13Software
13.2 SSD Drives programming language BIAS
In Operating mode 5 – Position control with BIAS, three user-defined programs can be executed parallel. The BIAS-program and the PLC-program
(sequence cascades, 1 command per position controller sampling = 844 µs) as well as the Mathematics program (cyclic execution in remaining time of processor).
The BIAS-program is primary intended for administration of travel commands. If application permits, also simple calculations can be performed and analog/digital I/O‘s can be serviced in this task.
The PLC-task is conceived to perform I/O logic, sequence control, monitoring and CAN-Bus communication.
The Mathematics program is designed for complex calculations, e.g. computing of a cam, executed by the BIAS-program afterwards. But it is also possible to store the same tasks here, as basically defined for PLC- task, which can increase PLC performance of the 637+ controller approx. twenty times.
While the BIAS-program will be executed from the start block directly after activation of
operating mode 5, the PLC-program will be first started by BIAS-command "PLC-program" and the Mathematics program by command "Mathematics program". At reaching the command "End of program" (Mode = 0) the respective execution pointer re-jumps to his start label.
Within the command set the following command groups are provided:
Pogram flow control
-Fixing start/end of main- and sub-programs
-Conditional and unconditional jump commands
Travel relevant commands
-Positioning commands -Parameter commands
-Technology functions >Register positioning >PID-control >Synchronous applications
Logic commands
- Logic commands for coils and internal relays
Variable commands
-Writing and reading of parameters
-Fundamental operations of arithmetic with long integer
-Type-conversions long integer <=> double float (Math.task only)
-Fundamental operations of arithmetic with double float (Math.task only) -SIN(x),COS(x),SQRT(x) with double float (Math.task only)
-Writing and reading of synchronous profile tables.
CAN-Bus commands
-Communication with other SSD Drives products
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78 | Product Manual Type: 637f | 07-02-10-01-E-V0505.doc |
