{"text_format":"1","workbook":"xlsx","n_sheets":7,"sheets":["Moves Scale Factor Calculator","Status Words","CAN Port Status","Serial Port Status","RMODE Report Mode","Command Syntax Error codes","Read Me Page"],"not_rendered":{"charts":1,"images":2,"macros":1,"external_links":0,"defined_names":1,"comments":0,"pivot_tables":0},"unopened":[],"bounds":{"document_bytes":16777216,"sheet_cells":100000,"rows_first":2000,"rows_last":500,"rows_between":2000,"halvings":0,"cell_chars":16384,"cell_head_chars":4096},"cells_cut":0,"cells_raw":0,"read":"whole","date_system":"1900"}

{"sheet":"Moves Scale Factor Calculator","index":0,"n_rows":50,"n_cols":15,"rows_kept":50,"cut":false,"hidden":false,"merged":[[17,14,17,15],[18,14,18,15],[21,2,21,3],[21,5,21,10],[22,5,22,8],[5,5,5,10],[7,3,8,3],[7,5,7,6],[14,3,15,3],[14,5,14,10],[15,9,18,10],[16,5,16,8]]}
[]
[]
[]
[null,"Show Overview Help"]
[]
[null,null,"Class 5 Scale Factor Calculator",null,null,"See tabs at bottom for more work sheets"]
[]
[null,null,"Setup info:","Input Value",null,"Output values",null,null,"(C15/F$6)*F$7*65536"]
[null,null,null,null,null,null,null,null,"C15*F$8*F$7",null,null,null,null,"PID Value","Hz"]
[null,null,"PID: 1,2,4,8        (Defaults to 2) :",2,null,"Hz =",{"$f":"VLOOKUP(D10,N10:O14,2,0)","v":8000},{"$f":"(G10^2)/65536","v":976.5625},null,null,null,null,null,1,16000]
[null,null,"Encoder Res (counts per rev) =",4000,null,"res =",{"$f":"D11","v":4000},null,null,null,null,null,null,2,8000]
[null,null,"Note: 17's and 23's =4000, 34's=8000",null,null,"Main Multiplier:",{"$f":"65536/G10","v":8.1920000000000002},"Enc counts/Sec=","VT",null,null,null,null,4,4000]
[null,null,null,null,null,null,null,null,{"$f":"G12","v":8.1920000000000002},null,null,null,null,8,2000]
[]
[null,null,"Input ","Input Value",null,"Output"]
[null,null,null,null,null,null,"Exact value","Integer value","percent error"]
[null,null,"Velocity Calculation"]
[null,null,"RPM =",30,null,"VT= ",{"$f":"((D18/60)/G$10)*G$11*65536","v":16384},{"$f":"INT(G18)","v":16384},{"$f":"((G18-H18)/G18)*100","v":0}]
[null,null,"Rev / sec =",14,null,"VT= ",{"$f":"D19*$G$12*$G$11","v":458752},{"$f":"INT(G19)","v":458752},{"$f":"((G19-H19)/G19)*100","v":0}]
[null,null,"VT=",32768,null,"Rev/sec =",{"$f":"(INT(D20)/65536)*(G10/G11)","v":1},"n/a","n/a","RPM=",{"$f":"G20*60","v":60}]
[null,null,"Encoder Counts/Second",4000,null,"VT= ",{"$f":"D21*G12","v":32768},{"$f":"INT(G21)","v":32768},{"$f":"((G21-H21)/G21)*100","v":0},"RPS=",{"$f":"D21/G11","v":1}]
[]
[null,null,"Acceleration Calculation"]
[null,null,"ADT, AT, DT=",60,null,"Rev/sec/sec =",{"$f":"INT(D24)/((G11/(G10*G10))*65536)","v":14.6484375},"n/a","n/a","RPM/sec=",{"$f":"G24*60","v":878.90625}]
[null,null,"rev/sec/sec =",1,null,"ADT, AT, DT =",{"$f":"D25*(G$11/$H$10)","v":4.0960000000000001},{"$f":"INT(G25)","v":4},2.3437500000000022]
[null,null,"RPM/sec =",6000,null,"ADT, AT, DT =",{"$f":"D26*(G$11/$H$10)/60","v":409.6},{"$f":"INT(G26)","v":409},0.14648437500000555]
[null,null,"Encoder Counts/Sec/Sec",58624,null,"ADT, AT, DT =",{"$f":"D27/H10","v":60.030976000000003},{"$f":"INT(G27)","v":60},5.1600027292580682E-2]
[]
[null,null,null,null,null,"Note: Native Velocity Units are: (counts/sample)*65536"]
[null,null,null,null,null,"Note:     Native Accel Units are: (counts/sample/sample)*65536"]
[null,"tv=0","Move Profile Calculators:"]
[null,"ta=tt/2",null,null,null,"Intermediate Calculations"]
[null,"td=tt/2","For Triangular Move, If Distance=",58624,null,"accel dist:",{"$f":"D33/2","v":29312},null,null,null,"speed=(distance)/time"]
[null,"da=d/2","In a move time of",1,"sec's","accel time:",{"$f":"D34/2","v":0.5},"Minimum Velocity",null,null,"accel=2(dist)/time^2",null,null,null,"accel=veloc/time"]
[null,"dd=d/2","VT should be set to >",{"$f":"I35*$G$12","v":1920991.2320000001},null,"accel (cnts/sec^2):",{"$f":"2*G33/G34^2","v":234496}," vel(cnt/sec):",{"$f":"G35/D34","v":234496},null,null,null,null,"veloc=accel*time"]
[null,null,"ADT=",{"$f":"G35/$H$10","v":240.12390400000001}]
[]
[]
[null,"tv=tt/3","For a 1/3-1/3-1/3 trap move , If Distance=",20000,null,"accel dist:",{"$f":"D39/4","v":5000},"vel dist:",{"$f":"D39/2","v":10000}]
[null,"ta=tt/3","In a move time of",1,"sec's","accel time:",{"$f":"D40/3","v":0.33333333333333331},"vel time:",{"$f":"D40/3","v":0.33333333333333331},null,null,null,null,"accel=(vf-vi)"]
[null,"td=tt/3","VT=",{"$f":"I41*$G$12","v":245760},null,"accel (cnts/sec^2):",{"$f":"2*G39/G40^2","v":90000},"vel (cnts/sec):",{"$f":"I39/I40","v":30000},null,null,null,null,null,"tf-ti"]
[null,"dv=d/2","ADT=",{"$f":"G41/$H$10","v":92.16},null,null,null,null,null,null,null,null,null,"vf=(accel(tf-fi))+vi"]
[null,"da=d/4"]
[]
[null,"tv=tt/2","For a 1/4-1/2-1//4 trap move, If distance=",58624,null,"accel dist:",{"$f":"D45/6","v":9770.6666666666661},"vel dist:",{"$f":"2*D45/3","v":39082.666666666664}]
[null,"ta=tt/3","In a move time of",1,"sec's","accel time:",{"$f":"D46/4","v":0.25},"vel time:",{"$f":"D46/2","v":0.5}]
[null,"td=tt/3","VT=",{"$f":"I47*$G$12","v":640330.41066666669},null,"accel (cnts/sec^2):",{"$f":"2*G45/G46^2","v":312661.33333333331},"vel (cnts/sec):",{"$f":"I45/I46","v":78165.333333333328}]
[null,"dv=2d/3","ADT=",{"$f":"G47/$H$10","v":320.16520533333329}]
[null,"da=d/6"]
[null,"dd=d/6"]

{"sheet":"Status Words","index":1,"n_rows":256,"n_cols":29,"rows_kept":256,"cut":false,"hidden":false,"merged":[[17,16,18,17],[37,16,38,18],[228,16,228,18],[229,16,229,18],[230,16,230,18],[231,16,231,18],[232,16,232,18],[233,16,233,18],[234,16,234,18],[235,16,235,18],[236,16,236,18],[219,16,219,17],[220,16,220,17],[221,16,221,18],[222,16,222,18],[223,16,223,18],[224,16,224,18],[225,16,225,18],[226,16,226,18],[227,16,227,18],[7,2,7,12],[8,2,8,12],[10,2,10,3],[11,2,11,4],[5,2,5,12],[6,2,6,12],[13,2,13,4],[14,2,14,4],[15,2,15,4],[12,2,12,4],[9,2,9,3],[17,2,17,4],[18,2,18,4],[19,2,19,4],[20,2,20,4],[21,2,21,4],[22,2,22,4],[16,2,16,4],[49,2,49,4],[50,2,50,4],[31,2,31,4],[30,2,30,4],[32,2,32,4],[33,2,33,4],[34,2,34,4],[35,2,35,4],[39,2,39,4],[23,2,23,4],[24,2,24,4],[25,2,25,4],[26,2,26,4],[38,2,38,4],[51,2,51,4],[52,2,52,4],[53,2,53,4],[54,2,54,4],[44,2,44,4],[28,2,28,3],[29,2,29,3],[45,2,45,4],[47,2,47,3],[48,2,48,3],[36,2,36,4],[37,2,37,4],[40,2,40,4],[41,2,41,4],[42,2,42,4],[43,2,43,4],[61,2,61,4],[62,2,62,4],[63,2,63,4],[64,2,64,4],[66,2,66,3],[67,2,67,3],[55,2,55,4],[56,2,56,4],[57,2,57,4],[58,2,58,4],[59,2,59,4],[60,2,60,4],[74,2,74,4],[75,2,75,4],[76,2,76,4],[77,2,77,4],[78,2,78,4],[79,2,79,4],[68,2,68,4],[69,2,69,4],[70,2,70,4],[71,2,71,4],[72,2,72,4],[73,2,73,4],[87,2,87,4],[88,2,88,4],[89,2,89,4],[90,2,90,4],[91,2,91,4],[92,2,92,4],[80,2,80,4],[81,2,81,4],[82,2,82,4],[83,2,83,4],[85,2,85,3],[86,2,86,3],[99,2,99,4],[100,2,100,4],[101,2,101,4],[102,2,102,4],[104,2,104,3],[105,2,105,3],[93,2,93,4],[94,2,94,4],[95,2,95,4],[96,2,96,4],[97,2,97,4],[98,2,98,4],[112,2,112,4],[113,2,113,4],[114,2,114,4],[115,2,115,4],[116,2,116,4],[117,2,117,4],[106,2,106,4],[107,2,107,4],[108,2,108,4],[109,2,109,4],[110,2,110,4],[111,2,111,4],[125,2,125,4],[126,2,126,4],[127,2,127,4],[128,2,128,4],[129,2,129,4],[130,2,130,4],[118,2,118,4],[119,2,119,4],[120,2,120,4],[121,2,121,4],[123,2,123,3],[124,2,124,3],[137,2,137,4],[138,2,138,4],[139,2,139,4],[140,2,140,4],[142,2,142,3],[143,2,143,3],[131,2,131,4],[132,2,132,4],[133,2,133,4],[134,2,134,4],[135,2,135,4],[136,2,136,4],[150,2,150,4],[151,2,151,4],[152,2,152,4],[153,2,153,4],[154,2,154,4],[155,2,155,4],[144,2,144,4],[145,2,145,4