User Manual - Galil Motion Control
Contents
1. E H 7 jm msm i Petter ef a EF A 3 2 EST 1 i 1 i o 0 CO d 1 Re i r ADD Add to accumulator Symbol ADD 1 Description Add V variable location or K constant to accumulator value Type Boxes Data manipulation and math functions Example Ladder Program Range VO V100 V200 V207 V250 V257 V300 V307 V400 V407 V500 V524 KO Kmax Ladder Interface Software C Wrogram Files Galil Ladder x86 sample codevex_ADD lad Fie insert Edit Help Cao 1 H TM X1 Co GalilTools Scope Output Scope a m L mE __ ee es Ed E 1 a T SE m d 02 71 010 7 TY 13 II TT E TER bons ee ere 111 CPE CELLET EESEL LL mcd eS 11109 10 18 RN ED i i2. STRI Store Immediate Normally Open Symbol Range wn X0 X15 Y0 Y15 gt 0 15 TO T7 CTO CT7 Description This contact follows the same logic as the standard normally open contact except the input or memory location is read at the time the code executes instead of at the beginning of the scan Type Contact Example Ladder Program Ladder Interface Software C Program Files Galil Ladder x86 sample imm norm open lad Sales File Insert Edit Help Cail 1 Al GalilTools Scope Output HE 4 4k AF um STRLE Less than or equal to Range Symbol V0 V100 V200 V207 MB A V250 V257 V300 V307 V400 V407 V500 V524 Knnnn Description Less than or equal to contact evaluates TRUE if the first value is less than or equal to the second value Type Contact Example Ladder Program Ladder Interface Software C Wrogram adder x86Yisample equal to lad peet Heb Da t 0595 x1 C Source B CNC ied ree 1 POUT gta akp 0 Tiree Chae Edge Level Mode STOP GF tib 4b dk th 4 AF 4 Gh Wb dk ascen STRLT Less than Symbol Description Range V100 V200 V207 V250 V257 V300 V307 V4
3. ror gt NN RR EDEN ER REGERE HE LEER UE E E e T LI CEN 1 2 i i 1 H i zi i VITIIS ET IDOL HINEN TILED TLD 40 XOR Exclusive OR accumulator Symbol AUR Description Exclusive OR evaluates true when inputs are different Type Boxes Data manipulation and math functions Range VO V100 V200 V207 V250 V257 V300 V307 V400 V407 500 524 KO Kmax CTD Down counter Symbol CTD Range a CTO CT7 K0 Kmax Description Upon a FALSE TRUE transition of a rung the down counter decrements it s internal counter by one A preset value is assigned as Kn where n is an integer value When the current counter value is greater than the preset value the counter done bit is set TRUE Then the current counter value 1s less than the preset value the counter done bit is set FALSE Note The CTD may only be used in conjunction with the CTU and must be the rung directly following the CTU The CTD and CTU will share the same counter number ie CTO as well as preset value Kn Type Boxes Counters Timers CT
4. ee 00 1 8 TE peer a nia tiene T LLLTELIEL OL LLL 00371 111 Ti 71 i i Miian Tee 122 mS S De i i mme 1 I ee INNEREN TIRE FERE d OR Or accumulator Symbol OR Description Or accumulator value with variable location Type Boxes Data manipulation and math functions Range V100 V200 V207 V250 V257 V300 V307 V400 V407 V500 V524 KO Kmax OUT Output accumulator Symbol Range u V0 V100 OUT V200 V207 V250 V257 2 00 7 00 7 V500 V524 Description Outputs the current value of the accumulator to the specified memory location Type Boxes Data m
5. Ladder Interface Software Manual Version 1 0 beta 01 09 Galil s Ladder Interface Software is a software tool for the RIO 471x0 compact PLC The software converts a relay Ladder Logic program into code for input into the RIO controller Ladder Logic is often used by programmable logic controller PLC programmers to graphically input I O logic While direct RIO programming using Galil s two letter text instructions allows for flexible coding it is sometimes easier to determine the I O logic visually with Ladder Logic The Ladder Interface Software provides an easy to use graphical interface that allows object types for contacts coils control relays boxes including timers counters and data manipulation and analog I O The software generates an RIO program from the specified objects in the flow diagram In addition to generating optimized code Galil s Ladder Interface Software automatically adds determinism to the RIO program 2 Ladder Interface Software C Program lad mm File Insert Edit Help D RE f 4r 4E1424 E tet dot det dot HIE det Click Toolbar to place items in the Ladder Program A1 xA C N Contacts represent Input Logic Coils and Boxes represent Output Logic OUT Each Line represents one Rung of the Ladder Program 1 SET Y2 RST END Steps to Running a Ladder Program 1 Open the Ladder Interf
