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IOC-7007 - Galil Motion Control

1. 158 e Appendix 10C 7007 IOC 7007 Box Mounting Dimensions Overall size 11 8 x 4 4 x 2 6 4 420 2 600 0 000 A 4 360 y TT K K lt lt lt l TT T y y jT T gt g gt pS 3 925 8 8 8 3 3 3 E A E De NS 0 440x4 3 110 3 090 1 310 S 0 875 gt 1 013 0 655 rer E AN Ai 10C 7007 WI 0 060 0 060 0 000 1 273 1 005 0 690 0 470 0 000 5 982 6 252 6 682 6 952 7 382 7 652 8 082 8 352 8 782 9 052 9 482 9 752 10 182 10 452 10 940 11 170 11 390 2 583 0 987 oo 1008 00 0 888 0 728 0 000 BASET 0 000 1 025 0 000 0 196 2 757 3 742 4 675 5 330 Example Communicating with OPTO 22 SNAP B3000 ENET Assume that the IOC 7007 is connected to OPTO 22 via handle F The OPTO 22 s IP address is 131 29 50 30 The Rack has the following configuration Digital Inputs Module 1 Digital Outputs Module 2 Analog Outputs 10V Module 3 Analog Inputs 10V Module 4 Instruction Interpretation CONFIG Label THF 131 29 50 30 lt 502 gt 2 Establish connection WT10 Wait 10 milliseconds JP CFGERR IHF2 0 Jump to subroutine
2. Pin 1 NC Pin 2 NC Pin 3 Opto Input 1 Anode Pin 4 Opto Input 1 Cathode Pin 5 Opto Input 2 Anode Pin 6 Opto Input 2 Cathode Pin 7 Opto Input 3 Anode Pin 8 Opto Input 3 Cathode Pin 9 Opto Input 4 Anode Pin 10 Opto Input 4 Cathode Pin 11 Opto Input 5 Anode Pin 12 Opto Input 5 Cathode Pin 13 Opto Input 6 Anode Pin 14 Opto Input 6 Cathode Pin 15 Opto Input 7 Anode Pin 16 Opto Input 7 Cathode Pin 17 Opto Input 8 Anode Pin 18 Opto Input 8 Cathode Pin 19 NC Pin 20 NC 28 e Chapter 4 IOM Modules IOC 7007 IOM 70108 5 V Anode e ae WS c pan TA See SE Cathode RP gt NS Outside On IOM 70108 side 8 Opto isolated inputs 5 to 24 VDC input range RP is 2 2k Q for 5 V input RP is 10k Q for 24 V input RP is labelled RP7 on Rev A and RP2 on Rev B Fig 4 2 IOM 70108 Circuit Diagram Note This diagram shows the positive side of the external power supply connected to the Anode and the negative or ground pin being connected to the Cathode Since the internal diode allows current flow in only one direction the Anode must be at a higher potential than the Cathode IOM 70208 8 Opto isolated output module The IOM 70208 opto isolated output module offers 8 optically isolated outputs that accept between 5 and 24VDC Each output channel is capable of handling up to 25mA An external power supply must be provided for powering the external load
3. 5 V 400 mA 12 V 40 mA 12 V 40 mA Performance Specifications Variable Range 2 billion Variable Resolution 1 10 74 Variable Size 126 variables Array Size 2000 elements 14 array names Program Size 500 lines x 80 characters Connectors on the IOC 7007 J9 RS 232 Port DB 9 Pin Male Standard connector and cable 9Pin IOC 7007 Appendix e 153 w sa A ess E J11 Ethernet Port 10 100 Base T RJ 45 10 100 BASE T Kycon GS NS 88 3 5 J8 Power 4 pin Molex for 20 60VDC 1 E Earth Ground 2 NC No Connection 24 E R O E AAA 4 G Ground J10 Power 6 pin Molex for 90 260 VAC 50 60Hz Power supply IOC 7007 Box Pin ga OOOO AA V Ooo 4 G Ground 154 e Appendix 10C 7007 i jQ 0 Note If J8 is used to power the IOC J10 will be occupied by a 250V 0 8A fuse If it s a IOC 7007 Box then the power supply outputs connect to J10 Cable Connections for 1IOC 7007 The IOC 7007 requires the transmit receive and ground for slow communication rates ie 1200 baud For faster rates the handshake lines are required The connection tables below contain the handshake lines These descriptions and tables are for RS 232 only Standard RS 232 Specifications 25 pin Serial Connector Male D type This table describes the pin out for standard serial ports found on most computers Function Transmitted Data Received Data Request to Send Clear to Se
4. Pin 1 NC Pin 2 NC Pin 3 Relay Output Common 1 Pin 4 Relay Output Normally Open 1 Pin 5 Relay Output Normally Close 1 Pin 6 Relay Output Common 2 Pin 7 Relay Output Normally Open 2 Pin 8 Relay Output Normally Close 2 Pin 9 Relay Output Common 3 Pin 10 Relay Output Normally Open 3 Pin 11 Relay Output Normally Close 3 Pin 12 Relay Output Common 4 Pin 13 Relay Output Normally Open 4 Pin 14 Relay Output Normally Close 4 Pin 15 NC Pin 16 NC Pin 17 NC Pin 18 NC Pin 19 NC Pin 20 NC 10C 7007 Chapter 4 IOM Modules e 33 IOM 70404 4 Relay outputs Each Dry contact relay is rated for 150 V 250 mA Outside On IOM 70404 side ot o Vcc RO_NC RO_Cco a O RO_NO DO 74LS595 WW Fig 4 5 IOM 70404 Circuit Diagram IOM 70508 8 Opto isolated high power outputs The IOM 70508 provides 8 optically isolated high power outputs that are capable of sourcing 500mA of current The voltage range is 12VDC 24VDC The user will connect an external power supply to VIN_ISO and GND_ISO The load will be connected to one of the Power Output pins and GND_ISO Current will flow from the Power Output pin to GND_ISO To reverse the logic of the output RP502 may be rotated 180 degrees Pin 1 NC Pin 2 NC Pin 3 Power Output 1 Pin 4 Power Output 2 Pin 5 Power Output 3 Pin 6 Power Output 4 Pin 7 Power Output 5 Pin 8 Power
5. 92 e Chapter 5 Command Reference 10C 7007 QU FUNCTION Upload Array DESCRIPTION The QU command transfers array data from the IOC 7007 to a host computer QU requires that the array name be specified along with the first element of the array and last element of the array The uploaded array will be followed by a lt control gt Z as an end of text marker ARGUMENTS QU array start end delim where array is a valid array name start is the first element of the array default 0 end is the last element of the array default last element delim specifies the character used to delimit the array elements If delim is 1 then the array elements will be separated by a comma Otherwise the elements will be separated by a carriage return USAGE In a Program Yes Command Line Yes Can be Interrogated No Used as an Operand No RELATED COMMANDS QD Download array 10C 7007 Chapter 5 Command Reference e 93 OZ FUNCTION Return Data Record information DESCRIPTION The QZ command is an interrogation command that returns information regarding the Data Record The IOC board s response to this command will be the return of 4 integers separated by commas The first field returns the number of slots in the IOC board for the IOC 7007 this number will always be seven Future IOC generations may have more or less than 7 slots The second field returns the number of bytes in the general data block of the
6. ARGUMENTS II n m condition where n is an integer between 0 and 7 decimal This number specifies the ININTn subroutine to be executed when the interrupt occurs m is an integer between 0 and 7 This argument indicates the thread number in which the ININTn subroutine is going to be executed The specified thread needs to be running when the interrupt occurs otherwise the ININTn subroutine will not be executed Upon interrupt the existing thread m will be interrupted to allow the execution of the interrupt subroutine Upon completion of the interrupt the main program in thread m will once again be enabled from the point at which the interrupt occurred Condition can consist of any number of inputs using the operator between each input A positive input number means the condition is for that input to go high and a negative input number for that input to go low USAGE In a Program Yes Command Line No Can be Interrogated No Used as an Operand No RELATED COMMANDS RI Return from Interrupt ININTn Interrupt Subroutine AI Trippoint for input 10C 7007 Chapter 5 Command Reference e 73 EXAMPLES FA 11 2 0 3 amp 5 amp 10 LOOP JP LOOP EN ININT2 MG INTERRUPT CLEAR JP CLEAR IN 1 0 RI Program A Specify interrupt 2 on main thread when inputs 3 and 5 go high and 10 goes low Loop End Program Interrupt subroutine number 2 Print Message Check for reset input to clear interrupt Retur
7. Operands Operands allow status parameters of the IOC 7007 to be incorporated into programmable variables and expressions Most IOC 7007 commands have an equivalent operand which are designated by adding an underscore _ prior to the command see command reference section Operands are not supported in PLCSCAN Examples of Internal Variables INI IN 1 Assigns value of input to the variable IN1 JP LOOP _OQ1 1 Jump to LOOP if only bit O of bank 1 is set high JP ERROR _TC 1 Jump to ERROR if the error code equals 1 Operands can be used in an expression and assigned to a programmable variable but they cannot be assigned a value For example _OQ1 1 is invalid Special Operands Keywords The IOC 7007 provides a few additional operands that give access to internal variables that are not accessible by standard IOC 7007 commands BN Returns serial of the board 142 e Chapter 6 Application Programming 10C 7007 Returns the number of arrays available Returns the number of available labels for programming Returns the available array memory Returns the number of available variables Free Running Real Time Clock off by 2 4 Resets with power on Note TIME does not use an underscore character _ as other keywords Note All these keywords have corresponding commands except for TIME Examples of Keywords Vl _DA Assign V1 the number of available array names V3 TIME Assign V3 the current value of th
8. The OQ command sends data to the output modules of the IOC 7007 You can use the output module to control external switches and relays The OQ command can be used in the PLCSCAN thread ARGUMENTS OQ m n where m is the slot number from 0 thru 6 n is the decimal representation of the output modules bit value If an eight bit output module is used the decimal representation will be from 0 to 255 Likewise if a 16 bit module is used the decimal representation will be from 0 and 65 535 USAGE In a Program Yes Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAND USAGE _OQn contains the output bit status of slot m EXAMPLES OQ0 3 Set the first 2 outputs 0 and 1 on slot 0 high OQ1 255 Set all 8 outputs on slot 1 high MG_OQ1 Print the decimal value for slot 1 s output status 255 IOC 7007 returns value 90 e Chapter 5 Command Reference 10C 7007 OD FUNCTION Download Array DESCRIPTION The QD command transfers array data from the host computer to the IOC 7007 QD array start end requires that the array name be specified along with the first element of the array and last element of the array The array elements can be separated by a comma or by lt CR gt lt LF gt The downloaded array is terminated by a ARGUMENTS QD array start end where array is a valid array name start is the first element of the array default 0 end is the last element of the array defa
9. Download error line too long or 150 Not defined as digital input too many lines Duplicate or bad label Not defined as digital output 1 2 3 4 5 10 11 12 15 19 25 106 e Chapter 5 Command Reference 10C 7007 Too many labels Not defined as analog input IF statement without ENDIF Not defined as analog output USAGE In a Program Yes Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _TC contains the value of the error code EXAMPLES GF32 Bad command TC Tell error code 1 Unrecognized command IOC 7007 Chapter 5 Command Reference e 107 TH FUNCTION Tell Ethernet Handle DESCRIPTION This command returns a list of data pertaining to the IOC 7007 s Ethernet connection This list begins with the IOC 7007 IP address and Ethernet address physical address followed by the availability of each of the 6 Ethernet handles ARGUMENTS None USAGE In a Program Yes Command Line Yes Can be Interrogated Yes Used as an Operand No RELATED COMMAND TH Internet Handle HR Handle Restore WH Which Handle EXAMPLES TH CONTROLLER IP ADDRESS 10 0 51 82 ETHERNET ADDRESS 10 80 3C 10 01 2F IHA TCP PORT 1010 TO IP ADDRESS 10 0 51 87 PORT 1030 IHB TCP PORT 1020 TO IP ADDRESS 10 0 51 87 PORT 1070 THC AVAILABLE THD AVAILABLE THE AVAILABLE THF AVAILABLE 108 e Chapter 5 Command Reference 10C 7007 TI FUNCTION Tell Inputs DESCRIPTION This command returns
10. Master Reset 99 108 Digital Input 138 147 Digital Output 138 146 Dip Switch Address 160 DMA 90 92 Download 57 122 141 E Ecam 60 Echo 63 64 103 Edit Mode 128 Editor 59 ELSE Function 60 Error IOC 7007 Index e 165 Codes 104 Error Code 139 Execute Program 66 F Formatting 143 Variables 114 Function 122 129 131 Functions Arithmetic 122 131 136 139 H Halt Abort 44 45 78 100 120 Hardware 146 Address 160 Output of Data 143 VO Digital Input 138 147 Digital Output 138 146 Output of Data 143 IF conditional 68 IF Conditional Statements ELSE 60 IF Statement ENDIF 62 ININT 61 Input Interrupt 61 103 129 ININT 61 Input of Data 142 Internal Variable 100 131 138 139 Interrogation 143 Interrupt 45 46 61 103 124 129 J Jumpers 15 K Keyword 100 108 131 136 138 L Label Special Label 124 Logical Operator 130 Logical Operators 74 Masking Bit Wise 136 Master Reset 99 108 Math Function Absolute Value 132 138 Bit Wise 136 Cosine 141 Logical Operator 130 Sine 138 Math Functions Logical Operators 74 Mathematical Expression 136 138 Memory 122 127 130 140 141 Array 1 122 127 131 136 146 151 Download 122 141 Upload 122 Message 73 127 137 Moving Circular 141 Multitasking 66 118 125 N No Operation 86 O Operand Internal Variable 100 131 138 139 Operators Bit Wise 13
11. QR record This is always 4 for the IOC 7007 Third field returns 0 representing nothing Fourth field returns the number of bytes in each of the slot blocks of the QR record Note See chapter 3 for more details on the Data Record and the QZ command ARGUMENTS QZ USAGE In a Program Command Line Can be Interrogated Used as an Operand RELATED COMMANDS 6 QR gt EXAMPLES QZ 7 4 0 22 Yes Yes No Data Record Enter Command There are 22 total bytes in the slot blocks of the IOC 7007 94 e Chapter 5 Command Reference 10C 7007 FUNCTION Record Array DESCRIPTION The RA command selects one or two arrays for automatic data capture The selected arrays must have been dimensioned by the DM command The data to be captured is specified by the RD command and time interval by the RC command ARGUMENTS RA n m where n m are dimensioned arrays as defined by DM command The contain nothing USAGE In a Program Command Line Can be Interrogated Used as an Operand RELATED COMMANDS DM RD RC EXAMPLES Record DM BANKS 100 RA BANKSI RD _TI5 RC 1 EN Yes Yes No Dimension Array Record Data Record Interval Label Define array for bank 5 s I O status Specify Record Mode Specify data type for record Begin recording at 2 msec intervals End 10C 7007 Chapter 5 Command Reference e 95 RC FUNCTION Record DESCRIPTION The RC command begin
12. USER MANUAL lOC 7007 Manual Rev 1 0c By Galil Motion Control Inc Galil Motion Control Inc 270 Technology Way Rocklin California 95765 Phone 916 626 0101 Fax 916 626 0102 Internet Address support galilmc com URL www galilmc com Rev Date 12 08 Contents CHAPTER OV ERY TE IW Gi adas 1 INTRODUCTION rious ti AA A end 1 TOC 7007 FUNCTIONAL ELEMENTS 00 ise 1 Micr c mp ter SEO A a A ito 1 COMMUNICAU ON sanira i A set LOS CRN aR la OCR T A 1 CHAPTER 2 GETTING STARTED evcssscconscixssnuctsscoonedsssaccevecesovadansanecdedasevedanssvscvanceonse 3 THEIOC 7007 VO CONTROLLER cui caia 3 INSTALLING THE IOC 7007 BOARD since acide ad 4 step 1 Configure Jumpers 3 2 440 A de hee eA ee eee 4 Step2 Plug in the Desired IOM Modulles eccceesscessceceeneeceseeeceeneecesneeeceeeeeeeneeeees 6 Step 3 Connecting Power to the TOC 7007 0 eeesceesceceeneeceseeeceeeeeceeeeeceeneeceeneeeees 6 Step 4 Install the Communications Software oooooccnnocccnoncccnonnncnonnnonnnnnonnnncononcnonncnnns 6 Step 5 Establish Communications between IOC 7007 and the Host PC 7 Using Galil Software fot DOS tna cds al 7 Using Galil Software for Windows 95 and 98 First EditiON ccoooconnnncccnonccnnnnncnnnnnnss 7 Using Galil Software for Windows 98 SE NT 4 0 2000 ME and XP 8 Using Non Galil Communication Software eccccescceessccecsececeeececeeeeeeseeeeesneeeesaeees 9 Using Galil Soft
13. Using the JP Command If the condition for the JP command is satisfied the IOC 7007 branches to the specified label or line number and continues executing commands from this point If the condition is not satisfied the IOC board continues to execute the next commands in sequence 134 e Chapter 6 Application Programming 10C 7007 Instruction Interpretation JP Loop COUNT lt 10 Jump to Loop if the variable COUNT is less than 10 JS MOVEZ2 IN 1 1 Jump to subroutine MOVE2 if input 1 is logic level high After the subroutine MOVE is executed the program sequencer returns to the main program location where the subroutine was called JP BLUE ABS V2 gt 2 Jump to BLUE if the absolute value of variable V2 is greater than 2 JP C V1 V7 lt V8 V2 Jump to C if the value of V1 times V7 is less than or equal to the value of V8 V2 JPHA Jump to A Using If Else and Endif Commands The IOC 7007 provides a structured approach to conditional statements using IF ELSE and ENDIF commands Using the IF and ENDIF Commands An IF conditional statement is formed by the combination of an IF and ENDIF command The IF command has arguments of one or more conditional statements If the conditional statement s evaluates true the command interpreter will continue executing commands which follow the IF command If the conditional statement evaluates false the IOC 7007 will ignore commands until the associated ENDIF command is executed OR
14. array will hold the response MBh addr 4 m n array where 84 e Chapter 5 Command Reference 10C 7007 m is the starting register number n is the number of registers array will hold the response MBh addr 5 m n where m is the starting bit number nis 0 or 1 and represents the coil set to off or on MBh addr 6 m n where m is the register number nis the 16 bit value MBh addr 7 array where array is where the returned data is stored one byte per element MBh addr 15 m n array where m is the starting bit number n is the number of bits array contains the data one byte per element MBh addr 16 m n array where m is the starting register number n is the number of registers array contains the data one 16 bit word per element MBh addr 17 array where array is where the returned data is stored USAGE In a Program Yes Command Line Yes 10C 7007 Chapter 5 Command Reference e 85 MG FUNCTION Message DESCRIPTION The MG command transmits data from the IOC board This can be used to alert an operator send instructions or return a variable value ARGUMENTS MG Ex m n V Fm n or m n N Sn Ex for ethernet and x specifies the ethernet handle A B C D E or F for sending the message through Ex can be replaced by P1 to send the message through the serial port These settings are only needed when the user wants to specify another return port
15. Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _LZ contains the state of the LZ command EXAMPLES TB Tell status 001 LZ 1 Inhibit leading zeros TB Tell status 1 10C 7007 Chapter 5 Command Reference e 83 MB FUNCTION Modbus DESCRIPTION The MB command is used to communicate with I O devices using the first two levels of the Modbus protocol The format of the command varies depending on each function code The function code 1 designates that the first level of Modbus is used creates raw packets and receives raw data The other codes are the 10 major function codes of the second level that the IOC board supports 06 CC Preset Single Register Write One Word Note For those command formats that have addr this is the slave address The slave address is usually zero Note All the formats contain an h parameter This designates the connection handle number A thru F ARGUMENTS MBh 1 len array where len is the number of the bytes Array is the name of array containing data MBh addr 1 m n array where m is the starting bit number n is the number of bits array of which the first element will hold result MBh addr 2 m n array where m is the starting bit number n is the number of bits array of which the first element will hold result MBh addr 3 m n array where m is the starting register number n is the number of registers
16. RELATED COMMANDS LV EXAMPLES LL FIVE FOUR ONE THREE TWO Yes Yes No List Variables Interrogation Command IOC board returns a list of 5 labels 10C 7007 Chapter 5 Command Reference e 79 LR FUNCTION Launch Slave Data Record DESCRIPTION The LR command causes the IOC 7007 to launch a slave data record to the DMC 3425 master controller in a distributed network This record includes a 2 byte header information and blocks of general information such as the board s I O status and error code The QW command needs to be set in the master controller for the LR command to function ARGUMENTS LR USAGE In a Program Yes Command Line Yes Can be Interrogated No Used as an Operand No RELATED COMMANDS QR I O Data Record ZG Set first user variable ZD Set second user variable Note The data from the LR command is sent to a master controller This information can t be viewed by the user with the Galil Terminal 80 e Chapter 5 Command Reference IOC 7007 LS FUNCTION List DESCRIPTION The LS command sends a listing of the program memory The listing will start with the line pointed to by the first parameter which can be either a line number or a label If no parameter is specified it will start with line 0 The listing will end with the line pointed to by the second parameter again either a line number or label If no parameter is specified the listing will go to t
17. _RD contains the address for the next array element for recording RELATED COMMANDS DM Dimension Array RA Record Array RC Record Interval EXAMPLES See example for RA command 10C 7007 Chapter 5 Command Reference e 97 RI FUNCTION Return from Interrupt Routine DESCRIPTION The RI command is used to end the interrupt subroutine beginning with the label ININTn If the program sequencer was interrupted while waiting for a trippoint such as WT RI restores the trippoint on the return to the program RIO clears the trippoint The second field of the RI command either restores or disables the input interrupt feature This field has been added as a special feature of the IOC 7007 To avoid returning to the main program on an interrupt use the command ZS to zero the subroutine stack This turns the jump subroutine into a jump only ARGUMENTS RI m n where m 0Oor 1 O clears trippoint e g Al trippoint 1 restores trippoint n 0 or no field or 1 O restores interrupt 1 disables interrupt USAGE In a Program Yes Command Line Yes Can be Interrogated No Used as an Operand No RELATED COMMANDS ININTn Input interrupt subroutine Ir Enable input interrupts EXAMPLES A 111 0 3 Program label enable interrupt on input 3 AI5 MG DONE EN AT trippoint on input 5 end of program ININT 1 Begin interrupt subroutine MG IN 3 Print Message INTERRUPTED CB 3 Set output line 1 RI 1 1 Return to the main prog
18. configuration and their complete I O bit status The following is an example of the response for the TZ 10C 7007 Chapter 4 IOM Modules e 25 command where only slots 0 2 4 and 6 are occupied The I O range available is specified in parenthesis after each slot number ITZ Slot O 7 0 Digital Output Value 228 1110_0100 Slot 1 10 module not detected Slot 2 79 64 Digital Input Value o 0000_0000_0000_0000 Slot 3 10 module not detected Slot 4 135 128 Digital Input Yalue 0 0000_0000 Slot 5 IO module not detected 6 Slot 195 197 Digital Output Value 1 0001 Slot O has an 8 channel digital output module with bits 2 5 6 and 7 on The decimal value of these bits being set is 228 Also slot 2 is occupied by a 16 channel input module Since none of the inputs are high the decimal value is zero Module Specifications Access to the I O channels is made through the 20 pin Molex connectors on the top of the IOM modules Pin outs and module specifications are listed below 20 Pin Molex Connector Description Molex Part Number Molex KK Crimp Terminal Housing 0 100 Spacing Series 2695 22 01 3207 Molex KK Crimp Terminal Pins 08 50 0032 10M 70016 16 TTL input module The IOM 70016 has 16 TTL inputs The input is guaranteed to be low at 0 8V or below and guaranteed to be hight at 2 2V or above The inputs are TTL which typically means a 0 5 VDC range H
19. gt display voltage value of analog input at handle6 module 4 bit 2 160 e Appendix 10C 7007 List of Other Publications Step by Step Design of Motion Control Systems by Dr Jacob Tal Motion Control Applications by Dr Jacob Tal Motion Control by Microprocessors by Dr Jacob Tal Training Seminars Galil a leader in motion control with over 200 000 controllers working worldwide has a proud reputation for anticipating and setting the trends in motion control Galil understands your need to keep abreast with these trends in order to remain resourceful and competitive Through a series of seminars and workshops held over the past 15 years Galil has actively shared their market insights in a no nonsense way for a world of engineers on the move In fact over 10 000 engineers have attended Galil seminars The tradition continues with three different seminar each designed for your particular skill set from beginner to the most advanced MOTION CONTROL MADE EASY WHO SHOULD ATTEND Those who need a basic introduction or refresher on how to successfully implement servo motion control systems TIME 4 hours 8 30 am 12 30 pm ADVANCED MOTION CONTROL WHO SHOULD ATTEND Those who consider themselves a servo specialist and require an in depth knowledge of motion control systems to ensure outstanding controller performance Also prior completion of Motion Control Made Easy or equivalent is required Analysis and des
20. will be placed in the lowest significant byte of the fraction The characters can be individually separated by using bit wise operations as illustrated in the following example 10C 7007 Chapter 6 Application Programming e 139 Instruction Interpretation FTEST Begin main program IN ENTER LEN S6 Input character string of up to 6 characters into variable LEN FLEN FRAC LEN Define variable FLEN as fractional part of variable LEN FLEN 10000 FLEN Shift FLEN by 32 bits IE convert fraction FLEN to integer LEN1 FLEN 00FE Mask top byte of FLEN and set this value to variable LEND LEN2 FLEN 5 FF00 100 Let variable LEN2 top byte of FLEN LEN3 LEN amp 000000FF Let variable LEN3 bottom byte of LEN LEN4 LEN amp 0000FFO00 100 Let variable LEN4 second byte of LEN LENS LEN amp 00FF0000 1000 Let variable LENS third byte of LEN 0 LEN6 LEN amp FF000000 1000 Let variable LEN6 fourth byte of LEN 000 MG LEN6 S4 Display LENO as string message of up to 4 chars MG LENS S4 Display LENS as string message of up to 4 chars MG LEN4 S4 Display LEN2 as string message of up to 4 chars MG LEN3 S4 Display LEN as string message of up to 4 chars MG LEN S4 Display LEN as string message of up to 4 chars MG LEN S4 Display LEN as string message of up to 4 chars EN This program will accept a string input of up to
21. 7007 AT FUNCTION At Time DESCRIPTION The AT command is a trippoint which is used to hold up execution of the next command until after the specified time has elapsed The time is measured with respect to a defined reference time AT 0 establishes the initial reference AT n specifies n msec from the reference AT n specifies n msec from the reference and establishes a new reference after the elapsed time period ARGUMENTS ATn where n is a signed integer in the range 0 to 2 Billion n 0 defines a reference time at current time positive n waits n msec from reference negative n waits n msec from reference and sets new reference after elapsed time period AT n is equivalent to AT n AT 0 USAGE In a Program Yes Command Line Yes EXAMPLES The following commands are sent sequentially ATO Establishes reference time 0 as current time AT 50 Waits 50 msec from reference 0 AT 100 Waits 100 msec from reference 0 AT 150 Waits 150 msec from reference O and sets new reference at 150 AT 80 Waits 80 msec from new reference total elapsed time is 230 msec from previous command 10C 7007 Chapter 5 Command Reference e 49 BN FUNCTION Burn DESCRIPTION The BN command saves certain board parameters in non volatile EEPROM memory This command typically takes 1 second to execute and must not be interrupted The IOC board returns a when the Burn is complete USAGE In a Program Yes Command Line Yes Can be Interrogated