],[146,2,146,4],[147,2,147,4],[148,2,148,4],[149,2,149,4],[163,2,163,4],[164,2,164,4],[165,2,165,4],[166,2,166,4],[167,2,167,4],[168,2,168,4],[156,2,156,4],[157,2,157,4],[158,2,158,4],[159,2,159,4],[161,2,161,3],[162,2,162,3],[175,2,175,4],[176,2,176,4],[177,2,177,4],[178,2,178,4],[180,2,180,3],[181,2,181,3],[169,2,169,4],[170,2,170,4],[171,2,171,4],[172,2,172,4],[173,2,173,4],[174,2,174,4],[188,2,188,4],[189,2,189,4],[190,2,190,4],[191,2,191,4],[192,2,192,4],[193,2,193,4],[182,2,182,4],[183,2,183,4],[184,2,184,4],[185,2,185,4],[186,2,186,4],[187,2,187,4],[194,2,194,4],[195,2,195,4],[196,2,196,4],[197,2,197,4],[219,2,219,3],[220,2,220,3],[227,2,227,4],[228,2,228,4],[229,2,229,4],[199,2,199,3],[200,2,200,3],[201,2,201,4],[202,2,202,4],[203,2,203,4],[204,2,204,4],[205,2,205,4],[206,2,206,4],[207,2,207,4],[208,2,208,4],[209,2,209,4],[210,2,210,4],[211,2,211,4],[212,2,212,4],[213,2,213,4],[239,2,239,3],[230,2,230,4],[231,2,231,4],[232,2,232,4],[221,2,221,4],[222,2,222,4],[223,2,223,4],[224,2,224,4],[225,2,225,4],[226,2,226,4],[214,2,214,4],[215,2,215,4],[216,2,216,4],[252,2,252,4],[253,2,253,4],[254,2,254,4],[255,2,255,4],[246,2,246,4],[247,2,247,4],[248,2,248,4],[249,2,249,4],[250,2,250,4],[251,2,251,4],[240,2,240,4],[241,2,241,4],[242,2,242,4],[243,2,243,4],[244,2,244,4],[245,2,245,4],[233,2,233,4],[234,2,234,4],[235,2,235,4],[236,2,236,4],[238,2,238,3]]}
[]
[]
[]
[]
[0,null,null,null,null,null,null,null,null,null,null,null,null,{"$f":"E11","v":1}]
[null,null,"Status Word Overview"]
[null,null,"The commands RW (value)                                                                          Note: See Sheet tabs at bottom for more!"]
[null,null,"are  good for troubleshooting and error checking."]
[null,null,"Enter the 16 Bit value in the yellow box below to see results."]
[null,null,"Status Word : ",null,0]
[null,{"$f":"E10","v":0},{"$f":"CONCATENATE(\"Enter Value for RW(\",E10,\"):\")","v":"Enter Value for RW(0):"},null,1,"Bit","To Clear","Value","Status","Bit","To read","Assign","Related Commands"]
[null,{"$f":"B11","v":0},"Drive Ready",null,null,null,null,1,{"$f":"IF(O12,\"Asserted\",\" \")","v":"Asserted"},0,{"$f":"CONCATENATE(\"RB(\",B12,\",\",J12,\")\")","v":"RB(0,0)"},{"$f":"CONCATENATE(\"=B(\",B12,\",\",J12,\")\")","v":"=B(0,0)"},null,{"$f":"E11/2","v":0.5},{"$f":"IF(MOD(E11,2)>=1,1,0)","v":1}]
[null,{"$f":"B12","v":0},"Bo: Motor is off (indicator.)",null,null,"Bo",null,{"$f":"H12*2","v":2},{"$f":"IF(O13,\"Asserted\",\" \")","v":" "},1,{"$f":"CONCATENATE(\"RB(\",B13,\",\",J13,\")\")","v":"RB(0,1)"},{"$f":"CONCATENATE(\"=B(\",B13,\",\",J13,\")\")","v":"=B(0,1)"},"OFF",{"$f":"N12/2","v":0.25},{"$f":"IF(MOD(N12,2)>=1,1,0)","v":0}]
[null,0,"Bt: Trajectory in progress (indicator.)",null,null,"Bt",null,{"$f":"H13*2","v":4}," ",2,"RB(0,2)","=B(0,2)","G, TWAIT, GS, TSWAIT",{"$f":"N13/2","v":0.125},{"$f":"IF(MOD(N13,2)>=1,1,0)","v":0}]
[null,0,"Servo Bus Voltage Fault",null,null,null,"ZS",8," ",3,"RB(0,3)","=B(0,3)",null,6.25E-2,0]
[null,0,"Peak Over-current occurred",null,null,"Ba","Za, ZS",16," ",4,"RB(0,4)","=B(0,4)",null,3.125E-2,0]
[null,{"$f":"B16","v":0},"Excessive Temperature Real Time",null,null,"Bh","ZS",{"$f":"H16*2","v":32}," ",5,"RB(0,5)","=B(0,5)","TH={temp in degrees C} (85Deg. Default)",{"$f":"N16/2","v":1.5625E-2},{"$f":"IF(MOD(N16,2)>=1,1,0)","v":0}]
["`",0,"Excessive Position Error Fault",null,null,"Be","Ze, ZS",64," ",6,"RB(0,6)","=B(0,6)","EA, REA, EL, EL={value in encoder counts}",7.8125E-3,0,null,"Fault Action Control"]
[null,0,"Velocity Limit  Fault ",null,null,"Bv","Zv",128," ",7,"RB(0,7)","=B(0,7)","VL={value in RPM}, RVL",3.90625E-3,0]
[null,0,"Real-time temperature limit ",null,null,null,null,256," ",8,"RB(0,8)","=B(0,8)",null,1.953125E-3,0,null,"FSA({fault type #}, {fault action#})"]
[null,0,"Derivitive Error Limit (de/Dt) Fault",null,null,null,"ZS",512," ",9,"RB(0,9)","=B(0,9)","RDEL, DEL={value in velocity units}",9.765625E-4,0,null,"Fault type: the type of fault to set action for:"]
[null,0,"Hardware Limit Positive Enabled",null,null,null,null,1024," ",10,"RB(0,10)","=B(0,10)","EILP(2), EIGN(2), EIGN(W,2), FSA()",4.8828125E-4,0,null,null,"0 – All types of drive faults."]
[null,0,"Hardware Limit Negative Enabled",null,null,null,null,2048," ",11,"RB(0,11)","=B(0,11)","EILN(3), EIGN(3), EIGN(W,3), FSA()",2.44140625E-4,0,null,null,"1 – Over travel limits."]
[null,0,"Histroical Right Limit (+ or Positive)",null,null,"Br","Zr, ZS",4096," ",12,"RB(0,12)","=B(0,12)","EILP(2), EIGN(2), EIGN(W,2), FSA()",1.220703125E-4,0,null,"Fault Action: (response to above listed faults)"]
[null,0,"Histroical Left Limit (- or Negative)",null,null,"Bl","Zl, ZS",8192," ",13,"RB(0,13)","=B(0,13)","EILN(3), EIGN(3), EIGN(W,3), FSA()",6.103515625E-5,0,null,null,"0 - default: dynamically brake"]
[null,0,"Right ( +  or Positive) Limit Asserted",null,null,"Bp","Za, ZS",16384," ",14,"RB(0,14)","=B(0,14)","RIN(2)",3.0517578125E-5,0,null,null,"1 - Servo off: Freewheel"]
[null,0,"Left Limit ( -  or Negative)  Asserted",null,null,"Bm","ZS",32768," ",15,"RB(0,15)","=B(0,15)","RIN(3)",1.52587890625E-5,0,null,null,"2 - Decelerate to stop"]
[]
[null,null,"Status Word : ",null,{"$f":"E10+1","v":1}]
[null,{"$f":"E29","v":1},{"$f":"CONCATENATE(\"Enter Value for RW(\",E29,\"):\")","v":"Enter Value for RW(1):"},null,256,"Bit","To Clear","Value","Status","Bit","To read","Assign","Related Commands"]
[null,{"$f":"B30","v":1},"Rise Capture Encoder(0) Armed",null,null,null,null,1,{"$f":"IF(O31,\"Asserted\",\" \")","v":" "},0,{"$f":"CONCATENATE(\"RB(\",B31,\",\",J31,\")\")","v":"RB(1,0)"},{"$f":"CONCATENATE(\"=B(\",B31,\",\",J31,\")\")","v":"=B(1,0)"},"Ai(0",{"$f":"E30/2","v":128},{"$f":"IF(MOD(E30,2)>=1,1,0)","v":0}]
[null,{"$f":"B31","v":1},"Fall Capture Encoder(0) Armed",null,null,null,null,{"$f":"H31*2","v":2},{"$f":"IF(O32,\"Asserted\",\" \")","v":" "},1,{"$f":"CONCATENATE(\"RB(\",B32,\",\",J32,\")\")","v":"RB(1,1)"},{"$f":"CONCATENATE(\"=B(\",B32,\",\",J32,\")\")","v":"=B(1,1)"},"Aj(0)",{"$f":"N31/2","v":64},{"$f":"IF(MOD(N31,2)>=1,1,0)","v":0}]
[null,1,"Rising edge captured ENC(0) (historical bit.)",null,null,"Bi(0)","ZS",{"$f":"H32*2","v":4}," ",2,"RB(1,2)","=B(1,2)",null,{"$f":"N32/2","v":32},{"$f":"IF(MOD(N32,2)>=1,1,0)","v":0}]
[null,1,"Falling edge captured ENC(0) (historical bit.)",null,null,"Bj(0)","ZS",8," ",3,"RB(1,3)","=B(1,3)",null,16,0]
[null,1,"Rise Capture Encoder(1) Armed",null,null,null,null,16," ",4,"RB(1,4)","=B(1,4)","Ai(1)",8,0]
[null,1,"Fall Capture Encoder(1) Armed",null,null,null,null,32," ",5,"RB(1,5)","=B(1,5)","Aj(1)",4,0]
[null,1,"Rising edge captured ENC(1) (historical bit.)",null,null,"Bi(1)",null,64," ",6,"RB(1,6)","=B(1,6)",null,2,0]
[null,1,"Falling edge captured ENC(1) (historical bit.)",null,null,"Bj(1)",null,128," ",7,"RB(1,7)","=B(1,7)",null,1,0,null,"Travel Limit Control"]
[null,1,"Capture input state 0 (indicator.)",null,null,"Bx(0)","ZS",256,"Asserted",8,"RB(1,8)","=B(1,8)",null,0.5,1]
[null,1,"Capture input state 1 (indicator.)",null,null,"Bx(1)","ZS",512," ",9,"RB(1,9)","=B(1,9)",null,0.25,0,null,"SLE","Enable soft limits"]
[null,1,"Software Travle Limits Enabled",null,null,null,null,1024," ",10,"RB(1,10)","=B(1,10)","SLE, SLD, SLM(value)",0.125,0,null,"SLD","Disable soft limts (Default)"]
[null,1,"Soft limit mode (indicator.) : 0-Don’t Stop.  1-Cause Fault. Default is 1",null,null,null,null,2048," ",11,"RB(1,11)","=B(1,11)","SLM(value)",6.25E-2,0,null,"SLM(0): limit triggers flag, but not cause fault."]
