Eaton ELC-PB, Programming Manual

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E L C P r o g r a m m i n g M a n u a l
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3-472
API Mnemonic Operands Function
197 D CLLM
S
1
, S
2
, S
3
, D
Close Loop Position Control
Bit Devices Word devices Program Steps
Type
OP
X Y M S K H KnX KnY KnM KnS T C D E F
S
1
* *
S
2
* * *
S
3
* * *
D *
DCLLM: 17 steps
ELC ELCB ELCM
PB PC/PA/PH PV PB PH/PA
32 16 P 32 16 P 32 16 P 32 16 P 32 16 P
Operands:
S
1
: Feedback source address
S
2
: Target number of feedbacks
S
3
: Target frequency of the
output
D
: Pulse output address
Description: (ELC-PV)
1. Flags: M1029, M1030, M1334, M1335. See the remarks below for details.
2. The corresponding interrupt of S1:
Source device X0 X1 X2 X3 C241 ~ C254
Corresponding
outout
Y0 Y2 Y4 Y6 Y0 Y2 Y4 Y6
Interrupt
Number
I00 I10 I20 I30 I010 I020 I030 I040
= 1: rising-edige trigger; = 0: falling-edge trigger
a) When
S
1
designates X as the input points and the pulse output reaches the set target
number of feedbacks in
S
2
, the output will continue to operate with the frequency of the
last segment until the input interrupt occurs.
b) When
S
1
designates a high speed counter and the pulse output reaches the set target
number of feedbacks in
S
2
, the output will continue to operate with the frequency of the
last segment until the feedback pulses reach the target number.
c) S1 can be a high speed counter C or an external input interrupt. If S1 is C, the DCNT
instruction should be the first executed to enable the high-speed counting function.
d) The range of
S
2
is -2,147,483,648 ~ +2,147,483,647 (+/- represents the forward/backward
direction). When in forward direction, the pulse present value registers CH0 (D1337 high
word, D1336 low word), CH1 (D1339 high word, D1338 low word), CH2 (D1376 high word,
D1375 low word) and CH3 (D1378 high word, D1377 low word) will increase. When in
reverse direction, the present value will decrease.
3. If
S
3
is less than 10Hz, the output will operate at 10Hz; if
S
3
is greater than 200KHz, the output
will operate at 200KHz.
4. D can only designate Y0, Y2, Y4 and Y6 and the direction signals are Y1, Y3, Y5 and Y7.
When the instruction execution is complete, the direction signal output will not turn off until
the the conditions driving the instruction go false.