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Ormec SMLC Programming Manual
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Ormec SMLC Programming Manual

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Programming the SMLC
•
ServoWire Pro
–
Creating a project setup file
–
SwMonitor
–
SwTune
–
SwUpgrade
–
SMLC Utilities
•
CoDeSys
–
Creating the application program
–
Going online with the SMLC
–
Importing function blocks
–
Creating a visualization
–
I/O configuration
–
HMI configuration
–
Diagnostic tools
–
Useful CoDeSys settings
9/13/2005
Programming the SMLC
1

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Summary of Contents for Ormec SMLC

  • Page 1 SwMonitor – SwTune – SwUpgrade – SMLC Utilities • CoDeSys – Creating the application program – Going online with the SMLC – Importing function blocks – Creating a visualization – I/O configuration – HMI configuration – Diagnostic tools – Useful CoDeSys settings...
  • Page 2 • Use ServoWire Pro to create a configuration file that will be sent to the SMLC. This file contains all of the information on the motors and drives used in the project. 9/13/2005...
  • Page 3 | New or press the toolbar button. • Select the loop rate • Select the drive family • By unchecking Force default Axis names you can name the axes to match their function. • Press OK when finished 9/13/2005 Programming the SMLC...
  • Page 4 SwPro - Right-click on the SMLC and add a drive • The available drive models are determined by the drive type selection you made on the System Settings page. 9/13/2005 Programming the SMLC...
  • Page 5 The default max feedback frequency is fine for most applications. • If the drive is to have an external regen resistor select the model or enter the resistance and power ratings. • Select the Inputs tab. 9/13/2005 Programming the SMLC...
  • Page 6 SwPro - Configure the drive inputs • The drive’s inputs can be configured as general purpose, hardware overtravels, Estop or Quick Stop • The drive’s high speed sensors can be configured as NPN or PNP. • Select the Outputs tab 9/13/2005 Programming the SMLC...
  • Page 7 SwPro - Configure the drive outputs • The drives outputs can be configured as Programmable, a drive ready signal or they can pass the encoder reference or (optional) delay counter output. • Press OK when finished 9/13/2005 Programming the SMLC...
  • Page 8 At this point you can choose to add a motor to the drive, an auxiliary axis or (if supported by this drive model) an option board. • Option boards can support alternate feedback types such as resolver as well as analog and digital I/O. 9/13/2005 Programming the SMLC...
  • Page 9 Edit button, otherwise pick the Series, Model and options. • Select the Axis Input Command Mode. Typically this will be Position but you can also select Torque, Velocity or Tension. • Select the User Units tab 9/13/2005 Programming the SMLC...
  • Page 10 • Enter the user units conversions for position, speed and accel, or accept the defaults. • Edit the maximum allowed user values if you wish to reduce them from the defaults. • Select the Settings tab 9/13/2005 Programming the SMLC...
  • Page 11 The alarm generates a warning, the fault disables the axis. • Configure modulo position, in this example we turn it on and set it to 360 degrees • Enable/configure software overtravels. • Select the Inputs tab 9/13/2005 Programming the SMLC...
  • Page 12 They can also be used to start and stop motions. • Configure the drive’s high speed sensor inputs for Rising, Falling, High or Low. • Optionally gate sensors with drive outputs. • Select the Outputs tab 9/13/2005 Programming the SMLC...
  • Page 13 • Optionally configure one of the drive outputs as a brake control signal and set the enable/disable delays. • Set the time constants for the filtered versions of Current and Velocity. • Select the Tuning tab 9/13/2005 Programming the SMLC...
  • Page 14 SwTune. • Some settings such as the Notch Filter and Phase Advance require you to be in Expert Mode. • To enable Expert Mode use the Edit Menu in SwPro. • Press OK when finished 9/13/2005 Programming the SMLC...
  • Page 15 SwPro - Save the .SwSetup file • Save the file on your computer • Give it a name that relates to your machine 9/13/2005 Programming the SMLC...
