AMD2000 Series - Servo Drive - User Manual
96
DS619-0-00-0019 - Rev 0
ANCA Motion
Equivalent Pseudo Code for
Figure 10-5
for i = 0
TO
31
if ( 33350[i]
NOT EQUAL
0 ) AND ( *33350[i]
IS
U16 )
if EtherCAT
EQUAL
OP
if ( ( *33350[i]
BITWISE XOR
33351[i] )
BITWISE AND
33352[i] )
NOT EQUAL
0
33345(bit i) = 1;
else
33345(bit i) = 0;
end
else // eg. SAFEOP, Pre-OP or INIT
if ( ( 33353[i]
BITWISE XOR
33351[i] )
BITWISE AND
33352[i] )
NOT EQUAL
0
33345(bit i) = 1;
else
33345(bit i) = 0;
end
end
else
if EtherCAT
NOT EQUAL
OP // eg. SAFEOP, Pre-OP or INIT
if 33354(bit i)
NOT EQUAL
0
33345(bit i) = 1;
else
33345(bit i) = 0;
end
end
end
PHYSICAL DIGITAL OUTPUT(i) = 33345(bit i)
XOR
33344(bit i)
end
A note concerning bitwise operations
Truth table:
Input 1
Input 2
Bitwise XOR
Bitwise AND
0
0
0
0
0
1
1
0
1
0
1
0
1
1
0
1
Bitwise XOR example:
Input 1
0101 1101 1000 1111
Input 2
1110 1010 0001 1010
Bitwise XOR
1011 0111 1001 0101
Bitwise AND example:
Input 1
0101 1101 1000 1111
Input 2
1110 1010 0001 1010
Bitwise AND
0100 1000 0000 1010