[null,1,"Historical positive software over travel  limit",null,null,"Brs","Zrs",4096," ",12,"RB(1,12)","=B(1,12)","SLP= value, RSLP",3.125E-2,0,null,"SLM(1):limits trigger flags and cause a faults.  (default mode)"]
[null,1,"Historical negative software over travel  limit",null,null,"Bls","Zls",8192," ",13,"RB(1,13)","=B(1,13)","SLN= value, RSLN",1.5625E-2,0]
[null,1,"Real time positive soft limit (indicator.)",null,null,"Bps",null,16384," ",14,"RB(1,14)","=B(1,14)","RBps",7.8125E-3,0]
[null,1,"Real time negative soft limit (indicator.)",null,null,"Bms",null,32768," ",15,"RB(1,15)","=B(1,15)","RBms",3.90625E-3,0]
[]
[null,null,"Status Word : ",null,{"$f":"E29+1","v":2}]
[null,{"$f":"E48","v":2},{"$f":"CONCATENATE(\"Enter Value for RW(\",E48,\"):\")","v":"Enter Value for RW(2):"},null,128,"Bit","To Clear","Value","Status","Bit","To read","Assign","Related Commands"]
[null,{"$f":"B49","v":2},"Error on Communications Channel 0",null,null,null,null,1,{"$f":"IF(O50,\"Asserted\",\" \")","v":" "},0,{"$f":"CONCATENATE(\"RB(\",B50,\",\",J50,\")\")","v":"RB(2,0)"},{"$f":"CONCATENATE(\"=B(\",B50,\",\",J50,\")\")","v":"=B(2,0)"},"RCHN(0), OCHN( ), CCHN( ), BAUD(0)=",{"$f":"E49/2","v":64},{"$f":"IF(MOD(E49,2)>=1,1,0)","v":0}]
[null,{"$f":"B50","v":2},"Error on Communications Channel 1",null,null,null,null,{"$f":"H50*2","v":2},{"$f":"IF(O51,\"Asserted\",\" \")","v":" "},1,{"$f":"CONCATENATE(\"RB(\",B51,\",\",J51,\")\")","v":"RB(2,1)"},{"$f":"CONCATENATE(\"=B(\",B51,\",\",J51,\")\")","v":"=B(2,1)"},"RCHN(1), OCHN( ), CCHN( ),, BAUD(1)=",{"$f":"N50/2","v":32},{"$f":"IF(MOD(N50,2)>=1,1,0)","v":0}]
[null,2,"USB Error",null,null,null,null,{"$f":"H51*2","v":4}," ",2,"RB(2,2)","=B(2,2)",null,{"$f":"N51/2","v":16},{"$f":"IF(MOD(N51,2)>=1,1,0)","v":0}]
[null,2,"Reserved 3",null,null,null,null,8," ",3,"RB(2,3)","=B(2,3)",null,8,0]
[null,2,"CAN Port Error",null,null,null,null,16," ",4,"RB(2,4)","=B(2,4)","RCAN, CBAUD, CADDR",4,0]
[null,2,"Reserved 5",null,null,null,null,32," ",5,"RB(2,5)","=B(2,5)",null,2,0]
[null,2,"Ethernet Error",null,null,null,null,64," ",6,"RB(2,6)","=B(2,6)",null,1,0]
[null,2,"I2C Running",null,null,null,null,128,"Asserted",7,"RB(2,7)","=B(2,7)","PRINT1( ), GETCHR1, OCHN( ), CCHN( )",0.5,1]
[null,2,"Watchdog Event",null,null,null,null,256," ",8,"RB(2,8)","=B(2,8)",null,0.25,0]
[null,2,"ADB Bad Checksum",null,null,null,null,512," ",9,"RB(2,9)","=B(2,9)",null,0.125,0]
[null,2,"Program Running",null,null,null,null,1024," ",10,"RB(2,10)","=B(2,10)","RUN, RUN?, PAUSE, RESUME, END, GOTO, GOSUB, RETURN, Z",6.25E-2,0]
[null,2,"Trace In Progress",null,null,null,null,2048," ",11,"RB(2,11)","=B(2,11)",null,3.125E-2,0]
[null,2,"EE Write Buffer Overflow",null,null,null,null,4096," ",12,"RB(2,12)","=B(2,12)","EPTR=, VST( ), VLD( )",1.5625E-2,0]
[null,2,"EE Busy",null,null,null,null,8192," ",13,"RB(2,13)","=B(2,13)","EPTR=, VST( ), VLD( )",7.8125E-3,0]
[null,2,"Command Syntax Error",null,null,"Bs","ZS",16384," ",14,"RB(2,14)","=B(2,14)","RERRC, =ERRC, REERW, =EERW",3.90625E-3,0]
[null,2,"Program Checksum Error",null,null,"Bk","ZS",32768," ",15,"RB(2,15)","=B(2,15)",null,1.953125E-3,0]
[]
[null,null,"Status Word : ",null,{"$f":"E48+1","v":3}]
[null,{"$f":"E67","v":3},{"$f":"CONCATENATE(\"Enter Value for RW(\",E67,\"):\")","v":"Enter Value for RW(3):"},null,0,"Bit","To Clear","Value","Status","Bit","To read","Assign","Related Commands"]
[null,{"$f":"B68","v":3},"Reserved 0",null,null,null,null,1,{"$f":"IF(O69,\"Asserted\",\" \")","v":" "},0,{"$f":"CONCATENATE(\"RB(\",B69,\",\",J69,\")\")","v":"RB(3,0)"},{"$f":"CONCATENATE(\"=B(\",B69,\",\",J69,\")\")","v":"=B(3,0)"},null,{"$f":"E68/2","v":0},{"$f":"IF(MOD(E68,2)>=1,1,0)","v":0}]
[null,{"$f":"B69","v":3},"Torque Saturation",null,null,null,null,{"$f":"H69*2","v":2},{"$f":"IF(O70,\"Asserted\",\" \")","v":" "},1,{"$f":"CONCATENATE(\"RB(\",B70,\",\",J70,\")\")","v":"RB(3,1)"},{"$f":"CONCATENATE(\"=B(\",B70,\",\",J70,\")\")","v":"=B(3,1)"},null,{"$f":"N69/2","v":0},{"$f":"IF(MOD(N69,2)>=1,1,0)","v":0}]
[null,3,"Voltage Saturation",null,null,null,null,{"$f":"H70*2","v":4}," ",2,"RB(3,2)","=B(3,2)",null,{"$f":"N70/2","v":0},{"$f":"IF(MOD(N70,2)>=1,1,0)","v":0}]
[null,3,"Wraparound Occurred",null,null,null,null,8," ",3,"RB(3,3)","=B(3,3)",null,0,0]
[null,3,"KG Enabled",null,null,null,null,16," ",4,"RB(3,4)","=B(3,4)","KG=",0,0]
[null,3,"Velocity Direction",null,null,null,null,32," ",5,"RB(3,5)","=B(3,5)","VT=",0,0]
[null,3,"Torque Direction",null,null,null,null,64," ",6,"RB(3,6)","=B(3,6)",null,0,0]
[null,3,"I/O Fault Latch",null,null,null,null,128," ",7,"RB(3,7)","=B(3,7)",null,0,0]
[null,3,"Relative Position Mode",null,null,null,null,256," ",8,"RB(3,8)","=B(3,8)",null,0,0]
[null,3,"Reserved 9",null,null,null,null,512," ",9,"RB(3,9)","=B(3,9)","X, X(1), X(2), MFSDC( )",0,0]
[null,3,"Peak Current Saturation",null,null,null,null,1024," ",10,"RB(3,10)","=B(3,10)",null,0,0]
[null,3,"Modulo Rollover",null,null,null,null,2048," ",11,"RB(3,11)","=B(3,11)","PML, PMA",0,0]
[null,3,"Brake Asserted",null,null,null,null,4096," ",12,"RB(3,12)","=B(3,12)","BRKSRV, BRKTRJ, BRKENG, BRKDIS, EOBK( )",0,0]
[null,3,"Brake OK",null,null,null,null,8192," ",13,"RB(3,13)","=B(3,13)",null,0,0]
[null,3,"External Go Enabled",null,null,null,null,16384," ",14,"RB(3,14)","=B(3,14)","EISM(6)",0,0]
[null,3,"Velocity Target Reached",null,null,null,null,32768," ",15,"RB(3,15)","=B(3,15)","VT=",0,0]
[]
[null,null,"Status Word : ",null,{"$f":"E67+1","v":4}]
[null,{"$f":"E86","v":4},{"$f":"CONCATENATE(\"Enter Value for RW(\",E86,\"):\")","v":"Enter Value for RW(4):"},null,0,"Bit","To Clear","Value","Status","Bit","To read","Assign","Related Commands"]
[null,{"$f":"B87","v":4},"Timer 0",null,null,null,null,1,{"$f":"IF(O88,\"Asserted\",\" \")","v":" "},0,{"$f":"CONCATENATE(\"RB(\",B88,\",\",J88,\")\")","v":"RB(4,0)"},{"$f":"CONCATENATE(\"=B(\",B88,\",\",J88,\")\")","v":"=B(4,0)"},"TMR(0,#)",{"$f":"E87/2","v":0},{"$f":"IF(MOD(E87,2)>=1,1,0)","v":0}]
[null,{"$f":"B88","v":4},"Timer 1",null,null,null,null,{"$f":"H88*2","v":2},{"$f":"IF(O89,\"Asserted\",\" \")","v":" "},1,{"$f":"CONCATENATE(\"RB(\",B89,\",\",J89,\")\")","v":"RB(4,1)"},{"$f":"CONCATENATE(\"=B(\",B89,\",\",J89,\")\")","v":"=B(4,1)"},"TMR(1,#)",{"$f":"N88/2","v":0},{"$f":"IF(MOD(N88,2)>=1,1,0)","v":0}]
[null,4,"Timer 2",null,null,null,null,{"$f":"H89*2","v":4}," ",2,"RB(4,2)","=B(4,2)","TMR(2,#)",{"$f":"N89/2","v":0},{"$f":"IF(MOD(N89,2)>=1,1,0)","v":0}]
