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SYSdev Programming Manual

1. 3 Enter first OR operand reg1 by typing a variable type B W X Y b variable address or number c press ENTER return 4 Enter second OR operand reg2 by typing a variable type B W X Y b variable address or number c press ENTER return 5 Enter result operand variable result will be stored at by typing a variable type B Y W b variable address c press ENTER return 6 Ifnicname for result variable does not already exist the cursor will be located in the nicname field directly below the result variable If you want to enter a nicname for this variable type the nicname in up to 7 characters and press ENTER If you do not want to enter a nicname simply press ENTER The cursor is then located at the next ladder element location If a nicname already exists for the variable the cursor will automatically advance to the next ladder element location SYSdev Program Development Manual SYSTEMS Electronics Group 80 SECTION 7 LADDER PROGRAMMING 7 1 16 XOR bitwise exclusive OR Symbol XOR regl reg2 out result nicname akk kk oR oR Valid reg 1 bytes Byyy where yyy is the byte address 2 words Wyyy where yyy is the word address note that result must also be a word address 3 input byte Xyyz where yy is the slot 0 15 of the input and z is byte 0 or 1 at the slot 4 output byte Yyyz where yy is the slot 0 15 of the output and z is byte 0 or 1
2. increment arith unary 9 Y Y Y decrement arith unary 9 Y Y Y complement arith unary 9 N Y N 7 indirection unary 9 N Y N amp address of unary 9 N Y N 3 multiply arith binary 8 N divide arith binary 8 N remainder arith binary 8 N addition arith binary 7 N subtract arith binary 7 N lt lt left shft arith binary 6 N gt gt right shft arith binary 6 N amp bitwise AND arith binary 5 N bitwise OR arith binary 4 N A bitwise EX OR arith binary 4 N equate relate binary 3 N gt greater relate binary 3 N gt grtr equal relate binary 3 N lt less than relate binary 3 N lt less equal relate binary 3 N not equal relate binary 3 N amp E amp logical AND relate binary 2 N logical OR relate binary 1 N assign arith binary 0 Y Symbol operator symbol Operation operation performed by symbol Class arithmetic or relational Type binary or unary Prec precedence order of evaluation 0 lowest 9 highest Assign alter operand directly Y or N Pre can be used as pre unary operator Y or N Post can be used as post unary operator Y or N See the Operator Reference section for a complete overview of the operators including definitions class of operator format of operator allowed operand types examples etc SYSdev Program Development Manual SYSTEMS Electronics Group 123 SECTION 8 HIGH LEVEL PROGRAMMING 8 2 Ex
3. 3 Counter P 32000 out A W080 name080 word120 var doc line 3 To enter a counter in a ladder block perform the following steps 1 From ladder editor menu press F4 Timers Count 2 From timers counter menu press F5 Count 3 Enter counter preset by typing a variable type B W b preset number fixed number for address for B or W c press ENTER return 4 Enter counter accum by typing a variable type B or W b variable address byte or word address c press ENTER return 5 Ifnicname for accum variable does not already exist the cursor will be located in the nicname field directly below the accum variable If you want to enter a nicname for this variable type the nicname in up to 7 characters and press ENTER If you do not want to enter a nicname simply press ENTER The cursor is then located at the next ladder element location If a nicname already exists for the variable the cursor will automatically advance to the next ladder element location SYSdev Program Development Manual SYSTEMS Electronics Group 65 SECTION 7 LADDER PROGRAMMING 7 1 9 add addition Symbol Add regl reg2 out result nicname FoR oR eK Valid reg 1 bytes Byyy where yyy is the byte address 2 words Wyyy where yyy is the word address note that result must also be a word address 3 input byte Xyyz where yy is the slot 0 15 of the input and z is byte 0
4. Truth Table Input Accum Output 0 equals prst reset 0 1 timing decrements 0 1 timed 0 l Examples 1 Timer O P 45 in TB 0 01 out A B120 nam120 byte120 var doc line 3 2 Timer O P B130 in TB 0 10 out A B131 nam131 bytel31 var doc line 3 SYSdev Program Development Manual SYSTEMS Electronics Group 61 SECTION 7 LADDER PROGRAMMING The following example applies to the 3012 only 3 Timer O P 4000 in TB scan out A W080 nam080 word080 var doc line 3 To enter a timer in a ladder block perform the following steps 1 2 3 4 5 From ladder editor menu press F4 Timers Count From timers counter menu select the timer with the desired time base a F1 timer scan time base b F2 timer 0 01 time base c F3 timer 0 10 time base d F4 timer 1 00 time base Enter timer preset by typing a variable type B W b preset number fixed number for byte address for B or W c press ENTER return Enter timer accum by typing a variable type B or W b variable address byte or word address c press ENTER return If nicname for accum variable does not already exist the cursor will be located in the nicname field directly below the accum variable If you want to enter a nicname for this variable type the nicname in up to 7 characters and press ENTER If you do not want to enter a nicname simply press ENTER
5. 1 B150 25H 2 B102 B103 15 20 1 B102 15 B103 20 2 3 F010 1 1 F010 1 2 SYSdev Program Development Manual 00100101 complement 11011010 result daH 11011010 35 35 00100011 complement 11011100 result 220 11011100 complement 0 result 0 SYSTEMS Electronics Group 160 SECTION 8 HIGH LEVEL PROGRAMMING 8 14 6 DECREMENT Symbol Class arithmetic assign Type unary Precedence 9 Form operand pre or operand post Operand Types 1 variables a bytes B Y b words W Definition The decrement operator decrements the variable specified by one The operator can be used as either a pre unary operator decrementing before expression evaluation or as a post unary operator decrementing after expression evaluation See notes 1 3 and 4 at the end of this section Examples 1 expression B100 contents 25 eval as 1 B100 B100 25 1 result B100 24 2 expression W140 contents 1000 eval as 1 W140 W140 1000 1 result W140 999 3 expression B120 contents 0 eval as 1 B120 B120 0 1 result B120 255 The above example shows the fact that when the result of an operation is negative the answer is the two s complement of the negative value See note 3 SYSdev Program Development Manual SYSTEMS Electronics Group 161 SECTION 8 HIGH LEVEL PROGRAMMING 8 14 7 DIVIDE
6. From the desktop task bar select Start Programs and select MS DOS Prompt From the MS DOS command prompt switch to the root directory of the hard drive you want to install the SYSdev software Example C lt Enter gt cd lt Enter gt Follow the instructions given in section 1 5 1 Once SYSdev has been successfully installed on your hard drive type EXIT at the MS DOS command prompt to return to the Windows desk top Double Click on My Computer Open the folder of the drive SYSdev was installed on Select the SYSDEV EXE file with a single click of the left mouse button Hold down the mouse button and drag the file onto the desk top Windows will setup a Short Cut to SYSdev The installation of SYSdev under Windows is now complete Launch SYSdev by double clicking on the icon to verify proper operation 1 6 Running SYSdev Once installed on your hard drive SYSdev is invoked by performing the following 1 2 3 Switch to the root directory of the hard drive SYSdev was installed on Type SYSDEV and then press Enter The SYSdev shell will be invoked displaying the shell menu See section 2 for details on the shell commands SYSdev Program Development Manual SYSTEMS Electronics Group SECTION 2 SYSDEV SHELL The SYSdev shell is used to organize the user directories create and edit user program files select the target board for the user program and automatically in
7. 1 Program Creation and Editing Allows the user to create new 3000 and M4000 programs or select existing S3000 and M4000 programs for editing Automatically invokes either SYSdev or PLSdev based on the selected target board 2 Directory Control Allows the user to create new directories or select existing directories to store user programs in 3 DOS Utilities The shell allows the user to backup restore copy and delete programs using simple function key commands without leaving the SYSdev shell 1 2 Features of SYSdev SYSdev is used for Ladder High level C and Assembly programming of the processor based S3000 boards and M4000 modules These executive programs allow the user to perform the following 1 User Program Creation and Editing SYSdev incorporates a ladder text editor which is used to develop the user program 2 Documentation Entry SYSdev supports complete program annotation and documentation including variable annotation and inter program comments 3 System Configuration The system configuration is established using SYSdev including I O board slot assignments rack size used timed interrupt time interval serial network baud rate etc 4 User Program Printouts Complete user program printouts including user program files cross reference variable overlap map and memory map 5 Program Compilation and Assembly Thru SYSdev the program is compiled and assembled producing a HEX file ready to be downl
8. 12 expression B100 gt 25 B101 lt 100 contents 20 gt 25 50 lt 100 eval as 1 Left B100 20 greater than 25 False no 2 Right B101 50 less than 100 True yes 3 Left express True OR Right express True Result True yes 8 3 Program Statements Program statements are single line statements that assign the result of an arithmetic expression to a variable The program statement itself is unconditionally executed relational operators are not allowed in program statements Program statements do comprise an executable High level statement and are used to perform arithmetic equations in the user program There are four types of program statements direct assignment indirect assignment pre unary assignment and post unary assignment Note In all the following program statements that the statement ends with a semicolon This is what defines the statement as a program statement and is necessary in order to avoid a syntax error at compile time SYSdev Program Development Manual SYSTEMS Electronics Group 127 SECTION 8 HIGH LEVEL PROGRAMMING 8 3 1 Direct Assignment Program Statement The direct assignment program statement assigns the result of an arithmetic expression to a variable using the assign equal operator The format of the statement is variable arithmetic expression Examples 1 statement B100 B101 contents 20 eval as 1 B100 B101 20 2 state
9. Definition The equal operator assigns the result of the right operand to the left operand The left operand can be a variable or a pointer variable pre fixed with indirection operator See note 1 at the end of this section Examples 1 statement B100 25 contents 25 eval as 1 B100 equals 25 2 statement B102 B103 B104 contents 20 40 evalas 1 B103 20 plus B104 40 3 statement B100 B103 contents 120 50 evalas 1 B120 equals 50 SYSdev Program Development Manual 60 result B102 60 SYSTEMS Electronics Group 163 SECTION 8 HIGH LEVEL PROGRAMMING 8 14 9 EQUATE comparison Symbol Class relational Type binary Precedence 3 Form operand operand Operand Types 1 variables a flags F P b bytes B X Y c words W 2 constants right operand only a Oor 1 bit b 0 255 decimal byte c 0 ffH hex byte d 0 65535 decimal word e 0 ffffH hex word 3 expressions Definition The equate comparison operator compares the value of the left operand to the value of the right operand and sets the result to yes if they are equal or to no if they are not See notes 1 and5 at the end of this section Examples 1 expression B100 10 contents 20 eval as 1 B100 20 equal 10 result No 2 expression B100 B102 B103 B104 contents 10 20 5 25 eval as 1 B100 10 B102 20 30 2 B103 5
10. The format of the page on the program printout is 1 2 3 4 At the top of the page the title of the program is printed as entered in section 11 6 Also at the top is the date the printout was made and the page number The next line contains the file type Main Timed Interrupt CO CPU Comm Interrupt Init and User Function along with the actual program file name The actual block s are then printed on the remainder of the page The format of each block of the program file printout is 1 2 3 4 5 6 For each block a block delimiter is printed This is a line of Separating the blocks The block number is then printed followed by the block type Ladder High level or Assembly The documentation associated with the block is printed next Up to 57 lines of documentation for each block can be printed Only the number of lines of documentation entered is actually printed Next the actual block is printed Each line or row of the actual block code is preceded with the line number This is the line or row number referenced in the cross reference On ladder blocks the cross reference is then printed only if the answer to the cross reference prompt is yes Ifthe answer is no nothing is printed On High level and Assembly blocks the cross reference is printed if the answer to the cross reference prompt is yes otherwise a list of the variables used in the block along with the variable a
11. ffffH hex word 3 expressions Definition The subtract operator subtracts the right operand from the left operand See notes 1 3 and 4 at the end of this section Examples 1 expression B100 B102 contents 100 45 eval as 1 B100 100 B102 45 55 Result 55 2 expression W102 W104 contents 3000 500 eval as 1 W102 3000 W104 500 2500 Result 2500 3 expression B105 200 contents 198 eval as 1 B105 198 200 254 Result 254 The above is an example of a negative result from subtraction The magnitude of the negative value is the Two s complement of the result See note 3 SYSdev Program Development Manual SYSTEMS Electronics Group 179 SECTION 8 HIGH LEVEL PROGRAMMING Notes 1 2 3 4 5 Variables are grouped in three classes They are bits bytes and words Bits are a single bit in width and can take on two values 0 and 1 Bytes are 8 bits in width and can be of a range 0 to 255decimal or 0 to ffH hex Words are 16 bits in width and can be of a range 0 to 65535 decimal or 0 to ffffH hex All variables are unsigned integers no negative values allowed All expressions are assigned a variable class For program statements the class is set by the variable that the result is assigned to For conditional expressions the classis set by the variable of the most significant bits width used in the expression Variables used in an e
12. the shift is not performed and the output is set to 0 SYSdev Program Development Manual SYSTEMS Electronics Group 89 SECTION 7 LADDER PROGRAMMING Exam ple Shift Left out name 102 byte102 var doc line 3 When in is a 1 the contents of B100 is shifted left two bit places and the result is placed in B102 out is set toa 1 If B100 163 10100011 binary then B102 would 140 10001100 binary When in is a 0 B102 is left at its last value and out is set to a 0 To enter an Shift left box in a ladder block perform the following steps 1 From ladder editor menu press F5 Ladder Boxes 2 Press F10 More Boxes 3 Press F2 Shift lt lt 4 Enter first Shift operand reg1 by typing a variable type B W X Y b variable address or number c press ENTER return 5 Enter second Shift operand reg2 by typing a variable type B W X Y b variable address or number c press ENTER return 6 Enter result operand variable result will be stored at by typing a variable type B Y W b variable address c press ENTER return 7 Ifnicname for result variable does not already exist the cursor will be located in the nicname field directly below the result variable If you want to enter a nicname for this variable type the nicname in up to 7 characters and press ENTER If you do not want to enter a nicname simply press ENTER The curso
13. 0 or 1 at the slot 4 output byte Yyyz where yy is the slot 0 15 of the output and z is byte 0 or 1 at the slot 5 constants yyy where yyy is a fixed number between 0 and 255 if result is not a word or between 0 and 65535 if result is a word Valid result 1 bytes Byyy where yyy is the byte address 2 words Wyyy where yyy is the word address 3 output byte Yyyz where yy is the slot 0 15 of the output and z is byte 0 or 1 at the slot Annotation For arithmetic instructions the three lines by seven characters variable documentation of the result variable is printed inside the box as shown with the lines This annotation only appears on the program printout See section 10 for annotation details Nicname For arithmetic instructions the seven character variable nicname of the result variable is printed in parenthesis directly below the result variable See section 10 for details on the variable nicnames Description The operation of the Remainder instruction is as follows When in is a 1 reg is divided by reg2 and the remainder is placed in the result variable note that the quotient is lost see Divide instruction The output is unconditionally set to a 1 when the input is a 1 When SYSdev Program Development Manual SYSTEMS Electronics Group 74 SECTION 7 LADDER PROGRAMMING in is a 0 the division is not performed result is left at its last value and the output
14. 8 High Level Programming 117 8 0 Introduction 117 8 1 Operators 120 8 1 1 Summary of Operators 121 8 2 Expressions 122 8 2 1 Expression Examples 123 8 3 Program Statements 125 8 3 1 Direct Assignment Program Statement 126 8 3 2 Indirect Assignment Program Statement 127 8 3 3 Pre unary Assignment Program Statement 128 8 3 4 Post unary Assignment Program Statement ____ 129 8 4 Statement Blocks 130 8 5 Conditional Statements if else if else 131 8 5 1 if statement 132 8 5 2 if else statement 132 8 5 3 if else if else statement 133 8 6 Looping Statements for while and do while 136 8 6 1 for loop 136 8 6 2 while loop 139 8 6 3 do while loop 141 8 7 Unconditional Program Jump goto statement 143 8 8 Calling User Functions ufunc statement 145 8 9 Returning from User Functions return statement 147 8 10 System Functions 148 8 11 Program Comments 149 8 12 Nesting Statements 150 8 13 Entering High level Code 153 8 14 High Level Operator Reference 153 8 14 1 ADDITION 154 8 14 2 ADDRESS OPERATOR amp 155 8 14 3 AND bitwise amp 156 8 14 4 AND logical amp amp 151 8 14 5 COMPLEMENT 158 8 14 6 DECREMENT 159 8 14 7 DIVIDE 160 8 14 8 EQUAL assignment 161 8 14 9 EQUATE comparison 162 8 14 10 EXCLUSIVE OR bitwise 163 8 14 11 GREATER THAN gt 164 8 14 12 GREATER THAN OR EQUAL gt 165 8 14 13 INCREMENT 166 8 14 14 INDIRECTION 167 8 14 15 LESS THAN
15. B102 would have been incremented prior to adding B102 to B101 anyway C053 ufunc already used in main program LMN User functions can only be called within one file type main timed interrupt Co Cpu interrupt etc If a user function is called from more than one file type i e from both the main and the timed interrupt this error occurs C054 ufunc already used in timed intrpt TMD User functions can only be called within one file type main timed interrupt Co Cpu interrupt etc If a user function is called from more than one file type i e from both the main and the timed interrupt this error occurs C055 ufunc recursion intrpt level violation User functions cannot call themselves If a user function does call itself recursion this error occurs C056 sfunc5 6 already used in timed interrupt An sfunc05 or sfunc06 can be used in only one file type main timed interrupt or Co CPU communications interrupt If the same system function type 5 or 6 is used in more than just one of these file types this error occurs C057 sfunc5 6 already used in main or co cpu com file An sfunc05 or sfunc06 can be used in only one file type main timed interrupt or Co CPU communications interrupt If the same system function type 5 or 6 is used in more than just one of these file types this error occurs SYSdev Program Development Manual SYSTEMS Electronics Group A 8 C058 sfunc5 6 cannot be used in ufunc sfunc5 or sfunc6 canno
16. SECTION 7 LADDER PROGRAMMING 7 1 23 move move into Symbol Move regl into out reg2 nicname oR Fo oR Valid reg1 1 bytes Byyy where yyy is the byte address 2 words Wyyy where yyy is the word address note that reg2 must also be a word address 3 input byte Xyyz where yy is the slot 0 15 of the input and z is byte 0 or 1 at the slot 4 output byte Yyyz where yy is the slot 0 15 of the output and z is byte 0 or 1 at the slot 5 constants yyy where yyy is a fixed number between 0 and 255 if result is not a word or between 0 and 65535 if result is a word Valid reg2 1 bytes Byyy where yyy is the byte address 2 words Wyyy where yyy is the word address 3 output byte Yyyz where yy is the slot 0 15 of the output and z is byte 0 or 1 at the slot Annotation For move instructions the three lines by seven characters variable documentation of the reg2 variable is printed inside the box as shown with the lines This annotation only appears on the program printout See section 10 for annotation details Nicname For move instructions the seven character variable nicname of the reg2 variable is printed in parenthesis directly below the reg2 variable See section 10 for details on the variable nicnames Description When the input is 1 the move instruction moves the value of regl into reg2 and sets the output to a 1 If the input is 0 the move is n
17. The cursor is then located at the next ladder element location If a nicname already exists for the variable the cursor will automatically advance to the next ladder element location SYSdev Program Development Manual SYSTEMS Electronics Group 62 SECTION 7 LADDER PROGRAMMING 7 1 8 Counter Symbol Counter P prst out A accum nicname oR FoR pee Valid prst 1 bytes Byyy where yyy is the byte address 2 words Wyyy where yyy is the word address S3012 only 3 constants yyy where yyy is the fixed preset number Valid accum 1 bytes Byyy where yyy is the byte address 2 words Wyyy where yyy is the word address S3012 only Annotation For counters the three lines by seven characters variable name of the accum byte is y y printed inside the box as shown with the lines This annotation only appears on the program printout See section 10 1 for annotation details Nicname For counters the seven character variable nicname of the accum variable is printed in parenthesis directly below the accum variable See section 10 for details on the variable nicnames Description The operation of the counter is as follows when en is a 0 the counter is reset the output is a 0 and accum is set equal to prst When en goes to a 1 the counter starts counting accum decrements down each scan that ck is a 1 When accum reaches 0 the output is set to 1 and accum stops decremen
18. This printout provides a list of all the words referenced which also have the bytes within these words referenced in another location Since the byte memory locations overlap the word memory location it is possible to unintentionally use byte addresses that have already been used as words SYSdev does not prevent the user from doing this and in fact it may be desirable to do This simply provides a printout the user can review and determine if there were any cases where the overlap was unintentionally performed This printout provides a list of bytes B within words that were also referenced as words W 11 3 3 Flag Byte Overlaps The flags are mapped into byte addresses These bytes can be addressed as bytes B while at the same time the bits within these bytes are addressed as flags SY Sdev does not prevent the user from accessing these memory locations in both ways in fact it may be desirable This printout provides a means for the user to review the printout and determine if any unintentional overlap occurred The printout provides a list of flags F in bytes that were also referenced as byte addresses B 11 4 Memory Map 9 The memory map shows the actual allocation or usage of the data variable memory The map is a list of all the addresses in the selected 256 byte data block The usage of each memory location is listed as well The definitions of each usage symbol is RESERVED Entire byte is reserved for use by the sy
19. This selection invokes the search menu identically to the search menu in the off line programming menu This is used to either search for a selected block in the current file or to search for a selected variable in the current file See section 3 2 F5 Search Func for more details F6 Select File This selection displays a menu that allows the user to select any of the following file types to view while performing on line monitoring Fl Main Prog Main Program file F2 Timed Intrpt Timed Interrupt file F3 Comm Intrpt CO CPU Communications Interrupt F4 User Func User Function files F5 Init Prog Initialization file Select the file to be viewed The first block of the selected file is displayed along with the on line menu SYSdev Program Development Manual SYSTEMS Electronics Group 193 SECTION 12 ON LINE FUNCTIONS 12 2 Online Monitoring The state of variables are displayed in three distinct ways when online monitoring is selected contact and coil power flow in ladder blocks numeric values in the variables status window and numeric values in the status table Online monitoring displays the status of these variables against the selected program stored on disk Thus online monitoring does not actually read the program from the target board and display it but instead reads the data specified and displays it against the program read from disk 12 2 1 Initiating Online Monitoring To monitor the variable s
20. into reg2 and sets the output to a 1 Ifregl is the external address between 6144 and 8191 then reg2 must be either a B or W address and in this case the data is read from the external address and stored at the B or W address If reg2 is the external address between 6144 and 8191 then reg must be a B or W address and in this case the data at the B or W address is written to the external address If the input is 0 the move is not performed and the output is unconditionally set to 0 SYSdev Program Development Manual SYSTEMS Electronics Group 101 SECTION 7 LADDER PROGRAMMING Example Movx out When in is a 1 the contents of B100 are written to external address location 6400 1900H and out is set to a 1 Note The contents of B100 are not changed If the input is 0 the output is set to 0 and external address location 6400 is left unchanged To enter a Move external box in a ladder block perform the following steps 1 From ladder editor menu press F5 Ladder Boxes 2 Press F10 More Boxes 3 Press F8 Move EXT 4 Enter first Move operand reg1 by typing a variable type B W X Y b variable address or number c press ENTER return 5 Enter second Move operand reg2 by typing a variable type B W X Y b variable address or number c press ENTER return 6 Ifnicname for reg2 variable does not already exist the cursor
21. 1 Features of PLSdev 197 13 2 PLSdev Menus 198 13 2 1 Main Development Menu 198 1 Offline Channel Set point Programming 198 2 Online Channel Set point Programming 198 3 Edit PLS Configuration 199 4 Download Channels to PLS 199 5 Upload Channels from PLS 200 6 Print Channels 201 T PLS Hardware Confidence Test 201 8 Select PLS Program 202 9 File Utilities 202 13 2 2 Channel Edit Menu 204 F1 Next Chan 205 F2 Prev Chan 205 F3 Select Chan 205 F4 Doc Chan 206 F5 Pulse Train 206 F6 Fine Tune 206 F7 Clear Set Point 206 F8 Clear Chan 206 F9 POS RPM 206 F10 Set Offset 206 13 3 PLS Configuration 207 13 3 1 Number of PLS Channels 207 13 3 2 Scale Factor 207 13 3 3 Remote Display Strobe Time 207 13 3 4 CHO0O Brake Wear Compensation 208 13 3 5 CH17 Speed Window 208 13 4 Channel Set Point Programming Commands 209 13 4 1 Single Set Point Programming Command 209 13 4 2 Fine Tune Set Point Command 210 13 4 3 Pulse Train Command 211 APPENDICES Standard Compiler Error Codes Appendix A S3012 Compiler Error Codes Appendix B Ladder Programming Examples Appendix C SYSdev Program Development Manual SYSTEMS Electronics Group vi SECTION 1 INTRODUCTION SYSdev is a program development software package used to develop programs for the SYSTEMS S3000 main processor intelligent I O boards and M4000 modules The SYSdev language allows these boards and modules to be programmed in a combination of Ladde
22. 10 subb subtract Sym bol Subtract regl reg2 out result nicname FoR oR oR Valid reg 1 bytes Byyy where yyy is the byte address 2 words Wyyy where yyy is the word address note that result must also be a word address 3 input byte Xyyz where yy is the slot 0 15 of the input and z is byte 0 or 1 at the slot 4 output byte Yyyz where yy is the slot 0 15 of the output and z is byte 0 or 1 at the slot 5 constants yyy where yyy is a fixed number between 0 and 255 if result is not a word or between 0 and 65535 is result is a word Valid result 1 bytes Byyy where yyy is the byte address 2 words Wyyy where yyy is the word address 3 output byte Yyyz where yy is the slot 0 15 of the output and z is byte 0 or 1 at the slot Annotation For arithmetic instructions the three lines by seven characters variable documentation of the result variable is printed inside the box as shown with the lines This annotation only appears on the program printouts See section 10 for annotation details Nicname For arithmetic instructions the seven character variable nicname of the result variable is printed in parenthesis directly below the result variable See section 10 for details on the variable nicnames Description The operation of the Subtract instruction is as follows When in is a 1 reg2 is subtracted from regl and the result is placed in the result variable The
23. 128 or Byyy where Byyy contains the number of bytes to be received dest Starting address in S3012 where bytes sent from Co Cpu will be stored Valid variables Byyy where Byyy is the address of the first byte in the S3012 where the data is stored Annotation For the Co Cpu comm instruction the three lines by seven characters variable documentation of the dest variable is printed inside the box as shown with the lines This annotation only appears on the program printout See section 10 for annotation details Nicname For the Co Cpu comm instruction the seven character variable nicname of the dest variable is printed in parenthesis directly below the dest variable See section 10 for details on the variable nicnames SYSdev Program Development Manual SYSTEMS Electronics Group 109 SECTION 7 LADDER PROGRAMMING Description The Co Cpu comm instruction is only available on the S3012 It is used to communicate to Co Cpu boards such as the 3021 S3022 and S3041 across the back plane The C0 Cpu comm box works identically to the sfunc05 system function in the high level language See the S3012 user s manual for more details on sfunc05 and communicating with Co Cpu boards The operation of the box is as follows when the input is 1 the Co Cpu com instruction writes and reads the bytes specified to the Co Cpu board When the input is a 1 the output is always a 1 When the input is 0 the comm is not performed and the o
24. 2 Port Pins P 40 6 1 3 Bytes B 40 6 1 4 Inputs X 41 6 1 5 Timed Interrupt Inputs I 42 6 1 6 Outputs Y 43 6 1 7 Words W 44 6 2 Constants 45 7 Ladder Programming 47 7 0 Introduction 47 7 1 Ladder Instruction Set 47 7 1 1 Contact normally open 48 7 1 2 Contact normally closed 50 7 1 3 Coil standard 52 7 1 4 Coil latch 54 7 1 5 Coil unlatch 56 7 1 6 Coil invert 58 7 1 7 Timer 60 7 1 8 Counter 63 7 1 9 add addition 66 7 1 10 subb subtract 68 7 1 11 mul multiplication 70 7 1 12 div division 72 7 1 13 remain remainder of division 74 7 1 14 AND amp bitwise AND 76 7 1 15 OR bitwise OR 78 7 1 16 XOR bitwise exclusive OR 80 7 1 17 Shift Register 82 7 1 18 shift gt gt shift right 86 7 1 19 shift lt lt shift left 88 7 1 20 comp compare equal 90 7 1 21 comp gt compare greater than 92 7 1 22 comp gt compare greater than or equal __ 94 7 1 23 move move into 96 7 1 24 move invert invert and move into 98 7 1 25 move ext move from or to external RAM location 100 7 1 26 call ufunc call user function 0 99 102 7 1 27 netwrk comm serial network communications _ 104 7 1 28 Co CPU Comm Co CPU communications ___ 108 7 1 29 Block Comm Co CPU Block communications _ 111 7 2 Entering Ladder Blocks 114 7 3 Ladder Block Execution 115 SYSdev Program Development Manual SYSTEMS Electronics Group iii CONTENTS
25. 30 else B100 40 else B100 50 else B100 60 eval as The above shows that there is no limit to the number of levels of nesting that can be achieved SYSdev Program Development Manual SYSTEMS Electronics Group 153 SECTION 8 HIGH LEVEL PROGRAMMING 3 if B100 gt 100 for B101 0 B101 lt 30 B101 if B101 gt 15 B102 B102 2 else B102 j eval as This example shows an if else statement nested in a for loop which is nested in another if else statement 4 W080 amp B120 B082 0 F001 0 for B100 0 B100 lt 6 amp amp F001 0 B100 B083 1 for B101 0 B101 lt 8 amp amp F001 0 B101 B084 B080 amp B083 if B084 0 F001 1 else B082 B083 B083 lt lt 1 B080 eval as The above checks all the bits in bytes B120 thru B126 for a 1 and falls out of the loops with B082 equal to byte address 120 8 bit number Without going thru the details of how B082 is set the significant point is the use of the nested for and if else statement to create a set of statements that are executed 6 8 times A loop within a loop multiplies the number of times a statement is performed SYSdev Program Development Manual SYSTEMS Electronics Group 154 SECTION 8 HIGH LEVEL PROGRAMMING 8 13 Entering High_level Code To enter or edit a High level block perform the following 1 From Main Development Menu
26. Assignment Conditional Expression Relational SYSdev Program Development Manual Operand Operator refers to a class of operators which alter the value of the operand acted upon refers to a class of expressions which evaluate to a true false answer combination of operators and operands which evaluate to either a value arithmetic type or a true false answer conditional type addition variable constant or expression upon which an operator acts symbol which performs an operation on one or two operands such as performs refers to a class of operators which evaluate to a true false answer SYSTEMS Electronics Group 121 SECTION 8 HIGH LEVEL PROGRAMMING 8 1 Operators Operators are fundamental symbols in the High level language which perform operations on one or two operands These operators include addition subtraction multiplication division greater than comparisons etc Two types of operators are used unary and binary Unary operators act on only one operand i e increment where binary operators act on two operands i e addition Operators are grouped in classes based on the result that is generated by the operation These classes are arithmetic relational and assignment Arithmetic operators generate a numeric value which can be assigned to a variable i e addition subtraction multiplication etc Relational operators generate a true false answer which is used to co
27. B104 25 30 3 30 equal 30 result Yes 3 expression F001 contents 1 eval as 1 F001 1 equal 1 result 30 SYSdev Program Development Manual SYSTEMS Electronics Group 164 SECTION 8 HIGH LEVEL PROGRAMMING 8 14 10 EXCLUSIVE OR bitwise Symbol Class arithmetic Type binary Precedence 4 Form operand operand Operand Types 1 variables a bytes B X Y b words W 2 constants right operand only a 0 255 decimal byte b 0 ffH hex byte c 0 65535 decimal word d 0 ffffH hex word 2 expressions Definition The bitwise exclusive OR operator performs the exclusive or on the corresponding bits of the two operands the result is the value equal to this exclusive or See notes 1 and 4 at the end of this section Examples 1 expression B080 B082 contents c8H 5aH eval as 1 B080 c8H OR d with B082 5aH result 92H Another way to look at the evaluation of the above is to look at the individual bits in each variable as they are evaluated c8eH 11001000 SaH 01011010 92H 10010010 SYSdev Program Development Manual SYSTEMS Electronics Group 165 SECTION 8 HIGH LEVEL PROGRAMMING 8 14 11 GREATER THAN Symbol gt Class relational Type binary Precedence 3 Form operand gt operand Operand Types 1 variables a bytes B X Y b words W 2 constants right operand only a 0 255 decimal byte b 0 ffH
28. Example 1 Shift 1 B100 2 B101 3 B106 name100 byte100 var doc line 3 B101 5 The above is an example of a three byte shift register Note The bytes do not have to be consecutive addresses Also shown is a reference to shift position 12 reg2 bit 5 as implemented as a contact which could be used elsewhere in the program Example 2 byte130 var doc line 3 The above is an example of a one byte shift register Example 3 Shift gt W150 2 W152 word150 var doc line 3 The above is an example of a two word shift register This is only valid for the 3012 SYSdev Program Development Manual SYSTEMS Electronics Group 85 SECTION 7 LADDER PROGRAMMING To enter a shift register in a ladder block perform the following steps 1 From ladder editor menu press F5 Ladder Boxes 2 Press F9 Shift Reg 3 Enter shift register variable 1 by typing a variable type B or W b variable address byte or word address c press ENTER return 4 Ifnicname for regl variable does not already exist the cursor will be located in the nicname field directly below the reg1 variable If you want to enter a nicname for this variable type the nicname in up to 7 characters and press ENTER If you do not want to enter a nicname simply press ENTER The cursor is then located at the next ladder element location If a nicname already exists for the variable the cursor will automatically adva
29. In ladder blocks the only constants allowed are in timer counter presets and ladder box instructions In this case the constant is specified in decimal The constant must be prefixed with the character to specify that it is a constant An example of this is 25 decimal 230 decimal 4 decimal SYSdev Program Development Manual SYSTEMS Electronics Group 46 SECTION 7 LADDER PROGRAMMING 7 0 Introduction The Ladder language is primarily used to execute the boolean logic of the user program A complete set of fundamental ladder instructions are available These include contacts normally open and normally closed coils standard latch unlatch and inverted timers time bases of 0 01 0 1 and 1 0 seconds counter and shift register Networks or rungs are constructed using the ladder instructions to perform virtually any boolean equation The entry of the ladder instructions is free form such that the programmer simply constructs the network to look as desired No predefined order of entry is required Virtually any network form is allowed including nested or s or branches within the limits of the 7 row by 9 column ladder block Up to 7 coils can be entered in one ladder block As many networks or rungs that can fit within the block can be entered The rungs are executed sequentially from the top rung to bottom rung within the block 7 1 Ladder Instruction Set For each ladder instruction shown the followi
30. MENUS F12 Insert ASM Not shown on menu Insert ASM is used to insert an assembly block following the block that is currently displayed All the following blocks are moved to the next highest block number When F12 is selected the block is added and the text editor is initiated See text editor section 3 4 Assembly instructions are then entered as text into the block See section 9 for details on programming in assembly SYSdev Program Development Manual SYSTEMS Electronics Group 18 SECTION 3 MENUS 3 3 Ladder Editor Menu The Ladder Editor is executed when either Insert Ladder or Edit Block while the current block is a ladder block is selected The following choices are available from the Ladder Editor menu F1 Normally Open Contact This selection is used to enter a normally open contact See section 7 1 1 F2 Normally Closed Contact This selection is used to enter a normally closed contact See section 7 1 2 F3 Output Coils This selection brings up the output coils menu The choices from this menu are Fl standard coil F2 L latch coil F3 U unlatch coil F4 invert coil See sections 7 1 3 thru 7 1 6 for more details on output coils F4 Timers Count This selection brings up the timers counter menu The choices from this menu are F1 Timer scan time base F2 Timer 0 01 second time base F3 Timer 0 10 second time base F4 Timer 1 00 second time base F5 Counte
31. Symbol Class arithmetic Type binary Precedence 8 Form operand dividend operand divisor Operand Types 1 variables a bytes B X Y b words W 2 constants a 0 255 decimal byte b 0 ffH hex byte c 0 65535 decimal word d 0 ffffH hex word 3 expressions Definition The divide operator performs an integer divide on the left operand dividend by the right operand divisor The divide only produces the quotient the remainder is lost see Remainder operator 8 14 20 If the divisor right operand is zero the division is not performed See notes 1 and 4 at the end of this section Examples 1 expression contents eval as 2 expression contents eval as 3 expression contents eval as B120 B121 21 4 1 B120 21 divided by B121 4 result 5 5 B123 5 12 1 5 divided by B123 12 result 0 W150 W152 1000 45 1 W150 1000 divided by W152 45 result 22 SYSdev Program Development Manual SYSTEMS Electronics Group 162 SECTION 8 HIGH LEVEL PROGRAMMING 8 14 8 EQUAL assignment Symbol Form operand operand Operand Types 1 variables a flags F P b bytes B X Y c words W 2 constants right operand only a Oor 1 bit b 0 255 decimal byte c 0 ffH hex byte d 0 65535 decimal word e 0 ffffH hex word 3 expression right operand only Class arithmetic assign Type binary Precedence 0
32. The M4020 PLC section is programmed with SYSdev51 and the PLS section is programmed with PLSdev The target board selection menu thus contains two selections for the M4020 M4020 PLC for the PLC section and M4020 PLS for the PLS section For new programs both SYSdev and PLSdev will prompt that the program does not exist and whether it should be created Answer yes and proceed with the corresponding configuration menu F2 Set Colors This selection allows the user to select the foreground color characters and background color on PC s equipped with color monitors Any of 16 foreground colors can be selected and any of 8 background colors SYSdev Program Development Manual SYSTEMS Electronics Group F3 F4 F5 F6 F7 SECTION 2 SYSDEV SHELL Select Dir This is used to select as the current directory one of the directories available in the sub directories menu Note Only directories within the current sub directory are displayed and are available for selection Pressing F3 positions the selection arrow in the sub directories menu Position the selection arrow at the desired sub directory and press ENTER The DIR field will be updated to show the newly selected directory while the program selections menu will be updated to show the existing user programs in the selected directory The sub directories menu will also show the sub directories that exist in the selected directory Note The F4 Root Dir command m
33. User functions can only be called within one file type main timed interrupt Co Cpu interrupt etc If a user function is called from more than one file type i e from both the main and the timed interrupt this error occurs SYSdev Program Development Manual SYSTEMS Electronics Group B 7 APPENDIX B 3012 COMPILER ERROR CODES C055 ufunc recursion intrpt level violation User functions cannot call themselves If a user function does call itself recursion this error occurs C056 sfunc5 already used in timed interrupt An sfunc05 can be used in only one file type main or timed interrupt If the sfunc05 is used in more than just one of these file types this error occurs C057 sfuncS already used in main file An sfunc05 can be used in only one file type main or timed interrupt If the sfunc05 is used in more than just one of these file types this error occurs C058 sfunc5 cannot be used in ufunc sfunc5 cannot be used in a user function This is due to the fact that it is unknown which file type the user function is called from which could then result in an error such as C056 or C057 C059 redundant parenthesis in expression If redundant parenthesis parenthesis that are not needed are found in an expression this error occurs An example of this is B100 B101 B102 In this case B102 would have been incremented prior to adding B102 to B101 anyway C060 invalid variable for address operator The address operator ca