22. Ethernet connection is full duplex 2 e Chapter 1 Overview 10C 7007 Chapter 2 Getting Started The 10C 7007 I O Controller J J2 J J4 J J J7 JP1 J10 J8 JP5 J11 5 J9 4 Figure 2 1 Outline of IOC 7007 Motorola 68331 microprocessor 4 pin Molex for 20 60 VDC connection ASIX Ethernet Chip Xilinx I O chip J10 250V 2A Fuse for 20 60 VDC input or 6 pin Molex for AC power supply RS232 Serial connection Error LEDs for active Ethernet 10 100 BaseT Ethernet Port connection transmit receive on Ethernet error output and power Reset Button JP1 Adress selection jumpers Master reset upgrade and baud rate selection jumpers 26 pin connectors for I O Slots 0 through 6 10C 7007 Chapter 2 Getting Started e 3 Installing the 1OC 7007 Board Installation of a complete operational IOC 7007 system consists of 6 steps Step 1 Configure jumpers Step 2 Plug in the desired IOM modules Step 3 Connect power to the IOC 7007 Step 4 Install the communications software Step 5 Establish communications between the IOC 7007 and the host PC Step 6 Configure the IOC for Galil s Distributed Control System Step 1 Configure Jumpers Master Reset and Upgrade Jumper Jumpers labeled as MRST and UPGD are located at JP5 ad
23. HP Yes Yes No No Compile PLC thread Execute PLC thread Tell PLC execution time Halts the PLCSCAN thread 66 e Chapter 5 Command Reference 10C 7007 HS FUNCTION Handle Assignment Switch DESCRIPTION The HS command is used to switch the handle assignments between two handles Handles are assigned by the IOC when the handles are opened with the HC command or are assigned explicitly with the IH command Should those assignments need modifications the HS command allows the handles to be reassigned ARGUMENTS HSh i where h is the first handle of the switch A through F S iis the second handle of the switch A through F S S is used to represent the current handle executing the command USAGE In a Program Command Line Can be Interrogated Used as an Operand RELATED COMMANDS IH EXAMPLES HSC D HSS E Internet Handle Connection for handle C is assigned to handle D Connection for handle D is assigned to handle C Executing handle connection is assigned to handle E Connection for handle E is assigned to executing handle 10C 7007 Chapter 5 Command Reference e 67 HX FUNCTION Halt Execution DESCRIPTION The HX command halts the execution of any of the 8 programs that may be running independently in multitasking The parameter n specifies the program to be halted HX can be used in the PLCSCAN thread ARGUMENTS HXn where n is 0 to 7 to indicate the eight threads
24. IOC program sequencer normally executes program instructions sequentially The program flow can be altered with the use of interrupts and conditional jump statements Interrupts To function independently from the host computer the IOC 7007 can be programmed to make decisions based on the occurrence of an input interrupt causing the IOC board to wait for multiple inputs to change IOC 7007 Chapter 6 Application Programming e 131 their logic levels before jumping into a corresponding subroutine Normally in the case of a Galil controller when an interrupt occurs the main thread will be halted However in the IOC 7007 the user can indicate in which thread the thread must be already running when the interrupt occurs the interrupt subroutine is to be run When the interrupt occurs the specified thread s main program will be paused to allow the interrupt subroutine to be executed Therefore the user has the choice of interrupting a particular thread execution upon an input interrupt see II command on page 73 In this way the IOC 7007 can make decisions based on its own I O status without intervention from a host computer MG Loop stops RIO ININT2 MG Blinker stops WT10000 RI1 1 Examples Interrupt Instruction Interpretation FA Program Label XQ B 1 Execute B in thread 1 111 0 1823 ININTI in thread O when input 1 low and input 3 high 112 1 58 10 ININT2 in thread 1 when input 5 low and input 10 high AI 1381
25. JS CFGDOUT Configure digital outputs JS CFGAOUT Configure analog outputs JS CFGAIN Configure analog inputs MBF 6 6 1025 1 Save configuration to OPTO 22 EN End 10C 7007 Appendix e 159 CFGDOUT Label MODULE 2 Set variable CFGVALUE 180 Set variable NUMOFIO 4 Set variable JP CFGJOIN Jump to subroutine CFGAOUT Label MODULE 3 Set variable CFGVALUE A7 Set variable NUMOFIO 2 Set variable JP CFGJOIN Jump to subroutine CFGAIN Label MODULE 4 Set variable CFGV ALUE 12 Set variable NUMOFIO 2 Set variable JP CFGJOIN Jump to subroutine CFGJOIN Label DA Deallocate all arrays DM A 2 NUMOFIO Dimension array I 0 Set variable CFGLOOP Loop subroutine A I 0 Set array element I 1 1 Increment A I CFGVALUE Set array element I 1 1 Increment JP CFGLOOP I lt 2 NUMOFIO MBF 6 16 632 MODULE 8 NUMOFIO Conditional statement Configure I O using Modbus function code 16 where 2 A the starting register is 632 MODULE 8 number of registers is NUMOFIO 2 and A contains the data EN End CFERR Label MG UNABLE TO ESTABLISH Message CONNECTION EN End Using the equation T O number Handlenum 1000 Module 1 4 Bitnum 1 this means that the command MG IN 6001 will display the level of input at handle 6 module 1 bit 2 Similarly SB 6006 or OB 6006 1 gt set bit of output at handle 6 module 2 bit 3 to one AO 6008 3 6 gt set analog output at handle 6 module 3 bit 1 to 3 6 volts MG EAN 6013
26. LED PWR The green status LED indicates that the power has been applied properly to the IOC Red Status Error LED ERR The red error LED will flash on initially at power up and stay lit for approximately 1 8 seconds before turning off After this initial power up condition the LED will illuminate for the following reasons 1 The reset line on the controller is held low or is being affected by noise 2 There is a failure on the controller and the processor is resetting itself 3 There is a failure with the output IC that drives the error signal Green Activity LED LNK The yellow LED indicates traffic across the Ethernet connection This LED will show both transmit and receive activity across the connection It illuminates with a good link and then blinks when activity is detected If the controller has not been assigned an IP address it will send BOOTP packets at regular intervals as indicated by the rhythmic blinking of this LED Once the IP address is assigned the LED will only blink with Ethernet traffic Also if an IP address isn t burned in with the BN command the next time power is cycled or a reset is issued the IP address will be lost and the controller will begin to issue BOOTP packets again General Purpose Output GRO This LED is not currently used by the IOC 7007 Ethernet Speed LED SPD This LED will light up if the Ethernet connection is 100 Base T Full Duplex LED FUL This LED turns on when the
27. No Used as an Operand Yes PARAMETERS SAVED DURING BURN CB OQ CW SB EO TR IA VF LZ OPERAND USAGE _BN contains the serial number of the IOC RELATED COMMANDS BP Burn Program BV Burn Variables 50 e Chapter 5 Command Reference 10C 7007 BP FUNCTION Burn Program DESCRIPTION The BP command saves the application program in non volatile EEPROM memory This command typically takes up to 10 seconds to execute and must not be interrupted The IOC 7007 returns a when the Burn is complete USAGE In a Program No Command Line Yes Can be Interrogated No Used as an Operand No RELATED COMMANDS BN Burn Parameters BV Burn Variables Note This command may cause the Galil software to issue the following warning A time out occurred while waiting for a response from the controller This warning is normal and is designed to warn the user when the controller in this case the IOC board does not respond to a command within the timeout period This occurs because this command takes more time than the default timeout of 1 sec The timeout can be changed in the Galil software and this warning does not affect the operation of the IOC board or software 10C 7007 Chapter 5 Command Reference e 51 BV FUNCTION Burn Variables and Array DESCRIPTION The BV command saves the defined variables and arrays in non volatile EEPROM memory This command typically takes up to 2 seconds to execute and must not be interrupted Th
28. Program Yes Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAND USAGE _XP contains a 1 if the PLCSCAN thread is executing and a 0 if it isn t RELATED COMMANDS Cp Compiles the PLC thread Hp Halt the PLC thread TX Tell execution time of PLCSCAN EXAMPLES XP Executes the PLC thread 10C 7007 Chapter 5 Command Reference e 119 XQ FUNCTION Execute Program DESCRIPTION The XQ command begins execution of a program residing in the program memory of the IOC board Execution will start at the label or line number specified Up to 8 programs may be executed simultaneously to perform multitasking The PLCSCAN thread is executed with the XP command The XQ command can be used within the PLCSCAN thread as well ARGUMENTS XQ A n XQm n where A is a program name of up to seven characters m is a line number n is the thread number 0 thru 7 for multitasking NOTE The arguments for the command XQ are optional If no arguments are given the first program in memory will be executed as thread 0 USAGE In a Program Yes Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAND USAGE _XQn contains the current line number of execution for thread n and 1 if thread n is not running RELATED COMMANDS HX Halt execution EXAMPLES XQ Apple 0 Start execution at label Apple thread zero XQ data Start execution at label data thread one XQ 0 Start execution at line 0 HINT
29. TCP IP insures that if a packet is lost or destroyed while in transit it will be resent Ethernet communication transfers information in packets The packets must be limited to 470 data bytes or less Larger packets could cause the IOC 7007 to lose communication NOTE In order not to lose information in transit Galil recommends that the user wait for an acknowledgement of receipt of a packet before sending the next packet Addressing There are three levels of addresses that define Ethernet devices The first is the Ethernet or hardware address This is a unique and permanent 6 byte number No other device will have the same Ethernet address The IOC 7007 Ethernet address is set by the factory and the last two bytes of the address are the serial number of the board 16 e Chapter 3 Communication 10C 7007 The second level of addressing is the IP address This is a 32 bit or 4 byte number The IP address is constrained by each local network and must be assigned locally Assigning an IP address to the IOC board can be done in a number of ways The first method is to use the BOOT P utility via the Ethernet connection the IOC 7007 must be connected to the network and powered For a brief explanation of BOOT P see the section Third Party Software page 20 Either a BOOT P server on the internal network or the Galil terminal software may be used To use the Galil BOOT P utility select the registry in the terminal emulator NOTE For
30. Used as an Operand Yes OPERAND USAGE _IAO contains the IP address representing a 32 bit signed number Two s complement _IA1 contains the value for t retry time _JA2 contains the number of available handles _IA3 contains the number of the handle using this operand where the number is 0 to 5 O represents handle A 1 for handle B etc _TA4 contains the handle that lost communication last Contains 1 on reset to indicate no handles lost _IAS contains the Ethernet speed 10 or 100 Mbits sec RELATED COMMANDS TH Internet Handle EXAMPLES TA 151 12 53 89 Assigns the IOC 7007 with the address 151 12 53 89 TA 2534159705 Assigns the IOC 7007 with the address 151 12 53 89 IA lt 500 Sets the timeout value to 500msec IOC 7007 Chapter 5 Command Reference e 69 IF FUNCTION IF conditional statement DESCRIPTION The IF command is used in conjunction with an ENDIF command to form an IF conditional statement The arguments are one or more conditional statements If the conditional statement s evaluates true the command interpreter will continue executing commands which follow the IF command If the conditional statement evaluates false the IOC 7007 will ignore commands until the associated ENDIF command OR an ELSE command occurs in the program The IF command can be used in the PLCSCAN thread ARGUMENTS IF condition where Conditions are tested with the following logical operators lt less than or equal t
31. V1 lt 5 Jump to label POS 1 if variable V1 is less than 5 JP A IN 1 0 Jump to A if input 1 is low JP HB Jump to B no condition HINT JP is similar to an IF THEN command Text to the right of the comma is the condition that must be met for a jump to occur The destination is the specified label before the comma 76 e Chapter 5 Command Reference 10C 7007 JS FUNCTION Jump to Subroutine DESCRIPTION The JS command will change the sequential order of execution of commands in a program If the jump is taken program execution will continue at the line specified by the destination parameter which can be either a line number or label The line number of the JS command is saved and after the next EN command is encountered End of subroutine program execution will continue with the instruction following the JS command There can be a JS command within a subroutine Multiple conditions can be used in a single jump subroutine statement The conditional statements are combined in pairs using the operands and I The 8 operand between any two conditions requires that both statements must be true for the combined statement to be true The l operand between any two conditions requires that only one statement be true for the combined statement to be true Note Each condition must be placed in parenthesis for proper evaluation by the 10C 7007 Note Subroutines can be nested 16 deep in the IOC 7007 ARGUMENTS
32. Wait DESCRIPTION Enabling the MW command causes the controller to hold up execution of the program after sending a Modbus command until a response from the Modbus device has been received If the response is never received then the TCPERR subroutine will be triggered and an error code of 123 will occur on _TC ARGUMENTS MWn where n 0 Disables the Modbus Wait function n 1 Enables the Modbus Wait function USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 1 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE MW contains the state of the Modbus Wait RELATED COMMANDS MB Modbus EXAMPLES MW1 Enables Modbus Wait SB1001 Set Bit 1 on Modbus Handle A CB1001 Clear Bit 1 on Modbus Handle A Hint The MW command ensures that the command that was sent to the Modbus device was successfully received before continuing program execution This prevents the controller from sending multiple commands to the same Modbus device before it has a chance to execute them 10C 7007 Chapter 5 Command Reference e 87 NO apostrophe also accepted FUNCTION No Operation DESCRIPTION The NO command performs no action in a sequence but can be used as a comment in a program After the NO characters can be given to form a program comment up to the maximum line length of the IOC 7007 which is 80 This helps to document a program An apostrophe may also be used instead of the NO to document a
33. Windows 95 and 98 FE Select the DMC 1415 controller Once the model type is selected click on the Ethernet Parameters tab Enter the IP address at the prompt and select either TCP IP or UDP IP as the protocol When done click on the ASSIGN IP ADDRESS The Galil Terminal Software will respond with a list of all I O boards and controllers on the network that do not currently have IP addresses The user selects the board and the software will assign the specified IP address to it Then enter the terminal and type in BN to save the IP address to the non volatile memory CAUTION Be sure that there is only one BOOT P server running If your network has DHCP or BOOT P running it may automatically assign an IP address to the IOC board upon linking it to the network In order to ensure that the IP address is correct please contact your system administrator before connecting the I O board to the Ethernet network The second method for setting an IP address is to send the A command through the IOC 7007 main RS 232 port The IP address may be entered as a 4 byte number delimited by commas industry standard uses periods or a signed 32 bit number e g IA 124 51 29 31 or IA 2083724575 Type in BN to save the IP address to the IOC non volatile memory At this point it is a good practice to do a manual reset on the IOC board before connecting it to the network NOTE Galil strongly recommends that the IP address selected is not one that can be accessed
34. a code that reflects why a command was not accepted by the IOC 7007 This command is useful when the IOC board halts execution of a program at a command or when the response to a command is a question mark Entering the TC command will provide the user with a code as to the reason After TC has been read it is set to zero TC 1 returns the text message as well as the numeric code ARGUMENTS TCn n 0 returns code only n 1 returns code and message Unrecognized command Command only valid from program rray space full C CODE EXPLANATION CODE EXPLANATION I A T i o o i 2 3 i 66 3 Command not valid in program 67 _ Too many arrays or variables 4 5 Inputbuffer fal 80 Record mode already running 6 Number out of range 81 Noaray or source specified i rs u fl 12 15 Operand error N ndefined Array Invalid label or line number S Empty program line or undefined re Not a valid number label U B ubroutine more than 16 deep ad Binary Command Format 14 EEPROM check sum error Binary Commands not valid in application program EEPROM write error Bad binary command number 1 83 Application strand already 120 Bad Ethernet transmit executing 25 Variable not given in IN command TCP lost sync 53 Error in 125 No ARP response from IP address 55 58 Not a valid Command Operand 133 Compile error in PLCSCAN 1 e _GNX Mismatched parentheses PLCSCAN program executing
35. a specific line or label using the operand n A command and new line number or label following the start listing operand specifies the location at which listing is to stop Example Instruction Interpretation LS List entire program LS 5 Begin listing at line 5 LS 5 9 List lines 5 thru 9 LS A 9 List line label A thru line 9 LS A A 5 List line label A and additional 5 lines 126 e Chapter 6 Application Programming 10C 7007 Program Format An IOC 7007 program consists of IOC 7007 instructions combined to solve a programmable logic application Action instructions such as setting and clearing I O bits are combined with Program Flow instructions to form the complete program Program Flow instructions evaluate real time conditions such as elapsed time or input interrupts and alter program flow accordingly A delimiter must separate each IOC 7007 instruction Valid delimiters are the semicolon or carriage return The semicolon is used to separate multiple instructions on a single program line where the maximum number of characters on a line is 80 including semicolons A carriage return enters the final command on a program line Using Labels in Programs All IOC 7007 programs must begin with a label and end with an End EN statement Labels start with the pound sign followed by a maximum of seven characters The first character must be a letter after that numbers are permitted Spaces are not allowed The maximum nu
36. across the Gateway The Gateway is an application that controls communication between an internal network and the outside world The third level of Ethernet addressing is the UDP or TCP port number The Galil board does not require a specific port number The port number is established by the client or master each time it connects to the IOC board Communicating with Multiple Devices The IOC 7007 is capable of supporting multiple masters and slaves The masters may be multiple PCs and motion controllers that send commands to the I O board The slaves can be other IOC s Galil Ethernet controllers such as the DMC 3425 or DMC 21x0 or I O devices manufactured by other companies NOTE The term Master is equivalent to the Internet client The term Slave is equivalent to the Internet server An Ethernet handle is a communication resource within a device The IOC 7007 can have a maximum of 6 Ethernet handles open at any time When using TCP IP each master or slave uses an individual Ethernet handle In UDP IP one handle may be used for all the masters but each slave uses one Pings and ARP s do not occupy handles If all 6 handles are in use and a 7 master tries to connect it will be sent a reset packet that generates the appropriate error in its windows application NOTE There are a number of ways to reset the board Hardware reset push reset button or power down IOC board and software resets through Ethernet
37. and connecting to the Opto Output pins on the IOM Pin 1 NC Pin 2 NC Pin 3 Opto Output 1 Collector Pin 4 Opto Output 1 Emitter Pin 5 Opto Output 2 Collector Pin 6 Opto Output 2 Emitter Pin 7 Opto Output 3 Collector Pin 8 Opto Output 3 Emitter 10C 7007 Chapter 4 IOM Modules e 29 Pin 9 Opto Output 4 Collector Pin 10 Opto Output 4 Emitter Pin 11 Opto Output 5 Collector Pin 12 Opto Output 5 Emitter Pin 13 Opto Output 6 Collector Pin 14 Opto Output 6 Emitter Pin 15 Opto Output 7 Collector Pin 16 Opto Output 7 Emitter Pin 17 Opto Output 8 Collector Pin 18 Opto Output 8 Emitter Pin 19 NC Pin 20 NC IOM 70208 8 Opto isolated outputs 25 mA max on each output Outside On1OM 70208 side DO Collector o 3 O i x ps DO_Emitter o NW Fig 4 3 IOM 70108 Circuit Diagram 30 e Chapter 4 IOM Modules 10C 7007 IOM 70308 8 Opto isolated power output module The IOM 70308 provides 8 optically isolated power output channels that source up 100mA each As with the IOM 70208 the voltage range of the 70308 is between 5 and 24VDC The user will connect an isolated power supply to VIN_ISO and GND_ISO and the load will be connected to one of the Power Output pins and GND_ISO Current will flow from the Power Out pin to GND_ISO To reverse the logic of the output RPACK RP301 may be re
38. be 2431 Response from another IOC board has usually just one field therefore the n value does not need to be included in the operand RELATED COMMANDS TH Set Internet Handles EXAMPLES SAA KT 1 2 Sends the command to handle A e g a controller KI 1 2 WT5 SAA TE Sends the command to handle A controller TE MG _SAA Display the content of the operand _SAA first response to TE command 132 MG _SAA2 Display the content of the operand _SAA 2nd response to TE command 12 Note The SA command does not wait for a response from the slave controller before continuing code execution Therefore a WTxx is required between 102 e Chapter 5 Command Reference 10C 7007 two SA commands or between an SA command and querying the response using _SAhn There is a 38 character maximum string length for the SA command It is helpful for timing to keep the SA command query as short as possible 10C 7007 Chapter 5 Command Reference e 103 SB FUNCTION Set Bit DESCRIPTION The SB command sets one of the output bits on slots 0 to 6 Note 1 When using Modbus devices the I O points of the modbus devices are calculated using the following formula n SlaveAddress 10000 HandleNum 1000 Module 1 4 Bitnum 1 Slave Address is used when the ModBus device has slave devices connected to it and specified as Addresses 0 to 255 Please note that the use of slave devices for modbus are very rare and this number
39. by 7 and 255 to the bus Summary of Message Functions Surrounds text string Fn m Formats numeric values in decimal n digits to the right of the decimal point and m digits to the left Displaying Variables and Arrays Variables and arrays may be sent to the screen using the format variable or array x For example V1 returns the value of V1 Removing Leading Zeros from Response The leading zeros on data returned as a response to interrogation commands or variables and arrays can be removed by the use of the command LZ The default value for LZ is 0 meaning that the leading zeroes do not get printed out unless LZ1 command is entered Example Using the LZ command LZO Disables the LZ function MG_TI1 Print input status of bank 1 10C 7007 Chapter 6 Application Programming e 147 0000000255 0000 Response from Interrogation Command With Leading Zeros LZ1 Enables the LZ function MG_TI1 Print input status of bank 1 255 0000 Response from Interrogation Command Without Leading Zeros Formatting Variables and Array Elements The Variable Format VF command is used to format variables and array elements The VF command is specified by VF m n where m is the number of digits to the left of the decimal point 0 thru 10 and n is the number of digits to the right of the decimal point 0 thru 4 A negative sign for m specifies hexadecimal format The default format for VF is VF 10 4 Hex values are retu
40. commands Port 502 must be used when opening the handle IH TB eeeeeeeeneeeereeeee 104 Tra a tomate iaa 105 TE asa 106 O 108 A h EEE ARE E EAE E E EEES 109 TIMES alana a e EE ht A addline EA A E E a 110 TO nra O 111 LE adobe otis artesian eds A SoA Ay aaa a Aaea SA RESA 112 D OE benign hd ation E E di stb soutaupdaad Ssoapabea ancshe stetsgele yest ita uber eaeaineate 113 10C 7007 Contents e iii D EE E E alae aaa inc EE E A N 115 WE ps 116 DA a EE AEE A E cane cin tas A ac cae Sie hace taca Sn sed 117 VY icant Sara At ee ase ae IAG is aed sega ale ties te eRe mie eal 118 DEP da 119 WR OD wa ice ses sas aaa ten saep vai dasa dune se pigs nite apse ts eo I E E E EEE EEAS 120 il tela Ae 121 DD jas 122 DA Aan ee ee eh ae eae 123 CHAPTER 6 APPLICATION PROGRAMMING sessessossoossessossooesossossooesossossooe 125 OVERVIEW A fad A A A ee tans Ghee 125 EDITING PROGRAMS de 125 Edit Mode CommandS tia 126 PROGRAM FORMA Tina il il dales 127 Usine Labels im Programs iascentecacansatvacenicesuseansiesacs cc EE SSRS 127 A E n N E N 127 Commenting Programas sssini teen na S EE N EEEE aS AES EEEREN 128 EXECUTING PROGRAMS MULTITASKING ups 128 PILECSCAN thread cd 129 DEBUGGING PROGRAMS tesina ai sii 130 Trace Commands ceiiiec eneon ieee a EA TRESE E E EET 130 Error Code Commandos 130 RAM Memory Interrogation COMMANdS coooocnnocccnonccconnnnconnnnonononononcnonnncnonncnonnncnnnns 130 o A A an 131 Debugeing Examples crecio nida
41. entire I O configuration EN End program Conditional Jumps The IOC 7007 provides Conditional Jump JP and Conditional Jump to Subroutine JS instructions for branching to a new program location based on a specified condition The conditional jump determines if a condition is satisfied and then branches to a new location or subroutine Unlike event triggers such as the AI command the conditional jump instruction does not halt the program sequence Conditional jumps are useful for testing events in real time They allow the IOC 7007 to make decisions without a host computer Command Format JP and JS Format Deseripton CO JS destination logical condition Jump to subroutine if logical condition is satisfied JP destination logical condition Jump to location if logical condition is satisfied The destination is a program line number or label where the program sequencer will jump if the specified condition is satisfied Note that the line number of the first line of program memory is 0 The comma designates IF The logical condition tests two operands with logical operators 10C 7007 Chapter 6 Application Programming e 133 Logical operators E TES ES ETE A ET lt ess than or equal to lt gt lt greater than or equal o Conditional Statements The conditional statement is satisfied if it evaluates to any value other than zero The conditional statement can be any valid IOC 7007 numeric operand including varia
