Samples
12-7
FM 351 Positioning Module
C79000-G7076-C351-02
12.8 Sample Program 2 “Commission”
Aim:
In this sample, you put the positioning module into operation without the parameter
assignment dialogs. You control and monitor using variable tables (VATs).
Requirements:
You have set the parameters for your positioning module as described in “Getting
Started”.
The address of your module is entered correctly in the channel DB in the
parameter MOD_ADDR and the channel number in the parameter CH_NO.
The address of your module is correctly entered in the diagnostic DB in the
MOD_ADDR parameter.
The supplied channel DB already contains the DB number (30) of the
corresponding parameter DB for the machine data in the PARADBNO parameter.
The machine data of your system are stored in the data block PARADB_1.
Startup:
In the startup OB (OB100), call FC ABS_INIT to initialize the channel DB. You then
set the trigger bits for all jobs that you require after the module starts.
Cyclic Operation:
Open the variable table (VAT_CTRL_1), establish the connection to the configured
CPU and monitor the variables.
Transfer the prepared control values. The “jogging” mode is selected and the
required enable signals are set. With DIR_P=1, the drive turns. The actual value
must change. To stop the drive, set STOP to “1” and transfer the control values.
Activate and transfer the control value “CHAN_1”.REFPT_EN (set reference point).
The return signal “CHAN_1”.SYNC =1 means that the channel is synchronized.
In VAT_DIAG, you can see the most important entries of the diagnostic buffer of
the module. The meaning of the error classes and error numbers is described in
the manual in Appendix C.5, pageC-15.
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