Component: Servo Motor Template (Mechatronics)

Author	Matrix Ltd
Version	1.1
Category	Mechatronics

Servo Motor Template component

Base component for creating custom servo motor simulations. Recieves messages from the the 'Servo Controller' component. Macro 'SetTarget' allows external objects to be moved by the servo for mechanical simulations.

Detailed description

No detailed description exists yet for this component

Examples

No additional examples

Downloadable macro reference

	SetTarget
Set a panel object to be 'connected' to the servo's. The connected object will then move as if connected mechanically to the servo's actuator.
[[File:]] -	Target
Object to be moved by the motor
- VOID	Return

	MoveToPositionInt
Moves a single step towards the new position, the rate of movement is determined by how often the move to macro is called. Returns 1 if the position has been reached.
- BYTE	Channel
The channel to assign the new position. Range: 0-7
- UINT	Position
Target position to move towards. Range: 0-65535
- BYTE	Return

	SetPositionInt
Moves directly to the specified position with no interpolation. Uses a 16-bit position parameter to add extra precision.
- BYTE	Channel
The channel to assign the new position. Range: 0-7
- UINT	Position
Position to jump to. Range: 0-65535
- VOID	Return

	MoveToPosition
Moves a single step towards the new position, the rate of movement is determined by how often the move to macro is called. Returns 1 if the position has been reached.
- BYTE	Channel
The channel to assign the new position. Range: 0-7
- BYTE	Position
Target position to move towards. Range: 0-255
- BYTE	Return

	SetTrim
Allows the level of trim for each servo channel to be adjusted progmatically.
- BYTE	Channel
The channel to set the position for. First channel is zero.
- BYTE	Trim
Legacy: 0=0us, 1=+25us, 2=+50us, 3=+75us, 4=+100us, 5=-25us, 6=-50us, 7=-75us, 8=-100us or Smooth: 0-200
- VOID	Return

	IsAutoMoving
Is the AutoMoveToPosition movement complete. Returns 1 if the servos are still moving. Returns 0 if all servo movement is complete.
- BYTE	Return

	SetAutoMoveSpeedInt
Sets the speed of the auto move to position macro. Default speed is shown in the Servo_Period_Multiplier property.
- UINT	Speed
1=Slowest (Default), 2= Double, 3=Triple, 4=Quadruple
- VOID	Return

	IsServoAutoMoving
Is the AutoMoveToPosition movement complete for a specific servo output. Returns 1 if the servo is still moving. Returns 0 if the servo movement is complete.
- BYTE	Channel
Servo Motor Output Range: 0-7
- BYTE	Return

	AutoMoveToPosition
Automatically moves towards the new position at a fixed rate determined by the AutoMoveSpeed.
- BYTE	Channel
The channel to assign the new position. Range: 0-7
- BYTE	Position
Position to automatically move to. Range: 0-255
- VOID	Return

	EnableServo
Enables a servo channel effectivly setting the position of the motor to the value in the local position variable.
- BYTE	Channel
The channel to set the position for. First channel is zero.
- VOID	Return

	SetAutoMoveSpeed
Sets the speed of the auto move to position macro. Default speed is shown in the Servo_Period_Multiplier property.
- BYTE	Speed
1=Slowest (Default), 2= Double, 3=Triple, 4=Quadruple
- VOID	Return

	AutoMoveToPositionInt
Automatically moves towards the new 16-bit position at a fixed rate determined by the AutoMoveSpeed.
- BYTE	Channel
The channel to assign the new position. Range: 0-7
- UINT	Position
Position to automatically move to. Range: 0-65535
- VOID	Return

	Initialise
Sets up the servo motor interrupts
- VOID	Return

	WriteLEDs
Allows control of all 8-LEDs on the front of the Formula Flowcode.
- BYTE	LED_Byte
- VOID	Return

	Initialise
Starts up the formula flowcode PWM for motor control and performs the wait for button press
- VOID	Return

	Initialise
The Init macro must be called once to initialise the Graphical LCD display before any other Graphical LCD component macros are called.
- VOID	Return

	Initialise
The Init macro must be called once to initialise the Graphical LCD display before any other Graphical LCD component macros are called.
- VOID	Return

	Initialise
The Init macro must be called once to initialise the Graphical LCD display before any other Graphical LCD component macros are called.
- VOID	Return

	Initialise
The Init macro must be called once to initialise the Graphical LCD display before any other Graphical LCD component macros are called.
- VOID	Return

