=ACTIVE 1=INACTIVE n/a
_LM Number of free segments in linear mode buffer n/a 0 511 n/a
_LRx Reverse Limit Sw itch status 0=ACTIVE 1=INACTIVE n/a
_LS The total number of program lines lines 0 499 0
_LZ Serial port leading zero removal status 0=OFF 1=ON 0
_MOx Current state of motor, enabled or not status 0=ENABLED 1=DISABLED 0/1
_MTx Type of motor configuration -1 1 1
_NA Returns total number of axes (distributed) configuration 1 8 1
_NBx Returns the Notch Filter Bandw idth Hertz 0 62 0.5
_NFx Returns the Notch Frequency Hertz 0 255 0
_NZx Returns the Notch Zero Hertz 0 62 0
Returns the state of the Output Compare
_OCx 0 1 n/a
Function status
Indicates if servo enable signal w ill shut off if
_OEx 0=NO 1=YES 0=NO
"_Erx" is exceeded status
_OFx Axis command offset voltage -9.9988 9.9988 0
Entire byte or w ord of output port (x = output
_OPx 0 65535 0
bank 0-3) byte or w ord
Last commanded absolute position if moving,
_PAx -2147483648 2147483647 0
otherw ise current position counts

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Command Definition Units Minimum Maximum Default

Current incremental distance to move
_PRx -2147483648 2147483647 0
(Even if move set by PA) counts
_RC Status 0= NOT RECORDING 1=RECORDING 0= NOT RECORDING
y of record mode status
_RD next array element to be recorded index 0 7999 0
_RLx Encoder value of last latched position counts -2147483648 2147483647 0
Current commanded position of the
-2147483648 2147483647 0
_RPx motor counts
_SCx The Stop Code of the axis code 0 150 1
_SPx Speed parameter of the axis counts/sec 0 8000000 25000
_TB Status information from controller byte 0 255 1
_TC1 Error code and message from controller number 0 255 0
_TDx Current auxiliary encoder position counts -2147483648 2147483647 n/a
Difference betw een commanded & actual
_TEx -2147483648 2147483647 n/a
axis position counts
8 inputs as a decimal or hex value
_TIx 0 255 n/a
(x = input bank 0-7) byte
TIME Counter since controller w as reset servo cycles 0 2147483647 0
_TLx Torque limit of axis voltage 0 9.9988 9.9988
_TM Servo update cycle for all axes uSec 375 20000 1000
_TPx Current encoder position of axis counts -2147483648 2147483647 n/a
_TSx Status of sw itches for axis byte 0 255 n/a
_TTx Current output voltage to amplifier voltage -9.9988 9.9988 0
Velocity of axis (averaged over 256
_TVx 0 8000000 n/a
servo cycles) counts/sec
Time limit that program w ill w ait for axis
_TWx -1 32766 32766
to get to target position (MCx) milliseconds
_UL Number of variables available n/a 0 254 254
_VA acceleration value for vector mode counts/sec 2 1024 68431360 256000
_VD Deceleration value for vector mode counts/sec2 1024 68431360 256000
Length of vector (all moves in
_VE 0 2147483647 0
coordinated move sequence) counts
_VF Setting of variable formatting n/a 0 10.4 10.4
Number of free locations in vector
_VM 0 511 511
mode buffer n/a
Absolute coordinate of the axis in the
_VPx -2147483648 2147483647 0
last segment counts
_VR Vector speed ratio n/a 0 10 1
_VS Vector Speed counts/sec 2 8000000 25000
S curve smoothing value for vector
0.004 1 1
_VT mode constant
Current line number being executed
_XQx -1 499 n/a
(x = thread #) line number
_ZS Current subroutine depth number 0 16 n/a

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5 Programming Basics

Introduction
The LEGEND-MC provides over 100 commands for specifying motion and machine parameters. Com-
mands are included to initiate action, interrogate status and configure the digital filter.
The LEGEND-MC instruction set is BASIC-like and easy to use. Instructions usually consist of two
uppercase letters that normally correspond phonetically with the appropriate function. For example, the
instruction BG begins motion, and ST stops motion.
Commands can be sent "live" for immediate execution by the LEGEND-MC, or an entire group of com-
mands (a program) can be downloaded into the LEGEND-MC memory for execution at a later time.
Combining commands into groups for later execution is referred to as Applications Programming and is
discussed in the following chapter.
This section describes the LEGEND-MC instruction set and syntax. A complete listing of all LEGEND-
MC instructions is included in the command reference section.

Program Maximums
Commands per line Until 80 characters
Labels among all threads 126
Lines among all threads 500
Subroutine nesting level 16
Threads 2

Command Syntax
LEGEND-MC instructions are represented by two ASCII upper case characters followed by applicable
arguments. A space may be inserted between the instruction and arguments. A semicolon or <enter> is
used to terminate the instruction for processing by the LEGEND-MC command interpreter.

IMPORTANT: All LEGEND-MC commands must be upper case.

For example, the command

PR 4000 <enter> Position Relative
PR is the two character instruction for Position Relative. 4000 is the argument which represents the
required position value in counts. The <enter> terminates the instruction. The space between PR and
4000 is optional.
For specifying data for the X,Y,Z and W axes, commas are used to separate the axes and preserve axis
order as X,Y,Z and W. If no data is specified for an axis, a comma is still needed as shown in the exam-
ples below. If no data is specified for an axis, the previous value is maintained. The space between the
data and instruction is optional. For the LEGEND-MC, the eight axes are referred to A,B,C,D,E,F,G,H
where X,Y,Z,W and A,B,C,D may be used interchangeably.

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To view the current values for each command, specify the command followed by a ? for each axis
requested. The LEGEND-MC provides an alternative method for specifying data.
Here data is specified individually using a single axis specified such as X,Y,Z or W (or A,B,C,D,E,F,G or
H for the LEGEND-MC ). An equal sign is used to assign data to that axis. For example:
PRZ=1000 Sets the Z axis data as 1000
All axes data may be specified at once using the * symbol. This sets all axes to have the same data. For
example:
PR*=1000 Sets all axes to 1000

Example XYZW Syntax for Specifying Data

PR*=1000 Specify data on all axes as 1000

PRY=1000 Specify Y as 1000

PR 1000 Specify X only as 1000

PR ,2000 Specify Y only as 2000

PR ,,3000 Specify Z only as 3000

PR ,,,4000 Specify W only as 4000

PR 2000,4000,6000,8000 Specify X,Y,Z, and W

PR ,8000,,9000 Specify Y and W only

PR*=? Request X,Y,Z,W values

PR ,? Request Y value only

Instead of data, some commands request action to occur on an axis or group of axes. For example, ST XY
stops motion on both the X and Y axes. Commas are not required in this case since the particular axis is
specified by the appropriate letter X Y Z or W. If no parameters follow the instruction, action will take
place on all axes. The letter S is used to specify a coordinated motion sequence.

Example XYZW syntax for Requesting Action

BG X Begin X only

BG Y Begin Y only

BG XYZW Begin all axes

BG YW Begin Y and W only

BG Begin all axes

BG S Begin coordinated sequence

BG SW Begin coordinated sequence and W axis

BG ABCDEFGH Begin all axes

BG D Begin D only

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Controller Response to Commands

For each valid command entered, the LEGEND-MC returns a colon (:). If the LEGEND-MC decodes a
command as invalid, it returns a question mark (?).

Note: The LEGEND-MC returns a : for valid commands.

Note: The LEGEND-MC returns a ? for invalid commands.

For example, if the command bg is sent in lower case, the LEGEND-MC will return a ?.

:bg <enter> Invalid command (lower case)

? LEGEND-MC returns a ?

The command Tell Code, TC1, will return the reason for the “?” received for the last invalid command.

:TC1 <enter> Tell Code command

1 Unrecognized command Returned response

There are several coded reasons for receiving a ?. Example codes include unrecognized command (such
as typographical entry or lower case), a command given at improper time, or a command out of range,
such as exceeding maximum speed. A complete listing of all codes is listed in the TC command in the
Command Reference section.
For interrogation instructions such as Tell Position (TP) or Tell Status (TS), the LEGEND-MC returns the
requested data on the next line followed by a carriage return and line feed. The data returned is in deci-
mal format.

Tell Position X :TP X <enter>

data returned 0000000000

Tell Position X and Y :TP XY <enter>

data returned 0000000000,0000000000

The format of the returned data can be set using the Position Format (PF) and Variable Format (VF) com-
mand.

:PF 4 <enter> Position Format is 4 integers

:TP X <enter> Tell Position

0000 returned data

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Command Summary
Each LEGEND-MC command is described fully in the command reference section of this manual. A
summary of the commands follows.
The commands are grouped in this summary by the following functional categories:
• Motion
• Program Flow
• General Configuration
• Control Settings
• Status and Error/Limits

Motion commands are those to specify modes of motion such as Jog Mode or Linear Interpolation, and to
specify motion parameters such as speed, acceleration and deceleration, and distance.
Program flow commands are used in Application Programming to control the program sequencer. They
include the jump on condition command and event triggers such as after position and after elapsed time.
General configuration commands are used to set controller configurations such as setting and clearing out-
puts, formatting variables, and motor/encoder type.
The control setting commands include filter settings such as KP, KD, and KI and sample time.
Error/Limit commands are used to configure software limits and position error limits.

Motion

AB Abort Motion

AC Acceleration

BG Begin Motion

CD Contour Data

CM Contour Mode

CS Clear Motion Sequence

DC Deceleration

DT Contour Time Interval

EA Select Master CAM axis

EB Enable CAM mode

EG Start CAM motion for slaves

EM Define CAM cycles for each axis

EP Define CAM table intervals & start point

EQ Stop CAM motion for slaves

ES Ellipse Scaling

ET CAM table entries for slave axes

FE Find Edge

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FI Find Index

GA Master Axis for Gearing

GR Gear Ratio

HM Home

IP Increment Position

JG Jog Mode

LE Linear Interpolation End

LI Linear Interpolation Distance

LM Linear Interpolation mode

LT Latch Target

PA Position Absolute

PR Position Relative

SP Speed

ST Stop

VA Vector acceleration

VD Vector Deceleration

VE Vector Sequence End

VM Coordinated Motion Mode

VP Vector Position

VR Vector speed ratio

VS Vector Speed

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Program Flow

AD After Distance

AI After Input

AM After Motion Complete

AP After Absolute Position

AR After Relative Distance

AS At Speed

AT After Time

AV After Vector Distance

ELSE ELSE Function for use with IF Conditional

Statement

EN End Program

ENDIF End of IF Conditional Statement

HX Halt Task

IF IF Conditional Statement

IN Input Variable

II Input Interrupt

JP Jump To Program Location

JS Jump To Subroutine

MC After motor is in position

MF After motion -- forward direction

MG Message

MR After motion -- reverse direction

NO No operation

RE Return from Error Subroutine

RI Return from Interrupt

TW Timeout for in position

WC Wait for Contour Data

WT Wait

XQ Execute Program

ZS Zero Subroutine Stack

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General Configuration

AF Analog Feedback

AL Arm Latch

BN Burn

BP Burn Program

BV Burn Variables

CB Clear Bit

CE Configure Encoder

CN Configure Switches

DA De-Allocate Arrays

DE Define Dual Encoder Position

DL Download

DM Dimension Arrays

DP Define Position

EO Echo Off

LS List

MO Motor Off

MT Motor Type

OB Output Bit

OP Output Port

PF Position Format

QU Upload Array

QD Download Array

RA Record Array

RC Record

RD Record Data

RS Reset

SB Set Bit

UL Upload

VF Variable Format

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Control Filter Settings

DV Damping for dual loop

FA Acceleration Feed Forward

FV Velocity Feed Forward

IL Integrator Limit

IT Smoothing Time Constant - Independent

KD Derivative Constant

KI Integrator Constant

KP Proportional Constant

OF Offset

SH Servo Here

TL Torque Limit

TM Sample Time

VT Smoothing Time Constant - Vector

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Status

RP Report Command Position

RL Report Latch

SC Stop Code

TB Tell Status

TC Tell Error Code

TD Tell Dual Encoder

TE Tell Error

TI Tell Input

TP Tell Position

TR Trace

TS Tell Switches

TT Tell Torque

TV Tell Velocity

Error And Limits

BL Reverse Software Limit

ER Error Limit

FL Forward Software Limit

OE Off on Error

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Arithmetic Functions

@ABS Absolute Value

@ACOS Arc Cosine

@AN Return AnalogInput

@ASIN Arc Sine

@ATAN Arc Tangent

@COM Return 2’s Complement

@COS Cosine

@FRAC Fraction Portion

@IN Return Digital Input

@INT Integer Portion

@OUT Return Output

@RND Round

@SIN Sine

@SQR Square root

@TAN Tangent

+ Add

- Subtract

* Multiply

/ Divide

& And

| Or

() Parentheses

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6 Programming Motion

Overview
The LEGEND-MC provides several modes of motion, including independent positioning and jogging,
coordinated motion, electronic cam motion, and electronic gearing. Each one of these modes is discussed
in the following sections.
The LEGEND-MC is a single axis controller and uses X-axis motion only. The example applications
described below will help guide you to the appropriate mode of motion.

Example Application Mode of Motion Commands

Absolute or relative positioning where Independent Axis Positioning PA,PR

each axis is independent and follows SP,AC,DC
prescribed velocity profile.

Velocity control where no final endpoint Independent Jogging JG

is prescribed. Motion stops on Stop AC,DC
command. ST

Motion Path described as incremental Contour Mode CM

position points versus time. CD
DT
WC

1 motion where path is described by Linear Interpolation LM

linear segments. LI,LE
VS,VR
VA,VD

Electronic gearing where slave axis is Electronic Gearing GA

scaled to master axis which can move in GR
both directions.

Master/slave where slave axes must Electronic Gearing GA

follow a master such as conveyer speed. GR

Moving along arbitrary profiles or Contour Mode CM

mathematically prescribed profiles such CD
as sine or cosine trajectories. DT
WC

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Teaching or Record and Play Back Contour Mode with CM

Automatic Array Capture CD
DT
WC
RA
RD
RC

Backlash Correction Dual Loop DV

Following a trajectory based on a master Electronic Cam EA

encoder position EM
EP
ET
EB
EG
EQ

Smooth motion while operating in Independent Motion IT

independent axis positioning Smoothing

Smooth motion while operating in vector Vector Smoothing VT

or linear interpolation positioning

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Independent Axis Positioning

In this mode, motion between the specified axes is independent, and each axis follows its own profile.
The user specifies the desired absolute position (PA) or relative position (PR), slew speed (SP), accelera-
tion ramp (AC), and deceleration ramp (DC), for each axis. On begin (BG), the LEGEND-MC profiler
generates the corresponding trapezoidal or triangular velocity profile and position trajectory. The con-
troller determines a new command position along the trajectory every sample period until the specified
profile is complete. Motion is complete when the last position command is sent by the LEGEND-MC
profiler.

Note: The actual motor motion may not be complete when the profile has been completed, however, the next
motion command may be specified.
The Begin (BG) command can be issued for all axes either simultaneously or independently. X or Y axis
specifiers are required to select the axes for motion. When no axes are specified, this causes motion to
begin on all axes.
The speed (SP) and the acceleration (AC) can be changed at any time during motion, however, the decel-
eration (DC) and position (PR or PA) cannot be changed until motion is complete. Remember, motion is
complete (AM) when the profiler is finished, not when the actual motor is in position. The Stop com-
mand (ST) can be issued at any time to decelerate the motor to a stop before it reaches its final position.
An incremental position movement (IP) may be specified during motion as long as the additional move is
in the same direction. Here, the user specifies the desired position increment, n. The new target is equal
to the old target plus the increment, n. Upon receiving the IP command, a revised profile will be gener-
ated for motion towards the new end position. The IP command does not require a begin. Note: If the
motor is not moving, the IP command is equivalent to the PR and BG command combination.