42. full duplex no parity 8 data bits one start bit and one stop bit Check to insure that the baud rate switches jumpers have been set to the desired baud rate as described above Also the hardware handshake lines RTS CTS need to be in the correct state to communicate See Chapter 3 for more information on Handshake Modes The computer needs to be configured as a dumb terminal which sends ASCII characters as they are typed to the IOC 7007 Sending Test Commands to the Terminal After connecting to the computer or terminal press lt carriage return gt or the lt enter gt key on the keyboard In response to carriage return CR the controller responds with a colon Now type TZ CR This command directs the IOC to return the current I O status The controller should respond with something similar to the following Slot 0 7 0 Digital Output value 0 0000_0000 Slot 1 I O module not detected Slot 2 79 64 Digital Input value 65535 1111_1111_1111_1111 Slot 3 I O module not detected Sot 4 135 128 Digital Input value 255 1111_1111 10C 7007 Chapter 2 Getting Started e 9 Slot 5 I O module not detected Slot 6 195 192 Digital Output value 0 0000 This response shows slots 2 and 4 occupied by input modules and slots 0 and 6 with output modules Communicating through the Ethernet Connect the IOC 7007 Ethernet port to your computer via a crossover or null modem Ethernet cable
43. low Send message DONE when conditions are satisfied End Program HINT The AI command actually halts execution until specified input s is at desired logic level Use the conditional Jump command JP or input interrupt II if you do not want the program sequence to halt 10C 7007 Chapter 5 Command Reference e 47 AO FUNCTION Analog Out DESCRIPTION The AO command sets the analog output voltage on an analog output pin It is also used to set the analog output voltage on ModBus devices over Ethernet ARGUMENTS AO m n where m is the I O number assigned to a particular analog output pin on one of the IOM modules m can also be the I O number of a ModBus device that is calculated using the following equations m SlaveAddress 10000 HandleNum 1000 Module 1 4 Bitnum 1 Slave Address is used when the ModBus device has slave devices connected to it and specified as Addresses 0 to 255 Please note that the use of slave devices for Modbus are very rare and this number will usually be 0 HandleNum is the handle specifier from A to F 1 to 6 Module is the position of the module in the rack from 1 to 16 BitNum is the I O point in the module from 1 to 4 n the voltage which ranges from 9 99 to 9 99 USAGE In a Program Yes Command Line Yes Can be Interrogated No Used as an Operand No RELATED COMMANDS SB on page 102 Set Bit CB on page 53 Clear Bit 48 e Chapter 5 Command Reference 10C
44. multi axis controller The host computer communicates to only one master controller and the master coordinates data transfer between the other controllers and IOCs in the network For more information on distributed control see the DMC 3425 User Manual The HC command available on the DMC 3425 is used to automatically configure the various controllers and IOCs in a Galil distributed network If this command is used then each IOC must have a jumper corresponding to its address setting in the distributed network The 16 pin jumper found at location JP1 is used to select address settings for the IOC 7007 Jumpers at this location are labeled ADR1 ADR2 ADR4 and ADR8 which represent the binary value for each of the 8 addresses available for an IOC The following chart shows the proper jumper settings for every possible address selection IOC 1 ADRI On ADR2 Off ADR4 Off ADR8 Off IOC 2 ADR1 Off ADR2 On ADRA Off ADR8 Off IOC 3 ADRI On ADR2 On ADR4 Off ADR8 Off IOC 4 ADR1 Off ADR2 Off ADR4 On ADRS8 Off IOC 5 ADRI On ADR2 Off ADR4 On ADRS Off IOC 6 ADR1 Off ADR2 On ADR4 On ADR8 Off IOC 7 ADRI On ADR2 On ADR4 On ADR8 Off IOC 8 ADR1 Off ADR2 Off ADRA Off ADR8 On If two IOCs are needed for a Galil distributed network then the IOC 1 jumper setting is used on one of the IOCs and the IOC 2 setting is used on the other Likewise if three IOC s are configured then the 1 2 and 3 setti
45. or RS232 by entering the RS command The only reset that will not cause the board to disconnect is a software reset via the Ethernet 10C 7007 Chapter 3 Communication e 17 When the IOC 7007 acts as the master the IH command is used to assign handles and connect to its slaves The IP address may be entered as a 4 byte number separated with commas industry standard uses periods or as a signed 32 bit number A port number may also be specified but if it is not it will default to 1000 The protocol TCP IP or UDP IP to use must also be designated at this time Otherwise the board will not connect to the slave Ex IHB 151 25 255 9 lt 179 gt 2 This will open handle 2 and connect to the IP address 151 25 255 9 port 179 using TCP IP Once the IH command is used to connect to slaves the user can communicate to these slaves by sending commands to the master IOC 7007 The SA command is used for this purpose and it has the following syntax SAh command string Here command string will be sent to handle h For example the SA command is the means for sending an XQ command to a slave server A more flexible form of the command is SAh field1 field2 field3 field4 field8 where each field can be a string in quotes or a variable For example to send the command KI 5 10 to a DMC 3425 controller Assume varl 5 and var2 10 and send the command SAF KI varl var2 When the Master client sends an SA command to a Slave server it is
46. or to a network hub by a straight through Ethernet cable Using Galil Software for Windows 95 and 98 FE The IOC 7007 must be registered in the Windows registry for the host computer to communicate with it The registry may be accessed via Galil software such as DTERM From DTERM the registry is accessed under the REGISTRY menu Use the Add button to add a new entry in the registry Choose DMC 1415 as the model type and click on the Ethernet tab Enter the IP address obtained from your system administrator Select the button corresponding to the UDP or TCP protocol in which to communicate with the IOC 7007 If the IP address has not been already assigned to the board click on ASSIGN IP ADDRESS Controller Communications Parameters General Parameters 154 Bus Parameters PCI Bus Parameters Serial Parameters Ethernet Parameters IP Address fi 24 51129 31 Ethemet Protocol TCP C UDP Assign IP Address Cancel Apply Fig 2 4 Ethernet Parameters for the IOC 7007 ASSIGN IP ADDRESS will check the I O boards that are linked to the network to see which ones do not have an IP address The program will then prompt the user to assign the IP address which has been entered to the device with the specified serial number Click on YES to assign it NO to move to next device or CANCEL to not save the changes If there are no devices on the network that do not have an IP address assigned the program will state t
47. possible for the master to determine the status of the command The response _IHh4 will return the number 1 to 4 1 indicates waiting for the acknowledgement from the slave 2 indicates a colon command accepted has been received 3 indicates a question mark command rejected has been received 4 indicates the command timed out If a command generates responses such as the TE command on a DMC 3425 controller the values will be stored in _SAHO thru _SAh7 If a field is unused its SA value will be 243 1 See Chapter 5 for more information on the SA command Which devices receive what information from the IOC 7007 depends on various things If a device queries the IOC board it will receive the response unless it explicitly tells the IOC board to send it to another device If the command that generates a response is part of a downloaded program the response will route to whichever port is specified by the CF command either a specific Ethernet handle or the RS232 port If the user wants to send the message to a port other than what is specified by the CF command add an Eh or S1 to the end of the command Ex MG EC Hello will send the message Hello to handle 3 and MG P1 Hello will send it to the serial port 10C 7007 Support in Galil s Distributed network There are two levels of distributed control supported by the IOC 7007 The first method as described above uses the IH command to assign Ethernet handles and connect to sl
48. program The NO command can be used in the PLCSCAN thread ARGUMENTS NOm where m is any group of letters and numbers USAGE In a Program Command Line Can be Interrogated Used as an Operand EXAMPLES HA NO NO This Program Does Absolutely Nothing EN Yes Yes No Program A No Operation No Operation No Operation No Operation End of Program 88 e Chapter 5 Command Reference 10C 7007 OB FUNCTION Output Bit DESCRIPTION The OB n logical expression command defines output bit n 0 through 223 as either 0 or 1 depending on the result from the logical expression Any non zero value of the expression results in a one on the output The OB command can be used in the PLCSCAN thread ARGUMENTS OB n expression where n is O through 223 denoting output bit expression is any valid logical expression variable or array element USAGE In a Program Yes Command Line Yes Can be Interrogated No Used as an Operand No RELATED COMMAND CB Clear Bit SB Set Bit EXAMPLES OB 1 POS 1 If POS 1 is non zero Bit 1 is high OB 2 IN 5 amp IN 6 OB 3 COUNT 1 OB N COUNT 1 If POS 1 is zero Bit 1 is low If Input 5 and Input 6 are both high then Output 2 is set high If the element 1 in the array is zero clear bit 3 otherwise set bit 3 If element 1 in the array is zero clear bit N 10C 7007 Chapter 5 Command Reference e 89 OQ FUNCTION Output Module DESCRIPTION
49. specific IP address BOOT P is an application that determines which devices on the network do not have an IP address and assigns the IP address you have chosen to it Ping is used to check the communication between the device at a specific IP address and the host computer The IOC 7007 can communicate with a host computer through any application that can send TCP IP or UDP IP packets A good example of this is Telnet a utility that comes with most Windows systems Data Record OR Command The IOC 7007 can provide a block of status information back to the host computer with the use of a single command QR This command can be very useful for accessing board status No arguments are needed for this command The QR command returns all information in binary format therefore the result of this command cannot be displayed in a Galil terminal However the Galil API function calls for use in a C C programming environment can be used to extract information from the IOCs data record Also certain features of Galil s ActiveX Tool Kit utilize the data record as well See the C C Programmer and ActiveX Tool Kit manuals for more information The QR command will return 4 bytes of header information followed by an entire data record A data record map is provided below Data Record Map DATA TYPE ITEM UB 1 byte of header UB 2 byte of header UB 3 byte of header UB 4 byte of header UW Sample number UB Error Code UB General Status UB Mo
50. status can be stored in EEPROM 56 e Chapter 5 Command Reference 10C 7007 DA FUNCTION Deallocate the Variables amp Arrays DESCRIPTION The DA command frees the array and or variable memory space In this command more than one array or variable can be specified for memory de allocation Different arrays and variables are separated by comma when specified in one command The argument deallocates all the variables and 0 deallocates all the arrays ARGUMENTS DA c 0 d etc where c 0 Defined array name d Defined variable name Deallocates all the variables 0 Deallocates all the arrays DA Returns the number of arrays available on the IOC 7007 USAGE In a Program Yes Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAND USAGE _DA contains the total number of arrays available For example on an IOC 7007 before any arrays have been defined the operand _DA is 14 If one array is defined the operand _DA will return 13 RELATED COMMANDS DM Dimension Array EXAMPLES Cars and Salesmen are arrays and Total is a variable DM Cars 400 Salesmen 50 Dimension 2 arrays Total 70 Assign 70 to the variable Total DA Deallocate the 2 arrays amp variables Cars 0 Salesmen 0 Total DA 0 Deallocate all arrays DA 0 Deallocate all variables and all arrays NOTE Since this command deallocates the spaces and compacts the array spaces in the memory it is pos
51. that may be useful in debugging an application program Below is a list of operands that are particularly valuable for program debugging To display the value of an operand the message command may be used For example since the operand _ED contains the last line of program execution the command MG _ED will display this line number _ED contains the last line of program execution useful to determine where program stopped _DL contains the number of available labels 126 max _UL contains the number of available variables 126 max _DA contains the number of available arrays 14 max _DM contains the number of available array elements 2000 max Debugging Example The following program has an error It attempts to set bit 34 high but SD is used as the command instead of SB When the program is executed the IOC 7007 stops at line 001 The user can then query the IOC board using the command TC1 The IOC 7007 responds with the corresponding explanation Instruction Interpretation LS List Program 000 HA Program Label 001 SD34 Set bit 34 high 002 SB35 Set bit 35 high 003 MG DONE Print message 004 EN End XQ HA Execute HA 2001 SD34 Error on Line 1 TC1 Tell Error Code 130 Unrecognized Command This command doesn t MG_ED Print line number where problem occurred 1 00 The error occurred on line 1 of the program Program Flow Commands The IOC 7007 provides instructions to control program flow The
52. the state of all inputs on a specified IOC slot Response is a decimal number which when converted to binary represents the status of all digital inputs on that IOM module Therefore if the TI is used to return the state of the 16 port IOM 70016 the returned number will be from 0 to 65 535 Likewise if the TI is used to return the state of an 8 port IOM 70108 the returned number will be from 0 to 256 ARGUMENTS TIn where n is the IOC slot number whose input state is to be interrogated and n ranges from O thru 6 Note If slot n does not contain an input module an error message will be displayed when TI n command is entered USAGE In a Program Yes Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _TIn contains the status of the input module in slot n Note The operand can be masked to return only specified bit information see section on Bitwise operations on page 139 EXAMPLES TIl Tell input state on slot 1 8 Bit 3 on slot 1 is high others low TIO 0 All inputs on slot O low Input _TT1 Sets the variable Input with the TI1 value Input 8 0000 IOC 7007 returns value of _TI1 10C 7007 Chapter 5 Command Reference e 109 TIME FUNCTION Time Operand Keyword DESCRIPTION The TIME operand contains the value of the intenal free running real time clock The operand TIME will increase by 1 count every update of approximately 1000usec Note that a value of 1000 for IOC s update r
53. 07 halts the program execution at the point of the error To display the last line number of program execution issue the command MG _ED The user can obtain information about the type of error condition that occurred by using the command TC1 This command returns a number and text message which describe the error condition The command TCO or TC will return the error code without the text message For more information about the command TC see Chapter 5 RAM Memory Interrogation Commands For debugging the status of the program memory array memory or variable memory the IOC 7007 has several useful commands The command DM will return the number of array elements currently available The command DA will return the number of arrays that can be currently defined For example the IOC 130 e Chapter 6 Application Programming 10C 7007 7007 has a maximum of 2000 array elements in up to 14 arrays If a single array of 100 elements is defined the command DM will return the value 1900 and the command DA will return 13 To list the contents of the variable space use the interrogation command LV List Variables To list the contents of array space use the interrogation command LA List Arrays To list the contents of the program space use the interrogation command LS List Program To list the application program labels only use the interrogation command LL List Labels Operands In general all operands provide information
54. 0C 7007 TX FUNCTION Tell PLC execution Time DESCRIPTION The TX command gives the PLCSCAN thread execution time This time begins as soon as the XP command is issued The TX command can be issued in one of the eight simultaneous threads or from the command line ARGUMENTS TX USAGE In a Program Yes Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAND USAGE _TX contains the PLCSCAN execution time RELATED COMMANDS Cp Compiles the PLC thread Hp Halt the PLC thread xP Executes the PLC thread EXAMPLES TX Tells PLC execution Time 10C 7007 Chapter 5 Command Reference e 113 TZ FUNCTION Tell I O Configuration DESCRIPTION This command returns a list of information pertaining to the status of the IOC 7007 s seven I O slots On each line the information starts with the slot number 0 to 6 the corresponding I O number range the configuration as inputs or outputs and the bit value 255 for all 8 output bits high etc ARGUMENTS TZ USAGE In a Program Yes Command Line Yes Can be Interrogated Yes Used as an Operand No RELATED COMMAND TH Tell Ethernet Handle TQ Tell Thread Execution EXAMPLES TZ Slot 0 7 0 Digital Output value 228 1110_0100 Slot 1 I O module not detected Slot 2 79 64 Digital Input value 0 0000_0000_0000_0000 Slot 3 I O module not detected Sot 4 135 128 Digital Input value 0 0000_0000 Slot 5 I O modul
55. 14 2 4 Commands or calculations are also limited to 4 operands numbers or variables with 3 operators lt gt lt gt lt gt amp and Ex V5 100 2 4 Square brackets are not allowed to be nested No operators are allowed within square brackets Jumps within the PLCSCAN thread cannot be made to locations outside the thread IF ELSE statements can be nested up to 16 levels deep Se GR A All numbers used in mathematical and comparison operations can only be integers 10 Analog references are in counts not Volts ee 99 11 Operands commands starting with the underscore character _ are not supported Debugging Programs The IOC 7007 provides commands and operands that are useful in debugging application programs These commands include interrogation commands to monitor program execution determine the state of the IOC board and the contents of the IOC 7007 program array and variable space Operands also contain important status information which can help to debug a program Trace Commands The trace command causes the IOC to send each line in a program to the host computer immediately prior to execution Tracing is enabled with the command TR1 TRO turns the trace function off Note When the trace function is enabled the line numbers as well as the command line will be displayed as each command line is executed Error Code Command When a program error occurs the IOC 70
56. 3 Slot 2 Slot 1 Slot 0 Present Present Present Present Present Present Present in Data in Data in Data in Data in Data in Data in Data Record Record Record Record Record Record Record Bytes 2 3 of Header Bytes 2 and 3 make up a word which represents the Number of bytes in the data record including the header Byte 2 is the low byte and byte 3 is the high byte Note The header information of the data records is formatted in little endian 22 e Chapter 3 Communication 10C 7007 General Status Information 1 Byte BIT 7 BIT 6 BIT 5 BIT 4 BIT 3 BIT 2 BIT 1 BIT 0 Program N A N A N A N A Waiting for Trace On Echo On Running input from IN command QZ Command The QZ command can be very useful when using the QR command since it provides information about the data record The QZ command returns four fields of data the first field being the number of slots in the IOC board currently 7 for the IOC 7007 The second field is the number of bytes in the General Data Block of the data map and the fourth field contains the number of bytes in all the Slot Data Blocks The third field is zero and has no significance See the paragraph under the Data Record Map above for more information on the General Data Block and the Slot Data Blocks LR Command The LR command returns similar information as the QR but works between the IOC 7007 and a DMC 3425 controller The DMC 3425 supports Galil s Distributed Control System that allows several DMC
57. 3425s and IOCs to be connected together as a single virtual axis controller In this system one of the DMC 3425s is designated as the master The maser can receive commands from the host computer that apply to all the other controllers and IOCs in the system Therefore in order for this system to coordinate properly data must be constantly sent from the master controller to the other devices and visa versa The data coming from the slaves to the master is sent in large packets or slave records Typically these slave records are sent every n msec where n is specified by the QW command However the LR command can be used to send the slave record at any time so that the master can be immediately notified of important slave events On the IOC 7007 such an event could be a particular input being triggered For more information on distributed control and the QW command see the DMC 3425 User Manual and Command Reference Another important feature of the slave data record is that it contains two variables that can be set by the user The ZC and ZD commands are responsible for these variables Each variable can be a number a mathematical equation or a string See the Chapter 5 Command Reference for more information on the ZC and ZD commands The example below shows the use of the LR command by an IOC 7007 The DMC 3425 is the IOCs master and data being sent from the slave to the master is on TCP handle B Notice that once inputs 3 and 2 go l
58. 4 Trippoint on inputs 13 and 14 LOOP JP LOOP Pseudo program Loop indefinitely EN End program B Program Label AI 7 amp 8 Trippoint on inputs 7 and 8 LOOP2 SB20 Set bit 20 high WTS500 Wait for half a second CB20 Set bit 20 low WTS500 Wait for 500msec JP LOOP2 Create a light blinker effect EN End program ININT1 Input interrupt program label Print message saying loop program in main thread halted Return to main program without restoring trippoint but keeping the interrupt enabled Print message saying blinker effect in thread halted since ININT2 runs in thread 1 Wait 10 seconds for user to reset inputs 5 and 10 Return to thread 1 s main program blinker continues while restoring trippoint on inputs 5 and 10 interrupt disabled Note This multitasking program can be executed with the instruction XQ A 0 designating A as the main thread i e Thread 0 B is executed within A Event Trigger This example waits for input 1 to go low and input 3 to go high and then execute the TZ interrogation command Note The AI command actually halts execution of the program until the input occurs If you do not want to halt the program sequences use the Input Interrupt function I or a conditional jump on an input such as JP GO IN 1 0 IN 3 1 132 e Chapter 6 Application Programming 10C 7007 Instruction Interpretation INPUT Program Label AI 1 amp 3 Wait for input 1 low and input 3 high TZ List the
59. 6 Output of Data 143 P Program Flow 124 128 Interrupt 61 103 129 Stack 147 Programmable 146 Q Quit Abort 44 45 78 100 120 166 e IOC 7007 Serial Cable Specifications 10C 7007 R Record 93 Reset 55 108 Master Reset 99 108 Standard 108 S SDK 122 Selecting Address 160 Serial Port 10 Servo Design Kit SDK 122 Sine 138 Software SDK 122 Special Label 124 Stack 147 Zero Stack 147 Standard Reset 108 Status 55 66 139 Interrogation 143 Stop Abort 44 45 78 100 120 Stop Code 139 Subroutine 124 Automatic Subroutine 133 Subroutine Stack 71 T Terminal 55 122 139 144 Time Clock 108 140 Time Interval 141 Timeout 8 Trigger 122 Trippoints 71 Tuning SDK 122 U Upload 57 122 V Variable Internal 100 131 138 139 Vector Mode Circular Interpolation 141 Z Zero Stack 147 IOC 7007 IOC 7007 Serial Cable Specifications e 167
60. 6 characters parse each character and then display each character Notice also that the values used for masking are represented in hexadecimal as denoted by the preceding For more information see the section on Sending Messages page 146 To illustrate further if the user types in the string TESTME at the input prompt the IOC 7007 will respond with the following T Response from command MG LEN6 S4 E Response from command MG LENS S4 S Response from command MG LEN4 S4 T Response from command MG LEN3 S4 M Response from command MG LEN S4 E Response from command MG LEN S4 Functions SIN n Sine of n n in degrees with range of 32768 to 32767 and 16 bit fractional resolution 2COS n Cosine of n n in degrees with range of 32768 to 32767 and 16 bit fractional resolution ACOS n Arc Cosine ofn between 0 and 180 Angle resolution in 1 64000 degrees GATAN n Arc Tangent of n between 90 and 90 Angle resolution in 1 64000 degrees COM n 1 s Complement of n ABS n Absolute value of n I ASIN n Arc Sine of n between 90 and 90 Angle resolution in 1 64000 degrees TAN n Tangent of n n in degrees with range of 32768 to 32767 and 16 bit fractional resolution RACE NIN RND n Round of n Rounds up if the fractional part of n is 5 or greater 140 e Chapter 6 Application Programming 10C 7007 SQR n Square root of n Accuracy is 004 IN n Return digi
61. C D E or F 1p0 ip1 ip2 1p3 are integers between O and 255 and represent the individual fields of the IP address These values must be separated by commas n is a signed integer between 2147483648 and 2147483647 This value is the 32 bit IP address and can be used instead of specifying the 4 address fields IHS gt C closes the handle that sent the command where C 1 for UDP IP or C 2 for TCP IP IHN gt C closes all handles except for the one sending the command where C 1 UDP or C 2 TCP lt p specifies the port number of the slave where p is an integer between 0 and 65535 This value is not required for opening a handle gt q specifies the connection type where q is O for no connection 1 for UDP and 2 for TCP gt r specifies that the connection be terminated and the handle be freed where r is 1 for UDP 2 for TCP IP or 3 for TCP IP reset 2 returns the IP address as 4 1 byte numbers OPERAND USAGE _THhO contains the IP address as a 32 bit number _THh1 contains the slave port number _THh2 contains a 0 if the handle is free contains a 1 if it is for a UDP slave contains a 2 if it is for a TCP slave contains a 1 if it is for a UDP master contains a 2 if it is for a TCP master contains a 5 while establishing a UDP handle contains a 6 while establishing a TCP handle 10C 7007 Chapter 5 Command Reference e 71 _THh3 USAGE In a Program Command Line Can be Interrogated Used as an Operand RELA
