Saia PCD2.H310, Руководство пользователя

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PCD2.H31x Programming
26/762 E2
(2H3-07-E.DOC)

SAIA-Burgess Electronics Ltd. Page 7-5
7.1.2 Individual FBs
The whole package basically consists of 2 (3) FBs with parameters:
•
INIT Initialization FB with 11 parameters
•
EXEC Execution FB with 3 parameters
•
HOME Home position FB with 7 parameters
Calling FB "INIT" always has the following presentation:
(values entered serve as examples only)
CFB init ; Intitialization of a PCD2.H31x module
k 1 ; Par. 1: Module number (k 1 - k 16)
250 ; Par. 2: Proportional factor
150 ; Par. 3: Integral factor
10 ; Par. 4: Differential factor
4000 ; Par. 5: Integration limit
5 ; Par. 6: Sample time of D factor
500 ; Par. 7: Position tolerance
0 ; Par. 8: Behaviour under position error
r 1000 ; Par. 9: Mechanical factor *)
r 1001 ; Par. 10: Velocity *)
r 1002 ; Par. 11: Acceleration *)
*) Registers for parameters 9, 10 and 11 should be loaded with the
correct values before processing FB INIT.
Calling FB 'EXEC' has the following presentation for some typical exam-
ples:
CFB exec
k 1 ; Par. 1: Module number (k 1 – k 16)
LdDestRel ; Par. 2: Function (instruction)
r 777 ; Par. 3: Value (from source register)
CFB exec
k 1 ; Par. 1: Module number (k 1 - k 16 )
start ; Par. 2: Function (instruction)
rNotUsed ; Par. 3: not used
CFB exec
k 1 ; Par. 1: Module number (k 1 - k 16)
RdActPos ; Par. 2: Function (instruction)
r 1000 ; Par. 3: Value (in dest. register)
Three parameters must always be specified, even if only 2 are required for a
function. For the third parameter, specify 'rNotUsed', or any register.
A list with all instructions follows on the next page.