Comau C3G Plus, Руководство по эксплуатации и обслуживанию, Страница: 172 / 266

EXAMPLES OF THE USE OF DIGITAL I/O’s AND ANALOGUE OUTPUTS
The examples below are written using PDL2 programming language and may be used in the context of a
programme.
·
DIGITAL INPUTS (e.g. IOM module)
WAIT FOR $DIN[1] = ON -- The programme stops waiting for the condition
IF $DIN[1] = ON THEN -- If the condition is true the movement is
MOVE LINEAR TO PNT0001P executed on point PNT0001P.
ENDIF If the condition is false point PNT0001P
is skipped.
CONDITION[1] : -- Test in multitasking an input
WHEN $DIN[1] = ON DO
$BIT[1]: = ON
END CONDITION
·
DIGITAL OUTPUTS (e.g. IOM module)
$DOUT[17]: = ON -- Output activation
$DOUT[17]: = OFF -- Output deactivation
·
ANALOGUE OUTPUTS (e.g. ADM module)
Notes on ADM MODULE I/O MAP
If the ADM module is the first I/O module in the rack starting from the left, the digital inputs take on num-
bering from $DIN[33] to $DIN[40], the digital outputs from $DOUT[41] to $DOUT[48], the analogue out-
puts from $AOUT[49] and $AOUT[50].
The I/O module inserted in the following slot will take the number $DIN[57] or $DOUT[57] for the first
channel and following for all the others.
If the ADM module is not the first I/O module in the rack, the numbering follows the standard one of the
modules before it.
Notes on the Write Modes of ADM MODULE Analogue Outputs
The resolution of the analogue outputs is 11 bits (from 0 to +10 Vdc) justified at the left with 4 bits there-
fore the word writing mask is the following.
Where the WORD writing mask has value 7FF0 in hexadecimal and 32752 in decimal. Requiring, for exam-
ple, to write a voltage value it is necessary to allocate a decimal number to the analogue output required as
in the following example:
$AOUT[57]: = 32572 -- Output activated 10 Vdc
$AOUT[57]: = 0 -- Output deactivated 0 Vdc
$AOUT[57]: = 7800 -- Output activated 2.381 Vdc
A fall in the supply voltage of the system in which the ADM module is inserted causes ana-
logue output reset at hardware level. Repositioning the output to the value prior to the failure
is made by the software in the blackout restarting environment.
MAIN OPERATIONS FOR SYSTEM USE C3G
Plus
5-12 02/1198
USE
OF
DIGITAL
I/O’S
AND
ANALOGUE
OUTPUTS
bit 15
0
WORD
segno
- 1 1 1 1 1 1 1 1 1 1 1 - - - -
bit considerati bit
non considerati
sign
considered bits
not considered
bits