Automatic control function programming manual ladder language

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3 - 74 en-938846/8 AXBLK 31 30 29 28 27 26 25 24 %R24.7 %R24.6 %R24.5 %R24.4 %R24.3 %R24.2 %R24.1 %R24.0 23 22 21 20 AXBLK 19 18 17 16 %R25.7 %R25.6 %R25.5 %R25.4 %R25.3 %R25.2 %R25.1 %R25.0 AXBLK 15 14 13 12 11 10 9 8 %R26.7 %R26.6 %R26.5 %R26.4 %R26.3 %R26.2 %R26.1 %R26.0 AXBLK 7 6 5 4 3 2 1 0 %R27.7 %R27.6 %R27.5 %R27.4 %R27.3 %R27.2 %R27.1 %R27.0 3.11.2 CNC-PLC Exchange Area - 1050 %R24.B %R25.B %R26.B %R27.B %R24.L Axis clamp For the digital servo-drive at address xx (xx between 00 and 31), the status word format is as follows: Autocal In Run OK Torque OK Drive Status Speed OK CCGM Gamma El Position OK %REyy.2 %REyy.1 %REyy.0 Power Rs Drive Enable Learn Status %REzz.7 %REzz.6 %REzz.5 %REzz.4 %REzz.3 %REzz.2 %REzz.1 %REzz.0 Values of yy and zz according to the address of servo-drive xx: %REyy.B %REzz.B Servo-drive @xx status word xx 00 01 02 03 04 05 06 07 08 09 10 yy 20 22 24 26 28 2A 2C 2E 30 32 34 zz 21 23 25 27 29 2B 2D 2F 31 33 35 xx 11 12 13 14 15 16 17 18 19 20 21 yy 36 38 3A 3C 3E 40 42 44 46 48 4A zz 37 39 3B 3D 3F 41 43 45 47 49 4B xx 22 23 24 25 26 27 28 29 30 31 yy 4C 4E 50 52 54 56 58 5A 5C 5E zz 4D 4F 51 53 55 57 59 5B 5D 5F
3.11.3 Output to the CNC CHG_ C_ C-NM KB_ OPDC INDG AUTO INIT %W2.7 %W2.6 %W2.5 %W2.4 %W2.3 %W2.2 %W2.1 %W2.0 C_M01 C_ SLASH C_ RAZER C_ DGURG C_ RAX C_ CYCLE C_ ARUS C_ RAZ %W3.7 %W3.6 %W3.5 %W3.4 %W3.3 %W3.2 %W3.1 %W3.0 V INIB C_ PRES NAR VIT VIT AUT REDUIT UTIL UNIT PUIS FIB MAN2 MAN1 AV %W4.7 %W4.6 %W4.5 %W4.4 %W4.3 %W4.2 %W4.1 %W4.0 SC_ SK_ INIB IM COR JOG MOD PUP SAVE DISPL CLAV PULS DYN PUP PUP ABS %W5.7 %W5.6 %W5.5 %W5.4 %W5.3 %W5.2 %W5.1 %W5.0 %W2.B %W3.B %W4.B %W5.B JOG POS31 JOG POS30 JOG POS29 JOG POS28 JOG POS27 JOG POS26 JOG POS25 JOG POS24 %W6.B %W6.7 %W6.6 %W6.5 %W6.4 %W6.3 %W6.2 %W6.1 %W6.0 JOG JOG JOG JOG JOG JOG JOG JOG POS23 POS22 POS21 POS20 POS19 POS18 POS17 POS16 %W7.7 %W7.6 %W7.5 %W7.4 %W7.3 %W7.2 %W7.1 %W7.0 JOG JOG JOG JOG JOG JOG JOG JOG POS15 POS14 POS13 POS12 POS11 POS10 POS9 POS8 %W8.7 %W8.6 %W8.5 %W8.4 %W8.3 %W8.2 %W8.1 %W8.0 JOG JOG JOG JOG JOG JOG JOG JOG POS7 POS6 POS5 POS4 POS3 POS2 POS1 POS0 % W9.7 %W9.6 %W9.5 %W9.4 %W9.3 %W9.2 %W9.1 %W9.0 JOG NEG31 JOG NEG30 JOG NEG29 JOG NEG28 JOG NEG27 JOG NEG26 JOG NEG25 JOG NEG24 %WA.7 %WA.6 %WA.5 %WA.4 %WA.3 %WA.2 %WA.1 %WA.0 JOG NEG23 JOG NEG15 JOG NEG22 JOG NEG14 JOG NEG21 JOG NEG13 JOG NEG20 JOG NEG12 JOG NEG19 JOG NEG11 JOG NEG18 JOG NEG10 JOG NEG17 JOG NEG9 JOG NEG16 %WB.7 %WB.6 %WB.5 %WB.4 %WB.3 %WB.2 %WB.1 %WB.0 JOG NEG8 %RC.7 %WC.6 %WC.5 %WC.4 %WC.3 %WC.2 %WC.1 %WC.0 JOG JOG JOG JOG JOG JOG JOG JOG NEG7 NEG6 NEG5 NEG4 NEG3 NEG2 NEG1 NEG0 %WD.7 %WD.6 %WD.5 %WD.4 %WD.3 %WD.2 %WD.1 %WD.0 %W7.B %W8.B %W9.B %WA.B %WB.B %WC.B %WD.B %W2.W Pulse commands %W4.W Latching commands %W6.L Positive JOG commands %WA.L Negative JOG commands Variables en-938846/8 3 - 75 3
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NUM AUTOMATIC CONTROL FUNCTION PROG
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Table of Contents Table of Contents
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Table of Contents 9 Analogue Inputs
