Programming the FM 351
6-18
FM 351 Positioning Module
C79000-G7076-C351-02
Example: Actual position (ACT_POS)
STL Explanation
Example
L PID 516
The base address of the module is 512
Read actual position value (ACT_POS) of
channel 1 using direct access:
Base address of the channel + 4
Direct Access for Writing Control Signals
The byte addresses are specified relative to the base address of the inputs 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 PQB (write 1 byte), PQW (write 2
bytes) and PQD (write 4 bytes).
Address Bit number
7 6 5 4 3 2 1 0
Byte 0 0 0 0 0 OT_ERR_A 0 0 0
Byte 1 DRV_EN 0 0 0 DIR_P DIR_M STOP START
Byte 2 MODE_IN
Byte 3 MODE_TYPE
Byte 4
Reserved
Byte 5
Byte 6
Byte 7
Example: START signals channel 2
STL Explanation
Example
L 2#10001000
T PQB 521
The base address of the module is 512
Set DRV_EN and DIR_P to 1
Write signals for channel 2 using direct
access:
Base address of the module + 8 + 1
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