Festo SPC200 - Page 208

5. Programming
5−22
Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d
Operands: F0 ... F63 (flag), R0 ... R99 (register), @0 ... @99 (position register)
Control signals STOP, START/RESET, ENABLE, READY, freely programmable I/Os
Axes: X, Y, Z, U
Control signals:
SYNC_IA / CLK_A
MC_A / RC_A
SYNC_OA / ACK_A
Settings for positioning:
Positioning quality class, positioning
mode, stroke limit value, etc.
N000 G62 X
N001 G00 X100
N002 #TNI0.0 30
N003 G01 X100 FX10
N004 X300
N005 G00 X500
N006 G00 X400
...
Task A
1
2
3
4
Control signals:
SYNC_IB / CLK_B
MC_B / RC_B
SYNC_OB / ACK_B
Settings for positioning:
Positioning quality class, positioning
mode, stroke limit value, etc.
N000 G62 Y
N001 G00 Y100
N002 #TNI0.1 30
N003 G01 Y100 FY10
N004 Y300
N005 G00 Y500
N006 G00 Y400
...
Task B
1 Commonly managed operands,
control signals and axes
2 Starting program (here of task A)
3 Sub−programs (here of task A)
4 Task−specifically managed control
signals and settings for positioning
(see also chapter 5.2.3)
Fig.5/1: Common and task−specific control signals and data