236
Manual – IPOSplus®
17
Standard functions
Compiler – Functions
Example #include <constb.h>
T0Interrupt ()
{
// Statements of the interrupt routine for timer 0
}
main()
{
// Inform system of TO interrupt and start
_SetInterrupt( SI_TIMER0,T0Interrupt );
while(1)
{
// Main program task 1
}
}
17.3.22 _SetSys
Syntax
_SetSys( sys , H)
Description Sets the value of an internal system value with the value of an IPOS
plus®
variable.
Key points H Name of source variable
sys Constant expression that designates the system value. sys can adopt one of the
following values:
SS_N11: Internal fixed setpoint n11
SS_N12: Internal fixed setpoint n12
SS_N13: Internal fixed setpoint n13
SS_N21: Internal fixed setpoint n21
SS_N22: Internal fixed setpoint n22
SS_N23: Internal fixed setpoint n23
Note:
The new fixed setpoint is only certain to have been adopted after 5 ms. You may want to delay program pro-
cessing after a _SetSys command by 5 ms with a _Wait command.
If the fixed setpoint value exceeds the permitted range, the algebraic sign changes.
SS_PIDATA: Updates PI data
1)
– H = Number of PI data items
– H + 1 = PI data 1
– H + 2 = PI data 2
– H + 3 = PI data 3
SS_OPMODE: Sets the operating mode
– H = 11: CFC (speed control)
– H = 12: CFC & torque control
– H = 13: CFC & IPOS (positioning)
– H = 14: CFC & synchronous operation (DRS11)
– H = 16: SERVO (speed control)
– H = 17: SERVO & torque control
– H = 18: SERVO & IPOS (positioning)
– H = 19: SERVO & synchronous operation (DRS11)
SS_IMAX: Setting the torque limit by setting parameter P304 torque limit (only CFC or SERVO);
Scale unit: 0.1%
SS_POSRAMP: Positioning ramps; unit: 1 ms
– H = Positioning ramp 1
– H + 1 = Positioning ramp 2
SS_POSSPEED: Positioning speed; unit: 0.1 rpm
– H = Speed CW
– H + 1 = Speed CCW
SS_OVERRIDE: Switch override on/off
– H = 0 -> off
– H = 1 -> on
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