  • Page 16 SwPro - Pick the SMLC you wish to communicate with • Press the Address Book button on the toolbar to pop up the edit list • If necessary, add the IP address of your SMLC to the address list. •...
  • Page 17 SwPro - Run SwMonitor - SMLC status - Info tab • SwMonitor displays the current network status as well as providing version information for each node on the network. • Press the SwMonitor button on the SwPro toolbar. • Select the SMLC in the tree view on the left.
  • Page 18 SwPro - Run SwMonitor - Drive status - Info tab • Click on a drive in the tree view at the left • On the Info tab we can see the drive’s hardware and software revisions and hardware serial numbers. 9/13/2005 Programming the SMLC...
  • Page 19 • On some motors the status of the hall sensors is updated in real-time. • Press Close when finished. 9/13/2005 Programming the SMLC...
  • Page 20 Check the drives you wish to upgrade and then press the Upgrade button. • Navigate to select the drive firmware upgrade package that you wish to install. • Drive firmware upgrade packages are available on the ORMEC web site • Install the new firmware. •...
  • Page 21 • Press the SwTune button the toolbar to run SwTune • Select the axis from the drop down box, clear any faults and check the Enable box. • Go to the Motion tab 9/13/2005 Programming the SMLC...
  • Page 22 We can see with the default tuning values the system is soft and has a large overshoot • The inertia estimator has given us an estimate for our load inertia (which is currently set to 0.0) • Select the Velocity tab to enter the load inertia 9/13/2005 Programming the SMLC...
  • Page 23 VLTC value until the system starts to oscillate a bit. Back off the VLTC value a bit. • Now we can see that there is no overshoot. • Press the Display button 9/13/2005 Programming the SMLC...
  • Page 24 Zoom in on a constant velocity portion of the waveform and then turn on the frequency plot. If there were a noticeable resonance we could pinpoint the frequency and setup a notch filter to reduce or eliminate it. • When done press the Close button. 9/13/2005 Programming the SMLC...
  • Page 25 SwPro - SwTune - Saving changes • When you exit SwTune you can save the tuning changes you made back into the .SwSetup file. • After saving the changes we need to download the updated .SwSetup file to the SMLC. 9/13/2005 Programming the SMLC...
  • Page 26 SwPro - Downloading a .SwSetup file to the SMLC • Press the Sync button on the SwPro toolbar. • Select Download and press OK. • The .SwSetup file is downloaded to the SMLC at the IP address selected in the Address list.
  • Page 27 • SMLC.CFG contains the I/O and HMI configuration data. • In most cases it is the correct choice to allow the SMLC Upgrade utility to replace these local files. Consult the release notes if there is any doubt. 9/13/2005 Programming the SMLC...
  • Page 28 SwPro - SMLC Ethernet Configuration Utility • Press the Ethernet Configuration Utility button on the toolbar • Press Retrieve to read the configuration from an SMLC. Press Load to load a configuration from a file. • IP addresses can be configured manually or via a DHCP server.
  • Page 29 SwPro - SMLC File Utility • Press the File Utility button on the SwPro toolbar • A list of files on the SMLC is displayed. • Check the files you wish to retrieve or delete. • Press either Delete or Retrieve buttons •...
  • Page 30 3S is one of the leading IEC 61131-3 suppliers in the world. • ORMEC has integrated its SoftMotion technology with CoDeSys to create the SMLC. • The motion function blocks are based on PLCopen, an international standard for controlling motion under IEC-61131-3.
  • Page 31 Press OK when finished • Note that you can create a project with a target of None and later select the target. If you select None as the target the SMLC motion library will not be available. 9/13/2005 Programming the SMLC...
  • Page 32 • If you check Load bootproject automatically then any program you download to the SMLC will run automatically at powerup. If you don’t check it you will have to download the bootproject manually from the Online menu. The recommendation is to check it.
  • Page 33 • This example program will be written as an SFC where each SFC step is written in Ladder Logic. The SFC will serve as a state machine for our program. • Press OK when finished 9/13/2005 Programming the SMLC...