	Initialise
Resets and initialises the Internet E-Block. It sets up the gateway address, subnet mask, device IP address and device MAC address as defined in the properties of the Flowcode component. This macro must be called before any other TCP_IP component macros
- VOID	Return

	Initialise
Resets and initialises the Internet E-Block. It sets up the gateway address, subnet mask, device IP address and device MAC address as defined in the properties of the Flowcode component. This macro must be called before any other TCP_IP component macros
- VOID	Return

	Initialise
Resets and initialises the Internet E-Block. It sets up the gateway address, subnet mask, device IP address and device MAC address as defined in the properties of the Flowcode component. This macro must be called before any other TCP_IP component macros
- VOID	Return

	MODPMSHAPE
Sets PM waveform shape to; 0 = SINE, 1 = SQUARE, 2 = RAMPUP, 3 = RAMPDN, 4 = TRIANG, 5 = NOISE, 6 = DC, 7 = SINC, 8 = EXPRISE, 9 = LOGRISE, 10 = ARB1, 11 = ARB2, 12 = ARB3, 13= ARB4.
- BYTE	Shape
Sets PM waveform shape (1 = SINE, 2 = SQUARE, 3 = RAMPUP, 4 = RAMPDN, 5 = TRIANG, 6 = NOISE, 7 = DC, 8 = SINC, 9 = EXPRISE, 10 = LOGRISE, 11 = ARB1, 12 = ARB2, 13 = ARB3, 14= ARB4).
- VOID	Return

	ARB4
Loads the binary-data to an existing arbitrary waveform memory location ARB4.
- BYTE	Waveform
- VOID	Return

	CLKSRRet
Returns the clock source <INT> or <EXT>.
[[File:]] -	Return

	MODPMDEV
Sets PM waveform deviation to <nrf> degrees. (Lower limit: -360° - Upper limit: 360°).
[[File:]] -	Degrees
Sets PM waveform deviation in degrees (-360 - 360).
- VOID	Return

	MSTLOCK
Sends signal to SLAVE generator to get synchronised
- VOID	Return

	HILVL
Sets the amplitude-high-level to <nrf> Volts. (Lower limit: -0.490 V - Upper limit: 5.000 V).
[[File:]] -	HighLevel
Sets the amplitude-high-level in Volts(V) (-0.490 V - 5.000 V).
- VOID	Return

	ARB3
Loads the binary-data to an existing arbitrary waveform memory location ARB3.
- UINT	Waveform
- VOID	Return

	WAVE
Sets the waveform type. 0 = SINE, 1 = SQUARE, 2 = RAMP, 3 = TRIANG, 4 = PULSE, 5 = NOISE, 6 = ARB
- BYTE	WaveType
0 = SINE, 1 = SQUARE, 2 = RAMP, 3 = TRIANG, 4 = PULSE, 5 = NOISE, 6 = ARB.
- VOID	Return

	CALADJ
Adjust the selected calibration value by <nrf> (Lower limit: -100 - Upper limit: 100).
[[File:]] -	Calibrate
Adjust the selected calibration value (-100 - 100).
- VOID	Return

	STBRet
Returns the value of the Status Byte Register in <nr1> numeric format.
- BYTE	Return

	ARB2
Loads the binary-data to an existing arbitrary waveform memory location ARB2.
- UINT	Waveform
- VOID	Return

	EERRet
Query and clear execution error number register.
- STRING	Return

	MODFMSRC
Sets FM waveform source to; 0 INT, 1 = EXT.
[[File:]] -	Source
Sets FM waveform source (0 = INT, 1 = EXT).
- VOID	Return

	MODAMFREQ
Sets AM waveform frequency to <nrf> Hz. (Lower limit: 1uHz - Upper limit: 20kHz).
[[File:]] -	Frequency
Sets AM waveform frequency in Hertz(Hz) (1uHz - 20kHz).
- VOID	Return

	ESE
Sets the Standard Event Status Enable Register to the value of <nrf>.
- BYTE	Value
Value of register 0-255
- VOID	Return

	ARB1
Loads the binary-data to an existing arbitrary waveform memory location ARB1.
- UINT	Waveform
16 Bit binary number for arbitrary waveform.
- VOID	Return

	ARB4DEFRet
Returns user specified waveform name, waveform pint interpolation state and waveform length of ARB4.
- STRING	Return

	CLS
Clears status byte register of the interface.
- VOID	Return

	MSTRELOCK
Resynchronises the two generators in MASTER-SLAVE mode.
- VOID	Return

	NOISLVL
Sets the output noise level to <nr1> %. (Lower limit: 0% - Upper limit: 50%)
- BYTE	Percent
Sets the output noise level in percent. (0 - 50)
- VOID	Return