62. D commands QU array start end delim QD array start end where array is an array name such as A Start is the first element of array default 0 End is the last element of array default last element Delim specifies whether the array data is separated by a comma delim 1 or a carriage return delim 0 The file is terminated using lt control gt Z lt control gt Q lt control gt D or Automatic Data Capture into Arrays The IOC 7007 provides a special feature for automatic capture of data such as inputs or outputs Up to four types of data can be captured and stored in four arrays The capture rate or time interval may be specified Recording can be done as a one time event or as a circular continuous recording Command Summary Automatic Data Capture RA nf m o p Selects up to four arrays for data capture The arrays must be defined with the DM command 144 e Chapter 6 Application Programming 10C 7007 RD Selects the type of data to be recorded where typel type2 type3 and typel type2 type3 type4 type 4 represent the various types of data see table below The order of data type is important and corresponds with the order of n m o p arrays in the RA command The RC command begins data collection Sets data capture time interval where n is an integer between and 8 and designates 2 msec between data mis optional and specifies the number of elements to be captured If m is not defined the number of elem
63. Don t forget to quit the edit mode first before executing a program 120 e Chapter 5 Command Reference 10C 7007 ZC FUNCTION User Variable ZC DESCRIPTION ZC sets the first user variable which is sent back to a master controller from a slave IOC This variable is part of the LR record and provides a method for specific board information to be passed to the master controller during data record ARGUMENTS ZCn where n can be a number IOC board operand variable mathematical function or string The range for numeric values is from 2 147 483 648 to 2 147 483 647 The maximum number of characters for a string is 4 characters Strings are identified by quotations NOTE If n is a the decimal value of ZC will be returned USAGE In a Program Yes Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _ZC contains the decimal value of the user variable RELATED COMMANDS ZD Set second user variable LR Launch slave data record EXAMPLES ZC 2343 Sets the first user variable to a number 2343 10C 7007 Chapter 5 Command Reference e 121 ZD FUNCTION User Variable ZD DESCRIPTION ZD sets the second user variable which is sent back to a master controller from a slave IOC This variable is a part of the LR record and provides a method for specific board information to be passed to the master controller during data record ARGUMENTS ZDn where n can be a numbe
64. I O slots see Chapter 4 Digital Outputs The most common method of changing the state of digital outputs is by using the set bit SB and clear bit CB commands The following table shows an example of the SB and CB commands Instruction Interpretation SB2 Sets bit 2 CBI Clears bit 1 The Output Bit OB instruction is useful for setting or clearing outputs depending on the value of a variable array input or expression Any non zero value results in a set bit Instruction Interpretation OB1 POS Set Output 1 if the variable POS is non zero Clear Output 1 if POS equals 0 OB2 IN 1 Set Output 2 if Input 1 is high If Input 1 is low clear Output 2 OB3 IN 1 amp IN 2 Set Output 3 only if Input 1 and Input 2 are high OB2 COUNT 1 Set Output 2 if element 1 in array COUNT is non zero The output port can be set by specifying the OQ Output Port command This instruction allows a single command to define the state of the entire IOM output module where 29 is bit 0 21 is bit 1 and soon A 1 designates that the output is on For example Instruction Interpretation OQ1 6 Sets bits 1 and 2 output 33 and 34 of slot 1 to high All other bits on slot 1 are 0 2 22 6 OQ0 0 Clears all bits of slot 0 to zero 0Q0 7 Sets output bits O 1 and 2 to one 20 21 22 this is the same as giving the commands SB0 SB1 SB2 CB3 CB4 CB5 CB6 CB7 10C 7007 Chapter 6 Application Programming e 149 The state of the di
65. IF IN 1 0 IF IN 2 0 MG INPUT 1 AND INPUT 2 ARE ACTIVE ELSE MG ONLY INPUT 1 IS ACTIVE ENDIF ELSE MG ONLY INPUT 2 IS ACTIVE ENDIF IF conditional statement based on input 1 2 IF conditional statement executed if 1 IF conditional true Message to be executed if 2 IF conditional is true ELSE command for 2 IF conditional statement Message to be executed if 2 IF conditional is false End of 2 conditional statement ELSE command for 1 IF conditional statement Message to be executed if 1 IF conditional statement End of 1 conditional statement 62 e Chapter 5 Command Reference 10C 7007 EN FUNCTION End DESCRIPTION The EN command is used to designate the end of a program or subroutine Ifa subroutine was called by the JS command the EN command ends the subroutine and returns program flow to the point just after the JS command No argument is required The EN command is also used to end the automatic subroutine CMDERR and an argument is required to handle trippoints in the main thread upon returning from the subroutine The EN command can be used in the PLCSCAN thread ARGUMENTS EN m m 0 Return from CMDERR without restoring trippoint in main thread m 1 Return from CMDERR and restore trippoint in main thread Note 1 The default value for the argument is 0 For example ENO and EN have the same effect Note 2 Trippoints cause a program to wait for a particular event The AI c
66. INING SEMINAR Secs ssbb ised cde ue sae cla a a lua eva ye ah ned bt Bad 161 CONTACTING U Susini ta 162 WARRANTY att hi aah aad ach Oe cea e a A 163 A O wteaa ie tadoh gate A E eaten 165 10C 7007 Contents e y Chapter 1 Overview Introduction Derived from the same fundamentals used in building the Galil motion controllers the IOC 7007 is a programmable I O board that conveniently interfaces with other Galil boards through its Ethernet port The IOC 7007 is programmed exactly the same way as a DMC Galil controller with the exception of a few revised commands and the removal of all motion related commands Communication with the IOC 7007 even works the same way as with other Galil controllers and it utilizes the same software programs such as the DMC Terminal New interrogation commands have been created to allow a user to instantly view the entire I O status thread execution or Ethernet handle availability see the TZ TQ and TH commands in Chapter 5 The purpose of an IOC 7007 board is to offer remote I O in a system and the ability to synchronize complex events To do this the IOC 7007 accepts up to 7 plug in I O modules starting with the abbreviation IOM for Input Output Module that can be mixed and matched according to the system requirements There are 8 different IOM variations currently available consisting of digital inputs digital outputs analog inputs or analog outputs See Chapter 4 for IOM specifications Pac
67. Input 3 Pin 8 Ground Pin 9 Analog Input 4 Pin 10 Ground Pin 11 Analog Input 5 Pin 12 Ground Pin 13 Analog Input 6 Pin 14 Ground Pin 15 Analog Input 7 Pin 16 Ground Pin 17 Analog Input 8 Pin 18 Ground Pin 19 NC Pin 20 NC 36 e Chapter 4 IOM Modules 10C 7007 IOM 70808 and IOM 70808P 8 Analog Input Module Gain Offset l IOM 70808 only Inputs 1 8 Multiplexer A D Converter S D Vin B A GND S v B ref 8 O Sign C C C ENB Ground Outside On IOM 70808 side Fig 4 7 IOM 70808 Circuit Diagram IOM 70908 8 Analog output module The IOM 70908 features 8 12 bit analog outputs with a standard DC voltage range of 10V to 10V The other ranges available on request are as follows OV to 10V OV to 5V 5V to 5V The AO command is used to set the output voltage on the individual pins Each of the output pins can source up to 3mA Pin 1 NC Pin 2 NC Pin 3 Analog Output 1 Pin 4 Ground Pin5 Analog Output 2 Pin 6 Ground Pin 7 Analog Output 3 10C 7007 Chapter 4 IOM Modules e 37 Pin 8 Ground Pin 9 Analog Output 4 Pin 10 Ground Pin 11 Analog Output 5 Pin 12 Ground Pin 13 Analog Output 6 Pin 14 Ground Pin 15 Analog Output 7 Pin 16 Ground Pin 17 Analog Output 8 Pin 18 Ground Pin 19 NC Pin 20 NC IOM 70908 8 Analog Output Module Ou
68. JS destination condition where destination is a line number or label condition is an optional conditional statement using a logical operator The logical operators are lt less than or equal to gt greater than equal to lt less than or equal to gt greater than or equal to lt gt not equal USAGE In a Program Yes Command Line No Can be Interrogated No Used as an Operand No RELATED COMMANDS EN End EXAMPLES JS B N1 lt 5 Jump to subroutine B if N1 is less than 5 JS FLOOP N1 lt gt 0 Jump to LOOP if N1 is not equal to 0 JS A Jump to subroutine A no condition 10C 7007 Chapter 5 Command Reference e 77 FUNCTION List Arrays DESCRIPTION The LA command returns a list of all arrays in memory The listing will be in alphabetical order The size of each array will be included next to each array name in square brackets ARGUMENTS None USAGE In a Program Yes Command Line Yes Can be Interrogated Yes Used as an Operand No RELATED COMMANDS LL List Labels LS List Program LV List Variable EXAMPLES LA Interrogation Command CA 10 IOC board returns a list of 4 Arrays LA 5 NY 25 VA 17 78 e Chapter 5 Command Reference 10C 7007 LL FUNCTION List Labels DESCRIPTION The LL command returns a listing of all of the program labels in memory The listing will be in alphabetical order ARGUMENTS None USAGE In a Program Command Line Can be Interrogated Used as an Operand
69. M 70016 16 TTL inputs 10M 70108 8 optoislolated inputs 10M 70208 8 optoislolated outputs 10M 70308 8 high power outputs IOM 70404 4 dry contact relays 10M 70808 8 analog inputs IOM 70908 8 analog outputs IOM 70904 4 analog outputs The IOM modules are plugged into slots 0 through 6 on the IOC 7007 The IOC automatically recognizes the type of modules that are plugged into these slots and no configuration setup is required of the user Note If custom I O modules are desired contact Galil Each slot in the IOC 7007 is configured to provide up to 32 I O channels The I O numbering assignments are shown in the following table SLOT VO RANGE 0 0 31 1 32 63 2 64 95 3 96 127 4 128 159 5 160 191 6 192 223 These I O ranges remain the same despite the type of IOM module plugged into the slot This means that if a relay output module which has 4 relay channels is plugged into slot 4 the outputs associated with that module are numbered OUT 128 through OUT 131 Likewise if the TTL input module which has 16 input channels is plugged into slot 4 instead the inputs are numbered IN 128 through IN 143 Currently none of the IOM modules use all 32 I O channels associated with a slot Future IOM modules may use all the allocated I O space but for now all additional numbers are disregarded A new interrogation command TZ has been created to allow the user to get a quick view of every slot
70. MPER SETTINGS BAUD RATE OFF OFF Handshaking Modes The RS232 port is configured for hardware handshaking In this mode the RTS and CTS lines are used The CTS line will go high whenever the IOC 7007 is not ready to receive additional characters The RTS line will inhibit the IOC board from sending additional characters Note The RTS line goes high for inhibit This handshake procedure ensures proper communication especially at higher baud rates Ethernet Configuration Communication Protocols The Ethernet is a local area network through which information is transferred in units known as packets Communication protocols are necessary to dictate how these packets are sent and received The IOC 7007 supports two industry standard protocols TCP IP and UDP IP The board will automatically respond in the format in which it is contacted TCP IP is a connection protocol The master must be connected to the slave in order to begin communicating Each packet sent is acknowledged when received If no acknowledgement is received the information is assumed lost and is resent Unlike TCP IP UDP IP does not require a connection This protocol is similar to communicating via RS232 If information is lost the IOC board does not return a colon or question mark Because the protocol does not provide for lost information the sender must re send the packet Although UDP IP is more efficient and simple Galil recommends using the TCP IP protocol
71. NO commands will require process time by the IOC board Using REM Statements with the Galil Terminal Software When using Galil software to communicate with the IOC 7007 REM as in remark statements may also be included REM statements begin with the word REM and may be followed by any comments that are on the same line The Galil terminal software will remove these statements or exclude during the download when the program is downloaded to the IOC board For example FOUTPUT REM PROGRAM LABEL 0Q1 7 REM SET THE FIRST 3 BITS ON SLOT 1 EN REM END OF PROGRAM The REM statements will be removed when the program is downloaded to IOC 7007 Executing Programs Multitasking The IOC 7007 can run up to 9 independent programs or threads simultaneously The first eight of these are numbered 0 thru 7 where 0 is the main thread The ninth thread is labeled PLCSCAN and allows for the execution of several commands in a deterministic time The numbered threads are useful for executing independent operations and PLCSCAN is useful for real time PLC applications The main thread differs from the others in the following ways 1 Only the main thread thread 0 may use the input command IN 2 When interrupts are implemented for command errors the subroutines are executed in thread 0 A new feature on the IOC 7007 something not on other Galil motion controllers is the ability to execute multiple input interrupts ININTn on desi
72. Output 6 Pin 9 Power Output 7 34 e Chapter 4 IOM Modules 10C 7007 Pin 10 Power Output 8 Pin 11 NC Pin 12 NC Pin 13 NC Pin 14 NC Pin 15 VIN_ISO Input for power supply Pin 16 VIN_ISO Input for power supply Pin 17 VIN_ISO Input for power supply Pin 18 VIN_ISO Input for power supply Pin 19 VIN_ISO Input for power supply Pin 20 Ground_ISO Input for return supply IOM 70508 8 Opto isolated high power outputs OUTSIDE VIN_ISO POWER OUTPUT GROUND_ISO Fig 4 6 IOM 70508 Circuit Diagram IOM 70808 8 Analog input module The IOM 70808 features 8 analog inputs with12 bit resolution The standard DC voltage range for each input is 10V to 10V The other ranges available on request are as follows OV to 10V OV to 5V 5V to 5V IOC 7007 Chapter 4 IOM Modules e 35 The input impedance for each input point is 10 MOhms despite the voltage range listed above The IOM 70808P offers 8 analog inputs with 16 bit resolution Currently only the 10V to 10V range is available However OV to 5V will be available in the future The input impedance for each 10V input on an IOM 70808P is 45 7 kOhms The OV to 5V inputs will have 20 kOhms of impedance per channel Pin 1 NC Pin 2 NC Pin 3 Analog Input 1 Pin 4 Ground Pin 5 Analog Input 2 Pin 6 Ground Pin 7 Analog
73. RGUMENTS ED n where n specifies the line number to begin editing The default line number is the last line of program space with commands USAGE In a Program No Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAND USAGE _ED contains the line number of the last line to have an error EXAMPLES 000 BEGIN 001 0Q0 1 002 SB3 003 SLKJ Bad line 004 EN 005 CMDERR Routine which occurs upon a command error 006 V _ED 007 MG An error has occurred n 008 MG In line V F3 0 009 AB 010 ZSO 011 EN HINT Remember to quit the Edit Mode prior to executing or listing a program 10C 7007 Chapter 5 Command Reference e 61 ELSE FUNCTION Else function for use with IF conditional statement DESCRIPTION The ELSE command is an optional part of an IF conditional statement The ELSE command must occur after an IF command and it has no arguments It allows for the execution of a command only when the argument of the IF command evaluates False If the argument of the IF command evaluates false the IOC 7007 will skip commands until the ELSE command If the argument for the IF command evaluates true the IOC board will execute the commands between the IF and ELSE command The ELSE command can be used in the PLCSCAN thread ARGUMENTS ELSE USAGE In a Program Yes Command Line No Can be Interrogated No Used as an Operand No RELATED COMMANDS ENDIF End of IF conditional Statement EXAMPLES
74. S VF m n where m and n are unsigned numbers in the range 0 lt m lt 10 and O lt n lt 4 m represents the number of digits before the decimal point A negative m specifies hexadecimal format When in hexadecimal the string will be preceded by a and Hex numbers are displayed as 2 s complement with the first bit used to signify the sign n represents the number of digits after the decimal point m Returns the value of the format for variables and arrays USAGE In a Program Yes Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _VF contains the value of the format for variables and arrays EXAMPLES VF 5 3 Sets 5 digits of integers and 3 digits after the decimal point VF 8 0 Sets 8 digits of integers and no fractions VF 4 0 Specify hexadecimal format with 4 bytes to the left of the decimal 116 e Chapter 5 Command Reference 10C 7007 WH FUNCTION Which Handle DESCRIPTION The WH command is used to identify the handle in which the command is executed on The command returns IHA through IHF to indicate on which handle the command was executed on The command returns RS232 if using serial communication ARGUMENTS None USAGE In a Program Yes Command Line Yes Can be Interrogated Yes Used as an Operand Yes RELATED COMMAND TH Tell Handle TH Internet Handle OPERAND USAGE _WH contains the numeric representation of the handle in which a command is executed Handles A th
75. TED COMMANDS TA EXAMPLES THA 251 29 51 1 THA 2095238399 Yes Yes Yes contains a O if the ARP was successful contains a 1 if it has failed or is still in progress Internet Address Open handle A at IP address 251 29 51 1 Open handle A at IP address 251 29 51 1 Note When the IH command is given the IOC 7007 initializes an ARP on the slave device before opening a handle This operation can cause a small time delay before the IOC board responds 72 e Chapter 5 Command Reference 10C 7007 IT FUNCTION Input Interrupt DESCRIPTION This newly formatted II command enables the interrupt function for the specified inputs This function can trigger one of eight input interrupt subroutines ININT when the IOC 7007 sees that the conditional statement is satisfied When the condition is satisfied the program will jump to the subroutine with label ININTn where n ranges from 0 to 7 This subroutine will be executed in thread m where m is between 0 main and 7 causing any trippoint set in that thread to be cleared But this trippoint can be re enabled by the proper termination of the interrupt subroutine using RI The RI command is used to return from the ININTn routines To avoid returning to the program on an interrupt use the command ZS to zero the subroutine stack and use the II command to reset the interrupt Note An application program must be running on the controller for the interrupt function to work
76. TION Send Command DESCRIPTION SA sends a command from the IOC to another Galil Ethernet controller Any command can be sent to a slave device and will be interpreted by the controller as a local command Note A wait statement e g WTS must be inserted between successive calls to SA ARGUMENTS SAh arg or SAh arg arg arg arg arg arg arg arg where h is the handle being used to send commands to another Galil Ethernet controller arg is a number an IOC board or DMC controller operand variable mathematical function or string The range for numeric values is 4 bytes of integer 2 followed by two bytes of fraction 2 147 483 647 9999 The maximum number of characters for a string is 6 characters Strings are identified by quotations Typical usage would have the first argument as a string such as OQ and the subsequent arguments as the arguments to the command Example SAF OQ 0 255 would send the command OQ 0 255 USAGE In a Program Yes Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAND USAGE _SAhn gives the value of the response to the command sent with an SA command The h value represents the handle A thru F and the n value represents the specific field returned from typically a multi axis controller 1 8 The n value gets defaulted to 1 if unspecified in the operand If a specific field is not used by the controller e g fifth field on a four axes controller the operand will
77. USAGE In a Program Yes Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAND USAGE When used as an operand _HX n contains the running status of thread n with 0 Thread not running 1 Thread is running 2 Thread has paused at trippoint RELATED COMMANDS XQ Execute program EXAMPLES XQ A Execute program A thread zero XQ B 1 Execute program B thread one HXO Halt thread zero HX1 Halt thread one 68 e Chapter 5 Command Reference 10C 7007 TA FUNCTION IP Address DESCRIPTION The IA command assigns the IOC 7007 with an IP address The IA command may also be used to specify the time out value This is only applicable when using the TCP IP protocol The IA command can only be used via RS 232 Since it assigns an IP address to the IOC board communication with the IOC via Ethernet cannot be accomplished until after the address has been assigned ARGUMENTS IA ip0 ip1 ip2 ip3 or IAn or IA lt t where ipO ipl ip2 ip3 are 1 byte numbers separated by commas and represent the individual fields of the IP address n is the IP address for the IOC 7007 which is specified as an integer representing the signed 32 bit number two s complement lt t specifies the time in update samples between TCP retries gt u specifies the multicast IP address where u is an integer between 0 and 63 IA will return the IP address of the IOC board USAGE In a Program No Command Line Yes Can be Interrogated Yes
78. an ELSE command occurs in the program see discussion of ELSE command below Note An ENDIF command must always be executed for every IF command that has been executed It is recommended that the user not include jump commands inside IF conditional statements since this causes re direction of command execution In this case the command interpreter may not execute an ENDIF command Using the ELSE Command The ELSE command is an optional part of an IF conditional statement and allows for the execution of commands only when the argument of the IF command evaluates False The ELSE command must occur after an IF command and has no arguments If the argument of the IF command evaluates false the IOC 7007 will skip commands until the ELSE command If the argument for the IF command evaluates true the IOC board will execute the commands between the IF and ELSE commands Nesting IF Conditional Statements The IOC 7007 allows for IF conditional statements to be included within other IF conditional statements This technique is known as nesting and the IOC 7007 allows up to 255 IF conditional statements to be nested This is a very powerful technique allowing the user to specify a variety of different cases for branching Command Format IF ELSE and ENDIF IF conditional statement s Execute commands proceeding IF command up to ELSE command if conditional statement s is true otherwise continue executing at ENDIF command or optional ELSE comma
79. ate will actually set an update rate of 976 micoseconds Thus the value returned by the TIME operand will be off by 2 4 of the actual time The clock is reset to O with a standard reset or a master reset The keyword TIME does not require an underscore _ as with the other operands The TIME operand can be used in the PLCSCAN thread USAGE In a Program Yes Command Line Yes Can be Interrogated No Used as an Operand Yes EXAMPLES MG TIME Display the value of the internal clock T1 TIME Sets the variable T1 with the TIME value 110 e Chapter 5 Command Reference 10C 7007 TQ FUNCTION Tell Thread Execution DESCRIPTION This command returns a list of all threads and their execution status The thread number starts at O main thread and ends at 7 ARGUMENTS TQ USAGE In a Program Command Line Can be Interrogated Used as an Operand RELATED COMMAND HX XQ Yes Yes No Halt Execution Execute Program 10C 7007 Chapter 5 Command Reference e 111 TR FUNCTION Trace DESCRIPTION The TR command causes each instruction in a program to be sent out the communications port prior to execution TR1 enables this function and TRO disables it The trace command is useful in debugging programs ARGUMENTS TRn where n Oorl O disables function 1 enables function USAGE In a Program Yes Command Line Yes Can be Interrogated No Used as an Operand No 112 e Chapter 5 Command Reference 1
80. ave devices The other method is a custom Galil architecture in which several DMC 3425 controllers and IOCs act as if they were one multi axis controller with extended I O The host computer communicates to only one master controller and the master coordinates data transfer between the other controllers and IOCs in the network The HC command available on the DMC 3425 is used to automatically configure the various controllers and IOCs in this distributed network If this command is used then each IOC must have a jumper corresponding to its address setting in the distributed network See Chapter 2 Step 2 Configure Jumpers for information on these jumper settings Also if the automatic configuration is used then the IOC should not have an IP address assigned to it When issued by the DMC 3425 the HC command assigns IP addresses automatically to all devices configured for Galil s distributed control 18 e Chapter 3 Communication 10C 7007 All information pertaining to the HC command and Galil s distributed control architecture is covered in detail in the DMC 3425 User Manual 10C 7007 as Modbus master An additional protocol layer is available for speaking to I O devices Modbus is an RS 485 protocol that combines information in binary packets that are sent as part of a TCP IP packet In this protocol each slave has a 1 byte slave address The IOC 7007 assumes a specific slave address is not necessary The Modbus protocol has a set of
81. bit to set high SBN1 Set the specified bit high MG DONE Print Message EN End Program IOC 7007 Chapter 5 Command Reference e 75 JP FUNCTION Jump to Program Location DESCRIPTION The JP command causes a jump to a program location on a specified condition The program location may be any program line number or label The condition is a conditional statement which uses a logical operator such as equal to or less than A jump is taken if the specified condition is true Multiple conditions can be used in a single jump statement The conditional statements are combined in pairs using the operands amp and I The operand between any two conditions requires that both statements must be true for the combined statement to be true The l operand between any two conditions requires that only one statement be true for the combined statement to be true Note 1 Each condition must be placed in parenthesis for proper evaluation by the 10C 7007 Note 2 The JP command can be used in the PLCSCAN thread ARGUMENTS JP location condition where location is a program line number or label condition is an optional conditional statement using a logical operator The logical operators are lt less than gt greater than equal to lt less than or equal to gt greater than or equal to lt gt not equal to USAGE In a Program Yes Command Line No Can be Interrogated No Used as an Operand No EXAMPLES JP POS1
82. bles array elements numeric values functions keywords and arithmetic expressions If no conditional statement is given the jump will always occur Examples Number V1 6 Numeric Expression V1 V7 6 ABS V1 gt 10 Array Element V1 lt Count 2 Variable V1 lt V2 Internal Variable _TIl 255 _0Q2 lt gt 15 O V1 gt IN 2 IN 1 0 Multiple Conditional Statements The IOC 7007 will accept multiple conditions in a single jump statement The conditional statements are combined in pairs using the operands and I The operand between any two conditions requires that both statements be true for the combined statement to be true The operand between any two conditions requires that only one statement be true for the combined statement to be true Note Each condition must be placed in parentheses for proper evaluation by the IOC board In addition the IOC 7007 executes operations from left to right For example using variables named V1 V2 V3 and V4 JP TEST V1 lt V2 amp V3 lt V4 In this example this statement will cause the program to jump to the label TEST if V1 is less than V2 and V3 is less than V4 To illustrate this further consider this same example with an additional condition JP TEST V1 lt V2 amp V3 lt V4 V5 lt V6 This statement will cause the program to jump to the label TEST under two conditions 1 If V1 is less than V2 AND V3 is less than V4 2 If V5 is less than V6
