Difference between revisions of "Component: DC Motor ()"

Latest revision as of 13:12, 7 February 2023

Author	Matrix Ltd.
Version	1.2
Category

DC Motor component

DC Motor that can be driven in one or both directions using digital output pins, PWM or HBRIDGE peripherals.

Component Source Code

Please click here to download the component source project: FC_Comp_Source_Motor_with_reverse.fcfx

Please click here to view the component source code (Beta): FC_Comp_Source_Motor_with_reverse.fcfx

Detailed description

No detailed description exists yet for this component

Examples

Simple example showing how to drive the motor components and how to create sub assemblies attached to the motor output shafts in the simulation panels. Motors

Macro reference

Break

	Break
Actively drives both ends of the motor by setting the pins according to the 'Brake Pattern' property.
- VOID	Return

Coast

	Coast
Turn off power to the motor by setting the pins according to the 'Coast Pattern' property.
- VOID	Return

Disable

	Disable
Disable the motor output
- VOID	Return

Enable

	Enable
Enables the motor output
- VOID	Return

Forwards

	Forwards
Set the motor turning in the forwards direction by setting the pins according to the 'Reverse Pattern' property.
- UINT	Duty
Sets the motor power for PWM or H-Bridge outputs
- VOID	Return

Reverse

	Reverse
Set the motor turning in the reverse direction by setting the pins according to the 'Reverse Pattern' property.
- UINT	Duty
Sets the motor power for PWM or H-Bridge outputs
- VOID	Return

Property reference

	Properties
	Control Type
	Control Method
Controls how the motor is controlled. On/Off requires output pins PWM requires a hardware PWM channel H-Bridge requires a hardware H-Bridge channel
	Bridge Type

	Enable Method
Decides how the motor outputs are enabled.
	Connections
	PinA
First control pin - set 'pattern' properties below to set the pin's function.
	PinB
Second control pin - set 'pattern' properties below to set the pin's function.
	Forwards Pattern
The state of pins A and B required to drive the motor in a forwards direction.
	Reverse Pattern
States of pins A and B required to drive the motor in a reverse direction.
	Coast Pattern
States of pins A and B required to stop the motor.
	Brake Pattern
States of pins A and B required to stop the motor.
	Simulation Settings
	Speed
Speed of the motor when turned on. Positive speed -> Counter-clockwsie Negative speed -> Clockwise
	Acceleration
Speed change per second when the motor us powered. Set to zero for instantaneous speed changes.
	Deceleration
Speed change per second when the motor is coasting with no power. Set to zero for instantaneous speed changes.
	Show Actuator
When active, an actuator is shown on the motor spindle to make the animation easier to observe.
	Forwards Direction
Which way the motor will rotate when the 'forwards' command is sent.
	Linkage
	Target Object
An object or group to link the motor to - the object will move along with the motor.

Difference between revisions of "Component: DC Motor ()"

