The term "constants" refers to a numeric item in programming that does not change. This can be a number in typical representation, such as 10.345, or a named representation of a number, such as PI or other numbers that have specific meaning in certain usage.
Constant Number Representations
The expressions in RMCTools supports the following types of constant number representations:
|
Constant Type |
Description |
Notation |
|---|---|---|
|
Decimal |
Base 10 numbers. These can be either DINT (32-bit integers) or REAL (32-bit floating-point decimal) numbers. |
number Examples: 1 156.8902 0.0034 |
|
Base 16 numbers. These are 32-bit DWORD numbers.
|
16#number Examples: 16#F3 16#0000104C
Hexadecimal numbers are sometimes represented with a preceding "0x" instead of 16#, for example 0x01006a01. |
|
|
Boolean |
Representing a single bit. 0 = False and 1= True. |
0 or 1 or True or False |
Math Constants
The expressions in RMCTools include the named mathematical constant numbers listed below. In the Expression Editor, these can be accessed on the Tags tab, under Expression Constants.
|
Constant |
Value |
|---|---|
|
3.1415927 (limited to 32-bit floating point accuracy). REAL data type. |
Command Constants
The following DINT constants are for use in the SEND_CMD and SEND_CMD_MULTI functions when specifying the command to be sent. The constants help make the code more readable. In the Expression Editor, these can be accessed on the Tags tab, under Expression Constants.
| Command | Constant | Value |
|---|---|---|
| Adv Gear Move | CMD.ADV_GEAR_MOVE | 33 |
| Adv Time Move Absolute | CMD.ADV_TIME_MOVE_ABS | 26 |
| Adv Time Move Relative | CMD.ADV_TIME_MOVE_REL | 27 |
| Arm Event Timer | CMD.ARM_EVENT_TIMER | 105 |
| Arm Home | CMD.ARM_HOME | 50 |
| Arm Registration | CMD.ARM_REGISTRATION | 52 |
| Change Master | CMD.CHANGE_MASTER | 79 |
| Change Target Param | CMD.CHANGE_TARGET_PARAM | 80 |
| Change Target Param (Prs/Frc) | CMD.CHANGE_TARGET_PARAM_PF | 81 |
| Clear Discrete Output | CMD.CLEAR_DISCRETE_OUTPUT | 61 |
| Clear Faults | CMD.CLEAR_FAULTS | 4 |
| Closed Loop Halt | CMD.CLOSED_LOOP_HALT | 1 |
| Curve Add | CMD.CURVE_ADD | 82 |
| Curve Delete | CMD.CURVE_DELETE | 83 |
| Curve Delete All | CMD.CURVE_DELETE_ALL | 85 |
| Curve Delete Except | CMD.CURVE_DELETE_EXCEPT | 84 |
| Curve Start | CMD.CURVE_START | 86 |
| Curve Start Advanced | CMD.CURVE_START_ADV | 88 |
| Curve Start Advanced (Prs/Frc) | CMD.CURVE_START_ADV_PF | 89 |
| Curve Start (Prs/Frc) | CMD.CURVE_START_PF | 87 |
| Direct Output | CMD.DIRECT_OUTPUT | 9 |
| Direct Output Halt | CMD.DIRECT_OUTPUT_HALT | 3 |
| Disarm Event Timer | CMD.DISABLE_EVENT_TIMER | 106 |
| Disarm Home | CMD.DISARM_HOME | 51 |
| Disarm Registration | CMD.DISARM_REGISTRATION | 53 |
| Enable/Disable Axis | CMD.ENABLE_AXIS | 97 |
| Enable Controller | CMD.ENABLE_CONTROLLER | 7 |
| Enable/Disable Plot Trigger | CMD.ENABLE_DISABLE_PLOT_TRIG | 104 |
| Enter Prs/Frc Control (Auto) | CMD.ENTER_PF_AUTO | 44 |
| Enter Prs/Frc Control (Rate) | CMD.ENTER_PF_RATE | 46 |
