Programming the FM 351
6-7
FM 351 Positioning Module
C79000-G7076-C351-02
Order of Job Execution
You can send several jobs at the same time. If no jobs are active, the job
management of FC ABS_CTRL searches through the jobs starting at MDWR_EN
to check whether trigger bits are set or whether modifications have been made to
function switches. When a job is found, it is executed. Once the job is completed,
the job management searches for the next job to be executed. Once the search
has reached the last job (ENCVAL_EN), the search starts again at the MDWR_EN
job. This search is repeated until all jobs have been executed.
The jobs are executed in the following order which has proved practical from a
technological point of view:
Order Addr. in
Channel
DB
Reset
by
Write jobs
1 35.0 MDWR_EN Write machine data FC1
2 35.1
35.2
35.3
36.4
MD_EN
DELDIST_EN
AVALREM_EN
DELDIAG_EN
Activate machine data
Delete remaining distance
Cancel set actual value
Delete diagnostic buffer
FC1
3 35.4 TRGL1WR_EN Write incr. dim. table 1 FC1
4 35.5 TRGL2WR_EN Write incr. dim. table 2 FC1
5 35.6 REFPT_EN Set reference point FC1
6
34.0
34.1
34.2
Function switches
PLOOP_ON
MLOOP_ON
EI_OFF
Loop traverse in plus direction
Loop traverse in minus direction
Do not evaluate enable input
User
program
7 35.7 AVAL_EN Set actual value. FC1
10 36.2 TRG252_254_EN Write incr. dim. for incr. dim. no. 254 FC1
11 36.3 TRG255_EN Write incr. dim. for incr. dim. no. 255 FC1
Read jobs
12 36.5 MDRD_EN Read machine data FC1
13 36.6 TRGL1RD_EN Read incr. dim. table 1 FC1
14 36.7 TRGL2RD_EN Read incr. dim. table 2 FC1
16 37.1 ACTSPD_EN Read actual speed, distance
remaining and current incr. dim.
FC1
17 37.2 ENCVAL_EN Read Encoder Data FC1
This order allows you to start a complete positioning operation with a set of jobs
and control signals. The jobs range from writing and activating the machine data,
setting the external enable input to writing the incremental dimensions for
incremental approaches.
To Next Page
Loading...