Latest revision as of 13:12, 7 February 2023

Contents

DC Motor component

Component Source Code

Detailed description

Examples

Macro reference

Break

Coast

Disable

Enable

Forwards

Reverse

Property reference

Navigation menu

Page actions

Page actions

Personal tools

Navigation

Search

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@@ Line 15: / Line 15: @@
 DC Motor that can be driven in one or both directions using digital output pins, PWM or HBRIDGE peripherals.
-==Detailed description==
+==Component Source Code==
+Please click here to download the component source project: [https://www.flowcode.co.uk/wiki/componentsource/FC_Comp_Source_Motor_with_reverse.fcfx FC_Comp_Source_Motor_with_reverse.fcfx]
+Please click here to view the component source code (Beta): [https://www.flowcode.co.uk/FlowchartView/?wfile=componentsource/FC_Comp_Source_Motor_with_reverse.fcfx FC_Comp_Source_Motor_with_reverse.fcfx]
-''No detailed description exists yet for this component''
+==Detailed description==
-==Examples==
-Simple example showing how to drive the motor components and how to create sub assemblies attached to the motor output shafts in the simulation panels.
-{{Fcfile|Motors.fcfx|Motors}}
-==Downloadable macro reference==
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Coast'''
-|-
-| colspan="2" | Turn off power to the motor by setting the pins according to the 'Coast Pattern' property.&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Break'''
-|-
-| colspan="2" | Actively drives both ends of the motor by setting the pins according to the 'Brake Pattern' property.&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Disable'''
-|-
-| colspan="2" | Disable the motor output&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Forwards'''
-|-
-| colspan="2" | Set the motor turning in the forwards direction by setting the pins according to the 'Reverse Pattern' property.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Duty
-|-
-| colspan="2" | Sets the motor power for PWM or H-Bridge outputs&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Enable'''
-|-
-| colspan="2" | Enables the motor output&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Reverse'''
-|-
-| colspan="2" | Set the motor turning in the reverse direction by setting the pins according to the 'Reverse Pattern' property.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Duty
-|-
-| colspan="2" | Sets the motor power for PWM or H-Bridge outputs&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Forward'''
-|-
-| colspan="2" | Drives both motors of the formula flowcode forwards with the power specified.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Power
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadLineSensor'''
-|-
-| colspan="2" | Returns the digital value from the line sensor specified.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Sensor
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+''No detailed description exists yet for this component''
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SpinRight'''
-|-
-| colspan="2" | Spins the formula flowcode on the spot in a clockwise direction as seen from above.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Power
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
+==Examples==
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CheckIR'''
-|-
-| colspan="2" | Checks to see if a IR sensor is within the master threshold distance.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Sensor
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadIRSensor'''
-|-
-| colspan="2" | Reads the analogue value from the specified IR distance sensor.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Sensor
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetMotors'''
-|-
-| colspan="2" | Sets the speed and direction of the Formula Flowcode motors.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:]] -
-| width="90%" | Left_Power
-|-
-| colspan="2" | Valid Range = -255 to 255&nbsp;
-|-
-| width="10%" align="center" | [[File:]] -
-| width="90%" | Right_Power
-|-
-| colspan="2" | Valid Range = -255 to 255&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Reverse'''
-|-
-| colspan="2" | Drives both motors of the formula flowcode backwards with the power specified.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Power
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''WaitForSwitch'''
-|-
-| colspan="2" | Waits for the specified switch to be pressed.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Switch
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadLDR'''
-|-
-| colspan="2" | Reads the current audio signal level from the on-board light sensor.&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:]] -
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''WriteLEDs'''
-|-
-| colspan="2" | Allows control of all 8-LEDs on the front of the Formula Flowcode.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | LED_Byte
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Initialise'''
-|-
-| colspan="2" | Starts up the formula flowcode PWM for motor control and performs the wait for button press&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Initialise'''
-|-
-| colspan="2" | The Init macro must be called once to initialise the Graphical LCD display before any other Graphical LCD component macros are called.&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Initialise'''
-|-
-| colspan="2" | The Init macro must be called once to initialise the Graphical LCD display before any other Graphical LCD component macros are called.&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Initialise'''
-|-
-| colspan="2" | The Init macro must be called once to initialise the Graphical LCD display before any other Graphical LCD component macros are called.&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Initialise'''
-|-
-| colspan="2" | The Init macro must be called once to initialise the Graphical LCD display before any other Graphical LCD component macros are called.&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
+Simple example showing how to drive the motor components and how to create sub assemblies attached to the motor output shafts in the simulation panels.
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+{{Fcfile|Motors.fcfx|Motors}}