	LOCKMODE
Sets the synchronising mode to; 0 = MASTER, 1 = SLAVE, 2 = INDEP.
- BYTE	Mode
Sets the synchronising mode (0 = MASTER, 1 = SLAVE, 2 = INDEP).
- VOID	Return

	ADDRESSRet
Returns the instruments address
[[File:]] -	Return

	MODPMSRC
Sets PM waveform source to; 0 INT, 1 = EXT.
[[File:]] -	Source
Sets PM waveform source (0 = INT, 1 = EXT).
- VOID	Return

	MODPWMSRC
Sets PWM waveform source to; 0 = INT, 1 = EXT.
[[File:]] -	Source
Sets PWM waveform source (0 = INT, 1 = EXT).
- VOID	Return

	MOD
Sets modulation to; 0 = OFF, 1 = AM, 2 = FM, 3 = PM, 4 = FSK, 5 = PWM.
- BYTE	Modulation
Sets modulation (0 = OFF, 1 = AM, 2 = FM, 3 = PM, 4 = FSK, 5 = PWM).
- VOID	Return

	ISTRet
Returns IST local message as defined by IEEE Std. 488.2. The syntax of the response is 0<rmt>, if the local message is false, or 1<rmt>, if the local message is true.
[[File:]] -	Return

	LRNRet
Returns the complete setup of the instrument as a binary data block
[[File:]] -	Return

	OPCRet
Query Operation Complete status. The response is always 1<rmt> and will be available immediately the command is executed because all commands are sequential.
[[File:]] -	Return

	SWPTYPE
Sets the sweep type to; 0 = LINUP, 1 = LINDN, 2 = LINUPDN, 3 = LINDNUP, 4 = LOGUP, 5 = LOGDN, 6 = LOGUPDN, 7 = LOGDNUP.
- BYTE	Type
Set the sweep type (0 = LINUP, 1 = LINDN, 2 = LINUPDN, 3 = LINDNUP, 4 = LOGUP, 5 = LOGDN, 6 = LOGUPDN, 7 = LOGDNUP).
- VOID	Return

	PULSRANGE
Sets PWM waveform source to <1>, <2> or <3>; 1 = 1, 2 = 2, 3 = 3.
- BYTE	Range
Sets the pulse rise and fall range. (1, 2 or 3)
- VOID	Return

	TSTRet
The generator has no self test capability and the response is always 0 <rmt>.
[[File:]] -	Return

	BSTTRGPOL
Sets the burst trigger slope to; 0 = POS, 1 = NEG.
[[File:]] -	Slope
Set the burst trigger slope (0 = POS, 1 = NEG).
- VOID	Return

	ARB3Ret
Returns the binary-data from an existing abbitrary wavefrom memory location.
- UINT	Return

	BSTPHASE
Sets the burst phase to <nrf> degrees. (Lower limit: -360 - Upper limit: 360)
[[File:]] -	Degrees
Sets the burst phase in degrees (-360 - 360)
- VOID	Return

	IDNRet
Returns the instrument identification. The IDN is saved to the variable passed from the function 'ReturnIDN'. The return parameter is TRUE when the IDN is successfully returned.
- STRING	ReturnIDN
- STRING	Return

	SWPTRGPER
Sets the sweep trigger period to <nrf> seconds
[[File:]] -	Seconds
Set the sweep trigger period in seconds.
- VOID	Return

	PULSDLY
Sets the waveform delay to <nrf> sec
[[File:]] -	Sec
- VOID	Return

	Initialise
Opens the COM port ready for communications.
- VOID	Return

Property reference

	Properties
	Moving Part
Set an object on the System Panel to be the servo's actuator. The object's position at the moment of selection is taken to be the 'rest' position of the actuator - the maximum and minimum angles will be measured from this position.
	Axis Object
Set a panel object to be the centre of rotation of the servo's actuator.
	Move Around
Set the axis around which the actuator will revolve. If an 'Axis Object' is chosen, this will be a local axis of the chosen object, otherwise it will be the current world axes.
	Movement Type
	Minimum (degrees)
Angle that the servo turns when the PWM signal is at its minimum. Measured from the actuator object's 'rest' position, chosen at the time of connecting the object.
	Maximum (degrees)
Angle that the servo turns when the PWM signal is at its maximum. Measured from the actuator object's 'rest' position, chosen at the time of connecting the object.
	Connections
	Simulations