34. a program is first created and then incremented once every time the program is compiled The purpose of the program ident and revision is to verify that the program monitored with SYSdev during online monitoring is actually the same program and revision running in the target board which is being monitored When the online monitor is invoked the program ident and revision is read from the target board and compared to the currently selected program If the two are not equal a prompt is displayed notifying the user that the two are not equal thus preventing the unintentional monitoring of a target board which is actually running a different program or different revision of the same program See section 12 2 This selection actually displays both the target boards program ident revision as well as the selected program s ident revision This then provides a mechanism to determine what program and revision level is actually loaded in a specific target board 7 Target board Hardware Confidence Test This selection is used to invoke the hardware confidence test for a particular target board When selected a list of target boards is displayed Select the board to be tested and then proceed with the test See the respective target board user s manual for a complete description of the target board s hardware confidence test and procedure for performing the test 8 Set time and date in target board This selection allows the user to set the time and d
35. above the coil as shown with the lines This annotation only appears on the program printouts See section 10 1 Nicname For coils the seven character nicname is shown directly below the coil Description The unlatch output coil sets the variable referenced to a 0 when the coil input is 1 and leaves the variable in its previous state when the input is 0 Truth Table Input Variable 0 previous state 1 0 SYSdev Program Development Manual SYSTEMS Electronics Group 56 SECTION 7 LADDER PROGRAMMING Examples 1 flag001 var doc line 3 F001 U name001 2 byte100 bit 3 var doc B100 3 U n100 3 3 yout041 bit 2 var doc Y041 2 U nam41 2 To enter an unlatch coil in a ladder block perform the following steps 1 From ladder editor menu press F3 Output Coils 2 From Output coils menu press F3 U 3 Enter coil variable by typing a variable type F B Y b variable address flag number for flags byte address for all others c period all types except flags d bit address 0 7 all types except flags e press ENTER return 4 Ifthe nicname for the variable does not already exist the cursor will be placed below the coil Enter the nicname for the variable and press ENTER If no nicname is to be entered press ENTER The cursor will automatically advance to the next ladder element If the variable already has a nicname the cursor will automatically adva
36. already exists for the variable the cursor will automatically advance to the next ladder element location SYSdev Program Development Manual SYSTEMS Electronics Group 76 SECTION 7 LADDER PROGRAMMING 7 1 14 AND amp bitwise AND Symbol AND regl reg2 out result nicname akk kk oR oR Valid reg 1 bytes Byyy where yyy is the byte address 2 words Wyyy where yyy is the word address note that result must also be a word address 3 input byte Xyyz where yy is the slot 0 15 of the input and z is byte 0 or 1 at the slot 4 output byte Yyyz where yy is the slot 0 15 of the output and z is byte 0 or 1 at the slot 5 constants yyy where yyy is a fixed number between 0 and 255 if result is not a word or between 0 and 65535 if result is a word Valid result 1 bytes Byyy where yyy is the byte address 2 words Wyyy where yyy is the word address 3 output byte Yyyz where yy is the slot 0 15 of the output and z is byte 0 or 1 at the slot Annotation For arithmetic instructions the three lines by seven characters variable documentation of the result variable is printed inside the box as shown with the lines This annotation only appears on the program printout See section 10 for annotation details Nicname For arithmetic instructions the seven character variable nicname of the result variable is printed in parenthesis directly below the result vari
37. and can have a value of 0 to 65535 decimal or 0 to ffffH hex Numbers used in variables and constants are unsigned integer values No signed or floating point numbers are allowed Numbers can be represented as decimal or hex see section 6 2 Constants Seven different variable types within these classes are available flags F port pins P bytes B inputs X timed interrupt inputs I outputs Y and words W Note Not all the target boards support the entire range of variable types See the respective user s manual for the target board for a complete description of the variable types supported for that particular board and the number of variables available 6 1 1 Flags F Flags are single bit variables which are generally used as internal coils or flags in the user program Flags can have a value of 0 or 1 For internal coils in ladder blocks and boolean logic in High level blocks flags provide the fastest execution times compared to any of the other variables The format of the flag variable as used in programming is Fzzz Where zzz is the three digit flag number Note The leading F must be a capital letter and that the flag number must be three digits include leading zeros as necessary Examples F010 F056 F110 etc SYSdev Program Development Manual SYSTEMS Electronics Group 39 SECTION 6 VARIABLE FORMATS 6 1 2 Port Pins P Port pins are single bit variables that map directly to speci
38. and within the lines When the last line of the annotation is entered the variable name is automatically advanced to the next variable Note The annotation is displayed in the print outs exactly as entered no centering is performed and all blank lines are included Every variable that can be entered in a program can be annotated including bits referenced within bytes i e B100 4 X020 6 etc 10 2 Variable Nicnames For each variable a seven character nicname can be entered This nicname is displayed in ladder blocks under contacts coils and in ladder box instructions The nicnames are also printed in all printouts programs cross reference etc The primary difference between nicnames and the three line variable annotation is that the nicnames are displayed in the ladder blocks both when on line monitoring and off line programming These help improve the readability of the program Variable nicnames can be entered when ladder instructions are entered into the program or in the variable documentation menus both in the Ladder Text editor or the Variable Names editor When a new ladder instruction is entered if the variable entered does not have a nicname the cursor will be placed below the instruction contact coil and the prompt name will be displayed Enter the nicname for the variable and press ENTER If the variable already has a nicname the nicname will be displayed and the cursor will automatically be advanced Any exist
39. at the slot 5 constants yyy where yyy is a fixed number between 0 and 255 if result is not a word or between 0 and 65535 if result is a word Valid result 1 bytes Byyy where yyy is the byte address 2 words Wyyy where yyy is the word address 3 output byte Yyyz where yy is the slot 0 15 of the output and z is byte 0 or 1 at the slot Annotation For arithmetic instructions the three lines by seven characters variable documentation of the result variable is printed inside the box as shown with the lines This annotation only appears on the program printout See section 10 for annotation details Nicname For arithmetic instructions the seven character variable nicname of the result variable is printed in parenthesis directly below the result variable See section 10 for details on the variable nicnames Description The operation of the exclusive OR instruction is as follows When in is a 1 reg is bitwise exclusive ORED to reg2 and the result is placed in the result variable The output is unconditionally set to a 1 when the input is a 1 When in is a 0 the exclusive OR is not performed result is left at its last value and the output is set toa 0 SYSdev Program Development Manual SYSTEMS Electronics Group 81 SECTION 7 LADDER PROGRAMMING Example XOR B100 B101 out B102 name 102 byte102 var doc line 3 When in is a 1 the contents of B100 is exclusive O
40. attempt to use the indirection operator on any other type of variable will result in this error C066 address oper valid on W var expr only The address operator can only be used on expressions that are of type word only If the expression type is bit or byte this error will occur C067 T var can only be used in timed intrpt The timed interrupt input variable T is used to specify which inputs will automatically be updated at the beginning of the timed interrupt For this reason the T variable can only be used in the timed interrupt C068 invalid T address Any T reference to an input address that does not actually contain an input board as defined in the system configuration will cause this error In addition the address must be specified as Iaab c where aa is the two digit slot address 00 to 15 b is the byte on the board 0 orl and c is the bit address 0 7 The bit address is optional See section 6 for more details SYSdev Program Development Manual SYSTEMS Electronics Group APPENDIX B 3012 COMPILER ERROR CODES B 9 APPENDIX B 3012 COMPILER ERROR CODES C069 sfunc06 can only be used in co comm file sfunc06 is used to respond to intelligent IO board communications interrupts For this reason sfunc06 can only be used in the co comm interrupt file C070 sfunc05 cannot be used in co comm file sfunc05 is used to initiate communications with an intelligent I O board not respond to an intelligent I O comm inter
41. be displayed along with a prompt for return to the Target Board Interface menu Press any key to return to the menu 5 Ifthe computer was unable to initiate the data upload to the target board a message stating this will be displayed Verify the RS 232 cable connections between COM1 on the computer and the PROG PORT on the target board for proper connection Also verify that the RS 232 cable is wired correctly see target board user s manual Press any key to return to the Target Board Interface menu and try the upload again Target board Fault codes status This selection is used to view the target board fault codes if any have occurred See the respective target board user s manual for a complete list of possible fault codes and procedures for viewing the fault codes Target board Network address This selection is used to set the S3000 serial network for the respective target board This is only done for S3000 boards M4000 modules actually connected to the S3000 serial network See the respective target board user s manual for more details on the S3000 serial network and the procedure for setting the network addresses SYSTEMS Electronics Group 26 SECTION 3 MENUS 6 Current target board program Ident Revision This is used to display the program ident and revision of both the target board and currently selected program The program ident is simply the name of the program file The program revision is set initially to 1 when
42. ck is a 0 no action is performed on the shift register It is not necessary to specify all three variables reg1 reg3 in the shift register One two or three variables may be specified If only one variable reg1 is specified so is the last bit of reg1 If two variables regl and reg2 are specified so is the last bit of reg2 Each byte of the shift register is worth seven bit shift positions each word of the shift register S3012 is worth 15 bit shift positions Thus a one byte shift register is good for 7 shifts two bytes for 14 shifts and three bytes for 21 shifts A one word shift register is worth 15 shifts a two word 30 shifts and a three word worth 45 shifts SYSdev Program Development Manual SYSTEMS Electronics Group 83 SECTION 7 LADDER PROGRAMMING The bits of regl reg2 and reg3 can be referenced in any way throughout the program Thus bit 3 of regl Byyy 3 could be used as the variable in a contact The entire byte or word reg1 reg2 or reg3 could be referenced as well Note The shift register shifts one bit position every execution that ck is a 1 Thus in most applications the input to ck should be a one scan single shot The so output of the shift register can be used just as the output of a contact Shift registers can be AND d and OR d with other ladder instructions to perform any desired logic The so output can also be connected to the si input of another shift register in orde
43. class is set by the variable of the most significant bits used in the expression SYSdev Program Development Manual SYSTEMS Electronics Group 124 SECTION 8 HIGH LEVEL PROGRAMMING 8 2 1 Expression Examples In the following examples the format of the example will be as defined below Expression expression as used in statement Contents The contents value of each variable is shown under the variable in parenthesis Eval as Shows the order in which the expression is evaluated along with current 1 expression contents eval as 2 expression contents eval as 3 expression contents eval as 4 expression contents eval as accumulated expression result W100 W102 W104 W106 10 20 30 40 1 W102 20 W104 30 2 W100 10 600 3 610 W106 40 B100 amp B101 B102 amp B103 oeH amp 07H 60H amp 40H 1 B100 0eH and d B101 07H 2 B102 60H and d B103 40H 3 06H or d with 40H B100 B101 B102 B103 10 20 40 30 1 B100 10 B101 20 2 B102 40 B103 30 3 30 10 F001 F002 amp F003 F004 0 1 amp 0 1 F002 1 and d F003 0 2 F001 0 or d with 0 3 0 or d with F004 1 SYSdev Program Development Manual 125 600 610 Result 570 06H 40H Result 46H 30 10 Result 3 II OO Result SYSTEMS Electronics Group SECTION 8 HIG
44. compiling the program If any errors are detected the compiler stops displays the errors see error codes in appendix A and prompts for exit If any files that are specified in the system configuration timed interrupt or CO CPU comm interrupt do not exist or if any user function files called from any of the other files do not exist a message is displayed stating that the file could not be found along with the file name The compiler will stop and prompt for exit If either the timed interrupt or CO CPU comm interrupt file exists but is not enabled in the system configuration a Warning message is displayed stating the file exists but is not enabled This is not an error and will not stop the compiler from compiling the program The message is provided simply to warn the user that the interrupt file was not included in the compiled program and will not be active when the program is run on the board 2 Ifno errors were detected the compiler will then compile the program converting the ladder and high level blocks to the equivalent assembly instructions These instructions are saved in an assembly source file with the extension ASM When the compilation is complete the address the stack is initialized to is displayed 3 Next the Assembler is invoked This converts the assembly instructions in the ASM file created above to machine level instructions which can be executed by the processor These instructions are saved in a hex file with
45. delete n to abort If yes the program is deleted from the program selections menu SYSdev Program Development Manual SYSTEMS Electronics Group 10 SECTION 3 MENUS The following sections are a description of the various SYSdev menus In general the PgUp PgDn Home End and cursor left right up and down keys all function as defined Use these to move from block to block within the program 3 1 Main Development Menu 1 On line Monitoring Used to monitor on line the state of variables during user program execution Prior to selecting this selection an RS 232 cable should be connected from the COM port on the computer to the PROG port on the target board When selected the first block of the main program is initially displayed and communications with the target board is initiated If communications cannot be established a message is displayed stating this If communications is established the current status of the variables in block one are displayed in the program for ladder blocks See section 12 for complete details on On line functions 2 Off line Programming Used to create and edit the user program files When selected block one of the main program is displayed If the program is a new program and the main program file does not exist a prompt will be displayed that asks whether the file should be created or not Answer y to create the main file If the file already exists or is created the Main Editor menu is dis
46. details Nicname For arithmetic instructions the seven character variable nicname of the result variable is printed in parenthesis directly below the result variable See section 10 for details on the variable nicnames Description The operation of the Multiply instruction is as follows When in is a 1 reg is multiplied by reg2 and the result is placed in the result variable The output is unconditionally set to a 1 when the input isa 1 When in is a 0 the multiplication is not performed result is left at its last value and the output is set toa 0 SYSdev Program Development Manual SYSTEMS Electronics Group 70 SECTION 7 LADDER PROGRAMMING Example Multiply W100 B102 out W104 name104 word104 var doc line 3 When in is a 1 the contents of W100 is multiplied by the contents of B102 and the result is placed in W104 out is set to a 1 If W100 200 and B102 50 then W104 would equal 10000 When in is a 0 W104 is left at its last value and out is set to a 0 To enter a Multiply box in a ladder block perform the following steps 1 From ladder editor menu press F5 Ladder Boxes 2 Press F3 Mul 3 Enter first Multiply operand reg1 by typing a variable type B W X Y b variable address or number c press ENTER return 4 Enter second Multiply operand reg2 by typing a variable type B W X Y b variable address or num
47. directory Enter the new name using the valid MS DOS file name character set The program name can be a maximum of eight characters in length no extension should be entered Press ENTER to accept the program name that the selected program will be copied to The new program will then be displayed in the program selections menu SYSdev Program Development Manual SYSTEMS Electronics Group SECTION 2 SYSDEV SHELL F8 Backup Prog This selection is used to backup the selected program to the root directory of a user specified diskette drive When selected the shell prompts for the drive A or B that the program will be backed up to Enter the drive and press ENTER The currently selected program will be copied to the root directory of the specified diskette F9 Restore Prog This selection is used to restore a previously backed up program from the root directory of a user specified drive to the currently selected directory and program When selected the shell prompts for the diskette drive A or B that the program will be copied from Enter the drive and press ENTER The program with the same name as the currently selected program will be copied from the root directory of the specified drive to the currently selected directory and program name F10 Delete Prog This selection deletes the currently selected program from the current directory When selected the shell prompts one time to verify that the program is to be deleted answer y to
48. each CO CPU board Another use of the Initialization file is to preset any other user variables that would otherwise not be preset The Initialization file is optional The user program does not have to incorporate this file 4 1 2 Main Program file The Main Program file is the primary user file This file executes the majority of the user application code The Main Program file is executed scanned from beginning to end continuously The Main Program file is the only file that is required All programs must have a main program file 4 1 3 Timed Interrupt file The timed interrupt file is executed once every 0 250 to 65 000 milliseconds The user specifies the exact time in this range between timed interrupt executions The primary application of the timed interrupt is to perform high speed processing on a certain critical task of the user application In this situation critical inputs can be read logic can be performed based on these inputs and then outputs associated with the critical task can be updated prior to exiting the timed interrupt An example would be an application that required a task to be performed every 0 5msec or less If the main program scan was 3 to 4msec a timed interrupt could be created to execute every 0 5msec The timed interrupt would then interrupt the main program six or more times during one scan allowing the critical task to be processed as required Another example of the timed interrupt use is
49. is to be taken at the 66 99 else use the null statement if no else action is to be taken invalid token following function An invalid token was detected following a function The only valid tokens are the equate operator or the statement end token variable format not correct for variable The format of the variable at the specified location is not correct See section 6 for the correct variable formats C049 no input board at slot address An input board was not present at the specified slot address Input variables X cannot reference slots that do not have input boards in them as specified in the system configuration C050 no output board at slot address An output board was not present at the specified slot address Output variables Y cannot reference slots that do not have output boards in them as specified in the system configuration SYSdev Program Development Manual SYSTEMS Electronics Group A 7 APPENDIX A STANDARD COMPILER ERROR CODES C051 sfuncl3 14 15 16 must be in main file sfunc13 sfuncl4 sfunc15 and sfunc16 can all only be used in the main program file If an attempt to use these system functions in a file other than the main program this error will occur C052 redundant parenthesis in expression If redundant parenthesis parenthesis that are not needed are found in an expression this error occurs An example of this is B100 B101 B102 In this case
50. lt 168 8 14 16 LESS THAN OR EQUAL lt 169 8 14 17 MULTIPLY 170 8 14 18 NOT EQUAL 171 8 14 19 OR bitwise 172 8 14 20 OR logical 173 8 14 21 REMAINDER 174 8 14 22 SHIFT left lt lt 175 8 14 23 SHIFT right gt gt 176 8 14 24 SUBTRACT 177 SYSdev Program Development Manual iv SYSTEMS Electronics Group CONTENTS 9 Assembly Programming 179 10 Program Annotation and Documentation 181 10 1 Variable Documentation __ 18 1 10 2 Variable Nicnames __ 182 10 3 Inter Program Comments ___ 183 11 Program Printouts 185 11 1 Program File Printouts 1 thru 6 185 11 2 Cross Reference 7 187 11 3 Variables Overlap Map 8 188 11 3 1 Multi assigned Variables ___188 11 3 2 Byte Word Overlaps ___ 189 11 3 3 Flag Byte Overlaps ____ 189 4 Memory Map 9 ss 189 5 System Configuration 10 sd 6 EnterProgramTitle 11 sd 12 On Line Functions 191 12 1 Online Functions Menu 191 12 2 Online Monitoring 192 12 2 1 Initiating Online Monitoring 192 12 2 2 Contact Coil Power Flow 193 12 2 3 Variables Status Window 193 12 2 4 Entering Variables in Variable Status Window __ 193 12 2 5 Variables Status Table 194 12 2 6 Online Monitor Communications 195 12 3 Changing Variables Values 195 12 3 1 Assigning a Value to a Variable 195 SYSdev Program Development Manual SYSTEMS Electronics Group CONTENTS 13 PLS Programming 197 13 1 Introduction to PLSdev 197 13 1
51. number of cursor Lines are numbered from 0 top to 56 bottom Col Current column number of cursor Columns are numbered from 0 left to 79 right In addition to the status fields listed above a number of function key selections are also available while in the Text Editor These are F8 Var Names This selection is used to enter variable names while inside the Text Editor This feature makes it easy to annotate a program while it is being created or edited See section 10 1 for more details on variable annotation entry F9 Cut Line This selection cuts the current line that the cursor is on and stores it in a temporary buffer All the lines following the cut line location are moved up one line This feature is used to delete lines or when used in conjunction with Paste Line to copy a line to a new location or make duplicates of a line Only one line can be cut and pasted at a time When a line is cut the previous line cut is lost SYSdev Program Development Manual SYSTEMS Electronics Group 22 SECTION 3 MENUS F10 Paste Line This selection is used to paste the line in the temporary line buffer at the current cursor line location All the lines following the paste location are moved down one line Paste is always used in conjunction with Cut Line First the line is cut and then pasted at the new location Paste can also be used to make duplicates of a line simply press F10 paste line the number of times the line is to be dup
52. on the board 0 or 1 and c is the bit address 0 7 See section 6 for more details invalid Y address no output at slot Any reference to an output address that does not actually contain an output board as defined in the system configuration will cause this error In addition the address must be specified as Yaab c where aa is the two digit slot address 00 to 15 b is the byte on the board 0 or 1 and c is the bit address 0 7 See section 6 for more details invalid T address no input at slot Any T reference to an input address that does not actually contain an input board as defined in the system configuration will cause this error In addition the address must be specified as Iaab c where aa is the two digit slot address 00 to 15 b is the byte on the board 0 or 1 and c is the bit address 0 7 See section 6 for more details var T must be used in timed intrpt only The timed interrupt input variable T is used to specify which inputs will automatically be updated at the beginning of the timed interrupt For this reason the I variable can only be used in the timed interrupt too many timer counter accums max 256 Too many bytes were assigned as timer counter accumulators The maximum number of timers counters a program can have is 256 Accum and preset must be of same var type In timers and counters both the preset and accumulator must be of the same variable type If the preset is a byte the accumu
53. or 1 at the slot 4 output byte Yyyz where yy is the slot 0 15 of the output and z is byte 0 or 1 at the slot 5 constants yyy where yyy is a fixed number between 0 and 255 if result is not a word or between 0 and 65535 if result is a word Valid result 1 bytes Byyy where yyy is the byte address 2 words Wyyy where yyy is the word address 3 output byte Yyyz where yy is the slot 0 15 of the output and z is byte 0 or 1 at the slot Annotation For arithmetic instructions the three lines by seven characters variable documentation of the result variable is printed inside the box as shown with the lines This annotation only appears on the program printout See section 10 for annotation details Nicname For arithmetic instructions the seven character variable nicname of the result variable is printed in parenthesis directly below the result variable See section 10 for details on the variable nicnames Description The operation of the Add instruction is as follows When in is a 1 regl is added to reg2 and the result is placed in the result variable The output is unconditionally set to a 1 when the input is a 1 When in is a 0 the addition is not performed result is left at its last value and the output is set toa 0 SYSdev Program Development Manual SYSTEMS Electronics Group 66 SECTION 7 LADDER PROGRAMMING Example Add B100 B101 out B102 name102 byte102
54. programming command allows the user to program the entire channel with a pulse train of a fixed on and off duration throughout 13 4 1 Single Set Point Programming Command The single set point command is used to enter unique set points in a channel when that channel is not programmed as a pulse train PULSE TRAIN NO Note When the channel is programmed as a pulse train the single set point command cannot be used to modify individual set points in the channel To program a single set point locate the set point cursor large block cursor at the set point to be modified the large cursor will always be located in the on parameter of the set point Enter the set point as follows 1 Type in on parameter in degrees cursor will change to the small data entry cursor 2 Press Enter lt CR gt or to enter the on parameter 3 Type in off parameter in degrees 4 Press Enter lt CR gt to enter the off parameter 5 The cursor will change back to the large set point cursor and automatically advance to the on parameter of the next set point The set point has not been entered 6 If an invalid set point number is entered a message stating this will be displayed in the message field of the Channel Edit menu Re enter a proper set point value or press ESC to abort the set point entry Note The set point values entered must be less than the scale factor Set points are also not allowed to overlap any existing set p
55. return value can also be used in a conditional expression to conditionally execute statements based on the result of the system function A typical form of this is if sfuncXX parm1 parm operand program code See the respective target board user s manual for more details 8 11 Program Comments Each block Ladder High level Assembly can have associated with it up to 57 lines of comments that will precede the block on the program print out see section 10 2 In addition to this documentation comments can be entered directly into the High level block using the comment delimiters The combination of the followed by the informs the compiler that what follows are comments The compiler ignores all text until the followed by the is detected As many lines as necessary can be entered between the occurrence of the and the Take care not to forget the ending around a comment or all executable instructions which follow the will be interpreted as comments and not executed Examples 1 B100 B101 20 comment that goes with line 2 B100 comments can use any number of lines as required 3 B100 10 The second statement B101 B101 will not be executed because the ending comment delimiter occurred after the statement 4 B100 10 This time the second statement B101 is executed because each line of comments has its own beginning and ending co
56. specified program code program statement or statement block repeatedly a certain number of times An example would be writing a series of numbers to a set of consecutive variables testing a series of consecutive variables for a value range etc Three types of looping statements are available the for loop the while loop and the do while loop In the following looping statements it is possible for an unintentional infinite loop to be entered This is a loop were the conditional expression tested to stay in the loop is never false resulting in program execution not proceeding beyond the loop Under this circumstance a hardware watchdog time out will occur causing the processor to stop program execution and open the fault interlock In order to avoid this situation make sure that the loop variable s which are tested in the conditional expression are modified in the loop such that the loop will be executed for no more than 20milliseconds watchdog time out time In all the following loops the conditional expression must explicitly state the test to be made No implicit test on a variable is allowed i e while F001 where F001 is implicitly tested for 1 The correct form is while F001 1 8 6 1 for loop The for loop provides a complete looping mechanism including initialization of loop variables variables which are tested in the conditional expression testing of loop variables conditional program code e
57. that you want to install the SYSdev software on Enter the drive letter of the hard disk C D E or F that you want SYSdev installed on and press Enter The install program will then prompt you for the COM port number used for RS 232 communications to the target board This is the COM port which will be used to interface with the PROG and CHAN ports of the target board COM ports 1 2 3 4 5 6 and 7 are supported Enter the COM port number and press Enter If your computer has only one RS 232 COM port enter 1 The install program will then install the SYSdev software package on the designated drive prompting for disks 2 and 3 when needed 1 5 2 Backing Up the SYSdev Software to a Diskette Drive The install program can be used to backup the SYSdev software from a hard drive to a diskette drive The procedure is the same as installing the software except that INSTALL is invoked from the root directory of the hard drive that SYSdev is installed on INSTALL EXE was copied to the hard drive when the SYSdev package was installed When prompted for the drive to install SYSdev on enter the diskette drive you want to backup to Install pre formatted disks 1 2 and 3 when prompted by the install program SYSdev Program Development Manual SYSTEMS Electronics Group SECTION 1 INTRODUCTION 1 5 3 INSTALLING SYSdev UNDER WINDOWS To install SYSdev under the Windows operating system perform the following 1 2 3 4 5 6
58. the current file The following choices are available when F5 Search Func is selected F1 Search block When F1 Search block is selected the cursor moves to the block prompt Enter the block number you wish to move to and press Enter lt CR gt If the block exists in the file it will be displayed if not the message not found will be displayed in the status field F2 Search Var When F2 Search Var is selected the cursor will move to the var prompt Enter the variable by typing the variable type letter and address as it would be entered in the program followed by Enter lt CR gt The variable will then be searched for starting in the current block The program will be searched until the last block is reached at that time searching will continue from the first block until the current block is reached If the variable is found the block containing the variable will be displayed with the cursor positioned at the variable If the variable is not found the message not found will be displayed in the status field To continue searching for more occurrences of the same variable simply select F2 Search Var and then press Enter lt CR gt Note Only the current file is searched occurrences of the variable in other file types timed interrupt user functions etc is not detected Press ESC to return to the main editor menu F6 Cut Block Cut Block cuts or deletes the current block from the file and saves it in a temporary buffe
59. the target board invalid word address Each target board has a finite variable data memory space Any reference to a word address that is not within this data memory space will result in this error See the respective target board user s manual for the valid memory map of the target board invalid flag address Each target board has a finite flag memory space Any reference to a flag address that is not within this flag memory space will result in this error See the respective target board user s manual for the valid memory map of the target board invalid X address Any reference to an input address that does not actually contain an input board as defined in the system configuration will cause this error In addition the address must be specified as Xaab c where aa is the two digit slot address 00 to 15 b is the byte on the board 0 or 1 and c is the bit address 0 7 The bit address is optional See section 6 for more details invalid Y address Any reference to an output address that does not actually contain an output board as defined in the system configuration will cause this error In addition the address must be specified as Yaab c where aa is the two digit slot address 00 to 15 b is the byte on the board 0 or 1 and c is the bit address 0 7 The bit address is optional See section 6 for more details invalid constant for variable type Constants must be specified in the range that is appropriate to the
60. the target board with the correct program and try again See section 3 5 for a description of program idents and revisions SYSdev Program Development Manual SYSTEMS Electronics Group 194 SECTION 12 ON LINE FUNCTIONS 12 2 2 Contact Coil Power Flow The state of contacts and coils are automatically displayed when online monitoring is selected for a ladder block The state of contacts is shown as power flow by illuminating the contact when it is closed and showing it non illuminated as normally displayed when open A normally open contact is illuminated closed when its associated variable is a 1 while a normally closed contact is illuminated closed when its associated variable is a 0 The state of coils is displayed by illuminating the respective coil when it is energized coil variable equals a 1 Thus for a standard coil the coil is illuminated when continuity power flow reaches the coil 12 2 3 Variables Status Window The variables status window is automatically shown in the menu field below the selected block when online monitoring is selected This allows up to six variables to be displayed in addition to the contact coil states shown in ladder blocks The display consists of a three row by 2 column matrix where the user can enter variables to be viewed Any variables in the entire program can be entered into the display fields not just variables shown in the current block Virtually any variable type can be e
61. var doc line 3 When in is a 1 the contents of B100 is added to the contents of B101 and the result is placed in B102 out is set to a 1 If B100 25 and B101 36 then B102 would equal 61 When in is a 0 B102 is left at its last value and out is set to a 0 To enter an ADD box in a ladder block perform the following steps 1 From ladder editor menu press F5 Ladder Boxes 2 Press F1 Add 3 Enter first Add operand reg1 by typing a variable type B W X Y b variable address or number c press ENTER return 4 Enter second Add operand reg2 by typing a variable type B W X Y b variable address or number c press ENTER return 5 Enter result operand variable result will be stored at by typing a variable type B Y W b variable address c press ENTER return 6 Ifnicname for result variable does not already exist the cursor will be located in the nicname field directly below the result variable If you want to enter a nicname for this variable type the nicname in up to 7 characters and press ENTER If you do not want to enter a nicname simply press ENTER The cursor is then located at the next ladder element location If a nicname already exists for the variable the cursor will automatically advance to the next ladder element location SYSdev Program Development Manual SYSTEMS Electronics Group 67 SECTION 7 LADDER PROGRAMMING 7 1
62. variable expression class If the class is bit only 0 and 1 are valid constants If the class is byte 0 to 255 decimal or 0 to ffH hex is valid If the class is word 0 to 65535 decimal or 0 to ffffH hex is valid SYSdev Program Development Manual SYSTEMS Electronics Group B 3 APPENDIX B 3012 COMPILER ERROR CODES C020 invalid function parameter An invalid function parameter was specified in the function parameter list See the respective target board user s manual for the correct system function format and parameters C021 invalid system function for target board Only the system functions supported by the respective target board are valid for that target board See the respective target board user s manual for the system functions supported by that board C022 slot address does not contain CO CPU An sfunc05 sfunc06 or sfunc12 call was made to a slot address that does not contain an intelligent I O board These system functions can only be used on slots that do contain an intelligent I O board which supports the respective system function C023 inappropriate use of system function System function was not used correctly in statement See section 8 10 for the proper use of system functions C024 invalid use of function in expression Functions cannot be used in expressions like variables are used See sections 8 8 and 8 10 for the proper use of functions C027 improper use of parenthesis The parenthesis at the location was i
63. 0 B101 contents 140 55 eval as 1 B140 B101 55 address 140 contained in B100 Result B140 55 2 statement W100 W102 W104 contents 80 50 100 eval as 1 W102 50 W104 100 5000 2 W080 5000 address 080 contained in W100 equals result of expression Result W080 5000 The following example applies to the 3012 only 3 statement B100 B102 contents 3000 25 eval as 1 B3000 B102 25 25 address 3000 contained in B100 equals contents of B102 Result B3000 25 SYSdev Program Development Manual SYSTEMS Electronics Group 129 SECTION 8 HIGH LEVEL PROGRAMMING The following example applies to the 3012 only 4 statement W080 W090 contents 4000 1000 eval as 1 W4000 W090 1000 1000 address 4000 contained in W080 equals contents of W090 Result W4000 1000 8 3 3 Pre unary Assignment Program Statement The pre unary assignment program statement alters the variable directly using either unary assignment operator increment or decrement as specified The format of this statement is operator variable Examples 1 statement B100 contents 25 eval as 1 B100 B100 25 1 Result B100 26 2 statement W102 contents 1000 eval as 1 W102 W102 1000 1 Result W102 999 SYSdev Program Development Manual SYSTEMS Electronics Group 130 SECTION 8 HIGH LEVEL PROGRAMMING 8 3 4 Post unary Assignm
64. 000 lt 500 1 B100 1000 less than or equal to W102 500 B101 B102 lt 50 40 10 lt 50 1 B101 40 B102 10 2 50 less than or equal to 50 B103 lt B104 B105 20 lt 10 11 1 B104 10 B105 11 2 20 less than or equal to 21 SYSdev Program Development Manual IT result No 50 result Yes 21 result Yes SYSTEMS Electronics Group SECTION 8 HIGH LEVEL PROGRAMMING 8 14 17 MULTIPLY Symbol Form operand operand Operand Types 1 variables a bytes B X Y b words W 2 constants right operand only a 0 255 decimal byte b 0 ffH hex byte c 0 65535 decimal word d 0 ffffH hex word 3 expressions Class arithmetic Type binary Precedence 8 Definition The multiply operator multiplies the left operand by the right operand When using the multiply operator the expression variable class must always be word This is due to the fact that the result of two bytes multiplied has a maximum size equal to a word See notes 1 2 and 4 at the end of this section Examples 1 expression B100 B101 contents 20 40 eval as 1 B100 20 multiplied by B101 40 800 2 expression B100 W106 contents 10 2000 eval as 1 B100 10 multiplied by W106 2000 3 expression B100 B102 B103 contents 150 20 30 result 800 word 20000 result 20000 word eval as 1 B102 20 multi
65. 050 var doc L E S S Shift F050 ck 4 H ck4 H 1 26 2 1 B200 1 B203 1 B206 2 B201 2 B204 2 B207 flag001 3 B202 3 B205 2 B208 var doc line 3 shift shift shift F001 si reg so si reg so si reg so 2 4 byte 1 t byte 4 H byte 7 20 1 H H H H H H shift shift shift flag070 registr registr registr var doc bit 4 bit 20 bit 60 line 3 B200 4 B202 6 B208 4 F070 Bite Jati Taf H Js sf H H H H H i C8 4 CA 6 DO 4 28 6 shift registr bit 52 B207 3 4 CF 3 SYSdev Program Development Manual SYSTEMS Electronics Group C 6 APPENDIX C LADDER PROGRAMMING EXAMPLES KKKKKKKKKKKKKKKK KKK KKK KKK KKK KKK KK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKKKKKKKKKKKK block 8 Ladder The following is an example of the use of a counter Note The ck input of the counter is a leading edge single shot generated from input X020 0 in block 6 The counter will decrement one count each time X020 0 goes from a 0 to a 1 If X020 0 would have been used instead of F050 at the ck input the counter would have decremented every scan that X020 0 was a 1 This is usually not what is desired Therefore remember to use single shots at the ck input and an en input as well as at the output of the instruction This is true for timers and shift register as well flag050 fl