[null,4,"Timer 3",null,null,null,null,8," ",3,"RB(4,3)","=B(4,3)","TMR(3,#)",0,0]
[null,4,"Reserved",null,null,null,null,16," ",4,"RB(4,4)","=B(4,4)",null,0,0]
[null,4,"Reserved",null,null,null,null,32," ",5,"RB(4,5)","=B(4,5)",null,0,0]
[null,4,"Reserved",null,null,null,null,64," ",6,"RB(4,6)","=B(4,6)",null,0,0]
[null,4,"Reserved",null,null,null,null,128," ",7,"RB(4,7)","=B(4,7)",null,0,0]
[null,4,"Reserved",null,null,null,null,256," ",8,"RB(4,8)","=B(4,8)",null,0,0]
[null,4,"Reserved",null,null,null,null,512," ",9,"RB(4,9)","=B(4,9)",null,0,0]
[null,4,"Reserved",null,null,null,null,1024," ",10,"RB(4,10)","=B(4,10)",null,0,0]
[null,4,"Reserved",null,null,null,null,2048," ",11,"RB(4,11)","=B(4,11)",null,0,0]
[null,4,"Reserved",null,null,null,null,4096," ",12,"RB(4,12)","=B(4,12)",null,0,0]
[null,4,"Reserved",null,null,null,null,8192," ",13,"RB(4,13)","=B(4,13)",null,0,0]
[null,4,"Reserved",null,null,null,null,16384," ",14,"RB(4,14)","=B(4,14)",null,0,0]
[null,4,"Reserved",null,null,null,null,32768," ",15,"RB(4,15)","=B(4,15)",null,0,0]
[]
[null,null,"Status Word : ",null,{"$f":"E86+1","v":5}]
[null,{"$f":"E105","v":5},{"$f":"CONCATENATE(\"Enter Value for RW(\",E105,\"):\")","v":"Enter Value for RW(5):"},null,128,"Bit","To Clear","Value","Status","Bit","To read","Assign","Related Commands"]
[null,{"$f":"B106","v":5},"Interrupt 0 enabled",null,null,null,null,1,{"$f":"IF(O107,\"Asserted\",\" \")","v":" "},0,{"$f":"CONCATENATE(\"RB(\",B107,\",\",J107,\")\")","v":"RB(5,0)"},{"$f":"CONCATENATE(\"=B(\",B107,\",\",J107,\")\")","v":"=B(5,0)"},"ITR( ), EITR( ), ITRE, ITRD",{"$f":"E106/2","v":64},{"$f":"IF(MOD(E106,2)>=1,1,0)","v":0}]
[null,{"$f":"B107","v":5},"Interrupt 1 enabled",null,null,null,null,{"$f":"H107*2","v":2},{"$f":"IF(O108,\"Asserted\",\" \")","v":" "},1,{"$f":"CONCATENATE(\"RB(\",B108,\",\",J108,\")\")","v":"RB(5,1)"},{"$f":"CONCATENATE(\"=B(\",B108,\",\",J108,\")\")","v":"=B(5,1)"},"ITR( ), EITR( ), ITRE, ITRD",{"$f":"N107/2","v":32},{"$f":"IF(MOD(N107,2)>=1,1,0)","v":0}]
[null,5,"Interrupt 2 enabled",null,null,null,null,{"$f":"H108*2","v":4}," ",2,"RB(5,2)","=B(5,2)","ITR( ), EITR( ), ITRE, ITRD",{"$f":"N108/2","v":16},{"$f":"IF(MOD(N108,2)>=1,1,0)","v":0}]
[null,5,"Interrupt 3 enabled",null,null,null,null,8," ",3,"RB(5,3)","=B(5,3)","ITR( ), EITR( ), ITRE, ITRD",8,0]
[null,5,"Interrupt 4 enabled",null,null,null,null,16," ",4,"RB(5,4)","=B(5,4)","ITR( ), EITR( ), ITRE, ITRD",4,0]
[null,5,"Interrupt 5 enabled",null,null,null,null,32," ",5,"RB(5,5)","=B(5,5)","ITR( ), EITR( ), ITRE, ITRD",2,0]
[null,5,"Interrupt 6 enabled",null,null,null,null,64," ",6,"RB(5,6)","=B(5,6)","ITR( ), EITR( ), ITRE, ITRD",1,0]
[null,5,"Interrupt 7 enabled",null,null,null,null,128,"Asserted",7,"RB(5,7)","=B(5,7)","ITR( ), EITR( ), ITRE, ITRD",0.5,1]
[null,5,"Reserved",null,null,null,null,256," ",8,"RB(5,8)","=B(5,8)",null,0.25,0]
[null,5,"Reserved",null,null,null,null,512," ",9,"RB(5,9)","=B(5,9)",null,0.125,0]
[null,5,"Reserved",null,null,null,null,1024," ",10,"RB(5,10)","=B(5,10)",null,6.25E-2,0]
[null,5,"Reserved",null,null,null,null,2048," ",11,"RB(5,11)","=B(5,11)",null,3.125E-2,0]
[null,5,"Reserved",null,null,null,null,4096," ",12,"RB(5,12)","=B(5,12)",null,1.5625E-2,0]
[null,5,"Reserved",null,null,null,null,8192," ",13,"RB(5,13)","=B(5,13)",null,7.8125E-3,0]
[null,5,"Reserved",null,null,null,null,16384," ",14,"RB(5,14)","=B(5,14)",null,3.90625E-3,0]
[null,5,"Interrupts Enabled",null,null,null,null,32768," ",15,"RB(5,15)","=B(5,15)","ITRE, ITRD",1.953125E-3,0]
[]
[null,null,"Status Word : ",null,{"$f":"E105+1","v":6}]
[null,{"$f":"E124","v":6},{"$f":"CONCATENATE(\"Enter Value for RW(\",E124,\"):\")","v":"Enter Value for RW(6):"},null,0,"Bit","To Clear","Value","Status","Bit","To read","Assign","Related Commands"]
[null,{"$f":"B125","v":6},"Trap Mode",null,null,null,null,1,{"$f":"IF(O126,\"Asserted\",\" \")","v":" "},0,{"$f":"CONCATENATE(\"RB(\",B126,\",\",J126,\")\")","v":"RB(6,0)"},{"$f":"CONCATENATE(\"=B(\",B126,\",\",J126,\")\")","v":"=B(6,0)"},"MDT",{"$f":"E125/2","v":0},{"$f":"IF(MOD(E125,2)>=1,1,0)","v":0}]
[null,{"$f":"B126","v":6},"Enhanced Trap Mode",null,null,null,null,{"$f":"H126*2","v":2},{"$f":"IF(O127,\"Asserted\",\" \")","v":" "},1,{"$f":"CONCATENATE(\"RB(\",B127,\",\",J127,\")\")","v":"RB(6,1)"},{"$f":"CONCATENATE(\"=B(\",B127,\",\",J127,\")\")","v":"=B(6,1)"},"MDE",{"$f":"N126/2","v":0},{"$f":"IF(MOD(N126,2)>=1,1,0)","v":0}]
[null,6,"Sine Mode",null,null,null,null,{"$f":"H127*2","v":4}," ",2,"RB(6,2)","=B(6,2)","MDS",{"$f":"N127/2","v":0},{"$f":"IF(MOD(N127,2)>=1,1,0)","v":0}]
[null,6,"Vector Control",null,null,null,null,8," ",3,"RB(6,3)","=B(6,3)",null,0,0]
[null,6,"Reserved 4",null,null,null,null,16," ",4,"RB(6,4)","=B(6,4)",null,0,0]
[null,6,"Reserved 5",null,null,null,null,32," ",5,"RB(6,5)","=B(6,5)",null,0,0]
[null,6,"Reserved 6",null,null,null,null,64," ",6,"RB(6,6)","=B(6,6)",null,0,0]
[null,6,"Reserved 7",null,null,null,null,128," ",7,"RB(6,7)","=B(6,7)",null,0,0]
[null,6,"Angle Match",null,null,null,null,256," ",8,"RB(6,8)","=B(6,8)",null,0,0]
[null,6,"TOB Enabled",null,null,null,null,512," ",9,"RB(6,9)","=B(6,9)","MDE, MDB",0,0]
[null,6,"Inverted",null,null,null,null,1024," ",10,"RB(6,10)","=B(6,10)","MINV( )",0,0]
[null,6,"MTB Active",null,null,null,null,2048," ",11,"RB(6,11)","=B(6,11)","MTB, FSA( )",0,0]
[null,6,"ABS battery fault",null,null,null,null,4096," ",12,"RB(6,12)","=B(6,12)",null,0,0]
[null,6,"Low Bus Voltage",null,null,null,null,8192," ",13,"RB(6,13)","=B(6,13)",null,0,0]
[null,6,"High Bus Voltage",null,null,null,null,16384," ",14,"RB(6,14)","=B(6,14)",null,0,0]
[null,6,"Regen Active",null,null,null,null,32768," ",15,"RB(6,15)","=B(6,15)",null,0,0]
[]
[null,null,"Status Word : ",null,{"$f":"E124+1","v":7}]
[null,{"$f":"E143","v":7},{"$f":"CONCATENATE(\"Enter Value for RW(\",E143,\"):\")","v":"Enter Value for RW(7):"},null,0,"Bit","To Clear","Value","Status","Bit","To read","Assign","Related Commands"]
[null,{"$f":"B144","v":7},"TG1 In Progress",null,null,null,null,1,{"$f":"IF(O145,\"Asserted\",\" \")","v":" "},0,{"$f":"CONCATENATE(\"RB(\",B145,\",\",J145,\")\")","v":"RB(7,0)"},{"$f":"CONCATENATE(\"=B(\",B145,\",\",J145,\")\")","v":"=B(7,0)"},"G(1), X(1), MP(1), MV(1)",{"$f":"E144/2","v":0},{"$f":"IF(MOD(E144,2)>=1,1,0)","v":0}]
[null,{"$f":"B145","v":7},"TG1 Accel/Ascend",null,null,null,null,{"$f":"H145*2","v":2},{"$f":"IF(O146,\"Asserted\",\" \")","v":" "},1,{"$f":"CONCATENATE(\"RB(\",B146,\",\",J146,\")\")","v":"RB(7,1)"},{"$f":"CONCATENATE(\"=B(\",B146,\",\",J146,\")\")","v":"=B(7,1)"},"G(1), X(1), MP(1), MV(1)",{"$f":"N145/2","v":0},{"$f":"IF(MOD(N145,2)>=1,1,0)","v":0}]