  • Page 34 POU that looks like the diagram at the right. • Our machine will have four states: Estop, Homing, Manual and Auto. • This program can be easily modified to incorporate simpler or more complex state machines. 9/13/2005 Programming the SMLC...
  • Page 35 OK on the New POU dialog. • Double click on the Init block, the New Action dialog appears • Select LD (Ladder Logic) as the language for the new action and press OK. 9/13/2005 Programming the SMLC...
  • Page 36 CoDeSys - SFC - Editing the ladder in the Init state • The first step in creating our program is to add an MC_Open function block and use it to open our axis. • Right click on the ladder in rung 0001 • Select Function Block 9/13/2005 Programming the SMLC...
  • Page 37 The Standard library contains counter, timers, etc. The Utility library contains PID controllers, math functions, etc. and the SMLC library contains all of the motion control function blocks. Its easier to find the function block you’re looking for with Structured unchecked.
  • Page 38 Declare Variable dialog will automatically add the declaration of OpenKnife to the declaration section of our program. • The Declare Variable window can also be opened at any time by pressing Shift-F2 or by using the Edit | Auto Declare menu option. 9/13/2005 Programming the SMLC...
  • Page 39 AXIS_REF is a standard PLCopen type. When we enter the variable hKnife the Declare Variable box pops up and we must select (or type in) AXIS_REF for the type. 9/13/2005 Programming the SMLC...
  • Page 40 This is not required, you can name your variables anything you would like, it is simply a recommendation based on experience that will aid in writing and debugging large programs. 9/13/2005 Programming the SMLC...
  • Page 41 O_AX the list will automatically take us to the Axis Type constants. • You need to delete the ‘.’ from the beginning of the line or you will get an error when you compile your program. 9/13/2005 Programming the SMLC...
  • Page 42 • Putting the axis “online” means that the program is communicating with the drive and all configuration information has been sent to the drive. You only need to do this once for each axis at powerup. 9/13/2005 Programming the SMLC...
  • Page 43 • Select LD (Ladder Logic) and then press OK. • This is the preferred method because it allows entry of a complex expression in any language that is appropriate. 9/13/2005 Programming the SMLC...
  • Page 44 Note also that the small triangle in the upper right corner of the Init state indicates there is code present in this state that can be edited by double clicking on the state. 9/13/2005 Programming the SMLC...
  • Page 45 You can also use the button on the toolbar. • When you’re done, click on the Use IEC-Steps button again to turn off the IEC steps. For the rest of our state machine we want to use “simple” IEC steps. 9/13/2005 Programming the SMLC...
  • Page 46 Edit the new step to appear like this: • Change the step name from Step2 to Supervisor • Change the N to an S • Change the action name from Action_1 to ErrorCheck • Clear the text on Trans1 9/13/2005 Programming the SMLC...
  • Page 47 Change the name of the new step to Estop • Clear the text from the transition below the Estop state • Change the text on arrow at the bottom from Init to Supervisor • Your SFC should look like this: 9/13/2005 Programming the SMLC...
  • Page 48 Alternate Branch (right). You can alternately use the button on the toolbar. • Clear the name of the new transition • The resultant SFC should look like this: • Right click on the new transition and add a Step-Transition (after) 9/13/2005 Programming the SMLC...
  • Page 49 Homing. A box should appear around both transitions and the Homing step. • While still holding the shift key, right click and select Alternate Branch (right). You can alternately use the button on the toolbar. 9/13/2005 Programming the SMLC...
  • Page 50 • Repeating what you’ve done so far, add the Manual and Auto steps to our state machine. • The result should look like this • We’re now ready to start filling in the state machine code 9/13/2005 Programming the SMLC...
  • Page 51 CoDeSys - Creating the machine state enumeration constants • Go to the Data Types tab in CoDeSys • Right click on Data Types and select Add Object • Enter eMACHINE_STATES for the name and press OK 9/13/2005 Programming the SMLC...