66. 1 2 bytel00 bit 3 var doc B100 3 L n100 3 3 yout041 bit 2 var doc Y041 2 L nam41 2 To enter a latch coil in a ladder block perform the following steps 1 From ladder editor menu press F3 Output Coils 2 From Output coils menu press F2 L 3 Enter coil variable by typing a variable type F B Y b variable address flag number for flags byte address for all others c period all types except flags d bit address 0 7 all types except flags e press ENTER return 4 Ifthe nicname for the variable does not already exist the cursor will be placed below the coil Enter the nicname for the variable and press ENTER If no nicname is to be entered press ENTER The cursor will automatically advance to the next ladder element If the variable already has a nicname the cursor will automatically advance to the next ladder element SYSdev Program Development Manual SYSTEMS Electronics Group 55 SECTION 7 LADDER PROGRAMMING 7 1 5 Coil unlatch Symbol Kk K k k k k Kk K k 2 2K 2k Kk k k 2 2K 2k variable U in nicname Valid Variables 1 flags Fzzz where zzz is the flag number 2 bytes Byyy z where yyy is the byte address and z is the bit within the byte 3 outputs Yxxy z where xx is the slot number y is the byte at the slot and z is the bit within the byte Annotation For coils the three lines by seven characters variable name is printed
67. 12 remainder 5 3 expression W150 W152 contents 1000 45 eval as 1 W150 1000 divided by W152 45 remainder 10 SYSdev Program Development Manual 176 SYSTEMS Electronics Group SECTION 8 HIGH LEVEL PROGRAMMING 8 14 22 SHIFT left Symbol lt lt Form operand lt lt operand Operand Types 1 variables a bytes B X Y b words W 2 constants a 0 255 decimal byte b 0 ffH hex byte c 0 65535 decimal word d 0 ffffH hex word 3 expressions Class arithmetic Type binary Precedence 6 Definition The left shift operator shifts the resultant value of the left operand left a number of times equal to the resultant value of the right operand This is a shift of the bits in the value of the left operand Any bits shifted out of the most significant bit are lost Zero is shifted into the least significant bit See notel at the end of this section Examples 1 expression B100 lt lt 2 contents a3H eval as 1 B100 a3H 2 shift bits Left by 2 2 expression W102 W104 lt lt B120 contents 1020 2500 lt lt 3 eval as 1 W102 1020 W104 2500 2 3520 0dc0H 3 shift Left by 3 SYSdev Program Development Manual s171 10100011 10001100 Result 10001100 8cH 3520 0000110111000000 0110111000000000 Result 0110111000000000 6e00H SYSTEMS Electronics Group SECTION 8 HIGH LEVEL PROGRAMMING 8 14 23 SHI
68. 3 FOOL F002 F003 F007 0 H I if 20 1 20 2 20 3 20 7 1 flag004 flag005 flag006 var doc var doc var doc line 3 line 3 line 3 F004 F005 F006 23 H I H I rei S H 20 4 20 5 20 6 flag001 flag002 flag003 flag007 var doc var doc var doc var doc line 3 line 3 line 3 line 3 F001 F002 F003 F007 3 Taf H H H H H H 20 1 20 2 20 3 20 7 flag004 flag005 flag006 var doc var doc var doc line 3 line 3 line 3 F004 F005 F006 4 H H Tol H I H 20 4 20 5 20 6 SYSdev Program Development Manual SYSTEMS Electronics Group C 10 APPENDIX C LADDER PROGRAMMING EXAMPLES KKKKKKKKKKKKKKKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKKKKKKKKKKKKKK block The following shows a case where an OR network is shorted 3 Ladder at F004 and F005 This does not cause a compiler error but may result in unpredictable ladder block execution flag001 flag006 var doc var doc line 3 line 3 F001 F006 0 4 H H H H H H t 20 1 20 6 flag002 flag004 var doc var doc line 3 line 3 F002 F004 1 20 2 20 4 flag003 flag005 var doc var doc line 3 line 3 F003 F005 2 20 3 20 5 SYSdev Program Development Manual SYSTEMS Electronics Group C 11 APPENDIX C LADDER PROGRAMMING EXAMPLES Errors for program Main program
69. Board Interface menu and try the download again SYSdev Program Development Manual SYSTEMS Electronics Group 24 SECTION 3 MENUS 2 Download data to target board This selection is used to download the data file to the target board This file contains data from a previous data upload from the target board The data download occurs concurrently with program execution To download the data file perform the following 1 Connect COM1 on the computer running SYSdev to the PROG PORT on the target board to be loaded with the data using the appropriate RS 232 cable see target board user s manual 2 With both the computer and target board powered up select this selection from the Target Board Interface menu A prompt will appear to verify whether to continue or not To abort the download press ESC otherwise press any key to start the download 3 While the download is in progress the HEX address of the current data byte being sent to the target board is displayed Program execution in the target board continues concurrently with the data download 4 Once data download is complete a data download complete message will be displayed along with a prompt for return to the Target Board Interface menu Press any key to return to the menu 5 Ifthe computer was unable to initiate the data download to the target board a message stating this will be displayed Verify the RS 232 cable connections between COM1 on the computer and the PRO
70. ER The cursor will automatically advance to the next ladder element If the variable already has a nicname the cursor will automatically advance to the next ladder element SYSdev Program Development Manual SYSTEMS Electronics Group 49 SECTION 7 LADDER PROGRAMMING 7 1 2 Contact normally closed Symbol Kk K k k 2K 2k Kk K k 2 2K 2k Kk k k k 2K 2k variable in nicname out Valid Variables 1 flags Fzzz where zzz is the flag number 2 bytes Byyy z where yyy is the byte address and z is the bit within the byte 3 inputs Xxxy z where xx is the slot number y is the byte at the slot and z is the bit within the byte 4 timed interrupt inputs Ixxy z where xx is the slot number y is the byte at the slot and z is the bit within the byte Only valid in the 3012 timed interrupt file 5 outputs Yxxy z where xx is the slot number y is the byte at the slot and z is the bit within the byte Annotation For contacts the three lines by seven characters variable name is printed above the contact as shown with the lines This annotation only appears on the program printouts See section 10 1 Nicname For contacts the seven character nicname is shown directly below the contact Description The normally closed contact passes power when the variable referenced is a 0 That is when the variable is 0 the output of the contact equals the input if the variable is 1 the output equ
71. FT right Symbol gt gt Form operand gt gt operand Operand Types 1 variables a bytes B X Y b words W 2 constants a 0 255 decimal byte b 0 ffH hex byte c 0 65535 decimal word d 0 ffffH hex word 3 expressions Class arithmetic Type binary Precedence 6 Definition The right shift operator shifts the resultant value of the left operand right a number of times equal to the resultant value of the right operand This is a shift of the bits in the value of the left operand Any bits shifted out of the least significant bit are lost Zero is shifted into the most significant bit See notel at the end of this section Examples 1 expression B100 gt gt 2 contents acH eval as 1 B100 acH 2 shift bits Right by 2 2 expression W102 W104 gt gt B120 contents 1020 2500 gt gt 3 eval as 1 W102 1020 W104 2500 2 3520 O0dc0H 3 shift Right by 3 SYSdev Program Development Manual 178 10101100 00101011 Result 00101011 2bH 3520 0000110111000000 0000000110111000 Result 0000000110111000 01b8H SYSTEMS Electronics Group SECTION 8 HIGH LEVEL PROGRAMMING 8 14 24 SUBTRACT Symbol Class arithmetic Type binary Precedence 7 Form operand operand Operand Types 1 variables a bytes B X Y b words W 2 constants a 0 255 decimal byte b 0 ffH hex byte c 0 65535 decimal word d 0
72. G PORT on the target board for proper connection Also verify that the RS 232 cable is wired correctly see target board user s manual Press any key to return to the Target Board Interface menu and try the download again SYSdev Program Development Manual SYSTEMS Electronics Group 25 SECTION 3 MENUS 3 4 5 SYSdev Program Development Manual Upload data from target board This selection is used to upload the data from the target board to the data file on disk This allows presets and other user variables to be saved from the target board for download to other target boards or download at a later time The data upload occurs concurrently with program execution To upload the data from the target board perform the following 1 Connect COM1 on the computer running SYSdev to the PROG PORT on the target board to be uploaded from using the appropriate RS 232 cable see target board user s manual 2 With both the computer and target board powered up select this selection from the Target Board Interface menu A prompt will appear to verify whether to continue or not To abort the upload press ESC otherwise press any key to start the upload 3 While the upload is in progress the hex address of the current data byte being received from the target board is displayed Program execution in the target board continues concurrently with the data upload 4 Once the data upload is complete a data upload complete message will
73. H LEVEL PROGRAMMING 5 expression B100 B101 B103 amp B104 B105 contents 10 20 4 amp 2 4 eval as 1 B104 2 or d B105 4 2 B103 4 and d 6 3 B101 20 4 4 B100 10 24 6 expression B100 B101 B102 contents 10 20 30 eval as 1 B101 B101 20 1 2 B100 10 B101 21 3 31 B102 30 4 B102 B102 1 7 expression B100 B101 B102 contents 10 22 30 evalas 1 B100 10 B101 22 2 bitwise complement of 32 3 223 B102 30 8 expression B101 20 contents 30 evalas 1 B101 30 defined as 20 9 expression B102 B103 B104 B105 contents 10 30 80 30 eval as 1 B102 10 B103 30 2 B104 80 B105 30 3 40 not equal to 50 SYSdev Program Development Manual 126 6 4 24 Result 240 Result 1 32 223 Result 193 Result False no 40 50 Result True yes SYSTEMS Electronics Group SECTION 8 HIGH LEVEL PROGRAMMING 10 expression B100 B101 gt 1000 contents 20 100 gt 1000 eval as 1 B100 20 B101 100 2000 2 2000 greater than 1000 Result True yes 11 expression F001 1 amp amp B100 lt 20 contents 0 1 amp amp 10 lt 20 eval as 1 Left express F001 0 defined as 1 False no 2 Right express B100 10 less than 20 True yes 3 Left express True AND Right express False Result False no
74. K block 3 Ladder The following is an example of a nested OR network flag001 flag003 flag004 flag007 flag010 var doc var doc var doc var doc var doc line 3 line 3 line 3 line 3 line 3 F001 F003 F004 F007 F010 0st a este eto et f 20 1 20 3 20 4 20 7 flag002 flag005 var doc var doc line 3 line 3 F002 F005 1 20 2 20 5 flag006 var doc line 3 F006 DA cf 20 6 flag008 flag009 var doc var doc line 3 line 3 F008 F009 3s I H J f 21 0 21 1 SYSdev Program Development Manual z2 SYSTEMS Electronics Group APPENDIX C LADDER PROGRAMMING EXAMPLES KKEKKKKKKKKKKKKKKK KKK KKK KKK KKK KKK KKK KKK KKK KK KKK KKK KK KKK KKK KKK KKKKKKKKKKKKK block 4 Ladder The following is an example of timer outputs OR d and AND d in a network flag001 flag011 var doc var doc line 3 Timer Timer line 3 F001 H H H H F011 0 H H H H 20 1 P 035 P 255 21 3 TB 0 01 TB 1 00 A B120 A B123 byte120 byte123 var doc var doc 1 line 3 line 3 flag002 var doc line 3 Timer F002 22425 gt 20 2 P B121 TB 0 10 A B122 byte122 var doc S line 3 SYSdev Program Development Manual SYSTEMS Electronics Group C 3 APPENDIX C LADDER PROGRAMMING EXAMPLES KKEKKKKKKKKKKKKKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK
75. KK KKK KKK KKK KK KKK KKK KKK KKK KKK KK KK KKK KKK KKKKKKKKKKKKKKK block 6 Ladder The following shows three rungs that comprise both a leading edge single shot F050 L E S S and a trailing edge single shot F051 T E S S F050 is a 1 for one scan when X020 0 goes from a 0 to a 1 while F051 is a 1 for one scan when X020 0 goes from a 1 to a 0 F052 is required since is stores the state of X020 0 from the previous scan xinp020 flag052 flag050 bit 0 var doc var doc var doc S S bit Tis He SS X020 0 F052 F050 Osk I TAI i i 31 0 26 4 26 2 xinp020 flag052 flag051 bit 0 var doc var doc var doc S S bit TESS X020 0 F052 F051 Lit yI I H H H 31 0 26 4 26 3 xinp020 flag052 bit 0 var doc var doc S S bit X020 0 F052 2 31 0 26 4 SYSdev Program Development Manual C 5 SYSTEMS Electronics Group APPENDIX C LADDER PROGRAMMING EXAMPLES KKEKKKKKKKKKKKKKKKKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKKKKKKKKKKKKKK block 7 Ladder The following is an example of a 63 bit shift register Thr thr byt shift registers each good for 21 shifts are cascaded together and share the same leading edge single shot clock Various bits of the shift register are referenced in the next rung as normally open contact This shows how any bit out of the shift register can be used elsewhere in the program flag
76. KKKKKKKKKKKK block 5 Ladder The following is an example of 22 contacts OR d together This shows that even though the ladder block is 7 rows by 9 columns large OR statements can still be entered SYSdev Program Development Manual C 4 flag001 flag010 var doc var doc line 3 line 3 FOOL F010 24 J gt 20 1 flag002 flag007 flag012 flag017 var doc var doc var doc var doc line 3 line 3 line 3 line 3 F002 F007 F012 F017 20 2 20 7 21 4 22 1 flag003 flag008 flag013 flag018 var doc var doc var doc var doc line 3 line 3 line 3 line 3 F003 F008 F013 F018 20 3 21 0 21 5 22 2 flag004 flag009 flag014 flag019 var doc var doc var doc var doc line 3 line 3 line 3 line 3 F004 F009 F014 F019 20 4 21 1 21 6 22 3 flag005 flag010 flag015 flag020 var doc var doc var doc var doc line 3 line 3 line 3 line 3 F005 F010 F015 F020 20 5 21 2 21 7 22 4 flag006 flag011 flag016 flag021 var doc var doc var doc var doc line 3 line 3 line 3 line 3 F006 F011 F016 F021 20 6 21 3 22 0 22 5 flag022 var doc line 3 F022 H H H H H H ef H 22 6 SYSTEMS Electronics Group APPENDIX C LADDER PROGRAMMING EXAMPLES KKKKKKKKKKKKKKKK KKK K
77. LMN errors Compilation KKKKKK ROO2 blk 1 row 0 col R001 blk 1 row 0 col R001 blk 1 row 3 col ROO2 blk 1 row 3 col R001 blk 1 row 3 col R001 blk 1 row 4 col R002 blk 1 row 4 col R001 blk 1 row 4 col R006 blk 1 row 2 col R006 blk 1 row 2 col ROO5 blk 1 row 4 col R006 blk 1 row 5 col R003 blk 1 row 4 col R004 blk 1 row 4 col R004 blk 2 row 1 col 2 PP PP BNHMORF ONDNDN OW W OO lac lac lac lac lac lac lac lac no no no no no no no SYSdev Program Development Manual of of of of of of of of NNNNN NNW AW con con con con con con con con continui continui continui continui continui continui continui tinui tinui tinui tinui tinui tinui ty at ty at ty at ty at ty to ty to ty to C 12 ity ity LEY tinuity ity ity ity tinuity MUYM o3 end end ending of beginning beginning ending of beginning beginning ending of beginning of branch of branch node of node of node node of node of node node of node start of branch end the the the of branch left on branch right on branch right on branch SYSTEMS Electronics Group
78. MING 8 14 1 ADDITION Symbol Class arithmetic Type binary Precedence 7 Form operand operand Operand Types 1 variables a bytes B X Y b words W 2 constants a 0 255 decimal byte b 0 ffH hex byte c 0 65535 decimal word d 0 ffffH hex word 3 expressions Definition The addition operator adds the operand on the left to the operand on the right See notes 1 2 and 4 at the end of this section Examples 1 expression B100 B101 contents 10 20 eval as 1 B100 10 B101 20 Result 30 2 expression W140 3000 contents 4500 3000 eval as 1 W140 4500 3000 Result 7500 SYSdev Program Development Manual SYSTEMS Electronics Group 156 SECTION 8 HIGH LEVEL PROGRAMMING 3 expression B080 200 byte class contents 60 200 eval as 1 B080 60 200 Result 4 The above example shows an overflow in a byte class expression The actual result was 260 but since the largest value represented in a byte is 255 the upper significant bits were lost All that remains is the difference between 260 and 256 which equals 4 8 14 2 ADDRESS OPERATOR Symbol amp Class arithmetic Type unary Precedence 9 Form S amp operand Operand Types 1 variables a bytes B X Y b words W Definition The result of the address operator is the address of the variable specified This is used primarily to load a pointer with the address of a variable See no
79. MPILER ERROR CODES APPENDIX B 3012 COMPILER ERROR CODES This Page Intentionally Left Blank SYSdev Program Development Manual SYSTEMS Electronics Group APPENDIX C LADDER PROGRAMMING EXAMPLES The following are examples of acceptable ladder blocks that can be built in a user program Examples of some of some of the unique features of the SYSdev51 ladder programming language are also shown KKKKKKKKKKKKKKKKK KKK KKK KK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKKKKKKKKKKKKKK block 1 Ladder The following is an example of a typical AND network with a standard output Flag001 byte100 xinp020 yout030 flag004 var doc bit 2 bit 7 bit 6 var doc line 3 var doc var docvar doc line 3 FOOL B100 2 X020 7 Y030 6 F004 0 4 I H I H IKAI H I H H H H H 20 1 64 2 31 7 33 6 20 4 KKEKKKKKKKKKKKKKKKKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKKKKKKKKKKKKKK block 2 Ladder The following is an example of a typical OR network flag001 flag005 var doc var doc line 3 line 3 F001 F005 0 4 I H H H H H H H H Ce 20 1 20 5 bytel100 bit 2 var doc B100 2 Lets AA 20 1 xinp020 bit 7 var doc X020 7 234 AE 31 7 yout030 bit 6 var doc Y030 6 32to a 33 6 SYSdev Program Development Manual SYSTEMS Electronics Group C l APPENDIX C LADDER PROGRAMMING EXAMPLES KKKKKKKKKKKKKKKKKKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKKKKKKKKKKKKK
80. MS Electronics Group 4 SYSdev Program Development Manual CONTENTS 3 3 Ladder Editor Menu 19 F1 normally open contact 19 F2 normally closed contact 19 F3 Output Coils 19 F4 Timers Count 19 F5 Ladder Boxes 20 F6 VarNames 20 F7 horizontal short 20 F8 vertical short 21 F9 Vert Open 21 F10 Delete Elem 21 ESC Escape 21 3 3 1 Operation of Ladder Editor 21 3 4 Text Editor Menu 22 F8 VarNames 22 F9 Cut Line 22 F10 Paste Line 23 ESC Escape 23 3 4 1 Operation of Text Editor 23 3 5 Target Board Interface Menu 24 1 Download program to target board 24 2 Download data to target board 25 3 Upload data from target board 26 4 Target board Fault codes status 26 5 Target board Network address 26 6 Current target board program Ident Revision 27 7 Target board Hardware Confidence Test 27 8 Set time and date in target board 27 9 Program EPROM 28 Overview of Program Structure and Language _ 31 4 1 Program Structure and Execution 31 4 1 1 Initialization file 32 4 1 2 Main Program file 32 4 1 3 Timed Interrupt file 32 4 1 4 Communications Interrupt file 33 4 1 5 User Function files 33 4 2 SYSdev Programming Language 34 4 2 1 Ladder Block 34 4 2 2 High level Block 34 4 2 3 Assembly Block 35 4 3 SyYSdev File Extensions 36 Configuration Parameters 37 5 1 Configuration Parameters 37 SYSTEMS Electronics Group ii CONTENTS 6 Variable Formats 39 6 1 Variables 39 6 1 1 Flags F 39 6 1
81. NLINE2 HLP Status Table Help Screen F2 Insert Ladder Insert Ladder is used to insert a ladder block at the block following the current block displayed For instance if F2 is pressed while block 5 is displayed the new ladder block will be inserted at block 6 All the following blocks are moved to the next highest block number When F2 is selected the block is added and the ladder editor is initiated See ladder editor section 3 3 Ladder instructions can then be entered into the block See section 7 for details on programming in ladder F3 Insert High Insert High is used to insert a High level block following the block that is currently displayed All the following blocks are moved to the next highest block number When F3 is selected the block is added and the text editor is initiated See text editor section 3 4 High level instructions can then be entered as text into the block See section 8 for details on the High level programming language SYSdev Program Development Manual SYSTEMS Electronics Group 15 SECTION 3 MENUS F4 Edit Block Edit block is used to edit the current existing block The appropriate editor is initiated depending on the block type The ladder editor is initiated if the block is a ladder block the text editor is initiated if the block is an assembly or High level block F5 Search Func Search Func is used to either move to a specified block number or to search out all the occurrences of a variable within
82. RED to the contents of B101 and the result is placed in B102 out is set toa 1 If B100 200 11001000 binary and B101 90 01011010 binary then B102 would 146 10010010 binary When in is a 0 B102 is left at it s last value and out is set to a 0 To enter an XOR box in a ladder block perform the following steps 1 From ladder editor menu press F5 Ladder Boxes 2 Press F8 XOR 3 Enter first XOR operand reg1 by typing a variable type B W X Y b variable address or number c press ENTER return 4 Enter second XOR operand reg2 by typing a variable type B W X Y b variable address or number c press ENTER return 5 Enter result operand variable result will be stored at by typing a variable type B Y W b variable address c press ENTER return 6 Ifnicname for result variable does not already exist the cursor will be located in the nicname field directly below the result variable If you want to enter a nicname for this variable type the nicname in up to 7 characters and press ENTER If you do not want to enter a nicname simply press ENTER The cursor is then located at the next ladder element location If a nicname already exists for the variable the cursor will automatically advance to the next ladder element location SYSdev Program Development Manual SYSTEMS Electronics Group 82 SECTION 7 LADDER PROGRAMMING 7 1 17 Shift Register S
83. SYSdev Program Development manual Version 4 3 Systems Engineering Associates Inc 14989 West 69th Avenue Arvada Colorado 80007 U S A Telephone 303 421 0484 Fax 303 421 8108 06 2001 SYSdev Program Development Manual Version 4 3 Copyright 1992 Systems Engineering Associates Inc Revision 5 January 2002 All Rights Reserved 1 Introduction M ORWONM 1 6 2 1 2 2 Features of the SYSdev Shell Features of SYSdev Features of PLSdev System Requirements Installation 1 5 1 Installing SYSdev on a Hard Disk 1 5 2 Backing Up the SYSdev Software to a Diskette Drive 1 5 3 Installing SYSdev Under Windows Running SYSdev SYSdev Shell SYSdev Shell Menu SYSdev Shell Commands F1 Create Prog F2 Set Colors F3 Select Dir F4 Root Dir F5 Make Dir F6 Select Drive F7 Copy Prog F8 Backup Prog F9 Restore Prog F10 Delete Prog 3 SYSdev Menus SYSdev Program Development Manual 3 1 3 2 Main Development Menu On line Monitoring Off line Programming Edit System Configuration Print Program Compile Program Target Board Interface Edit Variable Names Print Compile Errors File Utilities 0100 ODO CON Main Editor Menu F1 Help Screen F2 Insert Ladder F3 Insert High F4 Edit Block F5 Search Func F6 Cut Block F7 Paste Block F8 Edit Doc F9 Select File F10 Save File F12 Insert ASM CONTENTS Onn aR BWNND N COODDODOO WOON SYSTE
84. Select Dir command is used to select one of these directories as the current directory When initially invoked this displays all the sub directories in the root of the current drive whether they contain SYSdev user programs or not TARGET BOARD SELECTIONS This field contains a list of the target board selections available for program development or timing channel set point programming This is selected when the F1 Create Prog command is executed 2 2 SYSdev Shell Commands The shell contains numerous commands for creating and editing the user program selecting the directory and drive the user programs are stored in and executing DOS commands such as backup copy delete etc from within the shell The definitions of these commands are as follows F1 Create Prog This command is used to create a new user program When selected the menu will prompt for the program name Enter the new name in the PROG field of the menu using the valid MS DOS file name character set The program name can be a maximum of eight characters in length no extension should be entered Press ENTER to accept the program name The shell will then prompt you to select the target board Use the select arrow to select the desired target board then press Enter Note Once the target board is selected for a particular program it cannot be changed The shell will now invoke either SYSdev51 SYSdev96 or PLSdev depending on the target board selected Note
85. TEMS Electronics Group 94 SECTION 7 LADDER PROGRAMMING 7 1 22 comp gt compare greater than or equal Symbol Compare regl T out reg2 nicname oR aK oR Valid reg 1 bytes Byyy where yyy is the byte address 2 words Wyyy where yyy is the word address 3 input byte Xyyz where yy is the slot 0 15 of the input and z is byte 0 or 1 at the slot 4 output byte Yyyz where yy is the slot 0 15 of the output and z is byte 0 or 1 at the slot 5 constants yyy where yyy is a fixed number between 0 and 255 if result is not a word or between 0 and 65535 if result is a word Annotation For compare instructions the three lines by seven characters variable documentation of the reg2 variable is printed inside the box as shown with the lines This annotation only appears on the program printout See section 10 for annotation details Nicname For compare instructions the seven character variable nicname of the reg2 variable is printed in parenthesis directly below the result variable See section 10 for details on the variable nicnames Description When the input is 1 the compare greater than or equal instruction compares the value of reg with the value of reg2 and sets the output to a 1 only if reg is greater than or equal to reg2 otherwise the output is set to 0 Reg1 and reg2 are left unchanged by the instruction If the input is 0 the output is uncondit
86. TER return 6 Ifnicname for result variable does not already exist the cursor will be located in the nicname field directly below the result variable If you want to enter a nicname for this variable type the nicname in up to 7 characters and press ENTER If you do not want to enter a nicname simply press ENTER The cursor is then located at the next ladder element location If a nicname already exists for the variable the cursor will automatically advance to the next ladder element location SYSdev Program Development Manual SYSTEMS Electronics Group 78 SECTION 7 LADDER PROGRAMMING 7 1 15 OR bitwise OR Symbol OR regl reg2 out result nicname akk kk oR oR Valid reg 1 bytes Byyy where yyy is the byte address 2 words Wyyy where yyy is the word address note that result must also be a word address 3 input byte Xyyz where yy is the slot 0 15 of the input and z is byte 0 or 1 at the slot 4 output byte Yyyz where yy is the slot 0 15 of the output and z is byte 0 or 1 at the slot 5 constants yyy where yyy is a fixed number between 0 and 255 if result is not a word or between 0 and 65535 if result is a word Valid result 1 bytes Byyy where yyy is the byte address 2 words Wyyy where yyy is the word address 3 output byte Yyyz where yy is the slot 0 15 of the output and z is byte 0 or 1 at the slot Annotation For arithmetic instructio
87. Thus the process controlled by the target board must be stopped during the program download 1 Connect COMI on the computer running SYSdev to the PROG PORT on the target board to be loaded with the program using the appropriate RS 232 cable see target board user s manual 2 With both the computer and target board powered up select this selection from the Target Board Interface menu A prompt will appear to verify whether to continue or not To abort the download press ESC otherwise press any key to start the download 3 While the download is in progress the HEX address of the current program byte being sent to the target board is displayed and the RUN LED on the target board will flash Program execution in the target board is suspended during program download 4 The target board will reset once the entire program has been sent and start execution of the user program in the same manner as a power on reset A program download complete message will be displayed along with a prompt to return to the Target Board Interface menu Press any key to return to the menu 5 Ifthe computer was unable to initiate the program download to the target board a message stating this will be displayed Verify the RS 232 cable connections between COM1 on the computer and the PROG PORT on the target board for proper connection Also verify that the RS 232 cable is wired correctly see target board user s manual Press any key to return to the Target
88. able See section 10 for details on the variable nicnames Description The operation of the AND instruction is as follows When in is a 1 reg is bitwise ANDED to reg2 and the result is placed in the result variable The output is unconditionally set to a 1 when the input is a 1 When in is a 0 the AND is not performed result is left at its last value and the output is set toa 0 SYSdev Program Development Manual SYSTEMS Electronics Group Sai SECTION 7 LADDER PROGRAMMING Example AND B100 B101 out B102 name 102 byte102 var doc line 3 When in is a 1 the contents of B100 is ANDED to the contents of B101 and the result is placed in B102 out is set to a 1 If B100 174 10101110 binary and B101 118 01110110 binary then B102 would 38 00100110 binary When in is a 0 B102 is left at its last value and out is set toa 0 To enter an AND box in a ladder block perform the following steps 1 From ladder editor menu press F5 Ladder Boxes 2 Press F6 AND amp 3 Enter first AND operand reg1 by typing a variable type B W X Y b variable address or number c press ENTER return 4 Enter second AND operand reg2 by typing a variable type B W X Y b variable address or number c press ENTER return 5 Enter result operand variable result will be stored at by typing a variable type B Y W b variable address c press EN
89. able the cursor will automatically advance to the next ladder element location SYSdev Program Development Manual SYSTEMS Electronics Group 100 SECTION 7 LADDER PROGRAMMING 7 1 25 move ext move from or to external RAM location Symbol Movx regl into out reg2 nicname oR Fo oR Valid reg 1 bytes Byyy where yyy is the byte address 2 words Wyyy where yyy is the word address 3 constants yyyy where yyyy is fixed external address number between 6144 1800H and 8191 1 fffH Annotation For move instructions the three lines by seven characters variable documentation of the reg2 variable is printed inside the box as shown with the lines This annotation only appears on the program printout See section 10 for annotation details Nicname For move instructions the seven character variable nicname of the reg2 variable is printed in parenthesis directly below the result variable See section 10 for details on the variable nicnames Description The movx instruction is available on the 3014 S3016 all M4000 modules and the D4110 This instruction performs the same task as sfunc07 and sfunc08 in the high level language It is used to read or write to the battery backed data memory which is not referenced as B or W variables See the respective target board user s manual for more details on this memory When the input is 1 the move external instruction moves the value of reg
90. able at the field pointer and pressing ENTER lt CR gt The status of the variable will immediately be displayed once Enter is depressed The pointer will then advance to the next field in the table The pointer may also be moved to any field in the display using the arrow keys PgUp or PgDn SYSdev Program Development Manual SYSTEMS Electronics Group 196 SECTION 12 ON LINE FUNCTIONS 12 2 6 Online Monitor Communications Communications to the target board is initiated as soon as online monitoring is selected The online monitoring is implemented by continuously reading all the specified variables from the target board and displaying the status of these variables in the appropriate fields These variables include all the contact and coil variables in the block if the block is a ladder block plus any variables entered in the variables status window by the user The communications is performed asynchronously to the target board main program scan Only the variables in the ladder block and status window are read The online monitor reads the variables one at a time from the target board from the first specified variable to the last and then starts over again The time to read all the specified variables is a function of the number of variables actually read The more variables specified the longer between status updates The comm status indicator in the status field is toggled every time all the variables specified are read this give
91. able name of the accum byte is printed inside the box as shown with the lines This annotation only appears on the program printout See section 10 1 for annotation details Nicname For timers the seven character variable nicname of the accum variable is printed in parenthesis directly below the accum variable See section 10 for details on the variable nicnames SYSdev Program Development Manual SYSTEMS Electronics Group 60 SECTION 7 LADDER PROGRAMMING Description The operation of the timer is as follows when in is a 0 the timer is reset the output is a 0 and accum is set equal to prst When in goes to a 1 the timer starts timing accum decrements down once per time base When accum reaches 0 the output is set to 1 and accum stops decrementing The output stays at a 1 until in goes to a 0 at which time the timer is reset as above Prst can be either a fixed constant or a byte address B or word address W S3012 only The byte or word address prst would be used when the preset is to be changed during program execution such as a result of a calculation performed by the user program or if it is to be changed by the user when connected to a computer The maximum preset number is 255 for byte accumulators and 65535 for word accumulators The output of the timer can be used just as the output of a contact Timers can be AND d and OR d with other ladder instructions to perform any desired logic
92. above provides a convenient way to copy programs from one computer to another 3 Make new directory This provides a way to make a new user program directory while inside PLSdev Enter the drive and directory name following the MS DOS conventions of directory names SYSdev Program Development Manual SYSTEMS Electronics Group 204 SECTION 13 PLS PROGRAMMING 4 Copy program to another program name This provides a way to copy the current program name to any disk and directory while also allowing the user to copy to a different program name Enter the drive directory and new program name using the MS DOS conventions for directory and file names Do not enter an extension with the program name This copies all the files associated with the program to the different directory and program name This selection can be used to copy the current name to another drive and directory when the program name entered is the same as the current program name This is also used to copy the program to a new program name For instance when one program is similar to another completed program simply copy the old program to the new program name and edit as required SYSdev Program Development Manual SYSTEMS Electronics Group 205 SECTION 13 PLS PROGRAMMING 13 2 2 Channel Edit Menu This menu is invoked for both off line and on line programming and provides a mechanism to enter and edit the set points for the channels The menu contains both
93. ag006 flag008 flag071 var doc var doc var doc var doc EEs SaS Counter line 3 line 3 line 3 F050 ck F006 F008 F071 0 H H H UGRI H 4 H H Cy 26 2 P 200 20 6 21 0 28 7 flag002 flag003 A B220 flag007 var doc var doc var doc line 3 line 3 byte220 line 3 F050 F003 en var doc F007 Tea T H line 3 20 2 20 3 20 7 flag004 var doc line 3 F004 ae 20 4 flag005 var doc line 3 F005 3 4 20 5 SYSdev Program Development Manual SYSTEMS Electronics Group C7 APPENDIX C LADDER PROGRAMMING EXAMPLES KKEKKKKKKKKKKKKKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKKKKKKKKKKKKKK block 9 Ladder The following is an example of the user of each output type standard latch unlatch and invert Also shown is the fact that output coils can be OR d together from a common network flag001 flag100 var doc var doc line 3 line 3 F001 F100 0 H H H H H H H H Ce 20 1 2C 4 bytel100 bit 4 var doc B100 4 L 64 4 flag101 var doc line 3 SYSdev Program Development Manual SYSTEMS Electronics Group C 8 APPENDIX C LADDER PROGRAMMING EXAMPLES The following are examples of ladder blocks with typical errors in them An error print out at the end of the section shows what type of compiler errors would be generated with each block See the error codes appendix for m
94. ale Factor The scale factor is the desired number of divisions per revolution This is programmable from 2 to 512 For 360 degrees per revolution the scale factor should be set to 360 13 3 3 Remote Display Strobe Time The remote display strobe time is the time that the strobe outputs on the remote display connector are activated to strobe the respective digits for the remote display The number entered between 1 and 255 is a preset for a timer with a 2 5msec time base and represents the time the strobe output is on SYSdev Program Development Manual SYSTEMS Electronics Group 209 SECTION 13 PLS PROGRAMMING 13 3 4 CH00 Brake Wear Compensation If the brake wear compensation algorithm available in CHOO is to be used it must be enabled in the PLS configuration If enabled the following additional parameters must be set Desired Stopping Location The desired stopping location in degrees of the press when a normal top dead center or back dead center stop is performed Allowed Stopping Error The amount of deviation in degrees from the desired stopping location that is allowed before the brake wear compensation algorithm modifies the CH00 timing CHO00 Timing Signal Width The width in degrees that the compensation algorithm will program the CH00 set point when it is modified Compensation Enable Window The window in which the brake wear algorithm will be allowed to move the CH00 set point for brake wear co
95. als 0 Truth Table Input Variable Output 0 0 0 1 0 1 0 1 0 1 1 0 SYSdev Program Development Manual SYSTEMS Electronics Group 50 SECTION 7 LADDER PROGRAMMING Examples 1 flag001 var doc line 3 F001 name001 2 lt byte100 bit 3 var doc B100 3 n100 3 3 xinp010 bit 7 var doc X010 7 nam10 7 4 yout041 bit 2 var doc Y041 2 nam41 2 To enter a normally closed contact in a ladder block perform the following steps 1 From ladder editor menu press F2 n c 2 Enter contact variable by typing a variable type F B X Y b variable address flag number for flags byte address for all others c period all types except flags d bit address 0 7 all types except flags e press ENTER return 3 Ifthe nicname for the variable does not already exist the cursor will be placed below the contact Enter the nicname for the variable and press ENTER If no nicname is to be entered press ENTER The cursor will automatically advance to the next ladder element If the variable already has a nicname the cursor will automatically advance to the next ladder element SYSdev Program Development Manual SYSTEMS Electronics Group 5 SECTION 7 LADDER PROGRAMMING 7 1 3 Coil standard Symbol Kk K k k 2K 2k Kk k k 2 2K 2k Kk k k k 2K 2k variable in nicname Valid Variables 1 flags Fzzz where zz
96. an application that requires a task to be performed at precise intervals The main program scan time will vary depending on the code that is executed each scan and on the true false state of this code The timed interrupt provides a means around this by providing a file which is executed at precise intervals SYSdev Program Development Manual SYSTEMS Electronics Group 339 SECTION 4 OVERVIEW OF PROGRAM STRUCTURE AND LANGUAGE The only limitation on the use of the timed interrupt is that the execution time of the timed interrupt file must be less than the timed interrupt time interval If the timed interrupt execution time is longer than the time interval a watchdog time out may occur causing the system fault routine to be executed The timed interrupt file is optional the user program does not have to incorporate this file 4 1 4 Communications Interrupt file The communications interrupt file is executed in response to a communications request from an intelligent CO CPU I O board This file is generally used to respond to the communications request by decoding which CO CPU board initiated the request then performing the appropriate communications system function see section 8 10 5 The communications interrupt file is not required 4 1 5 User Function files User function files are subroutines which can be called from any of the other files Up to 100 user functions can be defined The functions are designated by number
97. ariable used in a conditional expression or ignored all together When a user function is called from either the Main Timed Interrupt or Co Cpu Comm Interrupt files it cannot be called from either of the other two file types It can be called as many times as necessary from the same file type however General form ufuncXX Evaluation When the ufuncXX statement is encountered program execution is suspended in the current file while program execution proceeds in the user function specified by XX When the User function execution is complete program execution proceeds with the statement following the ufuncXX call in the original file SYSdev Program Development Manual SYSTEMS Electronics Group sid SECTION 8 HIGH LEVEL PROGRAMMING Notes 1 The XX specifies the user function number 0 to 99 2 The corresponding user function file must exist or the program will not compile 3 The shown is required no space between user function number and left parenthesis 4 The user function can return with a byte value This is done using the return statement inside the user function see section 8 9 This allows the user function to pass a result or error code as defined by the user back to the calling file 5 The user function return value can be assigned to a variable using a program statement The form of this is variable ufuncXX 6 The return value can also be used in a conditional expression to conditiona
98. ate in boards equipped with a real time clock S3016 and D4110 When this selection is selected the current time and date is read from the board and displayed The user is then prompted to enter the current time in 24 hour military time When the time is entered the current date is then prompted for Enter the date in Month Day Year format SYSdev Program Development Manual SYSTEMS Electronics Group OTs SECTION 3 MENUS 9 Program EPROM Once the program is compiled without errors this selection is used to program the EPROM s on target boards equipped with EPROM program memory If the program has not been compiled a message stating that the HEX file does not exist will be displayed Return to the main menu and compile the program then try programming the EPROM again The S3010 uses 2732A EPROMs while the 3021 and S3022 use 2764 EPROMs and the S3012 EP uses 27C256 EPROMs Make sure the EPROMs are fully erased using a UV light eraser prior to programming the EPROMs This EPROM programming facility supports the GTEK 7228 EPROM programmer using the PGMX communications program The PGMX COM program must be in the sys51 or sys96 directory for this facility to work the install program will load PGMX in the sys51 or sys96 directory provided PGMX was purchased with SYSdev If PGMX is not present a message stating this will be displayed along with a prompt to exit back to the main menu When using another EPROM programmer the u
99. atement The syntax of the program statement was incorrect or the program statement was unrecognizable C031 expression too large too many tokens Too many tokens variables operators or parenthesis were used to compose the expression The compiler cannot deal with the excessive number of tokens specified Break the expression down into two or more smaller expressions C032 invalid token beginning expression An incorrect token was used to begin the expression The only valid tokens which can be used to begin an expression are variables unary operators and left parenthesis C033 invalid token following An incorrect token was found following a left parenthesis in an expression The only valid tokens which can be used to follow a left parenthesis are variables constants unary operators and another left parenthesis C034 invalid token following An incorrect token was found following a right parenthesis in an expression The only valid tokens which can be used to follow a right parenthesis are binary operators or another right parenthesis SYSdev Program Development Manual SYSTEMS Electronics Group APPENDIX A STANDARD COMPILER ERROR CODES invalid keyword operator or variable An invalid keyword operator or variable was detected at the location specified In general the word or character was unrecognizable to the compiler Note All variables and keywords are case sensitive t