[null,7,"TG1 Slewing",null,null,null,null,{"$f":"H146*2","v":4}," ",2,"RB(7,2)","=B(7,2)","G(1), X(1), MP(1), MV(1)",{"$f":"N146/2","v":0},{"$f":"IF(MOD(N146,2)>=1,1,0)","v":0}]
[null,7,"TG1 Decel/Descend",null,null,null,null,8," ",3,"RB(7,3)","=B(7,3)","G(1), X(1), MP(1), MV(1)",0,0]
[null,7,"TG1 Reserved/Dwell",null,null,null,null,16," ",4,"RB(7,4)","=B(7,4)",null,0,0]
[null,7,"Reserved 5",null,null,null,null,32," ",5,"RB(7,5)","=B(7,5)",null,0,0]
[null,7,"Reserved 6",null,null,null,null,64," ",6,"RB(7,6)","=B(7,6)",null,0,0]
[null,7,"Reserved 7",null,null,null,null,128," ",7,"RB(7,7)","=B(7,7)",null,0,0]
[null,7,"TG2 In Progress",null,null,null,null,256," ",8,"RB(7,8)","=B(7,8)","G(2), X(2), MFR(2), MC(2), MFSDC( ), MFSLEW( )",0,0]
[null,7,"TG2 Accel/Ascend",null,null,null,null,512," ",9,"RB(7,9)","=B(7,9)","G(2), X(2), MFR(2), MC(2), MFSDC( ), MFSLEW( )",0,0]
[null,7,"TG2 Slewing",null,null,null,null,1024," ",10,"RB(7,10)","=B(7,10)","G(2), X(2), MFR(2), MC(2), MFSDC( ), MFSLEW( )",0,0]
[null,7,"TG2 Decel/Descend",null,null,null,null,2048," ",11,"RB(7,11)","=B(7,11)","G(2), X(2), MFR(2), MC(2), MFSDC( ), MFSLEW( )",0,0]
[null,7,"TG2 Dwell (or higher Dwell in progress)",null,null,null,null,4096," ",12,"RB(7,12)","=B(7,12)","G(2), X(2), MFR(2), MC(2), MFSDC( ), MFSLEW( ), MFH, MFHTP",0,0]
[null,7,"Traverse Direction, 0:Fwd, 1:Rev",null,null,null,null,8192," ",13,"RB(7,13)","=B(7,13)","MFCTP()",0,0]
[null,7,"Traverse Lower Dwell in Progress",null,null,null,null,16384," ",14,"RB(7,14)","=B(7,14)","MFSCD(), MFL, MFLTP",0,0]
[null,7,"TS WAIT",null,null,null,null,32768," ",15,"RB(7,15)","=B(7,15)","PTS( ), PTRS( ), GS, X, TSWAIT",0,0]
[]
[null,null,"Status Word : ",null,{"$f":"E143+1","v":8}]
[null,{"$f":"E162","v":8},{"$f":"CONCATENATE(\"Enter Value for RW(\",E162,\"):\")","v":"Enter Value for RW(8):"},null,256,"Bit","To Clear","Value","Status","Bit","To read","Assign","Related Commands"]
[null,{"$f":"B163","v":8},"Cam User bit 0",null,null,null,null,1,{"$f":"IF(O164,\"Asserted\",\" \")","v":" "},0,{"$f":"CONCATENATE(\"RB(\",B164,\",\",J164,\")\")","v":"RB(8,0)"},{"$f":"CONCATENATE(\"=B(\",B164,\",\",J164,\")\")","v":"=B(8,0)"},"CTW( )",{"$f":"E163/2","v":128},{"$f":"IF(MOD(E163,2)>=1,1,0)","v":0}]
[null,{"$f":"B164","v":8},"Cam User bit 1",null,null,null,null,{"$f":"H164*2","v":2},{"$f":"IF(O165,\"Asserted\",\" \")","v":" "},1,{"$f":"CONCATENATE(\"RB(\",B165,\",\",J165,\")\")","v":"RB(8,1)"},{"$f":"CONCATENATE(\"=B(\",B165,\",\",J165,\")\")","v":"=B(8,1)"},"CTW( )",{"$f":"N164/2","v":64},{"$f":"IF(MOD(N164,2)>=1,1,0)","v":0}]
[null,8,"Cam User bit 2",null,null,null,null,{"$f":"H165*2","v":4}," ",2,"RB(8,2)","=B(8,2)","CTW( )",{"$f":"N165/2","v":32},{"$f":"IF(MOD(N165,2)>=1,1,0)","v":0}]
[null,8,"Cam User bit 3",null,null,null,null,8," ",3,"RB(8,3)","=B(8,3)","CTW( )",16,0]
[null,8,"Cam User bit 4",null,null,null,null,16," ",4,"RB(8,4)","=B(8,4)","CTW( )",8,0]
[null,8,"Cam User bit 5",null,null,null,null,32," ",5,"RB(8,5)","=B(8,5)","CTW( )",4,0]
[null,8,"Cam Mode 0",null,null,null,null,64," ",6,"RB(8,6)","=B(8,6)","MCE( )",2,0]
[null,8,"Cam Mode 1",null,null,null,null,128," ",7,"RB(8,7)","=B(8,7)","MCE( )",1,0]
[null,8,"IP User bit 0",null,null,null,null,256,"Asserted",8,"RB(8,8)","=B(8,8)",null,0.5,1]
[null,8,"IP User bit 1",null,null,null,null,512," ",9,"RB(8,9)","=B(8,9)",null,0.25,0]
[null,8,"IP User bit 2",null,null,null,null,1024," ",10,"RB(8,10)","=B(8,10)",null,0.125,0]
[null,8,"IP User bit 3",null,null,null,null,2048," ",11,"RB(8,11)","=B(8,11)",null,6.25E-2,0]
[null,8,"IP User bit 4",null,null,null,null,4096," ",12,"RB(8,12)","=B(8,12)",null,3.125E-2,0]
[null,8,"IP User bit 5",null,null,null,null,8192," ",13,"RB(8,13)","=B(8,13)",null,1.5625E-2,0]
[null,8,"IP Mode 0",null,null,null,null,16384," ",14,"RB(8,14)","=B(8,14)",null,7.8125E-3,0]
[null,8,"IP Mode 1",null,null,null,null,32768," ",15,"RB(8,15)","=B(8,15)",null,3.90625E-3,0]
[]
[null,null,"Status Word : ",null,12]
[null,{"$f":"E181","v":12},{"$f":"CONCATENATE(\"Enter Value for RW(\",E181,\"):\")","v":"Enter Value for RW(12):"},null,0,"Bit","To Clear","Value","Status","Bit","To read","Assign","Related Commands"]
[null,{"$f":"B182","v":12},"User Bit 0",null,null,null,null,1,{"$f":"IF(O183,\"Asserted\",\" \")","v":" "},0,{"$f":"CONCATENATE(\"RB(\",B183,\",\",J183,\")\")","v":"RB(12,0)"},{"$f":"CONCATENATE(\"=B(\",B183,\",\",J183,\")\")","v":"=B(12,0)"},"US(0),  UR(0)",{"$f":"E182/2","v":0},{"$f":"IF(MOD(E182,2)>=1,1,0)","v":0}]
[null,{"$f":"B183","v":12},1,null,null,null,null,{"$f":"H183*2","v":2},{"$f":"IF(O184,\"Asserted\",\" \")","v":" "},1,{"$f":"CONCATENATE(\"RB(\",B184,\",\",J184,\")\")","v":"RB(12,1)"},{"$f":"CONCATENATE(\"=B(\",B184,\",\",J184,\")\")","v":"=B(12,1)"},{"$f":"CONCATENATE(\"US(\",C184,\") ,  UR(\",C184,\")\")","v":"US(1) ,  UR(1)"},{"$f":"N183/2","v":0},{"$f":"IF(MOD(N183,2)>=1,1,0)","v":0}]
[null,12,2,null,null,null,null,{"$f":"H184*2","v":4}," ",2,"RB(12,2)","=B(12,2)",{"$f":"CONCATENATE(\"US(\",C185,\") ,  UR(\",C185,\")\")","v":"US(2) ,  UR(2)"},{"$f":"N184/2","v":0},{"$f":"IF(MOD(N184,2)>=1,1,0)","v":0}]
[null,12,3,null,null,null,null,8," ",3,"RB(12,3)","=B(12,3)","US(3) ,  UR(3)",0,0]
[null,12,4,null,null,null,null,16," ",4,"RB(12,4)","=B(12,4)","US(4) ,  UR(4)",0,0]
[null,12,5,null,null,null,null,32," ",5,"RB(12,5)","=B(12,5)","US(5) ,  UR(5)",0,0]
[null,12,6,null,null,null,null,64," ",6,"RB(12,6)","=B(12,6)","US(6) ,  UR(6)",0,0]
[null,12,7,null,null,null,null,128," ",7,"RB(12,7)","=B(12,7)","US(7) ,  UR(7)",0,0]
[null,12,8,null,null,null,null,256," ",8,"RB(12,8)","=B(12,8)","US(8) ,  UR(8)",0,0]
[null,12,9,null,null,null,null,512," ",9,"RB(12,9)","=B(12,9)","US(9) ,  UR(9)",0,0]
[null,12,10,null,null,null,null,1024," ",10,"RB(12,10)","=B(12,10)","US(10) ,  UR(10)",0,0]
[null,12,11,null,null,null,null,2048," ",11,"RB(12,11)","=B(12,11)","US(11) ,  UR(11)",0,0]
[null,12,12,null,null,null,null,4096," ",12,"RB(12,12)","=B(12,12)","US(12) ,  UR(12)",0,0]
[null,12,13,null,null,null,null,8192," ",13,"RB(12,13)","=B(12,13)","US(13) ,  UR(13)",0,0]
[null,12,14,null,null,null,null,16384," ",14,"RB(12,14)","=B(12,14)","US(14) ,  UR(14)",0,0]
[null,12,"User Bit 15",null,null,null,null,32768," ",15,"RB(12,15)","=B(12,15)","US(15),  UR(15)",0,0]
[]
[null,null,"Status Word : ",null,13]
