Programming

Introduction

The module calculates the position reading from an connected to its inputs. Depending on this position and the transferred which describes the , the module controls its outputs.

This program contains the minimum number of steps required to ensure that the cam function starts up correctly. It is sufficient here for each step to set the commands required to activate the output to 1. For this example, we have used an IODDT called Ex_cam of type T_CCY_GROUP0.

SFC

This illustration describes an example of SFC.

Step 0 -> 1

(* start cycle? *)

%M0

Action on activation step 1

(* Initializing enable and assignment parameters *)

(* assigning track 0 to output 0 *)

Ex_cam.Group0_And_Bits := 16#0001;

(* Enabling group 0 outputs *)

SET (Ex_cam.outs_Enable);

(* Reset faults *)

SET (Ex_cam.ack_flt);

Step 1 -> 2

(* default? *)

NOT Ex_cam.ch_error

Action on activation step 2

(* Enabling angle recalibration function *)

SET (Ex_cam.preset_ang_Enable);

Step 2 -> 3

(* Counter recalibrated? *)

Ex_cam.ang_ok

Action on activation step 3

(*setting the to run *)

SET (Ex_cam.pcam_start_stop);

Step 3 -> 4

(* cam processor in RUN? *)

Ex_cam.pcam_on

Action on activation step 4

(* enabling cam *)

SET (Ex_cam. ENAB_GROUP0_BITS.0);

Variables used

Address	Symbol	Comments
%M0	Dcy	Start cycle
%I0.3.0.Err	Ex_cam.ch_error	Channel error bit
%I0.3.0.0	Ex_cam.ang_ok	Valid angle reading
%I0.3.0.3	Ex_cam.pcam_on	Cam processor RUN/STOP
%Q0.3.0.0	Ex_cam.preset_ang_Enable	Enables (re)calibration function on angle value only
%Q0.3.0.5	Ex_cam.pcam_start_stop	Set: Cam processor start/ cam processor reset stop
%Q0.3.0.15	Ex_cam.ack_flt	Command to acknowledge faults present
%Q0.3.0.25	Ex_cam.outs_Enable	Global enabling of track outputs
%QW0.3.0.1	Ex_cam.Group0_And_Bits	8 bits for assigning tracks to group outputs
%QW0.3.0.0	Ex_cam.ENAB_GROUP0_BITS	Enabling cam