83. commands called function codes The IOC 7007 as a Modbus master supports the 10 major function codes Function Code Definition 01 Read Coil Status Read Bits 02 Read Input Status Read Bits 03 Read Holding Registers Read Words 04 Read Input Registers Read Words 05 Force Single Coil Write One Bit 06 Preset Single Register Write One Word 07 Read Exception Status Read Error Code 15 Force Multiple Coils Write Multiple Bits 16 Preset Multiple Registers Write Words 17 Report Slave ID The IOC 7007 provides three levels of Modbus communication The first level allows the user to create a raw packet and receive raw data It uses the MBh command with a function code of 1 The format of the command is MBh 1 len array where len is the number of bytes and array is the array with the data The second level incorporates the Modbus structure This is necessary for sending configuration and special commands to another device The formats vary depending on the function code that is called For more information refer to the MB command in the Command Reference section The third level of Modbus communication uses standard Galil commands Once the slave has been configured the commands that may be used are IN AN SB CB OB and AO For example AO 2020 8 2 would tell I O number 2020 to output 8 2 Volts If a specific slave address is not necessary the I O number
84. connected to the computer or terminal press lt carriage return gt or the lt enter gt key on your keyboard In response to carriage return CR the controller responds with a colon Now type TZ CR 10C 7007 Chapter 2 Getting Started e 13 This command directs the IOC to return the current I O status The controller should respond with something similar to the following Slot 0 7 0 Digital Output value 0 0000_0000 Slot 1 I O module not detected Slot 2 79 64 Digital Input value 65535 1111_1111_1111_1111 Slot 3 I O module not detected Sot 4 135 128 Digital Input value 255 1111_1111 Slot 5 I O module not detected Slot 6 195 192 Digital Output value 0 0000 This response shows slots 2 and 4 occupied by input modules and slots 0 and 6 with output modules Step 6 Configure the Distributed Control System The IOC 7007 can be set up in a distributed control network with other IOCs and DMC 3425 controllers In this setup all the DMC 3425s and IOCs act as if they were one multi axis controller The host computer communicates to only one master controller and the master coordinates data transfer between the other controllers and IOCs in the network The HC command available on the DMC 3425 is used to automatically configure the various controllers and IOCs in a distributed network If this command is used then each IOC must have a jumper corresponding to its address setting in the dist
85. d from left to right Calculations within parentheses have precedence Examples SPEED 7 5 V 1 2 The variable SPEED is equal to 7 5 multiplied by V1 and divided by 2 COUNT COUNT 2 The variable COUNT is equal to the current value plus 2 RESULT Vall Puts the value of Vall 28 28 in RESULT 40 cosine of 45 is COS 45 40 28 28 K IN 1 amp IN 2 K is equal to 1 only if Input 1 and Input 2 are high Note Mathematical operations can be done in hexadecimal as well as decimal Just precede hexadecimal numbers with a sign so that the IOC recognizes them as such Bit Wise Operators The mathematical operators amp and are bit wise operators The operator amp is a Logical And The operator is a Logical Or These operators allow for bit wise operations on any valid IOC 7007 numeric operand including variables array elements numeric values functions keywords and arithmetic expressions The bit wise operators may also be used with strings This is useful for separating characters from an input string When using the input command for string input the input variable will hold up to 6 characters These characters are combined into a single value which is represented as 32 bits of integer and 16 bits of fraction Each ASCII character is represented as one byte 8 bits therefore the input variable can hold up to six characters The first character of the string will be placed in the top byte of the variable and the last character
86. d nara iia caen 131 PROGRAM FLOW COMMANDS ia iio RE aiaay aes 131 A OO 131 Examples ace 132 Conditional iPod dla 133 Using If Else and Endif COMMAS Ai 135 Stack M nipulati on tios 136 A t Start O o Des 136 Automatic Subroutines for Monitoring Conditions ooooccoocccconcncconcnnnnonanonananonanacinns 136 MATHEMATICAL AND FUNCTIONAL EXPRESSIONS s ccsssecseceseeesneeeseecsaeceseenseeenees 139 Mathematical Operators A A Bat 139 Bit Wise Operators custodiado tatiana 139 UHC OOM istsctesc ai e ad a OMe eck a ath 140 VARIABLES is A ele a cece eae A vdeo ae ela ea ee eee ee 141 Programmable A ese 141 OPERANDS tg ti ad 142 Examples of Internal Variables cccccsscssssssssscsssssesensccsensncessacceesceecacesennecsenes 142 Special Operands Keywords ati 142 O O 143 Defining Arrays rara 143 Assignment of Array Entries pana ios 143 iv e Contents 10C 7007 Using a Variable to Address Array Element ooococnnncccnoncccnoncccnoncnonnonanononanonananinns 144 Uploading and Downloading Arrays to On Board MeMOTY oooocccoccccnonccinnncnnnnncnnnnos 144 Automatic Data Capture into Arrays c ococoooccconoccconaccnnoncnononanononanonnncnnnnnnconnonnnnnccnnnos 144 Deallocating ALAS PAE A a cae 145 INPUT OF DATA NUMERIC AND STRING ccessessssecececececessensecececccecsesessaeeeseeeeeeeeens 145 Input Of Data ninia ainia ati dead 145 OUTPUT OF DATA NUMERIC AND STRING oococoooonnnncnccnonnnnononononocnononnnnonononcocononn
87. dule Detection in slot 0 O nothing in slot 1 module detected 10C 7007 Chapter 3 Communication e 21 UB Module Type O digital else analog bit count UB Number of I O points UB Direction O output 1 input UB Range if Analog UB Range Type O unipolar 1 bipolar UW Analog Channel 0 Data or Digital Data bits 16 31 UW Analog Channel 1 Data or Digital Data bits 0 15 UW Analog Channel 2 Data or 0 UW Analog Channel 3 Data or 0 UW Analog Channel 4 Data or 0 UW Analog Channel 5 Data or 0 UW Analog Channel 6 Data or 0 UW Analog Channel 7 Data or 0 Note UB Unsigned Byte UW Unsigned Word SL Signed Long Word This data map can be broken up into sections The Data Record Map includes the 4 bytes of header The General Data Block consists of the sample number the error code and the general status The Slot Data Block includes all the other items in the above table module detection module type etc Note This data record table only contains the Slot Data Block for slot 0 of the IOC 7007 The entire IOC data record contains a Slot Data Block for each slot If a slot is not occupied by an IOM module then its Slot Data Block is all zeros Explanation of Status Information Header Information Bytes 0 1 of Header The first two bytes of the data record provide the BIT15 BIT 14 BIT 13 BIT 12 BIT 11 BIT 10 BIT 9 BIT 8 1 N A N A N A N A N A N A N A BIT 7 BIT 6 BIT 5 BIT 4 BIT 3 BIT 2 BIT 1 BIT 0 N A Slot 6 Slot 5 Slot 4 Slot
88. e I O number assigned to a particular analog input pin on one of the IOM modules n the voltage which ranges from 9 99 to 9 99 USAGE In a Program Yes Command Line Yes Can be Interrogated No Used as an Operand No RELATED COMMANDS AN x Function to query the voltage on an analog input 10C 7007 Chapter 5 Command Reference e 45 AB FUNCTION Abort DESCRIPTION AB Abort aborts the application programs including any of the 8 simultaneous threads running and the PLCSCAN thread ARGUMENTS AB USAGE In a Program Yes Command Line Yes RELATED COMMANDS HX Halt Execution Hp Halt PLCSCAN thread 46 e Chapter 5 Command Reference 10C 7007 AI FUNCTION After Input DESCRIPTION The AI command is used in programs to wait for a specified input pattern If the parameter entered is positive it waits for that input to go high If negative it waits for that input to go low ARGUMENTS AI m amp m2 m3 amp where m is an integer in the range 0 to 223 decimal When m is positive the IOC will wait for the input to go high When m is negative the IOC will wait for the input to go low USAGE In a Program Command Line Can be Interrogated Used as an Operand RELATED COMMANDS IN n IT EXAMPLES FA AI 7 amp 15 amp 0 amp 30 MG DONE EN Yes Yes No No Function to read inputs Input interrupt Begin Program Wait until inputs 7 amp 15 are high and inputs 0 amp 30 are
89. e IOC 7007 returns a when the Burn variables is complete ARGUMENTS None USAGE In a Program Yes Command Line Yes Can be Interrogated No Used as an Operand No RELATED COMMANDS BN Burn Parameters BP Burn Program Note This command may cause the Galil software to issue the following warning A time out occurred while waiting for a response from the controller This warning is normal and is designed to warn the user when the controller in this case the IOC board does not respond to a command within the timeout period This occurs because this command takes more time than the default timeout of 1 sec The timeout can be changed in the Galil software and this warning does not affect the operation of the IOC board or software 52 e Chapter 5 Command Reference 10C 7007 CB FUNCTION Clear Bit DESCRIPTION The CB command clears a particular bit on the output module setting the output to logic 0 The CB and SB Set Bit instructions can be used to control the state of output lines The CB command can be used in the PLCSCAN thread but only for local outputs in this case ARGUMENTS CBn where n is an integer corresponding to a specific output on the IOC 7007 to be cleared set to 0 See Chapter 4 for the numbering scheme for the different IOC slots Note When using Modbus devices the I O points of the Modbus devices are calculated using the following formula n SlaveAddress 10000 HandleNum 1000 M
90. e functional group To find out more details of each command the Commands section in this chapter lists each executable instruction in alphabetical order Instruction Set Note Commands in bold are newly added or reformatted Commands with a preceding their description are available for the PLC Mode Ethernet Commands AO Analog output voltage IA Set IP address IH Internet handle MB ModBus HS Handle Assignment Switch I O Commands CB Clear bit H Input interrupt OB Define output bit OQ Output port SB Set bit Interrogation Commands LA List arrays LL List labels LR Launch slave record LS List program LV List variables MG Message command QR Data record QZ Return data record information ARAV Firmware revision information TB Tell status TC Tell error code TH Tell Ethernet handle 42 e Chapter 5 Command Reference 10C 7007 TI TIME TR TQ TZ WH Tell input Time operand internal clock Trace program Tell thread execution Tell I O configuration Which Handle Math Special Functions SIN x COS x COM x INT x RND x SQRI x IN x OUT x AN x AOIx gt lt gt lt lt gt amp Sine of x Cosine of x 1 s compliment of x Arc sine of x Arc cosine of x Arc tangent of x Absolute value of x Fraction portion of x Integer portion of x Round of x Square root of x State of digital input x State of digital output x Value of ana
91. e not detected Slot 6 195 192 Digital Output value 1 0001 114 e Chapter 5 Command Reference 10C 7007 UL FUNCTION Upload DESCRIPTION The UL command transfers data from the IOC 7007 to a host computer Programs are sent without line numbers In the terminal utility within DMCTerminal or DMCWIN32 the UL command will bring a Save As window to screen and allow the user to save the uploaded text to file In a terminal utility such as Hyper Terminal the UL command will just bring the uploaded program to screen From there the user can copy it and save it to a file In Hyper Terminal the UL command will be followed by a lt control gt Z or alas an end of Text marker ARGUMENTS None USAGE In a Program Command Line Can be Interrogated Used as an Operand OPERAND USAGE Yes No Yes When used as an operand _UL gives the number of available variables The total number of variables is 126 RELATED COMMAND LL DL LL EXAMPLES UL A NO This is an Example NO Program EN lt cntrl gt Z Download Begin upload Line 0 Line 1 Line 2 Line 3 Terminator 10C 7007 Chapter 5 Command Reference e 115 VF FUNCTION Variable Format DESCRIPTION The VF command formats the number of digits to be displayed when interrogating the IOC board If a number exceeds the format the number will be displayed as the maximum possible positive or negative number i e 999 99 999 8000 or 7FF ARGUMENT
92. e time clock Arrays For storing and collecting numerical data the IOC 7007 provides array space for 2000 elements The arrays are one dimensional and up to 16 different arrays may be defined Each array element has a numeric range of 4 bytes of integer 2 followed by two bytes of fraction 2 147 483 647 9999 Arrays can be used to capture real time data such as the bit status of a particular I O bank Defining Arrays An array is defined with the command DM The user must specify a name and the number of entries to be held in the array An array name can contain up to eight characters starting with an uppercase alphabetic character The number of entries in the defined array is enclosed in Example DM IOSTAT 100 Defines an array names IOSTAT with 100 entries DM TEMP 0 Frees array space Assignment of Array Entries Like variables each array element can be assigned a value Assigned values can be numbers or returned values from instructions functions and keywords Array elements are addressed starting at count 0 For example the first element in the OUTPUT array defined with the DM command DM OUTPUT 7 would be specified as OUTPUT O Values are assigned to array entries using the equal sign Assignments are made one element at a time by specifying the element number with the associated array name NOTE Arrays must be defined using the command DM before assigning entry values Examples DM OUTPUT 10 Di
93. ents defaults to the smallest array defined by DM When mis a negative number the recording is done continuously in a circular manner _RD is the recording pointer and indicates the address of the next array element n 0 stops recording RC Returns a 0 or where 0 denotes not recording specifies recording in progress Data Types for Recording Be inputs at bang Outputs at bank n Operand Summary Automatic Data Capture _RC Returns a 0 or where 0 denotes not recording specifies recording in progress RD Returns address of next array element Deallocating Array Space Array space may be deallocated using the DA command followed by the array name DA 0 deallocates all the arrays Input of Data Numeric and String Input of Data The command IN is used to prompt the user to input numeric or string data Using the IN command the user may specify a message prompt by placing a message in quotations When the IOC 7007 executes an IN command it will wait for the input of data The input data is assigned to the specified variable or array element Note The IN command is only valid when communicating through RS232 This command will not work through the Ethernet An Example for Inputting Numeric Data A IN Enter output number OUT 10C 7007 Chapter 6 Application Programming e 145 EN In this example the message Enter output number is displayed on the computer screen The IOC board wait
94. f command execution In this case the command interpreter may not execute an ENDIF command The ENDIF command can be used in the PLCSCAN thread ARGUMENTS ENDIF USAGE In a Program Yes Command Line No Can be Interrogated No Used as an Operand No RELATED COMMANDS ELSE Optional command to be used only after IF command JP Jump command JS Jump to subroutine command EXAMPLES IF EIN 1 0 IF conditional statement based on input 1 MG INPUT 1 IS ACTIVE Message to be executed if IF conditional is true ENDIF End of conditional statement 64 e Chapter 5 Command Reference 10C 7007 EO FUNCTION Echo DESCRIPTION The EO command turns the echo on or off If the echo is off characters input over the bus will not be echoed back ARGUMENTS EOn where n 0 or 1 0 turns echo off 1 turns echo on USAGE In a Program Yes Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAND USAGE _EO contains the state of the echo 0 is off 1 is on EXAMPLES EO 0 Turns echo off EO 1 Turns echo on 10C 7007 Chapter 5 Command Reference e 65 HP FUNCTION Halts the PLCSCAN thread DESCRIPTION The HP command halts execution of the PLCSCAN thread This command can be issued from one of the eight simultaneous threads or the command line ARGUMENTS HP USAGE In a Program Command Line Can be Interrogated Used as an Operand RELATED COMMANDS Cp xp TX EXAMPLES
95. gital outputs can be accessed with the GOUT n where n is the output number Ex MGOUTI displays the state of output number 1 Digital Inputs The digital inputs are accessed by using the IN n function or the TI n command The IN n function returns the logic level of a specified input n where n is the input bit number The TI n command gives the input status of an IOC slot where n is the slot number 0 through 6 Also the Al is a trippoint the pauses program execution until the specified combination of inputs is high or low Example Using Inputs to control program flow Instruction Instruction JP A IN 1 0 Jump to A if input 1 is low MG IN 2 Display the state of input 2 AI 7 amp 6 Wait until input 7 is high and input 6 is low Input Interrupt Function The IOC 7007 provides an input interrupt function which causes the program to automatically execute the instructions following the ININTn label where n ranges from 0 to 7 This function is enabled using the II n m condition command where n specifies the ININTn subroutine to be executed when interrupt occurs The m argument specifies the thread number in which the interrupt subroutine ININTn is going to be executed Note that this thread needs to be executing at the time of the interrupt otherwise the ININTn subroutine will not have any thread to run in and will be ignored for more on the II command refer to the command reference section on page 73 Conditio
96. gnated threads not limited to the main thread For more information refer to the II command in Chapter 5 To begin execution of the various programs use the following instruction XQ A n 128 e Chapter 6 Application Programming 10C 7007 Where A represents the label and n indicates the thread number To halt the execution of any thread use the instruction HX n where n is the thread number Note that both the XQ and HX commands can be performed from within an executing program For example Instruction Interpretation TASK1 Task1 label ATO Initialize reference time CB1 Clear Output 1 FLOOP1 Loop label AT 10 Wait 10 msec from reference time SB1 Set Output 1 AT 40 Wait 40 msec from reference time then initialize reference CB1 Clear Output 1 JP LOOP1 Repeat Loop1 TASK2 Task2 label XQ TASK1 1 Execute Task1 LOOP2 Loop2 label WT20000 Wait for 20 seconds HX1 Stop thread 1 MG DONE Print Message EN End of Program The program above is executed with the instruction XQ TASK2 0 which designates TASK2 as the main thread i e Thread 0 TASK1 is executed within TASK2 PLCSCAN thread The PLC Mode is a special mode of operation that allows fast execution of an application program The program is compiled into optimized code for faster execution with deterministic timing This feature provides quick and accurate I O scans The special PLC application program is designated with the label PLCSCAN All com
97. he command sets the MSB of unsolicited returned ASCII characters to 1 Unsolicited ASCII characters are those characters that are returned from the IOC board without being directly queried from the terminal This is the case when a program has a command that requires the IOC 7007 to return a value or string ARGUMENTS CW n m where n is a number either 0 1 or 2 Oor Causes the IOC to return the copyright information 1 Causes the IOC to set the MSB of unsolicited returned characters to 1 2 Causes the IOC to not set the MSB of unsolicited characters m is 0 or 1 optional 0 Causes the IOC to pause program execution when hardware handshaking disables character transmissions 1 Causes the IOC to continue program execution when hardware handshake disables character transmissions output characters will be lost USAGE In a Program Yes Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _CW contains the value of the data adjustment bit 1 on 2 off Note The CW command can cause garbled characters to be returned by the IOC board The default state of the IOC board is to disable the CW command However the terminal software may sometimes enable the CW command for internal usage If the IOC board is reset while the Galil software is running the CW command could be reset to the default value which would create difficulty for the software It may be necessary to re enable the CW command The CW command
98. he last line of the program ARGUMENTS LS n m where n m are valid numbers from 0 to 499 or labels n is the first line to be listed m is the last USAGE In a Program No Command Line Yes Can be Interrogated No Used as an Operand No EXAMPLES LS A 6 List program starting at A through line 6 002 A 003 MG Program A 004 COUNT 1 005 0Q2 15 006 WT 2000 HINT Remember to quit the Edit Mode lt cntrl gt Q prior to giving the LS command 10C 7007 Chapter 5 Command Reference e 81 LV FUNCTION List Variables DESCRIPTION The LV command returns a listing of all of the program variables in memory The listing will be in alphabetical order ARGUMENTS None USAGE In a Program Command Line Can be Interrogated Used as an Operand RELATED COMMANDS LL EXAMPLES LV APPLE 60 0000 BOY 25 0000 ZEBRA 37 0000 Yes Yes No List Labels Interrogation Command IOC board returns a list of 3 variables 82 e Chapter 5 Command Reference 10C 7007 LZ FUNCTION Inhibit leading zeros DESCRIPTION The LZ command is used for formatting the values returned from interrogation commands or interrogation of variables and arrays By enabling the LZ function all leading zeros of returned values will be removed ARGUMENTS LZn where nis 1 to remove leading zeros O to disabled the leading zero removal LZ Returns the state of the LZ function Note Default value is 1 USAGE In a Program Yes
99. he CF command Once all the Ethernet parameters are entered select Assign IP Address The software will search for Galil devices that do not have IP addresses Once the IOC 7007 has been found and the IP address is assigned select Finish and the IOC will be entered in the Galil Registry Connect to the IOC through the Terminal and be sure to burn in the IP address with the BN command Another method of connecting to the IOC 7007 is using the DMCNET utility in the Registry Select Find Ethernet Controller under Non PnP Tools and the DMCNET window will appear and search for all Galil Devices on the network Once DMCNET is finished searching the user can highlight the IOC and give it an IP address by selecting the Assign button From there the user can add it to the Galil registry by selecting the Register button The Connections button in DMCNET will provide a list of communication handles associated with the IOC 7007 Furthermore the Free Handles button frees all handles See Chapter 3 for more information on Ethernet handles 12 e Chapter 2 Getting Started 10C 7007 Show Galil Ethernet Controller Network xj File Help Serial Number IP Address Available Sessions Galil IOC 7007 1 0 controller revision Beta 14 10 0 51 81 5 Assign Connections Free Handles Register Searching for controllers without IP addresses Fig 2 6 DMCNET Utility If the
100. his When done registering click on OK If you do not wish to save the changes click on CANCEL 10 e Chapter 2 Getting Started 10C 7007 Once the IOC 7007 has been registered enter the Terminal and select the IOC board again from the list and click on OK If the software successfully established communications with the board the registry entry will be displayed at the top of the screen Type in BN to save the IP address to the non volatile memory of the board NOTE The IOC board must be registered via an Ethernet connection using DMC 1415 as the model type If the above method is unsuccessful in assigning an IP address to the IOC 7007 the second option is connecting to the IOC serially and using the IA command to assign the IP address The user can then add an Ethernet IOC to the registry with the specified address and connect to it by opening the terminal utility It is possible to add an Ethernet IOC to the registry without assigning the address by simply clicking FINISH in the Ethernet parameters tab instead of clicking ASSIGN IP ADDRESS When connecting to an IOC 7007 via Ethernet the user must be aware of the type of Ethernet cable being used and the method of communication To connect the IOC directly to the PC use a crossover or null modem Ethernet cable This type of cable allows for the crossing of signals between the PC and the controller If instead the connection to the IOC is through a network hub a straight through cab
101. ign tools as well as several design examples will be provided TIME 8 hours 8 00 am 5 00 pm PRODUCT WORKSHOP WHO SHOULD ATTEND Current users of Galil motion controllers Conducted at Galil s headquarters in Rocklin CA students will gain detailed understanding about connecting systems elements system 10C 7007 Appendix e 161 tuning and motion programming This is a hands on seminar and students can test their application on actual hardware and review it with Galil specialists TIME Two days 8 30 am 5 00 pm Contacting Us Galil Motion Control 3750 Atherton Road Rocklin CA 95765 Phone 916 626 0101 Fax 916 626 0102 E Mail Address support galilmc com URL www galilmc com FTP www galilmc com ftp 162 e Appendix 10C 7007 WARRANTY All products manufactured by Galil Motion Control are warranted against defects in materials and workmanship The warranty period for controller boards is 1 year The warranty period for all other products is 180 days In the event of any defects in materials or workmanship Galil Motion Control will at its sole option repair or replace the defective product covered by this warranty without charge To obtain warranty service the defective product must be returned within 30 days of the expiration of the applicable warranty period to Galil Motion Control properly packaged and with transportation and insurance prepaid We will reship at our expense only to destination
102. in the PLCSCAN thread the returned value will be a decimal number that represents the analog voltage Likewise when AO is used in the PLCSCAN thread the number used for the m field will also be a decimal number For a 12 bit module the equation used to determine the decimal equivalent of the analog voltage is as follows N V Vlo 4095 Vhi Vlo Where N is the decimal equivalent of the analog voltage V is the expected analog voltage Vlo is the lowest voltage in the total range 10V for the standard analog input module and Vhi is the highest voltage in the total range 10V for the standard module Likewise for a 16 bit module the equation is N V Vlo 65535 V hi Vlo These decimal values will also be returned when accessing the analog inputs by the API calls in C C or Visual Basic The AO command can also be used to set the analog voltage on ModBus devices over Ethernet See Chapter 5 for more details on the AO command Instruction Instruction AO 7 1 5 Set the output voltage on output 7 to 1 5V MG AO 2 Display the analog voltage reading on output 2 10C 7007 Chapter 6 Application Programming e 151 THIS PAGE LEFT BLANK INTENTIONALLY 152 e Chapter 6 Application Programming 10C 7007 Appendix Electrical Specifications Input Output See Chapter 4 for details on the IOM modules Power Requirements 20 60 VDC 10C 7007 Card Din or Box 480 mA DC requirements from 90 260 VAC 50 60 Hz IOC 7007 Box only