[null,{"$f":"E200","v":13},{"$f":"CONCATENATE(\"Enter Value for RW(\",E200,\"):\")","v":"Enter Value for RW(13):"},null,0,"Bit","To Clear","Value","Status","Bit","To read","Assign","Related Commands"]
[null,{"$f":"B201","v":13},16,null,null,null,null,1,{"$f":"IF(O202,\"Asserted\",\" \")","v":" "},0,{"$f":"CONCATENATE(\"RB(\",B202,\",\",J202,\")\")","v":"RB(13,0)"},{"$f":"CONCATENATE(\"=B(\",B202,\",\",J202,\")\")","v":"=B(13,0)"},"US(16),  UR(16)",{"$f":"E201/2","v":0},{"$f":"IF(MOD(E201,2)>=1,1,0)","v":0}]
[null,{"$f":"B202","v":13},17,null,null,null,null,{"$f":"H202*2","v":2},{"$f":"IF(O203,\"Asserted\",\" \")","v":" "},1,{"$f":"CONCATENATE(\"RB(\",B203,\",\",J203,\")\")","v":"RB(13,1)"},{"$f":"CONCATENATE(\"=B(\",B203,\",\",J203,\")\")","v":"=B(13,1)"},{"$f":"CONCATENATE(\"US(\",C203,\") ,  UR(\",C203,\")\")","v":"US(17) ,  UR(17)"},{"$f":"N202/2","v":0},{"$f":"IF(MOD(N202,2)>=1,1,0)","v":0}]
[null,13,18,null,null,null,null,{"$f":"H203*2","v":4}," ",2,"RB(13,2)","=B(13,2)",{"$f":"CONCATENATE(\"US(\",C204,\") ,  UR(\",C204,\")\")","v":"US(18) ,  UR(18)"},{"$f":"N203/2","v":0},{"$f":"IF(MOD(N203,2)>=1,1,0)","v":0}]
[null,13,19,null,null,null,null,8," ",3,"RB(13,3)","=B(13,3)","US(19) ,  UR(19)",0,0]
[null,13,20,null,null,null,null,16," ",4,"RB(13,4)","=B(13,4)","US(20) ,  UR(20)",0,0]
[null,13,21,null,null,null,null,32," ",5,"RB(13,5)","=B(13,5)","US(21) ,  UR(21)",0,0]
[null,13,22,null,null,null,null,64," ",6,"RB(13,6)","=B(13,6)","US(22) ,  UR(22)",0,0]
[null,13,23,null,null,null,null,128," ",7,"RB(13,7)","=B(13,7)","US(23) ,  UR(23)",0,0]
[null,13,24,null,null,null,null,256," ",8,"RB(13,8)","=B(13,8)","US(24) ,  UR(24)",0,0]
[null,13,25,null,null,null,null,512," ",9,"RB(13,9)","=B(13,9)","US(25) ,  UR(25)",0,0]
[null,13,26,null,null,null,null,1024," ",10,"RB(13,10)","=B(13,10)","US(26) ,  UR(26)",0,0]
[null,13,27,null,null,null,null,2048," ",11,"RB(13,11)","=B(13,11)","US(27) ,  UR(27)",0,0]
[null,13,28,null,null,null,null,4096," ",12,"RB(13,12)","=B(13,12)","US(28) ,  UR(28)",0,0]
[null,13,29,null,null,null,null,8192," ",13,"RB(13,13)","=B(13,13)","US(29) ,  UR(29)",0,0]
[null,13,30,null,null,null,null,16384," ",14,"RB(13,14)","=B(13,14)","US(30) ,  UR(30)",0,0]
[null,13,"User Bit 31",null,null,null,null,32768," ",15,"RB(13,15)","=B(13,15)","US(31),  UR(31)",0,0]
[]
[]
[null,null,"Status Word : ",null,16,"D Series Motors.   Look to Right for M series Motors -  >  >   >   >   >   >   >   >   >   >",null,null,null,null,null,null,null,null,null,null,"Status Word : ",null,16,"M Series Motors"]
[null,{"$f":"E220","v":16},{"$f":"CONCATENATE(\"Enter Value for RW(\",E220,\"):\")","v":"Enter Value for RW(16):"},null,0,"Bit","To Clear","Value","Status","Bit","To read","Assign","Related Commands",null,null,{"$f":"S220","v":16},{"$f":"CONCATENATE(\"Enter Value for RW(\",S220,\"):\")","v":"Enter Value for RW(16):"},null,0,"Bit","To Clear","Value","Status","Bit","To read","Assign","Related Commands"]
[null,{"$f":"B221","v":16},"On Board I/O 0",null,null,null,null,1,{"$f":"IF(O222,\"Asserted\",\" \")","v":" "},0,{"$f":"CONCATENATE(\"RB(\",B222,\",\",J222,\")\")","v":"RB(16,0)"},{"$f":"CONCATENATE(\"=B(\",B222,\",\",J222,\")\")","v":"=B(16,0)"},"OS(0), OR(0), OUT(0)=",{"$f":"E221/2","v":0},{"$f":"IF(MOD(E221,2)>=1,1,0)","v":0},{"$f":"P221","v":16},"On Board I/O 0",null,null,null,null,1,{"$f":"IF(AC222,\"Asserted\",\" \")","v":" "},0,{"$f":"CONCATENATE(\"RB(\",P222,\",\",X222,\")\")","v":"RB(16,0)"},{"$f":"CONCATENATE(\"=B(\",P222,\",\",X222,\")\")","v":"=B(16,0)"},"OS(0), OR(0), OUT(0)=",{"$f":"S221/2","v":0},{"$f":"IF(MOD(S221,2)>=1,1,0)","v":0}]
[null,{"$f":"B222","v":16},1,null,null,null,null,{"$f":"H222*2","v":2},{"$f":"IF(O223,\"Asserted\",\" \")","v":" "},1,{"$f":"CONCATENATE(\"RB(\",B223,\",\",J223,\")\")","v":"RB(16,1)"},{"$f":"CONCATENATE(\"=B(\",B223,\",\",J223,\")\")","v":"=B(16,1)"},{"$f":"CONCATENATE(\"OS(\",C223,\"), OR(\",C223,\"), OUT(\",C223,\")=\")","v":"OS(1), OR(1), OUT(1)="},{"$f":"N222/2","v":0},{"$f":"IF(MOD(N222,2)>=1,1,0)","v":0},{"$f":"P222","v":16},1,null,null,null,null,{"$f":"V222*2","v":2},{"$f":"IF(AC223,\"Asserted\",\" \")","v":" "},1,{"$f":"CONCATENATE(\"RB(\",P223,\",\",X223,\")\")","v":"RB(16,1)"},{"$f":"CONCATENATE(\"=B(\",P223,\",\",X223,\")\")","v":"=B(16,1)"},{"$f":"CONCATENATE(\"OS(\",Q223,\"), OR(\",Q223,\"), OUT(\",Q223,\")=\")","v":"OS(1), OR(1), OUT(1)="},{"$f":"AB222/2","v":0},{"$f":"IF(MOD(AB222,2)>=1,1,0)","v":0}]
[null,16,2,null,null,null,null,{"$f":"H223*2","v":4}," ",2,"RB(16,2)","=B(16,2)","OS(2), OR(2), OUT(2)=",{"$f":"N223/2","v":0},{"$f":"IF(MOD(N223,2)>=1,1,0)","v":0},16,2,null,null,null,null,{"$f":"V223*2","v":4}," ",2,"RB(16,2)","=B(16,2)","OS(2), OR(2), OUT(2)=",{"$f":"AB223/2","v":0},{"$f":"IF(MOD(AB223,2)>=1,1,0)","v":0}]
[null,16,3,null,null,null,null,8," ",3,"RB(16,3)","=B(16,3)","OS(3), OR(3), OUT(3)=",0,0,16,3,null,null,null,null,8," ",3,"RB(16,3)","=B(16,3)","OS(3), OR(3), OUT(3)=",0,0]
[null,16,4,null,null,null,null,16," ",4,"RB(16,4)","=B(16,4)","OS(4), OR(4), OUT(4)=",0,0,16,4,null,null,null,null,16," ",4,"RB(16,4)","=B(16,4)","OS(4), OR(4), OUT(4)=",0,0]
[null,16,5,null,null,null,null,32," ",5,"RB(16,5)","=B(16,5)","OS(5), OR(5), OUT(5)=",0,0,16,5,null,null,null,null,32," ",5,"RB(16,5)","=B(16,5)","OS(5), OR(5), OUT(5)=",0,0]
[null,16,6,null,null,null,null,64," ",6,"RB(16,6)","=B(16,6)","OS(6), OR(6), OUT(6)=",0,0,16,6,null,null,null,null,64," ",6,"RB(16,6)","=B(16,6)","OS(6), OR(6), OUT(6)=",0,0]
[null,16,"Reserved 7",null,null,null,null,128," ",7,"RB(16,7)","=B(16,7)",null,0,0,16,7,null,null,null,null,128," ",7,"RB(16,7)","=B(16,7)","OS(7), OR(7), OUT(7)=",0,0]
[null,16,"Reserved 8",null,null,null,null,256," ",8,"RB(16,8)","=B(16,8)",null,0,0,16,8,null,null,null,null,256," ",8,"RB(16,8)","=B(16,8)","OS(8), OR(8), OUT(8)=",0,0]
[null,16,"Reserved 9",null,null,null,null,512," ",9,"RB(16,9)","=B(16,9)",null,0,0,16,9,null,null,null,null,512," ",9,"RB(16,9)","=B(16,9)","OS(9), OR(9), OUT(9)=",0,0]
[null,16,"Reserved 10",null,null,null,null,1024," ",10,"RB(16,10)","=B(16,10)",null,0,0,16,10,null,null,null,null,1024," ",10,"RB(16,10)","=B(16,10)","OS(10), OR(10), OUT(10)=",0,0]
[null,16,"Reserved 11",null,null,null,null,2048," ",11,"RB(16,11)","=B(16,11)",null,0,0,16,"Not Fault Output",null,null,null,null,2048," ",11,"RB(16,11)","=B(16,11)",null,0,0]
[null,16,"Reserved 12",null,null,null,null,4096," ",12,"RB(16,12)","=B(16,12)",null,0,0,16,"Drive Enable Input",null,null,null,null,4096," ",12,"RB(16,12)","=B(16,12)",null,0,0]