6. LL So i 800 1 P amp Szale co E s r Hu o 21 24 2 SL Digtal cut pe ss lt MM 8 sow 2 2 112 1 1 iu O a E Fj ab Dm 5 tet 1 aen s union cn cmn v E NE d a z 1 3 1 1 tz eee 81 21 i 2 3 emer es eee eed 71 1 i i r 0866665800 i aa DIE ee eee miii 6 0 nma s n a a STOP Program stop Symbol Range 4 STOP N A Description Halts execution of Ladder program The default argument of KO halts the main thread Use Kx where x 1s the thread number to halt execution of other threads Type Coil Example Ladder Pro M Ladder Interface Software C Program Files GalillLadder x86 sample codeVex stop lad Ele Insert Edit Help dob Ya ram TU GalilTools S
7. SHER Shift accumulator right Symbol Range K1 K16 Description Shift accumulator right by Knn bits Type Boxes Data manipulation and math functions Example Ladder Program Ladder Interface Software C Program Files Voalil Ladder x86 sample lad 1 Insert Edt Help DRM ie X Kl AP GalilTools Scope Output DINGS Cigkal ngut 3 L omoota rout 1 1 ae 1 Se II BEEN oa wee 8 SUB Subtract from accumulator Range Symbol V0 V100 SIE V200 V207 V250 V257 1 V300 V307 V400 V407 V500 V524 KO Kmax Description Subtract V variable location or K constant from accumulator value Type Boxes Data manipulation and math functions Example Ladder Program Ladder Interface Software C Program Files Galif Ladder xt6 sample code ex_SUB lad File Insert Edt Help Dah 1 n et E XK CD GalilTools Scope Output E a g viv zal 5 8 D H 59 11 7 1 1 DD Eia 7 bi ET ELITS T E LET prim 82 Se
8. i itt deb lt det dot IR BR X GalilTools Scope Output 1 Sc abe dev Biro Boolean BI I DU I lt E 0 gt iF dF db iF AF AF db db db db dk db db Tre Trigger Channel f Edge Rum Level 0 5 Boekean Mode 31 fun RST Reset latching output Symbol YD Range R amp T 0 15 Description The RST coil resets a latching output or memory location Once the location is reset it 1s not necessary for the input to stay on Type Coil Example Ladder Program Ladder Interface Software Files oalifiLadder xt sample code exS SET lad File Insert Edt f 4 JE AE det det det det IE dep E 4 x3 PION np 1 B NC np 3 0 dF 4B db o db db db db db SET Latching output Symbol Range SET 0 15 0 15 Description This coil upon FALSE TRUE transition will turn TRUE and remain TRUE regardless of following transitions The SET will only set FALSE upon a FALSE TRUE transition of the RST coil Type Coil Example Ladder Program Ladder Interface Software C WPropg
9. TTS aan ar 002 ik 1 2 at ym ToS 1 8 pene J Thier amp dd cdid 8 8 8 Pore uit re Tiwi LER dl i i 7 i i p i xl 5222 pm a Ta a SE i nanna j Tert MT SH EE
10. i i 3 1118002 1 111107 1 7 71 Pete et II ITIL ITIL LII mnn E EELEE E TTITT TTTITEST E 0 IIT EL LEED 0 IOI I ID riri AND And accumulator Symbol AND Description AND accumulator value with variable location Type Boxes Data manipulation and math functions Range VO V100 V200 V207 V250 V257 V300 V307 V400 V407 V500 V524 KO Kmax DEC Decrement variable value Symbol Description This decrements the value of the V location by 1 Type Boxes Data manipulation and math functions Range VO V100 V200 V207 V250 V257 V300 V307 V400 V407 V500 V524 DIV Divide from accumulator Range Symbol V0 V100 V200 V207 JUN V250 V257 WO V300 V307 V400 V407 V500 V524 KO Kmax Description Divide accumulator value by V variable location or K constant Type Boxes Data manipulation and math functions Example Ladder Program gt Source Scale div 1 1 Boolean 2 E 1040100 Analog output Time