Command Summary - Independent Axis

Command Description
PR X,Y Specifies relative distance

PA x,y Specifies absolute position

SP x,y Specifies slew speed

AC x,y Specifies acceleration rate

DC x,y Specifies deceleration rate

BG XY Starts motion

ST XY Stops motion before end of move

IP x,y Changes position target

IT x,y Time constant for independent motion smoothing

AM XY Trippoint for profiler complete

MC XY Trippoint for "in position"

The lower case specifiers (x,y) represent position values for each axis. The SC3010 also allows use of
single axis specifiers such as PRY=2000.

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The following illustration - Velocity Profiles of XY shows the velocity profiles for the X and Y axis.

Instruction Interpretation

#A Begin Program

PR 2000,100 Specify relative position movement of 2000 and 100 counts for the X
and Y axes.

SP 15000,5000 Specify speed of 15000 and 5000 counts / sec

AC 500000,500000 Specify acceleration of 500000 counts / sec2 for all axes

DC 500000,500000 Specify deceleration of 500000 counts / sec2 for all axes

BG X Begin motion on the X axis

WT 40 Wait 40 msec

BG Y Begin motion on the Y axis

EN End Program

VELOCITY
(COUNTS/SEC)

X axis velocity profile

20000

15000
Y axis velocity profile
10000

5000
TIME (ms)

0 20 40 60 80 100

Velocity Profiles of XY
Notes on Velocity Profiles of XY illustration: The X axis has a ‘trapezoidal’ velocity profile, while the Y axis has a
‘triangular’ velocity profile. The X axis accelerates to the specified speed, moves at this constant speed, and then
decelerates such that the final position agrees with the commanded position, PR. The Y axis accelerates, but before
the specified speed is achieved, must begin deceleration such that the axis will stop at the commanded position.

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Independent Jogging
The jog mode of motion is very flexible because speed, direction and acceleration can be changed during
motion. The user specifies the jog speed (JG), acceleration (AC), and the deceleration (DC) rate for each
axis. The direction of motion is specified by the sign of the JG parameters. When the begin command is
given (BG), the motor accelerates up to speed and continues to jog at that speed until a new speed or stop
(ST) command is issued. If the jog speed is changed during motion, the controller will make an acceler-
ated (or decelerated) change to the new speed.
An instant change to the motor position can be made with the use of the IP command. Upon receiving
this command, the controller commands the motor to a position which is equal to the specified increment
plus the current position. This command is useful when trying to synchronize the position of two motors
while they are moving.
Note that the controller operates as a closed-loop position controller while in the jog mode. The LEG-
END-MC converts the velocity profile into a position trajectory and a new position target is generated
every sample period. This method of control results in precise speed regulation with phase lock accu-
racy.

Command Summary - Jogging

Command Description

AC x,y Specifies acceleration rate

BG XY Begins motion

DC x,y Specifies deceleration rate

IP x,y Increments position instantly

IT x,y Time constant for independent motion smoothing

JG +/-x,y Specifies jog speed and direction

ST XY Stops motion

Parameters can be set with individual axis specifiers such as JGY=2000 (set jog speed for Y axis to 2000)
or AC 400000, 400000 (set acceleration for X and Y axes to 400000).

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Linear Interpolation Mode

The LEGEND-MC provides a linear interpolation mode for 1 axis. In linear interpolation mode, motion is
coordinated to maintain the prescribed vector speed, acceleration, and deceleration along the specified
path. The motion path is described in terms of incremental distances. An unlimited number of incremental
segments may be given in a continuous move sequence, making the linear interpolation mode ideal for fol-
lowing a piece-wise linear path. There is no limit to the total move length.
The LM command selects the Linear Interpolation mode and axes for interpolation. For example, LM X
selects the X axis for linear interpolation.
When using the linear interpolation mode, the LM command only needs to be specified once unless the
axes for linear interpolation change.

Specifying Linear Segments

The command LI x specifies the incremental move distance for each axis. This means motion is prescribed
with respect to the current axis position. Up to 511 incremental move segments may be given prior to the
Begin Sequence (BGS) command. Once motion has begun, additional LI segments may be sent to the
controller.
The clear sequence (CS) command can be used to remove LI segments stored in the buffer prior to the
start of the motion. To stop the motion, use the instructions STS, STT, or AB. The command, ST, causes
a decelerated stop. The command, AB, causes an instantaneous stop and aborts the program, and the com-
mand AB1 aborts the motion only.
The Linear End (LE) command must be used to specify the end of a linear move sequence. This command
tells the controller to decelerate to a stop following the last LI command. If an LE command is not given,
an Abort AB1 must be used to abort the motion sequence.
It is the responsibility of the user to keep enough LI segments in the LEGEND-MC sequence buffer to
ensure continuous motion. If the controller receives no additional LI segments and no LE command, the
controller will stop motion instantly at the last vector. There will be no controlled deceleration. LM? or
_LM returns the available spaces for LI segments that can be sent to the buffer. 511 returned means the
buffer is empty and 511 LI segments can be sent. A zero means the buffer is full and no additional seg-
ments can be sent. As long as the buffer is not full, additional LI segments can be sent.
The instruction _CS returns the number of the segment being processed. As the segments are processed,
_CS increases, starting at zero. This function allows the host computer to determine which segment is
being completed.

Additional Commands
The commands VS n, VA n, and VD n are used to specify the vector speed, acceleration, and deceleration.
The LEGEND-MC computes the vector speed based on the axes specified in the LM mode. For example,
LM XY designates linear interpolation for the X and Y axes. The vector speed for this example would be
computed using the equation:

VS2=XS2+YS2, where XS and YS are the speed of the X and Y axes.

The controller computes the vector speed with the axis specifications from LM.
VT is used to set the S-curve smoothing constant for coordinated moves. The command AV n is the ‘After
Vector’ trippoint, which halts program execution until the vector distance of n has been reached.

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Specifying Vector Speed for Each Segment

The instruction VS has an immediate effect and, therefore, must be given at the required time. In some
applications, such as CNC, it is necessary to attach various speeds to different motion segments. This can
be done with two functions: < n and > m
For example:LI x,y < n >m
The first command, < n, is equivalent to commanding VSn at the start of the given segment and will
cause an acceleration toward the new commanded speed, subject to the other constraints.
The second function, > m, requires the vector speed to reach the value m at the end of the segment. Note
that the function > m may start the deceleration within the given segment or during previous segments, as
needed to meet the final speed requirement, under the given values of VA and VD.
Note, however, that the controller works with one > m command at a time. As a consequence, one func-
tion may be masked by another. For example, if the function >100000 is followed by >5000, and the dis-
tance for deceleration is not sufficient, the second condition will not be met. The controller will attempt
to lower the speed to 5000.
As an example, consider the following program.

Instruction Interpretation

#ALT Label for alternative program

DP 0,0 Define Position of X and Y axis to be 0

LMXY Define linear mode between X and Y axes.

LI 4000,0 <4000 >1000 Specify first linear segment with a vector speed of 4000 and
end speed 1000

LI 1000,1000 < 4000 >1000 Specify second linear segment with a vector speed of 4000
and end speed 1000

LI 0,5000 < 4000 >1000 Specify third linear segment with a vector speed of 4000
and end speed 1000

LE End linear segments

BGS Begin motion sequence

EN Program end

Changing Feedrate:
The command VR n allows the feedrate, VS, to be scaled between 0 and 10 with a resolution of .0001.
This command takes effect immediately and causes VS to be scaled. VR also applies when the vector
speed is specified with the ‘<’ operator. This is a useful feature for feedrate override. VR does not ratio
the accelerations. For example, VR .5 results in the specification VS 2000 to be divided in half.

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Command Summary - Linear Interpolation

Command Description

LM xy Specify axes for linear interpolation

LM? Returns number of available spaces for linear segments in LEGEND-MC

sequence buffer. Zero means buffer full. 511 means buffer empty.

LI x,y < n Specify incremental distances relative to current position, and assign vector
speed n.

VS n Specify vector speed

VA n Specify vector acceleration

VD n Specify vector deceleration

VR n Specify the vector speed ratio

BGS Begin Linear Sequence

CS Clear sequence

LE Linear End- Required at end of LI command sequence

LE? Returns the length of the vector (resets after 2147483647)

AMS Trippoint for After Sequence complete

AV n Trippoint for After Relative Vector distance, n

VT Motion smoothing constant for vector moves

To illustrate the ability to interrogate the motion status, consider the first motion segment of our example,
#LMOVE, where the X axis moves toward the point X=5000. Suppose that when X=3000, the controller
is interrogated using the command ‘MG _AV’. The returned value will be 3000. The value of _CS,
_VPX and _VPY will be zero.
Now suppose that the interrogation is repeated at the second segment when Y=2000. The value of _AV at
this point is 7000, _CS equals 1, _VPX=5000 and _VPY=0.
Note that the above program specifies the vector speed, VS, and not the actual axis speeds VX and VY.
The axis speeds are determined by the LEGEND-MC.

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The resulting profile is shown in the following illustration - Linear Interpolation.

30000

27000

POSITION Y

3000

0 4000 36000 40000

POSITION X

FEEDRATE

0 0.1 0.5 0.6 TIME (sec)

VELOCITY
X-AXIS

TIME (sec)

VELOCITY
Y-AXIS

TIME (sec)

Linear Interpolation

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Vector Mode: Linear Interpolation Motion

Specifying Vector Segments

The motion segment is described by the command; VP for linear segments. Once a set of linear segments
have been specified, the sequence is ended with the command VE. This defines a sequence of commands
for coordinated motion. Immediately prior to the execution of the first coordinated movement, the con-
troller defines the current position to be zero for all movements in a sequence.

Note: This ‘internal’ definition of zero does not affect the absolute coordinate system or subsequent coordi-
nated motion sequences.
The command, VP x,y specifies the coordinates of the end points of the vector movement with respect to
the starting point.
Up to 511 VP segments may be specified in a single sequence and must be ended with the command VE.
The motion can be initiated with a Begin Sequence (BGS) command. Once motion starts, additional seg-
ments may be added.
The Clear Sequence (CS) command can be used to remove previous VP commands which were stored in
the buffer prior to the start of the motion. To stop the motion, use the instructions STS or AB1. ST stops
motion at the specified deceleration. AB1 aborts the motion instantaneously.
The Vector End (VE) command must be used to specify the end of the coordinated motion. This com-
mand tells the controller to decelerate to a stop following the last motion in the sequence. If a VE com-
mand is not given, an Abort (AB1) must be used to abort the coordinated motion sequence.
The user must keep enough motion segments in the LEGEND-MC sequence buffer to ensure continuous
motion. If the controller receives no additional motion segments and no VE command, the controller will
stop motion instantly at the last vector. There will be no controlled deceleration. LM? or _LM returns the
available spaces for motion segments that can be sent to the buffer. 511 returned means the buffer is
empty and 511 segments can be sent. A zero means the buffer is full and no additional segments can be
sent. As long as the buffer is not full, additional segments can be sent at the PCI bus speed.
The operand _CS can be used to determine the value of the segment counter.

Additional Commands
The commands VS n, VA n and VD n are used for specifying the vector speed, acceleration, and decelera-
tion.
VT is the motion smoothing constant used for coordinated motion.

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Specifying Vector Speed for Each Segment:

The vector speed may be specified by the immediate command VS. It can also be attached to a motion
segment with the instructions

VP x,y < n >m

The first parameter, <n, is equivalent to commanding VSn at the start of the given segment and will cause
an acceleration toward the new commanded speeds, subjects to the other constraints.
The second parameter, > m, requires the vector speed to reach the value m at the end of the segment.
Note that the function > m may start the deceleration within the given segment or during previous seg-
ments, as needed to meet the final speed requirement, under the given values of VA and VD.
Note, however, that the controller works with one > m command at a time. As a consequence, one func-
tion may be masked by another. For example, if the function >100000 is followed by >5000, and the dis-
tance for deceleration is not sufficient, the second condition will not be met. The controller will attempt
to lower the speed to 5000, but will reach that at a different point.

Changing Feedrate:
The command VR n allows the feedrate, VS, to be scaled from 0 and 10 times with a resolution of .0001.
This command takes effect immediately and causes VS scaled. VR also applies when the vector speed is
specified with the ‘<’ operator. This is a useful feature for feedrate override. VR does not ratio the accel-
erations. For example, VR .5 results in the specification VS 2000 act as VS 1000.

Trippoints:
The AV n command is the After Vector trippoint, which waits for the vector relative distance of n to occur
before executing the next command in a program.

Command Summary - Coordinated Motion Sequence

Command Description

VM m,n Specifies the axes for planar motion where m and n represent the planar axes
and p is the tangent axis.

VP m,n Return coordinate of last point, where m=X,Y,Z or W.

VS n Specify vector speed or feedrate of sequence.

VA n Specify vector acceleration along the sequence.

VD n Specify vector deceleration along the sequence.

VR n Specify vector speed ratio

BGS Begin motion sequence

CS Clear sequence.

AV n Trippoint for After Relative Vector distance, n.

AMS Holds execution of next command until Motion Sequence is complete.

VT S curve smoothing constant for coordinated moves

LM? Return number of available spaces for linear and circular segments in
LEGEND-MC sequence buffer. Zero means buffer is full. 512 means
buffer is empty.

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Operand Summary - Coordinated Motion Sequence

Operand Description

_VPM The absolute coordinate of the axes at the last intersection along the sequence.

_AV Distance traveled.

_LM Number of available spaces for linear and circular segments in the LEGEND-
MC sequence buffer. Zero means buffer is full. 512 means buffer is empty.

_CS Segment counter - Number of the segment in the sequence, starting at zero.

_VE Vector length of coordinated move sequence.

When AV is used as an operand, _AV returns the distance traveled along the sequence.
The operands _VPX and _VPY can be used to return the coordinates of the last point specified along the
path.

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Electronic Gearing
With the LEGEND-MC, the master is always the auxiliary encoder. The master may rotate in both direc-
tions and the geared axis will follow at the specified gear ratio.
The GA command is unnecessary for the LEGEND-MC, as the auxiliary encoder is automatically used.
GR x,y specifies the gear ratios for the slaves where the ratio may be a number between +/-127.9999 with
a fractional resolution of .0001. GR 0,0 turns off gearing in both modes. A limit switch or ST command
disables gearing.
GR causes the specified axes to be geared to the actual position of the master.
Electronic gearing allows the geared motor to perform a second independent or coordinated move in
addition to the gearing. For example, when a geared motor follows a master at a ratio of 1:1, it may be
advanced an additional distance with PR, JG, VP, or LI commands.

Command Summary - Electronic Gearing

Command Description

GA n Specifies master axes for gearing where n=DX for auxiliary encoder.

GR x Sets gear ratio for slave axes. 0 disables electronic gearing .

GR a Sets gear ratio for slave axes. 0 disables electronic gearing.

MR x Trippoint for reverse motion past specified value.

MF x Trippoint for forward motion past specified value.

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Electronic Cam
The electronic cam is a motion control mode which enables the periodic synchronization of the servo
moter with an extenal device. The LEGEND-MC uses the auxiliary encoder as the master axis.
The electronic cam is a more detailed type of electronic gearing which allows a table-based relationship
between the axes. To illustrate the procedure of setting the cam mode, consider the cam relationship for
the slave axis X. Such a graphic relationship is shown in the following illustration - Electronic Cam Exam-
ple.

