Programming the FM 351
6-17
FM 351 Positioning Module
C79000-G7076-C351-02
6.7 Fast Access to Module Data
Application
In special applications or in an interrupt level, particularly fast access to return and
control signals may be necessary. You can obtain this data directly via the input
and output areas of the module.
To coordinate startup following each module startup (for example after inserting the
module, CPU STOP → RUN), FC ABS_CTRL must be called continuously until the
end of the startup is indicated by RET_VAL = 0. Following this, you must no longer
use FC ABS_CTRL.
Note
It is not possible to use FC ABS_CTRL in conjunction with write access.
Direct Access for Reading Return Signals
The byte addresses are specified relative to the base address of the outputs of the
particular channel. The names of the parameters are those in the channel DB (see
Appendix C.1, page C-2).
Base address of channel 1 = base address of module
Base address of channel 2 = base address of module + 8
In STL, you access the data with the commands PIB (read 1 byte), PIW (read 2
bytes) and PID (read 4 bytes).
Addres
s
Bit number
7 6 5 4 3 2 1 0
Byte 0 PARA internal internal DATA_ERR OT_ERR DIAG internal internal
Byte 1 CHGOVER CUTOFF ZSPEED SPEED_OUT 0 WAIT_EI WORKING ST_EN
BLD
Byte 2 MODE_OUT
Byte 3 POS_RCD 0 0 0 GO_P GO_M 0 SYNC
Byte 4
Byte 5
ACT_POS
Byte 6
Byte 7
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