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Record of Revisions Record of Revis
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Date Revision Reason for revisions
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Structure of the NUM 1020/1040/1060
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Automatic Control Function Programm
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CHAPTER 8 TRANSPARENT MODE CHAPTER
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CHAPTER 16 PROGRAMMING IN C LANGUAG
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Use of the Automatic Control Functi
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Presentation of the Automatic Contr
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1.1 General Presentation of the Aut
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AXIS 1 INTERFACE AXIS 2 AXIS 3 AXIS
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µ p 68020 SYSTEM BUS BUS INTERFACE
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Structure of an Application 2 Struc
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2.1 General The machine processor c
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2.1.1.3 «System» I/O Card Refresh
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Operation of the Background Tasks N
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2.1.2.4 Real-Time Tasks Structure o
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2.1.3.2 1060 Series II- UCSII Syste
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2.2 Structure of an Application Str
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2.3 Structure of a Ladder Module -
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Variables 3 Variables 3.1 Principle
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Variables 3.8.2.19 Backward of Forw
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3.1 Principle of Exchanges Variable
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Examples %M9 points to byte 9 of th
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3.7 I/O Card Interface Variables %I
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3.7.3.2 Card Status %Irc3C.W Variab
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A configuration change requires mov
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3.7.5 Physical Organisation of Vari
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3.7.6 Rack and Card Identifiers 3.7
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3.7.8 Image Part of the 32 Discrete
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%Qrc00.0 to %Qrc02.7 %Irc00.0 to %I
Page 67 and 68: %Qrc03.0 to %Qrc05.7 2nd relay modu
Page 69 and 70: 3.7.12 Image Part of the Extension
Page 71 and 72: 3.7.13 Image Part of the Compact Pa
Page 73 and 74: 3.8 CNC I/O Interface Family %R and
Page 75 and 76: Variables Variable Mnemonic Descrip
Page 77 and 78: 3.8.1.7 Spindle Status: %R12.W Vari
Page 79 and 80: 3.8.1.10 Other Variables Variables
Page 81 and 82: 3.8.1.13 1050 Servo-Drive Status Wo
Page 83 and 84: Variable Mnemonic Description %W3.0
Page 85 and 86: 3.8.2.4 Negative JOG Commands: %WA.
