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.

We will use the IODDT Channel_0 of type T_CCY_GROUP0 which we will associate with channel 0 of the TSX CCY module situated in slot 3 of the basic rack.

We use one section to carry out the preliminary processing and another to carry out the subsequent processing.

We will also need an event task.

Preliminary section

(*SFC Chart initialization*)

IF NOT %M0 THEN SET %S21;

END_IF;

(* immediate cycle stop *)

IF %M3 THEN SET(%S21);RESET(Channel_0.Pcam_start_stop); Channel_0.ENAB_GROUP0_BITS:=0;RESET(%M3);RESET(%M0);

END_IF;

(* Power outage management *)

IF %S1 THEN SET(%S21);RESET(Channel_0.Pcam_start_stop); Channel_0.ENAB_GROUP0_BITS:=0;RESET(Channel_0.OUTS_ENABLE);

			END_IF;

(* Recipe management *)

(* saving recipe 1 in words %mw100 onwards *)

IF %M11 THEN TRF_RECIPE (Channel_0, 1,100);RESET(%M11)

		END_IF;

(* saving recipe 2 in words %MW850 onwards *)

IF %M12 THEN TRF_RECIPE (Channel_0,1,850);RESET(%M12);

		END_IF;

(*Restoring recipe 1 from the %MW100 word*)

IF %M13 THEN TRF_RECIPE (Channel_0,0,100);RESET(%M13);RESET(Channel_0.Pcam_start_stop);

		END_IF;

(*Restoring recipe 2 from the %mw850 word*)

IF %M14 THEN TRF_RECIPE (Channel_0,0,850);RESET(%M14);RESET(Channel_0.Pcam_start_stop);

		END_IF;

(* restoring the recipe switches to STOP and so the command must be reset to zero *)

SFC

This illustration describes the Chart of the example.

Step 0 -> 1

(* start cycle? *)

%M0

Action on activation step 1

(* Initializing enable and assignment parameters *)

(* assigning tracks to GRP outputs '7 tracks / 7 outputs' *)

Channel_0.Group0_and_bits:=16#007F;

(* Reset parts counter *)

SET(Channel_0.Came_pieces_reset);

(* Authorization to control group 0 outputs *)

SET(Channel_0.OUTS_ENABLE);

(* Event authorization when angle rolls over *)

SET(Channel_0.Evt_ang_enable);

(* Acknowledge faults during start-up phase *)

SET(Channel_0.Came_ack_flt);

Step 1 -> 2)

(* fault? *)

NOT Channel_0.Ch_error;

Action on activation step 2

(* Type 1 function therefore recalibrate angle *)

SET(Channel_0.Preset_ang_enable);

Action on deactivation step 2

(* Reset recalibration *)

RESET(Channel_0.Preset_ang_enable);

Step 2 -> 3

(* Counter recalibrated? *)

Channel_0.Ang_ok;

Action on activation step 3

(*setting the cam processor to run *)

SET(Channel_0.Pcam_start_stop);

Step 3 -> 4

(* cam processor in RUN? *)

Channel_0.Pcam_on;

Action on activation step 4

(* Enabling parts counter *)

RESET(Channel_0.Came_pieces_reset);

SET(Channel_0.Pieces_enable);

Subsequent section

(* Managing faults *)

IF Channel_0.Ch_error THEN SET(%S21); END_IF;

(* Fault acknowledgement *)

IF %M1	 THEN SET(Channel_0.Came_ack_flt);RESET(%M1);

		ELSE RESET(Channel_0.Came_ack_flt);	END_IF;

(* Reading fault type *)

IF %M2 THEN READ_STS(Channel_0);RESET(%M2);	END_IF;

EVENT-EVT1

(* Managing cycle rollovers for starting *)

(* Detecting angle number rollovers *)

IF Channel_0.Evt_ang AND %M0 THEN INC(%MW0);END_IF;

(* Action on detection of cycle rollovers, validation of cams *)

IF(%MW0=1)AND %M0 THEN SET(Channel_0.ENAB_GROUP0_BITS.1);END_IF;

IF(%MW0=2)AND %M0 THEN SET(Channel_0.ENAB_GROUP0_BITS.2);END_IF;