  • Page 52 Now when we create a new variable of type eMACHINE_STATES it can only contain the values listed here. • In our application the actual value of each constant isn’t important but we can assign the values if we wish. 9/13/2005 Programming the SMLC...
  • Page 53 CoDeSys - Adding an Exit action to the Init step • Return to the POU pane and right click on the Init step • Select Add Exit-Action, a dialog will appear • Select ST (Structured Text) for the language of this action and click 9/13/2005 Programming the SMLC...
  • Page 54 • Note that := is used for an assignment and the line ends with a semicolon. • We are setting our default machine state to ESTOP on powerup. • The variable MachineState is of type eMACHINE_STATES. 9/13/2005 Programming the SMLC...
  • Page 55 • Code in an Entry action is executed once when the step is entered. • We will enter the Entry and Exit action code for the Estop step in a later step. 9/13/2005 Programming the SMLC...
  • Page 56 Repeat this for the transition below the Estop step. • Enter MachineState <> STATE_ESTOP • We will enter the Estop state whenever MachineState = STATE_ESTOP and we will remain in this state until MachineState no longer equals STATE_ESTOP 9/13/2005 Programming the SMLC...
  • Page 57 Manual and Auto states • For each state you should check for MachineState to be equal to the state above the step and not equal to the state below the step. MachineState <> STATE_HOMING MachineState <> STATE_MANUAL 9/13/2005 Programming the SMLC...
  • Page 58 R). We are not going to Reset the action in this program. • To add the ErrorCheck action right click on the PLC_PRG and choose Add Action. • Select LD (Ladder Logic) as the language. 9/13/2005 Programming the SMLC...
  • Page 59 ReadErrorFlag function block and choose Box with EN • In the Box type MOVE • A MOVE function moves the value at its input to the variable at its output 9/13/2005 Programming the SMLC...
  • Page 60 The finished rung should look like this: • The MC_ReadErrorFlag function block checks a global error bit within the SMLC Motion library. If any of the drives fault or a motion function block generates an error the global error bit is set.
  • Page 61 • Local variables can only be seen within the POU in which they are defined. • You can create a global variable in the Auto Declare dialog by changing the class to VAR_GLOBAL before hitting OK 9/13/2005 Programming the SMLC...
  • Page 62 SFC. • You can add / edit variables here manually if you wish. • Local variables are only accessible within PLC_PRG and its sub-actions. 9/13/2005 Programming the SMLC...
  • Page 63 After you fix the errors press F11 again to compile. • Repeat the process until there are no more errors. • Save the program from the File | Save menu or by using the disk icon on the toolbar. 9/13/2005 Programming the SMLC...
  • Page 64 Enter a name for this connection and select Tcp/Ip • Note that you only have to do this once on this computer for each different SMLC IP address you wish to communicate with. • CoDeSys remembers the names and IP address of SMLCs you have communicated with.
  • Page 65 If you are able to connect you should see the dialog at the right. • If there is already a program on the SMLC a warning is displayed that you are about to overwrite the program. 9/13/2005 Programming the SMLC...
  • Page 66 CoDeSys - Running the program - Online, ready to run • Note that the status bar displays ONLINE and indicates the name of the SMLC that we are connected to. • Also note that we are not yet running. •...
  • Page 67 ErrorCheck action to run on every scan. • The advantage of the ErrorCheck action is that we can put common error checking code there and we don’t need to add it to every state. 9/13/2005 Programming the SMLC...
  • Page 68 • Go to the Project | Import menu and import the file UtilityFunctions.exp. This file should be available on the ORMEC web site or it may be found on the CDS-SDK CD-ROM. • We can see the Import has given us several useful functions, including EnableAxis and JogAxis.
  • Page 69 Select LD (Ladder Logic) for the language. • Insert a normally open contact and label it false. • At the end of the rung insert a function block and select User defined Function Block - Enable Axis. 9/13/2005 Programming the SMLC...