Step 1. Selecting the master axis

The first step in the electronic cam mode is to select the master axis. This is done with the instruction
EAD is the auxiliary encoder for the x-axis
For the given example, since the master is x, we specify EADX

Step 2. Specify the master cycle and the change in the slave axis.
In the electronic cam mode, the position of the master is always expressed within one cycle. In this exam-
ple, the position of x is always expressed in the range between 0 and 6000. Similarly, the slave position is
also redefined such that it starts at zero and ends at 1500. At the end of a cycle when the master is 6000
and the slave is 1500, the positions of both x and y are redefined as zero. To specify the master cycle and
the slave cycle change, we use the instruction EM and MM.

EM x; MMx
where EMx specifies the cycle of the slave over one cycle and MMx specifies the cycle of the master.
The cycle of the master is limited to 8,388,607 whereas the slave change per cycle is limited to
2,147,483,647. If the change is a negative number, the absolute value is specified. For the given example,
the cycle of the master is 6000 counts and the change in the slave is 1500. Therefore, we use the instruc-
tions:

EM 1500; MM 6000
Step 3. Specify the master interval and starting point.
Next we need to construct the ECAM table. The table is specified at uniform intervals of master positions.
Up to 256 intervals are allowed. The size of the master interval and the starting point are specified by the
instruction:

EP m,n
where m is the interval width in counts, and n is the starting point.
For the given example, we can specify the table by specifying the position at the master points of 0, 2000,
4000 and 6000. We can specify that by

EP 2000,0

Step 4. Specify the slave positions.

Next, we specify the slave positions with the instruction
ET[n]=x
where n indicates the order of the point.

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The value, n, starts at zero and may go up to 256. The parameter x indicates the corresponding slave
position. For this example, the table may be specified by
ET[0]=0
ET[1]=3000
ET[2]=2250
ET[3]=1500
This specifies the ECAM table.

Step 5. Enable the ECAM

To enable the ECAM mode, use the command

EB n
where n=1 enables ECAM mode and n=0 disables ECAM mode.

Step 6. Engage the slave motion

To engage the slave motion, use the instruction
EG x
where x is the master positions at which the corresponding slaves must be engaged.
If the value of any parameter is outside the range of one cycle, the cam engages immediately. When the
cam is engaged, the slave position is redefined, modulo one cycle.

Step 7. Disengage the slave motion

To disengage the cam, use the command

EQ x
where x is the master positions at which the corresponding slave axes are disengaged.

3000
2250

1500

0 2000 4000 6000 Master X

Electronic Cam Example

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This disengages the slave axis at a specified master position. If the parameter is outside the master cycle,
the stopping is instantaneous.
To illustrate the complete process, consider the cam relationship described by
the equation:

Y = 0.5 ∗ X + 100 sin (0.18∗X)

where X is the master, with a cycle of 2000 counts.

The cam table can be constructed manually, point by point, or automatically by a program. The following
program includes the set-up.
The instruction EAX defines X as the master axis. The cycle of the master is
2000. Over that cycle, X varies by 1000. This leads to the instruction EM 2000,1000.
Suppose we want to define a table with 100 segments. This implies increments of 20 counts each. If the
master points are to start at zero, the required instruction is EP 20,0.
The following routine computes the table points. As the phase equals 0.18X and X varies in increments of
20, the phase varies by increments of 3.6°. The program then computes the values of SLAVE according to
the equation and assigns the values to the table with the instruction ET[N] = SLAVE.

Instruction Interpretation

#SETUP Label

EAX Select X as master

EM 1000 Specify slave cycle

EP 20,0 Master position increments

MM 1000 Specify master cycle

N=0 Index

#LOOP Loop to construct table from equation

P = N∗3.6 Note 3.6 = 0.18∗20

S = @SIN [P]∗100 Define sine position

SLAVE = N∗10+S Define slave position

ET [N] = SLAVE Define table

N = N+1

JP #LOOP, N<=100 Repeat the process

EN

Now suppose that the slave axis is engaged with a start signal, input 1, but that both the engagement and
disengagement points must be done at the center of the cycle: X = 1000 and Y = 500. This implies that Y
must be driven to that point to avoid a jump.

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This is done with the program:

Instruction Interpretation

#RUN Label

EB1 Enable cam

PA,500 Y starting position

SP,5000 Y speed

BGY Move Y motor

AM After Y moved

AI1 Wait for start signal

EG,1000 Engage slave

AI – 1 Wait for stop signal

EQ,1000 Disengage slave

EN End

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Contour Mode
The LEGEND-MC also provides a contouring mode. This mode allows any arbitrary position curve to be
prescribed for any motion axes. This is ideal for following computer generated paths such as parabolic,
spherical or user-defined profiles. The path is not limited to straight line and arc segments and the path
length may be infinite.

Specifying Contour Segments

The Contour Mode is specified with the command, CM, i.e.; CMX specifies contouring on the X axis.
A contour is described by position increments which are described with the command, CD x over a time
interval, DT n. The parameter, n, specifies the time interval. The time interval is defined as 2n ms, where
n is a number between 1 and 8. The controller performs linear interpolation between the specified incre-
ments, where one point is generated for each millisecond.
Consider, for example, the following illustration - The Required Trajectory. The position X may be
described by the points:

Point 1 X=0 at T=0ms

Point 2 X=48 at T=4ms

Point 3 X=288 at T=12ms

Point 4 X=336 at T=28ms

The same trajectory may be represented by the increments

s

Increment 1 DX=48 Time Increment =4 DT=2

Increment 2 DX=240 Time Increment =8 DT=3

Increment 3 DX=48 Time Increment =16 DT=4

When the controller receives the command to generate a trajectory along these points, it interpolates lin-
early between the points. The resulting interpolated points include the position 12 at 1 msec, position 24
at 2 msec, etc.
The programmed commands to specify the above example are:

Instruction Description

#A Label

CMX Specifies X axis for contour mode

DT 2 Specifies first time interval, 22 ms

CD 48;WC Specifies first position increment

DT 3 Specifies second time interval, 23 ms

CD 240;WC Specifies second position increment

DT 4 Specifies the third time interval, 24 ms

CD 48;WC Specifies the third position increment

DT0;CD0 Exits contour mode

EN

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POSITION
(COUNTS)

336
288
240
192
96
48 TIME (ms)

0 4 8 12 16 20 24 28
SEGMENT 1 SEGMENT 2 SEGMENT 3

The Required Trajectory

Additional Commands
The command, WC, is used as a trippoint "When Complete" or “Wait for Contour Data”. This allows the
LEGEND-MC to use the next increment only when it is finished with the previous one. Zero parameters
for DT followed by zero parameters for CD exit the contour mode.
If no new data record is found and the controller is still in the contour mode, the controller waits for new
data. No new motion commands are generated while waiting. If bad data is received, the controller
responds with a ?.

Command Summary - Contour Mode

Command Description

CM X Specifies the X-axis for contouring mode. In a distributed control system, any
non-contouring axes may be operated in other modes.

CD x Specifies position increment over time interval. Range is +/-32,000. Zero

ends contour mode.

DT n Specifies time interval 2n msec for position increment, where n is an integer

between 1 and 8. Zero ends contour mode. If n does not change, it does not
need to be specified with each CD.

WC Waits for previous time interval to be complete before next data record is
processed.

General Velocity Profiles

The Contour Mode is ideal for generating an arbitrary velocity profile. The velocity profile can be spec-
ified as a mathematical function or as a collection of points.
The design includes two parts: Generating an array with data points and running the program.

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Motion Smoothing
The LEGEND-MC controller allows the smoothing of the velocity profile to reduce mechanical vibrations
in the system.
Trapezoidal velocity profiles have acceleration rates which change abruptly from zero to maximum value.
The discontinuous acceleration results in jerk which causes vibration. The smoothing of the acceleration
profile leads to a continuous acceleration profile and reduces the mechanical shock and vibration.

Using the IT and VT Commands (S curve profiling):

When operating with servo motors, motion smoothing can be accomplished with the IT and VT com-
mands. These commands filter the acceleration and deceleration functions to produce a smooth velocity
profile. The resulting velocity profile, known as S curve, has continuous acceleration and results in
reduced mechanical vibrations.

The smoothing function is specified by the following commands:

Command Description

IT x,y Independent time constant

VT n Vector time constant

The command IT is used for smoothing independent moves of the type JG, PR, PA and the command VT
is used to smooth vector moves of the type VM and LM.
The smoothing parameters x,y and n are numbers between 0 and 1 and determine the degree of filtering.
The maximum value of 1 implies no filtering, resulting in trapezoidal velocity profiles. Smaller values of
the smoothing parameters imply heavier filtering and smoother moves.
Note that the smoothing process results in longer motion time.

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Homing
The Find Edge (FE) and Home (HM) instructions are used to home the motor to a mechanical reference.
This reference is connected to the Home input line. The HM command initializes the motor to the
encoder index pulse in addition to the Home input. The configure command (CN) defines polarity of the
home input.
The Find Edge (FE) instruction is useful for initializing the motor to a home switch. The home switch is
connected to the Home input. When the Find Edge command and Begin are used, the motor will acceler-
ate up to the slew speed and slew until a transition is detected on the homing line. The motor will then
decelerate to a stop. A high deceleration value must be input before the find edge command is issued for
the motor to decelerate rapidly after sensing the home switch. The velocity profile generated is shown in
the following illustration - Motion intervals in the Home sequence.
The Home (HM) command can be used to position the motor on the index pulse after the home switch is
detected. This allows for finer positioning on initialization. The command sequence HM and BG causes
the following sequence of events to occur.

1. Upon beginning, the motor accelerates to the slew speed. The direction of its motion is deter-
mined by the homing input. A zero (GND) will cause the motor to start in the forward direction;
+5V will cause it to start in the reverse direction. The CN command defines the polarity of the
home input.
2. Upon detecting a change in state on the home input, the motor begins decelerating to a stop.
3. The motor then traverses very slowly back until the home switch toggles again.
4. The motor then traverses forward until the encoder index pulse is detected.
5. The LEGEND-MC defines the home position as the position at which the index was detected
and sets the encoder reading at this position to zero.

MOTION BEGINS
TOWARD HOME
DIRECTION
POSITION

MOTION REVERSE
TOWARD HOME
DIRECTION
POSITION

MOTION TOWARD INDEX

DIRECTION

POSITION

INDEX PULSES

POSITION

HOME SWITCH

POSITION

Motion intervals in the Home sequence

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High Speed Position Capture (Latch Function)

Often it is desirable to capture the position precisely for registration applications. The LEGEND-MC pro-
vides a position latch feature. This feature allows position of the main X axis to be captured within 25
microseconds of an external low input signal. General input 1 is the corresponding latch input for the main
encoder.

Note: To insure a position capture within 25 microseconds, the input signal must be a transition from high to
low.
The LEGEND-MC software commands AL and RL are used to arm the latch and report the latched posi-
tion. The steps to use the latch are as follows:

1. Give the AL X command to arm the latch for the main (LEGEND) encoder.
2. Test to see if the latch has occurred by using the _ALX command. Example, V1=_ALX returns
the state of the X latch to the variable V1. V1 is 1 if the latch has not occurred.
3. After the latch has occurred, read the captured position with the RLX command or _RLX.

Note: The latch must be re-armed after each latching event.

To capture the position of the auxiliary encoder, use the command ALSX. The input must be wired to gen-
eral input 2. _RLSX holds the captured position.

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7 Application Programming

Introduction
The LEGEND-MC programming language is a powerful language that allows users to customize a pro-
gram to handle their application. Complex programs can be downloaded into the LEGEND-MC memory
for later execution. Utilizing the LEGEND-MC to execute sophisticated programs frees the host com-
puter for other tasks. The host computer can still send commands to the controller any time, even while a
program is being executed.
In addition to standard motion commands, the LEGEND-MC provides commands that allow the LEG-
END-MC to make its own decisions. These commands include conditional jumps, event triggers, and
subroutines. For example, the command JP#LOOP, N<10 causes a jump to the label #LOOP if the vari-
able N is less than 10.
For flexibility, the LEGEND-MC provides 254 user-defined variables, arrays and arithmetic functions,
i.e.; length in a cut-to-length operation can be specified as a variable in a program and assigned by an
operator.
The following sections in this chapter discuss all aspects of creating applications programs.

Program Format
A LEGEND-MC program consists of several LEGEND-MC instructions combined to solve a machine
control application. Action instructions, such as starting and stopping motion, are combined with Pro-
gram Flow instructions to form the complete program. Program Flow instructions evaluate real-time
conditions, such as elapsed time or motion complete, and alter program flow accordingly.
A delimiter must separate each LEGEND-MC instruction in a program. Valid delimiters are the semico-
lon (;) or carriage return. The semicolon is used to separate multiple instructions on a single program
line. A carriage return enters the final command on a program line.
All LEGEND-MC programs must begin with a label and end with an End (EN) statement. Labels start
with the pound (#) sign followed by a maximum of seven characters. The first character must be a letter;
after that, numbers are permitted. Spaces are not permitted.

The maximum number of labels that may be defined is 126.

Valid labels

#BEGIN
#SQUARE
#X1
#BEGIN1
Invalid labels
#1Square
#123

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Special Labels
There are also some special labels, which are used to define input interrupt subroutines, limit switch sub-
routines, error handling subroutines, and command error subroutines. Special labels provide the applica-
tion program a method of handling situations that would otherwise be difficult to program.

#AUTO Label for automatic program start

#CMDERR Label for incorrect command subroutine

#COMINT Label for communication interrupt

#ININT Label for Input Interrupt subroutine

#LIMSWI Label for Limit Switch subroutine

#MCTIME Label for timeout if encoder is not in-position within time

specified by TW.

#POSERR Label for excess Position Error subroutine

#TCPERR Ethernet error

Example Program:

#AUTO Beginning of the Program

SH Turn motors on

PR 10000,20000;BG XY Specify relative distances on X and Y axes; Begin Motion

AM Wait for motion complete

WT 2000 Wait 2 sec

JP # AUTO Jump to label AUTO

EN End of Program

The above program will execute automatically at power up and move X and Y 10000 and 20000 units.
After the motion is complete, the motors rest for 2 seconds. The cycle repeats indefinitely until the stop
command is issued. Automatic execution assumes that the program has been burned in using the BP com-
mand.

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Executing Programs - Multitasking

Two programs can run independently. The programs (threads) are numbered 0 and 1. 0 is the main thread.
The main thread differs from the others in the following points:

1. Only the main thread may use the input command, IN.
2. In a case of interrupts, due to inputs, limit switches, position errors or command errors, it is thread 0
which jumps to those subroutines.
The execution of the various programs is done with the instruction:
XQ #A, n
Where n indicates the thread number. To halt the execution of any thread, use the instruction

HX n
where n is the thread number.
Note that both the XQ and HX functions can be performed by an executing program.
Multitasking is useful for executing independent operations such as PLC functions that occur indepen-
dently of motion. The example below produces a waveform on Output 1 independent of a move.