103. is only available on the IOC 7007 Box For the 20 60 VDC option apply the voltage to the 24 and G terminals of the 4 pin MOLEX connector at J8 The other two pins on J8 E and NC are for earth ground and no connection Earth ground can be used if desired Warning Damage can occur if a supply of 60VDC or larger is connected to the board For the 90 260 VAC power option connect the IOC 7007 Box directly to AC power from a wall socket Applying power will turn on the green LED power indicator Step 4 Install the Communications Software After applying power to the computer install the Galil software that enables communication between the I O board and your PC Using DOS Using the Galil Software CD ROM go to the directory DMCDOS Type INSTALL at the DOS prompt and follow the directions Using Windows 3 x 16 bit versions Using the Galil Software CD ROM go to the directory DMCWIN16 Run DMCWIN16 exe at the Command prompt and follow the directions 6 e Chapter 2 Getting Started 10C 7007 Using Windows 95 or 98 First Edition 32 bit versions The Galil Software CD ROM will automatically begin the installation procedure when the CD ROM is inserted After installing the Galil CD ROM software on the computer install other software components as desired To install the basic communications software run the Galil Software CD ROM and choose DMCWIN32 Windows Utilities and Programming Libraries WIN95 98 NT This wil
104. jacent to the reset button The MRST jumper is for a master reset When MRST is connected the IOC 7007 will perform a master reset upon power recycle to the board or when the board reset button is pushed Whenever the I O board has a master reset all programs arrays and variables stored in EEPROM will be erased The UPGD jumper enables the user to unconditionally update the board firmware This jumper is not necessary for firmware updates when the IOC board is operating normally but may be necessary in cases of a corrupted EEPROM EEPROM corruption should never occur under normal operating circumstances however corruption is possible if there is a power fault during a firmware update If EEPROM corruption occurs your board may not operate properly In this case install the UPGD jumper and use the update firmware function on the Galil Terminal to re load the system firmware Setting the Baud Rate on the IOC 7007 The jumpers labeled 1200 and 9600 also located at JP5 allow the user to select the serial communication baud rate The baud rate can be set using the following table 9600 1200 BAUD RATE OFF OFF 19200 The default baud rate for the IOC 7007 is 19 2K no jumpers 4 e Chapter 2 Getting Started 10C 7007 Distributed Control Address Jumpers The IOC 7007 can be set up in a distributed control network with other IOCs and DMC 3425 controllers In this configuration the controllers and IOCs act as if they were one
105. k IB Jumper to restrict the Ethernet port to 10Base T Accessories and Options 1OC 7007 card Card level product available with 20 60 VDC power only IOC 7007 box IOC with metal enclosure Available with 20 60 VDC power or 90 260 VAC 50 60Hz IOC 7007 DIN DIN rail mountable IOC Available with 20 60 VDC power only Cable 9 Pin D Straight through RS 232 cable for communication IOM 70016 16 TTL input module IOM 70108 8 opto isolated input module IOM 70208 8 opto isolated output module Eo Galil CD ROM Utilities Includes the following DMCWIN16 Windows 3 x Terminal DMCWIN32 and DMCTERM 10C 7007 Appendix e 157 SETUP16 Windows 95 98 NT 2000 ME XP Terminal SETUP32 Setup Utility for Window 3 x CKIT Setup Utility for Windows 95 98 NT 2000 ME XP C Programmers Kit ActiveX Tool Kit Visual Basic Tool Kit includes VBXs and OCXs Note The 16 bit software packages will only communicate to the IOC through the serial port You will need to register it as a DMC 1412 for it to work 10C 7007 Dimensions l OC 7007 Din Mounting Dimensions Overall size 11 1 x 4 9 x 3 4 gt E Oo a 100 7007 2 Q NA NA 7 7 E 3 E MINE eq ol Jo 000 j U i j R El IS 500 lt 11 101 gt b Ih amp Ih h la O k eld _ 3 443
106. kaging options for the IOC 7007 include a card level product IOC board and IOM modules only a box level product with a steel enclosure and a DIN rail mountable version The IOC can be powered with either a 90 260VAC 50 60Hz input or a 20 60V DC input The AC option is only available on the IOC 7007 Box IOC 7007 Functional Elements Microcomputer Section The main processing unit of the IOC 7007 is a specialized 32 bit 25MHz Motorola 68331 Series Microcomputer with 1 Mbit RAM and 2 Mbit Flash EEPROM The RAM provides memory for variables array elements and application programs The flash EEPROM provides non volatile storage of variables programs and arrays it also contains the IOC 7007 firmware The IOC 7007 can processes individual Galil Commands in less than 100 microseconds The Non volatile memory includes 500 lines x 80 characters of program space 126 symbolic variables 126 labels and 2000 array elements in up to 14 arrays Communication The communication interface with the IOC 7007 consists of one RS 232 port default is 19 2 kBaud s and one auto negotiating 10 100Base T Ethernet port 10C 7007 Chapter 1 Overview e 1 There are six status LEDs on the IOC that indicate operating and error conditions on the controller Figure 1 1 shows a diagram of the LED bank followed by the description of the six lights ERR GRO FUL PWR LNK SPD BOO OMOIO Figure 1 1 Diagram of LED bank on the IOC 7007 Green Power
107. l install the Galil Terminal which can be used for communication Using Windows 98 SE NT 4 2000 ME or XP 32 bit versions The procedure for installing software for these operating systems is the same as for 95 and 98 However there are different versions of the same software for these operating systems Step 5 Establish Communications between IOC 7007 and the Host PC Communicating through the RS 232 Serial Communications Port To use the serial communications connect the CABLE 9 PIND straight through RS 232 cable between the serial port of the IOC 7007 and the computer or terminal communications port The IOC 7007 serial port is configured as DATASET The computer or terminal must therefore be configured as a DATATERM for full duplex no parity 8 bit data one start bit and one stop bit It should also be configured as a dumb terminal which sends ASCII characters as they are typed to the IOC 7007 Using Galil Software for DOS To communicate with the IOC 7007 type TALK2DMC at the prompt It is necessary to provide information about the IOC but the model to specify is DMC 1412 Provide the port number and baud rate for communication Once communication has been established the terminal display should show a colon If a colon is not received press the carriage return If a colon prompt is still not returned there is most likely an incorrect setting of the serial communications port The user must ensure that the cor
108. later sections Using Galil Software for Windows 98 SE NT 4 0 2000 ME and XP As in Windows 95 and 98 FE the IOC 7007 is registered through the Galil Registry in these operating systems The user can access the Galil registry by selecting Register Controller in the File menu of WSDK or DMC Terminal or just click Registry in DMCWIN32 Select the button that says New Controller under the Non PnP Tools and choose IOC 7007 from the pull down menu Next select the Serial button under the Connection Type and click Next The final step is to select the Comm Port being used on the PC and the Comm Speed for data transfer Hardware handshaking will be selected by default Select Next and the controller will be entered into the registry Connect to the controller by selecting the Terminal utility and choosing the controller from the registry list 8 e Chapter 2 Getting Started 10C 7007 Serial Parameters A x Comm Port z Comm Speed 18200 y m Handshake Options Hardware RTS CTS Recommended Requires all 9 pins to be connected C Software X0n lt 0f lt Back Cancel Fig 2 3 Configuring Serial Parameters Note Be sure to configure the controller for the specified Comm Speed with the necessary jumper settings Using Non Galil Communication Software The IOC 7007 serial port is configured as DATASET The computer or terminal must be configured as a DATATERM for
109. le must be used Hubs perform the signal crossing function of a null modem cable If the wrong cable is used communication with the controller will not be possible The LNK led must be illuminated for Ethernet communications to occur Note If the IOC 7007 is connected in a LAN make sure the assigned IP address is allowed Also Galil strongly recommends the IP address selected cannot be accessed across the Gateway The Gateway is an application that controls communication between an internal network and the outside world Ask your network administrator for acceptable IP addresses Using Galil Software in Windows 98 SE NT 4 0 2000 ME and XP The IOC 7007 is registered through the Galil Registry in these operating systems The user can access the Galil registry by selecting Register Controller in the File menu of WSDK or DMC Terminal or by clicking Registry in DMCWIN32 Select the button that says New Controller under Non PnP Tools and choose IOC 7007 from the pull down menu Click Ethernet under Connection Type and the next screen will allow the user to enter an IP address for the device This is a 4 byte number each byte separated by periods The bytes are represented by their decimal equivalents meaning that the numeric range is between 0 and 255 Also select the Ethernet Protocol as either TCP or UDP Galil recommends TCP because if information is lost during communication it will be resent using this pro
110. log input x Value of analog output x Arithmetic commands Logical operators Logical AND Logical OR Programming Commands AB Abort DA Deallocate variables arrays DL Download program DM Dimension arrays ED Edit program ELSE Conditional statement EN End program ENDIF End of conditional statement HX Halt execution IF If statement IN Input variable JP Jump JS Jump to subroutine NO No operation for remarks RA Record array automatic data capture RC Record interval for RA RD Record data for RA RI Return from interrupt routine SA Send command UL Upload program XQ Execute program ZC User variable ZD User variable 10C 7007 Chapter 5 Command Reference e 43 ZS System Configuration Trippoint Commands AA AI AT WT PLC Mode Commands CP HP TX XP Zero stack Burn parameters Burn program Burn variables and arrays Configure default port Data adjustment bit Echo off Leading zeros format Download array Upload array Reset Master reset Revision information Variable format After analog input After digital input At time Wait for time Compile PLC thread Halt PLC thread Tell PLC execution time Execute PLC thread 44 e Chapter 5 Command Reference 10C 7007 Commands AA FUNCTION After Analog Trippoint DESCRIPTION AA is a trippoint that halts program execution until a voltage on a particular analog input has been reached ARGUMENTS AA m n where m is th
111. mands following the PLCSCAN label are part of the program A subset of Galil commands that are available for use in the PLC mode are designated with an in the command list in Chapter 5 Variables and arrays are also available in the PLC mode The CP command compiles the PLC program and the PLC program is executed with the XP command Exactly the same number of PLC commands are executed per update period which allows for deterministic timing Example Instruction Interpretation PLCSCAN PLC special label IF IN 5 1 If Input 5 equals one CB1 Clear Output 1 ELSE If Input 5 equals 0 SB1 Set Output 1 ENDIF Terminate IF statement EN End PLC program The are several programming limitations associated with the PLCSCAN thread They are listed below 10C 7007 Chapter 6 Application Programming e 129 1 The PLCSCAN thread executes at the beginning of each 1ms sample period However it may take more than one sample period for the thread to complete one cycle If any digital output commands are issued in the other threads while the PLCSCAN is within an iteration these output bits will be changed when the PLCSCAN finishes that iteration 2 The PLCSCAN thread executes repeatedly until the HP command is issued The EN command does not indicate a true end of program execution only that there are no more commands in the thread 3 Commands or calculations within the PLCSCAN thread are limited to two levels of nested parentheses Ex V1 5
112. mber of labels that can be defined is 126 Valid labels BASICIO SQUARE X1 input Invalid labels 1 Square 123 PROGRAMMING longer than 7 characters Special Labels The IOC 7007 also has some special labels which are used to define input interrupt subroutines and command error subroutines The following is a list of the automatic subroutines supported by the IOC 7007 Sample programs for these subroutines can be found in the section Automatic Subroutines for Monitoring Conditions ININTn Label for Input Interrupt subroutine CMDERR Label for incorrect command subroutine TCPERR Ethernet communication error The IOC 7007 also has a special label for automatic program execution A program which has been saved into the controller non volatile memory can be automatically executed upon power up or reset by beginning the program with the label HAUTO The program must be saved into non volatile memory using the command BP 10C 7007 Chapter 6 Application Programming e 127 Commenting Programs Using the command NO The IOC 7007 provides a command NO for commenting programs This command allows the user to include up to 78 characters on a single line after the NO command and can be used to include comments from the programmer as in the following example FOUTPUT NO PROGRAM LABEL 0Q1 7 NO SET THE FIRST 3 BITS ON SLOT 1 EN NO END OF PROGRAM Note The NO command is an actual IOC 7007 command Therefore inclusion of the
113. mension Output Array OUTPUT 1 3 Assigns the second element of the array OUTPUT the value of 3 OUTPUT 1 Returns array element value OUTPUT 9 _OQ0 Assigns the 10th element of the array OUTPUT the value for slot 0 s output bit status 10C 7007 Chapter 6 Application Programming e 143 CON 2 COS POS 2 Assigns the third element of the array CON the cosine of the variable POS multiplied by 2 TIMER 1 TIME Assigns the second element of the array timer the returned value of the TIME keyword Using a Variable to Address Array Elements An array element number can also be a variable This allows array entries to be assigned sequentially using a counter For example Instruction Interpretation A Begin Program COUNT 0 DM POS 10 Initialize counter and define array LOOP Begin loop WT 10 Wait 10 msec INPUT COUNT _TIO Record bank 0 s input bit value into array element INPUT COUNT Report input bit value COUNT COUNT 1 Increment counter JP FLOOP COUNT lt 10 Loop until 10 elements have been stored EN End Program The above example records 10 input bit values for bank O at a rate of one value per 10 msec The values are stored in an array named INPUT The variable COUNT is used to increment the array element counter The above example can also be executed with the automatic data capture feature described below Uploading and Downloading Arrays to On Board Memory Arrays may be uploaded and downloaded using the QU and Q
114. ms The IOC 7007 has an internal editor that may be used to create and edit programs in the IOCs memory The internal editor is a rudimentary editor and is only recommended when operating with Galil s DOS utilities or through a simple RS 232 communication interface such as the Windows Utility Hyperterminal The internal editor is opened by the command ED Note that the command ED will not open the internal editor if issued from Galil s Window based software in this case a Windows based editor will be automatically opened The Windows based editor provides much more functionality and ease of use therefore the internal editor is most useful when using a simple terminal with the controller and a Windows based editor is not available Once the ED command has been given each program line is automatically numbered sequentially starting with 000 If no parameter follows the ED command the editor prompter will default to the last line of the 10C 7007 Chapter 6 Application Programming e 125 last program in memory If desired the user can edit a specific line number or label by specifying a line number or label following ED ED Puts Editor at end of last program ED 5 Puts Editor at line 5 ED BEGIN Puts Editor at label BEGIN Line numbers appear as 000 001 002 and so on Program commands are entered following the line numbers Multiple commands may be given on a single line as long as the total number of characters does not exceed 80 charac
115. n is any number of inputs separated by the amp operator A positive input number means the IOC 7007 looks for that input to go high to satisfy the interrupt condition and a negative number means low For example II1 0 3 amp 5 sets up the conditions of input 3 going high and input 5 going low for the interrupt to occur at ININT1 in thread 0 main The Return from Interrupt RI command is used to return from this subroutine to the place in the program where the interrupt had occurred If it is desired to return to somewhere else in the program after the execution of the ININTn subroutine the Zero Stack ZS command is used followed by unconditional jump statements IMPORTANT Use the RI instruction not EN to return from the ININTn subroutine For an example on input interrupt look at the trippoint example on page 133 Analog Inputs Analog inputs are accessed with the AN n function where n is the number assigned to the analog input channel The returned value will be a voltage reading with 12 or 16 bit resolution The standard voltage range is lIOVDC to 10VDC but other ranges are available on request Note When AN n is used in the PLCSCAN thread the returned value will be a decimal number that represents the analog voltage For a 12 bit module the equation used to determine the decimal equivalent of the analog voltage is as follows N V Vlo 4095 Vhi Vlo Where N is the decimal equivalent of the analog v
116. n to main program 74 e Chapter 5 Command Reference 10C 7007 IN FUNCTION Input Variable DESCRIPTION The IN command allows a variable to be input from a keyboard When the IN command is executed in a program the prompt message is displayed The operator then enters the variable value followed by a carriage return The entered value is assigned to the specified variable name The IN command holds up execution of following commands in a program until a carriage return or semicolon is detected If no value is given prior to a semicolon or carriage return the previous variable value is kept Input Interrupts will still be active ARGUMENTS IN m n So where Won m is the prompt message May be letters numbers or symbols up to maximum line length and must be placed in quotations Make sure that maximum line length of 80 characters is not exceeded n is the name of variable to hold value returned from input So specifies string data where o is the number of characters from 1 to 6 Not required if the data is numerical Note 1 Do not leave a space between the comma and n Note2 The IN command cannot be used over Ethernet only RS 232 Note 3 IN command can only be used in thread 0 USAGE In a Program Yes Command Line No Can be Interrogated No Used as an Operand No EXAMPLES Operator specifies a bit that is to be turned on A Program A IN Enter output number 0 7 to turn on N1 Prompt operator for
117. nd ELSE Optional command Allows for commands to be executed when argument of IF command evaluates not true Can only be used with IF command ENDIF Command to end IF conditional statement Program must have an ENDIF command for every IF command 10C 7007 Chapter 6 Application Programming e 135 Example using IF ELSE and ENDIF Instruction TEST LOOP TEMP IN 1 I IN 2 JS COND TEMP 1 JP LOOP EN COND IF IN 1 0 IF IN 2 0 MG INPUT 1 AND INPUT 2 ARE ACTIVE ELSE MG ONLY INPUT 1 IS ACTIVE ENDIF ELSE MG ONLY INPUT 2 IS ACTIVE ENDIF Interpretation Begin Main Program TEST Begin loop inside main program TEMP is equal to 1 if either Input 1 or Input 2 is high Jump to subroutine if TEMP equals 1 Loop back if TEMP doesn t equal 1 End of main program Begin subroutine COND IF conditional statement based on input 1 2 IF conditional statement executed if 1 IF conditional true Message to be executed if 2 IF conditional is true ELSE command for 2 IF conditional statement Message to be executed if 2 IF conditional is false End of 2 conditional statement ELSE command for 1 IF conditional statement Message to be executed if 1 IF conditional statement End of 1 conditional statement W AIT Label to be used for a loop JP W AIT IN 1 0 amp IN 2 0 Loop until both input and input 2 are not active EN End of subroutine Stack Manipulation It is possible to manip
118. nd Data Set Ready Signal Ground Carrier Detect CTS Transmit Current Loop Return Transmit Current Loop Data Z Q ajajaja Receive Current Loop Data Q Y ata Terminal Ready RTS Q nw ing Indicator Receive Current Loop Return aja 10C 7007 Appendix e 155 9 Pin Serial Connector Male D type Standard serial port connections found on most computers Cartier Detect CTS Data Terminal Ready RTS Signal Ground Data Set Ready Request to Send Clear to Send Ring Indicator IOC 7007 Serial Cable Specifications Cable to Connect Computer 25 pin to Serial Port 25 Pin Male computer 9 Pin Female controller 8 Carrier Detect CTS 1 3 Receive Data 2 Transmit Data 20 Data Terminal Ready RTS 7 Signal Ground Controller Ground Cable to Connect Computer 9 pin to Serial Port Cable 9 pin 9 Pin Female Computer 9 Pin Female Controller 1 Carrier Detect CTS PE 2 Receive Data B A AAA 3 Transmit Dat E 4 Data Terminal Ready RTS 4 o Controller Ground id 156 e Appendix 10C 7007 Jumper Description for IOC 7007 JPS MRST Master Reset enable Returns IOC to factory default settings and erases EEPROM Requires power on or RESET to be activated O A corrupt 1200 Baud rate jumper 1200 bits sec o 9600 Baud rate jumper 9600 bits sec JP1 ADR1 ADR8 Address jumpers for configuration in Galil s Distributed Networ
119. nds it periodically to a UDP Ethernet Handle ARGUMENTS DR n m n specifies the data update rate in samples between updates When TM is set to the default of 1000 n specifies the data update rate in milliseconds n 0 to turn it off or n must be an integer of at least 8 m specifies the Ethernet handle on which to periodically send the Data Record 0 is handle A 1 is B 7 is H The handle must be UDP not TCP USAGE DEFAULTS While Moving Yes Default Value DRO off In a Program Yes Default Format Command Line Yes Controller Usage EXCEPT FOR DMC 2000 OPERAND USAGE _DR contains the data record update rate RELATED COMMANDS QZ Sets format of data QR Query a single data record EXAMPLES DR1000 0 iG x P P _H P _ 0 P DRO Note The data record is in a binary non printable format the output above is normal 60 e Chapter 5 Command Reference 10C 7007 ED FUNCTION Edit DESCRIPTION Using Galil DOS Teminal Software The ED command puts the IOC board into the Edit subsystem In the Edit subsystem programs can be created changed or destroyed The commands in the Edit subsystem are lt cntrl gt D Deletes a line lt cntrl gt I Inserts a line before the current one lt cntrl gt P Displays the previous line lt cntrl gt Q Exits the Edit subsystem lt return gt Saves a line Using Galil Windows Terminal Software The ED command causes the Windows terminal software to open the terminal editor A
120. ngs are used For example the jumper settings for the third IOC in a distributed network are shown below ADR1 ADR2 ADR4 ADR8 ND1 ND1 ND1 10B Fig 2 2 Example jumper settings for the 3 IOC 7007 in a distributed network 10C 7007 Chapter 2 Getting Started e 5 10 Base T jumper At JP1 there is a set of pins labeled 10B shown in figure 2 3 above If a jumper is placed at this location the Ethernet port on the IOC 7007 will be restricted to 10 Base T Normally the Ethernet port is auto negotiating between 10 and 100 Base T but the user may want to force the port to 10 Base T when 100 Base T is not required Step2 Plug in the Desired IOM Modules The IOC 7007 can accommodate up to 7 IOM modules Plug each module into one of the 26 pin connectors labeled Slot 0 through Slot 6 The user can choose any slot to insert an IOM module As soon as the IOC is powered the location of these modules is detected and their configuration as either input or output modules is determined Also the IOC detects the number of I O ports available on each IOM module Note Be sure to connect the IOM modules in such a way that the chips on the modules face in the direction of the IOC power connectors The edge of the IOM cards should lie in the narrow rectangular silk screening on the IOC Step 3 Connecting Power to the IOC 7007 The IOC 7007 has the option for either 20 60 VDC power or 90 260 VAC power The 90 260 VAC power option
121. nnanononos 146 Sence MESS NS 146 Displaying Variables and Arrays 0 ceesccceesceceececessceceeneeceenceceseeecsseeeceeeeeenteeeees 147 Formatting Variables and Array Element ooooonnococnoncccnonccononcnononcnonnnncnnnncnnanaccnnnos 148 PROGRAMMABLE VO tac ias 149 Dista OPUS A 149 Digital Ip i n 150 Input Interrupt Punt Oti cssajccisatisssds sevsaccissazecsaseovaasaspbeaeonsnnsacsasbeyennaawenaacedebcceansnevens 150 A alos Input iii 150 Adal OU MUS E aaa ea a esate es eke uae E 151 APPENDIX a 153 ELECTRICAL SPECIFICATIONS soii 153 Mpu OU BU o 153 Power Requirements atu O 153 PERFORMANCE SPECIFICATIONS cepisse piacot itise uaa aiiai isis 153 CONNECTORS ON THE LOG QO Vs oe cionales idad 153 J9 RS 232 Port DB 9 Pin Malena rai 153 J11 Ethernet Port 10 100 Base T RI 45 oooononccoconnnonccnnonanononononoccononnnnnnonononocnons 154 J8 Power 4 pin Molex for 20 60 VDC iii ii lid 154 J10 Power 6 pin Molex for 90 260VAC 50 60Hz Power supply IOC 7007 Box o E E 154 CABLE CONNECTIONS FOR JOC 7007 0 AA 155 Standard RS 232 Specifications iii iebeaccvarnseseaseceeantavaaneesebens 155 IOC 7007 Serial Cable SpecificatiONS ooococonococnoncccnoncnonnnanononcnonononcnnncccnnncconnncnnnns 156 JUMPER DESCRIPTION FOR TOC 7007 A A A A A 157 ACCESSORIES AND OPTIONS cion cd ER 157 IOC 7007 DIMENSIONS e id e 158 EXAMPLE COMMUNICATING WITH OPTO 22 SNAP B3000 ENET seee 159 LISTOF OTHER PUBLICATIONS dad A Cia Cecile SSeS ei tae Ciel 161 TRA
122. nstructions For example RS is not a good choice for a variable name Examples of valid and invalid variable names are Valid Variable Names STATUS1 TEMP1 POINT Invalid Variable Names REALLONGNAME Cannot have more than 8 characters 123 Cannot begin variable name with a number STAT Z Cannot have spaces in the name Assigning Values to Variables Assigned values can be numbers internal variables and keywords functions IOC board parameters and strings the range for numeric variable values is 4 bytes of integer 2 followed by two bytes of fraction 2 147 483 647 9999 10C 7007 Chapter 6 Application Programming e 141 Numeric values can be assigned to programmable variables using the equal sign Any valid IOC 7007 functions can be used to assign a value to a variable For example S1 ABS V2 or S2 0 IN 1 Arithmetic operations are also permitted To assign a string value the string must be in quotations String variables can contain up to six characters that must be in quotation Examples INTWO _TI2 Assigns returned value from TI2 command to variable INTWO INPUT IN 1 Assigns logical value of input 1 to variable INPUT V2 V14 V3 V4 Assigns the value of V1 plus V3 times V4 to the variable V2 VAR CAT Assign the string CAT to VAR Displaying the value of variables at the terminal Variables may be sent to the screen using the format variable For example Vl returns the value of the variable V1
