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2. Compile the PLCP program (
program.
3. Execute the PLCP program (
command, it is executed in the "PLC Scan Mode". The advantage of the PLC Scan Mode is that the
PLCP program is executed within a dedicated 0.5 ms time slot during every 2 ms system update
period. This gives the PLCP program faster throughput for monitoring and manipulating I/O. For more
information on how the PLCP program is executed with
description.
An alternative execution method is to use the
to the
method, but will only run through the PLCP program once.
SCANP PLCPi
Memory Requirements: Most commands allowed in a PLCP program consume one segment of compiled
memory after the program is compiled with
segments) and
statements. Each
IF
operator consumes an additional segment (e.g.,
compiled memory). The number of compounds is limited only by the memory available.
Conditional Expressions:
• Order of Evaluation. Because only
one level of parenthesis is allowed,
the order of evaluation of IF
conditionals is from left to right.
Refer to the flowchart for the
evaluation logic.
• Conditional expressions in a PLC
program use the non-scaled integer
("raw") operand values. Examples
of the "raw" operand values are:
− The
operator reports encoder counts not scaled by
PE
− The
operator reports ADC counts from an analog input. Assuming the default ANIRNG4
ANI
setting (+/-10V voltage range), 205 ADC counts = 1 volt.
− The
operator reports DAC counts commanded to an analog output. The range is 0-4095 counts
ANO
over the –10 to +10V range. The calculation is:
The only operands that are not allowed are:
,
,
, and
DREADF
DAT
DPTR
Programming Example: Refer to the example in the
PLN
End of Loop, Compiled Motion
Type
Compiled Motion
Syntax
<a_>PLN
Units
n/a
Range
n/a
Default
n/a
Response
No response; instead ends loop for compiled motion
See Also
GOBUF, PCOMP, PLOOP, PRUN, PUCOMP
Use the
command to specify the end of a compiled motion profile loop, as initiated with the
PLN
command.
Programming Example: see
). A compiled program runs much faster than a standard
PCOMP PLCPi
). When the PLCP program is launched with the
SCANP PLCPi
command (
PRUN
; the exceptions are
PCOMP
conditional evaluation compounded with either an
IF
IF(IN.1=b1 AND AS.1=b0)
NO
Statement
Evaluates FALSE
,
,
SIN
COS
.
PI
SCANP
.
PLOOP
www.comoso.com
, refer to the
SCANP
SCANP
). This method is similar
PRUN PLCPi
and
VARI
VARB
consumes three segments of
Get Next Conditional
FALSE
Evaluate
YES
YES
Compound = OR?
Compound = AND?
and not scaled by
SCLD
ERES
value = (Vout + 10) x 4095 / 20.
ANO
,
,
,
,
TAN
ATAN
VCVT
SQRT
VAR
command description.
Command Descriptions
SCANP
command
(each consume 2
or an
AND
OR
TRUE
NO
Statement
Evaluates TRUE
.
,
,
,
,
TW
READ
DREAD
Product
Rev
GT6K
6.0
GV6K
6.0
PLOOP
233
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