#TASK1 Task1 label

AT0 Initialize reference time

CB1 Clear Output 1

#LOOP1 Loop1 label

AT 10 Wait 10 msec from reference time

SB1 Set Output 1

AT -40 Wait 40 msec from reference time, then

initialize reference

CB1 Clear Output 1

JP #LOOP1 Repeat Loop1

#TASK2 Task2 label

XQ #TASK1,1 Execute Task1

#LOOP2 Loop2 label

PR 1000 Define relative distance

BGX Begin motion

AMX After motion done

WT 10 Wait 10 msec

JP #LOOP2,@IN[2]=1 Repeat motion unless Input 2 is low

HX Halt all tasks

The program above is executed with the instruction XQ #TASK2,0 which designates TASK2 as the main
thread. #TASK1 is executed within TASK2.

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Debugging Programs
The LEGEND-MC provides trace and error code commands which are used for debugging programs. The
trace command may be activated using the command, TR1. This command causes each line in a program
to be sent out to the communications port immediately prior to execution. The TR1 command is useful for
debugging programs. TR0 disables the trace function. The TR command may also be included as part of a
program.
If there is a program error, the LEGEND-MC will halt program execution at the line number at which an
error occurs and display the line. The user can obtain information about the type of error condition that
occurred by using the command, TC1. This command reports back a number and error condition as fol-
lows:
Error Codes:
1 Unrecognized command
2 Command only valid from program
3 Command not valid in program
4 Operand error
5 Input buffer full
6 Number out of range
7 Command not valid while running
8 Command not valid while not running
9 Variable error
10 Empty program line or undefined label
11 Invalid label or line number
12 Subroutine more than 16 deep
13 JG only valid when running in jog mode
14 EEPROM check sum error
15 EEPROM write error
16 IP incorrect sign during position move or IP given during forced deceleration
17 ED, BN and DL not valid while program running
18 Command not valid when contouring
19 Application program/strand already executed
20 Begin not valid with motor off
21 Begin not valid while running
22 Begin not possible due to Limit Switch
24 Begin not valid because no sequence defined
25 Variable not given in IN command
28 S operand not valid
29 Not valid during coordinated move
30 Sequence segment too short
31 Total move distance in a sequence > 2 billion
41 Contouring record range error
42 Contour data being sent too slowly
46 Gear axis both master and follower

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50 Not enough fields

51 Question mark not valid
52 Missing “ or string too long
53 Error in {}
54 Question mark part of string
55 Missing [ or [ ]
56 Array index invalid or out of range
57 Bad function or array
58 Not a valid Command Operand
59 Mismatched parentheses
60 Download error - line too long or too many lines
61 Duplicate or bad label
62 Too many labels
63 IF command without ENDIF
65 IN command must have a comma
66 Array space full
67 Too many arrays or variables
71 IN only valid in task #0
80 Record mode already running
81 No array or source specified
82 Undefined array
83 Not a valid number
84 Too many elements
90 Only X,Y,Z,W valid operand
91 Amplifier not in run status
97 Bad binary command format
98 Binary commands not valid in application format
99 Bad binary command number
100 Not valid when running ECAM
101 Improper index to ET (must be 0-256)
102 No master axis for ECAM
103 Master axis modulus greater than 256* EP value
104 Not valid when axis performing ECAM
105 EB1 command must be given first
120 Bad Ethernet transmit
121 Bad Ethernet packet received
122 Ethernet input buffer overrun
123 TCP lost sync
124 Ethernet handle already in use
125 No ARP response from IP address

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Program Flow Commands

The LEGEND-MC provides instructions that control program flow.the LEGEND-MC program sequencer
executes instructions in a program sequentially. Program Flow commands, however, may be used to redi-
rect program flow. A summary of these commands is given below and they are detailed in the following
sections.
Program Flow Command Summary

AD After Distance Trigger

AI After Input Trigger

AM After Motion Complete Trigger

AP After Absolute Position Trigger

AR Relative Distance Trigger

AS After Speed Trigger

AT Wait for time with respect to reference

AV After Vector Distance Trigger

ELSE ELSE Function for use with IF Conditional Statement

ENDIF End of IF Conditional Statement

IF IF Conditional Statement

JP Conditional Jump
JS Conditional Jump to Subroutine

MC Trigger "In position" trigger (TW x,y,z,w sets timeout for in-position)
MF Trigger Forward motion

MR Trigger Reverse motion

WC Wait for Contour Data

WT Wait for time to elapse

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Event Triggers & Trippoints

To function independently from the host computer, the LEGEND-MC can be programmed to make deci-
sions based on the occurrence of an event. Such events include waiting for motion to be complete, wait-
ing for a specified amount of time to elapse, or waiting for an input to change logic levels.
The LEGEND-MC provides several event triggers that cause the program sequencer to halt until the
specified event occurs. Normally, a program is automatically executed sequentially one line at a time.
When an event trigger instruction is decoded, however, the actual program sequence is halted. The pro-
gram sequence does not continue until the event trigger is "tripped". For example, the motion complete
trigger can be used to separate two move sequences in a program. The commands for the second move
sequence will not be executed until the motion is complete on the first motion sequence. In this way, the
LEGEND-MC can make decisions based on its own status or external events without intervention from a
host computer.

LEGEND-MC Event Triggers

Command Function

AM X Y Z W or S Halts program execution until motion is complete on

(A B C D E F G H) the specified axes or motion sequence(s). AM with no
parameter tests for motion complete on all axes. This
command is for separating motion sequences in a
program.

AD X or Y or Z or W Halts program execution until position command has

(A or B or C or D or E or F or G or reached the specified relative distance from the start of
H) the move. Only one axis may be specified at a time.

AR X or Y or Z or W Halts program execution until after specified distance

(A or B or C or D or E or F or G or from the last AR or AD command has elapsed. Only
H) one axis may be specified at a time.

AP X or Y or Z or W Halts program execution until after absolute position

(A or B or C or D or E or F or G or occurs. Only one axis may be specified at a time.
H)

AI +/-n Halts program execution until after specified input is at

specified logic level. n specifies input line. Positive is
high logic level, negative is low level.

AS X Y Z W S Halts program execution until specified axis has

(A B C D E F G H) reached its slew speed.

AT +/-n Halts program execution until n msec from reference

time. AT 0 sets reference. AT n waits n msec from
reference. AT -n waits n msec from reference and sets
new reference after elapsed time.

AV n Halts program execution until specified distance along a

coordinated path has occurred.

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MC X or Y or Z or W Halt program execution until after the motion profile

(A or B or C or D or E or F or G or has been completed and the encoder has entered or
H) passed the specified position. TW x,y,z,w sets timeout
to declare an error if not in position. If timeout occurs,
then the trippoint will clear and the stop code will be
set to 99. An application program will jump to label
#MCTIME.

MF X or Y or Z or W Halt program execution until after forward motion

(A or B or C or D or E or F or G or reached absolute position. Only one axis may be
H) specified. If position is already past the point, then MF
will trip immediately.

MR X or Y or Z or W Halt program execution until after reverse motion

(A or B or C or D or E or F or G or reached absolute position. Only one axis may be
H) specified. If position is already past the point, then MR
will trip immediately.

WT n Halts program execution until specified time in msec

has elapsed.

Event Trigger Examples:

Event Trigger - Multiple Move Sequence

The AM trippoint is used to separate the two PR moves. If AM is not used, the controller returns a ? for
the second PR command because a new PR cannot be given until motion is complete.

#TWOMOVE Label

PR 2000 Position Command

BGX Begin Motion

AMX Wait for Motion Complete

PR 4000 Next Position Move

BGX Begin 2nd move

EN End program

In the above example, the AM trippoint is used to separate the two PR moves. If AM is not used, the con-
troller returns a ? for the second PR command because a new PR cannot be given until motion is complete.

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Event Trigger - Set Output after Distance

Set output bit 1 after a distance of 1000 counts from the start of the move. The accuracy of the trippoint
is the speed multiplied by the sample period.

#SETBIT Label

SP 10000 Speed is 10000

PA 20000 Specify Absolute position

BGX Begin motion

AD 1000 Wait until 1000 counts

SB1 Set output bit 1

EN End program

The above example sets output bit 1 after a distance of 1000 counts from the start of the move. The accu-
racy of the trippoint is the speed multiplied by the sample period.

Event Trigger - Repetitive Position Trigger

To set the output bit every 10000 counts during a move, the AR trippoint is used shown in the next exam-
ple.

#TRIP Label

JG 50000 Specify Jog Speed

BGX;N=0 Begin Motion

#REPEAT # Repeat Loop

AR 10000 Wait 10000 counts

TPX Tell Position

SB1 Set output 1

WT50 Wait 50 msec

CB1 Clear output 1

N=N+1 Increment counter

JP #REPEAT,N<5 Repeat 5 times

STX Stop

EN End

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Event Trigger - Start Motion on Input

This example waits for input 1 to go low and then starts motion. Note: The AI command actually halts
execution of the program until the input occurs. If you do not want to halt the program sequences, you can
use the Input Interrupt function (II) or use a conditional jump on an input, such as JP #GO,@IN[1] = 0.

#INPUT Program Label

AI-1 Wait for input 1 low

PR 10000 Position command

BGX Begin motion

EN End program

Event Trigger - Set Output when at Speed

#ATSPEED Program Label

JG 50000 Specify jog speed

AC 10000 Acceleration rate

BGX Begin motion

ASX Wait for at slew speed 50000

SB1 Set output 1

EN End program

Event Trigger - Change Speed along Vector Path

The following program changes the feed rate or vector speed at the specified distance along the vector.
The vector distance is measured from the start of the move or from the last AV command.

#VECTOR Label
VMXY;VS 5000 Coordinated path

VP 10000,20000 Vector position

VP 20000,30000 Vector position

VE End vector

BGS Begin sequence

AV 5000 After vector distance

VS 1000 Reduce speed

EN End

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Event Trigger - Multiple Move with Wait

#MOVES Label

PR 12000 Distance

SP 20000 Speed

AC 100000 Acceleration

BGX Start Motion

AD 10000 Wait a distance of 10,000 counts

SP 5000 New Speed

AMX Wait until motion is completed

WT 200 Wait 200 ms

PR -10000 New Position

SP 30000 New Speed

AC 150000 New Acceleration

BGX Start Motion

EN End

Define Output Waveform Using AT

The following program causes Output 1 to be high for 10 msec and low for 40 msec. The cycle repeats
every 50 msec.

#OUTPUT Program label

AT0 Initialize time reference

SB1 Set Output 1

#LOOP Loop

AT 10 After 10 msec from reference,

CB1 Clear Output 1

AT -40 Wait 40 msec from reference and reset reference

SB1 Set Output 1

JP #LOOP Loop

EN

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Conditional Jumps
The LEGEND-MC provides Conditional Jump (JP) and Conditional Jump to Subroutine (JS) instructions
for branching to a new program location based on a specified condition. Unlike event triggers, the condi-
tional jump instruction does not halt the program sequence. Instead, it tests to see if a condition is satis-
fied and then branches to a new location or subroutine. (A subroutine is a group of commands defined by
a label and EN command. After all the commands in the subroutine are executed, a return is made to the
main program). If the condition is not satisfied, the program sequence continues to the next program line.
The JP and JS instructions have the following format:

Format: Meaning
JS destination, logical condition Jump to subroutine if logical condition is satisfied

JP destination, logical condition Jump to location if logical condition is satisfied

The destination is a program line number or label. The destination is where the program sequencer jumps
to if the specified condition is satisfied. The comma designates "IF". The logical condition tests two oper-
ands with logical operators. The operands can be any valid LEGEND-MC numeric operand, including
variables, array elements, numeric values, functions, keywords, and arithmetic expressions.

Logical operators:

< less than

> greater than

= equal to

<= less than or equal to

>= greater than or equal to

<> not equal

Operands:

Type Examples
Number V1=6
Numeric Expression V1=V7*6

@ABS[V1]>10

Array Element V1<Count[2]

Variable V1<V2

Internal Variable _TPX=0

_TVX>500

I/O V1>@AN[2]

@IN[1]=0

The jump statement may also be used without a condition.

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Example of conditional jump statements are given below:

Conditional Meaning

JP #LOOP,COUNT<10 Jump to #LOOP if the variable, COUNT, is less than 10

JS #MOVE2,@IN[1]=1 Jump to subroutine #MOVE2 if input 1 is logic level high.

After the subroutine MOVE2 is executed, the program
sequencer returns to the main program location where the
subroutine was called.

JP #BLUE,@ABS[V2]>2 Jump to #BLUE if the absolute value of variable, V2, is greater

than 2

JP #C,V1*V7<=V8*V2 Jump to #C if the value of V1 times V7 is less than or equal to

the value of V8*V2

JP#A Jump to #A

Conditional jumps are useful for testing events in real-time. They allow the LEGEND-MC to make deci-
sions without a host computer. For example, the LEGEND-MC can decide between two motion profiles
based on the state of an input line. Or, the LEGEND-MC can keep track of how many times a motion
profile is executed.

Example:
Move the X motor to absolute position 1000 counts and back to zero ten times. Wait 100 msec between
moves.

#BEGIN Begin Program

COUNT=10 Initialize loop counter

#LOOP Begin loop

PA 1000 Position absolute 1000

BGX Begin move

AMX Wait for motion complete

WT 100 Wait 100 msec

PA 0 Position absolute 0

BGX Begin move

AMX Wait for motion complete

WT 100 Wait 100 msec

COUNT=COUNT-1 Decrement loop counter

JP #LOOP,COUNT>0 Test for 10 times through loop

EN End Program

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Multiple Conditional Statements

The LEGEND-MC will accept multiple conditions in a single jump statement. The conditional
statements are combined in pairs using the operands “&” and “|”. The “&” operand between any
two conditions, requires that both statements must be true for the combined statement to be true.
The “|” operand between any two conditions, requires that only one statement be true for the
combined statement to be true.

NOTE: Each condition must be placed in parentheses for proper evaluation by the controller. In addition,
the LEGEND-MC executes operations from left to right.

Example using variables named V1, V2, V3 and V4:

JP #TEST, (V1<V2) & (V3<V4)
In this example, this statement will cause the program to jump to the label #TEST if V1 is less than V2
and V3 is less than V4. To illustrate this further, consider this same example with an additional condition:
JP #TEST, ((V1<V2) & (V3<V4)) | (V5<V6)
This statement will cause the program to jump to the label #TEST under two conditions; 1. If V1 is less
than V2 and V3 is less than V4. OR 2. If V5 is less than V6.

Examples
If the condition for the JP command is satisfied, the controller branches to the specified label or line num-
ber and continues executing commands from this point. If the condition is not satisfied, the controller
continues to execute the next commands in sequence.

Format Meaning
JP #Loop, COUNT<10 Jump to #Loop if the variable, COUNT, is
less than 10
JS #MOVE2,@IN[1]=1 Jump to subroutine #MOVE2 if input 1 is
logic level high. After thesubroutine
MOVE2 is executed, the program sequencer
returns to the main program location where
the subroutine was called.
JP #BLUE,@ABS[V2]>2 Jump to #BLUE if the absolute value of vari-
able, V2, is greater than 2

JP #C,V1*V7<=V8*V2 Jump to #C if the value of V1 times V7 is less

than or equal to the
value of V8*V2

JP#A Jump to #A

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Example:
Move the A motor to absolute position 1000 counts and back to zero ten times. Wait 100 msec between
moves.

#BEGIN Begin Program

COUNT=10 Initialize loop counter

#LOOP Begin loop

PA 1000 Position absolute 1000

BGA Begin move

AMA Wait for motion complete

WT 100 Wait 100 msec

PA 0 Position absolute 0

BGA Begin move

AMA Wait for motion complete

WT 100 Wait 100 msec

COUNT=COUNT-1 Decrement loop counter

JP #LOOP,COUNT>0 Test for 10 times thru loop

EN End Program

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If, Else, and Endif

The LEGEND-MC provides a structured approach to conditional statements using IF, ELSE and ENDIF
commands.