  • Page 70 Insert an EnableAxis function block, this time directly to the power rail. • Give it the same instance name as we used in the Entry action. • This rung will enable the axis whenever we leave the Estop state. 9/13/2005 Programming the SMLC...
  • Page 71 When the EstopOK input is true and the operator presses the Reset pushbutton we will clear the global error flag and set the machine state to STATE_HOMING • In the Exit action we will enable the axis and control will pass to the Homing step of the SFC. 9/13/2005 Programming the SMLC...
  • Page 72 CoDeSys - Estop state overview • Entry action • Exit action • Disable the axis • Enable the axis • Code inside the step • If Estop OK and Reset PB change state to HOMING 9/13/2005 Programming the SMLC...
  • Page 73 MC_Reset (to clear any drive faults) and MC_Power (to enable the axis) • There is more code below rung 0001 that sets the Error and ErrorID outputs if either the Reset or the Power blocks fail. 9/13/2005 Programming the SMLC...
  • Page 74 Enable that feeds the Execute input of the MC_Reset block. This is perfectly legitimate and merely indicates that the Reset operation will only occur on the rising edge of the Enable input to the block 9/13/2005 Programming the SMLC...
  • Page 75 The function block remains in the Init step until the Execute input is true. When the operation is complete the outputs are set and the function block remains in the SetOutputs step until the Execute input goes away. 9/13/2005 Programming the SMLC...
  • Page 76 We set the Execute input FALSE and the SFCReset input TRUE. This forces the SFC to its Init step and since Execute is FALSE it will remain in this step. • We also reset a boolean flag bExecute. We’ll examine this more closely inside the state. 9/13/2005 Programming the SMLC...
  • Page 77 The bExecute is not necessary in this step because we already called the HomeKnife instance with Execute FALSE in the Entry action. We put it in here because this is the standard practice used to insure that a function block sees a rising edge. 9/13/2005 Programming the SMLC...
  • Page 78 MC_MoveVelocity block to jog the motor • We use an MC_Stop block to stop the motion when a jog input is released. • Note that we don’t clear the jogging output until the motion has stopped. 9/13/2005 Programming the SMLC...
  • Page 79 The JogFwd and JogRev PB inputs are used as inputs to the Jog function block. • If the Auto SW becomes true while we’re not jogging we will switch to the AUTO state, otherwise the switch will occur when jogging has completed. 9/13/2005 Programming the SMLC...
  • Page 80 CoDeSys - Programming the Auto state - Body • In the Auto state if we see the Cut photo-eye we will command a 1 revolution index of the knife. • If the Auto SW input goes false we will return to manual. 9/13/2005 Programming the SMLC...
  • Page 81 To add comments to your code right click on a rung and select Comment. The comments appear as gray text above the rung. • It is also possible to have comments for each contact. Select Extras | Options and check ‘Comment per contact’. 9/13/2005 Programming the SMLC...
  • Page 82 We could put this code in our ErrorCheck action but to keeps things clean lets add another action that runs every scan. • Right click on PLC_PRG and select Add Action. • Call the new action EveryScan and set the language to LD. 9/13/2005 Programming the SMLC...
  • Page 83 Right click on the Supervisor step and select Associate Action. • Call the new action EveryScan and set its qualifier to S. • For more information on IEC Steps and qualifiers look in the CoDeSys online help under ‘IEC Step’ or ‘Qualifier’. 9/13/2005 Programming the SMLC...
  • Page 84 CoDeSys - Adding an EveryScan action • Insert an MC_ReadActualPosition function block. • Create a new variable diKnifePosAct to store the knife position. Note that this variable is of type DINT (double-integer = 32 bits). 9/13/2005 Programming the SMLC...
  • Page 85 Enter OP_VEL_MON as the ParameterNumber. You can also hit the ‘.’ and start typing OP_ to get a list of available parameter numbers. • Store the velocity monitor value in diKnifeVelMon. Note that this variable is of type DINT (double-integer = 32 bits). 9/13/2005 Programming the SMLC...