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Initialise'''
-|-
-| colspan="2" | 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 &nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Initialise'''
-|-
-| colspan="2" | 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 &nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Initialise'''
-|-
-| colspan="2" | 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 &nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''MODPMSHAPE'''
-|-
-| colspan="2" | 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.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Shape
-|-
-| colspan="2" | 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).&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ARB4'''
-|-
-| colspan="2" | Loads the binary-data to an existing arbitrary waveform memory location ARB4.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Waveform
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CLKSRRet'''
-|-
-| colspan="2" | Returns the clock source <INT> or <EXT>.&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:]] -
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''MODPMDEV'''
-|-
-| colspan="2" | Sets PM waveform deviation to <nrf> degrees. (Lower limit: -360° - Upper limit: 360°).&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:]] -
-| width="90%" | Degrees
-|-
-| colspan="2" | Sets PM waveform deviation in degrees (-360 - 360).&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''MSTLOCK'''
-|-
-| colspan="2" | Sends signal to SLAVE generator to get synchronised&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
+==Macro reference==
+===Break===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''HILVL'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Break'''
 |-
-| colspan="2" | Sets the amplitude-high-level to <nrf> Volts. (Lower limit: -0.490 V - Upper limit: 5.000 V).&nbsp;
+| colspan="2" | Actively drives both ends of the motor by setting the pins according to the 'Brake Pattern' property.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:]] -
-| width="90%" | HighLevel
 |-
-| colspan="2" | Sets the amplitude-high-level in Volts(V) (-0.490 V - 5.000 V).&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 501: / Line 101: @@
+===Coast===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ARB3'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Coast'''
 |-
-| colspan="2" | Loads the binary-data to an existing arbitrary waveform memory location ARB3.&nbsp;
+| colspan="2" | Turn off power to the motor by setting the pins according to the 'Coast Pattern' property.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Waveform
 |-
-| colspan="2" | &nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 519: / Line 115: @@
+===Disable===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''WAVE'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Disable'''
 |-
-| colspan="2" | Sets the waveform type.  0 = SINE, 1 = SQUARE, 2 = RAMP, 3 = TRIANG, 4 = PULSE, 5 = NOISE, 6 = ARB&nbsp;
+| colspan="2" | Disable the motor output&nbsp;
 |-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | WaveType
-|-
-| colspan="2" | 0 = SINE, 1 = SQUARE, 2 = RAMP, 3 = TRIANG, 4 = PULSE, 5 = NOISE, 6 = ARB.&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 537: / Line 129: @@
+===Enable===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CALADJ'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Enable'''
 |-
-| colspan="2" | Adjust the selected calibration value by <nrf> (Lower limit: -100 - Upper limit: 100).&nbsp;
+| colspan="2" | Enables the motor output&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:]] -
-| width="90%" | Calibrate
 |-
-| colspan="2" | Adjust the selected calibration value (-100 - 100).&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 555: / Line 143: @@
+===Forwards===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''STBRet'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Forwards'''
 |-
-| colspan="2" | Returns the value of the Status Byte Register in <nr1> numeric format.&nbsp;
+| colspan="2" | Set the motor turning in the forwards direction by setting the pins according to the 'Reverse Pattern' property.&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ARB2'''
-|-
-| colspan="2" | Loads the binary-data to an existing arbitrary waveform memory location ARB2.&nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Waveform
+| width="90%" | Duty
 |-
-| colspan="2" | &nbsp;
+| colspan="2" | Sets the motor power for PWM or H-Bridge outputs&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 586: / Line 162: @@
+===Reverse===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''EERRet'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Reverse'''
 |-
-| colspan="2" | Query and clear execution error number register.&nbsp;
+| colspan="2" | Set the motor turning in the reverse direction by setting the pins according to the 'Reverse Pattern' property.&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''MODFMSRC'''
-|-
-| colspan="2" | Sets FM waveform source to; 0 INT, 1 = EXT.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:]] -
-| width="90%" | Source
-|-
-| colspan="2" | Sets FM waveform source (0 = INT, 1 = EXT).&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''MODAMFREQ'''
-|-
-| colspan="2" | Sets AM waveform frequency to <nrf> Hz. (Lower limit: 1uHz - Upper limit: 20kHz).&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:]] -
-| width="90%" | Frequency
-|-
-| colspan="2" | Sets AM waveform frequency in Hertz(Hz) (1uHz - 20kHz).&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ESE'''
-|-
-| colspan="2" | Sets the Standard Event Status Enable Register to the value of <nrf>.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Value
-|-
-| colspan="2" | Value of register 0-255&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ARB1'''
-|-
-| colspan="2" | Loads the binary-data to an existing arbitrary waveform memory location ARB1.&nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Waveform
+| width="90%" | Duty
 |-
-| colspan="2" | 16 Bit binary number for arbitrary waveform.&nbsp;
+| colspan="2" | Sets the motor power for PWM or H-Bridge outputs&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ARB4DEFRet'''
-|-
-| colspan="2" | Returns user specified waveform name, waveform pint interpolation state and waveform length of ARB4.&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CLS'''
