SEW-Eurodrive IPOS plus

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Manual – IPOSplus®

Contents

24.4 "Table positioning" sample program ....................................................... 372

24.4.1 Characteristics......................................................................... 372

24.4.2 Settings.................................................................................... 373

24.4.3 Input terminals ......................................................................... 374

24.4.4 Output terminals ...................................................................... 374

24.4.5 Program source code (with remarks)....................................... 375

Index................................................................................................................. 378

Main Page

Default Chapter3
- Table of Contents3
1 General Information14
- Structure of the Safety Notes14
- Liability for Defects15
- Exclusion of Liability15
- Copyright15
2 Safety Notes16
- General Information16
- Designated Use17
- Target Group17
- Programming Errors17
3 System Description18
- Introduction18
  - Scope of this Documentation18
  - Creating Programs19
- IPOS Plus® - Features19
- Controlling IPOS Plus® Units22
  - Active Control Signal Source22
- Technology Options / Application Modules22
  - Technology Options22
  - Application Modules23
- Technical Data25
- Reference Documents27
4 IPOS Variables28
- Introduction28
- Overview of the System Variables29
5 Task Management and Interrupts40
- Introduction40
- Task Management for MOVIDRIVE ® a and B40
- Tasks for MOVIDRIVE ® a43
- Tasks for MOVIDRIVE ® B43
- Interrupts45
  - Example46
- Interrupts for MOVIDRIVE ® a and B46
- Variable Interrupts with MOVIDRIVE ® B49
  - Calling up the Variable Interrupt49
  - IPOS Access to the Internal Interrupt Control50
6 Position Detection and Positioning53
- Encoder Evaluation53
- Motor Encoder (X15)54
- Encoder Combinations54
- External Encoder (X14)57
  - Positioning on External Encoder (X14)57
  - Slip Compensation with External Encoder57
- SSI Absolute Encoder (DIP)60
- Referencing63
- Modulo Function73
- Cam Controllers84
  - Standard Cam Controller85
  - Expanded Cam Controller89
7 Position Detection Via Binary Inputs96
- Types of Built-In Encoders96
- Principle of the Position Detection96
- Position Detection with MOVIDRIVE ® B97
- Position Detection with MOVITRAC ® B98
- Position Detection with Mqx99
8 Ipos102
- Plus® and Fieldbus102
- Introduction102
- Binary Inputs and Outputs103
- Cyclical Process Data103
- Acyclical Communication105
- Special Features of Communication Via Sbus105
- Special Features of Communication Via RS-485106
- Fieldbus Control Words and Fieldbus Status Words106
9 Ipos107
- Introduction107
- Speed Synchronization Via Master/Slave Function107
- Synchronous Operation with a DRS Option Card107
- Synchronous Operation with Technology Option "Internal Synchronous Operation115
  - Requirements115
- Synchronous Operation with Technology Option "Cam116
  - Requirements117
10 IPOS Plus® for MOVITRAC ® B - Characteristics118
- Requirements118
- Functionality119
11 IPOS Plus® for Mqx - Characteristics120
- Introduction120
- Starting the Programming Tool121
- Sequence Control System121
- Digital Inputs and Outputs121
- Values of the DIAG11 Variable for the Error IPOS ILLOP122
12 P9Xx IPOS Parameters123
- P90X IPOS Reference Travel123
- P91X IPOS127
- P92X IPOS Monitoring131
- P93X IPOS132
- P95X Absolute Encoder (SSI)138
- P96X IPOS140
- P97X IPOS Synchronization141
  - P970 DPRAM Synchronization141
  - P971 Synchronization Phase141
13 Compiler - Editor142
- Technical Features142
- First Steps143
  - Motionstudio143
  - Step 2: Creating a New Project145