11. Offset div AF ik ak ah ak E El 4 a 45 4380 ms Channel 1 Edge Fang w Level 0 1 Boolean 2 Auto STOP GalilTools Scope Output Scope TIT 1 EEL LEE nee Teves H x H i H H i E 2 1 1 751 11 1 5271 111 7 pajenn p n 8 20 7 mh eee CEE 1 Sie 0 8 1111 2317 111 1 5723 IDL 1 71 1 2 i ee Pee i 1 B 4 i i 1 98 ma i EeNNN LES LEE 2 IE IER EUREN Titman DEL o m INC Increment variable value Symbol IC Description This increments the value of the V location by 1 Type Boxes Data manipulation and math fun
12. C15 TO T7 CT7 No limit on total number Galil 4 2 format except where noted AND logical AND Symbol ALI AT Range Description AND s multiple elements on a rung A logical AND compares two inputs If they are both TRUE then the result 15 TRUE otherwise the result is FALSE Type Layout Example Ladder Program Ladder Interface Software C Program Files oalifiLadder xt sample codel ex3_AND lad File Insert Edt Help 1 iF 4 F zh deb dob del dob IF 4H d x Al Aj GalilTools Scope Output leur B ino taps nk 1 B OI gE 3 Diod output 0 4 dF dh fk db d d db Time Trigger Mode w OR logical OR Symbol au Range Description OR s multiple elements on a rung The logical OR compares two inputs If either or both are TRUE then the result is TRUE otherwise the result is FALSE Type Layout Example Ladder Program Ladder Interface Software Files oaliliLadder xt6 sample codel ex4_OR lad D c d f 4 4F 1 det dot HIE eR X j x3 GalilTools Scope Output B np np 3 Ni ROTO Cups output 0 m E 7 4r 4b STR Store Normally Open Symbol Range wp 0 15 Y0 Y15 0 15 TO T7 CTO CT
13. Da f d 1F att deb tt dot det det K X x8 T GalilTools Scope Output 2 2 2 LO on PERDUE ETRE EEE t 3 DE SL o 1 inmune T 4 T 1110 11 LL reer TITO EEE PEEP Peeters SIBI S Petite III I LELI Tem 3 Pee 5 7 ee TT Te DG GR GG UG GU 1 211 e e eT E e ee aa 11I ATA TOF Off delay timer Symbol TOF Range 0 TO T7 K0 Kmax Description The Off delay timer upon the rung evaluating as FALSE will begin timing in msec The timer will remain timing while the rung evaluates as FALSE A preset value is assigned as Kn where n 15 a time in msec When the current timer value exceeds the preset value Kn AND the rung remains FALSE the timer done bit Tn will set TRUE When the rung evaluates as TRUE the timer 1s held to and the done bit is FALSE Type Boxes Counters Timers Example Ladder Program Ladder Interface Software Program Files Galil Ladder xd6 Ex04 7 lad Insert Edt 1 CD GalilTools Scope Output ena pecan __
14. Fie Insert Edit Help Dg AT CO CL GalilTools Scope Output i T i 211121171 i EEEE tS tt i i i i sini eni E H 7 jm msm i Petter ef a EF A 3 2 EST 1 i 1 i o 0 CO d 1 Re i r RTO Accumulating timer Symbol Th Range TO T7 10010 KO Kmax Description This timer operates similarly to the On delay timer Upon a rung evaluating as TRUE the timer begins counting in msec Upon the rung evaluating as FALSE the timer stops counting but is not zeroed The time is retained On the next rung TRUE condition the counter continues counting thereby measuring accumulated TRUE time of the rung The preset Kn is set to a value in msec When the accumulated time is greater than the preset value Kn the done bit 1s set Done bit and accumulated time can only be reset by using the RES box Type Boxes Counters Timers Example Ladder Program Ladder Interface Software C Program Files Galil Ladder x86 sample RTO lad File Insert Edt Help
15. O a E Fj ab Dm 5 tet 1 aen s union cn cmn v E NE d a z 1 3 1 1 tz eee 81 21 i 2 3 emer es eee eed 71 1 i i r 0866665800 i aa DIE ee eee miii 6 0 nma s n a a SKPS Skip Rungs Set Symbol Range akPS K0 K3 Description The SKPS and SKPR must be used as a pair When the SKPS is TRUE it will allow interpretation of all rungs up to the following SKPR When the SKPS is FALSE all rungs up to the following SKPR will not be interpreted Note that while the rungs are not interpreted while SKPS is FALSE these rungs still count to towards the scan time to insure deterministic timing The argument KO 1s reserved for future use Type Coil Example Ladder Program M Ladder Interface Software C Program Files Galil Ladder x86 sample code ex_SKPS_SKPR lad Ele Insert Edit Help Dah x1 GalilTools Scope Output ee ee ae