[null,16,"Reserved 13",null,null,null,null,8192," ",13,"RB(16,13)","=B(16,13)",null,0,0,16,"Reserved 13",null,null,null,null,8192," ",13,"RB(16,13)","=B(16,13)",null,0,0]
[null,16,"Reserved 14",null,null,null,null,16384," ",14,"RB(16,14)","=B(16,14)",null,0,0,16,"Reserved 14",null,null,null,null,16384," ",14,"RB(16,14)","=B(16,14)",null,0,0]
[null,16,"Reserved 15",null,null,null,null,32768," ",15,"RB(16,15)","=B(16,15)",null,0,0,16,"Reserved 15",null,null,null,null,32768," ",15,"RB(16,15)","=B(16,15)",null,0,0]
[]
[null,null,"Status Word : ",null,{"$f":"E220+1","v":17}]
[null,{"$f":"E239","v":17},{"$f":"CONCATENATE(\"Enter Value for RW(\",E239,\"):\")","v":"Enter Value for RW(17):"},null,128,"Bit","To Clear","Value","Status","Bit","To read","Assign","Related Commands"]
[null,{"$f":"B240","v":17},16,null,null,null,null,1,{"$f":"IF(O241,\"Asserted\",\" \")","v":" "},0,{"$f":"CONCATENATE(\"RB(\",B241,\",\",J241,\")\")","v":"RB(17,0)"},{"$f":"CONCATENATE(\"=B(\",B241,\",\",J241,\")\")","v":"=B(17,0)"},{"$f":"CONCATENATE(\"OS(\",C241,\"), OR(\",C241,\"), OUT(\",C241,\")=\")","v":"OS(16), OR(16), OUT(16)="}]
[null,{"$f":"B241","v":17},17,null,null,null,null,{"$f":"H241*2","v":2},{"$f":"IF(O242,\"Asserted\",\" \")","v":" "},1,{"$f":"CONCATENATE(\"RB(\",B242,\",\",J242,\")\")","v":"RB(17,1)"},{"$f":"CONCATENATE(\"=B(\",B242,\",\",J242,\")\")","v":"=B(17,1)"},{"$f":"CONCATENATE(\"OS(\",C242,\"), OR(\",C242,\"), OUT(\",C242,\")=\")","v":"OS(17), OR(17), OUT(17)="}]
[null,17,18,null,null,null,null,{"$f":"H242*2","v":4}," ",2,"RB(17,2)","=B(17,2)","OS(18), OR(18), OUT(18)="]
[null,17,19,null,null,null,null,8," ",3,"RB(17,3)","=B(17,3)","OS(19), OR(19), OUT(19)="]
[null,17,20,null,null,null,null,16," ",4,"RB(17,4)","=B(17,4)","OS(20), OR(20), OUT(20)="]
[null,17,21,null,null,null,null,32," ",5,"RB(17,5)","=B(17,5)","OS(21), OR(21), OUT(21)="]
[null,17,22,null,null,null,null,64," ",6,"RB(17,6)","=B(17,6)","OS(22), OR(22), OUT(22)="]
[null,17,23,null,null,null,null,128," ",7,"RB(17,7)","=B(17,7)","OS(23), OR(23), OUT(23)="]
[null,17,24,null,null,null,null,256," ",8,"RB(17,8)","=B(17,8)","OS(24), OR(24), OUT(24)="]
[null,17,25,null,null,null,null,512," ",9,"RB(17,9)","=B(17,9)","OS(25), OR(25), OUT(25)="]
[null,17,"Reserved 10",null,null,null,null,1024," ",10,"RB(17,10)","=B(17,10)"]
[null,17,"Reserved 11",null,null,null,null,2048," ",11,"RB(17,11)","=B(17,11)"]
[null,17,"Reserved 12",null,null,null,null,4096," ",12,"RB(17,12)","=B(17,12)"]
[null,17,"Reserved 13",null,null,null,null,8192," ",13,"RB(17,13)","=B(17,13)"]
[null,17,"Reserved 14",null,null,null,null,16384," ",14,"RB(17,14)","=B(17,14)"]
[null,17,"Reserved 15",null,null,null,null,32768," ",15,"RB(17,15)","=B(17,15)"]

{"sheet":"CAN Port Status","index":2,"n_rows":24,"n_cols":10,"rows_kept":24,"cut":false,"hidden":false,"merged":[[4,2,4,7],[5,2,5,7],[6,2,6,7],[7,2,7,3],[19,2,19,4],[8,2,8,4],[9,2,9,4],[10,2,10,4],[11,2,11,4],[12,2,12,4],[13,2,13,4],[14,2,14,4],[15,2,15,4],[16,2,16,4],[17,2,17,4],[18,2,18,4],[25,2,25,7],[24,9,25,9],[20,2,20,4],[21,2,21,4],[22,2,22,4],[23,2,23,4],[24,2,24,7],[24,8,25,8]]}
[]
[]
[]
[]
[null,null,null,null,null,null,null,null,{"$f":"E8","v":196}]
[null,null,"RCAN Status Decoder"]
[]
[null,null,"Enter Value for RCAN:",null,196,"Value","Status","Bit"]
[null,null,"CAN Power Okay ",null,null,1,{"$f":"IF(J9,\"Asserted\",\" \")","v":" "},0,{"$f":"I5/2","v":98},{"$f":"IF(MOD(I5,2)>=1,1,0)","v":0}]
[null,null,"DeviceNet Com fault occurred",null,null,{"$f":"F9*2","v":2},{"$f":"IF(J10,\"Asserted\",\" \")","v":" "},1,{"$f":"I9/2","v":49},{"$f":"IF(MOD(I9,2)>=1,1,0)","v":0}]
[null,null,"DeviceNet Power ignore option enabled",null,null,{"$f":"F10*2","v":4},"Asserted",2,{"$f":"I10/2","v":24.5},1]
[null,null,null,null,null,8," ",3,{"$f":"I11/2","v":12.25},0]
[null,null,"User attempted to do Combitronics read from broadcast address",null,null,16," ",4,{"$f":"I12/2","v":6.125},0]
[null,null,"Combitronics debug, internal issue.",null,null,32," ",5,3.0625,0]
[null,null,"Timeout (Combitronics Client)",null,null,64,"Asserted",6,1.53125,1]
[null,null,"Combitronics server ran out of buffer slots.",null,null,128,"Asserted",7,0.765625,1]
[null,null,"Errors reached warning level",null,null,256," ",8,0.3828125,0]
[null,null,"Receive Errors reached warning level",null,null,512," ",9,0.19140625,0]
[null,null,"Transmit Errors reached warning level",null,null,1024," ",10,9.5703125E-2,0]
[null,null,"Receive Passive Error",null,null,2048," ",11,4.78515625E-2,0]
[null,null,"Transmit Passive Error  (cable issue)",null,null,4096," ",12,2.392578125E-2,0]
[null,null,"Bus Off Error",null,null,8192," ",13,1.1962890625E-2,0]
[null,null,"RX buffer 1 overflowed",null,null,16384," ",14,5.9814453125E-3,0]
[null,null,"RX buffer 0 overflowed",null,null,32768," ",15,2.99072265625E-3,0]

{"sheet":"Serial Port Status","index":3,"n_rows":22,"n_cols":10,"rows_kept":22,"cut":false,"hidden":false,"merged":[[9,2,9,4],[10,2,10,4],[3,2,3,7],[4,2,4,7],[5,2,5,7],[6,2,6,3],[7,2,7,4],[8,2,8,4],[11,2,11,7],[11,8,12,8],[11,9,12,9],[12,2,12,7],[21,2,25,7],[14,2,14,8],[15,2,15,8]]}
[]
[]
[]
[0,null,"Serial Port Status ",null,null,null,null,null,{"$f":"E7","v":10}]
[null,null,"RCHN() Decoder"]
[]
[null,null,"Enter Value for RCHN(0) or RCHN(1):",null,10,"Value","Status","Bit"]
[null,null,"Buffer Overflow Error",null,null,1,{"$f":"IF(J8,\"Asserted\",\" \")","v":" "},0,{"$f":"I4/2","v":5},{"$f":"IF(MOD(I4,2)>=1,1,0)","v":0}]
[null,null,"Framing Error",null,null,{"$f":"F8*2","v":2},{"$f":"IF(J9,\"Asserted\",\" \")","v":"Asserted"},1,{"$f":"I8/2","v":2.5},{"$f":"IF(MOD(I8,2)>=1,1,0)","v":1}]
[null,null,"N/A",null,null,{"$f":"F9*2","v":4}," ",2,{"$f":"I9/2","v":1.25},0]
[null,null,"Parity Error",null,null,8,"Asserted",3,{"$f":"I10/2","v":0.625},1]
[]
[]
[]
[null,null,"RCHN(n) or =CHN(n)  where n is the id of the serial port."]
[null,null,"Returns an integer.  Only the lower 4 bits indicate the state of the error"]
[]
[null,null,"Clearing Serial Port Errors"]
[null,null,"  It is up to the user to read which port caused the error using RCHN(n)."]
[null,null,"Z(2,0) clear comm. Errors port 0"]
[null,null,"Z(2,1) clear comm. Errors port 1"]
[null,null,"The Status word 2 “Error channel 0” and “Error channel 1” bits will indicate if any error has occurred on that port.  Those status bits will clear when the offending error is cleared with one of the commands listed above."]