  • Page 86 Note that we use a coil bJunk on the Done outputs. We call it bJunk because we don’t care about the value. The reads are executed and completed on each scan. We only assign the Done output to bJunk to avoid a compiler warning. 9/13/2005 Programming the SMLC...
  • Page 87 The cyan indicates a pending change, the blue indicates that the new value will be TRUE. • Right click and select Write Values (or type Ctrl-F7) • This sets the values of gbEstopOK and gbResetPB TRUE. 9/13/2005 Programming the SMLC...
  • Page 88 MANUAL when homing is complete. • PLC_PRG should then appear as it does at right. • Note that the blue indicates that ErrorCheck and EveryScan are running as well as Manual 9/13/2005 Programming the SMLC...
  • Page 89 Ctrl-F7 (or select Write Values from the right-click menu). • Double click on the gbJogRevPB input again. FALSE appears in cyan. Type Ctrl-F7 to turn the gbJogRevPB input off and stop the motion. 9/13/2005 Programming the SMLC...
  • Page 90 CoDeSys - Adding a visualization • Go offline • Select the Visualization tab • Right click and select Add Object • Call the new object ControlPanel 9/13/2005 Programming the SMLC...
  • Page 91 CoDeSys - Adding a visualization - entering a pushbutton • Select the rectangle on the toolbar • Click on the white space of the visualization and drag out a rectangle. 9/13/2005 Programming the SMLC...
  • Page 92 CoDeSys - Adding a visualization - Editing a pushbutton • Double click on the rectangle and select the Text category. • Enter Reset PB as the content. 9/13/2005 Programming the SMLC...
  • Page 93 ‘.’ in front of the variable. • A Tap variable is TRUE as long as you are clicking on the button. • You can also access variables in PLC_PRG by typing PLC_PRG followed by the ‘.’ 9/13/2005 Programming the SMLC...
  • Page 94 Estop OK input. • This time make the input a Toggle variable instead of a Tap variable. • A Toggle variable changes its state from TRUE to FALSE or vice-versa each time you click on it. 9/13/2005 Programming the SMLC...
  • Page 95 TRUE or FALSE. • Select the Colors Category and click on the Color | Inside button. Select a bright red. • Now click on the Alarm Color | Inside button and select bright green. 9/13/2005 Programming the SMLC...
  • Page 96 Category and set the Change Color variable to .gbEstopOK. • Now the Estop OK button will be red when the input is FALSE and green when the input is TRUE. • Place another rectangle on the visualization. 9/13/2005 Programming the SMLC...
  • Page 97 • The %s is a placeholder that will store a string value. • In our case we want to store the Knife position. • Go to the Colors Category and check the No frame color box. 9/13/2005 Programming the SMLC...
  • Page 98 Go to the Variables Category and type PLC_PRG. in the Textdisplay Variable. • When you type the ‘.’ a list pops up, select diKnifePosAct • the value in PLC_PRG.diKnifePosAct will replace the %s in the text field of this box. 9/13/2005 Programming the SMLC...
  • Page 99 Make the Auto SW a toggle variable that is green when TRUE • Make the Cut PE a tap variable that will be used to simulate the Cut photo-eye. • Add another display for the Knife velocity. 9/13/2005 Programming the SMLC...
  • Page 100 The Enabled “lamp” should turn green when you press the ResetPB. • Try jogging the motor, watching the Knife position and velocity. • Switch to Auto mode and press the Cut PE button, the motor should index. 9/13/2005 Programming the SMLC...
  • Page 101 CoDeSys - Adding I/O • To add I/O to our system go the Resources tab and select PLC Configuration. 9/13/2005 Programming the SMLC...
  • Page 102 Click on the coupler and edit the IP address to match the IP address you used to configure the coupler. This should be on the same subnet as the adapter in your SMLC that you intend to use to communicate with your I/O. 9/13/2005 Programming the SMLC...
  • Page 103 CoDeSys - Adding I/O - adding modules • Right click on the coupler and select ‘Append Subelement’ • Select the first module connected to your coupler. • Repeat this process until your configuration matches the physical I/O network. 9/13/2005 Programming the SMLC...