100. aud rate of the USER PORT on certain boards 7 USER PORT Parity used to set the parity of the USER PORT on certain board 8 USER PORT Stop Bits used to set the number of stop bits on the USER PORT for certain boards 9 Serial Network Baud Rate used to set the baud rate on the serial network to 106KBPS 229KBPS or 344K BPS 10 Input0 and Input Interrupt used to enable the INO and IN1 interrupts on the M4000 and D4110 modules 11 Fixed Scan Time Mode used to enable and set the time for fixed main scan time on the M4000 and D4110 modules Note All the boards and modules use only a certain percent of the above configuration parameters In the System Configuration menu SYSdev will only prompt the user for the parameters that apply to the specific selected target board Refer to the respective user s manual for details on the configuration parameters that apply to the specific target board SYSdev Program Development Manual SYSTEMS Electronics Group 37 SECTION 5 CONFIGURATION PARAMETERS This Page Intentionally Left Blank SYSdev Program Development Manual SYSTEMS Electronics Group 38 SECTION 6 VARIABLE FORMATS 6 1 Variables Three classes of variables are used in the SYSdev programming language They are bits bytes and words Bits are a single bit in width and can have a value of 0 or 1 Bytes are 8 bits in width and can have a value between 0 and 255 decimal or 0 and ffH hex Words are 16 bits in width
101. ber c press ENTER return 5 Enter result operand variable result will be stored at by typing a variable type B Y W b variable address c press ENTER return 6 Ifnicname for result variable does not already exist the cursor will be located in the nicname field directly below the result variable If you want to enter a nicname for this variable type the nicname in up to 7 characters and press ENTER If you do not want to enter a nicname simply press ENTER The cursor is then located at the next ladder element location If a nicname already exists for the variable the cursor will automatically advance to the next ladder element location SYSdev Program Development Manual SYSTEMS Electronics Group ST SECTION 7 LADDER PROGRAMMING 7 1 12 div division Symbol Divide regl reg2 out result nicname FoR oR eK Valid reg 1 bytes Byyy where yyy is the byte address 2 words Wyyy where yyy is the word address note that result must also be a word address 3 input byte Xyyz where yy is the slot 0 15 of the input and z is byte 0 or 1 at the slot 4 output byte Yyyz where yy is the slot 0 15 of the output and z is byte 0 or 1 at the slot 5 constants yyy where yyy is fixed number between 0 and 255 if result is not a word or between 0 and 65535 if result is a word Valid result 1 bytes Byyy where yyy is the byte address 2 words Wyyy where yyy is the wo
102. ble can be referenced These bits correspond to the respective I O point on the input board The form of this is Xaab c Where aa is the slot address and b is the byte address as defined above c is the bit or input point Examples X010 X151 X020 5 X000 7 etc Note Input variables can only be referenced for input boards that are actually included in the system configuration Any reference to input variables that do not correspond to existing input boards will result in a compiler error SYSdev Program Development Manual SYSTEMS Electronics Group 4 SECTION 6 VARIABLE FORMATS 6 1 5 Timed Interrupt Inputs I Timed Interrupt Input variables are bytes that contain the data read from input boards at the beginning of the timed interrupt Not all input boards are read at the beginning of the timed interrupt only the boards which are referenced with the T variable in the Timed Interrupt file This provides a mechanism for the timed interrupt to obtain the most recent input data from the selected high speed inputs Any input board specified in the system configuration can be referenced with the T variable When any input point is referenced with the T variable the entire input board is read at the beginning of the timed interrupt The T variable can only be used in the Timed Interrupt file any reference to the T variable in the main program will result in a compiler error Timed Interrupt Inputs I are only available in
103. block F001 1 W120 W122 W124 j eval as If B100 plus B101 is greater than or equal to B102 B110 equals B111 plus 20 F001 equals 1 and W120 equals W122 multiplied by W124 3 if F001 1 amp amp B101 gt 200 W102 lt 1000 B080 B081 25 statement block B082 200 else F010 F011 F012 statement block B104 B105 eval as If F001 equals 1 and B101 is greater than 200 or W102 is less than 1000 B080 equals BO81plus 25 and B082 equals 200 Else F010 equals F011 OR d with F012 and B104 equals the complement of B105 SYSdev Program Development Manual SYSTEMS Electronics Group 136 4 if B100 10 B110 B110 else if B100 20 B110 B110 4 else if B100 30 20 FS B110 B1104 6 else if B100 40 B110 200 else 2 SECTION 8 HIGH LEVEL PROGRAMMING program statement program statement program statement program statement null nop statement eval as If B100 equals 10 B110 equals B110 plus 20 otherwise if B100 equals 20 B110 equals B110 plus 5 otherwise if B100 equals 30 B110 equals B110 plus 6 otherwise if B100 equals 40 B100 equals 200 otherwise do nothing SYSdev Program Development Manual SYSTEMS Electronics Group 197s SECTION 8 HIGH LEVEL PROGRAMMING 8 6 Looping Statements for while and do while Looping statements provide a means of executing a
104. board invalid flag address Each target board has a finite flag memory space Any reference to a flag address that is not within this flag memory space will result in this error See the respective target board user s manual for the valid memory map of the target board invalid X address Any reference to an input address that does not actually contain an input board as defined in the system configuration will cause this error In addition the address must be specified as Xaab c where aa is the two digit slot address 00 to 15 b is the byte on the board 0 or 1 and c is the bit address 0 7 The bit address is optional See section 6 for more details invalid Y address Any reference to an output address that does not actually contain an output board as defined in the system configuration will cause this error In addition the address must be specified as Yaab c where aa is the two digit slot address 00 to 15 b is the byte on the board 0 or 1 and c is the bit address 0 7 The bit address is optional See section 6 for more details SYSdev Program Development Manual SYSTEMS Electronics Group A 3 APPENDIX A STANDARD COMPILER ERROR CODES C019 invalid constant for variable type Constants must be specified in the range that is appropriate to the variable expression class If the class is bit only 0 and 1 are valid constants If the class is byte 0 to 255 decimal or 0 to ffH hex is valid If the class is wo
105. ce W100 reve 6 dest W120 ret B080 name080 byte080 var doc line 3 While in is a 1 the contents of the four words W100 W102 W104 and W106 are sent to the Co Cpu in slot 6 and the six words read from the Co Cpu are stored in words W120 thru W130 The output is set to 1 when the input is 1 and set to 0 when the input is 0 the comm is not performed when the input is 0 To enter a Block comm box in a ladder block perform the following steps 1 From ladder editor menu press F5 Ladder Boxes 2 Press F10 More Boxes 3 Press F10 More Boxes 4 Press F3 Block Comm 5 Enter Co Cpu slot address by typing a variable type b slot number c press ENTER return SYSdev Program Development Manual SYSTEMS Electronics Group 113 SECTION 7 LADDER PROGRAMMING 6 Enter to send to Co Cpu by typing a variable type B b variable address or number c press ENTER return 7 Enter address of send srce stack by typing a variable type W b variable address c press ENTER return 8 Enter to receive from Co Cpu by typing a variable type B b variable address or number c press ENTER return 9 Enter address of receive dest stack by typing a variable type W b variable address c press ENTER return 10 Enter address of return value by typing a variable type B b variable address c press ENTER return 11 If nicname for ret variab
106. characters and press ENTER If you do not want to enter a nicname simply press ENTER The cursor is then located at the next ladder element location If a nicname already exists for the variable the cursor will automatically advance to the next ladder element location SYSdev Program Development Manual SYSTEMS Electronics Group 69 SECTION 7 LADDER PROGRAMMING 7 1 11 mul multiplication Symbol Multiply regl reg2 out result nicname oR oR oR Valid reg 1 bytes Byyy where yyy is the byte address 2 words Wyyy where yyy is the word address note that result must also be a word address 3 input byte Xyyz where yy is the slot 0 15 of the input and z is byte 0 or 1 at the slot 4 output byte Yyyz where yy is the slot 0 15 of the output and z is byte 0 or 1 at the slot 5 constants yyy where yyy is a fixed number between 0 and 255 if result is not a word or between 0 and 65535 if result is a word Valid result 1 bytes Byyy where yyy is the byte address 2 words Wyyy where yyy is the word address 3 output byte Yyyz where yy is the slot 0 15 of the output and z is byte 0 or 1 at the slot Annotation For arithmetic instructions the three lines by seven characters variable documentation of the result variable is printed inside the box as shown with the lines This annotation only appears on the program printout See section 10 for annotation
107. cted parameter either on or off whichever was selected with the On Setpnt or Off Setpnt commands by one SYSdev Program Development Manual SYSTEMS Electronics Group 212 SECTION 13 PLS PROGRAMMING The fine tune command is primarily used in on line mode to fine tune set points while the machine is in operation 13 4 3 Pulse Train Command The pulse train command is used to program a channel with a fixed on and off duration throughout the entire channel in one simple command To program a channel with a pulse train perform the following 1 2 3 4 5 Select F5 Pulse Train from the Channel Edit menu The cursor is located in the ON field of the Channel Edit menu Enter the on duration in degrees and press Enter lt CR gt The cursor is located in the OFF field of the Channel Edit menu Enter the off duration in degrees and press Enter lt CR gt The cursor is now located in the START field Enter the location that the pulse train will be initially started at in degrees and press Enter lt CR gt The entire channel will be programmed with the on and off duration throughout the entire channel starting at the start location The first 50 set points or less will be displayed in the set point array Note The set point cursor will not be displayed since the single set point and fine tune commands are not valid if the channel is programmed as a pulse train SYSdev Program Dev
108. cters variable name is printed above the contact as shown with the lines This annotation only appears on the program printouts See section 10 1 Nicname For contacts the seven character nicname is shown directly below the contact Description The normally open contact passes power when the variable referenced is a 1 That is when the variable is 1 the output of the contact equals the input if the variable is 0 the output equals 0 Truth Table Input Variable Output 0 0 0 1 0 0 0 1 0 1 1 1 SYSdev Program Development Manual SYSTEMS Electronics Group 48 SECTION 7 LADDER PROGRAMMING Examples 1 flag001 var doc line 3 F001 name001 2 byte100 bit 3 var doc B100 3 n100 3 3 xinp010 bit 7 var doc X010 7 nam 10 7 4 yout041 bit 2 var doc Y041 2 nam41 2 To enter a normally open contact in a ladder block perform the following steps 1 From ladder editor menu press F1 n o 2 Enter contact variable by typing a variable type F B X Y b variable address flag number for flags byte address for all others c period all types except flags d bit address 0 7 all types except flags e press ENTER return 3 Ifthe nicname for the variable does not already exist the cursor will be placed below the contact Enter the nicname for the variable and press ENTER If no nicname is to be entered press ENT
109. ctly below the dest variable If you want to enter a nicname for this variable type the nicname in up to 7 characters and press ENTER If you do not want to enter a nicname simply press ENTER The cursor is then located at the next ladder element location If a nicname already exists for the variable the cursor will automatically advance to the next ladder element location SYSdev Program Development Manual SYSTEMS Electronics Group 111 SECTION 7 LADDER PROGRAMMING 7 1 29 Block Comm CO CPU Block Communications Sym bol Block Comm slot sent B or out srce Wreg reve B or dest Breg ret Breg nickname ae a a 2 keke FoR pees Parameter definitions slot Slot the Co Cpu board resides in Valid variables constant 0 15 sent Number of words to send to Co Cpu board Valid variables constant 0 128 or Byyy where Byyy contains the number of words to be sent srce Starting address of send stack in S3012 which will be sent to Co Cpu A consecutive number of words sent will be sent to the Co Cpu starting at this address Valid variables Wyyy where Wyyy is the address of the first word to be sent rcve Number of words received from Co Cpu Valid variables constant 0 128 or Byyy where Byyy contains the number of words to be received dest Starting address in S3012 where words sent from Co Cpu will be stored Valid variables Wyyy where Wyyy is the address of the first word i
110. ctories For this reason the installation program should always be used to install the software on your hard disk and to back up the software from the hard disk to diskettes The install program installs the SYSdev program from the drive it was invoked from to any user designated drive A B C D E F Thus SYSdev can be installed from either diskette drive A or B to any hard drive C D E or F or can be backed up from any hard drive C D E or F to either diskette drive A or B The install program creates three directories at the root directory of the designated drive called SYS51 SYS96 and PLS51 and copies the corresponding executive files to these directories In addition two sub directories are created called SUP51 and SUP96 in the SYS51 and SYS96 directories respectively with the corresponding support files copied to these directories The primary SYSdev EXE executive shell file is copied to the root directory of the designed drive along with INSTALL EXE file SYSdev Program Development Manual SYSTEMS Electronics Group SECTION 1 INTRODUCTION 1 5 1 Installing SYSdev on a Hard Disk To install SYSdev on your hard disk perform the following 1 2 3 4 5 With the computer booted up and at the MS DOS prompt install the SYSdev disk 1 in the diskette drive A or B Switch to the diskette drive you installed disk 1 in A or B and type INSTALL and press Enter The install program will prompt you for the drive
111. cussed in detail in the following 11 1 Program File Printouts 1 thru 6 Selections 1 thru 6 are used to print out the respective user program file Selection 1 prints all the user files associated with the program Main Timed Interrupt CO CPU Interrupt Init and User Functions Selections 2 thru 6 print out the respective file Selection 6 prompts for a user function number before printing In all cases a prompt is displayed asking if a cross reference for each block is to be printed If the answer is yes a cross reference of the variables used in the block will be printed immediately following the block The format of the cross reference is identical to the format of the cross reference printout see section 11 2 If the answer is no no cross reference is printed with each block The only disadvantage of printing cross references with each block is that significantly more paper is used For selections 2 thru 6 three more prompts are displayed The first prompt allows the user to enter the starting block to start printing 0 999 The second prompt allows the user to enter the ending block to stop printing 0 999 The third prompt allows the user to enter the page number of the starting print block If the entire file is to be printed enter 0 for the starting block 999 for the ending block and 1 for the starting page number SYSdev Program Development Manual SYSTEMS Electronics Group eA 8Es SECTION 11 PROGRAM PRINTOUTS
112. d Could not process the statement as entered SYSdev Program Development Manual SYSTEMS Electronics Group APPENDIX A STANDARD COMPILER ERROR CODES C005 C006 C007 C008 C009 illegal label goto or character The label specified in the goto statement is not valid Labels used in goto s must be 8 characters or less in length and must be composed of the following character sets a thru z A thru Z 0 thru 9 or _ The leading character must be from either the a thru z or A thru Z character sets At least one space must separate the goto from the label incorrect statement format The statement format is not correct This could be caused by missing parenthesis commas the incorrect number of parameters etc Refer to the respective section of the High level Programming chapter for the correct statement format missing to end statement The semicolon required to end the statement is missing missing to end block The right brace required to end a statement block is missing number of does not match An any given expression the number of left parenthesis must match the number of right parenthesis Add the parenthesis as necessary to balance the expression C010 invalid variable type for operation The variable does not match the expression variable class If the class is bit all variables must be bits flags or bits within bytes If the class is byte all va
113. d place the chip in the socket with pin 1 of the chip in pin of the socket Press any key to start the programming process The programming socket on the EPROM programmer is a zero force insertion socket clamp the EPROM in the socket before commencing programming SYSdev Program Development Manual SYSTEMS Electronics Group 28 SECTION 3 MENUS If the EPROM programmer is connected to the computer properly the current address being programmed is displayed The BUSY LED on the EPROM programmer is also illuminated while the EPROM is programmed Follow the instructions displayed for the particular EPROM s being programmed When the EPROM programming is complete a prompt to return to the main menu will be displayed Remove the EPROM from the socket and install in the board For 3010s the first EPROM programmed is installed in IC socket U4 lower 4K while the second EPROM is installed in U5 upper 4K of the S3010 Refer to the respective user s manual for more details on installing EPROM s in the S3010 S3012 EP S3021 and S3022 boards EPROM Programming Problems If a message is displayed stating there is a hardware fault or that the EPROM programmer is not responding verify that the EPROM programmer is powered up and that the programmer cable is connected properly Press ESC and then any key to exit the EPROM programming facility and then attempt programming the EPROM again If the problem persists try powering down the EPROM
114. d while keywords are case sensitive both must be all lower case letters SYSdev Program Development Manual SYSTEMS Electronics Group Jays SECTION 8 HIGH LEVEL PROGRAMMING Example 1 B100 0 do B101 B101 5 B100 J while B100 lt 20 Evaluation This loop evaluates identically to the first example shown for the preceding while statement The difference between this statement and the while statement is that the program code is executed once before B100 is tested for less than 20 SYSdev Program Development Manual SYSTEMS Electronics Group 144 SECTION 8 HIGH LEVEL PROGRAMMING 8 7 Unconditional Program Jump goto statement The goto statement provides a means to unconditionally jump to a specific location in the program This allows program code to be skipped or different sections of the program to be selectively executed The goto statement specifies a label that will be jumped to when the goto is executed General form goto label label Evaluation The program will jump from the goto statement to Iabel when the goto is executed The code between the goto statement and label is not executed in any way no execution time is associated with this code during the jump Notes 1 The goto keyword is case sensitive goto must be all lower case letters 2 Atleast one space must separate the goto keyword from the label 3 The label is composed of 8 characters
115. dder block matrix 6 With the exception of the preceding limitations virtually any network form is allowed including a Nested or or branch networks b Timers counters and shift register outputs can all be used just as contact outputs can be used These outputs can be Oar s and Andy s with other instructions as necessary to achieve the desired network form c Coils can be OR d together Up to 7 coils can be placed in any ladder block d Any number of networks or rungs can be placed in a ladder block as many as can fit To Enter or edit a ladder block perform the following 1 From Main Development Menu press 1 Edit Program 2 Select file to edit 3 To insert a new ladder block press F1 Insert Ladder 4 To edit the current existing ladder block press F4 Edit Block 5 Enter ladder instructions as outlined for each ladder instruction in the instruction set section 6 When finished press ESC to accept the block SYSdev Program Development Manual SYSTEMS Electronics Group 115 SECTION 7 LADDER PROGRAMMING 7 3 Ladder Block Execution The ladder language can be looked at just like any other ladder language where there is considered to be a power rail on the left which provides power to the logic networks or rungs These networks or rungs are composed of contacts timers counters shift registers and coils Contacts timers counters and shift registers all can provide power power flow based on
116. different existing PLS program or to create a new program once PLSdev has been invoked When the selection is entered the Main Development menu is cleared and the cursor is placed at the Program Name prompt Enter the desired program name as was done when PLSdev was initially invoked 9 File Utilities The PLSdev program allows you to back up restore make a new directory and to copy the current program to another program name all while inside PLSdev Selecting File Utilities brings up a sub menu with the following choices 1 Back up Program This allows the current program to be backed up on a diskette in drive A Install the back up diskettes in drive A and press any key when ready This copies all the files associated with the program to the root directory of the A drive Note The files will be stored at the root directory of the diskette not within a sub directory This selection provides a convenient way to back up your program 2 Restore Program This copies the current program name from the root directory of the A drive to the drive and directory specified with the current program name Install the diskette with the program on it in the A drive and press any key when ready This copies all the files associated with the program name on the A drive to the path specified with the program name Note The program files on the diskette in drive A must be at the root directory This selection along with the back up selection
117. e 2at the end of this section SYSdev Program Development Manual SYSTEMS Electronics Group 168 SECTION 8 HIGH LEVEL PROGRAMMING 8 14 14 INDIRECTION Symbol Form operand Operand Types 1 variables Class arithmetic Type unary Precedence 9 a bytes B X Y b words W Definition The indirection operator turns the variable which is it s operand into a pointer to an address The value at the address in operand is then the result of the indirection operation not the value in operand See note1 at the end of this section Examples 1 statement contents eval as 2 statement contents eval as 3 statement B100 B101 80 1 B80 30 2 B100 B80 pointed to by B101 result B100 30 B100 B102 B104 150 140 170 1 B140 10 2 B140 10 pointed to by B102 B104 170 180 3 B150 pointed to by B100 180 result B150 180 W100 W102 contents 130 eval as 1 W130 1500 2 W100 W130 pointed to by W102 result W100 1500 SYSdev Program Development Manual SYSTEMS Electronics Group 169 SECTION 8 HIGH LEVEL PROGRAMMING 8 14 15 LESS THAN Symbol lt Class relational Type binary Precedence 3 Form operand lt operand Operand Types 1 variables a bytes B X Y b words W 2 constants right operand only a 0 255 decimal byte b 0 ffH hex byte c 0 65535 decimal
118. e all equivalent and are executed identically Spaces between the variables and operators can be added as shown to improve readability The following is an example of High level code that could be implemented in a High level block B100 B102 B103 B104 program statement if B120 10 if statement B121 B122 20 if BO80 lt 20 if else if else statement COGN ON A ee ee ee B102 30 statement block B 103 10 11 else if B080 gt 30 amp amp B080 lt 40 12 F001 1 13 else 14 F001 0 15 16 for B090 0 B090 lt 20 B090 for loop 17 18 B100 B090 19 B100 20 21 22 B092 0 23 while B092 lt 20 while loop 24 25 B100 B092 26 B100 27 B092 28 oe SYSdev Program Development Manual SYSTEMS Electronics Group 120 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 B094 0 do B100 B094 B094 B100 while B094 lt 20 if F001 1 goto label 1 else goto label 2 label 1 ufunc01 label 2 SECTION 8 HIGH LEVEL PROGRAMMING do while loop goto statement user function subroutine call The following are definitions which will be referenced throughout the subsequent sections Arithmetic refers to a class of operators or expressions which evaluate to a value
119. e line C003 premature end of block The ending brace of a statement block was not found before the end of the high level block Add closing brace to statement block C004 unrecognized keyword An unrecognized or invalid high level statement was encountered Could not process the statement as entered SYSdev Program Development Manual SYSTEMS Electronics Group B 1 APPENDIX B 3012 COMPILER ERROR CODES C005 C006 C007 C008 C009 illegal label goto or character The label specified in the goto statement is not valid Labels used in goto s must be 8 characters or less in length and must be composed of the following character sets a thru z A thru Z 0 thru 9 or _ The leading character must be from either the a thru z or A thru Z character sets At least one space must separate the goto from the label incorrect statement format The statement format is not correct This could be caused by missing parenthesis commas an incorrect number of parameters etc Refer to the respective section of the High level Programming chapter for the correct statement format missing to end statement The semicolon required to end the statement is missing missing to end block The right brace required to end a statement block is missing number of does not match An any given expression the number of left parenthesis must match the number of ri
120. elections are also available They are F1 Select variable This allows the variable to be set in the variable field To set the variable press F1 The variable field will clear and the cursor will move to this field Enter the variable exactly as it is used in the program and press Enter lt CR gt If annotation for the variable already exists it will now be displayed If not the annotation lines will be empty F2 Next Variable This selection advances the variable number by one next variable and displays the annotation for that variable The variable annotation can then be edited F3 Previous Variable This selection reduces the variable number by one previous variable and displays the annotation for that variable The variable annotation can then be edited SYSdev Program Development Manual SYSTEMS Electronics Group 183 SECTION 10 PROGRAM ANNOTATION AND DOCUMENTATION F4 Repeat Documentation This selection enters repeats the annotation last entered into the currently selected variable This provides a means of copying or duplicating annotation for a number of different variables The above selections are used to set the variable to be annotated and to copy or duplicate annotation for the variables Once the variable number is entered the cursor is placed on the first character of the first line of annotation Simply type in the annotation using the Enter lt CR gt space backspace and cursor keys to move between
121. ell Take care not to accidentally access the bytes within a word when this was not intended Examples W110 W096 W150 W034 etc SYSdev Program Development Manual SYSTEMS Electronics Group 44 SECTION 6 VARIABLE FORMATS 6 2 Constants Constants are used as fixed numbers in High level arithmetic and conditional statements as well as for presets in timer counters in ladder blocks In High level blocks constants can be represented in decimal or hex If the number is decimal the constant is simply entered as the number to be referenced No prefix or suffix is specified If the number is hex the suffix H is added immediately following the hex number Examples of both are 25 decimal 25657 decimal aeH hex f000H hex The hex letters a b c d e f are case sensitive and must be typed as lower case letters The hex suffix is also case sensitive and must be typed as a capital letter H When the variable class is byte the range on constant values is 0 to 255 decimal and 0 to ffH hex If the variable class is word the range of constant values is 0 to 65535 decimal or 0 to ffffH hex The equivalent decimal value of the hex digits are HEX DECIMAL BINARY 0 0 0000 1 l 0001 2 2 0010 3 3 0011 4 4 0100 5 5 0101 6 6 0110 7 T7 0111 8 8 1000 9 9 1001 a 10 1010 b 11 1011 c 12 1100 d 13 1101 e 14 1110 f 15 1111 SYSdev Program Development Manual SYSTEMS Electronics Group 45 SECTION 6 VARIABLE FORMATS
122. elopment Manual SYSTEMS Electronics Group 213 APPENDIX A STANDARD COMPILER ERROR CODES This appendix contains a list of all the error codes generated by the compiler for all boards except the S3012 with a description of each The format of the error code as displayed or printed is Code block row col description where Code error code number Codes preceded with a C are High level block errors Codes preceded with an R are ladder block errors block the block number the error occurred in row the row or line number within the block that the error occurred in col the col number within the block that the error occurred in description a one line description describing the error High Level error codes C001 illegal character in keyword An unrecognized character was found in a keyword or statement The statement does not conform to the proper form Most keywords are case sensitive make sure lower and upper case letters were used correctly C002 statement not complete The semicolon parenthesis or other statement ending character appropriate for the gt statement was not found before the last column of the line C003 premature end of block The ending brace of a statement block was not found before the end of the high level block Add closing brace to statement block C004 unrecognized keyword An unrecognized or invalid high level statement was encountere
123. ent Program Statement The post unary assignment program statement alters the value of the variable directly using either unary assignment operator increment or decrement as specified The format of this statement is variable operator Examples 1 statement contents eval as 2 statement contents eval as B100 50 1 B100 50 1 Result B100 49 W102 1000 1 W102 1000 1 Result W102 1001 Note The pre unary and post unary assignment statements have the identical effect on the variable The variable is either incremented by one when operator is used or decremented by one when the operator is used SYSdev Program Development Manual SYSTEMS Electronics Group 131 SECTION 8 HIGH LEVEL PROGRAMMING 8 4 Program Statements Multiple program statements can be included on one line by separating the statements with a comma The general form of this is var expression var expression var expression Note Only one semicolon is used to end the entire line Examples B100 B101 B102 W102 W104 W106 B102 W108 W080 B08 1 B082 B083 W106 B104 200 As will be seen in the following sections program statements can be used in conjunction with the if else if else statement and the looping statements for while and do while or they can be used independently simply to perform the desired equation 8 4 1 Statement Blocks A Statement bl
124. er 0 7 to the byte address The form of this is Bzzz y Where zzz is the byte address as specified above and y is the bit 0 7 This allows any bit in any byte to be referenced just as a flag is referenced These byte bit variables can be used in ladder blocks as contact and coil variables as well as in High level blocks Execution times for instructions that use bits within a byte are longer than execution times for instructions using flags Keep this in mind when using byte bit references Examples B080 0 B075 7 B110 6 B090 3 etc 6 1 4 Inputs X Input variables are bytes that contain the data read from the input boards during the main program T O update One X byte is allocated for each rack input byte thus an S3063 16 point input has two X bytes allocated for it one byte for inputs 00 thru 07 and one byte for inputs 10 thru 17 The input bytes are allocated based on the I O slot assignments made in the system configuration Input variables are updated at the beginning of the main program scan At that time all the input boards are read with the corresponding data from each input placed in the respective input byte The format of the input byte is Xaab Where aa is the two digit slot address 00 15 and b is the byte at the slot 0 or 1 Note The X must be a capital letter and that the slot address must be two digits add leading zeros as required As with byte variables individual bits within the X varia
125. er will be cleared and the cursor will be placed in the CHANNEL field Simply type in the desired channel number in octal and press ENTER lt CR gt to accept The set points and data for that channel will then be displayed SYSdev Program Development Manual SYSTEMS Electronics Group 207 SECTION 13 PLS PROGRAMMING F4 Doc Chan Used to enter the channel description or name in the DESCRIPTION field This is a user definition of the channel and will be associated with the channel at all times printouts etc Up to 20 printable characters can be entered in this field Once the name is entered press ENTER lt CR gt to accept F5 Pulse Train Used to program the channel as a pulse train See section 13 4 for details F6 Fine Tune Used to fine tune increment or decrement the selected set point See section 13 4 for details F7 Clear SetPnt Clears the currently selected set point set point designated with cursor No other set points are affected by this command F8 Clear Chan Clears all the set points in the channel Also used to clear the channel and reset the pulse train mode to no when a channel has been programmed as a pulse train F9 POS RPM This selection is only available in the on line mode When selected the current position and speed is read from the PLS module and displayed in the message box of the menu Both the position and speed is updated continuously when this selection is active To exit the selec
126. es constants and expressions and then conditionally executing program statements or statement blocks based on the true false result of the test Three basic types of if expressions are available the if statement the if else statement and the if else if else statement Notes about the following General forms 1 The parenthesis around the conditional expressions are required 2 The indentation shown on the program code is not required but highly recommended This adds to the readability of the program 3 The program code referenced can be either a single line program statement or a statement block as defined in the previous sections 8 3 and 8 4 4 The conditional expression must explicitly state the desired test No implied test is made on a variable 1 e if F001 where F001 is implicitly tested for 1 is not allowed the proper form would be if F001 1 SYSdev Program Development Manual SYSTEMS Electronics Group 133 SECTION 8 HIGH LEVEL PROGRAMMING 8 5 1 if statement General form if conditional expression program code Evaluation If conditional expression is true the program code following the if statement is executed otherwise it is not 8 5 2 if else statement General form if conditional expression program code 1 else program code 2 Evaluation If conditional expression is true program code 1 is executed if conditional expression is false program code 2 is execu
127. fic hardware functions on the target board These can be input or output hardware functions as defined by the specific port pin See the respective user s manual for the target board for a complete description of the port pins functions The format for the port pins is Paa Where aa is the two digit port pin 10 17 or 30 37 Note The P must be a capital letter and that the port pin address must be two digits Port pin variables are only accessible through the High level or Assembly language These variables cannot be referenced with the ladder language Port pin references are made identically as to references to flags 6 1 3 Bytes B Byte variables are 8 bit variables used as general purpose variables in the user program Byte variables can have a value between 0 and 255 decimal or 0 and ffH hex Byte variables are used as arithmetic variables in the High level language timer counter presets and accumulators as well as shift register bytes in the ladder language The format of the byte variable as used in programming is Bzzz Where zzz is the three digit byte address Note The leading B must be a capital letter and that zzz must be a three digit number include leading zeros as necessary Examples B080 B093 B151 etc SYSdev Program Development Manual SYSTEMS Electronics Group 40 SECTION 6 VARIABLE FORMATS Individual bits within the byte can also be accessed by simply appending a followed by the bit numb
128. field can be any of the following byte constant 0 to 255 decimal 0 to ffH hex byte variable Bxxx where xxx is the byte address byte pointer Bxxx where xxx is a pointer to a byte address indirect addressing no operand no value is specified value returned is arbitrary Wee The parenthesis and semicolon are required as shown The return should only be used inside user functions Unpredictable program execution may result if used in other than user function files Examples 1 return 25 eval as return with constant of 25 decimal 2 return aeH eval as return with constant of aeH hex 3 return B100 eval as return with contents of B100 4 return B120 eval as return with contents of byte address pointed to by B120 For example if B120 80and B080 45 then the user function would return with the value 45 SYSdev Program Development Manual SYSTEMS Electronics Group 149 SECTION 8 HIGH LEVEL PROGRAMMING 8 10 System Functions System functions provide the user with a means of performing extended I O functions such as communications to intelligent I O boards communication through the RS 232 USER PORT communication on the serial network etc System functions are available to allow access to the unique hardware features of the various target boards In general different target boards support different system functions For this reason this section is a very brief overview
129. ft right box in a ladder block perform the following steps 1 From ladder editor menu press F5 Ladder Boxes 2 Press F10 More Boxes 3 Press F1 Shift gt 4 Enter first Shift operand reg1 by typing a variable type B W X Y b variable address or number c press ENTER return 5 Enter second Shift operand reg2 by typing a variable type B W X Y b variable address or number c press ENTER return 6 Enter result operand variable result will be stored at by typing a variable type B Y W b variable address c press ENTER return 7 Ifnicname for result variable does not already exist the cursor will be located in the nicname field directly below the result variable If you want to enter a nicname for this variable type the nicname in up to 7 characters and press ENTER If you do not want to enter a nicname simply press ENTER The cursor is then located at the next ladder element location If a nicname already exists for the variable the cursor will automatically advance to the next ladder element location SYSdev Program Development Manual SYSTEMS Electronics Group 88 SECTION 7 LADDER PROGRAMMING 7 1 19 shift lt lt shift left Sym bol Shift Left regl reg2 out result nicname akk kk oR oR Valid reg 1 bytes Byyy where yyy is the byte address 2 words Wyyy where yyy is the word address note that result must also be a word address 3 i
130. ght This also occurs when a network has negative power flow which is not allowed R005 no continuity at start of branch This error occurs when the upper node of a vertical short is left floating no connection Both nodes of a vertical short must be connected R006 no continuity at end of branch This error occurs when the bottom node of a vertical short is left floating no connection Both nodes of a vertical short must be connected R007 invalid Flag address Each target board has a finite flag memory space Any reference to a flag address that is not within this flag memory space will result in this error See the respective target board user s manual for the valid memory map of the target board SYSdev Program Development Manual SYSTEMS Electronics Group B 11 APPENDIX B 3012 COMPILER ERROR CODES R008 R009 R010 R011 R012 R013 R015 invalid Byte address Each target board has a finite variable data memory space Any reference to a byte address that is not within this data memory space will result in this error See the respective target board user s manual for the valid memory map of the target board invalid X address no input at slot Any reference to an input address that does not actually contain an input board as defined in the system configuration will cause this error In addition the address must be specified as Xaab c where aa is the two digit slot address 00 to 15 b is the byte
131. ght parenthesis Add the parenthesis as necessary to balance the expression C010 invalid variable type for operation The variable does not match the expression variable class If the class is bit all variables must be bits flags or bits within bytes If the class is byte all variables must be bytes B X Y variables If the class is word the variables can be words W or bytes B X Y C011 incorrect user function format The correct user function format is ufuncXX where XX is the user function number If the user function is used as a program statement it must be followed immediately with a semicolon as in ufuncXX C012 incorrect system function format The system function format is incorrect See the respective target board user s manual for the correct system function formats SYSdev Program Development Manual SYSTEMS Electronics Group B2 C013 C014 C015 C016 C017 C018 C019 APPENDIX B 3012 COMPILER ERROR CODES invalid system function number Only the system functions supported by the respective target board are valid for that target board See the respective target board user s manual for the system functions supported by that board invalid byte address Each target board has a finite variable data memory space Any reference to a byte address that is not within this data memory space will result in this error See the respective target board user s manual for the valid memory map of