-|-
-| colspan="2" | Clears status byte register of the interface.&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''MSTRELOCK'''
-|-
-| colspan="2" | Resynchronises the two generators in MASTER-SLAVE mode.&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''NOISLVL'''
-|-
-| colspan="2" | Sets the output noise level to <nr1> %. (Lower limit: 0% - Upper limit: 50%)&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Percent
-|-
-| colspan="2" | Sets the output noise level in percent. (0 - 50)&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LOCKMODE'''
-|-
-| colspan="2" | Sets the synchronising mode to; 0 = MASTER, 1 = SLAVE, 2 = INDEP.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Mode
-|-
-| colspan="2" | Sets the synchronising mode (0 = MASTER, 1 = SLAVE, 2 = INDEP).&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ADDRESSRet'''
-|-
-| colspan="2" | Returns the instruments address&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:]] -
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''MODPMSRC'''
-|-
-| colspan="2" | Sets PM waveform source to; 0 INT, 1 = EXT.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:]] -
-| width="90%" | Source
-|-
-| colspan="2" | Sets PM waveform source (0 = INT, 1 = EXT).&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''MODPWMSRC'''
-|-
-| colspan="2" | Sets PWM waveform source to; 0 = INT, 1 = EXT.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:]] -
-| width="90%" | Source
-|-
-| colspan="2" | Sets PWM waveform source (0 = INT, 1 = EXT).&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''MOD'''
-|-
-| colspan="2" | Sets modulation to; 0 = OFF, 1 = AM, 2 = FM, 3 = PM, 4 = FSK, 5 = PWM.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Modulation
-|-
-| colspan="2" | Sets modulation (0 = OFF, 1 = AM, 2 = FM, 3 = PM, 4 = FSK, 5 = PWM).&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ISTRet'''
-|-
-| colspan="2" | 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.&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:]] -
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LRNRet'''
-|-
-| colspan="2" | Returns the complete setup of the instrument as a binary data block&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:]] -
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''OPCRet'''
-|-
-| colspan="2" | Query Operation Complete status. The response is always 1<rmt> and will be available immediately the command is executed because all commands are sequential.&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:]] -
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SWPTYPE'''
-|-
-| colspan="2" | Sets the sweep type to; 0 = LINUP, 1 = LINDN, 2 = LINUPDN, 3 = LINDNUP, 4 = LOGUP, 5 = LOGDN, 6 = LOGUPDN, 7 = LOGDNUP.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Type
-|-
-| colspan="2" | Set the sweep type (0 = LINUP, 1 = LINDN, 2 = LINUPDN, 3 = LINDNUP, 4 = LOGUP, 5 = LOGDN, 6 = LOGUPDN, 7 = LOGDNUP).&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''PULSRANGE'''
-|-
-| colspan="2" | Sets PWM waveform source to <1>, <2> or <3>; 1 = 1, 2 = 2, 3 = 3.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Range
-|-
-| colspan="2" | Sets the pulse rise and fall range. (1, 2 or 3)&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''TSTRet'''
-|-
-| colspan="2" | The generator has no self test capability and the response is always 0 <rmt>.&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:]] -
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''BSTTRGPOL'''
-|-
-| colspan="2" | Sets the burst trigger slope to; 0 = POS, 1 = NEG.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:]] -
-| width="90%" | Slope
-|-
-| colspan="2" | Set the burst trigger slope (0 = POS, 1 = NEG).&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ARB3Ret'''
-|-
-| colspan="2" | Returns the binary-data from an existing abbitrary wavefrom memory location.&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''BSTPHASE'''
-|-
-| colspan="2" | Sets the burst phase to <nrf> degrees. (Lower limit: -360 - Upper limit: 360)&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:]] -
-| width="90%" | Degrees
-|-
-| colspan="2" | Sets the burst phase in degrees (-360 - 360)&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''IDNRet'''
-|-
-| colspan="2" | 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.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" | ReturnIDN
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SWPTRGPER'''
-|-
-| colspan="2" | Sets the sweep trigger period to <nrf> seconds&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:]] -
-| width="90%" | Seconds
-|-
-| colspan="2" | Set the sweep trigger period in seconds.&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''PULSDLY'''
-|-
-| colspan="2" | Sets the waveform delay to <nrf> sec&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:]] -
-| width="90%" | Sec
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Initialise'''
-|-
-| colspan="2" | Opens the COM port ready for communications.&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
@@ Line 1,025: / Line 187: @@
 | width="10%" align="center" style="background-color:#D8C9D8;" | [[File:Fc9-prop-icon.png]]
 | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Properties'''
+|-
+|-
+| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
+| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Control Type
 |-
 |-
@@ Line 1,042: / Line 208: @@
 | colspan="2" | Decides how the motor outputs are enabled.&nbsp;
 |-
-| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
+| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
-| width="90%" | Channel
+| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Connections
-|-
-| colspan="2" | PWM Channel selector&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
-| width="90%" | Alt Pin Enable
 |-
-| colspan="2" | Alternative Pin Enable (if available on target device)&nbsp;
 |-
 | width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
-| width="90%" | Port
+| width="90%" | PinA
 |-
-| colspan="2" | &nbsp;
+| colspan="2" | First control pin - set 'pattern' properties below to set the pin's function.&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
-| width="90%" | Remap Pin
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
