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07-02-10-01-E-V0304.doc
Product Manual Type:
637f
83
13.3 BIAS – commands
Position = const.
[Variable X] = position
BIAS-execution pointer
[Variable X] =flag Y
Profile value = [variable X]
Save table
PLC-program
This command is only
permitted in the BIAS- task
This command is only
permitted in the BIAS, PLC
and MATH-Task
This command is only
permitted in the PLC and
MATH-Task
This command is only
permitted in the BIAS and
PLC -Task
This command is only
permitted in the MATH-Task
This command is only
permitted in the MATH-Task
This command is only permitted in
the BIAS and MATH-Task
0
1
2 3 4 5 6 7 8 9 A B
0
Move position
Move po
parameter
Position = const.
Position =
[variable X]
[Variable X] =
position
NOP
Flag X = const.
If input X ? const.
[Variable X] =
const.
Mathematic
program
Table
[[variable X]] = const.
[D_Variable X] =
[D_Variable Y]+
[D_Variable Z]
1
Move
incremental
position
Move
incremental
po
parameter
Speed = const.
Speed =
[variable X]
[Variable X] =
speed
End of program
If flag X ? const.
If output X ? const.
If [variable X] ?
const.
Profile initialization
= const.
Table
[[variable X]] =
[Y_Variable Z]
[D_Variable X] =
[D_Variable Y] -
[D_Variable Z]
2
Move datum
Move datum +
parameter
Acceleration = const.
Acceleration =
[Variable X]
[Variable X] =
acceleration
Sub- program
Flag X =
flag Y
Output X = const.
[Variable X] =
[variable Y] +
const.
Profile cycle length
= [variable X]
[X_Variable Y]= Table
[[variable Z]]
[D_Variable X] =
[D_Variable Y] *
[D_Variable Z]
3
Move infinite
positive
Move infinite
po
parameter
Deceleration = const.
Deceleration =
[variable X]
[Variable X] =
deceleration
End of Sub-program
Flag X =
input Y
Output X =
flag Y
[Variable X] =
[variable Y] –
const.
[Variable X] =
profile value
[ W_Variable X] =
[ Y_Variable Z]
[D_Variable X] =
[D_Variable Y] /
[D_Variable Z]
4
Move infinite
negative
Move infinite
ne
parameter
Gear factor = const.
Gear factor =
[Variable X]
[Variable X] =
gear factor
PLC-program
Flag X =
output Y
_____________
[Variable X] =
[variable Y] * const.
Profile value =
[variable X]
[ X_ Variable Y] =
const.
If [D_Variable X] ?
[D_Variable Y]
5
Move
synchron
Move synchron
+ parameter
"Position reached"
window = const.
“Position reached“
window =[variable X]
[Variable X] =
block number
Jump const.
Flag X =
flag Y & flag Z
_____________
[Variable X] =
[variable Y] / const.
_____________
[Variable [X]] =
const.
[D_Variable X] =
SIN {[D_Variable Y]}
6
Move CAM
profile
Move analogue
value +
integrator
Remaining position =
const.
Remaining position =
[variable X]
[Variable X] =
actual position Y
Jump [variable X]
Flag X =
flag Y | flag Z
_____________
[Variable X] =
flag Y
_____________
[Variable [X]] =
[variable Y]
[D_Variable X] =
COS {[D_Variable Y]}
7
Synchronous
settings 1
Move speed +
integrator
Ramp filter = const.,
[variable X]
M
aximal current =
[variable X]
[Variable X] =
analogue input Y
BIAS-Execution
pointer = const.
Flag X =
flag Y ^ flag Z
_____________
[Variable X] =
[variable Y].bit Z
number
Save table
[Variable [X]] =
[variable Y]
[D_Variable X] =
SQRT {[D_Variable Y]}
8
Synchronous
settings 2
_____________
Actual position X =
const.
Actual position X =
[variable Y]
[Variable X] =
latch position Y
Wait for
”position reached”
Flag X =
! flag Y
IBT- mask number =
const.
[Variable X] =
[variable Y]
_____________
[Variable X] =
[variable Y] ?
[variable Z]
_____________
9
Move PID;
speed
_____________
If actual position X
? const.
Analogue output X =
[variable Y]
[Variable X] =
actual speed Y
Wait time = const.
Flag X = status Y
IBT- notification
number = const.
If [variable X] ?
[variable Y]
_____________
[Variable X] =
[variable Y] ?
const.
_____________
A
Move PID;
torque
Cycle length =
const.
If actual position X
? [variable Y]
PID scaling
[Variable X] =
latch status Y
Wait time =
[variable X]
If status X ? const.
CAN Command =
[variable X]
[Variable X]=
[variable Y] +
[variable Z]
_____________
_____________
_____________
B
Set point
[axis no.] =
const.
Cycle length =
[variable X]
Sensor window =
const.
Sensor window =
[variable X]
[Variable X] =
position Y;
axis no.
BIAS-execution
pointer = [variable X]
Modus X = const.
IBT- data transfer
[Variable X]=
[variable Y] -
[variable Z]
______________
____________
_____________
C
Set point
[axis no.] =
[variable X ]
Load parameter
set X =
[variable[Y]]
Sensor position =
const.
Sensor position =
[Variable X]
[Variable X] =
value Y
Jump [Var.[X]];
length = const.; from
Flag X =
[variable Y]
CAN2 Command =
[variable X]
[Variable X]=
[variable Y] *
[variable Z]
_____________
_____________
_____________
D
Move relativ
e _____________
Sensor
adjustment 1 =
const.
Sensor
adjustment 1 =
[variable X]
[Variable X] =
axis status,
axis no. Y
Execute X commands
[Variable X]. bit[Y]
= const.
_____________
[Variable X]=
[variable Y] /
[variable Z]
_____________
_____________
_____________
E
Start axis _____________
Sensor
adjustment 2 =
const.
Sensor
adjustment 2 =
[variable X]
_____________ _____________
If [Var. X]. bit Y ==
const. then jump
_____________
[Teachvariable X] =
[variable Y]
_____________
_____________
_____________
F
Stop axis
Stop axis
+
parameter
Update parameter
PID parameter
_____________ Virtual
program
Axis state, axis no.
X, bit Y = const.,
[flag Z]
_____________
[Variable X] =
[teachvariable Y]
_____________
_____________
_____________
Command group “Move commands“
Command group “Program control commands“
Command group “Parameter commands“
Command group “Mathematic commands“
Command group “Variable commands“
Command group “Output commands“
Command group “Flag commands“
Command group “CAN- Commands“
Command group “Conditional jump commands“
Command group “637f commands“