123. o gt greater than equal to lt less than or equal to gt greater than or equal to lt gt not equal USAGE In a Program Yes Command Line No Can be Interrogated No Used as an Operand No RELATED COMMANDS ELSE Optional command to be used only after IF command ENDIF End of IF conditional Statement EXAMPLES IF EIN 1 0 IF conditional statement based on input 1 MG Input is Low Message to be executed if IF statement is true ENDIF End of IF conditional statement IF V1 gt 25 amp _OQ1 3 Conditions based on V1 variable and Slot 1 I O status MG Conditions met Message to be executed if IF statement is true ENDIF End of IF statement 70 e Chapter 5 Command Reference 10C 7007 TH FUNCTION Open Internet Handle DESCRIPTION The IH command is used when the IOC 7007 is operated as a master also known as a client This command opens a handle and connects to a slave server Each IOC board may have 6 handles open at any given time They are designated by the letters A through F To open a handle the user must specify 1 The IP address of the slave 2 The type of session TCP IP or UDP IP 3 The port number of the slave This number is not necessary if the slave device does not require a specific port value If not specified the board will specify the port value as 1000 ARGUMENTS IHh ip0 ip1 ip2 ip3 lt p gt q or IJHh n lt p gt q or IHh gt r where h is the handle specified as A B
124. o for beginning condition and sixteen for the deepest value EXAMPLES 110 1 7 Input Interrupt on 7 A JP A EN Main program ININTO Input Interrupt MG INTERRUPT Print message S _ZS Interrogate stack before ZS S Print stack ZS Zero stack S _ZS Interrogate stack after ZS S Print stack EN 10C 7007 Chapter 5 Command Reference e 123 THIS PAGE LEFT BLANK INTENTIONALLY 124 e Chapter 5 Command Reference 10C 7007 Chapter 6 Application Programming Overview The IOC 7007 provides a versatile programming language that allows users to customize the IOC board for their particular application Programs can be downloaded into the IOC 7007 memory freeing up the host computer for other tasks However the host computer can send commands to the IOC 7007 at any time even while a program is being executed Only ASCII commands can be used for application programming In addition to commands that handle I Os the IOC 7007 provides commands that allow it to make decisions These commands include conditional jumps event triggers and subroutines For example the command JP LOOP n lt 10 causes a jump to the label LOOP if the variable n is less than 10 For greater programming flexibility the IOC 7007 provides user defined variables arrays and arithmetic functions The following sections in this chapter discuss all aspects of creating applications programs The program memory size is 500 lines x 80 characters Editing Progra
125. odule 1 4 Bitnum 1 Slave Address is used when the ModBus device has slave devices connected to it and specified as Addresses 0 to 255 Please note that the use of slave devices for Modbus is very rare and this number will usually be 0 HandleNum is the handle specifier labeled with letters from A to F 1 to 6 Module is the position of the module in the rack from 1 to 16 BitNum is the I O point in the module from 1 to 4 USAGE In a Program Yes Command Line Yes Can be Interrogated No Used as an Operand No RELATED COMMANDS SB Set Bit EXAMPLES CB 0 Clear output bit 0 CB 1 Clear output bit 1 CB 2 Clear output bit 2 Note When communicating between two IOC modules using SB CB commands Port 502 must be used when opening the handle IH 10C 7007 Chapter 5 Command Reference e 53 CF FUNCTION Configure DESCRIPTION Sets the default port for unsolicited messages By default the IOC 7007 will send unsolicited responses to whichever communication channel is currently being used the WH command provides the communication channel The CF command allows the user to override this setting and send unsolicited responses to the Serial port or Handles A F ARGUMENTS CFn where nis A thru F for Ethernet handles 1 thru 6 or S for the serial port USAGE In a Program Yes Command Line No Can be Interrogated No Used as an Operand Yes OPERAND USAGE _CF will return the current port selected for unsolicited res
126. oltage V is the expected analog voltage Vlo is the lowest voltage in the total range 10V for the standard analog input module and Vhi is the highest voltage in the total range 10V for the standard module 150 e Chapter 6 Application Programming 10C 7007 Likewise for a 16 bit module the equation is N V Vlo 65535 V hi Vlo These decimal values will also be returned when accessing the analog inputs by the API calls in C C or Visual Basic The AA command is a trippoint that halts program execution until the specified voltage on an analog input is reached If the specified voltage is exceeded prior to arrival at the AA command the program will continue to execute without a pause Analog inputs are useful for reading special sensors such as temperature tension or pressure Instruction Instruction JP C AN 1 gt 2 Jump to A if analog input number 1 is greater than 2 volts MGOAN 2 Display the analog voltage reading on input 2 AA 1 4 5 Wait until the voltage on input 1 reaches 4 5 Analog Outputs Analog output voltage is set with the AO command The AO command has the format AO m n where m is the output pin and n is the voltage assigned to it The analog output voltage is accessed with the AO n function where n is the analog output channel Analog output modules are available in 12 bit and 16 bit versions The standard voltage range is I0VDC to 10VDC but other ranges are available on request Note When AO n is used
127. omatic subroutine which is identified by the label FTCPERR has been added If an IOC 7007 has an application program running and the TCP or UDP communication is lost the TCPERR routine will automatically execute The FTCPERR routine should be ended with the RE command In the UDP configuration the QW commands must be active in order for the TCPERR routine on the master to operate properly Multicasting A multicast may only be used in UDP IP and is similar to a broadcast where everyone on the network gets the information but specific to a group In other words all devices within a specified group will receive the information that is sent in a multicast There can be many multicast groups on a network and are differentiated by their multicast IP address To communicate with all the devices in a specific multicast group the information can be sent to the multicast IP address rather than to each individual device IP address All Galil devices belong to a default multicast address of 239 255 19 56 This multicast IP address can be changed by using the A gt u command The Galil Registry has an option to disable the opening of the multicast handle on the IOC 7007 By default this multicast handle will be opened Unsolicited Message Handling Unsolicited messages are internal responses from programs responses from internal errors and messages from the MG command There are two software commands that will configure how the controller handles the
128. ommand for example waits for specific inputs to go high or low If the CMDERR subroutine is executed due to an invalid command while the program is waiting for a trippoint the CMDERR can end by continuing to wait for the trippoint as if nothing happened or clear the trippoint and continue executing the program at the command just after the trippoint The EN arguments will specify how the CMDERR routine handles trippoints Note 3 Use the RI command to return from the ININT subroutine Note 4 Trippoints occurring in other threads other than the main thread will not be affected by the CMDERR subroutine USAGE In a Program Yes Command Line No Can be Interrogated No Used as an Operand No RELATED COMMANDS RI Return from interrupt subroutine EXAMPLES FA Program A SB1 Set output 1 high WT500 Wait for 500 msec CB1 Set output 1 low MG DONE Print message EN End of Program Note Use the RI command to end the input interrupt ININT subroutine IOC 7007 Chapter 5 Command Reference e 63 ENDIF FUNCTION End of IF conditional statement DESCRIPTION The ENDIF command is used to designate the end of an IF conditional statement An IF conditional statement is formed by the combination of an IF and ENDIF command An ENDIF command must always be executed for every IF command that has been executed It is recommended that the user not include jump commands inside IF conditional statements since this causes re direction o
129. ow the ZC and ZD variables are set to 3L and 2L in the IOCs program The slave record containing these variables is then sent to the DMC 3425 and the message IOC INS 3 amp 2 ARE LOW is sent to the host computer Program on the IOC 7007 Program on the DMC 3425 A B C JP C IN 3 1 JP D ZCB 3L amp ZDB 2L E JPHE IN 2 1 JP B ZC 3L ZD 2L D LR MG IOC INS 3 amp 2 ARE LOW EN EN IOC 7007 Chapter 3 Communication e 23 The IOC 7007 does not necessarily have to be in Galil s distributed control network to utilize the LR command If the IOC is a slave to a DMC 3425 or another IOC the ZA and ZB variables will still be recognized even if the rest of the slave record is irrelevant Due to the fact that the slave record is only meant to be read by a master controller the details of its contents are not described in detail Essentially it includes the I O status of the 7 IOC slots Like the QR record the LR data is sent in binary format and cannot be viewed from the Galil Terminal Unlike the QR the LR data cannot be accessed from the API function calls or the ActiveX toolkit 24 e Chapter 3 Communication 10C 7007 Chapter 4 IOM Modules Introduction The base IOC 7007 controller can accept up to 7 plug in I O IOM modules that can be mixed and matched according to the system requirements The IOM modules currently available are listed below 10
130. owever the MC3486 is capable of accepting voltages up to 12V The pin out table and electrical schematic for the IOM 70016 are shown below Pin 1 Vcc 5 Vdc supply output 50 mA max Pin 2 GND reference for TTL inputs Pin 3 TTL input 1 Pin 4 TTL input 2 Pin 5 TTL input 3 Pin 6 TTL input 4 Pin 7 TTL input 5 Pin 8 TTL input 6 Pin 9 TTL input 7 Pin 10 TTL input 8 26 e Chapter 4 IOM Modules 10C 7007 Pin 11 TTL input 9 Pin 12 TTL input 10 Pin 13 TTL input 11 Pin 14 TTL input 12 Pin 15 TTL input 13 Pin 16 TTL input 14 Pin 17 TTL input 15 Pin 18 TTL input 16 Pin 19 NC Pin 20 NC IOM 70016 16 TTL input Module for 1OC 7007 45V MC 3486 4 7k RP1 oo 1 7 V SA Outside On IOM 70016 side Fig 4 1 IOM 70016 Circuit Diagram IOM 70108 8 Opto isolated input module The IOM 70108 opto isolated input module has 9 optically isolated inputs The resistor pack RP7 on Rev A and RP2 on Rev B can be changed to accommodate 5 or 24VDC When using 5V inputs the resistor pack should be left with the default 2 2K resistor pack the module shops with When using 24V on the input a 10C 7007 Chapter 4 IOM Modules e 27 10K resistor pack should be used The inputs are considered low when the current flow is greater than 1mA and high when the current is less than 0 5 mA
131. ponses from the IOC board The _CF operand will return a decimal value EXAMPLES CFA Select Ethernet handle A to return unsolicited responses MG_CF Interrogate configuration 65 000 Response from _CF showing handle A as default port 54 e Chapter 5 Command Reference 10C 7007 CP FUNCTION Compile PLC Thread DESCRIPTION The CP command compiles the PLCSCAN thread prior to execution The CP command can be issued in one of the eight simultaneous threads or from the command line If the CP is not issued before issuing the XP then the XP will compile the PLCSCAN thread prior to executing it However the XP will take much more time to process if the program is not compiled first ARGUMENTS CP USAGE In a Program Yes Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAND USAGE _CP will return a 0 if the program is not compiled or a 1 if it has compiled successfully RELATED COMMANDS XP Execute PLC thread Cp Compile PLC thread TX Tell PLC execution time EXAMPLES CP Compiles the PLC thread 10C 7007 Chapter 5 Command Reference e 55 CW FUNCTION Copyright information Data Adjustment bit on off DESCRIPTION The CW command has a dual usage The CW command will return the copyright information when the argument n is O Otherwise the CW command is used as a communications enhancement for use by the Galil terminal software programs When turned on the communication enhancement from t
132. r IOC board operand variable mathematical function or string The range for numeric values is from 2 147 483 648 to 2 147 483 647 The maximum number of characters for a string is 4 characters Strings are identified by quotations NOTE If n is a the decimal value of ZD will be returned USAGE In a Program Yes Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _ZD contains the decimal value of the user variable RELATED COMMANDS ZC Set first user variable LR Launch slave data record EXAMPLES ZD INPT Sets the second user variable to the string INPT 122 e Chapter 5 Command Reference 10C 7007 ZS FUNCTION Zero Subroutine Stack DESCRIPTION The ZS command is only valid in an application program and is used to avoid returning from an input interrupt ZS alone returns the stack to its original condition ZS1 adjusts the stack to eliminate one return This turns the jump to subroutine JS into ajump JP Do not use RI Return from Interrupt when using ZS To re enable interrupts you must use the II command again ARGUMENTS ZSn where O returns stack to original condition 1 eliminates one return on stack USAGE In a Program Yes Command Line No Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _ZSn contains the stack level for the specified thread where n 0 thru 7 The response an integer between zero and sixteen indicates zer
133. r or an Ethernet communication error Automatic monitoring is enabled by inserting a special predefined label in the applications program The pre defined labels are 136 e Chapter 6 Application Programming 10C 7007 SUBROUTINE DESCRIPTION Input specified by II goes low n from 0 to 7 FCMDERR Bad command given TCPERR For example the ININT label could be used to designate an input interrupt subroutine When the specified input occurs the program will be executed automatically NOTE An application program must be running for automatic monitoring to function Example Input Interrupt Instruction Interpretation HA Label mM Input Interrupt on 1 LOOP JP LOOP EN Loop ININT Input Interrupt MG INPUT 1 IS HIGH Send Message to screen RIO Return from interrupt routine to Main Program and Example Command Error do not re enable trippoints Instruction Interpretation FBEGIN Begin main program IN ENTER THE OUTPUT 0 7 OUT Prompt for output number 00 0 0 Clear all the outputs on slot 0 SB OUT Set the specified bit JP BEGIN Repeat EN End main program FCMDERR Command error utility JPF DONE _ED lt gt 3 JP DONE _TC lt gt 6 MG VALUE OUT OF RANGE MG TRY AGAIN Check if error on line 3 Check if out of range Send message Send message ZS 1 Adjust stack JP BEGIN Return to main program DONE End program if other error ZSO Zero stack EN End program The above program prompts the operator
134. ram restore Al trippoint and disable interrupt on input 3 HINT An applications program must be executing for the ININTn subroutine to function 98 e Chapter 5 Command Reference 10C 7007 RS FUNCTION Reset DESCRIPTION The RS command resets the state of the processor to its power on condition The previously saved state of the IOC 7007 along with parameter values and saved sequences are restored USAGE In a Program Command Line Can be Interrogated Used as an Operand EXAMPLES RS No Yes No No Reset the IOC board 10C 7007 Chapter 5 Command Reference e 99 lt control gt R lt control gt S FUNCTION Master Reset DESCRIPTION The Master Reset command resets the IOC 7007 to factory default settings and erases EEPROM A master reset can also be performed by installing a jumper on the IOC 7007 at the location labeled MRST and resetting the board power cycle or pressing the reset button Remove the jumper after this procedure USAGE In a Program Command Line Can be Interrogated Used as an Operand Yes No 100 e Chapter 5 Command Reference 10C 7007 lt control gt R lt control gt V FUNCTION Revision Information DESCRIPTION The Revision Information command causes the IOC board to return the firmware revision information USAGE In a Program Command Line Can be Interrogated Used as an Operand Yes No 10C 7007 Chapter 5 Command Reference e 101 SA FUNC
135. rect communication port and baud rate are specified when attempting to communicate with the I O board The user must insure that the proper serial cable is being used see page 15 for pin out of serial cable Using Galil Software for Windows 95 and 98 First Edition In order for the windows software to communicate with the IOC 7007 the board must be registered in the Windows Registry To register this I O board specify the model use DMC 1412 the communication parameters and other information The registry is accessed through Galil software such as DMC Terminal and DTERM DTERM is installed with DMCWIN and installed as the icon Galil Terminal From DMC Terminal the registry is accessed under the FILE menu From the DTERM program the registry is accessed from the REGISTRY menu The registry window is equipped with buttons to Add Change or Delete a controller Pressing any of these buttons will bring up the Set Registry Information window 10C 7007 Chapter 2 Getting Started e 7 Use the Add button to add a new entry to the Registry Note Since the new IOC series is not included in the list of models register it as a DMC 1412 communicating via the RS 232 interface The registry information will show a default Comm Port of 2 and a default Comm Speed of 9600 This information should be changed as necessary to reflect the computers Comm Port and the baud rate set by the 10C 7007 baud rate jumpers The registry entry also di
136. ributed network See Step 1 Configure Jumpers for information on these jumper settings Also if the automatic configuration is used then the IOC should not have an IP address assigned to it When issued by the DMC 3425 the HC command assigns IP addresses automatically to all devices configured for distributed control All information pertaining to the HC command and distributed control is covered in detail in the DMC 3425 User Manual 14 e Chapter 2 Getting Started 10C 7007 Chapter 3 Communication Introduction The IOC 7007 has one RS 232 port and one Ethernet port The RS 232 port is the data set and it is a standard serial link with communication baud rates up to 19 2kbaud The Ethernet port is an auto negotiating 10 100Base T link RS232 Port The IOC board has a single RS232 connection for sending and receiving commands from a PC or other terminal The pin outs for the RS232 connection are as follows RS232 Port 1 DATATERM 1 CTS output 6 CTS output 2 Transmit Data output 7 RTS input 3 Receive Data input 8 CTS output 4 RTS input 9 No connect Can connect to 5V 5 Ground RS 232 Configuration Configure the PC for 8 bit data one start bit one stop bit full duplex and no parity The baud rate for the RS232 communication can be selected by using the proper jumper configuration on the IOC 7007 according to the table below Baud Rate Selection 10C 7007 Chapter 3 Communication e 15 JU
137. rned preceded by a and in 2 s complement V1 10 Assign V1 Vl Return V1 0000000010 0000 Default format VF2 2 Change format Vl Return V1 10 00 New format VF 2 2 Specify hex format Vl Return V1 0A 00 Hex value VF1 Change format Vl Return V1 9 Overflow Local Formatting of Variables VF command is a global format command that effect the format of all relevant returned values and variables Variables may also be formatted locally To format locally use the command Fn m or n m following the variable name and the symbol F specifies decimal and specifies hexadecimal n is the number of digits to the left of the decimal and m is the number of digits to the right of the decimal For example Examples V1 10 Assign V1 V1 Return V1 0000000010 0000 Default Format V1 F4 2 Specify local format 0010 00 New format V1 4 2 Specify hex format 000A 00 Hex value 148 e Chapter 6 Application Programming 10C 7007 V1 ALPHA Assign string ALPHA to V1 V1 S4 Specify string format first 4 characters ALPH The local format is also used with the MG command see page 147 Programmable I O As described earlier in chapter 4 the IOC 7007 has 7 I O slots that can be occupied by a mix and match of digital input and output modules The paragraphs below describe the commands that are used for I O manipulation and interrogation For information on the IOM modules and the numbering scheme for the
138. rough F are indicated by the value 0 5 while a 1 indicates the serial port EXAMPLES WH Request handle identification THC Command executed in handle C WH Request handle identification RS232 Command executed in RS232 port 10C 7007 Chapter 5 Command Reference e 117 WT FUNCTION Wait DESCRIPTION The WT command is a trippoint used to time events After this command is executed the IOC board will wait for the number of samples specified before executing the next command The units of the Wait command are in milliseconds ARGUMENTS WTn where n is an integer in the range 0 to 2 Billion decimal USAGE In a Program Yes Command Line Yes Can be Interrogated No Used as an Operand No EXAMPLES Assume that 10 seconds after an input goes high message to user FA Program A AI3 After input 3 goes high WT 10000 Wait 10 seconds MG RELAY ON Print message EN End Program HINT To achieve longer wait intervals just stack multiple WT commands 118 e Chapter 5 Command Reference 10C 7007 XP FUNCTION Execute PLC Thread DESCRIPTION The XP command executes the PLCSCAN thread The XP command can be issued in one of the eight simultaneous threads or from the command line If the CP is not issued before issuing the XP then the XP will compile the PLCSCAN thread prior to executing it However the XP will take much more time to process if the program is not compiled first ARGUMENTS XP USAGE In a
139. s for the operator to enter a value The operator enters the numeric value that is then assigned to the variable OUT Inputting String Variables String variables with up to six characters may input using the specifier Sn where n represents the number of string characters to be input If n is not specified six characters will be accepted For example IN Enter X Y or Z V S specifies a string variable of up to six characters to be input Output of Data Numeric and String Numerical and string data can be output from the IOC board using several methods The message command MG can output string and numerical data Also the IOC 7007 can be commanded to return the values of variables and arrays as well as other information using the interrogation commands such as V1 and TZ Sending Messages Messages may be sent using the message command MG This command sends specified text and numerical or string data from variables or arrays to the screen Text strings are specified in quotes and variable or array data is designated by the name of the variable or array For example MG The Final Value is RESULT In addition to variables functions and commands responses can be used in the message command For example MG The input is EIN 1 Formatting Messages String variables can be formatted using the specifier Sn where n is the number of characters 1 thru 6 For example MG STR S3 This statement returns 3 character
140. s in the United States Any defect in materials or workmanship determined by Galil Motion Control to be attributable to customer alteration modification negligence or misuse is not covered by this warranty EXCEPT AS SET FORTH ABOVE GALIL MOTION CONTROL WILL MAKE NO WARRANTIES EITHER EXPRESSED OR IMPLIED WITH RESPECT TO SUCH PRODUCTS AND SHALL NOT BE LIABLE OR RESPONSIBLE FOR ANY INCIDENTAL OR CONSEQUENTIAL DAMAGES COPYRIGHT 3 97 The software code contained in this Galil product is protected by copyright and must not be reproduced or disassembled in any form without prior written consent of Galil Motion Control Inc 10C 7007 Appendix e 163 THIS PAGE LEFT BLANK INTENTIONALLY 164 e Appendix 10C 7007 Index A Abort 44 45 78 100 120 Absolute Value 132 138 Address 160 Jumpers 15 Analog Output 47 Analysis SDK 122 Arithmetic Functions 122 131 136 139 Array 1 122 127 131 136 146 151 Arrays 56 Automatic Record 94 Automatic Record 94 Automatic Subroutine 133 B Baud Rate 9 15 Bit Wise 136 Burn Variables 51 C Circular Interpolation 141 Clock 108 140 Code 139 Command Summary 140 141 Comments 86 Communication 55 Baud Rate 9 15 Handshake 16 Serial Ports 10 Conditional jump 122 128 147 Coordinated Motion Circular 141 Ecam 60 Cosine 141 Cycle Time Clock 108 140 D Data Capture 93 Automatic Record 94 Debugging 110 127 Default Setting
141. s of the string variable named STR Numeric data may be formatted using the Fn m expression following the completed MG statement n m formats data in HEX instead of decimal The actual numerical value will be formatted with n characters to the left of the decimal and m characters to the right of the decimal Leading zeros will be used to display specified format For example MG The Final Value is RESULT F5 2 If the value of the variable RESULT is equal to 4 1 this statement returns the following The Final Value is 00004 10 If the value of the variable RESULT is equal to 999999 999 the above message statement returns the following The Final Value is 99999 99 146 e Chapter 6 Application Programming 10C 7007 The message command normally sends a carriage return and line feed following the statement The carriage return and the line feed may be suppressed by sending N at the end of the statement This is useful when a text string needs to surround a numeric value Example HA NAME Jon LNAME Jonson MG The name is NAME S3 N MG LNAME S6 EN When A is executed the above example will appear on the screen as The name is Jon Jonson Using the MG Command to Configure Terminals The MG command can be used to configure a terminal Any ASCII character can be sent by using the format n where n is any integer between 1 and 255 Example MG 407 4255 sends the ASCII characters represented
142. s recording for the Automatic Record Array Mode RA RC 0 stops recording ARGUMENTS RC n m where n is an integer 1 thru 8 and specifies 2 samples between records RC 0 stops recording m is optional and specifies the number of records to be recorded If m is not specified the DM number will be used A negative number for m causes circular recording over array addresses 0 to m 1 The address for the array element for the next recording can be interrogated with _RD RC returns status of recording 1 if recording 0 if not recording USAGE In a Program Yes Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _RC contains status of recording 1 if recording 0 if not recording RELATED COMMANDS DM Dimension Array RA Record Array Mode RD Record Data EXAMPLES See example for RA command 96 e Chapter 5 Command Reference 10C 7007 FUNCTION Record Data DESCRIPTION The RD command specifies the data type to be captured for the Record Array RA mode The command type includes DATA TYPE MEANING Input Slot n Status _OQn Output Slot n Status ARGUMENTS RD ml m2 where the arguments are the data type to be captured using the record array feature The order is important Each of the two data types corresponds with the array specified in the RA command USAGE In a Program Yes Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAND USAGE