-| width="90%" | Period Register
-|-
-| colspan="2" | PWM Period Register value&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
-| width="90%" | Prescaler Divide
-|-
-| colspan="2" | Prescaler Divider value&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
-| width="90%" | PWM Timer
-|-
-| colspan="2" | Timer associated with PWM to drive the output.  Warning - All PWM channels linked to the same timer will share the same period and prescaler settings.&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
-| width="90%" | Frequency (KHz)
-|-
-| colspan="2" | &nbsp;
 |-
 | width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
-| width="90%" | Direction Pin
+| width="90%" | PinB
 |-
-| colspan="2" | &nbsp;
+| colspan="2" | Second control pin - set 'pattern' properties below to set the pin's function.&nbsp;
 |-
 | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
-| width="90%" | Channel
+| width="90%" | Forwards Pattern
 |-
-| colspan="2" | PWM Channel selector&nbsp;
+| colspan="2" | The state of pins A and B required to drive the motor in a forwards direction.&nbsp;
 |-
 | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
-| width="90%" | Polarity
+| width="90%" | Reverse Pattern
 |-
-| colspan="2" | Selects the active output voltage.  Active high - Pins will be low when inactive and high when active. Active Low- Pins will be high when inactive and low when active.&nbsp;
+| colspan="2" | States of pins A and B required to drive the motor in a reverse direction.&nbsp;
 |-
 | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
-| width="90%" | Timer
+| width="90%" | Coast Pattern
 |-
-| colspan="2" | Timer associated with PWM to drive the output.  Warning - All PWM channels linked to the same timer will share the same period and prescaler settings.&nbsp;
+| colspan="2" | States of pins A and B required to stop the motor.&nbsp;
 |-
 | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
-| width="90%" | Prescaler Divide
+| width="90%" | Brake Pattern
 |-
-| colspan="2" | Prescaler Divider value&nbsp;
+| colspan="2" | States of pins A and B required to stop the motor.&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
-| width="90%" | Period Register
-|-
-| colspan="2" | PWM Period Register value&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
-| width="90%" | A Pin
-|-
-| colspan="2" | Output Pin A&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
-| width="90%" | B Pin
-|-
-| colspan="2" | Output Pin B&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
-| width="90%" | C Pin
-|-
-| colspan="2" | Output Pin C&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
-| width="90%" | D Pin
-|-
-| colspan="2" | Output Pin D&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
-| width="90%" | A Remap Pin
 |-
-| colspan="2" | Remap Pin A - Specifies the pin used for the A output.  Only available on devices supporting remappable hardware pins.&nbsp;
+| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
+| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Simulation Settings
 |-
-| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
-| width="90%" | B Remap Pin
-|-
-| colspan="2" | Remap Pin B - Specifies the pin used for the B output.  Only available on devices supporting remappable hardware pins.&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
-| width="90%" | C Remap Pin
-|-
-| colspan="2" | Remap Pin C - Specifies the pin used for the C output.  Only available on devices supporting remappable hardware pins.&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
-| width="90%" | D Remap Pin
-|-
-| colspan="2" | Remap Pin D - Specifies the pin used for the D output.  Only available on devices supporting remappable hardware pins.&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
-| width="90%" | Frequency (KHz)
-|-
-| colspan="2" | Calculated PWM output frequency in KHz.&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
-| width="90%" | Rising Bits
-|-
-| colspan="2" | Number of bits assigned to the rising edge dead band counter. Auto populated based on selected target chip.&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
-| width="90%" | Falling Bits
-|-
-| colspan="2" | Number of bits assigned to the falling edge dead band counter. Auto populated based on selected target chip.&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
-| width="90%" | Rising Count
-|-
-| colspan="2" | Number of cycles to wait after a falling edge and before a rising edge.&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
-| width="90%" | Falling Count
-|-
-| colspan="2" | Number of cycles to wait after a rising edge and before a falling edge.&nbsp;
 |-
 | width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
@@ Line 1,201: / Line 270: @@
 |-
 | colspan="2" | Which way the motor will rotate when the 'forwards' command is sent.&nbsp;
+|-
+| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
+| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Linkage
+|-
 |-
 | width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
@@ Line 1,206: / Line 279: @@
 |-
 | colspan="2" | An object or group to link the motor to - the object will move along with the motor.&nbsp;
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" | [[File:Fc9-conn-icon.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Connections'''
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
-| width="90%" | PinA
-|-
-| colspan="2" | First control pin - set 'pattern' properties below to set the pin's function.&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
-| width="90%" | Forwards Pattern
-|-
-| colspan="2" | The state of pins A and B required to drive the motor in a forwards direction.&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
-| width="90%" | Reverse Pattern
-|-
-| colspan="2" | States of pins A and B required to drive the motor in a reverse direction.&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
-| width="90%" | Coast Pattern
-|-
-| colspan="2" | States of pins A and B required to stop the motor.&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
-| width="90%" | Brake Pattern
-|-
-| colspan="2" | States of pins A and B required to stop the motor.&nbsp;
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" | [[File:Fc9-conn-icon.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Simulations'''
-|-
 |}