Hardware Reference Manual
Software Setup
26
M7226 = 0
//Motor specific I-variables (retained on a "SAVE" command)
I1024 = 1
I1025 = $78148
I1069 = 1001
I1002 = $7814A
I1003 = $350A
I1004 = $350A
The default values not retained on a “SAVE” command must again be added to the “run once startup
PLC” from the previous section:
OPEN PLC 25 CLEAR
// Main HDW Clocks
M7200 = 1001
M7201 = 5
M7202 = 3
M7203 = 1746
M7204 = 15
M7205 = $7FFFC0
M7206 = $FFFFFE
// Motor #9 defaults
M7210 = 3
M7211 = 0
M7212 = 1
M7213 = 0
M7216 = 0
// Motor #10 defaults
M7220 = 3
M7221 = 0
M7222 = 1
M7223 = 0
M7226 = 0
DIS PLC 25
CLOSE
Note:
After loading this program, set I5=2 or 3 and ENABLE PLC 1.
// THIRD CHANNEL OF GATE #3 - MOTOR #11
M1101->X:$078151,0,24,S ; ENC11 24-bit counter position
M1102->Y:$078152,8,16,S ; OUT11A command value; DAC or PWM
M1103->X:$078153,0,24,S ; ENC11 captured position
M1114->X:$078155,14 ; AENA11 output status
M1115->X:$078150,19 ; USER11 flag input status
M1117->X:$078150,11 ; ENC11 capture flag
M1118->X:$078150,8 ; ENC11 count error flag
M1119->X:$078150,14 ; CHC11 input status
M1120->X:$078150,16 ; HMFL11 flag input status
M1121->X:$078150,17 ; PLIM11 flag input status
M1122->X:$078150,18 ; MLIM11 flag input status
M1123->X:$078150,15 ; FAULT11 flag input status
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