132. h description of the High level programming language 4 2 3 Assembly Block The assembly language is the Intel MCS 51 assembly language for all boards except the 3012 and the Intel MCS 96 language for the S3012 The instructions conform to the MCS 51 or MCS 96 instruction set while the syntax conforms to the UNIX system V assembler syntax The assembly block is a 57 line by 80 column matrix where the assembly instructions are entered as text The instructions are executed sequentially with the exception of the jump instructions See section 9 for more details on the Assembly instruction set Most programs do not require the use of assembly programming The assembly language was included to provide the more advanced user absolute flexibility and access to the respective processor architecture Any file can have any number of each type of block The blocks can be intermixed freely with one another to create the desired program structure Within a file the blocks are executed sequentially starting with the first block of the file SYSdev Program Development Manual SYSTEMS Electronics Group 35 SECTION 4 OVERVIEW OF PROGRAM STRUCTURE AND LANGUAGE 4 3 SYSdev File Extensions SYSdev creates a number of MS DOS files associated with a particular user program These include the five file types discussed above plus additional internal files used by SYSdev Al files use the user program name as the main file name and then add an extensio
133. hance to perform any logic desired at power up Once initialization is complete the Main Program file is executed This file is executed or scanned from beginning to end continuously At the beginning of the main program scan all input boards specified in the system configuration are read and all output boards specified in the configuration are written to The execution of the main program continues indefinitely unless either the Timed Interrupt or Communications Interrupt occurs The main program execution is suspended at the occurrence of either interrupt with program execution transferred to the corresponding interrupt file The interrupt file is then executed once from beginning to end At the completion of the interrupt program execution is passed back to the main program at the location that it was suspended The following is a description of each user file type and its use SYSdev Program Development Manual SYSTEMS Electronics Group 3 SECTION 4 OVERVIEW OF PROGRAM STRUCTURE AND LANGUAGE 4 1 1 Initialization file The Initialization file is executed once at power up The purpose of this file is to give the user an opportunity to execute any logic desired at power up prior to the start of main program execution The primary use of this file is to perform the initial communications with any intelligent CO CPU I O boards in the rack All CO CPU boards must be initialized at power up in order to set the board identifier in
134. hex byte c 0 65535 decimal word d 0 ffffH hex word 3 expressions Definition The greater than operator compares the value of the left operand to the value of the right operand and sets the result to yes if the left operand is greater than the right operand otherwise the result is set to no See notes 1 and 5 at the end of this section Examples 1 expression B100 gt 40 contents 50 eval as 1 B100 50 greater than 40 result Yes 2 expression W102 W104 gt W106 contents 500 400 gt 1000 eval as 1 W102 500 W104 400 900 2 900 greater than 1000 result No SYSdev Program Development Manual SYSTEMS Electronics Group 166 SECTION 8 HIGH LEVEL PROGRAMMING 8 14 12 GREATER THAN OR EQUAL Symbol gt Form operand gt operand Operand Types 1 variables a bytes B X Y b words W 2 constants right operand only a 0 255 decimal byte b 0 ffH hex byte c 0 65535 decimal word d 0 ffffH hex word 3 expressions Class relational Type binary Precedence 3 Definition The greater than or equal operator compares the value of the left operand to the right operand and sets the result to yes if the left operand is greater than or equal to the right operand otherwise result is set to no See notes 1 and 5 at the end of this section Examples 1 expression contents eval as 2 expression contents eval as 3 expressio
135. hey must be entered with lower or upper case letters as appropriate invalid operator The operator at the location specified is invalid as used in the expression See the Operator Reference section 8 14 for the proper use of all operators A 5 APPENDIX A STANDARD COMPILER ERROR CODES C035 C036 C037 C038 C039 C040 C041 C042 invalid token following variable An incorrect token was found following a variable in an expression The only valid tokens which can be used to follow a variable are binary operators post unary operators or a right parenthesis invalid token following binary operator An incorrect token was found following a binary operator in an expression The only valid tokens which can be used to follow a binary operator are variables constants unary operators or a left parenthesis improper use of unary operator The unary operator was not used properly in the expression See the Operator Reference section 8 14 for details on how operators can be used inappropriate use of operator The operator was not used properly in the expression See the Operator Reference section 8 14 for details on how operators can be used invalid token for expression type An invalid token variable operator parenthesis was used in the expression or was used in an inappropriate way at the location specified missing in expression A right parenthesis was missing in a s
136. i e ufunc01 ufunc20 etc The user function is a true subroutine in that program execution is suspended in the file while execution is passed to the user function On return from the function program execution continues at the location in the file where it was suspended User functions can be called from any file type including another user function Thus user functions can be nested within one another to any level desired The only limitation is that recursion is not allowed a user function cannot call itself User functions are optional the user program does not have to incorporate user functions SYSdev Program Development Manual SYSTEMS Electronics Group 33 SECTION 4 OVERVIEW OF PROGRAM STRUCTURE AND LANGUAGE 4 2 SYSdev Programming Language Each of the five file types Initialization Main Program Timed Interrupt CO CPU Comm Interrupt and User Function are all implemented with the same instructions and file format Each file is implemented as a series of consecutive blocks where each block can be defined as one of three programming languages Ladder High level or Assembly 4 2 1 Ladder Block The Ladder block is a matrix of 7 rows by 9 columns in which ladder instructions can be entered The Ladder instruction set consists of the following instructions 1 Contacts normally open and normally closed 2 Coils standard latch unlatch invert 3 Timers 4 Counters 5 Shift Registers 6 Ladder Box I
137. information fields and function key commands The information fields are defined as follows CHANNEL This is the number in octal of the currently selected and displayed channel When the Channel Edit menu is initially invoked channel number 00 is selected and displayed The F1 Next Chan F2 Prev Chan and F3 Select Chan commands are used to select a different channel number DESCRIPTION This field contains the user entered description or channel name which is associated with the channel number The F4 Doc Chan command is used to enter or edit this description PROG MODE This field displays the program mode either OFFLINE or ONLINE depending on whether the Channel Edit menu was invoked from the Offline or Online selection of the Main Development menu SET POINTS This is a 10 row by 5 column 50 element array where the set points are entered using the various set point programming commands Note If the channel is not programmed as a pulse train PULSE TRAIN NO that up to 50 unique set points can be entered in the channel If the channel is programmed as a pulse train PULSE TRAIN YES up to the scale factor divided by two numbers of set points ON 1 OFF 1 can be programmed in the channel In this case only the first 50 set points would be displayed in the channel however the channel would be programmed throughout with the on and off duration specified See section 13 4 for complete details on the set point pr
138. ing set points for each channel can be entered with easy to use set point programming commands and saved on disk for download to the M4020 40 41 at a later time This allows the channel programming to be implemented without having an M4020 40 41 present Online Channel Set point Programming using the same set point programming commands and menus used with the off line channel programming the user can alter channel set points in the M4020 40 41 module directly using an RS 232 cable which connects the M4020 40 41 module to COM1 of the IBM PC or compatible running PLSdev This allows machine timing to be altered while in operation PLS Configuration the configuration of the M4020 40 41 is set using PLSdev This includes defining the number of PLS timing channels in the module scale factor remote display strobe time CH00 brake wear compensation enable and parameter setting CH17 speed window enable and parameter setting Download Channels to PLS this allows channels edited in off line mode or previously uploaded channels to be downloaded to the M4020 40 41 module This feature allows quick replacement of an M4020 40 41 module by eliminating the need to reprogram the channel set points by hand Upload Channels from PLS uploads channel set points and configuration parameters from the M4020 40 41 module to disk files Printouts the set points of all channels as well as the PLS configuration can be printed out to provide hard copy documentatio
139. ing variable nicnames can be changed in the Variable editor using the following selection F5 Enter Nicname This selection places the cursor in the nicname field allowing the user to alter the nicname Once the nicname has been changed press ENTER SYSdev Program Development Manual SYSTEMS Electronics Group 184 SECTION 10 PROGRAM ANNOTATION AND DOCUMENTATION F6 Repeat Nicname This selection enters repeats the nicname last entered into the currently selected variable This provides a means of copying or duplicating nicnames for a number of different variables 10 3 Inter Program Comments Each block can have associated with it up to 57 lines each by 80 columns worth of text documentation This is generally used to describe what the function of the block is and how it works This documentation is entered by pressing F8 Edit Doc from the Main Editor menu see section 3 2 This initiates the Text editor in document mode at which time the block documentation is simply typed in When the comment entry is complete press ESC to return back to the Main Editor menu The Text editor functions the same when entering documentation as it does when entering High level and Assembly blocks See section 3 4 for a description of the Text editor The documentation that is entered for a block is printed directly above the block on the program print out This documentation is always associated with the block it was entered for and moves wi
140. into Symbol Invert regl into out reg2 nicname oR aK oR Valid reg1 1 bytes Byyy where yyy is the byte address 2 words Wyyy where yyy is the word address note that reg2 must also be a word address 3 input byte Xyyz where yy is the slot 0 15 of the input and z is byte 0 or 1 at the slot 4 output byte Yyyz where yy is the slot 0 15 of the output and z is byte 0 or 1 at the slot 5 constants yyy where yyy is a fixed number between 0 and 255 if result is not a word or between 0 and 65535 if result is a word Valid reg2 1 bytes Byyy where yyy is the byte address 2 words Wyyy where yyy is the word address 3 output byte Yyyz where yy is the slot 0 15 of the output and z is byte 0 or 1 at the slot Annotation For move instructions the three lines by seven characters variable documentation of the reg2 variable is printed inside the box as shown with the lines This annotation only appears on the program printout See section 10 for annotation details Nicname For move instructions the seven character variable nicname of the reg2 variable is printed in parenthesis directly below the reg2 variable See section 10 for details on the variable nicnames Description When the input is 1 the move invert instruction inverts complements the value of reg and moves it into reg2 and sets the output to a 1 If the input is 0 the invert and move is not perfor
141. invalid if statement was present Add or correct the if statement associated with this else missing else of if else if else All if else if else statements must end with an else even if no action is to be taken at the 66 99 else use the null statement if no else action is to be taken invalid token following function An invalid token was detected following a function The only valid tokens are the equate operator or the statement end token variable format not correct for variable The format of the variable at the specified location is not correct See section 6 for the correct variable formats no input board at slot address An input board was not present at the specified slot address Input variables X cannot reference slots that do not have input boards in them as specified in the system configuration C050 no output board at slot address An output board was not present at the specified slot address Output variables Y cannot reference slots that do not have output boards in them as specified in the system configuration C053 ufunc already used in main program LMN User functions can only be called within one file type main timed interrupt Co Cpu interrupt etc If a user function is called from more than one file type i e from both the main and the timed interrupt this error occurs C054 ufunc already used in timed intrpt TMD
142. ionally set to 0 SYSdev Program Development Manual SYSTEMS Electronics Group 95 SECTION 7 LADDER PROGRAMMING Example Compare B100 Te out B102 name102 byte102 var doc line 3 When in is a 1 if the contents of B100 are greater than or equal to the contents of B102 the output is set to 1 if B100 is less than B102 the output is set to 0 If the input is 0 the output is set to 0 To enter a Compare greater than or equal box in a ladder block perform the following steps 1 From ladder editor menu press F5 Ladder Boxes 2 Press F10 More Boxes 3 Press F5 Comp gt 4 Enter first Compare operand reg1 by typing a variable type B W X Y b variable address or number c press ENTER return 5 Enter second Compare operand reg2 by typing a variable type B W X Y b variable address or number c press ENTER return 6 Ifnicname for reg2 variable does not already exist the cursor will be located in the nicname field directly below the reg2 variable If you want to enter a nicname for this variable type the nicname in up to 7 characters and press ENTER If you do not want to enter a nicname simply press ENTER The cursor is then located at the next ladder element location If a nicname already exists for the variable the cursor will automatically advance to the next ladder element location SYSdev Program Development Manual SYSTEMS Electronics Group 96
143. is set to a o SYSdev Program Development Manual SYSTEMS Electronics Group 75 SECTION 7 LADDER PROGRAMMING Example Remainder W100 W102 out gt W104 name104 word104 var doc line 3 When in is a 1 the contents of W100 is divided by the contents of W102 and the remainder is placed in W104 out is set to a 1 If W100 2500 and W102 110 then W104 would equal 80 remainder of 2500 divided by 110 When in is a 0 W104 is left at its last value and out is set toa 0 To enter an Remainder box in a ladder block perform the following steps 1 From ladder editor menu press F5 Ladder Boxes 2 Press F5 Remain 3 Enter the dividend operand reg1 by typing a variable type B W X Y b variable address or number c press ENTER return 4 Enter the divisor operand reg2 by typing a variable type B W X Y b variable address or number c press ENTER return 5 Enter remainder operand variable result will be stored at by typing a variable type B Y W b variable address c press ENTER return 6 Ifnicname for result variable does not already exist the cursor will be located in the nicname field directly below the result variable If you want to enter a nicname for this variable type the nicname in up to 7 characters and press ENTER If you do not want to enter a nicname simply press ENTER The cursor is then located at the next ladder element location If a nicname
144. k row 0 to the bottom of the block row 6 with each network or rung being executed from the coil right to the power rail left SYSdev Program Development Manual SYSTEMS Electronics Group 116 SECTION 7 LADDER PROGRAMMING This Page Intentionally Left Blank SYSdev Program Development Manual SYSTEMS Electronics Group 117 SECTION 8 HIGH LEVEL PROGRAMMING 8 0 Introduction The High Level programming language is a subset of the C programming language High level is used for all arithmetic comparisons conditional program execution unconditional program jumps jump to label program looping calling user functions subroutines and calling system functions I O operations The High level code is text that is entered as a High level block consisting of 57 lines by 80 columns using the ladder text editor As many High level blocks as are necessary can be entered in any file The High level language is a small subset of the entire C programming language Statements such as the program statement if else if else statement for while and do while loops are used along with the basic C operators such as addition subtraction etc More advanced features such as arrays structures unions symbolic variable addressing floating point variables character and string variables and signed integer variables are not included in the language The High level language is constructed of the following elements e binary
145. l as 1 F001 0 AND d with F002 1 Result 0 8 14 4 AND logical Symbol amp amp Class relational Type binary Precedence 2 Form operand amp amp operand Operand Types 1 expressions Definition The logical AND operator ands the true false results of two relational expressions and produces a true result if both expression results were true or a false result if either expression was false See notes 1 and5 at the end of this section Examples 1 expression F001 1 amp amp B100 lt 20 contents 1 1 amp amp 10 lt 20 evalas 1 F001 1 equal 1 True 2 B100 10 less tan 20 True 3 Both True Result True 2 expression F001 1 amp amp B100 lt 20 contents 1 1 amp amp 50 lt 20 eval as 1 F001 1 equal 1 True 2 B100 50 less tan 20 False 3 Both True Result False SYSdev Program Development Manual SYSTEMS Electronics Group 159 SECTION 8 HIGH LEVEL PROGRAMMING 8 14 5 COMPLEMENT Symbol Form operand Operand Types 1 variables a flags F P b bytes B X Y c words W 2 expressions Class arithmetic Type unary Precedence 9 Definition The complement operator performs a bitwise complement of the variable specified or expression result See notes and 4 at the end of this section Examples 1 expression contents eval as 2 expression contents eval as 3 expression contents eval as B150 25H
146. lator must be a byte If the preset is a word the accumulator must be a word SYSdev Program Development Manual SYSTEMS Electronics Group R016 fixed preset too large for B accum type When the accumulator is a byte B variable the maximum fixed constant preset is 255 R017 invalid word address Each target board has a finite variable data memory space Any reference to a word address that is not within this data memory space will result in this error See the respective target board user s manual for the valid memory map of the target board Note All word addresses must be even addresses see section 6 R018 invalid must be 0 255 or B addr The respective variable is invalid for the field in the ladder box instruction See Valid regx for specific instruction R019 both box variables cannot be type In comparisons either the top or bottom variable must be of either type B W X or Y R020 invalid variable for box instruction field The respective variable is invalid for the field in the ladder box instruction See Valid regx for specific instruction R021 func box allowed in main or user file only The respective function box cannot be used in timed interrupt or Co CPU interrupt R022 no Co CPU board at specified slot The specified slot in the Co CPU comm or Block comm box did not have a Co CPU that supports that instruction in it SYSdev Program Development Manul SYSTEMS Electronics Group APPENDIX B 3012 CO
147. lave where words sent from master will be stored Valid variables Wyyy where Wyyy is the address of the first word in the slave where the data is stored rcve Number of words received from slave Valid variables constant 0 120 or Byyy where Byyy contains the number of words to be received ssrce Starting address in slave where words will be sent from slave to master Valid variables Wyyy where Wyyy is the address in the slave of the first word to be sent mdest Starting address in master where words sent from slave will be stored Valid variables Wyyy where Wyyy is the address of the first word in the master where the data is stored SYSdev Program Development Manual SYSTEMS Electronics Group 105 SECTION 7 LADDER PROGRAMMING ret Variable where return value is stored The return value will be one of the following 0 NOT BUSY READY 1 BUSY communication is progress 2 DONE comm with slave successful 3 10H ERROR CODE Il Valid variables Byyy where Byyy is the address where the return value is stored Annotation For the network comm instruction the three lines by seven characters variable documentation of the ret variable is printed inside the box as shown with the lines This annotation only appears on the program printout See section 10 for annotation details Nicname For the network comm instruction the seven character variable nicname of the ret variable is printed in parenthesis directl
148. le SYSdev Program Development Manual SYSTEMS Electronics Group 195 SECTION 12 ON LINE FUNCTIONS The variables in the variables status window can be displayed in decimal or hex This is done by toggling the F1 Decimal Hex selection in the Online Functions menu 12 2 5 Variables Status Table The variables status table is similar to the variables status window with the exception that the program is not displayed and the entire screen is used to show the status of variables With the status table up to 18 variables can be simultaneously displayed As with the status window virtually any variable type can be entered in the table including bits flags byte bits bits from I O bytes X and Y etc bytes B X Y etc and words W In the status table byte and word values are shown simultaneously in decimal hex and binary The status table is displayed by selecting F3 Status Table from the on line menu When this is done the status table is displayed along with the Status Table menu This includes the following selections F1 Clear Status Table Screen Used to clear all the entries in the status table F2 Change Value used to assign a numeric value to a selected variable while user program execution occurs See section 12 3 F3 Status Table Help Displays the status table help screen Variables are entered into the status table just as they are entered in the status window by simply typing the vari
149. le does not already exist the cursor will be located in the nicname field directly below the ret variable If you want to enter a nicname for this variable type the nicname in up to 7 characters and press ENTER If you do not want to enter a nicname simply press ENTER The cursor is then located at the next ladder element location If a nicname already exists for the variable the cursor will automatically advance to the next ladder element location SYSdev Program Development Manual SYSTEMS Electronics Group Tid lt SECTION 7 LADDER PROGRAMMING 7 2 Entering Ladder Blocks Ladder instructions are entered free form in a ladder block No specific order of entry is required when entering ladder instructions The programmer simply builds the networks and rungs to look like what is required The following is essentially a list of rules which must be followed in order to assure proper ladder block execution Ladder Block entry rules 1 The desired network s must fit within the 7 row by 9 column ladder block 2 All instructions must be connected with the exception of timer counter and shift register outputs No floating contact horizontal short or vertical short pins are allowed 3 Negative power flow in a network is not allowed See example 7 5 block 2 4 Shorts around or or branch networks may cause unexpected ladder block execution See example 7 5 block 3 5 Coils must be placed in column 8 last column of la
150. le for box instruction field The respective variable is invalid for the field in the ladder box instruction See Valid regx for specific instruction R017 func box allowed in main or user file only The respective function box cannot be used in timed interrupt or Co CPU interrupt SYSdev Program Development Manual SYSTEMS Electronics Group APPENDIX B 3012 COMPILER ERROR CODES This appendix contains a list of all the error codes generated by the compiler for the 3012 with a description of each The format of the error code as displayed or printed is Code block row col description where Code error code number Codes preceded with a C are High level block errors Codes preceded with an R are ladder block errors block the block number the error occurred in row the row or line number within the block that the error occurred in col the col number within the block that the error occurred in description a one line description describing the error High Level error codes C001 illegal character in keyword An unrecognized character was found in a keyword or statement The statement does not conform to the proper form Most keywords are case sensitive make sure lower and upper case letters were used correctly C002 statement not complete 66 99 The semicolon parenthesis or other statement ending character appropriate for the statement was not found before the last column of th
151. le with SYSdev online variable monitoring and online variable value assignments Online monitoring allows the state of variables in a selected program or the state of any variables in the entire program for that matter to be observed relative to the displayed program or in the status table while program execution occurs Online value assignment allows the user to assign values to variables while program execution occurs Both of these features are implemented via RS 232 communications between the COM PORT on the user s computer running SYSdev and the PROG PORT on the target board to be monitored the same connection used for program download etc Both of these features are invoked from the Online Monitoring menu which is selected from the Main Development menu 12 1 Online Functions Menu The following six selections are available once on line monitoring has been initiated F1 Decimal Hex Select decimal or hex display mode for variables entered in the variables status window See section 12 2 4 F2 Change Value Used to assign a numeric value to a selected variable while user program execution occurs Section 12 3 F3 Status Table This selection displays the status table See section 12 2 5 F4 Help Screen This selection displays the help screen for either on line monitoring if on line monitoring of the program is being performed or the help screen for the status table if the status table is being displayed F5 Search Func
152. licated ESC Escape The escape key is used to terminate the Text Editor and return to the Main Editor menu The text block will be accepted exactly as left when ESC is pressed 3 4 1 Operation of Text Editor When the Text Editor is initiated the cursor is located in the upper left corner of the screen Text is entered at the current cursor location The space backspace tab return and delete keys all work as defined The cursor can be moved within the block using the left right up and down arrow keys and the PgUp PgDn Home and End keys The Ins key is used to toggle between the overwrite and insert mode When in overwrite mode text is typed in over any existing text When in insert mode the text is inserted moving any existing text right and down as necessary Once all text is entered as desired press ESC to accept the block and return to the Main Editor menu 3 5 Target Board Interface Menu SYSdev Program Development Manual SYSTEMS Electronics Group 93 2 SECTION 3 MENUS 3 5 Target Board Interface Menu 1 Download program to target board This selection is used to download the HEX file created when the user program is compiled to the board which will run the program This is done on all battery backed program memory boards such as the 3012 BR S3016 S3014 all M4000 and D4110 To download the program perform the following WARNING Program execution of the target board is suspended during program download
153. lly execute statements based on the result of the user function A typical form of this is if ufuncXX operand program code Examples 1 ufunc01Q eval as This statement unconditionally calls user function 1 The return value if any is ignored 2 B100 ufune25 eval as User function 25 is called unconditionally and the return value is assigned to B100 If user function 25 did not use a return statement to return with a value the return value is arbitrary 3 if ufunc40 gt 25 F001 1 eval as User function 40 is unconditionally called and the return value is compared to 25 If the return value is greater than 25 F001 is set SYSdev Program Development Manual SYSTEMS Electronics Group 148 SECTION 8 HIGH LEVEL PROGRAMMING 8 9 Returning from User Functions return statement When a user function is called the file that the function was called from is automatically returned to once the user function is complete If no return statement is used in the user function an arbitrary value is returned The return statement is a way in which a value can be returned to the calling file or it is a way that the calling file can be conditionally returned to General form return operand Evaluation When the return statement is encountered program execution resumes at the next statement following the ufunc statement that called the user function Notes 1 2 3 The operand
154. lows the user to perform three types of program annotation variable documentation annotation variable nicnames and inter program comments The variable documentation is annotation associated and printed with the variable in printouts The variable nicnames are associated and printed with the variable in printouts as well as displayed in ladder blocks The inter program comment is text that can be entered for each block This is printed above the block on the program printout Each of these annotation types are discussed in detail in the following 10 1 Variable Documentation For each variable three lines of seven characters each can be entered as the variable documentation These three lines are displayed with the variable in the program printout and cross reference In Ladder blocks the variable annotation is printed above contacts and coils and within box type instructions See the ladder programming section 7 In High level and Assembly blocks the variables used in the block are printed directly below the block along with the variable annotation Variable annotation can be entered while in the Ladder Text editor see sections 3 3 F6 and 3 4 F8 or by invoking the Variable Names editor from the Main Development menu see section 3 1 When the Variable Editor menu is brought up two primary fields are displayed One is the variable field where the variable is entered and the other is the three lines of the variable annotation Four editing s
155. m code is executed before the conditional expression is tested This guarantees that the program code is executed at least once whether the conditional expression is true or not As with the while loop the loop variable s must be initialized before the do while loop is entered and must be modified inside the program code General form do program code while conditional expression Evaluation The program code is executed as long as the conditional expression is true The program code is executed at least once before the conditional expression is evaluated The exact sequence of execution is 1 Execute program code 2 Test conditional expression for true state 3 If false drop out of loop program execution continues with statements following do while loop 4 If true go to step 1 Notes 1 Parenthesis around conditional expression are required 2 The semicolon following the conditional expression is required 3 The program code can be either a single line program statement or a statement block as defined in sections 8 3 and 8 4 4 The do while loop does not contain an init express or loop express as in the for loop The loop variable s used in the conditional expression must be initialized before entering the do while loop and must be modified inside the program code 5 The indentation shown on the program code is not required but highly recommended to improve readability 6 The do an
156. med and the output is unconditionally set to 0 SYSdev Program Development Manual SYSTEMS Electronics Group 99 SECTION 7 LADDER PROGRAMMING Example Invert B100 into out B102 name102 byte102 var doc line 3 When in is a 1 the contents of B100 are inverted and moved into B102 and the output is set to um Note The contents of B100 are not changed If B100 172 10101100 binary then B102 83 01010011 binary after the invert and move is performed If the input is 0 the output is set to 0 and B102 is left unchanged To enter an Invert and Move box in a ladder block perform the following steps 1 2 3 4 5 6 From ladder editor menu press F5 Ladder Boxes Press F10 More Boxes Press F7 Move Invert Enter first Move operand reg1 by typing a variable type B W X Y b variable address or number c press ENTER return Enter second Move operand reg2 by typing a variable type B W X Y b variable address or number c press ENTER return If nicname for reg2 variable does not already exist the cursor will be located in the nicname field directly below the reg2 variable If you want to enter a nicname for this variable type the nicname in up to 7 characters and press ENTER If you do not want to enter a nicname simply press ENTER The cursor is then located at the next ladder element location If a nicname already exists for the vari
157. ment B100 B101 B102 contents 20 30 eval as 1 B101 20 B102 30 2 B100 50 3 statement F001 F002 F003 amp F004 contents 1 0 amp 1 eval as 1 F003 0 AND d with F004 1 2 F002 1 OR d with 0 3 F001 equals 1 SYSdev Program Development Manual 128 Result B100 20 50 Result B100 50 0 false Result F001 1 SYSTEMS Electronics Group SECTION 8 HIGH LEVEL PROGRAMMING 8 3 2 Indirect Assignment Program Statement The indirect assignment program statement assigns the result of an arithmetic expression to the address pointed to by the variable using the assign equal operator The format of this statement is variable arithmetic expression Note The indirection operator indicates that variable contains the address of the variable where the result is to be stored The result is not stored in variable See the indirection operator in section 8 14 13 Operator Reference Also for all boards other than the S3012 the address pointed to is an 8 bit address while for the S3012 the address pointed to is a 16 bit address In the 3012 all addresses are 16 bits independent of whether the variable type is B or W Thus indirect byte addressing in the 3012 uses the notation Byyy to indicate an indirect reference to the byte variable pointed to by Byyy but actually uses the word Wyyy as the indirect address Examples 1 statement B10
158. metic instructions the three lines by seven characters variable documentation of the result variable is printed inside the box as shown with the lines This annotation only appears on the program printout See section 10 for annotation details Nicname For arithmetic instructions the seven character variable nicname of the result variable is printed in parenthesis directly below the result variable See section 10 for details on the variable nicnames Description When the input is 1 the right shift instruction shifts the value in reg right a number of times equal to the value in reg2 and stores this in result This is a shift of the bits in the value of reg Any bits shifted out of the least significant bit are lost Zero is shifted into the most significant bit The original value of reg is not altered The output is set to 1 when the input is 1 When the input is 0 the shift is not performed and the output is set to 0 SYSdev Program Development Manual SYSTEMS Electronics Group 87 SECTION 7 LADDER PROGRAMMING Example Shift Right regl reg2 out result nicname FoR oR FoR When in is a 1 the contents of B100 is shifted right two bit places and the result is placed in B102 out is set to a 1 If B100 172 10101100 binary then B102 would 43 00101011 binary When in is a 0 B102 is left at its last value and out is set to a 0 To enter an Shi
159. mment delimiters SYSdev Program Development Manual SYSTEMS Electronics Group 151 SECTION 8 HIGH LEVEL PROGRAMMING 8 12 Nesting Statements The High level language allows statements to be nested inside one another This essentially means that an if else if else statement can be nested inside the program code of another if else if else statement This is true of any of the other statements such as while do while and for statements Any combination of nesting is allowed i e a for loop nested inside an if else if else statement etc The following are examples of nested statements In general the possible forms and combinations of nesting are only limited by the imagination of the programmer and the size of the High level block 57 lines by 80 columns Examples 1 if B100 lt 10 if B100 lt 5 F001 0 F002 0 else F001 1 F002 0 else if B100 lt 100 F001 0 F002 1 else F001 1 F002 1 SYSdev Program Development Manual 152 SYSTEMS Electronics Group SECTION 8 HIGH LEVEL PROGRAMMING eval as The above is an example of if else statements nested inside one larger if else statement The main if else statement establishes a general range while the sub if else statements test for a finer range 2 if F001 1 cr 15 ae 1 veer if F005 1 B100 10 else B100 20 else B100
160. mpensation If the CHOO brake wear compensation is disabled CH0O will function as a standard timing channel and the brake wear parameters above will be ignored 13 3 5 CH17 Speed Window If CH17 is to be used as a speed window it must be enabled in the PLS configuration If enabled the following additional parameters must be set Low Speed Threshold If the speed is below this threshold CH17 is off High Speed Threshold If the speed is above this threshold CH17 is off The two thresholds above define a window such that if the speed is between or equal to the low and high thresholds CH17 is on If the speed is below the low or above the high threshold CH17 is off Both thresholds are defined in RPM If the CH17 speed window is disabled CH17 will function as a standard timing channel SYSdev Program Development Manual SYSTEMS Electronics Group 210 SECTION 13 PLS PROGRAMMING 13 4 Channel Set Point Programming Commands Three channel set point programming commands are available through PLSdev These are single set point programming set point fine tune and the pulse train programming command The single set point command allows the user to simply type in the complete set point both on and off parameters at the currently selected set point The fine tune command allows the user to either increment or decrement by one the on or off set point parameter of the currently selected set point The pulse train
161. mproperly used Parenthesis are used to enclose variables and expressions to define the order of execution In most cases any other use of parenthesis is not allowed C028 invalid keyword operator or variable An invalid keyword operator or variable was detected at the location specified In general the word or character was unrecognizable to the compiler Note All variables and keywords are case sensitive they must be entered with lower or upper case letters as appropriate SYSdev Program Development Manual SYSTEMS Electronics Group B 4 C029 C030 invalid program statement The syntax of the program statement was incorrect or the program statement was unrecognizable C031 expression too large too many tokens Too many tokens variables operators or parenthesis were used to compose the expression The compiler cannot deal with the excessive number of tokens specified Break the expression down into two or more smaller expressions C032 invalid token beginning expression An incorrect token was used to begin the expression The only valid tokens which can be used to begin an expression are variables unary operators and left parenthesis C033 invalid token following An incorrect token was found following a left parenthesis in an expression The only valid tokens which can be used to follow a left parenthesis are variables constants unary operators and another left parenthesis C034 invalid t
162. n PLS Hardware Confidence Test allows the execution of hardware tests embedded in the module to verify the proper operation of the M4020 40 41 This is the same test used by the factory to verify the module at completion of manufacturing SYSdev Program Development Manual SYSTEMS Electronics Group 199 SECTION 13 PLS PROGRAMMING PLSdev is automatically invoked when either F1 Create Prog or F2 Edit Prog is selected from the SYSdev shell and the target board selected was M4020 PLS M4040 or M4041 13 2 PLSdev Menus The following sections are a description of the various PLSdev menus In general the PgUp PgDn Home End and cursor left right up and down keys all function as defined 13 2 1 Main Development Menu 1 Offline Channel Set point Programming This selection is used to edit the channel set points off line while not connected to an M4020 40 41 module All changes made to the channel set points are saved in the channel data file for the selected program The channel set points can then be downloaded to an M4020 40 41 module using the Download Channels to PLS selection To initiate the off line programming mode select 1 Offline Channel Set point Programming This invokes the Channel Edit menu and loads the existing channel set points from the channel data file on disk See section 13 2 2 for a description of the Channel Edit menu and set point programming commands When editing is complete press ESC
163. n contents eval as W100 gt W102 1000 gt 500 1 W100 1000 greater than or equal to W102 500 B101 B102 gt 50 40 10 gt 50 1 B101 40 B102 10 2 50 greater than or equal to 50 B103 gt B104 B105 20 gt 10 11 1 B104 10 B105 11 2 20 greater than or equal to 21 SYSdev Program Development Manual 167 result Yes 50 result Yes 21 result No SYSTEMS Electronics Group SECTION 8 HIGH LEVEL PROGRAMMING 8 14 13 INCREMENT Symbol Class arithmetic assign Type unary Precedence 9 Form operand pre or operand post Operand Types 1 variables a bytes B Y b words W Definition The increment operator increments the variable specified by one The operator can be used as either a pre unary operator incrementing before expression evaluation or as a post unary operator incrementing after expression evaluation See notes 1 2 and 4 at the end of this section Examples 1 expression B100 contents 25 eval as 1 B100 B100 25 1 result B100 26 2 expression W140 contents 1000 eval as 1 W140 W140 1000 1 result W140 1001 3 expression B120 contents 255 eval as 1 B120 B120 255 1 result B120 0 The above example shows the fact that when the result of an operation is greater than the maximum value of the variable class the most significant bits of the results are lost See not
164. n 0 Instructions are entered at the current cursor position with the left node of the instruction at the cursor location and body of instruction to the right The cursor can be moved to various element positions within the block using the left right up and down arrow keys the PgUp PgDn Home and End keys Once all instructions are entered as desired press ESC to accept the block and return to the Main Editor menu The status field on the left side of the screen simply displays messages such as top of file bot of file etc SYSdev Program Development Manual SYSTEMS Electronics Group 21 SECTION 3 MENUS 3 4 Text Editor Menu The Text Editor is activated when Insert ASM Insert High or Edit Doc is selected The Text Editor allows the entry of Assembly or High level instructions in the respective block type as well as the documentation for each block The following fields can be found in the text editor menu Block Current block number of block being edited Page Page number within block Each block has up to three pages 19 lines per page Type Block type Assembly High level or Document Status Status messages such as top of block when at line 0 bottom of block when at line 56 Mode Overwrite or Insert When in overwrite default mode text is entered over existing text when typed in When in insert text is inserted into the block moving the existing text right and down as necessary Line Current line