  - Step 3: the First IPOS Plus® Program148
  - Step 4: Compiling and Starting the IPOS Plus® Program151
- Settings for the IPOS Plus® Compiler154
- Search Function157
- Creating a New Project158
  - Project Properties158
  - Defining the Program Structure159
- Saving a Project161
- Setting up a Project Management Structure162
- Opening a Project164
- Handling Projects with MOVIDRIVE ® B164
  - Saving a Project in the Inverter164
  - Loading a Project from the Inverter165
  - Calling up a Project from the Inverter165
- Compiling a Project166
- Compiling and Downloading167
- Starting a Program167
- Stopping a Program167
- Comparison with Unit167
- Debugger168
- Variable Window169
- Program Information171
- Entering Instructions172
- Comments173
- Overview of the Icons174
14 Compiler - Programming175
- Preprocessor176
- Preprocessor Statements176
- Include178
- Include Folders179
- Define179
- Undef180
- Declare181
- SEW Standard Structures182
- User-Defined Structures184
- Long186
- Initial Long186
- Pragma187
- Explanation of Const.h and Io.h / Constb.h and Iob.h188
- Identifiers190
- Constants190
- Iposplus Variables in the Compiler191
  - Example191
- Declaration of Global Variables191
- Indirect Addressing - Pointer192
- Numof()193
15 Compiler - Operators194
- Order of Priority of Operators194
- Unary Operators195
- Binary Operators196
  - Example196
- Ternary Operators196
16 Compiler - Constructions197
- Syntax197
- For198
  - Syntax198
- While199
  - Syntax199
  - Syntax200
- Do...while200
- Switch202
  - Syntax202
- Return203
17 Compiler - Functions204
- User-Defined Functions204
- Overview of Commands for Standard Functions205
- Standard Functions208
18 Compiler - Examples246
- Setting Bits and Output Terminals246
- Clearing Bits and Output Terminals247
- Querying Bits and Input Terminals248
  - Testing Single Bits248
  - Testing Several Bits248
- Querying an Edge249
  - Example 1249
  - Example 2251
- Value of a Number252
- Movilink Command253
- SCOM Communication256
  - Receiver256
  - Sender257
- Touch Probe Interrupt Processing258
- State Machine, Fieldbus Control with Emergency Mode261
- Compiler Programming Frame266
19 Compiler - Error Messages275
20 Assembler - Introduction276
- Setting the User Travel Units276
  - Travel Distance Factors NUMERATOR/DENOMINATOR276
  - Unit278
- First Steps279
21 Assembler - Editor282
- Example283
- Creating Programs283
  - Inserting Command Lines283
- Compiling and Downloading284
- Starting/Stopping Programs285
  - Variable Window285
- File/Unit Comparison285
- Debugger285
  - Execute to Cursor286
  - Single Step286
- Loading the Program from the Inverter287
- Overview of the Icons287
22 Assembler - Programming288
- Basics288
- Binary Inputs/Outputs291
  - Binary Inputs291
  - Binary Outputs293
- Analog Inputs/Outputs296
  - Reading Analog Inputs/Outputs296
  - Setting Analog Outputs296
23 Assembler - Commands297
- General Information297
- Overview of Commands297
- Arithmetic Commands302
- Bit Commands307
  - Bit Commands BSET/BCLR/BMOV/BMOVN307
- Communication Commands309
- Positioning Commands323
  - Reference Travel GO0323
  - GOA Absolute Positioning / GOR Relative Positioning325
- Program Commands329
- Set Commands336
- Special Unit Commands349
  - Astop / Mem / Touchp / Wdoff / Wdon349
- Comparison Commands355
  - Comparison Operations CPEQ / CPGE / CPGT / CPLE355
    - Cplt / Cpne355
  - Logical Operations ANDL / ORL / NOTL358
24 Assembler - Examples360
- Flashing Light" Sample Program360
  - Sample "Controller360
  - Sample "Positioning361
- Hoist" Sample Program362
- Jog Mode" Sample Program368
- Table Positioning" Sample Program372
Index378

SEW-Eurodrive IPOS plus - Page 13

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