Page 87 and 88: Programme %9999.9 must be structure
Page 89 and 90: 3.8.2.13 Spindle Controls: %W22.W V
Page 91 and 92: - Select spindle b control: COMBRb
Page 93 and 94: 3.8.2.16 Modes Inhibited: %W30.L Va
Page 95 and 96: 3.8.2.19 Backward of Forward Moveme
Page 97 and 98: 3.8.3 Inputs from the Axis Groups V
Page 99 and 100: 3.8.3.4 Encoded M Function Without
Page 101 and 102: Nonmodal functions A nonmodal funct
Page 103 and 104: Variables Variable M function Defin
Page 105 and 106: 3.8.4 Outputs to the Axis Groups Th
Page 107 and 108: 3.8.5 System Faults and Diagnostic
Page 109 and 110: 3.8.7 Output Card Write Enable: %W9
Page 111 and 112: 3.8.10 Physical Organisation of %R
Page 113 and 114: 3.9.3 Organisation of %S Common Wor
Page 115 and 116: Language element Includes Comment V
Page 117: B4_ARR B3_ARR B2_ARR B1_ARR B4_ROT
Page 121 and 122: VER VER VER VER STOP STOP STOP STOP
Page 123 and 124: 3.11.4 PLC-CNC Exchange Area - 1050
Page 125 and 126: M63 M62 M65 M64 %Rg24.7 %Rg24.6 %Rg
Page 127 and 128: Literal Elements of Ladder Language
Page 129 and 130: 4.1 Notations Used The notations us
Page 131 and 132: Literal Elements of Ladder Language
Page 133 and 134: 4.5.5 Order of Evaluation of the Ex
Page 135 and 136: 4.5.8 Overflow - Sign Change Litera
Page 137 and 138: Programming in Ladder Language 5 Pr
Page 139 and 140: 5.1 Elements Common to All Types of
Page 141 and 142: Programming in Ladder Language en-9
Page 143 and 144: 5.2 Network Sequence 5.2.1 General
Page 145 and 146: Example 5.2.2.3 Conditional Actions
Page 147 and 148: Off Timeout «TOF_n» E Q %TQxx.7 T
Page 149 and 150: Upcounters E C Q %CQxx.7 Threshold
Page 151 and 152: 5.2.3 Structure of the Action Zone
Page 153 and 154: Pitfall Related to Scanning Program
Page 155 and 156: Invalid Network - Branch without Po
Page 157 and 158: 5.2.7 Programming Hints 5.2.7.1 Opt
Page 159 and 160: Unoptimised Network Optimised Netwo
Page 161 and 162: 5.2.7.4 Testing the Bits of a Byte,
Page 163 and 164: General Purpose Functions 6 General
Page 165 and 166: General Purpose Functions 6.1 Conve
Page 167 and 168: General Purpose Functions 6.3 BCD
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General Purpose Functions 6.5 Separ
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General Purpose Functions 6.7 Copy
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Return code If OK Number of charact
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General Purpose Functions 6.14 Simu
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General Purpose Functions 6.17 Sear
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General Purpose Functions 6.20 Jump
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Return code If OK Not significant.
