SMB MAT-LC-C Series User Manual page 3

5.5 Features of C06/C07 Series Motion Controllers ............................................................................. 48
 6 Structure of CODESYS.............................................................................52
6.1 Composition of The Project ............................................................................................................. 52
6.2 Language ........................................................................................................................................ 54
6.2.1 Instruction List (IL)................................................................................................................. 54
6.2.2 Structured Text (ST) .............................................................................................................. 56
6.2.3 Sequential Function Chart（SFC） ...................................................................................... 61
6.2.4 Functional block diagram（FBD） ........................................................................................ 65
6.2.5 Continuous Function Chart（CFC）..................................................................................... 65
6.2.6 Ladder Diagram（LD） ........................................................................................................ 66
6.3 Online debugging function .............................................................................................................. 67
6.4 Standardization ............................................................................................................................... 68
 7 User's Guidance......................................................................................69
7.1.1 Bus Communication .............................................................................................................. 69
7.1.2 Modbus RTU Communicaiton ............................................................................................... 71
7.1.3 Modbus TCP Communication ............................................................................................... 74
7.1.4 CANopen Communication .................................................................................................... 77
7.1.5 Electronic cam based on EtherCAT communication ............................................................. 88
7.1.6 EtherNET/IP communication ................................................................................................. 94
7.2.1 Application example of high speed counting module............................................................ 95
7.2.2 Application example of CPU high speed counter ................................................................. 98
7.3 HSC Interrupt example ................................................................................................................. 105
7.4 CNC routine ................................................................................................................................... 110
 Appendix.................................................................................................111
B Power budget ................................................................................................................................... 111
C Specifications of Extension Modules ................................................................................................ 112
C.1 Power module ......................................................................................................................... 112
C.2 Digital module ......................................................................................................................... 115
C.3 Analog module ........................................................................................................................ 119
C.5 High speed counting module ................................................................................................. 121
C.6 Pulse output module .............................................................................................................. 123
C.7 EtherCAT slave ...................................................................................................................... 124
D IO Module channel configuration .................................................................................................... 127
D.1 Digital input module channel configuration ........................................................................... 127
D.2 Digital output module channel configuration ......................................................................... 128
D.3 AI module channel configuration ........................................................................................... 128
D.4 Analog output module channel configuration ........................................................................ 129
E SMB_MODBUS library ................................................................................................................... 130
E.1 Install SMB_Modbus library file ............................................................................................. 130
E.2 Modbus_RTU library .............................................................................................................. 131
E.3 Modbus_TCP library .............................................................................................................. 134
F Operation instruc tions in CODESYS ............................................................................................. 135
F.1 Add device .............................................................................................................................. 135
F.2 Configurate CANopen slave device ....................................................................................... 139
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