SSD COMPANY LIMITED 637f manual 80

13

Software

13.3 BIAS – Commands

Position = const.

[Variable X] = position

BIAS-execution pointer

[Variable X] =flag Y

Profile value = [variable X]

Save table

PLC-program

This command is only permitted

This command is only permitted

This command is only permitted

This command is only permitted

This command is only permitted

This command is only permitted

This command is only permitted in

in the BIAS- task

in the BIAS, PLC and MATH-

in the PLC and MATH-Task

in the BIAS and PLC -Task

in the MATH-Task

in the MATH-Task

the BIAS and MATH-Task

Task

0

1

2

3

5

7

8

9

A

B

0

Move position

Move position +

Position = const.

Position =

[Variable X] =

Table

[D_Variable X] = [D_Variable

NOP

Flag X = const.

If input X ? const.

[Variable X] = const.

Mathematic program

Y]+

parameter

[variable X]

position

[[variable X]] = const.

[D_Variable Z]

Move

Move

[Variable X] =

If [variable X] ?

Profile initialization =

Table

[D_Variable X] =

1

incremental

Speed = const.

Speed =

incremental

End of program

If flag X ? const.

If output X ? const.

[[variable X]] =

[D_Variable Y] -

position +

[variable X]

speed

const.

const.

position

[Y_Variable Z]

[D_Variable Z]

parameter

2

Move datum

Move datum +

Acceleration = const.

Acceleration =

[Variable X] =

Flag X =

[Variable X] =

Profile cycle length =

[X_Variable Y]= Table

[D_Variable X] =

Sub- program

Output X = const.

[D_Variable Y] *

parameter

[Variable X]

acceleration

flag Y

[variable Y] + const.

[variable X]

[[variable Z]]

[D_Variable Z]

3

Move infinite

Move infinite

Deceleration =

[Variable X] =

Flag X =

Output X =

[Variable X] =

[Variable X] =

[ W_Variable X] =

[D_Variable X] =

positive +

Deceleration = const.

End of Sub-program

[D_Variable Y] /

positive

[variable X]

deceleration

input Y

flag Y

[variable Y] – const.

profile value

[ Y_Variable Z]

parameter

[D_Variable Z]

4

Move infinite

Move infinite

Gear factor =

[Variable X] =

Flag X =

[Variable X] =

Profile value = [variable

[ X_ Variable Y] =

If [D_Variable X] ?

negative +

Gear factor = const.

PLC-program

_____________

negative

[Variable X]

gear factor

output Y

[variable Y] * const.

X]

const.

[D_Variable Y]

parameter

5

Move

Move synchron

"Position reached"

“Position reached“

[Variable X] =

Jump const.

Flag X =

_____________

[Variable X] =

_____________

[Variable [X]] =

[D_Variable X] =

synchron

+ parameter

window = const.

window =[variable X]

block number

flag Y & flag Z

[variable Y] / const.

const.

SIN {[D_Variable Y]}

6

Move CAM

Move analogue

Remaining position =

Remaining position

[Variable X] =

Flag X =

[Variable X] =

[Variable [X]] =

[D_Variable X] =

value +

Jump [variable X]

_____________

_____________

profile

const.

= [variable X]

actual position Y

flag Y flag Z

flag Y

[variable Y]

COS {[D_Variable Y]}

integrator

7

Synchronous

Move speed +

Ramp filter = const.,

Maximal current =

[Variable X] =

BIAS-Execution

Flag X =

_____________

[Variable X] =

[Variable [X]] =

[D_Variable X] =

[variable Y].bit Z

Save table

settings 1

integrator

[variable X]

[variable X]

analogue input Y

pointer = const.

flag Y ^ flag Z

[variable Y]

SQRT {[D_Variable Y]}

number

8

Synchronous

_____________

Actual position X =

Actual position X =

[Variable X] =

Wait for

Flag X =

IBT- mask number =

[Variable X] =

_____________

[Variable X] =

_____________

[variable Y] ?

settings 2

const.

[variable Y]

latch position Y

”position reached”

! flag Y

const.

[variable Y]

[variable Z]

9

Move PID;

_____________

If actual position X

Analogue output X

[Variable X] =

Wait time = const.

IBT- notification

If [variable X] ?

_____________

[Variable X] =

_____________

Flag X = status Y

[variable Y] ?

speed

? const.

= [variable Y]

actual speed Y

number = const.

[variable Y]

const.

A

Move PID;

Cycle length =

If actual position X

[Variable X] =

Wait time =

CAN Command =

[Variable X]=

_____________

_____________

_____________

PID scaling

If status X ? const.

[variable Y] + [variable

torque

const.

? [variable Y]

latch status Y

[variable X]

[variable X]

Z]

B

Set point

Cycle length =

Sensor window =

Sensor window =

[Variable X] =

BIAS-execution

[Variable X]=

[axis no.] =

position Y;

Modus X = const.

IBT- data transfer

[variable Y] - [variable

______________

____________

_____________

[variable X]

const.

[variable X]

pointer = [variable X]

const.

axis no.

Z]

C

Set point

Load parameter

Sensor position =

Sensor position =

[Variable X] =

Jump [Var.[X]]; length

Flag X =

CAN2 Command =

[Variable X]=

[axis no.] =

set X =

[variable Y] * [variable

_____________

_____________

_____________

const.

[Variable X]

value Y

= const.; from

[variable Y]

[variable X]

[variable X ]

[variable[Y]]

Z]

D

Move relative

_____________

Sensor

Sensor

[Variable X] =

[Variable X]. bit[Y] =

_____________

[Variable X]=

_____________

_____________

_____________

adjustment 1 =

adjustment 1 =

axis status,

Execute X commands

[variable Y] / [variable

const.

const.

[variable X]

axis no. Y

Z]

E

Start axis

_____________

Sensor

Sensor

_____________

_____________

If [Var. X]. bit Y ==

_____________

[Teachvariable X] =

_____________

_____________

_____________

adjustment 2 =

adjustment 2 =

const. then jump

[variable Y]

const.

[variable X]

F

Stop axis

Update parameter

_____________

Virtual program

Axis state, axis no. X,

_____________

[Variable X] =

_____________

_____________

_____________

Stop axis

+

PID parameter

bit Y = const., [flag Z]

[teachvariable Y]

parameter

Command group “Move commands“ Command group “Parameter commands“ Command group “Variable commands“ Command group “Flag commands“ Command group “Conditional jump commands“

Command group “Program control commands“ Command group “Mathematic commands“ Command group “Output commands“ Command group “CAN- Commands“ Command group “637f commands“

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80 Product Manual Type: 637f 07-02-10-01-E-V0505.doc