16. x E A T ze Az Bu E A we m END Program End Symbol FEND Range N A Description End of Ladder Program Type Coil Example Ladder Program Ladder Interface Software C Program Files Galil Ladder xt6 sample codelex_equal_to lad peet Edt Heb X1 e GalilTools Scope Output 5 B CNC oges gp 1 Gour oo egal tpt 0 E E A P E A Bu E A Trigger Chanel N 1 NOP No operation Symbol Description No operation is performed Type Coil Range N A OUT Output Symbol BE Range our 7 Description This outputs the current state of the rung TRUE or FALSE to an output bit or memory location In the example below the output YO follows the same logic states as the input X1 The memory range 15 can also be used to trigger Control Relays These act like digital outputs but have no physical outputs associated with them Type Coil Example Ladder Program Ladder Interface Software C WPropram Files oalifiLadder xt6 sample codeYext normally open lad File Insert Edt Ge T 4 4b At 1 deb dct lt det dob dB X GalilTools Scope Output Source B np OO wtp E Tire
17. 00 V407 V500 V524 Knnnn Less than contact evaluates TRUE if the first value is less than the second value Type Contact Example Ladder Program Ladder Interface Software C Program Files Galil Ladder xt6 sample codelex_less_ than lad Insert Edit Heb X1 e GalilTools Scope Output 28 B ONC ree 1 pouti Caged output 0 B AF EF tb Ge TE 4 AF GF AF fF fF dk Tires Trigger Chane Edge Bw Ce 0 Balean STRN Store Not Normally Closed Symbol Range wr 0 15 0 15 0 15 TO T7 CTO CT7 Description A Normally Closed contact is the logical inversion or NOT of a normally open contact The normally closed contact evaluates true only when the input is NOT active In the example below when the digital input X1 evaluates FALSE the digital output YO evaluates TRUE Likewise when X1 evaluates TRUE the output YO evaluates FALSE Type Contact Example Ladder Program Ladder Interface Software C Program Files Galil Ladder x86 sample code ex _normally_closed lad 6 File Insert Edt Helo Dah f i it HELM Al GalilTools Scope Output z T T Source B 00 Did tet 0 1 2
18. 7 Description A Normally Open contact evaluates true only when the input is active In the example below the digital output YO evaluates TRUE when the digital input X1 evaluates TRUE When evaluates FALSE likewise YO evaluates FALSE Type Contact Example Ladder Program Ladder Interface Software Files oaliliLadder xt6 sample codevext normally open lad File Insert Edt Help D f 4 4F at 4 deb dot dob dk dE GalilTools Scope Output dev B Boolean SSS eoo Ds Bee E 4b db dh db STRE Equal to Range Symbol V0 V100 V200 V207 vU VI V250 V257 4 V300 V307 V400 V407 V500 V524 Knnnn Description Equal to contact compares the two values and outputs TRUE when the values are equal otherwise it is FALSE Type Contact Example Ladder Program M Ladder Interface Software C Program FilesVoaliladder x86Ysample codelex_equal_to lad Edt Heb Dg HIF X1 C Sarig iais a L aaah aa 1 curo geal 0 GF tb GF th ih AF 4 GF SF dk Trigger Chanel Edge Bw Level 0 Bolean STRGE Greater than or equal to R
19. D 9 99 LL i LL Channel ce Edge RE Leve 10 5 Boolean Mode STRNE Not equal to Range Symbol V0 V100 V200 V207 u vi V250 V257 z V300 V307 V400 V407 V500 V524 Knnnn Description Not equal to contact compares the two values and outputs TRUE when the values are not equal otherwise it is FALSE Type Contact Example Ladder Program M Ladder Interface Software C Program Files Galil Ladder x 6 sample codelex_not_equal_to lad Eg Heb D aid 1 4 H Ik dM X C GalilTools Scope Output Source M eigo 1 ee ee GF tb dk th 4 AF 4 Gh w Edge Raw Level Obese mto 0 STRNI Store Immediate Normally Closed Symbol Range X0 X15 0 15 0 15 TO T7 CTO CT7 Description This contact follows the same logic as the standard normally closed contact except the input or memory location is read at the time the code executes instead of at the beginning of the scan Type Contact Example Ladder Program M Ladder Interface Software C Program Files Galil Ladder xt6 sample codelex_imm_norm_closed lad peet Edt Heb ar 1 4 x1 GalilTools Scope Output 7 GAFE B GMO iret m Trippa Channel 1 Edge Ring w Level 0