{"sheet":"RMODE Report Mode","index":4,"n_rows":31,"n_cols":11,"rows_kept":31,"cut":false,"hidden":false,"merged":[[4,3,4,10],[9,3,9,4],[10,3,10,4],[11,3,11,4],[16,7,16,10],[17,7,17,10],[9,6,9,8],[10,6,10,8],[18,7,18,10],[19,7,19,10],[20,7,20,10],[21,7,21,10],[22,7,22,10],[28,7,28,10],[29,7,29,10],[30,7,30,10],[23,7,23,10],[24,7,24,10],[25,7,25,10],[26,7,26,10],[27,7,27,10]]}
[]
[]
[]
[]
[null,null,null,"Modes of operation per commands RMODE, RMODE(1), and RMODE(2)"]
[null,null,"The MODE command contains integer values for what Mode of operation you are in."]
[]
[null,null,"Issuing RMODE returns that value."]
[]
[null,null,"Example:","x=MODE",null,null,"Look Up RMODE Results by entering value here",null,null,1]
[null,null,null,"IF MODE==1",null,null,"Mode:",null,null,{"$f":"LOOKUP(J10,F17:F31,G17:G31)","v":"POSITION"},{"$f":"IF(J11=\"Mixed Mode\",\"  Issue RMODE(1) or RMODE(2) for complete breakdown\",\" \")","v":" "}]
[null,null,null,"WHILE MODE==4"]
[null,null,"Note: When running dual trajectory Generators, RMODE(1) applies to Trajectory Generator 1, and RMODE(2) applies to trajectory Generator 2."]
[null,null,null,null,"RMODE, RMODE(1), and RMODE(2) all use same values for mode descriptions where they apply."]
[]
[null,null,null,null,null,"Full List of values"]
[null,null,null,null,null,-5,"Mixed Mode","Mixed Mode"]
[null,null,null,null,null,{"$f":"F17+1","v":-4},"Cam Mode","Electronic Camming"]
[null,null,null,null,null,{"$f":"F18+1","v":-3},"STEPDIR","Step and Direction Mode"]
[null,null,null,null,null,-2," FOLLOW","Electronic Gearing"]
[null,null,null,null,null,-1,"N/A","Future Use"]
[null,null,null,null,null,0,"NOMODE ","N/A"]
[null,null,null,null,null,1,"POSITION"," (MP command, default on startup)"]
[null,null,null,null,null,2,"N/A","Future Use"]
[null,null,null,null,null,3," VELOCITY"," (MV command)"]
[null,null,null,null,null,4,"TORQUE"," (MT command)"]
[null,null,null,null,null,5,"N/A","Future Use"]
[null,null,null,null,null,6,"HOMING ","Future Use "]
[null,null,null,null,null,7," INTPOSITION","(Profiling via CANOpen only at this point)"]
[null,null,null,null,null,8,"N/A","Future Use"]
[null,null,null,null,null,9,"N/A","Future Use"]

{"sheet":"Command Syntax Error codes","index":5,"n_rows":58,"n_cols":5,"rows_kept":58,"cut":false,"hidden":false,"merged":[[8,3,9,3],[46,3,47,3]]}
[]
[]
[]
[null,null,"Command Errors","  Status Word 2, Bit 14","PAGE DOWN FOR ERROR SOURCE !!!!!!"]
[null,null,"If a command has resulted in error, the Command error bit (Status word 2, bit 14) will be tripped.  It is up to the user to catch this and read what the error code is."]
[null,null,"Note: if multiple command managers are executing commands at the same time, it is possible for one to overwrite the other."]
[null,null,"RERRC or =ERRC","Replies with a numeric value describing the most recent error."]
[]
[null,null,"Look Up RERRC",{"$f":"LOOKUP(C10,C11:C44,D11:D44)","v":"NO_ERROR"}]
[null,null,0]
[null,null,0,"NO_ERROR"]
[null,null,1,"BAD_LENGTH ","A command is too long, or contains too many parameters if a variable list of parameters is allowed."]
[null,null,2,"BAD_ARGUMENT","One or more of the values given to a command was out of range, so the command was aborted."]
[null,null,3,"BAD_PACKET","Command was not recognized. Check the command name and syntax."]
[null,null,4,"BAD_OPERATION","General error, command not allowed in the current state of the motor."]
[null,null,5,"MISSING_ARGUMENT","Incomplete formula"]
[null,null,6,"NOT USED","Reserved"]
[null,null,7,"ERROR_PARENTHESIS","Reserved"]
[null,null,8,"NOT USED","Reserved"]
[null,null,9,"LENGTH_VIOLATION","Embedded address in a user program was not found within the 64-character buffer for IF, SWITCH, GOTO, etc."]
[null,null,10,"BAD_ARRAY_ADDR","Array index outside the defined range."]
[null,null,11,"DIVIDE_BY_ZERO","Attempt to divide by 0."]
[null,null,12,"STACK_OVERFLOW","No room on stack for another 10 GOSUB and INTERRUPTS use the same stack."]
[null,null,13,"STACK_UNDERFLOW","RETURN or RETURNI with no place to return."]
[null,null,14,"BAD_LABEL ","Label does not exist for GOSUB or GOTO."]
[null,null,15,"NESTED_SWITCH","Reserved (no longer used)"]
[null,null,16,"BAD_FORMULA ","Formula used in an assignment, IF, or SWITCH is improperly formatted. Check syntax, parenthesis, operators, etc."]
[null,null,17,"BAD_WRITE_LENGTH","VST command amount written too long"]
[null,null,18,"NOT_USED","Reserved"]
[null,null,19,"BAD_BIT","Z{letter} command issued for a bit that cannot be reset; ITR command may also show this error if incorrect bit number is specified."]
[null,null,20,"INVALID_INTERRUPT ","EITR command for interrupt not defined."]
[null,null,21,"NO_PERMISSION","Operation or memory range is not user-accessible."]
[null,null,22,"OPERATION_FAILED","General error"]
[null,null,23,"MATH_OVERFLOW","A math operation (add, multiply, etc.) overflowed, or an assignment to a variable where the value is outside of the allowable range."]
[null,null,24,"CMD_TIMEOUT ","Combitronic timeout"]
[null,null,25,"IO_NOT_PRESENT","Attempt to access an I/O point that does not exist."]
[null,null,26,"NO_CROSS_AXIS_SUPPORT","Attempt to use Combitronic on a command that does not support it."]
[null,null,27,"BAD_MOTOR_STATE","Reserved"]
[null,null,28,"BAD_CROSS_AXIS_ID","Combitronic command issued to an invalid remote device address (greater than 127); requires firmware version 5.x.4.55 or later."]
[null,null,29,"BAD_COMBITRONIC_FCODE","The remote Combitronic does not support the command called, possibly due to older firmware or different motor series."]
[null,null,30,"BAD_COMBITRONIC_SFCODE","The remote Combitronic does not support the command called, possibly due to older firmware or different motor series."]
[null,null,31,"EE_WRITE_QUEUE_FULL","EEPROM in the motor was not able to save data as requested"]
[null,null,32,"CAM_FULL","Cam table cannot fit a table of the specified size (CTA command)."]
[null,null,33,"GOSUB_GOTO_BLOCKED","GOSUB attempted but motor cannot process it. This could happen when another command source (such as CANopen) attempts a GOSUB during a user program upload/download."]
[]
[null,null,"RERRW or =ERRW","Replies with a numeric code describing where the error came from. (What Com Port)"]
[null,null,"Look Up RERRW",{"$f":"LOOKUP(C48,C49:C85,D49:D85)","v":"Com 0"}]
[null,null,0]
[null,null,0,"Com 0","Communications port 0 (RS-232 for D-style, RS-485 for M-style)"]
[null,null,1,"Com 1","Communications port 1 (RS-485 for D-style only)"]
[null,null,2,"Program","From user program running in the motor"]
[null,null,3,"Reserved","Note: Class 6 firmware 6.0.2.36 and previous reported code 3 for program."]
[null,null,4,"CANopen encapsulation","This has been corrected in newer class 6 firmware versions."]
[null,null,5,"Modbus encapsulation 0","Serial command encapsulation over Modbus RTU attached to Com 0."]
[null,null,6,"Modbus encapsulation 1","Serial command encapsulation over Modbus RTU attached to Com 1."]
[null,null,7,"TCP encapsulation","Class 6 only, EtherNet/IP firmware only. Introduced firmware version \n6.0.2.37."]
[null,null,8,"USB","Class 6 only"]
[null,null,9,"Special system use"]

{"sheet":"Read Me Page","index":6,"n_rows":30,"n_cols":15,"rows_kept":30,"cut":false,"hidden":false,"merged":[]}
[]
[]
[]
[]
[null,null,"Read Me Data for Developers Worksheet"]
[]
[null,null,"Scale Factor Calculator:",null,null,"User input may be converted to end user values in velocity and acceleration units or vice versa.    ",null,null,null,null,null,null,null,null,"Be sure to input correct Encoder resolution for the motor in question,."]
[null,null,null,null,null,null,null,null,null,null,null,null,null,null,"This may be obtained by issuing RRES at the terminal screen."]
[]
[]
[null,null,"Status Words:",null,null,"Decoder for use when motors are off line. Enables decoding of values  when reporting entire 16 bit register at one."]
[null,null,null,null,null,"code examples relating to each value are listed to the right."]
[null,null,null,null,null,"Be sure to page down for all status words.  Class 5 M series differs slightly in the I/O status words and will appear to the right of the D series motors."]
[]
[]
[null,null,"Can Port Status",null,null,"Any time there is a general CAN port error flagged, this page shows how to decode the RCAN command result  or {variable}=CAN result in a program "]
[]
[]
[]
[null,null,"Serial Port Status",null,null,"Like CanPort Status, this allows decoding of general  RS232 or RS485 serial port status."]
[]
[]
[]
[null,null,"RMODE Decoder.  ",null,null," Issuing RMODE or {variable}=MODE will return a value according to the present drive mode status."]
[]
[]
[]
[null,null,"Syntax Error Codes",null,null,"This is more for determining the reason for a general syntax error and errors in code form PLC's or HMI's or other host programs. IT will aid in finding out why a command syntax was bad."]
[]
[null,null,"NOTE: This is the first release of the Class 5 Developers Worksheet."]