IF(%MW0=3)AND %M0 THEN SET(Channel_0.ENAB_GROUP0_BITS.3);END_IF;

IF(%MW0=4)AND %M0 THEN SET(Channel_0.ENAB_GROUP0_BITS.4);END_IF;

IF(%MW0=5)AND %M0 THEN SET(Channel_0.ENAB_GROUP0_BITS.5);END_IF;

IF(%MW0>6)AND %M0 THEN %MW0:=6;END_IF;

(* Managing cycle rollovers for stopping *)

(* Detecting angle number rollovers *)

IF Channel_0.Evt_ang AND NOT %M0 THEN DEC(%MW0);END_IF;

(* Action on detection of cycle rollovers, disabling cams *)

IF(%MW0=5)AND NOT %M0 THEN RESET(Channel_0.ENAB_GROUP0_BITS.0);END_IF;

IF(%MW0=4)AND NOT %M0 THEN RESET(Channel_0.ENAB_GROUP0_BITS.1);END_IF;

IF(%MW0=3)AND NOT %M0 THEN RESET(Channel_0.ENAB_GROUP0_BITS.2);END_IF;

IF(%MW0=2)AND NOT %M0 THEN RESET(Channel_0.ENAB_GROUP0_BITS.3);END_IF;

IF(%MW0=1)AND NOT %M0 THEN RESET(Channel_0.ENAB_GROUP0_BITS.4);END_IF;

IF(%MW0=0)AND NOT %M0 THEN RESET(Channel_0.ENAB_GROUP0_BITS.5);END_IF;

IF(%MW0<1)AND NOT %M0 THEN %MW0:=0;END_IF;

(* Managing event stack overflow on cam card *)

(* Detecting overflow *)

IF Channel_0.Direction_evt THEN SET(%M15);END_IF;

Variables used

Table

Address	Symbol	Comments
%M0	Dcy	Start cycle
%M1	Ack_def	Acknowledging fault
%M2	Read_def	Reading fault
%M3	Stop_imm	Immediate stop of the machine
%M5	Counter_plein
%M11	Save_recipe1	Saving Recipe 1
%M12	Save_recipe2	Saving Recipe 2
%M13	Restore_recipe1	Restoring Recipe 1
%M14	Restore_recipe2	Restoring Recipe 2
%M15		(* Detecting overflow *)
%MW0	Comp_modulo_ang	Evt. rollover counter
%MW2	Comp_comp_pieces
%I0.3.0.Err	Channel_0.Ch_error	Channel error bit
%I0.3.0	Channel_0.Ang_ok	Valid angle reading
%I0.3.0.3	Channel_0.Pcam_on	Cam processor RUN/STOP
%IW0.3.0	Channel_0.Group0_strack	State of tracks i.0 to i.7
%IW0.3.0.12.0	Channel_0.Evt_ang	Angle value rollover event
%IW0.3.0.12.6	Channel_0.Evt_pieces_full	Reaching limit value for the parts counter event
%IW0.3.0.12.15	Channel_0.Direction_evt	Direction of movement on ANG_EVT or TURN_EVT
%Q0.3.00.0	Channel_0.Preset_ang_enable	Enables (re)calibration function on angle value only
%Q0.3.00.5	Channel_0.Pcam_start_stop	Set: Cam processor start/ cam processor reset stop
%Q0.3.00.7	Channel_0.Pieces_enable	Enables the parts counter function
%Q0.3.00.8	Channel_0.Evt_ang_enable	Enables the ANG_EVT event source
%Q0.3.00.14	Channel_0.Evt_piece_full_enable	Enables the PIECES_FULL_EVT event source
%Q0.3.00.15	Channel_0.Came_ack_flt	Command to acknowledge faults present
%Q0.3.00.23	Channel_0.Came_pieces_reset	Reset parts counter
%Q0.3.0.25	Channel_0.OUTS_ENABLE	Global enabling of track outputs
%QW0.3.0	Channel_0.ENAB_GROUP0_BITS	8 enable bits associated with the group
%QW0.3.0.1	Channel_0.Group0_and_bits	8 bits for assigning tracks to group outputs