165. n for each different file type The definition of each file extension follows where name is the user program name name LIN Initialization file name LMN Main Program file name LTD Timed Interrupt file name LCM CO CPU Communications file name Lxx User Function file where xx user function number 00 to 99 name DOC Variable Names Documentation file name LCF System Configuration file name ERR Compiler Error file name LTL Program Title file name REV Program Ident Revision name LDT Data Download file name NAM Variable Nicnames file SYSdev Program Development Manual SYSTEMS Electronics Group 36 SECTION 5 CONFIGURATION PARAMETERS 5 1 Configuration Parameters The system configuration is used to define the system or environment that the program will run in The different boards and modules in the S3000 and M4000 all have a wide range of different configuration parameters which the user can specify These include 1 Target Board the board the program will be loaded into 2 Rack Size used only by the 3012 to specify the number of slots in the I O rack 3 I O Slot Assignments used by the S3012 to specify which boards will be in which slots 4 Timed Interrupt used to enable the timed interrupt and set the time between interrupts 5 CO CPU Communications Interrupt used to enable the CO CPU interrupt either in the main processor board or CO CPU board 6 USER PORT Baud Rate used to set the b
166. n only act on the B and W variables Any attempt to use the address operator on any other type of variable will result in this error C061 assign var must be W when is used When multiplication is used in an expression the variable that is assigned the result of this expression must be a word W This is due to the fact that the result of two bytes multiplied together could be as big as 65535 a complete word SYSdev Program Development Manual SYSTEMS Electronics Group B 8 C062 no target location for goto label The label referenced in the goto statement does not actually exist as a location in the file The label must show up at the location that is to be jumped to in the form label where the colon specifies the label as a location Note The label must reside in the same file main timed Co Cpu etc as the goto that referenced it C063 too many goto labels defined For any given file a maximum of 200 labels referenced in goto s can be defined If more than this is referenced this error will occur C064 var type l must be used in timed intrpt The timed interrupt input variable T is used to specify which inputs will automatically be updated at the beginning of the timed interrupt For this reason the I variable can only be used in the timed interrupt C065 invalid variable for indirection operator The indirection operator can only act on the B and W variables Any
167. n the 3012 where the data is stored Annotation For the Block comm instruction the three lines by seven characters variable documentation of the dest variable is printed inside the box as shown with the lines This annotation only appears on the program printout See section 10 for annotation details Nicname For the Block comm instruction the seven character variable nicname of the dest variable is printed in parenthesis directly below the dest variable See section 10 for details on the variable nicnames SYSdev Program Development Manual SYSTEMS Electronics Group 112 SECTION 7 LADDER PROGRAMMING Description The Block Co Cpu comm instruction is only available on the S3012 It is used to communicate to the S3016 Co Cpu board across the back plane The Block C0 Cpu comm box works identically to the sfunc12 system function in the high level language See the 3012 and S3016 user s manuals for more details on sfunc12 and communicating with Co Cpu boards The operation of the box is as follows when the input is 1 the block comm instruction initiates comm with the Co Cpu at the slot specified The return value is set to 1 BUSY Subsequent executions of the box return with 1 BUSY until communications is complete return value 2 DONE When the input is a 1 the output is always a 1 When the input is 0 the comm is not performed and the output is set to 0 Example Block Comm slot 6 sent 4 out sr
168. nce to the next ladder element location 5 Enter shift register variable 2 by typing a variable type B or W b variable address byte or word address c press ENTER return Or press ENTER without entering variable if shift register variable 2 is not used 6 Enter shift register variable 3 by typing a variable type B or W b variable address byte or word address c press ENTER return Or press ENTER without entering variable if shift register variable 3 is not used SYSdev Program Development Manual SYSTEMS Electronics Group 86 SECTION 7 LADDER PROGRAMMING 7 1 18 shift gt gt shift right Sym bol Shift Right regl reg2 out result nicname FoR oR oR Valid reg 1 bytes Byyy where yyy is the byte address 2 words Wyyy where yyy is the word address note that result must also be a word address 3 input byte Xyyz where yy is the slot 0 15 of the input and z is byte 0 or 1 at the slot 4 output byte Yyyz where yy is the slot 0 15 of the output and z is byte 0 or 1 at the slot 5 constants yyy where yyy is a fixed number between 0 and 255 if result is not a word or between 0 and 65535 if result is a word Valid result 1 bytes Byyy where yyy is the byte address 2 words Wyyy where yyy is the word address 3 output byte Yyyz where yy is the slot 0 15 of the output and z is byte 0 or 1 at the slot Annotation For arith
169. nce to the next ladder element SYSdev Program Development Manual SYSTEMS Electronics Group 57 SECTION 7 LADDER PROGRAMMING 7 1 6 Coil invert Symbol Kk k k k 2K 2k Kk K kK 2 2K 2k Kk K k 2 2K 2k variable in addr Valid Variables 1 flags Fzzz where zzz is the flag number 2 bytes Byyy z where yyy is the byte address and z is the bit within the byte 3 outputs Yxxy z where xx is the slot number y is the byte at the slot and z is the bit within the byte Annotation For coils the three lines by seven characters variable name is printed above the coil as shown with the lines This annotation only appears on the program printouts See section 10 1 Nicname For coils the seven character nicname is shown directly below the coil Description The invert output coil sets the variable referenced to a 0 when the coil input is 1 and sets the variable to 1 when the input is 0 Truth Table Input Variable 0 1 1 0 SYSdev Program Development Manual SYSTEMS Electronics Group 58 Examples 1 flag001 var doc line 3 F001 name001 2 bytel00 bit 3 var doc B100 3 n100 3 3 yout041 bit 2 var doc Y041 2 nam41 2 SECTION 7 LADDER PROGRAMMING To enter an invert coil in a ladder block perform the following steps 1 From ladder editor menu press F3 Output Coils 2 From Output coils menu press F4 3 En
170. nditionally execute program statements i e gt greater than lt less than or equal etc Assignment operators actually alter the value of the operand acted upon i e increment assign decrement etc Arithmetic and Relational operators do not alter the actual operands they act upon they only generate a result Two types of unary operators are available pre unary and post unary When a pre unary operator is used on an operand in an expression the unary operation is performed prior to the evaluation of the expression When a post unary operator is used the unary operation is performed after the evaluation of the expression The increment and decrement unary operators are the only post unary operators available Most operators can act upon three operand types variables constants and expressions This allows complex expressions to be generated using the various operators and operands see the next section Expressions Some operator symbols have more than one meaning depending on the context in which they are used For instance is the multiplication operator when used as a binary operator and the indirection operator when used as a unary operator SYSdev Program Development Manual SYSTEMS Electronics Group 122 SECTION 8 HIGH LEVEL PROGRAMMING 8 1 1 Summary of Operators The following is a summary of the operators available O ov m 2 5 E RB a Symbol operation class type
171. ng is defined Symbol Ladder symbol along with the variable location s documentation locations and variable address Valid Variables Variable types which may be used with the instruction Annotation Description of three line variable annotation associated with variable Nicname Nicname associated with variable Description Complete description of the instruction operation Truth Table A truth table defining the operation of the instruction Examples Examples of the form of the instruction and variables which can be used with the instruction Entering Description of the steps required to enter the instruction SYSdev Program Development Manual SYSTEMS Electronics Group 47 SECTION 7 LADDER PROGRAMMING 7 1 1 Contact normally open Symbol Kk K k k 2K 2k Kk K k 2 2K 2k ok ok k kkk kK variable in nicname out Valid variables 1 flags Fzzz where zzz is the flag number 2 bytes Byyy z where yyy is the byte address and z is the bit within the byte 3 inputs Xxxy z where xx is the slot number y is the byte at the slot and z is the bit within the byte 4 timed interrupt inputs Ixxy z where xx is the slot number y is the byte at the slot and z is the bit within the byte Only valid in the 3012 timed interrupt file 5 outputs Yxxy z where xx is the slot number y is the byte at the slot and z is the bit within the byte Annotation For contacts the three lines by seven chara
172. nnotation is printed SYSdev Program Development Manual SYSTEMS Electronics Group 188 SECTION 11 PROGRAM PRINTOUTS 11 2 Cross Reference 7 The cross reference printout is a list of all the variables used in the entire program and the files blocks and line numbers they are used in The sense in which the variable is used referenced only assigned a value etc is also provided The format of the location a variable is found in is as follows file block line usage An example of the format of the cross referenced variable is B100 1 name100 byte100 bitl var doc MNF 10 5 25 20 26 7 The description of each field above is B100 1 Complete variable as used in program name100 Nicname of variable byte100 doc Three lines of variable annotation MNF File in which variable was found The designations for the various files are INI Initialization file MNF Main Program file TMD Timed Interrupt file COM CO CPU Communications file Uxx User function file where xx user function number 10 block block number within file that variable was found 5 line line number within block that variable was found usage usage of variable at specific location SYSdev Program Development Manual SYSTEMS Electronics Group 189 SECTION 11 PROGRAM PRINTOUTS The various symbols for each usage type are no symbol Variable is referenced only at location No modification to the variable value is made Va
173. not within a sub directory This selection provides a convenient way to back up your program 2 Restore Program This copies the current program name from the root directory of the A drive to the drive and directory specified with the current program name Install the diskette with the program on it in the A drive and press any key when ready This copies all the files associated with the program name on the A drive to the path specified with the program name Note The program files on the diskette in drive A must be at the root directory This selection along with the back up selection above provides a convenient way to copy programs from one computer to another 3 Make New Directory This provides a way to make a new user program directory while inside SYSdev Enter the drive and directory name following the MS DOS conventions of directory names 4 Copy Program to Another Program Name This provides a way to copy the current program name to any disk and directory while also allowing the user to copy to a different program name Enter the drive directory and new program name using the MS DOS conventions for directory and file names Do not enter an extension with the program name This copies all the files associated with the program to the different directory and program name This selection can be used to copy the current name to another drive and directory when the program name entered is the same as the current program name This i
174. nput byte Xyyz where yy is the slot 0 15 of the input and z is byte 0 or 1 at the slot 4 output byte Yyyz where yy is the slot 0 15 of the output and z is byte 0 or 1 at the slot 5 constants yyy where yyy is a fixed number between 0 and 255 if result is not a word or between 0 and 65535 if result is a word Valid result 1 bytes Byyy where yyy is the byte address 2 words Wyyy where yyy is the word address 3 output byte Yyyz where yy is the slot 0 15 of the output and z is byte 0 or 1 at the slot Annotation For arithmetic instructions the three lines by seven characters variable documentation of the result variable is printed inside the box as shown with the lines This annotation only appears on the program printout See section 10 for annotation details Nicname For arithmetic instructions the seven character variable nicname of the result variable is printed in parenthesis directly below the result variable See section 10 for details on the variable nicnames Description When the input is 1 the left shift instruction shifts the value in reg left a number of times equal to the value in reg2 and stores this is result This is a shift of the bits in the value of regl Any bits shifted out of the most significant bit are lost Zero is shifted into the least significant bit The original value of reg is not altered The output is set to 1 when the input is 1 When the input is 0
175. ns the three lines by seven characters variable documentation of the result variable is printed inside the box as shown with the lines This annotation only appears on the program printout See section 10 for annotation details Nicname For arithmetic instructions the seven character variable nicname of the result variable is printed in parenthesis directly below the result variable See section 10 for details on the variable nicnames Description The operation of the OR instruction is as follows When in is a 1 reg is bitwise ORED to reg2 and the result is placed in the result variable The output is unconditionally set to a 1 when the input is a 1 When in is a 0 the OR is not performed result is left at its last value and the output is set toa 0 SYSdev Program Development Manual SYSTEMS Electronics Group 79 SECTION 7 LADDER PROGRAMMING Example OR B100 B101 out B102 name102 byte102 var doc line 3 When in is a 1 the contents of B100 is ORED to the contents of B101 and the result is placed in B102 out is set to a 1 If B100 216 11011000 binary and B101 18 00010010 binary then B102 would 218 11011010 binary When in is a 0 B102 is left at it s last value and out is set to a 0 To enter an OR box in a ladder block perform the following steps 1 From ladder editor menu press F5 Ladder Boxes 2 Press F7 OR J
176. ns were false See notes 1 and 5 at the end of this section Examples 1 expression F001 B100 lt 20 contents 0 10 lt 20 eval as 1 F001 0 equal 1 2 B100 10 less than 20 3 either expression True 2 expression F001 1 B100 lt 20 contents 0 1 50 lt 20 eval as 1 F001 0 equal 1 2 B100 50 less than 20 3 either expression True SYSdev Program Development Manual s175 result False result True result True result False result False result False SYSTEMS Electronics Group SECTION 8 HIGH LEVEL PROGRAMMING 8 14 21 REMAINDER Symbol Class arithmetic Type binary Precedence 8 Form operand dividend operand divisor Operand Types 1 variables a bytes B X Y b words W 2 constants a 0 255 decimal byte b 0 ffH hex byte c 0 65535 decimal word d 0 ffffH hex word 3 expressions Definition The remainder operator performs an integer divide on the left operand dividend by the right operand divisor The result of the operation is the remainder the quotient is lost see Divide operator 8 14 7 If the divisor right operand is zero the division is not performed See notes 1 and 4 at the end of this section Examples 1 expression B120 B121 contents 21 4 eval as 1 B120 21 divided by B121 4 remainder 1 2 expression 5 B123 contents 5 12 eval as 1 5 divided by B123
177. nstructions The instructions are entered free form where the programmer simply makes the network or rung look as desired No specific order of entry is required Virtually any network form can be entered including nested or networks As many networks or rungs that can fit in the block may be entered Within the block the rungs are executed starting with the first rung down to the last rung Within each network the network is executed from the coil right to the power rail left See section 7 for an in depth description of ladder programming 4 2 2 High level Block The High level programming language is a subset of the C programming language The High level Block consists of a 57 line by 80 column matrix where the High level instructions are entered as text The High level language incorporates the fundamental C statements such as program statements if else if else statements for while and do while loops goto statement as well as some statements unique to the SYSdev programming language including user function calls ufuncXX and system function calls sfuncXX which are used for I O operations SYSdev Program Development Manual SYSTEMS Electronics Group 34 SECTION 4 OVERVIEW OF PROGRAM STRUCTURE AND LANGUAGE Within a High level block the instructions are executed sequentially with the exception of conditional program statements and the unconditional jump goto statement See section 8 for an in dept
178. nter Selection menu is displayed Select the appropriate printer to be used Once this is done the Printouts Selection menu is displayed The selections are 1 Print PLS Channel Set points This selection prints the set points for all the channels For each channel the following is printed CHANNEL number DESCRIPTION users documentation PULSE TRAIN yes no ON OFF START SET POINTS ON OFF 1 etc The above is the set points data for the respective channel as entered through the Channel Edit menu 2 Print PLS Configuration This selection prints the configuration parameters as entered in the PLS Configuration menu 3 Enter PLS Program Title This selection allows the user to enter a title for the program This title is printed at the top of each page of both the PLS Channel Set points printout and the PLS Configuration printout The title can be up to 60 characters long and can be composed of any printable characters When entry of the title is complete press ENTER lt CR gt to save the title If the title or changes to the title are not to be saved press ESC 7 PLS Hardware Confidence Test This selection is used to invoke the hardware confidence test of the M4020 40 41 See the respective user s manual for complete description of the test 8 Select PLS Program SYSdev Program Development Manual SYSTEMS Electronics Group 203 SECTION 13 PLS PROGRAMMING Select PLS program is used to change to a
179. ntered in the window including bits flags byte bits bits from I O bytes X and Y etc bytes B X Y etc and words W The variables can be displayed in either decimal or hex This is selected from the F1 Decimal Hex selection in the Online Funcs menu see section 12 2 4 This window is used to display variables for high level blocks and to display timer counter presets and accumulators in ladder blocks 12 2 4 Entering Variables in Variable Status Window Once online monitoring has been initiated variables can be entered in the variables status window simply by typing in the variable to be displayed This is entered at the field where the field pointer is located To enter the variable simply type the variable in as it would be entered in a problem block and then press ENTER lt CR gt The status for the variable will immediately be displayed once Enter is depressed The pointer will then advance to the next field in the display where another variable may be entered The pointer may also be moved to any field in the display using the cursor arrow keys A previously entered variable can be overwritten by locating the pointer in that field and then typing in the new variable Note While a variable is being entered in the display communications to the target board is suspended The status of all variables in the variable display and in the ladder block will not be updated until the Enter key is depressed to enter the variab
180. nual SYSTEMS Electronics Group 140 SECTION 8 HIGH LEVEL PROGRAMMING 8 6 2 while loop The while loop is a simple looping statement that is similar in execution to the for loop but does not contain the init express and loop express This means that the loop variable s must be initialized before entering the while loop and must be modified inside the program code General form while conditional expression program code Evaluation The program code is executed as long as the conditional expression is true The exact sequence of execution is 1 Test conditional expression for true state 2 If false drop out of loop program code not executed program execution continues with statements following while loop 3 If true execute program code 4 Go to step 1 Notes 1 Parenthesis around conditional expression are required 2 The program code can be either a single line program statement or a statement block as defined in sections 8 3 and 8 4 3 The while loop does not contain an init express or loop express as in the for loop The loop variable s used in the conditional expression must be initialized before entering the while loop and must be modified inside the program code 4 The indentation shown on the program code is not required but highly recommended to improve readability 5 The while keyword is case sensitive while must be all lower case letters SYSdev Program De
181. oaded to the target board or programmed into EPROMs EPROM based boards only for installation in the target board SYSdev Program Development Manual SYSTEMS Electronics Group SECTION 1 INTRODUCTION 6 On line Monitoring When interfaced to the appropriate target board on line monitoring of the program execution can be performed This allows the state of contacts coils and variables to be displayed in the user program as well as the modification of variables during program execution All programming with SYSdev is performed off line Programs are developed compiled and then downloaded into the target board RAM program memory based boards or programmed into EPROMs for installation in the target board EPROM program memory based boards 1 3 Features of PLSdev PLSdev is used to configure and program the timing signal set points of the PLS programmable limit switch modules M4020 PLS section M4040 M4041 and the S3041 PLSdev allows the user to perform the following 1 PLS Configuration The PLS module scale factor number of channels brake wear compensation parameters and speed window parameters are all set through PLSdev 2 Timing Channel Programming On and off line timing channel program commands including individual set point programming pulse train channel programming and timing channel fine tune 3 Set points Upload and Download Timing channel set point data saved on disk can be downloaded to the PLS module
182. ock is a collection of statements that are executed as a group The statements may be program statements if else if else statements looping for while etc statements or any other executable statements The primary use of the statement block is to execute a group of statements versus executing just one statement as the conditionally executed program code of the if else if else and looping statements The use of the statement block will become more evident in the following sections The statement block is defined by enclosing the statements that are to be executed as a block with braces and The recommended format is as follows program statement program statement program statement SYSdev Program Development Manual SYSTEMS Electronics Group 132 SECTION 8 HIGH LEVEL PROGRAMMING There is not a limit to the number of statements or type of statements that can be specified in the block The key point is the fact that all statements within the braces will be executed together as a group The following are some examples of statement blocks B100 B101 B102 W120 W122 1000 W124 B105 F001 F002 F003 amp F004 B105 B106 B107 100 B108 B120 B122 W140 j 8 5 Conditional Statements if else if else Conditional program execution is implemented using the if else if else statement This statement allows a comparison or test to be made against variabl
183. ode of a vertical short is left floating no connection Both nodes of a vertical short must be connected R006 no continuity at end of branch This error occurs when the bottom node of a vertical short is left floating no connection Both nodes of a vertical short must be connected R007 invalid Flag address Each target board has a finite flag memory space Any reference to a flag address that is not within this flag memory space will result in this error See the respective target board user s manual for the valid memory map of the target board SYSdev Program Development Manual SYSTEMS Electronics Group A 10 R008 R009 R010 R011 R012 R013 R014 APPENDIX A STANDARD COMPILER ERROR CODES invalid Byte address Each target board has a finite variable data memory space Any reference to a byte address that is not within this data memory space will result in this error See the respective target board user s manual for the valid memory map of the target board invalid X address no input at slot Any reference to an input address that does not actually contain an input board as defined in the system configuration will cause this error In addition the address must be specified as Xaab c where aa is the two digit slot address 00 to 15 b is the byte on the board 0 or 1 and c is the bit address 0 7 See section 6 for more details invalid Y address no output at slot Any reference to an out
184. of the use of system functions Refer to the respective target board user s manuals for a complete description and use of the system functions supported by each respective target board System functions are entered in high level blocks as text similar to the way user functions are entered Each system function has a parameter list associated with the system function call which defines such things as the address to read write to the number of bytes to send receive etc In addition some system functions return with an error code or function status which can be used to determine if the system function was successful busy etc General form sfuncXX parm1 parm2 parmN Notes 1 The XX specifies the system function number 2 The target board must support the corresponding system function or the program will not compile 3 The parameter list parm1 parm2 parmN varies per system function See the respective target board user s manual for more details 4 Some system functions return with a byte value This value represents an error code or system function status See each specific system function for more details on these return values 5 When available the system function return value can be assigned to a variable using a program statement The form of this is variable sfuncXX parm1 parm2 parmN SYSdev Program Development Manual SYSTEMS Electronics Group 150 SECTION 8 HIGH LEVEL PROGRAMMING 6 The
185. ogram code is not required but highly recommended to improve readability 7 The for keyword is case sensitive for must be all lower case letters 8 The init express and loop express are optional The form of the for statement without these expressions is for cond express program code In this case the loop variable s will have to be initialized prior to entering the for loop and modified inside the program code SYSdev Program Development Manual SYSTEMS Electronics Group 139 SECTION 8 HIGH LEVEL PROGRAMMING Examples 1 for B100 0 B100 lt 20 B100 B101 B101 5 evaluation This loop adds 5 to B101 twenty times The evaluation occurs as follows 1 B100 loop count initialized to 0 2 if B100 is less than 20 a add five to B101 b increment B100 loop count c go to beginning of step 2 else a drop out of loop go to next statement 2 for B100 0 W102 amp W120 B100 lt 10 B100 W102 B100 W102 W102 2 j Evaluation This loop writes the values 0 thru 9 to consecutive address locations W120 thru W139 The evaluation occurs as follows 1 B100 loop count initialized to 0 2 W102 pointer address of W120 3 if B100 is less than 10 a address pointed to by W102 equals B100 loop count b increment W102 pointer to the next address c increment B100 loop count else a drop out of loop go to next statement SYSdev Program Development Ma
186. ogramming commands If the channel is not programmed as a pulse train a large block cursor is placed in the ON field of the currently selected set point to be edited This cursor can be moved to any set point number using the cursor arrow left right up and down keys Whichever set point the block cursor is located at is the set point that the various set point programming commands will operate on If the channel is programmed as a pulse train the cursor will not be displayed at all The only commands which are valid once a channel is programmed as a pulse train are the F5 Pulse Train and F8 Clear Chan commands Thus the cursor is not used to select set points since the commands that operate on individual set points are not valid SYSdev Program Development Manual SYSTEMS Electronics Group 206 SECTION 13 PLS PROGRAMMING If no set point is programmed at a given set point number the field is displayed as ___ Otherwise as an example the set point will be displayed as 020 040 where 020 is the le jocation the channel turns on and 040 is where the channel turns off for the given set point SCALE FACTOR This is the scale factor as entered in the PLS configuration Note The scale factor cannot be changed from the Channel Edit menu but is displayed only for reference MESSAGE This is a field which displays various status messages informing the user of invalid commands i e invalid set point operations in
187. oints already entered in the channel SYSdev Program Development Manual SYSTEMS Electronics Group 211 SECTION 13 PLS PROGRAMMING Example 1 The following key sequence enters the set point 020 040 at set point number 1 Key Depressed Set point Field 2 2 0 20 _ 020 _ _ 4 020 4 _ 0 020 40_ Enter lt CR gt 020 040 Example 2 The following example programs the entire channel on by specifying both the on and off parameters to 000 Key Depressed Set point Field 2 O_ _ Enter lt CR gt 000 _ 0 000 0 Enter lt CR gt 000 000 13 4 2 Fine Tune Set Point Command The fine tune set point command allows the user to increment or decrement by one the on or off parameter of an already existing set point The fine tune command is executed by selecting F6 Fine Tune from the Channel Edit menu When this is done the fine tune menu is displayed This menu contains the following commands F1 On Setpnt This is used to select the on parameter of the set point When selected the cursor will move to the least significant digit of the on parameter F2 Off Setpnt This is used to select the off parameter of the set point When selected the cursor will move to the least significant digit of the off parameter F3 Inc This command increments the selected parameter either on or off whichever was selected with the On Setpnt or Off Setpnt commands by one F4 Dec This command decrements the sele
188. oken following An incorrect token was found following a right parenthesis in an expression The only valid tokens which can be used to follow a right parenthesis are binary operators or another right parenthesis C035 invalid token following variable An incorrect token was found following a variable in an expression The only valid tokens which can be used to follow a variable are binary operators post unary operators or a right parenthesis C036 invalid token following binary operator An incorrect token was found following a binary operator in an expression The only valid tokens which can be used to follow a binary operator are variables constants unary operators or a left parenthesis SYSdev Program Development Manual SYSTEMS Electronics Group APPENDIX B 3012 COMPILER ERROR CODES invalid operator The operator at the location specified is invalid as used in the expression See the Operator Reference section 8 14 for the proper use of all operators B 5 APPENDIX B 3012 COMPILER ERROR CODES C037 C038 C039 improper use of unary operator The unary operator was not used properly in the expression See the Operator Reference section 8 14 for details on how operators can be used inappropriate use of operator The operator was not used properly in the expression See the Operator Reference section 8 14 for details on how operators can be used invalid token for expres
189. or any given file a maximum of 200 labels referenced in goto s can be defined If more than this is referenced this error will occur SYSdev Program Development Manual SYSTEMS Electronics Group APPENDIX A STANDARD COMPILER ERROR CODES A 9 APPENDIX A STANDARD COMPILER ERROR CODES Ladder error codes R001 lack of continuity at beginning of node No continuity was detected at the left node of the instruction All instructions must be connected such that power flow from the left power rail thru all the instructions to the coil can occur R002 lack of continuity at ending of node No continuity was detected at the right node of the instruction All instructions must be connected such that power flow from the left power rail thru all the instructions to the coil can occur R003 no continuity to the left on branch All branches must have at least one occurrence of continuity to the left and one occurrence of continuity to the right This error occurs if no continuity occurs to the left This also occurs when a network has negative power flow which is not allowed R004 no continuity to the right on branch All branches must have at least one occurrence of continuity to the left and one occurrence of continuity to the right This error occurs if no continuity occurs to the right This also occurs when a network has negative power flow which is not allowed R005 no continuity at start of branch This error occurs when the upper n
190. or less using any characters from the following character sets a z A Z _ or 0 9 The first character of the label must be from the a z or A Z character sets 4 The semicolon following the label is required No space between the semicolon and label is allowed 5 The target location in the program where the goto is to jump to must have the label located there with the label ending with a colon Any label can only be used in a target location once all target location labels must be unique 6 The target location of the label must be in the same file as the goto or goto s that reference it cannot jump out of one file to another SYSdev Program Development Manual SYSTEMS Electronics Group 145 SECTION 8 HIGH LEVEL PROGRAMMING 7 The target location of the label can be either prior to or following the location of the goto statement If the target location of the label is prior to the goto statement make sure an infinite loop is not unintentionally entered where the program jumps forward from the goto to the label over and over again 8 A given label may be jumped to from any number of goto statements Examples 1 goto lab_1 B100 B101 B102 20 lab 1 eval as The two statements B100 and B101 B102 20 are never executed since the goto unconditionally jumps to lab_1 2 B100 0 again 2 B100 if B100 lt 20 goto again 2 eval as The
191. or uploaded from the PLS module 4 Printouts Both the timing channel set point data and the PLS configuration can be printed thru PLSdev SYSdev Program Development Manual SYSTEMS Electronics Group SECTION 1 INTRODUCTION 1 4 System Requirements The SYSdev software package will run on any IBM PC or compatible with the following minimum system requirements 1 DOS 3 1 or greater 2 640K RAM 3 Hard Disk 4 One 3 5 720KB or 5 25 1 2MB Diskette Drive 5 COM RS 232 Port In addition to the above an EPROM programmer capable of programming 2732A 2764 and 27C256 EPROMsSs is required for EPROM program memory based boards S3010 S3012 EP 3021 and 3022 SYSdev can directly interface to the GTEK 7228 EPROM programmer using the PGMX communications program provided by GTEK If another EPROM programmer is used the user will have to provide the appropriate communication software to interface with the EPROM programmer 1 5 Installation The SYSdev software package is provided on both 3 5 720KB and 5 25 1 2MB diskette formats Each format contains three disks Both diskette sets contain the same files use which ever is appropriate for your system The software package contains an installation program on disk 1 of the three disks named INSTALL EXE The installation program creates the appropriate directories on your hard drive and copies the executable files and support files from the diskettes to the respective dire
192. ore information on each error KKKKKKKKKKKKKKKKKKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KK KKKKKKKKKKKKK block 1 Ladder This instructions is an example of lack of continuity at various nodes of different flag001 flag002 flagQ003 flag004 var doc var doc var doc var doc line 3 line 3 line 3 line 3 FOOL F002 F003 F004 025 7 M Pesto a a fi E room S an 20 1 20 2 20 3 20 4 flag002 flag003 flag005 var doc var doc var doc line 3 line 3 line 3 F002 F003 F005 1 H H H H 20 2 20 3 20 4 2 flag006 var doc line 3 Counter F006 ck 38 20 6 P 035 A B100 byte100 4 en var doc 5s SYSdev Program Development Manual C 9 SYSTEMS Electronics Group APPENDIX C LADDER PROGRAMMING EXAMPLES KKEKKKKKKKKKKKKKKKK KKK KK KKK KKK KKK KKK KKK KKK KK KKK KKK KKK KKK KKK KKKKKKKKKKKKKKK block 2 Ladder The first rung in the following example shows a case of negative power flow at branch following FO006 The second rung shows how this rung could be implemented to avoid the negative power flow error The error code for this is R004 blk 2 row 1 col 4 no continuity to the right on branch See error print out at the end of this section flag001 flag002 flag003 flag007 var doc var doc var doc var doc line 3 line 3 line 3 line
193. orm the following steps 1 From ladder editor menu press F5 Ladder Boxes 2 Press F4 Div 3 Enter the dividend operand reg1 by typing a variable type B W X Y b variable address or number c press ENTER return 4 Enter the divisor operand reg2 by typing a variable type B W X Y b variable address or number c press ENTER return 5 Enter quotient operand variable result will be stored at by typing a variable type B Y W b variable address c press ENTER return 6 Ifnicname for result variable does not already exist the cursor will be located in the nicname field directly below the result variable If you want to enter a nicname for this variable type the nicname in up to 7 characters and press ENTER If you do not want to enter a nicname simply press ENTER The cursor is then located at the next ladder element location If a nicname already exists for the variable the cursor will automatically advance to the next ladder element location SYSdev Program Development Manual SYSTEMS Electronics Group 73 SECTION 7 LADDER PROGRAMMING 7 1 13 remain remainder of division Sym bol Remainder regl reg2 out result nicname FoR oR oR Valid reg 1 bytes Byyy where yyy is the byte address 2 words Wyyy where yyy is the word address note that result must also be a word address 3 input byte Xyyz where yy is the slot 0 15 of the input and z is byte
194. orm to the Intel MCS 51 and MCS 96 instruction sets while the syntax conforms to the UNIX system V assembler syntax Most programs can be written entirely in Ladder and High level The assembly language is provided to give advanced users maximum flexibility and access the board architecture Assembly is required on intelligent I O boards S3021 and S3022 if the input and timer interrupts are to be used Assembly instructions are used to get access to the interrupt and timer registers See the S3021 and 3022 User s Manuals for examples of this When a program is compiled the Ladder and High level blocks are converted to assembly instructions and stored in an assembly source file This file is then assembled using an assembler The assembly blocks are merely copied into the assembly source file by the compiler No error checking is performed on assembly blocks by the compiler When the assembly source file is assembled the assembly instructions entered in the assembly block are then checked for errors and assembled The assembler used is the PseudoSam 51 or 96 assembler from PseudoCode Refer to the PseudoSam manual included for more information on assembly programming SYSdev Program Development Manual SYSTEMS Electronics Group 181 SECTION 9 ASSEMBLY PROGRAMMING This Page Intentionally Left Blank SYSdev Program Development Manual SYSTEMS Electronics Group 182 SECTION 10 PROGRAM ANNOTATION AND DOCUMENTATION SYSdev al
195. ot performed and the output is unconditionally set to 0 SYSdev Program Development Manual SYSTEMS Electronics Group 97 SECTION 7 LADDER PROGRAMMING Example Move into out B102 name102 byte102 var doc line 3 When in is a 1 the number 10 is moved into B102 and the output is set to 1 If the input is 0 the output is set to 0 and B102 is left unchanged To enter a Move box in a ladder block perform the following steps 1 From ladder editor menu press F5 Ladder Boxes 2 Press F10 More Boxes 3 Press F6 Move 4 Enter first Move operand reg1 by typing a variable type B W X Y b variable address or number c press ENTER return 5 Enter second Move operand reg2 by typing a variable type B W X Y b variable address or number c press ENTER return 6 Ifnicname for reg2 variable does not already exist the cursor will be located in the nicname field directly below the reg2 variable If you want to enter a nicname for this variable type the nicname in up to 7 characters and press ENTER If you do not want to enter a nicname simply press ENTER The cursor is then located at the next ladder element location If a nicname already exists for the variable the cursor will automatically advance to the next ladder element location SYSdev Program Development Manual SYSTEMS Electronics Group 98 SECTION 7 LADDER PROGRAMMING 7 1 24 move invert invert and move
196. output is unconditionally set toa 1 when the input is a 1 When in is a 0 the subtraction is not performed result is left at its last value and the output is set toa 0 SYSdev Program Development Manual SYSTEMS Electronics Group 68 SECTION 7 LADDER PROGRAMMING Example Subtract W100 W102 out W104 name104 word104 var doc line 3 When in is a 1 the contents of W102 is subtracted from the contents of W100 and the result is placed in W104 out is set to a 1 If W100 1000 and W102 450 then W104 would equal 550 When in is a 0 W104 is left at its last value and out is set to a 0 To enter a Subtract box in a ladder block perform the following steps 1 From ladder editor menu press F5 Ladder Boxes 2 Press F2 Subb 3 Enter first Subtract operand reg1 by typing a variable type B W X Y b variable address or number c press ENTER return 4 Enter second Subtract operand reg2 by typing a variable type B W X Y b variable address or number c press ENTER return 5 Enter result operand variable result will be stored at by typing a variable type B Y W b variable address c press ENTER return 6 Ifnicname for result variable does not already exist the cursor will be located in the nicname field directly below the result variable If you want to enter a nicname for this variable type the nicname in up to 7