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Return code If OK Value returned by
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Return code If OK Number of charact
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General Purpose Functions 6.34 Swap
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General Purpose Functions 6.36 Read
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General Purpose Functions 6.38 Init
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Task Management 7 Task Management 7
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7.1 Introduction Task Management Fo
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Transparent Mode 8 Transparent Mode
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8.1 Introduction Transparent Mode T
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8.1.4 Character Codes Used by %R0.W
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8.2 Functions Assigned to transpare
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Transparent Mode Operation Sends a
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Example 1 Consider the following va
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Transparent Mode 8.2.7 Open a Numer
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Return code Transparent Mode If OK
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Transparent Mode Operation putimage
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en-938846/7 8 - 19 Transparent Mode
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471 470 89 76 40 0 4 16 COL. 0 A A
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Transparent Mode Description Instru
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8.3.4 Alphanumeric Characters and I
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Format D (Expanded characters) 0x9B
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Example To position the cursor on L
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Definition of a Reference System Ce
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J: «J» [VALUE] Current Y coordina
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8.3.5.8 Shift Screen Origin Instruc
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P2 P1 P1 P2 P1 P2 N1 P3 P1 N6 P0 P0
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! CAUTION Arguments [CLIP], [X] and
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Analogue Inputs/Outputs 9 Analogue
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9.1 General Analogue Inputs/Outputs
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Analogue Inputs/Outputs 9.3 Write a
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Analogue Inputs/Outputs 9.5 Reassig
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Explicit Read/Write of Input/Output
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10.1 General Explicit Read/Write of
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Explicit Read/Write of Input/Output
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Interrupt Inputs 11 Interrupt Input
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11.1 General The automatic control
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11.2 Principle of Line Assignment N
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Example Filtering on rising edge T1
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Interrupt Inputs 11.6 Associate a %
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Serial Lines 12 Serial Lines 12.1 G
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12.1 General The automatic control
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Detail of the «format» argument 0
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PERIPHERAL Transmission to peripher
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Copy requested No. into buffer Yes
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Serial Lines 12.6 Control the Seria
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Serial Lines 12.7.2.3 Xon/Xoff Flow
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13.1 General Description of the Tim
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14.1 General Description of the Dat
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Exchanges by Protocol 15 Exchanges
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15.1 General Description of Exchang
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15.1.2 DNC1000 Exchange Mechanism E
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15.2 Objects Accessible by a UNITE
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15.2.2 Object Constituents The IU c
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Exchanges by Protocol Segment Acces
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Exchanges by Protocol Segment Acces
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Detailed List of G Functions Presen
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Example of reading the current prog
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15.3.3 «DELETE-FILE» Request Used
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Negative answer ANSWER CODE (1 byte
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Request format Answer format Positi
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15.3.8 «READ-BLOCK» Request Used
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15.3.10 «RESERVE-MEMORY» Request
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Exchanges by Protocol Transmission
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Return code If OK Code Report messa
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TRANSMISSION (PORT 0x30) TRANSMISSI
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Structure of the Transmission Buffe
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Structure of the Reception Buffer B
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Exchanges by Protocol 15.5.4 Settin
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Programming in C Language 16 Progra
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16.1 General Programming in C Langu
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16.4 Programming in C 16.4.1 Concep
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16.4.3 Exchange Area Programming in
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16.4.9 Library Functions Programmin
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16.4.9.2 Using System Functions Exa
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Programming in C Language Read an I
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Programming in C Language Initialis
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Programming in C Language Draw a Ci
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Programming in C Language Colour an
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Programming in C Language Read an A
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Programming in C Language End a Cri
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Programming in C Language Semaphore
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Programming in C Language REMARKS I
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Programming in C Language Write a F
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Description of a Directory File A d
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17.1 General The PLC axis programmi
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18 Programme Debugging 18.1 Program
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Programme Debugging 18.1 Programme
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18.2.2 Monitoring CPU Operation Thi
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Programme Debugging Messages Commen
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Requirements «PLC OPERATION» menu
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18.2.3 Monitor and %TS Task Times P
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18.2.4 File Management This functio
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18.2.4.2 Application Directory This
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18.2.5 Input/Output Configuration T
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Example Identification of rack 0 an
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18.2.6.1 Software Backup Actions Se
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Select the module to be animated us
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Load a new Ladder module Press «F2
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Write a Variable Press «F10». ☞
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19.1 List of Hardware Errors ERR_BU
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Lists of Functions A Lists of Funct
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A.1 List by Themes A.1.1 General Pu
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A.1.6 Interrupt Input Management Li
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Lists of Functions Function Descrip
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Symbols %I Organisation 3-15 %INI 2
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L Label 4-3 Ladder module structure
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