RT3.13 includes the addition of a number of new system variables:
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"Px"
Current Position
Unit: Pulses
Read/Write
While the Px variable did exist in RT3.12, it has been changed to now be read/write.
You can now write to a variable assigned to Px within a program, to assign the motor's current position.
While this variable can be written to while in motion, caution should be taken to not change the position too drastically while running, to avoid any faults or alarms.
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"TMR"
Timer
Unit: milliseconds
Read/Write
When a variable is assigned as "TMR" you can write a value to it which will begin to count down to 0.
This can be used by writing a time to the variable, and then using an if statement to begin some process when the timer counts down to 0.
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"CX"
Timer
Unit: N/A
Read/Write
The "Cx" counter variable was also present in RT3.12, but is now read/write.
You can now write a value to the "Cx" variable to reset or change the value of the counter.
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"PTMR"
Push Timer
Unit: milliseconds
Read/Write
The "PTMR" variable is used to dynamically change the push time, when using a push move.
This value will perform the same function and override the push time value in K61. Unlike K61, this variable can be changed dynamically through a program.
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"Pval"
Push Value
Unit: -
Read/Write
The "PVal" variable is used to adjust the force of a push move. This can be used to change the push force dynamically.
This variable performs the same function of K60, but in a slightly different way. K60 is a percentage of the motor's torque whereas "PVal" is
a unitless quantity from 0 to the motor's peak torque setting.
The max value for each motor is:
17S - 60
17L - 110
23S - 176
23L - 180
This gives us better torque resolution in the larger motors, as well as allowing the push value to be changed on the fly.
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"PTMR"
Push Timer
Unit: milliseconds
Read/Write
The "PTMR" variable is used to dynamically change the push time, when using a push move.
This value will perform the same function and override the push time value in K61. Unlike K61, this variable can be changed dynamically through a program.
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"CNT"
Count up Timer
Unit: milliseconds
Read/Write
This variable will continue to count up in milliseconds. This can be used to time a process, or wait a specific amount of time before continuing with a program.
For example, 0 can be written to the variable and then it can be read when the process finishes to give a time in milliseconds.
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"Tx"
Target Torque
Unit: milliseconds
Read only
When read, the "Tx" variable will return the instantaneous target torque value. This is a unitless value directly related to the motor's peak torque.
The max value for each motor is:
17S - 60
17L - 110
23S - 176
23L - 180
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"Ex"
Error Status
Unit: -
Read only
This variable is similar to the "Ux" status variable but this will return only an error status. This variable will return 0 for non-error statuses: In position, Manually Disabled, running, etc. The variable will return the error status if there is an error, e.g. 2=Over Speed, 4=Over Torque, etc.
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"EEP1"
Non-Volatile EEPROM Value
Unit: -
Read/Write
Using the "EEP1" variable, you can have a value saved from a program to non-volatile memory, so that it is not lost in the event of power loss. This variable will only write if the value changes. This can also be written to directly using K1996.
Warning
These values written to non-volatile memory have a 100,000 write limit. Care should be taken not to overwrite this value too often or the value may not be saved anymore.
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"EEP2"
Non-Volatile EEPROM Value
Unit: -
Read/Write
Using the "EEP2" variable, you can have a value saved from a program to non-volatile memory, so that it is not lost in the event of power loss. This variable will only write if the value changes. This can also be written to directly using K1998.
Warning
These values written to non-volatile memory have a 100,000 write limit. Care should be taken not to overwrite this value too often or the value may not be saved anymore.
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"DPOS"
Dynamic Positioning
Unit: -
Read/Write
Dynamic positioning allows you to send position values to the motor and have it instantly respond targeting that position.