20. L LII mnn E EELEE E TTITT TTTITEST E 0 IIT EL LEED 0 IOI I ID riri MUL Multiply from accumulator Range Symbol V0 V100 V200 V207 MUL V250 V257 vn V300 V307 V400 V407 V500 V524 KO Kmax Description Multiply accumulator value by V variable location or K constant Type Boxes Data manipulation and math functions Example Ladder Program M Ladder Interface Software C Wrogram Files Galil Ladder x86 sample codevex_MUL lad File Insert Edit Help ai ET mm 11 HH X X 00 GalilTools Scope Output Scope 3 85 1 30 a E LT LLE ic LL tire 1 011111 1 1 11111 11 5781 571 111 05 3 1 01 7 1 18 5 3 0 711 re 20
21. U Up counter Symbol Range CTO CT7 K0 Kmax Description Upon a FALSE TRUE transition of a rung the up counter increments it s internal counter by one A preset value is assigned as Kn where n 1s an integer value When the current counter value exceeds the preset value the counter done bit is set TRUE The done bit and current count can be reset by the RES box Type Boxes Counters Timers Example Ladder Program M Ladder Interface Software C Program FilesVoaliladder x86Ysample codelex_equal_to lad gdt Heb D ar id B C GalilTools Scope Output SOUPE Offset div B eun ES rye a 5 Poul ea output 0 i i 1 1 P ee Channel Edge Bre Level 0 Boolean mto sor EF tb dk th 4 AF 4 Gh SF dk RES Reset box Symbol Range V0 RES V200 V207 V250 V257 0 7 V500 V524 Description The RES box is used to reset variable locations within the ladder code It can be used to reset the current timer or counter value or to reset a user variable location 500 524 If the RES box is to be used to reset the counter or timer value 1 must be placed on the rung directly after the counter or timer it 1s to effect Type Boxes Counters Timers Exam ole Ladder Program Ladder Interface Software C Program Files Galil Ladder xt6 sample codex analog output lad
22. ______ ______ _ _ _ 1 7 7 0 0 112141 Ty 7 7 GC IE o M M4 7 7 LIL I IT I LL Ce en IL I LL ILL i 5 a i i i T r1 i i 7 mnm 1 ees ES LL ih i I 1 ik T TON On delay timer Symbol TON Range 0 TO T7 K0 Kmax Description The On delay timer upon the rung evaluating as TRUE will begin timing in msec The timer will remain timing while the rung evaluates as TRUE A preset value is assigned as Kn where n is a time in msec When the current timer value exceeds the preset value Kn AND the rung remains TRUE the timer done bit Tn will set TRUE When the rung evaluates as FALSE the timer 1s held to 0 and the done bit 15 FALSE Type Boxes Counters Timers Example Ladder Program FA Ladder Interface Software C Program adder xB6AEXQ046 lad Insert Edt Heb f deb dat HIE det x GalilTools Scope Output tu ene ee ees Geman DEL i TT 7
23. ace software and construct the ladder diagram using contacts coils and boxes to create the machine logic Save the Ladder Logic program lad When the ladder logic program is saved a dmc file will automatically be created in the same directory It contains the Galil code for downloading onto the RIO 471x0 To download the dmc code you must first install the Galil Tools software To get scope capability the full version 1s required to just download and run a program the free Lite version will work After GalilTools is installed connect to the RIO 471x0 and open the dmc file that was created Click the Execute button to download the dmc file and execute the Ladder program Anytime the Ladder Logic program 15 changed the lad file must be saved Then a new dmc file will be created and must be downloaded to the RIO via GalilTools in order for the changes to take effect Copyright 2008 Galil Motion Control Inc 270 Technology Way Rocklin CA 95765 USA All rights reserved Memory Map Locations for RIO 471x0 Data Discrete digital inputs Discrete digital outputs Digital output register 16 bits Digital input register 16 bits Current timer value Current counter value Analog inputs Analog outputs User variable space 4 2 format Control relays Timers Counters K constants RIO 471x0 Range X15 YO Y15 VO V 100 V200 V207 V250 V257 V300 V307 V400 V407 V500 V524 CO