197. played along with the first block of the program See Main Editor menu section 3 2 Note Whenever a program change is made the program must be re compiled and downloaded into the target board 3 Edit System Configuration This activates the System Configuration menu See section 5 When SYSdev is initially invoked and the program name entered does not exist the System Configuration menu is automatically activated This selection allows the user to modify the system configuration at any time 4 Print Program This activates the program printout utilities See section 11 for details of the printouts generated and the print options available SYSdev Program Development Manual SYSTEMS Electronics Group ll SECTION 3 MENUS 5 Compile Program This selection invokes the SYSdev compiler Once a program is entered it must then be compiled before it can be downloaded to the target board or programmed into EPROMs The compilation process is a totally automated process requiring no further input from the user once it is initiated The compiler converts the user program into a HEX file that is downloaded to the target board or programmed into the EPROM s which are installed in the target board Note Whenever a program change is made the program must be re compiled prior to downloading or programming new EPROMs The compiler performs the following steps 1 The compiler performs a complete error check on all the files prior to actually
198. plied by B103 30 600 2 B100 150 600 result 750 word Note If the result is greater than 65535 any significant bits greater than 65535 will be lost The result will equal Result 65536 SYSdev Program Development Manual SYSTEMS Electronics Group 172 SECTION 8 HIGH LEVEL PROGRAMMING 8 14 18 NOT EQUAL Symbol Form operand operand Operand Types 1 variables a flags F P b bytes B X Y c words W 2 constants right operand only a Oor 1 bit b 0 255 decimal byte c 0 ffH hex byte d 0 65535 decimal word e 0 ffffH hex word 3 expressions Class relational Type binary Precedence 3 Definition The not equal comparison operator compares the value of the left operand to the value of the right operand and sets the result to no if they are equal or to yes if they are not See notes 1 and 5 at the end of this section Examples 1 expression B100 10 contents 20 10 eval as 1 B100 20 not equal to 10 2 expression B100 B102 B103 B104 contents 10 20 5 25 eval as 1 B100 10 B102 20 2 B103 5 B104 25 3 30 not equal to 30 3 expression F001 1 contents 0 1 eval as 1 F001 0 not equal to 1 SYSdev Program Development Manual 7s result Yes 30 30 Result No result Yes SYSTEMS Electronics Group SECTION 8 HIGH LEVEL PROGRAMMING 8 14 19 OR bitwise S
199. press 2 Off line Programming 2 Select file to edit 3 To insert a new High level block press F3 Insert High 4 To edit the current existing High level block press F4 Edit Block 5 Type High level code as required into block 6 When finished press ESC to accept the new block 8 14 High Level Operator Reference This section provides a detailed description of each High level operator For each operator the following is defined Symbol Class Type Form Operand Types Precedence Operator symbol as used in program Arithmetic relational or assignment Arithmetic operators generate a numeric value Relational operators generate a yes or no answer Assignment operators are arithmetic operators that actually alter the value of one of the operands Binary or unary Binary operators act on two operands unary operators act on only one operand The actual syntax of the operator as used in expressions The operands which can be used with the operator variables constants expressions etc All operators have a precedence of evaluation when used inside an expression Operators with a higher precedence are evaluated first followed by operators of the next highest precedence etc Each operator is assigned a precedence between 0 and 9 where 0 is the lowest precedence and 9 is the highest precedence SYSdev Program Development Manual SYSTEMS Electronics Group 155 SECTION 8 HIGH LEVEL PROGRAM
200. pressions Expressions are combinations of operators binary and unary operands and parenthesis that evaluate to either a numeric value or a true false answer Two types of expressions are used arithmetic and conditional Arithmetic expressions use arithmetic operators and evaluate to a numeric value Conditional expressions use a combination of arithmetic and relational operators and evaluate to a true false answer Arithmetic expressions are used in assignment program statements equations Conditional expressions are used as the true false expression in if else if else statements as well as for while and do while loops Expressions are evaluated by the precedence of the operators within the expression Each operator has associated with it a precedence i e multiplication has a higher precedence than addition which has a higher precedence than logical AND etc The operators with the highest precedence are evaluated first followed by the operators with the second highest precedence etc Within the same level of precedence the operators are evaluated left to right The order of evaluation can be altered using parenthesis to define operators and operands which should be evaluated first See following examples Each expression is assigned a variable class bit byte or word For expressions used in program statements the class is set by the variable which is assigned the result For expressions used in conditional statements the
201. process i e loading file etc OFFSET The current resolver offset of the selected program This is entered using the F10 Set Offset command PULSE TRAIN Defines whether the channel is programmed as a pulse train YES or no NO The channel defaults to NO until the F5 Pulse Train command is executed Once programmed as a pulse train the channel must be cleared using the F8 Clear Chan command to reset PULSE TRAIN to NO See section 13 4 for details of the pulse train command ON On duration in degrees of the pulse train OFF Off duration in degrees of the pulse train START Starting location of the pulse train The channel will be programmed throughout with the on and off durations starting at the Start location The function key commands of the Channel Edit menu are defined as follows F1 Next Chan Selects the next highest numbered channel for editing When selected the channel number will increment by one and the set points and data for that channel will be displayed The PgDn key also performs the same function as the F1 Next Chan key F2 Prev Chan Selects the next lowest numbered channel for editing When selected the channel number will decrement by one and the set points and data for that channel will be displayed The PgUp key also performs the same function as the F2 Prev Chan key F3 Select Chan Used to select any channel number for editing When selected the current channel numb
202. programmer remove EPROM from programmer before powering down wait five seconds and then power it back up and try again If the problem still persists check the EPROM programming cable for continuity and proper pin connection on both connectors SYSdev Program Development Manual SYSTEMS Electronics Group 29 SECTION 3 MENUS This Page Intentionally Left Blank SYSdev Program Development Manual SYSTEMS Electronics Group 30 SECTION 4 OVERVIEW OF PROGRAM STRUCTURE AND LANGUAGE 4 1 Program Structure and Execution The typical SY Sdev user program is constructed with up to five different file types These are 1 Initialization file 2 Main Program file 3 Timed Interrupt file 4 CO CPU Communications file 5 User Function files These five file types together with the internal overhead code generated by the compiler constitute the entire user program The following is a description of the fundamental program execution as it pertains to the main processor boards The program execution of the intelligent I O boards is essentially the same with only very minor exceptions At power up an internal initialization routine is entered which clears all the output boards tests the ram memory initializes all the timers used in the program and enables the timed interrupt and CO CPU communications interrupt At the end of this initialization the user Initialization file is executed if one is present This gives the user a c
203. put address that does not actually contain an output board as defined in the system configuration will cause this error In addition the address must be specified as Yaab c where aa is the two digit slot address 00 to 15 b is the byte on the board 0 or 1 and c is the bit address 0 7 See section 6 for more details output byte assigned in another file Assignments places where the output is set to a value to output variables can only be made in one file type This is due to the fact that it is within this file that the output is actually written to Flags or byte addresses must be used to pass the state of these outputs between file types cannot assign outputs in user functions Output byte references cannot be made in user functions due to the fact that it is unknown which file called the user function which could result in an error such as R011 too many timer counter accums max 200 Too many bytes were assigned as timer counter accumulators The maximum number of timers counters a program can have is 200 invalid must be 0 255 or B addr The respective variable is invalid for the field in the ladder box instruction See Valid regx for specific instruction SYSdev Program Development Manual SYSTEMS Electronics Group APPENDIX A STANDARD COMPILER ERROR CODES R015 both box variables cannot be type In comparisons either the top or bottom variable must be of either type B W X or Y R016 invalid variab
204. quals reg2 otherwise the output is set to 0 Regl and reg2 are left unchanged by the instruction If the input is 0 the output is unconditionally set to 0 SYSdev Program Development Manual SYSTEMS Electronics Group 9 SECTION 7 LADDER PROGRAMMING Example Compare B100 B102 name102 out byte102 var doc line 3 When in is a 1 if the contents of B100 are equal to the contents of B102 the output is set to 1 if they are not equal the output is set to 0 If the input is 0 the output is set to 0 To enter a Compare equal box in a ladder block perform the following steps 1 From ladder editor menu press F5 Ladder Boxes 2 Press F10 More Boxes 3 Press F3 Comp 4 Enter first Compare operand reg1 by typing a variable type B W X Y b variable address or number c press ENTER return 5 Enter second Compare operand reg2 by typing a variable type B W X Y b variable address or number c press ENTER return 6 Ifnicname for reg2 variable does not already exist the cursor will be located in the nicname field directly below the reg2 variable If you want to enter a nicname for this variable type the nicname in up to 7 characters and press ENTER If you do not want to enter a nicname simply press ENTER The cursor is then located at the next ladder element location If a nicname already exists for the variable the cursor will automatically advance to the ne
205. r See sections 7 1 7 and 7 1 8 for more details on timers and counters SYSdev Program Development Manual SYSTEMS Electronics Group 19 SECTION 3 MENUS F5 Ladder Boxes This selection allows the user to enter any of the following ladder box instructions Fl add addition F2 subb subtraction F3 mul multiply F4 div division F5 remain remainder of division F6 AND amp bitwise AND F7 OR bitwise OR F8 XOR bitwise exclusive OR F9 Shift Reg Shift register F10 More Boxes Fl shift gt gt shift right F2 shift lt lt shift left F3 comp compare equal F4 comp gt compare greater than F5 comp gt compare greater than or equal F6 movemove into F7 move invert invert and move into F8 move ext move into external address F9 call ufunc call user function 0 99 F10 More Boxes Fl netwrk comm serial network communications F2 CO CPU comm CO CPU communications F3 Block comm CO CPU block communications See section 7 for more details on these instructions F6 Var Names This selection is used to enter variable documentation while inside the Ladder Editor This feature makes it easy to annotate a program while it is being created or edited See section 10 1 for more details on variable annotation entry F7 horizontal short This selection is used to enter a horizontal short in a ladder block All ladder instructions must be connected to form the network desi
206. r The blocks following the block that was cut are all moved to the next lowest block number Cut Block can be used in conjunction with Paste Block to move or duplicate blocks within the file Cut Block is also used to delete blocks from the file Note Only one block can be cut at a time any block that was in the temporary buffer when the block was cut is lost when another block is cut Cut Block can be used on any block type Ladder High level or Assembly SYSdev Program Development Manual SYSTEMS Electronics Group 16 SECTION 3 MENUS F7 Paste Block Paste Block pastes or inserts the block that was previously cut and stored in the temporary buffer at the location following the currently displayed block All the blocks following the pasted block are moved to the next highest number Paste Block must always be used in conjunction with Cut Block Cut Block is used to cut the block desired while Paste Block is used to paste the block back in at a new location Paste Block is used to move a block to a different location or make duplicate copies of a block in the file Paste Block can be used on any block type Ladder High level or Assembly Paste block cannot be used to move a block from one file to another file i e moving a block from the main program file to the timed interrupt file F8 Edit Doc Edit Doc is used to enter the documentation associated with the currently displayed block When selected the text editor is ini
207. r High level C and Assembly This includes but is not limited to the following SYSTEMS boards and modules S3010 M4010 S3012 M4011 S3014 M4012 S3016 M4020 PLC section S3021 D4110 S3022 In addition to user program development SYSdev allows the timing signal set point programming of the following PLS programmable limit switch modules M4020 PLS section M4040 M4041 S3041 The SYSdev software package actually consists of two executive programs SYSdev and PLSdev SYSdev is used to program the 3010 S3012 3014 S3016 S3021 S3022 and the M4000 modules PLSdev is used to program the timing signal set points of the PLS modules M4020 PLS section M4040 M4041 and S3041 The primary SYSdev executive program is essentially a shell which is used to organize the user directories create and edit user program files select the target board for the user program and to invoke the other programs automatically based on the selected target board Thus from the users standpoint there is really only one program SYSdev which is invoked from the DOS prompt to create and edit programs for any of the SYSTEMS S3000 boards and M4000 modules SYSdev Program Development Manual SYSTEMS Electronics Group SECTION 1 INTRODUCTION 1 1 Features of the SYSdev Shell The SYSdev shell is the primary executive file invoked from the DOS prompt to edit and create S3000 and M4000 programs The SYSdev shell incorporates the following features
208. r function 10 is complete execution returns to the instruction following the user function block If the input is 0 the output is set to 0 and user function 10 is not called To enter a user func box in a ladder block perform the following steps 1 From ladder editor menu press F5 Ladder Boxes 2 Press F10 More Boxes 3 Press F9 Call ufunc 4 Enter user function number by typing a variable type b user function number c press ENTER return SYSdev Program Development Manual SYSTEMS Electronics Group 104 SECTION 7 LADDER PROGRAMMING 7 1 27 network comm serial network communications Symbol Network Comm salve B or sent B or out msrce Wreg sdest Wreg rcve B or ssrce Wreg mdest Wreg ret Breg nickname oook k FoR pees Parameter definitions slave Address of node to communicate with This is the network address of the slave each slave has a unique address Valid variables constant 1 32 or Byyy where Byyy contains the address of the slave sent Number of words to send to slave Valid variables constant 0 120 or Byyy where Byyy contains the number of words to be sent msrce Starting address of send stack in master which will be sent to slave A consecutive number of words sent will be sent to the slave starting at this address Valid variables Wyyy where Wyyy is the address of the first word to be sent sdest Starting address of stack in s
209. r is then located at the next ladder element location If a nicname already exists for the variable the cursor will automatically advance to the next ladder element location SYSdev Program Development Manual SYSTEMS Electronics Group 90 SECTION 7 LADDER PROGRAMMING 7 1 20 comp compare equal Symbol Compare out nicname FoR Fo oR Valid reg 1 bytes Byyy where yyy is the byte address 2 words Wyyy where yyy is the word address 3 input byte Xyyz where yy is the slot 0 15 of the input and z is byte 0 or 1 at the slot 4 output byte Yyyz where yy is the slot 0 15 of the output and z is byte 0 or 1 at the slot 5 constants yyy where yyy is a fixed number between 0 and 255 if result is not a word or between 0 and 65535 if result is a word Annotation For compare instructions the three lines by seven characters variable documentation of the reg2 variable is printed inside the box as shown with the lines This annotation only appears on the program printout See section 10 for annotation details Nicname For compare instructions the seven character variable nicname of the reg2 variable is printed in parenthesis directly below the result variable See section 10 for details on the variable nicnames Description When the input is 1 the compare equal instruction compares the value of reg with the value of reg2 and sets the output to a 1 only if reg e
210. r to cascade shift registers and create a larger number of shifts Truth Table a three byte shift register is shown the same principle applies to a three word shift register as well bit position 76543210 76543210 76543210 22111111 11111000 00000000 shift number 10987654 43210987 76543210 ck si so reg3 reg2 regi 1 1 0 00000000 00000000 00000001 1 0 0 00000000 00000000 00000010 1 0 0 00000000 00000000 00000100 1 0 0 00000000 00000000 00001000 1 0 0 00000000 00000000 00010000 1 0 0 00000000 00000000 00100000 1 0 0 00000000 00000000 01000000 1 0 0 00000000 00000001 10000000 1 0 0 00000000 00000010 00000000 1 0 0 00000000 00000100 00000000 1 1 0 00000000 00001000 00000001 1 1 0 00000000 00010000 00000011 1 1 0 00000000 00100000 00000111 1 0 0 00000000 01000000 00001110 1 0 0 00000001 10000000 00011100 1 0 0 00000010 00000000 00111000 1 0 0 00000100 00000000 01110000 0 0 0 00000100 00000000 01110000 0 0 0 00000100 00000000 01110000 0 0 0 00000100 00000000 01110000 1 0 0 00001000 00000001 11100000 1 0 0 00010000 00000011 11000000 1 0 0 00100000 00000111 10000000 1 0 0 01000000 00001110 00000000 1 0 1 10000000 00011100 00000000 1 0 0 00000000 00111000 00000000 1 0 0 00000000 01110000 00000000 1 0 0 00000001 11100000 00000000 1 0 0 00000011 11000000 00000000 1 0 0 00000111 10000000 00000000 0 0 0 00000111 10000000 00000000 SYSdev Program Development Manual SYSTEMS Electronics Group 84 SECTION 7 LADDER PROGRAMMING
211. rd 0 to 65535 decimal or 0 to ffffH hex is valid C020 invalid function parameter An invalid function parameter was specified in the function parameter list See the respective target board user s manual for the correct system function format and parameters C021 invalid system function for target board Only the system functions supported by the respective target board are valid for that target board See the respective target board user s manual for the system functions supported by that board C022 slot address does not contain CO CPU An sfunc05 sfunc06 or sfunc12 call was made to a slot address that does not contain an intelligent I O board These system functions can only be used on slots that do contain an intelligent I O board which supports the respective system function C023 inappropriate use of system function System function was not used correctly in statement See section 8 10 for the proper use of system functions C024 invalid use of function in expression Functions cannot be used in expressions like variables are used See sections 8 8 and 8 10 for the proper use of functions C027 improper use of parenthesis The parenthesis at the location was improperly used Parenthesis are used to enclose variables and expressions to define the order of execution In most cases any other use of parenthesis is not allowed SYSdev Program Development Manual SYSTEMS Electronics Group A 4 C028 C029 C030 invalid program st
212. rd address 3 output byte Yyyz where yy is the slot 0 15 of the output and z is byte 0 or 1 at the slot Annotation For arithmetic instructions the three lines by seven characters variable documentation of the result variable is printed inside the box as shown with the lines This annotation only appears on the program printout See section 10 for annotation details Nicname For arithmetic instructions the seven character variable nicname of the result variable is printed in parenthesis directly below the result variable See section 10 for details on the variable nicnames Description When in is a 1 regl is divided by reg2 and the quotient is placed in the result variable note that the remainder is lost see Remainder instruction The output is unconditionally set toa 1 when the input is a 1 When in is a 0 the division is not performed result is left at its last value and the output is set toa 0 SYSdev Program Development Manual SYSTEMS Electronics Group 72 SECTION 7 LADDER PROGRAMMING Example Divide regl reg2 out result nicname oR FoR pee kk When in is a 1 the contents of W100 is divided by the contents of W102 and the quotient is placed in W104 out is set to a 1 If W100 2500 and W102 110 then W104 would equal 22 the remainder is lost When in is a 0 W104 is left at its last value and out is set toa 0 To enter an Divide box in a ladder block perf
213. red The horizontal short is a fundamental element required to make these connections The horizontal short is entered with the left node at the current cursor location and the right node at the next to the right element location SYSdev Program Development Manual SYSTEMS Electronics Group 20 SECTION 3 MENUS F8 vertical short This selection is used to enter a vertical short in a ladder block The vertical short is a fundamental element required to build networks or rungs in a ladder block The vertical short is entered with the top of the short at the current cursor location and the bottom of the short at the next lower row F9 Vert Open This selection is used to delete vertical shorts To delete the short place the cursor at the top node of the vertical short and press F9 The vertical short will be deleted while the instruction at the cursor location is left unchanged F10 Delete Elem This selection is used to delete the instruction at the current cursor location The instruction will be immediately deleted when F10 is pressed The instruction to the right of the cursor will be deleted ESC Escape The escape key is used to terminate the Ladder Editor and return to the Main Editor menu The ladder block will be accepted exactly as left when ESC is pressed 3 3 1 Operation of Ladder Editor When the Ladder Editor is initiated the cursor appears in the first element position of the ladder block matrix row 0 colum
214. respond to the respective I O point on the output board The form of this is Yaab c Where aa is the slot address and b is the byte address as defined above c is the bit or output point Examples Y040 Y091 Y130 3 Y071 7 etc Note Output variables can only be referenced for output boards that are actually included in the system configuration Any reference to output variables that do not correspond to existing output boards will result in a compiler error SYSdev Program Development Manual SYSTEMS Electronics Group 43 SECTION 6 VARIABLE FORMATS 6 1 7 Words W Word variables are 16 bit variables used as general purpose variables in the user program Word variables can have a value between 0 and 65535 decimal or 0 and ffffH hex Word variables are used as arithmetic variables in the High level language The format of the word variable as used in programming is Wzzz Where zzz is the three digit word address Note The leading W must be a capital letter and that zzz must be a three digit number include leading zeros as necessary Word addresses are always even numbers divisible by 2 Word addresses overlap the byte addresses in such a manner that the equivalent byte address is the lower byte of the word and the next higher byte address is the upper byte of the word For instance B100 is the lower byte of W100 while B101 is the upper byte of W100 This allows the upper and lower bytes of a word to be specified as w
215. return 12 Enter address of return value by typing a variable type B b variable address c press ENTER return 13 If nicname for ret variable does not already exist the cursor will be located in the nicname field directly below the ret variable If you want to enter a nicname for this variable type the nicname in up to 7 characters and press ENTER If you do not want to enter a nicname simply press ENTER The cursor is then located at the next ladder element location If a nicname already exists for the variable the cursor will automatically advance to the next ladder element location SYSdev Program Development Manual SYSTEMS Electronics Group 108 SECTION 7 LADDER PROGRAMMING 7 1 28 CO CPU Comm CO CPU Communications Symbol Co CPU Comm slot sent B or out srce Breg reve B or dest Breg nickname se a a 2 eke oR pees Parameter definitions slot Slot the Co Cpu board resides in Valid variables constant 0 15 sent Number of bytes to send to Co Cpu board Valid variables constant 0 128 or Byyy where Byyy contains the number of bytes to be sent srce Starting address of send stack in S3012 which will be sent to Co Cpu A consecutive number of bytes sent will be sent to the Co Cpu starting at this address Valid variables Byyy where Byyy is the address of the first byte to be sent rcve Number of bytes received from Co Cpu Valid variables constant 0
216. riable is assigned a value at this location Variable is an output or assigned the result of an expression etc Variable is used as a pointer The variable value itself is not modified but the address pointed to by the variable is Variable is used in an assembly block The usage is unknown may or may not be modified 11 3 Variables Overlap Map 8 The variables overlap map printout provides three separate printouts These are multi assigned variables byte word overlaps and flag byte overlaps Each printout prints the variables in the same form as the cross reference listing which files blocks and lines the variables are used in 11 3 1 Multi assigned Variables This printout lists the variables that are assigned a value in more than one location An example of this is a flag that is referenced as a coil more than one time SYSdev does not prevent the user from assigning values to a variable in more than one location in fact it may be a very desirable thing to do This printout simply allows the user to verify that there were no variables unintentionally assigned more than once A good example is timer counter accumulators they should only be referenced once in the timer or counter they are used in This printout provides a complete list of all the variables assigned more than once SYSdev Program Development Manual SYSTEMS Electronics Group 190 SECTION 11 PROGRAM PRINTOUTS 11 3 2 Byte Word Overlaps
217. riables must be bytes B X Y variables If the class is word the variables can be words W or bytes B X Y C011 incorrect user function format The correct user function format is ufuncXX where XX is the user function number If the user function is used as a program statement it must be followed immediately with a semicolon as in ufuncXX C012 incorrect system function format The system function format is incorrect See the respective target board user s manual for the correct system function formats SYSdev Program Development Manual SYSTEMS Electronics Group A 2 C013 C014 C015 C016 C017 C018 APPENDIX A STANDARD COMPILER ERROR CODES invalid system function number Only the system functions supported by the respective target board are valid for that target board See the respective target board user s manual for the system functions supported by that board invalid byte address Each target board has a finite variable data memory space Any reference to a byte address that is not within this data memory space will result in this error See the respective target board user s manual for the valid memory map of the target board invalid word address Each target board has a finite variable data memory space Any reference to a word address that is not within this data memory space will result in this error See the respective target board user s manual for the valid memory map of the target
218. rsor will be placed below the coil Enter the nicname for the variable and press ENTER If no nicname is to be entered press ENTER The cursor will automatically advance to the next ladder element If the variable already has a nicname the cursor will automatically advance to the next ladder element SYSdev Program Development Manual SYSTEMS Electronics Group 53 SECTION 7 LADDER PROGRAMMING 7 1 4 Coil latch Symbol Kk k k k k 2k Kok K k k 2K 2k Kk k k 2 2K 2k variable L in nicname Valid Variables 1 flags Fzzz where zzz is the flag number 2 bytes Byyy z where yyy is the byte address and z is the bit within the byte 3 outputs Yxxy z where xx is the slot number y is the byte at the slot and z is the bit within the byte Annotation For coils the three lines by seven characters variable name is printed above the coil as shown with the lines This annotation only appears on the program printouts See section 10 1 Nicname For coils the seven character nicname is shown directly below the coil Description The latch output coil sets the variable referenced to a 1 when the coil input is 1 and leaves the variable in its previous state when the input is 0 Truth Table Input Variable 0 previous state 1 1 SYSdev Program Development Manual SYSTEMS Electronics Group 54 SECTION 7 LADDER PROGRAMMING Examples 1 flag001 var doc line 3 F001 L name00
219. rupt For this reason sfunc05 cannot be used in the co comm interrupt file C071 sfunc must be in main or init file only The specified system function can only be used in the main program or initialization file If an attempt to use this system function in any file other than the main program or init file is made this error will occur SYSdev Program Development Manual SYSTEMS Electronics Group B 10 APPENDIX B 3012 COMPILER ERROR CODES Ladder error codes R001 lack of continuity at beginning of node No continuity was detected at the left node of the instruction All instructions must be connected such that power flow from the left power rail thru all the instructions to the coil can occur R002 lack of continuity at ending of node No continuity was detected at the right node of the instruction All instructions must be connected such that power flow from the left power rail thru all the instructions to the coil can occur R003 no continuity to the left on branch All branches must have at least one occurrence of continuity to the left and one occurrence of continuity to the right This error occurs if no continuity occurs to the left This also occurs when a network has negative power flow which is not allowed R004 no continuity to the right on branch All branches must have at least one occurrence of continuity to the left and one occurrence of continuity to the right This error occurs if no continuity occurs to the ri
220. s also used to copy the program to a new program name For instance when one program is similar to another completed program simply copy the old program to the new program name and edit as required SYSdev Program Development Manual SYSTEMS Electronics Group 14 SECTION 3 MENUS 3 2 Main Editor Menu The Main Editor menu is displayed as function key selections at the bottom of the screen along with the program This is brought up when the Off line Programming selection from the Main Development menu is made and after the appropriate file is selected The following is the function of each selection F1 Help Screen This brings up the Editor Help menu Help is available on the following subjects Editor Menu definitions Ladder Box instructions High level sfuncs variable documentation typical program structure The help screens are text files one 80 column by 112 line file per screen which can be customized by the user using any text editor The help screens are located in the SYS96 HELP directory for the S3012 and in the SYS51 HELP directory for all other boards The following file names are used for the respective screens EDITORI HLP Editor Menu Definitions EDITOR2 HLP Ladder Box Instruction Definitions EDITOR3 HLP High Level Communications sfuncs EDITOR4 HLP High Level General Purpose sfuncs EDITORS HLP Variable Documentation EDITOR6 HLP Typical Program Structure ONLINE1 HLP On line Monitoring Help Screen O
221. s an indication of the status update time This indicator will flash slower for larger ladder blocks or when more variables are entered in the variables status window 12 3 Changing Variables Values Variables can be assigned values while user program execution occurs using the F2 Change Value selection in the Online Functions menu This is primarily used to set presets on timers counters using variables as presets or to assign values to any user presetable variables Only F B W and Y variables can be assigned values through this selection 12 3 1 Assigning a Value to a Variable To assign a value to a variable in a target board perform the following 1 With the target board executing the user program invoke SYSdev on the computer which will be used to interface with the target board Connect COM on the computer to the PROG PORT on the target board using the appropriate RS 232 cable see target board user s manual 2 From the Main Development menu select 1 On line Monitoring 3 From the Online Functions menu select F2 Change Value This brings up the Enter variable value display with the cursor located in the Addr Value prompt SYSdev Program Development Manual SYSTEMS Electronics Group 197 SECTION 12 ON LINE FUNCTIONS 4 From the Addr Value prompt type in the variable to be assigned just as the variable would be entered in the program then press either ENTER lt CR gt or lt gt to en
222. s editor This allows the user to enter the 3 lines by 7 character variable names for each variable This is an alternative way of annotating variables outside of the program editor See section 10 1 for details on variable annotation 8 Print Compile Errors This selection is used to print the errors detected when the program is compiled The errors printed are the same errors displayed during the error check phase of program compilation See appendix A for descriptions of the error codes This feature uses the MS DOS print command to print the errors Your system autoexec batch file must contain a path to the directory that PRINT EXE is located in or you must copy PRINT EXE into the sys51 or sys96 directory in order for the SYSdev program to have access to the print command SYSdev Program Development Manual SYSTEMS Electronics Group 13 SECTION 3 MENUS 9 File Utilities The SYSdev program allows you to back up restore make a new directory and to copy the current program to another program name all while inside the SYSdev program Selecting File Utilities brings up a sub menu with the following choices 1 Back up Program This allows the current program to be backed up on a diskette in drive A Install the back up diskette in drive A and press any key when ready This copies all the files associated with the program to the root directory of the A drive Note The files will be stored at the root directory of the diskette
223. s field displays the currently selected drive and directory This is used as the path to the user program name when creating or editing a program and is set using the F6 Select Drive and F3 Select Dir commands When SYSdev is initially invoked this is set to the root directory of the current drive PROG This is the program currently pointed to by the selection arrow in the Program Selections field of the menu This field is also used to enter the name of the user program when the F1 Create Prog command is executed TARGET BOARD This field displays the target board for the currently selected program The target board is selected when the F1 Create Prog command is selected Once set the target board cannot be changed for a specific user program PROGRAM SELECTIONS This field contains a list of the existing user programs in the currently selected directory The currently selected program is the program pointed to by the selection arrow The selection arrow can be moved to any displayed program using the Left Right Up and Down arrow keys When SYSdev is initially invoked this displays all the SYSdev user programs in the root directory of the current drive SYSdev Program Development Manual SYSTEMS Electronics Group SECTION 2 SYSDEV SHELL SUB DIRECTORY SELECTIONS This field contains a list of the existing sub directories in the currently selected directory these would be sub directories within the parent directory The F3
224. s from PLS This selection uploads the set points for each channel from the M4020 40 41 and saves it in the channel data file of the currently selected program Note The configuration data is not uploaded from the M4020 40 41 To upload the data from the M4020 40 41 perform the following 1 With both the PC running PLSdev and the M4020 40 41 powered up connect COM1 on the PC to the CHAN port on the M4020 40 41 using the appropriate RS 232 cable 2 Select this selection from the Main Development menu A prompt will appear to verify whether to continue or not To abort the upload press ESC otherwise press any key to start the upload 3 While the upload is in progress the channel number which is currently being uploaded will be displayed Once all channels are uploaded an upload complete message will be displayed along with a prompt to return to the main menu Press any key to return to the menu 4 Ifthe computer was unable to initiate the upload to the M4020 40 1 a message stating this will be displayed Verify the RS 232 cable connections between COM1 on the computer and the CHAN port on the M4020 40 41 Press any key to return to the Main Development menu and try to upload again SYSdev Program Development Manual SYSTEMS Electronics Group 202 SECTION 13 PLS PROGRAMMING 6 Print Channels Both the PLS configuration data and channel set points data can be printed out through PLSdev When this selection is made a Pri
225. se statements comprise a loop which is executed twenty times The goto jumps to again 2 as long as B100 is less than 20 This loop executes essentially the same as the do while loop executes SYSdev Program Development Manual SYSTEMS Electronics Group 146 SECTION 8 HIGH LEVEL PROGRAMMING 3 if B100 lt 100 goto less100 else goto grtr100 less 100 grtr100 eval as These statements test if B100 is less than 100 and jumps to less100 if so and jumps to grtr100 if not This assumes some section of code will be executed if B100 is less than 100 while another section of code is executed if B100 is greater than or equal to 100 8 8 Calling User Functions ufunc statement User functions are subroutines which can be called from any of the five file types Main Timed Interrupt Co Cpu Interrupt Initialization file or even another user function file User functions are implemented as files see section 4 1 5 but are executed as true subroutines The user function is called using the ufunc statement which suspends the current file execution and passes control to the user function The user function executes and returns to the statement following the ufunc call in the original file Up to 100 user functions can be implemented User functions can only be called using the ufunc statement in a High level block User functions can return with a value byte result from function which can be assigned to a v
226. ser will have to program the EPROM s outside of the SYSdev program using the communications program supplied with that EPROM programmer Programming EPROM s When using the GTEK EPROM programmer follow the steps displayed once the facility is initiated The facility calculates the size of the HEX program and determines if it is too big for the target board If it is a message stating this is displayed along with a prompt to exit back to the main menu The user program will have to be reduced in size if this is the case When the target board is an 3010 the facility also determines whether one or two EPROMs are required based on the HEX file size The 3010 program memory is a total of 8K implemented using two 4K 2732A EPROMSs If the program is less than 4K only one EPROM is required If the program is greater than 4K two EPROMs are required The 3012 EP uses two 27C256 EPROMs programmed in split mode such that the first EPROM is programmed with all the even bytes low order bytes while the second EPROM is programmed with all the odd bytes high order bytes Follow the instructions displayed exactly when programming EPROMs for the S3012 EP Install the EPROM in the programming socket of the EPROM programmer If a 2732A EPROM is to be programmed place the chip in the bottom portion of the socket with pin 1 of the EPROM in pin 3 of the socket The upper pins of the socket are not used in this case If a 2764 or 27C256 EPROM is to be programme
227. sion type An invalid token variable operator parenthesis was used in the expression or was used in an inappropriate way at the location specified C040 missing in expression A right parenthesis was missing in a statement or expression The number of left parenthesis must equal the number of right parenthesis in any statement or expression C041 missing in expression A left parenthesis was missing in a statement or expression The number of left parenthesis must equal the number of right parenthesis in any statement or expression C042 cannot use operator in expression type The operator at the specified location cannot be used in the expression See Operator Reference section 8 14 for more details on the usage of operators C043 incorrect relate logic operator sequence Logical operators are used to combine relational expressions If the logical operator is used in any other way this error will occur See section 8 2 for more details C044 incorrect bit specified with byte Bits referenced within byte variables B X Y must be between 0 and 7 the corresponding bit address Any other number will cause this error SYSdev Program Development Manual SYSTEMS Electronics Group B 6 C045 C046 C047 C048 C049 APPENDIX B 3012 COMPILER ERROR CODES else associated with invalid if An else keyword was detected while no if keyword or an
228. stem This memory location cannot be used as a user variable Bit within byte is not used free for use as a user variable A free byte is indicated with all in the respective bits of the byte 0 7 Indication that bit within byte is used The number corresponds to the respective bit location in the byte If all bits within the byte are used byte and word references the byte is filled with 01234567 The memory map can be used to determine which bytes have been allocated for the system and which bytes are still available for use by the user SYSdev Program Development Manual SYSTEMS Electronics Group 191 SECTION 11 PROGRAM PRINTOUTS 11 5 System Configuration 10 The system configuration printout simply prints out the parameters set in the system configuration see section 5 11 6 Enter Program Title 11 This selection allows the user to enter a title for the program This title is printed at the top of each page on all the different printouts described above The title can be up to 60 characters long and can be composed of any printable characters When entry of the title is complete press Enter lt CR gt to save the title the title is saved on disk and thus only has to be entered once If the title or changes to the title are not to be saved press ESC SYSdev Program Development Manual SYSTEMS Electronics Group 192 SECTION 12 ON LINE FUNCTIONS Two primary online functions are availab