Using the IF and ENDIF Commands

An IF conditional statement is formed by the combination of an IF and ENDIF command. The IF com-
mand has as it's arguments one or more conditional statements. If the conditional statement(s) evaluates
true, the command interpreter will continue executing commands which follow the IF command. If the
conditional statement evaluates false, the controller will ignore commands until the associated ENDIF
command is executed OR an ELSE command occurs in the program (see discussion of ELSE command
below).
NOTE: An ENDIF command must always be executed for every IF command that has been executed. It is recom-
mended that the user not include jump commands inside IF conditional statements since this causes re-direction of
command execution. In this case, the command interpreter may not execute an ENDIF command.

Using the ELSE Command

The ELSE command is an optional part of an IF conditional statement and allows for the execution of
command only when the argument of the IF command evaluates False. The ELSE command must occur
after an IF command and has no arguments. If the argument of the IF command evaluates false, the con-
troller will skip commands until the ELSE command. If the argument for the IF command evaluates true,
the controller will execute the commands between the IF and ELSE command.

Nesting IF Conditional Statements

The LEGEND-MC allows IF conditional statements to be included within other IF conditional statements.
This technique is known as 'nesting' and the LEGEND-MC allows up to 255 IF conditional statements to
be nested. This is a very powerful technique allowing the user to specify a variety of different cases for
branching.

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Command Format - IF, ELSE and ENDIF

Format: Meaning

IF <condition> Execute commands proceeding IF command (up to ELSE command) if con-

ditional statement(s) is true, otherwise continue executing at ENDIF com-
mand or optional ELSE command.

ELSE Optional command. Allows for commands to be executed when argument

of IF command evaluates not true. Can only be used with IF command.

ENDIF Command to end IF conditional statement. Program must have an ENDIF

command for every IF command.

Example:

#TEST Begin Main Program "TEST"

II,,3 Enable interrupts on input 1 and input 2

MG "WAITING FOR INPUT 1, INPUT 2" Output message

#LOOP Label to be used for endless loop

JP #LOOP Endless loop

EN End of main program

#ININT Input Interrupt Subroutine

IF (@IN[1]=0) IF conditional statement based on input 1

IF (@IN[2]=0) 2nd IF executed if 1st IF conditional true

MG "INPUT 1 AND INPUT 2 ARE Message executed if 2nd IF is true

ACTIVE"

ELSE ELSE command for 2nd IF statement

MG "ONLY INPUT 1 IS ACTIVE Message executed if 2nd IF is false

ENDIF End of 2nd conditional statement

ELSE ELSE command for 1st IF statement

MG"ONLY INPUT 2 IS ACTIVE" Message executed if 1st IF statement

ENDIF End of 1st conditional statement

#WAIT Label to be used for a loop

JP#WAIT,(@IN[1]=0) | (@IN[2]=0) Loop until Input 1& 2 are not active

RI0 End Input Interrupt Routine without restoring

trippoints

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Subroutines
A subroutine is a group of instructions beginning with a label and ending with an END (EN). Subroutines
are called from the main program with the jump subroutine instruction JS, followed by a label or line num-
ber, and conditional statement. Up to 16 subroutines can be nested. After the subroutine is executed, the
program sequencer returns to the program location where the subroutine was called unless the subroutine
stack is manipulated as described in the following section.

Example:
An example of a subroutine to draw a square 500 counts per side is given below. The square is drawn at
vector position 1000,1000.

#M Begin Main Program

CB1 Clear Output Bit 1 (pick up pen)

VP 1000,1000;LE;BGS;AMS Define vector position; move pen

SB1 Set Output Bit 1 (put down pen)

JS #SQUARE;CB1 Jump to square subroutine

EN End Main Program

#SQUARE Square subroutine

V1=500;JS #L Define length of side

V1=-V1;JS #L Switch direction

EN End subroutine

#L;PR V1,V1;BGX Define X,Y; Begin X

AMX;BGY;AMY After motion on X, Begin Y

EN End subroutine

Stack Manipulation
It is possible to manipulate the subroutine stack by using the ZS command. Every time a JS instruction,
interrupt or automatic routine (such as #POSERR or #LIMSWI) is executed, the subroutine stack is incre-
mented by 1. Normally the stack is restored with an EN instruction. Occasionally it is desirable not to
return back to the program line where the subroutine or interrupt was called. The ZS1 command clears 1
level of the stack. This allows the program sequencer to continue to the next line. The ZS0 command
resets the stack to its initial value. For example, if a limit occurs and the #LIMSWI routine is executed, it
is often desirable to restart the program sequence instead of returning to the location where the limit
occurred. To do this, give a ZS command at the end of the #LIMSWI routine.

Auto Start Routine

#AUTO Auto start program on power-up

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Automatic Subroutines for Monitoring Conditions

Often it is desirable to monitor certain conditions continuously without tying up the host or LEGEND-
MC program sequences. The LEGEND-MC can monitor several important conditions in the back-
ground. These conditions include checking for the occurrence of a limit switch, a defined input, position
error, or a command error. Automatic monitoring is enabled by inserting a special, predefined label in
the applications program. The pre-defined labels are:

#CMDERR Bad command given

#COMINT Communication interrupt occurred

#ININT Input specified by II goes low

#LIMSWI Limit switch on any axis goes low

#MCTIME Timeout for In-position trippoint, MC

#POSERR Position error exceeds limit specified by ER

#TCPERR Ethernet error

For example, the #POSERR subroutine will automatically be executed when any axis exceeds its position
error limit. The commands in the #POSERR subroutine could decode which axis is in error and take the
appropriate action. In another example, the #ININT label could be used to designate an input interrupt
subroutine. When the specified input occurs, the program will be executed automatically.

Note: An application program must be running for automatic monitoring to function.

Example - Limit Switch:

This program prints a message upon the occurrence of a limit switch. Note, for the #LIMSWI routine to
function, the LEGEND-MC must be executing an applications program from memory. This can be a
very simple program that does nothing but loop on a statement, such as #LOOP;JP #LOOP;EN. Motion
commands, such as JG 5000 can still be sent from the PC even while the "dummy" applications program
is being executed.

#LOOP Dummy Program

JP #LOOP;EN Jump to Loop

#LIMSWI Limit Switch Label

MG "LIMIT OCCURRED" Print Message

RE Return to main program

:XQ #LOOP Execute Dummy Program

:JG 5000 Jog

:BGX Begin Motion

Now, when a forward limit switch occurs on the X axis, the #LIMSWI subroutine will be executed.

Note: The RE command is used to return from the #LIMSWI subroutine.

Note: The #LIMSWI will continue to be executed until the limit switch is cleared (goes high).

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Example - Position Error

#LOOP Dummy Program

JP #LOOP;EN Loop

#POSERR Position Error Routine

V1=_TEX Read Position Error

MG "EXCESS POSITION ERROR" Print Message

MG "ERROR=",V1= Print Error

RE Return from Error

:XQ #LOOP Execute Dummy Program

:JG 100000 Jog at High Speed

:BGX Begin Motion

If the position error on the X axis exceeds that specified by the ER command, the #POSERR routine will
execute.

Note: The RE command is used to return from the #POSERR subroutine

Note: The #POSERR routine will continue to be executed until the position error is cleared (is less than the
ER limit).

Input Interrupt Example:

#A Label

II1 Input Interrupt on 1

JG 30000,,,60000 Jog

BGXW Begin Motion

#LOOP;JP#LOOP;EN Loop

#ININT Input Interrupt

ST;AM Stop Motion

#TEST;JP #TEST, @IN[1]=0 Test for Input 1 still low

BGXW;RI Begin motion and Return to Main Program

EN

NOTE: Use the RI command to return from #ININT subroutine.

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Bad Command Example

#BEGIN Begin main program

IN "ENTER SPEED", SPEED Prompt for speed

JG SPEED;BGX; Begin motion

JP #BEGIN Repeat

EN End main program

#CMDERR Command error utility

JP#DONE,_TC<>6 Check if out of range

MG "SPEED TOO HIGH" Send message

MG "TRY AGAIN" Send message

ZS1 Adjust stack

JP #BEGIN Return to main program

#DONE End program if other error

ZS0 Zero stack

EN End program

The above program prompts the operator to enter a jog speed. If a number is entered out of range (greater
than 8 million), the #CMDERR routine will be executed prompting the operator to enter a new number.

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Mathematical and Functional Expressions

For manipulation of data, the LEGEND-MC provides the use of the following mathematical operators:

Operator Function

+ Addition

- Subtraction

* Multiplication

/ Division

& Logical And (Bit-wise)

| Logical Or (On some computers, a solid vertical line appears as a broken line)

( ) Parenthesis

The numeric range for addition, subtraction and multiplication operations is +/-2,147,483,647.9999. The
precision for division is 1/65,000.
Mathematical operations are executed from left to right. Parentheses can be used and nested four deep.
Calculations within a parentheses have precedence.

Examples:

SPEED=7.5*V1/2 The variable, SPEED, is equal to 7.5 multiplied by V1 and

divided by 2

COUNT=COUNT+2 The variable, COUNT, is equal to the current value plus 2.

RESULT=_TPX- Puts the position of X - 28.28 in RESULT. 40 * cosine of

(@COS[45]*40) 45° is 28.28

TEMP=@IN[1]&@IN[2] TEMP is equal to 1 only if Input 1 and Input 2 are high

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The LEGEND-MC also provides the following functions:

Function Command Meaning

@ABS[n] Absolute Value

@ACOS[n] Arc Cosine

@AN[n] Read analog input n

@ASIN[n] Arc Sine

@ATAN[n] Arc Tangent

@COM[n] 2's Complement

@COS[n] Cosine

@FRAC[n] Fraction

@IN[n] Read digital input n

@INT[n] Integer

@OUT[n] Output state

@RND[n] Rounds number .5 and up to next integer

@SIN[n] Sine

@SQR[n] Square Root Function; Accuracy is +/-.0004

@TAN[n] Tangent

Functions may be combined with mathematical expressions. The order of execution is from left to right.
The units of the SIN and COS functions are in degrees with resolution of 1/128 degrees. The values can
be up to +/-2 billion degrees.

Example:

V1=@ABS[V7] The variable, V1, is equal to the absolute value of variable V7.

V2=5*@SIN[POS] The variable, V2, is equal to five times the sine of the variable,
POS.

V3=@IN[1] The variable, V3, is equal to the digital value of input 1.

V4=@AN[5] The variable, V4, is equal to the digital value of analog input 5.

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Variables
Many motion applications include parameters that are variable. For example, a cut-to-length application
often requires that the cut length be variable. The motion process is the same, however the length is
changing.
To accommodate these applications, the LEGEND-MC provides for the use of both numeric and string
variables. A program can be written in which certain parameters, such as position or speed, are defined as
variables. The variables can later be assigned by the operator or determined by the program calculations.

Example:

PR POSX Assigns variable POSX to PR command

JG RPMY*70 Assigns variable RPMY multiplied by 70 to JG command.

Programmable Variables
The LEGEND-MC allows the user to create up to 254 variables. Each variable is defined by a name
which can be up to eight characters. The name must start with an alphabetic character, however, numbers
are permitted in the rest of the name. Spaces are not permitted. Examples of valid and invalid variable
names are:
Valid Variable Names

POSX
POS1
SPEEDZ
Invalid Variable Names

1POS
123
SPEED Z
It is recommended that variable names not be the same as LEGEND-MC instructions. For example, PR is
not a good choice for a variable name.
The range for numeric variable values is 4 bytes of integer followed by two bytes of fraction (+/-
2,147,483,647.9999).
String variables can contain up to six characters which must be in quotation. Example: VAR="STRING".
Numeric values can be assigned to programmable variables using the equal sign. Assigned values can be
numbers, internal variables and keywords, and functions. String values can be assigned to variables using
quotations.
Any valid LEGEND-MC function can be used to return a value such as V1=@ABS[V2] or V2=@IN[1].
Arithmetic operations are also permitted.

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Example:

POSX=_TPX Assigns returned value from TPX command to variable POSX.

SPEED=5.75 Assigns value 5.75 to variable SPEED

INPUT=@IN[2] Assigns logical value of input 2 to variable INPUT

V2=V1+V3*V4 Assigns the value of V1 plus V3 times V4 to the variable V2.

VAR="CAT" Assign the string, CAT, to VAR

Variable values may be assigned to controller parameters such as GN or PR. Here, an equal is not used.
For example:
PR V1 Assign V1 to PR command
SP VS*2000 Assign VS*2000 to SP command

Example - Using Variables for Joystick

The example below reads the voltage of an X-Y joystick and assigns it to variables VX and VY to drive
the motors at proportional velocities, where
10 Volts = 8191 counts --> 3000 rpm = 200000 c/sec
Speed/Analog input = 200000/8191 = 24.4

#JOYSTICK Label

JG 0,0 Set in Jog mode

BGXY Begin Motion

#LOOP Loop

VX=@AN[1]*24.4 Read joystick X

VY=@AN[2]*24.4 Read joystick Y

JG VX,VY Jog at variable VX,VY

JP#LOOP Repeat

EN End

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Internal Variables & Keywords

Internal variables allow motion or status parameters from LEGEND-MC commands to be incorporated
into programmable variables and expressions. Internal variables are designated by adding an underscore
(_) prior to the LEGEND-MC command. LEGEND-MC commands which can be used as internal vari-
ables are listed in the Command Reference as "Used as an Operand".
Most LEGEND-MC commands can be used as internal variables. Status commands such as Tell Position
return actual values, whereas action commands such as GN or SP return the values in the LEGEND-MC
registers. The X,Y,Z or W or A,B,C,D,E,F,G,H for the LEGEND-MC, axis designation is required fol-
lowing the command.

Examples:

POSX=_TPX Assigns value from Tell Position X to the variable POSX.

JP #LOOP,_TEX>5 Jump to #LOOP if the position error of X is greater than 5

JP #ERROR,_TC=1 Jump to #ERROR if the error code equals 1.

Internal variables can be used in an expression and assigned to a programmable variable, but they cannot
be assigned a value. For example: _KDX=2 is invalid.
The LEGEND-MC also provides a few keywords which give access to internal variables that are not
accessible by standard LEGEND-MC commands.

Keyword Function
_BGX or _BGY or _BGW Motion Done if 1. Moving if 0.
_LFX or _LFY or _LFZ or_LFW Forward Limit (equals 0 or 1)

_LRX or _LRY or _LRZ or LRW Reverse Limit (equals 0 or 1)

TIME Free-Running Real Time Clock* (off by 2.4% - Reset
on power-on). Note: TIME does not use _.

_HMX or _HMY or _HMZ or HMW Home Switch (equals 0 or 1)

Examples:

V1=_LFX Assign V1 the logical state of the Forward Limit Switch on the X-axis

V3=TIME Assign V3 the current value of the time clock

V4=_HMW Assign V4 the logical state of the Home input on the W-axis

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Example Program:

#TIMER Timer

INITIME=TIME Initialize time variable

PR50000;BGX Begin move

AMX After move

ELAPSED=TIME-INTIME Compute elapsed time

EN End program

#LIMSWI Limit Switch Routine

JP #FORWARD,_LFX=0 Jump if Forward Limit

AMX Wait for Motion Done

PR 1000;BGX;AMX Move Away from Reverse Limit

JP #END Exit

#FORWARD Forward Label

PR -1000;BGX;AMX Move Away from Forward Limit

#END Exit

RE Return to Main Program

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Arrays
For storing and collecting numerical data, the LEGEND-MC provides array space for 8000 elements in up
to 14 arrays. Arrays can be used to capture real-time data, such as position, torque and analog input val-
ues. In the contouring mode, arrays are convenient for learning a position trajectory and later playing it
back.

