CTH200 Series PLC User Manual
analog module channel is corresponding to that of the SM253 motion control module.).
3 Communication status bit
SM253 newly increased all the communication bit other than MC253_INIT, the status bit will
alarm to indicate communication fault and then you should check if the bus connection is normal
or the analog filter of motion control channel has been cleared.
4 Pulse output instruction execution order
Coaxial pulse output instructions (MC253_PTP_R, MC253_SPEED_CTL, MC253_PWM) have
up to 3 data buffers, that is, only process 3 instructions at the same time. When there are multiple
instructions on the same axis (such as all of them are 0 axis), if the buffer unfell (there are less
than 3 enabled output instructions), then the new enabled instructions can be processed in time.
Then, the execution order of the instructions is consistent with the time order of the enabled
instructions, which is not necessarily related to the instructions position order. If the buffer is full,
the enabled output command is more than 3), the new enable instruction cannot be processed in
time, and can only be enabled after the end of the instruction and release the buffer before
according to place order for processing by the program scan, which is related to order of
execution and position, but not necessarily according to the time sequence of instructions.
Simply understood as "under 3 by time, full 3 by position" (as shown in example 1).
In order to achieve the trajectory, and if the position order of these motion instructions is
consistent with the desired trajectory, all these instructions can be enabled at one time. If not, you
must enable the corresponding instruction of the enabled trajectory when the enabled instruction
is less than 3 (as shown in example 2).
Case 1) Enable all instructions at a time
The enable instruction (instruction A/B/C) is executed in the enable order when the buffer is less
than 3 copies. As following table, enable all the five instructions at one time, and the order is:
instruction A--> instruction C--> instruction B--> instruction E-> instruction D, as shown in table 1;
Then, the enabled 3 instructions are executed successively in: instruction A--> instruction C-->
instruction B, as shown in column 3 of table:
Instruction position order
Instruction execute
order
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