24. ange Symbol V0 V100 V200 V207 vi V250 V257 gt V300 V307 V400 V407 V500 V524 Knnnn Description Greater than or equal to contact evaluates TRUE if the first value is greater than or equal to the second value Type Contact Example Ladder Program Ladder Interface Software C Program FilesWoalilladder x 6Ysample greater than equal to lad File Inset Edit Help ad C GalilTools Scope Output Source BM 1 _ O a a a Tigger Chanel 1 gt Edge Bua Level STOP fF EF dk db 4 AF HAF GF di STRGT Greater than Range Symbol V0 V100 V200 V 207 E id V250 V257 gt 00 7 V400 V407 V500 V 524 Knnnn Description Greater than contact evaluates TRUE if the first value is greater than the second value Type Contact Example Ladder Program Ladder Interface Software C Program FilesVGalilLadder xf6lsample codelex greater than lad Ele Ede Heb DORM eet ie t df K x1 00 GalilTools Scope Output Source CNC teed np POUT Catal 0 GF tb Ge ar db AF GF AF fF Gh fF dk w Edge Hg Level 0
25. anipulation and math functions Example Ladder Program Ladder Interface Software C Wrogram Files Galil Ladder x86isample codeVex ADD lad Fie Insert Edit Help EE X co GalilTools Scope Output Scope a m L mE __ ee es Ed E 1 a T SE m d 02 71 010 7 TY 13 II TT E TER bons ee ere 111 CPE CELLET EESEL LL mcd eS 11109 10 18 RN ED i i i i 3 1118002 1 111107 1 7 71 Pete et II ITIL ITIL LII mnn E EELEE E TTITT TTTITEST E 0 IIT EL LEED 0 IOI I ID riri ROTL Rotate accumulator left Symbol _ Range K16 Description Rotate accumulator l
26. cope Output 1 aK GALIL Cmd Galil command box Symbol GALIL Rance TIME Cmd is any valid Galil command Description Sends valid Galil command to controller The command will be sent on every scan that the rung evaluates TRUE therefore the user should take care in what command 15 being output If an MG command is used this will send messages out the communications port and could slow down scan times especially when using RS 232 A PD Positive Differential output should be used in conjunction with this box to only have the command run one time Type Boxes Special Example Ladder Program Ladder Interface Software Files oaliliLadder xt sample lad File Insert Edt Help AT co GalilTools Scope Output Cop Source B 0 Ar d fh db db 4h db d db db Time Trigo Channel Edge RE Lee 10 5 Boolean Mode Auto hu STOP Bun Analog input Symbol Range YADO V300 V307 Description Read analog input at a specified variable location Analog inputs should be accessed on the RIO using V300 V307 In the example below a sine wave is coming in on the analog input 6 and two comparative contacts are used to set digital outputs YO and Y2 when the voltage goes below th
27. ctions Range VO V100 V200 V207 V250 V257 V300 V307 V400 V407 V500 V524 INV Inverse accumulator Symbol Description Inverse accumulator 1 s complement Type Boxes Data manipulation and math functions Range N A LD Load accumulator Range Symbol V0 100 p V200 V207 LU V250 V257 V300 7 V400 V407 V500 V 524 KO Kmax Description Loads a value into the accumulator Type Boxes Data manipulation and math functions Example Ladder Program Ladder Interface Software C Wrogram Files Galil Ladder x86 sample codeVex ADD lad Insert Edit Hep 11 M E H IF db TM X 1 X1 C GalilTools Scope Output Scope a m L mE __ ee es Ed E 1 a T SE m d 02 71 010 7 TY 13 II TT E TER bons ee ere 111 CPE CELLET EESEL LL mcd eS 11109 10 18 RN ED i i i i 3 1118002 1 111107 1 7 71 Pete et II ITIL ITI