Defining Arrays
An array is defined by a name and number of entries using the DM command. The name can contain up to
eight characters, starting with an uppercase alphabetic character.
The number of entries in the defined array is enclosed in [ ].
Up to 14 different arrays may be defined. The arrays are one dimensional.

Example:

DM POSX[7] Defines an array named POSX with seven entries

DM SPEED[100] Defines an array named speed with 100 entries

DM POSX[0] Frees array space

Each array element has a numeric range of 4 bytes of integer (231)followed by two bytes of fraction (+/-
2,147,483,647.9999).
Array space may be de-allocated using the DA command followed by the array name. DA*[0] de-allo-
cates all the arrays.

Assignment of Array Entries

Like variables, each array element can be assigned a value. Assigned values can be numbers or returned
values from instructions, functions and keywords.
Values are assigned to array entries using the equal sign. Assignments are made one element at a time by
specifying the element number with the associated array name.

NOTE: Remember to define arrays using the DM command before assigning entry values.

Example:

DM SPEED[10] Dimension Speed Array

SPEED[1]=7650.2 Assigns the first element of the array, SPEED the value
7650.2

SPEED[1]= Returns array element value

POSX[10]=_TPX Assigns the 10th element of the array POSX the returned
value from the tell position command.

CON[2]=@COS[POS]*2 Assigns the second element of the array CON the cosine of
the variable POS multiplied by 2.

TIMER[1]=TIME Assigns the first element of the array timer the returned
value of the TIME keyword.

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An array element number can also be a variable. This allows array entries to be assigned sequentially
using a counter.

Example:

#A Begin Program

COUNT=0;DM POS[10] Initialize counter and define array

#LOOP Begin loop

WT 10 Wait 10 msec

POS[COUNT]=_TPX Record position into array element

POS[COUNT]= Report position

COUNT=COUNT+1 Increment counter

JP #LOOP,COUNT<10 Loop until 10 elements have been stored

EN End Program

The above example records 10 position values at a rate of one value per 10 msec. The values are stored
in an array named POS. The variable, COUNT, is used to increment the array element counter. The
above example can also be executed with the automatic data capture feature described as follows.
Arrays may be uploaded and downloaded using the QU and QD commands.
QU array[ ],start,end,comma
QD array[ ],start,end
where array is an array name such as A[ ].
Start is the first element of array (default=0)
End is the last element of array (default=last element)
Comma -- if comma is a 1, then the array elements are separated by a comma. If not a 1, then the ele-
ments are separated by a carriage return.
The file is terminated using <control>Z, <control>Q, <control>D or \.

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Automatic Data Capture into Arrays

The LEGEND-MC provides a special feature for automatic capture of data such as position, position error,
inputs or torque. This is useful for teaching motion trajectories or observing system performance. Up to
eight types of data can be captured and stored in eight arrays. The capture rate or time interval may be
specified.
Commands used:

RA n[ ],m[ ],o[ ],p[ ] Selects up to four arrays for data capture. The arrays must be
defined with the DM command.

RD_TI,_TPX,_SCZ,_TSY Selects the type of data to be recorded. See the table below
for the various types of data. The order of data type is
important and corresponds with the order of n,m,o,p arrays in
the RA command. In this example, the _TI input data is
stored in the first array selected by the RA command.

RC n,m The RC command begins data collection. Sets data capture

time interval where n is an integer between 1 and 8 and
designates 2n msec between data. m is optional and specifies
the number of elements to be captured. If m is not defined,
the number of elements defaults to the smallest array defined
by DM. n=0 stops recording.

RC? or V=_RC Returns a 0 or 1 where, 0 denotes not recording, 1 specifies

recording in progress

Data Types for Recording

_DEX 2nd encoder position (dual encoder)

_TPX Encoder position

_TEX Position error

_RPX Commanded position

_RLX Latched position

_TI Inputs

_OP Output

_TSX Switches (only bit 0-4 valid)

_SCX Stop code

_TBX Status bits

_TTX Torque (reports digital value +/-32703)

Note: X may be replaced by Y,Z or W for capturing data on other axes, or A,B,C,D,E,F,G,H for LEGEND-
MC.

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Example - Recording into An Array

During a position move, store the X and Y positions and position error every 2 msec.

#RECORD Begin program

DM XPOS[300],YPOS[300] Define X,Y position arrays

DM XERR[300],YERR[300] Define X,Y error arrays

RA XPOS[],XERR[],YPOS[],YERR[] Select arrays for capture

RD _TPX,_TEX,_TPY,_TEY Select data types

PR 10000,20000 Specify move distance

RC1 Start recording now, at rate of 2 msec

BG XY Begin motion

#A;JP #A,RC=1 Loop until done

MG "DONE" Print message

EN End program

#PLAY Play back

N=0 Initial Counter

JP# DONE,N>300 Exit if done

N= Print Counter
X POS[N]= Print X position

Y POS[N]= Print Y position

XERR[N]= Print X error

YERR[N]= Print Y error

N=N+1 Increment Counter

#DONE Done

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NOTES:

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8 Input and Output of Data

Sending Messages
Messages may be sent to the bus using the message command, MG. This command sends specified text
and numerical or string data from variables or arrays to the screen.
Text strings are specified in quotes and variable or array data is designated by the name of the variable or
array. For formatting string variables, the {Sn} specifier is required where n is the number of characters,
1 through 6. Example:
MG STR {S3}
The above statement returns 3 characters of the string variable named STR.
Numeric data may be formatted using the {Fn.m} expression following the completed MG statement.
{$n.m} formats data in HEX instead of decimal. Example:

MG "The Final Value is", RESULT {F5.2}

The above statement sends the message:

The Final Value is xxxxx.xx

The actual numerical value for the variable, RESULT, is substituted with the format of 5 digits to the left
of the decimal and 2 to the right.
In addition to variables, functions and commands, responses can be used in the message command. For
example:

MG "Analog input is", @AN[1]

MG "The Position of X is", _TPX
The message command normally sends a carriage return and line feed following the statement. The car-
riage return and the line feed may be suppressed by sending {N} at the end of the statement. This is use-
ful when a text string needs to surround a numeric value.

Example:

#A Label

JG 50000;BGX;ASX Jog, Begin, After Speed

MG "The Speed is", _TVX {F5.1} {N} Message

MG "counts/sec" Message

EN End Program

When #A is executed, the above example will appear on the screen as:

The speed is 50000 counts/sec

The MG command can also be used to configure terminals. Here, any character can be sent by using
{^n} where n is any integer between 1 and 255.

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Example:
MG {^07} {^255}
sends the ASCII characters represented by 7 and 255 to the bus.

Summary of Message Functions:

MG Message command

"" Surrounds text string

{Fn.m} Formats numeric values in decimal n digits to the right of the

decimal point and m digits to the left

{$n.m} Formats numeric values in hexadecimal

{^n} Sends ASCII character specified by integer n

{N} Suppresses carriage return/line feed

{Sn} Sends the first n characters of a string variable, where n is 1

through 6.

Variables may also be sent to the screen using the variable= format. Variable Name= returns the variable
value. For example, V1= , returns the value of the variable V1.

Example - Printing a Variable

#DISPLAY Label

PR 1000 Position Command

BGX Begin

AMX After Motion

V1=_TPX Assign Variable V1

V1= Print V1

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Input of Data
The IN command is used to prompt the user to input numeric or string data. The input data is assigned to
the specified variable or array element.
A message prompt may be sent to the user by specifying the message characters in quotes.

Example:
#A
IN "Enter Length", LENX
EN
This program sends the message:

Enter Length
to the PC screen and waits for the operator to enter a value. The operator enters the numeric value which
is assigned to the variable, LENX. String variables with up to six characters may also be input using the
{S} specifier. For example, IN "Enter X,Y or Z", V{S} specifies a string variable to be input.

Formatting Data
Returned numeric values may be formatted in decimal or hexadecimal* with a specified number of digits
to the right and left of the decimal point using the PF command.
The Position Format (PF) command formats motion values such as those returned by the Tell Position
(TP), Speed? (SP?) and Tell Error (TE) commands.
Position Format is specified by:

PF m.n
where m is the number of digits to the left of the decimal point (0 through 10) and n is the number of dig-
its to the right of the decimal point (0 through 4) A negative sign for m specifies hexadecimal format.
Hex values are returned preceded by a $ and in 2's complement. Hex values should be input as signed 2's
complement, where negative numbers have a negative sign. The default format is PF 10.0.

Examples:

:DP21 Define position

:TPX Tell position

0000000021 Default format

:PF4 Change format to 4 places

:TPX Tell position

0021 New format

:PF-4 Change to hexadecimal format

:TPX Tell Position

$0015 Hexadecimal value

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The following interrogation commands are affected by the PF command:

DP

ER

PA

PR

TE

TP

If the number of decimal places specified by PF is less than the actual value, a nine appears in all the dec-
imal places.

Example:

:PF2 Format 2 places

:TPX Tell position

99 Returns 99 if actual position is more than allowed format

The Variable Format (VF) command is used to format variables and array elements. The VF command is
specified by:

VF m.n
where m is the number of digits to the left of the decimal point (0 through 10) and n is the number of digits
to the right of the decimal point (0 through 4).
A negative sign for m specifies hexadecimal format. The default format for VF is VF 10.4
Hex values are returned preceded by a $ and in 2's complement.

:V1=10 Assign V1

:V1= Return V1

0000000010.0000 Default format

:VF2.2 Change format

:V1= Return V1

10.00 New format

:VF-2.2 Specify hex format

:V1= Return V1

$0A.00 Hex value

:VF1 Change format

:V1= Return V1

9 Overflow

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The variable format also affects returned values from internal variables such as _GNX.
PF and VF commands are global format commands. Parameters may also be formatted locally by using
the {Fn.m} or {$n.m} specification following the variable = . For example:

V1={F4.2} Specifies the variable V1 to be returned in a format of 4 digits to left of

decimal and 2 to the right.

F specifies decimal and $ specifies hexadecimal. n is the number of digits to the left of the decimal, and
m is the number of digits to the right of the decimal. The local format is used with the MG* command.

Examples:

:V1=10 Assign V1

:V1= Return V1

0000000010.0000 Default Format

:V1={F4.2} Specify local format

0010.00 New format

:V1={$4.2} Specify hex format

$000A.00 Hex value

:V1="ALPHA" Assign string "ALPHA" to V1

:V1={S4} Specify string format first 4 characters

ALPH

User Units
Variables and arithmetic operations make it easy to input data in desired user units i.e.; inches or RPM.
For example, an operator can be prompted to input a number in revolutions. The input number is con-
verted into counts by multiplying it by the number of counts/revolution.
The LEGEND-MC position parameters such as PR, PA and VP have units of quadrature counts. Speed
parameters such as SP, JG and VS have units of counts/sec. Acceleration parameters such as AC, DC,
VA and VD have units of counts/sec2. All input parameters must be converted into these units.

Example:

#RUN Label

IN "ENTER # OF REVOLUTIONS",N1 Prompt for revs

PR N1*2000 Convert to counts

IN "ENTER SPEED IN RPM",S1 Prompt for RPMs

SP S1*2000/60 Convert to counts/sec

IN "ENTER ACCEL IN RAD/SEC2",A1 Prompt for ACCEL

AC A1*2000/(2*3.14) Convert to counts/sec2

BG Begin motion

EN End program

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NOTES:

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9 Programmable I/O

Digital Outputs
Each bit on the output port may be set and cleared with the software instructions SB (Set Bit) and
CB(Clear Bit), or OB (define output bit).

Example:

Instruction Function
SB3 Sets bit 3 of output port

CB4 Clears bit 4 of output port

The Output Bit (OB) instruction is useful for setting or clearing outputs depending on the value of a vari-
able, array, input or expression. Any non-zero value results in a set bit.

Instruction Function
OB1, POS Set Output 1 if the variable POS is non-zero. Clear Output 1 if
POS equals 0.

OB 2, @IN [1] Set Output 2 if Input 1 is high. If Input 1 is low, clear Output 2.
OB 3, @IN [1]&@IN [2] Set Output 3 only if Input 1 and Input 2 are high.

OB 4, COUNT [1] Set Output 4 if element 1 in the array COUNT is non-zero.

The output port may also be written to as an 8-bit word using the instruction
OP (Output Port). This instruction allows a single command to define the state of the entire 8-bit output
port, where 20 is output 1, 21 is output 2 and so on. A 1 designates that output is on.

Example:

Instruction Function

OP6 Sets outputs 2 and 3 of output port to high. All other bits are 0.
(21 + 22 = 6)

OP0 Clears all bits of output port to zero

OP 255 Sets all bits of output port to one.

(20 + 21 + 22 + 23 + 24 + 25 + 26 + 27)

The output port is useful for firing relays or controlling external switches and events during a motion
sequence.

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Example - Turn ON Output After Move

#OUTPUT Label

PR 2000 Position Command

BG Begin

AM After move

SB1 Set Output 1

WT 1000 Wait 1000 msec

CB1 Clear Output 1

EN End

Digital Inputs
The LEGEND-MC has eight digital inputs for controlling motion by local switches. The @IN[n] function
returns the logic level of the specified input 1 through 8. For example, a Jump on Condition instruction
can be used to execute a sequence if a high condition is noted on an input 3. To halt program execution,
the After Input (AI) instruction waits until the specified input has occurred.
Example:

JP #A,@IN[1]=0 Jump to A if input 1 is low

JP #B,@IN[2]=1 Jump to B if input 2 is high

AI 7 Wait until input 7 is high

AI -6 Wait until input 6 is low

Input Interrupt Function

The LEGEND-MC provides an input interrupt function which causes the program to automatically exe-
cute instructions following the #ININT label. This function is enabled using the II m,n,o command. m
specifies the beginning input and n specifies the final input in the range. The parameter o is an interrupt
mask. If m and n are unused, o contains a number with the mask. A 1 designates the input to be enabled for
an interrupt, where 20 is bit 1, 21 is bit 2 and so on. For example, II,5 enables inputs 1 and 3 (20 + 22 = 5).
A low input on any of the specified inputs will cause automatic execution of the #ININT subroutine. The
Return from Interrupt (RI) command is used to return from this subroutine to the place in the program
where the interrupt had occurred. If it is desired to return to somewhere else in the program after the exe-
cution of the #ININT subroutine, the Zero Stack (ZS) command is used followed by unconditional jump
statements. See Section 10, Example Applications, for an example.

Important: Use the RI instruction (not EN) to return from the #ININT subroutine.

Analog Inputs
The LEGEND-MC provides two analog inputs. The value of these inputs in volts may be read using the
@AN[n] function where n is the analog input 1 or 2. The resolution of the Analog-to-Digital conversion is
14 bits. Analog inputs are useful for reading special sensors such as temperature, tension or pressure.
The examples in Section 10, Example Applications, show programs which cause the motor to follow an
analog signal. The first example is a point-to-point move. The second shows a continuous move.

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10 Example Applications

Instruction Set Examples

Below are some examples of simple instructions. It is assumed your system is hooked-up and the motors
are under stable servo control.