| Enter Prs/Frc Control (Time) | CMD.ENTER_PF_TIME | 45 |
| Fault Controller | CMD.FAULT_CONTROLLER | 8 |
| Feed Forward Adjust | CMD.FEED_FORWARD_ADJUST | 69 |
| Geared Slave Offset | CMD.GEARED_SLAVE_OFFSET | 35 |
| Gear Absolute | CMD.GEAR_ABSOLUTE | 25 |
| Gear Absolute (Prs/Frc) | CMD.GEAR_ABSOLUTE_PF | 59 |
| Gear Pos (Clutch by Distance) | CMD.GEAR_POS_CLUTCH_DIST | 32 |
| Gear Pos (Clutch by Rate) | CMD.GEAR_POS_CLUTCH_RATE | 39 |
| Gear Pos (Clutch by Time) | CMD.GEAR_POS_CLUTCH_TIME | 30 |
| Gear Vel (Clutch by Time) | CMD.GEAR_VEL_CLUTCH_TIME | 31 |
| Hold Current Prs/Frc | CMD.HOLD_CURRENT_PF | 19 |
| Hold Current Position | CMD.HOLD_CURRENT_POS | 5 |
| Integrator Adjust | CMD.INTEGRATOR_ADJUST | 70 |
| Learn Z Alignment | CMD.LEARN_Z_ALIGNMENT | 54 |
| Restore Controller Image | CMD.LOAD_CONTROLLER_IMAGE | 121 |
| Move Absolute | CMD.MOVE_ABS | 20 |
| Move Absolute (I-PD) | CMD.MOVE_ABS_IPD | 28 |
| Move Relative | CMD.MOVE_REL | 21 |
| Move Relative (I-PD) | CMD.MOVE_REL_IPD | 29 |
| Move Velocity | CMD.MOVE_VELOCITY | 37 |
| Move Velocity (I-PD) | CMD.MOVE_VELOCITY_IPD | 38 |
| Offset Position | CMD.OFFSET_POSITION | 47 |
| Open Loop Absolute | CMD.OPEN_LOOP_ABS | 11 |
| Open Loop Halt | CMD.OPEN_LOOP_HALT | 2 |
| Open Loop Rate | CMD.OPEN_LOOP_RATE | 10 |
| Open Loop Relative | CMD.OPEN_LOOP_REL | 12 |
| Pause/Resume Log | CMD.PAUSE_RESUME_LOG | 95 |
| Phasing | CMD.PHASING | 34 |
| PROGRAM Mode | CMD.PROGRAM_MODE | 99 |
| Quick Move Absolute | CMD.QUICK_MOVE_ABS | 15 |
| Quick Move Relative | CMD.QUICK_MOVE_REL | 16 |
| Ramp Prs/Frc (Rate) | CMD.RAMP_PF | 18 |
| Ramp Prs/Frc (Linear) | CMD.RAMP_PF_LINEAR | 42 |
| Ramp Prs/Frc (S/Curve) | CMD.RAMP_PF_S_CURVE | 41 |
|
CMD.READ_REGISTER |
111 |
|
|
CMD.REARM_PLOT |
103 |
|
|
CMD.RESET_ECAT_NETWORK |
122 |
|
|
CMD.SAVE_CONTROLLER_IMAGE |
120 |
|
|
CMD.SELECT_GAIN_SET |
75 |
|
|
CMD.SET_ACTUAL_PF |
65 |
|
|
CMD.SET_ACT_POSITION |
49 |
|
|
CMD.SET_CONTROL_DIRECTION |
96 |
|
|
CMD.SET_DISCRETE_OUTPUT |
60 |
|
|
CMD.SET_ENABLE_OUTPUT |
67 |
|
|
CMD.SET_INTEGRATOR_MODE |
71 |
|
|
CMD.SET_PF_LIMIT_MODE |
40 |
|
|
CMD.SET_POS_VEL_CONTROL_MODE |
68 |
|
|
CMD.SET_TARGET_POSITION |
48 |
|
|
CMD.SINE_START |
72 |
|
|
CMD.SINE_START_PF |
76 |
|
|
CMD.SINE_STOP |
73 |
|
|
CMD.SINE_STOP_PF |
77 |
|
|
CMD.SPEED_AT_POSITION |
36 |
|
|
CMD.START_PLOT |
100 |
|
|
CMD.START_TASK |
90 |
|
|
CMD.STOP_CLOSED_LOOP |
6 |
|
|
CMD.STOP_OPEN_LOOP |
22 |
|
|
CMD.STOP_PF |
43 |
|
|
CMD.STOP_PLOT |
101 |
|
|
CMD.STOP_TASK |
91 |
|
|
CMD.SYNC_MOVE_ABS |
13 |
|
|
CMD.SYNC_MOVE_REL |
14 |
|
|
CMD.SYNC_STOP |
17 |
|
|
CMD.TIME_MOVE_ABS |
23 |
|
|
CMD.TIME_MOVE_REL |
24 |
|
|
CMD.TOGGLE_DISCRETE_OUTPUT |
62 |
|
|
CMD.TRACK_POSITION |
57 |
|
|
CMD.TRACK_POSITION_IPD |
58 |
|
|
CMD.TRANSITION_DISABLE |
55 |
|
|
CMD.TRANSITION_DISABLE_PF |
63 |
|
|
CMD.TRANSITION_RATE |
56 |
|
|
CMD.TRANSITION_RATE_PF |
64 |
|
|
CMD.TRIGGER_PLOT |
102 |
|
|
CMD.UPDATE_FLASH |
110 |
|
|
CMD.WRITE_REGISTER |
112 |
See Also
Expressions Overview | Functions | Data Types
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