28. e Output Scope ii ia CETLE COE 211 0 0 oe 6 BOSSI Eady Te onn rrr mnn rm m emma LL LL j TIT TIT TTT TETEE THIS II 1110 2 DI 1j iiis LLL i 1 perti 12 111 8188 es 1182 Erro 112421111 SHFEL Shift accumulator left Symbol SHFL Range K1 16 Description Shift accumulator left by Knn bits Type Boxes Data manipulation and math functions Example Ladder Program M Ladder Interface Software C Program Files VoallLadder xt6 sample kad Seles Insert Edt Help 11 uM X 1 GalilTools Scope Output INOS Ci kal ngut 3 i E 6104617 30 di 1 en cor e 25an 2 2 2 ah ak 4 Soom
29. e constant K2 2Volts or above the constant 3 Volts Type Boxes Data manipulation and math functions Example Ladder Program Ladder Interface Software C Program Files Galil Ladder xt6 sample code ex_analog_input tlad insert Edt Help Dai 206 GalilTools Scope Output EE i Te T 4 Fam uat P 2 a 7 T F T F 7 Fi 3 kN P d 3 E Dies 0 n s p u he Fd i E 3 p a 7 Pi E gt 2 E gouri 2 8 ER dF db db db Wb ur dk dk db dh iD eer Channel Cg Deed Mee Analog output Symbol Range V400 V407 400 Description Written at specific variable location Type Boxes Data manipulation and math functions Exam ole Ladder Program Ladder Interface Software C Program Files Galil Ladder xd6 sample codeVex analog output lad Fie Insert Edit Help i K AT CO CL GalilTools Scope Output i T i 211121171 i EEEE tS tt i i i i sini eni
30. eft by Knn bits Type Boxes Data manipulation and math functions Example Ladder Program M Ladder Interface Software C Program Files Galil ladder x6 sample codeYex lad mE Fie Insert Edt Help Cah A GalilTools Scope Output Scope LLELLE TT ee H 11818 8211180 111822 0010200 11 3 81 irme emend n irem reme ehmede E 1 E E rc TTE E 112241 issii 21 Vi ray che 37 ELETTEL LLL LTIIT CLE LEE LEL LL LEL IED LOL LLL LCL CELL LEL TIT CELL Ll TTT TT TTT TT TTT TTT CT 07 9 2 1 TT 071 greet gg 112421111 8188 4 LLL LIBE ROTR Rotate accumulator right Symbol ROTR Range 6 Description Rotate accumulator right by Knn bits Type Boxes Data manipulation and math functions Example Ladder Program Ladder Interface Software C Program FilesWsaliladder xB6isample codelex_ROTR lad Insert Edit Help Dg td X x3 GalilTools Scop
31. ram Files oalifiLadder xt sample code exS SET lad Ele Insert Edt Help Dux t HE F z deb dot deb dob drb def X GalilTools Scope Output M PION oes no 1 BH OIN 3 E Depts output 0 _ Trigger hane 1 gt Edge Rising Level 0 5 Boclean Mode Ado 4b db Fa A m SKPR Skip Rungs Reset Symbol Range oKPR K0 K3 Description The SKPS and SKPR must be used as a pair When the SKPS is TRUE it will allow interpretation of all rungs up to the following SKPR When the SKPS is FALSE all rungs up to the following SKPR will not be interpreted Note that while the rungs are not interpreted while SKPS is FALSE these rungs still count to towards the scan time to insure deterministic timing The argument KO 1s reserved for future use Type Coil Example Ladder Program M Ladder Interface Software C Program Files Galil Ladder x86 sample code ex_SKPS_SKPR lad Ele Insert Edit Help Dah x1 GalilTools Scope Output ee ee ae LL So i 800 1 P amp Szale co E s r Hu o 21 24 2 SL Digtal cut pe ss lt MM 8 sow 2 2 112 1 1 iu
32. s Trigget Channel Edge Rum Leve Mode Auto dF db dk db ub 5 Boden amp n OUTI Immediate output Symbol Range 0 15 0 15 Description Similar to the OUT instruction this coil outputs the current state of the rung but instead of waiting until the end of the scan it outputs the logic at the time the instruction 15 executed Type Coil Example Ladder Program Ladder Interface Software C Program Files Galil Ladder xt6 sample codelex_imm_norm_closed lad peet Edt Heb D ad 4 X x1 GalilTools Scope Output Source Fak LI Ti N ucumou buoa 0 M 4H Vies E 1 1 ilH ij i STOP E A T ze Az Bu E A we m Chanel Ni i Edge Bw 0 Bolean PD Positive differential output Symbol Range PD 0 15 0 15 Description This coil upon FALSE TRUE transition will turn TRUE for exactly one scan and then return FALSE This 1s sometimes referred to as a one shot coil Type Coil Example Ladder Program Ladder Interface Software C Program Files oaliliLadder xt6 sample codelex5S _PD lad File Insert Edt
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