DP*=0 <enter> Define all axis positions as 0

PF 6,6,6,6 <enter> Define position format as 6 digits

PR 100,200,300,400 <enter> Specify X,Y,Z,W position command

BG <enter> Begin Motion

TP <enter> Tell Position

00100,00200,00300,00400 Returned Position data

PR?,?,?,? <enter> Request Position Command

00100,00200,00300,00400 Returned data

BGX <enter> Begin X axis only

TPX <enter> Tell X position only

00200 Returned position data

tpx <enter> Enter invalid command

? TC1 <enter> Controller response - Request error code

1 Unrecognized command Controller response

VM XY <enter> Specify Vector Mode for XY

VS 10000 <enter> Specify Vector Speed

VP 2000,3000 <enter> Specify Vector Segment

VP 4000,5000 <enter> Specify Vector

LE <enter> Segment End Vector

BGS <enter> Begin Coordinated Sequence

TPXY <enter> Tell X and Y position

004200,005200 Returned data

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Example - Jog in X only

Jog X motor at 50000 count/s. After X motor is at its jog speed, begin jogging Z in reverse direction at
25000 count/s.

Instruction Interpretation

#A Label

AC 20000,20000 Specify X,Y acceleration of 20000 cts / sec

DC 20000,20000 Specify X,Y deceleration of 20000 cts / sec

JG 50000,-25000 Specify jog speed and direction for X and Y axis

BG X Begin X motion

AS X Wait until X is at speed

BG Z Begin Z motion

EN

Homing Example (HM method):

Instruction Interpretation
#HOME Label
AC 1000000 Acceleration Rate

DC 1000000 Deceleration Rate

SP 5000 Speed for Home Search

HM X Home X
BG X Begin Motion

AM X After Complete

MG "AT HOME" Send Message

EN End

#EDGE Label
AC 2000000 Acceleration rate

DC 2000000 Deceleration rate

SP 8000 Speed
FE Y Find edge command

BG Y Begin motion
AM Y After complete

MG "FOUND HOME" Send message

DP,0 Define position as 0

EN End

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MOTION BEGINS
TOWARD HOME
DIRECTION
POSITION

MOTION REVERSE
TOWARD HOME
DIRECTION
POSITION

MOTION TOWARD INDEX

DIRECTION

POSITION

INDEX PULSES

POSITION

HOME SWITCH

POSITION

Motion intervals in the Home sequence

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Homing Example (FE and FI method)

This example demonstrates how to home servos with a home sensor in the middle of a slide where it is
possible for the servo to be on either side of the home sensor at power-up. If the servo is already past the
sensor, it will hit a limit switch first, and the #IMSWI special label subroutine will reverse the CN com-
mand and turn the servo around. The #BACKUP subroutine is used to make the servo come back to the
home input and go a small distance past it, so the #HOMING routine can always hit the same side of the
home sensor.
Ideally, the home sensor is a photo device. If there is a white and black strip along the slide, the photo eye
will see either light or dark, and the value of _HMX will be “1” or “0”. Under this design, the FEX com-
mand can automatically determine the direction to find the transition point of the black and white strip.
You need not account for the limit switch or the #BACKUP routine in that case

Instruction Interpretation

#TEST

SPX=10000

ACX=1000000

DCX=1000000

CN,1

TRUE=1

FALSE=0

HOMING=FALSE

SHX; WT 2000

#HOMING

MG “Attempting to find
home” {N}

MG “(normal direction)”

FLX

BLX

HOMING=TRUE

JGX=8192;
FEX;BGX;AMX

HOMING=FALSE

JG*=500; FIX; BGX; (MCX because the controller will automatically define the position
MCX as zero when the index is found)

MG “Homed O.K!” EN

#BACKUP

MG “Going back to the

{N}

MG “home input..”

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CN,-1

FEX; BGX; AMX

IPX=-20000; AMX (Need to adjust number based on distance)

CN,1

JP #HOMING

EN

#LIMSWI; AB1 (AB1 optional, to instantly stop all servos)

JP#REALPRB,HOMING (Do next part if limit during homing)

=FALSE

zs;WT 1000; JP (Next part handles a real limit event)

#BACKUP

#REALPRB

MG “Limit Hit”

RE1

#CMDERR (Command error handler special label)

AB1; ZS

JP#LIMSWI,_TC=22 (Refer to #LIMSWI handler if try to begin or motor OFF)

MG “Error”{N};TCI{N}

MG”on line”,_ED{F3.0}

MG”Program halted!”

AB

EN

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Example - Input Interrupt

Instruction Interpretation
#A Label #A

II 1 Enable input 1 for interrupt function

JG 30000,-20000 Set speeds on A and B axes

BG AB Begin motion on A and B axes

#B Label #B
TP AB Report A and B axes positions

WI 1000 Wait 1000 milliseconds

JP #B Jump to #B

EN End of program

#INNT Interrupt subroutine

MG “Interrupt has occured” Displays the message

ST AB Stops motion on A and B axes

#LOOP;JP#LOOP,@IN[1]=0 Loop until Interrupt cleared

JG 15000,10000 Specify new speeds

WT300 Wait 300 milliseconds

BG AB Begin motion on A and B axes

RI Return from Interrupt subroutine

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Example - Position Follower (Point-to-Point)

Objective - The motor must follow an analog signal. When the analog signal varies by 10V, motor must
move 10000 counts.
Method: Read the analog input and command X to move to that point.

Instruction Interpretation

#POINTS Label

SP 7000 Speed

AC 80000;DC 80000 Acceleration

#LOOP Label

COMPP=@AN[1]*1000 Read analog input, and compute position

PA COMPP Command position

BGX Start motion

AMX After completion

JP #LOOP Repeat

EN End

Example - Position Follower (Continuous Move)

Method: Read the analog input, compute the commanded position and the position error. Command the
motor to run at a speed in proportions to the position error.

Instruction Interpretation
#CONT Label
AC 80000;DC 80000 Acceleration rate

JG 0 Start job mode

BGX Start motion

#LOOP

COMPP=@AN[1]*1000 Compute desired position

VE=COMPP-_TPX Find position error

PVEL=VE*20 Compute velocity

JG PVEL Change velocity

JP #LOOP Repeat

EN End

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Example - Absolute Position Movement

PA 10000,20000 Specify absolute X,Y position

AC 1000000,1000000 Acceleration for X,Y

DC 1000000,1000000 Deceleration for X,Y

SP 50000,30000 Speeds for X,Y

BG XY Begin motion

Example - Motion Smoothing

Instruction Interpretation

PR 20000 Position

AC 100000 Acceleration

DC 100000 Deceleration

SP 5000 Speed

IT .5 Filter for S-curve

BG X Begin

ACCELERATION

VELOCITY

ACCELERATION

VELOCITY

Trapezoidal velocity and smooth velocity profiles

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Cut-to-Length Example
In this example, a length of material is to be advanced a specified distance. When the motion is com-
plete, a cutting head is activated to cut the material. The length is variable, and the operator is prompted
to input it in inches. Motion starts with a start button which is connected to input 1.
The load is coupled with a 2 pitch lead screw. A 2000 count/rev encoder is on the motor, resulting in a
resolution of 4000 counts/inch. The program below uses the variable LEN, to length. The IN command
is used to prompt the operator to enter the length, and the entered value is assigned to the variable LEN.

#BEGIN Label

AC 800000 Acceleration
DC 800000 Deceleration

SP 5000 Speed
LEN=3.4 Initial length in inches

#CUT Cut routine

AI1 Wait for start signal

IN "enter Length(IN)", LEN Prompt operator for length in inches

PR LEN *4000 Specify position in counts

BGX Begin motion to move material

AMX Wait for motion done

SB1 Set output to cut

WT100;CB1 Wait 100 msec, then turn off cutter

JP #CUT Repeat process

EN End program

Latch Capture Example:

Instruction Interpretation
#Latch Latch program

JG5000 Jog X

BG X Begin motion on X axis

AL X Arm Latch for X axis

#Wait #Wait label for loop

JP #Wait,_ALX=1 Jump to #Wait label if latch has not occurred

Result=_RLX Set value of variable ‘Result’ equal to the report position of X axis

Result= Print result

EN End

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Example - Electronic Gearing LEGEND-MC

Objective: Run a geared motor at a speed of 1.132 times the speed of an external master. The master is
driven at speeds between 0 and 1800 RPM (2000 counts/rev encoder), and is connected through the auxil-
iary encoder inputs.
Solution: Use a LEGEND-MC controller, where the X-axis auxiliary is master and X-axis main is geared
axis.

GR 1.132 Specify gear ratio

Now suppose the gear ratio of the X-axis is to change on-the-fly to 2. This can be achieved by command-
ing:

GR 2 Specify gear ratio for X axis to be 2

Contour Mode Example

A complete program to generate the contour movement in this example is given below. To generate an
array, compute the position value at intervals of 8 ms. This is stored at the array POS. Then, the difference
between the positions is computed and is stored in the array DIF. Finally the motors are run in the contour
mode.

Instruction Interpretation

#POINTS Program defines X points

DM POS[16] Allocate memory

DM DIF[15]

C=0 Set initial conditions, C is index

T=0 T is time in ms

#A

V1=50*T

V2=3*T Argument in degrees

V3=- Compute position

955*@SIN[V2]+V1

V4=@INT[V3] Integer value of V3

POS[C]=V4 Store in array POS

T=T+8

C=C+1

JP #A,C<16

#B Program to find position differences

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C=0

#C

D=C+1

DIF[C]=POS[D]- Compute the difference and store

POS[C]

C=C+1

JP #C,C<15

EN End first program

#RUN Program to run motor

CMX Contour Mode

DT3 4 millisecond intervals

C=0

#E

CD DIF[C] Contour Distance is in DIF

WC Wait for completion

C=C+1

JP #E, C<15

DT0

CD0 Stop Contour

EN End the program

Example - Linear Move

Make a coordinated linear move in the XY plane. Move to coordinates 40000,30000 counts at a vector
speed of 100000 counts/sec and vector acceleration of 1000000 counts/sec2.

Instruction Interpretation
LM XY Specify axes for linear interpolation

LI40000,30000 Specify XY distances

LE Specify end move

VS 100000 Specify vector speed

VA 1000000 Specify vector acceleration

VD 1000000 Specify vector deceleration

BGS Begin sequence

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Example - Multiple Interpolated Moves

This example makes a coordinated linear move in the XY plane. The Arrays VX and VY are used to store
750 incremental distances which are filled by the program #LOAD.

Instruction Interpretation

#LOAD Load Program

DM VX [750],VY [750] Define Array

COUNT=0 Initialize Counter

N=0 Initialize position increment

#LOOP LOOP

VX [COUNT]=N Fill Array VX

VY [COUNT]=N Fill Array VY

N=N+10 Increment position

COUNT=COUNT+1 Increment counter

JP #LOOP,COUNT<750 Loop if array not full

#A Label

CAS Specify coordinate system S

LM XY Specify linear mode for XY

COUNT=0 Initialize array counter

#LOOP2;JP#LOOP2,_LM=0 If sequence buffer full, wait

JS#C,COUNT=500 Begin motion on 500th segment

LI VX[COUNT],VY[COUNT] Specify linear segment

COUNT=COUNT+1 Increment array counter

JP #LOOP2,COUNT<750 Repeat until array done

LE End Linear Move

AMS After Move sequence done

MG "DONE" Send Message

EN End program

#C;BGS;EN Begin Motion Subroutine

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Example of Linear Interpolation Motion:

Instruction Interpretation
#LMOVE Label

DP 0,0 Define position of X and Y axes to be 0

LMXY Define linear mode between X and Y axes.

LI 5000,0 Specify first linear segment

LI 0,5000 Specify second linear segment

LE End linear segments

VS 4000 Specify vector speed

BGS Begin motion sequence

AV 4000 Set trippoint to wait until vector distance of 4000 is reached

VS 1000 Change vector speed

AV 5000 Set trippoint to wait until vector distance of 5000 is reached

VS 4000 Change vector speed

EN Program end

In this example, the XY system is required to perform a 90° turn. In order to slow the speed around the
corner, we use the AV 4000 trippoint, which slows the speed to 1000 count/s. Once the motors reach the
corner, the speed is increased back to 4000 cts / s.

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Generating an Array - An Example

Consider the velocity and position profiles shown in the following illustration - Velocity Profile with Sinusoi-
dal Acceleration. The objective is to rotate a motor a distance of 6000 counts in 120 ms. The velocity pro-
file is sinusoidal to reduce the jerk and the system vibration. If we describe the position displacement in
terms of A counts in B milliseconds, we can describe the motion in the following manner:

ω = (A/B) [1 - cos (2πΤ/B)]

X = (AT/B) - (A/2π)sin (2πΤ/B)

Note: ω is the angular velocity; X is the position; and T is the variable, time, in milliseconds.
In the given example, A=6000 and B=120, the position and velocity profiles are:

X = 50T - (6000/2π) sin (2π T/120)

Note that the velocity, ω, in count/ms, is

ω = 50 [1 - cos 2π T/120]

Velocity Profile with Sinusoidal Acceleration

The 300 can compute trigonometric functions. However, the argument must be expressed in degrees.
Using our example, the equation for X is written as:

X = 50T - 955 sin 3T

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Teach (Record and Play-Back)

Several applications require a machine motion trajectory. Use LEGEND-MC automatic array to capture
position data. Captured data may be played back in contour mode. Use the following array commands:

DM C[n] Dimension array

RA C[ ] Specify array for automatic record (up to 4 for LEGEND-MC)

RD _TPX Specify data for capturing (such as _TPX or _TPZ)

RC n,m Specify capture time interval where n is 2n msec, m is number of records to
be captured
RC? or _RC Returns a 1 if recording

Record and Playback Example:

Instruction Interpretation
#RECORD Begin Program
DM XPOS[501] Dimension array with 501 elements

RA XPOS[] Specify automatic record

RD _TPX Specify X position to be captured

MOX Turn X motor off

RC2 Begin recording; 4 msec interval

#A;JP#A,_RC=1 Continue until done recording

#COMPUTE Compute DX
DM DX[500] Dimension Array for DX

C=0 Initialize counter

#L Label

D=C+1

DELTA=XPOS[D]- Compute the difference

XPOS[C]

DX[C]=DELTA Store difference in array

C=C+1 Increment index

JP #L,C<500 Repeat until done

#PLAYBCK Begin Playback

CMX Specify contour mode

DT2 Specify time increment

I=0 Initialize array counter

#B Loop counter
CD XPOS[I];WC Specify contour data I=I+1 Increment array counter JP #B,I<500 Loop until
done

DT 0;CD0 End contour mode

EN End program

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Example - Multiple Move Sequence

Required Motion Profiles:

X-Axis 2000 counts Position Y-Axis 100 counts Position

15000 count/sec Speed 5000 count/sec Speed

500000 counts/sec2 Acceleration 500000 counts/sec2 Acceleration

This specifies relative position movement on the X axis. The movement is separated by 40 msec.

The following illustration - Velocity Profiles of XY shows the velocity profiles for the X and Y axis.

Instruction Interpretation
#A Begin Program
PR 2000,100 Specify relative position movement of 2000 and 100 counts for the X
and Y axes.

SP 15000,5000 Specify speed of 15000 and 5000 counts / sec

AC 500000,500000 Specify acceleration of 500000 counts / sec2 for all axes
DC 500000,500000 Specify deceleration of 500000 counts / sec2 for all axes
BG X Begin motion on the X axis
WT 40 Wait 40 msec

BG Y Begin motion on the Y axis

EN End Program

VELOCITY
(COUNTS/SEC)

X axis velocity profile

20000

15000
Y axis velocity profile
10000

5000
TIME (ms)

0 20 40 60 80 100

Velocity Profiles of XY
Notes on Velocity Profiles of XY illustration: The X axis has a ‘trapezoidal’ velocity profile, while the Y axis has a
‘triangular’ velocity profile. The X axis accelerates to the specified speed, moves at this constant speed, and then
decelerates such that the final position agrees with the commanded position, PR. The Y axis accelerates, but before
the specified speed is achieved, must begin deceleration such that the axis will stop at the commanded position.

