Danaher Motion B8961, Operator'S Manual

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Chapter 5 - Programming Your Application
47
Programming Your Application
The purpose of this chapter is to provide information that will help programmers
begin developing applications with the SmartDrive.There are also several practical
examples that can be copied and modified.Other program examples are available
from the
Application De veloper disk set (see DEMOS.idc).
Smart Drive Programming Overview
Before beginning to develop a machine control program with a SmartDrive,the
user must decide how the SmartDrive fits into the overall machine control hierar-
chy.There are three basic ways SmartDrives are used.They can be used in a stand-
alone mode where the SmartDrive controls all the I/O and motion on a machine.
They can also be used with a PLC,where the PLC runs the machine and just calls
on the SmartDrive,via program select lines, for motion.Thirdly, they can be used in
a ìhostedî mode with a PC.In this mode no programs are stored in the SmartDrive,
the PC downloads a string of commands at execution time.
The information in this chapter applies to all three modes of machine control.The
SmartDrive uses a sequential,interpretive,command processor.This means that
commands in a program are executed one at a time,and that the action called for
in one command must complete before the next command is processed.
Example:[move] VE4 DI10 OT01 GO OT10
In the program [move],the maximum move velocity is set to 4,the command
incremental distance is set to 10,output 1 and output 2 are turned off and on
simultaneously, axis one then moves 10 units.After axis one stops moving,output 1
is turned on and output 2 is turned off.The state changes on outputs 1 and 2 hap-
pen at the same time.
The programmer can control the flow of the program with WT (wait for an event
or condition to occur),TD (wait for a pre-set amount of time to elapse),and IF (if a
certain condition is true at this instant,then execute a block of commands) state -
ments.External controllers such as PLC and computers can be coordinated via digi-
tal outputs and ASCII strings sent out the serial port.
Creating or Editing Programs with the Keypad
IDC’s IDeal Command language is easy to remember and powerful.Command
descriptions are also available on-line using the HELP key within the
Application
Developer program editor.
If you need help with basic keypad operation,please refer to Chapter 4 - Using the
Keypad , and Chapter 5 - Configuring Your System .