143. s the number of available labels The total number of labels is 126 RELATED COMMANDS UL EXAMPLES DL SBO CB2 EN lt control gt Z Upload Begin Download Data Data Data End download 58 e Chapter 5 Command Reference 10C 7007 DM FUNCTION Dimension DESCRIPTION The DM command defines a single dimensional array with a name and n total elements The first element of the defined array starts with element number 0 and the last element is at n 1 ARGUMENTS DM c n where c is a array name of up to eight alphanumeric characters starting with an uppercase alphabetic character n is the number of entries or array elements from 1 to 2000 DM Returns the number of array elements available USAGE In a Program Yes Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _DM contains the available array space On the IOC 7007 before any arrays have been defined the operand _DM will return 2000 If an array of 100 elements is defined the operand _DM will return 1900 RELATED COMMANDS DA Deallocate Array EXAMPLES DM Pets 5 Dogs 2 Cats 3 Define dimension of arrays pets with 5 elements Dogs with 2 elements Cats with 3 elements DM Tests 1000 Define dimension of array Tests with 1000 elements 10C 7007 Chapter 5 Command Reference e 59 DR FUNCTION Configures Axes and I O Data Record Update Rate DESCRIPTION The controller creates a QR record and se
144. se messages CW and CF The IOC 7007 has 6 Ethernet handles as well as 1 serial port where unsolicited messages may be sent The CF command is used to configure the controller to send these messages to specific ports In addition the Galil Registry has various options for sending this CF command For more information see the CF command description in Chapter 5 The CW command has two data fields that affect unsolicited messages The first field configures the most significant bit MSB of the message A value of 1 will set the MSB of unsolicited messages while a value of 2 suppresses the MSB The majority of software programs use a setting of CW2 although the Galil Terminal and WSDK will sometimes set this to CW1 for internal usage If you have difficulty receiving 20 e Chapter 3 Communication 10C 7007 characters from the controller or receive garbage characters instead of messages check the status of the CW command for a setting of CW2 The second field of the CW command controls whether the product should pause while waiting for the hardware handshake to enable the transmission of characters over RS 232 CW 0 or continue processing commands and lose characters until the hardware handshake allows characters to be sent CW 1 Using Third Party Software Galil supports ARP BOOT P and Ping which are utilities for establishing Ethernet connections ARP is an application that determines the Ethernet hardware address of a device at a
145. sible that execution of this command may take longer time than 2 ms 10C 7007 Chapter 5 Command Reference e 57 DL FUNCTION Download DESCRIPTION The DL command transfers a data file from the host computer to the IOC 7007 If this command is typed on the command input line of the Galil Terminal another window will come up asking the user to specify a file to download If the DL command is used in a terminal utility such as Hyper Terminal a file will be accepted as a datastream without line numbers In this case the file is terminated using lt control gt Z lt control gt Q lt control gt D or DO NOT insert spaces before each command If no parameter is specified downloading a data file will clear any programs in the IOC board s RAM The data is entered beginning at line 0 If there are too many lines or too many characters per line the IOC 7007 will return a To download a program after a label specify the label name following DL The argument may be used with DL to append a file at the end of the IOC 7007 program in RAM ARGUMENTS DLn n no argument in RAM n Label n USAGE In a Program Command Line Can be Interrogated Used as an Operand OPERAND USAGE Downloads program beginning at line 0 Erases programs Begins download at line following Label where label may be any valid program label Begins download at end of program in RAM Yes No Yes When used as an operand _DL give
146. sonscsecsecssecseessosscscsnsoees 25 INTRODUCTION A de 25 MODULE S PECIFICATIONS quad ia A EA A ATA A A AA 26 IOM 70016 16 TTL input module it 26 IOM 70108 8 Opto isolated input module oooooooccnnoncccnoccncnoncnononcnononcconnnaconananinnnos 27 IOM 70208 8 Opto isolated output module ooonococnnococonoccconnnccnnncnononcncnnnccnnnncnonnnos 29 IOM 70308 8 Opto isolated power output module oooooconnnocccconcccnonccinoncninnnccinnnnss 31 IOM 70404 4 Dry contact relay output module oooooconnnoccconuccconacccnoncconnncninnnccnnnnos 32 IOM 70508 8 Opto isolated high power OUtpUlS cooocoonnncccnoncccnoncncnnncncnnncnonnnnncnnnnos 34 IOM 70808 8 Analog input module ooooconnnococnnncccnoncnononcnononanononcnnnnnccnonncnnnnnccnnnnnss 35 IOM 70908 8 Analog output module ooooconnncnnnccconnconnnonnnonnnccononnnnnnnnanonnconnnc nnnnnnos 37 IOM 70904 4 Analog output module ooooonncccnnocccnnncccnoncccnonanonnoncnononcncnnnancnnncnnnnnss 38 CHAPTERS COMMAND REFERENCE eesessoseeseseossesossossescososseseoseesossossesossossesee 42 INSTRUCTION SE Ea aia 42 Ethernet Commands SS 42 VO C mma d Sesinia ie Olea E eh ae ee le 42 Interrogation Commands potasio 42 Math Special FUnCtionsS srta tdci i a a aE aeaea 43 Programming Commands s ssesssesesesessseessessrrsseessetesssetsstesseesseesseeesseeesseesseesseeeseet 43 System CONO Ni 44 Trippoint COMA Sui e nesia eiia err EE EE E EREE a ies 44 PEC Mode Commands td ti
147. splays timeout and delay information These are advanced parameters that should only be modified by advanced users see software documentation for more information Once the appropriate Registry information has been set in this case as a DMC 1412 select OK and close the registry window The user is now able to communicate with the IOC 7007 Once the entry has been selected click on the OK button If the software has successfully established communications with the IOC board the registry entry will be displayed at the top of the screen If the computer is not properly communicating with the board the program will pause for 3 15 seconds The top of the screen will display the message Status not connected with Galil motion controller and the following error will appear STOP Unable to establish communication with the Galil controller A time out occurred while waiting for a response from the Galil controller If this message appears click OK In this case there is most likely an incorrect setting of the serial communications port The user must ensure that the correct communication port and baud rate are specified when attempting to communicate with the board The user must insure that the proper serial cable is being used see page 15 for pin out of serial cable Once communications have been established click on Terminal found under the main menu and a colon prompt should appear Communicating with the IOC board is described in
148. tal input at general input n where n starts at 1 OUT n Return digital output at general output n where n starts at 1 Note These functions are multi valued An application program may be used to find the correct band Functions may be combined with mathematical expressions The order of execution of mathematical expressions is from left to right and can be over ridden by using parentheses Examples V1 ABS V7 The variable V1 is equal to the absolute value of variable V7 V2 5 SIN POS The variable V2 is equal to five times the sine of the variable POS V3 IN 1 The variable V3 is equal to the digital value of input 1 Variables For applications that require a parameter that is variable the IOC board provides 126 variables These variables can be numbers or strings A program can be written in which certain parameters such as I O status or particular I O bit are defined as variables The variables can later be assigned by the operator or determined by program calculations Example SB RED Assigns variable RED to SB command Tl _0Q1 Assigns value of bank 1 s I O status to T1 Programmable Variables The IOC 7007 allows the user to create up to 126 variables Each variable is defined by a name which can be up to eight characters The name must start with an alphabetic character however and numbers are permitted in the rest of the name Spaces are not permitted Variable names should not be the same as IOC 7007 i
149. ters per line While in the Edit Mode the programmer has access to special instructions for saving inserting and deleting program lines These special instructions are listed below Edit Mode Commands lt RETURN gt Typing the return key causes the current line of entered instructions to be saved The editor will automatically advance to the next line Thus hitting a series of lt RETURN gt will cause the editor to advance a series of lines Note Changes on a program line will not be saved unless a lt return gt is given lt cntrli gt P The lt cntrl gt P command moves the editor to the previous line lt entrl gt I The lt cntrl gt I command inserts a line above the current line For example if the editor is at line number 2 and lt cntrl gt I is applied a new line will be inserted between lines and 2 This new line will be labeled line 2 The old line number 2 is renumbered as line 3 lt entri gt D The lt cntrl gt D command deletes the line currently being edited For example if the editor is at line number 2 and lt cntrl gt D is applied line 2 will be deleted The previous line number 3 is now renumbered as line number 2 lt cntri gt Q The lt cntrl gt Q quits the editor mode In response the 1OC 7007 will return a colon After the Edit session is over the user may list the entered program using the LS command If no operand follows the LS command the entire program will be listed The user can start listing at
150. than the one set by the CF command m is a text message including letters numbers symbols or lt ctrl gt G Make sure that maximum line length of 80 characters is not exceeded n is an ASCII character specified by the value n V is a variable name or array element where the following specifiers can be used for formatting Fm n Display variable in decimal format with m digits to left of decimal and n to the right m n Display variable in hexadecimal format with m digits to left of decimal and n to the right N Suppress carriage return line feed Sn Display variable as a string of length n where n is 1 thru 6 Note Multiple text variables and ASCII characters may be used each must be separated by a comma Note The order of arguments is not important USAGE In a Program Yes Command Line Yes Can be Interrogated No Used as an Operand No EXAMPLES Case 1 Message command displays ASCII strings MG Good Morning Displays the string Case 2 Message command displays variables or arrays MG The Answer is Total F4 2 Displays the string with the content of variable TOTAL in local format of 4 digits before and 2 digits after the decimal point Case 3 Message command sends any ASCII characters to the port MG 213 30 437 N Sends carriage return characters 0 and 7 followed by no carriage return line feed command to the port 86 e Chapter 5 Command Reference 10C 7007 MW FUNCTION Modbus
151. tion Error Interpretation Begin thread 0 continuous loop End of thread 0 Begin thread 1 Create new variable Set the eighth bit an invalid value Issue invalid command End of thread 1 Begin command error subroutine Tf error is out of range SB 8 Set N to a valid number Retry SB N command If error is invalid command TY Skip invalid command End of command error routine This simple program executes in the IOC 7007 and indicates via the serial port when a communication handle fails By monitoring the serial port the user can re establish communication if needed Instruction LOOP JP LOOP EN TCPERR MG P1 _IA4 RE Interpretation Simple program loop Ethernet communication error auto routine Send message to serial port indicating which handle did not receive proper acknowledgment Return to main program 138 e Chapter 6 Application Programming 10C 7007 Note The TCPERR routine only detects the loss of TCP IP Ethernet handles not UDP Mathematical and Functional Expressions Mathematical Operators For manipulation of data the IOC 7007 provides the use of the following mathematical operators amp 1 Logical Or On some computers a solid vertical Time appears as a broken line Multiplication The numeric range for addition subtraction and multiplication operations is 2 147 483 647 9999 The precision for division is 1 65 000 Mathematical operations are execute
152. to 44 COMMANDS icenian A A da AAA i a 45 dae ad 45 A o e e dd 46 A 47 JAN O EEL este PCE ATT PSR PoP POEM oR nce eon t PnP ERY err a teen ere VRC pee 48 AD a 49 BN dde 50 O 51 MBN eset ss O A O 52 UB 53 Note When communicating between two IOC modules using SB CB commands Port 502 must be used when opening the handle IH CE ooooonncccnocanacanonncconaccononnnos 53 O a e 54 IN 55 CWn a wks vasa a E EE ls tas pa Ea A E oa sada cade A Ea AAS 56 O aaa 57 DES A E 58 DM cin a dde 59 DR A ea a RS 60 A 61 BSS EEE oy ov cer aca eee gue T T aes nese ess cen caame gaa EENS 62 EN idad its 63 li e Contents 10C 7007 TEU A A AO 65 HP idad 66 1a E O 67 Ja D CPEE E E E E E E E E E A EO EEE 68 Avia ET 69 Dead iS A ET 70 isa 71 A E 73 TIN EES inset E EEEE A A O 75 TPisaansari iio N A A REN E AERTS 76 EE ENEA ET 77 EA a 78 E dunt seadeadra vieis E E S 79 ER onan hinne uea e e saaria asas E e sous aw i 80 ESA RS A NI 81 A o ed O 82 CAS A dd 83 MIB siria a a E iia ad 84 MO E ait 86 MIN A A aa e ET eee 87 OB EE ET 89 DO as ida 90 OD ui sun slaashacevaa A A ARE R 91 OR ees adie O duiige asada AEA EASES 92 DU AA 93 Di A A Nat 94 A E EE EE S 95 A A 96 RD datada 97 iia A A A A E dao 98 TRS sai sings A A ON 99 lt COMUOL gt R lt CONIOIPS cities idad ic ne ape edad 100 eds AAA atlas deed eee roa sa Ee a G Er tie 101 A wine A eo ete Ne 102 Ds saison shaped Gash DA ia 104 Note When communicating between two IOC modules using SB CB
153. to be used can be calculated with the following T O Number HandleNum 1000 Module 1 4 BitNum 1 where HandleNum is the handle number from 1 A to 6 F Module is the position of the module in the rack from to 16 BitNum is the I O point in the module from 1 to 8 If an explicit slave address is to be used the equation becomes T O Number SlaveAddress 10000 HandleNum 1000 Module 1 4 Bitnum 1 To view an example procedure for communicating with an OPTO 22 rack refer to the appendix 10C 7007 Chapter 3 Communication e 19 10C 7007 as Modbus Slave Unlike Galil Ethernet controllers the IOC 7007 can be a ModBus slave as well as a master Being a slave means that another IOC or Galil Controller can send and receive information from an IOC using all three levels of Modbus communication described above The port used to communicate to an IOC as a ModBus slave is 502 use the IH command to set the port number and the IOC supports function codes 1 7 and 16 as aslave See the table above for a description of the function codes If the third level of ModBus communication is used to communicate from a Galil master device to a slave IOC then the I O number calculation is as follows T O Number HandleNum 1000 BitNum where the bit number is from 0 to 223 The slave address is not needed See the beginning of Chapter 4 for the bit number assignments on the IOC 7007 Handling Communication Errors A new aut
154. to enter the output port to set The example assumes that only slot 0 is occupied by an IOM output module If the operator enters a number out of range greater than 7 the CMDERR routine will be executed prompting the operator to enter a new number In multitasking applications there is an alternate method for handling command errors from different threads Using the XQ command along with the special operands described below allows the controller to either skip or retry invalid commands OPERAND FUNCTION Returns the number of the thread that generated an error _ED2 _ED3 Retry failed command operand contains the location of the failed command Skip failed command operand contains the location of the command after the failed command 10C 7007 Chapter 6 Application Programming e 137 The operands are used with the XQ command in the following format XQ _ED2 or _ED3 _ED1 1 Where the 1 at the end of the command line indicates a restart therefore the existing program stack will not be removed when the above format executes The following example shows an error correction routine that uses the operands This example assumes that only slot 0 or the IOC controller is occupied by an 8 port IOM module Example Command Error w Multitasking Instruction FA JP A EN B N 8 SBN TY EN CMDERR IF _TC 6 N 1 XQ_ED2 ED1 1 ENDIF IF_TC 1 XQ _ED3 _ED1 1 ENDIF EN Example Ethernet Communica
155. tocol UDP is a more efficient protocol but does not resend lost information See Chapter 3 for more detailed information on Ethernet and communication protocols 10C 7007 Chapter 2 Getting Started e 11 Ethernet Parameters x IP Address 10 85 120 75 Assign IP Address M Do Not Open Multi cast Handle Ethernet Protocol Unsolicited Messages Oe Use current CF Setting C UDP c Receive Through Second Handle CF is sentto redirect messages Receive Through Same Handle CF is sentto redirect messages Fig 2 5 Assigning IP Address In the Ethernet Parameters window there are 3 options for sending Unsolicited Messages These include Use current CF Setting Receive Through Second Handle and Receive Through Same Handle If Receive Through Second Handle is selected the IOC 7007 will open a second TCP UDP handle between it and the computer over which unsolicited messages are sent With DMCTERM a second thread listens for messages which provides a faster response when compared to receiving messages through the same handle If Receive Through Same Handle is selected unsolicited message are sent back through the same handle that the terminal is using Now DMCTERM must poll to get these messages which slows the response time The first option Use current CF setting is the default setting and it allows the user to select the method of message transfer with t
156. tput Resistance 243 Ohms IOM 70908 provides 8 outputs Outside On the IOM70908 side TLO84 Analog Out 243 Ohms Gnd NS Fig 4 8 IOM 70908 Circuit Diagram 10M 70904 4 Analog output module The IOM 70904 features 4 12 bit analog outputs with a range from 10V DC to 10V DC No other voltage ranges are available The AO command is used to set the output voltage on the individual pins Each of the output pins can source up to 3mA 38 e Chapter 4 IOM Modules 10C 7007 Pin 1 NC Pin 2 NC Pin 3 Analog Output 1 Pin 4 Ground Pin 5 Analog Output 2 Pin 6 Ground Pin 7 Analog Output 3 Pin 8 Ground Pin 9 Analog Output 4 Pin 10 Ground Pin 11 NC Pin 12 NC Pin 13 NC Pin 14 NC Pin 15 NC Pin 16 NC Pin 17 NC Pin 18 NC Pin 19 NC Pin 20 NC 10C 7007 Chapter 4 IOM Modules e 39 IOM 70904 4 Analog output module Analog Output range 10 V to 10 V Output Resistance 243 Q IOM 70904 provides 4 outputs Outside On the IOM70904 side TLO84 Analog Out 243 0 Gnd aZ Fig 4 9 IOM 70904 Circuit Diagram 40 e Chapter 4 IOM Modules IOC 7007 THIS PAGE LEFT BLANK INTENTIONALLY 10C 7007 Chapter 4 IOM Modules e 41 Chapter 5 Command Reference The Instruction Set section provided in the beginning of this chapter helps to identify commands belonging to the sam
157. two methods above are unsuccessful in assigning an IP address to the IOC 7007 the third option is connecting to the IOC serially and using the IA command to assign the IP address The user can then add an Ethernet IOC to the registry with the specified address and connect to it by opening the terminal utility It is possible to add an Ethernet IOC to the registry by simply clicking Finish in the Ethernet parameters window shown above instead of clicking on Assign IP Address When connecting to an IOC 7007 via Ethernet the user must be aware of the type of Ethernet cable being used and the method of communication To connect the IOC directly to the PC use a crossover or null modem Ethernet cable This type of cable allows for the crossing of signals between the PC and the controller If instead the connection to the IOC is through a network hub a straight through cable must be used Hubs perform the signal crossing function of a null modem cable If the wrong cable is used communication with the controller will not be possible Note If the IOC 7007 is connected in a LAN make sure the assigned IP address is allowed Also Galil strongly recommends the IP address selected cannot be accessed across the Gateway The Gateway is an application that controls communication between an internal network and the outside world Ask your network administrator for acceptable IP addresses Sending Test Commands to the Terminal After the IOC is
158. ulate the subroutine stack by using the ZS command Every time a JS instruction interrupt or automatic routine such as ININTn or CMDERR is executed the subroutine stack is incremented by 1 Normally the stack is restored with an EN instruction Occasionally it is desirable not to return back to the program line where the subroutine or interrupt was called The ZS1 command clears 1 level of the stack This allows the program sequencer to continue to the next line The ZSO command resets the stack to its initial value For example if an interrupt occurs and the ININT1 routine is executed it may be desirable to restart the program sequence instead of returning to the location where the interrupt occurred To do this give a ZS ZSO command at the end of the ININT1 routine Auto Start Routine The IOC 7007 has a special label for automatic program execution A program that has been saved into the IOC non volatile memory can be automatically executed upon power up or reset simply by beginning the program with the label HAUTO Note The program must be saved into non volatile memory using the command BP Automatic Subroutines for Monitoring Conditions Often it is desirable to monitor certain conditions continuously without tying up the host or IOC 7007 program sequences The IOC 7007 can monitor several important conditions in the background These conditions include checking for the occurrence of a defined input position error a command erro
159. ult last element USAGE In a Program Yes Command Line Yes Can be Interrogated No Used as an Operand No RELATED COMMANDS QU Upload array HINT Using Galil terminal software the command can be used in the following manner 1 Define the array with the DM command 2 Set the timeout to 0 this disengages the timeout 3 Send the command QD 3a Use the send file command to send the data file OR 3b Enter data manually from the terminal End the data entry with the character Ay 4 Set the timeout back to a positive number 10C 7007 Chapter 5 Command Reference e 91 OR FUNCTION I O Data Record DESCRIPTION The QR command causes the IOC 7007 to return a record of information regarding the IOC board I O status back to the host PC This status information includes 4 bytes of header information and specific blocks of I O information The details of the status information are described in Chapter 3 of the user s manual ARGUMENTS OR xxxxxxxx where x is ABCDEFG or any combination to specify the slot data QR without any arguments returns all the slots data Chapter 3 of the users manual provides the definition of the data record information USAGE In a Program Yes Command Line Yes Can be Interrogated No Used as an Operand No RELATED COMMANDS QZ Return Data Record information Note The Galil windows terminal will not display the results of the QR command since the results are in binary format
160. versed Rev B1 and higher Pin 1 NC Pin 2 NC Pin 3 Power Output 1 Pin 4 Power Output 2 Pin 5 Power Output 3 Pin 6 Power Output 4 Pin 7 Power Output 5 Pin 8 Power Output 6 Pin 9 Power Output 7 Pin 10 Power Output 8 Pin 11 NC Pin 12 NC Pin 13 NC Pin 14 NC Pin 15 NC Pin 16 NC Pin 17 NC Pin 18 NC Pin 19 VIN_ISO Input for Power supply Pin 20 GND_ISO Input for Return supply 10C 7007 Chapter 4 IOM Modules e 31 IOM 70308 8 High power outputs 100 mA max on each output Outside On IOM 70308 side Vin_Iso Power Out o lt AW 4 7kQ Jone 3 le 20k Q Fig 4 4 IOM 70308 Circuit Diagram 10M 70404 4 Dry contact relay output module The IOM 70404 features 4 dry contact relay outputs that allow up to 150V and 250mA per channel The voltage can be either AC or DC and the user can wire the output to be either normally open or normally closed If he wants to have a normally open output one lead of his external circuit will be connected to the Relay Out Common and the other lead will be connected to Relay Output Normally Open Likewise if a normally closed output is desired connect to Relay Out Common and Relay Output Normally Close Current can flow in either direction through these output channels 32 e Chapter 4 IOM Modules 10C 7007
161. ware for Windows 95 and 98 FE oooooccccoccccconccononcnononccnnnnccnnnnncnnnnnss 10 Using Galil Software in Windows 98 SE NT 4 0 2000 ME and XP ee 11 Step 6 Configure the Distributed Control System ooooonnocccnoncccnoncccnoncnononccononanonnnnnos 14 CHAPTER 3 COMMUNICATION vcvcsccssscccusssecivncsssesoncdensennctsssoondecsacesscsesovakecssssesonsoss 15 INTRODUCTION traca 15 RS232 PORT ida a iii 15 RS2324 Porn 1 DATATERM td A A i 15 RS 232 COMP Uratlons sat tenet a a einen ia S 15 ETHERNET CONFIGURATION uta dla 16 Communication Protocols serso aa a a a a a Ee 16 POTS TE E E E E E A E A EE 16 Communicating with Multiple Devices ooooononcccnnncccnoncccnonncnnnncnonnnnnonnncnonnncncnncninnnos 17 IOC 7007 Support in Galil s Distributed network ooonoonnccnnnonionononnconcnnnanconncnononnnos 18 1OC 7007 4S MOdbUS Master resnun enn di a EN eaa nA 19 TOC 7007 as Modbus Slaven a a a a no nonccnononanos 20 Handling Communication Errors oooonoconococonnnonannnoncnononononnno nono nono n cnn nnnn crac rro anno nena 20 M ltica stin sd da 20 Unsolicited Message Handling j c ccccccssscsesesssecndesvsesscees nscsense dossacceassccesnacseaatanestacs 20 Using Third Party SOWAT Eesen e e a tasteagcaceanees 21 DATARE CORD i a dio 21 OR Command esaea a SO EN EO 21 Data Record MaDe rea tico ues 21 IOC 7007 Contents e i Explanation of Status Informatica 22 CHAPTER 4 IOM MODULES cccsccssccssorscsecsecssessesccc
162. will usually be 0 HandleNum is the handle specifier from A to F 1 to 6 Module is the position of the module in the rack from 1 to 16 BitNum is the I O point in the module from 1 to 4 Note 2 The SB command can be used in the PLCSCAN thread In this case it can only be used for local outputs not ModBus ARGUMENTS SBn where n is an integer in the range 0 to 223 decimal USAGE In a Program Yes Command Line Yes Can be Interrogated No Used as an Operand No RELATED COMMAND CB Clear Bit OB Output Bit OQ Output Port EXAMPLES SB 3 Set output line 3 SB 1 Set output line 1 Note When communicating between two IOC modules using SB CB commands Port 502 must be used when opening the handle IH 104 e Chapter 5 Command Reference 10C 7007 TB FUNCTION Tell Status Byte DESCRIPTION The TB command returns status information from the IOC 7007 as a decimal number Each bit of the status byte denotes the following condition when the bit is set high Echo on ARGUMENTS None USAGE In a Program Yes Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _TB contains the status byte EXAMPLES TB Tell status information from the IOC board 129 Executing program and echo on 2 2 128 1 129 10C 7007 Chapter 5 Command Reference e 105 TC FUNCTION Tell Error Code DESCRIPTION The TC command returns a number between 1 and 255 This number is

IOC-7007 - Galil Motion Control

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