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Example - Start Motion on Switch

Motor X must turn at 4000 counts/sec when the user flips a panel switch to on. When panel switch is
turned to off position, motor X must stop turning.
Solution: Connect panel switch to input 1 of LEGEND-MC. High on input 1 means switch is ON.

Instruction Interpretation

#S;JG 4000 Set speed

AI 1;BGX Begin after input 1 goes high

AI -1;STX Stop after input 1 goes low

AMX;JP #S After motion, repeat

EN;

Examples - Input Interrupt

#A Label #A

II 1 Enable input 1 for interrupt function

JG 30000,-20000 Set speeds on X and Y axes

BG XY Begin motion on X and Y axes

#B Label #B

TP XY Report X and Y axes positions

WT 1000 Wait 1000 milliseconds

JP #B Jump to #B

EN End of program

#ININT Interrupt subroutine

MG "Interrupt has occurred" Displays the message

ST XY Stops motion on X and Y axes

#LOOP;JP #LOOP,@IN[1]=0 Loop until Interrupt cleared

JG 15000,10000 Specify new speeds

WT 300 Wait 300 milliseconds

BG XY Begin motion on X and Y axes

RI Return from Interrupt subroutine

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Special Labels
This program demonstrates five of the SPECIAL LABELS as part of a LEGEND-MC application pro-
gram. #AUTO is usually the first line of a program. When this program is burned into the LEGEND-MC
using the BP command, the program will begin executing when the power is turned ON or after the RS
command is given, or the RESET button on the front is pressed.

Instruction
#AUTO

ERX=150; OEX=1, II3

SHX WT 500
#BUSY

JGX=@AN[1]*10000
BGX

MG “BUSY...”
WT500

JP#BUSY

EN

#POSERR-- This special label is used to handle a situation in which a servo is not able to remain in posi-
tion. The special label works with the ER command. When the value of the ER command is exceeded,
thread zero automatically jumps to the #POSERR label. In this program example, ERX=150 counts. If
there are low gains or if using a small motor, it is possible to cause more than 150 counts of error by hand,
causing the #POSERR label to execute. In the following example, the program displays a message and
waits for input #1 to go low (falling edge). The servo is then re-energized.
There are three ways to return from a special label like this. The example below uses RE1; i.e., to return
from the error routine to the line in thread zero that was being executed when the #POSERR occurred.
The “1” means to restore a trip point if one was in progress, such as WT, AI, AM, AT, etc.
The second method is to do an RE, meaning that any trip points that were in progress are cleared. If thread
zero was waiting for an AM command, it would continue as if the profiler had completed the path.
The third method is to use the ZS command, which clears the subroutine stack, and the LEGEND forgets
it is in the middle of an error routine. After the ZS is given, it is possible to do a JP anywhere in the
program. Typically, there would be a jump back to a main loop where manual jogging can take place.

Instruction
#POSERR

SB1

MG “FOLLOWING ERROR IS HIGH!”

MG “TOGGLE INPUT #1 TO CONTINUE”

AI1; AI-1

CB1; SHX; WT 500

RE1

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The following is the special label that is automatically executed when there is a programming error, a
command given where it cannot be used, or a number out of range for a command. The example below
includes a jump to the #LIMSWI label if the _TC code is 22, which is “Begin not valid due to limit
switch.” This is considered a command error, but is easier to treat as a limit switch error. Similar condi-
tions could be handled by checking other _TC codes and reacting accordingly. If the error is anything
other than 22, motion is aborted without aborting the program (AB1), then a message is prompted indi-
cating the type of error and the line number on which it occurred. _ED reports the last line that had an
error. The #CMDERR routine can be finished just like the #POSERR special label, but it is not recom-
mended because usually there is very little reason to continue execution of the program if there are seri-
ous errors in it. This routine is very useful in two ways:
First, during program design when there will be many programming mistakes, it is convenient to have the
program display the error and line number automatically.
Second, it is safer to abort motion if there is a program fault. Without the AB1command, the motors will
continue doing whatever they were doing before the fault. For example, if they were jogging, they will
continue jogging.

Instruction
#CMDERR

JP#LIMSWI,_TC=22

AB1

MG “Error”{N};TCI{N}

MG “on line”,_ED{F3.0}

MG “Program halted!”

AB

EN

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The following is the #LIMSWI special label for handling situations where limit switches ar hit during
motion. This label automatically executes if an axis is in motion and a limit switch in the direction of
motion is hit, or a software limit is exceeded. Without this special label, if a limit switch is hit during
motion, such as a position absolute move, the motor will decelerate to a stop with NO ERROR. if an AM
command is used, it will be cleared. The example as shown does not recover from the limit switch error,
but a recovery method that woks well is the use of a status flag variable. For example if the machine was
in a manual jog operation, a variable could be used to indicate that it was in jog mode (JOGMODE=1).
The first line in the #LIMSWI could jump to #PROBLEM if JOGMODE <>1, otherwise return from the
error. The two commented lines below demonstrate this. (The JOGMODE variable can be set to “1” in the
jog routine and set back to “0” at the end of the jog routine.)

Instruction
Limit= “+”

Axis=”X”; JS #HARD,_LFX=0; JS#SOFT,_FLX<_TPX

Axis=”Y”; JS #HARD,_LFY=0; JS#SOFT,_FLY<_TPY

Limit=“-”

Axis=“X”; JS#HARD,_LRX=0; JS#SOFT, _BLX>_TPX

Axis=“Y”; JS#HARD,_LRY=0; JS#SOFT, _BLY>_TPY

(JP#PROBLEM,JOGMODE=0;REI)
(#PROBLEM)

AB1; HX1; HX2; HX3

ZS

MG “PROGRAM HALTED! (LIMSWI)”

EN

#HARD;MG Limit {S}, “,Axis,“HARDWARE LIMIT HIT!”;EN

#SOFT;MG Limit {S}, “,Axis,“SOFTWARE LIMIT HIT!”;EN

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The following is the special label to handle input interrupts. Inputs 1 - 8 can be used as interrupts. this
example uses the input to tell the LEGEND that the system is under an E-STOP condition. This input
may come from a contact that also removes power from the amplifiers. Notice that the interrupt com-
mand II is used at the beginning of the program to designate input #3 as an interrupt. When this input
goes low, thread zero automatically jumps to #ININT if it is included in the program. Notice that if the
example assumes that if an E-STOP occurs, the current operation has been scrapped. The ZS (Zero Sub-
routine Stack) command is used which allows the program to jump anywhere. Usually it is easiest to
jump back to a main loop which handles the different modes of operation of the machine. Also note that
if ZS is used, the interrupt must be enabled for next time.

Instruction Interpretation

#ININT

AB1; HX1; HX2; HX3

SB3

MG “ESTOPPED”

AI-3; AI3 (Wait for e-stop input to go high

(re-enabled))
CB3

MG “RE-ENABLED..”

SHX

WT2000

ZS

II3 (Re-enable input interrupt for next

time)
#JP BUSY

EN

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Wire Cutter
Activate the start switch. The motor will advance the wire a distance of 10". When motion stops, the con-
troller generates an output signal activating the cutter. Allow 100 ms for cutting to complete the cycle.
Suppose the motor drives the wire by a roller with a 2" diameter and the encoder resolution is 1000 lines
per revolution. Since the circumference of the roller equals 2π inches, and it corresponds to 4000 quadra-
ture, one inch of travel equals: 4000/2π = 637 count/inch
A distance of 10 inches equals 6370 counts, and a slew speed of 5 inches / second equals 3185 count/sec.
The input signal may be applied to I1, and the output signal as output 1. Motor velocity profile and related
input and output signals are in the following illustration - Motor Velocity and Associated Input/Output signals.
The program starts at a state that we define as #A. Here the controller waits for the input pulse on I1. As
soon as the pulse is given, the controller starts the forward motion.
Upon completion of the forward move, the controller outputs a pulse for 20 ms and then waits an addi-
tional 80 ms before returning to #A for a new cycle.

Instruction Function
#A Label
AI1 Wait for input 1

PR 6370 Distance
SP 3185 Speed

BGX Start Motion

AMX After motion is complete

SB1 Set output bit 1

WT 20 Wait 20 ms
CB1 Clear output bit 1

WT 80 Wait 80 ms

JP #A Repeat the process

START PULSE I1

MOTOR VELOCITY

OUTPUT PULSE

output

TIME INTERVALS
move wait ready move

Motor Velocity and the Associated Input/Output signals

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Speed Control by Joystick

The speed of a motor is controlled by a joystick. The joystick produces a signal in the range between -
10V and +10V. The objective is to drive the motor at a speed proportional to the input voltage.
Assume that a full voltage of 10 Volts must produce a motor speed of 3000 rpm with an encoder resolu-
tion of 1000 lines or 4000 count/rev. This speed equals:

3000 rpm = 50 rev/sec = 200000 count/sec

The program reads the input voltage periodically and assigns its value to the variable VIN. To get a
speed of 200,000 ct/sec for 10 volts, we select the speed as
Speed = 20000 x VIN
The corresponding velocity for the motor is assigned to the VEL variable.

Instruction Function

#A Label

JG0 Set motor in jog mode speed zero

BGX Start motion

#B Label

VIN=@AN[1] Read analog input

VEL=VIN*20000 Compute the desired velocity

JG VEL Change the jog speed

JP #B Repeat the process

EN End

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Position Control by Joystick

This system requires the position of the motor to be proportional to the joystick angle. Furthermore, the
ratio between the two positions must be programmable. For example, if the control ratio is 5:1, it implies
that when the joystick voltage is 5 Volts, corresponding to 4095 counts, the required motor position must
be 20475 counts. The variable V3 changes the position ratio.

Instruction Function

#A Label

V3=5 Initial position ratio

DP0 Define the starting position

JG0 Set motor in jog mode as zero

BGX Start

#B

V1=@AN[1] Read analog input

V2=V1*V3 Compute the desired position

V4=V2-_TPX-_TEX Find the following error

V5=V4*20 Compute a proportional speed

JG V5 Change the speed

JP #B Repeat the process

EN End

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Backlash Compensation by Dual-Loop

This design example addresses the basic problems of backlash in motion control systems. The objective
is to control the position of a linear slide precisely. The slide is to be controlled by a rotary motor, which
is coupled to the slide by a leadscrew. Such a leadscrew has a backlash of 4 micron, and the required
position accuracy is for 0.5 micron.
The dilemma is where to mount the sensor. A rotary sensor, gives a 4-micron backlash error. If a linear
encoder is used, the backlash in the feedback loop will cause oscillations due to instability.
An alternative approach is the dual-loop, using two sensors, rotary and linear. The rotary sensor assures
stability (because the position loop is closed before the backlash); the linear sensor provides accurate
load position information. The principle is to drive the motor to a given rotary position near the final
point. The load position is then read to find position error and the controller commands the motor to
move to a new rotary position which eliminates the position error.
Since the required accuracy is 0.5 micron, the resolution of the linear sensor should preferably be twice
finer. A linear sensor with a resolution of 0.25 micron allows a position error of +/-2 counts.
The dual-loop approach requires the resolution of the rotary sensor to be equal or better than that of the
linear system. Assuming that the pitch of the lead screw is 2.5mm (approximately 10 turns per inch), a
rotary encoder of 2500 lines per turn or 10,000 count per revolution results in a rotary resolution of 0.25
micron. This results in equal resolution on both linear and rotary sensors.
To illustrate the control method, assume that the rotary encoder is used as a feedback for the X-axis, and
that the linear sensor is read and stored in the variable LINPOS. Further assume that at the start, both the
position of X and the value of LINPOS are equal to zero. Now assume that the objective is to move the
linear load to the position of 1000.
The first step is to command the X motor to move to the rotary position of 1000. Once it arrives we
check the position of the load. If, for example, the load position is 980 counts, it implies that a correction
of 20 counts must be made. However, when the X-axis is commanded to be at the position of 1000, sup-
pose that the actual position is only 995, implying that X has a position error of 5 counts, which will be
eliminated once the motor settles. This implies that the correction needs to be only 15 counts, since 5
counts out of the 20 would be corrected by the X-axis. Accordingly, the motion correction should be:

Correction = Load Position Error - Rotary Position Error

The correction can be performed a few times until the error drops below +/-2 counts. Often, this is per-
formed in one correction cycle.

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Example Motion Program:

Instruction Function

#A Label

DP0 Define starting positions as zero

LINPOS=0

PR 1000 Required distance

BGX Start motion

#B

AMX Wait for completion

WT 50 Wait 50 msec

LIN POS = _DEX Read linear position

ER=1000-LINPOS-_TEX Find the correction

JP #C,@ABS[ER]<2 Exit if error is small

PR ER Command correction

BGX

JP #B Repeat the process

#C

EN

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11 Troubleshooting

Overview
The following discussion may help you get your system running if a problem is encountered.
Potential problems have been divided into groups as follows:
1. Installation
2. Communication
3. Stability and Compensation
4. Operation
The various symptoms along with the cause and the remedy are described in the following tables.

Installation

Symptom Cause Remedy

Motor runs away when connected to Amplifier offset Adjust amplifier offset
amplifier with no additional inputs. too large.

Same as above, but offset adjustment does Damaged Replace amplifier.

not stop motor. amplifier.

Controller does not read changes in encoder Wrong encoder Check encoder wiring.
position. connections.

Same as above Bad encoder Check the encoder

signals. Replace
encoder if necessary.

Same as above Bad controller Connect the encoder to

different axis input. If it
works, controller
failure. Repair or
replace.

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Communication

Symptom Cause Remedy

LEGEND-MC cannot Plug and Play installation Check first that LEGEND-
communicate with the did not proceed properly MC.INF was used to install
controller. the controller. Next check
the controller registry to see
if the controller was
automatically added and an
address selected.

Stability

Symptom Cause Remedy

Motor runs away when Wrong feedback polarity. Invert the polarity of the loop by
the loop is closed. (Positive Feedback) inverting the motor leads (brush
type) or the encoder (channel A+,
B+ if single ended; channel A+,
A- and B+, B- if differential)

Motor oscillates. Too high gain or too little Decrease KI and KP. Increase
damping. KD.

Operation

Symptom Cause Remedy

Controller rejects command. Anything. Interrogate the cause with

Responded with a ? TC or TC1.

Motor does not start or Noise on limit switches To check the cause,
complete a move. stops the motor. Noise on interrogate the stop code
the abort line aborts the (SC). If caused by limit
motion. switch or abort line noise,
reduce noise.

During a periodic operation, Encoder noise Interrogate the position

motor drifts slowly. periodically. If controller
states that the position is the
same at different locations it
implies encoder noise. Also
use a scope to see the noise.
Reduce noise. Use
differential encoder inputs.

Same as above. Programming error. Avoid resetting position error

at end of move with SH
command.

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YASKAWA ELECTRIC AMERICA, INC.

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Phone: 44-12-3673-5000 Fax: 44-12-3645-8182
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Phone: 86-10-6232-9943 Fax: 86-10-6234-5002
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Yaskawa Electric America, Inc., August 2001 YEA-SIA-SMC-1.2A Printed in U.S.A.