Eurotherm 637+/D6R KD6R, Product Manual

Page: 75 / 87

Product-manual Model: 637+/D6R KD6R 07-02-09-01-E-V0402.doc
75
13.3 BIAS-commands
0 1 2 3 4 5 6 7 8
0
move position
move po
parameter
position =
position =
[variable X]
[variable X] =
position
NOP flag X = If input X ? [variable X] =
1
move
incremental
position
move incremental
po
parameter
speed = speed = [variable X]
[variable X] =
speed
end of program If flag X = ? If output X ?
If [variable X]
? const.
2
move datum
move datum +
parameter
acceleration =
acceleration =
[variable X]
[variable X] =
acceleration
sub-program flag X = flag Y output X =
[variable X] =
[variable Y] + const.
3
move infinite
positive
move infinite
po
parameter
deceleration =
deceleration =
[variable X]
[variable X] =
deceleration
end of sub-program flag X = input Y output X = flag Y
[variable X] =
[variable Y] – const.
4
move infinite
negative
move infinite
ne
parameter
gear factor =
gear factor =
[variable X]
[variable X] =
gear factor
PLC-program flag X = output Y
[variable X] =
[variable Y] * const.
5
move synchron
move sy
parameter
"position reached"
window =
"position reached"
window = [variable X]
[variable X] =
block-number
jump
flag X = flag Y & flag
Z
[variable X] =
[variable Y] / const.
6
move cam-
profile
move analogue
value
+ integrator
remaining position =
remaining position
=[variable X]
[variable X] =
actual position Y
jump [variable X]
flag X= flag Y | flag
Z
[variable X] =
flag Y,number Z
7
synchronous
settings 1
move speed +
integrator
ramp filter =
maximal current =
[variable X]
[variable X] =
analogue input Y
BIAS execution
pointer
flag X = flag Y ^ flag
Z
8
synchronous
settings 2
actual position X =
actual position X =
[variable Y]
[variable X] =
latchposition Y
wait for ”position
reached”
flag X = !flag Y IBT-masknumber =
[variable X] =
[variable Y]
9
move PID ;
speed
If actual position X ?
const.
analogue output =
[variable X] (*)
[variable X] =
actual speed Y
wait time
flag X = status Y
IBT-notification
number =
If [variable X] ?
[variable Y]
A
move PID ;
torque
cycle length =
If actual position X ?
[var.Y]
PID scaling
[variable X] =
latchstatus Y
wait time [variable X] If status X ?
CAN-command =
[variable X]
[variable X]=
[var.Y] + [var. Z]
B
cycle length =
[variable X]
sensor window
sensor window =
[variable X]
[variable X] =
position Y
BIAS execution
pointer = [var. X]
mode X = IBT data-transfer
[variable X]=
[var. Y] - [var. Z]
C
sensor position
sensor position =
[variable X]
[variable X] =
value Y
flag X =[variable Y],
number Z
[variable X]=
[var. Y] * [var. Z]
D
sensor adjustment 1
sensor adjustment 1 =
[variable X]
[variable X]=
[var. Y] / [variable Z]
E
start axis sensor adjustment 2
sensor adjustment 2 =
[variable X]
[teachvar. X] =
[variable Y]
F
stop axis
stop axis +
parameter
update parameter PID parameter virtual program
[variable X] =
[teachvar. Y]
start
axis
only defined in
BIAS-program
stop axis
defined in BIAS-
and PLC-
program
BIAS-execution
pointer
defined in PLC- and
Math.-program
flag X =
defined in BIAS- , PLC-
and Math.-program