  • Page 104 Lets fill in the physical I/O points that we’ve used in this sample program. • Don’t forget to delete the global declarations of these variables in the Global Variables page or you will get a compiler error for duplicate definition. 9/13/2005 Programming the SMLC...
  • Page 105 • In the pane at the right select the type of interface you wish to support, Modbus/RTU, Modbus/TCP or both • Configure the appropriate Ethernet or serial configuration settings for the type of interface you selected. 9/13/2005 Programming the SMLC...
  • Page 106 CoDeSys - Adding an HMI - Adding Integer registers • The HMI interface of the SMLC is designed to provide flexibility in the data types you can access. • “Modbus Registers” are allocated in blocks of 80 bytes as one of 4 types: INT, DINT, REAL and STRING.
  • Page 107 CoDeSys - Adding an HMI - adding Real registers • Notice when you add a block of REAL variables that the registers skip one because REALs are 32- bits and take two Modbus registers. • This is true for DINTs as well 9/13/2005 Programming the SMLC...
  • Page 108 Sampling Trace • It works like a digital storage oscilloscope for your program. • Select the Sampling Trace from the Resources tab. • Right click on the screen and select Trace Configuration. 9/13/2005 Programming the SMLC...
  • Page 109 CoDeSys - The Sampling Trace • Press the Help Manager button on the lower right 9/13/2005 Programming the SMLC...
  • Page 110 • You can select up to 8 variables to monitor on each sampling trace. • Use the Ctrl key when you click to select non- contiguous variables. 9/13/2005 Programming the SMLC...
  • Page 111 CoDeSys - The Sampling Trace • After selecting the variables set the trigger to none • Set the Recording to Continuous 9/13/2005 Programming the SMLC...
  • Page 112 CoDeSys - The Sampling Trace - assigning the variables • In each slot of the scope select the variable you wish to monitor • Right click on the scope trace and select Start Trace. 9/13/2005 Programming the SMLC...
  • Page 113 The trace above shows the digital states of the JogFwd and JogRev pushbuttons as well as the Knife position and Velocity. • Note how the position wraps around, this is because we set the Position Modulo on the Knife to be 360 degrees. 9/13/2005 Programming the SMLC...
  • Page 114 • “smlclog” displays the last 256 errors that have occurred along with a message and the tag input of the function block • “smlcio io” displays the status of the SMLC’s I/O network 9/13/2005 Programming the SMLC...
  • Page 115 “smlcio hmi” displays the current status of the HMI interface • “rtsinfo” displays verson information for the runtime system as well as the ORMEC drivers. • “tsk” displays information on all tasks in the system including the current scan times.
  • Page 116 Since you can load and save these lists from files it can also be used as a simple recipe manager. • A watch list is simply a list of variables in your program whose values you wish to examine. Online 9/13/2005 Programming the SMLC...
  • Page 117 Give your new task a name, in this example we call it MainTask. • Set the task type and target scan rate. • Freewheeling means run as fast as possible. • Don’t create more than one freewheeling task. 9/13/2005 Programming the SMLC...
  • Page 118 • Click on MainTask and then on the … button • This is how you can call something other than PLC_PRG at powerup. • In this example we will select PLC_PRG. 9/13/2005 Programming the SMLC...
  • Page 119 There are many optional settings in CoDeSys. Here we will suggest a few settings that can make your life easier. • Turn on Auto Save and Auto save before compile on the Load & Save options page. 9/13/2005 Programming the SMLC...
  • Page 120 Checking this box will cause additional warning boxes to appear before you do things like set a breakpoint, start the program, etc. • This may prove useful, at least until you are more familiar with CoDeSys. 9/13/2005 Programming the SMLC...
  • Page 121 • You can configure CoDeSys to automatically store a copy of your source code on the SMLC. • This is useful for backing up your source code. • If you want to take advantage of this feature we would suggest storing the Source code only and selecting “Implicit on create boot project”...