26 SM-Applications Modules & Motion Processors User Guide
Issue Number: 4
4.9 Program Example
Shown below is an example of a DPL program written within SyPTPro:
Figure 4-5 Example DPL Program
This program will take the positional feedback information from the drive (which is
scaled to 2
32
/rev), work out the delta (which will be proportional to speed) and convert to
encoder counts (based on a standard quadrature encoder) and add this to an
accumulator.
This example shows the basic concepts of accessing parameters and using
mathematical functions. It may be useful to people migrating from the UD70 platform toij
Unidrive Classic since it will show how to re-create the _Q 8% accumulative encoder
position value as was available on that product.
Running through the program there are four distinct sections:
• Header section
•An
Initial task
•A
Pos0 task
• A Function block diagram
4.9.1 Header Section
This section is automatically generated by SyPTPro from the details in the node
properties dialogue box. It contains information such as the program’s title, author and
version.
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