229. t be used in a user function This is due to the fact that it is unknown which file type the user function is called from which could then result in an error such as C056 or C057 C059 output byte assigned in another file Assignments places where the output is set to a value to output variables can only be made in one file type This is due to the fact that it is within this file that the output is actually written to Flags or byte addresses must be used to pass the state of these outputs between file types C060 output byte cannot be used in ufunc Output byte references cannot be made in user functions due to the fact that it is unknown which file called the user function which could result in an error such as C059 C061 assign var must be W when is used When multiplication is used in an expression the variable that is assigned the result of this expression must be a word W This is due to the fact that the result of two bytes multiplied together could be as big as 65535 a complete word C062 no target location for goto label The label referenced in the goto statement does not actually exist as a location in the file The label must show up at the location that is to be jumped to in the form label where the colon specifies the label as a location Note The label must reside in the same file main timed Co Cpu etc as the goto that referenced it C063 too many goto labels defined F
230. tatement or expression The number of left parenthesis must equal the number of right parenthesis in any statement or expression missing in expression A left parenthesis was missing in a statement or expression The number of left parenthesis must equal the number of right parenthesis in any statement or expression cannot use operator in expression type The operator at the specified location cannot be used in the expression See Operator Reference section 8 14 for more details on the usage of operators SYSdev Program Development Manual SYSTEMS Electronics Group A 6 C043 C044 C045 C046 C047 C048 APPENDIX A STANDARD COMPILER ERROR CODES incorrect relate logic operator sequence Logical operators are used to combine relational expressions If the logical operator is used in any other way this error will occur See section 8 2 for more details incorrect bit specified with byte Bits referenced within byte variables B X Y must be between 0 and 7 the corresponding bit address Any other number will cause this error else associated with invalid if An else keyword was detected while no if keyword or an invalid if statement was present Add or correct the if statement associated with this else missing else of if else if else All if else if else statements must end with an else even if no action
231. tatus of a target board executing a user program perform the following 1 2 3 4 5 With the target board executing the user program invoke SYSdev on the computer which will be used to monitor the program Connect the COM PORT on the computer to the PROG PORT on the target board using the appropriate RS 232 cable see target board user s manual From the Main Development menu select 1 On line Monitoring This initiates online monitoring displaying the variables status window and Online Monitoring menu at the bottom of the screen and displaying the status of contacts and coils if the current block is a ladder block Proper communications to the target board is indicated by the comm status indicator box which is toggled on and off for every successful reading of the specified data from the target board The indicator is located in the status field of the block If communications cannot be established with the target board a message stating this will be displayed after a time out period Verify the connection and cable between COM on the computer and the PROG PORT on the target board if this is the case If the selected program does not match the program residing in the target board a warning will be displayed stating that either the program ident name or revision does not match This informs the user that the two are not equal such that the execution viewed may not be valid Either select the correct program or download
232. ted SYSdev Program Development Manual SYSTEMS Electronics Group 234 SECTION 8 HIGH LEVEL PROGRAMMING 8 5 3 if else if else statement General form if conditional expression 1 program code 1 else if conditional expression 2 program code 2 else if conditional expression 3 program code 3 else if conditional expression N program code N else program code N 1 Evaluation If conditional expression is true program code 1 is executed if conditional expression 2 is true program code 2 is executed etc If none of the conditional expressions are true program code N 1 is executed by default When a conditional expression is found to be true the corresponding program code is executed and the remainder of the if else if else statement is skipped Only one of the program code blocks is executed Notes 1 The if else if else statement can have any number of else if expressions 2 The if else if else statement must end with the default else expression if no program code is to be executed at the else expression use the null operator as the else code gt SYSdev Program Development Manual SYSTEMS Electronics Group 135 SECTION 8 HIGH LEVEL PROGRAMMING Examples of if else if else statements 1 if B100 10 B101 B102 B103 program statement eval as If B100 equals 10 B101 equals B102 plus B103 2 if B100 B101 gt B102 B110 B111 20 statement
233. tem configuration at any time 4 Download Channels to PLS This selection downloads both the PLS configuration and channel data files for the selected program to the M4020 40 41 module To download the data to the M4020 40 41 perform the following Note Each channel is cleared prior to downloading the set points for that channel thus machine operation should be ceased prior to initiating the download 1 With both the PC running PLSdev and the M4020 40 41 powered up connect COM1 on the PC to the CHAN port on the M4020 40 41 using the appropriate RS 232 cable 2 Select this selection from the Main Development menu A prompt will appear to verify whether to continue or not To abort the download press ESC otherwise press any key to start the download 3 While the download is in progress the channel number which is currently being downloaded will be displayed Once all channels are downloaded a dump complete message will be displayed along with a prompt to return to the main menu Press any key to return to the menu 4 Ifthe computer was unable to initiate the download to the M4020 40 41 a message stating this will be displayed Verify the RS 232 cable connections between COM1 on the computer and the CHAN port on the M4040 41 Press any key to return to the Main Development menu and try the download again SYSdev Program Development Manual SYSTEMS Electronics Group 201 SECTION 13 PLS PROGRAMMING 5 Upload Channel
234. ter coil variable by typing a variable type F B Y b variable address flag number for flags byte address for all others c period all types except flags d bit address 0 7 all types except flags e press ENTER return 4 Ifthe nicname for the variable does not already exist the cursor will be placed below the coil Enter the nicname for the variable and press ENTER If no nicname is to be entered press ENTER The cursor will automatically advance to the next ladder element If the variable already has a nicname the cursor will automatically advance to the next ladder element SYSdev Program Development Manual SYSTEMS Electronics Group 59 SECTION 7 LADDER PROGRAMMING 7 1 7 Timer Symbol Timer O P prst in TB tb out A accum nicname 3K 2 2 K K K K Kk K kK 2 2K 2k Kk K k k 2K 2k Valid prst 1 bytes Byyy where yyy is the byte address 2 words Wyyy where yyy is the word address S3012 only 3 constants yyy where yyy is the fixed preset number Valid TB 1 scan timer decremented once per instruction execution 2 0 01 seconds timer decremented once per 01 seconds 3 0 1 seconds timer decremented once per 0 1 seconds 4 1 0 seconds timer decremented once per 1 0 seconds Valid accum 1 bytes Byyy where yyy is the byte address 2 words Wyyy where yyy is the word address S3012 only Annotation For timers the three lines by seven characters vari
235. ter the variable 5 Next type in the value to set the variable equal to This can be entered either in decimal or hex When entering decimal values simply type in the value When entering hex values type in the value and add the suffix H Note The hex numbers a b c d e and f are case sensitive and must be typed in as lower case letters When all digits of the value have been typed in press ENTER lt CR gt to set the variable equal to the value 6 The value will now be transmitted to the target board and saved at the specified variable If the transmission was successful the On line menu is displayed If the transmission was not successful a cannot communicate error message will be displayed If this occurs verify the connection and cable between COM on the computer and the PROG PORT on the target board SYSdev Program Development Manual SYSTEMS Electronics Group 198 SECTION 13 PLS PROGRAMMING 13 1 Introduction to PLSdev PLSdev is used to configure and program the timing channels of the M4020 PLS section the M4040 and the M4041 modules An RS 232 cable connected to COM1 of the IBM PC or compatible running PLSdev is used to interface with the CHAN port of the module for on line programming program upload download etc No other additional hardware is required 13 1 1 Features of PLSdev PLSdev incorporates the following features 1 2 3 4 5 6 7 Offline Channel Set point Programm
236. tes and 4 at the end of this section Examples 1 expression amp B140 contents eval as Result 140 address of B140 2 expression amp W080 contents eval as Result 080 address of W080 SYSdev Program Development Manual SYSTEMS Electronics Group 157 SECTION 8 HIGH LEVEL PROGRAMMING 8 14 3 AND bitwise Symbol amp Class arithmetic Type binary Precedence 5 Form operand amp operand Operand Types 1 variables a flags F P b bytes B X Y c words W 2 constants a Oor 1 bit b 0 255 decimal byte c 0 ffH hex byte d 0 65535 decimal word e 0 ffffH hex word 3 expressions Definition The bitwise AND operator ands the corresponding bits of the two operands with each other the result is the value equal to this and See notes and 4 at the end of this section Examples 1 expression B080 amp B082 contents aeH amp 76H evalas 1 B080 aeH AND d with B082 76H Result 26H Another way to look at the evaluation of the above is to look at the individual bits in each variable as they are evaluated aeH 1010 1110 amp 76H 0111 0110 26H 0010 0110 SYSdev Program Development Manual SYSTEMS Electronics Group 158 SECTION 8 HIGH LEVEL PROGRAMMING 2 expression F001 amp B100 2 contents 1 amp 1 eval as 1 F001 1 AND d with B100 2 1 Result 1 3 expression F001 amp F002 contents 0 amp 1 eva
237. th the block when the block is cut and then pasted The documentation is not executable code and is completely ignored by the compiler No comment delimiters are required as is for comments entered directly into a High level or Assembly block The block documentation is stored in the respective program file same file the blocks are stored in and will then increase the size of the file accordingly SYSdev Program Development Manual SYSTEMS Electronics Group 185 SECTION 10 PROGRAM ANNOTATION AND DOCUMENTATION This Page Intentionally Left Blank SYSdev Program Development Manual SYSTEMS Electronics Group 186 SECTION 11 PROGRAM PRINTOUTS SYSdev can generate a number of different printouts for a given user program These include Program file print outs cross reference variable overlap map memory map and system configuration Printouts are made by selecting 4 Print Program from the main menu When this is done a printer selection menu is displayed Select the appropriate printer to be used Once this is done the printouts selection menu is displayed The selections on this menu are Print complete program Print Initialization file Print Main Program file Print Timed Interrupt file Print Co Cpu Com Interrupt file Print User Function file Print Cross Reference Print Variables Overlap map Print Memory map Print System Configuration Enter Program Title ee ae a ee Each of these selections will be dis
238. the S3012 The format of the T variable is Iaab Where aa is the two digit slot address 00 15 and b is the byte at the slot 0 or 1 Note The T must be a capital letter and that the slot address must be two digits add leading zeros as required As with byte variables individual bits within the T variable can be referenced These bits correspond to the respective I O point on the input board The form of this is Iaab c where aa is the slot address and b is the byte address as defined above c is the bit or input point Examples 1010 1151 1020 5 1000 7 etc SYSdev Program Development Manual SYSTEMS Electronics Group 42 SECTION 6 VARIABLE FORMATS 6 1 6 Outputs Y Output variables are bytes which contain the data that is written to output boards at the beginning of the main program I O update One Y byte is allocated for each output byte thus an S3073 16 point output has two bytes allocated for it one byte for outputs 00 thru 07 and one byte for outputs 10 thru 17 The output bytes are allocated based on the I O slot assignments made in the system configuration The format of the output byte is Yaab Where aa is the two digit slot address 00 15 and b is the byte at the slot 0 or 1 Note The Y must be a capital letter and that the slot address must be two digits add leading zeros as required As with byte variables individual bits within the Y variable can be referenced These bits cor
239. the extension HEX This file is the file actually downloaded to the board or programmed into EPROMs when the EPROM programmer is invoked SYSdev Program Development Manual SYSTEMS Electronics Group 12 SECTION 3 MENUS 4 Once the assembly is complete the HEX file is verified for any assembly errors If any are found they are displayed along with a message indicating that the HEX file was not created If an assembly error is found the HEX file is erased A file with the name assem Ist is created for viewing the errors detected This file contains the assembly instructions along with the error messages This is a text file that can be viewed with a text editor or by using the MS DOS type command If no assembly error is found a message stating that the program was assembled and converted to hex is displayed A prompt to exit back to the main menu is also displayed The program is now ready to be downloaded or programmed into EPROMs 6 Target Board Interface This selection invokes the Target Board Interface menu This is used to download program and data to the target board upload data from the target board view the target board fault codes if a fault has occurred set the S3000 serial network address view the current program ident and revision loaded in the target board and initiate the target board hardware confidence test See section 3 5 for more details 7 Edit Variable Names This selection brings up the variable name
240. the input is 0 the output is unconditionally set to 0 SYSdev Program Development Manual SYSTEMS Electronics Group 93 SECTION 7 LADDER PROGRAMMING Example Compare B100 gt out B102 name102 byte102 var doc line 3 When in is a 1 if the contents of B100 are greater than the contents of B102 the output is set to 1 if B100 is less than or equal to B102 the output is set to 0 If the input is 0 the output is set to NOM To enter a Compare greater than box in a ladder block perform the following steps 1 From ladder editor menu press F5 Ladder Boxes 2 Press F10 More Boxes 3 Press F4 Comp gt 4 Enter first Compare operand reg1 by typing a variable type B W X Y b variable address or number c press ENTER return 5 Enter second Compare operand reg2 by typing a variable type B W X Y b variable address or number c press ENTER return 6 Ifnicname for reg2 variable does not already exist the cursor will be located in the nicname field directly below the reg2 variable If you want to enter a nicname for this variable type the nicname in up to 7 characters and press ENTER If you do not want to enter a nicname simply press ENTER The cursor is then located at the next ladder element location If a nicname already exists for the variable the cursor will automatically advance to the next ladder element location SYSdev Program Development Manual SYS
241. the slave and stored at W080 W082 and W084 respectively in the master B075 is set to 1 BUSY while the comm is in progress and set to 2 DONE when the comm is complete The output is set to 1 when the input is 1 and set to 0 when the input is 0 the comm is not performed when the input is 0 To enter a Network comm box in a ladder block perform the following steps 1 From ladder editor menu press F5 Ladder Boxes 2 Press F10 More Boxes 3 Press F10 More Boxes 4 Press F1 Network Comm 5 Enter slave address by typing a variable type B b variable address or number c press ENTER return 6 Enter to send to slave by typing a variable type B b variable address or number c press ENTER return 7 Enter address of send stack by typing a variable type W b variable address c press ENTER return 8 Enter address of destination stack in slave by typing a variable type W b variable address c press ENTER return 9 Enter to receive from slave by typing a variable type B b variable address or number c press ENTER return SYSdev Program Development Manual SYSTEMS Electronics Group 107 SECTION 7 LADDER PROGRAMMING 10 Enter address of send stack in slave by typing a variable type W b variable address c press ENTER return 11 Enter address of destination stack in master by typing a variable type W b variable address c press ENTER
242. the true false execution of the respective instruction When power flow reaches the corresponding coil of a network that coil is turned on or energized This is equivalent to providing a 1 to the input of the coil as described in the ladder instruction set section In general power flow is considered a 1 true while no power flow is considered a 0 false Most ladder languages are interpreted languages that is the instructions are literally executed as they are entered The SYSdev51 ladder language and complete language for that matter is a compiled language which means that the ladder network is not executed literally but instead optimized and factored before it is executed When a ladder block is compiled the compiler first converts the networks which comprise the block into the equivalent boolean equations as represented by the networks The compiler then factors these equations to reduce them to the smallest possible form and then converts the equations into the equivalent assembly instructions to be executed by the processor The compiler compiles the network from the perspective of the coil and what the equivalent boolean equation is for that coil Unlike interpreted ladder languages which execute the network from the power rail left to the coil right the compiled ladder language actually executes the network from the coil right to the power rail left In summary networks or rungs are executed from the top of the bloc
243. tiated in document mode Up to 57 lines by 80 characters of documentation can be entered for each block This text is not executed as code but is displayed above the block on the program printout This is where the inter program documentation is entered See section 10 2 for more details F9 Select File This selection displays a menu that allows the user to create or edit any of the following file types Fl Main Prog Main program file F2 Timed Intrpt Timed Interrupt file F3 Comm Intrpt CO CPU Communications Interrupt F4 User Func User Function files F5 Init Prog Initialization File Select the file to be created or edited If the file does not exist a prompt will be displayed that asks whether the file is to be created or not If you want to create the file answer y if not answer n If the file already exists or is created the Main Editor menu is displayed again along with the first block of the selected file F10 Save File Save File saves the current file on the drive and directory specified with the program name It is necessary to save the file if any changes were made prior to exiting the ladder text editor If the file was not saved a prompt will be displayed asking if you want to save the file or not answer accordingly When F10 Save File is selected the file is saved and then control is passed back to the main editor menu SYSdev Program Development Manual SYSTEMS Electronics Group 17 SECTION 3
244. ting The output stays ata 1 until en goes toa 0 at which time the counter is reset as above Note The accum is decremented for each scan that ck is a 1 not only on the 0 to 1 transitions For most counter applications the input to ck should be a one scan single shot SYSdev Program Development Manual SYSTEMS Electronics Group 63 SECTION 7 LADDER PROGRAMMING Prst can be either a fixed constant a byte address B or a word address W S3012 only The byte or word address prst would be used when the preset is to be changed during program execution such as the result of a calculation performed by the user program or if it is to be changed by the user when connected to a computer The maximum preset number is 255 for byte accumulators and 65535 for word accumulators The output of the counter can be used just as the output of a contact Counters can be AND d and OR d with other ladder instructions to perform any desired logic Truth Table en ck accum output 0 equals prst reset 0 0 0 1 equals prst reset 0 1 0 no change 0 1 1 decremented by 1 0 1 X 0 count complete 1 Examples 1 Counter P 45 out A B120 name120 byte120 var doc line 3 2 Counter P B130 out A B131 name131 bytel31 var doc line 3 SYSdev Program Development Manual SYSTEMS Electronics Group 64 SECTION 7 LADDER PROGRAMMING The following example applies to S3012 only
245. tion press ESC the cursor will then return to its previous location F10 Set Offset Used primarily in the on line mode to electronically zero the resolver shaft at the machine zero To set the offset locate the machine at machine zero Read the resolver shaft position from the front of the M4020 40 41 select F10 Set Offset and enter the position read into the offset field The actual offset number required to make this the zero position will then be calculated by PLSdev and downloaded to the M4020 40 41 The actual offset which may not equal the entered position will be displayed in the offset field and the M4020 40 41 will then display zero as the position SYSdev Program Development Manual SYSTEMS Electronics Group 208 SECTION 13 PLS PROGRAMMING 13 3 PLS Configuration The PLS configuration is used to define the following PLS parameters in the M4020 40 41 number of PLS channels scale factor remote display strobe time CH00 brake wear compensation parameters and CH17 speed window parameters The parameters are all set through the Edit PLS Configuration menu selection 13 3 1 Number of PLS Channels This is the number of PLS timing channels available in the specific module being configured The number of channels should be set as follows for M4020 set number of channels 16 for M4040 set number of channels 16 for M4041 set number of channels 32 for S3041 set number of channels 16 13 3 2 Sc
246. to return to the Main Development menu The modified channel set points will then be saved in the channel data file on disk for the selected program 2 Online Channel Set point Programming This selection is used to edit the channel set points in an M4020 40 41 module directly To initiate the on line programming mode connect the COM1 port on the PC running PLSdev to the CHAN port on the M4020 40 41 to be programmed Select 2 Online Channel Set point Programming The Channel Edit menu will be invoked and the existing channel set points in the M4020 40 41 will be uploaded and displayed in the menu See section 13 2 2 for a description of the Channel Edit menu and set point programming commands Note Any changes to the channel set points made are updated immediately to the M4020 40 41 module This allows set point editing during machine operation if desired When editing is complete press ESC to return to the Main Development menu The modified channel set points will also be saved in the channel data file on disk for the selected program when exiting the on line mode SYSdev Program Development Manual SYSTEMS Electronics Group 200 SECTION 13 PLS PROGRAMMING 3 Edit PLS Configuration This activates the PLS Configuration menu See section 13 3 When PLSdev is initially invoked and the program name entered does not exist the PLS Configuration menu is automatically activated This selection allows the user to modify the sys
247. unary operators e expressions arithmetic or conditional e program statements e statement blocks e conditional statements if else if else e program looping for while and do while loops e goto label statement e function calls user function system functions e program comments Each one of the above elements will be discussed in the following sections Variables as used in the High level language conform to the formats and types as specified in section 6 All variables in a High level block must be specified as Zxxx where Z is the variable type F B W X Y etc and xxx is the variable address Variables are grouped in three classes they are bits bytes and words Bits are a single bit in width and can take one of two values 0 or 1 Bytes are 8 bits in width and can be of the range 0 to 255 decimal or 0 to ff hex Words are 16 bits in width and can be of the range 0 to 65535 decimal or 0 to ffffH hex SYSdev Program Development Manual SYSTEMS Electronics Group 119 SECTION 8 HIGH LEVEL PROGRAMMING In general the statement formats shown in the following sections are relatively flexible with regards to the use of white space White space is comprised of spaces and tabs that are used to separate elements in an expression to make the expression more readable and group appropriate operators with operands Examples of this are 1 B100 B101 B102 2 B100 B101 B102 3 B100 B101 B102 The above ar
248. ust be used to back out of the currently selected directory and return to the root directory of the currently selected drive Root Dir Used to set DIR to the root directory of the selected drive This command is primarily used to back out of previously selected directories if it is desired to change to a directory that is not a sub directory of the current directory Pressing F4 will set DIR to the root directory and display the user programs and directories in the root directory of the selected drive Make Dir This selection creates a new sub directory in the currently selected directory When selected the menu will prompt for the directory name Enter the new name using the valid MS DOS directory name character set The directory name can be a maximum of eight characters in length Press ENTER to accept the directory name The new directory will now be displayed in the sub directories selection menu and can now be selected as the current directory using the F3 Select Dir command if desired Select Drive This selection is used to change the currently selected drive When selected the shell prompts for the drive letter A B C D E or F Enter the new drive and press ENTER The DIR field will be changed to the root directory of the new drive and the existing SYSdev user programs and sub directories in the new drive root directory will be displayed Copy Prog Used to copy the selected program to a new program name in the current
249. utput is set to 0 Example Co CPU Comm slot sent out srce reve dest namel 10 byte110 var doc line 3 While in is a 1 the contents of three bytes B100 B101 and B102 are sent to the Co Cpu in slot 2 and the two bytes read from the Co Cpu are stored in bytes B110 and B111 The output is set to 1 when the input is 1 and set to 0 when the input is 0 the comm is not performed when the input is 0 To enter a Co Cpu comm box in a ladder block perform the following steps 1 From ladder editor menu press F5 Ladder Boxes 2 Press F10 More Boxes 3 Press F10 More Boxes 4 Press F2 Co Cpu Comm 5 Enter Co Cpu slot address by typing a variable type b slot number c press ENTER return SYSdev Program Development Manual SYSTEMS Electronics Group 110 SECTION 7 LADDER PROGRAMMING 6 Enter to send to Co Cpu by typing a variable type B b variable address or number c press ENTER return 7 Enter address of send srce stack by typing a variable type B b variable address c press ENTER return 8 Enter to receive from Co Cpu by typing a variable type B b variable address or number c press ENTER return 9 Enter address of receive dest stack by typing a variable type B b variable address c press ENTER return 10 If nicname for dest variable does not already exist the cursor will be located in the nicname field dire
250. velopment Manual SYSTEMS Electronics Group xia SECTION 8 HIGH LEVEL PROGRAMMING Examples 1 B100 0 while B100 lt 20 B101 B101 5 B100 Evaluation This loop evaluates identically to the first example shown for the preceding for statement The difference between this statement and the for statement is that B100 loop count is initialized before the while loop was entered and incremented inside the program code instead of using the init express and loop express associated with the for loop 2 B100 0 W102 amp W120 while B100 lt 20 W102 W102 B100 W102 W102 2 Evaluation This example loads the addresses between W120 and W138 with the values 120 thru 138 respectively each address contains its own address number Before the loop is executed B100 loop count and W102 pointer are initialized with 0 and 120 respectively The evaluation of the loop occurs as follows 1 If B100 is less than 20 a address pointed to by W102 pointer is loaded with W102 address that is being pointed to b increment B100 loop count c increment W102 pointer d go to beginning of step 1 else a drop out of loop proceed to next statements following the while loop SYSdev Program Development Manual SYSTEMS Electronics Group 142 SECTION 8 HIGH LEVEL PROGRAMMING 8 6 3 do while loop The do while loop is similar to the while loop except that the progra
251. voke the appropriate SYSdev51 SYSdev96 or PLSdev program based on the selected target board Sub directories should be used to store and organize the user programs This is desirable both from the standpoint of better user file management and from the standpoint of program execution speed The more files located in one directory the slower the access time to the user files will be Thus by storing user programs in different directories that have a logical meaning to the user and thus a better file organization the speed of execution of the SYSdev program is also enhanced The maximum number of programs allowed in one directory is 30 The maximum number of sub directories in one directory is 120 Of course by making sub directories within sub directories no actual limit is placed on the number of user programs which can be stored on one hard drive other than the actual amount of memory on the hard drive These sub directories can be created using the F5 Make Dir command in the SYSdev shell 2 1 SYSdev Shell Menu The SYSdev shell consists of a menu which displays the selected program name current directory target board along with fields that display the existing program selections available for editing available directories and possible target boards The definitions of these fields are as follows PROMPT This is a field which displays various prompts to the user based on the selected command informing the user what to do DIR Thi
252. will be located in the nicname field directly below the reg2 variable If you want to enter a nicname for this variable type the nicname in up to 7 characters and press ENTER If you do not want to enter a nicname simply press ENTER The cursor is then located at the next ladder element location If a nicname already exists for the variable the cursor will automatically advance to the next ladder element location SYSdev Program Development Manual SYSTEMS Electronics Group 102 SECTION 7 LADDER PROGRAMMING 7 1 26 call ufunc call user function 0 99 Symbol User func Valid XX 1 constants XX where XX is user function number between 0 and 99 Description The user function box works identically to the ufuncXX call made in the high level language see section 8 8 for more details When the input is a 1 program execution is suspended in the current file while program execution proceeds in the user function specified by XX When the user function execution is complete program execution proceeds with the instruction following the user function box If the input is 0 the user function call is not performed and the output is unconditionally set to 0 SYSdev Program Development Manual SYSTEMS Electronics Group 103 SECTION 7 LADDER PROGRAMMING Example User func ae 10 When in is a 1 user function 10 is called Note User function 10 must exist otherwise a compile error will occur Once use
253. word d 0 ffffH hex word 3 expressions Definition The less than operator compares the value of the left operand to the value of the right operand and sets the result to yes if the left operand is less than the right operand otherwise the result is set to no See notes 1 and 5 at the end of this section Examples 1 expression B100 lt 40 contents 50 lt 40 eval as 1 B100 50 less than 40 result No 2 expression W102 W104 lt W106 contents 500 400 lt 1000 eval as 1 W102 500 W104 400 900 2 900 less than 1000 Result Yes SYSdev Program Development Manual SYSTEMS Electronics Group 170 SECTION 8 HIGH LEVEL PROGRAMMING 8 14 16 LESS THAN OR EQUAL Symbol lt Form operand lt operand Operand Types 1 variables a bytes B X Y b words W 2 constants right operand only a 0 255 decimal byte b 0 ffH hex byte c 0 65535 decimal word d 0 ffffH hex word 3 expressions Class relational Type binary Precedence 3 Definition The less than or equal operator compares the value of the left operand to the right operand and sets the result to yes if the left operand is less than or equal to the right operand otherwise result is set to no See notes 1 and 5 at the end of this section Examples 1 expression contents eval as 2 expression contents eval as 3 expression contents eval as B100 lt W102 1
254. xecution and modification of loop variables General form for init express cond express loop express program code SYSdev Program Development Manual SYSTEMS Electronics Group 138 SECTION 8 HIGH LEVEL PROGRAMMING Evaluation The init express is used to initialize the loop variables which will be tested in the cond express The program code is executed as long as the cond express is true The loop express modifies the loop variables which causes the loop to complete The for loop is executed in the following exact sequence 1 Execute init express 2 Cond express tested for true state 3 If false drop out of for loop do not execute program code continue program execution with statements following for loop 4 If true execute program code 5 Execute loop express 6 Go to step 2 Notes 1 Parenthesis around init express cond express loop express are required 2 Semicolon at end of init express and cond express are required 3 The program code can either be a single line program statement or statement block as defined in sections 8 3 and 8 4 4 The program code must begin on the line following the for init cond loop line It cannot be on the same line 5 The init express and the loop express are arithmetic program statements see section 8 3 that initialize and modify the loop variables tested by the conditional expression 6 The indentation shown on the pr
255. xpression must conform to the expression variable class as follows Expression Class of Variable Variables Class Used in Expression bit All variables must be of bit class byte All variables must be of byte class word All variables must be of byte or word class If the result of an expression is larger than the variable class of the expression the bits which are greater than the variable class width are lost Only the bits within the variable class range are used If the result of an expression is less than zero the result is equal to the two s complement of the negative value magnitude Signed numbers are not allowed The two values should be tested prior to performing the operation that could result in a negative value to determine which value is greater The result of an arithmetic operation is a value within the range of the variable class This value can be assigned to a variable using a program statement or can be tested in a conditional expression The result of a relational operation is a yes or no answer which can be used to conditionally execute program code in an if else if else statement etc SYSdev Program Development Manual SYSTEMS Electronics Group 180 SECTION 9 ASSEMBLY PROGRAMMING 9 0 Assembly Programming When using all boards except the 3012 the assembly language is the Intel MCS 51 assembly language when using the 3012 the assembly language is Intel MCS 96 assembly The instructions conf
256. xt ladder element location SYSdev Program Development Manual SYSTEMS Electronics Group 92 SECTION 7 LADDER PROGRAMMING 7 1 21 comp gt compare greater than Symbol Compare regl gt reg2 nicname out FoR aK oR Valid reg 1 bytes Byyy where yyy is the byte address 2 words Wyyy where yyy is the word address 3 input byte Xyyz where yy is the slot 0 15 of the input and z is byte 0 or 1 at the slot 4 output byte Yyyz where yy is the slot 0 15 of the output and z is byte 0 or 1 at the slot 5 constants yyy where yyy is a fixed number between 0 and 255 if result is not a word or between 0 and 65535 if result is a word Annotation For compare instructions the three lines by seven characters variable documentation of the reg2 variable is printed inside the box as shown with the lines This annotation only appears on the program printout See section 10 for annotation details Nicname For compare instructions the seven character variable nicname of the reg2 variable is printed in parenthesis directly below the result variable See section 10 for details on the variable nicnames Description When the input is 1 the compare greater than instruction compares the value of regl with the value of reg2 and sets the output to a 1 only if reg1 is greater than reg2 otherwise the output is set to 0 Reg and reg2 are left unchanged by the instruction If
257. y below the ret variable See section 10 for details on the variable nicnames Description The network comm instruction is available on all boards equipped with the serial network interface port This includes 3012 S3014 S3016 all M4000 modules and the D4110 It is used to communicate to other boards on the 3000 network The network comm box works identically to the sfunc13 system function in the high level language See the respective target board user s manual for more details on sfunc13 and communicating on the 3000 network The operation of the box is as follows when the input is 1 the network com instruction initiates comm with the specified network slave The return value is set to 1 BUSY Subsequent executions of the box return with 1 BUSY until communications is complete return value 2 DONE or an error occurs return value 3 or greater When the input is a 1 the output is always a 1 When the input is 0 the comm is not performed and the output is set to 0 Example Network Comm salve sent out msrce sdest rcve ssrce mdest ret name075 byte075 var doc line 3 SYSdev Program Development Manual SYSTEMS Electronics Group 106 SECTION 7 LADDER PROGRAMMING While in is a 1 the contents of four words W100 W102 W104 and W106 are sent to addresses W120 thru W126 respectively in the slave and the contents of three words W130 W132 and W134 are sent from
258. ymbol Class arithmetic Type binary Precedence 4 Form operand operand Operand Types 1 variables a flags F P b bytes B X Y c words W 2 constants a Oor 1 bit b 0 255 decimal byte c 0 ffH hex byte d 0 65535 decimal word e 0 ffffH hex word 3 expressions Definition The bitwise OR operator ors the corresponding bits of the two operands with each other the result is the value equal to this or See s 1 and 4 at the end of this section Examples 1 expression B080 B082 contents c8H 12H eval as 1 BO80 c8H OR d with B082 12H result daH Another way to look at the evaluation of the above is to look at the individual bits in each variable as they are evaluated c8H 1100 1000 12H 0001 0010 II daH 1101 1010 2 expression F001 B100 2 contents 1 0 eval as 1 F001 1 OR d with B100 2 0 result 1 SYSdev Program Development Manual SYSTEMS Electronics Group 7a 3 expression F001 F002 contents 0 0 eval as 1 F001 0 OR d with F002 0 SECTION 8 HIGH LEVEL PROGRAMMING result 0 8 14 20 OR logical Symbol Form operand operand Operand Types 1 expressions Class relational Type binary Precedence Definition The logical OR operator ors the true false results of two relational expressions and produces a true result if either expression result was true or a false result if both expressio
259. ymbol Shift regl reg2 reg3 nicname akk kk So oR Valid reg 1 bytes Byyy where yyy is the byte address 2 words Wyyy where yyy is the word address S3012 only Annotation For shift registers the three lines by seven characters variable name of the first reg variable is printed inside the box as shown with the lines This annotation only appears on the program printout See section 10 1 for annotation details Nicname For shift registers the seven character variable nicname of the regl variable is printed in parenthesis below the reg variable See section 10 for details on the variable nicnames Description The shift register instruction provides a means of shifting the bits within a series of specified bytes or words S3012 only left one position each execution that a clock ck input is a 1 Bit data is shifted into the shift register at the shift in si input The shift out last bit of the shift register is available at the shift out so output Any bit within the shift register can be referenced as a contact elsewhere in the program The operation of the shift register is as follows When ck is a 1 all the bits of reg1 thru reg3 are shifted left one bit position The state of the si input is shifted into bit 0 of reg1 The so output is set to the state of the last bit of reg3 The last bit of reg1 is shifted into bit 0 of reg2 the last bit of reg2 is shifted into bit 0 of reg3 When
260. z is the flag number 2 bytes Byyy z where yyy is the byte address and z is the bit within the byte 3 outputs Yxxy z where xx is the slot number y is the byte at the slot and z is the bit within the byte Annotation For coils the three lines by seven characters variable name is printed above the coil as shown with the lines This annotation only appears on the program printouts See section 10 1 Nicname For coils the seven character nicname is shown directly below the coil Description The standard output coil sets the variable referenced to a 1 when the coil input is 1 and sets the variable to 0 when the input is 0 Truth Table Input Variable 0 0 1 1 SYSdev Program Development Manual SYSTEMS Electronics Group 52 Examples 1 flag001 var doc line 3 F001 te name001 2 bytel00 bit 3 var doc B100 3 O n100 3 3 yout041 bit 2 var doc Y041 2 Ty nam41 2 SECTION 7 LADDER PROGRAMMING To enter a standard coil in a ladder block perform the following steps 1 From ladder editor menu press F3 Output Coils 2 From Output coils menu press F1 3 Enter coil variable by typing a variable type F B Y b variable address flag number for flags byte address for all others c period all types except flags d bit address 0 7 all types except flags e press ENTER return 4 Ifthe nicname for the variable does not already exist the cu

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