Accessory 11E
Using ACC-11E with UMAC Turbo
10
M7000->Y:$078C00,0,1
Input 0
M7024->Y:$078C03,0,1
Output 0
M7001->Y:$078C00,1,1
Input 1
M7025->Y:$078C03,1,1
Output 1
M7002->Y:$078C00,2,1
Input 2
M7026->Y:$078C03,2,1
Output 2
M7003->Y:$078C00,3,1
Input 3
M7027->Y:$078C03,3,1
Output 3
M7004->Y:$078C00,4,1
Input 4
M7028->Y:$078C03,4,1
Output 4
M7005->Y:$078C00,5,1
Input 5
M7029->Y:$078C03,5,1
Output 5
M7006->Y:$078C00,6,1
Input 6
M7030->Y:$078C03,6,1
Output 6
M7007->Y:$078C00,7,1
Input 7
M7031->Y:$078C03,7,1
Output 7
M7008->Y:$078C01,0,1
Input 8
M7032->Y:$078C04,0,1
Output 8
M7009->Y:$078C01,1,1
Input 9
M7033->Y:$078C04,1,1
Output 9
M7010->Y:$078C01,2,1
Input 10
M7034->Y:$078C04,2,1
Output 10
M7011->Y:$078C01,3,1
Input 11
M7035->Y:$078C04,3,1
Output 11
M7012->Y:$078C01,4,1
Input 12
M7036->Y:$078C04,4,1
Output 12
M7013->Y:$078C01,5,1
Input 13
M7037->Y:$078C04,5,1
Output 13
M7014->Y:$078C01,6,1
Input 14
M7038->Y:$078C04,6,1
Output 14
M7015->Y:$078C01,7,1
Input 15
M7039->Y:$078C04,7,1
Output 15
M7016->Y:$078C02,0,1
Input 16
M7040->Y:$078C05,0,1
Output 16
M7017->Y:$078C02,1,1
Input 17
M7041->Y:$078C05,1,1
Output 17
M7018->Y:$078C02,2,1
Input 18
M7042->Y:$078C05,2,1
Output 18
M7019->Y:$078C02,3,1
Input 19
M7043->Y:$078C05,3,1
Output 19
M7020->Y:$078C02,4,1
Input 20
M7044->Y:$078C05,4,1
Output 20
M7021->Y:$078C02,5,1
Input 21
M7045->Y:$078C05,5,1
Output 21
M7022->Y:$078C02,6,1
Input 22
M7046->Y:$078C05,6,1
Output 22
M7023->Y:$078C02,7,1
Input 23
M7047->Y:$078C05,7,1
Output 23
;****** Sample E-Stop PLC *****
; This PLC will abort all motion programs and kill the bus voltage to
; the motors when E-stop is depressed. When E-Stop button in pulled out
; the motors will servo to actual position (<ctrl> A command) after
; allowing 5 seconds for proper bus voltage.
;
P7000 used as a Latch variable
;
M7000 used Emergancy Stop Input
;
M7024 used as Main Contact for main AC for Bus Voltage
;
I5111 used as count down timer
OPEN PLC 5 CLEAR
IF (M7000=1 and P7000=0)
;emergancy stop condition
CMD^A
;global motion program abort
I5111=500*8388608/I10
;500 msec delay for deceleration
WHILE (I5111>0) ENDWHILE
CMD^K
;kill all axes
M7024=0
;turn off BUS voltage
P7000=1
;latch input
Endif
IF (M7000=0 and P7000=1)
M7024=1
;enable BUS volatge
I5111=5000*8388608/I10
;5000 msec delay for bus voltage
WHILE (I5111>0) ENDWHILE
CMD^A
;close loop for all servos
P7000=0
;latch input
Endif
close
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